+ python -m lidar_slam --no-model /working/474706b3-d80d-488e-b0b2-bc80bfd64124 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/474706b3-d80d-488e-b0b2-bc80bfd64124 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 0.001400513 Adjusted end_distance from 9.223372036854776e+18 to 647.851400513 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001400513 meters 0.07585978904703702 Centerline is valid? [0, True] SLAMing on 0.031400513 meters 0.07892684529136478 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99998258e-01 6.27309010e-04 1.75775616e-03 2.88078240e-02] [-6.30638055e-04 9.99998008e-01 1.89400371e-03 7.26812017e-03] [-1.75656454e-03 -1.89510892e-03 9.99996662e-01 2.40813612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061400513 meters 0.07320907348411486 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.02 [[ 9.99759279e-01 1.83288198e-02 1.20598150e-02 5.78162250e-02] [-1.83155084e-02 9.99831521e-01 -1.21330894e-03 2.37325506e-02] [-1.20800217e-02 9.92135229e-04 9.99926542e-01 2.03529876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091400513 meters 0.08096604412094462 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.05, Z:0.04 [[ 0.99970615 -0.0053068 0.02365266 0.09257858] [ 0.00521968 0.99997937 0.0037435 -0.05216589] [-0.02367204 -0.00361895 0.99971323 0.0365737 ] [ 0. 0. 0. 1. ]] SLAMing on 0.121400513 meters 0.07575462574344358 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.05, Z:0.04 [[ 9.99663179e-01 -3.97239762e-03 2.56466013e-02 1.23474413e-01] [ 3.95994715e-03 9.99992016e-01 5.36232754e-04 -5.23016256e-02] [-2.56485266e-02 -4.34492954e-04 9.99670928e-01 3.86813370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151400513 meters 0.07575462574344358 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.05, Z:0.04 [[ 0.99966417 -0.00378474 0.02563621 0.15602955] [ 0.00375785 0.99999234 0.00109707 -0.05154607] [-0.02564017 -0.00100036 0.99967074 0.03886139] [ 0. 0. 0. 1. ]] SLAMing on 0.18140051299999999 meters 0.08076020217487692 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.05, Z:0.05 [[ 0.99962087 -0.00328431 0.02733715 0.18695814] [ 0.00323224 0.99999288 0.0019487 -0.04715226] [-0.02734335 -0.0018596 0.99962437 0.04634473] [ 0. 0. 0. 1. ]] SLAMing on 0.21140051299999998 meters 0.08016883967911898 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.05, Z:0.04 [[ 0.99962289 -0.00249967 0.02734632 0.21860483] [ 0.00255904 0.99999444 -0.00213639 -0.04894162] [-0.02734083 0.00220557 0.99962374 0.04423802] [ 0. 0. 0. 1. ]] SLAMing on 0.24140051299999998 meters 0.08016883967911898 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.05, Z:0.04 [[ 0.99962712 -0.00228788 0.02720995 0.2512649 ] [ 0.00225799 0.99999681 0.00112949 -0.05043435] [-0.02721244 -0.00106763 0.9996291 0.04430915] [ 0. 0. 0. 1. ]] SLAMing on 0.271400513 meters 0.08268683783587663 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.05, Z:0.05 [[ 0.99953346 -0.00389572 0.03029335 0.2842833 ] [ 0.00372024 0.99997599 0.00584696 -0.05354934] [-0.0303154 -0.00573153 0.99952395 0.05160505] [ 0. 0. 0. 1. ]] SLAMing on 0.301400513 meters 0.08268683783587663 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.05, Z:0.05 [[ 0.9995265 -0.00377521 0.03053728 0.31663596] [ 0.0037425 0.99999236 0.0011283 -0.0484813 ] [-0.0305413 -0.00101348 0.99953299 0.05192887] [ 0. 0. 0. 1. ]] SLAMing on 0.33140051299999995 meters 0.07874436393066334 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.06, Z:0.05 [[ 0.99942046 -0.00468217 0.03371689 0.34729359] [ 0.00478571 0.99998408 -0.00299072 -0.05732951] [-0.03370235 0.00315034 0.99942695 0.05352603] [ 0. 0. 0. 1. ]] SLAMing on 0.361400513 meters 0.07874436393066334 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.06, Z:0.05 [[ 0.99942756 -0.00445971 0.03353596 0.37999022] [ 0.00441591 0.9999893 0.00138006 -0.05969694] [-0.03354175 -0.00123118 0.99943656 0.05360365] [ 0. 0. 0. 1. ]] SLAMing on 0.391400513 meters 0.09358448806222783 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.04, Z:0.08 [[ 0.99928258 -0.0091265 0.03675642 0.41369645] [ 0.00864072 0.99987351 0.01335329 -0.04147843] [-0.03687364 -0.01302611 0.99923503 0.07668789] [ 0. 0. 0. 1. ]] SLAMing on 0.421400513 meters 0.08875825601975892 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.04, Z:0.06 [[ 0.99943804 -0.01043509 0.03185441 0.44358643] [ 0.01030893 0.99993836 0.00412216 -0.04436059] [-0.03189546 -0.00379146 0.99948402 0.05536693] [ 0. 0. 0. 1. ]] SLAMing on 0.45140051299999995 meters 0.08875825601975892 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.04, Z:0.06 [[ 9.99429367e-01 -1.02868585e-02 3.21732848e-02 4.75883513e-01] [ 1.02542331e-02 9.99946729e-01 1.17889024e-03 -4.08658403e-02] [-3.21836979e-02 -8.48305164e-04 9.99481611e-01 5.53265517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481400513 meters 0.073834804772684 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.05, Z:0.03 [[ 0.99974431 -0.01067238 0.01993502 0.50618718] [ 0.01093698 0.99985291 -0.0132115 -0.05351183] [-0.01979109 0.01342615 0.99971398 0.02923201] [ 0. 0. 0. 1. ]] SLAMing on 0.511400513 meters 0.073834804772684 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.06, Z:0.03 [[ 9.99756923e-01 -1.05579466e-02 1.93552251e-02 5.39185266e-01] [ 1.05444476e-02 9.99944086e-01 7.99356196e-04 -6.40193178e-02] [-1.93625824e-02 -5.95071734e-04 9.99812351e-01 2.91394447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541400513 meters 0.073834804772684 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.06, Z:0.03 [[ 9.99758619e-01 -1.03945697e-02 1.93560390e-02 5.71711432e-01] [ 1.03820324e-02 9.99945825e-01 7.48097271e-04 -6.27662962e-02] [-1.93627666e-02 -5.46961670e-04 9.99812374e-01 2.93295031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5714005129999999 meters 0.07470706569652623 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.07, Z:0.02 [[ 0.99983926 -0.01162275 0.01365153 0.60127762] [ 0.01160152 0.99993137 0.00163289 -0.06889769] [-0.01366957 -0.00147425 0.99990548 0.01833686] [ 0. 0. 0. 1. ]] SLAMing on 0.601400513 meters 0.07232671861798473 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.07, Z:0.02 [[ 0.99984679 -0.01370301 0.01089155 0.63154526] [ 0.01368139 0.99990429 0.00205659 -0.06987706] [-0.01091869 -0.00190727 0.99993857 0.01518448] [ 0. 0. 0. 1. ]] SLAMing on 0.631400513 meters 0.07183542559741583 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.08, Z:0.02 [[ 0.99977775 -0.01646066 0.01317207 0.66523163] [ 0.01643759 0.99986317 0.00185789 -0.07655206] [-0.01320085 -0.00164096 0.99991152 0.01675907] [ 0. 0. 0. 1. ]] SLAMing on 0.6614005129999999 meters 0.07183542559741583 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.07, Z:0.02 [[ 9.99777135e-01 -1.64246020e-02 1.32631839e-02 6.97656143e-01] [ 1.64186188e-02 9.99865049e-01 5.59886364e-04 -7.42137792e-02] [-1.32705900e-02 -3.41998425e-04 9.99911883e-01 1.69007631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6914005129999999 meters 0.07489270526741468 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:0.03 [[ 9.99659188e-01 -1.81879210e-02 1.87271945e-02 7.28681689e-01] [ 1.81864796e-02 9.99834582e-01 2.47283494e-04 -7.90669613e-02] [-1.87285943e-02 9.33825239e-05 9.99824600e-01 2.90333887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.721400513 meters 0.07489270526741468 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.08, Z:0.03 [[ 9.99660208e-01 -1.81257123e-02 1.87330521e-02 7.61180886e-01] [ 1.81137454e-02 9.99835606e-01 8.08307088e-04 -7.83259735e-02] [-1.87446236e-02 -4.68706695e-04 9.99824194e-01 2.91955737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.751400513 meters 0.07489270526741468 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.08, Z:0.03 [[ 9.99660736e-01 -1.80667506e-02 1.87618339e-02 7.93661147e-01] [ 1.80547766e-02 9.99836673e-01 8.07413490e-04 -7.71145644e-02] [-1.87733569e-02 -4.68398843e-04 9.99823655e-01 2.93521167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781400513 meters 0.07141594727097916 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.08, Z:0.05 [[ 0.99941204 -0.02016485 0.02772989 0.82264887] [ 0.02024487 0.99979165 -0.00260784 -0.07820703] [-0.02767152 0.0031677 0.99961205 0.04916661] [ 0. 0. 0. 1. ]] SLAMing on 0.8114005129999999 meters 0.07324543983836511 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.09, Z:0.05 [[ 9.99225448e-01 -2.23773104e-02 3.23691146e-02 8.54147468e-01] [ 2.23463768e-02 9.99749421e-01 1.31714331e-03 -8.98888363e-02] [-3.23904777e-02 -5.92790684e-04 9.99475115e-01 5.49637572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841400513 meters 0.07324543983836511 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.09, Z:0.06 [[ 9.99229870e-01 -2.21785279e-02 3.23694129e-02 8.86668098e-01] [ 2.21477280e-02 9.99753851e-01 1.30979589e-03 -8.87158109e-02] [-3.23904945e-02 -5.91878228e-04 9.99475115e-01 5.51395249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871400513 meters 0.07537549774087078 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:0.06 [[ 9.99213037e-01 -2.40093246e-02 3.15730634e-02 9.17718882e-01] [ 2.39809315e-02 9.99711600e-01 1.27770150e-03 -9.30944711e-02] [-3.15946344e-02 -5.19544525e-04 9.99500630e-01 5.62710557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9014005129999999 meters 0.07537549774087078 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.09, Z:0.06 [[ 9.99217657e-01 -2.38159088e-02 3.15733467e-02 9.50237166e-01] [ 2.37876409e-02 9.99716226e-01 1.27068320e-03 -9.19363555e-02] [-3.15946495e-02 -5.18633659e-04 9.99500630e-01 5.64468078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9314005129999999 meters 0.07537549774087078 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.09, Z:0.06 [[ 9.99222241e-01 -2.36224872e-02 3.15735921e-02 9.82755703e-01] [ 2.35943157e-02 9.99720816e-01 1.26457450e-03 -9.07852722e-02] [-3.15946496e-02 -5.18633661e-04 9.99500630e-01 5.66225866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961400513 meters 0.06906529032473592 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.10, Z:0.05 [[ 0.99922776 -0.0249464 0.03035707 1.01524991] [ 0.02480903 0.99968023 0.00489345 -0.09826492] [-0.03046944 -0.00413655 0.99952714 0.05299827] [ 0. 0. 0. 1. ]] SLAMing on 0.991400513 meters 0.07167453374954139 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.10, Z:0.05 [[ 9.99181598e-01 -2.54646827e-02 3.14274368e-02 1.04845089e+00] [ 2.54586463e-02 9.99675701e-01 5.92275013e-04 -9.70659562e-02] [-3.14323270e-02 2.08309702e-04 9.99505861e-01 5.48044460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0214005130000001 meters 0.0783000825933089 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.10, Z:0.07 [[ 0.99904718 -0.02531636 0.03555011 1.07837735] [ 0.02493312 0.99962657 0.01118277 -0.09649896] [-0.03581994 -0.01028574 0.99930533 0.07258722] [ 0. 0. 0. 1. ]] SLAMing on 1.0514005130000001 meters 0.0783000825933089 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.09, Z:0.07 [[ 9.99030562e-01 -2.51705329e-02 3.61162046e-02 1.11047289e+00] [ 2.51376936e-02 9.99683069e-01 1.36313729e-03 -8.76833971e-02] [-3.61390691e-02 -4.53937723e-04 9.99346667e-01 7.21070789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0814005130000002 meters 0.0697560306294677 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.09, Z:0.05 [[ 0.99925566 -0.0227757 0.03113494 1.14180149] [ 0.02311858 0.9996755 -0.01069725 -0.08569144] [-0.0308812 0.01140908 0.99945795 0.05161073] [ 0. 0. 0. 1. ]] SLAMing on 1.111400513 meters 0.0697560306294677 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.09, Z:0.05 [[ 9.99274491e-01 -2.25543426e-02 3.06886539e-02 1.17468366e+00] [ 2.25301141e-02 9.99745520e-01 1.13509795e-03 -9.42511054e-02] [-3.07064456e-02 -4.42855551e-04 9.99528348e-01 5.21645293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.141400513 meters 0.07227323101051311 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.09, Z:0.05 [[ 9.99342807e-01 -1.97418628e-02 3.04008862e-02 1.20421557e+00] [ 1.97753311e-02 9.99804128e-01 -8.00596923e-04 -9.08394129e-02] [-3.03791263e-02 1.40125836e-03 9.99537466e-01 5.29326496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.171400513 meters 0.07255689682853783 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.09, Z:0.05 [[ 0.99934478 -0.01729101 0.03179679 1.23622747] [ 0.01720137 0.99984727 0.0030906 -0.09306146] [-0.03184537 -0.00254162 0.99948958 0.0531743 ] [ 0. 0. 0. 1. ]] SLAMing on 1.201400513 meters 0.07255689682853783 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.09, Z:0.05 [[ 9.99345125e-01 -1.71161200e-02 3.18804035e-02 1.26868458e+00] [ 1.70850696e-02 9.99853263e-01 1.24613899e-03 -9.04285080e-02] [-3.18970546e-02 -7.00644007e-04 9.99490914e-01 5.32659154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231400513 meters 0.07255689682853783 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:0.05 [[ 9.99347909e-01 -1.69313660e-02 3.18917955e-02 1.30120021e+00] [ 1.69003172e-02 9.99856407e-01 1.24289387e-03 -8.93091747e-02] [-3.19082599e-02 -7.03101935e-04 9.99490555e-01 5.34311018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2614005130000001 meters 0.07257221395984124 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:0.06 [[ 0.99926594 -0.0148454 0.03531573 1.33029796] [ 0.01473676 0.99988585 0.00333457 -0.08650904] [-0.0353612 -0.00281168 0.99937064 0.06254347] [ 0. 0. 0. 1. ]] SLAMing on 1.2914005130000001 meters 0.07496031778685337 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.08, Z:0.08 [[ 9.99140274e-01 -1.41386103e-02 3.89719518e-02 1.36031164e+00] [ 1.40764314e-02 9.99899175e-01 1.86942893e-03 -7.99212841e-02] [-3.89944536e-02 -1.31923573e-03 9.99238556e-01 7.63041050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.321400513 meters 0.07421805631749506 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.08, Z:0.07 [[ 9.99076273e-01 -1.42651569e-02 4.05352389e-02 1.39248054e+00] [ 1.43074655e-02 9.99897359e-01 -7.53828190e-04 -8.13316632e-02] [-4.05203249e-02 1.33308839e-03 9.99177825e-01 7.43446689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.351400513 meters 0.068863833939802 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.10, Z:0.07 [[ 0.99874275 -0.03247741 0.03818567 1.4238465 ] [ 0.03232585 0.99946689 0.00458007 -0.09916767] [-0.03831406 -0.00333993 0.99926017 0.06791042] [ 0. 0. 0. 1. ]] SLAMing on 1.381400513 meters 0.08800059942243728 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.02, Z:0.04 [[ 0.99883636 0.03805445 0.02962729 1.45013637] [-0.03796042 0.99927228 -0.00372978 -0.02163223] [-0.02974766 0.00260077 0.99955406 0.04300501] [ 0. 0. 0. 1. ]] SLAMing on 1.411400513 meters 0.08800059942243728 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.02, Z:0.04 [[ 9.98833796e-01 3.82681065e-02 2.94380640e-02 1.48291138e+00] [-3.83181517e-02 9.99264942e-01 1.13756345e-03 -2.45355660e-02] [-2.93728930e-02 -2.26424902e-03 9.99565959e-01 4.30658075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441400513 meters 0.08832866150043883 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.02, Z:0.04 [[ 0.9989685 0.03807126 0.0247489 1.51201396] [-0.03800823 0.99927289 -0.00301246 -0.02243655] [-0.02484559 0.00206869 0.99968916 0.03809114] [ 0. 0. 0. 1. ]] SLAMing on 1.471400513 meters 0.09629918649707958 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.02, Z:0.04 [[ 0.99908931 0.03567954 0.02339906 1.5440012 ] [-0.03580491 0.99934649 0.0049609 -0.02420576] [-0.02320676 -0.00579419 0.9997139 0.0366954 ] [ 0. 0. 0. 1. ]] SLAMing on 1.501400513 meters 0.09629918649707958 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.02, Z:0.04 [[ 9.99079837e-01 3.58413663e-02 2.35557902e-02 1.57647547e+00] [-3.58726190e-02 9.99355960e-01 9.05396416e-04 -1.97007995e-02] [-2.35081687e-02 -1.74957119e-03 9.99722114e-01 3.69303167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5314005130000001 meters 0.0962735977228261 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.02, Z:0.04 [[ 9.99103502e-01 3.49080946e-02 2.39503107e-02 1.60593926e+00] [-3.49456081e-02 9.99388555e-01 1.14943024e-03 -2.30747817e-02] [-2.38955419e-02 -1.98535794e-03 9.99712489e-01 3.98098134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5614005130000002 meters 0.08455874357439523 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.03, Z:0.04 [[ 9.99176133e-01 3.12550702e-02 2.58877587e-02 1.63935275e+00] [-3.12884126e-02 9.99510007e-01 8.83805004e-04 -3.13012043e-02] [-2.58474505e-02 -1.69306374e-03 9.99664465e-01 4.05487138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.591400513 meters 0.08246432313164186 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.04, Z:0.04 [[ 9.99270711e-01 3.00817797e-02 2.35187759e-02 1.67023257e+00] [-3.01112424e-02 9.99546149e-01 8.99515500e-04 -3.60938537e-02] [-2.34810429e-02 -1.60703906e-03 9.99722991e-01 3.50874977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.621400513 meters 0.0841466427680044 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.04, Z:0.03 [[ 9.99368615e-01 2.98298849e-02 1.93015277e-02 1.70158758e+00] [-2.98496737e-02 9.99554127e-01 7.37898527e-04 -4.11802392e-02] [-1.92709102e-02 -1.31357693e-03 9.99813436e-01 2.64938777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.651400513 meters 0.0841466427680044 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.04, Z:0.03 [[ 9.99362862e-01 3.00218828e-02 1.93017023e-02 1.73417012e+00] [-3.00416193e-02 9.99548380e-01 7.33318540e-04 -4.00641466e-02] [-1.92709697e-02 -1.31270571e-03 9.99813436e-01 2.66548209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681400513 meters 0.0895377751733675 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.03, Z:0.03 [[ 9.99383409e-01 2.96500004e-02 1.88063434e-02 1.76500935e+00] [-2.96686457e-02 9.99559534e-01 7.13147203e-04 -3.49908660e-02] [-1.87769150e-02 -1.27066622e-03 9.99822891e-01 2.82239453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711400513 meters 0.0895377751733675 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.03, Z:0.03 [[ 9.99377922e-01 2.98343016e-02 1.88064912e-02 1.79759224e+00] [-2.98529062e-02 9.99554051e-01 7.09242375e-04 -3.38968187e-02] [-1.87769447e-02 -1.27022959e-03 9.99822891e-01 2.83848868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741400513 meters 0.08443385445335645 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.04, Z:0.03 [[ 9.99332129e-01 2.97769055e-02 2.11809233e-02 1.82931636e+00] [-2.98004315e-02 9.99555552e-01 7.95875368e-04 -3.71171801e-02] [-2.11478108e-02 -1.42654448e-03 9.99775342e-01 3.22620129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7714005130000001 meters 0.08443385445335645 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:0.03 [[ 9.99326588e-01 2.99621861e-02 2.11810770e-02 1.86190021e+00] [-2.99856670e-02 9.99550015e-01 7.91777846e-04 -3.60318577e-02] [-2.11478224e-02 -1.42637337e-03 9.99775342e-01 3.24229616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.801400513 meters 0.0801034342181128 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.04, Z:0.03 [[ 9.99315027e-01 3.01761261e-02 2.14214369e-02 1.89517389e+00] [-3.02001029e-02 9.99543555e-01 7.96597958e-04 -4.35411535e-02] [-2.13876209e-02 -1.44298191e-03 9.99770217e-01 3.06246561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.831400513 meters 0.0801034342181128 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.04, Z:0.03 [[ 9.99309175e-01 3.03691889e-02 2.14215905e-02 1.92775607e+00] [-3.03931215e-02 9.99537708e-01 7.92459144e-04 -4.24570052e-02] [-2.13876211e-02 -1.44298069e-03 9.99770217e-01 3.07856061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.861400513 meters 0.08340467559966593 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.04, Z:0.03 [[ 9.99342452e-01 3.09219100e-02 1.89340774e-02 1.95890324e+00] [-3.09406773e-02 9.99520978e-01 6.98979977e-04 -3.98596687e-02] [-1.89033938e-02 -1.28435354e-03 9.99820490e-01 2.72721388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.891400513 meters 0.08340467559966593 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.04, Z:0.03 [[ 9.99336509e-01 3.11132805e-02 1.89342283e-02 1.99148532e+00] [-3.11320047e-02 9.99515040e-01 6.94885215e-04 -3.87870164e-02] [-1.89034258e-02 -1.28388465e-03 9.99820490e-01 2.74330785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921400513 meters 0.0836773765095464 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.04, Z:0.02 [[ 9.99387024e-01 3.12661844e-02 1.57480879e-02 2.02257139e+00] [-3.12791598e-02 9.99510520e-01 5.78240130e-04 -3.96827958e-02] [-1.57223001e-02 -1.07047264e-03 9.99875824e-01 2.21479641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.951400513 meters 0.08521040650527402 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.04, Z:0.02 [[ 0.99937649 0.03249223 0.01381617 2.05011688] [-0.03254188 0.99946464 0.00338473 -0.03533945] [-0.0136988 -0.00383222 0.99989882 0.02140702] [ 0. 0. 0. 1. ]] SLAMing on 1.981400513 meters 0.08521040650527402 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.03, Z:0.02 [[ 9.99367533e-01 3.27143960e-02 1.39392163e-02 2.08259656e+00] [-3.27266525e-02 9.99464127e-01 6.52027716e-04 -3.20074930e-02] [-1.39104160e-02 -1.10779922e-03 9.99902632e-01 2.15259657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.011400513 meters 0.08521040650527402 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.03, Z:0.02 [[ 9.99359435e-01 3.29511122e-02 1.39622025e-02 2.11516087e+00] [-3.29632113e-02 9.99456363e-01 6.37255629e-04 -3.10048350e-02] [-1.39336138e-02 -1.09708646e-03 9.99902321e-01 2.16743136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041400513 meters 0.08641999879378667 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.03, Z:0.02 [[ 0.99944188 0.03112985 0.01211854 2.14979573] [-0.03110064 0.9995129 -0.00259184 -0.02878213] [-0.01219332 0.0022135 0.99992321 0.01942816] [ 0. 0. 0. 1. ]] SLAMing on 2.071400513 meters 0.08641999879378667 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.03, Z:0.02 [[ 9.99436862e-01 3.13327242e-02 1.20091482e-02 2.18246716e+00] [-3.13401578e-02 9.99508684e-01 4.31260871e-04 -3.03370214e-02] [-1.19897353e-02 -8.07386612e-04 9.99927795e-01 1.96203445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101400513 meters 0.0878397784285159 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.03, Z:0.02 [[ 9.99486176e-01 3.04353259e-02 1.00536173e-02 2.21334679e+00] [-3.04404946e-02 9.99536515e-01 3.61463096e-04 -2.87132559e-02] [-1.00379564e-02 -6.67314452e-04 9.99949396e-01 1.68271946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.131400513 meters 0.08533571521444662 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.03, Z:0.01 [[ 9.99528802e-01 2.94494987e-02 8.65448978e-03 2.24409694e+00] [-2.94532902e-02 9.99566109e-01 3.10944173e-04 -2.61070582e-02] [-8.64157753e-03 -5.65700856e-04 9.99962501e-01 1.47638744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1614005130000002 meters 0.08533571521444662 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.03, Z:0.01 [[ 9.99523347e-01 2.96340513e-02 8.65457569e-03 2.27666954e+00] [-2.96378290e-02 9.99560655e-01 3.08547477e-04 -2.50813722e-02] [-8.64162984e-03 -5.64903242e-04 9.99962501e-01 1.49251923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191400513 meters 0.08533571521444662 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.02, Z:0.02 [[ 9.99517858e-01 2.98186067e-02 8.65463260e-03 2.30924235e+00] [-2.98223776e-02 9.99555167e-01 3.06949519e-04 -2.40623885e-02] [-8.64162992e-03 -5.64903247e-04 9.99962501e-01 1.50865176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.221400513 meters 0.08626650048589747 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.03, Z:0.02 [[ 0.99949964 0.03021472 0.00935683 2.33890889] [-0.03024367 0.99953815 0.00296822 -0.02635229] [-0.00926283 -0.00324972 0.99995182 0.01661388] [ 0. 0. 0. 1. ]] SLAMing on 2.251400513 meters 0.08626650048589747 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.02, Z:0.02 [[ 9.99492005e-01 3.04333186e-02 9.46281691e-03 2.37139400e+00] [-3.04389326e-02 9.99536527e-01 4.49786414e-04 -2.32324975e-02] [-9.44474266e-03 -7.37595971e-04 9.99955125e-01 1.67408302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.281400513 meters 0.08240649344956455 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.03, Z:0.02 [[ 9.99538711e-01 2.80035042e-02 1.17545116e-02 2.40500869e+00] [-2.79828803e-02 9.99606567e-01 -1.91539572e-03 -2.95850791e-02] [-1.18035248e-02 1.58558708e-03 9.99929079e-01 1.86276458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311400513 meters 0.08131408830158438 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.03, Z:0.02 [[ 9.99564980e-01 2.62405176e-02 1.34642483e-02 2.43507918e+00] [-2.62492415e-02 9.99655318e-01 4.71593493e-04 -2.81697766e-02] [-1.34472325e-02 -8.24814646e-04 9.99909242e-01 2.38030982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341400513 meters 0.08131408830158438 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.03, Z:0.02 [[ 9.99560046e-01 2.64277286e-02 1.34643560e-02 2.46764509e+00] [-2.64364281e-02 9.99650387e-01 4.68511062e-04 -2.71716289e-02] [-1.34472670e-02 -8.24254418e-04 9.99909242e-01 2.39615513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371400513 meters 0.08020916037460979 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.03, Z:0.02 [[ 9.99618950e-01 2.39015281e-02 1.38083626e-02 2.49885425e+00] [-2.39104476e-02 9.99713989e-01 4.81195832e-04 -3.02627952e-02] [-1.37929119e-02 -8.11176602e-04 9.99904544e-01 2.49470740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401400513 meters 0.08020916037460979 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.03, Z:0.03 [[ 9.99614421e-01 2.40901430e-02 1.38084830e-02 2.53141503e+00] [-2.40990327e-02 9.99709462e-01 4.77730883e-04 -2.92697526e-02] [-1.37929625e-02 -8.10317764e-04 9.99904544e-01 2.51054965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.431400513 meters 0.08132349553213783 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.03, Z:0.03 [[ 9.99674862e-01 2.18182561e-02 1.31960014e-02 2.56089563e+00] [-2.18261917e-02 9.99761676e-01 4.57629958e-04 -2.94570032e-02] [-1.31828718e-02 -7.45499621e-04 9.99912824e-01 2.61411014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461400513 meters 0.07623616247873519 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.04, Z:0.03 [[ 9.99712768e-01 1.97378135e-02 1.35941052e-02 2.59239232e+00] [-1.97460367e-02 9.99804917e-01 4.70939907e-04 -3.68140130e-02] [-1.35821579e-02 -7.39234339e-04 9.99907485e-01 2.54910822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.491400513 meters 0.06892931502228881 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.05, Z:0.02 [[ 9.99725966e-01 1.91493689e-02 1.34645617e-02 2.62204715e+00] [-1.91449060e-02 9.99816614e-01 -4.60278028e-04 -4.55928584e-02] [-1.34709065e-02 2.02374128e-04 9.99909243e-01 2.48232500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521400513 meters 0.06870223216547856 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.05, Z:0.02 [[ 0.99982408 0.01490172 0.0113909 2.65301419] [-0.01486705 0.9998846 -0.00312274 -0.04863526] [-0.01143612 0.00295285 0.99993025 0.02355854] [ 0. 0. 0. 1. ]] SLAMing on 2.551400513 meters 0.07348291537080695 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:0.03 [[ 0.99984994 0.01185727 0.01262932 2.68498636] [-0.01192189 0.99991616 0.00505385 -0.04456692] [-0.01256833 -0.00520366 0.99990748 0.02884945] [ 0. 0. 0. 1. ]] SLAMing on 2.581400513 meters 0.04725696216667603 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.05, Z:-0.01 [[ 9.99917502e-01 8.76239183e-03 -9.39202818e-03 2.71585866e+00] [-8.76580936e-03 9.99961527e-01 -3.22772119e-04 -4.99347987e-02] [ 9.38883859e-03 4.05074220e-04 9.99955842e-01 -7.53681383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.611400513 meters 0.09590967901221242 Centerline is valid? [True, True] Translation: X:2.74, Y:0.02, Z:-0.03 [[ 0.99972598 0.00658818 -0.02246222 2.74156157] [-0.00683681 0.99991602 -0.01100996 0.02015611] [ 0.0223878 0.01116052 0.99968707 -0.02618815] [ 0. 0. 0. 1. ]] SLAMing on 2.641400513 meters 0.09590967901221242 Centerline is valid? [True, True] Translation: X:2.77, Y:0.01, Z:-0.03 [[ 9.99716781e-01 6.20800817e-03 -2.29742934e-02 2.76948934e+00] [-6.22998339e-03 9.99980202e-01 -8.85062394e-04 1.28921949e-02] [ 2.29683441e-02 1.02794119e-03 9.99735664e-01 -2.58350183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671400513 meters 0.06810463569140797 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.05, Z:-0.02 [[ 0.99984205 0.00747429 -0.01612486 2.79878358] [-0.00730933 0.9999206 0.01026515 -0.05330565] [ 0.0162003 -0.01014567 0.99981729 -0.01621552] [ 0. 0. 0. 1. ]] SLAMing on 2.701400513 meters 0.07282964157606374 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.04, Z:-0.00 [[ 9.99952837e-01 7.26740001e-03 -6.44279831e-03 2.82671757e+00] [-7.26900672e-03 9.99973555e-01 -2.25998679e-04 -4.13416507e-02] [ 6.44098550e-03 2.72820765e-04 9.99979219e-01 -1.05927710e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731400513 meters 0.06491671400285492 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.04, Z:0.02 [[ 9.99956058e-01 8.97004622e-03 2.72388224e-03 2.85425327e+00] [-8.97548187e-03 9.99957740e-01 1.98993072e-03 -4.25158728e-02] [-2.70591736e-03 -2.01429144e-03 9.99994310e-01 1.68584273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.761400513 meters 0.0538505845772681 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.04, Z:0.02 [[ 9.99944561e-01 8.18121871e-03 6.62892674e-03 2.88715745e+00] [-8.17053320e-03 9.99965280e-01 -1.63743306e-03 -3.72422620e-02] [-6.64209278e-03 1.58318042e-03 9.99976688e-01 2.47489031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791400513 meters 0.04165812933309131 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.04, Z:0.02 [[ 9.99950544e-01 9.56292109e-03 2.73129312e-03 2.91993394e+00] [-9.56321418e-03 9.99954267e-01 9.42661601e-05 -4.17094606e-02] [-2.73026675e-03 -1.20381439e-04 9.99996266e-01 1.69790766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821400513 meters 0.04165812933309131 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.04, Z:0.02 [[ 9.99948658e-01 9.75809075e-03 2.73131551e-03 2.95246040e+00] [-9.75838279e-03 9.99952381e-01 9.36188729e-05 -4.07187127e-02] [-2.73027191e-03 -1.20267289e-04 9.99996266e-01 1.71315858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851400513 meters 0.04583070645720509 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.03, Z:0.00 [[ 9.99919069e-01 1.19059323e-02 -4.48388128e-03 2.98328414e+00] [-1.19067478e-02 9.99929100e-01 -1.55223501e-04 -3.26244127e-02] [ 4.48171530e-03 2.08599382e-04 9.99989935e-01 4.48316544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881400513 meters 0.04583070645720509 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.03, Z:0.00 [[ 9.99919635e-01 1.18582186e-02 -4.48390704e-03 3.01162617e+00] [-1.18590303e-02 9.99929667e-01 -1.54476048e-04 -3.15692752e-02] [ 4.48175986e-03 2.07638423e-04 9.99989935e-01 4.61608265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.911400513 meters 0.08675694880255191 Centerline is valid? [True, True] Translation: X:3.04, Y:0.03, Z:0.04 [[ 9.98745735e-01 4.75663454e-02 1.56332574e-02 3.03928429e+00] [-4.75805772e-02 9.98867257e-01 5.39462937e-04 2.68773157e-02] [-1.55898886e-02 -1.28262572e-03 9.99877648e-01 3.54438902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941400513 meters 0.08770844576554176 Centerline is valid? [True, True] Translation: X:3.07, Y:0.07, Z:0.03 [[ 9.98981573e-01 4.30426771e-02 1.35330695e-02 3.06835414e+00] [-4.30529283e-02 9.99072684e-01 4.66941010e-04 6.81096686e-02] [-1.35004217e-02 -1.04910374e-03 9.99908315e-01 2.81676988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.971400513 meters 0.08770844576554176 Centerline is valid? [True, True] Translation: X:3.10, Y:0.07, Z:0.03 [[ 9.98973436e-01 4.32310942e-02 1.35331875e-02 3.10097108e+00] [-4.32413165e-02 9.99064549e-01 4.63513514e-04 6.90977922e-02] [-1.35004896e-02 -1.04823053e-03 9.99908315e-01 2.83205919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001400513 meters 0.08770844576554176 Centerline is valid? [True, True] Translation: X:3.13, Y:0.07, Z:0.03 [[ 9.98965263e-01 4.34195140e-02 1.35332747e-02 3.13358824e+00] [-4.34297190e-02 9.99056378e-01 4.60961191e-04 7.00790188e-02] [-1.35004897e-02 -1.04823054e-03 9.99908315e-01 2.84734360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.031400513 meters 0.09309287771352441 Centerline is valid? [True, True] Translation: X:3.16, Y:0.08, Z:0.03 [[ 9.98961845e-01 4.30556823e-02 1.48809022e-02 3.16430687e+00] [-4.30679513e-02 9.99072018e-01 5.04852293e-04 7.99039362e-02] [-1.48453562e-02 -1.14521815e-03 9.99889146e-01 3.19753463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061400513 meters 0.08736972675048182 Centerline is valid? [True, True] Translation: X:3.20, Y:0.08, Z:0.03 [[ 9.98979518e-01 4.21205250e-02 1.63028867e-02 3.19695511e+00] [-4.21350844e-02 9.99111771e-01 5.50451623e-04 7.57521566e-02] [-1.62652207e-02 -1.23681340e-03 9.99866948e-01 3.27504441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.091400513 meters 0.08736972675048182 Centerline is valid? [True, True] Translation: X:3.23, Y:0.08, Z:0.03 [[ 9.98971654e-01 4.23065768e-02 1.63029927e-02 3.22957123e+00] [-4.23211098e-02 9.99103911e-01 5.47307210e-04 7.67133001e-02] [-1.62652290e-02 -1.23670513e-03 9.99866948e-01 3.29032843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121400513 meters 0.08966700570891371 Centerline is valid? [True, True] Translation: X:3.26, Y:0.08, Z:0.03 [[ 9.99020756e-01 4.07771132e-02 1.71684506e-02 3.26103532e+00] [-4.07930128e-02 9.99167452e-01 5.76769854e-04 7.66076965e-02] [-1.71306380e-02 -1.27655788e-03 9.99852445e-01 3.40201204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151400513 meters 0.08966700570891371 Centerline is valid? [True, True] Translation: X:3.29, Y:0.08, Z:0.03 [[ 9.99013142e-01 4.09631722e-02 1.71685833e-02 3.29364822e+00] [-4.09790315e-02 9.99159843e-01 5.72810267e-04 7.75621456e-02] [-1.71306948e-02 -1.27579690e-03 9.99852445e-01 3.41729838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.181400513 meters 0.08930081412998024 Centerline is valid? [True, True] Translation: X:3.32, Y:0.08, Z:0.04 [[ 9.99077632e-01 3.94371264e-02 1.69881987e-02 3.32306004e+00] [-3.94524537e-02 9.99221287e-01 5.67906533e-04 8.04495389e-02] [-1.69525732e-02 -1.23760884e-03 9.99855529e-01 3.53558553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211400513 meters 0.08930081412998024 Centerline is valid? [True, True] Translation: X:3.36, Y:0.08, Z:0.04 [[ 9.99070367e-01 3.96206866e-02 1.69883332e-02 3.35566987e+00] [-3.96359720e-02 9.99214027e-01 5.63871425e-04 8.13921142e-02] [-1.69526399e-02 -1.23669633e-03 9.99855529e-01 3.55087122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.241400513 meters 0.07384137373115773 Centerline is valid? [True, True] Translation: X:3.39, Y:0.07, Z:0.03 [[ 9.99181842e-01 3.87195327e-02 1.16809689e-02 3.38626686e+00] [-3.87267052e-02 9.99249764e-01 3.88378036e-04 7.44889604e-02] [-1.16571676e-02 -8.40425720e-04 9.99931700e-01 2.58106792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271400513 meters 0.07384137373115773 Centerline is valid? [True, True] Translation: X:3.42, Y:0.08, Z:0.03 [[ 9.99174359e-01 3.89121136e-02 1.16810741e-02 3.41887004e+00] [-3.89192622e-02 9.99242284e-01 3.85202924e-04 7.54345508e-02] [-1.16572341e-02 -8.39503672e-04 9.99931700e-01 2.59635034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.301400513 meters 0.06912217901333834 Centerline is valid? [True, True] Translation: X:3.45, Y:0.08, Z:0.01 [[ 9.99249902e-01 3.87248900e-02 1.31158456e-04 3.44848793e+00] [-3.87248909e-02 9.99249910e-01 4.33531260e-06 8.10659708e-02] [-1.30892191e-04 -9.41115757e-06 9.99999991e-01 9.03917919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331400513 meters 0.06912217901333834 Centerline is valid? [True, True] Translation: X:3.48, Y:0.08, Z:0.01 [[ 9.99250817e-01 3.87012636e-02 1.31154692e-04 3.47770927e+00] [-3.87012645e-02 9.99250825e-01 4.44913608e-06 8.20707960e-02] [-1.30884247e-04 -9.52165530e-06 9.99999991e-01 9.17617480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.361400513 meters 0.07055111128673701 Centerline is valid? [True, True] Translation: X:3.51, Y:0.09, Z:-0.01 [[ 9.99184512e-01 3.85475910e-02 -1.20164219e-02 3.50637823e+00] [-3.85551464e-02 9.99256395e-01 -3.97656027e-04 8.57978538e-02] [ 1.19921577e-02 8.60626647e-04 9.99927721e-01 -9.96963514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.391400513 meters 0.07055111128673701 Centerline is valid? [True, True] Translation: X:3.53, Y:0.09, Z:-0.01 [[ 9.99187237e-01 3.84768937e-02 -1.20164008e-02 3.53392026e+00] [-3.84844517e-02 9.99259120e-01 -3.98290142e-04 8.68285890e-02] [ 1.19921732e-02 8.60411024e-04 9.99927721e-01 -9.84049259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421400513 meters 0.07728148744993583 Centerline is valid? [True, True] Translation: X:3.56, Y:0.09, Z:-0.02 [[ 9.99078538e-01 3.85726431e-02 -1.88208867e-02 3.56200754e+00] [-3.85912257e-02 9.99254886e-01 -6.25012414e-04 8.98761257e-02] [ 1.87827546e-02 1.35075758e-03 9.99822676e-01 -2.08916049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.451400513 meters 0.0827819420780357 Centerline is valid? [True, True] Translation: X:3.59, Y:0.09, Z:-0.02 [[ 9.99094574e-01 3.84455282e-02 -1.82201683e-02 3.59050309e+00] [-3.84629377e-02 9.99259844e-01 -6.05913216e-04 9.02326182e-02] [ 1.81833879e-02 1.30616581e-03 9.99833815e-01 -1.85684284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481400513 meters 0.0827819420780357 Centerline is valid? [True, True] Translation: X:3.62, Y:0.09, Z:-0.02 [[ 9.99097279e-01 3.83751714e-02 -1.82201293e-02 3.61804691e+00] [-3.83925905e-02 9.99262548e-01 -6.07086382e-04 9.12687795e-02] [ 1.81833958e-02 1.30605631e-03 9.99833815e-01 -1.84392700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.511400513 meters 0.07283411301790144 Centerline is valid? [True, True] Translation: X:3.65, Y:0.09, Z:0.01 [[ 9.99322240e-01 3.65839176e-02 -4.08386883e-03 3.64838434e+00] [-3.65847780e-02 9.99330544e-01 -1.36145032e-04 8.60310202e-02] [ 4.07615414e-03 2.85460192e-04 9.99991652e-01 7.02874387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541400513 meters 0.07283411301790144 Centerline is valid? [True, True] Translation: X:3.68, Y:0.09, Z:0.01 [[ 9.99324008e-01 3.65355955e-02 -4.08386938e-03 3.67676174e+00] [-3.65364554e-02 9.99332312e-01 -1.36128480e-04 8.70545162e-02] [ 4.07616910e-03 2.85246569e-04 9.99991652e-01 7.16179108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.571400513 meters 0.07103726068992519 Centerline is valid? [True, True] Translation: X:3.70, Y:0.10, Z:0.00 [[ 9.99312144e-01 3.65675292e-02 -6.16889068e-03 3.70385442e+00] [-3.65694946e-02 9.99331091e-01 -2.06060824e-04 9.58689101e-02] [ 6.15722912e-03 4.31512298e-04 9.99980951e-01 4.32832166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6014005129999997 meters 0.07510174172444864 Centerline is valid? [True, True] Translation: X:3.73, Y:0.10, Z:0.01 [[ 9.98871540e-01 4.74224484e-02 -2.59951063e-03 3.73360645e+00] [-4.74228342e-02 9.98874901e-01 -8.69413330e-05 1.03695583e-01] [ 2.59246295e-03 2.10119385e-04 9.99996617e-01 1.22092674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.631400513 meters 0.08530513838260322 Centerline is valid? [True, True] Translation: X:3.76, Y:0.12, Z:0.02 [[ 9.98629470e-01 5.22574819e-02 2.88733339e-03 3.76263690e+00] [-5.22579781e-02 9.98633614e-01 9.66204213e-05 1.21623908e-01] [-2.87833904e-03 -2.47374205e-04 9.99995827e-01 2.30227476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.661400513 meters 0.0859763870148885 Centerline is valid? [True, True] Translation: X:3.79, Y:0.13, Z:0.03 [[ 9.98345268e-01 5.73050078e-02 4.78134240e-03 3.79303937e+00] [-5.73064257e-02 9.98356624e-01 1.59954511e-04 1.25516507e-01] [-4.76431867e-03 -4.33691472e-04 9.99988557e-01 2.69113351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691400513 meters 0.10036695350090263 Centerline is valid? [True, False] Translation: X:3.79, Y:0.12, Z:0.03 [[ 9.98669241e-01 5.15390923e-02 1.86268350e-03 3.79106099e+00] [-5.15599051e-02 9.98575029e-01 1.37654537e-02 1.19156401e-01] [-1.15057024e-03 -1.38431749e-02 9.99903517e-01 3.00100034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.721400513 meters 0.10698725217436164 Centerline is valid? [False, False] Translation: X:3.79, Y:0.12, Z:0.03 [[ 9.99080598e-01 4.28602977e-02 -9.76986349e-04 3.78918514e+00] [-4.28241464e-02 9.98789516e-01 2.41990809e-02 1.15473269e-01] [ 2.01298353e-03 -2.41349936e-02 9.99706682e-01 3.27193735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751400513 meters 0.10260428435426415 Centerline is valid? [False, False] Translation: X:3.76, Y:0.13, Z:0.03 [[ 0.99913248 0.04134271 0.0050066 3.76258752] [-0.0413977 0.99907736 0.01143048 0.12788548] [-0.00452941 -0.01162783 0.99992214 0.02929675] [ 0. 0. 0. 1. ]] SLAMing on 3.781400513 meters 0.09248769953464718 Centerline is valid? [False, True] Translation: X:3.76, Y:0.12, Z:0.03 [[ 9.99441004e-01 3.34240444e-02 7.15789056e-04 3.76019313e+00] [-3.34316931e-02 9.99191278e-01 2.23408269e-02 1.23678349e-01] [ 3.15106091e-05 -2.23522685e-02 9.99750156e-01 3.36061241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811400513 meters 0.10324846418657269 Centerline is valid? [True, False] Translation: X:3.76, Y:0.14, Z:0.03 [[ 9.99709856e-01 2.40372204e-02 1.55446780e-03 3.75687533e+00] [-2.40526239e-02 9.99652415e-01 1.07945069e-02 1.35599970e-01] [-1.29445755e-03 -1.08287640e-02 9.99940529e-01 3.39950203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841400513 meters 0.0834331967791558 Centerline is valid? [False, True] Translation: X:3.73, Y:0.14, Z:0.06 [[ 9.99567422e-01 -2.55644051e-03 2.92990417e-02 3.72996761e+00] [ 2.38138513e-03 9.99979116e-01 6.00811891e-03 1.36818396e-01] [-2.93137892e-02 -5.93574762e-03 9.99552634e-01 5.80100012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8714005129999998 meters 0.08087954248911192 Centerline is valid? [True, True] Translation: X:3.76, Y:0.12, Z:0.03 [[ 9.99764615e-01 -1.81656716e-02 1.18626687e-02 3.76320081e+00] [ 1.81559746e-02 9.99834739e-01 9.24630976e-04 1.19175842e-01] [-1.18775048e-02 -7.09035021e-04 9.99929209e-01 2.53530708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901400513 meters 0.08252123207157429 Centerline is valid? [True, True] Translation: X:3.80, Y:0.12, Z:-0.01 [[ 9.99889324e-01 -1.34356098e-02 -6.38939349e-03 3.79549271e+00] [ 1.34332744e-02 9.99909686e-01 -4.08284844e-04 1.20308133e-01] [ 6.39430199e-03 3.22409181e-04 9.99979504e-01 -7.33489901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.931400513 meters 0.07416905639687112 Centerline is valid? [True, True] Translation: X:3.83, Y:0.04, Z:-0.02 [[ 9.99447852e-01 -2.79437986e-02 -1.79759893e-02 3.83176756e+00] [ 2.78802451e-02 9.99604137e-01 -3.77646054e-03 3.85446409e-02] [ 1.80744020e-02 3.27320039e-03 9.99831287e-01 -1.85916191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961400513 meters 0.07249535978113317 Centerline is valid? [True, True] Translation: X:3.86, Y:0.04, Z:-0.01 [[ 9.99475218e-01 -2.80188166e-02 -1.62552943e-02 3.86098707e+00] [ 2.79942063e-02 9.99606572e-01 -1.73960460e-03 3.70799160e-02] [ 1.62976406e-02 1.28363762e-03 9.99866361e-01 -1.45222651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.991400513 meters 0.07249535978113317 Centerline is valid? [True, True] Translation: X:3.89, Y:0.04, Z:-0.01 [[ 9.99469312e-01 -2.81959945e-02 -1.63119758e-02 3.88844703e+00] [ 2.81776517e-02 9.99602015e-01 -1.35328632e-03 3.91771852e-02] [ 1.63436412e-02 8.92934970e-04 9.99866035e-01 -1.36225343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021400513 meters 0.06772728303091156 Centerline is valid? [True, True] Translation: X:3.92, Y:0.04, Z:-0.01 [[ 9.99511194e-01 -2.77494023e-02 -1.43994170e-02 3.91683174e+00] [ 2.77249323e-02 9.99613792e-01 -1.89626161e-03 4.06667363e-02] [ 1.44464759e-02 1.49611185e-03 9.99894525e-01 -9.87925927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051400513 meters 0.06772728303091156 Centerline is valid? [True, True] Translation: X:3.94, Y:0.04, Z:-0.01 [[ 9.99505267e-01 -2.79200004e-02 -1.44808347e-02 3.94431281e+00] [ 2.79049042e-02 9.99609809e-01 -1.24354311e-03 4.25505540e-02] [ 1.45099041e-02 8.38841583e-04 9.99894374e-01 -8.97150458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081400513 meters 0.06430507058889498 Centerline is valid? [True, True] Translation: X:3.97, Y:0.04, Z:-0.01 [[ 9.99546390e-01 -2.64949233e-02 -1.43190088e-02 3.97458786e+00] [ 2.64699052e-02 9.99647740e-01 -1.93393279e-03 4.05733541e-02] [ 1.43652042e-02 1.55403274e-03 9.99895607e-01 -8.77358465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1114005129999995 meters 0.06430507058889498 Centerline is valid? [True, True] Translation: X:4.00, Y:0.04, Z:-0.01 [[ 9.99540593e-01 -2.66647706e-02 -1.44080552e-02 4.00207934e+00] [ 2.66494540e-02 9.99644054e-01 -1.25403885e-03 4.24259807e-02] [ 1.44363653e-02 8.69495932e-04 9.99895412e-01 -7.85377707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141400513 meters 0.0675190734547141 Centerline is valid? [True, True] Translation: X:4.03, Y:0.04, Z:-0.01 [[ 9.99573904e-01 -2.47630146e-02 -1.54532798e-02 4.03159466e+00] [ 2.47315285e-02 9.99691652e-01 -2.22532092e-03 4.18367540e-02] [ 1.55036205e-02 1.84218949e-03 9.99878115e-01 -9.74706098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171400513 meters 0.0675190734547141 Centerline is valid? [True, True] Translation: X:4.06, Y:0.04, Z:-0.01 [[ 9.99568056e-01 -2.49260563e-02 -1.55690037e-02 4.05911202e+00] [ 2.49079671e-02 9.99688831e-01 -1.35473674e-03 4.35176228e-02] [ 1.55979273e-02 9.66359338e-04 9.99877878e-01 -8.79856894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201400513 meters 0.07524978378991445 Centerline is valid? [True, True] Translation: X:4.09, Y:0.05, Z:-0.01 [[ 9.99622465e-01 -2.27004489e-02 -1.54795939e-02 4.08743746e+00] [ 2.27538968e-02 9.99735698e-01 3.28543430e-03 5.46048822e-02] [ 1.54009218e-02 -3.63641501e-03 9.99874786e-01 -5.97488749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231400513 meters 0.07354894766708976 Centerline is valid? [True, True] Translation: X:4.12, Y:0.06, Z:-0.01 [[ 9.99686451e-01 -1.97321935e-02 -1.54155981e-02 4.11711447e+00] [ 1.97145846e-02 9.99804812e-01 -1.29342285e-03 6.48589484e-02] [ 1.54381113e-02 9.89105183e-04 9.99880336e-01 -5.94022067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261400513 meters 0.07354894766708976 Centerline is valid? [True, True] Translation: X:4.14, Y:0.07, Z:-0.01 [[ 9.99682745e-01 -1.99188672e-02 -1.54158396e-02 4.14453991e+00] [ 1.99013245e-02 9.99801116e-01 -1.29054849e-03 6.73029809e-02] [ 1.54384799e-02 9.83343434e-04 9.99880336e-01 -5.07278043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291400513 meters 0.07354894766708976 Centerline is valid? [True, True] Translation: X:4.17, Y:0.07, Z:-0.00 [[ 9.99679008e-01 -2.01057215e-02 -1.54155976e-02 4.17196449e+00] [ 2.00881568e-02 9.99797376e-01 -1.29342952e-03 6.97570262e-02] [ 1.54384794e-02 9.83343399e-04 9.99880336e-01 -4.20547332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321400513 meters 0.08115743507335207 Centerline is valid? [True, True] Translation: X:4.20, Y:0.08, Z:-0.00 [[ 9.99740962e-01 -1.59847376e-02 -1.62017889e-02 4.20096436e+00] [ 1.59033934e-02 9.99860336e-01 -5.13717049e-03 8.31232148e-02] [ 1.62816424e-02 4.87817635e-03 9.99855545e-01 -2.48383071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351400513 meters 0.08339541629138354 Centerline is valid? [True, True] Translation: X:4.23, Y:0.09, Z:-0.00 [[ 9.99817745e-01 -1.16928969e-02 -1.50914580e-02 4.23230073e+00] [ 1.16885832e-02 9.99931616e-01 -3.74009031e-04 8.62531882e-02] [ 1.50947992e-02 1.97543104e-04 9.99886048e-01 -8.69802976e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381400513 meters 0.08339541629138354 Centerline is valid? [True, True] Translation: X:4.26, Y:0.09, Z:0.00 [[ 9.99815945e-01 -1.19087384e-02 -1.50418669e-02 4.25969628e+00] [ 1.18908024e-02 9.99928481e-01 -1.28128316e-03 8.94770573e-02] [ 1.50560496e-02 1.10218747e-03 9.99886044e-01 2.47141511e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.411400513 meters 0.09010674753272796 Centerline is valid? [True, True] Translation: X:4.29, Y:0.11, Z:0.01 [[ 9.99884664e-01 -7.60082038e-03 -1.31485916e-02 4.28741276e+00] [ 7.58184407e-03 9.99970144e-01 -1.49246620e-03 1.06779622e-01] [ 1.31595430e-02 1.39260349e-03 9.99912440e-01 5.68455828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441400513 meters 0.09010674753272796 Centerline is valid? [True, True] Translation: X:4.31, Y:0.11, Z:0.01 [[ 9.99882599e-01 -7.77261964e-03 -1.32051050e-02 4.31490309e+00] [ 7.75802275e-03 9.99969238e-01 -1.15626351e-03 1.08970500e-01] [ 1.32136859e-02 1.05368226e-03 9.99912140e-01 6.58728559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471400513 meters 0.09276822822758041 Centerline is valid? [True, True] Translation: X:4.34, Y:0.12, Z:0.01 [[ 9.99912697e-01 -4.44053188e-03 -1.24450947e-02 4.34449884e+00] [ 4.42243771e-03 9.99989124e-01 -1.48106277e-03 1.19371878e-01] [ 1.24515361e-02 1.42589581e-03 9.99921460e-01 9.05799207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501400513 meters 0.09276822822758041 Centerline is valid? [True, True] Translation: X:4.37, Y:0.12, Z:0.01 [[ 9.99911095e-01 -4.61773638e-03 -1.25091654e-02 4.37200042e+00] [ 4.60440572e-03 9.99988801e-01 -1.09426172e-03 1.21535951e-01] [ 1.25140784e-02 1.03656716e-03 9.99921159e-01 9.96364070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531400513 meters 0.09235833576424293 Centerline is valid? [True, True] Translation: X:4.40, Y:0.12, Z:0.01 [[ 9.99930993e-01 -1.61522572e-03 -1.16361408e-02 4.40215437e+00] [ 1.64731533e-03 9.99994865e-01 2.74869732e-03 1.21967615e-01] [ 1.16316413e-02 -2.76767604e-03 9.99928520e-01 8.26011740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561400513 meters 0.09235833576424293 Centerline is valid? [True, True] Translation: X:4.43, Y:0.13, Z:0.01 [[ 9.99934293e-01 -1.80173867e-03 -1.13209421e-02 4.42935821e+00] [ 1.79097162e-03 9.99997934e-01 -9.61140200e-04 1.27551277e-01] [ 1.13226505e-02 9.40801560e-04 9.99935454e-01 9.17204079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591400513 meters 0.09493724503074245 Centerline is valid? [True, True] Translation: X:4.46, Y:0.14, Z:0.01 [[ 9.99934939e-01 3.39902615e-05 -1.14068741e-02 4.45894557e+00] [-4.50624275e-05 9.99999528e-01 -9.70401721e-04 1.36268679e-01] [ 1.14068357e-02 9.70852607e-04 9.99934469e-01 9.97475128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621400513 meters 0.09493724503074245 Centerline is valid? [True, True] Translation: X:4.49, Y:0.14, Z:0.01 [[ 9.99934925e-01 -1.48683652e-04 -1.14071574e-02 4.48640581e+00] [ 1.37660946e-04 9.99999523e-01 -9.67076529e-04 1.38743434e-01] [ 1.14072958e-02 9.65443277e-04 9.99934469e-01 1.08469639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651400513 meters 0.09285080504105801 Centerline is valid? [True, True] Translation: X:4.52, Y:0.15, Z:0.01 [[ 9.99935353e-01 5.97923014e-04 -1.13548313e-02 4.51549873e+00] [-6.08952912e-04 9.99999346e-01 -9.67951185e-04 1.46181983e-01] [ 1.13542451e-02 9.74803168e-04 9.99935063e-01 1.16626473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681400513 meters 0.09285080504105801 Centerline is valid? [True, True] Translation: X:4.54, Y:0.15, Z:0.01 [[ 9.99935391e-01 5.29388361e-04 -1.13548878e-02 4.54297487e+00] [-5.40406418e-04 9.99999386e-01 -9.67289769e-04 1.48640950e-01] [ 1.13543688e-02 9.73363527e-04 9.99935063e-01 1.25353301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711400513 meters 0.09071367069922917 Centerline is valid? [True, True] Translation: X:4.57, Y:0.15, Z:0.01 [[ 9.99928450e-01 1.71039782e-05 -1.19622552e-02 4.57219863e+00] [-2.92879020e-05 9.99999481e-01 -1.01835622e-03 1.51500971e-01] [ 1.19622316e-02 1.01863371e-03 9.99927931e-01 1.18210501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741400513 meters 0.09311051423431911 Centerline is valid? [True, True] Translation: X:4.60, Y:0.22, Z:0.01 [[ 9.99757401e-01 1.18721873e-02 -1.85523732e-02 4.59725082e+00] [-1.19036581e-02 9.99927890e-01 -1.58681134e-03 2.20020436e-01] [ 1.85321965e-02 1.80726749e-03 9.99826631e-01 7.11835648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771400513 meters 0.09311051423431911 Centerline is valid? [True, True] Translation: X:4.62, Y:0.22, Z:0.01 [[ 9.99759606e-01 1.16846896e-02 -1.85525849e-02 4.62472426e+00] [-1.17160830e-02 9.99930109e-01 -1.58433901e-03 2.22505268e-01] [ 1.85327757e-02 1.80132177e-03 9.99826631e-01 7.99100362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801400513 meters 0.09802344841815332 Centerline is valid? [True, True] Translation: X:4.65, Y:0.24, Z:0.01 [[ 9.99738348e-01 9.79499970e-03 -2.06710884e-02 4.65315020e+00] [-9.83370746e-03 9.99950078e-01 -1.77173716e-03 2.36901064e-01] [ 2.06527023e-02 1.97454702e-03 9.99784760e-01 5.68546470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831400513 meters 0.09164330074197083 Centerline is valid? [True, True] Translation: X:4.68, Y:0.23, Z:0.01 [[ 9.99757640e-01 8.83174694e-03 -2.01658258e-02 4.68391911e+00] [-8.86839704e-03 9.99959181e-01 -1.72872964e-03 2.32322877e-01] [ 2.01497349e-02 1.90714922e-03 9.99795155e-01 6.08408663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8614005129999995 meters 0.09313134449504222 Centerline is valid? [True, True] Translation: X:4.71, Y:0.24, Z:0.01 [[ 9.99768433e-01 7.52814778e-03 -2.01595260e-02 4.71298111e+00] [-7.56451444e-03 9.99969895e-01 -1.72829500e-03 2.37181349e-01] [ 2.01459083e-02 1.88039182e-03 9.99795282e-01 7.32624157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891400513 meters 0.10160234883731274 Centerline is valid? [True, False] Translation: X:4.72, Y:0.23, Z:0.00 [[ 9.99918257e-01 1.69220577e-03 -1.26734113e-02 4.71534231e+00] [-1.58312475e-03 9.99961661e-01 8.61216854e-03 2.32887447e-01] [ 1.26874990e-02 -8.59140096e-03 9.99882601e-01 2.53242409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921400513 meters 0.09110618628042076 Centerline is valid? [False, True] Translation: X:4.73, Y:0.25, Z:0.00 [[ 9.99972406e-01 9.03789761e-04 -7.37369004e-03 4.73229072e+00] [-9.30477293e-04 9.99993027e-01 -3.61666390e-03 2.46015426e-01] [ 7.37036992e-03 3.62342516e-03 9.99966274e-01 1.04569384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.951400513 meters 0.09159152693305189 Centerline is valid? [True, True] Translation: X:4.76, Y:0.25, Z:-0.00 [[ 9.99946971e-01 6.94122725e-04 -1.02749374e-02 4.76081523e+00] [-7.03598692e-04 9.99999331e-01 -9.18654800e-04 2.50052170e-01] [ 1.02742929e-02 9.25835516e-04 9.99946789e-01 -3.33975520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981400513 meters 0.08622375059986624 Centerline is valid? [True, True] Translation: X:4.79, Y:0.25, Z:-0.00 [[ 9.99938149e-01 1.98306429e-03 -1.09437111e-02 4.79143413e+00] [-1.99392208e-03 9.99997531e-01 -9.81327192e-04 2.45458517e-01] [ 1.09417381e-02 1.00308740e-03 9.99939634e-01 -4.61422369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011400513 meters 0.09496447700398097 Centerline is valid? [True, True] Translation: X:4.82, Y:0.26, Z:-0.00 [[ 9.99930002e-01 4.29779381e-03 -1.10235873e-02 4.82003505e+00] [-4.30895235e-03 9.99990228e-01 -9.88691221e-04 2.60614693e-01] [ 1.10192304e-02 1.03612213e-03 9.99938750e-01 -3.37889012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041400513 meters 0.0979569859865338 Centerline is valid? [True, True] Translation: X:4.85, Y:0.27, Z:-0.00 [[ 9.99919785e-01 6.67942893e-03 -1.07614160e-02 4.85029559e+00] [-6.69019985e-03 9.99977155e-01 -9.65194849e-04 2.68887550e-01] [ 1.07547232e-02 1.03711345e-03 9.99941628e-01 -2.41627922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0714005129999995 meters 0.09246323802815633 Centerline is valid? [True, True] Translation: X:4.88, Y:0.27, Z:-0.00 [[ 9.99903282e-01 8.77521968e-03 -1.07899546e-02 4.88113701e+00] [-8.78616836e-03 9.99960933e-01 -9.67726586e-04 2.68107235e-01] [ 1.07810410e-02 1.06243535e-03 9.99941318e-01 -2.67346091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101400513 meters 0.09186273980579306 Centerline is valid? [True, True] Translation: X:4.91, Y:0.27, Z:-0.00 [[ 9.99882578e-01 1.02942470e-02 -1.13515612e-02 4.91102245e+00] [-1.03064619e-02 9.99946369e-01 -1.01808217e-03 2.72351313e-01] [ 1.13404720e-02 1.13495706e-03 9.99935051e-01 -3.00675656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131400513 meters 0.10226392564350288 Centerline is valid? [True, False] Translation: X:4.91, Y:0.27, Z:-0.00 [[ 9.99824266e-01 1.48200282e-02 -1.14805967e-02 4.91154421e+00] [-1.47778086e-02 9.99883757e-01 3.75361897e-03 2.70448124e-01] [ 1.15348909e-02 -3.58330127e-03 9.99927050e-01 -2.84709574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161400513 meters 0.09806001517862346 Centerline is valid? [False, True] Translation: X:4.93, Y:0.27, Z:0.01 [[ 0.99977517 0.01430951 -0.01564769 4.92972332] [-0.01412763 0.99983206 0.01167287 0.26623115] [ 0.01581209 -0.01144919 0.99980943 0.00500468] [ 0. 0. 0. 1. ]] SLAMing on 5.191400513 meters 0.09428905640866217 Centerline is valid? [True, True] Translation: X:4.96, Y:0.28, Z:0.01 [[ 9.99830918e-01 1.22160603e-02 -1.37442124e-02 4.95956546e+00] [-1.22333764e-02 9.99924477e-01 -1.17651059e-03 2.78206053e-01] [ 1.37288021e-02 1.34444979e-03 9.99904852e-01 8.27419749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221400513 meters 0.09327604726505535 Centerline is valid? [True, True] Translation: X:4.99, Y:0.28, Z:0.01 [[ 9.99867960e-01 1.01057225e-02 -1.27254405e-02 4.98818071e+00] [-1.01203968e-02 9.99948194e-01 -1.08927854e-03 2.84589102e-01] [ 1.27137733e-02 1.21792122e-03 9.99918435e-01 1.09536216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251400513 meters 0.08965930942263056 Centerline is valid? [True, True] Translation: X:5.02, Y:0.29, Z:0.01 [[ 9.99927952e-01 5.27759077e-03 -1.07813699e-02 5.01704217e+00] [-5.28784645e-03 9.99985593e-01 -9.22956262e-04 2.89073703e-01] [ 1.07763436e-02 9.79899993e-04 9.99941453e-01 1.47006115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2814005129999995 meters 0.08589323148677594 Centerline is valid? [True, True] Translation: X:5.05, Y:0.29, Z:0.02 [[ 9.99938697e-01 3.04493670e-03 -1.06456571e-02 5.04734629e+00] [-3.05481352e-03 9.99994918e-01 -9.11641347e-04 2.88244279e-01] [ 1.06428271e-02 9.44105959e-04 9.99942918e-01 1.52395177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311400513 meters 0.08715811425376951 Centerline is valid? [True, True] Translation: X:5.08, Y:0.29, Z:0.02 [[ 9.99936227e-01 1.24378807e-03 -1.12247657e-02 5.07796170e+00] [-1.25465748e-03 9.99998751e-01 -9.61351830e-04 2.91451355e-01] [ 1.12235559e-02 9.75373758e-04 9.99936538e-01 1.51564271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341400513 meters 0.08809252056934194 Centerline is valid? [True, True] Translation: X:5.11, Y:0.30, Z:0.02 [[ 9.99936548e-01 -1.14568023e-05 -1.12649587e-02 5.10597280e+00] [ 5.93807027e-07 9.99999535e-01 -9.64320237e-04 2.99784082e-01] [ 1.12649645e-02 9.64252360e-04 9.99936083e-01 1.67025605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371400513 meters 0.08073607396901641 Centerline is valid? [True, True] Translation: X:5.14, Y:0.29, Z:0.02 [[ 9.99941833e-01 -5.35773742e-04 -1.07723717e-02 5.13516966e+00] [ 5.25867719e-04 9.99999436e-01 -9.22388266e-04 2.93347708e-01] [ 1.07728598e-02 9.16669771e-04 9.99941551e-01 1.71670778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401400513 meters 0.0809445375317415 Centerline is valid? [True, True] Translation: X:5.16, Y:0.30, Z:0.02 [[ 9.99955800e-01 -5.45102777e-04 -9.38616488e-03 5.16333099e+00] [ 5.37591194e-04 9.99999533e-01 -8.02786867e-04 2.96682192e-01] [ 9.38659810e-03 7.97705465e-04 9.99955627e-01 2.00228926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431400513 meters 0.08562401191471505 Centerline is valid? [True, True] Translation: X:5.19, Y:0.31, Z:0.03 [[ 9.99980602e-01 5.41638739e-04 -6.20504626e-03 5.19189275e+00] [-5.44954812e-04 9.99999710e-01 -5.32737199e-04 3.06711315e-01] [ 6.20475591e-03 5.36108335e-04 9.99980607e-01 2.65544855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461400513 meters 0.087418550095392 Centerline is valid? [True, True] Translation: X:5.22, Y:0.31, Z:0.03 [[ 9.99982795e-01 1.14978454e-03 -5.75225353e-03 5.22007695e+00] [-1.15264271e-03 9.99999214e-01 -4.93588028e-04 3.13300338e-01] [ 5.75168149e-03 5.00209828e-04 9.99983334e-01 2.82618597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.491400513 meters 0.09201652442821184 Centerline is valid? [True, True] Translation: X:5.25, Y:0.32, Z:0.03 [[ 9.99977782e-01 2.31362416e-03 -6.25156421e-03 5.24724028e+00] [-2.31702263e-03 9.99997172e-01 -5.36431484e-04 3.24233315e-01] [ 6.25030543e-03 5.50904582e-04 9.99980315e-01 2.84823132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521400513 meters 0.09427237760940586 Centerline is valid? [True, True] Translation: X:5.28, Y:0.33, Z:0.03 [[ 9.99954678e-01 5.06856368e-03 -8.05927499e-03 5.27705661e+00] [-5.07431216e-03 9.99986885e-01 -6.92987608e-04 3.33696111e-01] [ 8.05565684e-03 7.33851478e-04 9.99967283e-01 2.57085698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551400513 meters 0.09055873982476512 Centerline is valid? [True, True] Translation: X:5.31, Y:0.34, Z:0.02 [[ 9.99940615e-01 6.23461868e-03 -8.93841335e-03 5.30623171e+00] [-6.24173248e-03 9.99980225e-01 -7.68192631e-04 3.35508464e-01] [ 8.93344721e-03 8.23938197e-04 9.99959757e-01 2.47281947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581400513 meters 0.09218183764784571 Centerline is valid? [True, True] Translation: X:5.34, Y:0.34, Z:0.02 [[ 9.99927806e-01 7.53632581e-03 -9.35872421e-03 5.33609365e+00] [-7.54418654e-03 9.99971218e-01 -8.04916939e-04 3.42805890e-01] [ 9.35238873e-03 8.75462791e-04 9.99955882e-01 2.44526029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6114005129999995 meters 0.09486037585868923 Centerline is valid? [True, True] Translation: X:5.36, Y:0.35, Z:0.02 [[ 9.99914974e-01 8.50932834e-03 -9.88107731e-03 5.36378824e+00] [-8.51813538e-03 9.99963359e-01 -8.49559496e-04 3.51503069e-01] [ 9.87348608e-03 9.33655616e-04 9.99950820e-01 2.43788158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641400513 meters 0.09350736879594866 Centerline is valid? [True, True] Translation: X:5.39, Y:0.35, Z:0.02 [[ 9.99895386e-01 9.37668667e-03 -1.10133889e-02 5.39320458e+00] [-9.38769084e-03 9.99955485e-01 -9.47890229e-04 3.54851856e-01] [ 1.10040106e-02 1.05118136e-03 9.99938902e-01 2.29751997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671400513 meters 0.09196958457577652 Centerline is valid? [True, True] Translation: X:5.42, Y:0.36, Z:0.02 [[ 9.99877799e-01 9.62964701e-03 -1.23149120e-02 5.42177927e+00] [-9.64342703e-03 9.99952939e-01 -1.06007759e-03 3.58215236e-01] [ 1.23041243e-02 1.17870600e-03 9.99923607e-01 2.13098894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701400513 meters 0.0953056076019113 Centerline is valid? [True, True] Translation: X:5.45, Y:0.37, Z:0.02 [[ 9.99851701e-01 1.00785726e-02 -1.39641851e-02 5.44996538e+00] [-1.00963455e-02 9.99948307e-01 -1.20282969e-03 3.68791954e-01] [ 1.39513405e-02 1.34363855e-03 9.99901773e-01 1.97184557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731400513 meters 0.08811527818069917 Centerline is valid? [True, True] Translation: X:5.48, Y:0.37, Z:0.02 [[ 9.99853797e-01 9.98046655e-03 -1.38843257e-02 5.47903729e+00] [-9.99803613e-03 9.99949302e-01 -1.19658829e-03 3.67155787e-01] [ 1.38716793e-02 1.33522933e-03 9.99902892e-01 2.04663997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761400513 meters 0.08892346167619976 Centerline is valid? [True, True] Translation: X:5.51, Y:0.37, Z:0.02 [[ 9.99863362e-01 9.38831796e-03 -1.36057521e-02 5.50792108e+00] [-9.40513496e-03 9.99955083e-01 -1.17256245e-03 3.72100550e-01] [ 1.35941326e-02 1.30036617e-03 9.99906750e-01 2.11759819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791400513 meters 0.09177888435780436 Centerline is valid? [True, True] Translation: X:5.54, Y:0.38, Z:0.02 [[ 9.99876717e-01 8.06780488e-03 -1.34707575e-02 5.53637919e+00] [-8.08421010e-03 9.99966645e-01 -1.16383011e-03 3.81612381e-01] [ 1.34609187e-02 1.27258707e-03 9.99908588e-01 2.17723285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8214005129999995 meters 0.0890469193125231 Centerline is valid? [True, True] Translation: X:5.57, Y:0.38, Z:0.02 [[ 9.99878646e-01 7.17660054e-03 -1.38271076e-02 5.56552717e+00] [-7.19380076e-03 9.99973411e-01 -1.19461394e-03 3.82329027e-01] [ 1.38181666e-02 1.29393843e-03 9.99903687e-01 2.15505790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851400513 meters 0.09317408863784825 Centerline is valid? [True, True] Translation: X:5.59, Y:0.39, Z:0.02 [[ 9.99870600e-01 6.26972848e-03 -1.48146777e-02 5.59376476e+00] [-6.28939945e-03 9.99979400e-01 -1.28158524e-03 3.92637709e-01] [ 1.48063373e-02 1.37459482e-03 9.99889435e-01 2.02587937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881400513 meters 0.09182952398693486 Centerline is valid? [True, True] Translation: X:5.62, Y:0.39, Z:0.02 [[ 9.99859012e-01 5.02053819e-03 -1.60234394e-02 5.62419524e+00] [-5.04339901e-03 9.99986321e-01 -1.38662110e-03 3.94432505e-01] [ 1.60162586e-02 1.46723820e-03 9.99870655e-01 1.91022107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.911400513 meters 0.0829292272022936 Centerline is valid? [True, True] Translation: X:5.66, Y:0.39, Z:0.02 [[ 9.99861780e-01 3.80936804e-03 -1.61836312e-02 5.65533912e+00] [-3.83253302e-03 9.99991675e-01 -1.40061047e-03 3.86650731e-01] [ 1.61781611e-02 1.46244118e-03 9.99868055e-01 1.88964417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941400513 meters 0.08684241729511906 Centerline is valid? [True, True] Translation: X:5.68, Y:0.40, Z:0.02 [[ 9.99885029e-01 1.53444181e-03 -1.50855715e-02 5.68416559e+00] [-1.55432025e-03 9.99997939e-01 -1.30607604e-03 3.97751835e-01] [ 1.50835363e-02 1.32937369e-03 9.99885353e-01 2.24434427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971400513 meters 0.0792985758931344 Centerline is valid? [True, True] Translation: X:5.71, Y:0.39, Z:0.02 [[ 9.99893831e-01 6.04880131e-04 -1.45588911e-02 5.71337423e+00] [-6.23297199e-04 9.99999011e-01 -1.26050061e-03 3.91364953e-01] [ 1.45581143e-02 1.26944130e-03 9.99893219e-01 2.33931611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001400513 meters 0.08852445246776326 Centerline is valid? [True, True] Translation: X:5.74, Y:0.40, Z:0.03 [[ 9.99901050e-01 -3.60828898e-05 -1.40672883e-02 5.74004278e+00] [ 1.89433870e-05 9.99999257e-01 -1.21852557e-03 4.04760503e-01] [ 1.40673218e-02 1.21813851e-03 9.99900308e-01 2.56557456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0314005129999995 meters 0.08045307307331742 Centerline is valid? [True, True] Translation: X:5.77, Y:0.40, Z:0.03 [[ 9.99910593e-01 -4.16836364e-04 -1.33653588e-02 5.76983526e+00] [ 4.01397684e-04 9.99999249e-01 -1.15778828e-03 3.97385389e-01] [ 1.33658314e-02 1.15231995e-03 9.99910009e-01 2.67122301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061400513 meters 0.07915294382035569 Centerline is valid? [True, True] Translation: X:5.80, Y:0.40, Z:0.03 [[ 9.99919943e-01 -5.03150059e-04 -1.26433815e-02 5.79874216e+00] [ 4.89316446e-04 9.99999278e-01 -1.09720838e-03 3.99208967e-01] [ 1.26439244e-02 1.09093393e-03 9.99919467e-01 2.82497175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091400513 meters 0.09063966619779831 Centerline is valid? [True, True] Translation: X:5.83, Y:0.42, Z:0.03 [[ 9.99936158e-01 1.55144956e-03 -1.11925679e-02 5.82624268e+00] [-1.56245149e-03 9.99998305e-01 -9.74290424e-04 4.19799596e-01] [ 1.11910374e-02 9.91716067e-04 9.99936887e-01 3.25831415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121400513 meters 0.09300873866633426 Centerline is valid? [True, True] Translation: X:5.85, Y:0.43, Z:0.03 [[ 9.99928149e-01 2.78364816e-03 -1.16596839e-02 5.85491928e+00] [-2.79566816e-03 9.99995577e-01 -1.01473106e-03 4.26695874e-01] [ 1.16568077e-02 1.04725475e-03 9.99931509e-01 3.25613964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151400513 meters 0.08617078157276065 Centerline is valid? [True, True] Translation: X:5.89, Y:0.42, Z:0.03 [[ 9.99911898e-01 3.62329724e-03 -1.27698009e-02 5.88509665e+00] [-3.63778740e-03 9.99992765e-01 -1.11167632e-03 4.21884051e-01] [ 1.27656806e-02 1.15803220e-03 9.99917845e-01 3.05628838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181400513 meters 0.0927808750492849 Centerline is valid? [True, True] Translation: X:5.91, Y:0.43, Z:0.03 [[ 9.99910557e-01 4.01364785e-03 -1.27581110e-02 5.91251325e+00] [-4.02814114e-03 9.99991270e-01 -1.11051250e-03 4.31366008e-01] [ 1.27535425e-02 1.16180464e-03 9.99917995e-01 3.07987311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211400513 meters 0.0936565282789039 Centerline is valid? [True, True] Translation: X:5.94, Y:0.44, Z:0.03 [[ 9.99924822e-01 3.49041228e-03 -1.17544422e-02 5.94020400e+00] [-3.50269254e-03 9.99993341e-01 -1.02430922e-03 4.36263657e-01] [ 1.17507887e-02 1.06540441e-03 9.99930390e-01 3.35528053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241400513 meters 0.08336852358236636 Centerline is valid? [True, True] Translation: X:5.97, Y:0.43, Z:0.03 [[ 9.99940375e-01 2.42031311e-03 -1.06483757e-02 5.97117957e+00] [-2.43033840e-03 9.99996616e-01 -9.28646587e-04 4.26503097e-01] [ 1.06460921e-02 9.54470373e-04 9.99942873e-01 3.44574274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271400513 meters 0.08162054992919426 Centerline is valid? [True, True] Translation: X:6.00, Y:0.43, Z:0.04 [[ 9.99946163e-01 8.30057283e-04 -1.03432323e-02 6.00070215e+00] [-8.39436241e-04 9.99999240e-01 -9.02464097e-04 4.27243218e-01] [ 1.03424754e-02 9.11097995e-04 9.99946100e-01 3.52908291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301400513 meters 0.07900399874408198 Centerline is valid? [True, True] Translation: X:6.03, Y:0.43, Z:0.04 [[ 9.99940124e-01 -1.25133280e-03 -1.08711695e-02 6.03175514e+00] [ 1.24108879e-03 9.99998780e-01 -9.49005591e-04 4.26756608e-01] [ 1.08723438e-02 9.35456681e-04 9.99940457e-01 3.51864611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331400513 meters 0.08531241095321111 Centerline is valid? [True, True] Translation: X:6.06, Y:0.44, Z:0.04 [[ 9.99907338e-01 -6.29049016e-03 -1.20724990e-02 6.06062496e+00] [ 6.27822230e-03 9.99979736e-01 -1.05381136e-03 4.35016529e-01] [ 1.20788834e-02 9.77919879e-04 9.99926569e-01 3.50725460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3614005129999995 meters 0.07664608452413188 Centerline is valid? [True, True] Translation: X:6.09, Y:0.43, Z:0.04 [[ 9.99892138e-01 -8.92832816e-03 -1.16617618e-02 6.09206981e+00] [ 8.91705598e-03 9.99959724e-01 -1.01823321e-03 4.25307657e-01] [ 1.16703833e-02 9.14134800e-04 9.99931481e-01 3.55116460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391400513 meters 0.07387570043778212 Centerline is valid? [True, True] Translation: X:6.12, Y:0.42, Z:0.04 [[ 9.99882149e-01 -1.10566310e-02 -1.06507734e-02 6.12268171e+00] [ 1.10473504e-02 9.99938544e-01 -9.29796352e-04 4.22551875e-01] [ 1.06603992e-02 8.12023949e-04 9.99942847e-01 3.79930500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421400513 meters 0.06896741065097411 Centerline is valid? [True, True] Translation: X:6.15, Y:0.42, Z:0.04 [[ 9.99866487e-01 -1.30185953e-02 -9.87540750e-03 6.15284354e+00] [ 1.30107102e-02 9.99914985e-01 -8.62278861e-04 4.17636215e-01] [ 9.88579361e-03 7.33677671e-04 9.99950865e-01 4.02173853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.451400513 meters 0.06535560414422767 Centerline is valid? [True, True] Translation: X:6.18, Y:0.41, Z:0.04 [[ 9.99847179e-01 -1.47025069e-02 -9.45810590e-03 6.18290401e+00] [ 1.46953472e-02 9.99891676e-01 -8.26050976e-04 4.13871999e-01] [ 9.46922639e-03 6.86934588e-04 9.99954930e-01 4.22333716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481400513 meters 0.07828280252333764 Centerline is valid? [True, True] Translation: X:6.21, Y:0.43, Z:0.04 [[ 9.99841657e-01 -1.47943721e-02 -9.88878228e-03 6.20961760e+00] [ 1.47865508e-02 9.99890300e-01 -8.63574564e-04 4.28706779e-01] [ 9.90047353e-03 7.17216842e-04 9.99950732e-01 4.43191414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511400513 meters 0.07074003899716994 Centerline is valid? [True, True] Translation: X:6.24, Y:0.42, Z:0.04 [[ 9.99844285e-01 -1.47480849e-02 -9.69020279e-03 6.23891226e+00] [ 1.47405699e-02 9.99890994e-01 -8.46499263e-04 4.18847681e-01] [ 9.70163074e-03 7.03528339e-04 9.99952691e-01 4.31321178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541400513 meters 0.06692040957007858 Centerline is valid? [True, True] Translation: X:6.27, Y:0.42, Z:0.04 [[ 9.99840963e-01 -1.51858790e-02 -9.35081794e-03 6.26813480e+00] [ 1.51789004e-02 9.99884460e-01 -8.16834222e-04 4.18721261e-01] [ 9.36214190e-03 6.74769181e-04 9.99955947e-01 4.46270682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5714005129999995 meters 0.07040321454005864 Centerline is valid? [True, True] Translation: X:6.30, Y:0.42, Z:0.05 [[ 9.99826179e-01 -1.60910784e-02 -9.41749681e-03 6.29572256e+00] [ 1.60840135e-02 9.99870303e-01 -8.25455572e-04 4.24294424e-01] [ 9.42955786e-03 6.73840944e-04 9.99955314e-01 4.61100687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601400513 meters 0.06836127343729853 Centerline is valid? [True, True] Translation: X:6.33, Y:0.42, Z:0.05 [[ 9.99796343e-01 -1.74181631e-02 -1.01921114e-02 6.32572796e+00] [ 1.74099457e-02 9.99848035e-01 -8.94425293e-04 4.22091860e-01] [ 1.02061418e-02 7.16799032e-04 9.99947659e-01 4.55422649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631400513 meters 0.06836127343729853 Centerline is valid? [True, True] Translation: X:6.35, Y:0.42, Z:0.05 [[ 9.99792940e-01 -1.76123877e-02 -1.01922309e-02 6.35312811e+00] [ 1.76041941e-02 9.99844635e-01 -8.93066072e-04 4.24648029e-01] [ 1.02063764e-02 7.13455142e-04 9.99947659e-01 4.60848450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661400513 meters 0.062398125119551055 Centerline is valid? [True, True] Translation: X:6.38, Y:0.42, Z:0.05 [[ 9.99713083e-01 -2.12735901e-02 -1.10084466e-02 6.38363577e+00] [ 2.12642086e-02 9.99773422e-01 -9.68570789e-04 4.19581566e-01] [ 1.10265573e-02 7.34206985e-04 9.99938936e-01 4.53237580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691400513 meters 0.06728540972996291 Centerline is valid? [True, True] Translation: X:6.41, Y:0.43, Z:0.05 [[ 9.99670041e-01 -2.33294783e-02 -1.07491798e-02 6.41212541e+00] [ 2.33206502e-02 9.99727589e-01 -9.45911245e-04 4.26878313e-01] [ 1.07683192e-02 6.94921272e-04 9.99941778e-01 4.75614357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721400513 meters 0.06608611008463852 Centerline is valid? [True, True] Translation: X:6.44, Y:0.43, Z:0.05 [[ 9.99638352e-01 -2.49894446e-02 -9.93440640e-03 6.44232890e+00] [ 2.49819824e-02 9.99687519e-01 -8.74544611e-04 4.27036306e-01] [ 9.95315647e-03 6.26047167e-04 9.99950270e-01 4.93748642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751400513 meters 0.06151599020520144 Centerline is valid? [True, True] Translation: X:6.47, Y:0.42, Z:0.05 [[ 9.99616917e-01 -2.60818037e-02 -9.26064970e-03 6.47164148e+00] [ 2.60753688e-02 9.99659648e-01 -8.14948183e-04 4.22965383e-01] [ 9.27875314e-03 5.73161134e-04 9.99956787e-01 5.00890447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7814005129999995 meters 0.06389772139014939 Centerline is valid? [True, True] Translation: X:6.50, Y:0.43, Z:0.05 [[ 9.99551670e-01 -2.80935545e-02 -1.03542936e-02 6.50007372e+00] [ 2.80856090e-02 9.99605105e-01 -9.12005943e-04 4.27980649e-01] [ 1.03758262e-02 6.20790422e-04 9.99945977e-01 4.92293298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811400513 meters 0.056614875348160044 Centerline is valid? [True, True] Translation: X:6.53, Y:0.42, Z:0.05 [[ 9.99525848e-01 -2.87810589e-02 -1.09420697e-02 6.52948169e+00] [ 2.87722373e-02 9.99585530e-01 -9.62810133e-04 4.21775638e-01] [ 1.09652452e-02 6.47525791e-04 9.99939670e-01 4.73693843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841400513 meters 0.059918947690700865 Centerline is valid? [True, True] Translation: X:6.56, Y:0.43, Z:0.05 [[ 9.99511504e-01 -2.91943451e-02 -1.11554087e-02 6.55675642e+00] [ 2.91851716e-02 9.99573538e-01 -9.84273896e-04 4.28343768e-01] [ 1.11793866e-02 6.58220563e-04 9.99937292e-01 4.82766918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871400513 meters 0.06194979269559679 Centerline is valid? [True, True] Translation: X:6.58, Y:0.43, Z:0.05 [[ 9.99499990e-01 -2.98182979e-02 -1.05184999e-02 6.58469777e+00] [ 2.98101748e-02 9.99555147e-01 -9.28244316e-04 4.32869167e-01] [ 1.05414993e-02 6.14221865e-04 9.99944248e-01 5.02722533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901400513 meters 0.055356431730332334 Centerline is valid? [True, True] Translation: X:6.61, Y:0.43, Z:0.05 [[ 9.99475123e-01 -3.08777940e-02 -9.80000046e-03 6.61449220e+00] [ 3.08707802e-02 9.99523009e-01 -8.66203440e-04 4.26432787e-01] [ 9.82207240e-03 5.63215130e-04 9.99951604e-01 5.12073891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931400513 meters 0.05353395477822866 Centerline is valid? [True, True] Translation: X:6.64, Y:0.43, Z:0.05 [[ 9.99422893e-01 -3.26847906e-02 -9.25125374e-03 6.64441496e+00] [ 3.26785902e-02 9.99465575e-01 -8.20643493e-04 4.25373041e-01] [ 9.27313220e-03 5.17851965e-04 9.99956869e-01 5.24408940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961400513 meters 0.0535751170033787 Centerline is valid? [True, True] Translation: X:6.67, Y:0.43, Z:0.05 [[ 9.99223789e-01 -3.82856818e-02 -9.27502878e-03 6.67418840e+00] [ 3.82796863e-02 9.99266725e-01 -8.23142647e-04 4.26174113e-01] [ 9.29974222e-03 4.67458522e-04 9.99956647e-01 5.45058277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991400512999999 meters 0.04742012855096792 Centerline is valid? [True, True] Translation: X:6.71, Y:0.42, Z:0.05 [[ 9.99087846e-01 -4.15610135e-02 -9.80598965e-03 6.70502925e+00] [ 4.15544677e-02 9.99135861e-01 -8.70418452e-04 4.18850223e-01] [ 9.83369138e-03 4.62141816e-04 9.99951541e-01 5.31202941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021400513 meters 0.04803548556293634 Centerline is valid? [True, True] Translation: X:6.73, Y:0.42, Z:0.05 [[ 9.98939101e-01 -4.49422734e-02 -1.00431204e-02 6.73425561e+00] [ 4.49355793e-02 9.98989489e-01 -8.91315213e-04 4.22203207e-01] [ 1.00730294e-02 4.39076185e-04 9.99949169e-01 5.42134245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051400513 meters 0.040347645528292904 Centerline is valid? [True, True] Translation: X:6.76, Y:0.41, Z:0.05 [[ 9.98763262e-01 -4.85845396e-02 -1.05587905e-02 6.76487206e+00] [ 4.85773406e-02 9.98818984e-01 -9.37362384e-04 4.12974407e-01] [ 1.05918618e-02 4.23285149e-04 9.99943815e-01 5.26395935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081400513 meters 0.035748815240422255 Centerline is valid? [True, True] Translation: X:6.79, Y:0.40, Z:0.05 [[ 9.98364317e-01 -5.62208676e-02 -1.03877417e-02 6.79445696e+00] [ 5.62143108e-02 9.98418299e-01 -9.22342183e-04 4.04709172e-01] [ 1.04231662e-02 3.36893785e-04 9.99945621e-01 5.47079784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1114005129999995 meters 0.03187258702199837 Centerline is valid? [True, True] Translation: X:6.82, Y:0.40, Z:0.06 [[ 9.98162210e-01 -5.97321283e-02 -1.02115186e-02 6.82492883e+00] [ 5.97259703e-02 9.98214399e-01 -9.07211743e-04 4.00773729e-01] [ 1.02474746e-02 2.95651621e-04 9.99947450e-01 5.54906217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141400513 meters 0.02846227726735957 Centerline is valid? [True, True] Translation: X:6.86, Y:0.40, Z:0.06 [[ 9.97976877e-01 -6.27446568e-02 -1.02596448e-02 6.85523011e+00] [ 6.27386006e-02 9.98029577e-01 -9.11388894e-04 3.97824429e-01] [ 1.02966137e-02 2.65869286e-04 9.99946953e-01 5.57589208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171400513 meters 0.024972930048729365 Centerline is valid? [True, True] Translation: X:6.88, Y:0.39, Z:0.06 [[ 9.97702853e-01 -6.68434917e-02 -1.09983806e-02 6.88483765e+00] [ 6.68367748e-02 9.97763444e-01 -9.77558739e-04 3.92794003e-01] [ 1.10391256e-02 2.40216853e-04 9.99939038e-01 5.54650295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201400512999999 meters 0.02350490491061622 Centerline is valid? [True, True] Translation: X:6.91, Y:0.39, Z:0.06 [[ 9.97590346e-01 -6.84037243e-02 -1.15944656e-02 6.91430493e+00] [ 6.83963737e-02 9.97657695e-01 -1.02978142e-03 3.91903401e-01] [ 1.16377487e-02 2.34280604e-04 9.99932252e-01 5.52737754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231400513 meters 0.021550429692667506 Centerline is valid? [True, True] Translation: X:6.94, Y:0.39, Z:0.05 [[ 9.97456747e-01 -7.02293595e-02 -1.21603440e-02 6.94386806e+00] [ 7.02213844e-02 9.97530845e-01 -1.08208750e-03 3.90591398e-01] [ 1.22063125e-02 2.25419294e-04 9.99925475e-01 5.47448812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261400513 meters 0.01835655289720493 Centerline is valid? [True, True] Translation: X:6.97, Y:0.39, Z:0.05 [[ 9.97324027e-01 -7.21111083e-02 -1.20322026e-02 6.97266344e+00] [ 7.21034167e-02 9.97396585e-01 -1.07239498e-03 3.87722420e-01] [ 1.20782094e-02 2.01962359e-04 9.99927035e-01 5.45945751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291400513 meters 0.018341427199699445 Centerline is valid? [True, True] Translation: X:7.00, Y:0.39, Z:0.06 [[ 9.97214151e-01 -7.37546229e-02 -1.11442104e-02 6.99997088e+00] [ 7.37481003e-02 9.97276404e-01 -9.95665729e-04 3.89318617e-01] [ 1.11872930e-02 1.71027608e-04 9.99937406e-01 5.76020722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3214005129999995 meters 0.016789282287349043 Centerline is valid? [True, True] Translation: X:7.03, Y:0.39, Z:0.06 [[ 9.97062326e-01 -7.59712355e-02 -9.75137364e-03 7.02904531e+00] [ 7.59663481e-02 9.97110001e-01 -8.71164022e-04 3.89138759e-01] [ 9.78937559e-03 1.27828582e-04 9.99952075e-01 6.02402693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351400513 meters 0.015138805155408584 Centerline is valid? [True, True] Translation: X:7.06, Y:0.39, Z:0.06 [[ 9.97008350e-01 -7.66603156e-02 -9.87649117e-03 7.05795670e+00] [ 7.66553194e-02 9.97057260e-01 -8.83984048e-04 3.89745971e-01] [ 9.91519373e-03 1.24253892e-04 9.99950836e-01 6.01579488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381400513 meters 0.014771192496176668 Centerline is valid? [True, True] Translation: X:7.09, Y:0.39, Z:0.06 [[ 9.96982248e-01 -7.69261929e-02 -1.04287436e-02 7.08578622e+00] [ 7.69206181e-02 9.97036782e-01 -9.35206311e-04 3.92442898e-01] [ 1.04697828e-02 1.30198685e-04 9.99945182e-01 6.01609530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.411400513 meters 0.015058218563502203 Centerline is valid? [True, True] Translation: X:7.11, Y:0.40, Z:0.06 [[ 9.96977441e-01 -7.69134024e-02 -1.09686328e-02 7.11243994e+00] [ 7.69071969e-02 9.97037767e-01 -9.87058606e-04 3.95616666e-01] [ 1.10120592e-02 1.40508361e-04 9.99939356e-01 6.07856187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441400513 meters 0.01576150241625167 Centerline is valid? [True, True] Translation: X:7.14, Y:0.40, Z:0.06 [[ 9.96985428e-01 -7.67711249e-02 -1.12361122e-02 7.13920116e+00] [ 7.67645969e-02 9.97048732e-01 -1.01174893e-03 3.98981021e-01] [ 1.12806245e-02 1.46163315e-04 9.99936361e-01 6.17401970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471400513 meters 0.016877338106135776 Centerline is valid? [True, True] Translation: X:7.17, Y:0.40, Z:0.06 [[ 9.97065309e-01 -7.58150982e-02 -1.06226332e-02 7.16792576e+00] [ 7.58091987e-02 9.97121883e-01 -9.57511735e-04 4.04410359e-01] [ 1.06646538e-02 1.49408425e-04 9.99943120e-01 6.29577343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501400513 meters 0.01688385124289615 Centerline is valid? [True, True] Translation: X:7.20, Y:0.41, Z:0.06 [[ 9.97107659e-01 -7.53543224e-02 -9.90166584e-03 7.19593383e+00] [ 7.53491484e-02 9.97156810e-01 -8.95081496e-04 4.09098097e-01] [ 9.94096179e-03 1.46410527e-04 9.99950577e-01 6.39975308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5314005129999995 meters 0.017892992867104187 Centerline is valid? [True, True] Translation: X:7.22, Y:0.42, Z:0.07 [[ 9.97112774e-01 -7.53600069e-02 -9.32656508e-03 7.22363794e+00] [ 7.53554148e-02 9.97156382e-01 -8.43305877e-04 4.15440298e-01] [ 9.36359542e-03 1.38063882e-04 9.99956151e-01 6.60722251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561400513 meters 0.023595370819583683 Centerline is valid? [True, True] Translation: X:7.25, Y:0.42, Z:0.07 [[ 9.97093414e-01 -7.56230952e-02 -9.26668625e-03 7.25025738e+00] [ 7.56185647e-02 9.97136465e-01 -8.38813609e-04 4.20816480e-01] [ 9.30358444e-03 1.35642012e-04 9.99956712e-01 6.67484747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591400513 meters 0.01752408726904007 Centerline is valid? [True, True] Translation: X:7.28, Y:0.42, Z:0.07 [[ 9.97046956e-01 -7.62783861e-02 -8.88679942e-03 7.27815336e+00] [ 7.62742499e-02 9.97086552e-01 -8.03924981e-04 4.24009050e-01] [ 8.92223029e-03 1.23716996e-04 9.99960188e-01 6.80973982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621400513 meters 0.016004483763602313 Centerline is valid? [True, True] Translation: X:7.31, Y:0.42, Z:0.07 [[ 9.96769667e-01 -8.00014251e-02 -7.07126916e-03 7.30748642e+00] [ 7.99988936e-02 9.96794747e-01 -6.40578629e-04 4.23159555e-01] [ 7.09985115e-03 7.28156376e-05 9.99974793e-01 7.05474990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651400513 meters 0.012726977335168492 Centerline is valid? [True, True] Translation: X:7.34, Y:0.42, Z:0.07 [[ 9.96519531e-01 -8.31289304e-02 -6.19716267e-03 7.33517930e+00] [ 8.31270332e-02 9.96538799e-01 -5.63538978e-04 4.22368326e-01] [ 6.22255944e-03 4.64258516e-05 9.99980639e-01 7.19314776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681400513 meters 0.010345500681169555 Centerline is valid? [True, True] Translation: X:7.36, Y:0.42, Z:0.07 [[ 9.96183280e-01 -8.70791895e-02 -6.00725443e-03 7.36408543e+00] [ 8.70774857e-02 9.96201392e-01 -5.45078724e-04 4.20591653e-01] [ 6.03190025e-03 1.99016993e-05 9.99981808e-01 7.13579094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711400513 meters 0.010158144620492743 Centerline is valid? [True, True] Translation: X:7.39, Y:0.41, Z:0.07 [[ 9.95381309e-01 -9.57780292e-02 -6.52829934e-03 7.39254730e+00] [ 9.57761973e-02 9.95402716e-01 -5.93386301e-04 4.14312451e-01] [ 6.55512026e-03 -3.46100526e-05 9.99978514e-01 6.93811628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741400512999999 meters 0.012411144359595734 Centerline is valid? [True, True] Translation: X:7.42, Y:0.41, Z:0.07 [[ 9.94958868e-01 -1.00002403e-01 -7.50803238e-03 7.42061139e+00] [ 1.00000075e-01 9.94987193e-01 -6.85820177e-04 4.11929869e-01] [ 7.53897973e-03 -6.84409339e-05 9.99971579e-01 6.93438910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771400513 meters 0.015791741966276328 Centerline is valid? [True, True] Translation: X:7.45, Y:0.41, Z:0.07 [[ 9.94576050e-01 -1.03666905e-01 -8.46480051e-03 7.44884274e+00] [ 1.03664065e-01 9.94612066e-01 -7.74678811e-04 4.08097071e-01] [ 8.49950127e-03 -1.07018641e-04 9.99963873e-01 6.96831583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801400513 meters 0.018292574488048444 Centerline is valid? [True, True] Translation: X:7.48, Y:0.41, Z:0.07 [[ 9.94230878e-01 -1.06871484e-01 -9.13492313e-03 7.47832430e+00] [ 1.06868317e-01 9.94272832e-01 -8.35552382e-04 4.05167569e-01] [ 9.17190262e-03 -1.45501882e-04 9.99957927e-01 6.95854411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831400513 meters 0.02599334699078251 Centerline is valid? [True, True] Translation: X:7.51, Y:0.40, Z:0.07 [[ 9.93645688e-01 -1.12139130e-01 -9.64685961e-03 7.50857859e+00] [ 1.12135815e-01 9.93692495e-01 -8.85605187e-04 3.99164068e-01] [ 9.68532299e-03 -2.01780686e-04 9.99953076e-01 6.87354356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8614005129999995 meters 0.025468267713288847 Centerline is valid? [True, True] Translation: X:7.54, Y:0.39, Z:0.07 [[ 9.93394911e-01 -1.14393076e-01 -8.98746912e-03 7.53639541e+00] [ 1.14390294e-01 9.93435544e-01 -8.24741638e-04 3.94811274e-01] [ 9.02281601e-03 -2.08785087e-04 9.99959272e-01 7.13181985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891400513 meters 0.02457357537968298 Centerline is valid? [True, True] Translation: X:7.57, Y:0.40, Z:0.07 [[ 9.93201104e-01 -1.16126210e-01 -8.14070786e-03 7.56543702e+00] [ 1.16123990e-01 9.93234445e-01 -7.46359000e-04 3.97157953e-01] [ 8.17230329e-03 -2.04046899e-04 9.99966585e-01 7.15203250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921400513 meters 0.025501939790762644 Centerline is valid? [True, True] Translation: X:7.59, Y:0.40, Z:0.07 [[ 9.93102493e-01 -1.17006945e-01 -7.53742685e-03 7.59453603e+00] [ 1.17005060e-01 9.93131077e-01 -6.92103470e-04 3.97239811e-01] [ 7.56663376e-03 -1.94587399e-04 9.99971354e-01 7.28198490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951400512999999 meters 0.026297565976499168 Centerline is valid? [True, True] Translation: X:7.62, Y:0.39, Z:0.07 [[ 9.93165126e-01 -1.16398370e-01 -8.62851408e-03 7.62322392e+00] [ 1.16395860e-01 9.93202584e-01 -7.94275777e-04 3.94702521e-01] [ 8.66231488e-03 -2.15476312e-04 9.99962458e-01 7.25905182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981400513 meters 0.023376344599442628 Centerline is valid? [True, True] Translation: X:7.65, Y:0.40, Z:0.07 [[ 9.93271161e-01 -1.15382338e-01 -9.96580714e-03 7.65218831e+00] [ 1.15378916e-01 9.93321126e-01 -9.19606445e-04 3.98889393e-01] [ 1.00053531e-02 -2.36425461e-04 9.99949917e-01 7.06634342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011400513 meters 0.024366140894549748 Centerline is valid? [True, True] Translation: X:7.68, Y:0.40, Z:0.07 [[ 9.93432347e-01 -1.13905263e-01 -1.08518252e-02 7.67993421e+00] [ 1.13901082e-01 9.93491588e-01 -1.00453240e-03 3.98543913e-01] [ 1.08956185e-02 -2.38099643e-04 9.99940613e-01 7.14291704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041400513 meters 0.021910171344636988 Centerline is valid? [True, True] Translation: X:7.71, Y:0.40, Z:0.07 [[ 9.93601309e-01 -1.12401438e-01 -1.10614578e-02 7.70883288e+00] [ 1.12397002e-01 9.93662853e-01 -1.02382587e-03 4.03256737e-01] [ 1.11064392e-02 -2.25999974e-04 9.99938296e-01 7.13963451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071400513 meters 0.021449545129837197 Centerline is valid? [True, True] Translation: X:7.74, Y:0.41, Z:0.07 [[ 9.93772132e-01 -1.10925485e-01 -1.06059846e-02 7.73616443e+00] [ 1.10921297e-01 9.93828706e-01 -9.84077210e-04 4.05652457e-01] [ 1.06496912e-02 -1.98481059e-04 9.99943271e-01 7.38779734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101400513 meters 0.019374755238688476 Centerline is valid? [True, True] Translation: X:7.76, Y:0.41, Z:0.08 [[ 9.93932393e-01 -1.09542024e-01 -9.94705696e-03 7.76469110e+00] [ 1.09538277e-01 9.93982150e-01 -9.22410734e-04 4.10225507e-01] [ 9.98823981e-03 -1.72769572e-04 9.99950101e-01 7.58517564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131400512999999 meters 0.01687905539135318 Centerline is valid? [True, True] Translation: X:7.79, Y:0.42, Z:0.08 [[ 9.94277020e-01 -1.06378337e-01 -9.84161275e-03 7.79246693e+00] [ 1.06374497e-01 9.94325717e-01 -9.14288118e-04 4.15713285e-01] [ 9.88302910e-03 -1.37840938e-04 9.99951152e-01 7.73854857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161400513 meters 0.01905311459162561 Centerline is valid? [True, True] Translation: X:7.82, Y:0.42, Z:0.08 [[ 9.94477311e-01 -1.04519570e-01 -9.51516315e-03 7.81983876e+00] [ 1.04515874e-01 9.94522824e-01 -8.86211449e-04 4.20859386e-01] [ 9.55567336e-03 -1.13168417e-04 9.99954337e-01 7.82387674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191400513 meters 0.013128526293349376 Centerline is valid? [True, True] Translation: X:7.85, Y:0.43, Z:0.08 [[ 9.94679586e-01 -1.02708229e-01 -7.97125368e-03 7.84727607e+00] [ 1.02705584e-01 9.94711523e-01 -7.41579818e-04 4.27171827e-01] [ 8.00526423e-03 -8.10579549e-05 9.99967954e-01 8.03900723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221400512999999 meters 0.01126759577387058 Centerline is valid? [True, True] Translation: X:7.87, Y:0.44, Z:0.09 [[ 9.95256120e-01 -9.71942018e-02 -4.30622352e-03 7.87413766e+00] [ 9.71933732e-02 9.95265435e-01 -4.01757554e-04 4.35762902e-01] [ 4.32488393e-03 -1.86847253e-05 9.99990647e-01 8.83392623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251400513 meters 0.010455341733134903 Centerline is valid? [True, True] Translation: X:7.90, Y:0.44, Z:0.09 [[ 9.95572918e-01 -9.38883095e-02 -4.42152871e-03 7.90213164e+00] [ 9.38874094e-02 9.95582737e-01 -4.11136905e-04 4.43378857e-01] [ 4.44059861e-03 -5.80910818e-06 9.99990140e-01 8.89703932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281400513 meters 0.01006016026644398 Centerline is valid? [True, True] Translation: X:7.93, Y:0.45, Z:0.09 [[ 9.95878077e-01 -9.05101739e-02 -5.89606423e-03 7.92997458e+00] [ 9.05085020e-02 9.95895531e-01 -5.50330198e-04 4.51809564e-01] [ 5.92167449e-03 1.44178390e-05 9.99982467e-01 8.64664948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311400513 meters 0.013985682242509448 Centerline is valid? [True, True] Translation: X:7.96, Y:0.47, Z:0.08 [[ 9.96483211e-01 -8.34055263e-02 -8.04541622e-03 7.95668788e+00] [ 8.34021493e-02 9.96515686e-01 -7.54917354e-04 4.67789272e-01] [ 8.08034774e-03 8.12574638e-05 9.99967350e-01 8.33743884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341400513 meters 0.01791818080786811 Centerline is valid? [True, True] Translation: X:7.98, Y:0.48, Z:0.08 [[ 9.96773837e-01 -7.98603168e-02 -8.01550947e-03 7.98380226e+00] [ 7.98568462e-02 9.96806058e-01 -7.52619669e-04 4.77632170e-01] [ 8.05001284e-03 1.10098288e-04 9.99967592e-01 8.49910099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371400513 meters 0.020431512017948565 Centerline is valid? [True, True] Translation: X:8.01, Y:0.49, Z:0.09 [[ 9.97038690e-01 -7.65378593e-02 -7.47037897e-03 8.01245791e+00] [ 7.65347464e-02 9.97066668e-01 -7.02101898e-04 4.85293157e-01] [ 7.50220324e-03 1.28279196e-04 9.99971850e-01 8.59491652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401400513 meters 0.02320704328000315 Centerline is valid? [True, True] Translation: X:8.04, Y:0.49, Z:0.09 [[ 9.97266305e-01 -7.35729367e-02 -6.85129567e-03 8.04165079e+00] [ 7.35702460e-02 9.97289829e-01 -6.44266987e-04 4.93129771e-01] [ 6.88012811e-03 1.38454249e-04 9.99976322e-01 8.75041035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431400513 meters 0.024995850589330973 Centerline is valid? [True, True] Translation: X:8.07, Y:0.50, Z:0.09 [[ 9.97426657e-01 -7.14091191e-02 -6.38754720e-03 8.06988607e+00] [ 7.14067479e-02 9.97447100e-01 -5.98807401e-04 4.99652570e-01] [ 6.41400075e-03 1.41152491e-04 9.99979420e-01 8.83365467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461400513 meters 0.02702849387754023 Centerline is valid? [True, True] Translation: X:8.10, Y:0.51, Z:0.09 [[ 9.97549069e-01 -6.96633083e-02 -6.54819315e-03 8.09743860e+00] [ 6.96607610e-02 9.97570548e-01 -6.16559990e-04 5.06148671e-01] [ 6.57523624e-03 1.58896726e-04 9.99978370e-01 8.81999596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491400513 meters 0.02893431641293575 Centerline is valid? [True, True] Translation: X:8.13, Y:0.51, Z:0.09 [[ 9.97712964e-01 -6.71177884e-02 -8.00275145e-03 8.12579578e+00] [ 6.71139062e-02 9.97745036e-01 -7.52984266e-04 5.12488626e-01] [ 8.03524418e-03 2.14166254e-04 9.99967694e-01 8.51053317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521400513 meters 0.03038880512644002 Centerline is valid? [True, True] Translation: X:8.15, Y:0.52, Z:0.08 [[ 9.97779775e-01 -6.60346401e-02 -8.65721944e-03 8.15406237e+00] [ 6.60300407e-02 9.97817302e-01 -8.16344559e-04 5.17487972e-01] [ 8.69223036e-03 2.42895538e-04 9.99962192e-01 8.47091650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551400512999999 meters 0.03038880512644002 Centerline is valid? [True, True] Translation: X:8.18, Y:0.52, Z:0.09 [[ 9.97766839e-01 -6.62298262e-02 -8.65710551e-03 8.18140130e+00] [ 6.62252237e-02 9.97804365e-01 -8.17550082e-04 5.20246596e-01] [ 8.69224387e-03 2.42405612e-04 9.99962192e-01 8.52510903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581400513 meters 0.03284652819503887 Centerline is valid? [True, True] Translation: X:8.21, Y:0.53, Z:0.09 [[ 9.97875827e-01 -6.45623930e-02 -8.69092545e-03 8.20912255e+00] [ 6.45576663e-02 9.97913638e-01 -8.23604469e-04 5.26278342e-01] [ 8.72596692e-03 2.60789125e-04 9.99961894e-01 8.56834035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611400513 meters 0.03272682944093457 Centerline is valid? [True, True] Translation: X:8.24, Y:0.53, Z:0.09 [[ 9.98034786e-01 -6.21067936e-02 -8.32534572e-03 8.23837587e+00] [ 6.21023597e-02 9.98069473e-01 -7.90299760e-04 5.29173431e-01] [ 8.35835640e-03 2.71723038e-04 9.99965031e-01 8.58177531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641400513 meters 0.042480755500025336 Centerline is valid? [True, True] Translation: X:8.27, Y:0.55, Z:0.09 [[ 9.98401090e-01 -5.60867732e-02 -7.03831879e-03 8.26680552e+00] [ 5.60834515e-02 9.98425861e-01 -6.68598117e-04 5.45357474e-01] [ 7.06473901e-03 2.72795878e-04 9.99975007e-01 8.98250781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671400513 meters 0.04462299686503211 Centerline is valid? [True, True] Translation: X:8.30, Y:0.55, Z:0.09 [[ 9.98564160e-01 -5.30252333e-02 -7.61205313e-03 8.29629370e+00] [ 5.30212582e-02 9.98593122e-01 -7.23217161e-04 5.50904476e-01] [ 7.63969266e-03 3.18578102e-04 9.99970766e-01 8.89832006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701400513 meters 0.048113420856352646 Centerline is valid? [True, True] Translation: X:8.33, Y:0.56, Z:0.09 [[ 9.98712251e-01 -4.99393824e-02 -8.93860000e-03 8.32603870e+00] [ 4.99337765e-02 9.98752170e-01 -8.49380130e-04 5.57973601e-01] [ 8.96986366e-03 4.01948287e-04 9.99959689e-01 8.76974257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731400513 meters 0.05231546354052115 Centerline is valid? [True, True] Translation: X:8.35, Y:0.57, Z:0.09 [[ 9.98862952e-01 -4.65425131e-02 -1.03245873e-02 8.35454412e+00] [ 4.65348517e-02 9.98916185e-01 -9.81175714e-04 5.65656423e-01] [ 1.03590638e-02 4.99606929e-04 9.99946219e-01 8.67377459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761400513 meters 0.05959240666114778 Centerline is valid? [True, True] Translation: X:8.38, Y:0.58, Z:0.08 [[ 9.99074117e-01 -4.11237622e-02 -1.26390561e-02 8.38319120e+00] [ 4.11118419e-02 9.99153828e-01 -1.20161978e-03 5.78070890e-01] [ 1.26777764e-02 6.80892345e-04 9.99919402e-01 8.41668959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791400513 meters 0.05641299141998014 Centerline is valid? [True, True] Translation: X:8.41, Y:0.58, Z:0.08 [[ 9.99163781e-01 -3.86540524e-02 -1.33267473e-02 8.41410913e+00] [ 3.86405774e-02 9.99252370e-01 -1.26722648e-03 5.77205775e-01] [ 1.33657672e-02 7.51213598e-04 9.99910392e-01 8.24692947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821400513 meters 0.06223074215186694 Centerline is valid? [True, True] Translation: X:8.44, Y:0.59, Z:0.08 [[ 9.99326904e-01 -3.39739506e-02 -1.38386870e-02 8.44296468e+00] [ 3.39589739e-02 9.99422361e-01 -1.31585931e-03 5.86006905e-01] [ 1.38753982e-02 8.45025998e-04 9.99903375e-01 8.17318792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851400513 meters 0.06487402706420645 Centerline is valid? [True, True] Translation: X:8.47, Y:0.59, Z:0.08 [[ 9.99393510e-01 -3.20404574e-02 -1.36389247e-02 8.47129631e+00] [ 3.20257304e-02 9.99486203e-01 -1.29687982e-03 5.91460805e-01] [ 1.36734697e-02 8.59296751e-04 9.99906145e-01 8.31709773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881400512999999 meters 0.06458026205867909 Centerline is valid? [True, True] Translation: X:8.50, Y:0.59, Z:0.08 [[ 9.99459809e-01 -3.02400345e-02 -1.28697706e-02 8.50176291e+00] [ 3.02267675e-02 9.99542317e-01 -1.22418338e-03 5.92804360e-01] [ 1.29008997e-02 8.34510526e-04 9.99916432e-01 8.46579210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911400513 meters 0.06689994791571771 Centerline is valid? [True, True] Translation: X:8.53, Y:0.60, Z:0.09 [[ 9.99514822e-01 -2.85083684e-02 -1.25456361e-02 8.53116753e+00] [ 2.84956265e-02 9.99593205e-01 -1.19326601e-03 5.98943391e-01] [ 1.25745507e-02 8.35191300e-04 9.99920588e-01 8.63739314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941400513 meters 0.06959481152996155 Centerline is valid? [True, True] Translation: X:8.56, Y:0.61, Z:0.09 [[ 9.99552864e-01 -2.70681932e-02 -1.27037426e-02 8.55886876e+00] [ 2.70550135e-02 9.99633216e-01 -1.20821116e-03 6.07324959e-01] [ 1.27317872e-02 8.63970999e-04 9.99918574e-01 8.73856183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971400512999999 meters 0.06901667840113132 Centerline is valid? [True, True] Translation: X:8.59, Y:0.61, Z:0.09 [[ 9.99642606e-01 -2.34838785e-02 -1.27737223e-02 8.58922646e+00] [ 2.34702498e-02 9.99723796e-01 -1.21582209e-03 6.08959299e-01] [ 1.27987464e-02 9.15585111e-04 9.99917674e-01 8.70257930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001400513 meters 0.07205203850004 Centerline is valid? [True, True] Translation: X:8.62, Y:0.62, Z:0.09 [[ 9.99686846e-01 -2.15756960e-02 -1.26767220e-02 8.61752592e+00] [ 2.15621220e-02 9.99766782e-01 -1.20649735e-03 6.15656202e-01] [ 1.26997966e-02 9.32782508e-04 9.99918919e-01 8.76406284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031400513 meters 0.07522963762202656 Centerline is valid? [True, True] Translation: X:8.65, Y:0.62, Z:0.09 [[ 9.99721714e-01 -1.99754288e-02 -1.25490127e-02 8.64642908e+00] [ 1.99620000e-02 9.99800026e-01 -1.19446855e-03 6.23129446e-01] [ 1.25703632e-02 9.43632753e-04 9.99920545e-01 8.84064349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061400513 meters 0.0771117594205243 Centerline is valid? [True, True] Translation: X:8.67, Y:0.63, Z:0.09 [[ 9.99740518e-01 -1.90188042e-02 -1.25372496e-02 8.67429768e+00] [ 1.90053278e-02 9.99818670e-01 -1.19318784e-03 6.28021251e-01] [ 1.25576693e-02 9.54603693e-04 9.99920694e-01 8.91608749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091400513 meters 0.07796151440028166 Centerline is valid? [True, True] Translation: X:8.70, Y:0.63, Z:0.09 [[ 9.99744549e-01 -1.87412194e-02 -1.26334297e-02 8.70266987e+00] [ 1.87275140e-02 9.99823902e-01 -1.20229010e-03 6.31113415e-01] [ 1.26537373e-02 9.65390240e-04 9.99919472e-01 8.99333856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121400513 meters 0.0720851776931468 Centerline is valid? [True, True] Translation: X:8.73, Y:0.63, Z:0.09 [[ 9.99749738e-01 -1.92139590e-02 -1.14579388e-02 8.73187367e+00] [ 1.92026987e-02 9.99815015e-01 -1.09196490e-03 6.25673086e-01] [ 1.14768002e-02 8.71668275e-04 9.99933759e-01 9.16865032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151400513 meters 0.07190282553286086 Centerline is valid? [True, True] Translation: X:8.76, Y:0.63, Z:0.09 [[ 9.99757079e-01 -1.95267107e-02 -1.02220956e-02 8.76016542e+00] [ 1.95177530e-02 9.99809035e-01 -9.75337098e-04 6.27919220e-01] [ 1.02391886e-02 7.75587831e-04 9.99947277e-01 9.38735092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181400513 meters 0.07633168971145994 Centerline is valid? [True, True] Translation: X:8.79, Y:0.63, Z:0.10 [[ 9.99768823e-01 -1.93860580e-02 -9.29954261e-03 8.78717574e+00] [ 1.93786116e-02 9.99811821e-01 -8.90166835e-04 6.34558948e-01] [ 9.31504946e-03 7.09748824e-04 9.99956362e-01 9.57608224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211400513 meters 0.08104465071612445 Centerline is valid? [True, True] Translation: X:8.81, Y:0.64, Z:0.10 [[ 9.99773925e-01 -1.88599009e-02 -9.81855212e-03 8.81379409e+00] [ 1.88515726e-02 9.99821851e-01 -9.40087070e-04 6.43076077e-01] [ 9.83453291e-03 7.54779392e-04 9.99951355e-01 9.67367375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241400513 meters 0.08845919607736889 Centerline is valid? [True, True] Translation: X:8.84, Y:0.65, Z:0.10 [[ 9.99786538e-01 -1.72715088e-02 -1.13390526e-02 8.84213361e+00] [ 1.72602752e-02 9.99850439e-01 -1.08781617e-03 6.54045164e-01] [ 1.13561450e-02 8.91868790e-04 9.99935119e-01 9.59841459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271400513 meters 0.07432234032916454 Centerline is valid? [True, True] Translation: X:8.87, Y:0.64, Z:0.09 [[ 9.99782619e-01 -1.71255162e-02 -1.18924850e-02 8.87255636e+00] [ 1.71131590e-02 9.99852909e-01 -1.14006977e-03 6.38627680e-01] [ 1.19102600e-02 9.36303954e-04 9.99928632e-01 9.44164567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301400512999999 meters 0.07576770154426755 Centerline is valid? [True, True] Translation: X:8.90, Y:0.64, Z:0.09 [[ 9.99778092e-01 -1.74894250e-02 -1.17424796e-02 8.90012727e+00] [ 1.74773693e-02 9.99846622e-01 -1.12851423e-03 6.41971132e-01] [ 1.17604157e-02 9.23036147e-04 9.99930418e-01 9.49837881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331400513 meters 0.0808511249245102 Centerline is valid? [True, True] Translation: X:8.93, Y:0.65, Z:0.10 [[ 9.99760306e-01 -1.85555248e-02 -1.16199788e-02 8.92717614e+00] [ 1.85437828e-02 9.99827425e-01 -1.11743561e-03 6.49191285e-01] [ 1.16387081e-02 9.01689405e-04 9.99931861e-01 9.61193113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361400513 meters 0.0742350929370411 Centerline is valid? [True, True] Translation: X:8.96, Y:0.64, Z:0.09 [[ 9.99690282e-01 -2.12912700e-02 -1.28849668e-02 8.95876323e+00] [ 2.12770415e-02 9.99772849e-01 -1.24036335e-03 6.40430403e-01] [ 1.29084489e-02 9.65825208e-04 9.99916216e-01 9.37109842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391400512999999 meters 0.07420969393149525 Centerline is valid? [True, True] Translation: X:8.99, Y:0.64, Z:0.09 [[ 9.99660747e-01 -2.19320533e-02 -1.40490366e-02 8.98758060e+00] [ 2.19152036e-02 9.99758919e-01 -1.35220222e-03 6.41124378e-01] [ 1.40753062e-02 1.04385599e-03 9.99900393e-01 9.23587593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421400513 meters 0.07629636084332424 Centerline is valid? [True, True] Translation: X:9.02, Y:0.64, Z:0.09 [[ 9.99650334e-01 -2.20078910e-02 -1.46581972e-02 9.01561212e+00] [ 2.19895464e-02 9.99757204e-01 -1.41151226e-03 6.44629433e-01] [ 1.46857026e-02 1.08869159e-03 9.99891567e-01 9.22059387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451400513 meters 0.07053185807209035 Centerline is valid? [True, True] Translation: X:9.04, Y:0.64, Z:0.09 [[ 9.99661874e-01 -2.15858341e-02 -1.44979234e-02 9.04481094e+00] [ 2.15678403e-02 9.99766412e-01 -1.39635175e-03 6.39055844e-01] [ 1.45246783e-02 1.08319071e-03 9.99893925e-01 9.30614188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481400513 meters 0.07480797687963887 Centerline is valid? [True, True] Translation: X:9.07, Y:0.65, Z:0.09 [[ 9.99709784e-01 -1.88532524e-02 -1.49967266e-02 9.07351463e+00] [ 1.88336424e-02 9.99821583e-01 -1.44779275e-03 6.45853030e-01] [ 1.50213465e-02 1.16492959e-03 9.99886495e-01 9.38447544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511400513 meters 0.08201596160471832 Centerline is valid? [True, True] Translation: X:9.10, Y:0.66, Z:0.09 [[ 9.99730551e-01 -1.70099904e-02 -1.57951301e-02 9.10177370e+00] [ 1.69880052e-02 9.99854530e-01 -1.52504087e-03 6.57055999e-01] [ 1.58187733e-02 1.25630220e-03 9.99874086e-01 9.39444176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541400513 meters 0.08561126844179513 Centerline is valid? [True, True] Translation: X:9.13, Y:0.66, Z:0.09 [[ 9.99741794e-01 -1.54448716e-02 -1.66673862e-02 9.13088146e+00] [ 1.54201669e-02 9.99879806e-01 -1.60972129e-03 6.62795041e-01] [ 1.66902448e-02 1.35229178e-03 9.99859794e-01 9.32912718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571400513 meters 0.08225305915892438 Centerline is valid? [True, True] Translation: X:9.16, Y:0.66, Z:0.09 [[ 9.99738856e-01 -1.49817817e-02 -1.72558773e-02 9.16017732e+00] [ 1.49552356e-02 9.99886776e-01 -1.66640183e-03 6.59472593e-01] [ 1.72788892e-02 1.40790095e-03 9.99849718e-01 9.27888595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601400513 meters 0.07807371299523447 Centerline is valid? [True, True] Translation: X:9.19, Y:0.65, Z:0.09 [[ 9.99727323e-01 -1.58613814e-02 -1.71375772e-02 9.18964559e+00] [ 1.58352733e-02 9.99873239e-01 -1.65807598e-03 6.54455039e-01] [ 1.71617042e-02 1.38624564e-03 9.99851766e-01 9.29888810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631400512999999 meters 0.08077179592261381 Centerline is valid? [True, True] Translation: X:9.22, Y:0.66, Z:0.09 [[ 9.99711343e-01 -1.70344493e-02 -1.69427981e-02 9.21815617e+00] [ 1.70090841e-02 9.99853990e-01 -1.64009310e-03 6.60553871e-01] [ 1.69682624e-02 1.35143820e-03 9.99855115e-01 9.38227926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661400513 meters 0.07988618210804595 Centerline is valid? [True, True] Translation: X:9.25, Y:0.66, Z:0.09 [[ 9.99689486e-01 -1.81494549e-02 -1.70742269e-02 9.24722486e+00] [ 1.81238548e-02 9.99834383e-01 -1.65289649e-03 6.62374657e-01] [ 1.71013983e-02 1.34293243e-03 9.99852859e-01 9.41017596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691400513 meters 0.08209024187074353 Centerline is valid? [True, True] Translation: X:9.28, Y:0.67, Z:0.09 [[ 9.99662550e-01 -1.90829242e-02 -1.76246497e-02 9.27504248e+00] [ 1.90557419e-02 9.99816962e-01 -1.70895955e-03 6.67530938e-01] [ 1.76540357e-02 1.37253208e-03 9.99843213e-01 9.40779589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721400512999999 meters 0.07731174417474826 Centerline is valid? [True, True] Translation: X:9.30, Y:0.66, Z:0.09 [[ 9.99646990e-01 -1.97976444e-02 -1.77185692e-02 9.30443708e+00] [ 1.97702359e-02 9.99803069e-01 -1.72072713e-03 6.64906076e-01] [ 1.77491462e-02 1.36981940e-03 9.99841533e-01 9.46677610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751400513 meters 0.07900031803516422 Centerline is valid? [True, True] Translation: X:9.33, Y:0.67, Z:0.10 [[ 9.99663491e-01 -1.96829587e-02 -1.68963195e-02 9.33192829e+00] [ 1.96579690e-02 9.99805412e-01 -1.64382980e-03 6.69931456e-01] [ 1.69253871e-02 1.31112931e-03 9.99855896e-01 9.66347682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781400513 meters 0.07882842484894877 Centerline is valid? [True, True] Translation: X:9.36, Y:0.67, Z:0.10 [[ 9.99679111e-01 -1.98244140e-02 -1.57692131e-02 9.36107177e+00] [ 1.98026579e-02 9.99802730e-01 -1.53462283e-03 6.72194729e-01] [ 1.57965253e-02 1.22185805e-03 9.99874481e-01 9.94142584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811400513 meters 0.07885679300969407 Centerline is valid? [True, True] Translation: X:9.39, Y:0.67, Z:0.10 [[ 9.99685091e-01 -2.01043594e-02 -1.50177484e-02 9.38948712e+00] [ 2.00846249e-02 9.99797212e-01 -1.46375686e-03 6.73751841e-01] [ 1.50441309e-02 1.16167007e-03 9.99886156e-01 1.01290216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841400513 meters 0.07921418457251107 Centerline is valid? [True, True] Translation: X:9.42, Y:0.67, Z:0.10 [[ 9.99645937e-01 -2.14334553e-02 -1.57672892e-02 9.41838554e+00] [ 2.14118099e-02 9.99769554e-01 -1.54035876e-03 6.74084453e-01] [ 1.57966709e-02 1.20220717e-03 9.99874502e-01 1.00832581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871400513 meters 0.07800405147309984 Centerline is valid? [True, True] Translation: X:9.45, Y:0.67, Z:0.10 [[ 9.99624785e-01 -2.24638417e-02 -1.56736791e-02 9.44735678e+00] [ 2.24425742e-02 9.99746961e-01 -1.53148606e-03 6.74462252e-01] [ 1.57041161e-02 1.17915372e-03 9.99875987e-01 1.01023822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901400513 meters 0.07336637672391638 Centerline is valid? [True, True] Translation: X:9.48, Y:0.67, Z:0.10 [[ 9.99614565e-01 -2.35659336e-02 -1.46754090e-02 9.47697438e+00] [ 2.35474004e-02 9.99721692e-01 -1.43441345e-03 6.70294371e-01] [ 1.47051280e-02 1.08829284e-03 9.99891282e-01 1.02435294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931400513 meters 0.0768612637674517 Centerline is valid? [True, True] Translation: X:9.50, Y:0.68, Z:0.11 [[ 9.99603051e-01 -2.45562230e-02 -1.38105988e-02 9.50496665e+00] [ 2.45398877e-02 9.99697939e-01 -1.35105352e-03 6.75796011e-01] [ 1.38396039e-02 1.01160668e-03 9.99903716e-01 1.05094736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961400513 meters 0.07598582232664042 Centerline is valid? [True, True] Translation: X:9.53, Y:0.68, Z:0.11 [[ 9.99583728e-01 -2.53587512e-02 -1.37588117e-02 9.53411230e+00] [ 2.53426049e-02 9.99677918e-01 -1.34663952e-03 6.75826851e-01] [ 1.37885293e-02 9.97394829e-04 9.99904436e-01 1.05955201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991400513 meters 0.07245989230338144 Centerline is valid? [True, True] Translation: X:9.56, Y:0.67, Z:0.10 [[ 9.99550809e-01 -2.55293148e-02 -1.56982053e-02 9.56407759e+00] [ 2.55083053e-02 9.99673428e-01 -1.53714512e-03 6.70755881e-01] [ 1.57323210e-02 1.13602004e-03 9.99875594e-01 1.03730894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021400513 meters 0.07851855334194978 Centerline is valid? [True, True] Translation: X:9.59, Y:0.68, Z:0.10 [[ 9.99552541e-01 -2.44283184e-02 -1.72619450e-02 9.59180641e+00] [ 2.44027192e-02 9.99700777e-01 -1.69210118e-03 6.78987029e-01] [ 1.72981150e-02 1.27010564e-03 9.99849570e-01 1.02141597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051400512999999 meters 0.07551891265993912 Centerline is valid? [True, True] Translation: X:9.62, Y:0.68, Z:0.10 [[ 9.99573510e-01 -2.28923005e-02 -1.81312345e-02 9.62216681e+00] [ 2.28637890e-02 9.99737008e-01 -1.77826551e-03 6.76699376e-01] [ 1.81671747e-02 1.36295838e-03 9.99834034e-01 1.01098060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081400513 meters 0.08504065200145482 Centerline is valid? [True, True] Translation: X:9.65, Y:0.69, Z:0.10 [[ 9.99623106e-01 -2.07862553e-02 -1.79326049e-02 9.65038616e+00] [ 2.07580248e-02 9.99782982e-01 -1.75898131e-03 6.90306780e-01] [ 1.79652758e-02 1.38607290e-03 9.99837651e-01 1.02247195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111400513 meters 0.0768413724239175 Centerline is valid? [True, True] Translation: X:9.68, Y:0.68, Z:0.10 [[ 9.99688441e-01 -1.79279029e-02 -1.73669845e-02 9.68143474e+00] [ 1.79009907e-02 9.99838313e-01 -1.70384852e-03 6.82827202e-01] [ 1.73947230e-02 1.39243145e-03 9.99847731e-01 1.03760515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141400512999999 meters 0.09233804089304143 Centerline is valid? [True, True] Translation: X:9.71, Y:0.71, Z:0.11 [[ 9.99818609e-01 -9.97999416e-03 -1.62218357e-02 9.70897017e+00] [ 9.95547630e-03 9.99949177e-01 -1.59146389e-03 7.06448126e-01] [ 1.62368941e-02 1.42967911e-03 9.99867151e-01 1.06659399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171400513 meters 0.09944195971419965 Centerline is valid? [True, True] Translation: X:9.74, Y:0.72, Z:0.11 [[ 9.99847498e-01 -5.59573733e-03 -1.65429048e-02 9.73722400e+00] [ 5.56964131e-03 9.99983172e-01 -1.62312650e-03 7.20020797e-01] [ 1.65517090e-02 1.53074092e-03 9.99861839e-01 1.06615356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201400513 meters 0.09656212578425566 Centerline is valid? [True, True] Translation: X:9.77, Y:0.72, Z:0.11 [[ 9.99849380e-01 -1.34199278e-03 -1.73036559e-02 9.76756004e+00] [ 1.31280865e-03 9.99997697e-01 -1.69783611e-03 7.22027802e-01] [ 1.73058946e-02 1.67486400e-03 9.99848839e-01 1.05252522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231400513 meters 0.10051418784060741 Centerline is valid? [True, False] Translation: X:9.77, Y:0.73, Z:0.10 [[ 9.99851253e-01 -1.61151517e-03 -1.71719404e-02 9.76723232e+00] [ 1.56744197e-03 9.99995444e-01 -2.57973234e-03 7.25845475e-01] [ 1.71760194e-02 2.55243259e-03 9.99849223e-01 1.04871365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261400513 meters 0.11081403888134954 Centerline is valid? [False, False] Translation: X:9.79, Y:0.74, Z:0.10 [[ 9.99923855e-01 3.18220998e-03 -1.19229909e-02 9.78660928e+00] [-3.28841385e-03 9.99955001e-01 -8.89849469e-03 7.37311145e-01] [ 1.18941374e-02 8.93702484e-03 9.99889323e-01 1.01823683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291400513 meters 0.1026192496681114 Centerline is valid? [False, False] Translation: X:9.77, Y:0.73, Z:0.10 [[ 9.99970502e-01 1.41820211e-03 -7.54876598e-03 9.76595305e+00] [-1.42797313e-03 9.99998149e-01 -1.28915410e-03 7.32187235e-01] [ 7.54692373e-03 1.29989551e-03 9.99970677e-01 9.52814720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321400513 meters 0.10110620226918514 Centerline is valid? [False, False] Translation: X:9.77, Y:0.73, Z:0.10 [[ 9.99970730e-01 1.33806952e-03 -7.53315839e-03 9.76582309e+00] [-1.34942783e-03 9.99997960e-01 -1.50289336e-03 7.33140170e-01] [ 7.53113205e-03 1.51301482e-03 9.99970496e-01 9.54505917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351400513 meters 0.10174885357749991 Centerline is valid? [False, False] Translation: X:9.79, Y:0.73, Z:0.09 [[ 9.99987528e-01 -1.60976394e-03 -4.72791195e-03 9.78707805e+00] [ 1.64007753e-03 9.99978080e-01 6.41476096e-03 7.31311155e-01] [ 4.71748206e-03 -6.42243509e-03 9.99968248e-01 9.30795037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381400512999999 meters 0.0933843041996926 Centerline is valid? [False, True] Translation: X:9.79, Y:0.74, Z:0.09 [[ 9.99969113e-01 -6.35200758e-03 -4.62863844e-03 9.78666696e+00] [ 6.35705164e-03 9.99979215e-01 1.07585473e-03 7.35781630e-01] [ 4.62170840e-03 -1.10524599e-03 9.99988709e-01 9.32848557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411400513 meters 0.1002517364432091 Centerline is valid? [True, False] Translation: X:9.80, Y:0.74, Z:0.09 [[ 9.99985803e-01 -5.09923499e-03 -1.54647188e-03 9.80494618e+00] [ 5.08498486e-03 9.99945823e-01 -9.08264945e-03 7.43084750e-01] [ 1.59270266e-03 9.07465671e-03 9.99957556e-01 9.38390556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441400513 meters 0.1002517364432091 Centerline is valid? [False, False] Translation: X:9.81, Y:0.74, Z:0.09 [[ 9.99998299e-01 -4.97436573e-04 -1.77618701e-03 9.80559220e+00] [ 4.90908383e-04 9.99993131e-01 -3.67394181e-03 7.38528103e-01] [ 1.77800236e-03 3.67306361e-03 9.99991674e-01 9.39266735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471400512999999 meters 0.08827076127925458 Centerline is valid? [False, True] Translation: X:9.81, Y:0.74, Z:0.09 [[ 9.99998153e-01 -3.95754233e-04 -1.88073719e-03 9.80597270e+00] [ 3.89395468e-04 9.99994211e-01 -3.38016019e-03 7.37227927e-01] [ 1.88206401e-03 3.37942159e-03 9.99992519e-01 9.38241163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501400513 meters 0.0889266349565257 Centerline is valid? [True, True] Translation: X:9.83, Y:0.74, Z:0.09 [[ 9.99996124e-01 -1.89384831e-03 -2.04092223e-03 9.83448389e+00] [ 1.89347312e-03 9.99998190e-01 -1.85747031e-04 7.38866787e-01] [ 2.04127031e-03 1.81881880e-04 9.99997900e-01 9.43720237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531400513 meters 0.08988209758661861 Centerline is valid? [True, True] Translation: X:9.86, Y:0.74, Z:0.10 [[ 9.99995027e-01 -3.08591985e-03 6.50668871e-04 9.86266957e+00] [ 3.08588196e-03 9.99995237e-01 5.92225407e-05 7.42943622e-01] [-6.50848528e-04 -5.72143588e-05 9.99999787e-01 9.87721294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561400512999999 meters 0.0874964792199913 Centerline is valid? [True, True] Translation: X:9.89, Y:0.74, Z:0.10 [[ 9.99992985e-01 -2.94757271e-03 2.31117509e-03 9.89425949e+00] [ 2.94709448e-03 9.99995635e-01 2.10295365e-04 7.42405345e-01] [-2.31178486e-03 -2.03482638e-04 9.99997307e-01 1.01514530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591400513 meters 0.09846030343316209 Centerline is valid? [True, True] Translation: X:9.92, Y:0.76, Z:0.10 [[ 9.99989618e-01 -2.66039178e-03 3.69954272e-03 9.92405572e+00] [ 2.65916494e-03 9.99996408e-01 3.36496728e-04 7.58429985e-01] [-3.70042464e-03 -3.26655540e-04 9.99993100e-01 1.04822212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621400513 meters 0.09602956776000104 Centerline is valid? [True, True] Translation: X:9.96, Y:0.76, Z:0.10 [[ 9.99989456e-01 -2.30087005e-03 3.97426928e-03 9.95680256e+00] [ 2.29945217e-03 9.99997291e-01 3.61298074e-04 7.57104580e-01] [-3.97508981e-03 -3.52155622e-04 9.99992037e-01 1.04473112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651400513 meters 0.09312887671494822 Centerline is valid? [True, True] Translation: X:9.99, Y:0.76, Z:0.10 [[ 9.99994651e-01 -1.02463591e-05 3.27064981e-03 9.98771130e+00] [ 9.27385492e-06 9.99999956e-01 2.97357834e-04 7.58184568e-01] [-3.27065271e-03 -2.97325912e-04 9.99994607e-01 1.03258956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681400513 meters 0.0911189255371099 Centerline is valid? [True, True] Translation: X:10.02, Y:0.76, Z:0.10 [[ 9.99995458e-01 7.33819410e-04 2.92332534e-03 1.00194085e+01] [-7.34599100e-04 9.99999695e-01 2.65648669e-04 7.58909411e-01] [-2.92312951e-03 -2.67794935e-04 9.99995692e-01 1.02167249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711400513 meters 0.09957766700523218 Centerline is valid? [True, True] Translation: X:10.05, Y:0.77, Z:0.10 [[ 9.99992142e-01 9.90768521e-04 3.83847371e-03 1.00490342e+01] [-9.92114196e-04 9.99999447e-01 3.48687343e-04 7.72802686e-01] [-3.83812612e-03 -3.52492807e-04 9.99992572e-01 1.03715721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741400513 meters 0.0941839604662573 Centerline is valid? [True, True] Translation: X:10.08, Y:0.77, Z:0.11 [[ 9.99986862e-01 9.66770409e-04 5.03406672e-03 1.00815193e+01] [-9.69080069e-04 9.99999426e-01 4.56387029e-04 7.70275539e-01] [-5.03362261e-03 -4.61259447e-04 9.99987225e-01 1.05133618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771400513 meters 0.08986807707370087 Centerline is valid? [True, True] Translation: X:10.11, Y:0.77, Z:0.11 [[ 9.99983778e-01 7.67986530e-04 5.64391497e-03 1.01140470e+01] [-7.70881445e-04 9.99999572e-01 5.10769160e-04 7.68125832e-01] [-5.64352029e-03 -5.15111663e-04 9.99983943e-01 1.05413187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801400512999999 meters 0.09164945145517739 Centerline is valid? [True, True] Translation: X:10.14, Y:0.77, Z:0.10 [[ 9.99987107e-01 6.60051103e-05 5.07756630e-03 1.01440653e+01] [-6.83395131e-05 9.99999892e-01 4.59576239e-04 7.72570509e-01] [-5.07753542e-03 -4.59917312e-04 9.99987003e-01 1.04341139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831400513 meters 0.09729787544556659 Centerline is valid? [True, True] Translation: X:10.17, Y:0.78, Z:0.10 [[ 9.99997616e-01 -1.16118255e-03 1.84896159e-03 1.01737425e+01] [ 1.16087509e-03 9.99999312e-01 1.67355382e-04 7.80474411e-01] [-1.84915465e-03 -1.65208570e-04 9.99998277e-01 9.94077753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861400513 meters 0.08818425725489205 Centerline is valid? [True, True] Translation: X:10.21, Y:0.77, Z:0.10 [[ 9.99998741e-01 -1.57987450e-03 1.45043863e-04 1.02069451e+01] [ 1.57987262e-03 9.99998752e-01 1.30799845e-05 7.71724720e-01] [-1.45064347e-04 -1.28508172e-05 9.99999989e-01 9.64771312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891400512999999 meters 0.09728655534986552 Centerline is valid? [True, True] Translation: X:10.24, Y:0.78, Z:0.09 [[ 9.99997690e-01 -1.88701905e-03 -1.02875210e-03 1.02358705e+01] [ 1.88692430e-03 9.99998215e-01 -9.30659631e-05 7.84796599e-01] [ 1.02892588e-03 9.11245708e-05 9.99999467e-01 9.47014629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921400513 meters 0.09573121559558681 Centerline is valid? [True, True] Translation: X:10.27, Y:0.78, Z:0.10 [[ 9.99995627e-01 -2.94887971e-03 -2.23130608e-04 1.02657676e+01] [ 2.94887528e-03 9.99995652e-01 -2.01682887e-05 7.82226553e-01] [ 2.23189112e-04 1.95102162e-05 9.99999975e-01 9.58628120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951400513 meters 0.09405745524698034 Centerline is valid? [True, True] Translation: X:10.30, Y:0.78, Z:0.10 [[ 9.99994697e-01 -3.09540025e-03 1.01184436e-03 1.02967297e+01] [ 3.09530918e-03 9.99995205e-01 9.15489122e-05 7.81603375e-01] [-1.01212289e-03 -8.84164556e-05 9.99999484e-01 9.80897587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981400513 meters 0.086119395446172 Centerline is valid? [True, True] Translation: X:10.33, Y:0.77, Z:0.10 [[ 9.99993678e-01 -3.12255268e-03 1.70113007e-03 1.03292401e+01] [ 3.12229544e-03 9.99995114e-01 1.53852883e-04 7.73527174e-01] [-1.70160218e-03 -1.48540480e-04 9.99998541e-01 9.86140539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011400513 meters 0.08827179881424037 Centerline is valid? [True, True] Translation: X:10.36, Y:0.78, Z:0.10 [[ 9.99994497e-01 -3.07894972e-03 1.23548489e-03 1.03605268e+01] [ 3.07881407e-03 9.99995254e-01 1.11679608e-04 7.78516195e-01] [-1.23582288e-03 -1.07875165e-04 9.99999231e-01 9.84857139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041400513 meters 0.08897090694403813 Centerline is valid? [True, True] Translation: X:10.39, Y:0.78, Z:0.10 [[ 9.99996283e-01 -2.72135650e-03 -1.67830347e-04 1.03917794e+01] [ 2.72135399e-03 9.99996297e-01 -1.51916737e-05 7.81366955e-01] [ 1.67871068e-04 1.47348914e-05 9.99999986e-01 9.64123064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071400513 meters 0.08476033994381807 Centerline is valid? [True, True] Translation: X:10.42, Y:0.78, Z:0.09 [[ 9.99994721e-01 -1.89315161e-03 -2.64095494e-03 1.04231612e+01] [ 1.89252773e-03 9.99998181e-01 -2.38710166e-04 7.76173895e-01] [ 2.64140205e-03 2.33710825e-04 9.99996484e-01 9.17693468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101400513 meters 0.08903903169480902 Centerline is valid? [True, True] Translation: X:10.45, Y:0.78, Z:0.09 [[ 9.99996495e-01 -1.71124246e-03 -2.02031353e-03 1.04500388e+01] [ 1.71087687e-03 9.99998520e-01 -1.82669817e-04 7.83358839e-01] [ 2.02062313e-03 1.79212669e-04 9.99997942e-01 9.19743620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131400512999999 meters 0.09257150817304774 Centerline is valid? [True, True] Translation: X:10.48, Y:0.79, Z:0.09 [[ 9.99998076e-01 -1.69991161e-03 -9.78500157e-04 1.04780349e+01] [ 1.69982582e-03 9.99998551e-01 -8.85009095e-05 7.89659319e-01] [ 9.78649183e-04 8.68374594e-05 9.99999517e-01 9.33468374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161400513 meters 0.09084321884316102 Centerline is valid? [True, True] Translation: X:10.51, Y:0.79, Z:0.09 [[ 9.99998810e-01 -1.43479256e-03 -5.66262629e-04 1.05080874e+01] [ 1.43476378e-03 9.99998969e-01 -5.12262455e-05 7.89185932e-01] [ 5.66335545e-04 5.04137314e-05 9.99999838e-01 9.44198749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191400513 meters 0.09839015091152654 Centerline is valid? [True, True] Translation: X:10.54, Y:0.80, Z:0.09 [[ 9.99999239e-01 -9.57759968e-04 -7.78163813e-04 1.05371736e+01] [ 9.57705456e-04 9.99999539e-01 -7.04223949e-05 7.99320852e-01] [ 7.78230902e-04 6.96770896e-05 9.99999695e-01 9.46081557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221400512999999 meters 0.09215268579156596 Centerline is valid? [True, True] Translation: X:10.57, Y:0.79, Z:0.09 [[ 9.99996559e-01 2.18182856e-03 -1.45628695e-03 1.05683841e+01] [-2.18202281e-03 9.99997611e-01 -1.31809630e-04 7.92484030e-01] [ 1.45599589e-03 1.34986828e-04 9.99998931e-01 9.49246576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251400513 meters 0.092718423071496 Centerline is valid? [True, True] Translation: X:10.60, Y:0.80, Z:0.10 [[ 9.99991196e-01 4.17631593e-03 -4.07663213e-04 1.05985157e+01] [-4.17633131e-03 9.99991278e-01 -3.68960921e-05 7.99594996e-01] [ 4.07505567e-04 3.85983039e-05 9.99999916e-01 9.60134215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281400513 meters 0.1063404018097135 Centerline is valid? [True, False] Translation: X:10.60, Y:0.80, Z:0.10 [[ 9.99992109e-01 3.96137075e-03 -2.98475035e-04 1.05982286e+01] [-3.96157569e-03 9.99991915e-01 -6.89189464e-04 8.02461455e-01] [ 2.95742487e-04 6.90366457e-04 9.99999718e-01 9.58524768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311400512999999 meters 0.10680322659346934 Centerline is valid? [False, False] Translation: X:10.60, Y:0.80, Z:0.10 [[ 9.99992671e-01 3.82566301e-03 -1.47426620e-04 1.05976663e+01] [-3.82582668e-03 9.99992047e-01 -1.12633417e-03 8.04373327e-01] [ 1.43116473e-04 1.12688995e-03 9.99999355e-01 9.61446169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341400513 meters 0.09612561305834963 Centerline is valid? [False, True] Translation: X:10.60, Y:0.80, Z:0.10 [[ 9.99964254e-01 8.45035885e-03 -2.85667568e-04 1.05981557e+01] [-8.44908524e-03 9.99955490e-01 4.19895271e-03 8.00106914e-01] [ 3.21137510e-04 -4.19638898e-03 9.99991144e-01 9.63019169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371400513 meters 0.09052557590416098 Centerline is valid? [True, True] Translation: X:10.63, Y:0.80, Z:0.10 [[ 9.99967001e-01 8.12358890e-03 -6.73676262e-05 1.06277460e+01] [-8.12358933e-03 9.99967003e-01 -6.20804562e-06 8.01328353e-01] [ 6.73149717e-05 6.75510769e-06 9.99999998e-01 9.61875815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401400513 meters 0.09775285280449407 Centerline is valid? [True, True] Translation: X:10.66, Y:0.82, Z:0.10 [[ 9.99977491e-01 6.70428572e-03 -2.64045668e-04 1.06560307e+01] [-6.70429243e-03 9.99977526e-01 -2.45507538e-05 8.15327463e-01] [ 2.63875138e-04 2.63204405e-05 9.99999965e-01 9.62690726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431400513 meters 0.09329834846050009 Centerline is valid? [True, True] Translation: X:10.69, Y:0.81, Z:0.10 [[ 9.99989851e-01 4.49944246e-03 -2.31280617e-04 1.06868791e+01] [-4.49944755e-03 9.99989877e-01 -2.15245229e-05 8.14300582e-01] [ 2.31181427e-04 2.25649395e-05 9.99999973e-01 9.58121447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461400513 meters 0.08957656383111187 Centerline is valid? [True, True] Translation: X:10.72, Y:0.81, Z:0.10 [[ 9.99999834e-01 -5.73121845e-04 5.55635326e-05 1.07163322e+01] [ 5.73121556e-04 9.99999836e-01 5.21063634e-06 8.14313842e-01] [-5.55665098e-05 -5.17879082e-06 9.99999998e-01 9.67384640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491400513 meters 0.0893108271874989 Centerline is valid? [True, True] Translation: X:10.75, Y:0.82, Z:0.10 [[ 9.99995801e-01 -2.86680198e-03 4.22679632e-04 1.07461062e+01] [ 2.86678560e-03 9.99995890e-01 3.93582838e-05 8.17827856e-01] [-4.22790727e-04 -3.81463866e-05 9.99999910e-01 9.76093384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521400513 meters 0.08773691307110233 Centerline is valid? [True, True] Translation: X:10.78, Y:0.82, Z:0.10 [[ 9.99989851e-01 -4.47107823e-03 5.54396678e-04 1.07767685e+01] [ 4.47105031e-03 9.99990003e-01 5.15857193e-05 8.20180059e-01] [-5.54621780e-04 -4.91064604e-05 9.99999845e-01 9.82168874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551400512999999 meters 0.08785591067999134 Centerline is valid? [True, True] Translation: X:10.81, Y:0.82, Z:0.10 [[ 9.99986489e-01 -5.19706538e-03 1.10745775e-04 1.08076469e+01] [ 5.19706427e-03 9.99986495e-01 1.02470444e-05 8.23632386e-01] [-1.10797534e-04 -9.67135299e-06 9.99999994e-01 9.76801303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581400513 meters 0.0856509710271621 Centerline is valid? [True, True] Translation: X:10.84, Y:0.82, Z:0.10 [[ 9.99985225e-01 -5.41300132e-03 -4.99280687e-04 1.08391687e+01] [ 5.41297877e-03 9.99985349e-01 -4.65230860e-05 8.23624826e-01] [ 4.99525201e-04 4.38198029e-05 9.99999874e-01 9.63852131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611400513 meters 0.09400047464155839 Centerline is valid? [True, True] Translation: X:10.87, Y:0.84, Z:0.10 [[ 9.99989078e-01 -4.53129864e-03 -1.14531290e-03 1.08684894e+01] [ 4.53117950e-03 9.99989728e-01 -1.06596403e-04 8.38753588e-01] [ 1.14578415e-03 1.01405621e-04 9.99999338e-01 9.54419759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641400512999999 meters 0.08980027635012919 Centerline is valid? [True, True] Translation: X:10.90, Y:0.84, Z:0.10 [[ 9.99994009e-01 -3.30920599e-03 -1.01517113e-03 1.08991174e+01] [ 3.30911179e-03 9.99994520e-01 -9.44566581e-05 8.39323572e-01] [ 1.01547814e-03 9.10967775e-05 9.99999480e-01 9.50925418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671400513 meters 0.09809217414323422 Centerline is valid? [True, True] Translation: X:10.93, Y:0.85, Z:0.10 [[ 9.99998271e-01 -1.78610760e-03 -5.16912442e-04 1.09269682e+01] [ 1.78608299e-03 9.99998404e-01 -4.80840703e-05 8.54940726e-01] [ 5.16997500e-04 4.71607387e-05 9.99999865e-01 9.57773915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701400513 meters 0.09656390120769061 Centerline is valid? [True, True] Translation: X:10.96, Y:0.86, Z:0.10 [[ 9.99996956e-01 2.24711086e-03 -1.01906802e-03 1.09570688e+01] [-2.24720864e-03 9.99997471e-01 -9.48246654e-05 8.61308232e-01] [ 1.01885236e-03 9.71144352e-05 9.99999476e-01 9.59167821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731400513 meters 0.09356853747847985 Centerline is valid? [True, True] Translation: X:10.99, Y:0.86, Z:0.09 [[ 9.99990799e-01 3.80991290e-03 -1.97135241e-03 1.09870707e+01] [-3.81028184e-03 9.99992724e-01 -1.83428624e-04 8.63982166e-01] [ 1.97063922e-03 1.90938344e-04 9.99998040e-01 9.48528173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761400513 meters 0.09603839874183448 Centerline is valid? [True, True] Translation: X:11.01, Y:0.87, Z:0.09 [[ 9.99985164e-01 4.48261671e-03 -3.09469678e-03 1.10144267e+01] [-4.48352930e-03 9.99989907e-01 -2.88011179e-04 8.73970197e-01] [ 3.09337450e-03 3.01882070e-04 9.99995170e-01 9.41877768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791400513 meters 0.0891293299809672 Centerline is valid? [True, True] Translation: X:11.04, Y:0.87, Z:0.09 [[ 9.99986175e-01 4.34433591e-03 -2.96260954e-03 1.10433150e+01] [-4.34517185e-03 9.99990522e-01 -2.75784513e-04 8.72074668e-01] [ 2.96138336e-03 2.88653747e-04 9.99995573e-01 9.45512292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821400513 meters 0.10528238999905405 Centerline is valid? [True, False] Translation: X:11.06, Y:0.87, Z:0.10 [[ 9.99989131e-01 3.09531442e-03 -3.48665585e-03 1.10642838e+01] [-3.06259661e-03 9.99951595e-01 9.35029803e-03 8.70279907e-01] [ 3.51542919e-03 -9.33951818e-03 9.99950206e-01 9.66983877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851400513 meters 0.09938728398289236 Centerline is valid? [False, True] Translation: X:11.06, Y:0.88, Z:0.10 [[ 9.99993376e-01 -1.73956570e-03 -3.19718115e-03 1.10633258e+01] [ 1.74992642e-03 9.99993218e-01 3.24064516e-03 8.77889619e-01] [ 3.19152215e-03 -3.24621852e-03 9.99989638e-01 9.68890123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881400512999999 meters 0.08711337265179092 Centerline is valid? [True, True] Translation: X:11.09, Y:0.88, Z:0.10 [[ 9.99989790e-01 -4.46538640e-03 -6.93339307e-04 1.10935261e+01] [ 4.46534057e-03 9.99990028e-01 -6.76429607e-05 8.75271531e-01] [ 6.93634445e-04 6.45462739e-05 9.99999757e-01 1.00410899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911400513 meters 0.09183085112343232 Centerline is valid? [True, True] Translation: X:11.12, Y:0.89, Z:0.10 [[ 9.99981942e-01 -5.93093876e-03 -9.69025414e-04 1.11224665e+01] [ 5.93084980e-03 9.99982408e-01 -9.46500368e-05 8.86796762e-01] [ 9.69569731e-04 8.89011834e-05 9.99999526e-01 1.00708230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941400513 meters 0.09106500520850856 Centerline is valid? [True, True] Translation: X:11.15, Y:0.89, Z:0.10 [[ 9.99965832e-01 -7.98415997e-03 -2.14188148e-03 1.11530719e+01] [ 7.98373002e-03 9.99968108e-01 -2.09209849e-04 8.90526434e-01] [ 2.14348354e-03 1.92102497e-04 9.99997684e-01 9.91811671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971400512999999 meters 0.08628664039717826 Centerline is valid? [True, True] Translation: X:11.18, Y:0.89, Z:0.10 [[ 9.99903831e-01 -1.35278871e-02 -3.05376384e-03 1.11835085e+01] [ 1.35270388e-02 9.99908461e-01 -2.98265722e-04 8.89000583e-01] [ 3.05751920e-03 2.56928656e-04 9.99995293e-01 9.75150444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001400513 meters 0.0848419978099969 Centerline is valid? [True, True] Translation: X:11.21, Y:0.89, Z:0.10 [[ 9.99864392e-01 -1.63069104e-02 -2.29816380e-03 1.12131547e+01] [ 1.63064373e-02 9.99867016e-01 -2.24471236e-04 8.90892944e-01] [ 2.30151862e-03 1.86965932e-04 9.99997334e-01 9.85915018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031400513 meters 0.09878079410607905 Centerline is valid? [True, True] Translation: X:11.24, Y:0.91, Z:0.10 [[ 9.99832908e-01 -1.81773541e-02 -1.93373160e-03 1.12413643e+01] [ 1.81770225e-02 9.99834766e-01 -1.88922565e-04 9.11479403e-01] [ 1.93684620e-03 1.53741515e-04 9.99998112e-01 9.95955998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061400512999999 meters 0.07933641383995091 Centerline is valid? [True, True] Translation: X:11.27, Y:0.89, Z:0.10 [[ 9.99815933e-01 -1.90234199e-02 -2.49187578e-03 1.12744991e+01] [ 1.90228718e-02 9.99819019e-01 -2.43474113e-04 8.91322213e-01] [ 2.49605651e-03 1.96026664e-04 9.99996866e-01 9.81191924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091400513 meters 0.08260927745918607 Centerline is valid? [True, True] Translation: X:11.30, Y:0.90, Z:0.10 [[ 9.99816114e-01 -1.89058715e-02 -3.21018110e-03 1.13046344e+01] [ 1.89049615e-02 9.99821236e-01 -3.13605408e-04 8.97947623e-01] [ 3.21553622e-03 2.52859390e-04 9.99994798e-01 9.73895307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121400513 meters 0.08295243907579176 Centerline is valid? [True, True] Translation: X:11.33, Y:0.90, Z:0.10 [[ 9.99820751e-01 -1.85227006e-02 -3.92125457e-03 1.13345335e+01] [ 1.85213400e-02 9.99828392e-01 -3.83007470e-04 9.00562026e-01] [ 3.92767598e-03 3.10311927e-04 9.99992239e-01 9.71091242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151400513 meters 0.0857544609549986 Centerline is valid? [True, True] Translation: X:11.36, Y:0.91, Z:0.10 [[ 9.99866093e-01 -1.60862380e-02 -3.00491944e-03 1.13642541e+01] [ 1.60854280e-02 9.99870578e-01 -2.93541555e-04 9.05834071e-01] [ 3.00925251e-03 2.45166832e-04 9.99995442e-01 9.92775820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181400513 meters 0.08559765157660693 Centerline is valid? [True, True] Translation: X:11.39, Y:0.91, Z:0.10 [[ 9.99895028e-01 -1.43860489e-02 -1.72494830e-03 1.13945520e+01] [ 1.43857795e-02 9.99896505e-01 -1.68477146e-04 9.08909176e-01] [ 1.72719350e-03 1.43644734e-04 9.99998498e-01 1.00927481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211400513 meters 0.08779350808082749 Centerline is valid? [True, True] Translation: X:11.42, Y:0.92, Z:0.10 [[ 9.99919430e-01 -1.26718226e-02 -7.47531139e-04 1.14243270e+01] [ 1.26717715e-02 9.99919707e-01 -7.30363298e-05 9.15204139e-01] [ 7.48396621e-04 6.35579015e-05 9.99999718e-01 1.01948519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241400513 meters 0.08859011705988255 Centerline is valid? [True, True] Translation: X:11.45, Y:0.92, Z:0.10 [[ 9.99939038e-01 -1.10416654e-02 3.63217667e-05 1.14549107e+01] [ 1.10416653e-02 9.99939039e-01 3.50414527e-06 9.19594512e-01] [-3.63582441e-05 -3.10287886e-06 9.99999999e-01 1.02762550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271400513 meters 0.08858284219306387 Centerline is valid? [True, True] Translation: X:11.49, Y:0.92, Z:0.10 [[ 9.99962162e-01 -8.65391923e-03 8.85153778e-04 1.14856067e+01] [ 8.65384606e-03 9.99962551e-01 8.64585441e-05 9.21580228e-01] [-8.85868835e-04 -7.87952882e-05 9.99999605e-01 1.02929632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301400512999999 meters 0.09856254310220633 Centerline is valid? [True, True] Translation: X:11.52, Y:0.94, Z:0.10 [[ 9.99960809e-01 -8.78808130e-03 1.07271454e-03 1.15150381e+01] [ 8.78797437e-03 9.99961380e-01 1.04352622e-04 9.36611332e-01] [-1.07359017e-03 -9.49215443e-05 9.99999419e-01 1.04481397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331400513 meters 0.08556416230169221 Centerline is valid? [True, True] Translation: X:11.55, Y:0.92, Z:0.10 [[ 9.99951928e-01 -9.70099787e-03 1.42562191e-03 1.15478942e+01] [ 9.70080947e-03 9.99952936e-01 1.39011380e-04 9.23464152e-01] [-1.42690336e-03 -1.25175010e-04 9.99998974e-01 1.03978769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361400513 meters 0.08556416230169221 Centerline is valid? [True, True] Translation: X:11.58, Y:0.93, Z:0.10 [[ 9.99952382e-01 -9.65405530e-03 1.42563800e-03 1.15795521e+01] [ 9.65386708e-03 9.99953391e-01 1.38846396e-04 9.26473818e-01] [-1.42691199e-03 -1.25076865e-04 9.99998974e-01 1.04112598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391400512999999 meters 0.08342616929481914 Centerline is valid? [True, True] Translation: X:11.61, Y:0.93, Z:0.10 [[ 9.99938194e-01 -1.10239902e-02 1.44202908e-03 1.16102909e+01] [ 1.10237987e-02 9.99939226e-01 1.40643565e-04 9.26169597e-01] [-1.44349190e-03 -1.24738234e-04 9.99998950e-01 1.03173273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421400513 meters 0.08651561357342909 Centerline is valid? [True, True] Translation: X:11.64, Y:0.93, Z:0.10 [[ 9.99915548e-01 -1.29570787e-02 1.00545540e-03 1.16395625e+01] [ 1.29569865e-02 9.99916050e-01 9.80969458e-05 9.31625829e-01] [-1.00664204e-03 -8.50609893e-05 9.99999490e-01 1.01577884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451400513 meters 0.07740817701202161 Centerline is valid? [True, True] Translation: X:11.67, Y:0.92, Z:0.10 [[ 9.99887108e-01 -1.49960229e-02 9.43516217e-04 1.16719500e+01] [ 1.49959428e-02 9.99887550e-01 9.19840558e-05 9.20813287e-01] [-9.44789514e-04 -7.78247564e-05 9.99999551e-01 9.96425351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481400513 meters 0.08757189550518728 Centerline is valid? [True, True] Translation: X:11.70, Y:0.93, Z:0.10 [[ 9.99843558e-01 -1.76729995e-02 7.24546144e-04 1.17010103e+01] [ 1.76729530e-02 9.99843819e-01 7.06646271e-05 9.31207801e-01] [-7.25681839e-04 -5.78487023e-05 9.99999735e-01 1.00997755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511400513 meters 0.09069231997088191 Centerline is valid? [True, True] Translation: X:11.73, Y:0.93, Z:0.10 [[ 9.99842324e-01 -1.77500459e-02 5.12987625e-04 1.17317320e+01] [ 1.77500227e-02 9.99842455e-01 4.98719631e-05 9.34106158e-01] [-5.13792036e-04 -4.07585575e-05 9.99999867e-01 1.01884316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541400513 meters 0.08224400336303407 Centerline is valid? [True, True] Translation: X:11.76, Y:0.92, Z:0.10 [[ 9.99849855e-01 -1.73151001e-02 6.74306506e-04 1.17642885e+01] [ 1.73150598e-02 9.99850081e-01 6.56284558e-05 9.22657808e-01] [-6.75341778e-04 -5.39429446e-05 9.99999771e-01 1.02178663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571400513 meters 0.08553707335980013 Centerline is valid? [True, True] Translation: X:11.80, Y:0.92, Z:0.10 [[ 9.99856295e-01 -1.69328589e-02 8.17426478e-04 1.17956135e+01] [ 1.69327995e-02 9.99856627e-01 7.95016196e-05 9.24731488e-01] [-8.18655470e-04 -6.56488761e-05 9.99999663e-01 1.03010838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601400513 meters 0.07894598206545635 Centerline is valid? [True, True] Translation: X:11.83, Y:0.91, Z:0.10 [[ 9.99856397e-01 -1.68799885e-02 1.50015003e-03 1.18288332e+01] [ 1.68797885e-02 9.99857516e-01 1.45900670e-04 9.13508956e-01] [-1.50239909e-03 -1.20557503e-04 9.99998864e-01 1.03187062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631400512999999 meters 0.07904080427141348 Centerline is valid? [True, True] Translation: X:11.86, Y:0.91, Z:0.10 [[ 9.99839046e-01 -1.77595898e-02 2.54537115e-03 1.18603631e+01] [ 1.77590163e-02 9.99842266e-01 2.47733958e-04 9.09752770e-01] [-2.54936931e-03 -2.02490796e-04 9.99996730e-01 1.04377376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661400513 meters 0.07287816607166933 Centerline is valid? [True, True] Translation: X:11.89, Y:0.89, Z:0.11 [[ 9.99721339e-01 -2.31956882e-02 4.38216834e-03 1.18932331e+01] [ 2.31940397e-02 9.99730891e-01 4.26656474e-04 8.91325280e-01] [-4.39088565e-03 -3.24897396e-04 9.99990307e-01 1.07257695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691400513 meters 0.06477941521099664 Centerline is valid? [True, True] Translation: X:11.93, Y:0.88, Z:0.11 [[ 9.99622776e-01 -2.69985731e-02 5.03816527e-03 1.19254085e+01] [ 2.69964425e-02 9.99635409e-01 4.90430064e-04 8.78273385e-01] [-5.04956931e-03 -3.54232523e-04 9.99987188e-01 1.07906231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721400512999999 meters 0.06762029794084878 Centerline is valid? [True, True] Translation: X:11.95, Y:0.88, Z:0.11 [[ 9.99516589e-01 -3.07385062e-02 4.66178431e-03 1.19548695e+01] [ 3.07367218e-02 9.99527412e-01 4.53952316e-04 8.78826481e-01] [-4.67353502e-03 -3.10444903e-04 9.99989031e-01 1.08499662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751400513 meters 0.06546272164332409 Centerline is valid? [True, True] Translation: X:11.99, Y:0.87, Z:0.10 [[ 9.99295630e-01 -3.74560778e-02 2.29931559e-03 1.19857813e+01] [ 3.74556615e-02 9.99298265e-01 2.23837111e-04 8.67699753e-01] [-2.30608614e-03 -1.37557060e-04 9.99997332e-01 1.04939325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781400513 meters 0.06477559826670853 Centerline is valid? [True, True] Translation: X:12.02, Y:0.86, Z:0.10 [[ 9.99180322e-01 -4.04602741e-02 1.28457966e-03 1.20156607e+01] [ 4.04601465e-02 9.99181145e-01 1.25122509e-04 8.64776433e-01] [-1.28859027e-03 -7.30456672e-05 9.99999167e-01 1.03555721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811400512999999 meters 0.0608162885208024 Centerline is valid? [True, True] Translation: X:12.05, Y:0.86, Z:0.10 [[ 9.99076368e-01 -4.29623522e-02 8.04935456e-04 1.20469272e+01] [ 4.29623030e-02 9.99076691e-01 7.83198538e-05 8.59077084e-01] [-8.07557057e-04 -4.36656340e-05 9.99999673e-01 1.03123542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841400513 meters 0.055272975957663874 Centerline is valid? [True, True] Translation: X:12.08, Y:0.85, Z:0.10 [[ 9.98982510e-01 -4.50904790e-02 8.90356879e-04 1.20780978e+01] [ 4.50904196e-02 9.98982906e-01 8.66840248e-05 8.51958142e-01] [-8.93359926e-04 -4.64492594e-05 9.99999600e-01 1.03820786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871400513 meters 0.058133805790646996 Centerline is valid? [True, True] Translation: X:12.11, Y:0.86, Z:0.11 [[ 9.98892067e-01 -4.70438991e-02 1.22877537e-03 1.21075270e+01] [ 4.70437874e-02 9.98892821e-01 1.19695536e-04 8.55696909e-01] [-1.23304584e-03 -6.17566747e-05 9.99999238e-01 1.05895799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901400513 meters 0.050264134273824194 Centerline is valid? [True, True] Translation: X:12.14, Y:0.85, Z:0.11 [[ 9.98818657e-01 -4.85803605e-02 1.11316426e-03 1.21391311e+01] [ 4.85802698e-02 9.98819276e-01 1.08389321e-04 8.46276254e-01] [-1.11711552e-03 -5.41834559e-05 9.99999375e-01 1.05523191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931400513 meters 0.049050989966955005 Centerline is valid? [True, True] Translation: X:12.17, Y:0.84, Z:0.11 [[ 9.98676980e-01 -5.14105935e-02 1.11364115e-03 1.21687006e+01] [ 5.14105043e-02 9.98677600e-01 1.08561980e-04 8.41748873e-01] [-1.11774970e-03 -5.11654977e-05 9.99999374e-01 1.05046616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961400513 meters 0.046025994222797455 Centerline is valid? [True, True] Translation: X:12.20, Y:0.84, Z:0.11 [[ 9.98558684e-01 -5.36333185e-02 2.00539580e-03 1.21988316e+01] [ 5.36330339e-02 9.98560694e-01 1.95460949e-04 8.38363086e-01] [-2.01299264e-03 -8.76237670e-05 9.99997970e-01 1.06500112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991400513 meters 0.04867698430527254 Centerline is valid? [True, True] Translation: X:12.23, Y:0.84, Z:0.11 [[ 9.98436418e-01 -5.58171289e-02 3.02769725e-03 1.22276848e+01] [ 5.58164901e-02 9.98441001e-01 2.95122974e-04 8.42460750e-01] [-3.03944999e-03 -1.25666092e-04 9.99995373e-01 1.09432625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021400513 meters 0.046261901768989463 Centerline is valid? [True, True] Translation: X:12.26, Y:0.84, Z:0.11 [[ 9.98300667e-01 -5.81361232e-02 3.99628016e-03 1.22582214e+01] [ 5.81350291e-02 9.98308653e-01 3.89496269e-04 8.40801785e-01] [-4.01216487e-03 -1.56510522e-04 9.99991939e-01 1.11212021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051400512999999 meters 0.04093550243244792 Centerline is valid? [True, True] Translation: X:12.29, Y:0.83, Z:0.11 [[ 9.98030808e-01 -6.25993284e-02 3.97875038e-03 1.22900872e+01] [ 6.25982795e-02 9.98038729e-01 3.87758666e-04 8.30868642e-01] [-3.99522040e-03 -1.37932167e-04 9.99992010e-01 1.10822407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081400513 meters 0.03599799003972247 Centerline is valid? [True, True] Translation: X:12.32, Y:0.82, Z:0.11 [[ 9.97874185e-01 -6.50455952e-02 4.02251010e-03 1.23201817e+01] [ 6.50445378e-02 9.97882284e-01 3.93264804e-04 8.23793080e-01] [-4.03957171e-03 -1.30786485e-04 9.99991832e-01 1.09820489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111400513 meters 0.03482599265446066 Centerline is valid? [True, True] Translation: X:12.35, Y:0.82, Z:0.11 [[ 9.97719423e-01 -6.73822145e-02 3.94844508e-03 1.23482232e+01] [ 6.73812146e-02 9.97727229e-01 3.85870754e-04 8.21811500e-01] [-3.96547199e-03 -1.18939721e-04 9.99992130e-01 1.09962596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141400512999999 meters 0.03165858720860213 Centerline is valid? [True, True] Translation: X:12.38, Y:0.82, Z:0.11 [[ 9.97532535e-01 -7.00859318e-02 4.09919522e-03 1.23777830e+01] [ 7.00848751e-02 9.97540951e-01 4.01021338e-04 8.18372962e-01] [-4.11722106e-03 -1.12740246e-04 9.99991518e-01 1.09993482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171400513 meters 0.028145856367271602 Centerline is valid? [True, True] Translation: X:12.41, Y:0.81, Z:0.11 [[ 9.97236710e-01 -7.41302383e-02 4.86325246e-03 1.24079390e+01] [ 7.41288000e-02 9.97248562e-01 4.75575382e-04 8.11127248e-01] [-4.88512604e-03 -1.13754161e-04 9.99988061e-01 1.11939629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201400513 meters 0.027457398470486272 Centerline is valid? [True, True] Translation: X:12.44, Y:0.81, Z:0.11 [[ 9.97149718e-01 -7.52833930e-02 4.98508917e-03 1.24358660e+01] [ 7.52818941e-02 9.97162173e-01 4.87914776e-04 8.09935453e-01] [-5.00767422e-03 -1.11237127e-04 9.99987455e-01 1.12759804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231400512999999 meters 0.023875472393711638 Centerline is valid? [True, True] Translation: X:12.46, Y:0.81, Z:0.11 [[ 9.97137606e-01 -7.54918796e-02 4.19173998e-03 1.24647244e+01] [ 7.54908155e-02 9.97146412e-01 4.11712388e-04 8.05950955e-01] [-4.21085942e-03 -9.40960354e-05 9.99991130e-01 1.09975638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261400513 meters 0.025682186463044526 Centerline is valid? [True, True] Translation: X:12.49, Y:0.81, Z:0.11 [[ 9.97186896e-01 -7.48911815e-02 3.09930530e-03 1.24919174e+01] [ 7.48905966e-02 9.97191710e-01 3.04505328e-04 8.09400619e-01] [-3.11340632e-03 -7.15398997e-05 9.99995151e-01 1.08211450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291400513 meters 0.02725535986414271 Centerline is valid? [True, True] Translation: X:12.52, Y:0.81, Z:0.11 [[ 9.97271822e-01 -7.37760716e-02 2.45032354e-03 1.25200502e+01] [ 7.37757025e-02 9.97274831e-01 2.40817803e-04 8.12775573e-01] [-2.46141258e-03 -5.93864695e-05 9.99996969e-01 1.06849021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321400513 meters 0.027969800149294143 Centerline is valid? [True, True] Translation: X:12.55, Y:0.82, Z:0.11 [[ 9.97339177e-01 -7.28659940e-02 2.26139230e-03 1.25489579e+01] [ 7.28656753e-02 9.97341739e-01 2.23102993e-04 8.15136320e-01] [-2.27163755e-03 -5.77314786e-05 9.99997418e-01 1.06430596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351400513 meters 0.02850057503264213 Centerline is valid? [True, True] Translation: X:12.58, Y:0.82, Z:0.11 [[ 9.97369964e-01 -7.24517502e-02 1.97428967e-03 1.25781409e+01] [ 7.24515057e-02 9.97371917e-01 1.95201532e-04 8.16501288e-01] [-1.98324377e-03 -5.16478860e-05 9.99998032e-01 1.06685229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381400512999999 meters 0.027616934510436036 Centerline is valid? [True, True] Translation: X:12.61, Y:0.82, Z:0.11 [[ 9.97332395e-01 -7.29755063e-02 1.63408250e-03 1.26070670e+01] [ 7.29753388e-02 9.97333732e-01 1.61965508e-04 8.17218908e-01] [-1.64154511e-03 -4.22857245e-05 9.99998652e-01 1.06131117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411400513 meters 0.02696280407914373 Centerline is valid? [True, True] Translation: X:12.63, Y:0.82, Z:0.11 [[ 9.97249714e-01 -7.41016711e-02 1.39620031e-03 1.26347203e+01] [ 7.41015503e-02 9.97250691e-01 1.38115901e-04 8.17954570e-01] [-1.40259634e-03 -3.42754355e-05 9.99999016e-01 1.05973911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441400513 meters 0.025221947638490113 Centerline is valid? [True, True] Translation: X:12.66, Y:0.82, Z:0.11 [[ 9.97113256e-01 -7.59224531e-02 9.67053604e-04 1.26634815e+01] [ 7.59223953e-02 9.97113725e-01 9.63499721e-05 8.17548488e-01] [-9.71577548e-04 -2.26508085e-05 9.99999528e-01 1.05368278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471400512999999 meters 0.026767524963720195 Centerline is valid? [True, True] Translation: X:12.69, Y:0.82, Z:0.11 [[ 9.96937865e-01 -7.81974382e-02 2.31699473e-04 1.26910548e+01] [ 7.81974349e-02 9.96937892e-01 2.31798264e-05 8.21958399e-01] [-2.32802587e-04 -4.99054223e-06 9.99999973e-01 1.05562983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501400513 meters 0.018041897775408898 Centerline is valid? [True, True] Translation: X:12.72, Y:0.81, Z:0.11 [[ 9.96550078e-01 -8.29863411e-02 1.09937432e-03 1.27204291e+01] [ 8.29862706e-02 9.96550685e-01 1.09636688e-04 8.14902082e-01] [-1.10468058e-03 -1.80254747e-05 9.99999390e-01 1.05265912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531400513 meters 0.015921149212520577 Centerline is valid? [True, True] Translation: X:12.75, Y:0.81, Z:0.11 [[ 9.96339505e-01 -8.54340635e-02 2.93460674e-03 1.27492929e+01] [ 8.54335736e-02 9.96343826e-01 2.92126782e-04 8.14941525e-01] [-2.94883488e-03 -4.03435127e-05 9.99995651e-01 1.08225003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561400512999999 meters 0.01516756631664997 Centerline is valid? [True, True] Translation: X:12.78, Y:0.82, Z:0.11 [[ 9.96140827e-01 -8.76631608e-02 4.31535598e-03 1.27774215e+01] [ 8.76621247e-02 9.96150173e-01 4.29034103e-04 8.16538127e-01] [-4.33635309e-03 -4.90851131e-05 9.99990597e-01 1.11793385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591400513 meters 0.012963852421302026 Centerline is valid? [True, True] Translation: X:12.81, Y:0.82, Z:0.11 [[ 9.95931118e-01 -9.00181249e-02 4.23608932e-03 1.28059331e+01] [ 9.00171428e-02 9.95940127e-01 4.22325657e-04 8.16851390e-01] [-4.25690830e-03 -3.92866068e-05 9.99990939e-01 1.11572036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621400513 meters 0.021417198263001282 Centerline is valid? [True, True] Translation: X:12.83, Y:0.82, Z:0.11 [[ 9.95757680e-01 -9.19770221e-02 2.62101722e-03 1.28333914e+01] [ 9.19766530e-02 9.95761130e-01 2.61277880e-04 8.18395694e-01] [-2.63393863e-03 -1.90970641e-05 9.99996531e-01 1.09286130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651400513 meters 0.009579877101773 Centerline is valid? [True, True] Translation: X:12.86, Y:0.82, Z:0.11 [[ 9.95528036e-01 -9.44583888e-02 1.24226007e-03 1.28613661e+01] [ 9.44583076e-02 9.95528811e-01 1.24038483e-04 8.19322126e-01] [-1.24842217e-03 -6.14200323e-06 9.99999221e-01 1.07902719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681400513 meters 0.0075524947077184905 Centerline is valid? [True, True] Translation: X:12.89, Y:0.82, Z:0.11 [[ 9.95140294e-01 -9.84662466e-02 4.39769452e-04 1.28900870e+01] [ 9.84662365e-02 9.95140391e-01 4.46166352e-05 8.17920851e-01] [-4.42025577e-04 -1.09736858e-06 9.99999902e-01 1.06844629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711400513 meters 0.007919746220124747 Centerline is valid? [True, True] Translation: X:12.92, Y:0.82, Z:0.11 [[ 9.94944622e-01 -1.00408944e-01 1.80061982e-03 1.29175283e+01] [ 1.00408782e-01 9.94946252e-01 1.80105432e-04 8.20064850e-01] [-1.80960414e-03 1.60311295e-06 9.99998363e-01 1.09708183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741400513 meters 0.008608320361584113 Centerline is valid? [True, True] Translation: X:12.95, Y:0.82, Z:0.11 [[ 9.94741217e-01 -1.02371932e-01 3.14617115e-03 1.29459301e+01] [ 1.02371446e-01 9.94746193e-01 3.15419448e-04 8.23502876e-01] [-3.16193187e-03 8.31736471e-06 9.99995001e-01 1.12435869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771400513 meters 0.011016089348900755 Centerline is valid? [True, True] Translation: X:12.97, Y:0.83, Z:0.11 [[ 9.94282192e-01 -1.06697708e-01 4.30374935e-03 1.29747792e+01] [ 1.06696837e-01 9.94291506e-01 4.32040207e-04 8.26933848e-01] [-4.32527912e-03 2.96265592e-05 9.99990645e-01 1.14402253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801400512999999 meters 0.01337314218689283 Centerline is valid? [True, True] Translation: X:13.00, Y:0.83, Z:0.12 [[ 9.94043409e-01 -1.08894505e-01 4.43717500e-03 1.30023505e+01] [ 1.08893602e-01 9.94053311e-01 4.45213799e-04 8.27676957e-01] [-4.45926983e-03 4.06181261e-05 9.99990057e-01 1.15892180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831400513 meters 0.015188861872103396 Centerline is valid? [True, True] Translation: X:13.03, Y:0.83, Z:0.12 [[ 9.93795129e-01 -1.11106071e-01 5.16558968e-03 1.30313363e+01] [ 1.11104871e-01 9.93808552e-01 5.19573616e-04 8.29820349e-01] [-5.19133499e-03 5.75724464e-05 9.99986523e-01 1.16824222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861400513 meters 0.015624987521842198 Centerline is valid? [True, True] Translation: X:13.06, Y:0.83, Z:0.12 [[ 9.93575793e-01 -1.13014711e-01 5.90074082e-03 1.30596757e+01] [ 1.13013174e-01 9.93593312e-01 5.94480074e-04 8.34903394e-01] [-5.93012160e-03 7.62004353e-05 9.99982414e-01 1.17686727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891400512999999 meters 0.019195586224625798 Centerline is valid? [True, True] Translation: X:13.09, Y:0.84, Z:0.12 [[ 9.93406504e-01 -1.14453367e-01 6.62900383e-03 1.30870999e+01] [ 1.14451457e-01 9.93428617e-01 6.68037740e-04 8.37196080e-01] [-6.66190128e-03 9.50661118e-05 9.99977805e-01 1.21538583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921400513 meters 0.020154481202920557 Centerline is valid? [True, True] Translation: X:13.12, Y:0.85, Z:0.12 [[ 9.93153874e-01 -1.16635643e-01 6.44271218e-03 1.31150402e+01] [ 1.16633876e-01 9.93174766e-01 6.50657214e-04 8.48085426e-01] [-6.47462898e-03 1.05235761e-04 9.99979034e-01 1.21258324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951400513 meters 0.019091770523234707 Centerline is valid? [True, True] Translation: X:13.14, Y:0.86, Z:0.12 [[ 9.93006138e-01 -1.17953081e-01 5.08735028e-03 1.31428438e+01] [ 1.17951991e-01 9.93019165e-01 5.14857078e-04 8.56534620e-01] [-5.11256530e-03 8.88068545e-05 9.99986927e-01 1.17751368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981400512999999 meters 0.022705765328250523 Centerline is valid? [True, True] Translation: X:13.17, Y:0.86, Z:0.12 [[ 9.92789338e-01 -1.19816407e-01 3.65502235e-03 1.31708817e+01] [ 1.19815857e-01 9.92796063e-01 3.69860640e-04 8.58573878e-01] [-3.67300717e-03 7.07359344e-05 9.99993252e-01 1.16144148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011400513 meters 0.024450330324466144 Centerline is valid? [True, True] Translation: X:13.20, Y:0.86, Z:0.11 [[ 9.92445870e-01 -1.22651706e-01 2.78449712e-03 1.31991902e+01] [ 1.22651395e-01 9.92449775e-01 2.82752278e-04 8.62809726e-01] [-2.79815358e-03 6.09061247e-05 9.99996083e-01 1.14119827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041400513 meters 0.02948702864182162 Centerline is valid? [True, True] Translation: X:13.23, Y:0.86, Z:0.11 [[ 9.91901077e-01 -1.26981809e-01 2.80603929e-03 1.32277134e+01] [ 1.26981512e-01 9.91905043e-01 2.84560635e-04 8.62985887e-01] [-2.81945855e-03 7.40591114e-05 9.99996023e-01 1.13794873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071400513 meters 0.03454223220317105 Centerline is valid? [True, True] Translation: X:13.26, Y:0.86, Z:0.11 [[ 9.91283490e-01 -1.31692690e-01 3.75214735e-03 1.32580183e+01] [ 1.31692192e-01 9.91290584e-01 3.80361743e-04 8.62563966e-01] [-3.76955919e-03 1.17082193e-04 9.99992888e-01 1.14946878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101400513 meters 0.04382070063563543 Centerline is valid? [True, True] Translation: X:13.29, Y:0.86, Z:0.12 [[ 9.89898466e-01 -1.41669109e-01 5.55789086e-03 1.32891040e+01] [ 1.41668175e-01 9.89914042e-01 5.63363446e-04 8.58472478e-01] [-5.58164541e-03 2.29703644e-04 9.99984396e-01 1.17477839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131400512999999 meters 0.046470256793551816 Centerline is valid? [True, True] Translation: X:13.32, Y:0.86, Z:0.12 [[ 9.89299867e-01 -1.45799161e-01 5.32704527e-03 1.33191441e+01] [ 1.45798363e-01 9.89314180e-01 5.39988186e-04 8.60384098e-01] [-5.34885124e-03 2.42464238e-04 9.99985665e-01 1.16764050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161400513 meters 0.05498610858347621 Centerline is valid? [True, True] Translation: X:13.35, Y:0.86, Z:0.12 [[ 9.88838142e-01 -1.48936451e-01 4.13072082e-03 1.33485164e+01] [ 1.48935997e-01 9.88846749e-01 4.18903523e-04 8.55171994e-01] [-4.14703986e-03 2.00985245e-04 9.99991381e-01 1.15750932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191400513 meters 0.05264561208518029 Centerline is valid? [True, True] Translation: X:13.38, Y:0.86, Z:0.11 [[ 9.88515048e-01 -1.51094339e-01 2.91557605e-03 1.33768277e+01] [ 1.51094122e-01 9.88519337e-01 2.95964573e-04 8.63727662e-01] [-2.92682188e-03 1.47960969e-04 9.99995706e-01 1.12048099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221400512999999 meters 0.05554639219281864 Centerline is valid? [True, True] Translation: X:13.41, Y:0.87, Z:0.11 [[ 9.88152614e-01 -1.53448125e-01 2.84331027e-03 1.34064329e+01] [ 1.53447928e-01 9.88156693e-01 2.88502997e-04 8.65163992e-01] [-2.85390631e-03 1.51215078e-04 9.99995916e-01 1.11170746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251400513 meters 0.05554639219281864 Centerline is valid? [True, True] Translation: X:13.43, Y:0.87, Z:0.11 [[ 9.88124267e-01 -1.53630562e-01 2.84318337e-03 1.34338140e+01] [ 1.53630363e-01 9.88128346e-01 2.89752665e-04 8.68099248e-01] [-2.85394494e-03 1.50487652e-04 9.99995916e-01 1.11286644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281400513 meters 0.05427355287841366 Centerline is valid? [True, True] Translation: X:13.46, Y:0.87, Z:0.11 [[ 9.87978805e-01 -1.54547148e-01 3.61394511e-03 1.34625275e+01] [ 1.54546831e-01 9.87985395e-01 3.68602621e-04 8.72607055e-01] [-3.62749147e-03 1.94352187e-04 9.99993402e-01 1.12721700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311400512999999 meters 0.058316354771553926 Centerline is valid? [True, True] Translation: X:13.49, Y:0.87, Z:0.11 [[ 9.87839526e-01 -1.55431643e-01 3.75157142e-03 1.34901451e+01] [ 1.55431307e-01 9.87846629e-01 3.82739307e-04 8.70798983e-01] [-3.76546698e-03 2.05026634e-04 9.99992890e-01 1.14231441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341400513 meters 0.05835623744539292 Centerline is valid? [True, True] Translation: X:13.52, Y:0.87, Z:0.11 [[ 9.87737527e-01 -1.56086793e-01 3.38968026e-03 1.35181842e+01] [ 1.56086522e-01 9.87743326e-01 3.45865989e-04 8.74970092e-01] [-3.40211917e-03 1.87458587e-04 9.99994195e-01 1.14632378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371400513 meters 0.05592165407550252 Centerline is valid? [True, True] Translation: X:13.55, Y:0.88, Z:0.11 [[ 9.87654667e-01 -1.56614824e-01 3.17115591e-03 1.35466839e+01] [ 1.56614587e-01 9.87659742e-01 3.24557696e-04 8.82716595e-01] [-3.18285357e-03 1.76098349e-04 9.99994919e-01 1.14454493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401400512999999 meters 0.057545794951581374 Centerline is valid? [True, True] Translation: X:13.57, Y:0.88, Z:0.12 [[ 9.87609868e-01 -1.56890626e-01 3.47557542e-03 1.35741021e+01] [ 1.56890343e-01 9.87615965e-01 3.55405585e-04 8.84783510e-01] [-3.48829357e-03 1.94282158e-04 9.99993897e-01 1.15066186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431400513 meters 0.058082595931450084 Centerline is valid? [True, True] Translation: X:13.60, Y:0.89, Z:0.12 [[ 9.87456565e-01 -1.57810925e-01 5.02444404e-03 1.36039032e+01] [ 1.57810348e-01 9.87469306e-01 5.13650578e-04 8.87020733e-01] [-5.04254394e-03 2.85701626e-04 9.99987245e-01 1.17127290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461400513 meters 0.06226298786265676 Centerline is valid? [True, True] Translation: X:13.63, Y:0.88, Z:0.12 [[ 9.87298471e-01 -1.58773259e-01 5.72553587e-03 1.36329471e+01] [ 1.58772524e-01 9.87315017e-01 5.85558480e-04 8.84323996e-01] [-5.74587857e-03 3.30936790e-04 9.99983438e-01 1.18690981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491400513 meters 0.06044283658676228 Centerline is valid? [True, True] Translation: X:13.66, Y:0.89, Z:0.12 [[ 9.87126777e-01 -1.59830295e-01 5.91641234e-03 1.36613320e+01] [ 1.59829520e-01 9.87144446e-01 6.06573547e-04 8.89247471e-01] [-5.93730241e-03 3.46852356e-04 9.99982314e-01 1.18562702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521400513 meters 0.05956858530976253 Centerline is valid? [True, True] Translation: X:13.69, Y:0.89, Z:0.12 [[ 9.87040982e-01 -1.60382418e-01 5.25155582e-03 1.36900214e+01] [ 1.60381811e-01 9.87054904e-01 5.39355429e-04 8.93849644e-01] [-5.27007705e-03 3.09888120e-04 9.99986065e-01 1.17576581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551400512999999 meters 0.06069968701373782 Centerline is valid? [True, True] Translation: X:13.72, Y:0.90, Z:0.12 [[ 9.87169899e-01 -1.59600810e-01 4.81375223e-03 1.37174217e+01] [ 1.59600291e-01 9.87181596e-01 4.94285786e-04 8.96229130e-01] [-4.83093602e-03 2.80332208e-04 9.99988292e-01 1.17382321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581400513 meters 0.05890440820612699 Centerline is valid? [True, True] Translation: X:13.75, Y:0.90, Z:0.12 [[ 9.87926792e-01 -1.54814552e-01 5.75395587e-03 1.37462103e+01] [ 1.54813729e-01 9.87943501e-01 5.90729094e-04 9.03968311e-01] [-5.77603676e-03 3.07194269e-04 9.99983271e-01 1.19115747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611400513 meters 0.051812238792077706 Centerline is valid? [True, True] Translation: X:13.78, Y:0.92, Z:0.12 [[ 9.88447360e-01 -1.51409807e-01 6.84745547e-03 1.37754939e+01] [ 1.51408562e-01 9.88471018e-01 7.02952509e-04 9.17326904e-01] [-6.87494518e-03 3.41931832e-04 9.99976309e-01 1.20385682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641400512999999 meters 0.04867805150136156 Centerline is valid? [True, True] Translation: X:13.80, Y:0.93, Z:0.12 [[ 9.88915242e-01 -1.48275669e-01 7.80830302e-03 1.38047170e+01] [ 1.48273951e-01 9.88946001e-01 8.01707981e-04 9.27128661e-01] [-7.84086383e-03 3.64946695e-04 9.99969193e-01 1.22422854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671400513 meters 0.044386736728291416 Centerline is valid? [True, True] Translation: X:13.83, Y:0.94, Z:0.12 [[ 9.89341280e-01 -1.45394957e-01 8.00868929e-03 1.38339075e+01] [ 1.45393054e-01 9.89373632e-01 8.22376869e-04 9.38877038e-01] [-8.04315546e-03 3.50796410e-04 9.99967592e-01 1.22838473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701400513 meters 0.04859521830416677 Centerline is valid? [True, True] Translation: X:13.86, Y:0.95, Z:0.12 [[ 9.89992462e-01 -1.40987654e-01 6.11611375e-03 1.38629486e+01] [ 1.40986460e-01 9.90011325e-01 6.28035201e-04 9.47130517e-01] [-6.14356708e-03 2.40539113e-04 9.99981099e-01 1.21664707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731400512999999 meters 0.04077929197747079 Centerline is valid? [True, True] Translation: X:13.89, Y:0.96, Z:0.12 [[ 9.90114953e-01 -1.40150219e-01 5.50416008e-03 1.38911747e+01] [ 1.40149231e-01 9.90130230e-01 5.66661866e-04 9.59940446e-01] [-5.52925307e-03 2.10343416e-04 9.99984691e-01 1.19012796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761400513 meters 0.04038390413415977 Centerline is valid? [True, True] Translation: X:13.92, Y:0.97, Z:0.12 [[ 9.90157676e-01 -1.39836621e-01 5.78764643e-03 1.39198967e+01] [ 1.39835518e-01 9.90174566e-01 5.96694982e-04 9.67000502e-01] [-5.81422010e-03 2.18496420e-04 9.99983073e-01 1.18435226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791400513 meters 0.038108563820066554 Centerline is valid? [True, True] Translation: X:13.95, Y:0.98, Z:0.12 [[ 9.90117950e-01 -1.40071893e-01 6.80511153e-03 1.39474360e+01] [ 1.40070375e-01 9.90141302e-01 7.01507835e-04 9.76305312e-01] [-6.83628352e-03 2.58619023e-04 9.99976599e-01 1.18657963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821400513 meters 0.04494184837438468 Centerline is valid? [True, True] Translation: X:13.98, Y:0.97, Z:0.12 [[ 9.90029142e-01 -1.40633182e-01 8.03775653e-03 1.39759087e+01] [ 1.40631079e-01 9.90061721e-01 8.29010036e-04 9.74885618e-01] [-8.07446139e-03 3.09614282e-04 9.99967353e-01 1.23107568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851400513 meters 0.04047720352035384 Centerline is valid? [True, True] Translation: X:14.00, Y:0.99, Z:0.12 [[ 9.89891641e-01 -1.41542481e-01 8.95904258e-03 1.40031852e+01] [ 1.41539898e-01 9.89932120e-01 9.24935942e-04 9.87646888e-01] [-8.99976174e-03 3.52475617e-04 9.99959439e-01 1.22706092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881400512999999 meters 0.042250611615775764 Centerline is valid? [True, True] Translation: X:14.03, Y:1.00, Z:0.12 [[ 9.89716810e-01 -1.42759425e-01 8.96557135e-03 1.40298489e+01] [ 1.42756883e-01 9.89757351e-01 9.26163873e-04 9.96302842e-01] [-9.00595877e-03 3.63257068e-04 9.99959380e-01 1.23807509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911400513 meters 0.041300609021242815 Centerline is valid? [True, True] Translation: X:14.06, Y:1.00, Z:0.12 [[ 9.89607581e-01 -1.43537955e-01 8.58438280e-03 1.40581226e+01] [ 1.43535637e-01 9.89644750e-01 8.88639168e-04 1.00444473e+00] [-8.62304282e-03 3.52760800e-04 9.99962759e-01 1.22746974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941400513 meters 0.0440735230266153 Centerline is valid? [True, True] Translation: X:14.09, Y:1.01, Z:0.12 [[ 9.89478787e-01 -1.44425102e-01 8.55107492e-03 1.40859152e+01] [ 1.44422835e-01 9.89515670e-01 8.85249296e-04 1.00774041e+00] [-8.58927485e-03 3.59035082e-04 9.99963047e-01 1.22678175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971400512999999 meters 0.044733050650911696 Centerline is valid? [True, True] Translation: X:14.11, Y:1.01, Z:0.12 [[ 9.89334515e-01 -1.45379580e-01 9.05510461e-03 1.41141928e+01] [ 1.45377061e-01 9.89375878e-01 9.39341901e-04 1.01340286e+00] [-9.09546320e-03 3.87081126e-04 9.99958561e-01 1.22855383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001400513 meters 0.04668032398351862 Centerline is valid? [True, True] Translation: X:14.14, Y:1.02, Z:0.12 [[ 9.89237587e-01 -1.45987135e-01 9.83634135e-03 1.41415428e+01] [ 1.45984191e-01 9.89286397e-01 1.02045216e-03 1.01768358e+00] [-9.87993158e-03 4.26480705e-04 9.99951101e-01 1.24329045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031400513 meters 0.04660505081139279 Centerline is valid? [True, True] Translation: X:14.17, Y:1.02, Z:0.12 [[ 9.89191851e-01 -1.46283745e-01 1.00273469e-02 1.41702278e+01] [ 1.46280680e-01 9.89242577e-01 1.04231679e-03 1.02483308e+00] [-1.00719525e-02 4.35755858e-04 9.99949182e-01 1.24914157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061400512999999 meters 0.04530620463544777 Centerline is valid? [True, True] Translation: X:14.20, Y:1.04, Z:0.12 [[ 9.89059352e-01 -1.47247011e-01 8.93952837e-03 1.41974494e+01] [ 1.47244614e-01 9.89099671e-01 9.29410427e-04 1.03712236e+00] [-8.97893748e-03 3.97055327e-04 9.99959610e-01 1.22013067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091400513 meters 0.04136789638575289 Centerline is valid? [True, True] Translation: X:14.23, Y:1.05, Z:0.12 [[ 9.88954096e-01 -1.47970002e-01 8.64146000e-03 1.42255890e+01] [ 1.47967772e-01 9.88991773e-01 9.00403986e-04 1.04924904e+00] [-8.67956563e-03 3.88199374e-04 9.99962257e-01 1.19389223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121400513 meters 0.045550623178970046 Centerline is valid? [True, True] Translation: X:14.25, Y:1.05, Z:0.12 [[ 9.88858875e-01 -1.48590900e-01 8.88085110e-03 1.42533137e+01] [ 1.48588569e-01 9.88898671e-01 9.25405364e-04 1.05102213e+00] [-8.91976867e-03 4.04497647e-04 9.99960136e-01 1.21067277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151400512999999 meters 0.045235364007449715 Centerline is valid? [True, True] Translation: X:14.28, Y:1.06, Z:0.12 [[ 9.88702876e-01 -1.49568811e-01 9.78744635e-03 1.42812593e+01] [ 1.49566018e-01 9.88751215e-01 1.02087223e-03 1.05679652e+00] [-9.83004012e-03 4.54530068e-04 9.99951581e-01 1.22181038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181400513 meters 0.051069021732857905 Centerline is valid? [True, True] Translation: X:14.31, Y:1.06, Z:0.12 [[ 9.88348871e-01 -1.51821748e-01 1.08012481e-02 1.43106362e+01] [ 1.51818483e-01 9.88407750e-01 1.12637078e-03 1.06044689e+00] [-1.08470450e-02 5.26581822e-04 9.99941030e-01 1.24560979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211400513 meters 0.0512709418542703 Centerline is valid? [True, True] Translation: X:14.34, Y:1.07, Z:0.12 [[ 9.88097258e-01 -1.53434086e-01 1.10358240e-02 1.43394533e+01] [ 1.53430773e-01 9.88158728e-01 1.15131511e-03 1.06743156e+00] [-1.10817968e-02 5.55623706e-04 9.99938441e-01 1.24210220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241400513 meters 0.05506712655405107 Centerline is valid? [True, True] Translation: X:14.37, Y:1.07, Z:0.12 [[ 9.87843940e-01 -1.55049417e-01 1.11368115e-02 1.43683330e+01] [ 1.55046140e-01 9.87906546e-01 1.16224297e-03 1.07333082e+00] [-1.11823340e-02 5.78604953e-04 9.99937308e-01 1.23573282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271400513 meters 0.05315986893719761 Centerline is valid? [True, True] Translation: X:14.40, Y:1.08, Z:0.12 [[ 9.87530148e-01 -1.57020663e-01 1.13454143e-02 1.43974309e+01] [ 1.57017385e-01 9.87595128e-01 1.18466338e-03 1.07699176e+00] [-1.13906925e-02 6.11536490e-04 9.99934937e-01 1.23733853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301400512999999 meters 0.05675190901704093 Centerline is valid? [True, True] Translation: X:14.43, Y:1.08, Z:0.12 [[ 9.87133963e-01 -1.59466685e-01 1.17010594e-02 1.44270745e+01] [ 1.59463370e-01 9.87203090e-01 1.22176232e-03 1.07704733e+00] [-1.17461524e-02 6.59847285e-04 9.99930794e-01 1.24316121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331400513 meters 0.06448015608731157 Centerline is valid? [True, True] Translation: X:14.46, Y:1.07, Z:0.12 [[ 9.85984838e-01 -1.66426588e-01 1.16658035e-02 1.44565978e+01] [ 1.66423774e-01 9.86053570e-01 1.21838136e-03 1.07312727e+00] [-1.17058782e-02 7.40161499e-04 9.99931210e-01 1.24182379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361400513 meters 0.06552979961526724 Centerline is valid? [True, True] Translation: X:14.49, Y:1.08, Z:0.12 [[ 9.85285832e-01 -1.70525288e-01 1.15305902e-02 1.44867193e+01] [ 1.70522817e-01 9.85352992e-01 1.20433487e-03 1.07610889e+00] [-1.15670711e-02 7.79614642e-04 9.99932795e-01 1.22713420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391400512999999 meters 0.07033273685812072 Centerline is valid? [True, True] Translation: X:14.52, Y:1.07, Z:0.12 [[ 9.84608453e-01 -1.74386546e-01 1.16416213e-02 1.45164729e+01] [ 1.74384297e-01 9.84676921e-01 1.21583857e-03 1.07253652e+00] [-1.16752617e-02 8.32991012e-04 9.99931495e-01 1.22295684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421400513 meters 0.07093760594138826 Centerline is valid? [True, True] Translation: X:14.55, Y:1.07, Z:0.12 [[ 9.84000266e-01 -1.77770999e-01 1.18721948e-02 1.45472738e+01] [ 1.77768904e-01 9.84071481e-01 1.23991948e-03 1.07280877e+00] [-1.19035100e-02 8.90425956e-04 9.99928754e-01 1.21384238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451400513 meters 0.08069761680116126 Centerline is valid? [True, True] Translation: X:14.58, Y:1.06, Z:0.12 [[ 9.83319444e-01 -1.81560531e-01 1.08924054e-02 1.45783508e+01] [ 1.81558998e-01 9.83379396e-01 1.13773754e-03 1.06070618e+00] [-1.09179353e-02 8.58854758e-04 9.99940029e-01 1.22802663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481400512999999 meters 0.07856979881342167 Centerline is valid? [True, True] Translation: X:14.61, Y:1.07, Z:0.12 [[ 9.83182937e-01 -1.82346152e-01 1.00595019e-02 1.46064080e+01] [ 1.82344862e-01 9.83234073e-01 1.05296235e-03 1.06607724e+00] [-1.00828487e-02 7.99043878e-04 9.99948848e-01 1.21799350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511400513 meters 0.0777383716481551 Centerline is valid? [True, True] Translation: X:14.63, Y:1.07, Z:0.12 [[ 9.83169904e-01 -1.82439051e-01 9.64015232e-03 1.46347776e+01] [ 1.82437856e-01 9.83216867e-01 1.01063153e-03 1.06964469e+00] [-9.66273902e-03 7.65106217e-04 9.99953022e-01 1.21939019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541400513 meters 0.07250981967973598 Centerline is valid? [True, True] Translation: X:14.66, Y:1.08, Z:0.12 [[ 9.83295171e-01 -1.81771449e-01 9.47343037e-03 1.46628810e+01] [ 1.81770265e-01 9.83340523e-01 9.93137511e-04 1.07776901e+00] [-9.49613202e-03 7.45440628e-04 9.99954633e-01 1.20865241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571400513 meters 0.08123965683780254 Centerline is valid? [True, True] Translation: X:14.69, Y:1.07, Z:0.12 [[ 9.83745660e-01 -1.79319298e-01 9.43743793e-03 1.46940140e+01] [ 1.79318012e-01 9.83790665e-01 9.89217505e-04 1.06734145e+00] [-9.46184913e-03 7.19164178e-04 9.99954977e-01 1.22561172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601400513 meters 0.07388716707796862 Centerline is valid? [True, True] Translation: X:14.72, Y:1.08, Z:0.12 [[ 9.83943845e-01 -1.78245788e-01 9.10761305e-03 1.47232807e+01] [ 1.78244543e-01 9.83985758e-01 9.54783812e-04 1.07842751e+00] [-9.13194772e-03 6.83928669e-04 9.99958069e-01 1.20573751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631400512999999 meters 0.0748769757049972 Centerline is valid? [True, True] Translation: X:14.75, Y:1.08, Z:0.12 [[ 9.84075637e-01 -1.77532546e-01 8.79406343e-03 1.47512341e+01] [ 1.77531348e-01 9.84114713e-01 9.22911956e-04 1.07926108e+00] [-8.81821412e-03 6.53006762e-04 9.99960906e-01 1.20070332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661400513 meters 0.0696339344245288 Centerline is valid? [True, True] Translation: X:14.78, Y:1.08, Z:0.12 [[ 9.84134232e-01 -1.77255227e-01 7.77161438e-03 1.47794669e+01] [ 1.77254270e-01 9.84164750e-01 8.17273712e-04 1.08490857e+00] [-7.79341496e-03 5.73244792e-04 9.99969467e-01 1.16793888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691400513 meters 0.06771518255965633 Centerline is valid? [True, True] Translation: X:14.81, Y:1.09, Z:0.12 [[ 9.83967571e-01 -1.78193746e-01 7.40325325e-03 1.48093199e+01] [ 1.78192906e-01 9.83995266e-01 7.78157845e-04 1.08695443e+00] [-7.42342900e-03 5.53525127e-04 9.99972293e-01 1.15668569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721400512999999 meters 0.07223177971421053 Centerline is valid? [True, True] Translation: X:14.84, Y:1.08, Z:0.12 [[ 9.83830208e-01 -1.78972212e-01 6.86068643e-03 1.48372656e+01] [ 1.78971506e-01 9.83853993e-01 7.21821347e-04 1.08338383e+00] [-6.87909970e-03 5.17717734e-04 9.99976205e-01 1.15703958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751400513 meters 0.07660208868802706 Centerline is valid? [True, True] Translation: X:14.87, Y:1.08, Z:0.12 [[ 9.83718120e-01 -1.79605059e-01 6.37834933e-03 1.48655081e+01] [ 1.79604457e-01 9.83738679e-01 6.71724278e-04 1.07982130e+00] [-6.39527402e-03 4.84792622e-04 9.99979433e-01 1.15380539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781400513 meters 0.0733589179739129 Centerline is valid? [True, True] Translation: X:14.89, Y:1.08, Z:0.11 [[ 9.83769550e-01 -1.79330117e-01 6.17911337e-03 1.48943768e+01] [ 1.79329538e-01 9.83788845e-01 6.52065194e-04 1.08332471e+00] [-6.19587774e-03 4.66615665e-04 9.99980696e-01 1.14197733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811400512999999 meters 0.07541809558443406 Centerline is valid? [True, True] Translation: X:14.92, Y:1.08, Z:0.11 [[ 9.83947955e-01 -1.78353454e-01 6.03884982e-03 1.49234355e+01] [ 1.78352885e-01 9.83966383e-01 6.36952546e-04 1.08255340e+00] [-6.05562790e-03 4.50318134e-04 9.99981563e-01 1.14258903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841400513 meters 0.0687660824681771 Centerline is valid? [True, True] Translation: X:14.95, Y:1.09, Z:0.11 [[ 9.84179056e-01 -1.77076568e-01 5.95613908e-03 1.49523966e+01] [ 1.77075992e-01 9.84196982e-01 6.28205582e-04 1.09291006e+00] [-5.97325459e-03 4.36422458e-04 9.99982065e-01 1.12849718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871400513 meters 0.06557713508476679 Centerline is valid? [True, True] Translation: X:14.98, Y:1.10, Z:0.11 [[ 9.84727086e-01 -1.74031757e-01 5.05113894e-03 1.49822883e+01] [ 1.74031302e-01 9.84739977e-01 5.32872714e-04 1.09709624e+00] [-5.06679522e-03 3.54322094e-04 9.99987101e-01 1.11628733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901400512999999 meters 0.06541933453550372 Centerline is valid? [True, True] Translation: X:15.01, Y:1.10, Z:0.11 [[ 9.84908304e-01 -1.73026700e-01 4.17052342e-03 1.50119472e+01] [ 1.73026380e-01 9.84917092e-01 4.40108663e-04 1.09880370e+00] [-4.18377035e-03 2.88143896e-04 9.99991206e-01 1.10202318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931400513 meters 0.07069171950377118 Centerline is valid? [True, True] Translation: X:15.04, Y:1.09, Z:0.11 [[ 9.85014498e-01 -1.72450337e-01 2.70573437e-03 1.50404127e+01] [ 1.72450199e-01 9.85018196e-01 2.85872714e-04 1.09404938e+00] [-2.71449643e-03 1.85015662e-04 9.99996299e-01 1.08787546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961400513 meters 0.061827205229044696 Centerline is valid? [True, True] Translation: X:15.07, Y:1.11, Z:0.10 [[ 9.85133239e-01 -1.71791749e-01 3.10565457e-04 1.50684986e+01] [ 1.71791747e-01 9.85133288e-01 3.34840488e-05 1.10616118e+00] [-3.11700653e-04 2.03663330e-05 9.99999951e-01 1.03707265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991400513 meters 0.06950998530231516 Centerline is valid? [True, True] Translation: X:15.10, Y:1.10, Z:0.10 [[ 9.85232243e-01 -1.71221989e-01 -6.77155865e-04 1.50971160e+01] [ 1.71221980e-01 9.85232474e-01 -7.13793479e-05 1.09864401e+00] [ 6.79377663e-04 -4.56187329e-05 9.99999768e-01 1.02794021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021400513 meters 0.06590691387924345 Centerline is valid? [True, True] Translation: X:15.13, Y:1.11, Z:0.10 [[ 9.85287622e-01 -1.70897473e-01 -1.53493866e-03 1.51256898e+01] [ 1.70897427e-01 9.85288812e-01 -1.61933449e-04 1.10523619e+00] [ 1.54003191e-03 -1.02766045e-04 9.99998809e-01 1.01287365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051400513 meters 0.06654010873116116 Centerline is valid? [True, True] Translation: X:15.15, Y:1.11, Z:0.10 [[ 9.85425030e-01 -1.70103037e-01 -1.57067595e-03 1.51538420e+01] [ 1.70102987e-01 9.85426276e-01 -1.66278462e-04 1.10763881e+00] [ 1.57606982e-03 -1.03321712e-04 9.99998753e-01 1.01630206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081400513 meters 0.06633964120886195 Centerline is valid? [True, True] Translation: X:15.18, Y:1.11, Z:0.10 [[ 9.85508978e-01 -1.69616840e-01 -1.47710674e-03 1.51827825e+01] [ 1.69616795e-01 9.85510080e-01 -1.56329100e-04 1.11213719e+00] [ 1.48221963e-03 -9.64783807e-05 9.99998897e-01 1.02208423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111400513 meters 0.0674269397115455 Centerline is valid? [True, True] Translation: X:15.21, Y:1.11, Z:0.10 [[ 9.85683048e-01 -1.68607401e-01 -6.87811672e-04 1.52104437e+01] [ 1.68607391e-01 9.85683287e-01 -7.26738520e-05 1.11491031e+00] [ 6.90217819e-04 -4.43367475e-05 9.99999761e-01 1.03702421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141400513 meters 0.06011123086597001 Centerline is valid? [True, True] Translation: X:15.24, Y:1.13, Z:0.11 [[ 9.85962260e-01 -1.66956848e-01 1.95767443e-03 1.52394888e+01] [ 1.66956763e-01 9.85964196e-01 2.07881497e-04 1.12749535e+00] [-1.96490414e-03 1.21883676e-04 9.99998062e-01 1.07920224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171400513 meters 0.06011123086597001 Centerline is valid? [True, True] Translation: X:15.27, Y:1.13, Z:0.11 [[ 9.85931149e-01 -1.67140470e-01 1.95755804e-03 1.52668594e+01] [ 1.67140383e-01 9.85933085e-01 2.08976827e-04 1.13054208e+00] [-1.96494972e-03 1.21150238e-04 9.99998062e-01 1.08036132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201400513 meters 0.0641315060500541 Centerline is valid? [True, True] Translation: X:15.29, Y:1.13, Z:0.11 [[ 9.85918943e-01 -1.67208093e-01 2.30020368e-03 1.52935907e+01] [ 1.67207975e-01 9.85921616e-01 2.45160201e-04 1.12974235e+00] [-2.30881330e-03 1.42904313e-04 9.99997324e-01 1.09907170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231400513 meters 0.061168495335317194 Centerline is valid? [True, True] Translation: X:15.32, Y:1.14, Z:0.11 [[ 9.85615932e-01 -1.69000144e-01 -4.31864030e-04 1.53222552e+01] [ 1.69000140e-01 9.85616026e-01 -4.58759000e-05 1.14221389e+00] [ 4.33405143e-04 -2.77690638e-05 9.99999906e-01 1.06064917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261400512999998 meters 0.06497908501771335 Centerline is valid? [True, True] Translation: X:15.35, Y:1.14, Z:0.10 [[ 9.85389425e-01 -1.70301820e-01 -2.22966777e-03 1.53510177e+01] [ 1.70301717e-01 9.85391937e-01 -2.37293944e-04 1.14228433e+00] [ 2.23750824e-03 -1.45889307e-04 9.99997486e-01 1.03273220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291400513 meters 0.06770174286916253 Centerline is valid? [True, True] Translation: X:15.38, Y:1.14, Z:0.10 [[ 9.85109329e-01 -1.71897522e-01 -3.29410731e-03 1.53804895e+01] [ 1.71897306e-01 9.85114812e-01 -3.50765167e-04 1.14375574e+00] [ 3.30536957e-03 -2.20706133e-04 9.99994513e-01 1.02084212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321400513 meters 0.0752298418406547 Centerline is valid? [True, True] Translation: X:15.41, Y:1.14, Z:0.10 [[ 9.84727476e-01 -1.74081360e-01 -2.73461876e-03 1.54106877e+01] [ 1.74081219e-01 9.84731255e-01 -2.91275523e-04 1.13777102e+00] [ 2.74357020e-03 -1.89218756e-04 9.99996219e-01 1.02988542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351400512999998 meters 0.07899804818160643 Centerline is valid? [True, True] Translation: X:15.44, Y:1.14, Z:0.11 [[ 9.83940613e-01 -1.78493270e-01 -1.01087087e-03 1.54413359e+01] [ 1.78493253e-01 9.83941130e-01 -1.07721733e-04 1.13984157e+00] [ 1.01386503e-03 -7.44418420e-05 9.99999483e-01 1.06837751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381400513 meters 0.07692698502550556 Centerline is valid? [True, True] Translation: X:15.47, Y:1.15, Z:0.11 [[ 9.83549797e-01 -1.80631365e-01 -1.45122750e-03 1.54706083e+01] [ 1.80631332e-01 9.83550862e-01 -1.54592941e-04 1.14737915e+00] [ 1.45528039e-03 -1.10087301e-04 9.99998935e-01 1.05680304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411400513 meters 0.07885338027526298 Centerline is valid? [True, True] Translation: X:15.50, Y:1.15, Z:0.10 [[ 9.82891510e-01 -1.84131785e-01 -4.44577481e-03 1.55007906e+01] [ 1.84131514e-01 9.82901501e-01 -4.73723365e-04 1.15024763e+00] [ 4.45698626e-03 -3.52988571e-04 9.99990005e-01 1.00153919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441400512999998 meters 0.07843624034008737 Centerline is valid? [True, True] Translation: X:15.53, Y:1.15, Z:0.10 [[ 9.82676464e-01 -1.85280327e-01 -4.26238033e-03 1.55300732e+01] [ 1.85280088e-01 9.82685648e-01 -4.54219644e-04 1.15461924e+00] [ 4.27273794e-03 -3.43383251e-04 9.99990813e-01 9.99197872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471400513 meters 0.07366886376756884 Centerline is valid? [True, True] Translation: X:15.56, Y:1.16, Z:0.10 [[ 9.82418356e-01 -1.86683012e-01 -1.90428475e-03 1.55590119e+01] [ 1.86682967e-01 9.82420189e-01 -2.02945683e-04 1.16456192e+00] [ 1.90869430e-03 -1.56119963e-04 9.99998166e-01 1.03201788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501400513 meters 0.07900240131665003 Centerline is valid? [True, True] Translation: X:15.59, Y:1.16, Z:0.10 [[ 9.82366761e-01 -1.86957927e-01 -1.51017171e-03 1.55872011e+01] [ 1.86957899e-01 9.82367914e-01 -1.60747337e-04 1.16174047e+00] [ 1.51359722e-03 -1.24425688e-04 9.99998847e-01 1.04257229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531400513 meters 0.07814453614410484 Centerline is valid? [True, True] Translation: X:15.62, Y:1.17, Z:0.10 [[ 9.82374557e-01 -1.86911170e-01 -2.10798185e-03 1.56156527e+01] [ 1.86911115e-01 9.82376804e-01 -2.24558712e-04 1.16670338e+00] [ 2.11280500e-03 -1.73404473e-04 9.99997753e-01 1.04254431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561400513 meters 0.08070678301842549 Centerline is valid? [True, True] Translation: X:15.64, Y:1.17, Z:0.10 [[ 9.82502598e-01 -1.86225584e-01 -2.94556994e-03 1.56433387e+01] [ 1.86225472e-01 9.82506985e-01 -3.14661075e-04 1.16747472e+00] [ 2.95264098e-03 -2.39384828e-04 9.99995612e-01 1.03206958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591400513 meters 0.07780174230370059 Centerline is valid? [True, True] Translation: X:15.67, Y:1.18, Z:0.10 [[ 9.82924051e-01 -1.83978715e-01 -3.48454768e-03 1.56731593e+01] [ 1.83978543e-01 9.82930189e-01 -3.72519161e-04 1.17523283e+00] [ 3.49360270e-03 -2.74923963e-04 9.99993860e-01 1.02850119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621400513 meters 0.07796764274326748 Centerline is valid? [True, True] Translation: X:15.70, Y:1.18, Z:0.10 [[ 9.83243808e-01 -1.82246218e-01 -4.23440722e-03 1.57031030e+01] [ 1.82245948e-01 9.83252872e-01 -4.52711516e-04 1.18093127e+00] [ 4.24599802e-03 -3.26577764e-04 9.99990932e-01 1.02121563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651400513 meters 0.07560304519015003 Centerline is valid? [True, True] Translation: X:15.73, Y:1.19, Z:0.10 [[ 9.83520561e-01 -1.80722712e-01 -5.15818484e-03 1.57318993e+01] [ 1.80722291e-01 9.83534010e-01 -5.51555939e-04 1.18503087e+00] [ 5.17292891e-03 -3.89732375e-04 9.99986544e-01 1.01303339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681400513 meters 0.07210143863288736 Centerline is valid? [True, True] Translation: X:15.76, Y:1.20, Z:0.10 [[ 9.84063623e-01 -1.77655603e-01 -7.56788503e-03 1.57612858e+01] [ 1.77654604e-01 9.84092570e-01 -8.09450496e-04 1.19603496e+00] [ 7.59130285e-03 -5.47918833e-04 9.99971036e-01 9.76362219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711400513 meters 0.07593198377147989 Centerline is valid? [True, True] Translation: X:15.79, Y:1.20, Z:0.10 [[ 9.84291990e-01 -1.76379934e-01 -7.70702530e-03 1.57900511e+01] [ 1.76378857e-01 9.84322010e-01 -8.24528279e-04 1.19701424e+00] [ 7.73162487e-03 -5.47779735e-04 9.99969961e-01 9.70320982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741400513 meters 0.06909428476786873 Centerline is valid? [True, True] Translation: X:15.82, Y:1.21, Z:0.10 [[ 9.84676408e-01 -1.74320484e-01 -4.97398961e-03 1.58186847e+01] [ 1.74320009e-01 9.84688911e-01 -5.32207404e-04 1.21290660e+00] [ 4.99060706e-03 -3.43013839e-04 9.99987488e-01 1.01377520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771400513 meters 0.06475265806019474 Centerline is valid? [True, True] Translation: X:15.85, Y:1.22, Z:0.10 [[ 9.84839917e-01 -1.73425768e-01 -3.72032547e-03 1.58462270e+01] [ 1.73425496e-01 9.84846911e-01 -3.98069425e-04 1.22495389e+00] [ 3.73298654e-03 -2.53164630e-04 9.99993000e-01 1.02888858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801400513 meters 0.0726010887282311 Centerline is valid? [True, True] Translation: X:15.87, Y:1.22, Z:0.10 [[ 9.84926108e-01 -1.72935843e-01 -3.70891255e-03 1.58747247e+01] [ 1.72935568e-01 9.84933059e-01 -3.97017748e-04 1.21948590e+00] [ 3.72168918e-03 -2.50369753e-04 9.99993043e-01 1.03969580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831400513 meters 0.06590901832694179 Centerline is valid? [True, True] Translation: X:15.90, Y:1.23, Z:0.10 [[ 9.85165552e-01 -1.71548409e-01 -4.46977749e-03 1.59027681e+01] [ 1.71547995e-01 9.85175647e-01 -4.78767181e-04 1.23477562e+00] [ 4.48564768e-03 -2.95116432e-04 9.99989896e-01 1.02986349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861400513 meters 0.07339585778999047 Centerline is valid? [True, True] Translation: X:15.93, Y:1.24, Z:0.10 [[ 9.85189564e-01 -1.71412560e-01 -4.38828112e-03 1.59304947e+01] [ 1.71412159e-01 9.85199295e-01 -4.70144206e-04 1.23757737e+00] [ 4.40392009e-03 -2.89023575e-04 9.99990261e-01 1.03149923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891400513 meters 0.06327838447603626 Centerline is valid? [True, True] Translation: X:15.96, Y:1.25, Z:0.10 [[ 9.84994162e-01 -1.72546784e-01 -3.75598619e-03 1.59594689e+01] [ 1.72546498e-01 9.85001291e-01 -4.02598143e-04 1.24682555e+00] [ 3.76911826e-03 -2.51525444e-04 9.99992865e-01 1.04172491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921400513 meters 0.0748593584983019 Centerline is valid? [True, True] Translation: X:15.99, Y:1.24, Z:0.11 [[ 9.84747800e-01 -1.73961689e-01 -3.01676384e-03 1.59891950e+01] [ 1.73961511e-01 9.84752399e-01 -3.23399969e-04 1.23911456e+00] [ 3.02702463e-03 -2.06333388e-04 9.99995397e-01 1.05342617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951400513 meters 0.07642333606032306 Centerline is valid? [True, True] Translation: X:16.02, Y:1.24, Z:0.11 [[ 9.84027905e-01 -1.78005970e-01 -1.71928842e-03 1.60196938e+01] [ 1.78005918e-01 9.84029400e-01 -1.84373290e-04 1.24206071e+00] [ 1.72464990e-03 -1.24615051e-04 9.99998505e-01 1.08878245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981400513 meters 0.08567747845124636 Centerline is valid? [True, True] Translation: X:16.05, Y:1.24, Z:0.11 [[ 9.83676053e-01 -1.79937412e-01 -1.98761262e-03 1.60497866e+01] [ 1.79937347e-01 9.83678050e-01 -2.13160927e-04 1.23509034e+00] [ 1.99352653e-03 -1.47964442e-04 9.99998002e-01 1.09459687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011400512999998 meters 0.07512622471053827 Centerline is valid? [True, True] Translation: X:16.08, Y:1.25, Z:0.11 [[ 9.83097911e-01 -1.83043547e-01 -3.68211383e-03 1.60790959e+01] [ 1.83043344e-01 9.83104765e-01 -3.94980369e-04 1.25113023e+00] [ 3.69220226e-03 -2.85682053e-04 9.99993143e-01 1.07069769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041400513 meters 0.0778165609322927 Centerline is valid? [True, True] Translation: X:16.11, Y:1.25, Z:0.11 [[ 9.82782072e-01 -1.84735976e-01 -3.46682574e-03 1.61080815e+01] [ 1.84735806e-01 9.82788148e-01 -3.71875996e-04 1.25059126e+00] [ 3.47585413e-03 -2.74973787e-04 9.99993921e-01 1.07062092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071400513 meters 0.08316273433826461 Centerline is valid? [True, True] Translation: X:16.14, Y:1.25, Z:0.11 [[ 9.82501697e-01 -1.86238011e-01 -2.41208808e-03 1.61380331e+01] [ 1.86237933e-01 9.82504639e-01 -2.58751197e-04 1.24684073e+00] [ 2.41807703e-03 -1.94998808e-04 9.99997057e-01 1.08448748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101400512999998 meters 0.07831743138164647 Centerline is valid? [True, True] Translation: X:16.17, Y:1.25, Z:0.11 [[ 9.82081407e-01 -1.88454877e-01 -9.32005813e-04 1.61677639e+01] [ 1.88454866e-01 9.82081847e-01 -9.99849992e-05 1.25459208e+00] [ 9.34148650e-04 -7.74476222e-05 9.99999561e-01 1.10420306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131400513 meters 0.08206761121580734 Centerline is valid? [True, True] Translation: X:16.20, Y:1.25, Z:0.11 [[ 9.81946105e-01 -1.89156092e-01 -1.34891178e-03 1.61956127e+01] [ 1.89156071e-01 9.81947025e-01 -1.44532721e-04 1.25110313e+00] [ 1.35189916e-03 -1.13231511e-04 9.99999080e-01 1.10131731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161400513 meters 0.07393346747312028 Centerline is valid? [True, True] Translation: X:16.22, Y:1.26, Z:0.11 [[ 9.81765317e-01 -1.90081439e-01 -2.43089889e-03 1.62243271e+01] [ 1.90081372e-01 9.81768305e-01 -2.60939453e-04 1.26205067e+00] [ 2.43617923e-03 -2.05887290e-04 9.99997011e-01 1.08543308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191400512999998 meters 0.0841280982726692 Centerline is valid? [True, True] Translation: X:16.26, Y:1.25, Z:0.10 [[ 9.81234068e-01 -1.92738464e-01 -5.62025867e-03 1.62553680e+01] [ 1.92738145e-01 9.81250041e-01 -6.03541639e-04 1.24942217e+00] [ 5.63120474e-03 -4.91022611e-04 9.99984024e-01 1.04580766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221400513 meters 0.09149482855478844 Centerline is valid? [True, True] Translation: X:16.29, Y:1.24, Z:0.10 [[ 9.80989064e-01 -1.93967812e-01 -6.07820452e-03 1.62853693e+01] [ 1.93967461e-01 9.81007746e-01 -6.52785712e-04 1.24226591e+00] [ 6.08938513e-03 -5.38598256e-04 9.99981314e-01 1.03947051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251400513 meters 0.08643244280396917 Centerline is valid? [True, True] Translation: X:16.31, Y:1.25, Z:0.11 [[ 9.80860952e-01 -1.94674756e-01 -3.67853854e-03 1.63143417e+01] [ 1.94674633e-01 9.80867795e-01 -3.95072470e-04 1.24757845e+00] [ 3.68507062e-03 -3.28606978e-04 9.99993156e-01 1.07798288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281400513 meters 0.0865508291498274 Centerline is valid? [True, True] Translation: X:16.34, Y:1.25, Z:0.11 [[ 9.80917495e-01 -1.94410374e-01 -2.33988136e-03 1.63429829e+01] [ 1.94410324e-01 9.80920263e-01 -2.51069100e-04 1.24791475e+00] [ 2.34404748e-03 -2.08619019e-04 9.99997231e-01 1.10546990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311400513 meters 0.08338380168366644 Centerline is valid? [True, True] Translation: X:16.37, Y:1.25, Z:0.11 [[ 9.81064863e-01 -1.93677421e-01 -8.90015628e-04 1.63719696e+01] [ 1.93677414e-01 9.81065263e-01 -9.52600061e-05 1.25311696e+00] [ 8.91613129e-04 -7.89196802e-05 9.99999599e-01 1.13229100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341400513 meters 0.08680433382870503 Centerline is valid? [True, True] Translation: X:16.40, Y:1.25, Z:0.12 [[ 9.81673076e-01 -1.90572478e-01 3.21398430e-04 1.64013044e+01] [ 1.90572477e-01 9.81673128e-01 3.47123459e-05 1.25136900e+00] [-3.22123420e-04 2.71735194e-05 9.99999948e-01 1.16189983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371400513 meters 0.08089921535502541 Centerline is valid? [True, True] Translation: X:16.43, Y:1.26, Z:0.12 [[ 9.82081214e-01 -1.88458177e-01 6.63605849e-05 1.64309531e+01] [ 1.88458177e-01 9.82081216e-01 7.17182304e-06 1.26190978e+00] [-6.65230727e-05 5.46288219e-06 9.99999998e-01 1.15253145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401400513 meters 0.07639646200867074 Centerline is valid? [True, True] Translation: X:16.46, Y:1.27, Z:0.11 [[ 9.82975995e-01 -1.83729833e-01 -1.24149681e-03 1.64608506e+01] [ 1.83729810e-01 9.82976774e-01 -1.33739081e-04 1.26989363e+00] [ 1.24493439e-03 -9.66376665e-05 9.99999220e-01 1.12740066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431400513 meters 0.07175988879658309 Centerline is valid? [True, True] Translation: X:16.49, Y:1.28, Z:0.11 [[ 9.83297392e-01 -1.82004484e-01 -7.79078064e-04 1.64904436e+01] [ 1.82004475e-01 9.83297699e-01 -8.39227473e-05 1.27956636e+00] [ 7.81339983e-04 -5.92746752e-05 9.99999693e-01 1.13584477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461400513 meters 0.0761653349104601 Centerline is valid? [True, True] Translation: X:16.52, Y:1.28, Z:0.12 [[ 9.83470799e-01 -1.81065585e-01 6.63823652e-04 1.65182171e+01] [ 1.81065578e-01 9.83471022e-01 7.18302903e-05 1.27871508e+00] [-6.65857319e-04 4.95526201e-05 9.99999777e-01 1.17093711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491400513 meters 0.0729615182132223 Centerline is valid? [True, True] Translation: X:16.55, Y:1.29, Z:0.12 [[ 9.83469154e-01 -1.81064790e-01 1.99114006e-03 1.65456869e+01] [ 1.81064722e-01 9.83471159e-01 2.15872981e-04 1.28802398e+00] [-1.99731582e-03 1.48220805e-04 9.99997994e-01 1.20327161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521400513 meters 0.06640869009732706 Centerline is valid? [True, True] Translation: X:16.57, Y:1.30, Z:0.12 [[ 9.83337504e-01 -1.81779905e-01 1.84923991e-03 1.65735259e+01] [ 1.81779847e-01 9.83339233e-01 2.00783987e-04 1.29820866e+00] [-1.85492865e-03 1.38716124e-04 9.99998270e-01 1.18939497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551400513 meters 0.07734859412155998 Centerline is valid? [True, True] Translation: X:16.60, Y:1.29, Z:0.12 [[ 9.83200124e-01 -1.82528753e-01 8.77840696e-04 1.66030575e+01] [ 1.82528740e-01 9.83200514e-01 9.52804925e-05 1.28615717e+00] [-8.80484852e-04 6.65513643e-05 9.99999610e-01 1.17897634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581400513 meters 0.08210835490381965 Centerline is valid? [True, True] Translation: X:16.63, Y:1.29, Z:0.11 [[ 9.82719447e-01 -1.85097309e-01 -1.21436101e-03 1.66338209e+01] [ 1.85097287e-01 9.82720193e-01 -1.31442928e-04 1.28861774e+00] [ 1.21770682e-03 -9.56034081e-05 9.99999254e-01 1.13037684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611400513 meters 0.07661099242234072 Centerline is valid? [True, True] Translation: X:16.66, Y:1.29, Z:0.11 [[ 9.82467247e-01 -1.86430740e-01 -1.29909874e-03 1.66637036e+01] [ 1.86430716e-01 9.82468100e-01 -1.40608366e-04 1.29430879e+00] [ 1.30253680e-03 -1.04048794e-04 9.99999146e-01 1.12996638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641400513 meters 0.0767012186609421 Centerline is valid? [True, True] Translation: X:16.69, Y:1.30, Z:0.11 [[ 9.82079715e-01 -1.88459750e-01 -1.53507032e-03 1.66935388e+01] [ 1.88459718e-01 9.82080906e-01 -1.66187676e-04 1.29622342e+00] [ 1.53888294e-03 -1.26089375e-04 9.99998808e-01 1.13836267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671400513 meters 0.08467657838376279 Centerline is valid? [True, True] Translation: X:16.72, Y:1.29, Z:0.11 [[ 9.81823968e-01 -1.89780763e-01 -2.22680125e-03 1.67237491e+01] [ 1.89780701e-01 9.81826475e-01 -2.41071301e-04 1.28840603e+00] [ 2.23208312e-03 -1.85914321e-04 9.99997492e-01 1.13964060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701400513 meters 0.08209983640321984 Centerline is valid? [True, True] Translation: X:16.75, Y:1.29, Z:0.11 [[ 9.81593590e-01 -1.90956028e-01 -3.13345271e-03 1.67527244e+01] [ 1.90955911e-01 9.81598556e-01 -3.39325426e-04 1.29430588e+00] [ 3.14058890e-03 -2.65271654e-04 9.99995033e-01 1.12911760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731400513 meters 0.0894781312216904 Centerline is valid? [True, True] Translation: X:16.78, Y:1.29, Z:0.11 [[ 9.81283497e-01 -1.92538347e-01 -3.41807789e-03 1.67821797e+01] [ 1.92538216e-01 9.81289406e-01 -3.70287651e-04 1.29057966e+00] [ 3.42541820e-03 -2.94753459e-04 9.99994090e-01 1.12100368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761400512999998 meters 0.08899368312889745 Centerline is valid? [True, True] Translation: X:16.81, Y:1.29, Z:0.11 [[ 9.81244056e-01 -1.92757758e-01 -2.13294372e-03 1.68102370e+01] [ 1.92757708e-01 9.81246357e-01 -2.31011606e-04 1.29453059e+00] [ 2.13747253e-03 -1.84462577e-04 9.99997699e-01 1.13296266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791400513 meters 0.07759348654953643 Centerline is valid? [True, True] Translation: X:16.84, Y:1.31, Z:0.11 [[ 9.81380577e-01 -1.92072249e-01 -6.43017110e-04 1.68377531e+01] [ 1.92072245e-01 9.81380786e-01 -6.94354486e-05 1.31157343e+00] [ 6.44381260e-04 -5.53631392e-05 9.99999791e-01 1.14360554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821400513 meters 0.08617827220164286 Centerline is valid? [True, True] Translation: X:16.87, Y:1.30, Z:0.11 [[ 9.81519979e-01 -1.91357339e-01 -9.47990850e-04 1.68667427e+01] [ 1.91357329e-01 9.81520434e-01 -1.02699987e-04 1.30494852e+00] [ 9.50124787e-04 -8.06029074e-05 9.99999545e-01 1.14180241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851400512999998 meters 0.08348130939438408 Centerline is valid? [True, True] Translation: X:16.90, Y:1.31, Z:0.11 [[ 9.81740556e-01 -1.90219742e-01 -1.38945117e-03 1.68961029e+01] [ 1.90219718e-01 9.81741532e-01 -1.50732419e-04 1.31263072e+00] [ 1.39275420e-03 -1.16320880e-04 9.99999023e-01 1.13615103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881400513 meters 0.08044390903829714 Centerline is valid? [True, True] Translation: X:16.93, Y:1.32, Z:0.11 [[ 9.82339757e-01 -1.87099947e-01 -1.48703529e-03 1.69259428e+01] [ 1.87099915e-01 9.82340875e-01 -1.61383141e-04 1.31978813e+00] [ 1.49097033e-03 -1.19691102e-04 9.99998881e-01 1.13227772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911400513 meters 0.07912999135374821 Centerline is valid? [True, True] Translation: X:16.96, Y:1.32, Z:0.11 [[ 9.82573685e-01 -1.85871024e-01 -9.57525357e-04 1.69553547e+01] [ 1.85871010e-01 9.82574148e-01 -1.03907193e-04 1.32368614e+00] [ 9.60152998e-04 -7.58797314e-05 9.99999536e-01 1.14004801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941400512999998 meters 0.07831853148201 Centerline is valid? [True, True] Translation: X:16.98, Y:1.33, Z:0.11 [[ 9.82737910e-01 -1.85001764e-01 -7.39785494e-04 1.69844422e+01] [ 1.85001756e-01 9.82738187e-01 -8.01002555e-05 1.32800030e+00] [ 7.41834144e-04 -5.81440577e-05 9.99999723e-01 1.14505034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971400513 meters 0.06780132800433229 Centerline is valid? [True, True] Translation: X:17.01, Y:1.35, Z:0.11 [[ 9.83248037e-01 -1.82238645e-01 -3.51754042e-03 1.70127672e+01] [ 1.82238437e-01 9.83254294e-01 -3.82311554e-04 1.34618200e+00] [ 3.52830866e-03 -2.65123984e-04 9.99993740e-01 1.09983159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001400513 meters 0.0667470435277978 Centerline is valid? [True, True] Translation: X:17.04, Y:1.35, Z:0.11 [[ 9.83613345e-01 -1.80201307e-01 -5.68128090e-03 1.70426030e+01] [ 1.80200730e-01 9.83629664e-01 -6.17561844e-04 1.35423746e+00] [ 5.69956188e-03 -4.16328894e-04 9.99983671e-01 1.07337079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031400512999998 meters 0.06982570160459212 Centerline is valid? [True, True] Translation: X:17.07, Y:1.35, Z:0.11 [[ 9.84064844e-01 -1.77702865e-01 -6.17045307e-03 1.70723373e+01] [ 1.77702135e-01 9.84084093e-01 -6.70821383e-04 1.35024022e+00] [ 6.19145159e-03 -4.36370943e-04 9.99980738e-01 1.06896624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061400513 meters 0.06982570160459212 Centerline is valid? [True, True] Translation: X:17.10, Y:1.35, Z:0.11 [[ 9.84032328e-01 -1.77882834e-01 -6.17040609e-03 1.70997105e+01] [ 1.77882105e-01 9.84051577e-01 -6.71253120e-04 1.35335965e+00] [ 6.19140225e-03 -4.37070052e-04 9.99980738e-01 1.07012579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091400513 meters 0.06747790334624898 Centerline is valid? [True, True] Translation: X:17.13, Y:1.36, Z:0.11 [[ 9.84129559e-01 -1.77383023e-01 -4.92692724e-03 1.71282636e+01] [ 1.77382548e-01 9.84141831e-01 -5.36717953e-04 1.35998220e+00] [ 4.94399984e-03 -3.45750904e-04 9.99987719e-01 1.08758545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121400513 meters 0.06676500953883989 Centerline is valid? [True, True] Translation: X:17.16, Y:1.37, Z:0.11 [[ 9.84195350e-01 -1.77048407e-01 -3.65718487e-03 1.71569565e+01] [ 1.77048142e-01 9.84202112e-01 -3.98811314e-04 1.36502886e+00] [ 3.67001798e-03 -2.54989544e-04 9.99993233e-01 1.10504805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151400513 meters 0.07363616837028736 Centerline is valid? [True, True] Translation: X:17.18, Y:1.36, Z:0.11 [[ 9.84293048e-01 -1.76522478e-01 -2.64782141e-03 1.71849868e+01] [ 1.76522336e-01 9.84296592e-01 -2.89148357e-04 1.36231752e+00] [ 2.65728278e-03 -1.82792904e-04 9.99996453e-01 1.11846308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181400513 meters 0.059856064761230454 Centerline is valid? [True, True] Translation: X:17.21, Y:1.39, Z:0.11 [[ 9.84331591e-01 -1.76283384e-01 -3.93538521e-03 1.72117663e+01] [ 1.76264349e-01 9.84331395e-01 -4.75222652e-03 1.38648054e+00] [ 4.71146178e-03 3.98409858e-03 9.99980964e-01 1.10437430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211400513 meters 0.06737843498745985 Centerline is valid? [True, True] Translation: X:17.24, Y:1.37, Z:0.11 [[ 9.84224060e-01 -1.76877831e-01 -4.15115818e-03 1.72406731e+01] [ 1.76893775e-01 9.84222418e-01 3.85032631e-03 1.37362126e+00] [ 3.40462557e-03 -4.52389784e-03 9.99983971e-01 1.09788954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241400513 meters 0.06913877691280669 Centerline is valid? [True, True] Translation: X:17.27, Y:1.38, Z:0.11 [[ 9.83982387e-01 -1.78247776e-01 -2.52828540e-03 1.72692472e+01] [ 1.78247651e-01 9.83985619e-01 -2.76831295e-04 1.37987589e+00] [ 2.53714104e-03 -1.78263815e-04 9.99996766e-01 1.11144109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271400513 meters 0.07119807866287169 Centerline is valid? [True, True] Translation: X:17.30, Y:1.38, Z:0.11 [[ 9.83834408e-01 -1.79068422e-01 -2.08748842e-03 1.72989701e+01] [ 1.79068338e-01 9.83836612e-01 -2.28691366e-04 1.38308569e+00] [ 2.09469893e-03 -1.48808647e-04 9.99997795e-01 1.11773547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301400513 meters 0.07836788795713533 Centerline is valid? [True, True] Translation: X:17.33, Y:1.38, Z:0.11 [[ 9.83426291e-01 -1.81286314e-01 -2.82893752e-03 1.73287289e+01] [ 1.81286168e-01 9.83430338e-01 -3.10044239e-04 1.37731438e+00] [ 2.83826976e-03 -2.07941586e-04 9.99995950e-01 1.11069170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331400513 meters 0.07248303343713304 Centerline is valid? [True, True] Translation: X:17.36, Y:1.39, Z:0.11 [[ 9.83259765e-01 -1.82185518e-01 -2.94484428e-03 1.73568741e+01] [ 1.82185364e-01 9.83264150e-01 -3.22570531e-04 1.38843580e+00] [ 2.95432749e-03 -2.19336903e-04 9.99995612e-01 1.10744857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361400513 meters 0.08046138232561739 Centerline is valid? [True, True] Translation: X:17.39, Y:1.38, Z:0.11 [[ 9.83224603e-01 -1.82388079e-01 -1.99194380e-03 1.73850265e+01] [ 1.82388009e-01 9.83226610e-01 -2.18459288e-04 1.38273400e+00] [ 1.99837652e-03 -1.48512116e-04 9.99997992e-01 1.12690637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391400513 meters 0.0745735043499535 Centerline is valid? [True, True] Translation: X:17.41, Y:1.39, Z:0.11 [[ 9.83215604e-01 -1.82446086e-01 -7.08896339e-04 1.74120052e+01] [ 1.82446078e-01 9.83215858e-01 -7.72398744e-05 1.39433865e+00] [ 7.11090235e-04 -5.33919068e-05 9.99999746e-01 1.14745703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421400513 meters 0.0735094542478706 Centerline is valid? [True, True] Translation: X:17.44, Y:1.40, Z:0.12 [[ 9.83163681e-01 -1.82715922e-01 2.01671736e-03 1.74403798e+01] [ 1.82715847e-01 9.83165739e-01 2.22901415e-04 1.40096872e+00] [-2.02349505e-03 1.49337646e-04 9.99997942e-01 1.19499672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451400513 meters 0.0724305815616396 Centerline is valid? [True, True] Translation: X:17.47, Y:1.41, Z:0.12 [[ 9.83061028e-01 -1.83262823e-01 2.39837504e-03 1.74690159e+01] [ 1.83262718e-01 9.83063938e-01 2.65352178e-04 1.40706003e+00] [-2.40638520e-03 1.78675344e-04 9.99997089e-01 1.20650083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481400513 meters 0.06604518731258228 Centerline is valid? [True, True] Translation: X:17.50, Y:1.42, Z:0.12 [[ 9.82858627e-01 -1.84357822e-01 1.05450547e-03 1.74969999e+01] [ 1.84357802e-01 9.82859190e-01 1.16559968e-04 1.42051025e+00] [-1.05791913e-03 7.98443397e-05 9.99999437e-01 1.18280578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511400512999998 meters 0.07681730972304975 Centerline is valid? [True, True] Translation: X:17.53, Y:1.41, Z:0.12 [[ 9.82798520e-01 -1.84680710e-01 3.22022608e-04 1.75263195e+01] [ 1.84680708e-01 9.82798573e-01 3.58179886e-05 1.41016685e+00] [-3.23098251e-04 2.42694972e-05 9.99999948e-01 1.17694543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541400513 meters 0.07269570946442236 Centerline is valid? [True, True] Translation: X:17.55, Y:1.42, Z:0.12 [[ 9.82681427e-01 -1.85302789e-01 2.99408183e-04 1.75548185e+01] [ 1.85302787e-01 9.82681472e-01 3.37978401e-05 1.41799266e+00] [-3.00485708e-04 2.22686611e-05 9.99999955e-01 1.17323110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571400513 meters 0.07926317355755311 Centerline is valid? [True, True] Translation: X:17.58, Y:1.41, Z:0.12 [[ 9.82509049e-01 -1.86205918e-01 1.82319828e-03 1.75837320e+01] [ 1.86205862e-01 9.82510731e-01 2.01948686e-04 1.41321962e+00] [-1.82891592e-03 1.41073796e-04 9.99998318e-01 1.20923339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601400512999998 meters 0.07714682233163067 Centerline is valid? [True, True] Translation: X:17.61, Y:1.42, Z:0.12 [[ 9.82404760e-01 -1.86748514e-01 2.42472989e-03 1.76116432e+01] [ 1.86748414e-01 9.82407735e-01 2.69377967e-04 1.41982958e+00] [-2.43237933e-03 1.88176265e-04 9.99997024e-01 1.22286204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631400513 meters 0.06799517489028284 Centerline is valid? [True, True] Translation: X:17.64, Y:1.43, Z:0.12 [[ 9.82274133e-01 -1.87439625e-01 1.97842269e-03 1.76390098e+01] [ 1.87439559e-01 9.82276114e-01 2.20281153e-04 1.43409409e+00] [-1.98464677e-03 1.54458197e-04 9.99998019e-01 1.21032038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661400513 meters 0.0758525597917138 Centerline is valid? [True, True] Translation: X:17.67, Y:1.43, Z:0.12 [[ 9.82140925e-01 -1.88146105e-01 4.95977918e-04 1.76676252e+01] [ 1.88146101e-01 9.82141050e-01 5.53256999e-05 1.42659353e+00] [-4.97529588e-04 3.89786773e-05 9.99999875e-01 1.19517462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691400512999998 meters 0.08164429238686684 Centerline is valid? [True, True] Translation: X:17.70, Y:1.42, Z:0.12 [[ 9.82183607e-01 -1.87923813e-01 4.57447945e-05 1.76958273e+01] [ 1.87923813e-01 9.82183608e-01 5.32277087e-06 1.42338595e+00] [-4.59300627e-05 3.36859790e-06 9.99999999e-01 1.19084273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721400513 meters 0.057533643543589114 Centerline is valid? [True, True] Translation: X:17.72, Y:1.46, Z:0.12 [[ 9.82406021e-01 -1.86752606e-01 -1.36884117e-03 1.77219160e+01] [ 1.86739978e-01 9.82387569e-01 -6.54563356e-03 1.46456374e+00] [ 2.56714667e-03 6.17485245e-03 9.99977640e-01 1.16602558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751400513 meters 0.07485730705453837 Centerline is valid? [True, True] Translation: X:17.75, Y:1.44, Z:0.12 [[ 9.82487885e-01 -1.86312011e-01 -2.32160595e-03 1.77533125e+01] [ 1.86323003e-01 9.82469378e-01 6.13672762e-03 1.43700084e+00] [ 1.13756069e-03 -6.46182913e-03 9.99978475e-01 1.16526590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781400512999998 meters 0.06748938386129284 Centerline is valid? [True, True] Translation: X:17.78, Y:1.46, Z:0.11 [[ 9.82646713e-01 -1.85467260e-01 -2.70796862e-03 1.77802875e+01] [ 1.85467131e-01 9.82650422e-01 -3.00977290e-04 1.45595112e+00] [ 2.71680794e-03 -2.06484825e-04 9.99996288e-01 1.14818686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811400513 meters 0.07548973926800513 Centerline is valid? [True, True] Translation: X:17.81, Y:1.45, Z:0.11 [[ 9.83116235e-01 -1.82954680e-01 -3.17068416e-03 1.78101973e+01] [ 1.82954489e-01 9.83121320e-01 -3.52625140e-04 1.45137813e+00] [ 3.18168162e-03 -2.33419402e-04 9.99994911e-01 1.14410841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841400513 meters 0.07135925429714887 Centerline is valid? [True, True] Translation: X:17.84, Y:1.46, Z:0.12 [[ 9.83250395e-01 -1.82253362e-01 -1.54018000e-03 1.78383565e+01] [ 1.82253317e-01 9.83251595e-01 -1.71200032e-04 1.46110255e+00] [ 1.54558622e-03 -1.12370413e-04 9.99998799e-01 1.16700962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871400513 meters 0.07580803946572742 Centerline is valid? [True, True] Translation: X:17.87, Y:1.46, Z:0.12 [[ 9.83271748e-01 -1.82144394e-01 2.99608901e-04 1.78660918e+01] [ 1.82144392e-01 9.83271793e-01 3.35975529e-05 1.46021319e+00] [-3.00716587e-04 2.15365565e-05 9.99999955e-01 1.20050515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901400513 meters 0.06858488807379573 Centerline is valid? [True, True] Translation: X:17.89, Y:1.48, Z:0.12 [[ 9.83026110e-01 -1.83463817e-01 8.34112165e-04 1.78939750e+01] [ 1.83463803e-01 9.83026462e-01 9.30449398e-05 1.47565164e+00] [-8.37024710e-04 6.15637850e-05 9.99999648e-01 1.20902958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931400513 meters 0.06833515489418258 Centerline is valid? [True, True] Translation: X:17.92, Y:1.48, Z:0.12 [[ 9.82913361e-01 -1.84068539e-01 -3.14144558e-04 1.79226471e+01] [ 1.84068537e-01 9.82913410e-01 -3.43504399e-05 1.48057299e+00] [ 3.15099734e-04 -2.40606231e-05 9.99999950e-01 1.19547002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961400513 meters 0.07054218738448295 Centerline is valid? [True, True] Translation: X:17.95, Y:1.48, Z:0.12 [[ 9.82850436e-01 -1.84402748e-01 -8.03913386e-04 1.79502061e+01] [ 1.84402736e-01 9.82850763e-01 -8.94690766e-05 1.48256699e+00] [ 8.06625228e-04 -6.03091069e-05 9.99999673e-01 1.18648386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991400513 meters 0.07376398979092019 Centerline is valid? [True, True] Translation: X:17.98, Y:1.49, Z:0.12 [[ 9.82830737e-01 -1.84509359e-01 1.95624960e-04 1.79771647e+01] [ 1.84509358e-01 9.82830757e-01 2.22437277e-05 1.48732173e+00] [-1.96370404e-04 1.42328166e-05 9.99999981e-01 1.20141190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021400513 meters 0.0741122457252234 Centerline is valid? [True, True] Translation: X:18.01, Y:1.49, Z:0.12 [[ 9.82843359e-01 -1.84440571e-01 7.79436425e-04 1.80055742e+01] [ 1.84440559e-01 9.82843666e-01 8.78479938e-05 1.49404981e+00] [-7.82266888e-04 5.74188724e-05 9.99999692e-01 1.21292218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051400513 meters 0.0725110091103775 Centerline is valid? [True, True] Translation: X:18.03, Y:1.50, Z:0.12 [[ 9.82729314e-01 -1.85047634e-01 6.85178717e-04 1.80338054e+01] [ 1.85047625e-01 9.82729551e-01 7.74207129e-05 1.50106070e+00] [-6.87671893e-04 5.07070900e-05 9.99999762e-01 1.20530940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081400513 meters 0.07879244719580492 Centerline is valid? [True, True] Translation: X:18.06, Y:1.50, Z:0.12 [[ 9.82597081e-01 -1.85748195e-01 -7.64049535e-04 1.80619688e+01] [ 1.85748184e-01 9.82597377e-01 -8.53862222e-05 1.49768421e+00] [ 7.66613405e-04 -5.80205611e-05 9.99999704e-01 1.18549190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111400513 meters 0.07263578818765244 Centerline is valid? [True, True] Translation: X:18.09, Y:1.51, Z:0.11 [[ 9.82109239e-01 -1.88279934e-01 -3.47992574e-03 1.80911390e+01] [ 1.88279727e-01 9.82115366e-01 -3.89983452e-04 1.51030183e+00] [ 3.49111460e-03 -2.72193117e-04 9.99993869e-01 1.13796755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141400513 meters 0.08261033191101268 Centerline is valid? [True, True] Translation: X:18.12, Y:1.50, Z:0.11 [[ 9.81863263e-01 -1.89558825e-01 -3.46181453e-03 1.81202990e+01] [ 1.89558628e-01 9.81869327e-01 -3.87936079e-04 1.50262984e+00] [ 3.47258621e-03 -2.75316626e-04 9.99993933e-01 1.14411036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171400513 meters 0.08336384383032942 Centerline is valid? [True, True] Translation: X:18.15, Y:1.51, Z:0.12 [[ 9.81723742e-01 -1.90295262e-01 -2.49168013e-03 1.81494230e+01] [ 1.90295162e-01 9.81726883e-01 -2.79323537e-04 1.50688087e+00] [ 2.49930331e-03 -1.99936124e-04 9.99996857e-01 1.16451529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201400513 meters 0.08564647680940687 Centerline is valid? [True, True] Translation: X:18.18, Y:1.51, Z:0.12 [[ 9.81989444e-01 -1.88934129e-01 -7.92162745e-04 1.81774960e+01] [ 1.88934118e-01 9.81989761e-01 -8.87206549e-05 1.51325103e+00] [ 7.94658065e-04 -6.25438231e-05 9.99999682e-01 1.18776619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231400513 meters 0.07981066468033605 Centerline is valid? [True, True] Translation: X:18.21, Y:1.52, Z:0.12 [[ 9.82169237e-01 -1.87997734e-01 -6.64419856e-04 1.82062464e+01] [ 1.87997726e-01 9.82169461e-01 -7.44514879e-05 1.52322097e+00] [ 6.66569603e-04 -5.17854611e-05 9.99999777e-01 1.19436871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261400512999998 meters 0.07382686274408493 Centerline is valid? [True, True] Translation: X:18.24, Y:1.54, Z:0.12 [[ 9.82500271e-01 -1.86260487e-01 -4.98209258e-04 1.82352335e+01] [ 1.86260483e-01 9.82500397e-01 -5.58544301e-05 1.53707697e+00] [ 4.99894267e-04 -3.79197042e-05 9.99999874e-01 1.19746662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291400513 meters 0.07265179471053129 Centerline is valid? [True, True] Translation: X:18.26, Y:1.55, Z:0.12 [[ 9.82896924e-01 -1.84156514e-01 1.22562835e-04 1.82643581e+01] [ 1.84156514e-01 9.82896932e-01 1.37882568e-05 1.54567318e+00] [-1.23005831e-04 9.01830917e-06 9.99999992e-01 1.20905590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321400513 meters 0.06767831452243044 Centerline is valid? [True, True] Translation: X:18.29, Y:1.56, Z:0.12 [[ 9.83222614e-01 -1.82409411e-01 3.14180879e-04 1.82925586e+01] [ 1.82409409e-01 9.83222664e-01 3.53601566e-05 1.55908067e+00] [-3.15359786e-04 2.25426427e-05 9.99999950e-01 1.21935293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351400512999998 meters 0.06863892491234769 Centerline is valid? [True, True] Translation: X:18.32, Y:1.57, Z:0.12 [[ 9.83456458e-01 -1.81141138e-01 -1.13242918e-03 1.83203435e+01] [ 1.81141111e-01 9.83457107e-01 -1.26995895e-04 1.56744573e+00] [ 1.13669970e-03 -8.02345466e-05 9.99999351e-01 1.21396260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381400513 meters 0.06851290326630018 Centerline is valid? [True, True] Translation: X:18.35, Y:1.57, Z:0.12 [[ 9.83288879e-01 -1.82032432e-01 -2.67862660e-03 1.83494591e+01] [ 1.82032285e-01 9.83292508e-01 -3.00700699e-04 1.57386492e+00] [ 2.68861075e-03 -1.91920868e-04 9.99996367e-01 1.19045325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411400513 meters 0.07394341453979938 Centerline is valid? [True, True] Translation: X:18.38, Y:1.57, Z:0.12 [[ 9.82923599e-01 -1.83976876e-01 -3.70233272e-03 1.83784638e+01] [ 1.83976608e-01 9.82930534e-01 -4.15743355e-04 1.57338422e+00] [ 3.71562304e-03 -2.72498662e-04 9.99993060e-01 1.16905529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441400512999998 meters 0.08103623280034628 Centerline is valid? [True, True] Translation: X:18.41, Y:1.57, Z:0.12 [[ 9.81763144e-01 -1.90071148e-01 -3.75336495e-03 1.84081523e+01] [ 1.90070916e-01 9.81770273e-01 -4.21571103e-04 1.57041170e+00] [ 3.76507063e-03 -2.99522544e-04 9.99992867e-01 1.15477260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471400513 meters 0.08145416813485618 Centerline is valid? [True, True] Translation: X:18.44, Y:1.58, Z:0.12 [[ 9.81057114e-01 -1.93670717e-01 -4.31180756e-03 1.84387465e+01] [ 1.93649401e-01 9.81058500e-01 -4.91216370e-03 1.57729851e+00] [ 5.18147772e-03 3.98413419e-03 9.99978639e-01 1.16743139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501400513 meters 0.07144640422824194 Centerline is valid? [True, True] Translation: X:18.47, Y:1.59, Z:0.12 [[ 9.80529430e-01 -1.96341608e-01 -3.46539198e-03 1.84673895e+01] [ 1.96352872e-01 9.80527818e-01 3.27827254e-03 1.58510619e+00] [ 2.75425194e-03 -3.89488237e-03 9.99988622e-01 1.17118389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531400512999998 meters 0.08238035882609769 Centerline is valid? [True, True] Translation: X:18.50, Y:1.58, Z:0.12 [[ 9.80041589e-01 -1.98783519e-01 -1.89642000e-03 1.84969144e+01] [ 1.98784460e-01 9.80043181e-01 3.19768798e-04 1.57824905e+00] [ 1.79500872e-03 -6.90365547e-04 9.99998151e-01 1.20649370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561400513 meters 0.08537640883756205 Centerline is valid? [True, True] Translation: X:18.53, Y:1.58, Z:0.12 [[ 9.80193624e-01 -1.98032051e-01 -1.94082370e-03 1.85252521e+01] [ 1.98032004e-01 9.80195530e-01 -2.18291040e-04 1.57833392e+00] [ 1.94561534e-03 -1.70377721e-04 9.99998093e-01 1.22186263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591400513 meters 0.0838556598467127 Centerline is valid? [True, True] Translation: X:18.55, Y:1.58, Z:0.12 [[ 9.80808957e-01 -1.94962921e-01 -1.80244214e-03 1.85549512e+01] [ 1.94962875e-01 9.80810602e-01 -2.02875060e-04 1.58380264e+00] [ 1.80740748e-03 -1.52427627e-04 9.99998355e-01 1.22747254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621400513 meters 0.08032141845327642 Centerline is valid? [True, True] Translation: X:18.58, Y:1.59, Z:0.12 [[ 9.81706635e-01 -1.90396656e-01 -1.09396010e-03 1.85835844e+01] [ 1.90396636e-01 9.81707240e-01 -1.23119584e-04 1.59233855e+00] [ 1.09739010e-03 -8.74190100e-05 9.99999394e-01 1.24332631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651400513 meters 0.07756840992677819 Centerline is valid? [True, True] Translation: X:18.61, Y:1.60, Z:0.13 [[ 9.82747848e-01 -1.84950402e-01 1.25304422e-04 1.86117983e+01] [ 1.84950402e-01 9.82747856e-01 1.42111880e-05 1.60115536e+00] [-1.25771017e-04 9.20908874e-06 9.99999992e-01 1.26567785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681400513 meters 0.060477920901710995 Centerline is valid? [True, True] Translation: X:18.64, Y:1.63, Z:0.13 [[ 9.84766222e-01 -1.73880814e-01 9.74470487e-04 1.86389340e+01] [ 1.73880790e-01 9.84766703e-01 1.09762109e-04 1.63050905e+00] [-9.78711613e-04 6.13516811e-05 9.99999519e-01 1.27551099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711400513 meters 0.054994935065234896 Centerline is valid? [True, True] Translation: X:18.67, Y:1.64, Z:0.13 [[ 9.85641399e-01 -1.68851085e-01 5.86435933e-04 1.86681788e+01] [ 1.68851075e-01 9.85641573e-01 6.61463699e-05 1.64235893e+00] [-5.89184522e-04 3.38237373e-05 9.99999826e-01 1.26830011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741400513 meters 0.04899095690298797 Centerline is valid? [True, True] Translation: X:18.70, Y:1.65, Z:0.12 [[ 9.86850690e-01 -1.61633524e-01 -5.65775098e-04 1.86974812e+01] [ 1.61633514e-01 9.86850851e-01 -6.37344295e-05 1.65301565e+00] [ 5.68637258e-04 -2.85518516e-05 9.99999838e-01 1.24499310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771400513 meters 0.05121000990210407 Centerline is valid? [True, True] Translation: X:18.73, Y:1.65, Z:0.12 [[ 9.87146762e-01 -1.59813051e-01 -1.02906090e-03 1.87264217e+01] [ 1.59813017e-01 9.87147297e-01 -1.15829981e-04 1.65293071e+00] [ 1.03434583e-03 -5.01161353e-05 9.99999464e-01 1.23833209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801400513 meters 0.04655115300117528 Centerline is valid? [True, True] Translation: X:18.75, Y:1.66, Z:0.12 [[ 9.87217352e-01 -1.59370807e-01 -1.68691719e-03 1.87547905e+01] [ 1.59370715e-01 9.87218790e-01 -1.89647007e-04 1.66217492e+00] [ 1.69558055e-03 -8.16223826e-05 9.99998559e-01 1.22657080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831400513 meters 0.04590861809336958 Centerline is valid? [True, True] Translation: X:18.78, Y:1.67, Z:0.12 [[ 9.87232133e-01 -1.59277085e-01 -1.87768086e-03 1.87830415e+01] [ 1.59276970e-01 9.87233915e-01 -2.11424103e-04 1.66643611e+00] [ 1.88738524e-03 -9.03466501e-05 9.99998215e-01 1.22553539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861400513 meters 0.04722287239541634 Centerline is valid? [True, True] Translation: X:18.81, Y:1.67, Z:0.13 [[ 9.87256231e-01 -1.59138707e-01 8.05648673e-05 1.88101382e+01] [ 1.59138707e-01 9.87256234e-01 9.48153616e-06 1.66587959e+00] [-8.10470469e-05 3.46028317e-06 9.99999997e-01 1.26455958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891400513 meters 0.04954380581983026 Centerline is valid? [True, True] Translation: X:18.84, Y:1.67, Z:0.13 [[ 9.87514477e-01 -1.57517083e-01 1.87803474e-03 1.88378617e+01] [ 1.57520984e-01 9.87513299e-01 -2.15013702e-03 1.66559261e+00] [-1.51590098e-03 2.41912132e-03 9.99995925e-01 1.30759713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921400513 meters 0.04761431027668831 Centerline is valid? [True, True] Translation: X:18.87, Y:1.67, Z:0.13 [[ 9.87737684e-01 -1.56104806e-01 2.35736892e-03 1.88675246e+01] [ 1.56098569e-01 9.87737975e-01 2.63253019e-03 1.66823266e+00] [-2.73941342e-03 -2.23226736e-03 9.99993756e-01 1.32048842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951400513 meters 0.041637908495166076 Centerline is valid? [True, True] Translation: X:18.90, Y:1.68, Z:0.13 [[ 9.88040558e-01 -1.54156133e-01 3.42674927e-03 1.88968400e+01] [ 1.54155713e-01 9.88046490e-01 3.87870352e-04 1.67749766e+00] [-3.44558018e-03 1.45021337e-04 9.99994053e-01 1.32777711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981400513 meters 0.041637908495166076 Centerline is valid? [True, True] Translation: X:18.93, Y:1.68, Z:0.13 [[ 9.88036974e-01 -1.54179102e-01 3.42673428e-03 1.89258387e+01] [ 1.54178681e-01 9.88042906e-01 3.88002828e-04 1.68081795e+00] [-3.44558242e-03 1.44968233e-04 9.99994053e-01 1.32910893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011400512999998 meters 0.033961875704385414 Centerline is valid? [True, True] Translation: X:18.96, Y:1.69, Z:0.13 [[ 9.89154585e-01 -1.46846210e-01 3.06570895e-03 1.89557044e+01] [ 1.46845838e-01 9.89159330e-01 3.47140604e-04 1.68976432e+00] [-3.08345089e-03 1.06810880e-04 9.99995240e-01 1.31010799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041400513 meters 0.03320945922126671 Centerline is valid? [True, True] Translation: X:18.99, Y:1.69, Z:0.13 [[ 9.89748701e-01 -1.42797817e-01 2.50860334e-03 1.89851397e+01] [ 1.42797556e-01 9.89751877e-01 2.83696235e-04 1.69206977e+00] [-2.52340606e-03 7.74344462e-05 9.99996813e-01 1.31008098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071400513 meters 0.027727094939193685 Centerline is valid? [True, True] Translation: X:19.01, Y:1.70, Z:0.13 [[ 9.90447954e-01 -1.37863759e-01 2.53659455e-03 1.90145502e+01] [ 1.37866555e-01 9.90450346e-01 -9.61948481e-04 1.70210586e+00] [-2.37975311e-03 1.30247146e-03 9.99996320e-01 1.30097429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101400512999998 meters 0.019184724044654634 Centerline is valid? [True, True] Translation: X:19.04, Y:1.71, Z:0.13 [[ 9.91473025e-01 -1.30311523e-01 3.84962670e-04 1.90443148e+01] [ 1.30311016e-01 9.91472517e-01 1.13460663e-03 1.71323684e+00] [-5.29532225e-04 -1.07476699e-03 9.99999282e-01 1.28620412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131400513 meters 0.01728866743488668 Centerline is valid? [True, True] Translation: X:19.07, Y:1.72, Z:0.13 [[ 9.91951592e-01 -1.26615871e-01 6.78731551e-04 1.90747805e+01] [ 1.26615848e-01 9.91951824e-01 7.66652218e-05 1.71865889e+00] [-6.82976034e-04 9.88998201e-06 9.99999767e-01 1.30161374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161400513 meters 0.0214286606076031 Centerline is valid? [True, True] Translation: X:19.10, Y:1.72, Z:0.13 [[ 9.92373073e-01 -1.23266998e-01 9.64592783e-04 1.91044134e+01] [ 1.23266950e-01 9.92373542e-01 1.09049031e-04 1.72371562e+00] [-9.70678504e-04 1.06850886e-05 9.99999529e-01 1.31325595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191400512999998 meters 0.01364927813635765 Centerline is valid? [True, True] Translation: X:19.14, Y:1.73, Z:0.13 [[ 9.92607673e-01 -1.21359324e-01 1.38646674e-03 1.91351512e+01] [ 1.21359224e-01 9.92608641e-01 1.56681923e-04 1.72845465e+00] [-1.39523368e-03 1.27368483e-05 9.99999027e-01 1.31494092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221400513 meters 0.011844294620509059 Centerline is valid? [True, True] Translation: X:19.17, Y:1.73, Z:0.13 [[ 9.92960028e-01 -1.18436393e-01 1.78981032e-03 1.91653793e+01] [ 1.18436220e-01 9.92961641e-01 2.02326902e-04 1.73323237e+00] [-1.80117586e-03 1.10758427e-05 9.99998378e-01 1.31511288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251400513 meters 0.010990060613400058 Centerline is valid? [True, True] Translation: X:19.20, Y:1.74, Z:0.13 [[ 9.93264089e-01 -1.15836967e-01 2.87155062e-03 1.91960698e+01] [ 1.15833642e-01 9.93267779e-01 1.29903889e-03 1.73572498e+00] [-3.00269543e-03 -9.57666516e-04 9.99995033e-01 1.30733698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281400512999998 meters 0.010045052570122198 Centerline is valid? [True, True] Translation: X:19.23, Y:1.74, Z:0.13 [[ 9.93318844e-01 -1.15397127e-01 1.08477300e-03 1.92285858e+01] [ 1.15398052e-01 9.93318980e-01 -8.32757985e-04 1.74074105e+00] [-9.81427732e-04 9.52374890e-04 9.99999065e-01 1.29377762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311400513 meters 0.009280976085172112 Centerline is valid? [True, True] Translation: X:19.26, Y:1.74, Z:0.13 [[ 9.93676554e-01 -1.12280474e-01 -1.50974903e-05 1.92602464e+01] [ 1.12280474e-01 9.93676555e-01 -1.81722445e-06 1.74341781e+00] [ 1.52060610e-05 1.10579959e-07 1.00000000e+00 1.28006561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341400513 meters 0.010099710725032731 Centerline is valid? [True, True] Translation: X:19.29, Y:1.75, Z:0.13 [[ 9.93978798e-01 -1.09556749e-01 1.86221173e-03 1.92899876e+01] [ 1.09553141e-01 9.93979046e-01 1.94022029e-03 1.74634483e+00] [-2.06356366e-03 -1.72452669e-03 9.99996384e-01 1.29541605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371400513 meters 0.010183237745623424 Centerline is valid? [True, True] Translation: X:19.32, Y:1.75, Z:0.13 [[ 9.94095161e-01 -1.08507004e-01 1.02021290e-03 1.93217416e+01] [ 1.08508568e-01 9.94094180e-01 -1.62822648e-03 1.75317503e+00] [-8.37513726e-04 1.72931391e-03 9.99998154e-01 1.29914278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401400513 meters 0.013012136867254286 Centerline is valid? [True, True] Translation: X:19.35, Y:1.76, Z:0.13 [[ 9.94536444e-01 -1.04389264e-01 3.79462069e-04 1.93523322e+01] [ 1.04389255e-01 9.94536516e-01 4.28132765e-05 1.75637624e+00] [-3.81858130e-04 -2.96760096e-06 9.99999927e-01 1.29348225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431400513 meters 0.01345669343133013 Centerline is valid? [True, True] Translation: X:19.38, Y:1.76, Z:0.13 [[ 9.94769342e-01 -1.02146737e-01 1.45218570e-05 1.93847729e+01] [ 1.02146737e-01 9.94769342e-01 1.41188255e-06 1.75912387e+00] [-1.45901173e-05 7.88628344e-08 1.00000000e+00 1.27824045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461400513 meters 0.02029802792109168 Centerline is valid? [True, True] Translation: X:19.41, Y:1.77, Z:0.13 [[ 9.95236712e-01 -9.74877298e-02 1.74942052e-04 1.94145621e+01] [ 9.74877279e-02 9.95236727e-01 1.95774711e-05 1.77028239e+00] [-1.76017319e-04 -2.42951475e-06 9.99999985e-01 1.30016288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491400513 meters 0.019657819148920414 Centerline is valid? [True, True] Translation: X:19.45, Y:1.77, Z:0.13 [[ 9.95430568e-01 -9.54841811e-02 8.68682972e-04 1.94469062e+01] [ 9.54841321e-02 9.95430947e-01 9.77934918e-05 1.77156365e+00] [-8.74051645e-04 -1.44011915e-05 9.99999618e-01 1.29512338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521400513 meters 0.022418372286249485 Centerline is valid? [True, True] Translation: X:19.48, Y:1.78, Z:0.13 [[ 9.95626744e-01 -9.34091847e-02 1.45316519e-03 1.94779777e+01] [ 9.34090455e-02 9.95627804e-01 1.63532037e-04 1.77700079e+00] [-1.46208706e-03 -2.70780958e-05 9.99998931e-01 1.30224163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551400513 meters 0.023556080579389075 Centerline is valid? [True, True] Translation: X:19.51, Y:1.78, Z:0.13 [[ 9.95784564e-01 -9.17134566e-02 1.32044064e-03 1.95096767e+01] [ 9.17133402e-02 9.95785439e-01 1.48609537e-04 1.78071800e+00] [-1.32850506e-03 -2.68810614e-05 9.99999117e-01 1.29680811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581400513 meters 0.027010171121585692 Centerline is valid? [True, True] Translation: X:19.54, Y:1.79, Z:0.13 [[ 9.96117457e-01 -8.80303674e-02 -8.16032065e-04 1.95406981e+01] [ 8.80303215e-02 9.96117791e-01 -9.21146198e-05 1.78751893e+00] [ 8.20972942e-04 1.99214158e-05 9.99999663e-01 1.26210034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611400513 meters 0.027526400285176986 Centerline is valid? [True, True] Translation: X:19.57, Y:1.79, Z:0.13 [[ 9.96266453e-01 -8.63162793e-02 -1.62922476e-03 1.95721510e+01] [ 8.63160944e-02 9.96267784e-01 -1.83648470e-04 1.79145397e+00] [ 1.63899599e-03 4.23344925e-05 9.99998656e-01 1.25108954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641400513 meters 0.02924256019335276 Centerline is valid? [True, True] Translation: X:19.60, Y:1.80, Z:0.13 [[ 9.96407784e-01 -8.46708344e-02 -1.54185547e-03 1.96032042e+01] [ 8.46706668e-02 9.96408976e-01 -1.73767738e-04 1.79590187e+00] [ 1.55103169e-03 4.25935967e-05 9.99998796e-01 1.25608785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671400513 meters 0.031957268267777846 Centerline is valid? [True, True] Translation: X:19.63, Y:1.80, Z:0.13 [[ 9.96661798e-01 -8.16406769e-02 -2.44618894e-04 1.96341889e+01] [ 8.16406726e-02 9.96661828e-01 -2.76593708e-05 1.79890818e+00] [ 2.46060444e-04 7.59618722e-06 9.99999970e-01 1.28116206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701400513 meters 0.035246621036410575 Centerline is valid? [True, True] Translation: X:19.66, Y:1.80, Z:0.13 [[ 9.96786930e-01 -8.00986326e-02 1.58817338e-04 1.96645385e+01] [ 8.00986308e-02 9.96786943e-01 1.77639297e-05 1.80428356e+00] [-1.59729916e-04 -4.98580161e-06 9.99999987e-01 1.29262808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731400513 meters 0.03815069720001239 Centerline is valid? [True, True] Translation: X:19.69, Y:1.81, Z:0.13 [[ 9.96957496e-01 -7.79469682e-02 1.46168734e-04 1.96947250e+01] [ 7.79469666e-02 9.96957507e-01 1.63393962e-05 1.80957165e+00] [-1.46997623e-04 -4.89627414e-06 9.99999989e-01 1.29617881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761400512999998 meters 0.040144821708562865 Centerline is valid? [True, True] Translation: X:19.73, Y:1.81, Z:0.13 [[ 9.97157073e-01 -7.53509929e-02 -2.41161191e-05 1.97260141e+01] [ 7.53509928e-02 9.97157073e-01 -2.82510003e-06 1.81404863e+00] [ 2.42604328e-05 9.99894962e-07 1.00000000e+00 1.29633231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791400513 meters 0.046619046068803065 Centerline is valid? [True, True] Translation: X:19.75, Y:1.82, Z:0.13 [[ 9.97575979e-01 -6.95853605e-02 -2.06921931e-04 1.97545071e+01] [ 6.95853572e-02 9.97576001e-01 -2.32970711e-05 1.82409276e+00] [ 2.08041487e-04 8.84186212e-06 9.99999978e-01 1.29992269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821400513 meters 0.05539976754082262 Centerline is valid? [True, True] Translation: X:19.78, Y:1.84, Z:0.13 [[ 9.97803804e-01 -6.62385408e-02 -1.53247873e-04 1.97830835e+01] [ 6.62385390e-02 9.97803816e-01 -1.72428257e-05 1.83580141e+00] [ 1.54053452e-04 7.05404192e-06 9.99999988e-01 1.31060959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851400512999998 meters 0.054689397478469716 Centerline is valid? [True, True] Translation: X:19.81, Y:1.84, Z:0.13 [[ 9.98118036e-01 -6.13134505e-02 1.02360468e-03 1.98133495e+01] [ 6.13133646e-02 9.98118559e-01 1.15077797e-04 1.84301387e+00] [-1.02873465e-03 -5.21005778e-05 9.99999469e-01 1.32217583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881400513 meters 0.05442233303144183 Centerline is valid? [True, True] Translation: X:19.84, Y:1.85, Z:0.13 [[ 9.98241997e-01 -5.92698422e-02 -2.69714635e-05 1.98446559e+01] [ 5.92698421e-02 9.98241998e-01 -3.14628591e-06 1.84575956e+00] [ 2.71105275e-05 1.54216035e-06 1.00000000e+00 1.30161671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911400513 meters 0.058386002041045354 Centerline is valid? [True, True] Translation: X:19.87, Y:1.85, Z:0.13 [[ 9.98312276e-01 -5.80459195e-02 -1.80881097e-03 1.98746160e+01] [ 5.80456458e-02 9.98313909e-01 -2.03525516e-04 1.85354664e+00] [ 1.81757497e-03 9.81884203e-05 9.99998343e-01 1.27468164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941400512999998 meters 0.058974870391114854 Centerline is valid? [True, True] Translation: X:19.91, Y:1.86, Z:0.12 [[ 9.98296667e-01 -5.82155399e-02 -3.83609777e-03 1.99070652e+01] [ 5.82143105e-02 9.98304016e-01 -4.31439500e-04 1.85719701e+00] [ 3.85470829e-03 2.07388828e-04 9.99992549e-01 1.24467723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971400513 meters 0.06167750949374442 Centerline is valid? [True, True] Translation: X:19.94, Y:1.86, Z:0.12 [[ 9.98315553e-01 -5.80106456e-02 -9.06452843e-04 1.99376242e+01] [ 5.80145103e-02 9.98302878e-01 5.06757481e-03 1.85769858e+00] [ 6.10941196e-04 -5.11162617e-03 9.99986749e-01 1.24952070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001400513 meters 0.057207670789387405 Centerline is valid? [True, True] Translation: X:19.97, Y:1.86, Z:0.13 [[ 9.98173262e-01 -6.04102023e-02 -8.63996903e-04 1.99689705e+01] [ 6.04048464e-02 9.98160072e-01 -5.26545631e-03 1.86383804e+00] [ 1.18049449e-03 5.20364811e-03 9.99985764e-01 1.30015209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031400512999998 meters 0.051062356285575095 Centerline is valid? [True, True] Translation: X:20.00, Y:1.85, Z:0.13 [[ 9.98013371e-01 -6.30023762e-02 1.11435882e-04 2.00016359e+01] [ 6.30023752e-02 9.98013377e-01 1.24053231e-05 1.85052130e+00] [-1.11996066e-04 -5.35995309e-06 9.99999994e-01 1.32340987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061400513 meters 0.04942907911478329 Centerline is valid? [True, True] Translation: X:20.03, Y:1.85, Z:0.13 [[ 9.97964087e-01 -6.37783461e-02 5.87720106e-05 2.00342549e+01] [ 6.37783458e-02 9.97964089e-01 6.37236408e-06 1.84939118e+00] [-5.90587748e-05 -2.61100889e-06 9.99999998e-01 1.32283158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091400513 meters 0.051810753808235216 Centerline is valid? [True, True] Translation: X:20.06, Y:1.85, Z:0.13 [[ 9.97948249e-01 -6.40215830e-02 7.27150739e-04 2.00648614e+01] [ 6.40215408e-02 9.97948514e-01 8.12076233e-05 1.85306773e+00] [-7.30858040e-04 -3.44876948e-05 9.99999732e-01 1.33843438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121400512999998 meters 0.058578283360416185 Centerline is valid? [True, True] Translation: X:20.09, Y:1.86, Z:0.14 [[ 9.98072688e-01 -6.20205633e-02 2.08765624e-03 2.00946025e+01] [ 6.20202089e-02 9.98074866e-01 2.34136450e-04 1.85905703e+00] [-2.09815850e-03 -1.04208320e-04 9.99997793e-01 1.37718534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151400513 meters 0.05559510910426455 Centerline is valid? [True, True] Translation: X:20.13, Y:1.86, Z:0.14 [[ 9.98176761e-01 -6.03253090e-02 2.00281607e-03 2.01259534e+01] [ 6.03249798e-02 9.98178765e-01 2.24450011e-04 1.85629955e+00] [-2.01270848e-03 -1.03220946e-04 9.99997969e-01 1.36963027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181400513 meters 0.05629628236658059 Centerline is valid? [True, True] Translation: X:20.16, Y:1.86, Z:0.13 [[ 9.98284441e-01 -5.85429767e-02 9.45794379e-04 2.01566419e+01] [ 5.85429024e-02 9.98284888e-01 1.05999625e-04 1.85809438e+00] [-9.50377769e-04 -5.04482279e-05 9.99999547e-01 1.34972617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211400513 meters 0.057691212509203504 Centerline is valid? [True, True] Translation: X:20.19, Y:1.86, Z:0.13 [[ 9.98426211e-01 -5.60667361e-02 -1.27406180e-03 2.01885434e+01] [ 5.60665992e-02 9.98427021e-01 -1.42943658e-04 1.85648950e+00] [ 1.28007212e-03 7.12863821e-05 9.99999178e-01 1.31264257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241400513 meters 0.05997463713719518 Centerline is valid? [True, True] Translation: X:20.22, Y:1.86, Z:0.13 [[ 9.98501050e-01 -5.47057732e-02 -1.71219413e-03 2.02189345e+01] [ 5.47055242e-02 9.98502513e-01 -1.91985708e-04 1.85992107e+00] [ 1.72013287e-03 9.80314534e-05 9.99998516e-01 1.30781985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271400513 meters 0.06491103700167328 Centerline is valid? [True, True] Translation: X:20.25, Y:1.87, Z:0.13 [[ 9.98587624e-01 -5.31088421e-02 -1.48598286e-03 2.02480385e+01] [ 5.31086526e-02 9.98588726e-01 -1.66740191e-04 1.86786091e+00] [ 1.49274111e-03 8.75861432e-05 9.99998882e-01 1.31570148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301400513 meters 0.06866124603638075 Centerline is valid? [True, True] Translation: X:20.28, Y:1.87, Z:0.13 [[ 9.98747494e-01 -5.00338306e-02 2.41922272e-04 2.02773385e+01] [ 5.00338256e-02 9.98747523e-01 2.70643792e-05 1.87210096e+00] [-2.42973405e-04 -1.49261842e-05 9.99999970e-01 1.34907692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331400513 meters 0.06615412455220934 Centerline is valid? [True, True] Translation: X:20.31, Y:1.87, Z:0.14 [[ 9.98789337e-01 -4.91724388e-02 1.38955253e-03 2.03094795e+01] [ 4.91722699e-02 9.98790300e-01 1.55464621e-04 1.86945067e+00] [-1.39551616e-03 -8.69489539e-05 9.99999022e-01 1.36416970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361400513 meters 0.07414405811029241 Centerline is valid? [True, True] Translation: X:20.34, Y:1.88, Z:0.14 [[ 9.98782663e-01 -4.92884698e-02 1.95953397e-03 2.03394042e+01] [ 4.92881342e-02 9.98784577e-01 2.19233223e-04 1.87923730e+00] [-1.96795797e-03 -1.22384569e-04 9.99998056e-01 1.38103345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391400513 meters 0.07082059739145678 Centerline is valid? [True, True] Translation: X:20.37, Y:1.87, Z:0.14 [[ 9.98785483e-01 -4.91042146e-02 4.04155550e-03 2.03702203e+01] [ 4.90763508e-02 9.98772378e-01 6.72672800e-03 1.86903454e+00] [-4.36690470e-03 -6.52021348e-03 9.99969208e-01 1.36170286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421400513 meters 0.05995777422072158 Centerline is valid? [True, True] Translation: X:20.40, Y:1.86, Z:0.13 [[ 9.98521997e-01 -5.43372749e-02 1.13255127e-03 2.04028685e+01] [ 5.43428341e-02 9.98506336e-01 -5.65264895e-03 1.86265762e+00] [-8.23710076e-04 5.70584036e-03 9.99983382e-01 1.33271687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451400513 meters 0.057802963461401284 Centerline is valid? [True, True] Translation: X:20.44, Y:1.85, Z:0.13 [[ 9.98394610e-01 -5.66403411e-02 -2.72803598e-04 2.04351852e+01] [ 5.66403349e-02 9.98394647e-01 -3.05860723e-05 1.85199651e+00] [ 2.74098058e-04 1.50852826e-05 9.99999962e-01 1.30822599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481400513 meters 0.057783103110563 Centerline is valid? [True, True] Translation: X:20.47, Y:1.84, Z:0.13 [[ 9.98101974e-01 -6.15733989e-02 1.07993677e-03 2.04664442e+01] [ 6.15733040e-02 9.98102557e-01 1.20943403e-04 1.83925046e+00] [-1.08533454e-03 -5.42185747e-05 9.99999410e-01 1.33002127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511400512999998 meters 0.05572219379020681 Centerline is valid? [True, True] Translation: X:20.50, Y:1.84, Z:0.14 [[ 9.97977394e-01 -6.34987394e-02 3.00512692e-03 2.04969230e+01] [ 6.34980150e-02 9.97981908e-01 3.35939354e-04 1.84034812e+00] [-3.02039402e-03 -1.44440287e-04 9.99995428e-01 1.37477512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541400513 meters 0.05351667888883107 Centerline is valid? [True, True] Translation: X:20.53, Y:1.84, Z:0.14 [[ 9.97939946e-01 -6.40653586e-02 3.39032760e-03 2.05288592e+01] [ 6.40644395e-02 9.97945692e-01 3.79121836e-04 1.83777864e+00] [-3.40765140e-03 -1.61141387e-04 9.99994181e-01 1.38563343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571400513 meters 0.0527171644809245 Centerline is valid? [True, True] Translation: X:20.56, Y:1.83, Z:0.14 [[ 9.98072791e-01 -6.20157598e-02 2.17937736e-03 2.05610485e+01] [ 6.20153754e-02 9.98075164e-01 2.43617126e-04 1.83031062e+00] [-2.19029052e-03 -1.07992720e-04 9.99997595e-01 1.35418628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601400512999998 meters 0.05484210996560124 Centerline is valid? [True, True] Translation: X:20.59, Y:1.83, Z:0.13 [[ 9.98179522e-01 -6.03031384e-02 1.08283499e-03 2.05920083e+01] [ 6.03030426e-02 9.98180108e-01 1.20949213e-04 1.82986531e+00] [-1.08815797e-03 -5.54307830e-05 9.99999406e-01 1.33413943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631400513 meters 0.06084717540051506 Centerline is valid? [True, True] Translation: X:20.62, Y:1.84, Z:0.13 [[ 9.98297633e-01 -5.83248127e-02 2.28731550e-04 2.06216946e+01] [ 5.83248084e-02 9.98297659e-01 2.53776309e-05 1.83562735e+00] [-2.29822316e-04 -1.19937050e-05 9.99999974e-01 1.33107149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661400513 meters 0.06119819099262071 Centerline is valid? [True, True] Translation: X:20.65, Y:1.83, Z:0.13 [[ 9.98482895e-01 -5.50618641e-02 -3.15341180e-04 2.06527169e+01] [ 5.50618557e-02 9.98482945e-01 -3.52413165e-05 1.83430831e+00] [ 3.16803243e-04 1.78245812e-05 9.99999950e-01 1.32696789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691400512999998 meters 0.0618936420777217 Centerline is valid? [True, True] Translation: X:20.68, Y:1.84, Z:0.13 [[ 9.98538082e-01 -5.40506258e-02 -4.78853764e-04 2.06834923e+01] [ 5.40506063e-02 9.98538196e-01 -5.35173502e-05 1.83546553e+00] [ 4.81046420e-04 2.75567759e-05 9.99999884e-01 1.32263439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721400513 meters 0.061422207926990706 Centerline is valid? [True, True] Translation: X:20.71, Y:1.83, Z:0.13 [[ 9.98571258e-01 -5.34183729e-02 -1.38569703e-03 2.07138862e+01] [ 5.34182093e-02 9.98572216e-01 -1.54832438e-04 1.83368383e+00] [ 1.39198946e-03 8.05897686e-05 9.99999028e-01 1.30715195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751400513 meters 0.06464021311674228 Centerline is valid? [True, True] Translation: X:20.74, Y:1.83, Z:0.13 [[ 9.98570911e-01 -5.33240242e-02 -3.56155792e-03 2.07434786e+01] [ 5.33229424e-02 9.98577241e-01 -3.98077626e-04 1.83178340e+00] [ 3.57771778e-03 2.07595990e-04 9.99993578e-01 1.27266948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781400512999998 meters 0.06627746416889618 Centerline is valid? [True, True] Translation: X:20.77, Y:1.83, Z:0.13 [[ 9.98585624e-01 -5.30084353e-02 -4.10585580e-03 2.07710618e+01] [ 5.30069947e-02 9.98594036e-01 -4.58959662e-04 1.83410776e+00] [ 4.12441185e-03 2.40671444e-04 9.99991466e-01 1.26728555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811400513 meters 0.06281596097467872 Centerline is valid? [True, True] Translation: X:20.80, Y:1.83, Z:0.13 [[ 9.98621297e-01 -5.23399767e-02 -4.00402062e-03 2.08005147e+01] [ 5.23386007e-02 9.98629296e-01 -4.47764375e-04 1.83098416e+00] [ 4.02196827e-03 2.37582204e-04 9.99991884e-01 1.27314665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841400513 meters 0.06378724146937026 Centerline is valid? [True, True] Translation: X:20.83, Y:1.83, Z:0.13 [[ 9.98760969e-01 -4.96738755e-02 -3.00545103e-03 2.08309132e+01] [ 4.96730865e-02 9.98765474e-01 -3.36623129e-04 1.82843371e+00] [ 3.01846210e-03 1.86916013e-04 9.99995427e-01 1.28866077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871400512999998 meters 0.06378724146937026 Centerline is valid? [True, True] Translation: X:20.86, Y:1.83, Z:0.13 [[ 9.98752776e-01 -4.98383314e-02 -3.00547161e-03 2.08590860e+01] [ 4.98375437e-02 9.98757281e-01 -3.36439580e-04 1.83170745e+00] [ 3.01850424e-03 1.86234641e-04 9.99995427e-01 1.28989860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901400513 meters 0.07241173927138783 Centerline is valid? [True, True] Translation: X:20.89, Y:1.84, Z:0.13 [[ 9.98814873e-01 -4.85883684e-02 -2.83189762e-03 2.08862897e+01] [ 4.85876624e-02 9.98818872e-01 -3.17619386e-04 1.84168648e+00] [ 2.84398539e-03 1.79647682e-04 9.99995940e-01 1.29592147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931400513 meters 0.06548127773130678 Centerline is valid? [True, True] Translation: X:20.92, Y:1.83, Z:0.13 [[ 9.98864599e-01 -4.75024643e-02 -3.60944166e-03 2.09170697e+01] [ 4.75013094e-02 9.98871094e-01 -4.05071601e-04 1.83410389e+00] [ 3.62460884e-03 2.33158478e-04 9.99993404e-01 1.27879688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961400513 meters 0.07027812429004535 Centerline is valid? [True, True] Translation: X:20.94, Y:1.84, Z:0.13 [[ 9.98902111e-01 -4.66022880e-02 -4.77484511e-03 2.09448394e+01] [ 4.66002560e-02 9.98913474e-01 -5.36005700e-04 1.84180474e+00] [ 4.79463621e-03 3.12908221e-04 9.99988457e-01 1.25707331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991400513 meters 0.07754119531875123 Centerline is valid? [True, True] Translation: X:20.97, Y:1.85, Z:0.12 [[ 9.98987550e-01 -4.46942574e-02 -5.12816123e-03 2.09738404e+01] [ 4.46918879e-02 9.99000652e-01 -5.75785963e-04 1.84871313e+00] [ 5.14877074e-03 3.46015801e-04 9.99986685e-01 1.24499716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021400513 meters 0.07201595601703731 Centerline is valid? [True, True] Translation: X:21.00, Y:1.84, Z:0.12 [[ 9.99036200e-01 -4.36015951e-02 -5.05681550e-03 2.10042380e+01] [ 4.35992768e-02 9.99048938e-01 -5.67849708e-04 1.84129941e+00] [ 5.07676531e-03 3.46828916e-04 9.99987053e-01 1.24760858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051400513 meters 0.072641614340371 Centerline is valid? [True, True] Translation: X:21.03, Y:1.84, Z:0.12 [[ 9.99078720e-01 -4.25676955e-02 -5.45004625e-03 2.10333911e+01] [ 4.25649860e-02 9.99093513e-01 -6.12230113e-04 1.84230740e+00] [ 5.47116708e-03 3.79684935e-04 9.99984961e-01 1.24087958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081400513 meters 0.0760545257914702 Centerline is valid? [True, True] Translation: X:21.06, Y:1.85, Z:0.12 [[ 9.99163990e-01 -4.03694754e-02 -6.45186656e-03 2.10623325e+01] [ 4.03656307e-02 9.99184713e-01 -7.25063562e-04 1.84648513e+00] [ 6.47587687e-03 4.64023739e-04 9.99978924e-01 1.22225769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111400513 meters 0.078910716012882 Centerline is valid? [True, True] Translation: X:21.09, Y:1.85, Z:0.12 [[ 9.99200655e-01 -3.94973023e-02 -6.16553839e-03 2.10903093e+01] [ 3.94937741e-02 9.99219576e-01 -6.92998609e-04 1.85074192e+00] [ 6.18809823e-03 4.48944284e-04 9.99980753e-01 1.22503303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141400513 meters 0.07322460443528148 Centerline is valid? [True, True] Translation: X:21.12, Y:1.84, Z:0.12 [[ 9.99223964e-01 -3.89992979e-02 -5.52487857e-03 2.11201191e+01] [ 3.89964552e-02 9.99239156e-01 -6.21362694e-04 1.84386892e+00] [ 5.54490771e-03 4.05429814e-04 9.99984545e-01 1.23680207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171400513 meters 0.07855315469207277 Centerline is valid? [True, True] Translation: X:21.15, Y:1.85, Z:0.13 [[ 9.99266388e-01 -3.79790805e-02 -4.92695471e-03 2.11484856e+01] [ 3.79768043e-02 9.99278467e-01 -5.54775449e-04 1.84731888e+00] [ 4.94446961e-03 3.67258465e-04 9.99987709e-01 1.25270540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201400513 meters 0.07666689181917839 Centerline is valid? [True, True] Translation: X:21.18, Y:1.84, Z:0.13 [[ 9.99284373e-01 -3.75231747e-02 -4.77010842e-03 2.11779070e+01] [ 3.75210348e-02 9.99295694e-01 -5.37332382e-04 1.84499549e+00] [ 4.78691121e-03 3.57968448e-04 9.99988479e-01 1.25762616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231400513 meters 0.08362981269062585 Centerline is valid? [True, True] Translation: X:21.21, Y:1.85, Z:0.13 [[ 9.99314916e-01 -3.67259287e-02 -4.57225465e-03 2.12059186e+01] [ 3.67239513e-02 9.99325315e-01 -5.15730338e-04 1.84919027e+00] [ 4.58811049e-03 3.47465762e-04 9.99989414e-01 1.26213997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261400512999998 meters 0.07837564444061772 Centerline is valid? [True, True] Translation: X:21.24, Y:1.84, Z:0.13 [[ 9.99318011e-01 -3.66940484e-02 -4.13043986e-03 2.12352716e+01] [ 3.66924337e-02 9.99326497e-01 -4.66042453e-04 1.84231520e+00] [ 4.14475898e-03 3.14168726e-04 9.99991361e-01 1.27206668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291400513 meters 0.0832671409339603 Centerline is valid? [True, True] Translation: X:21.26, Y:1.85, Z:0.13 [[ 9.99328548e-01 -3.64832351e-02 -3.38035890e-03 2.12628039e+01] [ 3.64821507e-02 9.99334232e-01 -3.81929009e-04 1.84793499e+00] [ 3.39204237e-03 2.58349799e-04 9.99994214e-01 1.28801305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321400513 meters 0.07773638746455383 Centerline is valid? [True, True] Translation: X:21.29, Y:1.84, Z:0.13 [[ 9.99363611e-01 -3.55609375e-02 -2.79137269e-03 2.12935604e+01] [ 3.55601940e-02 9.99367486e-01 -3.15552690e-04 1.84101346e+00] [ 2.80082846e-03 2.16090122e-04 9.99996054e-01 1.30276311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351400512999998 meters 0.08662496433445016 Centerline is valid? [True, True] Translation: X:21.32, Y:1.85, Z:0.13 [[ 9.99458921e-01 -3.27064959e-02 -3.48559631e-03 2.13221009e+01] [ 3.27053188e-02 9.99464960e-01 -3.94173984e-04 1.84736088e+00] [ 3.49662342e-03 2.79963166e-04 9.99993848e-01 1.29634919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381400513 meters 0.08445168033385024 Centerline is valid? [True, True] Translation: X:21.35, Y:1.84, Z:0.13 [[ 9.99514007e-01 -3.08063388e-02 -4.76646140e-03 2.13527781e+01] [ 3.08041168e-02 9.99525295e-01 -5.38908692e-04 1.84410963e+00] [ 4.78080054e-03 3.91820153e-04 9.99988495e-01 1.27537930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411400513 meters 0.09137800728102044 Centerline is valid? [True, True] Translation: X:21.38, Y:1.85, Z:0.13 [[ 9.99573716e-01 -2.85797295e-02 -5.96535234e-03 2.13814234e+01] [ 2.85762095e-02 9.99591389e-01 -6.74508377e-04 1.85242680e+00] [ 5.98219210e-03 5.03753687e-04 9.99981980e-01 1.25170437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441400512999998 meters 0.08622263029256612 Centerline is valid? [True, True] Translation: X:21.41, Y:1.85, Z:0.12 [[ 9.99640658e-01 -2.61580827e-02 -5.85744805e-03 2.14123372e+01] [ 2.61546475e-02 9.99657689e-01 -6.62321768e-04 1.84678782e+00] [ 5.87276805e-03 5.08884279e-04 9.99982626e-01 1.24728651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471400513 meters 0.09622812341684081 Centerline is valid? [True, True] Translation: X:21.44, Y:1.86, Z:0.13 [[ 9.99791168e-01 -2.01613320e-02 -3.33789880e-03 2.14409889e+01] [ 2.01601832e-02 9.99796692e-01 -3.77443598e-04 1.85907419e+00] [ 3.34482994e-03 3.10072124e-04 9.99994358e-01 1.29042103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501400513 meters 0.09898764262778974 Centerline is valid? [True, True] Translation: X:21.47, Y:1.87, Z:0.13 [[ 9.99855094e-01 -1.68866528e-02 -2.15209703e-03 2.14706573e+01] [ 1.68861678e-02 9.99857389e-01 -2.43368468e-04 1.86566114e+00] [ 2.15589979e-03 2.06992531e-04 9.99997655e-01 1.31089889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531400512999998 meters 0.10090055613247793 Centerline is valid? [True, False] Translation: X:21.45, Y:1.87, Z:0.12 [[ 9.99925921e-01 -1.19969749e-02 2.05528331e-03 2.14518325e+01] [ 1.20052048e-02 9.99919774e-01 -4.03987676e-03 1.87104858e+00] [-2.00665212e-03 4.06425159e-03 9.99989728e-01 1.23217221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561400513 meters 0.10184908142367283 Centerline is valid? [False, False] Translation: X:21.45, Y:1.87, Z:0.12 [[ 9.99970192e-01 -7.49187554e-03 1.86708583e-03 2.14523326e+01] [ 7.49036737e-03 9.99971616e-01 8.13452224e-04 1.86874586e+00] [-1.87312712e-03 -7.99442818e-04 9.99997926e-01 1.23177667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591400513 meters 0.10927170903321541 Centerline is valid? [False, False] Translation: X:21.45, Y:1.87, Z:0.12 [[ 9.99969043e-01 -7.64320476e-03 1.86945458e-03 2.14524461e+01] [ 7.64248146e-03 9.99970718e-01 3.93739086e-04 1.87060751e+00] [-1.87240926e-03 -3.79439625e-04 9.99998175e-01 1.22839293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621400512999998 meters 0.10161729953890382 Centerline is valid? [False, False] Translation: X:21.43, Y:1.88, Z:0.12 [[ 9.99980348e-01 -6.26116665e-03 -3.17415289e-04 2.14317629e+01] [ 6.25796836e-03 9.99937766e-01 -9.23588194e-03 1.87573906e+00] [ 3.75222931e-04 9.23371407e-03 9.99957298e-01 1.23653165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651400513 meters 0.09802756664844003 Centerline is valid? [False, True] Translation: X:21.43, Y:1.87, Z:0.12 [[ 9.99998435e-01 -1.67556964e-03 -5.67642031e-04 2.14323432e+01] [ 1.67328103e-03 9.99990566e-01 -4.00854223e-03 1.87190571e+00] [ 5.74353267e-04 4.00758613e-03 9.99991805e-01 1.24148753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681400513 meters 0.09516481434954707 Centerline is valid? [True, True] Translation: X:21.46, Y:1.87, Z:0.13 [[ 9.99991655e-01 -4.07535900e-03 2.84214172e-04 2.14622688e+01] [ 4.07535069e-03 9.99991695e-01 2.98057703e-05 1.87026146e+00] [-2.84333281e-04 -2.86472491e-05 9.99999959e-01 1.25816460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711400513 meters 0.09183435606716095 Centerline is valid? [True, True] Translation: X:21.49, Y:1.87, Z:0.13 [[ 9.99944319e-01 -1.04577453e-02 1.41213439e-03 2.14917502e+01] [ 1.04575465e-02 9.99945307e-01 1.48087219e-04 1.87032420e+00] [-1.41360581e-03 -1.33311513e-04 9.99998992e-01 1.27575057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741400513 meters 0.09490488058289084 Centerline is valid? [True, True] Translation: X:21.52, Y:1.88, Z:0.13 [[ 9.99905762e-01 -1.37032608e-02 8.29707812e-04 2.15214716e+01] [ 1.37031933e-02 9.99906103e-01 8.70083904e-05 1.87639866e+00] [-8.30822204e-04 -7.56305444e-05 9.99999652e-01 1.27111887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771400513 meters 0.09416726281873411 Centerline is valid? [True, True] Translation: X:21.55, Y:1.88, Z:0.13 [[ 9.99863047e-01 -1.65495432e-02 1.83294468e-05 2.15515922e+01] [ 1.65495432e-02 9.99863047e-01 1.92244195e-06 1.87795930e+00] [-1.83587520e-05 -1.61883469e-06 1.00000000e+00 1.26099376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801400513 meters 0.09244857366754168 Centerline is valid? [True, True] Translation: X:21.58, Y:1.88, Z:0.12 [[ 9.99789877e-01 -2.04838797e-02 -7.83106307e-04 2.15816643e+01] [ 2.04838216e-02 9.99790181e-01 -8.21220025e-05 1.87877498e+00] [ 7.84624174e-04 6.60637368e-05 9.99999690e-01 1.24944049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831400513 meters 0.0885734354054506 Centerline is valid? [True, True] Translation: X:21.61, Y:1.88, Z:0.13 [[ 9.99768570e-01 -2.15110059e-02 -2.88971793e-04 2.16120703e+01] [ 2.15109980e-02 9.99768611e-01 -3.03033399e-05 1.87616917e+00] [ 2.89556783e-04 2.40802552e-05 9.99999958e-01 1.25564922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861400513 meters 0.0884206218515042 Centerline is valid? [True, True] Translation: X:21.64, Y:1.88, Z:0.13 [[ 9.99748510e-01 -2.24182417e-02 5.82864553e-04 2.16423529e+01] [ 2.24182099e-02 9.99748678e-01 6.11298689e-05 1.87806582e+00] [-5.84088491e-04 -4.80477155e-05 9.99999828e-01 1.26658537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891400513 meters 0.08254670841854823 Centerline is valid? [True, True] Translation: X:21.67, Y:1.87, Z:0.13 [[ 9.99719783e-01 -2.36702683e-02 2.70729708e-04 2.16739892e+01] [ 2.36702615e-02 9.99719820e-01 2.83869688e-05 1.87192705e+00] [-2.71325782e-04 -2.19707714e-05 9.99999963e-01 1.25991526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921400513 meters 0.07847482715113885 Centerline is valid? [True, True] Translation: X:21.70, Y:1.87, Z:0.13 [[ 9.99708171e-01 -2.41562652e-02 -2.20527664e-04 2.17045906e+01] [ 2.41562607e-02 9.99708195e-01 -2.31249306e-05 1.86866611e+00] [ 2.21021925e-04 1.77910583e-05 9.99999975e-01 1.25438510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951400513 meters 0.08429044694929201 Centerline is valid? [True, True] Translation: X:21.73, Y:1.88, Z:0.13 [[ 9.99689807e-01 -2.48903469e-02 8.72128307e-04 2.17332491e+01] [ 2.48902765e-02 9.99690185e-01 9.14814863e-05 1.87504212e+00] [-8.74135114e-04 -6.97455946e-05 9.99999616e-01 1.28455249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981400513 meters 0.08672392551405199 Centerline is valid? [True, True] Translation: X:21.76, Y:1.88, Z:0.13 [[ 9.99676399e-01 -2.53862241e-02 1.62373679e-03 2.17627894e+01] [ 2.53859808e-02 9.99677710e-01 1.70314224e-04 1.88009002e+00] [-1.62753711e-03 -1.29038959e-04 9.99998667e-01 1.30318474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011400512999998 meters 0.09240176959793106 Centerline is valid? [True, True] Translation: X:21.79, Y:1.89, Z:0.13 [[ 9.99657188e-01 -2.61072013e-02 1.97992804e-03 2.17925952e+01] [ 2.61068411e-02 9.99659137e-01 2.07555376e-04 1.88915101e+00] [-1.98467185e-03 -1.55794557e-04 9.99998018e-01 1.31175719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041400513 meters 0.07733279048480522 Centerline is valid? [True, True] Translation: X:21.83, Y:1.87, Z:0.13 [[ 9.99644114e-01 -2.66364270e-02 1.46472129e-03 2.18251077e+01] [ 2.66362304e-02 9.99645181e-01 1.53558599e-04 1.87207407e+00] [-1.46829183e-03 -1.14489296e-04 9.99998916e-01 1.29953150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071400513 meters 0.0747855252372824 Centerline is valid? [True, True] Translation: X:21.86, Y:1.87, Z:0.13 [[ 9.99626704e-01 -2.73108046e-02 -7.56463136e-04 2.18567812e+01] [ 2.73107523e-02 9.99626989e-01 -7.93010155e-05 1.86580458e+00] [ 7.58346741e-04 5.86118354e-05 9.99999711e-01 1.26939394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101400512999998 meters 0.07632219092646306 Centerline is valid? [True, True] Translation: X:21.88, Y:1.87, Z:0.13 [[ 9.99618789e-01 -2.75801855e-02 -1.26891912e-03 2.18848780e+01] [ 2.75800387e-02 9.99619590e-01 -1.33049554e-04 1.86869111e+00] [ 1.27210594e-03 9.80019961e-05 9.99999186e-01 1.26882982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131400513 meters 0.08226501177181433 Centerline is valid? [True, True] Translation: X:21.91, Y:1.88, Z:0.13 [[ 9.99623418e-01 -2.74223591e-02 -1.01765034e-03 2.19123387e+01] [ 2.74222646e-02 9.99623933e-01 -1.06736570e-04 1.87829441e+00] [ 1.02019460e-03 7.87900979e-05 9.99999476e-01 1.27445283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161400513 meters 0.07828035110204576 Centerline is valid? [True, True] Translation: X:21.94, Y:1.87, Z:0.13 [[ 9.99646556e-01 -2.65613841e-02 -1.12052014e-03 2.19423297e+01] [ 2.65612689e-02 9.99647180e-01 -1.17556712e-04 1.87451816e+00] [ 1.12324727e-03 8.77527253e-05 9.99999365e-01 1.27626689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191400512999998 meters 0.08226292824333907 Centerline is valid? [True, True] Translation: X:21.97, Y:1.88, Z:0.13 [[ 9.99665108e-01 -2.58547906e-02 -1.09587463e-03 2.19704139e+01] [ 2.58546800e-02 9.99665705e-01 -1.15005016e-04 1.88037715e+00] [ 1.09848172e-03 8.66330134e-05 9.99999393e-01 1.27525816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221400513 meters 0.08706523357778308 Centerline is valid? [True, True] Translation: X:22.00, Y:1.89, Z:0.13 [[ 9.99686728e-01 -2.50181523e-02 -7.32867747e-04 2.19986027e+01] [ 2.50181025e-02 9.99686995e-01 -7.69380268e-05 1.88711349e+00] [ 7.34563203e-04 5.85789638e-05 9.99999728e-01 1.27649916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251400513 meters 0.08854127811871068 Centerline is valid? [True, True] Translation: X:22.03, Y:1.89, Z:0.13 [[ 9.99704095e-01 -2.42725480e-02 1.60180468e-03 2.20284496e+01] [ 2.42723094e-02 9.99705370e-01 1.68238031e-04 1.88799283e+00] [-1.60541631e-03 -1.29308750e-04 9.99998703e-01 1.31085187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281400512999998 meters 0.08511232638581999 Centerline is valid? [True, True] Translation: X:22.06, Y:1.88, Z:0.13 [[ 9.99681299e-01 -2.51246569e-02 2.45998815e-03 2.20594001e+01] [ 2.51240967e-02 9.99684307e-01 2.58362585e-04 1.88446382e+00] [-2.46570282e-03 -1.96475265e-04 9.99996941e-01 1.32397097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311400513 meters 0.07517534770586416 Centerline is valid? [True, True] Translation: X:22.09, Y:1.87, Z:0.13 [[ 9.99579603e-01 -2.89819997e-02 8.12736435e-04 2.20913902e+01] [ 2.89819398e-02 9.99579932e-01 8.53548367e-05 1.87039448e+00] [-8.14868785e-04 -6.17642754e-05 9.99999666e-01 1.30530461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341400513 meters 0.07853810873595467 Centerline is valid? [True, True] Translation: X:22.12, Y:1.88, Z:0.13 [[ 9.99519162e-01 -3.09876685e-02 -1.09999289e-03 2.21205387e+01] [ 3.09875600e-02 9.99519764e-01 -1.15538938e-04 1.87543425e+00] [ 1.10304491e-03 8.13972868e-05 9.99999388e-01 1.27422464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371400512999998 meters 0.07763209822264765 Centerline is valid? [True, True] Translation: X:22.15, Y:1.88, Z:0.12 [[ 9.99470209e-01 -3.24549744e-02 -2.44451634e-03 2.21493791e+01] [ 3.24544427e-02 9.99473183e-01 -2.56847416e-04 1.87555286e+00] [ 2.45156451e-03 1.77375925e-04 9.99996979e-01 1.24883946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401400513 meters 0.07548853286335212 Centerline is valid? [True, True] Translation: X:22.18, Y:1.87, Z:0.12 [[ 9.99487810e-01 -3.18639257e-02 -2.96775752e-03 2.21791131e+01] [ 3.18631382e-02 9.99492193e-01 -3.12259764e-04 1.87165762e+00] [ 2.97620029e-03 2.17537760e-04 9.99995547e-01 1.24222809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431400513 meters 0.07880847462188856 Centerline is valid? [True, True] Translation: X:22.21, Y:1.88, Z:0.13 [[ 9.99544507e-01 -3.00827050e-02 -2.41026486e-03 2.22084135e+01] [ 3.00821803e-02 9.99547397e-01 -2.53666488e-04 1.87635522e+00] [ 2.41680494e-03 1.81044923e-04 9.99997063e-01 1.25178797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461400513 meters 0.0827562428100697 Centerline is valid? [True, True] Translation: X:22.24, Y:1.88, Z:0.13 [[ 9.99602984e-01 -2.81138015e-02 -1.86756865e-03 2.22369138e+01] [ 2.81134830e-02 9.99604719e-01 -1.96587666e-04 1.88220570e+00] [ 1.87235726e-03 1.44005758e-04 9.99998237e-01 1.26320512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491400513 meters 0.08497673467913303 Centerline is valid? [True, True] Translation: X:22.27, Y:1.89, Z:0.13 [[ 9.99651704e-01 -2.63526734e-02 -1.41702276e-03 2.22671489e+01] [ 2.63524883e-02 9.99652702e-01 -1.49166694e-04 1.88653409e+00] [ 1.42046157e-03 1.11772665e-04 9.99998985e-01 1.27454879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521400513 meters 0.08606117020517505 Centerline is valid? [True, True] Translation: X:22.30, Y:1.89, Z:0.13 [[ 9.99727071e-01 -2.33492619e-02 -7.71640552e-04 2.22969187e+01] [ 2.33492061e-02 9.99727367e-01 -8.12335803e-05 1.88895448e+00] [ 7.73326921e-04 6.31942151e-05 9.99999699e-01 1.28529487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551400513 meters 0.08970794165439211 Centerline is valid? [True, True] Translation: X:22.33, Y:1.90, Z:0.13 [[ 9.99759488e-01 -2.19236651e-02 -5.65204947e-04 2.23256816e+01] [ 2.19236350e-02 9.99759646e-01 -5.95062392e-05 1.89503809e+00] [ 5.66373693e-04 4.71005802e-05 9.99999839e-01 1.28326587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581400513 meters 0.0868883255828479 Centerline is valid? [True, True] Translation: X:22.36, Y:1.89, Z:0.13 [[ 9.99786841e-01 -2.06267697e-02 -8.99076375e-04 2.23559030e+01] [ 2.06266929e-02 9.99787243e-01 -9.46687210e-05 1.89322563e+00] [ 9.00837800e-04 7.61035693e-05 9.99999591e-01 1.27777850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611400513 meters 0.08740094944914761 Centerline is valid? [True, True] Translation: X:22.39, Y:1.90, Z:0.13 [[ 9.99829137e-01 -1.84472545e-02 -1.18136730e-03 2.23864295e+01] [ 1.84471203e-02 9.99829830e-01 -1.24398051e-04 1.89628069e+00] [ 1.18346107e-03 1.02583971e-04 9.99999294e-01 1.27244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641400513 meters 0.08923736210031646 Centerline is valid? [True, True] Translation: X:22.41, Y:1.90, Z:0.13 [[ 9.99851015e-01 -1.72237976e-02 -1.13527264e-03 2.24147060e+01] [ 1.72236729e-02 9.99851654e-01 -1.19563066e-04 1.90210930e+00] [ 1.13716355e-03 9.99916880e-05 9.99999348e-01 1.27402943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671400513 meters 0.1031853887617116 Centerline is valid? [True, False] Translation: X:22.41, Y:1.90, Z:0.13 [[ 9.99850309e-01 -1.72672965e-02 -1.09540488e-03 2.24146056e+01] [ 1.72670466e-02 9.99850885e-01 -2.37204838e-04 1.90263767e+00] [ 1.09933743e-03 2.18254924e-04 9.99999372e-01 1.27318331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701400513 meters 0.09266787425128527 Centerline is valid? [False, True] Translation: X:22.43, Y:1.91, Z:0.14 [[ 9.99913597e-01 -1.24300272e-02 -4.27698461e-03 2.24291527e+01] [ 1.24098227e-02 9.99911862e-01 -4.71855381e-03 1.90607990e+00] [ 4.33525940e-03 4.66506949e-03 9.99979721e-01 1.37811397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731400513 meters 0.09564900892787874 Centerline is valid? [True, True] Translation: X:22.46, Y:1.91, Z:0.14 [[ 9.99924834e-01 -1.13081260e-02 -4.73838890e-03 2.24581451e+01] [ 1.13059393e-02 9.99935967e-01 -4.88021544e-04 1.90696674e+00] [ 4.74360410e-03 4.34412924e-04 9.99988655e-01 1.39760319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761400512999998 meters 0.09113963211734841 Centerline is valid? [True, True] Translation: X:22.49, Y:1.90, Z:0.14 [[ 9.99919401e-01 -1.16244676e-02 -5.10520538e-03 2.24872471e+01] [ 1.16219327e-02 9.99932325e-01 -5.25930778e-04 1.90407112e+00] [ 5.11097355e-03 4.66556035e-04 9.99986830e-01 1.39711898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791400513 meters 0.09113963211734841 Centerline is valid? [True, True] Translation: X:22.51, Y:1.91, Z:0.14 [[ 9.99917299e-01 -1.18039499e-02 -5.10512088e-03 2.25146909e+01] [ 1.18014131e-02 9.99930222e-01 -5.26749797e-04 1.90704442e+00] [ 5.11098238e-03 4.66458594e-04 9.99986830e-01 1.39833751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821400513 meters 0.09636007636082092 Centerline is valid? [True, True] Translation: X:22.54, Y:1.91, Z:0.14 [[ 9.99912608e-01 -1.20863985e-02 -5.35688787e-03 2.25419614e+01] [ 1.20836045e-02 9.99926837e-01 -5.53644078e-04 1.91391046e+00] [ 5.36318751e-03 4.88865179e-04 9.99985499e-01 1.40307382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851400512999998 meters 0.09462301329705394 Centerline is valid? [True, True] Translation: X:22.57, Y:1.92, Z:0.14 [[ 9.99905557e-01 -1.27579898e-02 -5.10989975e-03 2.25706123e+01] [ 1.27554542e-02 9.99918506e-01 -5.28500001e-04 1.91580467e+00] [ 5.11622592e-03 4.63270995e-04 9.99986805e-01 1.39937557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881400513 meters 0.09369021398243917 Centerline is valid? [True, True] Translation: X:22.60, Y:1.92, Z:0.14 [[ 9.99904263e-01 -1.33924371e-02 -3.47960129e-03 2.25992129e+01] [ 1.33912648e-02 9.99910268e-01 -3.59976166e-04 1.91705903e+00] [ 3.48411002e-03 3.13345441e-04 9.99993881e-01 1.42322357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911400513 meters 0.09501961244029952 Centerline is valid? [True, True] Translation: X:22.63, Y:1.92, Z:0.15 [[ 9.99891513e-01 -1.47250113e-02 -3.69329504e-04 2.26280465e+01] [ 1.47249982e-02 9.99891581e-01 -3.81404219e-05 1.92393537e+00] [ 3.69851080e-04 3.26979079e-05 9.99999931e-01 1.47537924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941400512999998 meters 0.11161039889256981 Centerline is valid? [True, False] Translation: X:22.65, Y:1.93, Z:0.15 [[ 9.99918223e-01 -1.24247115e-02 3.02900056e-03 2.26469243e+01] [ 1.24538733e-02 9.99874357e-01 -9.80667613e-03 1.93333429e+00] [-2.90677487e-03 9.84359696e-03 9.99947326e-01 1.46541549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971400513 meters 0.09146707190023104 Centerline is valid? [False, True] Translation: X:22.61, Y:1.92, Z:0.15 [[ 9.99967229e-01 -8.09018069e-03 3.00020193e-04 2.26093129e+01] [ 8.09100839e-03 9.99963152e-01 -2.86867061e-03 1.92225207e+00] [-2.76801075e-04 2.87100407e-03 9.99995840e-01 1.45244744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001400513 meters 0.08817602390271025 Centerline is valid? [True, True] Translation: X:22.64, Y:1.92, Z:0.14 [[ 9.99943917e-01 -1.02721110e-02 -2.57821711e-03 2.26400818e+01] [ 1.02715047e-02 9.99947216e-01 -2.48288538e-04 1.91754869e+00] [ 2.58063147e-03 2.21792444e-04 9.99996646e-01 1.42558848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031400512999998 meters 0.0881247146427883 Centerline is valid? [True, True] Translation: X:22.67, Y:1.92, Z:0.14 [[ 9.99927516e-01 -1.17249331e-02 -2.73661907e-03 2.26698750e+01] [ 1.17242554e-02 9.99931234e-01 -2.63547186e-04 1.91984113e+00] [ 2.73952096e-03 2.31443262e-04 9.99996221e-01 1.41935580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061400513 meters 0.08981194037517408 Centerline is valid? [True, True] Translation: X:22.70, Y:1.92, Z:0.14 [[ 9.99908609e-01 -1.33238479e-02 -2.29082740e-03 2.26984287e+01] [ 1.33233772e-02 9.99911216e-01 -2.20629463e-04 1.92403497e+00] [ 2.29356364e-03 1.90087742e-04 9.99997352e-01 1.42866446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091400513 meters 0.07745068653019131 Centerline is valid? [True, True] Translation: X:22.73, Y:1.91, Z:0.14 [[ 9.99888797e-01 -1.48179583e-02 -1.67963402e-03 2.27299378e+01] [ 1.48177073e-02 9.99890199e-01 -1.61798555e-04 1.91105908e+00] [ 1.68184712e-03 1.36892237e-04 9.99998576e-01 1.43702107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121400512999998 meters 0.07636472966734853 Centerline is valid? [True, True] Translation: X:22.76, Y:1.91, Z:0.14 [[ 9.99869315e-01 -1.61155900e-02 -1.28082378e-03 2.27598021e+01] [ 1.61154451e-02 9.99870130e-01 -1.23388197e-04 1.91203077e+00] [ 1.28264591e-03 1.02731027e-04 9.99999172e-01 1.44942411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151400513 meters 0.07952779853706628 Centerline is valid? [True, True] Translation: X:22.79, Y:1.92, Z:0.14 [[ 9.99854400e-01 -1.68661282e-02 -2.59099500e-03 2.27876071e+01] [ 1.68655375e-02 9.99857736e-01 -2.49657851e-04 1.91761989e+00] [ 2.59483715e-03 2.05922977e-04 9.99996612e-01 1.44142411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181400513 meters 0.07757147902741376 Centerline is valid? [True, True] Translation: X:22.82, Y:1.92, Z:0.14 [[ 9.99857249e-01 -1.65887879e-02 -3.20828122e-03 2.28165058e+01] [ 1.65878801e-02 9.99862364e-01 -3.09355148e-04 1.91806004e+00] [ 3.21297147e-03 2.56092403e-04 9.99994806e-01 1.43596284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211400513 meters 0.08665905235831274 Centerline is valid? [True, True] Translation: X:22.84, Y:1.93, Z:0.14 [[ 9.99871661e-01 -1.58106456e-02 -2.58572715e-03 2.28432207e+01] [ 1.58100524e-02 9.99874982e-01 -2.49688296e-04 1.93271698e+00] [ 2.58935162e-03 2.08775769e-04 9.99996626e-01 1.44457233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241400513 meters 0.08804273233023759 Centerline is valid? [True, True] Translation: X:22.87, Y:1.94, Z:0.15 [[ 9.99893019e-01 -1.45796772e-02 -1.17586395e-03 2.28731513e+01] [ 1.45795536e-02 9.99893706e-01 -1.13606389e-04 1.93941565e+00] [ 1.17739531e-03 9.64506636e-05 9.99999302e-01 1.46838091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271400513 meters 0.09133798164585817 Centerline is valid? [True, True] Translation: X:22.90, Y:1.95, Z:0.15 [[ 9.99935229e-01 -1.13682899e-02 5.47712208e-04 2.29023427e+01] [ 1.13682625e-02 9.99935378e-01 5.29515485e-05 1.95040790e+00] [-5.48278782e-04 -4.67215826e-05 9.99999849e-01 1.49660405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301400513 meters 0.0906881915198973 Centerline is valid? [True, True] Translation: X:22.93, Y:1.95, Z:0.15 [[ 9.99943511e-01 -1.06223410e-02 3.76378560e-04 2.29325885e+01] [ 1.06223281e-02 9.99943581e-01 3.63676616e-05 1.95441291e+00] [-3.76743635e-04 -3.23675907e-05 9.99999929e-01 1.49732794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331400513 meters 0.08743972690341985 Centerline is valid? [True, True] Translation: X:22.96, Y:1.96, Z:0.15 [[ 9.99938526e-01 -1.10700004e-02 -6.32421667e-04 2.29627446e+01] [ 1.10699640e-02 9.99938724e-01 -6.11078834e-05 1.95555672e+00] [ 6.33059379e-04 5.41032418e-05 9.99999798e-01 1.48404035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361400513 meters 0.08563989694214509 Centerline is valid? [True, True] Translation: X:22.99, Y:1.96, Z:0.15 [[ 9.99921249e-01 -1.24639758e-02 -1.46429468e-03 2.29925180e+01] [ 1.24637819e-02 9.99922314e-01 -1.41471855e-04 1.95916238e+00] [ 1.46594422e-03 1.23210065e-04 9.99998918e-01 1.47491467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391400513 meters 0.08409861988944954 Centerline is valid? [True, True] Translation: X:23.02, Y:1.96, Z:0.15 [[ 9.99891844e-01 -1.46188398e-02 -1.60919159e-03 2.30224283e+01] [ 1.46186083e-02 9.99893130e-01 -1.55504086e-04 1.96272585e+00] [ 1.61129290e-03 1.31963126e-04 9.99998693e-01 1.47361598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421400513 meters 0.07245502437516195 Centerline is valid? [True, True] Translation: X:23.05, Y:1.95, Z:0.15 [[ 9.99797277e-01 -2.01307159e-02 -3.98378249e-04 2.30540289e+01] [ 2.01307021e-02 9.99797356e-01 -3.85025680e-05 1.95323295e+00] [ 3.99072605e-04 3.04751288e-05 9.99999920e-01 1.48673233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451400513 meters 0.08017967121700673 Centerline is valid? [True, True] Translation: X:23.08, Y:1.97, Z:0.15 [[ 9.99733838e-01 -2.30681480e-02 3.36821863e-04 2.30827376e+01] [ 2.30681383e-02 9.99733895e-01 3.25936006e-05 1.96569403e+00] [-3.37484107e-04 -2.48150721e-05 9.99999943e-01 1.50015542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481400513 meters 0.0770545917619983 Centerline is valid? [True, True] Translation: X:23.11, Y:1.96, Z:0.15 [[ 9.99665640e-01 -2.58558370e-02 2.90027131e-04 2.31131881e+01] [ 2.58558300e-02 9.99665682e-01 2.80376118e-05 1.96445287e+00] [-2.90655106e-04 -2.05293449e-05 9.99999958e-01 1.49860125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511400512999998 meters 0.07309442556499796 Centerline is valid? [True, True] Translation: X:23.14, Y:1.96, Z:0.15 [[ 9.99594244e-01 -2.84806230e-02 -4.49197253e-04 2.31440521e+01] [ 2.84806063e-02 9.99594344e-01 -4.34113564e-05 1.96217159e+00] [ 4.50251416e-04 3.06003319e-05 9.99999898e-01 1.48139983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541400513 meters 0.06768878710022756 Centerline is valid? [True, True] Translation: X:23.18, Y:1.96, Z:0.15 [[ 9.99466959e-01 -3.26461977e-02 1.54440350e-04 2.31756124e+01] [ 3.26461958e-02 9.99466971e-01 1.49291230e-05 1.95744968e+00] [-1.54845408e-04 -9.87927530e-06 9.99999988e-01 1.49226332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571400513 meters 0.06675741402414374 Centerline is valid? [True, True] Translation: X:23.20, Y:1.96, Z:0.15 [[ 9.99421471e-01 -3.39930781e-02 1.09294188e-03 2.32049984e+01] [ 3.39929822e-02 9.99422066e-01 1.06223814e-04 1.95877877e+00] [-1.09592111e-03 -6.90100070e-05 9.99999397e-01 1.51251670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601400512999998 meters 0.06749088898773346 Centerline is valid? [True, True] Translation: X:23.23, Y:1.96, Z:0.15 [[ 9.99398690e-01 -3.46188391e-02 1.94801501e-03 2.32331581e+01] [ 3.46185367e-02 9.99400581e-01 1.88735974e-04 1.96207389e+00] [-1.95338115e-03 -1.21185056e-04 9.99998085e-01 1.53378438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631400513 meters 0.07646019321909903 Centerline is valid? [True, True] Translation: X:23.26, Y:1.97, Z:0.16 [[ 9.99402788e-01 -3.44344132e-02 2.88778833e-03 2.32610558e+01] [ 3.44337478e-02 9.99406943e-01 2.79835034e-04 1.97245915e+00] [-2.89571167e-03 -1.80230537e-04 9.99995791e-01 1.55526193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661400513 meters 0.06584213708177968 Centerline is valid? [True, True] Translation: X:23.29, Y:1.96, Z:0.15 [[ 9.99397054e-01 -3.46370228e-02 2.40924689e-03 2.32919406e+01] [ 3.46365601e-02 9.99399947e-01 2.33502230e-04 1.96333392e+00] [-2.41588904e-03 -1.49913416e-04 9.99997070e-01 1.53299918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691400512999998 meters 0.0671051765153551 Centerline is valid? [True, True] Translation: X:23.32, Y:1.97, Z:0.15 [[ 9.99406024e-01 -3.44126133e-02 1.83589630e-03 2.33219115e+01] [ 3.44123442e-02 9.99407704e-01 1.77989797e-04 1.96623010e+00] [-1.84093400e-03 -1.14706580e-04 9.99998299e-01 1.52152089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721400513 meters 0.06668768151388434 Centerline is valid? [True, True] Translation: X:23.35, Y:1.97, Z:0.15 [[ 9.99425224e-01 -3.38841686e-02 1.04158146e-03 2.33513980e+01] [ 3.38840817e-02 9.99425765e-01 1.01033152e-04 1.96714490e+00] [-1.04440677e-03 -6.56820495e-05 9.99999452e-01 1.50996779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751400513 meters 0.06527398637361385 Centerline is valid? [True, True] Translation: X:23.38, Y:1.97, Z:0.15 [[ 9.99455263e-01 -3.29902433e-02 9.06479987e-04 2.33809348e+01] [ 3.29901770e-02 9.99455672e-01 8.79583533e-05 1.96797665e+00] [-9.08888332e-04 -5.80055039e-05 9.99999585e-01 1.50608085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781400512999998 meters 0.06646168801531568 Centerline is valid? [True, True] Translation: X:23.41, Y:1.97, Z:0.15 [[ 9.99478322e-01 -3.22953431e-02 -3.07800225e-04 2.34080861e+01] [ 3.22967222e-02 9.99452424e-01 7.19546587e-03 1.96651532e+00] [ 7.52516422e-05 -7.20165309e-03 9.99974065e-01 1.50268072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811400513 meters 0.0644594874891799 Centerline is valid? [True, True] Translation: X:23.44, Y:1.97, Z:0.15 [[ 9.99536927e-01 -3.04241335e-02 5.50457780e-04 2.34370127e+01] [ 3.04226941e-02 9.99534102e-01 2.45742494e-03 1.97084681e+00] [-6.24966347e-04 -2.43954057e-03 9.99996829e-01 1.49717231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841400513 meters 0.08362054735835936 Centerline is valid? [True, True] Translation: X:23.47, Y:2.00, Z:0.15 [[ 9.99671423e-01 -2.56312331e-02 -2.91868418e-04 2.34652205e+01] [ 2.56275656e-02 9.99630967e-01 -9.00870662e-03 2.00496503e+00] [ 5.22664969e-04 8.99826670e-03 9.99959378e-01 1.48007134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871400512999998 meters 0.07626569795821898 Centerline is valid? [True, True] Translation: X:23.50, Y:1.99, Z:0.15 [[ 9.99731546e-01 -2.30899572e-02 -1.92107256e-03 2.34974040e+01] [ 2.30896415e-02 9.99733381e-01 -1.86310964e-04 1.99135295e+00] [ 1.92486228e-03 1.41904071e-04 9.99998137e-01 1.46678223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901400513 meters 0.09047009043993201 Centerline is valid? [True, True] Translation: X:23.52, Y:2.01, Z:0.15 [[ 9.99830121e-01 -1.82328267e-02 -2.70070535e-03 2.35245896e+01] [ 1.82321853e-02 9.99833746e-01 -2.61935066e-04 2.01402194e+00] [ 2.70503216e-03 2.12650809e-04 9.99996319e-01 1.45890499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931400513 meters 0.08581586673728812 Centerline is valid? [True, True] Translation: X:23.55, Y:2.01, Z:0.15 [[ 9.99865533e-01 -1.62037544e-02 -2.52068682e-03 2.35548318e+01] [ 1.62031892e-02 9.99868690e-01 -2.44503193e-04 2.01214375e+00] [ 2.52431769e-03 2.03627150e-04 9.99996793e-01 1.46114417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961400513 meters 0.08689078640991801 Centerline is valid? [True, True] Translation: X:23.58, Y:2.02, Z:0.15 [[ 9.99890149e-01 -1.46321630e-02 -2.36417552e-03 2.35842035e+01] [ 1.46316614e-02 9.99892925e-01 -2.29330128e-04 2.01684764e+00] [ 2.36727797e-03 1.94713120e-04 9.99997179e-01 1.46549496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991400513 meters 0.08820137672486521 Centerline is valid? [True, True] Translation: X:23.61, Y:2.02, Z:0.15 [[ 9.99909579e-01 -1.32696444e-02 -2.17949600e-03 2.36139643e+01] [ 1.32692148e-02 9.99911938e-01 -2.11446701e-04 2.02207279e+00] [ 2.18210989e-03 1.82507381e-04 9.99997603e-01 1.47331577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021400513 meters 0.08196652042714177 Centerline is valid? [True, True] Translation: X:23.64, Y:2.02, Z:0.15 [[ 9.99921975e-01 -1.23639512e-02 -1.78245740e-03 2.36436170e+01] [ 1.23636625e-02 9.99923552e-01 -1.72921261e-04 2.01846870e+00] [ 1.78445913e-03 1.50870067e-04 9.99998396e-01 1.47971532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051400513 meters 0.09473058875021464 Centerline is valid? [True, True] Translation: X:23.67, Y:2.04, Z:0.15 [[ 9.99923044e-01 -1.23393281e-02 -1.28319707e-03 2.36706781e+01] [ 1.23391784e-02 9.99923862e-01 -1.24505535e-04 2.03848608e+00] [ 1.28463568e-03 1.08662356e-04 9.99999169e-01 1.49181440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081400513 meters 0.09859707016165635 Centerline is valid? [True, True] Translation: X:23.70, Y:2.05, Z:0.15 [[ 9.99913614e-01 -1.31035422e-02 -1.03041790e-03 2.36988210e+01] [ 1.31034461e-02 9.99914141e-01 -9.99996481e-05 2.04750092e+00] [ 1.03163978e-03 8.64889841e-05 9.99999464e-01 1.49798282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111400513 meters 0.09506955209007158 Centerline is valid? [True, True] Translation: X:23.73, Y:2.05, Z:0.15 [[ 9.99883901e-01 -1.50829076e-02 -2.16587454e-03 2.37289839e+01] [ 1.50824871e-02 9.99886231e-01 -2.10373618e-04 2.04820740e+00] [ 2.16880118e-03 1.77682419e-04 9.99997632e-01 1.47802129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141400513 meters 0.08844273699147435 Centerline is valid? [True, True] Translation: X:23.76, Y:2.04, Z:0.15 [[ 9.99868764e-01 -1.59262314e-02 -2.96819139e-03 2.37587853e+01] [ 1.59254452e-02 9.99873140e-01 -2.88335004e-04 2.04448245e+00] [ 2.97240693e-03 2.41027395e-04 9.99995553e-01 1.46587118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171400513 meters 0.08350742595936957 Centerline is valid? [True, True] Translation: X:23.79, Y:2.04, Z:0.15 [[ 9.99864021e-01 -1.62107959e-02 -3.02470653e-03 2.37881196e+01] [ 1.62099799e-02 9.99868566e-01 -2.94093185e-04 2.04054896e+00] [ 3.02907646e-03 2.45022762e-04 9.99995382e-01 1.46443232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201400513 meters 0.07911959952835905 Centerline is valid? [True, True] Translation: X:23.82, Y:2.04, Z:0.15 [[ 9.99835328e-01 -1.78730451e-02 -3.14180586e-03 2.38183934e+01] [ 1.78721714e-02 9.99840233e-01 -3.05932643e-04 2.04342190e+00] [ 3.14677185e-03 2.49731372e-04 9.99995018e-01 1.46544397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231400513 meters 0.0779087515115063 Centerline is valid? [True, True] Translation: X:23.85, Y:2.05, Z:0.15 [[ 9.99815675e-01 -1.91790755e-02 -8.82407598e-04 2.38481263e+01] [ 1.91790071e-02 9.99816062e-01 -8.58896819e-05 2.04899027e+00] [ 8.83892575e-04 6.89501487e-05 9.99999607e-01 1.50593124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261400512999998 meters 0.08546132008948892 Centerline is valid? [True, True] Translation: X:23.88, Y:2.06, Z:0.15 [[ 9.99807822e-01 -1.95936303e-02 -6.39435632e-04 2.38753774e+01] [ 1.95935945e-02 9.99808025e-01 -6.22273477e-05 2.06226393e+00] [ 6.40532136e-04 4.96865465e-05 9.99999794e-01 1.51396618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291400513 meters 0.07402601201742907 Centerline is valid? [True, True] Translation: X:23.91, Y:2.05, Z:0.15 [[ 9.99790116e-01 -2.04816874e-02 -4.74653932e-04 2.39058677e+01] [ 2.04816678e-02 9.99790228e-01 -4.59263035e-05 2.05247635e+00] [ 4.75495011e-04 3.61949601e-05 9.99999886e-01 1.51528525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321400513 meters 0.07492769365497906 Centerline is valid? [True, True] Translation: X:23.93, Y:2.06, Z:0.15 [[ 9.99735365e-01 -2.29618319e-02 1.39800260e-03 2.39344853e+01] [ 2.29616633e-02 9.99736337e-01 1.36516850e-04 2.05995512e+00] [-1.40076868e-03 -1.04380258e-04 9.99999013e-01 1.53965111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351400512999998 meters 0.08330304177708063 Centerline is valid? [True, True] Translation: X:23.96, Y:2.07, Z:0.16 [[ 9.99706023e-01 -2.40875121e-02 2.76762361e-03 2.39626834e+01] [ 2.40868557e-02 9.99709833e-01 2.70252015e-04 2.07357459e+00] [-2.77333024e-03 -2.03509216e-04 9.99996134e-01 1.56541028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381400513 meters 0.07622445801410825 Centerline is valid? [True, True] Translation: X:23.99, Y:2.07, Z:0.16 [[ 9.99674366e-01 -2.52793670e-02 3.48068237e-03 2.39944948e+01] [ 2.52783364e-02 9.99680394e-01 3.39772917e-04 2.06808438e+00] [-3.48815916e-03 -2.51676415e-04 9.99993885e-01 1.57376326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411400513 meters 0.0719271125563967 Centerline is valid? [True, True] Translation: X:24.03, Y:2.06, Z:0.16 [[ 9.99652387e-01 -2.60796919e-02 3.86710619e-03 2.40258570e+01] [ 2.60784259e-02 9.99659829e-01 3.77451594e-04 2.06432707e+00] [-3.87563453e-03 -2.76472344e-04 9.99992451e-01 1.57254499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441400512999998 meters 0.07554181113180532 Centerline is valid? [True, True] Translation: X:24.05, Y:2.07, Z:0.16 [[ 9.99616773e-01 -2.75595263e-02 2.60371587e-03 2.40546913e+01] [ 2.75589573e-02 9.99620147e-01 2.54158383e-04 2.07467043e+00] [-2.60973133e-03 -1.82305288e-04 9.99996578e-01 1.56224951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471400513 meters 0.08296244222567684 Centerline is valid? [True, True] Translation: X:24.08, Y:2.09, Z:0.15 [[ 9.99605658e-01 -2.80522414e-02 1.26482873e-03 2.40837878e+01] [ 2.80521078e-02 9.99606455e-01 1.23279274e-04 2.08738630e+00] [-1.26778922e-03 -8.77495477e-05 9.99999193e-01 1.54419886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501400513 meters 0.07486644981555116 Centerline is valid? [True, True] Translation: X:24.11, Y:2.08, Z:0.15 [[ 9.99622646e-01 -2.74647310e-02 -5.04146474e-04 2.41147072e+01] [ 2.74647096e-02 9.99622773e-01 -4.91634928e-05 2.08029261e+00] [ 5.05306559e-04 3.52987042e-05 9.99999872e-01 1.50256049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531400512999998 meters 0.0784206863515494 Centerline is valid? [True, True] Translation: X:24.14, Y:2.09, Z:0.15 [[ 9.99653271e-01 -2.63132808e-02 -9.74402672e-04 2.41429344e+01] [ 2.63132006e-02 9.99653743e-01 -9.50231843e-05 2.08714408e+00] [ 9.76565650e-04 6.93505840e-05 9.99999521e-01 1.49725849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561400513 meters 0.07291849479766338 Centerline is valid? [True, True] Translation: X:24.17, Y:2.08, Z:0.15 [[ 9.99694524e-01 -2.46977199e-02 -9.38927649e-04 2.41740797e+01] [ 2.46976447e-02 9.99694962e-01 -9.16501132e-05 2.08402662e+00] [ 9.40904789e-04 6.84328148e-05 9.99999555e-01 1.49612969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591400513 meters 0.07509372528529479 Centerline is valid? [True, True] Translation: X:24.20, Y:2.09, Z:0.15 [[ 9.99728892e-01 -2.32660237e-02 -9.13795532e-04 2.42026740e+01] [ 2.32659518e-02 9.99729307e-01 -8.91912589e-05 2.08987005e+00] [ 9.15623300e-04 6.79067556e-05 9.99999579e-01 1.49962027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621400512999998 meters 0.08148752093238992 Centerline is valid? [True, True] Translation: X:24.23, Y:2.10, Z:0.15 [[ 9.99748305e-01 -2.24143128e-02 -9.61725523e-04 2.42307292e+01] [ 2.24142329e-02 9.99748765e-01 -9.37945721e-05 2.09885430e+00] [ 9.63586244e-04 7.22146246e-05 9.99999533e-01 1.50643470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651400513 meters 0.07971783837313337 Centerline is valid? [True, True] Translation: X:24.26, Y:2.10, Z:0.15 [[ 9.99730423e-01 -2.32144782e-02 -4.11243366e-04 2.42594428e+01] [ 2.32144637e-02 9.99730507e-01 -3.98183888e-05 2.09824155e+00] [ 4.12056902e-04 3.02608605e-05 9.99999915e-01 1.51131495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681400513 meters 0.07971783837313337 Centerline is valid? [True, True] Translation: X:24.29, Y:2.10, Z:0.15 [[ 9.99729908e-01 -2.32366318e-02 -4.11208680e-04 2.42885455e+01] [ 2.32366172e-02 9.99729993e-01 -4.01729897e-05 2.10112897e+00] [ 4.12031136e-04 3.06070406e-05 9.99999915e-01 1.51209749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711400512999997 meters 0.0882065635985628 Centerline is valid? [True, True] Translation: X:24.32, Y:2.11, Z:0.15 [[ 9.99701500e-01 -2.44244079e-02 5.99615046e-04 2.43167129e+01] [ 2.44243770e-02 9.99701679e-01 5.87388306e-05 2.11305475e+00] [-6.00870830e-04 -4.40760731e-05 9.99999819e-01 1.53532808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741400513 meters 0.0735592429273932 Centerline is valid? [True, True] Translation: X:24.35, Y:2.09, Z:0.15 [[ 9.99649228e-01 -2.64590090e-02 1.15802149e-03 2.43481877e+01] [ 2.64588953e-02 9.99649896e-01 1.13412811e-04 2.09490149e+00] [-1.16061685e-03 -8.27330602e-05 9.99999323e-01 1.52892381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771400513 meters 0.07489237558390667 Centerline is valid? [True, True] Translation: X:24.38, Y:2.10, Z:0.15 [[ 9.99628941e-01 -2.72388558e-02 1.60562040e-04 2.43769607e+01] [ 2.72388536e-02 9.99628953e-01 1.57994856e-05 2.09698162e+00] [-1.60932824e-04 -1.14200971e-05 9.99999987e-01 1.51493883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801400513 meters 0.07285258850686765 Centerline is valid? [True, True] Translation: X:24.41, Y:2.10, Z:0.15 [[ 9.99615318e-01 -2.77255157e-02 -7.15015743e-04 2.44069289e+01] [ 2.77254728e-02 9.99615573e-01 -6.99656952e-05 2.09519956e+00] [ 7.16680707e-04 5.01146312e-05 9.99999742e-01 1.50044464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831400513 meters 0.07653028623685376 Centerline is valid? [True, True] Translation: X:24.44, Y:2.10, Z:0.15 [[ 9.99610959e-01 -2.78709391e-02 -1.06823658e-03 2.44353104e+01] [ 2.78708432e-02 9.99611527e-01 -1.04565415e-04 2.10084376e+00] [ 1.07073594e-03 7.47520801e-05 9.99999424e-01 1.50111064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861400513 meters 0.07206408944905934 Centerline is valid? [True, True] Translation: X:24.46, Y:2.10, Z:0.15 [[ 9.99613628e-01 -2.77784975e-02 -9.74829971e-04 2.44641558e+01] [ 2.77784177e-02 9.99614101e-01 -9.53623403e-05 2.09726930e+00] [ 9.77102807e-04 6.82462608e-05 9.99999520e-01 1.50677664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891400513 meters 0.06998196105507883 Centerline is valid? [True, True] Translation: X:24.49, Y:2.09, Z:0.15 [[ 9.99635143e-01 -2.70091289e-02 -2.94731612e-04 2.44939173e+01] [ 2.70091216e-02 9.99635187e-01 -2.88158580e-05 2.09366920e+00] [ 2.95402382e-04 2.08449024e-05 9.99999956e-01 1.51555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921400513 meters 0.07418705675743473 Centerline is valid? [True, True] Translation: X:24.52, Y:2.10, Z:0.15 [[ 9.99599687e-01 -2.82677369e-02 1.18321987e-03 2.45217503e+01] [ 2.82676191e-02 9.99600384e-01 1.16198340e-04 2.10120565e+00] [-1.18603171e-03 -8.27050155e-05 9.99999293e-01 1.54975710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951400513 meters 0.06348133835262293 Centerline is valid? [True, True] Translation: X:24.55, Y:2.09, Z:0.15 [[ 9.99566669e-01 -2.94048008e-02 1.35367763e-03 2.45527404e+01] [ 2.94046476e-02 9.99567581e-01 1.32926893e-04 2.08925528e+00] [-1.35700096e-03 -9.30648781e-05 9.99999075e-01 1.54688941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981400513 meters 0.06479623127681385 Centerline is valid? [True, True] Translation: X:24.58, Y:2.09, Z:0.15 [[ 9.99512549e-01 -3.12049240e-02 9.57522539e-04 2.45816587e+01] [ 3.12048481e-02 9.99513006e-01 9.40669037e-05 2.09219578e+00] [-9.59991582e-04 -6.41417053e-05 9.99999537e-01 1.54091077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011400512999998 meters 0.07214250988445646 Centerline is valid? [True, True] Translation: X:24.61, Y:2.10, Z:0.15 [[ 9.99439990e-01 -3.34620036e-02 -1.64681351e-07 2.46101218e+01] [ 3.34620036e-02 9.99439990e-01 4.33520135e-08 2.10285100e+00] [ 1.63138485e-07 -4.88383033e-08 1.00000000e+00 1.52984472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041400513 meters 0.06296280961687474 Centerline is valid? [True, True] Translation: X:24.64, Y:2.09, Z:0.15 [[ 9.99261408e-01 -3.84206370e-02 -7.01866199e-04 2.46414251e+01] [ 3.84205980e-02 9.99261654e-01 -6.89110508e-05 2.09289835e+00] [ 7.03995585e-04 4.18940346e-05 9.99999751e-01 1.51199371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071400513 meters 0.055273486969320655 Centerline is valid? [True, True] Translation: X:24.67, Y:2.09, Z:0.15 [[ 9.99166494e-01 -4.08193687e-02 -3.09050550e-04 2.46723997e+01] [ 4.08193613e-02 9.99166542e-01 -3.03210709e-05 2.08550323e+00] [ 3.10030656e-04 1.76805521e-05 9.99999952e-01 1.50988368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101400512999998 meters 0.054390546929556756 Centerline is valid? [True, True] Translation: X:24.70, Y:2.09, Z:0.15 [[ 9.99062297e-01 -4.32953271e-02 -2.03410256e-04 2.47009280e+01] [ 4.32953239e-02 9.99062318e-01 -1.98902245e-05 2.08649334e+00] [ 2.04080676e-04 1.10648605e-05 9.99999979e-01 1.51463491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131400513 meters 0.047188403154646945 Centerline is valid? [True, True] Translation: X:24.73, Y:2.08, Z:0.15 [[ 9.98781383e-01 -4.93515320e-02 4.19005497e-04 2.47318897e+01] [ 4.93515191e-02 9.98781471e-01 4.11246202e-05 2.08072516e+00] [-4.20524490e-04 -2.03959472e-05 9.99999911e-01 1.53067384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161400513 meters 0.05354554208354434 Centerline is valid? [True, True] Translation: X:24.76, Y:2.09, Z:0.15 [[ 9.98621583e-01 -5.24822822e-02 7.37091989e-04 2.47602013e+01] [ 5.24822430e-02 9.98621855e-01 7.24893756e-05 2.08752112e+00] [-7.39880577e-04 -3.37052142e-05 9.99999726e-01 1.54139749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191400512999998 meters 0.044325647343727057 Centerline is valid? [True, True] Translation: X:24.79, Y:2.08, Z:0.15 [[ 9.98411801e-01 -5.63369699e-02 1.46461009e-04 2.47914643e+01] [ 5.63369684e-02 9.98411812e-01 1.44039408e-05 2.08182920e+00] [-1.47039876e-04 -6.12989526e-06 9.99999989e-01 1.53959427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221400513 meters 0.0393182453934026 Centerline is valid? [True, True] Translation: X:24.82, Y:2.08, Z:0.15 [[ 9.98217293e-01 -5.96844579e-02 2.53102570e-05 2.48221451e+01] [ 5.96844578e-02 9.98217294e-01 2.51895017e-06 2.07682496e+00] [-2.54154784e-05 -1.00383065e-06 1.00000000e+00 1.54136338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251400513 meters 0.03185865261963442 Centerline is valid? [True, True] Translation: X:24.85, Y:2.07, Z:0.16 [[ 9.97809798e-01 -6.61237372e-02 1.80520703e-03 2.48534514e+01] [ 6.61235243e-02 9.97811429e-01 1.77416323e-04 2.06707039e+00] [-1.81298764e-03 -5.76610948e-05 9.99998355e-01 1.57435030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281400512999998 meters 0.031040260674464658 Centerline is valid? [True, True] Translation: X:24.88, Y:2.07, Z:0.16 [[ 9.97610085e-01 -6.90380664e-02 2.80416697e-03 2.48822851e+01] [ 6.90375638e-02 9.97614023e-01 2.75740476e-04 2.06793685e+00] [-2.81651288e-03 -8.14886242e-05 9.99996030e-01 1.58934662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311400513 meters 0.029325965001023975 Centerline is valid? [True, True] Translation: X:24.91, Y:2.07, Z:0.16 [[ 9.97408381e-01 -7.18815514e-02 3.09253808e-03 2.49106917e+01] [ 7.18809532e-02 9.97413172e-01 3.04282433e-04 2.06737892e+00] [-3.10641051e-03 -8.11992643e-05 9.99995172e-01 1.59607448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341400513 meters 0.026044533507870848 Centerline is valid? [True, True] Translation: X:24.94, Y:2.06, Z:0.16 [[ 9.97191164e-01 -7.48405762e-02 2.94473850e-03 2.49402502e+01] [ 7.48400445e-02 9.97195509e-01 2.90476490e-04 2.06471426e+00] [-2.95821943e-03 -6.92762292e-05 9.99995622e-01 1.59036180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371400512999998 meters 0.022293737803703997 Centerline is valid? [True, True] Translation: X:24.97, Y:2.06, Z:0.16 [[ 9.97002863e-01 -7.73352158e-02 2.13417047e-03 2.49695469e+01] [ 7.73349424e-02 9.97005147e-01 2.10457122e-04 2.06158497e+00] [-2.14405469e-03 -4.47804035e-05 9.99997701e-01 1.57292779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401400513 meters 0.02551299079547125 Centerline is valid? [True, True] Translation: X:25.00, Y:2.06, Z:0.15 [[ 9.96764148e-01 -8.03817923e-02 1.00870527e-06 2.49985489e+01] [ 8.03817923e-02 9.96764148e-01 2.27320731e-07 2.05821806e+00] [-1.02371370e-06 -1.45503616e-07 1.00000000e+00 1.54229784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431400513 meters 0.018153793845935066 Centerline is valid? [True, True] Translation: X:25.03, Y:2.06, Z:0.15 [[ 9.96625765e-01 -8.20768784e-02 -6.85713590e-04 2.50276945e+01] [ 8.20768515e-02 9.96626001e-01 -6.72795403e-05 2.05810995e+00] [ 6.88922088e-04 1.07713108e-05 9.99999763e-01 1.54039893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461400512999997 meters 0.01735052742018255 Centerline is valid? [True, True] Translation: X:25.06, Y:2.06, Z:0.15 [[ 9.96556500e-01 -8.29066569e-02 -1.27645898e-03 2.50564235e+01] [ 8.29065637e-02 9.96557317e-01 -1.25840476e-04 2.05895584e+00] [ 1.28249755e-03 1.95803164e-05 9.99999177e-01 1.53289502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491400513 meters 0.0166927204467766 Centerline is valid? [True, True] Translation: X:25.09, Y:2.06, Z:0.15 [[ 9.96496530e-01 -8.36172209e-02 -1.68126247e-03 2.50851985e+01] [ 8.36170595e-02 9.96497948e-01 -1.66173443e-04 2.06089533e+00] [ 1.68926956e-03 2.50090353e-05 9.99998573e-01 1.52573740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521400513 meters 0.0183137498876647 Centerline is valid? [True, True] Translation: X:25.11, Y:2.07, Z:0.15 [[ 9.96504496e-01 -8.35386117e-02 -2.98836100e-04 2.51121913e+01] [ 8.35386066e-02 9.96504541e-01 -2.93999877e-05 2.06605545e+00] [ 3.00247565e-04 4.33286856e-06 9.99999955e-01 1.53944841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551400513 meters 0.017622338929965804 Centerline is valid? [True, True] Translation: X:25.14, Y:2.07, Z:0.16 [[ 9.96552338e-01 -8.29625706e-02 8.05521681e-04 2.51410591e+01] [ 8.29625326e-02 9.96552664e-01 8.05013233e-05 2.06760705e+00] [-8.09423374e-04 -1.33956632e-05 9.99999672e-01 1.55380394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581400513 meters 0.018583357960931635 Centerline is valid? [True, True] Translation: X:25.17, Y:2.07, Z:0.16 [[ 9.96573632e-01 -8.26922055e-02 1.73067464e-03 2.51684554e+01] [ 8.26920310e-02 9.96575134e-01 1.72245878e-04 2.07161410e+00] [-1.73899071e-03 -2.85426993e-05 9.99998488e-01 1.57375293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611400513 meters 0.017669688675315813 Centerline is valid? [True, True] Translation: X:25.20, Y:2.08, Z:0.16 [[ 9.96460490e-01 -8.40082725e-02 3.01683224e-03 2.51968378e+01] [ 8.40077463e-02 9.96465056e-01 3.00923480e-04 2.07566760e+00] [-3.03144797e-03 -4.64210806e-05 9.99995404e-01 1.59824663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641400513 meters 0.017932358208503054 Centerline is valid? [True, True] Translation: X:25.22, Y:2.08, Z:0.16 [[ 9.96340972e-01 -8.54033751e-02 3.30627568e-03 2.52242809e+01] [ 8.54027513e-02 9.96346457e-01 3.29660697e-04 2.07985206e+00] [-3.32235019e-03 -4.60894200e-05 9.99994480e-01 1.60767806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671400513 meters 0.015193628012136678 Centerline is valid? [True, True] Translation: X:25.25, Y:2.08, Z:0.16 [[ 9.96197946e-01 -8.70646203e-02 3.06677124e-03 2.52535283e+01] [ 8.70640889e-02 9.96202665e-01 3.06591237e-04 2.07946525e+00] [-3.08181893e-03 -3.84199168e-05 9.99995250e-01 1.59619786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701400513 meters 0.021510507768505462 Centerline is valid? [True, True] Translation: X:25.28, Y:2.08, Z:0.16 [[ 9.96072053e-01 -8.85113381e-02 2.49181731e-03 2.52825040e+01] [ 8.85109905e-02 9.96075169e-01 2.49619690e-04 2.08088425e+00] [-2.50413152e-03 -2.80859785e-05 9.99996864e-01 1.58589732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731400513 meters 0.012546544685838951 Centerline is valid? [True, True] Translation: X:25.31, Y:2.08, Z:0.16 [[ 9.95947590e-01 -8.99153667e-02 1.90410981e-03 2.53100671e+01] [ 8.99151665e-02 9.95949410e-01 1.90676555e-04 2.08320413e+00] [-1.91354179e-03 -1.86955046e-05 9.99998169e-01 1.58356046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761400512999998 meters 0.012243715021315325 Centerline is valid? [True, True] Translation: X:25.34, Y:2.09, Z:0.16 [[ 9.95899374e-01 -9.04605006e-02 1.15502130e-03 2.53375676e+01] [ 9.04604266e-02 9.95900044e-01 1.16297763e-04 2.08780080e+00] [-1.16080612e-03 -1.13371494e-05 9.99999326e-01 1.57685324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791400513 meters 0.013020589789285622 Centerline is valid? [True, True] Translation: X:25.36, Y:2.10, Z:0.16 [[ 9.95896080e-01 -9.05019191e-02 6.33455972e-04 2.53636755e+01] [ 9.05018969e-02 9.95896281e-01 6.37781045e-05 2.09563644e+00] [-6.36628488e-04 -6.18739722e-06 9.99999797e-01 1.57091242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821400513 meters 0.012771562319118544 Centerline is valid? [True, True] Translation: X:25.39, Y:2.10, Z:0.16 [[ 9.95876745e-01 -9.07129932e-02 8.12918556e-04 2.53911892e+01] [ 9.07129564e-02 9.95877077e-01 8.22074613e-05 2.09992936e+00] [-8.17024241e-04 -8.12625353e-06 9.99999666e-01 1.57154073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851400512999998 meters 0.012017416559499623 Centerline is valid? [True, True] Translation: X:25.42, Y:2.10, Z:0.16 [[ 9.95824039e-01 -9.12881269e-02 9.80827521e-04 2.54188203e+01] [ 9.12880734e-02 9.95824522e-01 9.92825584e-05 2.10397233e+00] [-9.85795415e-04 -9.33010352e-06 9.99999514e-01 1.57520079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881400513 meters 0.011418572268667987 Centerline is valid? [True, True] Translation: X:25.45, Y:2.11, Z:0.16 [[ 9.95729957e-01 -9.23084970e-02 9.96885084e-04 2.54463645e+01] [ 9.23084424e-02 9.95730456e-01 1.00718154e-04 2.10868200e+00] [-1.00192598e-03 -8.26717395e-06 9.99999498e-01 1.58323438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911400513 meters 0.009160386439520754 Centerline is valid? [True, True] Translation: X:25.47, Y:2.11, Z:0.16 [[ 9.95424943e-01 -9.55462420e-02 3.13493225e-04 2.54743524e+01] [ 9.55462366e-02 9.95424992e-01 3.20870191e-05 2.11334424e+00] [-3.15124786e-04 -1.98712132e-06 9.99999950e-01 1.58158014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941400512999998 meters 0.007620329110815678 Centerline is valid? [True, True] Translation: X:25.50, Y:2.11, Z:0.16 [[ 9.95183212e-01 -9.80299139e-02 7.14222013e-04 2.55022732e+01] [ 9.80298869e-02 9.95183468e-01 7.27596222e-05 2.11466948e+00] [-7.17914560e-04 -2.39405137e-06 9.99999742e-01 1.58623727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971400513 meters 0.007347238409633701 Centerline is valid? [True, True] Translation: X:25.53, Y:2.12, Z:0.16 [[ 9.94882552e-01 -1.01015213e-01 2.15280858e-03 2.55304654e+01] [ 1.01014977e-01 9.94884881e-01 2.18691987e-04 2.11605513e+00] [-2.16388793e-03 -1.06933971e-07 9.99997659e-01 1.60896464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001400513 meters 0.009833855028685442 Centerline is valid? [True, True] Translation: X:25.56, Y:2.12, Z:0.16 [[ 9.94224188e-01 -1.07234172e-01 4.36987686e-03 2.55589266e+01] [ 1.07233256e-01 9.94233791e-01 4.44026827e-04 2.11743773e+00] [-4.39229408e-03 2.71339110e-05 9.99990353e-01 1.63810725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031400512999998 meters 0.012498050577970864 Centerline is valid? [True, True] Translation: X:25.59, Y:2.12, Z:0.16 [[ 9.93930713e-01 -1.09914807e-01 4.52481722e-03 2.55871366e+01] [ 1.09913853e-01 9.93941011e-01 4.59771317e-04 2.11894656e+00] [-4.54793708e-03 4.03592606e-05 9.99989657e-01 1.64818916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061400513 meters 0.01389355219749711 Centerline is valid? [True, True] Translation: X:25.62, Y:2.12, Z:0.16 [[ 9.93655975e-01 -1.12388965e-01 4.06485806e-03 2.56157363e+01] [ 1.12388211e-01 9.93664289e-01 4.14052474e-04 2.12229460e+00] [-4.08563922e-03 4.54164121e-05 9.99991653e-01 1.63408788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091400513 meters 0.015610031350227744 Centerline is valid? [True, True] Translation: X:25.64, Y:2.13, Z:0.16 [[ 9.93414432e-01 -1.14514734e-01 3.76053265e-03 2.56445162e+01] [ 1.14514102e-01 9.93421549e-01 3.83666069e-04 2.12576080e+00] [-3.77972959e-03 4.94946073e-05 9.99992856e-01 1.62513286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121400512999998 meters 0.019740452951797025 Centerline is valid? [True, True] Translation: X:25.67, Y:2.13, Z:0.16 [[ 9.92959724e-01 -1.18419900e-01 2.77743894e-03 2.56732915e+01] [ 1.18419569e-01 9.92963607e-01 2.84010897e-04 2.13083985e+00] [-2.79152833e-03 4.68917409e-05 9.99996103e-01 1.60655436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151400513 meters 0.020068024178675186 Centerline is valid? [True, True] Translation: X:25.70, Y:2.13, Z:0.16 [[ 9.92783095e-01 -1.19902226e-01 2.27665690e-03 2.57004090e+01] [ 1.19902008e-01 9.92785704e-01 2.32786828e-04 2.13477536e+00] [-2.28814408e-03 4.18689045e-05 9.99997381e-01 1.59588252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181400513 meters 0.022941660542874484 Centerline is valid? [True, True] Translation: X:25.73, Y:2.14, Z:0.16 [[ 9.92677940e-01 -1.20786858e-01 1.02110594e-03 2.57280563e+01] [ 1.20786814e-01 9.92678465e-01 1.04544279e-04 2.13684583e+00] [-1.02625745e-03 1.95573340e-05 9.99999473e-01 1.58433505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211400512999997 meters 0.022252910865911624 Centerline is valid? [True, True] Translation: X:25.76, Y:2.14, Z:0.16 [[ 9.92646046e-01 -1.21052963e-01 8.09132730e-05 2.57558519e+01] [ 1.21052963e-01 9.92646050e-01 8.79828256e-06 2.14417746e+00] [-8.13832990e-05 1.06121103e-06 9.99999997e-01 1.57240161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241400513 meters 0.026221504013814262 Centerline is valid? [True, True] Translation: X:25.78, Y:2.15, Z:0.16 [[ 9.92694144e-01 -1.20655829e-01 -7.12944203e-04 2.57834990e+01] [ 1.20655808e-01 9.92694399e-01 -7.26823915e-05 2.15329545e+00] [ 7.16505272e-04 -1.38694746e-05 9.99999743e-01 1.56314604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271400513 meters 0.021517917783760655 Centerline is valid? [True, True] Translation: X:25.81, Y:2.16, Z:0.16 [[ 9.92744602e-01 -1.20241475e-01 -3.76888557e-04 2.58111877e+01] [ 1.20241469e-01 9.92744674e-01 -3.84553931e-05 2.16009831e+00] [ 3.78778041e-04 -7.14124992e-06 9.99999928e-01 1.57593876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301400513 meters 0.018428985147341953 Centerline is valid? [True, True] Translation: X:25.84, Y:2.18, Z:0.16 [[ 9.92959716e-01 -1.18444503e-01 1.37926441e-03 2.58389235e+01] [ 1.18444420e-01 9.92960674e-01 1.41989831e-04 2.17693512e+00] [-1.38637323e-03 2.23759901e-05 9.99999039e-01 1.60610662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331400513 meters 0.018357980796449732 Centerline is valid? [True, True] Translation: X:25.87, Y:2.18, Z:0.16 [[ 9.93043950e-01 -1.17725612e-01 2.09599831e-03 2.58662954e+01] [ 1.17725419e-01 9.93046162e-01 2.15695485e-04 2.18435507e+00] [-2.10681596e-03 3.25571827e-05 9.99997780e-01 1.62306927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361400513 meters 0.02891385771282903 Centerline is valid? [True, True] Translation: X:25.89, Y:2.19, Z:0.16 [[ 9.93106795e-01 -1.17203344e-01 1.50669997e-03 2.58944718e+01] [ 1.17203243e-01 9.93107938e-01 1.55633717e-04 2.19277601e+00] [-1.51455650e-03 2.20292207e-05 9.99998853e-01 1.62244484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391400513 meters 0.01950987040120421 Centerline is valid? [True, True] Translation: X:25.92, Y:2.20, Z:0.16 [[ 9.92915877e-01 -1.18818782e-01 3.96651751e-04 2.59216544e+01] [ 1.18818775e-01 9.92915957e-01 4.10362288e-05 2.20304279e+00] [-3.98717728e-04 6.38415208e-06 9.99999920e-01 1.59990583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421400513 meters 0.021729470432203052 Centerline is valid? [True, True] Translation: X:25.95, Y:2.21, Z:0.16 [[ 9.92717186e-01 -1.20468105e-01 -1.56741537e-04 2.59498411e+01] [ 1.20468104e-01 9.92717198e-01 -1.57326885e-05 2.20835858e+00] [ 1.57495307e-04 -3.26424567e-06 9.99999988e-01 1.58482621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451400513 meters 0.023170587301120184 Centerline is valid? [True, True] Translation: X:25.98, Y:2.21, Z:0.16 [[ 9.92405181e-01 -1.23011286e-01 -4.24655283e-04 2.59784094e+01] [ 1.23011278e-01 9.92405272e-01 -4.34611473e-05 2.21117320e+00] [ 4.26776353e-04 -9.10632155e-06 9.99999909e-01 1.58040552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481400513 meters 0.025235504900126642 Centerline is valid? [True, True] Translation: X:26.01, Y:2.21, Z:0.16 [[ 9.92146764e-01 -1.25079147e-01 -7.62733936e-05 2.60066485e+01] [ 1.25079147e-01 9.92146767e-01 -7.73252140e-06 2.21396283e+00] [ 7.66415781e-05 -1.86841493e-06 9.99999997e-01 1.58026203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511400512999998 meters 0.033003917890816005 Centerline is valid? [True, True] Translation: X:26.03, Y:2.22, Z:0.16 [[ 9.92097710e-01 -1.25467656e-01 -4.15653960e-05 2.60337547e+01] [ 1.25467656e-01 9.92097711e-01 -3.80453394e-06 2.22066227e+00] [ 4.17142802e-05 -1.44064341e-06 9.99999999e-01 1.58738907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541400513 meters 0.025196961324078795 Centerline is valid? [True, True] Translation: X:26.06, Y:2.23, Z:0.16 [[ 9.92388992e-01 -1.23142552e-01 -2.98619434e-05 2.60610565e+01] [ 1.23142552e-01 9.92388992e-01 -2.88396838e-06 2.22945897e+00] [ 2.99898032e-05 -8.15257436e-07 1.00000000e+00 1.58647196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571400513 meters 0.029950223041436363 Centerline is valid? [True, True] Translation: X:26.09, Y:2.24, Z:0.16 [[ 9.92835499e-01 -1.19489115e-01 -1.50350698e-04 2.60890669e+01] [ 1.19489114e-01 9.92835511e-01 -1.54764462e-05 2.24101540e+00] [ 1.51122779e-04 -2.59970654e-06 9.99999989e-01 1.58570145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601400512999998 meters 0.029950223041436363 Centerline is valid? [True, True] Translation: X:26.12, Y:2.24, Z:0.16 [[ 9.92813158e-01 -1.19674604e-01 -1.50386572e-04 2.61164004e+01] [ 1.19674603e-01 9.92813169e-01 -1.51311577e-05 2.24402754e+00] [ 1.51116585e-04 -2.97504088e-06 9.99999989e-01 1.58643723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631400513 meters 0.01412465094731308 Centerline is valid? [True, True] Translation: X:26.14, Y:2.27, Z:0.16 [[ 9.93882309e-01 -1.10443935e-01 -3.05393308e-04 2.61435152e+01] [ 1.10443930e-01 9.93882356e-01 -3.17202420e-05 2.26578631e+00] [ 3.07028328e-04 -2.20264977e-06 9.99999953e-01 1.59264510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661400513 meters 0.007530473431273312 Centerline is valid? [True, True] Translation: X:26.17, Y:2.28, Z:0.16 [[ 9.94380576e-01 -1.05864337e-01 -1.11603324e-04 2.61702612e+01] [ 1.05864337e-01 9.94380582e-01 -1.14535825e-05 2.27812331e+00] [ 1.12188704e-04 -4.25591965e-07 9.99999994e-01 1.59354175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691400512999998 meters 0.007466881806555762 Centerline is valid? [True, True] Translation: X:26.20, Y:2.29, Z:0.16 [[ 9.94844451e-01 -1.01412611e-01 3.86220828e-05 2.61969121e+01] [ 1.01412611e-01 9.94844451e-01 4.52402880e-06 2.29084617e+00] [-3.88817583e-05 -5.83938690e-07 9.99999999e-01 1.60142654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721400513 meters 0.010355415786966082 Centerline is valid? [True, True] Translation: X:26.22, Y:2.30, Z:0.16 [[ 9.95244185e-01 -9.74110793e-02 3.05808337e-04 2.62234539e+01] [ 9.74110741e-02 9.95244232e-01 3.20435490e-05 2.30310021e+00] [-3.07475381e-04 -2.10203726e-06 9.99999953e-01 1.60793675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751400513 meters 0.017628259126137386 Centerline is valid? [True, True] Translation: X:26.25, Y:2.32, Z:0.16 [[ 9.95896601e-01 -9.04938310e-02 9.08783889e-04 2.62501729e+01] [ 9.04937821e-02 9.95897016e-01 9.48854436e-05 2.32156626e+00] [-9.13641710e-04 -1.22567996e-05 9.99999583e-01 1.61188143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781400512999998 meters 0.02074031873026005 Centerline is valid? [True, True] Translation: X:26.28, Y:2.33, Z:0.16 [[ 9.96143578e-01 -8.77355782e-02 6.63424510e-04 2.62784052e+01] [ 8.77355512e-02 9.96143799e-01 6.97356563e-05 2.33075872e+00] [-6.66984509e-04 -1.12608111e-05 9.99999778e-01 1.60723364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811400513 meters 0.026070385539611395 Centerline is valid? [True, True] Translation: X:26.31, Y:2.34, Z:0.16 [[ 9.96367377e-01 -8.51584228e-02 3.05251842e-04 2.63069690e+01] [ 8.51584169e-02 9.96367424e-01 3.23943856e-05 2.33663938e+00] [-3.06901646e-04 -6.28194543e-06 9.99999953e-01 1.59556929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841400513 meters 0.023400924677808115 Centerline is valid? [True, True] Translation: X:26.34, Y:2.34, Z:0.16 [[ 9.96526522e-01 -8.32757206e-02 2.12829690e-04 2.63353620e+01] [ 8.32757176e-02 9.96526545e-01 2.27593950e-05 2.34469186e+00] [-2.13985741e-04 -4.95679560e-06 9.99999977e-01 1.59680165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871400512999998 meters 0.02799464770132238 Centerline is valid? [True, True] Translation: X:26.36, Y:2.36, Z:0.16 [[ 9.96832655e-01 -7.95272184e-02 2.81630829e-04 2.63624942e+01] [ 7.95272131e-02 9.96832695e-01 2.96767402e-05 2.35859062e+00] [-2.83098927e-04 -7.18542878e-06 9.99999960e-01 1.60465661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901400513 meters 0.030103541760219846 Centerline is valid? [True, True] Translation: X:26.39, Y:2.37, Z:0.16 [[ 9.96963900e-01 -7.78634933e-02 5.07883548e-04 2.63905103e+01] [ 7.78634760e-02 9.96964030e-01 5.37857258e-05 2.36615658e+00] [-5.10529573e-04 -1.40768486e-05 9.99999870e-01 1.60523544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931400513 meters 0.032223039010965404 Centerline is valid? [True, True] Translation: X:26.42, Y:2.37, Z:0.16 [[ 9.97105345e-01 -7.60311795e-02 4.37503767e-04 2.64186523e+01] [ 7.60311664e-02 9.97105441e-01 4.64668365e-05 2.37330475e+00] [-4.39770314e-04 -1.30684094e-05 9.99999903e-01 1.60765674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961400512999997 meters 0.034568144717534964 Centerline is valid? [True, True] Translation: X:26.45, Y:2.38, Z:0.16 [[ 9.97393694e-01 -7.21455755e-02 9.13706448e-04 2.64483722e+01] [ 7.21455177e-02 9.97394112e-01 9.61186773e-05 2.38202237e+00] [-9.18259969e-04 -2.99483380e-05 9.99999578e-01 1.61266600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991400513 meters 0.03790371000908009 Centerline is valid? [True, True] Translation: X:26.48, Y:2.39, Z:0.16 [[ 9.97530032e-01 -7.02379312e-02 6.85027028e-04 2.64756450e+01] [ 7.02378981e-02 9.97530266e-01 7.22215605e-05 2.39097365e+00] [-6.88407887e-04 -2.39283169e-05 9.99999763e-01 1.61360156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021400513 meters 0.04059714111266928 Centerline is valid? [True, True] Translation: X:26.50, Y:2.40, Z:0.16 [[ 9.97653791e-01 -6.84605996e-02 2.42437141e-04 2.65038308e+01] [ 6.84605954e-02 9.97653821e-01 2.56179867e-05 2.39944320e+00] [-2.43622163e-04 -8.96049058e-06 9.99999970e-01 1.60879911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051400513 meters 0.039038485818964096 Centerline is valid? [True, True] Translation: X:26.53, Y:2.40, Z:0.16 [[ 9.97797741e-01 -6.63289404e-02 3.73903302e-04 2.65334027e+01] [ 6.63289303e-02 9.97797811e-01 3.94393146e-05 2.40244164e+00] [-3.75695865e-04 -1.45518530e-05 9.99999929e-01 1.60062773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081400513 meters 0.04200499484950032 Centerline is valid? [True, True] Translation: X:26.56, Y:2.41, Z:0.16 [[ 9.97811122e-01 -6.61163890e-02 1.26007547e-03 2.65611133e+01] [ 6.61162739e-02 9.97811916e-01 1.32835477e-04 2.40873627e+00] [-1.26610092e-03 -4.92332217e-05 9.99999197e-01 1.61773174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111400513 meters 0.045925829717574404 Centerline is valid? [True, True] Translation: X:26.59, Y:2.42, Z:0.16 [[ 9.97807577e-01 -6.61570076e-02 1.81383673e-03 2.65899485e+01] [ 6.61567693e-02 9.97809223e-01 1.91124173e-04 2.41653220e+00] [-1.82250722e-03 -7.07075698e-05 9.99998337e-01 1.63702771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141400513 meters 0.041143499817967166 Centerline is valid? [True, True] Translation: X:26.62, Y:2.41, Z:0.16 [[ 9.97794456e-01 -6.63554133e-02 1.78385368e-03 2.66203442e+01] [ 6.63551830e-02 9.97796048e-01 1.88040914e-04 2.41390170e+00] [-1.79239969e-03 -6.92582437e-05 9.99998391e-01 1.63352523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171400513 meters 0.043113224166549384 Centerline is valid? [True, True] Translation: X:26.65, Y:2.42, Z:0.16 [[ 9.97896433e-01 -6.48276063e-02 3.01564396e-04 2.66491166e+01] [ 6.48275996e-02 9.97896478e-01 3.18132914e-05 2.42161464e+00] [-3.02992428e-04 -1.21966741e-05 9.99999954e-01 1.61154505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201400513 meters 0.04963842952536867 Centerline is valid? [True, True] Translation: X:26.68, Y:2.43, Z:0.16 [[ 9.97977895e-01 -6.35608081e-02 -3.81067596e-04 2.66771393e+01] [ 6.35607974e-02 9.97977967e-01 -4.01060936e-05 2.43354810e+00] [ 3.82846240e-04 1.58040346e-05 9.99999927e-01 1.60472546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231400513 meters 0.045485034209379875 Centerline is valid? [True, True] Translation: X:26.71, Y:2.43, Z:0.16 [[ 9.98060441e-01 -6.22475405e-02 -7.74489649e-04 2.67065668e+01] [ 6.22474959e-02 9.98060741e-01 -8.15731893e-05 2.43190025e+00] [ 7.78065443e-04 3.32049321e-05 9.99999697e-01 1.59562359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261400512999998 meters 0.04800920163531957 Centerline is valid? [True, True] Translation: X:26.74, Y:2.44, Z:0.16 [[ 9.98182322e-01 -6.02569192e-02 -1.07503064e-03 2.67356739e+01] [ 6.02568321e-02 9.98182900e-01 -1.13322432e-04 2.43887435e+00] [ 1.07990566e-03 4.83385074e-05 9.99999416e-01 1.60481803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291400513 meters 0.04982971188393287 Centerline is valid? [True, True] Translation: X:26.76, Y:2.44, Z:0.16 [[ 9.98242071e-01 -5.92525918e-02 -1.37796236e-03 2.67640512e+01] [ 5.92524476e-02 9.98243020e-01 -1.45291010e-04 2.44462466e+00] [ 1.38415017e-03 6.33879563e-05 9.99999040e-01 1.60477900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321400513 meters 0.05034286742054874 Centerline is valid? [True, True] Translation: X:26.79, Y:2.45, Z:0.16 [[ 9.98283790e-01 -5.85298186e-02 -1.93272384e-03 2.67932602e+01] [ 5.85295333e-02 9.98285657e-01 -2.03900716e-04 2.44822668e+00] [ 1.94134476e-03 9.04293553e-05 9.99998111e-01 1.59997184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351400512999998 meters 0.05107357332640014 Centerline is valid? [True, True] Translation: X:26.82, Y:2.45, Z:0.16 [[ 9.98380134e-01 -5.68550513e-02 -2.14716000e-03 2.68220982e+01] [ 5.68546952e-02 9.98382438e-01 -2.26574941e-04 2.45245576e+00] [ 2.15656877e-03 1.04131793e-04 9.99997669e-01 1.59122166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381400513 meters 0.05046988400759175 Centerline is valid? [True, True] Translation: X:26.85, Y:2.45, Z:0.16 [[ 9.98465916e-01 -5.53515095e-02 -1.42302524e-03 2.68522482e+01] [ 5.53513516e-02 9.98466928e-01 -1.50194284e-04 2.45224797e+00] [ 1.42915712e-03 7.11975032e-05 9.99998976e-01 1.59720964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411400513 meters 0.05998330209036285 Centerline is valid? [True, True] Translation: X:26.88, Y:2.47, Z:0.16 [[ 9.98543440e-01 -5.39441683e-02 -1.01286875e-03 2.68798552e+01] [ 5.39440875e-02 9.98543952e-01 -1.06930787e-04 2.47124999e+00] [ 1.01716226e-03 5.21367553e-05 9.99999481e-01 1.61109596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441400512999998 meters 0.056757291854778735 Centerline is valid? [True, True] Translation: X:26.91, Y:2.47, Z:0.16 [[ 9.98704051e-01 -5.08618954e-02 -1.81267323e-03 2.69105745e+01] [ 5.08616315e-02 9.98705691e-01 -1.91419475e-04 2.46877145e+00] [ 1.82006303e-03 9.89758870e-05 9.99998339e-01 1.59634890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471400513 meters 0.056317846117961964 Centerline is valid? [True, True] Translation: X:26.94, Y:2.47, Z:0.16 [[ 9.98756564e-01 -4.97958358e-02 -2.38774363e-03 2.69406773e+01] [ 4.97953748e-02 9.98759409e-01 -2.52174252e-04 2.46934642e+00] [ 2.39733864e-03 1.32962101e-04 9.99997118e-01 1.58550672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501400513 meters 0.05811725332718952 Centerline is valid? [True, True] Translation: X:26.97, Y:2.47, Z:0.16 [[ 9.98771653e-01 -4.94993038e-02 -2.23710505e-03 2.69695699e+01] [ 4.94988983e-02 9.98774150e-01 -2.36289838e-04 2.47274622e+00] [ 2.24605888e-03 1.25265356e-04 9.99997470e-01 1.58796248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531400512999998 meters 0.06520871892378842 Centerline is valid? [True, True] Translation: X:27.00, Y:2.48, Z:0.16 [[ 9.98787028e-01 -4.92378397e-02 3.29133662e-04 2.69987437e+01] [ 4.92378309e-02 9.98787082e-01 3.48042304e-05 2.48018575e+00] [-3.30448135e-04 -1.85561862e-05 9.99999945e-01 1.63158117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561400513 meters 0.057278026551055135 Centerline is valid? [True, True] Translation: X:27.03, Y:2.47, Z:0.16 [[ 9.98766374e-01 -4.96462708e-02 9.88666018e-04 2.70300294e+01] [ 4.96461917e-02 9.98766862e-01 1.04451669e-04 2.47087219e+00] [-9.92632493e-04 -5.52393126e-05 9.99999506e-01 1.63970559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591400513 meters 0.058883496874019545 Centerline is valid? [True, True] Translation: X:27.06, Y:2.47, Z:0.16 [[ 9.98740458e-01 -5.01684244e-02 7.91409421e-04 2.70600747e+01] [ 5.01683739e-02 9.98740771e-01 8.35706412e-05 2.47335844e+00] [-7.94605462e-04 -4.37616568e-05 9.99999683e-01 1.64122165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621400512999998 meters 0.058145262538393465 Centerline is valid? [True, True] Translation: X:27.09, Y:2.47, Z:0.16 [[ 9.98702588e-01 -5.09227048e-02 1.39422772e-04 2.70909068e+01] [ 5.09227032e-02 9.98702597e-01 1.47282320e-05 2.47278066e+00] [-1.39991886e-04 -7.60933899e-06 9.99999990e-01 1.63241309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651400513 meters 0.05187945604587294 Centerline is valid? [True, True] Translation: X:27.12, Y:2.46, Z:0.16 [[ 9.98650337e-01 -5.19152739e-02 -1.51932444e-03 2.71227749e+01] [ 5.19150896e-02 9.98651490e-01 -1.60497188e-04 2.46122273e+00] [ 1.52560787e-03 8.14047065e-05 9.99998833e-01 1.61141774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681400513 meters 0.06125413504441337 Centerline is valid? [True, True] Translation: X:27.15, Y:2.47, Z:0.16 [[ 9.98648920e-01 -5.19446074e-02 -1.44656163e-03 2.71507214e+01] [ 5.19444404e-02 9.98649965e-01 -1.52766091e-04 2.47217806e+00] [ 1.45254409e-03 7.74188572e-05 9.99998942e-01 1.61347548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711400512999997 meters 0.0584769462339694 Centerline is valid? [True, True] Translation: X:27.18, Y:2.47, Z:0.16 [[ 9.98685059e-01 -5.12581227e-02 -8.70408347e-04 2.71809910e+01] [ 5.12580620e-02 9.98685437e-01 -9.19379273e-05 2.46930459e+00] [ 8.73976706e-04 4.72015894e-05 9.99999617e-01 1.62179352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741400513 meters 0.05809818064364642 Centerline is valid? [True, True] Translation: X:27.21, Y:2.47, Z:0.16 [[ 9.98806099e-01 -4.88501400e-02 2.00265255e-04 2.72115568e+01] [ 4.88501367e-02 9.98806119e-01 2.12013533e-05 2.46724043e+00] [-2.01061852e-04 -1.13930559e-05 9.99999980e-01 1.63674387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771400513 meters 0.059631377445591084 Centerline is valid? [True, True] Translation: X:27.24, Y:2.47, Z:0.16 [[ 9.98871151e-01 -4.75015919e-02 -1.48889363e-04 2.72421490e+01] [ 4.75015900e-02 9.98871162e-01 -1.57389471e-05 2.47025311e+00] [ 1.49468916e-04 8.64869868e-06 9.99999989e-01 1.62552297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801400512999997 meters 0.05429068494986693 Centerline is valid? [True, True] Translation: X:27.27, Y:2.46, Z:0.16 [[ 9.98930464e-01 -4.62152682e-02 -1.44114648e-03 2.72726509e+01] [ 4.62150964e-02 9.98931500e-01 -1.52311771e-04 2.46470388e+00] [ 1.44664574e-03 8.55461447e-05 9.99998950e-01 1.60190494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831400513 meters 0.06477659296002858 Centerline is valid? [True, True] Translation: X:27.30, Y:2.48, Z:0.16 [[ 9.99051397e-01 -4.34092199e-02 -3.45626917e-03 2.73005274e+01] [ 4.34082143e-02 9.99057352e-01 -3.65460239e-04 2.47527298e+00] [ 3.46887547e-03 2.15083090e-04 9.99993960e-01 1.55952043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861400513 meters 0.06131164469610635 Centerline is valid? [True, True] Translation: X:27.33, Y:2.47, Z:0.16 [[ 9.99101478e-01 -4.22342122e-02 -3.53674394e-03 2.73310796e+01] [ 4.22331516e-02 9.99107712e-01 -3.74043142e-04 2.47155275e+00] [ 3.54938557e-03 2.24339213e-04 9.99993676e-01 1.55703609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891400513 meters 0.06683217481863725 Centerline is valid? [True, True] Translation: X:27.36, Y:2.48, Z:0.16 [[ 9.99151251e-01 -4.10763405e-02 -3.08402059e-03 2.73593202e+01] [ 4.10755284e-02 9.99155991e-01 -3.26234647e-04 2.47858877e+00] [ 3.09481817e-03 1.99279980e-04 9.99995191e-01 1.55714483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921400513 meters 0.06702846309915485 Centerline is valid? [True, True] Translation: X:27.39, Y:2.48, Z:0.16 [[ 9.99188373e-01 -4.01786977e-02 -2.87520352e-03 2.73885436e+01] [ 4.01779879e-02 9.99192492e-01 -3.04242418e-04 2.47894505e+00] [ 2.88510584e-03 1.88475595e-04 9.99995820e-01 1.56174374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951400513 meters 0.0754064959694251 Centerline is valid? [True, True] Translation: X:27.42, Y:2.49, Z:0.16 [[ 9.99276454e-01 -3.79552957e-02 -2.44200938e-03 2.74166569e+01] [ 3.79547769e-02 9.99279424e-01 -2.58479508e-04 2.48820406e+00] [ 2.45006039e-03 1.65606565e-04 9.99996985e-01 1.56535470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981400513 meters 0.07633701294945493 Centerline is valid? [True, True] Translation: X:27.45, Y:2.49, Z:0.16 [[ 9.99319383e-01 -3.67872150e-02 -2.73325374e-03 2.74460563e+01] [ 3.67865605e-02 9.99323104e-01 -2.89356313e-04 2.49123166e+00] [ 2.74204823e-03 1.88612368e-04 9.99996223e-01 1.55738975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011400512999998 meters 0.08387016311060086 Centerline is valid? [True, True] Translation: X:27.47, Y:2.50, Z:0.15 [[ 9.99362938e-01 -3.55744375e-02 -2.85968393e-03 2.74738533e+01] [ 3.55737160e-02 9.99367009e-01 -3.02809950e-04 2.50247786e+00] [ 2.86864607e-03 2.00887458e-04 9.99995865e-01 1.54708872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041400513 meters 0.07365784753370071 Centerline is valid? [True, True] Translation: X:27.50, Y:2.49, Z:0.15 [[ 9.99402139e-01 -3.43845938e-02 -3.61445813e-03 2.75045703e+01] [ 3.43834328e-02 9.99408642e-01 -3.82878292e-04 2.49207899e+00] [ 3.62548580e-03 2.58371906e-04 9.99993395e-01 1.53361922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071400513 meters 0.07326157114341417 Centerline is valid? [True, True] Translation: X:27.53, Y:2.49, Z:0.15 [[ 9.99470701e-01 -3.22108958e-02 -4.55798606e-03 2.75345146e+01] [ 3.22090264e-02 9.99481038e-01 -4.82961200e-04 2.49341719e+00] [ 4.57117725e-03 3.35897276e-04 9.99989496e-01 1.51636799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101400512999998 meters 0.07687676965309428 Centerline is valid? [True, True] Translation: X:27.56, Y:2.50, Z:0.15 [[ 9.99487279e-01 -3.16243096e-02 -5.00812512e-03 2.75617204e+01] [ 3.16220442e-02 9.99499757e-01 -5.30896768e-04 2.50034552e+00] [ 5.02240908e-03 3.72257413e-04 9.99987318e-01 1.51152004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131400513 meters 0.0740617564725348 Centerline is valid? [True, True] Translation: X:27.59, Y:2.50, Z:0.15 [[ 9.99487024e-01 -3.15739417e-02 -5.36423726e-03 2.75912656e+01] [ 3.15713382e-02 9.99501339e-01 -5.69345691e-04 2.49872874e+00] [ 5.37953881e-03 3.99697482e-04 9.99985450e-01 1.50853772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161400513 meters 0.07465291818302365 Centerline is valid? [True, True] Translation: X:27.62, Y:2.50, Z:0.15 [[ 9.99478899e-01 -3.17850240e-02 -5.62516093e-03 2.76190883e+01] [ 3.17821587e-02 9.99494641e-01 -5.98050566e-04 2.49776515e+00] [ 5.64132726e-03 4.18959164e-04 9.99984000e-01 1.51175506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191400512999998 meters 0.07863275859782533 Centerline is valid? [True, True] Translation: X:27.65, Y:2.50, Z:0.15 [[ 9.99466309e-01 -3.22296599e-02 -5.32412682e-03 2.76464879e+01] [ 3.22270957e-02 9.99480412e-01 -5.66744215e-04 2.50403240e+00] [ 5.33962644e-03 3.94860604e-04 9.99985666e-01 1.51363523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221400513 meters 0.07551410374656502 Centerline is valid? [True, True] Translation: X:27.68, Y:2.50, Z:0.15 [[ 9.99453171e-01 -3.26975039e-02 -4.92257124e-03 2.76760826e+01] [ 3.26953148e-02 9.99465228e-01 -5.24550279e-04 2.50314667e+00] [ 4.93709027e-03 3.63318423e-04 9.99987746e-01 1.51724029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251400513 meters 0.07164073187925439 Centerline is valid? [True, True] Translation: X:27.70, Y:2.50, Z:0.15 [[ 9.99442462e-01 -3.31061212e-02 -4.33008686e-03 2.77048713e+01] [ 3.31044284e-02 9.99451791e-01 -4.62044978e-04 2.50146551e+00] [ 4.34300959e-03 3.18442320e-04 9.99990518e-01 1.52431911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281400512999998 meters 0.0741569548223025 Centerline is valid? [True, True] Translation: X:27.73, Y:2.51, Z:0.15 [[ 9.99459930e-01 -3.26903587e-02 -3.34490974e-03 2.77320429e+01] [ 3.26893449e-02 9.99465497e-01 -3.57334790e-04 2.50528660e+00] [ 3.35480327e-03 2.47798897e-04 9.99994342e-01 1.53863536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311400513 meters 0.07822958634298205 Centerline is valid? [True, True] Translation: X:27.76, Y:2.51, Z:0.15 [[ 9.99513937e-01 -3.10532446e-02 -2.75424712e-03 2.77606238e+01] [ 3.10525504e-02 9.99517710e-01 -2.94466526e-04 2.51261582e+00] [ 2.76206291e-03 2.08796999e-04 9.99996164e-01 1.54563212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341400513 meters 0.07601996407908719 Centerline is valid? [True, True] Translation: X:27.79, Y:2.51, Z:0.15 [[ 9.99567818e-01 -2.92778501e-02 -2.64277559e-03 2.77904570e+01] [ 2.92772047e-02 9.99571291e-01 -2.82567338e-04 2.51299665e+00] [ 2.64991557e-03 2.05072135e-04 9.99996468e-01 1.54609116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371400512999998 meters 0.08145635057076958 Centerline is valid? [True, True] Translation: X:27.82, Y:2.52, Z:0.15 [[ 9.99687461e-01 -2.48166051e-02 -3.01949286e-03 2.78193295e+01] [ 2.48157423e-02 9.99691990e-01 -3.22881329e-04 2.52348627e+00] [ 3.02657564e-03 2.47849459e-04 9.99995389e-01 1.54113373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401400513 meters 0.09157145173771711 Centerline is valid? [True, True] Translation: X:27.85, Y:2.54, Z:0.15 [[ 9.99732033e-01 -2.29682304e-02 -2.88487592e-03 2.78465405e+01] [ 2.29674352e-02 9.99736166e-01 -3.08487264e-04 2.53918756e+00] [ 2.89120020e-03 2.42146399e-04 9.99995791e-01 1.54922647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431400513 meters 0.08512797425037318 Centerline is valid? [True, True] Translation: X:27.88, Y:2.53, Z:0.16 [[ 9.99770852e-01 -2.13173546e-02 -1.95317127e-03 2.78777441e+01] [ 2.13169869e-02 9.99772745e-01 -2.08897423e-04 2.53454682e+00] [ 1.95718054e-03 1.67213828e-04 9.99998071e-01 1.56816879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461400512999997 meters 0.09219072217487333 Centerline is valid? [True, True] Translation: X:27.91, Y:2.55, Z:0.16 [[ 9.99798659e-01 -2.00658289e-02 -6.05008940e-05 2.79058683e+01] [ 2.00658285e-02 9.99798661e-01 -6.44352710e-06 2.54627804e+00] [ 6.06180076e-05 5.22822919e-06 9.99999998e-01 1.60087154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491400513 meters 0.09219072217487333 Centerline is valid? [True, True] Translation: X:27.94, Y:2.55, Z:0.16 [[ 9.99798659e-01 -2.00658290e-02 -6.04979483e-05 2.79358101e+01] [ 2.00658286e-02 9.99798661e-01 -6.47106718e-06 2.54948074e+00] [ 6.06156150e-05 5.25582283e-06 9.99999998e-01 1.60167735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521400513 meters 0.08400990622522803 Centerline is valid? [True, True] Translation: X:27.97, Y:2.54, Z:0.16 [[ 9.99813684e-01 -1.91144775e-02 2.68950609e-03 2.79667604e+01] [ 1.91137721e-02 9.99817274e-01 2.87741327e-04 2.54273472e+00] [-2.69451467e-03 -2.36281111e-04 9.99996342e-01 1.63347884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551400512999997 meters 0.0948726730724269 Centerline is valid? [True, True] Translation: X:28.00, Y:2.56, Z:0.16 [[ 9.99814974e-01 -1.90734349e-02 2.49422709e-03 2.79960769e+01] [ 1.90728286e-02 9.99818062e-01 2.66640282e-04 2.55829164e+00] [-2.49885904e-03 -2.19018981e-04 9.99996854e-01 1.63461001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581400513 meters 0.0905358824116831 Centerline is valid? [True, True] Translation: X:28.03, Y:2.55, Z:0.16 [[ 9.99791625e-01 -2.04057544e-02 -5.58786363e-04 2.80271892e+01] [ 2.04057242e-02 9.99791780e-01 -5.97567282e-05 2.55462081e+00] [ 5.59889394e-04 4.83418360e-05 9.99999842e-01 1.57899223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611400513 meters 0.08113499521730087 Centerline is valid? [True, True] Translation: X:28.06, Y:2.55, Z:0.16 [[ 9.99766293e-01 -2.15321420e-02 -1.93052229e-03 2.80585979e+01] [ 2.15317832e-02 9.99768143e-01 -2.06450449e-04 2.54682789e+00] [ 1.93452000e-03 1.64834612e-04 9.99998115e-01 1.55381541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641400513 meters 0.08570712026169502 Centerline is valid? [True, True] Translation: X:28.09, Y:2.56, Z:0.15 [[ 9.99739241e-01 -2.27258997e-02 -2.23256637e-03 2.80863150e+01] [ 2.27254229e-02 9.99741716e-01 -2.38736073e-04 2.55552555e+00] [ 2.23741523e-03 1.87937806e-04 9.99997479e-01 1.54821345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671400513 meters 0.08267660232899288 Centerline is valid? [True, True] Translation: X:28.12, Y:2.55, Z:0.16 [[ 9.99688855e-01 -2.49104504e-02 -1.28952853e-03 2.81174523e+01] [ 2.49102931e-02 9.99689681e-01 -1.37944958e-04 2.54844081e+00] [ 1.29256463e-03 1.05779504e-04 9.99999159e-01 1.56222332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701400513 meters 0.0817294063878866 Centerline is valid? [True, True] Translation: X:28.15, Y:2.55, Z:0.16 [[ 9.99641353e-01 -2.67625574e-02 -9.64640031e-04 2.81463589e+01] [ 2.67624702e-02 9.99641816e-01 -1.03155905e-04 2.55149397e+00] [ 9.67055228e-04 7.73027583e-05 9.99999529e-01 1.57628324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731400513 meters 0.0796265820626781 Centerline is valid? [True, True] Translation: X:28.18, Y:2.55, Z:0.16 [[ 9.99588194e-01 -2.86612550e-02 -1.40553380e-03 2.81774558e+01] [ 2.86610717e-02 9.99589176e-01 -1.50384339e-04 2.54694618e+00] [ 1.40926657e-03 1.10038305e-04 9.99999001e-01 1.56995975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761400512999998 meters 0.07038570334972086 Centerline is valid? [True, True] Translation: X:28.21, Y:2.54, Z:0.16 [[ 9.99518001e-01 -3.09888107e-02 -1.86015712e-03 2.82091610e+01] [ 3.09884936e-02 9.99519721e-01 -1.99047067e-04 2.54031257e+00] [ 1.86543196e-03 1.41307660e-04 9.99998250e-01 1.57044795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791400513 meters 0.07757684301411968 Centerline is valid? [True, True] Translation: X:28.24, Y:2.55, Z:0.16 [[ 9.99385011e-01 -3.49815289e-02 -2.42742649e-03 2.82380252e+01] [ 3.49810007e-02 9.99387944e-01 -2.59752114e-04 2.54761119e+00] [ 2.43502730e-03 1.74678561e-04 9.99997020e-01 1.55908977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821400513 meters 0.07849193496693896 Centerline is valid? [True, True] Translation: X:28.27, Y:2.55, Z:0.16 [[ 9.99314219e-01 -3.69682307e-02 -2.10746258e-03 2.82671343e+01] [ 3.69678368e-02 9.99316430e-01 -2.25537591e-04 2.54725265e+00] [ 2.11435971e-03 1.47474589e-04 9.99997754e-01 1.56499903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851400512999998 meters 0.07153466146930461 Centerline is valid? [True, True] Translation: X:28.30, Y:2.53, Z:0.16 [[ 9.99210970e-01 -3.96921894e-02 -1.40288356e-03 2.82997834e+01] [ 3.96920175e-02 9.99211950e-01 -1.50164077e-04 2.53271453e+00] [ 1.40773836e-03 9.43623144e-05 9.99999005e-01 1.57647460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881400513 meters 0.062075637532787206 Centerline is valid? [True, True] Translation: X:28.33, Y:2.52, Z:0.16 [[ 9.99177834e-01 -4.05212725e-02 -1.29721950e-03 2.83299303e+01] [ 4.05211263e-02 9.99178672e-01 -1.38807839e-04 2.52043350e+00] [ 1.30177873e-03 8.61289201e-05 9.99999149e-01 1.57043493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911400513 meters 0.06677441604490504 Centerline is valid? [True, True] Translation: X:28.36, Y:2.53, Z:0.16 [[ 9.99181636e-01 -4.04272279e-02 -1.30278021e-03 2.83575950e+01] [ 4.04270803e-02 9.99182482e-01 -1.39450070e-04 2.52548997e+00] [ 1.30735274e-03 8.66683494e-05 9.99999142e-01 1.57528870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941400512999998 meters 0.076208522918956 Centerline is valid? [True, True] Translation: X:28.39, Y:2.53, Z:0.16 [[ 9.99215297e-01 -3.95884208e-02 -1.24386835e-03 2.83858866e+01] [ 3.95882854e-02 9.99216068e-01 -1.33246929e-04 2.53341821e+00] [ 1.24816828e-03 8.38997545e-05 9.99999218e-01 1.57343610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971400513 meters 0.07503387136574584 Centerline is valid? [True, True] Translation: X:28.42, Y:2.53, Z:0.16 [[ 9.99353605e-01 -3.59224778e-02 -1.39582704e-03 2.84166406e+01] [ 3.59223037e-02 9.99354575e-01 -1.49616517e-04 2.52991381e+00] [ 1.40030074e-03 9.93784828e-05 9.99999015e-01 1.58333201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001400513 meters 0.07213131768334577 Centerline is valid? [True, True] Translation: X:28.45, Y:2.53, Z:0.16 [[ 9.99435636e-01 -3.35585533e-02 -1.49423989e-03 2.84470330e+01] [ 3.35583511e-02 9.99436747e-01 -1.60190845e-04 2.52704835e+00] [ 1.49877403e-03 1.09956212e-04 9.99998871e-01 1.58425207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031400512999998 meters 0.07521432638476484 Centerline is valid? [True, True] Translation: X:28.48, Y:2.53, Z:0.16 [[ 9.99598552e-01 -2.82042746e-02 -2.69323225e-03 2.84772628e+01] [ 2.82035984e-02 9.99602158e-01 -2.88744924e-04 2.53145580e+00] [ 2.70030461e-03 2.12670168e-04 9.99996332e-01 1.56486336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061400513 meters 0.0823544990410767 Centerline is valid? [True, True] Translation: X:28.51, Y:2.54, Z:0.15 [[ 9.99668175e-01 -2.54764510e-02 -3.80663065e-03 2.85058899e+01] [ 2.54750804e-02 9.99675374e-01 -4.08113377e-04 2.54258559e+00] [ 3.81579220e-03 3.11003733e-04 9.99992671e-01 1.54390846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091400513 meters 0.08334321291963896 Centerline is valid? [True, True] Translation: X:28.54, Y:2.55, Z:0.15 [[ 9.99735483e-01 -2.26372845e-02 -4.06424779e-03 2.85358347e+01] [ 2.26356987e-02 9.99743685e-01 -4.35753928e-04 2.54614707e+00] [ 4.07307035e-03 3.43641575e-04 9.99991646e-01 1.53854961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121400512999998 meters 0.10113674437608025 Centerline is valid? [True, False] Translation: X:28.54, Y:2.55, Z:0.15 [[ 9.99888713e-01 -1.45471041e-02 3.30810277e-03 2.85370401e+01] [ 1.45811779e-02 9.99838342e-01 -1.05204458e-02 2.55471819e+00] [-3.15452596e-03 1.05675111e-02 9.99939186e-01 1.47988053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151400513 meters 0.08981360862901755 Centerline is valid? [False, True] Translation: X:28.54, Y:2.55, Z:0.15 [[ 9.99980873e-01 -5.46748311e-03 2.89136921e-03 2.85378549e+01] [ 5.46777722e-03 9.99985047e-01 -9.38222757e-05 2.54729200e+00] [-2.89081301e-03 1.09629844e-04 9.99995816e-01 1.48707418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181400513 meters 0.08539659358029314 Centerline is valid? [True, True] Translation: X:28.57, Y:2.55, Z:0.15 [[ 9.99988433e-01 -4.03015356e-03 2.62502830e-03 2.85688335e+01] [ 4.02949285e-03 9.99991849e-01 2.56934356e-04 2.54692206e+00] [-2.62604239e-03 -2.46353851e-04 9.99996522e-01 1.47976983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211400512999997 meters 0.10014523705141706 Centerline is valid? [True, False] Translation: X:28.57, Y:2.55, Z:0.15 [[ 9.99987573e-01 -4.22487207e-03 2.64657914e-03 2.85688717e+01] [ 4.22562328e-03 9.99991033e-01 -2.78313644e-04 2.54930600e+00] [-2.64537957e-03 2.89493631e-04 9.99996459e-01 1.47670695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241400513 meters 0.08828768819878378 Centerline is valid? [False, True] Translation: X:28.57, Y:2.55, Z:0.15 [[ 9.99986867e-01 -4.40063744e-03 2.62668397e-03 2.85689662e+01] [ 4.40259869e-03 9.99990034e-01 -7.41348766e-04 2.55138344e+00] [-2.62339538e-03 7.52903265e-04 9.99996275e-01 1.47561476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271400513 meters 0.09264904746762342 Centerline is valid? [True, True] Translation: X:28.60, Y:2.56, Z:0.15 [[ 9.99978496e-01 -5.87336471e-03 2.91749684e-03 2.85983609e+01] [ 5.87256028e-03 9.99982716e-01 2.84213527e-04 2.55915331e+00] [-2.91911570e-03 -2.67074239e-04 9.99995704e-01 1.47598082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301400512999997 meters 0.09367616080046781 Centerline is valid? [True, True] Translation: X:28.63, Y:2.56, Z:0.15 [[ 9.99963713e-01 -7.68287401e-03 3.68037641e-03 2.86279139e+01] [ 7.68160604e-03 9.99970432e-01 3.58531880e-04 2.56373082e+00] [-3.68302214e-03 -3.30247668e-04 9.99993163e-01 1.48244982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331400513 meters 0.0826243262687024 Centerline is valid? [True, True] Translation: X:28.66, Y:2.55, Z:0.15 [[ 9.99942108e-01 -9.83870214e-03 4.35656113e-03 2.86597824e+01] [ 9.83694561e-03 9.99951526e-01 4.24435917e-04 2.55307006e+00] [-4.36052585e-03 -3.81556091e-04 9.99990420e-01 1.49234465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361400513 meters 0.08902819370426021 Centerline is valid? [True, True] Translation: X:28.69, Y:2.56, Z:0.15 [[ 9.99878150e-01 -1.45736676e-02 5.59407654e-03 2.86889721e+01] [ 1.45708451e-02 9.99893691e-01 5.44986233e-04 2.56208440e+00] [-5.60142429e-03 -4.63409404e-04 9.99984205e-01 1.51378995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391400513 meters 0.08526691764796755 Centerline is valid? [True, True] Translation: X:28.72, Y:2.56, Z:0.15 [[ 9.99841281e-01 -1.69045956e-02 5.62556442e-03 2.87199962e+01] [ 1.69017779e-02 9.99857005e-01 5.48055768e-04 2.55975308e+00] [-5.63402465e-03 -4.52886741e-04 9.99984026e-01 1.51273495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421400513 meters 0.0850460801105089 Centerline is valid? [True, True] Translation: X:28.75, Y:2.56, Z:0.15 [[ 9.99788261e-01 -2.00369581e-02 4.68554748e-03 2.87492054e+01] [ 2.00350374e-02 9.99799174e-01 4.56489756e-04 2.56225617e+00] [-4.69375317e-03 -3.62517979e-04 9.99988919e-01 1.49804932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451400513 meters 0.07572541120525003 Centerline is valid? [True, True] Translation: X:28.78, Y:2.55, Z:0.15 [[ 9.99780082e-01 -2.05722886e-02 4.07041048e-03 2.87817918e+01] [ 2.05708434e-02 9.99788319e-01 3.96585942e-04 2.55441838e+00] [-4.07770754e-03 -3.12766949e-04 9.99991637e-01 1.49112484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481400513 meters 0.07822576114403643 Centerline is valid? [True, True] Translation: X:28.81, Y:2.56, Z:0.15 [[ 9.99783220e-01 -2.04973263e-02 3.65697974e-03 2.88129214e+01] [ 2.04961596e-02 9.99789868e-01 3.56227205e-04 2.56127475e+00] [-3.66351300e-03 -2.81195941e-04 9.99993250e-01 1.48597099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511400512999998 meters 0.08440492192707846 Centerline is valid? [True, True] Translation: X:28.84, Y:2.57, Z:0.15 [[ 9.99803938e-01 -1.95354534e-02 3.23300724e-03 2.88423480e+01] [ 1.95345369e-02 9.99809133e-01 3.14822221e-04 2.57134492e+00] [-3.23854036e-03 -2.51605197e-04 9.99994724e-01 1.48139954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541400513 meters 0.08092976413955578 Centerline is valid? [True, True] Translation: X:28.87, Y:2.57, Z:0.15 [[ 9.99843590e-01 -1.73178792e-02 3.58973242e-03 2.88727657e+01] [ 1.73167352e-02 9.99849993e-01 3.49514317e-04 2.57267927e+00] [-3.59524678e-03 -2.87297204e-04 9.99993496e-01 1.49827540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571400513 meters 0.08507651705801553 Centerline is valid? [True, True] Translation: X:28.90, Y:2.58, Z:0.15 [[ 9.99851746e-01 -1.66610201e-02 4.34697012e-03 2.89022218e+01] [ 1.66593366e-02 9.99861134e-01 4.23210960e-04 2.58123728e+00] [-4.35341760e-03 -3.50730579e-04 9.99990462e-01 1.51439880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601400512999998 meters 0.07596603044742777 Centerline is valid? [True, True] Translation: X:28.94, Y:2.57, Z:0.15 [[ 9.99852693e-01 -1.63488141e-02 5.22568296e-03 2.89350228e+01] [ 1.63463779e-02 9.99866260e-01 5.08561216e-04 2.57419998e+00] [-5.23329844e-03 -4.23065313e-04 9.99986217e-01 1.52417268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631400513 meters 0.08682140446284815 Centerline is valid? [True, True] Translation: X:28.96, Y:2.59, Z:0.15 [[ 9.99850299e-01 -1.63384981e-02 5.69500443e-03 2.89642601e+01] [ 1.63356061e-02 9.99866412e-01 5.53976137e-04 2.59210056e+00] [-5.70329478e-03 -4.60861858e-04 9.99983630e-01 1.53058568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661400513 meters 0.08471557603296816 Centerline is valid? [True, True] Translation: X:29.00, Y:2.59, Z:0.15 [[ 9.99854913e-01 -1.60724686e-02 5.64162334e-03 2.89960424e+01] [ 1.60696275e-02 9.99870725e-01 5.48564427e-04 2.59433316e+00] [-5.64971081e-03 -4.57826052e-04 9.99983935e-01 1.52136822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691400512999998 meters 0.08475199748153661 Centerline is valid? [True, True] Translation: X:29.03, Y:2.60, Z:0.15 [[ 9.99865801e-01 -1.56949710e-02 4.69561710e-03 2.90278201e+01] [ 1.56929996e-02 9.99876753e-01 4.56393802e-04 2.59944515e+00] [-4.70220147e-03 -3.82644237e-04 9.99988871e-01 1.50860356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721400513 meters 0.08175357897730114 Centerline is valid? [True, True] Translation: X:29.06, Y:2.60, Z:0.15 [[ 9.99882429e-01 -1.50249781e-02 3.06244219e-03 2.90600492e+01] [ 1.50241367e-02 9.99887087e-01 2.97573819e-04 2.60264599e+00] [-3.06656745e-03 -2.51528282e-04 9.99995266e-01 1.48894482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751400513 meters 0.08253838915054956 Centerline is valid? [True, True] Translation: X:29.09, Y:2.61, Z:0.15 [[ 9.99884057e-01 -1.48400239e-02 3.41267755e-03 2.90917587e+01] [ 1.48389786e-02 9.99889841e-01 3.31429314e-04 2.60837194e+00] [-3.41722003e-03 -2.80750238e-04 9.99994122e-01 1.49447883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781400512999998 meters 0.09479918428000887 Centerline is valid? [True, True] Translation: X:29.12, Y:2.63, Z:0.15 [[ 9.99885434e-01 -1.46315393e-02 3.87787407e-03 2.91207710e+01] [ 1.46301888e-02 9.99892902e-01 3.76414195e-04 2.62711109e+00] [-3.88296627e-03 -3.19637041e-04 9.99992410e-01 1.50379228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811400513 meters 0.08245017006203256 Centerline is valid? [True, True] Translation: X:29.15, Y:2.61, Z:0.15 [[ 9.99884429e-01 -1.46518739e-02 4.05607130e-03 2.91539364e+01] [ 1.46503970e-02 9.99892600e-01 3.93602830e-04 2.61479248e+00] [-4.06140270e-03 -3.34134286e-04 9.99991697e-01 1.50452728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841400513 meters 0.08146876897957431 Centerline is valid? [True, True] Translation: X:29.19, Y:2.61, Z:0.15 [[ 9.99855711e-01 -1.65748378e-02 3.71921131e-03 2.91852835e+01] [ 1.65736098e-02 9.99862583e-01 3.60762693e-04 2.61380027e+00] [-3.72467981e-03 -2.99069882e-04 9.99993019e-01 1.49511519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871400512999998 meters 0.07610075098607881 Centerline is valid? [True, True] Translation: X:29.22, Y:2.61, Z:0.15 [[ 9.99816890e-01 -1.87347262e-02 3.89827836e-03 2.92163579e+01] [ 1.87333935e-02 9.99824443e-01 3.78103317e-04 2.60918310e+00] [-3.90467765e-03 -3.05006100e-04 9.99992330e-01 1.49778243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901400513 meters 0.0813569456877351 Centerline is valid? [True, True] Translation: X:29.24, Y:2.62, Z:0.15 [[ 9.99767499e-01 -2.11843576e-02 4.02132412e-03 2.92448296e+01] [ 2.11829592e-02 9.99775540e-01 3.90025237e-04 2.61783232e+00] [-4.02868393e-03 -3.04751010e-04 9.99991838e-01 1.49643622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931400513 meters 0.06832782493837264 Centerline is valid? [True, True] Translation: X:29.28, Y:2.60, Z:0.15 [[ 9.99720095e-01 -2.32962750e-02 4.12496247e-03 2.92767897e+01] [ 2.32948213e-02 9.99728559e-01 4.00116475e-04 2.60331624e+00] [-4.13316401e-03 -3.03914217e-04 9.99991412e-01 1.49513463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961400512999997 meters 0.06588636603658578 Centerline is valid? [True, True] Translation: X:29.31, Y:2.60, Z:0.15 [[ 9.99673275e-01 -2.51068677e-02 4.79456013e-03 2.93079233e+01] [ 2.51049245e-02 9.99684714e-01 4.65051825e-04 2.60060804e+00] [-4.80472446e-03 -3.44532811e-04 9.99988398e-01 1.50151727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991400513 meters 0.07089399129289131 Centerline is valid? [True, True] Translation: X:29.34, Y:2.61, Z:0.15 [[ 9.99632095e-01 -2.65750399e-02 5.42598803e-03 2.93373120e+01] [ 2.65725729e-02 9.99646748e-01 5.26249170e-04 2.60595137e+00] [-5.43805638e-03 -3.81873097e-04 9.99985141e-01 1.51498938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021400513 meters 0.0741089944183418 Centerline is valid? [True, True] Translation: X:29.37, Y:2.61, Z:0.15 [[ 9.99580171e-01 -2.85304688e-02 5.04910324e-03 2.93676889e+01] [ 2.85283575e-02 9.99592864e-01 4.89696323e-04 2.60673566e+00] [-5.06101883e-03 -3.45448112e-04 9.99987133e-01 1.50788209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051400512999997 meters 0.06976136374819375 Centerline is valid? [True, True] Translation: X:29.40, Y:2.60, Z:0.15 [[ 9.99573272e-01 -2.88392895e-02 4.64430342e-03 2.93999554e+01] [ 2.88375067e-02 9.99584011e-01 4.50411253e-04 2.60197610e+00] [-4.65536098e-03 -3.16288919e-04 9.99989114e-01 1.49784955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081400513 meters 0.07341415460120868 Centerline is valid? [True, True] Translation: X:29.43, Y:2.61, Z:0.15 [[ 9.99585678e-01 -2.83586704e-02 4.92531770e-03 2.94297040e+01] [ 2.83566600e-02 9.99597755e-01 4.77562294e-04 2.60664875e+00] [-4.93687955e-03 -3.37698870e-04 9.99987757e-01 1.50233332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111400513 meters 0.07688945692507869 Centerline is valid? [True, True] Translation: X:29.46, Y:2.61, Z:0.15 [[ 9.99612272e-01 -2.72706718e-02 5.62283135e-03 2.94600957e+01] [ 2.72680348e-02 9.99628009e-01 5.45124379e-04 2.61078278e+00] [-5.63560562e-03 -3.91589458e-04 9.99984043e-01 1.51364510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141400513 meters 0.07837784961442895 Centerline is valid? [True, True] Translation: X:29.49, Y:2.61, Z:0.15 [[ 9.99657589e-01 -2.54006321e-02 6.28598181e-03 2.94908948e+01] [ 2.53973001e-02 9.99677251e-01 6.09340933e-04 2.61259258e+00] [-6.29943066e-03 -4.49485321e-04 9.99980057e-01 1.52765792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171400513 meters 0.07020937809923106 Centerline is valid? [True, True] Translation: X:29.52, Y:2.60, Z:0.15 [[ 9.99765067e-01 -2.07366598e-02 6.30878962e-03 2.95231119e+01] [ 2.07332116e-02 9.99784857e-01 6.11493392e-04 2.60209146e+00] [-6.32011265e-03 -4.80548263e-04 9.99979912e-01 1.51988962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201400513 meters 0.08453589629956292 Centerline is valid? [True, True] Translation: X:29.55, Y:2.62, Z:0.15 [[ 9.99815465e-01 -1.82978045e-02 5.85036340e-03 2.95509746e+01] [ 1.82947980e-02 9.99832475e-01 5.67012762e-04 2.62127662e+00] [-5.85975841e-03 -4.59876912e-04 9.99982726e-01 1.51729989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231400513 meters 0.07973983936969421 Centerline is valid? [True, True] Translation: X:29.58, Y:2.62, Z:0.15 [[ 9.99853665e-01 -1.63846719e-02 4.91854327e-03 2.95820211e+01] [ 1.63825240e-02 9.99865684e-01 4.76663087e-04 2.61707134e+00] [-4.92569260e-03 -3.96015181e-04 9.99987790e-01 1.49554242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261400512999998 meters 0.08700754233459951 Centerline is valid? [True, True] Translation: X:29.61, Y:2.63, Z:0.15 [[ 9.99877063e-01 -1.51851127e-02 3.90790525e-03 2.96108920e+01] [ 1.51837478e-02 9.99884649e-01 3.78688519e-04 2.62677736e+00] [-3.91320489e-03 -3.19305316e-04 9.99992292e-01 1.47873612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291400513 meters 0.08779530827736966 Centerline is valid? [True, True] Translation: X:29.64, Y:2.63, Z:0.15 [[ 9.99876668e-01 -1.53113864e-02 3.49423499e-03 2.96427096e+01] [ 1.53102965e-02 9.99882733e-01 3.38440335e-04 2.62870804e+00] [-3.49900723e-03 -2.84900821e-04 9.99993838e-01 1.46929836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321400513 meters 0.08005180650053725 Centerline is valid? [True, True] Translation: X:29.68, Y:2.62, Z:0.15 [[ 9.99859480e-01 -1.62770102e-02 4.00988805e-03 2.96753459e+01] [ 1.62755834e-02 9.99867469e-01 3.88187938e-04 2.62227789e+00] [-4.01567515e-03 -3.22870122e-04 9.99991885e-01 1.47581274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351400512999998 meters 0.08294290314954889 Centerline is valid? [True, True] Translation: X:29.71, Y:2.63, Z:0.15 [[ 9.99841218e-01 -1.72561706e-02 4.44559429e-03 2.97057740e+01] [ 1.72544273e-02 9.99851039e-01 4.30211121e-04 2.62883486e+00] [-4.45235586e-03 -3.53436628e-04 9.99990026e-01 1.47947557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381400513 meters 0.07464697532068165 Centerline is valid? [True, True] Translation: X:29.74, Y:2.62, Z:0.15 [[ 9.99823892e-01 -1.82231325e-02 4.48350750e-03 2.97379892e+01] [ 1.82213694e-02 9.99833883e-01 4.33776093e-04 2.62112727e+00] [-4.49066747e-03 -3.52004055e-04 9.99989855e-01 1.46929251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411400513 meters 0.07464697532068165 Centerline is valid? [True, True] Translation: X:29.77, Y:2.62, Z:0.15 [[ 9.99824739e-01 -1.81766381e-02 4.48351968e-03 2.97696149e+01] [ 1.81748751e-02 9.99834729e-01 4.33650136e-04 2.62410997e+00] [-4.49066099e-03 -3.52086724e-04 9.99989855e-01 1.46815589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441400512999998 meters 0.0826292166942129 Centerline is valid? [True, True] Translation: X:29.80, Y:2.64, Z:0.14 [[ 9.99812596e-01 -1.90340001e-02 3.53254885e-03 2.97993393e+01] [ 1.90329115e-02 9.99818799e-01 3.41540335e-04 2.63501138e+00] [-3.53840963e-03 -2.74241639e-04 9.99993702e-01 1.44914631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471400513 meters 0.07556950726512064 Centerline is valid? [True, True] Translation: X:29.83, Y:2.63, Z:0.14 [[ 9.99806758e-01 -1.94895479e-02 2.56986299e-03 2.98315919e+01] [ 1.94889733e-02 9.99810041e-01 2.48426445e-04 2.62681143e+00] [-2.57421654e-03 -1.98294447e-04 9.99996667e-01 1.43099923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501400513 meters 0.07839985967650222 Centerline is valid? [True, True] Translation: X:29.86, Y:2.63, Z:0.14 [[ 9.99766786e-01 -2.14183475e-02 2.76199296e-03 2.98611091e+01] [ 2.14176914e-02 9.99770579e-01 2.66911128e-04 2.62931526e+00] [-2.76707609e-03 -2.07693368e-04 9.99996150e-01 1.43321261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531400512999998 meters 0.08082978542259273 Centerline is valid? [True, True] Translation: X:29.89, Y:2.63, Z:0.14 [[ 9.99730818e-01 -2.29616231e-02 3.32503466e-03 2.98903523e+01] [ 2.29606808e-02 9.99736317e-01 3.21319225e-04 2.63379743e+00] [-3.33153592e-03 -2.44887672e-04 9.99994420e-01 1.43871949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561400513 meters 0.07315531809418309 Centerline is valid? [True, True] Translation: X:29.92, Y:2.63, Z:0.14 [[ 9.99683759e-01 -2.48540573e-02 3.82843725e-03 2.99221196e+01] [ 2.48528217e-02 9.99691052e-01 3.70009128e-04 2.62503128e+00] [-3.83645069e-03 -2.74744648e-04 9.99992603e-01 1.44782284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591400513 meters 0.07502013097005279 Centerline is valid? [True, True] Translation: X:29.95, Y:2.63, Z:0.15 [[ 9.99625234e-01 -2.70385768e-02 4.27865229e-03 2.99521491e+01] [ 2.70370535e-02 9.99634347e-01 4.13476942e-04 2.62650968e+00] [-4.28826761e-03 -2.97639834e-04 9.99990761e-01 1.45682543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621400512999998 meters 0.06450215461746957 Centerline is valid? [True, True] Translation: X:29.98, Y:2.61, Z:0.15 [[ 9.99530641e-01 -3.04098436e-02 3.70666535e-03 2.99847321e+01] [ 3.04087234e-02 9.99537484e-01 3.58206310e-04 2.60761838e+00] [-3.71584396e-03 -2.45323222e-04 9.99993066e-01 1.45572871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651400513 meters 0.06735245073285186 Centerline is valid? [True, True] Translation: X:30.01, Y:2.61, Z:0.14 [[ 9.99510480e-01 -3.11250859e-02 3.16681810e-03 3.00138670e+01] [ 3.11242718e-02 9.99515476e-01 3.06042782e-04 2.61020549e+00] [-3.17480931e-03 -2.07328061e-04 9.99994939e-01 1.44870390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681400513 meters 0.06284135094622147 Centerline is valid? [True, True] Translation: X:30.04, Y:2.60, Z:0.14 [[ 9.99507641e-01 -3.12412850e-02 2.90829640e-03 3.00442698e+01] [ 3.12405990e-02 9.99511854e-01 2.81004877e-04 2.60450967e+00] [-2.91565568e-03 -1.90009600e-04 9.99995731e-01 1.44369606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711400512999997 meters 0.0647813979339545 Centerline is valid? [True, True] Translation: X:30.07, Y:2.61, Z:0.14 [[ 9.99524805e-01 -3.06837502e-02 2.94468278e-03 3.00723833e+01] [ 3.06830443e-02 9.99529124e-01 2.84579382e-04 2.60654163e+00] [-2.95202816e-03 -1.94092319e-04 9.99995624e-01 1.44205088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741400513 meters 0.06455129331674656 Centerline is valid? [True, True] Translation: X:30.10, Y:2.61, Z:0.14 [[ 9.99560341e-01 -2.94418720e-02 3.50733871e-03 3.01024788e+01] [ 2.94408624e-02 9.99566466e-01 3.39131970e-04 2.60589345e+00] [-3.51580284e-03 -2.35723791e-04 9.99993792e-01 1.44763868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771400513 meters 0.06759815213285325 Centerline is valid? [True, True] Translation: X:30.13, Y:2.61, Z:0.15 [[ 9.99611286e-01 -2.75646874e-02 4.17900810e-03 3.01315563e+01] [ 2.75632374e-02 9.99619980e-01 4.04191336e-04 2.60928956e+00] [-4.18856140e-03 -2.88847229e-04 9.99991186e-01 1.45788442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801400512999997 meters 0.07238928046523206 Centerline is valid? [True, True] Translation: X:30.16, Y:2.61, Z:0.15 [[ 9.99738113e-01 -2.24293131e-02 4.54212047e-03 3.01603241e+01] [ 2.24275469e-02 9.99748374e-01 4.39414255e-04 2.61351544e+00] [-4.55083332e-03 -3.37430559e-04 9.99989588e-01 1.47269080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831400513 meters 0.0735390871810263 Centerline is valid? [True, True] Translation: X:30.19, Y:2.62, Z:0.15 [[ 9.99797904e-01 -1.96960127e-02 4.02709158e-03 3.01907060e+01] [ 1.96946021e-02 9.99805967e-01 3.89627796e-04 2.61738790e+00] [-4.03398431e-03 -3.10237087e-04 9.99991815e-01 1.46641173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861400513 meters 0.07428368323697263 Centerline is valid? [True, True] Translation: X:30.22, Y:2.62, Z:0.15 [[ 9.99848814e-01 -1.70185628e-02 3.56616818e-03 3.02207214e+01] [ 1.70174397e-02 9.99855133e-01 3.45026370e-04 2.62101669e+00] [-3.57152342e-03 -2.84287155e-04 9.99993582e-01 1.46345096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891400513 meters 0.08323570040483723 Centerline is valid? [True, True] Translation: X:30.25, Y:2.63, Z:0.15 [[ 9.99907463e-01 -1.28854868e-02 4.36241278e-03 3.02494911e+01] [ 1.28837673e-02 9.99916912e-01 4.22052085e-04 2.63128161e+00] [-4.36748866e-03 -3.65808718e-04 9.99990396e-01 1.46418125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921400513 meters 0.08986075235636522 Centerline is valid? [True, True] Translation: X:30.28, Y:2.64, Z:0.15 [[ 9.99916832e-01 -1.18834276e-02 5.01126023e-03 3.02782217e+01] [ 1.18811466e-02 9.99929299e-01 4.84690277e-04 2.64405082e+00] [-5.01666571e-03 -4.25110449e-04 9.99987326e-01 1.48033304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951400513 meters 0.08767350926093098 Centerline is valid? [True, True] Translation: X:30.31, Y:2.64, Z:0.15 [[ 9.99918347e-01 -1.15715564e-02 5.42201379e-03 3.03108646e+01] [ 1.15688832e-02 9.99932941e-01 5.24132357e-04 2.64371412e+00] [-5.42771522e-03 -4.61362916e-04 9.99985163e-01 1.48403856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981400513 meters 0.08704591804530022 Centerline is valid? [True, True] Translation: X:30.34, Y:2.65, Z:0.15 [[ 9.99917380e-01 -1.17490541e-02 5.21470782e-03 3.03434020e+01] [ 1.17465850e-02 9.99930880e-01 5.03865654e-04 2.64535428e+00] [-5.22026732e-03 -4.42569016e-04 9.99986276e-01 1.48434716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011400513 meters 0.08460501757467546 Centerline is valid? [True, True] Translation: X:30.38, Y:2.65, Z:0.15 [[ 9.99912081e-01 -1.23592807e-02 4.80397346e-03 3.03752957e+01] [ 1.23571932e-02 9.99923539e-01 4.63990292e-04 2.64514885e+00] [-4.80934073e-03 -4.04585871e-04 9.99988353e-01 1.47593656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041400513 meters 0.08057456411904382 Centerline is valid? [True, True] Translation: X:30.41, Y:2.64, Z:0.15 [[ 9.99907225e-01 -1.29561925e-02 4.20453050e-03 3.04070641e+01] [ 1.29545991e-02 9.99916003e-01 4.05972812e-04 2.64315279e+00] [-4.20943720e-03 -3.51467141e-04 9.99991079e-01 1.46358065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071400513 meters 0.07905262517793228 Centerline is valid? [True, True] Translation: X:30.44, Y:2.65, Z:0.14 [[ 9.99909166e-01 -1.32157930e-02 2.64634595e-03 3.04392149e+01] [ 1.32151628e-02 9.99912643e-01 2.55511388e-04 2.64611868e+00] [-2.64949156e-03 -2.20516286e-04 9.99996466e-01 1.44031640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101400513 meters 0.09348240280523538 Centerline is valid? [True, True] Translation: X:30.47, Y:2.66, Z:0.14 [[ 9.99925389e-01 -1.21305349e-02 1.43735872e-03 3.04672325e+01] [ 1.21303479e-02 9.99926415e-01 1.38783827e-04 2.66489565e+00] [-1.43893648e-03 -1.21337811e-04 9.99998957e-01 1.41276233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.131400512999996 meters 0.09066064798711249 Centerline is valid? [True, True] Translation: X:30.50, Y:2.67, Z:0.14 [[ 9.99939511e-01 -1.09764537e-02 7.01357118e-04 3.04973221e+01] [ 1.09764090e-02 9.99939755e-01 6.76115473e-05 2.66874858e+00] [-7.02057000e-04 -5.99090750e-05 9.99999752e-01 1.40088491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161400513 meters 0.09449322576549313 Centerline is valid? [True, True] Translation: X:30.53, Y:2.68, Z:0.14 [[ 9.99969409e-01 -7.81796438e-03 -2.44341588e-04 3.05257348e+01] [ 7.81795884e-03 9.99969439e-01 -2.35862517e-05 2.67795755e+00] [ 2.44518517e-04 2.16752777e-05 9.99999970e-01 1.38186553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191400513 meters 0.08670147152435059 Centerline is valid? [True, True] Translation: X:30.56, Y:2.67, Z:0.14 [[ 9.99980512e-01 -6.23950514e-03 -2.08688397e-04 3.05569303e+01] [ 6.23950107e-03 9.99980534e-01 -2.01304922e-05 2.67242697e+00] [ 2.08809939e-04 1.88279884e-05 9.99999978e-01 1.38825236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221400513 meters 0.0889008539219036 Centerline is valid? [True, True] Translation: X:30.59, Y:2.68, Z:0.14 [[ 9.99986941e-01 -5.11022640e-03 -5.93784311e-05 3.05867636e+01] [ 5.11022607e-03 9.99986943e-01 -5.72775995e-06 2.67930452e+00] [ 5.94069259e-05 5.42424795e-06 9.99999998e-01 1.39047582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251400513 meters 0.09270358828618812 Centerline is valid? [True, True] Translation: X:30.62, Y:2.69, Z:0.14 [[ 9.99989881e-01 -4.42052076e-03 8.34231392e-04 3.06159816e+01] [ 4.42045515e-03 9.99990227e-01 8.04715967e-05 2.68866990e+00] [-8.34578965e-04 -7.67831000e-05 9.99999649e-01 1.40140032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281400513 meters 0.08839698437173224 Centerline is valid? [True, True] Translation: X:30.65, Y:2.69, Z:0.14 [[ 9.99989743e-01 -4.12897055e-03 1.86132729e-03 3.06465273e+01] [ 4.12864344e-03 9.99991461e-01 1.79547282e-04 2.68819160e+00] [-1.86205274e-03 -1.71860684e-04 9.99998252e-01 1.41423558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311400513 meters 0.09528686228648997 Centerline is valid? [True, True] Translation: X:30.68, Y:2.70, Z:0.14 [[ 9.99983708e-01 -5.16116250e-03 2.43835193e-03 3.06761779e+01] [ 5.16060413e-03 9.99986656e-01 2.35233507e-04 2.70143748e+00] [-2.43953348e-03 -2.22646306e-04 9.99997000e-01 1.41385436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341400512999996 meters 0.08847156575044855 Centerline is valid? [True, True] Translation: X:30.71, Y:2.70, Z:0.14 [[ 9.99977693e-01 -6.42004398e-03 1.84311541e-03 3.07072071e+01] [ 6.41972717e-03 9.99979378e-01 1.77749016e-04 2.69631604e+00] [-1.84421856e-03 -1.65912753e-04 9.99998286e-01 1.39757969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371400513 meters 0.09306407219024594 Centerline is valid? [True, True] Translation: X:30.74, Y:2.71, Z:0.14 [[ 9.99968373e-01 -7.89434065e-03 9.65885900e-04 3.07362622e+01] [ 7.89425431e-03 9.99968836e-01 9.31679001e-05 2.70535320e+00] [-9.66591298e-04 -8.55400046e-05 9.99999529e-01 1.38136895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401400513 meters 0.08061764830545844 Centerline is valid? [True, True] Translation: X:30.77, Y:2.69, Z:0.14 [[ 9.99956445e-01 -9.33298414e-03 5.58631074e-05 3.07683646e+01] [ 9.33298385e-03 9.99956447e-01 5.42800161e-06 2.69442717e+00] [-5.59113338e-05 -4.90639572e-06 9.99999998e-01 1.36666701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431400513 meters 0.08554577265833695 Centerline is valid? [True, True] Translation: X:30.80, Y:2.70, Z:0.14 [[ 9.99944023e-01 -1.05743402e-02 -3.67506176e-04 3.07966263e+01] [ 1.05743278e-02 9.99944090e-01 -3.55262890e-05 2.70399870e+00] [ 3.67861296e-04 3.16381696e-05 9.99999932e-01 1.35702214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461400513 meters 0.09209464994860496 Centerline is valid? [True, True] Translation: X:30.82, Y:2.71, Z:0.14 [[ 9.99928751e-01 -1.19365908e-02 -1.03725975e-04 3.08248450e+01] [ 1.19365899e-02 9.99928756e-01 -1.00866802e-05 2.71462517e+00] [ 1.03838986e-04 8.84782711e-06 9.99999995e-01 1.35835450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491400513 meters 0.0767028210072401 Centerline is valid? [True, True] Translation: X:30.86, Y:2.70, Z:0.14 [[ 9.99880666e-01 -1.53491872e-02 1.74832839e-03 3.08571860e+01] [ 1.53489156e-02 9.99882184e-01 1.68665376e-04 2.69723310e+00] [-1.75071128e-03 -1.41810304e-04 9.99998457e-01 1.39664381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521400512999996 meters 0.08146802285690519 Centerline is valid? [True, True] Translation: X:30.89, Y:2.71, Z:0.14 [[ 9.99848390e-01 -1.71438367e-02 3.04724990e-03 3.08865806e+01] [ 1.71430199e-02 9.99853004e-01 2.93940137e-04 2.70604278e+00] [-3.05184123e-03 -2.41656507e-04 9.99995314e-01 1.41285387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551400513 meters 0.07548032634380311 Centerline is valid? [True, True] Translation: X:30.92, Y:2.70, Z:0.14 [[ 9.99822398e-01 -1.83837507e-02 4.14859711e-03 3.09179707e+01] [ 1.83822475e-02 9.99830952e-01 4.00170197e-04 2.70141008e+00] [-4.15525243e-03 -3.23838586e-04 9.99991314e-01 1.43060918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581400513 meters 0.07157636488662437 Centerline is valid? [True, True] Translation: X:30.95, Y:2.70, Z:0.14 [[ 9.99808787e-01 -1.88203629e-02 5.30879699e-03 3.09498937e+01] [ 1.88179081e-02 9.99822796e-01 5.11988402e-04 2.69878769e+00] [-5.31749206e-03 -4.11990049e-04 9.99985777e-01 1.44855179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611400513 meters 0.08012670931861694 Centerline is valid? [True, True] Translation: X:30.98, Y:2.71, Z:0.15 [[ 9.99817386e-01 -1.82915234e-02 5.53304239e-03 3.09802904e+01] [ 1.82888496e-02 9.99832603e-01 5.33457885e-04 2.70868540e+00] [-5.54187393e-03 -4.32167488e-04 9.99984550e-01 1.45590692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641400513 meters 0.08239540014910164 Centerline is valid? [True, True] Translation: X:31.01, Y:2.71, Z:0.14 [[ 9.99830287e-01 -1.76637011e-02 5.23354279e-03 3.10108583e+01] [ 1.76613012e-02 9.99843900e-01 5.04425688e-04 2.71271444e+00] [-5.24163586e-03 -4.11908905e-04 9.99986178e-01 1.44710297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671400513 meters 0.08078108597129154 Centerline is valid? [True, True] Translation: X:31.04, Y:2.71, Z:0.14 [[ 9.99846113e-01 -1.68737805e-02 4.79846444e-03 3.10424483e+01] [ 1.68717545e-02 9.99857555e-01 4.62389928e-04 2.71267957e+00] [-4.80558319e-03 -3.81360258e-04 9.99988380e-01 1.43929790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701400512999996 meters 0.08955632026593624 Centerline is valid? [True, True] Translation: X:31.07, Y:2.73, Z:0.14 [[ 9.99869791e-01 -1.54591498e-02 4.62764311e-03 3.10709985e+01] [ 1.54572509e-02 9.99880430e-01 4.45813693e-04 2.72599557e+00] [-4.63398169e-03 -3.74225004e-04 9.99989193e-01 1.43800251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731400513 meters 0.08687141820082417 Centerline is valid? [True, True] Translation: X:31.10, Y:2.73, Z:0.14 [[ 9.99897054e-01 -1.35358549e-02 4.76055741e-03 3.11019866e+01] [ 1.35338244e-02 9.99908308e-01 4.58485483e-04 2.72634230e+00] [-4.76632690e-03 -3.94009736e-04 9.99988563e-01 1.43887633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761400513 meters 0.08989768918872376 Centerline is valid? [True, True] Translation: X:31.13, Y:2.73, Z:0.14 [[ 9.99924433e-01 -1.10995832e-02 5.28474052e-03 3.11317863e+01] [ 1.10970472e-02 9.99938296e-01 5.08956441e-04 2.73358300e+00] [-5.29006364e-03 -4.50272965e-04 9.99985906e-01 1.44854909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791400513 meters 0.08615603216469805 Centerline is valid? [True, True] Translation: X:31.16, Y:2.73, Z:0.15 [[ 9.99959248e-01 -6.88967121e-03 5.83386605e-03 3.11628942e+01] [ 6.88650977e-03 9.99976130e-01 5.61827559e-04 2.73332202e+00] [-5.83759760e-03 -5.21629688e-04 9.99982825e-01 1.46144411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821400513 meters 0.0937349675280162 Centerline is valid? [True, True] Translation: X:31.19, Y:2.75, Z:0.15 [[ 9.99968128e-01 -5.32432786e-03 5.94927006e-03 3.11918392e+01] [ 5.32101323e-03 9.99985679e-01 5.72838463e-04 2.74556144e+00] [-5.95223484e-03 -5.41164061e-04 9.99982139e-01 1.46420023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851400513 meters 0.09432594484527757 Centerline is valid? [True, True] Translation: X:31.22, Y:2.75, Z:0.15 [[ 9.99973950e-01 -4.37963230e-03 5.73737434e-03 3.12222143e+01] [ 4.37653507e-03 9.99990270e-01 5.52277243e-04 2.74971126e+00] [-5.73973729e-03 -5.27153037e-04 9.99983389e-01 1.45763186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881400512999996 meters 0.0947273762133425 Centerline is valid? [True, True] Translation: X:31.25, Y:2.75, Z:0.14 [[ 9.99979903e-01 -3.57184757e-03 5.23784360e-03 3.12535514e+01] [ 3.56925569e-03 9.99993503e-01 5.04101260e-04 2.75338054e+00] [-5.23961014e-03 -4.85395926e-04 9.99986155e-01 1.44427343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.911400513 meters 0.09608150122326775 Centerline is valid? [True, True] Translation: X:31.29, Y:2.76, Z:0.14 [[ 9.99985409e-01 -2.85536055e-03 4.58572437e-03 3.12857383e+01] [ 2.85336710e-03 9.99995832e-01 4.41191475e-04 2.75815196e+00] [-4.58696502e-03 -4.28100283e-04 9.99989388e-01 1.43093264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941400513 meters 0.08960324478796602 Centerline is valid? [True, True] Translation: X:31.32, Y:2.75, Z:0.14 [[ 9.99992333e-01 -2.00662702e-03 3.36275326e-03 3.13178447e+01] [ 2.00555068e-03 9.99997937e-01 3.23418221e-04 2.75460594e+00] [-3.36339530e-03 -3.16671570e-04 9.99994294e-01 1.40463266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971400513 meters 0.08964348766883665 Centerline is valid? [True, True] Translation: X:31.35, Y:2.76, Z:0.14 [[ 9.99992960e-01 -2.20996350e-03 3.03255333e-03 3.13496286e+01] [ 2.20908924e-03 9.99997517e-01 2.91611358e-04 2.75884016e+00] [-3.03319025e-03 -2.84910124e-04 9.99995359e-01 1.39797704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001400513 meters 0.09321716664834023 Centerline is valid? [True, True] Translation: X:31.38, Y:2.77, Z:0.14 [[ 9.99991520e-01 -2.88223810e-03 2.94155611e-03 3.13796852e+01] [ 2.88141882e-03 9.99995809e-01 2.82717011e-04 2.76750928e+00] [-2.94235864e-03 -2.74238759e-04 9.99995634e-01 1.39691686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031400513 meters 0.08405071168381067 Centerline is valid? [True, True] Translation: X:31.41, Y:2.76, Z:0.14 [[ 9.99990035e-01 -3.62475048e-03 2.60611294e-03 3.14118795e+01] [ 3.62411004e-03 9.99993402e-01 2.50427455e-04 2.75925815e+00] [-2.60700349e-03 -2.40980119e-04 9.99996573e-01 1.39451331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061400513 meters 0.09283494482642937 Centerline is valid? [True, True] Translation: X:31.44, Y:2.77, Z:0.14 [[ 9.99986729e-01 -4.74011814e-03 2.01816025e-03 3.14413143e+01] [ 4.73973639e-03 9.99988749e-01 1.93900624e-04 2.77224296e+00] [-2.01905666e-03 -1.84332504e-04 9.99997945e-01 1.38318496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.091400512999996 meters 0.08429721857446712 Centerline is valid? [True, True] Translation: X:31.47, Y:2.76, Z:0.14 [[ 9.99981477e-01 -5.95214553e-03 1.27156012e-03 3.14733786e+01] [ 5.95199499e-03 9.99982279e-01 1.22143555e-04 2.76346682e+00] [-1.27226461e-03 -1.14572973e-04 9.99999184e-01 1.37250979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121400513 meters 0.07432389434569871 Centerline is valid? [True, True] Translation: X:31.51, Y:2.75, Z:0.14 [[ 9.99968189e-01 -7.83464612e-03 1.49668398e-03 3.15052644e+01] [ 7.83443969e-03 9.99969300e-01 1.43739080e-04 2.75490702e+00] [-1.49776417e-03 -1.32008827e-04 9.99998870e-01 1.37240151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151400513 meters 0.08174316511975026 Centerline is valid? [True, True] Translation: X:31.53, Y:2.77, Z:0.14 [[ 9.99968012e-01 -7.71592473e-03 2.10695741e-03 3.15343201e+01] [ 7.71551544e-03 9.99970215e-01 2.02319314e-04 2.76837450e+00] [-2.10845573e-03 -1.86056580e-04 9.99997760e-01 1.37397829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181400513 meters 0.09587809139151106 Centerline is valid? [True, True] Translation: X:31.56, Y:2.79, Z:0.14 [[ 9.99969375e-01 -7.35772455e-03 2.66715682e-03 3.15627904e+01] [ 7.35706752e-03 9.99972904e-01 2.56068262e-04 2.78943644e+00] [-2.66896863e-03 -2.36437967e-04 9.99996410e-01 1.37510499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211400513 meters 0.09112207171844758 Centerline is valid? [True, True] Translation: X:31.60, Y:2.79, Z:0.14 [[ 9.99973096e-01 -7.01702151e-03 2.13755286e-03 3.15951436e+01] [ 7.01659867e-03 9.99975362e-01 2.05252651e-04 2.78668098e+00] [-2.13894046e-03 -1.90248778e-04 9.99997694e-01 1.36886799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241400513 meters 0.09596631096491397 Centerline is valid? [True, True] Translation: X:31.62, Y:2.80, Z:0.13 [[ 9.99971555e-01 -7.51037248e-03 -6.96000125e-04 3.16247920e+01] [ 7.51032784e-03 9.99971795e-01 -6.67321167e-05 2.79549901e+00] [ 6.96481678e-04 6.15030294e-05 9.99999756e-01 1.33205721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.271400512999996 meters 0.09128666347563458 Centerline is valid? [True, True] Translation: X:31.66, Y:2.79, Z:0.13 [[ 9.99959077e-01 -8.84433734e-03 -1.90309020e-03 3.16554540e+01] [ 8.84400564e-03 9.99960874e-01 -1.82636253e-04 2.79334032e+00] [ 1.90463104e-03 1.65797839e-04 9.99998172e-01 1.31873158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301400513 meters 0.09128666347563458 Centerline is valid? [True, True] Translation: X:31.68, Y:2.80, Z:0.13 [[ 9.99957703e-01 -8.99837880e-03 -1.90301311e-03 3.16837479e+01] [ 8.99804587e-03 9.99959500e-01 -1.83438976e-04 2.79616398e+00] [ 1.90458669e-03 1.66307818e-04 9.99998172e-01 1.31771422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331400513 meters 0.09550460769972786 Centerline is valid? [True, True] Translation: X:31.71, Y:2.80, Z:0.13 [[ 9.99939767e-01 -1.07459490e-02 -2.23300777e-03 3.17124524e+01] [ 1.07454961e-02 9.99942242e-01 -2.14684515e-04 2.80476021e+00] [ 2.23518578e-03 1.90676807e-04 9.99997484e-01 1.30773546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361400513 meters 0.08864342937222455 Centerline is valid? [True, True] Translation: X:31.74, Y:2.80, Z:0.13 [[ 9.99917807e-01 -1.26408990e-02 -2.14152322e-03 3.17430937e+01] [ 1.26404869e-02 9.99920085e-01 -2.05865322e-04 2.79907185e+00] [ 2.14395441e-03 1.78778505e-04 9.99997686e-01 1.31051898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391400513 meters 0.08166496783038459 Centerline is valid? [True, True] Translation: X:31.77, Y:2.79, Z:0.13 [[ 9.99893377e-01 -1.45003527e-02 -1.72477175e-03 3.17739194e+01] [ 1.45000881e-02 9.99894854e-01 -1.65828351e-04 2.79296273e+00] [ 1.72699497e-03 1.40801327e-04 9.99998499e-01 1.31862067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421400513 meters 0.07954549427911238 Centerline is valid? [True, True] Translation: X:31.80, Y:2.79, Z:0.13 [[ 9.99866965e-01 -1.63043357e-02 -4.69392362e-04 3.18040365e+01] [ 1.63043163e-02 9.99867075e-01 -4.51633399e-05 2.79316993e+00] [ 4.70066326e-04 3.75042100e-05 9.99999889e-01 1.33607645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451400512999996 meters 0.07563954662292553 Centerline is valid? [True, True] Translation: X:31.83, Y:2.79, Z:0.14 [[ 9.99814137e-01 -1.91571955e-02 2.16627897e-03 3.18346370e+01] [ 1.91567890e-02 9.99816470e-01 2.08257857e-04 2.79357136e+00] [-2.16987103e-03 -1.66720200e-04 9.99997632e-01 1.37351343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481400513 meters 0.08172850048645774 Centerline is valid? [True, True] Translation: X:31.86, Y:2.80, Z:0.14 [[ 9.99786370e-01 -2.05028835e-02 2.61664151e-03 3.18635376e+01] [ 2.05022949e-02 9.99789774e-01 2.51579128e-04 2.80432685e+00] [-2.62124952e-03 -1.97878227e-04 9.99996545e-01 1.37442769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511400513 meters 0.07728053209433633 Centerline is valid? [True, True] Translation: X:31.89, Y:2.80, Z:0.14 [[ 9.99760193e-01 -2.17709529e-02 2.36265980e-03 3.18946236e+01] [ 2.17704765e-02 9.99762969e-01 2.27173382e-04 2.80164376e+00] [-2.36704556e-03 -1.75682675e-04 9.99997183e-01 1.36704752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541400513 meters 0.07201757720217818 Centerline is valid? [True, True] Translation: X:31.93, Y:2.80, Z:0.14 [[ 9.99726584e-01 -2.32798147e-02 2.19241097e-03 3.19253562e+01] [ 2.32794082e-02 9.99728976e-01 2.10750587e-04 2.79809279e+00] [-2.19672301e-03 -1.59654934e-04 9.99997574e-01 1.36677210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571400513 meters 0.07220179866964706 Centerline is valid? [True, True] Translation: X:31.95, Y:2.80, Z:0.14 [[ 9.99694082e-01 -2.46274046e-02 2.28776798e-03 3.19544651e+01] [ 2.46269655e-02 9.99696686e-01 2.19945282e-04 2.80148100e+00] [-2.29249075e-03 -1.63537213e-04 9.99997359e-01 1.36546717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601400513 meters 0.07291208454477485 Centerline is valid? [True, True] Translation: X:31.98, Y:2.81, Z:0.14 [[ 9.99667021e-01 -2.56508873e-02 2.80693721e-03 3.19837238e+01] [ 2.56502300e-02 9.99670942e-01 2.69922170e-04 2.80569822e+00] [-2.81293731e-03 -1.97833707e-04 9.99996024e-01 1.37631540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.631400512999996 meters 0.07610170487164282 Centerline is valid? [True, True] Translation: X:32.01, Y:2.81, Z:0.14 [[ 9.99644825e-01 -2.61118099e-02 5.32888754e-03 3.20129445e+01] [ 2.61094479e-02 9.99658959e-01 5.12334128e-04 2.81192100e+00] [-5.34044814e-03 -3.73017848e-04 9.99985670e-01 1.41970861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661400513 meters 0.07379073050906756 Centerline is valid? [True, True] Translation: X:32.04, Y:2.81, Z:0.14 [[ 9.99668460e-01 -2.50472919e-02 5.96690381e-03 3.20442627e+01] [ 2.50443117e-02 9.99686177e-01 5.73665319e-04 2.81178700e+00] [-5.97940003e-03 -4.24038127e-04 9.99982033e-01 1.42909683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691400513 meters 0.07779807458200229 Centerline is valid? [True, True] Translation: X:32.07, Y:2.82, Z:0.14 [[ 9.99713841e-01 -2.33531330e-02 5.18342759e-03 3.20730798e+01] [ 2.33508618e-02 9.99727207e-01 4.98270953e-04 2.82068452e+00] [-5.19364978e-03 -3.77090867e-04 9.99986442e-01 1.41578170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721400513 meters 0.07676902631123943 Centerline is valid? [True, True] Translation: X:32.10, Y:2.82, Z:0.14 [[ 9.99774997e-01 -2.09142566e-02 3.54236426e-03 3.21032598e+01] [ 2.09131806e-02 9.99781238e-01 3.40519358e-04 2.82467660e+00] [-3.54871103e-03 -2.66360636e-04 9.99993668e-01 1.38200039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751400513 meters 0.08350532549402322 Centerline is valid? [True, True] Translation: X:32.13, Y:2.84, Z:0.13 [[ 9.99835159e-01 -1.80923154e-02 1.52436707e-03 3.21313282e+01] [ 1.80921128e-02 9.99836314e-01 1.46597503e-04 2.83780649e+00] [-1.52676984e-03 -1.18994317e-04 9.99998827e-01 1.34131059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781400513 meters 0.08626537629967247 Centerline is valid? [True, True] Translation: X:32.16, Y:2.85, Z:0.13 [[ 9.99886498e-01 -1.50593181e-02 4.55667463e-04 3.21613190e+01] [ 1.50592997e-02 9.99886601e-01 4.37892070e-05 2.84516447e+00] [-4.56275227e-04 -3.69222039e-05 9.99999895e-01 1.32000008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811400513 meters 0.08126943690455961 Centerline is valid? [True, True] Translation: X:32.19, Y:2.84, Z:0.13 [[ 9.99950597e-01 -9.86348314e-03 1.23109455e-03 3.21917464e+01] [ 9.86334493e-03 9.99951349e-01 1.18284173e-04 2.84104832e+00] [-1.23220135e-03 -1.06135619e-04 9.99999235e-01 1.34346593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841400512999996 meters 0.09077669575190205 Centerline is valid? [True, True] Translation: X:32.22, Y:2.86, Z:0.14 [[ 9.99966505e-01 -7.93990780e-03 1.98674044e-03 3.22196366e+01] [ 7.93954405e-03 9.99968463e-01 1.90906004e-04 2.85624496e+00] [-1.98819356e-03 -1.75125796e-04 9.99998008e-01 1.35231299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871400513 meters 0.08778214259850282 Centerline is valid? [True, True] Translation: X:32.25, Y:2.86, Z:0.13 [[ 9.99975546e-01 -6.65922801e-03 2.13584859e-03 3.22505543e+01] [ 6.65880461e-03 9.99977809e-01 2.05286552e-04 2.85754449e+00] [-2.13716824e-03 -1.91059334e-04 9.99997698e-01 1.34906117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901400513 meters 0.09036213976763256 Centerline is valid? [True, True] Translation: X:32.28, Y:2.87, Z:0.13 [[ 9.99979491e-01 -6.38927370e-03 4.41375894e-04 3.22810136e+01] [ 6.38925555e-03 9.99979588e-01 4.25208202e-05 2.86626319e+00] [-4.41638561e-04 -3.96998848e-05 9.99999902e-01 1.30419083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931400513 meters 0.08463878661675099 Centerline is valid? [True, True] Translation: X:32.31, Y:2.86, Z:0.13 [[ 9.99976824e-01 -6.80517980e-03 2.02395331e-04 3.23122105e+01] [ 6.80517600e-03 9.99976844e-01 1.94424328e-05 2.86144532e+00] [-2.02522954e-04 -1.80646463e-05 9.99999979e-01 1.29871652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961400513 meters 0.09469670580217553 Centerline is valid? [True, True] Translation: X:32.34, Y:2.88, Z:0.13 [[ 9.99974100e-01 -7.14677802e-03 8.50718292e-04 3.23407159e+01] [ 7.14671104e-03 9.99974459e-01 8.17453937e-05 2.87581179e+00] [-8.51280779e-04 -7.56634386e-05 9.99999635e-01 1.30491709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991400513 meters 0.08470413870636363 Centerline is valid? [True, True] Translation: X:32.37, Y:2.87, Z:0.13 [[ 9.99969814e-01 -7.61798585e-03 1.52854800e-03 3.23721238e+01] [ 7.61777025e-03 9.99970974e-01 1.46821348e-04 2.86737302e+00] [-1.52962211e-03 -1.35172789e-04 9.99998821e-01 1.32118631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021400512999996 meters 0.08418147783884933 Centerline is valid? [True, True] Translation: X:32.40, Y:2.87, Z:0.13 [[ 9.99962863e-01 -8.30863659e-03 2.28904428e-03 3.24032727e+01] [ 8.30815481e-03 9.99965463e-01 2.19898553e-04 2.87210169e+00] [-2.29079227e-03 -2.00872652e-04 9.99997356e-01 1.32723238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051400513 meters 0.08549174720691512 Centerline is valid? [True, True] Translation: X:32.43, Y:2.88, Z:0.13 [[ 9.99955538e-01 -9.09539795e-03 2.48916334e-03 3.24328536e+01] [ 9.09483087e-03 9.99958613e-01 2.39046012e-04 2.87882337e+00] [-2.49123454e-03 -2.16396864e-04 9.99996873e-01 1.33057441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081400513 meters 0.08344509428642491 Centerline is valid? [True, True] Translation: X:32.46, Y:2.88, Z:0.13 [[ 9.99938184e-01 -1.11119439e-02 3.91083592e-04 3.24627084e+01] [ 1.11119301e-02 9.99938260e-01 3.75239057e-05 2.88299384e+00] [-3.91476410e-04 -3.31758926e-05 9.99999923e-01 1.31468944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111400513 meters 0.08102438997132212 Centerline is valid? [True, True] Translation: X:32.49, Y:2.88, Z:0.13 [[ 9.99924489e-01 -1.22552842e-02 -9.07995419e-04 3.24931818e+01] [ 1.22552101e-02 9.99924898e-01 -8.71919027e-05 2.88413648e+00] [ 9.08995788e-04 7.60576441e-05 9.99999584e-01 1.30715315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141400513 meters 0.08741478894848999 Centerline is valid? [True, True] Translation: X:32.52, Y:2.90, Z:0.13 [[ 9.99910227e-01 -1.33545792e-02 -1.09215784e-03 3.25208215e+01] [ 1.33544724e-02 9.99910820e-01 -1.05002792e-04 2.89667979e+00] [ 1.09346271e-03 9.04081734e-05 9.99999398e-01 1.30517132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171400513 meters 0.07949519110334811 Centerline is valid? [True, True] Translation: X:32.55, Y:2.89, Z:0.13 [[ 9.99893221e-01 -1.46131841e-02 -3.10498411e-05 3.25518615e+01] [ 1.46131840e-02 9.99893222e-01 -3.09435660e-06 2.88989567e+00] [ 3.10917440e-05 2.64028914e-06 1.00000000e+00 1.32654966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201400512999996 meters 0.07695625419865385 Centerline is valid? [True, True] Translation: X:32.58, Y:2.89, Z:0.14 [[ 9.99868738e-01 -1.60834487e-02 1.95687511e-03 3.25811745e+01] [ 1.60831114e-02 9.99870641e-01 1.87989195e-04 2.89411166e+00] [-1.95964548e-03 -1.56491878e-04 9.99998068e-01 1.35905060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231400513 meters 0.08095287314639063 Centerline is valid? [True, True] Translation: X:32.61, Y:2.90, Z:0.14 [[ 9.99812779e-01 -1.90915296e-02 3.14960547e-03 3.26103911e+01] [ 1.90906701e-02 9.99817711e-01 3.02703220e-04 2.90329146e+00] [-3.15481040e-03 -2.42518469e-04 9.99994994e-01 1.38412058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261400513 meters 0.07915260142520095 Centerline is valid? [True, True] Translation: X:32.64, Y:2.90, Z:0.14 [[ 9.99781429e-01 -2.07488432e-02 2.56490423e-03 3.26411875e+01] [ 2.07482787e-02 9.99784701e-01 2.46521813e-04 2.90441272e+00] [-2.56946706e-03 -1.93250582e-04 9.99996680e-01 1.37449142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291400513 meters 0.07915260142520095 Centerline is valid? [True, True] Translation: X:32.67, Y:2.91, Z:0.14 [[ 9.99781429e-01 -2.07488431e-02 2.56490804e-03 3.26711341e+01] [ 2.07482786e-02 9.99784701e-01 2.46482175e-04 2.90729055e+00] [-2.56947004e-03 -1.93210875e-04 9.99996680e-01 1.37341498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321400513 meters 0.07251274064866796 Centerline is valid? [True, True] Translation: X:32.70, Y:2.90, Z:0.14 [[ 9.99745241e-01 -2.24713107e-02 2.11953008e-03 3.27027277e+01] [ 2.24709291e-02 9.99747476e-01 2.03694991e-04 2.90280156e+00] [-2.12357214e-03 -1.56015287e-04 9.99997733e-01 1.36371297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351400513 meters 0.07214128397523015 Centerline is valid? [True, True] Translation: X:32.73, Y:2.91, Z:0.14 [[ 9.99697328e-01 -2.45210025e-02 1.99295448e-03 3.27323103e+01] [ 2.45206693e-02 9.99699305e-01 1.91494324e-04 2.90557273e+00] [-1.99705084e-03 -1.42567787e-04 9.99997996e-01 1.35358284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381400512999996 meters 0.07828813292704552 Centerline is valid? [True, True] Translation: X:32.76, Y:2.92, Z:0.14 [[ 9.99699964e-01 -2.44081799e-02 2.05482528e-03 3.27613159e+01] [ 2.44078254e-02 9.99702065e-01 1.97437852e-04 2.91521198e+00] [-2.05903218e-03 -1.47224797e-04 9.99997869e-01 1.35277651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411400513 meters 0.07239400235525545 Centerline is valid? [True, True] Translation: X:32.79, Y:2.91, Z:0.14 [[ 9.99717660e-01 -2.36808697e-02 1.95368813e-03 3.27927157e+01] [ 2.36805478e-02 9.99719559e-01 1.87758975e-04 2.91101569e+00] [-1.95758653e-03 -1.41441558e-04 9.99998074e-01 1.35801664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441400513 meters 0.07679707114725527 Centerline is valid? [True, True] Translation: X:32.82, Y:2.92, Z:0.14 [[ 9.99742767e-01 -2.25744281e-02 2.18990248e-03 3.28222356e+01] [ 2.25740210e-02 9.99745152e-01 2.10444550e-04 2.91780541e+00] [-2.19409506e-03 -1.60955512e-04 9.99997580e-01 1.36494499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471400513 meters 0.07207989267641447 Centerline is valid? [True, True] Translation: X:32.85, Y:2.92, Z:0.14 [[ 9.99780963e-01 -2.07913575e-02 2.39712207e-03 3.28524843e+01] [ 2.07908645e-02 9.99783820e-01 2.30389019e-04 2.91965579e+00] [-2.40139396e-03 -1.80500315e-04 9.99997100e-01 1.37625277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501400513 meters 0.08203745138329291 Centerline is valid? [True, True] Translation: X:32.88, Y:2.94, Z:0.14 [[ 9.99866315e-01 -1.58841807e-02 3.87869414e-03 3.28801495e+01] [ 1.58828530e-02 9.99873790e-01 3.72850685e-04 2.93807715e+00] [-3.88412704e-03 -3.11196112e-04 9.99992408e-01 1.39059111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531400513 meters 0.08586175046943835 Centerline is valid? [True, True] Translation: X:32.91, Y:2.95, Z:0.14 [[ 9.99897261e-01 -1.37191888e-02 4.15345042e-03 3.29091012e+01] [ 1.37176479e-02 9.99905829e-01 3.99255724e-04 2.94688046e+00] [-4.15853675e-03 -3.42239135e-04 9.99991295e-01 1.38978264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561400513 meters 0.08044235509717824 Centerline is valid? [True, True] Translation: X:32.94, Y:2.94, Z:0.14 [[ 9.99919003e-01 -1.21996761e-02 3.62701666e-03 3.29408253e+01] [ 1.21984910e-02 9.99925535e-01 3.48678905e-04 2.94486303e+00] [-3.63100034e-03 -3.04406533e-04 9.99993362e-01 1.38103577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.591400512999996 meters 0.08073044220722578 Centerline is valid? [True, True] Translation: X:32.97, Y:2.95, Z:0.14 [[ 9.99929082e-01 -1.16274865e-02 2.57524067e-03 3.29716659e+01] [ 1.16268873e-02 9.99932375e-01 2.47531713e-04 2.95044239e+00] [-2.57794469e-03 -2.17572125e-04 9.99996653e-01 1.36728997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621400513 meters 0.08708408910184437 Centerline is valid? [True, True] Translation: X:33.00, Y:2.96, Z:0.13 [[ 9.99920617e-01 -1.25284997e-02 1.34061619e-03 3.30011253e+01] [ 1.25283381e-02 9.99921509e-01 1.28842611e-04 2.96295800e+00] [-1.34212517e-03 -1.12036691e-04 9.99999093e-01 1.34723967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651400513 meters 0.08433545806545734 Centerline is valid? [True, True] Translation: X:33.03, Y:2.96, Z:0.13 [[ 9.99893193e-01 -1.45993724e-02 6.78775178e-04 3.30313862e+01] [ 1.45993315e-02 9.99893422e-01 6.52204839e-05 2.96304724e+00] [-6.79655014e-04 -5.53038541e-05 9.99999768e-01 1.33663239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681400513 meters 0.07381014671678518 Centerline is valid? [True, True] Translation: X:33.06, Y:2.95, Z:0.13 [[ 9.99754652e-01 -2.20715918e-02 1.86588305e-03 3.30639378e+01] [ 2.20712955e-02 9.99756383e-01 1.79257123e-04 2.94777619e+00] [-1.86938498e-03 -1.38030686e-04 9.99998243e-01 1.34166479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711400513 meters 0.0750344037991443 Centerline is valid? [True, True] Translation: X:33.09, Y:2.95, Z:0.13 [[ 9.99639724e-01 -2.67033817e-02 2.71147280e-03 3.30929901e+01] [ 2.67027729e-02 9.99643383e-01 2.60503915e-04 2.95224413e+00] [-2.71746218e-03 -1.88006219e-04 9.99996290e-01 1.34961974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741400513 meters 0.0678529591758605 Centerline is valid? [True, True] Translation: X:33.12, Y:2.94, Z:0.14 [[ 9.99518744e-01 -3.08755351e-02 2.99689185e-03 3.31247591e+01] [ 3.08748099e-02 9.99523218e-01 2.87954144e-04 2.94452405e+00] [-3.00435372e-03 -1.95287099e-04 9.99995468e-01 1.35435462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.771400512999996 meters 0.06060835859893564 Centerline is valid? [True, True] Translation: X:33.16, Y:2.94, Z:0.13 [[ 9.99389970e-01 -3.48249818e-02 2.62857944e-03 3.31562229e+01] [ 3.48244376e-02 9.99393413e-01 2.52543792e-04 2.93644661e+00] [-2.63577981e-03 -1.60850932e-04 9.99996513e-01 1.34750750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801400513 meters 0.055357139630976666 Centerline is valid? [True, True] Translation: X:33.19, Y:2.93, Z:0.13 [[ 9.99268504e-01 -3.82198501e-02 1.30349367e-03 3.31872853e+01] [ 3.82197191e-02 9.99269352e-01 1.25233417e-04 2.92852173e+00] [-1.30732768e-03 -7.53226471e-05 9.99999143e-01 1.32837329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831400513 meters 0.054796370437215525 Centerline is valid? [True, True] Translation: X:33.22, Y:2.93, Z:0.13 [[ 9.99152696e-01 -4.11546258e-02 4.31816999e-04 3.32171331e+01] [ 4.11546117e-02 9.99152789e-01 4.14396339e-05 2.92904793e+00] [-4.33156592e-04 -2.36332610e-05 9.99999906e-01 1.31473628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861400513 meters 0.04983220054278722 Centerline is valid? [True, True] Translation: X:33.25, Y:2.92, Z:0.13 [[ 9.99025574e-01 -4.41345553e-02 -2.07594886e-04 3.32489820e+01] [ 4.41345521e-02 9.99025596e-01 -2.00231972e-05 2.91610452e+00] [ 2.08276320e-04 1.08415788e-05 9.99999978e-01 1.31559755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891400513 meters 0.05531179213227406 Centerline is valid? [True, True] Translation: X:33.28, Y:2.92, Z:0.13 [[ 9.99017105e-01 -4.43255907e-02 -2.55472652e-04 3.32768127e+01] [ 4.43255858e-02 9.99017138e-01 -2.47850080e-05 2.91825760e+00] [ 2.56320168e-04 1.34366720e-05 9.99999967e-01 1.31540312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921400513 meters 0.058300927308430936 Centerline is valid? [True, True] Translation: X:33.30, Y:2.92, Z:0.13 [[ 9.99035231e-01 -4.39066247e-02 -9.03596119e-04 3.33045843e+01] [ 4.39065637e-02 9.99035638e-01 -8.71655181e-05 2.92401602e+00] [ 9.06551869e-04 4.74076228e-05 9.99999588e-01 1.30456000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951400512999996 meters 0.05575092933731589 Centerline is valid? [True, True] Translation: X:33.33, Y:2.92, Z:0.13 [[ 9.99077950e-01 -4.28901102e-02 -1.92058568e-03 3.33349701e+01] [ 4.28898336e-02 9.99079791e-01 -1.84956998e-04 2.91743419e+00] [ 1.92675116e-03 1.02412858e-04 9.99998139e-01 1.29001888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981400513 meters 0.05270725426178523 Centerline is valid? [True, True] Translation: X:33.37, Y:2.92, Z:0.13 [[ 9.99168331e-01 -4.07066634e-02 -2.36923130e-03 3.33650716e+01] [ 4.07062365e-02 9.99171132e-01 -2.28130246e-04 2.91616546e+00] [ 2.37655394e-03 1.31498028e-04 9.99997167e-01 1.28641768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011400513 meters 0.06074901885903843 Centerline is valid? [True, True] Translation: X:33.39, Y:2.92, Z:0.13 [[ 9.99440102e-01 -3.34329115e-02 -1.31286168e-03 3.33934453e+01] [ 3.34327743e-02 9.99440961e-01 -1.26304621e-04 2.92323791e+00] [ 1.31635047e-03 8.23412955e-05 9.99999130e-01 1.29653351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041400513 meters 0.06294400688046058 Centerline is valid? [True, True] Translation: X:33.42, Y:2.93, Z:0.13 [[ 9.99580229e-01 -2.89706407e-02 -2.59743995e-04 3.34232226e+01] [ 2.89706352e-02 9.99580263e-01 -2.50422697e-05 2.92641507e+00] [ 2.60360461e-04 1.75068092e-05 9.99999966e-01 1.31993418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071400513 meters 0.07026957564933141 Centerline is valid? [True, True] Translation: X:33.45, Y:2.94, Z:0.13 [[ 9.99700630e-01 -2.44578429e-02 6.81965125e-04 3.34512625e+01] [ 2.44578038e-02 9.99700861e-01 6.56360772e-05 2.93662641e+00] [-6.83366439e-04 -4.89370585e-05 9.99999765e-01 1.33301832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101400513 meters 0.07809532904035021 Centerline is valid? [True, True] Translation: X:33.48, Y:2.95, Z:0.13 [[ 9.99796473e-01 -2.01481211e-02 1.03259043e-03 3.34795158e+01] [ 2.01480291e-02 9.99797003e-01 9.93512292e-05 2.94794730e+00] [-1.03438256e-03 -7.85263464e-05 9.99999462e-01 1.33438942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.131400512999996 meters 0.08176053509282212 Centerline is valid? [True, True] Translation: X:33.51, Y:2.95, Z:0.13 [[ 9.99861958e-01 -1.66048965e-02 5.84587797e-04 3.35088289e+01] [ 1.66048664e-02 9.99862128e-01 5.62596003e-05 2.95457069e+00] [-5.85441384e-04 -4.65448318e-05 9.99999828e-01 1.32673605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161400513 meters 0.08514580996545668 Centerline is valid? [True, True] Translation: X:33.54, Y:2.96, Z:0.13 [[ 9.99901228e-01 -1.40503677e-02 3.47838294e-04 3.35375073e+01] [ 1.40503569e-02 9.99901288e-01 3.34246043e-05 2.96051447e+00] [-3.48273586e-04 -2.85340508e-05 9.99999939e-01 1.31615536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191400513 meters 0.07497718504585793 Centerline is valid? [True, True] Translation: X:33.57, Y:2.95, Z:0.13 [[ 9.99916197e-01 -1.29459260e-02 5.25171153e-05 3.35688991e+01] [ 1.29459258e-02 9.99916198e-01 5.01679510e-06 2.94946741e+00] [-5.25776613e-05 -4.33649200e-06 9.99999999e-01 1.31613551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221400513 meters 0.07497718504585793 Centerline is valid? [True, True] Translation: X:33.60, Y:2.95, Z:0.13 [[ 9.99915890e-01 -1.29695486e-02 5.25210543e-05 3.35980282e+01] [ 1.29695484e-02 9.99915892e-01 4.97591647e-06 2.95231076e+00] [-5.25811723e-05 -4.29432359e-06 9.99999999e-01 1.31508835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251400513 meters 0.08143806615217773 Centerline is valid? [True, True] Translation: X:33.63, Y:2.96, Z:0.13 [[ 9.99912717e-01 -1.32101961e-02 -2.22023636e-04 3.36260884e+01] [ 1.32101916e-02 9.99912741e-01 -2.15284436e-05 2.96131329e+00] [ 2.22288658e-04 1.85935897e-05 9.99999975e-01 1.30873459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281400513 meters 0.08411477624367833 Centerline is valid? [True, True] Translation: X:33.66, Y:2.96, Z:0.13 [[ 9.99860070e-01 -1.67165260e-02 6.31368696e-04 3.36559296e+01] [ 1.67164909e-02 9.99860268e-01 6.08533830e-05 2.96486658e+00] [-6.32297731e-04 -5.02905987e-05 9.99999799e-01 1.32060841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.311400512999995 meters 0.07598754941644249 Centerline is valid? [True, True] Translation: X:33.69, Y:2.96, Z:0.13 [[ 9.99812242e-01 -1.92897735e-02 1.84018794e-03 3.36876961e+01] [ 1.92894795e-02 9.99813925e-01 1.77403283e-04 2.95722533e+00] [-1.84326759e-03 -1.41873707e-04 9.99998291e-01 1.33638067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341400512999996 meters 0.07261050272728561 Centerline is valid? [True, True] Translation: X:33.72, Y:2.96, Z:0.14 [[ 9.99755145e-01 -2.18610624e-02 3.42701401e-03 3.37183107e+01] [ 2.18600578e-02 9.99760986e-01 3.30317935e-04 2.95506044e+00] [-3.43341601e-03 -2.55322330e-04 9.99994073e-01 1.35524557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371400513 meters 0.07074451980827333 Centerline is valid? [True, True] Translation: X:33.75, Y:2.95, Z:0.14 [[ 9.99696996e-01 -2.41127049e-02 4.94901001e-03 3.37495152e+01] [ 2.41106373e-02 9.99709183e-01 4.77029163e-04 2.95416891e+00] [-4.95907322e-03 -3.57560836e-04 9.99987640e-01 1.37265240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401400513 meters 0.06648104153721343 Centerline is valid? [True, True] Translation: X:33.78, Y:2.95, Z:0.14 [[ 9.99646085e-01 -2.59293385e-02 5.94757760e-03 3.37812993e+01] [ 2.59263844e-02 9.99663690e-01 5.73252813e-04 2.94910710e+00] [-5.96044144e-03 -4.18850747e-04 9.99982149e-01 1.38232729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431400513 meters 0.07712700982177102 Centerline is valid? [True, True] Translation: X:33.81, Y:2.96, Z:0.14 [[ 9.99602801e-01 -2.75480490e-02 5.94518310e-03 3.38097840e+01] [ 2.75451261e-02 9.99620397e-01 5.72980431e-04 2.95983978e+00] [-5.95871078e-03 -4.08992026e-04 9.99982163e-01 1.38940918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461400513 meters 0.07077594526625273 Centerline is valid? [True, True] Translation: X:33.84, Y:2.95, Z:0.14 [[ 9.99546123e-01 -2.96602034e-02 5.27452884e-03 3.38409605e+01] [ 2.96579321e-02 9.99559978e-01 5.08344614e-04 2.95313254e+00] [-5.28728553e-03 -3.51682270e-04 9.99985960e-01 1.37944990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491400513 meters 0.06505737581245023 Centerline is valid? [True, True] Translation: X:33.87, Y:2.95, Z:0.14 [[ 9.99541396e-01 -2.99705853e-02 4.33153486e-03 3.38717525e+01] [ 2.99690564e-02 9.99550740e-01 4.17461442e-04 2.94772825e+00] [-4.34210044e-03 -2.87457980e-04 9.99990532e-01 1.35834711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521400512999996 meters 0.06793671065893064 Centerline is valid? [True, True] Translation: X:33.90, Y:2.95, Z:0.13 [[ 9.99564335e-01 -2.94814991e-02 1.40793362e-03 3.38997931e+01] [ 2.94873158e-02 9.99555877e-01 -4.30668307e-03 2.95116893e+00] [-1.28034085e-03 4.34632298e-03 9.99989735e-01 1.32958413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551400513 meters 0.06266924863963616 Centerline is valid? [True, True] Translation: X:33.93, Y:2.94, Z:0.13 [[ 9.99523594e-01 -3.08401189e-02 1.21370515e-03 3.39317149e+01] [ 3.08343009e-02 9.99514148e-01 4.55128952e-03 2.93957759e+00] [-1.35347778e-03 -4.51169751e-03 9.99988906e-01 1.32488400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581400513 meters 0.06754590380015325 Centerline is valid? [True, True] Translation: X:33.96, Y:2.94, Z:0.13 [[ 9.99521437e-01 -3.09219594e-02 8.54218380e-04 3.39583431e+01] [ 3.09219003e-02 9.99521800e-01 8.22363495e-05 2.94315858e+00] [-8.56352802e-04 -5.57829386e-05 9.99999632e-01 1.31012244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611400513 meters 0.06827759913592632 Centerline is valid? [True, True] Translation: X:33.99, Y:2.95, Z:0.13 [[ 9.99528218e-01 -3.06803227e-02 1.43493079e-03 3.39861878e+01] [ 3.06801554e-02 9.99529244e-01 1.38510038e-04 2.94694886e+00] [-1.43850482e-03 -9.44207917e-05 9.99998961e-01 1.31857254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641400513 meters 0.07784454072769588 Centerline is valid? [True, True] Translation: X:34.01, Y:2.96, Z:0.13 [[ 9.99563421e-01 -2.92948382e-02 3.84454197e-03 3.40137342e+01] [ 2.92936243e-02 9.99570781e-01 3.71672003e-04 2.95657372e+00] [-3.85377989e-03 -2.58889171e-04 9.99992541e-01 1.34925607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671400513 meters 0.06660684701066531 Centerline is valid? [True, True] Translation: X:34.04, Y:2.94, Z:0.13 [[ 9.99603286e-01 -2.78282320e-02 4.34278513e-03 3.40446844e+01] [ 2.78266685e-02 9.99612675e-01 4.20039181e-04 2.94462293e+00] [-4.35279201e-03 -2.99027303e-04 9.99990482e-01 1.34948440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701400512999996 meters 0.07171127126295786 Centerline is valid? [True, True] Translation: X:34.07, Y:2.95, Z:0.13 [[ 9.99659600e-01 -2.57529202e-02 4.17982345e-03 3.40727789e+01] [ 2.57514534e-02 9.99668295e-01 4.04371536e-04 2.95292439e+00] [-4.18885072e-03 -2.96597359e-04 9.99991183e-01 1.33913394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731400513 meters 0.08055371455447356 Centerline is valid? [True, True] Translation: X:34.10, Y:2.96, Z:0.13 [[ 9.99740579e-01 -2.25519017e-02 3.19175038e-03 3.41016278e+01] [ 2.25510300e-02 9.99745645e-01 3.08841016e-04 2.96239423e+00] [-3.19790350e-03 -2.36783638e-04 9.99994859e-01 1.32390084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761400513 meters 0.07928056379061556 Centerline is valid? [True, True] Translation: X:34.13, Y:2.97, Z:0.13 [[ 9.99825296e-01 -1.84794179e-02 2.80864058e-03 3.41319312e+01] [ 1.84787268e-02 9.99829217e-01 2.71805437e-04 2.96758756e+00] [-2.81318372e-03 -2.19857849e-04 9.99996019e-01 1.31456856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791400513 meters 0.07872293363700197 Centerline is valid? [True, True] Translation: X:34.16, Y:2.97, Z:0.13 [[ 9.99909167e-01 -1.33318334e-02 1.97995107e-03 3.41624508e+01] [ 1.33314799e-02 9.99911114e-01 1.91604868e-04 2.97047507e+00] [-1.98232952e-03 -1.65191786e-04 9.99998022e-01 1.30156486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821400513 meters 0.08635592447056219 Centerline is valid? [True, True] Translation: X:34.19, Y:2.98, Z:0.13 [[ 9.99967375e-01 -7.97725696e-03 1.26991167e-03 3.41909631e+01] [ 7.97710732e-03 9.99968175e-01 1.22857259e-04 2.98388169e+00] [-1.27085132e-03 -1.12723029e-04 9.99999186e-01 1.29262864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851400513 meters 0.09836794542127263 Centerline is valid? [True, True] Translation: X:34.22, Y:3.00, Z:0.13 [[ 9.99994748e-01 -3.17468133e-03 6.51782384e-04 3.42191604e+01] [ 3.17464090e-03 9.99994959e-01 6.30572884e-05 2.99946410e+00] [-6.51979285e-04 -6.09877823e-05 9.99999786e-01 1.28348649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881400512999996 meters 0.09649465220129123 Centerline is valid? [True, True] Translation: X:34.25, Y:3.01, Z:0.13 [[ 9.99994135e-01 2.56555426e-03 2.26903165e-03 3.42488018e+01] [-2.56605914e-03 9.99996684e-01 2.19623066e-04 3.00518215e+00] [-2.26846067e-03 -2.25444247e-04 9.99997402e-01 1.30065782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.911400513 meters 0.10337368552870968 Centerline is valid? [True, False] Translation: X:34.31, Y:3.01, Z:0.13 [[ 9.99998264e-01 -6.87506298e-04 1.73157037e-03 3.43098366e+01] [ 6.82257136e-04 9.99995176e-01 3.03021465e-03 3.01190324e+00] [-1.73364531e-03 -3.02902802e-03 9.99993910e-01 1.33060908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941400513 meters 0.0947185774078333 Centerline is valid? [False, True] Translation: X:34.27, Y:3.01, Z:0.13 [[ 9.99996123e-01 -2.75608621e-03 3.98242547e-04 3.42661057e+01] [ 2.75501163e-03 9.99992629e-01 2.67412096e-03 3.00924881e+00] [-4.05609719e-04 -2.67301343e-03 9.99996345e-01 1.34994353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971400513 meters 0.09335311410373967 Centerline is valid? [True, True] Translation: X:34.30, Y:3.01, Z:0.14 [[ 9.99991241e-01 -3.97458043e-03 1.31155027e-03 3.42970350e+01] [ 3.97440722e-03 9.99992093e-01 1.34646113e-04 3.01392909e+00] [-1.31207506e-03 -1.29432299e-04 9.99999131e-01 1.35411645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001400513 meters 0.0918107088654366 Centerline is valid? [True, True] Translation: X:34.33, Y:3.02, Z:0.13 [[ 9.99982471e-01 -5.85860790e-03 8.56526846e-04 3.43279211e+01] [ 5.85853471e-03 9.99982835e-01 8.79347712e-05 3.01602500e+00] [-8.57027319e-04 -8.29152375e-05 9.99999629e-01 1.34680009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031400513 meters 0.09416266474421951 Centerline is valid? [True, True] Translation: X:34.36, Y:3.02, Z:0.13 [[ 9.99967029e-01 -8.11466654e-03 -3.05408738e-04 3.43570618e+01] [ 8.11465733e-03 9.99967075e-01 -3.13530305e-05 3.02261588e+00] [ 3.05653102e-04 2.88737095e-05 9.99999953e-01 1.33512882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061400512999995 meters 0.08707341589977259 Centerline is valid? [True, True] Translation: X:34.39, Y:3.02, Z:0.13 [[ 9.99909615e-01 -1.32528399e-02 -2.26376356e-03 3.43881188e+01] [ 1.32523474e-02 9.99912157e-01 -2.32441606e-04 3.01713325e+00] [ 2.26664521e-03 2.02420416e-04 9.99997411e-01 1.30717551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.091400512999996 meters 0.08001894713531678 Centerline is valid? [True, True] Translation: X:34.42, Y:3.01, Z:0.13 [[ 9.99864419e-01 -1.63427804e-02 -2.01433087e-03 3.44186484e+01] [ 1.63423966e-02 9.99866433e-01 -2.06862103e-04 3.01064578e+00] [ 2.01744252e-03 1.73915062e-04 9.99997950e-01 1.31010051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121400513 meters 0.07810820976494763 Centerline is valid? [True, True] Translation: X:34.45, Y:3.01, Z:0.13 [[ 9.99803702e-01 -1.97555859e-02 -1.50818436e-03 3.44495252e+01] [ 1.97553745e-02 9.99804832e-01 -1.54886137e-04 3.00978573e+00] [ 1.51094988e-03 1.25060987e-04 9.99998851e-01 1.31684329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151400513 meters 0.07533773039935791 Centerline is valid? [True, True] Translation: X:34.48, Y:3.01, Z:0.13 [[ 9.99721577e-01 -2.35865065e-02 -6.67673085e-04 3.44800374e+01] [ 2.35864660e-02 9.99721798e-01 -6.85697560e-05 3.00706765e+00] [ 6.69104658e-04 5.28026161e-05 9.99999775e-01 1.32759892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181400513 meters 0.07602589207165304 Centerline is valid? [True, True] Translation: X:34.51, Y:3.01, Z:0.13 [[ 9.99618676e-01 -2.76132721e-02 -1.02452484e-04 3.45094290e+01] [ 2.76132712e-02 9.99618681e-01 -1.05187488e-05 3.00780881e+00] [ 1.02703874e-04 7.68568950e-06 9.99999995e-01 1.33707879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211400513 meters 0.06765881595042315 Centerline is valid? [True, True] Translation: X:34.54, Y:2.99, Z:0.14 [[ 9.99327921e-01 -3.66287928e-02 1.42738899e-03 3.45418899e+01] [ 3.66286206e-02 9.99328936e-01 1.46650757e-04 2.99314850e+00] [-1.43180277e-03 -9.42689065e-05 9.99998971e-01 1.35988717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241400513 meters 0.05980697108955573 Centerline is valid? [True, True] Translation: X:34.57, Y:2.98, Z:0.14 [[ 9.99163141e-01 -4.08457167e-02 2.15515944e-03 3.45726515e+01] [ 4.08453336e-02 9.99165457e-01 2.21461818e-04 2.98337604e+00] [-2.16240663e-03 -1.33248279e-04 9.99997653e-01 1.36907450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.271400512999996 meters 0.059645005921898565 Centerline is valid? [True, True] Translation: X:34.60, Y:2.98, Z:0.14 [[ 9.99021605e-01 -4.41129186e-02 3.14379602e-03 3.46020682e+01] [ 4.41121196e-02 9.99026534e-01 3.23089361e-04 2.98308288e+00] [-3.15498806e-03 -1.84093746e-04 9.99995006e-01 1.37589829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301400513 meters 0.059330110606988805 Centerline is valid? [True, True] Translation: X:34.63, Y:2.98, Z:0.14 [[ 9.98920976e-01 -4.63038117e-02 3.58335514e-03 3.46316182e+01] [ 4.63027873e-02 9.98927383e-01 3.68347200e-04 2.98237238e+00] [-3.59656745e-03 -2.02030414e-04 9.99993512e-01 1.38230896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331400513 meters 0.05643835383126491 Centerline is valid? [True, True] Translation: X:34.66, Y:2.98, Z:0.14 [[ 9.98839924e-01 -4.80022433e-02 3.81978008e-03 3.46625153e+01] [ 4.80010912e-02 9.98847206e-01 3.92769918e-04 2.97784095e+00] [-3.83423050e-03 -2.08960663e-04 9.99992627e-01 1.38318815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361400513 meters 0.05542532072268207 Centerline is valid? [True, True] Translation: X:34.69, Y:2.98, Z:0.14 [[ 9.98764646e-01 -4.95217941e-02 4.09547578e-03 3.46928787e+01] [ 4.95204823e-02 9.98773019e-01 4.21155260e-04 2.97533850e+00] [-4.11130707e-03 -2.17825048e-04 9.99991525e-01 1.39242347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391400513 meters 0.05191144883361957 Centerline is valid? [True, True] Translation: X:34.72, Y:2.97, Z:0.14 [[ 9.98680523e-01 -5.11613414e-02 4.44180789e-03 3.47235405e+01] [ 5.11598142e-02 9.98690375e-01 4.56820956e-04 2.97021282e+00] [-4.45936236e-03 -2.28976124e-04 9.99990031e-01 1.39919343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421400513 meters 0.05476902908996356 Centerline is valid? [True, True] Translation: X:34.75, Y:2.97, Z:0.14 [[ 9.98609965e-01 -5.25240451e-02 4.40020759e-03 3.47510639e+01] [ 5.25225584e-02 9.98619635e-01 4.52815085e-04 2.97399342e+00] [-4.41791738e-03 -2.21075496e-04 9.99990217e-01 1.40536230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.451400512999996 meters 0.051407740986144944 Centerline is valid? [True, True] Translation: X:34.78, Y:2.97, Z:0.14 [[ 9.98567729e-01 -5.33679008e-02 3.78903560e-03 3.47805127e+01] [ 5.33668020e-02 9.98574900e-01 3.90575453e-04 2.97096370e+00] [-3.80448004e-03 -1.87807330e-04 9.99992745e-01 1.39167083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481400513 meters 0.04701822075401119 Centerline is valid? [True, True] Translation: X:34.81, Y:2.97, Z:0.14 [[ 9.98529157e-01 -5.41887325e-02 1.76158890e-03 3.48097543e+01] [ 5.41884957e-02 9.98530708e-01 1.81916261e-04 2.96515826e+00] [-1.76885842e-03 -8.61908387e-05 9.99998432e-01 1.35306525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511400513 meters 0.055624177058942056 Centerline is valid? [True, True] Translation: X:34.84, Y:2.98, Z:0.13 [[ 9.98507556e-01 -5.46061803e-02 9.08568306e-04 3.48368025e+01] [ 5.46061174e-02 9.98507968e-01 9.39067929e-05 2.97669245e+00] [-9.12340584e-04 -4.41532547e-05 9.99999583e-01 1.33907539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541400513 meters 0.0496481250114553 Centerline is valid? [True, True] Translation: X:34.87, Y:2.97, Z:0.13 [[ 9.98472055e-01 -5.52589932e-02 1.64500487e-06 3.48661220e+01] [ 5.52589932e-02 9.98472055e-01 2.42363760e-07 2.97048465e+00] [-1.65588417e-06 -1.51092128e-07 1.00000000e+00 1.32912301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571400513 meters 0.04860078961649657 Centerline is valid? [True, True] Translation: X:34.89, Y:2.97, Z:0.13 [[ 9.98422181e-01 -5.61527102e-02 1.44096656e-04 3.48948163e+01] [ 5.61527086e-02 9.98422192e-01 1.50054628e-05 2.97042774e+00] [-1.44711896e-04 -6.89036932e-06 9.99999990e-01 1.33685157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601400513 meters 0.04730307571575031 Centerline is valid? [True, True] Translation: X:34.92, Y:2.97, Z:0.14 [[ 9.98355241e-01 -5.73220573e-02 9.96928583e-04 3.49235305e+01] [ 5.73219824e-02 9.98355738e-01 1.03547236e-04 2.97125688e+00] [-1.00122491e-03 -4.62310034e-05 9.99999498e-01 1.35321421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.631400512999996 meters 0.04577427149896422 Centerline is valid? [True, True] Translation: X:34.95, Y:2.97, Z:0.14 [[ 9.98278231e-01 -5.86179396e-02 2.12365102e-03 3.49529587e+01] [ 5.86176026e-02 9.98280486e-01 2.20629851e-04 2.97247668e+00] [-2.13293224e-03 -9.57666456e-05 9.99997721e-01 1.36631017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661400513 meters 0.04319501016772131 Centerline is valid? [True, True] Translation: X:34.98, Y:2.97, Z:0.14 [[ 9.98082876e-01 -6.18689900e-02 1.67366422e-03 3.49822367e+01] [ 6.18687852e-02 9.98084277e-01 1.73900237e-04 2.97295036e+00] [-1.68121697e-03 -7.00192765e-05 9.99998584e-01 1.35603660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691400513 meters 0.03864615304800459 Centerline is valid? [True, True] Translation: X:35.01, Y:2.97, Z:0.13 [[ 9.97954342e-01 -6.39255973e-02 8.05343552e-04 3.50127441e+01] [ 6.39255505e-02 9.97954667e-01 8.36882524e-05 2.97051639e+00] [-8.09046177e-04 -3.20350250e-05 9.99999672e-01 1.34350323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721400513 meters 0.03643443500653487 Centerline is valid? [True, True] Translation: X:35.04, Y:2.97, Z:0.13 [[ 9.97817195e-01 -6.60354104e-02 4.12880096e-04 3.50422265e+01] [ 6.60353982e-02 9.97817280e-01 4.30364425e-05 2.97022811e+00] [-4.14820824e-04 -1.56778007e-05 9.99999914e-01 1.34079493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751400513 meters 0.03768930051792387 Centerline is valid? [True, True] Translation: X:35.07, Y:2.97, Z:0.13 [[ 9.97677602e-01 -6.81121819e-02 3.63723803e-04 3.50699558e+01] [ 6.81121726e-02 9.97677669e-01 3.78992075e-05 2.97408920e+00] [-3.65460514e-04 -1.30371720e-05 9.99999933e-01 1.34437882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781400513 meters 0.03654579729602504 Centerline is valid? [True, True] Translation: X:35.10, Y:2.98, Z:0.14 [[ 9.97533129e-01 -7.01903159e-02 9.88083514e-04 3.50980347e+01] [ 7.01902483e-02 9.97533618e-01 1.02966111e-04 2.97552623e+00] [-9.92873746e-04 -3.33582792e-05 9.99999507e-01 1.35926378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.811400512999995 meters 0.03456253018010865 Centerline is valid? [True, True] Translation: X:35.13, Y:2.98, Z:0.14 [[ 9.97388316e-01 -7.21951559e-02 2.09909071e-03 3.51267862e+01] [ 7.21948552e-02 9.97390523e-01 2.18804008e-04 2.97664737e+00] [-2.10940977e-03 -6.66890112e-05 9.99997773e-01 1.38210675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841400512999996 meters 0.030748428762717692 Centerline is valid? [True, True] Translation: X:35.16, Y:2.98, Z:0.14 [[ 9.97070852e-01 -7.63657471e-02 4.24140333e-03 3.51563469e+01] [ 7.63645565e-02 9.97079866e-01 4.42178901e-04 2.97613783e+00] [-4.26278518e-03 -1.16990809e-04 9.99990907e-01 1.41925046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871400513 meters 0.027917043390528213 Centerline is valid? [True, True] Translation: X:35.19, Y:2.98, Z:0.14 [[ 9.96890905e-01 -7.85974996e-02 5.56379427e-03 3.51852991e+01] [ 7.85954804e-02 9.96906421e-01 5.80987111e-04 2.97551012e+00] [-5.59224637e-03 -1.41891684e-04 9.99984353e-01 1.43541743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901400513 meters 0.026826655327154347 Centerline is valid? [True, True] Translation: X:35.21, Y:2.98, Z:0.15 [[ 9.96711577e-01 -8.07495611e-02 6.74844155e-03 3.52131625e+01] [ 8.07466375e-02 9.96734410e-01 7.05018703e-04 2.97711579e+00] [-6.78333386e-03 -1.57786339e-04 9.99976980e-01 1.45208517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931400513 meters 0.02293179082697764 Centerline is valid? [True, True] Translation: X:35.24, Y:2.98, Z:0.15 [[ 9.96565080e-01 -8.24554401e-02 7.69041701e-03 3.52420424e+01] [ 8.24516838e-02 9.96594738e-01 8.04761106e-04 2.97535628e+00] [-7.73058606e-03 -1.67908984e-04 9.99970104e-01 1.45017422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961400513 meters 0.022080571760290203 Centerline is valid? [True, True] Translation: X:35.27, Y:2.98, Z:0.15 [[ 9.96456232e-01 -8.37394606e-02 7.91712109e-03 3.52712332e+01] [ 8.37355103e-02 9.96487670e-01 8.29703688e-04 2.97789450e+00] [-7.95879248e-03 -1.63819237e-04 9.99968315e-01 1.45367323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991400513 meters 0.024897761301821038 Centerline is valid? [True, True] Translation: X:35.30, Y:2.98, Z:0.14 [[ 9.96378034e-01 -8.47411808e-02 7.05301126e-03 3.53005125e+01] [ 8.47380620e-02 9.96402987e-01 7.40389992e-04 2.97856739e+00] [-7.09038301e-03 -1.40049819e-04 9.99974853e-01 1.43442430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021400512999996 meters 0.022607876651222457 Centerline is valid? [True, True] Translation: X:35.33, Y:2.99, Z:0.14 [[ 9.96330919e-01 -8.53775031e-02 5.94822975e-03 3.53278849e+01] [ 8.53752942e-02 9.96348668e-01 6.24744914e-04 2.98597456e+00] [-5.97984995e-03 -1.14620810e-04 9.99982114e-01 1.44244081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051400513 meters 0.020528061837407508 Centerline is valid? [True, True] Translation: X:35.36, Y:2.99, Z:0.14 [[ 9.96151765e-01 -8.75075588e-02 4.90795380e-03 3.53568843e+01] [ 8.75060767e-02 9.96163852e-01 5.16318294e-04 2.98837185e+00] [-4.93430791e-03 -8.48555981e-05 9.99987823e-01 1.43069565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081400513 meters 0.018028034132032977 Centerline is valid? [True, True] Translation: X:35.39, Y:2.99, Z:0.14 [[ 9.96020744e-01 -8.89308646e-02 5.82918618e-03 3.53860479e+01] [ 8.89287927e-02 9.96037797e-01 6.14188546e-04 2.98916311e+00] [-5.86071008e-03 -9.33620433e-05 9.99982822e-01 1.43882949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111400513 meters 0.018028034132032977 Centerline is valid? [True, True] Translation: X:35.41, Y:2.99, Z:0.14 [[ 9.96004075e-01 -8.91173601e-02 5.82906999e-03 3.54134110e+01] [ 8.91152850e-02 9.96021128e-01 6.15290421e-04 2.99220150e+00] [-5.86070992e-03 -9.33725337e-05 9.99982822e-01 1.43895412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141400513 meters 0.01769559912159438 Centerline is valid? [True, True] Translation: X:35.44, Y:3.00, Z:0.15 [[ 9.95832999e-01 -9.08905581e-02 7.45282867e-03 3.54413176e+01] [ 9.08872127e-02 9.95860881e-01 7.87042454e-04 2.99543993e+00] [-7.49351526e-03 -1.06396023e-04 9.99971918e-01 1.46679449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171400513 meters 0.014781569842919728 Centerline is valid? [True, True] Translation: X:35.47, Y:3.00, Z:0.15 [[ 9.95645544e-01 -9.28209676e-02 8.61500980e-03 3.54703807e+01] [ 9.28165567e-02 9.95682809e-01 9.11277539e-04 2.99528369e+00] [-8.66240282e-03 -1.07693876e-04 9.99962475e-01 1.47287890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201400512999996 meters 0.013577820736069886 Centerline is valid? [True, True] Translation: X:35.50, Y:3.00, Z:0.15 [[ 9.95459500e-01 -9.47529719e-02 9.06967508e-03 3.54978692e+01] [ 9.47481588e-02 9.95500811e-01 9.59863087e-04 2.99670962e+00] [-9.11981878e-03 -9.61698132e-05 9.99958409e-01 1.48260300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231400513 meters 0.011867527081131951 Centerline is valid? [True, True] Translation: X:35.53, Y:3.00, Z:0.15 [[ 9.95229480e-01 -9.71333709e-02 9.13186018e-03 3.55269484e+01] [ 9.71285771e-02 9.95271371e-01 9.68037569e-04 2.99733416e+00] [-9.18270776e-03 -7.64549406e-05 9.99957835e-01 1.48142926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261400513 meters 0.008885972096799604 Centerline is valid? [True, True] Translation: X:35.56, Y:2.99, Z:0.15 [[ 9.94637380e-01 -1.02948315e-01 9.90585510e-03 3.55560648e+01] [ 1.02942946e-01 9.94686706e-01 1.05177385e-03 2.99333653e+00] [-9.96150073e-03 -2.63956829e-05 9.99950383e-01 1.48143519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291400513 meters 0.008454774577040242 Centerline is valid? [True, True] Translation: X:35.58, Y:2.99, Z:0.15 [[ 9.94295493e-01 -1.06183259e-01 1.00791270e-02 3.55846377e+01] [ 1.06177846e-01 9.94346577e-01 1.07215919e-03 2.99289900e+00] [-1.01359908e-02 4.13694199e-06 9.99948630e-01 1.47847039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321400513 meters 0.009164241030507886 Centerline is valid? [True, True] Translation: X:35.61, Y:2.99, Z:0.15 [[ 9.93998662e-01 -1.08954473e-01 9.77669040e-03 3.56122824e+01] [ 1.08949507e-01 9.94046740e-01 1.04077751e-03 2.99242177e+00] [-9.83188459e-03 3.06341411e-05 9.99951665e-01 1.48352328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351400513 meters 0.009588124629175389 Centerline is valid? [True, True] Translation: X:35.64, Y:2.99, Z:0.15 [[ 9.93755912e-01 -1.11195964e-01 9.20025399e-03 3.56400821e+01] [ 1.11191645e-01 9.93798498e-01 9.81252870e-04 2.99313750e+00] [-9.25230996e-03 4.78655346e-05 9.99957195e-01 1.46679756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381400512999996 meters 0.010786814441018007 Centerline is valid? [True, True] Translation: X:35.67, Y:2.99, Z:0.15 [[ 9.93597536e-01 -1.12673333e-01 8.28589277e-03 3.56673197e+01] [ 1.12669876e-01 9.93632083e-01 8.84390541e-04 2.99370779e+00] [-8.33277612e-03 5.48422449e-05 9.99965280e-01 1.46379313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.411400513 meters 0.010818415853025207 Centerline is valid? [True, True] Translation: X:35.70, Y:3.00, Z:0.14 [[ 9.93475070e-01 -1.13806010e-01 7.44826895e-03 3.56953177e+01] [ 1.13803237e-01 9.93502989e-01 7.96484973e-04 2.99637315e+00] [-7.49052224e-03 5.63491531e-05 9.99971944e-01 1.44789620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441400513 meters 0.01227226320590179 Centerline is valid? [True, True] Translation: X:35.72, Y:3.00, Z:0.15 [[ 9.93300985e-01 -1.15272116e-01 8.09273958e-03 3.57226592e+01] [ 1.15268887e-01 9.93333949e-01 8.65924868e-04 2.99775332e+00] [-8.13860996e-03 7.27170598e-05 9.99966878e-01 1.46037479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471400513 meters 0.013485123134425089 Centerline is valid? [True, True] Translation: X:35.75, Y:3.00, Z:0.15 [[ 9.93197948e-01 -1.16110413e-01 8.72975758e-03 3.57505245e+01] [ 1.16106683e-01 9.93236309e-01 9.34592344e-04 3.00014921e+00] [-8.77922809e-03 8.53480014e-05 9.99961458e-01 1.47114429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501400513 meters 0.013997319716518452 Centerline is valid? [True, True] Translation: X:35.78, Y:3.00, Z:0.15 [[ 9.93084053e-01 -1.17088727e-01 8.61937108e-03 3.57788524e+01] [ 1.17085115e-01 9.93121454e-01 9.24241283e-04 3.00358386e+00] [-8.66830057e-03 9.13507735e-05 9.99962425e-01 1.46049998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531400513 meters 0.014274429876387358 Centerline is valid? [True, True] Translation: X:35.81, Y:3.01, Z:0.14 [[ 9.92972417e-01 -1.18057372e-01 8.26054296e-03 3.58074519e+01] [ 1.18054076e-01 9.93006771e-01 8.87153946e-04 3.00700079e+00] [-8.30751016e-03 9.42713701e-05 9.99965488e-01 1.44467381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561400512999995 meters 0.01538458099653173 Centerline is valid? [True, True] Translation: X:35.83, Y:3.01, Z:0.15 [[ 9.92928042e-01 -1.18431759e-01 8.23535198e-03 3.58347472e+01] [ 1.18428493e-01 9.92962189e-01 8.84891696e-04 3.00921630e+00] [-8.28219241e-03 9.66665439e-05 9.99965697e-01 1.45044172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.591400512999996 meters 0.014568403058796595 Centerline is valid? [True, True] Translation: X:35.86, Y:3.01, Z:0.15 [[ 9.92954894e-01 -1.18146797e-01 9.05057871e-03 3.58627906e+01] [ 1.18142824e-01 9.92996135e-01 9.74254204e-04 3.01489297e+00] [-9.10229469e-03 1.01870444e-04 9.99958568e-01 1.46183682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621400513 meters 0.012080101579667355 Centerline is valid? [True, True] Translation: X:35.89, Y:3.03, Z:0.15 [[ 9.93328275e-01 -1.14626163e-01 1.26404476e-02 3.58899613e+01] [ 1.14618101e-01 9.93408694e-01 1.36279550e-03 3.02866315e+00] [-1.27133426e-02 9.51208064e-05 9.99919178e-01 1.52418752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651400513 meters 0.010871041176036688 Centerline is valid? [True, True] Translation: X:35.92, Y:3.04, Z:0.15 [[ 9.93551672e-01 -1.12656437e-01 1.27907381e-02 3.59181769e+01] [ 1.12647990e-01 9.93633998e-01 1.38118651e-03 3.03806110e+00] [-1.28649118e-02 6.85707717e-05 9.99917241e-01 1.52617761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681400513 meters 0.009800795960698144 Centerline is valid? [True, True] Translation: X:35.95, Y:3.05, Z:0.15 [[ 9.93735935e-01 -1.11126276e-01 1.18255137e-02 3.59464580e+01] [ 1.11118924e-01 9.93806293e-01 1.27898844e-03 3.04657430e+00] [-1.18943992e-02 4.30615926e-05 9.99929258e-01 1.51016571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711400513 meters 0.026620457289064314 Centerline is valid? [True, True] Translation: X:35.97, Y:3.05, Z:0.15 [[ 9.93798544e-01 -1.10700542e-01 1.04806090e-02 3.59742486e+01] [ 1.10694724e-01 9.93853807e-01 1.13534995e-03 3.05390285e+00] [-1.05418770e-02 3.18389958e-05 9.99944432e-01 1.48136359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741400513 meters 0.013093886871476725 Centerline is valid? [True, True] Translation: X:36.00, Y:3.06, Z:0.15 [[ 9.93772657e-01 -1.10957190e-01 1.02179919e-02 3.60005385e+01] [ 1.10951665e-01 9.93825186e-01 1.10773748e-03 3.05954814e+00] [-1.02778092e-02 3.28639984e-05 9.99947181e-01 1.46959455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771400512999996 meters 0.009758927855746358 Centerline is valid? [True, True] Translation: X:36.03, Y:3.06, Z:0.15 [[ 9.93620068e-01 -1.12254498e-01 1.08668614e-02 3.60285877e+01] [ 1.12248316e-01 9.93679488e-01 1.17908031e-03 3.06398588e+00] [-1.09305344e-02 4.82290357e-05 9.99940259e-01 1.47388001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801400513 meters 0.012990428832551014 Centerline is valid? [True, True] Translation: X:36.06, Y:3.07, Z:0.15 [[ 9.93095631e-01 -1.16614077e-01 1.27367758e-02 3.60565087e+01] [ 1.16605933e-01 9.93177298e-01 1.38272893e-03 3.06638277e+00] [-1.28111222e-02 1.12001565e-04 9.99917928e-01 1.50485464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831400513 meters 0.015095297456568232 Centerline is valid? [True, True] Translation: X:36.09, Y:3.07, Z:0.15 [[ 9.92749578e-01 -1.19529870e-01 1.26840371e-02 3.60851017e+01] [ 1.19522003e-01 9.92830594e-01 1.37920815e-03 3.06832424e+00] [-1.27579567e-02 1.46813204e-04 9.99918603e-01 1.51210565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861400513 meters 0.017511336949062734 Centerline is valid? [True, True] Translation: X:36.11, Y:3.07, Z:0.15 [[ 9.92421448e-01 -1.22305922e-01 1.18713925e-02 3.61130122e+01] [ 1.22299221e-01 9.92492434e-01 1.29151950e-03 3.06995012e+00] [-1.19402278e-02 1.70130413e-04 9.99928698e-01 1.50730669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891400513 meters 0.019105479323753893 Centerline is valid? [True, True] Translation: X:36.14, Y:3.07, Z:0.15 [[ 9.92130133e-01 -1.24765213e-01 1.05565221e-02 3.61415011e+01] [ 1.24760034e-01 9.92186278e-01 1.15032287e-03 3.07312576e+00] [-1.06175567e-02 1.75762083e-04 9.99943617e-01 1.48635053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921400513 meters 0.021231387715762513 Centerline is valid? [True, True] Translation: X:36.17, Y:3.08, Z:0.15 [[ 9.91934474e-01 -1.26381174e-01 9.68494803e-03 3.61687407e+01] [ 1.26376885e-01 9.91981738e-01 1.05601563e-03 3.07545879e+00] [-9.74075207e-03 1.76455256e-04 9.99952542e-01 1.47784242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.951400512999996 meters 0.021412323029093894 Centerline is valid? [True, True] Translation: X:36.20, Y:3.08, Z:0.15 [[ 9.91765739e-01 -1.27675588e-01 9.98310608e-03 3.61967264e+01] [ 1.27671091e-01 9.91815964e-01 1.08913518e-03 3.08037654e+00] [-1.00404600e-02 1.94387084e-04 9.99949574e-01 1.47812859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981400513 meters 0.022640239268172765 Centerline is valid? [True, True] Translation: X:36.22, Y:3.08, Z:0.15 [[ 9.91586868e-01 -1.28982157e-01 1.09126676e-02 3.62248092e+01] [ 1.28976850e-01 9.91646889e-01 1.19157228e-03 3.08374600e+00] [-1.09752044e-02 2.25934069e-04 9.99939745e-01 1.49324755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011400513 meters 0.02587834366757402 Centerline is valid? [True, True] Translation: X:36.25, Y:3.08, Z:0.15 [[ 9.91413054e-01 -1.30238052e-01 1.17561066e-02 3.62529796e+01] [ 1.30231973e-01 9.91482720e-01 1.28437435e-03 3.08487861e+00] [-1.18232510e-02 2.57675469e-04 9.99930070e-01 1.52208417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041400513 meters 0.02535923824138135 Centerline is valid? [True, True] Translation: X:36.28, Y:3.09, Z:0.15 [[ 9.91179228e-01 -1.32064281e-01 1.10798838e-02 3.62807632e+01] [ 1.32058974e-01 9.91241120e-01 1.21248021e-03 3.09410200e+00] [-1.11429618e-02 2.61412896e-04 9.99937881e-01 1.49125257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071400513 meters 0.03175664205032029 Centerline is valid? [True, True] Translation: X:36.31, Y:3.10, Z:0.15 [[ 9.91126707e-01 -1.32572776e-01 9.60775814e-03 3.63094962e+01] [ 1.32568793e-01 9.91173247e-01 1.05306924e-03 3.09951579e+00] [-9.66256115e-03 2.29963851e-04 9.99953290e-01 1.46734414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101400513 meters 0.027222911686994068 Centerline is valid? [True, True] Translation: X:36.34, Y:3.10, Z:0.15 [[ 9.91130198e-01 -1.32582404e-01 9.10142362e-03 3.63368198e+01] [ 1.32578826e-01 9.91171962e-01 9.98088905e-04 3.10253666e+00] [-9.15340493e-03 2.17420002e-04 9.99958083e-01 1.45971924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.131400512999996 meters 0.025355413958350132 Centerline is valid? [True, True] Translation: X:36.36, Y:3.11, Z:0.15 [[ 9.91107610e-01 -1.32742044e-01 9.23336115e-03 3.63642903e+01] [ 1.32738350e-01 9.91150595e-01 1.01446420e-03 3.10940218e+00] [-9.28631344e-03 2.20177939e-04 9.99956857e-01 1.45374793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161400513 meters 0.027130251122571874 Centerline is valid? [True, True] Translation: X:36.39, Y:3.11, Z:0.15 [[ 9.91130006e-01 -1.32489327e-01 1.03870202e-02 3.63924574e+01] [ 1.32484633e-01 9.91184402e-01 1.14178750e-03 3.11170796e+00] [-1.04467271e-02 2.44460708e-04 9.99945402e-01 1.48567117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191400513 meters 0.02641984428698123 Centerline is valid? [True, True] Translation: X:36.42, Y:3.12, Z:0.15 [[ 9.91156672e-01 -1.32177195e-01 1.17320428e-02 3.64201955e+01] [ 1.32171156e-01 9.91226067e-01 1.29195905e-03 3.11752966e+00] [-1.17998741e-02 2.70103825e-04 9.99930343e-01 1.50609113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221400513 meters 0.022309931772360115 Centerline is valid? [True, True] Translation: X:36.45, Y:3.13, Z:0.15 [[ 9.91565063e-01 -1.28977576e-01 1.27871115e-02 3.64485192e+01] [ 1.28970111e-01 9.91647479e-01 1.41016802e-03 3.12838928e+00] [-1.28621869e-02 2.50881843e-04 9.99917247e-01 1.50812841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251400513 meters 0.019857687936835358 Centerline is valid? [True, True] Translation: X:36.48, Y:3.13, Z:0.15 [[ 9.91861339e-01 -1.26659672e-01 1.29773907e-02 3.64771750e+01] [ 1.26651755e-01 9.91946207e-01 1.43339895e-03 3.13474669e+00] [-1.30544274e-02 2.21876313e-04 9.99914763e-01 1.50356004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281400513 meters 0.01801399753135291 Centerline is valid? [True, True] Translation: X:36.50, Y:3.14, Z:0.15 [[ 9.92193643e-01 -1.23956905e-01 1.36550530e-02 3.65045092e+01] [ 1.23947873e-01 9.92287583e-01 1.50902999e-03 3.13980042e+00] [-1.37367942e-02 1.95264817e-04 9.99905627e-01 1.51181186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311400512999995 meters 0.015412264701919783 Centerline is valid? [True, True] Translation: X:36.53, Y:3.15, Z:0.15 [[ 9.92549744e-01 -1.20922025e-01 1.49288180e-02 3.65324760e+01] [ 1.20910847e-01 9.92661995e-01 1.65240098e-03 3.14693423e+00] [-1.50190819e-02 1.64965859e-04 9.99887194e-01 1.52355142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341400512999996 meters 0.012692990275328444 Centerline is valid? [True, True] Translation: X:36.56, Y:3.16, Z:0.15 [[ 9.92971909e-01 -1.17270417e-01 1.59510585e-02 3.65605523e+01] [ 1.17257140e-01 9.93100013e-01 1.76834825e-03 3.15562616e+00] [-1.60483713e-02 1.14455357e-04 9.99871210e-01 1.52887637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371400513 meters 0.011454910832891215 Centerline is valid? [True, True] Translation: X:36.59, Y:3.16, Z:0.15 [[ 9.93479148e-01 -1.12833858e-01 1.63616061e-02 3.65872222e+01] [ 1.12819270e-01 9.93613868e-01 1.81482811e-03 3.16454463e+00] [-1.64618928e-02 4.29105779e-05 9.99864493e-01 1.54287500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401400513 meters 0.012894016984358297 Centerline is valid? [True, True] Translation: X:36.61, Y:3.18, Z:0.15 [[ 9.94534176e-01 -1.03430690e-01 1.42781398e-02 3.66136577e+01] [ 1.03418598e-01 9.94636659e-01 1.58459788e-03 3.18026209e+00] [-1.43654573e-02 -9.93115496e-05 9.99896807e-01 1.51293519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431400513 meters 0.012894016984358297 Centerline is valid? [True, True] Translation: X:36.64, Y:3.18, Z:0.15 [[ 9.94514467e-01 -1.03620063e-01 1.42778313e-02 3.66409936e+01] [ 1.03607951e-01 9.94616948e-01 1.58737518e-03 3.18345615e+00] [-1.43654569e-02 -9.93707346e-05 9.99896807e-01 1.51305991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461400513 meters 0.02138822416969306 Centerline is valid? [True, True] Translation: X:36.67, Y:3.20, Z:0.15 [[ 9.95513586e-01 -9.37171673e-02 1.30304301e-02 3.66674939e+01] [ 9.37062252e-02 9.95598837e-01 1.44909691e-03 3.20399006e+00] [-1.31088863e-02 -2.21563245e-04 9.99914050e-01 1.49412320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491400513 meters 0.02658785593648105 Centerline is valid? [True, True] Translation: X:36.70, Y:3.22, Z:0.15 [[ 9.95968900e-01 -8.87071593e-02 1.33037269e-02 3.66953378e+01] [ 8.86953003e-02 9.96057706e-01 1.47994759e-03 3.21671163e+00] [-1.33825617e-02 -2.94003717e-04 9.99910406e-01 1.49420965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521400512999996 meters 0.031269393619118305 Centerline is valid? [True, True] Translation: X:36.72, Y:3.23, Z:0.15 [[ 9.96368646e-01 -8.41217698e-02 1.31548509e-02 3.67247280e+01] [ 8.41097754e-02 9.96455420e-01 1.46337081e-03 3.22772083e+00] [-1.32313239e-02 -3.51605229e-04 9.99912400e-01 1.49374509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551400513 meters 0.03199851959743367 Centerline is valid? [True, True] Translation: X:36.75, Y:3.23, Z:0.15 [[ 9.96687868e-01 -8.03769338e-02 1.23629632e-02 3.67535696e+01] [ 8.03660465e-02 9.96764469e-01 1.37573855e-03 3.23379474e+00] [-1.24335401e-02 -3.77619450e-04 9.99922629e-01 1.46533635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581400513 meters 0.035421665148122006 Centerline is valid? [True, True] Translation: X:36.78, Y:3.24, Z:0.14 [[ 9.96937736e-01 -7.74231291e-02 1.09913531e-02 3.67810130e+01] [ 7.74143381e-02 9.96998256e-01 1.22366841e-03 3.24375811e+00] [-1.10531001e-02 -3.69032886e-04 9.99938845e-01 1.44578140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611400513 meters 0.038463684672474276 Centerline is valid? [True, True] Translation: X:36.81, Y:3.25, Z:0.14 [[ 9.97114019e-01 -7.53857284e-02 8.97917618e-03 3.68078628e+01] [ 7.53797742e-02 9.97154396e-01 1.00018887e-03 3.25382992e+00] [-9.02902497e-03 -3.20454072e-04 9.99959186e-01 1.41529092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641400513 meters 0.04337573543876485 Centerline is valid? [True, True] Translation: X:36.84, Y:3.26, Z:0.14 [[ 9.97231020e-01 -7.40782598e-02 6.53485379e-03 3.68355570e+01] [ 7.40750707e-02 9.97252402e-01 7.29037363e-04 3.26471428e+00] [-6.57090445e-03 -2.42948917e-04 9.99978382e-01 1.36015081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671400513 meters 0.04078637523970121 Centerline is valid? [True, True] Translation: X:36.86, Y:3.27, Z:0.14 [[ 9.97195526e-01 -7.45037460e-02 7.09045797e-03 3.68633416e+01] [ 7.44999982e-02 9.97220700e-01 7.91605889e-04 3.27079166e+00] [-7.12972906e-03 -2.61146745e-04 9.99974549e-01 1.37628017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701400512999996 meters 0.03993640214752354 Centerline is valid? [True, True] Translation: X:36.89, Y:3.27, Z:0.14 [[ 9.97092484e-01 -7.57999803e-02 7.80645415e-03 3.68922880e+01] [ 7.57954669e-02 9.97123004e-01 8.72814999e-04 3.27440935e+00] [-7.85015438e-03 -2.78583438e-04 9.99969148e-01 1.39117504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731400513 meters 0.03494370069215745 Centerline is valid? [True, True] Translation: X:36.92, Y:3.27, Z:0.14 [[ 9.96948602e-01 -7.76645779e-02 7.85486512e-03 3.69213591e+01] [ 7.76600637e-02 9.96979510e-01 8.78549905e-04 3.27306335e+00] [-7.89937179e-03 -2.65859774e-04 9.99968764e-01 1.38569849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761400513 meters 0.03693064852328913 Centerline is valid? [True, True] Translation: X:36.95, Y:3.28, Z:0.14 [[ 9.96809156e-01 -7.95156614e-02 6.98331462e-03 3.69486630e+01] [ 7.95121358e-02 9.96833592e-01 7.81489486e-04 3.27998943e+00] [-7.02334325e-03 -2.23737614e-04 9.99975311e-01 1.38023946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791400513 meters 0.030800583880430648 Centerline is valid? [True, True] Translation: X:36.98, Y:3.28, Z:0.13 [[ 9.96642570e-01 -8.17330645e-02 4.82641252e-03 3.69786745e+01] [ 8.17314025e-02 9.96654246e-01 5.40916325e-04 3.27712722e+00] [-4.85447528e-03 -1.44630772e-04 9.99988207e-01 1.32677229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821400513 meters 0.027588573336762578 Centerline is valid? [True, True] Translation: X:37.01, Y:3.28, Z:0.13 [[ 9.96364303e-01 -8.51923794e-02 6.59689110e-04 3.70082852e+01] [ 8.51923491e-02 9.96364521e-01 7.39510532e-05 3.27868170e+00] [-6.63590890e-04 -1.74817246e-05 9.99999780e-01 1.25082810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851400513 meters 0.02908757825014414 Centerline is valid? [True, True] Translation: X:37.04, Y:3.28, Z:0.12 [[ 9.96295551e-01 -8.59947800e-02 2.68958604e-04 3.70354462e+01] [ 8.59947750e-02 9.96295588e-01 3.02094992e-05 3.28494047e+00] [-2.70560130e-04 -6.96855502e-06 9.99999963e-01 1.24042425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881400512999996 meters 0.027796805089850028 Centerline is valid? [True, True] Translation: X:37.06, Y:3.28, Z:0.12 [[ 9.96477603e-01 -8.38563840e-02 7.02911845e-04 3.70614648e+01] [ 8.38513721e-02 9.96463511e-01 5.42398395e-03 3.28052374e+00] [-1.15526169e-03 -5.34593840e-03 9.99985043e-01 1.24159745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.911400513 meters 0.02856031611212377 Centerline is valid? [True, True] Translation: X:37.09, Y:3.30, Z:0.12 [[ 9.96306630e-01 -8.58641008e-02 6.74260461e-04 3.70919389e+01] [ 8.58664636e-02 9.96292827e-01 -5.24907369e-03 3.29646217e+00] [-2.21053868e-04 5.28758329e-03 9.99985996e-01 1.23148532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941400513 meters 0.029942517422110362 Centerline is valid? [True, True] Translation: X:37.12, Y:3.30, Z:0.12 [[ 9.96341881e-01 -8.54547567e-02 -5.83083856e-04 3.71200168e+01] [ 8.54547330e-02 9.96342052e-01 -6.54583396e-05 3.29760791e+00] [ 5.86544692e-04 1.53916100e-05 9.99999828e-01 1.23035383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971400513 meters 0.028120624970252677 Centerline is valid? [True, True] Translation: X:37.15, Y:3.30, Z:0.12 [[ 9.96387920e-01 -8.49047351e-02 -1.51599033e-03 3.71487852e+01] [ 8.49045740e-02 9.96389073e-01 -1.70435775e-04 3.30073456e+00] [ 1.52498701e-03 4.11056342e-05 9.99998836e-01 1.21443772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001400513 meters 0.03315255426529713 Centerline is valid? [True, True] Translation: X:37.18, Y:3.31, Z:0.12 [[ 9.96490031e-01 -8.36804761e-02 -2.27967976e-03 3.71753324e+01] [ 8.36801081e-02 9.96492636e-01 -2.56517527e-04 3.31233041e+00] [ 2.29314960e-03 6.48533100e-05 9.99997369e-01 1.19522023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031400513 meters 0.033502090547134086 Centerline is valid? [True, True] Translation: X:37.20, Y:3.32, Z:0.12 [[ 9.96792099e-01 -7.98416908e-02 -5.55122695e-03 3.72047576e+01] [ 7.98394482e-02 9.96807540e-01 -6.24770098e-04 3.31767606e+00] [ 5.58338758e-03 1.79559001e-04 9.99984397e-01 1.15285777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061400512999995 meters 0.033502090547134086 Centerline is valid? [True, True] Translation: X:37.23, Y:3.32, Z:0.12 [[ 9.96777024e-01 -8.00296751e-02 -5.55111800e-03 3.72320862e+01] [ 8.00274300e-02 9.96792465e-01 -6.25737312e-04 3.32090888e+00] [ 5.58339015e-03 1.79478869e-04 9.99984397e-01 1.15298256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.091400512999996 meters 0.03435251767561587 Centerline is valid? [True, True] Translation: X:37.26, Y:3.32, Z:0.11 [[ 9.97064769e-01 -7.62379050e-02 -7.04470879e-03 3.72583059e+01] [ 7.62526337e-02 9.97086821e-01 1.84597473e-03 3.32120426e+00] [ 6.88345304e-03 -2.37773396e-03 9.99973482e-01 1.13376616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121400513 meters 0.038438525952655955 Centerline is valid? [True, True] Translation: X:37.29, Y:3.34, Z:0.11 [[ 9.97047095e-01 -7.63118676e-02 -8.57843271e-03 3.72889194e+01] [ 7.62829925e-02 9.97079546e-01 -3.64474730e-03 3.33651458e+00] [ 8.83151727e-03 2.97959619e-03 9.99956562e-01 1.09407042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151400513 meters 0.042742891094799215 Centerline is valid? [True, True] Translation: X:37.32, Y:3.34, Z:0.11 [[ 9.97169881e-01 -7.44974246e-02 -1.01173700e-02 3.73182680e+01] [ 7.44896697e-02 9.97221132e-01 -1.14169522e-03 3.33965466e+00] [ 1.01743085e-02 3.84824543e-04 9.99948166e-01 1.07862521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181400513 meters 0.04116914409356983 Centerline is valid? [True, True] Translation: X:37.35, Y:3.35, Z:0.11 [[ 9.97374559e-01 -7.17624491e-02 -9.70261396e-03 3.73475356e+01] [ 7.17551855e-02 9.97421673e-01 -1.09512508e-03 3.34519104e+00] [ 9.75618631e-03 3.96037026e-04 9.99952329e-01 1.08291977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211400513 meters 0.05201702068583348 Centerline is valid? [True, True] Translation: X:37.37, Y:3.36, Z:0.11 [[ 9.97577333e-01 -6.90479929e-02 -8.47583299e-03 3.73745667e+01] [ 6.90423485e-02 9.97613271e-01 -9.57089002e-04 3.36055507e+00] [ 8.52168854e-03 3.69578879e-04 9.99963621e-01 1.08196286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241400513 meters 0.05482354874362936 Centerline is valid? [True, True] Translation: X:37.40, Y:3.36, Z:0.11 [[ 9.97991182e-01 -6.30045885e-02 -6.63494610e-03 3.74049236e+01] [ 6.30009964e-02 9.98013183e-01 -7.49227838e-04 3.36356701e+00] [ 6.66896847e-03 3.29714561e-04 9.99977708e-01 1.13713832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.271400512999996 meters 0.05800037736641263 Centerline is valid? [True, True] Translation: X:37.43, Y:3.37, Z:0.11 [[ 9.98217622e-01 -5.91947234e-02 -7.58711539e-03 3.74348579e+01] [ 5.91899165e-02 9.98246372e-01 -8.56746506e-04 3.37074823e+00] [ 7.62452529e-03 4.06138733e-04 9.99970850e-01 1.13040351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301400513 meters 0.05652510111787358 Centerline is valid? [True, True] Translation: X:37.46, Y:3.37, Z:0.11 [[ 9.98445377e-01 -5.50109850e-02 -8.97889791e-03 3.74648084e+01] [ 5.50040837e-02 9.98485615e-01 -1.01394564e-03 3.37325086e+00] [ 9.02107855e-03 5.18493283e-04 9.99959175e-01 1.11834176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331400513 meters 0.06436271530885089 Centerline is valid? [True, True] Translation: X:37.49, Y:3.39, Z:0.11 [[ 9.98675426e-01 -5.04286790e-02 -1.02147761e-02 3.74928563e+01] [ 5.04195070e-02 9.98727462e-01 -1.15361529e-03 3.38739015e+00] [ 1.02599527e-02 6.37063262e-04 9.99947162e-01 1.09180155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361400513 meters 0.07217072254435378 Centerline is valid? [True, True] Translation: X:37.52, Y:3.40, Z:0.11 [[ 9.98888447e-01 -4.57839809e-02 -1.12114991e-02 3.75207306e+01] [ 4.57726374e-02 9.98951081e-01 -1.26642131e-03 3.40069433e+00] [ 1.12577210e-02 7.51833727e-04 9.99936347e-01 1.06992753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391400513 meters 0.07754603547678948 Centerline is valid? [True, True] Translation: X:37.55, Y:3.41, Z:0.11 [[ 9.99068214e-01 -4.15047787e-02 -1.18345964e-02 3.75500955e+01] [ 4.14918390e-02 9.99137948e-01 -1.33693014e-03 3.40833907e+00] [ 1.18798834e-02 8.44645241e-04 9.99929075e-01 1.06110295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421400513 meters 0.08459782448793492 Centerline is valid? [True, True] Translation: X:37.58, Y:3.42, Z:0.11 [[ 9.99364793e-01 -3.35857011e-02 -1.19168260e-02 3.75777810e+01] [ 3.35720224e-02 9.99435394e-01 -1.34610164e-03 3.42296325e+00] [ 1.19553075e-02 9.45174642e-04 9.99928086e-01 1.05908695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.451400512999996 meters 0.08156434705497942 Centerline is valid? [True, True] Translation: X:37.61, Y:3.42, Z:0.11 [[ 9.99442913e-01 -3.09683578e-02 -1.24428759e-02 3.76079024e+01] [ 3.09532429e-02 9.99519845e-01 -1.40554042e-03 3.42390401e+00] [ 1.24804287e-02 1.01961005e-03 9.99921597e-01 1.06131184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481400513 meters 0.08380299636431553 Centerline is valid? [True, True] Translation: X:37.64, Y:3.43, Z:0.11 [[ 9.99481247e-01 -2.94242886e-02 -1.30938375e-02 3.76378670e+01] [ 2.94074191e-02 9.99566414e-01 -1.47907356e-03 3.43148002e+00] [ 1.31316809e-02 1.09325032e-03 9.99913178e-01 1.05091056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511400513 meters 0.0989809732764278 Centerline is valid? [True, True] Translation: X:37.66, Y:3.45, Z:0.10 [[ 9.99499014e-01 -2.86682208e-02 -1.34109696e-02 3.76639633e+01] [ 2.86504506e-02 9.99588343e-01 -1.51533929e-03 3.45449134e+00] [ 1.34488910e-02 1.13034980e-03 9.99908921e-01 1.01661094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541400513 meters 0.09097801717017684 Centerline is valid? [True, True] Translation: X:37.69, Y:3.45, Z:0.10 [[ 9.99502006e-01 -2.83366497e-02 -1.38843533e-02 3.76933140e+01] [ 2.83175416e-02 9.99597744e-01 -1.57093991e-03 3.44919533e+00] [ 1.39232834e-02 1.17698684e-03 9.99902374e-01 1.02823123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571400513 meters 0.08395360630009216 Centerline is valid? [True, True] Translation: X:37.72, Y:3.45, Z:0.10 [[ 9.99504299e-01 -2.80783243e-02 -1.42395399e-02 3.77229348e+01] [ 2.80581670e-02 9.99604990e-01 -1.61343319e-03 3.44509095e+00] [ 1.42792176e-02 1.21309802e-03 9.99897311e-01 1.03996991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601400513 meters 0.08502898666820517 Centerline is valid? [True, True] Translation: X:37.75, Y:3.45, Z:0.10 [[ 9.99498327e-01 -2.82599518e-02 -1.42992946e-02 3.77497623e+01] [ 2.82396309e-02 9.99599868e-01 -1.62107327e-03 3.45144890e+00] [ 1.43393844e-02 1.21645321e-03 9.99896446e-01 1.04896900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.631400512999996 meters 0.08169338343365602 Centerline is valid? [True, True] Translation: X:37.78, Y:3.45, Z:0.11 [[ 9.99465868e-01 -2.93583478e-02 -1.43550007e-02 3.77803328e+01] [ 2.93379781e-02 9.99568224e-01 -1.62757599e-03 3.45092067e+00] [ 1.43965855e-02 1.20555996e-03 9.99895637e-01 1.05423993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661400513 meters 0.08578526279859734 Centerline is valid? [True, True] Translation: X:37.81, Y:3.46, Z:0.10 [[ 9.99403852e-01 -3.14056011e-02 -1.43397982e-02 3.78095892e+01] [ 3.13854809e-02 9.99506032e-01 -1.62605108e-03 3.45779777e+00] [ 1.43837819e-02 1.17502025e-03 9.99895858e-01 1.04108753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691400513 meters 0.07737367931393764 Centerline is valid? [True, True] Translation: X:37.84, Y:3.45, Z:0.11 [[ 9.99306799e-01 -3.44786828e-02 -1.40407170e-02 3.78410937e+01] [ 3.44596896e-02 9.99404820e-01 -1.59248160e-03 3.44830084e+00] [ 1.40872669e-02 1.10753894e-03 9.99900156e-01 1.05944503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721400513 meters 0.07912469759424676 Centerline is valid? [True, True] Translation: X:37.87, Y:3.45, Z:0.11 [[ 9.99186261e-01 -3.81936741e-02 -1.29637697e-02 3.78706360e+01] [ 3.81777915e-02 9.99269880e-01 -1.47051728e-03 3.45044433e+00] [ 1.30104691e-02 9.74392565e-04 9.99914886e-01 1.06709320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751400513 meters 0.07823030275559899 Centerline is valid? [True, True] Translation: X:37.90, Y:3.45, Z:0.11 [[ 9.99053748e-01 -4.18417701e-02 -1.18690930e-02 3.79006694e+01] [ 4.18287108e-02 9.99123889e-01 -1.34650754e-03 3.44925195e+00] [ 1.19150346e-02 8.48764546e-04 9.99928653e-01 1.08534507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781400513 meters 0.07332600317561858 Centerline is valid? [True, True] Translation: X:37.93, Y:3.44, Z:0.11 [[ 9.98916672e-01 -4.51561937e-02 -1.12428204e-02 3.79310833e+01] [ 4.51446829e-02 9.98979645e-01 -1.27565734e-03 3.44346367e+00] [ 1.12889525e-02 7.66721820e-04 9.99935984e-01 1.10032164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.811400512999995 meters 0.06833959998863998 Centerline is valid? [True, True] Translation: X:37.96, Y:3.44, Z:0.11 [[ 9.98804798e-01 -4.75931314e-02 -1.11296825e-02 3.79624990e+01] [ 4.75820012e-02 9.98866537e-01 -1.26285807e-03 3.43815737e+00] [ 1.11771707e-02 7.31776133e-04 9.99937266e-01 1.10930957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841400512999996 meters 0.06618667406510166 Centerline is valid? [True, True] Translation: X:37.99, Y:3.43, Z:0.11 [[ 9.98756534e-01 -4.84308633e-02 -1.18252896e-02 3.79917109e+01] [ 4.84183348e-02 9.98826241e-01 -1.34363313e-03 3.43424104e+00] [ 1.18764828e-02 7.69401534e-04 9.99929176e-01 1.09618472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871400513 meters 0.07255408783899055 Centerline is valid? [True, True] Translation: X:38.02, Y:3.44, Z:0.11 [[ 9.98923647e-01 -4.45409504e-02 -1.29480243e-02 3.80164414e+01] [ 4.45196023e-02 9.99006642e-01 -1.93247896e-03 3.44190437e+00] [ 1.30212367e-02 1.35395804e-03 9.99914303e-01 1.07976449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901400513 meters 0.07650930544223447 Centerline is valid? [True, True] Translation: X:38.05, Y:3.45, Z:0.11 [[ 9.98958191e-01 -4.34998257e-02 -1.37948701e-02 3.80487905e+01] [ 4.34873665e-02 9.99053254e-01 -1.20200136e-03 3.45085382e+00] [ 1.38340967e-02 6.00846530e-04 9.99904124e-01 1.06962674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931400513 meters 0.07702600467503967 Centerline is valid? [True, True] Translation: X:38.07, Y:3.45, Z:0.11 [[ 9.99187503e-01 -3.75872086e-02 -1.45442830e-02 3.80749166e+01] [ 3.75938516e-02 9.99293084e-01 1.83513312e-04 3.45201724e+00] [ 1.45271036e-02 -7.30139823e-04 9.99894209e-01 1.07507935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961400513 meters 0.07925616172256827 Centerline is valid? [True, True] Translation: X:38.11, Y:3.46, Z:0.11 [[ 9.99281187e-01 -3.48916966e-02 -1.48215919e-02 3.81071912e+01] [ 3.48430028e-02 9.99386560e-01 -3.53102755e-03 3.46451592e+00] [ 1.49357032e-02 3.01206063e-03 9.99883919e-01 1.07556169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991400513 meters 0.08677615137203808 Centerline is valid? [True, True] Translation: X:38.14, Y:3.48, Z:0.11 [[ 9.99443131e-01 -2.98454118e-02 -1.49224110e-02 3.81350386e+01] [ 2.98233699e-02 9.99553743e-01 -1.69750280e-03 3.47669676e+00] [ 1.49664144e-02 1.25152093e-03 9.99887214e-01 1.07975137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021400512999996 meters 0.09647904009565361 Centerline is valid? [True, True] Translation: X:38.16, Y:3.49, Z:0.11 [[ 9.99708778e-01 -1.94780851e-02 -1.42465433e-02 3.81596245e+01] [ 1.94597934e-02 9.99809630e-01 -1.42144926e-03 3.49257943e+00] [ 1.42715183e-02 1.14380051e-03 9.99897502e-01 1.10690195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051400513 meters 0.10024070341661787 Centerline is valid? [True, False] Translation: X:38.16, Y:3.50, Z:0.11 [[ 9.99706452e-01 -1.96652507e-02 -1.41523077e-02 3.81593626e+01] [ 1.96393655e-02 9.99805197e-01 -1.96571970e-03 3.49501070e+00] [ 1.41882072e-02 1.68720033e-03 9.99897919e-01 1.10526467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081400513 meters 0.09696939645213319 Centerline is valid? [False, True] Translation: X:38.18, Y:3.50, Z:0.11 [[ 9.99838474e-01 -1.36136547e-02 -1.17343229e-02 3.81783846e+01] [ 1.35248707e-02 9.99879556e-01 -7.61261627e-03 3.50019183e+00] [ 1.18365451e-02 7.45268143e-03 9.99902172e-01 1.10757249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111400513 meters 0.11062314001256875 Centerline is valid? [True, False] Translation: X:38.18, Y:3.50, Z:0.11 [[ 9.99888562e-01 -8.97143516e-03 -1.19322081e-02 3.81787754e+01] [ 8.94200480e-03 9.99956850e-01 -2.51753347e-03 3.49682516e+00] [ 1.19542791e-02 2.41055506e-03 9.99925639e-01 1.11013765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141400513 meters 0.10554599141976445 Centerline is valid? [False, False] Translation: X:38.18, Y:3.49, Z:0.11 [[ 9.99917692e-01 -4.32362248e-03 -1.20795094e-02 3.81789897e+01] [ 4.35535383e-03 9.99987131e-01 2.60180400e-03 3.49337621e+00] [ 1.20681047e-02 -2.65420039e-03 9.99923655e-01 1.11529058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171400513 meters 0.109141097224577 Centerline is valid? [False, False] Translation: X:38.18, Y:3.50, Z:0.11 [[ 9.99918237e-01 -4.49061491e-03 -1.19730261e-02 3.81785508e+01] [ 4.51658291e-03 9.99987505e-01 2.14271812e-03 3.49547273e+00] [ 1.19632544e-02 -2.19662009e-03 9.99926025e-01 1.11725193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201400512999996 meters 0.10851106591870333 Centerline is valid? [False, False] Translation: X:38.18, Y:3.50, Z:0.11 [[ 9.99918597e-01 -4.67177468e-03 -1.18732184e-02 3.81781671e+01] [ 4.69143384e-03 9.99987669e-01 1.62844371e-03 3.49780384e+00] [ 1.18654643e-02 -1.68401357e-03 9.99928185e-01 1.11861992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231400513 meters 0.11546424709079425 Centerline is valid? [False, False] Translation: X:38.19, Y:3.51, Z:0.11 [[ 9.99979357e-01 -9.49634308e-04 -6.35480617e-03 3.81944057e+01] [ 9.11139305e-04 9.99981236e-01 -6.05777607e-03 3.50709832e+00] [ 6.36043960e-03 6.05186091e-03 9.99961459e-01 1.10500110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261400513 meters 0.11241346267878803 Centerline is valid? [False, False] Translation: X:38.19, Y:3.51, Z:0.11 [[ 9.99973746e-01 3.41536968e-03 -6.39079386e-03 3.81943140e+01] [-3.42643415e-03 9.99992649e-01 -1.72116660e-03 3.50713266e+00] [ 6.38486846e-03 1.74301905e-03 9.99978097e-01 1.11007065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291400513 meters 0.12181599539787709 Centerline is valid? [False, False] Translation: X:38.19, Y:3.51, Z:0.11 [[ 9.99974462e-01 3.27574253e-03 -6.35172019e-03 3.81941891e+01] [-3.28911818e-03 9.99992393e-01 -2.09652941e-03 3.50883688e+00] [ 6.34480418e-03 2.11736742e-03 9.99977630e-01 1.10982361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321400513 meters 0.10458697549071175 Centerline is valid? [False, False] Translation: X:38.19, Y:3.51, Z:0.11 [[ 9.99975346e-01 3.10359835e-03 -6.29884905e-03 3.81940316e+01] [-3.11975306e-03 9.99991866e-01 -2.55650529e-03 3.51092167e+00] [ 6.29086345e-03 2.57609312e-03 9.99976894e-01 1.10910076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351400513 meters 0.11505206323734446 Centerline is valid? [False, False] Translation: X:38.19, Y:3.51, Z:0.11 [[ 9.99976111e-01 2.90326780e-03 -6.27285049e-03 3.81939943e+01] [-2.92268185e-03 9.99990961e-01 -3.08798570e-03 3.51332956e+00] [ 6.26382854e-03 3.10624547e-03 9.99975558e-01 1.10769105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381400512999996 meters 0.11697195609418835 Centerline is valid? [False, False] Translation: X:38.19, Y:3.52, Z:0.11 [[ 9.99976865e-01 2.73917911e-03 -6.22619197e-03 3.81938474e+01] [-2.76109069e-03 9.99990016e-01 -3.51339267e-03 3.51527060e+00] [ 6.21650599e-03 3.53050247e-03 9.99974445e-01 1.10732500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.411400513 meters 0.11498485183777225 Centerline is valid? [False, False] Translation: X:38.19, Y:3.52, Z:0.11 [[ 9.99977340e-01 2.56739213e-03 -6.22319204e-03 3.81936634e+01] [-2.59198218e-03 9.99988853e-01 -3.94651653e-03 3.51726903e+00] [ 6.21299042e-03 3.96255751e-03 9.99972848e-01 1.11081359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441400513 meters 0.11769248884607933 Centerline is valid? [False, False] Translation: X:38.19, Y:3.52, Z:0.11 [[ 9.99977529e-01 2.50310329e-03 -6.21905486e-03 3.81935564e+01] [-2.52869902e-03 9.99988352e-01 -4.11124587e-03 3.51802989e+00] [ 6.20869155e-03 4.12687960e-03 9.99972210e-01 1.11276975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471400513 meters 0.10893094638205017 Centerline is valid? [False, False] Translation: X:38.17, Y:3.51, Z:0.11 [[ 9.99996433e-01 -7.90342752e-04 -2.55147560e-03 3.81720085e+01] [ 7.99269301e-04 9.99993557e-01 3.49946098e-03 3.51269814e+00] [ 2.54869339e-03 -3.50148781e-03 9.99990622e-01 1.06094310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501400513 meters 0.09564879653164662 Centerline is valid? [False, True] Translation: X:38.17, Y:3.51, Z:0.11 [[ 9.99996299e-01 -8.83407217e-04 -2.57341695e-03 3.81718774e+01] [ 8.91722897e-04 9.99994379e-01 3.23202340e-03 3.51393512e+00] [ 2.57054729e-03 -3.23430621e-03 9.99991466e-01 1.06544712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531400513 meters 0.09703509819892955 Centerline is valid? [True, True] Translation: X:38.20, Y:3.52, Z:0.11 [[ 9.99990379e-01 -4.04210364e-03 -1.70407237e-03 3.82006742e+01] [ 4.04180868e-03 9.99991816e-01 -1.76498221e-04 3.52336743e+00] [ 1.70477185e-03 1.69608989e-04 9.99998532e-01 1.07126839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561400512999995 meters 0.0853509665902513 Centerline is valid? [True, True] Translation: X:38.23, Y:3.51, Z:0.11 [[ 9.99945900e-01 -1.02341689e-02 -1.85967444e-03 3.82329576e+01] [ 1.02338283e-02 9.99947614e-01 -1.92559403e-04 3.51211182e+00] [ 1.86154771e-03 1.73517396e-04 9.99998252e-01 1.07739700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.591400512999996 meters 0.08865117058861217 Centerline is valid? [True, True] Translation: X:38.26, Y:3.52, Z:0.11 [[ 9.99928711e-01 -1.17759826e-02 -1.97469342e-03 3.82587189e+01] [ 1.17679207e-02 9.99922571e-01 -4.04568553e-03 3.52067879e+00] [ 2.02218244e-03 4.02215908e-03 9.99989866e-01 1.08614652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621400513 meters 0.0928613459886621 Centerline is valid? [True, True] Translation: X:38.29, Y:3.53, Z:0.11 [[ 9.99871694e-01 -1.60009143e-02 -7.52591109e-04 3.82909912e+01] [ 1.60036551e-02 9.99864754e-01 3.78895050e-03 3.52516812e+00] [ 6.91862653e-04 -3.80050856e-03 9.99992539e-01 1.09411797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651400513 meters 0.08542242365869587 Centerline is valid? [True, True] Translation: X:38.32, Y:3.53, Z:0.11 [[ 9.99848557e-01 -1.73979767e-02 -4.16135154e-04 3.83213596e+01] [ 1.73979602e-02 9.99848643e-01 -4.32345974e-05 3.52514212e+00] [ 4.16824363e-04 3.59881470e-05 9.99999912e-01 1.09507952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681400513 meters 0.08747412008172556 Centerline is valid? [True, True] Translation: X:38.35, Y:3.53, Z:0.11 [[ 9.99854954e-01 -1.67111972e-02 -3.28731764e-03 3.83501323e+01] [ 1.67101652e-02 9.99860317e-01 -3.41139242e-04 3.53292181e+00] [ 3.29255930e-03 2.86158140e-04 9.99994539e-01 1.05407759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711400513 meters 0.09628725367199713 Centerline is valid? [True, True] Translation: X:38.37, Y:3.55, Z:0.10 [[ 9.99905399e-01 -1.33054016e-02 -3.48692835e-03 3.83742274e+01] [ 1.33032764e-02 9.99911308e-01 -6.31974260e-04 3.54534474e+00] [ 3.49502776e-03 5.85526903e-04 9.99993721e-01 1.04341414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741400513 meters 0.09426973653425416 Centerline is valid? [True, True] Translation: X:38.41, Y:3.55, Z:0.11 [[ 9.99927303e-01 -1.16622298e-02 -3.06276781e-03 3.84055379e+01] [ 1.16586124e-02 9.99931320e-01 -1.19628816e-03 3.54823580e+00] [ 3.07650885e-03 1.16049357e-03 9.99994594e-01 1.05478433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.771400512999996 meters 0.09783224735677555 Centerline is valid? [True, True] Translation: X:38.44, Y:3.56, Z:0.11 [[ 9.99933410e-01 -1.13697303e-02 -1.97624713e-03 3.84363901e+01] [ 1.13715614e-02 9.99934920e-01 9.17821524e-04 3.55768987e+00] [ 1.96568313e-03 -9.40233422e-04 9.99997626e-01 1.06603659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801400513 meters 0.1003061831830863 Centerline is valid? [True, False] Translation: X:38.44, Y:3.57, Z:0.10 [[ 9.99981282e-01 -3.60072983e-03 4.94670015e-03 3.84371234e+01] [ 3.64944139e-03 9.99944593e-01 -9.87380525e-03 3.56771053e+00] [-4.91087317e-03 9.89167313e-03 9.99939017e-01 1.01756016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831400513 meters 0.09420185368002841 Centerline is valid? [False, True] Translation: X:38.44, Y:3.56, Z:0.10 [[ 9.99988260e-01 1.02373312e-03 4.73619579e-03 3.84376358e+01] [-1.00256806e-03 9.99989511e-01 -4.46900656e-03 3.56304442e+00] [-4.74072118e-03 4.46420574e-03 9.99978798e-01 1.02171922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861400513 meters 0.09403436831577014 Centerline is valid? [True, True] Translation: X:38.47, Y:3.56, Z:0.10 [[ 9.99993921e-01 1.23650164e-03 3.26032014e-03 3.84700779e+01] [-1.23751916e-03 9.99999186e-01 3.10092743e-04 3.56211199e+00] [-3.25993405e-03 -3.14125566e-04 9.99994637e-01 1.00572034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891400513 meters 0.09418553494986628 Centerline is valid? [True, True] Translation: X:38.50, Y:3.57, Z:0.10 [[ 9.99996072e-01 1.31858242e-03 2.47346820e-03 3.85027385e+01] [-1.31917082e-03 9.99999102e-01 2.36268012e-04 3.56686351e+00] [-2.47315444e-03 -2.39530011e-04 9.99996913e-01 9.94432741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921400513 meters 0.10023938126680651 Centerline is valid? [True, False] Translation: X:38.54, Y:3.57, Z:0.10 [[ 9.99989028e-01 1.86594668e-03 4.29669911e-03 3.85440680e+01] [-1.86188740e-03 9.99997817e-01 -9.48549848e-04 3.57450107e+00] [-4.29845967e-03 9.40539471e-04 9.99990319e-01 9.91775454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.951400512999996 meters 0.10023938126680651 Centerline is valid? [False, False] Translation: X:38.54, Y:3.57, Z:0.10 [[ 9.99989028e-01 1.86594668e-03 4.29669911e-03 3.85440680e+01] [-1.86188740e-03 9.99997817e-01 -9.48549848e-04 3.57450107e+00] [-4.29845967e-03 9.40539471e-04 9.99990319e-01 9.91775454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981400513 meters 0.09919850299771994 Centerline is valid? [False, True] Translation: X:38.54, Y:3.57, Z:0.10 [[ 9.99989043e-01 1.85576488e-03 4.29759628e-03 3.85439062e+01] [-1.85158218e-03 9.99997809e-01 -9.77039861e-04 3.57464807e+00] [-4.29940002e-03 9.69071803e-04 9.99990288e-01 9.95439604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011400513 meters 0.09139446193861532 Centerline is valid? [True, True] Translation: X:38.58, Y:3.57, Z:0.10 [[ 9.99990191e-01 5.58822787e-04 4.39383912e-03 3.85754216e+01] [-5.60590734e-04 9.99999762e-01 4.01148313e-04 3.56650662e+00] [-4.39361391e-03 -4.03607523e-04 9.99990267e-01 9.99806920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041400513 meters 0.10532076931843318 Centerline is valid? [True, False] Translation: X:38.59, Y:3.56, Z:0.11 [[ 9.99999980e-01 -8.77016317e-05 1.78327980e-04 3.85948176e+01] [ 8.61519896e-05 9.99962399e-01 8.67136046e-03 3.56034889e+00] [-1.79081767e-04 -8.67134492e-03 9.99962387e-01 1.07281388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071400513 meters 0.09550306895490358 Centerline is valid? [False, True] Translation: X:38.59, Y:3.57, Z:0.11 [[ 9.99988504e-01 -4.78445311e-03 3.16932256e-04 3.85946058e+01] [ 4.78343258e-03 9.99983610e-01 3.14608812e-03 3.56554177e+00] [-3.31979373e-04 -3.14453593e-03 9.99995001e-01 1.06582089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101400513 meters 0.09405985081589445 Centerline is valid? [True, True] Translation: X:38.62, Y:3.57, Z:0.11 [[ 9.99981952e-01 -6.00665882e-03 1.26713393e-04 3.86249384e+01] [ 6.00665736e-03 9.99981960e-01 1.18957773e-05 3.56934995e+00] [-1.26782561e-04 -1.11344386e-05 9.99999992e-01 1.05732516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.131400512999996 meters 0.08418486923604285 Centerline is valid? [True, True] Translation: X:38.66, Y:3.56, Z:0.11 [[ 9.99968581e-01 -7.87172937e-03 9.34283690e-04 3.86565738e+01] [ 7.87165083e-03 9.99969014e-01 8.77118105e-05 3.55866669e+00] [-9.34945184e-04 -8.03546997e-05 9.99999560e-01 1.08383503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161400513 meters 0.07984868387332754 Centerline is valid? [True, True] Translation: X:38.69, Y:3.56, Z:0.11 [[ 9.99958328e-01 -8.84322947e-03 2.26705975e-03 3.86876050e+01] [ 8.84276952e-03 9.99960879e-01 2.12829582e-04 3.55653821e+00] [-2.26885316e-03 -1.92773626e-04 9.99997408e-01 1.10241898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191400513 meters 0.09214197384534686 Centerline is valid? [True, True] Translation: X:38.72, Y:3.57, Z:0.11 [[ 9.99952999e-01 -9.01796064e-03 3.56045018e-03 3.87170460e+01] [ 9.01682675e-03 9.99959292e-01 3.34391312e-04 3.57339479e+00] [-3.56332077e-03 -3.02271632e-04 9.99993606e-01 1.11221804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221400513 meters 0.09336719001474576 Centerline is valid? [True, True] Translation: X:38.75, Y:3.58, Z:0.11 [[ 9.99950997e-01 -8.83792959e-03 4.46032579e-03 3.87494006e+01] [ 8.83614920e-03 9.99960873e-01 4.18709386e-04 3.57650776e+00] [-4.46385179e-03 -3.79276764e-04 9.99989965e-01 1.11883944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251400513 meters 0.0874311401003461 Centerline is valid? [True, True] Translation: X:38.78, Y:3.57, Z:0.11 [[ 9.99968824e-01 -6.98041108e-03 3.69114917e-03 3.87808166e+01] [ 6.97918018e-03 9.99975585e-01 3.46249079e-04 3.57001283e+00] [-3.69347601e-03 -3.20477089e-04 9.99993128e-01 1.09225596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281400513 meters 0.09345424875573362 Centerline is valid? [True, True] Translation: X:38.81, Y:3.58, Z:0.11 [[ 9.99978415e-01 -5.79824837e-03 3.09021066e-03 3.88101583e+01] [ 5.79738014e-03 9.99983153e-01 2.89843654e-04 3.57956725e+00] [-3.09183918e-03 -2.71922272e-04 9.99995183e-01 1.07264962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.311400512999995 meters 0.08463339977342603 Centerline is valid? [True, True] Translation: X:38.84, Y:3.57, Z:0.11 [[ 9.99986979e-01 -4.16719986e-03 2.94553659e-03 3.88425291e+01] [ 4.16640369e-03 9.99991282e-01 2.76381390e-04 3.57104836e+00] [-2.94666265e-03 -2.64105497e-04 9.99995624e-01 1.07487950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341400512999996 meters 0.09931736827692637 Centerline is valid? [True, True] Translation: X:38.87, Y:3.60, Z:0.11 [[ 9.99992381e-01 1.29253428e-03 3.68338846e-03 3.88716786e+01] [-1.25382948e-03 9.99944182e-01 -1.04909393e-02 3.59960902e+00] [-3.69674276e-03 1.04862410e-02 9.99938185e-01 1.10124946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371400513 meters 0.09423411561183491 Centerline is valid? [True, True] Translation: X:38.90, Y:3.58, Z:0.11 [[ 9.99995982e-01 5.72786780e-04 2.77641953e-03 3.89026517e+01] [-6.04687287e-04 9.99933660e-01 1.15026116e-02 3.57807421e+00] [-2.76964680e-03 -1.15042443e-02 9.99929988e-01 1.09764744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401400513 meters 0.10221499998623944 Centerline is valid? [True, False] Translation: X:38.92, Y:3.59, Z:0.10 [[ 9.99966813e-01 1.49528135e-03 8.00854771e-03 3.89233215e+01] [-1.50204873e-03 9.99998520e-01 8.39071856e-04 3.58908303e+00] [-8.00728120e-03 -8.51073238e-04 9.99967579e-01 1.04490087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431400513 meters 0.09881981273383732 Centerline is valid? [False, True] Translation: X:38.90, Y:3.58, Z:0.11 [[ 9.99994424e-01 5.90733526e-05 3.33879099e-03 3.89025231e+01] [-9.52764467e-05 9.99941197e-01 1.08440560e-02 3.58086050e+00] [-3.33795407e-03 -1.08443137e-02 9.99935627e-01 1.09605584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461400513 meters 0.09460339113138548 Centerline is valid? [True, True] Translation: X:38.93, Y:3.59, Z:0.11 [[ 9.99984685e-01 -5.47173984e-05 5.53414377e-03 3.89342762e+01] [ 5.18014792e-05 9.99999860e-01 5.27038158e-04 3.58801105e+00] [-5.53417183e-03 -5.26743410e-04 9.99984548e-01 1.11049558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491400513 meters 0.10131194952484057 Centerline is valid? [True, False] Translation: X:38.91, Y:3.58, Z:0.12 [[ 9.99995902e-01 -2.80656723e-03 5.65316199e-04 3.89148499e+01] [ 2.80125065e-03 9.99953797e-01 9.19553477e-03 3.57932980e+00] [-5.91097966e-04 -9.19391349e-03 9.99957560e-01 1.15150138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521400512999996 meters 0.09646832926919363 Centerline is valid? [False, True] Translation: X:38.91, Y:3.58, Z:0.11 [[ 9.99973058e-01 -7.31613708e-03 5.98108681e-04 3.89149629e+01] [ 7.31346188e-03 9.99963756e-01 4.35887338e-03 3.58152366e+00] [-6.29977118e-04 -4.35438170e-03 9.99990321e-01 1.14687854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551400513 meters 0.09383900140173494 Centerline is valid? [True, True] Translation: X:38.95, Y:3.58, Z:0.11 [[ 9.99962078e-01 -8.70874008e-03 3.05282150e-05 3.89452841e+01] [ 8.70873999e-03 9.99962078e-01 3.03026476e-06 3.58495943e+00] [-3.05534471e-05 -2.76428756e-06 1.00000000e+00 1.13761823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581400513 meters 0.10440630538160503 Centerline is valid? [True, False] Translation: X:38.95, Y:3.58, Z:0.11 [[ 9.99962765e-01 -8.62895181e-03 -9.59782845e-05 3.89456691e+01] [ 8.62897335e-03 9.99962744e-01 2.26314789e-04 3.58394859e+00] [ 9.40218493e-05 -2.27134556e-04 9.99999970e-01 1.13842975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611400513 meters 0.08325932042811532 Centerline is valid? [False, True] Translation: X:38.95, Y:3.58, Z:0.11 [[ 9.99965392e-01 -8.31385280e-03 -3.07962261e-04 3.89460813e+01] [ 8.31426594e-03 9.99964504e-01 1.36547023e-03 3.57906987e+00] [ 2.96599011e-04 -1.36798345e-03 9.99999020e-01 1.14763508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641400513 meters 0.08200363486637818 Centerline is valid? [True, True] Translation: X:38.98, Y:3.58, Z:0.12 [[ 9.99931593e-01 -1.16642482e-02 8.68566488e-04 3.89759971e+01] [ 1.16641839e-02 9.99931968e-01 7.90432792e-05 3.57913250e+00] [-8.69429378e-04 -6.89067529e-05 9.99999620e-01 1.16323632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671400513 meters 0.07527004890108335 Centerline is valid? [True, True] Translation: X:39.01, Y:3.57, Z:0.12 [[ 9.99891718e-01 -1.46908378e-02 8.55846617e-04 3.90072664e+01] [ 1.46907765e-02 9.99892082e-01 7.78896062e-05 3.57159006e+00] [-8.56898519e-04 -6.53081208e-05 9.99999631e-01 1.16484441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701400512999996 meters 0.07193011580484474 Centerline is valid? [True, True] Translation: X:39.04, Y:3.57, Z:0.12 [[ 9.99891648e-01 -1.46100889e-02 1.79955462e-03 3.90364903e+01] [ 1.46241351e-02 9.99860604e-01 -8.05654599e-03 3.57386966e+00] [-1.68159692e-03 8.08198997e-03 9.99965926e-01 1.16009375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731400513 meters 0.07335170101662203 Centerline is valid? [True, True] Translation: X:39.07, Y:3.56, Z:0.11 [[ 9.99801986e-01 -1.97147315e-02 -2.70526396e-03 3.90678465e+01] [ 1.97357192e-02 9.99773512e-01 7.96406189e-03 3.56478780e+00] [ 2.54764191e-03 -8.01587523e-03 9.99964627e-01 1.11715644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761400513 meters 0.07509594978718687 Centerline is valid? [True, True] Translation: X:39.10, Y:3.57, Z:0.11 [[ 9.99732273e-01 -2.29713723e-02 -2.77466107e-03 3.90957695e+01] [ 2.29707589e-02 9.99736105e-01 -2.52760083e-04 3.57331735e+00] [ 2.77973510e-03 1.88956341e-04 9.99996119e-01 1.09457734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791400513 meters 0.0684645876413596 Centerline is valid? [True, True] Translation: X:39.13, Y:3.57, Z:0.11 [[ 9.99711872e-01 -2.39181963e-02 -2.02306038e-03 3.91255321e+01] [ 2.39178717e-02 9.99713910e-01 -1.84474486e-04 3.56559137e+00] [ 2.02689390e-03 1.36034035e-04 9.99997937e-01 1.11670533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821400513 meters 0.07206363003567806 Centerline is valid? [True, True] Translation: X:39.15, Y:3.57, Z:0.11 [[ 9.99699065e-01 -2.45148365e-02 -8.95510147e-04 3.91528852e+01] [ 2.45147730e-02 9.99699464e-01 -8.18352836e-05 3.56976781e+00] [ 8.97247193e-04 5.98574285e-05 9.99999596e-01 1.13516317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851400513 meters 0.06754311920552099 Centerline is valid? [True, True] Translation: X:39.18, Y:3.57, Z:0.12 [[ 9.99760037e-01 -2.16246808e-02 3.49873310e-03 3.91812896e+01] [ 2.16436494e-02 9.99750743e-01 -5.47768631e-03 3.56569933e+00] [-3.37940780e-03 5.55209722e-03 9.99978877e-01 1.17451444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881400512999996 meters 0.07216165782990495 Centerline is valid? [True, True] Translation: X:39.21, Y:3.56, Z:0.12 [[ 9.99672664e-01 -2.55836146e-02 2.09048608e-04 3.92133666e+01] [ 2.55819678e-02 9.99655822e-01 5.81383308e-03 3.56350670e+00] [-3.57715523e-04 -5.80658213e-03 9.99983078e-01 1.17137489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.911400513 meters 0.06903506130744921 Centerline is valid? [True, True] Translation: X:39.24, Y:3.56, Z:0.12 [[ 9.99695406e-01 -2.40720991e-02 5.44331098e-03 3.92421282e+01] [ 2.40910509e-02 9.99703839e-01 -3.44331505e-03 3.55961640e+00] [-5.35881106e-03 3.57340132e-03 9.99979257e-01 1.19040401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941400513 meters 0.06264185972104137 Centerline is valid? [True, True] Translation: X:39.28, Y:3.55, Z:0.12 [[ 9.99585363e-01 -2.87610591e-02 1.37954914e-03 3.92755346e+01] [ 2.87553495e-02 9.99578500e-01 3.99392037e-03 3.54610973e+00] [-1.49383704e-03 -3.95259492e-03 9.99991073e-01 1.18066017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971400513 meters 0.0683695207874333 Centerline is valid? [True, True] Translation: X:39.30, Y:3.55, Z:0.12 [[ 9.99557881e-01 -2.96678220e-02 1.96539988e-03 3.93036288e+01] [ 2.96675262e-02 9.99559806e-01 1.79462021e-04 3.55457985e+00] [-1.96985897e-03 -1.21074124e-04 9.99998052e-01 1.17634613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001400513 meters 0.06016473235560914 Centerline is valid? [True, True] Translation: X:39.33, Y:3.54, Z:0.12 [[ 9.99534749e-01 -3.04723189e-02 1.31237930e-03 3.93335661e+01] [ 3.04721880e-02 9.99535608e-01 1.19571656e-04 3.54266611e+00] [-1.31541347e-03 -7.95249567e-05 9.99999132e-01 1.17144251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031400513 meters 0.061976229160524504 Centerline is valid? [True, True] Translation: X:39.36, Y:3.54, Z:0.11 [[ 9.99537584e-01 -3.03492390e-02 -1.88190609e-03 3.93619095e+01] [ 3.03489677e-02 9.99539349e-01 -1.72572143e-04 3.53857619e+00] [ 1.88627662e-03 1.15378436e-04 9.99998214e-01 1.12754312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061400512999995 meters 0.06050302776030177 Centerline is valid? [True, True] Translation: X:39.39, Y:3.53, Z:0.11 [[ 9.99552147e-01 -2.97668349e-02 -3.07247061e-03 3.93911458e+01] [ 2.97661066e-02 9.99556851e-01 -2.82493623e-04 3.53460198e+00] [ 3.07951799e-03 1.90911619e-04 9.99995240e-01 1.11000442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.091400512999996 meters 0.07015289011647935 Centerline is valid? [True, True] Translation: X:39.42, Y:3.54, Z:0.11 [[ 9.99568991e-01 -2.91104493e-02 -3.79669162e-03 3.94185840e+01] [ 2.91093336e-02 9.99576173e-01 -3.48811036e-04 3.54158997e+00] [ 3.80523652e-03 2.38141532e-04 9.99992732e-01 1.10583763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121400513 meters 0.0685681179281322 Centerline is valid? [True, True] Translation: X:39.45, Y:3.54, Z:0.11 [[ 9.99598735e-01 -2.81630578e-02 -3.03514625e-03 3.94478643e+01] [ 2.81623403e-02 9.99603324e-01 -2.78904528e-04 3.54206540e+00] [ 3.04179708e-03 1.93315792e-04 9.99995355e-01 1.11195016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151400513 meters 0.06716521488553195 Centerline is valid? [True, True] Translation: X:39.47, Y:3.55, Z:0.11 [[ 9.99720785e-01 -2.36190918e-02 6.99684551e-04 3.94743646e+01] [ 2.36251391e-02 9.99665770e-01 -1.04976486e-02 3.54696056e+00] [-4.51505769e-04 1.05112477e-02 9.99944653e-01 1.13599923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181400513 meters 0.0724594698749068 Centerline is valid? [True, True] Translation: X:39.51, Y:3.54, Z:0.11 [[ 9.99700314e-01 -2.43060897e-02 -2.91487693e-03 3.95064565e+01] [ 2.43347984e-02 9.99651264e-01 1.02551110e-02 3.53839736e+00] [ 2.66459876e-03 -1.03229706e-02 9.99943166e-01 1.14395346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211400513 meters 0.07472970644750668 Centerline is valid? [True, True] Translation: X:39.54, Y:3.55, Z:0.11 [[ 9.99757457e-01 -2.19523209e-02 -1.76725130e-03 3.95356645e+01] [ 2.19520674e-02 9.99759011e-01 -1.62696439e-04 3.55128922e+00] [ 1.77039697e-03 1.23862159e-04 9.99998425e-01 1.13787930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241400512999995 meters 0.07485237200854926 Centerline is valid? [True, True] Translation: X:39.57, Y:3.55, Z:0.11 [[ 9.99805672e-01 -1.96321008e-02 -1.78835616e-03 3.95658938e+01] [ 1.96318375e-02 9.99807263e-01 -1.64641574e-04 3.55225186e+00] [ 1.79124374e-03 1.29500862e-04 9.99998387e-01 1.14529476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.271400512999996 meters 0.07668737648815917 Centerline is valid? [True, True] Translation: X:39.59, Y:3.56, Z:0.12 [[ 9.99899898e-01 -1.40239653e-02 1.87704451e-03 3.95916131e+01] [ 1.40404596e-02 9.99860170e-01 -9.08332589e-03 3.56060871e+00] [-1.74939780e-03 9.10877119e-03 9.99956984e-01 1.16404602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301400513 meters 0.08220167668936969 Centerline is valid? [True, True] Translation: X:39.62, Y:3.56, Z:0.11 [[ 9.99876364e-01 -1.54862124e-02 -2.72667964e-03 3.96245228e+01] [ 1.55101322e-02 9.99839371e-01 8.98148843e-03 3.55743721e+00] [ 2.58715242e-03 -9.02266915e-03 9.99955948e-01 1.14547032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331400513 meters 0.0896207612197689 Centerline is valid? [True, True] Translation: X:39.65, Y:3.58, Z:0.11 [[ 9.99895108e-01 -1.42057171e-02 -2.82319977e-03 3.96523354e+01] [ 1.42050381e-02 9.99899069e-01 -2.60413157e-04 3.57658139e+00] [ 2.82661418e-03 2.20282181e-04 9.99995981e-01 1.11682179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361400513 meters 0.07862678176930432 Centerline is valid? [True, True] Translation: X:39.68, Y:3.57, Z:0.11 [[ 9.99959862e-01 -8.95615574e-03 -2.46683158e-04 3.96784530e+01] [ 8.95440306e-03 9.99939620e-01 -6.36979166e-03 3.56620902e+00] [ 3.03717110e-04 6.36732709e-03 9.99979682e-01 1.12809611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391400513 meters 0.0850726543033454 Centerline is valid? [True, True] Translation: X:39.71, Y:3.57, Z:0.11 [[ 9.99905198e-01 -1.25374592e-02 -5.69272479e-03 3.97128236e+01] [ 1.25704113e-02 9.99904225e-01 5.79005899e-03 3.56848210e+00] [ 5.61958695e-03 -5.86106998e-03 9.99967034e-01 1.10355105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421400513 meters 0.08803914115303867 Centerline is valid? [True, True] Translation: X:39.74, Y:3.58, Z:0.11 [[ 9.99918326e-01 -1.22806465e-02 -3.53925935e-03 3.97393034e+01] [ 1.22795655e-02 9.99924550e-01 -3.26980424e-04 3.58038499e+00] [ 3.54300784e-03 2.83493151e-04 9.99993683e-01 1.11548705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.451400512999996 meters 0.08322684059745246 Centerline is valid? [True, True] Translation: X:39.77, Y:3.58, Z:0.11 [[ 9.99916290e-01 -1.27761216e-02 -2.04546509e-03 3.97686103e+01] [ 1.27757601e-02 9.99918369e-01 -1.89718204e-04 3.57753571e+00] [ 2.04772198e-03 1.63569952e-04 9.99997890e-01 1.13622385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481400513 meters 0.0815418982344652 Centerline is valid? [True, True] Translation: X:39.80, Y:3.58, Z:0.11 [[ 9.99908633e-01 -1.34216886e-02 -1.60768781e-03 3.97971899e+01] [ 1.34214664e-02 9.99909917e-01 -1.48921439e-04 3.57795937e+00] [ 1.60954176e-03 1.27330305e-04 9.99998697e-01 1.13755716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511400513 meters 0.0764629128588894 Centerline is valid? [True, True] Translation: X:39.83, Y:3.57, Z:0.11 [[ 9.99894117e-01 -1.43861896e-02 -2.18935658e-03 3.98263341e+01] [ 1.43857797e-02 9.99896499e-01 -2.02851792e-04 3.57356891e+00] [ 2.19204824e-03 1.71334712e-04 9.99997583e-01 1.12573451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541400513 meters 0.08198066800293671 Centerline is valid? [True, True] Translation: X:39.85, Y:3.58, Z:0.11 [[ 9.99873715e-01 -1.55211479e-02 -3.41281496e-03 3.98540612e+01] [ 1.55201586e-02 9.99879505e-01 -3.16200469e-04 3.58180237e+00] [ 3.41731152e-03 2.63193109e-04 9.99994126e-01 1.09851375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571400513 meters 0.07892219256497932 Centerline is valid? [True, True] Translation: X:39.88, Y:3.58, Z:0.11 [[ 9.99844581e-01 -1.70327821e-02 -4.54958453e-03 3.98839639e+01] [ 1.70310393e-02 9.99854872e-01 -4.21546384e-04 3.57979189e+00] [ 4.55610437e-03 3.43996715e-04 9.99989562e-01 1.07969195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601400513 meters 0.08091497016447755 Centerline is valid? [True, True] Translation: X:39.91, Y:3.58, Z:0.11 [[ 9.99809538e-01 -1.90219422e-02 -4.36513542e-03 3.99130588e+01] [ 1.90203565e-02 9.99819015e-01 -4.04502381e-04 3.58364382e+00] [ 4.37203981e-03 3.21398906e-04 9.99990391e-01 1.09382387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631400512999996 meters 0.07869729054536787 Centerline is valid? [True, True] Translation: X:39.94, Y:3.58, Z:0.11 [[ 9.99810954e-01 -1.91920600e-02 -3.11776255e-03 3.99422474e+01] [ 1.91912488e-02 9.99815789e-01 -2.89891611e-04 3.58357054e+00] [ 3.12275184e-03 2.30003052e-04 9.99995098e-01 1.12367551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661400513 meters 0.07943016749320318 Centerline is valid? [True, True] Translation: X:39.97, Y:3.59, Z:0.11 [[ 9.99856411e-01 -1.68883111e-02 -1.39340168e-03 3.99722517e+01] [ 1.68881472e-02 9.99857377e-01 -1.29342292e-04 3.58850961e+00] [ 1.39538733e-03 1.05791747e-04 9.99999021e-01 1.14981335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691400513 meters 0.08688686241653744 Centerline is valid? [True, True] Translation: X:40.00, Y:3.60, Z:0.11 [[ 9.99894597e-01 -1.44235689e-02 -1.65973913e-03 4.00010735e+01] [ 1.44233329e-02 9.99895966e-01 -1.54106435e-04 3.60120432e+00] [ 1.66178922e-03 1.30151222e-04 9.99998611e-01 1.13594657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721400513 meters 0.085688395541482 Centerline is valid? [True, True] Translation: X:40.03, Y:3.60, Z:0.11 [[ 9.99929475e-01 -1.16055406e-02 -2.52102230e-03 4.00310088e+01] [ 1.16049871e-02 9.99932632e-01 -2.34079418e-04 3.60279749e+00] [ 2.52356908e-03 2.04806479e-04 9.99996795e-01 1.11900684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751400513 meters 0.08872167633356998 Centerline is valid? [True, True] Translation: X:40.06, Y:3.61, Z:0.11 [[ 9.99957117e-01 -8.80498210e-03 -2.86997428e-03 4.00611146e+01] [ 8.80425342e-03 9.99961206e-01 -2.66434595e-04 3.60935734e+00] [ 2.87220890e-03 2.41155189e-04 9.99995846e-01 1.11163244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781400513 meters 0.09160903009436598 Centerline is valid? [True, True] Translation: X:40.09, Y:3.62, Z:0.11 [[ 9.99974617e-01 -6.41483040e-03 -3.10087185e-03 4.00909002e+01] [ 6.41396833e-03 9.99979389e-01 -2.87871368e-04 3.61623322e+00] [ 3.10265458e-03 2.67975167e-04 9.99995151e-01 1.11394541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811400512999995 meters 0.09252056780056937 Centerline is valid? [True, True] Translation: X:40.12, Y:3.63, Z:0.11 [[ 9.99990090e-01 -3.80066160e-03 -2.31843748e-03 4.01201214e+01] [ 3.80017267e-03 9.99992756e-01 -2.15255472e-04 3.62500735e+00] [ 2.31923880e-03 2.06442876e-04 9.99997289e-01 1.12355112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841400512999996 meters 0.09252056780056937 Centerline is valid? [True, True] Translation: X:40.15, Y:3.63, Z:0.11 [[ 9.99989492e-01 -3.95492440e-03 -2.31835697e-03 4.01484332e+01] [ 3.95443390e-03 9.99992158e-01 -2.16121887e-04 3.62774200e+00] [ 2.31919354e-03 2.06951826e-04 9.99997289e-01 1.12258590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871400513 meters 0.09285382924574301 Centerline is valid? [True, True] Translation: X:40.18, Y:3.63, Z:0.11 [[ 9.99988608e-01 -4.19644332e-03 -2.27447531e-03 4.01768829e+01] [ 4.19597100e-03 9.99991174e-01 -2.12394404e-04 3.63310978e+00] [ 2.27534653e-03 2.02848352e-04 9.99997391e-01 1.11694232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901400513 meters 0.09196366105708294 Centerline is valid? [True, True] Translation: X:40.21, Y:3.64, Z:0.11 [[ 9.99983414e-01 -4.96886913e-03 -2.91245695e-03 4.02056844e+01] [ 4.96809906e-03 9.99987622e-01 -2.71578469e-04 3.63574987e+00] [ 2.91377034e-03 2.57104590e-04 9.99995722e-01 1.10063518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931400513 meters 0.08300457578088637 Centerline is valid? [True, True] Translation: X:40.24, Y:3.63, Z:0.11 [[ 9.99974543e-01 -6.03648975e-03 -3.80453558e-03 4.02361733e+01] [ 6.03518348e-03 9.99981725e-01 -3.54731832e-04 3.62811417e+00] [ 3.80660739e-03 3.31761731e-04 9.99992700e-01 1.09106700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961400513 meters 0.08561543438903757 Centerline is valid? [True, True] Translation: X:40.26, Y:3.63, Z:0.11 [[ 9.99962913e-01 -7.35645443e-03 -4.47821381e-03 4.02648112e+01] [ 7.35465734e-03 9.99972867e-01 -4.17633371e-04 3.63485386e+00] [ 4.48116460e-03 3.84682155e-04 9.99989886e-01 1.07640724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.991400512999995 meters 0.08968757872393016 Centerline is valid? [True, True] Translation: X:40.29, Y:3.64, Z:0.11 [[ 9.99945013e-01 -8.92049973e-03 -5.51329893e-03 4.02927355e+01] [ 8.91779832e-03 9.99960103e-01 -5.14370888e-04 3.64433065e+00] [ 5.51766741e-03 4.65176117e-04 9.99984669e-01 1.05206073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021400512999996 meters 0.09264808151319237 Centerline is valid? [True, True] Translation: X:40.32, Y:3.65, Z:0.10 [[ 9.99941132e-01 -9.15574673e-03 -5.82277302e-03 4.03197297e+01] [ 9.15273386e-03 9.99957965e-01 -5.43865618e-04 3.65051247e+00] [ 5.82750776e-03 4.90539310e-04 9.99982900e-01 1.04295369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051400513 meters 0.08858679827435997 Centerline is valid? [True, True] Translation: X:40.35, Y:3.65, Z:0.10 [[ 9.99934512e-01 -9.69283009e-03 -6.08442734e-03 4.03488602e+01] [ 9.68954302e-03 9.99952893e-01 -5.69488675e-04 3.64806927e+00] [ 6.08966068e-03 5.10496060e-04 9.99981328e-01 1.04611426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081400513 meters 0.08609394025493713 Centerline is valid? [True, True] Translation: X:40.38, Y:3.65, Z:0.11 [[ 9.99932863e-01 -9.90380873e-03 -6.01525207e-03 4.03767465e+01] [ 9.90059274e-03 9.99950829e-01 -5.64182396e-04 3.64832207e+00] [ 6.02054384e-03 5.04589958e-04 9.99981749e-01 1.05227199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111400513 meters 0.08641702850541333 Centerline is valid? [True, True] Translation: X:40.41, Y:3.66, Z:0.11 [[ 9.99952258e-01 -8.93234756e-03 -3.96174687e-03 4.04056863e+01] [ 8.93094592e-03 9.99960049e-01 -3.71345561e-04 3.65664394e+00] [ 3.96490558e-03 3.35945685e-04 9.99992083e-01 1.07745047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141400513 meters 0.08298695136952118 Centerline is valid? [True, True] Translation: X:40.43, Y:3.67, Z:0.11 [[ 9.99979983e-01 -5.08886587e-03 -3.75994550e-03 4.04301935e+01] [ 5.02869518e-03 9.99861848e-01 -1.58428658e-02 3.66891646e+00] [ 3.84004828e-03 1.58236411e-02 9.99867424e-01 1.08718788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171400513 meters 0.09069921101076513 Centerline is valid? [True, True] Translation: X:40.46, Y:3.66, Z:0.11 [[ 9.99968227e-01 -7.03998756e-03 -3.73949256e-03 4.04640817e+01] [ 7.09584637e-03 9.99860198e-01 1.51404369e-02 3.65902013e+00] [ 3.63238129e-03 -1.51664907e-02 9.99878384e-01 1.11071950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201400512999996 meters 0.08846206968922034 Centerline is valid? [True, True] Translation: X:40.49, Y:3.67, Z:0.11 [[ 9.99970136e-01 -7.21625198e-03 -2.76650595e-03 4.04916130e+01] [ 7.21556107e-03 9.99973934e-01 -2.59643252e-04 3.67435122e+00] [ 2.76830749e-03 2.39673605e-04 9.99996140e-01 1.09211815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231400513 meters 0.09042021272104588 Centerline is valid? [True, True] Translation: X:40.52, Y:3.69, Z:0.11 [[ 9.99968758e-01 -6.33420231e-03 -4.72871330e-03 4.05185642e+01] [ 6.33217342e-03 9.99979853e-01 -4.43906674e-04 3.68850506e+00] [ 4.73142982e-03 4.13949773e-04 9.99988721e-01 1.07030600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261400513 meters 0.08398794988934027 Centerline is valid? [True, True] Translation: X:40.55, Y:3.69, Z:0.11 [[ 9.99966246e-01 -6.60076886e-03 -4.89261560e-03 4.05467442e+01] [ 6.59859339e-03 9.99978123e-01 -4.60654363e-04 3.68759446e+00] [ 4.89554923e-03 4.28354433e-04 9.99987925e-01 1.06694920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291400513 meters 0.09861906675115818 Centerline is valid? [True, True] Translation: X:40.57, Y:3.71, Z:0.10 [[ 9.99964028e-01 -6.96814534e-03 -4.83609678e-03 4.05728815e+01] [ 6.96602068e-03 9.99975633e-01 -4.56039042e-04 3.71190789e+00] [ 4.83915668e-03 4.22334288e-04 9.99988202e-01 1.04891027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321400513 meters 0.08533196835629611 Centerline is valid? [True, True] Translation: X:40.60, Y:3.70, Z:0.11 [[ 9.99960195e-01 -7.86724967e-03 -4.20891632e-03 4.06033259e+01] [ 7.86564549e-03 9.99968986e-01 -3.97555225e-04 3.70257810e+00] [ 4.21191345e-03 3.64433557e-04 9.99991063e-01 1.07236831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351400513 meters 0.09687596126953932 Centerline is valid? [True, True] Translation: X:40.63, Y:3.73, Z:0.11 [[ 9.99953205e-01 -9.26753276e-03 -2.77492864e-03 4.06302473e+01] [ 9.26684134e-03 9.99957028e-01 -2.61921369e-04 3.72886712e+00] [ 2.77723676e-03 2.36194289e-04 9.99996116e-01 1.08032470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381400512999996 meters 0.08131906942903198 Centerline is valid? [True, True] Translation: X:40.66, Y:3.72, Z:0.11 [[ 9.99939676e-01 -1.03769808e-02 -3.60044972e-03 4.06606369e+01] [ 1.03758205e-02 9.99946112e-01 -3.40781766e-04 3.71682588e+00] [ 3.60379199e-03 3.03403588e-04 9.99993460e-01 1.08745772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.411400513 meters 0.08935374277877686 Centerline is valid? [True, True] Translation: X:40.69, Y:3.74, Z:0.11 [[ 9.99926506e-01 -1.00765436e-02 -6.74130637e-03 4.06856533e+01] [ 1.00321925e-02 9.99928022e-01 -6.58079000e-03 3.73588414e+00] [ 6.80713276e-03 6.51267628e-03 9.99955623e-01 1.06708375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441400513 meters 0.08645369798451139 Centerline is valid? [True, True] Translation: X:40.72, Y:3.73, Z:0.11 [[ 9.99894605e-01 -1.33740007e-02 -5.64933806e-03 4.07166544e+01] [ 1.34038940e-02 9.99896185e-01 5.28718234e-03 3.72847295e+00] [ 5.57804079e-03 -5.36234823e-03 9.99970065e-01 1.06004605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471400513 meters 0.0734608695713262 Centerline is valid? [True, True] Translation: X:40.75, Y:3.73, Z:0.11 [[ 9.99829710e-01 -1.79736507e-02 -4.18328515e-03 4.07471493e+01] [ 1.79721506e-02 9.99838409e-01 -3.95912246e-04 3.72613178e+00] [ 4.18972516e-03 3.20662195e-04 9.99991172e-01 1.08625012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501400513 meters 0.07039896560026031 Centerline is valid? [True, True] Translation: X:40.78, Y:3.73, Z:0.11 [[ 9.99789685e-01 -2.02905682e-02 -2.97980694e-03 4.07770409e+01] [ 2.02898173e-02 9.99794101e-01 -2.82029737e-04 3.72894452e+00] [ 2.98491595e-03 2.21510683e-04 9.99995521e-01 1.09802268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531400513 meters 0.07753829968598942 Centerline is valid? [True, True] Translation: X:40.81, Y:3.74, Z:0.11 [[ 9.99757497e-01 -2.19420740e-02 -1.86867677e-03 4.08051219e+01] [ 2.19417813e-02 9.99759234e-01 -1.76980532e-04 3.74345994e+00] [ 1.87211018e-03 1.35935517e-04 9.99998238e-01 1.10062005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561400512999995 meters 0.08120113540413429 Centerline is valid? [True, True] Translation: X:40.83, Y:3.75, Z:0.11 [[ 9.99733249e-01 -2.30891677e-02 -5.66303236e-04 4.08334721e+01] [ 2.30891409e-02 9.99733409e-01 -5.36980696e-05 3.75303370e+00] [ 5.67392108e-04 4.06082904e-05 9.99999838e-01 1.11270514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591400512999996 meters 0.07374149971040814 Centerline is valid? [True, True] Translation: X:40.86, Y:3.75, Z:0.11 [[ 9.99721281e-01 -2.36028409e-02 5.15888226e-04 4.08631018e+01] [ 2.36028191e-02 9.99721413e-01 4.84256428e-05 3.75105976e+00] [-5.16887489e-04 -3.62357292e-05 9.99999866e-01 1.12990787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621400513 meters 0.07311315585861673 Centerline is valid? [True, True] Translation: X:40.89, Y:3.76, Z:0.11 [[ 9.99734685e-01 -2.30191261e-02 8.24859686e-04 4.08922937e+01] [ 2.30190694e-02 9.99735023e-01 7.81694278e-05 3.75629674e+00] [-8.26440509e-04 -5.91611858e-05 9.99999657e-01 1.13344661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651400513 meters 0.07701363666720731 Centerline is valid? [True, True] Translation: X:40.92, Y:3.77, Z:0.11 [[ 9.99755283e-01 -2.21054048e-02 8.51442967e-04 4.09206185e+01] [ 2.21053440e-02 9.99755644e-01 8.07397114e-05 3.76725991e+00] [-8.53019695e-04 -6.18985133e-05 9.99999634e-01 1.13227346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681400513 meters 0.07682024800873535 Centerline is valid? [True, True] Translation: X:40.95, Y:3.77, Z:0.11 [[ 9.99783121e-01 -2.08143911e-02 6.86982638e-04 4.09503137e+01] [ 2.08143512e-02 9.99783356e-01 6.51449096e-05 3.77285618e+00] [-6.88189759e-04 -5.08316831e-05 9.99999762e-01 1.12618787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711400513 meters 0.08219231255358146 Centerline is valid? [True, True] Translation: X:40.98, Y:3.78, Z:0.11 [[ 9.99807857e-01 -1.96003213e-02 2.76988372e-04 4.09783190e+01] [ 1.96003148e-02 9.99807895e-01 2.62115958e-05 3.78466100e+00] [-2.77448917e-04 -2.07775001e-05 9.99999961e-01 1.11648829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741400512999995 meters 0.0784690110004375 Centerline is valid? [True, True] Translation: X:41.01, Y:3.78, Z:0.11 [[ 9.99812621e-01 -1.93531399e-02 -4.21948850e-04 4.10093575e+01] [ 1.93531248e-02 9.99812710e-01 -4.00455434e-05 3.78239037e+00] [ 4.22644831e-04 3.18720110e-05 9.99999910e-01 1.09754274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771400512999996 meters 0.08353324303425518 Centerline is valid? [True, True] Translation: X:41.04, Y:3.80, Z:0.11 [[ 9.99838414e-01 -1.79383846e-02 -1.16613468e-03 4.10374298e+01] [ 1.79382675e-02 9.99839090e-01 -1.10777740e-04 3.79641130e+00] [ 1.16793421e-03 8.98414037e-05 9.99999314e-01 1.09480896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801400513 meters 0.08398647810607572 Centerline is valid? [True, True] Translation: X:41.07, Y:3.80, Z:0.11 [[ 9.99831470e-01 -1.82369247e-02 -2.10882645e-03 4.10668156e+01] [ 1.82365425e-02 9.99833680e-01 -2.00310761e-04 3.80364134e+00] [ 2.11212876e-03 1.61819300e-04 9.99997756e-01 1.07070160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831400513 meters 0.08904632416788111 Centerline is valid? [True, True] Translation: X:41.09, Y:3.81, Z:0.11 [[ 9.99807151e-01 -1.95719130e-02 -1.61252106e-03 4.10944338e+01] [ 1.95716911e-02 9.99808444e-01 -1.53276206e-04 3.81455610e+00] [ 1.61521209e-03 1.21686882e-04 9.99998688e-01 1.06650125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861400513 meters 0.07344563887731935 Centerline is valid? [True, True] Translation: X:41.13, Y:3.80, Z:0.11 [[ 9.99766276e-01 -2.15939577e-02 -1.04637508e-03 4.11266354e+01] [ 2.15938654e-02 9.99766820e-01 -9.94107336e-05 3.79995239e+00] [ 1.04827776e-03 7.67922162e-05 9.99999448e-01 1.07830643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891400513 meters 0.06566325510579028 Centerline is valid? [True, True] Translation: X:41.16, Y:3.79, Z:0.11 [[ 9.99639149e-01 -2.66714422e-02 -3.19472706e-03 4.11564333e+01] [ 2.66626494e-02 9.99640667e-01 -2.76398960e-03 3.79341100e+00] [ 3.26729867e-03 2.67781232e-03 9.99991077e-01 1.06586369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921400513 meters 0.07182843075543238 Centerline is valid? [True, True] Translation: X:41.19, Y:3.80, Z:0.11 [[ 9.99510495e-01 -3.12228469e-02 -1.97571400e-03 4.11863310e+01] [ 3.12273084e-02 9.99509733e-01 2.26908633e-03 3.79919573e+00] [ 1.90389804e-03 -2.32967183e-03 9.99995474e-01 1.05974552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.951400512999996 meters 0.06316614641430171 Centerline is valid? [True, True] Translation: X:41.22, Y:3.79, Z:0.11 [[ 9.99404603e-01 -3.44476422e-02 -1.94935485e-03 4.12175023e+01] [ 3.44473462e-02 9.99406497e-01 -1.85231704e-04 3.79298097e+00] [ 1.95457870e-03 1.17971316e-04 9.99998083e-01 1.06572032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981400513 meters 0.061931494378504474 Centerline is valid? [True, True] Translation: X:41.25, Y:3.79, Z:0.11 [[ 9.99338225e-01 -3.63147797e-02 -2.08521548e-03 4.12474954e+01] [ 3.63144449e-02 9.99340393e-01 -1.98196822e-04 3.79339101e+00] [ 2.09103753e-03 1.22342217e-04 9.99997806e-01 1.07369910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011400513 meters 0.061233790539285446 Centerline is valid? [True, True] Translation: X:41.28, Y:3.80, Z:0.11 [[ 9.99379492e-01 -3.51402065e-02 -2.40758863e-03 4.12771457e+01] [ 3.51397566e-02 9.99382382e-01 -2.28928189e-04 3.79536470e+00] [ 2.41414624e-03 1.44184059e-04 9.99997076e-01 1.07144340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041400513 meters 0.06995882042678025 Centerline is valid? [True, True] Translation: X:41.31, Y:3.81, Z:0.10 [[ 9.99447356e-01 -3.30834653e-02 -3.23534587e-03 4.13051161e+01] [ 3.30826422e-02 9.99452572e-01 -3.07603510e-04 3.80878672e+00] [ 3.24375134e-03 2.00399725e-04 9.99994719e-01 1.04366714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071400513 meters 0.07291353534414892 Centerline is valid? [True, True] Translation: X:41.33, Y:3.82, Z:0.10 [[ 9.99524255e-01 -3.06127111e-02 -3.75852479e-03 4.13344688e+01] [ 3.06115830e-02 9.99531292e-01 -3.57329925e-04 3.81614632e+00] [ 3.76770198e-03 2.42105533e-04 9.99992873e-01 1.03102531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101400513 meters 0.0737067459776436 Centerline is valid? [True, True] Translation: X:41.36, Y:3.82, Z:0.10 [[ 9.99599564e-01 -2.80859978e-02 -3.44786373e-03 4.13640676e+01] [ 2.80850334e-02 9.99605484e-01 -3.27806470e-04 3.82179008e+00] [ 3.45571027e-03 2.30841837e-04 9.99994002e-01 1.03491455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.131400512999996 meters 0.07641931688845645 Centerline is valid? [True, True] Translation: X:41.39, Y:3.85, Z:0.11 [[ 9.99792266e-01 -2.00268339e-02 -3.78827443e-03 4.13860142e+01] [ 1.99309140e-02 9.99516661e-01 -2.38579558e-02 3.85007290e+00] [ 4.26424273e-03 2.37774959e-02 9.99708181e-01 1.09678365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161400513 meters 0.07536783484995524 Centerline is valid? [True, True] Translation: X:41.42, Y:3.82, Z:0.11 [[ 9.99776410e-01 -2.10829053e-02 -1.62505677e-03 4.14245254e+01] [ 2.11149642e-02 9.99507579e-01 2.32111705e-02 3.81828124e+00] [ 1.13489765e-03 -2.32402937e-02 9.99729264e-01 1.10324421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191400513 meters 0.08376007935767942 Centerline is valid? [True, True] Translation: X:41.45, Y:3.86, Z:0.11 [[ 9.99824852e-01 -1.86698605e-02 1.30450879e-03 4.14511730e+01] [ 1.86697143e-02 9.99825698e-01 1.24107964e-04 3.85554504e+00] [-1.30659849e-03 -9.97314201e-05 9.99999141e-01 1.11710517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221400513 meters 0.07671366008278221 Centerline is valid? [True, True] Translation: X:41.48, Y:3.85, Z:0.11 [[ 9.99856474e-01 -1.68869432e-02 1.36461089e-03 4.14822149e+01] [ 1.68867816e-02 9.99857400e-01 1.29877830e-04 3.85482230e+00] [-1.36660953e-03 -1.06815304e-04 9.99999060e-01 1.12482015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251400513 meters 0.08322688453157064 Centerline is valid? [True, True] Translation: X:41.51, Y:3.88, Z:0.11 [[ 9.99893267e-01 -1.44332814e-02 2.26583397e-03 4.15098985e+01] [ 1.44328296e-02 9.99895818e-01 2.15589241e-04 3.87589956e+00] [-2.26870957e-03 -1.82863834e-04 9.99997410e-01 1.13301573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281400513 meters 0.08098478002966 Centerline is valid? [True, True] Translation: X:41.54, Y:3.88, Z:0.11 [[ 9.99894293e-01 -1.41445278e-02 3.36664912e-03 4.15407143e+01] [ 1.41435287e-02 9.99899924e-01 3.20376163e-04 3.87966396e+00] [-3.37084377e-03 -2.72725998e-04 9.99994282e-01 1.14526989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.311400512999995 meters 0.08721014782496847 Centerline is valid? [True, True] Translation: X:41.57, Y:3.89, Z:0.12 [[ 9.99882033e-01 -1.48346528e-02 3.98153931e-03 4.15704203e+01] [ 1.48332613e-02 9.99889909e-01 3.78783906e-04 3.89210546e+00] [-3.98672011e-03 -3.19680009e-04 9.99992002e-01 1.15229224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341400512999996 meters 0.0808127197845598 Centerline is valid? [True, True] Translation: X:41.60, Y:3.89, Z:0.11 [[ 9.99852367e-01 -1.67833488e-02 3.68289755e-03 4.16017745e+01] [ 1.67821716e-02 9.99859108e-01 3.50296407e-04 3.88856532e+00] [-3.68825780e-03 -2.88437673e-04 9.99993157e-01 1.14154302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371400513 meters 0.07298795257100586 Centerline is valid? [True, True] Translation: X:41.63, Y:3.88, Z:0.11 [[ 9.99745409e-01 -2.24797696e-02 1.94363583e-03 4.16333896e+01] [ 2.24794525e-02 9.99747288e-01 1.84858505e-04 3.88430706e+00] [-1.94730023e-03 -1.41119572e-04 9.99998094e-01 1.09110522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401400513 meters 0.07179338826091598 Centerline is valid? [True, True] Translation: X:41.66, Y:3.89, Z:0.11 [[ 9.99687873e-01 -2.49667593e-02 9.04686460e-04 4.16628044e+01] [ 2.49666917e-02 9.99688280e-01 8.60058571e-05 3.89065816e+00] [-9.06551738e-04 -6.33919844e-05 9.99999587e-01 1.08176196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431400513 meters 0.07144105756634038 Centerline is valid? [True, True] Translation: X:41.69, Y:3.89, Z:0.11 [[ 9.99631254e-01 -2.71378901e-02 9.44029511e-04 4.16926743e+01] [ 2.71378174e-02 9.99631698e-01 8.97763590e-05 3.89473279e+00] [-9.46118163e-04 -6.41243539e-05 9.99999550e-01 1.08020261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461400513 meters 0.06705236235018375 Centerline is valid? [True, True] Translation: X:41.72, Y:3.89, Z:0.11 [[ 9.99588647e-01 -2.86321155e-02 1.65506266e-03 4.17242095e+01] [ 2.86318939e-02 9.99590011e-01 1.57417217e-04 3.89247524e+00] [-1.65889129e-03 -1.09964885e-04 9.99998618e-01 1.09269670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.491400512999995 meters 0.07396305943622675 Centerline is valid? [True, True] Translation: X:41.75, Y:3.90, Z:0.11 [[ 9.99589159e-01 -2.86327661e-02 1.29555836e-03 4.17534109e+01] [ 2.86326303e-02 9.99589995e-01 1.23217005e-04 3.90222381e+00] [-1.29855521e-03 -8.60711388e-05 9.99999153e-01 1.08507373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521400512999996 meters 0.06916101664397145 Centerline is valid? [True, True] Translation: X:41.78, Y:3.90, Z:0.11 [[ 9.99605772e-01 -2.80721993e-02 5.02795806e-04 4.17847929e+01] [ 2.80721787e-02 9.99605898e-01 4.78955494e-05 3.89890612e+00] [-5.03942186e-04 -3.37620939e-05 9.99999872e-01 1.06859756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551400513 meters 0.06902167562517131 Centerline is valid? [True, True] Translation: X:41.81, Y:3.90, Z:0.11 [[ 9.99623164e-01 -2.74490916e-02 2.77111217e-04 4.18147550e+01] [ 2.74490853e-02 9.99623203e-01 2.63021773e-05 3.90160468e+00] [-2.77728773e-04 -1.86858163e-05 9.99999961e-01 1.05707939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581400513 meters 0.07323704914832066 Centerline is valid? [True, True] Translation: X:41.84, Y:3.91, Z:0.10 [[ 9.99639527e-01 -2.68479236e-02 7.52934855e-05 4.18433748e+01] [ 2.68479231e-02 9.99639530e-01 7.13652797e-06 3.90960672e+00] [-7.54579453e-05 -5.11248174e-06 9.99999997e-01 1.04737703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611400513 meters 0.0767887966216286 Centerline is valid? [True, True] Translation: X:41.87, Y:3.92, Z:0.10 [[ 9.99644639e-01 -2.66512034e-02 5.56755673e-04 4.18728078e+01] [ 2.66511780e-02 9.99644793e-01 5.28951676e-05 3.91656968e+00] [-5.57967630e-04 -3.80381762e-05 9.99999844e-01 1.04597718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641400513 meters 0.06706528581100071 Centerline is valid? [True, True] Translation: X:41.90, Y:3.93, Z:0.11 [[ 9.99659069e-01 -2.56807963e-02 -4.71610583e-03 4.19029545e+01] [ 2.55431352e-02 9.99302567e-01 -2.72383346e-02 3.92902477e+00] [ 5.41231879e-03 2.71085840e-02 9.99617843e-01 1.06842281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671400513 meters 0.07157754838952918 Centerline is valid? [True, True] Translation: X:41.94, Y:3.89, Z:0.10 [[ 9.99649954e-01 -2.61900403e-02 -3.74862403e-03 4.19354427e+01] [ 2.62799876e-02 9.99306294e-01 2.63873611e-02 3.89082464e+00] [ 3.05493754e-03 -2.64766380e-02 9.99644764e-01 1.02421185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701400512999996 meters 0.07472242637119705 Centerline is valid? [True, True] Translation: X:41.96, Y:3.92, Z:0.10 [[ 9.99663518e-01 -2.58113309e-02 -2.57422613e-03 4.19627593e+01] [ 2.58107851e-02 9.99666816e-01 -2.45023737e-04 3.91957983e+00] [ 2.57969282e-03 1.78498494e-04 9.99996657e-01 1.00093984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731400513 meters 0.07472242637119705 Centerline is valid? [True, True] Translation: X:41.99, Y:3.92, Z:0.10 [[ 9.99659428e-01 -2.59692661e-02 -2.57414097e-03 4.19910011e+01] [ 2.59687185e-02 9.99662726e-01 -2.45917787e-04 3.92238779e+00] [ 2.57965908e-03 1.78986892e-04 9.99996657e-01 9.99991942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761400513 meters 0.08029892626500794 Centerline is valid? [True, True] Translation: X:42.02, Y:3.93, Z:0.10 [[ 9.99683237e-01 -2.49891315e-02 -2.99480216e-03 4.20185498e+01] [ 2.49883869e-02 9.99687701e-01 -2.85774785e-04 3.93097914e+00] [ 3.00100815e-03 2.10848987e-04 9.99995475e-01 9.79957893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791400513 meters 0.07591171427916801 Centerline is valid? [True, True] Translation: X:42.05, Y:3.93, Z:0.10 [[ 9.99772810e-01 -2.13040882e-02 -6.80909071e-04 4.20490073e+01] [ 2.13040488e-02 9.99773041e-01 -6.49652154e-05 3.92857895e+00] [ 6.82138557e-04 5.04443359e-05 9.99999766e-01 1.02599239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821400513 meters 0.08926166442766666 Centerline is valid? [True, True] Translation: X:42.08, Y:3.95, Z:0.10 [[ 9.99820863e-01 -1.89234486e-02 3.81970390e-04 4.20768408e+01] [ 1.89234361e-02 9.99820935e-01 3.63926586e-05 3.94769380e+00] [-3.82590667e-04 -2.91579470e-05 9.99999926e-01 1.03946195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851400513 meters 0.07893897276724993 Centerline is valid? [True, True] Translation: X:42.11, Y:3.94, Z:0.11 [[ 9.99861547e-01 -1.66193132e-02 8.27523567e-04 4.21082909e+01] [ 1.66192535e-02 9.99861888e-01 7.89268950e-05 3.93739316e+00] [-8.28720987e-04 -6.51631434e-05 9.99999654e-01 1.05403887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881400512999996 meters 0.08760292654298733 Centerline is valid? [True, True] Translation: X:42.14, Y:3.95, Z:0.10 [[ 9.99887838e-01 -1.49689129e-02 4.92541435e-04 4.21371406e+01] [ 1.49688915e-02 9.99887959e-01 4.69875014e-05 3.94955619e+00] [-4.93189602e-04 -3.96094319e-05 9.99999878e-01 1.04624701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911400513 meters 0.09226526630414679 Centerline is valid? [True, True] Translation: X:42.17, Y:3.96, Z:0.10 [[ 9.99902553e-01 -1.39563459e-02 -3.24688073e-04 4.21670857e+01] [ 1.39563366e-02 9.99902605e-01 -3.09341607e-05 3.95657727e+00] [ 3.25088178e-04 2.63996902e-05 9.99999947e-01 1.03124119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941400513 meters 0.08160447261911938 Centerline is valid? [True, True] Translation: X:42.20, Y:3.95, Z:0.10 [[ 9.99900566e-01 -1.41017175e-02 -2.34017089e-05 4.21983643e+01] [ 1.41017174e-02 9.99900566e-01 -2.23221841e-06 3.94610888e+00] [ 2.34308601e-05 1.90199217e-06 1.00000000e+00 1.04207488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971400513 meters 0.08913088638855943 Centerline is valid? [True, True] Translation: X:42.23, Y:3.96, Z:0.11 [[ 9.99899207e-01 -1.41828809e-02 6.49251985e-04 4.22280865e+01] [ 1.41828436e-02 9.99899416e-01 6.19611725e-05 3.95773166e+00] [-6.50065468e-04 -5.27466878e-05 9.99999787e-01 1.05023391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001400513 meters 0.09136686774972111 Centerline is valid? [True, True] Translation: X:42.26, Y:3.96, Z:0.11 [[ 9.99899907e-01 -1.40691862e-02 1.49457539e-03 4.22580409e+01] [ 1.40689887e-02 9.99901017e-01 1.42565983e-04 3.96254125e+00] [-1.49643324e-03 -1.21524549e-04 9.99998873e-01 1.06290225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031400513 meters 0.08909136179763277 Centerline is valid? [True, True] Translation: X:42.29, Y:3.96, Z:0.10 [[ 9.99910604e-01 -1.33403513e-02 9.05496136e-04 4.22890186e+01] [ 1.33402785e-02 9.99911011e-01 8.63791601e-05 3.96290297e+00] [-9.06567885e-04 -7.42918675e-05 9.99999586e-01 1.04980105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061400512999995 meters 0.09725974437783044 Centerline is valid? [True, True] Translation: X:42.32, Y:3.98, Z:0.10 [[ 9.99925235e-01 -1.22010961e-02 8.11051083e-04 4.23175922e+01] [ 1.22010373e-02 9.99925562e-01 7.74383548e-05 3.97704536e+00] [-8.11935542e-04 -6.75369006e-05 9.99999668e-01 1.03510057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091400512999996 meters 0.09156417365571387 Centerline is valid? [True, True] Translation: X:42.35, Y:3.98, Z:0.10 [[ 9.99942103e-01 -1.07604474e-02 6.14268155e-05 4.23492914e+01] [ 1.07604470e-02 9.99942105e-01 5.91476390e-06 3.97508203e+00] [-6.14869047e-05 -5.25344146e-06 9.99999998e-01 1.02451606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121400513 meters 0.0852912985180435 Centerline is valid? [True, True] Translation: X:42.38, Y:3.98, Z:0.10 [[ 9.99957882e-01 -9.01667064e-03 -1.71296049e-03 4.23801865e+01] [ 9.01640413e-03 9.99959338e-01 -1.63240437e-04 3.97505507e+00] [ 1.71436272e-03 1.47788818e-04 9.99998520e-01 9.99048849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151400513 meters 0.0925331672735974 Centerline is valid? [True, True] Translation: X:42.41, Y:3.99, Z:0.10 [[ 9.99952176e-01 -9.54015637e-03 -2.15186845e-03 4.24075609e+01] [ 9.53973656e-03 9.99954475e-01 -2.05267684e-04 3.98834530e+00] [ 2.15372877e-03 1.84729609e-04 9.99997664e-01 9.87435594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181400513 meters 0.08708298052602262 Centerline is valid? [True, True] Translation: X:42.44, Y:3.99, Z:0.10 [[ 9.99938479e-01 -1.10170452e-02 -1.28985329e-03 4.24378245e+01] [ 1.10168956e-02 9.99939305e-01 -1.23017598e-04 3.98581856e+00] [ 1.29113030e-03 1.08799851e-04 9.99999161e-01 9.99719415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211400513 meters 0.08237463375461306 Centerline is valid? [True, True] Translation: X:42.47, Y:3.98, Z:0.10 [[ 9.99914311e-01 -1.30707200e-02 7.25949124e-04 4.24691322e+01] [ 1.30706732e-02 9.99914573e-01 6.92097498e-05 3.98326163e+00] [-7.26791730e-04 -5.97151756e-05 9.99999734e-01 1.02574766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241400512999995 meters 0.08170405658122183 Centerline is valid? [True, True] Translation: X:42.50, Y:3.99, Z:0.11 [[ 9.99877716e-01 -1.54442487e-02 2.45519763e-03 4.24988105e+01] [ 1.54437202e-02 9.99880711e-01 2.34083510e-04 3.98570285e+00] [-2.45852000e-03 -1.96137500e-04 9.99996959e-01 1.05065643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.271400512999996 meters 0.08022877545208185 Centerline is valid? [True, True] Translation: X:42.53, Y:3.99, Z:0.11 [[ 9.99838479e-01 -1.77622805e-02 2.74179392e-03 4.25292769e+01] [ 1.77616299e-02 9.99842216e-01 2.61450293e-04 3.98729966e+00] [-2.74600526e-03 -2.12709334e-04 9.99996207e-01 1.05104062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301400513 meters 0.07462608481293605 Centerline is valid? [True, True] Translation: X:42.56, Y:3.98, Z:0.10 [[ 9.99745710e-01 -2.25247604e-02 1.07284206e-03 4.25599775e+01] [ 2.25246636e-02 9.99746282e-01 1.02306023e-04 3.98364253e+00] [-1.07487428e-03 -7.81146008e-05 9.99999419e-01 1.01845355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331400513 meters 0.07297229479804924 Centerline is valid? [True, True] Translation: X:42.59, Y:3.98, Z:0.10 [[ 9.99697762e-01 -2.45787956e-02 5.17756273e-04 4.25906088e+01] [ 2.45787733e-02 9.99697895e-01 4.93701042e-05 3.98370136e+00] [-5.18813314e-04 -3.66293686e-05 9.99999865e-01 1.00370302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361400513 meters 0.06895236216840232 Centerline is valid? [True, True] Translation: X:42.62, Y:3.98, Z:0.10 [[ 9.99660361e-01 -2.60408801e-02 1.01770729e-03 4.26223030e+01] [ 2.60407947e-02 9.99660876e-01 9.70695968e-05 3.98051874e+00] [-1.01988994e-03 -7.05347215e-05 9.99999477e-01 1.00848728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391400513 meters 0.0674616173724357 Centerline is valid? [True, True] Translation: X:42.65, Y:3.98, Z:0.11 [[ 9.99590092e-01 -2.83938117e-02 3.66596065e-03 4.26530932e+01] [ 2.83927200e-02 9.99596784e-01 3.49518548e-04 3.98033403e+00] [-3.67440664e-03 -2.45288684e-04 9.99993219e-01 1.05231612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421400513 meters 0.06836854971958131 Centerline is valid? [True, True] Translation: X:42.68, Y:3.98, Z:0.11 [[ 9.99550125e-01 -2.96871784e-02 4.26834306e-03 4.26837635e+01] [ 2.96857103e-02 9.99559199e-01 4.06905019e-04 3.98429175e+00] [-4.27854143e-03 -2.80013167e-04 9.99990808e-01 1.06231910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.451400512999996 meters 0.06698698878793471 Centerline is valid? [True, True] Translation: X:42.71, Y:3.98, Z:0.11 [[ 9.99493924e-01 -3.14378460e-02 4.85359736e-03 4.27146732e+01] [ 3.14359687e-02 9.99505661e-01 4.62608851e-04 3.98216988e+00] [-4.86574146e-03 -3.09797201e-04 9.99988114e-01 1.05688536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481400513 meters 0.06558468294364507 Centerline is valid? [True, True] Translation: X:42.75, Y:3.98, Z:0.10 [[ 9.99475375e-01 -3.21613850e-02 3.82365680e-03 4.27456233e+01] [ 3.21602252e-02 9.99482660e-01 3.64425004e-04 3.98496525e+00] [-3.83339908e-03 -2.41264154e-04 9.99992623e-01 1.04536573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511400513 meters 0.06452161492297923 Centerline is valid? [True, True] Translation: X:42.78, Y:3.98, Z:0.10 [[ 9.99413599e-01 -3.41815395e-02 2.02008987e-03 4.27767188e+01] [ 3.41812200e-02 9.99415633e-01 1.92484883e-04 3.98432860e+00] [-2.02548883e-03 -1.23322873e-04 9.99997941e-01 1.02624580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541400513 meters 0.06285945461634668 Centerline is valid? [True, True] Translation: X:42.81, Y:3.98, Z:0.10 [[ 9.99413195e-01 -3.42368162e-02 1.05209116e-03 4.28079289e+01] [ 3.42367295e-02 9.99413746e-01 1.00280718e-04 3.98401721e+00] [-1.05490766e-03 -6.42017127e-05 9.99999442e-01 1.02170699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571400513 meters 0.06353882256209654 Centerline is valid? [True, True] Translation: X:42.84, Y:3.99, Z:0.10 [[ 9.99434685e-01 -3.36154556e-02 5.58064473e-04 4.28383257e+01] [ 3.36154311e-02 9.99434840e-01 5.31509978e-05 3.98586330e+00] [-5.59535772e-04 -3.43613729e-05 9.99999843e-01 1.01300369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601400513 meters 0.0690963986306893 Centerline is valid? [True, True] Translation: X:42.87, Y:3.99, Z:0.10 [[ 9.99467913e-01 -3.26165700e-02 2.23678313e-04 4.28671576e+01] [ 3.26165660e-02 9.99467938e-01 2.12674456e-05 3.99269461e+00] [-2.24252973e-04 -1.39605110e-05 9.99999975e-01 1.00448861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.631400512999996 meters 0.06486461602824421 Centerline is valid? [True, True] Translation: X:42.90, Y:3.99, Z:0.10 [[ 9.99504031e-01 -3.14911296e-02 5.70762576e-06 4.28978654e+01] [ 3.14911296e-02 9.99504031e-01 5.08205051e-07 3.98817703e+00] [-5.72079891e-06 -3.28213416e-07 1.00000000e+00 1.00739459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661400513 meters 0.06910729054541268 Centerline is valid? [True, True] Translation: X:42.93, Y:3.99, Z:0.10 [[ 9.99603648e-01 -2.81520223e-02 -9.95208490e-05 4.29263583e+01] [ 2.81520215e-02 9.99603653e-01 -9.56003334e-06 3.99496577e+00] [ 9.97505385e-05 6.75453113e-06 9.99999995e-01 1.00367755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691400513 meters 0.07437517234774936 Centerline is valid? [True, True] Translation: X:42.95, Y:4.00, Z:0.10 [[ 9.99674039e-01 -2.55293936e-02 2.56756076e-04 4.29547772e+01] [ 2.55293881e-02 9.99674072e-01 2.44646243e-05 4.00460171e+00] [-2.57296959e-04 -1.79018242e-05 9.99999967e-01 1.00532652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721400513 meters 0.07505712346859673 Centerline is valid? [True, True] Translation: X:42.98, Y:4.01, Z:0.10 [[ 9.99757468e-01 -2.20186784e-02 4.28718177e-04 4.29848129e+01] [ 2.20186629e-02 9.99757559e-01 4.08243256e-05 4.00863481e+00] [-4.29513136e-04 -3.13746234e-05 9.99999907e-01 1.01331820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751400513 meters 0.0782679077293915 Centerline is valid? [True, True] Translation: X:43.01, Y:4.02, Z:0.10 [[ 9.99894415e-01 -1.44920720e-02 1.06725662e-03 4.30142067e+01] [ 1.44919716e-02 9.99894981e-01 1.01693549e-04 4.01741820e+00] [-1.06861829e-03 -8.62161586e-05 9.99999425e-01 1.02845461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781400513 meters 0.08408424013083658 Centerline is valid? [True, True] Translation: X:43.04, Y:4.03, Z:0.10 [[ 9.99935323e-01 -1.12820276e-02 1.43738027e-03 4.30433375e+01] [ 1.12818422e-02 9.99936349e-01 1.36997736e-04 4.02863327e+00] [-1.43883439e-03 -1.20772578e-04 9.99998958e-01 1.03417330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.811400512999995 meters 0.08501506771596402 Centerline is valid? [True, True] Translation: X:43.07, Y:4.03, Z:0.10 [[ 9.99957490e-01 -9.06654669e-03 1.67815829e-03 4.30733669e+01] [ 9.06629097e-03 9.99958888e-01 1.59926183e-04 4.03342667e+00] [-1.67953928e-03 -1.44704713e-04 9.99998579e-01 1.03672335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841400512999996 meters 0.08456566960198293 Centerline is valid? [True, True] Translation: X:43.10, Y:4.04, Z:0.10 [[ 9.99969378e-01 -7.66748376e-03 1.56621020e-03 4.31043097e+01] [ 7.66725928e-03 9.99970595e-01 1.49280966e-04 4.03593160e+00] [-1.56730876e-03 -1.37267855e-04 9.99998762e-01 1.03163972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871400513 meters 0.08675388440310187 Centerline is valid? [True, True] Translation: X:43.13, Y:4.04, Z:0.10 [[ 9.99975556e-01 -6.91489403e-03 1.03506420e-03 4.31335469e+01] [ 6.91479563e-03 9.99976088e-01 9.86163833e-05 4.04214510e+00] [-1.03572137e-03 -9.14567153e-05 9.99999459e-01 1.01859219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901400513 meters 0.0885439251971666 Centerline is valid? [True, True] Translation: X:43.16, Y:4.05, Z:0.10 [[ 9.99971379e-01 -7.40379619e-03 1.55701741e-03 4.31636577e+01] [ 7.40357408e-03 9.99972582e-01 1.48366313e-04 4.04652268e+00] [-1.55807320e-03 -1.36834572e-04 9.99998777e-01 1.01699050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931400513 meters 0.0893274954806611 Centerline is valid? [True, True] Translation: X:43.19, Y:4.05, Z:0.10 [[ 9.99965784e-01 -7.93764517e-03 2.32923955e-03 4.31938721e+01] [ 7.93714963e-03 9.99968476e-01 2.21915671e-04 4.05300034e+00] [-2.33092761e-03 -2.03420555e-04 9.99997263e-01 1.03000823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961400513 meters 0.08404738225214038 Centerline is valid? [True, True] Translation: X:43.22, Y:4.05, Z:0.10 [[ 9.99948062e-01 -9.51751592e-03 3.64556768e-03 4.32248802e+01] [ 9.51631288e-03 9.99954659e-01 3.47203629e-04 4.05070416e+00] [-3.64870690e-03 -3.12493233e-04 9.99993295e-01 1.04764498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.991400512999995 meters 0.08974227913296821 Centerline is valid? [True, True] Translation: X:43.25, Y:4.06, Z:0.11 [[ 9.99887391e-01 -1.40993443e-02 5.13939143e-03 4.32536510e+01] [ 1.40970137e-02 9.99900512e-01 4.89422757e-04 4.06077320e+00] [-5.14578066e-03 -4.16917573e-04 9.99986673e-01 1.06301024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021400512999996 meters 0.07212174664866294 Centerline is valid? [True, True] Translation: X:43.29, Y:4.04, Z:0.10 [[ 9.99865826e-01 -1.59342249e-02 3.79883407e-03 4.32862702e+01] [ 1.59329647e-02 9.99872997e-01 3.61758693e-04 4.04383617e+00] [-3.80411595e-03 -3.01183465e-04 9.99992719e-01 1.04461619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051400513 meters 0.080407626135894 Centerline is valid? [True, True] Translation: X:43.31, Y:4.06, Z:0.10 [[ 9.99840608e-01 -1.77080045e-02 2.27712858e-03 4.33148245e+01] [ 1.77075563e-02 9.99843185e-01 2.16824244e-04 4.05706844e+00] [-2.28061101e-03 -1.76467302e-04 9.99997384e-01 1.02024870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081400513 meters 0.07591950553892982 Centerline is valid? [True, True] Translation: X:43.35, Y:4.06, Z:0.10 [[ 9.99770206e-01 -2.13593507e-02 1.82050500e-03 4.33458997e+01] [ 2.13590702e-02 9.99771854e-01 1.73361306e-04 4.05516187e+00] [-1.82379254e-03 -1.34437174e-04 9.99998328e-01 1.01723693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111400513 meters 0.07741533915588286 Centerline is valid? [True, True] Translation: X:43.38, Y:4.06, Z:0.10 [[ 9.99718952e-01 -2.35217124e-02 2.95732435e-03 4.33754451e+01] [ 2.35209819e-02 9.99723304e-01 2.81558575e-04 4.06057445e+00] [-2.96312881e-03 -2.11920271e-04 9.99995587e-01 1.03563344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141400513 meters 0.06688040332188859 Centerline is valid? [True, True] Translation: X:43.41, Y:4.05, Z:0.10 [[ 9.99667963e-01 -2.54561755e-02 3.99330340e-03 4.34076949e+01] [ 2.54548589e-02 9.99675900e-01 3.80199629e-04 4.05139938e+00] [-4.00168760e-03 -2.78424415e-04 9.99991954e-01 1.04966284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171400513 meters 0.0641938882557431 Centerline is valid? [True, True] Translation: X:43.44, Y:4.05, Z:0.11 [[ 9.99630131e-01 -2.68061157e-02 4.58621043e-03 4.34390313e+01] [ 2.68043935e-02 9.99640602e-01 4.36573576e-04 4.05124443e+00] [-4.59626500e-03 -3.13481512e-04 9.99989388e-01 1.05937294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201400512999996 meters 0.06489279536252952 Centerline is valid? [True, True] Translation: X:43.47, Y:4.06, Z:0.11 [[ 9.99614519e-01 -2.74056279e-02 4.44363179e-03 4.34695559e+01] [ 2.74040179e-02 9.99624350e-01 4.22820899e-04 4.05580465e+00] [-4.45355021e-03 -3.00884544e-04 9.99990038e-01 1.05003272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231400513 meters 0.07035666691571141 Centerline is valid? [True, True] Translation: X:43.50, Y:4.06, Z:0.10 [[ 9.99634214e-01 -2.68047233e-02 3.59787513e-03 4.34998848e+01] [ 2.68036648e-02 9.99640659e-01 3.42090184e-04 4.06404544e+00] [-3.60575190e-03 -2.45528814e-04 9.99993469e-01 1.02708096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261400513 meters 0.06409751717821205 Centerline is valid? [True, True] Translation: X:43.53, Y:4.06, Z:0.10 [[ 9.99684103e-01 -2.50508254e-02 2.03720559e-03 4.35307995e+01] [ 2.50504825e-02 9.99686169e-01 1.93648100e-04 4.06203468e+00] [-2.04141729e-03 -1.42553944e-04 9.99997906e-01 1.01237204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291400513 meters 0.0699012023485078 Centerline is valid? [True, True] Translation: X:43.56, Y:4.07, Z:0.10 [[ 9.99721918e-01 -2.35465874e-02 1.28238533e-03 4.35601540e+01] [ 2.35464503e-02 9.99722736e-01 1.21897325e-04 4.07315901e+00] [-1.28490003e-03 -9.16678053e-05 9.99999170e-01 1.00115104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321400513 meters 0.07393486986459077 Centerline is valid? [True, True] Translation: X:43.59, Y:4.09, Z:0.10 [[ 9.99796553e-01 -2.01581255e-02 7.08781187e-04 4.35894209e+01] [ 2.01580828e-02 9.99796803e-01 6.73560061e-05 4.08569415e+00] [-7.09994936e-04 -5.30546329e-05 9.99999747e-01 9.93097555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351400513 meters 0.07816958472383351 Centerline is valid? [True, True] Translation: X:43.62, Y:4.10, Z:0.10 [[ 9.99839599e-01 -1.79039051e-02 4.76201605e-04 4.36177931e+01] [ 1.79038856e-02 9.99839712e-01 4.52876907e-05 4.09603270e+00] [-4.76936102e-04 -3.67545674e-05 9.99999886e-01 9.85160921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381400512999996 meters 0.07520602824896826 Centerline is valid? [True, True] Translation: X:43.65, Y:4.10, Z:0.10 [[ 9.99879746e-01 -1.54990640e-02 5.22949110e-04 4.36486427e+01] [ 1.54990401e-02 9.99879881e-01 4.96903269e-05 4.09766897e+00] [-5.23656448e-04 -4.15791422e-05 9.99999862e-01 9.91623269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.411400513 meters 0.08461370880967684 Centerline is valid? [True, True] Translation: X:43.68, Y:4.12, Z:0.10 [[ 9.99934959e-01 -1.13073610e-02 1.49068068e-03 4.36769512e+01] [ 1.13071623e-02 9.99936062e-01 1.41631760e-04 4.11771886e+00] [-1.49218685e-03 -1.24767180e-04 9.99998879e-01 1.00671902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441400513 meters 0.08487673178434207 Centerline is valid? [True, True] Translation: X:43.71, Y:4.12, Z:0.10 [[ 9.99946379e-01 -1.01860812e-02 1.86615228e-03 4.37075739e+01] [ 1.01857680e-02 9.99948108e-01 1.77305209e-04 4.12371115e+00] [-1.86786148e-03 -1.58287507e-04 9.99998243e-01 1.01029409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471400513 meters 0.0854648597863555 Centerline is valid? [True, True] Translation: X:43.74, Y:4.13, Z:0.10 [[ 9.99943834e-01 -1.04439568e-02 1.80334049e-03 4.37385926e+01] [ 1.04436646e-02 9.99945449e-01 1.71352911e-04 4.12903507e+00] [-1.80503172e-03 -1.52509803e-04 9.99998359e-01 1.00754472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501400513 meters 0.08016574943027543 Centerline is valid? [True, True] Translation: X:43.77, Y:4.13, Z:0.10 [[ 9.99883463e-01 -1.51906012e-02 1.51868946e-03 4.37697753e+01] [ 1.51903996e-02 9.99884609e-01 1.44214557e-04 4.12594685e+00] [-1.52070492e-03 -1.21128251e-04 9.99998836e-01 9.95838238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531400513 meters 0.072390088351739 Centerline is valid? [True, True] Translation: X:43.80, Y:4.12, Z:0.10 [[ 9.99823219e-01 -1.86800680e-02 2.14153149e-03 4.38009760e+01] [ 1.86796751e-02 9.99825499e-01 2.03341122e-04 4.11839945e+00] [-2.14495621e-03 -1.63302063e-04 9.99997686e-01 1.00321845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561400512999995 meters 0.06554601257640831 Centerline is valid? [True, True] Translation: X:43.83, Y:4.11, Z:0.10 [[ 9.99678212e-01 -2.50311772e-02 4.11253445e-03 4.38323489e+01] [ 2.50297816e-02 9.99686630e-01 3.90492514e-04 4.11106347e+00] [-4.12102019e-03 -2.87431019e-04 9.99991467e-01 1.03074317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.591400512999996 meters 0.06976299132666235 Centerline is valid? [True, True] Translation: X:43.86, Y:4.12, Z:0.10 [[ 9.99630931e-01 -2.67867025e-02 4.52479893e-03 4.38616710e+01] [ 2.67850310e-02 9.99641124e-01 4.29613856e-04 4.11757165e+00] [-4.53468303e-03 -3.08258419e-04 9.99989671e-01 1.03812785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621400513 meters 0.06746609200001245 Centerline is valid? [True, True] Translation: X:43.89, Y:4.12, Z:0.10 [[ 9.99611326e-01 -2.75442200e-02 4.30266632e-03 4.38932898e+01] [ 2.75427157e-02 9.99620544e-01 4.08499912e-04 4.11604045e+00] [-4.31228546e-03 -2.89834024e-04 9.99990660e-01 1.03360757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651400513 meters 0.06746609200001245 Centerline is valid? [True, True] Translation: X:43.92, Y:4.12, Z:0.10 [[ 9.99612621e-01 -2.74971795e-02 4.30267812e-03 4.39248998e+01] [ 2.74956753e-02 9.99621839e-01 4.08375617e-04 4.11896072e+00] [-4.31228019e-03 -2.89912381e-04 9.99990660e-01 1.03254738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681400513 meters 0.06761056266019187 Centerline is valid? [True, True] Translation: X:43.96, Y:4.12, Z:0.10 [[ 9.99605499e-01 -2.77905598e-02 4.06584703e-03 4.39562531e+01] [ 2.77892197e-02 9.99613731e-01 3.85722053e-04 4.12022348e+00] [-4.07499595e-03 -2.72583169e-04 9.99991660e-01 1.02441155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711400513 meters 0.06736692104101612 Centerline is valid? [True, True] Translation: X:43.99, Y:4.12, Z:0.10 [[ 9.99572868e-01 -2.90147661e-02 3.49633496e-03 4.39883328e+01] [ 2.90137830e-02 9.99578957e-01 3.31585284e-04 4.11720084e+00] [-3.50448372e-03 -2.30001750e-04 9.99993833e-01 1.00609285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741400512999995 meters 0.0664572185668905 Centerline is valid? [True, True] Translation: X:44.02, Y:4.11, Z:0.10 [[ 9.99505945e-01 -3.12693921e-02 3.17658265e-03 4.40190955e+01] [ 3.12685923e-02 9.99510973e-01 3.01147100e-04 4.11291357e+00] [-3.18444590e-03 -2.01671049e-04 9.99994909e-01 9.99138465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.771400512999996 meters 0.06376031889198465 Centerline is valid? [True, True] Translation: X:44.05, Y:4.11, Z:0.10 [[ 9.99472243e-01 -3.23311903e-02 3.15107693e-03 4.40516037e+01] [ 3.23304085e-02 9.99477191e-01 2.98735265e-04 4.10898657e+00] [-3.15908799e-03 -1.96702001e-04 9.99994991e-01 9.98083050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801400513 meters 0.06464267725171699 Centerline is valid? [True, True] Translation: X:44.08, Y:4.11, Z:0.10 [[ 9.99443494e-01 -3.31794687e-02 3.43888962e-03 4.40819243e+01] [ 3.31785430e-02 9.99449387e-01 3.25891161e-04 4.10859758e+00] [-3.44780902e-03 -2.11612453e-04 9.99994034e-01 1.00395397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831400513 meters 0.06354355468632672 Centerline is valid? [True, True] Translation: X:44.11, Y:4.10, Z:0.10 [[ 9.99428306e-01 -3.36255978e-02 3.51846106e-03 4.41141328e+01] [ 3.36246317e-02 9.99434477e-01 3.33387598e-04 4.10055714e+00] [-3.52768165e-03 -2.14890045e-04 9.99993755e-01 1.00389907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861400513 meters 0.06540685354776864 Centerline is valid? [True, True] Translation: X:44.14, Y:4.10, Z:0.10 [[ 9.99454527e-01 -3.28249856e-02 3.62882912e-03 4.41445532e+01] [ 3.28239530e-02 9.99461090e-01 3.43761924e-04 4.10145431e+00] [-3.63815749e-03 -2.24461895e-04 9.99993357e-01 1.00810671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891400513 meters 0.07349351144304136 Centerline is valid? [True, True] Translation: X:44.17, Y:4.11, Z:0.10 [[ 9.99571093e-01 -2.91548287e-02 2.76148716e-03 4.41737519e+01] [ 2.91542169e-02 9.99574891e-01 2.61565615e-04 4.10721533e+00] [-2.76793912e-03 -1.80944433e-04 9.99996153e-01 9.92099924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921400513 meters 0.06936079278349908 Centerline is valid? [True, True] Translation: X:44.20, Y:4.10, Z:0.10 [[ 9.99647308e-01 -2.64955785e-02 1.80121201e-03 4.42049675e+01] [ 2.64953139e-02 9.99648923e-01 1.70623928e-04 4.10289531e+00] [-1.80510043e-03 -1.22840073e-04 9.99998363e-01 9.83531267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.951400512999996 meters 0.0709916213530837 Centerline is valid? [True, True] Translation: X:44.24, Y:4.11, Z:0.10 [[ 9.99725854e-01 -2.33997071e-02 8.18293804e-04 4.42350894e+01] [ 2.33996515e-02 9.99726188e-01 7.75137929e-05 4.10653917e+00] [-8.19883546e-04 -5.83447530e-05 9.99999662e-01 9.67677966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981400513 meters 0.07892768018637694 Centerline is valid? [True, True] Translation: X:44.26, Y:4.12, Z:0.09 [[ 9.99868946e-01 -1.61859885e-02 -3.22900614e-04 4.42632648e+01] [ 1.61859794e-02 9.99868998e-01 -3.06025108e-05 4.11792400e+00] [ 3.23353645e-04 2.53720375e-05 9.99999947e-01 9.42674050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011400513 meters 0.08719182948588876 Centerline is valid? [True, True] Translation: X:44.29, Y:4.13, Z:0.09 [[ 9.99917711e-01 -1.28252061e-02 -2.90680013e-04 4.42920137e+01] [ 1.28251986e-02 9.99917753e-01 -2.75727580e-05 4.13021839e+00] [ 2.91009732e-04 2.38424601e-05 9.99999957e-01 9.33962479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041400513 meters 0.08310437094624785 Centerline is valid? [True, True] Translation: X:44.32, Y:4.13, Z:0.09 [[ 9.99957686e-01 -9.19917771e-03 -4.41209771e-05 4.43229353e+01] [ 9.19917754e-03 9.99957687e-01 -4.17596212e-06 4.12939187e+00] [ 4.41575256e-05 3.76990871e-06 9.99999999e-01 9.38202416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071400513 meters 0.09033806453191484 Centerline is valid? [True, True] Translation: X:44.35, Y:4.14, Z:0.09 [[ 9.99967330e-01 -8.07809063e-03 -2.87343886e-04 4.43511940e+01] [ 8.07808313e-03 9.99967371e-01 -2.72564981e-05 4.14199078e+00] [ 2.87554691e-04 2.49344199e-05 9.99999958e-01 9.30456943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101400513 meters 0.09150265820757024 Centerline is valid? [True, True] Translation: X:44.38, Y:4.15, Z:0.09 [[ 9.99972427e-01 -7.41300169e-03 -4.38479809e-04 4.43809307e+01] [ 7.41298416e-03 9.99972523e-01 -4.15864061e-05 4.14664151e+00] [ 4.38776041e-04 3.83348156e-05 9.99999903e-01 9.24525236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.131400512999996 meters 0.08524564871729247 Centerline is valid? [True, True] Translation: X:44.41, Y:4.14, Z:0.09 [[ 9.99977458e-01 -6.64639550e-03 9.53016863e-04 4.44120016e+01] [ 6.64631243e-03 9.99977909e-01 9.03048894e-05 4.14314930e+00] [-9.53596012e-04 -8.39688059e-05 9.99999542e-01 9.49235630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161400513 meters 0.08811540534956265 Centerline is valid? [True, True] Translation: X:44.44, Y:4.15, Z:0.10 [[ 9.99976349e-01 -6.59716524e-03 1.94384922e-03 4.44429715e+01] [ 6.59681946e-03 9.99978224e-01 1.84241077e-04 4.15033887e+00] [-1.94502236e-03 -1.71413497e-04 9.99998094e-01 9.62875937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191400513 meters 0.096193402070651 Centerline is valid? [True, True] Translation: X:44.47, Y:4.16, Z:0.10 [[ 9.99976872e-01 -6.56107961e-03 1.79094572e-03 4.44725775e+01] [ 6.56078613e-03 9.99978463e-01 1.69694939e-04 4.16349660e+00] [-1.79202053e-03 -1.57941003e-04 9.99998382e-01 9.61335254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221400513 meters 0.0908892840734931 Centerline is valid? [True, True] Translation: X:44.50, Y:4.16, Z:0.09 [[ 9.99983699e-01 -5.70627625e-03 -2.02268092e-04 4.45045635e+01] [ 5.70627251e-03 9.99983719e-01 -1.90720785e-05 4.15988998e+00] [ 2.02373630e-04 1.79175707e-05 9.99999979e-01 9.38651102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251400513 meters 0.0904745941049598 Centerline is valid? [True, True] Translation: X:44.53, Y:4.16, Z:0.09 [[ 9.99987899e-01 -4.91660951e-03 -1.71127938e-04 4.45343791e+01] [ 4.91660680e-03 9.99987913e-01 -1.62397990e-05 4.16160570e+00] [ 1.71205715e-04 1.53982337e-05 9.99999985e-01 9.34191471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281400513 meters 0.09764612456133508 Centerline is valid? [True, True] Translation: X:44.56, Y:4.17, Z:0.09 [[ 9.99991248e-01 -4.11692023e-03 7.44355362e-04 4.45632755e+01] [ 4.11686890e-03 9.99991523e-01 7.04728605e-05 4.17130593e+00] [-7.44639183e-04 -6.74078303e-05 9.99999720e-01 9.39669134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.311400512999995 meters 0.08961152195626225 Centerline is valid? [True, True] Translation: X:44.60, Y:4.16, Z:0.09 [[ 9.99990147e-01 -4.26228554e-03 1.24071812e-03 4.45957476e+01] [ 4.26214299e-03 9.99990910e-01 1.17514622e-04 4.16412503e+00] [-1.24120772e-03 -1.12225346e-04 9.99999223e-01 9.48019714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341400512999996 meters 0.09634915305222883 Centerline is valid? [True, True] Translation: X:44.63, Y:4.18, Z:0.09 [[ 9.99988786e-01 -4.60137550e-03 1.12075873e-03 4.46261431e+01] [ 4.60125939e-03 9.99989409e-01 1.06159399e-04 4.17545561e+00] [-1.12123534e-03 -1.01001307e-04 9.99999366e-01 9.43731039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371400513 meters 0.09803132790435785 Centerline is valid? [True, True] Translation: X:44.66, Y:4.18, Z:0.09 [[ 9.99989224e-01 -4.62915172e-03 3.49968030e-04 4.46571968e+01] [ 4.62914038e-03 9.99989285e-01 3.32125044e-05 4.18060818e+00] [-3.50118025e-04 -3.15920954e-05 9.99999938e-01 9.27905174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401400513 meters 0.09450431581664176 Centerline is valid? [True, True] Translation: X:44.69, Y:4.18, Z:0.09 [[ 9.99987634e-01 -4.95238632e-03 4.53764867e-04 4.46885560e+01] [ 4.95236734e-03 9.99987736e-01 4.29518759e-05 4.17891019e+00] [-4.53972016e-04 -4.07041345e-05 9.99999896e-01 9.29593740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431400513 meters 0.08856045269401627 Centerline is valid? [True, True] Translation: X:44.72, Y:4.18, Z:0.10 [[ 9.99975725e-01 -6.28550892e-03 3.00695669e-03 4.47194223e+01] [ 6.28468198e-03 9.99980211e-01 2.84381481e-04 4.17516058e+00] [-3.00868467e-03 -2.65476811e-04 9.99995439e-01 9.69320826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461400513 meters 0.08599316189202592 Centerline is valid? [True, True] Translation: X:44.75, Y:4.17, Z:0.10 [[ 9.99965968e-01 -7.15092511e-03 4.11414315e-03 4.47509849e+01] [ 7.14938440e-03 9.99974367e-01 3.89074651e-04 4.17336599e+00] [-4.11681994e-03 -3.59647819e-04 9.99991461e-01 9.86579501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.491400512999995 meters 0.08921996311645324 Centerline is valid? [True, True] Translation: X:44.78, Y:4.18, Z:0.10 [[ 9.99960673e-01 -7.67567946e-03 4.44255481e-03 4.47815918e+01] [ 7.67388865e-03 9.99970467e-01 4.20009573e-04 4.18321857e+00] [-4.44564746e-03 -3.85901385e-04 9.99990044e-01 9.93635332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521400512999996 meters 0.09304495817359482 Centerline is valid? [True, True] Translation: X:44.81, Y:4.19, Z:0.10 [[ 9.99955924e-01 -8.13673490e-03 4.68436364e-03 4.48118708e+01] [ 8.13474965e-03 9.99966814e-01 4.42702014e-04 4.19235611e+00] [-4.68781034e-03 -4.04576376e-04 9.99988930e-01 9.94533048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551400513 meters 0.08626913477134138 Centerline is valid? [True, True] Translation: X:44.84, Y:4.19, Z:0.10 [[ 9.99943647e-01 -9.84302603e-03 3.97707938e-03 4.48432155e+01] [ 9.84160883e-03 9.99951500e-01 3.75755389e-04 4.19167236e+00] [-3.98058506e-03 -3.36593354e-04 9.99992021e-01 9.83768166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581400513 meters 0.08937048162988742 Centerline is valid? [True, True] Translation: X:44.87, Y:4.20, Z:0.10 [[ 9.99926896e-01 -1.13724419e-02 4.10741186e-03 4.48721270e+01] [ 1.13709433e-02 9.99935273e-01 3.88038822e-04 4.19972256e+00] [-4.11155895e-03 -3.41305307e-04 9.99991489e-01 9.86873039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611400513 meters 0.07907221835475008 Centerline is valid? [True, True] Translation: X:44.90, Y:4.19, Z:0.10 [[ 9.99865618e-01 -1.56885359e-02 4.75553413e-03 4.49035317e+01] [ 1.56865753e-02 9.99876857e-01 4.49309060e-04 4.19095593e+00] [-4.76199752e-03 -3.74650637e-04 9.99988591e-01 9.98213073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641400513 meters 0.072468106139359 Centerline is valid? [True, True] Translation: X:44.93, Y:4.19, Z:0.10 [[ 9.99826502e-01 -1.81720561e-02 4.09173707e-03 4.49344486e+01] [ 1.81706253e-02 9.99834826e-01 3.86584494e-04 4.18584559e+00] [-4.09808626e-03 -3.12168001e-04 9.99991554e-01 9.82422181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671400513 meters 0.07358213999559432 Centerline is valid? [True, True] Translation: X:44.96, Y:4.19, Z:0.10 [[ 9.99724769e-01 -2.31951081e-02 3.51748188e-03 4.49634146e+01] [ 2.31940816e-02 9.99730926e-01 3.32328595e-04 4.18980240e+00] [-3.52424382e-03 -2.50652366e-04 9.99993758e-01 9.58940336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701400512999996 meters 0.0790178486939998 Centerline is valid? [True, True] Translation: X:44.99, Y:4.20, Z:0.10 [[ 9.99675724e-01 -2.51661046e-02 3.88774753e-03 4.49922328e+01] [ 2.51648653e-02 9.99683247e-01 3.67357385e-04 4.19862674e+00] [-3.89576103e-03 -2.69403616e-04 9.99992375e-01 9.66404189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731400513 meters 0.07018156385933073 Centerline is valid? [True, True] Translation: X:45.02, Y:4.19, Z:0.10 [[ 9.99637639e-01 -2.65411709e-02 4.48961325e-03 4.50243552e+01] [ 2.65395320e-02 9.99647675e-01 4.24245171e-04 4.19073059e+00] [-4.49929141e-03 -3.04939206e-04 9.99989832e-01 9.78357607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761400513 meters 0.06889133245909212 Centerline is valid? [True, True] Translation: X:45.06, Y:4.19, Z:0.10 [[ 9.99636649e-01 -2.64631298e-02 5.12559815e-03 4.50566871e+01] [ 2.64609935e-02 9.99649729e-01 4.84169414e-04 4.19224305e+00] [-5.13661544e-03 -3.48365071e-04 9.99986747e-01 9.94212823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791400513 meters 0.06904003354011778 Centerline is valid? [True, True] Translation: X:45.09, Y:4.20, Z:0.10 [[ 9.99663693e-01 -2.54138494e-02 5.16106051e-03 4.50876497e+01] [ 2.54116705e-02 9.99676953e-01 4.87319373e-04 4.19519279e+00] [-5.17177791e-03 -3.56004315e-04 9.99986563e-01 9.92232292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821400513 meters 0.08050198970100443 Centerline is valid? [True, True] Translation: X:45.12, Y:4.21, Z:0.10 [[ 9.99726312e-01 -2.31134542e-02 3.61503743e-03 4.51159877e+01] [ 2.31123704e-02 9.99732815e-01 3.41288423e-04 4.21096378e+00] [-3.62195991e-03 -2.57642932e-04 9.99993407e-01 9.67028196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851400513 meters 0.07383674794055983 Centerline is valid? [True, True] Translation: X:45.15, Y:4.21, Z:0.09 [[ 9.99749874e-01 -2.22376800e-02 2.38225684e-03 4.51482439e+01] [ 2.22372068e-02 9.99752697e-01 2.24946013e-04 4.20519833e+00] [-2.38666998e-03 -1.71915010e-04 9.99997137e-01 9.47084401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881400512999996 meters 0.08006814007348816 Centerline is valid? [True, True] Translation: X:45.18, Y:4.21, Z:0.09 [[ 9.99768039e-01 -2.14892147e-02 1.44264301e-03 4.51776408e+01] [ 2.14890405e-02 9.99769075e-01 1.36197416e-04 4.21482582e+00] [-1.44523664e-03 -1.05164809e-04 9.99998950e-01 9.31113462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.911400513 meters 0.08083106755421063 Centerline is valid? [True, True] Translation: X:45.21, Y:4.22, Z:0.09 [[ 9.99776041e-01 -2.11240620e-02 1.28112241e-03 4.52090047e+01] [ 2.11239243e-02 9.99776858e-01 1.20960012e-04 4.21572780e+00] [-1.28339171e-03 -9.38705889e-05 9.99999172e-01 9.23057501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941400513 meters 0.07227685898333376 Centerline is valid? [True, True] Translation: X:45.24, Y:4.21, Z:0.09 [[ 9.99760806e-01 -2.18136637e-02 1.57937069e-03 4.52403085e+01] [ 2.18134553e-02 9.99762047e-01 1.49028601e-04 4.20571551e+00] [-1.58224573e-03 -1.14541423e-04 9.99998742e-01 9.24502234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971400513 meters 0.0767375911695725 Centerline is valid? [True, True] Translation: X:45.27, Y:4.21, Z:0.09 [[ 9.99687168e-01 -2.49240021e-02 2.08821259e-03 4.52702193e+01] [ 2.49236446e-02 9.99689338e-01 1.97042364e-04 4.20858082e+00] [-2.09247494e-03 -1.44934854e-04 9.99997800e-01 9.24493603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001400513 meters 0.06875570264800415 Centerline is valid? [True, True] Translation: X:45.30, Y:4.20, Z:0.09 [[ 9.99642745e-01 -2.66248673e-02 2.34503731e-03 4.53016913e+01] [ 2.66244211e-02 9.99645483e-01 2.21277070e-04 4.19968630e+00] [-2.35009743e-03 -1.58762757e-04 9.99997226e-01 9.32323796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031400513 meters 0.07437330822815387 Centerline is valid? [True, True] Translation: X:45.33, Y:4.21, Z:0.09 [[ 9.99625694e-01 -2.72721017e-02 2.16879232e-03 4.53319546e+01] [ 2.72717215e-02 9.99628036e-01 2.04673299e-04 4.20811630e+00] [-2.17356748e-03 -1.45449988e-04 9.99997627e-01 9.27450920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061400512999995 meters 0.07295490198600084 Centerline is valid? [True, True] Translation: X:45.36, Y:4.21, Z:0.09 [[ 9.99681522e-01 -2.52267931e-02 6.80387813e-04 4.53627288e+01] [ 2.52267553e-02 9.99681753e-01 6.41855201e-05 4.20700686e+00] [-6.81790477e-04 -4.70011015e-05 9.99999766e-01 9.06331915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.091400512999996 meters 0.07554289680634692 Centerline is valid? [True, True] Translation: X:45.39, Y:4.21, Z:0.09 [[ 9.99726401e-01 -2.33905807e-02 5.69828021e-05 4.53916135e+01] [ 2.33905804e-02 9.99726403e-01 5.33077022e-06 4.21198309e+00] [-5.70919015e-05 -3.99645091e-06 9.99999998e-01 8.92951191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121400513 meters 0.0795091508427903 Centerline is valid? [True, True] Translation: X:45.42, Y:4.22, Z:0.09 [[ 9.99780846e-01 -2.09214412e-02 7.44376958e-04 4.54206169e+01] [ 2.09213947e-02 9.99781121e-01 7.02346689e-05 4.21748627e+00] [-7.45683440e-04 -5.46458725e-05 9.99999720e-01 8.96418486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151400513 meters 0.0742341960846502 Centerline is valid? [True, True] Translation: X:45.45, Y:4.21, Z:0.09 [[ 9.99796143e-01 -2.01027814e-02 1.88420734e-03 4.54517213e+01] [ 2.01024818e-02 9.99797909e-01 1.77773903e-04 4.21323416e+00] [-1.88740030e-03 -1.39860419e-04 9.99998209e-01 9.17893446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181400513 meters 0.07615118416033582 Centerline is valid? [True, True] Translation: X:45.48, Y:4.22, Z:0.09 [[ 9.99807475e-01 -1.93704597e-02 3.13016680e-03 4.54820719e+01] [ 1.93696295e-02 9.99812348e-01 2.95331728e-04 4.21819342e+00] [-3.13530013e-03 -2.34644698e-04 9.99995057e-01 9.36448038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211400513 meters 0.086224159313034 Centerline is valid? [True, True] Translation: X:45.51, Y:4.23, Z:0.09 [[ 9.99849281e-01 -1.70864683e-02 3.07683295e-03 4.55103030e+01] [ 1.70856555e-02 9.99853987e-01 2.90259596e-04 4.23271984e+00] [-3.08134320e-03 -2.37646140e-04 9.99995224e-01 9.35580945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241400512999995 meters 0.08381160588507428 Centerline is valid? [True, True] Translation: X:45.54, Y:4.23, Z:0.09 [[ 9.99877008e-01 -1.55018793e-02 2.37908530e-03 4.55412921e+01] [ 1.55013889e-02 9.99879821e-01 2.24471086e-04 4.23275100e+00] [-2.38227911e-03 -1.87564352e-04 9.99997145e-01 9.24253436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.271400512999996 meters 0.08717300857164301 Centerline is valid? [True, True] Translation: X:45.57, Y:4.24, Z:0.09 [[ 9.99921642e-01 -1.24558006e-02 1.25053709e-03 4.55715679e+01] [ 1.24556628e-02 9.99922418e-01 1.17963510e-04 4.24040085e+00] [-1.25190940e-03 -1.02377998e-04 9.99999211e-01 9.05505632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301400513 meters 0.08400352844895805 Centerline is valid? [True, True] Translation: X:45.60, Y:4.24, Z:0.09 [[ 9.99938482e-01 -1.10708194e-02 6.85330643e-04 4.56024880e+01] [ 1.10707777e-02 9.99938715e-01 6.46842199e-05 4.24017227e+00] [-6.86004750e-04 -5.70930975e-05 9.99999763e-01 8.98306489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331400513 meters 0.09280877795560256 Centerline is valid? [True, True] Translation: X:45.63, Y:4.25, Z:0.09 [[ 9.99952086e-01 -9.78345637e-03 -3.31013242e-04 4.56313696e+01] [ 9.78344657e-03 9.99952140e-01 -3.12238539e-05 4.25439483e+00] [ 3.31302877e-04 2.79839075e-05 9.99999945e-01 8.76378213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361400513 meters 0.0929118634700283 Centerline is valid? [True, True] Translation: X:45.66, Y:4.26, Z:0.08 [[ 9.99964135e-01 -8.23651113e-03 -1.97200164e-03 4.56611492e+01] [ 8.23616007e-03 9.99966065e-01 -1.86074151e-04 4.25639744e+00] [ 1.97346732e-03 1.69825756e-04 9.99998038e-01 8.49760485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391400513 meters 0.08789656832608458 Centerline is valid? [True, True] Translation: X:45.69, Y:4.25, Z:0.09 [[ 9.99961621e-01 -8.61541215e-03 -1.59101308e-03 4.56906118e+01] [ 8.61518291e-03 9.99962877e-01 -1.50880953e-04 4.25281821e+00] [ 1.59225392e-03 1.37168293e-04 9.99998723e-01 8.66451108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421400513 meters 0.09053276120904707 Centerline is valid? [True, True] Translation: X:45.72, Y:4.26, Z:0.09 [[ 9.99937890e-01 -1.10809597e-02 1.19490997e-03 4.57192612e+01] [ 1.10808327e-02 9.99938599e-01 1.12889449e-04 4.25936886e+00] [-1.19608752e-03 -9.96418400e-05 9.99999280e-01 9.09325304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.451400512999996 meters 0.08995064553844598 Centerline is valid? [True, True] Translation: X:45.75, Y:4.26, Z:0.09 [[ 9.99909526e-01 -1.33634224e-02 1.53551252e-03 4.57502783e+01] [ 1.33632151e-02 9.99910698e-01 1.45145071e-04 4.26077108e+00] [-1.53731504e-03 -1.24612555e-04 9.99998811e-01 9.12000079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481400513 meters 0.08222061429553863 Centerline is valid? [True, True] Translation: X:45.78, Y:4.25, Z:0.09 [[ 9.99873275e-01 -1.58842094e-02 1.06080398e-03 4.57819563e+01] [ 1.58841120e-02 9.99873835e-01 1.00247435e-04 4.25261648e+00] [-1.06226250e-03 -8.33848015e-05 9.99999432e-01 9.02232929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511400513 meters 0.07781526458580872 Centerline is valid? [True, True] Translation: X:45.81, Y:4.25, Z:0.09 [[ 9.99757201e-01 -2.20280502e-02 -5.51148543e-04 4.58118528e+01] [ 2.20280247e-02 9.99757352e-01 -5.21352595e-05 4.24883078e+00] [ 5.52163246e-04 3.99818874e-05 9.99999847e-01 8.72064373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541400513 meters 0.07781526458580872 Centerline is valid? [True, True] Translation: X:45.84, Y:4.25, Z:0.09 [[ 9.99756707e-01 -2.20504485e-02 -5.51144431e-04 4.58409600e+01] [ 2.20504230e-02 9.99756859e-01 -5.21787554e-05 4.25162263e+00] [ 5.52160989e-04 4.00130929e-05 9.99999847e-01 8.71087762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571400513 meters 0.06713335471326505 Centerline is valid? [True, True] Translation: X:45.87, Y:4.24, Z:0.09 [[ 9.99584930e-01 -2.88058974e-02 -4.32630460e-04 4.58728685e+01] [ 2.88058824e-02 9.99585024e-01 -4.08978413e-05 4.23980443e+00] [ 4.33629028e-04 2.84185637e-05 9.99999906e-01 8.79606197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601400513 meters 0.0685543746633684 Centerline is valid? [True, True] Translation: X:45.90, Y:4.24, Z:0.09 [[ 9.99495139e-01 -3.17676598e-02 5.31136938e-04 4.59018391e+01] [ 3.17676376e-02 9.99495280e-01 5.01735613e-05 4.24140007e+00] [-5.32462759e-04 -3.32752649e-05 9.99999858e-01 8.96400840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.631400512999996 meters 0.06662837769499338 Centerline is valid? [True, True] Translation: X:45.93, Y:4.24, Z:0.09 [[ 9.99400846e-01 -3.45931418e-02 1.12406774e-03 4.59330081e+01] [ 3.45930441e-02 9.99401476e-01 1.06276544e-04 4.23885889e+00] [-1.12707139e-03 -6.73279437e-05 9.99999363e-01 9.11913863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661400513 meters 0.05713455200860977 Centerline is valid? [True, True] Translation: X:45.97, Y:4.22, Z:0.09 [[ 9.99263664e-01 -3.83458302e-02 1.31446898e-03 4.59651922e+01] [ 3.83456998e-02 9.99264525e-01 1.24281961e-04 4.22418556e+00] [-1.31826791e-03 -7.37862143e-05 9.99999128e-01 9.18301544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691400513 meters 0.06591384551297881 Centerline is valid? [True, True] Translation: X:45.99, Y:4.23, Z:0.09 [[ 9.99201383e-01 -3.99357546e-02 1.31605786e-03 4.59930493e+01] [ 3.99356254e-02 9.99202247e-01 1.24383009e-04 4.23412254e+00] [-1.31997530e-03 -7.17260806e-05 9.99999126e-01 9.13708032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721400513 meters 0.051266536964821155 Centerline is valid? [True, True] Translation: X:46.03, Y:4.21, Z:0.09 [[ 9.99024523e-01 -4.40796106e-02 2.64381246e-03 4.60260370e+01] [ 4.40791028e-02 9.99028013e-01 2.50056621e-04 4.21076615e+00] [-2.65226511e-03 -1.33275816e-04 9.99996474e-01 9.39978255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751400513 meters 0.05314433932151177 Centerline is valid? [True, True] Translation: X:46.05, Y:4.21, Z:0.10 [[ 9.98923767e-01 -4.62323069e-02 3.72568344e-03 4.60545828e+01] [ 4.62313134e-02 9.98930699e-01 3.52406064e-04 4.21158542e+00] [-3.73799210e-03 -1.79783554e-04 9.99992998e-01 9.51071054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781400513 meters 0.05062931171710463 Centerline is valid? [True, True] Translation: X:46.09, Y:4.21, Z:0.10 [[ 9.98819137e-01 -4.83990502e-02 4.22659078e-03 4.60852785e+01] [ 4.83977903e-02 9.98828060e-01 3.99928627e-04 4.20718292e+00] [-4.24099363e-03 -1.94898712e-04 9.99990988e-01 9.60223661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.811400512999995 meters 0.04962460816337403 Centerline is valid? [True, True] Translation: X:46.11, Y:4.20, Z:0.09 [[ 9.98694058e-01 -5.09876403e-02 3.23100826e-03 4.61147256e+01] [ 5.09869174e-02 9.98699274e-01 3.05750325e-04 4.19914366e+00] [-3.24239509e-03 -1.40611881e-04 9.99994734e-01 9.39735187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841400512999996 meters 0.046447732213824575 Centerline is valid? [True, True] Translation: X:46.14, Y:4.19, Z:0.09 [[ 9.98669120e-01 -5.15073698e-02 2.64171800e-03 4.61437837e+01] [ 5.15068884e-02 9.98672608e-01 2.49967949e-04 4.19346706e+00] [-2.65108660e-03 -1.13568598e-04 9.99996479e-01 9.33965317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871400513 meters 0.043258306914554887 Centerline is valid? [True, True] Translation: X:46.17, Y:4.19, Z:0.09 [[ 9.98677995e-01 -5.13033672e-02 3.19791661e-03 4.61730075e+01] [ 5.13026588e-02 9.98683106e-01 3.03227137e-04 4.18615392e+00] [-3.20926187e-03 -1.38764644e-04 9.99994841e-01 9.38188978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901400513 meters 0.04805998233176716 Centerline is valid? [True, True] Translation: X:46.20, Y:4.19, Z:0.09 [[ 9.98679234e-01 -5.12438085e-02 3.72291838e-03 4.61999753e+01] [ 5.12428454e-02 9.98686160e-01 3.53677750e-04 4.19198776e+00] [-3.73615086e-03 -1.62437693e-04 9.99993007e-01 9.45241541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931400513 meters 0.07516887335049204 Centerline is valid? [True, True] Translation: X:46.23, Y:4.21, Z:0.09 [[ 9.98809322e-01 -4.83019521e-02 6.84541333e-03 4.62262867e+01] [ 4.82610735e-02 9.98816637e-01 6.01618715e-03 4.20970677e+00] [-7.12790630e-03 -5.67865681e-03 9.99958472e-01 8.80854479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961400513 meters 0.04337209920066836 Centerline is valid? [True, True] Translation: X:46.26, Y:4.19, Z:0.09 [[ 9.98572873e-01 -5.33916027e-02 1.24639548e-03 4.62592526e+01] [ 5.33974141e-02 9.98559694e-01 -5.22047529e-03 4.18729874e+00] [-9.65870743e-04 5.27957931e-03 9.99985596e-01 8.96685876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.991400512999995 meters 0.04479477193904044 Centerline is valid? [True, True] Translation: X:46.29, Y:4.18, Z:0.09 [[ 9.98497327e-01 -5.48004279e-02 1.03157881e-05 4.62878569e+01] [ 5.48004279e-02 9.98497328e-01 4.45481670e-07 4.18428314e+00] [-1.03246994e-05 1.20497345e-07 1.00000000e+00 8.84679199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021400512999996 meters 0.03976911900456313 Centerline is valid? [True, True] Translation: X:46.32, Y:4.18, Z:0.09 [[ 9.98249354e-01 -5.91440164e-02 4.60415782e-04 4.63195803e+01] [ 5.91440025e-02 9.98249460e-01 4.39408358e-05 4.17610838e+00] [-4.62208643e-04 -1.66330788e-05 9.99999893e-01 8.87334811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051400513 meters 0.03682695194276753 Centerline is valid? [True, True] Translation: X:46.35, Y:4.17, Z:0.09 [[ 9.98048832e-01 -6.24216475e-02 1.43735584e-03 4.63486395e+01] [ 6.24215147e-02 9.98049866e-01 1.37136608e-04 4.17212255e+00] [-1.44311310e-03 -4.71471030e-05 9.99998958e-01 8.94209134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081400513 meters 0.02756733609483686 Centerline is valid? [True, True] Translation: X:46.38, Y:4.16, Z:0.09 [[ 9.97629146e-01 -6.87897247e-02 2.01521994e-03 4.63812198e+01] [ 6.87894762e-02 9.97631180e-01 1.92443313e-04 4.15607988e+00] [-2.02368436e-03 -5.33611345e-05 9.99997951e-01 9.04862474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111400513 meters 0.02460228661827777 Centerline is valid? [True, True] Translation: X:46.41, Y:4.15, Z:0.09 [[ 9.97414227e-01 -7.18428094e-02 1.86296562e-03 4.64112758e+01] [ 7.18426029e-02 9.97415966e-01 1.77645938e-04 4.15122469e+00] [-1.87091424e-03 -4.33462860e-05 9.99998249e-01 9.08677827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141400513 meters 0.024139366020205034 Centerline is valid? [True, True] Translation: X:46.44, Y:4.15, Z:0.09 [[ 9.97228092e-01 -7.43879465e-02 1.60187556e-03 4.64390977e+01] [ 7.43877965e-02 9.97229378e-01 1.53091265e-04 4.14987598e+00] [-1.60882551e-03 -3.35069170e-05 9.99998705e-01 9.09497710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171400513 meters 0.019693212241214095 Centerline is valid? [True, True] Translation: X:46.47, Y:4.14, Z:0.09 [[ 9.97021951e-01 -7.70888668e-02 2.12980149e-03 4.64693811e+01] [ 7.70886077e-02 9.97024225e-01 2.03620812e-04 4.14155550e+00] [-2.13916058e-03 -3.88309875e-05 9.99997711e-01 9.27328565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201400512999996 meters 0.020748232193513554 Centerline is valid? [True, True] Translation: X:46.50, Y:4.14, Z:0.09 [[ 9.97007426e-01 -7.72698758e-02 2.35783462e-03 4.64958465e+01] [ 7.72695576e-02 9.97010213e-01 2.25869882e-04 4.14398098e+00] [-2.36823814e-03 -4.30051116e-05 9.99997195e-01 9.29707084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231400513 meters 0.019990769326009482 Centerline is valid? [True, True] Translation: X:46.52, Y:4.14, Z:0.09 [[ 9.96975470e-01 -7.76707901e-02 2.67597481e-03 4.65243480e+01] [ 7.76703807e-02 9.96979060e-01 2.56723650e-04 4.14430268e+00] [-2.68783078e-03 -4.81032000e-05 9.99996387e-01 9.21200285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261400513 meters 0.017741123943444854 Centerline is valid? [True, True] Translation: X:46.55, Y:4.14, Z:0.09 [[ 9.96885987e-01 -7.88131653e-02 2.61050522e-03 4.65530508e+01] [ 7.88127784e-02 9.96889404e-01 2.50934872e-04 4.14325290e+00] [-2.62216196e-03 -4.44122877e-05 9.99996561e-01 9.17191704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291400513 meters 0.016707398074708286 Centerline is valid? [True, True] Translation: X:46.58, Y:4.14, Z:0.09 [[ 9.96632581e-01 -8.19802526e-02 1.65407975e-03 4.65810333e+01] [ 8.19801011e-02 9.96633954e-01 1.59259674e-04 4.14188920e+00] [-1.66156819e-03 -2.31217550e-05 9.99998619e-01 9.06720459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321400513 meters 0.015035363018046841 Centerline is valid? [True, True] Translation: X:46.61, Y:4.14, Z:0.09 [[ 9.96480931e-01 -8.38039434e-02 1.62862446e-03 4.66098856e+01] [ 8.38037992e-02 9.96482262e-01 1.56733473e-04 4.14160941e+00] [-1.63603027e-03 -1.96969998e-05 9.99998662e-01 9.08186018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351400513 meters 0.012906630768737814 Centerline is valid? [True, True] Translation: X:46.64, Y:4.14, Z:0.09 [[ 9.96313653e-01 -8.57654099e-02 1.84367426e-03 4.66386170e+01] [ 8.57652278e-02 9.96315359e-01 1.77796135e-04 4.14082165e+00] [-1.85212974e-03 -1.90175738e-05 9.99998285e-01 9.13673099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381400512999996 meters 0.009159701182817805 Centerline is valid? [True, True] Translation: X:46.67, Y:4.14, Z:0.09 [[ 9.95923333e-01 -9.01524686e-02 3.04097240e-03 4.66679265e+01] [ 9.01519908e-02 9.95927975e-01 2.94118316e-04 4.13688188e+00] [-3.05510498e-03 -1.87695777e-05 9.99995333e-01 9.24908643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411400513 meters 0.007280104500985786 Centerline is valid? [True, True] Translation: X:46.70, Y:4.13, Z:0.09 [[ 9.95631498e-01 -9.32713801e-02 4.28589258e-03 4.66968900e+01] [ 9.32704558e-02 9.95640723e-01 4.15468966e-04 4.13450835e+00] [-4.30596055e-03 -1.39068346e-05 9.99990729e-01 9.39109237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441400513 meters 0.006407890702215759 Centerline is valid? [True, True] Translation: X:46.73, Y:4.13, Z:0.10 [[ 9.95287854e-01 -9.68043916e-02 5.56762172e-03 4.67252747e+01] [ 9.68028805e-02 9.95303426e-01 5.40878778e-04 4.13169555e+00] [-5.59383242e-03 6.31742648e-07 9.99984354e-01 9.58666724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471400513 meters 0.0074240549488646885 Centerline is valid? [True, True] Translation: X:46.75, Y:4.13, Z:0.10 [[ 9.94932006e-01 -1.00345953e-01 6.40252713e-03 4.67532967e+01] [ 1.00344021e-01 9.94952607e-01 6.23010619e-04 4.12894811e+00] [-6.43272765e-03 2.26021141e-05 9.99979310e-01 9.69930729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501400513 meters 0.011984020484319253 Centerline is valid? [True, True] Translation: X:46.78, Y:4.12, Z:0.10 [[ 9.94361833e-01 -1.05849124e-01 6.36455380e-03 4.67816735e+01] [ 1.05847324e-01 9.94382200e-01 6.19889903e-04 4.12228320e+00] [-6.39441381e-03 5.72761277e-05 9.99979554e-01 9.74490313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531400513 meters 0.013254899913398394 Centerline is valid? [True, True] Translation: X:46.81, Y:4.12, Z:0.10 [[ 9.94183382e-01 -1.07556261e-01 5.57258847e-03 4.68102758e+01] [ 1.07554905e-01 9.94198998e-01 5.43388557e-04 4.12232570e+00] [-5.59870672e-03 5.91313505e-05 9.99984325e-01 9.65202845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561400512999995 meters 0.013800214092711852 Centerline is valid? [True, True] Translation: X:46.84, Y:4.12, Z:0.10 [[ 9.94068673e-01 -1.08654279e-01 4.66051896e-03 4.68392620e+01] [ 1.08653339e-01 9.94079597e-01 4.55136431e-04 4.12341124e+00] [-4.68237933e-03 5.39440781e-05 9.99989036e-01 9.52065571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.591400512999996 meters 0.014630076510648037 Centerline is valid? [True, True] Translation: X:46.87, Y:4.12, Z:0.09 [[ 9.94041752e-01 -1.08943002e-01 3.52384493e-03 4.68667477e+01] [ 1.08942465e-01 9.94047997e-01 3.44571484e-04 4.12367472e+00] [-3.54040965e-03 4.13779129e-05 9.99993732e-01 9.39631737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621400513 meters 0.014204187752771673 Centerline is valid? [True, True] Translation: X:46.89, Y:4.13, Z:0.09 [[ 9.94068291e-01 -1.08717844e-01 2.94341191e-03 4.68946350e+01] [ 1.08717468e-01 9.94072648e-01 2.87976524e-04 4.12575308e+00] [-2.95727346e-03 3.37319578e-05 9.99995627e-01 9.29588872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651400513 meters 0.02133383216024361 Centerline is valid? [True, True] Translation: X:46.92, Y:4.13, Z:0.09 [[ 9.94383368e-01 -1.05792013e-01 3.12514426e-03 4.69236063e+01] [ 1.05791572e-01 9.94388279e-01 3.06390174e-04 4.13044371e+00] [-3.14002046e-03 2.59446329e-05 9.99995070e-01 9.45774996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681400513 meters 0.008402366579003126 Centerline is valid? [True, True] Translation: X:46.95, Y:4.14, Z:0.10 [[ 9.94653284e-01 -1.03193941e-01 3.98179759e-03 4.69517018e+01] [ 1.03193202e-01 9.94661254e-01 3.91140646e-04 4.13722413e+00] [-4.00090313e-03 2.18451157e-05 9.99991996e-01 9.60941585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711400513 meters 0.006632318088749601 Centerline is valid? [True, True] Translation: X:46.98, Y:4.15, Z:0.10 [[ 9.94968418e-01 -1.00088936e-01 4.47788289e-03 4.69801163e+01] [ 1.00087966e-01 9.94978495e-01 4.40703933e-04 4.14516094e+00] [-4.49950677e-03 9.69569584e-06 9.99989877e-01 9.63878820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741400512999995 meters 0.006528741251023135 Centerline is valid? [True, True] Translation: X:47.01, Y:4.15, Z:0.10 [[ 9.95306000e-01 -9.66948730e-02 4.00856400e-03 4.70079476e+01] [ 9.66940657e-02 9.95314072e-01 3.95152580e-04 4.15339454e+00] [-4.02798939e-03 -5.69338220e-06 9.99991888e-01 9.53082845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.771400512999996 meters 0.024651742037739566 Centerline is valid? [True, True] Translation: X:47.04, Y:4.17, Z:0.09 [[ 9.95995458e-01 -8.93827819e-02 1.94056125e-03 4.70351775e+01] [ 8.93825784e-02 9.95997348e-01 1.91523502e-04 4.16507979e+00] [-1.94991276e-03 -1.73041700e-05 9.99998099e-01 9.15643349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801400513 meters 0.014394380051976517 Centerline is valid? [True, True] Translation: X:47.06, Y:4.17, Z:0.09 [[ 9.96304719e-01 -8.58787828e-02 1.31989463e-03 4.70619136e+01] [ 8.58786856e-02 9.96305593e-01 1.30259387e-04 4.17355589e+00] [-1.32620492e-03 -1.64272258e-05 9.99999120e-01 9.06855563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831400513 meters 0.01654903096191822 Centerline is valid? [True, True] Translation: X:47.09, Y:4.18, Z:0.09 [[ 9.96551621e-01 -8.29645875e-02 1.32033998e-03 4.70896567e+01] [ 8.29644875e-02 9.96552496e-01 1.30423052e-04 4.18176054e+00] [-1.32660859e-03 -2.04319745e-05 9.99999120e-01 9.04641059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861400513 meters 0.019196158340877935 Centerline is valid? [True, True] Translation: X:47.12, Y:4.19, Z:0.09 [[ 9.96756952e-01 -8.04587508e-02 1.40271028e-03 4.71179626e+01] [ 8.04586356e-02 9.96757939e-01 1.38447696e-04 4.19021667e+00] [-1.40930194e-03 -2.51385484e-05 9.99999007e-01 8.99834574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891400513 meters 0.021985391684986883 Centerline is valid? [True, True] Translation: X:47.14, Y:4.20, Z:0.09 [[ 9.96912001e-01 -7.85253053e-02 4.88186484e-04 4.71449326e+01] [ 7.85252911e-02 9.96912121e-01 4.82094473e-05 4.19652431e+00] [-4.90464684e-04 -9.72559080e-06 9.99999880e-01 8.74367615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921400513 meters 0.02157168925127308 Centerline is valid? [True, True] Translation: X:47.17, Y:4.20, Z:0.09 [[ 9.96878805e-01 -7.89467085e-02 2.53768566e-04 4.71733934e+01] [ 7.89467048e-02 9.96878838e-01 2.45812378e-05 4.19800274e+00] [-2.54917121e-04 -4.47032292e-06 9.99999967e-01 8.70459976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.951400512999996 meters 0.021539726622155857 Centerline is valid? [True, True] Translation: X:47.20, Y:4.20, Z:0.09 [[ 9.96850542e-01 -7.93025659e-02 3.15882479e-04 4.72012446e+01] [ 7.93025601e-02 9.96850592e-01 3.08102151e-05 4.20133038e+00] [-3.17330965e-04 -5.66289034e-06 9.99999950e-01 8.73017803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981400513 meters 0.018768511955927755 Centerline is valid? [True, True] Translation: X:47.23, Y:4.20, Z:0.09 [[ 9.96820138e-01 -7.96651595e-02 1.75360527e-03 4.72292570e+01] [ 7.96649762e-02 9.96821680e-01 1.74244337e-04 4.20405350e+00] [-1.76191295e-03 -3.39893414e-05 9.99998447e-01 8.98268371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011400513 meters 0.022376359803642703 Centerline is valid? [True, True] Translation: X:47.26, Y:4.21, Z:0.09 [[ 9.96837531e-01 -7.94424646e-02 1.95749228e-03 4.72559308e+01] [ 7.94422344e-02 9.96839452e-01 1.95172484e-04 4.21328564e+00] [-1.96681052e-03 -3.90476959e-05 9.99998065e-01 9.00107004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041400513 meters 0.02285172232883921 Centerline is valid? [True, True] Translation: X:47.28, Y:4.22, Z:0.09 [[ 9.96859140e-01 -7.91861248e-02 1.18831074e-03 4.72845495e+01] [ 7.91860401e-02 9.96859848e-01 1.18259871e-04 4.21847543e+00] [-1.19394381e-03 -2.37908113e-05 9.99999287e-01 8.88836439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071400513 meters 0.023558344282526737 Centerline is valid? [True, True] Translation: X:47.31, Y:4.22, Z:0.09 [[ 9.96927859e-01 -7.83252425e-02 5.59956968e-06 4.73124537e+01] [ 7.83252425e-02 9.96927859e-01 3.65297818e-07 4.22417717e+00] [-5.61097905e-06 7.44120810e-08 1.00000000e+00 8.68481670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101400513 meters 0.026359386453376682 Centerline is valid? [True, True] Translation: X:47.34, Y:4.23, Z:0.08 [[ 9.97100263e-01 -7.60950710e-02 -7.78386683e-04 4.73405954e+01] [ 7.60950329e-02 9.97100567e-01 -7.85560734e-05 4.23315257e+00] [ 7.82107532e-04 1.90969212e-05 9.99999694e-01 8.48872359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.131400512999996 meters 0.02654942408390493 Centerline is valid? [True, True] Translation: X:47.37, Y:4.24, Z:0.09 [[ 9.97211720e-01 -7.46155873e-02 1.13987395e-03 4.73679166e+01] [ 7.46155056e-02 9.97212371e-01 1.14087810e-04 4.23959700e+00] [-1.14520913e-03 -2.87174308e-05 9.99999344e-01 8.70539268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161400513 meters 0.026629777594673578 Centerline is valid? [True, True] Translation: X:47.40, Y:4.24, Z:0.09 [[ 9.97276591e-01 -7.36709136e-02 3.46371779e-03 4.73962028e+01] [ 7.36701514e-02 9.97282602e-01 3.47303978e-04 4.24293880e+00] [-3.47989170e-03 -9.11855127e-05 9.99993941e-01 9.10773509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191400513 meters 0.02924792124195182 Centerline is valid? [True, True] Translation: X:47.42, Y:4.25, Z:0.09 [[ 9.97287102e-01 -7.34380438e-02 5.02900118e-03 4.74238163e+01] [ 7.34364285e-02 9.97299772e-01 5.05353711e-04 4.24929934e+00] [-5.05253391e-03 -1.34670853e-04 9.99987227e-01 9.40267945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221400513 meters 0.02639859527242592 Centerline is valid? [True, True] Translation: X:47.45, Y:4.25, Z:0.09 [[ 9.97231668e-01 -7.42515701e-02 3.96279610e-03 4.74529036e+01] [ 7.42505714e-02 9.97239537e-01 3.98759087e-04 4.25095671e+00] [-3.98146544e-03 -1.03415314e-04 9.99992069e-01 9.21028735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251400513 meters 0.028398927848063273 Centerline is valid? [True, True] Translation: X:47.48, Y:4.25, Z:0.09 [[ 9.97226747e-01 -7.43717430e-02 2.76753907e-03 4.74810692e+01] [ 7.43712555e-02 9.97230584e-01 2.78769298e-04 4.25362093e+00] [-2.78060717e-03 -7.21708443e-05 9.99996132e-01 8.96981103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281400513 meters 0.02811893574289456 Centerline is valid? [True, True] Translation: X:47.51, Y:4.26, Z:0.09 [[ 9.97278369e-01 -7.36926247e-02 2.29175662e-03 4.75080754e+01] [ 7.36922875e-02 9.97281000e-01 2.31326122e-04 4.26030713e+00] [-2.30257236e-03 -6.18117497e-05 9.99997347e-01 8.81857146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.311400512999995 meters 0.03170978523417804 Centerline is valid? [True, True] Translation: X:47.54, Y:4.27, Z:0.09 [[ 9.97517063e-01 -7.03753829e-02 2.64847031e-03 4.75372769e+01] [ 7.03749204e-02 9.97520576e-01 2.67552301e-04 4.26503524e+00] [-2.66073273e-03 -8.05020979e-05 9.99996457e-01 8.93164976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341400512999996 meters 0.03655978609713329 Centerline is valid? [True, True] Translation: X:47.56, Y:4.28, Z:0.09 [[ 9.97698136e-01 -6.77108353e-02 3.69764904e-03 4.75645923e+01] [ 6.77099149e-02 9.97704980e-01 3.73671620e-04 4.27595122e+00] [-3.71446448e-03 -1.22443978e-04 9.99993094e-01 9.11329447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371400513 meters 0.03679359640248461 Centerline is valid? [True, True] Translation: X:47.59, Y:4.28, Z:0.09 [[ 9.97897894e-01 -6.46761178e-02 4.09798372e-03 4.75937172e+01] [ 6.46749610e-02 9.97906297e-01 4.14331288e-04 4.27991473e+00] [-4.11620110e-03 -1.48423382e-04 9.99991517e-01 9.21628891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401400513 meters 0.03987222143106837 Centerline is valid? [True, True] Translation: X:47.62, Y:4.29, Z:0.09 [[ 9.98081611e-01 -6.17624266e-02 4.30118138e-03 4.76234804e+01] [ 6.17611245e-02 9.98090865e-01 4.35010681e-04 4.28676837e+00] [-4.31983716e-03 -1.68530362e-04 9.99990655e-01 9.22894214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431400513 meters 0.042673703712806196 Centerline is valid? [True, True] Translation: X:47.65, Y:4.29, Z:0.09 [[ 9.98383667e-01 -5.66712406e-02 4.29236159e-03 4.76535826e+01] [ 5.66698968e-02 9.98392876e-01 4.34161074e-04 4.29099552e+00] [-4.31006768e-03 -1.90211636e-04 9.99990694e-01 9.09893908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461400513 meters 0.04415048965973605 Centerline is valid? [True, True] Translation: X:47.68, Y:4.29, Z:0.09 [[ 9.98494713e-01 -5.47328114e-02 3.55342703e-03 4.76829734e+01] [ 5.47318781e-02 9.98501023e-01 3.59434120e-04 4.29396721e+00] [-3.56777337e-03 -1.64407333e-04 9.99993622e-01 8.87957475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.491400512999995 meters 0.04415048965973605 Centerline is valid? [True, True] Translation: X:47.71, Y:4.30, Z:0.09 [[ 9.98484236e-01 -5.49236148e-02 3.55341455e-03 4.77103585e+01] [ 5.49226823e-02 9.98490546e-01 3.59557460e-04 4.29688087e+00] [-3.56779903e-03 -1.63849397e-04 9.99993622e-01 8.87038055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521400512999996 meters 0.046534666398130295 Centerline is valid? [True, True] Translation: X:47.74, Y:4.30, Z:0.09 [[ 9.98550098e-01 -5.37333044e-02 3.23000502e-03 4.77383895e+01] [ 5.37325258e-02 9.98555311e-01 3.27411357e-04 4.30071884e+00] [-3.24293156e-03 -1.53380315e-04 9.99994730e-01 8.72449410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551400513 meters 0.04672903712468345 Centerline is valid? [True, True] Translation: X:47.77, Y:4.30, Z:0.09 [[ 9.98577077e-01 -5.32013187e-02 3.66608231e-03 4.77674730e+01] [ 5.32003113e-02 9.98583791e-01 3.71852069e-04 4.29955159e+00] [-3.68067340e-03 -1.76286232e-04 9.99993211e-01 8.68583026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581400513 meters 0.05291328783006234 Centerline is valid? [True, True] Translation: X:47.79, Y:4.31, Z:0.09 [[ 9.98578703e-01 -5.31481689e-02 3.98080827e-03 4.77944269e+01] [ 5.31469780e-02 9.98586619e-01 4.04416964e-04 4.30737481e+00] [-3.99667590e-03 -1.92274237e-04 9.99991995e-01 8.70446917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611400513 meters 0.04887411564271626 Centerline is valid? [True, True] Translation: X:47.82, Y:4.30, Z:0.09 [[ 9.98590682e-01 -5.29704533e-02 3.28351904e-03 4.78243044e+01] [ 5.29696416e-02 9.98596067e-01 3.33734396e-04 4.30294893e+00] [-3.29658726e-03 -1.59337231e-04 9.99994554e-01 8.60573394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641400513 meters 0.04868508625089219 Centerline is valid? [True, True] Translation: X:47.85, Y:4.30, Z:0.08 [[ 9.98619737e-01 -5.25020468e-02 1.46853656e-03 4.78534460e+01] [ 5.25018840e-02 9.98620814e-01 1.49198611e-04 4.30322264e+00] [-1.47434440e-03 -7.18917421e-05 9.99998911e-01 8.34417347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.671400512999995 meters 0.05633293650687807 Centerline is valid? [True, True] Translation: X:47.88, Y:4.31, Z:0.08 [[ 9.98770528e-01 -4.95608354e-02 -1.07522935e-03 4.78821214e+01] [ 4.95607459e-02 9.98771105e-01 -1.09739186e-04 4.31037346e+00] [ 1.07934677e-03 5.63150959e-05 9.99999416e-01 7.95651218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701400512999996 meters 0.05142639226311018 Centerline is valid? [True, True] Translation: X:47.91, Y:4.31, Z:0.08 [[ 9.98868642e-01 -4.75498472e-02 -6.69399257e-04 4.79120532e+01] [ 4.75498120e-02 9.98868866e-01 -6.84145887e-05 4.30562060e+00] [ 6.71895180e-04 3.65073785e-05 9.99999774e-01 8.11130126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731400513 meters 0.054718612347548067 Centerline is valid? [True, True] Translation: X:47.94, Y:4.31, Z:0.08 [[ 9.98963004e-01 -4.55290047e-02 1.62123469e-04 4.79406401e+01] [ 4.55290026e-02 9.98963017e-01 1.64660064e-05 4.31098098e+00] [-1.62705031e-04 -9.06761137e-06 9.99999987e-01 8.24716479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761400513 meters 0.06218379630293055 Centerline is valid? [True, True] Translation: X:47.97, Y:4.32, Z:0.08 [[ 9.99039473e-01 -4.38187792e-02 2.14209465e-04 4.79679452e+01] [ 4.38187755e-02 9.99039496e-01 2.17148005e-05 4.32167716e+00] [-2.14955232e-04 -1.23075464e-05 9.99999977e-01 8.21688231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791400513 meters 0.06422527562226568 Centerline is valid? [True, True] Translation: X:48.00, Y:4.32, Z:0.08 [[ 9.99113782e-01 -4.20898727e-02 -3.05793976e-04 4.79979938e+01] [ 4.20898651e-02 9.99113828e-01 -3.12615922e-05 4.32320147e+00] [ 3.06838787e-04 1.83630604e-05 9.99999953e-01 8.11548162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821400513 meters 0.056285240341360364 Centerline is valid? [True, True] Translation: X:48.03, Y:4.31, Z:0.08 [[ 9.99074868e-01 -4.30047369e-02 1.40216204e-05 4.80279803e+01] [ 4.30047369e-02 9.99074868e-01 8.81894295e-07 4.31452937e+00] [-1.40465742e-05 -2.78082331e-07 1.00000000e+00 8.17410678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851400513 meters 0.05636581993911157 Centerline is valid? [True, True] Translation: X:48.06, Y:4.32, Z:0.08 [[ 9.99011680e-01 -4.44472953e-02 3.18654589e-04 4.80566152e+01] [ 4.44472872e-02 9.99011730e-01 3.24838238e-05 4.31641139e+00] [-3.19783491e-04 -1.82883874e-05 9.99999949e-01 8.18268418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881400512999996 meters 0.05722391924847379 Centerline is valid? [True, True] Translation: X:48.09, Y:4.32, Z:0.08 [[ 9.98864815e-01 -4.76285800e-02 7.74270150e-04 4.80864759e+01] [ 4.76285329e-02 9.98865114e-01 7.91801919e-05 4.31797124e+00] [-7.77162682e-04 -4.22129565e-05 9.99999697e-01 8.32010905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.911400513 meters 0.05562361065739644 Centerline is valid? [True, True] Translation: X:48.12, Y:4.32, Z:0.08 [[ 9.98818169e-01 -4.85981157e-02 6.98951899e-04 4.81159035e+01] [ 4.85980778e-02 9.98818413e-01 7.11297162e-05 4.31820777e+00] [-7.01582797e-04 -3.70779341e-05 9.99999753e-01 8.36419386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941400513 meters 0.05262190499415951 Centerline is valid? [True, True] Translation: X:48.14, Y:4.32, Z:0.08 [[ 9.98820703e-01 -4.85469633e-02 6.28404127e-04 4.81444632e+01] [ 4.85469325e-02 9.98820900e-01 6.41471077e-05 4.31746707e+00] [-6.30777324e-04 -3.35643664e-05 9.99999800e-01 8.42392030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971400513 meters 0.054855713734070284 Centerline is valid? [True, True] Translation: X:48.17, Y:4.32, Z:0.08 [[ 9.98854254e-01 -4.78455157e-02 9.92452879e-04 4.81717722e+01] [ 4.78454382e-02 9.98854746e-01 1.01655979e-04 4.32420548e+00] [-9.96180051e-04 -5.40551641e-05 9.99999502e-01 8.42798021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001400513 meters 0.05769311453682614 Centerline is valid? [True, True] Translation: X:48.20, Y:4.33, Z:0.09 [[ 9.98894406e-01 -4.69865115e-02 1.49440481e-03 4.81986035e+01] [ 4.69863346e-02 9.98895521e-01 1.53235652e-04 4.33127476e+00] [-1.49995428e-03 -8.28496307e-05 9.99998872e-01 8.50015868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031400513 meters 0.058233451905396215 Centerline is valid? [True, True] Translation: X:48.23, Y:4.33, Z:0.09 [[ 9.98919366e-01 -4.63480937e-02 3.45764828e-03 4.82277104e+01] [ 4.63471413e-02 9.98925331e-01 3.55097340e-04 4.33307878e+00] [-3.47039054e-03 -1.94461496e-04 9.99993959e-01 8.85651481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061400512999995 meters 0.05930461447028959 Centerline is valid? [True, True] Translation: X:48.25, Y:4.34, Z:0.09 [[ 9.98909373e-01 -4.64754452e-02 4.48294547e-03 4.82546512e+01] [ 4.64738420e-02 9.98919401e-01 4.61175849e-04 4.33615032e+00] [-4.49953455e-03 -2.52333179e-04 9.99989845e-01 9.05933556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.091400512999996 meters 0.058454589201058824 Centerline is valid? [True, True] Translation: X:48.28, Y:4.34, Z:0.09 [[ 9.98896256e-01 -4.66463335e-02 5.51258817e-03 4.82822439e+01] [ 4.66439079e-02 9.98911419e-01 5.67825080e-04 4.33767289e+00] [-5.53307423e-03 -3.10069692e-04 9.99984644e-01 9.17402765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121400513 meters 0.0604482790624669 Centerline is valid? [True, True] Translation: X:48.31, Y:4.34, Z:0.09 [[ 9.98879971e-01 -4.68852332e-02 6.37018590e-03 4.83092077e+01] [ 4.68819920e-02 9.98900219e-01 6.57263883e-04 4.34318509e+00] [-6.39399606e-03 -3.57880724e-04 9.99979494e-01 9.26928597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151400513 meters 0.059734895139259614 Centerline is valid? [True, True] Translation: X:48.34, Y:4.34, Z:0.09 [[ 9.98904052e-01 -4.63015723e-02 6.84535483e-03 4.83378795e+01] [ 4.62978088e-02 9.98927431e-01 7.07318447e-04 4.34322213e+00] [-6.87076267e-03 -3.89618334e-04 9.99976320e-01 9.25289034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181400513 meters 0.06081254260778932 Centerline is valid? [True, True] Translation: X:48.37, Y:4.35, Z:0.09 [[ 9.98952981e-01 -4.53302187e-02 6.17358345e-03 4.83670067e+01] [ 4.53271356e-02 9.98971993e-01 6.38478708e-04 4.34643073e+00] [-6.19617934e-03 -3.57979354e-04 9.99980739e-01 9.17735071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211400513 meters 0.06411003207737456 Centerline is valid? [True, True] Translation: X:48.39, Y:4.35, Z:0.09 [[ 9.99026985e-01 -4.38101965e-02 5.07438453e-03 4.83948278e+01] [ 4.38080932e-02 9.99039827e-01 5.24970244e-04 4.35354927e+00] [-5.09251129e-03 -3.02160330e-04 9.99986987e-01 9.05734137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241400512999995 meters 0.05936767824809415 Centerline is valid? [True, True] Translation: X:48.43, Y:4.35, Z:0.09 [[ 9.99124383e-01 -4.17080289e-02 3.30253189e-03 4.84256440e+01] [ 4.17071262e-02 9.99129821e-01 3.41760865e-04 4.35174814e+00] [-3.31391227e-03 -2.03722500e-04 9.99994488e-01 8.83942902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.271400512999996 meters 0.06938489376070017 Centerline is valid? [True, True] Translation: X:48.45, Y:4.37, Z:0.08 [[ 9.99279535e-01 -3.79473907e-02 6.37613719e-04 4.84536664e+01] [ 3.79473563e-02 9.99279738e-01 6.59537277e-05 4.36552102e+00] [-6.39657242e-04 -4.17104554e-05 9.99999795e-01 8.45209655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301400513 meters 0.07026513582357959 Centerline is valid? [True, True] Translation: X:48.48, Y:4.37, Z:0.08 [[ 9.99336023e-01 -3.64332982e-02 3.57376416e-04 4.84842644e+01] [ 3.64332873e-02 9.99336087e-01 3.69868367e-05 4.36842737e+00] [-3.58486701e-04 -2.39418806e-05 9.99999935e-01 8.42305317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331400513 meters 0.06614595415997392 Centerline is valid? [True, True] Translation: X:48.51, Y:4.37, Z:0.08 [[ 9.99374647e-01 -3.53588757e-02 2.53857174e-04 4.85142789e+01] [ 3.53588701e-02 9.99374679e-01 2.62021281e-05 4.36571286e+00] [-2.54624909e-04 -1.72096397e-05 9.99999967e-01 8.42363954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361400513 meters 0.07216297265307886 Centerline is valid? [True, True] Translation: X:48.54, Y:4.38, Z:0.08 [[ 9.99396869e-01 -3.47253896e-02 2.13962249e-04 4.85412639e+01] [ 3.47253857e-02 9.99396892e-01 2.19696228e-05 4.37612156e+00] [-2.14596110e-04 -1.45264507e-05 9.99999977e-01 8.32202423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391400513 meters 0.07143976873592706 Centerline is valid? [True, True] Translation: X:48.57, Y:4.38, Z:0.08 [[ 9.99461020e-01 -3.28278534e-02 -4.86038542e-05 4.85716053e+01] [ 3.28278532e-02 9.99461021e-01 -5.07237690e-06 4.37823292e+00] [ 4.87441730e-05 3.47408280e-06 9.99999999e-01 8.15172373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421400512999995 meters 0.07186169722748285 Centerline is valid? [True, True] Translation: X:48.60, Y:4.38, Z:0.08 [[ 9.99506581e-01 -3.14038458e-02 -6.26819257e-04 4.86019343e+01] [ 3.14038112e-02 9.99506777e-01 -6.49307429e-05 4.38171285e+00] [ 6.28549170e-04 4.52141912e-05 9.99999801e-01 8.09582900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.451400512999996 meters 0.07739528273052648 Centerline is valid? [True, True] Translation: X:48.63, Y:4.39, Z:0.08 [[ 9.99551072e-01 -2.99526368e-02 -7.02691210e-04 4.86299802e+01] [ 2.99525929e-02 9.99551318e-01 -7.28110179e-05 4.39181413e+00] [ 7.04556806e-04 5.17309073e-05 9.99999750e-01 8.08368679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481400513 meters 0.08688463573946827 Centerline is valid? [True, True] Translation: X:48.66, Y:4.41, Z:0.08 [[ 9.99593298e-01 -2.85106263e-02 -6.18986453e-04 4.86578217e+01] [ 2.85105920e-02 9.99593488e-01 -6.41490690e-05 4.40801869e+00] [ 6.20563758e-04 4.64753092e-05 9.99999806e-01 8.02993126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511400513 meters 0.07355685650256026 Centerline is valid? [True, True] Translation: X:48.69, Y:4.40, Z:0.08 [[ 9.99636474e-01 -2.69614150e-02 4.90719322e-05 4.86895249e+01] [ 2.69614148e-02 9.99636475e-01 5.08383144e-06 4.39767975e+00] [-4.91911606e-05 -3.75893462e-06 9.99999999e-01 8.20630701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541400513 meters 0.07807423670923963 Centerline is valid? [True, True] Translation: X:48.72, Y:4.41, Z:0.08 [[ 9.99621691e-01 -2.75014784e-02 3.78795727e-04 4.87171470e+01] [ 2.75014656e-02 9.99621762e-01 3.87727423e-05 4.40659446e+00] [-3.79718760e-04 -2.83406365e-05 9.99999928e-01 8.22571749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571400513 meters 0.07784248032221724 Centerline is valid? [True, True] Translation: X:48.75, Y:4.41, Z:0.08 [[ 9.99584044e-01 -2.88289918e-02 7.93176527e-04 4.87470191e+01] [ 2.88289355e-02 9.99584356e-01 8.22286232e-05 4.40993338e+00] [-7.95217416e-04 -5.93279847e-05 9.99999682e-01 8.29724923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601400513 meters 0.07211627744740085 Centerline is valid? [True, True] Translation: X:48.78, Y:4.41, Z:0.08 [[ 9.99524390e-01 -3.08143521e-02 1.21189804e-03 4.87776319e+01] [ 3.08142221e-02 9.99525121e-01 1.25765404e-04 4.40649077e+00] [-1.21519791e-03 -8.83618934e-05 9.99999258e-01 8.40864800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.631400512999996 meters 0.07976306742253768 Centerline is valid? [True, True] Translation: X:48.81, Y:4.42, Z:0.08 [[ 9.99357747e-01 -3.58290164e-02 6.12154965e-04 4.88056682e+01] [ 3.58289842e-02 9.99357934e-01 6.35012586e-05 4.42125395e+00] [-6.14037109e-04 -4.15275841e-05 9.99999811e-01 8.23953150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661400513 meters 0.06812881781750044 Centerline is valid? [True, True] Translation: X:48.84, Y:4.41, Z:0.08 [[ 9.99248543e-01 -3.87601334e-02 -2.46686037e-05 4.88370334e+01] [ 3.87601334e-02 9.99248544e-01 -2.56761030e-06 4.41192808e+00] [ 2.47495873e-05 1.60952248e-06 1.00000000e+00 8.15894386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691400513 meters 0.06402427692939215 Centerline is valid? [True, True] Translation: X:48.87, Y:4.41, Z:0.08 [[ 9.99138897e-01 -4.14896110e-02 -2.77632272e-04 4.88674878e+01] [ 4.14896045e-02 9.99138935e-01 -2.88287952e-05 4.41185591e+00] [ 2.78589308e-04 1.72851175e-05 9.99999961e-01 8.08640389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721400513 meters 0.061386581072056655 Centerline is valid? [True, True] Translation: X:48.90, Y:4.41, Z:0.08 [[ 9.99053907e-01 -4.34885161e-02 1.99866275e-04 4.88969641e+01] [ 4.34885129e-02 9.99053927e-01 2.06771364e-05 4.41413765e+00] [-2.00576405e-04 -1.19656868e-05 9.99999980e-01 8.16496892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751400513 meters 0.056682705610081124 Centerline is valid? [True, True] Translation: X:48.93, Y:4.42, Z:0.08 [[ 9.98942439e-01 -4.59175263e-02 2.36306637e-03 4.89268455e+01] [ 4.59170739e-02 9.98945225e-01 2.45369490e-04 4.41657226e+00] [-2.37184063e-03 -1.36604903e-04 9.99997178e-01 8.49960156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781400513 meters 0.05930370341518352 Centerline is valid? [True, True] Translation: X:48.95, Y:4.42, Z:0.09 [[ 9.98882647e-01 -4.71894606e-02 2.57134414e-03 4.89541629e+01] [ 4.71889293e-02 9.98885946e-01 2.66950755e-04 4.42367994e+00] [-2.58107679e-03 -1.45313500e-04 9.99996658e-01 8.56240029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.811400512999995 meters 0.05940503707873767 Centerline is valid? [True, True] Translation: X:48.98, Y:4.43, Z:0.08 [[ 9.98792080e-01 -4.90918938e-02 2.08950830e-03 4.89829245e+01] [ 4.90915468e-02 9.98794260e-01 2.17057722e-04 4.42709354e+00] [-2.09764467e-03 -1.14218339e-04 9.99997793e-01 8.48987282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841400512999996 meters 0.05636249773303075 Centerline is valid? [True, True] Translation: X:49.01, Y:4.43, Z:0.08 [[ 9.98656743e-01 -5.17806741e-02 1.86302513e-03 4.90127495e+01] [ 5.17804029e-02 9.98658476e-01 1.93565320e-04 4.42611848e+00] [-1.87054878e-03 -9.68371205e-05 9.99998246e-01 8.43039101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871400513 meters 0.05230347123506446 Centerline is valid? [True, True] Translation: X:49.04, Y:4.42, Z:0.09 [[ 9.98268205e-01 -5.87035056e-02 3.80636795e-03 4.90421986e+01] [ 5.87024229e-02 9.98275447e-01 3.95632954e-04 4.42333518e+00] [-3.82302871e-03 -1.71504778e-04 9.99992677e-01 8.64025508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901400513 meters 0.04500112309103172 Centerline is valid? [True, True] Translation: X:49.07, Y:4.42, Z:0.09 [[ 9.98050270e-01 -6.22629851e-02 4.35654235e-03 4.90736192e+01] [ 6.22616005e-02 9.98059762e-01 4.52872192e-04 4.41735780e+00] [-4.37628680e-03 -1.80743913e-04 9.99990408e-01 8.74333689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931400513 meters 0.041700405865612106 Centerline is valid? [True, True] Translation: X:49.10, Y:4.42, Z:0.09 [[ 9.97853804e-01 -6.53226120e-02 4.55446030e-03 4.91039445e+01] [ 6.53211304e-02 9.97864182e-01 4.73471019e-04 4.41586517e+00] [-4.57566117e-03 -1.74952362e-04 9.99989516e-01 8.77549157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961400513 meters 0.03554339859635975 Centerline is valid? [True, True] Translation: X:49.13, Y:4.41, Z:0.09 [[ 9.97617086e-01 -6.88294918e-02 4.75928232e-03 4.91343849e+01] [ 6.88279134e-02 9.97628425e-01 4.94837142e-04 4.41078700e+00] [-4.78205472e-03 -1.66086516e-04 9.99988552e-01 8.81250749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.991400512999995 meters 0.03565193181370768 Centerline is valid? [True, True] Translation: X:49.16, Y:4.41, Z:0.09 [[ 9.97586320e-01 -6.92298615e-02 5.36295975e-03 4.91619166e+01] [ 6.92278605e-02 9.97600718e-01 5.58075841e-04 4.41466656e+00] [-5.38872800e-03 -1.85462596e-04 9.99985464e-01 8.87714531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021400512999996 meters 0.041075561657210324 Centerline is valid? [True, True] Translation: X:49.19, Y:4.43, Z:0.09 [[ 9.97591207e-01 -6.91424945e-02 5.57669952e-03 4.91889946e+01] [ 6.91403251e-02 9.97606775e-01 5.81099955e-04 4.42501582e+00] [-5.60353192e-03 -1.94125388e-04 9.99984281e-01 8.94330196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051400513 meters 0.03516228046383899 Centerline is valid? [True, True] Translation: X:49.22, Y:4.42, Z:0.09 [[ 9.97576293e-01 -6.93260554e-02 5.95290364e-03 4.92176073e+01] [ 6.93235825e-02 9.97594033e-01 6.21007415e-04 4.42059804e+00] [-5.98163314e-03 -2.06825669e-04 9.99982088e-01 8.93260773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081400513 meters 0.034719925741328775 Centerline is valid? [True, True] Translation: X:49.25, Y:4.42, Z:0.09 [[ 9.97443983e-01 -7.11274237e-02 6.81099397e-03 4.92454940e+01] [ 7.11242220e-02 9.97467212e-01 7.11449677e-04 4.41959531e+00] [-6.84434674e-03 -2.25204552e-04 9.99976552e-01 9.05294455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111400513 meters 0.032322560657359126 Centerline is valid? [True, True] Translation: X:49.27, Y:4.42, Z:0.09 [[ 9.97309627e-01 -7.30199786e-02 6.44900467e-03 4.92747864e+01] [ 7.30171456e-02 9.97330458e-01 6.73970205e-04 4.41821227e+00] [-6.48100207e-03 -2.01269061e-04 9.99978978e-01 8.95541182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141400513 meters 0.03018706043125078 Centerline is valid? [True, True] Translation: X:49.30, Y:4.42, Z:0.09 [[ 9.97144809e-01 -7.52970149e-02 5.70862960e-03 4.93037790e+01] [ 7.52948309e-02 9.97161137e-01 5.96846480e-04 4.41748020e+00] [-5.73736434e-03 -1.65312069e-04 9.99983528e-01 8.76740916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.171400512999995 meters 0.02926396247457803 Centerline is valid? [True, True] Translation: X:49.33, Y:4.42, Z:0.09 [[ 9.96970996e-01 -7.76696143e-02 4.03288589e-03 4.93321605e+01] [ 7.76685432e-02 9.96979147e-01 4.21788825e-04 4.41694677e+00] [-4.05346331e-03 -1.07282854e-04 9.99991779e-01 8.55098912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201400512999996 meters 0.02777776637006011 Centerline is valid? [True, True] Translation: X:49.36, Y:4.42, Z:0.09 [[ 9.97006063e-01 -7.72438348e-02 3.50707023e-03 4.93610518e+01] [ 7.72430215e-02 9.97012227e-01 3.66961815e-04 4.41727497e+00] [-3.52493744e-03 -9.49664531e-05 9.99993783e-01 8.53588368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231400513 meters 0.03271837762014258 Centerline is valid? [True, True] Translation: X:49.39, Y:4.43, Z:0.08 [[ 9.97118437e-01 -7.58024703e-02 2.96773103e-03 4.93881872e+01] [ 7.58018802e-02 9.97122850e-01 3.10977156e-04 4.42568657e+00] [-2.98276526e-03 -8.51214633e-05 9.99995548e-01 8.49663312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261400513 meters 0.03328625106974657 Centerline is valid? [True, True] Translation: X:49.42, Y:4.43, Z:0.08 [[ 9.97250632e-01 -7.40582900e-02 2.55859255e-03 4.94171862e+01] [ 7.40578455e-02 9.97253911e-01 2.68152349e-04 4.42890541e+00] [-2.57142533e-03 -7.79312480e-05 9.99996691e-01 8.41606701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291400513 meters 0.032526145622193574 Centerline is valid? [True, True] Translation: X:49.45, Y:4.43, Z:0.08 [[ 9.97368690e-01 -7.24533653e-02 2.49121333e-03 4.94459858e+01] [ 7.24529379e-02 9.97371798e-01 2.61474499e-04 4.43022048e+00] [-2.50361062e-03 -8.02907535e-05 9.99996863e-01 8.38766890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321400513 meters 0.03733583683962417 Centerline is valid? [True, True] Translation: X:49.47, Y:4.44, Z:0.08 [[ 9.97573167e-01 -6.95229200e-02 3.78689209e-03 4.94736171e+01] [ 6.95219082e-02 9.97580345e-01 3.98335479e-04 4.43598132e+00] [-3.80542256e-03 -1.34096821e-04 9.99992750e-01 8.48300491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351400513 meters 0.03639697471950502 Centerline is valid? [True, True] Translation: X:49.50, Y:4.44, Z:0.09 [[ 9.97674567e-01 -6.80254530e-02 4.24209690e-03 4.95028374e+01] [ 6.80241689e-02 9.97683574e-01 4.46427393e-04 4.43648946e+00] [-4.26263882e-03 -1.56824140e-04 9.99990903e-01 8.51580830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381400512999996 meters 0.03639697471950502 Centerline is valid? [True, True] Translation: X:49.53, Y:4.44, Z:0.09 [[ 9.97661707e-01 -6.82138029e-02 4.24206619e-03 4.95302085e+01] [ 6.82125192e-02 9.97670714e-01 4.46718922e-04 4.43951660e+00] [-4.26265760e-03 -1.56312340e-04 9.99990903e-01 8.50661582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411400513 meters 0.03711099804248001 Centerline is valid? [True, True] Translation: X:49.56, Y:4.44, Z:0.08 [[ 9.97769681e-01 -6.66471773e-02 3.71710093e-03 4.95597372e+01] [ 6.66461787e-02 9.97776595e-01 3.92001411e-04 4.44239951e+00] [-3.73496209e-03 -1.43396550e-04 9.99993015e-01 8.43902697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441400513 meters 0.042916226471599164 Centerline is valid? [True, True] Translation: X:49.59, Y:4.45, Z:0.08 [[ 9.97883771e-01 -6.49588847e-02 2.88507504e-03 4.95875751e+01] [ 6.49582759e-02 9.97887934e-01 3.04303255e-04 4.45109373e+00] [-2.89874878e-03 -1.16249779e-04 9.99995792e-01 8.30151469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471400513 meters 0.04685392635028697 Centerline is valid? [True, True] Translation: X:49.62, Y:4.46, Z:0.08 [[ 9.98091178e-01 -6.17472620e-02 1.13002126e-03 4.96168262e+01] [ 6.17471665e-02 9.98091816e-01 1.19210667e-04 4.45651816e+00] [-1.13522591e-03 -4.92075038e-05 9.99999354e-01 8.02273249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501400513 meters 0.04418017497149542 Centerline is valid? [True, True] Translation: X:49.65, Y:4.46, Z:0.08 [[ 9.98173652e-01 -6.04033730e-02 8.91055858e-04 4.96469843e+01] [ 6.04033131e-02 9.98174048e-01 9.39733857e-05 4.45601290e+00] [-8.95105142e-04 -3.99790316e-05 9.99999599e-01 7.98269235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531400513 meters 0.04992578235169043 Centerline is valid? [True, True] Translation: X:49.67, Y:4.47, Z:0.08 [[ 9.98253461e-01 -5.90662921e-02 1.09621858e-03 4.96747227e+01] [ 5.90662007e-02 9.98254061e-01 1.15601781e-04 4.46558959e+00] [-1.10113282e-03 -5.06504113e-05 9.99999392e-01 7.97353231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561400512999995 meters 0.055632944938235715 Centerline is valid? [True, True] Translation: X:49.70, Y:4.48, Z:0.08 [[ 9.98323491e-01 -5.78690724e-02 1.17341387e-03 4.97027263e+01] [ 5.78689667e-02 9.98324179e-01 1.23839329e-04 4.47506341e+00] [-1.17861391e-03 -5.57274631e-05 9.99999304e-01 7.97205835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.591400512999996 meters 0.04751699655391404 Centerline is valid? [True, True] Translation: X:49.73, Y:4.47, Z:0.08 [[ 9.98366287e-01 -5.71283751e-02 1.05153900e-03 4.97328683e+01] [ 5.71282902e-02 9.98366839e-01 1.10700327e-04 4.46774600e+00] [-1.05614580e-03 -5.04468491e-05 9.99999441e-01 8.00766072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621400513 meters 0.05099326753000071 Centerline is valid? [True, True] Translation: X:49.76, Y:4.47, Z:0.08 [[ 9.98399183e-01 -5.65345153e-02 1.70900823e-03 4.97598563e+01] [ 5.65342887e-02 9.98400642e-01 1.80668139e-04 4.47380118e+00] [-1.71648890e-03 -8.37613573e-05 9.99998523e-01 8.01670162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651400513 meters 0.052030687836544944 Centerline is valid? [True, True] Translation: X:49.79, Y:4.48, Z:0.08 [[ 9.98369393e-01 -5.70294874e-02 2.48833050e-03 4.97878676e+01] [ 5.70290076e-02 9.98372487e-01 2.63413440e-04 4.47736419e+00] [-2.49930305e-03 -1.21076897e-04 9.99996869e-01 8.09200933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681400513 meters 0.04754841125010495 Centerline is valid? [True, True] Translation: X:49.82, Y:4.48, Z:0.08 [[ 9.98271805e-01 -5.86472028e-02 3.72956536e-03 4.98178352e+01] [ 5.86461345e-02 9.98278756e-01 3.95242247e-04 4.47518670e+00] [-3.74632572e-03 -1.75834600e-04 9.99992967e-01 8.18127578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711400513 meters 0.05060187141403224 Centerline is valid? [True, True] Translation: X:49.85, Y:4.48, Z:0.08 [[ 9.98236143e-01 -5.92109366e-02 4.32064331e-03 4.98452482e+01] [ 5.92095074e-02 9.98245473e-01 4.58058572e-04 4.48228757e+00] [-4.34018471e-03 -2.01427460e-04 9.99990561e-01 8.24320902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741400512999995 meters 0.050882769873466134 Centerline is valid? [True, True] Translation: X:49.87, Y:4.49, Z:0.08 [[ 9.98221296e-01 -5.94568870e-02 4.37304750e-03 4.98726781e+01] [ 5.94554231e-02 9.98230854e-01 4.64095211e-04 4.48628409e+00] [-4.39290459e-03 -2.03268334e-04 9.99990330e-01 8.30402165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.771400512999996 meters 0.04735070855586375 Centerline is valid? [True, True] Translation: X:49.90, Y:4.49, Z:0.08 [[ 9.98214720e-01 -5.95854338e-02 4.11691452e-03 4.99012719e+01] [ 5.95841346e-02 9.98223191e-01 4.37624555e-04 4.48624820e+00] [-4.13567560e-03 -1.91540483e-04 9.99991430e-01 8.30965121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801400513 meters 0.0499868733959442 Centerline is valid? [True, True] Translation: X:49.93, Y:4.49, Z:0.08 [[ 9.98218613e-01 -5.95332251e-02 3.92378418e-03 4.99282943e+01] [ 5.95320420e-02 9.98226308e-01 4.17718130e-04 4.49485104e+00] [-3.94169270e-03 -1.83383128e-04 9.99992215e-01 8.33015596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831400513 meters 0.051768986262778455 Centerline is valid? [True, True] Translation: X:49.96, Y:4.51, Z:0.08 [[ 9.98223893e-01 -5.94705945e-02 3.50838092e-03 4.99552239e+01] [ 5.94696476e-02 9.98230044e-01 3.73676933e-04 4.50665531e+00] [-3.52439403e-03 -1.64371066e-04 9.99993776e-01 8.26526063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861400513 meters 0.05479641341341168 Centerline is valid? [True, True] Translation: X:49.98, Y:4.52, Z:0.08 [[ 9.98220502e-01 -5.95214117e-02 3.60986510e-03 4.99810869e+01] [ 5.95204089e-02 9.98227015e-01 3.84701895e-04 4.51500121e+00] [-3.62636286e-03 -1.69156672e-04 9.99993410e-01 8.22651559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891400513 meters 0.04987268772003956 Centerline is valid? [True, True] Translation: X:50.01, Y:4.51, Z:0.08 [[ 9.98163078e-01 -6.05005081e-02 3.18706782e-03 5.00103234e+01] [ 6.04997307e-02 9.98168156e-01 3.39852721e-04 4.51238692e+00] [-3.20179087e-03 -1.46411694e-04 9.99994864e-01 8.14850452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921400512999995 meters 0.042725757657474994 Centerline is valid? [True, True] Translation: X:50.04, Y:4.51, Z:0.08 [[ 9.98048087e-01 -6.24014310e-02 2.46511319e-03 5.00406911e+01] [ 6.24009708e-02 9.98051126e-01 2.63253263e-04 4.50639108e+00] [-2.47673638e-03 -1.08913960e-04 9.99996927e-01 8.06450946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951400512999996 meters 0.045647754098770116 Centerline is valid? [True, True] Translation: X:50.07, Y:4.51, Z:0.08 [[ 9.97864981e-01 -6.52840334e-02 1.86379375e-03 5.00689797e+01] [ 6.52837753e-02 9.97866719e-01 1.99062625e-04 4.51354235e+00] [-1.87281336e-03 -7.69621305e-05 9.99998243e-01 7.94242546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981400513 meters 0.036654431888151665 Centerline is valid? [True, True] Translation: X:50.10, Y:4.51, Z:0.08 [[ 9.97434910e-01 -7.15542785e-02 1.89353929e-03 5.01003707e+01] [ 7.15540233e-02 9.97436705e-01 2.02244521e-04 4.50562064e+00] [-1.90315705e-03 -6.62353912e-05 9.99998187e-01 7.94493165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011400513 meters 0.03280128695748341 Centerline is valid? [True, True] Translation: X:50.13, Y:4.50, Z:0.08 [[ 9.97252470e-01 -7.40395510e-02 2.37816737e-03 5.01310719e+01] [ 7.40391550e-02 9.97255303e-01 2.54215328e-04 4.50140678e+00] [-2.39046201e-03 -7.74393608e-05 9.99997140e-01 8.07209573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041400513 meters 0.03395508717978487 Centerline is valid? [True, True] Translation: X:50.16, Y:4.50, Z:0.08 [[ 9.97129821e-01 -7.56683767e-02 2.53314918e-03 5.01592689e+01] [ 7.56679328e-02 9.97133036e-01 2.70777636e-04 4.50242668e+00] [-2.54637603e-03 -7.83222940e-05 9.99996755e-01 8.13523801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071400513 meters 0.03351212395164708 Centerline is valid? [True, True] Translation: X:50.19, Y:4.50, Z:0.08 [[ 9.97058211e-01 -7.65979350e-02 2.77124285e-03 5.01879114e+01] [ 7.65974069e-02 9.97062059e-01 2.96355652e-04 4.50218059e+00] [-2.78580133e-03 -8.32138207e-05 9.99996116e-01 8.16543983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101400513 meters 0.03219521670619456 Centerline is valid? [True, True] Translation: X:50.22, Y:4.50, Z:0.08 [[ 9.97127567e-01 -7.56840057e-02 2.92329295e-03 5.02172539e+01] [ 7.56834126e-02 9.97131848e-01 3.13109353e-04 4.49938443e+00] [-2.93860587e-03 -9.09651809e-05 9.99995678e-01 8.11040685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.131400512999996 meters 0.03292332534877703 Centerline is valid? [True, True] Translation: X:50.25, Y:4.50, Z:0.08 [[ 9.97229295e-01 -7.43257630e-02 3.06829976e-03 5.02458914e+01] [ 7.43251016e-02 9.97234010e-01 3.29174915e-04 4.50067870e+00] [-3.08427905e-03 -1.00211177e-04 9.99995239e-01 8.07438047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161400513 meters 0.03826224082820583 Centerline is valid? [True, True] Translation: X:50.27, Y:4.51, Z:0.08 [[ 9.97411012e-01 -7.18218506e-02 3.59091353e-03 5.02742826e+01] [ 7.18209261e-02 9.97417468e-01 3.85902665e-04 4.50683895e+00] [-3.60935612e-03 -1.27000833e-04 9.99993478e-01 8.13905812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191400513 meters 0.04200087888852813 Centerline is valid? [True, True] Translation: X:50.30, Y:4.51, Z:0.08 [[ 9.97658039e-01 -6.83124999e-02 3.44101318e-03 5.03039116e+01] [ 6.83116296e-02 9.97663964e-01 3.69956339e-04 4.51110598e+00] [-3.45824749e-03 -1.34028698e-04 9.99994011e-01 8.19027267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221400513 meters 0.052570360448363704 Centerline is valid? [True, True] Translation: X:50.33, Y:4.52, Z:0.08 [[ 9.98186983e-01 -6.01214168e-02 2.85698113e-03 5.03324166e+01] [ 6.01207833e-02 9.98191062e-01 3.07196994e-04 4.52127568e+00] [-2.87028215e-03 -1.34876097e-04 9.99995872e-01 8.15665681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251400513 meters 0.0605728326578448 Centerline is valid? [True, True] Translation: X:50.36, Y:4.53, Z:0.08 [[ 9.98426042e-01 -5.59971756e-02 3.12324039e-03 5.03604658e+01] [ 5.59963984e-02 9.98430914e-01 3.35826352e-04 4.53141241e+00] [-3.13714509e-03 -1.60407562e-04 9.99995066e-01 8.19830085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281400513 meters 0.057811762076294675 Centerline is valid? [True, True] Translation: X:50.39, Y:4.53, Z:0.08 [[ 9.98650118e-01 -5.18136836e-02 3.64463696e-03 5.03908716e+01] [ 5.18125977e-02 9.98656748e-01 3.91794114e-04 4.52897532e+00] [-3.66004159e-03 -2.02427129e-04 9.99993282e-01 8.25661561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.311400512999995 meters 0.05618618950738632 Centerline is valid? [True, True] Translation: X:50.42, Y:4.53, Z:0.08 [[ 9.98838099e-01 -4.80232719e-02 4.02698682e-03 5.04211104e+01] [ 4.80219153e-02 9.98846188e-01 4.32944520e-04 4.52811617e+00] [-4.04313184e-03 -2.39057862e-04 9.99991798e-01 8.28765162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341400512999996 meters 0.06659867348856194 Centerline is valid? [True, True] Translation: X:50.45, Y:4.54, Z:0.08 [[ 9.99107614e-01 -4.20015825e-02 4.45440786e-03 5.04497792e+01] [ 4.19998628e-02 9.99117502e-01 4.78938752e-04 4.53974996e+00] [-4.47059304e-03 -2.91426835e-04 9.99989964e-01 8.31165146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371400513 meters 0.06810805708806893 Centerline is valid? [True, True] Translation: X:50.48, Y:4.54, Z:0.08 [[ 9.99169039e-01 -4.05161205e-02 4.43563360e-03 5.04786618e+01] [ 4.05144006e-02 9.99178841e-01 4.76955128e-04 4.54295488e+00] [-4.45131561e-03 -2.96851760e-04 9.99990049e-01 8.30411480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401400513 meters 0.06828288889199857 Centerline is valid? [True, True] Translation: X:50.51, Y:4.54, Z:0.08 [[ 9.99174446e-01 -4.03846890e-02 4.41635994e-03 5.05072762e+01] [ 4.03829815e-02 9.99184162e-01 4.75166122e-04 4.54459275e+00] [-4.43194634e-03 -2.96428065e-04 9.99990135e-01 8.25922656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431400513 meters 0.061906665630942735 Centerline is valid? [True, True] Translation: X:50.54, Y:4.54, Z:0.08 [[ 9.99129067e-01 -4.14443914e-02 4.84450427e-03 5.05369017e+01] [ 4.14423460e-02 9.99140761e-01 5.21875961e-04 4.53801150e+00] [-4.86197051e-03 -3.20653820e-04 9.99988129e-01 8.26200294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461400513 meters 0.05913327900129562 Centerline is valid? [True, True] Translation: X:50.57, Y:4.53, Z:0.08 [[ 9.98885324e-01 -4.69479213e-02 4.89911201e-03 5.05667328e+01] [ 4.69458945e-02 9.98897294e-01 5.27937221e-04 4.53174607e+00] [-4.91849528e-03 -2.97355547e-04 9.99987860e-01 8.20795768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.491400512999995 meters 0.05683463662151862 Centerline is valid? [True, True] Translation: X:50.60, Y:4.53, Z:0.08 [[ 9.98705285e-01 -5.07296238e-02 3.77618593e-03 5.05958370e+01] [ 5.07284464e-02 9.98712401e-01 4.06977239e-04 4.52874826e+00] [-3.79196952e-03 -2.14890273e-04 9.99992787e-01 8.04070556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521400512999996 meters 0.05510401830148877 Centerline is valid? [True, True] Translation: X:50.63, Y:4.53, Z:0.08 [[ 9.98527061e-01 -5.42016694e-02 2.42646922e-03 5.06262054e+01] [ 5.42011934e-02 9.98530001e-01 2.61569369e-04 4.52661438e+00] [-2.43707981e-03 -1.29666565e-04 9.99997022e-01 7.85487902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551400513 meters 0.0506799033949492 Centerline is valid? [True, True] Translation: X:50.66, Y:4.52, Z:0.08 [[ 9.98353093e-01 -5.73413694e-02 1.75179234e-03 5.06571575e+01] [ 5.73411261e-02 9.98354626e-01 1.88840764e-04 4.52132647e+00] [-1.75973838e-03 -8.80800156e-05 9.99998448e-01 7.75769006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581400513 meters 0.04595384114894743 Centerline is valid? [True, True] Translation: X:50.69, Y:4.51, Z:0.08 [[ 9.98005662e-01 -6.30605846e-02 2.83909617e-03 5.06868777e+01] [ 6.30599686e-02 9.98009693e-01 3.06050664e-04 4.51293757e+00] [-2.85274523e-03 -1.26406981e-04 9.99995923e-01 7.92927978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611400513 meters 0.04358500352817002 Centerline is valid? [True, True] Translation: X:50.72, Y:4.51, Z:0.08 [[ 9.97813714e-01 -6.60130336e-02 3.17354696e-03 5.07173935e+01] [ 6.60122784e-02 9.97818752e-01 3.42217939e-04 4.51058133e+00] [-3.18921551e-03 -1.31976687e-04 9.99994906e-01 8.03640149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641400513 meters 0.03756934156351481 Centerline is valid? [True, True] Translation: X:50.75, Y:4.50, Z:0.08 [[ 9.97622858e-01 -6.88524468e-02 2.82382925e-03 5.07479902e+01] [ 6.88518603e-02 9.97626848e-01 3.04528212e-04 4.50413481e+00] [-2.83809539e-03 -1.09378408e-04 9.99995967e-01 8.00415212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.671400512999995 meters 0.03450813083582239 Centerline is valid? [True, True] Translation: X:50.78, Y:4.50, Z:0.08 [[ 9.97456937e-01 -7.12540202e-02 1.58877416e-03 5.07782995e+01] [ 7.12538375e-02 9.97458200e-01 1.71339945e-04 4.50140149e+00] [-1.59694448e-03 -5.76979605e-05 9.99998723e-01 7.78744595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701400512999996 meters 0.03378130662226299 Centerline is valid? [True, True] Translation: X:50.81, Y:4.50, Z:0.07 [[ 9.97222119e-01 -7.44842778e-02 -3.69864996e-04 5.08078252e+01] [ 7.44842680e-02 9.97222188e-01 -3.99938280e-05 4.49760864e+00] [ 3.71816492e-04 1.23336064e-05 9.99999931e-01 7.36761412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731400513 meters 0.031733720490597764 Centerline is valid? [True, True] Translation: X:50.84, Y:4.49, Z:0.08 [[ 9.97167255e-01 -7.52109050e-02 8.86341162e-04 5.08370047e+01] [ 7.52108500e-02 9.97167648e-01 9.52466896e-05 4.49479045e+00] [-8.90994322e-04 -2.83144079e-05 9.99999603e-01 7.56409144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761400513 meters 0.03540617616625539 Centerline is valid? [True, True] Translation: X:50.86, Y:4.50, Z:0.08 [[ 9.97164962e-01 -7.51941104e-02 2.80790601e-03 5.08636421e+01] [ 7.51935537e-02 9.97168911e-01 3.03448308e-04 4.49966052e+00] [-2.82277411e-03 -9.14515888e-05 9.99996012e-01 7.82565814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791400513 meters 0.032150128881794394 Centerline is valid? [True, True] Translation: X:50.89, Y:4.50, Z:0.08 [[ 9.97199734e-01 -7.46617202e-02 4.27993966e-03 5.08926473e+01] [ 7.46604194e-02 9.97208909e-01 4.63109945e-04 4.49650542e+00] [-4.30257054e-03 -1.42271024e-04 9.99990734e-01 8.01031063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821400513 meters 0.035876013396899865 Centerline is valid? [True, True] Translation: X:50.92, Y:4.50, Z:0.08 [[ 9.97227148e-01 -7.43051927e-02 4.09305118e-03 5.09196748e+01] [ 7.43039976e-02 9.97235539e-01 4.43488289e-04 4.50386745e+00] [-4.11468958e-03 -1.38128497e-04 9.99991525e-01 7.95199552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851400513 meters 0.0340618767004786 Centerline is valid? [True, True] Translation: X:50.95, Y:4.50, Z:0.08 [[ 9.97297087e-01 -7.33718006e-02 3.88587628e-03 5.09490152e+01] [ 7.33707149e-02 9.97304648e-01 4.21413977e-04 4.50425577e+00] [-3.90632237e-03 -1.35165412e-04 9.99992361e-01 7.86920382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881400512999996 meters 0.03874115481512066 Centerline is valid? [True, True] Translation: X:50.98, Y:4.51, Z:0.08 [[ 9.97387297e-01 -7.21374547e-02 3.84296041e-03 5.09755937e+01] [ 7.21363814e-02 9.97394690e-01 4.17358273e-04 4.51207707e+00] [-3.86305547e-03 -1.39050582e-04 9.99992529e-01 7.81421066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.911400513 meters 0.03746268009844298 Centerline is valid? [True, True] Translation: X:51.00, Y:4.51, Z:0.08 [[ 9.97583090e-01 -6.94158371e-02 3.06909945e-03 5.10045635e+01] [ 6.94151388e-02 9.97587804e-01 3.33579065e-04 4.51408597e+00] [-3.08485186e-03 -1.19730870e-04 9.99995235e-01 7.75162057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941400513 meters 0.043466192794141115 Centerline is valid? [True, True] Translation: X:51.03, Y:4.53, Z:0.08 [[ 9.97685493e-01 -6.79331993e-02 2.95580491e-03 5.10316401e+01] [ 6.79325449e-02 9.97689865e-01 3.21361516e-04 4.52621861e+00] [-2.97080771e-03 -1.19822373e-04 9.99995580e-01 7.71071546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971400513 meters 0.04304101599059521 Centerline is valid? [True, True] Translation: X:51.06, Y:4.53, Z:0.08 [[ 9.97794019e-01 -6.63260187e-02 2.82026968e-03 5.10612376e+01] [ 6.63254161e-02 9.97797998e-01 3.06763736e-04 4.53093224e+00] [-2.83440586e-03 -1.19031462e-04 9.99995976e-01 7.68029600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001400513 meters 0.044921425392073513 Centerline is valid? [True, True] Translation: X:51.09, Y:4.54, Z:0.08 [[ 9.97868520e-01 -6.51817940e-02 3.12263880e-03 5.10897344e+01] [ 6.51810495e-02 9.97873396e-01 3.39705013e-04 4.53520710e+00] [-3.13814077e-03 -1.35444064e-04 9.99995067e-01 7.71388491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031400513 meters 0.04668615676432036 Centerline is valid? [True, True] Translation: X:51.12, Y:4.54, Z:0.08 [[ 9.97990807e-01 -6.32234280e-02 4.14085278e-03 5.11173944e+01] [ 6.32220988e-02 9.97999380e-01 4.51220270e-04 4.54470036e+00] [-4.16109620e-03 -1.88520277e-04 9.99991325e-01 7.87295560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061400512999995 meters 0.046520226640094635 Centerline is valid? [True, True] Translation: X:51.15, Y:4.55, Z:0.08 [[ 9.97967111e-01 -6.35715223e-02 4.50640870e-03 5.11458275e+01] [ 6.35699503e-02 9.97977264e-01 4.91370285e-04 4.54911668e+00] [-4.52853058e-03 -2.03899207e-04 9.99989725e-01 7.90225803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091400512999996 meters 0.04697239992344165 Centerline is valid? [True, True] Translation: X:51.17, Y:4.55, Z:0.08 [[ 9.97909967e-01 -6.44590330e-02 4.55309047e-03 5.11735047e+01] [ 6.44574347e-02 9.97920334e-01 4.97068938e-04 4.55387518e+00] [-4.57566214e-03 -2.02549516e-04 9.99989511e-01 7.92846095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121400513 meters 0.04459894613533973 Centerline is valid? [True, True] Translation: X:51.20, Y:4.55, Z:0.08 [[ 9.97840053e-01 -6.55502317e-02 4.28907662e-03 5.12027948e+01] [ 6.55488221e-02 9.97849253e-01 4.68568724e-04 4.55492904e+00] [-4.31056669e-03 -1.86412720e-04 9.99990692e-01 7.87780711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151400513 meters 0.045687591817155086 Centerline is valid? [True, True] Translation: X:51.23, Y:4.56, Z:0.08 [[ 9.97805349e-01 -6.61251759e-02 3.45638044e-03 5.12303804e+01] [ 6.61242625e-02 9.97811324e-01 3.78004782e-04 4.55967491e+00] [-3.47381118e-03 -1.48624586e-04 9.99993955e-01 7.75638410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181400513 meters 0.04125494099898635 Centerline is valid? [True, True] Translation: X:51.26, Y:4.56, Z:0.07 [[ 9.97814552e-01 -6.60603365e-02 1.46701371e-03 5.12597120e+01] [ 6.60601722e-02 9.97815628e-01 1.60212100e-04 4.55920251e+00] [-1.47439287e-03 -6.29507859e-05 9.99998911e-01 7.46708211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211400513 meters 0.04335085316227847 Centerline is valid? [True, True] Translation: X:51.29, Y:4.57, Z:0.07 [[ 9.97838769e-01 -6.57062847e-02 6.89171856e-04 5.12863841e+01] [ 6.57062483e-02 9.97839007e-01 7.52520737e-05 4.56641295e+00] [-6.92627095e-04 -2.98065394e-05 9.99999760e-01 7.29087751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241400512999995 meters 0.0421465230883947 Centerline is valid? [True, True] Translation: X:51.31, Y:4.57, Z:0.07 [[ 9.97875778e-01 -6.51450704e-02 2.28612154e-04 5.13147974e+01] [ 6.51450664e-02 9.97875804e-01 2.45606899e-05 4.56938024e+00] [-2.29726545e-04 -9.61556352e-06 9.99999974e-01 7.21709338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.271400512999996 meters 0.0421465230883947 Centerline is valid? [True, True] Translation: X:51.34, Y:4.57, Z:0.07 [[ 9.97863514e-01 -6.53326436e-02 2.28615962e-04 5.13421758e+01] [ 6.53326396e-02 9.97863541e-01 2.45265309e-05 4.57252550e+00] [-2.29729917e-04 -9.53804607e-06 9.99999974e-01 7.20790583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301400513 meters 0.04276236937735202 Centerline is valid? [True, True] Translation: X:51.37, Y:4.58, Z:0.07 [[ 9.97927665e-01 -6.43446256e-02 3.79508176e-04 5.13703464e+01] [ 6.43446145e-02 9.97927737e-01 4.12714793e-05 4.57777115e+00] [-3.81377333e-04 -1.67666437e-05 9.99999927e-01 7.19078513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331400513 meters 0.04414751534335377 Centerline is valid? [True, True] Translation: X:51.40, Y:4.58, Z:0.07 [[ 9.98056907e-01 -6.22905191e-02 1.51687493e-03 5.13997810e+01] [ 6.22903369e-02 9.98058057e-01 1.67134341e-04 4.58341634e+00] [-1.52434013e-03 -7.23229333e-05 9.99998836e-01 7.34924921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361400513 meters 0.049593257652983135 Centerline is valid? [True, True] Translation: X:51.43, Y:4.59, Z:0.07 [[ 9.98082345e-01 -6.18789123e-02 1.62280904e-03 5.14262616e+01] [ 6.18787034e-02 9.98083661e-01 1.78715295e-04 4.59304862e+00] [-1.63075790e-03 -7.79552616e-05 9.99998667e-01 7.32813686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391400513 meters 0.04812679994485341 Centerline is valid? [True, True] Translation: X:51.45, Y:4.59, Z:0.07 [[ 9.98074206e-01 -6.20163908e-02 1.35855100e-03 5.14545036e+01] [ 6.20162446e-02 9.98075129e-01 1.49527369e-04 4.59023031e+00] [-1.36520911e-03 -6.49871787e-05 9.99999066e-01 7.20588210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421400512999995 meters 0.045702331603753 Centerline is valid? [True, True] Translation: X:51.48, Y:4.59, Z:0.07 [[ 9.98051800e-01 -6.23810531e-02 1.09922415e-03 5.14817782e+01] [ 6.23809572e-02 9.98052404e-01 1.21366372e-04 4.59351110e+00] [-1.10465427e-03 -5.25592711e-05 9.99999388e-01 7.16326008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.451400512999996 meters 0.04825597966764062 Centerline is valid? [True, True] Translation: X:51.51, Y:4.59, Z:0.07 [[ 9.97954086e-01 -6.39300940e-02 7.65650936e-04 5.15109444e+01] [ 6.39300479e-02 9.97954379e-01 8.45534209e-05 4.59438368e+00] [-7.69490213e-04 -3.54323308e-05 9.99999703e-01 7.05121964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481400513 meters 0.04433282008943675 Centerline is valid? [True, True] Translation: X:51.54, Y:4.60, Z:0.07 [[ 9.97933462e-01 -6.42464408e-02 1.09592013e-03 5.15394346e+01] [ 6.42463467e-02 9.97934062e-01 1.20881957e-04 4.59789439e+00] [-1.10142227e-03 -5.02232849e-05 9.99999392e-01 7.14344547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511400513 meters 0.04405968266594112 Centerline is valid? [True, True] Translation: X:51.57, Y:4.60, Z:0.07 [[ 9.97951148e-01 -6.39410200e-02 2.24786858e-03 5.15676261e+01] [ 6.39406213e-02 9.97953674e-01 2.48890315e-04 4.60176616e+00] [-2.25918301e-03 -1.04650262e-04 9.99997443e-01 7.35303919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541400513 meters 0.047525821494013444 Centerline is valid? [True, True] Translation: X:51.59, Y:4.61, Z:0.08 [[ 9.97995888e-01 -6.31481248e-02 4.06481925e-03 5.15948139e+01] [ 6.31468100e-02 9.98004147e-01 4.51112446e-04 4.60977755e+00] [-4.08519338e-03 -1.93527997e-04 9.99991637e-01 7.60057218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571400513 meters 0.05056463463350811 Centerline is valid? [True, True] Translation: X:51.62, Y:4.62, Z:0.08 [[ 9.98114796e-01 -6.09964804e-02 6.80321033e-03 5.16231486e+01] [ 6.09927452e-02 9.98137924e-01 7.55361039e-04 4.61579604e+00] [-6.83661660e-03 -3.38990555e-04 9.99976573e-01 7.98799813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601400513 meters 0.05181001754734822 Centerline is valid? [True, True] Translation: X:51.65, Y:4.61, Z:0.08 [[ 9.98132661e-01 -6.07229022e-02 6.62728654e-03 5.16523210e+01] [ 6.07193480e-02 9.98154607e-01 7.36388553e-04 4.61461415e+00] [-6.65977224e-03 -3.32608948e-04 9.99977768e-01 7.90632631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.631400512999996 meters 0.04715482071347438 Centerline is valid? [True, True] Translation: X:51.68, Y:4.62, Z:0.08 [[ 9.98112196e-01 -6.10895029e-02 6.33379466e-03 5.16806856e+01] [ 6.10862573e-02 9.98132242e-01 7.04799329e-04 4.61684483e+00] [-6.36502051e-03 -3.16560995e-04 9.99979693e-01 7.86843907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661400513 meters 0.04530256630614265 Centerline is valid? [True, True] Translation: X:51.71, Y:4.62, Z:0.08 [[ 9.98059554e-01 -6.20191116e-02 5.54583797e-03 5.17102192e+01] [ 6.20166339e-02 9.98074925e-01 6.17787036e-04 4.61687487e+00] [-5.57347642e-03 -2.72654050e-04 9.99984431e-01 7.70626054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691400513 meters 0.04536434412238733 Centerline is valid? [True, True] Translation: X:51.74, Y:4.62, Z:0.08 [[ 9.97960718e-01 -6.36763844e-02 4.44104385e-03 5.17387017e+01] [ 6.36748107e-02 9.97970577e-01 4.94981898e-04 4.61854246e+00] [-4.46354976e-03 -2.11189864e-04 9.99990016e-01 7.54328792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721400513 meters 0.039611724511431905 Centerline is valid? [True, True] Translation: X:51.77, Y:4.61, Z:0.07 [[ 9.97644569e-01 -6.85276174e-02 3.04620879e-03 5.17701687e+01] [ 6.85268993e-02 9.97649211e-01 3.39599041e-04 4.61051985e+00] [-3.06231971e-03 -1.30051896e-04 9.99995303e-01 7.33374109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751400513 meters 0.042397239403897016 Centerline is valid? [True, True] Translation: X:51.80, Y:4.62, Z:0.07 [[ 9.97520669e-01 -7.03090049e-02 3.02627767e-03 5.17977176e+01] [ 7.03083044e-02 9.97525252e-01 3.37370793e-04 4.61522014e+00] [-3.04250860e-03 -1.23761887e-04 9.99995364e-01 7.30438896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781400513 meters 0.04324974800109813 Centerline is valid? [True, True] Translation: X:51.83, Y:4.61, Z:0.07 [[ 9.97429925e-01 -7.15620996e-02 3.52275165e-03 5.18271193e+01] [ 7.15611573e-02 9.97436136e-01 3.92981367e-04 4.61184229e+00] [-3.54184236e-03 -1.39879191e-04 9.99993718e-01 7.39543139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.811400512999995 meters 0.04233904568740911 Centerline is valid? [True, True] Translation: X:51.86, Y:4.61, Z:0.08 [[ 9.97414215e-01 -7.17138441e-02 4.69132314e-03 5.18552083e+01] [ 7.17121700e-02 9.97425230e-01 5.24320160e-04 4.61267795e+00] [-4.71684508e-03 -1.86539418e-04 9.99988858e-01 7.63802009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841400512999996 meters 0.039798901551235166 Centerline is valid? [True, True] Translation: X:51.88, Y:4.62, Z:0.08 [[ 9.97455423e-01 -7.11111336e-02 5.08783076e-03 5.18823914e+01] [ 7.11091529e-02 9.97468378e-01 5.69385282e-04 4.61744632e+00] [-5.11543993e-03 -2.06145102e-04 9.99986895e-01 7.74983948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871400513 meters 0.03900582228579615 Centerline is valid? [True, True] Translation: X:51.91, Y:4.62, Z:0.08 [[ 9.97503833e-01 -7.03843508e-02 5.66976874e-03 5.19114977e+01] [ 7.03818758e-02 9.97519919e-01 6.35124982e-04 4.61978160e+00] [-5.70041011e-03 -2.34490644e-04 9.99983725e-01 7.79359453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901400513 meters 0.04108904027780182 Centerline is valid? [True, True] Translation: X:51.94, Y:4.63, Z:0.08 [[ 9.97567971e-01 -6.94230073e-02 6.21197056e-03 5.19387810e+01] [ 6.94200128e-02 9.97587278e-01 6.96643114e-04 4.62605526e+00] [-6.24534586e-03 -2.63713782e-04 9.99980463e-01 7.80257595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931400513 meters 0.04088915980247011 Centerline is valid? [True, True] Translation: X:51.97, Y:4.63, Z:0.08 [[ 9.97613851e-01 -6.87780816e-02 6.01499990e-03 5.19672704e+01] [ 6.87752584e-02 9.97631950e-01 6.75194060e-04 4.62941552e+00] [-6.04719463e-03 -2.59899774e-04 9.99981682e-01 7.70231955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961400513 meters 0.040445704944544934 Centerline is valid? [True, True] Translation: X:52.00, Y:4.63, Z:0.07 [[ 9.97576165e-01 -6.94608432e-02 4.12152059e-03 5.19956546e+01] [ 6.94595214e-02 9.97584663e-01 4.63160101e-04 4.63349884e+00] [-4.14373722e-03 -1.75758630e-04 9.99991399e-01 7.46071820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.991400512999995 meters 0.037984343591523625 Centerline is valid? [True, True] Translation: X:52.02, Y:4.64, Z:0.07 [[ 9.97479303e-01 -7.08795212e-02 3.33660589e-03 5.20244102e+01] [ 7.08786613e-02 9.97484874e-01 3.75402036e-04 4.63588232e+00] [-3.35482223e-03 -1.37961602e-04 9.99994363e-01 7.37442581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021400512999996 meters 0.03853171936317951 Centerline is valid? [True, True] Translation: X:52.05, Y:4.64, Z:0.07 [[ 9.97366339e-01 -7.24679938e-02 2.96239502e-03 5.20520570e+01] [ 7.24673226e-02 9.97370731e-01 3.33411585e-04 4.64093773e+00] [-2.97876776e-03 -1.17856656e-04 9.99995557e-01 7.34603809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051400513 meters 0.03663945443814447 Centerline is valid? [True, True] Translation: X:52.08, Y:4.65, Z:0.07 [[ 9.97263241e-01 -7.38482028e-02 3.53140995e-03 5.20810136e+01] [ 7.38472564e-02 9.97269484e-01 3.97819235e-04 4.64545690e+00] [-3.55114562e-03 -1.35945564e-04 9.99993685e-01 7.43964769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081400513 meters 0.04190782877992102 Centerline is valid? [True, True] Translation: X:52.11, Y:4.65, Z:0.07 [[ 9.97155028e-01 -7.52771511e-02 3.89870218e-03 5.21087517e+01] [ 7.52760061e-02 9.97162639e-01 4.39789537e-04 4.65120815e+00] [-3.92074626e-03 -1.45059619e-04 9.99992303e-01 7.49829031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111400513 meters 0.032487510080414686 Centerline is valid? [True, True] Translation: X:52.14, Y:4.65, Z:0.07 [[ 9.96836930e-01 -7.93955791e-02 3.53225669e-03 5.21388392e+01] [ 7.93946646e-02 9.96843181e-01 3.98598191e-04 4.65169222e+00] [-3.55275293e-03 -1.16895062e-04 9.99993682e-01 7.37206378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141400513 meters 0.033800227121914134 Centerline is valid? [True, True] Translation: X:52.17, Y:4.65, Z:0.07 [[ 9.96619387e-01 -8.20973337e-02 3.13466274e-03 5.21680380e+01] [ 8.20966268e-02 9.96624312e-01 3.53737902e-04 4.65428583e+00] [-3.15312204e-03 -9.51968130e-05 9.99995024e-01 7.23120083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.171400512999995 meters 0.029009673439985457 Centerline is valid? [True, True] Translation: X:52.20, Y:4.66, Z:0.07 [[ 9.96396935e-01 -8.47522347e-02 3.19464530e-03 5.21953133e+01] [ 8.47515125e-02 9.96402053e-01 3.61023761e-04 4.65831797e+00] [-3.21374870e-03 -8.89719481e-05 9.99994832e-01 7.24912433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201400512999996 meters 0.028895098924801032 Centerline is valid? [True, True] Translation: X:52.22, Y:4.66, Z:0.07 [[ 9.96128147e-01 -8.78511931e-02 3.29873874e-03 5.22239721e+01] [ 8.78504393e-02 9.96133606e-01 3.72989745e-04 4.66000003e+00] [-3.31875211e-03 -8.17499360e-05 9.99994490e-01 7.24754204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231400513 meters 0.018082890441032076 Centerline is valid? [True, True] Translation: X:52.25, Y:4.65, Z:0.07 [[ 9.95484308e-01 -9.49166083e-02 1.35268964e-03 5.22549996e+01] [ 9.49164881e-02 9.95485227e-01 1.52973286e-04 4.65190857e+00] [-1.36110226e-03 -2.38899555e-05 9.99999073e-01 7.28283315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261400513 meters 0.015443793193430144 Centerline is valid? [True, True] Translation: X:52.28, Y:4.65, Z:0.07 [[ 9.95151214e-01 -9.83564053e-02 2.81556207e-04 5.22839779e+01] [ 9.83564003e-02 9.95151254e-01 3.13719014e-05 4.65239763e+00] [-2.83276640e-04 -3.52693073e-06 9.99999960e-01 7.20237740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291400513 meters 0.012866815472918998 Centerline is valid? [True, True] Translation: X:52.31, Y:4.65, Z:0.07 [[ 9.94878638e-01 -1.01074885e-01 -6.03073671e-04 5.23127454e+01] [ 1.01074862e-01 9.94878821e-01 -6.89898071e-05 4.65385877e+00] [ 6.06958359e-04 7.68089741e-06 9.99999816e-01 7.06866077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321400513 meters 0.012627386799707022 Centerline is valid? [True, True] Translation: X:52.34, Y:4.66, Z:0.07 [[ 9.94698964e-01 -1.02828401e-01 -5.39458910e-04 5.23399588e+01] [ 1.02828383e-01 9.94699110e-01 -6.14359480e-05 4.65952959e+00] [ 5.42916658e-04 5.63858641e-06 9.99999853e-01 6.96708398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351400513 meters 0.01730468762950715 Centerline is valid? [True, True] Translation: X:52.37, Y:4.66, Z:0.07 [[ 9.94642407e-01 -1.03375250e-01 1.97365366e-04 5.23673234e+01] [ 1.03375248e-01 9.94642427e-01 2.17964444e-05 4.66474495e+00] [-1.98561179e-04 -1.27697426e-06 9.99999980e-01 7.08167837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381400512999996 meters 0.02452122689162174 Centerline is valid? [True, True] Translation: X:52.40, Y:4.68, Z:0.07 [[ 9.94818101e-01 -1.01627578e-01 2.96348009e-03 5.23951929e+01] [ 1.01627025e-01 9.94822514e-01 3.36895455e-04 4.67703284e+00] [-2.98237458e-03 -3.39800302e-05 9.99995552e-01 7.44453844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411400513 meters 0.035311713101024794 Centerline is valid? [True, True] Translation: X:52.42, Y:4.68, Z:0.08 [[ 9.94902844e-01 -1.00779931e-01 3.42577562e-03 5.24231454e+01] [ 1.00779186e-01 9.94908741e-01 3.90118229e-04 4.68428807e+00] [-3.44765020e-03 -4.28828588e-05 9.99994056e-01 7.50321990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441400513 meters 0.01478680094271051 Centerline is valid? [True, True] Translation: X:52.45, Y:4.69, Z:0.07 [[ 9.94972756e-01 -1.00090130e-01 3.34375891e-03 5.24502701e+01] [ 1.00089413e-01 9.94978374e-01 3.81339898e-04 4.69403771e+00] [-3.36513617e-03 -4.47479414e-05 9.99994337e-01 7.48685422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471400513 meters 0.015171346084839913 Centerline is valid? [True, True] Translation: X:52.48, Y:4.71, Z:0.07 [[ 9.94948410e-01 -1.00325262e-01 3.53610383e-03 5.24755321e+01] [ 1.00324462e-01 9.94954692e-01 4.03508921e-04 4.70849484e+00] [-3.55874524e-03 -4.67128461e-05 9.99993667e-01 7.41960731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501400513 meters 0.01353971238354176 Centerline is valid? [True, True] Translation: X:52.50, Y:4.71, Z:0.08 [[ 9.94785570e-01 -1.01888938e-01 4.50702546e-03 5.25041820e+01] [ 1.01887651e-01 9.94795779e-01 5.14857892e-04 4.71351401e+00] [-4.53602822e-03 -5.29629670e-05 9.99989711e-01 7.52929942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531400513 meters 0.025538893804393146 Centerline is valid? [True, True] Translation: X:52.53, Y:4.72, Z:0.08 [[ 9.94512524e-01 -1.04478629e-01 5.39040753e-03 5.25315222e+01] [ 1.04476821e-01 9.94527131e-01 6.16623469e-04 4.71794986e+00] [-5.42533051e-03 -5.00671176e-05 9.99985282e-01 7.69247185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561400512999995 meters 0.022557577754967143 Centerline is valid? [True, True] Translation: X:52.56, Y:4.72, Z:0.08 [[ 9.94179783e-01 -1.07579905e-01 5.75531170e-03 5.25606226e+01] [ 1.07577892e-01 9.94196441e-01 6.59104162e-04 4.71987317e+00] [-5.79281677e-03 -3.61237333e-05 9.99983221e-01 7.73185742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591400512999996 meters 0.007270310420579138 Centerline is valid? [True, True] Translation: X:52.59, Y:4.72, Z:0.08 [[ 9.93822150e-01 -1.10847730e-01 5.50597650e-03 5.25885603e+01] [ 1.10845934e-01 9.93837401e-01 6.31239734e-04 4.72325813e+00] [-5.54201687e-03 -1.70249193e-05 9.99984643e-01 7.67102118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621400513 meters 0.019893408947597516 Centerline is valid? [True, True] Translation: X:52.62, Y:4.72, Z:0.07 [[ 9.92989808e-01 -1.18127129e-01 4.14996998e-03 5.26154384e+01] [ 1.18126171e-01 9.92998480e-01 4.76097042e-04 4.72420417e+00] [-4.17715385e-03 1.74605519e-05 9.99991276e-01 7.37345251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651400513 meters 0.01677283485985706 Centerline is valid? [True, True] Translation: X:52.64, Y:4.73, Z:0.07 [[ 9.92606016e-01 -1.21318350e-01 3.89290810e-03 5.26446249e+01] [ 1.21317529e-01 9.92613650e-01 4.47315959e-04 4.72668391e+00] [-3.91842135e-03 2.82694771e-05 9.99992323e-01 7.34838817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681400513 meters 0.026807306654629902 Centerline is valid? [True, True] Translation: X:52.67, Y:4.73, Z:0.07 [[ 9.92378931e-01 -1.23169578e-01 3.64873661e-03 5.26718662e+01] [ 1.23168867e-01 9.92385638e-01 4.19818010e-04 4.72986304e+00] [-3.67266261e-03 3.27922058e-05 9.99993255e-01 7.31371509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711400513 meters 0.02539192384206868 Centerline is valid? [True, True] Translation: X:52.70, Y:4.74, Z:0.07 [[ 9.92248205e-01 -1.24228195e-01 3.29470800e-03 5.27000297e+01] [ 1.24227620e-01 9.92253674e-01 3.79264685e-04 4.73598236e+00] [-3.31630149e-03 3.29690322e-05 9.99994501e-01 7.31863226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741400512999995 meters 0.025228039447960256 Centerline is valid? [True, True] Translation: X:52.73, Y:4.74, Z:0.07 [[ 9.92242037e-01 -1.24288200e-01 2.86066052e-03 5.27274462e+01] [ 1.24287766e-01 9.92246160e-01 3.29712980e-04 4.74327711e+00] [-2.87945885e-03 2.83900271e-05 9.99995854e-01 7.22991535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.771400512999996 meters 0.027677792627160948 Centerline is valid? [True, True] Translation: X:52.75, Y:4.76, Z:0.07 [[ 9.92616552e-01 -1.21284290e-01 1.58185097e-03 5.27536051e+01] [ 1.21284153e-01 9.92617812e-01 1.82586330e-04 4.75589673e+00] [-1.59231831e-03 1.06152420e-05 9.99998732e-01 6.97916016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801400513 meters 0.02386011336632328 Centerline is valid? [True, True] Translation: X:52.78, Y:4.76, Z:0.07 [[ 9.92869606e-01 -1.19195349e-01 1.55377614e-03 5.27810220e+01] [ 1.19195214e-01 9.92870822e-01 1.79444586e-04 4.76380277e+00] [-1.56408795e-03 7.03760401e-06 9.99998777e-01 6.89834480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831400513 meters 0.007002863124624184 Centerline is valid? [True, True] Translation: X:52.81, Y:4.77, Z:0.07 [[ 9.93090344e-01 -1.17330037e-01 2.28736362e-03 5.28082871e+01] [ 1.17329739e-01 9.93092978e-01 2.64405779e-04 4.77163400e+00] [-2.30258749e-03 5.79695059e-06 9.99997349e-01 6.93988591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861400513 meters 0.025344953876580253 Centerline is valid? [True, True] Translation: X:52.83, Y:4.78, Z:0.07 [[ 9.93411679e-01 -1.14548394e-01 3.44975014e-03 5.28339902e+01] [ 1.14547698e-01 9.93417669e-01 3.99085243e-04 4.78365057e+00] [-3.47275732e-03 -1.29500296e-06 9.99993970e-01 7.08142625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891400513 meters 0.01842051322405832 Centerline is valid? [True, True] Translation: X:52.86, Y:4.79, Z:0.07 [[ 9.93500280e-01 -1.13776733e-01 3.47113024e-03 5.28608475e+01] [ 1.13776023e-01 9.93506344e-01 4.01870599e-04 4.79113171e+00] [-3.49431343e-03 -4.32715764e-06 9.99993895e-01 7.03551429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921400512999995 meters 0.023711973917222566 Centerline is valid? [True, True] Translation: X:52.89, Y:4.80, Z:0.07 [[ 9.93594414e-01 -1.12976293e-01 2.54912189e-03 5.28871121e+01] [ 1.12975907e-01 9.93597684e-01 2.95550275e-04 4.79811961e+00] [-2.56619178e-03 -5.66774516e-06 9.99996707e-01 6.94107288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.951400512999996 meters 0.014902136943964623 Centerline is valid? [True, True] Translation: X:52.91, Y:4.80, Z:0.07 [[ 9.93638564e-01 -1.12603959e-01 1.65898072e-03 5.29139728e+01] [ 1.12603794e-01 9.93639949e-01 1.92312716e-04 4.80399292e+00] [-1.67008469e-03 -4.28180673e-06 9.99998605e-01 6.81425408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981400513 meters 0.014891851695131804 Centerline is valid? [True, True] Translation: X:52.94, Y:4.81, Z:0.07 [[ 9.93605593e-01 -1.12902450e-01 9.81012264e-04 5.29418850e+01] [ 1.12902392e-01 9.93606077e-01 1.13518772e-04 4.80835420e+00] [-9.87556295e-04 -2.03425559e-06 9.99999512e-01 6.76164712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011400513 meters 0.014736225677385854 Centerline is valid? [True, True] Translation: X:52.97, Y:4.81, Z:0.07 [[ 9.93466297e-01 -1.14117359e-01 1.39490042e-03 5.29683621e+01] [ 1.14117243e-01 9.93467276e-01 1.62185880e-04 4.81374162e+00] [-1.40429614e-03 -1.94401537e-06 9.99999014e-01 6.81497566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041400513 meters 0.02178742813437474 Centerline is valid? [True, True] Translation: X:53.00, Y:4.82, Z:0.07 [[ 9.93401410e-01 -1.14667003e-01 2.26212321e-03 5.29957151e+01] [ 1.14666700e-01 9.93403986e-01 2.63274576e-04 4.81797211e+00] [-2.27739112e-03 -2.14713071e-06 9.99997407e-01 6.93726752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071400513 meters 0.006767204796253435 Centerline is valid? [True, True] Translation: X:53.02, Y:4.82, Z:0.07 [[ 9.93419804e-01 -1.14484170e-01 3.23542206e-03 5.30224843e+01] [ 1.14483547e-01 9.93425073e-01 3.77485351e-04 4.82241886e+00] [-3.25736549e-03 -4.59882863e-06 9.99994695e-01 7.07486614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101400513 meters 0.007099383553499048 Centerline is valid? [True, True] Translation: X:53.05, Y:4.83, Z:0.07 [[ 9.93524956e-01 -1.13570906e-01 3.13222739e-03 5.30499113e+01] [ 1.13570318e-01 9.93529893e-01 3.65685199e-04 4.82821051e+00] [-3.15349274e-03 -7.58931253e-06 9.99995028e-01 7.05796398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.131400512999996 meters 0.015364117999784942 Centerline is valid? [True, True] Translation: X:53.08, Y:4.84, Z:0.07 [[ 9.93711315e-01 -1.11941183e-01 2.64447786e-03 5.30773129e+01] [ 1.11940757e-01 9.93714834e-01 3.09250559e-04 4.83569953e+00] [-2.66247475e-03 -1.12809266e-05 9.99996456e-01 6.93522555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161400513 meters 0.015364117999784942 Centerline is valid? [True, True] Translation: X:53.10, Y:4.84, Z:0.07 [[ 9.93690425e-01 -1.12126476e-01 2.64446913e-03 5.31046260e+01] [ 1.12126049e-01 9.93693944e-01 3.09325243e-04 4.83907047e+00] [-2.66247651e-03 -1.08596551e-05 9.99996456e-01 6.92604070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191400513 meters 0.026691445121188036 Centerline is valid? [True, True] Translation: X:53.13, Y:4.85, Z:0.07 [[ 9.94114758e-01 -1.08307490e-01 2.30991525e-03 5.31317915e+01] [ 1.08307153e-01 9.94117441e-01 2.70679408e-04 4.85108339e+00] [-2.32564365e-03 -1.89060492e-05 9.99997296e-01 6.80659970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221400513 meters 0.011742698732047089 Centerline is valid? [True, True] Translation: X:53.16, Y:4.86, Z:0.07 [[ 9.94275710e-01 -1.06822143e-01 2.20067193e-03 5.31600041e+01] [ 1.06821834e-01 9.94278145e-01 2.57874386e-04 4.85702600e+00] [-2.21562670e-03 -2.13184277e-05 9.99997545e-01 6.77873197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251400513 meters 0.024817774306360764 Centerline is valid? [True, True] Translation: X:53.19, Y:4.86, Z:0.07 [[ 9.94446872e-01 -1.05225140e-01 1.75732457e-03 5.31870882e+01] [ 1.05224940e-01 9.94448425e-01 2.06238731e-04 4.86378454e+00] [-1.76927015e-03 -2.01790893e-05 9.99998435e-01 6.67547192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281400513 meters 0.023952302932167678 Centerline is valid? [True, True] Translation: X:53.22, Y:4.87, Z:0.07 [[ 9.94730467e-01 -1.02524268e-01 2.70834568e-04 5.32152985e+01] [ 1.02524264e-01 9.94730503e-01 3.12972086e-05 4.87282651e+00] [-2.72616130e-04 -3.36517222e-06 9.99999963e-01 6.51969743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.311400512999995 meters 0.028708277404555508 Centerline is valid? [True, True] Translation: X:53.24, Y:4.88, Z:0.06 [[ 9.94901182e-01 -1.00852417e-01 -6.53772429e-04 5.32426857e+01] [ 1.00852388e-01 9.94901397e-01 -7.72020319e-05 4.88167489e+00] [ 6.58225115e-04 1.08738822e-05 9.99999783e-01 6.37281131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341400512999996 meters 0.01914618413813198 Centerline is valid? [True, True] Translation: X:53.27, Y:4.89, Z:0.06 [[ 9.95041388e-01 -9.94573590e-02 -9.32530725e-04 5.32707855e+01] [ 9.94572990e-02 9.95041825e-01 -1.10548891e-04 4.88815673e+00] [ 9.38901975e-04 1.72537348e-05 9.99999559e-01 6.34891260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371400513 meters 0.021292227441645002 Centerline is valid? [True, True] Translation: X:53.30, Y:4.90, Z:0.06 [[ 9.95176992e-01 -9.80911864e-02 -9.35149094e-04 5.32981372e+01] [ 9.80911258e-02 9.95177431e-01 -1.10549278e-04 4.89546217e+00] [ 9.41483182e-04 1.82862703e-05 9.99999557e-01 6.33172244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401400513 meters 0.0219445670678464 Centerline is valid? [True, True] Translation: X:53.33, Y:4.90, Z:0.07 [[ 9.95306650e-01 -9.67707494e-02 3.08153367e-04 5.33264878e+01] [ 9.67707429e-02 9.95306697e-01 3.58503996e-05 4.90131063e+00] [-3.10176380e-04 -5.86191088e-06 9.99999952e-01 6.56357220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431400513 meters 0.02470399982019808 Centerline is valid? [True, True] Translation: X:53.35, Y:4.91, Z:0.07 [[ 9.95461730e-01 -9.51408493e-02 2.04048822e-03 5.33548315e+01] [ 9.51405553e-02 9.95463820e-01 2.40909035e-04 4.90787247e+00] [-2.05415249e-03 -4.56825423e-05 9.99997889e-01 6.83824290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461400513 meters 0.0273134448991143 Centerline is valid? [True, True] Translation: X:53.38, Y:4.92, Z:0.07 [[ 9.95852972e-01 -9.08875718e-02 4.03813999e-03 5.33833116e+01] [ 9.08863806e-02 9.95861154e-01 4.77907868e-04 4.91971104e+00] [-4.06486264e-03 -1.08914043e-04 9.99991732e-01 7.13288404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.491400512999995 meters 0.034539727295368985 Centerline is valid? [True, True] Translation: X:53.41, Y:4.93, Z:0.07 [[ 9.96098274e-01 -8.81818867e-02 3.49051127e-03 5.34119048e+01] [ 8.81809798e-02 9.96104384e-01 4.13173113e-04 4.92578330e+00] [-3.51334796e-03 -1.03764321e-04 9.99993823e-01 7.03075338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521400512999996 meters 0.0352923484979765 Centerline is valid? [True, True] Translation: X:53.44, Y:4.93, Z:0.07 [[ 9.96295975e-01 -8.59175999e-02 3.53507453e-03 5.34406851e+01] [ 8.59166550e-02 9.96302240e-01 4.18577090e-04 4.93291201e+00] [-3.55796581e-03 -1.13304891e-04 9.99993664e-01 6.97259873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551400513 meters 0.03779553366526696 Centerline is valid? [True, True] Translation: X:53.47, Y:4.94, Z:0.07 [[ 9.96452576e-01 -8.40769251e-02 3.65165275e-03 5.34696086e+01] [ 8.40759041e-02 9.96459259e-01 4.32477017e-04 4.93805744e+00] [-3.67508453e-03 -1.23926831e-04 9.99993239e-01 6.91522735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581400513 meters 0.03344725971654125 Centerline is valid? [True, True] Translation: X:53.50, Y:4.95, Z:0.07 [[ 9.96680713e-01 -8.12689508e-02 4.78694927e-03 5.34979264e+01] [ 8.12671629e-02 9.96692192e-01 5.67151817e-04 4.94618972e+00] [-4.81720679e-03 -1.76247491e-04 9.99988382e-01 6.99385662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611400513 meters 0.03918884430873702 Centerline is valid? [True, True] Translation: X:53.53, Y:4.96, Z:0.07 [[ 9.96807131e-01 -7.96757462e-02 5.22681391e-03 5.35251405e+01] [ 7.96735915e-02 9.96820814e-01 6.19505320e-04 4.95673854e+00] [-5.25955644e-03 -2.01088284e-04 9.99986148e-01 7.09313999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641400513 meters 0.04386478641138 Centerline is valid? [True, True] Translation: X:53.55, Y:4.97, Z:0.07 [[ 9.96952434e-01 -7.78663984e-02 4.76115700e-03 5.35528049e+01] [ 7.78645889e-02 9.96963784e-01 5.64526704e-04 4.96601667e+00] [-4.79065876e-03 -1.92080739e-04 9.99988506e-01 7.07599389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671400512999995 meters 0.04353076175625319 Centerline is valid? [True, True] Translation: X:53.58, Y:4.97, Z:0.07 [[ 9.97285107e-01 -7.36211521e-02 1.53038149e-03 5.35827945e+01] [ 7.36209601e-02 9.97286279e-01 1.81489900e-04 4.96991411e+00] [-1.53958996e-03 -6.83290201e-05 9.99998812e-01 6.64157274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701400512999996 meters 0.04640738632220695 Centerline is valid? [True, True] Translation: X:53.61, Y:4.98, Z:0.06 [[ 9.97424283e-01 -7.17240900e-02 6.73761231e-04 5.36109639e+01] [ 7.17240524e-02 9.97424510e-01 7.98108978e-05 4.97640202e+00] [-6.77750330e-04 -3.12804417e-05 9.99999770e-01 6.44667039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731400513 meters 0.04597525059779138 Centerline is valid? [True, True] Translation: X:53.64, Y:4.98, Z:0.06 [[ 9.97494130e-01 -7.07382890e-02 1.24715454e-03 5.36394227e+01] [ 7.07381596e-02 9.97494908e-01 1.47602615e-04 4.97861804e+00] [-1.25447146e-03 -5.90113253e-05 9.99999211e-01 6.49442072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761400513 meters 0.04693888860039554 Centerline is valid? [True, True] Translation: X:53.67, Y:4.98, Z:0.07 [[ 9.97519463e-01 -7.03206658e-02 3.15047576e-03 5.36676282e+01] [ 7.03198337e-02 9.97524426e-01 3.74252694e-04 4.98228483e+00] [-3.16899422e-03 -1.51783415e-04 9.99994967e-01 6.67653099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791400513 meters 0.052508429125031474 Centerline is valid? [True, True] Translation: X:53.69, Y:4.99, Z:0.07 [[ 9.97535736e-01 -7.00130335e-02 4.54206559e-03 5.36949309e+01] [ 7.00112968e-02 9.97546052e-01 5.40438519e-04 4.99163886e+00] [-4.56875734e-03 -2.21110834e-04 9.99989539e-01 6.80907545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821400513 meters 0.046590947277447954 Centerline is valid? [True, True] Translation: X:53.72, Y:4.99, Z:0.07 [[ 9.97532765e-01 -7.00333040e-02 4.87012663e-03 5.37247770e+01] [ 7.00313053e-02 9.97544626e-01 5.79947361e-04 4.98684669e+00] [-4.89878427e-03 -2.37455170e-04 9.99987973e-01 6.76851037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851400513 meters 0.05210604642963469 Centerline is valid? [True, True] Translation: X:53.75, Y:4.99, Z:0.07 [[ 9.97642787e-01 -6.85491761e-02 3.14331242e-03 5.37527913e+01] [ 6.85483350e-02 9.97647726e-01 3.74669327e-04 4.99313158e+00] [-3.16160176e-03 -1.58317319e-04 9.99994990e-01 6.51773374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881400512999996 meters 0.050199140964152685 Centerline is valid? [True, True] Translation: X:53.78, Y:4.99, Z:0.06 [[ 9.97732730e-01 -6.72567726e-02 2.43445825e-03 5.37828959e+01] [ 6.72562640e-02 9.97735692e-01 2.90248430e-04 4.99278493e+00] [-2.44846706e-03 -1.25857791e-04 9.99996995e-01 6.45411671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.911400513 meters 0.054244065333060226 Centerline is valid? [True, True] Translation: X:53.81, Y:5.00, Z:0.06 [[ 9.97845089e-01 -6.55843251e-02 1.96833647e-03 5.38104806e+01] [ 6.55839895e-02 9.97847025e-01 2.34662626e-04 5.00026709e+00] [-1.97948888e-03 -1.05065591e-04 9.99998035e-01 6.38792527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941400513 meters 0.052089805243642165 Centerline is valid? [True, True] Translation: X:53.84, Y:5.00, Z:0.06 [[ 9.97968714e-01 -6.36923610e-02 1.31471346e-03 5.38398180e+01] [ 6.36922096e-02 9.97969578e-01 1.56791681e-04 5.00023172e+00] [-1.32203047e-03 -7.27361876e-05 9.99999123e-01 6.27950849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971400513 meters 0.05641204400695344 Centerline is valid? [True, True] Translation: X:53.87, Y:5.01, Z:0.06 [[ 9.98139655e-01 -6.09690490e-02 6.92591136e-05 5.38679283e+01] [ 6.09690486e-02 9.98139657e-01 8.18815217e-06 5.00654420e+00] [-6.96294918e-05 -3.95025712e-06 9.99999998e-01 5.95950321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001400513 meters 0.06282471920784416 Centerline is valid? [True, True] Translation: X:53.90, Y:5.02, Z:0.06 [[ 9.98189721e-01 -6.01436927e-02 1.28529152e-04 5.38950938e+01] [ 6.01436912e-02 9.98189730e-01 1.51549492e-05 5.01517983e+00] [-1.29207954e-04 -7.39729686e-06 9.99999992e-01 5.86178070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031400513 meters 0.060430634159248965 Centerline is valid? [True, True] Translation: X:53.92, Y:5.01, Z:0.06 [[ 9.98200340e-01 -5.99666874e-02 2.78448303e-04 5.39244938e+01] [ 5.99666806e-02 9.98200379e-01 3.27621364e-05 5.01285003e+00] [-2.79911838e-04 -1.60055553e-05 9.99999961e-01 5.91806592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061400512999995 meters 0.054972146438897466 Centerline is valid? [True, True] Translation: X:53.95, Y:5.01, Z:0.06 [[ 9.98199738e-01 -5.99730743e-02 7.17162904e-04 5.39541657e+01] [ 5.99730284e-02 9.98199994e-01 8.53292390e-05 5.00666314e+00] [-7.20989464e-04 -4.21651927e-05 9.99999739e-01 6.08580577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.091400512999996 meters 0.06083910473162707 Centerline is valid? [True, True] Translation: X:53.98, Y:5.01, Z:0.06 [[ 9.98251002e-01 -5.90813924e-02 2.07995405e-03 5.39815223e+01] [ 5.90810013e-02 9.98253161e-01 2.49033089e-04 5.01391594e+00] [-2.09103392e-03 -1.25711762e-04 9.99997806e-01 6.38325999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121400513 meters 0.06212782571391271 Centerline is valid? [True, True] Translation: X:54.01, Y:5.02, Z:0.07 [[ 9.98292897e-01 -5.83392377e-02 2.79726270e-03 5.40100588e+01] [ 5.83385269e-02 9.98296802e-01 3.35099265e-04 5.01853077e+00] [-2.81204784e-03 -1.71339031e-04 9.99996032e-01 6.53134002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151400513 meters 0.06973090939393652 Centerline is valid? [True, True] Translation: X:54.04, Y:5.03, Z:0.07 [[ 9.98422514e-01 -5.60079107e-02 3.94941223e-03 5.40381811e+01] [ 5.60064725e-02 9.98430293e-01 4.73889231e-04 5.03119307e+00] [-3.96975436e-03 -2.51949029e-04 9.99992089e-01 6.66926577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181400513 meters 0.06599430114892348 Centerline is valid? [True, True] Translation: X:54.07, Y:5.03, Z:0.07 [[ 9.98605386e-01 -5.25706583e-02 4.85899060e-03 5.40686964e+01] [ 5.25684406e-02 9.98617153e-01 5.83079315e-04 5.03043773e+00] [-4.88292423e-03 -3.26836585e-04 9.99988025e-01 6.73875443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211400513 meters 0.0720559978739005 Centerline is valid? [True, True] Translation: X:54.10, Y:5.04, Z:0.07 [[ 9.98954155e-01 -4.55085374e-02 4.42361171e-03 5.40974517e+01] [ 4.55066305e-02 9.98963896e-01 5.30840240e-04 5.04185609e+00] [-4.44318615e-03 -3.28981400e-04 9.99990075e-01 6.59208437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241400512999995 meters 0.07356274717183411 Centerline is valid? [True, True] Translation: X:54.13, Y:5.05, Z:0.06 [[ 9.99083499e-01 -4.27318052e-02 2.48086530e-03 5.41278243e+01] [ 4.27311968e-02 9.99086561e-01 2.97720664e-04 5.04651108e+00] [-2.49132132e-03 -1.91437459e-04 9.99996878e-01 6.32574495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.271400512999996 meters 0.08472063933759527 Centerline is valid? [True, True] Translation: X:54.16, Y:5.06, Z:0.06 [[ 9.99163809e-01 -4.08795719e-02 7.37591521e-04 5.41556345e+01] [ 4.08795176e-02 9.99164079e-01 8.84860836e-05 5.06296349e+00] [-7.40592226e-04 -5.82597067e-05 9.99999724e-01 6.00621589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301400513 meters 0.0818883782487556 Centerline is valid? [True, True] Translation: X:54.19, Y:5.06, Z:0.06 [[ 9.99207225e-01 -3.98109685e-02 -8.55312448e-05 5.41854590e+01] [ 3.98109677e-02 9.99207229e-01 -1.03423327e-05 5.06349460e+00] [ 8.58751764e-05 6.92905195e-06 9.99999996e-01 5.86672096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331400513 meters 0.07617209761786996 Centerline is valid? [True, True] Translation: X:54.22, Y:5.06, Z:0.06 [[ 9.99249021e-01 -3.87341063e-02 1.03075725e-03 5.42151967e+01] [ 3.87339992e-02 9.99249549e-01 1.23679244e-04 5.06298758e+00] [-1.03477433e-03 -8.36610128e-05 9.99999461e-01 6.06369466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361400513 meters 0.0754661688381939 Centerline is valid? [True, True] Translation: X:54.24, Y:5.07, Z:0.06 [[ 9.99269478e-01 -3.82009120e-02 1.09546723e-03 5.42431972e+01] [ 3.82007907e-02 9.99270075e-01 1.31395238e-04 5.06652384e+00] [-1.09968704e-03 -8.94515360e-05 9.99999391e-01 6.10180432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391400513 meters 0.08781857558105591 Centerline is valid? [True, True] Translation: X:54.27, Y:5.09, Z:0.06 [[ 9.99303990e-01 -3.72952021e-02 7.77362717e-04 5.42692672e+01] [ 3.72951408e-02 9.99304290e-01 9.32601393e-05 5.08562029e+00] [-7.80300053e-04 -6.42033773e-05 9.99999694e-01 6.01726116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421400512999995 meters 0.07973102576494492 Centerline is valid? [True, True] Translation: X:54.30, Y:5.08, Z:0.06 [[ 9.99347779e-01 -3.61109467e-02 1.27865676e-04 5.42998636e+01] [ 3.61109450e-02 9.99347787e-01 1.52923377e-05 5.08023165e+00] [-1.28334501e-04 -1.06650133e-05 9.99999992e-01 5.99871698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.451400512999996 meters 0.08114941594253396 Centerline is valid? [True, True] Translation: X:54.33, Y:5.09, Z:0.06 [[ 9.99459404e-01 -3.28743616e-02 4.18577610e-04 5.43296502e+01] [ 3.28743434e-02 9.99459491e-01 5.02897950e-05 5.08959108e+00] [-4.20004610e-04 -3.65021445e-05 9.99999911e-01 6.04257491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481400513 meters 0.0857382571387909 Centerline is valid? [True, True] Translation: X:54.36, Y:5.10, Z:0.06 [[ 9.99491034e-01 -3.18961919e-02 5.52374432e-04 5.43569770e+01] [ 3.18961601e-02 9.99491186e-01 6.62678732e-05 5.09948012e+00] [-5.54207069e-04 -4.86155219e-05 9.99999845e-01 5.99720894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511400513 meters 0.0834320357104682 Centerline is valid? [True, True] Translation: X:54.39, Y:5.10, Z:0.06 [[ 9.99491003e-01 -3.19014874e-02 1.72058003e-04 5.43856877e+01] [ 3.19014844e-02 9.99491018e-01 2.01773932e-05 5.10035422e+00] [-1.72614117e-04 -1.46782173e-05 9.99999985e-01 5.94599699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541400513 meters 0.08246550208178914 Centerline is valid? [True, True] Translation: X:54.41, Y:5.10, Z:0.06 [[ 9.99473716e-01 -3.24380349e-02 -2.56038183e-04 5.44145567e+01] [ 3.24380279e-02 9.99473748e-01 -3.14126412e-05 5.10345253e+00] [ 2.56922407e-04 2.30907355e-05 9.99999967e-01 5.89739095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571400513 meters 0.08328694854659849 Centerline is valid? [True, True] Translation: X:54.44, Y:5.11, Z:0.06 [[ 9.99398633e-01 -3.46587933e-02 -1.06744868e-03 5.44430501e+01] [ 3.46586754e-02 9.99399199e-01 -1.28765982e-04 5.11120822e+00] [ 1.07127023e-03 9.16921892e-05 9.99999422e-01 5.82456949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.601400512999994 meters 0.0778818976100716 Centerline is valid? [True, True] Translation: X:54.47, Y:5.11, Z:0.06 [[ 9.99350964e-01 -3.60077935e-02 -1.04337159e-03 5.44730546e+01] [ 3.60076815e-02 9.99351505e-01 -1.25919772e-04 5.10940687e+00] [ 1.04722906e-03 8.82686543e-05 9.99999448e-01 5.88186630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.631400512999996 meters 0.07985364977831354 Centerline is valid? [True, True] Translation: X:54.50, Y:5.12, Z:0.06 [[ 9.99305220e-01 -3.72665819e-02 -5.27789858e-04 5.45009875e+01] [ 3.72665534e-02 9.99305359e-01 -6.37467714e-05 5.11604009e+00] [ 5.29798858e-04 4.40335725e-05 9.99999859e-01 5.95352155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661400513 meters 0.0779606461155567 Centerline is valid? [True, True] Translation: X:54.53, Y:5.12, Z:0.06 [[ 9.99270935e-01 -3.81771203e-02 3.24649122e-04 5.45294430e+01] [ 3.81771097e-02 9.99270988e-01 3.90242569e-05 5.11867697e+00] [-3.25902282e-04 -2.66016405e-05 9.99999947e-01 6.01491515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691400513 meters 0.09381274816824164 Centerline is valid? [True, True] Translation: X:54.55, Y:5.14, Z:0.06 [[ 9.99253770e-01 -3.86190931e-02 6.85075236e-04 5.45544225e+01] [ 3.86190456e-02 9.99254003e-01 8.25222132e-05 5.14327945e+00] [-6.87751105e-04 -5.60036809e-05 9.99999762e-01 6.00168017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721400513 meters 0.07900015573159938 Centerline is valid? [True, True] Translation: X:54.59, Y:5.13, Z:0.06 [[ 9.99211080e-01 -3.97116144e-02 4.53471859e-04 5.45855761e+01] [ 3.97115936e-02 9.99211182e-01 5.46852427e-05 5.13212837e+00] [-4.55285791e-04 -3.66340103e-05 9.99999896e-01 5.94099862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751400513 meters 0.08083708169492729 Centerline is valid? [True, True] Translation: X:54.61, Y:5.14, Z:0.06 [[ 9.99174270e-01 -4.05859855e-02 1.88576728e-03 5.46126747e+01] [ 4.05856278e-02 9.99176038e-01 2.27607962e-04 5.13780399e+00] [-1.89345117e-03 -1.50884971e-04 9.99998196e-01 6.08393584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781400513 meters 0.07598323286264481 Centerline is valid? [True, True] Translation: X:54.64, Y:5.14, Z:0.06 [[ 9.99139839e-01 -4.13198383e-02 3.50054034e-03 5.46426314e+01] [ 4.13186081e-02 9.99145932e-01 4.23056282e-04 5.13523471e+00] [-3.51503126e-03 -2.78054931e-04 9.99993784e-01 6.31334911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.811400512999995 meters 0.08491090893544066 Centerline is valid? [True, True] Translation: X:54.67, Y:5.15, Z:0.06 [[ 9.99123087e-01 -4.16504024e-02 4.27797837e-03 5.46688144e+01] [ 4.16485652e-02 9.99132188e-01 5.17683690e-04 5.14991795e+00] [-4.29582762e-03 -3.39058066e-04 9.99990715e-01 6.41283646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841400512999996 meters 0.0816367175356372 Centerline is valid? [True, True] Translation: X:54.70, Y:5.15, Z:0.06 [[ 9.99130001e-01 -4.15877649e-02 3.11421853e-03 5.46971906e+01] [ 4.15867907e-02 9.99134824e-01 3.76963765e-04 5.15169759e+00] [-3.12720126e-03 -2.47125453e-04 9.99995080e-01 6.23204357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871400513 meters 0.08047868879258059 Centerline is valid? [True, True] Translation: X:54.73, Y:5.15, Z:0.06 [[ 9.99120073e-01 -4.18618006e-02 2.58250415e-03 5.47260259e+01] [ 4.18611308e-02 9.99123390e-01 3.12920638e-04 5.15444595e+00] [-2.59333972e-03 -2.04538747e-04 9.99996616e-01 6.20104219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901400513 meters 0.07818656336075602 Centerline is valid? [True, True] Translation: X:54.76, Y:5.16, Z:0.06 [[ 9.99074446e-01 -4.29178743e-02 2.88211288e-03 5.47560724e+01] [ 4.29170426e-02 9.99078578e-01 3.49809861e-04 5.15545797e+00] [-2.89447033e-03 -2.25794332e-04 9.99995786e-01 6.27840386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931400513 meters 0.07613522982541976 Centerline is valid? [True, True] Translation: X:54.79, Y:5.16, Z:0.07 [[ 9.98806061e-01 -4.85695611e-02 5.23925740e-03 5.47853533e+01] [ 4.85668896e-02 9.98819730e-01 6.35999988e-04 5.15735278e+00] [-5.26396390e-03 -3.80786207e-04 9.99986073e-01 6.67314550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961400513 meters 0.07277863303471606 Centerline is valid? [True, True] Translation: X:54.82, Y:5.16, Z:0.07 [[ 9.98624986e-01 -5.20359065e-02 6.35620518e-03 5.48153343e+01] [ 5.20320436e-02 9.98645118e-01 7.71709969e-04 5.15822032e+00] [-6.38774990e-03 -4.39922511e-04 9.99979501e-01 6.81402759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.991400512999995 meters 0.06441015403175304 Centerline is valid? [True, True] Translation: X:54.85, Y:5.15, Z:0.07 [[ 9.98427418e-01 -5.57114774e-02 6.23879622e-03 5.48460845e+01] [ 5.57078265e-02 9.98446826e-01 7.57586587e-04 5.15318931e+00] [-6.27131255e-03 -4.08845443e-04 9.99980252e-01 6.73962690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021400512999996 meters 0.06869290071049354 Centerline is valid? [True, True] Translation: X:54.87, Y:5.16, Z:0.06 [[ 9.98259363e-01 -5.88085705e-02 4.44934720e-03 5.48742469e+01] [ 5.88067439e-02 9.98269240e-01 5.40357842e-04 5.16266146e+00] [-4.47342411e-03 -2.77765654e-04 9.99989956e-01 6.45605181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051400513 meters 0.06364450519382049 Centerline is valid? [True, True] Translation: X:54.91, Y:5.16, Z:0.06 [[ 9.98124304e-01 -6.11808022e-02 2.18692476e-03 5.49053966e+01] [ 6.11803665e-02 9.98126691e-01 2.65604636e-04 5.15923914e+00] [-2.19907788e-03 -1.31309584e-04 9.99997573e-01 6.08710148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081400513 meters 0.06364450519382049 Centerline is valid? [True, True] Translation: X:54.93, Y:5.16, Z:0.06 [[ 9.98113299e-01 -6.13600828e-02 2.18694506e-03 5.49327262e+01] [ 6.13596480e-02 9.98115686e-01 2.65437736e-04 5.16271388e+00] [-2.19911145e-03 -1.30746755e-04 9.99997573e-01 6.07790321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111400513 meters 0.05589289120584682 Centerline is valid? [True, True] Translation: X:54.96, Y:5.15, Z:0.06 [[ 9.97980102e-01 -6.35184079e-02 1.06170755e-03 5.49642211e+01] [ 6.35183064e-02 9.97980665e-01 1.29129998e-04 5.15342607e+00] [-1.06776573e-03 -6.14313030e-05 9.99999428e-01 5.96793149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141400513 meters 0.05429917931359689 Centerline is valid? [True, True] Translation: X:54.99, Y:5.15, Z:0.06 [[ 9.98005800e-01 -6.31031583e-02 1.55412608e-03 5.49931122e+01] [ 6.31029406e-02 9.98007006e-01 1.88779635e-04 5.15448676e+00] [-1.56294130e-03 -9.03332453e-05 9.99998775e-01 6.04505792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.171400512999995 meters 0.06264879425872606 Centerline is valid? [True, True] Translation: X:55.02, Y:5.17, Z:0.06 [[ 9.98128685e-01 -6.11289513e-02 1.54241582e-03 5.50210489e+01] [ 6.11287337e-02 9.98129873e-01 1.87889678e-04 5.16845112e+00] [-1.55101680e-03 -9.32521510e-05 9.99998793e-01 6.00990197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201400512999996 meters 0.06323835397458749 Centerline is valid? [True, True] Translation: X:55.05, Y:5.17, Z:0.06 [[ 9.98318717e-01 -5.79584057e-02 7.49451432e-04 5.50511467e+01] [ 5.79583534e-02 9.98318998e-01 9.13162941e-05 5.17250393e+00] [-7.53484149e-04 -4.77257946e-05 9.99999715e-01 5.89123959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231400513 meters 0.06961767810990178 Centerline is valid? [True, True] Translation: X:55.08, Y:5.18, Z:0.06 [[ 9.98533367e-01 -5.41397074e-02 -7.89323753e-05 5.50790097e+01] [ 5.41397068e-02 9.98533371e-01 -9.58572751e-06 5.18245597e+00] [ 7.93355793e-05 5.29829312e-06 9.99999997e-01 5.70780571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261400513 meters 0.07229343191636833 Centerline is valid? [True, True] Translation: X:55.11, Y:5.19, Z:0.06 [[ 9.98920312e-01 -4.64355083e-02 1.39800634e-03 5.51095178e+01] [ 4.64353152e-02 9.98921284e-01 1.70320583e-04 5.18621771e+00] [-1.40440721e-03 -1.05219825e-04 9.99999008e-01 5.85698116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291400513 meters 0.0830581629914196 Centerline is valid? [True, True] Translation: X:55.14, Y:5.20, Z:0.06 [[ 9.99056207e-01 -4.33703937e-02 2.38841623e-03 5.51376033e+01] [ 4.33698212e-02 9.99059044e-01 2.90994927e-04 5.20260058e+00] [-2.39878940e-03 -1.87135103e-04 9.99997105e-01 5.96199180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321400513 meters 0.07943541499047273 Centerline is valid? [True, True] Translation: X:55.17, Y:5.20, Z:0.06 [[ 9.99166797e-01 -4.07595781e-02 2.09003501e-03 5.51680726e+01] [ 4.07591340e-02 9.99168969e-01 2.54673170e-04 5.20247804e+00] [-2.09867850e-03 -1.69272958e-04 9.99997783e-01 5.94069059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.351400512999994 meters 0.0801081907020972 Centerline is valid? [True, True] Translation: X:55.20, Y:5.21, Z:0.06 [[ 9.99346296e-01 -3.61482858e-02 5.30245357e-04 5.51985552e+01] [ 3.61482566e-02 9.99346436e-01 6.46108822e-05 5.20668768e+00] [-5.32234381e-04 -4.54012006e-05 9.99999857e-01 5.68263430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381400512999996 meters 0.08868129184953376 Centerline is valid? [True, True] Translation: X:55.23, Y:5.22, Z:0.06 [[ 9.99422206e-01 -3.39702751e-02 1.12887144e-03 5.52263646e+01] [ 3.39701413e-02 9.99422839e-01 1.37526320e-04 5.21965621e+00] [-1.13289171e-03 -9.90989359e-05 9.99999353e-01 5.74799962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.411400513 meters 0.0823715275885868 Centerline is valid? [True, True] Translation: X:55.26, Y:5.22, Z:0.06 [[ 9.99479684e-01 -3.21846524e-02 2.12342869e-03 5.52571130e+01] [ 3.21841747e-02 9.99481922e-01 2.58755594e-04 5.21640034e+00] [-2.13065654e-03 -1.90280160e-04 9.99997712e-01 5.93030148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441400513 meters 0.0920371288269529 Centerline is valid? [True, True] Translation: X:55.28, Y:5.23, Z:0.06 [[ 9.99528559e-01 -3.05018427e-02 3.50675867e-03 5.52846626e+01] [ 3.05005294e-02 9.99534659e-01 4.27389159e-04 5.23485395e+00] [-3.51816299e-03 -3.20229674e-04 9.99993760e-01 6.08888640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471400513 meters 0.09863222932504444 Centerline is valid? [True, True] Translation: X:55.31, Y:5.25, Z:0.06 [[ 9.99593366e-01 -2.81875700e-02 4.30854099e-03 5.53118886e+01] [ 2.81855660e-02 9.99602570e-01 5.25139601e-04 5.25217763e+00] [-4.32163106e-03 -4.03487395e-04 9.99990580e-01 6.17460943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501400513 meters 0.08718128851189652 Centerline is valid? [True, True] Translation: X:55.34, Y:5.24, Z:0.06 [[ 9.99589201e-01 -2.83322087e-02 4.32613663e-03 5.53441640e+01] [ 2.83301899e-02 9.99598481e-01 5.27233360e-04 5.24202484e+00] [-4.33933729e-03 -4.04456501e-04 9.99990503e-01 6.17074811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531400513 meters 0.09049169080519523 Centerline is valid? [True, True] Translation: X:55.37, Y:5.25, Z:0.06 [[ 9.99553483e-01 -2.95821358e-02 4.21098340e-03 5.53732658e+01] [ 2.95802340e-02 9.99562277e-01 5.13199448e-04 5.24870092e+00] [-4.22432169e-03 -3.88408421e-04 9.99991002e-01 6.17579530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561400512999995 meters 0.08607324250671737 Centerline is valid? [True, True] Translation: X:55.40, Y:5.25, Z:0.06 [[ 9.99480765e-01 -3.19023063e-02 4.52150375e-03 5.54043832e+01] [ 3.19001373e-02 9.99490909e-01 5.51043679e-04 5.24712488e+00] [-4.53678146e-03 -4.06520968e-04 9.99989626e-01 6.25670415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.591400512999996 meters 0.08256900836551079 Centerline is valid? [True, True] Translation: X:55.44, Y:5.25, Z:0.06 [[ 9.99378181e-01 -3.48495207e-02 5.36308302e-03 5.54356442e+01] [ 3.48465113e-02 9.99392462e-01 6.53590372e-04 5.24730491e+00] [-5.38260205e-03 -4.66299224e-04 9.99985405e-01 6.33173961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621400513 meters 0.0836753852374678 Centerline is valid? [True, True] Translation: X:55.47, Y:5.25, Z:0.06 [[ 9.99265523e-01 -3.78246826e-02 6.14067953e-03 5.54650215e+01] [ 3.78207932e-02 9.99284258e-01 7.48320509e-04 5.25277870e+00] [-6.16458938e-03 -5.15525514e-04 9.99980866e-01 6.39386745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651400513 meters 0.08571329279123954 Centerline is valid? [True, True] Translation: X:55.49, Y:5.26, Z:0.06 [[ 9.99114338e-01 -4.16485261e-02 5.99499657e-03 5.54940449e+01] [ 4.16448873e-02 9.99132208e-01 7.30578237e-04 5.26031227e+00] [-6.02022167e-03 -4.80270235e-04 9.99981763e-01 6.35654461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681400513 meters 0.08139962730166735 Centerline is valid? [True, True] Translation: X:55.53, Y:5.26, Z:0.06 [[ 9.99073330e-01 -4.25989590e-02 6.14893203e-03 5.55253280e+01] [ 4.25951490e-02 9.99092134e-01 7.49315582e-04 5.26012873e+00] [-6.17526968e-03 -4.86706538e-04 9.99980814e-01 6.35736422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711400513 meters 0.08035895963785654 Centerline is valid? [True, True] Translation: X:55.56, Y:5.26, Z:0.06 [[ 9.99066062e-01 -4.27041062e-02 6.58500763e-03 5.55559084e+01] [ 4.26997391e-02 9.99087628e-01 8.02416299e-04 5.26429709e+00] [-6.61326613e-03 -5.20488784e-04 9.99977997e-01 6.41997855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741400512999995 meters 0.07608420765574382 Centerline is valid? [True, True] Translation: X:55.59, Y:5.26, Z:0.06 [[ 9.99098902e-01 -4.18410866e-02 7.12097636e-03 5.55868668e+01] [ 4.18359579e-02 9.99124116e-01 8.67726784e-04 5.26448715e+00] [-7.15104585e-03 -5.69032010e-04 9.99974269e-01 6.45188801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.771400512999996 meters 0.08862902007393321 Centerline is valid? [True, True] Translation: X:55.61, Y:5.29, Z:0.06 [[ 9.99260223e-01 -3.79041187e-02 6.50266458e-03 5.56139255e+01] [ 3.78997595e-02 9.99281232e-01 7.92327085e-04 5.28541880e+00] [-6.52802313e-03 -5.45291515e-04 9.99978544e-01 6.33868851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801400513 meters 0.08280916845128837 Centerline is valid? [True, True] Translation: X:55.65, Y:5.28, Z:0.06 [[ 9.99338932e-01 -3.58776435e-02 5.87309279e-03 5.56451567e+01] [ 3.58740532e-02 9.99356063e-01 7.15552072e-04 5.28364984e+00] [-5.89498321e-03 -5.04387401e-04 9.99982497e-01 6.14094338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831400513 meters 0.09052667144178424 Centerline is valid? [True, True] Translation: X:55.67, Y:5.30, Z:0.06 [[ 9.99403350e-01 -3.40507722e-02 5.78695794e-03 5.56726127e+01] [ 3.40472564e-02 9.99419975e-01 7.05001335e-04 5.29944001e+00] [-5.80760721e-03 -5.07550656e-04 9.99983007e-01 6.09531041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861400513 meters 0.09164688460405283 Centerline is valid? [True, True] Translation: X:55.70, Y:5.31, Z:0.06 [[ 9.99447622e-01 -3.26440419e-02 6.23028843e-03 5.57031702e+01] [ 3.26399404e-02 9.99466887e-01 7.58885810e-04 5.30789778e+00] [-6.25174008e-03 -5.55110375e-04 9.99980304e-01 6.11193758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891400513 meters 0.08697281088758535 Centerline is valid? [True, True] Translation: X:55.73, Y:5.31, Z:0.06 [[ 9.99494398e-01 -3.11743731e-02 6.25350419e-03 5.57341413e+01] [ 3.11702132e-02 9.99513801e-01 7.61605060e-04 5.30890920e+00] [-6.27420630e-03 -5.66296932e-04 9.99980157e-01 6.00025531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921400512999995 meters 0.08874966487953795 Centerline is valid? [True, True] Translation: X:55.76, Y:5.32, Z:0.06 [[ 9.99497593e-01 -3.11656596e-02 5.76750006e-03 5.57639616e+01] [ 3.11621217e-02 9.99514096e-01 7.02294532e-04 5.31795229e+00] [-5.78658508e-03 -5.22214155e-04 9.99983121e-01 5.96363959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951400512999996 meters 0.09135142632990899 Centerline is valid? [True, True] Translation: X:55.79, Y:5.33, Z:0.06 [[ 9.99501394e-01 -3.11266103e-02 5.30073259e-03 5.57938735e+01] [ 3.11236222e-02 9.99515334e-01 6.45283826e-04 5.32671896e+00] [-5.31824901e-03 -4.79984085e-04 9.99985743e-01 5.84902570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981400513 meters 0.088816326156826 Centerline is valid? [True, True] Translation: X:55.83, Y:5.33, Z:0.06 [[ 9.99504660e-01 -3.11228371e-02 4.66933597e-03 5.58252755e+01] [ 3.11205191e-02 9.99515478e-01 5.68290266e-04 5.32848362e+00] [-4.68476038e-03 -4.22696610e-04 9.99988937e-01 5.63848273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011400513 meters 0.09487902797792526 Centerline is valid? [True, True] Translation: X:55.85, Y:5.34, Z:0.06 [[ 9.99500867e-01 -3.13107078e-02 4.20201438e-03 5.58544627e+01] [ 3.13088325e-02 9.99509628e-01 5.11335299e-04 5.34277098e+00] [-4.21596410e-03 -3.79519910e-04 9.99991041e-01 5.58321932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041400513 meters 0.093644721493868 Centerline is valid? [True, True] Translation: X:55.89, Y:5.35, Z:0.06 [[ 9.99496208e-01 -3.14208002e-02 4.47914207e-03 5.58856438e+01] [ 3.14186708e-02 9.99506163e-01 5.44992070e-04 5.34719685e+00] [-4.49405419e-03 -4.03988818e-04 9.99989820e-01 5.68269474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071400513 meters 0.08400598083489758 Centerline is valid? [True, True] Translation: X:55.92, Y:5.34, Z:0.06 [[ 9.99475876e-01 -3.19528625e-02 5.19498364e-03 5.59181071e+01] [ 3.19500059e-02 9.99489268e-01 6.31961103e-04 5.34020681e+00] [-5.21252336e-03 -4.65650119e-04 9.99986306e-01 5.81364287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.101400512999994 meters 0.08342755781347805 Centerline is valid? [True, True] Translation: X:55.95, Y:5.34, Z:0.06 [[ 9.99441221e-01 -3.28860798e-02 5.97927729e-03 5.59486705e+01] [ 3.28823127e-02 9.99458966e-01 7.27278347e-04 5.34427363e+00] [-5.99995963e-03 -5.30259494e-04 9.99981859e-01 5.89704509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.131400512999996 meters 0.09773306693182494 Centerline is valid? [True, True] Translation: X:55.98, Y:5.37, Z:0.06 [[ 9.99327608e-01 -3.59922265e-02 6.99224420e-03 5.59761383e+01] [ 3.59871502e-02 9.99351891e-01 8.50490658e-04 5.36555555e+00] [-7.01832351e-03 -5.98287852e-04 9.99975192e-01 6.00911852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161400513 meters 0.0826731323331803 Centerline is valid? [True, True] Translation: X:56.01, Y:5.35, Z:0.06 [[ 9.99263390e-01 -3.77639828e-02 6.82347439e-03 5.60089125e+01] [ 3.77591899e-02 9.99286523e-01 8.29926414e-04 5.34967070e+00] [-6.84994732e-03 -5.71666216e-04 9.99976375e-01 5.87817040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191400513 meters 0.0862814702264786 Centerline is valid? [True, True] Translation: X:56.04, Y:5.36, Z:0.06 [[ 9.99193119e-01 -3.95856965e-02 6.78848609e-03 5.60382317e+01] [ 3.95809946e-02 9.99216024e-01 8.25634615e-04 5.35721407e+00] [-6.81584740e-03 -5.56273395e-04 9.99976617e-01 5.91131445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221400513 meters 0.08383659665597244 Centerline is valid? [True, True] Translation: X:56.07, Y:5.36, Z:0.06 [[ 9.99149650e-01 -4.06822833e-02 6.70287654e-03 5.60701637e+01] [ 4.06777245e-02 9.99171986e-01 8.15115038e-04 5.35787798e+00] [-6.73048721e-03 -5.41764140e-04 9.99977203e-01 5.87288303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251400513 meters 0.08192255089646433 Centerline is valid? [True, True] Translation: X:56.10, Y:5.36, Z:0.06 [[ 9.99136004e-01 -4.09090130e-02 7.32788608e-03 5.61010274e+01] [ 4.09035719e-02 9.99162702e-01 8.90912857e-04 5.36069046e+00] [-7.35819682e-03 -5.90406397e-04 9.99972754e-01 6.00324606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281400513 meters 0.0770307588591267 Centerline is valid? [True, True] Translation: X:56.13, Y:5.36, Z:0.06 [[ 9.99152902e-01 -4.03229542e-02 8.21818286e-03 5.61326148e+01] [ 4.03160927e-02 9.99186476e-01 9.98954037e-04 5.35972262e+00] [-8.25177795e-03 -6.66782803e-04 9.99965731e-01 6.11065519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.311400512999995 meters 0.0818177328540379 Centerline is valid? [True, True] Translation: X:56.16, Y:5.37, Z:0.06 [[ 9.99166477e-01 -3.96698747e-02 9.62562129e-03 5.61623774e+01] [ 3.96604338e-02 9.99212531e-01 1.16979572e-03 5.37041471e+00] [-9.66444706e-03 -7.87064353e-04 9.99952988e-01 6.31717011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341400512999996 meters 0.08946258105616234 Centerline is valid? [True, True] Translation: X:56.19, Y:5.38, Z:0.07 [[ 9.99170457e-01 -3.91873607e-02 1.10791833e-02 5.61925921e+01] [ 3.91748274e-02 9.99231465e-01 1.34609191e-03 5.38198282e+00] [-1.11234183e-02 -9.10950173e-04 9.99937718e-01 6.50312834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371400513 meters 0.08469424082604086 Centerline is valid? [True, True] Translation: X:56.22, Y:5.38, Z:0.07 [[ 9.99094297e-01 -4.08981390e-02 1.17442813e-02 5.62235724e+01] [ 4.08841760e-02 9.99162874e-01 1.42665367e-03 5.38323110e+00] [-1.17927974e-02 -9.45206281e-04 9.99930016e-01 6.56997336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401400513 meters 0.08370930530760087 Centerline is valid? [True, True] Translation: X:56.25, Y:5.38, Z:0.06 [[ 9.99015650e-01 -4.28541232e-02 1.14566540e-02 5.62529859e+01] [ 4.28409636e-02 9.99080935e-01 1.39171686e-03 5.38490962e+00] [-1.15057654e-02 -8.99532823e-04 9.99933402e-01 6.49444259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431400513 meters 0.07446328004315558 Centerline is valid? [True, True] Translation: X:56.28, Y:5.38, Z:0.06 [[ 9.98930325e-01 -4.48733449e-02 1.11619317e-02 5.62848991e+01] [ 4.48609793e-02 9.98992319e-01 1.35587656e-03 5.37641389e+00] [-1.12115268e-02 -8.53691023e-04 9.99936784e-01 6.28750832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461400513 meters 0.08057851065176334 Centerline is valid? [True, True] Translation: X:56.31, Y:5.39, Z:0.06 [[ 9.98833477e-01 -4.70569965e-02 1.08316417e-02 5.63139773e+01] [ 4.70454792e-02 9.98891882e-01 1.31579208e-03 5.38650418e+00] [-1.08815561e-02 -8.04677404e-04 9.99940470e-01 6.31886567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.491400512999995 meters 0.0697160327984994 Centerline is valid? [True, True] Translation: X:56.35, Y:5.38, Z:0.06 [[ 9.98706391e-01 -4.96338734e-02 1.10464426e-02 5.63464418e+01] [ 4.96220513e-02 9.98767166e-01 1.34190399e-03 5.37598624e+00] [-1.10994280e-02 -7.92020950e-04 9.99938086e-01 6.20319988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521400512999996 meters 0.06425321754571209 Centerline is valid? [True, True] Translation: X:56.38, Y:5.37, Z:0.06 [[ 9.98539480e-01 -5.27285113e-02 1.17732969e-02 5.63777942e+01] [ 5.27152962e-02 9.98608558e-01 1.43019653e-03 5.37182014e+00] [-1.18323271e-02 -8.07474873e-04 9.99929670e-01 6.20761226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551400513 meters 0.060767988852332325 Centerline is valid? [True, True] Translation: X:56.41, Y:5.37, Z:0.06 [[ 9.98139373e-01 -5.96792161e-02 1.24972993e-02 5.64083608e+01] [ 5.96648685e-02 9.98217310e-01 1.51809339e-03 5.36767871e+00] [-1.25656192e-02 -7.69619066e-04 9.99920753e-01 6.32886719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581400513 meters 0.059982239797729514 Centerline is valid? [True, True] Translation: X:56.44, Y:5.37, Z:0.06 [[ 9.97920633e-01 -6.32374560e-02 1.24673393e-02 5.64377106e+01] [ 6.32234541e-02 9.97998247e-01 1.51443525e-03 5.36768172e+00] [-1.25381518e-02 -7.23057932e-04 9.99921133e-01 6.34032981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611400513 meters 0.051621275324099006 Centerline is valid? [True, True] Translation: X:56.47, Y:5.35, Z:0.06 [[ 9.97406472e-01 -7.09178993e-02 1.22874281e-02 5.64695774e+01] [ 7.09048793e-02 9.97481965e-01 1.49258376e-03 5.35479292e+00] [-1.23623388e-02 -6.17474101e-04 9.99923393e-01 6.21785150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641400513 meters 0.05312815824205664 Centerline is valid? [True, True] Translation: X:56.50, Y:5.36, Z:0.06 [[ 9.97149929e-01 -7.43345828e-02 1.28991704e-02 5.64985273e+01] [ 7.43205172e-02 9.97233175e-01 1.56703834e-03 5.35732172e+00] [-1.29799658e-02 -6.03899156e-04 9.99915574e-01 6.41691220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.671400512999995 meters 0.04893492379862908 Centerline is valid? [True, True] Translation: X:56.53, Y:5.35, Z:0.07 [[ 9.96912639e-01 -7.72279354e-02 1.41786978e-02 5.65291481e+01] [ 7.72112302e-02 9.97013269e-01 1.72265764e-03 5.35371786e+00] [-1.42693872e-02 -6.22584473e-04 9.99897993e-01 6.51326620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701400512999996 meters 0.04038615240142621 Centerline is valid? [True, True] Translation: X:56.56, Y:5.34, Z:0.06 [[ 9.96696247e-01 -7.97924404e-02 1.51577693e-02 5.65599774e+01] [ 7.97736393e-02 9.96811303e-01 1.84193683e-03 5.34455495e+00] [-1.52564084e-02 -6.26661105e-04 9.99883418e-01 6.43742962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731400513 meters 0.04109261197697243 Centerline is valid? [True, True] Translation: X:56.59, Y:5.35, Z:0.07 [[ 9.96507764e-01 -8.19763058e-02 1.58795760e-02 5.65884440e+01] [ 8.19559395e-02 9.96634084e-01 1.93018525e-03 5.34621553e+00] [-1.59843561e-02 -6.22019024e-04 9.99872049e-01 6.62028243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761400513 meters 0.038982708798167696 Centerline is valid? [True, True] Translation: X:56.62, Y:5.34, Z:0.06 [[ 9.96341248e-01 -8.40633020e-02 1.54103749e-02 5.66191127e+01] [ 8.40443644e-02 9.96460252e-01 1.87356207e-03 5.34026406e+00] [-1.55133238e-02 -5.71552011e-04 9.99879498e-01 6.36363129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791400513 meters 0.04011875878762308 Centerline is valid? [True, True] Translation: X:56.65, Y:5.35, Z:0.06 [[ 9.96345807e-01 -8.42254297e-02 1.41813185e-02 5.66465765e+01] [ 8.42093986e-02 9.96446588e-01 1.72486407e-03 5.34643179e+00] [-1.42762038e-02 -5.24360780e-04 9.99897952e-01 6.35390934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821400513 meters 0.04357783878002014 Centerline is valid? [True, True] Translation: X:56.67, Y:5.35, Z:0.06 [[ 9.96435282e-01 -8.33258416e-02 1.31731862e-02 5.66743170e+01] [ 8.33119162e-02 9.96522230e-01 1.60331299e-03 5.35219740e+00] [-1.32609703e-02 -5.00114245e-04 9.99911944e-01 6.21797037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.851400512999994 meters 0.04529022400951066 Centerline is valid? [True, True] Translation: X:56.70, Y:5.36, Z:0.06 [[ 9.96563788e-01 -8.18029303e-02 1.29960472e-02 5.67040671e+01] [ 8.17892409e-02 9.96648392e-01 1.58226548e-03 5.35586959e+00] [-1.30819235e-02 -5.13891646e-04 9.99914296e-01 6.16398077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881400512999996 meters 0.0420192965562149 Centerline is valid? [True, True] Translation: X:56.73, Y:5.35, Z:0.06 [[ 9.96683268e-01 -8.02574069e-02 1.34614612e-02 5.67342062e+01] [ 8.02425743e-02 9.96774018e-01 1.63924822e-03 5.35458305e+00] [-1.35495966e-02 -5.53628968e-04 9.99908047e-01 6.09217691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.911400513 meters 0.04432424024729889 Centerline is valid? [True, True] Translation: X:56.76, Y:5.36, Z:0.06 [[ 9.96788542e-01 -7.88653245e-02 1.38875409e-02 5.67617467e+01] [ 7.88493945e-02 9.96885104e-01 1.69174861e-03 5.36149082e+00] [-1.39777030e-02 -5.91291434e-04 9.99902132e-01 6.20342520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941400513 meters 0.04396079013977717 Centerline is valid? [True, True] Translation: X:56.79, Y:5.37, Z:0.06 [[ 9.96874483e-01 -7.78712546e-02 1.33166073e-02 5.67900315e+01] [ 7.78564946e-02 9.96963253e-01 1.62402629e-03 5.36825982e+00] [-1.34026331e-02 -5.82166002e-04 9.99910011e-01 5.95603359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971400513 meters 0.04396079013977717 Centerline is valid? [True, True] Translation: X:56.82, Y:5.37, Z:0.06 [[ 9.96859868e-01 -7.80581835e-02 1.33163120e-02 5.68173435e+01] [ 7.80434079e-02 9.96948635e-01 1.62644596e-03 5.37173757e+00] [-1.34026365e-02 -5.82088341e-04 9.99910011e-01 5.94684700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001400513 meters 0.046682270750739725 Centerline is valid? [True, True] Translation: X:56.84, Y:5.38, Z:0.06 [[ 9.96849847e-01 -7.82883528e-02 1.27010100e-02 5.68445009e+01] [ 7.82749150e-02 9.96930603e-01 1.55244959e-03 5.37830020e+00] [-1.27835643e-02 -5.53388655e-04 9.99918134e-01 5.89908054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031400513 meters 0.04430120092688474 Centerline is valid? [True, True] Translation: X:56.87, Y:5.38, Z:0.06 [[ 9.96752916e-01 -7.95477042e-02 1.24814935e-02 5.68735839e+01] [ 7.95348045e-02 9.96830920e-01 1.52728375e-03 5.37728347e+00] [-1.25634306e-02 -5.29611388e-04 9.99920937e-01 5.77291060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061400512999995 meters 0.04095637313427631 Centerline is valid? [True, True] Translation: X:56.90, Y:5.37, Z:0.06 [[ 9.96240305e-01 -8.55006458e-02 1.39604615e-02 5.69038457e+01] [ 8.54850806e-02 9.96337985e-01 1.70899703e-03 5.37480258e+00] [-1.40554584e-02 -5.09160546e-04 9.99901088e-01 5.99318298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.091400512999996 meters 0.03443818696966391 Centerline is valid? [True, True] Translation: X:56.93, Y:5.37, Z:0.06 [[ 9.95856276e-01 -8.96338853e-02 1.53637009e-02 5.69349146e+01] [ 8.96155216e-02 9.95974658e-01 1.88096990e-03 5.37077419e+00] [-1.54704554e-02 -4.96349607e-04 9.99880202e-01 6.04170046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121400513 meters 0.030089989535208462 Centerline is valid? [True, True] Translation: X:56.96, Y:5.37, Z:0.06 [[ 9.95479330e-01 -9.35851410e-02 1.62088033e-02 5.69649496e+01] [ 9.35652186e-02 9.95611174e-01 1.98478680e-03 5.36846960e+00] [-1.63234122e-02 -4.59234011e-04 9.99866659e-01 6.14678607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151400513 meters 0.02989076962657183 Centerline is valid? [True, True] Translation: X:56.99, Y:5.37, Z:0.06 [[ 9.95189046e-01 -9.66024874e-02 1.63316206e-02 5.69939226e+01] [ 9.65826613e-02 9.95322957e-01 2.00021807e-03 5.36989247e+00] [-1.64484629e-02 -4.13243734e-04 9.99864629e-01 6.28026740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181400513 meters 0.022217859745253022 Centerline is valid? [True, True] Translation: X:57.03, Y:5.36, Z:0.06 [[ 9.94696056e-01 -1.01984159e-01 1.33785979e-02 5.70257947e+01] [ 1.01971340e-01 9.94785987e-01 1.63866512e-03 5.36090317e+00] [-1.34759596e-02 -2.65740176e-04 9.99909160e-01 5.66255838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211400513 meters 0.02018508792030805 Centerline is valid? [True, True] Translation: X:57.05, Y:5.36, Z:0.05 [[ 9.94442247e-01 -1.04680531e-01 1.12518141e-02 5.70538032e+01] [ 1.04671628e-01 9.94505882e-01 1.37885753e-03 5.36239703e+00] [-1.13343348e-02 -1.93448483e-04 9.99935746e-01 5.34855540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241400512999995 meters 0.019064708717473264 Centerline is valid? [True, True] Translation: X:57.08, Y:5.37, Z:0.05 [[ 9.94187509e-01 -1.07160906e-01 1.03796025e-02 5.70815748e+01] [ 1.07153456e-01 9.94241679e-01 1.27284624e-03 5.36526024e+00] [-1.04562328e-02 -1.53237555e-04 9.99945320e-01 5.23807039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.271400512999996 meters 0.0170280258011225 Centerline is valid? [True, True] Translation: X:57.11, Y:5.37, Z:0.05 [[ 9.93968377e-01 -1.09161525e-01 1.05179117e-02 5.71101392e+01] [ 1.09153971e-01 9.94024015e-01 1.29126590e-03 5.36578789e+00] [-1.05960134e-02 -1.35405640e-04 9.99943852e-01 5.22524585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301400513 meters 0.01428861011949677 Centerline is valid? [True, True] Translation: X:57.14, Y:5.36, Z:0.05 [[ 9.93734159e-01 -1.11240324e-01 1.08633455e-02 5.71398081e+01] [ 1.11232371e-01 9.93793528e-01 1.33551145e-03 5.36429580e+00] [-1.09444851e-02 -1.18787675e-04 9.99940100e-01 5.20815504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331400513 meters 0.01113827546418906 Centerline is valid? [True, True] Translation: X:57.17, Y:5.36, Z:0.05 [[ 9.93198695e-01 -1.15925476e-01 1.08460025e-02 5.71694029e+01] [ 1.15917807e-01 9.93257912e-01 1.33522974e-03 5.36098495e+00] [-1.09276650e-02 -6.89036080e-05 9.99940289e-01 5.30884741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361400513 meters 0.009942331126219457 Centerline is valid? [True, True] Translation: X:57.20, Y:5.36, Z:0.05 [[ 9.92901317e-01 -1.18444482e-01 1.08571852e-02 5.71975157e+01] [ 1.18436936e-01 9.92960675e-01 1.33763338e-03 5.36193696e+00] [-1.09391932e-02 -4.22462035e-05 9.99940164e-01 5.32958221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391400513 meters 0.009294463932854019 Centerline is valid? [True, True] Translation: X:57.23, Y:5.36, Z:0.05 [[ 9.92626728e-01 -1.20705734e-01 1.10591206e-02 5.72257683e+01] [ 1.20698026e-01 9.92688332e-01 1.36423419e-03 5.36311395e+00] [-1.11429309e-02 -1.93612932e-05 9.99937915e-01 5.29943996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421400512999995 meters 0.00924709847954643 Centerline is valid? [True, True] Translation: X:57.25, Y:5.36, Z:0.05 [[ 9.92366321e-01 -1.22786434e-01 1.15141829e-02 5.72527813e+01] [ 1.22778203e-01 9.92433117e-01 1.42174383e-03 5.36399354e+00] [-1.16016272e-02 2.79998610e-06 9.99932699e-01 5.29434509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.451400512999996 meters 0.01038561525501824 Centerline is valid? [True, True] Translation: X:57.28, Y:5.36, Z:0.05 [[ 9.91845637e-01 -1.26710703e-01 1.36612266e-02 5.72812645e+01] [ 1.26699474e-01 9.91939713e-01 1.68783635e-03 5.36485054e+00] [-1.37649801e-02 5.67971097e-05 9.99905257e-01 5.39890814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481400513 meters 0.012264579077206269 Centerline is valid? [True, True] Translation: X:57.31, Y:5.37, Z:0.06 [[ 9.91549764e-01 -1.28896915e-01 1.46509624e-02 5.73086629e+01] [ 1.28884224e-01 9.91657994e-01 1.81104408e-03 5.36717159e+00] [-1.47621819e-02 9.25375915e-05 9.99891029e-01 5.66032887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511400513 meters 0.019671522131043475 Centerline is valid? [True, True] Translation: X:57.34, Y:5.37, Z:0.06 [[ 9.91292463e-01 -1.30822818e-01 1.49880933e-02 5.73369286e+01] [ 1.30809723e-01 9.91405757e-01 1.85497556e-03 5.37171160e+00] [-1.51019551e-02 1.21765046e-04 9.99885952e-01 5.52978633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541400513 meters 0.014123968277603227 Centerline is valid? [True, True] Translation: X:57.36, Y:5.37, Z:0.06 [[ 9.91087412e-01 -1.32444949e-01 1.42855934e-02 5.73646757e+01] [ 1.32433204e-01 9.91190353e-01 1.76926891e-03 5.37288437e+00] [-1.43940731e-02 1.38386752e-04 9.99896390e-01 5.56196572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571400513 meters 0.022734107607762667 Centerline is valid? [True, True] Translation: X:57.39, Y:5.37, Z:0.05 [[ 9.90665242e-01 -1.35576108e-01 1.41949902e-02 5.73935888e+01] [ 1.35564802e-01 9.90766918e-01 1.76013842e-03 5.37463722e+00] [-1.43025594e-02 1.80633085e-04 9.99897697e-01 5.40360941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601400512999994 meters 0.018110581765300525 Centerline is valid? [True, True] Translation: X:57.42, Y:5.38, Z:0.06 [[ 9.90357693e-01 -1.37698944e-01 1.51868460e-02 5.74225685e+01] [ 1.37686212e-01 9.90474104e-01 1.88579036e-03 5.37669684e+00] [-1.53018490e-02 2.23412306e-04 9.99882895e-01 5.50912845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.631400512999996 meters 0.020609464231707238 Centerline is valid? [True, True] Translation: X:57.45, Y:5.38, Z:0.06 [[ 9.90092900e-01 -1.39474348e-01 1.62159165e-02 5.74501983e+01] [ 1.39460047e-01 9.90225649e-01 2.01497490e-03 5.37886177e+00] [-1.63384538e-02 2.66460136e-04 9.99866483e-01 5.68922457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661400513 meters 0.02149674770677172 Centerline is valid? [True, True] Translation: X:57.48, Y:5.38, Z:0.06 [[ 9.89880226e-01 -1.40920607e-01 1.66889607e-02 5.74787894e+01] [ 1.40905622e-01 9.90020856e-01 2.07625654e-03 5.38271934e+00] [-1.68150065e-02 2.96323092e-04 9.99858574e-01 5.70873322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691400513 meters 0.022536889702034858 Centerline is valid? [True, True] Translation: X:57.51, Y:5.39, Z:0.06 [[ 9.89738723e-01 -1.41963301e-01 1.62382881e-02 5.75075015e+01] [ 1.41949210e-01 9.89871875e-01 2.02295231e-03 5.38518584e+00] [-1.63610097e-02 3.02817938e-04 9.99866104e-01 5.66095868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721400513 meters 0.028281050524185683 Centerline is valid? [True, True] Translation: X:57.54, Y:5.39, Z:0.05 [[ 9.89716571e-01 -1.42326746e-01 1.42900590e-02 5.75353412e+01] [ 1.42315836e-01 9.89819693e-01 1.78265495e-03 5.39155218e+00] [-1.43983013e-02 2.69378557e-04 9.99896303e-01 5.27718175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751400513 meters 0.021048365937969087 Centerline is valid? [True, True] Translation: X:57.56, Y:5.40, Z:0.05 [[ 9.89775734e-01 -1.41994302e-01 1.34764520e-02 5.75639058e+01] [ 1.41984537e-01 9.89867444e-01 1.68347899e-03 5.39836614e+00] [-1.35789455e-02 2.47181150e-04 9.99907771e-01 5.12555346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781400513 meters 0.020259777710019643 Centerline is valid? [True, True] Translation: X:57.59, Y:5.41, Z:0.05 [[ 9.89900606e-01 -1.41116222e-01 1.35278210e-02 5.75917771e+01] [ 1.41106268e-01 9.89993009e-01 1.69225529e-03 5.40648790e+00] [-1.36312528e-02 2.33695787e-04 9.99907063e-01 5.11753151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.811400512999995 meters 0.023287426967723776 Centerline is valid? [True, True] Translation: X:57.62, Y:5.42, Z:0.05 [[ 9.90175813e-01 -1.39068742e-01 1.45514485e-02 5.76188505e+01] [ 1.39056965e-01 9.90282706e-01 1.82290658e-03 5.41936491e+00] [-1.46635571e-02 2.18482268e-04 9.99892460e-01 5.09208372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841400512999996 meters 0.01788476979674664 Centerline is valid? [True, True] Translation: X:57.65, Y:5.42, Z:0.05 [[ 9.90249844e-01 -1.38647808e-01 1.34918989e-02 5.76461289e+01] [ 1.38637629e-01 9.90341733e-01 1.69135089e-03 5.42457811e+00] [-1.35960926e-02 1.95624912e-04 9.99907550e-01 4.95919234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871400513 meters 0.017144382615137607 Centerline is valid? [True, True] Translation: X:57.67, Y:5.43, Z:0.05 [[ 9.90242549e-01 -1.38772664e-01 1.27217322e-02 5.76738938e+01] [ 1.38763600e-01 9.90324247e-01 1.59666178e-03 5.43189726e+00] [-1.28202129e-02 1.84230932e-04 9.99917801e-01 4.70825270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901400513 meters 0.02470964367939383 Centerline is valid? [True, True] Translation: X:57.70, Y:5.44, Z:0.05 [[ 9.90218239e-01 -1.39000758e-01 1.21090240e-02 5.77009005e+01] [ 1.38992547e-01 9.90292259e-01 1.52109335e-03 5.43642088e+00] [-1.22029059e-02 1.76849716e-04 9.99925526e-01 4.70114513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931400513 meters 0.019228977820233716 Centerline is valid? [True, True] Translation: X:57.73, Y:5.44, Z:0.05 [[ 9.89983775e-01 -1.40672002e-01 1.19796653e-02 5.77291798e+01] [ 1.40664067e-01 9.90056236e-01 1.50662635e-03 5.44499258e+00] [-1.20724825e-02 1.93572794e-04 9.99927106e-01 4.51843752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961400513 meters 0.020259315240546173 Centerline is valid? [True, True] Translation: X:57.76, Y:5.45, Z:0.04 [[ 9.89799692e-01 -1.41964349e-01 1.19454431e-02 5.77575390e+01] [ 1.41956529e-01 9.89871750e-01 1.50438366e-03 5.44763448e+00] [-1.20380255e-02 2.06695157e-04 9.99927519e-01 4.47884422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991400512999995 meters 0.022097436116956144 Centerline is valid? [True, True] Translation: X:57.79, Y:5.45, Z:0.04 [[ 9.89534993e-01 -1.43789155e-01 1.20489433e-02 5.77853657e+01] [ 1.43781316e-01 9.89608320e-01 1.51880133e-03 5.44807898e+00] [-1.21421217e-02 2.29505858e-04 9.99926255e-01 4.44558970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021400512999996 meters 0.02478063032339283 Centerline is valid? [True, True] Translation: X:57.81, Y:5.45, Z:0.04 [[ 9.89238206e-01 -1.45819041e-01 1.20241107e-02 5.78136031e+01] [ 1.45811375e-01 9.89311247e-01 1.51650637e-03 5.44753424e+00] [-1.21167234e-02 2.53066065e-04 9.99926558e-01 4.45656590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051400513 meters 0.026087981205589382 Centerline is valid? [True, True] Translation: X:57.84, Y:5.45, Z:0.04 [[ 9.88993911e-01 -1.47447863e-01 1.22544919e-02 5.78421742e+01] [ 1.47440004e-01 9.89069791e-01 1.54728139e-03 5.44905620e+00] [-1.23486911e-02 2.76550467e-04 9.99923714e-01 4.45291792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081400513 meters 0.028381800116377833 Centerline is valid? [True, True] Translation: X:57.87, Y:5.46, Z:0.04 [[ 9.89055253e-01 -1.47183883e-01 1.03252688e-02 5.78684755e+01] [ 1.47136368e-01 9.89102422e-01 5.22381216e-03 5.45519979e+00] [-1.09816094e-02 -3.64741631e-03 9.99933048e-01 4.24393208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111400513 meters 0.023114622017179877 Centerline is valid? [True, True] Translation: X:57.90, Y:5.46, Z:0.04 [[ 9.89318038e-01 -1.45256095e-01 1.22673103e-02 5.78979114e+01] [ 1.45294803e-01 9.89385686e-01 -2.32064112e-03 5.46405072e+00] [-1.18000140e-02 4.07822855e-03 9.99922061e-01 4.35863236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141400513 meters 0.020174013982405762 Centerline is valid? [True, True] Translation: X:57.93, Y:5.47, Z:0.04 [[ 9.89627766e-01 -1.43198105e-01 1.14536919e-02 5.79261741e+01] [ 1.43190901e-01 9.89694024e-01 1.45085811e-03 5.46886998e+00] [-1.15434105e-02 2.04254990e-04 9.99933352e-01 4.29610717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.171400512999995 meters 0.018058500892892276 Centerline is valid? [True, True] Translation: X:57.95, Y:5.48, Z:0.04 [[ 9.89907207e-01 -1.41274330e-01 1.11930853e-02 5.79542030e+01] [ 1.41267304e-01 9.89970471e-01 1.41980363e-03 5.47587435e+00] [-1.12814057e-02 1.75743149e-04 9.99936347e-01 4.25565180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201400512999996 meters 0.01693000421583962 Centerline is valid? [True, True] Translation: X:57.98, Y:5.48, Z:0.04 [[ 9.90088355e-01 -1.40023534e-01 1.08839258e-02 5.79830138e+01] [ 1.40016802e-01 9.90148163e-01 1.38187141e-03 5.48158472e+00] [-1.09701937e-02 1.55757704e-04 9.99939813e-01 4.24614833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231400513 meters 0.01635753715260776 Centerline is valid? [True, True] Translation: X:58.01, Y:5.49, Z:0.04 [[ 9.90236341e-01 -1.39088288e-01 9.29715896e-03 5.80110228e+01] [ 1.39083323e-01 9.90279977e-01 1.18172211e-03 5.48564470e+00] [-9.37115407e-03 1.22895575e-04 9.99956082e-01 4.15025624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261400513 meters 0.02411441116342671 Centerline is valid? [True, True] Translation: X:58.04, Y:5.49, Z:0.04 [[ 9.90315924e-01 -1.38544031e-01 8.93993790e-03 5.80399334e+01] [ 1.38539403e-01 9.90356269e-01 1.13784427e-03 5.49060096e+00] [-9.01136507e-03 1.11708367e-04 9.99959391e-01 4.10788936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291400513 meters 0.014655570295908384 Centerline is valid? [True, True] Translation: X:58.07, Y:5.49, Z:0.04 [[ 9.90478959e-01 -1.37400964e-01 8.50924774e-03 5.80680170e+01] [ 1.37396722e-01 9.90515505e-01 1.08388939e-03 5.49391015e+00] [-8.57746927e-03 9.55731099e-05 9.99963208e-01 4.00496618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321400513 meters 0.013172678329907156 Centerline is valid? [True, True] Translation: X:58.10, Y:5.50, Z:0.04 [[ 9.90674961e-01 -1.35923789e-01 9.37253776e-03 5.80967260e+01] [ 1.35918564e-01 9.90719292e-01 1.19511373e-03 5.49995941e+00] [-9.44799836e-03 8.99326237e-05 9.99955363e-01 4.11866084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.351400512999994 meters 0.011120852473485206 Centerline is valid? [True, True] Translation: X:58.12, Y:5.51, Z:0.04 [[ 9.91054645e-01 -1.33045874e-01 1.04635283e-02 5.81239607e+01] [ 1.33039191e-01 9.91109878e-01 1.33529593e-03 5.50769860e+00] [-1.05481619e-02 6.87081041e-05 9.99944364e-01 4.24726658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381400512999996 meters 0.009167544228520053 Centerline is valid? [True, True] Translation: X:58.15, Y:5.52, Z:0.04 [[ 9.91525762e-01 -1.29445530e-01 1.09781181e-02 5.81521553e+01] [ 1.29437935e-01 9.91586534e-01 1.40248936e-03 5.51696616e+00] [-1.10673001e-02 3.03806168e-05 9.99938755e-01 4.28400904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411400513 meters 0.009016298538466666 Centerline is valid? [True, True] Translation: X:58.18, Y:5.53, Z:0.04 [[ 9.91994729e-01 -1.25740284e-01 1.16549557e-02 5.81788874e+01] [ 1.25731442e-01 9.92063194e-01 1.49118922e-03 5.52517550e+00] [-1.17499551e-02 -1.38574616e-05 9.99930967e-01 4.35015816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441400513 meters 0.020522236389850207 Centerline is valid? [True, True] Translation: X:58.21, Y:5.54, Z:0.04 [[ 9.92847041e-01 -1.18912313e-01 1.07058152e-02 5.82060489e+01] [ 1.18904436e-01 9.92904756e-01 1.37161539e-03 5.53722475e+00] [-1.07929568e-02 -8.88353669e-05 9.99941750e-01 4.31534152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471400513 meters 0.014896469959136857 Centerline is valid? [True, True] Translation: X:58.23, Y:5.55, Z:0.04 [[ 9.93149074e-01 -1.16449004e-01 9.72345784e-03 5.82330142e+01] [ 1.16442378e-01 9.93196666e-01 1.24666185e-03 5.54608126e+00] [-9.80247844e-03 -1.05898504e-04 9.99951949e-01 4.23893959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501400513 meters 0.01673924344706269 Centerline is valid? [True, True] Translation: X:58.26, Y:5.55, Z:0.04 [[ 9.93493839e-01 -1.13510028e-01 9.24476427e-03 5.82605225e+01] [ 1.13503906e-01 9.93536842e-01 1.18583537e-03 5.55381717e+00] [-9.31961811e-03 -1.28803271e-04 9.99956563e-01 4.11992946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531400513 meters 0.019450825804935633 Centerline is valid? [True, True] Translation: X:58.29, Y:5.56, Z:0.04 [[ 9.93733109e-01 -1.11409038e-01 9.08483381e-03 5.82880890e+01] [ 1.11403033e-01 9.93774625e-01 1.16603695e-03 5.56092616e+00] [-9.15818437e-03 -1.46651483e-04 9.99958052e-01 4.11043717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561400512999995 meters 0.019228987169305767 Centerline is valid? [True, True] Translation: X:58.32, Y:5.56, Z:0.04 [[ 9.93901747e-01 -1.09793550e-01 1.02319783e-02 5.83169768e+01] [ 1.09785831e-01 9.93954397e-01 1.31481291e-03 5.56149421e+00] [-1.03144777e-02 -1.83468613e-04 9.99946788e-01 4.06636368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591400512999996 meters 0.020541069215926556 Centerline is valid? [True, True] Translation: X:58.34, Y:5.57, Z:0.04 [[ 9.93856078e-01 -1.10114562e-01 1.11749516e-02 5.83432544e+01] [ 1.10105356e-01 9.93918882e-01 1.43767909e-03 5.56543617e+00] [-1.12653048e-02 -1.98424078e-04 9.99936525e-01 4.18371213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621400513 meters 0.021399745217950482 Centerline is valid? [True, True] Translation: X:58.37, Y:5.57, Z:0.04 [[ 9.93835190e-01 -1.10215041e-01 1.20108056e-02 5.83706266e+01] [ 1.10204401e-01 9.93907742e-01 1.54621336e-03 5.56879066e+00] [-1.21080486e-02 -2.13037618e-04 9.99926672e-01 4.32276744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651400513 meters 0.021118308305455403 Centerline is valid? [True, True] Translation: X:58.40, Y:5.57, Z:0.04 [[ 9.93916023e-01 -1.09458945e-01 1.22343440e-02 5.83993221e+01] [ 1.09447827e-01 9.93991291e-01 1.57669643e-03 5.57122240e+00] [-1.23334150e-02 -2.28081476e-04 9.99923915e-01 4.27675792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681400513 meters 0.022524567303896702 Centerline is valid? [True, True] Translation: X:58.43, Y:5.58, Z:0.04 [[ 9.94068811e-01 -1.08126606e-01 1.16548670e-02 5.84263291e+01] [ 1.08116411e-01 9.94137104e-01 1.50314726e-03 5.57514332e+00] [-1.17490660e-02 -2.34149424e-04 9.99930950e-01 4.24855171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711400513 meters 0.025648810139891592 Centerline is valid? [True, True] Translation: X:58.45, Y:5.58, Z:0.04 [[ 9.94457778e-01 -1.04788248e-01 8.55277682e-03 5.84540779e+01] [ 1.04782631e-01 9.94494536e-01 1.10355262e-03 5.58174865e+00] [-8.62132916e-03 -2.01254031e-04 9.99962815e-01 3.82010097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741400512999995 meters 0.029703506481167236 Centerline is valid? [True, True] Translation: X:58.48, Y:5.59, Z:0.04 [[ 9.94656214e-01 -1.02986143e-01 7.27124477e-03 5.84808439e+01] [ 1.02982032e-01 9.94682774e-01 9.38601569e-04 5.59212562e+00] [-7.32924487e-03 -1.84778323e-04 9.99973124e-01 3.54258030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771400512999996 meters 0.028171403412234123 Centerline is valid? [True, True] Translation: X:58.51, Y:5.60, Z:0.03 [[ 9.94822062e-01 -1.01414373e-01 6.64747696e-03 5.85089788e+01] [ 1.01410899e-01 9.94844255e-01 8.58463709e-04 5.59531390e+00] [-6.70026482e-03 -1.79892023e-04 9.99977537e-01 3.31397175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801400513 meters 0.030480904487495117 Centerline is valid? [True, True] Translation: X:58.54, Y:5.60, Z:0.03 [[ 9.95073745e-01 -9.89803395e-02 5.57974984e-03 5.85380013e+01] [ 9.89778524e-02 9.95089375e-01 7.20797851e-04 5.60175850e+00] [-5.62369460e-03 -1.64975361e-04 9.99984173e-01 3.14477755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831400513 meters 0.03373202717691551 Centerline is valid? [True, True] Translation: X:58.56, Y:5.61, Z:0.03 [[ 9.95139576e-01 -9.83772651e-02 4.37474170e-03 5.85645731e+01] [ 9.83757297e-02 9.95149183e-01 5.65307580e-04 5.60936770e+00] [-4.40913404e-03 -1.32191539e-04 9.99990271e-01 3.02535371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861400513 meters 0.03509021734970583 Centerline is valid? [True, True] Translation: X:58.59, Y:5.61, Z:0.03 [[ 9.95238524e-01 -9.74072852e-02 3.47861244e-03 5.85927771e+01] [ 9.74063074e-02 9.95244598e-01 4.49799822e-04 5.61165040e+00] [-3.50588401e-03 -1.08819319e-04 9.99993848e-01 2.91118703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891400513 meters 0.03165162611272833 Centerline is valid? [True, True] Translation: X:58.62, Y:5.62, Z:0.03 [[ 9.95107456e-01 -9.87982120e-02 2.52605051e-04 5.86215678e+01] [ 9.87981592e-02 9.95107471e-01 2.13742951e-04 5.61553597e+00] [-2.72486595e-04 -1.87740290e-04 9.99999945e-01 2.64843846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921400512999995 meters 0.03165162611272833 Centerline is valid? [True, True] Translation: X:58.65, Y:5.62, Z:0.03 [[ 9.95087220e-01 -9.90017795e-02 2.68460094e-04 5.86488168e+01] [ 9.90017646e-02 9.95087255e-01 6.82009340e-05 5.61938027e+00] [-2.73893232e-04 -4.12878548e-05 9.99999962e-01 2.63871543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951400512999996 meters 0.03147571645704262 Centerline is valid? [True, True] Translation: X:58.68, Y:5.62, Z:0.03 [[ 9.95212942e-01 -9.76698101e-02 3.43632890e-03 5.86775382e+01] [ 9.76694379e-02 9.95218873e-01 2.76355929e-04 5.62229895e+00] [-3.44689101e-03 6.05913156e-05 9.99994058e-01 2.72381547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981400513 meters 0.033502569489424774 Centerline is valid? [True, True] Translation: X:58.70, Y:5.63, Z:0.03 [[ 9.95247517e-01 -9.73035042e-02 3.79568618e-03 5.87047708e+01] [ 9.73023319e-02 9.95254748e-01 4.92745964e-04 5.62766527e+00] [-3.82562060e-03 -1.21075081e-04 9.99992675e-01 2.73969071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011400513 meters 0.03473580381558054 Centerline is valid? [True, True] Translation: X:58.73, Y:5.63, Z:0.03 [[ 9.95354311e-01 -9.62581776e-02 2.03941301e-03 5.87324551e+01] [ 9.62578369e-02 9.95356398e-01 2.64783580e-04 5.63242987e+00] [-2.05543037e-03 -6.72439928e-05 9.99997885e-01 2.53942905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041400513 meters 0.03564175395341731 Centerline is valid? [True, True] Translation: X:58.76, Y:5.64, Z:0.02 [[ 9.95369681e-01 -9.61201368e-02 -3.42302263e-04 5.87592892e+01] [ 9.61201270e-02 9.95369740e-01 -4.48525580e-05 5.63818575e+00] [ 3.45028549e-04 1.17427393e-05 9.99999940e-01 2.22319237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071400513 meters 0.03497658196127432 Centerline is valid? [True, True] Translation: X:58.79, Y:5.64, Z:0.02 [[ 9.95384412e-01 -9.59468231e-02 -2.01959294e-03 5.87880495e+01] [ 9.59464857e-02 9.95386459e-01 -2.63506735e-04 5.64294750e+00] [ 2.03555810e-03 6.85176510e-05 9.99997926e-01 1.98944809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101400512999994 meters 0.03725827593960438 Centerline is valid? [True, True] Translation: X:58.82, Y:5.65, Z:0.02 [[ 9.95665916e-01 -9.29946234e-02 -1.17629417e-03 5.88164376e+01] [ 9.29945071e-02 9.95666610e-01 -1.53262432e-04 5.65388022e+00] [ 1.18544941e-03 4.32092832e-05 9.99999296e-01 2.07178614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.131400512999996 meters 0.04141643557849815 Centerline is valid? [True, True] Translation: X:58.85, Y:5.66, Z:0.02 [[ 9.95847213e-01 -9.10402603e-02 1.31846225e-05 5.88457710e+01] [ 9.10402603e-02 9.95847213e-01 1.63576065e-06 5.65849376e+00] [-1.32787897e-05 -4.28636223e-07 1.00000000e+00 2.17184988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161400513 meters 0.03744158185233012 Centerline is valid? [True, True] Translation: X:58.87, Y:5.66, Z:0.02 [[ 9.95834592e-01 -9.11758669e-02 -6.53865143e-04 5.88730251e+01] [ 9.11758301e-02 9.95834806e-01 -8.59437645e-05 5.66261812e+00] [ 6.58977665e-04 2.59690765e-05 9.99999783e-01 1.96314566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191400513 meters 0.0385118502045999 Centerline is valid? [True, True] Translation: X:58.90, Y:5.67, Z:0.02 [[ 9.95801517e-01 -9.15245359e-02 -1.61203397e-03 5.89004788e+01] [ 9.15243145e-02 9.95802820e-01 -2.10715629e-04 5.66726188e+00] [ 1.62455362e-03 6.22906387e-05 9.99998678e-01 1.75042556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221400513 meters 0.03660304310358512 Centerline is valid? [True, True] Translation: X:58.93, Y:5.66, Z:0.02 [[ 9.95485129e-01 -9.46785048e-02 -6.73344900e-03 5.89332413e+01] [ 9.47106857e-02 9.95494063e-01 4.63206298e-03 5.66457986e+00] [ 6.26455171e-03 -5.24887938e-03 9.99966602e-01 1.52616758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251400513 meters 0.03936630137606179 Centerline is valid? [True, True] Translation: X:58.96, Y:5.68, Z:0.02 [[ 9.95591165e-01 -9.37842710e-02 -1.65580811e-03 5.89578491e+01] [ 9.37734697e-02 9.95577217e-01 -5.70450821e-03 5.67729048e+00] [ 2.18347797e-03 5.52408711e-03 9.99982358e-01 1.71628095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281400513 meters 0.03363470733158162 Centerline is valid? [True, True] Translation: X:58.99, Y:5.67, Z:0.02 [[ 9.95279046e-01 -9.69662809e-02 -4.14259746e-03 5.89913976e+01] [ 9.69796221e-02 9.95281381e-01 3.15063277e-03 5.66941686e+00] [ 3.81754498e-03 -3.53750631e-03 9.99986456e-01 1.97003142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311400512999995 meters 0.032064478978782715 Centerline is valid? [True, True] Translation: X:59.02, Y:5.67, Z:0.02 [[ 9.95385557e-01 -9.59561373e-02 1.14704357e-04 5.90173821e+01] [ 9.59559987e-02 9.95380212e-01 -3.26813981e-03 5.67496344e+00] [ 1.99423625e-04 3.26406574e-03 9.99994653e-01 2.17249331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341400512999996 meters 0.0348893739196474 Centerline is valid? [True, True] Translation: X:59.05, Y:5.68, Z:0.02 [[ 9.95561472e-01 -9.41086671e-02 9.56189492e-04 5.90457676e+01] [ 9.41085904e-02 9.95561931e-01 1.25021206e-04 5.67629049e+00] [-9.63711436e-04 -3.44806502e-05 9.99999535e-01 2.33481489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371400513 meters 0.04324105034850181 Centerline is valid? [True, True] Translation: X:59.07, Y:5.68, Z:0.02 [[ 9.95784808e-01 -9.17126917e-02 1.18271346e-03 5.90731868e+01] [ 9.17125725e-02 9.95785509e-01 1.54739087e-04 5.68479983e+00] [-1.19192046e-03 -4.56171383e-05 9.99999289e-01 2.29716450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401400513 meters 0.044582652700465804 Centerline is valid? [True, True] Translation: X:59.10, Y:5.69, Z:0.02 [[ 9.96020474e-01 -8.91244650e-02 2.13251143e-04 5.91015187e+01] [ 8.91244611e-02 9.96020497e-01 2.78167139e-05 5.69129254e+00] [-2.14881659e-04 -8.70012334e-06 9.99999977e-01 2.06696978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431400513 meters 0.04318339823990036 Centerline is valid? [True, True] Translation: X:59.13, Y:5.70, Z:0.02 [[ 9.96189765e-01 -8.71960453e-02 -1.67412543e-03 5.91302222e+01] [ 8.71957993e-02 9.96191169e-01 -2.19509731e-04 5.69637732e+00] [ 1.68688935e-03 7.26966421e-05 9.99998575e-01 1.77312237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461400513 meters 0.04850767748599678 Centerline is valid? [True, True] Translation: X:59.16, Y:5.70, Z:0.01 [[ 9.96399267e-01 -8.46662198e-02 -4.48678985e-03 5.91589063e+01] [ 8.46644283e-02 9.96409348e-01 -5.88054649e-04 5.70324392e+00] [ 4.52046771e-03 2.06065724e-04 9.99989761e-01 1.29230685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.491400512999995 meters 0.05197159708899723 Centerline is valid? [True, True] Translation: X:59.19, Y:5.71, Z:0.01 [[ 9.96420619e-01 -8.43992232e-02 -4.76670797e-03 5.91861405e+01] [ 8.43971961e-02 9.96431996e-01 -6.25181816e-04 5.70736058e+00] [ 4.80246520e-03 2.20647265e-04 9.99988444e-01 1.24808763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521400512999996 meters 0.04624966483069544 Centerline is valid? [True, True] Translation: X:59.22, Y:5.71, Z:0.01 [[ 9.96294827e-01 -8.58727711e-02 -4.74181701e-03 5.92157542e+01] [ 8.58707768e-02 9.96306088e-01 -6.22969558e-04 5.70573424e+00] [ 4.77779728e-03 2.13477838e-04 9.99988563e-01 1.30299725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551400513 meters 0.044065462766494735 Centerline is valid? [True, True] Translation: X:59.25, Y:5.71, Z:0.01 [[ 9.96203894e-01 -8.69636992e-02 -3.88802769e-03 5.92451432e+01] [ 8.69623660e-02 9.96211466e-01 -5.10984867e-04 5.70665550e+00] [ 3.91773490e-03 1.70933028e-04 9.99992311e-01 1.42434418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581400513 meters 0.048467126924005066 Centerline is valid? [True, True] Translation: X:59.27, Y:5.71, Z:0.02 [[ 9.96122538e-01 -8.79479740e-02 -2.24573462e-03 5.92728405e+01] [ 8.79475299e-02 9.96125065e-01 -2.95920868e-04 5.71271407e+00] [ 2.26305818e-03 9.72666342e-05 9.99997435e-01 1.58129778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611400513 meters 0.04539469434626843 Centerline is valid? [True, True] Translation: X:59.30, Y:5.71, Z:0.02 [[ 9.96148699e-01 -8.76481724e-02 -2.35934969e-03 5.93018667e+01] [ 8.76476805e-02 9.96151488e-01 -3.11271032e-04 5.70998836e+00] [ 2.37755204e-03 1.03280705e-04 9.99997168e-01 1.60214964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641400513 meters 0.04310640141289149 Centerline is valid? [True, True] Translation: X:59.33, Y:5.71, Z:0.01 [[ 9.96166816e-01 -8.73997448e-02 -3.59991205e-03 5.93308326e+01] [ 8.73985970e-02 9.96173308e-01 -4.75247442e-04 5.71340009e+00] [ 3.62767280e-03 1.58798468e-04 9.99993407e-01 1.42341305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671400512999995 meters 0.043775376090630834 Centerline is valid? [True, True] Translation: X:59.36, Y:5.72, Z:0.01 [[ 9.96257883e-01 -8.62940918e-02 -4.85398207e-03 5.93596907e+01] [ 8.62919941e-02 9.96269683e-01 -6.40332867e-04 5.71694404e+00] [ 4.89113212e-03 2.19076874e-04 9.99988014e-01 1.24300016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701400512999996 meters 0.051969447676737876 Centerline is valid? [True, True] Translation: X:59.39, Y:5.73, Z:0.01 [[ 9.96554623e-01 -8.26593357e-02 -6.80563195e-03 5.93895400e+01] [ 8.26551284e-02 9.96577806e-01 -8.97642313e-04 5.72591043e+00] [ 6.85654028e-03 3.32029214e-04 9.99976439e-01 9.92813046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731400513 meters 0.056772093712027856 Centerline is valid? [True, True] Translation: X:59.42, Y:5.74, Z:0.01 [[ 9.96530313e-01 -8.26623340e-02 -9.70946346e-03 5.94201329e+01] [ 8.26648639e-02 9.96577393e-01 -1.41159238e-04 5.73583481e+00] [ 9.68790034e-03 -6.61962017e-04 9.99952852e-01 7.56283987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761400513 meters 0.05359297689687371 Centerline is valid? [True, True] Translation: X:59.45, Y:5.74, Z:0.01 [[ 9.96831895e-01 -7.91610772e-02 -7.72637410e-03 5.94462374e+01] [ 7.91469218e-02 9.96860705e-01 -2.12145127e-03 5.74240896e+00] [ 7.87005509e-03 1.50321156e-03 9.99967901e-01 7.85676443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791400513 meters 0.05357293444478715 Centerline is valid? [True, True] Translation: X:59.47, Y:5.75, Z:0.01 [[ 9.96883836e-01 -7.84689587e-02 -8.07710163e-03 5.94733666e+01] [ 7.84628875e-02 9.96916465e-01 -1.06631054e-03 5.74710258e+00] [ 8.13586789e-03 4.29235021e-04 9.99966811e-01 7.13820077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821400513 meters 0.05924514039775071 Centerline is valid? [True, True] Translation: X:59.50, Y:5.76, Z:0.01 [[ 9.97037141e-01 -7.66205180e-02 -6.79967616e-03 5.95004527e+01] [ 7.66161711e-02 9.97060257e-01 -8.97859540e-04 5.75977951e+00] [ 6.84848132e-03 3.74234157e-04 9.99976479e-01 8.11795913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.851400512999994 meters 0.0546201928183706 Centerline is valid? [True, True] Translation: X:59.53, Y:5.76, Z:0.01 [[ 9.97131538e-01 -7.54242188e-02 -6.31534019e-03 5.95303447e+01] [ 7.54204444e-02 9.97151473e-01 -8.34027960e-04 5.75991187e+00] [ 6.36025668e-03 3.55329819e-04 9.99979710e-01 9.85175965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881400512999996 meters 0.05933910865903374 Centerline is valid? [True, True] Translation: X:59.56, Y:5.77, Z:0.01 [[ 9.97194793e-01 -7.45507468e-02 -6.68817106e-03 5.95571558e+01] [ 7.45464913e-02 9.97217148e-01 -8.83661028e-04 5.77116777e+00] [ 6.73543645e-03 3.82602490e-04 9.99977243e-01 8.48857449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.911400513 meters 0.058965063412414344 Centerline is valid? [True, True] Translation: X:59.59, Y:5.78, Z:0.01 [[ 9.97246368e-01 -7.37627456e-02 -7.66416242e-03 5.95861155e+01] [ 7.37571328e-02 9.97275719e-01 -1.01281560e-03 5.77538120e+00] [ 7.71799114e-03 4.44740036e-04 9.99970117e-01 7.74375083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941400513 meters 0.06371830941242948 Centerline is valid? [True, True] Translation: X:59.62, Y:5.78, Z:0.00 [[ 9.97291402e-01 -7.27123873e-02 -1.10800863e-02 5.96155971e+01] [ 7.27005932e-02 9.97352736e-01 -1.46405573e-03 5.78386372e+00] [ 1.11572093e-02 6.54561351e-04 9.99937542e-01 2.71227002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971400513 meters 0.05906195291446434 Centerline is valid? [True, True] Translation: X:59.64, Y:5.79, Z:0.00 [[ 9.97226230e-01 -7.33696862e-02 -1.25193999e-02 5.96437084e+01] [ 7.33546423e-02 9.97304542e-01 -1.65726273e-03 5.78619984e+00] [ 1.26072472e-02 7.34309767e-04 9.99920256e-01 1.21784399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001400513 meters 0.06267251829513222 Centerline is valid? [True, True] Translation: X:59.67, Y:5.79, Z:0.00 [[ 9.97246268e-01 -7.30000903e-02 -1.30716023e-02 5.96718704e+01] [ 7.29836310e-02 9.97331634e-01 -1.73243080e-03 5.79209480e+00] [ 1.31631901e-02 7.73647150e-04 9.99913062e-01 3.92942858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031400513 meters 0.05668078525233752 Centerline is valid? [True, True] Translation: X:59.70, Y:5.79, Z:0.00 [[ 9.97267579e-01 -7.27693513e-02 -1.27278021e-02 5.97002065e+01] [ 7.27537160e-02 9.97348509e-01 -1.68778469e-03 5.79384909e+00] [ 1.28168734e-02 7.57178050e-04 9.99917574e-01 2.09111006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061400512999995 meters 0.0674896972899995 Centerline is valid? [True, True] Translation: X:59.73, Y:5.81, Z:0.01 [[ 9.97532451e-01 -6.94954197e-02 -9.96979373e-03 5.97267453e+01] [ 6.94856643e-02 9.97582074e-01 -1.32199626e-03 5.81368223e+00] [ 1.00375602e-02 6.25976432e-04 9.99949426e-01 5.37658873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.091400512999996 meters 0.062144106526811335 Centerline is valid? [True, True] Translation: X:59.76, Y:5.81, Z:0.01 [[ 9.97597899e-01 -6.86338229e-02 -9.37178456e-03 5.97560635e+01] [ 6.86251451e-02 9.97641739e-01 -1.24478928e-03 5.81397200e+00] [ 9.43511809e-03 5.98659096e-04 9.99955309e-01 7.63262862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121400513 meters 0.06480495225000958 Centerline is valid? [True, True] Translation: X:59.78, Y:5.82, Z:0.00 [[ 9.97603985e-01 -6.81481565e-02 -1.19213591e-02 5.97832148e+01] [ 6.81340799e-02 9.97674917e-01 -1.58344666e-03 5.82419235e+00] [ 1.20015499e-02 7.67401861e-04 9.99927684e-01 3.12080064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151400513 meters 0.06751898423448624 Centerline is valid? [True, True] Translation: X:59.81, Y:5.83, Z:-0.00 [[ 9.97513075e-01 -6.92155990e-02 -1.32991297e-02 5.98104348e+01] [ 6.91981642e-02 9.97601369e-01 -1.76723999e-03 5.83270521e+00] [ 1.33895506e-02 8.42569630e-04 9.99910001e-01 -6.78797930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181400513 meters 0.06411173908873093 Centerline is valid? [True, True] Translation: X:59.84, Y:5.83, Z:-0.00 [[ 9.97417812e-01 -7.04671524e-02 -1.38595903e-02 5.98395036e+01] [ 7.04483288e-02 9.97513729e-01 -1.84233133e-03 5.83079093e+00] [ 1.39549555e-02 8.61189103e-04 9.99902254e-01 -1.79450795e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211400513 meters 0.06506961582882236 Centerline is valid? [True, True] Translation: X:59.87, Y:5.84, Z:-0.00 [[ 9.97263625e-01 -7.26918545e-02 -1.34594298e-02 5.98673839e+01] [ 7.26742980e-02 9.97354122e-01 -1.78958329e-03 5.83876145e+00] [ 1.35539059e-02 8.06531705e-04 9.99907816e-01 -1.57113703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241400512999995 meters 0.06164458959350887 Centerline is valid? [True, True] Translation: X:59.90, Y:5.84, Z:-0.00 [[ 9.96899393e-01 -7.76952277e-02 -1.24519424e-02 5.98967141e+01] [ 7.76805887e-02 9.96976923e-01 -1.65575069e-03 5.83957707e+00] [ 1.25429431e-02 6.83342643e-04 9.99921101e-01 -3.47461967e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271400512999996 meters 0.05693263345883253 Centerline is valid? [True, True] Translation: X:59.93, Y:5.84, Z:0.00 [[ 9.96698705e-01 -8.02926243e-02 -1.20326982e-02 5.99272530e+01] [ 8.02791417e-02 9.96771137e-01 -1.60012479e-03 5.83734790e+00] [ 1.21223244e-02 6.28867624e-04 9.99926324e-01 1.68358184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301400513 meters 0.05469701443345957 Centerline is valid? [True, True] Translation: X:59.96, Y:5.84, Z:0.00 [[ 9.96506271e-01 -8.26875480e-02 -1.17482449e-02 5.99569759e+01] [ 8.26748597e-02 9.96575349e-01 -1.56243542e-03 5.83809269e+00] [ 1.18372052e-02 5.85692200e-04 9.99929766e-01 2.59890287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331400513 meters 0.05592326581730181 Centerline is valid? [True, True] Translation: X:59.98, Y:5.84, Z:0.00 [[ 9.96392194e-01 -8.41179380e-02 -1.12591723e-02 5.99848200e+01] [ 8.41063662e-02 9.96455656e-01 -1.49819140e-03 5.84116306e+00] [ 1.13452907e-02 5.45818150e-04 9.99935491e-01 3.09438319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361400513 meters 0.04923957387129671 Centerline is valid? [True, True] Translation: X:60.01, Y:5.84, Z:0.01 [[ 9.96288449e-01 -8.54301826e-02 -1.05361673e-02 6.00146185e+01] [ 8.54201017e-02 9.96344035e-01 -1.40394795e-03 5.83819981e+00] [ 1.06175870e-02 4.98736646e-04 9.99943507e-01 6.11974907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391400513 meters 0.05263573419581905 Centerline is valid? [True, True] Translation: X:60.04, Y:5.84, Z:0.01 [[ 9.96275538e-01 -8.56882849e-02 -9.62138386e-03 6.00414511e+01] [ 8.56798878e-02 9.96321892e-01 -1.28234387e-03 5.84426468e+00] [ 9.69587721e-03 4.53208739e-04 9.99952891e-01 6.06902010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421400512999995 meters 0.04802062022621871 Centerline is valid? [True, True] Translation: X:60.07, Y:5.84, Z:0.01 [[ 9.96336595e-01 -8.49489352e-02 -9.85232468e-03 6.00703953e+01] [ 8.49400881e-02 9.96385194e-01 -1.31371579e-03 5.84240927e+00] [ 9.92830920e-03 4.72045794e-04 9.99950602e-01 7.76341594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.451400512999996 meters 0.04998884486092357 Centerline is valid? [True, True] Translation: X:60.10, Y:5.85, Z:0.01 [[ 9.96398596e-01 -8.41686283e-02 -1.02703285e-02 6.00975778e+01] [ 8.41589669e-02 9.96451399e-01 -1.37005879e-03 5.84872567e+00] [ 1.03491991e-02 5.00784423e-04 9.99946320e-01 6.65681783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481400513 meters 0.05132316278763698 Centerline is valid? [True, True] Translation: X:60.13, Y:5.85, Z:0.01 [[ 9.96463940e-01 -8.34260849e-02 -9.98518111e-03 6.01250607e+01] [ 8.34169094e-02 9.96513845e-01 -1.33261576e-03 5.85324967e+00] [ 1.00615461e-02 4.94970600e-04 9.99949259e-01 6.62893637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511400513 meters 0.050812783635427385 Centerline is valid? [True, True] Translation: X:60.15, Y:5.85, Z:0.01 [[ 9.96533750e-01 -8.26419786e-02 -9.52827707e-03 6.01539908e+01] [ 8.26335689e-02 9.96579185e-01 -1.27361180e-03 5.85494947e+00] [ 9.60093639e-03 4.81841602e-04 9.99953794e-01 8.64952559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541400513 meters 0.05611610157516018 Centerline is valid? [True, True] Translation: X:60.18, Y:5.86, Z:0.01 [[ 9.96683745e-01 -8.11136034e-02 -6.48810962e-03 6.01812000e+01] [ 8.11096705e-02 9.96704805e-01 -8.67444707e-04 5.86215761e+00] [ 6.53709160e-03 3.38319606e-04 9.99978576e-01 1.47327651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571400513 meters 0.05306923108104076 Centerline is valid? [True, True] Translation: X:60.21, Y:5.86, Z:0.02 [[ 9.96831349e-01 -7.93345249e-02 -5.77023844e-03 6.02106053e+01] [ 7.93313836e-02 9.96848001e-01 -7.71616963e-04 5.86200429e+00] [ 5.81326652e-03 3.11410979e-04 9.99983054e-01 1.76279060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601400512999994 meters 0.05844424092290221 Centerline is valid? [True, True] Translation: X:60.24, Y:5.87, Z:0.02 [[ 9.97036625e-01 -7.67039638e-02 -5.87106724e-03 6.02392308e+01] [ 7.67006664e-02 9.97053856e-01 -7.85086177e-04 5.87055554e+00] [ 5.91398945e-03 3.32444903e-04 9.99982457e-01 1.67331980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.631400512999996 meters 0.05626621935005896 Centerline is valid? [True, True] Translation: X:60.27, Y:5.87, Z:0.02 [[ 9.97222623e-01 -7.42017218e-02 -6.41439282e-03 6.02696764e+01] [ 7.41977345e-02 9.97243180e-01 -8.57696305e-04 5.87347999e+00] [ 6.46035204e-03 3.79380744e-04 9.99979060e-01 1.67918964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661400513 meters 0.0627630721245646 Centerline is valid? [True, True] Translation: X:60.30, Y:5.89, Z:0.02 [[ 9.97551948e-01 -6.96114598e-02 -6.65999633e-03 6.02979355e+01] [ 6.96070586e-02 9.97574090e-01 -8.90647158e-04 5.88500492e+00] [ 6.70583902e-03 4.24884052e-04 9.99977425e-01 1.66495742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691400513 meters 0.06935928523102798 Centerline is valid? [True, True] Translation: X:60.33, Y:5.90, Z:0.02 [[ 9.97655331e-01 -6.81652911e-02 -6.11018305e-03 6.03252378e+01] [ 6.81615577e-02 9.97673962e-01 -8.17421270e-04 5.89667769e+00] [ 6.15169029e-03 3.99025093e-04 9.99980999e-01 1.71222344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721400513 meters 0.06364022695569121 Centerline is valid? [True, True] Translation: X:60.36, Y:5.89, Z:0.02 [[ 9.97749022e-01 -6.68287533e-02 -5.55037330e-03 6.03553828e+01] [ 6.68256501e-02 9.97764391e-01 -7.42882458e-04 5.89317386e+00] [ 5.58761075e-03 3.70302942e-04 9.99984321e-01 1.94605516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751400513 meters 0.07104177471209294 Centerline is valid? [True, True] Translation: X:60.38, Y:5.90, Z:0.02 [[ 9.97851282e-01 -6.53498455e-02 -4.71352344e-03 6.03826869e+01] [ 6.53475899e-02 9.97862362e-01 -6.31146420e-04 5.90460963e+00] [ 4.74469295e-03 3.21772867e-04 9.99988692e-01 1.88847829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781400513 meters 0.07285460975094894 Centerline is valid? [True, True] Translation: X:60.41, Y:5.91, Z:0.02 [[ 9.97832213e-01 -6.55997005e-02 -5.24911138e-03 6.04101368e+01] [ 6.55969050e-02 9.97845956e-01 -7.03159135e-04 5.90867305e+00] [ 5.28393159e-03 3.57309376e-04 9.99985976e-01 1.72870543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.811400512999995 meters 0.07285460975094894 Centerline is valid? [True, True] Translation: X:60.44, Y:5.91, Z:0.02 [[ 9.97820459e-01 -6.57782623e-02 -5.24892963e-03 6.04374283e+01] [ 6.57754621e-02 9.97834201e-01 -7.04515210e-04 5.91248640e+00] [ 5.28390329e-03 3.57728918e-04 9.99985976e-01 1.71928316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841400512999996 meters 0.06509875746621217 Centerline is valid? [True, True] Translation: X:60.47, Y:5.90, Z:0.02 [[ 9.97738015e-01 -6.69970827e-02 -5.49943713e-03 6.04676906e+01] [ 6.69940285e-02 9.97753104e-01 -7.37906804e-04 5.90414367e+00] [ 5.53651807e-03 3.67808222e-04 9.99984606e-01 1.73250944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871400513 meters 0.0653733190163604 Centerline is valid? [True, True] Translation: X:60.50, Y:5.90, Z:0.02 [[ 9.97593201e-01 -6.91120979e-02 -5.59678402e-03 6.04965441e+01] [ 6.91089670e-02 9.97608834e-01 -7.51124693e-04 5.90394479e+00] [ 5.63531298e-03 3.62528925e-04 9.99984056e-01 1.69377829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901400513 meters 0.061707452922903236 Centerline is valid? [True, True] Translation: X:60.53, Y:5.90, Z:0.02 [[ 9.97396488e-01 -7.19391730e-02 -5.00005869e-03 6.05284013e+01] [ 7.19367099e-02 9.97408973e-01 -6.70951778e-04 5.89700952e+00] [ 5.03537112e-03 3.09517176e-04 9.99987275e-01 1.84437232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931400513 meters 0.05086205601748309 Centerline is valid? [True, True] Translation: X:60.56, Y:5.88, Z:0.02 [[ 9.96993432e-01 -7.73952961e-02 -3.75042394e-03 6.05612651e+01] [ 7.73939486e-02 9.97000463e-01 -5.03319107e-04 5.88013796e+00] [ 3.77812894e-03 2.11545726e-04 9.99992840e-01 2.14420875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961400513 meters 0.058436008415461045 Centerline is valid? [True, True] Translation: X:60.59, Y:5.89, Z:0.02 [[ 9.96853218e-01 -7.91711152e-02 -3.94910915e-03 6.05893227e+01] [ 7.91696341e-02 9.96861017e-01 -5.30223236e-04 5.88793510e+00] [ 3.97869133e-03 2.15905213e-04 9.99992062e-01 1.91883032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991400512999995 meters 0.056891093160402785 Centerline is valid? [True, True] Translation: X:60.62, Y:5.88, Z:0.02 [[ 9.96752249e-01 -8.03991019e-02 -4.57594364e-03 6.06195084e+01] [ 8.03971213e-02 9.96762722e-01 -6.15429494e-04 5.88377486e+00] [ 4.61061002e-03 2.45538035e-04 9.99989341e-01 1.79519328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02140051299999 meters 0.05622476221417322 Centerline is valid? [True, True] Translation: X:60.65, Y:5.88, Z:0.02 [[ 9.96707077e-01 -8.09192503e-02 -5.20357452e-03 6.06486881e+01] [ 8.09166920e-02 9.96720622e-01 -7.00655054e-04 5.88086622e+00] [ 5.24320652e-03 2.77291814e-04 9.99986216e-01 1.71113859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05140051299999 meters 0.0539138158748688 Centerline is valid? [True, True] Translation: X:60.68, Y:5.87, Z:0.02 [[ 9.96841812e-01 -7.92363405e-02 -5.29186848e-03 6.06799896e+01] [ 7.92336729e-02 9.96855816e-01 -7.12193315e-04 5.87170322e+00] [ 5.33166146e-03 2.90649899e-04 9.99985744e-01 1.90432511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08140051299999 meters 0.053597940975204456 Centerline is valid? [True, True] Translation: X:60.71, Y:5.87, Z:0.02 [[ 9.96939285e-01 -7.80568263e-02 -4.38102065e-03 6.07095997e+01] [ 7.80549852e-02 9.96948881e-01 -5.89923109e-04 5.87184503e+00] [ 4.41370116e-03 2.46157020e-04 9.99990229e-01 2.08402694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11140051299999 meters 0.05855245583518646 Centerline is valid? [True, True] Translation: X:60.74, Y:5.88, Z:0.02 [[ 9.97059917e-01 -7.65489051e-02 -3.43330454e-03 6.07374990e+01] [ 7.65477651e-02 9.97065808e-01 -4.62423286e-04 5.87928740e+00] [ 3.45862857e-03 1.98251933e-04 9.99993999e-01 2.17178901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141400513 meters 0.0633579019215032 Centerline is valid? [True, True] Translation: X:60.77, Y:5.89, Z:0.02 [[ 9.97239702e-01 -7.42074290e-02 -2.49674034e-03 6.07662198e+01] [ 7.42068188e-02 9.97242816e-01 -3.36280094e-04 5.88707476e+00] [ 2.51481085e-03 1.50076703e-04 9.99996827e-01 2.25019527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171400513 meters 0.06753849213780529 Centerline is valid? [True, True] Translation: X:60.80, Y:5.89, Z:0.02 [[ 9.97600309e-01 -6.91967597e-02 -2.33055517e-03 6.07965845e+01] [ 6.91962145e-02 9.97603020e-01 -3.13839868e-04 5.89067871e+00] [ 2.34668558e-03 1.51821154e-04 9.99997235e-01 2.25944170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201400513 meters 0.06922766638059372 Centerline is valid? [True, True] Translation: X:60.83, Y:5.89, Z:0.02 [[ 9.97687876e-01 -6.79072457e-02 -2.73991330e-03 6.08260512e+01] [ 6.79064870e-02 9.97691622e-01 -3.69112030e-04 5.89423356e+00] [ 2.75865392e-03 1.82200711e-04 9.99996178e-01 2.20314764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231400513 meters 0.0657055675407868 Centerline is valid? [True, True] Translation: X:60.86, Y:5.89, Z:0.02 [[ 9.97719380e-01 -6.74315638e-02 -3.00392763e-03 6.08554135e+01] [ 6.74306467e-02 9.97723881e-01 -4.05643709e-04 5.89234031e+00] [ 3.02444353e-03 2.02161806e-04 9.99995406e-01 2.22850409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26140051299998 meters 0.07108134796091924 Centerline is valid? [True, True] Translation: X:60.88, Y:5.90, Z:0.02 [[ 9.97746590e-01 -6.70707297e-02 -1.80520878e-03 6.08821957e+01] [ 6.70703980e-02 9.97748216e-01 -2.43738545e-04 5.90061714e+00] [ 1.81749156e-03 1.22113230e-04 9.99998341e-01 2.43745718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29140051299999 meters 0.063429348274988 Centerline is valid? [True, True] Translation: X:60.91, Y:5.89, Z:0.03 [[ 9.97749001e-01 -6.70559655e-02 -6.55068271e-04 6.09123497e+01] [ 6.70559214e-02 9.97749215e-01 -8.90469556e-05 5.89348333e+00] [ 6.59564983e-04 4.49203045e-05 9.99999781e-01 2.70824205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32140051299999 meters 0.07112136078354957 Centerline is valid? [True, True] Translation: X:60.94, Y:5.90, Z:0.03 [[ 9.97772967e-01 -6.67016251e-02 1.25758589e-05 6.09386308e+01] [ 6.67016250e-02 9.97772967e-01 1.49995824e-06 5.90467967e+00] [-1.26479017e-05 -6.57787561e-07 1.00000000e+00 2.81895504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35140051299999 meters 0.06937860525379233 Centerline is valid? [True, True] Translation: X:60.97, Y:5.91, Z:0.03 [[ 9.97782430e-01 -6.65598486e-02 -9.66218877e-05 6.09672609e+01] [ 6.65598476e-02 9.97782434e-01 -1.36143341e-05 5.90512537e+00] [ 9.73137903e-05 7.15300527e-06 9.99999995e-01 2.76746115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38140051299999 meters 0.07456393194268487 Centerline is valid? [True, True] Translation: X:60.99, Y:5.91, Z:0.03 [[ 9.97801469e-01 -6.62658385e-02 -1.03298540e-03 6.09939003e+01] [ 6.62657289e-02 9.97802001e-01 -1.40009282e-04 5.91462721e+00] [ 1.03999273e-03 7.12499369e-05 9.99999457e-01 2.56920211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41140051299999 meters 0.07432381983253189 Centerline is valid? [True, True] Translation: X:61.02, Y:5.92, Z:0.02 [[ 9.97835171e-01 -6.57368969e-02 -1.90561027e-03 6.10224492e+01] [ 6.57365221e-02 9.97836982e-01 -2.58757400e-04 5.91793149e+00] [ 1.91849831e-03 1.32929043e-04 9.99998151e-01 2.43902635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44140051299999 meters 0.07756193348358696 Centerline is valid? [True, True] Translation: X:61.05, Y:5.93, Z:0.03 [[ 9.97890116e-01 -6.49112865e-02 -1.35666277e-03 6.10501440e+01] [ 6.49110960e-02 9.97891034e-01 -1.84051916e-04 5.92512425e+00] [ 1.36574866e-03 9.56011208e-05 9.99999063e-01 2.51250281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47140051299999 meters 0.07880836206109564 Centerline is valid? [True, True] Translation: X:61.08, Y:5.93, Z:0.03 [[ 9.98069498e-01 -6.21034311e-02 -6.64811246e-04 6.10801558e+01] [ 6.21033848e-02 9.98069718e-01 -9.01171624e-05 5.92955616e+00] [ 6.69124557e-04 4.86561624e-05 9.99999775e-01 2.60906851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501400513 meters 0.07705928975802338 Centerline is valid? [True, True] Translation: X:61.11, Y:5.93, Z:0.02 [[ 9.98167211e-01 -6.04994629e-02 -1.42602398e-03 6.11100657e+01] [ 6.04992480e-02 9.98168224e-01 -1.93371418e-04 5.93126251e+00] [ 1.43511070e-03 1.06743631e-04 9.99998965e-01 2.49232470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531400513 meters 0.07223588254349367 Centerline is valid? [True, True] Translation: X:61.14, Y:5.93, Z:0.02 [[ 9.98218450e-01 -5.95980195e-02 -2.82879523e-03 6.11398537e+01] [ 5.95971700e-02 9.98222435e-01 -3.83710410e-04 5.92973224e+00] [ 2.84663525e-03 2.14438621e-04 9.99995925e-01 2.33791575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561400513 meters 0.07760897034841306 Centerline is valid? [True, True] Translation: X:61.17, Y:5.94, Z:0.02 [[ 9.98229577e-01 -5.93442288e-02 -3.99686015e-03 6.11665482e+01] [ 5.93425290e-02 9.98237532e-01 -5.42629448e-04 5.94140520e+00] [ 4.02201774e-03 3.04484974e-04 9.99991865e-01 2.10860815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591400513 meters 0.08479410027360056 Centerline is valid? [True, True] Translation: X:61.19, Y:5.96, Z:0.02 [[ 9.98227485e-01 -5.94067076e-02 -3.56804106e-03 6.11924799e+01] [ 5.94053529e-02 9.98233825e-01 -4.84539609e-04 5.95590656e+00] [ 3.59052418e-03 2.71720017e-04 9.99993517e-01 2.07890474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621400513 meters 0.076785430413165 Centerline is valid? [True, True] Translation: X:61.22, Y:5.95, Z:0.03 [[ 9.98184080e-01 -6.02311805e-02 8.64941509e-04 6.12232563e+01] [ 6.02311013e-02 9.98184452e-01 1.17384063e-04 5.95343193e+00] [-8.70441347e-04 -6.50745230e-05 9.99999619e-01 2.73935443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65140051299998 meters 0.07791851934579093 Centerline is valid? [True, True] Translation: X:61.25, Y:5.96, Z:0.03 [[ 9.98136555e-01 -6.09843669e-02 2.07972908e-03 6.12504744e+01] [ 6.09839104e-02 9.98138709e-01 2.82265464e-04 5.95867376e+00] [-2.09307188e-03 -1.54909466e-04 9.99997798e-01 2.91296706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68140051299999 meters 0.07540330619352856 Centerline is valid? [True, True] Translation: X:61.28, Y:5.96, Z:0.03 [[ 9.98062860e-01 -6.21866547e-02 1.82958993e-03 6.12804847e+01] [ 6.21863032e-02 9.98064528e-01 2.48448676e-04 5.95889717e+00] [-1.84149901e-03 -1.34191962e-04 9.99998295e-01 2.84491317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71140051299999 meters 0.07275410007899727 Centerline is valid? [True, True] Translation: X:61.31, Y:5.96, Z:0.03 [[ 9.97952820e-01 -6.39522811e-02 5.24293479e-04 6.13107371e+01] [ 6.39522525e-02 9.97952957e-01 7.11483712e-05 5.95840982e+00] [-5.27770329e-04 -3.74729687e-05 9.99999860e-01 2.68255092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74140051299999 meters 0.07394249100415025 Centerline is valid? [True, True] Translation: X:61.34, Y:5.96, Z:0.03 [[ 9.97851233e-01 -6.55191391e-02 -3.99022501e-04 6.13393664e+01] [ 6.55191226e-02 9.97851312e-01 -5.42974600e-05 5.96236748e+00] [ 4.01722649e-04 2.80371833e-05 9.99999919e-01 2.53207868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77140051299999 meters 0.07141509355553077 Centerline is valid? [True, True] Translation: X:61.37, Y:5.96, Z:0.02 [[ 9.97664331e-01 -6.83046422e-02 -5.98420409e-04 6.13707506e+01] [ 6.83046057e-02 9.97664510e-01 -8.12781635e-05 5.96140955e+00] [ 6.02574480e-04 4.02134545e-05 9.99999818e-01 2.45977946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80140051299999 meters 0.07101676432258426 Centerline is valid? [True, True] Translation: X:61.40, Y:5.96, Z:0.02 [[ 9.97596456e-01 -6.92793531e-02 -1.29711376e-03 6.13985071e+01] [ 6.92791819e-02 9.97597295e-01 -1.76505930e-04 5.96308532e+00] [ 1.30622540e-03 8.62187099e-05 9.99999143e-01 2.35143484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83140051299999 meters 0.07168835946709531 Centerline is valid? [True, True] Translation: X:61.43, Y:5.97, Z:0.02 [[ 9.97559736e-01 -6.97817148e-02 -2.25510959e-03 6.14263244e+01] [ 6.97811986e-02 9.97562274e-01 -3.06850086e-04 5.96566260e+00] [ 2.27102478e-03 1.48737040e-04 9.99997410e-01 2.22103399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86140051299999 meters 0.07408701553243864 Centerline is valid? [True, True] Translation: X:61.46, Y:5.97, Z:0.02 [[ 9.97526041e-01 -7.02352953e-02 -2.96660258e-03 6.14553011e+01] [ 7.02344018e-02 9.97530433e-01 -4.04401371e-04 5.96769148e+00] [ 2.98767961e-03 1.95043341e-04 9.99995518e-01 2.13434911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891400513 meters 0.07040701633047583 Centerline is valid? [True, True] Translation: X:61.48, Y:5.97, Z:0.02 [[ 9.97548559e-01 -6.99603414e-02 -1.55640946e-03 6.14847733e+01] [ 6.99600943e-02 9.97549768e-01 -2.12668532e-04 5.96702481e+00] [ 1.56747425e-03 1.03260635e-04 9.99998766e-01 2.45336093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921400513 meters 0.06984533490212334 Centerline is valid? [True, True] Translation: X:61.51, Y:5.97, Z:0.03 [[ 9.97566002e-01 -6.97285492e-02 -1.91814719e-05 6.15136419e+01] [ 6.97285491e-02 9.97566003e-01 -3.15323072e-06 5.96889296e+00] [ 1.93546544e-05 1.80805956e-06 1.00000000e+00 2.69778732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951400513 meters 0.06754385967544685 Centerline is valid? [True, True] Translation: X:61.54, Y:5.97, Z:0.03 [[ 9.97597667e-01 -6.92678356e-02 9.28385258e-04 6.15423388e+01] [ 6.92677477e-02 9.97598097e-01 1.26542927e-04 5.96774496e+00] [-9.34920721e-04 -6.19317732e-05 9.99999561e-01 2.88615988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981400513 meters 0.06307042481904376 Centerline is valid? [True, True] Translation: X:61.57, Y:5.96, Z:0.03 [[ 9.97698472e-01 -6.78012854e-02 8.62519850e-04 6.15732205e+01] [ 6.78012089e-02 9.97698843e-01 1.17685441e-04 5.96193841e+00] [-8.68514281e-04 -5.89346964e-05 9.99999621e-01 2.92178513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01140051299998 meters 0.07893750010453872 Centerline is valid? [True, True] Translation: X:61.60, Y:5.98, Z:0.03 [[ 9.97764220e-01 -6.68323422e-02 2.91871339e-06 6.15992358e+01] [ 6.68323422e-02 9.97764220e-01 2.78159834e-07 5.98416645e+00] [-2.93077787e-06 -8.24734783e-08 1.00000000e+00 2.75868636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04140051299999 meters 0.07686928798867358 Centerline is valid? [True, True] Translation: X:61.63, Y:5.99, Z:0.03 [[ 9.97865670e-01 -6.52998182e-02 -1.94732021e-04 6.16299180e+01] [ 6.52998143e-02 9.97865689e-01 -2.65951003e-05 5.98539999e+00] [ 1.96053057e-04 1.38223728e-05 9.99999981e-01 2.78457140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07140051299999 meters 0.06895243521048186 Centerline is valid? [True, True] Translation: X:61.66, Y:5.98, Z:0.03 [[ 9.98189057e-01 -6.01517564e-02 6.11252731e-04 6.16618252e+01] [ 6.01517164e-02 9.98189243e-01 8.34783221e-05 5.97792595e+00] [-6.15167269e-04 -4.65592466e-05 9.99999810e-01 2.97880509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10140051299999 meters 0.07683806273197931 Centerline is valid? [True, True] Translation: X:61.69, Y:5.99, Z:0.03 [[ 9.98423172e-01 -5.61226383e-02 1.19134028e-03 6.16896950e+01] [ 5.61224839e-02 9.98423878e-01 1.62692701e-04 5.98956233e+00] [-1.19859332e-03 -9.55751875e-05 9.99999277e-01 3.01740954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13140051299999 meters 0.10005071021854592 Centerline is valid? [True, False] Translation: X:61.69, Y:5.99, Z:0.03 [[ 9.99101394e-01 -4.23778275e-02 7.23634570e-04 6.16917213e+01] [ 4.23812655e-02 9.99085318e-01 -5.68814946e-03 5.98963802e+00] [-4.81921258e-04 5.71370660e-03 9.99983561e-01 2.94035408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16140051299999 meters 0.08944381053113287 Centerline is valid? [False, True] Translation: X:61.67, Y:5.99, Z:0.03 [[ 9.99498559e-01 -3.04606226e-02 -8.64756692e-03 6.16709273e+01] [ 3.02789993e-02 9.99333096e-01 -2.04094592e-02 5.99411014e+00] [ 9.26348466e-03 2.01373854e-02 9.99754307e-01 3.39343782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19140051299999 meters 0.09877985890366368 Centerline is valid? [True, True] Translation: X:61.70, Y:5.99, Z:0.04 [[ 9.99700961e-01 -2.18686142e-02 -1.09431629e-02 6.17000773e+01] [ 2.18555625e-02 9.99760279e-01 -1.31086172e-03 5.99335604e+00] [ 1.09692063e-02 1.07130074e-03 9.99939263e-01 3.63741043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22140051299999 meters 0.09807874236434543 Centerline is valid? [True, True] Translation: X:61.73, Y:6.00, Z:0.04 [[ 9.99774794e-01 -1.86985998e-02 -1.00361034e-02 6.17301073e+01] [ 1.86874640e-02 9.99824651e-01 -1.20221464e-03 5.99751182e+00] [ 1.00568233e-02 1.01439457e-03 9.99948914e-01 3.79124397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251400513 meters 0.10333798840737778 Centerline is valid? [True, False] Translation: X:61.74, Y:6.00, Z:0.04 [[ 9.99883235e-01 -1.35722073e-02 -7.02227047e-03 6.17449376e+01] [ 1.35145891e-02 9.99875145e-01 -8.18847329e-03 6.00401555e+00] [ 7.13252936e-03 8.09261406e-03 9.99941817e-01 4.07291833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281400513 meters 0.10341067683102313 Centerline is valid? [False, False] Translation: X:61.75, Y:6.00, Z:0.04 [[ 9.99933704e-01 -8.92233603e-03 -7.27872501e-03 6.17453905e+01] [ 8.90150736e-03 9.99956208e-01 -2.88897805e-03 5.99985138e+00] [ 7.30418269e-03 2.82399490e-03 9.99969337e-01 4.14111910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311400513 meters 0.10055827351133095 Centerline is valid? [False, False] Translation: X:61.75, Y:5.99, Z:0.04 [[ 9.99962579e-01 -4.18763414e-03 -7.56990322e-03 6.17459542e+01] [ 4.20872756e-03 9.99987299e-01 2.77270613e-03 5.99419840e+00] [ 7.55819599e-03 -2.80446203e-03 9.99967504e-01 4.22348306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341400513 meters 0.10166762038458188 Centerline is valid? [False, False] Translation: X:61.75, Y:5.99, Z:0.04 [[ 9.99962065e-01 -3.96816875e-03 -7.75381246e-03 6.17464585e+01] [ 3.99587969e-03 9.99985674e-01 3.56162874e-03 5.99076572e+00] [ 7.73956823e-03 -3.59247693e-03 9.99963596e-01 4.24979515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371400513 meters 0.09157182496423082 Centerline is valid? [False, True] Translation: X:61.75, Y:5.99, Z:0.04 [[ 9.99934382e-01 -8.55937118e-03 -7.61369882e-03 6.17461818e+01] [ 8.54911269e-03 9.99962505e-01 -1.37890015e-03 5.99345658e+00] [ 7.62521586e-03 1.31371930e-03 9.99970065e-01 4.22369446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40140051299998 meters 0.08898282856237953 Centerline is valid? [True, True] Translation: X:61.78, Y:5.99, Z:0.04 [[ 9.99899682e-01 -1.24065488e-02 -6.83402426e-03 6.17771085e+01] [ 1.24020925e-02 9.99922850e-01 -6.94082967e-04 5.99224425e+00] [ 6.84210819e-03 6.09257138e-04 9.99976407e-01 4.44151050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43140051299999 meters 0.08308503778388092 Centerline is valid? [True, True] Translation: X:61.81, Y:5.99, Z:0.05 [[ 9.99854676e-01 -1.60523646e-02 -5.74010228e-03 6.18085276e+01] [ 1.60492803e-02 9.99871032e-01 -5.82992097e-04 5.98764774e+00] [ 5.74872039e-03 4.90782863e-04 9.99983356e-01 4.64170174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46140051299999 meters 0.07675885949886163 Centerline is valid? [True, True] Translation: X:61.84, Y:5.98, Z:0.05 [[ 9.99799743e-01 -1.94042974e-02 -4.89348895e-03 6.18397419e+01] [ 1.94020956e-02 9.99811638e-01 -4.97023383e-04 5.98234517e+00] [ 4.90221159e-03 4.01979910e-04 9.99987903e-01 4.78299285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49140051299999 meters 0.07830040934915246 Centerline is valid? [True, True] Translation: X:61.87, Y:5.98, Z:0.05 [[ 9.99635960e-01 -2.64543788e-02 -5.30212315e-03 6.18694547e+01] [ 2.64518922e-02 9.99649942e-01 -5.38582005e-04 5.98429978e+00] [ 5.31451495e-03 3.98134750e-04 9.99985799e-01 4.70774242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52140051299999 meters 0.07331430497258279 Centerline is valid? [True, True] Translation: X:61.90, Y:5.98, Z:0.05 [[ 9.99529333e-01 -3.00067491e-02 -6.38028343e-03 6.18997071e+01] [ 3.00032206e-02 9.99549592e-01 -6.48050226e-04 5.97976310e+00] [ 6.39685558e-03 4.56316158e-04 9.99979436e-01 4.57818325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55140051299999 meters 0.0705560096541224 Centerline is valid? [True, True] Translation: X:61.93, Y:5.98, Z:0.04 [[ 9.99333948e-01 -3.55555304e-02 -8.21369260e-03 6.19298968e+01] [ 3.55498679e-02 9.99367555e-01 -8.34418938e-04 5.97780220e+00] [ 8.23816610e-03 5.41867484e-04 9.99965919e-01 4.34980759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58140051299999 meters 0.06724765360881584 Centerline is valid? [True, True] Translation: X:61.96, Y:5.98, Z:0.04 [[ 9.99265602e-01 -3.74435504e-02 -8.13856549e-03 6.19601622e+01] [ 3.74380532e-02 9.99298608e-01 -8.26815195e-04 5.97740382e+00] [ 8.16381606e-03 5.21515936e-04 9.99966540e-01 4.43701709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61140051299999 meters 0.06430100599527984 Centerline is valid? [True, True] Translation: X:61.99, Y:5.98, Z:0.05 [[ 9.99229696e-01 -3.84939903e-02 -7.63073768e-03 6.19890767e+01] [ 3.84891872e-02 9.99258716e-01 -7.75361992e-04 5.97831256e+00] [ 7.65492791e-03 4.81063836e-04 9.99970585e-01 4.53497686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641400513 meters 0.05985507458056542 Centerline is valid? [True, True] Translation: X:62.02, Y:5.98, Z:0.05 [[ 9.99209888e-01 -3.91205061e-02 -7.01326123e-03 6.20181233e+01] [ 3.91164612e-02 9.99234404e-01 -7.13041292e-04 5.97797269e+00] [ 7.03578644e-03 4.38143949e-04 9.99975153e-01 4.62608547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671400513 meters 0.06437552965977354 Centerline is valid? [True, True] Translation: X:62.05, Y:5.99, Z:0.05 [[ 9.99197855e-01 -3.94160279e-02 -7.07274079e-03 6.20452219e+01] [ 3.94119141e-02 9.99222789e-01 -7.20134083e-04 5.98869295e+00] [ 7.09562860e-03 4.40806178e-04 9.99974729e-01 4.57798848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701400513 meters 0.06437552965977354 Centerline is valid? [True, True] Translation: X:62.07, Y:5.99, Z:0.05 [[ 9.99190814e-01 -3.95941308e-02 -7.07268545e-03 6.20726304e+01] [ 3.95900176e-02 9.99215748e-01 -7.20677109e-04 5.99163114e+00] [ 7.09567327e-03 4.40086206e-04 9.99974729e-01 4.59445688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.731400513 meters 0.06355784036473515 Centerline is valid? [True, True] Translation: X:62.10, Y:6.00, Z:0.04 [[ 9.99140487e-01 -4.07700880e-02 -7.48917949e-03 6.21016194e+01] [ 4.07654988e-02 9.99168449e-01 -7.64475918e-04 5.99785307e+00] [ 7.51411961e-03 4.58518703e-04 9.99971663e-01 4.49456364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76140051299998 meters 0.06849397554156217 Centerline is valid? [True, True] Translation: X:62.13, Y:6.01, Z:0.05 [[ 9.99097386e-01 -4.18374126e-02 -7.35144133e-03 6.21287412e+01] [ 4.18330125e-02 9.99124334e-01 -7.51349162e-04 6.00887347e+00] [ 7.37643843e-03 4.43138047e-04 9.99972696e-01 4.54564583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79140051299999 meters 0.061364933722658783 Centerline is valid? [True, True] Translation: X:62.16, Y:6.00, Z:0.05 [[ 9.99040359e-01 -4.32356230e-02 -7.00298365e-03 6.21593873e+01] [ 4.32316617e-02 9.99064818e-01 -7.16112849e-04 6.00496363e+00] [ 7.02739618e-03 4.12675017e-04 9.99975222e-01 4.62226159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82140051299999 meters 0.05695584419083338 Centerline is valid? [True, True] Translation: X:62.19, Y:6.00, Z:0.05 [[ 9.98889683e-01 -4.66160726e-02 -6.80753959e-03 6.21903136e+01] [ 4.66124054e-02 9.98912808e-01 -6.96454224e-04 6.00469283e+00] [ 6.83260445e-03 3.78365144e-04 9.99976586e-01 4.70021605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85140051299999 meters 0.05089403366372412 Centerline is valid? [True, True] Translation: X:62.22, Y:6.00, Z:0.05 [[ 9.98815465e-01 -4.82919264e-02 -5.96295127e-03 6.22203535e+01] [ 4.82891424e-02 9.98833213e-01 -6.10058511e-04 6.00209382e+00] [ 5.98545467e-03 3.21390073e-04 9.99982035e-01 4.87410840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88140051299999 meters 0.05001688709554894 Centerline is valid? [True, True] Translation: X:62.25, Y:6.01, Z:0.05 [[ 9.98734450e-01 -5.00769548e-02 -4.66872573e-03 6.22501308e+01] [ 5.00752673e-02 9.98745333e-01 -4.77717226e-04 6.00643027e+00] [ 4.68679065e-03 2.43324962e-04 9.99988987e-01 5.02295935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91140051299999 meters 0.05495619448862592 Centerline is valid? [True, True] Translation: X:62.28, Y:6.02, Z:0.05 [[ 9.98622117e-01 -5.23288708e-02 -3.94417877e-03 6.22779180e+01] [ 5.23276835e-02 9.98629887e-01 -4.03672791e-04 6.01715520e+00] [ 3.95989854e-03 1.96726838e-04 9.99992140e-01 5.12892062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94140051299999 meters 0.04960477224242734 Centerline is valid? [True, True] Translation: X:62.31, Y:6.01, Z:0.05 [[ 9.98456626e-01 -5.54008937e-02 -3.88664844e-03 6.23085618e+01] [ 5.53997633e-02 9.98464175e-01 -3.97981305e-04 6.01457037e+00] [ 3.90272774e-03 1.82047668e-04 9.99992368e-01 5.13553116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97140051299999 meters 0.04207635268637484 Centerline is valid? [True, True] Translation: X:62.34, Y:6.01, Z:0.05 [[ 9.98260143e-01 -5.88048437e-02 -4.32161007e-03 6.23398064e+01] [ 5.88034778e-02 9.98269480e-01 -4.42547337e-04 6.00938194e+00] [ 4.34015536e-03 1.87651667e-04 9.99990564e-01 5.02552387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001400513 meters 0.03952702391631742 Centerline is valid? [True, True] Translation: X:62.37, Y:6.01, Z:0.05 [[ 9.97861530e-01 -6.50450842e-02 -6.44242513e-03 6.23687705e+01] [ 6.50421781e-02 9.97882298e-01 -6.59798458e-04 6.01138754e+00] [ 6.47169864e-03 2.39358136e-04 9.99979030e-01 4.65978464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031400513 meters 0.035903440110408615 Centerline is valid? [True, True] Translation: X:62.40, Y:6.01, Z:0.04 [[ 9.97661371e-01 -6.79340086e-02 -7.53382089e-03 6.23988502e+01] [ 6.79301148e-02 9.97689783e-01 -7.71823895e-04 6.00985331e+00] [ 7.56884922e-03 2.58245568e-04 9.99971323e-01 4.48036402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061400513 meters 0.03295094908297537 Centerline is valid? [True, True] Translation: X:62.43, Y:6.01, Z:0.04 [[ 9.97439656e-01 -7.10570749e-02 -8.06375716e-03 6.24293557e+01] [ 7.10527146e-02 9.97472220e-01 -8.26287360e-04 6.00840998e+00] [ 8.10208732e-03 2.51219944e-04 9.99967146e-01 4.46772930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.091400513 meters 0.024422560871176793 Centerline is valid? [True, True] Translation: X:62.46, Y:6.00, Z:0.04 [[ 9.96992950e-01 -7.69810511e-02 -8.88679507e-03 6.24601514e+01] [ 7.69759892e-02 9.97032531e-01 -9.10753615e-04 6.00009607e+00] [ 8.93053455e-03 2.23945092e-04 9.99960097e-01 4.43578965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121400513 meters 0.024968663125491893 Centerline is valid? [True, True] Translation: X:62.49, Y:6.00, Z:0.04 [[ 9.96799459e-01 -7.94855640e-02 -8.53717213e-03 6.24877743e+01] [ 7.94809820e-02 9.96835998e-01 -8.75186162e-04 6.00357843e+00] [ 8.57972517e-03 1.93842268e-04 9.99963175e-01 4.41845145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15140051299998 meters 0.021834515748105094 Centerline is valid? [True, True] Translation: X:62.52, Y:6.00, Z:0.04 [[ 9.96596112e-01 -8.20810123e-02 -7.67448050e-03 6.25173527e+01] [ 8.20773819e-02 9.96625649e-01 -7.87339754e-04 6.00209653e+00] [ 7.71320975e-03 1.54758471e-04 9.99970241e-01 4.49770081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18140051299999 meters 0.018683350537266972 Centerline is valid? [True, True] Translation: X:62.55, Y:6.00, Z:0.05 [[ 9.96376722e-01 -8.47898261e-02 -6.64178064e-03 6.25468270e+01] [ 8.47871612e-02 9.96398852e-01 -6.82299026e-04 6.00012941e+00] [ 6.67571462e-03 1.16689141e-04 9.99977710e-01 4.63804728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21140051299999 meters 0.016767360867016107 Centerline is valid? [True, True] Translation: X:62.57, Y:6.00, Z:0.05 [[ 9.95917644e-01 -9.00318878e-02 -6.50424584e-03 6.25749072e+01] [ 9.00294373e-02 9.95938880e-01 -6.69171675e-04 5.99711263e+00] [ 6.53807810e-03 8.08662851e-05 9.99978623e-01 4.66218219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24140051299999 meters 0.01256459214591086 Centerline is valid? [True, True] Translation: X:62.60, Y:6.00, Z:0.05 [[ 9.95651651e-01 -9.28918488e-02 -6.99238143e-03 6.26027246e+01] [ 9.28890840e-02 9.95676202e-01 -7.19831297e-04 5.99624820e+00] [ 7.02901425e-03 6.71853132e-05 9.99975294e-01 4.59996719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27140051299999 meters 0.019077221316058483 Centerline is valid? [True, True] Translation: X:62.63, Y:5.99, Z:0.05 [[ 9.95413222e-01 -9.53637761e-02 -7.63336744e-03 6.26322866e+01] [ 9.53605487e-02 9.95442488e-01 -7.86480753e-04 5.99384219e+00] [ 7.67358005e-03 5.49512320e-05 9.99970556e-01 4.56998842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30140051299999 meters 0.007974479450460726 Centerline is valid? [True, True] Translation: X:62.66, Y:5.99, Z:0.05 [[ 9.95186611e-01 -9.77307484e-02 -7.23260679e-03 6.26606093e+01] [ 9.77279059e-02 9.95212892e-01 -7.46244379e-04 5.98941176e+00] [ 7.27091454e-03 3.58248986e-05 9.99973566e-01 4.71302723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33140051299999 meters 0.007934013194778718 Centerline is valid? [True, True] Translation: X:62.69, Y:5.99, Z:0.05 [[ 9.95156991e-01 -9.80702419e-02 -6.69264945e-03 6.26889750e+01] [ 9.80678124e-02 9.95179495e-01 -6.91016610e-04 5.98971308e+00] [ 6.72815567e-03 3.13365198e-05 9.99977365e-01 4.82347338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36140051299999 meters 0.008251581346804548 Centerline is valid? [True, True] Translation: X:62.72, Y:5.99, Z:0.05 [[ 9.95191363e-01 -9.77419241e-02 -6.37709615e-03 6.27167729e+01] [ 9.77397039e-02 9.95211794e-01 -6.59619061e-04 5.99201694e+00] [ 6.41103373e-03 3.31517035e-05 9.99979449e-01 4.91060716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391400513 meters 0.009458805974465261 Centerline is valid? [True, True] Translation: X:62.74, Y:6.00, Z:0.05 [[ 9.95292816e-01 -9.66891171e-02 -6.58974598e-03 6.27441093e+01] [ 9.66867151e-02 9.95314630e-01 -6.82864390e-04 5.99710103e+00] [ 6.62489614e-03 4.25091300e-05 9.99978054e-01 4.88218208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421400513 meters 0.012729930975169227 Centerline is valid? [True, True] Translation: X:62.77, Y:6.01, Z:0.05 [[ 9.95618390e-01 -9.32036842e-02 -7.55604746e-03 6.27708949e+01] [ 9.32004203e-02 9.95647060e-01 -7.83706863e-04 6.00580107e+00] [ 7.59620080e-03 7.60461670e-05 9.99971146e-01 4.70403588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451400513 meters 0.013044913073064527 Centerline is valid? [True, True] Translation: X:62.80, Y:6.01, Z:0.05 [[ 9.95749663e-01 -9.17946078e-02 -7.50729724e-03 6.27990935e+01] [ 9.17913411e-02 9.95777958e-01 -7.79260245e-04 6.00995525e+00] [ 7.54713301e-03 8.68432433e-05 9.99971516e-01 4.78934115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481400513 meters 0.015711579004712588 Centerline is valid? [True, True] Translation: X:62.83, Y:6.02, Z:0.05 [[ 9.95873889e-01 -9.04963811e-02 -6.75296943e-03 6.28259941e+01] [ 9.04937016e-02 9.95896780e-01 -7.01922035e-04 6.01755517e+00] [ 6.78878191e-03 8.79246259e-05 9.99976952e-01 4.93151307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51140051299998 meters 0.015522452155028434 Centerline is valid? [True, True] Translation: X:62.85, Y:6.02, Z:0.05 [[ 9.95948153e-01 -8.97296178e-02 -5.98926041e-03 6.28548093e+01] [ 8.97274943e-02 9.95966158e-01 -6.22865608e-04 6.02241854e+00] [ 6.02099017e-03 8.29405229e-05 9.99981870e-01 5.09092613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54140051299999 meters 0.016963839746827154 Centerline is valid? [True, True] Translation: X:62.88, Y:6.03, Z:0.05 [[ 9.95978431e-01 -8.94155150e-02 -5.64183490e-03 6.28817045e+01] [ 8.94136204e-02 9.95994407e-01 -5.87655854e-04 6.02906218e+00] [ 5.67178156e-03 8.08356714e-05 9.99983912e-01 5.16401327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57140051299999 meters 0.013694900319573365 Centerline is valid? [True, True] Translation: X:62.91, Y:6.03, Z:0.05 [[ 9.95674875e-01 -9.26810672e-02 -6.46242840e-03 6.29105444e+01] [ 9.26786470e-02 9.95695844e-01 -6.73618374e-04 6.02969899e+00] [ 6.49704477e-03 7.17757700e-05 9.99978891e-01 5.03929189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60140051299999 meters 0.010131464137354182 Centerline is valid? [True, True] Translation: X:62.94, Y:6.03, Z:0.05 [[ 9.95347311e-01 -9.61214554e-02 -6.66306684e-03 6.29398165e+01] [ 9.61189522e-02 9.95369611e-01 -6.95647073e-04 6.02839594e+00] [ 6.69908086e-03 5.19634411e-05 9.99977560e-01 5.01878467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63140051299999 meters 0.0074236156522198065 Centerline is valid? [True, True] Translation: X:62.97, Y:6.03, Z:0.05 [[ 9.94954854e-01 -1.00116629e-01 -6.44203196e-03 6.29693100e+01] [ 1.00114366e-01 9.94975708e-01 -6.73618705e-04 6.02770361e+00] [ 6.47710575e-03 2.52802556e-05 9.99979023e-01 5.05024363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66140051299999 meters 0.006237389978888747 Centerline is valid? [True, True] Translation: X:63.00, Y:6.03, Z:0.05 [[ 9.94570085e-01 -1.03867643e-01 -6.46983895e-03 6.29985488e+01] [ 1.03865432e-01 9.94591128e-01 -6.77621812e-04 6.02712918e+00] [ 6.50522740e-03 1.94976370e-06 9.99978841e-01 5.06563533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69140051299999 meters 0.006608946572342499 Centerline is valid? [True, True] Translation: X:63.03, Y:6.03, Z:0.05 [[ 9.94274901e-01 -1.06613276e-01 -7.14354763e-03 6.30267678e+01] [ 1.06610643e-01 9.94300563e-01 -7.49384346e-04 6.02739453e+00] [ 7.18272774e-03 -1.64841611e-05 9.99974204e-01 4.98856195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72140051299999 meters 0.008423591731011907 Centerline is valid? [True, True] Translation: X:63.05, Y:6.03, Z:0.05 [[ 9.93953622e-01 -1.09463242e-01 -8.60210274e-03 6.30543828e+01] [ 1.09459525e-01 9.93990843e-01 -9.03112984e-04 6.02682002e+00] [ 8.64926903e-03 -4.39296608e-05 9.99962593e-01 4.74603983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751400513 meters 0.008295317060669152 Centerline is valid? [True, True] Translation: X:63.08, Y:6.03, Z:0.05 [[ 9.93925378e-01 -1.09756294e-01 -8.11782866e-03 6.30822704e+01] [ 1.09752985e-01 9.93958527e-01 -8.53293235e-04 6.03078365e+00] [ 8.16243932e-03 -4.28461279e-05 9.99966686e-01 4.83796588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781400513 meters 0.010448861978380752 Centerline is valid? [True, True] Translation: X:63.11, Y:6.04, Z:0.05 [[ 9.93953958e-01 -1.09554496e-01 -7.30348080e-03 6.31095338e+01] [ 1.09551803e-01 9.93980790e-01 -7.69005787e-04 6.03585605e+00] [ 7.34376766e-03 -3.57531434e-05 9.99973034e-01 5.01757175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811400513 meters 0.006663659089355661 Centerline is valid? [True, True] Translation: X:63.14, Y:6.04, Z:0.05 [[ 9.94223528e-01 -1.07209245e-01 -5.07478397e-03 6.31374262e+01] [ 1.07207911e-01 9.94236480e-01 -5.35000048e-04 6.04481707e+00] [ 5.10289230e-03 -1.21473543e-05 9.99986980e-01 5.44464279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841400513 meters 0.00640037942327209 Centerline is valid? [True, True] Translation: X:63.16, Y:6.05, Z:0.06 [[ 9.94396879e-01 -1.05626806e-01 -4.22188198e-03 6.31639414e+01] [ 1.05625866e-01 9.94405842e-01 -4.45701936e-04 6.05121542e+00] [ 4.24534218e-03 -2.73532481e-06 9.99990988e-01 5.59462994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.871400513 meters 0.006479039871449 Centerline is valid? [True, True] Translation: X:63.19, Y:6.06, Z:0.06 [[ 9.94553088e-01 -1.04154077e-01 -4.01046624e-03 6.31912878e+01] [ 1.04153215e-01 9.94561174e-01 -4.23758588e-04 6.05854828e+00] [ 4.03279019e-03 3.74745860e-06 9.99991868e-01 5.60168221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90140051299998 meters 0.007408200712886312 Centerline is valid? [True, True] Translation: X:63.22, Y:6.07, Z:0.06 [[ 9.94789845e-01 -1.01860302e-01 -4.20029242e-03 6.32177658e+01] [ 1.01859331e-01 9.94798713e-01 -4.44914163e-04 6.07006275e+00] [ 4.22376458e-03 1.47571139e-05 9.99991080e-01 5.54979347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93140051299999 meters 0.012071434136285572 Centerline is valid? [True, True] Translation: X:63.24, Y:6.08, Z:0.06 [[ 9.94830240e-01 -1.01453696e-01 -4.46559851e-03 6.32449634e+01] [ 1.01452594e-01 9.94840262e-01 -4.73108218e-04 6.07633370e+00] [ 4.49055577e-03 1.76158070e-05 9.99989917e-01 5.51099119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96140051299999 meters 0.01729631559633785 Centerline is valid? [True, True] Translation: X:63.27, Y:6.08, Z:0.05 [[ 9.94828291e-01 -1.01462470e-01 -4.69455019e-03 6.32730154e+01] [ 1.01461248e-01 9.94839367e-01 -4.98330650e-04 6.08134037e+00] [ 4.72088520e-03 1.94385081e-05 9.99988856e-01 5.47174839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99140051299999 meters 0.007596817194244989 Centerline is valid? [True, True] Translation: X:63.30, Y:6.09, Z:0.05 [[ 9.94806774e-01 -1.01636052e-01 -5.44015085e-03 6.32995902e+01] [ 1.01634406e-01 9.94821649e-01 -5.78784019e-04 6.08507360e+00] [ 5.47080516e-03 2.28717623e-05 9.99985035e-01 5.38571685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02140051299999 meters 0.007444738941333995 Centerline is valid? [True, True] Translation: X:63.33, Y:6.09, Z:0.05 [[ 9.94720098e-01 -1.02340835e-01 -7.63411654e-03 6.33263859e+01] [ 1.02337609e-01 9.94749392e-01 -8.13058331e-04 6.08874532e+00] [ 7.67724186e-03 2.75082279e-05 9.99970529e-01 5.02852670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05140051299999 meters 0.00718905987158854 Centerline is valid? [True, True] Translation: X:63.35, Y:6.09, Z:0.05 [[ 9.94640613e-01 -1.03030164e-01 -8.65074681e-03 6.33545259e+01] [ 1.03026038e-01 9.94678232e-01 -9.22423695e-04 6.09097971e+00] [ 8.69974701e-03 2.62278960e-05 9.99962156e-01 4.88493569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08140051299999 meters 0.006889346902771681 Centerline is valid? [True, True] Translation: X:63.38, Y:6.09, Z:0.05 [[ 9.94545090e-01 -1.03918939e-01 -8.99540842e-03 6.33826749e+01] [ 1.03914498e-01 9.94585770e-01 -9.60959484e-04 6.09265471e+00] [ 9.04656710e-03 2.09641897e-05 9.99959079e-01 4.88296708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11140051299999 meters 0.014585675241308063 Centerline is valid? [True, True] Translation: X:63.41, Y:6.09, Z:0.05 [[ 9.94434781e-01 -1.04995754e-01 -8.68093501e-03 6.34097234e+01] [ 1.04991648e-01 9.94472670e-01 -9.28716164e-04 6.09437175e+00] [ 8.73046387e-03 1.21219849e-05 9.99961889e-01 4.96831705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141400513 meters 0.006307560005446144 Centerline is valid? [True, True] Translation: X:63.44, Y:6.10, Z:0.05 [[ 9.94350330e-01 -1.05932135e-01 -6.76783085e-03 6.34374534e+01] [ 1.05929657e-01 9.94373362e-01 -7.24489180e-04 6.09652654e+00] [ 6.80649740e-03 3.48205218e-06 9.99976836e-01 5.36402095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171400513 meters 0.006417598818945624 Centerline is valid? [True, True] Translation: X:63.47, Y:6.10, Z:0.05 [[ 9.94393981e-01 -1.05559657e-01 -6.14562104e-03 6.34652486e+01] [ 1.05557605e-01 9.94412972e-01 -6.58246521e-04 6.10042708e+00] [ 6.18076956e-03 5.83934243e-06 9.99980899e-01 5.45072674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201400513 meters 0.006712233223645604 Centerline is valid? [True, True] Translation: X:63.49, Y:6.10, Z:0.05 [[ 9.94489394e-01 -1.04626083e-01 -6.65041707e-03 6.34934627e+01] [ 1.04623649e-01 9.94511630e-01 -7.13700151e-04 6.10462382e+00] [ 6.68858878e-03 1.39763279e-05 9.99977631e-01 5.34258069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231400513 meters 0.007603112730473406 Centerline is valid? [True, True] Translation: X:63.52, Y:6.11, Z:0.05 [[ 9.94638702e-01 -1.03125914e-01 -7.67457189e-03 6.35209414e+01] [ 1.03122617e-01 9.94668309e-01 -8.25057887e-04 6.10999224e+00] [ 7.71873829e-03 2.92125643e-05 9.99970210e-01 5.15995392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26140051299998 meters 0.0096727349967536 Centerline is valid? [True, True] Translation: X:63.55, Y:6.12, Z:0.05 [[ 9.94967857e-01 -9.99260517e-02 -7.33127270e-03 6.35492823e+01] [ 9.99229524e-02 9.94994865e-01 -7.88732281e-04 6.11770137e+00] [ 7.37339360e-03 5.22008538e-05 9.99972815e-01 5.21329104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29140051299999 meters 0.011057792798342899 Centerline is valid? [True, True] Translation: X:63.58, Y:6.12, Z:0.05 [[ 9.95089676e-01 -9.87517104e-02 -6.68107644e-03 6.35764497e+01] [ 9.87491036e-02 9.95112102e-01 -7.19742813e-04 6.12336733e+00] [ 6.71949585e-03 5.64583329e-05 9.99977422e-01 5.33206047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32140051299999 meters 0.011957889000839684 Centerline is valid? [True, True] Translation: X:63.60, Y:6.13, Z:0.05 [[ 9.95191474e-01 -9.77553982e-02 -6.14909945e-03 6.36046605e+01] [ 9.77531688e-02 9.95210470e-01 -6.62796736e-04 6.12779958e+00] [ 6.18444011e-03 5.85157041e-05 9.99980874e-01 5.48285728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35140051299999 meters 0.013282421630289075 Centerline is valid? [True, True] Translation: X:63.63, Y:6.13, Z:0.06 [[ 9.95306894e-01 -9.65667355e-02 -6.24913567e-03 6.36322718e+01] [ 9.65644031e-02 9.95326510e-01 -6.74599804e-04 6.13216927e+00] [ 6.28507429e-03 6.79897805e-05 9.99980246e-01 5.50580869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38140051299999 meters 0.016218580772704282 Centerline is valid? [True, True] Translation: X:63.66, Y:6.14, Z:0.05 [[ 9.95632369e-01 -9.30188200e-02 -7.98027961e-03 6.36608351e+01] [ 9.30148960e-02 9.95664344e-01 -8.62267466e-04 6.13926762e+00] [ 8.02588696e-03 1.16216522e-04 9.99967785e-01 5.23391630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41140051299999 meters 0.01830066704231061 Centerline is valid? [True, True] Translation: X:63.69, Y:6.15, Z:0.05 [[ 9.95818410e-01 -9.09894177e-02 -8.16206414e-03 6.36894703e+01] [ 9.09852332e-02 9.95851850e-01 -8.83300272e-04 6.14607559e+00] [ 8.20857765e-03 1.36979364e-04 9.99966300e-01 5.15300355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44140051299999 meters 0.019970127770198572 Centerline is valid? [True, True] Translation: X:63.72, Y:6.15, Z:0.05 [[ 9.96016424e-01 -8.88693888e-02 -7.31535569e-03 6.37180537e+01] [ 8.88659621e-02 9.96043278e-01 -7.92792625e-04 6.15275269e+00] [ 7.35686586e-03 1.39548354e-04 9.99972928e-01 5.24744636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47140051299999 meters 0.023916396271786922 Centerline is valid? [True, True] Translation: X:63.75, Y:6.16, Z:0.05 [[ 9.96233621e-01 -8.64599460e-02 -6.57647913e-03 6.37452198e+01] [ 8.64571179e-02 9.96255317e-01 -7.13664042e-04 6.16186342e+00] [ 6.61355566e-03 1.42392682e-04 9.99978120e-01 5.37332138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501400513 meters 0.03193831774845886 Centerline is valid? [True, True] Translation: X:63.77, Y:6.18, Z:0.05 [[ 9.96718043e-01 -8.06831681e-02 -6.58552357e-03 6.37733837e+01] [ 8.06802036e-02 9.96739782e-01 -7.15015649e-04 6.17574470e+00] [ 6.62174306e-03 1.81347616e-04 9.99978060e-01 5.44738964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531400513 meters 0.03368815240286348 Centerline is valid? [True, True] Translation: X:63.80, Y:6.18, Z:0.05 [[ 9.96942492e-01 -7.78217647e-02 -7.03145455e-03 6.38027478e+01] [ 7.78183132e-02 9.96967265e-01 -7.63556752e-04 6.18136858e+00] [ 7.06955134e-03 2.14046239e-04 9.99974988e-01 5.45678564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561400513 meters 0.03344093607568459 Centerline is valid? [True, True] Translation: X:63.83, Y:6.19, Z:0.05 [[ 9.97145970e-01 -7.51593171e-02 -7.14081339e-03 6.38321718e+01] [ 7.51556879e-02 9.97171510e-01 -7.75598131e-04 6.18570522e+00] [ 7.17890910e-03 2.36711808e-04 9.99974203e-01 5.49886669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.591400513 meters 0.03344093607568459 Centerline is valid? [True, True] Translation: X:63.86, Y:6.19, Z:0.06 [[ 9.97131807e-01 -7.53469847e-02 -7.14077372e-03 6.38595227e+01] [ 7.53433577e-02 9.97157348e-01 -7.75963100e-04 6.18882789e+00] [ 7.17894146e-03 2.35727620e-04 9.99974203e-01 5.51531637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621400513 meters 0.036711267069073336 Centerline is valid? [True, True] Translation: X:63.89, Y:6.20, Z:0.06 [[ 9.97338415e-01 -7.26487914e-02 -6.18384202e-03 6.38867538e+01] [ 7.26460134e-02 9.97357561e-01 -6.72970066e-04 6.19829627e+00] [ 6.21639205e-03 2.21947428e-04 9.99980653e-01 5.65623556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65140051299998 meters 0.040523429684011514 Centerline is valid? [True, True] Translation: X:63.92, Y:6.21, Z:0.06 [[ 9.97668338e-01 -6.81679354e-02 -3.31965835e-03 6.39156714e+01] [ 6.81671095e-02 9.97673852e-01 -3.61437247e-04 6.21011368e+00] [ 3.33657477e-03 1.34302983e-04 9.99994425e-01 6.06487529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68140051299999 meters 0.04249690603026633 Centerline is valid? [True, True] Translation: X:63.94, Y:6.22, Z:0.06 [[ 9.97782556e-01 -6.65060785e-02 -2.62932583e-03 6.39442147e+01] [ 6.65055549e-02 9.97786014e-01 -2.86177912e-04 6.21686536e+00] [ 2.64253711e-03 1.10678555e-04 9.99996502e-01 6.17327224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71140051299999 meters 0.05037121036751639 Centerline is valid? [True, True] Translation: X:63.97, Y:6.23, Z:0.06 [[ 9.97859336e-01 -6.53494304e-02 -2.48967692e-03 6.39704470e+01] [ 6.53489573e-02 9.97862436e-01 -2.70975087e-04 6.23054749e+00] [ 2.50206315e-03 1.07697229e-04 9.99996864e-01 6.26597305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74140051299999 meters 0.04808135641249135 Centerline is valid? [True, True] Translation: X:64.00, Y:6.23, Z:0.06 [[ 9.97891647e-01 -6.47587566e-02 -4.30851933e-03 6.39988906e+01] [ 6.47573328e-02 9.97900931e-01 -4.69277766e-04 6.23360988e+00] [ 4.32986529e-03 1.89280143e-04 9.99990608e-01 5.92447053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77140051299999 meters 0.04343003211598696 Centerline is valid? [True, True] Translation: X:64.03, Y:6.23, Z:0.06 [[ 9.97850840e-01 -6.52874895e-02 -5.58974955e-03 6.40282492e+01] [ 6.52850948e-02 9.97866466e-01 -6.09995271e-04 6.23210805e+00] [ 5.61764869e-03 2.43756964e-04 9.99984191e-01 5.68966051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80140051299999 meters 0.04389078187929372 Centerline is valid? [True, True] Translation: X:64.06, Y:6.24, Z:0.06 [[ 9.97803813e-01 -6.59712854e-02 -5.94482732e-03 6.40556131e+01] [ 6.59685827e-02 9.97821489e-01 -6.49790644e-04 6.23578480e+00] [ 5.97474397e-03 2.56191749e-04 9.99982118e-01 5.64747237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83140051299999 meters 0.04635590870214149 Centerline is valid? [True, True] Translation: X:64.08, Y:6.24, Z:0.06 [[ 9.97772394e-01 -6.65123423e-02 -5.13392296e-03 6.40825694e+01] [ 6.65103324e-02 9.97785578e-01 -5.61410859e-04 6.24199065e+00] [ 5.15989504e-03 2.18701334e-04 9.99986664e-01 5.80089225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86140051299999 meters 0.04675969848886512 Centerline is valid? [True, True] Translation: X:64.11, Y:6.25, Z:0.06 [[ 9.97821189e-01 -6.59394948e-02 -2.20426806e-03 6.41112616e+01] [ 6.59391239e-02 9.97823619e-01 -2.40591803e-04 6.24828820e+00] [ 2.21533523e-03 9.47200941e-05 9.99997542e-01 6.38195638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891400513 meters 0.042837150111626546 Centerline is valid? [True, True] Translation: X:64.14, Y:6.25, Z:0.06 [[ 9.97887783e-01 -6.49465122e-02 -1.38655341e-03 6.41403225e+01] [ 6.49463647e-02 9.97888745e-01 -1.51171669e-04 6.24823801e+00] [ 1.39344411e-03 6.08007584e-05 9.99999027e-01 6.47922550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921400513 meters 0.05201849209677752 Centerline is valid? [True, True] Translation: X:64.17, Y:6.26, Z:0.07 [[ 9.97947000e-01 -6.40316552e-02 -1.31610210e-03 6.41662312e+01] [ 6.40315208e-02 9.97947866e-01 -1.44023735e-04 6.26411107e+00] [ 1.32262336e-03 5.94560356e-05 9.99999124e-01 6.61016617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951400513 meters 0.049822327086784995 Centerline is valid? [True, True] Translation: X:64.20, Y:6.27, Z:0.06 [[ 9.97980622e-01 -6.34880210e-02 -1.98751259e-03 6.41950142e+01] [ 6.34877132e-02 9.97982596e-01 -2.17678243e-04 6.26642186e+00] [ 1.99732293e-03 9.10560392e-05 9.99998001e-01 6.46179136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981400513 meters 0.052040397138480535 Centerline is valid? [True, True] Translation: X:64.22, Y:6.28, Z:0.06 [[ 9.98088189e-01 -6.17227280e-02 -3.20493694e-03 6.42237348e+01] [ 6.17219136e-02 9.98093323e-01 -3.52483533e-04 6.27549614e+00] [ 3.22058241e-03 1.53994811e-04 9.99994802e-01 6.22154984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01140051299998 meters 0.04833131090618519 Centerline is valid? [True, True] Translation: X:64.25, Y:6.27, Z:0.06 [[ 9.98128155e-01 -6.10633444e-02 -3.38435707e-03 6.42529115e+01] [ 6.10624335e-02 9.98133879e-01 -3.71934305e-04 6.27494793e+00] [ 3.40075301e-03 1.64581023e-04 9.99994204e-01 6.11555059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04140051299999 meters 0.053831970758789836 Centerline is valid? [True, True] Translation: X:64.28, Y:6.28, Z:0.06 [[ 9.98169504e-01 -6.03356005e-02 -4.15400629e-03 6.42796931e+01] [ 6.03342174e-02 9.98178127e-01 -4.57569038e-04 6.28493236e+00] [ 4.17404592e-03 2.06102741e-04 9.99991267e-01 6.04936377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07140051299999 meters 0.0541318225454398 Centerline is valid? [True, True] Translation: X:64.31, Y:6.29, Z:0.06 [[ 9.98233117e-01 -5.91930906e-02 -5.17900253e-03 6.43091319e+01] [ 5.91909221e-02 9.98246517e-01 -5.71117265e-04 6.28943923e+00] [ 5.20372744e-03 2.63558232e-04 9.99986426e-01 5.94564487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10140051299999 meters 0.05251303118782185 Centerline is valid? [True, True] Translation: X:64.34, Y:6.30, Z:0.06 [[ 9.98411926e-01 -5.58699278e-02 -7.22333389e-03 6.43388016e+01] [ 5.58656213e-02 9.98437979e-01 -7.96749734e-04 6.29536974e+00] [ 7.25656524e-03 3.91948401e-04 9.99973594e-01 5.67640746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13140051299999 meters 0.061082247688455334 Centerline is valid? [True, True] Translation: X:64.37, Y:6.31, Z:0.06 [[ 9.98523761e-01 -5.38392216e-02 -7.18583102e-03 6.43665509e+01] [ 5.38349069e-02 9.98549535e-01 -7.92660439e-04 6.31124203e+00] [ 7.21808444e-03 4.04641739e-04 9.99973867e-01 5.61288980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16140051299999 meters 0.06110492852228552 Centerline is valid? [True, True] Translation: X:64.40, Y:6.32, Z:0.06 [[ 9.98644228e-01 -5.16231249e-02 -6.69024113e-03 6.43959168e+01] [ 5.16193344e-02 9.98666561e-01 -7.38132066e-04 6.31595602e+00] [ 6.71942478e-03 3.91785533e-04 9.99977348e-01 5.67922580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19140051299999 meters 0.06412812660961786 Centerline is valid? [True, True] Translation: X:64.42, Y:6.32, Z:0.06 [[ 9.98756157e-01 -4.94848504e-02 -6.11458226e-03 6.44239738e+01] [ 4.94816438e-02 9.98774805e-01 -6.74686104e-04 6.32318727e+00] [ 6.14047744e-03 3.71287320e-04 9.99981078e-01 5.79867198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22140051299999 meters 0.06366886282042131 Centerline is valid? [True, True] Translation: X:64.45, Y:6.33, Z:0.06 [[ 9.98830249e-01 -4.78004764e-02 -7.29716478e-03 6.44542072e+01] [ 4.77958635e-02 9.98856800e-01 -8.05334735e-04 6.32734345e+00] [ 7.32731805e-03 4.55618402e-04 9.99973051e-01 5.61973654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251400513 meters 0.06128290559450687 Centerline is valid? [True, True] Translation: X:64.48, Y:6.33, Z:0.05 [[ 9.98797665e-01 -4.82829927e-02 -8.48388174e-03 6.44827022e+01] [ 4.82767712e-02 9.98833558e-01 -9.36721593e-04 6.32923719e+00] [ 8.51921350e-03 5.26020923e-04 9.99963572e-01 5.41998759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281400513 meters 0.06138266713690188 Centerline is valid? [True, True] Translation: X:64.51, Y:6.33, Z:0.05 [[ 9.98760174e-01 -4.90030073e-02 -8.76472199e-03 6.45116440e+01] [ 4.89963820e-02 9.98798486e-01 -9.69166904e-04 6.33371734e+00] [ 8.80168314e-03 5.38525639e-04 9.99961119e-01 5.32848819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311400513 meters 0.06633945394464891 Centerline is valid? [True, True] Translation: X:64.54, Y:6.34, Z:0.05 [[ 9.98722849e-01 -4.99516787e-02 -7.58288867e-03 6.45384580e+01] [ 4.99467400e-02 9.98751530e-01 -8.39399624e-04 6.34308405e+00] [ 7.61535108e-03 4.59587015e-04 9.99970897e-01 5.44147511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341400513 meters 0.06310696335369428 Centerline is valid? [True, True] Translation: X:64.57, Y:6.34, Z:0.06 [[ 9.98690832e-01 -5.10081033e-02 -3.84654504e-03 6.45676613e+01] [ 5.10068398e-02 9.98698213e-01 -4.25948165e-04 6.34099517e+00] [ 3.86326447e-03 2.29190420e-04 9.99992511e-01 6.19677094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.371400513 meters 0.07029606581403651 Centerline is valid? [True, True] Translation: X:64.59, Y:6.35, Z:0.06 [[ 9.98702618e-01 -5.08407931e-02 -2.88017060e-03 6.45945343e+01] [ 5.08400842e-02 9.98706756e-01 -3.18877396e-04 6.35329844e+00] [ 2.89265782e-03 1.72035574e-04 9.99995801e-01 6.47357496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40140051299998 meters 0.06798054169813171 Centerline is valid? [True, True] Translation: X:64.62, Y:6.36, Z:0.07 [[ 9.98721616e-01 -5.04746480e-02 -2.72815144e-03 6.46235467e+01] [ 5.04740106e-02 9.98725329e-01 -3.02029925e-04 6.35524868e+00] [ 2.73991880e-03 1.63943070e-04 9.99996233e-01 6.50266160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43140051299999 meters 0.05938672145169751 Centerline is valid? [True, True] Translation: X:64.65, Y:6.35, Z:0.06 [[ 9.98739276e-01 -5.00902424e-02 -3.29039394e-03 6.46532831e+01] [ 5.00893109e-02 9.98744676e-01 -3.64946277e-04 6.34920537e+00] [ 3.30454368e-03 1.99672615e-04 9.99994520e-01 6.33762363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46140051299999 meters 0.057338229564810224 Centerline is valid? [True, True] Translation: X:64.68, Y:6.35, Z:0.06 [[ 9.98742078e-01 -4.99969965e-02 -3.81596117e-03 6.46820433e+01] [ 4.99957400e-02 9.98749341e-01 -4.24020382e-04 6.34808423e+00] [ 3.83238845e-03 2.32705195e-04 9.99992629e-01 6.24311599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49140051299999 meters 0.06243903101134008 Centerline is valid? [True, True] Translation: X:64.71, Y:6.35, Z:0.06 [[ 9.98731265e-01 -5.02868874e-02 -2.66243231e-03 6.47089210e+01] [ 5.02862754e-02 9.98734801e-01 -2.96343921e-04 6.35481579e+00] [ 2.67396601e-03 1.62084135e-04 9.99996412e-01 6.46997670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52140051299999 meters 0.05847204529708348 Centerline is valid? [True, True] Translation: X:64.74, Y:6.35, Z:0.07 [[ 9.98693903e-01 -5.10843674e-02 -9.35316602e-04 6.47387445e+01] [ 5.10842929e-02 9.98694340e-01 -1.03404839e-04 6.35088352e+00] [ 9.39377768e-04 5.54897952e-05 9.99999557e-01 6.71970719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55140051299999 meters 0.06359048540182866 Centerline is valid? [True, True] Translation: X:64.77, Y:6.36, Z:0.07 [[ 9.98651397e-01 -5.19064527e-02 1.05236050e-03 6.47661192e+01] [ 5.19063572e-02 9.98651949e-01 1.17857750e-04 6.35808504e+00] [-1.05705945e-03 -6.30746067e-05 9.99999439e-01 7.06163814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58140051299999 meters 0.05629929048633035 Centerline is valid? [True, True] Translation: X:64.80, Y:6.35, Z:0.07 [[ 9.98535700e-01 -5.40564730e-02 2.08646580e-03 6.47978878e+01] [ 5.40561036e-02 9.98537873e-01 2.33074171e-04 6.34771018e+00] [-2.09601429e-03 -1.19946669e-04 9.99997796e-01 7.05146363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61140051299999 meters 0.0598456199470539 Centerline is valid? [True, True] Translation: X:64.83, Y:6.35, Z:0.07 [[ 9.98465247e-01 -5.53588991e-02 1.59451918e-03 6.48257758e+01] [ 5.53586845e-02 9.98466516e-01 1.78415756e-04 6.35136579e+00] [-1.60195091e-03 -8.98714476e-05 9.99998713e-01 7.03415816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641400513 meters 0.05866269137906349 Centerline is valid? [True, True] Translation: X:64.86, Y:6.35, Z:0.07 [[ 9.98388520e-01 -5.67395352e-02 9.93880765e-04 6.48563883e+01] [ 5.67394526e-02 9.98389013e-01 1.11115201e-04 6.34884959e+00] [-9.98584262e-04 -5.45438908e-05 9.99999500e-01 6.93927162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671400513 meters 0.05109463824918825 Centerline is valid? [True, True] Translation: X:64.89, Y:6.34, Z:0.07 [[ 9.98246350e-01 -5.91901774e-02 8.64736164e-04 6.48882617e+01] [ 5.91901157e-02 9.98246723e-01 9.67885909e-05 6.33605161e+00] [-8.68948976e-04 -4.54350240e-05 9.99999621e-01 6.87975801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701400513 meters 0.05365827774057179 Centerline is valid? [True, True] Translation: X:64.92, Y:6.34, Z:0.07 [[ 9.98227563e-01 -5.95031221e-02 1.05373447e-03 6.49161889e+01] [ 5.95030304e-02 9.98228118e-01 1.18172441e-04 6.33881853e+00] [-1.05889900e-03 -5.52625932e-05 9.99999438e-01 6.94497474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.731400513 meters 0.05643075769224419 Centerline is valid? [True, True] Translation: X:64.94, Y:6.34, Z:0.07 [[ 9.98260349e-01 -5.89568928e-02 6.00883420e-04 6.49443593e+01] [ 5.89568628e-02 9.98260529e-01 6.75638405e-05 6.34091106e+00] [-6.03821555e-04 -3.20201017e-05 9.99999817e-01 6.90871750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76140051299998 meters 0.05691251626107242 Centerline is valid? [True, True] Translation: X:64.97, Y:6.34, Z:0.07 [[ 9.98332389e-01 -5.77267543e-02 -2.51672436e-04 6.49739588e+01] [ 5.77267491e-02 9.98332420e-01 -2.79613098e-05 6.34031595e+00] [ 2.52866867e-04 1.33864497e-05 9.99999968e-01 6.80278939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79140051299999 meters 0.06324676788615324 Centerline is valid? [True, True] Translation: X:65.00, Y:6.34, Z:0.07 [[ 9.98642826e-01 -5.20709921e-02 -1.05759334e-03 6.50042349e+01] [ 5.20708959e-02 9.98643384e-01 -1.18317846e-04 6.34360345e+00] [ 1.06231952e-03 6.30874351e-05 9.99999434e-01 6.72803162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82140051299999 meters 0.06730719182923543 Centerline is valid? [True, True] Translation: X:65.03, Y:6.35, Z:0.07 [[ 9.98841654e-01 -4.81149557e-02 -5.47984829e-04 6.50345298e+01] [ 4.81149292e-02 9.98841804e-01 -6.13313854e-05 6.34886165e+00] [ 5.50301112e-04 3.48940912e-05 9.99999848e-01 6.83380878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85140051299999 meters 0.07149194872599202 Centerline is valid? [True, True] Translation: X:65.06, Y:6.35, Z:0.07 [[ 9.99030672e-01 -4.40183124e-02 -3.21919089e-04 6.50640142e+01] [ 4.40183031e-02 9.99030724e-01 -3.59696385e-05 6.35450652e+00] [ 3.23190383e-04 2.17644401e-05 9.99999948e-01 6.92236200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88140051299999 meters 0.07774377226393792 Centerline is valid? [True, True] Translation: X:65.09, Y:6.36, Z:0.07 [[ 9.99323189e-01 -3.67723564e-02 -9.78438945e-04 6.50936877e+01] [ 3.67722668e-02 9.99323665e-01 -1.09491113e-04 6.36368349e+00] [ 9.81803440e-04 7.34375908e-05 9.99999515e-01 6.78386041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91140051299999 meters 0.07187595156337727 Centerline is valid? [True, True] Translation: X:65.12, Y:6.36, Z:0.07 [[ 9.99421459e-01 -3.39334397e-02 -2.29547881e-03 6.51244051e+01] [ 3.39329386e-02 9.99424079e-01 -2.56885263e-04 6.36020792e+00] [ 2.30287379e-03 1.78844302e-04 9.99997332e-01 6.51749462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94140051299999 meters 0.09117097351595829 Centerline is valid? [True, True] Translation: X:65.15, Y:6.39, Z:0.06 [[ 9.99502999e-01 -3.13729882e-02 -3.08078598e-03 6.51509251e+01] [ 3.13720733e-02 9.99507716e-01 -3.44860581e-04 6.38693214e+00] [ 3.09008867e-03 2.48038542e-04 9.99995195e-01 6.48357465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97140051299999 meters 0.08186785681384375 Centerline is valid? [True, True] Translation: X:65.18, Y:6.38, Z:0.06 [[ 9.99558080e-01 -2.95343589e-02 -3.37150246e-03 6.51818695e+01] [ 2.95332529e-02 9.99563727e-01 -3.77373357e-04 6.37896259e+00] [ 3.38117704e-03 2.77635153e-04 9.99994245e-01 6.40446159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001400513 meters 0.08505035255418565 Centerline is valid? [True, True] Translation: X:65.21, Y:6.39, Z:0.06 [[ 9.99600528e-01 -2.80282266e-02 -3.63365691e-03 6.52102347e+01] [ 2.80269319e-02 9.99607086e-01 -4.06767158e-04 6.38765816e+00] [ 3.64363015e-03 3.04764412e-04 9.99993316e-01 6.32576108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031400513 meters 0.08556602763045827 Centerline is valid? [True, True] Translation: X:65.24, Y:6.39, Z:0.06 [[ 9.99567311e-01 -2.91254410e-02 -4.11086373e-03 6.52404447e+01] [ 2.91237928e-02 9.99575706e-01 -4.60226221e-04 6.38881681e+00] [ 4.12252381e-03 3.40303142e-04 9.99991444e-01 6.18002308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061400513 meters 0.07664784053148582 Centerline is valid? [True, True] Translation: X:65.27, Y:6.38, Z:0.06 [[ 9.99511631e-01 -3.10336136e-02 -3.66251296e-03 6.52712452e+01] [ 3.10323179e-02 9.99518298e-01 -4.10083994e-04 6.38483680e+00] [ 3.67347511e-03 2.96227455e-04 9.99993209e-01 6.25234510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.091400513 meters 0.08141281293413706 Centerline is valid? [True, True] Translation: X:65.30, Y:6.39, Z:0.06 [[ 9.99437881e-01 -3.33723552e-02 -3.19490995e-03 6.52996026e+01] [ 3.33713812e-02 9.99442956e-01 -3.57707134e-04 6.39295322e+00] [ 3.20506777e-03 2.50887503e-04 9.99994832e-01 6.42527595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121400513 meters 0.07760790206357837 Centerline is valid? [True, True] Translation: X:65.33, Y:6.39, Z:0.07 [[ 9.99242733e-01 -3.89032249e-02 -7.06686099e-04 6.53300016e+01] [ 3.89031787e-02 9.99242982e-01 -7.91230073e-05 6.39105238e+00] [ 7.09229265e-04 5.15707545e-05 9.99999747e-01 6.83691343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15140051299998 meters 0.0689494993168231 Centerline is valid? [True, True] Translation: X:65.36, Y:6.38, Z:0.07 [[ 9.99126172e-01 -4.17958312e-02 1.42679059e-05 6.53616473e+01] [ 4.17958311e-02 9.99126172e-01 1.60923375e-06 6.38446069e+00] [-1.43226975e-05 -1.01148858e-06 1.00000000e+00 6.88806578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18140051299999 meters 0.0667882864052452 Centerline is valid? [True, True] Translation: X:65.39, Y:6.39, Z:0.07 [[ 9.99029254e-01 -4.40513886e-02 -1.60405910e-04 6.53920263e+01] [ 4.40513863e-02 9.99029266e-01 -1.79233394e-05 6.38566055e+00] [ 1.61039746e-04 1.08398377e-05 9.99999987e-01 6.78778699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21140051299999 meters 0.07356076925683808 Centerline is valid? [True, True] Translation: X:65.42, Y:6.40, Z:0.06 [[ 9.98974939e-01 -4.51964156e-02 -2.52104955e-03 6.54195328e+01] [ 4.51958466e-02 9.98978106e-01 -2.82236387e-04 6.39769693e+00] [ 2.53122938e-03 1.68006108e-04 9.99996782e-01 6.47864843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24140051299999 meters 0.0688977583621555 Centerline is valid? [True, True] Translation: X:65.45, Y:6.40, Z:0.06 [[ 9.98981635e-01 -4.49778266e-02 -3.56198372e-03 6.54483378e+01] [ 4.49766897e-02 9.98987957e-01 -3.98683734e-04 6.39668625e+00] [ 3.57631077e-03 2.38071492e-04 9.99993577e-01 6.32415053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27140051299999 meters 0.06506058631060191 Centerline is valid? [True, True] Translation: X:65.48, Y:6.40, Z:0.06 [[ 9.98991637e-01 -4.47050664e-02 -4.14328056e-03 6.54772965e+01] [ 4.47035225e-02 9.99000190e-01 -4.64548401e-04 6.39781512e+00] [ 4.15990573e-03 2.78860732e-04 9.99991309e-01 6.28760408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30140051299999 meters 0.0644501138711777 Centerline is valid? [True, True] Translation: X:65.51, Y:6.40, Z:0.06 [[ 9.99007097e-01 -4.43563722e-02 -4.16331930e-03 6.55053667e+01] [ 4.43548075e-02 9.99015732e-01 -4.67471471e-04 6.40310711e+00] [ 4.17995681e-03 2.82344091e-04 9.99991224e-01 6.32064545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33140051299999 meters 0.0740189634483142 Centerline is valid? [True, True] Translation: X:65.53, Y:6.42, Z:0.06 [[ 9.99044227e-01 -4.35756145e-02 -3.43484608e-03 6.55314521e+01] [ 4.35745425e-02 9.99050104e-01 -3.86362750e-04 6.42291620e+00] [ 3.44841933e-03 2.36321628e-04 9.99994026e-01 6.47856873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36140051299999 meters 0.07418915140099618 Centerline is valid? [True, True] Translation: X:65.56, Y:6.43, Z:0.06 [[ 9.99033664e-01 -4.37694273e-02 -3.99691026e-03 6.55590482e+01] [ 4.37679774e-02 9.99041622e-01 -4.49564917e-04 6.42869174e+00] [ 4.01275690e-03 2.74193809e-04 9.99991911e-01 6.38278581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391400513 meters 0.06877118090812948 Centerline is valid? [True, True] Translation: X:65.59, Y:6.43, Z:0.06 [[ 9.99011349e-01 -4.42277209e-02 -4.49805542e-03 6.55878992e+01] [ 4.42258848e-02 9.99021428e-01 -5.06886452e-04 6.42800262e+00] [ 4.51607218e-03 3.07454838e-04 9.99989755e-01 6.27434938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421400513 meters 0.07297428324350666 Centerline is valid? [True, True] Translation: X:65.61, Y:6.44, Z:0.06 [[ 9.98961597e-01 -4.52951463e-02 -4.90693747e-03 6.56148209e+01] [ 4.52929694e-02 9.98973593e-01 -5.53921781e-04 6.43867265e+00] [ 4.92699092e-03 3.31096818e-04 9.99987807e-01 6.16664677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451400513 meters 0.06645185352030135 Centerline is valid? [True, True] Translation: X:65.65, Y:6.44, Z:0.06 [[ 9.98744569e-01 -4.98565804e-02 -4.85867715e-03 6.56455900e+01] [ 4.98544974e-02 9.98756341e-01 -5.48949989e-04 6.43610102e+00] [ 4.88000337e-03 3.06033913e-04 9.99988046e-01 6.05703035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481400513 meters 0.060705689889441444 Centerline is valid? [True, True] Translation: X:65.68, Y:6.43, Z:0.06 [[ 9.98611394e-01 -5.24799191e-02 -4.59798748e-03 6.56765742e+01] [ 5.24780814e-02 9.98621941e-01 -5.19499667e-04 6.43331383e+00] [ 4.61891448e-03 2.77484725e-04 9.99989294e-01 6.05629961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51140051299998 meters 0.060705689889441444 Centerline is valid? [True, True] Translation: X:65.70, Y:6.44, Z:0.06 [[ 9.98601796e-01 -5.26622289e-02 -4.59801335e-03 6.57039384e+01] [ 5.26603941e-02 9.98612344e-01 -5.19270888e-04 6.43655137e+00] [ 4.61897885e-03 2.76411647e-04 9.99989294e-01 6.07276717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54140051299999 meters 0.05725447397766013 Centerline is valid? [True, True] Translation: X:65.73, Y:6.44, Z:0.06 [[ 9.98488578e-01 -5.47909094e-02 -4.30306355e-03 6.57344855e+01] [ 5.47893178e-02 9.98497818e-01 -4.86969588e-04 6.43665235e+00] [ 4.32328108e-03 2.50471654e-04 9.99990623e-01 6.08694377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57140051299999 meters 0.060824291115688774 Centerline is valid? [True, True] Translation: X:65.76, Y:6.45, Z:0.06 [[ 9.98399232e-01 -5.63772123e-02 -4.53687250e-03 6.57621988e+01] [ 5.63754592e-02 9.98409507e-01 -5.13465531e-04 6.44522290e+00] [ 4.55860439e-03 2.56875321e-04 9.99989577e-01 6.07606274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60140051299999 meters 0.05977708775326164 Centerline is valid? [True, True] Translation: X:65.79, Y:6.45, Z:0.06 [[ 9.98406352e-01 -5.61731924e-02 -5.41563660e-03 6.57910964e+01] [ 5.61706909e-02 9.98420992e-01 -6.13024248e-04 6.44770683e+00] [ 5.44152079e-03 3.07847254e-04 9.99985147e-01 5.96594872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63140051299999 meters 0.05763198867499352 Centerline is valid? [True, True] Translation: X:65.82, Y:6.45, Z:0.06 [[ 9.98452123e-01 -5.52191758e-02 -6.64833164e-03 6.58203475e+01] [ 5.52153769e-02 9.98474183e-01 -7.53748647e-04 6.44942403e+00] [ 6.67980888e-03 3.85491800e-04 9.99977616e-01 5.78396242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66140051299999 meters 0.06430001858576313 Centerline is valid? [True, True] Translation: X:65.85, Y:6.46, Z:0.06 [[ 9.98530473e-01 -5.36382484e-02 -7.73519297e-03 6.58478023e+01] [ 5.36330562e-02 9.98560327e-01 -8.77274816e-04 6.46224141e+00] [ 7.77111231e-03 4.61123598e-04 9.99969698e-01 5.59571020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69140051299999 meters 0.06615583269548211 Centerline is valid? [True, True] Translation: X:65.88, Y:6.47, Z:0.06 [[ 9.98645944e-01 -5.13933898e-02 -8.06211165e-03 6.58777114e+01] [ 5.13876747e-02 9.98678362e-01 -9.14567773e-04 6.46904529e+00] [ 8.09845919e-03 4.99036226e-04 9.99967082e-01 5.55373928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72140051299999 meters 0.06999805509493116 Centerline is valid? [True, True] Translation: X:65.91, Y:6.48, Z:0.06 [[ 9.98870028e-01 -4.69140173e-02 -7.59885623e-03 6.59074142e+01] [ 4.69088109e-02 9.98898804e-01 -8.62029470e-04 6.47777642e+00] [ 7.63092966e-03 5.04602090e-04 9.99970757e-01 5.66302005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751400513 meters 0.07419408893526339 Centerline is valid? [True, True] Translation: X:65.94, Y:6.49, Z:0.06 [[ 9.98953432e-01 -4.50032998e-02 -8.16971322e-03 6.59360699e+01] [ 4.49972175e-02 9.98986682e-01 -9.26865597e-04 6.48687363e+00] [ 8.20314671e-03 5.58281206e-04 9.99966198e-01 5.60680475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781400513 meters 0.07518648200209542 Centerline is valid? [True, True] Translation: X:65.97, Y:6.49, Z:0.05 [[ 9.99035389e-01 -4.30360588e-02 -8.72859846e-03 6.59661687e+01] [ 4.30290406e-02 9.99073331e-01 -9.90343223e-04 6.49259765e+00] [ 8.76313041e-03 6.13804710e-04 9.99961415e-01 5.49069719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811400513 meters 0.07957259640506886 Centerline is valid? [True, True] Translation: X:65.99, Y:6.50, Z:0.05 [[ 9.99175374e-01 -3.94949825e-02 -9.41907514e-03 6.59947612e+01] [ 3.94866531e-02 9.99219526e-01 -1.06871329e-03 6.50426604e+00] [ 9.45393261e-03 6.95904249e-04 9.99955068e-01 5.30106710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841400513 meters 0.07878479856789139 Centerline is valid? [True, True] Translation: X:66.02, Y:6.51, Z:0.05 [[ 9.99230058e-01 -3.80347307e-02 -9.62547829e-03 6.60247085e+01] [ 3.80259640e-02 9.99276155e-01 -1.09222398e-03 6.50881516e+00] [ 9.66005337e-03 7.25364942e-04 9.99953078e-01 5.25115707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87140051299998 meters 0.07260991995169214 Centerline is valid? [True, True] Translation: X:66.06, Y:6.51, Z:0.05 [[ 9.99256484e-01 -3.71763556e-02 -1.02174858e-02 6.60550043e+01] [ 3.71664310e-02 9.99308417e-01 -1.15957108e-03 6.50661625e+00] [ 1.02535282e-02 7.78961440e-04 9.99947128e-01 5.17896786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90140051299998 meters 0.08308560525762573 Centerline is valid? [True, True] Translation: X:66.08, Y:6.52, Z:0.05 [[ 9.99251862e-01 -3.71292100e-02 -1.08229906e-02 6.60807521e+01] [ 3.71180667e-02 9.99310132e-01 -1.22872153e-03 6.52321205e+00] [ 1.08611456e-02 8.26073795e-04 9.99940675e-01 5.01672048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93140051299999 meters 0.0781660397343817 Centerline is valid? [True, True] Translation: X:66.11, Y:6.52, Z:0.05 [[ 9.99163453e-01 -3.92890118e-02 -1.13475807e-02 6.61111996e+01] [ 3.92768955e-02 9.99227534e-01 -1.28871655e-03 6.51984057e+00] [ 1.13894474e-02 8.41940739e-04 9.99934784e-01 5.03025437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96140051299999 meters 0.07476277222514498 Centerline is valid? [True, True] Translation: X:66.14, Y:6.52, Z:0.05 [[ 9.99088344e-01 -4.10015976e-02 -1.18890816e-02 6.61418214e+01] [ 4.09884168e-02 9.99158709e-01 -1.35030008e-03 6.51890335e+00] [ 1.19344439e-02 8.61754443e-04 9.99928411e-01 5.04095255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99140051299999 meters 0.0833142575049441 Centerline is valid? [True, True] Translation: X:66.17, Y:6.53, Z:0.05 [[ 9.99020736e-01 -4.24441463e-02 -1.24925463e-02 6.61689888e+01] [ 4.24297028e-02 9.99098447e-01 -1.41906167e-03 6.53350766e+00] [ 1.25415145e-02 8.87617007e-04 9.99920958e-01 4.91948951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02140051299999 meters 0.07586743593716941 Centerline is valid? [True, True] Translation: X:66.20, Y:6.53, Z:0.05 [[ 9.98989481e-01 -4.30732326e-02 -1.28341082e-02 6.61984309e+01] [ 4.30580235e-02 9.99071508e-01 -1.45914776e-03 6.52957774e+00] [ 1.28850421e-02 9.05061924e-04 9.99916575e-01 4.94502834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05140051299999 meters 0.07073167897985232 Centerline is valid? [True, True] Translation: X:66.23, Y:6.53, Z:0.05 [[ 9.99037188e-01 -4.18232333e-02 -1.32482003e-02 6.62277651e+01] [ 4.18069014e-02 9.99124572e-01 -1.50744122e-03 6.53126548e+00] [ 1.32996486e-02 9.52123634e-04 9.99911102e-01 4.96121394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08140051299999 meters 0.08137839792192554 Centerline is valid? [True, True] Translation: X:66.26, Y:6.55, Z:0.05 [[ 9.99088825e-01 -4.03581125e-02 -1.38832015e-02 6.62554971e+01] [ 4.03400321e-02 9.99184760e-01 -1.58001946e-03 6.54884545e+00] [ 1.39356499e-02 1.01853099e-03 9.99902375e-01 4.80131309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11140051299999 meters 0.07230281137401892 Centerline is valid? [True, True] Translation: X:66.29, Y:6.54, Z:0.05 [[ 9.99128526e-01 -3.89036768e-02 -1.51225717e-02 6.62867088e+01] [ 3.88820551e-02 9.99242324e-01 -1.72126482e-03 6.54225207e+00] [ 1.51780773e-02 1.13176811e-03 9.99884166e-01 4.81390208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141400513 meters 0.07674287386421749 Centerline is valid? [True, True] Translation: X:66.31, Y:6.55, Z:0.05 [[ 9.99110413e-01 -3.88483129e-02 -1.64070484e-02 6.63131085e+01] [ 3.88228382e-02 9.99244363e-01 -1.86844714e-03 6.55288307e+00] [ 1.64672367e-02 1.22981681e-03 9.99863650e-01 4.70524045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171400513 meters 0.08093257402096334 Centerline is valid? [True, True] Translation: X:66.34, Y:6.56, Z:0.05 [[ 9.99113721e-01 -3.87300265e-02 -1.64850811e-02 6.63392805e+01] [ 3.86974848e-02 9.99248351e-01 -2.28856177e-03 6.55781222e+00] [ 1.65613262e-02 1.64860229e-03 9.99861493e-01 4.76339556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201400513 meters 0.07802394841859693 Centerline is valid? [True, True] Translation: X:66.37, Y:6.56, Z:0.05 [[ 9.98988602e-01 -4.21289554e-02 -1.57138304e-02 6.63704605e+01] [ 4.21112252e-02 9.99111866e-01 -1.45765269e-03 6.56310749e+00] [ 1.57612838e-02 7.94449776e-04 9.99875468e-01 4.84207648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.231400513 meters 0.06878707079443735 Centerline is valid? [True, True] Translation: X:66.40, Y:6.56, Z:0.05 [[ 9.98922772e-01 -4.38299876e-02 -1.52390127e-02 6.64010899e+01] [ 4.38085654e-02 9.99038434e-01 -1.73690032e-03 6.55651207e+00] [ 1.53004877e-02 1.06743000e-03 9.99882371e-01 5.01865847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26140051299998 meters 0.07005137775866392 Centerline is valid? [True, True] Translation: X:66.43, Y:6.56, Z:0.05 [[ 9.98847018e-01 -4.58055444e-02 -1.43696566e-02 6.64293613e+01] [ 4.57866956e-02 9.98949896e-01 -1.63813731e-03 6.56212352e+00] [ 1.44296027e-02 9.78309473e-04 9.99895409e-01 5.09033169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29140051299999 meters 0.06107592460326899 Centerline is valid? [True, True] Translation: X:66.46, Y:6.56, Z:0.05 [[ 9.98655884e-01 -5.01123384e-02 -1.32354831e-02 6.64601087e+01] [ 5.00967211e-02 9.98743231e-01 -1.50908016e-03 6.55710394e+00] [ 1.32944727e-02 8.43997471e-04 9.99911268e-01 5.28104948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32140051299999 meters 0.05844454411504386 Centerline is valid? [True, True] Translation: X:66.49, Y:6.56, Z:0.05 [[ 9.98582708e-01 -5.15394613e-02 -1.32762301e-02 6.64892471e+01] [ 5.15238569e-02 9.98670615e-01 -1.51496053e-03 6.55940022e+00] [ 1.33366612e-02 8.28770812e-04 9.99910719e-01 5.34419484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35140051299999 meters 0.06887675396125123 Centerline is valid? [True, True] Translation: X:66.52, Y:6.58, Z:0.05 [[ 9.98541439e-01 -5.22240049e-02 -1.36984498e-02 6.65157588e+01] [ 5.22074367e-02 9.98635036e-01 -1.56455832e-03 6.57511443e+00] [ 1.37614594e-02 8.47115364e-04 9.99904948e-01 5.15031676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38140051299999 meters 0.06855380473082084 Centerline is valid? [True, True] Translation: X:66.54, Y:6.58, Z:0.05 [[ 9.98510061e-01 -5.22326119e-02 -1.57927640e-02 6.65447349e+01] [ 5.22105599e-02 9.98634466e-01 -1.80571168e-03 6.57533750e+00] [ 1.58655154e-02 9.78472231e-04 9.99873656e-01 4.96558047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41140051299999 meters 0.0648782343614676 Centerline is valid? [True, True] Translation: X:66.57, Y:6.57, Z:0.05 [[ 9.98520959e-01 -5.16892318e-02 -1.68557640e-02 6.65737397e+01] [ 5.16639871e-02 9.98662660e-01 -1.93000433e-03 6.57355937e+00] [ 1.69329825e-02 1.05631380e-03 9.99856069e-01 4.98418974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44140051299999 meters 0.06148172164252056 Centerline is valid? [True, True] Translation: X:66.60, Y:6.57, Z:0.05 [[ 9.98564632e-01 -5.07061105e-02 -1.72501188e-02 6.66031190e+01] [ 5.06795005e-02 9.98713013e-01 -1.97654022e-03 6.57315146e+00] [ 1.73281407e-02 1.09947575e-03 9.99849252e-01 5.04989157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47140051299999 meters 0.07070616521355932 Centerline is valid? [True, True] Translation: X:66.63, Y:6.59, Z:0.05 [[ 9.98702900e-01 -4.85662055e-02 -1.52918856e-02 6.66307280e+01] [ 4.85450386e-02 9.98819457e-01 -1.75257184e-03 6.58895870e+00] [ 1.53589486e-02 1.00795341e-03 9.99881536e-01 5.19374070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501400513 meters 0.06601820535451917 Centerline is valid? [True, True] Translation: X:66.66, Y:6.59, Z:0.06 [[ 9.98779002e-01 -4.74574284e-02 -1.37221665e-02 6.66610488e+01] [ 4.74402760e-02 9.98872838e-01 -1.57297821e-03 6.58608997e+00] [ 1.37813489e-02 9.20074238e-04 9.99904609e-01 5.53496260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531400513 meters 0.06745927083321875 Centerline is valid? [True, True] Translation: X:66.69, Y:6.59, Z:0.06 [[ 9.98828633e-01 -4.66799641e-02 -1.27413834e-02 6.66887828e+01] [ 4.66651065e-02 9.98909522e-01 -1.46107705e-03 6.59030194e+00] [ 1.27956922e-02 8.64787584e-04 9.99917758e-01 5.66931808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561400513 meters 0.0642617223629295 Centerline is valid? [True, True] Translation: X:66.72, Y:6.59, Z:0.06 [[ 9.98823971e-01 -4.68269335e-02 -1.25663150e-02 6.67171812e+01] [ 4.68124727e-02 9.98902654e-01 -1.44260449e-03 6.58888996e+00] [ 1.26200781e-02 8.52647671e-04 9.99920000e-01 5.76642170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.591400513 meters 0.06829321885983232 Centerline is valid? [True, True] Translation: X:66.75, Y:6.60, Z:0.06 [[ 9.98720902e-01 -4.87445369e-02 -1.34361358e-02 6.67458062e+01] [ 4.87281588e-02 9.98810885e-01 -1.54384390e-03 6.59505995e+00] [ 1.34954126e-02 8.87151012e-04 9.99908539e-01 5.57411684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62140051299998 meters 0.06383734328558777 Centerline is valid? [True, True] Translation: X:66.78, Y:6.59, Z:0.06 [[ 9.98618698e-01 -5.07069745e-02 -1.37658572e-02 6.67761471e+01] [ 5.06899638e-02 9.98713184e-01 -1.58205536e-03 6.59160043e+00] [ 1.38283643e-02 8.82079255e-04 9.99903995e-01 5.57783377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65140051299998 meters 0.06498007688245204 Centerline is valid? [True, True] Translation: X:66.81, Y:6.59, Z:0.06 [[ 9.98487470e-01 -5.32606674e-02 -1.36408824e-02 6.68050681e+01] [ 5.32441980e-02 9.98580291e-01 -1.56795028e-03 6.59477409e+00] [ 1.37050264e-02 8.39280865e-04 9.99905729e-01 5.54601360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68140051299999 meters 0.05689243484289428 Centerline is valid? [True, True] Translation: X:66.84, Y:6.59, Z:0.06 [[ 9.98227608e-01 -5.76966511e-02 -1.45855651e-02 6.68360120e+01] [ 5.76782891e-02 9.98333814e-01 -1.67680236e-03 6.58589065e+00] [ 1.46580087e-02 8.32559973e-04 9.99892219e-01 5.53140186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71140051299999 meters 0.057610145828316923 Centerline is valid? [True, True] Translation: X:66.86, Y:6.59, Z:0.05 [[ 9.98123710e-01 -5.91935746e-02 -1.56582249e-02 6.68636369e+01] [ 5.91725814e-02 9.98246143e-01 -1.80103959e-03 6.58823401e+00] [ 1.57373726e-02 8.71122724e-04 9.99875780e-01 5.33023568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74140051299999 meters 0.05726341890385244 Centerline is valid? [True, True] Translation: X:66.89, Y:6.59, Z:0.05 [[ 9.98049333e-01 -6.01824388e-02 -1.66013088e-02 6.68931735e+01] [ 6.01589414e-02 9.98186980e-01 -1.91162996e-03 6.58847533e+00] [ 1.66862568e-02 9.09183843e-04 9.99860361e-01 5.22948688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77140051299999 meters 0.05800146148091515 Centerline is valid? [True, True] Translation: X:66.92, Y:6.59, Z:0.05 [[ 9.98047280e-01 -6.01979963e-02 -1.66681765e-02 6.69221756e+01] [ 6.01742675e-02 9.98186037e-01 -1.92194663e-03 6.59025562e+00] [ 1.67536384e-02 9.15198291e-04 9.99859229e-01 5.33354975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80140051299999 meters 0.05819023970042043 Centerline is valid? [True, True] Translation: X:66.95, Y:6.59, Z:0.06 [[ 9.98302112e-01 -5.61974734e-02 -1.53211272e-02 6.69529630e+01] [ 5.61769421e-02 9.98419264e-01 -1.76750190e-03 6.59240263e+00] [ 1.53962377e-02 9.03806803e-04 9.99881062e-01 5.75547388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83140051299999 meters 0.06732079715322295 Centerline is valid? [True, True] Translation: X:66.98, Y:6.61, Z:0.06 [[ 9.98462726e-01 -5.32019673e-02 -1.55478490e-02 6.69810330e+01] [ 5.31804619e-02 9.98583307e-01 -1.79365721e-03 6.60662141e+00] [ 1.56212486e-02 9.64058071e-04 9.99877516e-01 5.58330164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86140051299999 meters 0.06819859507464544 Centerline is valid? [True, True] Translation: X:67.01, Y:6.61, Z:0.06 [[ 9.98621033e-01 -4.98988947e-02 -1.63135591e-02 6.70109036e+01] [ 4.98747797e-02 9.98753706e-01 -1.88198660e-03 6.61124961e+00] [ 1.63871367e-02 1.06575624e-03 9.99865154e-01 5.55088412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891400513 meters 0.07373008739255354 Centerline is valid? [True, True] Translation: X:67.04, Y:6.62, Z:0.05 [[ 9.98787771e-01 -4.60728234e-02 -1.73286653e-02 6.70395518e+01] [ 4.60450387e-02 9.98937364e-01 -1.99918309e-03 6.62222899e+00] [ 1.74023593e-02 1.19886056e-03 9.99847849e-01 5.46670188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921400513 meters 0.07958307776773196 Centerline is valid? [True, True] Translation: X:67.07, Y:6.64, Z:0.06 [[ 9.99095967e-01 -3.85244328e-02 -1.79754423e-02 6.70685660e+01] [ 3.84933187e-02 9.99256706e-01 -2.07384867e-03 6.63719159e+00] [ 1.80419751e-02 1.38003942e-03 9.99836278e-01 5.51166936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951400513 meters 0.07665220639367346 Centerline is valid? [True, True] Translation: X:67.10, Y:6.64, Z:0.06 [[ 9.99219146e-01 -3.57318838e-02 -1.68621011e-02 6.70987948e+01] [ 3.57041098e-02 9.99360512e-01 -1.94540181e-03 6.63900815e+00] [ 1.69208309e-02 1.34183643e-03 9.99855932e-01 5.80020962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981400513 meters 0.0819498700575423 Centerline is valid? [True, True] Translation: X:67.13, Y:6.65, Z:0.06 [[ 9.99297612e-01 -3.43165431e-02 -1.50551260e-02 6.71266282e+01] [ 3.42942368e-02 9.99410270e-01 -1.73738964e-03 6.64999600e+00] [ 1.51058688e-02 1.21986526e-03 9.99885156e-01 6.01392248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01140051299998 meters 0.08636571520751918 Centerline is valid? [True, True] Translation: X:67.16, Y:6.66, Z:0.06 [[ 9.99294355e-01 -3.53691439e-02 -1.26418251e-02 6.71550728e+01] [ 3.53534948e-02 9.99373804e-01 -1.45929370e-03 6.65638042e+00] [ 1.26855228e-02 1.01133126e-03 9.99919024e-01 6.39506354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04140051299999 meters 0.07616582373167874 Centerline is valid? [True, True] Translation: X:67.19, Y:6.65, Z:0.07 [[ 9.99249673e-01 -3.65463350e-02 -1.28240832e-02 6.71858806e+01] [ 3.65303249e-02 9.99331448e-01 -1.48054862e-03 6.65021131e+00] [ 1.28696182e-02 1.01096980e-03 9.99916672e-01 6.52885819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07140051299999 meters 0.08193405681639536 Centerline is valid? [True, True] Translation: X:67.21, Y:6.66, Z:0.06 [[ 9.99196677e-01 -3.77006419e-02 -1.35890349e-02 6.72137397e+01] [ 3.76827673e-02 9.99288520e-01 -1.56911178e-03 6.66097115e+00] [ 1.36385231e-02 1.05577884e-03 9.99906434e-01 6.38250097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10140051299999 meters 0.0830747758081459 Centerline is valid? [True, True] Translation: X:67.24, Y:6.66, Z:0.06 [[ 9.99161128e-01 -3.84806423e-02 -1.40100025e-02 6.72414855e+01] [ 3.84617109e-02 9.99258764e-01 -1.61831290e-03 6.66416633e+00] [ 1.40618915e-02 1.07810667e-03 9.99900546e-01 6.33293597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13140051299999 meters 0.07354700257338855 Centerline is valid? [True, True] Translation: X:67.27, Y:6.65, Z:0.07 [[ 9.99150181e-01 -3.88641125e-02 -1.37294049e-02 6.72715972e+01] [ 3.88459458e-02 9.99243950e-01 -1.58750151e-03 6.65487958e+00] [ 1.37807216e-02 1.05282070e-03 9.99904487e-01 6.54477217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16140051299999 meters 0.0807969914182061 Centerline is valid? [True, True] Translation: X:67.30, Y:6.67, Z:0.06 [[ 9.99152304e-01 -3.88731377e-02 -1.35481753e-02 6.72980283e+01] [ 3.88554262e-02 9.99243612e-01 -1.56817371e-03 6.66583199e+00] [ 1.35988875e-02 1.04042425e-03 9.99906990e-01 6.47017651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19140051299999 meters 0.07391144089099282 Centerline is valid? [True, True] Translation: X:67.33, Y:6.66, Z:0.07 [[ 9.99158580e-01 -3.88073399e-02 -1.32711406e-02 6.73273913e+01] [ 3.87903169e-02 9.99246189e-01 -1.53781653e-03 6.66017622e+00] [ 1.33208153e-02 1.02173083e-03 9.99910752e-01 6.61353190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22140051299999 meters 0.08353327568469007 Centerline is valid? [True, True] Translation: X:67.35, Y:6.67, Z:0.07 [[ 9.99190973e-01 -3.87488533e-02 -1.07668743e-02 6.73542353e+01] [ 3.87376340e-02 9.99248636e-01 -1.24869813e-03 6.67356114e+00] [ 1.08071701e-02 8.30604661e-04 9.99941256e-01 6.92535011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251400513 meters 0.07592261085061199 Centerline is valid? [True, True] Translation: X:67.38, Y:6.67, Z:0.07 [[ 9.99189780e-01 -3.89662150e-02 -1.00706333e-02 6.73834361e+01] [ 3.89563998e-02 9.99240228e-01 -1.16904137e-03 6.66652784e+00] [ 1.01085351e-02 7.75778570e-04 9.99948607e-01 7.09322901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281400513 meters 0.07255924114924135 Centerline is valid? [True, True] Translation: X:67.41, Y:6.66, Z:0.07 [[ 9.99176933e-01 -3.93511027e-02 -9.84621828e-03 6.74132610e+01] [ 3.93417221e-02 9.99225159e-01 -1.14466620e-03 6.66426608e+00] [ 9.88363290e-03 7.56356880e-04 9.99950870e-01 7.15384081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311400513 meters 0.0819666728029905 Centerline is valid? [True, True] Translation: X:67.44, Y:6.68, Z:0.07 [[ 9.99139505e-01 -4.01848241e-02 -1.02678671e-02 6.74403389e+01] [ 4.01746548e-02 9.99191958e-01 -1.19483386e-03 6.67689975e+00] [ 1.03075845e-02 7.81297695e-04 9.99946570e-01 7.05749551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341400513 meters 0.07365656682093608 Centerline is valid? [True, True] Translation: X:67.47, Y:6.67, Z:0.07 [[ 9.98956626e-01 -4.43089654e-02 -1.10623447e-02 6.74717429e+01] [ 4.42974090e-02 9.99017558e-01 -1.28762789e-03 6.66698021e+00] [ 1.11085301e-02 7.96251203e-04 9.99937981e-01 6.95747048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37140051299998 meters 0.07352067963970607 Centerline is valid? [True, True] Translation: X:67.50, Y:6.67, Z:0.07 [[ 9.98841464e-01 -4.67693123e-02 -1.13296827e-02 6.75015274e+01] [ 4.67573466e-02 9.98905406e-01 -1.31887339e-03 6.66844706e+00] [ 1.13789641e-02 7.87599527e-04 9.99934947e-01 6.87450475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40140051299998 meters 0.07352067963970607 Centerline is valid? [True, True] Translation: X:67.53, Y:6.67, Z:0.07 [[ 9.98833154e-01 -4.69464799e-02 -1.13295619e-02 6.75288917e+01] [ 4.69345139e-02 9.98897096e-01 -1.31991018e-03 6.67178510e+00] [ 1.13790316e-02 7.86622567e-04 9.99934947e-01 6.89097937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43140051299999 meters 0.07437952815656089 Centerline is valid? [True, True] Translation: X:67.56, Y:6.67, Z:0.07 [[ 9.98727402e-01 -4.90659171e-02 -1.16667348e-02 6.75575833e+01] [ 4.90533577e-02 9.98795233e-01 -1.36041604e-03 6.67379832e+00] [ 1.17194291e-02 7.86392266e-04 9.99931016e-01 6.77215254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46140051299999 meters 0.06475940758427597 Centerline is valid? [True, True] Translation: X:67.59, Y:6.66, Z:0.07 [[ 9.98545549e-01 -5.23798959e-02 -1.27723704e-02 6.75902148e+01] [ 5.23651108e-02 9.98626896e-01 -1.48950445e-03 6.65939310e+00] [ 1.28328527e-02 8.18511441e-04 9.99917321e-01 6.71724008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49140051299999 meters 0.06627968993367984 Centerline is valid? [True, True] Translation: X:67.62, Y:6.66, Z:0.07 [[ 9.98491116e-01 -5.34524594e-02 -1.25827547e-02 6.76179257e+01] [ 5.34381877e-02 9.98570080e-01 -1.46796035e-03 6.66128424e+00] [ 1.26432284e-02 7.93345758e-04 9.99919756e-01 6.77749753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52140051299999 meters 0.06632187934848818 Centerline is valid? [True, True] Translation: X:67.65, Y:6.66, Z:0.07 [[ 9.98485205e-01 -5.36781557e-02 -1.20809902e-02 6.76470536e+01] [ 5.36649986e-02 9.98557999e-01 -1.41086900e-03 6.66201680e+00] [ 1.21393023e-02 7.60405494e-04 9.99926027e-01 6.92729630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55140051299999 meters 0.06985898976037058 Centerline is valid? [True, True] Translation: X:67.67, Y:6.67, Z:0.07 [[ 9.98554651e-01 -5.24922927e-02 -1.15398492e-02 6.76747319e+01] [ 5.24801957e-02 9.98621054e-01 -1.34882347e-03 6.66726837e+00] [ 1.15947392e-02 7.41260405e-04 9.99932504e-01 7.08451534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58140051299999 meters 0.0715273028840973 Centerline is valid? [True, True] Translation: X:67.70, Y:6.67, Z:0.07 [[ 9.98812700e-01 -4.74290684e-02 -1.11208527e-02 6.77048528e+01] [ 4.74175183e-02 9.98874311e-01 -1.30012688e-03 6.66744123e+00] [ 1.11699979e-02 7.71260001e-04 9.99937316e-01 7.15778913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61140051299999 meters 0.06853538990924261 Centerline is valid? [True, True] Translation: X:67.74, Y:6.67, Z:0.07 [[ 9.98957737e-01 -4.41576464e-02 -1.15560630e-02 6.77352702e+01] [ 4.41449562e-02 9.99024223e-01 -1.35105182e-03 6.66638918e+00] [ 1.16044461e-02 8.39501779e-04 9.99932314e-01 7.13248451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641400513 meters 0.07857750756345427 Centerline is valid? [True, True] Translation: X:67.76, Y:6.68, Z:0.07 [[ 9.99100471e-01 -4.08931197e-02 -1.12250806e-02 6.77629667e+01] [ 4.08809418e-02 9.99163163e-01 -1.31229429e-03 6.68080464e+00] [ 1.12693509e-02 8.52221977e-04 9.99936136e-01 7.09254944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671400513 meters 0.08306142224892124 Centerline is valid? [True, True] Translation: X:67.79, Y:6.69, Z:0.07 [[ 9.99228495e-01 -3.79009332e-02 -1.02923926e-02 6.77919732e+01] [ 3.78905376e-02 9.99281171e-01 -1.20321689e-03 6.68883925e+00] [ 1.03305972e-02 8.12304317e-04 9.99946308e-01 7.25858613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701400513 meters 0.08469462143354071 Centerline is valid? [True, True] Translation: X:67.82, Y:6.69, Z:0.08 [[ 9.99413702e-01 -3.33222849e-02 -7.86620726e-03 6.78220914e+01] [ 3.33160715e-02 9.99444442e-01 -9.19641015e-04 6.69333889e+00] [ 7.89248167e-03 6.57030708e-04 9.99968638e-01 7.73658202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731400513 meters 0.09035593583053848 Centerline is valid? [True, True] Translation: X:67.85, Y:6.70, Z:0.08 [[ 9.99476761e-01 -3.13258895e-02 -8.05559168e-03 6.78500715e+01] [ 3.13193086e-02 9.99508986e-01 -9.41829124e-04 6.70402892e+00] [ 8.08113991e-03 6.89040761e-04 9.99967110e-01 7.74877662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76140051299998 meters 0.09263023598762088 Centerline is valid? [True, True] Translation: X:67.88, Y:6.71, Z:0.07 [[ 9.99542514e-01 -2.84634538e-02 -1.02271887e-02 6.78794707e+01] [ 2.84526961e-02 9.99594425e-01 -1.19586561e-03 6.71116496e+00] [ 1.02570793e-02 9.04327429e-04 9.99946986e-01 7.36517389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79140051299999 meters 0.08308409319349784 Centerline is valid? [True, True] Translation: X:67.91, Y:6.70, Z:0.07 [[ 9.99562450e-01 -2.75140827e-02 -1.08574156e-02 6.79103309e+01] [ 2.75019008e-02 9.99620945e-01 -1.26973487e-03 6.70205553e+00] [ 1.08882357e-02 9.70579735e-04 9.99940250e-01 7.32162540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82140051299999 meters 0.08703921675505913 Centerline is valid? [True, True] Translation: X:67.94, Y:6.71, Z:0.07 [[ 9.99574955e-01 -2.69492418e-02 -1.11197306e-02 6.79381872e+01] [ 2.69364258e-02 9.99636302e-01 -1.30073177e-03 6.70826800e+00] [ 1.11507401e-02 1.00065310e-03 9.99937328e-01 7.27370999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85140051299999 meters 0.0858241390463427 Centerline is valid? [True, True] Translation: X:67.97, Y:6.71, Z:0.07 [[ 9.99570323e-01 -2.70464263e-02 -1.12986886e-02 6.79669422e+01] [ 2.70331886e-02 9.99633661e-01 -1.32273065e-03 6.70849920e+00] [ 1.13303246e-02 1.01672272e-03 9.99935293e-01 7.28178178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88140051299999 meters 0.09621358387802989 Centerline is valid? [True, True] Translation: X:67.99, Y:6.72, Z:0.07 [[ 9.99550128e-01 -2.78179918e-02 -1.12116042e-02 6.79932314e+01] [ 2.78049902e-02 9.99612503e-01 -1.31389819e-03 6.72251963e+00] [ 1.12438097e-02 1.00156856e-03 9.99936285e-01 7.28957107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91140051299999 meters 0.08741517938758067 Centerline is valid? [True, True] Translation: X:68.02, Y:6.72, Z:0.08 [[ 9.99565831e-01 -2.77333874e-02 -9.95036056e-03 6.80229440e+01] [ 2.77231319e-02 9.99614959e-01 -1.16715035e-03 6.71517340e+00] [ 9.97889830e-03 8.90788453e-04 9.99949813e-01 7.53773588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94140051299999 meters 0.0935142901972469 Centerline is valid? [True, True] Translation: X:68.05, Y:6.73, Z:0.08 [[ 9.99595759e-01 -2.72104782e-02 -8.24063555e-03 6.80497185e+01] [ 2.72034191e-02 9.99629450e-01 -9.67514903e-04 6.72588392e+00] [ 8.26390853e-03 7.42950331e-04 9.99965577e-01 7.74422024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97140051299999 meters 0.09829315160765903 Centerline is valid? [True, True] Translation: X:68.08, Y:6.73, Z:0.08 [[ 9.99628709e-01 -2.62382228e-02 -7.34845171e-03 6.80768966e+01] [ 2.62325808e-02 9.99655494e-01 -8.63137883e-04 6.73469426e+00] [ 7.36856733e-03 6.70048554e-04 9.99972627e-01 7.90265322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001400513 meters 0.08867030708035892 Centerline is valid? [True, True] Translation: X:68.11, Y:6.73, Z:0.08 [[ 9.99641313e-01 -2.50810552e-02 -9.39070264e-03 6.81087613e+01] [ 2.50717869e-02 9.99685044e-01 -1.10341593e-03 6.72647453e+00] [ 9.41541982e-03 8.67578456e-04 9.99955298e-01 7.59350012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031400513 meters 0.08662099801832997 Centerline is valid? [True, True] Translation: X:68.14, Y:6.73, Z:0.07 [[ 9.99601039e-01 -2.57848785e-02 -1.15283199e-02 6.81375195e+01] [ 2.57709535e-02 9.99666956e-01 -1.35484349e-03 6.72686461e+00] [ 1.15594150e-02 1.05720716e-03 9.99932629e-01 7.30770262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061400513 meters 0.08217445386090372 Centerline is valid? [True, True] Translation: X:68.17, Y:6.72, Z:0.07 [[ 9.99549661e-01 -2.73655119e-02 -1.23127818e-02 6.81685562e+01] [ 2.73497408e-02 9.99624878e-01 -1.44747512e-03 6.72385319e+00] [ 1.23477739e-02 1.11007187e-03 9.99923147e-01 7.21531080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091400513 meters 0.08093962477361033 Centerline is valid? [True, True] Translation: X:68.20, Y:6.72, Z:0.08 [[ 9.99409216e-01 -3.27862191e-02 -1.03093610e-02 6.81980014e+01] [ 3.27754473e-02 9.99462006e-01 -1.21212522e-03 6.72347004e+00] [ 1.03435557e-02 8.73515196e-04 9.99946122e-01 7.61646428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12140051299998 meters 0.0822108456625763 Centerline is valid? [True, True] Translation: X:68.23, Y:6.73, Z:0.08 [[ 9.99309037e-01 -3.62054144e-02 -8.40333503e-03 6.82271210e+01] [ 3.61983769e-02 9.99344135e-01 -9.88115344e-04 6.72829490e+00] [ 8.43359870e-03 6.83245505e-04 9.99964203e-01 7.91349838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15140051299998 meters 0.08165421580325824 Centerline is valid? [True, True] Translation: X:68.26, Y:6.73, Z:0.08 [[ 9.99187604e-01 -3.95859494e-02 -7.55539340e-03 6.82559028e+01] [ 3.95803556e-02 9.99215996e-01 -8.88519536e-04 6.73054256e+00] [ 7.58464283e-03 5.88752549e-04 9.99971063e-01 8.03273374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18140051299999 meters 0.07543031085346433 Centerline is valid? [True, True] Translation: X:68.29, Y:6.72, Z:0.08 [[ 9.98964149e-01 -4.44443957e-02 -9.76347437e-03 6.82877835e+01] [ 4.44352831e-02 9.99011605e-01 -1.14838767e-03 6.72323420e+00] [ 9.80486359e-03 7.13355362e-04 9.99951677e-01 7.59636719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21140051299999 meters 0.07478281808526419 Centerline is valid? [True, True] Translation: X:68.32, Y:6.72, Z:0.07 [[ 9.98896592e-01 -4.54200516e-02 -1.19422229e-02 6.83172760e+01] [ 4.54064818e-02 9.98967606e-01 -1.40512078e-03 6.72422606e+00] [ 1.19937145e-02 8.61316034e-04 9.99927702e-01 7.23037521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24140051299999 meters 0.06892470312260068 Centerline is valid? [True, True] Translation: X:68.35, Y:6.72, Z:0.07 [[ 9.98860166e-01 -4.57873779e-02 -1.34864790e-02 6.83458066e+01] [ 4.57700788e-02 9.98950737e-01 -1.58872996e-03 6.71976419e+00] [ 1.35450719e-02 9.69641864e-04 9.99907791e-01 7.07407909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27140051299999 meters 0.07549470407235288 Centerline is valid? [True, True] Translation: X:68.37, Y:6.73, Z:0.07 [[ 9.98869578e-01 -4.55257912e-02 -1.36736096e-02 6.83729793e+01] [ 4.55079628e-02 9.98962675e-01 -1.61234693e-03 6.72995266e+00] [ 1.37328290e-02 9.88266185e-04 9.99905212e-01 7.00798413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30140051299999 meters 0.06999396816503313 Centerline is valid? [True, True] Translation: X:68.40, Y:6.72, Z:0.07 [[ 9.98861081e-01 -4.57715692e-02 -1.34723675e-02 6.84015118e+01] [ 4.57542605e-02 9.98951459e-01 -1.59034935e-03 6.72498472e+00] [ 1.35310340e-02 9.72119855e-04 9.99907979e-01 7.14746579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33140051299999 meters 0.0743800003449572 Centerline is valid? [True, True] Translation: X:68.43, Y:6.73, Z:0.07 [[ 9.98856450e-01 -4.58076276e-02 -1.36913370e-02 6.84286468e+01] [ 4.57897336e-02 9.98949790e-01 -1.61775724e-03 6.73128543e+00] [ 1.37510639e-02 9.88984579e-04 9.99904961e-01 7.07345291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36140051299999 meters 0.0762682252450709 Centerline is valid? [True, True] Translation: X:68.46, Y:6.74, Z:0.07 [[ 9.98847532e-01 -4.59331166e-02 -1.39196653e-02 6.84557528e+01] [ 4.59146192e-02 9.98944012e-01 -1.64570706e-03 6.73509985e+00] [ 1.39805587e-02 1.00469430e-03 9.99901762e-01 6.94763447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391400513 meters 0.06947270949026098 Centerline is valid? [True, True] Translation: X:68.49, Y:6.73, Z:0.07 [[ 9.98939851e-01 -4.43040496e-02 -1.25029828e-02 6.84871360e+01] [ 4.42889939e-02 9.99017667e-01 -1.47863088e-03 6.72987651e+00] [ 1.25562100e-02 9.23318780e-04 9.99920741e-01 7.26931241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421400513 meters 0.07758550970318064 Centerline is valid? [True, True] Translation: X:68.52, Y:6.74, Z:0.08 [[ 9.99038021e-01 -4.25798010e-02 -1.04877690e-02 6.85152629e+01] [ 4.25691126e-02 9.99092755e-01 -1.24036010e-03 6.74327658e+00] [ 1.05310683e-02 7.92711878e-04 9.99944233e-01 7.56112516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451400513 meters 0.07796204110071532 Centerline is valid? [True, True] Translation: X:68.55, Y:6.75, Z:0.08 [[ 9.99132807e-01 -4.06880476e-02 -8.83840664e-03 6.85453695e+01] [ 4.06803824e-02 9.99171664e-01 -1.04539703e-03 6.74726288e+00] [ 8.87362063e-03 6.84940704e-04 9.99960394e-01 7.90340507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481400513 meters 0.07781058452924204 Centerline is valid? [True, True] Translation: X:68.58, Y:6.75, Z:0.08 [[ 9.99199879e-01 -3.91698734e-02 -8.08228646e-03 6.85757317e+01] [ 3.91634136e-02 9.99232362e-01 -9.56046957e-04 6.75077393e+00] [ 8.11353042e-03 6.38752076e-04 9.99966881e-01 8.08355696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51140051299998 meters 0.07922868150946077 Centerline is valid? [True, True] Translation: X:68.60, Y:6.76, Z:0.08 [[ 9.99240496e-01 -3.82346167e-02 -7.51960822e-03 6.86046798e+01] [ 3.82289984e-02 9.99268609e-01 -8.89524049e-04 6.75780181e+00] [ 7.54811905e-03 6.01381362e-04 9.99971332e-01 8.09923373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54140051299999 meters 0.08150136220755765 Centerline is valid? [True, True] Translation: X:68.63, Y:6.76, Z:0.08 [[ 9.99224493e-01 -3.85717293e-02 -7.91414505e-03 6.86317501e+01] [ 3.85655141e-02 9.99255635e-01 -9.36501794e-04 6.76353154e+00] [ 7.94437653e-03 6.30562458e-04 9.99968244e-01 8.03391517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57140051299999 meters 0.08061893396740503 Centerline is valid? [True, True] Translation: X:68.66, Y:6.76, Z:0.08 [[ 9.99190323e-01 -3.93080437e-02 -8.57763093e-03 6.86608737e+01] [ 3.93007614e-02 9.99226910e-01 -1.01596408e-03 6.76448540e+00] [ 8.61093521e-03 6.78034048e-04 9.99962695e-01 7.97755542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60140051299999 meters 0.071275007729244 Centerline is valid? [True, True] Translation: X:68.69, Y:6.75, Z:0.08 [[ 9.99024697e-01 -4.29832321e-02 -1.01042493e-02 6.86925860e+01] [ 4.29733020e-02 9.99075503e-01 -1.19793236e-03 6.75352869e+00] [ 1.01463990e-02 7.62551053e-04 9.99948233e-01 7.86666285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63140051299999 meters 0.0777144014514371 Centerline is valid? [True, True] Translation: X:68.72, Y:6.76, Z:0.08 [[ 9.98933907e-01 -4.50950789e-02 -9.87337398e-03 6.87209910e+01] [ 4.50856986e-02 9.98982437e-01 -1.17070120e-03 6.76422984e+00] [ 9.91612006e-03 7.24305163e-04 9.99950572e-01 7.81092483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66140051299999 meters 0.07223558418181689 Centerline is valid? [True, True] Translation: X:68.75, Y:6.76, Z:0.08 [[ 9.98868731e-01 -4.67133747e-02 -8.89485042e-03 6.87513444e+01] [ 4.67058241e-02 9.98908131e-01 -1.05482729e-03 6.76032486e+00] [ 8.93441295e-03 6.38192678e-04 9.99959884e-01 7.97905852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69140051299999 meters 0.07290572515449803 Centerline is valid? [True, True] Translation: X:68.78, Y:6.76, Z:0.08 [[ 9.98837014e-01 -4.75955769e-02 -7.69932039e-03 6.87795583e+01] [ 4.75899442e-02 9.98866539e-01 -9.13246934e-04 6.76311072e+00] [ 7.73406003e-03 5.45774613e-04 9.99969943e-01 8.19464185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72140051299999 meters 0.0726228041656809 Centerline is valid? [True, True] Translation: X:68.81, Y:6.76, Z:0.08 [[ 9.98873382e-01 -4.67325931e-02 -8.24811812e-03 6.88095689e+01] [ 4.67260967e-02 9.98907260e-01 -9.78680603e-04 6.76434242e+00] [ 8.28484136e-03 5.92175639e-04 9.99965505e-01 8.25361170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751400513 meters 0.07367368736798466 Centerline is valid? [True, True] Translation: X:68.84, Y:6.77, Z:0.08 [[ 9.98910920e-01 -4.57350493e-02 -9.23470861e-03 6.88390495e+01] [ 4.57268613e-02 9.98953379e-01 -1.09596950e-03 6.76937033e+00] [ 9.27516759e-03 6.72501666e-04 9.99956759e-01 8.07267970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781400513 meters 0.07497718766874308 Centerline is valid? [True, True] Translation: X:68.87, Y:6.78, Z:0.08 [[ 9.98958899e-01 -4.45716545e-02 -9.72040659e-03 6.88665962e+01] [ 4.45625243e-02 9.99005931e-01 -1.15395601e-03 6.77748271e+00] [ 9.76217756e-03 7.19588770e-04 9.99952090e-01 7.93580816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811400513 meters 0.0772414874159721 Centerline is valid? [True, True] Translation: X:68.90, Y:6.78, Z:0.08 [[ 9.99059787e-01 -4.25065529e-02 -8.52853120e-03 6.88960466e+01] [ 4.24994471e-02 9.99095977e-01 -1.01276693e-03 6.78423471e+00] [ 8.56387044e-03 6.49356850e-04 9.99963119e-01 8.05002404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841400513 meters 0.07150582422209285 Centerline is valid? [True, True] Translation: X:68.93, Y:6.78, Z:0.08 [[ 9.99104831e-01 -4.17107448e-02 -7.05334889e-03 6.89263721e+01] [ 4.17058644e-02 9.99129581e-01 -8.37662672e-04 6.77969063e+00] [ 7.08214906e-03 5.42746810e-04 9.99974774e-01 8.35200573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87140051299998 meters 0.08288450119107334 Centerline is valid? [True, True] Translation: X:68.95, Y:6.79, Z:0.09 [[ 9.99155318e-01 -4.06932409e-02 -5.71928334e-03 6.89531774e+01] [ 4.06900150e-02 9.99171587e-01 -6.79329943e-04 6.79342859e+00] [ 5.74218955e-03 4.46038400e-04 9.99983414e-01 8.62418770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90140051299998 meters 0.08123690665048772 Centerline is valid? [True, True] Translation: X:68.98, Y:6.80, Z:0.09 [[ 9.99299660e-01 -3.70772526e-02 -5.04653233e-03 6.89822673e+01] [ 3.70746940e-02 9.99312317e-01 -5.99655572e-04 6.80106273e+00] [ 5.06529550e-03 4.12136967e-04 9.99987086e-01 8.80899087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93140051299999 meters 0.08505589022354235 Centerline is valid? [True, True] Translation: X:69.01, Y:6.81, Z:0.09 [[ 9.99386087e-01 -3.45127653e-02 -6.02638981e-03 6.90107016e+01] [ 3.45090698e-02 9.99404128e-01 -7.16159823e-04 6.81136878e+00] [ 6.04751551e-03 5.07755057e-04 9.99981585e-01 8.63170333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96140051299999 meters 0.08169191226341685 Centerline is valid? [True, True] Translation: X:69.04, Y:6.81, Z:0.08 [[ 9.99475396e-01 -3.16103536e-02 -7.05111216e-03 6.90409300e+01] [ 3.16052221e-02 9.99500079e-01 -8.38021392e-04 6.81149007e+00] [ 7.07407732e-03 6.14729797e-04 9.99974789e-01 8.45994661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99140051299999 meters 0.0997978729380388 Centerline is valid? [True, True] Translation: X:69.07, Y:6.83, Z:0.08 [[ 9.99600728e-01 -2.71567120e-02 -7.80369920e-03 6.90679090e+01] [ 2.71502913e-02 9.99630933e-01 -9.27555505e-04 6.83390799e+00] [ 7.82600846e-03 7.15312451e-04 9.99969120e-01 8.41445002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02140051299999 meters 0.09979419593898348 Centerline is valid? [True, True] Translation: X:69.10, Y:6.84, Z:0.09 [[ 9.99614662e-01 -2.67675259e-02 -7.35034025e-03 6.90962323e+01] [ 2.67618182e-02 9.99641457e-01 -8.73803521e-04 6.83608637e+00] [ 7.37109439e-03 6.76758342e-04 9.99972604e-01 8.59336761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05140051299999 meters 0.09327948455453514 Centerline is valid? [True, True] Translation: X:69.13, Y:6.83, Z:0.09 [[ 9.99597492e-01 -2.75689124e-02 -6.69389139e-03 6.91268369e+01] [ 2.75641944e-02 9.99619718e-01 -7.96072736e-04 6.83113946e+00] [ 6.71329268e-03 6.11240588e-04 9.99977279e-01 8.73558982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08140051299999 meters 0.09005612004332474 Centerline is valid? [True, True] Translation: X:69.16, Y:6.83, Z:0.09 [[ 9.99540905e-01 -2.94537019e-02 -7.10346937e-03 6.91575260e+01] [ 2.94484351e-02 9.99565944e-01 -8.44922892e-04 6.82979710e+00] [ 7.12527217e-03 6.35348936e-04 9.99974413e-01 8.68137376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11140051299999 meters 0.08807794107237855 Centerline is valid? [True, True] Translation: X:69.19, Y:6.83, Z:0.09 [[ 9.99366683e-01 -3.47753330e-02 -7.54376169e-03 6.91872405e+01] [ 3.47695433e-02 9.99394954e-01 -8.97323030e-04 6.82730658e+00] [ 7.57040208e-03 6.34461591e-04 9.99971143e-01 8.54652751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141400513 meters 0.08419886026506364 Centerline is valid? [True, True] Translation: X:69.22, Y:6.83, Z:0.09 [[ 9.99283787e-01 -3.72290609e-02 -6.77568877e-03 6.92177503e+01] [ 3.72244458e-02 9.99306605e-01 -8.06020515e-04 6.82543538e+00] [ 6.80099793e-03 5.53221974e-04 9.99976720e-01 8.67288067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171400513 meters 0.07894754142380836 Centerline is valid? [True, True] Translation: X:69.25, Y:6.82, Z:0.09 [[ 9.99232162e-01 -3.87119490e-02 -6.03915012e-03 6.92478508e+01] [ 3.87083095e-02 9.99250294e-01 -7.18418325e-04 6.82281325e+00] [ 6.06243391e-03 4.84101404e-04 9.99981506e-01 8.78962676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201400513 meters 0.07978738628570628 Centerline is valid? [True, True] Translation: X:69.28, Y:6.83, Z:0.09 [[ 9.99214544e-01 -3.91723634e-02 -5.98507784e-03 6.92750105e+01] [ 3.91687962e-02 9.99232355e-01 -7.12122092e-04 6.82788830e+00] [ 6.00837892e-03 4.77134457e-04 9.99981836e-01 8.96312612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.231400513 meters 0.07538356642614787 Centerline is valid? [True, True] Translation: X:69.30, Y:6.83, Z:0.09 [[ 9.99218839e-01 -3.90872347e-02 -5.82238136e-03 6.93041975e+01] [ 3.90838555e-02 9.99235694e-01 -6.93071175e-04 6.82704195e+00] [ 5.84502151e-03 4.64968663e-04 9.99982810e-01 9.09107328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26140051299998 meters 0.08254840087222383 Centerline is valid? [True, True] Translation: X:69.33, Y:6.84, Z:0.09 [[ 9.99247966e-01 -3.83737555e-02 -5.56394693e-03 6.93307259e+01] [ 3.83706537e-02 9.99263355e-01 -6.63206378e-04 6.84144670e+00] [ 5.58529799e-03 4.49215343e-04 9.99984301e-01 9.19327457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29140051299999 meters 0.0819664323161353 Centerline is valid? [True, True] Translation: X:69.36, Y:6.85, Z:0.09 [[ 9.99281797e-01 -3.74606838e-02 -5.70855796e-03 6.93595499e+01] [ 3.74574022e-02 9.99297993e-01 -6.80712555e-04 6.84765041e+00] [ 5.73005047e-03 4.66395914e-04 9.99983474e-01 9.21903325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32140051299999 meters 0.0819664323161353 Centerline is valid? [True, True] Translation: X:69.39, Y:6.85, Z:0.09 [[ 9.99275148e-01 -3.76376226e-02 -5.70852912e-03 6.93869383e+01] [ 3.76343426e-02 9.99291345e-01 -6.80954309e-04 6.85105666e+00] [ 5.73011324e-03 4.65623977e-04 9.99983474e-01 9.23552396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35140051299999 meters 0.08377246699290436 Centerline is valid? [True, True] Translation: X:69.41, Y:6.86, Z:0.09 [[ 9.99238029e-01 -3.84276575e-02 -6.83202135e-03 6.94137400e+01] [ 3.84229684e-02 9.99261232e-01 -8.16318919e-04 6.86322968e+00] [ 6.85834329e-03 5.53190367e-04 9.99976328e-01 9.01905527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38140051299999 meters 0.08140831068471356 Centerline is valid? [True, True] Translation: X:69.44, Y:6.87, Z:0.09 [[ 9.99141140e-01 -4.07893675e-02 -7.29457162e-03 6.94439822e+01] [ 4.07840808e-02 9.99167603e-01 -8.72089284e-04 6.86662268e+00] [ 7.32407161e-03 5.73837883e-04 9.99973014e-01 8.93706592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41140051299999 meters 0.08187015609854002 Centerline is valid? [True, True] Translation: X:69.47, Y:6.87, Z:0.09 [[ 9.98989792e-01 -4.42597701e-02 -7.77612231e-03 6.94727056e+01] [ 4.42538666e-02 9.99019885e-01 -9.29692522e-04 6.87296319e+00] [ 7.80964879e-03 5.84629859e-04 9.99969333e-01 8.87701982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44140051299999 meters 0.07742216017638671 Centerline is valid? [True, True] Translation: X:69.50, Y:6.87, Z:0.09 [[ 9.98579130e-01 -5.26544987e-02 -8.19903645e-03 6.95019500e+01] [ 5.26482164e-02 9.98612640e-01 -9.80333655e-04 6.87464362e+00] [ 8.23928041e-03 5.47276083e-04 9.99965907e-01 8.81394065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47140051299999 meters 0.06380813215854396 Centerline is valid? [True, True] Translation: X:69.53, Y:6.86, Z:0.09 [[ 9.98332021e-01 -5.71393523e-02 -8.26258779e-03 6.95336619e+01] [ 5.71331249e-02 9.98366080e-01 -9.87968808e-04 6.86262903e+00] [ 8.30553928e-03 5.14253437e-04 9.99965376e-01 8.86239460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501400513 meters 0.06104715456792312 Centerline is valid? [True, True] Translation: X:69.56, Y:6.86, Z:0.09 [[ 9.98076342e-01 -6.14232714e-02 -8.41406929e-03 6.95628775e+01] [ 6.14169646e-02 9.98111689e-01 -1.00614573e-03 6.86402347e+00] [ 8.45998168e-03 4.87443649e-04 9.99964095e-01 8.92068458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531400513 meters 0.05217103379533616 Centerline is valid? [True, True] Translation: X:69.59, Y:6.86, Z:0.09 [[ 9.97651679e-01 -6.80102342e-02 -8.10774436e-03 6.95942601e+01] [ 6.80045939e-02 9.97684537e-01 -9.69647633e-04 6.85983742e+00] [ 8.15491713e-03 4.16006727e-04 9.99966662e-01 8.90100327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561400513 meters 0.059102352368195894 Centerline is valid? [True, True] Translation: X:69.62, Y:6.87, Z:0.09 [[ 9.97505402e-01 -7.01751515e-02 -7.64334975e-03 6.96216615e+01] [ 7.01702014e-02 9.97534614e-01 -9.14229125e-04 6.87161512e+00] [ 7.68866211e-03 3.75613100e-04 9.99970371e-01 8.85935131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.591400513 meters 0.04985594032388957 Centerline is valid? [True, True] Translation: X:69.65, Y:6.86, Z:0.09 [[ 9.97426865e-01 -7.13082284e-02 -7.40175204e-03 6.96517968e+01] [ 7.13036154e-02 9.97454265e-01 -8.85598095e-04 6.86235780e+00] [ 7.44605957e-03 3.55547651e-04 9.99972215e-01 8.93207127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62140051299998 meters 0.04957640562411844 Centerline is valid? [True, True] Translation: X:69.68, Y:6.86, Z:0.09 [[ 9.97371326e-01 -7.19773138e-02 -8.34895190e-03 6.96810521e+01] [ 7.19714621e-02 9.97406191e-01 -9.99626059e-04 6.86394098e+00] [ 8.39924671e-03 3.96112093e-04 9.99964647e-01 8.84270520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65140051299998 meters 0.050580905838056106 Centerline is valid? [True, True] Translation: X:69.71, Y:6.87, Z:0.09 [[ 9.97404361e-01 -7.14596148e-02 -8.83537526e-03 6.97081751e+01] [ 7.14530306e-02 9.97443403e-01 -1.05904652e-03 6.86904052e+00] [ 8.88846583e-03 4.24983278e-04 9.99960406e-01 8.79345209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68140051299999 meters 0.04703017285725457 Centerline is valid? [True, True] Translation: X:69.74, Y:6.87, Z:0.09 [[ 9.97506721e-01 -6.99828709e-02 -9.09613213e-03 6.97375707e+01] [ 6.99758264e-02 9.97548091e-01 -1.09081386e-03 6.86750263e+00] [ 9.15016753e-03 4.51584790e-04 9.99958034e-01 8.83513959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71140051299999 meters 0.05733483075529189 Centerline is valid? [True, True] Translation: X:69.77, Y:6.88, Z:0.09 [[ 9.97832954e-01 -6.51445003e-02 -9.25150957e-03 6.97653996e+01] [ 6.51370031e-02 9.97875713e-01 -1.10971570e-03 6.87798357e+00] [ 9.30414859e-03 5.04695289e-04 9.99956588e-01 8.85594434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74140051299999 meters 0.06256510459910976 Centerline is valid? [True, True] Translation: X:69.79, Y:6.89, Z:0.09 [[ 9.98004800e-01 -6.24535006e-02 -9.27253855e-03 6.97936925e+01] [ 6.24458534e-02 9.98047733e-01 -1.11224330e-03 6.88525925e+00] [ 9.32389958e-03 5.30992570e-04 9.99956391e-01 8.85607851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77140051299999 meters 0.05720662687338519 Centerline is valid? [True, True] Translation: X:69.82, Y:6.88, Z:0.09 [[ 9.98166331e-01 -5.97973958e-02 -9.39400030e-03 6.98244409e+01] [ 5.97894281e-02 9.98210376e-01 -1.12698714e-03 6.88069260e+00] [ 9.44457947e-03 5.63258713e-04 9.99955240e-01 8.91208280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80140051299999 meters 0.06678149647216727 Centerline is valid? [True, True] Translation: X:69.85, Y:6.89, Z:0.09 [[ 9.98510487e-01 -5.37697146e-02 -9.25343617e-03 6.98530920e+01] [ 5.37617246e-02 9.98553176e-01 -1.11023158e-03 6.89294102e+00] [ 9.29974490e-03 6.11097190e-04 9.99956570e-01 8.86964560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83140051299999 meters 0.07905791286645061 Centerline is valid? [True, True] Translation: X:69.88, Y:6.91, Z:0.09 [[ 9.98670092e-01 -5.09133938e-02 -8.11625351e-03 6.98807037e+01] [ 5.09071524e-02 9.98702915e-01 -9.73881876e-04 6.90852196e+00] [ 8.15530967e-03 5.59411348e-04 9.99966588e-01 8.99543009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86140051299999 meters 0.07508662873920197 Centerline is valid? [True, True] Translation: X:69.91, Y:6.90, Z:0.09 [[ 9.98811357e-01 -4.82378179e-02 -6.99895872e-03 6.99116582e+01] [ 4.82331109e-02 9.98835753e-01 -8.39877395e-04 6.90466220e+00] [ 7.03132406e-03 5.01297529e-04 9.99975154e-01 9.21277140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891400513 meters 0.07411111589047176 Centerline is valid? [True, True] Translation: X:69.94, Y:6.91, Z:0.09 [[ 9.98937383e-01 -4.55936767e-02 -6.73208733e-03 6.99422746e+01] [ 4.55892620e-02 9.98959942e-01 -8.07858095e-04 6.90562608e+00] [ 6.76191880e-03 5.00088758e-04 9.99977013e-01 9.23303944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921400513 meters 0.07926940391968494 Centerline is valid? [True, True] Translation: X:69.97, Y:6.91, Z:0.09 [[ 9.99077192e-01 -4.16317184e-02 -1.05624424e-02 6.99710713e+01] [ 4.16206291e-02 9.99132682e-01 -1.26762046e-03 6.91293419e+00] [ 1.06060546e-02 8.26835195e-04 9.99943412e-01 8.54882812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951400513 meters 0.07804782295177635 Centerline is valid? [True, True] Translation: X:70.00, Y:6.91, Z:0.08 [[ 9.99097655e-01 -4.05529601e-02 -1.26227276e-02 7.00011584e+01] [ 4.05370334e-02 9.99176888e-01 -1.51516655e-03 6.91232045e+00] [ 1.26737822e-02 1.00211142e-03 9.99919182e-01 8.25721683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981400513 meters 0.08390669782380812 Centerline is valid? [True, True] Translation: X:70.03, Y:6.92, Z:0.08 [[ 9.99110336e-01 -3.99459833e-02 -1.35224200e-02 7.00289742e+01] [ 3.99276443e-02 9.99201255e-01 -1.62356319e-03 6.91934448e+00] [ 1.35764738e-02 1.08220039e-03 9.99907250e-01 8.02730086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01140051299998 meters 0.08234332379421944 Centerline is valid? [True, True] Translation: X:70.06, Y:6.92, Z:0.08 [[ 9.99114397e-01 -3.99628768e-02 -1.31677882e-02 7.00580978e+01] [ 3.99454711e-02 9.99200608e-01 -1.58230837e-03 6.91768025e+00] [ 1.32204956e-02 1.05491357e-03 9.99912049e-01 8.14540878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04140051299999 meters 0.08040913385318252 Centerline is valid? [True, True] Translation: X:70.09, Y:6.91, Z:0.09 [[ 9.99123822e-01 -4.05870893e-02 -1.02115481e-02 7.00873751e+01] [ 4.05766451e-02 9.99175674e-01 -1.22798055e-03 6.91316257e+00] [ 1.02529706e-02 8.12554259e-04 9.99947107e-01 8.56879166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07140051299999 meters 0.08472255227614693 Centerline is valid? [True, True] Translation: X:70.11, Y:6.92, Z:0.09 [[ 9.99092317e-01 -4.15190047e-02 -9.52443073e-03 7.01149511e+01] [ 4.15099566e-02 9.99137433e-01 -1.14579833e-03 6.91884514e+00] [ 9.56378768e-03 7.49399603e-04 9.99953985e-01 8.62469929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10140051299999 meters 0.07996646552237878 Centerline is valid? [True, True] Translation: X:70.15, Y:6.91, Z:0.08 [[ 9.99005562e-01 -4.32488719e-02 -1.08361280e-02 7.01455548e+01] [ 4.32372558e-02 9.99063981e-01 -1.30407857e-03 6.91165501e+00] [ 1.08823851e-02 8.34257312e-04 9.99940437e-01 8.40498358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13140051299999 meters 0.06940486357268102 Centerline is valid? [True, True] Translation: X:70.18, Y:6.90, Z:0.08 [[ 9.98950157e-01 -4.44437393e-02 -1.11057703e-02 7.01769158e+01] [ 4.44316083e-02 9.99011534e-01 -1.33678455e-03 6.89993480e+00] [ 1.11542043e-02 8.41933900e-04 9.99937435e-01 8.46065261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16140051299999 meters 0.07639675838470397 Centerline is valid? [True, True] Translation: X:70.21, Y:6.91, Z:0.09 [[ 9.98900949e-01 -4.56876770e-02 -1.04656891e-02 7.02052316e+01] [ 4.56769696e-02 9.98955468e-01 -1.25997474e-03 6.90930226e+00] [ 1.05123226e-02 7.80549005e-04 9.99944439e-01 8.57059949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19140051299999 meters 0.07698480134309027 Centerline is valid? [True, True] Translation: X:70.23, Y:6.91, Z:0.09 [[ 9.98859278e-01 -4.70012198e-02 -8.42783742e-03 7.02341340e+01] [ 4.69943214e-02 9.98894641e-01 -1.01480212e-03 6.91102027e+00] [ 8.46621857e-03 6.17584014e-04 9.99963970e-01 8.94174238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22140051299999 meters 0.07456006754999155 Centerline is valid? [True, True] Translation: X:70.27, Y:6.91, Z:0.10 [[ 9.98740588e-01 -4.98667058e-02 -5.52724356e-03 7.02653292e+01] [ 4.98637819e-02 9.98755806e-01 -6.65623993e-04 6.90699019e+00] [ 5.55355908e-03 3.89176430e-04 9.99984503e-01 9.52654186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251400513 meters 0.07744444906689059 Centerline is valid? [True, True] Translation: X:70.29, Y:6.91, Z:0.10 [[ 9.98679577e-01 -5.10440462e-02 -5.79729111e-03 7.02937475e+01] [ 5.10408492e-02 9.98696322e-01 -6.98173211e-04 6.91167250e+00] [ 5.82537089e-03 4.01352665e-04 9.99982952e-01 9.51682670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281400513 meters 0.07050249448577926 Centerline is valid? [True, True] Translation: X:70.32, Y:6.90, Z:0.09 [[ 9.98640960e-01 -5.16693081e-02 -6.82028552e-03 7.03240805e+01] [ 5.16648954e-02 9.98664139e-01 -8.21732198e-04 6.90486283e+00] [ 6.85363291e-03 4.68246092e-04 9.99976404e-01 9.36960156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311400513 meters 0.07529279337233552 Centerline is valid? [True, True] Translation: X:70.35, Y:6.91, Z:0.09 [[ 9.98691130e-01 -5.06479922e-02 -7.12791619e-03 7.03516951e+01] [ 5.06431396e-02 9.98716443e-01 -8.59752552e-04 6.91213582e+00] [ 7.16231184e-03 4.97647193e-04 9.99974226e-01 9.30465610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341400513 meters 0.08186415649929303 Centerline is valid? [True, True] Translation: X:70.38, Y:6.92, Z:0.09 [[ 9.98781245e-01 -4.89035178e-02 -6.66866636e-03 7.03796857e+01] [ 4.88992299e-02 9.98803393e-01 -8.04622905e-04 6.92262963e+00] [ 6.70003548e-03 4.77549617e-04 9.99977440e-01 9.40960037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37140051299998 meters 0.08348924203901631 Centerline is valid? [True, True] Translation: X:70.41, Y:6.93, Z:0.09 [[ 9.98890221e-01 -4.65881341e-02 -6.91898286e-03 7.04100186e+01] [ 4.65834620e-02 9.98914052e-01 -8.34962513e-04 6.92690581e+00] [ 6.95036855e-03 5.11725713e-04 9.99975715e-01 9.37763767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40140051299998 meters 0.07953545436255914 Centerline is valid? [True, True] Translation: X:70.44, Y:6.92, Z:0.09 [[ 9.99101337e-01 -4.16758340e-02 -7.72296043e-03 7.04413198e+01] [ 4.16698670e-02 9.99130999e-01 -9.32004611e-04 6.92091084e+00] [ 7.75509124e-03 6.09352319e-04 9.99969743e-01 9.31184005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43140051299999 meters 0.08023671739900962 Centerline is valid? [True, True] Translation: X:70.47, Y:6.92, Z:0.09 [[ 9.99179645e-01 -3.98753596e-02 -7.07059677e-03 7.04713803e+01] [ 3.98703133e-02 9.99204499e-01 -8.53289145e-04 6.92383216e+00] [ 7.09899731e-03 5.70682237e-04 9.99974639e-01 9.42772803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46140051299999 meters 0.0787458482601559 Centerline is valid? [True, True] Translation: X:70.50, Y:6.93, Z:0.10 [[ 9.99226783e-01 -3.88804058e-02 -5.84376144e-03 7.05007793e+01] [ 3.88769416e-02 9.99243757e-01 -7.05284884e-04 6.92504581e+00] [ 5.86676389e-03 4.77551974e-04 9.99982676e-01 9.58413849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49140051299999 meters 0.0882958088057452 Centerline is valid? [True, True] Translation: X:70.53, Y:6.94, Z:0.10 [[ 9.99269096e-01 -3.77520982e-02 -6.00445489e-03 7.05278551e+01] [ 3.77484193e-02 9.99287012e-01 -7.24889197e-04 6.93704209e+00] [ 6.02753987e-03 4.97700692e-04 9.99981710e-01 9.57549309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52140051299999 meters 0.07657025212719866 Centerline is valid? [True, True] Translation: X:70.56, Y:6.92, Z:0.09 [[ 9.99261011e-01 -3.77656679e-02 -7.15451679e-03 7.05583688e+01] [ 3.77604414e-02 9.99286446e-01 -8.64244468e-04 6.92356678e+00] [ 7.18205043e-03 5.93448089e-04 9.99974033e-01 9.42926744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55140051299999 meters 0.08121857381691598 Centerline is valid? [True, True] Translation: X:70.59, Y:6.93, Z:0.09 [[ 9.99255476e-01 -3.77759618e-02 -7.84031958e-03 7.05859678e+01] [ 3.77696765e-02 9.99286021e-01 -9.48241956e-04 6.93017656e+00] [ 7.87054251e-03 6.51409632e-04 9.99968815e-01 9.33063310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58140051299999 meters 0.0825895868529898 Centerline is valid? [True, True] Translation: X:70.61, Y:6.93, Z:0.09 [[ 9.99220344e-01 -3.84593986e-02 -8.92069090e-03 7.06139869e+01] [ 3.84512811e-02 9.99259893e-01 -1.07975932e-03 6.93498123e+00] [ 8.95561552e-03 7.35905481e-04 9.99959627e-01 9.10552321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61140051299999 meters 0.08539666119553392 Centerline is valid? [True, True] Translation: X:70.64, Y:6.94, Z:0.09 [[ 9.99222435e-01 -3.82118321e-02 -9.71502499e-03 7.06409562e+01] [ 3.82021800e-02 9.99269337e-01 -1.17722791e-03 6.94104583e+00] [ 9.75291062e-03 8.05177403e-04 9.99952115e-01 8.97991461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641400513 meters 0.08474680733113212 Centerline is valid? [True, True] Translation: X:70.67, Y:6.94, Z:0.09 [[ 9.99242618e-01 -3.75399721e-02 -1.02440937e-02 7.06706583e+01] [ 3.75291986e-02 9.99294760e-01 -1.24195241e-03 6.94173733e+00] [ 1.02834920e-02 8.56559149e-04 9.99946757e-01 8.93882580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671400513 meters 0.08587889334242192 Centerline is valid? [True, True] Translation: X:70.70, Y:6.94, Z:0.09 [[ 9.99274487e-01 -3.65006666e-02 -1.08720195e-02 7.07004467e+01] [ 3.64884681e-02 9.99333205e-01 -1.31832732e-03 6.94378943e+00] [ 1.09128899e-02 9.20667521e-04 9.99940029e-01 8.95809935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701400513 meters 0.09206282858932467 Centerline is valid? [True, True] Translation: X:70.73, Y:6.95, Z:0.09 [[ 9.99386303e-01 -3.33277290e-02 -1.07832943e-02 7.07290836e+01] [ 3.33155440e-02 9.99444028e-01 -1.30770184e-03 6.95100789e+00] [ 1.08208819e-02 9.47647989e-04 9.99941003e-01 9.08071193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.731400513 meters 0.09884297292145162 Centerline is valid? [True, True] Translation: X:70.76, Y:6.96, Z:0.09 [[ 9.99448517e-01 -3.17443181e-02 -9.74478836e-03 7.07575348e+01] [ 3.17342921e-02 9.99495642e-01 -1.18180608e-03 6.96195364e+00] [ 9.77738912e-03 8.71910370e-04 9.99951820e-01 9.16053138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76140051299998 meters 0.09759629131592305 Centerline is valid? [True, True] Translation: X:70.79, Y:6.96, Z:0.09 [[ 9.99491257e-01 -3.06610903e-02 -8.78207881e-03 7.07866381e+01] [ 3.06529047e-02 9.99529522e-01 -1.06520068e-03 6.96277209e+00] [ 8.81060725e-03 7.95462544e-04 9.99960869e-01 9.31125039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79140051299999 meters 0.0965846621627625 Centerline is valid? [True, True] Translation: X:70.82, Y:6.96, Z:0.09 [[ 9.99497414e-01 -3.06474427e-02 -8.10272960e-03 7.08157447e+01] [ 3.06404701e-02 9.99529987e-01 -9.83300005e-04 6.96107718e+00] [ 8.12905684e-03 7.34534367e-04 9.99966689e-01 9.38771731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82140051299999 meters 0.08782102127623952 Centerline is valid? [True, True] Translation: X:70.85, Y:6.95, Z:0.09 [[ 9.99471416e-01 -3.13502897e-02 -8.60512139e-03 7.08463677e+01] [ 3.13424399e-02 9.99508158e-01 -1.04560145e-03 6.95334136e+00] [ 8.63366894e-03 7.75343264e-04 9.99962429e-01 9.32577080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85140051299999 meters 0.0930902332456679 Centerline is valid? [True, True] Translation: X:70.87, Y:6.96, Z:0.09 [[ 9.99435687e-01 -3.23271575e-02 -9.12485996e-03 7.08743563e+01] [ 3.23183622e-02 9.99477009e-01 -1.10973595e-03 6.96423588e+00] [ 9.15596235e-03 8.14209181e-04 9.99957752e-01 9.17520710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88140051299999 meters 0.0851024991668809 Centerline is valid? [True, True] Translation: X:70.91, Y:6.96, Z:0.09 [[ 9.99379888e-01 -3.41769229e-02 -8.47217710e-03 7.09052909e+01] [ 3.41694057e-02 9.99415524e-01 -1.03048692e-03 6.95809156e+00] [ 8.50244418e-03 7.40358643e-04 9.99963579e-01 9.22484997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91140051299999 meters 0.08641241997854877 Centerline is valid? [True, True] Translation: X:70.93, Y:6.96, Z:0.09 [[ 9.99349035e-01 -3.50769018e-02 -8.43315976e-03 7.09340862e+01] [ 3.50694849e-02 9.99384350e-01 -1.02581067e-03 6.96206892e+00] [ 8.46395014e-03 7.29396329e-04 9.99963914e-01 9.34301937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94140051299999 meters 0.0854114481173171 Centerline is valid? [True, True] Translation: X:70.96, Y:6.97, Z:0.09 [[ 9.99335872e-01 -3.50853998e-02 -9.84020080e-03 7.09621891e+01] [ 3.50752981e-02 9.99383955e-01 -1.19733323e-03 6.96562804e+00] [ 9.87614771e-03 8.51390074e-04 9.99950867e-01 9.33781650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97140051299999 meters 0.0864455499718264 Centerline is valid? [True, True] Translation: X:70.99, Y:6.97, Z:0.09 [[ 9.99339975e-01 -3.48028776e-02 -1.04103167e-02 7.09906110e+01] [ 3.47915484e-02 9.99393787e-01 -1.26744882e-03 6.97248114e+00] [ 1.04481167e-02 9.04421235e-04 9.99945008e-01 9.22865501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001400513 meters 0.09325153753153918 Centerline is valid? [True, True] Translation: X:71.02, Y:6.99, Z:0.09 [[ 9.99346542e-01 -3.46745381e-02 -1.02061062e-02 7.10167132e+01] [ 3.46636335e-02 9.99398262e-01 -1.24345693e-03 6.98602164e+00] [ 1.02430811e-02 8.88863655e-04 9.99947143e-01 9.24432689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031400513 meters 0.09704447363461709 Centerline is valid? [True, True] Translation: X:71.04, Y:7.00, Z:0.09 [[ 9.99368242e-01 -3.43707850e-02 -9.04243367e-03 7.10435417e+01] [ 3.43622075e-02 9.99408837e-01 -1.10228392e-03 6.99577517e+00] [ 9.07497448e-03 7.90869558e-04 9.99958509e-01 9.40052778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061400513 meters 0.09394833179692202 Centerline is valid? [True, True] Translation: X:71.07, Y:7.00, Z:0.10 [[ 9.99365892e-01 -3.48408603e-02 -7.34353026e-03 7.10721309e+01] [ 3.48352123e-02 9.99392668e-01 -8.95655396e-04 6.99960071e+00] [ 7.37027571e-03 6.39274018e-04 9.99972635e-01 9.67787388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.091400513 meters 0.08644155183463953 Centerline is valid? [True, True] Translation: X:71.10, Y:7.00, Z:0.10 [[ 9.99324975e-01 -3.58629724e-02 -7.96501070e-03 7.11021919e+01] [ 3.58563502e-02 9.99356481e-01 -9.72713437e-04 6.99666764e+00] [ 7.99476946e-03 6.86460619e-04 9.99967806e-01 9.58848110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12140051299998 meters 0.09301947523636837 Centerline is valid? [True, True] Translation: X:71.13, Y:7.01, Z:0.09 [[ 9.99255380e-01 -3.75283272e-02 -8.96164870e-03 7.11293219e+01] [ 3.75200009e-02 9.99295276e-01 -1.09548425e-03 7.01008509e+00] [ 8.99644491e-03 7.58427461e-04 9.99959244e-01 9.36490605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15140051299998 meters 0.08400288581234035 Centerline is valid? [True, True] Translation: X:71.16, Y:7.00, Z:0.09 [[ 9.99183580e-01 -3.92556228e-02 -9.54823292e-03 7.11607015e+01] [ 3.92462469e-02 9.99228887e-01 -1.16742268e-03 7.00376326e+00] [ 9.58669806e-03 7.91737262e-04 9.99953733e-01 9.36678418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18140051299999 meters 0.08960402048600134 Centerline is valid? [True, True] Translation: X:71.19, Y:7.02, Z:0.10 [[ 9.99055319e-01 -4.25629223e-02 -8.76743314e-03 7.11888490e+01] [ 4.25551430e-02 9.99093544e-01 -1.07203685e-03 7.01566065e+00] [ 8.80511488e-03 6.97924749e-04 9.99960991e-01 9.54510293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21140051299999 meters 0.08960402048600134 Centerline is valid? [True, True] Translation: X:71.22, Y:7.02, Z:0.10 [[ 9.99048171e-01 -4.27303757e-02 -8.76736486e-03 7.12162284e+01] [ 4.27225979e-02 9.99086397e-01 -1.07259493e-03 7.01916121e+00] [ 8.80518735e-03 6.97009401e-04 9.99960991e-01 9.56159777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24140051299999 meters 0.07846384126374897 Centerline is valid? [True, True] Translation: X:71.25, Y:7.01, Z:0.10 [[ 9.98999797e-01 -4.39532821e-02 -8.21672331e-03 7.12474508e+01] [ 4.39464837e-02 9.99033380e-01 -1.00620104e-03 7.01134004e+00] [ 8.25300670e-03 6.44098540e-04 9.99965736e-01 9.72292195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27140051299999 meters 0.08954346107570205 Centerline is valid? [True, True] Translation: X:71.27, Y:7.03, Z:0.10 [[ 9.99010893e-01 -4.37079511e-02 -8.17619967e-03 7.12723650e+01] [ 4.37012096e-02 9.99044144e-01 -1.00145406e-03 7.03288276e+00] [ 8.21215591e-03 6.43153700e-04 9.99966073e-01 9.59765003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30140051299999 meters 0.08520663974791969 Centerline is valid? [True, True] Translation: X:71.30, Y:7.03, Z:0.10 [[ 9.99084318e-01 -4.19517240e-02 -8.40110262e-03 7.13025964e+01] [ 4.19445413e-02 9.99119410e-01 -1.02943419e-03 7.03191309e+00] [ 8.43689123e-03 6.76111162e-04 9.99964180e-01 9.58800024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33140051299999 meters 0.08538599444348925 Centerline is valid? [True, True] Translation: X:71.33, Y:7.04, Z:0.10 [[ 9.99237590e-01 -3.83007497e-02 -7.56913020e-03 7.13322979e+01] [ 3.82948145e-02 9.99266054e-01 -9.27566076e-04 7.03654952e+00] [ 7.59910134e-03 6.37000454e-04 9.99970924e-01 9.80954751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36140051299999 meters 0.07705522454415165 Centerline is valid? [True, True] Translation: X:71.36, Y:7.03, Z:0.10 [[ 9.99278967e-01 -3.72913500e-02 -7.13447388e-03 7.13626857e+01] [ 3.72860507e-02 9.99304251e-01 -8.74396884e-04 7.03209112e+00] [ 7.16211752e-03 6.07750061e-04 9.99974167e-01 9.93165832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391400513 meters 0.08384486440017874 Centerline is valid? [True, True] Translation: X:71.39, Y:7.05, Z:0.10 [[ 9.99317119e-01 -3.63499727e-02 -6.63133556e-03 7.13894863e+01] [ 3.63453728e-02 9.99338958e-01 -8.12892995e-04 7.04583880e+00] [ 6.65650061e-03 5.71319523e-04 9.99977682e-01 9.99762739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421400513 meters 0.09078432804473732 Centerline is valid? [True, True] Translation: X:71.42, Y:7.06, Z:0.10 [[ 9.99328364e-01 -3.60240429e-02 -6.71482842e-03 7.14156588e+01] [ 3.60193170e-02 9.99350755e-01 -8.23449512e-04 7.05830915e+00] [ 6.74013283e-03 5.81032920e-04 9.99977116e-01 9.95276743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451400513 meters 0.09669203856463063 Centerline is valid? [True, True] Translation: X:71.44, Y:7.07, Z:0.10 [[ 9.99217803e-01 -3.84898585e-02 -9.07266144e-03 7.14443013e+01] [ 3.84813272e-02 9.99258699e-01 -1.11308587e-03 7.06528991e+00] [ 9.10877839e-03 7.63087165e-04 9.99958223e-01 9.56327289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481400513 meters 0.08144149563428174 Centerline is valid? [True, True] Translation: X:71.48, Y:7.05, Z:0.09 [[ 9.99116753e-01 -4.08241925e-02 -9.95485192e-03 7.14760666e+01] [ 4.08140355e-02 9.99166014e-01 -1.22141801e-03 7.05283317e+00] [ 9.99641312e-03 8.14041518e-04 9.99949703e-01 9.49440905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51140051299998 meters 0.08872145583475922 Centerline is valid? [True, True] Translation: X:71.50, Y:7.07, Z:0.09 [[ 9.99000590e-01 -4.35561634e-02 -1.00340664e-02 7.15035905e+01] [ 4.35459798e-02 9.99050665e-01 -1.23126378e-03 7.06514866e+00] [ 1.00781698e-02 7.93089988e-04 9.99948899e-01 9.38608869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54140051299999 meters 0.08046248175186926 Centerline is valid? [True, True] Translation: X:71.54, Y:7.06, Z:0.10 [[ 9.98755211e-01 -4.93611785e-02 -7.17645956e-03 7.15357221e+01] [ 4.93561175e-02 9.98780856e-01 -8.80736258e-04 7.05588032e+00] [ 7.21118461e-03 5.25437746e-04 9.99973861e-01 9.99321497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57140051299999 meters 0.07214356013234462 Centerline is valid? [True, True] Translation: X:71.57, Y:7.05, Z:0.10 [[ 9.98629502e-01 -5.19499719e-02 -6.34971548e-03 7.15676093e+01] [ 5.19460616e-02 9.98649588e-01 -7.79309655e-04 7.04789697e+00] [ 6.38162586e-03 4.48398901e-04 9.99979537e-01 1.02412654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60140051299999 meters 0.06971440773198734 Centerline is valid? [True, True] Translation: X:71.60, Y:7.05, Z:0.10 [[ 9.98528076e-01 -5.38774939e-02 -6.23670689e-03 7.15982913e+01] [ 5.38737589e-02 9.98547461e-01 -7.65457361e-04 7.04821493e+00] [ 6.26888876e-03 4.28335823e-04 9.99980259e-01 1.02783955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63140051299999 meters 0.06787677549650695 Centerline is valid? [True, True] Translation: X:71.63, Y:7.05, Z:0.10 [[ 9.98500300e-01 -5.41601433e-02 -7.98938665e-03 7.16257491e+01] [ 5.41540193e-02 9.98532113e-01 -9.81029260e-04 7.05220687e+00] [ 8.03079181e-03 5.46900611e-04 9.99967603e-01 9.96994480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66140051299999 meters 0.07008065011158915 Centerline is valid? [True, True] Translation: X:71.66, Y:7.06, Z:0.10 [[ 9.98573813e-01 -5.26512583e-02 -8.84223408e-03 7.16555129e+01] [ 5.26436876e-02 9.98612768e-01 -1.08694181e-03 7.05929383e+00] [ 8.88719671e-03 6.19903819e-04 9.99960316e-01 9.88125576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69140051299999 meters 0.0708181158944984 Centerline is valid? [True, True] Translation: X:71.69, Y:7.06, Z:0.10 [[ 9.98724512e-01 -4.96390773e-02 -9.23643187e-03 7.16860783e+01] [ 4.96306883e-02 9.98766993e-01 -1.13539730e-03 7.06255616e+00] [ 9.28140336e-03 6.75538640e-04 9.99956699e-01 1.00590119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72140051299999 meters 0.07323792167071425 Centerline is valid? [True, True] Translation: X:71.71, Y:7.07, Z:0.10 [[ 9.98766106e-01 -4.87923888e-02 -9.25034083e-03 7.17138184e+01] [ 4.87839370e-02 9.98808707e-01 -1.13725560e-03 7.06905313e+00] [ 9.29481039e-03 6.84584304e-04 9.99956568e-01 1.01125058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751400513 meters 0.07474762915335198 Centerline is valid? [True, True] Translation: X:71.74, Y:7.08, Z:0.10 [[ 9.98753394e-01 -4.89679039e-02 -9.68515040e-03 7.17411437e+01] [ 4.89586423e-02 9.98800096e-01 -1.19120603e-03 7.07560063e+00] [ 9.73186002e-03 7.15549247e-04 9.99952388e-01 1.00017765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781400513 meters 0.07381232718493538 Centerline is valid? [True, True] Translation: X:71.77, Y:7.08, Z:0.10 [[ 9.98689963e-01 -5.01642044e-02 -1.00951171e-02 7.17700387e+01] [ 5.01541931e-02 9.98740714e-01 -1.24258058e-03 7.07923833e+00] [ 1.01447375e-02 7.34640306e-04 9.99948271e-01 9.82462247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811400513 meters 0.07399545350033983 Centerline is valid? [True, True] Translation: X:71.80, Y:7.08, Z:0.10 [[ 9.98464916e-01 -5.45306371e-02 -9.70679447e-03 7.17995651e+01] [ 5.45215780e-02 9.98511877e-01 -1.19566521e-03 7.08000331e+00] [ 9.75754994e-03 6.64600016e-04 9.99952173e-01 9.77496755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841400513 meters 0.08023814303334081 Centerline is valid? [True, True] Translation: X:71.83, Y:7.09, Z:0.10 [[ 9.98308925e-01 -5.73597528e-02 -9.44189556e-03 7.18277412e+01] [ 5.73513061e-02 9.98353382e-01 -1.16316626e-03 7.09433954e+00] [ 9.49306729e-03 6.19694214e-04 9.99954748e-01 9.78142804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87140051299998 meters 0.06470640081456955 Centerline is valid? [True, True] Translation: X:71.86, Y:7.08, Z:0.10 [[ 9.98096080e-01 -6.10066168e-02 -9.07782933e-03 7.18597734e+01] [ 6.09989578e-02 9.98137203e-01 -1.11845975e-03 7.07921117e+00] [ 9.12915262e-03 5.62592166e-04 9.99958170e-01 9.92404279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90140051299998 meters 0.054575894047735884 Centerline is valid? [True, True] Translation: X:71.89, Y:7.07, Z:0.10 [[ 9.97501947e-01 -7.03264579e-02 -6.63742580e-03 7.18916459e+01] [ 7.03225683e-02 9.97523968e-01 -8.17873009e-04 7.06865988e+00] [ 6.67850943e-03 3.49069090e-04 9.99977638e-01 1.03934918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93140051299999 meters 0.04694581206967011 Centerline is valid? [True, True] Translation: X:71.92, Y:7.06, Z:0.11 [[ 9.97155262e-01 -7.51489240e-02 -5.83293859e-03 7.19228932e+01] [ 7.51460023e-02 9.97172283e-01 -7.18764539e-04 7.06050526e+00] [ 5.87045907e-03 2.78397826e-04 9.99982730e-01 1.05715645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96140051299999 meters 0.04453400761243456 Centerline is valid? [True, True] Translation: X:71.95, Y:7.06, Z:0.11 [[ 9.96770978e-01 -8.00593650e-02 -6.17373515e-03 7.19525388e+01] [ 8.00561851e-02 9.96790062e-01 -7.60879275e-04 7.05813224e+00] [ 6.21483336e-03 2.64176695e-04 9.99980653e-01 1.06260454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99140051299999 meters 0.037379750252253235 Centerline is valid? [True, True] Translation: X:71.98, Y:7.05, Z:0.10 [[ 9.96127148e-01 -8.75990787e-02 -7.55684642e-03 7.19840497e+01] [ 8.75945297e-02 9.96155776e-01 -9.31498236e-04 7.05072236e+00] [ 7.60939459e-03 2.65952274e-04 9.99971013e-01 1.04629957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02140051299999 meters 0.0324933050803726 Centerline is valid? [True, True] Translation: X:72.01, Y:7.05, Z:0.10 [[ 9.95935227e-01 -8.97149732e-02 -8.01544470e-03 7.20136021e+01] [ 8.97099232e-02 9.95967446e-01 -9.88084620e-04 7.04866672e+00] [ 8.07176797e-03 2.65003352e-04 9.99967388e-01 1.03777118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05140051299999 meters 0.034383609136705864 Centerline is valid? [True, True] Translation: X:72.04, Y:7.05, Z:0.10 [[ 9.95814110e-01 -9.10625057e-02 -7.86631470e-03 7.20414213e+01] [ 9.10576792e-02 9.95845147e-01 -9.70296574e-04 7.05497538e+00] [ 7.92198896e-03 2.49946659e-04 9.99968589e-01 1.03167656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08140051299999 meters 0.03435419647091814 Centerline is valid? [True, True] Translation: X:72.07, Y:7.06, Z:0.10 [[ 9.95785460e-01 -9.14201911e-02 -7.32568578e-03 7.20703851e+01] [ 9.14160065e-02 9.95812380e-01 -9.04745464e-04 7.05820450e+00] [ 7.37772059e-03 2.31247439e-04 9.99972758e-01 1.04302332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11140051299999 meters 0.036922670150182385 Centerline is valid? [True, True] Translation: X:72.10, Y:7.06, Z:0.11 [[ 9.95873883e-01 -9.04627874e-02 -7.18976136e-03 7.20975020e+01] [ 9.04587245e-02 9.95899809e-01 -8.88959091e-04 7.06490951e+00] [ 7.24069968e-03 2.34914501e-04 9.99973758e-01 1.05760939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141400513 meters 0.034475230447381086 Centerline is valid? [True, True] Translation: X:72.13, Y:7.07, Z:0.10 [[ 9.95872119e-01 -9.04382318e-02 -7.72324350e-03 7.21262143e+01] [ 9.04335378e-02 9.95902034e-01 -9.55571492e-04 7.06622125e+00] [ 7.77801411e-03 2.53186774e-04 9.99969719e-01 1.04861721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171400513 meters 0.03204212428542817 Centerline is valid? [True, True] Translation: X:72.16, Y:7.07, Z:0.10 [[ 9.95723234e-01 -9.20560745e-02 -7.80513429e-03 7.21554054e+01] [ 9.20513218e-02 9.95753795e-01 -9.66761369e-04 7.06578523e+00] [ 7.86098835e-03 2.44153829e-04 9.99969072e-01 1.03428259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201400513 meters 0.029868606905303605 Centerline is valid? [True, True] Translation: X:72.18, Y:7.07, Z:0.10 [[ 9.95564153e-01 -9.37861986e-02 -7.49438890e-03 7.21844464e+01] [ 9.37818618e-02 9.95592336e-01 -9.28792436e-04 7.06565401e+00] [ 7.54846406e-03 2.21834711e-04 9.99971485e-01 1.03638446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.231400513 meters 0.029879232448714956 Centerline is valid? [True, True] Translation: X:72.21, Y:7.07, Z:0.10 [[ 9.95381723e-01 -9.56716455e-02 -7.88427880e-03 7.22124386e+01] [ 9.56668960e-02 9.95412923e-01 -9.78220908e-04 7.06905165e+00] [ 7.94170101e-03 2.19438734e-04 9.99968440e-01 1.03467708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26140051299998 meters 0.026501865022446475 Centerline is valid? [True, True] Translation: X:72.24, Y:7.07, Z:0.10 [[ 9.95054117e-01 -9.89563226e-02 -8.65737243e-03 7.22425870e+01] [ 9.89507172e-02 9.95091755e-01 -1.07447743e-03 7.07062875e+00] [ 8.72120626e-03 2.12509983e-04 9.99961947e-01 1.03679841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29140051299999 meters 0.025124698183331573 Centerline is valid? [True, True] Translation: X:72.27, Y:7.07, Z:0.11 [[ 9.94926976e-01 -1.00273051e-01 -8.10106068e-03 7.22714948e+01] [ 1.00268183e-01 9.94959939e-01 -1.00586560e-03 7.07086971e+00] [ 8.16109205e-03 1.88484187e-04 9.99966680e-01 1.05409386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32140051299999 meters 0.023331841204129032 Centerline is valid? [True, True] Translation: X:72.30, Y:7.08, Z:0.11 [[ 9.94842081e-01 -1.01170388e-01 -7.33397304e-03 7.22991921e+01] [ 1.01166415e-01 9.94869100e-01 -9.11617552e-04 7.07553358e+00] [ 7.38857185e-03 1.64963742e-04 9.99972691e-01 1.07955735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35140051299999 meters 0.029167599824991522 Centerline is valid? [True, True] Translation: X:72.33, Y:7.08, Z:0.11 [[ 9.94615598e-01 -1.03403045e-01 -6.90094918e-03 7.23285521e+01] [ 1.03399578e-01 9.94639528e-01 -8.58280102e-04 7.07787640e+00] [ 6.95270561e-03 1.40103543e-04 9.99975820e-01 1.07952710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38140051299999 meters 0.020135531960828047 Centerline is valid? [True, True] Translation: X:72.36, Y:7.08, Z:0.11 [[ 9.94495904e-01 -1.04510285e-01 -7.44959980e-03 7.23571962e+01] [ 1.04506266e-01 9.94523795e-01 -9.27765409e-04 7.08150690e+00] [ 7.50576530e-03 1.44129040e-04 9.99971821e-01 1.07198417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41140051299999 meters 0.020487455462216073 Centerline is valid? [True, True] Translation: X:72.38, Y:7.09, Z:0.11 [[ 9.94417728e-01 -1.05173182e-01 -8.48437116e-03 7.23848944e+01] [ 1.05167982e-01 9.94453909e-01 -1.05791954e-03 7.08587828e+00] [ 8.54858082e-03 1.59729747e-04 9.99963447e-01 1.05388171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44140051299999 meters 0.021051000878057904 Centerline is valid? [True, True] Translation: X:72.41, Y:7.09, Z:0.10 [[ 9.94374680e-01 -1.05509519e-01 -9.31325735e-03 7.24117817e+01] [ 1.05503263e-01 9.94418278e-01 -1.16193702e-03 7.08975409e+00] [ 9.38386876e-03 1.72821719e-04 9.99955956e-01 1.03793805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47140051299999 meters 0.020118357618887188 Centerline is valid? [True, True] Translation: X:72.44, Y:7.09, Z:0.10 [[ 9.94391959e-01 -1.05240540e-01 -1.04432421e-02 7.24405049e+01] [ 1.05232645e-01 9.94446776e-01 -1.30421393e-03 7.09267202e+00] [ 1.05225046e-02 1.97929865e-04 9.99944617e-01 1.04547481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501400513 meters 0.022777269553682145 Centerline is valid? [True, True] Translation: X:72.47, Y:7.10, Z:0.10 [[ 9.94487649e-01 -1.04379324e-01 -9.96359666e-03 7.24672031e+01] [ 1.04372081e-01 9.94537539e-01 -1.24561909e-03 7.10109560e+00] [ 1.00391878e-02 1.98831478e-04 9.99949586e-01 1.04714486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531400513 meters 0.02537709583585789 Centerline is valid? [True, True] Translation: X:72.50, Y:7.11, Z:0.11 [[ 9.94726737e-01 -1.02208068e-01 -8.49878560e-03 7.24951979e+01] [ 1.02202711e-01 9.94763025e-01 -1.06335180e-03 7.10910449e+00] [ 8.56296080e-03 1.89145537e-04 9.99963319e-01 1.06230118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561400513 meters 0.025803627866498622 Centerline is valid? [True, True] Translation: X:72.52, Y:7.11, Z:0.11 [[ 9.94800428e-01 -1.01485015e-01 -8.53815189e-03 7.25237938e+01] [ 1.01479570e-01 9.94837048e-01 -1.06961577e-03 7.11296846e+00] [ 8.60261980e-03 1.97606245e-04 9.99962977e-01 1.06325861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591400513 meters 0.023533643535806094 Centerline is valid? [True, True] Translation: X:72.55, Y:7.11, Z:0.11 [[ 9.94835920e-01 -1.01083554e-01 -9.14375744e-03 7.25522393e+01] [ 1.01077283e-01 9.94877916e-01 -1.14662871e-03 7.11418039e+00] [ 9.21282765e-03 2.16481273e-04 9.99957538e-01 1.06243577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62140051299998 meters 0.02488682290265656 Centerline is valid? [True, True] Translation: X:72.58, Y:7.12, Z:0.11 [[ 9.94766866e-01 -1.01719824e-01 -9.58951660e-03 7.25794325e+01] [ 1.01712950e-01 9.94813062e-01 -1.20312279e-03 7.12195421e+00] [ 9.66215781e-03 2.21448669e-04 9.99953296e-01 1.06491908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65140051299998 meters 0.02395081877470918 Centerline is valid? [True, True] Translation: X:72.61, Y:7.13, Z:0.11 [[ 9.94627331e-01 -1.03114365e-01 -9.15967822e-03 7.26074397e+01] [ 1.03108144e-01 9.94669487e-01 -1.15005869e-03 7.12607137e+00] [ 9.22944000e-03 1.99442383e-04 9.99957388e-01 1.07453044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68140051299999 meters 0.0220887916308846 Centerline is valid? [True, True] Translation: X:72.64, Y:7.13, Z:0.11 [[ 9.94484059e-01 -1.04568438e-01 -8.17914488e-03 7.26359264e+01] [ 1.04563517e-01 9.94517679e-01 -1.02815252e-03 7.12898905e+00] [ 8.24181648e-03 1.67241141e-04 9.99966022e-01 1.09288459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71140051299999 meters 0.01929578047717089 Centerline is valid? [True, True] Translation: X:72.66, Y:7.13, Z:0.11 [[ 9.94228431e-01 -1.06988527e-01 -7.95498172e-03 7.26641074e+01] [ 1.06983939e-01 9.94260245e-01 -1.00119868e-03 7.13411433e+00] [ 8.01643884e-03 1.44364911e-04 9.99967857e-01 1.09139516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74140051299999 meters 0.019883763948950285 Centerline is valid? [True, True] Translation: X:72.69, Y:7.14, Z:0.11 [[ 9.94148539e-01 -1.07695999e-01 -8.38172515e-03 7.26907653e+01] [ 1.07690922e-01 9.94183861e-01 -1.05610358e-03 7.14156110e+00] [ 8.44671401e-03 1.47288127e-04 9.99964315e-01 1.07830759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77140051299999 meters 0.017244574820495732 Centerline is valid? [True, True] Translation: X:72.72, Y:7.15, Z:0.11 [[ 9.93800101e-01 -1.10824771e-01 -8.90112251e-03 7.27187080e+01] [ 1.10819162e-01 9.93839954e-01 -1.12240677e-03 7.14568207e+00] [ 8.97068166e-03 1.29033018e-04 9.99959754e-01 1.07284949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80140051299999 meters 0.013611513459215425 Centerline is valid? [True, True] Translation: X:72.75, Y:7.14, Z:0.11 [[ 9.93453771e-01 -1.13901215e-01 -8.72461898e-03 7.27481840e+01] [ 1.13895932e-01 9.93492075e-01 -1.10156794e-03 7.14465517e+00] [ 8.79330974e-03 1.00658212e-04 9.99961333e-01 1.08686426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83140051299999 meters 0.010587649438729212 Centerline is valid? [True, True] Translation: X:72.78, Y:7.14, Z:0.11 [[ 9.92986391e-01 -1.17876427e-01 -9.12002571e-03 7.27760326e+01] [ 1.17870811e-01 9.93028269e-01 -1.15272696e-03 7.14368506e+00] [ 9.19232268e-03 6.96573569e-05 9.99957747e-01 1.08677966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86140051299999 meters 0.00787264573454434 Centerline is valid? [True, True] Translation: X:72.81, Y:7.14, Z:0.11 [[ 9.91703581e-01 -1.28135364e-01 -1.02632859e-02 7.28057685e+01] [ 1.28128793e-01 9.91756688e-01 -1.29802829e-03 7.13504140e+00] [ 1.03450057e-02 -2.77631232e-05 9.99946489e-01 1.07169456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891400513 meters 0.010846363678622314 Centerline is valid? [True, True] Translation: X:72.83, Y:7.13, Z:0.11 [[ 9.91032356e-01 -1.33208044e-01 -1.05112649e-02 7.28347341e+01] [ 1.33201427e-01 9.91088094e-01 -1.33022978e-03 7.13148820e+00] [ 1.05947868e-02 -8.18147398e-05 9.99943870e-01 1.06809711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921400513 meters 0.014453252181994907 Centerline is valid? [True, True] Translation: X:72.86, Y:7.13, Z:0.11 [[ 9.90428495e-01 -1.37619493e-01 -1.05957969e-02 7.28639989e+01] [ 1.37613009e-01 9.90485163e-01 -1.34209526e-03 7.12759885e+00] [ 1.06796781e-02 -1.28870109e-04 9.99942962e-01 1.07039951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951400513 meters 0.02060234575526424 Centerline is valid? [True, True] Translation: X:72.89, Y:7.12, Z:0.11 [[ 9.89610617e-01 -1.43411354e-01 -1.01985574e-02 7.28938682e+01] [ 1.43405643e-01 9.89663150e-01 -1.29291674e-03 7.11825810e+00] [ 1.02785554e-02 -1.83046544e-04 9.99947158e-01 1.09158079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981400513 meters 0.02250324089512867 Centerline is valid? [True, True] Translation: X:72.92, Y:7.12, Z:0.11 [[ 9.89426735e-01 -1.44739161e-01 -9.23642102e-03 7.29214499e+01] [ 1.44734530e-01 9.89469830e-01 -1.17133721e-03 7.11861611e+00] [ 9.30869830e-03 -1.77876706e-04 9.99956657e-01 1.10541914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01140051299998 meters 0.022202340996935188 Centerline is valid? [True, True] Translation: X:72.95, Y:7.12, Z:0.11 [[ 9.89418666e-01 -1.44849366e-01 -8.32850901e-03 7.29489616e+01] [ 1.44845599e-01 9.89453706e-01 -1.05697355e-03 7.12213681e+00] [ 8.39377605e-03 -1.60558507e-04 9.99964759e-01 1.12013849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04140051299999 meters 0.01847355117637304 Centerline is valid? [True, True] Translation: X:72.98, Y:7.13, Z:0.11 [[ 9.89915353e-01 -1.41450040e-01 -7.71238471e-03 7.29777791e+01] [ 1.41446696e-01 9.89945388e-01 -9.80098431e-04 7.12867486e+00] [ 7.77347464e-03 -1.20676852e-04 9.99969779e-01 1.12992831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07140051299999 meters 0.015463616293710573 Centerline is valid? [True, True] Translation: X:73.01, Y:7.14, Z:0.11 [[ 9.90299620e-01 -1.38718239e-01 -7.99450429e-03 7.30058855e+01] [ 1.38714547e-01 9.90331884e-01 -1.01724104e-03 7.13585071e+00] [ 8.05832238e-03 -1.01580623e-04 9.99967526e-01 1.13418388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10140051299999 meters 0.012491036817852538 Centerline is valid? [True, True] Translation: X:73.03, Y:7.14, Z:0.11 [[ 9.90764264e-01 -1.35333798e-01 -8.42234635e-03 7.30328759e+01] [ 1.35329568e-01 9.90800059e-01 -1.07286541e-03 7.14442300e+00] [ 8.49005622e-03 -7.68357800e-05 9.99963956e-01 1.13165535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13140051299999 meters 0.012491036817852538 Centerline is valid? [True, True] Translation: X:73.06, Y:7.15, Z:0.11 [[ 9.90739363e-01 -1.35515980e-01 -8.42224412e-03 7.30601720e+01] [ 1.35511749e-01 9.90775158e-01 -1.07366742e-03 7.14807944e+00] [ 8.49004933e-03 -7.75884548e-05 9.99963956e-01 1.13330022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16140051299999 meters 0.008238688290813843 Centerline is valid? [True, True] Translation: X:73.09, Y:7.16, Z:0.11 [[ 9.91437195e-01 -1.30272123e-01 -9.02561129e-03 7.30875723e+01] [ 1.30267031e-01 9.91478277e-01 -1.15228712e-03 7.16340412e+00] [ 9.09880842e-03 -3.33192779e-05 9.99958604e-01 1.11975234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19140051299999 meters 0.007552958732173639 Centerline is valid? [True, True] Translation: X:73.11, Y:7.17, Z:0.11 [[ 9.91614978e-01 -1.28931898e-01 -8.73507008e-03 7.31146110e+01] [ 1.28927063e-01 9.91653450e-01 -1.11668928e-03 7.16998630e+00] [ 8.80613925e-03 -1.88611141e-05 9.99961225e-01 1.12018405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22140051299999 meters 0.007175009144851847 Centerline is valid? [True, True] Translation: X:73.14, Y:7.18, Z:0.11 [[ 9.91735873e-01 -1.28020795e-01 -8.40445460e-03 7.31420923e+01] [ 1.28016273e-01 9.91771484e-01 -1.07600018e-03 7.17524662e+00] [ 8.47304880e-03 -8.79897467e-06 9.99964103e-01 1.12669670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251400513 meters 0.007775428343950985 Centerline is valid? [True, True] Translation: X:73.17, Y:7.19, Z:0.11 [[ 9.92179940e-01 -1.24493515e-01 -8.96283507e-03 7.31692106e+01] [ 1.24488215e-01 9.92220421e-01 -1.14889015e-03 7.18571310e+00] [ 9.03613737e-03 2.41384132e-05 9.99959173e-01 1.12257747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281400513 meters 0.008948673535811703 Centerline is valid? [True, True] Translation: X:73.20, Y:7.20, Z:0.11 [[ 9.92476339e-01 -1.22040462e-01 -9.84080834e-03 7.31967575e+01] [ 1.22033943e-01 9.92525125e-01 -1.26248812e-03 7.19507813e+00] [ 9.92132416e-03 5.20769421e-05 9.99950781e-01 1.11680761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311400513 meters 0.013176967047573566 Centerline is valid? [True, True] Translation: X:73.22, Y:7.21, Z:0.11 [[ 9.93111631e-01 -1.16564407e-01 -1.19175578e-02 7.32241098e+01] [ 1.16554424e-01 9.93183126e-01 -1.53115939e-03 7.20953616e+00] [ 1.20147960e-02 1.31568119e-04 9.99927811e-01 1.08941267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341400513 meters 0.016298058278888538 Centerline is valid? [True, True] Translation: X:73.25, Y:7.22, Z:0.11 [[ 9.93388175e-01 -1.14089553e-01 -1.27869956e-02 7.32507578e+01] [ 1.14077833e-01 9.93470454e-01 -1.64456901e-03 7.21868577e+00] [ 1.28911305e-02 1.74982658e-04 9.99916891e-01 1.06882554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37140051299998 meters 0.023111382459519755 Centerline is valid? [True, True] Translation: X:73.28, Y:7.24, Z:0.10 [[ 9.93926355e-01 -1.09228702e-01 -1.33974133e-02 7.32768609e+01] [ 1.09215382e-01 9.94016614e-01 -1.72404643e-03 7.23534896e+00] [ 1.35055668e-02 2.50371572e-04 9.99908764e-01 1.04786133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40140051299998 meters 0.023313239963241382 Centerline is valid? [True, True] Translation: X:73.31, Y:7.24, Z:0.11 [[ 9.94287924e-01 -1.05960785e-01 -1.27998610e-02 7.33057296e+01] [ 1.05948350e-01 9.94370269e-01 -1.64762375e-03 7.24141238e+00] [ 1.29023847e-02 2.82088242e-04 9.99916721e-01 1.07441220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43140051299999 meters 0.030385431492210388 Centerline is valid? [True, True] Translation: X:73.33, Y:7.26, Z:0.11 [[ 9.94678570e-01 -1.02337446e-01 -1.18991017e-02 7.33322646e+01] [ 1.02326435e-01 9.94749694e-01 -1.53209055e-03 7.25510603e+00] [ 1.19934180e-02 3.06344975e-04 9.99928029e-01 1.08478098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46140051299999 meters 0.03491727254657228 Centerline is valid? [True, True] Translation: X:73.36, Y:7.27, Z:0.11 [[ 9.95045303e-01 -9.88021295e-02 -1.10898543e-02 7.33595925e+01] [ 9.87923408e-02 9.95107046e-01 -1.42838523e-03 7.26579356e+00] [ 1.11767197e-02 3.25715347e-04 9.99937485e-01 1.10288550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49140051299999 meters 0.03423884224627963 Centerline is valid? [True, True] Translation: X:73.39, Y:7.27, Z:0.11 [[ 9.95441039e-01 -9.48642826e-02 -9.89471691e-03 7.33893452e+01] [ 9.48562929e-02 9.95490160e-01 -1.27473193e-03 7.27145815e+00] [ 9.97101985e-03 3.30344309e-04 9.99950234e-01 1.13759997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52140051299999 meters 0.04573513127708208 Centerline is valid? [True, True] Translation: X:73.42, Y:7.30, Z:0.12 [[ 9.96347969e-01 -8.49499256e-02 -8.61600109e-03 7.34151549e+01] [ 8.49434964e-02 9.96385152e-01 -1.11006997e-03 7.29910960e+00] [ 8.67915591e-03 3.74142698e-04 9.99962265e-01 1.15236099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55140051299999 meters 0.05956779239466357 Centerline is valid? [True, True] Translation: X:73.44, Y:7.33, Z:0.12 [[ 9.96833530e-01 -7.90578413e-02 -8.53064933e-03 7.34415657e+01] [ 7.90513230e-02 9.96869941e-01 -1.09913022e-03 7.32582209e+00] [ 8.59084276e-03 4.21290738e-04 9.99963009e-01 1.15028728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58140051299999 meters 0.0695496080744524 Centerline is valid? [True, True] Translation: X:73.47, Y:7.35, Z:0.11 [[ 9.97672485e-01 -6.75521349e-02 -9.29094863e-03 7.34685431e+01] [ 6.75439042e-02 9.97715585e-01 -1.19718391e-03 7.35159008e+00] [ 9.35059657e-03 5.66850502e-04 9.99956122e-01 1.14003702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61140051299999 meters 0.06571759711777074 Centerline is valid? [True, True] Translation: X:73.50, Y:7.35, Z:0.11 [[ 9.97877277e-01 -6.42635062e-02 -1.05423668e-02 7.34991289e+01] [ 6.42527255e-02 9.97932734e-01 -1.35848447e-03 7.35443127e+00] [ 1.06078739e-02 6.78224982e-04 9.99943505e-01 1.12633944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641400513 meters 0.07638455275652412 Centerline is valid? [True, True] Translation: X:73.53, Y:7.37, Z:0.11 [[ 9.97955536e-01 -6.27549985e-02 -1.21061363e-02 7.35263894e+01] [ 6.27406708e-02 9.98028644e-01 -1.56006065e-03 7.37453577e+00] [ 1.21801724e-02 7.97324053e-04 9.99925501e-01 1.09284672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671400513 meters 0.06790496846930792 Centerline is valid? [True, True] Translation: X:73.56, Y:7.38, Z:0.11 [[ 9.97853844e-01 -6.41914450e-02 -1.29291971e-02 7.35558254e+01] [ 6.41752084e-02 9.97937254e-01 -1.66723059e-03 7.37639339e+00] [ 1.30095494e-02 8.33918533e-04 9.99915024e-01 1.07372576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701400513 meters 0.06616097447203707 Centerline is valid? [True, True] Translation: X:73.59, Y:7.38, Z:0.11 [[ 9.97766984e-01 -6.57546758e-02 -1.17204122e-02 7.35854756e+01] [ 6.57414307e-02 9.97835546e-01 -1.51221573e-03 7.38200003e+00] [ 1.17944792e-02 7.38322267e-04 9.99930170e-01 1.09071656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.731400513 meters 0.063924360465672 Centerline is valid? [True, True] Translation: X:73.61, Y:7.39, Z:0.11 [[ 9.97679839e-01 -6.73201397e-02 -1.01458175e-02 7.36145761e+01] [ 6.73102936e-02 9.97731232e-01 -1.30921020e-03 7.38665168e+00] [ 1.02109352e-02 6.23254661e-04 9.99947673e-01 1.11809882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76140051299998 meters 0.06207900280168695 Centerline is valid? [True, True] Translation: X:73.64, Y:7.40, Z:0.11 [[ 9.97638670e-01 -6.80927402e-02 -8.97010813e-03 7.36428491e+01] [ 6.80850698e-02 9.97678847e-01 -1.15807525e-03 7.39565645e+00] [ 9.02814365e-03 5.44610217e-04 9.99959097e-01 1.14466761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79140051299999 meters 0.06193164009046617 Centerline is valid? [True, True] Translation: X:73.67, Y:7.40, Z:0.11 [[ 9.97668967e-01 -6.76287605e-02 -9.10951829e-03 7.36709914e+01] [ 6.76208175e-02 9.97710398e-01 -1.17749598e-03 7.40406488e+00] [ 9.16829372e-03 5.58758124e-04 9.99957814e-01 1.14423519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82140051299999 meters 0.07117323567224895 Centerline is valid? [True, True] Translation: X:73.70, Y:7.42, Z:0.11 [[ 9.97702594e-01 -6.71062987e-02 -9.28861942e-03 7.36960577e+01] [ 6.70980064e-02 9.97745666e-01 -1.20186053e-03 7.42337995e+00] [ 9.34833218e-03 5.75851526e-04 9.99956138e-01 1.13406158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85140051299999 meters 0.06906949942131593 Centerline is valid? [True, True] Translation: X:73.72, Y:7.43, Z:0.11 [[ 9.97653607e-01 -6.77496793e-02 -9.86214627e-03 7.37244634e+01] [ 6.77403521e-02 9.97702167e-01 -1.27712765e-03 7.42949262e+00] [ 9.92600969e-03 6.06065745e-04 9.99950552e-01 1.12337262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88140051299999 meters 0.06634773069033333 Centerline is valid? [True, True] Translation: X:73.75, Y:7.44, Z:0.11 [[ 9.97592656e-01 -6.86218545e-02 -9.99667494e-03 7.37519410e+01] [ 6.86123033e-02 9.97642558e-01 -1.29568322e-03 7.43698637e+00] [ 1.00620205e-02 6.06669175e-04 9.99949193e-01 1.12301662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91140051299999 meters 0.06766491533985625 Centerline is valid? [True, True] Translation: X:73.78, Y:7.45, Z:0.11 [[ 9.97463811e-01 -7.04233672e-02 -1.03196806e-02 7.37799412e+01] [ 7.04132809e-02 9.97517007e-01 -1.33792132e-03 7.44512563e+00] [ 1.03882778e-02 6.07885527e-04 9.99945856e-01 1.11853610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94140051299999 meters 0.056832628552677907 Centerline is valid? [True, True] Translation: X:73.81, Y:7.44, Z:0.11 [[ 9.97099446e-01 -7.55086431e-02 -9.54670942e-03 7.38112742e+01] [ 7.55002419e-02 9.97145015e-01 -1.23787759e-03 7.43726030e+00] [ 9.61292417e-03 5.13508190e-04 9.99953663e-01 1.14361673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97140051299999 meters 0.055955988117512914 Centerline is valid? [True, True] Translation: X:73.84, Y:7.44, Z:0.11 [[ 9.96920030e-01 -7.78377481e-02 -9.57804317e-03 7.38398582e+01] [ 7.78293976e-02 9.96965918e-01 -1.24207030e-03 7.43959826e+00] [ 9.64566256e-03 4.92791432e-04 9.99953358e-01 1.14561810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001400513 meters 0.05328313234936261 Centerline is valid? [True, True] Translation: X:73.87, Y:7.44, Z:0.11 [[ 9.96748563e-01 -7.99144825e-02 -1.02945660e-02 7.38707473e+01] [ 7.99049440e-02 9.96801594e-01 -1.33521294e-03 7.43507354e+00] [ 1.03683427e-02 5.08284853e-04 9.99946118e-01 1.13869743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031400513 meters 0.05169245659216093 Centerline is valid? [True, True] Translation: X:73.90, Y:7.44, Z:0.11 [[ 9.96598535e-01 -8.14653235e-02 -1.24402767e-02 7.38984589e+01] [ 8.14515079e-02 9.96675999e-01 -1.61404373e-03 7.44194378e+00] [ 1.25304138e-02 5.95274323e-04 9.99921314e-01 1.10522272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061400513 meters 0.04962566904918037 Centerline is valid? [True, True] Translation: X:73.93, Y:7.44, Z:0.11 [[ 9.96676604e-01 -8.04897901e-02 -1.25355624e-02 7.39276644e+01] [ 8.04756677e-02 9.96755244e-01 -1.62778356e-03 7.44338913e+00] [ 1.26259075e-02 6.13566033e-04 9.99920102e-01 1.11007596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.091400513 meters 0.058319491116084254 Centerline is valid? [True, True] Translation: X:73.95, Y:7.46, Z:0.11 [[ 9.97109774e-01 -7.52753681e-02 -1.02818916e-02 7.39549585e+01] [ 7.52655814e-02 9.97162628e-01 -1.33603988e-03 7.45796536e+00] [ 1.03532889e-02 5.58305878e-04 9.99946247e-01 1.14318904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12140051299998 meters 0.05936827752617361 Centerline is valid? [True, True] Translation: X:73.98, Y:7.46, Z:0.12 [[ 9.97300101e-01 -7.27794251e-02 -9.78082743e-03 7.39845664e+01] [ 7.27704477e-02 9.97347906e-01 -1.27110295e-03 7.46248453e+00] [ 9.84739790e-03 5.55915912e-04 9.99951359e-01 1.15691715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15140051299998 meters 0.06478876276011518 Centerline is valid? [True, True] Translation: X:74.01, Y:7.47, Z:0.12 [[ 9.97421972e-01 -7.10462564e-02 -1.00915232e-02 7.40119050e+01] [ 7.10366085e-02 9.97472847e-01 -1.31173993e-03 7.47102886e+00] [ 1.01592146e-02 5.91490646e-04 9.99948219e-01 1.15569867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18140051299999 meters 0.058403350895722086 Centerline is valid? [True, True] Translation: X:74.04, Y:7.47, Z:0.12 [[ 9.97492208e-01 -6.99779990e-02 -1.06007170e-02 7.40426577e+01] [ 6.99672886e-02 9.97548334e-01 -1.37831968e-03 7.46536990e+00] [ 1.06711797e-02 6.33159713e-04 9.99942861e-01 1.15714080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21140051299999 meters 0.061341942191877316 Centerline is valid? [True, True] Translation: X:74.07, Y:7.47, Z:0.12 [[ 9.97627954e-01 -6.81148674e-02 -9.94134550e-03 7.40716671e+01] [ 6.81053540e-02 9.97677297e-01 -1.29277096e-03 7.47110680e+00] [ 1.00063116e-02 6.12645592e-04 9.99949748e-01 1.16650066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24140051299999 meters 0.06409179199631064 Centerline is valid? [True, True] Translation: X:74.10, Y:7.47, Z:0.12 [[ 9.97886058e-01 -6.44181112e-02 -8.58615943e-03 7.40977213e+01] [ 6.44369622e-02 9.97919900e-01 1.93697764e-03 7.47391902e+00] [ 8.44352291e-03 -2.48614901e-03 9.99961262e-01 1.18531345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27140051299999 meters 0.07084219208431712 Centerline is valid? [True, True] Translation: X:74.13, Y:7.49, Z:0.12 [[ 9.98045697e-01 -6.20752140e-02 -7.17317549e-03 7.41277589e+01] [ 6.20474807e-02 9.98065077e-01 -4.02640832e-03 7.49448967e+00] [ 7.40923611e-03 3.57346203e-03 9.99966166e-01 1.21007241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30140051299999 meters 0.07188618090846828 Centerline is valid? [True, True] Translation: X:74.16, Y:7.50, Z:0.12 [[ 9.98183524e-01 -5.96648274e-02 -8.35230479e-03 7.41580434e+01] [ 5.96578055e-02 9.98218294e-01 -1.08757347e-03 7.49833446e+00] [ 8.40231333e-03 5.87317742e-04 9.99964527e-01 1.20530740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33140051299999 meters 0.05795920051992635 Centerline is valid? [True, True] Translation: X:74.19, Y:7.48, Z:0.12 [[ 9.98391927e-01 -5.59090422e-02 -9.36693781e-03 7.41863036e+01] [ 5.59222964e-02 9.98434451e-01 1.15890838e-03 7.48320221e+00] [ 9.28747996e-03 -1.68086544e-03 9.99955458e-01 1.19421484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36140051299999 meters 0.0740529835552218 Centerline is valid? [True, True] Translation: X:74.21, Y:7.51, Z:0.12 [[ 9.98381694e-01 -5.59157432e-02 -1.03644860e-02 7.42149810e+01] [ 5.58793214e-02 9.98430408e-01 -3.77121479e-03 7.51443500e+00] [ 1.05590882e-02 3.18595137e-03 9.99939176e-01 1.17417499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391400513 meters 0.07787447073761952 Centerline is valid? [True, True] Translation: X:74.24, Y:7.52, Z:0.12 [[ 9.98367946e-01 -5.62792425e-02 -9.70006858e-03 7.42419828e+01] [ 5.62696039e-02 9.98414811e-01 -1.26395072e-03 7.52038884e+00] [ 9.75582632e-03 7.16068868e-04 9.99952154e-01 1.19460454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421400513 meters 0.08347927399023133 Centerline is valid? [True, True] Translation: X:74.27, Y:7.53, Z:0.12 [[ 9.98288276e-01 -5.77404351e-02 -9.30373235e-03 7.42696635e+01] [ 5.77316270e-02 9.98331402e-01 -1.21274738e-03 7.52955326e+00] [ 9.35823272e-03 6.73551883e-04 9.99955984e-01 1.20497926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451400513 meters 0.07992299124446262 Centerline is valid? [True, True] Translation: X:74.30, Y:7.53, Z:0.12 [[ 9.98126289e-01 -6.04381953e-02 -9.54647434e-03 7.43009296e+01] [ 6.04290423e-02 9.98171720e-01 -1.24460313e-03 7.52768641e+00] [ 9.60424228e-03 6.65386800e-04 9.99953657e-01 1.20405267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481400513 meters 0.07420918501420334 Centerline is valid? [True, True] Translation: X:74.33, Y:7.52, Z:0.12 [[ 9.97668634e-01 -6.74191894e-02 -1.05806614e-02 7.43314612e+01] [ 6.74083362e-02 9.97724518e-01 -1.37945622e-03 7.52142856e+00] [ 1.06495871e-02 6.63015424e-04 9.99943072e-01 1.17978856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51140051299998 meters 0.05685737732234191 Centerline is valid? [True, True] Translation: X:74.36, Y:7.50, Z:0.12 [[ 9.97598956e-01 -6.86127735e-02 -9.41329848e-03 7.43623720e+01] [ 6.86232057e-02 9.97642337e-01 7.89379450e-04 7.49975936e+00] [ 9.33694358e-03 -1.43345483e-03 9.99955382e-01 1.20307204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54140051299999 meters 0.05878116549538607 Centerline is valid? [True, True] Translation: X:74.39, Y:7.51, Z:0.12 [[ 9.97253283e-01 -7.37158671e-02 -7.20140726e-03 7.43930284e+01] [ 7.36960708e-02 9.97276304e-01 -2.97704341e-03 7.50761144e+00] [ 7.40124815e-03 2.43815090e-03 9.99969638e-01 1.23093542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57140051299999 meters 0.06049090135337548 Centerline is valid? [True, True] Translation: X:74.42, Y:7.51, Z:0.12 [[ 9.97235439e-01 -7.38650858e-02 -8.08872376e-03 7.44206098e+01] [ 7.38589508e-02 9.97268140e-01 -1.05497310e-03 7.50871896e+00] [ 8.14455217e-03 4.54631914e-04 9.99966729e-01 1.22968315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60140051299999 meters 0.05992047309647559 Centerline is valid? [True, True] Translation: X:74.45, Y:7.51, Z:0.12 [[ 9.97240615e-01 -7.31366169e-02 -1.27354581e-02 7.44511559e+01] [ 7.31213400e-02 9.97321667e-01 -1.66171864e-03 7.50598388e+00] [ 1.28228808e-02 7.25899559e-04 9.99917520e-01 1.15919854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63140051299999 meters 0.059925064361490005 Centerline is valid? [True, True] Translation: X:74.48, Y:7.51, Z:0.11 [[ 9.97274678e-01 -7.23313174e-02 -1.45394986e-02 7.44805808e+01] [ 7.23113134e-02 9.97380305e-01 -1.89756358e-03 7.50694018e+00] [ 1.46386628e-02 8.41021867e-04 9.99892495e-01 1.12567971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66140051299999 meters 0.06336313055808623 Centerline is valid? [True, True] Translation: X:74.51, Y:7.51, Z:0.11 [[ 9.97343786e-01 -7.13060039e-02 -1.48602588e-02 7.45089951e+01] [ 7.12849844e-02 9.97454103e-01 -1.94007499e-03 7.51153415e+00] [ 1.49607651e-02 8.75608412e-04 9.99887698e-01 1.11439236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69140051299999 meters 0.05788917198434402 Centerline is valid? [True, True] Translation: X:74.54, Y:7.51, Z:0.11 [[ 9.97412469e-01 -7.05098955e-02 -1.40257296e-02 7.45389109e+01] [ 7.04910693e-02 9.97510727e-01 -1.83274635e-03 7.50534517e+00] [ 1.41200425e-02 8.39315386e-04 9.99899955e-01 1.14266431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72140051299999 meters 0.06360677868187789 Centerline is valid? [True, True] Translation: X:74.57, Y:7.51, Z:0.12 [[ 9.97513062e-01 -6.93074989e-02 -1.28125284e-02 7.45664252e+01] [ 6.92916743e-02 9.97595036e-01 -1.67544740e-03 7.51194019e+00] [ 1.28978358e-02 7.83479125e-04 9.99916513e-01 1.15634197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751400513 meters 0.06408395420048008 Centerline is valid? [True, True] Translation: X:74.59, Y:7.52, Z:0.12 [[ 9.97527321e-01 -6.90689017e-02 -1.29896360e-02 7.45949749e+01] [ 6.90525977e-02 9.97611572e-01 -1.70002958e-03 7.51534654e+00] [ 1.30760304e-02 7.98857841e-04 9.99914186e-01 1.15860695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781400513 meters 0.05935409532838193 Centerline is valid? [True, True] Translation: X:74.63, Y:7.51, Z:0.12 [[ 9.97619924e-01 -6.76897783e-02 -1.31370506e-02 7.46254843e+01] [ 6.76729680e-02 9.97706074e-01 -1.72045837e-03 7.50942808e+00] [ 1.32233726e-02 8.27340344e-04 9.99912225e-01 1.17786159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811400513 meters 0.06630406153166378 Centerline is valid? [True, True] Translation: X:74.65, Y:7.52, Z:0.12 [[ 9.97656387e-01 -6.71109465e-02 -1.33361728e-02 7.46524265e+01] [ 6.70935634e-02 9.97745159e-01 -1.74711792e-03 7.51956728e+00] [ 1.34233526e-02 8.48251994e-04 9.99909543e-01 1.17356007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841400513 meters 0.06617279669745715 Centerline is valid? [True, True] Translation: X:74.68, Y:7.52, Z:0.12 [[ 9.97631163e-01 -6.73552848e-02 -1.39759554e-02 7.46803908e+01] [ 6.73361916e-02 9.97728660e-01 -1.83277849e-03 7.52208999e+00] [ 1.40676586e-02 8.87349321e-04 9.99900652e-01 1.16633162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87140051299998 meters 0.07419220529800141 Centerline is valid? [True, True] Translation: X:74.71, Y:7.53, Z:0.11 [[ 9.97465145e-01 -6.95152601e-02 -1.51958293e-02 7.47081676e+01] [ 6.94929163e-02 9.97580452e-01 -1.99414480e-03 7.53398572e+00] [ 1.52976857e-02 9.33087436e-04 9.99882548e-01 1.12634846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90140051299998 meters 0.06444954495500572 Centerline is valid? [True, True] Translation: X:74.74, Y:7.52, Z:0.11 [[ 9.97317512e-01 -7.14929698e-02 -1.57014725e-02 7.47399599e+01] [ 7.14693544e-02 9.97440667e-01 -2.06075043e-03 7.52479089e+00] [ 1.58086163e-02 9.33048395e-04 9.99874601e-01 1.13978101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93140051299999 meters 0.05943206359939819 Centerline is valid? [True, True] Translation: X:74.77, Y:7.52, Z:0.11 [[ 9.97125750e-01 -7.39361732e-02 -1.65433290e-02 7.47710386e+01] [ 7.39102891e-02 9.97262530e-01 -2.17143304e-03 7.52092987e+00] [ 1.66585896e-02 9.42469569e-04 9.99860792e-01 1.14166554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96140051299999 meters 0.06241870238834936 Centerline is valid? [True, True] Translation: X:74.80, Y:7.53, Z:0.11 [[ 9.96697685e-01 -7.94049792e-02 -1.69874923e-02 7.48001539e+01] [ 7.93784736e-02 9.96842056e-01 -2.22998577e-03 7.52726024e+00] [ 1.71109187e-02 8.74180445e-04 9.99853215e-01 1.12854322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99140051299999 meters 0.05203590424518508 Centerline is valid? [True, True] Translation: X:74.83, Y:7.52, Z:0.12 [[ 9.96558553e-01 -8.13499170e-02 -1.59135422e-02 7.48311546e+01] [ 8.13268993e-02 9.96685291e-01 -2.08932878e-03 7.51830850e+00] [ 1.60307601e-02 7.87939429e-04 9.99871189e-01 1.17099176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02140051299999 meters 0.05203590424518508 Centerline is valid? [True, True] Translation: X:74.86, Y:7.52, Z:0.12 [[ 9.96543718e-01 -8.15314988e-02 -1.59132854e-02 7.48584474e+01] [ 8.15084730e-02 9.96670455e-01 -2.09128306e-03 7.52204759e+00] [ 1.60308068e-02 7.86987403e-04 9.99871189e-01 1.17263820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05140051299999 meters 0.04703737235368332 Centerline is valid? [True, True] Translation: X:74.89, Y:7.52, Z:0.12 [[ 9.96433924e-01 -8.30494261e-02 -1.49073274e-02 7.48884810e+01] [ 8.30293527e-02 9.96545172e-01 -1.96151207e-03 7.51860123e+00] [ 1.50187276e-02 7.16771421e-04 9.99886956e-01 1.20061388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08140051299999 meters 0.04676930242868521 Centerline is valid? [True, True] Translation: X:74.92, Y:7.52, Z:0.12 [[ 9.96318294e-01 -8.46105320e-02 -1.38171855e-02 7.49173554e+01] [ 8.45934221e-02 9.96413892e-01 -1.81914634e-03 7.51757993e+00] [ 1.39215545e-02 6.43605772e-04 9.99902883e-01 1.21436200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11140051299999 meters 0.04470472627476326 Centerline is valid? [True, True] Translation: X:74.95, Y:7.52, Z:0.12 [[ 9.96261025e-01 -8.53556614e-02 -1.33559082e-02 7.49463180e+01] [ 8.53397227e-02 9.96350357e-01 -1.75982674e-03 7.51770424e+00] [ 1.34573751e-02 6.13457285e-04 9.99909257e-01 1.21740133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141400513 meters 0.0501139405280341 Centerline is valid? [True, True] Translation: X:74.97, Y:7.53, Z:0.12 [[ 9.96244230e-01 -8.57081814e-02 -1.23102586e-02 7.49734801e+01] [ 8.56946493e-02 9.96320125e-01 -1.62353479e-03 7.52732795e+00] [ 1.24041086e-02 5.62513875e-04 9.99922908e-01 1.21869568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171400513 meters 0.0446076940803944 Centerline is valid? [True, True] Translation: X:75.00, Y:7.52, Z:0.13 [[ 9.96217263e-01 -8.61056907e-02 -1.17036605e-02 7.50031561e+01] [ 8.60934694e-02 9.96285866e-01 -1.54500348e-03 7.52026892e+00] [ 1.17932251e-02 5.31550401e-04 9.99930316e-01 1.25398714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201400513 meters 0.04685660621337018 Centerline is valid? [True, True] Translation: X:75.03, Y:7.51, Z:0.13 [[ 9.96508127e-01 -8.31228294e-02 -7.88334493e-03 7.50293688e+01] [ 8.32155503e-02 9.96456032e-01 1.22698473e-02 7.50967404e+00] [ 6.83550218e-03 -1.28830195e-02 9.99893646e-01 1.28379021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.231400513 meters 0.04970419510653783 Centerline is valid? [True, True] Translation: X:75.06, Y:7.54, Z:0.12 [[ 9.96277197e-01 -8.54437046e-02 -1.14507713e-02 7.50589832e+01] [ 8.52706614e-02 9.96247402e-01 -1.48333443e-02 7.54033300e+00] [ 1.26752170e-02 1.38017079e-02 9.99824410e-01 1.22363242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26140051299998 meters 0.05060198983832547 Centerline is valid? [True, True] Translation: X:75.09, Y:7.53, Z:0.12 [[ 9.96602861e-01 -8.10599320e-02 -1.45610715e-02 7.50910517e+01] [ 8.10404133e-02 9.96708954e-01 -1.92652776e-03 7.53108482e+00] [ 1.46693146e-02 7.39947822e-04 9.99892126e-01 1.24439701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29140051299999 meters 0.05191713228377196 Centerline is valid? [True, True] Translation: X:75.12, Y:7.54, Z:0.12 [[ 9.96827970e-01 -7.82728508e-02 -1.43999753e-02 7.51206037e+01] [ 7.82534691e-02 9.96931675e-01 -1.90538511e-03 7.53535138e+00] [ 1.45049314e-02 7.72493152e-04 9.99894500e-01 1.24696472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32140051299999 meters 0.05923494799816094 Centerline is valid? [True, True] Translation: X:75.15, Y:7.55, Z:0.12 [[ 9.97048448e-01 -7.55740560e-02 -1.35260813e-02 7.51489869e+01] [ 7.55567054e-02 9.97139900e-01 -1.78993228e-03 7.54644955e+00] [ 1.36226678e-02 7.62663066e-04 9.99906916e-01 1.24691031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35140051299999 meters 0.057574612987992 Centerline is valid? [True, True] Translation: X:75.18, Y:7.55, Z:0.13 [[ 9.97332376e-01 -7.17620965e-02 -1.33541356e-02 7.51792956e+01] [ 7.17448415e-02 9.97421453e-01 -1.76733806e-03 7.54654157e+00] [ 1.34465292e-02 8.04533126e-04 9.99909268e-01 1.26251339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38140051299999 meters 0.058201204419829636 Centerline is valid? [True, True] Translation: X:75.21, Y:7.55, Z:0.13 [[ 9.97434963e-01 -7.01719581e-02 -1.41206014e-02 7.52081542e+01] [ 7.01524995e-02 9.97534527e-01 -1.86927522e-03 7.55183391e+00] [ 1.42169581e-02 8.73884973e-04 9.99898552e-01 1.25299721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41140051299999 meters 0.06846136694780193 Centerline is valid? [True, True] Translation: X:75.24, Y:7.57, Z:0.12 [[ 9.97658397e-01 -6.63688335e-02 -1.65197244e-02 7.52350775e+01] [ 6.63416763e-02 9.97794567e-01 -2.18714544e-03 7.56989255e+00] [ 1.66284496e-02 1.08607780e-03 9.99861148e-01 1.20786338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44140051299999 meters 0.06365189830026902 Centerline is valid? [True, True] Translation: X:75.27, Y:7.57, Z:0.12 [[ 9.97818169e-01 -6.38144698e-02 -1.69297107e-02 7.52656963e+01] [ 6.37855816e-02 9.97961109e-01 -2.24143355e-03 7.56889856e+00] [ 1.70382288e-02 1.15667167e-03 9.99854170e-01 1.22145090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47140051299999 meters 0.07289469102397357 Centerline is valid? [True, True] Translation: X:75.29, Y:7.59, Z:0.12 [[ 9.97980992e-01 -6.14448907e-02 -1.60768465e-02 7.52927772e+01] [ 6.14185298e-02 9.98109830e-01 -2.12878165e-03 7.58560345e+00] [ 1.61772613e-02 1.13706734e-03 9.99868493e-01 1.22225630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501400513 meters 0.07339476678881111 Centerline is valid? [True, True] Translation: X:75.32, Y:7.60, Z:0.13 [[ 9.98153115e-01 -5.92020909e-02 -1.36188236e-02 7.53219426e+01] [ 5.91829642e-02 9.98245523e-01 -1.80354312e-03 7.59572326e+00] [ 1.37017032e-02 9.94209834e-04 9.99905633e-01 1.26916906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531400513 meters 0.07335438686841556 Centerline is valid? [True, True] Translation: X:75.35, Y:7.60, Z:0.13 [[ 9.98082452e-01 -6.04901937e-02 -1.31284304e-02 7.53507417e+01] [ 6.04725273e-02 9.98168347e-01 -1.73885185e-03 7.60206073e+00] [ 1.32095672e-02 9.41608148e-04 9.99912307e-01 1.27695272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561400513 meters 0.07106731911813546 Centerline is valid? [True, True] Translation: X:75.38, Y:7.60, Z:0.13 [[ 9.97908197e-01 -6.31441116e-02 -1.38582419e-02 7.53808687e+01] [ 6.31246785e-02 9.98003961e-01 -1.83568264e-03 7.60471117e+00] [ 1.39464929e-02 9.57045688e-04 9.99902285e-01 1.27074597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.591400513 meters 0.06755537751064636 Centerline is valid? [True, True] Translation: X:75.41, Y:7.60, Z:0.13 [[ 9.97646337e-01 -6.69112351e-02 -1.49890682e-02 7.54113057e+01] [ 6.68889227e-02 9.97758453e-01 -1.98555558e-03 7.60198097e+00] [ 1.50883255e-02 9.78279628e-04 9.99885686e-01 1.25817473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62140051299998 meters 0.05404207014047193 Centerline is valid? [True, True] Translation: X:75.44, Y:7.59, Z:0.12 [[ 9.97087584e-01 -7.40682171e-02 -1.81727704e-02 7.54436138e+01] [ 7.40365996e-02 9.97252619e-01 -2.40740841e-03 7.58913183e+00] [ 1.83011553e-02 1.05494691e-03 9.99831963e-01 1.23412021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65140051299998 meters 0.06033112272855351 Centerline is valid? [True, True] Translation: X:75.47, Y:7.60, Z:0.12 [[ 9.96891090e-01 -7.68732044e-02 -1.72819134e-02 7.54719089e+01] [ 7.68450271e-02 9.97040420e-01 -2.28963046e-03 7.60192383e+00] [ 1.74067774e-02 9.54483099e-04 9.99848035e-01 1.21059221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68140051299999 meters 0.05537393012929775 Centerline is valid? [True, True] Translation: X:75.50, Y:7.60, Z:0.12 [[ 9.96655744e-01 -8.00294795e-02 -1.65109439e-02 7.55027803e+01] [ 8.00041896e-02 9.96792127e-01 -2.18763983e-03 7.59865979e+00] [ 1.66330546e-02 8.59379115e-04 9.99861292e-01 1.23736620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71140051299999 meters 0.05011207479989566 Centerline is valid? [True, True] Translation: X:75.53, Y:7.60, Z:0.13 [[ 9.96504934e-01 -8.19986888e-02 -1.59414980e-02 7.55332453e+01] [ 8.19753594e-02 9.96632118e-01 -2.11251822e-03 7.59524237e+00] [ 1.60610326e-02 7.98324801e-04 9.99870695e-01 1.26229592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74140051299999 meters 0.05089217937863705 Centerline is valid? [True, True] Translation: X:75.56, Y:7.60, Z:0.13 [[ 9.96470265e-01 -8.27387130e-02 -1.41885693e-02 7.55614410e+01] [ 8.27202995e-02 9.96571028e-01 -1.88077399e-03 7.59711527e+00] [ 1.42955299e-02 7.00452649e-04 9.99897568e-01 1.28947077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77140051299999 meters 0.050214405710325365 Centerline is valid? [True, True] Translation: X:75.59, Y:7.60, Z:0.13 [[ 9.96531972e-01 -8.18945591e-02 -1.47414699e-02 7.55906346e+01] [ 8.18745643e-02 9.96640723e-01 -1.95581674e-03 7.59897688e+00] [ 1.48521199e-02 7.42082484e-04 9.99889426e-01 1.28056907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80140051299999 meters 0.055416501967948756 Centerline is valid? [True, True] Translation: X:75.62, Y:7.61, Z:0.13 [[ 9.96679857e-01 -8.00599309e-02 -1.48212904e-02 7.56177206e+01] [ 8.00394944e-02 9.96789751e-01 -1.96789375e-03 7.60825256e+00] [ 1.49312598e-02 7.75071469e-04 9.99888222e-01 1.26342752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83140051299999 meters 0.06263107434820851 Centerline is valid? [True, True] Translation: X:75.65, Y:7.61, Z:0.13 [[ 9.96835613e-01 -7.81397356e-02 -1.45925354e-02 7.56456653e+01] [ 7.81197108e-02 9.96942102e-01 -1.93814403e-03 7.61479783e+00] [ 1.46993590e-02 7.92046349e-04 9.99891645e-01 1.26334858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86140051299999 meters 0.05401087639811314 Centerline is valid? [True, True] Translation: X:75.67, Y:7.60, Z:0.13 [[ 9.97426156e-01 -7.09987131e-02 -1.00123002e-02 7.56696618e+01] [ 7.10605303e-02 9.97454203e-01 5.95935624e-03 7.59952217e+00] [ 9.56370426e-03 -6.65549715e-03 9.99932118e-01 1.31974149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891400513 meters 0.06492963379535309 Centerline is valid? [True, True] Translation: X:75.70, Y:7.63, Z:0.13 [[ 9.97813486e-01 -6.48484561e-02 -1.27641937e-02 7.57021604e+01] [ 6.47350821e-02 9.97860956e-01 -9.10394225e-03 7.63295651e+00] [ 1.33272672e-02 8.25774523e-03 9.99877089e-01 1.31438836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921400513 meters 0.07067081536996306 Centerline is valid? [True, True] Translation: X:75.73, Y:7.63, Z:0.13 [[ 9.98121215e-01 -5.97961707e-02 -1.33588532e-02 7.57329885e+01] [ 5.97777389e-02 9.98210134e-01 -1.77516877e-03 7.63454911e+00] [ 1.34410909e-02 9.73271572e-04 9.99909191e-01 1.33857097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951400513 meters 0.0786709137892419 Centerline is valid? [True, True] Translation: X:75.76, Y:7.65, Z:0.13 [[ 9.98449110e-01 -5.42799068e-02 -1.23719909e-02 7.57610226e+01] [ 5.42636761e-02 9.98525288e-01 -1.64407781e-03 7.64910508e+00] [ 1.24429862e-02 9.70178325e-04 9.99922112e-01 1.34981658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981400513 meters 0.08022251705559616 Centerline is valid? [True, True] Translation: X:75.79, Y:7.66, Z:0.14 [[ 9.98868303e-01 -4.60311734e-02 -1.19684468e-02 7.57906500e+01] [ 4.60153953e-02 9.98939464e-01 -1.59050681e-03 7.65630122e+00] [ 1.20289668e-02 1.03797402e-03 9.99927111e-01 1.35254588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01140051299998 meters 0.09260284110313421 Centerline is valid? [True, True] Translation: X:75.82, Y:7.68, Z:0.13 [[ 9.99018730e-01 -4.22596870e-02 -1.32550162e-02 7.58179713e+01] [ 4.22400042e-02 9.99105940e-01 -1.76151684e-03 7.67734653e+00] [ 1.33176065e-02 1.19989637e-03 9.99910597e-01 1.31911788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04140051299999 meters 0.09371351400010554 Centerline is valid? [True, True] Translation: X:75.85, Y:7.69, Z:0.13 [[ 9.99110042e-01 -3.93277137e-02 -1.52464503e-02 7.58470134e+01] [ 3.93013318e-02 9.99225350e-01 -2.02625693e-03 7.68575605e+00] [ 1.53143277e-02 1.42524784e-03 9.99881713e-01 1.29029677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07140051299999 meters 0.0983528969650523 Centerline is valid? [True, True] Translation: X:75.88, Y:7.70, Z:0.13 [[ 9.99167873e-01 -3.71562980e-02 -1.68217526e-02 7.58758201e+01] [ 3.71238780e-02 9.99308171e-01 -2.23555348e-03 7.69961506e+00] [ 1.68931797e-02 1.60920453e-03 9.99856005e-01 1.25866346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10140051299999 meters 0.09778116554172088 Centerline is valid? [True, True] Translation: X:75.91, Y:7.71, Z:0.12 [[ 9.99204103e-01 -3.57276594e-02 -1.77396352e-02 7.59054473e+01] [ 3.56913803e-02 9.99360079e-01 -2.35759123e-03 7.70733080e+00] [ 1.78125144e-02 1.72256276e-03 9.99839861e-01 1.24735218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13140051299999 meters 0.0969328107176732 Centerline is valid? [True, True] Translation: X:75.93, Y:7.72, Z:0.13 [[ 9.99223945e-01 -3.56521666e-02 -1.67460630e-02 7.59327599e+01] [ 3.56197981e-02 9.99362932e-01 -2.22730343e-03 7.71729409e+00] [ 1.68148028e-02 1.62908354e-03 9.99857294e-01 1.26975426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16140051299999 meters 0.09349215699806801 Centerline is valid? [True, True] Translation: X:75.96, Y:7.72, Z:0.13 [[ 9.99168481e-01 -3.75845574e-02 -1.58034189e-02 7.59635503e+01] [ 3.75559550e-02 9.99292314e-01 -2.10288540e-03 7.72033393e+00] [ 1.58712710e-02 1.50762432e-03 9.99872907e-01 1.29224542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19140051299999 meters 0.09337585304084688 Centerline is valid? [True, True] Translation: X:75.99, Y:7.73, Z:0.13 [[ 9.99091540e-01 -3.98031650e-02 -1.52250822e-02 7.59917936e+01] [ 3.97768700e-02 9.99206533e-01 -2.02613944e-03 7.72844529e+00] [ 1.52936484e-02 1.41869265e-03 9.99882039e-01 1.29960633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22140051299999 meters 0.08903146381274019 Centerline is valid? [True, True] Translation: X:76.02, Y:7.74, Z:0.13 [[ 9.98834454e-01 -4.58908400e-02 -1.49587853e-02 7.60215767e+01] [ 4.58661318e-02 9.98945611e-01 -1.99084104e-03 7.73595414e+00] [ 1.50343743e-02 1.30241901e-03 9.99886129e-01 1.29818257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251400513 meters 0.08720041192517923 Centerline is valid? [True, True] Translation: X:76.05, Y:7.74, Z:0.13 [[ 9.98650443e-01 -4.99145117e-02 -1.43469046e-02 7.60507010e+01] [ 4.98921947e-02 9.98752784e-01 -1.90948482e-03 7.74096741e+00] [ 1.44243220e-02 1.19110930e-03 9.99895255e-01 1.30713639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281400513 meters 0.08032102552282819 Centerline is valid? [True, True] Translation: X:76.08, Y:7.74, Z:0.13 [[ 9.98417688e-01 -5.45845026e-02 -1.35148981e-02 7.60813740e+01] [ 5.45651231e-02 9.98508594e-01 -1.79881730e-03 7.73967188e+00] [ 1.35929294e-02 1.05852893e-03 9.99907052e-01 1.32487107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311400513 meters 0.07307112388076438 Centerline is valid? [True, True] Translation: X:76.11, Y:7.74, Z:0.13 [[ 9.97920260e-01 -6.32192000e-02 -1.25891651e-02 7.61111630e+01] [ 6.32030672e-02 9.97999281e-01 -1.67563537e-03 7.74342533e+00] [ 1.26699101e-02 8.76476630e-04 9.99919349e-01 1.32934530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341400513 meters 0.0640622483090262 Centerline is valid? [True, True] Translation: X:76.14, Y:7.74, Z:0.13 [[ 9.97712503e-01 -6.62737767e-02 -1.33246951e-02 7.61422342e+01] [ 6.62559742e-02 9.97801083e-01 -1.77356807e-03 7.74101269e+00] [ 1.34129362e-02 8.86670387e-04 9.99909649e-01 1.32639786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37140051299998 meters 0.07021532829950305 Centerline is valid? [True, True] Translation: X:76.17, Y:7.76, Z:0.13 [[ 9.97575597e-01 -6.81418697e-02 -1.41284780e-02 7.61690864e+01] [ 6.81220382e-02 9.97675223e-01 -1.88075368e-03 7.75569231e+00] [ 1.42237905e-02 9.13733262e-04 9.99898419e-01 1.30087629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40140051299998 meters 0.0672358422846791 Centerline is valid? [True, True] Translation: X:76.20, Y:7.76, Z:0.13 [[ 9.97449664e-01 -6.96981662e-02 -1.53731308e-02 7.61985016e+01] [ 6.96748648e-02 9.97567654e-01 -2.04679376e-03 7.75830515e+00] [ 1.54783958e-02 9.70452940e-04 9.99879732e-01 1.29252663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43140051299999 meters 0.053874886655772405 Centerline is valid? [True, True] Translation: X:76.23, Y:7.75, Z:0.13 [[ 9.97361411e-01 -7.08237230e-02 -1.59441443e-02 7.62286173e+01] [ 7.07987912e-02 9.97488357e-01 -2.12345662e-03 7.74821372e+00] [ 1.60544894e-02 9.89027551e-04 9.99870629e-01 1.31534117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46140051299999 meters 0.05977651883924516 Centerline is valid? [True, True] Translation: X:76.26, Y:7.77, Z:0.13 [[ 9.97274470e-01 -7.21794311e-02 -1.52892608e-02 7.62550573e+01] [ 7.21566546e-02 9.97391231e-01 -2.03686891e-03 7.76686626e+00] [ 1.53963947e-02 9.28095456e-04 9.99881038e-01 1.31279710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49140051299999 meters 0.061978160470743414 Centerline is valid? [True, True] Translation: X:76.28, Y:7.78, Z:0.13 [[ 9.97308470e-01 -7.19147333e-02 -1.42858780e-02 7.62817154e+01] [ 7.18948113e-02 9.97410403e-01 -1.90389319e-03 7.77683349e+00] [ 1.43858013e-02 8.71688303e-04 9.99896139e-01 1.32087171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52140051299999 meters 0.059938859833723095 Centerline is valid? [True, True] Translation: X:76.31, Y:7.78, Z:0.13 [[ 9.97368644e-01 -7.12495019e-02 -1.33901904e-02 7.63103041e+01] [ 7.12319190e-02 9.97458181e-01 -1.78609669e-03 7.78053258e+00] [ 1.34834135e-02 8.27587872e-04 9.99908752e-01 1.34162747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55140051299999 meters 0.0600934471570093 Centerline is valid? [True, True] Translation: X:76.34, Y:7.79, Z:0.14 [[ 9.97452236e-01 -7.01514553e-02 -1.29541623e-02 7.63397042e+01] [ 7.01348920e-02 9.97536018e-01 -1.72905911e-03 7.78640397e+00] [ 1.30435395e-02 8.16115100e-04 9.99914596e-01 1.35284677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58140051299999 meters 0.06960117743594016 Centerline is valid? [True, True] Translation: X:76.37, Y:7.80, Z:0.13 [[ 9.97530306e-01 -6.90563192e-02 -1.28262948e-02 7.63661703e+01] [ 6.90399861e-02 9.97612424e-01 -1.71237959e-03 7.80366568e+00] [ 1.29139217e-02 8.22623323e-04 9.99916273e-01 1.34611005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61140051299999 meters 0.06886447929302066 Centerline is valid? [True, True] Translation: X:76.40, Y:7.81, Z:0.13 [[ 9.97604571e-01 -6.78059713e-02 -1.36919803e-02 7.63953828e+01] [ 6.77872361e-02 9.97698125e-01 -1.82835699e-03 7.80987519e+00] [ 1.37844365e-02 8.95835794e-04 9.99904589e-01 1.33369013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641400513 meters 0.06544453461748402 Centerline is valid? [True, True] Translation: X:76.42, Y:7.81, Z:0.13 [[ 9.97578259e-01 -6.80791626e-02 -1.42423549e-02 7.64233813e+01] [ 6.80588941e-02 9.97679489e-01 -1.90355318e-03 7.81065727e+00] [ 1.43388977e-02 9.29624340e-04 9.99896761e-01 1.32848451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671400513 meters 0.06357559860409712 Centerline is valid? [True, True] Translation: X:76.45, Y:7.81, Z:0.13 [[ 9.97534711e-01 -6.85825135e-02 -1.48640275e-02 7.64525765e+01] [ 6.85604529e-02 9.97644980e-01 -1.98928280e-03 7.81319451e+00] [ 1.49654524e-02 9.65294183e-04 9.99887545e-01 1.32088362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701400513 meters 0.06410359419794112 Centerline is valid? [True, True] Translation: X:76.48, Y:7.82, Z:0.13 [[ 9.97455052e-01 -6.97909283e-02 -1.45823887e-02 7.64807058e+01] [ 6.97698059e-02 9.97561206e-01 -1.95285737e-03 7.81719660e+00] [ 1.46831170e-02 9.30477025e-04 9.99891764e-01 1.32486794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.731400513 meters 0.06620365602709181 Centerline is valid? [True, True] Translation: X:76.51, Y:7.82, Z:0.13 [[ 9.97412370e-01 -7.05974075e-02 -1.35856314e-02 7.65077858e+01] [ 7.05791399e-02 9.97504523e-01 -1.82001561e-03 7.82257211e+00] [ 1.36802172e-02 8.56443903e-04 9.99906055e-01 1.34280027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76140051299998 meters 0.06577361491044349 Centerline is valid? [True, True] Translation: X:76.54, Y:7.83, Z:0.14 [[ 9.97412166e-01 -7.08013072e-02 -1.24958068e-02 7.65361867e+01] [ 7.07858516e-02 9.97490128e-01 -1.67539682e-03 7.82513903e+00] [ 1.25830642e-02 7.86534851e-04 9.99920521e-01 1.36692352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79140051299999 meters 0.06913203074959497 Centerline is valid? [True, True] Translation: X:76.56, Y:7.83, Z:0.14 [[ 9.97456855e-01 -7.02399630e-02 -1.20901095e-02 7.65628837e+01] [ 7.02254349e-02 9.97529827e-01 -1.62254892e-03 7.83241360e+00] [ 1.21742126e-02 7.69389341e-04 9.99925596e-01 1.37334788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82140051299999 meters 0.06326371849252585 Centerline is valid? [True, True] Translation: X:76.59, Y:7.83, Z:0.14 [[ 9.97483743e-01 -6.98363783e-02 -1.22091191e-02 7.65922498e+01] [ 6.98215124e-02 9.97558152e-01 -1.64016570e-03 7.82920273e+00] [ 1.22938495e-02 7.83579464e-04 9.99924121e-01 1.37762890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85140051299999 meters 0.07078636262852382 Centerline is valid? [True, True] Translation: X:76.62, Y:7.84, Z:0.14 [[ 9.97482959e-01 -6.97964139e-02 -1.24982811e-02 7.66185494e+01] [ 6.97808147e-02 9.97560933e-01 -1.68040248e-03 7.84244188e+00] [ 1.25850830e-02 8.04032600e-04 9.99920481e-01 1.36449889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88140051299999 meters 0.06610807141930423 Centerline is valid? [True, True] Translation: X:76.65, Y:7.84, Z:0.14 [[ 9.97417620e-01 -7.10664708e-02 -1.03753413e-02 7.66491905e+01] [ 7.10557860e-02 9.97471367e-01 -1.39531213e-03 7.83948168e+00] [ 1.04482658e-02 6.54480872e-04 9.99945201e-01 1.39707967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91140051299999 meters 0.059891315869042464 Centerline is valid? [True, True] Translation: X:76.68, Y:7.83, Z:0.14 [[ 9.97348597e-01 -7.22371863e-02 -8.80709035e-03 7.66799997e+01] [ 7.22295319e-02 9.97387333e-01 -1.18453443e-03 7.83349399e+00] [ 8.86964779e-03 5.45261742e-04 9.99960515e-01 1.42776429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94140051299999 meters 0.059891315869042464 Centerline is valid? [True, True] Translation: X:76.71, Y:7.84, Z:0.14 [[ 9.97335098e-01 -7.24233278e-02 -8.80699913e-03 7.67072881e+01] [ 7.24156746e-02 9.97373834e-01 -1.18521218e-03 7.83730830e+00] [ 8.86970751e-03 5.44288918e-04 9.99960515e-01 1.42940838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97140051299999 meters 0.06088548843486799 Centerline is valid? [True, True] Translation: X:76.74, Y:7.84, Z:0.14 [[ 9.97234855e-01 -7.38803446e-02 -8.02108709e-03 7.67366285e+01] [ 7.38740346e-02 9.97266995e-01 -1.08052035e-03 7.83942564e+00] [ 8.07899464e-03 4.84982490e-04 9.99967247e-01 1.44732342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001400513 meters 0.056124399033206165 Centerline is valid? [True, True] Translation: X:76.77, Y:7.83, Z:0.14 [[ 9.96873080e-01 -7.84628963e-02 -9.36143087e-03 7.67677535e+01] [ 7.84545008e-02 9.96916897e-01 -1.26126728e-03 7.83388376e+00] [ 9.43153130e-03 5.22877010e-04 9.99955385e-01 1.42709264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031400513 meters 0.0515239783313665 Centerline is valid? [True, True] Translation: X:76.80, Y:7.83, Z:0.14 [[ 9.96714977e-01 -8.03678873e-02 -1.00128596e-02 7.67979003e+01] [ 8.03583768e-02 9.96765123e-01 -1.34921161e-03 7.83095735e+00] [ 1.00889025e-02 5.40162278e-04 9.99948960e-01 1.41271707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061400513 meters 0.05801056586338997 Centerline is valid? [True, True] Translation: X:76.82, Y:7.84, Z:0.14 [[ 9.96666159e-01 -8.08988039e-02 -1.05807357e-02 7.68244922e+01] [ 8.08882072e-02 9.96722160e-01 -1.42634518e-03 7.84122777e+00] [ 1.06614433e-02 5.65733231e-04 9.99943005e-01 1.40156389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.091400513 meters 0.057336551293586314 Centerline is valid? [True, True] Translation: X:76.85, Y:7.84, Z:0.14 [[ 9.96680079e-01 -8.07676645e-02 -1.02666579e-02 7.68539662e+01] [ 8.07576681e-02 9.96732803e-01 -1.38521847e-03 7.84179630e+00] [ 1.03449955e-02 5.51508304e-04 9.99946337e-01 1.41003789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12140051299998 meters 0.058724519340316264 Centerline is valid? [True, True] Translation: X:76.88, Y:7.84, Z:0.14 [[ 9.96776570e-01 -7.95337192e-02 -1.05288231e-02 7.68829455e+01] [ 7.95231251e-02 9.96832008e-01 -1.42172480e-03 7.84455462e+00] [ 1.06085429e-02 5.79857057e-04 9.99943560e-01 1.41304468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15140051299998 meters 0.054650364698276124 Centerline is valid? [True, True] Translation: X:76.91, Y:7.84, Z:0.14 [[ 9.96913385e-01 -7.77001438e-02 -1.12423157e-02 7.69127337e+01] [ 7.76879443e-02 9.96976568e-01 -1.51847503e-03 7.84156729e+00] [ 1.13263111e-02 6.40395687e-04 9.99935650e-01 1.41492394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18140051299999 meters 0.065979956533421 Centerline is valid? [True, True] Translation: X:76.94, Y:7.86, Z:0.14 [[ 9.97315468e-01 -7.22159174e-02 -1.21127182e-02 7.69403810e+01] [ 7.22013495e-02 9.97388735e-01 -1.63627837e-03 7.85791810e+00] [ 1.21992540e-02 7.57331128e-04 9.99925300e-01 1.39638295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21140051299999 meters 0.07172641012072088 Centerline is valid? [True, True] Translation: X:76.97, Y:7.87, Z:0.14 [[ 9.97565347e-01 -6.87038628e-02 -1.19648738e-02 7.69684823e+01] [ 6.86893980e-02 9.97636785e-01 -1.61620765e-03 7.86778143e+00] [ 1.20476379e-02 7.90412768e-04 9.99927112e-01 1.39845794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24140051299999 meters 0.07692833151200659 Centerline is valid? [True, True] Translation: X:77.00, Y:7.87, Z:0.14 [[ 9.97790400e-01 -6.53740335e-02 -1.18555355e-02 7.69981812e+01] [ 6.53595988e-02 9.97860491e-01 -1.60135663e-03 7.87374281e+00] [ 1.19348576e-02 8.22945232e-04 9.99928438e-01 1.40094109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27140051299999 meters 0.06944118453928215 Centerline is valid? [True, True] Translation: X:77.03, Y:7.87, Z:0.14 [[ 9.98021317e-01 -6.19583282e-02 -1.07059123e-02 7.70295420e+01] [ 6.19463613e-02 9.98078432e-01 -1.44612088e-03 7.86993529e+00] [ 1.07749394e-02 7.80067150e-04 9.99941644e-01 1.42710503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30140051299999 meters 0.07152373474549963 Centerline is valid? [True, True] Translation: X:77.06, Y:7.87, Z:0.14 [[ 9.98198726e-01 -5.92447510e-02 -9.45323333e-03 7.70592676e+01] [ 5.92352994e-02 9.98243231e-01 -1.27694861e-03 7.87460248e+00] [ 9.51227869e-03 7.14683372e-04 9.99954502e-01 1.44556848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33140051299999 meters 0.07536455737761753 Centerline is valid? [True, True] Translation: X:77.09, Y:7.88, Z:0.15 [[ 9.98317854e-01 -5.72894713e-02 -8.90945238e-03 7.70879977e+01] [ 5.72809977e-02 9.98357370e-01 -1.20358263e-03 7.88214856e+00] [ 8.96377006e-03 6.91215705e-04 9.99959586e-01 1.45175520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36140051299999 meters 0.08052924941511226 Centerline is valid? [True, True] Translation: X:77.12, Y:7.89, Z:0.14 [[ 9.98422667e-01 -5.52207325e-02 -1.01414655e-02 7.71164027e+01] [ 5.52096449e-02 9.98473844e-01 -1.37023868e-03 7.89153972e+00] [ 1.02016536e-02 8.08170648e-04 9.99947635e-01 1.42269254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391400513 meters 0.07608229441172114 Centerline is valid? [True, True] Translation: X:77.15, Y:7.89, Z:0.14 [[ 9.98394123e-01 -5.55886244e-02 -1.09123680e-02 7.71457069e+01] [ 5.55757987e-02 9.98453381e-01 -1.47531434e-03 7.88852857e+00] [ 1.09775014e-02 8.66481601e-04 9.99939370e-01 1.40817933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421400513 meters 0.08267094161780272 Centerline is valid? [True, True] Translation: X:77.17, Y:7.90, Z:0.14 [[ 9.98359570e-01 -5.60406034e-02 -1.17311620e-02 7.71724531e+01] [ 5.60257953e-02 9.98428060e-01 -1.58739449e-03 7.89699262e+00] [ 1.18016798e-02 9.27542805e-04 9.99929928e-01 1.39140726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451400513 meters 0.07824405119119972 Centerline is valid? [True, True] Translation: X:77.20, Y:7.90, Z:0.14 [[ 9.98340423e-01 -5.64181041e-02 -1.15497338e-02 7.72011904e+01] [ 5.64037612e-02 9.98406816e-01 -1.56409048e-03 7.89628867e+00] [ 1.16195760e-02 9.10046318e-04 9.99932076e-01 1.39302798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481400513 meters 0.08335259605575758 Centerline is valid? [True, True] Translation: X:77.23, Y:7.90, Z:0.14 [[ 9.98241512e-01 -5.83633830e-02 -1.03730210e-02 7.72297567e+01] [ 5.83519092e-02 9.98295086e-01 -1.40561098e-03 7.90217525e+00] [ 1.04373721e-02 7.97853651e-04 9.99945211e-01 1.40141252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51140051299998 meters 0.07815692808905568 Centerline is valid? [True, True] Translation: X:77.26, Y:7.90, Z:0.14 [[ 9.98153220e-01 -5.99373150e-02 -9.88267036e-03 7.72602402e+01] [ 5.99269759e-02 9.98201865e-01 -1.33927915e-03 7.89712848e+00] [ 9.94517278e-03 7.44567244e-04 9.99950268e-01 1.41048556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54140051299999 meters 0.07194053509879372 Centerline is valid? [True, True] Translation: X:77.29, Y:7.89, Z:0.14 [[ 9.98051593e-01 -6.16929892e-02 -9.32695279e-03 7.72917373e+01] [ 6.16838549e-02 9.98094937e-01 -1.26413518e-03 7.89123663e+00] [ 9.38717264e-03 6.86349725e-04 9.99955704e-01 1.41465546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57140051299999 meters 0.07844837324063364 Centerline is valid? [True, True] Translation: X:77.32, Y:7.90, Z:0.14 [[ 9.97959795e-01 -6.30842035e-02 -9.83007577e-03 7.73197353e+01] [ 6.30741231e-02 9.98007956e-01 -1.33244322e-03 7.90063149e+00] [ 9.89454995e-03 7.09701352e-04 9.99950796e-01 1.40411211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60140051299999 meters 0.07613351326697454 Centerline is valid? [True, True] Translation: X:77.35, Y:7.90, Z:0.14 [[ 9.97868869e-01 -6.44201324e-02 -1.03811217e-02 7.73502632e+01] [ 6.44089607e-02 9.97922595e-01 -1.40725790e-03 7.89930159e+00] [ 1.04502116e-02 7.35621591e-04 9.99945124e-01 1.39044588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63140051299999 meters 0.07261752746178685 Centerline is valid? [True, True] Translation: X:77.38, Y:7.90, Z:0.14 [[ 9.97795092e-01 -6.55317582e-02 -1.05139070e-02 7.73807342e+01] [ 6.55203585e-02 9.97850215e-01 -1.42542971e-03 7.89639310e+00] [ 1.05847153e-02 7.33411816e-04 9.99943711e-01 1.39254225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66140051299999 meters 0.07074790161365126 Centerline is valid? [True, True] Translation: X:77.41, Y:7.89, Z:0.14 [[ 9.97625650e-01 -6.82549831e-02 -9.18262541e-03 7.74120121e+01] [ 6.82464012e-02 9.97667720e-01 -1.24506786e-03 7.89250836e+00] [ 9.24619104e-03 6.15430499e-04 9.99957064e-01 1.41126742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69140051299999 meters 0.07041419895553336 Centerline is valid? [True, True] Translation: X:77.44, Y:7.89, Z:0.14 [[ 9.97485172e-01 -7.02596050e-02 -9.32303454e-03 7.74407149e+01] [ 7.02508446e-02 9.97528556e-01 -1.26423961e-03 7.89383149e+00] [ 9.38881816e-03 6.06109214e-04 9.99955740e-01 1.40984605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72140051299999 meters 0.06737530471833468 Centerline is valid? [True, True] Translation: X:77.47, Y:7.89, Z:0.14 [[ 9.97302785e-01 -7.27113956e-02 -1.00104083e-02 7.74721266e+01] [ 7.27014160e-02 9.97352827e-01 -1.35771116e-03 7.88827305e+00] [ 1.00826301e-02 6.26278269e-04 9.99948973e-01 1.40350568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751400513 meters 0.06380027057358648 Centerline is valid? [True, True] Translation: X:77.50, Y:7.89, Z:0.14 [[ 9.97055458e-01 -7.59523640e-02 -1.05665862e-02 7.75020513e+01] [ 7.59414250e-02 9.97111250e-01 -1.43323480e-03 7.88960572e+00] [ 1.06449196e-02 6.26572965e-04 9.99943145e-01 1.38941850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781400513 meters 0.06008123472816583 Centerline is valid? [True, True] Translation: X:77.53, Y:7.89, Z:0.14 [[ 9.96739828e-01 -7.99609151e-02 -1.07687679e-02 7.75326875e+01] [ 7.99497853e-02 9.96797822e-01 -1.46076494e-03 7.88707081e+00] [ 1.08510885e-02 5.95041913e-04 9.99940948e-01 1.38549122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811400513 meters 0.053783183261017206 Centerline is valid? [True, True] Translation: X:77.56, Y:7.88, Z:0.14 [[ 9.96399851e-01 -8.41126509e-02 -1.06018381e-02 7.75633925e+01] [ 8.41020959e-02 9.96456105e-01 -1.43829924e-03 7.88107659e+00] [ 1.06852455e-02 5.41484344e-04 9.99942765e-01 1.39554356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841400513 meters 0.045635631120896664 Centerline is valid? [True, True] Translation: X:77.60, Y:7.87, Z:0.14 [[ 9.95794295e-01 -9.11330729e-02 -9.40660606e-03 7.75957195e+01] [ 9.11250752e-02 9.95838637e-01 -1.27625022e-03 7.86977444e+00] [ 9.48377037e-03 4.13705001e-04 9.99954942e-01 1.42380412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87140051299998 meters 0.040014938877251015 Centerline is valid? [True, True] Translation: X:77.63, Y:7.86, Z:0.14 [[ 9.95535438e-01 -9.39351998e-02 -9.23961007e-03 7.76270096e+01] [ 9.39276033e-02 9.95578241e-01 -1.25365870e-03 7.86438859e+00] [ 9.31651743e-03 3.80207237e-04 9.99956528e-01 1.43351377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90140051299998 meters 0.04185917781432764 Centerline is valid? [True, True] Translation: X:77.66, Y:7.87, Z:0.14 [[ 9.95287449e-01 -9.64753308e-02 -9.76751247e-03 7.76552739e+01] [ 9.64669618e-02 9.95335305e-01 -1.32545548e-03 7.86836122e+00] [ 9.84982375e-03 3.76966954e-04 9.99951418e-01 1.42219448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93140051299999 meters 0.03464125618653849 Centerline is valid? [True, True] Translation: X:77.69, Y:7.86, Z:0.14 [[ 9.94901164e-01 -1.00320071e-01 -1.03709818e-02 7.76867591e+01] [ 1.00310842e-01 9.94955152e-01 -1.40755357e-03 7.86108592e+00] [ 1.04598677e-02 3.60054762e-04 9.99945229e-01 1.41252633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96140051299999 meters 0.03679014002332275 Centerline is valid? [True, True] Translation: X:77.71, Y:7.87, Z:0.14 [[ 9.94788005e-01 -1.01442297e-01 -1.03095050e-02 7.77139149e+01] [ 1.01433234e-01 9.94841364e-01 -1.39954282e-03 7.86552300e+00] [ 1.03982949e-02 3.46521974e-04 9.99945876e-01 1.41154073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99140051299999 meters 0.0381020038575539 Centerline is valid? [True, True] Translation: X:77.74, Y:7.87, Z:0.14 [[ 9.94700498e-01 -1.02320660e-01 -1.00698577e-02 7.77413645e+01] [ 1.02312052e-01 9.94751413e-01 -1.36759267e-03 7.86854579e+00] [ 1.01569381e-02 3.30077308e-04 9.99948362e-01 1.41847645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02140051299999 meters 0.034016597756220006 Centerline is valid? [True, True] Translation: X:77.77, Y:7.86, Z:0.14 [[ 9.94596837e-01 -1.03415615e-01 -9.07428657e-03 7.77717838e+01] [ 1.03408663e-01 9.94638189e-01 -1.23318978e-03 7.86244581e+00] [ 9.15316304e-03 2.88166804e-04 9.99958067e-01 1.44143158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05140051299999 meters 0.032707917571754036 Centerline is valid? [True, True] Translation: X:77.80, Y:7.87, Z:0.14 [[ 9.94552591e-01 -1.03866243e-01 -8.77190908e-03 7.77993568e+01] [ 1.03859755e-01 9.94591236e-01 -1.19317650e-03 7.86652199e+00] [ 8.84839465e-03 2.75628454e-04 9.99960814e-01 1.44847143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08140051299999 meters 0.03249714579224199 Centerline is valid? [True, True] Translation: X:77.83, Y:7.87, Z:0.15 [[ 9.94482874e-01 -1.04562845e-01 -8.39197324e-03 7.78266694e+01] [ 1.04556927e-01 9.94518248e-01 -1.14205584e-03 7.86965953e+00] [ 8.46538713e-03 2.58316038e-04 9.99964135e-01 1.45715493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11140051299999 meters 0.029833513308014342 Centerline is valid? [True, True] Translation: X:77.86, Y:7.87, Z:0.14 [[ 9.94306807e-01 -1.06123953e-01 -9.57493053e-03 7.78556937e+01] [ 1.06116310e-01 9.94352869e-01 -1.30424679e-03 7.86903900e+00] [ 9.65927147e-03 2.80765172e-04 9.99953309e-01 1.43531124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141400513 meters 0.029313643145407325 Centerline is valid? [True, True] Translation: X:77.88, Y:7.87, Z:0.14 [[ 9.94160119e-01 -1.07504471e-01 -9.40455157e-03 7.78847332e+01] [ 1.07497144e-01 9.94204566e-01 -1.28261612e-03 7.86839960e+00] [ 9.48793508e-03 2.64163354e-04 9.99954954e-01 1.43609256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171400513 meters 0.030120596488967057 Centerline is valid? [True, True] Translation: X:77.91, Y:7.87, Z:0.14 [[ 9.93960197e-01 -1.09368951e-01 -9.03099447e-03 7.79125682e+01] [ 1.09362260e-01 9.94001195e-01 -1.23292691e-03 7.87237539e+00] [ 9.11166322e-03 2.37830312e-04 9.99958460e-01 1.43892335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201400513 meters 0.02680189586129751 Centerline is valid? [True, True] Translation: X:77.94, Y:7.87, Z:0.15 [[ 9.93726574e-01 -1.11529933e-01 -8.28074947e-03 7.79421758e+01] [ 1.11524377e-01 9.93761055e-01 -1.13117304e-03 7.87179838e+00] [ 8.35524598e-03 2.00571285e-04 9.99965074e-01 1.45032260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.231400513 meters 0.021366281915348284 Centerline is valid? [True, True] Translation: X:77.97, Y:7.87, Z:0.15 [[ 9.93451474e-01 -1.14040218e-01 -6.99987812e-03 7.79722075e+01] [ 1.14036306e-01 9.93476122e-01 -9.56767593e-04 7.86820005e+00] [ 7.06332176e-03 1.52261933e-04 9.99975043e-01 1.46485694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26140051299998 meters 0.018819869597288274 Centerline is valid? [True, True] Translation: X:78.00, Y:7.87, Z:0.15 [[ 9.93011969e-01 -1.17801327e-01 -7.07643531e-03 7.80004497e+01] [ 1.17797417e-01 9.93037175e-01 -9.68266534e-04 7.86733520e+00] [ 7.14122641e-03 1.27914455e-04 9.99974493e-01 1.46637787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29140051299999 meters 0.01953088411251911 Centerline is valid? [True, True] Translation: X:78.03, Y:7.87, Z:0.15 [[ 9.92843107e-01 -1.19154785e-01 -8.04381789e-03 7.80282719e+01] [ 1.19149773e-01 9.92875682e-01 -1.10117638e-03 7.87152552e+00] [ 8.11772160e-03 1.34876306e-04 9.99967042e-01 1.46074859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32140051299999 meters 0.01697125010896354 Centerline is valid? [True, True] Translation: X:78.06, Y:7.87, Z:0.15 [[ 9.92631729e-01 -1.20886453e-01 -8.28946832e-03 7.80574350e+01] [ 1.20881184e-01 9.92666334e-01 -1.13557426e-03 7.87221400e+00] [ 8.36595167e-03 1.25166299e-04 9.99964997e-01 1.45734903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35140051299999 meters 0.014750562459203274 Centerline is valid? [True, True] Translation: X:78.09, Y:7.87, Z:0.15 [[ 9.92361403e-01 -1.23103321e-01 -8.02604713e-03 7.80861137e+01] [ 1.23098444e-01 9.92393854e-01 -1.10080827e-03 7.87326645e+00] [ 8.10051299e-03 1.04405730e-04 9.99967185e-01 1.46175606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38140051299999 meters 0.022979656295090696 Centerline is valid? [True, True] Translation: X:78.12, Y:7.87, Z:0.15 [[ 9.91588616e-01 -1.29279529e-01 -6.23062221e-03 7.81159691e+01] [ 1.29276706e-01 9.91608190e-01 -8.55392062e-04 7.87041153e+00] [ 6.28892070e-03 4.27227157e-05 9.99980224e-01 1.49043075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41140051299999 meters 0.02181395758858808 Centerline is valid? [True, True] Translation: X:78.14, Y:7.87, Z:0.15 [[ 9.91118717e-01 -1.32858342e-01 -5.68765448e-03 7.81446080e+01] [ 1.32856044e-01 9.91135037e-01 -7.81664721e-04 7.87044822e+00] [ 5.74108431e-03 1.90832614e-05 9.99983520e-01 1.50368635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44140051299999 meters 0.023645907644037033 Centerline is valid? [True, True] Translation: X:78.17, Y:7.87, Z:0.15 [[ 9.90622605e-01 -1.36510540e-01 -5.63265615e-03 7.81727486e+01] [ 1.36508340e-01 9.90638618e-01 -7.75045208e-04 7.87079418e+00] [ 5.68572854e-03 -1.12723879e-06 9.99983836e-01 1.50613227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47140051299999 meters 0.020025968574453098 Centerline is valid? [True, True] Translation: X:78.20, Y:7.87, Z:0.15 [[ 9.90135192e-01 -1.39988565e-01 -5.95847992e-03 7.82013723e+01] [ 1.39986158e-01 9.90153120e-01 -8.21100628e-04 7.87192985e+00] [ 6.01475218e-03 -2.11040850e-05 9.99981911e-01 1.50614136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501400513 meters 0.01850564533449464 Centerline is valid? [True, True] Translation: X:78.23, Y:7.87, Z:0.15 [[ 9.89677141e-01 -1.43207400e-01 -5.54947607e-03 7.82293244e+01] [ 1.43205357e-01 9.89692699e-01 -7.65792752e-04 7.87297870e+00] [ 5.60194315e-03 -3.68271198e-05 9.99984308e-01 1.50905771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531400513 meters 0.025170680980999137 Centerline is valid? [True, True] Translation: X:78.26, Y:7.87, Z:0.15 [[ 9.89215349e-01 -1.46371011e-01 -5.34045037e-03 7.82585337e+01] [ 1.46369163e-01 9.89229763e-01 -7.37370392e-04 7.87486833e+00] [ 5.39086210e-03 -5.22591427e-05 9.99985468e-01 1.52037174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561400513 meters 0.02804722159778445 Centerline is valid? [True, True] Translation: X:78.29, Y:7.87, Z:0.15 [[ 9.88291402e-01 -1.52459327e-01 -6.02154422e-03 7.82883525e+01] [ 1.52457083e-01 9.88309741e-01 -8.32581857e-04 7.86988167e+00] [ 6.07808568e-03 -9.51935771e-05 9.99981524e-01 1.52272513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.591400513 meters 0.03954279706213309 Centerline is valid? [True, True] Translation: X:78.32, Y:7.87, Z:0.15 [[ 9.87777391e-01 -1.55689314e-01 -7.52755311e-03 7.83164823e+01] [ 1.55685898e-01 9.87806062e-01 -1.04118916e-03 7.86804279e+00] [ 7.59786462e-03 -1.43470752e-04 9.99971126e-01 1.50546501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62140051299998 meters 0.03227257138405086 Centerline is valid? [True, True] Translation: X:78.35, Y:7.87, Z:0.15 [[ 9.87228610e-01 -1.59050042e-01 -9.09700303e-03 7.83467396e+01] [ 1.59045192e-01 9.87270501e-01 -1.25878907e-03 7.86755505e+00] [ 9.18141319e-03 -2.04122014e-04 9.99957829e-01 1.48926847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65140051299998 meters 0.03373802137421211 Centerline is valid? [True, True] Translation: X:78.38, Y:7.87, Z:0.15 [[ 9.86657222e-01 -1.62542686e-01 -9.34889407e-03 7.83763043e+01] [ 1.62537717e-01 9.86701483e-01 -1.29392370e-03 7.86751102e+00] [ 9.43488547e-03 -2.42888735e-04 9.99955461e-01 1.48597876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68140051299999 meters 0.03808051453215128 Centerline is valid? [True, True] Translation: X:78.40, Y:7.87, Z:0.15 [[ 9.86126982e-01 -1.65781777e-01 -8.36529010e-03 7.84046141e+01] [ 1.65777912e-01 9.86162432e-01 -1.15812976e-03 7.86735157e+00] [ 8.44153164e-03 -2.44717325e-04 9.99964340e-01 1.49748441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71140051299999 meters 0.04104954674555658 Centerline is valid? [True, True] Translation: X:78.43, Y:7.87, Z:0.15 [[ 9.85693222e-01 -1.68405386e-01 -6.96408116e-03 7.84343499e+01] [ 1.68402771e-01 9.85717798e-01 -9.64452200e-04 7.86799674e+00] [ 7.02703769e-03 -2.22116566e-04 9.99975285e-01 1.52220799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74140051299999 meters 0.040839577070759976 Centerline is valid? [True, True] Translation: X:78.46, Y:7.87, Z:0.15 [[ 9.85335486e-01 -1.70486072e-01 -6.96264248e-03 7.84639757e+01] [ 1.70483508e-01 9.85360058e-01 -9.64438519e-04 7.86818354e+00] [ 7.02513313e-03 -2.36720220e-04 9.99975295e-01 1.52835299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77140051299999 meters 0.04422377430280431 Centerline is valid? [True, True] Translation: X:78.49, Y:7.87, Z:0.15 [[ 9.85429945e-01 -1.69910558e-01 -7.63063172e-03 7.84923666e+01] [ 1.69907458e-01 9.85459455e-01 -1.05751273e-03 7.87417156e+00] [ 7.69936076e-03 -2.54396525e-04 9.99970327e-01 1.52657621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80140051299999 meters 0.042229799421431395 Centerline is valid? [True, True] Translation: X:78.52, Y:7.88, Z:0.15 [[ 9.85607667e-01 -1.68885749e-01 -7.42501427e-03 7.85202163e+01] [ 1.68882775e-01 9.85635606e-01 -1.03017481e-03 7.87883879e+00] [ 7.49234028e-03 -2.38608820e-04 9.99971904e-01 1.53260826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83140051299999 meters 0.042229799421431395 Centerline is valid? [True, True] Translation: X:78.55, Y:7.88, Z:0.15 [[ 9.85574572e-01 -1.69078783e-01 -7.42489884e-03 7.85474872e+01] [ 1.69075809e-01 9.85602510e-01 -1.03100615e-03 7.88280106e+00] [ 7.49232020e-03 -2.39237330e-04 9.99971904e-01 1.53425103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86140051299999 meters 0.03124879114520686 Centerline is valid? [True, True] Translation: X:78.58, Y:7.89, Z:0.16 [[ 9.85951574e-01 -1.66915236e-01 -6.22877016e-03 7.85751525e+01] [ 1.66913093e-01 9.85971232e-01 -8.65920034e-04 7.89075283e+00] [ 6.28592343e-03 -1.85908072e-04 9.99980226e-01 1.56215299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891400513 meters 0.041466976598189785 Centerline is valid? [True, True] Translation: X:78.60, Y:7.89, Z:0.16 [[ 9.85914658e-01 -1.67112477e-01 -6.76070891e-03 7.86026684e+01] [ 1.67109955e-01 9.85937817e-01 -9.40244657e-04 7.89210625e+00] [ 6.82276520e-03 -2.02780775e-04 9.99976704e-01 1.55798072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921400513 meters 0.040253717644686195 Centerline is valid? [True, True] Translation: X:78.63, Y:7.90, Z:0.15 [[ 9.85840276e-01 -1.67519080e-01 -7.50393000e-03 7.86301883e+01] [ 1.67515981e-01 9.85868808e-01 -1.04411606e-03 7.89998942e+00] [ 7.57279988e-03 -2.27696531e-04 9.99971300e-01 1.54661899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951400513 meters 0.039065345989144545 Centerline is valid? [True, True] Translation: X:78.66, Y:7.91, Z:0.15 [[ 9.85722861e-01 -1.68190601e-01 -7.89704111e-03 7.86589634e+01] [ 1.68187184e-01 9.85754463e-01 -1.09956432e-03 7.90589953e+00] [ 7.96947991e-03 -2.44315418e-04 9.99968213e-01 1.53992722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981400513 meters 0.03844783445071415 Centerline is valid? [True, True] Translation: X:78.69, Y:7.91, Z:0.15 [[ 9.85585353e-01 -1.68989989e-01 -7.99341772e-03 7.86870774e+01] [ 1.68986504e-01 9.85617735e-01 -1.11427285e-03 7.90707792e+00] [ 8.06675522e-03 -2.52568721e-04 9.99967431e-01 1.53448935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01140051299998 meters 0.03716547338393051 Centerline is valid? [True, True] Translation: X:78.72, Y:7.91, Z:0.15 [[ 9.85400987e-01 -1.70025526e-01 -8.73017703e-03 7.87155066e+01] [ 1.70021399e-01 9.85439618e-01 -1.21811456e-03 7.91120173e+00] [ 8.81017288e-03 -2.83985631e-04 9.99961149e-01 1.53216782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04140051299999 meters 0.04387588339632738 Centerline is valid? [True, True] Translation: X:78.74, Y:7.91, Z:0.15 [[ 9.84963046e-01 -1.72474913e-01 -1.00100633e-02 7.87445996e+01] [ 1.72469600e-01 9.85013849e-01 -1.39815761e-03 7.91005914e+00] [ 1.01011981e-02 -3.49298025e-04 9.99948921e-01 1.50404220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07140051299999 meters 0.04549861306236951 Centerline is valid? [True, True] Translation: X:78.77, Y:7.91, Z:0.15 [[ 9.84722561e-01 -1.73831528e-01 -1.02018388e-02 7.87724470e+01] [ 1.73826076e-01 9.84775336e-01 -1.42554510e-03 7.91162426e+00] [ 1.02943239e-02 -3.69579183e-04 9.99946944e-01 1.49832932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10140051299999 meters 0.042920044033126346 Centerline is valid? [True, True] Translation: X:78.80, Y:7.91, Z:0.15 [[ 9.84406329e-01 -1.75615279e-01 -1.01711596e-02 7.88021990e+01] [ 1.75609949e-01 9.84458798e-01 -1.42173601e-03 7.91482101e+00] [ 1.02627661e-02 -3.86590887e-04 9.99947262e-01 1.50198272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13140051299999 meters 0.04753093795489937 Centerline is valid? [True, True] Translation: X:78.83, Y:7.91, Z:0.15 [[ 9.84091767e-01 -1.77351167e-01 -1.04860424e-02 7.88314206e+01] [ 1.77345597e-01 9.84147545e-01 -1.46608173e-03 7.91253384e+00] [ 1.05798242e-02 -4.16894484e-04 9.99943945e-01 1.50006965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16140051299999 meters 0.04544461976733764 Centerline is valid? [True, True] Translation: X:78.86, Y:7.91, Z:0.15 [[ 9.83642526e-01 -1.79729675e-01 -1.20260370e-02 7.88613037e+01] [ 1.79722522e-01 9.83715908e-01 -1.68180668e-03 7.91458979e+00] [ 1.21324745e-02 -5.07053132e-04 9.99926270e-01 1.48584717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19140051299999 meters 0.048541170871895745 Centerline is valid? [True, True] Translation: X:78.89, Y:7.92, Z:0.15 [[ 9.83584627e-01 -1.80043456e-01 -1.20679766e-02 7.88901840e+01] [ 1.80036261e-01 9.83658524e-01 -1.68891969e-03 7.91991503e+00] [ 1.21748470e-02 -5.11477932e-04 9.99925753e-01 1.48821559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22140051299999 meters 0.05173796714442563 Centerline is valid? [True, True] Translation: X:78.92, Y:7.92, Z:0.15 [[ 9.83671582e-01 -1.79632670e-01 -1.10599493e-02 7.89179223e+01] [ 1.79626587e-01 9.83733648e-01 -1.54913535e-03 7.92364852e+00] [ 1.11583196e-02 -4.62820526e-04 9.99937637e-01 1.50692866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251400513 meters 0.04648845629111304 Centerline is valid? [True, True] Translation: X:78.95, Y:7.93, Z:0.15 [[ 9.83818025e-01 -1.78887233e-01 -1.00723506e-02 7.89459392e+01] [ 1.78882137e-01 9.83869497e-01 -1.41187307e-03 7.92768963e+00] [ 1.01624446e-02 -4.12737438e-04 9.99948276e-01 1.52596179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281400513 meters 0.04846804960752704 Centerline is valid? [True, True] Translation: X:78.97, Y:7.93, Z:0.15 [[ 9.83985733e-01 -1.77967636e-01 -9.97990675e-03 7.89747430e+01] [ 1.77962572e-01 9.84036261e-01 -1.40030582e-03 7.93414222e+00] [ 1.00697992e-02 -3.98168928e-04 9.99949219e-01 1.53439121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311400513 meters 0.04429761663859764 Centerline is valid? [True, True] Translation: X:79.00, Y:7.94, Z:0.15 [[ 9.84120866e-01 -1.77195735e-01 -1.03823060e-02 7.90031409e+01] [ 1.77190197e-01 9.84175547e-01 -1.45810807e-03 7.94227704e+00] [ 1.04763822e-02 -4.04688272e-04 9.99945039e-01 1.53011667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341400513 meters 0.047366911478654905 Centerline is valid? [True, True] Translation: X:79.03, Y:7.95, Z:0.15 [[ 9.84277916e-01 -1.76292701e-01 -1.08566975e-02 7.90309342e+01] [ 1.76286570e-01 9.84337703e-01 -1.52669485e-03 7.95376138e+00] [ 1.09558018e-02 -4.11197928e-04 9.99939899e-01 1.51764571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37140051299998 meters 0.04220885409036775 Centerline is valid? [True, True] Translation: X:79.06, Y:7.96, Z:0.15 [[ 9.84344839e-01 -1.75942835e-01 -1.04573653e-02 7.90593469e+01] [ 1.75937108e-01 9.84400308e-01 -1.47235513e-03 7.96191773e+00] [ 1.05532840e-02 -3.90533439e-04 9.99944236e-01 1.52553689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40140051299998 meters 0.042575601461247004 Centerline is valid? [True, True] Translation: X:79.09, Y:7.97, Z:0.15 [[ 9.84133668e-01 -1.77148885e-01 -9.95968846e-03 7.90871555e+01] [ 1.77143734e-01 9.84183990e-01 -1.40402111e-03 7.97089375e+00] [ 1.00508867e-02 -3.82551958e-04 9.99949415e-01 1.53472467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43140051299999 meters 0.04776664315311231 Centerline is valid? [True, True] Translation: X:79.11, Y:7.97, Z:0.15 [[ 9.83931679e-01 -1.78233764e-01 -1.05440527e-02 7.91149800e+01] [ 1.78228036e-01 9.83988086e-01 -1.48798192e-03 7.97242051e+00] [ 1.06404308e-02 -4.15173252e-04 9.99943303e-01 1.52863956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46140051299999 meters 0.05352112266699769 Centerline is valid? [True, True] Translation: X:79.14, Y:7.98, Z:0.15 [[ 9.83829904e-01 -1.78783104e-01 -1.07387555e-02 7.91430739e+01] [ 1.78777186e-01 9.83888418e-01 -1.51634009e-03 7.97558856e+00] [ 1.08368332e-02 -4.28023764e-04 9.99941188e-01 1.52570724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49140051299999 meters 0.05045312406649123 Centerline is valid? [True, True] Translation: X:79.17, Y:7.98, Z:0.15 [[ 9.83756359e-01 -1.79225073e-01 -1.00895314e-02 7.91702072e+01] [ 1.79219866e-01 9.83808014e-01 -1.42526368e-03 7.98210203e+00] [ 1.01816049e-02 -4.06132266e-04 9.99948084e-01 1.53162959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52140051299999 meters 0.04768592315119963 Centerline is valid? [True, True] Translation: X:79.20, Y:7.99, Z:0.16 [[ 9.83708851e-01 -1.79551375e-01 -8.84313633e-03 7.91973201e+01] [ 1.79547381e-01 9.83748533e-01 -1.25007462e-03 7.98937685e+00] [ 8.92387500e-03 -3.58052500e-04 9.99960117e-01 1.55336054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55140051299999 meters 0.045894306721812037 Centerline is valid? [True, True] Translation: X:79.22, Y:8.00, Z:0.16 [[ 9.83662138e-01 -1.79857370e-01 -7.75404952e-03 7.92238232e+01] [ 1.79854298e-01 9.83692649e-01 -1.09749378e-03 8.00022489e+00] [ 7.82499386e-03 -3.15036057e-04 9.99969335e-01 1.57610721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58140051299999 meters 0.04175978336935954 Centerline is valid? [True, True] Translation: X:79.25, Y:8.01, Z:0.16 [[ 9.83765173e-01 -1.79301846e-01 -7.54535136e-03 7.92498536e+01] [ 1.79364088e-01 9.83745278e-01 8.58783978e-03 8.00569799e+00] [ 5.88288824e-03 -9.80178275e-03 9.99934656e-01 1.61412946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61140051299999 meters 0.05040755935696775 Centerline is valid? [True, True] Translation: X:79.28, Y:8.02, Z:0.16 [[ 9.83472456e-01 -1.80937170e-01 -6.60818514e-03 7.92780194e+01] [ 1.80862272e-01 9.83451578e-01 -1.05750989e-02 8.02300822e+00] [ 8.41225857e-03 9.20514712e-03 9.99922247e-01 1.55717128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641400513 meters 0.04725588075913613 Centerline is valid? [True, True] Translation: X:79.31, Y:8.02, Z:0.16 [[ 9.83292126e-01 -1.81834726e-01 -8.52800443e-03 7.93067120e+01] [ 1.81831052e-01 9.83329041e-01 -1.21072090e-03 8.02288829e+00] [ 8.60598552e-03 -3.60163689e-04 9.99962903e-01 1.57417129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671400513 meters 0.04292875611025407 Centerline is valid? [True, True] Translation: X:79.34, Y:8.03, Z:0.16 [[ 9.83046692e-01 -1.83144787e-01 -8.78574338e-03 7.93350517e+01] [ 1.83140931e-01 9.83085877e-01 -1.24822408e-03 8.03134499e+00] [ 8.86574597e-03 -3.81966672e-04 9.99960626e-01 1.57262712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701400513 meters 0.050402809849415434 Centerline is valid? [True, True] Translation: X:79.36, Y:8.03, Z:0.16 [[ 9.82489085e-01 -1.86141535e-01 -8.15634311e-03 7.93644996e+01] [ 1.86138306e-01 9.82522868e-01 -1.15986354e-03 8.02906452e+00] [ 8.22969240e-03 -3.78654623e-04 9.99966064e-01 1.58314098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.731400513 meters 0.051029240978015936 Centerline is valid? [True, True] Translation: X:79.39, Y:8.03, Z:0.16 [[ 9.82202498e-01 -1.87636785e-01 -8.40768872e-03 7.93933007e+01] [ 1.87633407e-01 9.82238400e-01 -1.19586298e-03 8.03409859e+00] [ 8.48274260e-03 -4.02983667e-04 9.99963940e-01 1.57846508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76140051299998 meters 0.051609090203975874 Centerline is valid? [True, True] Translation: X:79.42, Y:8.05, Z:0.16 [[ 9.81906964e-01 -1.89093500e-01 -1.01173859e-02 7.94214298e+01] [ 1.89088681e-01 9.81958960e-01 -1.43946207e-03 8.04514459e+00] [ 1.02070506e-02 -4.99665319e-04 9.99947782e-01 1.55598995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79140051299999 meters 0.05488496140478742 Centerline is valid? [True, True] Translation: X:79.45, Y:8.05, Z:0.15 [[ 9.81814053e-01 -1.89484991e-01 -1.16877280e-02 7.94487039e+01] [ 1.89478581e-01 9.81883445e-01 -1.66350780e-03 8.04957367e+00] [ 1.17911964e-02 -5.81318778e-04 9.99930312e-01 1.52540224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82140051299999 meters 0.05784232135723532 Centerline is valid? [True, True] Translation: X:79.48, Y:8.06, Z:0.15 [[ 9.81835800e-01 -1.89322300e-01 -1.24710999e-02 7.94759391e+01] [ 1.89314976e-01 9.81914806e-01 -1.77600808e-03 8.05523840e+00] [ 1.25817956e-02 -6.17217662e-04 9.99920656e-01 1.50832398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85140051299999 meters 0.05546907351799253 Centerline is valid? [True, True] Translation: X:79.50, Y:8.06, Z:0.15 [[ 9.81841961e-01 -1.89304678e-01 -1.22516452e-02 7.95043554e+01] [ 1.89297588e-01 9.81918211e-01 -1.74638337e-03 8.06354857e+00] [ 1.23607121e-02 -6.04534427e-04 9.99923421e-01 1.51690243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88140051299999 meters 0.051895248504254136 Centerline is valid? [True, True] Translation: X:79.53, Y:8.07, Z:0.16 [[ 9.81827978e-01 -1.89491354e-01 -1.03367326e-02 7.95322882e+01] [ 1.89486301e-01 9.81882257e-01 -1.47505102e-03 8.07419430e+00] [ 1.04289638e-02 -5.10422869e-04 9.99945487e-01 1.56467071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91140051299999 meters 0.04738243309036566 Centerline is valid? [True, True] Translation: X:79.56, Y:8.09, Z:0.16 [[ 9.81822018e-01 -1.89580602e-01 -9.20433230e-03 7.95594039e+01] [ 1.89576585e-01 9.81865057e-01 -1.31495741e-03 8.08551172e+00] [ 9.28670267e-03 -4.53871748e-04 9.99956775e-01 1.57817128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94140051299999 meters 0.05522545943387642 Centerline is valid? [True, True] Translation: X:79.59, Y:8.09, Z:0.16 [[ 9.81682528e-01 -1.90313281e-01 -8.95926423e-03 7.95869802e+01] [ 1.90309494e-01 9.81723309e-01 -1.28116571e-03 8.08696956e+00] [ 9.03934137e-03 -4.47335050e-04 9.99959044e-01 1.58271401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97140051299999 meters 0.05500328687954793 Centerline is valid? [True, True] Translation: X:79.62, Y:8.10, Z:0.16 [[ 9.81439462e-01 -1.91586042e-01 -8.44812363e-03 7.96160401e+01] [ 1.91582719e-01 9.81475726e-01 -1.20848922e-03 8.09513024e+00] [ 8.52315794e-03 -4.32455480e-04 9.99963584e-01 1.58578270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001400513 meters 0.06291050356409811 Centerline is valid? [True, True] Translation: X:79.65, Y:8.09, Z:0.16 [[ 9.80486773e-01 -1.96396779e-01 -8.60188174e-03 7.96457362e+01] [ 1.96393516e-01 9.80524386e-01 -1.23069388e-03 8.09342169e+00] [ 8.67605913e-03 -4.82674730e-04 9.99962246e-01 1.56951301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031400513 meters 0.0574781386081187 Centerline is valid? [True, True] Translation: X:79.68, Y:8.10, Z:0.16 [[ 9.80048860e-01 -1.98548271e-01 -9.10035655e-03 7.96751823e+01] [ 1.98544710e-01 9.80090966e-01 -1.30216264e-03 8.10345978e+00] [ 9.17771939e-03 -5.30644638e-04 9.99957743e-01 1.56098239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061400513 meters 0.062004282639507614 Centerline is valid? [True, True] Translation: X:79.70, Y:8.11, Z:0.16 [[ 9.79632417e-01 -2.00551542e-01 -9.97023924e-03 7.97048486e+01] [ 2.00547370e-01 9.79682968e-01 -1.42673160e-03 8.10897181e+00] [ 1.00538068e-02 -6.01832733e-04 9.99949278e-01 1.55971358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.091400513 meters 0.060037422559543155 Centerline is valid? [True, True] Translation: X:79.73, Y:8.11, Z:0.16 [[ 9.79448798e-01 -2.01440258e-01 -1.00932610e-02 7.97325657e+01] [ 2.01436025e-01 9.79500608e-01 -1.44483733e-03 8.11216581e+00] [ 1.01774037e-02 -6.18002199e-04 9.99948018e-01 1.55473585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12140051299998 meters 0.0695020958405924 Centerline is valid? [True, True] Translation: X:79.76, Y:8.11, Z:0.15 [[ 9.79370021e-01 -2.01798914e-01 -1.05622197e-02 7.97611205e+01] [ 2.01794288e-01 9.79426759e-01 -1.51297957e-03 8.10692917e+00] [ 1.06502382e-02 -6.49628756e-04 9.99943074e-01 1.54228072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15140051299998 meters 0.06211425252952381 Centerline is valid? [True, True] Translation: X:79.79, Y:8.13, Z:0.15 [[ 9.79584226e-01 -2.00658743e-01 -1.22806279e-02 7.97877310e+01] [ 2.00652388e-01 9.79660922e-01 -1.76007627e-03 8.12547667e+00] [ 1.23840260e-02 -7.39994364e-04 9.99923041e-01 1.52076365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18140051299999 meters 0.0678526263373452 Centerline is valid? [True, True] Translation: X:79.82, Y:8.13, Z:0.15 [[ 9.79647854e-01 -2.00326401e-01 -1.26259534e-02 7.98155093e+01] [ 2.00319638e-01 9.79728923e-01 -1.81100238e-03 8.13143680e+00] [ 1.27328033e-02 -7.55081821e-04 9.99918649e-01 1.51528724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21140051299999 meters 0.06415390219052068 Centerline is valid? [True, True] Translation: X:79.84, Y:8.14, Z:0.15 [[ 9.79661501e-01 -2.00288727e-01 -1.21560189e-02 7.98434715e+01] [ 2.00282430e-01 9.79736649e-01 -1.74563843e-03 8.14019487e+00] [ 1.22593289e-02 -7.24502240e-04 9.99924589e-01 1.53034695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24140051299999 meters 0.06530697806368918 Centerline is valid? [True, True] Translation: X:79.87, Y:8.14, Z:0.15 [[ 9.79606638e-01 -2.00599149e-01 -1.14374993e-02 7.98707072e+01] [ 2.00593580e-01 9.79673167e-01 -1.64375254e-03 8.14320070e+00] [ 1.15347465e-02 -6.84058039e-04 9.99933239e-01 1.53865179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27140051299999 meters 0.06465171281640457 Centerline is valid? [True, True] Translation: X:79.90, Y:8.15, Z:0.15 [[ 9.79449813e-01 -2.01403983e-01 -1.07004817e-02 7.98981433e+01] [ 2.01399148e-01 9.79508048e-01 -1.53867967e-03 8.14515049e+00] [ 1.07911041e-02 -6.48008373e-04 9.99941564e-01 1.54409515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30140051299999 meters 0.062465449932850914 Centerline is valid? [True, True] Translation: X:79.93, Y:8.16, Z:0.16 [[ 9.79190500e-01 -2.02752064e-01 -8.80714011e-03 7.99260093e+01] [ 2.02748837e-01 9.79229954e-01 -1.26710020e-03 8.15709293e+00] [ 8.88112259e-03 -5.44904941e-04 9.99960414e-01 1.57488282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33140051299999 meters 0.06329881529374091 Centerline is valid? [True, True] Translation: X:79.95, Y:8.16, Z:0.16 [[ 9.79228714e-01 -2.02615779e-01 -7.61396755e-03 7.99538533e+01] [ 2.02613360e-01 9.79258202e-01 -1.09581919e-03 8.15705215e+00] [ 7.67807043e-03 -4.69633934e-04 9.99970413e-01 1.58902111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36140051299999 meters 0.06546225856443272 Centerline is valid? [True, True] Translation: X:79.98, Y:8.16, Z:0.16 [[ 9.79349117e-01 -2.02045678e-01 -7.26983606e-03 7.99817782e+01] [ 2.02043454e-01 9.79375999e-01 -1.04673006e-03 8.15701120e+00] [ 7.33139024e-03 -4.43708622e-04 9.99973027e-01 1.60241899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391400513 meters 0.06109647206526389 Centerline is valid? [True, True] Translation: X:80.01, Y:8.17, Z:0.16 [[ 9.79464963e-01 -2.01478501e-01 -7.40265276e-03 8.00091316e+01] [ 2.01476174e-01 9.79492835e-01 -1.06648252e-03 8.16700039e+00] [ 7.46571864e-03 -4.46875889e-04 9.99972031e-01 1.61083042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421400513 meters 0.05852868366476413 Centerline is valid? [True, True] Translation: X:80.04, Y:8.17, Z:0.16 [[ 9.79692213e-01 -2.00342096e-01 -8.13710239e-03 8.00371180e+01] [ 2.00339235e-01 9.79725887e-01 -1.17352995e-03 8.17347912e+00] [ 8.20723731e-03 -4.80482716e-04 9.99966205e-01 1.60402336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451400513 meters 0.058672882721546346 Centerline is valid? [True, True] Translation: X:80.06, Y:8.19, Z:0.16 [[ 9.80312467e-01 -1.97165536e-01 -1.06404372e-02 8.00643417e+01] [ 1.97160452e-01 9.80370032e-01 -1.53505881e-03 8.19238009e+00] [ 1.07342264e-02 -5.93036114e-04 9.99942211e-01 1.59048373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48140051299998 meters 0.05154984694826664 Centerline is valid? [True, True] Translation: X:80.09, Y:8.20, Z:0.16 [[ 9.80752949e-01 -1.94980407e-01 -1.03098925e-02 8.00932273e+01] [ 1.94975511e-01 9.80806983e-01 -1.48756810e-03 8.20263174e+00] [ 1.04020612e-02 -5.51239764e-04 9.99945745e-01 1.58170846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51140051299998 meters 0.05687701388402543 Centerline is valid? [True, True] Translation: X:80.12, Y:8.21, Z:0.16 [[ 9.80907444e-01 -1.94223663e-01 -9.88710601e-03 8.01209591e+01] [ 1.94219119e-01 9.80957133e-01 -1.42688683e-03 8.20661820e+00] [ 9.97596235e-03 -5.20621109e-04 9.99950103e-01 1.59067578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54140051299999 meters 0.05436570678917139 Centerline is valid? [True, True] Translation: X:80.15, Y:8.21, Z:0.16 [[ 9.80318291e-01 -1.97279335e-01 -7.54405628e-03 8.01504794e+01] [ 1.97276777e-01 9.80347228e-01 -1.08904515e-03 8.21465104e+00] [ 7.61064076e-03 -4.20656231e-04 9.99970950e-01 1.61989356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57140051299999 meters 0.06158650982050568 Centerline is valid? [True, True] Translation: X:80.18, Y:8.22, Z:0.16 [[ 9.79546325e-01 -2.01077728e-01 -7.53284728e-03 8.01808794e+01] [ 2.01075289e-01 9.79575186e-01 -1.08752097e-03 8.21668625e+00] [ 7.59766652e-03 -4.49392276e-04 9.99971036e-01 1.62979730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60140051299999 meters 0.06326452479308957 Centerline is valid? [True, True] Translation: X:80.21, Y:8.22, Z:0.16 [[ 9.78704688e-01 -2.05120881e-01 -7.90940014e-03 8.02106927e+01] [ 2.05118323e-01 9.78736517e-01 -1.14200537e-03 8.21674400e+00] [ 7.97546789e-03 -5.04676888e-04 9.99968068e-01 1.61923350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63140051299999 meters 0.07328882346062017 Centerline is valid? [True, True] Translation: X:80.24, Y:8.21, Z:0.16 [[ 9.77699133e-01 -2.09812022e-01 -9.12803240e-03 8.02406569e+01] [ 2.09808816e-01 9.77741542e-01 -1.31819271e-03 8.21057226e+00] [ 9.20142915e-03 -6.26345798e-04 9.99957470e-01 1.60263976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66140051299999 meters 0.07203672878174612 Centerline is valid? [True, True] Translation: X:80.27, Y:8.22, Z:0.16 [[ 9.76613131e-01 -2.14758430e-01 -1.02766138e-02 8.02700589e+01] [ 2.14754636e-01 9.76666905e-01 -1.48430010e-03 8.21838686e+00] [ 1.03555946e-02 -7.57363480e-04 9.99946093e-01 1.58992359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69140051299999 meters 0.07835077872893789 Centerline is valid? [True, True] Translation: X:80.30, Y:8.21, Z:0.16 [[ 9.75570356e-01 -2.19398498e-01 -1.12596111e-02 8.03001930e+01] [ 2.19394248e-01 9.75634931e-01 -1.62649437e-03 8.21288600e+00] [ 1.13421203e-02 -8.83534226e-04 9.99935286e-01 1.57271694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72140051299999 meters 0.07981751217666042 Centerline is valid? [True, True] Translation: X:80.33, Y:8.21, Z:0.15 [[ 9.74243257e-01 -2.25096752e-01 -1.34732704e-02 8.03306315e+01] [ 2.25091203e-01 9.74335754e-01 -1.94657404e-03 8.21237782e+00] [ 1.35656565e-02 -1.13627800e-03 9.99907337e-01 1.54364145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751400513 meters 0.07981751217666042 Centerline is valid? [True, True] Translation: X:80.36, Y:8.22, Z:0.15 [[ 9.74199875e-01 -2.25284442e-01 -1.34730436e-02 8.03579514e+01] [ 2.25278889e-01 9.74292372e-01 -1.94814234e-03 8.21647798e+00] [ 1.35655698e-02 -1.13731228e-03 9.99907337e-01 1.54528853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781400513 meters 0.08873410717290062 Centerline is valid? [True, True] Translation: X:80.39, Y:8.21, Z:0.15 [[ 9.73962102e-01 -2.26252005e-01 -1.44171683e-02 8.03872979e+01] [ 2.26245729e-01 9.74068025e-01 -2.08631665e-03 8.20993552e+00] [ 1.45153359e-02 -1.22982939e-03 9.99893891e-01 1.52509590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811400513 meters 0.08064583395770286 Centerline is valid? [True, True] Translation: X:80.41, Y:8.22, Z:0.15 [[ 9.73872641e-01 -2.26626148e-01 -1.45831277e-02 8.04141102e+01] [ 2.26619742e-01 9.73981022e-01 -2.11211793e-03 8.22349826e+00] [ 1.46823507e-02 -1.24789075e-03 9.99891430e-01 1.53945804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841400513 meters 0.08932038354586713 Centerline is valid? [True, True] Translation: X:80.44, Y:8.22, Z:0.15 [[ 9.73955376e-01 -2.26278925e-01 -1.44489713e-02 8.04428192e+01] [ 2.26272576e-01 9.74061772e-01 -2.09421565e-03 8.21926566e+00] [ 1.45480675e-02 -1.22973337e-03 9.99893415e-01 1.54754814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87140051299998 meters 0.07942154126678003 Centerline is valid? [True, True] Translation: X:80.47, Y:8.23, Z:0.16 [[ 9.74306714e-01 -2.24829238e-01 -1.33506760e-02 8.04707380e+01] [ 2.24823675e-01 9.74397541e-01 -1.93554672e-03 8.23383852e+00] [ 1.34440334e-02 -1.11573189e-03 9.99909002e-01 1.56471708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90140051299998 meters 0.08286259396217843 Centerline is valid? [True, True] Translation: X:80.50, Y:8.23, Z:0.16 [[ 9.75144320e-01 -2.21310884e-01 -1.07260144e-02 8.05002226e+01] [ 2.21307079e-01 9.75202932e-01 -1.55526128e-03 8.23194200e+00] [ 1.08042369e-02 -8.57138711e-04 9.99941265e-01 1.58634634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93140051299999 meters 0.07732786861248785 Centerline is valid? [True, True] Translation: X:80.53, Y:8.24, Z:0.16 [[ 9.75414816e-01 -2.20173582e-01 -9.46204647e-03 8.05290071e+01] [ 2.20170566e-01 9.75460424e-01 -1.37215438e-03 8.24433757e+00] [ 9.53196401e-03 -7.44844418e-04 9.99954292e-01 1.61911104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96140051299999 meters 0.06821366991919037 Centerline is valid? [True, True] Translation: X:80.56, Y:8.26, Z:0.16 [[ 9.75693680e-01 -2.18963639e-01 -8.76167716e-03 8.05576649e+01] [ 2.18961004e-01 9.75732783e-01 -1.27075389e-03 8.25573585e+00] [ 8.82730454e-03 -6.78599084e-04 9.99960808e-01 1.63113320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99140051299999 meters 0.0747519889236383 Centerline is valid? [True, True] Translation: X:80.59, Y:8.25, Z:0.16 [[ 9.75857492e-01 -2.18210140e-01 -9.29998700e-03 8.05863509e+01] [ 2.18207132e-01 9.75901546e-01 -1.34925744e-03 8.25204413e+00] [ 9.37029334e-03 -7.12640510e-04 9.99955844e-01 1.62589063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02140051299999 meters 0.07295804111110198 Centerline is valid? [True, True] Translation: X:80.62, Y:8.25, Z:0.16 [[ 9.75743518e-01 -2.18499362e-01 -1.35135364e-02 8.06157471e+01] [ 2.18493013e-01 9.75836540e-01 -1.96242895e-03 8.25270714e+00] [ 1.36157921e-02 -1.03778596e-03 9.99906762e-01 1.56260849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05140051299999 meters 0.0824469225042884 Centerline is valid? [True, True] Translation: X:80.65, Y:8.25, Z:0.15 [[ 9.75547550e-01 -2.19277967e-01 -1.49716895e-02 8.06453328e+01] [ 2.19270242e-01 9.75661738e-01 -2.17576054e-03 8.24633448e+00] [ 1.50844009e-02 -1.16028811e-03 9.99885551e-01 1.54641696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08140051299999 meters 0.07561411169593892 Centerline is valid? [True, True] Translation: X:80.67, Y:8.25, Z:0.16 [[ 9.75438955e-01 -2.19792500e-01 -1.44948936e-02 8.06732978e+01] [ 2.19785290e-01 9.75545992e-01 -2.10823410e-03 8.25400729e+00] [ 1.46038094e-02 -1.12931072e-03 9.99892721e-01 1.56158946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11140051299999 meters 0.07370389529728359 Centerline is valid? [True, True] Translation: X:80.70, Y:8.26, Z:0.16 [[ 9.75460113e-01 -2.19783152e-01 -1.31504209e-02 8.07025125e+01] [ 2.19777187e-01 9.75548216e-01 -1.91486585e-03 8.25560346e+00] [ 1.32497249e-02 -1.02228725e-03 9.99911696e-01 1.58191552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141400513 meters 0.0804113348371879 Centerline is valid? [True, True] Translation: X:80.73, Y:8.25, Z:0.16 [[ 9.76068548e-01 -2.17207362e-01 -1.05428497e-02 8.07323428e+01] [ 2.17203368e-01 9.76125165e-01 -1.53613692e-03 8.25275108e+00] [ 1.06248012e-02 -7.90567546e-04 9.99943243e-01 1.62891473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171400513 meters 0.07432180778136943 Centerline is valid? [True, True] Translation: X:80.76, Y:8.26, Z:0.16 [[ 9.76582367e-01 -2.14928614e-01 -9.62141562e-03 8.07616274e+01] [ 2.14925176e-01 9.76629512e-01 -1.40214167e-03 8.26195459e+00] [ 9.69791880e-03 -6.98577605e-04 9.99952730e-01 1.64034091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201400513 meters 0.08009812106975078 Centerline is valid? [True, True] Translation: X:80.79, Y:8.26, Z:0.16 [[ 9.77039990e-01 -2.12825567e-01 -9.90637804e-03 8.07919651e+01] [ 2.12821812e-01 9.77089961e-01 -1.44391766e-03 8.25688483e+00] [ 9.98672513e-03 -6.97528032e-04 9.99949888e-01 1.62551925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23140051299998 meters 0.06625102436745033 Centerline is valid? [True, True] Translation: X:80.82, Y:8.28, Z:0.16 [[ 9.77369544e-01 -2.11278977e-01 -1.04865343e-02 8.08195908e+01] [ 2.11274679e-01 9.77425533e-01 -1.52868747e-03 8.27580560e+00] [ 1.05727859e-02 -7.21446585e-04 9.99943846e-01 1.62176534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26140051299998 meters 0.06656566611464032 Centerline is valid? [True, True] Translation: X:80.85, Y:8.28, Z:0.16 [[ 9.77471778e-01 -2.10862017e-01 -9.28081034e-03 8.08481456e+01] [ 2.10858625e-01 9.77515631e-01 -1.35357903e-03 8.27615650e+00] [ 9.35755558e-03 -6.33853605e-04 9.99956016e-01 1.63241340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29140051299999 meters 0.0661163664858256 Centerline is valid? [True, True] Translation: X:80.88, Y:8.28, Z:0.17 [[ 9.77203583e-01 -2.12156005e-01 -7.93640735e-03 8.08769761e+01] [ 2.12153559e-01 9.77235655e-01 -1.15846194e-03 8.28179734e+00] [ 8.00151490e-03 -5.51683905e-04 9.99967835e-01 1.65633860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32140051299999 meters 0.0687667216687155 Centerline is valid? [True, True] Translation: X:80.91, Y:8.29, Z:0.17 [[ 9.76734182e-01 -2.14340016e-01 -6.97827356e-03 8.09065900e+01] [ 2.14338179e-01 9.76758981e-01 -1.01881592e-03 8.28512230e+00] [ 7.03446439e-03 -5.00598111e-04 9.99975133e-01 1.67037374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35140051299999 meters 0.07483338437909356 Centerline is valid? [True, True] Translation: X:80.94, Y:8.28, Z:0.17 [[ 9.76226507e-01 -2.16621532e-01 -7.54447707e-03 8.09367550e+01] [ 2.16619451e-01 9.76255499e-01 -1.10162321e-03 8.28102067e+00] [ 7.60397253e-03 -5.58846706e-04 9.99970933e-01 1.66007746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38140051299999 meters 0.07743253595751148 Centerline is valid? [True, True] Translation: X:80.97, Y:8.28, Z:0.16 [[ 9.75598008e-01 -2.19349530e-01 -9.71131599e-03 8.09661955e+01] [ 2.19346215e-01 9.75646056e-01 -1.41832809e-03 8.28420178e+00] [ 9.78591674e-03 -7.46422344e-04 9.99951838e-01 1.63675754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41140051299999 meters 0.07750344635655552 Centerline is valid? [True, True] Translation: X:81.00, Y:8.28, Z:0.16 [[ 9.74662766e-01 -2.23310776e-01 -1.28370431e-02 8.09965716e+01] [ 2.23305319e-01 9.74746746e-01 -1.87522943e-03 8.28123860e+00] [ 1.29316249e-02 -1.03886370e-03 9.99915843e-01 1.59829997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44140051299999 meters 0.07986749265927917 Centerline is valid? [True, True] Translation: X:81.02, Y:8.28, Z:0.16 [[ 9.74518065e-01 -2.23963408e-01 -1.24471837e-02 8.10245050e+01] [ 2.23958321e-01 9.74597025e-01 -1.81903179e-03 8.28226612e+00] [ 1.25383848e-02 -1.01497104e-03 9.99920876e-01 1.60730562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47140051299999 meters 0.07617201932280845 Centerline is valid? [True, True] Translation: X:81.05, Y:8.29, Z:0.16 [[ 9.74603888e-01 -2.23643412e-01 -1.14404908e-02 8.10520274e+01] [ 2.23639076e-01 9.74670592e-01 -1.67337761e-03 8.29231070e+00] [ 1.15249499e-02 -9.27660468e-04 9.99933155e-01 1.63486403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501400513 meters 0.0748012997329252 Centerline is valid? [True, True] Translation: X:81.08, Y:8.30, Z:0.17 [[ 9.74803327e-01 -2.22792408e-01 -1.10461271e-02 8.10800290e+01] [ 2.22788297e-01 9.74865509e-01 -1.61694027e-03 8.29981534e+00] [ 1.11287304e-02 -8.84749093e-04 9.99937682e-01 1.65296979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531400513 meters 0.07397843180499991 Centerline is valid? [True, True] Translation: X:81.11, Y:8.31, Z:0.16 [[ 9.75536020e-01 -2.19510175e-01 -1.20315189e-02 8.11086081e+01] [ 2.19505044e-01 9.75609775e-01 -1.76163509e-03 8.30711026e+00] [ 1.21247643e-02 -9.22440604e-04 9.99926067e-01 1.64047803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561400513 meters 0.07405788794819786 Centerline is valid? [True, True] Translation: X:81.14, Y:8.31, Z:0.16 [[ 9.76044229e-01 -2.17213709e-01 -1.24846828e-02 8.11368998e+01] [ 2.17207994e-01 9.76123632e-01 -1.82829337e-03 8.31323912e+00] [ 1.25837243e-02 -9.27277709e-04 9.99920392e-01 1.62924830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.591400513 meters 0.0683792658260557 Centerline is valid? [True, True] Translation: X:81.17, Y:8.33, Z:0.16 [[ 9.76529950e-01 -2.15038587e-01 -1.21516795e-02 8.11652049e+01] [ 2.15033002e-01 9.76605161e-01 -1.77976189e-03 8.32776136e+00] [ 1.22501104e-02 -8.75021341e-04 9.99924582e-01 1.63473589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62140051299998 meters 0.07312378951645032 Centerline is valid? [True, True] Translation: X:81.19, Y:8.33, Z:0.16 [[ 9.76877835e-01 -2.13512640e-01 -1.10474963e-02 8.11941909e+01] [ 2.13507925e-01 9.76939992e-01 -1.61824013e-03 8.32907417e+00] [ 1.11382556e-02 -7.77905091e-04 9.99937665e-01 1.64267428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65140051299998 meters 0.0696683197384412 Centerline is valid? [True, True] Translation: X:81.22, Y:8.34, Z:0.17 [[ 9.76810579e-01 -2.13833763e-01 -1.07802979e-02 8.12218795e+01] [ 2.13829282e-01 9.76869767e-01 -1.58007963e-03 8.34194688e+00] [ 1.08688214e-02 -7.61704853e-04 9.99940643e-01 1.65242558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68140051299999 meters 0.0705731133933097 Centerline is valid? [True, True] Translation: X:81.25, Y:8.35, Z:0.16 [[ 9.76622663e-01 -2.14650482e-01 -1.15474779e-02 8.12513431e+01] [ 2.14645383e-01 9.76690581e-01 -1.69374657e-03 8.34543251e+00] [ 1.16418764e-02 -8.24461520e-04 9.99931891e-01 1.63845861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71140051299999 meters 0.07122672324916766 Centerline is valid? [True, True] Translation: X:81.28, Y:8.35, Z:0.16 [[ 9.76360735e-01 -2.15755247e-01 -1.30149240e-02 8.12805296e+01] [ 2.15748862e-01 9.76447020e-01 -1.90932471e-03 8.35055785e+00] [ 1.31203306e-02 -9.43765364e-04 9.99913479e-01 1.62591038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74140051299999 meters 0.07082677356697546 Centerline is valid? [True, True] Translation: X:81.31, Y:8.36, Z:0.16 [[ 9.76257831e-01 -2.16194856e-01 -1.34324945e-02 8.13082474e+01] [ 2.16188089e-01 9.76349745e-01 -1.97120077e-03 8.35690342e+00] [ 1.35409761e-02 -9.79545131e-04 9.99907837e-01 1.62540149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77140051299999 meters 0.06812156179518869 Centerline is valid? [True, True] Translation: X:81.34, Y:8.36, Z:0.16 [[ 9.76275324e-01 -2.16144981e-01 -1.29552514e-02 8.13364843e+01] [ 2.16138660e-01 9.76360824e-01 -1.90275651e-03 8.36438705e+00] [ 1.30602712e-02 -9.42516452e-04 9.99914267e-01 1.63173195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80140051299999 meters 0.07006669712781854 Centerline is valid? [True, True] Translation: X:81.36, Y:8.37, Z:0.16 [[ 9.76419972e-01 -2.15527519e-01 -1.23258953e-02 8.13644323e+01] [ 2.15521733e-01 9.76497363e-01 -1.81162567e-03 8.36597319e+00] [ 1.24266595e-02 -8.87590834e-04 9.99922392e-01 1.64116965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83140051299999 meters 0.07075993902004371 Centerline is valid? [True, True] Translation: X:81.39, Y:8.37, Z:0.16 [[ 9.76579357e-01 -2.14757872e-01 -1.31078530e-02 8.13926496e+01] [ 2.14751250e-01 9.76666876e-01 -1.92722515e-03 8.37111501e+00] [ 1.32158926e-02 -9.32839518e-04 9.99912231e-01 1.63338015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86140051299999 meters 0.06936016211332248 Centerline is valid? [True, True] Translation: X:81.42, Y:8.37, Z:0.16 [[ 9.76806291e-01 -2.13719956e-01 -1.31624281e-02 8.14200143e+01] [ 2.13713175e-01 9.76894534e-01 -1.93598765e-03 8.37491043e+00] [ 1.32720633e-02 -9.21899382e-04 9.99911497e-01 1.61792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891400513 meters 0.06861385695564956 Centerline is valid? [True, True] Translation: X:81.45, Y:8.38, Z:0.16 [[ 9.77592530e-01 -2.10111565e-01 -1.28831907e-02 8.14475358e+01] [ 2.10104749e-01 9.77677044e-01 -1.89549755e-03 8.38362154e+00] [ 1.29938657e-02 -8.53795302e-04 9.99915212e-01 1.61536621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921400513 meters 0.06204050600663782 Centerline is valid? [True, True] Translation: X:81.48, Y:8.40, Z:0.16 [[ 9.78136308e-01 -2.07596902e-01 -1.23648295e-02 8.14755243e+01] [ 2.07590419e-01 9.78214142e-01 -1.81957552e-03 8.39692354e+00] [ 1.24731893e-02 -7.87027264e-04 9.99921897e-01 1.63147869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951400513 meters 0.05865385173729601 Centerline is valid? [True, True] Translation: X:81.50, Y:8.41, Z:0.17 [[ 9.78658115e-01 -2.05144872e-01 -1.19948207e-02 8.15046460e+01] [ 2.05138586e-01 9.78731344e-01 -1.76534050e-03 8.40677813e+00] [ 1.21018576e-02 -7.32935760e-04 9.99926501e-01 1.65034797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98140051299998 meters 0.06295510162311369 Centerline is valid? [True, True] Translation: X:81.53, Y:8.41, Z:0.17 [[ 9.79033161e-01 -2.03393259e-01 -1.11915663e-02 8.15334693e+01] [ 2.03387670e-01 9.79096901e-01 -1.64732005e-03 8.41087695e+00] [ 1.12926817e-02 -6.63445634e-04 9.99936016e-01 1.66457931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01140051299998 meters 0.05752116742377713 Centerline is valid? [True, True] Translation: X:81.56, Y:8.42, Z:0.17 [[ 9.79386854e-01 -2.01732950e-01 -1.02570895e-02 8.15620593e+01] [ 2.01728163e-01 9.79440385e-01 -1.50996032e-03 8.42237164e+00] [ 1.03508165e-02 -5.90308546e-04 9.99946255e-01 1.67790926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04140051299999 meters 0.05723074839338967 Centerline is valid? [True, True] Translation: X:81.59, Y:8.43, Z:0.17 [[ 9.79687733e-01 -2.00299752e-01 -9.58928313e-03 8.15891224e+01] [ 2.00295497e-01 9.79734515e-01 -1.41185496e-03 8.43461649e+00] [ 9.67774586e-03 -5.37513253e-04 9.99953025e-01 1.67444025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07140051299999 meters 0.058503583674283675 Centerline is valid? [True, True] Translation: X:81.62, Y:8.44, Z:0.17 [[ 9.79625643e-01 -2.00611796e-01 -9.40780221e-03 8.16167821e+01] [ 2.00607711e-01 9.79670672e-01 -1.38556009e-03 8.44042632e+00] [ 9.49450762e-03 -5.29947473e-04 9.99954786e-01 1.67285927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10140051299999 meters 0.06210025315728915 Centerline is valid? [True, True] Translation: X:81.65, Y:8.45, Z:0.17 [[ 9.79312107e-01 -2.02120900e-01 -9.74370468e-03 8.16453266e+01] [ 2.02116587e-01 9.79360416e-01 -1.43554082e-03 8.44675766e+00] [ 9.83275147e-03 -5.63521838e-04 9.99951499e-01 1.67138205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13140051299999 meters 0.061631942420934754 Centerline is valid? [True, True] Translation: X:81.67, Y:8.45, Z:0.17 [[ 9.78946124e-01 -2.03878455e-01 -9.90261637e-03 8.16744497e+01] [ 2.03874087e-01 9.78996030e-01 -1.45931644e-03 8.45111027e+00] [ 9.99214530e-03 -5.90294702e-04 9.99949903e-01 1.67191307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16140051299999 meters 0.06514566714808545 Centerline is valid? [True, True] Translation: X:81.70, Y:8.45, Z:0.17 [[ 9.78386541e-01 -2.06517121e-01 -1.05098132e-02 8.17037410e+01] [ 2.06512349e-01 9.78442768e-01 -1.54910710e-03 8.45453333e+00] [ 1.06031679e-02 -6.54780672e-04 9.99943570e-01 1.66553237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19140051299999 meters 0.0654114968097 Centerline is valid? [True, True] Translation: X:81.73, Y:8.46, Z:0.17 [[ 9.77758367e-01 -2.09420297e-01 -1.14766857e-02 8.17330043e+01] [ 2.09414803e-01 9.77825433e-01 -1.69181346e-03 8.46230834e+00] [ 1.15764952e-02 -7.49203103e-04 9.99932709e-01 1.65791592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22140051299999 meters 0.07311973440154004 Centerline is valid? [True, True] Translation: X:81.76, Y:8.46, Z:0.16 [[ 9.76685051e-01 -2.14259414e-01 -1.33871297e-02 8.17621664e+01] [ 2.14252388e-01 9.76776340e-01 -1.97367963e-03 8.46364514e+00] [ 1.34991110e-02 -9.40561123e-04 9.99908440e-01 1.61735937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251400513 meters 0.07518148898114661 Centerline is valid? [True, True] Translation: X:81.79, Y:8.47, Z:0.16 [[ 9.76200585e-01 -2.16389170e-01 -1.44272633e-02 8.17916337e+01] [ 2.16381236e-01 9.76306630e-01 -2.12735106e-03 8.46742626e+00] [ 1.45457686e-02 -1.04506773e-03 9.99893659e-01 1.60123884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281400513 meters 0.07452978172909926 Centerline is valid? [True, True] Translation: X:81.82, Y:8.47, Z:0.16 [[ 9.75713843e-01 -2.18583194e-01 -1.42787740e-02 8.18207718e+01] [ 2.18575652e-01 9.75817734e-01 -2.10571670e-03 8.47386409e+00] [ 1.43937551e-02 -1.06641540e-03 9.99895836e-01 1.60954353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311400513 meters 0.0790566159045306 Centerline is valid? [True, True] Translation: X:81.85, Y:8.48, Z:0.17 [[ 9.74799036e-01 -2.22797803e-01 -1.13127662e-02 8.18504148e+01] [ 2.22793348e-01 9.74864268e-01 -1.66851421e-03 8.47873394e+00] [ 1.14001528e-02 -8.93943008e-04 9.99934617e-01 1.65961842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341400513 meters 0.08075401454408178 Centerline is valid? [True, True] Translation: X:81.88, Y:8.48, Z:0.17 [[ 9.74515722e-01 -2.24090428e-01 -1.01285977e-02 8.18780607e+01] [ 2.24086923e-01 9.74568016e-01 -1.49419190e-03 8.48397330e+00] [ 1.02058415e-02 -8.13572805e-04 9.99947588e-01 1.67351168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37140051299998 meters 0.08864643979582695 Centerline is valid? [True, True] Translation: X:81.91, Y:8.48, Z:0.17 [[ 9.74233201e-01 -2.25299215e-01 -1.04849530e-02 8.19075540e+01] [ 2.25295524e-01 9.74289245e-01 -1.54721710e-03 8.48215044e+00] [ 1.05639637e-02 -8.54862704e-04 9.99943834e-01 1.66659174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40140051299998 meters 0.08983162889443606 Centerline is valid? [True, True] Translation: X:81.93, Y:8.48, Z:0.16 [[ 9.73973663e-01 -2.26433346e-01 -1.01608911e-02 8.19343304e+01] [ 2.26497456e-01 9.73995292e-01 5.66332806e-03 8.47925296e+00] [ 8.61429375e-03 -7.81734836e-03 9.99932339e-01 1.64608024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43140051299999 meters 0.08965810300997332 Centerline is valid? [True, True] Translation: X:81.96, Y:8.49, Z:0.16 [[ 9.73435649e-01 -2.28744240e-01 -9.95538171e-03 8.19630126e+01] [ 2.28695599e-01 9.73480750e-01 -5.79238587e-03 8.49364278e+00] [ 1.10163474e-02 3.36176291e-03 9.99933667e-01 1.62781732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46140051299999 meters 0.08801498051665438 Centerline is valid? [True, True] Translation: X:81.99, Y:8.49, Z:0.17 [[ 9.72945024e-01 -2.30809721e-01 -1.02397669e-02 8.19932057e+01] [ 2.30838943e-01 9.72990394e-01 1.75386444e-03 8.49323820e+00] [ 9.55838584e-03 -4.07015064e-03 9.99946034e-01 1.65595275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49140051299999 meters 0.0905530110229945 Centerline is valid? [True, True] Translation: X:82.03, Y:8.51, Z:0.16 [[ 9.72243982e-01 -2.33697243e-01 -1.12799698e-02 8.20253049e+01] [ 2.33620681e-01 9.72297296e-01 -7.70359719e-03 8.50544543e+00] [ 1.27677936e-02 4.85454178e-03 9.99906704e-01 1.64837255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52140051299999 meters 0.08672018335232554 Centerline is valid? [True, True] Translation: X:82.05, Y:8.51, Z:0.17 [[ 9.72141313e-01 -2.34098995e-01 -1.17867799e-02 8.20532647e+01] [ 2.34094935e-01 9.72212181e-01 -1.74244503e-03 8.51074503e+00] [ 1.18671556e-02 -1.06532267e-03 9.99929015e-01 1.67869508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55140051299999 meters 0.0858838501489966 Centerline is valid? [True, True] Translation: X:82.08, Y:8.52, Z:0.17 [[ 9.72898406e-01 -2.31025835e-01 -9.78545202e-03 8.20811778e+01] [ 2.31022873e-01 9.72947243e-01 -1.44747028e-03 8.51944488e+00] [ 9.85513159e-03 -8.52421714e-04 9.99951074e-01 1.71015582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58140051299999 meters 0.0859468002249476 Centerline is valid? [True, True] Translation: X:82.11, Y:8.52, Z:0.17 [[ 9.73697002e-01 -2.27732252e-01 -7.22292271e-03 8.21087384e+01] [ 2.27781289e-01 9.73687889e-01 6.89775492e-03 8.51663222e+00] [ 5.46203110e-03 -8.36156993e-03 9.99950124e-01 1.72326729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61140051299999 meters 0.07806988011856646 Centerline is valid? [True, True] Translation: X:82.14, Y:8.55, Z:0.17 [[ 9.73901397e-01 -2.26801619e-01 -8.78035093e-03 8.21364345e+01] [ 2.26723694e-01 9.73917086e-01 -9.04855848e-03 8.54652452e+00] [ 1.06035615e-02 6.82169015e-03 9.99920511e-01 1.68941133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641400513 meters 0.07806988011856646 Centerline is valid? [True, True] Translation: X:82.16, Y:8.54, Z:0.17 [[ 9.73856407e-01 -2.26948522e-01 -9.90282943e-03 8.21647037e+01] [ 2.26945261e-01 9.73906411e-01 -1.46672552e-03 8.54404535e+00] [ 9.97730026e-03 -8.19020163e-04 9.99949890e-01 1.70433673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671400513 meters 0.0851080592360104 Centerline is valid? [True, True] Translation: X:82.19, Y:8.53, Z:0.17 [[ 9.74644232e-01 -2.23596623e-01 -8.55397083e-03 8.21925086e+01] [ 2.23653554e-01 9.74647724e-01 6.39545179e-03 8.53354613e+00] [ 6.90710678e-03 -8.14641618e-03 9.99942962e-01 1.69043540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701400513 meters 0.07893660950845353 Centerline is valid? [True, True] Translation: X:82.22, Y:8.56, Z:0.17 [[ 9.74556219e-01 -2.23904976e-01 -1.03313979e-02 8.22214671e+01] [ 2.23812268e-01 9.74586855e-01 -9.40903457e-03 8.56368628e+00] [ 1.21755742e-02 6.85733956e-03 9.99902361e-01 1.65999228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73140051299998 meters 0.07900102654247604 Centerline is valid? [True, True] Translation: X:82.25, Y:8.57, Z:0.17 [[ 9.74522733e-01 -2.24015209e-01 -1.10738105e-02 8.22494781e+01] [ 2.24010901e-01 9.74585252e-01 -1.64382008e-03 8.56573975e+00] [ 1.11606131e-02 -8.78714225e-04 9.99937332e-01 1.68626023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76140051299998 meters 0.07674760279013725 Centerline is valid? [True, True] Translation: X:82.28, Y:8.57, Z:0.17 [[ 9.74253424e-01 -2.25161251e-01 -1.15185419e-02 8.22776748e+01] [ 2.25156653e-01 9.74321073e-01 -1.71125773e-03 8.57422520e+00] [ 1.16080670e-02 -9.26277632e-04 9.99932195e-01 1.68998683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79140051299999 meters 0.08074759634475537 Centerline is valid? [True, True] Translation: X:82.31, Y:8.57, Z:0.17 [[ 9.73802277e-01 -2.27075668e-01 -1.20733734e-02 8.23070867e+01] [ 2.27070757e-01 9.73876610e-01 -1.79415025e-03 8.57426492e+00] [ 1.21653838e-02 -9.94362428e-04 9.99925505e-01 1.68354012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82140051299999 meters 0.09126546026983712 Centerline is valid? [True, True] Translation: X:82.34, Y:8.57, Z:0.17 [[ 9.72711181e-01 -2.31674036e-01 -1.26530317e-02 8.23370704e+01] [ 2.31669023e-01 9.72792849e-01 -1.88068042e-03 8.56699366e+00] [ 1.27444836e-02 -1.10195663e-03 9.99918179e-01 1.67044322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85140051299999 meters 0.08529634026810912 Centerline is valid? [True, True] Translation: X:82.37, Y:8.58, Z:0.17 [[ 9.72261614e-01 -2.33586752e-01 -1.20243015e-02 8.23655183e+01] [ 2.33582367e-01 9.72335376e-01 -1.78751192e-03 8.57972202e+00] [ 1.21091928e-02 -1.07073557e-03 9.99926108e-01 1.68539382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88140051299999 meters 0.08652339492271495 Centerline is valid? [True, True] Translation: X:82.39, Y:8.57, Z:0.17 [[ 9.72207856e-01 -2.33920596e-01 -9.64570617e-03 8.23933400e+01] [ 2.33992355e-01 9.72212336e-01 7.12403889e-03 8.57427321e+00] [ 7.71121511e-03 -9.18306808e-03 9.99928102e-01 1.70560588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91140051299999 meters 0.08690643383351612 Centerline is valid? [True, True] Translation: X:82.42, Y:8.59, Z:0.17 [[ 9.71840578e-01 -2.35419038e-01 -1.01866385e-02 8.24234696e+01] [ 2.35320547e-01 9.71866433e-01 -9.99385581e-03 8.59405042e+00] [ 1.22527959e-02 7.31530926e-03 9.99898172e-01 1.68043258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94140051299999 meters 0.08785828663836825 Centerline is valid? [True, True] Translation: X:82.45, Y:8.59, Z:0.17 [[ 9.72144354e-01 -2.34109736e-01 -1.13130683e-02 8.24513269e+01] [ 2.34107934e-01 9.72209452e-01 -1.50200208e-03 8.59169942e+00] [ 1.13503052e-02 -1.18831619e-03 9.99934877e-01 1.68746610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97140051299999 meters 0.08851950502843282 Centerline is valid? [True, True] Translation: X:82.48, Y:8.59, Z:0.17 [[ 9.72229324e-01 -2.33670085e-01 -1.29781516e-02 8.24823200e+01] [ 2.33661903e-01 9.72315499e-01 -2.16445814e-03 8.59306256e+00] [ 1.31246271e-02 -9.28149934e-04 9.99913438e-01 1.67154969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001400513 meters 0.07988580037572131 Centerline is valid? [True, True] Translation: X:82.51, Y:8.61, Z:0.17 [[ 9.72320578e-01 -2.33258883e-01 -1.35273043e-02 8.25094682e+01] [ 2.33253232e-01 9.72413937e-01 -2.01603503e-03 8.60759682e+00] [ 1.36243973e-02 -1.19505510e-03 9.99906469e-01 1.67985293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031400513 meters 0.08712546230705738 Centerline is valid? [True, True] Translation: X:82.54, Y:8.60, Z:0.17 [[ 9.72377706e-01 -2.33031610e-01 -1.33366226e-02 8.25380327e+01] [ 2.33026077e-01 9.72468453e-01 -1.98903586e-03 8.60232165e+00] [ 1.34329530e-02 -1.17368671e-03 9.99909085e-01 1.67907121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061400513 meters 0.08033291505388522 Centerline is valid? [True, True] Translation: X:82.57, Y:8.61, Z:0.17 [[ 9.72272636e-01 -2.33483093e-01 -1.30983824e-02 8.25656349e+01] [ 2.33477775e-01 9.72360173e-01 -1.95512519e-03 8.61459395e+00] [ 1.31928340e-02 -1.15726645e-03 9.99912301e-01 1.68921667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.091400513 meters 0.07412017892791589 Centerline is valid? [True, True] Translation: X:82.59, Y:8.63, Z:0.17 [[ 9.72081689e-01 -2.34270783e-01 -1.32056911e-02 8.25930334e+01] [ 2.34265419e-01 9.72170674e-01 -1.97345867e-03 8.62634213e+00] [ 1.33005093e-02 -1.17527371e-03 9.99910854e-01 1.69130729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12140051299998 meters 0.08907555477259935 Centerline is valid? [True, True] Translation: X:82.62, Y:8.61, Z:0.17 [[ 9.71842111e-01 -2.35287171e-01 -1.27615864e-02 8.26241154e+01] [ 2.35282232e-01 9.71925218e-01 -1.90832036e-03 8.61179780e+00] [ 1.28523110e-02 -1.14798846e-03 9.99916747e-01 1.67532750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15140051299998 meters 0.09315321087425046 Centerline is valid? [True, True] Translation: X:82.65, Y:8.61, Z:0.17 [[ 9.71585581e-01 -2.36367876e-01 -1.23161011e-02 8.26533367e+01] [ 2.36363357e-01 9.71662992e-01 -1.84214374e-03 8.61021235e+00] [ 1.24025232e-02 -1.12127470e-03 9.99922457e-01 1.67941687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18140051299999 meters 0.09408306719106548 Centerline is valid? [True, True] Translation: X:82.68, Y:8.61, Z:0.17 [[ 9.71286231e-01 -2.37620657e-01 -1.18102228e-02 8.26831660e+01] [ 2.37616590e-01 9.71357419e-01 -1.76680593e-03 8.61236801e+00] [ 1.18917771e-02 -1.09023060e-03 9.99928696e-01 1.69237768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21140051299999 meters 0.09349037800106137 Centerline is valid? [True, True] Translation: X:82.71, Y:8.61, Z:0.17 [[ 9.70218469e-01 -2.41879921e-01 -1.30470692e-02 8.27134807e+01] [ 2.41875335e-01 9.70305370e-01 -1.95206385e-03 8.61327892e+00] [ 1.31318064e-02 -1.26183584e-03 9.99912978e-01 1.68681758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24140051299999 meters 0.0937881202660368 Centerline is valid? [True, True] Translation: X:82.74, Y:8.61, Z:0.17 [[ 9.69583326e-01 -2.44368019e-01 -1.38724856e-02 8.27430942e+01] [ 2.44363083e-01 9.69681584e-01 -2.07587606e-03 8.61449072e+00] [ 1.39591715e-02 -1.37718852e-03 9.99901618e-01 1.68253515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27140051299999 meters 0.10678275759129287 Centerline is valid? [True, False] Translation: X:82.72, Y:8.60, Z:0.16 [[ 9.71784929e-01 -2.35711162e-01 -8.61968206e-03 8.27238571e+01] [ 2.35749438e-01 9.71806759e-01 3.71823494e-03 8.60092244e+00] [ 7.50023581e-03 -5.64540988e-03 9.99955937e-01 1.63986018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30140051299999 meters 0.101156315060414 Centerline is valid? [False, False] Translation: X:82.66, Y:8.59, Z:0.16 [[ 9.74800900e-01 -2.22959189e-01 7.23913001e-03 8.26594950e+01] [ 2.22942824e-01 9.74826893e-01 3.00419943e-03 8.58568448e+00] [-7.72671249e-03 -1.31458422e-03 9.99969284e-01 1.57853840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33140051299999 meters 0.09926157824475576 Centerline is valid? [False, True] Translation: X:82.65, Y:8.58, Z:0.16 [[ 9.77781752e-01 -2.09433822e-01 8.96214746e-03 8.26536019e+01] [ 2.09459497e-01 9.77815240e-01 -2.01857189e-03 8.58258888e+00] [-8.34056715e-03 3.85092966e-03 9.99957802e-01 1.61471817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36140051299999 meters 0.09060224311257048 Centerline is valid? [True, True] Translation: X:82.68, Y:8.59, Z:0.16 [[ 9.78157636e-01 -2.07675195e-01 8.86862588e-03 8.26828516e+01] [ 2.07674624e-01 9.78197454e-01 9.95352393e-04 8.59467960e+00] [-8.88197726e-03 8.68177001e-04 9.99960178e-01 1.64259717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391400513 meters 0.09089467429327053 Centerline is valid? [True, True] Translation: X:82.71, Y:8.59, Z:0.16 [[ 9.78767766e-01 -2.04740430e-01 9.74768247e-03 8.27120055e+01] [ 2.04739596e-01 9.78815867e-01 1.09408574e-03 8.59498491e+00] [-9.76518985e-03 9.24880721e-04 9.99951892e-01 1.63767572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421400513 meters 0.09682780857899698 Centerline is valid? [True, True] Translation: X:82.74, Y:8.58, Z:0.16 [[ 9.79777866e-01 -1.99740431e-01 1.17937591e-02 8.27419306e+01] [ 1.99652951e-01 9.79832433e-01 8.19167555e-03 8.58328708e+00] [-1.31921164e-02 -5.67136360e-03 9.99896897e-01 1.62633195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451400513 meters 0.07999289261159527 Centerline is valid? [True, True] Translation: X:82.77, Y:8.62, Z:0.16 [[ 9.80273084e-01 -1.97464887e-01 8.50290171e-03 8.27692242e+01] [ 1.97514312e-01 9.80285014e-01 -5.42103262e-03 8.61890803e+00] [-7.26480353e-03 6.99353715e-03 9.99949155e-01 1.58432802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48140051299998 meters 0.08775808919845944 Centerline is valid? [True, True] Translation: X:82.80, Y:8.61, Z:0.16 [[ 9.80543322e-01 -1.96189851e-01 6.65849715e-03 8.27997187e+01] [ 1.96189267e-01 9.80565762e-01 7.47265359e-04 8.60639201e+00] [-6.67570021e-03 5.73599615e-04 9.99977553e-01 1.56319843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51140051299998 meters 0.08276619212034711 Centerline is valid? [True, True] Translation: X:82.83, Y:8.61, Z:0.16 [[ 9.80580135e-01 -1.96011090e-01 6.50008882e-03 8.28276999e+01] [ 1.96010536e-01 9.80601519e-01 7.28462334e-04 8.61361227e+00] [-6.51678366e-03 5.59770197e-04 9.99978609e-01 1.55595279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54140051299999 meters 0.08272942023255515 Centerline is valid? [True, True] Translation: X:82.86, Y:8.61, Z:0.16 [[ 9.80288062e-01 -1.97402515e-01 8.21968659e-03 8.28572767e+01] [ 1.97401655e-01 9.80322260e-01 9.23956528e-04 8.61224867e+00] [-8.24033307e-03 7.16836179e-04 9.99965791e-01 1.58752071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57140051299999 meters 0.08625980560536271 Centerline is valid? [True, True] Translation: X:82.89, Y:8.60, Z:0.16 [[ 9.80124069e-01 -1.98030975e-01 1.18550253e-02 8.28864032e+01] [ 1.97895021e-01 9.80153093e-01 1.17249432e-02 8.60055524e+00] [-1.39416416e-02 -9.14584852e-03 9.99860982e-01 1.61904020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60140051299999 meters 0.09176029285445517 Centerline is valid? [True, True] Translation: X:82.91, Y:8.61, Z:0.16 [[ 9.79951000e-01 -1.98839490e-01 1.26053501e-02 8.29144698e+01] [ 1.98870823e-01 9.80024889e-01 -1.27032807e-03 8.60827002e+00] [-1.21009655e-02 3.75169561e-03 9.99919742e-01 1.58513790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63140051299999 meters 0.08189390964462478 Centerline is valid? [True, True] Translation: X:82.94, Y:8.62, Z:0.16 [[ 9.79888339e-01 -1.99194306e-01 1.18520618e-02 8.29416865e+01] [ 1.99199903e-01 9.79958613e-01 7.18352264e-04 8.62163140e+00] [-1.17576217e-02 1.65702454e-03 9.99929504e-01 1.58872847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66140051299999 meters 0.09376725271733351 Centerline is valid? [True, True] Translation: X:82.97, Y:8.61, Z:0.16 [[ 9.79937824e-01 -1.98948951e-01 1.18817630e-02 8.29719134e+01] [ 1.98943489e-01 9.80009571e-01 1.65176831e-03 8.60826661e+00] [-1.19728590e-02 7.45169142e-04 9.99928045e-01 1.57128025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69140051299999 meters 0.09100496396308941 Centerline is valid? [True, True] Translation: X:83.00, Y:8.61, Z:0.16 [[ 9.79981127e-01 -1.98703983e-01 1.23982685e-02 8.30001372e+01] [ 1.98700627e-01 9.80059063e-01 1.51430702e-03 8.61443191e+00] [-1.24519342e-02 9.79551420e-04 9.99921992e-01 1.57575660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72140051299999 meters 0.08674237465396965 Centerline is valid? [True, True] Translation: X:83.03, Y:8.62, Z:0.16 [[ 9.80201753e-01 -1.97434863e-01 1.49665408e-02 8.30282797e+01] [ 1.97416524e-01 9.80315962e-01 2.70768025e-03 8.62163233e+00] [-1.52065293e-02 3.00569533e-04 9.99884329e-01 1.61292041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751400513 meters 0.08848314499838685 Centerline is valid? [True, True] Translation: X:83.06, Y:8.63, Z:0.16 [[ 9.80358959e-01 -1.96633409e-01 1.52188682e-02 8.30569754e+01] [ 1.96660920e-01 9.80471510e-01 -3.17960702e-04 8.62548246e+00] [-1.48591449e-02 3.30467223e-03 9.99884136e-01 1.60054613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781400513 meters 0.08472364899327789 Centerline is valid? [True, True] Translation: X:83.09, Y:8.64, Z:0.16 [[ 9.80350945e-01 -1.96886360e-01 1.21567301e-02 8.30856076e+01] [ 1.96952359e-01 9.80402814e-01 -4.48223373e-03 8.63672120e+00] [-1.10360017e-02 6.78845873e-03 9.99916058e-01 1.57440608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811400513 meters 0.0902766711023359 Centerline is valid? [True, True] Translation: X:83.11, Y:8.63, Z:0.16 [[ 9.80364830e-01 -1.96917052e-01 1.04151152e-02 8.31144772e+01] [ 1.96915569e-01 9.80419742e-01 1.17783803e-03 8.62676491e+00] [-1.04431210e-02 8.96187361e-04 9.99945068e-01 1.55733020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841400513 meters 0.0835345914521059 Centerline is valid? [True, True] Translation: X:83.14, Y:8.64, Z:0.15 [[ 9.80234988e-01 -1.97645330e-01 8.70005165e-03 8.31427340e+01] [ 1.97644318e-01 9.80273306e-01 9.84465709e-04 8.63972512e+00] [-8.72300344e-03 7.54508045e-04 9.99961669e-01 1.54385126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87140051299998 meters 0.0833841644926082 Centerline is valid? [True, True] Translation: X:83.17, Y:8.64, Z:0.16 [[ 9.80091808e-01 -1.98356062e-01 8.65571285e-03 8.31718182e+01] [ 1.98355095e-01 9.80129736e-01 9.78740397e-04 8.64221416e+00] [-8.67786063e-03 7.57649296e-04 9.99962060e-01 1.55104439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90140051299998 meters 0.09067092183463549 Centerline is valid? [True, True] Translation: X:83.20, Y:8.63, Z:0.15 [[ 9.79968180e-01 -1.98941564e-01 9.19889708e-03 8.32007649e+01] [ 1.98940477e-01 9.80011020e-01 1.04233504e-03 8.63297532e+00] [-9.22238428e-03 8.08577803e-04 9.99957146e-01 1.54162077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93140051299999 meters 0.08403552700116033 Centerline is valid? [True, True] Translation: X:83.23, Y:8.63, Z:0.16 [[ 9.79795229e-01 -1.99684939e-01 1.12797826e-02 8.32292386e+01] [ 1.99557350e-01 9.79818686e-01 1.14980883e-02 8.63061942e+00] [-1.33481369e-02 -9.01480854e-03 9.99870272e-01 1.55820494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96140051299999 meters 0.08401652717074386 Centerline is valid? [True, True] Translation: X:83.26, Y:8.65, Z:0.15 [[ 9.79710826e-01 -2.00196165e-01 9.39107625e-03 8.32569775e+01] [ 2.00280011e-01 9.79696968e-01 -9.04259191e-03 8.65470461e+00] [-7.39011670e-03 1.07399700e-02 9.99915016e-01 1.51765049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99140051299999 meters 0.09354497316781459 Centerline is valid? [True, True] Translation: X:83.29, Y:8.63, Z:0.15 [[ 9.79951594e-01 -1.98938653e-01 1.08759249e-02 8.32890823e+01] [ 1.98899235e-01 9.80009131e-01 4.60407550e-03 8.63252552e+00] [-1.15744343e-02 -2.34855799e-03 9.99930256e-01 1.52685342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02140051299999 meters 0.08135779166947016 Centerline is valid? [True, True] Translation: X:83.32, Y:8.65, Z:0.15 [[ 9.80317520e-01 -1.97080506e-01 1.16976505e-02 8.33161970e+01] [ 1.97079751e-01 9.80386690e-01 1.22861790e-03 8.65391480e+00] [-1.17103575e-02 1.10093439e-03 9.99930825e-01 1.53406120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05140051299999 meters 0.07972974047920159 Centerline is valid? [True, True] Translation: X:83.35, Y:8.66, Z:0.15 [[ 9.80607084e-01 -1.95737254e-01 9.83226086e-03 8.33452505e+01] [ 1.95766394e-01 9.80648343e-01 -2.08479628e-03 8.66426298e+00] [-9.23391802e-03 3.96919225e-03 9.99949489e-01 1.53560503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08140051299999 meters 0.08378063509102365 Centerline is valid? [True, True] Translation: X:83.38, Y:8.66, Z:0.15 [[ 9.81120407e-01 -1.93217320e-01 8.35543924e-03 8.33766193e+01] [ 1.93207571e-01 9.81155935e-01 1.96627453e-03 8.65810230e+00] [-8.57790710e-03 -3.14817941e-04 9.99963160e-01 1.50349031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11140051299999 meters 0.07975077864662647 Centerline is valid? [True, True] Translation: X:83.40, Y:8.66, Z:0.15 [[ 9.81263897e-01 -1.92386581e-01 1.04195983e-02 8.34045191e+01] [ 1.92287860e-01 9.81289865e-01 9.77650022e-03 8.65633319e+00] [-1.21055136e-02 -7.58976446e-03 9.99897921e-01 1.51031466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141400513 meters 0.08311912418405039 Centerline is valid? [True, True] Translation: X:83.43, Y:8.67, Z:0.15 [[ 9.81305005e-01 -1.92191244e-01 1.01495501e-02 8.34321054e+01] [ 1.92270673e-01 9.81313066e-01 -7.52692098e-03 8.67232970e+00] [-8.51327787e-03 9.33766606e-03 9.99920163e-01 1.47697854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171400513 meters 0.07460273463678371 Centerline is valid? [True, True] Translation: X:83.46, Y:8.68, Z:0.15 [[ 9.81214565e-01 -1.92662976e-01 9.94765725e-03 8.34602997e+01] [ 1.92672169e-01 9.81263183e-01 3.48169003e-05 8.68049544e+00] [-9.76797774e-03 1.88247385e-03 9.99950520e-01 1.52348091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201400513 meters 0.0772058948690796 Centerline is valid? [True, True] Translation: X:83.49, Y:8.68, Z:0.15 [[ 9.80944627e-01 -1.94008378e-01 1.04109167e-02 8.34901356e+01] [ 1.94006636e-01 9.80999499e-01 1.18670701e-03 8.67905663e+00] [-1.04433352e-02 8.55693060e-04 9.99945101e-01 1.52311609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23140051299998 meters 0.08148121990687422 Centerline is valid? [True, True] Translation: X:83.52, Y:8.67, Z:0.15 [[ 9.80875821e-01 -1.94334482e-01 1.08043197e-02 8.35179546e+01] [ 1.94250306e-01 9.80916289e-01 8.36978932e-03 8.66895738e+00] [-1.22246718e-02 -6.11098157e-03 9.99906602e-01 1.49875091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26140051299998 meters 0.07962583415328543 Centerline is valid? [True, True] Translation: X:83.55, Y:8.69, Z:0.14 [[ 9.80690637e-01 -1.95413724e-01 7.70398194e-03 8.35467305e+01] [ 1.95463399e-01 9.80690605e-01 -6.32429668e-03 8.68669776e+00] [-6.31936834e-03 7.70802503e-03 9.99950325e-01 1.44429803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29140051299999 meters 0.09059999116313842 Centerline is valid? [True, True] Translation: X:83.58, Y:8.67, Z:0.14 [[ 9.80592121e-01 -1.95968695e-01 5.94667576e-03 8.35771320e+01] [ 1.95968155e-01 9.80610025e-01 6.79149669e-04 8.66790207e+00] [-5.96446194e-03 4.99390262e-04 9.99982088e-01 1.42408427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32140051299999 meters 0.0933819672575637 Centerline is valid? [True, True] Translation: X:83.61, Y:8.67, Z:0.14 [[ 9.80644237e-01 -1.95692299e-01 6.43456542e-03 8.36067343e+01] [ 1.95688074e-01 9.80665348e-01 1.28596580e-03 8.66743270e+00] [-6.56180894e-03 -1.90723752e-06 9.99978471e-01 1.41802972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35140051299999 meters 0.08284015319765374 Centerline is valid? [True, True] Translation: X:83.63, Y:8.68, Z:0.15 [[ 9.80712072e-01 -1.95176250e-01 1.04911022e-02 8.36338388e+01] [ 1.95078327e-01 9.80739967e-01 9.67279266e-03 8.67556259e+00] [-1.21769426e-02 -7.43963787e-03 9.99898182e-01 1.47247822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38140051299999 meters 0.07952562610114297 Centerline is valid? [True, True] Translation: X:83.66, Y:8.70, Z:0.14 [[ 9.81096310e-01 -1.93299291e-01 9.24196055e-03 8.36625048e+01] [ 1.93419994e-01 9.81005834e-01 -1.47057758e-02 8.70025937e+00] [-6.22380117e-03 1.62153624e-02 9.99849152e-01 1.42689785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41140051299999 meters 0.0845497519559729 Centerline is valid? [True, True] Translation: X:83.69, Y:8.67, Z:0.15 [[ 9.81550694e-01 -1.90891550e-01 1.08927495e-02 8.36928925e+01] [ 1.90700299e-01 9.81509443e-01 1.65108661e-02 8.67260601e+00] [-1.38431213e-02 -1.41290015e-02 9.99804351e-01 1.48429690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44140051299999 meters 0.08104388287985126 Centerline is valid? [True, True] Translation: X:83.72, Y:8.69, Z:0.14 [[ 9.82172713e-01 -1.87615328e-01 1.17153735e-02 8.37218102e+01] [ 1.87666759e-01 9.82226708e-01 -3.44708704e-03 8.69419719e+00] [-1.08604264e-02 5.58422101e-03 9.99925431e-01 1.43802219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47140051299999 meters 0.07831061446444426 Centerline is valid? [True, True] Translation: X:83.75, Y:8.70, Z:0.14 [[ 9.83239510e-01 -1.81900845e-01 1.23348558e-02 8.37510474e+01] [ 1.81803982e-01 9.83297403e-01 8.57491103e-03 8.69563313e+00] [-1.36886153e-02 -6.18866541e-03 9.99887155e-01 1.44187945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501400513 meters 0.06415293486963974 Centerline is valid? [True, True] Translation: X:83.78, Y:8.73, Z:0.14 [[ 9.83778670e-01 -1.79084813e-01 1.03998834e-02 8.37777271e+01] [ 1.79177237e-01 9.83777835e-01 -8.75721667e-03 8.73297016e+00] [-8.66289022e-03 1.04785853e-02 9.99907573e-01 1.41087042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531400513 meters 0.07324712769664966 Centerline is valid? [True, True] Translation: X:83.81, Y:8.73, Z:0.14 [[ 9.84307226e-01 -1.76253996e-01 8.59149256e-03 8.38065640e+01] [ 1.76255174e-01 9.84344311e-01 6.25772968e-04 8.72667063e+00] [-8.56728181e-03 8.98342164e-04 9.99962897e-01 1.40816325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561400513 meters 0.07324712769664966 Centerline is valid? [True, True] Translation: X:83.83, Y:8.73, Z:0.14 [[ 9.84276947e-01 -1.76425280e-01 8.54466442e-03 8.38339777e+01] [ 1.76423210e-01 9.84313897e-01 1.00132028e-03 8.72962061e+00] [-8.58729015e-03 5.21900657e-04 9.99962992e-01 1.40460159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.591400513 meters 0.07591110793589466 Centerline is valid? [True, True] Translation: X:83.86, Y:8.73, Z:0.14 [[ 9.84280168e-01 -1.76465546e-01 7.24305634e-03 8.38634846e+01] [ 1.76461391e-01 9.84306814e-01 1.21389036e-03 8.72567203e+00] [-7.34359953e-03 8.33115892e-05 9.99973032e-01 1.37864258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62140051299998 meters 0.07482320689473129 Centerline is valid? [True, True] Translation: X:83.89, Y:8.73, Z:0.14 [[ 9.84404038e-01 -1.75682194e-01 9.19004046e-03 8.38914277e+01] [ 1.75598480e-01 9.84418477e-01 9.24313679e-03 8.72984666e+00] [-1.06707002e-02 -7.48522404e-03 9.99915050e-01 1.38454970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65140051299998 meters 0.07407862164421591 Centerline is valid? [True, True] Translation: X:83.92, Y:8.74, Z:0.14 [[ 9.84109545e-01 -1.77230138e-01 1.08572988e-02 8.39188605e+01] [ 1.77239174e-01 9.84167800e-01 1.31950102e-04 8.74019963e+00] [-1.07087894e-02 1.79448531e-03 9.99941049e-01 1.37428941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68140051299999 meters 0.06663724008020148 Centerline is valid? [True, True] Translation: X:83.95, Y:8.76, Z:0.14 [[ 9.83764793e-01 -1.79169731e-01 1.02488444e-02 8.39464507e+01] [ 1.79221915e-01 9.83798766e-01 -4.41506164e-03 8.75814309e+00] [-9.29175503e-03 6.18019971e-03 9.99937732e-01 1.38771224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71140051299999 meters 0.06769349331298584 Centerline is valid? [True, True] Translation: X:83.98, Y:8.75, Z:0.14 [[ 9.83017110e-01 -1.83234100e-01 1.01304571e-02 8.39786781e+01] [ 1.83237765e-01 9.83068458e-01 5.73081538e-04 8.75379909e+00] [-1.00639409e-02 1.29293335e-03 9.99948521e-01 1.40389330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74140051299999 meters 0.07502318522763403 Centerline is valid? [True, True] Translation: X:84.01, Y:8.74, Z:0.14 [[ 9.82713665e-01 -1.84778186e-01 1.14400637e-02 8.40071918e+01] [ 1.84694118e-01 9.82763303e-01 8.02331473e-03 8.73938655e+00] [-1.27254084e-02 -5.77170855e-03 9.99902371e-01 1.40210268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77140051299999 meters 0.07803836329834475 Centerline is valid? [True, True] Translation: X:84.04, Y:8.75, Z:0.14 [[ 9.82410434e-01 -1.86364321e-01 1.17506815e-02 8.40352902e+01] [ 1.86357832e-01 9.82480545e-01 1.65441728e-03 8.74630803e+00] [-1.18531403e-02 5.64514724e-04 9.99929590e-01 1.37378594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80140051299999 meters 0.08740489929783211 Centerline is valid? [True, True] Translation: X:84.07, Y:8.75, Z:0.13 [[ 9.81906875e-01 -1.89102054e-01 9.96505770e-03 8.40654353e+01] [ 1.89165945e-01 9.81927369e-01 -5.90660152e-03 8.74868534e+00] [-8.66801241e-03 7.68478219e-03 9.99932903e-01 1.33737480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83140051299999 meters 0.07624905499361635 Centerline is valid? [True, True] Translation: X:84.10, Y:8.76, Z:0.14 [[ 9.81635552e-01 -1.90546617e-01 9.14490740e-03 8.40955959e+01] [ 1.90541612e-01 9.81678088e-01 1.42348977e-03 8.76173854e+00] [-9.24859637e-03 3.45137229e-04 9.99957171e-01 1.37928005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86140051299999 meters 0.0792126305655916 Centerline is valid? [True, True] Translation: X:84.12, Y:8.76, Z:0.14 [[ 9.81798202e-01 -1.89654683e-01 1.01681730e-02 8.41246887e+01] [ 1.89652660e-01 9.81850547e-01 1.17171188e-03 8.75847033e+00] [-1.02058468e-02 7.78036432e-04 9.99947616e-01 1.38288098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891400513 meters 0.08225056337538274 Centerline is valid? [True, True] Translation: X:84.15, Y:8.75, Z:0.14 [[ 9.82180465e-01 -1.87546269e-01 1.21626724e-02 8.41525731e+01] [ 1.87450743e-01 9.82236541e-01 8.57878619e-03 8.75437587e+00] [-1.35555407e-02 -6.14601422e-03 9.99889231e-01 1.38788686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921400513 meters 0.0885350607988781 Centerline is valid? [True, True] Translation: X:84.18, Y:8.76, Z:0.14 [[ 9.82296627e-01 -1.86957648e-01 1.18395111e-02 8.41807642e+01] [ 1.87033868e-01 9.82337010e-01 -5.68610305e-03 8.75798943e+00] [-1.05673295e-02 7.79982942e-03 9.99913743e-01 1.35051720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951400513 meters 0.08026216278920907 Centerline is valid? [True, True] Translation: X:84.21, Y:8.77, Z:0.14 [[ 9.82213988e-01 -1.87447374e-01 1.09162573e-02 8.42079365e+01] [ 1.87443343e-01 9.82274418e-01 1.40031527e-03 8.76665980e+00] [-1.09852457e-02 6.70770519e-04 9.99939435e-01 1.37130251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98140051299998 meters 0.07553950160124855 Centerline is valid? [True, True] Translation: X:84.24, Y:8.77, Z:0.14 [[ 9.81927604e-01 -1.88803577e-01 1.30915734e-02 8.42359331e+01] [ 1.88726530e-01 9.82005432e-01 6.90128025e-03 8.77218714e+00] [-1.41589826e-02 -4.30583036e-03 9.99890486e-01 1.38672027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01140051299998 meters 0.07550196811345705 Centerline is valid? [True, True] Translation: X:84.26, Y:8.78, Z:0.14 [[ 9.81774967e-01 -1.89481381e-01 1.46533507e-02 8.42648769e+01] [ 1.89405586e-01 9.81878010e-01 6.41068150e-03 8.77560314e+00] [-1.56025076e-02 -3.51842013e-03 9.99872083e-01 1.37801105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04140051299999 meters 0.07423611244413546 Centerline is valid? [True, True] Translation: X:84.30, Y:8.80, Z:0.14 [[ 9.81408403e-01 -1.91484775e-01 1.30815536e-02 8.42950851e+01] [ 1.91598059e-01 9.81440653e-01 -8.02674967e-03 8.79565600e+00] [-1.13017681e-02 1.03839198e-02 9.99882215e-01 1.35085331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07140051299999 meters 0.08116986352897364 Centerline is valid? [True, True] Translation: X:84.32, Y:8.79, Z:0.14 [[ 9.81515944e-01 -1.91023882e-01 1.16760009e-02 8.43211812e+01] [ 1.91030643e-01 9.81583923e-01 5.43870340e-04 8.78693167e+00] [-1.15648670e-02 1.69665654e-03 9.99931685e-01 1.36420357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10140051299999 meters 0.0813766348058127 Centerline is valid? [True, True] Translation: X:84.35, Y:8.78, Z:0.14 [[ 9.81510337e-01 -1.91099339e-01 1.08857696e-02 8.43491992e+01] [ 1.91019667e-01 9.81554012e-01 7.95035127e-03 8.78269754e+00] [-1.22042777e-02 -5.72395587e-03 9.99909142e-01 1.35608799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13140051299999 meters 0.08220024551066508 Centerline is valid? [True, True] Translation: X:84.38, Y:8.80, Z:0.13 [[ 9.81635690e-01 -1.90542806e-01 9.20925070e-03 8.43763952e+01] [ 1.90597468e-01 9.81653052e-01 -5.46732223e-03 8.79657727e+00] [-7.99853013e-03 7.12217850e-03 9.99942647e-01 1.30649490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16140051299999 meters 0.07242836634669207 Centerline is valid? [True, True] Translation: X:84.40, Y:8.81, Z:0.13 [[ 9.81684742e-01 -1.90303342e-01 8.92779584e-03 8.44042745e+01] [ 1.90283630e-01 9.81724527e-01 3.01545747e-03 8.80501730e+00] [-9.33848778e-03 -1.26141518e-03 9.99955600e-01 1.32184314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19140051299999 meters 0.0808399872406748 Centerline is valid? [True, True] Translation: X:84.44, Y:8.81, Z:0.13 [[ 9.81462178e-01 -1.91363384e-01 1.05853106e-02 8.44354614e+01] [ 1.91367810e-01 9.81518211e-01 6.02623666e-04 8.80664920e+00] [-1.05049953e-02 1.43423538e-03 9.99943792e-01 1.32900629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22140051299999 meters 0.07249300229419779 Centerline is valid? [True, True] Translation: X:84.46, Y:8.82, Z:0.14 [[ 9.81616487e-01 -1.90444965e-01 1.26407117e-02 8.44642916e+01] [ 1.90441791e-01 9.81697396e-01 1.46541487e-03 8.81550553e+00] [-1.26884346e-02 9.68844382e-04 9.99919029e-01 1.35379875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251400513 meters 0.0742089080910124 Centerline is valid? [True, True] Translation: X:84.49, Y:8.82, Z:0.14 [[ 9.81951304e-01 -1.88687154e-01 1.29921078e-02 8.44894830e+01] [ 1.88693525e-01 9.82035742e-01 7.44788750e-04 8.82007895e+00] [-1.28992463e-02 1.72018033e-03 9.99915322e-01 1.35786207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281400513 meters 0.08380881381453095 Centerline is valid? [True, True] Translation: X:84.52, Y:8.81, Z:0.13 [[ 9.81897333e-01 -1.89025293e-01 1.21270958e-02 8.45194341e+01] [ 1.88953904e-01 9.81962448e-01 6.79506713e-03 8.80702462e+00] [-1.31927922e-02 -4.38059619e-03 9.99903376e-01 1.32676011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311400513 meters 0.07570562783393156 Centerline is valid? [True, True] Translation: X:84.54, Y:8.84, Z:0.13 [[ 9.81935339e-01 -1.88968139e-01 9.69706420e-03 8.45443000e+01] [ 1.89023898e-01 9.81958774e-01 -5.18953497e-03 8.83600742e+00] [-8.54146051e-03 6.92876466e-03 9.99939516e-01 1.29089287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341400513 meters 0.07551633869065809 Centerline is valid? [True, True] Translation: X:84.57, Y:8.82, Z:0.13 [[ 9.81788676e-01 -1.89751390e-01 9.24154191e-03 8.45740963e+01] [ 1.89674653e-01 9.81809508e-01 8.58001343e-03 8.82238390e+00] [-1.07015032e-02 -6.67087377e-03 9.99920485e-01 1.29159763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37140051299998 meters 0.08275474407009831 Centerline is valid? [True, True] Translation: X:84.60, Y:8.83, Z:0.13 [[ 9.81780531e-01 -1.89739785e-01 1.02860962e-02 8.46006188e+01] [ 1.89777992e-01 9.81822845e-01 -2.86622548e-03 8.82777170e+00] [-9.55528726e-03 4.76607906e-03 9.99942989e-01 1.26609611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40140051299998 meters 0.08455673198655785 Centerline is valid? [True, True] Translation: X:84.63, Y:8.83, Z:0.13 [[ 9.81640879e-01 -1.90456577e-01 1.03671053e-02 8.46290165e+01] [ 1.90478422e-01 9.81690706e-01 -1.15303993e-03 8.82942093e+00] [-9.95768688e-03 3.10658098e-03 9.99945595e-01 1.27648151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43140051299999 meters 0.08505087139856203 Centerline is valid? [True, True] Translation: X:84.66, Y:8.83, Z:0.13 [[ 9.81590041e-01 -1.90749352e-01 9.78137876e-03 8.46618811e+01] [ 1.90737568e-01 9.81638749e-01 2.13239019e-03 8.83116127e+00] [-1.00085325e-02 -2.27456578e-04 9.99949888e-01 1.26910021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46140051299999 meters 0.07200885282726222 Centerline is valid? [True, True] Translation: X:84.68, Y:8.86, Z:0.13 [[ 9.82182255e-01 -1.87701531e-01 9.28182606e-03 8.46848453e+01] [ 1.87705744e-01 9.82225216e-01 4.23059396e-04 8.85597912e+00] [-9.19625251e-03 1.32673063e-03 9.99956833e-01 1.27098453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49140051299999 meters 0.07387804372584847 Centerline is valid? [True, True] Translation: X:84.71, Y:8.86, Z:0.13 [[ 9.82558723e-01 -1.85741781e-01 8.85139053e-03 8.47140415e+01] [ 1.85745217e-01 9.82597843e-01 4.39468444e-04 8.86007925e+00] [-8.77898490e-03 1.21229990e-03 9.99960729e-01 1.26355733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52140051299999 meters 0.06815047763059547 Centerline is valid? [True, True] Translation: X:84.75, Y:8.87, Z:0.13 [[ 9.82565631e-01 -1.85741803e-01 8.04753120e-03 8.47452892e+01] [ 1.85728431e-01 9.82598220e-01 2.38482848e-03 8.86896072e+00] [-8.35045218e-03 -8.48595160e-04 9.99964774e-01 1.25761040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55140051299999 meters 0.07354251174247198 Centerline is valid? [True, True] Translation: X:84.77, Y:8.87, Z:0.12 [[ 9.83176418e-01 -1.82453168e-01 8.65867137e-03 8.47708437e+01] [ 1.82420908e-01 9.83210746e-01 4.38640839e-03 8.86910683e+00] [-9.31361285e-03 -2.73309059e-03 9.99952892e-01 1.24375567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58140051299999 meters 0.07072041944553373 Centerline is valid? [True, True] Translation: X:84.80, Y:8.88, Z:0.12 [[ 9.83295094e-01 -1.81822988e-01 8.43563588e-03 8.47984611e+01] [ 1.81838416e-01 9.83327817e-01 -1.09306391e-03 8.88459095e+00] [-8.09625127e-03 2.60872705e-03 9.99963822e-01 1.22693300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61140051299999 meters 0.07505389657122691 Centerline is valid? [True, True] Translation: X:84.83, Y:8.88, Z:0.12 [[ 9.83759754e-01 -1.79206965e-01 1.00801969e-02 8.48267398e+01] [ 1.79162109e-01 9.83805840e-01 5.19691120e-03 8.88060641e+00] [-1.08482793e-02 -3.30652274e-03 9.99935689e-01 1.21952337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641400513 meters 0.0971399065513823 Centerline is valid? [True, True] Translation: X:84.86, Y:8.87, Z:0.12 [[ 9.83897332e-01 -1.78438883e-01 1.02763898e-02 8.48584330e+01] [ 1.78454672e-01 9.83947930e-01 -6.33078380e-04 8.86644070e+00] [-9.99846667e-03 2.45675389e-03 9.99946996e-01 1.20294904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671400513 meters 0.07741053195002677 Centerline is valid? [True, True] Translation: X:84.88, Y:8.89, Z:0.12 [[ 9.83779353e-01 -1.79024197e-01 1.13367016e-02 8.48839849e+01] [ 1.79000271e-01 9.83844143e-01 3.09933339e-03 8.89328687e+00] [-1.17084031e-02 -1.01978754e-03 9.99930934e-01 1.23205007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701400513 meters 0.07452367698466963 Centerline is valid? [True, True] Translation: X:84.91, Y:8.90, Z:0.12 [[ 9.83632511e-01 -1.79850878e-01 1.09883974e-02 8.49136317e+01] [ 1.79880461e-01 9.83686906e-01 -1.75778132e-03 8.90383019e+00] [-1.04930041e-02 3.70560884e-03 9.99938081e-01 1.22463827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73140051299998 meters 0.06629446127553222 Centerline is valid? [True, True] Translation: X:84.94, Y:8.92, Z:0.12 [[ 9.84036129e-01 -1.77670476e-01 1.03004019e-02 8.49377378e+01] [ 1.77674065e-01 9.84089223e-01 5.72992712e-04 8.92260012e+00] [-1.02383183e-02 1.26626874e-03 9.99946785e-01 1.23235920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76140051299998 meters 0.06492991925436156 Centerline is valid? [True, True] Translation: X:84.97, Y:8.93, Z:0.12 [[ 9.84759789e-01 -1.73630780e-01 1.00255049e-02 8.49663172e+01] [ 1.73602216e-01 9.84809059e-01 3.65909853e-03 8.92821168e+00] [-1.05085402e-02 -1.86288323e-03 9.99943049e-01 1.21864555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79140051299999 meters 0.05822784046343752 Centerline is valid? [True, True] Translation: X:84.99, Y:8.95, Z:0.12 [[ 9.85309938e-01 -1.70496943e-01 9.75287947e-03 8.49946940e+01] [ 1.70522461e-01 9.85352069e-01 -1.84153147e-03 8.94799256e+00] [-9.29604447e-03 3.47756426e-03 9.99950744e-01 1.21913644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82140051299999 meters 0.06034376845940135 Centerline is valid? [True, True] Translation: X:85.02, Y:8.95, Z:0.12 [[ 9.85847443e-01 -1.67285678e-01 1.09691023e-02 8.50240519e+01] [ 1.67253900e-01 9.85906689e-01 3.75952121e-03 8.95094089e+00] [-1.14434254e-02 -1.87168923e-03 9.99932770e-01 1.23290287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85140051299999 meters 0.050153152126041725 Centerline is valid? [True, True] Translation: X:85.05, Y:8.96, Z:0.13 [[ 9.86532163e-01 -1.62980087e-01 1.38485348e-02 8.50522097e+01] [ 1.62926759e-01 9.86625983e-01 4.90309632e-03 8.96382962e+00] [-1.44624313e-02 -2.58076533e-03 9.99892083e-01 1.25931200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88140051299999 meters 0.04390501258984236 Centerline is valid? [True, True] Translation: X:85.08, Y:9.00, Z:0.13 [[ 9.87611244e-01 -1.56173364e-01 1.52941276e-02 8.50830915e+01] [ 1.56247542e-01 9.87710717e-01 -3.77431928e-03 8.99802228e+00] [-1.45167256e-02 6.11723001e-03 9.99875914e-01 1.30083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91140051299999 meters 0.04050244873449705 Centerline is valid? [True, True] Translation: X:85.11, Y:9.00, Z:0.13 [[ 9.88219915e-01 -1.52244388e-01 1.55899113e-02 8.51114221e+01] [ 1.52234459e-01 9.88342717e-01 1.82860315e-03 9.00225657e+00] [-1.56865699e-02 5.66259670e-04 9.99876798e-01 1.30999761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94140051299999 meters 0.03614071363313177 Centerline is valid? [True, True] Translation: X:85.14, Y:9.01, Z:0.13 [[ 9.88904642e-01 -1.47541194e-01 1.72975320e-02 8.51366181e+01] [ 1.47495940e-01 9.89055088e-01 3.87044056e-03 9.01263285e+00] [-1.76792614e-02 -1.27618090e-03 9.99842895e-01 1.30532649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97140051299999 meters 0.030399589559423346 Centerline is valid? [True, True] Translation: X:85.17, Y:9.03, Z:0.13 [[ 9.89113926e-01 -1.46328958e-01 1.55395708e-02 8.51660990e+01] [ 1.46348219e-01 9.89233131e-01 -1.03477281e-04 9.03358122e+00] [-1.53571166e-02 2.37653933e-03 9.99879248e-01 1.29239762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001400513 meters 0.030882553910356984 Centerline is valid? [True, True] Translation: X:85.19, Y:9.03, Z:0.13 [[ 9.89477010e-01 -1.43712645e-01 1.67905195e-02 8.51922411e+01] [ 1.43571838e-01 9.89596042e-01 9.31665556e-03 9.03139137e+00] [-1.79547528e-02 -6.80797075e-03 9.99815622e-01 1.28002963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031400513 meters 0.03181924969100328 Centerline is valid? [True, True] Translation: X:85.22, Y:9.05, Z:0.13 [[ 9.89477191e-01 -1.43839464e-01 1.56556015e-02 8.52216554e+01] [ 1.43945447e-01 9.89568264e-01 -5.86165624e-03 9.05247343e+00] [-1.46491489e-02 8.05352771e-03 9.99860262e-01 1.26157357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061400513 meters 0.03105196008574714 Centerline is valid? [True, True] Translation: X:85.25, Y:9.06, Z:0.13 [[ 9.89525452e-01 -1.43616256e-01 1.46202451e-02 8.52505486e+01] [ 1.43606509e-01 9.89633373e-01 1.71982590e-03 9.05617211e+00] [-1.47156774e-02 3.97750858e-04 9.99891639e-01 1.25779734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.091400513 meters 0.029986451652249176 Centerline is valid? [True, True] Translation: X:85.28, Y:9.06, Z:0.13 [[ 9.89496028e-01 -1.43785077e-01 1.49486516e-02 8.52771723e+01] [ 1.43774864e-01 9.89608855e-01 1.76125873e-03 9.05966951e+00] [-1.50465607e-02 4.06481833e-04 9.99886711e-01 1.26243352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12140051299998 meters 0.03739583202542092 Centerline is valid? [True, True] Translation: X:85.31, Y:9.07, Z:0.13 [[ 9.89410101e-01 -1.44320079e-01 1.54714803e-02 8.53051029e+01] [ 1.44309185e-01 9.89530966e-01 1.82414959e-03 9.06643245e+00] [-1.55727702e-02 4.27844676e-04 9.99878646e-01 1.25965808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15140051299998 meters 0.039862554108017305 Centerline is valid? [True, True] Translation: X:85.33, Y:9.04, Z:0.12 [[ 9.89959854e-01 -1.39563473e-01 2.23947345e-02 8.53309267e+01] [ 1.39050951e-01 9.90017710e-01 2.30166509e-02 9.03778277e+00] [-2.53834675e-02 -1.96715513e-02 9.99484222e-01 1.22885856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18140051299999 meters 0.030540333220488207 Centerline is valid? [True, True] Translation: X:85.36, Y:9.08, Z:0.12 [[ 9.89562099e-01 -1.42437370e-01 2.18734481e-02 8.53577729e+01] [ 1.42643643e-01 9.89740384e-01 -8.17087222e-03 9.08295458e+00] [-2.04851974e-02 1.12056938e-02 9.99727357e-01 1.24307280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21140051299999 meters 0.028034403677330517 Centerline is valid? [True, True] Translation: X:85.39, Y:9.09, Z:0.12 [[ 9.89572702e-01 -1.42925553e-01 1.78368567e-02 8.53876609e+01] [ 1.43080088e-01 9.89681123e-01 -7.70469626e-03 9.09009350e+00] [-1.65516024e-02 1.01764561e-02 9.99811224e-01 1.23742865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24140051299999 meters 0.027605160049134627 Centerline is valid? [True, True] Translation: X:85.42, Y:9.09, Z:0.12 [[ 9.89797530e-01 -1.41669830e-01 1.51824946e-02 8.54158161e+01] [ 1.41658986e-01 9.89913894e-01 1.79274209e-03 9.08717093e+00] [-1.52833398e-02 3.76285100e-04 9.99883132e-01 1.21405735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27140051299999 meters 0.026488517374414763 Centerline is valid? [True, True] Translation: X:85.44, Y:9.09, Z:0.12 [[ 9.89959361e-01 -1.40576523e-01 1.47886673e-02 8.54439253e+01] [ 1.40566104e-01 9.90069755e-01 1.74682943e-03 9.09366720e+00] [-1.48873754e-02 3.49495191e-04 9.99889116e-01 1.19758487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30140051299999 meters 0.02457259479540945 Centerline is valid? [True, True] Translation: X:85.47, Y:9.10, Z:0.12 [[ 9.90180203e-01 -1.39020608e-01 1.47117464e-02 8.54714185e+01] [ 1.39011952e-01 9.90289388e-01 1.61435274e-03 9.10129462e+00] [-1.47933146e-02 4.46608459e-04 9.99890473e-01 1.18813435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33140051299999 meters 0.029022724449638368 Centerline is valid? [True, True] Translation: X:85.50, Y:9.11, Z:0.12 [[ 9.90568060e-01 -1.36220182e-01 1.47980024e-02 8.54993857e+01] [ 1.36207118e-01 9.90678577e-01 1.89183049e-03 9.10770900e+00] [-1.49177694e-02 1.41606398e-04 9.99888714e-01 1.17203825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36140051299999 meters 0.01861370757886911 Centerline is valid? [True, True] Translation: X:85.53, Y:9.12, Z:0.12 [[ 9.91091896e-01 -1.32336953e-01 1.49594259e-02 8.55273748e+01] [ 1.32325261e-01 9.91204763e-01 1.77307437e-03 9.11514806e+00] [-1.50624974e-02 2.22230295e-04 9.99886529e-01 1.17971233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391400513 meters 0.013602064331895446 Centerline is valid? [True, True] Translation: X:85.56, Y:9.12, Z:0.12 [[ 9.91919713e-01 -1.26142750e-01 1.35384666e-02 8.55555167e+01] [ 1.26132589e-01 9.92012093e-01 1.60522237e-03 9.12401504e+00] [-1.36328097e-02 1.15390129e-04 9.99907062e-01 1.16041720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421400513 meters 0.011858578103742402 Centerline is valid? [True, True] Translation: X:85.58, Y:9.13, Z:0.11 [[ 9.92264239e-01 -1.23506008e-01 1.25676462e-02 8.55840029e+01] [ 1.23497041e-01 9.92343822e-01 1.49003998e-03 9.13134691e+00] [-1.26554549e-02 7.35537208e-05 9.99919914e-01 1.13980292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451400513 meters 0.011858578103742402 Centerline is valid? [True, True] Translation: X:85.61, Y:9.13, Z:0.11 [[ 9.92240614e-01 -1.23695688e-01 1.25674116e-02 8.56112712e+01] [ 1.23686712e-01 9.92320196e-01 1.49201516e-03 9.13476061e+00] [-1.26554522e-02 7.39837730e-05 9.99919914e-01 1.13492122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48140051299998 meters 0.010657768424782192 Centerline is valid? [True, True] Translation: X:85.64, Y:9.14, Z:0.11 [[ 9.92618322e-01 -1.20741390e-01 1.14185602e-02 8.56385132e+01] [ 1.20733762e-01 9.92683996e-01 1.35751011e-03 9.14278234e+00] [-1.14989296e-02 3.11163229e-05 9.99933885e-01 1.11188416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51140051299998 meters 0.010582654195302193 Centerline is valid? [True, True] Translation: X:85.67, Y:9.15, Z:0.11 [[ 9.92997641e-01 -1.17670596e-01 1.04554422e-02 8.56654327e+01] [ 1.17664012e-01 9.93052683e-01 1.24473751e-03 9.15000226e+00] [-1.05292739e-02 -5.79213348e-06 9.99944566e-01 1.08911105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54140051299999 meters 0.013385545362449913 Centerline is valid? [True, True] Translation: X:85.69, Y:9.16, Z:0.11 [[ 9.93740731e-01 -1.11176974e-01 1.09105426e-02 8.56924761e+01] [ 1.11169377e-01 9.93800621e-01 1.30218057e-03 9.16055504e+00] [-1.09876765e-02 -8.11116422e-05 9.99939630e-01 1.08115369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57140051299999 meters 0.01623541457701353 Centerline is valid? [True, True] Translation: X:85.72, Y:9.17, Z:0.11 [[ 9.94149650e-01 -1.07373117e-01 1.17254728e-02 8.57201778e+01] [ 1.07364077e-01 9.94218787e-01 1.39960553e-03 9.16881710e+00] [-1.18079654e-02 -1.32522779e-04 9.99930275e-01 1.08816422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60140051299999 meters 0.014050753040909565 Centerline is valid? [True, True] Translation: X:85.75, Y:9.18, Z:0.11 [[ 9.94523501e-01 -1.03846279e-01 1.17879628e-02 8.57526694e+01] [ 1.03919525e-01 9.94568916e-01 -5.77954594e-03 9.17543514e+00] [-1.11237570e-02 6.97289376e-03 9.99913817e-01 1.11725714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63140051299999 meters 0.02526069982725849 Centerline is valid? [True, True] Translation: X:85.78, Y:9.18, Z:0.11 [[ 9.94886168e-01 -1.00222341e-01 1.25297314e-02 8.57832516e+01] [ 1.00031589e-01 9.94870834e-01 1.50234750e-02 9.17559721e+00] [-1.39711522e-02 -1.36932785e-02 9.99808632e-01 1.06707893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66140051299999 meters 0.0267580261578582 Centerline is valid? [True, True] Translation: X:85.81, Y:9.20, Z:0.11 [[ 9.95078816e-01 -9.85522085e-02 1.02767335e-02 8.58141507e+01] [ 9.86557228e-02 9.95070322e-01 -1.01045782e-02 9.20353291e+00] [-9.23024401e-03 1.10687102e-02 9.99896138e-01 1.06622005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69140051299999 meters 0.024892930414039678 Centerline is valid? [True, True] Translation: X:85.85, Y:9.19, Z:0.11 [[ 9.95244280e-01 -9.70441090e-02 8.44176192e-03 8.58460148e+01] [ 9.70389713e-02 9.95280063e-01 1.01705408e-03 9.19496663e+00] [-8.50061644e-03 -1.93037362e-04 9.99963850e-01 1.05523367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72140051299999 meters 0.026792064118204884 Centerline is valid? [True, True] Translation: X:85.88, Y:9.20, Z:0.10 [[ 9.95263030e-01 -9.67719190e-02 9.31109405e-03 8.58753720e+01] [ 9.67656567e-02 9.95306560e-01 1.12179705e-03 9.19979680e+00] [-9.37595145e-03 -2.15488997e-04 9.99956022e-01 1.04368772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751400513 meters 0.02769489564583444 Centerline is valid? [True, True] Translation: X:85.90, Y:9.20, Z:0.10 [[ 9.95108628e-01 -9.82708398e-02 1.00826757e-02 8.59046731e+01] [ 9.82635733e-02 9.95159683e-01 1.21477749e-03 9.20248033e+00] [-1.01532496e-02 -2.18075812e-04 9.99948431e-01 1.04518087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781400513 meters 0.023682351310591907 Centerline is valid? [True, True] Translation: X:85.93, Y:9.20, Z:0.11 [[ 9.94888595e-01 -1.00460222e-01 1.02190172e-02 8.59349371e+01] [ 1.00452875e-01 9.94941056e-01 1.23096483e-03 9.19859602e+00] [-1.02909828e-02 -1.98143209e-04 9.99947027e-01 1.05383003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811400513 meters 0.021659653406038662 Centerline is valid? [True, True] Translation: X:85.96, Y:9.20, Z:0.11 [[ 9.94689131e-01 -1.02405236e-01 1.03295686e-02 8.59648454e+01] [ 1.02397832e-01 9.94742748e-01 1.24453346e-03 9.19876524e+00] [-1.04027102e-02 -1.80198472e-04 9.99945874e-01 1.06356889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841400513 meters 0.01654248026990919 Centerline is valid? [True, True] Translation: X:86.00, Y:9.20, Z:0.11 [[ 9.94542702e-01 -1.03799399e-01 1.05117984e-02 8.59969260e+01] [ 1.03807390e-01 9.94597396e-01 -2.15920936e-04 9.19759009e+00] [-1.04325949e-02 1.30594494e-03 9.99944726e-01 1.08645777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87140051299998 meters 0.019731497716990253 Centerline is valid? [True, True] Translation: X:86.03, Y:9.20, Z:0.11 [[ 9.94606123e-01 -1.02992663e-01 1.22951577e-02 8.60255700e+01] [ 1.02963962e-01 9.94680723e-01 2.94666738e-03 9.20327608e+00] [-1.25332415e-02 -1.66481528e-03 9.99920070e-01 1.09033388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90140051299998 meters 0.028737117953223958 Centerline is valid? [True, True] Translation: X:86.06, Y:9.21, Z:0.11 [[ 9.94730965e-01 -1.01266475e-01 1.59814957e-02 8.60553211e+01] [ 1.01248602e-01 9.94859293e-01 1.92559522e-03 9.21050360e+00] [-1.60943377e-02 -2.97345096e-04 9.99870434e-01 1.10604253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93140051299999 meters 0.02396589748677314 Centerline is valid? [True, True] Translation: X:86.09, Y:9.22, Z:0.11 [[ 9.94862369e-01 -9.99104104e-02 1.63332846e-02 8.60868839e+01] [ 9.98952915e-02 9.94996432e-01 1.74095151e-03 9.21697357e+00] [-1.64254991e-02 -1.00388919e-04 9.99865087e-01 1.12680101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96140051299999 meters 0.02929591493209391 Centerline is valid? [True, True] Translation: X:86.12, Y:9.22, Z:0.11 [[ 9.95013239e-01 -9.83884751e-02 1.63817876e-02 8.61167850e+01] [ 9.83657458e-02 9.95147922e-01 2.18945516e-03 9.22492483e+00] [-1.65177191e-02 -5.67130114e-04 9.99863412e-01 1.10757102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99140051299999 meters 0.026211661847410743 Centerline is valid? [True, True] Translation: X:86.15, Y:9.23, Z:0.11 [[ 9.95207198e-01 -9.67051631e-02 1.45170460e-02 8.61485437e+01] [ 9.66899486e-02 9.95313015e-01 1.74792462e-03 9.22932477e+00] [-1.46180382e-02 -3.35894736e-04 9.99893094e-01 1.08142241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02140051299999 meters 0.02461893782542441 Centerline is valid? [True, True] Translation: X:86.18, Y:9.23, Z:0.11 [[ 9.95206896e-01 -9.68171632e-02 1.37720806e-02 8.61798047e+01] [ 9.68516762e-02 9.95297088e-01 -1.85995153e-03 9.23219261e+00] [-1.35272365e-02 3.18488568e-03 9.99903431e-01 1.07112772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05140051299999 meters 0.025582795616112684 Centerline is valid? [True, True] Translation: X:86.21, Y:9.23, Z:0.11 [[ 9.95121566e-01 -9.75991531e-02 1.44039780e-02 8.62116516e+01] [ 9.75322655e-02 9.95218373e-01 5.27698491e-03 9.23093670e+00] [-1.48501328e-02 -3.84638889e-03 9.99882333e-01 1.07452904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08140051299999 meters 0.025787702492036463 Centerline is valid? [True, True] Translation: X:86.24, Y:9.24, Z:0.11 [[ 9.95006114e-01 -9.87628054e-02 1.44478799e-02 8.62411821e+01] [ 9.87264695e-02 9.95109435e-01 3.20869021e-03 9.23655388e+00] [-1.46941209e-02 -1.76627820e-03 9.99890476e-01 1.06751315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11140051299999 meters 0.027270631786254367 Centerline is valid? [True, True] Translation: X:86.27, Y:9.24, Z:0.10 [[ 9.94968820e-01 -9.91482902e-02 1.43757798e-02 8.62722306e+01] [ 9.91547534e-02 9.95071990e-01 2.64222951e-04 9.24089140e+00] [-1.43311331e-02 1.16253331e-03 9.99896628e-01 1.04145233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141400513 meters 0.02340141717783401 Centerline is valid? [True, True] Translation: X:86.30, Y:9.24, Z:0.10 [[ 9.94990614e-01 -9.91484419e-02 1.27775086e-02 8.63041197e+01] [ 9.91368852e-02 9.95072619e-01 1.53625806e-03 9.24143131e+00] [-1.28668665e-02 -2.61839950e-04 9.99917184e-01 1.02845301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171400513 meters 0.022423380429382106 Centerline is valid? [True, True] Translation: X:86.34, Y:9.24, Z:0.10 [[ 9.94884782e-01 -1.00262160e-01 1.23195094e-02 8.63359787e+01] [ 1.00222600e-01 9.94957824e-01 3.78924673e-03 9.23587747e+00] [-1.26373103e-02 -2.53517065e-03 9.99916932e-01 1.01264082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201400513 meters 0.022740342692456998 Centerline is valid? [True, True] Translation: X:86.37, Y:9.24, Z:0.10 [[ 9.94764324e-01 -1.01237365e-01 1.39619615e-02 8.63657613e+01] [ 1.01256234e-01 9.94860168e-01 -6.49399756e-04 9.23957700e+00] [-1.38244559e-02 2.05973535e-03 9.99902316e-01 1.03746157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23140051299998 meters 0.021574041865467932 Centerline is valid? [True, True] Translation: X:86.40, Y:9.24, Z:0.11 [[ 9.94520315e-01 -1.03442942e-01 1.51294837e-02 8.63962307e+01] [ 1.03427251e-01 9.94635360e-01 1.81803368e-03 9.23633150e+00] [-1.52363822e-02 -2.43270527e-04 9.99883890e-01 1.06104304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26140051299998 meters 0.017747292961794905 Centerline is valid? [True, True] Translation: X:86.43, Y:9.23, Z:0.11 [[ 9.94200040e-01 -1.06359658e-01 1.59343656e-02 8.64274333e+01] [ 1.06304955e-01 9.94324517e-01 4.24393997e-03 9.22948136e+00] [-1.62953144e-02 -2.52542326e-03 9.99864033e-01 1.05978147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29140051299999 meters 0.02198016669990513 Centerline is valid? [True, True] Translation: X:86.46, Y:9.23, Z:0.10 [[ 9.94074501e-01 -1.07655082e-01 1.50422326e-02 8.64568526e+01] [ 1.07674219e-01 9.94186122e-01 -4.65795155e-04 9.22843142e+00] [-1.49046337e-02 2.08269573e-03 9.99886751e-01 1.03143382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32140051299999 meters 0.015421217687569178 Centerline is valid? [True, True] Translation: X:86.49, Y:9.22, Z:0.10 [[ 9.94003002e-01 -1.08674979e-01 1.21564803e-02 8.64865138e+01] [ 1.08665228e-01 9.94077327e-01 1.46170792e-03 9.21668343e+00] [-1.22433325e-02 -1.31955360e-04 9.99925039e-01 1.00084269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35140051299999 meters 0.015044786677156507 Centerline is valid? [True, True] Translation: X:86.52, Y:9.22, Z:0.10 [[ 9.93977628e-01 -1.09026335e-01 1.10333111e-02 8.65151858e+01] [ 1.09018324e-01 9.94038855e-01 1.32666584e-03 9.21502212e+00] [-1.11121815e-02 -1.15843075e-04 9.99938251e-01 9.82523030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38140051299999 meters 0.015422538343746222 Centerline is valid? [True, True] Translation: X:86.54, Y:9.22, Z:0.10 [[ 9.93976565e-01 -1.09084517e-01 1.05430876e-02 8.65432866e+01] [ 1.09077178e-01 9.94032472e-01 1.27032103e-03 9.21650094e+00] [-1.06187438e-02 -1.12659083e-04 9.99943613e-01 9.67484486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41140051299999 meters 0.015557715125659736 Centerline is valid? [True, True] Translation: X:86.57, Y:9.22, Z:0.10 [[ 9.94028537e-01 -1.08593002e-01 1.07157881e-02 8.65724982e+01] [ 1.08585391e-01 9.94086287e-01 1.29127924e-03 9.21814076e+00] [-1.07926419e-02 -1.19990369e-04 9.99941751e-01 9.67319373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44140051299999 meters 0.015362357543114945 Centerline is valid? [True, True] Translation: X:86.60, Y:9.22, Z:0.10 [[ 9.94167366e-01 -1.07287775e-01 1.09809616e-02 8.66002483e+01] [ 1.07300044e-01 9.94226542e-01 -5.32682203e-04 9.21910230e+00] [-1.08604132e-02 1.70783293e-03 9.99939566e-01 9.77452043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47140051299999 meters 0.02045708420568045 Centerline is valid? [True, True] Translation: X:86.63, Y:9.22, Z:0.10 [[ 9.94487825e-01 -1.04163271e-01 1.19991340e-02 8.66294911e+01] [ 1.04130661e-01 9.94558108e-01 3.31290360e-03 9.21756446e+00] [-1.22789189e-02 -2.04516454e-03 9.99922520e-01 9.84007874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501400513 meters 0.020344650425026617 Centerline is valid? [True, True] Translation: X:86.66, Y:9.22, Z:0.10 [[ 9.94554909e-01 -1.03636330e-01 1.09564312e-02 8.66572376e+01] [ 1.03643786e-01 9.94614474e-01 -1.13353352e-04 9.22079874e+00] [-1.08856775e-02 1.24830214e-03 9.99939970e-01 9.76991393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531400513 meters 0.01914746131649431 Centerline is valid? [True, True] Translation: X:86.69, Y:9.22, Z:0.10 [[ 9.94493894e-01 -1.04110862e-01 1.19508577e-02 8.66870698e+01] [ 1.04083527e-01 9.94564365e-01 2.88856022e-03 9.21860377e+00] [-1.21866277e-02 -1.62876808e-03 9.99924414e-01 9.72371885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561400513 meters 0.019561216964042207 Centerline is valid? [True, True] Translation: X:86.71, Y:9.22, Z:0.10 [[ 9.94354351e-01 -1.05323919e-01 1.28956234e-02 8.67143592e+01] [ 1.05312519e-01 9.94437949e-01 1.56180731e-03 9.22191384e+00] [-1.29883929e-02 -1.94919311e-04 9.99915628e-01 9.73490585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.591400513 meters 0.017063884924385025 Centerline is valid? [True, True] Translation: X:86.74, Y:9.22, Z:0.10 [[ 9.94177115e-01 -1.06874337e-01 1.37746191e-02 8.67440177e+01] [ 1.06861468e-01 9.94272519e-01 1.66900937e-03 9.21982517e+00] [-1.38740995e-02 -1.87314901e-04 9.99903733e-01 9.85803913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62140051299998 meters 0.019599163502963025 Centerline is valid? [True, True] Translation: X:86.77, Y:9.22, Z:0.10 [[ 9.93943393e-01 -1.08846595e-01 1.51310712e-02 8.67724479e+01] [ 1.08831251e-01 9.94058543e-01 1.83629381e-03 9.21955476e+00] [-1.52410449e-02 -1.78438702e-04 9.99883833e-01 9.91021116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65140051299998 meters 0.013872076192389225 Centerline is valid? [True, True] Translation: X:86.80, Y:9.22, Z:0.10 [[ 9.93585200e-01 -1.11867851e-01 1.65540073e-02 8.68009771e+01] [ 1.11849885e-01 9.93723081e-01 2.01013545e-03 9.21792831e+00] [-1.66749687e-02 -1.45677018e-04 9.99860952e-01 1.02223486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68140051299999 meters 0.012911136211337588 Centerline is valid? [True, True] Translation: X:86.83, Y:9.22, Z:0.10 [[ 9.93443346e-01 -1.13175633e-01 1.61738997e-02 8.68295693e+01] [ 1.13158630e-01 9.93574990e-01 1.96552738e-03 9.21882598e+00] [-1.62924320e-02 -1.22423767e-04 9.99867262e-01 1.00831391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71140051299999 meters 0.012358691002730748 Centerline is valid? [True, True] Translation: X:86.86, Y:9.22, Z:0.10 [[ 9.93370411e-01 -1.13950389e-01 1.51834051e-02 8.68570743e+01] [ 1.13935459e-01 9.93486436e-01 1.84754057e-03 9.22043191e+00] [-1.52950350e-02 -1.05363903e-04 9.99883019e-01 9.91687905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74140051299999 meters 0.012397168855381242 Centerline is valid? [True, True] Translation: X:86.88, Y:9.23, Z:0.10 [[ 9.93377172e-01 -1.14150767e-01 1.30918440e-02 8.68841934e+01] [ 1.14139657e-01 9.93463434e-01 1.59518159e-03 9.22582147e+00] [-1.31883595e-02 -9.03183984e-05 9.99913026e-01 9.59664162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77140051299999 meters 0.012689883171908578 Centerline is valid? [True, True] Translation: X:86.91, Y:9.23, Z:0.09 [[ 9.93416466e-01 -1.13923319e-01 1.20499923e-02 8.69121221e+01] [ 1.13913863e-01 9.93489542e-01 1.47043563e-03 9.23170021e+00] [-1.21390582e-02 -8.80938052e-05 9.99926315e-01 9.36551615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80140051299999 meters 0.012662319901119115 Centerline is valid? [True, True] Translation: X:86.94, Y:9.24, Z:0.09 [[ 9.93468797e-01 -1.13563800e-01 1.10911280e-02 8.69401274e+01] [ 1.13555748e-01 9.93530702e-01 1.35507434e-03 9.23627427e+00] [-1.11732635e-02 -8.67627474e-05 9.99937573e-01 9.16430087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83140051299999 meters 0.022255145574632196 Centerline is valid? [True, True] Translation: X:86.97, Y:9.24, Z:0.09 [[ 9.93386669e-01 -1.14327655e-01 1.05883249e-02 8.69668828e+01] [ 1.14320337e-01 9.93443094e-01 1.29581673e-03 9.24012233e+00] [-1.06670459e-02 -7.67861971e-05 9.99943102e-01 8.89794301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86140051299999 meters 0.011356590367534428 Centerline is valid? [True, True] Translation: X:86.99, Y:9.24, Z:0.09 [[ 9.93205623e-01 -1.15841506e-01 1.11056426e-02 8.69949116e+01] [ 1.15833194e-01 9.93267706e-01 1.39098448e-03 9.24079682e+00] [-1.11920099e-02 -9.51315539e-05 9.99937363e-01 9.08949594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891400513 meters 0.010163741305007355 Centerline is valid? [True, True] Translation: X:87.02, Y:9.24, Z:0.09 [[ 9.92775860e-01 -1.19298247e-01 1.28070321e-02 8.70228583e+01] [ 1.19288042e-01 9.92858463e-01 1.56055521e-03 9.24141419e+00] [-1.29017417e-02 -2.15557582e-05 9.99916769e-01 9.21916431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921400513 meters 0.011809193808842133 Centerline is valid? [True, True] Translation: X:87.05, Y:9.23, Z:0.09 [[ 9.91747425e-01 -1.27487718e-01 1.35619311e-02 8.70511630e+01] [ 1.27419363e-01 9.91832011e-01 5.79376328e-03 9.22917850e+00] [-1.41897911e-02 -4.01789719e-03 9.99891247e-01 9.42678032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951400513 meters 0.015410853895406067 Centerline is valid? [True, True] Translation: X:87.08, Y:9.23, Z:0.09 [[ 9.91040307e-01 -1.32903885e-01 1.32539541e-02 8.70811248e+01] [ 1.32950374e-01 9.91119055e-01 -2.68649426e-03 9.23284721e+00] [-1.27792010e-02 4.42454226e-03 9.99908554e-01 9.24212224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98140051299998 meters 0.019931396917759914 Centerline is valid? [True, True] Translation: X:87.11, Y:9.22, Z:0.09 [[ 9.90409419e-01 -1.37675588e-01 1.16023462e-02 8.71105361e+01] [ 1.37668308e-01 9.90477359e-01 1.42759809e-03 9.22436464e+00] [-1.16884066e-02 1.83368769e-04 9.99931671e-01 8.99474375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01140051299998 meters 0.02577229603511833 Centerline is valid? [True, True] Translation: X:87.14, Y:9.22, Z:0.09 [[ 9.89547724e-01 -1.43635486e-01 1.28120671e-02 8.71406643e+01] [ 1.43627098e-01 9.89630623e-01 1.57719452e-03 9.21702540e+00] [-1.29057551e-02 2.79450776e-04 9.99916678e-01 9.09009754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04140051299999 meters 0.025388578504877635 Centerline is valid? [True, True] Translation: X:87.17, Y:9.22, Z:0.09 [[ 9.89475503e-01 -1.43955064e-01 1.46685960e-02 8.71689736e+01] [ 1.43885619e-01 9.89577967e-01 5.69002331e-03 9.21684411e+00] [-1.53348271e-02 -3.51953866e-03 9.99876220e-01 9.33671174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07140051299999 meters 0.02367915611429445 Centerline is valid? [True, True] Translation: X:87.20, Y:9.22, Z:0.09 [[ 9.89571354e-01 -1.43015354e-01 1.71797428e-02 8.71959716e+01] [ 1.42940934e-01 9.89715990e-01 5.49075574e-03 9.22342713e+00] [-1.77883286e-02 -2.97780612e-03 9.99837341e-01 9.47635675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10140051299999 meters 0.020774744826301556 Centerline is valid? [True, True] Translation: X:87.22, Y:9.24, Z:0.09 [[ 9.89789201e-01 -1.41575673e-01 1.65428369e-02 8.72239450e+01] [ 1.41665126e-01 9.89905034e-01 -4.36080791e-03 9.24121643e+00] [-1.57584532e-02 6.65982364e-03 9.99853648e-01 9.39398856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13140051299999 meters 0.02001204385859977 Centerline is valid? [True, True] Translation: X:87.25, Y:9.24, Z:0.09 [[ 9.90154367e-01 -1.39096400e-01 1.57009635e-02 8.72521664e+01] [ 1.39083126e-01 9.90278810e-01 1.93953929e-03 9.24179232e+00] [-1.58181144e-02 2.63295800e-04 9.99874851e-01 9.38327469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16140051299999 meters 0.016090994157649564 Centerline is valid? [True, True] Translation: X:87.28, Y:9.25, Z:0.09 [[ 9.90477264e-01 -1.36920997e-01 1.44024648e-02 8.72791394e+01] [ 1.36862469e-01 9.90577549e-01 4.97845435e-03 9.25032729e+00] [-1.49484132e-02 -2.95988896e-03 9.99883885e-01 9.12910120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19140051299999 meters 0.0206171667400214 Centerline is valid? [True, True] Translation: X:87.31, Y:9.25, Z:0.09 [[ 9.90173006e-01 -1.39074622e-01 1.46856551e-02 8.73073720e+01] [ 1.39108915e-01 9.90276187e-01 -1.33510115e-03 9.25375017e+00] [-1.43571758e-02 3.36488667e-03 9.99891269e-01 8.98726696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22140051299999 meters 0.021789449797309676 Centerline is valid? [True, True] Translation: X:87.34, Y:9.25, Z:0.09 [[ 9.89721767e-01 -1.42275750e-01 1.44372949e-02 8.73364197e+01] [ 1.42264800e-01 9.89827020e-01 1.78791618e-03 9.25330580e+00] [-1.45448017e-02 2.84379318e-04 9.99894178e-01 9.04980552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251400513 meters 0.02794993454086546 Centerline is valid? [True, True] Translation: X:87.36, Y:9.24, Z:0.09 [[ 9.89244847e-01 -1.45426497e-01 1.56769604e-02 8.73638645e+01] [ 1.45276374e-01 9.89337189e-01 1.03296356e-02 9.24121902e+00] [-1.70120026e-02 -7.94104680e-03 9.99823750e-01 9.05361499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281400513 meters 0.03977965016763103 Centerline is valid? [True, True] Translation: X:87.40, Y:9.25, Z:0.09 [[ 9.88365366e-01 -1.51365280e-01 1.49149122e-02 8.73952703e+01] [ 1.51480608e-01 9.88435964e-01 -6.92600372e-03 9.25388269e+00] [-1.36940791e-02 9.10474217e-03 9.99864779e-01 8.79299197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311400513 meters 0.04124315283132362 Centerline is valid? [True, True] Translation: X:87.43, Y:9.24, Z:0.09 [[ 9.87023315e-01 -1.60021688e-01 1.33429811e-02 8.74277108e+01] [ 1.60013875e-01 9.87113373e-01 1.65802082e-03 9.23954280e+00] [-1.34363544e-02 4.98556902e-04 9.99909604e-01 8.77089701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341400513 meters 0.04926628543920572 Centerline is valid? [True, True] Translation: X:87.46, Y:9.24, Z:0.09 [[ 9.86337047e-01 -1.64235658e-01 1.28793992e-02 8.74579238e+01] [ 1.64228738e-01 9.86420985e-01 1.60037798e-03 9.24059921e+00] [-1.29673488e-02 5.36655388e-04 9.99915776e-01 8.54933504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37140051299998 meters 0.04926628543920572 Centerline is valid? [True, True] Translation: X:87.49, Y:9.24, Z:0.09 [[ 9.86305725e-01 -1.64423648e-01 1.28794444e-02 8.74852207e+01] [ 1.64416748e-01 9.86389666e-01 1.60001456e-03 9.24415935e+00] [-1.29672311e-02 5.39492847e-04 9.99915776e-01 8.50660241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40140051299998 meters 0.051957412158659295 Centerline is valid? [True, True] Translation: X:87.52, Y:9.25, Z:0.08 [[ 9.85819566e-01 -1.67378357e-01 1.20112290e-02 8.75153269e+01] [ 1.67372542e-01 9.85892589e-01 1.49489570e-03 9.24501169e+00] [-1.20919948e-02 5.36652494e-04 9.99926745e-01 8.43868626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43140051299999 meters 0.049579845774145134 Centerline is valid? [True, True] Translation: X:87.54, Y:9.25, Z:0.09 [[ 9.85560111e-01 -1.68903263e-01 1.19564302e-02 8.75441990e+01] [ 1.68897612e-01 9.85632478e-01 1.48813700e-03 9.24533559e+00] [-1.20359971e-02 5.52764038e-04 9.99927412e-01 8.50684112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46140051299999 meters 0.049284053575076925 Centerline is valid? [True, True] Translation: X:87.57, Y:9.25, Z:0.09 [[ 9.85432084e-01 -1.69637800e-01 1.21089091e-02 8.75730728e+01] [ 1.69632059e-01 9.85506313e-01 1.50712494e-03 9.24978907e+00] [-1.21890717e-02 5.68889901e-04 9.99925549e-01 8.55555820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49140051299999 meters 0.049963563752745785 Centerline is valid? [True, True] Translation: X:87.60, Y:9.25, Z:0.09 [[ 9.85481472e-01 -1.69325549e-01 1.24550177e-02 8.76002515e+01] [ 1.69319419e-01 9.85560005e-01 1.55268771e-03 9.25382309e+00] [-1.25380770e-02 5.78731380e-04 9.99921228e-01 8.58810551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52140051299999 meters 0.047238193633078525 Centerline is valid? [True, True] Translation: X:87.63, Y:9.26, Z:0.09 [[ 9.85881345e-01 -1.66936485e-01 1.30454112e-02 8.76281575e+01] [ 1.66901149e-01 9.85966466e-01 3.75968355e-03 9.26291870e+00] [-1.34899663e-02 -1.52930776e-03 9.99907837e-01 8.56052792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55140051299999 meters 0.052091308419410544 Centerline is valid? [True, True] Translation: X:87.66, Y:9.27, Z:0.08 [[ 9.85963293e-01 -1.66478241e-01 1.27035532e-02 8.76552007e+01] [ 1.66498221e-01 9.86041616e-01 -5.24320037e-04 9.27329674e+00] [-1.24389443e-02 2.63207932e-03 9.99919169e-01 8.28078983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58140051299999 meters 0.043567540481238405 Centerline is valid? [True, True] Translation: X:87.68, Y:9.28, Z:0.08 [[ 9.86149988e-01 -1.65391314e-01 1.24062379e-02 8.76837377e+01] [ 1.65384882e-01 9.86227884e-01 1.54970787e-03 9.28087476e+00] [-1.24916859e-02 5.23559795e-04 9.99921839e-01 8.23648878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61140051299999 meters 0.05063645580225384 Centerline is valid? [True, True] Translation: X:87.71, Y:9.28, Z:0.08 [[ 9.86130172e-01 -1.65552856e-01 1.18125069e-02 8.77120473e+01] [ 1.65547013e-01 9.86200793e-01 1.47753380e-03 9.27898171e+00] [-1.18941136e-02 4.98484578e-04 9.99929138e-01 8.05671929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641400513 meters 0.04302856612438894 Centerline is valid? [True, True] Translation: X:87.74, Y:9.30, Z:0.08 [[ 9.86040866e-01 -1.66165545e-01 1.06029762e-02 8.77385540e+01] [ 1.66160862e-01 9.86097767e-01 1.32721055e-03 9.29540370e+00] [-1.06761078e-02 4.53115826e-04 9.99942906e-01 8.06933973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671400513 meters 0.04602810536719672 Centerline is valid? [True, True] Translation: X:87.77, Y:9.30, Z:0.08 [[ 9.85918296e-01 -1.66926510e-01 1.00326660e-02 8.77668044e+01] [ 1.66922351e-01 9.85969244e-01 1.25639274e-03 9.29692026e+00] [-1.01016254e-02 4.35975618e-04 9.99948882e-01 7.87725370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701400513 meters 0.05181534330165163 Centerline is valid? [True, True] Translation: X:87.80, Y:9.30, Z:0.08 [[ 9.85680271e-01 -1.68322982e-01 1.00884422e-02 8.77957484e+01] [ 1.68318842e-01 9.85731794e-01 1.26414077e-03 9.29985907e+00] [-1.01572822e-02 4.52036292e-04 9.99948311e-01 7.72592076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73140051299998 meters 0.05084656016133331 Centerline is valid? [True, True] Translation: X:87.82, Y:9.30, Z:0.08 [[ 9.85471150e-01 -1.69460047e-01 1.13976205e-02 8.78240884e+01] [ 1.69454839e-01 9.85536919e-01 1.42813837e-03 9.30320556e+00] [-1.14747882e-02 5.23992791e-04 9.99934025e-01 7.79834504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76140051299998 meters 0.045131653247200997 Centerline is valid? [True, True] Translation: X:87.85, Y:9.31, Z:0.08 [[ 9.85295257e-01 -1.70381997e-01 1.27762098e-02 8.78518285e+01] [ 1.70375499e-01 9.85377907e-01 1.60332181e-03 9.31110890e+00] [-1.28625721e-02 5.97007746e-04 9.99917095e-01 8.01195125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79140051299999 meters 0.056102069257552296 Centerline is valid? [True, True] Translation: X:87.88, Y:9.31, Z:0.08 [[ 9.84933067e-01 -1.72438884e-01 1.31028793e-02 8.78804393e+01] [ 1.72432197e-01 9.85020013e-01 1.64693276e-03 9.31005544e+00] [-1.31905935e-02 6.37239724e-04 9.99912797e-01 7.89729839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82140051299999 meters 0.05543955643089133 Centerline is valid? [True, True] Translation: X:87.91, Y:9.32, Z:0.08 [[ 9.84796011e-01 -1.73214991e-01 1.31675174e-02 8.79083566e+01] [ 1.73208299e-01 9.84883823e-01 1.65557660e-03 9.31771865e+00] [-1.32552456e-02 6.50318071e-04 9.99911934e-01 7.93719349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85140051299999 meters 0.047786251586949366 Centerline is valid? [True, True] Translation: X:87.94, Y:9.32, Z:0.08 [[ 9.84753333e-01 -1.73340421e-01 1.46277970e-02 8.79360474e+01] [ 1.73332136e-01 9.84861705e-01 1.84197676e-03 9.32272622e+00] [-1.47256461e-02 7.21574550e-04 9.99891311e-01 8.12186275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88140051299999 meters 0.05731901885060415 Centerline is valid? [True, True] Translation: X:87.97, Y:9.32, Z:0.08 [[ 9.84461583e-01 -1.74941410e-01 1.51952028e-02 8.79655434e+01] [ 1.74932612e-01 9.84578543e-01 1.91657903e-03 9.32039985e+00] [-1.52961597e-02 7.71338102e-04 9.99882709e-01 8.03269873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91140051299999 meters 0.057289967860321825 Centerline is valid? [True, True] Translation: X:87.99, Y:9.33, Z:0.08 [[ 9.84354983e-01 -1.75606270e-01 1.44120159e-02 8.79937139e+01] [ 1.75598421e-01 9.84460202e-01 1.81816509e-03 9.32643031e+00] [-1.45073373e-02 7.41007376e-04 9.99894488e-01 7.91640788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94140051299999 meters 0.04937848079560994 Centerline is valid? [True, True] Translation: X:88.02, Y:9.34, Z:0.08 [[ 9.84301166e-01 -1.76015349e-01 1.30311929e-02 8.80216032e+01] [ 1.76008942e-01 9.84387192e-01 1.64589616e-03 9.33619935e+00] [-1.31174424e-02 6.73548964e-04 9.99913736e-01 7.80282795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97140051299999 meters 0.056058902001300384 Centerline is valid? [True, True] Translation: X:88.05, Y:9.33, Z:0.08 [[ 9.84286914e-01 -1.76185248e-01 1.17485908e-02 8.80504960e+01] [ 1.76180027e-01 9.84356841e-01 1.48609898e-03 9.33285216e+00] [-1.18266345e-02 6.07119266e-04 9.99929879e-01 7.54632540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001400513 meters 0.052861090653901065 Centerline is valid? [True, True] Translation: X:88.08, Y:9.34, Z:0.08 [[ 9.84258018e-01 -1.76364717e-01 1.14734294e-02 8.80779909e+01] [ 1.76359748e-01 9.84324709e-01 1.45146688e-03 9.34003764e+00] [-1.15495676e-02 5.94833193e-04 9.99933125e-01 7.51274319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031400513 meters 0.06007343493049871 Centerline is valid? [True, True] Translation: X:88.11, Y:9.34, Z:0.07 [[ 9.84037917e-01 -1.77598827e-01 1.13152684e-02 8.81072465e+01] [ 1.77594042e-01 9.84102789e-01 1.43428354e-03 9.34288957e+00] [-1.13901143e-02 5.98134874e-04 9.99934952e-01 7.38592805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061400513 meters 0.06118402327232638 Centerline is valid? [True, True] Translation: X:88.14, Y:9.35, Z:0.07 [[ 9.83654861e-01 -1.79716966e-01 1.11770940e-02 8.81371946e+01] [ 1.79712430e-01 9.83718168e-01 1.41708276e-03 9.34582102e+00] [-1.12497843e-02 6.14742389e-04 9.99936530e-01 7.27026223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.091400513 meters 0.05907910469060042 Centerline is valid? [True, True] Translation: X:88.17, Y:9.35, Z:0.07 [[ 9.83474874e-01 -1.80707702e-01 1.10407361e-02 8.81653128e+01] [ 1.80703341e-01 9.83536651e-01 1.39958354e-03 9.34808847e+00] [-1.11118842e-02 6.18642657e-04 9.99938070e-01 7.18175603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12140051299998 meters 0.06050104939810794 Centerline is valid? [True, True] Translation: X:88.19, Y:9.36, Z:0.07 [[ 9.83281282e-01 -1.81749289e-01 1.11855096e-02 8.81934530e+01] [ 1.81744872e-01 9.83344695e-01 1.41862223e-03 9.35596382e+00] [-1.12570451e-02 6.38004317e-04 9.99936434e-01 7.07390264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15140051299998 meters 0.05403485184994511 Centerline is valid? [True, True] Translation: X:88.22, Y:9.36, Z:0.07 [[ 9.83185176e-01 -1.82245402e-01 1.15551820e-02 8.82220791e+01] [ 1.82240699e-01 9.83252854e-01 1.46756289e-03 9.36242460e+00] [-1.16291222e-02 6.62938361e-04 9.99932160e-01 7.15548132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18140051299999 meters 0.06212422262184959 Centerline is valid? [True, True] Translation: X:88.25, Y:9.36, Z:0.07 [[ 9.83064016e-01 -1.82809270e-01 1.28806520e-02 8.82509796e+01] [ 1.82803438e-01 9.83148116e-01 1.63865613e-03 9.35950623e+00] [-1.29631503e-02 7.43723604e-04 9.99915698e-01 7.29312200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21140051299999 meters 0.06284027301057024 Centerline is valid? [True, True] Translation: X:88.28, Y:9.36, Z:0.07 [[ 9.82998096e-01 -1.83126756e-01 1.33916026e-02 8.82789423e+01] [ 1.83120467e-01 9.83089003e-01 1.70479722e-03 9.36482390e+00] [-1.34773313e-02 7.76464101e-04 9.99908875e-01 7.35409129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24140051299999 meters 0.0608163931192587 Centerline is valid? [True, True] Translation: X:88.31, Y:9.37, Z:0.07 [[ 9.82972606e-01 -1.83264501e-01 1.33782966e-02 8.83063096e+01] [ 1.83258208e-01 9.83063335e-01 1.70527414e-03 9.36894514e+00] [-1.34642291e-02 7.75444893e-04 9.99909052e-01 7.34573210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27140051299999 meters 0.064480368978176 Centerline is valid? [True, True] Translation: X:88.33, Y:9.37, Z:0.07 [[ 9.82887185e-01 -1.83780892e-01 1.25445103e-02 8.83345084e+01] [ 1.83775372e-01 9.82966962e-01 1.60124835e-03 9.37369467e+00] [-1.26251181e-02 7.31525568e-04 9.99920032e-01 7.11901360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30140051299999 meters 0.06672407526100252 Centerline is valid? [True, True] Translation: X:88.36, Y:9.37, Z:0.07 [[ 9.82647791e-01 -1.85105030e-01 1.18087110e-02 8.83637867e+01] [ 1.85100207e-01 9.82718492e-01 1.50960490e-03 9.37194324e+00] [-1.18840741e-02 7.02384929e-04 9.99929135e-01 6.91281803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33140051299999 meters 0.057880373823137675 Centerline is valid? [True, True] Translation: X:88.39, Y:9.38, Z:0.07 [[ 9.82573000e-01 -1.85469844e-01 1.22978319e-02 8.83913141e+01] [ 1.85464641e-01 9.82649681e-01 1.57217316e-03 9.38391461e+00] [-1.23760513e-02 7.36038071e-04 9.99923143e-01 7.04861397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36140051299999 meters 0.06519585490913513 Centerline is valid? [True, True] Translation: X:88.42, Y:9.38, Z:0.07 [[ 9.82399042e-01 -1.86375478e-01 1.25021421e-02 8.84191888e+01] [ 1.86370142e-01 9.82478299e-01 1.60077697e-03 9.38478243e+00] [-1.25814289e-02 7.57424236e-04 9.99920564e-01 7.04392515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391400513 meters 0.06554050878704065 Centerline is valid? [True, True] Translation: X:88.45, Y:9.39, Z:0.07 [[ 9.82353995e-01 -1.86598255e-01 1.27169093e-02 8.84469598e+01] [ 1.86592747e-01 9.82436000e-01 1.62871203e-03 9.39102648e+00] [-1.27974643e-02 7.72911275e-04 9.99917810e-01 7.05093311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421400513 meters 0.05980116616857579 Centerline is valid? [True, True] Translation: X:88.47, Y:9.40, Z:0.07 [[ 9.82299842e-01 -1.86897354e-01 1.25059643e-02 8.84747213e+01] [ 1.86892022e-01 9.82379152e-01 1.60406435e-03 9.40333531e+00] [-1.25853940e-02 7.61592793e-04 9.99920511e-01 6.99957715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451400513 meters 0.06091870526725468 Centerline is valid? [True, True] Translation: X:88.50, Y:9.41, Z:0.07 [[ 9.81955496e-01 -1.88649117e-01 1.32255427e-02 8.85032053e+01] [ 1.88643276e-01 9.82044209e-01 1.69909797e-03 9.40574976e+00] [-1.33086010e-02 8.26471116e-04 9.99911095e-01 7.06130006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48140051299998 meters 0.06531841428501571 Centerline is valid? [True, True] Translation: X:88.53, Y:9.40, Z:0.07 [[ 9.81715833e-01 -1.89814881e-01 1.42945558e-02 8.85324935e+01] [ 1.89808172e-01 9.81819476e-01 1.83699110e-03 9.40380123e+00] [-1.43833615e-02 9.09820258e-04 9.99896140e-01 7.18355241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51140051299998 meters 0.06976346891445619 Centerline is valid? [True, True] Translation: X:88.56, Y:9.41, Z:0.07 [[ 9.81218553e-01 -1.92359392e-01 1.44227340e-02 8.85626276e+01] [ 1.92352824e-01 9.81324081e-01 1.85425329e-03 9.40783308e+00] [-1.45100592e-02 9.54825888e-04 9.99894268e-01 7.07986556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54140051299999 meters 0.07842453538199014 Centerline is valid? [True, True] Translation: X:88.59, Y:9.40, Z:0.07 [[ 9.80182393e-01 -1.97656356e-01 1.32076475e-02 8.85936389e+01] [ 1.97651326e-01 9.80270917e-01 1.69811465e-03 9.39899368e+00] [-1.32827159e-02 9.46046958e-04 9.99911333e-01 6.76246175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57140051299999 meters 0.07547494212346689 Centerline is valid? [True, True] Translation: X:88.62, Y:9.41, Z:0.07 [[ 9.79571125e-01 -2.00743839e-01 1.19299282e-02 8.86232021e+01] [ 2.00739959e-01 9.79643361e-01 1.53405822e-03 9.40630994e+00] [-1.19950277e-02 8.92094157e-04 9.99927659e-01 6.52902324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60140051299999 meters 0.07946273137719953 Centerline is valid? [True, True] Translation: X:88.65, Y:9.40, Z:0.06 [[ 9.78999537e-01 -2.03567069e-01 1.09706012e-02 8.86530711e+01] [ 2.03563965e-01 9.79060633e-01 1.41066053e-03 9.40329710e+00] [-1.10280478e-02 8.52183081e-04 9.99938826e-01 6.33152991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63140051299999 meters 0.08245597139186833 Centerline is valid? [True, True] Translation: X:88.68, Y:9.40, Z:0.06 [[ 9.78464400e-01 -2.06121695e-01 1.10120391e-02 8.86826409e+01] [ 2.06118727e-01 9.78525965e-01 1.41614009e-03 9.40067037e+00] [-1.10674634e-02 8.84144815e-04 9.99938363e-01 6.27341693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66140051299999 meters 0.08253016027717706 Centerline is valid? [True, True] Translation: X:88.71, Y:9.40, Z:0.06 [[ 9.78049649e-01 -2.08035087e-01 1.18442877e-02 8.87129850e+01] [ 2.08031790e-01 9.78120879e-01 1.52340120e-03 9.40397240e+00] [-1.19020660e-02 9.74026355e-04 9.99928694e-01 6.39568020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69140051299999 meters 0.08208955269780074 Centerline is valid? [True, True] Translation: X:88.74, Y:9.40, Z:0.07 [[ 9.77863013e-01 -2.08815875e-01 1.34111337e-02 8.87416795e+01] [ 2.08811718e-01 9.77954340e-01 1.72505920e-03 9.40460381e+00] [-1.34756962e-02 1.11353030e-03 9.99908579e-01 6.59072386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72140051299999 meters 0.08018499513484102 Centerline is valid? [True, True] Translation: X:88.77, Y:9.41, Z:0.07 [[ 9.77540506e-01 -2.10193078e-01 1.52783873e-02 8.87720281e+01] [ 2.10187842e-01 9.77659044e-01 1.96585631e-03 9.40780914e+00] [-1.53502629e-02 1.28962708e-03 9.99881346e-01 6.89210596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751400513 meters 0.08332787305317507 Centerline is valid? [True, True] Translation: X:88.80, Y:9.41, Z:0.07 [[ 9.77548532e-01 -2.10109205e-01 1.59056636e-02 8.88001771e+01] [ 2.10103518e-01 9.77677004e-01 2.04659757e-03 9.40582670e+00] [-1.59806105e-02 1.34118743e-03 9.99871402e-01 6.91579044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781400513 meters 0.0757988983559677 Centerline is valid? [True, True] Translation: X:88.83, Y:9.42, Z:0.07 [[ 9.77586397e-01 -2.09914471e-01 1.61477779e-02 8.88282668e+01] [ 2.09908566e-01 9.77718811e-01 2.07879472e-03 9.41674947e+00] [-1.62243553e-02 1.35735546e-03 9.99867455e-01 6.88209000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811400513 meters 0.08124839866143825 Centerline is valid? [True, True] Translation: X:88.86, Y:9.41, Z:0.07 [[ 9.77582147e-01 -2.09931048e-01 1.61895343e-02 8.88575865e+01] [ 2.09925073e-01 9.77715250e-01 2.08674360e-03 9.41109803e+00] [-1.62668268e-02 1.35862587e-03 9.99866763e-01 6.84784428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841400513 meters 0.08377700810232945 Centerline is valid? [True, True] Translation: X:88.89, Y:9.41, Z:0.07 [[ 9.77452079e-01 -2.10536093e-01 1.61860149e-02 8.88859340e+01] [ 2.10530159e-01 9.77585131e-01 2.08894645e-03 9.40569560e+00] [-1.62630061e-02 1.36579925e-03 9.99866816e-01 6.80193182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87140051299998 meters 0.08853424223529766 Centerline is valid? [True, True] Translation: X:88.91, Y:9.40, Z:0.07 [[ 9.77372428e-01 -2.10910663e-01 1.61192437e-02 8.89146308e+01] [ 2.10904811e-01 9.77504388e-01 2.08144491e-03 9.40101814e+00] [-1.61956304e-02 1.36527917e-03 9.99867910e-01 6.73785324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90140051299998 meters 0.09128843173365292 Centerline is valid? [True, True] Translation: X:88.94, Y:9.40, Z:0.07 [[ 9.77422580e-01 -2.10722885e-01 1.55230618e-02 8.89426591e+01] [ 2.10717421e-01 9.77544959e-01 2.00532804e-03 9.39881830e+00] [-1.55970593e-02 1.31092663e-03 9.99877499e-01 6.61589888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93140051299999 meters 0.08580550852289269 Centerline is valid? [True, True] Translation: X:88.97, Y:9.41, Z:0.06 [[ 9.77637807e-01 -2.09785577e-01 1.46400059e-02 8.89713443e+01] [ 2.09780601e-01 9.77746654e-01 1.89205706e-03 9.40651713e+00] [-1.47111430e-02 1.22144271e-03 9.99891039e-01 6.43083998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96140051299999 meters 0.08308850865048283 Centerline is valid? [True, True] Translation: X:89.00, Y:9.41, Z:0.06 [[ 9.78108941e-01 -2.07676599e-01 1.31654733e-02 8.90015771e+01] [ 2.07672381e-01 9.78196957e-01 1.70177832e-03 9.41119110e+00] [-1.32318454e-02 1.06958059e-03 9.99911883e-01 6.13003655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99140051299999 meters 0.07278877685607903 Centerline is valid? [True, True] Translation: X:89.03, Y:9.43, Z:0.06 [[ 9.78701133e-01 -2.04959225e-01 1.16537178e-02 8.90304307e+01] [ 2.04955726e-01 9.78770086e-01 1.50655415e-03 9.42620111e+00] [-1.17150926e-02 9.14029943e-04 9.99930958e-01 5.92708559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02140051299999 meters 0.07256787434883552 Centerline is valid? [True, True] Translation: X:89.06, Y:9.43, Z:0.06 [[ 9.80203494e-01 -1.97700323e-01 1.07560793e-02 8.90592899e+01] [ 1.97696908e-01 9.80262209e-01 1.39047431e-03 9.42919002e+00] [-1.08186753e-02 7.63495837e-04 9.99941185e-01 5.74598629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05140051299999 meters 0.070486152968886 Centerline is valid? [True, True] Translation: X:89.09, Y:9.44, Z:0.06 [[ 9.80931770e-01 -1.94083215e-01 1.02258885e-02 8.90882637e+01] [ 1.94079930e-01 9.80984828e-01 1.32211844e-03 9.44005729e+00] [-1.02880424e-02 6.87731748e-04 9.99946840e-01 5.61916939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08140051299999 meters 0.06326904579695757 Centerline is valid? [True, True] Translation: X:89.12, Y:9.45, Z:0.06 [[ 9.81799670e-01 -1.89620014e-01 1.06610242e-02 8.91170612e+01] [ 1.89616181e-01 9.81857324e-01 1.37840509e-03 9.44988455e+00] [-1.07289779e-02 6.68185042e-04 9.99942220e-01 5.71563156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11140051299999 meters 0.0589096044356123 Centerline is valid? [True, True] Translation: X:89.15, Y:9.46, Z:0.06 [[ 9.82345947e-01 -1.86769010e-01 1.06666826e-02 8.91465073e+01] [ 1.86765003e-01 9.82403650e-01 1.37938280e-03 9.46049218e+00] [-1.07366139e-02 6.37131911e-04 9.99942158e-01 5.69030955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141400513 meters 0.060170087770674285 Centerline is valid? [True, True] Translation: X:89.18, Y:9.47, Z:0.06 [[ 9.82885960e-01 -1.83880411e-01 1.10988139e-02 8.91754715e+01] [ 1.83875889e-01 9.82948421e-01 1.43530264e-03 9.46634103e+00] [-1.11734857e-02 6.30065459e-04 9.99937376e-01 5.65846871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171400513 meters 0.059428990040445814 Centerline is valid? [True, True] Translation: X:89.20, Y:9.47, Z:0.06 [[ 9.82849781e-01 -1.84008633e-01 1.21297776e-02 8.92027159e+01] [ 1.84003245e-01 9.82924385e-01 1.56832714e-03 9.47411247e+00] [-1.22112399e-02 6.90488447e-04 9.99925202e-01 5.73295255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201400513 meters 0.05342180782721998 Centerline is valid? [True, True] Translation: X:89.23, Y:9.49, Z:0.06 [[ 9.82616809e-01 -1.85160127e-01 1.34139313e-02 8.92297601e+01] [ 1.85153606e-01 9.82708056e-01 1.73723821e-03 9.48940328e+00] [-1.35036456e-02 7.76598276e-04 9.99908520e-01 5.84960084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23140051299998 meters 0.05667038527162864 Centerline is valid? [True, True] Translation: X:89.26, Y:9.49, Z:0.06 [[ 9.82231606e-01 -1.87101514e-01 1.46320260e-02 8.92592759e+01] [ 1.87093927e-01 9.82340196e-01 1.89790858e-03 9.49269533e+00] [-1.47287288e-02 8.73377409e-04 9.99891145e-01 5.92398645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26140051299998 meters 0.05667038527162864 Centerline is valid? [True, True] Translation: X:89.29, Y:9.50, Z:0.06 [[ 9.82195538e-01 -1.87290762e-01 1.46320208e-02 8.92865771e+01] [ 1.87283195e-01 9.82304129e-01 1.89794840e-03 9.49638456e+00] [-1.47285627e-02 8.76175161e-04 9.99891145e-01 5.88122023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29140051299999 meters 0.06815692211208685 Centerline is valid? [True, True] Translation: X:89.32, Y:9.49, Z:0.06 [[ 9.80891388e-01 -1.94065825e-01 1.38036437e-02 8.93165448e+01] [ 1.94059717e-01 9.80988078e-01 1.79336039e-03 9.49100498e+00] [-1.38892398e-02 9.19639424e-04 9.99903117e-01 5.72197541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32140051299999 meters 0.06517488261612314 Centerline is valid? [True, True] Translation: X:89.35, Y:9.50, Z:0.05 [[ 9.80117869e-01 -1.98048862e-01 1.20669912e-02 8.93456324e+01] [ 1.98044497e-01 9.80191777e-01 1.56756190e-03 9.50076220e+00] [-1.21384194e-02 8.53405760e-04 9.99925962e-01 5.48474492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35140051299999 meters 0.07150141120161853 Centerline is valid? [True, True] Translation: X:89.37, Y:9.50, Z:0.05 [[ 9.79309496e-01 -2.02072208e-01 1.09422673e-02 8.93748467e+01] [ 2.02068867e-01 9.79370283e-01 1.42157663e-03 9.49959909e+00] [-1.10037925e-02 8.18928062e-04 9.99939121e-01 5.26544041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38140051299999 meters 0.07628172655435991 Centerline is valid? [True, True] Translation: X:89.40, Y:9.50, Z:0.05 [[ 9.78603831e-01 -2.05473373e-01 1.07347568e-02 8.94039460e+01] [ 2.05470362e-01 9.78662345e-01 1.39452704e-03 9.50131229e+00] [-1.07922405e-02 8.40984864e-04 9.99941408e-01 5.12685297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41140051299999 meters 0.08433453816793517 Centerline is valid? [True, True] Translation: X:89.43, Y:9.50, Z:0.05 [[ 9.77902195e-01 -2.08692035e-01 1.24471613e-02 8.94336470e+01] [ 2.08688240e-01 9.77980880e-01 1.61737306e-03 9.50252707e+00] [-1.25106187e-02 1.01594352e-03 9.99921223e-01 5.27713456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44140051299999 meters 0.07893050546671036 Centerline is valid? [True, True] Translation: X:89.46, Y:9.52, Z:0.05 [[ 9.77892021e-01 -2.08676086e-01 1.34717031e-02 8.94608789e+01] [ 2.08671641e-01 9.77984193e-01 1.75038906e-03 9.51553469e+00] [-1.35403770e-02 1.09947091e-03 9.99907720e-01 5.40031237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47140051299999 meters 0.07556572332127126 Centerline is valid? [True, True] Translation: X:89.49, Y:9.53, Z:0.06 [[ 9.78147571e-01 -2.07400593e-01 1.45713396e-02 8.94898981e+01] [ 2.07395213e-01 9.78255402e-01 1.89600543e-03 9.52657900e+00] [-1.46477243e-02 1.16745297e-03 9.99892035e-01 5.55148077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501400513 meters 0.07608697023119226 Centerline is valid? [True, True] Translation: X:89.52, Y:9.53, Z:0.06 [[ 9.78561283e-01 -2.05344052e-01 1.58630424e-02 8.95187001e+01] [ 2.05337403e-01 9.78689067e-01 2.06428883e-03 9.53374732e+00] [-1.59488756e-02 1.23724282e-03 9.99872043e-01 5.76326748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531400513 meters 0.07259703225528796 Centerline is valid? [True, True] Translation: X:89.55, Y:9.55, Z:0.06 [[ 9.79447669e-01 -2.01015655e-01 1.65822255e-02 8.95462473e+01] [ 2.01007767e-01 9.79587270e-01 2.15820492e-03 9.55290291e+00] [-1.66775700e-02 1.21930734e-03 9.99860176e-01 5.89106558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561400513 meters 0.06989304219793785 Centerline is valid? [True, True] Translation: X:89.58, Y:9.57, Z:0.06 [[ 9.79814029e-01 -1.99301512e-01 1.56004863e-02 8.95750217e+01] [ 1.99294310e-01 9.79937577e-01 2.03068981e-03 9.56596743e+00] [-1.56922223e-02 1.11938979e-03 9.99876243e-01 5.75248099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591400513 meters 0.08019169285317604 Centerline is valid? [True, True] Translation: X:89.60, Y:9.56, Z:0.06 [[ 9.80116079e-01 -1.97889989e-01 1.45610207e-02 8.96047874e+01] [ 1.97883557e-01 9.80223701e-01 1.89553479e-03 9.56247144e+00] [-1.46481649e-02 1.02354244e-03 9.99892186e-01 5.50273184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62140051299998 meters 0.0651007894862536 Centerline is valid? [True, True] Translation: X:89.63, Y:9.59, Z:0.05 [[ 9.80306815e-01 -1.97047881e-01 1.30645202e-02 8.96302779e+01] [ 1.97042627e-01 9.80393447e-01 1.70093467e-03 9.58914603e+00] [-1.31435355e-02 9.06829524e-04 9.99913209e-01 5.24936365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65140051299998 meters 0.06686642660635408 Centerline is valid? [True, True] Translation: X:89.66, Y:9.60, Z:0.05 [[ 9.80134124e-01 -1.97951976e-01 1.23334718e-02 8.96587215e+01] [ 1.97947356e-01 9.80211336e-01 1.60638256e-03 9.59843611e+00] [-1.24073954e-02 8.66907766e-04 9.99922650e-01 5.01894505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68140051299999 meters 0.06981924882580616 Centerline is valid? [True, True] Translation: X:89.69, Y:9.60, Z:0.05 [[ 9.79773274e-01 -1.99698986e-01 1.28314975e-02 8.96880704e+01] [ 1.99694130e-01 9.79856857e-01 1.67160140e-03 9.60204967e+00] [-1.29068479e-02 9.24584349e-04 9.99916276e-01 5.04477833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71140051299999 meters 0.07366335462518091 Centerline is valid? [True, True] Translation: X:89.72, Y:9.60, Z:0.05 [[ 9.79311745e-01 -2.01924106e-01 1.32349022e-02 8.97172517e+01] [ 2.01919139e-01 9.79400678e-01 1.72433047e-03 9.60433332e+00] [-1.33104561e-02 9.83722980e-04 9.99910928e-01 5.02555125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74140051299999 meters 0.07678731619393613 Centerline is valid? [True, True] Translation: X:89.75, Y:9.61, Z:0.05 [[ 9.78834512e-01 -2.04229156e-01 1.31700047e-02 8.97475122e+01] [ 2.04224445e-01 9.78922587e-01 1.71595715e-03 9.60747761e+00] [-1.32428636e-02 1.00999882e-03 9.99911799e-01 4.96438648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77140051299999 meters 0.08027094100501339 Centerline is valid? [True, True] Translation: X:89.78, Y:9.61, Z:0.05 [[ 9.78340277e-01 -2.06591320e-01 1.30509848e-02 8.97770283e+01] [ 2.06586902e-01 9.78426778e-01 1.70049271e-03 9.60975275e+00] [-1.31207401e-02 1.03250201e-03 9.99913386e-01 4.88435312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80140051299999 meters 0.08808476494685001 Centerline is valid? [True, True] Translation: X:89.81, Y:9.61, Z:0.05 [[ 9.77318336e-01 -2.11386125e-01 1.28364900e-02 8.98069966e+01] [ 2.11382258e-01 9.77402037e-01 1.67274504e-03 9.60857244e+00] [-1.29000066e-02 1.07860184e-03 9.99916210e-01 4.71910939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83140051299999 meters 0.09332783114895503 Centerline is valid? [True, True] Translation: X:89.84, Y:9.61, Z:0.05 [[ 9.76847032e-01 -2.13552192e-01 1.28583634e-02 8.98363090e+01] [ 2.13548496e-01 9.76931027e-01 1.67574977e-03 9.60816154e+00] [-1.29195942e-02 1.10893298e-03 9.99915924e-01 4.64105469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86140051299999 meters 0.08690384869687562 Centerline is valid? [True, True] Translation: X:89.86, Y:9.62, Z:0.05 [[ 9.76453129e-01 -2.15338416e-01 1.29866917e-02 8.98646764e+01] [ 2.15334801e-01 9.76538816e-01 1.69268469e-03 9.62177245e+00] [-1.30465086e-02 1.14365941e-03 9.99914237e-01 4.66260445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891400513 meters 0.08478245408942134 Centerline is valid? [True, True] Translation: X:89.89, Y:9.63, Z:0.05 [[ 9.76120182e-01 -2.16849662e-01 1.28691002e-02 8.98943023e+01] [ 2.16846239e-01 9.76204330e-01 1.67754469e-03 9.63015044e+00] [-1.29266463e-02 1.15313074e-03 9.99915783e-01 4.62946857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921400513 meters 0.08650682331940623 Centerline is valid? [True, True] Translation: X:89.92, Y:9.63, Z:0.04 [[ 9.75822596e-01 -2.18309156e-01 1.05533821e-02 8.99243323e+01] [ 2.18306939e-01 9.75879187e-01 1.37562429e-03 9.63436850e+00] [-1.05991373e-02 9.61511276e-04 9.99943365e-01 4.26049016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951400513 meters 0.09318028494145039 Centerline is valid? [True, True] Translation: X:89.95, Y:9.63, Z:0.04 [[ 9.75720656e-01 -2.18840015e-01 8.84583458e-03 8.99539544e+01] [ 2.18838480e-01 9.75760416e-01 1.15297013e-03 9.63013450e+00] [-8.88373123e-03 8.10832223e-04 9.99960210e-01 3.89946998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98140051299998 meters 0.08854534684052945 Centerline is valid? [True, True] Translation: X:89.98, Y:9.64, Z:0.04 [[ 9.75565518e-01 -2.19579253e-01 7.54128863e-03 8.99822983e+01] [ 2.19578158e-01 9.75594417e-01 9.83114767e-04 9.63907647e+00] [-7.57311069e-03 6.96809401e-04 9.99971081e-01 3.68579916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01140051299998 meters 0.08475733843080167 Centerline is valid? [True, True] Translation: X:90.01, Y:9.65, Z:0.04 [[ 9.75281739e-01 -2.20851511e-01 7.08094705e-03 9.00114435e+01] [ 2.20850576e-01 9.75307218e-01 9.23509447e-04 9.64805579e+00] [-7.11005723e-03 6.63149338e-04 9.99974503e-01 3.59931229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04140051299999 meters 0.08656375203591264 Centerline is valid? [True, True] Translation: X:90.04, Y:9.65, Z:0.04 [[ 9.75301492e-01 -2.20736674e-01 7.89428741e-03 9.00394681e+01] [ 2.20735510e-01 9.75333161e-01 1.02934890e-03 9.64934975e+00] [-7.92677535e-03 7.38624044e-04 9.99968310e-01 3.64342322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07140051299999 meters 0.08956676663847493 Centerline is valid? [True, True] Translation: X:90.07, Y:9.65, Z:0.04 [[ 9.75436350e-01 -2.20088495e-01 9.21857809e-03 9.00674550e+01] [ 2.20086872e-01 9.75479534e-01 1.20272616e-03 9.64812932e+00] [-9.25724045e-03 8.55705204e-04 9.99956785e-01 3.78321223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10140051299999 meters 0.09519535599314718 Centerline is valid? [True, True] Translation: X:90.10, Y:9.64, Z:0.04 [[ 9.75651865e-01 -2.19064844e-01 1.06785507e-02 9.00969177e+01] [ 2.19062596e-01 9.75709811e-01 1.39413524e-03 9.64286591e+00] [-1.07245727e-02 9.79080402e-04 9.99942011e-01 3.91279339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13140051299999 meters 0.09447981452054938 Centerline is valid? [True, True] Translation: X:90.13, Y:9.65, Z:0.04 [[ 9.75788912e-01 -2.18442136e-01 1.09101779e-02 9.01254637e+01] [ 2.18439749e-01 9.75849398e-01 1.42452111e-03 9.64855268e+00] [-1.09578660e-02 9.93184623e-04 9.99939468e-01 3.95113963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16140051299999 meters 0.09523545770013127 Centerline is valid? [True, True] Translation: X:90.16, Y:9.65, Z:0.04 [[ 9.76175437e-01 -2.16718762e-01 1.07002155e-02 9.01551306e+01] [ 2.16716357e-01 9.76233613e-01 1.39770462e-03 9.64688067e+00] [-1.07488189e-02 9.54506812e-04 9.99941774e-01 3.94685481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19140051299999 meters 0.08226714858975574 Centerline is valid? [True, True] Translation: X:90.18, Y:9.66, Z:0.04 [[ 9.76724782e-01 -2.14257763e-01 1.01148782e-02 9.01828077e+01] [ 2.14255481e-01 9.76776762e-01 1.32144189e-03 9.66377503e+00] [-1.01631072e-02 8.76483062e-04 9.99947970e-01 3.89590719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22140051299999 meters 0.08833781197896703 Centerline is valid? [True, True] Translation: X:90.21, Y:9.66, Z:0.04 [[ 9.77044580e-01 -2.12789438e-01 1.02246185e-02 9.02125842e+01] [ 2.12787025e-01 9.77097691e-01 1.33588974e-03 9.65849754e+00] [-1.02747144e-02 8.70442329e-04 9.99946835e-01 3.80824223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251400513 meters 0.08174028651677347 Centerline is valid? [True, True] Translation: X:90.24, Y:9.67, Z:0.04 [[ 9.77534447e-01 -2.10516526e-01 1.04497522e-02 9.02414888e+01] [ 2.10513873e-01 9.77589916e-01 1.36562832e-03 9.66944343e+00] [-1.05030597e-02 8.64869092e-04 9.99944467e-01 3.87851713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281400513 meters 0.07999607677504246 Centerline is valid? [True, True] Translation: X:90.27, Y:9.68, Z:0.04 [[ 9.78072003e-01 -2.08002646e-01 1.04907986e-02 9.02706279e+01] [ 2.07999828e-01 9.78127902e-01 1.37104731e-03 9.67844424e+00] [-1.05465243e-02 8.41101307e-04 9.99944030e-01 3.83802976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311400513 meters 0.07989249510682787 Centerline is valid? [True, True] Translation: X:90.30, Y:9.68, Z:0.04 [[ 9.79418964e-01 -2.01603559e-01 9.72100279e-03 9.02997238e+01] [ 2.01600824e-01 9.79466943e-01 1.27056988e-03 9.68455321e+00] [-9.77755230e-03 7.15341938e-04 9.99951943e-01 3.57573255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341400513 meters 0.07492042175350826 Centerline is valid? [True, True] Translation: X:90.33, Y:9.70, Z:0.03 [[ 9.79861949e-01 -1.99433725e-01 9.83611618e-03 9.03289314e+01] [ 1.99430814e-01 9.79911066e-01 1.28590592e-03 9.69723700e+00] [-9.89497210e-03 7.01614370e-04 9.99950797e-01 3.49404203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37140051299998 meters 0.06919948493218099 Centerline is valid? [True, True] Translation: X:90.36, Y:9.71, Z:0.04 [[ 9.80083577e-01 -1.98269177e-01 1.12033831e-02 9.03572200e+01] [ 1.98265326e-01 9.80147293e-01 1.46446983e-03 9.71001892e+00] [-1.12713248e-02 7.85939569e-04 9.99936168e-01 3.64879102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40140051299998 meters 0.06978924394044844 Centerline is valid? [True, True] Translation: X:90.39, Y:9.72, Z:0.04 [[ 9.80090268e-01 -1.98113804e-01 1.31903880e-02 9.03853935e+01] [ 1.98108451e-01 9.80178590e-01 1.72427048e-03 9.71842910e+00] [-1.32705377e-02 9.23186628e-04 9.99911516e-01 4.04524346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43140051299999 meters 0.06895860027754869 Centerline is valid? [True, True] Translation: X:90.41, Y:9.73, Z:0.04 [[ 9.79933309e-01 -1.98855860e-01 1.36768894e-02 9.04138006e+01] [ 1.98850146e-01 9.80028272e-01 1.79018901e-03 9.72653099e+00] [-1.37597279e-02 9.65385614e-04 9.99904864e-01 4.04383759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46140051299999 meters 0.07065957738155865 Centerline is valid? [True, True] Translation: X:90.44, Y:9.73, Z:0.04 [[ 9.79650530e-01 -2.00251486e-01 1.35713226e-02 9.04424006e+01] [ 2.00245959e-01 9.79744044e-01 1.77882542e-03 9.73092777e+00] [-1.36526350e-02 9.74975246e-04 9.99906323e-01 3.91075075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49140051299999 meters 0.07151896437446442 Centerline is valid? [True, True] Translation: X:90.47, Y:9.73, Z:0.04 [[ 9.79200876e-01 -2.02456911e-01 1.32982302e-02 9.04727695e+01] [ 2.02451799e-01 9.79290676e-01 1.74354523e-03 9.73497605e+00] [-1.33758257e-02 9.84969622e-04 9.99910055e-01 3.70606606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52140051299999 meters 0.07355111828173395 Centerline is valid? [True, True] Translation: X:90.50, Y:9.74, Z:0.04 [[ 9.78574786e-01 -2.05462189e-01 1.32919855e-02 9.05035832e+01] [ 2.05457356e-01 9.78664517e-01 1.74284510e-03 9.73661451e+00] [-1.33664834e-02 1.02543193e-03 9.99910139e-01 3.56531291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55140051299999 meters 0.07922915691094755 Centerline is valid? [True, True] Translation: X:90.53, Y:9.73, Z:0.04 [[ 9.77877613e-01 -2.08745908e-01 1.34357671e-02 9.05333230e+01] [ 2.08741278e-01 9.77969312e-01 1.76171075e-03 9.73374971e+00] [-1.35075178e-02 1.08186169e-03 9.99908184e-01 3.55726293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58140051299999 meters 0.08810721315213242 Centerline is valid? [True, True] Translation: X:90.56, Y:9.73, Z:0.04 [[ 9.76749205e-01 -2.13977636e-01 1.32121668e-02 9.05637188e+01] [ 2.13973635e-01 9.76837900e-01 1.73225493e-03 9.72803305e+00] [-1.32768091e-02 1.13507673e-03 9.99911215e-01 3.60011386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61140051299999 meters 0.08560508138854221 Centerline is valid? [True, True] Translation: X:90.59, Y:9.73, Z:0.04 [[ 9.76341405e-01 -2.15812292e-01 1.35098416e-02 9.05938599e+01] [ 2.15808280e-01 9.76434149e-01 1.77142956e-03 9.73402643e+00] [-1.35737670e-02 1.18601567e-03 9.99907169e-01 3.62662382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641400513 meters 0.08639914179392127 Centerline is valid? [True, True] Translation: X:90.62, Y:9.73, Z:0.04 [[ 9.76124239e-01 -2.16768726e-01 1.38848497e-02 9.06234181e+01] [ 2.16764584e-01 9.76222208e-01 1.82065267e-03 9.73372504e+00] [-1.39493592e-02 1.23256047e-03 9.99901943e-01 3.54890218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671400513 meters 0.08286701772123188 Centerline is valid? [True, True] Translation: X:90.65, Y:9.74, Z:0.03 [[ 9.75957747e-01 -2.17532648e-01 1.36390631e-02 9.06516725e+01] [ 2.17528719e-01 9.76052282e-01 1.78887740e-03 9.74052456e+00] [-1.37015779e-02 1.22101917e-03 9.99905383e-01 3.33189424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701400513 meters 0.09083577124403162 Centerline is valid? [True, True] Translation: X:90.68, Y:9.73, Z:0.03 [[ 9.76818800e-01 -2.13744459e-01 1.17616884e-02 9.06823019e+01] [ 2.13741240e-01 9.76889091e-01 1.54474914e-03 9.72777229e+00] [-1.18200467e-02 1.00501786e-03 9.99929636e-01 2.91738697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73140051299998 meters 0.07728937707847398 Centerline is valid? [True, True] Translation: X:90.71, Y:9.75, Z:0.03 [[ 9.77604439e-01 -2.10174133e-01 1.07886042e-02 9.07101129e+01] [ 2.10171204e-01 9.77663570e-01 1.41734035e-03 9.74819361e+00] [-1.08455135e-02 8.81855713e-04 9.99940797e-01 2.83408940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76140051299998 meters 0.07965703566067055 Centerline is valid? [True, True] Translation: X:90.74, Y:9.75, Z:0.03 [[ 9.78561077e-01 -2.05652070e-01 1.12001836e-02 9.07393004e+01] [ 2.05648619e-01 9.78624790e-01 1.47143170e-03 9.74822162e+00] [-1.12633803e-02 8.63416497e-04 9.99936193e-01 2.88755334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79140051299999 meters 0.08106489163578297 Centerline is valid? [True, True] Translation: X:90.77, Y:9.75, Z:0.03 [[ 9.79551377e-01 -2.00838943e-01 1.19507109e-02 9.07685766e+01] [ 2.00834654e-01 9.79623895e-01 1.57026173e-03 9.74882986e+00] [-1.20225716e-02 8.61964848e-04 9.99927355e-01 3.15242894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82140051299999 meters 0.06823244367136345 Centerline is valid? [True, True] Translation: X:90.80, Y:9.77, Z:0.03 [[ 9.81297863e-01 -1.92079821e-01 1.26430547e-02 9.07967907e+01] [ 1.92074292e-01 9.81378982e-01 1.66150454e-03 9.76977353e+00] [-1.27267697e-02 7.97974930e-04 9.99918693e-01 3.48400293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85140051299999 meters 0.061186623048076844 Centerline is valid? [True, True] Translation: X:90.83, Y:9.79, Z:0.03 [[ 9.81972433e-01 -1.88630256e-01 1.21970384e-02 9.08250173e+01] [ 1.88624843e-01 9.82047911e-01 1.60304517e-03 9.78539222e+00] [-1.22804589e-02 7.26518290e-04 9.99924328e-01 3.35542268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88140051299999 meters 0.06260086787780457 Centerline is valid? [True, True] Translation: X:90.85, Y:9.79, Z:0.03 [[ 9.82508279e-01 -1.85793093e-01 1.25860537e-02 9.08535986e+01] [ 1.85787096e-01 9.82588631e-01 1.65431734e-03 9.78912831e+00] [-1.26742740e-02 7.12945883e-04 9.99919424e-01 3.11778031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91140051299999 meters 0.0544310897937151 Centerline is valid? [True, True] Translation: X:90.88, Y:9.80, Z:0.03 [[ 9.82899673e-01 -1.83683783e-01 1.29808014e-02 9.08818668e+01] [ 1.83677217e-01 9.82985131e-01 1.70643011e-03 9.80354259e+00] [-1.30733783e-02 7.07027883e-04 9.99914290e-01 3.05613813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94140051299999 meters 0.05689419635082701 Centerline is valid? [True, True] Translation: X:90.91, Y:9.80, Z:0.03 [[ 9.83359013e-01 -1.81194895e-01 1.31704967e-02 9.09104384e+01] [ 1.81187912e-01 9.83446970e-01 1.73147333e-03 9.80483646e+00] [-1.32662192e-02 6.83674895e-04 9.99911766e-01 3.06450808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97140051299999 meters 0.057644665417373994 Centerline is valid? [True, True] Translation: X:90.94, Y:9.81, Z:0.03 [[ 9.83489710e-01 -1.80537295e-01 1.24207507e-02 9.09382112e+01] [ 1.80531028e-01 9.83567934e-01 1.63324838e-03 9.80939319e+00] [-1.25115143e-02 6.36047914e-04 9.99921526e-01 2.98724311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001400513 meters 0.05490511336797842 Centerline is valid? [True, True] Translation: X:90.97, Y:9.82, Z:0.03 [[ 9.83566290e-01 -1.80181522e-01 1.14879323e-02 9.09657200e+01] [ 1.80176135e-01 9.83633203e-01 1.51076638e-03 9.81905864e+00] [-1.15721238e-02 5.83912359e-04 9.99932870e-01 2.85513738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031400513 meters 0.05094974070406367 Centerline is valid? [True, True] Translation: X:90.99, Y:9.83, Z:0.03 [[ 9.83695438e-01 -1.79505358e-01 1.10050748e-02 9.09930536e+01] [ 1.79500354e-01 9.83756842e-01 1.44890998e-03 9.82966229e+00] [-1.10864048e-02 5.50128687e-04 9.99938393e-01 2.77693180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061400513 meters 0.05199123609055131 Centerline is valid? [True, True] Translation: X:91.02, Y:9.83, Z:0.03 [[ 9.83800880e-01 -1.78915028e-01 1.11911501e-02 9.10205940e+01] [ 1.78909789e-01 9.83864376e-01 1.47562599e-03 9.83374500e+00] [-1.12745856e-02 5.50484160e-04 9.99936288e-01 2.68624202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091400513 meters 0.04797158781823337 Centerline is valid? [True, True] Translation: X:91.05, Y:9.85, Z:0.03 [[ 9.84103147e-01 -1.77178993e-01 1.21901905e-02 9.10485603e+01] [ 1.77172628e-01 9.84178476e-01 1.60872668e-03 9.84759777e+00] [-1.22823556e-02 5.76615088e-04 9.99924403e-01 2.79146349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12140051299998 meters 0.050570063087698854 Centerline is valid? [True, True] Translation: X:91.08, Y:9.85, Z:0.03 [[ 9.84371608e-01 -1.75600085e-01 1.33097028e-02 9.10773475e+01] [ 1.75592348e-01 9.84461396e-01 1.75681573e-03 9.85233266e+00] [-1.34113856e-02 6.07722441e-04 9.99909879e-01 2.86962695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15140051299998 meters 0.04772883700275954 Centerline is valid? [True, True] Translation: X:91.11, Y:9.86, Z:0.03 [[ 9.84751945e-01 -1.73391150e-01 1.41108552e-02 9.11064634e+01] [ 1.73382222e-01 9.84852849e-01 1.86293494e-03 9.86387078e+00] [-1.42201324e-02 6.12042618e-04 9.99898701e-01 2.95710796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18140051299999 meters 0.04772883700275954 Centerline is valid? [True, True] Translation: X:91.13, Y:9.87, Z:0.03 [[ 9.84720753e-01 -1.73568206e-01 1.41108628e-02 9.11337075e+01] [ 1.73559297e-01 9.84821659e-01 1.86287764e-03 9.86763253e+00] [-1.42200196e-02 6.14657154e-04 9.99898701e-01 2.91441219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21140051299999 meters 0.042516577694712725 Centerline is valid? [True, True] Translation: X:91.16, Y:9.89, Z:0.03 [[ 9.85503878e-01 -1.69034464e-01 1.44726436e-02 9.11617512e+01] [ 1.69024561e-01 9.85609982e-01 1.91352493e-03 9.88540315e+00] [-1.45878337e-02 5.60445999e-04 9.99893435e-01 2.91246234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24140051299999 meters 0.040942212992969684 Centerline is valid? [True, True] Translation: X:91.19, Y:9.90, Z:0.03 [[ 9.85760090e-01 -1.67545511e-01 1.43369237e-02 9.11892457e+01] [ 1.67535637e-01 9.85864198e-01 1.89556255e-03 9.89548879e+00] [-1.44518528e-02 5.33375739e-04 9.99895424e-01 2.75230245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27140051299999 meters 0.035541128298056904 Centerline is valid? [True, True] Translation: X:91.22, Y:9.91, Z:0.03 [[ 9.85864655e-01 -1.66979732e-01 1.37350103e-02 9.12163767e+01] [ 1.66970610e-01 9.85960200e-01 1.81637580e-03 9.90971183e+00] [-1.38454714e-02 5.02642339e-04 9.99904021e-01 2.63882418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30140051299999 meters 0.03734857622884552 Centerline is valid? [True, True] Translation: X:91.24, Y:9.91, Z:0.02 [[ 9.85863443e-01 -1.67018278e-01 1.33479303e-02 9.12427077e+01] [ 1.67009634e-01 9.85953679e-01 1.76755946e-03 9.91367705e+00] [-1.34556557e-02 4.86660692e-04 9.99909350e-01 2.46544442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33140051299999 meters 0.04023207930442896 Centerline is valid? [True, True] Translation: X:91.27, Y:9.92, Z:0.02 [[ 9.85487062e-01 -1.69244197e-01 1.31016379e-02 9.12713381e+01] [ 1.69236050e-01 9.85574018e-01 1.73610144e-03 9.91559803e+00] [-1.32064590e-02 5.06363937e-04 9.99912663e-01 2.29670209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36140051299999 meters 0.04517201185767995 Centerline is valid? [True, True] Translation: X:91.30, Y:9.91, Z:0.02 [[ 9.85244452e-01 -1.70670454e-01 1.28439434e-02 9.13000004e+01] [ 1.70662736e-01 9.85328032e-01 1.70262004e-03 9.91468429e+00] [-1.29460844e-02 5.14485574e-04 9.99916064e-01 2.22028559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391400513 meters 0.040237552022716144 Centerline is valid? [True, True] Translation: X:91.33, Y:9.93, Z:0.02 [[ 9.85131596e-01 -1.71379222e-01 1.20375042e-02 9.13272663e+01] [ 1.71372494e-01 9.85205015e-01 1.59586690e-03 9.92688231e+00] [-1.21329079e-02 4.90758211e-04 9.99926273e-01 2.10847084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421400513 meters 0.04204428412067321 Centerline is valid? [True, True] Translation: X:91.35, Y:9.93, Z:0.02 [[ 9.85271418e-01 -1.70605904e-01 1.15697000e-02 9.13548867e+01] [ 1.70599611e-01 9.85339238e-01 1.53598752e-03 9.93028476e+00] [-1.16621279e-02 4.60421702e-04 9.99931889e-01 1.88839748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451400513 meters 0.03433187019101283 Centerline is valid? [True, True] Translation: X:91.38, Y:9.94, Z:0.02 [[ 9.86072358e-01 -1.65831479e-01 1.26974534e-02 9.13839575e+01] [ 1.65823485e-01 9.86154007e-01 1.68719859e-03 9.94450478e+00] [-1.28014352e-02 4.41836071e-04 9.99917961e-01 1.99578825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48140051299998 meters 0.03157313711332798 Centerline is valid? [True, True] Translation: X:91.41, Y:9.95, Z:0.02 [[ 9.86638243e-01 -1.62363812e-01 1.35266267e-02 9.14119436e+01] [ 1.62354413e-01 9.86730872e-01 1.79737089e-03 9.95338232e+00] [-1.36389682e-02 4.22752693e-04 9.99906896e-01 2.13616080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51140051299998 meters 0.02797479476995465 Centerline is valid? [True, True] Translation: X:91.44, Y:9.96, Z:0.02 [[ 9.87299070e-01 -1.58293125e-01 1.35585297e-02 9.14406765e+01] [ 1.58283293e-01 9.87392096e-01 1.80195971e-03 9.96496412e+00] [-1.36728229e-02 3.67015585e-04 9.99906455e-01 2.18381158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54140051299999 meters 0.0185919010194883 Centerline is valid? [True, True] Translation: X:91.47, Y:9.99, Z:0.02 [[ 9.88672963e-01 -1.49599823e-01 1.20691586e-02 9.14689088e+01] [ 1.49591383e-01 9.88746603e-01 1.60419299e-03 9.98603567e+00] [-1.21733265e-02 2.19419875e-04 9.99925878e-01 1.87501271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57140051299999 meters 0.01591108673132627 Centerline is valid? [True, True] Translation: X:91.50, Y:9.99, Z:0.02 [[ 9.89193869e-01 -1.46106569e-01 1.21802879e-02 9.14984080e+01] [ 1.46097708e-01 9.89268840e-01 1.61895815e-03 9.99468972e+00] [-1.22861197e-02 1.78048667e-04 9.99924507e-01 1.67824078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60140051299999 meters 0.015208429021584717 Centerline is valid? [True, True] Translation: X:91.53, Y:10.00, Z:0.02 [[ 9.89543253e-01 -1.43634505e-01 1.31635622e-02 9.15284383e+01] [ 1.43623938e-01 9.89630792e-01 1.74947357e-03 1.00005326e+01] [-1.32783512e-02 1.59422880e-04 9.99911826e-01 1.64255913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63140051299999 meters 0.012622474061678424 Centerline is valid? [True, True] Translation: X:91.56, Y:10.01, Z:0.02 [[ 9.89748436e-01 -1.42086026e-01 1.44773712e-02 9.15593986e+01] [ 1.42073082e-01 9.89854301e-01 1.92392081e-03 1.00094330e+01] [-1.46038504e-02 1.52647133e-04 9.99893346e-01 1.81399008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66140051299999 meters 0.011729303939349555 Centerline is valid? [True, True] Translation: X:91.59, Y:10.02, Z:0.02 [[ 9.89835953e-01 -1.41479896e-01 1.44299999e-02 9.15907406e+01] [ 1.41466982e-01 9.89941119e-01 1.91692509e-03 1.00161846e+01] [-1.45560566e-02 1.43927173e-04 9.99894045e-01 1.83087468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69140051299999 meters 0.013448702990921789 Centerline is valid? [True, True] Translation: X:91.62, Y:10.02, Z:0.01 [[ 9.89892250e-01 -1.41373774e-01 1.12600649e-02 9.16218515e+01] [ 1.41365908e-01 9.89956284e-01 1.49554313e-03 1.00183162e+01] [-1.13584026e-02 1.11362739e-04 9.99935485e-01 1.28916227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72140051299999 meters 0.012734607705980002 Centerline is valid? [True, True] Translation: X:91.65, Y:10.02, Z:0.01 [[ 9.89933914e-01 -1.41195956e-01 9.72356797e-03 9.16531159e+01] [ 1.41190090e-01 9.89981663e-01 1.29057102e-03 1.00235701e+01] [-9.80837740e-03 9.52914159e-05 9.99951892e-01 1.01541487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751400513 meters 0.011039597647894672 Centerline is valid? [True, True] Translation: X:91.68, Y:10.03, Z:0.01 [[ 9.90081297e-01 -1.40156378e-01 9.75783271e-03 9.16840442e+01] [ 1.40150423e-01 9.90129377e-01 1.29489203e-03 1.00307415e+01] [-9.84300420e-03 8.55159942e-05 9.99951553e-01 9.98957087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781400513 meters 0.010333608668149896 Centerline is valid? [True, True] Translation: X:91.71, Y:10.04, Z:0.01 [[ 9.90307407e-01 -1.38453484e-01 1.10395508e-02 9.17149951e+01] [ 1.38445758e-01 9.90368935e-01 1.46470653e-03 1.00372215e+01] [-1.11360219e-02 7.78692532e-05 9.99937990e-01 1.03055770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811400513 meters 0.008748727924026535 Centerline is valid? [True, True] Translation: X:91.75, Y:10.05, Z:0.01 [[ 9.90557006e-01 -1.36506957e-01 1.27541461e-02 9.17457546e+01] [ 1.36496491e-01 9.90639110e-01 1.69158846e-03 1.00450158e+01] [-1.28656695e-02 6.52813866e-05 9.99917232e-01 1.22509836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841400513 meters 0.007296144381591891 Centerline is valid? [True, True] Translation: X:91.78, Y:10.05, Z:0.01 [[ 9.90951461e-01 -1.33639524e-01 1.24771957e-02 9.17775282e+01] [ 1.33629283e-01 9.91030008e-01 1.65463831e-03 1.00535083e+01] [-1.25864004e-02 2.76524679e-05 9.99920788e-01 1.20487582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87140051299998 meters 0.00726168725648822 Centerline is valid? [True, True] Translation: X:91.81, Y:10.06, Z:0.01 [[ 9.91156678e-01 -1.32235018e-01 1.10607498e-02 9.18078952e+01] [ 1.32226888e-01 9.91218392e-01 1.46628679e-03 1.00584575e+01] [-1.11575130e-02 9.20857553e-06 9.99937753e-01 8.81560737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90140051299998 meters 0.007221650799456726 Centerline is valid? [True, True] Translation: X:91.84, Y:10.06, Z:0.01 [[ 9.91299977e-01 -1.31246739e-01 9.93218194e-03 9.18400281e+01] [ 1.31240137e-01 9.91349733e-01 1.31644160e-03 1.00629362e+01] [-1.00190446e-02 -1.48761473e-06 9.99949808e-01 7.55530730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93140051299999 meters 0.007224593059518429 Centerline is valid? [True, True] Translation: X:91.87, Y:10.07, Z:0.01 [[ 9.91422738e-01 -1.30243786e-01 1.08402427e-02 9.18707466e+01] [ 1.30235869e-01 9.91482000e-01 1.43612646e-03 1.00658244e+01] [-1.09349521e-02 -1.20199944e-05 9.99940212e-01 7.66665032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96140051299999 meters 0.011264903235171035 Centerline is valid? [True, True] Translation: X:91.90, Y:10.07, Z:0.01 [[ 9.91452348e-01 -1.29904944e-01 1.21221707e-02 9.19022359e+01] [ 1.29895024e-01 9.91526452e-01 1.60543339e-03 1.00689704e+01] [-1.22280066e-02 -1.71010536e-05 9.99925235e-01 8.57382746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99140051299999 meters 0.014145861786216473 Centerline is valid? [True, True] Translation: X:91.93, Y:10.07, Z:0.01 [[ 9.91500016e-01 -1.29366624e-01 1.38562421e-02 9.19338184e+01] [ 1.29353619e-01 9.91596831e-01 1.83450998e-03 1.00721360e+01] [-1.39771301e-02 -2.65616191e-05 9.99902315e-01 1.05690000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02140051299999 meters 0.014691594744211925 Centerline is valid? [True, True] Translation: X:91.97, Y:10.08, Z:0.01 [[ 9.91736353e-01 -1.27218891e-01 1.65637995e-02 9.19659126e+01] [ 1.27200022e-01 9.91874664e-01 2.19202715e-03 1.00760359e+01] [-1.67080804e-02 -6.69973386e-05 9.99860408e-01 1.44588520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05140051299999 meters 0.015607315321200412 Centerline is valid? [True, True] Translation: X:92.00, Y:10.08, Z:0.02 [[ 9.92005338e-01 -1.25020250e-01 1.71856399e-02 9.19976549e+01] [ 1.24999623e-01 9.92154184e-01 2.27345206e-03 1.00806603e+01] [-1.73350321e-02 -1.07078065e-04 9.99849731e-01 1.54929761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08140051299999 meters 0.018705504866909806 Centerline is valid? [True, True] Translation: X:92.03, Y:10.09, Z:0.02 [[ 9.92323683e-01 -1.22422245e-01 1.75072244e-02 9.20293504e+01] [ 1.22400450e-01 9.92478096e-01 2.31512815e-03 1.00852389e+01] [-1.76589600e-02 -1.54464348e-04 9.99844056e-01 1.59151445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11140051299999 meters 0.0164754431047527 Centerline is valid? [True, True] Translation: X:92.06, Y:10.09, Z:0.02 [[ 9.92625794e-01 -1.19995686e-01 1.71775751e-02 9.20603859e+01] [ 1.19974354e-01 9.92774394e-01 2.27072736e-03 1.00908634e+01] [-1.73259342e-02 -1.93114066e-04 9.99849876e-01 1.58456461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141400513 meters 0.016191210608044876 Centerline is valid? [True, True] Translation: X:92.09, Y:10.10, Z:0.01 [[ 9.92909827e-01 -1.17735958e-01 1.63804579e-02 9.20921898e+01] [ 1.17716262e-01 9.93044911e-01 2.16476778e-03 1.00959230e+01] [-1.65214013e-02 -2.21172932e-04 9.99863488e-01 1.45362519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171400513 meters 0.020158741861571183 Centerline is valid? [True, True] Translation: X:92.12, Y:10.10, Z:0.01 [[ 9.93409447e-01 -1.13731115e-01 1.42444346e-02 9.21239002e+01] [ 1.13715818e-01 9.93511535e-01 1.88189386e-03 1.01021230e+01] [-1.43660400e-02 -2.49673596e-04 9.99896772e-01 1.00333524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201400513 meters 0.02323434563001971 Centerline is valid? [True, True] Translation: X:92.15, Y:10.11, Z:0.01 [[ 9.93691233e-01 -1.11318676e-01 1.36339880e-02 9.21539961e+01] [ 1.11304445e-01 9.93784724e-01 1.80057584e-03 1.01080199e+01] [-1.37496867e-02 -2.71692966e-04 9.99905432e-01 8.47091601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23140051299998 meters 0.026889152877217617 Centerline is valid? [True, True] Translation: X:92.18, Y:10.11, Z:0.01 [[ 9.94117633e-01 -1.07421781e-01 1.38091548e-02 9.21841953e+01] [ 1.07406810e-01 9.94213484e-01 1.82338785e-03 1.01134056e+01] [-1.39251195e-02 -3.29464749e-04 9.99902987e-01 7.77815437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26140051299998 meters 0.02914502845595713 Centerline is valid? [True, True] Translation: X:92.22, Y:10.12, Z:0.01 [[ 9.94313367e-01 -1.05569940e-01 1.39969725e-02 9.22161522e+01] [ 1.05554382e-01 9.94411815e-01 1.84772415e-03 1.01179717e+01] [-1.41138189e-02 -3.59775047e-04 9.99900330e-01 7.24264595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29140051299999 meters 0.03253332720908674 Centerline is valid? [True, True] Translation: X:92.25, Y:10.12, Z:0.01 [[ 9.94464967e-01 -1.04202045e-01 1.34671473e-02 9.22477503e+01] [ 1.04187526e-01 9.94556082e-01 1.77713720e-03 1.01201130e+01] [-1.35790146e-02 -3.64191924e-04 9.99907735e-01 6.40110246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32140051299999 meters 0.032937093596317045 Centerline is valid? [True, True] Translation: X:92.28, Y:10.12, Z:0.01 [[ 9.94596999e-01 -1.02959826e-01 1.32696474e-02 9.22797394e+01] [ 1.02945625e-01 9.94685445e-01 1.75062307e-03 1.01224583e+01] [-1.33793689e-02 -3.75112303e-04 9.99910422e-01 5.33881758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35140051299999 meters 0.03375257524653744 Centerline is valid? [True, True] Translation: X:92.31, Y:10.12, Z:0.00 [[ 9.94841006e-01 -1.00705474e-01 1.22384551e-02 9.23119803e+01] [ 1.00693231e-01 9.94916212e-01 1.61404581e-03 1.01225310e+01] [-1.23387807e-02 -3.73389370e-04 9.99923805e-01 2.57642342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38140051299999 meters 0.03648044376310497 Centerline is valid? [True, True] Translation: X:92.34, Y:10.13, Z:0.00 [[ 9.94978493e-01 -9.93663722e-02 1.20050921e-02 9.23423881e+01] [ 9.93544997e-02 9.95050842e-01 1.58281773e-03 1.01272722e+01] [-1.21029559e-02 -3.82109681e-04 9.99926684e-01 8.98176363e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41140051299999 meters 0.038207788941294875 Centerline is valid? [True, True] Translation: X:92.37, Y:10.13, Z:0.00 [[ 9.95126211e-01 -9.78437914e-02 1.22644763e-02 9.23733030e+01] [ 9.78313000e-02 9.95201701e-01 1.61578692e-03 1.01310340e+01] [-1.23637224e-02 -4.08062246e-04 9.99923483e-01 4.10468686e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44140051299999 meters 0.03771368499267371 Centerline is valid? [True, True] Translation: X:92.41, Y:10.13, Z:0.00 [[ 9.95309135e-01 -9.58875367e-02 1.28571577e-02 9.24050811e+01] [ 9.58736520e-02 9.95392071e-01 1.69338652e-03 1.01326783e+01] [-1.29602875e-02 -4.52780410e-04 9.99915909e-01 1.19707209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47140051299999 meters 0.04363415144294703 Centerline is valid? [True, True] Translation: X:92.43, Y:10.14, Z:-0.00 [[ 9.95712272e-01 -9.17702226e-02 1.16317824e-02 9.24338845e+01] [ 9.17585842e-02 9.95780105e-01 1.53145390e-03 1.01407037e+01] [-1.17232393e-02 -4.57571563e-04 9.99931176e-01 -1.30742685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501400513 meters 0.04584549654447707 Centerline is valid? [True, True] Translation: X:92.46, Y:10.15, Z:-0.00 [[ 9.95833941e-01 -9.06099845e-02 1.02270425e-02 9.24641056e+01] [ 9.06009240e-02 9.95886368e-01 1.34673450e-03 1.01454908e+01] [-1.03069998e-02 -4.14544427e-04 9.99946796e-01 -4.28483852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531400513 meters 0.04649697566539611 Centerline is valid? [True, True] Translation: X:92.50, Y:10.15, Z:-0.01 [[ 9.95886756e-01 -9.01306636e-02 9.27537821e-03 9.24966177e+01] [ 9.01231907e-02 9.95929876e-01 1.22137160e-03 1.01481269e+01] [-9.34770931e-03 -3.80421120e-04 9.99956237e-01 -6.31807925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561400513 meters 0.04193060333796761 Centerline is valid? [True, True] Translation: X:92.53, Y:10.14, Z:-0.00 [[ 9.95815687e-01 -9.07300462e-02 1.09168071e-02 9.25302296e+01] [ 9.07197371e-02 9.95875426e-01 1.43687786e-03 1.01411644e+01] [-1.10021479e-02 -4.40495643e-04 9.99939378e-01 -3.70916932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.591400513 meters 0.04321483739407862 Centerline is valid? [True, True] Translation: X:92.56, Y:10.15, Z:-0.00 [[ 9.95756044e-01 -9.11011351e-02 1.30569708e-02 9.25613304e+01] [ 9.10864302e-02 9.95841509e-01 1.71773503e-03 1.01452275e+01] [-1.31591611e-02 -5.21132172e-04 9.99913279e-01 -9.62082575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62140051299998 meters 0.042185371450632704 Centerline is valid? [True, True] Translation: X:92.59, Y:10.15, Z:0.00 [[ 9.95699321e-01 -9.14426076e-02 1.48698209e-02 9.25935110e+01] [ 9.14235831e-02 9.95810175e-01 1.95560063e-03 1.01450216e+01] [-1.49863442e-02 -5.87737906e-04 9.99887526e-01 1.34418385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65140051299998 meters 0.04300636169061734 Centerline is valid? [True, True] Translation: X:92.63, Y:10.15, Z:0.00 [[ 9.95682550e-01 -9.15049362e-02 1.55918529e-02 9.26250019e+01] [ 9.14840392e-02 9.95804433e-01 2.04976848e-03 1.01471811e+01] [-1.57140002e-02 -6.14513030e-04 9.99876339e-01 1.85856597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68140051299999 meters 0.04557210215548052 Centerline is valid? [True, True] Translation: X:92.66, Y:10.15, Z:-0.00 [[ 9.95844593e-01 -8.99314555e-02 1.43485169e-02 9.26557976e+01] [ 8.99136024e-02 9.95947784e-01 1.88583910e-03 1.01496758e+01] [-1.44599699e-02 -5.87875827e-04 9.99895276e-01 -1.02860717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71140051299999 meters 0.04479796835155184 Centerline is valid? [True, True] Translation: X:92.69, Y:10.15, Z:-0.00 [[ 9.95969863e-01 -8.87178436e-02 1.31596186e-02 9.26877691e+01] [ 8.87027262e-02 9.96056643e-01 1.72918279e-03 1.01507753e+01] [-1.32611349e-02 -5.54919908e-04 9.99911913e-01 -3.42656681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74140051299999 meters 0.04732414891818009 Centerline is valid? [True, True] Translation: X:92.72, Y:10.15, Z:-0.00 [[ 9.96146699e-01 -8.68055505e-02 1.25120430e-02 9.27186292e+01] [ 8.67917424e-02 9.96225121e-01 1.64341768e-03 1.01532129e+01] [-1.26074694e-02 -5.51143083e-04 9.99920371e-01 -4.91829688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77140051299999 meters 0.049148680789351265 Centerline is valid? [True, True] Translation: X:92.75, Y:10.16, Z:-0.00 [[ 9.96347437e-01 -8.44364955e-02 1.27382559e-02 9.27482636e+01] [ 8.44219907e-02 9.96428687e-01 1.67308976e-03 1.01583090e+01] [-1.28340335e-02 -5.91589765e-04 9.99917465e-01 -4.99732559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80140051299999 meters 0.05256048243714125 Centerline is valid? [True, True] Translation: X:92.78, Y:10.16, Z:-0.01 [[ 9.96527926e-01 -8.22913507e-02 1.26580723e-02 9.27777430e+01] [ 8.22768644e-02 9.96608126e-01 1.66184254e-03 1.01639898e+01] [-1.27518930e-02 -6.14606003e-04 9.99918502e-01 -5.47964314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83140051299999 meters 0.05646316139410615 Centerline is valid? [True, True] Translation: X:92.81, Y:10.17, Z:-0.01 [[ 9.96808480e-01 -7.88440503e-02 1.25087796e-02 9.28076598e+01] [ 7.88296438e-02 9.96886750e-01 1.64138186e-03 1.01710092e+01] [-1.25992498e-02 -6.50080717e-04 9.99920415e-01 -7.00767215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86140051299999 meters 0.058632294459900446 Centerline is valid? [True, True] Translation: X:92.84, Y:10.18, Z:-0.01 [[ 9.96902037e-01 -7.75797685e-02 1.29502442e-02 9.28381025e+01] [ 7.75642200e-02 9.96985910e-01 1.69936138e-03 1.01768191e+01] [-1.30430470e-02 -6.89621236e-04 9.99914698e-01 -7.11249426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891400513 meters 0.054541912744177336 Centerline is valid? [True, True] Translation: X:92.87, Y:10.17, Z:-0.01 [[ 9.96937221e-01 -7.69012362e-02 1.42259240e-02 9.28713051e+01] [ 7.68824122e-02 9.97038420e-01 1.86621658e-03 1.01738580e+01] [-1.43273071e-02 -7.66777418e-04 9.99897065e-01 -6.03086216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921400513 meters 0.05727845172273144 Centerline is valid? [True, True] Translation: X:92.90, Y:10.18, Z:-0.00 [[ 9.96879952e-01 -7.73460486e-02 1.57464357e-02 9.29023068e+01] [ 7.73230539e-02 9.97003953e-01 2.06484205e-03 1.01783246e+01] [-1.58589660e-02 -8.40837150e-04 9.99873885e-01 -4.21589128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951400513 meters 0.04879297519434414 Centerline is valid? [True, True] Translation: X:92.94, Y:10.17, Z:-0.00 [[ 9.96678554e-01 -7.94973469e-02 1.76644318e-02 9.29355096e+01] [ 7.94687576e-02 9.96834667e-01 2.31566693e-03 1.01668951e+01] [-1.77926074e-02 -9.04205116e-04 9.99841290e-01 -1.48096599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98140051299998 meters 0.05306388019760415 Centerline is valid? [True, True] Translation: X:92.97, Y:10.17, Z:-0.00 [[ 9.96596265e-01 -8.04972451e-02 1.77785810e-02 9.29662350e+01] [ 8.04684549e-02 9.96754433e-01 2.33000787e-03 1.01737680e+01] [-1.79084387e-02 -8.91462199e-04 9.99839234e-01 -1.36435706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01140051299998 meters 0.05753590051830915 Centerline is valid? [True, True] Translation: X:93.00, Y:10.18, Z:-0.00 [[ 9.96570646e-01 -8.09003849e-02 1.73803139e-02 9.29968825e+01] [ 8.08729589e-02 9.96721818e-01 2.27624121e-03 1.01800670e+01] [-1.75074868e-02 -8.62837766e-04 9.99846360e-01 -2.46200867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04140051299999 meters 0.0560469766225168 Centerline is valid? [True, True] Translation: X:93.03, Y:10.18, Z:-0.00 [[ 9.96597842e-01 -8.06328585e-02 1.70611467e-02 9.30295382e+01] [ 8.06064023e-02 9.96743507e-01 2.23382128e-03 1.01778846e+01] [-1.71857066e-02 -8.50983816e-04 9.99851953e-01 -4.32494238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07140051299999 meters 0.0560469766225168 Centerline is valid? [True, True] Translation: X:93.06, Y:10.18, Z:-0.00 [[ 9.96603357e-01 -8.05646535e-02 1.70612534e-02 9.30618276e+01] [ 8.05382012e-02 9.96749021e-01 2.23300570e-03 1.01819830e+01] [-1.71856890e-02 -8.51338317e-04 9.99851953e-01 -4.83017822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10140051299999 meters 0.05260399250627669 Centerline is valid? [True, True] Translation: X:93.09, Y:10.17, Z:-0.00 [[ 9.96757339e-01 -7.85814307e-02 1.73137432e-02 9.30944888e+01] [ 7.85539110e-02 9.96907294e-01 2.26491810e-03 1.01735880e+01] [-1.74381774e-02 -8.97511495e-04 9.99847541e-01 -4.99221565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13140051299999 meters 0.0607059395931123 Centerline is valid? [True, True] Translation: X:93.12, Y:10.18, Z:-0.01 [[ 9.96886146e-01 -7.69408687e-02 1.72659841e-02 9.31235446e+01] [ 7.69132620e-02 9.97035230e-01 2.25827460e-03 1.01845061e+01] [-1.73885481e-02 -9.23259500e-04 9.99848382e-01 -5.03116880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16140051299999 meters 0.05685517709969161 Centerline is valid? [True, True] Translation: X:93.16, Y:10.18, Z:-0.01 [[ 9.97044005e-01 -7.50166133e-02 1.66060331e-02 9.31550547e+01] [ 7.49908141e-02 9.97181860e-01 2.17176351e-03 1.01813225e+01] [-1.67221533e-02 -9.20043844e-04 9.99859752e-01 -7.14236026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19140051299999 meters 0.06815057465713369 Centerline is valid? [True, True] Translation: X:93.18, Y:10.19, Z:-0.01 [[ 9.97356570e-01 -7.10892089e-02 1.50398423e-02 9.31831888e+01] [ 7.10676045e-02 9.97469562e-01 1.96676417e-03 1.01938687e+01] [-1.51416006e-02 -8.92719597e-04 9.99884961e-01 -1.03602852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22140051299999 meters 0.061842689314723406 Centerline is valid? [True, True] Translation: X:93.22, Y:10.19, Z:-0.01 [[ 9.97481939e-01 -6.95625330e-02 1.38143515e-02 9.32158000e+01] [ 6.95441579e-02 9.97577238e-01 1.80667396e-03 1.01881190e+01] [-1.39065594e-02 -8.41417207e-04 9.99902945e-01 -1.23534955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251400513 meters 0.06485266000247389 Centerline is valid? [True, True] Translation: X:93.25, Y:10.19, Z:-0.01 [[ 9.97586597e-01 -6.82159041e-02 1.29449299e-02 9.32454974e+01] [ 6.81996606e-02 9.97670257e-01 1.69265195e-03 1.01938569e+01] [-1.30302373e-02 -8.05727074e-04 9.99914778e-01 -1.42942967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281400513 meters 0.06361164836933121 Centerline is valid? [True, True] Translation: X:93.28, Y:10.19, Z:-0.02 [[ 9.97673056e-01 -6.69485968e-02 1.28979878e-02 9.32774905e+01] [ 6.69323665e-02 9.97756090e-01 1.68642086e-03 1.01944802e+01] [-1.29819494e-02 -8.19203800e-04 9.99915395e-01 -1.52962359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311400513 meters 0.06688362793326476 Centerline is valid? [True, True] Translation: X:93.31, Y:10.20, Z:-0.01 [[ 9.97729740e-01 -6.55550411e-02 1.54240983e-02 9.33074956e+01] [ 6.55316745e-02 9.97848453e-01 2.01605165e-03 1.01958272e+01] [-1.55230750e-02 -1.00070770e-03 9.99879009e-01 -1.28589021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341400513 meters 0.06916567991167064 Centerline is valid? [True, True] Translation: X:93.34, Y:10.20, Z:-0.01 [[ 9.97734017e-01 -6.52742600e-02 1.63126368e-02 9.33386843e+01] [ 6.52480865e-02 9.97866795e-01 2.13215796e-03 1.02001784e+01] [-1.64170136e-02 -1.06295819e-03 9.99864667e-01 -1.17847540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37140051299998 meters 0.06490352388070185 Centerline is valid? [True, True] Translation: X:93.37, Y:10.20, Z:-0.01 [[ 9.97755783e-01 -6.49813161e-02 1.61501393e-02 9.33712949e+01] [ 6.49556328e-02 9.97885921e-01 2.11034126e-03 1.01981720e+01] [-1.62531294e-02 -1.05656267e-03 9.99867351e-01 -1.23929112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40140051299998 meters 0.06764267481840808 Centerline is valid? [True, True] Translation: X:93.40, Y:10.21, Z:-0.01 [[ 9.97788895e-01 -6.47430234e-02 1.50220608e-02 9.34013136e+01] [ 6.47207863e-02 9.97901483e-01 1.96225679e-03 1.02051465e+01] [-1.51175792e-02 -9.85678443e-04 9.99885237e-01 -1.44798598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43140051299999 meters 0.07482088928895585 Centerline is valid? [True, True] Translation: X:93.43, Y:10.21, Z:-0.02 [[ 9.97811108e-01 -6.46347348e-02 1.39765761e-02 9.34312596e+01] [ 6.46154791e-02 9.97908567e-01 1.82539613e-03 1.02147925e+01] [-1.40653290e-02 -9.18297371e-04 9.99900657e-01 -1.70222313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46140051299999 meters 0.07200204552191802 Centerline is valid? [True, True] Translation: X:93.46, Y:10.21, Z:-0.02 [[ 9.97785522e-01 -6.50702057e-02 1.37811776e-02 9.34637700e+01] [ 6.50515324e-02 9.97880284e-01 1.79941760e-03 1.02128588e+01] [-1.38690539e-02 -8.98946109e-04 9.99903416e-01 -1.76495036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49140051299999 meters 0.06815815549383636 Centerline is valid? [True, True] Translation: X:93.50, Y:10.21, Z:-0.02 [[ 9.97740052e-01 -6.56948854e-02 1.41057298e-02 9.34970709e+01] [ 6.56753935e-02 9.97839342e-01 1.84114996e-03 1.02100448e+01] [-1.41962063e-02 -9.10589704e-04 9.99898814e-01 -1.71760539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52140051299999 meters 0.06552343495670207 Centerline is valid? [True, True] Translation: X:93.53, Y:10.21, Z:-0.02 [[ 9.97653670e-01 -6.67870350e-02 1.50547739e-02 9.35290175e+01] [ 6.67649700e-02 9.97766797e-01 1.96407423e-03 1.02081791e+01] [-1.51523282e-02 -9.54334342e-04 9.99884741e-01 -1.58974273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55140051299999 meters 0.061050841236091176 Centerline is valid? [True, True] Translation: X:93.56, Y:10.20, Z:-0.01 [[ 9.97430726e-01 -6.96407903e-02 1.67960364e-02 9.35609633e+01] [ 6.96137351e-02 9.97571616e-01 2.19083078e-03 1.01998397e+01] [-1.69078203e-02 -1.01596711e-03 9.99856536e-01 -1.34879560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58140051299999 meters 0.059445431538711804 Centerline is valid? [True, True] Translation: X:93.59, Y:10.20, Z:-0.01 [[ 9.97354171e-01 -7.06870290e-02 1.69706252e-02 9.35928581e+01] [ 7.06595611e-02 9.97498034e-01 2.21349716e-03 1.01986517e+01] [-1.70846308e-02 -1.00850369e-03 9.99853538e-01 -1.33527297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61140051299999 meters 0.06377252396049608 Centerline is valid? [True, True] Translation: X:93.62, Y:10.20, Z:-0.01 [[ 9.97330042e-01 -7.11818912e-02 1.63072328e-02 9.36241830e+01] [ 7.11566014e-02 9.97462889e-01 2.12658143e-03 1.02007656e+01] [-1.64172336e-02 -9.60536281e-04 9.99864767e-01 -1.47211087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641400513 meters 0.05440094100626738 Centerline is valid? [True, True] Translation: X:93.66, Y:10.20, Z:-0.02 [[ 9.97351117e-01 -7.10795996e-02 1.54415082e-02 9.36583441e+01] [ 7.10569199e-02 9.97470231e-01 2.01315836e-03 1.01950744e+01] [-1.55455393e-02 -9.10599723e-04 9.99878746e-01 -1.60951071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671400513 meters 0.06046225350954571 Centerline is valid? [True, True] Translation: X:93.69, Y:10.20, Z:-0.02 [[ 9.97406717e-01 -7.04561313e-02 1.46892464e-02 9.36890566e+01] [ 7.04355561e-02 9.97514496e-01 1.91401503e-03 1.02011580e+01] [-1.47875903e-02 -8.74406215e-04 9.99890275e-01 -1.79747457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701400513 meters 0.061004523033022645 Centerline is valid? [True, True] Translation: X:93.72, Y:10.20, Z:-0.02 [[ 9.97443434e-01 -6.97917129e-02 1.53529316e-02 9.37211020e+01] [ 6.97691672e-02 9.97561158e-01 1.99989759e-03 1.02032267e+01] [-1.54550645e-02 -9.23623469e-04 9.99880137e-01 -1.76649083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73140051299998 meters 0.062444658025833294 Centerline is valid? [True, True] Translation: X:93.75, Y:10.21, Z:-0.02 [[ 9.97497937e-01 -6.88860849e-02 1.58925432e-02 9.37523685e+01] [ 6.88618241e-02 9.97624061e-01 2.06941377e-03 1.02070741e+01] [-1.59973373e-02 -9.69846446e-04 9.99871564e-01 -1.73456456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76140051299998 meters 0.06190377603829229 Centerline is valid? [True, True] Translation: X:93.78, Y:10.21, Z:-0.02 [[ 9.97570878e-01 -6.79008021e-02 1.55507273e-02 9.37841468e+01] [ 6.78774630e-02 9.97691612e-01 2.02436450e-03 1.02074385e+01] [-1.56522862e-02 -9.63903157e-04 9.99877031e-01 -1.88376325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79140051299999 meters 0.07003011565963779 Centerline is valid? [True, True] Translation: X:93.81, Y:10.22, Z:-0.02 [[ 9.97651830e-01 -6.68968242e-02 1.46847361e-02 9.38131169e+01] [ 6.68759116e-02 9.97759470e-01 1.91112404e-03 1.02221695e+01] [-1.47796826e-02 -9.24581287e-04 9.99890347e-01 -2.08274101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82140051299999 meters 0.06309019542880473 Centerline is valid? [True, True] Translation: X:93.85, Y:10.22, Z:-0.02 [[ 9.97924092e-01 -6.28566404e-02 1.40196278e-02 9.38451886e+01] [ 6.28371868e-02 9.98022124e-01 1.82424240e-03 1.02174416e+01] [-1.41065645e-02 -9.39501466e-04 9.99900056e-01 -2.29247997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85140051299999 meters 0.06604290707147462 Centerline is valid? [True, True] Translation: X:93.87, Y:10.22, Z:-0.02 [[ 9.98063106e-01 -6.04557980e-02 1.46674351e-02 9.38739634e+01] [ 6.04342521e-02 9.98170356e-01 1.90818069e-03 1.02239505e+01] [-1.47559595e-02 -1.01806927e-03 9.99890607e-01 -2.27212497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88140051299999 meters 0.07372446101795448 Centerline is valid? [True, True] Translation: X:93.90, Y:10.24, Z:-0.02 [[ 9.98169276e-01 -5.83599750e-02 1.58811287e-02 9.39022686e+01] [ 5.83344493e-02 9.98294958e-01 2.06621058e-03 1.02360969e+01] [-1.59746347e-02 -1.13601102e-03 9.99871752e-01 -2.16085236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91140051299999 meters 0.08008145621159436 Centerline is valid? [True, True] Translation: X:93.93, Y:10.24, Z:-0.02 [[ 9.98183178e-01 -5.76745143e-02 1.74354121e-02 9.39325583e+01] [ 5.76436567e-02 9.98334647e-01 2.26764985e-03 1.02428274e+01] [-1.75371616e-02 -1.25848902e-03 9.99845420e-01 -1.94463266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94140051299999 meters 0.07156360837205562 Centerline is valid? [True, True] Translation: X:93.96, Y:10.23, Z:-0.02 [[ 9.98091015e-01 -5.94162612e-02 1.68533022e-02 9.39647985e+01] [ 5.93876860e-02 9.98232588e-01 2.19140709e-03 1.02331493e+01] [-1.69537206e-02 -1.18634511e-03 9.99855572e-01 -2.11690306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97140051299999 meters 0.07067931800412518 Centerline is valid? [True, True] Translation: X:94.00, Y:10.23, Z:-0.02 [[ 9.97963880e-01 -6.16711578e-02 1.62714956e-02 9.39963453e+01] [ 6.16448229e-02 9.98095907e-01 2.11557052e-03 1.02324116e+01] [-1.63709828e-02 -1.10820950e-03 9.99865372e-01 -2.27005869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001400513 meters 0.06772624685586233 Centerline is valid? [True, True] Translation: X:94.03, Y:10.22, Z:-0.02 [[ 9.97663622e-01 -6.63367609e-02 1.63318913e-02 9.40273174e+01] [ 6.63108557e-02 9.97796754e-01 2.12322096e-03 1.02234459e+01] [-1.64367557e-02 -1.03527863e-03 9.99864371e-01 -2.33736148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031400513 meters 0.062287172083194856 Centerline is valid? [True, True] Translation: X:94.06, Y:10.21, Z:-0.02 [[ 9.97489684e-01 -6.87000361e-02 1.71649434e-02 9.40593879e+01] [ 6.86717689e-02 9.97636812e-01 2.23151993e-03 1.02137267e+01] [-1.72776849e-02 -1.04717108e-03 9.99850181e-01 -2.28145243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061400513 meters 0.06650305172046372 Centerline is valid? [True, True] Translation: X:94.09, Y:10.22, Z:-0.02 [[ 9.97317661e-01 -7.09871632e-02 1.78411481e-02 9.40884666e+01] [ 7.09569922e-02 9.97476680e-01 2.31926880e-03 1.02185818e+01] [-1.79607675e-02 -1.04709353e-03 9.99838144e-01 -2.13961735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.091400513 meters 0.0576111566373282 Centerline is valid? [True, True] Translation: X:94.12, Y:10.20, Z:-0.02 [[ 9.97193074e-01 -7.27981664e-02 1.75043151e-02 9.41224914e+01] [ 7.27694002e-02 9.97346197e-01 2.27558348e-03 1.02014079e+01] [-1.76235204e-02 -9.95417568e-04 9.99844198e-01 -2.26594914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12140051299998 meters 0.06719758084603535 Centerline is valid? [True, True] Translation: X:94.15, Y:10.21, Z:-0.02 [[ 9.97121333e-01 -7.40547622e-02 1.62769484e-02 9.41527962e+01] [ 7.40300649e-02 9.97253766e-01 2.11547901e-03 1.02066683e+01] [-1.63889094e-02 -9.04405703e-04 9.99865284e-01 -2.47650792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15140051299998 meters 0.061145107377847306 Centerline is valid? [True, True] Translation: X:94.19, Y:10.20, Z:-0.03 [[ 9.97182974e-01 -7.33283712e-02 1.57818212e-02 9.41857490e+01] [ 7.33050690e-02 9.97307456e-01 2.05075103e-03 1.01995805e+01] [-1.58897062e-02 -8.88086517e-04 9.99873356e-01 -2.56364937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18140051299999 meters 0.05875987550680131 Centerline is valid? [True, True] Translation: X:94.21, Y:10.19, Z:-0.03 [[ 9.97453319e-01 -6.97909707e-02 1.47002088e-02 9.42148836e+01] [ 6.97460440e-02 9.97558471e-01 3.54762916e-03 1.01903712e+01] [-1.49119103e-02 -2.51331307e-03 9.99885653e-01 -2.59982332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21140051299999 meters 0.06284110064156512 Centerline is valid? [True, True] Translation: X:94.25, Y:10.20, Z:-0.03 [[ 9.97454092e-01 -6.92556006e-02 1.69999024e-02 9.42460466e+01] [ 6.92545195e-02 9.97598810e-01 6.52996798e-04 1.02041667e+01] [-1.70043061e-02 5.25985746e-04 9.99855278e-01 -2.50023713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24140051299999 meters 0.07099082701771672 Centerline is valid? [True, True] Translation: X:94.27, Y:10.21, Z:-0.03 [[ 9.97920735e-01 -6.23156221e-02 1.64611572e-02 9.42743682e+01] [ 6.22887913e-02 9.98055878e-01 2.13815398e-03 1.02131522e+01] [-1.65623951e-02 -1.10836261e-03 9.99862220e-01 -2.63785823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27140051299999 meters 0.06955488450957967 Centerline is valid? [True, True] Translation: X:94.31, Y:10.21, Z:-0.03 [[ 9.98161257e-01 -5.86359560e-02 1.53599962e-02 9.43055156e+01] [ 5.86121654e-02 9.98278836e-01 1.99486735e-03 1.02114030e+01] [-1.54505300e-02 -1.09091666e-03 9.99880038e-01 -2.83918777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30140051299999 meters 0.07326445833812513 Centerline is valid? [True, True] Translation: X:94.34, Y:10.22, Z:-0.03 [[ 9.98351718e-01 -5.54518073e-02 1.47967696e-02 9.43359509e+01] [ 5.54293832e-02 9.98460761e-01 1.92162014e-03 1.02166555e+01] [-1.48805512e-02 -1.09827695e-03 9.99888675e-01 -2.93875062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33140051299999 meters 0.07697181583347924 Centerline is valid? [True, True] Translation: X:94.37, Y:10.22, Z:-0.03 [[ 9.98476121e-01 -5.30358989e-02 1.52521668e-02 9.43662033e+01] [ 5.30117971e-02 9.98591922e-01 1.98048537e-03 1.02193416e+01] [-1.53357274e-02 -1.16892258e-03 9.99881718e-01 -2.92246977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36140051299999 meters 0.08800357646050053 Centerline is valid? [True, True] Translation: X:94.39, Y:10.24, Z:-0.03 [[ 9.98579639e-01 -5.07585093e-02 1.61950059e-02 9.43934788e+01] [ 5.07310380e-02 9.98710138e-01 2.10288538e-03 1.02390615e+01] [-1.62808559e-02 -1.27830906e-03 9.99866641e-01 -2.80357848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391400513 meters 0.08529807322521694 Centerline is valid? [True, True] Translation: X:94.42, Y:10.24, Z:-0.03 [[ 9.98743633e-01 -4.66889267e-02 1.82016196e-02 9.44243849e+01] [ 4.66535505e-02 9.98908334e-01 2.36360410e-03 1.02375327e+01] [-1.82921036e-02 -1.51146437e-03 9.99831543e-01 -2.57234658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421400513 meters 0.08068653136539904 Centerline is valid? [True, True] Translation: X:94.46, Y:10.24, Z:-0.03 [[ 9.98847747e-01 -4.46237866e-02 1.76605967e-02 9.44552347e+01] [ 4.45901625e-02 9.99002732e-01 2.29331562e-03 1.02360603e+01] [-1.77453208e-02 -1.50318426e-03 9.99841409e-01 -2.70239094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451400513 meters 0.09068837745926209 Centerline is valid? [True, True] Translation: X:94.48, Y:10.25, Z:-0.03 [[ 9.98985145e-01 -4.18917253e-02 1.65457774e-02 9.44834339e+01] [ 4.18618419e-02 9.99121099e-01 2.14848794e-03 1.02520325e+01] [-1.66212392e-02 -1.45367082e-03 9.99860801e-01 -2.88612910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48140051299998 meters 0.08660929873386775 Centerline is valid? [True, True] Translation: X:94.51, Y:10.25, Z:-0.03 [[ 9.99124021e-01 -3.88644345e-02 1.55160309e-02 9.45139585e+01] [ 3.88377993e-02 9.99243498e-01 2.01438691e-03 1.02542615e+01] [-1.55825810e-02 -1.41001385e-03 9.99877590e-01 -2.99105688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51140051299998 meters 0.09321174342191191 Centerline is valid? [True, True] Translation: X:94.54, Y:10.27, Z:-0.03 [[ 9.99315314e-01 -3.38734468e-02 1.48826035e-02 9.45415688e+01] [ 3.38483985e-02 9.99425112e-01 1.93180384e-03 1.02691442e+01] [-1.49394845e-02 -1.42672887e-03 9.99887382e-01 -3.11154227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54140051299999 meters 0.09327450814090607 Centerline is valid? [True, True] Translation: X:94.57, Y:10.27, Z:-0.03 [[ 9.99340369e-01 -3.32940477e-02 1.45028855e-02 9.45728669e+01] [ 3.32702043e-02 9.99444621e-01 1.88228990e-03 1.02744875e+01] [-1.45575000e-02 -1.39853431e-03 9.99893056e-01 -3.26231860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57140051299999 meters 0.09974656649647116 Centerline is valid? [True, True] Translation: X:94.60, Y:10.29, Z:-0.03 [[ 9.99314408e-01 -3.42296044e-02 1.41084700e-02 9.46022033e+01] [ 3.42071494e-02 9.99413089e-01 1.82992539e-03 1.02883255e+01] [-1.41628272e-02 -1.34606027e-03 9.99898796e-01 -3.47623473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60140051299999 meters 0.08934686387086069 Centerline is valid? [True, True] Translation: X:94.63, Y:10.28, Z:-0.04 [[ 9.99240623e-01 -3.66259072e-02 1.32936259e-02 9.46341324e+01] [ 3.66061855e-02 9.99328282e-01 1.72392801e-03 1.02821962e+01] [-1.33478368e-02 -1.23598996e-03 9.99910150e-01 -3.73099345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63140051299999 meters 0.08345173457650872 Centerline is valid? [True, True] Translation: X:94.66, Y:10.28, Z:-0.04 [[ 9.98906620e-01 -4.48900695e-02 1.30555020e-02 9.46637602e+01] [ 4.48717507e-02 9.98991321e-01 1.69285199e-03 1.02807873e+01] [-1.31183254e-02 -1.10517783e-03 9.99913340e-01 -3.87106398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66140051299999 meters 0.07702270801427062 Centerline is valid? [True, True] Translation: X:94.70, Y:10.28, Z:-0.04 [[ 9.98660022e-01 -5.01678200e-02 1.27023860e-02 9.46953971e+01] [ 5.01509003e-02 9.98740293e-01 1.64725797e-03 1.02759277e+01] [-1.27690241e-02 -1.00801458e-03 9.99917965e-01 -3.83699582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69140051299999 meters 0.07193384432337248 Centerline is valid? [True, True] Translation: X:94.73, Y:10.27, Z:-0.04 [[ 9.98366158e-01 -5.56736436e-02 1.28631194e-02 9.47271478e+01] [ 5.56567481e-02 9.98448569e-01 1.66803005e-03 1.02706022e+01] [-1.29360284e-02 -9.49385362e-04 9.99915875e-01 -3.82936491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72140051299999 meters 0.06766877649023044 Centerline is valid? [True, True] Translation: X:94.76, Y:10.26, Z:-0.04 [[ 9.97743463e-01 -6.57138327e-02 1.37722305e-02 9.47581882e+01] [ 6.56954165e-02 9.97838125e-01 1.78585932e-03 1.02630884e+01] [-1.38598123e-02 -8.77057049e-04 9.99903564e-01 -3.79313963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751400513 meters 0.05944222074222638 Centerline is valid? [True, True] Translation: X:94.79, Y:10.26, Z:-0.04 [[ 9.97519178e-01 -6.88174907e-02 1.48203724e-02 9.47900140e+01] [ 6.87965067e-02 9.97628863e-01 1.92168906e-03 1.02576342e+01] [-1.49174771e-02 -8.97331837e-04 9.99888326e-01 -3.75484519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781400513 meters 0.06257639457954906 Centerline is valid? [True, True] Translation: X:94.82, Y:10.26, Z:-0.04 [[ 9.97427290e-01 -6.99837980e-02 1.55263744e-02 9.48202593e+01] [ 6.99609081e-02 9.97547702e-01 2.01321564e-03 1.02638371e+01] [-1.56291916e-02 -9.21796975e-04 9.99877432e-01 -3.72365081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811400513 meters 0.0620194991192829 Centerline is valid? [True, True] Translation: X:94.85, Y:10.26, Z:-0.04 [[ 9.97521841e-01 -6.85583532e-02 1.58091695e-02 9.48517016e+01] [ 6.85344494e-02 9.97646645e-01 2.04950299e-03 1.02627754e+01] [-1.59124755e-02 -9.60951259e-04 9.99872927e-01 -3.63104052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841400513 meters 0.06279735154583911 Centerline is valid? [True, True] Translation: X:94.88, Y:10.26, Z:-0.04 [[ 9.97596075e-01 -6.73335759e-02 1.63786451e-02 9.48833436e+01] [ 6.73077578e-02 9.97730003e-01 2.12311785e-03 1.02649747e+01] [-1.64844228e-02 -1.01560415e-03 9.99863607e-01 -3.54754004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87140051299998 meters 0.062019408459929315 Centerline is valid? [True, True] Translation: X:94.91, Y:10.27, Z:-0.03 [[ 9.97677146e-01 -6.60239801e-02 1.67674264e-02 9.49146615e+01] [ 6.59967443e-02 9.97817472e-01 2.17310976e-03 1.02666149e+01] [-1.68743083e-02 -1.06146639e-03 9.99857055e-01 -3.43099569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90140051299998 meters 0.05906801993415524 Centerline is valid? [True, True] Translation: X:94.95, Y:10.26, Z:-0.04 [[ 9.97774009e-01 -6.47304507e-02 1.60310755e-02 9.49467060e+01] [ 6.47053943e-02 9.97902248e-01 2.07731298e-03 1.02637568e+01] [-1.61319117e-02 -1.03539184e-03 9.99869336e-01 -3.53671519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93140051299999 meters 0.0731005133254786 Centerline is valid? [True, True] Translation: X:94.97, Y:10.28, Z:-0.04 [[ 9.98024223e-01 -6.14345526e-02 1.31699107e-02 9.49740414e+01] [ 6.14173608e-02 9.98110714e-01 1.70626417e-03 1.02820171e+01] [-1.32498525e-02 -8.94031813e-04 9.99911817e-01 -4.15729301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96140051299999 meters 0.07062809803748749 Centerline is valid? [True, True] Translation: X:95.01, Y:10.28, Z:-0.04 [[ 9.98123804e-01 -5.96514409e-02 1.38049606e-02 9.50059107e+01] [ 5.96323820e-02 9.98218804e-01 1.78848774e-03 1.02790834e+01] [-1.38870571e-02 -9.61909507e-04 9.99903107e-01 -4.16836177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99140051299999 meters 0.07062809803748749 Centerline is valid? [True, True] Translation: X:95.04, Y:10.28, Z:-0.04 [[ 9.98126566e-01 -5.96052169e-02 1.38049742e-02 9.50373974e+01] [ 5.95861550e-02 9.98221564e-01 1.78838303e-03 1.02830844e+01] [-1.38870199e-02 -9.62447277e-04 9.99903107e-01 -4.21763712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02140051299999 meters 0.06828917554515379 Centerline is valid? [True, True] Translation: X:95.07, Y:10.29, Z:-0.04 [[ 9.98215430e-01 -5.77699069e-02 1.51192673e-02 9.50680016e+01] [ 5.77468449e-02 9.98329339e-01 1.95785413e-03 1.02858894e+01] [-1.52071132e-02 -1.08127022e-03 9.99883781e-01 -4.08269308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05140051299999 meters 0.07822605294065309 Centerline is valid? [True, True] Translation: X:95.10, Y:10.30, Z:-0.04 [[ 9.98292080e-01 -5.60258456e-02 1.65538085e-02 9.50968663e+01] [ 5.59979641e-02 9.98428582e-01 2.14340517e-03 1.02998224e+01] [-1.66478816e-02 -1.21276483e-03 9.99860679e-01 -3.88074345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08140051299999 meters 0.0710049520808425 Centerline is valid? [True, True] Translation: X:95.13, Y:10.29, Z:-0.04 [[ 9.98455046e-01 -5.30921158e-02 1.63935220e-02 9.51285450e+01] [ 5.30643815e-02 9.98588838e-01 2.12246955e-03 1.02916206e+01] [-1.64830745e-02 -1.24927833e-03 9.99863364e-01 -3.92340859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11140051299999 meters 0.08053052010467628 Centerline is valid? [True, True] Translation: X:95.16, Y:10.31, Z:-0.04 [[ 9.98506001e-01 -5.22226491e-02 1.60798265e-02 9.51575269e+01] [ 5.21958547e-02 9.98634697e-01 2.08181095e-03 1.03070418e+01] [-1.61665903e-02 -1.23940044e-03 9.99868544e-01 -4.06835493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141400513 meters 0.07600165003899538 Centerline is valid? [True, True] Translation: X:95.19, Y:10.31, Z:-0.04 [[ 9.98515315e-01 -5.22154220e-02 1.55149877e-02 9.51899705e+01] [ 5.21904820e-02 9.98635129e-01 2.00832279e-03 1.03051240e+01] [-1.55986771e-02 -1.19560638e-03 9.99877618e-01 -4.27278673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171400513 meters 0.07558901426476428 Centerline is valid? [True, True] Translation: X:95.22, Y:10.30, Z:-0.04 [[ 9.98467685e-01 -5.33620283e-02 1.46552079e-02 9.52223603e+01] [ 5.33399084e-02 9.98574613e-01 1.89638115e-03 1.03035182e+01] [-1.47355133e-02 -1.11176785e-03 9.99890808e-01 -4.44699016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201400513 meters 0.07956316801729924 Centerline is valid? [True, True] Translation: X:95.25, Y:10.31, Z:-0.05 [[ 9.98394584e-01 -5.48594291e-02 1.40960105e-02 9.52512651e+01] [ 5.48391210e-02 9.98493538e-01 1.82349808e-03 1.03133202e+01] [-1.41748114e-02 -1.04755778e-03 9.99898984e-01 -4.59107299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23140051299998 meters 0.07020984509814712 Centerline is valid? [True, True] Translation: X:95.28, Y:10.30, Z:-0.04 [[ 9.98163471e-01 -5.88936912e-02 1.41851671e-02 9.52840089e+01] [ 5.88735305e-02 9.98263763e-01 1.83503034e-03 1.02988092e+01] [-1.42686100e-02 -9.96529382e-04 9.99897702e-01 -4.41012028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26140051299998 meters 0.0714671779623752 Centerline is valid? [True, True] Translation: X:95.31, Y:10.30, Z:-0.04 [[ 9.98086392e-01 -6.00229912e-02 1.48591668e-02 9.53142913e+01] [ 6.00009930e-02 9.98196467e-01 1.92225043e-03 1.03049754e+01] [-1.49477470e-02 -1.02700724e-03 9.99887749e-01 -4.33336053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29140051299999 meters 0.06915086049784978 Centerline is valid? [True, True] Translation: X:95.35, Y:10.30, Z:-0.04 [[ 9.98024257e-01 -6.09790395e-02 1.51373740e-02 9.53464428e+01] [ 6.09563248e-02 9.98138514e-01 1.95788110e-03 1.03032776e+01] [-1.52285857e-02 -1.03129414e-03 9.99883507e-01 -4.35753681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32140051299999 meters 0.06515299198643548 Centerline is valid? [True, True] Translation: X:95.38, Y:10.30, Z:-0.05 [[ 9.98005909e-01 -6.14576921e-02 1.43929733e-02 9.53784611e+01] [ 6.14372133e-02 9.98109215e-01 1.86111111e-03 1.02983533e+01] [-1.44801389e-02 -9.73135716e-04 9.99894684e-01 -4.66833417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35140051299999 meters 0.07265900158066642 Centerline is valid? [True, True] Translation: X:95.41, Y:10.31, Z:-0.05 [[ 9.98033921e-01 -6.10861356e-02 1.40276956e-02 9.54075822e+01] [ 6.10666515e-02 9.98132043e-01 1.81353828e-03 1.03102411e+01] [-1.41122745e-02 -9.53348317e-04 9.99899962e-01 -4.89659317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38140051299999 meters 0.07174591357730196 Centerline is valid? [True, True] Translation: X:95.44, Y:10.31, Z:-0.05 [[ 9.98050828e-01 -6.07877287e-02 1.41208039e-02 9.54390338e+01] [ 6.07679575e-02 9.98150251e-01 1.82542137e-03 1.03117411e+01] [-1.42056472e-02 -9.63770903e-04 9.99898630e-01 -4.99533325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41140051299999 meters 0.06506660021438262 Centerline is valid? [True, True] Translation: X:95.47, Y:10.31, Z:-0.05 [[ 9.98057810e-01 -6.05984391e-02 1.44373182e-02 9.54709573e+01] [ 6.05777567e-02 9.98161737e-01 1.86599320e-03 1.03053537e+01] [-1.45238549e-02 -9.87788740e-04 9.99894035e-01 -4.90139789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44140051299999 meters 0.07243226769474728 Centerline is valid? [True, True] Translation: X:95.50, Y:10.31, Z:-0.05 [[ 9.97917147e-01 -6.23917315e-02 1.63902047e-02 9.55009912e+01] [ 6.23653190e-02 9.98051141e-01 2.11819310e-03 1.03057304e+01] [-1.64904203e-02 -1.09160087e-03 9.99863428e-01 -4.61686426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47140051299999 meters 0.06974041384568007 Centerline is valid? [True, True] Translation: X:95.53, Y:10.30, Z:-0.05 [[ 9.97785352e-01 -6.43705240e-02 1.67578706e-02 9.55324023e+01] [ 6.43431911e-02 9.97925480e-01 2.16569316e-03 1.03026382e+01] [-1.68625129e-02 -1.08264204e-03 9.99857232e-01 -4.57411515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501400513 meters 0.062069877446311546 Centerline is valid? [True, True] Translation: X:95.56, Y:10.29, Z:-0.05 [[ 9.97662053e-01 -6.62895196e-02 1.66171101e-02 9.55646228e+01] [ 6.62629122e-02 9.97799888e-01 2.14731587e-03 1.02935034e+01] [-1.67228951e-02 -1.04119745e-03 9.99859620e-01 -4.69056586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531400513 meters 0.06779087214267487 Centerline is valid? [True, True] Translation: X:95.59, Y:10.30, Z:-0.05 [[ 9.97577463e-01 -6.78036913e-02 1.55520258e-02 9.55944507e+01] [ 6.77805717e-02 9.97698229e-01 2.00951404e-03 1.02979287e+01] [-1.56524810e-02 -9.50520723e-04 9.99877041e-01 -4.96316581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561400513 meters 0.06175396509471928 Centerline is valid? [True, True] Translation: X:95.63, Y:10.29, Z:-0.05 [[ 9.97575573e-01 -6.81489724e-02 1.40958427e-02 9.56253649e+01] [ 6.81300147e-02 9.97674789e-01 1.82132682e-03 1.02919046e+01] [-1.41871885e-02 -8.56561179e-04 9.99898990e-01 -5.29445588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59140051299998 meters 0.059286735412245405 Centerline is valid? [True, True] Translation: X:95.66, Y:10.29, Z:-0.06 [[ 9.97643119e-01 -6.74127236e-02 1.27957601e-02 9.56551258e+01] [ 6.73970385e-02 9.97724864e-01 1.65357677e-03 1.02896418e+01] [-1.28781201e-02 -7.87283158e-04 9.99916764e-01 -5.51282575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62140051299998 meters 0.07534584152842053 Centerline is valid? [True, True] Translation: X:95.68, Y:10.31, Z:-0.05 [[ 9.97882717e-01 -6.34182433e-02 1.44294615e-02 9.56824962e+01] [ 6.33978721e-02 9.97986588e-01 1.86530691e-03 1.03081245e+01] [-1.45187036e-02 -9.46560366e-04 9.99894150e-01 -5.28751815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65140051299998 meters 0.06637902485993502 Centerline is valid? [True, True] Translation: X:95.71, Y:10.30, Z:-0.05 [[ 9.98001484e-01 -6.13348621e-02 1.52010874e-02 9.57137527e+01] [ 6.13120104e-02 9.98116714e-01 1.96523288e-03 1.02999049e+01] [-1.52929967e-02 -1.02929610e-03 9.99882526e-01 -5.15254008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68140051299999 meters 0.06777759773848197 Centerline is valid? [True, True] Translation: X:95.74, Y:10.30, Z:-0.05 [[ 9.98156943e-01 -5.89246498e-02 1.45121267e-02 9.57441065e+01] [ 5.89035648e-02 9.98261914e-01 1.87646647e-03 1.03004074e+01] [-1.45974735e-02 -1.01819204e-03 9.99892933e-01 -5.28273688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71140051299999 meters 0.07766694538137645 Centerline is valid? [True, True] Translation: X:95.77, Y:10.31, Z:-0.06 [[ 9.98563553e-01 -5.22285435e-02 1.19586326e-02 9.57718256e+01] [ 5.22137472e-02 9.98634735e-01 1.54639201e-03 1.03126762e+01] [-1.20230717e-02 -9.19765686e-04 9.99927297e-01 -5.78034384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74140051299999 meters 0.08198450670751983 Centerline is valid? [True, True] Translation: X:95.80, Y:10.32, Z:-0.06 [[ 9.98701949e-01 -4.96741858e-02 1.12646512e-02 9.57999381e+01] [ 4.96608960e-02 9.98765074e-01 1.45661409e-03 1.03212608e+01] [-1.13230963e-02 -8.95310657e-04 9.99935491e-01 -5.91140939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77140051299999 meters 0.075431358557351 Centerline is valid? [True, True] Translation: X:95.83, Y:10.32, Z:-0.06 [[ 9.98768561e-01 -4.84206681e-02 1.08073918e-02 9.58306842e+01] [ 4.84083674e-02 9.98826651e-01 1.39703668e-03 1.03163830e+01] [-1.08623564e-02 -8.72148125e-04 9.99940623e-01 -5.87428846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80140051299999 meters 0.08272487182688486 Centerline is valid? [True, True] Translation: X:95.86, Y:10.33, Z:-0.06 [[ 9.98786621e-01 -4.80190381e-02 1.09296631e-02 9.58589853e+01] [ 4.80064287e-02 9.98846027e-01 1.41328449e-03 1.03296740e+01] [-1.09849151e-02 -8.86875549e-04 9.99939271e-01 -5.95447370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83140051299999 meters 0.07618424150436584 Centerline is valid? [True, True] Translation: X:95.89, Y:10.33, Z:-0.06 [[ 9.98786793e-01 -4.80342394e-02 1.08468777e-02 9.58910221e+01] [ 4.80218298e-02 9.98845303e-01 1.40179464e-03 1.03264317e+01] [-1.09016870e-02 -8.79207058e-04 9.99940188e-01 -5.99514399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86140051299999 meters 0.07295865615691298 Centerline is valid? [True, True] Translation: X:95.92, Y:10.32, Z:-0.06 [[ 9.98753113e-01 -4.83239855e-02 1.25304163e-02 9.59222224e+01] [ 4.83074523e-02 9.98831201e-01 1.61895356e-03 1.03224542e+01] [-1.25940050e-02 -1.01162243e-03 9.99920181e-01 -5.89206690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891400513 meters 0.08999920058682238 Centerline is valid? [True, True] Translation: X:95.95, Y:10.34, Z:-0.06 [[ 9.98705768e-01 -4.89728331e-02 1.37277003e-02 9.59507269e+01] [ 4.89530495e-02 9.98799506e-01 1.77368404e-03 1.03428487e+01] [-1.37980826e-02 -1.09937569e-03 9.99904198e-01 -5.78973624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921400513 meters 0.07585714156141411 Centerline is valid? [True, True] Translation: X:95.98, Y:10.33, Z:-0.06 [[ 9.98643762e-01 -5.00321608e-02 1.44020621e-02 9.59839283e+01] [ 5.00105004e-02 9.98746959e-01 1.86044724e-03 1.03272265e+01] [-1.44770980e-02 -1.13766970e-03 9.99894554e-01 -5.66005531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951400513 meters 0.08105764117337524 Centerline is valid? [True, True] Translation: X:96.01, Y:10.34, Z:-0.06 [[ 9.98585843e-01 -5.11428934e-02 1.45161836e-02 9.60135778e+01] [ 5.11210072e-02 9.98690706e-01 1.87503136e-03 1.03366188e+01] [-1.45930722e-02 -1.13029784e-03 9.99892877e-01 -5.74505975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98140051299998 meters 0.07162222862715235 Centerline is valid? [True, True] Translation: X:96.05, Y:10.33, Z:-0.06 [[ 9.98523550e-01 -5.24587375e-02 1.40997002e-02 9.60457018e+01] [ 5.24382245e-02 9.98622510e-01 1.82089182e-03 1.03264654e+01] [-1.41757997e-02 -1.07884012e-03 9.99898936e-01 -5.86794277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01140051299998 meters 0.07026296704772751 Centerline is valid? [True, True] Translation: X:96.08, Y:10.33, Z:-0.06 [[ 9.98468538e-01 -5.35071608e-02 1.40556601e-02 9.60770686e+01] [ 5.34868788e-02 9.98566903e-01 1.81521996e-03 1.03254450e+01] [-1.41326442e-02 -1.06064664e-03 9.99899567e-01 -5.98390802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04140051299999 meters 0.06994922507357307 Centerline is valid? [True, True] Translation: X:96.11, Y:10.33, Z:-0.06 [[ 9.98488747e-01 -5.29665540e-02 1.46549183e-02 9.61073847e+01] [ 5.29444504e-02 9.98595666e-01 1.89242349e-03 1.03266824e+01] [-1.47345731e-02 -1.11366696e-03 9.99890820e-01 -5.96266912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07140051299999 meters 0.0782209132431188 Centerline is valid? [True, True] Translation: X:96.14, Y:10.34, Z:-0.06 [[ 9.98508516e-01 -5.26558661e-02 1.44257523e-02 9.61367755e+01] [ 5.26344160e-02 9.98612111e-01 1.86284202e-03 1.03368249e+01] [-1.45038205e-02 -1.10077258e-03 9.99894208e-01 -6.01830733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10140051299999 meters 0.08132298533878403 Centerline is valid? [True, True] Translation: X:96.17, Y:10.34, Z:-0.06 [[ 9.98670082e-01 -4.99872076e-02 1.26232431e-02 9.61654949e+01] [ 4.99705734e-02 9.98749361e-01 1.62992851e-03 1.03442020e+01] [-1.26889315e-02 -9.96970140e-04 9.99918995e-01 -6.38447142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13140051299999 meters 0.07516922166055583 Centerline is valid? [True, True] Translation: X:96.20, Y:10.34, Z:-0.07 [[ 9.98750501e-01 -4.85414285e-02 1.18813144e-02 9.61971450e+01] [ 4.85265910e-02 9.98820713e-01 1.53409417e-03 1.03377220e+01] [-1.19417701e-02 -9.55617636e-04 9.99928238e-01 -6.52785035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16140051299999 meters 0.07437289225170068 Centerline is valid? [True, True] Translation: X:96.23, Y:10.34, Z:-0.06 [[ 9.98806612e-01 -4.72471649e-02 1.23716579e-02 9.62273403e+01] [ 4.72309793e-02 9.98882717e-01 1.59737104e-03 1.03389448e+01] [-1.24333065e-02 -1.01113924e-03 9.99922192e-01 -6.44664038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19140051299999 meters 0.07782926859034307 Centerline is valid? [True, True] Translation: X:96.26, Y:10.34, Z:-0.06 [[ 9.98833811e-01 -4.63011258e-02 1.36829637e-02 9.62576669e+01] [ 4.62812359e-02 9.98926887e-01 1.76688017e-03 1.03445522e+01] [-1.37500889e-02 -1.13155518e-03 9.99904823e-01 -6.28931574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22140051299999 meters 0.08546876735396139 Centerline is valid? [True, True] Translation: X:96.29, Y:10.36, Z:-0.06 [[ 9.98839619e-01 -4.58576233e-02 1.47137601e-02 9.62861539e+01] [ 4.58345756e-02 9.98947237e-01 1.89999474e-03 1.03583365e+01] [-1.47853992e-02 -1.22339107e-03 9.99889942e-01 -6.27965022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251400513 meters 0.07891574328302697 Centerline is valid? [True, True] Translation: X:96.32, Y:10.35, Z:-0.06 [[ 9.98858737e-01 -4.56588453e-02 1.40175866e-02 9.63190022e+01] [ 4.56379093e-02 9.98956408e-01 1.80999111e-03 1.03541342e+01] [-1.40856001e-02 -1.16819208e-03 9.99900111e-01 -6.46882437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281400513 meters 0.0782618764345784 Centerline is valid? [True, True] Translation: X:96.35, Y:10.36, Z:-0.07 [[ 9.98835488e-01 -4.71034215e-02 1.04372639e-02 9.63501922e+01] [ 4.70918993e-02 9.98889653e-01 1.34711612e-03 1.03551177e+01] [-1.04891287e-02 -8.54036804e-04 9.99944623e-01 -7.08255194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311400513 meters 0.07443614957781743 Centerline is valid? [True, True] Translation: X:96.38, Y:10.35, Z:-0.07 [[ 9.98812462e-01 -4.78788162e-02 9.01581490e-03 9.63806829e+01] [ 4.78702517e-02 9.98852885e-01 1.16348038e-03 1.03542163e+01] [-9.06117878e-03 -7.30509373e-04 9.99958680e-01 -7.24802549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34140051299998 meters 0.07437555632677313 Centerline is valid? [True, True] Translation: X:96.41, Y:10.36, Z:-0.07 [[ 9.98778163e-01 -4.86609645e-02 8.61930058e-03 9.64095637e+01] [ 4.86531695e-02 9.98815114e-01 1.11186873e-03 1.03580693e+01] [-8.66319230e-03 -6.91153914e-04 9.99962235e-01 -7.31682766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37140051299998 meters 0.0850226178224075 Centerline is valid? [True, True] Translation: X:96.44, Y:10.37, Z:-0.07 [[ 9.98755795e-01 -4.91064010e-02 8.68467191e-03 9.64359562e+01] [ 4.90984856e-02 9.98793311e-01 1.12242668e-03 1.03725850e+01] [-8.72931055e-03 -6.94625915e-04 9.99961658e-01 -7.44901626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40140051299998 meters 0.07542142621632061 Centerline is valid? [True, True] Translation: X:96.47, Y:10.37, Z:-0.07 [[ 9.98723175e-01 -4.97236000e-02 8.92098046e-03 9.64657816e+01] [ 4.97152736e-02 9.98762766e-01 1.15283529e-03 1.03670078e+01] [-8.96726624e-03 -7.07854337e-04 9.99959543e-01 -7.37798348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43140051299999 meters 0.07969142997626949 Centerline is valid? [True, True] Translation: X:96.49, Y:10.38, Z:-0.07 [[ 9.98693765e-01 -5.02368549e-02 9.32858940e-03 9.64922003e+01] [ 5.02277512e-02 9.98737060e-01 1.20777286e-03 1.03773609e+01] [-9.37748266e-03 -7.37641159e-04 9.99955758e-01 -7.45700528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46140051299999 meters 0.07624535494418577 Centerline is valid? [True, True] Translation: X:96.52, Y:10.38, Z:-0.07 [[ 9.98616498e-01 -5.12902040e-02 1.15932929e-02 9.65222525e+01] [ 5.12762019e-02 9.98683381e-01 1.50199964e-03 1.03769378e+01] [-1.16550668e-02 -9.05461591e-04 9.99931667e-01 -7.09218548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49140051299999 meters 0.08165306166569053 Centerline is valid? [True, True] Translation: X:96.55, Y:10.39, Z:-0.07 [[ 9.98607005e-01 -5.12759477e-02 1.24429445e-02 9.65503385e+01] [ 5.12598120e-02 9.98684050e-01 1.61246426e-03 1.03870422e+01] [-1.25092509e-02 -9.72395107e-04 9.99921283e-01 -6.99126332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52140051299999 meters 0.07252501866266234 Centerline is valid? [True, True] Translation: X:96.58, Y:10.38, Z:-0.07 [[ 9.98621010e-01 -5.10240308e-02 1.23542446e-02 9.65816387e+01] [ 5.10081057e-02 9.98696956e-01 1.60092466e-03 1.03846850e+01] [-1.24198321e-02 -9.68550391e-04 9.99922402e-01 -6.97334437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55140051299999 meters 0.07452589956418555 Centerline is valid? [True, True] Translation: X:96.61, Y:10.39, Z:-0.07 [[ 9.98614945e-01 -5.12376069e-02 1.19540557e-02 9.66100956e+01] [ 5.12227120e-02 9.98686054e-01 1.54907795e-03 1.03944224e+01] [-1.20177198e-02 -9.34613236e-04 9.99927348e-01 -7.02366374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58140051299999 meters 0.12346489996531318 Centerline is valid? [True, False] Translation: X:96.57, Y:10.40, Z:-0.06 [[ 9.98983739e-01 -4.46771167e-02 5.95350362e-03 9.65664042e+01] [ 4.47347380e-02 9.98949598e-01 -9.92492513e-03 1.03979698e+01] [-5.50383301e-03 1.01811672e-02 9.99933024e-01 -6.37473031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61140051299999 meters 0.07725957561144045 Centerline is valid? [False, True] Translation: X:96.60, Y:10.41, Z:-0.07 [[ 9.99251931e-01 -3.54157806e-02 1.55338379e-02 9.66049031e+01] [ 3.57314011e-02 9.99150441e-01 -2.05344451e-02 1.04099409e+01] [-1.47933976e-02 2.10741297e-02 9.99668463e-01 -6.91808158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641400513 meters 0.0732228233658666 Centerline is valid? [True, True] Translation: X:96.64, Y:10.39, Z:-0.06 [[ 9.99190224e-01 -3.73391768e-02 1.49893806e-02 9.66377232e+01] [ 3.73180969e-02 9.99302019e-01 1.68366702e-03 1.03917815e+01] [-1.50417850e-02 -1.12292847e-03 9.99886235e-01 -6.29713020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671400513 meters 0.07641448886019192 Centerline is valid? [True, True] Translation: X:96.67, Y:10.40, Z:-0.06 [[ 9.99135991e-01 -3.88184162e-02 1.48459624e-02 9.66674129e+01] [ 3.87979001e-02 9.99245687e-01 1.66755772e-03 1.03974991e+01] [-1.48994959e-02 -1.09012477e-03 9.99888402e-01 -6.42849567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701400513 meters 0.07357255309191175 Centerline is valid? [True, True] Translation: X:96.70, Y:10.40, Z:-0.07 [[ 9.99069669e-01 -4.07381320e-02 1.41492326e-02 9.66984809e+01] [ 4.07196880e-02 9.99169346e-01 1.58930984e-03 1.03991169e+01] [-1.42022250e-02 -1.01167892e-03 9.99898632e-01 -6.70144724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73140051299998 meters 0.06757592450975876 Centerline is valid? [True, True] Translation: X:96.73, Y:10.40, Z:-0.07 [[ 9.98989751e-01 -4.28702783e-02 1.34765523e-02 9.67300704e+01] [ 4.28537415e-02 9.99080210e-01 1.51360668e-03 1.03983273e+01] [-1.35290454e-02 -9.34556876e-04 9.99908042e-01 -6.91062442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76140051299998 meters 0.07143919302736676 Centerline is valid? [True, True] Translation: X:96.76, Y:10.41, Z:-0.07 [[ 9.98897352e-01 -4.50701975e-02 1.31437424e-02 9.67592696e+01] [ 4.50546591e-02 9.98983433e-01 1.47605624e-03 1.04050921e+01] [-1.31969070e-02 -8.82241836e-04 9.99912528e-01 -7.02339021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79140051299999 meters 0.06784170157803616 Centerline is valid? [True, True] Translation: X:96.79, Y:10.40, Z:-0.07 [[ 9.98803751e-01 -4.70333259e-02 1.33766072e-02 9.67909457e+01] [ 4.70174071e-02 9.98892941e-01 1.50222340e-03 1.04035498e+01] [-1.34324530e-02 -8.71492984e-04 9.99909401e-01 -6.91371530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82140051299999 meters 0.0685250111505887 Centerline is valid? [True, True] Translation: X:96.82, Y:10.41, Z:-0.07 [[ 9.98718654e-01 -4.85469548e-02 1.42913926e-02 9.68204725e+01] [ 4.85289405e-02 9.98820488e-01 1.60481116e-03 1.04099772e+01] [-1.43524444e-02 -9.09208704e-04 9.99896585e-01 -6.65943675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85140051299999 meters 0.0610509926410638 Centerline is valid? [True, True] Translation: X:96.85, Y:10.41, Z:-0.07 [[ 9.98740440e-01 -4.80237508e-02 1.45345405e-02 9.68527742e+01] [ 4.80050628e-02 9.98845759e-01 1.63212965e-03 1.04065008e+01] [-1.45961451e-02 -9.32342359e-04 9.99893036e-01 -6.76042349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88140051299999 meters 0.0610509926410638 Centerline is valid? [True, True] Translation: X:96.88, Y:10.41, Z:-0.07 [[ 9.98741547e-01 -4.80007174e-02 1.45345782e-02 9.68834763e+01] [ 4.79820318e-02 9.98846866e-01 1.63179327e-03 1.04099100e+01] [-1.45961452e-02 -9.32341140e-04 9.99893036e-01 -6.80759091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91140051299999 meters 0.07149671567611486 Centerline is valid? [True, True] Translation: X:96.91, Y:10.42, Z:-0.07 [[ 9.98780308e-01 -4.72753230e-02 1.42456772e-02 9.69123032e+01] [ 4.72573044e-02 9.98881470e-01 1.59901124e-03 1.04210649e+01] [-1.43053368e-02 -9.23848634e-04 9.99897247e-01 -7.02087896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94140051299999 meters 0.06786868053275179 Centerline is valid? [True, True] Translation: X:96.94, Y:10.42, Z:-0.07 [[ 9.98842772e-01 -4.60568475e-02 1.38522280e-02 9.69440362e+01] [ 4.60396935e-02 9.98938401e-01 1.55487840e-03 1.04213914e+01] [-1.39091353e-02 -9.15326715e-04 9.99902844e-01 -7.23140776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97140051299999 meters 0.07291692872517469 Centerline is valid? [True, True] Translation: X:96.97, Y:10.43, Z:-0.07 [[ 9.98906483e-01 -4.49811076e-02 1.27490404e-02 9.69730094e+01] [ 4.49664927e-02 9.98987471e-01 1.43084614e-03 1.04297507e+01] [-1.28004927e-02 -8.56001858e-04 9.99917704e-01 -7.42239766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001400513 meters 0.07139255649405069 Centerline is valid? [True, True] Translation: X:97.00, Y:10.43, Z:-0.08 [[ 9.98926132e-01 -4.49040873e-02 1.14107324e-02 9.70046555e+01] [ 4.48923813e-02 9.98991009e-01 1.28008216e-03 1.04258296e+01] [-1.14567000e-02 -7.66452571e-04 9.99934076e-01 -7.61304554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031400513 meters 0.06427864754701626 Centerline is valid? [True, True] Translation: X:97.04, Y:10.42, Z:-0.08 [[ 9.98920932e-01 -4.51676943e-02 1.08097892e-02 9.70360797e+01] [ 4.51572078e-02 9.98979157e-01 1.21234015e-03 1.04222897e+01] [-1.08535127e-02 -7.22892053e-04 9.99940838e-01 -7.53689980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061400513 meters 0.06757074363747012 Centerline is valid? [True, True] Translation: X:97.07, Y:10.43, Z:-0.07 [[ 9.98926916e-01 -4.47676611e-02 1.18689610e-02 9.70657363e+01] [ 4.47549902e-02 9.98997107e-01 1.33116759e-03 1.04341495e+01] [-1.19166510e-02 -7.98543899e-04 9.99928675e-01 -7.46267353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09140051299998 meters 0.06666871917850227 Centerline is valid? [True, True] Translation: X:97.10, Y:10.43, Z:-0.07 [[ 9.98938024e-01 -4.43545689e-02 1.24697814e-02 9.70970912e+01] [ 4.43405522e-02 9.99015495e-01 1.39842698e-03 1.04332198e+01] [-1.25195315e-02 -8.44024890e-04 9.99921271e-01 -7.39727105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12140051299998 meters 0.06432135109300763 Centerline is valid? [True, True] Translation: X:97.13, Y:10.44, Z:-0.07 [[ 9.98983191e-01 -4.33673802e-02 1.23229556e-02 9.71275746e+01] [ 4.33536212e-02 9.99058834e-01 1.38161090e-03 1.04354934e+01] [-1.23712745e-02 -8.45961312e-04 9.99923115e-01 -7.47246980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15140051299998 meters 0.07178479622650302 Centerline is valid? [True, True] Translation: X:97.16, Y:10.45, Z:-0.08 [[ 9.99047440e-01 -4.21183294e-02 1.14131364e-02 9.71570677e+01] [ 4.21064456e-02 9.99112311e-01 1.27964855e-03 1.04468707e+01] [-1.14569017e-02 -7.97863003e-04 9.99934049e-01 -7.68898509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18140051299999 meters 0.06457135493986163 Centerline is valid? [True, True] Translation: X:97.19, Y:10.44, Z:-0.08 [[ 9.99108563e-01 -4.09146881e-02 1.03955288e-02 9.71881670e+01] [ 4.09047665e-02 9.99162370e-01 1.16533652e-03 1.04398159e+01] [-1.04345006e-02 -7.39071014e-04 9.99945286e-01 -7.83520304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21140051299999 meters 0.06351830468012346 Centerline is valid? [True, True] Translation: X:97.22, Y:10.44, Z:-0.08 [[ 9.99102212e-01 -4.10850611e-02 1.03337856e-02 9.72192893e+01] [ 4.10752647e-02 9.99155384e-01 1.15854268e-03 1.04404607e+01] [-1.03726563e-02 -7.33039579e-04 9.99945934e-01 -7.88147193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24140051299999 meters 0.07304688382509048 Centerline is valid? [True, True] Translation: X:97.25, Y:10.45, Z:-0.08 [[ 9.99084585e-01 -4.15515105e-02 1.01717138e-02 9.72485778e+01] [ 4.15420409e-02 9.99136106e-01 1.14058810e-03 1.04513660e+01] [-1.02103196e-02 -7.16990242e-04 9.99947616e-01 -7.98130457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27140051299999 meters 0.06694971408418245 Centerline is valid? [True, True] Translation: X:97.28, Y:10.45, Z:-0.08 [[ 9.99063546e-01 -4.20725139e-02 1.00962845e-02 9.72796831e+01] [ 4.20632124e-02 9.99114310e-01 1.13195084e-03 1.04480619e+01] [-1.01349663e-02 -7.06208657e-04 9.99948391e-01 -7.94276238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30140051299999 meters 0.0657724175228017 Centerline is valid? [True, True] Translation: X:97.31, Y:10.45, Z:-0.08 [[ 9.99055180e-01 -4.23890277e-02 9.58733188e-03 9.73100521e+01] [ 4.23806562e-02 9.99100958e-01 1.07475735e-03 1.04472943e+01] [-9.62427038e-03 -6.67424479e-04 9.99953463e-01 -7.98122146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33140051299999 meters 0.06481936009087239 Centerline is valid? [True, True] Translation: X:97.34, Y:10.45, Z:-0.08 [[ 9.99083872e-01 -4.17779630e-02 9.27464309e-03 9.73388750e+01] [ 4.17701005e-02 9.99126707e-01 1.03991257e-03 1.04535896e+01] [-9.30998904e-03 -6.51557101e-04 9.99956449e-01 -8.05576459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36140051299999 meters 0.07226925021327858 Centerline is valid? [True, True] Translation: X:97.37, Y:10.46, Z:-0.08 [[ 9.99169894e-01 -3.94771857e-02 1.00536013e-02 9.73668066e+01] [ 3.94678283e-02 9.99220206e-01 1.12753640e-03 1.04649393e+01] [-1.00902736e-02 -7.29806611e-04 9.99948826e-01 -8.07543845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391400513 meters 0.06949064826557243 Centerline is valid? [True, True] Translation: X:97.40, Y:10.46, Z:-0.08 [[ 9.99194771e-01 -3.85973016e-02 1.09571305e-02 9.73980301e+01] [ 3.85861297e-02 9.99254522e-01 1.22925203e-03 1.04638784e+01] [-1.09964080e-02 -8.05468940e-04 9.99939213e-01 -7.95970192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421400513 meters 0.06844138407441565 Centerline is valid? [True, True] Translation: X:97.43, Y:10.46, Z:-0.08 [[ 9.99206536e-01 -3.81535824e-02 1.14281412e-02 9.74294660e+01] [ 3.81414016e-02 9.99271530e-01 1.28199655e-03 1.04647132e+01] [-1.14687289e-02 -8.45094005e-04 9.99933875e-01 -7.93375899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451400513 meters 0.07690352710116984 Centerline is valid? [True, True] Translation: X:97.46, Y:10.47, Z:-0.08 [[ 9.99191989e-01 -3.84945247e-02 1.15559858e-02 9.74586069e+01] [ 3.84820962e-02 9.99258449e-01 1.29602083e-03 1.04747974e+01] [-1.15973061e-02 -8.50275076e-04 9.99932387e-01 -8.09939126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48140051299998 meters 0.06883190952765326 Centerline is valid? [True, True] Translation: X:97.49, Y:10.47, Z:-0.08 [[ 9.99146194e-01 -3.97339578e-02 1.13179742e-02 9.74898620e+01] [ 3.97221169e-02 9.99209959e-01 1.26917101e-03 1.04715403e+01] [-1.13594618e-02 -8.18513486e-04 9.99935144e-01 -8.16288353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51140051299998 meters 0.0616587678638268 Centerline is valid? [True, True] Translation: X:97.52, Y:10.46, Z:-0.08 [[ 9.99004539e-01 -4.31161174e-02 1.14425409e-02 9.75216535e+01] [ 4.31042354e-02 9.99069757e-01 1.28311358e-03 1.04649803e+01] [-1.14872194e-02 -7.88614315e-04 9.99933709e-01 -8.11128065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54140051299999 meters 0.0639796771287022 Centerline is valid? [True, True] Translation: X:97.55, Y:10.47, Z:-0.08 [[ 9.98925338e-01 -4.48523163e-02 1.16807158e-02 9.75516271e+01] [ 4.48400545e-02 9.98993320e-01 1.30965839e-03 1.04686230e+01] [-1.17276983e-02 -7.84487017e-04 9.99930920e-01 -8.07145319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57140051299999 meters 0.06156810943344628 Centerline is valid? [True, True] Translation: X:97.58, Y:10.47, Z:-0.08 [[ 9.98836676e-01 -4.66650051e-02 1.21520618e-02 9.75820776e+01] [ 4.66518678e-02 9.98910280e-01 1.36247115e-03 1.04685770e+01] [-1.22023992e-02 -7.93969771e-04 9.99925233e-01 -7.99301865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60140051299999 meters 0.06187599221360775 Centerline is valid? [True, True] Translation: X:97.61, Y:10.47, Z:-0.08 [[ 9.98765521e-01 -4.80687693e-02 1.25231150e-02 9.76124052e+01] [ 4.80549253e-02 9.98843708e-01 1.40422450e-03 1.04698783e+01] [-1.25761339e-02 -8.00693660e-04 9.99920597e-01 -8.00378858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63140051299999 meters 0.06393620351912094 Centerline is valid? [True, True] Translation: X:97.64, Y:10.48, Z:-0.08 [[ 9.98757209e-01 -4.81187609e-02 1.29854467e-02 9.76413309e+01] [ 4.81038779e-02 9.98841277e-01 1.45622497e-03 1.04790120e+01] [-1.30404719e-02 -8.29764844e-04 9.99914625e-01 -8.01870479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66140051299999 meters 0.07297432547836216 Centerline is valid? [True, True] Translation: X:97.67, Y:10.49, Z:-0.08 [[ 9.98903453e-01 -4.47235634e-02 1.38453477e-02 9.76693078e+01] [ 4.47063166e-02 9.98998966e-01 1.55283152e-03 1.04946644e+01] [-1.39009362e-02 -9.32154274e-04 9.99902943e-01 -7.90917339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69140051299999 meters 0.06510764696288303 Centerline is valid? [True, True] Translation: X:97.70, Y:10.49, Z:-0.08 [[ 9.99045897e-01 -4.14520109e-02 1.37487243e-02 9.77000994e+01] [ 4.14346934e-02 9.99140024e-01 1.54215995e-03 1.04922704e+01] [-1.38008264e-02 -9.71014390e-04 9.99904293e-01 -7.88817555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72140051299999 meters 0.07304766834439332 Centerline is valid? [True, True] Translation: X:97.73, Y:10.50, Z:-0.08 [[ 9.99217303e-01 -3.72994963e-02 1.31730751e-02 9.77284067e+01] [ 3.72832397e-02 9.99303646e-01 1.47759328e-03 1.05042944e+01] [-1.32190154e-02 -9.85301856e-04 9.99912140e-01 -7.98220033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751400513 meters 0.08163782221694257 Centerline is valid? [True, True] Translation: X:97.76, Y:10.52, Z:-0.08 [[ 9.99378412e-01 -3.27912464e-02 1.29430670e-02 9.77563541e+01] [ 3.27751791e-02 9.99461695e-01 1.45160477e-03 1.05228890e+01] [-1.29836996e-02 -1.02649113e-03 9.99915181e-01 -8.11944386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781400513 meters 0.07803594542233376 Centerline is valid? [True, True] Translation: X:97.79, Y:10.52, Z:-0.08 [[ 9.99508602e-01 -2.84715067e-02 1.31120967e-02 9.77868701e+01] [ 2.84546502e-02 9.99594003e-01 1.47037608e-03 1.05243419e+01] [-1.31486370e-02 -1.09655342e-03 9.99912952e-01 -8.12567132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811400513 meters 0.07877603505544685 Centerline is valid? [True, True] Translation: X:97.82, Y:10.53, Z:-0.08 [[ 9.99592603e-01 -2.50916392e-02 1.36028284e-02 9.78168728e+01] [ 2.50731871e-02 9.99684454e-01 1.52536645e-03 1.05308676e+01] [-1.36368100e-02 -1.18367876e-03 9.99906314e-01 -8.13804581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84140051299998 meters 0.080418708914616 Centerline is valid? [True, True] Translation: X:97.85, Y:10.55, Z:-0.08 [[ 9.99676901e-01 -2.17654274e-02 1.31285987e-02 9.78460942e+01] [ 2.17479542e-02 9.99762401e-01 1.47224277e-03 1.05455851e+01] [-1.31575234e-02 -1.18624693e-03 9.99912732e-01 -8.32627826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87140051299998 meters 0.08794481770456827 Centerline is valid? [True, True] Translation: X:97.88, Y:10.56, Z:-0.09 [[ 9.99684920e-01 -2.20961382e-02 1.19088557e-02 9.78761829e+01] [ 2.20817841e-02 9.99755276e-01 1.33549197e-03 1.05595426e+01] [-1.19354505e-02 -1.07210240e-03 9.99928195e-01 -8.60448582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90140051299998 meters 0.08230154284554557 Centerline is valid? [True, True] Translation: X:97.91, Y:10.56, Z:-0.09 [[ 9.99676308e-01 -2.29911617e-02 1.08943381e-02 9.79074911e+01] [ 2.29792061e-02 9.99735197e-01 1.22133559e-03 1.05623266e+01] [-1.09195332e-02 -9.70597008e-04 9.99939909e-01 -8.82508571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93140051299999 meters 0.09816888237821787 Centerline is valid? [True, True] Translation: X:97.93, Y:10.59, Z:-0.09 [[ 9.99644178e-01 -2.45183178e-02 1.05056791e-02 9.79342096e+01] [ 2.45072879e-02 9.99698958e-01 1.17737005e-03 1.05886998e+01] [-1.05313836e-02 -9.19485413e-04 9.99944121e-01 -9.08200567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96140051299999 meters 0.08033494067559832 Centerline is valid? [True, True] Translation: X:97.97, Y:10.57, Z:-0.09 [[ 9.99587630e-01 -2.66967100e-02 1.05761730e-02 9.79670772e+01] [ 2.66856502e-02 9.99643172e-01 1.18550339e-03 1.05744711e+01] [-1.06040482e-02 -9.02782468e-04 9.99943368e-01 -9.04131037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99140051299999 meters 0.07489594459190649 Centerline is valid? [True, True] Translation: X:98.00, Y:10.58, Z:-0.09 [[ 9.99508343e-01 -2.94354094e-02 1.07994600e-02 9.79973583e+01] [ 2.94240384e-02 9.99566286e-01 1.21033940e-03 1.05754247e+01] [-1.08304029e-02 -8.91980603e-04 9.99940952e-01 -9.04511438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02140051299999 meters 0.125814655973221 Centerline is valid? [True, False] Translation: X:98.00, Y:10.59, Z:-0.09 [[ 9.99704239e-01 -2.09894025e-02 1.22832969e-02 9.79989322e+01] [ 2.11169880e-02 9.99723426e-01 -1.03510526e-02 1.05886911e+01] [-1.20626373e-02 1.06073774e-02 9.99870980e-01 -9.25071378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05140051299999 meters 0.08019416152559956 Centerline is valid? [False, True] Translation: X:98.00, Y:10.58, Z:-0.09 [[ 9.99860096e-01 -1.22172860e-02 1.14248080e-02 9.80007097e+01] [ 1.22202782e-02 9.99925311e-01 -1.92125556e-04 1.05820462e+01] [-1.14216075e-02 3.31713009e-04 9.99934716e-01 -9.14378979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08140051299999 meters 0.07025512369212057 Centerline is valid? [True, True] Translation: X:98.03, Y:10.57, Z:-0.09 [[ 9.99828186e-01 -1.47738974e-02 1.11951519e-02 9.80323832e+01] [ 1.47640462e-02 9.99890543e-01 9.62096276e-04 1.05746620e+01] [-1.12081404e-02 -7.96645234e-04 9.99936869e-01 -9.13867602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11140051299999 meters 0.07624095762158004 Centerline is valid? [True, True] Translation: X:98.06, Y:10.59, Z:-0.09 [[ 9.99785027e-01 -1.75511311e-02 1.10389530e-02 9.80606656e+01] [ 1.75417222e-02 9.99845682e-01 9.48595548e-04 1.05857034e+01] [-1.10538984e-02 -7.54749379e-04 9.99938619e-01 -9.25510622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141400513 meters 0.0708625554959831 Centerline is valid? [True, True] Translation: X:98.09, Y:10.58, Z:-0.09 [[ 9.99732344e-01 -2.03786000e-02 1.09522840e-02 9.80912226e+01] [ 2.03695052e-02 9.99792077e-01 9.41327421e-04 1.05848295e+01] [-1.09691897e-02 -7.17982864e-04 9.99939579e-01 -9.33168671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171400513 meters 0.0673133177014027 Centerline is valid? [True, True] Translation: X:98.12, Y:10.59, Z:-0.09 [[ 9.99667609e-01 -2.34094202e-02 1.08014416e-02 9.81223071e+01] [ 2.34007497e-02 9.99725734e-01 9.28418364e-04 1.05854969e+01] [-1.08202128e-02 -6.75347936e-04 9.99941232e-01 -9.39344514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201400513 meters 0.05558727230359206 Centerline is valid? [True, True] Translation: X:98.15, Y:10.58, Z:-0.09 [[ 9.99537086e-01 -2.83757878e-02 1.09739448e-02 9.81532525e+01] [ 2.83671385e-02 9.99597127e-01 9.43052268e-04 1.05789957e+01] [-1.09962835e-02 -6.31316304e-04 9.99939340e-01 -9.38007754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23140051299998 meters 0.05948690007628075 Centerline is valid? [True, True] Translation: X:98.18, Y:10.59, Z:-0.09 [[ 9.99490271e-01 -2.98992477e-02 1.11907766e-02 9.81828182e+01] [ 2.98903475e-02 9.99552721e-01 9.61763831e-04 1.05886404e+01] [-1.12145272e-02 -6.26777390e-04 9.99936919e-01 -9.41516401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26140051299998 meters 0.05626617388004577 Centerline is valid? [True, True] Translation: X:98.22, Y:10.59, Z:-0.09 [[ 9.99451111e-01 -3.10143463e-02 1.16441473e-02 9.82150060e+01] [ 3.10047859e-02 9.99518735e-01 1.00071047e-03 1.05854333e+01] [-1.16695797e-02 -6.39136894e-04 9.99931704e-01 -9.29932171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29140051299999 meters 0.054875663139909076 Centerline is valid? [True, True] Translation: X:98.25, Y:10.59, Z:-0.09 [[ 9.99417329e-01 -3.17044146e-02 1.26425236e-02 9.82477690e+01] [ 3.16932057e-02 9.99497054e-01 1.08602082e-03 1.05866908e+01] [-1.26705967e-02 -6.84705925e-04 9.99919490e-01 -9.17786830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32140051299999 meters 0.05594327658895264 Centerline is valid? [True, True] Translation: X:98.28, Y:10.59, Z:-0.09 [[ 9.99396172e-01 -3.20402825e-02 1.34428727e-02 9.82789435e+01] [ 3.20276522e-02 9.99486317e-01 1.15384210e-03 1.05931221e+01] [-1.34729368e-02 -7.22601725e-04 9.99908975e-01 -9.10053835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35140051299999 meters 0.058854379535450835 Centerline is valid? [True, True] Translation: X:98.31, Y:10.60, Z:-0.09 [[ 9.99383088e-01 -3.22241484e-02 1.39659284e-02 9.83094720e+01] [ 3.22105397e-02 9.99480388e-01 1.19831914e-03 1.06012981e+01] [-1.39972864e-02 -7.47729792e-04 9.99901754e-01 -9.12622125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38140051299999 meters 0.06093122753457973 Centerline is valid? [True, True] Translation: X:98.34, Y:10.61, Z:-0.09 [[ 9.99402129e-01 -3.23262720e-02 1.22636385e-02 9.83397718e+01] [ 3.23157986e-02 9.99477155e-01 1.05127783e-03 1.06074735e+01] [-1.22912104e-02 -6.54340028e-04 9.99924246e-01 -9.42399888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41140051299999 meters 0.05604749828125886 Centerline is valid? [True, True] Translation: X:98.37, Y:10.60, Z:-0.10 [[ 9.99419740e-01 -3.21837915e-02 1.11528856e-02 9.83723962e+01] [ 3.21751254e-02 9.99481790e-01 9.55629815e-04 1.06020556e+01] [-1.11778618e-02 -5.96229809e-04 9.99937348e-01 -9.51858247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44140051299999 meters 0.05597066798908158 Centerline is valid? [True, True] Translation: X:98.40, Y:10.61, Z:-0.09 [[ 9.99434861e-01 -3.12061308e-02 1.24954714e-02 9.84043342e+01] [ 3.11951850e-02 9.99512739e-01 1.06998466e-03 1.06055342e+01] [-1.25227729e-02 -6.79581425e-04 9.99921356e-01 -9.16167531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47140051299999 meters 0.05475903204443554 Centerline is valid? [True, True] Translation: X:98.44, Y:10.61, Z:-0.09 [[ 9.99433954e-01 -3.03184224e-02 1.45796044e-02 9.84358284e+01] [ 3.03034385e-02 9.99539967e-01 1.24760711e-03 1.06107292e+01] [-1.46107227e-02 -8.05088761e-04 9.99892934e-01 -8.88575891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501400513 meters 0.058164789130178814 Centerline is valid? [True, True] Translation: X:98.47, Y:10.62, Z:-0.09 [[ 9.99442402e-01 -2.91807030e-02 1.62287299e-02 9.84664027e+01] [ 2.91619982e-02 9.99573735e-01 1.38807978e-03 1.06184588e+01] [-1.62623173e-02 -9.14043603e-04 9.99867342e-01 -8.70663054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531400513 meters 0.0623381171197316 Centerline is valid? [True, True] Translation: X:98.50, Y:10.63, Z:-0.09 [[ 9.99452851e-01 -2.79697915e-02 1.76547450e-02 9.84963655e+01] [ 2.79474816e-02 9.99608254e-01 1.50918330e-03 1.06298379e+01] [-1.76900404e-02 -1.01495189e-03 9.99843004e-01 -8.67730171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561400513 meters 0.05825130312202686 Centerline is valid? [True, True] Translation: X:98.53, Y:10.62, Z:-0.09 [[ 9.99472482e-01 -2.77283967e-02 1.69084090e-02 9.85293605e+01] [ 2.77079059e-02 9.99615018e-01 1.44498374e-03 1.06246611e+01] [-1.69419666e-02 -9.75724881e-04 9.99855998e-01 -8.87794099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59140051299998 meters 0.05712175582944836 Centerline is valid? [True, True] Translation: X:98.56, Y:10.63, Z:-0.09 [[ 9.99474051e-01 -2.83162072e-02 1.58055061e-02 9.85607212e+01] [ 2.82983865e-02 9.99598609e-01 1.35005656e-03 1.06255588e+01] [-1.58373904e-02 -9.02076183e-04 9.99874174e-01 -9.23815922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62140051299998 meters 0.05682308899166484 Centerline is valid? [True, True] Translation: X:98.59, Y:10.62, Z:-0.10 [[ 9.99394759e-01 -3.20264780e-02 1.35801412e-02 9.85901641e+01] [ 3.20136822e-02 9.99486759e-01 1.15864042e-03 1.06230935e+01] [-1.36102785e-02 -7.23188841e-04 9.99907114e-01 -9.67700928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65140051299998 meters 0.052090297259143874 Centerline is valid? [True, True] Translation: X:98.62, Y:10.62, Z:-0.10 [[ 9.99337647e-01 -3.38058846e-02 1.34695635e-02 9.86225458e+01] [ 3.37934537e-02 9.99428177e-01 1.14948990e-03 1.06180957e+01] [-1.35007208e-02 -6.93545468e-04 9.99908621e-01 -9.63104711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68140051299999 meters 0.05621607597130476 Centerline is valid? [True, True] Translation: X:98.65, Y:10.62, Z:-0.10 [[ 9.99339890e-01 -3.34663295e-02 1.41346583e-02 9.86517758e+01] [ 3.34283799e-02 9.99436871e-01 2.91271363e-03 1.06192210e+01] [-1.42241765e-02 -2.43829219e-03 9.99895858e-01 -9.57824669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71140051299999 meters 0.04788576616718186 Centerline is valid? [True, True] Translation: X:98.69, Y:10.62, Z:-0.10 [[ 9.99301644e-01 -3.50662113e-02 1.29067755e-02 9.86860182e+01] [ 3.50759080e-02 9.99384513e-01 -5.25617694e-04 1.06223095e+01] [-1.28804001e-02 9.77967495e-04 9.99916566e-01 -9.67333345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74140051299999 meters 0.051605436597757376 Centerline is valid? [True, True] Translation: X:98.72, Y:10.62, Z:-0.10 [[ 9.99327380e-01 -3.47001204e-02 1.18612501e-02 9.87181096e+01] [ 3.46905706e-02 9.99397591e-01 1.00998707e-03 1.06243932e+01] [-1.18891515e-02 -5.97834198e-04 9.99929143e-01 -9.83238868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77140051299999 meters 0.04869763989165973 Centerline is valid? [True, True] Translation: X:98.75, Y:10.63, Z:-0.10 [[ 9.99368390e-01 -3.35698765e-02 1.16569454e-02 9.87495115e+01] [ 3.35605817e-02 9.99436193e-01 9.92113384e-04 1.06272024e+01] [-1.16836783e-02 -6.00272886e-04 9.99931563e-01 -9.99912440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80140051299999 meters 0.04869763989165973 Centerline is valid? [True, True] Translation: X:98.78, Y:10.63, Z:-0.10 [[ 9.99369988e-01 -3.35222484e-02 1.16570128e-02 9.87811068e+01] [ 3.35129596e-02 9.99437791e-01 9.91321594e-04 1.06298125e+01] [-1.16836904e-02 -6.00036052e-04 9.99931563e-01 -1.00507156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83140051299999 meters 0.06273180494559534 Centerline is valid? [True, True] Translation: X:98.81, Y:10.64, Z:-0.10 [[ 9.99450818e-01 -3.06637850e-02 1.25616377e-02 9.88101853e+01] [ 3.06527839e-02 9.99529523e-01 1.06741267e-03 1.06423607e+01] [-1.25884586e-02 -6.81777297e-04 9.99920530e-01 -1.02095271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86140051299999 meters 0.05963447957409178 Centerline is valid? [True, True] Translation: X:98.84, Y:10.64, Z:-0.10 [[ 9.99482193e-01 -2.94022641e-02 1.30710286e-02 9.88420996e+01] [ 2.93902432e-02 9.99567396e-01 1.11084253e-03 1.06443160e+01] [-1.30980353e-02 -7.26106618e-04 9.99913953e-01 -1.02354946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891400513 meters 0.055340026298006995 Centerline is valid? [True, True] Translation: X:98.87, Y:10.64, Z:-0.10 [[ 9.99512902e-01 -2.87248634e-02 1.22000094e-02 9.88743489e+01] [ 2.87143476e-02 9.99587121e-01 1.03627865e-03 1.06379187e+01] [-1.22247393e-02 -6.85458572e-04 9.99925040e-01 -1.03141931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921400513 meters 0.055101323320819295 Centerline is valid? [True, True] Translation: X:98.91, Y:10.64, Z:-0.10 [[ 9.99527638e-01 -2.85658974e-02 1.13353963e-02 9.89050099e+01] [ 2.85568112e-02 9.99591708e-01 9.62660001e-04 1.06419006e+01] [-1.13582674e-02 -6.38502506e-04 9.99935289e-01 -1.04733356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951400513 meters 0.06031137768931064 Centerline is valid? [True, True] Translation: X:98.94, Y:10.65, Z:-0.11 [[ 9.99517156e-01 -2.91070234e-02 1.08736681e-02 9.89355369e+01] [ 2.90987048e-02 9.99576117e-01 9.22477267e-04 1.06481113e+01] [-1.08959095e-02 -6.05622196e-04 9.99940454e-01 -1.05613847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98140051299998 meters 0.05859375441378154 Centerline is valid? [True, True] Translation: X:98.97, Y:10.64, Z:-0.11 [[ 9.99495420e-01 -2.99055579e-02 1.07033839e-02 9.89682910e+01] [ 2.98975468e-02 9.99552556e-01 9.07727731e-04 1.06447978e+01] [-1.07257409e-02 -5.87264788e-04 9.99942305e-01 -1.05806962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01140051299998 meters 0.05892100909362272 Centerline is valid? [True, True] Translation: X:99.00, Y:10.64, Z:-0.11 [[ 9.99486575e-01 -3.01948724e-02 1.07171129e-02 9.89982669e+01] [ 3.02282623e-02 9.99538617e-01 -2.96734679e-03 1.06433848e+01] [-1.06225696e-02 3.28978298e-03 9.99938167e-01 -1.06521796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04140051299999 meters 0.050672034338895826 Centerline is valid? [True, True] Translation: X:99.03, Y:10.63, Z:-0.11 [[ 9.99431475e-01 -3.20499678e-02 1.04654472e-02 9.90317158e+01] [ 3.20010693e-02 9.99476275e-01 4.80691965e-03 1.06340693e+01] [-1.06140278e-02 -4.46928130e-03 9.99933682e-01 -1.06438344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07140051299999 meters 0.05088072644458824 Centerline is valid? [True, True] Translation: X:99.06, Y:10.64, Z:-0.11 [[ 9.99443871e-01 -3.16776524e-02 1.04151454e-02 9.90640586e+01] [ 3.16701745e-02 9.99497985e-01 8.82174540e-04 1.06383479e+01] [-1.04378621e-02 -5.51834464e-04 9.99945372e-01 -1.07923120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10140051299999 meters 0.056622474077745136 Centerline is valid? [True, True] Translation: X:99.09, Y:10.64, Z:-0.11 [[ 9.99476353e-01 -3.08564266e-02 9.74171825e-03 9.90949392e+01] [ 3.08498511e-02 9.99523690e-01 8.24567213e-04 1.06415293e+01] [-9.76252137e-03 -5.23604873e-04 9.99952208e-01 -1.08812622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13140051299999 meters 0.06199755341205178 Centerline is valid? [True, True] Translation: X:99.12, Y:10.65, Z:-0.11 [[ 9.99521737e-01 -2.94742437e-02 9.35768016e-03 9.91245288e+01] [ 2.94681188e-02 9.99565407e-01 7.91774184e-04 1.06517720e+01] [-9.37695033e-03 -5.15642278e-04 9.99955902e-01 -1.10660535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16140051299999 meters 0.05798038330173133 Centerline is valid? [True, True] Translation: X:99.16, Y:10.65, Z:-0.11 [[ 9.99575871e-01 -2.74934074e-02 9.60159895e-03 9.91562247e+01] [ 2.74868683e-02 9.99621835e-01 8.12369842e-04 1.06510798e+01] [-9.62030277e-03 -5.48107407e-04 9.99953574e-01 -1.10275513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19140051299999 meters 0.06021793051505233 Centerline is valid? [True, True] Translation: X:99.19, Y:10.65, Z:-0.11 [[ 9.99676008e-01 -2.33385815e-02 1.01581949e-02 9.91868773e+01] [ 2.33310521e-02 9.99727425e-01 8.59104847e-04 1.06548215e+01] [-1.01754763e-02 -6.21825131e-04 9.99948035e-01 -1.09687745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22140051299999 meters 0.06153610298306377 Centerline is valid? [True, True] Translation: X:99.22, Y:10.66, Z:-0.11 [[ 9.99693146e-01 -2.23865870e-02 1.06044498e-02 9.92189320e+01] [ 2.23783265e-02 9.99749171e-01 8.96998717e-04 1.06587064e+01] [-1.06218706e-02 -6.59413631e-04 9.99943369e-01 -1.10569803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251400513 meters 0.06914772490030488 Centerline is valid? [True, True] Translation: X:99.25, Y:10.66, Z:-0.11 [[ 9.99686533e-01 -2.25835399e-02 1.08082989e-02 9.92498946e+01] [ 2.25749737e-02 9.99744735e-01 9.13918235e-04 1.06646384e+01] [-1.08261794e-02 -6.69634690e-04 9.99941171e-01 -1.11194121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281400513 meters 0.05670202322962314 Centerline is valid? [True, True] Translation: X:99.28, Y:10.65, Z:-0.11 [[ 9.99606287e-01 -2.51199156e-02 1.25004525e-02 9.92818925e+01] [ 2.51086736e-02 9.99684170e-01 1.05548624e-03 1.06519683e+01] [-1.25230182e-02 -7.41200900e-04 9.99921309e-01 -1.07696962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311400513 meters 0.05876139798468322 Centerline is valid? [True, True] Translation: X:99.31, Y:10.65, Z:-0.11 [[ 9.99536207e-01 -2.79662516e-02 1.20523458e-02 9.93123330e+01] [ 2.79560092e-02 9.99608637e-01 1.01749885e-03 1.06494838e+01] [-1.20760846e-02 -6.80091453e-04 9.99926850e-01 -1.07906647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34140051299998 meters 0.05703930871334307 Centerline is valid? [True, True] Translation: X:99.34, Y:10.65, Z:-0.11 [[ 9.99457979e-01 -3.07131399e-02 1.18511828e-02 9.93421507e+01] [ 3.07034282e-02 9.99528038e-01 1.00059185e-03 1.06515094e+01] [-1.18763208e-02 -6.36177571e-04 9.99929272e-01 -1.09141706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37140051299998 meters 0.05548230816095705 Centerline is valid? [True, True] Translation: X:99.37, Y:10.65, Z:-0.11 [[ 9.99387777e-01 -3.29849685e-02 1.16645986e-02 9.93732068e+01] [ 3.29757145e-02 9.99455668e-01 9.84838602e-04 1.06462335e+01] [-1.16907341e-02 -5.99587188e-04 9.99931481e-01 -1.10145939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40140051299998 meters 0.05420948846660743 Centerline is valid? [True, True] Translation: X:99.40, Y:10.65, Z:-0.11 [[ 9.99327617e-01 -3.43479900e-02 1.28269135e-02 9.94039373e+01] [ 3.43369107e-02 9.99409728e-01 1.08305055e-03 1.06479342e+01] [-1.28565428e-02 -6.41885740e-04 9.99917145e-01 -1.09771658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43140051299999 meters 0.04828123795329344 Centerline is valid? [True, True] Translation: X:99.44, Y:10.64, Z:-0.11 [[ 9.99295930e-01 -3.50237008e-02 1.34530222e-02 9.94373763e+01] [ 3.50115780e-02 9.99386262e-01 1.13565636e-03 1.06381779e+01] [-1.34845405e-02 -6.63845243e-04 9.99908859e-01 -1.08892563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46140051299999 meters 0.04748666506429692 Centerline is valid? [True, True] Translation: X:99.47, Y:10.64, Z:-0.11 [[ 9.99308289e-01 -3.47031189e-02 1.33655412e-02 9.94683625e+01] [ 3.46911336e-02 9.99397445e-01 1.12760045e-03 1.06367143e+01] [-1.33966190e-02 -6.63154699e-04 9.99910041e-01 -1.09201455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49140051299999 meters 0.055627537738630724 Centerline is valid? [True, True] Translation: X:99.50, Y:10.64, Z:-0.11 [[ 9.99327570e-01 -3.43885519e-02 1.27214510e-02 9.94990948e+01] [ 3.43776741e-02 9.99408337e-01 1.07283116e-03 1.06433556e+01] [-1.27508173e-02 -6.34775857e-04 9.99918504e-01 -1.10298302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52140051299999 meters 0.05273258391694215 Centerline is valid? [True, True] Translation: X:99.53, Y:10.64, Z:-0.11 [[ 9.99357971e-01 -3.35394584e-02 1.25995960e-02 9.95305180e+01] [ 3.35287268e-02 9.99437190e-01 1.06207218e-03 1.06425249e+01] [-1.26281262e-02 -6.38941883e-04 9.99920058e-01 -1.10755398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55140051299999 meters 0.05607187049966529 Centerline is valid? [True, True] Translation: X:99.56, Y:10.65, Z:-0.11 [[ 9.99392663e-01 -3.24892388e-02 1.25997578e-02 9.95606132e+01] [ 3.24784247e-02 9.99471873e-01 1.06200110e-03 1.06512448e+01] [-1.26276071e-02 -6.52135825e-04 9.99920056e-01 -1.12481408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58140051299999 meters 0.0598562651162711 Centerline is valid? [True, True] Translation: X:99.59, Y:10.65, Z:-0.11 [[ 9.99467487e-01 -3.04384117e-02 1.17578150e-02 9.95885873e+01] [ 3.04682522e-02 9.99532932e-01 -2.36715211e-03 1.06489790e+01] [-1.16802709e-02 2.72413164e-03 9.99928073e-01 -1.14858198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61140051299999 meters 0.05367812015363527 Centerline is valid? [True, True] Translation: X:99.62, Y:10.64, Z:-0.12 [[ 9.99483651e-01 -3.03799891e-02 1.04635887e-02 9.96223313e+01] [ 3.03361177e-02 9.99530391e-01 4.32630654e-03 1.06431842e+01] [-1.05901081e-02 -4.00664800e-03 9.99935896e-01 -1.16029679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641400513 meters 0.05273824551608267 Centerline is valid? [True, True] Translation: X:99.65, Y:10.65, Z:-0.12 [[ 9.99493538e-01 -2.98118619e-02 1.11319143e-02 9.96540996e+01] [ 2.98032699e-02 9.99555345e-01 9.36961342e-04 1.06473458e+01] [-1.11548970e-02 -6.04719361e-04 9.99937599e-01 -1.16257100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671400513 meters 0.05118596899838003 Centerline is valid? [True, True] Translation: X:99.69, Y:10.65, Z:-0.12 [[ 9.99506659e-01 -2.92527328e-02 1.14331292e-02 9.96862068e+01] [ 2.92436394e-02 9.99571851e-01 9.61760711e-04 1.06477954e+01] [-1.14563683e-02 -6.26939925e-04 9.99934177e-01 -1.15219770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701400513 meters 0.06321286673386237 Centerline is valid? [True, True] Translation: X:99.72, Y:10.66, Z:-0.12 [[ 9.99519777e-01 -2.86212315e-02 1.18760092e-02 9.97159658e+01] [ 2.86113808e-02 9.99590112e-01 9.98571617e-04 1.06607877e+01] [-1.18997217e-02 -6.58303060e-04 9.99928979e-01 -1.15587360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73140051299998 meters 0.050009695739099164 Centerline is valid? [True, True] Translation: X:99.75, Y:10.65, Z:-0.12 [[ 9.99550219e-01 -2.73518485e-02 1.22978453e-02 9.97489342e+01] [ 2.73412044e-02 9.99625626e-01 1.03284707e-03 1.06516267e+01] [-1.23214916e-02 -6.96144615e-04 9.99923845e-01 -1.15095804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76140051299998 meters 0.06269281635017504 Centerline is valid? [True, True] Translation: X:99.78, Y:10.66, Z:-0.12 [[ 9.99652034e-01 -2.44716568e-02 9.84627809e-03 9.97775036e+01] [ 2.44647013e-02 9.99700353e-01 8.26254496e-04 1.06646032e+01] [-9.86354749e-03 -5.85080735e-04 9.99951183e-01 -1.19614243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79140051299999 meters 0.0622302513231444 Centerline is valid? [True, True] Translation: X:99.81, Y:10.66, Z:-0.12 [[ 9.99707905e-01 -2.28003098e-02 8.01564816e-03 9.98091750e+01] [ 2.27956442e-02 9.99739919e-01 6.72959024e-04 1.06614800e+01] [-8.02890712e-03 -4.90040593e-04 9.99967648e-01 -1.21860415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82140051299999 meters 0.05624749476398701 Centerline is valid? [True, True] Translation: X:99.84, Y:10.66, Z:-0.12 [[ 9.99753344e-01 -2.10345430e-02 7.12734071e-03 9.98401521e+01] [ 2.10308111e-02 9.99778649e-01 5.98153682e-04 1.06586727e+01] [-7.13834495e-03 -4.48112387e-04 9.99974421e-01 -1.22926497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85140051299999 meters 0.07117612151929474 Centerline is valid? [True, True] Translation: X:99.87, Y:10.67, Z:-0.13 [[ 9.99786317e-01 -1.93909665e-02 7.16314079e-03 9.98692564e+01] [ 1.93871557e-02 9.99811871e-01 6.01070544e-04 1.06742281e+01] [-7.17344854e-03 -4.62069180e-04 9.99974164e-01 -1.25306346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88140051299999 meters 0.07195063797894201 Centerline is valid? [True, True] Translation: X:99.90, Y:10.68, Z:-0.12 [[ 9.99804988e-01 -1.79064688e-02 8.32733806e-03 9.99003599e+01] [ 1.79012676e-02 9.99839515e-01 6.98712984e-04 1.06775024e+01] [-8.33851313e-03 -5.49506820e-04 9.99965083e-01 -1.24454122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91140051299999 meters 0.06384533852617852 Centerline is valid? [True, True] Translation: X:99.93, Y:10.67, Z:-0.12 [[ 9.99815303e-01 -1.64394907e-02 9.95508207e-03 9.99323197e+01] [ 1.64319878e-02 9.99864637e-01 8.35003480e-04 1.06723147e+01] [-9.96746155e-03 -6.71267469e-04 9.99950098e-01 -1.22079882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94140051299999 meters 0.0681602237850719 Centerline is valid? [True, True] Translation: X:99.96, Y:10.67, Z:-0.12 [[ 9.99871266e-01 -1.27525988e-02 9.73765357e-03 9.99629360e+01] [ 1.27452481e-02 9.99918443e-01 8.16562295e-04 1.06739453e+01] [-9.74727268e-03 -6.92348366e-04 9.99952255e-01 -1.22247499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97140051299999 meters 0.08580564641146453 Centerline is valid? [True, True] Translation: X:99.99, Y:10.70, Z:-0.13 [[ 9.99904640e-01 -1.03449303e-02 9.14844859e-03 9.99907376e+01] [ 1.03383462e-02 9.99946264e-01 7.66702035e-04 1.06954735e+01] [-9.15588847e-03 -6.72049094e-04 9.99957858e-01 -1.25289191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001400513 meters 0.07824782841943462 Centerline is valid? [True, True] Translation: X:100.02, Y:10.69, Z:-0.12 [[ 9.99924650e-01 -7.98064965e-03 9.32753242e-03 1.00022159e+02] [ 7.97370127e-03 9.99967904e-01 7.81883861e-04 1.06903457e+01] [-9.33347298e-03 -7.07449989e-04 9.99956192e-01 -1.24965613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031400513 meters 0.08213641314329069 Centerline is valid? [True, True] Translation: X:100.05, Y:10.70, Z:-0.13 [[ 9.99932893e-01 -6.03322190e-03 9.88990354e-03 1.00052046e+02] [ 6.02531549e-03 9.99981504e-01 8.29043303e-04 1.06954566e+01] [-9.89472241e-03 -7.69397879e-04 9.99950750e-01 -1.25292252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061400513 meters 0.08291394533584745 Centerline is valid? [True, True] Translation: X:100.08, Y:10.70, Z:-0.12 [[ 9.99936935e-01 -4.31338425e-03 1.03692433e-02 1.00082603e+02] [ 4.30460204e-03 9.99990357e-01 8.69117058e-04 1.06967405e+01] [-1.03728921e-02 -8.24426781e-04 9.99945860e-01 -1.24898942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09140051299998 meters 0.08574234588896033 Centerline is valid? [True, True] Translation: X:100.11, Y:10.70, Z:-0.12 [[ 9.99941952e-01 -5.58302004e-04 1.07601213e-02 1.00112976e+02] [ 5.48631225e-04 9.99999443e-01 9.01692011e-04 1.07008906e+01] [-1.07606187e-02 -8.95736332e-04 9.99941702e-01 -1.23270800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12140051299998 meters 0.08576000239084512 Centerline is valid? [True, True] Translation: X:100.14, Y:10.70, Z:-0.12 [[ 9.99938887e-01 1.48705514e-03 1.09549558e-02 1.00143284e+02] [-1.49720138e-03 9.99998458e-01 9.18034720e-04 1.07042371e+01] [-1.09535738e-02 -9.34380391e-04 9.99939571e-01 -1.22380269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15140051299998 meters 0.0877825400959226 Centerline is valid? [True, True] Translation: X:100.17, Y:10.71, Z:-0.12 [[ 9.99932868e-01 3.29420763e-03 1.11089412e-02 1.00171929e+02] [-3.30475090e-03 9.99994106e-01 9.30856742e-04 1.07121245e+01] [-1.11058093e-02 -9.67506534e-04 9.99937861e-01 -1.23104381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18140051299999 meters 0.08052451493247895 Centerline is valid? [True, True] Translation: X:100.20, Y:10.71, Z:-0.12 [[ 9.99921305e-01 5.90524964e-03 1.10684671e-02 1.00203645e+02] [-5.91587748e-03 9.99982071e-01 9.27695463e-04 1.07086631e+01] [-1.10627904e-02 -9.93102153e-04 9.99938312e-01 -1.24921629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21140051299999 meters 0.08052451493247895 Centerline is valid? [True, True] Translation: X:100.24, Y:10.71, Z:-0.13 [[ 9.99920199e-01 6.08986147e-03 1.10684112e-02 1.00236156e+02] [-6.10050786e-03 9.99980961e-01 9.28363178e-04 1.07112642e+01] [-1.10625469e-02 -9.95812024e-04 9.99938312e-01 -1.25451425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24140051299999 meters 0.0894045640831911 Centerline is valid? [True, True] Translation: X:100.26, Y:10.73, Z:-0.13 [[ 9.99905022e-01 7.37986614e-03 1.16397962e-02 1.00264962e+02] [-7.39169281e-03 9.99972207e-01 9.73360946e-04 1.07255009e+01] [-1.16322894e-02 -1.05930630e-03 9.99931782e-01 -1.26032834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27140051299999 meters 0.09281742462324107 Centerline is valid? [True, True] Translation: X:100.30, Y:10.73, Z:-0.12 [[ 9.99888001e-01 8.29517343e-03 1.24569829e-02 1.00295319e+02] [-8.30878499e-03 9.99964939e-01 1.04132919e-03 1.07336760e+01] [-1.24479081e-02 -1.14471496e-03 9.99921867e-01 -1.24315308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30140051299999 meters 0.08318119333865893 Centerline is valid? [True, True] Translation: X:100.33, Y:10.73, Z:-0.12 [[ 9.99891929e-01 8.34593841e-03 1.21027469e-02 1.00327808e+02] [-8.35877097e-03 9.99964555e-01 1.01010463e-03 1.07266329e+01] [-1.20938877e-02 -1.11115956e-03 9.99926249e-01 -1.23856120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33140051299999 meters 0.0953434207023624 Centerline is valid? [True, True] Translation: X:100.36, Y:10.74, Z:-0.13 [[ 9.99899524e-01 7.53471396e-03 1.20071029e-02 1.00356573e+02] [-7.54725608e-03 9.99971019e-01 9.99588005e-04 1.07448956e+01] [-1.19992233e-02 -1.09010825e-03 9.99927413e-01 -1.25359644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36140051299999 meters 0.07776593589830344 Centerline is valid? [True, True] Translation: X:100.39, Y:10.73, Z:-0.12 [[ 9.99900686e-01 4.70890676e-03 1.32832285e-02 1.00388949e+02] [-4.72400710e-03 9.99988231e-01 1.10564932e-03 1.07306288e+01] [-1.32778657e-02 -1.16828958e-03 9.99911163e-01 -1.23676635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391400513 meters 0.07939262383875137 Centerline is valid? [True, True] Translation: X:100.42, Y:10.74, Z:-0.12 [[ 9.99893603e-01 3.06416169e-03 1.42615834e-02 1.00419002e+02] [-3.08139988e-03 9.99994548e-01 1.18689840e-03 1.07350373e+01] [-1.42578688e-02 -1.23071776e-03 9.99897594e-01 -1.22713144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421400513 meters 0.08671413029962032 Centerline is valid? [True, True] Translation: X:100.45, Y:10.75, Z:-0.12 [[ 9.99892687e-01 1.53270320e-03 1.45693564e-02 1.00448362e+02] [-1.55053214e-03 9.99998063e-01 1.21251234e-03 1.07465634e+01] [-1.45674698e-02 -1.23497247e-03 9.99893126e-01 -1.22322494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451400513 meters 0.07695452350452575 Centerline is valid? [True, True] Translation: X:100.48, Y:10.74, Z:-0.12 [[ 9.99893994e-01 -5.02569763e-04 1.45515457e-02 1.00480207e+02] [ 4.84998322e-04 9.99999149e-01 1.21103463e-03 1.07378027e+01] [-1.45521419e-02 -1.20384878e-03 9.99893387e-01 -1.22306748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48140051299998 meters 0.07385385028177831 Centerline is valid? [True, True] Translation: X:100.51, Y:10.74, Z:-0.12 [[ 9.99896165e-01 -2.92793649e-03 1.41097894e-02 1.00510753e+02] [ 2.91165631e-03 9.99995072e-01 1.17422668e-03 1.07369505e+01] [-1.41131579e-02 -1.13302190e-03 9.99899762e-01 -1.22950152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51140051299998 meters 0.07643669686971774 Centerline is valid? [True, True] Translation: X:100.54, Y:10.74, Z:-0.12 [[ 9.99885644e-01 -5.77898650e-03 1.39750863e-02 1.00539895e+02] [ 5.76329286e-03 9.99982716e-01 1.16298542e-03 1.07427276e+01] [-1.39815657e-02 -1.08230991e-03 9.99901667e-01 -1.24098744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54140051299999 meters 0.07242674620420558 Centerline is valid? [True, True] Translation: X:100.57, Y:10.74, Z:-0.12 [[ 9.99830907e-01 -1.16428029e-02 1.42338470e-02 1.00569819e+02] [ 1.16271107e-02 9.99931701e-01 1.18471957e-03 1.07398702e+01] [-1.42466683e-02 -1.01902073e-03 9.99897992e-01 -1.24542428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57140051299999 meters 0.06512656334534703 Centerline is valid? [True, True] Translation: X:100.60, Y:10.73, Z:-0.13 [[ 9.99806265e-01 -1.47100054e-02 1.30785274e-02 1.00601248e+02] [ 1.46970185e-02 9.99891400e-01 1.08855620e-03 1.07334227e+01] [-1.30931198e-02 -8.96129953e-04 9.99913880e-01 -1.26795874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60140051299999 meters 0.062245746799078044 Centerline is valid? [True, True] Translation: X:100.63, Y:10.73, Z:-0.13 [[ 9.99786119e-01 -1.75653784e-02 1.09167103e-02 1.00632264e+02] [ 1.75564996e-02 9.99845460e-01 9.08632207e-04 1.07325093e+01] [-1.09309837e-02 -7.16778648e-04 9.99939998e-01 -1.30598802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63140051299999 meters 0.06402949205120483 Centerline is valid? [True, True] Translation: X:100.66, Y:10.74, Z:-0.13 [[ 9.99769482e-01 -1.95694403e-02 8.83284619e-03 1.00661402e+02] [ 1.95637065e-02 9.99808342e-01 7.35083759e-04 1.07371418e+01] [-8.84553848e-03 -5.62111099e-04 9.99960719e-01 -1.34333174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66140051299999 meters 0.06590957644942218 Centerline is valid? [True, True] Translation: X:100.69, Y:10.74, Z:-0.14 [[ 9.99762250e-01 -2.07234979e-02 6.78084248e-03 1.00691847e+02] [ 2.07201429e-02 9.99785155e-01 5.64670004e-04 1.07410558e+01] [-6.79108759e-03 -4.24035729e-04 9.99976850e-01 -1.38051733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69140051299999 meters 0.06590957644942218 Centerline is valid? [True, True] Translation: X:100.72, Y:10.74, Z:-0.14 [[ 9.99762714e-01 -2.07010937e-02 6.78085534e-03 1.00722633e+02] [ 2.06977391e-02 9.99785619e-01 5.64515496e-04 1.07435784e+01] [-6.79108774e-03 -4.24033170e-04 9.99976850e-01 -1.38553517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72140051299999 meters 0.062223390804145025 Centerline is valid? [True, True] Translation: X:100.75, Y:10.74, Z:-0.14 [[ 9.99760960e-01 -2.11363887e-02 5.59251414e-03 1.00754900e+02] [ 2.11341133e-02 9.99776541e-01 4.65654072e-04 1.07397152e+01] [-5.60110669e-03 -3.47349934e-04 9.99984253e-01 -1.39300636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751400513 meters 0.06682467482556557 Centerline is valid? [True, True] Translation: X:100.78, Y:10.75, Z:-0.14 [[ 9.99786143e-01 -1.92654207e-02 7.51738994e-03 1.00783569e+02] [ 1.92612597e-02 9.99814289e-01 6.25535025e-04 1.07538600e+01] [-7.52804507e-03 -4.80606850e-04 9.99971548e-01 -1.38161494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781400513 meters 0.06248877632401743 Centerline is valid? [True, True] Translation: X:100.82, Y:10.75, Z:-0.14 [[ 9.99816208e-01 -1.69106359e-02 9.03220657e-03 1.00815114e+02] [ 1.69045391e-02 9.99856826e-01 7.50922695e-04 1.07531109e+01] [-9.04361198e-03 -5.98099392e-04 9.99958927e-01 -1.35198550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811400513 meters 0.07150256257365048 Centerline is valid? [True, True] Translation: X:100.84, Y:10.77, Z:-0.14 [[ 9.99845570e-01 -1.43506358e-02 1.01437319e-02 1.00843095e+02] [ 1.43428198e-02 9.99896781e-01 8.42850476e-04 1.07680129e+01] [-1.01547804e-02 -6.97230596e-04 9.99948196e-01 -1.35055174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84140051299998 meters 0.06736191258367652 Centerline is valid? [True, True] Translation: X:100.87, Y:10.77, Z:-0.13 [[ 9.99873064e-01 -1.23871649e-02 1.00206744e-02 1.00874512e+02] [ 1.23794371e-02 9.99923025e-01 8.32848456e-04 1.07669610e+01] [-1.00302196e-02 -7.08692430e-04 9.99949445e-01 -1.34827937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87140051299998 meters 0.07755377110042615 Centerline is valid? [True, True] Translation: X:100.90, Y:10.78, Z:-0.14 [[ 9.99911551e-01 -9.42888909e-03 9.38012545e-03 1.00902938e+02] [ 9.42198970e-03 9.99955308e-01 7.79452883e-04 1.07840900e+01] [-9.38705561e-03 -6.91004495e-04 9.99955702e-01 -1.36714760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90140051299998 meters 0.0746346218461085 Centerline is valid? [True, True] Translation: X:100.94, Y:10.79, Z:-0.14 [[ 9.99913402e-01 -8.38504554e-03 1.01429648e-02 1.00935241e+02] [ 8.37692250e-03 9.99964558e-01 8.43075638e-04 1.07851497e+01] [-1.01496745e-02 -7.58035799e-04 9.99948203e-01 -1.35753968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93140051299999 meters 0.07032716074271379 Centerline is valid? [True, True] Translation: X:100.97, Y:10.79, Z:-0.14 [[ 9.99909108e-01 -8.00348349e-03 1.08498957e-02 1.00967242e+02] [ 7.99417231e-03 9.99967640e-01 9.01280257e-04 1.07883659e+01] [-1.08567580e-02 -8.14462402e-04 9.99940732e-01 -1.35072759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96140051299999 meters 0.07633111673260211 Centerline is valid? [True, True] Translation: X:101.00, Y:10.80, Z:-0.14 [[ 9.99900731e-01 -9.02117933e-03 1.08234398e-02 1.00997463e+02] [ 9.01197959e-03 9.99958988e-01 8.98454725e-04 1.07989037e+01] [-1.08311010e-02 -8.00824918e-04 9.99941021e-01 -1.35890920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99140051299999 meters 0.06780153637394021 Centerline is valid? [True, True] Translation: X:101.03, Y:10.79, Z:-0.14 [[ 9.99883325e-01 -1.10895645e-02 1.05051558e-02 1.01028915e+02] [ 1.10810145e-02 9.99938224e-01 8.71736746e-04 1.07917478e+01] [-1.05141740e-02 -7.55227252e-04 9.99944439e-01 -1.36608091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02140051299999 meters 0.06602163135822521 Centerline is valid? [True, True] Translation: X:101.06, Y:10.79, Z:-0.14 [[ 9.99809994e-01 -1.65212255e-02 1.03453333e-02 1.01058627e+02] [ 1.65132248e-02 9.99863279e-01 8.58306663e-04 1.07922828e+01] [-1.03580992e-02 -6.87308764e-04 9.99946117e-01 -1.38747410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05140051299999 meters 0.06460879101391441 Centerline is valid? [True, True] Translation: X:101.09, Y:10.79, Z:-0.14 [[ 9.99763323e-01 -1.88491103e-02 1.08632010e-02 1.01088337e+02] [ 1.88404259e-02 9.99822097e-01 9.01219088e-04 1.07932035e+01] [-1.08782555e-02 -6.96338457e-04 9.99940588e-01 -1.38410698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08140051299999 meters 0.06778630263804394 Centerline is valid? [True, True] Translation: X:101.12, Y:10.79, Z:-0.14 [[ 9.99715772e-01 -2.10199042e-02 1.12489747e-02 1.01117895e+02] [ 2.10107289e-02 9.99778815e-01 9.33228834e-04 1.07944891e+01] [-1.12661030e-02 -6.96614426e-04 9.99936293e-01 -1.38432561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11140051299999 meters 0.05726450676493975 Centerline is valid? [True, True] Translation: X:101.15, Y:10.78, Z:-0.14 [[ 9.99676219e-01 -2.26541844e-02 1.15863821e-02 1.01150295e+02] [ 2.26445585e-02 9.99743117e-01 9.61329429e-04 1.07831385e+01] [-1.16051839e-02 -6.98649662e-04 9.99932414e-01 -1.37100914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141400513 meters 0.06554028623806246 Centerline is valid? [True, True] Translation: X:101.18, Y:10.79, Z:-0.14 [[ 9.99659643e-01 -2.39357241e-02 1.03768284e-02 1.01180155e+02] [ 2.39280748e-02 9.99713312e-01 8.60697431e-04 1.07915984e+01] [-1.03944550e-02 -6.12106960e-04 9.99945789e-01 -1.40945620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171400513 meters 0.05973906830160744 Centerline is valid? [True, True] Translation: X:101.21, Y:10.78, Z:-0.14 [[ 9.99695407e-01 -2.27853800e-02 9.48257766e-03 1.01212719e+02] [ 2.27789383e-02 9.99740217e-01 7.86776713e-04 1.07841617e+01] [-9.49804126e-03 -5.70534015e-04 9.99954730e-01 -1.41780887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201400513 meters 0.05855585588361162 Centerline is valid? [True, True] Translation: X:101.24, Y:10.79, Z:-0.14 [[ 9.99742039e-01 -2.08640033e-02 8.97486934e-03 1.01242287e+02] [ 2.08581646e-02 9.99782168e-01 7.43676253e-04 1.07883784e+01] [-8.98843039e-03 -5.56285111e-04 9.99959449e-01 -1.42768495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23140051299998 meters 0.07194756977754721 Centerline is valid? [True, True] Translation: X:101.27, Y:10.80, Z:-0.14 [[ 9.99777195e-01 -1.90884715e-02 9.01056376e-03 1.01271085e+02] [ 1.90825145e-02 9.99817633e-01 7.46633967e-04 1.08017826e+01] [-9.02317264e-03 -5.74523400e-04 9.99959125e-01 -1.43660880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26140051299998 meters 0.06644623195454015 Centerline is valid? [True, True] Translation: X:101.30, Y:10.80, Z:-0.14 [[ 9.99797775e-01 -1.77587922e-02 9.43575260e-03 1.01303075e+02] [ 1.77521993e-02 9.99842111e-01 7.82022878e-04 1.07967879e+01] [-9.44815058e-03 -6.14359374e-04 9.99955177e-01 -1.42511000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29140051299999 meters 0.06301280688635315 Centerline is valid? [True, True] Translation: X:101.33, Y:10.80, Z:-0.14 [[ 9.99808110e-01 -1.68750863e-02 9.94861654e-03 1.01334920e+02] [ 1.68677153e-02 9.99857390e-01 8.24352286e-04 1.07971374e+01] [-9.96110879e-03 -6.56383669e-04 9.99950171e-01 -1.42573698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32140051299999 meters 0.06272480377096606 Centerline is valid? [True, True] Translation: X:101.37, Y:10.80, Z:-0.14 [[ 9.99806332e-01 -1.65906742e-02 1.05853024e-02 1.01367103e+02] [ 1.65823173e-02 9.99862120e-01 8.76762492e-04 1.07975548e+01] [-1.05983889e-02 -7.01063848e-04 9.99943590e-01 -1.42950223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35140051299999 meters 0.06818912254771915 Centerline is valid? [True, True] Translation: X:101.40, Y:10.81, Z:-0.14 [[ 9.99796999e-01 -1.68345403e-02 1.10706250e-02 1.01397613e+02] [ 1.68254212e-02 9.99858023e-01 9.16345591e-04 1.08058515e+01] [-1.10844795e-02 -7.29891643e-04 9.99938299e-01 -1.43410640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38140051299999 meters 0.057988822172647364 Centerline is valid? [True, True] Translation: X:101.43, Y:10.79, Z:-0.14 [[ 9.99781468e-01 -1.73701511e-02 1.16316004e-02 1.01431200e+02] [ 1.73601249e-02 9.99848838e-01 9.62400953e-04 1.07947167e+01] [-1.16465592e-02 -7.60264602e-04 9.99931888e-01 -1.41522032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41140051299999 meters 0.0621368367425294 Centerline is valid? [True, True] Translation: X:101.46, Y:10.80, Z:-0.14 [[ 9.99752647e-01 -1.82530826e-02 1.27070917e-02 1.01460905e+02] [ 1.82411977e-02 9.99833064e-01 1.05058118e-03 1.08015691e+01] [-1.27241467e-02 -8.18528741e-04 9.99918710e-01 -1.40595541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44140051299999 meters 0.057449574907801525 Centerline is valid? [True, True] Translation: X:101.49, Y:10.80, Z:-0.14 [[ 9.99689404e-01 -2.07723562e-02 1.37697027e-02 1.01492511e+02] [ 2.07586409e-02 9.99783868e-01 1.13824395e-03 1.07957871e+01] [-1.37903706e-02 -8.52050107e-04 9.99904545e-01 -1.39937516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47140051299999 meters 0.05695437586330951 Centerline is valid? [True, True] Translation: X:101.52, Y:10.80, Z:-0.14 [[ 9.99666677e-01 -2.20424499e-02 1.34411584e-02 1.01524001e+02] [ 2.20294965e-02 9.99756704e-01 1.11103043e-03 1.07956442e+01] [-1.34623780e-02 -8.14558148e-04 9.99909046e-01 -1.41826969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501400513 meters 0.056141319377593014 Centerline is valid? [True, True] Translation: X:101.56, Y:10.80, Z:-0.14 [[ 9.99647794e-01 -2.34027346e-02 1.25140074e-02 1.01555977e+02] [ 2.33916157e-02 9.99725844e-01 1.03416714e-03 1.07954746e+01] [-1.25347790e-02 -7.41080043e-04 9.99921162e-01 -1.43805824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531400513 meters 0.05820078273248321 Centerline is valid? [True, True] Translation: X:101.59, Y:10.80, Z:-0.15 [[ 9.99631842e-01 -2.45078365e-02 1.16424207e-02 1.01586602e+02] [ 2.44982922e-02 9.99699409e-01 9.61714731e-04 1.07995035e+01] [-1.16624906e-02 -6.76141244e-04 9.99931762e-01 -1.45266954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561400513 meters 0.05914804013580658 Centerline is valid? [True, True] Translation: X:101.62, Y:10.80, Z:-0.15 [[ 9.99621960e-01 -2.50243812e-02 1.13893335e-02 1.01617633e+02] [ 2.50152832e-02 9.99686626e-01 9.40601845e-04 1.08023521e+01] [-1.14093024e-02 -6.55338857e-04 9.99934697e-01 -1.45627768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59140051299998 meters 0.059250333829037174 Centerline is valid? [True, True] Translation: X:101.65, Y:10.80, Z:-0.14 [[ 9.99614293e-01 -2.52074699e-02 1.16554347e-02 1.01648597e+02] [ 2.51979590e-02 9.99682018e-01 9.62166805e-04 1.08044238e+01] [-1.16759822e-02 -6.68102526e-04 9.99931610e-01 -1.44984266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62140051299998 meters 0.057794048138609784 Centerline is valid? [True, True] Translation: X:101.68, Y:10.80, Z:-0.14 [[ 9.99639112e-01 -2.37073078e-02 1.26336338e-02 1.01679468e+02] [ 2.36960210e-02 9.99718666e-01 1.04236082e-03 1.08044834e+01] [-1.26547911e-02 -7.42617792e-04 9.99919649e-01 -1.43005056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65140051299998 meters 0.05874840165413205 Centerline is valid? [True, True] Translation: X:101.71, Y:10.81, Z:-0.14 [[ 9.99652823e-01 -2.27434602e-02 1.33029580e-02 1.01710912e+02] [ 2.27308619e-02 9.99741018e-01 1.09748784e-03 1.08083103e+01] [-1.33244735e-02 -7.94719119e-04 9.99910909e-01 -1.43772429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68140051299999 meters 0.06435247469143056 Centerline is valid? [True, True] Translation: X:101.74, Y:10.82, Z:-0.14 [[ 9.99647601e-01 -2.24302864e-02 1.41970752e-02 1.01741878e+02] [ 2.24159135e-02 9.99748046e-01 1.17072099e-03 1.08172234e+01] [-1.42197578e-02 -8.52068022e-04 9.99898531e-01 -1.44480269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71140051299999 meters 0.06031068381900139 Centerline is valid? [True, True] Translation: X:101.77, Y:10.81, Z:-0.14 [[ 9.99597663e-01 -2.39368472e-02 1.52164434e-02 1.01773531e+02] [ 2.39205187e-02 9.99713077e-01 1.25420536e-03 1.08148789e+01] [-1.52420991e-02 -8.89715532e-04 9.99883437e-01 -1.44355886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74140051299999 meters 0.0568985026367685 Centerline is valid? [True, True] Translation: X:101.81, Y:10.81, Z:-0.15 [[ 9.99588262e-01 -2.48467029e-02 1.43509029e-02 1.01806492e+02] [ 2.48322765e-02 9.99690932e-01 1.18260378e-03 1.08084803e+01] [-1.43758513e-02 -8.25751266e-04 9.99896321e-01 -1.45052165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77140051299999 meters 0.05956900453880949 Centerline is valid? [True, True] Translation: X:101.84, Y:10.82, Z:-0.15 [[ 9.99598499e-01 -2.51337280e-02 1.30819130e-02 1.01836873e+02] [ 2.51217725e-02 9.99683818e-01 1.07744963e-03 1.08161462e+01] [-1.31048571e-02 -7.48376190e-04 9.99913848e-01 -1.46288815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80140051299999 meters 0.053201409074107975 Centerline is valid? [True, True] Translation: X:101.87, Y:10.81, Z:-0.15 [[ 9.99627894e-01 -2.46063657e-02 1.17728427e-02 1.01869534e+02] [ 2.45966504e-02 9.99696987e-01 9.69327843e-04 1.08094421e+01] [-1.17931270e-02 -6.79394653e-04 9.99930228e-01 -1.46697659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83140051299999 meters 0.06126675343859331 Centerline is valid? [True, True] Translation: X:101.90, Y:10.82, Z:-0.15 [[ 9.99662533e-01 -2.33773723e-02 1.13278071e-02 1.01900288e+02] [ 2.33683056e-02 9.99726489e-01 9.32116653e-04 1.08188297e+01] [-1.13464992e-02 -6.67090437e-04 9.99935404e-01 -1.48439786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86140051299999 meters 0.05697241597796872 Centerline is valid? [True, True] Translation: X:101.93, Y:10.82, Z:-0.15 [[ 9.99697295e-01 -2.18031156e-02 1.13992288e-02 1.01931409e+02] [ 2.17938381e-02 9.99762047e-01 9.37468294e-04 1.08183550e+01] [-1.14169560e-02 -6.88751572e-04 9.99934587e-01 -1.48666152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891400513 meters 0.06568525502192255 Centerline is valid? [True, True] Translation: X:101.96, Y:10.83, Z:-0.15 [[ 9.99781027e-01 -1.76210541e-02 1.12870033e-02 1.01960529e+02] [ 1.76116921e-02 9.99844471e-01 9.28310147e-04 1.08280877e+01] [-1.13016057e-02 -7.29323645e-04 9.99935869e-01 -1.51344804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921400513 meters 0.06204738695060678 Centerline is valid? [True, True] Translation: X:101.99, Y:10.83, Z:-0.15 [[ 9.99805929e-01 -1.60856593e-02 1.13734945e-02 1.01992346e+02] [ 1.60760629e-02 9.99870335e-01 9.34675011e-04 1.08262473e+01] [-1.13870546e-02 -7.51652605e-04 9.99934883e-01 -1.52111145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951400513 meters 0.06913116433046178 Centerline is valid? [True, True] Translation: X:102.02, Y:10.84, Z:-0.15 [[ 9.99817568e-01 -1.51637726e-02 1.16142437e-02 1.02022296e+02] [ 1.51537038e-02 9.99884721e-01 9.54446301e-04 1.08358391e+01] [-1.16273778e-02 -7.78273370e-04 9.99932097e-01 -1.53039116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98140051299998 meters 0.07308146734643729 Centerline is valid? [True, True] Translation: X:102.05, Y:10.84, Z:-0.15 [[ 9.99822914e-01 -1.46216292e-02 1.18468458e-02 1.02053659e+02] [ 1.46111295e-02 9.99892779e-01 9.72362267e-04 1.08388251e+01] [-1.18597931e-02 -7.99094278e-04 9.99929351e-01 -1.53279543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01140051299998 meters 0.07078036548129231 Centerline is valid? [True, True] Translation: X:102.09, Y:10.84, Z:-0.15 [[ 9.99823269e-01 -1.48647257e-02 1.15096156e-02 1.02085892e+02] [ 1.48548350e-02 9.99889215e-01 9.44365396e-04 1.08371216e+01] [-1.15223782e-02 -7.73225057e-04 9.99933316e-01 -1.53978834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04140051299999 meters 0.06537705246411177 Centerline is valid? [True, True] Translation: X:102.12, Y:10.83, Z:-0.16 [[ 9.99826572e-01 -1.53629590e-02 1.05264316e-02 1.02118526e+02] [ 1.53547176e-02 9.99881737e-01 8.63298549e-04 1.08298869e+01] [-1.05384496e-02 -7.01518443e-04 9.99944223e-01 -1.55239216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07140051299999 meters 0.06963908113987749 Centerline is valid? [True, True] Translation: X:102.15, Y:10.84, Z:-0.16 [[ 9.99826580e-01 -1.58406088e-02 9.79205833e-03 1.02149217e+02] [ 1.58335048e-02 9.99874320e-01 8.02592789e-04 1.08378369e+01] [-9.80354123e-03 -6.47411001e-04 9.99951735e-01 -1.57701103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10140051299999 meters 0.06688611734043035 Centerline is valid? [True, True] Translation: X:102.18, Y:10.84, Z:-0.16 [[ 9.99822420e-01 -1.61722302e-02 9.67406599e-03 1.02181574e+02] [ 1.61653143e-02 9.99869019e-01 7.92656509e-04 1.08375024e+01] [-9.68561789e-03 -6.36131431e-04 9.99952891e-01 -1.58809751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13140051299999 meters 0.06677967684658782 Centerline is valid? [True, True] Translation: X:102.21, Y:10.84, Z:-0.16 [[ 9.99811029e-01 -1.62932620e-02 1.06035578e-02 1.02213053e+02] [ 1.62849666e-02 9.99867014e-01 8.68202713e-04 1.08360405e+01] [-1.06162935e-02 -6.95360063e-04 9.99943404e-01 -1.57253426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16140051299999 meters 0.058898099769818815 Centerline is valid? [True, True] Translation: X:102.25, Y:10.83, Z:-0.16 [[ 9.99803310e-01 -1.63654182e-02 1.12032843e-02 1.02246287e+02] [ 1.63561661e-02 9.99865808e-01 9.16965212e-04 1.08266517e+01] [-1.12167875e-02 -7.33542074e-04 9.99936821e-01 -1.55437880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19140051299999 meters 0.06497265029223173 Centerline is valid? [True, True] Translation: X:102.28, Y:10.83, Z:-0.16 [[ 9.99815808e-01 -1.55098315e-02 1.13046664e-02 1.02275274e+02] [ 1.55289322e-02 9.99878133e-01 -1.60380884e-03 1.08322775e+01] [-1.12784139e-02 1.77906283e-03 9.99934814e-01 -1.55576017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22140051299999 meters 0.06350765327209548 Centerline is valid? [True, True] Translation: X:102.31, Y:10.83, Z:-0.15 [[ 9.99797129e-01 -1.63396829e-02 1.17777887e-02 1.02307528e+02] [ 1.62991237e-02 9.99860924e-01 3.53151329e-03 1.08303034e+01] [-1.18338545e-02 -3.33882921e-03 9.99924403e-01 -1.54656187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251400513 meters 0.05832623696260872 Centerline is valid? [True, True] Translation: X:102.34, Y:10.83, Z:-0.16 [[ 9.99815124e-01 -1.57359690e-02 1.10497631e-02 1.02339716e+02] [ 1.57269411e-02 9.99875916e-01 9.03442791e-04 1.08277888e+01] [-1.10626085e-02 -7.29496792e-04 9.99938541e-01 -1.57426753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281400513 meters 0.06076948099282853 Centerline is valid? [True, True] Translation: X:102.37, Y:10.83, Z:-0.16 [[ 9.99829021e-01 -1.53937792e-02 1.02450596e-02 1.02370372e+02] [ 1.53860057e-02 9.99881278e-01 8.37145653e-04 1.08312033e+01] [-1.02567301e-02 -6.79371973e-04 9.99947168e-01 -1.59628935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311400513 meters 0.05966356493096944 Centerline is valid? [True, True] Translation: X:102.40, Y:10.83, Z:-0.16 [[ 9.99836437e-01 -1.51069163e-02 9.94388818e-03 1.02402974e+02] [ 1.50995817e-02 9.99885665e-01 8.12273117e-04 1.08306783e+01] [-9.95502219e-03 -6.61991707e-04 9.99950228e-01 -1.60465361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34140051299998 meters 0.0653672247033717 Centerline is valid? [True, True] Translation: X:102.43, Y:10.84, Z:-0.16 [[ 9.99841903e-01 -1.46368799e-02 1.00961055e-02 1.02433887e+02] [ 1.46293008e-02 9.99892646e-01 8.24145128e-04 1.08354405e+01] [-1.01070845e-02 -6.76315869e-04 9.99948693e-01 -1.60914987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37140051299998 meters 0.06403828994477499 Centerline is valid? [True, True] Translation: X:102.47, Y:10.83, Z:-0.16 [[ 9.99835632e-01 -1.41813289e-02 1.12959848e-02 1.02466580e+02] [ 1.41718168e-02 9.99899150e-01 9.21683101e-04 1.08331691e+01] [-1.13079163e-02 -7.61446979e-04 9.99935774e-01 -1.58622873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40140051299998 meters 0.06462897004104498 Centerline is valid? [True, True] Translation: X:102.50, Y:10.83, Z:-0.16 [[ 9.99817764e-01 -1.43047175e-02 1.26417675e-02 1.02497489e+02] [ 1.42928227e-02 9.99897321e-01 1.03076081e-03 1.08338645e+01] [-1.26552142e-02 -8.49886426e-04 9.99919558e-01 -1.55935649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43140051299999 meters 0.06927114770349309 Centerline is valid? [True, True] Translation: X:102.53, Y:10.84, Z:-0.15 [[ 9.99790821e-01 -1.42860526e-02 1.46363516e-02 1.02528180e+02] [ 1.42701148e-02 9.99897465e-01 1.19278551e-03 1.08410524e+01] [-1.46518911e-02 -9.83673583e-04 9.99892171e-01 -1.53577664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46140051299999 meters 0.06808175063406423 Centerline is valid? [True, True] Translation: X:102.56, Y:10.84, Z:-0.15 [[ 9.99786820e-01 -1.35033932e-02 1.56196555e-02 1.02560318e+02] [ 1.34851557e-02 9.99908262e-01 1.27234358e-03 1.08389026e+01] [-1.56354035e-02 -1.06143885e-03 9.99877196e-01 -1.53453892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49140051299999 meters 0.06609821570756765 Centerline is valid? [True, True] Translation: X:102.59, Y:10.84, Z:-0.15 [[ 9.99792592e-01 -1.25111501e-02 1.60699538e-02 1.02590816e+02] [ 1.24917305e-02 9.99921119e-01 1.30825576e-03 1.08433838e+01] [-1.60850540e-02 -1.10724289e-03 9.99870014e-01 -1.54112828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52140051299999 meters 0.0718570153762941 Centerline is valid? [True, True] Translation: X:102.62, Y:10.85, Z:-0.16 [[ 9.99807883e-01 -1.17156804e-02 1.57143398e-02 1.02621616e+02] [ 1.16970186e-02 9.99930770e-01 1.27895568e-03 1.08510805e+01] [-1.57282357e-02 -1.09489905e-03 9.99875704e-01 -1.55148680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55140051299999 meters 0.06198182563452592 Centerline is valid? [True, True] Translation: X:102.66, Y:10.84, Z:-0.16 [[ 9.99831529e-01 -1.17683345e-02 1.40861910e-02 1.02655127e+02] [ 1.17533506e-02 9.99930270e-01 1.14604670e-03 1.08386315e+01] [-1.40986958e-02 -9.80293678e-04 9.99900128e-01 -1.57101519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58140051299999 meters 0.06605531796551364 Centerline is valid? [True, True] Translation: X:102.69, Y:10.85, Z:-0.16 [[ 9.99829622e-01 -1.28119415e-02 1.32883846e-02 1.02685299e+02] [ 1.27987073e-02 9.99917509e-01 1.08048623e-03 1.08456119e+01] [-1.33011316e-02 -9.10227996e-04 9.99911122e-01 -1.59342172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61140051299999 meters 0.06605531796551364 Centerline is valid? [True, True] Translation: X:102.72, Y:10.85, Z:-0.16 [[ 9.99830501e-01 -1.27431519e-02 1.32883991e-02 1.02717763e+02] [ 1.27299140e-02 9.99918388e-01 1.08030794e-03 1.08481381e+01] [-1.33010811e-02 -9.10964651e-04 9.99911122e-01 -1.59871275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641400513 meters 0.06263063734419858 Centerline is valid? [True, True] Translation: X:102.75, Y:10.85, Z:-0.16 [[ 9.99832695e-01 -1.35633766e-02 1.22725915e-02 1.02749686e+02] [ 1.35521580e-02 9.99907668e-01 9.96827240e-04 1.08477129e+01] [-1.22849787e-02 -8.30340367e-04 9.99924192e-01 -1.61523532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671400513 meters 0.06716989963420864 Centerline is valid? [True, True] Translation: X:102.78, Y:10.85, Z:-0.16 [[ 9.99838912e-01 -1.40549059e-02 1.11628946e-02 1.02780882e+02] [ 1.40456581e-02 9.99900944e-01 9.06411332e-04 1.08537885e+01] [-1.11745284e-02 -7.49475119e-04 9.99937282e-01 -1.63194543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701400513 meters 0.06672763318483368 Centerline is valid? [True, True] Translation: X:102.81, Y:10.85, Z:-0.16 [[ 9.99847266e-01 -1.36941286e-02 1.08589227e-02 1.02812997e+02] [ 1.36853617e-02 9.99905963e-01 8.81243476e-04 1.08509531e+01] [-1.08699694e-02 -7.32500596e-04 9.99940652e-01 -1.62916185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73140051299998 meters 0.06226484812774681 Centerline is valid? [True, True] Translation: X:102.85, Y:10.85, Z:-0.16 [[ 9.99859069e-01 -1.25860081e-02 1.11100720e-02 1.02845203e+02] [ 1.25767687e-02 9.99920503e-01 9.01100428e-04 1.08497807e+01] [-1.11205300e-02 -7.61244630e-04 9.99937875e-01 -1.62249066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76140051299998 meters 0.0675877665832422 Centerline is valid? [True, True] Translation: X:102.87, Y:10.86, Z:-0.16 [[ 9.99874629e-01 -1.07911225e-02 1.15878641e-02 1.02874557e+02] [ 1.07809605e-02 9.99941443e-01 9.39062046e-04 1.08556915e+01] [-1.15973191e-02 -8.14016009e-04 9.99932418e-01 -1.62198566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79140051299999 meters 0.07084773831077786 Centerline is valid? [True, True] Translation: X:102.90, Y:10.86, Z:-0.16 [[ 9.99882675e-01 -8.65476665e-03 1.26384846e-02 1.02903728e+02] [ 8.64250677e-03 9.99962128e-01 1.02433928e-03 1.08629968e+01] [-1.26468714e-02 -9.14990911e-04 9.99919606e-01 -1.61347781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82140051299999 meters 0.06538500766142215 Centerline is valid? [True, True] Translation: X:102.93, Y:10.86, Z:-0.16 [[ 9.99893526e-01 -6.43429909e-03 1.30971730e-02 1.02934525e+02] [ 6.42095178e-03 9.99978823e-01 1.06089405e-03 1.08623675e+01] [-1.31037217e-02 -9.76684780e-04 9.99913666e-01 -1.60432773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85140051299999 meters 0.07600157154344525 Centerline is valid? [True, True] Translation: X:102.96, Y:10.88, Z:-0.16 [[ 9.99922911e-01 -3.37813099e-03 1.19482312e-02 1.02963596e+02] [ 3.36680703e-03 9.99993864e-01 9.67739781e-04 1.08804759e+01] [-1.19514270e-02 -9.27437790e-04 9.99928149e-01 -1.63133853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88140051299999 meters 0.07925229802747642 Centerline is valid? [True, True] Translation: X:102.99, Y:10.89, Z:-0.17 [[ 9.99933945e-01 -2.43584395e-03 1.12326272e-02 1.02994294e+02] [ 2.42577375e-03 9.99996644e-01 9.10050022e-04 1.08894866e+01] [-1.12348063e-02 -8.82742096e-04 9.99936498e-01 -1.66251970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91140051299999 meters 0.07440565954650201 Centerline is valid? [True, True] Translation: X:103.03, Y:10.89, Z:-0.17 [[ 9.99945117e-01 -1.97718783e-03 1.02884762e-02 1.03026225e+02] [ 1.96872436e-03 9.99997715e-01 8.32679090e-04 1.08874302e+01] [-1.02900990e-02 -8.12378216e-04 9.99946726e-01 -1.68584529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94140051299999 meters 0.08185327443316472 Centerline is valid? [True, True] Translation: X:103.06, Y:10.90, Z:-0.17 [[ 9.99946635e-01 -2.18236008e-03 1.00977250e-02 1.03056293e+02] [ 2.17421437e-03 9.99997302e-01 8.17594871e-04 1.09007391e+01] [-1.00994820e-02 -7.95596622e-04 9.99948682e-01 -1.69996569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97140051299999 meters 0.0808582297707902 Centerline is valid? [True, True] Translation: X:103.09, Y:10.90, Z:-0.17 [[ 9.99941774e-01 -3.38253933e-03 1.02472597e-02 1.03088268e+02] [ 3.37423605e-03 9.99993965e-01 8.27472829e-04 1.09008278e+01] [-1.02499968e-02 -7.92847976e-04 9.99947153e-01 -1.69321914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001400513 meters 0.06725538995293516 Centerline is valid? [True, True] Translation: X:103.12, Y:10.89, Z:-0.17 [[ 9.99923450e-01 -6.53052855e-03 1.05093060e-02 1.03119634e+02] [ 6.52197388e-03 9.99978372e-01 8.48075426e-04 1.08932917e+01] [-1.05146171e-02 -7.79469086e-04 9.99944416e-01 -1.67698889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031400513 meters 0.0683457960949668 Centerline is valid? [True, True] Translation: X:103.15, Y:10.90, Z:-0.17 [[ 9.99918873e-01 -8.30654034e-03 9.65651043e-03 1.03150527e+02] [ 8.29939930e-03 9.99965256e-01 7.79343376e-04 1.08967872e+01] [-9.66264856e-03 -6.99136914e-04 9.99953071e-01 -1.69918963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061400513 meters 0.06538423800081289 Centerline is valid? [True, True] Translation: X:103.18, Y:10.90, Z:-0.17 [[ 9.99904441e-01 -1.01374243e-02 9.39906743e-03 1.03181018e+02] [ 1.01307402e-02 9.99948395e-01 7.58484065e-04 1.08990874e+01] [-9.40627147e-03 -6.63192074e-04 9.99955540e-01 -1.70707898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09140051299998 meters 0.06142524694120688 Centerline is valid? [True, True] Translation: X:103.21, Y:10.90, Z:-0.17 [[ 9.99841964e-01 -1.35642120e-02 1.14917035e-02 1.03212200e+02] [ 1.35544481e-02 9.99907704e-01 9.27113025e-04 1.08994284e+01] [-1.15032184e-02 -7.71202809e-04 9.99933538e-01 -1.68395517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12140051299998 meters 0.06759605584203587 Centerline is valid? [True, True] Translation: X:103.24, Y:10.91, Z:-0.17 [[ 9.99811906e-01 -1.49161596e-02 1.23960242e-02 1.03241724e+02] [ 1.49049036e-02 9.99888416e-01 9.99924567e-04 1.09093133e+01] [-1.24095560e-02 -8.14974941e-04 9.99922666e-01 -1.68105137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15140051299998 meters 0.06486485875314846 Centerline is valid? [True, True] Translation: X:103.27, Y:10.90, Z:-0.17 [[ 9.99788535e-01 -1.62521682e-02 1.25996974e-02 1.03274038e+02] [ 1.62406458e-02 9.99867596e-01 1.01628610e-03 1.09021479e+01] [-1.26145460e-02 -8.11443973e-04 9.99920104e-01 -1.67946651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18140051299999 meters 0.06638237098877388 Centerline is valid? [True, True] Translation: X:103.30, Y:10.91, Z:-0.17 [[ 9.99772343e-01 -1.74601539e-02 1.22639825e-02 1.03303977e+02] [ 1.74493312e-02 9.99847260e-01 9.88930493e-04 1.09081533e+01] [-1.22793762e-02 -7.74707064e-04 9.99924306e-01 -1.68793616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21140051299999 meters 0.06000449271670327 Centerline is valid? [True, True] Translation: X:103.34, Y:10.90, Z:-0.17 [[ 9.99759688e-01 -1.85508833e-02 1.16803477e-02 1.03336474e+02] [ 1.85411512e-02 9.99827655e-01 9.40953655e-04 1.08997705e+01] [-1.16957902e-02 -7.24160440e-04 9.99931340e-01 -1.69482954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24140051299999 meters 0.061657526372046266 Centerline is valid? [True, True] Translation: X:103.37, Y:10.91, Z:-0.17 [[ 9.99761088e-01 -1.87415606e-02 1.12481236e-02 1.03367047e+02] [ 1.87325517e-02 9.99824120e-01 9.05756120e-04 1.09098140e+01] [-1.12631206e-02 -6.94833667e-04 9.99936328e-01 -1.70740496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27140051299999 meters 0.0623093039484203 Centerline is valid? [True, True] Translation: X:103.40, Y:10.91, Z:-0.17 [[ 9.99769344e-01 -1.80288180e-02 1.16713770e-02 1.03398493e+02] [ 1.80190736e-02 9.99837202e-01 9.39527933e-04 1.09129382e+01] [-1.16864155e-02 -7.29003825e-04 9.99931446e-01 -1.70714471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30140051299999 meters 0.061727973513938356 Centerline is valid? [True, True] Translation: X:103.43, Y:10.91, Z:-0.17 [[ 9.99778017e-01 -1.70622040e-02 1.23611645e-02 1.03430534e+02] [ 1.70512111e-02 9.99854123e-01 9.94159687e-04 1.09139043e+01] [-1.23763239e-02 -7.83166175e-04 9.99923104e-01 -1.70121533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33140051299999 meters 0.06277101134426558 Centerline is valid? [True, True] Translation: X:103.46, Y:10.92, Z:-0.17 [[ 9.99785366e-01 -1.59606708e-02 1.32090118e-02 1.03461655e+02] [ 1.59480302e-02 9.99872258e-01 1.06175156e-03 1.09188764e+01] [-1.32242707e-02 -8.50865954e-04 9.99912193e-01 -1.69255384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36140051299999 meters 0.06514367662644413 Centerline is valid? [True, True] Translation: X:103.49, Y:10.92, Z:-0.17 [[ 9.99809823e-01 -1.36232462e-02 1.39544214e-02 1.03493194e+02] [ 1.36089275e-02 9.99906766e-01 1.12055391e-03 1.09184637e+01] [-1.39683859e-02 -9.30436097e-04 9.99902004e-01 -1.69113692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391400513 meters 0.0696723933606352 Centerline is valid? [True, True] Translation: X:103.52, Y:10.93, Z:-0.17 [[ 9.99830110e-01 -1.25631507e-02 1.34876825e-02 1.03523498e+02] [ 1.25496819e-02 9.99920663e-01 1.08277665e-03 1.09264374e+01] [-1.35002155e-02 -9.13326576e-04 9.99908451e-01 -1.70251497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421400513 meters 0.07202925354152999 Centerline is valid? [True, True] Translation: X:103.55, Y:10.93, Z:-0.17 [[ 9.99853279e-01 -1.12615315e-02 1.29073211e-02 1.03554253e+02] [ 1.12490932e-02 9.99936190e-01 1.03586143e-03 1.09280380e+01] [-1.29181629e-02 -8.90513793e-04 9.99916161e-01 -1.71241330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451400513 meters 0.07253297245517913 Centerline is valid? [True, True] Translation: X:103.58, Y:10.94, Z:-0.17 [[ 9.99871885e-01 -9.94871259e-03 1.25394435e-02 1.03583554e+02] [ 9.93687023e-03 9.99950122e-01 1.00636084e-03 1.09352995e+01] [-1.25488300e-02 -8.81629091e-04 9.99920872e-01 -1.72132701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48140051299998 meters 0.07395488530486535 Centerline is valid? [True, True] Translation: X:103.61, Y:10.94, Z:-0.17 [[ 9.99887821e-01 -8.84179768e-03 1.20900066e-02 1.03614365e+02] [ 8.83071844e-03 9.99960538e-01 9.69473937e-04 1.09387452e+01] [-1.20981014e-02 -8.62601738e-04 9.99926443e-01 -1.72996441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51140051299998 meters 0.06541278216388435 Centerline is valid? [True, True] Translation: X:103.65, Y:10.93, Z:-0.17 [[ 9.99894821e-01 -7.93575999e-03 1.21396054e-02 1.03647400e+02] [ 7.92452310e-03 9.99968127e-01 9.73461529e-04 1.09298978e+01] [-1.21469437e-02 -8.77158558e-04 9.99925838e-01 -1.73590472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54140051299999 meters 0.07034412737920806 Centerline is valid? [True, True] Translation: X:103.68, Y:10.94, Z:-0.18 [[ 9.99892258e-01 -8.50253830e-03 1.19657222e-02 1.03678490e+02] [ 8.49166805e-03 9.99963485e-01 9.58963356e-04 1.09376007e+01] [-1.19734389e-02 -8.57251095e-04 9.99927948e-01 -1.75187344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57140051299999 meters 0.07292974323669357 Centerline is valid? [True, True] Translation: X:103.71, Y:10.94, Z:-0.18 [[ 9.99884893e-01 -9.69780657e-03 1.16685098e-02 1.03709171e+02] [ 9.68755807e-03 9.99952638e-01 9.34506626e-04 1.09401031e+01] [-1.16770199e-02 -8.21359690e-04 9.99931484e-01 -1.77299343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60140051299999 meters 0.05999611687116689 Centerline is valid? [True, True] Translation: X:103.74, Y:10.93, Z:-0.18 [[ 9.99874425e-01 -1.09882922e-02 1.14189208e-02 1.03742376e+02] [ 1.09785633e-02 9.99939316e-01 9.14331002e-04 1.09266488e+01] [-1.14282748e-02 -7.88852839e-04 9.99934384e-01 -1.77705845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63140051299999 meters 0.06203771527523824 Centerline is valid? [True, True] Translation: X:103.77, Y:10.93, Z:-0.18 [[ 9.99859704e-01 -1.28325328e-02 1.07656008e-02 1.03771636e+02] [ 1.28239950e-02 9.99917398e-01 8.61729470e-04 1.09282190e+01] [-1.07757697e-02 -7.23550562e-04 9.99941678e-01 -1.79659125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66140051299999 meters 0.06370665892892168 Centerline is valid? [True, True] Translation: X:103.80, Y:10.93, Z:-0.18 [[ 9.99852643e-01 -1.36327074e-02 1.04326746e-02 1.03802762e+02] [ 1.36247385e-02 9.99906831e-01 8.34533629e-04 1.09288850e+01] [-1.04430795e-02 -6.92268192e-04 9.99945230e-01 -1.80968638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69140051299999 meters 0.05825112288644019 Centerline is valid? [True, True] Translation: X:103.84, Y:10.93, Z:-0.18 [[ 9.99847990e-01 -1.42116807e-02 1.01007109e-02 1.03835212e+02] [ 1.42042429e-02 9.99898788e-01 8.07725917e-04 1.09265712e+01] [-1.01111678e-02 -6.64130183e-04 9.99948660e-01 -1.81057349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72140051299999 meters 0.05940020052757216 Centerline is valid? [True, True] Translation: X:103.87, Y:10.93, Z:-0.18 [[ 9.99844123e-01 -1.43832401e-02 1.02397786e-02 1.03865983e+02] [ 1.43756079e-02 9.99896331e-01 8.18567869e-04 1.09296301e+01] [-1.02504907e-02 -6.71237230e-04 9.99947237e-01 -1.81689812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751400513 meters 0.06089228957337425 Centerline is valid? [True, True] Translation: X:103.90, Y:10.93, Z:-0.18 [[ 9.99838598e-01 -1.44304069e-02 1.07024314e-02 1.03896604e+02] [ 1.44220825e-02 9.99895631e-01 8.54575438e-04 1.09339597e+01] [-1.07136462e-02 -7.00086160e-04 9.99942362e-01 -1.81926264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781400513 meters 0.06312867815017069 Centerline is valid? [True, True] Translation: X:103.93, Y:10.94, Z:-0.18 [[ 9.99832266e-01 -1.47098269e-02 1.09115464e-02 1.03927443e+02] [ 1.47012003e-02 9.99891553e-01 8.70384602e-04 1.09395277e+01] [-1.09231663e-02 -7.09825780e-04 9.99940088e-01 -1.82381752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811400513 meters 0.0639678680959385 Centerline is valid? [True, True] Translation: X:103.96, Y:10.94, Z:-0.18 [[ 9.99811576e-01 -1.64527237e-02 1.03014920e-02 1.03956809e+02] [ 1.64451407e-02 9.99864433e-01 8.20379878e-04 1.09436169e+01] [-1.03135930e-02 -6.50815813e-04 9.99946602e-01 -1.84002071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84140051299998 meters 0.06453134074363179 Centerline is valid? [True, True] Translation: X:103.99, Y:10.94, Z:-0.18 [[ 9.99797421e-01 -1.74126548e-02 1.00953667e-02 1.03988351e+02] [ 1.74054178e-02 9.99848191e-01 8.04284539e-04 1.09432655e+01] [-1.01078388e-02 -6.28407533e-04 9.99948717e-01 -1.84472145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87140051299998 meters 0.07480897878963347 Centerline is valid? [True, True] Translation: X:104.01, Y:10.96, Z:-0.19 [[ 9.99792943e-01 -1.72496561e-02 1.07944310e-02 1.04014984e+02] [ 1.72518560e-02 9.99851170e-01 -1.10710104e-04 1.09565638e+01] [-1.07909148e-02 2.96911151e-04 9.99941732e-01 -1.85093532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90140051299998 meters 0.07029667308079633 Centerline is valid? [True, True] Translation: X:104.05, Y:10.95, Z:-0.19 [[ 9.99743688e-01 -2.00487546e-02 1.05169456e-02 1.04048810e+02] [ 2.00293824e-02 9.99797502e-01 1.94411142e-03 1.09541083e+01] [-1.05537929e-02 -1.73296519e-03 9.99942806e-01 -1.85160814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93140051299999 meters 0.05529868880296163 Centerline is valid? [True, True] Translation: X:104.08, Y:10.94, Z:-0.18 [[ 9.99702623e-01 -2.18987839e-02 1.07289236e-02 1.04081283e+02] [ 2.18908528e-02 9.99760000e-01 8.56120049e-04 1.09385029e+01] [-1.07450966e-02 -6.21000172e-04 9.99942077e-01 -1.84289098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96140051299999 meters 0.0522591744107506 Centerline is valid? [True, True] Translation: X:104.11, Y:10.94, Z:-0.19 [[ 9.99636911e-01 -2.47802701e-02 1.05822802e-02 1.04110904e+02] [ 2.47727175e-02 9.99692753e-01 8.44206824e-04 1.09395390e+01] [-1.05999485e-02 -5.81748463e-04 9.99943650e-01 -1.85284340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99140051299999 meters 0.04849963185350671 Centerline is valid? [True, True] Translation: X:104.14, Y:10.93, Z:-0.19 [[ 9.99424007e-01 -3.23798745e-02 1.01586029e-02 1.04142483e+02] [ 3.23733051e-02 9.99475519e-01 8.10492178e-04 1.09300650e+01] [-1.01795185e-02 -4.81157789e-04 9.99948072e-01 -1.86193202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02140051299999 meters 0.04603319047036269 Centerline is valid? [True, True] Translation: X:104.17, Y:10.93, Z:-0.19 [[ 9.99292011e-01 -3.62143009e-02 1.01980849e-02 1.04173362e+02] [ 3.62078804e-02 9.99343949e-01 8.13576967e-04 1.09266658e+01] [-1.02208575e-02 -4.43749926e-04 9.99947667e-01 -1.87102352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05140051299999 meters 0.04116228523121255 Centerline is valid? [True, True] Translation: X:104.20, Y:10.93, Z:-0.19 [[ 9.99157364e-01 -3.97441771e-02 1.02451411e-02 1.04202941e+02] [ 3.97378834e-02 9.99209804e-01 8.17229434e-04 1.09256830e+01] [-1.02695255e-02 -4.09420584e-04 9.99947183e-01 -1.87565194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08140051299999 meters 0.04308069779842018 Centerline is valid? [True, True] Translation: X:104.23, Y:10.92, Z:-0.19 [[ 9.99012495e-01 -4.31490956e-02 1.05919846e-02 1.04233651e+02] [ 4.31425561e-02 9.99068569e-01 8.45221278e-04 1.09183257e+01] [-1.06185895e-02 -3.87421326e-04 9.99943546e-01 -1.87132465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11140051299999 meters 0.04636275743145997 Centerline is valid? [True, True] Translation: X:104.26, Y:10.92, Z:-0.19 [[ 9.98879987e-01 -4.60452247e-02 1.08907755e-02 1.04262581e+02] [ 4.60384828e-02 9.98939289e-01 8.69072769e-04 1.09164157e+01] [-1.09192401e-02 -3.66704617e-04 9.99940316e-01 -1.86673554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141400513 meters 0.03903202817270086 Centerline is valid? [True, True] Translation: X:104.29, Y:10.91, Z:-0.19 [[ 9.98777131e-01 -4.80601323e-02 1.15959795e-02 1.04291730e+02] [ 4.80526202e-02 9.98844377e-01 9.25732718e-04 1.09141022e+01] [-1.16270697e-02 -3.67383471e-04 9.99932336e-01 -1.85896974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171400513 meters 0.04482674249356593 Centerline is valid? [True, True] Translation: X:104.32, Y:10.92, Z:-0.18 [[ 9.98732778e-01 -4.86694415e-02 1.28110779e-02 1.04320004e+02] [ 4.86603142e-02 9.98814861e-01 1.02338582e-03 1.09155063e+01] [-1.28457026e-02 -3.98697885e-04 9.99917411e-01 -1.84546503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201400513 meters 0.040438229415131706 Centerline is valid? [True, True] Translation: X:104.35, Y:10.91, Z:-0.18 [[ 9.98751943e-01 -4.81796212e-02 1.31636293e-02 1.04349284e+02] [ 4.81699358e-02 9.98838601e-01 1.05202415e-03 1.09142466e+01] [-1.31990272e-02 -4.16619983e-04 9.99912802e-01 -1.83674141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23140051299998 meters 0.03488177371676866 Centerline is valid? [True, True] Translation: X:104.38, Y:10.91, Z:-0.18 [[ 9.98780060e-01 -4.75812570e-02 1.32066248e-02 1.04378341e+02] [ 4.75714269e-02 9.98867279e-01 1.05765520e-03 1.09141416e+01] [-1.32419899e-02 -4.28106937e-04 9.99912229e-01 -1.83824181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26140051299998 meters 0.04180492514209907 Centerline is valid? [True, True] Translation: X:104.41, Y:10.92, Z:-0.18 [[ 9.98808044e-01 -4.70222851e-02 1.30918566e-02 1.04405480e+02] [ 4.70125443e-02 9.98893746e-01 1.05097031e-03 1.09203028e+01] [-1.31267927e-02 -4.34236112e-04 9.99913746e-01 -1.84840908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29140051299999 meters 0.040912832800026895 Centerline is valid? [True, True] Translation: X:104.43, Y:10.92, Z:-0.18 [[ 9.98828626e-01 -4.63416009e-02 1.39223222e-02 1.04434474e+02] [ 4.63305099e-02 9.98925539e-01 1.11828016e-03 1.09190444e+01] [-1.39591861e-02 -4.71941953e-04 9.99902454e-01 -1.84563248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32140051299999 meters 0.04591814525889436 Centerline is valid? [True, True] Translation: X:104.46, Y:10.92, Z:-0.18 [[ 9.98803409e-01 -4.65138166e-02 1.51067697e-02 1.04462610e+02] [ 4.65007344e-02 9.98917515e-01 1.21627996e-03 1.09226592e+01] [-1.51469906e-02 -5.12348686e-04 9.99885146e-01 -1.83331363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35140051299999 meters 0.03887414561595085 Centerline is valid? [True, True] Translation: X:104.49, Y:10.92, Z:-0.18 [[ 9.98756010e-01 -4.72428213e-02 1.59545805e-02 1.04491723e+02] [ 4.72283069e-02 9.98883294e-01 1.28550041e-03 1.09188822e+01] [-1.59974946e-02 -5.30393436e-04 9.99871891e-01 -1.81612242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38140051299999 meters 0.03995422377842406 Centerline is valid? [True, True] Translation: X:104.52, Y:10.92, Z:-0.18 [[ 9.98687369e-01 -4.84953610e-02 1.64845029e-02 1.04521186e+02] [ 4.84799904e-02 9.98823267e-01 1.33099785e-03 1.09153781e+01] [-1.65296523e-02 -5.30082200e-04 9.99863235e-01 -1.81662007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41140051299999 meters 0.04107316046988558 Centerline is valid? [True, True] Translation: X:104.55, Y:10.92, Z:-0.18 [[ 9.98653213e-01 -4.94058400e-02 1.58373981e-02 1.04548834e+02] [ 4.93917259e-02 9.98778662e-01 1.28133369e-03 1.09191611e+01] [-1.58813606e-02 -4.97371585e-04 9.99873760e-01 -1.83437021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44140051299999 meters 0.04571532349107825 Centerline is valid? [True, True] Translation: X:104.58, Y:10.92, Z:-0.19 [[ 9.98626922e-01 -5.02636170e-02 1.47593756e-02 1.04578181e+02] [ 5.02514429e-02 9.98735884e-01 1.19477399e-03 1.09181700e+01] [-1.48007717e-02 -4.51453554e-04 9.99890361e-01 -1.86515635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47140051299999 meters 0.04065250352991017 Centerline is valid? [True, True] Translation: X:104.61, Y:10.92, Z:-0.19 [[ 9.98627691e-01 -5.05004059e-02 1.38724366e-02 1.04606622e+02] [ 5.04896457e-02 9.98723951e-01 1.12500710e-03 1.09177227e+01] [-1.39115480e-02 -4.23048833e-04 9.99903140e-01 -1.89148126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501400513 meters 0.04065250352991017 Centerline is valid? [True, True] Translation: X:104.63, Y:10.92, Z:-0.19 [[ 9.98618397e-01 -5.06839108e-02 1.38722294e-02 1.04634069e+02] [ 5.06731329e-02 9.98714655e-01 1.12755646e-03 1.09200979e+01] [-1.39115477e-02 -4.23049307e-04 9.99903140e-01 -1.89596111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531400513 meters 0.03828850485869336 Centerline is valid? [True, True] Translation: X:104.66, Y:10.92, Z:-0.19 [[ 9.98637449e-01 -5.05326258e-02 1.30268655e-02 1.04662956e+02] [ 5.05230788e-02 9.98722330e-01 1.06113056e-03 1.09164438e+01] [-1.30638431e-02 -4.01527370e-04 9.99914584e-01 -1.90519727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561400513 meters 0.042472756903724485 Centerline is valid? [True, True] Translation: X:104.69, Y:10.91, Z:-0.19 [[ 9.98751708e-01 -4.80932233e-02 1.34932213e-02 1.04693152e+02] [ 4.80827211e-02 9.98842749e-01 1.10184865e-03 1.09127893e+01] [-1.35305977e-02 -4.51682425e-04 9.99908355e-01 -1.88289412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59140051299998 meters 0.04799616355571546 Centerline is valid? [True, True] Translation: X:104.72, Y:10.92, Z:-0.19 [[ 9.98860583e-01 -4.55601689e-02 1.42058634e-02 1.04721146e+02] [ 4.55482674e-02 9.98961465e-01 1.16038006e-03 1.09215468e+01] [-1.42439772e-02 -5.12005442e-04 9.99898418e-01 -1.87612314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62140051299998 meters 0.04155814396165772 Centerline is valid? [True, True] Translation: X:104.75, Y:10.93, Z:-0.19 [[ 9.99016259e-01 -4.21317583e-02 1.38357988e-02 1.04751324e+02] [ 4.21201330e-02 9.99111914e-01 1.13068932e-03 1.09257231e+01] [-1.38711493e-02 -5.46811328e-04 9.99903641e-01 -1.88361085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65140051299998 meters 0.049010266698189635 Centerline is valid? [True, True] Translation: X:104.78, Y:10.93, Z:-0.19 [[ 9.99198358e-01 -3.80518668e-02 1.24377259e-02 1.04781737e+02] [ 3.80421548e-02 9.99275618e-01 1.01659417e-03 1.09302051e+01] [-1.24673996e-02 -5.42621325e-04 9.99922132e-01 -1.90953815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68140051299999 meters 0.04467804690142985 Centerline is valid? [True, True] Translation: X:104.81, Y:10.93, Z:-0.19 [[ 9.99380140e-01 -3.33873379e-02 1.11633992e-02 1.04811592e+02] [ 3.33792240e-02 9.99442342e-01 9.12417400e-04 1.09323056e+01] [-1.11876370e-02 -5.39226228e-04 9.99937271e-01 -1.92803008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71140051299999 meters 0.05650496852341275 Centerline is valid? [True, True] Translation: X:104.84, Y:10.94, Z:-0.20 [[ 9.99540716e-01 -2.85247541e-02 1.02320966e-02 1.04840913e+02] [ 2.85176821e-02 9.99592938e-01 8.36432806e-04 1.09390109e+01] [-1.02517905e-02 -5.44252968e-04 9.99947301e-01 -1.95156371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74140051299999 meters 0.055712351221092846 Centerline is valid? [True, True] Translation: X:104.87, Y:10.95, Z:-0.20 [[ 9.99746182e-01 -2.01116173e-02 1.01535906e-02 1.04870266e+02] [ 2.01042206e-02 9.99797545e-01 8.30037488e-04 1.09484321e+01] [-1.01682283e-02 -6.25696784e-04 9.99948106e-01 -1.95576779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77140051299999 meters 0.05905675006398723 Centerline is valid? [True, True] Translation: X:104.90, Y:10.96, Z:-0.20 [[ 9.99809807e-01 -1.65603175e-02 1.03007930e-02 1.04900256e+02] [ 1.65525148e-02 9.99862643e-01 8.42285759e-04 1.09561112e+01] [-1.03133266e-02 -6.71621534e-04 9.99946591e-01 -1.96260437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80140051299999 meters 0.07401781432456968 Centerline is valid? [True, True] Translation: X:104.93, Y:10.97, Z:-0.20 [[ 9.99856764e-01 -1.33391468e-02 1.04172051e-02 1.04928059e+02] [ 1.33309908e-02 9.99910775e-01 8.51986416e-04 1.09730635e+01] [-1.04276404e-02 -7.12992715e-04 9.99945376e-01 -1.97743025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83140051299999 meters 0.08103786528373214 Centerline is valid? [True, True] Translation: X:104.96, Y:10.98, Z:-0.20 [[ 9.99887038e-01 -1.06410809e-02 1.06150161e-02 1.04956866e+02] [ 1.06324669e-02 9.99943097e-01 8.67592578e-04 1.09847325e+01] [-1.06236442e-02 -7.54630765e-04 9.99943283e-01 -1.98122098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86140051299999 meters 0.07281229932026896 Centerline is valid? [True, True] Translation: X:104.99, Y:10.98, Z:-0.20 [[ 9.99897913e-01 -8.89187441e-03 1.11847670e-02 1.04988798e+02] [ 8.88220197e-03 9.99960135e-01 9.14164841e-04 1.09804049e+01] [-1.11924497e-02 -8.14726157e-04 9.99937031e-01 -1.96857052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891400513 meters 0.07502269292323974 Centerline is valid? [True, True] Translation: X:105.02, Y:10.99, Z:-0.20 [[ 9.99887056e-01 -7.79086086e-03 1.28521514e-02 1.05020061e+02] [ 7.77800112e-03 9.99969199e-01 1.05027206e-03 1.09893431e+01] [-1.28599381e-02 -9.50189386e-04 9.99916856e-01 -1.95522452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921400513 meters 0.07254443135238113 Centerline is valid? [True, True] Translation: X:105.05, Y:10.99, Z:-0.20 [[ 9.99883022e-01 -8.41613299e-03 1.27714819e-02 1.05051954e+02] [ 8.40349779e-03 9.99964146e-01 1.04267253e-03 1.09940878e+01] [-1.27797992e-02 -9.35225444e-04 9.99917898e-01 -1.96432186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951400513 meters 0.0777686443017412 Centerline is valid? [True, True] Translation: X:105.08, Y:11.00, Z:-0.20 [[ 9.99890038e-01 -9.43933813e-03 1.14372908e-02 1.05082812e+02] [ 9.42927789e-03 9.99955108e-01 9.33206900e-04 1.09973756e+01] [-1.14455862e-02 -8.25258889e-04 9.99934157e-01 -1.98917021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98140051299998 meters 0.06763995050255785 Centerline is valid? [True, True] Translation: X:105.12, Y:10.99, Z:-0.20 [[ 9.99881615e-01 -1.08588185e-02 1.09014314e-02 1.05115319e+02] [ 1.08497646e-02 9.99940744e-01 8.89323276e-04 1.09927783e+01] [-1.09104424e-02 -7.70940030e-04 9.99940182e-01 -1.99545427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01140051299998 meters 0.06515677665321437 Centerline is valid? [True, True] Translation: X:105.15, Y:10.99, Z:-0.20 [[ 9.99854367e-01 -1.28160344e-02 1.12691891e-02 1.05146451e+02] [ 1.28064886e-02 9.99917571e-01 9.18822910e-04 1.09924300e+01] [-1.12800359e-02 -7.74370357e-04 9.99936079e-01 -1.98525439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04140051299999 meters 0.06970410602046487 Centerline is valid? [True, True] Translation: X:105.18, Y:11.00, Z:-0.20 [[ 9.99811366e-01 -1.47891067e-02 1.25902592e-02 1.05175815e+02] [ 1.47773507e-02 9.99890282e-01 1.02625448e-03 1.10022329e+01] [-1.26040552e-02 -8.40010213e-04 9.99920213e-01 -1.97648246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07140051299999 meters 0.06287749303879893 Centerline is valid? [True, True] Translation: X:105.21, Y:11.00, Z:-0.20 [[ 9.99743902e-01 -1.82325922e-02 1.34053265e-02 1.05206687e+02] [ 1.82195728e-02 9.99833413e-01 1.09270142e-03 1.10035025e+01] [-1.34230161e-02 -8.48182259e-04 9.99909548e-01 -1.97165052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10140051299999 meters 0.06317739269721032 Centerline is valid? [True, True] Translation: X:105.24, Y:11.01, Z:-0.20 [[ 9.99714135e-01 -1.98854914e-02 1.32746308e-02 1.05236559e+02] [ 1.98728701e-02 9.99801930e-01 1.08202847e-03 1.10082402e+01] [-1.32935182e-02 -8.17914142e-04 9.99911303e-01 -1.98468226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13140051299999 meters 0.058488664729340466 Centerline is valid? [True, True] Translation: X:105.27, Y:11.01, Z:-0.20 [[ 9.99680073e-01 -2.17839960e-02 1.28534089e-02 1.05267919e+02] [ 2.17723211e-02 9.99762406e-01 1.04755559e-03 1.10054590e+01] [-1.28731749e-02 -7.67371899e-04 9.99916843e-01 -1.99312643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16140051299999 meters 0.060027769782360366 Centerline is valid? [True, True] Translation: X:105.30, Y:11.01, Z:-0.20 [[ 9.99645119e-01 -2.37210095e-02 1.21222925e-02 1.05298396e+02] [ 2.37107692e-02 9.99718372e-01 9.87793660e-04 1.10055285e+01] [-1.21423100e-02 -7.00014232e-04 9.99926034e-01 -2.00730668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19140051299999 meters 0.059126553502320635 Centerline is valid? [True, True] Translation: X:105.33, Y:11.01, Z:-0.20 [[ 9.99613097e-01 -2.54374078e-02 1.12514512e-02 1.05328389e+02] [ 2.54286937e-02 9.99676218e-01 9.16889784e-04 1.10074800e+01] [-1.12711315e-02 -6.30425331e-04 9.99936280e-01 -2.02428787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22140051299999 meters 0.05702270295832375 Centerline is valid? [True, True] Translation: X:105.36, Y:11.01, Z:-0.20 [[ 9.99592050e-01 -2.62313821e-02 1.12981707e-02 1.05358920e+02] [ 2.62226476e-02 9.99655703e-01 9.20565658e-04 1.10075742e+01] [-1.13184285e-02 -6.23922163e-04 9.99935750e-01 -2.02992677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251400513 meters 0.05666908436689461 Centerline is valid? [True, True] Translation: X:105.39, Y:11.01, Z:-0.20 [[ 9.99614856e-01 -2.49597801e-02 1.21305134e-02 1.05390382e+02] [ 2.49496190e-02 9.99688221e-01 9.88280466e-04 1.10076768e+01] [-1.21513986e-02 -6.85248149e-04 9.99925934e-01 -2.01712785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281400513 meters 0.058980308026371046 Centerline is valid? [True, True] Translation: X:105.42, Y:11.01, Z:-0.20 [[ 9.99651958e-01 -2.26463997e-02 1.35315421e-02 1.05420290e+02] [ 2.26335501e-02 9.99743221e-01 1.10201183e-03 1.10123993e+01] [-1.35530241e-02 -7.95361448e-04 9.99907837e-01 -1.99767705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311400513 meters 0.06933706584554981 Centerline is valid? [True, True] Translation: X:105.45, Y:11.03, Z:-0.20 [[ 9.99722503e-01 -1.89791352e-02 1.39538171e-02 1.05449197e+02] [ 1.89651149e-02 9.99819500e-01 1.13641407e-03 1.10270906e+01] [-1.39728666e-02 -8.71462978e-04 9.99901995e-01 -2.00129950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34140051299998 meters 0.06711891110614822 Centerline is valid? [True, True] Translation: X:105.48, Y:11.03, Z:-0.20 [[ 9.99806413e-01 -1.43377787e-02 1.34745874e-02 1.05480003e+02] [ 1.43242864e-02 9.99896800e-01 1.09729829e-03 1.10278077e+01] [-1.34889296e-02 -9.04072018e-04 9.99908612e-01 -2.01241362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37140051299998 meters 0.07188403318328714 Centerline is valid? [True, True] Translation: X:105.51, Y:11.04, Z:-0.20 [[ 9.99873037e-01 -9.68836192e-03 1.26508897e-02 1.05508919e+02] [ 9.67609871e-03 9.99952655e-01 1.03020561e-03 1.10409257e+01] [-1.26602717e-02 -9.07663555e-04 9.99919444e-01 -2.03172416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40140051299998 meters 0.07865307580809865 Centerline is valid? [True, True] Translation: X:105.54, Y:11.05, Z:-0.20 [[ 9.99915723e-01 -4.89509089e-03 1.20243909e-02 1.05538775e+02] [ 4.88366558e-03 9.99987595e-01 9.79357437e-04 1.10470431e+01] [-1.20290358e-02 -9.20551795e-04 9.99927225e-01 -2.04786320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43140051299999 meters 0.07926729305849202 Centerline is valid? [True, True] Translation: X:105.57, Y:11.05, Z:-0.21 [[ 9.99927258e-01 -1.42238102e-03 1.19772800e-02 1.05569203e+02] [ 1.41079766e-03 9.99998529e-01 9.75504166e-04 1.10539039e+01] [-1.19786500e-02 -9.58535687e-04 9.99927794e-01 -2.05366503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46140051299999 meters 0.08819200044975682 Centerline is valid? [True, True] Translation: X:105.60, Y:11.07, Z:-0.21 [[ 9.99930777e-01 1.88172846e-04 1.17645685e-02 1.05597863e+02] [-1.99457801e-04 9.99999521e-01 9.58066433e-04 1.10710826e+01] [-1.17643826e-02 -9.60346648e-04 9.99930336e-01 -2.08948384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49140051299999 meters 0.07438387733126335 Centerline is valid? [True, True] Translation: X:105.63, Y:11.06, Z:-0.21 [[ 9.99937976e-01 -1.29004193e-03 1.10625052e-02 1.05629357e+02] [ 1.28015362e-03 9.99998775e-01 9.00892787e-04 1.10578419e+01] [-1.10636539e-02 -8.86675205e-04 9.99938403e-01 -2.10491549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52140051299999 meters 0.07571359060900221 Centerline is valid? [True, True] Translation: X:105.66, Y:11.06, Z:-0.21 [[ 9.99937933e-01 -3.64581268e-03 1.05279914e-02 1.05658774e+02] [ 3.63698728e-03 9.99993019e-01 8.57303306e-04 1.10581973e+01] [-1.05310435e-02 -8.18959925e-04 9.99944212e-01 -2.12191657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55140051299999 meters 0.06895702314881158 Centerline is valid? [True, True] Translation: X:105.69, Y:11.05, Z:-0.21 [[ 9.99921306e-01 -7.01640218e-03 1.03995998e-02 1.05689754e+02] [ 7.00796984e-03 9.99975085e-01 8.47053233e-04 1.10518573e+01] [-1.04052840e-02 -7.74106493e-04 9.99945564e-01 -2.11524667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58140051299999 meters 0.06641475121857833 Centerline is valid? [True, True] Translation: X:105.72, Y:11.05, Z:-0.21 [[ 9.99892652e-01 -1.04834554e-02 1.02362660e-02 1.05720890e+02] [ 1.04754676e-02 9.99944783e-01 8.33647942e-04 1.10467733e+01] [-1.02444403e-02 -7.26328779e-04 9.99947261e-01 -2.10918092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61140051299999 meters 0.07000658366363574 Centerline is valid? [True, True] Translation: X:105.75, Y:11.05, Z:-0.21 [[ 9.99849766e-01 -1.39007784e-02 1.03544244e-02 1.05751451e+02] [ 1.38927874e-02 9.99903135e-01 8.43282290e-04 1.10473882e+01] [-1.03651437e-02 -6.99303784e-04 9.99946036e-01 -2.11172188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641400513 meters 0.05755872935374701 Centerline is valid? [True, True] Translation: X:105.78, Y:11.05, Z:-0.21 [[ 9.99779687e-01 -1.78331274e-02 1.10705214e-02 1.05782011e+02] [ 1.78242328e-02 9.99840729e-01 9.01609934e-04 1.10469292e+01] [-1.10848367e-02 -7.04087748e-04 9.99938313e-01 -2.11331745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671400513 meters 0.055978138604312735 Centerline is valid? [True, True] Translation: X:105.81, Y:11.05, Z:-0.21 [[ 9.99771738e-01 -1.81987087e-02 1.11928200e-02 1.05814056e+02] [ 1.81896363e-02 9.99834139e-01 9.11826202e-04 1.10456189e+01] [-1.12075576e-02 -7.08024742e-04 9.99936943e-01 -2.11298876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701400513 meters 0.06012564623663353 Centerline is valid? [True, True] Translation: X:105.85, Y:11.05, Z:-0.21 [[ 9.99776553e-01 -1.75538028e-02 1.17774323e-02 1.05845274e+02] [ 1.75437191e-02 9.99845637e-01 9.58962594e-04 1.10511001e+01] [-1.17924477e-02 -7.52128353e-04 9.99930184e-01 -2.10923598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73140051299998 meters 0.07146777477211727 Centerline is valid? [True, True] Translation: X:105.87, Y:11.07, Z:-0.21 [[ 9.99790469e-01 -1.60862059e-02 1.26591005e-02 1.05874712e+02] [ 1.60744541e-02 9.99870268e-01 1.02953431e-03 1.10660459e+01] [-1.26740195e-02 -8.25830465e-04 9.99919340e-01 -2.10671175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76140051299998 meters 0.060730082403871066 Centerline is valid? [True, True] Translation: X:105.91, Y:11.06, Z:-0.21 [[ 9.99810202e-01 -1.40185136e-02 1.35292397e-02 1.05906407e+02] [ 1.40049044e-02 9.99901321e-01 1.10013363e-03 1.10568852e+01] [-1.35433269e-02 -9.10449119e-04 9.99907870e-01 -2.09254803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79140051299999 meters 0.06368675804201675 Centerline is valid? [True, True] Translation: X:105.94, Y:11.06, Z:-0.21 [[ 9.99864248e-01 -9.58860406e-03 1.33994333e-02 1.05936295e+02] [ 9.57486145e-03 9.99953567e-01 1.08938823e-03 1.10630308e+01] [-1.34092569e-02 -9.60942629e-04 9.99909630e-01 -2.09674152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82140051299999 meters 0.06716976481546529 Centerline is valid? [True, True] Translation: X:105.97, Y:11.07, Z:-0.21 [[ 9.99893523e-01 -7.28435415e-03 1.26443973e-02 1.05967108e+02] [ 7.27193270e-03 9.99973031e-01 1.02806763e-03 1.10674351e+01] [-1.26515451e-02 -9.36008956e-04 9.99919528e-01 -2.11735774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85140051299999 meters 0.07518052452146569 Centerline is valid? [True, True] Translation: X:106.00, Y:11.08, Z:-0.21 [[ 9.99916607e-01 -5.42069190e-03 1.17215838e-02 1.05995615e+02] [ 5.40989270e-03 9.99984912e-01 9.52820608e-04 1.10805359e+01] [-1.17265719e-02 -8.89328638e-04 9.99930846e-01 -2.13889460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88140051299999 meters 0.07859286245745135 Centerline is valid? [True, True] Translation: X:106.03, Y:11.09, Z:-0.22 [[ 9.99928588e-01 -3.92589340e-03 1.12874697e-02 1.06025323e+02] [ 3.91578464e-03 9.99991912e-01 9.17534343e-04 1.10856402e+01] [-1.12909805e-02 -8.73269519e-04 9.99935874e-01 -2.15536731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91140051299999 meters 0.07627933746950975 Centerline is valid? [True, True] Translation: X:106.06, Y:11.09, Z:-0.22 [[ 9.99926299e-01 -3.04316003e-03 1.17531524e-02 1.06057537e+02] [ 3.03213693e-03 9.99994946e-01 9.55590049e-04 1.10883941e+01] [-1.17560011e-02 -9.19882453e-04 9.99930473e-01 -2.15426715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94140051299999 meters 0.0732044460784136 Centerline is valid? [True, True] Translation: X:106.09, Y:11.08, Z:-0.21 [[ 9.99916410e-01 -2.61685515e-03 1.26619266e-02 1.06090368e+02] [ 2.60403523e-03 9.99996080e-01 1.02885908e-03 1.10848676e+01] [-1.26645694e-02 -9.95800978e-04 9.99919305e-01 -2.14496698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97140051299999 meters 0.07397574508970187 Centerline is valid? [True, True] Translation: X:106.12, Y:11.09, Z:-0.21 [[ 9.99900434e-01 -2.15375623e-03 1.39457598e-02 1.06121200e+02] [ 2.13816862e-03 9.99997073e-01 1.13254400e-03 1.10919688e+01] [-1.39481583e-02 -1.10261286e-03 9.99902112e-01 -2.11264964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001400513 meters 0.07083904856357796 Centerline is valid? [True, True] Translation: X:106.15, Y:11.09, Z:-0.21 [[ 9.99907717e-01 -1.79244408e-03 1.34664549e-02 1.06152932e+02] [ 1.77788964e-03 9.99997823e-01 1.09268624e-03 1.10918180e+01] [-1.34683842e-02 -1.06864353e-03 9.99908726e-01 -2.11760360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031400513 meters 0.07825070917040361 Centerline is valid? [True, True] Translation: X:106.18, Y:11.10, Z:-0.21 [[ 9.99914614e-01 -1.92416918e-03 1.29252791e-02 1.06182924e+02] [ 1.91079605e-03 9.99997626e-01 1.04691930e-03 1.11035160e+01] [-1.29272629e-02 -1.02213233e-03 9.99915917e-01 -2.14164148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061400513 meters 0.06966012552187104 Centerline is valid? [True, True] Translation: X:106.21, Y:11.10, Z:-0.21 [[ 9.99911910e-01 -2.87216440e-03 1.29585318e-02 1.06214974e+02] [ 2.85883221e-03 9.99995365e-01 1.04724204e-03 1.10982279e+01] [-1.29614796e-02 -1.01010352e-03 9.99915486e-01 -2.14981249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09140051299998 meters 0.0660048305354153 Centerline is valid? [True, True] Translation: X:106.25, Y:11.10, Z:-0.22 [[ 9.99901576e-01 -4.44593360e-03 1.33068698e-02 1.06245728e+02] [ 4.43201864e-03 9.99989601e-01 1.07500491e-03 1.10965291e+01] [-1.33115108e-02 -1.01592281e-03 9.99910882e-01 -2.15194526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12140051299998 meters 0.06530426016527233 Centerline is valid? [True, True] Translation: X:106.28, Y:11.10, Z:-0.22 [[ 9.99888019e-01 -6.33475036e-03 1.35580454e-02 1.06275549e+02] [ 6.32047772e-03 9.99979426e-01 1.09529631e-03 1.10973110e+01] [-1.35647049e-02 -1.00948033e-03 9.99907486e-01 -2.15153961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15140051299998 meters 0.07082278789812566 Centerline is valid? [True, True] Translation: X:106.30, Y:11.10, Z:-0.21 [[ 9.99820499e-01 -1.18585631e-02 1.47764437e-02 1.06304793e+02] [ 1.18422098e-02 9.99929166e-01 1.19372386e-03 1.11004388e+01] [-1.47895529e-02 -1.01852384e-03 9.99890110e-01 -2.14316445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18140051299999 meters 0.06043694855329167 Centerline is valid? [True, True] Translation: X:106.34, Y:11.09, Z:-0.21 [[ 9.99777298e-01 -1.47237521e-02 1.51183939e-02 1.06336340e+02] [ 1.47069589e-02 9.99891101e-01 1.22136792e-03 1.10888496e+01] [-1.51347306e-02 -9.98750324e-04 9.99884965e-01 -2.14282294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21140051299999 meters 0.06154069571730244 Centerline is valid? [True, True] Translation: X:106.37, Y:11.09, Z:-0.22 [[ 9.99740984e-01 -1.71289776e-02 1.49853980e-02 1.06365823e+02] [ 1.71127478e-02 9.99852833e-01 1.21060893e-03 1.10931844e+01] [-1.50039291e-02 -9.53854027e-04 9.99886980e-01 -2.15469131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24140051299999 meters 0.06293123476120092 Centerline is valid? [True, True] Translation: X:106.40, Y:11.09, Z:-0.22 [[ 9.99716996e-01 -1.87934480e-02 1.45854101e-02 1.06397128e+02] [ 1.87782489e-02 9.99822979e-01 1.17833620e-03 1.10921480e+01] [-1.46049731e-02 -9.04114267e-04 9.99892933e-01 -2.16345612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27140051299999 meters 0.057085266218724076 Centerline is valid? [True, True] Translation: X:106.43, Y:11.09, Z:-0.22 [[ 9.99704655e-01 -1.94732621e-02 1.45394498e-02 1.06429024e+02] [ 1.94582346e-02 9.99809981e-01 1.17432891e-03 1.10924095e+01] [-1.45595550e-02 -8.91070056e-04 9.99893607e-01 -2.15937872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30140051299999 meters 0.05678460165236213 Centerline is valid? [True, True] Translation: X:106.46, Y:11.09, Z:-0.21 [[ 9.99695418e-01 -1.95265558e-02 1.50925142e-02 1.06459681e+02] [ 1.95103806e-02 9.99808912e-01 1.21824661e-03 1.10949723e+01] [-1.51134184e-02 -9.23414863e-04 9.99885359e-01 -2.14038811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33140051299999 meters 0.059938603211659655 Centerline is valid? [True, True] Translation: X:106.49, Y:11.10, Z:-0.21 [[ 9.99693717e-01 -1.91321344e-02 1.56982175e-02 1.06492124e+02] [ 1.91145952e-02 9.99816497e-01 1.26656843e-03 1.10982681e+01] [-1.57195690e-02 -9.66115424e-04 9.99875973e-01 -2.13128346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36140051299999 meters 0.06065340738917583 Centerline is valid? [True, True] Translation: X:106.52, Y:11.10, Z:-0.21 [[ 9.99684729e-01 -1.88221241e-02 1.66183501e-02 1.06522803e+02] [ 1.88024391e-02 9.99822321e-01 1.33999703e-03 1.11027150e+01] [-1.66406190e-02 -1.02710906e-03 9.99861008e-01 -2.12749287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391400513 meters 0.06065340738917583 Centerline is valid? [True, True] Translation: X:106.56, Y:11.11, Z:-0.21 [[ 9.99686018e-01 -1.87535184e-02 1.66183973e-02 1.06555251e+02] [ 1.87338336e-02 9.99823609e-01 1.33941205e-03 1.11052183e+01] [-1.66405846e-02 -1.02766521e-03 9.99861008e-01 -2.13279756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421400513 meters 0.06065340738917583 Centerline is valid? [True, True] Translation: X:106.59, Y:11.11, Z:-0.21 [[ 9.99687301e-01 -1.86849036e-02 1.66184891e-02 1.06587700e+02] [ 1.86652283e-02 9.99824894e-01 1.33827158e-03 1.11077199e+01] [-1.66405846e-02 -1.02766521e-03 9.99861008e-01 -2.13810379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451400513 meters 0.05537948196452666 Centerline is valid? [True, True] Translation: X:106.62, Y:11.11, Z:-0.22 [[ 9.99689285e-01 -1.89068967e-02 1.62438299e-02 1.06620547e+02] [ 1.88881457e-02 9.99820749e-01 1.30700396e-03 1.11068022e+01] [-1.62656296e-02 -9.99782033e-04 9.99867206e-01 -2.15412267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48140051299998 meters 0.055973107956495856 Centerline is valid? [True, True] Translation: X:106.65, Y:11.11, Z:-0.22 [[ 9.99699740e-01 -1.91330716e-02 1.53086682e-02 1.06651891e+02] [ 1.91164573e-02 9.99816506e-01 1.23090225e-03 1.11112689e+01] [-1.53294100e-02 -9.37885155e-04 9.99882058e-01 -2.17446477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51140051299998 meters 0.06135635264486382 Centerline is valid? [True, True] Translation: X:106.68, Y:11.12, Z:-0.22 [[ 9.99702821e-01 -1.99387708e-02 1.40255224e-02 1.06682880e+02] [ 1.99249125e-02 9.99800844e-01 1.12713591e-03 1.11201228e+01] [-1.40452028e-02 -8.47343647e-04 9.99901002e-01 -2.20501382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54140051299999 meters 0.05262007771296222 Centerline is valid? [True, True] Translation: X:106.71, Y:11.12, Z:-0.22 [[ 9.99677148e-01 -2.19259116e-02 1.28395773e-02 1.06714447e+02] [ 2.19144697e-02 9.99759317e-01 1.03117689e-03 1.11153389e+01] [-1.28590965e-02 -7.49471450e-04 9.99917038e-01 -2.21966845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57140051299999 meters 0.05400808735769588 Centerline is valid? [True, True] Translation: X:106.74, Y:11.12, Z:-0.22 [[ 9.99625368e-01 -2.44339290e-02 1.23331341e-02 1.06744009e+02] [ 2.44235645e-02 9.99701210e-01 9.90319048e-04 1.11180432e+01] [-1.23536465e-02 -6.88728946e-04 9.99923454e-01 -2.23227236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60140051299999 meters 0.05556822236725582 Centerline is valid? [True, True] Translation: X:106.77, Y:11.12, Z:-0.22 [[ 9.99534208e-01 -2.76718179e-02 1.28699890e-02 1.06772816e+02] [ 2.76607994e-02 9.99616833e-01 1.03339515e-03 1.11241480e+01] [-1.28936536e-02 -6.76919618e-04 9.99916644e-01 -2.23571690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63140051299999 meters 0.05017284964381754 Centerline is valid? [True, True] Translation: X:106.80, Y:11.12, Z:-0.22 [[ 9.99296296e-01 -3.47651521e-02 1.40817784e-02 1.06803591e+02] [ 3.47526606e-02 9.99395304e-01 1.13086942e-03 1.11201601e+01] [-1.41125781e-02 -6.40694357e-04 9.99900207e-01 -2.22061186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66140051299999 meters 0.04415749264745683 Centerline is valid? [True, True] Translation: X:106.83, Y:11.12, Z:-0.22 [[ 9.99198801e-01 -3.74755827e-02 1.40476514e-02 1.06834082e+02] [ 3.74634196e-02 9.99297363e-01 1.12809014e-03 1.11200918e+01] [-1.40800569e-02 -6.00913257e-04 9.99900691e-01 -2.22675458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69140051299999 meters 0.04495029465263496 Centerline is valid? [True, True] Translation: X:106.86, Y:11.12, Z:-0.22 [[ 9.99113724e-01 -3.97582296e-02 1.38220476e-02 1.06863817e+02] [ 3.97466721e-02 9.99209172e-01 1.10997313e-03 1.11243584e+01] [-1.38552473e-02 -5.59608993e-04 9.99903855e-01 -2.23953417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72140051299999 meters 0.040538634389699325 Centerline is valid? [True, True] Translation: X:106.89, Y:11.13, Z:-0.23 [[ 9.99038594e-01 -4.17118123e-02 1.34911976e-02 1.06893325e+02] [ 4.17009802e-02 9.99129548e-01 1.08333971e-03 1.11256110e+01] [-1.35246423e-02 -5.19702014e-04 9.99908403e-01 -2.25366948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751400513 meters 0.04385176929425555 Centerline is valid? [True, True] Translation: X:106.92, Y:11.13, Z:-0.23 [[ 9.98967011e-01 -4.34609181e-02 1.32687100e-02 1.06922840e+02] [ 4.34505903e-02 9.99055009e-01 1.06577852e-03 1.11262100e+01] [-1.33024909e-02 -4.88144304e-04 9.99911399e-01 -2.26136729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781400513 meters 0.04291945283584166 Centerline is valid? [True, True] Translation: X:106.95, Y:11.14, Z:-0.23 [[ 9.98839833e-01 -4.65899727e-02 1.21803813e-02 1.06950911e+02] [ 4.65814989e-02 9.98914013e-01 9.78621300e-04 1.11364195e+01] [-1.22127476e-02 -4.10105515e-04 9.99925338e-01 -2.28982095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811400513 meters 0.0369023775019106 Centerline is valid? [True, True] Translation: X:106.98, Y:11.14, Z:-0.23 [[ 9.98793507e-01 -4.78045392e-02 1.12363842e-02 1.06979694e+02] [ 4.77974100e-02 9.98856643e-01 9.02320470e-04 1.11396951e+01] [-1.12666720e-02 -3.64161764e-04 9.99936463e-01 -2.30577614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84140051299998 meters 0.03102807346815182 Centerline is valid? [True, True] Translation: X:107.01, Y:11.14, Z:-0.23 [[ 9.98744437e-01 -4.89851298e-02 1.04884366e-02 1.07008005e+02] [ 4.89789673e-02 9.98799454e-01 8.43766942e-04 1.11422454e+01] [-1.05171767e-02 -3.28994747e-04 9.99944639e-01 -2.31934651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87140051299998 meters 0.03558210929695632 Centerline is valid? [True, True] Translation: X:107.04, Y:11.15, Z:-0.23 [[ 9.98699770e-01 -4.99552246e-02 1.01609532e-02 1.07035439e+02] [ 4.99494681e-02 9.98751410e-01 8.19681001e-04 1.11462399e+01] [-1.01892137e-02 -3.11081019e-04 9.99948040e-01 -2.32861808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90140051299998 meters 0.036259972596508754 Centerline is valid? [True, True] Translation: X:107.07, Y:11.15, Z:-0.23 [[ 9.98471303e-01 -5.39878894e-02 1.18475571e-02 1.07065734e+02] [ 5.39803359e-02 9.98541541e-01 9.56649569e-04 1.11496490e+01] [-1.18819254e-02 -3.15652029e-04 9.99929358e-01 -2.31132899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93140051299999 meters 0.034230146944281295 Centerline is valid? [True, True] Translation: X:107.10, Y:11.15, Z:-0.23 [[ 9.98289148e-01 -5.71063805e-02 1.25554403e-02 1.07095084e+02] [ 5.70981404e-02 9.98368055e-01 1.01407503e-03 1.11514661e+01] [-1.25928607e-02 -2.95447809e-04 9.99920663e-01 -2.30492846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96140051299999 meters 0.028865824031102934 Centerline is valid? [True, True] Translation: X:107.12, Y:11.15, Z:-0.23 [[ 9.98106344e-01 -6.01536269e-02 1.28556586e-02 1.07122776e+02] [ 6.01452099e-02 9.98189096e-01 1.04070504e-03 1.11544372e+01] [-1.28949804e-02 -2.65528018e-04 9.99916821e-01 -2.30652987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99140051299999 meters 0.027735222665783002 Centerline is valid? [True, True] Translation: X:107.15, Y:11.16, Z:-0.23 [[ 9.97926461e-01 -6.31685358e-02 1.23497138e-02 1.07151495e+02] [ 6.31609951e-02 9.98002850e-01 1.00006737e-03 1.11553162e+01] [-1.23882224e-02 -2.17973478e-04 9.99923239e-01 -2.31563328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02140051299999 meters 0.03341944474262806 Centerline is valid? [True, True] Translation: X:107.18, Y:11.16, Z:-0.23 [[ 9.97760563e-01 -6.57576689e-02 1.22388063e-02 1.07178734e+02] [ 6.57504298e-02 9.97835605e-01 9.93357455e-04 1.11611923e+01] [-1.22776376e-02 -1.86426116e-04 9.99924610e-01 -2.33067929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05140051299999 meters 0.03014168659778861 Centerline is valid? [True, True] Translation: X:107.21, Y:11.16, Z:-0.23 [[ 9.97564497e-01 -6.84736841e-02 1.32826623e-02 1.07207990e+02] [ 6.84653903e-02 9.97652909e-01 1.07866278e-03 1.11611781e+01] [-1.33253467e-02 -1.66633028e-04 9.99911200e-01 -2.31699513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08140051299999 meters 0.027780746241491905 Centerline is valid? [True, True] Translation: X:107.24, Y:11.16, Z:-0.23 [[ 9.97132231e-01 -7.38691591e-02 1.64518006e-02 1.07237040e+02] [ 7.38571154e-02 9.97267934e-01 1.33927188e-03 1.11581574e+01] [-1.65057841e-02 -1.20348627e-04 9.99863763e-01 -2.26773452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11140051299999 meters 0.03137373735955558 Centerline is valid? [True, True] Translation: X:107.26, Y:11.16, Z:-0.23 [[ 9.96913471e-01 -7.66443157e-02 1.70052872e-02 1.07264719e+02] [ 7.66318367e-02 9.97058495e-01 1.38519997e-03 1.11597419e+01] [-1.70614337e-02 -7.77781230e-05 9.99854440e-01 -2.26093263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141400513 meters 0.026792218062431032 Centerline is valid? [True, True] Translation: X:107.29, Y:11.16, Z:-0.23 [[ 9.96711832e-01 -7.93290687e-02 1.65052562e-02 1.07293643e+02] [ 7.93176642e-02 9.96848483e-01 1.34547499e-03 1.11608017e+01] [-1.65599749e-02 -3.18924654e-05 9.99862874e-01 -2.27124057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171400513 meters 0.028439737214255068 Centerline is valid? [True, True] Translation: X:107.32, Y:11.16, Z:-0.23 [[ 9.96536108e-01 -8.16903995e-02 1.55712869e-02 1.07321540e+02] [ 8.16805010e-02 9.96657754e-01 1.27166709e-03 1.11610859e+01] [-1.56231268e-02 4.60834209e-06 9.99877951e-01 -2.28981435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201400513 meters 0.03743345609262324 Centerline is valid? [True, True] Translation: X:107.35, Y:11.16, Z:-0.23 [[ 9.96367313e-01 -8.37800020e-02 1.52672754e-02 1.07349534e+02] [ 8.37706882e-02 9.96484275e-01 1.24966999e-03 1.11616764e+01] [-1.53182972e-02 3.38198393e-05 9.99882667e-01 -2.29404729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23140051299998 meters 0.03735758175297054 Centerline is valid? [True, True] Translation: X:107.38, Y:11.16, Z:-0.23 [[ 9.96242402e-01 -8.51009007e-02 1.60907701e-02 1.07377398e+02] [ 8.50906727e-02 9.96372337e-01 1.32045634e-03 1.11629583e+01] [-1.61447702e-02 5.36798539e-05 9.99869663e-01 -2.28698320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26140051299998 meters 0.02889441541741879 Centerline is valid? [True, True] Translation: X:107.41, Y:11.17, Z:-0.23 [[ 9.96081430e-01 -8.68608741e-02 1.66424871e-02 1.07406159e+02] [ 8.68501598e-02 9.96220448e-01 1.36683791e-03 1.11703881e+01] [-1.66983107e-02 8.39208085e-05 9.99860570e-01 -2.27847050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29140051299999 meters 0.02716042821747762 Centerline is valid? [True, True] Translation: X:107.43, Y:11.18, Z:-0.23 [[ 9.96055591e-01 -8.72477444e-02 1.61583291e-02 1.07432451e+02] [ 8.72376519e-02 9.96186641e-01 1.32975261e-03 1.11764379e+01] [-1.62127295e-02 8.51071695e-05 9.99868561e-01 -2.29421742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32140051299999 meters 0.012706395398772951 Centerline is valid? [True, True] Translation: X:107.46, Y:11.18, Z:-0.23 [[ 9.96012355e-01 -8.78626517e-02 1.54771869e-02 1.07460071e+02] [ 8.78534483e-02 9.96132595e-01 1.27486581e-03 1.11819324e+01] [-1.55293434e-02 8.99421394e-05 9.99879408e-01 -2.30936371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35140051299999 meters 0.020595227196077214 Centerline is valid? [True, True] Translation: X:107.49, Y:11.19, Z:-0.23 [[ 9.95953864e-01 -8.86802139e-02 1.45506143e-02 1.07487908e+02] [ 8.86721250e-02 9.96060144e-01 1.20139940e-03 1.11858144e+01] [-1.45998273e-02 9.36955141e-05 9.99893412e-01 -2.33013859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38140051299999 meters 0.03328834654137018 Centerline is valid? [True, True] Translation: X:107.52, Y:11.19, Z:-0.23 [[ 9.95804382e-01 -9.04187786e-02 1.40740229e-02 1.07516742e+02] [ 9.04113764e-02 9.95903826e-01 1.16262902e-03 1.11894992e+01] [-1.41214967e-02 1.14700713e-04 9.99900280e-01 -2.34722076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41140051299999 meters 0.03175498028445563 Centerline is valid? [True, True] Translation: X:107.55, Y:11.20, Z:-0.24 [[ 9.95469103e-01 -9.41105582e-02 1.35818787e-02 1.07545119e+02] [ 9.41039783e-02 9.95561740e-01 1.12415574e-03 1.11967362e+01] [-1.36273937e-02 1.59046517e-04 9.99907130e-01 -2.36506898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44140051299999 meters 0.03259770821186317 Centerline is valid? [True, True] Translation: X:107.57, Y:11.20, Z:-0.24 [[ 9.95310957e-01 -9.57555861e-02 1.36735942e-02 1.07572281e+02] [ 9.57490361e-02 9.95404860e-01 1.13438346e-03 1.12002786e+01] [-1.37193857e-02 1.80169185e-04 9.99905869e-01 -2.36652865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47140051299999 meters 0.039145646015802976 Centerline is valid? [True, True] Translation: X:107.60, Y:11.20, Z:-0.24 [[ 9.95155864e-01 -9.73497217e-02 1.37054193e-02 1.07600484e+02] [ 9.73432778e-02 9.95250215e-01 1.13807367e-03 1.12034840e+01] [-1.37511126e-02 2.01569754e-04 9.99905429e-01 -2.36683622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501400513 meters 0.03796579848173357 Centerline is valid? [True, True] Translation: X:107.63, Y:11.21, Z:-0.24 [[ 9.95035584e-01 -9.86600495e-02 1.30530313e-02 1.07628680e+02] [ 9.86543075e-02 9.95121174e-01 1.08464447e-03 1.12068830e+01] [-1.30963589e-02 2.08477927e-04 9.99914217e-01 -2.37302706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531400513 meters 0.03678197810555016 Centerline is valid? [True, True] Translation: X:107.66, Y:11.21, Z:-0.24 [[ 9.94931395e-01 -9.98135348e-02 1.21974231e-02 1.07657628e+02] [ 9.98086048e-02 9.95006138e-01 1.01377587e-03 1.12110977e+01] [-1.22376994e-02 2.08770333e-04 9.99925095e-01 -2.39059860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561400513 meters 0.03330883177346484 Centerline is valid? [True, True] Translation: X:107.69, Y:11.21, Z:-0.24 [[ 9.94880559e-01 -1.00438769e-01 1.11681261e-02 1.07685746e+02] [ 1.00434651e-01 9.94943222e-01 9.30458857e-04 1.12137024e+01] [-1.12051055e-02 1.95971413e-04 9.99937202e-01 -2.41919374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59140051299998 meters 0.03662965324773421 Centerline is valid? [True, True] Translation: X:107.71, Y:11.22, Z:-0.24 [[ 9.95004286e-01 -9.92247287e-02 1.09965174e-02 1.07713497e+02] [ 9.92206605e-02 9.95065034e-01 9.16245896e-04 1.12240567e+01] [-1.10331643e-02 1.79413130e-04 9.99939117e-01 -2.42954614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62140051299998 meters 0.03662965324773421 Centerline is valid? [True, True] Translation: X:107.74, Y:11.23, Z:-0.24 [[ 9.94985190e-01 -9.94160523e-02 1.09963734e-02 1.07740920e+02] [ 9.94119768e-02 9.95045937e-01 9.17970727e-04 1.12265199e+01] [-1.10331577e-02 1.79803938e-04 9.99939117e-01 -2.43402549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65140051299998 meters 0.029608669098974565 Centerline is valid? [True, True] Translation: X:107.77, Y:11.23, Z:-0.24 [[ 9.95174116e-01 -9.74323690e-02 1.16366884e-02 1.07768109e+02] [ 9.74276337e-02 9.95242135e-01 9.74474179e-04 1.12326563e+01] [-1.16762680e-02 1.63963537e-04 9.99931817e-01 -2.43417572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68140051299999 meters 0.01735062637852724 Centerline is valid? [True, True] Translation: X:107.80, Y:11.25, Z:-0.24 [[ 9.95742557e-01 -9.15152889e-02 1.10323528e-02 1.07796140e+02] [ 9.15106620e-02 9.95803667e-01 9.24539763e-04 1.12467517e+01] [-1.10706669e-02 8.89743209e-05 9.99938714e-01 -2.43688459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71140051299999 meters 0.03620596871057367 Centerline is valid? [True, True] Translation: X:107.82, Y:11.25, Z:-0.24 [[ 9.96058589e-01 -8.81418875e-02 9.91437144e-03 1.07824392e+02] [ 8.81379874e-02 9.96107929e-01 8.30476226e-04 1.12546138e+01] [-9.94898375e-03 4.66297671e-05 9.99950507e-01 -2.44746956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74140051299999 meters 0.031233206010066586 Centerline is valid? [True, True] Translation: X:107.85, Y:11.26, Z:-0.25 [[ 9.96365183e-01 -8.46903245e-02 9.16352971e-03 1.07851493e+02] [ 8.46868358e-02 9.96407321e-01 7.68773593e-04 1.12625754e+01] [-9.19571577e-03 1.00510939e-05 9.99957718e-01 -2.45846966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77140051299999 meters 0.02905886077887937 Centerline is valid? [True, True] Translation: X:107.88, Y:11.28, Z:-0.25 [[ 9.96892197e-01 -7.80967680e-02 1.03364710e-02 1.07878342e+02] [ 7.80919412e-02 9.96945781e-01 8.70371811e-04 1.12773805e+01] [-1.03728744e-02 -6.04717832e-05 9.99946198e-01 -2.45645860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80140051299999 meters 0.026962590028819552 Centerline is valid? [True, True] Translation: X:107.91, Y:11.28, Z:-0.24 [[ 9.97105728e-01 -7.51213110e-02 1.17028201e-02 1.07906376e+02] [ 7.51149106e-02 9.97174397e-01 9.86115679e-04 1.12831295e+01] [-1.17438308e-02 -1.04205308e-04 9.99931033e-01 -2.42923973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83140051299999 meters 0.014027656760357075 Centerline is valid? [True, True] Translation: X:107.93, Y:11.29, Z:-0.24 [[ 9.97282487e-01 -7.25250140e-02 1.29523233e-02 1.07933649e+02] [ 7.25169362e-02 9.97366582e-01 1.09284180e-03 1.12888469e+01] [-1.29974728e-02 -1.50609187e-04 9.99915518e-01 -2.41318964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86140051299999 meters 0.027914041140960605 Centerline is valid? [True, True] Translation: X:107.96, Y:11.30, Z:-0.24 [[ 9.97496614e-01 -6.95155210e-02 1.29652022e-02 1.07961520e+02] [ 6.95071628e-02 9.97580852e-01 1.09470645e-03 1.12950024e+01] [-1.30099366e-02 -1.90791560e-04 9.99915349e-01 -2.41298329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891400513 meters 0.023877065604368825 Centerline is valid? [True, True] Translation: X:107.99, Y:11.30, Z:-0.24 [[ 9.97644477e-01 -6.73802576e-02 1.28607231e-02 1.07990013e+02] [ 6.73718512e-02 9.97727344e-01 1.08627343e-03 1.13017537e+01] [-1.29046884e-02 -2.17263967e-04 9.99916707e-01 -2.41527971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921400513 meters 0.028956586778443465 Centerline is valid? [True, True] Translation: X:108.02, Y:11.31, Z:-0.24 [[ 9.97799231e-01 -6.51594367e-02 1.22858546e-02 1.08017357e+02] [ 6.51515668e-02 9.97874838e-01 1.04014603e-03 1.13112584e+01] [-1.23275205e-02 -2.37414233e-04 9.99923985e-01 -2.42657189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951400513 meters 0.031169961364469215 Centerline is valid? [True, True] Translation: X:108.04, Y:11.33, Z:-0.25 [[ 9.98092173e-01 -6.06768250e-02 1.14165211e-02 1.08044498e+02] [ 6.06697285e-02 9.98157427e-01 9.67230924e-04 1.13276261e+01] [-1.14541738e-02 -2.72748381e-04 9.99934362e-01 -2.45287735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98140051299998 meters 0.023640534541757775 Centerline is valid? [True, True] Translation: X:108.07, Y:11.33, Z:-0.24 [[ 9.98165952e-01 -5.94477355e-02 1.14323610e-02 1.08072970e+02] [ 5.94405331e-02 9.98231378e-01 9.69057512e-04 1.13271556e+01] [-1.14697497e-02 -2.87734583e-04 9.99934179e-01 -2.44089200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01140051299998 meters 0.027781186318525265 Centerline is valid? [True, True] Translation: X:108.10, Y:11.34, Z:-0.24 [[ 9.98181825e-01 -5.89902317e-02 1.23772761e-02 1.08100636e+02] [ 5.89817451e-02 9.98258509e-01 1.04989208e-03 1.13361220e+01] [-1.24176545e-02 -3.17949845e-04 9.99922847e-01 -2.43812276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04140051299999 meters 0.03273817611318944 Centerline is valid? [True, True] Translation: X:108.13, Y:11.34, Z:-0.24 [[ 9.98159335e-01 -5.92055384e-02 1.31395144e-02 1.08128413e+02] [ 5.91959749e-02 9.98245757e-01 1.11591397e-03 1.13407085e+01] [-1.31825328e-02 -3.36053584e-04 9.99913050e-01 -2.42992089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07140051299999 meters 0.03280528658368539 Centerline is valid? [True, True] Translation: X:108.16, Y:11.34, Z:-0.24 [[ 9.98063948e-01 -6.06688628e-02 1.36983260e-02 1.08157298e+02] [ 6.06585924e-02 9.98157893e-01 1.16437967e-03 1.13404007e+01] [-1.37437338e-02 -3.31204197e-04 9.99905496e-01 -2.42289801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10140051299999 meters 0.023431325965189424 Centerline is valid? [True, True] Translation: X:108.19, Y:11.34, Z:-0.24 [[ 9.97938503e-01 -6.28479614e-02 1.29953390e-02 1.08186121e+02] [ 6.28388764e-02 9.98023071e-01 1.10665056e-03 1.13396312e+01] [-1.30391988e-02 -2.87756699e-04 9.99914945e-01 -2.43908696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13140051299999 meters 0.019898951943141816 Centerline is valid? [True, True] Translation: X:108.22, Y:11.33, Z:-0.25 [[ 9.97720734e-01 -6.67196012e-02 1.00911624e-02 1.08215771e+02] [ 6.67143027e-02 9.97771748e-01 8.61156832e-04 1.13337495e+01] [-1.01261327e-02 -1.85969167e-04 9.99948712e-01 -2.48201241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16140051299999 meters 0.01938206282347974 Centerline is valid? [True, True] Translation: X:108.24, Y:11.34, Z:-0.25 [[ 9.97660422e-01 -6.75913077e-02 1.02516767e-02 1.08244379e+02] [ 6.75858867e-02 9.97713076e-01 8.74710098e-04 1.13357448e+01] [-1.02873547e-02 -1.79794988e-04 9.99947068e-01 -2.47776119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19140051299999 meters 0.026698870587675474 Centerline is valid? [True, True] Translation: X:108.27, Y:11.34, Z:-0.25 [[ 9.97674494e-01 -6.71889775e-02 1.14562418e-02 1.08272493e+02] [ 6.71821592e-02 9.97740246e-01 9.79397954e-04 1.13395712e+01] [-1.14961583e-02 -2.07465297e-04 9.99933895e-01 -2.46233561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22140051299999 meters 0.030366583789423012 Centerline is valid? [True, True] Translation: X:108.30, Y:11.34, Z:-0.24 [[ 9.97730968e-01 -6.61185368e-02 1.26985927e-02 1.08300938e+02] [ 6.61100358e-02 9.97811745e-01 1.08850622e-03 1.13441993e+01] [-1.27427754e-02 -2.46531950e-04 9.99918777e-01 -2.44514696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251400513 meters 0.02161420983411114 Centerline is valid? [True, True] Translation: X:108.33, Y:11.35, Z:-0.24 [[ 9.97821064e-01 -6.46664753e-02 1.30909083e-02 1.08329912e+02] [ 6.46572856e-02 9.97906895e-01 1.12444793e-03 1.13485901e+01] [-1.31362217e-02 -2.75575232e-04 9.99913678e-01 -2.43792876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281400513 meters 0.02596085008458042 Centerline is valid? [True, True] Translation: X:108.36, Y:11.35, Z:-0.24 [[ 9.98005544e-01 -6.18090568e-02 1.28286451e-02 1.08359419e+02] [ 6.17999616e-02 9.98087944e-01 1.10457252e-03 1.13540075e+01] [-1.28723886e-02 -3.09559727e-04 9.99917099e-01 -2.44745178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311400513 meters 0.02596085008458042 Centerline is valid? [True, True] Translation: X:108.39, Y:11.36, Z:-0.25 [[ 9.97993579e-01 -6.20019543e-02 1.28286679e-02 1.08386828e+02] [ 6.19928784e-02 9.98075981e-01 1.10430812e-03 1.13565185e+01] [-1.28724546e-02 -3.06806363e-04 9.99917099e-01 -2.45193587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34140051299998 meters 0.032444196773115774 Centerline is valid? [True, True] Translation: X:108.42, Y:11.37, Z:-0.25 [[ 9.98313845e-01 -5.67689072e-02 1.21143439e-02 1.08415074e+02] [ 5.67603937e-02 9.98387282e-01 1.04570386e-03 1.13675260e+01] [-1.21541703e-02 -3.56325710e-04 9.99926072e-01 -2.47219896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37140051299998 meters 0.03542127509058395 Centerline is valid? [True, True] Translation: X:108.44, Y:11.38, Z:-0.25 [[ 9.98431133e-01 -5.47110059e-02 1.19154721e-02 1.08442573e+02] [ 5.47026210e-02 9.98502161e-01 1.02871954e-03 1.13772268e+01] [-1.19539069e-02 -3.75298063e-04 9.99928479e-01 -2.48611267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40140051299998 meters 0.06291678923947014 Centerline is valid? [True, True] Translation: X:108.47, Y:11.41, Z:-0.25 [[ 9.98489176e-01 -5.39469416e-02 1.04447085e-02 1.08472948e+02] [ 5.39629181e-02 9.98542153e-01 -1.25368650e-03 1.14118585e+01] [-1.03618492e-02 1.81541935e-03 9.99944667e-01 -2.50661694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43140051299999 meters 0.03848058426894119 Centerline is valid? [True, True] Translation: X:108.50, Y:11.38, Z:-0.25 [[ 9.98489013e-01 -5.40139737e-02 1.01084934e-02 1.08500815e+02] [ 5.39872663e-02 9.98537422e-01 2.89675408e-03 1.13786873e+01] [-1.02501741e-02 -2.34664719e-03 9.99944712e-01 -2.50642503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46140051299999 meters 0.03161171872089282 Centerline is valid? [True, True] Translation: X:108.53, Y:11.38, Z:-0.25 [[ 9.98432860e-01 -5.50745094e-02 9.93089168e-03 1.08529378e+02] [ 5.50686531e-02 9.98482198e-01 8.62397101e-04 1.13791113e+01] [-9.96331465e-03 -3.14164775e-04 9.99950316e-01 -2.50726064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49140051299999 meters 0.03467661526248056 Centerline is valid? [True, True] Translation: X:108.56, Y:11.38, Z:-0.25 [[ 9.98398745e-01 -5.56005185e-02 1.04176656e-02 1.08557367e+02] [ 5.55940757e-02 9.98453041e-01 9.07243976e-04 1.13825290e+01] [-1.04519932e-02 -3.26630755e-04 9.99945323e-01 -2.50654951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52140051299999 meters 0.0380814234878644 Centerline is valid? [True, True] Translation: X:108.58, Y:11.39, Z:-0.25 [[ 9.98478950e-01 -5.42582489e-02 9.78916943e-03 1.08584069e+02] [ 5.42524903e-02 9.98526885e-01 8.53053265e-04 1.13934060e+01] [-9.82103403e-03 -3.20668909e-04 9.99951721e-01 -2.53583261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55140051299999 meters 0.03553481394831366 Centerline is valid? [True, True] Translation: X:108.61, Y:11.40, Z:-0.25 [[ 9.98571237e-01 -5.26529617e-02 9.11865630e-03 1.08613604e+02] [ 5.26478913e-02 9.98612821e-01 7.95369723e-04 1.13950918e+01] [-9.14788567e-03 -3.14155303e-04 9.99958108e-01 -2.54989892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58140051299999 meters 0.039921736170624035 Centerline is valid? [True, True] Translation: X:108.64, Y:11.41, Z:-0.26 [[ 9.98665200e-01 -5.08435876e-02 9.09654204e-03 1.08641108e+02] [ 5.08384666e-02 9.98706574e-01 7.93458741e-04 1.14056438e+01] [-9.12511863e-03 -3.29945384e-04 9.99958311e-01 -2.56228650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61140051299999 meters 0.0408503151180466 Centerline is valid? [True, True] Translation: X:108.67, Y:11.41, Z:-0.26 [[ 9.98771839e-01 -4.85878892e-02 9.69690090e-03 1.08670258e+02] [ 4.85819573e-02 9.98818841e-01 8.46489486e-04 1.14084590e+01] [-9.72657645e-03 -3.74355435e-04 9.99952626e-01 -2.55257492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641400513 meters 0.04360600069785397 Centerline is valid? [True, True] Translation: X:108.70, Y:11.42, Z:-0.25 [[ 9.98867753e-01 -4.62819811e-02 1.10086721e-02 1.08698345e+02] [ 4.62741906e-02 9.98928313e-01 9.61472797e-04 1.14163301e+01] [-1.10413732e-02 -4.50966779e-04 9.99938940e-01 -2.53660761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671400513 meters 0.04467122485338149 Centerline is valid? [True, True] Translation: X:108.73, Y:11.42, Z:-0.25 [[ 9.98952389e-01 -4.41365957e-02 1.20865636e-02 1.08728211e+02] [ 4.41270410e-02 9.99025369e-01 1.05619567e-03 1.14215679e+01] [-1.21214005e-02 -5.21744897e-04 9.99926397e-01 -2.52266975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701400513 meters 0.05514173174753939 Centerline is valid? [True, True] Translation: X:108.76, Y:11.44, Z:-0.25 [[ 9.99148420e-01 -3.95265354e-02 1.18358848e-02 1.08756332e+02] [ 3.95170484e-02 9.99218361e-01 1.03443485e-03 1.14355885e+01] [-1.18675210e-02 -5.65834709e-04 9.99929418e-01 -2.53127894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73140051299998 meters 0.04993290269815357 Centerline is valid? [True, True] Translation: X:108.79, Y:11.44, Z:-0.25 [[ 9.99211933e-01 -3.82242214e-02 1.06967856e-02 1.08787274e+02] [ 3.82163960e-02 9.99269049e-01 9.35092379e-04 1.14359298e+01] [-1.07247100e-02 -5.25562869e-04 9.99942351e-01 -2.54416900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76140051299998 meters 0.05354866282388736 Centerline is valid? [True, True] Translation: X:108.82, Y:11.44, Z:-0.26 [[ 9.99238102e-01 -3.75227998e-02 1.07356432e-02 1.08817642e+02] [ 3.75148770e-02 9.99295629e-01 9.38490351e-04 1.14432139e+01] [-1.07632961e-02 -5.35028984e-04 9.99941931e-01 -2.55085301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79140051299999 meters 0.046092082913754995 Centerline is valid? [True, True] Translation: X:108.85, Y:11.44, Z:-0.25 [[ 9.99216116e-01 -3.76649334e-02 1.21863157e-02 1.08849000e+02] [ 3.76547419e-02 9.99290241e-01 1.06475151e-03 1.14414387e+01] [-1.22177702e-02 -6.05044297e-04 9.99925177e-01 -2.52849798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82140051299999 meters 0.055407603499834056 Centerline is valid? [True, True] Translation: X:108.88, Y:11.46, Z:-0.25 [[ 9.99208221e-01 -3.75102931e-02 1.32630616e-02 1.08879242e+02] [ 3.74982100e-02 9.99296023e-01 1.15863796e-03 1.14570003e+01] [-1.32971855e-02 -6.60379512e-04 9.99911370e-01 -2.52464123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85140051299999 meters 0.053150038941159466 Centerline is valid? [True, True] Translation: X:108.91, Y:11.46, Z:-0.25 [[ 9.99212554e-01 -3.76442039e-02 1.25373983e-02 1.08911358e+02] [ 3.76334311e-02 9.99291013e-01 1.09414828e-03 1.14630611e+01] [-1.25696978e-02 -6.21461385e-04 9.99920805e-01 -2.54329938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88140051299999 meters 0.04857657233307019 Centerline is valid? [True, True] Translation: X:108.94, Y:11.46, Z:-0.26 [[ 9.99220529e-01 -3.80880719e-02 1.03746736e-02 1.08943860e+02] [ 3.80807227e-02 9.99274256e-01 9.05071980e-04 1.14609196e+01] [-1.04016167e-02 -5.09291432e-04 9.99945772e-01 -2.57815399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91140051299999 meters 0.05466908365984675 Centerline is valid? [True, True] Translation: X:108.97, Y:11.47, Z:-0.26 [[ 9.99222286e-01 -3.84846383e-02 8.58810770e-03 1.08974747e+02] [ 3.84796202e-02 9.99259105e-01 7.48848526e-04 1.14687887e+01] [-8.61056397e-03 -4.17799014e-04 9.99962841e-01 -2.61998244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94140051299999 meters 0.051076887723342256 Centerline is valid? [True, True] Translation: X:109.01, Y:11.47, Z:-0.26 [[ 9.99166842e-01 -3.95868388e-02 9.92491758e-03 1.09005191e+02] [ 3.95801976e-02 9.99216023e-01 8.64744684e-04 1.14684028e+01] [-9.95136917e-03 -4.71194016e-04 9.99950373e-01 -2.59776587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97140051299999 meters 0.04927054095438696 Centerline is valid? [True, True] Translation: X:109.04, Y:11.47, Z:-0.26 [[ 9.99150854e-01 -3.93357866e-02 1.22583609e-02 1.09035276e+02] [ 3.93256359e-02 9.99225877e-01 1.06810056e-03 1.14744391e+01] [-1.22908860e-02 -5.85125749e-04 9.99924293e-01 -2.56823928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001400513 meters 0.05308261264292294 Centerline is valid? [True, True] Translation: X:109.07, Y:11.48, Z:-0.26 [[ 9.99187826e-01 -3.80519826e-02 1.32565189e-02 1.09066166e+02] [ 3.80399991e-02 9.99275550e-01 1.15504423e-03 1.14825447e+01] [-1.32908670e-02 -6.49828162e-04 9.99911461e-01 -2.56042919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031400513 meters 0.05465792487240759 Centerline is valid? [True, True] Translation: X:109.10, Y:11.49, Z:-0.26 [[ 9.99269098e-01 -3.60845255e-02 1.26165295e-02 1.09096883e+02] [ 3.60735258e-02 9.99348535e-01 1.09840631e-03 1.14877937e+01] [-1.26479458e-02 -6.42480783e-04 9.99919805e-01 -2.57480660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061400513 meters 0.05849629738512086 Centerline is valid? [True, True] Translation: X:109.13, Y:11.49, Z:-0.26 [[ 9.99395829e-01 -3.29644911e-02 1.10144752e-02 1.09127304e+02] [ 3.29559204e-02 9.99456346e-01 9.58780528e-04 1.14894000e+01] [-1.10400929e-02 -5.95209093e-04 9.99938879e-01 -2.60235788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09140051299998 meters 0.055921793122259096 Centerline is valid? [True, True] Translation: X:109.16, Y:11.50, Z:-0.26 [[ 9.99490574e-01 -3.02978147e-02 1.00316733e-02 1.09157905e+02] [ 3.02905704e-02 9.99540754e-01 8.73333657e-04 1.14983016e+01] [-1.00535264e-02 -5.69023652e-04 9.99949300e-01 -2.62131395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12140051299998 meters 0.06568241937825363 Centerline is valid? [True, True] Translation: X:109.19, Y:11.52, Z:-0.26 [[ 9.99655293e-01 -2.43467731e-02 9.82493708e-03 1.09185813e+02] [ 2.43395405e-02 9.99703384e-01 8.55063480e-04 1.15186153e+01] [-9.84284088e-03 -6.15634280e-04 9.99951369e-01 -2.63196250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15140051299998 meters 0.06648819286951445 Centerline is valid? [True, True] Translation: X:109.22, Y:11.53, Z:-0.26 [[ 9.99707117e-01 -2.18299392e-02 1.04467452e-02 1.09215925e+02] [ 2.18216273e-02 9.99761467e-01 9.08984340e-04 1.15251496e+01] [-1.04640963e-02 -6.80753134e-04 9.99945018e-01 -2.62401539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18140051299999 meters 0.06601140325772734 Centerline is valid? [True, True] Translation: X:109.25, Y:11.53, Z:-0.26 [[ 9.99738507e-01 -2.00599846e-02 1.09779413e-02 1.09246675e+02] [ 2.00506995e-02 9.99798508e-01 9.55213232e-04 1.15301830e+01] [-1.09948909e-02 -7.34848047e-04 9.99939284e-01 -2.61749372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21140051299999 meters 0.06700836776975572 Centerline is valid? [True, True] Translation: X:109.28, Y:11.54, Z:-0.26 [[ 9.99756889e-01 -1.89859522e-02 1.12114756e-02 1.09278493e+02] [ 1.89762002e-02 9.99819460e-01 9.75573920e-04 1.15374518e+01] [-1.12279737e-02 -7.62585542e-04 9.99936674e-01 -2.62254475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24140051299999 meters 0.06795756027824959 Centerline is valid? [True, True] Translation: X:109.31, Y:11.54, Z:-0.26 [[ 9.99768194e-01 -1.86956468e-02 1.06785667e-02 1.09310295e+02] [ 1.86867883e-02 9.99824955e-01 9.28738670e-04 1.15448884e+01] [-1.06940609e-02 -7.28975266e-04 9.99942551e-01 -2.63980463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27140051299999 meters 0.06604667871450157 Centerline is valid? [True, True] Translation: X:109.34, Y:11.55, Z:-0.27 [[ 9.99770150e-01 -1.89925869e-02 9.94630971e-03 1.09342638e+02] [ 1.89849205e-02 9.99819396e-01 8.64646383e-04 1.15487216e+01] [-9.96093524e-03 -6.75617745e-04 9.99950160e-01 -2.65618843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30140051299999 meters 0.06461534566074933 Centerline is valid? [True, True] Translation: X:109.37, Y:11.55, Z:-0.27 [[ 9.99711359e-01 -2.20134967e-02 9.62310730e-03 1.09371711e+02] [ 2.20064676e-02 9.99757479e-01 8.35736675e-04 1.15538248e+01] [-9.63917098e-03 -6.23724848e-04 9.99953348e-01 -2.67735382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33140051299999 meters 0.0686614602854651 Centerline is valid? [True, True] Translation: X:109.40, Y:11.56, Z:-0.27 [[ 9.99657291e-01 -2.42297025e-02 9.91066995e-03 1.09401030e+02] [ 2.42223535e-02 9.99706225e-01 8.60900154e-04 1.15622128e+01] [-9.92861780e-03 -6.20545365e-04 9.99950518e-01 -2.68419577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36140051299999 meters 0.06481805659135503 Centerline is valid? [True, True] Translation: X:109.43, Y:11.56, Z:-0.27 [[ 9.99588382e-01 -2.65519103e-02 1.08656411e-02 1.09432367e+02] [ 2.65432127e-02 9.99647221e-01 9.43919896e-04 1.15612423e+01] [-1.08868708e-02 -6.55122339e-04 9.99940522e-01 -2.67398444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391400513 meters 0.06495056064557715 Centerline is valid? [True, True] Translation: X:109.46, Y:11.57, Z:-0.27 [[ 9.99540397e-01 -2.80616203e-02 1.14690846e-02 1.09462643e+02] [ 2.80520299e-02 9.99605968e-01 9.96242109e-04 1.15656866e+01] [-1.14925216e-02 -6.74053129e-04 9.99933732e-01 -2.66609049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421400513 meters 0.0593580193069504 Centerline is valid? [True, True] Translation: X:109.49, Y:11.56, Z:-0.27 [[ 9.99524412e-01 -2.86738896e-02 1.13471922e-02 1.09494799e+02] [ 2.86645429e-02 9.99588602e-01 9.85515250e-04 1.15639095e+01] [-1.13707826e-02 -6.59784473e-04 9.99935133e-01 -2.66711933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451400513 meters 0.05647387084999908 Centerline is valid? [True, True] Translation: X:109.53, Y:11.57, Z:-0.27 [[ 9.99533533e-01 -2.86364569e-02 1.06145997e-02 1.09526608e+02] [ 2.86282808e-02 9.99589702e-01 9.21446994e-04 1.15654479e+01] [-1.06366316e-02 -6.17139428e-04 9.99943239e-01 -2.67753139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48140051299998 meters 0.05971586893146098 Centerline is valid? [True, True] Translation: X:109.56, Y:11.57, Z:-0.27 [[ 9.99583672e-01 -2.72309767e-02 9.53715089e-03 1.09556121e+02] [ 2.72243184e-02 9.99629007e-01 8.27300548e-04 1.15739135e+01] [-9.55614088e-03 -5.67313688e-04 9.99954178e-01 -2.70446281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51140051299998 meters 0.060697226515785636 Centerline is valid? [True, True] Translation: X:109.59, Y:11.58, Z:-0.27 [[ 9.99603459e-01 -2.63242705e-02 9.99786942e-03 1.09588404e+02] [ 2.63169072e-02 9.99653274e-01 8.67356685e-04 1.15776188e+01] [-1.00172354e-02 -6.03899741e-04 9.99949644e-01 -2.70731138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54140051299999 meters 0.05385045575146751 Centerline is valid? [True, True] Translation: X:109.62, Y:11.57, Z:-0.27 [[ 9.99620665e-01 -2.55467386e-02 1.02902503e-02 1.09621478e+02] [ 2.55389023e-02 9.99673431e-01 8.92232938e-04 1.15718961e+01] [-1.03096835e-02 -6.29092784e-04 9.99946656e-01 -2.69549366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57140051299999 meters 0.05767042207487157 Centerline is valid? [True, True] Translation: X:109.65, Y:11.58, Z:-0.27 [[ 9.99635479e-01 -2.49736385e-02 1.02579995e-02 1.09652531e+02] [ 2.49658271e-02 9.99687910e-01 8.88857177e-04 1.15793068e+01] [-1.02769961e-02 -6.32433729e-04 9.99946990e-01 -2.70547845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60140051299999 meters 0.061729180531828194 Centerline is valid? [True, True] Translation: X:109.68, Y:11.58, Z:-0.27 [[ 9.99656607e-01 -2.45673570e-02 9.11663076e-03 1.09683339e+02] [ 2.45611730e-02 9.99698017e-01 7.89681112e-04 1.15831649e+01] [-9.13327807e-03 -5.65494796e-04 9.99958131e-01 -2.72488665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63140051299999 meters 0.06208900035760618 Centerline is valid? [True, True] Translation: X:109.71, Y:11.59, Z:-0.27 [[ 9.99638406e-01 -2.54493335e-02 8.68268904e-03 1.09713642e+02] [ 2.54437577e-02 9.99675972e-01 7.52059425e-04 1.15880393e+01] [-8.69901502e-03 -5.30867249e-04 9.99962022e-01 -2.73788372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66140051299999 meters 0.0628509719963201 Centerline is valid? [True, True] Translation: X:109.74, Y:11.59, Z:-0.27 [[ 9.99573617e-01 -2.77110891e-02 9.20217320e-03 1.09743464e+02] [ 2.77049326e-02 9.99615828e-01 7.95862959e-04 1.15866910e+01] [-9.22069222e-03 -5.40578028e-04 9.99957342e-01 -2.74141486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69140051299999 meters 0.059554053690225234 Centerline is valid? [True, True] Translation: X:109.78, Y:11.58, Z:-0.27 [[ 9.99557209e-01 -2.81230126e-02 9.72017256e-03 1.09776242e+02] [ 2.81161598e-02 9.99604309e-01 8.40968325e-04 1.15819511e+01] [-9.73997694e-03 -5.67302027e-04 9.99952404e-01 -2.73990589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72140051299999 meters 0.06817743237861591 Centerline is valid? [True, True] Translation: X:109.81, Y:11.59, Z:-0.28 [[ 9.99553347e-01 -2.82019050e-02 9.88728050e-03 1.09806086e+02] [ 2.81948239e-02 9.99602081e-01 8.54872879e-04 1.15939916e+01] [-9.90745521e-03 -5.75720916e-04 9.99950754e-01 -2.76043252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751400513 meters 0.06363832358605204 Centerline is valid? [True, True] Translation: X:109.84, Y:11.59, Z:-0.28 [[ 9.99555595e-01 -2.81631352e-02 9.76982782e-03 1.09838805e+02] [ 2.81562221e-02 9.99603178e-01 8.44446975e-04 1.15929711e+01] [-9.78973321e-03 -5.68990257e-04 9.99951918e-01 -2.76340236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781400513 meters 0.058134674053113726 Centerline is valid? [True, True] Translation: X:109.87, Y:11.59, Z:-0.28 [[ 9.99588991e-01 -2.73875851e-02 8.47165678e-03 1.09871585e+02] [ 2.73823617e-02 9.99624765e-01 7.31970887e-04 1.15879043e+01] [-8.48852484e-03 -4.99696071e-04 9.99963847e-01 -2.77593543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811400513 meters 0.06555437494500373 Centerline is valid? [True, True] Translation: X:109.90, Y:11.60, Z:-0.28 [[ 9.99643932e-01 -2.58552772e-02 6.59648478e-03 1.09900887e+02] [ 2.58520778e-02 9.99665617e-01 5.69839223e-04 1.15965937e+01] [-6.60901237e-03 -3.99103484e-04 9.99978081e-01 -2.81238408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84140051299998 meters 0.07195291477594254 Centerline is valid? [True, True] Translation: X:109.93, Y:11.61, Z:-0.28 [[ 9.99665311e-01 -2.49299736e-02 6.91106174e-03 1.09930970e+02] [ 2.49264442e-02 9.99689110e-01 5.96370659e-04 1.16063895e+01] [-6.92378067e-03 -4.23902866e-04 9.99975940e-01 -2.81697550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87140051299998 meters 0.06877969922336702 Centerline is valid? [True, True] Translation: X:109.96, Y:11.61, Z:-0.28 [[ 9.99688146e-01 -2.36002882e-02 8.16310113e-03 1.09962672e+02] [ 2.35953220e-02 9.99721344e-01 7.04159698e-04 1.16053092e+01] [-8.17744480e-03 -5.11329104e-04 9.99966433e-01 -2.79423419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90140051299998 meters 0.0644778717455039 Centerline is valid? [True, True] Translation: X:109.99, Y:11.60, Z:-0.28 [[ 9.99723204e-01 -2.17018891e-02 9.08530666e-03 1.09993764e+02] [ 2.16956622e-02 9.99764314e-01 7.83389512e-04 1.16028094e+01] [-9.10016642e-03 -5.86060929e-04 9.99958421e-01 -2.78070624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93140051299999 meters 0.07269510799332848 Centerline is valid? [True, True] Translation: X:110.02, Y:11.62, Z:-0.28 [[ 9.99768725e-01 -1.93257425e-02 9.43459021e-03 1.10022785e+02] [ 1.93189247e-02 9.99813041e-01 8.13254248e-04 1.16152688e+01] [-9.44854308e-03 -6.30800025e-04 9.99955163e-01 -2.79297534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96140051299999 meters 0.06899729559319945 Centerline is valid? [True, True] Translation: X:110.05, Y:11.61, Z:-0.28 [[ 9.99820639e-01 -1.53849634e-02 1.10450316e-02 1.10054384e+02] [ 1.53753771e-02 9.99881338e-01 9.52330512e-04 1.16130305e+01] [-1.10583726e-02 -7.82338175e-04 9.99938548e-01 -2.77440527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99140051299999 meters 0.06930305328173086 Centerline is valid? [True, True] Translation: X:110.09, Y:11.62, Z:-0.28 [[ 9.99826245e-01 -1.44936167e-02 1.17224189e-02 1.10086646e+02] [ 1.44827589e-02 9.99894609e-01 1.01061288e-03 1.16166435e+01] [-1.17358309e-02 -8.40664319e-04 9.99930779e-01 -2.76746451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02140051299999 meters 0.07136028649209682 Centerline is valid? [True, True] Translation: X:110.12, Y:11.62, Z:-0.28 [[ 9.99835740e-01 -1.37474835e-02 1.18110240e-02 1.10117182e+02] [ 1.37364138e-02 9.99905133e-01 1.01784697e-03 1.16218605e+01] [-1.18238964e-02 -8.55438663e-04 9.99929729e-01 -2.77619244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05140051299999 meters 0.07468941270225078 Centerline is valid? [True, True] Translation: X:110.15, Y:11.63, Z:-0.28 [[ 9.99851244e-01 -1.33037402e-02 1.09772791e-02 1.10148180e+02] [ 1.32941633e-02 9.99911182e-01 9.44937252e-04 1.16277290e+01] [-1.09888753e-02 -7.98862947e-04 9.99939301e-01 -2.79771311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08140051299999 meters 0.07132056239611738 Centerline is valid? [True, True] Translation: X:110.18, Y:11.62, Z:-0.28 [[ 9.99859046e-01 -1.33700161e-02 1.01553524e-02 1.10180254e+02] [ 1.33618255e-02 9.99910345e-01 8.73948622e-04 1.16246109e+01] [-1.01661267e-02 -7.38131387e-04 9.99948051e-01 -2.81831282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11140051299999 meters 0.07053528128481922 Centerline is valid? [True, True] Translation: X:110.21, Y:11.62, Z:-0.28 [[ 9.99842658e-01 -1.43341771e-02 1.04494630e-02 1.10211592e+02] [ 1.43255644e-02 9.99896980e-01 8.98614457e-04 1.16248225e+01] [-1.04612674e-02 -7.48778612e-04 9.99944999e-01 -2.82032672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141400513 meters 0.07800777457946494 Centerline is valid? [True, True] Translation: X:110.24, Y:11.64, Z:-0.28 [[ 9.99832179e-01 -1.47443648e-02 1.08728241e-02 1.10242453e+02] [ 1.47350658e-02 9.99890996e-01 9.34875347e-04 1.16358609e+01] [-1.08854230e-02 -7.74506677e-04 9.99940452e-01 -2.82423798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171400513 meters 0.06922190872780236 Centerline is valid? [True, True] Translation: X:110.28, Y:11.62, Z:-0.28 [[ 9.99831152e-01 -1.48580606e-02 1.08122933e-02 1.10276216e+02] [ 1.48488760e-02 9.99889318e-01 9.29244357e-04 1.16245589e+01] [-1.08249034e-02 -7.68537053e-04 9.99941114e-01 -2.82014021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20140051299998 meters 0.07011669015008232 Centerline is valid? [True, True] Translation: X:110.31, Y:11.63, Z:-0.28 [[ 9.99808542e-01 -1.60124220e-02 1.12464320e-02 1.10306830e+02] [ 1.60025675e-02 9.99871484e-01 9.65675690e-04 1.16279542e+01] [-1.12604495e-02 -7.85519015e-04 9.99936291e-01 -2.81225834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23140051299998 meters 0.07011669015008232 Centerline is valid? [True, True] Translation: X:110.34, Y:11.63, Z:-0.28 [[ 9.99809646e-01 -1.59433467e-02 1.12464353e-02 1.10339298e+02] [ 1.59334883e-02 9.99872588e-01 9.65637935e-04 1.16306230e+01] [-1.12603979e-02 -7.86259176e-04 9.99936291e-01 -2.81756313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26140051299998 meters 0.0725325495454961 Centerline is valid? [True, True] Translation: X:110.37, Y:11.63, Z:-0.28 [[ 9.99784897e-01 -1.70745965e-02 1.17735947e-02 1.10371359e+02] [ 1.70638825e-02 9.99853891e-01 1.00987302e-03 1.16315971e+01] [-1.17891177e-02 -8.08752560e-04 9.99930179e-01 -2.82234617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29140051299999 meters 0.06624784813683005 Centerline is valid? [True, True] Translation: X:110.40, Y:11.63, Z:-0.28 [[ 9.99763173e-01 -1.79971235e-02 1.22352570e-02 1.10403549e+02] [ 1.79856268e-02 9.99837695e-01 1.04902740e-03 1.16287382e+01] [-1.22521507e-02 -8.28720198e-04 9.99924596e-01 -2.81549227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32140051299999 meters 0.06287681487005195 Centerline is valid? [True, True] Translation: X:110.44, Y:11.62, Z:-0.28 [[ 9.99728678e-01 -1.94022393e-02 1.28888897e-02 1.10435392e+02] [ 1.93896044e-02 9.99811394e-01 1.10454613e-03 1.16247584e+01] [-1.29078894e-02 -8.54335966e-04 9.99916325e-01 -2.81707666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35140051299999 meters 0.06308480434887494 Centerline is valid? [True, True] Translation: X:110.47, Y:11.62, Z:-0.28 [[ 9.99744963e-01 -1.92550186e-02 1.18005308e-02 1.10467548e+02] [ 1.92444190e-02 9.99814298e-01 1.01113505e-03 1.16246724e+01] [-1.18178089e-02 -7.83782814e-04 9.99929860e-01 -2.84152593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38140051299999 meters 0.0647218801728352 Centerline is valid? [True, True] Translation: X:110.50, Y:11.63, Z:-0.29 [[ 9.99752275e-01 -1.96009715e-02 1.05447033e-02 1.10498168e+02] [ 1.95925324e-02 9.99807640e-01 9.03039531e-04 1.16310726e+01] [-1.05603754e-02 -6.96218384e-04 9.99943995e-01 -2.85964767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41140051299999 meters 0.0651180792716759 Centerline is valid? [True, True] Translation: X:110.53, Y:11.63, Z:-0.29 [[ 9.99775119e-01 -1.91141257e-02 9.18485245e-03 1.10530416e+02] [ 1.91077040e-02 9.99817122e-01 7.86408223e-04 1.16345801e+01] [-9.19820425e-03 -6.10729933e-04 9.99957509e-01 -2.88506550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44140051299999 meters 0.06948184632434704 Centerline is valid? [True, True] Translation: X:110.56, Y:11.64, Z:-0.29 [[ 9.99786122e-01 -1.86751199e-02 8.88537912e-03 1.10560862e+02] [ 1.86690972e-02 9.99825428e-01 7.60289260e-04 1.16420965e+01] [-8.89802648e-03 -5.94244645e-04 9.99960235e-01 -2.90460499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47140051299999 meters 0.06500634039057437 Centerline is valid? [True, True] Translation: X:110.59, Y:11.64, Z:-0.29 [[ 9.99783485e-01 -1.86615418e-02 9.20493625e-03 1.10593617e+02] [ 1.86550799e-02 9.99825669e-01 7.87376336e-04 1.16380047e+01] [-9.21802520e-03 -6.15487036e-04 9.99957324e-01 -2.89736303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501400513 meters 0.06692573645660115 Centerline is valid? [True, True] Translation: X:110.62, Y:11.64, Z:-0.29 [[ 9.99783476e-01 -1.85605478e-02 9.40780185e-03 1.10624960e+02] [ 1.85537986e-02 9.99827540e-01 8.04187565e-04 1.16415906e+01] [-9.42110555e-03 -6.29462979e-04 9.99955422e-01 -2.89777687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531400513 meters 0.07204939735793013 Centerline is valid? [True, True] Translation: X:110.66, Y:11.65, Z:-0.29 [[ 9.99788210e-01 -1.82864170e-02 9.44149590e-03 1.10655744e+02] [ 1.82796104e-02 9.99832589e-01 8.06730762e-04 1.16480838e+01] [-9.45466750e-03 -6.33973039e-04 9.99955103e-01 -2.91119921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561400513 meters 0.071382423423396 Centerline is valid? [True, True] Translation: X:110.69, Y:11.65, Z:-0.29 [[ 9.99771646e-01 -1.88738341e-02 1.00217337e-02 1.10687207e+02] [ 1.88661976e-02 9.99821651e-01 8.55989391e-04 1.16513686e+01] [-1.00361021e-02 -6.66721914e-04 9.99949415e-01 -2.90244036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59140051299998 meters 0.0637860817858749 Centerline is valid? [True, True] Translation: X:110.72, Y:11.65, Z:-0.29 [[ 9.99763398e-01 -1.90804525e-02 1.04443586e-02 1.10719712e+02] [ 1.90721747e-02 9.99817712e-01 8.91596546e-04 1.16455983e+01] [-1.04594668e-02 -6.92188961e-04 9.99945059e-01 -2.89168252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62140051299998 meters 0.0710650990585561 Centerline is valid? [True, True] Translation: X:110.75, Y:11.66, Z:-0.29 [[ 9.99770517e-01 -1.83122114e-02 1.11164646e-02 1.10749753e+02] [ 1.83027937e-02 9.99832040e-01 9.48336881e-04 1.16564928e+01] [-1.11319637e-02 -7.44656894e-04 9.99937760e-01 -2.89273041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65140051299998 meters 0.06728980475119696 Centerline is valid? [True, True] Translation: X:110.78, Y:11.66, Z:-0.29 [[ 9.99773955e-01 -1.76535228e-02 1.18486747e-02 1.10781569e+02] [ 1.76427823e-02 9.99843843e-01 1.01039461e-03 1.16580479e+01] [-1.18646615e-02 -8.01122630e-04 9.99929292e-01 -2.88248282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68140051299999 meters 0.07282596477777964 Centerline is valid? [True, True] Translation: X:110.81, Y:11.67, Z:-0.29 [[ 9.99792267e-01 -1.64686264e-02 1.20086556e-02 1.10811269e+02] [ 1.64575174e-02 9.99864042e-01 1.02332250e-03 1.16672447e+01] [-1.20238756e-02 -8.25477259e-04 9.99927370e-01 -2.89126104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71140051299999 meters 0.07027411819809719 Centerline is valid? [True, True] Translation: X:110.84, Y:11.66, Z:-0.29 [[ 9.99820701e-01 -1.49727535e-02 1.15923246e-02 1.10842711e+02] [ 1.49623028e-02 9.99887571e-01 9.87718621e-04 1.16638052e+01] [-1.16058102e-02 -8.14093653e-04 9.99932319e-01 -2.90460853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74140051299999 meters 0.06682726998114077 Centerline is valid? [True, True] Translation: X:110.87, Y:11.66, Z:-0.29 [[ 9.99833173e-01 -1.45663211e-02 1.10203293e-02 1.10874731e+02] [ 1.45568511e-02 9.99893602e-01 9.39049678e-04 1.16627783e+01] [-1.10328353e-02 -7.78471727e-04 9.99938833e-01 -2.91411032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77140051299999 meters 0.07447079751466813 Centerline is valid? [True, True] Translation: X:110.90, Y:11.67, Z:-0.29 [[ 9.99825641e-01 -1.55632754e-02 1.03185760e-02 1.10904665e+02] [ 1.55550320e-02 9.99878627e-01 8.78668994e-04 1.16742152e+01] [-1.03309985e-02 -7.18010011e-04 9.99946376e-01 -2.93390671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80140051299999 meters 0.07907391466834715 Centerline is valid? [True, True] Translation: X:110.93, Y:11.68, Z:-0.29 [[ 9.99807491e-01 -1.62906790e-02 1.09359401e-02 1.10934414e+02] [ 1.62814667e-02 9.99867015e-01 9.30890354e-04 1.16796600e+01] [-1.09496506e-02 -7.52658003e-04 9.99939768e-01 -2.94399172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83140051299999 meters 0.06772026674145165 Centerline is valid? [True, True] Translation: X:110.97, Y:11.67, Z:-0.29 [[ 9.99774382e-01 -1.77033831e-02 1.17378123e-02 1.10967157e+02] [ 1.76928677e-02 9.99842970e-01 9.99107412e-04 1.16719899e+01] [-1.17536567e-02 -7.91206434e-04 9.99930610e-01 -2.92414898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86140051299999 meters 0.0675029028982631 Centerline is valid? [True, True] Translation: X:111.00, Y:11.67, Z:-0.29 [[ 9.99735496e-01 -1.97335495e-02 1.18120838e-02 1.10996524e+02] [ 1.97230488e-02 9.99804977e-01 1.00481690e-03 1.16727223e+01] [-1.18296087e-02 -7.71580817e-04 9.99929730e-01 -2.93181998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891400513 meters 0.06813099050411231 Centerline is valid? [True, True] Translation: X:111.03, Y:11.67, Z:-0.30 [[ 9.99738447e-01 -2.02607807e-02 1.06083811e-02 1.11028182e+02] [ 2.02523363e-02 9.99794493e-01 9.02844286e-04 1.16735858e+01] [-1.06244933e-02 -6.87763644e-04 9.99943322e-01 -2.95300884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921400513 meters 0.06398948501338675 Centerline is valid? [True, True] Translation: X:111.06, Y:11.67, Z:-0.30 [[ 9.99744948e-01 -2.05958068e-02 9.26558243e-03 1.11060849e+02] [ 2.05893822e-02 9.99787705e-01 7.88242601e-04 1.16685683e+01] [-9.27984989e-03 -5.97268940e-04 9.99956763e-01 -2.96761544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95140051299998 meters 0.06271790526090176 Centerline is valid? [True, True] Translation: X:111.09, Y:11.67, Z:-0.30 [[ 9.99751002e-01 -2.05973429e-02 8.58390458e-03 1.11093326e+02] [ 2.05918320e-02 9.99787699e-01 7.29906679e-04 1.16676031e+01] [-8.59711635e-03 -5.52966613e-04 9.99962891e-01 -2.98175063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98140051299998 meters 0.06838977973116112 Centerline is valid? [True, True] Translation: X:111.12, Y:11.68, Z:-0.30 [[ 9.99757461e-01 -2.03482696e-02 8.42419015e-03 1.11124212e+02] [ 2.03429570e-02 9.99792804e-01 7.15851079e-04 1.16753508e+01] [-8.43701103e-03 -5.44304519e-04 9.99964260e-01 -2.99849960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01140051299998 meters 0.07962898596028505 Centerline is valid? [True, True] Translation: X:111.15, Y:11.69, Z:-0.30 [[ 9.99770679e-01 -1.94837640e-02 8.88666036e-03 1.11154587e+02] [ 1.94778192e-02 9.99810004e-01 7.55028587e-04 1.16897600e+01] [-8.89968273e-03 -5.81762679e-04 9.99960228e-01 -3.00847358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04140051299999 meters 0.06762376510797136 Centerline is valid? [True, True] Translation: X:111.19, Y:11.67, Z:-0.30 [[ 9.99809659e-01 -1.67532873e-02 9.99869774e-03 1.11186233e+02] [ 1.67456372e-02 9.99859422e-01 8.48337675e-04 1.16737156e+01] [-1.00115046e-02 -6.80741636e-04 9.99949652e-01 -2.97781335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07140051299999 meters 0.06787056508914259 Centerline is valid? [True, True] Translation: X:111.22, Y:11.67, Z:-0.30 [[ 9.99848922e-01 -1.45508513e-02 9.50824361e-03 1.11216846e+02] [ 1.45438344e-02 9.99893907e-01 8.06718076e-04 1.16749166e+01] [-9.51897329e-03 -6.68309878e-04 9.99954470e-01 -2.99331663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10140051299999 meters 0.08050862315739442 Centerline is valid? [True, True] Translation: X:111.24, Y:11.69, Z:-0.30 [[ 9.99895788e-01 -1.14922065e-02 8.73737773e-03 1.11244715e+02] [ 1.14861670e-02 9.99933757e-01 7.41097762e-04 1.16894830e+01] [-8.74531579e-03 -6.40661551e-04 9.99961554e-01 -3.03099662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13140051299999 meters 0.07981726060510075 Centerline is valid? [True, True] Translation: X:111.28, Y:11.69, Z:-0.30 [[ 9.99928799e-01 -8.36799222e-03 8.50728866e-03 1.11275020e+02] [ 8.36215086e-03 9.99964776e-01 7.21968707e-04 1.16937827e+01] [-8.51303043e-03 -6.50778071e-04 9.99963552e-01 -3.03231958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16140051299999 meters 0.08105514771466739 Centerline is valid? [True, True] Translation: X:111.31, Y:11.70, Z:-0.30 [[ 9.99946039e-01 -4.82755334e-03 9.19857346e-03 1.11305847e+02] [ 4.82057568e-03 9.99988076e-01 7.80579218e-04 1.16973375e+01] [-9.20223207e-03 -7.36194678e-04 9.99957388e-01 -3.02027615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19140051299999 meters 0.08914632036334852 Centerline is valid? [True, True] Translation: X:111.33, Y:11.71, Z:-0.30 [[ 9.99946767e-01 -1.48408691e-03 1.02108465e-02 1.11334409e+02] [ 1.47531821e-03 9.99998537e-01 8.66242456e-04 1.17095066e+01] [-1.02121172e-02 -8.51132095e-04 9.99947493e-01 -3.00427048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22140051299999 meters 0.0809878228405798 Centerline is valid? [True, True] Translation: X:111.37, Y:11.70, Z:-0.30 [[ 9.99935914e-01 1.97351958e-03 1.11477437e-02 1.11366126e+02] [-1.98418775e-03 9.99997584e-01 9.46001640e-04 1.17021763e+01] [-1.11458498e-02 -9.68060232e-04 9.99937414e-01 -2.98086762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251400513 meters 0.0953431601662065 Centerline is valid? [True, True] Translation: X:111.39, Y:11.72, Z:-0.30 [[ 9.99895164e-01 8.11969593e-03 1.19887831e-02 1.11394324e+02] [-8.13247092e-03 9.99966414e-01 1.01721177e-03 1.17238517e+01] [-1.19801210e-02 -1.11460355e-03 9.99927615e-01 -2.97935347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281400513 meters 0.10500767117225496 Centerline is valid? [True, False] Translation: X:111.37, Y:11.72, Z:-0.29 [[ 9.99947613e-01 7.08360608e-03 7.38880623e-03 1.11373577e+02] [-7.16940732e-03 9.99906420e-01 1.16512109e-02 1.17162519e+01] [-7.30558220e-03 -1.17035738e-02 9.99904823e-01 -2.92740088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311400513 meters 0.0921704617528923 Centerline is valid? [False, True] Translation: X:111.37, Y:11.72, Z:-0.29 [[ 9.99968132e-01 2.38520389e-03 7.61877711e-03 1.11373028e+02] [-2.42945150e-03 9.99980207e-01 5.80373891e-03 1.17227155e+01] [-7.60478321e-03 -5.82206341e-03 9.99954134e-01 -2.93384569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34140051299998 meters 0.08788703311772429 Centerline is valid? [True, True] Translation: X:111.40, Y:11.73, Z:-0.29 [[ 9.99960321e-01 2.46536889e-03 8.56026979e-03 1.11404854e+02] [-2.47225629e-03 9.99996629e-01 7.94089706e-04 1.17263220e+01] [-8.55828321e-03 -8.15221379e-04 9.99963045e-01 -2.93162338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37140051299998 meters 0.08749611609832639 Centerline is valid? [True, True] Translation: X:111.44, Y:11.73, Z:-0.29 [[ 9.99963241e-01 2.40176515e-03 8.23090885e-03 1.11436995e+02] [-2.40812017e-03 9.99996810e-01 7.62268778e-04 1.17302770e+01] [-8.22905180e-03 -7.82061776e-04 9.99965835e-01 -2.93361313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40140051299998 meters 0.09212432174835786 Centerline is valid? [True, True] Translation: X:111.47, Y:11.74, Z:-0.30 [[ 9.99974187e-01 2.51037077e-03 6.73222501e-03 1.11468193e+02] [-2.51461820e-03 9.99996645e-01 6.22519940e-04 1.17414876e+01] [-6.73063966e-03 -6.39432846e-04 9.99977145e-01 -2.95417462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43140051299999 meters 0.0920657164432479 Centerline is valid? [True, True] Translation: X:111.50, Y:11.75, Z:-0.30 [[ 9.99982646e-01 2.08314214e-03 5.51071829e-03 1.11500346e+02] [-2.08598037e-03 9.99997695e-01 5.09339861e-04 1.17453817e+01] [-5.50964455e-03 -5.20826272e-04 9.99984686e-01 -2.97591212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46140051299999 meters 0.09147644499686805 Centerline is valid? [True, True] Translation: X:111.53, Y:11.75, Z:-0.30 [[ 9.99986787e-01 1.32770388e-03 4.96612985e-03 1.11531274e+02] [-1.32999331e-03 9.99999011e-01 4.57734734e-04 1.17483107e+01] [-4.96551720e-03 -4.64333606e-04 9.99987564e-01 -2.98316408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49140051299999 meters 0.09784776530430257 Centerline is valid? [True, True] Translation: X:111.56, Y:11.76, Z:-0.30 [[ 9.99986563e-01 -9.37242644e-05 5.18311299e-03 1.11560338e+02] [ 9.12512063e-05 9.99999882e-01 4.77372040e-04 1.17562988e+01] [-5.18315712e-03 -4.76892660e-04 9.99986454e-01 -2.98504224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52140051299999 meters 0.08216209158357028 Centerline is valid? [True, True] Translation: X:111.59, Y:11.75, Z:-0.30 [[ 9.99970637e-01 -4.12381352e-03 6.45902769e-03 1.11592414e+02] [ 4.12005636e-03 9.99991336e-01 5.94888566e-04 1.17460005e+01] [-6.46142494e-03 -5.68259540e-04 9.99978963e-01 -2.96298753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55140051299999 meters 0.08173892640680959 Centerline is valid? [True, True] Translation: X:111.62, Y:11.75, Z:-0.30 [[ 9.99957835e-01 -6.43106695e-03 6.55518569e-03 1.11622022e+02] [ 6.42724661e-03 9.99979163e-01 6.03695237e-04 1.17497206e+01] [-6.55893151e-03 -5.61537987e-04 9.99978332e-01 -2.96578743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58140051299999 meters 0.07785251253872173 Centerline is valid? [True, True] Translation: X:111.65, Y:11.75, Z:-0.30 [[ 9.99944378e-01 -8.22685268e-03 6.59992437e-03 1.11652880e+02] [ 8.22301781e-03 9.99966006e-01 6.07974335e-04 1.17493888e+01] [-6.60470172e-03 -5.53669223e-04 9.99978035e-01 -2.96741756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61140051299999 meters 0.07694027481689195 Centerline is valid? [True, True] Translation: X:111.68, Y:11.75, Z:-0.30 [[ 9.99930154e-01 -9.59513118e-03 6.90083790e-03 1.11683745e+02] [ 9.59097154e-03 9.99953804e-01 6.35614528e-04 1.17528178e+01] [-6.90661791e-03 -5.69384392e-04 9.99975987e-01 -2.96027786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641400513 meters 0.07728716087930225 Centerline is valid? [True, True] Translation: X:111.71, Y:11.76, Z:-0.30 [[ 9.99913175e-01 -1.09088814e-02 7.39183441e-03 1.11713822e+02] [ 1.09041455e-02 9.99940316e-01 6.80690002e-04 1.17568420e+01] [-7.39881881e-03 -6.00029263e-04 9.99972448e-01 -2.95039365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671400513 meters 0.09113169810457285 Centerline is valid? [True, True] Translation: X:111.74, Y:11.78, Z:-0.29 [[ 9.99892822e-01 -1.21552402e-02 8.16050182e-03 1.11742533e+02] [ 1.21495090e-02 9.99925910e-01 7.51520303e-04 1.17785361e+01] [-8.16903211e-03 -6.52293667e-04 9.99966420e-01 -2.94441971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70140051299998 meters 0.07451484850452204 Centerline is valid? [True, True] Translation: X:111.78, Y:11.76, Z:-0.29 [[ 9.99822075e-01 -1.63289255e-02 9.44378700e-03 1.11775344e+02] [ 1.63214374e-02 9.99866418e-01 8.69435190e-04 1.17615054e+01] [-9.45672243e-03 -7.15144317e-04 9.99955028e-01 -2.91870990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73140051299998 meters 0.07681355568166322 Centerline is valid? [True, True] Translation: X:111.80, Y:11.77, Z:-0.29 [[ 9.99777589e-01 -1.84364672e-02 1.02405698e-02 1.11804782e+02] [ 1.84277730e-02 9.99829750e-01 9.42707889e-04 1.17677567e+01] [-1.02562066e-02 -7.53787324e-04 9.99947120e-01 -2.90988315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76140051299998 meters 0.06993219354628448 Centerline is valid? [True, True] Translation: X:111.84, Y:11.76, Z:-0.29 [[ 9.99739852e-01 -2.02269755e-02 1.05402903e-02 1.11836258e+02] [ 2.02178637e-02 9.99795127e-01 9.70328275e-04 1.17625062e+01] [-1.05577577e-02 -7.56973694e-04 9.99943979e-01 -2.91020086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79140051299999 meters 0.06644974246944371 Centerline is valid? [True, True] Translation: X:111.87, Y:11.76, Z:-0.29 [[ 9.99701638e-01 -2.25837890e-02 9.30626320e-03 1.11867018e+02] [ 2.25767887e-02 9.99744745e-01 8.56595113e-04 1.17598742e+01] [-9.32323289e-03 -6.46234000e-04 9.99956329e-01 -2.94353170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82140051299999 meters 0.06620343668068909 Centerline is valid? [True, True] Translation: X:111.90, Y:11.76, Z:-0.30 [[ 9.99692831e-01 -2.33784712e-02 8.22739548e-03 1.11898478e+02] [ 2.33730267e-02 9.99726527e-01 7.57291776e-04 1.17614248e+01] [-8.24284984e-03 -5.64760025e-04 9.99965868e-01 -2.96584506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85140051299999 meters 0.07522388067487756 Centerline is valid? [True, True] Translation: X:111.93, Y:11.78, Z:-0.30 [[ 9.99690652e-01 -2.36547866e-02 7.68443584e-03 1.11928834e+02] [ 2.36500462e-02 9.99720048e-01 7.07177990e-04 1.17757162e+01] [-7.69901271e-03 -5.25221963e-04 9.99970224e-01 -2.98477894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88140051299999 meters 0.06512554688350977 Centerline is valid? [True, True] Translation: X:111.96, Y:11.77, Z:-0.30 [[ 9.99692070e-01 -2.38540703e-02 6.83730987e-03 1.11962470e+02] [ 2.38503232e-02 9.99715343e-01 6.29056927e-04 1.17654533e+01] [-6.85036915e-03 -4.65791171e-04 9.99976427e-01 -2.99366961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91140051299999 meters 0.07590245542598811 Centerline is valid? [True, True] Translation: X:111.99, Y:11.78, Z:-0.30 [[ 9.99702299e-01 -2.36010123e-02 6.18912378e-03 1.11992400e+02] [ 2.35979390e-02 9.99721368e-01 5.69126919e-04 1.17799198e+01] [-6.20083126e-03 -4.22906924e-04 9.99980685e-01 -3.01087068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94140051299999 meters 0.07167116112837911 Centerline is valid? [True, True] Translation: X:112.02, Y:11.78, Z:-0.30 [[ 9.99716579e-01 -2.30533163e-02 5.94191446e-03 1.12024602e+02] [ 2.30504752e-02 9.99734153e-01 5.46193144e-04 1.17755663e+01] [-5.95292639e-03 -4.09074390e-04 9.99982198e-01 -3.00936204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97140051299999 meters 0.06848877750072581 Centerline is valid? [True, True] Translation: X:112.06, Y:11.77, Z:-0.30 [[ 9.99743105e-01 -2.16456710e-02 6.72232102e-03 1.12056018e+02] [ 2.16420053e-02 9.99765594e-01 6.17576398e-04 1.17724776e+01] [-6.73411312e-03 -4.71933239e-04 9.99977214e-01 -3.00046475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001400513 meters 0.06673169254148238 Centerline is valid? [True, True] Translation: X:112.09, Y:11.77, Z:-0.30 [[ 9.99762290e-01 -2.05317983e-02 7.33545382e-03 1.12086950e+02] [ 2.05274043e-02 9.99789064e-01 6.73808565e-04 1.17734849e+01] [-7.34774100e-03 -5.23070567e-04 9.99972868e-01 -2.99642129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031400513 meters 0.07251778369163156 Centerline is valid? [True, True] Translation: X:112.12, Y:11.78, Z:-0.30 [[ 9.99791048e-01 -1.89784960e-02 7.59452123e-03 1.12116302e+02] [ 1.89737415e-02 9.99819739e-01 6.97605004e-04 1.17833126e+01] [-7.60639173e-03 -5.53362755e-04 9.99970918e-01 -3.00453040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061400513 meters 0.07431690849038444 Centerline is valid? [True, True] Translation: X:112.15, Y:11.79, Z:-0.30 [[ 9.99831473e-01 -1.68786355e-02 7.22060693e-03 1.12147379e+02] [ 1.68742863e-02 9.99857399e-01 6.62841063e-04 1.17859657e+01] [-7.23076512e-03 -5.40886768e-04 9.99973711e-01 -3.01286358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09140051299998 meters 0.07347370020267138 Centerline is valid? [True, True] Translation: X:112.18, Y:11.79, Z:-0.30 [[ 9.99862675e-01 -1.49622909e-02 7.12473183e-03 1.12178107e+02] [ 1.49580089e-02 9.99887909e-01 6.53914181e-04 1.17891414e+01] [-7.13371727e-03 -5.47252580e-04 9.99974405e-01 -3.02218440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12140051299998 meters 0.07347370020267138 Centerline is valid? [True, True] Translation: X:112.21, Y:11.79, Z:-0.30 [[ 9.99863371e-01 -1.49156837e-02 7.12472956e-03 1.12209740e+02] [ 1.49114004e-02 9.99888605e-01 6.53939016e-04 1.17919674e+01] [-7.13368985e-03 -5.47609974e-04 9.99974405e-01 -3.02542626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15140051299998 meters 0.07692634795753234 Centerline is valid? [True, True] Translation: X:112.24, Y:11.80, Z:-0.30 [[ 9.99897685e-01 -1.28162507e-02 6.35313082e-03 1.12238396e+02] [ 1.28128057e-02 9.99917743e-01 5.82655969e-04 1.17984094e+01] [-6.36007569e-03 -5.01194924e-04 9.99979649e-01 -3.03805425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18140051299999 meters 0.0774042938983168 Centerline is valid? [True, True] Translation: X:112.27, Y:11.80, Z:-0.30 [[ 9.99947735e-01 -8.84144263e-03 5.13382908e-03 1.12269043e+02] [ 8.83914053e-03 9.99960823e-01 4.70934964e-04 1.18022733e+01] [-5.13779170e-03 -4.25531714e-04 9.99986711e-01 -3.04590598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21140051299999 meters 0.08477028898235074 Centerline is valid? [True, True] Translation: X:112.30, Y:11.82, Z:-0.31 [[ 9.99961274e-01 -7.00243733e-03 5.33064236e-03 1.12297865e+02] [ 6.99992988e-03 9.99975381e-01 4.88896780e-04 1.18159389e+01] [-5.33393459e-03 -4.51563725e-04 9.99985673e-01 -3.05016896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24140051299999 meters 0.08318965224546278 Centerline is valid? [True, True] Translation: X:112.33, Y:11.82, Z:-0.30 [[ 9.99966705e-01 -5.56197945e-03 5.97102045e-03 1.12328452e+02] [ 5.55880701e-03 9.99984400e-01 5.47770708e-04 1.18194105e+01] [-5.97397399e-03 -5.14560719e-04 9.99982023e-01 -3.04505022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27140051299999 meters 0.08780743949323361 Centerline is valid? [True, True] Translation: X:112.36, Y:11.83, Z:-0.30 [[ 9.99958418e-01 -1.47565725e-03 8.99915367e-03 1.12357466e+02] [ 1.46828838e-03 9.99998581e-01 8.25392411e-04 1.18332102e+01] [-9.00035890e-03 -8.12144736e-04 9.99959166e-01 -3.01497709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30140051299999 meters 0.08617032715600673 Centerline is valid? [True, True] Translation: X:112.39, Y:11.84, Z:-0.30 [[ 9.99952803e-01 7.47014310e-04 9.68680943e-03 1.12387401e+02] [-7.55655547e-04 9.99999320e-01 8.88432820e-04 1.18366128e+01] [-9.68613917e-03 -8.95710780e-04 9.99952687e-01 -3.00264980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33140051299999 meters 0.10166498375650074 Centerline is valid? [True, False] Translation: X:112.39, Y:11.84, Z:-0.30 [[ 9.99952192e-01 4.32339854e-04 9.76863576e-03 1.12387324e+02] [-4.31493979e-04 9.99999903e-01 -8.86983259e-05 1.18408988e+01] [-9.76867316e-03 8.44789779e-05 9.99952282e-01 -3.00903664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36140051299999 meters 0.09238337360141297 Centerline is valid? [False, True] Translation: X:112.39, Y:11.85, Z:-0.30 [[ 9.99952198e-01 1.36950806e-05 9.77756302e-03 1.12387532e+02] [ 4.61976190e-07 9.99998952e-01 -1.44790889e-03 1.18468187e+01] [-9.77757260e-03 1.44784419e-03 9.99951150e-01 -3.01841521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391400513 meters 0.10323089920543224 Centerline is valid? [True, False] Translation: X:112.39, Y:11.85, Z:-0.30 [[ 9.99951918e-01 -4.36149724e-04 9.79650169e-03 1.12387731e+02] [ 4.64249362e-04 9.99995785e-01 -2.86624303e-03 1.18530193e+01] [-9.79521028e-03 2.87065323e-03 9.99947905e-01 -3.02751246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421400513 meters 0.09113270200302653 Centerline is valid? [False, True] Translation: X:112.38, Y:11.86, Z:-0.29 [[ 9.99988243e-01 1.77487937e-03 -4.51268583e-03 1.12382217e+02] [-1.78449200e-03 9.99996146e-01 -2.12700289e-03 1.18581473e+01] [ 4.50889327e-03 2.13503073e-03 9.99987556e-01 -2.89986369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45140051299998 meters 0.09333856656234772 Centerline is valid? [True, True] Translation: X:112.41, Y:11.86, Z:-0.29 [[ 9.99992786e-01 7.17384596e-04 -3.73010311e-03 1.12410186e+02] [-7.18723094e-04 9.99999678e-01 -3.57508792e-04 1.18646174e+01] [ 3.72984544e-03 3.60187124e-04 9.99992979e-01 -2.87424884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48140051299998 meters 0.09639437495840042 Centerline is valid? [True, True] Translation: X:112.44, Y:11.87, Z:-0.29 [[ 9.99994280e-01 -1.55620238e-03 -3.00308187e-03 1.12439236e+02] [ 1.55534485e-03 9.99998749e-01 -2.87864918e-04 1.18724822e+01] [ 3.00352609e-03 2.83192444e-04 9.99995449e-01 -2.85593928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51140051299998 meters 0.09752274014841864 Centerline is valid? [True, True] Translation: X:112.47, Y:11.88, Z:-0.28 [[ 9.99984708e-01 -5.09528459e-03 -2.14991638e-03 1.12467857e+02] [ 5.09485314e-03 9.99987000e-01 -2.06112861e-04 1.18816336e+01] [ 2.15093864e-03 1.95156201e-04 9.99997668e-01 -2.84424845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54140051299999 meters 0.07989955718384746 Centerline is valid? [True, True] Translation: X:112.50, Y:11.87, Z:-0.28 [[ 9.99959952e-01 -8.86872479e-03 -1.19984587e-03 1.12500125e+02] [ 8.86859310e-03 9.99960667e-01 -1.15029891e-04 1.18664678e+01] [ 1.20081885e-03 1.04384339e-04 9.99999274e-01 -2.83289295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57140051299999 meters 0.07914007088796975 Centerline is valid? [True, True] Translation: X:112.53, Y:11.87, Z:-0.28 [[ 9.99868806e-01 -1.61612162e-02 1.08940289e-03 1.12529251e+02] [ 1.61611119e-02 9.99869395e-01 1.04454772e-04 1.18721303e+01] [-1.09094873e-03 -8.68351065e-05 9.99999401e-01 -2.81876712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60140051299999 meters 0.083493438719185 Centerline is valid? [True, True] Translation: X:112.56, Y:11.88, Z:-0.28 [[ 9.99827341e-01 -1.85362596e-02 1.30190217e-03 1.12558104e+02] [ 1.85361127e-02 9.99828184e-01 1.24845364e-04 1.18795049e+01] [-1.30399264e-03 -1.00691603e-04 9.99999145e-01 -2.81740599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63140051299999 meters 0.07725226402249176 Centerline is valid? [True, True] Translation: X:112.59, Y:11.88, Z:-0.28 [[ 9.99798993e-01 -2.00074863e-02 1.29405581e-03 1.12588929e+02] [ 2.00073423e-02 9.99799825e-01 1.24095367e-04 1.18772478e+01] [-1.29627961e-03 -9.81798053e-05 9.99999155e-01 -2.82448170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66140051299999 meters 0.08272022850058948 Centerline is valid? [True, True] Translation: X:112.62, Y:11.89, Z:-0.28 [[ 9.99818750e-01 -1.90385487e-02 -2.84452019e-05 1.12617223e+02] [ 1.90385487e-02 9.99818750e-01 -2.73077660e-06 1.18925471e+01] [ 2.84920362e-05 2.18872629e-06 1.00000000e+00 -2.83303656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69140051299999 meters 0.085034180798121 Centerline is valid? [True, True] Translation: X:112.65, Y:11.90, Z:-0.28 [[ 9.99860054e-01 -1.67181985e-02 -6.12034497e-04 1.12647278e+02] [ 1.67181657e-02 9.99860240e-01 -5.86999515e-05 1.18985485e+01] [ 6.12930317e-04 4.84596425e-05 9.99999811e-01 -2.82794085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72140051299999 meters 0.0847093723039538 Centerline is valid? [True, True] Translation: X:112.68, Y:11.91, Z:-0.28 [[ 9.99894496e-01 -1.45252350e-02 -1.23090389e-04 1.12677074e+02] [ 1.45252337e-02 9.99894503e-01 -1.18059881e-05 1.19053186e+01] [ 1.23248888e-04 1.00168258e-05 9.99999992e-01 -2.81489898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751400513 meters 0.0783437648777949 Centerline is valid? [True, True] Translation: X:112.71, Y:11.90, Z:-0.28 [[ 9.99924841e-01 -1.22491412e-02 -5.20802032e-04 1.12707962e+02] [ 1.22491168e-02 9.99924976e-01 -4.99515266e-05 1.18994767e+01] [ 5.21374823e-04 4.35684073e-05 9.99999863e-01 -2.81066292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781400513 meters 0.08526344198838415 Centerline is valid? [True, True] Translation: X:112.74, Y:11.91, Z:-0.28 [[ 9.99938627e-01 -1.10517151e-02 -7.75613033e-04 1.12736324e+02] [ 1.10516607e-02 9.99938926e-01 -7.44025836e-05 1.19145852e+01] [ 7.76387939e-04 6.58262053e-05 9.99999696e-01 -2.81804386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811400513 meters 0.0843899738900853 Centerline is valid? [True, True] Translation: X:112.77, Y:11.91, Z:-0.28 [[ 9.99941232e-01 -1.06301817e-02 -2.12891132e-03 1.12765886e+02] [ 1.06297707e-02 9.99943482e-01 -2.04268511e-04 1.19149811e+01] [ 2.13096241e-03 1.81626667e-04 9.99997713e-01 -2.84275142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84140051299998 meters 0.07821945355568441 Centerline is valid? [True, True] Translation: X:112.80, Y:11.91, Z:-0.29 [[ 9.99907994e-01 -1.30250983e-02 -3.78806307e-03 1.12796739e+02] [ 1.30238142e-02 9.99915120e-01 -3.63460561e-04 1.19143082e+01] [ 3.79247565e-03 3.14092091e-04 9.99992759e-01 -2.89408439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87140051299998 meters 0.07493445030583674 Centerline is valid? [True, True] Translation: X:112.83, Y:11.91, Z:-0.29 [[ 9.99883956e-01 -1.48770508e-02 -3.27839953e-03 1.12826795e+02] [ 1.48760986e-02 9.99889295e-01 -3.14637267e-04 1.19121423e+01] [ 3.28271747e-03 2.65830961e-04 9.99994577e-01 -2.89052639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90140051299998 meters 0.07343382225931737 Centerline is valid? [True, True] Translation: X:112.86, Y:11.91, Z:-0.29 [[ 9.99849509e-01 -1.72718658e-02 -1.62527692e-03 1.12857165e+02] [ 1.72716349e-02 9.99850822e-01 -1.55983813e-04 1.19116333e+01] [ 1.62772859e-03 1.27889150e-04 9.99998667e-01 -2.86381080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93140051299999 meters 0.07680669796689367 Centerline is valid? [True, True] Translation: X:112.89, Y:11.92, Z:-0.28 [[ 9.99800942e-01 -1.99494371e-02 -3.11431464e-04 1.12886450e+02] [ 1.99494287e-02 9.99800990e-01 -2.98966428e-05 1.19174952e+01] [ 3.11965908e-04 2.36778118e-05 9.99999951e-01 -2.83993193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96140051299999 meters 0.0722963694154213 Centerline is valid? [True, True] Translation: X:112.92, Y:11.91, Z:-0.28 [[ 9.99697154e-01 -2.45894514e-02 -9.79469106e-04 1.12917463e+02] [ 2.45893710e-02 9.99697631e-01 -9.40221757e-05 1.19128584e+01] [ 9.81484899e-04 6.99091723e-05 9.99999516e-01 -2.84668794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99140051299999 meters 0.07023525401372122 Centerline is valid? [True, True] Translation: X:112.95, Y:11.91, Z:-0.29 [[ 9.99682324e-01 -2.51296634e-02 -1.93666286e-03 1.12946957e+02] [ 2.51293495e-02 9.99684191e-01 -1.86266013e-04 1.19064963e+01] [ 1.94073205e-03 1.37539763e-04 9.99998107e-01 -2.86588965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02140051299999 meters 0.06947529923076923 Centerline is valid? [True, True] Translation: X:112.97, Y:11.91, Z:-0.29 [[ 9.99680312e-01 -2.52284445e-02 -1.67315189e-03 1.12974608e+02] [ 2.52282102e-02 9.99681705e-01 -1.61001576e-04 1.19090770e+01] [ 1.67668115e-03 1.18739479e-04 9.99998587e-01 -2.86679775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05140051299999 meters 0.07671473067982951 Centerline is valid? [True, True] Translation: X:113.00, Y:11.92, Z:-0.29 [[ 9.99719339e-01 -2.36770063e-02 -8.01816103e-04 1.13002919e+02] [ 2.36769520e-02 9.99719659e-01 -7.71546015e-05 1.19171334e+01] [ 8.03418110e-04 5.81483858e-05 9.99999676e-01 -2.85731837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08140051299999 meters 0.07414616222216353 Centerline is valid? [True, True] Translation: X:113.03, Y:11.92, Z:-0.28 [[ 9.99767375e-01 -2.15640374e-02 4.33407194e-04 1.13033876e+02] [ 2.15640214e-02 9.99767469e-01 4.17038373e-05 1.19151938e+01] [-4.34205717e-04 -3.23481340e-05 9.99999905e-01 -2.83201327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11140051299999 meters 0.08025796690863678 Centerline is valid? [True, True] Translation: X:113.06, Y:11.93, Z:-0.28 [[ 9.99869865e-01 -1.60945135e-02 1.10449188e-03 1.13062409e+02] [ 1.60944058e-02 9.99870471e-01 1.06282785e-04 1.19263326e+01] [-1.10605938e-03 -8.84928133e-05 9.99999384e-01 -2.82174185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141400513 meters 0.08650164098892411 Centerline is valid? [True, True] Translation: X:113.09, Y:11.94, Z:-0.28 [[ 9.99899100e-01 -1.41893492e-02 6.72707695e-04 1.13091456e+02] [ 1.41893088e-02 9.99899325e-01 6.47379077e-05 1.19372412e+01] [-6.73558559e-04 -5.51861184e-05 9.99999772e-01 -2.82927647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171400513 meters 0.08244060600622802 Centerline is valid? [True, True] Translation: X:113.12, Y:11.94, Z:-0.28 [[ 9.99912842e-01 -1.32009883e-02 2.03582746e-04 1.13122562e+02] [ 1.32009846e-02 9.99912863e-01 1.95923724e-05 1.19350703e+01] [-2.03823645e-04 -1.69031721e-05 9.99999979e-01 -2.83541625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20140051299998 meters 0.08369464203842485 Centerline is valid? [True, True] Translation: X:113.15, Y:11.94, Z:-0.28 [[ 9.99922507e-01 -1.24475660e-02 -1.97603901e-04 1.13153005e+02] [ 1.24475625e-02 9.99922526e-01 -1.90169810e-05 1.19395597e+01] [ 1.97825307e-04 1.65558204e-05 9.99999980e-01 -2.84150463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23140051299998 meters 0.08356350740255591 Centerline is valid? [True, True] Translation: X:113.18, Y:11.95, Z:-0.28 [[ 9.99924046e-01 -1.23099813e-02 -6.06151755e-04 1.13183511e+02] [ 1.23099482e-02 9.99924228e-01 -5.83347614e-05 1.19450539e+01] [ 6.06823925e-04 5.08686340e-05 9.99999815e-01 -2.84397750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26140051299998 meters 0.08164454390113154 Centerline is valid? [True, True] Translation: X:113.21, Y:11.95, Z:-0.28 [[ 9.99925090e-01 -1.22381190e-02 -2.06901326e-04 1.13212963e+02] [ 1.22381151e-02 9.99925111e-01 -1.99219730e-05 1.19472085e+01] [ 2.07129639e-04 1.73883984e-05 9.99999978e-01 -2.84143364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29140051299999 meters 0.08130401020594231 Centerline is valid? [True, True] Translation: X:113.24, Y:11.95, Z:-0.28 [[ 9.99924364e-01 -1.22888215e-02 5.01552493e-04 1.13243329e+02] [ 1.22887989e-02 9.99924489e-01 4.82800441e-05 1.19537793e+01] [-5.02107925e-04 -4.21129147e-05 9.99999873e-01 -2.83181626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32140051299999 meters 0.08262310011309613 Centerline is valid? [True, True] Translation: X:113.27, Y:11.97, Z:-0.28 [[ 9.99940267e-01 -1.09274831e-02 2.27283899e-04 1.13272602e+02] [ 1.09274784e-02 9.99940293e-01 2.18785686e-05 1.19652365e+01] [-2.27509406e-04 -1.93936219e-05 9.99999974e-01 -2.83696973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35140051299999 meters 0.08534519653024124 Centerline is valid? [True, True] Translation: X:113.30, Y:11.98, Z:-0.29 [[ 9.99945917e-01 -1.03809477e-02 -6.32274146e-04 1.13301885e+02] [ 1.03809113e-02 9.99946115e-01 -6.08439904e-05 1.19752258e+01] [ 6.32871694e-04 5.42771179e-05 9.99999798e-01 -2.85233513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38140051299999 meters 0.09307017182454035 Centerline is valid? [True, True] Translation: X:113.33, Y:11.99, Z:-0.29 [[ 9.99946653e-01 -1.02272883e-02 -1.44719835e-03 1.13330287e+02] [ 1.02270973e-02 9.99947692e-01 -1.39285320e-04 1.19908676e+01] [ 1.44854716e-03 1.24477251e-04 9.99998943e-01 -2.86164744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41140051299999 meters 0.08349685138451886 Centerline is valid? [True, True] Translation: X:113.36, Y:11.98, Z:-0.29 [[ 9.99938508e-01 -1.10254925e-02 -1.19109157e-03 1.13360424e+02] [ 1.10253637e-02 9.99939212e-01 -1.14668828e-04 1.19846797e+01] [ 1.19228344e-03 1.01529559e-04 9.99999284e-01 -2.85825014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44140051299999 meters 0.08457199116720013 Centerline is valid? [True, True] Translation: X:113.39, Y:11.99, Z:-0.28 [[ 9.99920111e-01 -1.26232952e-02 -6.51701606e-04 1.13389326e+02] [ 1.26232569e-02 9.99920322e-01 -6.27581098e-05 1.19900983e+01] [ 6.52441894e-04 5.45264993e-05 9.99999786e-01 -2.84752522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47140051299999 meters 0.078717672155849 Centerline is valid? [True, True] Translation: X:113.42, Y:11.99, Z:-0.28 [[ 9.99877640e-01 -1.56417731e-02 2.01655328e-04 1.13419210e+02] [ 1.56417695e-02 9.99877660e-01 1.94167844e-05 1.19878218e+01] [-2.01934370e-04 -1.62601624e-05 9.99999979e-01 -2.83737236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501400513 meters 0.08620491723491418 Centerline is valid? [True, True] Translation: X:113.45, Y:11.99, Z:-0.28 [[ 9.99750618e-01 -2.23303292e-02 2.41659356e-04 1.13448122e+02] [ 2.23303243e-02 9.99750647e-01 2.32754185e-05 1.19944633e+01] [-2.42118845e-04 -1.78732823e-05 9.99999971e-01 -2.84221503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531400513 meters 0.06617809675467065 Centerline is valid? [True, True] Translation: X:113.48, Y:11.98, Z:-0.28 [[ 9.99676643e-01 -2.54278704e-02 1.78635039e-04 1.13480964e+02] [ 2.54278678e-02 9.99676659e-01 1.72048353e-05 1.19753765e+01] [-1.79014761e-04 -1.26569639e-05 9.99999984e-01 -2.84243810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561400513 meters 0.06669177587706708 Centerline is valid? [True, True] Translation: X:113.51, Y:11.98, Z:-0.28 [[ 9.99614094e-01 -2.77783007e-02 -1.70371860e-04 1.13510307e+02] [ 2.77782983e-02 9.99614108e-01 -1.64159466e-05 1.19770576e+01] [ 1.70762122e-04 1.16769712e-05 9.99999985e-01 -2.84520937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59140051299998 meters 0.06282601111876825 Centerline is valid? [True, True] Translation: X:113.54, Y:11.97, Z:-0.29 [[ 9.99566114e-01 -2.94414133e-02 -8.87029317e-04 1.13540396e+02] [ 2.94413490e-02 9.99566506e-01 -8.54767040e-05 1.19742905e+01] [ 8.89161350e-04 5.93242772e-05 9.99999603e-01 -2.85115901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62140051299998 meters 0.07261106137929534 Centerline is valid? [True, True] Translation: X:113.57, Y:11.99, Z:-0.29 [[ 9.99547361e-01 -2.99906277e-02 -2.37395258e-03 1.13568277e+02] [ 2.99901684e-02 9.99550168e-01 -2.28857049e-04 1.19877558e+01] [ 2.37974827e-03 1.57558222e-04 9.99997156e-01 -2.88611492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65140051299998 meters 0.07620528469878499 Centerline is valid? [True, True] Translation: X:113.60, Y:11.99, Z:-0.29 [[ 9.99572839e-01 -2.91652943e-02 -1.87736728e-03 1.13596676e+02] [ 2.91650055e-02 9.99574594e-01 -1.81047449e-04 1.19939485e+01] [ 1.88184894e-03 1.26216686e-04 9.99998221e-01 -2.88890271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68140051299999 meters 0.06888046564317415 Centerline is valid? [True, True] Translation: X:113.63, Y:11.98, Z:-0.29 [[ 9.99608328e-01 -2.79642024e-02 -1.09272485e-03 1.13627110e+02] [ 2.79641037e-02 9.99608922e-01 -1.05447632e-04 1.19849378e+01] [ 1.09524627e-03 7.48492600e-05 9.99999397e-01 -2.87299384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71140051299999 meters 0.06831986915672952 Centerline is valid? [True, True] Translation: X:113.66, Y:11.99, Z:-0.29 [[ 9.99639727e-01 -2.68074092e-02 -1.33388167e-03 1.13657121e+02] [ 2.68072612e-02 9.99640613e-01 -1.28740498e-04 1.19857038e+01] [ 1.33685349e-03 9.29364021e-05 9.99999102e-01 -2.86044937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74140051299999 meters 0.06971937526673085 Centerline is valid? [True, True] Translation: X:113.68, Y:11.99, Z:-0.29 [[ 9.99637252e-01 -2.68272204e-02 -2.38011349e-03 1.13684772e+02] [ 2.68267486e-02 9.99640072e-01 -2.29949368e-04 1.19883295e+01] [ 2.38542572e-03 1.66015248e-04 9.99997141e-01 -2.87617541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77140051299999 meters 0.0695353843224945 Centerline is valid? [True, True] Translation: X:113.71, Y:11.99, Z:-0.29 [[ 9.99617717e-01 -2.74687823e-02 -3.14402161e-03 1.13713772e+02] [ 2.74679605e-02 9.99622638e-01 -3.04275490e-04 1.19880953e+01] [ 3.15119325e-03 2.17799310e-04 9.99995011e-01 -2.88915539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80140051299999 meters 0.07045654716746605 Centerline is valid? [True, True] Translation: X:113.74, Y:11.99, Z:-0.29 [[ 9.99581689e-01 -2.88147147e-02 -2.48195088e-03 1.13742517e+02] [ 2.88142066e-02 9.99584756e-01 -2.40265351e-04 1.19875114e+01] [ 2.48784344e-03 1.68649400e-04 9.99996891e-01 -2.88686242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83140051299999 meters 0.06655437480517469 Centerline is valid? [True, True] Translation: X:113.77, Y:11.98, Z:-0.29 [[ 9.99524561e-01 -3.08288145e-02 -4.86663619e-04 1.13772999e+02] [ 3.08287952e-02 9.99524679e-01 -4.71182619e-05 1.19839068e+01] [ 4.87884897e-04 3.20926070e-05 9.99999880e-01 -2.86285833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86140051299999 meters 0.06299624560276465 Centerline is valid? [True, True] Translation: X:113.80, Y:11.97, Z:-0.28 [[ 9.99405987e-01 -3.43893128e-02 2.24698547e-03 1.13804471e+02] [ 3.43889103e-02 9.99408503e-01 2.17542399e-04 1.19747842e+01] [-2.25313752e-03 -1.40141794e-04 9.99997452e-01 -2.83454148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891400513 meters 0.06267586289937431 Centerline is valid? [True, True] Translation: X:113.83, Y:11.97, Z:-0.28 [[ 9.99360450e-01 -3.57261887e-02 1.52649504e-03 1.13834500e+02] [ 3.57260045e-02 9.99361612e-01 1.47818521e-04 1.19703674e+01] [-1.53080153e-03 -9.31884152e-05 9.99998824e-01 -2.84496846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921400513 meters 0.0588214620490355 Centerline is valid? [True, True] Translation: X:113.86, Y:11.97, Z:-0.29 [[ 9.99316352e-01 -3.69705045e-02 1.01053315e-04 1.13864075e+02] [ 3.69705037e-02 9.99316357e-01 9.77971718e-06 1.19652416e+01] [-1.01345792e-04 -6.03703934e-06 9.99999995e-01 -2.86604708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95140051299998 meters 0.05964615869993149 Centerline is valid? [True, True] Translation: X:113.89, Y:11.96, Z:-0.29 [[ 9.99302262e-01 -3.73121377e-02 -1.67120786e-03 1.13893696e+02] [ 3.73119184e-02 9.99303655e-01 -1.62209721e-04 1.19637175e+01] [ 1.67609651e-03 9.97405702e-05 9.99998590e-01 -2.89037946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98140051299998 meters 0.06296331704193395 Centerline is valid? [True, True] Translation: X:113.92, Y:11.96, Z:-0.29 [[ 9.99388103e-01 -3.49627615e-02 -1.01191975e-03 1.13923734e+02] [ 3.49626799e-02 9.99388614e-01 -9.82115474e-05 1.19634398e+01] [ 1.01473482e-03 6.27720257e-05 9.99999483e-01 -2.89589061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01140051299998 meters 0.06636731878351619 Centerline is valid? [True, True] Translation: X:113.95, Y:11.97, Z:-0.29 [[ 9.99501134e-01 -3.15823265e-02 2.01594696e-04 1.13952324e+02] [ 3.15823232e-02 9.99501154e-01 1.95647985e-05 1.19705839e+01] [-2.02112033e-04 -1.31882094e-05 9.99999979e-01 -2.86966285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04140051299999 meters 0.06636731878351619 Centerline is valid? [True, True] Translation: X:113.98, Y:11.97, Z:-0.29 [[ 9.99495253e-01 -3.17678735e-02 2.01594974e-04 1.13979735e+02] [ 3.17678702e-02 9.99495274e-01 1.95619400e-05 1.19733921e+01] [-2.02114665e-04 -1.31478232e-05 9.99999979e-01 -2.86972700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07140051299999 meters 0.06702073157308568 Centerline is valid? [True, True] Translation: X:114.01, Y:11.97, Z:-0.28 [[ 9.99622704e-01 -2.74284128e-02 1.46027141e-03 1.14010182e+02] [ 2.74282345e-02 9.99623765e-01 1.42026575e-04 1.19738104e+01] [-1.46361757e-03 -1.01920322e-04 9.99998924e-01 -2.84572695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10140051299999 meters 0.07232974309355057 Centerline is valid? [True, True] Translation: X:114.04, Y:11.98, Z:-0.28 [[ 9.99733575e-01 -2.30305559e-02 1.54019924e-03 1.14038350e+02] [ 2.30303523e-02 9.99734755e-01 1.49814731e-04 1.19835510e+01] [-1.54324103e-03 -1.14303485e-04 9.99998803e-01 -2.84067405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13140051299999 meters 0.07903574218872914 Centerline is valid? [True, True] Translation: X:114.07, Y:11.99, Z:-0.29 [[ 9.99880868e-01 -1.54332441e-02 -2.56098852e-04 1.14068011e+02] [ 1.54332383e-02 9.99880900e-01 -2.49129710e-05 1.19936838e+01] [ 2.56452839e-04 2.09575684e-05 9.99999967e-01 -2.87700864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16140051299999 meters 0.0826843910091044 Centerline is valid? [True, True] Translation: X:114.10, Y:12.00, Z:-0.29 [[ 9.99921108e-01 -1.25479253e-02 -5.72684776e-04 1.14097515e+02] [ 1.25478954e-02 9.99921271e-01 -5.57166392e-05 1.20006063e+01] [ 5.73338817e-04 4.85262550e-05 9.99999834e-01 -2.89254520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19140051299999 meters 0.08302028177707124 Centerline is valid? [True, True] Translation: X:114.13, Y:12.00, Z:-0.29 [[ 9.99943143e-01 -1.06596281e-02 -2.88698231e-04 1.14127973e+02] [ 1.06596205e-02 9.99943184e-01 -2.80894896e-05 1.20030769e+01] [ 2.88981252e-04 2.50104790e-05 9.99999958e-01 -2.89682335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22140051299999 meters 0.08368804023565918 Centerline is valid? [True, True] Translation: X:114.16, Y:12.01, Z:-0.29 [[ 9.99954972e-01 -9.48577389e-03 2.71280342e-04 1.14157747e+02] [ 9.48576708e-03 9.99955009e-01 2.63938880e-05 1.20057676e+01] [-2.71518503e-04 -2.38193974e-05 9.99999963e-01 -2.88979709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251400513 meters 0.09116014030869242 Centerline is valid? [True, True] Translation: X:114.19, Y:12.02, Z:-0.29 [[ 9.99959445e-01 -8.77043400e-03 2.04632286e-03 1.14186481e+02] [ 8.77004475e-03 9.99961523e-01 1.99114766e-04 1.20191730e+01] [-2.04799045e-03 -1.81160348e-04 9.99997886e-01 -2.86471185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281400513 meters 0.089286844268759 Centerline is valid? [True, True] Translation: X:114.22, Y:12.02, Z:-0.29 [[ 9.99955706e-01 -9.14855663e-03 2.21146981e-03 1.14217848e+02] [ 9.14810304e-03 9.99958132e-01 2.15139601e-04 1.20213414e+01] [-2.21334543e-03 -1.94899318e-04 9.99997532e-01 -2.86542293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311400513 meters 0.08937340226814477 Centerline is valid? [True, True] Translation: X:114.25, Y:12.03, Z:-0.29 [[ 9.99950718e-01 -9.80771703e-03 1.53970321e-03 1.14249252e+02] [ 9.80749798e-03 9.99951894e-01 1.49754577e-04 1.20251163e+01] [-1.54109790e-03 -1.34646560e-04 9.99998803e-01 -2.87547473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34140051299998 meters 0.07679877682489925 Centerline is valid? [True, True] Translation: X:114.28, Y:12.01, Z:-0.29 [[ 9.99942406e-01 -1.06843810e-02 1.01427203e-03 1.14281503e+02] [ 1.06842864e-02 9.99942917e-01 9.86372843e-05 1.20123842e+01] [-1.01526801e-03 -8.77948305e-05 9.99999481e-01 -2.88555883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37140051299998 meters 0.08855312479520919 Centerline is valid? [True, True] Translation: X:114.31, Y:12.03, Z:-0.29 [[ 9.99906739e-01 -1.35517642e-02 1.69187397e-03 1.14310135e+02] [ 1.35515051e-02 9.99908161e-01 1.64530008e-04 1.20286793e+01] [-1.69394826e-03 -1.41587225e-04 9.99998555e-01 -2.87451255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40140051299998 meters 0.07424069875783217 Centerline is valid? [True, True] Translation: X:114.34, Y:12.01, Z:-0.29 [[ 9.99877150e-01 -1.55240825e-02 2.16498073e-03 1.14342137e+02] [ 1.55236628e-02 9.99879479e-01 2.10528258e-04 1.20130517e+01] [-2.16798806e-03 -1.76893964e-04 9.99997634e-01 -2.86953453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43140051299999 meters 0.08288371149438215 Centerline is valid? [True, True] Translation: X:114.37, Y:12.03, Z:-0.29 [[ 9.99840240e-01 -1.77495542e-02 2.10885993e-03 1.14370867e+02] [ 1.77491609e-02 9.99842450e-01 2.05087801e-04 1.20256027e+01] [-2.11216790e-03 -1.67624542e-04 9.99997755e-01 -2.87149092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46140051299999 meters 0.07372064736399919 Centerline is valid? [True, True] Translation: X:114.40, Y:12.02, Z:-0.29 [[ 9.99806184e-01 -1.96510278e-02 1.19627953e-03 1.14402707e+02] [ 1.96509026e-02 9.99806896e-01 1.16335884e-04 1.20155155e+01] [-1.19833465e-03 -9.28053635e-05 9.99999278e-01 -2.89017646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49140051299999 meters 0.07589398214732773 Centerline is valid? [True, True] Translation: X:114.43, Y:12.02, Z:-0.29 [[ 9.99785047e-01 -2.07254741e-02 5.60849399e-04 1.14432115e+02] [ 2.07254468e-02 9.99785203e-01 5.45449016e-05 1.20188056e+01] [-5.61859400e-04 -4.29093226e-05 9.99999841e-01 -2.89958583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52140051299999 meters 0.07198159535232343 Centerline is valid? [True, True] Translation: X:114.46, Y:12.01, Z:-0.29 [[ 9.99762861e-01 -2.17416978e-02 1.23299063e-03 1.14462183e+02] [ 2.17415664e-02 9.99763617e-01 1.19942835e-04 1.20137097e+01] [-1.23530693e-03 -9.31072447e-05 9.99999233e-01 -2.88486333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55140051299999 meters 0.07217371915782572 Centerline is valid? [True, True] Translation: X:114.49, Y:12.02, Z:-0.29 [[ 9.99748758e-01 -2.23166627e-02 2.09481230e-03 1.14491540e+02] [ 2.23162844e-02 9.99750940e-01 2.03810104e-04 1.20154219e+01] [-2.09883893e-03 -1.57010471e-04 9.99997785e-01 -2.86472098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58140051299999 meters 0.07210406447757396 Centerline is valid? [True, True] Translation: X:114.52, Y:12.02, Z:-0.28 [[ 9.99742015e-01 -2.25141086e-02 3.00304168e-03 1.14521957e+02] [ 2.25133319e-02 9.99746500e-01 2.92178141e-04 1.20164530e+01] [-3.00885854e-03 -2.24494290e-04 9.99995448e-01 -2.84898507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61140051299999 meters 0.08119359312934674 Centerline is valid? [True, True] Translation: X:114.55, Y:12.03, Z:-0.28 [[ 9.99757983e-01 -2.18293032e-02 2.73083433e-03 1.14550844e+02] [ 2.18286585e-02 9.99761691e-01 2.65693981e-04 1.20276841e+01] [-2.73598347e-03 -2.06019229e-04 9.99996236e-01 -2.84652959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641400513 meters 0.08587285916632552 Centerline is valid? [True, True] Translation: X:114.58, Y:12.03, Z:-0.29 [[ 9.99839142e-01 -1.78669629e-02 -1.56882887e-03 1.14580799e+02] [ 1.78667452e-02 9.99840365e-01 -1.52654044e-04 1.20293222e+01] [ 1.57130589e-03 1.24599622e-04 9.99998758e-01 -2.91811177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671400513 meters 0.0809478628352424 Centerline is valid? [True, True] Translation: X:114.61, Y:12.03, Z:-0.29 [[ 9.99876204e-01 -1.55798197e-02 -2.20150254e-03 1.14611349e+02] [ 1.55793856e-02 9.99878611e-01 -2.14215125e-04 1.20296917e+01] [ 2.20457274e-03 1.79890549e-04 9.99997554e-01 -2.93703535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70140051299998 meters 0.08727199970966706 Centerline is valid? [True, True] Translation: X:114.64, Y:12.04, Z:-0.29 [[ 9.99907648e-01 -1.34910794e-02 -1.63924013e-03 1.14639599e+02] [ 1.34908359e-02 9.99908982e-01 -1.59501655e-04 1.20424981e+01] [ 1.64124278e-03 1.37372205e-04 9.99998644e-01 -2.93717290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73140051299998 meters 0.08904919940647342 Centerline is valid? [True, True] Translation: X:114.67, Y:12.05, Z:-0.29 [[ 9.99942927e-01 -1.06589016e-02 -7.28478495e-04 1.14668815e+02] [ 1.06588528e-02 9.99943190e-01 -7.08927910e-05 1.20520119e+01] [ 7.29192749e-04 6.31239999e-05 9.99999732e-01 -2.91534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76140051299998 meters 0.08249663462957654 Centerline is valid? [True, True] Translation: X:114.70, Y:12.05, Z:-0.29 [[ 9.99947541e-01 -1.02006584e-02 -9.28711790e-04 1.14698622e+02] [ 1.02005788e-02 9.99947969e-01 -9.04161666e-05 1.20482325e+01] [ 9.29585773e-04 8.09380257e-05 9.99999565e-01 -2.91423359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79140051299999 meters 0.09818330927218824 Centerline is valid? [True, True] Translation: X:114.72, Y:12.07, Z:-0.29 [[ 9.99945158e-01 -1.03995701e-02 -1.23726275e-03 1.14724777e+02] [ 1.03994290e-02 9.99945917e-01 -1.20495842e-04 1.20712592e+01] [ 1.23844894e-03 1.07622408e-04 9.99999227e-01 -2.92304865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82140051299999 meters 0.08284015947430619 Centerline is valid? [True, True] Translation: X:114.76, Y:12.06, Z:-0.29 [[ 9.99932411e-01 -1.15308366e-02 -1.48795323e-03 1.14756039e+02] [ 1.15306336e-02 9.99933510e-01 -1.44940212e-04 1.20566476e+01] [ 1.48952558e-03 1.27773372e-04 9.99998882e-01 -2.92670672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85140051299999 meters 0.08417715895496702 Centerline is valid? [True, True] Translation: X:114.78, Y:12.06, Z:-0.29 [[ 9.99912561e-01 -1.30760125e-02 -1.97174253e-03 1.14784912e+02] [ 1.30756589e-02 9.99914491e-01 -1.92109180e-04 1.20610341e+01] [ 1.97408595e-03 1.66310550e-04 9.99998038e-01 -2.93236259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88140051299999 meters 0.08471089428413901 Centerline is valid? [True, True] Translation: X:114.81, Y:12.06, Z:-0.29 [[ 9.99840070e-01 -1.77636169e-02 -2.07074591e-03 1.14813905e+02] [ 1.77632369e-02 9.99842201e-01 -2.01760739e-04 1.20643438e+01] [ 2.07400315e-03 1.64945321e-04 9.99997836e-01 -2.94585979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91140051299999 meters 0.07453952350427341 Centerline is valid? [True, True] Translation: X:114.85, Y:12.05, Z:-0.29 [[ 9.99788958e-01 -2.03816274e-02 -2.57468592e-03 1.14845892e+02] [ 2.03810486e-02 9.99792253e-01 -2.50865931e-04 1.20526279e+01] [ 2.57926409e-03 1.98338189e-04 9.99996654e-01 -2.94473623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94140051299999 meters 0.06987691277144249 Centerline is valid? [True, True] Translation: X:114.88, Y:12.05, Z:-0.29 [[ 9.99739862e-01 -2.27088497e-02 -2.12543162e-03 1.14876339e+02] [ 2.27084605e-02 9.99742108e-01 -2.07097478e-04 1.20527130e+01] [ 2.12958644e-03 1.58778324e-04 9.99997720e-01 -2.94311580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97140051299999 meters 0.06852489772645286 Centerline is valid? [True, True] Translation: X:114.91, Y:12.06, Z:-0.29 [[ 9.99701695e-01 -2.43743242e-02 -1.55348417e-03 1.14906036e+02] [ 2.43741182e-02 9.99702896e-01 -1.51388922e-04 1.20559507e+01] [ 1.55671263e-03 1.13478955e-04 9.99998782e-01 -2.94185874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001400513 meters 0.06803006131189464 Centerline is valid? [True, True] Translation: X:114.94, Y:12.06, Z:-0.29 [[ 9.99675786e-01 -2.54265771e-02 -1.34619076e-03 1.14935173e+02] [ 2.54264230e-02 9.99676688e-01 -1.31430885e-04 1.20582897e+01] [ 1.34909736e-03 9.71594577e-05 9.99999085e-01 -2.93817032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031400513 meters 0.07723187322036464 Centerline is valid? [True, True] Translation: X:114.96, Y:12.07, Z:-0.29 [[ 9.99652265e-01 -2.63647889e-02 -4.96595211e-04 1.14961444e+02] [ 2.63647681e-02 9.99652388e-01 -4.85133869e-05 1.20720076e+01] [ 4.97701633e-04 3.54038995e-05 9.99999876e-01 -2.93168144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061400513 meters 0.07563961118442647 Centerline is valid? [True, True] Translation: X:114.99, Y:12.07, Z:-0.29 [[ 9.99631994e-01 -2.71258828e-02 -2.49777791e-04 1.14990526e+02] [ 2.71258776e-02 9.99632025e-01 -2.44698068e-05 1.20712638e+01] [ 2.50349644e-04 1.76853600e-05 9.99999969e-01 -2.92228027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09140051299998 meters 0.06907253742193696 Centerline is valid? [True, True] Translation: X:115.02, Y:12.07, Z:-0.29 [[ 9.99622153e-01 -2.74829017e-02 -4.91983875e-04 1.15020423e+02] [ 2.74828813e-02 9.99622273e-01 -4.82443148e-05 1.20657244e+01] [ 4.93123933e-04 3.47049513e-05 9.99999878e-01 -2.92696464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12140051299998 meters 0.06798119105714444 Centerline is valid? [True, True] Translation: X:115.05, Y:12.07, Z:-0.30 [[ 9.99616721e-01 -2.75935722e-02 -2.23718849e-03 1.15048849e+02] [ 2.75931494e-02 9.99619212e-01 -2.19614712e-04 1.20677476e+01] [ 2.24239655e-03 1.57799462e-04 9.99997473e-01 -2.95966050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15140051299998 meters 0.07037517780966838 Centerline is valid? [True, True] Translation: X:115.08, Y:12.07, Z:-0.30 [[ 9.99628007e-01 -2.71429075e-02 -2.66651750e-03 1.15076236e+02] [ 2.71423048e-02 9.99631545e-01 -2.61970294e-04 1.20731554e+01] [ 2.67264565e-03 1.89497412e-04 9.99996411e-01 -2.97064674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18140051299999 meters 0.07575713508744417 Centerline is valid? [True, True] Translation: X:115.10, Y:12.08, Z:-0.30 [[ 9.99650785e-01 -2.63564523e-02 -1.90944168e-03 1.15104069e+02] [ 2.63561417e-02 9.99652599e-01 -1.87651018e-04 1.20821740e+01] [ 1.91372415e-03 1.37259972e-04 9.99998159e-01 -2.96028195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21140051299999 meters 0.07426016879743313 Centerline is valid? [True, True] Translation: X:115.13, Y:12.08, Z:-0.29 [[ 9.99680413e-01 -2.52425647e-02 -1.37310925e-03 1.15133705e+02] [ 2.52424030e-02 9.99681351e-01 -1.34973695e-04 1.20843843e+01] [ 1.37607879e-03 1.00269982e-04 9.99999048e-01 -2.94936215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24140051299999 meters 0.07232476980581282 Centerline is valid? [True, True] Translation: X:115.16, Y:12.09, Z:-0.29 [[ 9.99710503e-01 -2.40346675e-02 -1.11595809e-03 1.15162722e+02] [ 2.40345598e-02 9.99711122e-01 -1.09760746e-04 1.20873294e+01] [ 1.11827378e-03 8.29074090e-05 9.99999371e-01 -2.94743935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27140051299999 meters 0.07496811279541715 Centerline is valid? [True, True] Translation: X:115.19, Y:12.10, Z:-0.30 [[ 9.99739239e-01 -2.28060510e-02 -1.15684170e-03 1.15190693e+02] [ 2.28059345e-02 9.99739904e-01 -1.13817940e-04 1.20954918e+01] [ 1.15913655e-03 8.74054044e-05 9.99999324e-01 -2.95193546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30140051299999 meters 0.07923558285316445 Centerline is valid? [True, True] Translation: X:115.22, Y:12.10, Z:-0.30 [[ 9.99772649e-01 -2.11206760e-02 -2.92707260e-03 1.15219227e+02] [ 2.11199228e-02 9.99776908e-01 -2.87998074e-04 1.21032889e+01] [ 2.93250231e-03 2.26113050e-04 9.99995675e-01 -2.98368808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33140051299999 meters 0.08108764707664688 Centerline is valid? [True, True] Translation: X:115.25, Y:12.11, Z:-0.30 [[ 9.99764539e-01 -2.14264775e-02 -3.43105963e-03 1.15246664e+02] [ 2.14254437e-02 9.99770392e-01 -3.37789357e-04 1.21070134e+01] [ 3.43750947e-03 2.64197846e-04 9.99994057e-01 -2.99702488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36140051299999 meters 0.07856224965768924 Centerline is valid? [True, True] Translation: X:115.28, Y:12.11, Z:-0.30 [[ 9.99744248e-01 -2.24057936e-02 -3.06914656e-03 1.15275776e+02] [ 2.24049705e-02 9.99748931e-01 -3.02295841e-04 1.21058458e+01] [ 3.07514918e-03 2.33454390e-04 9.99995244e-01 -2.99093804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391400513 meters 0.07950371396129681 Centerline is valid? [True, True] Translation: X:115.30, Y:12.11, Z:-0.30 [[ 9.99710846e-01 -2.40134176e-02 -1.25698690e-03 1.15304259e+02] [ 2.40132807e-02 9.99711632e-01 -1.23852985e-04 1.21084899e+01] [ 1.25959856e-03 9.36327934e-05 9.99999202e-01 -2.97148369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421400513 meters 0.07381620655462302 Centerline is valid? [True, True] Translation: X:115.34, Y:12.10, Z:-0.29 [[ 9.99578413e-01 -2.90025859e-02 1.35912395e-03 1.15336249e+02] [ 2.90024306e-02 9.99579332e-01 1.33885344e-04 1.20992985e+01] [-1.36243523e-03 -9.44110019e-05 9.99999067e-01 -2.92133127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45140051299998 meters 0.06542403250150432 Centerline is valid? [True, True] Translation: X:115.37, Y:12.09, Z:-0.29 [[ 9.99489859e-01 -3.18800091e-02 1.92003880e-03 1.15367496e+02] [ 3.18797043e-02 9.99491695e-01 1.89136935e-04 1.20899382e+01] [-1.92509252e-03 -1.27830179e-04 9.99998139e-01 -2.91411625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48140051299998 meters 0.05919058535760949 Centerline is valid? [True, True] Translation: X:115.40, Y:12.08, Z:-0.29 [[ 9.99408501e-01 -3.43549835e-02 1.54407061e-03 1.15398412e+02] [ 3.43547894e-02 9.99409688e-01 1.52106028e-04 1.20816929e+01] [-1.54838473e-03 -9.89698369e-05 9.99998796e-01 -2.91842334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51140051299998 meters 0.06045851777600518 Centerline is valid? [True, True] Translation: X:115.43, Y:12.08, Z:-0.29 [[ 9.99345187e-01 -3.61668374e-02 1.07522929e-03 1.15426991e+02] [ 3.61667443e-02 9.99345764e-01 1.05951431e-04 1.20836500e+01] [-1.07835777e-03 -6.69945098e-05 9.99999416e-01 -2.92459272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54140051299999 meters 0.06696140629483344 Centerline is valid? [True, True] Translation: X:115.45, Y:12.09, Z:-0.29 [[ 9.99301489e-01 -3.73643879e-02 6.60404280e-04 1.15454158e+02] [ 3.73643530e-02 9.99301707e-01 6.51148772e-05 1.20905858e+01] [-6.62376102e-04 -4.03938152e-05 9.99999780e-01 -2.93288027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57140051299999 meters 0.06422571813669953 Centerline is valid? [True, True] Translation: X:115.48, Y:12.08, Z:-0.29 [[ 9.99352596e-01 -3.59765023e-02 -2.82472940e-04 1.15484306e+02] [ 3.59764959e-02 9.99352636e-01 -2.78771523e-05 1.20827234e+01] [ 2.83292999e-04 1.76967180e-05 9.99999960e-01 -2.94972735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60140051299999 meters 0.06377028001958336 Centerline is valid? [True, True] Translation: X:115.51, Y:12.08, Z:-0.30 [[ 9.99435223e-01 -3.35956608e-02 -7.52626410e-04 1.15514415e+02] [ 3.35956143e-02 9.99435505e-01 -7.42664999e-05 1.20822520e+01] [ 7.54696588e-04 4.89396093e-05 9.99999714e-01 -2.95502490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63140051299999 meters 0.06583554857455359 Centerline is valid? [True, True] Translation: X:115.54, Y:12.08, Z:-0.30 [[ 9.99537012e-01 -3.03766739e-02 -1.73743954e-03 1.15544638e+02] [ 3.03764216e-02 9.99538515e-01 -1.71445258e-04 1.20846989e+01] [ 1.74184568e-03 1.18588685e-04 9.99998476e-01 -2.96681489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66140051299999 meters 0.0692940624831542 Centerline is valid? [True, True] Translation: X:115.57, Y:12.09, Z:-0.30 [[ 9.99619077e-01 -2.75068947e-02 -2.25210049e-03 1.15573878e+02] [ 2.75064634e-02 9.99621601e-01 -2.22228710e-04 1.20908836e+01] [ 2.25736112e-03 1.60196739e-04 9.99997439e-01 -2.97981206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69140051299999 meters 0.07147320415698956 Centerline is valid? [True, True] Translation: X:115.60, Y:12.09, Z:-0.30 [[ 9.99731830e-01 -2.30273629e-02 -2.45118592e-03 1.15604401e+02] [ 2.30268386e-02 9.99734818e-01 -2.41893903e-04 1.20931955e+01] [ 2.45610609e-03 1.85385972e-04 9.99996967e-01 -2.98316780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72140051299999 meters 0.07113710325111748 Centerline is valid? [True, True] Translation: X:115.63, Y:12.09, Z:-0.30 [[ 9.99765160e-01 -2.15956616e-02 -1.80333877e-03 1.15634946e+02] [ 2.15953755e-02 9.99766777e-01 -1.77960193e-04 1.20949177e+01] [ 1.80676136e-03 1.38974623e-04 9.99998358e-01 -2.96939920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751400513 meters 0.0767166137449675 Centerline is valid? [True, True] Translation: X:115.66, Y:12.10, Z:-0.30 [[ 9.99786927e-01 -2.06082897e-02 -1.18285010e-03 1.15662933e+02] [ 2.06081659e-02 9.99787622e-01 -1.16777850e-04 1.21018817e+01] [ 1.18500548e-03 9.23765965e-05 9.99999294e-01 -2.96316510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781400513 meters 0.07644067996796675 Centerline is valid? [True, True] Translation: X:115.69, Y:12.10, Z:-0.30 [[ 9.99791162e-01 -2.04206911e-02 -7.92459384e-04 1.15690708e+02] [ 2.04206354e-02 9.99791474e-01 -7.82899172e-05 1.21047261e+01] [ 7.93892870e-04 6.20910432e-05 9.99999683e-01 -2.95665646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811400513 meters 0.08390873907542962 Centerline is valid? [True, True] Translation: X:115.72, Y:12.11, Z:-0.30 [[ 9.99787600e-01 -2.06053360e-02 -4.18350297e-04 1.15717598e+02] [ 2.06053204e-02 9.99787687e-01 -4.13605649e-05 1.21145386e+01] [ 4.19113724e-04 3.27315380e-05 9.99999912e-01 -2.95245706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84140051299998 meters 0.0743500106528396 Centerline is valid? [True, True] Translation: X:115.75, Y:12.10, Z:-0.29 [[ 9.99780683e-01 -2.09398575e-02 -3.28322771e-04 1.15748370e+02] [ 2.09398480e-02 9.99780737e-01 -3.25348767e-05 1.21010324e+01] [ 3.28932058e-04 2.56527123e-05 9.99999946e-01 -2.94655557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87140051299998 meters 0.07239785429108096 Centerline is valid? [True, True] Translation: X:115.78, Y:12.10, Z:-0.29 [[ 9.99778339e-01 -2.10216653e-02 1.16737698e-03 1.15777295e+02] [ 2.10215444e-02 9.99779016e-01 1.15708964e-04 1.21009811e+01] [-1.16955140e-03 -9.11432488e-05 9.99999312e-01 -2.92344934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90140051299998 meters 0.08549083750668154 Centerline is valid? [True, True] Translation: X:115.80, Y:12.12, Z:-0.29 [[ 9.99784736e-01 -2.06813608e-02 1.66229998e-03 1.15803960e+02] [ 2.06811151e-02 9.99786109e-01 1.64869728e-04 1.21188944e+01] [-1.66535416e-03 -1.30456020e-04 9.99998605e-01 -2.91488967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93140051299999 meters 0.08549083750668154 Centerline is valid? [True, True] Translation: X:115.83, Y:12.12, Z:-0.29 [[ 9.99784282e-01 -2.07033032e-02 1.66229607e-03 1.15833069e+02] [ 2.07030575e-02 9.99785655e-01 1.64909176e-04 1.21218217e+01] [-1.66535393e-03 -1.30458991e-04 9.99998605e-01 -2.91495778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96140051299999 meters 0.07342551601534744 Centerline is valid? [True, True] Translation: X:115.86, Y:12.11, Z:-0.29 [[ 9.99801477e-01 -1.97988674e-02 2.23846489e-03 1.15863795e+02] [ 1.97984194e-02 9.99803967e-01 2.22122657e-04 1.21117398e+01] [-2.24242385e-03 -1.77760494e-04 9.99997470e-01 -2.91566966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99140051299999 meters 0.07482572146224475 Centerline is valid? [True, True] Translation: X:115.89, Y:12.11, Z:-0.29 [[ 9.99857120e-01 -1.68377332e-02 1.49335903e-03 1.15894387e+02] [ 1.68375305e-02 9.99858228e-01 1.48188722e-04 1.21135251e+01] [-1.49564247e-03 -1.23023071e-04 9.99998874e-01 -2.92385566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02140051299999 meters 0.07715101908297069 Centerline is valid? [True, True] Translation: X:115.92, Y:12.12, Z:-0.29 [[ 9.99888218e-01 -1.49396616e-02 5.97848524e-04 1.15922808e+02] [ 1.49396288e-02 9.99888396e-01 5.93334598e-05 1.21176629e+01] [-5.98668224e-04 -5.03951923e-05 9.99999820e-01 -2.93046927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05140051299999 meters 0.09025820952363912 Centerline is valid? [True, True] Translation: X:115.95, Y:12.14, Z:-0.29 [[ 9.99912138e-01 -1.32556537e-02 -6.41266971e-05 1.15949952e+02] [ 1.32556533e-02 9.99912140e-01 -6.37165144e-06 1.21363972e+01] [ 6.42055234e-05 5.52105034e-06 9.99999998e-01 -2.94340935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08140051299999 meters 0.07902947957372038 Centerline is valid? [True, True] Translation: X:115.98, Y:12.13, Z:-0.30 [[ 9.99924197e-01 -1.22923306e-02 -7.05775914e-04 1.15980639e+02] [ 1.22922842e-02 9.99924445e-01 -7.00889434e-05 1.21263413e+01] [ 7.06584145e-04 6.14080323e-05 9.99999748e-01 -2.95636988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11140051299999 meters 0.08758950124803515 Centerline is valid? [True, True] Translation: X:116.01, Y:12.14, Z:-0.30 [[ 9.99920818e-01 -1.25819603e-02 -2.27068433e-04 1.16008078e+02] [ 1.25819555e-02 9.99920844e-01 -2.25638479e-05 1.21390393e+01] [ 2.27334357e-04 1.97050963e-05 9.99999974e-01 -2.96152881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141400513 meters 0.0900576772244275 Centerline is valid? [True, True] Translation: X:116.04, Y:12.14, Z:-0.30 [[ 9.99898544e-01 -1.42286817e-02 -6.68549393e-04 1.16036881e+02] [ 1.42286405e-02 9.99898766e-01 -6.63986638e-05 1.21405146e+01] [ 6.69426478e-04 5.68793783e-05 9.99999774e-01 -2.96901388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171400513 meters 0.07887799584224137 Centerline is valid? [True, True] Translation: X:116.07, Y:12.13, Z:-0.30 [[ 9.99867127e-01 -1.61909971e-02 -1.89202834e-03 1.16068173e+02] [ 1.61906703e-02 9.99868905e-01 -1.87925234e-04 1.21318390e+01] [ 1.89482300e-03 1.57267057e-04 9.99998192e-01 -2.97806724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20140051299998 meters 0.0769313618437253 Centerline is valid? [True, True] Translation: X:116.10, Y:12.13, Z:-0.30 [[ 9.99831929e-01 -1.81014685e-02 -2.90703113e-03 1.16098431e+02] [ 1.81007050e-02 9.99836127e-01 -2.88750136e-04 1.21318462e+01] [ 2.91178155e-03 2.36082293e-04 9.99995733e-01 -2.98893519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23140051299998 meters 0.07806541820465743 Centerline is valid? [True, True] Translation: X:116.13, Y:12.13, Z:-0.30 [[ 9.99796227e-01 -1.98612883e-02 -3.61032287e-03 1.16126944e+02] [ 1.98601216e-02 9.99802704e-01 -3.58738925e-04 1.21339152e+01] [ 3.61673558e-03 2.86964372e-04 9.99993418e-01 -2.99516275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26140051299998 meters 0.07762290262709455 Centerline is valid? [True, True] Translation: X:116.16, Y:12.14, Z:-0.30 [[ 9.99741381e-01 -2.23778853e-02 -4.04978707e-03 1.16156591e+02] [ 2.23764375e-02 9.99749535e-01 -4.02455275e-04 1.21362557e+01] [ 4.05777884e-03 3.11731385e-04 9.99991719e-01 -2.99468281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29140051299999 meters 0.07340699259358496 Centerline is valid? [True, True] Translation: X:116.19, Y:12.13, Z:-0.30 [[ 9.99714347e-01 -2.34938916e-02 -4.38882498e-03 1.16186736e+02] [ 2.34922015e-02 9.99723925e-01 -4.36251042e-04 1.21334890e+01] [ 4.39786257e-03 3.33023265e-04 9.99990274e-01 -2.99692251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32140051299999 meters 0.07567680738163614 Centerline is valid? [True, True] Translation: X:116.21, Y:12.14, Z:-0.30 [[ 9.99693721e-01 -2.43608903e-02 -4.36008746e-03 1.16214579e+02] [ 2.43592296e-02 9.99703176e-01 -4.33600853e-04 1.21385386e+01] [ 4.36935618e-03 3.27259679e-04 9.99990401e-01 -2.99858824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35140051299999 meters 0.0713637688403684 Centerline is valid? [True, True] Translation: X:116.24, Y:12.14, Z:-0.30 [[ 9.99677566e-01 -2.51172030e-02 -3.72700286e-03 1.16243585e+02] [ 2.51159924e-02 9.99684475e-01 -3.71286101e-04 1.21362863e+01] [ 3.73515256e-03 2.77559010e-04 9.99992986e-01 -2.99528828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38140051299999 meters 0.07283915029740812 Centerline is valid? [True, True] Translation: X:116.27, Y:12.14, Z:-0.30 [[ 9.99660768e-01 -2.58367690e-02 -3.28793349e-03 1.16271481e+02] [ 2.58358289e-02 9.99666145e-01 -3.28088281e-04 1.21425925e+01] [ 3.29531254e-03 2.43030496e-04 9.99994541e-01 -2.99613427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41140051299999 meters 0.07464561196342806 Centerline is valid? [True, True] Translation: X:116.30, Y:12.15, Z:-0.30 [[ 9.99621921e-01 -2.73344108e-02 -2.97416714e-03 1.16299400e+02] [ 2.73336479e-02 9.99626322e-01 -2.96855684e-04 1.21491951e+01] [ 2.98117013e-03 2.15448612e-04 9.99995533e-01 -2.99381878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44140051299999 meters 0.06317927976909138 Centerline is valid? [True, True] Translation: X:116.33, Y:12.14, Z:-0.30 [[ 9.99483977e-01 -3.20380984e-02 -2.31088334e-03 1.16331044e+02] [ 3.20376504e-02 9.99486636e-01 -2.30648462e-04 1.21406158e+01] [ 2.31708655e-03 1.56494170e-04 9.99997303e-01 -2.97819439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47140051299999 meters 0.06536616368051801 Centerline is valid? [True, True] Translation: X:116.36, Y:12.15, Z:-0.30 [[ 9.99398998e-01 -3.45778204e-02 -2.45280226e-03 1.16360181e+02] [ 3.45773232e-02 9.99401996e-01 -2.44852213e-04 1.21480801e+01] [ 2.45980193e-03 1.59893720e-04 9.99996962e-01 -2.98106793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501400513 meters 0.05874065557302294 Centerline is valid? [True, True] Translation: X:116.39, Y:12.14, Z:-0.30 [[ 9.99305369e-01 -3.70832584e-02 -3.68932167e-03 1.16391255e+02] [ 3.70821504e-02 9.99312153e-01 -3.68302348e-04 1.21435336e+01] [ 3.70044183e-03 2.31238533e-04 9.99993127e-01 -2.99260358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531400513 meters 0.058436527696014345 Centerline is valid? [True, True] Translation: X:116.42, Y:12.14, Z:-0.30 [[ 9.99229557e-01 -3.89509060e-02 -4.80830710e-03 1.16421178e+02] [ 3.89490449e-02 9.99241083e-01 -4.80129824e-04 1.21429928e+01] [ 4.82335948e-03 2.92480942e-04 9.99988325e-01 -3.00196130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561400513 meters 0.0564203183931217 Centerline is valid? [True, True] Translation: X:116.45, Y:12.15, Z:-0.30 [[ 9.99165521e-01 -4.06905465e-02 -3.54128185e-03 1.16450015e+02] [ 4.06895476e-02 9.99171775e-01 -3.53698555e-04 1.21456438e+01] [ 3.55274106e-03 2.09310245e-04 9.99993667e-01 -2.97825556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59140051299998 meters 0.05674311613181895 Centerline is valid? [True, True] Translation: X:116.48, Y:12.15, Z:-0.30 [[ 9.99163608e-01 -4.08285064e-02 -2.26202410e-03 1.16477833e+02] [ 4.08280981e-02 9.99166160e-01 -2.26397932e-04 1.21497656e+01] [ 2.26938142e-03 1.33854433e-04 9.99997416e-01 -2.96378348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62140051299998 meters 0.05687794571077397 Centerline is valid? [True, True] Translation: X:116.51, Y:12.15, Z:-0.30 [[ 9.99168169e-01 -4.07639192e-02 -1.12815059e-03 1.16506489e+02] [ 4.07638174e-02 9.99168804e-01 -1.13116449e-04 1.21533645e+01] [ 1.13182395e-03 6.70346309e-05 9.99999357e-01 -2.95403405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65140051299998 meters 0.061962948523185346 Centerline is valid? [True, True] Translation: X:116.53, Y:12.16, Z:-0.29 [[ 9.99171701e-01 -4.06917182e-02 -3.08396953e-04 1.16533234e+02] [ 4.06917105e-02 9.99171749e-01 -3.09433576e-05 1.21615272e+01] [ 3.09400661e-04 1.83685277e-05 9.99999952e-01 -2.94518382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68140051299999 meters 0.06341684318809045 Centerline is valid? [True, True] Translation: X:116.56, Y:12.16, Z:-0.29 [[ 9.99162060e-01 -4.09283021e-02 2.26172472e-04 1.16561796e+02] [ 4.09282980e-02 9.99162086e-01 2.26822410e-05 1.21583306e+01] [-2.26911305e-04 -1.34063803e-05 9.99999974e-01 -2.93344410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71140051299999 meters 0.059669815002782255 Centerline is valid? [True, True] Translation: X:116.59, Y:12.16, Z:-0.29 [[ 9.99157500e-01 -4.10285092e-02 9.75612461e-04 1.16588312e+02] [ 4.10284329e-02 9.99157975e-01 9.80900788e-05 1.21617383e+01] [-9.78815460e-04 -5.79795875e-05 9.99999519e-01 -2.91645198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74140051299999 meters 0.06122138861595832 Centerline is valid? [True, True] Translation: X:116.62, Y:12.16, Z:-0.29 [[ 9.99176273e-01 -4.05786097e-02 3.89419308e-04 1.16615802e+02] [ 4.05785975e-02 9.99176349e-01 3.91696754e-05 1.21649287e+01] [-3.90688014e-04 -2.33353209e-05 9.99999923e-01 -2.92114518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77140051299999 meters 0.06957623513846063 Centerline is valid? [True, True] Translation: X:116.64, Y:12.18, Z:-0.29 [[ 9.99191819e-01 -4.01914501e-02 -5.96057825e-04 1.16642310e+02] [ 4.01914214e-02 9.99191997e-01 -6.00221743e-05 1.21769317e+01] [ 5.97988587e-04 3.60172543e-05 9.99999821e-01 -2.93948522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80140051299999 meters 0.059324203768811826 Centerline is valid? [True, True] Translation: X:116.67, Y:12.17, Z:-0.30 [[ 9.99209185e-01 -3.97472184e-02 -1.07879437e-03 1.16672307e+02] [ 3.97471240e-02 9.99209765e-01 -1.08824629e-04 1.21666489e+01] [ 1.08226735e-03 6.58595952e-05 9.99999412e-01 -2.95297366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83140051299999 meters 0.059133635375297866 Centerline is valid? [True, True] Translation: X:116.70, Y:12.17, Z:-0.29 [[ 9.99269675e-01 -3.82099378e-02 3.42773602e-04 1.16701400e+02] [ 3.82099282e-02 9.99269733e-01 3.45714403e-05 1.21696345e+01] [-3.43844259e-04 -2.14488372e-05 9.99999941e-01 -2.92899317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86140051299999 meters 0.06521411973470907 Centerline is valid? [True, True] Translation: X:116.73, Y:12.18, Z:-0.29 [[ 9.99299113e-01 -3.74174727e-02 1.10253956e-03 1.16728907e+02] [ 3.74173725e-02 9.99299719e-01 1.11290140e-04 1.21753873e+01] [-1.10593167e-03 -6.99580048e-05 9.99999386e-01 -2.90510043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891400513 meters 0.06735002641461074 Centerline is valid? [True, True] Translation: X:116.76, Y:12.18, Z:-0.29 [[ 9.99336258e-01 -3.63731453e-02 2.00919864e-03 1.16757771e+02] [ 3.63728106e-02 9.99338270e-01 2.02895126e-04 1.21803284e+01] [-2.01524902e-03 -1.29680255e-04 9.99997961e-01 -2.88305480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921400513 meters 0.0648299956253139 Centerline is valid? [True, True] Translation: X:116.79, Y:12.19, Z:-0.29 [[ 9.99388404e-01 -3.49011880e-02 2.17376211e-03 1.16786089e+02] [ 3.49007925e-02 9.99390758e-01 2.19623107e-04 1.21854613e+01] [-2.18010287e-03 -1.43622766e-04 9.99997613e-01 -2.88400669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95140051299998 meters 0.061256346149493976 Centerline is valid? [True, True] Translation: X:116.82, Y:12.18, Z:-0.29 [[ 9.99450717e-01 -3.31206534e-02 1.13410497e-03 1.16816903e+02] [ 3.31205446e-02 9.99451358e-01 1.14600035e-04 1.21824464e+01] [-1.13727838e-03 -7.69749125e-05 9.99999350e-01 -2.90646866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98140051299998 meters 0.0654132424526367 Centerline is valid? [True, True] Translation: X:116.84, Y:12.19, Z:-0.29 [[ 9.99512836e-01 -3.12093736e-02 2.55482588e-04 1.16844652e+02] [ 3.12093681e-02 9.99512869e-01 2.58174430e-05 1.21932847e+01] [-2.56163880e-04 -1.78314155e-05 9.99999967e-01 -2.92367679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01140051299998 meters 0.0759985231975576 Centerline is valid? [True, True] Translation: X:116.87, Y:12.21, Z:-0.30 [[ 9.99596833e-01 -2.83451330e-02 -1.65064433e-03 1.16872333e+02] [ 2.83378795e-02 9.99589310e-01 -4.26335713e-03 1.22098563e+01] [ 1.77081186e-03 4.21486252e-03 9.99989550e-01 -2.95083398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04140051299999 meters 0.07573899238798884 Centerline is valid? [True, True] Translation: X:116.90, Y:12.21, Z:-0.29 [[ 9.99592170e-01 -2.85516506e-02 -5.45617740e-04 1.16900156e+02] [ 2.85536436e-02 9.99583923e-01 4.08281630e-03 1.22098871e+01] [ 4.28819577e-04 -4.09673058e-03 9.99991516e-01 -2.93623642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07140051299999 meters 0.07685424555214095 Centerline is valid? [True, True] Translation: X:116.93, Y:12.22, Z:-0.29 [[ 9.99584534e-01 -2.88221017e-02 -2.14007945e-04 1.16926956e+02] [ 2.88220977e-02 9.99584557e-01 -2.16908344e-05 1.22180424e+01] [ 2.14544212e-04 1.55136647e-05 9.99999977e-01 -2.94265541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10140051299999 meters 0.07717251213548293 Centerline is valid? [True, True] Translation: X:116.96, Y:12.22, Z:-0.30 [[ 9.99536570e-01 -3.03983005e-02 -1.60863122e-03 1.16955817e+02] [ 3.03980774e-02 9.99537858e-01 -1.62965665e-04 1.22204074e+01] [ 1.61284168e-03 1.13990846e-04 9.99998693e-01 -2.97592565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13140051299999 meters 0.06554350831766506 Centerline is valid? [True, True] Translation: X:116.99, Y:12.21, Z:-0.30 [[ 9.99509985e-01 -3.12142942e-02 -2.33619856e-03 1.16986519e+02] [ 3.12138254e-02 9.99512702e-01 -2.36880708e-04 1.22076097e+01] [ 2.34245420e-03 1.63842939e-04 9.99997243e-01 -2.98423345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16140051299999 meters 0.06678993253402307 Centerline is valid? [True, True] Translation: X:117.01, Y:12.21, Z:-0.30 [[ 9.99510382e-01 -3.11887519e-02 -2.50171284e-03 1.17014177e+02] [ 3.11882138e-02 9.99513497e-01 -2.53802615e-04 1.22105723e+01] [ 2.50841154e-03 1.75654394e-04 9.99996839e-01 -2.98808752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19140051299999 meters 0.06673554508260006 Centerline is valid? [True, True] Translation: X:117.04, Y:12.21, Z:-0.30 [[ 9.99526106e-01 -3.07000075e-02 -2.25250209e-03 1.17042941e+02] [ 3.06995691e-02 9.99528631e-01 -2.28922862e-04 1.22119842e+01] [ 2.25846827e-03 1.59663533e-04 9.99997437e-01 -2.98105915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22140051299999 meters 0.06996030530025768 Centerline is valid? [True, True] Translation: X:117.07, Y:12.22, Z:-0.30 [[ 9.99552796e-01 -2.98719600e-02 -1.36896184e-03 1.17070508e+02] [ 2.98717973e-02 9.99553729e-01 -1.39177360e-04 1.22181584e+01] [ 1.37250841e-03 9.82217689e-05 9.99999053e-01 -2.96855832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251400513 meters 0.08154031908923441 Centerline is valid? [True, True] Translation: X:117.10, Y:12.23, Z:-0.30 [[ 9.99585526e-01 -2.87863452e-02 -3.48779259e-04 1.17097434e+02] [ 2.87863345e-02 9.99585587e-01 -3.54775722e-05 1.22348197e+01] [ 3.49655990e-04 2.54227912e-05 9.99999939e-01 -2.95571019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281400513 meters 0.0770634160274672 Centerline is valid? [True, True] Translation: X:117.13, Y:12.23, Z:-0.29 [[ 9.99616546e-01 -2.76863305e-02 4.77259104e-04 1.17127223e+02] [ 2.76863105e-02 9.99616659e-01 4.85395270e-05 1.22318885e+01] [-4.78420032e-04 -3.53073706e-05 9.99999885e-01 -2.94440680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311400513 meters 0.07695601913960415 Centerline is valid? [True, True] Translation: X:117.16, Y:12.23, Z:-0.30 [[ 9.99674488e-01 -2.55010845e-02 -7.83166012e-04 1.17157614e+02] [ 2.55010299e-02 9.99674793e-01 -7.96728345e-05 1.22314989e+01] [ 7.84943065e-04 5.96753601e-05 9.99999690e-01 -2.97123088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34140051299998 meters 0.07825172438136123 Centerline is valid? [True, True] Translation: X:117.19, Y:12.23, Z:-0.30 [[ 9.99677787e-01 -2.53376460e-02 -1.52539180e-03 1.17185158e+02] [ 2.53374384e-02 9.99678944e-01 -1.55279425e-04 1.22336156e+01] [ 1.52883647e-03 1.16579871e-04 9.99998825e-01 -2.98722014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37140051299998 meters 0.08074677325031611 Centerline is valid? [True, True] Translation: X:117.21, Y:12.24, Z:-0.30 [[ 9.99672912e-01 -2.55275433e-02 -1.55387094e-03 1.17212486e+02] [ 2.55273279e-02 9.99674112e-01 -1.58264624e-04 1.22369926e+01] [ 1.55740466e-03 1.18546684e-04 9.99998780e-01 -2.99131838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40140051299998 meters 0.07889284750380611 Centerline is valid? [True, True] Translation: X:117.24, Y:12.23, Z:-0.30 [[ 9.99664902e-01 -2.58106007e-02 -1.97405815e-03 1.17242389e+02] [ 2.58102531e-02 9.99666840e-01 -2.01368691e-04 1.22326147e+01] [ 1.97859792e-03 1.50350272e-04 9.99998031e-01 -2.99287325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43140051299999 meters 0.07923646480895381 Centerline is valid? [True, True] Translation: X:117.27, Y:12.23, Z:-0.30 [[ 9.99679636e-01 -2.51336881e-02 -2.98714895e-03 1.17272411e+02] [ 2.51328891e-02 9.99684073e-01 -3.04722254e-04 1.22328717e+01] [ 2.99386402e-03 2.29548949e-04 9.99995492e-01 -3.00765494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46140051299999 meters 0.0803445720897393 Centerline is valid? [True, True] Translation: X:117.30, Y:12.23, Z:-0.30 [[ 9.99709365e-01 -2.37676661e-02 -4.03520323e-03 1.17302995e+02] [ 2.37661971e-02 9.99717459e-01 -4.11626819e-04 1.22344838e+01] [ 4.04384653e-03 3.15605751e-04 9.99991774e-01 -3.02119594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49140051299999 meters 0.0793056650350939 Centerline is valid? [True, True] Translation: X:117.33, Y:12.23, Z:-0.30 [[ 9.99750885e-01 -2.17428142e-02 -5.04156482e-03 1.17333059e+02] [ 2.17404953e-02 9.99763515e-01 -5.14303159e-04 1.22344214e+01] [ 5.05155496e-03 4.04568923e-04 9.99987159e-01 -3.03331922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52140051299999 meters 0.0815142802597107 Centerline is valid? [True, True] Translation: X:117.36, Y:12.24, Z:-0.30 [[ 9.99835579e-01 -1.73115473e-02 -5.39686764e-03 1.17362814e+02] [ 1.73088258e-02 9.99850039e-01 -5.50564447e-04 1.22397194e+01] [ 5.40558944e-03 4.57060481e-04 9.99985285e-01 -3.04991627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55140051299999 meters 0.0892548462450101 Centerline is valid? [True, True] Translation: X:117.39, Y:12.25, Z:-0.30 [[ 9.99876762e-01 -1.50133116e-02 -4.58924158e-03 1.17391056e+02] [ 1.50113195e-02 9.99887214e-01 -4.68231059e-04 1.22520078e+01] [ 4.59575368e-03 3.99282784e-04 9.99989360e-01 -3.04668429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58140051299999 meters 0.08996863261745562 Centerline is valid? [True, True] Translation: X:117.42, Y:12.26, Z:-0.30 [[ 9.99906978e-01 -1.30750776e-02 -3.88302109e-03 1.17421148e+02] [ 1.30736368e-02 9.99914458e-01 -3.96183600e-04 1.22553225e+01] [ 3.88786906e-03 3.45381538e-04 9.99992383e-01 -3.03287960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61140051299999 meters 0.08230768380926753 Centerline is valid? [True, True] Translation: X:117.45, Y:12.25, Z:-0.30 [[ 9.99919320e-01 -1.20127537e-02 -4.12885248e-03 1.17450977e+02] [ 1.20111151e-02 9.99927775e-01 -4.21418317e-04 1.22482912e+01] [ 4.13361666e-03 3.71792194e-04 9.99991387e-01 -3.03190659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641400513 meters 0.10001189678031719 Centerline is valid? [True, False] Translation: X:117.47, Y:12.26, Z:-0.31 [[ 9.99942186e-01 -1.06988523e-02 1.07629257e-03 1.17472550e+02] [ 1.07097433e-02 9.99885603e-01 -1.06809008e-02 1.22580074e+01] [-9.61896068e-04 1.06918101e-02 9.99942378e-01 -3.09791406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671400513 meters 0.09074197705442569 Centerline is valid? [False, True] Translation: X:117.43, Y:12.25, Z:-0.31 [[ 9.99951454e-01 -9.82458380e-03 -7.52477438e-04 1.17431678e+02] [ 9.81957316e-03 9.99931332e-01 -6.39581046e-03 1.22481985e+01] [ 8.15261943e-04 6.38811096e-03 9.99979263e-01 -3.08459341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70140051299998 meters 0.08034040018377078 Centerline is valid? [True, True] Translation: X:117.46, Y:12.23, Z:-0.31 [[ 9.99932022e-01 -1.16585402e-02 -1.70571732e-04 1.17463423e+02] [ 1.16585375e-02 9.99932037e-01 -1.65310064e-05 1.22330517e+01] [ 1.70752867e-04 1.45412657e-05 9.99999985e-01 -3.05076758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73140051299998 meters 0.08620018027021988 Centerline is valid? [True, True] Translation: X:117.49, Y:12.24, Z:-0.30 [[ 9.99916054e-01 -1.29176717e-02 1.00970904e-03 1.17491872e+02] [ 1.29175796e-02 9.99916560e-01 9.77434930e-05 1.22433262e+01] [-1.01088741e-03 -8.46922909e-05 9.99999485e-01 -3.03351922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76140051299998 meters 0.07808667922290728 Centerline is valid? [True, True] Translation: X:117.52, Y:12.24, Z:-0.30 [[ 9.99906198e-01 -1.35835133e-02 1.75598156e-03 1.17522660e+02] [ 1.35832353e-02 9.99907729e-01 1.70106503e-04 1.22372619e+01] [-1.75813018e-03 -1.46238636e-04 9.99998444e-01 -3.02032702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79140051299999 meters 0.08458461051629942 Centerline is valid? [True, True] Translation: X:117.55, Y:12.25, Z:-0.30 [[ 9.99907709e-01 -1.35087008e-02 1.44505821e-03 1.17551050e+02] [ 1.35085125e-02 9.99908746e-01 1.39996091e-04 1.22496738e+01] [-1.44681751e-03 -1.20462584e-04 9.99998946e-01 -3.02335128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82140051299999 meters 0.07705953714355701 Centerline is valid? [True, True] Translation: X:117.58, Y:12.25, Z:-0.30 [[ 9.99911136e-01 -1.33229041e-02 4.68855870e-04 1.17581402e+02] [ 1.33228843e-02 9.99911245e-01 4.53630592e-05 1.22450857e+01] [-4.69418625e-04 -3.91125156e-05 9.99999889e-01 -3.03245569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85140051299999 meters 0.07705953714355701 Centerline is valid? [True, True] Translation: X:117.61, Y:12.25, Z:-0.30 [[ 9.99908964e-01 -1.34849529e-02 4.68896915e-04 1.17609700e+02] [ 1.34849333e-02 9.99909073e-01 4.49400464e-05 1.22479213e+01] [-4.69460294e-04 -3.86129117e-05 9.99999889e-01 -3.03348132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88140051299999 meters 0.08165839591207424 Centerline is valid? [True, True] Translation: X:117.64, Y:12.26, Z:-0.31 [[ 9.99907619e-01 -1.33882244e-02 -2.34715427e-03 1.17637714e+02] [ 1.33877257e-02 9.99910354e-01 -2.28033756e-04 1.22599531e+01] [ 2.34999682e-03 1.96589632e-04 9.99997219e-01 -3.07978475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91140051299999 meters 0.08788846474898118 Centerline is valid? [True, True] Translation: X:117.66, Y:12.27, Z:-0.31 [[ 9.99895873e-01 -1.41375218e-02 -2.89369638e-03 1.17664832e+02] [ 1.41367644e-02 9.99900031e-01 -2.82042964e-04 1.22730416e+01] [ 2.89739449e-03 2.41106092e-04 9.99995773e-01 -3.09409151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94140051299999 meters 0.08018822488827272 Centerline is valid? [True, True] Translation: X:117.70, Y:12.27, Z:-0.31 [[ 9.99873827e-01 -1.57019052e-02 -2.40434269e-03 1.17695589e+02] [ 1.57013875e-02 9.99876698e-01 -2.34023499e-04 1.22698411e+01] [ 2.40772085e-03 1.96242455e-04 9.99997082e-01 -3.08648699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97140051299999 meters 0.08056675837174998 Centerline is valid? [True, True] Translation: X:117.72, Y:12.27, Z:-0.31 [[ 9.99817131e-01 -1.91198807e-02 -3.66451638e-04 1.17723430e+02] [ 1.91206191e-02 9.99814915e-01 2.13021232e-03 1.22721992e+01] [ 3.25654408e-04 -2.13682955e-03 9.99997664e-01 -3.06507494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001400513 meters 0.07691259161105385 Centerline is valid? [True, True] Translation: X:117.76, Y:12.28, Z:-0.31 [[ 9.99748462e-01 -2.24187154e-02 -6.43784962e-04 1.17755052e+02] [ 2.24172304e-02 9.99746220e-01 -2.22804460e-03 1.22792162e+01] [ 6.93571480e-04 2.21305229e-03 9.99997311e-01 -3.06508971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031400513 meters 0.06756561112924266 Centerline is valid? [True, True] Translation: X:117.79, Y:12.27, Z:-0.31 [[ 9.99681009e-01 -2.52424173e-02 -8.37490370e-04 1.17786510e+02] [ 2.52423578e-02 9.99681358e-01 -8.14885651e-05 1.22682265e+01] [ 8.39280479e-04 6.03223393e-05 9.99999646e-01 -3.05367385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061400513 meters 0.06570347972327596 Centerline is valid? [True, True] Translation: X:117.82, Y:12.27, Z:-0.30 [[ 9.99609715e-01 -2.79355859e-02 -1.46861580e-04 1.17817124e+02] [ 2.79355841e-02 9.99609725e-01 -1.42959743e-05 1.22681291e+01] [ 1.47203630e-04 1.01877308e-05 9.99999989e-01 -3.04820206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09140051299998 meters 0.0666556064782133 Centerline is valid? [True, True] Translation: X:117.85, Y:12.27, Z:-0.30 [[ 9.99541644e-01 -3.02700446e-02 4.75903871e-04 1.17846778e+02] [ 3.02700260e-02 9.99541757e-01 4.62572152e-05 1.22699887e+01] [-4.77085999e-04 -3.18303903e-05 9.99999886e-01 -3.04254697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12140051299998 meters 0.05869730658535226 Centerline is valid? [True, True] Translation: X:117.88, Y:12.26, Z:-0.30 [[ 9.99485320e-01 -3.20400881e-02 1.59011993e-03 1.17877618e+02] [ 3.20398824e-02 9.99486579e-01 1.54676915e-04 1.22631363e+01] [-1.59425939e-03 -1.03650051e-04 9.99998724e-01 -3.03384139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15140051299998 meters 0.06475343422982689 Centerline is valid? [True, True] Translation: X:117.91, Y:12.27, Z:-0.30 [[ 9.99434813e-01 -3.35553467e-02 2.02304341e-03 1.17905935e+02] [ 3.35550167e-02 9.99436852e-01 1.96861766e-04 1.22690811e+01] [-2.02850991e-03 -1.28867247e-04 9.99997934e-01 -3.03007618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18140051299999 meters 0.06693055566940988 Centerline is valid? [True, True] Translation: X:117.93, Y:12.27, Z:-0.30 [[ 9.99456728e-01 -3.29333512e-02 1.28214841e-03 1.17934097e+02] [ 3.29332185e-02 9.99457547e-01 1.24480414e-04 1.22726018e+01] [-1.28555246e-03 -8.21875133e-05 9.99999170e-01 -3.03504236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21140051299999 meters 0.06882269441420494 Centerline is valid? [True, True] Translation: X:117.96, Y:12.28, Z:-0.30 [[ 9.99514465e-01 -3.11581315e-02 7.13498433e-05 1.17963711e+02] [ 3.11581311e-02 9.99514468e-01 6.91896120e-06 1.22766654e+01] [-7.15307826e-05 -4.69247403e-06 9.99999997e-01 -3.04941871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24140051299999 meters 0.06710196823170989 Centerline is valid? [True, True] Translation: X:117.99, Y:12.27, Z:-0.31 [[ 9.99588900e-01 -2.86648260e-02 -5.98496346e-04 1.17994799e+02] [ 2.86647962e-02 9.99589079e-01 -5.84014019e-05 1.22741427e+01] [ 5.99924477e-04 4.12216173e-05 9.99999819e-01 -3.05601363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27140051299999 meters 0.07633576204188565 Centerline is valid? [True, True] Translation: X:118.02, Y:12.29, Z:-0.30 [[ 9.99671930e-01 -2.56082846e-02 4.98728813e-04 1.18022373e+02] [ 2.56082635e-02 9.99672053e-01 4.87454654e-05 1.22911829e+01] [-4.99813544e-04 -3.59578946e-05 9.99999874e-01 -3.04412654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30140051299999 meters 0.08100662203522488 Centerline is valid? [True, True] Translation: X:118.05, Y:12.30, Z:-0.30 [[ 9.99782860e-01 -2.06643428e-02 2.68654635e-03 1.18052199e+02] [ 2.06637130e-02 9.99786448e-01 2.61987676e-04 1.23010637e+01] [-2.69138644e-03 -2.06416766e-04 9.99996357e-01 -3.00754060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33140051299999 meters 0.07193200762718262 Centerline is valid? [True, True] Translation: X:118.08, Y:12.29, Z:-0.30 [[ 9.99817939e-01 -1.89121664e-02 2.53352136e-03 1.18083338e+02] [ 1.89116007e-02 9.99821129e-01 2.47053128e-04 1.22933595e+01] [-2.53774050e-03 -1.99095205e-04 9.99996760e-01 -3.01314247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36140051299999 meters 0.08508652205413199 Centerline is valid? [True, True] Translation: X:118.11, Y:12.31, Z:-0.30 [[ 9.99843746e-01 -1.76295417e-02 1.29710328e-03 1.18111347e+02] [ 1.76293924e-02 9.99844582e-01 1.26480193e-04 1.23121469e+01] [-1.29913148e-03 -1.03593288e-04 9.99999151e-01 -3.04014045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391400513 meters 0.08289585046817169 Centerline is valid? [True, True] Translation: X:118.14, Y:12.31, Z:-0.31 [[ 9.99850211e-01 -1.73067003e-02 -1.82935841e-04 1.18140929e+02] [ 1.73066973e-02 9.99850228e-01 -1.79278649e-05 1.23113898e+01] [ 1.83218715e-04 1.47591642e-05 9.99999983e-01 -3.07080387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421400513 meters 0.08284845875761145 Centerline is valid? [True, True] Translation: X:118.17, Y:12.31, Z:-0.31 [[ 9.99840425e-01 -1.77819875e-02 -1.71025620e-03 1.18169807e+02] [ 1.77817265e-02 9.99841879e-01 -1.67683608e-04 1.23130453e+01] [ 1.71296752e-03 1.37245542e-04 9.99998523e-01 -3.09335375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45140051299998 meters 0.08268267340842747 Centerline is valid? [True, True] Translation: X:118.20, Y:12.32, Z:-0.31 [[ 9.99823965e-01 -1.85632095e-02 -2.72888475e-03 1.18198336e+02] [ 1.85625477e-02 9.99827665e-01 -2.67646937e-04 1.23153863e+01] [ 2.73338286e-03 2.16944769e-04 9.99996241e-01 -3.10960753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48140051299998 meters 0.07447019130307715 Centerline is valid? [True, True] Translation: X:118.23, Y:12.31, Z:-0.31 [[ 9.99836634e-01 -1.79524080e-02 -2.10174373e-03 1.18227431e+02] [ 1.79520143e-02 9.99838828e-01 -2.06038867e-04 1.23093454e+01] [ 2.10510388e-03 1.68274673e-04 9.99997770e-01 -3.09208382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51140051299998 meters 0.08268664725473485 Centerline is valid? [True, True] Translation: X:118.26, Y:12.32, Z:-0.31 [[ 9.99864889e-01 -1.64162502e-02 -8.43024468e-04 1.18255591e+02] [ 1.64161864e-02 9.99865242e-01 -8.26191726e-05 1.23236697e+01] [ 8.44267160e-04 6.87687630e-05 9.99999641e-01 -3.08143767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54140051299999 meters 0.07525039599704694 Centerline is valid? [True, True] Translation: X:118.29, Y:12.32, Z:-0.31 [[ 9.99895336e-01 -1.44673214e-02 -1.19730122e-04 1.18285871e+02] [ 1.44673201e-02 9.99895343e-01 -1.17650605e-05 1.23192514e+01] [ 1.19887800e-04 1.00316551e-05 9.99999993e-01 -3.06819947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57140051299999 meters 0.07826795583765131 Centerline is valid? [True, True] Translation: X:118.31, Y:12.33, Z:-0.31 [[ 9.99923497e-01 -1.23680070e-02 1.80123584e-04 1.18314408e+02] [ 1.23680040e-02 9.99923513e-01 1.76504926e-05 1.23276204e+01] [-1.80328108e-04 -1.54213731e-05 9.99999984e-01 -3.07030270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60140051299999 meters 0.09508252898301822 Centerline is valid? [True, True] Translation: X:118.34, Y:12.36, Z:-0.31 [[ 9.99967877e-01 -8.00942108e-03 -3.08010999e-04 1.18341427e+02] [ 8.00941215e-03 9.99967924e-01 -3.02164553e-05 1.23561723e+01] [ 3.08243135e-04 2.77484976e-05 9.99999952e-01 -3.08339988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63140051299999 meters 0.09407365583858031 Centerline is valid? [True, True] Translation: X:118.37, Y:12.36, Z:-0.31 [[ 9.99977333e-01 -6.72443187e-03 -3.40763032e-04 1.18371007e+02] [ 6.72442086e-03 9.99977390e-01 -3.34268142e-05 1.23612107e+01] [ 3.40980104e-04 3.11346224e-05 9.99999941e-01 -3.08114580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66140051299999 meters 0.08122607352548974 Centerline is valid? [True, True] Translation: X:118.40, Y:12.35, Z:-0.31 [[ 9.99976688e-01 -6.74181911e-03 -1.08251960e-03 1.18401536e+02] [ 6.74170809e-03 9.99977269e-01 -1.06172346e-04 1.23518746e+01] [ 1.08321079e-03 9.88718394e-05 9.99999408e-01 -3.08389341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69140051299999 meters 0.09363188866509474 Centerline is valid? [True, True] Translation: X:118.43, Y:12.37, Z:-0.31 [[ 9.99965148e-01 -8.14896211e-03 -1.81567506e-03 1.18428903e+02] [ 8.14865211e-03 9.99966783e-01 -1.78064645e-04 1.23728958e+01] [ 1.81706579e-03 1.63263135e-04 9.99998336e-01 -3.10756047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72140051299999 meters 0.08401993324218414 Centerline is valid? [True, True] Translation: X:118.46, Y:12.37, Z:-0.31 [[ 9.99885771e-01 -1.50653676e-02 -1.21608158e-03 1.18459981e+02] [ 1.50652337e-02 9.99886506e-01 -1.19194865e-04 1.23656847e+01] [ 1.21773928e-03 1.00860697e-04 9.99999253e-01 -3.09859593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751400513 meters 0.07293299716510813 Centerline is valid? [True, True] Translation: X:118.49, Y:12.35, Z:-0.31 [[ 9.99797461e-01 -2.01152218e-02 -6.43794268e-04 1.18491719e+02] [ 2.01151853e-02 9.99797667e-01 -6.31061194e-05 1.23543889e+01] [ 6.44933401e-04 5.01432970e-05 9.99999791e-01 -3.08495127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781400513 meters 0.0681975383319163 Centerline is valid? [True, True] Translation: X:118.52, Y:12.35, Z:-0.31 [[ 9.99667531e-01 -2.57835124e-02 -1.94419482e-04 1.18522709e+02] [ 2.57835092e-02 9.99667550e-01 -1.90688786e-05 1.23505134e+01] [ 1.94846510e-04 1.40497223e-05 9.99999981e-01 -3.08029089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811400513 meters 0.06608680536644569 Centerline is valid? [True, True] Translation: X:118.55, Y:12.35, Z:-0.31 [[ 9.99507471e-01 -3.13816701e-02 -8.35538796e-05 1.18552709e+02] [ 3.13816695e-02 9.99507474e-01 -8.24434574e-06 1.23497226e+01] [ 8.37714485e-05 5.61822492e-06 9.99999996e-01 -3.07970456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84140051299998 meters 0.06143230546563596 Centerline is valid? [True, True] Translation: X:118.58, Y:12.35, Z:-0.31 [[ 9.99336965e-01 -3.64037929e-02 -6.28141505e-04 1.18584100e+02] [ 3.64037614e-02 9.99337162e-01 -6.16036278e-05 1.23454261e+01] [ 6.29967754e-04 3.86960690e-05 9.99999801e-01 -3.08371934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87140051299998 meters 0.05800538639524575 Centerline is valid? [True, True] Translation: X:118.62, Y:12.34, Z:-0.31 [[ 9.99085070e-01 -4.27533691e-02 -1.08237648e-03 1.18615777e+02] [ 4.27532791e-02 9.99085655e-01 -1.06132618e-04 1.23370168e+01] [ 1.08592434e-03 5.97603700e-05 9.99999409e-01 -3.08796439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90140051299998 meters 0.053420203064750156 Centerline is valid? [True, True] Translation: X:118.64, Y:12.34, Z:-0.31 [[ 9.99000650e-01 -4.46859016e-02 -9.33666365e-04 1.18644536e+02] [ 4.46858354e-02 9.99001085e-01 -9.16500013e-05 1.23365709e+01] [ 9.36829175e-04 4.98367493e-05 9.99999560e-01 -3.08466621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93140051299999 meters 0.05974541522385089 Centerline is valid? [True, True] Translation: X:118.67, Y:12.34, Z:-0.31 [[ 9.98930497e-01 -4.62284955e-02 -8.87853383e-04 1.18673123e+02] [ 4.62284362e-02 9.98930891e-01 -8.72292372e-05 1.23381830e+01] [ 8.90936647e-04 4.60918718e-05 9.99999602e-01 -3.09113617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96140051299999 meters 0.054953823852711615 Centerline is valid? [True, True] Translation: X:118.70, Y:12.33, Z:-0.31 [[ 9.98884274e-01 -4.72236759e-02 -3.61374111e-04 1.18702226e+02] [ 4.72236660e-02 9.98884340e-01 -3.60941309e-05 1.23337209e+01] [ 3.62675438e-04 1.89884494e-05 9.99999934e-01 -3.08153108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99140051299999 meters 0.05453629537782786 Centerline is valid? [True, True] Translation: X:118.73, Y:12.33, Z:-0.31 [[ 9.98868559e-01 -4.75531597e-02 5.46399181e-04 1.18731999e+02] [ 4.75531377e-02 9.98868708e-01 5.31927908e-05 1.23303668e+01] [-5.48310529e-04 -2.71496108e-05 9.99999849e-01 -3.06714046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02140051299999 meters 0.054782200753136556 Centerline is valid? [True, True] Translation: X:118.76, Y:12.32, Z:-0.31 [[ 9.98906710e-01 -4.67422535e-02 7.38914789e-04 1.18761362e+02] [ 4.67422128e-02 9.98906983e-01 7.22568474e-05 1.23249801e+01] [-7.41484590e-04 -3.76393374e-05 9.99999724e-01 -3.05283423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05140051299999 meters 0.05369879428393644 Centerline is valid? [True, True] Translation: X:118.79, Y:12.33, Z:-0.31 [[ 9.98960592e-01 -4.55820729e-02 -1.05467068e-04 1.18789927e+02] [ 4.55820720e-02 9.98960597e-01 -1.05304978e-05 1.23263717e+01] [ 1.05837447e-04 5.71214481e-06 9.99999994e-01 -3.05899319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08140051299999 meters 0.05571374747313065 Centerline is valid? [True, True] Translation: X:118.82, Y:12.33, Z:-0.31 [[ 9.99045287e-01 -4.36755747e-02 -9.78928442e-04 1.18818812e+02] [ 4.36755010e-02 9.99045765e-01 -9.65794253e-05 1.23300071e+01] [ 9.82212477e-04 5.37320296e-05 9.99999516e-01 -3.06746671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11140051299999 meters 0.06156180022572233 Centerline is valid? [True, True] Translation: X:118.85, Y:12.33, Z:-0.31 [[ 9.99223180e-01 -3.93745246e-02 -1.63781791e-03 1.18848068e+02] [ 3.93743124e-02 9.99224518e-01 -1.61610642e-04 1.23327015e+01] [ 1.64291116e-03 9.69971458e-05 9.99998646e-01 -3.07393250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141400513 meters 0.0626109716237275 Centerline is valid? [True, True] Translation: X:118.88, Y:12.33, Z:-0.31 [[ 9.99338604e-01 -3.63440808e-02 -1.20912628e-03 1.18878638e+02] [ 3.63439630e-02 9.99339333e-01 -1.19289499e-04 1.23318011e+01] [ 1.21266292e-03 7.52661601e-05 9.99999262e-01 -3.07297874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171400513 meters 0.06207882801477028 Centerline is valid? [True, True] Translation: X:118.91, Y:12.34, Z:-0.31 [[ 9.99476511e-01 -3.23492163e-02 -4.82070793e-04 1.18908146e+02] [ 3.23491970e-02 9.99476627e-01 -4.76017585e-05 1.23396765e+01] [ 4.83358370e-04 3.19822364e-05 9.99999883e-01 -3.07227691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20140051299998 meters 0.06554197617827333 Centerline is valid? [True, True] Translation: X:118.94, Y:12.35, Z:-0.31 [[ 9.99609013e-01 -2.79601403e-02 -2.29333455e-04 1.18937440e+02] [ 2.79601359e-02 9.99609039e-01 -2.26670369e-05 1.23476463e+01] [ 2.29877568e-04 1.62459798e-05 9.99999973e-01 -3.07757736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23140051299998 meters 0.07709477993116914 Centerline is valid? [True, True] Translation: X:118.97, Y:12.36, Z:-0.31 [[ 9.99718332e-01 -2.37306373e-02 -3.37879134e-04 1.18965052e+02] [ 2.37306274e-02 9.99718388e-01 -3.33595560e-05 1.23639663e+01] [ 3.38575627e-04 2.53320758e-05 9.99999942e-01 -3.08458983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26140051299998 meters 0.07510091349810787 Centerline is valid? [True, True] Translation: X:119.00, Y:12.36, Z:-0.31 [[ 9.99790031e-01 -2.04817646e-02 -6.25218855e-04 1.18995220e+02] [ 2.04817300e-02 9.99790225e-01 -6.17240179e-05 1.23636177e+01] [ 6.26351917e-04 4.89054940e-05 9.99999803e-01 -3.07841516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29140051299999 meters 0.07431160757369829 Centerline is valid? [True, True] Translation: X:119.03, Y:12.37, Z:-0.31 [[ 9.99835735e-01 -1.80608092e-02 -1.51987319e-03 1.19025624e+02] [ 1.80606019e-02 9.99836883e-01 -1.50005269e-04 1.23662386e+01] [ 1.52233449e-03 1.22530804e-04 9.99998834e-01 -3.07937094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32140051299999 meters 0.08037034489894151 Centerline is valid? [True, True] Translation: X:119.05, Y:12.38, Z:-0.31 [[ 9.99824076e-01 -1.86540350e-02 -1.96042834e-03 1.19052818e+02] [ 1.86536895e-02 9.99825986e-01 -1.94370862e-04 1.23784748e+01] [ 1.96371300e-03 1.57767446e-04 9.99998059e-01 -3.09586325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35140051299999 meters 0.07430261673989962 Centerline is valid? [True, True] Translation: X:119.08, Y:12.38, Z:-0.31 [[ 9.99800040e-01 -1.99138790e-02 -1.82112625e-03 1.19083307e+02] [ 1.99135838e-02 9.99801689e-01 -1.80081942e-04 1.23760117e+01] [ 1.82435123e-03 1.43780783e-04 9.99998326e-01 -3.09650337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38140051299999 meters 0.08791977683243295 Centerline is valid? [True, True] Translation: X:119.11, Y:12.40, Z:-0.31 [[ 9.99736016e-01 -2.29740406e-02 -3.02780007e-04 1.19110864e+02] [ 2.29740326e-02 9.99736062e-01 -3.00045538e-05 1.23967804e+01] [ 3.03389418e-04 2.30405553e-05 9.99999954e-01 -3.09635753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41140051299999 meters 0.08359547815123104 Centerline is valid? [True, True] Translation: X:119.14, Y:12.39, Z:-0.31 [[ 9.99707394e-01 -2.41891425e-02 1.08785888e-04 1.19140883e+02] [ 2.41891415e-02 9.99707400e-01 1.06816941e-05 1.23940733e+01] [-1.09012438e-04 -8.04713130e-06 9.99999994e-01 -3.08584283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44140051299999 meters 0.07020608116467979 Centerline is valid? [True, True] Translation: X:119.17, Y:12.38, Z:-0.31 [[ 9.99687417e-01 -2.49983616e-02 -3.86368603e-04 1.19170901e+02] [ 2.49983484e-02 9.99687492e-01 -3.88583591e-05 1.23798315e+01] [ 3.87219255e-04 2.91876357e-05 9.99999925e-01 -3.08090796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47140051299999 meters 0.06928669519703164 Centerline is valid? [True, True] Translation: X:119.20, Y:12.38, Z:-0.31 [[ 9.99683600e-01 -2.51272218e-02 -1.15019095e-03 1.19199837e+02] [ 2.51271063e-02 9.99684258e-01 -1.14717439e-04 1.23808697e+01] [ 1.15271032e-03 8.57801721e-05 9.99999332e-01 -3.09018918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501400513 meters 0.08198982475399426 Centerline is valid? [True, True] Translation: X:119.23, Y:12.40, Z:-0.31 [[ 9.99693347e-01 -2.46751046e-02 -2.08574936e-03 1.19225835e+02] [ 2.46747249e-02 9.99695511e-01 -2.07549584e-04 1.23956686e+01] [ 2.09023558e-03 1.56020646e-04 9.99997803e-01 -3.10775961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531400513 meters 0.06762204978732779 Centerline is valid? [True, True] Translation: X:119.26, Y:12.38, Z:-0.31 [[ 9.99719220e-01 -2.35864066e-02 -2.27218561e-03 1.19257108e+02] [ 2.35859539e-02 9.99721787e-01 -2.25837631e-04 1.23832532e+01] [ 2.27688016e-03 1.72182555e-04 9.99997393e-01 -3.09252688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561400513 meters 0.07947458724609865 Centerline is valid? [True, True] Translation: X:119.28, Y:12.40, Z:-0.31 [[ 9.99744794e-01 -2.25502359e-02 -1.35410559e-03 1.19284128e+02] [ 2.25500740e-02 9.99745706e-01 -1.34711943e-04 1.24018346e+01] [ 1.35679903e-03 1.04142383e-04 9.99999074e-01 -3.08901302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59140051299998 meters 0.08091901122664302 Centerline is valid? [True, True] Translation: X:119.31, Y:12.41, Z:-0.30 [[ 9.99797272e-01 -1.99226600e-02 2.91580068e-03 1.19313489e+02] [ 1.99218991e-02 9.99801497e-01 2.89794098e-04 1.24094642e+01] [-2.92099536e-03 -2.31647062e-04 9.99995707e-01 -3.02493274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62140051299998 meters 0.08042139941019869 Centerline is valid? [True, True] Translation: X:119.34, Y:12.41, Z:-0.30 [[ 9.99805822e-01 -1.92389912e-02 4.26377915e-03 1.19342738e+02] [ 1.92327190e-02 9.99813898e-01 1.50720542e-03 1.24084706e+01] [-4.29198276e-03 -1.42490869e-03 9.99989774e-01 -3.00061716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65140051299998 meters 0.0864589442496592 Centerline is valid? [True, True] Translation: X:119.37, Y:12.42, Z:-0.30 [[ 9.99801318e-01 -1.93434266e-02 4.81214750e-03 1.19371964e+02] [ 1.93465364e-02 9.99812658e-01 -6.00525620e-04 1.24232436e+01] [-4.79962976e-03 6.93504693e-04 9.99988241e-01 -3.00205155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68140051299999 meters 0.07225586924748548 Centerline is valid? [True, True] Translation: X:119.40, Y:12.41, Z:-0.30 [[ 9.99790883e-01 -2.01286952e-02 3.60923334e-03 1.19404455e+02] [ 2.01275287e-02 9.99797356e-01 3.59229677e-04 1.24085134e+01] [-3.61573278e-03 -2.86509608e-04 9.99993422e-01 -3.02466626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71140051299999 meters 0.07615145450519527 Centerline is valid? [True, True] Translation: X:119.43, Y:12.41, Z:-0.31 [[ 9.99769560e-01 -2.13881101e-02 1.83742018e-03 1.19434194e+02] [ 2.13878101e-02 9.99771238e-01 1.82759798e-04 1.24129766e+01] [-1.84090874e-03 -1.43419288e-04 9.99998295e-01 -3.05611391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74140051299999 meters 0.07615145450519527 Centerline is valid? [True, True] Translation: X:119.46, Y:12.42, Z:-0.31 [[ 9.99766077e-01 -2.15503037e-02 1.83742856e-03 1.19462475e+02] [ 2.15500041e-02 9.99767755e-01 1.82675871e-04 1.24158872e+01] [-1.84093855e-03 -1.43036545e-04 9.99998295e-01 -3.05713911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77140051299999 meters 0.06944665795329004 Centerline is valid? [True, True] Translation: X:119.49, Y:12.41, Z:-0.31 [[ 9.99743884e-01 -2.26210209e-02 6.75374213e-04 1.19492910e+02] [ 2.26209806e-02 9.99744111e-01 6.72592378e-05 1.24144627e+01] [-6.76722865e-04 -5.19643847e-05 9.99999770e-01 -3.07297257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80140051299999 meters 0.07427616102640693 Centerline is valid? [True, True] Translation: X:119.52, Y:12.42, Z:-0.31 [[ 9.99713792e-01 -2.39233136e-02 -9.18957550e-05 1.19521587e+02] [ 2.39233128e-02 9.99713797e-01 -9.25514668e-06 1.24228187e+01] [ 9.20908679e-05 7.05404690e-06 9.99999996e-01 -3.06488582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83140051299999 meters 0.07672547611683629 Centerline is valid? [True, True] Translation: X:119.55, Y:12.43, Z:-0.31 [[ 9.99714683e-01 -2.38856418e-02 -1.69196334e-04 1.19548390e+02] [ 2.38856392e-02 9.99714697e-01 -1.70995974e-05 1.24297579e+01] [ 1.69556497e-04 1.30533560e-05 9.99999986e-01 -3.05926200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86140051299999 meters 0.07064056605887482 Centerline is valid? [True, True] Translation: X:119.58, Y:12.43, Z:-0.31 [[ 9.99719443e-01 -2.36838485e-02 -3.31764311e-04 1.19577840e+02] [ 2.36838386e-02 9.99719498e-01 -3.37714154e-05 1.24273452e+01] [ 3.32471087e-04 2.59044882e-05 9.99999944e-01 -3.05796023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891400513 meters 0.07980160061459804 Centerline is valid? [True, True] Translation: X:119.60, Y:12.44, Z:-0.31 [[ 9.99730329e-01 -2.32219798e-02 -9.02006242e-05 1.19604414e+02] [ 2.32219790e-02 9.99730333e-01 -9.23584718e-06 1.24430154e+01] [ 9.03907748e-05 7.13871954e-06 9.99999996e-01 -3.07032353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921400513 meters 0.07187730767751722 Centerline is valid? [True, True] Translation: X:119.63, Y:12.44, Z:-0.31 [[ 9.99732240e-01 -2.31262489e-02 7.90452479e-04 1.19634206e+02] [ 2.31261939e-02 9.99732551e-01 7.86500460e-05 1.24374424e+01] [-7.92059954e-04 -6.03488293e-05 9.99999684e-01 -3.06554976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95140051299998 meters 0.07672296140656273 Centerline is valid? [True, True] Translation: X:119.66, Y:12.45, Z:-0.31 [[ 9.99727525e-01 -2.32615868e-02 1.94257362e-03 1.19660601e+02] [ 2.32612525e-02 9.99729402e-01 1.94504477e-04 1.24465875e+01] [-1.94657245e-03 -1.49264784e-04 9.99998094e-01 -3.05567646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98140051299998 meters 0.06727853937361873 Centerline is valid? [True, True] Translation: X:119.69, Y:12.44, Z:-0.30 [[ 9.99726007e-01 -2.32394014e-02 2.80024031e-03 1.19690525e+02] [ 2.32387051e-02 9.99729905e-01 2.80936575e-04 1.24390801e+01] [-2.80601278e-03 -2.15785641e-04 9.99996040e-01 -3.03429761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01140051299998 meters 0.08061044034060569 Centerline is valid? [True, True] Translation: X:119.72, Y:12.46, Z:-0.30 [[ 9.99732557e-01 -2.30180723e-02 2.23207995e-03 1.19717231e+02] [ 2.30176284e-02 9.99735034e-01 2.24366670e-04 1.24596762e+01] [-2.23665301e-03 -1.72929478e-04 9.99997484e-01 -3.04370145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04140051299999 meters 0.07250363636690117 Centerline is valid? [True, True] Translation: X:119.75, Y:12.45, Z:-0.31 [[ 9.99730491e-01 -2.31693644e-02 1.45823839e-03 1.19746489e+02] [ 2.31691755e-02 9.99731548e-01 1.46316229e-04 1.24539282e+01] [-1.46123698e-03 -1.12490614e-04 9.99998926e-01 -3.05184801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07140051299999 meters 0.08060493073281175 Centerline is valid? [True, True] Translation: X:119.77, Y:12.47, Z:-0.31 [[ 9.99724021e-01 -2.34641307e-02 1.14735568e-03 1.19773043e+02] [ 2.34640136e-02 9.99724675e-01 1.15443275e-04 1.24674908e+01] [-1.14974856e-03 -8.84898455e-05 9.99999335e-01 -3.05956113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10140051299999 meters 0.07999196044708629 Centerline is valid? [True, True] Translation: X:119.80, Y:12.47, Z:-0.31 [[ 9.99706237e-01 -2.42072232e-02 1.20399973e-03 1.19801397e+02] [ 2.42070950e-02 9.99706958e-01 1.20992295e-04 1.24710347e+01] [-1.20657580e-03 -9.18114157e-05 9.99999268e-01 -3.06279208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13140051299999 meters 0.0786592052807065 Centerline is valid? [True, True] Translation: X:119.83, Y:12.47, Z:-0.31 [[ 9.99658550e-01 -2.61178144e-02 8.02448270e-04 1.19831603e+02] [ 2.61177578e-02 9.99658870e-01 8.09879102e-05 1.24745298e+01] [-8.04289758e-04 -6.00021073e-05 9.99999675e-01 -3.07647370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16140051299999 meters 0.06876170190375623 Centerline is valid? [True, True] Translation: X:119.86, Y:12.47, Z:-0.31 [[ 9.99624223e-01 -2.74116343e-02 -1.20742262e-04 1.19862977e+02] [ 2.74116330e-02 9.99624231e-01 -1.22336393e-05 1.24654691e+01] [ 1.21032235e-04 8.91929965e-06 9.99999993e-01 -3.08872458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19140051299999 meters 0.06921741584089672 Centerline is valid? [True, True] Translation: X:119.89, Y:12.47, Z:-0.31 [[ 9.99588430e-01 -2.86439810e-02 -1.57892649e-03 1.19892077e+02] [ 2.86437646e-02 9.99589670e-01 -1.59547979e-04 1.24680649e+01] [ 1.58284870e-03 1.14255915e-04 9.99998741e-01 -3.11524940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22140051299999 meters 0.0676824869115736 Centerline is valid? [True, True] Translation: X:119.92, Y:12.47, Z:-0.31 [[ 9.99544420e-01 -3.00291826e-02 -3.03314685e-03 1.19921600e+02] [ 3.00283901e-02 9.99548999e-01 -3.06488635e-04 1.24682701e+01] [ 3.04098250e-03 2.15268488e-04 9.99995353e-01 -3.13018047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251400513 meters 0.06711402057136623 Centerline is valid? [True, True] Translation: X:119.95, Y:12.47, Z:-0.31 [[ 9.99500322e-01 -3.14192467e-02 -3.45494573e-03 1.19951519e+02] [ 3.14182263e-02 9.99506265e-01 -3.49235793e-04 1.24705808e+01] [ 3.46421263e-03 2.40513021e-04 9.99993971e-01 -3.13722067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281400513 meters 0.061825977519229816 Centerline is valid? [True, True] Translation: X:119.98, Y:12.47, Z:-0.31 [[ 9.99461424e-01 -3.26811728e-02 -2.96681226e-03 1.19981987e+02] [ 3.26804259e-02 9.99465807e-01 -2.99875338e-04 1.24678684e+01] [ 2.97502768e-03 2.02757145e-04 9.99995554e-01 -3.12471287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311400513 meters 0.06813769327044915 Centerline is valid? [True, True] Translation: X:120.01, Y:12.48, Z:-0.31 [[ 9.99352793e-01 -3.59714022e-02 -2.31057690e-04 1.20009881e+02] [ 3.59713977e-02 9.99352820e-01 -2.34620573e-05 1.24804521e+01] [ 2.31752117e-04 1.51354044e-05 9.99999973e-01 -3.10564328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34140051299998 meters 0.0676826525748671 Centerline is valid? [True, True] Translation: X:120.04, Y:12.48, Z:-0.31 [[ 9.99292844e-01 -3.75940580e-02 7.05574434e-04 1.20040078e+02] [ 3.75940169e-02 9.99293093e-01 7.12948781e-05 1.24804576e+01] [-7.07755922e-04 -4.47190843e-05 9.99999749e-01 -3.09149367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37140051299998 meters 0.06518245518224527 Centerline is valid? [True, True] Translation: X:120.07, Y:12.48, Z:-0.31 [[ 9.99235373e-01 -3.90777779e-02 1.26394584e-03 1.20069880e+02] [ 3.90776474e-02 9.99236169e-01 1.27735671e-04 1.24800806e+01] [-1.26797203e-03 -7.82459710e-05 9.99999193e-01 -3.08269982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40140051299998 meters 0.058352061042540364 Centerline is valid? [True, True] Translation: X:120.10, Y:12.47, Z:-0.31 [[ 9.99176593e-01 -4.05716824e-02 2.73859836e-04 1.20100709e+02] [ 4.05716764e-02 9.99176630e-01 2.76157824e-05 1.24720858e+01] [-2.74754767e-04 -1.64820907e-05 9.99999962e-01 -3.08695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43140051299999 meters 0.05864814619695059 Centerline is valid? [True, True] Translation: X:120.13, Y:12.48, Z:-0.31 [[ 9.99123059e-01 -4.18602421e-02 -9.12270092e-04 1.20128862e+02] [ 4.18601750e-02 9.99123474e-01 -9.24862700e-05 1.24750953e+01] [ 9.15341962e-04 5.42173794e-05 9.99999580e-01 -3.10763343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46140051299999 meters 0.055788569612737045 Centerline is valid? [True, True] Translation: X:120.16, Y:12.47, Z:-0.31 [[ 9.99083737e-01 -4.27679384e-02 -1.60950415e-03 1.20158386e+02] [ 4.27677300e-02 9.99085029e-01 -1.63672709e-04 1.24744726e+01] [ 1.61503144e-03 9.46879026e-05 9.99998691e-01 -3.11660434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49140051299999 meters 0.06375924092495262 Centerline is valid? [True, True] Translation: X:120.19, Y:12.49, Z:-0.31 [[ 9.99104857e-01 -4.23011253e-02 -3.15741424e-04 1.20185155e+02] [ 4.23011172e-02 9.99104907e-01 -3.22283479e-05 1.24852707e+01] [ 3.16822101e-04 1.88432839e-05 9.99999950e-01 -3.10996937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52140051299999 meters 0.06323414929787527 Centerline is valid? [True, True] Translation: X:120.21, Y:12.49, Z:-0.31 [[ 9.99157379e-01 -4.10403470e-02 4.71509441e-04 1.20214101e+02] [ 4.10403291e-02 9.99157490e-01 4.77090466e-05 1.24904014e+01] [-4.73070185e-04 -2.83179433e-05 9.99999888e-01 -3.09851546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55140051299999 meters 0.0630021883296798 Centerline is valid? [True, True] Translation: X:120.24, Y:12.49, Z:-0.31 [[ 9.99236436e-01 -3.90677336e-02 5.07385770e-04 1.20244356e+02] [ 3.90677125e-02 9.99236564e-01 5.14699297e-05 1.24940498e+01] [-5.09009227e-04 -3.16082277e-05 9.99999870e-01 -3.09447416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58140051299999 meters 0.06731585486362053 Centerline is valid? [True, True] Translation: X:120.27, Y:12.50, Z:-0.31 [[ 9.99332016e-01 -3.65443559e-02 1.78857660e-04 1.20272790e+02] [ 3.65443533e-02 9.99332032e-01 1.80888919e-05 1.25032976e+01] [-1.79399236e-04 -1.15405713e-05 9.99999984e-01 -3.09961036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61140051299999 meters 0.06806163851884828 Centerline is valid? [True, True] Translation: X:120.30, Y:12.51, Z:-0.31 [[ 9.99427070e-01 -3.38438160e-02 -3.58437130e-04 1.20303037e+02] [ 3.38438052e-02 9.99427134e-01 -3.63716302e-05 1.25085803e+01] [ 3.59462748e-04 2.42199154e-05 9.99999935e-01 -3.10369488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641400513 meters 0.06949297395627826 Centerline is valid? [True, True] Translation: X:120.33, Y:12.52, Z:-0.31 [[ 9.99578409e-01 -2.90330471e-02 -2.94461670e-04 1.20332888e+02] [ 2.90330395e-02 9.99578452e-01 -2.98945097e-05 1.25175510e+01] [ 2.95205469e-04 2.13327891e-05 9.99999956e-01 -3.10642464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671400513 meters 0.07493866467122182 Centerline is valid? [True, True] Translation: X:120.36, Y:12.53, Z:-0.31 [[ 9.99627715e-01 -2.72787500e-02 5.48699973e-04 1.20360537e+02] [ 2.72787236e-02 9.99627865e-01 5.56026348e-05 1.25299520e+01] [-5.50012553e-04 -4.06140999e-05 9.99999848e-01 -3.10640372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70140051299998 meters 0.07811464996047358 Centerline is valid? [True, True] Translation: X:120.39, Y:12.54, Z:-0.31 [[ 9.99657470e-01 -2.61585857e-02 8.19415915e-04 1.20388435e+02] [ 2.61585264e-02 9.99657804e-01 8.30662696e-05 1.25392935e+01] [-8.21308410e-04 -6.16031040e-05 9.99999661e-01 -3.11263435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73140051299998 meters 0.07146367434321933 Centerline is valid? [True, True] Translation: X:120.42, Y:12.54, Z:-0.31 [[ 9.99672215e-01 -2.55991988e-02 3.78687009e-04 1.20418043e+02] [ 2.55991862e-02 9.99672286e-01 3.79206623e-05 1.25362777e+01] [-3.79533647e-04 -2.82141532e-05 9.99999928e-01 -3.12259895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76140051299998 meters 0.07086593370276338 Centerline is valid? [True, True] Translation: X:120.45, Y:12.54, Z:-0.31 [[ 9.99669866e-01 -2.56932228e-02 -1.31073943e-04 1.20446787e+02] [ 2.56932212e-02 9.99669875e-01 -1.39381774e-05 1.25403686e+01] [ 1.31388789e-04 1.05658642e-05 9.99999991e-01 -3.13184728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79140051299999 meters 0.07014342223963431 Centerline is valid? [True, True] Translation: X:120.48, Y:12.54, Z:-0.31 [[ 9.99651939e-01 -2.63811977e-02 1.84549923e-04 1.20475248e+02] [ 2.63811947e-02 9.99651956e-01 1.82385375e-05 1.25435083e+01] [-1.84966846e-04 -1.33635419e-05 9.99999983e-01 -3.12987460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82140051299999 meters 0.07472658214292627 Centerline is valid? [True, True] Translation: X:120.50, Y:12.55, Z:-0.31 [[ 9.99597246e-01 -2.82956612e-02 2.16823794e-03 1.20503076e+02] [ 2.82952478e-02 9.99599585e-01 2.21136440e-04 1.25519836e+01] [-2.17362695e-03 -1.59696547e-04 9.99997625e-01 -3.09780162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85140051299999 meters 0.06846875407924768 Centerline is valid? [True, True] Translation: X:120.53, Y:12.55, Z:-0.31 [[ 9.99572784e-01 -2.91428442e-02 2.22372664e-03 1.20532425e+02] [ 2.91424113e-02 9.99575244e-01 2.26858972e-04 1.25459324e+01] [-2.22939341e-03 -1.61957298e-04 9.99997502e-01 -3.08890251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88140051299999 meters 0.07525831679968532 Centerline is valid? [True, True] Translation: X:120.56, Y:12.56, Z:-0.31 [[ 9.99549527e-01 -2.99599277e-02 1.77369729e-03 1.20559791e+02] [ 2.99596538e-02 9.99551092e-01 1.80785618e-04 1.25572843e+01] [-1.77831739e-03 -1.27564822e-04 9.99998411e-01 -3.09436178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91140051299999 meters 0.06559382116613435 Centerline is valid? [True, True] Translation: X:120.59, Y:12.55, Z:-0.31 [[ 9.99530022e-01 -3.06466401e-02 7.19606083e-04 1.20590214e+02] [ 3.06465953e-02 9.99530280e-01 7.31451122e-05 1.25480679e+01] [-7.21509722e-04 -5.10572592e-05 9.99999738e-01 -3.10569569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94140051299999 meters 0.06744812672506392 Centerline is valid? [True, True] Translation: X:120.62, Y:12.55, Z:-0.31 [[ 9.99514308e-01 -3.11632285e-02 2.23223642e-05 1.20617767e+02] [ 3.11632285e-02 9.99514309e-01 1.98228780e-06 1.25533181e+01] [-2.23732969e-05 -1.28568808e-06 1.00000000e+00 -3.12218561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97140051299999 meters 0.06749217516774164 Centerline is valid? [True, True] Translation: X:120.65, Y:12.56, Z:-0.31 [[ 9.99501050e-01 -3.15848351e-02 -2.22750604e-04 1.20646216e+02] [ 3.15848306e-02 9.99501074e-01 -2.34522013e-05 1.25571129e+01] [ 2.23380202e-04 1.64049597e-05 9.99999975e-01 -3.13472953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001400513 meters 0.06713557608562219 Centerline is valid? [True, True] Translation: X:120.68, Y:12.56, Z:-0.31 [[ 9.99526249e-01 -3.07754717e-02 -3.85158442e-04 1.20675466e+02] [ 3.07754587e-02 9.99526323e-01 -3.96329372e-05 1.25601083e+01] [ 3.86195724e-04 2.77607333e-05 9.99999925e-01 -3.14531451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031400513 meters 0.07205927694014677 Centerline is valid? [True, True] Translation: X:120.70, Y:12.57, Z:-0.31 [[ 9.99538982e-01 -3.03613697e-02 -9.87230113e-05 1.20702444e+02] [ 3.03613688e-02 9.99538987e-01 -1.03524529e-05 1.25661332e+01] [ 9.89918134e-05 7.35031449e-06 9.99999995e-01 -3.14282892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061400513 meters 0.07205568003961985 Centerline is valid? [True, True] Translation: X:120.73, Y:12.57, Z:-0.31 [[ 9.99561058e-01 -2.96217659e-02 4.91464550e-04 1.20730688e+02] [ 2.96217447e-02 9.99561179e-01 5.03858962e-05 1.25717645e+01] [-4.92741404e-04 -3.58057423e-05 9.99999878e-01 -3.13170328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09140051299998 meters 0.07170734639303462 Centerline is valid? [True, True] Translation: X:120.76, Y:12.57, Z:-0.31 [[ 9.99586601e-01 -2.87366828e-02 9.10752661e-04 1.20760424e+02] [ 2.87366094e-02 9.99587014e-01 9.35407479e-05 1.25749465e+01] [-9.13064583e-04 -6.73301348e-05 9.99999581e-01 -3.12236781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12140051299998 meters 0.07726125482695896 Centerline is valid? [True, True] Translation: X:120.79, Y:12.58, Z:-0.31 [[ 9.99612098e-01 -2.78345693e-02 9.43245661e-04 1.20788333e+02] [ 2.78344902e-02 9.99612541e-01 9.68726072e-05 1.25848059e+01] [-9.45576599e-04 -7.05802680e-05 9.99999550e-01 -3.11914980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15140051299998 meters 0.08045438058717203 Centerline is valid? [True, True] Translation: X:120.82, Y:12.59, Z:-0.31 [[ 9.99639235e-01 -2.68379161e-02 1.06132336e-03 1.20815800e+02] [ 2.68378154e-02 9.99639795e-01 1.09014697e-04 1.25912728e+01] [-1.06386679e-03 -8.04917684e-05 9.99999431e-01 -3.11764318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18140051299999 meters 0.08252478648731758 Centerline is valid? [True, True] Translation: X:120.85, Y:12.59, Z:-0.31 [[ 9.99667584e-01 -2.57220918e-02 1.75932053e-03 1.20845214e+02] [ 2.57218129e-02 9.99669123e-01 1.80960713e-04 1.25947686e+01] [-1.76339310e-03 -1.35647645e-04 9.99998436e-01 -3.10524076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21140051299999 meters 0.07816663971188326 Centerline is valid? [True, True] Translation: X:120.87, Y:12.59, Z:-0.31 [[ 9.99662623e-01 -2.58517651e-02 2.51529156e-03 1.20874598e+02] [ 2.58511956e-02 9.99665769e-01 2.58662195e-04 1.25919706e+01] [-2.52113775e-03 -1.93551634e-04 9.99996803e-01 -3.09169421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24140051299999 meters 0.07610053550047938 Centerline is valid? [True, True] Translation: X:120.90, Y:12.59, Z:-0.31 [[ 9.99645008e-01 -2.64996665e-02 2.76145631e-03 1.20903242e+02] [ 2.64989812e-02 9.99648800e-01 2.84469758e-04 1.25925916e+01] [-2.76802484e-03 -2.11192994e-04 9.99996147e-01 -3.08823600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27140051299999 meters 0.07211747909262914 Centerline is valid? [True, True] Translation: X:120.93, Y:12.59, Z:-0.31 [[ 9.99624013e-01 -2.73028833e-02 2.52692326e-03 1.20932477e+02] [ 2.73023111e-02 9.99627188e-01 2.60664273e-04 1.25910335e+01] [-2.53309808e-03 -1.91575422e-04 9.99996773e-01 -3.09266832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30140051299999 meters 0.07053533508174525 Centerline is valid? [True, True] Translation: X:120.96, Y:12.59, Z:-0.31 [[ 9.99604000e-01 -2.80919539e-02 1.63898705e-03 1.20961206e+02] [ 2.80917137e-02 9.99605336e-01 1.69347413e-04 1.25922028e+01] [-1.64309750e-03 -1.23238397e-04 9.99998643e-01 -3.10782801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33140051299999 meters 0.07473716260369996 Centerline is valid? [True, True] Translation: X:120.99, Y:12.60, Z:-0.31 [[ 9.99588228e-01 -2.86684792e-02 1.22216764e-03 1.20988688e+02] [ 2.86683461e-02 9.99588971e-01 1.26267090e-04 1.26005839e+01] [-1.22528518e-03 -9.11775716e-05 9.99999245e-01 -3.11802574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36140051299999 meters 0.06817233918696099 Centerline is valid? [True, True] Translation: X:121.02, Y:12.60, Z:-0.31 [[ 9.99559001e-01 -2.96461270e-02 1.70598705e-03 1.21017829e+02] [ 2.96458688e-02 9.99560449e-01 1.76454409e-04 1.25961317e+01] [-1.71046837e-03 -1.25801125e-04 9.99998529e-01 -3.10828088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391400513 meters 0.0689433666153145 Centerline is valid? [True, True] Translation: X:121.05, Y:12.60, Z:-0.31 [[ 9.99542294e-01 -3.01716065e-02 2.20818330e-03 1.21046569e+02] [ 3.01711752e-02 9.99544720e-01 2.28389719e-04 1.25996697e+01] [-2.21406885e-03 -1.61661698e-04 9.99997536e-01 -3.09864481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421400513 meters 0.07440293869470764 Centerline is valid? [True, True] Translation: X:121.07, Y:12.61, Z:-0.31 [[ 9.99537822e-01 -3.03210608e-02 2.18542336e-03 1.21073536e+02] [ 3.03206376e-02 9.99540198e-01 2.26538633e-04 1.26090511e+01] [-2.19128739e-03 -1.60170502e-04 9.99997586e-01 -3.09646012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45140051299998 meters 0.07708716720812757 Centerline is valid? [True, True] Translation: X:121.10, Y:12.62, Z:-0.31 [[ 9.99551213e-01 -2.99077917e-02 1.70202473e-03 1.21101126e+02] [ 2.99075344e-02 9.99552654e-01 1.76434377e-04 1.26161615e+01] [-1.70654010e-03 -1.25451832e-04 9.99998536e-01 -3.10319696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48140051299998 meters 0.06956960830899445 Centerline is valid? [True, True] Translation: X:121.13, Y:12.61, Z:-0.31 [[ 9.99564301e-01 -2.95004323e-02 9.65851021e-04 1.21129954e+02] [ 2.95003492e-02 9.99564765e-01 1.00139989e-04 1.26122924e+01] [-9.68384822e-04 -7.16034152e-05 9.99999529e-01 -3.10846200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51140051299998 meters 0.06898188690550285 Centerline is valid? [True, True] Translation: X:121.16, Y:12.62, Z:-0.31 [[ 9.99580803e-01 -2.89436000e-02 6.96734589e-04 1.21157878e+02] [ 2.89435567e-02 9.99581045e-01 7.22190919e-05 1.26176679e+01] [-6.98532969e-04 -5.20228408e-05 9.99999755e-01 -3.11836026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54140051299999 meters 0.06940334327244635 Centerline is valid? [True, True] Translation: X:121.19, Y:12.62, Z:-0.31 [[ 9.99572649e-01 -2.92105847e-02 1.12263243e-03 1.21185448e+02] [ 2.92104725e-02 9.99573276e-01 1.16242850e-04 1.26243325e+01] [-1.12554890e-03 -8.34005494e-05 9.99999363e-01 -3.11959356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57140051299999 meters 0.07087990704690994 Centerline is valid? [True, True] Translation: X:121.21, Y:12.63, Z:-0.31 [[ 9.99525142e-01 -3.07848935e-02 1.33416405e-03 1.21213591e+02] [ 3.07847354e-02 9.99526028e-01 1.38867530e-04 1.26295394e+01] [-1.33780671e-03 -9.77297005e-05 9.99999100e-01 -3.12190171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60140051299999 meters 0.07587627071630322 Centerline is valid? [True, True] Translation: X:121.24, Y:12.64, Z:-0.31 [[ 9.99460138e-01 -3.28273847e-02 1.33967223e-03 1.21241480e+02] [ 3.28272270e-02 9.99461032e-01 1.39515584e-04 1.26397073e+01] [-1.34353012e-03 -9.54625399e-05 9.99999093e-01 -3.12473482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63140051299999 meters 0.07540380599490698 Centerline is valid? [True, True] Translation: X:121.27, Y:12.64, Z:-0.31 [[ 9.99395795e-01 -3.47348960e-02 1.23781958e-03 1.21270489e+02] [ 3.47347628e-02 9.99396558e-01 1.28932029e-04 1.26443122e+01] [-1.24155107e-03 -8.58587585e-05 9.99999226e-01 -3.12788068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66140051299999 meters 0.07540380599490698 Centerline is valid? [True, True] Translation: X:121.30, Y:12.65, Z:-0.31 [[ 9.99389641e-01 -3.49114995e-02 1.23785468e-03 1.21297893e+02] [ 3.49113668e-02 9.99390404e-01 1.28595623e-04 1.26473250e+01] [-1.24158956e-03 -8.53019347e-05 9.99999226e-01 -3.12887507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69140051299999 meters 0.06776928120283038 Centerline is valid? [True, True] Translation: X:121.33, Y:12.64, Z:-0.31 [[ 9.99345013e-01 -3.61762568e-02 9.07874852e-04 1.21328350e+02] [ 3.61761856e-02 9.99345423e-01 9.47233905e-05 1.26430474e+01] [-9.10707316e-04 -6.18178987e-05 9.99999583e-01 -3.12971957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72140051299999 meters 0.06547327315307955 Centerline is valid? [True, True] Translation: X:121.36, Y:12.64, Z:-0.31 [[ 9.99314719e-01 -3.70088109e-02 6.63915422e-04 1.21356962e+02] [ 3.70087733e-02 9.99314938e-01 6.88477661e-05 1.26430586e+01] [-6.66008573e-04 -4.42298906e-05 9.99999777e-01 -3.13198287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751400513 meters 0.07083372108421858 Centerline is valid? [True, True] Translation: X:121.38, Y:12.66, Z:-0.31 [[ 9.99346458e-01 -3.61428322e-02 5.93349272e-04 1.21384157e+02] [ 3.61428017e-02 9.99346634e-01 6.19542207e-05 1.26565485e+01] [-5.95200798e-04 -4.04684259e-05 9.99999822e-01 -3.12842373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781400513 meters 0.07155778759511328 Centerline is valid? [True, True] Translation: X:121.41, Y:12.66, Z:-0.31 [[ 9.99381600e-01 -3.51511418e-02 9.02439942e-04 1.21413682e+02] [ 3.51510709e-02 9.99382006e-01 9.43586188e-05 1.26626591e+01] [-9.05199052e-04 -6.25785372e-05 9.99999588e-01 -3.12195788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811400513 meters 0.06786427674319041 Centerline is valid? [True, True] Translation: X:121.44, Y:12.66, Z:-0.31 [[ 9.99427464e-01 -3.38173009e-02 1.06463764e-03 1.21442833e+02] [ 3.38172014e-02 9.99428029e-01 1.11325774e-04 1.26637454e+01] [-1.06779344e-03 -7.52589707e-05 9.99999427e-01 -3.12074556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84140051299998 meters 0.0747068959536793 Centerline is valid? [True, True] Translation: X:121.47, Y:12.68, Z:-0.31 [[ 9.99472221e-01 -3.24741691e-02 8.41298150e-04 1.21470197e+02] [ 3.24741065e-02 9.99472573e-01 8.79759288e-05 1.26767253e+01] [-8.43711372e-04 -6.06090913e-05 9.99999642e-01 -3.13398378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87140051299998 meters 0.06937796640181534 Centerline is valid? [True, True] Translation: X:121.50, Y:12.67, Z:-0.31 [[ 9.99510236e-01 -3.12929675e-02 1.93727618e-04 1.21500163e+02] [ 3.12929642e-02 9.99510255e-01 2.02073658e-05 1.26735380e+01] [-1.94265089e-04 -1.41351576e-05 9.99999981e-01 -3.14280153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90140051299998 meters 0.06905090468160208 Centerline is valid? [True, True] Translation: X:121.53, Y:12.68, Z:-0.31 [[ 9.99521051e-01 -3.09451420e-02 2.59177318e-04 1.21529107e+02] [ 3.09451361e-02 9.99521084e-01 2.65972096e-05 1.26760022e+01] [-2.59876248e-04 -1.85641935e-05 9.99999966e-01 -3.13714624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93140051299999 meters 0.0713610012004384 Centerline is valid? [True, True] Translation: X:121.56, Y:12.68, Z:-0.31 [[ 9.99499996e-01 -3.16088879e-02 7.97232689e-04 1.21556650e+02] [ 3.16088313e-02 9.99500313e-01 8.34725484e-05 1.26818061e+01] [-7.99472796e-04 -5.82312183e-05 9.99999679e-01 -3.11587701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96140051299999 meters 0.07529994558221535 Centerline is valid? [True, True] Translation: X:121.58, Y:12.69, Z:-0.31 [[ 9.99475977e-01 -3.23656824e-02 4.83862034e-04 1.21584207e+02] [ 3.23656617e-02 9.99476093e-01 5.06104753e-05 1.26890189e+01] [-4.85246578e-04 -3.49234394e-05 9.99999882e-01 -3.11773816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99140051299999 meters 0.06966783154284592 Centerline is valid? [True, True] Translation: X:121.61, Y:12.68, Z:-0.31 [[ 9.99449710e-01 -3.31703815e-02 5.03506696e-05 1.21614313e+02] [ 3.31703813e-02 9.99449711e-01 4.75182478e-06 1.26836981e+01] [-5.04805820e-05 -3.07905899e-06 9.99999999e-01 -3.12281912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02140051299999 meters 0.06735003448977162 Centerline is valid? [True, True] Translation: X:121.64, Y:12.68, Z:-0.31 [[ 9.99427535e-01 -3.38318495e-02 -9.03007246e-05 1.21643129e+02] [ 3.38318487e-02 9.99427539e-01 -1.01031342e-05 1.26817750e+01] [ 9.05908386e-05 7.04231007e-06 9.99999996e-01 -3.12909941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05140051299999 meters 0.06780846650538207 Centerline is valid? [True, True] Translation: X:121.67, Y:12.68, Z:-0.31 [[ 9.99419846e-01 -3.40578775e-02 -1.79899428e-04 1.21671579e+02] [ 3.40578745e-02 9.99419862e-01 -1.96574655e-05 1.26826719e+01] [ 1.80464553e-04 1.35190690e-05 9.99999984e-01 -3.13257061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08140051299999 meters 0.06990391652847906 Centerline is valid? [True, True] Translation: X:121.70, Y:12.68, Z:-0.31 [[ 9.99475207e-01 -3.23929303e-02 9.33213676e-05 1.21701251e+02] [ 3.23929296e-02 9.99475211e-01 9.80081270e-06 1.26847088e+01] [-9.35898707e-05 -6.77271681e-06 9.99999996e-01 -3.13357876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11140051299999 meters 0.08007940443680928 Centerline is valid? [True, True] Translation: X:121.73, Y:12.70, Z:-0.31 [[ 9.99534691e-01 -3.04996160e-02 4.18403465e-04 1.21728819e+02] [ 3.04996002e-02 9.99534778e-01 4.41224249e-05 1.27003096e+01] [-4.19554531e-04 -3.13407560e-05 9.99999911e-01 -3.13610553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141400513 meters 0.06778578250425142 Centerline is valid? [True, True] Translation: X:121.76, Y:12.69, Z:-0.31 [[ 9.99600930e-01 -2.82290669e-02 1.04927802e-03 1.21760017e+02] [ 2.82289661e-02 9.99601477e-01 1.10742467e-04 1.26903164e+01] [-1.05198601e-03 -8.10782394e-05 9.99999443e-01 -3.12063426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171400513 meters 0.07540163384113661 Centerline is valid? [True, True] Translation: X:121.79, Y:12.70, Z:-0.31 [[ 9.99672408e-01 -2.55147007e-02 2.01887554e-03 1.21788486e+02] [ 2.55143220e-02 9.99674434e-01 2.13089920e-04 1.27049942e+01] [-2.02365519e-03 -1.61509873e-04 9.99997939e-01 -3.11571990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20140051299998 meters 0.08424040088919238 Centerline is valid? [True, True] Translation: X:121.82, Y:12.72, Z:-0.31 [[ 9.99730671e-01 -2.30924818e-02 2.30712745e-03 1.21816487e+02] [ 2.30919808e-02 9.99733315e-01 2.43549564e-04 1.27204840e+01] [-2.31213634e-03 -1.90207826e-04 9.99997309e-01 -3.11208763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23140051299998 meters 0.08589286798956379 Centerline is valid? [True, True] Translation: X:121.85, Y:12.73, Z:-0.31 [[ 9.99773450e-01 -2.11022969e-02 2.78228142e-03 1.21846512e+02] [ 2.11015605e-02 9.99777294e-01 2.93758385e-04 1.27268162e+01] [-2.78786076e-03 -2.34981355e-04 9.99996086e-01 -3.10491983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26140051299998 meters 0.07962136271270492 Centerline is valid? [True, True] Translation: X:121.88, Y:12.72, Z:-0.31 [[ 9.99796254e-01 -2.01286568e-02 1.51273466e-03 1.21877144e+02] [ 2.01284380e-02 9.99797390e-01 1.59698563e-04 1.27236290e+01] [-1.51564268e-03 -1.29217039e-04 9.99998843e-01 -3.12002747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29140051299999 meters 0.08435490375179655 Centerline is valid? [True, True] Translation: X:121.91, Y:12.73, Z:-0.31 [[ 9.99765308e-01 -2.16612555e-02 3.44335747e-04 1.21905290e+02] [ 2.16612443e-02 9.99765367e-01 3.62856270e-05 1.27336163e+01] [-3.45040947e-04 -2.88183703e-05 9.99999940e-01 -3.14298867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32140051299999 meters 0.08448407258917914 Centerline is valid? [True, True] Translation: X:121.93, Y:12.74, Z:-0.32 [[ 9.99709218e-01 -2.41138727e-02 3.09136707e-05 1.21934655e+02] [ 2.41138727e-02 9.99709218e-01 3.21814341e-06 1.27378781e+01] [-3.09822834e-05 -2.47175931e-06 1.00000000e+00 -3.15178622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35140051299999 meters 0.08232027503297497 Centerline is valid? [True, True] Translation: X:121.97, Y:12.74, Z:-0.31 [[ 9.99632279e-01 -2.71055152e-02 7.73378762e-04 1.21965079e+02] [ 2.71054601e-02 9.99632576e-01 8.16249457e-05 1.27385829e+01] [-7.75307091e-04 -6.06321432e-05 9.99999698e-01 -3.14034073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38140051299999 meters 0.07266936374626642 Centerline is valid? [True, True] Translation: X:122.00, Y:12.73, Z:-0.31 [[ 9.99532695e-01 -3.05194703e-02 1.71837039e-03 1.21996692e+02] [ 3.05192031e-02 9.99534164e-01 1.81513585e-04 1.27290439e+01] [-1.72310961e-03 -1.28985468e-04 9.99998507e-01 -3.12047078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41140051299999 meters 0.06664057929524637 Centerline is valid? [True, True] Translation: X:122.03, Y:12.72, Z:-0.31 [[ 9.99425346e-01 -3.38367031e-02 2.01360327e-03 1.22027648e+02] [ 3.38363427e-02 9.99427364e-01 2.12793871e-04 1.27234002e+01] [-2.01965046e-03 -1.44538618e-04 9.99997950e-01 -3.11161594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44140051299999 meters 0.07441492041264605 Centerline is valid? [True, True] Translation: X:122.06, Y:12.73, Z:-0.31 [[ 9.99246038e-01 -3.88122180e-02 9.83941250e-04 1.22056072e+02] [ 3.88121344e-02 9.99246520e-01 1.03956338e-04 1.27300609e+01] [-9.87234646e-04 -6.56890985e-05 9.99999511e-01 -3.13847917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47140051299999 meters 0.07147300947901417 Centerline is valid? [True, True] Translation: X:122.09, Y:12.73, Z:-0.32 [[ 9.99179450e-01 -4.04963284e-02 6.88848235e-04 1.22085548e+02] [ 4.04962878e-02 9.99179686e-01 7.27493759e-05 1.27308821e+01] [-6.91229246e-04 -4.47938850e-05 9.99999760e-01 -3.15045933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501400513 meters 0.06430130985036757 Centerline is valid? [True, True] Translation: X:122.12, Y:12.72, Z:-0.32 [[ 9.99142328e-01 -4.14050075e-02 4.84182826e-04 1.22115254e+02] [ 4.14049876e-02 9.99142444e-01 5.10470717e-05 1.27214791e+01] [-4.85881217e-04 -3.09557061e-05 9.99999881e-01 -3.15579076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531400513 meters 0.0715915806298019 Centerline is valid? [True, True] Translation: X:122.14, Y:12.73, Z:-0.32 [[ 9.99144606e-01 -4.13479667e-02 6.33520341e-04 1.22142621e+02] [ 4.13479326e-02 9.99144806e-01 6.68383519e-05 1.27288913e+01] [-6.35742188e-04 -4.05864224e-05 9.99999797e-01 -3.15655671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561400513 meters 0.0711976960238871 Centerline is valid? [True, True] Translation: X:122.17, Y:12.73, Z:-0.31 [[ 9.99168776e-01 -4.07555054e-02 8.64199007e-04 1.22172084e+02] [ 4.07554418e-02 9.99169148e-01 9.10343118e-05 1.27279086e+01] [-8.67191135e-04 -5.57378295e-05 9.99999622e-01 -3.14388639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59140051299998 meters 0.07075975709354078 Centerline is valid? [True, True] Translation: X:122.20, Y:12.73, Z:-0.31 [[ 9.99298232e-01 -3.74346150e-02 1.30115667e-03 1.22202608e+02] [ 3.74344671e-02 9.99299075e-01 1.37893236e-04 1.27281944e+01] [-1.30540664e-03 -8.90883603e-05 9.99999144e-01 -3.13118806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62140051299998 meters 0.06710649291499506 Centerline is valid? [True, True] Translation: X:122.23, Y:12.73, Z:-0.31 [[ 9.99384795e-01 -3.50316645e-02 1.67777959e-03 1.22233088e+02] [ 3.50314151e-02 9.99386196e-01 1.77817332e-04 1.27270977e+01] [-1.68297900e-03 -1.18932945e-04 9.99998577e-01 -3.12688891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65140051299998 meters 0.07832010494680003 Centerline is valid? [True, True] Translation: X:122.26, Y:12.74, Z:-0.31 [[ 9.99479476e-01 -3.21889458e-02 2.15611849e-03 1.22261227e+02] [ 3.21885273e-02 9.99481789e-01 2.28518148e-04 1.27433498e+01] [-2.16235693e-03 -1.58996920e-04 9.99997649e-01 -3.12644828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68140051299999 meters 0.07030357555356084 Centerline is valid? [True, True] Translation: X:122.29, Y:12.74, Z:-0.31 [[ 9.99557711e-01 -2.96609567e-02 2.14705591e-03 1.22292726e+02] [ 2.96605358e-02 9.99560004e-01 2.27598946e-04 1.27363272e+01] [-2.15286202e-03 -1.63815453e-04 9.99997669e-01 -3.12433887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71140051299999 meters 0.07420158109490149 Centerline is valid? [True, True] Translation: X:122.32, Y:12.74, Z:-0.31 [[ 9.99631859e-01 -2.70720987e-02 1.80227745e-03 1.22321423e+02] [ 2.70717980e-02 9.99633473e-01 1.91031715e-04 1.27440228e+01] [-1.80678849e-03 -1.42170498e-04 9.99998358e-01 -3.13340716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74140051299999 meters 0.08167439274691049 Centerline is valid? [True, True] Translation: X:122.35, Y:12.76, Z:-0.31 [[ 9.99699691e-01 -2.44530885e-02 1.60439452e-03 1.22349300e+02] [ 2.44528467e-02 9.99700970e-01 1.70149863e-04 1.27570831e+01] [-1.60807545e-03 -1.30866752e-04 9.99998698e-01 -3.14337446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77140051299999 meters 0.08549521851656176 Centerline is valid? [True, True] Translation: X:122.38, Y:12.77, Z:-0.31 [[ 9.99789033e-01 -2.04916853e-02 1.40696810e-03 1.22379238e+02] [ 2.04914955e-02 9.99790016e-01 1.49119073e-04 1.27653874e+01] [-1.40972836e-03 -1.20256733e-04 9.99998999e-01 -3.14820494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80140051299999 meters 0.08093517424481929 Centerline is valid? [True, True] Translation: X:122.41, Y:12.76, Z:-0.31 [[ 9.99805866e-01 -1.96676154e-02 1.18921087e-03 1.22409326e+02] [ 1.96674794e-02 9.99806568e-01 1.25994841e-04 1.27623029e+01] [-1.19145886e-03 -1.02581601e-04 9.99999285e-01 -3.14660439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83140051299999 meters 0.09575774083046495 Centerline is valid? [True, True] Translation: X:122.44, Y:12.78, Z:-0.32 [[ 9.99812422e-01 -1.93491027e-02 8.55815248e-04 1.22436290e+02] [ 1.93490321e-02 9.99812786e-01 9.06688743e-05 1.27831292e+01] [-8.57409388e-04 -7.40926702e-05 9.99999630e-01 -3.15727819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86140051299999 meters 0.07584638288933572 Centerline is valid? [True, True] Translation: X:122.47, Y:12.76, Z:-0.32 [[ 9.99806106e-01 -1.96757846e-02 7.83862722e-04 1.22467832e+02] [ 1.96757258e-02 9.99806411e-01 8.26564727e-05 1.27631110e+01] [-7.85337305e-04 -6.72173781e-05 9.99999689e-01 -3.15392911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891400513 meters 0.08495270432491836 Centerline is valid? [True, True] Translation: X:122.50, Y:12.78, Z:-0.32 [[ 9.99797363e-01 -2.00916264e-02 1.24883349e-03 1.22495347e+02] [ 2.00914764e-02 9.99798137e-01 1.32547656e-04 1.27790558e+01] [-1.25124449e-03 -1.07429888e-04 9.99999211e-01 -3.16051502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921400513 meters 0.08936027722047472 Centerline is valid? [True, True] Translation: X:122.52, Y:12.79, Z:-0.32 [[ 9.99789936e-01 -2.04053044e-02 1.92561043e-03 1.22523566e+02] [ 2.04049480e-02 9.99791776e-01 2.04547183e-04 1.27892502e+01] [-1.92938332e-03 -1.65212234e-04 9.99998125e-01 -3.15862054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95140051299998 meters 0.08702095111291971 Centerline is valid? [True, True] Translation: X:122.55, Y:12.79, Z:-0.32 [[ 9.99788110e-01 -2.05312224e-02 1.48426831e-03 1.22552949e+02] [ 2.05310107e-02 9.99789204e-01 1.57680915e-04 1.27909051e+01] [-1.48719282e-03 -1.27173975e-04 9.99998886e-01 -3.17012896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98140051299998 meters 0.08494662935460588 Centerline is valid? [True, True] Translation: X:122.58, Y:12.79, Z:-0.32 [[ 9.99790382e-01 -2.04596760e-02 7.71036627e-04 1.22582396e+02] [ 2.04596189e-02 9.99790677e-01 8.18889053e-05 1.27919741e+01] [-7.72550652e-04 -6.60966243e-05 9.99999699e-01 -3.18259201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01140051299998 meters 0.08045109912592992 Centerline is valid? [True, True] Translation: X:122.61, Y:12.79, Z:-0.32 [[ 9.99794336e-01 -2.02788516e-02 2.33854177e-04 1.22611621e+02] [ 2.02788464e-02 9.99794363e-01 2.43147814e-05 1.27881375e+01] [-2.34299164e-04 -1.95674877e-05 9.99999972e-01 -3.19350960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04140051299999 meters 0.07825661024018514 Centerline is valid? [True, True] Translation: X:122.64, Y:12.79, Z:-0.32 [[ 9.99786873e-01 -2.06417436e-02 3.56202518e-04 1.22640642e+02] [ 2.06417316e-02 9.99786936e-01 3.73974804e-05 1.27906890e+01] [-3.56898573e-04 -3.00368732e-05 9.99999936e-01 -3.18609924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071400513 meters 0.07820257589013471 Centerline is valid? [True, True] Translation: X:122.67, Y:12.80, Z:-0.32 [[ 9.99778986e-01 -2.10079526e-02 8.03746705e-04 1.22668973e+02] [ 2.10078908e-02 9.99779306e-01 8.52531541e-05 1.27956435e+01] [-8.05360317e-04 -6.83492889e-05 9.99999673e-01 -3.17477485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101400513 meters 0.08302879375613077 Centerline is valid? [True, True] Translation: X:122.70, Y:12.81, Z:-0.32 [[ 9.99774188e-01 -2.12239322e-02 1.05707488e-03 1.22696755e+02] [ 2.12238247e-02 9.99774743e-01 1.12792441e-04 1.28071731e+01] [-1.05923067e-03 -9.03317988e-05 9.99999435e-01 -3.17936033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131400513 meters 0.08010647837412092 Centerline is valid? [True, True] Translation: X:122.73, Y:12.81, Z:-0.32 [[ 9.99774278e-01 -2.12139409e-02 1.16706915e-03 1.22725467e+02] [ 2.12138101e-02 9.99774954e-01 1.24302382e-04 1.28094734e+01] [-1.16944345e-03 -9.95163412e-05 9.99999311e-01 -3.18003515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161400513 meters 0.08457994770647474 Centerline is valid? [True, True] Translation: X:122.75, Y:12.82, Z:-0.32 [[ 9.99779168e-01 -2.09702719e-02 1.36463032e-03 1.22753462e+02] [ 2.09700920e-02 9.99780093e-01 1.45972555e-04 1.28201835e+01] [-1.36739131e-03 -1.17323896e-04 9.99999058e-01 -3.18427964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191400513 meters 0.08760454317236938 Centerline is valid? [True, True] Translation: X:122.78, Y:12.83, Z:-0.32 [[ 9.99793763e-01 -2.02917742e-02 8.21560850e-04 1.22782752e+02] [ 2.02917088e-02 9.99794098e-01 8.78682066e-05 1.28263065e+01] [-8.23174691e-04 -7.11792113e-05 9.99999659e-01 -3.20177220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221400513 meters 0.08370429384352777 Centerline is valid? [True, True] Translation: X:122.81, Y:12.83, Z:-0.32 [[ 9.99816694e-01 -1.91446907e-02 -2.42153209e-04 1.22812831e+02] [ 1.91446850e-02 9.99816723e-01 -2.59229591e-05 1.28306714e+01] [ 2.42605115e-04 2.12822604e-05 9.99999970e-01 -3.20979956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251400513 meters 0.089525842428953 Centerline is valid? [True, True] Translation: X:122.84, Y:12.84, Z:-0.32 [[ 9.99828710e-01 -1.85032520e-02 -4.23751047e-04 1.22840070e+02] [ 1.85032343e-02 9.99828799e-01 -4.55010538e-05 1.28441221e+01] [ 4.24520418e-04 3.76524950e-05 9.99999909e-01 -3.21140221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281400513 meters 0.08604895483553525 Centerline is valid? [True, True] Translation: X:122.87, Y:12.85, Z:-0.32 [[ 9.99834668e-01 -1.81797625e-02 -3.64971310e-04 1.22868798e+02] [ 1.81797492e-02 9.99834734e-01 -3.97178905e-05 1.28466668e+01] [ 3.65633055e-04 3.30762370e-05 9.99999933e-01 -3.20744851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311400513 meters 0.09044767102534085 Centerline is valid? [True, True] Translation: X:122.90, Y:12.86, Z:-0.32 [[ 9.99836378e-01 -1.80864068e-02 -3.15843774e-04 1.22896703e+02] [ 1.80863970e-02 9.99836427e-01 -3.40069214e-05 1.28578077e+01] [ 3.16407173e-04 2.82888813e-05 9.99999950e-01 -3.20790215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341400513 meters 0.08736318402069916 Centerline is valid? [True, True] Translation: X:122.93, Y:12.86, Z:-0.32 [[ 9.99824431e-01 -1.87350011e-02 -3.25486868e-04 1.22925422e+02] [ 1.87349907e-02 9.99824484e-01 -3.50975237e-05 1.28594475e+01] [ 3.26087292e-04 2.89933682e-05 9.99999946e-01 -3.20730202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371400513 meters 0.08135754254255569 Centerline is valid? [True, True] Translation: X:122.96, Y:12.86, Z:-0.32 [[ 9.99796378e-01 -2.01792552e-02 3.02310418e-05 1.22955682e+02] [ 2.01792551e-02 9.99796378e-01 3.14750431e-06 1.28577344e+01] [-3.02884004e-05 -2.53682350e-06 1.00000000e+00 -3.20284536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401400513 meters 0.08516000898661964 Centerline is valid? [True, True] Translation: X:122.98, Y:12.87, Z:-0.32 [[ 9.99676335e-01 -2.54320291e-02 -6.61343460e-04 1.22983751e+02] [ 2.54319877e-02 9.99676552e-01 -7.10611009e-05 1.28695734e+01] [ 6.62936778e-04 5.42188222e-05 9.99999779e-01 -3.22895563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431400513 meters 0.07309322463507825 Centerline is valid? [True, True] Translation: X:123.02, Y:12.86, Z:-0.32 [[ 9.99570820e-01 -2.92627362e-02 -1.36655790e-03 1.23015126e+02] [ 2.92625627e-02 9.99571749e-01 -1.46768021e-04 1.28590906e+01] [ 1.37026751e-03 1.06716045e-04 9.99999055e-01 -3.23766893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461400513 meters 0.07986817099605321 Centerline is valid? [True, True] Translation: X:123.04, Y:12.87, Z:-0.33 [[ 9.99454391e-01 -3.29765612e-02 -1.86211876e-03 1.23043849e+02] [ 3.29762454e-02 9.99456116e-01 -2.00057739e-04 1.28670335e+01] [ 1.86770320e-03 1.38542900e-04 9.99998246e-01 -3.25800764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491400513 meters 0.07611636880006145 Centerline is valid? [True, True] Translation: X:123.07, Y:12.87, Z:-0.33 [[ 9.99334284e-01 -3.64478817e-02 -1.59370705e-03 1.23072810e+02] [ 3.64476546e-02 9.99335549e-01 -1.71314687e-04 1.28678456e+01] [ 1.59889217e-03 1.13113756e-04 9.99998715e-01 -3.25266189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52140051299997 meters 0.0711144119127484 Centerline is valid? [True, True] Translation: X:123.10, Y:12.87, Z:-0.32 [[ 9.99214106e-01 -3.96278128e-02 -8.98418507e-04 1.23103160e+02] [ 3.96277418e-02 9.99214508e-01 -9.66051054e-05 1.28669287e+01] [ 9.01541056e-04 6.09268874e-05 9.99999592e-01 -3.23566325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55140051299998 meters 0.0711144119127484 Centerline is valid? [True, True] Translation: X:123.13, Y:12.87, Z:-0.32 [[ 9.99206977e-01 -3.98071635e-02 -8.98339627e-04 1.23130548e+02] [ 3.98070920e-02 9.99207379e-01 -9.73385554e-05 1.28700242e+01] [ 9.01502356e-04 6.15010755e-05 9.99999592e-01 -3.23665741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58140051299998 meters 0.06591963476876002 Centerline is valid? [True, True] Translation: X:123.16, Y:12.87, Z:-0.32 [[ 9.99112709e-01 -4.21094731e-02 -7.66106500e-04 1.23161564e+02] [ 4.21094222e-02 9.99113001e-01 -8.24715269e-05 1.28667641e+01] [ 7.68899797e-04 5.01380487e-05 9.99999703e-01 -3.23498274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61140051299998 meters 0.06807478790344902 Centerline is valid? [True, True] Translation: X:123.19, Y:12.87, Z:-0.32 [[ 9.99060266e-01 -4.33423451e-02 1.58729251e-04 1.23189813e+02] [ 4.33423429e-02 9.99060279e-01 1.70054689e-05 1.28744273e+01] [-1.59317147e-04 -1.01097907e-05 9.99999987e-01 -3.21949499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64140051299998 meters 0.06697141323542231 Centerline is valid? [True, True] Translation: X:123.22, Y:12.88, Z:-0.32 [[ 9.99118309e-01 -4.19745986e-02 8.58563701e-04 1.23219654e+02] [ 4.19745347e-02 9.99118677e-01 9.23665397e-05 1.28770890e+01] [-8.61684077e-04 -5.62472891e-05 9.99999627e-01 -3.21021390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67140051299998 meters 0.06678299160173005 Centerline is valid? [True, True] Translation: X:123.25, Y:12.88, Z:-0.32 [[ 9.99207593e-01 -3.97737375e-02 1.49560280e-03 1.23250381e+02] [ 3.97735408e-02 9.99208707e-01 1.61044648e-04 1.28780036e+01] [-1.50082469e-03 -1.01431616e-04 9.99998869e-01 -3.21270723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70140051299998 meters 0.07159622695860933 Centerline is valid? [True, True] Translation: X:123.28, Y:12.89, Z:-0.32 [[ 9.99299429e-01 -3.73988773e-02 1.40514462e-03 1.23278386e+02] [ 3.73987014e-02 9.99300412e-01 1.51265723e-04 1.28916052e+01] [-1.40981876e-03 -9.86091664e-05 9.99999001e-01 -3.21217179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73140051299998 meters 0.0814907021378222 Centerline is valid? [True, True] Translation: X:123.31, Y:12.91, Z:-0.32 [[ 9.99385452e-01 -3.50395934e-02 9.72716157e-04 1.23306479e+02] [ 3.50395080e-02 9.99385922e-01 1.04720523e-04 1.29056258e+01] [-9.75788198e-04 -7.05726714e-05 9.99999521e-01 -3.22499008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76140051299998 meters 0.07360443878669674 Centerline is valid? [True, True] Translation: X:123.34, Y:12.90, Z:-0.32 [[ 9.99494958e-01 -3.17777529e-02 5.41664945e-05 1.23337440e+02] [ 3.17777526e-02 9.99494960e-01 5.81514778e-06 1.29010550e+01] [-5.43239305e-05 -4.09092142e-06 9.99999999e-01 -3.24005599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79140051299999 meters 0.08137412701628124 Centerline is valid? [True, True] Translation: X:123.36, Y:12.92, Z:-0.32 [[ 9.99504103e-01 -3.14883196e-02 1.83881500e-04 1.23363621e+02] [ 3.14883165e-02 9.99504120e-01 1.96055377e-05 1.29161943e+01] [-1.84407662e-04 -1.38056965e-05 9.99999983e-01 -3.24518575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821400513 meters 0.06995460419758757 Centerline is valid? [True, True] Translation: X:123.39, Y:12.90, Z:-0.32 [[ 9.99485028e-01 -3.20885604e-02 5.43412173e-05 1.23394203e+02] [ 3.20885601e-02 9.99485030e-01 5.26572178e-06 1.29026647e+01] [-5.44822026e-05 -3.51927866e-06 9.99999999e-01 -3.24455166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851400513 meters 0.06949692681604591 Centerline is valid? [True, True] Translation: X:123.42, Y:12.91, Z:-0.32 [[ 9.99425065e-01 -3.38967413e-02 7.41560652e-04 1.23422765e+02] [ 3.38966913e-02 9.99425339e-01 7.99450166e-05 1.29052850e+01] [-7.43844381e-04 -5.47626010e-05 9.99999722e-01 -3.23847926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881400513 meters 0.06813211893797051 Centerline is valid? [True, True] Translation: X:123.45, Y:12.91, Z:-0.32 [[ 9.99352432e-01 -3.59611122e-02 1.23082431e-03 1.23452533e+02] [ 3.59609757e-02 9.99353186e-01 1.32847788e-04 1.29060406e+01] [-1.23480555e-03 -8.85001168e-05 9.99999234e-01 -3.23843706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911400513 meters 0.06434843142188121 Centerline is valid? [True, True] Translation: X:123.48, Y:12.90, Z:-0.32 [[ 9.99277577e-01 -3.79753771e-02 1.48157244e-03 1.23482494e+02] [ 3.79751815e-02 9.99278670e-01 1.59961490e-04 1.29042334e+01] [-1.48657834e-03 -1.03582948e-04 9.99998890e-01 -3.24074442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941400513 meters 0.06735318796480122 Centerline is valid? [True, True] Translation: X:123.51, Y:12.91, Z:-0.33 [[ 9.99143327e-01 -4.13793079e-02 6.04034507e-04 1.23511155e+02] [ 4.13792760e-02 9.99143509e-01 6.51647249e-05 1.29098053e+01] [-6.06213628e-04 -4.01143895e-05 9.99999815e-01 -3.26112668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971400513 meters 0.06297790598131967 Centerline is valid? [True, True] Translation: X:123.54, Y:12.91, Z:-0.33 [[ 9.99082613e-01 -4.28244305e-02 7.47481894e-06 1.23541396e+02] [ 4.28244305e-02 9.99082613e-01 7.23344329e-07 1.29068776e+01] [-7.49893846e-06 -4.02575879e-07 1.00000000e+00 -3.26560524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001400513 meters 0.06085281094498931 Centerline is valid? [True, True] Translation: X:123.57, Y:12.91, Z:-0.33 [[ 9.99026930e-01 -4.41040421e-02 -1.66106168e-04 1.23571356e+02] [ 4.41040397e-02 9.99026943e-01 -1.80414410e-05 1.29062509e+01] [ 1.66740238e-04 1.06979324e-05 9.99999986e-01 -3.26507862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031400513 meters 0.06593732767903705 Centerline is valid? [True, True] Translation: X:123.60, Y:12.91, Z:-0.33 [[ 9.98970410e-01 -4.53646018e-02 -4.15973346e-04 1.23598599e+02] [ 4.53645868e-02 9.98970496e-01 -4.52908451e-05 1.29138280e+01] [ 4.17599701e-04 2.63737552e-05 9.99999912e-01 -3.27229663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061400513 meters 0.06666393486876794 Centerline is valid? [True, True] Translation: X:123.63, Y:12.91, Z:-0.33 [[ 9.98916977e-01 -4.65209223e-02 -8.22899626e-04 1.23628231e+02] [ 4.65208642e-02 9.98917314e-01 -8.96775355e-05 1.29132616e+01] [ 8.26180566e-04 5.12984109e-05 9.99999657e-01 -3.28695578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091400513 meters 0.05925494712002754 Centerline is valid? [True, True] Translation: X:123.66, Y:12.91, Z:-0.33 [[ 9.98836907e-01 -4.82133461e-02 -5.53346713e-04 1.23659425e+02] [ 4.82133203e-02 9.98837060e-01 -5.99932258e-05 1.29070659e+01] [ 5.55595678e-04 3.32447658e-05 9.99999845e-01 -3.28029944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121400513 meters 0.05006647519587468 Centerline is valid? [True, True] Translation: X:123.69, Y:12.89, Z:-0.33 [[ 9.98668910e-01 -5.15764573e-02 -5.27404389e-04 1.23691097e+02] [ 5.15764343e-02 9.98669048e-01 -5.71490335e-05 1.28947838e+01] [ 5.29649984e-04 2.98713252e-05 9.99999859e-01 -3.27381177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151400513 meters 0.05902807425034863 Centerline is valid? [True, True] Translation: X:123.72, Y:12.91, Z:-0.33 [[ 9.98608237e-01 -5.27221747e-02 -1.40062337e-03 1.23718238e+02] [ 5.27220124e-02 9.98609216e-01 -1.52593227e-04 1.29077186e+01] [ 1.40672045e-03 7.85371706e-05 9.99999007e-01 -3.29223777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181400513 meters 0.05821857308796408 Centerline is valid? [True, True] Translation: X:123.75, Y:12.91, Z:-0.33 [[ 9.98562597e-01 -5.35568790e-02 -2.09758534e-03 1.23746664e+02] [ 5.35565168e-02 9.98564794e-01 -2.28523997e-04 1.29093623e+01] [ 2.10681391e-03 1.15856152e-04 9.99997774e-01 -3.30325923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211400513 meters 0.056308579943901746 Centerline is valid? [True, True] Translation: X:123.78, Y:12.91, Z:-0.33 [[ 9.98530841e-01 -5.41352429e-02 -2.35253920e-03 1.23775449e+02] [ 5.41347881e-02 9.98533604e-01 -2.56620026e-04 1.29100078e+01] [ 2.36298164e-03 1.28888799e-04 9.99997200e-01 -3.30525966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241400513 meters 0.05170581610710136 Centerline is valid? [True, True] Translation: X:123.80, Y:12.91, Z:-0.33 [[ 9.98492073e-01 -5.48693233e-02 -1.71364236e-03 1.23804532e+02] [ 5.48690823e-02 9.98493540e-01 -1.87396958e-04 1.29081323e+01] [ 1.72134317e-03 9.30883937e-05 9.99998514e-01 -3.29138576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27140051299997 meters 0.05225690153336404 Centerline is valid? [True, True] Translation: X:123.83, Y:12.91, Z:-0.33 [[ 9.98447371e-01 -5.56980248e-02 -7.60236473e-04 1.23833543e+02] [ 5.56979772e-02 9.98447659e-01 -8.36150575e-05 1.29081578e+01] [ 7.63713520e-04 4.11416005e-05 9.99999708e-01 -3.28262862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30140051299998 meters 0.05137355098012616 Centerline is valid? [True, True] Translation: X:123.86, Y:12.91, Z:-0.33 [[ 9.98313449e-01 -5.80526234e-02 3.87618899e-04 1.23862226e+02] [ 5.80526114e-02 9.98313524e-01 4.22406799e-05 1.29115805e+01] [-3.89417372e-04 -1.96671495e-05 9.99999924e-01 -3.26842401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33140051299998 meters 0.046220453775200405 Centerline is valid? [True, True] Translation: X:123.89, Y:12.91, Z:-0.33 [[ 9.98207673e-01 -5.98450476e-02 -1.05072105e-04 1.23892736e+02] [ 5.98450467e-02 9.98207679e-01 -1.15632602e-05 1.29068062e+01] [ 1.05575786e-04 5.25448999e-06 9.99999994e-01 -3.27290153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36140051299998 meters 0.04870460189386353 Centerline is valid? [True, True] Translation: X:123.92, Y:12.91, Z:-0.33 [[ 9.98075829e-01 -6.20045196e-02 -2.81957224e-04 1.23921691e+02] [ 6.20045134e-02 9.98075869e-01 -3.08897289e-05 1.29122517e+01] [ 2.83330004e-04 1.33476713e-05 9.99999960e-01 -3.27920351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39140051299998 meters 0.047846180217253044 Centerline is valid? [True, True] Translation: X:123.95, Y:12.91, Z:-0.33 [[ 9.97925125e-01 -6.43828469e-02 5.41412688e-04 1.23950682e+02] [ 6.43828243e-02 9.97925272e-01 5.90777724e-05 1.29143927e+01] [-5.44092999e-04 -2.40975154e-05 9.99999852e-01 -3.27059369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42140051299998 meters 0.04194217330153885 Centerline is valid? [True, True] Translation: X:123.98, Y:12.91, Z:-0.33 [[ 9.97772903e-01 -6.66855157e-02 1.50886239e-03 1.23980860e+02] [ 6.66853426e-02 9.97774042e-01 1.64825738e-04 1.29107393e+01] [-1.51649521e-03 -6.38396500e-05 9.99998848e-01 -3.25463051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45140051299998 meters 0.04391374043669119 Centerline is valid? [True, True] Translation: X:124.01, Y:12.91, Z:-0.33 [[ 9.97625834e-01 -6.88354652e-02 2.09149362e-03 1.24010218e+02] [ 6.88351375e-02 9.97628023e-01 2.28357903e-04 1.29114527e+01] [-2.10225177e-03 -8.38474923e-05 9.99997787e-01 -3.25209240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48140051299998 meters 0.038546327970861105 Centerline is valid? [True, True] Translation: X:124.04, Y:12.91, Z:-0.32 [[ 9.97486281e-01 -7.08200916e-02 2.37339816e-03 1.24038809e+02] [ 7.08196739e-02 9.97489101e-01 2.59711564e-04 1.29125424e+01] [-2.38583159e-03 -9.09754388e-05 9.99997150e-01 -3.24403389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51140051299998 meters 0.035352181271864715 Centerline is valid? [True, True] Translation: X:124.07, Y:12.91, Z:-0.33 [[ 9.97276365e-01 -7.37355802e-02 1.70743318e-03 1.24069223e+02] [ 7.37353680e-02 9.97277825e-01 1.86937515e-04 1.29114982e+01] [-1.71656919e-03 -6.05301520e-05 9.99998525e-01 -3.25507682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54140051299999 meters 0.03528424804811055 Centerline is valid? [True, True] Translation: X:124.10, Y:12.91, Z:-0.33 [[ 9.97192272e-01 -7.48543983e-02 2.09561679e-03 1.24096922e+02] [ 7.48540813e-02 9.97194471e-01 2.29401395e-04 1.29149786e+01] [-2.10690918e-03 -7.18918284e-05 9.99997778e-01 -3.25449941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571400513 meters 0.034019199734541594 Centerline is valid? [True, True] Translation: X:124.13, Y:12.92, Z:-0.32 [[ 9.97054131e-01 -7.66035001e-02 3.86833696e-03 1.24126315e+02] [ 7.66024314e-02 9.97061627e-01 4.23896634e-04 1.29154507e+01] [-3.88944231e-03 -1.26323874e-04 9.99992428e-01 -3.23686756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601400513 meters 0.03105918545934817 Centerline is valid? [True, True] Translation: X:124.16, Y:12.92, Z:-0.32 [[ 9.96974134e-01 -7.76494653e-02 3.62434795e-03 1.24155441e+02] [ 7.76485321e-02 9.96980716e-01 3.97696579e-04 1.29167634e+01] [-3.64428594e-03 -1.15067905e-04 9.99993353e-01 -3.23558787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631400513 meters 0.03201223070184365 Centerline is valid? [True, True] Translation: X:124.18, Y:12.92, Z:-0.33 [[ 9.96907550e-01 -7.85404112e-02 2.59614037e-03 1.24183125e+02] [ 7.85399344e-02 9.96910927e-01 2.85253005e-04 1.29218051e+01] [-2.61052459e-03 -8.04701801e-05 9.99996589e-01 -3.25460039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661400513 meters 0.03150973743291576 Centerline is valid? [True, True] Translation: X:124.21, Y:12.93, Z:-0.33 [[ 9.96863613e-01 -7.91287528e-02 1.25613356e-03 1.24212087e+02] [ 7.91286420e-02 9.96864404e-01 1.37732871e-04 1.29256083e+01] [-1.26309346e-03 -3.79047445e-05 9.99999202e-01 -3.28205659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691400513 meters 0.030918983110544015 Centerline is valid? [True, True] Translation: X:124.24, Y:12.93, Z:-0.33 [[ 9.96829574e-01 -7.95662814e-02 -7.99704734e-05 1.24239969e+02] [ 7.95662809e-02 9.96829578e-01 -9.51204019e-06 1.29290136e+01] [ 8.04737709e-05 3.11892982e-06 9.99999997e-01 -3.30853548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721400513 meters 0.030950485862872457 Centerline is valid? [True, True] Translation: X:124.27, Y:12.93, Z:-0.33 [[ 9.96779234e-01 -8.01839602e-02 -1.30011992e-03 1.24267724e+02] [ 8.01838409e-02 9.96780082e-01 -1.43720954e-04 1.29329917e+01] [ 1.30745776e-03 3.90094529e-05 9.99999145e-01 -3.33132052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751400513 meters 0.033394356625280286 Centerline is valid? [True, True] Translation: X:124.30, Y:12.94, Z:-0.33 [[ 9.96631332e-01 -8.20025829e-02 -1.25069228e-03 1.24296541e+02] [ 8.20024732e-02 9.96632116e-01 -1.38864940e-04 1.29362675e+01] [ 1.25786738e-03 3.58372901e-05 9.99999208e-01 -3.33099398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781400513 meters 0.02871600945060521 Centerline is valid? [True, True] Translation: X:124.32, Y:12.94, Z:-0.33 [[ 9.96542395e-01 -8.30769150e-02 -1.21733931e-03 1.24324380e+02] [ 8.30768120e-02 9.96543138e-01 -1.34999398e-04 1.29392698e+01] [ 1.22434647e-03 3.33999545e-05 9.99999250e-01 -3.32091769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811400513 meters 0.02636407207395009 Centerline is valid? [True, True] Translation: X:124.35, Y:12.94, Z:-0.33 [[ 9.96446404e-01 -8.42179110e-02 -1.38144439e-03 1.24353358e+02] [ 8.42177788e-02 9.96447360e-01 -1.53688254e-04 1.29390882e+01] [ 1.38947992e-03 3.67999300e-05 9.99999034e-01 -3.31446265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841400513 meters 0.028363256128102584 Centerline is valid? [True, True] Translation: X:124.38, Y:12.94, Z:-0.33 [[ 9.96342602e-01 -8.54363249e-02 -1.43293957e-03 1.24380990e+02] [ 8.54361844e-02 9.96343632e-01 -1.59085918e-04 1.29435631e+01] [ 1.44129194e-03 3.60791878e-05 9.99998961e-01 -3.32450595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871400513 meters 0.030084243880174652 Centerline is valid? [True, True] Translation: X:124.41, Y:12.94, Z:-0.33 [[ 9.96215997e-01 -8.69044479e-02 -1.14169875e-03 1.24410409e+02] [ 8.69043590e-02 9.96216651e-01 -1.27372729e-04 1.29429684e+01] [ 1.14844856e-03 2.76721523e-05 9.99999340e-01 -3.32915393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901400513 meters 0.029058475354314165 Centerline is valid? [True, True] Translation: X:124.44, Y:12.95, Z:-0.33 [[ 9.96109437e-01 -8.81228810e-02 -5.88613279e-04 1.24439093e+02] [ 8.81228573e-02 9.96109611e-01 -6.60599305e-05 1.29458055e+01] [ 5.92144736e-04 1.39326362e-05 9.99999825e-01 -3.32472587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931400513 meters 0.026879988780104943 Centerline is valid? [True, True] Translation: X:124.47, Y:12.95, Z:-0.33 [[ 9.96078315e-01 -8.84750294e-02 4.00575831e-04 1.24467728e+02] [ 8.84750189e-02 9.96078395e-01 4.40032326e-05 1.29511486e+01] [-4.02898118e-04 -8.38971155e-06 9.99999919e-01 -3.31086207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961400513 meters 0.02622816520151902 Centerline is valid? [True, True] Translation: X:124.49, Y:12.96, Z:-0.33 [[ 9.96065710e-01 -8.86169027e-02 -3.81531624e-04 1.24493896e+02] [ 8.86168927e-02 9.96065783e-01 -4.28299053e-05 1.29559493e+01] [ 3.83826050e-04 8.85125299e-06 9.99999926e-01 -3.31406039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991400513 meters 0.03144922332135101 Centerline is valid? [True, True] Translation: X:124.52, Y:12.96, Z:-0.33 [[ 9.96051944e-01 -8.87721003e-02 -1.96210168e-04 1.24521548e+02] [ 8.87720976e-02 9.96051964e-01 -2.25998178e-05 1.29583243e+01] [ 1.97441757e-04 5.09260423e-06 9.99999980e-01 -3.30749197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02140051299997 meters 0.023126903187270523 Centerline is valid? [True, True] Translation: X:124.55, Y:12.96, Z:-0.33 [[ 9.95990449e-01 -8.94580611e-02 5.30685943e-04 1.24550555e+02] [ 8.94580425e-02 9.95990590e-01 5.87350894e-05 1.29609525e+01] [-5.33812533e-04 -1.10254624e-05 9.99999857e-01 -3.27964603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05140051299998 meters 0.02831038709235273 Centerline is valid? [True, True] Translation: X:124.58, Y:12.96, Z:-0.33 [[ 9.95890696e-01 -9.05513937e-02 1.47225223e-03 1.24579289e+02] [ 9.05512497e-02 9.95891783e-01 1.64263948e-04 1.29618066e+01] [-1.48107823e-03 -3.02746585e-05 9.99998903e-01 -3.27508402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08140051299998 meters 0.022353538467314433 Centerline is valid? [True, True] Translation: X:124.61, Y:12.97, Z:-0.33 [[ 9.95684754e-01 -9.27829405e-02 1.78766843e-03 1.24607396e+02] [ 9.27827311e-02 9.95686359e-01 1.99901326e-04 1.29661940e+01] [-1.79850450e-03 -3.31739436e-05 9.99998382e-01 -3.26449906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11140051299998 meters 0.02418562699024272 Centerline is valid? [True, True] Translation: X:124.64, Y:12.96, Z:-0.33 [[ 9.95129772e-01 -9.85549795e-02 1.91124634e-03 1.24638053e+02] [ 9.85547495e-02 9.95131607e-01 2.14344152e-04 1.29587413e+01] [-1.92306632e-03 -2.49378436e-05 9.99998151e-01 -3.27787913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14140051299998 meters 0.012061162014750377 Centerline is valid? [True, True] Translation: X:124.67, Y:12.96, Z:-0.33 [[ 9.94754651e-01 -1.02272082e-01 1.89889138e-03 1.24667404e+02] [ 1.02271862e-01 9.94756463e-01 2.12751082e-04 1.29557791e+01] [-1.91069297e-03 -1.74319723e-05 9.99998174e-01 -3.26430000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17140051299998 meters 0.023151849622866483 Centerline is valid? [True, True] Translation: X:124.70, Y:12.96, Z:-0.33 [[ 9.94408752e-01 -1.05569208e-01 2.52500169e-03 1.24695411e+02] [ 1.05568828e-01 9.94411958e-01 2.83663842e-04 1.29553375e+01] [-2.54083804e-03 -1.55163378e-05 9.99996772e-01 -3.26934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20140051299998 meters 0.007945770336988522 Centerline is valid? [True, True] Translation: X:124.73, Y:12.95, Z:-0.32 [[ 9.93772330e-01 -1.11376647e-01 3.43493205e-03 1.24725479e+02] [ 1.11375977e-01 9.93778266e-01 3.86164311e-04 1.29483556e+01] [-3.45657050e-03 -1.19049249e-06 9.99994026e-01 -3.24884567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23140051299998 meters 0.027898664749212907 Centerline is valid? [True, True] Translation: X:124.75, Y:12.95, Z:-0.33 [[ 9.93488992e-01 -1.13845623e-01 4.33562809e-03 1.24753756e+02] [ 1.13844576e-01 9.93498452e-01 4.88336618e-04 1.29470708e+01] [-4.36303478e-03 8.43068919e-06 9.99990482e-01 -3.25566332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26140051299998 meters 0.008597251315588078 Centerline is valid? [True, True] Translation: X:124.78, Y:12.95, Z:-0.32 [[ 9.93284871e-01 -1.15622595e-01 4.07185397e-03 1.24782372e+02] [ 1.15621683e-01 9.93293217e-01 4.59379730e-04 1.29465278e+01] [-4.09765960e-03 1.44996741e-05 9.99991604e-01 -3.24261463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29140051299999 meters 0.008786759492322865 Centerline is valid? [True, True] Translation: X:124.81, Y:12.95, Z:-0.32 [[ 9.93227062e-01 -1.16142303e-01 3.31205229e-03 1.24810829e+02] [ 1.16141701e-01 9.93232584e-01 3.74175633e-04 1.29476787e+01] [-3.33309587e-03 1.30260210e-05 9.99994445e-01 -3.24779688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321400513 meters 0.012564413045588484 Centerline is valid? [True, True] Translation: X:124.84, Y:12.95, Z:-0.33 [[ 9.93289546e-01 -1.15628292e-01 2.44476423e-03 1.24838800e+02] [ 1.15627962e-01 9.93292554e-01 2.76486319e-04 1.29507225e+01] [-2.46033575e-03 8.05213477e-06 9.99996973e-01 -3.26555531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351400513 meters 0.026357473134733342 Centerline is valid? [True, True] Translation: X:124.87, Y:12.95, Z:-0.33 [[ 9.93420821e-01 -1.14505057e-01 1.91402185e-03 1.24866834e+02] [ 1.14504853e-01 9.93422665e-01 2.16669109e-04 1.29549668e+01] [-1.92624239e-03 3.92118479e-06 9.99998145e-01 -3.27269103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381400513 meters 0.01281331834724414 Centerline is valid? [True, True] Translation: X:124.89, Y:12.96, Z:-0.33 [[ 9.94025136e-01 -1.09127545e-01 2.28212717e-03 1.24893458e+02] [ 1.09127238e-01 9.94027756e-01 2.59137467e-04 1.29639797e+01] [-2.29677678e-03 -8.54692199e-06 9.99997362e-01 -3.26517432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411400513 meters 0.01946216795017167 Centerline is valid? [True, True] Translation: X:124.92, Y:12.97, Z:-0.33 [[ 9.94390213e-01 -1.05739708e-01 2.68678325e-03 1.24921379e+02] [ 1.05739269e-01 9.94393842e-01 3.05204311e-04 1.29719497e+01] [-2.70399293e-03 -1.93936816e-05 9.99996344e-01 -3.26135998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441400513 meters 0.013784985375731537 Centerline is valid? [True, True] Translation: X:124.95, Y:12.98, Z:-0.32 [[ 9.94750024e-01 -1.02272437e-01 3.56916650e-03 1.24949108e+02] [ 1.02271638e-01 9.94756426e-01 4.06248647e-04 1.29798281e+01] [-3.59199935e-03 -3.90913484e-05 9.99993548e-01 -3.23737525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471400513 meters 0.013784985375731537 Centerline is valid? [True, True] Translation: X:124.98, Y:12.98, Z:-0.32 [[ 9.94730522e-01 -1.02461943e-01 3.56913037e-03 1.24976433e+02] [ 1.02461143e-01 9.94736924e-01 4.06565870e-04 1.29831025e+01] [-3.59200329e-03 -3.87263028e-05 9.99993548e-01 -3.23836735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501400513 meters 0.016921380886253713 Centerline is valid? [True, True] Translation: X:125.00, Y:12.99, Z:-0.32 [[ 9.95088557e-01 -9.89097839e-02 3.95205579e-03 1.25004138e+02] [ 9.89087728e-02 9.95096403e-01 4.50973652e-04 1.29906967e+01] [-3.97728221e-03 -5.78657319e-05 9.99992089e-01 -3.22225498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531400513 meters 0.03202290199709796 Centerline is valid? [True, True] Translation: X:125.03, Y:13.00, Z:-0.32 [[ 9.95446868e-01 -9.52416921e-02 3.81494230e-03 1.25032223e+02] [ 9.52407221e-02 9.95454175e-01 4.35544595e-04 1.29990177e+01] [-3.83908225e-03 -7.02236426e-05 9.99992628e-01 -3.23255127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561400513 meters 0.030576894417917378 Centerline is valid? [True, True] Translation: X:125.06, Y:13.01, Z:-0.32 [[ 9.95731210e-01 -9.22587971e-02 2.76985883e-03 1.25061101e+02] [ 9.22582741e-02 9.95735061e-01 3.16303085e-04 1.30053268e+01] [-2.78722730e-03 -5.94104583e-05 9.99996114e-01 -3.24783590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591400513 meters 0.027619119024624605 Centerline is valid? [True, True] Translation: X:125.09, Y:13.01, Z:-0.33 [[ 9.96099500e-01 -8.82342915e-02 7.04539998e-04 1.25089712e+02] [ 8.82342568e-02 9.96099749e-01 8.03240696e-05 1.30128620e+01] [-7.08879453e-04 -1.78462024e-05 9.99999749e-01 -3.28735006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621400513 meters 0.03669535262881382 Centerline is valid? [True, True] Translation: X:125.12, Y:13.02, Z:-0.33 [[ 9.96221318e-01 -8.68483283e-02 6.73413837e-04 1.25118528e+02] [ 8.68482965e-02 9.96221545e-01 7.64602247e-05 1.30171711e+01] [-6.77509816e-04 -1.76864612e-05 9.99999770e-01 -3.30006265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651400513 meters 0.03535918784768854 Centerline is valid? [True, True] Translation: X:125.15, Y:13.02, Z:-0.33 [[ 9.96327880e-01 -8.56189025e-02 3.98324699e-04 1.25145337e+02] [ 8.56188912e-02 9.96327960e-01 4.53568465e-05 1.30240916e+01] [-4.00745438e-04 -1.10861717e-05 9.99999920e-01 -3.30738203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681400513 meters 0.03730118408466047 Centerline is valid? [True, True] Translation: X:125.17, Y:13.03, Z:-0.33 [[ 9.96433968e-01 -8.43759846e-02 -2.01102366e-04 1.25174087e+02] [ 8.43759816e-02 9.96433988e-01 -2.36510485e-05 1.30273417e+01] [ 2.02380813e-04 6.59849855e-06 9.99999979e-01 -3.31374775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711400513 meters 0.03713967081239136 Centerline is valid? [True, True] Translation: X:125.20, Y:13.03, Z:-0.33 [[ 9.96563481e-01 -8.28278334e-02 -8.82238161e-04 1.25203175e+02] [ 8.28277755e-02 9.96563871e-01 -1.01930678e-04 1.30290606e+01] [ 8.87649374e-04 2.85065668e-05 9.99999606e-01 -3.32296727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741400513 meters 0.04217840745736172 Centerline is valid? [True, True] Translation: X:125.23, Y:13.03, Z:-0.33 [[ 9.96902468e-01 -7.86273603e-02 -1.79084302e-03 1.25232807e+02] [ 7.86271174e-02 9.96904075e-01 -2.05751228e-04 1.30344028e+01] [ 1.80147638e-03 6.43050824e-05 9.99998375e-01 -3.33286934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77140051299997 meters 0.044200258217173556 Centerline is valid? [True, True] Translation: X:125.26, Y:13.05, Z:-0.33 [[ 9.97081065e-01 -7.63276447e-02 -1.85459597e-03 1.25260741e+02] [ 7.63273800e-02 9.97082788e-01 -2.13226812e-04 1.30450397e+01] [ 1.86546082e-03 7.10479658e-05 9.99998258e-01 -3.33631317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80140051299998 meters 0.04503423488881938 Centerline is valid? [True, True] Translation: X:125.29, Y:13.05, Z:-0.33 [[ 9.97283199e-01 -7.36431269e-02 -1.70636937e-03 1.25289789e+02] [ 7.36428987e-02 9.97284656e-01 -1.96250519e-04 1.30478046e+01] [ 1.71618849e-03 7.00553581e-05 9.99998525e-01 -3.33681094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83140051299998 meters 0.04353475980980087 Centerline is valid? [True, True] Translation: X:125.32, Y:13.05, Z:-0.33 [[ 9.97489756e-01 -7.07594464e-02 -2.69936833e-03 1.25320119e+02] [ 7.07588653e-02 9.97493402e-01 -3.10258392e-04 1.30511684e+01] [ 2.71455581e-03 1.18475327e-04 9.99996309e-01 -3.34182224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86140051299998 meters 0.053319295168199166 Centerline is valid? [True, True] Translation: X:125.35, Y:13.07, Z:-0.34 [[ 9.97711562e-01 -6.75286334e-02 -3.39459702e-03 1.25347703e+02] [ 6.75276955e-02 9.97717324e-01 -3.90257502e-04 1.30654822e+01] [ 3.41320181e-03 1.60135107e-04 9.99994162e-01 -3.36622609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89140051299998 meters 0.05026219367037248 Centerline is valid? [True, True] Translation: X:125.38, Y:13.06, Z:-0.33 [[ 9.98059707e-01 -6.22032060e-02 -2.75371734e-03 1.25378617e+02] [ 6.22025687e-02 9.98063495e-01 -3.16535405e-04 1.30649808e+01] [ 2.76807427e-03 1.44632941e-04 9.99996158e-01 -3.33037831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92140051299998 meters 0.052083840190386976 Centerline is valid? [True, True] Translation: X:125.41, Y:13.07, Z:-0.33 [[ 9.98162557e-01 -6.05681211e-02 -1.73555434e-03 1.25407345e+02] [ 6.05678651e-02 9.98164062e-01 -1.99773901e-04 1.30707882e+01] [ 1.74446790e-03 9.42880066e-05 9.99998474e-01 -3.31595136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95140051299998 meters 0.05539287776515004 Centerline is valid? [True, True] Translation: X:125.44, Y:13.08, Z:-0.33 [[ 9.98215451e-01 -5.97116548e-02 -6.57215045e-04 1.25435529e+02] [ 5.97116175e-02 9.98215667e-01 -7.62870792e-05 1.30754524e+01] [ 6.60597582e-04 3.69075678e-05 9.99999781e-01 -3.31174645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98140051299998 meters 0.06103850509412126 Centerline is valid? [True, True] Translation: X:125.46, Y:13.08, Z:-0.33 [[ 9.98233110e-01 -5.94180444e-02 3.93276018e-04 1.25462207e+02] [ 5.94180312e-02 9.98233187e-01 4.51042377e-05 1.30836921e+01] [-3.95261178e-04 -2.16568568e-05 9.99999922e-01 -3.30428229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01140051299998 meters 0.058397535117869714 Centerline is valid? [True, True] Translation: X:125.49, Y:13.08, Z:-0.33 [[ 9.98219072e-01 -5.96523289e-02 5.33137362e-04 1.25490322e+02] [ 5.96523049e-02 9.98219214e-01 6.08571922e-05 1.30821946e+01] [-5.35818231e-04 -2.89459375e-05 9.99999856e-01 -3.29552075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04140051299999 meters 0.05273685959577247 Centerline is valid? [True, True] Translation: X:125.52, Y:13.08, Z:-0.33 [[ 9.98194884e-01 -6.00571459e-02 3.35327524e-04 1.25519800e+02] [ 6.00571365e-02 9.98194940e-01 3.81577849e-05 1.30815845e+01] [-3.37013885e-04 -1.79500948e-05 9.99999943e-01 -3.27668122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071400513 meters 0.053894492630661706 Centerline is valid? [True, True] Translation: X:125.55, Y:13.08, Z:-0.33 [[ 9.98198974e-01 -5.99784139e-02 -1.18283307e-03 1.25547484e+02] [ 5.99782936e-02 9.98199672e-01 -1.36998103e-04 1.30844407e+01] [ 1.18892051e-03 6.58070563e-05 9.99999291e-01 -3.30426991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101400513 meters 0.052022135978970124 Centerline is valid? [True, True] Translation: X:125.58, Y:13.08, Z:-0.33 [[ 9.98198201e-01 -5.99586056e-02 -2.30591188e-03 1.25576210e+02] [ 5.99581468e-02 9.98200856e-01 -2.67656457e-04 1.30848663e+01] [ 2.31781152e-03 1.28915991e-04 9.99997306e-01 -3.32226300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131400513 meters 0.05336750078099806 Centerline is valid? [True, True] Translation: X:125.60, Y:13.09, Z:-0.33 [[ 9.98208314e-01 -5.97852996e-02 -2.42474133e-03 1.25603671e+02] [ 5.97847924e-02 9.98211250e-01 -2.81172659e-04 1.30891285e+01] [ 2.43721406e-03 1.35706230e-04 9.99997021e-01 -3.33290182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161400513 meters 0.05820907575888435 Centerline is valid? [True, True] Translation: X:125.63, Y:13.09, Z:-0.33 [[ 9.98241199e-01 -5.92552009e-02 -1.82457383e-03 1.25631918e+02] [ 5.92549115e-02 9.98242861e-01 -2.12319710e-04 1.30926792e+01] [ 1.83394885e-03 1.03831321e-04 9.99998313e-01 -3.34181930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191400513 meters 0.06109625932036566 Centerline is valid? [True, True] Translation: X:125.66, Y:13.10, Z:-0.33 [[ 9.98282164e-01 -5.85740718e-02 -1.34158601e-03 1.25658906e+02] [ 5.85739149e-02 9.98283062e-01 -1.55967395e-04 1.31041955e+01] [ 1.34841823e-03 7.71175236e-05 9.99999088e-01 -3.32632027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221400513 meters 0.06353228965716069 Centerline is valid? [True, True] Translation: X:125.69, Y:13.11, Z:-0.33 [[ 9.98376002e-01 -5.69488996e-02 -1.47685675e-03 1.25687032e+02] [ 5.69487077e-02 9.98377091e-01 -1.71709634e-04 1.31094098e+01] [ 1.48423862e-03 8.73256943e-05 9.99998895e-01 -3.32461751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251400513 meters 0.06443950381244509 Centerline is valid? [True, True] Translation: X:125.72, Y:13.11, Z:-0.33 [[ 9.98584174e-01 -5.30999158e-02 -3.16958088e-03 1.25718017e+02] [ 5.30990137e-02 9.98589184e-01 -3.68131928e-04 1.31072447e+01] [ 3.18465696e-03 1.99309098e-04 9.99994909e-01 -3.34920969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281400513 meters 0.07009026635186622 Centerline is valid? [True, True] Translation: X:125.75, Y:13.12, Z:-0.34 [[ 9.98639193e-01 -5.20842768e-02 -2.64404850e-03 1.25745443e+02] [ 5.20836450e-02 9.98642679e-01 -3.07314721e-04 1.31179834e+01] [ 2.65646594e-03 1.69184841e-04 9.99996457e-01 -3.35415383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311400513 meters 0.06186708666687154 Centerline is valid? [True, True] Translation: X:125.78, Y:13.12, Z:-0.33 [[ 9.98700246e-01 -5.09639777e-02 -7.00942660e-04 1.25775559e+02] [ 5.09639330e-02 9.98700491e-01 -8.15376069e-05 1.31163396e+01] [ 7.04187260e-04 4.57088333e-05 9.99999751e-01 -3.31802534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341400513 meters 0.0632221581657655 Centerline is valid? [True, True] Translation: X:125.80, Y:13.12, Z:-0.33 [[ 9.98799935e-01 -4.89534568e-02 1.49933247e-03 1.25804807e+02] [ 4.89532502e-02 9.98801056e-01 1.74205163e-04 1.31225808e+01] [-1.50606280e-03 -1.00598908e-04 9.99998861e-01 -3.29522843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371400513 meters 0.07268574300801063 Centerline is valid? [True, True] Translation: X:125.83, Y:13.14, Z:-0.33 [[ 9.98949711e-01 -4.57694269e-02 2.15293473e-03 1.25832319e+02] [ 4.57689935e-02 9.98952019e-01 2.50190769e-04 1.31383840e+01] [-2.16212958e-03 -1.51390341e-04 9.99997651e-01 -3.28842002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401400513 meters 0.07415338853023408 Centerline is valid? [True, True] Translation: X:125.86, Y:13.14, Z:-0.33 [[ 9.98978031e-01 -4.51836881e-02 1.15203540e-03 1.25860288e+02] [ 4.51835638e-02 9.98978692e-01 1.33676450e-04 1.31423560e+01] [-1.15689882e-03 -8.14867719e-05 9.99999327e-01 -3.30607687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431400513 meters 0.07578198383700537 Centerline is valid? [True, True] Translation: X:125.89, Y:13.15, Z:-0.33 [[ 9.98958678e-01 -4.56240229e-02 -8.48463522e-05 1.25887899e+02] [ 4.56240222e-02 9.98958682e-01 -1.04498748e-05 1.31502243e+01] [ 8.52347655e-05 6.56796131e-06 9.99999996e-01 -3.32259011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461400513 meters 0.06954541534990699 Centerline is valid? [True, True] Translation: X:125.92, Y:13.15, Z:-0.33 [[ 9.98914820e-01 -4.65647959e-02 -9.50172695e-04 1.25917591e+02] [ 4.65647110e-02 9.98915269e-01 -1.11357247e-04 1.31491671e+01] [ 9.54327342e-04 6.69918878e-05 9.99999542e-01 -3.32976542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491400513 meters 0.06459688626719426 Centerline is valid? [True, True] Translation: X:125.95, Y:13.15, Z:-0.33 [[ 9.98785624e-01 -4.92345030e-02 -1.80029393e-03 1.25948907e+02] [ 4.92342043e-02 9.98787239e-01 -2.09914983e-04 1.31475337e+01] [ 1.80844567e-03 1.21024028e-04 9.99998357e-01 -3.34040199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52140051299997 meters 0.07263254699234699 Centerline is valid? [True, True] Translation: X:125.98, Y:13.16, Z:-0.34 [[ 9.98719130e-01 -5.05771555e-02 -1.43193336e-03 1.25976704e+02] [ 5.05769677e-02 9.98720152e-01 -1.67107802e-04 1.31577522e+01] [ 1.43855254e-03 9.44709117e-05 9.99998961e-01 -3.35036691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55140051299998 meters 0.07089248183850233 Centerline is valid? [True, True] Translation: X:126.00, Y:13.16, Z:-0.33 [[ 9.98647316e-01 -5.19898892e-02 -7.67282425e-04 1.26004873e+02] [ 5.19898356e-02 9.98647610e-01 -8.96447256e-05 1.31621306e+01] [ 7.70905379e-04 4.96325775e-05 9.99999702e-01 -3.33515455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58140051299998 meters 0.06267356055403561 Centerline is valid? [True, True] Translation: X:126.04, Y:13.15, Z:-0.33 [[ 9.98591671e-01 -5.30350256e-02 -1.40021840e-03 1.26035280e+02] [ 5.30348479e-02 9.98592649e-01 -1.63783559e-04 1.31545245e+01] [ 1.40693406e-03 8.92925282e-05 9.99999006e-01 -3.34112938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61140051299998 meters 0.06522249108817799 Centerline is valid? [True, True] Translation: X:126.06, Y:13.16, Z:-0.33 [[ 9.98551122e-01 -5.37875528e-02 -1.59877821e-03 1.26063220e+02] [ 5.37873221e-02 9.98552397e-01 -1.86977279e-04 1.31577984e+01] [ 1.60652087e-03 1.00712373e-04 9.99998704e-01 -3.34667918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64140051299998 meters 0.06432006694149917 Centerline is valid? [True, True] Translation: X:126.09, Y:13.16, Z:-0.33 [[ 9.98499633e-01 -5.47425355e-02 -1.31823090e-03 1.26090393e+02] [ 5.47423794e-02 9.98500500e-01 -1.54277354e-04 1.31626993e+01] [ 1.32469974e-03 8.18827855e-05 9.99999119e-01 -3.34437382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67140051299998 meters 0.06252139555369415 Centerline is valid? [True, True] Translation: X:126.12, Y:13.16, Z:-0.33 [[ 9.98423428e-01 -5.61305243e-02 -1.50498724e-04 1.26120994e+02] [ 5.61305222e-02 9.98423439e-01 -1.76770726e-05 1.31559192e+01] [ 1.51253677e-04 9.20163139e-06 9.99999989e-01 -3.32008306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70140051299998 meters 0.0653089446365555 Centerline is valid? [True, True] Translation: X:126.15, Y:13.16, Z:-0.33 [[ 9.98368452e-01 -5.70874291e-02 1.20780874e-03 1.26147924e+02] [ 5.70873001e-02 9.98369180e-01 1.40996839e-04 1.31637790e+01] [-1.21388817e-03 -7.18162559e-05 9.99999261e-01 -3.29765266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73140051299998 meters 0.06268708163686311 Centerline is valid? [True, True] Translation: X:126.18, Y:13.16, Z:-0.33 [[ 9.98334144e-01 -5.76751566e-02 1.58538188e-03 1.26176842e+02] [ 5.76749351e-02 9.98335398e-01 1.85143621e-04 1.31616303e+01] [-1.59342103e-03 -9.33984013e-05 9.99998726e-01 -3.29063254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76140051299998 meters 0.06202528428849465 Centerline is valid? [True, True] Translation: X:126.21, Y:13.16, Z:-0.33 [[ 9.98309049e-01 -5.81195659e-02 1.07688522e-03 1.26206147e+02] [ 5.81194640e-02 9.98309627e-01 1.25731459e-04 1.31555870e+01] [-1.08237234e-03 -6.29308609e-05 9.99999412e-01 -3.30499490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79140051299999 meters 0.059266378246339624 Centerline is valid? [True, True] Translation: X:126.23, Y:13.15, Z:-0.33 [[ 9.98288698e-01 -5.84778331e-02 1.38238052e-04 1.26234246e+02] [ 5.84778315e-02 9.98288707e-01 1.55565551e-05 1.31534595e+01] [-1.38911199e-04 -7.44607163e-06 9.99999990e-01 -3.31049698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821400513 meters 0.05582489200193862 Centerline is valid? [True, True] Translation: X:126.26, Y:13.15, Z:-0.33 [[ 9.98260178e-01 -5.89627929e-02 -8.38328754e-05 1.26263714e+02] [ 5.89627922e-02 9.98260181e-01 -1.04611647e-05 1.31534135e+01] [ 8.43038408e-05 5.49994376e-06 9.99999996e-01 -3.30734436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851400513 meters 0.05654485087892401 Centerline is valid? [True, True] Translation: X:126.29, Y:13.15, Z:-0.33 [[ 9.98267031e-01 -5.88370601e-02 1.06513857e-03 1.26292301e+02] [ 5.88369599e-02 9.98267598e-01 1.25179146e-04 1.31506165e+01] [-1.07065849e-03 -6.22926988e-05 9.99999425e-01 -3.29496512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881400513 meters 0.06292661336069708 Centerline is valid? [True, True] Translation: X:126.32, Y:13.16, Z:-0.33 [[ 9.98292399e-01 -5.84020615e-02 1.21912332e-03 1.26319732e+02] [ 5.84019298e-02 9.98293140e-01 1.43380862e-04 1.31561435e+01] [-1.22541619e-03 -7.19368705e-05 9.99999247e-01 -3.30205982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911400513 meters 0.0598228103049759 Centerline is valid? [True, True] Translation: X:126.35, Y:13.15, Z:-0.33 [[ 9.98318158e-01 -5.79674580e-02 7.92882697e-04 1.26348933e+02] [ 5.79674025e-02 9.98318472e-01 9.29281268e-05 1.31518732e+01] [-7.96936250e-04 -4.68104860e-05 9.99999681e-01 -3.30862658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941400513 meters 0.056579675285606854 Centerline is valid? [True, True] Translation: X:126.38, Y:13.15, Z:-0.33 [[ 9.98310302e-01 -5.81070012e-02 -3.41864312e-04 1.26378061e+02] [ 5.81069905e-02 9.98310361e-01 -4.09715682e-05 1.31497902e+01] [ 3.43667419e-04 2.10376323e-05 9.99999941e-01 -3.32538468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971400513 meters 0.05975014626392156 Centerline is valid? [True, True] Translation: X:126.41, Y:13.15, Z:-0.34 [[ 9.98314305e-01 -5.80166299e-02 -1.61823481e-03 1.26406196e+02] [ 5.80163956e-02 9.98315612e-01 -1.91438422e-04 1.31523796e+01] [ 1.62661569e-03 9.72315640e-05 9.99998672e-01 -3.35321929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001400513 meters 0.05826331267062702 Centerline is valid? [True, True] Translation: X:126.44, Y:13.15, Z:-0.34 [[ 9.98276043e-01 -5.86506525e-02 -2.24555643e-03 1.26435518e+02] [ 5.86502014e-02 9.98278560e-01 -2.66307562e-04 1.31499057e+01] [ 2.25730995e-03 1.34146123e-04 9.99997443e-01 -3.36790077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031400513 meters 0.060567143912784546 Centerline is valid? [True, True] Translation: X:126.47, Y:13.14, Z:-0.34 [[ 9.98207941e-01 -5.97901793e-02 -2.45797269e-03 1.26465956e+02] [ 5.97896431e-02 9.98210957e-01 -2.91146445e-04 1.31399992e+01] [ 2.47098296e-03 1.43663384e-04 9.99996937e-01 -3.37881622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061400513 meters 0.06121490430027873 Centerline is valid? [True, True] Translation: X:126.49, Y:13.15, Z:-0.34 [[ 9.98181246e-01 -6.02289512e-02 -2.58339476e-03 1.26492879e+02] [ 6.02283598e-02 9.98184578e-01 -3.06186836e-04 1.31457809e+01] [ 2.59714612e-03 1.50036328e-04 9.99996616e-01 -3.38701446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091400513 meters 0.05832469662894167 Centerline is valid? [True, True] Translation: X:126.52, Y:13.14, Z:-0.34 [[ 9.98187455e-01 -6.00931511e-02 -3.25836625e-03 1.26522737e+02] [ 6.00922067e-02 9.98192755e-01 -3.87039935e-04 1.31368694e+01] [ 3.27573604e-03 1.90535990e-04 9.99994617e-01 -3.38587087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121400513 meters 0.061004862658799806 Centerline is valid? [True, True] Translation: X:126.55, Y:13.14, Z:-0.34 [[ 9.98226209e-01 -5.94868512e-02 -2.39795953e-03 1.26550021e+02] [ 5.94863381e-02 9.98229079e-01 -2.84755090e-04 1.31414194e+01] [ 2.41065212e-03 1.41604162e-04 9.99997084e-01 -3.37707153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151400513 meters 0.0567824640510767 Centerline is valid? [True, True] Translation: X:126.58, Y:13.14, Z:-0.34 [[ 9.98348623e-01 -5.74195361e-02 -1.73895917e-03 1.26581442e+02] [ 5.74192635e-02 9.98350132e-01 -2.06347891e-04 1.31364174e+01] [ 1.74793852e-03 1.06157378e-04 9.99998467e-01 -3.36235243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181400513 meters 0.0738480498042234 Centerline is valid? [True, True] Translation: X:126.61, Y:13.16, Z:-0.34 [[ 9.98501849e-01 -5.47075805e-02 -1.06709071e-03 1.26608603e+02] [ 5.47074762e-02 9.98502417e-01 -1.26700492e-04 1.31585560e+01] [ 1.07242413e-03 6.81328355e-05 9.99999423e-01 -3.37183759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211400513 meters 0.06536732534548786 Centerline is valid? [True, True] Translation: X:126.64, Y:13.15, Z:-0.33 [[ 9.98832755e-01 -4.83009914e-02 -3.76347890e-04 1.26640882e+02] [ 4.83009780e-02 9.98832826e-01 -4.46600720e-05 1.31471361e+01] [ 3.78065752e-04 2.64299716e-05 9.99999928e-01 -3.34316154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241400513 meters 0.07311345819014554 Centerline is valid? [True, True] Translation: X:126.67, Y:13.16, Z:-0.33 [[ 9.98989745e-01 -4.49345685e-02 -6.10715750e-04 1.26669079e+02] [ 4.49345325e-02 9.98989931e-01 -7.25726408e-05 1.31574841e+01] [ 6.13359905e-04 4.50570973e-05 9.99999811e-01 -3.34146404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27140051299997 meters 0.07024976315078395 Centerline is valid? [True, True] Translation: X:126.70, Y:13.16, Z:-0.33 [[ 9.99133202e-01 -4.16030723e-02 -1.42424185e-03 1.26699752e+02] [ 4.16028733e-02 9.99134211e-01 -1.69111652e-04 1.31555201e+01] [ 1.43004433e-03 1.09712513e-04 9.99998971e-01 -3.33713080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30140051299998 meters 0.08138300231396507 Centerline is valid? [True, True] Translation: X:126.73, Y:13.17, Z:-0.33 [[ 9.99259935e-01 -3.84322465e-02 -1.59534432e-03 1.26727196e+02] [ 3.84319929e-02 9.99261200e-01 -1.89329418e-04 1.31721730e+01] [ 1.60144203e-03 1.27877041e-04 9.99998710e-01 -3.34199097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33140051299998 meters 0.08533500737837911 Centerline is valid? [True, True] Translation: X:126.76, Y:13.18, Z:-0.33 [[ 9.99484299e-01 -3.21002028e-02 8.44237359e-04 1.26756730e+02] [ 3.21001296e-02 9.99484653e-01 1.00207487e-04 1.31807091e+01] [-8.47018964e-04 -7.30556816e-05 9.99999639e-01 -3.30666620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36140051299998 meters 0.08533500737837911 Centerline is valid? [True, True] Translation: X:126.78, Y:13.18, Z:-0.33 [[ 9.99478624e-01 -3.22764301e-02 8.44294155e-04 1.26784143e+02] [ 3.22763573e-02 9.99478978e-01 9.97293714e-05 1.31840966e+01] [-8.47073167e-04 -7.24266351e-05 9.99999639e-01 -3.30766251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39140051299998 meters 0.08837354344725384 Centerline is valid? [True, True] Translation: X:126.81, Y:13.19, Z:-0.33 [[ 9.99569356e-01 -2.92202479e-02 2.69819705e-03 1.26813878e+02] [ 2.92194877e-02 9.99572968e-01 3.20753225e-04 1.31913304e+01] [-2.70641732e-03 -2.41775158e-04 9.99996308e-01 -3.28279208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42140051299998 meters 0.08937173752202035 Centerline is valid? [True, True] Translation: X:126.84, Y:13.20, Z:-0.33 [[ 9.99653675e-01 -2.61459506e-02 2.98666407e-03 1.26844209e+02] [ 2.61450054e-02 9.99658098e-01 3.55086308e-04 1.31961162e+01] [-2.99492699e-03 -2.76876984e-04 9.99995477e-01 -3.27487275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45140051299998 meters 0.09401223414834489 Centerline is valid? [True, True] Translation: X:126.87, Y:13.21, Z:-0.33 [[ 9.99723111e-01 -2.33949999e-02 2.52509665e-03 1.26872680e+02] [ 2.33943156e-02 9.99726270e-01 3.00196209e-04 1.32059983e+01] [-2.53142855e-03 -2.41040180e-04 9.99996767e-01 -3.28800054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48140051299998 meters 0.09167746737426781 Centerline is valid? [True, True] Translation: X:126.90, Y:13.21, Z:-0.33 [[ 9.99797716e-01 -2.00998139e-02 -7.24519672e-04 1.26903461e+02] [ 2.00997567e-02 9.99797976e-01 -8.61142447e-05 1.32078319e+01] [ 7.26104182e-04 7.15341560e-05 9.99999734e-01 -3.34498164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51140051299998 meters 0.10815468790032796 Centerline is valid? [True, False] Translation: X:126.91, Y:13.22, Z:-0.34 [[ 9.99900315e-01 -1.32231631e-02 4.95045827e-03 1.26907277e+02] [ 1.32808040e-02 9.99842206e-01 -1.17976031e-02 1.32157141e+01] [-4.79367548e-03 1.18621732e-02 9.99918151e-01 -3.41839328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54140051299999 meters 0.09846888097113843 Centerline is valid? [False, True] Translation: X:126.91, Y:13.21, Z:-0.34 [[ 9.99953018e-01 -8.53356613e-03 4.59777367e-03 1.26907911e+02] [ 8.56151507e-03 9.99944782e-01 -6.09380018e-03 1.32098464e+01] [-4.54551794e-03 6.13287779e-03 9.99970863e-01 -3.40869049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571400513 meters 0.09086280024504909 Centerline is valid? [True, True] Translation: X:126.94, Y:13.20, Z:-0.34 [[ 9.99952438e-01 -9.00449678e-03 3.74702816e-03 1.26940655e+02] [ 9.00304433e-03 9.99959390e-01 4.04313247e-04 1.31976177e+01] [-3.75051663e-03 -3.70559357e-04 9.99992898e-01 -3.39292153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601400513 meters 0.09657078857040866 Centerline is valid? [True, True] Translation: X:126.97, Y:13.21, Z:-0.34 [[ 9.99945086e-01 -9.72729288e-03 3.89932665e-03 1.26970296e+02] [ 9.72572479e-03 9.99952615e-01 4.20903372e-04 1.32073846e+01] [-3.90323613e-03 -3.82956480e-04 9.99992309e-01 -3.39179880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631400513 meters 0.09894260756009816 Centerline is valid? [True, True] Translation: X:127.00, Y:13.21, Z:-0.34 [[ 9.99933201e-01 -1.08140239e-02 4.08043320e-03 1.26999138e+02] [ 1.08123188e-02 9.99941448e-01 4.39712660e-04 1.32130595e+01] [-4.08494934e-03 -3.95564343e-04 9.99991578e-01 -3.38955789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661400513 meters 0.09056215117575002 Centerline is valid? [True, True] Translation: X:127.03, Y:13.20, Z:-0.34 [[ 9.99901039e-01 -1.27418460e-02 5.96299022e-03 1.27031307e+02] [ 1.27382375e-02 9.99918659e-01 6.42740613e-04 1.32045482e+01] [-5.97069489e-03 -5.66719022e-04 9.99982015e-01 -3.36910427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691400513 meters 0.08377474082264152 Centerline is valid? [True, True] Translation: X:127.06, Y:13.20, Z:-0.34 [[ 9.99880844e-01 -1.39809958e-02 6.54444110e-03 1.27063268e+02] [ 1.39766752e-02 9.99902073e-01 7.05464361e-04 1.31955843e+01] [-6.55366331e-03 -6.13910774e-04 9.99978336e-01 -3.37229881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721400513 meters 0.08983095867048294 Centerline is valid? [True, True] Translation: X:127.09, Y:13.21, Z:-0.34 [[ 9.99841168e-01 -1.61829051e-02 7.46674434e-03 1.27092051e+02] [ 1.61773430e-02 9.99868814e-01 8.04716798e-04 1.32064633e+01] [-7.47878746e-03 -6.83796900e-04 9.99971800e-01 -3.36482755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751400513 meters 0.09086165523897381 Centerline is valid? [True, True] Translation: X:127.12, Y:13.21, Z:-0.34 [[ 9.99816373e-01 -1.75793456e-02 7.62808524e-03 1.27123347e+02] [ 1.75735797e-02 9.99845235e-01 8.22256604e-04 1.32076116e+01] [-7.64135941e-03 -6.88052852e-04 9.99970568e-01 -3.36896824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781400513 meters 0.08617308118565793 Centerline is valid? [True, True] Translation: X:127.15, Y:13.21, Z:-0.34 [[ 9.99799191e-01 -1.89609525e-02 6.48534117e-03 1.27154487e+02] [ 1.89568139e-02 9.99820059e-01 6.99021877e-04 1.32054070e+01] [-6.49742832e-03 -5.75940101e-04 9.99978726e-01 -3.37160282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811400513 meters 0.08811791830004624 Centerline is valid? [True, True] Translation: X:127.18, Y:13.21, Z:-0.34 [[ 9.99803323e-01 -1.93247336e-02 4.45750230e-03 1.27184732e+02] [ 1.93227821e-02 9.99813182e-01 4.80437194e-04 1.32100267e+01] [-4.46595388e-03 -3.94211358e-04 9.99989950e-01 -3.39916467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841400513 meters 0.08857471872437725 Centerline is valid? [True, True] Translation: X:127.22, Y:13.21, Z:-0.34 [[ 9.99816624e-01 -1.90432855e-02 2.01793843e-03 1.27215056e+02] [ 1.90428851e-02 9.99818644e-01 2.17445302e-04 1.32133127e+01] [-2.02171334e-03 -1.78978058e-04 9.99997940e-01 -3.43262648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871400513 meters 0.08513154233277168 Centerline is valid? [True, True] Translation: X:127.24, Y:13.21, Z:-0.34 [[ 9.99807703e-01 -1.93866395e-02 2.95224478e-03 1.27244620e+02] [ 1.93857871e-02 9.99812028e-01 3.17056205e-04 1.32133045e+01] [-2.95783649e-03 -2.59763648e-04 9.99995592e-01 -3.42188873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901400513 meters 0.07935661558308796 Centerline is valid? [True, True] Translation: X:127.27, Y:13.21, Z:-0.34 [[ 9.99788400e-01 -2.01871210e-02 3.95427762e-03 1.27274205e+02] [ 2.01855939e-02 9.99796160e-01 4.25731860e-04 1.32110956e+01] [-3.96206588e-03 -3.45822333e-04 9.99992091e-01 -3.40558058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931400513 meters 0.09667165457357398 Centerline is valid? [True, True] Translation: X:127.30, Y:13.24, Z:-0.34 [[ 9.99760743e-01 -2.13773384e-02 4.63305830e-03 1.27300622e+02] [ 2.13752469e-02 9.99771398e-01 5.00484132e-04 1.32371589e+01] [-4.64269819e-03 -4.01331623e-04 9.99989142e-01 -3.41855780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961400513 meters 0.09240777720829517 Centerline is valid? [True, True] Translation: X:127.33, Y:13.24, Z:-0.34 [[ 9.99720647e-01 -2.31592183e-02 4.72002904e-03 1.27330978e+02] [ 2.31570662e-02 9.99731709e-01 5.10106622e-04 1.32365015e+01] [-4.73057637e-03 -4.00662098e-04 9.99988730e-01 -3.41800295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991400513 meters 0.09357805286615517 Centerline is valid? [True, True] Translation: X:127.36, Y:13.24, Z:-0.34 [[ 9.99661049e-01 -2.55927841e-02 4.77451262e-03 1.27359941e+02] [ 2.55906098e-02 9.99672374e-01 5.15948976e-04 1.32414287e+01] [-4.78615294e-03 -3.93591405e-04 9.99988469e-01 -3.42168843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02140051299997 meters 0.07659285747405853 Centerline is valid? [True, True] Translation: X:127.39, Y:13.23, Z:-0.34 [[ 9.99444868e-01 -3.28121425e-02 5.77227861e-03 1.27392469e+02] [ 3.28090830e-02 9.99461442e-01 6.23958018e-04 1.32259057e+01] [-5.78964330e-03 -4.34228471e-04 9.99983146e-01 -3.39542669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05140051299998 meters 0.07313945073184863 Centerline is valid? [True, True] Translation: X:127.42, Y:13.23, Z:-0.34 [[ 9.99298770e-01 -3.68533303e-02 6.61810680e-03 1.27422546e+02] [ 3.68493973e-02 9.99320574e-01 7.15282211e-04 1.32269131e+01] [-6.63997082e-03 -4.70907387e-04 9.99977844e-01 -3.38549369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08140051299998 meters 0.06794178242508923 Centerline is valid? [True, True] Translation: X:127.45, Y:13.23, Z:-0.34 [[ 9.99152121e-01 -4.04943371e-02 7.43283607e-03 1.27453289e+02] [ 4.04894761e-02 9.99179642e-01 8.03374253e-04 1.32263023e+01] [-7.45927059e-03 -5.01741451e-04 9.99972053e-01 -3.37549980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11140051299998 meters 0.0711503750951413 Centerline is valid? [True, True] Translation: X:127.48, Y:13.24, Z:-0.34 [[ 9.99033032e-01 -4.32226676e-02 8.04995483e-03 1.27482299e+02] [ 4.32170536e-02 9.99065328e-01 8.70128506e-04 1.32353222e+01] [-8.08004004e-03 -5.21391790e-04 9.99967220e-01 -3.37308552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14140051299998 meters 0.06411255093596208 Centerline is valid? [True, True] Translation: X:127.51, Y:13.23, Z:-0.34 [[ 9.98950538e-01 -4.50473508e-02 8.28004252e-03 1.27513066e+02] [ 4.50414727e-02 9.98984717e-01 8.95116418e-04 1.32309215e+01] [-8.31195856e-03 -5.21231718e-04 9.99965319e-01 -3.37017679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17140051299998 meters 0.06370533822388122 Centerline is valid? [True, True] Translation: X:127.54, Y:13.23, Z:-0.34 [[ 9.98849471e-01 -4.72418671e-02 8.24262991e-03 1.27541561e+02] [ 4.72361158e-02 9.98883354e-01 8.91141899e-04 1.32345555e+01] [-8.27552502e-03 -5.00766793e-04 9.99965632e-01 -3.37603408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20140051299998 meters 0.05768007781820168 Centerline is valid? [True, True] Translation: X:127.57, Y:13.23, Z:-0.34 [[ 9.98828301e-01 -4.76484672e-02 8.46458702e-03 1.27570889e+02] [ 4.76424171e-02 9.98864036e-01 9.15083371e-04 1.32316974e+01] [-8.49857387e-03 -5.10737783e-04 9.99963756e-01 -3.37534683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23140051299998 meters 0.06174964322721992 Centerline is valid? [True, True] Translation: X:127.60, Y:13.24, Z:-0.34 [[ 9.98840359e-01 -4.73466441e-02 8.73114024e-03 1.27597611e+02] [ 4.73401810e-02 9.98878378e-01 9.45539277e-04 1.32406706e+01] [-8.76611531e-03 -5.31109031e-04 9.99961436e-01 -3.37807543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26140051299998 meters 0.06182843044221569 Centerline is valid? [True, True] Translation: X:127.63, Y:13.24, Z:-0.34 [[ 9.98883219e-01 -4.64311721e-02 8.74422542e-03 1.27626443e+02] [ 4.64246499e-02 9.98921345e-01 9.47500441e-04 1.32440370e+01] [-8.77878697e-03 -5.40494687e-04 9.99961320e-01 -3.38332249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29140051299999 meters 0.07233844672941925 Centerline is valid? [True, True] Translation: X:127.65, Y:13.26, Z:-0.34 [[ 9.98953638e-01 -4.49864529e-02 8.23700365e-03 1.27653095e+02] [ 4.49806146e-02 9.98987461e-01 8.92778491e-04 1.32591739e+01] [-8.26882630e-03 -5.21338835e-04 9.99965677e-01 -3.39764115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321400513 meters 0.06583560367363742 Centerline is valid? [True, True] Translation: X:127.68, Y:13.25, Z:-0.34 [[ 9.99036885e-01 -4.31671805e-02 7.86749696e-03 1.27683523e+02] [ 4.31617947e-02 9.99067731e-01 8.53145579e-04 1.32543880e+01] [-7.89699023e-03 -5.12748612e-04 9.99968687e-01 -3.40577026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351400513 meters 0.06891525112259742 Centerline is valid? [True, True] Translation: X:127.71, Y:13.26, Z:-0.34 [[ 9.99195157e-01 -3.95520623e-02 6.68373670e-03 1.27712761e+02] [ 3.95480944e-02 9.99217405e-01 7.24856177e-04 1.32639480e+01] [-6.70717560e-03 -4.59943731e-04 9.99977401e-01 -3.43866734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381400513 meters 0.07348056458820149 Centerline is valid? [True, True] Translation: X:127.74, Y:13.27, Z:-0.35 [[ 9.99265278e-01 -3.78794825e-02 5.83512341e-03 1.27741266e+02] [ 3.78764296e-02 9.99282230e-01 6.32846222e-04 1.32722044e+01] [-5.85490702e-03 -4.11367615e-04 9.99982775e-01 -3.46910386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411400513 meters 0.07130972557148124 Centerline is valid? [True, True] Translation: X:127.77, Y:13.28, Z:-0.35 [[ 9.99300761e-01 -3.68958815e-02 6.05661122e-03 1.27770979e+02] [ 3.68925746e-02 9.99319021e-01 6.56849885e-04 1.32761508e+01] [-6.07672185e-03 -4.32946609e-04 9.99981443e-01 -3.46974926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441400513 meters 0.07301461058956463 Centerline is valid? [True, True] Translation: X:127.80, Y:13.28, Z:-0.35 [[ 9.99288333e-01 -3.71278039e-02 6.65985736e-03 1.27798126e+02] [ 3.71238109e-02 9.99310413e-01 7.22220598e-04 1.32801418e+01] [-6.68207927e-03 -4.74467332e-04 9.99977562e-01 -3.46216259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471400513 meters 0.07091932598163103 Centerline is valid? [True, True] Translation: X:127.83, Y:13.28, Z:-0.35 [[ 9.99248238e-01 -3.82627958e-02 6.23829866e-03 1.27828284e+02] [ 3.82593097e-02 9.99267615e-01 6.77238736e-04 1.32792304e+01] [-6.25964287e-03 -4.38056613e-04 9.99980312e-01 -3.47335591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501400513 meters 0.07095239316243782 Centerline is valid? [True, True] Translation: X:127.86, Y:13.28, Z:-0.35 [[ 9.99184218e-01 -4.00997428e-02 4.78641854e-03 1.27857497e+02] [ 4.00977113e-02 9.99195628e-01 5.19674880e-04 1.32809066e+01] [-4.80340731e-03 -3.27326510e-04 9.99988410e-01 -3.50006130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531400513 meters 0.06892598378090412 Centerline is valid? [True, True] Translation: X:127.89, Y:13.28, Z:-0.35 [[ 9.99115035e-01 -4.19270901e-02 3.35654110e-03 1.27887543e+02] [ 4.19261010e-02 9.99120648e-01 3.64512831e-04 1.32799265e+01] [-3.36887248e-03 -2.23463569e-04 9.99994300e-01 -3.52699991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561400513 meters 0.06667773255916597 Centerline is valid? [True, True] Translation: X:127.92, Y:13.28, Z:-0.35 [[ 9.99059663e-01 -4.32889612e-02 2.41972540e-03 1.27917623e+02] [ 4.32884514e-02 9.99062581e-01 2.62682549e-04 1.32781983e+01] [-2.42882836e-03 -1.57689373e-04 9.99997038e-01 -3.53911906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591400513 meters 0.07380007755721331 Centerline is valid? [True, True] Translation: X:127.94, Y:13.28, Z:-0.35 [[ 9.99027342e-01 -4.40182304e-02 2.60090541e-03 1.27944662e+02] [ 4.40176443e-02 9.99030714e-01 2.82168708e-04 1.32843598e+01] [-2.61080496e-03 -1.67408525e-04 9.99996578e-01 -3.54637691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621400513 meters 0.06777680765561346 Centerline is valid? [True, True] Translation: X:127.97, Y:13.28, Z:-0.35 [[ 9.99053011e-01 -4.33753952e-02 3.41413736e-03 1.27973795e+02] [ 4.33743803e-02 9.99058820e-01 3.70772749e-04 1.32782122e+01] [-3.42700645e-03 -2.22335539e-04 9.99994103e-01 -3.52923308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651400513 meters 0.07343129543311565 Centerline is valid? [True, True] Translation: X:128.00, Y:13.29, Z:-0.35 [[ 9.99096552e-01 -4.22387990e-02 4.68643275e-03 1.28001911e+02] [ 4.22368720e-02 9.99107495e-01 5.09457425e-04 1.32873684e+01] [-4.70376896e-03 -3.11056897e-04 9.99988889e-01 -3.52096403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681400513 meters 0.07203300989236959 Centerline is valid? [True, True] Translation: X:128.03, Y:13.28, Z:-0.35 [[ 9.99176256e-01 -4.02273432e-02 5.34511627e-03 1.28032559e+02] [ 4.02248050e-02 9.99190486e-01 5.81557622e-04 1.32835003e+01] [-5.36418384e-03 -3.66072308e-04 9.99985546e-01 -3.52080363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711400513 meters 0.07441994524598274 Centerline is valid? [True, True] Translation: X:128.06, Y:13.29, Z:-0.35 [[ 9.99331331e-01 -3.62286843e-02 4.93684909e-03 1.28061368e+02] [ 3.62264701e-02 9.99343462e-01 5.37223204e-04 1.32914961e+01] [-4.95307075e-03 -3.58019363e-04 9.99987669e-01 -3.52282616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741400513 meters 0.08157771097031127 Centerline is valid? [True, True] Translation: X:128.09, Y:13.30, Z:-0.35 [[ 9.99401684e-01 -3.43025570e-02 4.42818421e-03 1.28089217e+02] [ 3.43007566e-02 9.99411440e-01 4.81892976e-04 1.33019392e+01] [-4.44210812e-03 -3.29714583e-04 9.99990079e-01 -3.53506552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77140051299997 meters 0.07603106610397146 Centerline is valid? [True, True] Translation: X:128.12, Y:13.30, Z:-0.35 [[ 9.99449080e-01 -3.29112476e-02 4.28798427e-03 1.28120488e+02] [ 3.29095461e-02 9.99458225e-01 4.66762267e-04 1.32973932e+01] [-4.30102288e-03 -3.25389502e-04 9.99990698e-01 -3.52862376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80140051299998 meters 0.08265583010708598 Centerline is valid? [True, True] Translation: X:128.15, Y:13.31, Z:-0.35 [[ 9.99480585e-01 -3.18926950e-02 4.62787287e-03 1.28147861e+02] [ 3.18907035e-02 9.99491235e-01 5.03510085e-04 1.33074204e+01] [-4.64157667e-03 -3.55662433e-04 9.99989165e-01 -3.52891810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83140051299998 meters 0.08327928979825892 Centerline is valid? [True, True] Translation: X:128.18, Y:13.31, Z:-0.35 [[ 9.99500439e-01 -3.11352617e-02 5.42846584e-03 1.28177770e+02] [ 3.11325081e-02 9.99515091e-01 5.91044299e-04 1.33099739e+01] [-5.44423585e-03 -4.21747280e-04 9.99985091e-01 -3.52155088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86140051299998 meters 0.08901481526223975 Centerline is valid? [True, True] Translation: X:128.21, Y:13.32, Z:-0.35 [[ 9.99517652e-01 -3.00945675e-02 7.66683484e-03 1.28205878e+02] [ 3.00890426e-02 9.99546873e-01 8.34987221e-04 1.33173183e+01] [-7.68848937e-03 -6.03896747e-04 9.99970261e-01 -3.49150313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89140051299998 meters 0.07802687148763064 Centerline is valid? [True, True] Translation: X:128.24, Y:13.31, Z:-0.35 [[ 9.99532028e-01 -2.94703828e-02 8.19887095e-03 1.28237195e+02] [ 2.94640410e-02 9.99565442e-01 8.93240977e-04 1.33073238e+01] [-8.22163221e-03 -6.51251095e-04 9.99965990e-01 -3.48111421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92140051299998 meters 0.07953714634053943 Centerline is valid? [True, True] Translation: X:128.27, Y:13.31, Z:-0.35 [[ 9.99562904e-01 -2.85221810e-02 7.77722203e-03 1.28267463e+02] [ 2.85164445e-02 9.99592964e-01 8.47522139e-04 1.33130529e+01] [-7.79822960e-03 -6.25372971e-04 9.99969398e-01 -3.48903292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95140051299998 meters 0.07979914305208885 Centerline is valid? [True, True] Translation: X:128.30, Y:13.32, Z:-0.35 [[ 9.99600467e-01 -2.73948043e-02 6.95918449e-03 1.28297623e+02] [ 2.73901839e-02 9.99624531e-01 7.58376565e-04 1.33173915e+01] [-6.97734711e-03 -5.67460225e-04 9.99975497e-01 -3.50439897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98140051299998 meters 0.08494859322132993 Centerline is valid? [True, True] Translation: X:128.33, Y:13.33, Z:-0.35 [[ 9.99633451e-01 -2.63268566e-02 6.31349881e-03 1.28326021e+02] [ 2.63230330e-02 9.99653252e-01 6.87969201e-04 1.33278382e+01] [-6.32942168e-03 -5.21526589e-04 9.99979833e-01 -3.51690313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01140051299998 meters 0.10154403244598431 Centerline is valid? [True, False] Translation: X:128.35, Y:13.34, Z:-0.35 [[ 9.99701853e-01 -2.34291203e-02 6.87608565e-03 1.28346700e+02] [ 2.34954579e-02 9.99676585e-01 -9.73080228e-03 1.33380647e+01] [-6.64587769e-03 9.88945786e-03 9.99929013e-01 -3.52087127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04140051299999 meters 0.08971052085499714 Centerline is valid? [False, True] Translation: X:128.35, Y:13.33, Z:-0.35 [[ 9.99877136e-01 -1.42706017e-02 6.48564005e-03 1.28346575e+02] [ 1.42662194e-02 9.99897972e-01 7.21463522e-04 1.33309221e+01] [-6.49527405e-03 -6.28849317e-04 9.99978708e-01 -3.49692282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071400513 meters 0.09068349514374376 Centerline is valid? [True, True] Translation: X:128.38, Y:13.34, Z:-0.35 [[ 9.99864256e-01 -1.47773827e-02 7.28685700e-03 1.28377002e+02] [ 1.47725432e-02 9.99890623e-01 7.17522933e-04 1.33366089e+01] [-7.29666309e-03 -6.09780124e-04 9.99973193e-01 -3.48856453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101400513 meters 0.08423331473467947 Centerline is valid? [True, True] Translation: X:128.41, Y:13.33, Z:-0.35 [[ 9.99852227e-01 -1.53255890e-02 7.78786097e-03 1.28409208e+02] [ 1.53200790e-02 9.99882347e-01 7.66686830e-04 1.33333766e+01] [-7.79869463e-03 -6.47262889e-04 9.99969380e-01 -3.47948423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131400513 meters 0.08788106907297256 Centerline is valid? [True, True] Translation: X:128.44, Y:13.34, Z:-0.35 [[ 9.99838415e-01 -1.59184296e-02 8.35150743e-03 1.28438456e+02] [ 1.59121162e-02 9.99873056e-01 8.21867975e-04 1.33423536e+01] [-8.36353011e-03 -6.88845017e-04 9.99964788e-01 -3.46950178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161400513 meters 0.08186870472468184 Centerline is valid? [True, True] Translation: X:128.47, Y:13.34, Z:-0.35 [[ 9.99819382e-01 -1.68724935e-02 8.74773888e-03 1.28470415e+02] [ 1.68656039e-02 9.99857395e-01 8.60760759e-04 1.33398300e+01] [-8.76101459e-03 -7.13069391e-04 9.99961367e-01 -3.46603918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191400513 meters 0.08205698999613932 Centerline is valid? [True, True] Translation: X:128.50, Y:13.34, Z:-0.35 [[ 9.99788777e-01 -1.84036872e-02 9.14912826e-03 1.28499588e+02] [ 1.83962165e-02 9.99830370e-01 9.00035428e-04 1.33439993e+01] [-9.16414027e-03 -7.31535975e-04 9.99957741e-01 -3.46233283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221400513 meters 0.07533499884825336 Centerline is valid? [True, True] Translation: X:128.53, Y:13.34, Z:-0.35 [[ 9.99658120e-01 -2.42576394e-02 9.75753181e-03 1.28531462e+02] [ 2.42494234e-02 9.99705479e-01 9.59462723e-04 1.33388686e+01] [-9.77793231e-03 -7.22520182e-04 9.99951934e-01 -3.46031768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251400513 meters 0.07304173605195072 Centerline is valid? [True, True] Translation: X:128.56, Y:13.34, Z:-0.35 [[ 9.99556780e-01 -2.81273145e-02 9.75179525e-03 1.28561257e+02] [ 2.81192921e-02 9.99604115e-01 9.58828786e-04 1.33371391e+01] [-9.77490394e-03 -6.84190235e-04 9.99951990e-01 -3.46096433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281400513 meters 0.07304173605195072 Centerline is valid? [True, True] Translation: X:128.59, Y:13.34, Z:-0.35 [[ 9.99557396e-01 -2.81054250e-02 9.75178697e-03 1.28592017e+02] [ 2.80974007e-02 9.99604730e-01 9.58912995e-04 1.33401250e+01] [-9.77488304e-03 -6.84488710e-04 9.99951990e-01 -3.46369601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311400513 meters 0.0689105373820707 Centerline is valid? [True, True] Translation: X:128.62, Y:13.34, Z:-0.35 [[ 9.99435922e-01 -3.22805508e-02 9.26302504e-03 1.28623632e+02] [ 3.22734909e-02 9.99478660e-01 9.10664955e-04 1.33358187e+01] [-9.28759263e-03 -6.11201115e-04 9.99956683e-01 -3.47042501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341400513 meters 0.06299684746950673 Centerline is valid? [True, True] Translation: X:128.66, Y:13.33, Z:-0.35 [[ 9.99295758e-01 -3.66778141e-02 7.92001240e-03 1.28655423e+02] [ 3.66727907e-02 9.99327024e-01 7.78611289e-04 1.33289578e+01] [-7.94324018e-03 -4.87614001e-04 9.99968333e-01 -3.49113402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371400513 meters 0.054865300840116586 Centerline is valid? [True, True] Translation: X:128.69, Y:13.32, Z:-0.36 [[ 9.99003636e-01 -4.44480493e-02 4.01324353e-03 1.28687233e+02] [ 4.44468222e-02 9.99011674e-01 3.94465558e-04 1.33178661e+01] [-4.02681036e-03 -2.15696605e-04 9.99991869e-01 -3.55056794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401400513 meters 0.052434742064366734 Centerline is valid? [True, True] Translation: X:128.72, Y:13.32, Z:-0.36 [[ 9.98903338e-01 -4.67322189e-02 2.86729630e-03 1.28717593e+02] [ 4.67316021e-02 9.98907442e-01 2.81740461e-04 1.33151559e+01] [-2.87732997e-03 -1.47438137e-04 9.99995850e-01 -3.57057481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431400513 meters 0.05174269788301449 Centerline is valid? [True, True] Translation: X:128.75, Y:13.31, Z:-0.36 [[ 9.98880336e-01 -4.72028915e-02 3.15624796e-03 1.28746972e+02] [ 4.72021491e-02 9.98885309e-01 3.09339238e-04 1.33133828e+01] [-3.16733142e-03 -1.60011196e-04 9.99994971e-01 -3.56886776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461400513 meters 0.04838697755236191 Centerline is valid? [True, True] Translation: X:128.78, Y:13.31, Z:-0.35 [[ 9.98904468e-01 -4.65717701e-02 4.57533373e-03 1.28776853e+02] [ 4.65701972e-02 9.98914919e-01 4.49765635e-04 1.33077839e+01] [-4.59131550e-03 -2.36198708e-04 9.99989432e-01 -3.54091990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491400513 meters 0.05496107081983772 Centerline is valid? [True, True] Translation: X:128.80, Y:13.31, Z:-0.35 [[ 9.98972359e-01 -4.48947089e-02 6.22029367e-03 1.28804414e+02] [ 4.48917579e-02 9.98991669e-01 6.13306923e-04 1.33148511e+01] [-6.24155579e-03 -3.33436746e-04 9.99980466e-01 -3.51803373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52140051299997 meters 0.06466447769919953 Centerline is valid? [True, True] Translation: X:128.83, Y:13.33, Z:-0.35 [[ 9.99077171e-01 -4.24136950e-02 6.77382261e-03 1.28832967e+02] [ 4.24101350e-02 9.99100062e-01 6.68394796e-04 1.33272254e+01] [-6.79607568e-03 -3.80499251e-04 9.99976834e-01 -3.50903974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55140051299998 meters 0.06414194354372635 Centerline is valid? [True, True] Translation: X:128.86, Y:13.33, Z:-0.36 [[ 9.99348034e-01 -3.59772785e-02 3.02363011e-03 1.28863369e+02] [ 3.59765397e-02 9.99352590e-01 2.98401045e-04 1.33276388e+01] [-3.03240824e-03 -1.89426749e-04 9.99995384e-01 -3.57379499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58140051299998 meters 0.07011616028568743 Centerline is valid? [True, True] Translation: X:128.89, Y:13.34, Z:-0.36 [[ 9.99490928e-01 -3.18776302e-02 1.30440229e-03 1.28891390e+02] [ 3.18774892e-02 9.99491775e-01 1.28718761e-04 1.33366666e+01] [-1.30784261e-03 -8.70721641e-05 9.99999141e-01 -3.61239802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61140051299998 meters 0.08106519396490285 Centerline is valid? [True, True] Translation: X:128.92, Y:13.35, Z:-0.36 [[ 9.99625470e-01 -2.73588158e-02 6.44211061e-04 1.28919802e+02] [ 2.73587805e-02 9.99625676e-01 6.34528595e-05 1.33512020e+01] [-6.45705913e-04 -4.58042654e-05 9.99999790e-01 -3.62685571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64140051299998 meters 0.08393098524902416 Centerline is valid? [True, True] Translation: X:128.95, Y:13.36, Z:-0.36 [[ 9.99738855e-01 -2.28368345e-02 8.37321864e-04 1.28950001e+02] [ 2.28367732e-02 9.99739203e-01 8.26360588e-05 1.33562198e+01] [-8.38990639e-04 -6.34927492e-05 9.99999646e-01 -3.61333986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67140051299998 meters 0.08685711378358699 Centerline is valid? [True, True] Translation: X:128.98, Y:13.36, Z:-0.36 [[ 9.99828757e-01 -1.84687234e-02 1.16707576e-03 1.28980190e+02] [ 1.84686014e-02 9.99829434e-01 1.15187607e-04 1.33625301e+01] [-1.16900407e-03 -9.36136250e-05 9.99999312e-01 -3.60040148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70140051299998 meters 0.08907356937627572 Centerline is valid? [True, True] Translation: X:129.01, Y:13.37, Z:-0.36 [[ 9.99923899e-01 -1.22398183e-02 1.54365725e-03 1.29010133e+02] [ 1.22395976e-02 9.99925082e-01 1.52342898e-04 1.33709990e+01] [-1.54540625e-03 -1.33437561e-04 9.99998797e-01 -3.60211836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73140051299998 meters 0.09701298960921993 Centerline is valid? [True, True] Translation: X:129.04, Y:13.39, Z:-0.36 [[ 9.99946635e-01 -1.01386873e-02 1.98329283e-03 1.29038469e+02] [ 1.01383190e-02 9.99948587e-01 1.95691033e-04 1.33851356e+01] [-1.98517492e-03 -1.75573335e-04 9.99998014e-01 -3.61268446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76140051299998 meters 0.09659360359903138 Centerline is valid? [True, True] Translation: X:129.07, Y:13.39, Z:-0.36 [[ 9.99960600e-01 -8.55171947e-03 2.38030497e-03 1.29068724e+02] [ 8.55118415e-03 9.99963410e-01 2.34984752e-04 1.33895011e+01] [-2.38222740e-03 -2.14621067e-04 9.99997139e-01 -3.60867608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79140051299999 meters 0.09775037295004589 Centerline is valid? [True, True] Translation: X:129.10, Y:13.40, Z:-0.36 [[ 9.99971392e-01 -7.16359758e-03 2.42842287e-03 1.29098809e+02] [ 7.16303634e-03 9.99974316e-01 2.39734446e-04 1.33967640e+01] [-2.43007786e-03 -2.22332707e-04 9.99997023e-01 -3.60754028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821400513 meters 0.10328650425310203 Centerline is valid? [True, False] Translation: X:129.10, Y:13.40, Z:-0.36 [[ 9.99992430e-01 -3.08119063e-03 2.37635959e-03 1.29098749e+02] [ 3.07179257e-03 9.99987487e-01 3.94837405e-03 1.33996657e+01] [-2.38849555e-03 -3.94104447e-03 9.99989382e-01 -3.60474608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851400513 meters 0.10138226995845402 Centerline is valid? [False, False] Translation: X:129.10, Y:13.40, Z:-0.36 [[ 9.99991568e-01 -3.31183073e-03 2.42819491e-03 1.29098627e+02] [ 3.30374284e-03 9.99989007e-01 3.32730433e-03 1.34024788e+01] [-2.43918769e-03 -3.31925415e-03 9.99991516e-01 -3.60628598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881400513 meters 0.09425114813875339 Centerline is valid? [False, True] Translation: X:129.08, Y:13.41, Z:-0.37 [[ 9.99966445e-01 -4.76760739e-03 6.66167122e-03 1.29083033e+02] [ 4.80134799e-03 9.99975681e-01 -5.05810599e-03 1.34120085e+01] [-6.63739415e-03 5.08992127e-03 9.99965018e-01 -3.68635728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911400513 meters 0.1003334626491764 Centerline is valid? [True, False] Translation: X:129.08, Y:13.41, Z:-0.37 [[ 9.99979103e-01 -2.94054193e-04 6.45813217e-03 1.29083325e+02] [ 2.95141037e-04 9.99999942e-01 -1.67338451e-04 1.34096885e+01] [-6.45808259e-03 1.69241014e-04 9.99979132e-01 -3.67681125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941400513 meters 0.09777936879100575 Centerline is valid? [False, True] Translation: X:129.08, Y:13.41, Z:-0.37 [[ 9.99978639e-01 -4.92245070e-04 6.51762518e-03 1.29083181e+02] [ 4.96722873e-04 9.99999642e-01 -6.85428977e-04 1.34120432e+01] [-6.51728545e-03 6.88651789e-04 9.99978525e-01 -3.67838900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971400513 meters 0.08648996621718198 Centerline is valid? [True, True] Translation: X:129.11, Y:13.41, Z:-0.37 [[ 9.99956217e-01 -6.78505630e-03 6.44408321e-03 1.29114246e+02] [ 6.78135534e-03 9.99976829e-01 5.95994500e-04 1.34052440e+01] [-6.44797775e-03 -5.52268788e-04 9.99979059e-01 -3.68182514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001400513 meters 0.08256582793420902 Centerline is valid? [True, True] Translation: X:129.15, Y:13.40, Z:-0.37 [[ 9.99923033e-01 -1.03227471e-02 6.88256106e-03 1.29145624e+02] [ 1.03186087e-02 9.99946559e-01 6.36536268e-04 1.34043852e+01] [-6.88876405e-03 -5.65468821e-04 9.99976112e-01 -3.67949861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031400513 meters 0.0808514458810281 Centerline is valid? [True, True] Translation: X:129.18, Y:13.41, Z:-0.37 [[ 9.99884176e-01 -1.33548384e-02 7.29951011e-03 1.29176726e+02] [ 1.33502639e-02 9.99910653e-01 6.75054378e-04 1.34063373e+01] [-7.30787317e-03 -5.77525804e-04 9.99973130e-01 -3.67304259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061400513 meters 0.08223953779211404 Centerline is valid? [True, True] Translation: X:129.21, Y:13.41, Z:-0.37 [[ 9.99850995e-01 -1.55266152e-02 7.54394069e-03 1.29205428e+02] [ 1.55217925e-02 9.99879287e-01 6.97408415e-04 1.34129102e+01] [-7.55385843e-03 -5.80209016e-04 9.99971301e-01 -3.67596770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091400513 meters 0.07527249218494832 Centerline is valid? [True, True] Translation: X:129.24, Y:13.41, Z:-0.37 [[ 9.99830506e-01 -1.70041421e-02 7.05817112e-03 1.29236904e+02] [ 1.69999563e-02 9.99855277e-01 6.52627833e-04 1.34102802e+01] [-7.06824701e-03 -5.32528616e-04 9.99974878e-01 -3.68844347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121400513 meters 0.08182219686878782 Centerline is valid? [True, True] Translation: X:129.27, Y:13.43, Z:-0.37 [[ 9.99803070e-01 -1.88721951e-02 6.13690880e-03 1.29265547e+02] [ 1.88690663e-02 9.99821802e-01 5.67344644e-04 1.34250118e+01] [-6.14652225e-03 -4.51435178e-04 9.99981008e-01 -3.71612102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151400513 meters 0.07295940223631876 Centerline is valid? [True, True] Translation: X:129.30, Y:13.42, Z:-0.37 [[ 9.99795129e-01 -1.93265567e-02 6.01528563e-03 1.29297043e+02] [ 1.93235588e-02 9.99813128e-01 5.56100832e-04 1.34156229e+01] [-6.02490906e-03 -4.39750177e-04 9.99981753e-01 -3.71743151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181400513 meters 0.07303003982852847 Centerline is valid? [True, True] Translation: X:129.33, Y:13.42, Z:-0.37 [[ 9.99775968e-01 -2.01015461e-02 6.62890620e-03 1.29326805e+02] [ 2.00979223e-02 9.99797829e-01 6.12828796e-04 1.34182259e+01] [-6.63988483e-03 -4.79464260e-04 9.99977841e-01 -3.69898804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211400513 meters 0.07343265499348405 Centerline is valid? [True, True] Translation: X:129.36, Y:13.42, Z:-0.37 [[ 9.99747932e-01 -2.12940036e-02 7.11600279e-03 1.29357247e+02] [ 2.12898575e-02 9.99773129e-01 6.57895371e-04 1.34201315e+01] [-7.12839760e-03 -5.06230851e-04 9.99974465e-01 -3.69146905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241400513 meters 0.06944428598684459 Centerline is valid? [True, True] Translation: X:129.39, Y:13.42, Z:-0.37 [[ 9.99709603e-01 -2.27991242e-02 7.80451920e-03 1.29388283e+02] [ 2.27941833e-02 9.99739919e-01 7.21451256e-04 1.34174815e+01] [-7.81893785e-03 -5.43344107e-04 9.99969284e-01 -3.68090501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27140051299997 meters 0.06877948640717867 Centerline is valid? [True, True] Translation: X:129.42, Y:13.42, Z:-0.37 [[ 9.99641415e-01 -2.54896761e-02 8.20478903e-03 1.29417734e+02] [ 2.54843068e-02 9.99674935e-01 7.58309017e-04 1.34197575e+01] [-8.22145099e-03 -5.48943738e-04 9.99966053e-01 -3.68745381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30140051299998 meters 0.0689067449537327 Centerline is valid? [True, True] Translation: X:129.45, Y:13.42, Z:-0.37 [[ 9.99626024e-01 -2.61456692e-02 8.01347361e-03 1.29448445e+02] [ 2.61405673e-02 9.99658003e-01 7.40759454e-04 1.34235369e+01] [-8.03010067e-03 -5.31005682e-04 9.99967617e-01 -3.69781257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33140051299998 meters 0.06415666273220297 Centerline is valid? [True, True] Translation: X:129.48, Y:13.42, Z:-0.37 [[ 9.99626382e-01 -2.61590686e-02 7.92460302e-03 1.29479385e+02] [ 2.61540806e-02 9.99657655e-01 7.32431853e-04 1.34211873e+01] [-7.94104981e-03 -5.24897498e-04 9.99968332e-01 -3.69996180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36140051299998 meters 0.06853472583679737 Centerline is valid? [True, True] Translation: X:129.51, Y:13.43, Z:-0.37 [[ 9.99636238e-01 -2.58557712e-02 7.67271413e-03 1.29509340e+02] [ 2.58510861e-02 9.99665553e-01 7.09180513e-04 1.34297302e+01] [-7.68848442e-03 -5.10574546e-04 9.99970313e-01 -3.70751757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39140051299998 meters 0.06844505000833837 Centerline is valid? [True, True] Translation: X:129.54, Y:13.43, Z:-0.37 [[ 9.99657358e-01 -2.54764842e-02 6.00956364e-03 1.29539606e+02] [ 2.54736038e-02 9.99675341e-01 5.55365676e-04 1.34316560e+01] [-6.02176135e-03 -4.02090141e-04 9.99981788e-01 -3.73863187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42140051299998 meters 0.06737031282444461 Centerline is valid? [True, True] Translation: X:129.57, Y:13.43, Z:-0.38 [[ 9.99643862e-01 -2.61441153e-02 5.35113097e-03 1.29569468e+02] [ 2.61418417e-02 9.99658121e-01 4.94407121e-04 1.34315950e+01] [-5.36222737e-03 -3.54342625e-04 9.99985560e-01 -3.75135661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45140051299998 meters 0.06628877361169319 Centerline is valid? [True, True] Translation: X:129.60, Y:13.43, Z:-0.38 [[ 9.99605010e-01 -2.76881833e-02 4.81539065e-03 1.29599473e+02] [ 2.76863598e-02 9.99616560e-01 4.44943925e-04 1.34316584e+01] [-4.82586393e-03 -3.11447539e-04 9.99988307e-01 -3.75825800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48140051299998 meters 0.06716555520222807 Centerline is valid? [True, True] Translation: X:129.63, Y:13.43, Z:-0.38 [[ 9.99549946e-01 -2.96032491e-02 4.85309779e-03 1.29628428e+02] [ 2.96014184e-02 9.99561681e-01 4.48634541e-04 1.34335900e+01] [-4.86425163e-03 -3.04774053e-04 9.99988123e-01 -3.76025258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51140051299998 meters 0.06127535028630432 Centerline is valid? [True, True] Translation: X:129.66, Y:13.43, Z:-0.38 [[ 9.99493312e-01 -3.13766412e-02 5.35031454e-03 1.29658619e+02] [ 3.13744407e-02 9.99507579e-01 4.94739546e-04 1.34272305e+01] [-5.36320319e-03 -3.26625741e-04 9.99985565e-01 -3.75258965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54140051299999 meters 0.061650615055113635 Centerline is valid? [True, True] Translation: X:129.69, Y:13.43, Z:-0.38 [[ 9.99450842e-01 -3.26754051e-02 5.50739055e-03 1.29687389e+02] [ 3.26730927e-02 9.99465962e-01 5.09343264e-04 1.34280033e+01] [-5.52109239e-03 -3.29120073e-04 9.99984704e-01 -3.75534724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571400513 meters 0.05893933120000438 Centerline is valid? [True, True] Translation: X:129.72, Y:13.43, Z:-0.38 [[ 9.99455887e-01 -3.25108070e-02 5.56568012e-03 1.29716897e+02] [ 3.25084451e-02 9.99471328e-01 5.14331344e-04 1.34255354e+01] [-5.57945903e-03 -3.33119883e-04 9.99984379e-01 -3.76172357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601400513 meters 0.06382836161972773 Centerline is valid? [True, True] Translation: X:129.74, Y:13.44, Z:-0.38 [[ 9.99509092e-01 -3.08386896e-02 5.52726242e-03 1.29744895e+02] [ 3.08363257e-02 9.99524316e-01 5.12398861e-04 1.34351174e+01] [-5.54043490e-03 -3.41706856e-04 9.99984593e-01 -3.77526086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631400513 meters 0.06674088237361245 Centerline is valid? [True, True] Translation: X:129.77, Y:13.44, Z:-0.38 [[ 9.99577156e-01 -2.85561126e-02 5.48248368e-03 1.29773953e+02] [ 2.85537529e-02 9.99592129e-01 5.08208353e-04 1.34422692e+01] [-5.49475999e-03 -3.51447975e-04 9.99984842e-01 -3.78510476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661400513 meters 0.06501227877769535 Centerline is valid? [True, True] Translation: X:129.80, Y:13.44, Z:-0.38 [[ 9.99651252e-01 -2.58771092e-02 5.26778509e-03 1.29804770e+02] [ 2.58748929e-02 9.99665070e-01 4.88461029e-04 1.34424197e+01] [-5.27866071e-03 -3.51987305e-04 9.99986006e-01 -3.78739729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691400513 meters 0.07218580444378704 Centerline is valid? [True, True] Translation: X:129.83, Y:13.45, Z:-0.38 [[ 9.99723584e-01 -2.28893196e-02 5.36976902e-03 1.29833823e+02] [ 2.28869737e-02 9.99737935e-01 4.97932299e-04 1.34521191e+01] [-5.37975912e-03 -3.74896901e-04 9.99985459e-01 -3.78831745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721400513 meters 0.07446154807015194 Centerline is valid? [True, True] Translation: X:129.86, Y:13.46, Z:-0.38 [[ 9.99780356e-01 -2.02725028e-02 5.31657655e-03 1.29863670e+02] [ 2.02701663e-02 9.99794418e-01 4.93003264e-04 1.34563887e+01] [-5.32547797e-03 -3.85127088e-04 9.99985745e-01 -3.78979339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751400513 meters 0.08456325188418472 Centerline is valid? [True, True] Translation: X:129.89, Y:13.47, Z:-0.38 [[ 9.99845119e-01 -1.70530333e-02 4.35103493e-03 1.29891559e+02] [ 1.70514383e-02 9.99854532e-01 4.03412808e-04 1.34733369e+01] [-4.35728141e-03 -3.29158924e-04 9.99990453e-01 -3.81809085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781400513 meters 0.07509915836685938 Centerline is valid? [True, True] Translation: X:129.92, Y:13.47, Z:-0.38 [[ 9.99855192e-01 -1.65086854e-02 4.13021157e-03 1.29922484e+02] [ 1.65072432e-02 9.99863673e-01 3.83038487e-04 1.34665106e+01] [-4.13597197e-03 -3.14804613e-04 9.99991397e-01 -3.81928264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811400513 meters 0.075871658608983 Centerline is valid? [True, True] Translation: X:129.95, Y:13.47, Z:-0.38 [[ 9.99859175e-01 -1.61621976e-02 4.51812512e-03 1.29952591e+02] [ 1.61604682e-02 9.99869323e-01 4.19013840e-04 1.34715806e+01] [-4.52430689e-03 -3.45939816e-04 9.99989705e-01 -3.82138443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841400513 meters 0.07612571549570314 Centerline is valid? [True, True] Translation: X:129.98, Y:13.48, Z:-0.38 [[ 9.99855450e-01 -1.62955142e-02 4.85135589e-03 1.29983118e+02] [ 1.62935218e-02 9.99867151e-01 4.49917877e-04 1.34757095e+01] [-4.85804303e-03 -3.70807168e-04 9.99988131e-01 -3.82377522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871400513 meters 0.07698725104210032 Centerline is valid? [True, True] Translation: X:130.01, Y:13.48, Z:-0.38 [[ 9.99847497e-01 -1.66247748e-02 5.34784821e-03 1.30012880e+02] [ 1.66223582e-02 9.99861716e-01 4.96017580e-04 1.34804798e+01] [-5.35535487e-03 -4.07048087e-04 9.99985577e-01 -3.82696477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901400513 meters 0.08565934040995726 Centerline is valid? [True, True] Translation: X:130.04, Y:13.49, Z:-0.38 [[ 9.99827340e-01 -1.70554908e-02 7.37564048e-03 1.30041872e+02] [ 1.70509066e-02 9.99854389e-01 6.83971473e-04 1.34933589e+01] [-7.38623197e-03 -5.58092022e-04 9.99972566e-01 -3.80668613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931400513 meters 0.08470418249531206 Centerline is valid? [True, True] Translation: X:130.07, Y:13.49, Z:-0.38 [[ 9.99819924e-01 -1.75256283e-02 7.27816342e-03 1.30073569e+02] [ 1.75211773e-02 9.99846265e-01 6.74883187e-04 1.34923605e+01] [-7.28887226e-03 -5.47239666e-04 9.99973286e-01 -3.80508151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961400513 meters 0.07787313388065256 Centerline is valid? [True, True] Translation: X:130.11, Y:13.48, Z:-0.38 [[ 9.99806788e-01 -1.85987610e-02 6.36183125e-03 1.30105727e+02] [ 1.85953824e-02 9.99826917e-01 5.89809390e-04 1.34839090e+01] [-6.37169984e-03 -4.71394747e-04 9.99979589e-01 -3.81004606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991400513 meters 0.08280322841164646 Centerline is valid? [True, True] Translation: X:130.14, Y:13.49, Z:-0.38 [[ 9.99777887e-01 -2.03996354e-02 5.29446930e-03 1.30135332e+02] [ 2.03973216e-02 9.99791833e-01 4.90666076e-04 1.34910885e+01] [-5.30337657e-03 -3.82564100e-04 9.99985864e-01 -3.83299276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02140051299997 meters 0.07160662536598765 Centerline is valid? [True, True] Translation: X:130.17, Y:13.48, Z:-0.38 [[ 9.99747320e-01 -2.19698228e-02 4.75638146e-03 1.30166603e+02] [ 2.19679733e-02 9.99758578e-01 4.40737298e-04 1.34803217e+01] [-4.76491608e-03 -3.36137872e-04 9.99988591e-01 -3.83682975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05140051299998 meters 0.07588575160039318 Centerline is valid? [True, True] Translation: X:130.19, Y:13.49, Z:-0.38 [[ 9.99720521e-01 -2.30479113e-02 5.26048432e-03 1.30194671e+02] [ 2.30456641e-02 9.99734295e-01 4.87408758e-04 1.34889620e+01] [-5.27032034e-03 -3.66041183e-04 9.99986045e-01 -3.84447595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08140051299998 meters 0.07051177590896379 Centerline is valid? [True, True] Translation: X:130.22, Y:13.49, Z:-0.38 [[ 9.99734533e-01 -2.23496225e-02 5.59983193e-03 1.30224810e+02] [ 2.23470637e-02 9.99750138e-01 5.19109794e-04 1.34852546e+01] [-5.61003465e-03 -3.93832187e-04 9.99984186e-01 -3.83854858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11140051299998 meters 0.07180249996291534 Centerline is valid? [True, True] Translation: X:130.25, Y:13.49, Z:-0.38 [[ 9.99749084e-01 -2.17247426e-02 5.45932465e-03 1.30253900e+02] [ 2.17223004e-02 9.99763915e-01 5.06255726e-04 1.34889923e+01] [-5.46903406e-03 -3.87539609e-04 9.99984970e-01 -3.84476817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14140051299998 meters 0.06970769204848266 Centerline is valid? [True, True] Translation: X:130.28, Y:13.49, Z:-0.39 [[ 9.99751311e-01 -2.16819134e-02 5.21633714e-03 1.30284382e+02] [ 2.16796826e-02 9.99764851e-01 4.83832844e-04 1.34890562e+01] [-5.22560094e-03 -3.70623987e-04 9.99986278e-01 -3.85101885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17140051299998 meters 0.06970769204848266 Centerline is valid? [True, True] Translation: X:130.31, Y:13.49, Z:-0.39 [[ 9.99750825e-01 -2.17043121e-02 5.21634762e-03 1.30313496e+02] [ 2.17020821e-02 9.99764365e-01 4.83719870e-04 1.34917945e+01] [-5.22561727e-03 -3.70393735e-04 9.99986278e-01 -3.85403165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20140051299998 meters 0.07093764162757737 Centerline is valid? [True, True] Translation: X:130.34, Y:13.50, Z:-0.39 [[ 9.99741129e-01 -2.21359771e-02 5.26060913e-03 1.30342481e+02] [ 2.21337145e-02 9.99754900e-01 4.87945737e-04 1.34951830e+01] [-5.27012091e-03 -3.71382601e-04 9.99986044e-01 -3.86119363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23140051299998 meters 0.06221444419477933 Centerline is valid? [True, True] Translation: X:130.37, Y:13.48, Z:-0.38 [[ 9.99659853e-01 -2.51324921e-02 6.96677442e-03 1.30374177e+02] [ 2.51285940e-02 9.99684018e-01 6.46505520e-04 1.34809721e+01] [-6.98082134e-03 -4.71220367e-04 9.99975523e-01 -3.83928456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26140051299998 meters 0.06962027887297265 Centerline is valid? [True, True] Translation: X:130.40, Y:13.49, Z:-0.38 [[ 9.99597528e-01 -2.70584642e-02 8.52185151e-03 1.30402917e+02] [ 2.70527015e-02 9.99633696e-01 7.90790981e-04 1.34884759e+01] [-8.54012751e-03 -5.59933605e-04 9.99963376e-01 -3.81722700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29140051299999 meters 0.07525943414041447 Centerline is valid? [True, True] Translation: X:130.43, Y:13.49, Z:-0.38 [[ 9.99526060e-01 -2.91849930e-02 9.79241055e-03 1.30431953e+02] [ 2.91774838e-02 9.99573833e-01 9.08855130e-04 1.34949540e+01] [-9.81476228e-03 -6.22706487e-04 9.99951640e-01 -3.79793407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321400513 meters 0.06274027410654741 Centerline is valid? [True, True] Translation: X:130.46, Y:13.48, Z:-0.38 [[ 9.99481788e-01 -3.06423702e-02 9.85899039e-03 1.30463828e+02] [ 3.06348280e-02 9.99530225e-01 9.15148269e-04 1.34806434e+01] [-9.88240119e-03 -6.12645553e-04 9.99950980e-01 -3.79666616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351400513 meters 0.06339323307263588 Centerline is valid? [True, True] Translation: X:130.49, Y:13.48, Z:-0.38 [[ 9.99474988e-01 -3.09052066e-02 9.72714670e-03 1.30493280e+02] [ 3.08978773e-02 9.99522139e-01 9.02904118e-04 1.34829637e+01] [-9.75040291e-03 -6.01881897e-04 9.99952283e-01 -3.80777376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381400513 meters 0.06264070237276051 Centerline is valid? [True, True] Translation: X:130.52, Y:13.48, Z:-0.38 [[ 9.99509862e-01 -2.99481396e-02 9.11838449e-03 1.30522970e+02] [ 2.99416586e-02 9.99551290e-01 8.46478476e-04 1.34835255e+01] [-9.13964344e-03 -5.73044029e-04 9.99958068e-01 -3.82005617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411400513 meters 0.06879123386615005 Centerline is valid? [True, True] Translation: X:130.55, Y:13.49, Z:-0.38 [[ 9.99664682e-01 -2.47026680e-02 7.76548093e-03 1.30551743e+02] [ 2.46978087e-02 9.99694703e-01 7.21050138e-04 1.34916884e+01] [-7.78092202e-03 -5.29017995e-04 9.99969588e-01 -3.84076473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441400513 meters 0.07151095512499406 Centerline is valid? [True, True] Translation: X:130.58, Y:13.50, Z:-0.39 [[ 9.99749907e-01 -2.12304885e-02 7.02785242e-03 1.30581673e+02] [ 2.12264222e-02 9.99774481e-01 6.52683123e-04 1.34972777e+01] [-7.04012429e-03 -5.03343729e-04 9.99975091e-01 -3.85005453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471400513 meters 0.07629871185394983 Centerline is valid? [True, True] Translation: X:130.61, Y:13.51, Z:-0.39 [[ 9.99810041e-01 -1.84507410e-02 6.28108472e-03 1.30610844e+02] [ 1.84474385e-02 9.99829661e-01 5.83309465e-04 1.35051532e+01] [-6.29077730e-03 -4.67328736e-04 9.99980104e-01 -3.86017264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501400513 meters 0.07830486191882936 Centerline is valid? [True, True] Translation: X:130.64, Y:13.51, Z:-0.39 [[ 9.99876415e-01 -1.45958920e-02 5.84079378e-03 1.30641470e+02] [ 1.45929707e-02 9.99893370e-01 5.42457566e-04 1.35075275e+01] [-5.84808863e-03 -4.57155994e-04 9.99982795e-01 -3.85694888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531400513 meters 0.08948197473181017 Centerline is valid? [True, True] Translation: X:130.67, Y:13.52, Z:-0.39 [[ 9.99886163e-01 -1.38417040e-02 6.00572107e-03 1.30670825e+02] [ 1.38386017e-02 9.99904086e-01 5.57806477e-04 1.35224818e+01] [-6.01286603e-03 -4.74632196e-04 9.99981810e-01 -3.86417893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561400513 meters 0.08623803168097191 Centerline is valid? [True, True] Translation: X:130.70, Y:13.52, Z:-0.39 [[ 9.99882936e-01 -1.37181316e-02 6.77690655e-03 1.30701976e+02] [ 1.37141790e-02 9.99905758e-01 6.29380487e-04 1.35212195e+01] [-6.78490181e-03 -5.36367101e-04 9.99976838e-01 -3.85934244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591400513 meters 0.07954577280023048 Centerline is valid? [True, True] Translation: X:130.73, Y:13.52, Z:-0.39 [[ 9.99876234e-01 -1.36622279e-02 7.80124898e-03 1.30734928e+02] [ 1.36569895e-02 9.99906477e-01 7.24368189e-04 1.35169051e+01] [-7.81041586e-03 -6.17736962e-04 9.99969307e-01 -3.85334212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621400513 meters 0.08108364999001663 Centerline is valid? [True, True] Translation: X:130.77, Y:13.52, Z:-0.39 [[ 9.99885074e-01 -1.29164448e-02 7.93756078e-03 1.30766569e+02] [ 1.29110013e-02 9.99916378e-01 7.36640554e-04 1.35188921e+01] [-7.94641180e-03 -6.34074037e-04 9.99968226e-01 -3.86591976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651400513 meters 0.08577130125146513 Centerline is valid? [True, True] Translation: X:130.80, Y:13.53, Z:-0.39 [[ 9.99890667e-01 -1.25161578e-02 7.87394139e-03 1.30796623e+02] [ 1.25107910e-02 9.99921470e-01 7.30474620e-04 1.35309001e+01] [-7.88246579e-03 -6.31885520e-04 9.99968733e-01 -3.86746259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681400513 meters 0.08170723102106564 Centerline is valid? [True, True] Translation: X:130.83, Y:13.53, Z:-0.39 [[ 9.99911560e-01 -1.14521580e-02 6.76170299e-03 1.30827924e+02] [ 1.14481779e-02 9.99934271e-01 6.27035414e-04 1.35279450e+01] [-6.76843946e-03 -5.49570780e-04 9.99976943e-01 -3.87329741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711400513 meters 0.08147437675356432 Centerline is valid? [True, True] Translation: X:130.86, Y:13.53, Z:-0.39 [[ 9.99916715e-01 -1.09334017e-02 6.85734087e-03 1.30860144e+02] [ 1.09292959e-02 9.99940071e-01 6.35940096e-04 1.35307796e+01] [-6.86388290e-03 -5.60941225e-04 9.99976286e-01 -3.86776208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741400513 meters 0.08134295888242969 Centerline is valid? [True, True] Translation: X:130.89, Y:13.53, Z:-0.39 [[ 9.99921535e-01 -1.04549474e-02 6.90063541e-03 1.30892601e+02] [ 1.04507804e-02 9.99945185e-01 6.39646445e-04 1.35336226e+01] [-6.90694462e-03 -5.67479230e-04 9.99975986e-01 -3.86146883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77140051299997 meters 0.09196773342357537 Centerline is valid? [True, True] Translation: X:130.92, Y:13.55, Z:-0.39 [[ 9.99923534e-01 -9.85020825e-03 7.47660064e-03 1.30922303e+02] [ 9.84530277e-03 9.99951294e-01 6.92632952e-04 1.35491015e+01] [-7.48305906e-03 -6.18970592e-04 9.99971810e-01 -3.85763119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80140051299998 meters 0.08970811401809638 Centerline is valid? [True, True] Translation: X:130.95, Y:13.55, Z:-0.39 [[ 9.99930483e-01 -9.24415941e-03 7.31941937e-03 1.30954085e+02] [ 9.23944365e-03 9.99957086e-01 6.77833179e-04 1.35492116e+01] [-7.32537126e-03 -6.10158695e-04 9.99972983e-01 -3.85634282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83140051299998 meters 0.08421403775697413 Centerline is valid? [True, True] Translation: X:130.98, Y:13.55, Z:-0.39 [[ 9.99945371e-01 -8.17422126e-03 6.51432164e-03 1.30984751e+02] [ 8.17046499e-03 9.99966439e-01 6.03021923e-04 1.35502142e+01] [-6.51903225e-03 -5.49763944e-04 9.99978600e-01 -3.88830226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86140051299998 meters 0.09468591464828639 Centerline is valid? [True, True] Translation: X:131.01, Y:13.57, Z:-0.39 [[ 9.99949603e-01 -7.28246051e-03 6.91070201e-03 1.31013274e+02] [ 7.27821264e-03 9.99973309e-01 6.39631139e-04 1.35691363e+01] [-6.91517564e-03 -5.89301345e-04 9.99975916e-01 -3.90431946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89140051299998 meters 0.09578461887170478 Centerline is valid? [True, True] Translation: X:131.04, Y:13.58, Z:-0.39 [[ 9.99950345e-01 -6.25683521e-03 7.75621850e-03 1.31043893e+02] [ 6.25145442e-03 9.99980202e-01 7.17789367e-04 1.35762355e+01] [-7.76055603e-03 -6.69266079e-04 9.99969662e-01 -3.90515304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92140051299998 meters 0.08539135669341916 Centerline is valid? [True, True] Translation: X:131.08, Y:13.57, Z:-0.39 [[ 9.99953313e-01 -5.33772730e-03 8.05482823e-03 1.31076109e+02] [ 5.33189512e-03 9.99985508e-01 7.45360272e-04 1.35683952e+01] [-8.05869003e-03 -7.02377974e-04 9.99967282e-01 -3.89767859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95140051299998 meters 0.09459839306118577 Centerline is valid? [True, True] Translation: X:131.10, Y:13.59, Z:-0.39 [[ 9.99951231e-01 -4.39593419e-03 8.84376367e-03 1.31104325e+02] [ 4.38886921e-03 9.99990034e-01 8.18114893e-04 1.35868057e+01] [-8.84727192e-03 -7.79260872e-04 9.99960558e-01 -3.87675257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98140051299998 meters 0.08281828992584263 Centerline is valid? [True, True] Translation: X:131.14, Y:13.58, Z:-0.39 [[ 9.99942887e-01 -5.32846064e-03 9.26448975e-03 1.31137082e+02] [ 5.32074670e-03 9.99985477e-01 8.57083310e-04 1.35786115e+01] [-9.26892214e-03 -8.07740356e-04 9.99956716e-01 -3.86548891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01140051299998 meters 0.09430530288598793 Centerline is valid? [True, True] Translation: X:131.17, Y:13.60, Z:-0.39 [[ 9.99928230e-01 -7.04840120e-03 9.68784229e-03 1.31165537e+02] [ 7.04005128e-03 9.99974817e-01 8.95729896e-04 1.35959391e+01] [-9.69391179e-03 -8.27462703e-04 9.99952671e-01 -3.87314728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04140051299999 meters 0.09031094857393587 Centerline is valid? [True, True] Translation: X:131.20, Y:13.60, Z:-0.39 [[ 9.99902239e-01 -9.96266739e-03 9.81106662e-03 1.31195128e+02] [ 9.95424295e-03 9.99950044e-01 9.07125903e-04 1.35985061e+01] [-9.81961389e-03 -8.09375481e-04 9.99951459e-01 -3.87083994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071400513 meters 0.08082389587786376 Centerline is valid? [True, True] Translation: X:131.23, Y:13.59, Z:-0.39 [[ 9.99870287e-01 -1.31302969e-02 9.32760619e-03 1.31226234e+02] [ 1.31228192e-02 9.99913520e-01 8.62432261e-04 1.35901289e+01] [-9.33812353e-03 -7.39915903e-04 9.99956125e-01 -3.88533179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101400513 meters 0.07509275680540288 Centerline is valid? [True, True] Translation: X:131.26, Y:13.59, Z:-0.39 [[ 9.99784258e-01 -1.94830404e-02 7.20066210e-03 1.31257098e+02] [ 1.94787478e-02 9.99810050e-01 6.65799542e-04 1.35853756e+01] [-7.21226613e-03 -5.25396020e-04 9.99973853e-01 -3.92240233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131400513 meters 0.07215384814992572 Centerline is valid? [True, True] Translation: X:131.29, Y:13.59, Z:-0.39 [[ 9.99732884e-01 -2.22512226e-02 6.24851113e-03 1.31287687e+02] [ 2.22480443e-02 9.99752315e-01 5.77711857e-04 1.35853075e+01] [-6.25981826e-03 -4.38540389e-04 9.99980311e-01 -3.94346924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161400513 meters 0.06934195228630548 Centerline is valid? [True, True] Translation: X:131.32, Y:13.59, Z:-0.40 [[ 9.99701485e-01 -2.38624784e-02 5.24631118e-03 1.31318070e+02] [ 2.38602600e-02 9.99715186e-01 4.85053174e-04 1.35855518e+01] [-5.25639153e-03 -3.59730030e-04 9.99986120e-01 -3.96095176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191400513 meters 0.06716918960992918 Centerline is valid? [True, True] Translation: X:131.35, Y:13.59, Z:-0.40 [[ 9.99690464e-01 -2.43703577e-02 5.00614167e-03 1.31347659e+02] [ 2.43683447e-02 9.99702941e-01 4.62729261e-04 1.35856879e+01] [-5.01593142e-03 -3.40594644e-04 9.99987362e-01 -3.96902395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221400513 meters 0.0703174107073866 Centerline is valid? [True, True] Translation: X:131.38, Y:13.59, Z:-0.40 [[ 9.99697273e-01 -2.40420623e-02 5.22888887e-03 1.31375753e+02] [ 2.40398612e-02 9.99710884e-01 4.83390430e-04 1.35909949e+01] [-5.23899882e-03 -3.57542332e-04 9.99986212e-01 -3.97211026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251400513 meters 0.06904950775325662 Centerline is valid? [True, True] Translation: X:131.41, Y:13.59, Z:-0.39 [[ 9.99720298e-01 -2.26055465e-02 6.95084806e-03 1.31405046e+02] [ 2.26016201e-02 9.99744344e-01 6.42928065e-04 1.35913526e+01] [-6.96360478e-03 -4.85647810e-04 9.99975636e-01 -3.94190754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281400513 meters 0.07147078783076806 Centerline is valid? [True, True] Translation: X:131.43, Y:13.60, Z:-0.39 [[ 9.99742231e-01 -2.15528544e-02 7.13760123e-03 1.31434507e+02] [ 2.15486849e-02 9.99767582e-01 6.60559534e-04 1.35981336e+01] [-7.15017927e-03 -5.06583343e-04 9.99974309e-01 -3.94690982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311400513 meters 0.07566261619707004 Centerline is valid? [True, True] Translation: X:131.46, Y:13.61, Z:-0.40 [[ 9.99760998e-01 -2.08263314e-02 6.64916395e-03 1.31464348e+02] [ 2.08226967e-02 9.99782995e-01 6.15396365e-04 1.36064368e+01] [-6.66053750e-03 -4.76795759e-04 9.99977705e-01 -3.96147098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341400513 meters 0.0800414922344436 Centerline is valid? [True, True] Translation: X:131.49, Y:13.61, Z:-0.40 [[ 9.99776845e-01 -2.01877923e-02 6.22201961e-03 1.31494425e+02] [ 2.01845974e-02 9.99796104e-01 5.75858012e-04 1.36135969e+01] [-6.23237627e-03 -4.50140546e-04 9.99980477e-01 -3.97035463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371400513 meters 0.0751060459244426 Centerline is valid? [True, True] Translation: X:131.53, Y:13.61, Z:-0.40 [[ 9.99781844e-01 -1.98036622e-02 6.63927351e-03 1.31525922e+02] [ 1.98000179e-02 9.99803772e-01 6.14201179e-04 1.36088517e+01] [-6.65013413e-03 -4.82609453e-04 9.99977771e-01 -3.96009023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401400513 meters 0.07454524460173795 Centerline is valid? [True, True] Translation: X:131.56, Y:13.61, Z:-0.40 [[ 9.99780183e-01 -1.97194242e-02 7.12256046e-03 1.31556902e+02] [ 1.97152273e-02 9.99805419e-01 6.58979606e-04 1.36100298e+01] [-7.13416924e-03 -5.18411852e-04 9.99974417e-01 -3.95200462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431400513 meters 0.07330306831008027 Centerline is valid? [True, True] Translation: X:131.59, Y:13.61, Z:-0.40 [[ 9.99780071e-01 -1.97181708e-02 7.14161158e-03 1.31587858e+02] [ 1.97139525e-02 9.99805443e-01 6.60584275e-04 1.36129035e+01] [-7.15324764e-03 -5.19649603e-04 9.99974280e-01 -3.95913491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461400513 meters 0.08064913149524464 Centerline is valid? [True, True] Translation: X:131.62, Y:13.63, Z:-0.40 [[ 9.99784777e-01 -1.97235635e-02 6.43284179e-03 1.31617403e+02] [ 1.97201421e-02 9.99805362e-01 5.94860554e-04 1.36250275e+01] [-6.44332248e-03 -4.67875972e-04 9.99979132e-01 -3.98162475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491400513 meters 0.07765095387946806 Centerline is valid? [True, True] Translation: X:131.65, Y:13.62, Z:-0.40 [[ 9.99786186e-01 -1.99468920e-02 5.45009272e-03 1.31648350e+02] [ 1.99444400e-02 9.99800963e-01 5.03886456e-04 1.36232494e+01] [-5.45905892e-03 -3.95079670e-04 9.99985021e-01 -4.00253688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52140051299997 meters 0.07580508173014708 Centerline is valid? [True, True] Translation: X:131.68, Y:13.62, Z:-0.40 [[ 9.99776250e-01 -2.06438150e-02 4.61325645e-03 1.31679352e+02] [ 2.06420656e-02 9.99786839e-01 4.26517045e-04 1.36222317e+01] [-4.62107803e-03 -3.31194470e-04 9.99989268e-01 -4.01936251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55140051299998 meters 0.07017553197935622 Centerline is valid? [True, True] Translation: X:131.71, Y:13.62, Z:-0.40 [[ 9.99751193e-01 -2.17902197e-02 4.76852922e-03 1.31709501e+02] [ 2.17883641e-02 9.99762508e-01 4.40749207e-04 1.36166049e+01] [-4.77700076e-03 -3.36741094e-04 9.99988533e-01 -4.01938885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58140051299998 meters 0.07249617062532344 Centerline is valid? [True, True] Translation: X:131.74, Y:13.62, Z:-0.40 [[ 9.99719144e-01 -2.30193416e-02 5.63404185e-03 1.31738340e+02] [ 2.30167697e-02 9.99734943e-01 5.20916623e-04 1.36207733e+01] [-5.64453967e-03 -3.91092876e-04 9.99983993e-01 -4.01632923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61140051299998 meters 0.0665284308758603 Centerline is valid? [True, True] Translation: X:131.77, Y:13.61, Z:-0.40 [[ 9.99655162e-01 -2.51649270e-02 7.50222252e-03 1.31769373e+02] [ 2.51604246e-02 9.99683186e-01 6.93943740e-04 1.36122424e+01] [-7.51730875e-03 -5.04945338e-04 9.99971617e-01 -3.98813713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64140051299998 meters 0.06812913957016409 Centerline is valid? [True, True] Translation: X:131.80, Y:13.62, Z:-0.40 [[ 9.99640335e-01 -2.55730230e-02 8.07596751e-03 1.31799085e+02] [ 2.55678187e-02 9.99672811e-01 7.47023639e-04 1.36153272e+01] [-8.09242880e-03 -5.40270087e-04 9.99967110e-01 -3.97964325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67140051299998 meters 0.0665351931106063 Centerline is valid? [True, True] Translation: X:131.83, Y:13.61, Z:-0.40 [[ 9.99623771e-01 -2.59694228e-02 8.82639977e-03 1.31829922e+02] [ 2.59632206e-02 9.99662565e-01 8.16564207e-04 1.36144730e+01] [-8.84462714e-03 -5.87095228e-04 9.99960713e-01 -3.97807401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70140051299998 meters 0.07039824895650214 Centerline is valid? [True, True] Translation: X:131.86, Y:13.62, Z:-0.40 [[ 9.99618842e-01 -2.59786679e-02 9.34236986e-03 1.31859540e+02] [ 2.59717194e-02 9.99662304e-01 8.64334386e-04 1.36212448e+01] [-9.36166924e-03 -6.21367530e-04 9.99955986e-01 -3.97838020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73140051299998 meters 0.0672208733603485 Centerline is valid? [True, True] Translation: X:131.89, Y:13.62, Z:-0.40 [[ 9.99619125e-01 -2.57536340e-02 9.91740823e-03 1.31891014e+02] [ 2.57457969e-02 9.99668101e-01 9.17117782e-04 1.36193093e+01] [-9.93773577e-03 -6.61436897e-04 9.99950401e-01 -3.97643124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76140051299998 meters 0.0707507955778254 Centerline is valid? [True, True] Translation: X:131.92, Y:13.63, Z:-0.40 [[ 9.99622378e-01 -2.54471776e-02 1.03702400e-02 1.31921059e+02] [ 2.54385945e-02 9.99675927e-01 9.58752789e-04 1.36251854e+01] [-1.03912768e-02 -6.94586414e-04 9.99945768e-01 -3.97416104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79140051299999 meters 0.06841690539940258 Centerline is valid? [True, True] Translation: X:131.95, Y:13.62, Z:-0.40 [[ 9.99617772e-01 -2.54968937e-02 1.06873370e-02 1.31952793e+02] [ 2.54877818e-02 9.99674646e-01 9.87941828e-04 1.36233051e+01] [-1.07090493e-02 -7.15167695e-04 9.99942401e-01 -3.97150839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821400513 meters 0.06868836320044881 Centerline is valid? [True, True] Translation: X:131.98, Y:13.62, Z:-0.40 [[ 9.99603206e-01 -2.60282301e-02 1.07685997e-02 1.31984081e+02] [ 2.60190124e-02 9.99660953e-01 9.95212809e-04 1.36246057e+01] [-1.07908523e-02 -7.14629584e-04 9.99941522e-01 -3.97313353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851400513 meters 0.06642688345547575 Centerline is valid? [True, True] Translation: X:132.02, Y:13.62, Z:-0.40 [[ 9.99565047e-01 -2.77427788e-02 1.00027954e-02 1.32015414e+02] [ 2.77349132e-02 9.99614886e-01 9.24230048e-04 1.36201117e+01] [-1.00245839e-02 -6.46401390e-04 9.99949544e-01 -3.98859143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881400513 meters 0.06434930562115351 Centerline is valid? [True, True] Translation: X:132.05, Y:13.62, Z:-0.40 [[ 9.99532911e-01 -2.90367486e-02 9.53037151e-03 1.32046381e+02] [ 2.90296681e-02 9.99578163e-01 8.80470565e-04 1.36183074e+01] [-9.55191725e-03 -6.03395785e-04 9.99954197e-01 -3.99830076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911400513 meters 0.06416626543164229 Centerline is valid? [True, True] Translation: X:132.08, Y:13.62, Z:-0.40 [[ 9.99489945e-01 -3.05927615e-02 9.16148689e-03 1.32076501e+02] [ 3.05862836e-02 9.99531772e-01 8.46390881e-04 1.36188605e+01] [-9.18309066e-03 -5.65743339e-04 9.99957674e-01 -4.00571179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941400513 meters 0.06222868761758595 Centerline is valid? [True, True] Translation: X:132.11, Y:13.62, Z:-0.40 [[ 9.99460107e-01 -3.16578666e-02 8.79057787e-03 1.32107015e+02] [ 3.16519438e-02 9.99498622e-01 8.12107799e-04 1.36176258e+01] [-8.81188006e-03 -5.33430471e-04 9.99961032e-01 -4.01462350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971400513 meters 0.05939082764904689 Centerline is valid? [True, True] Translation: X:132.14, Y:13.62, Z:-0.40 [[ 9.99449190e-01 -3.21192582e-02 8.34686561e-03 1.32137365e+02] [ 3.21139337e-02 9.99483917e-01 7.71181281e-04 1.36155848e+01] [-8.36732771e-03 -5.02705818e-04 9.99964867e-01 -4.02404779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001400513 meters 0.059375323930509954 Centerline is valid? [True, True] Translation: X:132.17, Y:13.62, Z:-0.40 [[ 9.99455300e-01 -3.22289730e-02 7.09909468e-03 1.32166206e+02] [ 3.22251264e-02 9.99480421e-01 6.55594761e-04 1.36175305e+01] [-7.11653528e-03 -4.26468435e-04 9.99974586e-01 -4.04321765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031400513 meters 0.06250256038480805 Centerline is valid? [True, True] Translation: X:132.19, Y:13.62, Z:-0.41 [[ 9.99493088e-01 -3.13361737e-02 5.62235911e-03 1.32194067e+02] [ 3.13337409e-02 9.99508842e-01 5.20296545e-04 1.36238444e+01] [-5.63590175e-03 -3.43863257e-04 9.99984059e-01 -4.06886603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061400513 meters 0.0622050961095567 Centerline is valid? [True, True] Translation: X:132.22, Y:13.63, Z:-0.41 [[ 9.99528048e-01 -3.00887807e-02 6.19250277e-03 1.32223603e+02] [ 3.00858030e-02 9.99547155e-01 5.73476219e-04 1.36265203e+01] [-6.20695372e-03 -3.86899148e-04 9.99980662e-01 -4.06319940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091400513 meters 0.0622050961095567 Centerline is valid? [True, True] Translation: X:132.25, Y:13.63, Z:-0.41 [[ 9.99522640e-01 -3.02678782e-02 6.19254898e-03 1.32251056e+02] [ 3.02649070e-02 9.99541749e-01 5.72978113e-04 1.36292013e+01] [-6.20705407e-03 -3.85287677e-04 9.99980662e-01 -4.06604072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121400513 meters 0.07182636875339514 Centerline is valid? [True, True] Translation: X:132.28, Y:13.64, Z:-0.41 [[ 9.99555851e-01 -2.87894825e-02 7.69848113e-03 1.32277828e+02] [ 2.87848299e-02 9.99585376e-01 7.14493760e-04 1.36437056e+01] [-7.71585905e-03 -4.92576948e-04 9.99970111e-01 -4.05414085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151400513 meters 0.070609977947685 Centerline is valid? [True, True] Translation: X:132.31, Y:13.65, Z:-0.40 [[ 9.99582265e-01 -2.74534341e-02 9.03353366e-03 1.32307217e+02] [ 2.74469684e-02 9.99622909e-01 8.38965159e-04 1.36453833e+01] [-9.05315967e-03 -5.90671581e-04 9.99958845e-01 -4.03202212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181400513 meters 0.06559473830608435 Centerline is valid? [True, True] Translation: X:132.34, Y:13.64, Z:-0.40 [[ 9.99637202e-01 -2.53023418e-02 9.23345300e-03 1.32337892e+02] [ 2.52954923e-02 9.99679650e-01 8.57861714e-04 1.36441030e+01] [-9.25220097e-03 -6.23985744e-04 9.99957003e-01 -4.03166018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211400513 meters 0.07428446515107553 Centerline is valid? [True, True] Translation: X:132.37, Y:13.66, Z:-0.40 [[ 9.99663171e-01 -2.44699736e-02 8.64665742e-03 1.32366904e+02] [ 2.44639350e-02 9.99700390e-01 8.03471124e-04 1.36587596e+01] [-8.66372771e-03 -5.91669227e-04 9.99962294e-01 -4.04438596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241400513 meters 0.06814971438846595 Centerline is valid? [True, True] Translation: X:132.40, Y:13.66, Z:-0.40 [[ 9.99671370e-01 -2.42718198e-02 8.24806123e-03 1.32397761e+02] [ 2.42663193e-02 9.99705236e-01 7.66321502e-04 1.36550919e+01] [-8.26423002e-03 -5.65919578e-04 9.99965691e-01 -4.04660484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27140051299997 meters 0.06663989388525257 Centerline is valid? [True, True] Translation: X:132.43, Y:13.66, Z:-0.40 [[ 9.99659170e-01 -2.46897769e-02 8.48285702e-03 1.32428805e+02] [ 2.46839735e-02 9.99694994e-01 7.88156343e-04 1.36566530e+01] [-8.49972910e-03 -5.78497098e-04 9.99963709e-01 -4.04541749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30140051299998 meters 0.07128692324337496 Centerline is valid? [True, True] Translation: X:132.46, Y:13.67, Z:-0.40 [[ 9.99581382e-01 -2.71600982e-02 9.96943652e-03 1.32458067e+02] [ 2.71522062e-02 9.99630882e-01 9.26137734e-04 1.36663189e+01] [-9.99091061e-03 -6.55057840e-04 9.99949875e-01 -4.03012586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33140051299998 meters 0.06201219051564509 Centerline is valid? [True, True] Translation: X:132.49, Y:13.66, Z:-0.40 [[ 9.99532038e-01 -2.88771557e-02 1.00903332e-02 1.32489358e+02] [ 2.88691573e-02 9.99582759e-01 9.37457961e-04 1.36579590e+01] [-1.01131943e-02 -6.45719848e-04 9.99948652e-01 -4.03216185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36140051299998 meters 0.0638745722758863 Centerline is valid? [True, True] Translation: X:132.52, Y:13.66, Z:-0.40 [[ 9.99469067e-01 -3.10630321e-02 9.83216073e-03 1.32519070e+02] [ 3.10555432e-02 9.99517243e-01 9.13472046e-04 1.36632181e+01] [-9.85578939e-03 -6.07643962e-04 9.99951246e-01 -4.03842766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39140051299998 meters 0.062132623445216466 Centerline is valid? [True, True] Translation: X:132.55, Y:13.66, Z:-0.41 [[ 9.99415198e-01 -3.29174145e-02 9.25773777e-03 1.32549601e+02] [ 3.29108545e-02 9.99457921e-01 8.60093300e-04 1.36635989e+01] [-9.28103140e-03 -5.54910255e-04 9.99956776e-01 -4.05032002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42140051299998 meters 0.06401829268001875 Centerline is valid? [True, True] Translation: X:132.58, Y:13.67, Z:-0.41 [[ 9.99357537e-01 -3.47026231e-02 8.95771479e-03 1.32577965e+02] [ 3.46965522e-02 9.99397547e-01 8.32286603e-04 1.36680067e+01] [-8.98120072e-03 -5.20950071e-04 9.99959533e-01 -4.05946434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45140051299998 meters 0.052231318521130346 Centerline is valid? [True, True] Translation: X:132.61, Y:13.66, Z:-0.41 [[ 9.99242166e-01 -3.77036941e-02 9.67079752e-03 1.32609614e+02] [ 3.76967548e-02 9.99288820e-01 8.98906051e-04 1.36550049e+01] [-9.69781193e-03 -5.33667147e-04 9.99952833e-01 -4.05187480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48140051299998 meters 0.05527582620069394 Centerline is valid? [True, True] Translation: X:132.64, Y:13.66, Z:-0.40 [[ 9.99202984e-01 -3.84463892e-02 1.07364732e-02 1.32637308e+02] [ 3.84378782e-02 9.99260493e-01 9.98016414e-04 1.36600579e+01] [-1.07669037e-02 -5.84533728e-04 9.99941864e-01 -4.03847648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51140051299998 meters 0.053747592601883463 Centerline is valid? [True, True] Translation: X:132.67, Y:13.66, Z:-0.40 [[ 9.99181598e-01 -3.88540809e-02 1.12469480e-02 1.32666752e+02] [ 3.88447583e-02 9.99244710e-01 1.04624390e-03 1.36595269e+01] [-1.12791041e-02 -6.08502672e-04 9.99936204e-01 -4.02843280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54140051299999 meters 0.05482481544121529 Centerline is valid? [True, True] Translation: X:132.69, Y:13.66, Z:-0.40 [[ 9.99190559e-01 -3.88183626e-02 1.05528056e-02 1.32694527e+02] [ 3.88101369e-02 9.99246119e-01 9.83226388e-04 1.36619756e+01] [-1.05830172e-02 -5.72874696e-04 9.99943834e-01 -4.03602982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571400513 meters 0.06015597033326816 Centerline is valid? [True, True] Translation: X:132.72, Y:13.67, Z:-0.41 [[ 9.99210789e-01 -3.85522455e-02 9.56683332e-03 1.32721981e+02] [ 3.85454658e-02 9.99256449e-01 8.92115405e-04 1.36697548e+01] [-9.59411294e-03 -5.22653291e-04 9.99953839e-01 -4.05842625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601400513 meters 0.05426763047001364 Centerline is valid? [True, True] Translation: X:132.75, Y:13.66, Z:-0.41 [[ 9.99225003e-01 -3.84020493e-02 8.64149377e-03 1.32751922e+02] [ 3.83965098e-02 9.99262257e-01 8.06090580e-04 1.36638168e+01] [-8.66607409e-03 -4.73662662e-04 9.99962337e-01 -4.07640498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631400513 meters 0.05682693807916976 Centerline is valid? [True, True] Translation: X:132.78, Y:13.67, Z:-0.41 [[ 9.99264630e-01 -3.74168967e-02 8.37709760e-03 1.32780096e+02] [ 3.74116439e-02 9.99299633e-01 7.82925348e-04 1.36652522e+01] [-8.40052519e-03 -4.68948615e-04 9.99964605e-01 -4.09185513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661400513 meters 0.0540214819629004 Centerline is valid? [True, True] Translation: X:132.81, Y:13.66, Z:-0.41 [[ 9.99285331e-01 -3.70059037e-02 7.70648961e-03 1.32809434e+02] [ 3.70014460e-02 9.99314952e-01 7.20268528e-04 1.36618634e+01] [-7.72786448e-03 -4.34602516e-04 9.99970045e-01 -4.10000301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691400513 meters 0.056357919955292296 Centerline is valid? [True, True] Translation: X:132.84, Y:13.66, Z:-0.41 [[ 9.99327492e-01 -3.60909511e-02 6.48124896e-03 1.32837378e+02] [ 3.60877710e-02 9.99348440e-01 6.06973239e-04 1.36648151e+01] [-6.49893228e-03 -3.72671216e-04 9.99978812e-01 -4.11248783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721400513 meters 0.06005171802425709 Centerline is valid? [True, True] Translation: X:132.87, Y:13.67, Z:-0.41 [[ 9.99376473e-01 -3.47876990e-02 6.04004750e-03 1.32865814e+02] [ 3.47849117e-02 9.99394662e-01 5.65949049e-04 1.36710252e+01] [-6.05607930e-03 -3.55493645e-04 9.99981599e-01 -4.12060038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751400513 meters 0.05637637080108441 Centerline is valid? [True, True] Translation: X:132.90, Y:13.67, Z:-0.41 [[ 9.99490306e-01 -3.09938626e-02 7.64906539e-03 1.32896148e+02] [ 3.09892783e-02 9.99519460e-01 7.17143631e-04 1.36714314e+01] [-7.66761675e-03 -4.79739091e-04 9.99970488e-01 -4.09469598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781400513 meters 0.0628186732279185 Centerline is valid? [True, True] Translation: X:132.92, Y:13.68, Z:-0.41 [[ 9.99551422e-01 -2.86944315e-02 8.57808175e-03 1.32924692e+02] [ 2.86885814e-02 9.99588074e-01 8.04275628e-04 1.36833933e+01] [-8.59762645e-03 -5.57821851e-04 9.99962884e-01 -4.08517288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811400513 meters 0.06626303567638028 Centerline is valid? [True, True] Translation: X:132.95, Y:13.69, Z:-0.41 [[ 9.99618872e-01 -2.60496001e-02 9.13940695e-03 1.32953853e+02] [ 2.60428482e-02 9.99660460e-01 8.57017880e-04 1.36911937e+01] [-9.15862873e-03 -6.18675059e-04 9.99957867e-01 -4.08264412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841400513 meters 0.06803434000729847 Centerline is valid? [True, True] Translation: X:132.98, Y:13.70, Z:-0.41 [[ 9.99683495e-01 -2.35807391e-02 8.76688288e-03 1.32983634e+02] [ 2.35744309e-02 9.99721746e-01 8.22207513e-04 1.36972047e+01] [-8.78383172e-03 -6.15273005e-04 9.99961232e-01 -4.09137615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871400513 meters 0.07865670927698128 Centerline is valid? [True, True] Translation: X:133.01, Y:13.71, Z:-0.41 [[ 9.99726947e-01 -2.19026272e-02 8.14287623e-03 1.33012622e+02] [ 2.18971291e-02 9.99759937e-01 7.63764109e-04 1.37145514e+01] [-8.15764987e-03 -5.85249949e-04 9.99966555e-01 -4.11299519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901400513 meters 0.07956621787222197 Centerline is valid? [True, True] Translation: X:133.04, Y:13.72, Z:-0.41 [[ 9.99738656e-01 -2.15430797e-02 7.64955151e-03 1.33043674e+02] [ 2.15382175e-02 9.99767768e-01 7.17439796e-04 1.37207518e+01] [-7.66323090e-03 -5.52494593e-04 9.99970484e-01 -4.13081248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931400513 meters 0.07162244729735973 Centerline is valid? [True, True] Translation: X:133.08, Y:13.72, Z:-0.41 [[ 9.99661360e-01 -2.47808644e-02 7.94189665e-03 1.33075155e+02] [ 2.47757268e-02 9.99692757e-01 7.44653163e-04 1.37161108e+01] [-7.95790971e-03 -5.47634732e-04 9.99968185e-01 -4.12783655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961400513 meters 0.07407163307692853 Centerline is valid? [True, True] Translation: X:133.10, Y:13.72, Z:-0.41 [[ 9.99588035e-01 -2.72751565e-02 8.93449274e-03 1.33104356e+02] [ 2.72687546e-02 9.99627787e-01 8.37597611e-04 1.37216583e+01] [-8.95401281e-03 -5.93620061e-04 9.99959736e-01 -4.10994838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99140051299997 meters 0.0670152463179777 Centerline is valid? [True, True] Translation: X:133.14, Y:13.72, Z:-0.41 [[ 9.99530506e-01 -2.90935067e-02 9.60916711e-03 1.33135481e+02] [ 2.90861839e-02 9.99576501e-01 9.00962655e-04 1.37161638e+01] [-9.63130981e-03 -6.21045656e-04 9.99953425e-01 -4.09457344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02140051299997 meters 0.06291208678744095 Centerline is valid? [True, True] Translation: X:133.17, Y:13.72, Z:-0.41 [[ 9.99502982e-01 -3.01543069e-02 9.19277127e-03 1.33165433e+02] [ 3.01476489e-02 9.99545085e-01 8.62005358e-04 1.37156879e+01] [-9.21458251e-03 -5.84436485e-04 9.99957374e-01 -4.09697139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05140051299998 meters 0.06014147739718363 Centerline is valid? [True, True] Translation: X:133.20, Y:13.72, Z:-0.41 [[ 9.99512203e-01 -3.01589466e-02 8.11131490e-03 1.33195380e+02] [ 3.01537615e-02 9.99544982e-01 7.60801560e-04 1.37181302e+01] [-8.13056908e-03 -5.15843789e-04 9.99966813e-01 -4.11700266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08140051299998 meters 0.07346984666052751 Centerline is valid? [True, True] Translation: X:133.22, Y:13.74, Z:-0.41 [[ 9.99568170e-01 -2.85220658e-02 7.06858493e-03 1.33222791e+02] [ 2.85180877e-02 9.99593057e-01 6.62962114e-04 1.37435819e+01] [-7.08461747e-03 -4.61093302e-04 9.99974797e-01 -4.14859871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11140051299998 meters 0.07352330773106831 Centerline is valid? [True, True] Translation: X:133.25, Y:13.75, Z:-0.42 [[ 9.99593233e-01 -2.76356519e-02 7.04552476e-03 1.33252135e+02] [ 2.76316774e-02 9.99617954e-01 6.60847200e-04 1.37485923e+01] [-7.06109598e-03 -4.65898722e-04 9.99974962e-01 -4.15038723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14140051299998 meters 0.07022191895245672 Centerline is valid? [True, True] Translation: X:133.28, Y:13.75, Z:-0.42 [[ 9.99615710e-01 -2.68502156e-02 6.89188737e-03 1.33281936e+02] [ 2.68463931e-02 9.99639362e-01 6.46578422e-04 1.37486526e+01] [-6.90676266e-03 -4.61307631e-04 9.99976042e-01 -4.15427239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17140051299998 meters 0.06789903457483683 Centerline is valid? [True, True] Translation: X:133.31, Y:13.75, Z:-0.42 [[ 9.99588066e-01 -2.80252920e-02 6.18714166e-03 1.33311285e+02] [ 2.80222361e-02 9.99607132e-01 5.80076965e-04 1.37488002e+01] [-6.20096776e-03 -4.06460467e-04 9.99980691e-01 -4.16842805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20140051299998 meters 0.06413371286026898 Centerline is valid? [True, True] Translation: X:133.34, Y:13.75, Z:-0.42 [[ 9.99539279e-01 -2.96498895e-02 6.48952254e-03 1.33342064e+02] [ 2.96465518e-02 9.99560258e-01 6.09934192e-04 1.37464466e+01] [-6.50475331e-03 -4.17261217e-04 9.99978757e-01 -4.16663525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23140051299998 meters 0.0637425755593985 Centerline is valid? [True, True] Translation: X:133.37, Y:13.75, Z:-0.42 [[ 9.99484705e-01 -3.12182271e-02 7.46634198e-03 1.33370681e+02] [ 3.12138520e-02 9.99512483e-01 7.01813595e-04 1.37483419e+01] [-7.48461139e-03 -4.68398661e-04 9.99971880e-01 -4.15530551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26140051299998 meters 0.06588665668438919 Centerline is valid? [True, True] Translation: X:133.40, Y:13.75, Z:-0.41 [[ 9.99446504e-01 -3.21087702e-02 8.70128408e-03 1.33398963e+02] [ 3.21028598e-02 9.99484236e-01 8.18110059e-04 1.37544041e+01] [-8.72306477e-03 -5.38321136e-04 9.99961808e-01 -4.14107850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29140051299999 meters 0.0646702577238859 Centerline is valid? [True, True] Translation: X:133.43, Y:13.76, Z:-0.41 [[ 9.99454834e-01 -3.18953408e-02 8.52766730e-03 1.33428443e+02] [ 3.18896537e-02 9.99491074e-01 8.02082901e-04 1.37564903e+01] [-8.54891006e-03 -5.29701276e-04 9.99963317e-01 -4.14202224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321400513 meters 0.06367527489294245 Centerline is valid? [True, True] Translation: X:133.46, Y:13.76, Z:-0.42 [[ 9.99494943e-01 -3.09161937e-02 7.35166896e-03 1.33457457e+02] [ 3.09119399e-02 9.99521873e-01 6.91570635e-04 1.37587241e+01] [-7.36953466e-03 -4.63967003e-04 9.99972737e-01 -4.15946884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351400513 meters 0.06492690419838937 Centerline is valid? [True, True] Translation: X:133.49, Y:13.76, Z:-0.42 [[ 9.99542907e-01 -2.95043558e-02 6.59314422e-03 1.33487007e+02] [ 2.95009024e-02 9.99564561e-01 6.20444105e-04 1.37632772e+01] [-6.60857912e-03 -4.25656800e-04 9.99978073e-01 -4.17762339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381400513 meters 0.06751463077044308 Centerline is valid? [True, True] Translation: X:133.52, Y:13.77, Z:-0.42 [[ 9.99614293e-01 -2.66118260e-02 7.94199788e-03 1.33517272e+02] [ 2.66067219e-02 9.99645699e-01 7.47653368e-04 1.37684311e+01] [-7.95908045e-03 -5.36054464e-04 9.99968182e-01 -4.16117375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411400513 meters 0.07268510524389962 Centerline is valid? [True, True] Translation: X:133.55, Y:13.78, Z:-0.41 [[ 9.99642749e-01 -2.50869394e-02 9.22061342e-03 1.33546278e+02] [ 2.50799950e-02 9.99685071e-01 8.68017156e-04 1.37768162e+01] [-9.23948547e-03 -6.36454117e-04 9.99957112e-01 -4.14683102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441400513 meters 0.07142021719522466 Centerline is valid? [True, True] Translation: X:133.58, Y:13.78, Z:-0.41 [[ 9.99692736e-01 -2.31356866e-02 8.89792283e-03 1.33576848e+02] [ 2.31291417e-02 9.99732135e-01 8.37759914e-04 1.37765699e+01] [-8.91492153e-03 -6.31701183e-04 9.99960062e-01 -4.14816036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471400513 meters 0.07340529716893535 Centerline is valid? [True, True] Translation: X:133.61, Y:13.78, Z:-0.42 [[ 9.99757552e-01 -2.06220866e-02 7.71788686e-03 1.33606941e+02] [ 2.06170886e-02 9.99787181e-01 7.26597917e-04 1.37804352e+01] [-7.73122831e-03 -5.67301398e-04 9.99969953e-01 -4.16304794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501400513 meters 0.07653810727300366 Centerline is valid? [True, True] Translation: X:133.64, Y:13.79, Z:-0.42 [[ 9.99819685e-01 -1.77680723e-02 6.70026522e-03 1.33635451e+02] [ 1.77642411e-02 9.99842004e-01 6.30886233e-04 1.37866161e+01] [-6.71041623e-03 -5.11747348e-04 9.99977354e-01 -4.18063492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531400513 meters 0.08376840766420156 Centerline is valid? [True, True] Translation: X:133.66, Y:13.80, Z:-0.42 [[ 9.99888994e-01 -1.31298458e-02 7.04322871e-03 1.33664004e+02] [ 1.31255005e-02 9.99913637e-01 6.62818806e-04 1.38011314e+01] [-7.05132315e-03 -5.70299327e-04 9.99974976e-01 -4.18731090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561400513 meters 0.08986568872603864 Centerline is valid? [True, True] Translation: X:133.69, Y:13.81, Z:-0.42 [[ 9.99905350e-01 -1.10216537e-02 8.23496221e-03 1.33692445e+02] [ 1.10156418e-02 9.99939026e-01 7.75054434e-04 1.38128240e+01] [-8.24300247e-03 -6.84267681e-04 9.99965792e-01 -4.18427419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591400513 meters 0.08309006660279304 Centerline is valid? [True, True] Translation: X:133.72, Y:13.81, Z:-0.42 [[ 9.99916019e-01 -9.42319129e-03 8.89715332e-03 1.33724059e+02] [ 9.41610971e-03 9.99955317e-01 8.37492362e-04 1.38080809e+01] [-8.90464761e-03 -7.53645456e-04 9.99960069e-01 -4.18040191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621400513 meters 0.08424392277441975 Centerline is valid? [True, True] Translation: X:133.76, Y:13.81, Z:-0.42 [[ 9.99929700e-01 -8.36570380e-03 8.40299660e-03 1.33755438e+02] [ 8.35935053e-03 9.99964747e-01 7.90910570e-04 1.38118269e+01] [-8.40931690e-03 -7.20611374e-04 9.99964381e-01 -4.19395415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651400513 meters 0.09419943356209177 Centerline is valid? [True, True] Translation: X:133.79, Y:13.83, Z:-0.42 [[ 9.99942991e-01 -7.81431422e-03 7.27673173e-03 1.33785153e+02] [ 7.80953616e-03 9.99969271e-01 6.84805286e-04 1.38261042e+01] [-7.28185941e-03 -6.27938346e-04 9.99973290e-01 -4.22072280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681400513 meters 0.09543474320589727 Centerline is valid? [True, True] Translation: X:133.81, Y:13.83, Z:-0.42 [[ 9.99942780e-01 -9.13144600e-03 5.57254274e-03 1.33814761e+02] [ 9.12866567e-03 9.99958195e-01 5.24164748e-04 1.38297096e+01] [-5.57709616e-03 -4.73264876e-04 9.99984336e-01 -4.24922908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711400513 meters 0.09057993538040854 Centerline is valid? [True, True] Translation: X:133.85, Y:13.83, Z:-0.43 [[ 9.99925645e-01 -1.11091242e-02 5.02919149e-03 1.33845648e+02] [ 1.11068844e-02 9.99938205e-01 4.73075003e-04 1.38270973e+01] [-5.03413616e-03 -4.17181179e-04 9.99987242e-01 -4.25736205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74140051299997 meters 0.08881101264842794 Centerline is valid? [True, True] Translation: X:133.88, Y:13.83, Z:-0.43 [[ 9.99898924e-01 -1.35032792e-02 4.45006603e-03 1.33876661e+02] [ 1.35015489e-02 9.99908762e-01 4.18627097e-04 1.38283079e+01] [-4.45531285e-03 -3.58502000e-04 9.99990011e-01 -4.27303930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77140051299997 meters 0.08463749649884893 Centerline is valid? [True, True] Translation: X:133.91, Y:13.83, Z:-0.43 [[ 9.99863505e-01 -1.59466329e-02 4.32159332e-03 1.33907505e+02] [ 1.59450243e-02 9.99872787e-01 4.06436712e-04 1.38261711e+01] [-4.32752486e-03 -3.37473325e-04 9.99990579e-01 -4.27447918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80140051299998 meters 0.07527460703106464 Centerline is valid? [True, True] Translation: X:133.94, Y:13.82, Z:-0.43 [[ 9.99821974e-01 -1.81217203e-02 5.25583654e-03 1.33939307e+02] [ 1.81193709e-02 9.99835709e-01 4.94290827e-04 1.38174672e+01] [-5.26393045e-03 -3.98970378e-04 9.99986066e-01 -4.25672102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83140051299998 meters 0.07030256206743397 Centerline is valid? [True, True] Translation: X:133.97, Y:13.81, Z:-0.42 [[ 9.99749928e-01 -2.11110128e-02 7.37611501e-03 1.33970440e+02] [ 2.11064661e-02 9.99776993e-01 6.93716936e-04 1.38140601e+01] [-7.38911515e-03 -5.37859735e-04 9.99972555e-01 -4.22727963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86140051299998 meters 0.0723516256383981 Centerline is valid? [True, True] Translation: X:134.00, Y:13.82, Z:-0.42 [[ 9.99723800e-01 -2.21953561e-02 7.72597360e-03 1.33999964e+02] [ 2.21903999e-02 9.99753499e-01 7.26642510e-04 1.38191773e+01] [-7.74019723e-03 -5.54999367e-04 9.99969890e-01 -4.22999084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89140051299998 meters 0.07026880639745797 Centerline is valid? [True, True] Translation: X:134.03, Y:13.82, Z:-0.42 [[ 9.99707380e-01 -2.29520102e-02 7.63935185e-03 1.34030608e+02] [ 2.29471865e-02 9.99736420e-01 7.18495569e-04 1.38190791e+01] [-7.65382919e-03 -5.42983692e-04 9.99970562e-01 -4.23658642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92140051299998 meters 0.07813701763719137 Centerline is valid? [True, True] Translation: X:134.06, Y:13.83, Z:-0.42 [[ 9.99686042e-01 -2.38738481e-02 7.60642462e-03 1.34059636e+02] [ 2.38690924e-02 9.99714837e-01 7.15398701e-04 1.38300491e+01] [-7.62133487e-03 -5.33615643e-04 9.99970815e-01 -4.23995363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95140051299998 meters 0.07010350081040324 Centerline is valid? [True, True] Translation: X:134.09, Y:13.82, Z:-0.42 [[ 9.99678523e-01 -2.43213491e-02 7.16404069e-03 1.34090602e+02] [ 2.43171419e-02 9.99704068e-01 6.73791651e-04 1.38236635e+01] [-7.17830814e-03 -4.99366048e-04 9.99974111e-01 -4.24586594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98140051299998 meters 0.07010350081040324 Centerline is valid? [True, True] Translation: X:134.12, Y:13.83, Z:-0.42 [[ 9.99678523e-01 -2.43213491e-02 7.16404069e-03 1.34120540e+02] [ 2.43171419e-02 9.99704068e-01 6.73791651e-04 1.38264793e+01] [-7.17830814e-03 -4.99366048e-04 9.99974111e-01 -4.24896420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01140051299998 meters 0.07729894250118141 Centerline is valid? [True, True] Translation: X:134.15, Y:13.84, Z:-0.43 [[ 9.99666576e-01 -2.49469765e-02 6.66228293e-03 1.34148814e+02] [ 2.49433522e-02 9.99688670e-01 6.26560219e-04 1.38394971e+01] [-6.67583955e-03 -4.60171640e-04 9.99977610e-01 -4.27034426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04140051299999 meters 0.07125361391904446 Centerline is valid? [True, True] Translation: X:134.18, Y:13.84, Z:-0.43 [[ 9.99651742e-01 -2.57301490e-02 5.86117235e-03 1.34178943e+02] [ 2.57273573e-02 9.99668845e-01 5.51223161e-04 1.38358266e+01] [-5.87341445e-03 -4.00238719e-04 9.99982671e-01 -4.28357122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071400513 meters 0.06978084279955439 Centerline is valid? [True, True] Translation: X:134.21, Y:13.84, Z:-0.43 [[ 9.99638123e-01 -2.63555705e-02 5.38575651e-03 1.34208233e+02] [ 2.63532218e-02 9.99652565e-01 5.06611801e-04 1.38370286e+01] [-5.39723736e-03 -3.64496434e-04 9.99985368e-01 -4.29385352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101400513 meters 0.06494069488076705 Centerline is valid? [True, True] Translation: X:134.24, Y:13.83, Z:-0.43 [[ 9.99624056e-01 -2.68725315e-02 5.44182136e-03 1.34237853e+02] [ 2.68701442e-02 9.99638802e-01 5.11345827e-04 1.38337416e+01] [-5.45359694e-03 -3.64931065e-04 9.99985062e-01 -4.29186384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131400513 meters 0.06764572719526825 Centerline is valid? [True, True] Translation: X:134.27, Y:13.84, Z:-0.43 [[ 9.99592140e-01 -2.76760557e-02 7.04201110e-03 1.34265755e+02] [ 2.76720638e-02 9.99616835e-01 6.63681190e-04 1.38403658e+01] [-7.05768092e-03 -4.68543520e-04 9.99974984e-01 -4.28692838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161400513 meters 0.06451023557800148 Centerline is valid? [True, True] Translation: X:134.30, Y:13.84, Z:-0.43 [[ 9.99577341e-01 -2.81774125e-02 7.15357812e-03 1.34295305e+02] [ 2.81733045e-02 9.99602826e-01 6.74407116e-04 1.38393136e+01] [-7.16973995e-03 -4.72582137e-04 9.99974185e-01 -4.29155020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191400513 meters 0.06257244501096151 Centerline is valid? [True, True] Translation: X:134.33, Y:13.84, Z:-0.43 [[ 9.99582436e-01 -2.81314234e-02 6.60130826e-03 1.34325196e+02] [ 2.81279194e-02 9.99604138e-01 6.23057983e-04 1.38395031e+01] [-6.61622256e-03 -4.37116749e-04 9.99978017e-01 -4.30128960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221400513 meters 0.06162217588526431 Centerline is valid? [True, True] Translation: X:134.35, Y:13.84, Z:-0.43 [[ 9.99614566e-01 -2.71042094e-02 6.00683855e-03 1.34354231e+02] [ 2.71012893e-02 9.99632532e-01 5.67015721e-04 1.38407678e+01] [-6.01999974e-03 -4.04004105e-04 9.99981798e-01 -4.31087934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251400513 meters 0.07350969801047132 Centerline is valid? [True, True] Translation: X:134.38, Y:13.86, Z:-0.43 [[ 9.99654542e-01 -2.57660316e-02 5.18741434e-03 1.34380980e+02] [ 2.57638355e-02 9.99667937e-01 4.89740625e-04 1.38581977e+01] [-5.19831046e-03 -3.55923750e-04 9.99986425e-01 -4.33373262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281400513 meters 0.0713746293505951 Centerline is valid? [True, True] Translation: X:134.41, Y:13.86, Z:-0.43 [[ 9.99692078e-01 -2.43207068e-02 4.92457369e-03 1.34410885e+02] [ 2.43187083e-02 9.99704148e-01 4.65310673e-04 1.38586870e+01] [-4.93443343e-03 -3.45408123e-04 9.99987766e-01 -4.34228156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311400513 meters 0.0639859975686654 Centerline is valid? [True, True] Translation: X:134.44, Y:13.85, Z:-0.43 [[ 9.99726240e-01 -2.29133567e-02 4.73529146e-03 1.34440641e+02] [ 2.29114934e-02 9.99737397e-01 4.47354487e-04 1.38528403e+01] [-4.74429835e-03 -3.38739420e-04 9.99988688e-01 -4.33591950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341400513 meters 0.07448830369932408 Centerline is valid? [True, True] Translation: X:134.47, Y:13.87, Z:-0.43 [[ 9.99796619e-01 -1.91859118e-02 6.21458343e-03 1.34468891e+02] [ 1.91826283e-02 9.99815824e-01 5.87535966e-04 1.38706860e+01] [-6.22471127e-03 -4.68204429e-04 9.99980517e-01 -4.32845151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371400513 meters 0.0785228106970558 Centerline is valid? [True, True] Translation: X:134.50, Y:13.88, Z:-0.43 [[ 9.99833117e-01 -1.72617672e-02 5.98071592e-03 1.34497425e+02] [ 1.72586916e-02 9.99850898e-01 5.65496141e-04 1.38793653e+01] [-5.98958565e-03 -4.62182438e-04 9.99981955e-01 -4.33270741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401400513 meters 0.08910711029270495 Centerline is valid? [True, True] Translation: X:134.53, Y:13.90, Z:-0.43 [[ 9.99881777e-01 -1.45019205e-02 5.11132382e-03 1.34525115e+02] [ 1.44996371e-02 9.99894758e-01 4.83499213e-04 1.38971020e+01] [-5.11779757e-03 -4.09329712e-04 9.99986820e-01 -4.34698390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431400513 meters 0.09189438444663121 Centerline is valid? [True, True] Translation: X:134.56, Y:13.90, Z:-0.43 [[ 9.99869840e-01 -1.50386208e-02 5.84315970e-03 1.34555583e+02] [ 1.50356477e-02 9.99886806e-01 5.52416084e-04 1.39018815e+01] [-5.85080586e-03 -4.64488491e-04 9.99982776e-01 -4.34731651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461400513 meters 0.08531257608253502 Centerline is valid? [True, True] Translation: X:134.59, Y:13.90, Z:-0.43 [[ 9.99831840e-01 -1.69742775e-02 6.94013315e-03 1.34586908e+02] [ 1.69701295e-02 9.99855782e-01 6.56134835e-04 1.39006280e+01] [-6.95026967e-03 -5.38249541e-04 9.99975702e-01 -4.33605655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49140051299997 meters 0.07470890739821344 Centerline is valid? [True, True] Translation: X:134.62, Y:13.89, Z:-0.43 [[ 9.99779107e-01 -1.96010092e-02 7.58534803e-03 1.34618157e+02] [ 1.95961295e-02 9.99807720e-01 7.17099687e-04 1.38899839e+01] [-7.59794540e-03 -5.68297822e-04 9.99970974e-01 -4.32863891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52140051299997 meters 0.07024601082610753 Centerline is valid? [True, True] Translation: X:134.65, Y:13.89, Z:-0.43 [[ 9.99712613e-01 -2.27416829e-02 7.58328890e-03 1.34649302e+02] [ 2.27368958e-02 9.99741226e-01 7.16906420e-04 1.38859464e+01] [-7.59763020e-03 -5.44279942e-04 9.99970989e-01 -4.33157661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55140051299998 meters 0.07871968965694033 Centerline is valid? [True, True] Translation: X:134.68, Y:13.90, Z:-0.43 [[ 9.99636023e-01 -2.59799249e-02 7.27082298e-03 1.34677966e+02] [ 2.59756096e-02 9.99662341e-01 6.87336298e-04 1.38975215e+01] [-7.28622486e-03 -4.98222065e-04 9.99973331e-01 -4.34258876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58140051299998 meters 0.06366401551539001 Centerline is valid? [True, True] Translation: X:134.71, Y:13.88, Z:-0.44 [[ 9.99469927e-01 -3.19983796e-02 5.99746995e-03 1.34710520e+02] [ 3.19955515e-02 9.99487850e-01 5.66925387e-04 1.38804766e+01] [-6.01253904e-03 -3.74732516e-04 9.99981854e-01 -4.35079553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61140051299998 meters 0.060001352621832274 Centerline is valid? [True, True] Translation: X:134.74, Y:13.88, Z:-0.44 [[ 9.99367316e-01 -3.50374868e-02 6.11079157e-03 1.34741410e+02] [ 3.50346054e-02 9.99385933e-01 5.77966555e-04 1.38775943e+01] [-6.12728963e-03 -3.63511714e-04 9.99981162e-01 -4.35235656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64140051299998 meters 0.05565438338802302 Centerline is valid? [True, True] Translation: X:134.77, Y:13.87, Z:-0.43 [[ 9.99259582e-01 -3.78770933e-02 6.75381241e-03 1.34772631e+02] [ 3.78736382e-02 9.99282332e-01 6.38796745e-04 1.38729347e+01] [-6.77316118e-03 -3.82532321e-04 9.99976989e-01 -4.34334477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67140051299998 meters 0.05442526882534052 Centerline is valid? [True, True] Translation: X:134.80, Y:13.87, Z:-0.43 [[ 9.99172448e-01 -4.00096354e-02 7.32450087e-03 1.34802331e+02] [ 4.00056291e-02 9.99199214e-01 6.92734220e-04 1.38719055e+01] [-7.34635156e-03 -3.99139681e-04 9.99972936e-01 -4.33387994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70140051299998 meters 0.05482805908749549 Centerline is valid? [True, True] Translation: X:134.83, Y:13.87, Z:-0.43 [[ 9.99116917e-01 -4.13674158e-02 7.35682408e-03 1.34829997e+02] [ 4.13634102e-02 9.99143926e-01 6.95860883e-04 1.38737197e+01] [-7.37931206e-03 -3.90943047e-04 9.99972696e-01 -4.33238898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73140051299998 meters 0.058185381540018746 Centerline is valid? [True, True] Translation: X:134.86, Y:13.88, Z:-0.43 [[ 9.99091633e-01 -4.19409559e-02 7.54089687e-03 1.34856959e+02] [ 4.19367603e-02 9.99120012e-01 7.13714188e-04 1.38803470e+01] [-7.56419483e-03 -3.96825090e-04 9.99971312e-01 -4.32893106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76140051299998 meters 0.05440093409271388 Centerline is valid? [True, True] Translation: X:134.89, Y:13.88, Z:-0.43 [[ 9.99150929e-01 -4.03113608e-02 8.50976145e-03 1.34886401e+02] [ 4.03059538e-02 9.99187060e-01 8.06004008e-04 1.38788989e+01] [-8.53533464e-03 -4.62325601e-04 9.99963466e-01 -4.29761573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79140051299999 meters 0.055497612246320514 Centerline is valid? [True, True] Translation: X:134.92, Y:13.88, Z:-0.43 [[ 9.99199082e-01 -3.90589674e-02 8.69439735e-03 1.34915508e+02] [ 3.90532733e-02 9.99236790e-01 8.23797357e-04 1.38832326e+01] [-8.71993837e-03 -4.83592887e-04 9.99961864e-01 -4.29868751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821400513 meters 0.05585395673315604 Centerline is valid? [True, True] Translation: X:134.95, Y:13.89, Z:-0.43 [[ 9.99245700e-01 -3.79176383e-02 8.38352437e-03 1.34945253e+02] [ 3.79123016e-02 9.99280754e-01 7.94636289e-04 1.38870252e+01] [-8.40762529e-03 -4.76198191e-04 9.99964542e-01 -4.30863504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851400513 meters 0.057042816885325254 Centerline is valid? [True, True] Translation: X:134.97, Y:13.89, Z:-0.43 [[ 9.99258701e-01 -3.76405189e-02 8.07714209e-03 1.34973783e+02] [ 3.76355571e-02 9.99291238e-01 7.65474444e-04 1.38923398e+01] [-8.10023018e-03 -4.60919256e-04 9.99967086e-01 -4.31955842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881400513 meters 0.060372154874188275 Centerline is valid? [True, True] Translation: X:135.00, Y:13.90, Z:-0.43 [[ 9.99144686e-01 -4.04769370e-02 8.45657331e-03 1.35002903e+02] [ 4.04715851e-02 9.99180367e-01 8.03113736e-04 1.38997900e+01] [-8.48214961e-03 -4.60175896e-04 9.99963920e-01 -4.32714533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911400513 meters 0.05326080842473209 Centerline is valid? [True, True] Translation: X:135.03, Y:13.89, Z:-0.43 [[ 9.99014066e-01 -4.36129978e-02 8.29470051e-03 1.35034148e+02] [ 4.36079554e-02 9.99048410e-01 7.87879921e-04 1.38927887e+01] [-8.32116916e-03 -4.25388194e-04 9.99965288e-01 -4.32360538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941400513 meters 0.04823774590261238 Centerline is valid? [True, True] Translation: X:135.07, Y:13.89, Z:-0.43 [[ 9.98832450e-01 -4.76039213e-02 8.22209315e-03 1.35065056e+02] [ 4.75991015e-02 9.98866215e-01 7.80999865e-04 1.38875544e+01] [-8.24994972e-03 -3.88723762e-04 9.99965893e-01 -4.31547316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971400513 meters 0.044871234512088534 Centerline is valid? [True, True] Translation: X:135.10, Y:13.88, Z:-0.43 [[ 9.98613819e-01 -5.19342930e-02 8.55972423e-03 1.35095138e+02] [ 5.19292280e-02 9.98650436e-01 8.13069609e-04 1.38849941e+01] [-8.59039853e-03 -3.67442677e-04 9.99963034e-01 -4.30723849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001400513 meters 0.04332226457633296 Centerline is valid? [True, True] Translation: X:135.12, Y:13.89, Z:-0.43 [[ 9.98408377e-01 -5.55819431e-02 9.55825867e-03 1.35124488e+02] [ 5.55757929e-02 9.98454058e-01 9.08060573e-04 1.38858819e+01] [-9.59395393e-03 -3.75407479e-04 9.99953906e-01 -4.29507241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031400513 meters 0.03901546681871542 Centerline is valid? [True, True] Translation: X:135.15, Y:13.88, Z:-0.43 [[ 9.98262217e-01 -5.78589264e-02 1.11754216e-02 1.35154684e+02] [ 5.78506591e-02 9.98324683e-01 1.06189303e-03 1.38840115e+01] [-1.12181392e-02 -4.13542185e-04 9.99936989e-01 -4.28205123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061400513 meters 0.039466551525832325 Centerline is valid? [True, True] Translation: X:135.18, Y:13.89, Z:-0.43 [[ 9.98188115e-01 -5.86526205e-02 1.34297351e-02 1.35182300e+02] [ 5.86407468e-02 9.98278335e-01 1.27655737e-03 1.38855342e+01] [-1.34814870e-02 -4.86714696e-04 9.99909002e-01 -4.25945959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091400513 meters 0.03674456747794519 Centerline is valid? [True, True] Translation: X:135.21, Y:13.88, Z:-0.43 [[ 9.98190705e-01 -5.85586202e-02 1.36456886e-02 1.35211596e+02] [ 5.85463371e-02 9.98283848e-01 1.29822502e-03 1.38830796e+01] [-1.36982928e-02 -4.96971066e-04 9.99906050e-01 -4.26248795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121400513 meters 0.04213697189737604 Centerline is valid? [True, True] Translation: X:135.24, Y:13.89, Z:-0.43 [[ 9.98201211e-01 -5.85091896e-02 1.30773694e-02 1.35238452e+02] [ 5.84978810e-02 9.98286755e-01 1.24591759e-03 1.38910529e+01] [-1.31278623e-02 -4.78678045e-04 9.99913711e-01 -4.26065151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151400513 meters 0.039830543460478894 Centerline is valid? [True, True] Translation: X:135.27, Y:13.89, Z:-0.43 [[ 9.98162786e-01 -5.93117115e-02 1.23763416e-02 1.35267265e+02] [ 5.93016334e-02 9.98239412e-01 1.18002159e-03 1.38911896e+01] [-1.24245411e-02 -4.43916365e-04 9.99922714e-01 -4.26912838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181400513 meters 0.03331048824329944 Centerline is valid? [True, True] Translation: X:135.30, Y:13.89, Z:-0.43 [[ 9.98067185e-01 -6.09438623e-02 1.21548519e-02 1.35297074e+02] [ 6.09342399e-02 9.98141108e-01 1.16076786e-03 1.38867860e+01] [-1.22029990e-02 -4.17877648e-04 9.99925453e-01 -4.28158007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211400513 meters 0.032757064576345744 Centerline is valid? [True, True] Translation: X:135.33, Y:13.89, Z:-0.43 [[ 9.97876166e-01 -6.40862224e-02 1.16667656e-02 1.35325707e+02] [ 6.40775537e-02 9.97944298e-01 1.11570456e-03 1.38893081e+01] [-1.17142835e-02 -3.65757189e-04 9.99931319e-01 -4.29240676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24140051299997 meters 0.030721440667624497 Centerline is valid? [True, True] Translation: X:135.35, Y:13.89, Z:-0.43 [[ 9.97765623e-01 -6.59052860e-02 1.09660555e-02 1.35354568e+02] [ 6.58977342e-02 9.97825831e-01 1.04895676e-03 1.38895200e+01] [-1.10113452e-02 -3.23974789e-04 9.99939321e-01 -4.30826795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27140051299997 meters 0.02785821926746353 Centerline is valid? [True, True] Translation: X:135.38, Y:13.89, Z:-0.43 [[ 9.97640554e-01 -6.79146245e-02 1.00463183e-02 1.35384182e+02] [ 6.79083841e-02 9.97691098e-01 9.61379694e-04 1.38890981e+01] [-1.00884141e-02 -2.76882129e-04 9.99949072e-01 -4.32568212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30140051299998 meters 0.02586323060147197 Centerline is valid? [True, True] Translation: X:135.41, Y:13.89, Z:-0.43 [[ 9.97501407e-01 -7.00720729e-02 8.99148843e-03 1.35413610e+02] [ 7.00671509e-02 9.97541905e-01 8.61646323e-04 1.38908314e+01] [-9.02976384e-03 -2.29485443e-04 9.99959205e-01 -4.34291611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33140051299998 meters 0.02580978819675679 Centerline is valid? [True, True] Translation: X:135.44, Y:13.90, Z:-0.44 [[ 9.97376186e-01 -7.19200165e-02 8.26163315e-03 1.35441299e+02] [ 7.19159134e-02 9.97410383e-01 7.93034990e-04 1.38955047e+01] [-8.29727377e-03 -1.96811319e-04 9.99965558e-01 -4.35440661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36140051299998 meters 0.023963964835342414 Centerline is valid? [True, True] Translation: X:135.47, Y:13.90, Z:-0.44 [[ 9.97287115e-01 -7.31815823e-02 7.92885202e-03 1.35470061e+02] [ 7.31778414e-02 9.97318617e-01 7.61292105e-04 1.38978593e+01] [-7.96330429e-03 -1.79010532e-04 9.99968276e-01 -4.35932937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39140051299998 meters 0.02055729460772439 Centerline is valid? [True, True] Translation: X:135.50, Y:13.90, Z:-0.44 [[ 9.97093103e-01 -7.58885377e-02 6.80250950e-03 1.35499254e+02] [ 7.58858410e-02 9.97116298e-01 6.54041929e-04 1.39012046e+01] [-6.83252737e-03 -1.35926542e-04 9.99976649e-01 -4.36461658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42140051299998 meters 0.02157330698002314 Centerline is valid? [True, True] Translation: X:135.53, Y:13.91, Z:-0.44 [[ 9.96934439e-01 -7.79825004e-02 6.36038620e-03 1.35526627e+02] [ 7.79801774e-02 9.96954721e-01 6.12784566e-04 1.39078441e+01] [-6.38880353e-03 -1.14921993e-04 9.99979585e-01 -4.38329635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45140051299998 meters 0.01747867908445306 Centerline is valid? [True, True] Translation: X:135.56, Y:13.91, Z:-0.44 [[ 9.96699362e-01 -8.09822106e-02 5.68012344e-03 1.35556023e+02] [ 8.09804075e-02 9.96715543e-01 5.47104037e-04 1.39076934e+01] [-5.70577302e-03 -8.53195339e-05 9.99983718e-01 -4.38897195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48140051299998 meters 0.01134928069965987 Centerline is valid? [True, True] Translation: X:135.59, Y:13.90, Z:-0.44 [[ 9.96094074e-01 -8.81236010e-02 5.55215135e-03 1.35585137e+02] [ 8.81219816e-02 9.96109547e-01 5.36115894e-04 1.39027570e+01] [-5.57779543e-03 -4.47552857e-05 9.99984443e-01 -4.38532597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51140051299998 meters 0.00823454388179629 Centerline is valid? [True, True] Translation: X:135.61, Y:13.90, Z:-0.44 [[ 9.95754284e-01 -9.18487156e-02 6.10075310e-03 1.35614061e+02] [ 9.18468320e-02 9.95772973e-01 5.88789440e-04 1.39004702e+01] [-6.12904460e-03 -2.59547619e-05 9.99981217e-01 -4.36485010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54140051299999 meters 0.006856116881036778 Centerline is valid? [True, True] Translation: X:135.64, Y:13.90, Z:-0.43 [[ 9.95449323e-01 -9.50142390e-02 7.27590658e-03 1.35643458e+02] [ 9.50116333e-02 9.95475913e-01 7.03725175e-04 1.39005410e+01] [-7.30985366e-03 -9.22698188e-06 9.99973283e-01 -4.34793436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571400513 meters 0.006702717004312257 Centerline is valid? [True, True] Translation: X:135.67, Y:13.90, Z:-0.43 [[ 9.95245521e-01 -9.70497114e-02 8.22837006e-03 1.35670812e+02] [ 9.70464336e-02 9.95279535e-01 7.97636909e-04 1.39024710e+01] [-8.26693877e-03 4.68940837e-06 9.99965828e-01 -4.34332605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601400513 meters 0.006836487704205078 Centerline is valid? [True, True] Translation: X:135.70, Y:13.91, Z:-0.43 [[ 9.95118895e-01 -9.83105130e-02 8.56902770e-03 1.35699106e+02] [ 9.83069999e-02 9.95155788e-01 8.31245388e-04 1.39052392e+01] [-8.60923768e-03 1.52074138e-05 9.99962940e-01 -4.34401058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631400513 meters 0.006875287206701565 Centerline is valid? [True, True] Translation: X:135.73, Y:13.91, Z:-0.43 [[ 9.95074472e-01 -9.87919859e-02 8.18166222e-03 1.35726548e+02] [ 9.87887879e-02 9.95108106e-01 7.95080916e-04 1.39082353e+01] [-8.22018602e-03 1.70917720e-05 9.99966214e-01 -4.34816660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661400513 meters 0.0068338498833512345 Centerline is valid? [True, True] Translation: X:135.75, Y:13.91, Z:-0.44 [[ 9.95121399e-01 -9.83859273e-02 7.32195368e-03 1.35753419e+02] [ 9.83833462e-02 9.95148335e-01 7.12743750e-04 1.39111409e+01] [-7.35655397e-03 1.10917472e-05 9.99972940e-01 -4.36506730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691400513 meters 0.007062679312360393 Centerline is valid? [True, True] Translation: X:135.78, Y:13.92, Z:-0.44 [[ 9.95411224e-01 -9.54573887e-02 6.66201279e-03 1.35780416e+02] [ 9.54551789e-02 9.95433517e-01 6.49606965e-04 1.39191377e+01] [-6.69360061e-03 -1.07024409e-05 9.99977598e-01 -4.37266045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721400513 meters 0.008203247580869115 Centerline is valid? [True, True] Translation: X:135.81, Y:13.93, Z:-0.44 [[ 9.95632923e-01 -9.30441613e-02 7.60702459e-03 1.35807992e+02] [ 9.30411938e-02 9.95661982e-01 7.43819452e-04 1.39276491e+01] [-7.64323324e-03 -3.28044856e-05 9.99970790e-01 -4.36657013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751400513 meters 0.009983355553017189 Centerline is valid? [True, True] Translation: X:135.84, Y:13.94, Z:-0.43 [[ 9.95844898e-01 -9.05758290e-02 9.43172362e-03 1.35836332e+02] [ 9.05711507e-02 9.95889560e-01 9.22851762e-04 1.39358734e+01] [-9.47654314e-03 -6.47751587e-05 9.99955094e-01 -4.34181011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781400513 meters 0.012057757533848015 Centerline is valid? [True, True] Translation: X:135.86, Y:13.94, Z:-0.43 [[ 9.96003664e-01 -8.85805630e-02 1.14098514e-02 1.35864310e+02] [ 8.85735604e-02 9.96069010e-01 1.11859487e-03 1.39427466e+01] [-1.14640852e-02 -1.03513423e-04 9.99934280e-01 -4.31728898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811400513 meters 0.013169670972363375 Centerline is valid? [True, True] Translation: X:135.89, Y:13.95, Z:-0.43 [[ 9.96098672e-01 -8.73605470e-02 1.24728098e-02 1.35892478e+02] [ 8.73520562e-02 9.96176750e-01 1.22496105e-03 1.39470010e+01] [-1.25321364e-02 -1.30656494e-04 9.99921461e-01 -4.30347029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841400513 meters 0.01403623253505488 Centerline is valid? [True, True] Translation: X:135.92, Y:13.95, Z:-0.43 [[ 9.96146757e-01 -8.68493955e-02 1.21992179e-02 1.35920167e+02] [ 8.68412135e-02 9.96221443e-01 1.19983033e-03 1.39509574e+01] [-1.22573270e-02 -1.35812204e-04 9.99924867e-01 -4.31059450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871400513 meters 0.012647982869182154 Centerline is valid? [True, True] Translation: X:135.95, Y:13.95, Z:-0.44 [[ 9.96105459e-01 -8.77331289e-02 8.76431281e-03 1.35948787e+02] [ 8.77289385e-02 9.96144011e-01 8.62177670e-04 1.39534327e+01] [-8.80615926e-03 -8.99360236e-05 9.99961221e-01 -4.36820069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901400513 meters 0.012647982869182154 Centerline is valid? [True, True] Translation: X:135.98, Y:13.96, Z:-0.44 [[ 9.96089210e-01 -8.79174356e-02 8.76417586e-03 1.35976177e+02] [ 8.79132401e-02 9.96127761e-01 8.63567367e-04 1.39562906e+01] [-8.80616151e-03 -8.97030396e-05 9.99961221e-01 -4.37103302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931400513 meters 0.012652163863959712 Centerline is valid? [True, True] Translation: X:136.00, Y:13.96, Z:-0.44 [[ 9.96068882e-01 -8.82722638e-02 7.40207439e-03 1.36003411e+02] [ 8.82692706e-02 9.96096382e-01 7.30740608e-04 1.39599308e+01] [-7.43768365e-03 -7.44922722e-05 9.99972337e-01 -4.39669630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961400513 meters 0.01215124759502327 Centerline is valid? [True, True] Translation: X:136.03, Y:13.96, Z:-0.44 [[ 9.96051633e-01 -8.84801735e-02 7.23897421e-03 1.36031078e+02] [ 8.84773144e-02 9.96077936e-01 7.14882427e-04 1.39639605e+01] [-7.27383540e-03 -7.15748123e-05 9.99973543e-01 -4.40204357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99140051299997 meters 0.01469448952485879 Centerline is valid? [True, True] Translation: X:136.06, Y:13.97, Z:-0.44 [[ 9.96141841e-01 -8.73457915e-02 8.49389489e-03 1.36058027e+02] [ 8.73417953e-02 9.96178048e-01 8.40988469e-04 1.39748328e+01] [-8.53488843e-03 -9.58717724e-05 9.99963573e-01 -4.38852602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02140051299997 meters 0.015387664160669794 Centerline is valid? [True, True] Translation: X:136.09, Y:13.98, Z:-0.44 [[ 9.96254974e-01 -8.61371579e-02 7.51111358e-03 1.36086206e+02] [ 8.61339980e-02 9.96283284e-01 7.43776033e-04 1.39803825e+01] [-7.54726365e-03 -9.40283310e-05 9.99971515e-01 -4.40729811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05140051299998 meters 0.01688180581918238 Centerline is valid? [True, True] Translation: X:136.11, Y:13.99, Z:-0.44 [[ 9.96406435e-01 -8.45047823e-02 5.75828134e-03 1.36114162e+02] [ 8.45028921e-02 9.96423070e-01 5.71206064e-04 1.39860537e+01] [-5.78595402e-03 -8.25619711e-05 9.99983258e-01 -4.43822168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08140051299998 meters 0.02050829830436852 Centerline is valid? [True, True] Translation: X:136.14, Y:13.99, Z:-0.45 [[ 9.96564090e-01 -8.26828245e-02 4.85432126e-03 1.36140853e+02] [ 8.26814594e-02 9.96575910e-01 4.81571235e-04 1.39940246e+01] [-4.87751729e-03 -7.85542344e-05 9.99988102e-01 -4.46408768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11140051299998 meters 0.019914258194089686 Centerline is valid? [True, True] Translation: X:136.17, Y:14.00, Z:-0.45 [[ 9.96699110e-01 -8.10341296e-02 4.93505386e-03 1.36169197e+02] [ 8.10326984e-02 9.96711323e-01 4.89598904e-04 1.39975403e+01] [-4.95849828e-03 -8.80820603e-05 9.99987703e-01 -4.45020224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14140051299998 meters 0.022260311131592922 Centerline is valid? [True, True] Translation: X:136.20, Y:14.01, Z:-0.44 [[ 9.96822138e-01 -7.93229635e-02 7.31390486e-03 1.36196478e+02] [ 7.93197574e-02 9.96848959e-01 7.27843987e-04 1.40083974e+01] [-7.34859319e-03 -1.45393840e-04 9.99972988e-01 -4.42068062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17140051299998 meters 0.02256661094319188 Centerline is valid? [True, True] Translation: X:136.22, Y:14.02, Z:-0.44 [[ 9.96815071e-01 -7.93674745e-02 7.77939801e-03 1.36223536e+02] [ 7.93638448e-02 9.96845414e-01 7.74659520e-04 1.40150042e+01] [-7.81634000e-03 -1.54789348e-04 9.99969440e-01 -4.41467001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20140051299998 meters 0.02137562720519162 Centerline is valid? [True, True] Translation: X:136.25, Y:14.02, Z:-0.44 [[ 9.96856133e-01 -7.88545165e-02 7.73406472e-03 1.36252433e+02] [ 7.88509023e-02 9.96886122e-01 7.71600977e-04 1.40195797e+01] [-7.77082601e-03 -1.59337184e-04 9.99969794e-01 -4.41672677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23140051299998 meters 0.024764416168400024 Centerline is valid? [True, True] Translation: X:136.28, Y:14.03, Z:-0.44 [[ 9.96981059e-01 -7.73149338e-02 7.15321839e-03 1.36278995e+02] [ 7.73117926e-02 9.97006708e-01 7.15018745e-04 1.40293527e+01] [-7.18708834e-03 -1.59832009e-04 9.99974160e-01 -4.43146044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26140051299998 meters 0.02737033810510244 Centerline is valid? [True, True] Translation: X:136.31, Y:14.04, Z:-0.44 [[ 9.97152795e-01 -7.51008805e-02 6.79416575e-03 1.36307114e+02] [ 7.50979915e-02 9.97175927e-01 6.79701753e-04 1.40384917e+01] [-6.82602473e-03 -1.67538302e-04 9.99976688e-01 -4.44082200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29140051299999 meters 0.0325795043634213 Centerline is valid? [True, True] Translation: X:136.33, Y:14.05, Z:-0.44 [[ 9.97323834e-01 -7.27805567e-02 6.93982200e-03 1.36334025e+02] [ 7.27774849e-02 9.97347961e-01 6.94484311e-04 1.40512912e+01] [-6.97196228e-03 -1.87562965e-04 9.99975678e-01 -4.44437154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321400513 meters 0.03527569231211639 Centerline is valid? [True, True] Translation: X:136.36, Y:14.06, Z:-0.44 [[ 9.97642039e-01 -6.82835552e-02 6.90778886e-03 1.36362755e+02] [ 6.82804010e-02 9.97665930e-01 6.91705485e-04 1.40647937e+01] [-6.93889771e-03 -2.18407878e-04 9.99975902e-01 -4.44521763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351400513 meters 0.03319152534124297 Centerline is valid? [True, True] Translation: X:136.39, Y:14.07, Z:-0.44 [[ 9.97745494e-01 -6.67753404e-02 6.70699998e-03 1.36391626e+02] [ 6.67723360e-02 9.97768011e-01 6.71121339e-04 1.40685597e+01] [-6.73684439e-03 -2.21766235e-04 9.99977283e-01 -4.44686875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381400513 meters 0.03733359741298291 Centerline is valid? [True, True] Translation: X:136.42, Y:14.08, Z:-0.45 [[ 9.97810884e-01 -6.58112154e-02 6.50569968e-03 1.36418244e+02] [ 6.58083591e-02 9.97832067e-01 6.52374069e-04 1.40776951e+01] [-6.53452929e-03 -2.22816526e-04 9.99978625e-01 -4.45809465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411400513 meters 0.038293212125588914 Centerline is valid? [True, True] Translation: X:136.45, Y:14.08, Z:-0.45 [[ 9.97841737e-01 -6.53464131e-02 6.45863129e-03 1.36445209e+02] [ 6.53435853e-02 9.97862614e-01 6.48116700e-04 1.40825281e+01] [-6.48717880e-03 -2.24687769e-04 9.99978933e-01 -4.46146049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441400513 meters 0.037820259868474704 Centerline is valid? [True, True] Translation: X:136.47, Y:14.09, Z:-0.45 [[ 9.97863737e-01 -6.49748801e-02 6.79910121e-03 1.36473253e+02] [ 6.49717340e-02 9.97886871e-01 6.82825321e-04 1.40867381e+01] [-6.82910033e-03 -2.39617231e-04 9.99976653e-01 -4.45296466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471400513 meters 0.03984062546114091 Centerline is valid? [True, True] Translation: X:136.50, Y:14.10, Z:-0.44 [[ 9.97916149e-01 -6.41242818e-02 7.17184415e-03 1.36499866e+02] [ 6.41207563e-02 9.97941887e-01 7.20666710e-04 1.40952645e+01] [-7.20329592e-03 -2.59300877e-04 9.99974022e-01 -4.44963026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501400513 meters 0.04665318004603769 Centerline is valid? [True, True] Translation: X:136.53, Y:14.11, Z:-0.45 [[ 9.98097669e-01 -6.13176921e-02 6.41739913e-03 1.36527227e+02] [ 6.13148075e-02 9.98118268e-01 6.45465196e-04 1.41137706e+01] [-6.44490175e-03 -2.50755715e-04 9.99979200e-01 -4.46403915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531400513 meters 0.04307445053818334 Centerline is valid? [True, True] Translation: X:136.56, Y:14.11, Z:-0.45 [[ 9.98162141e-01 -6.03421003e-02 5.58316669e-03 1.36555479e+02] [ 6.03399038e-02 9.98177730e-01 5.61175831e-04 1.41149220e+01] [-5.60685518e-03 -2.23256728e-04 9.99984257e-01 -4.47377224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561400513 meters 0.04462550085033458 Centerline is valid? [True, True] Translation: X:136.58, Y:14.12, Z:-0.45 [[ 9.98215350e-01 -5.94799652e-02 5.31502966e-03 1.36583138e+02] [ 5.94779593e-02 9.98229476e-01 5.34822660e-04 1.41215289e+01] [-5.33743051e-03 -2.17741070e-04 9.99985732e-01 -4.48336362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591400513 meters 0.041030599797698665 Centerline is valid? [True, True] Translation: X:136.61, Y:14.12, Z:-0.45 [[ 9.98260384e-01 -5.87339550e-02 5.15055330e-03 1.36611929e+02] [ 5.87320629e-02 9.98273648e-01 5.17989137e-04 1.41216740e+01] [-5.17208518e-03 -2.14585414e-04 9.99986602e-01 -4.47872234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621400513 meters 0.04568083106168451 Centerline is valid? [True, True] Translation: X:136.64, Y:14.13, Z:-0.45 [[ 9.98290998e-01 -5.81154491e-02 6.13823574e-03 1.36638289e+02] [ 5.81127398e-02 9.98309835e-01 6.18970239e-04 1.41340228e+01] [-6.16383284e-03 -2.61202721e-04 9.99980969e-01 -4.47803210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651400513 meters 0.04519604233154996 Centerline is valid? [True, True] Translation: X:136.67, Y:14.14, Z:-0.45 [[ 9.98230936e-01 -5.91057665e-02 6.44256090e-03 1.36666038e+02] [ 5.91027982e-02 9.98251690e-01 6.50319387e-04 1.41379539e+01] [-6.46973493e-03 -2.68395554e-04 9.99979035e-01 -4.48006275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681400513 meters 0.04241592878312672 Centerline is valid? [True, True] Translation: X:136.70, Y:14.14, Z:-0.45 [[ 9.98155239e-01 -6.04401193e-02 5.75425260e-03 1.36695192e+02] [ 6.04377701e-02 9.98171798e-01 5.81421248e-04 1.41389120e+01] [-5.77887384e-03 -2.32574469e-04 9.99983275e-01 -4.49270111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711400513 meters 0.04116425666679596 Centerline is valid? [True, True] Translation: X:136.72, Y:14.14, Z:-0.45 [[ 9.98073208e-01 -6.18720888e-02 4.66006795e-03 1.36722982e+02] [ 6.18705640e-02 9.98084070e-01 4.70785014e-04 1.41411381e+01] [-4.68026804e-03 -1.81556876e-04 9.99989031e-01 -4.51056605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74140051299997 meters 0.04263884468117734 Centerline is valid? [True, True] Translation: X:136.75, Y:14.15, Z:-0.45 [[ 9.97987320e-01 -6.33028626e-02 3.74931362e-03 1.36750265e+02] [ 6.33018846e-02 9.97994353e-01 3.79084277e-04 1.41467809e+01] [-3.76579094e-03 -1.40982683e-04 9.99992899e-01 -4.53152322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77140051299997 meters 0.03634416188124604 Centerline is valid? [True, True] Translation: X:136.78, Y:14.14, Z:-0.45 [[ 9.97864693e-01 -6.50666336e-02 5.69107394e-03 1.36779779e+02] [ 6.50644049e-02 9.97880900e-01 5.76088042e-04 1.41442895e+01] [-5.71649810e-03 -2.04571578e-04 9.99983640e-01 -4.49120173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80140051299998 meters 0.039338716348023835 Centerline is valid? [True, True] Translation: X:136.81, Y:14.15, Z:-0.45 [[ 9.97882477e-01 -6.46123174e-02 7.47069074e-03 1.36807320e+02] [ 6.46084606e-02 9.97910404e-01 7.56704064e-04 1.41514634e+01] [-7.50397241e-03 -2.72431898e-04 9.99971808e-01 -4.47538979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83140051299998 meters 0.04078099149754384 Centerline is valid? [True, True] Translation: X:136.84, Y:14.16, Z:-0.45 [[ 9.97951687e-01 -6.34515612e-02 8.14433579e-03 1.36836213e+02] [ 6.34469363e-02 9.97984872e-01 8.25255580e-04 1.41560681e+01] [-8.18028767e-03 -3.06832044e-04 9.99966494e-01 -4.47022080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86140051299998 meters 0.046745396906766254 Centerline is valid? [True, True] Translation: X:136.86, Y:14.17, Z:-0.45 [[ 9.98074898e-01 -6.15133373e-02 7.91253514e-03 1.36863580e+02] [ 6.15088994e-02 9.98106212e-01 8.03236623e-04 1.41655398e+01] [-7.94696024e-03 -3.14998982e-04 9.99968373e-01 -4.48289243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89140051299998 meters 0.04576622698700769 Centerline is valid? [True, True] Translation: X:136.89, Y:14.17, Z:-0.45 [[ 9.98220192e-01 -5.92216893e-02 7.01715397e-03 1.36893330e+02] [ 5.92181395e-02 9.98244812e-01 7.12753710e-04 1.41671356e+01] [-7.04704802e-03 -2.95942343e-04 9.99975125e-01 -4.50414154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92140051299998 meters 0.04739708268381259 Centerline is valid? [True, True] Translation: X:136.92, Y:14.17, Z:-0.45 [[ 9.98385511e-01 -5.64926396e-02 5.91209574e-03 1.36922648e+02] [ 5.64900713e-02 9.98402980e-01 6.00642412e-04 1.41723764e+01] [-5.93658589e-03 -2.65697971e-04 9.99982343e-01 -4.52594871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95140051299998 meters 0.05433633747321077 Centerline is valid? [True, True] Translation: X:136.95, Y:14.18, Z:-0.45 [[ 9.98683078e-01 -5.10851858e-02 4.73435448e-03 1.36950975e+02] [ 5.10834778e-02 9.98694271e-01 4.81066254e-04 1.41840912e+01] [-4.75274805e-03 -2.38585436e-04 9.99988677e-01 -4.54938821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98140051299998 meters 0.056757544122676515 Centerline is valid? [True, True] Translation: X:136.98, Y:14.19, Z:-0.46 [[ 9.98786711e-01 -4.90777366e-02 4.05977803e-03 1.36980742e+02] [ 4.90764642e-02 9.98794939e-01 4.12518448e-04 1.41876225e+01] [-4.07513122e-03 -2.12778393e-04 9.99991674e-01 -4.55524246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01140051299998 meters 0.0553432864766687 Centerline is valid? [True, True] Translation: X:137.01, Y:14.19, Z:-0.46 [[ 9.98855865e-01 -4.76940576e-02 3.49828659e-03 1.37010642e+02] [ 4.76931045e-02 9.98861973e-01 3.55409012e-04 1.41858480e+01] [-3.51125634e-03 -1.88158228e-04 9.99993818e-01 -4.55936429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04140051299999 meters 0.05696397002695426 Centerline is valid? [True, True] Translation: X:137.04, Y:14.19, Z:-0.46 [[ 9.98883328e-01 -4.71166553e-02 3.48099261e-03 1.37037691e+02] [ 4.71157097e-02 9.98889376e-01 3.53212304e-04 1.41891183e+01] [-3.49376872e-03 -1.88808445e-04 9.99993879e-01 -4.56929912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071400513 meters 0.05906227422078324 Centerline is valid? [True, True] Translation: X:137.07, Y:14.19, Z:-0.46 [[ 9.98889448e-01 -4.69303362e-02 4.17297149e-03 1.37065480e+02] [ 4.69289719e-02 9.98898139e-01 4.24307515e-04 1.41929788e+01] [-4.18828635e-03 -2.28003038e-04 9.99991203e-01 -4.56881275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101400513 meters 0.05808837812063273 Centerline is valid? [True, True] Translation: X:137.09, Y:14.19, Z:-0.46 [[ 9.98886754e-01 -4.69121027e-02 4.95052984e-03 1.37094913e+02] [ 4.69101831e-02 9.98898985e-01 5.03218230e-04 1.41921159e+01] [-4.96868626e-03 -2.70427763e-04 9.99987619e-01 -4.55608957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131400513 meters 0.057893242580639485 Centerline is valid? [True, True] Translation: X:137.12, Y:14.19, Z:-0.45 [[ 9.98891289e-01 -4.67086278e-02 5.87333933e-03 1.37124531e+02] [ 4.67059151e-02 9.98908504e-01 5.98250925e-04 1.41903823e+01] [-5.89487209e-03 -3.23267949e-04 9.99982573e-01 -4.53291013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161400513 meters 0.06410181642788017 Centerline is valid? [True, True] Translation: X:137.15, Y:14.20, Z:-0.45 [[ 9.98910510e-01 -4.61799900e-02 6.72315486e-03 1.37152339e+02] [ 4.61764124e-02 9.98933065e-01 6.86474207e-04 1.41964448e+01] [-6.74768306e-03 -3.75275129e-04 9.99977164e-01 -4.51676146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191400513 meters 0.06021588474426239 Centerline is valid? [True, True] Translation: X:137.18, Y:14.19, Z:-0.45 [[ 9.98923220e-01 -4.57408253e-02 7.75743160e-03 1.37181675e+02] [ 4.57360469e-02 9.98953245e-01 7.92354031e-04 1.41913524e+01] [-7.78555440e-03 -4.36706584e-04 9.99969597e-01 -4.50127757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221400513 meters 0.05755577469620624 Centerline is valid? [True, True] Translation: X:137.21, Y:14.19, Z:-0.45 [[ 9.98965705e-01 -4.47310864e-02 8.16389690e-03 1.37212041e+02] [ 4.47257471e-02 9.98998954e-01 8.35511557e-04 1.41887656e+01] [-8.19309780e-03 -4.69511004e-04 9.99966326e-01 -4.50160044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251400513 meters 0.06380940095072378 Centerline is valid? [True, True] Translation: X:137.24, Y:14.19, Z:-0.45 [[ 9.99101456e-01 -4.15702614e-02 8.25796504e-03 1.37241512e+02] [ 4.15646889e-02 9.99135457e-01 8.45352186e-04 1.41944799e+01] [-8.28596719e-03 -5.01352851e-04 9.99965545e-01 -4.51498759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281400513 meters 0.06577871261511568 Centerline is valid? [True, True] Translation: X:137.27, Y:14.20, Z:-0.45 [[ 9.99185772e-01 -3.95570773e-02 7.93919487e-03 1.37271987e+02] [ 3.95518625e-02 9.99217188e-01 8.12842157e-04 1.41977330e+01] [-7.96513364e-03 -4.98170374e-04 9.99968154e-01 -4.51910306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311400513 meters 0.07407880681897225 Centerline is valid? [True, True] Translation: X:137.30, Y:14.21, Z:-0.45 [[ 9.99278755e-01 -3.71635991e-02 7.79981385e-03 1.37300213e+02] [ 3.71584935e-02 9.99309066e-01 7.98529050e-04 1.42101317e+01] [-7.82410090e-03 -5.08123782e-04 9.99969262e-01 -4.51981638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341400513 meters 0.06713153526902688 Centerline is valid? [True, True] Translation: X:137.33, Y:14.20, Z:-0.45 [[ 9.99394367e-01 -3.39278000e-02 7.73321536e-03 1.37331022e+02] [ 3.39226836e-02 9.99424146e-01 7.91859870e-04 1.42044174e+01] [-7.75562822e-03 -5.29048876e-04 9.99969785e-01 -4.51471655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371400513 meters 0.0766200347890079 Centerline is valid? [True, True] Translation: X:137.36, Y:14.22, Z:-0.45 [[ 9.99591143e-01 -2.72400002e-02 8.69078808e-03 1.37359632e+02] [ 2.72332857e-02 9.99628709e-01 8.90028492e-04 1.42166884e+01] [-8.71180565e-03 -6.52985883e-04 9.99961838e-01 -4.51025373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401400513 meters 0.08297845767637388 Centerline is valid? [True, True] Translation: X:137.39, Y:14.23, Z:-0.45 [[ 9.99640549e-01 -2.52386238e-02 9.04350896e-03 1.37388930e+02] [ 2.52312707e-02 9.99681212e-01 9.26272711e-04 1.42250639e+01] [-9.06400384e-03 -6.97760538e-04 9.99958678e-01 -4.51119026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431400513 meters 0.07929540396693699 Centerline is valid? [True, True] Translation: X:137.42, Y:14.22, Z:-0.45 [[ 9.99651702e-01 -2.48063373e-02 9.00671184e-03 1.37420597e+02] [ 2.47990278e-02 9.99692031e-01 9.22356138e-04 1.42224417e+01] [-9.02681833e-03 -6.98677186e-04 9.99959013e-01 -4.51185792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461400513 meters 0.08833226329871828 Centerline is valid? [True, True] Translation: X:137.45, Y:14.24, Z:-0.45 [[ 9.99635277e-01 -2.55606654e-02 8.71580719e-03 1.37449930e+02] [ 2.55538507e-02 9.99673049e-01 8.92362019e-04 1.42365091e+01] [-8.73576692e-03 -6.69314118e-04 9.99961618e-01 -4.52386274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49140051299997 meters 0.07740103366734728 Centerline is valid? [True, True] Translation: X:137.48, Y:14.23, Z:-0.45 [[ 9.99608645e-01 -2.68386445e-02 7.88948155e-03 1.37482255e+02] [ 2.68331009e-02 9.99639601e-01 8.07682800e-04 1.42267080e+01] [-7.90831530e-03 -5.95667454e-04 9.99968551e-01 -4.54602023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52140051299997 meters 0.07708064801224973 Centerline is valid? [True, True] Translation: X:137.51, Y:14.23, Z:-0.46 [[ 9.99574131e-01 -2.85010007e-02 6.26499132e-03 1.37512013e+02] [ 2.84975384e-02 9.99593657e-01 6.41241471e-04 1.42252289e+01] [-6.28072161e-03 -4.62431555e-04 9.99980169e-01 -4.57824081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55140051299998 meters 0.08074953662931933 Centerline is valid? [True, True] Translation: X:137.54, Y:14.23, Z:-0.46 [[ 9.99574657e-01 -2.84955851e-02 6.20532979e-03 1.37540154e+02] [ 2.84921885e-02 9.99593813e-01 6.35113964e-04 1.42305478e+01] [-6.22090721e-03 -4.58040397e-04 9.99980545e-01 -4.57673798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58140051299998 meters 0.08167827059974957 Centerline is valid? [True, True] Translation: X:137.57, Y:14.24, Z:-0.46 [[ 9.99601488e-01 -2.75896579e-02 5.97297135e-03 1.37569197e+02] [ 2.75864936e-02 9.99619233e-01 6.11519905e-04 1.42351782e+01] [-5.98756867e-03 -4.46502870e-04 9.99981975e-01 -4.57949551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61140051299998 meters 0.07778555874960771 Centerline is valid? [True, True] Translation: X:137.60, Y:14.24, Z:-0.46 [[ 9.99649044e-01 -2.58829668e-02 5.64449392e-03 1.37599090e+02] [ 2.58801126e-02 9.99664887e-01 5.78127953e-04 1.42357574e+01] [-5.65756604e-03 -4.31844917e-04 9.99983903e-01 -4.58627975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64140051299998 meters 0.07737217691923794 Centerline is valid? [True, True] Translation: X:137.63, Y:14.24, Z:-0.46 [[ 9.99703427e-01 -2.37834255e-02 5.23519219e-03 1.37629366e+02] [ 2.37809409e-02 9.99717050e-01 5.36345377e-04 1.42403823e+01] [-5.24646702e-03 -4.11688515e-04 9.99986152e-01 -4.59836518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67140051299998 meters 0.0843341752312592 Centerline is valid? [True, True] Translation: X:137.66, Y:14.25, Z:-0.46 [[ 9.99751751e-01 -2.17606045e-02 4.78671389e-03 1.37657950e+02] [ 2.17585043e-02 9.99763135e-01 4.90403716e-04 1.42523488e+01] [-4.79625156e-03 -3.86130239e-04 9.99988423e-01 -4.62173831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70140051299998 meters 0.08909513872397291 Centerline is valid? [True, True] Translation: X:137.69, Y:14.26, Z:-0.46 [[ 9.99797047e-01 -1.98199886e-02 3.61020292e-03 1.37686554e+02] [ 1.98187816e-02 9.99803520e-01 3.69818101e-04 1.42583088e+01] [-3.61682338e-03 -2.98193222e-04 9.99993415e-01 -4.63477861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73140051299998 meters 0.08596453609280442 Centerline is valid? [True, True] Translation: X:137.72, Y:14.26, Z:-0.46 [[ 9.99791925e-01 -2.01727867e-02 3.02740556e-03 1.37716236e+02] [ 2.01719397e-02 9.99796478e-01 3.10069039e-04 1.42574291e+01] [-3.03304437e-03 -2.48935879e-04 9.99995369e-01 -4.63320778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76140051299998 meters 0.081243988108603 Centerline is valid? [True, True] Translation: X:137.75, Y:14.26, Z:-0.46 [[ 9.99771548e-01 -2.11712319e-02 2.93783434e-03 1.37746388e+02] [ 2.11704383e-02 9.99775836e-01 3.00950205e-04 1.42563415e+01] [-2.94354727e-03 -2.38686211e-04 9.99995639e-01 -4.62760171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79140051299999 meters 0.081243988108603 Centerline is valid? [True, True] Translation: X:137.78, Y:14.26, Z:-0.46 [[ 9.99771080e-01 -2.11933292e-02 2.93782770e-03 1.37775495e+02] [ 2.11925356e-02 9.99775368e-01 3.01015019e-04 1.42593636e+01] [-2.94354728e-03 -2.38686093e-04 9.99995639e-01 -4.63061637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821400513 meters 0.08169231900291504 Centerline is valid? [True, True] Translation: X:137.80, Y:14.26, Z:-0.46 [[ 9.99740249e-01 -2.25703439e-02 3.16466133e-03 1.37803815e+02] [ 2.25694298e-02 9.99745225e-01 3.24267162e-04 1.42646329e+01] [-3.17117387e-03 -2.52758331e-04 9.99994940e-01 -4.63225834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851400513 meters 0.09021972350118743 Centerline is valid? [True, True] Translation: X:137.83, Y:14.28, Z:-0.46 [[ 9.99703689e-01 -2.40466615e-02 3.78051346e-03 1.37831494e+02] [ 2.40453665e-02 9.99710793e-01 3.87635680e-04 1.42784800e+01] [-3.78874146e-03 -2.96616988e-04 9.99992779e-01 -4.63592537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881400513 meters 0.07835947913740356 Centerline is valid? [True, True] Translation: X:137.86, Y:14.27, Z:-0.46 [[ 9.99658235e-01 -2.57058078e-02 4.75658320e-03 1.37862635e+02] [ 2.57037753e-02 9.99669484e-01 4.87941276e-04 1.42666148e+01] [-4.76755400e-03 -3.65512369e-04 9.99988568e-01 -4.61513186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911400513 meters 0.07690361542855922 Centerline is valid? [True, True] Translation: X:137.89, Y:14.27, Z:-0.46 [[ 9.99552978e-01 -2.91030017e-02 6.84540720e-03 1.37891892e+02] [ 2.90988707e-02 9.99576291e-01 7.02317619e-04 1.42687708e+01] [-6.86294629e-03 -5.02810048e-04 9.99976323e-01 -4.59018251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941400513 meters 0.07831041991564103 Centerline is valid? [True, True] Translation: X:137.92, Y:14.28, Z:-0.46 [[ 9.99504181e-01 -3.06250567e-02 7.31419116e-03 1.37920688e+02] [ 3.06203800e-02 9.99530804e-01 7.50554745e-04 1.42755909e+01] [-7.33374516e-03 -5.26219293e-04 9.99972969e-01 -4.58985028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971400513 meters 0.0798786294582663 Centerline is valid? [True, True] Translation: X:137.95, Y:14.28, Z:-0.46 [[ 9.99463121e-01 -3.19062583e-02 7.44723077e-03 1.37949680e+02] [ 3.19014438e-02 9.99490727e-01 7.64405589e-04 1.42822886e+01] [-7.46782742e-03 -5.26417781e-04 9.99971977e-01 -4.59220266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001400513 meters 0.06858352998081745 Centerline is valid? [True, True] Translation: X:137.98, Y:14.27, Z:-0.46 [[ 9.99330630e-01 -3.55696148e-02 8.54951351e-03 1.37980584e+02] [ 3.55634022e-02 9.99367037e-01 8.77642517e-04 1.42706761e+01] [-8.57531939e-03 -5.73005262e-04 9.99963067e-01 -4.56351005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031400513 meters 0.06522766285638354 Centerline is valid? [True, True] Translation: X:138.01, Y:14.27, Z:-0.45 [[ 9.99246351e-01 -3.75332978e-02 9.89858055e-03 1.38010979e+02] [ 3.75250636e-02 9.99295170e-01 1.01634675e-03 1.42687689e+01] [-9.92975058e-03 -6.44135917e-04 9.99950491e-01 -4.54195055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061400513 meters 0.060873681349792465 Centerline is valid? [True, True] Translation: X:138.04, Y:14.27, Z:-0.45 [[ 9.99170217e-01 -3.92833213e-02 1.07563017e-02 1.38041686e+02] [ 3.92736977e-02 9.99227880e-01 1.10454572e-03 1.42661435e+01] [-1.07913867e-02 -6.81189446e-04 9.99941539e-01 -4.52973546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091400513 meters 0.058191337701056556 Centerline is valid? [True, True] Translation: X:138.07, Y:14.27, Z:-0.45 [[ 9.99129491e-01 -4.02856342e-02 1.08317681e-02 1.38071858e+02] [ 4.02759324e-02 9.99187976e-01 1.11242097e-03 1.42665275e+01] [-1.08677870e-02 -6.75193040e-04 9.99940716e-01 -4.52842628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121400513 meters 0.06363266797166599 Centerline is valid? [True, True] Translation: X:138.10, Y:14.28, Z:-0.45 [[ 9.99135122e-01 -4.02903755e-02 1.02807344e-02 1.38099948e+02] [ 4.02816348e-02 9.99187808e-01 1.05594398e-03 1.42774043e+01] [-1.03149289e-02 -6.40905925e-04 9.99946594e-01 -4.54164848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151400513 meters 0.06543377449679741 Centerline is valid? [True, True] Translation: X:138.13, Y:14.28, Z:-0.46 [[ 9.99185685e-01 -3.92205128e-02 9.47193448e-03 1.38129251e+02] [ 3.92130445e-02 9.99230399e-01 9.72972545e-04 1.42838364e+01] [-9.50280535e-03 -6.00756851e-04 9.99954667e-01 -4.55866084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181400513 meters 0.07062491396504085 Centerline is valid? [True, True] Translation: X:138.16, Y:14.30, Z:-0.46 [[ 9.99354083e-01 -3.50115380e-02 8.09996583e-03 1.38157560e+02] [ 3.50059382e-02 9.99386758e-01 8.32122963e-04 1.42952180e+01] [-8.12413249e-03 -5.48038576e-04 9.99966849e-01 -4.58947556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211400513 meters 0.07276846722976527 Centerline is valid? [True, True] Translation: X:138.19, Y:14.30, Z:-0.46 [[ 9.99439894e-01 -3.25360806e-02 7.82955557e-03 1.38187699e+02] [ 3.25307723e-02 9.99470411e-01 8.04418447e-04 1.43027282e+01] [-7.85158174e-03 -5.49266398e-04 9.99969025e-01 -4.59964976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24140051299997 meters 0.07652786572769625 Centerline is valid? [True, True] Translation: X:138.22, Y:14.31, Z:-0.46 [[ 9.99516536e-01 -3.00830635e-02 7.85519867e-03 1.38216305e+02] [ 3.00776451e-02 9.99547239e-01 8.07041978e-04 1.43125073e+01] [-7.87592044e-03 -5.70385925e-04 9.99968822e-01 -4.60664161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27140051299997 meters 0.08283003630754332 Centerline is valid? [True, True] Translation: X:138.24, Y:14.33, Z:-0.46 [[ 9.99584276e-01 -2.77457310e-02 7.83902558e-03 1.38244275e+02] [ 2.77402625e-02 9.99614840e-01 8.05486983e-04 1.43251759e+01] [-7.85835513e-03 -5.87695495e-04 9.99968950e-01 -4.61276480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30140051299998 meters 0.07310345924823161 Centerline is valid? [True, True] Translation: X:138.28, Y:14.32, Z:-0.46 [[ 9.99647106e-01 -2.54887788e-02 7.48232253e-03 1.38276219e+02] [ 2.54837331e-02 9.99674941e-01 7.68928773e-04 1.43180377e+01] [-7.49948939e-03 -5.77979912e-04 9.99971711e-01 -4.61731200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33140051299998 meters 0.07830170748106093 Centerline is valid? [True, True] Translation: X:138.31, Y:14.33, Z:-0.46 [[ 9.99682180e-01 -2.42112005e-02 7.02543429e-03 1.38305536e+02] [ 2.42067208e-02 9.99706714e-01 7.21992041e-04 1.43285665e+01] [-7.04085412e-03 -5.51699851e-04 9.99975061e-01 -4.63101228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36140051299998 meters 0.07759787486647282 Centerline is valid? [True, True] Translation: X:138.34, Y:14.33, Z:-0.46 [[ 9.99658811e-01 -2.53635640e-02 6.24112969e-03 1.38336285e+02] [ 2.53600516e-02 9.99678176e-01 6.41293890e-04 1.43340514e+01] [-6.25538665e-03 -4.82799717e-04 9.99980318e-01 -4.64890244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39140051299998 meters 0.07511224203376615 Centerline is valid? [True, True] Translation: X:138.37, Y:14.34, Z:-0.46 [[ 9.99629905e-01 -2.64000604e-02 6.56422440e-03 1.38367456e+02] [ 2.63961970e-02 9.99651332e-01 6.74513284e-04 1.43358685e+01] [-6.57974285e-03 -5.00993091e-04 9.99978228e-01 -4.64595735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42140051299998 meters 0.07791237278835879 Centerline is valid? [True, True] Translation: X:138.40, Y:14.34, Z:-0.46 [[ 9.99603762e-01 -2.70974071e-02 7.61907294e-03 1.38397211e+02] [ 2.70922232e-02 9.99632632e-01 7.82800510e-04 1.43442532e+01] [-7.63748580e-03 -5.76072710e-04 9.99970668e-01 -4.63488237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45140051299998 meters 0.07372191402505013 Centerline is valid? [True, True] Translation: X:138.43, Y:14.34, Z:-0.46 [[ 9.99582405e-01 -2.75196661e-02 8.81380205e-03 1.38428290e+02] [ 2.75127462e-02 9.99621043e-01 9.05432318e-04 1.43447218e+01] [-8.83537919e-03 -6.62562316e-04 9.99960748e-01 -4.61824328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48140051299998 meters 0.07559543138288677 Centerline is valid? [True, True] Translation: X:138.46, Y:14.36, Z:-0.46 [[ 9.99575071e-01 -2.75389471e-02 9.55429531e-03 1.38458152e+02] [ 2.75308174e-02 9.99620473e-01 9.81399883e-04 1.43564571e+01] [-9.57769593e-03 -7.17945298e-04 9.99953875e-01 -4.61274850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51140051299998 meters 0.0710524410605457 Centerline is valid? [True, True] Translation: X:138.49, Y:14.36, Z:-0.46 [[ 9.99596227e-01 -2.70850609e-02 8.58971639e-03 1.38490468e+02] [ 2.70784753e-02 9.99632922e-01 8.82084459e-04 1.43574902e+01] [-8.61045461e-03 -6.49131873e-04 9.99962719e-01 -4.62694497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54140051299999 meters 0.07779219393300975 Centerline is valid? [True, True] Translation: X:138.52, Y:14.37, Z:-0.47 [[ 9.99617009e-01 -2.66352060e-02 7.51003424e-03 1.38519900e+02] [ 2.66301619e-02 9.99645057e-01 7.70858908e-04 1.43715604e+01] [-7.52790059e-03 -5.70570249e-04 9.99971502e-01 -4.65270719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571400513 meters 0.08770373758566778 Centerline is valid? [True, True] Translation: X:138.55, Y:14.39, Z:-0.47 [[ 9.99638351e-01 -2.61891434e-02 6.10699226e-03 1.38548784e+02] [ 2.61858002e-02 9.99656897e-01 6.26780871e-04 1.43892521e+01] [-6.12131179e-03 -4.66637718e-04 9.99981156e-01 -4.68545913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601400513 meters 0.0844594143987514 Centerline is valid? [True, True] Translation: X:138.58, Y:14.39, Z:-0.47 [[ 9.99646859e-01 -2.61734041e-02 4.59452868e-03 1.38580070e+02] [ 2.61715122e-02 9.99657356e-01 4.71435868e-04 1.43909620e+01] [-4.60529347e-03 -3.51023621e-04 9.99989334e-01 -4.70889106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631400513 meters 0.08286773081352025 Centerline is valid? [True, True] Translation: X:138.61, Y:14.39, Z:-0.47 [[ 9.99642905e-01 -2.65187509e-02 3.28898161e-03 1.38610547e+02] [ 2.65177837e-02 9.99648285e-01 3.37317130e-04 1.43948680e+01] [-3.29677006e-03 -2.49980173e-04 9.99994534e-01 -4.73116366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661400513 meters 0.07596422597641525 Centerline is valid? [True, True] Translation: X:138.64, Y:14.39, Z:-0.47 [[ 9.99606380e-01 -2.78854689e-02 3.07989650e-03 1.38640692e+02] [ 2.78846275e-02 9.99611098e-01 3.15793027e-04 1.43935271e+01] [-3.08750476e-03 -2.29786958e-04 9.99995207e-01 -4.71767829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691400513 meters 0.06953405148029207 Centerline is valid? [True, True] Translation: X:138.67, Y:14.39, Z:-0.47 [[ 9.99586185e-01 -2.84396260e-02 4.31826437e-03 1.38670341e+02] [ 2.84379806e-02 9.99595461e-01 4.41960684e-04 1.43906553e+01] [-4.32908667e-03 -3.18975075e-04 9.99990579e-01 -4.68826089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721400513 meters 0.07808718005945905 Centerline is valid? [True, True] Translation: X:138.70, Y:14.41, Z:-0.47 [[ 9.99581580e-01 -2.84202967e-02 5.38063422e-03 1.38698179e+02] [ 2.84177310e-02 9.99595982e-01 5.52718491e-04 1.44066919e+01] [-5.39416877e-03 -3.99581807e-04 9.99985372e-01 -4.67919217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751400513 meters 0.07830817721814655 Centerline is valid? [True, True] Translation: X:138.73, Y:14.42, Z:-0.47 [[ 9.99610862e-01 -2.72211227e-02 6.09382751e-03 1.38727541e+02] [ 2.72178090e-02 9.99629331e-01 6.26068458e-04 1.44170261e+01] [-6.10861101e-03 -4.59964198e-04 9.99981236e-01 -4.68339747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781400513 meters 0.08227502645036754 Centerline is valid? [True, True] Translation: X:138.76, Y:14.43, Z:-0.47 [[ 9.99629021e-01 -2.66058705e-02 5.82657731e-03 1.38756997e+02] [ 2.66028297e-02 9.99645903e-01 5.98770697e-04 1.44277299e+01] [-5.84044495e-03 -4.43545121e-04 9.99982846e-01 -4.69881093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811400513 meters 0.08088522588359659 Centerline is valid? [True, True] Translation: X:138.79, Y:14.43, Z:-0.47 [[ 9.99641898e-01 -2.62142779e-02 5.37471905e-03 1.38788017e+02] [ 2.62116849e-02 9.99656262e-01 5.52337722e-04 1.44312399e+01] [-5.38735069e-03 -4.11259487e-04 9.99985404e-01 -4.70450816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841400513 meters 0.07905891003809898 Centerline is valid? [True, True] Translation: X:138.82, Y:14.43, Z:-0.47 [[ 9.99637801e-01 -2.64208026e-02 5.11944843e-03 1.38818188e+02] [ 2.64184539e-02 9.99650833e-01 5.25888757e-04 1.44337734e+01] [-5.13155529e-03 -3.90450369e-04 9.99986757e-01 -4.70233649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871400513 meters 0.08058942555015165 Centerline is valid? [True, True] Translation: X:138.85, Y:14.44, Z:-0.47 [[ 9.99620143e-01 -2.71074392e-02 4.97558973e-03 1.38847732e+02] [ 2.71052287e-02 9.99632455e-01 5.11169658e-04 1.44409774e+01] [-4.98761747e-03 -3.76110989e-04 9.99987491e-01 -4.70093366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901400513 meters 0.06817067230570242 Centerline is valid? [True, True] Translation: X:138.88, Y:14.43, Z:-0.47 [[ 9.99557758e-01 -2.91935720e-02 5.65901501e-03 1.38879382e+02] [ 2.91907466e-02 9.99573690e-01 5.81256850e-04 1.44345884e+01] [-5.67357148e-03 -4.15808921e-04 9.99983819e-01 -4.67935423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931400513 meters 0.07849999963485507 Centerline is valid? [True, True] Translation: X:138.91, Y:14.45, Z:-0.47 [[ 9.99520621e-01 -3.02572376e-02 6.55958475e-03 1.38907695e+02] [ 3.02534642e-02 9.99542032e-01 6.73745285e-04 1.44534539e+01] [-6.57696634e-03 -4.74972144e-04 9.99978259e-01 -4.68196993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961400513 meters 0.08186798920999616 Centerline is valid? [True, True] Translation: X:138.94, Y:14.46, Z:-0.47 [[ 9.99486404e-01 -3.11769353e-02 7.41127824e-03 1.38936913e+02] [ 3.11721434e-02 9.99513741e-01 7.61224066e-04 1.44635245e+01] [-7.43140707e-03 -5.29807676e-04 9.99972246e-01 -4.67737878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99140051299997 meters 0.0689445893604841 Centerline is valid? [True, True] Translation: X:138.97, Y:14.45, Z:-0.47 [[ 9.99461234e-01 -3.17467194e-02 8.32989153e-03 1.38969372e+02] [ 3.17406853e-02 9.99495771e-01 8.55620900e-04 1.44536231e+01] [-8.35285451e-03 -5.90763455e-04 9.99964940e-01 -4.66564839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02140051299997 meters 0.07623759861766183 Centerline is valid? [True, True] Translation: X:139.00, Y:14.47, Z:-0.46 [[ 9.99442111e-01 -3.18429915e-02 1.00742565e-02 1.38998886e+02] [ 3.18341733e-02 9.99492629e-01 1.03451457e-03 1.44702334e+01] [-1.01020872e-02 -7.13231794e-04 9.99948718e-01 -4.63692028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05140051299998 meters 0.07592977015950748 Centerline is valid? [True, True] Translation: X:139.03, Y:14.48, Z:-0.46 [[ 9.99449962e-01 -3.13312853e-02 1.08684914e-02 1.39030327e+02] [ 3.13209960e-02 9.99508755e-01 1.11566873e-03 1.44751256e+01] [-1.08981076e-02 -7.74643093e-04 9.99940314e-01 -4.62546889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08140051299998 meters 0.07463721894181381 Centerline is valid? [True, True] Translation: X:139.06, Y:14.48, Z:-0.46 [[ 9.99451117e-01 -3.11983114e-02 1.11413660e-02 1.39062214e+02] [ 3.11874951e-02 9.99512898e-01 1.14328636e-03 1.44795898e+01] [-1.11716077e-02 -7.95187527e-04 9.99937279e-01 -4.62344896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11140051299998 meters 0.07509438247659553 Centerline is valid? [True, True] Translation: X:139.09, Y:14.49, Z:-0.46 [[ 9.99453163e-01 -3.11491925e-02 1.10952103e-02 1.39093817e+02] [ 3.11384683e-02 9.99514432e-01 1.13805024e-03 1.44873618e+01] [-1.11252722e-02 -7.91940061e-04 9.99937799e-01 -4.63192723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14140051299998 meters 0.07536033930235532 Centerline is valid? [True, True] Translation: X:139.12, Y:14.49, Z:-0.46 [[ 9.99451053e-01 -3.13314401e-02 1.07672191e-02 1.39124366e+02] [ 3.13213562e-02 9.99508756e-01 1.10394125e-03 1.44948107e+01] [-1.07965178e-02 -7.66091343e-04 9.99941422e-01 -4.64198779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17140051299998 meters 0.06712371064980573 Centerline is valid? [True, True] Translation: X:139.16, Y:14.49, Z:-0.47 [[ 9.99410191e-01 -3.29000096e-02 9.84172922e-03 1.39155092e+02] [ 3.28916635e-02 9.99458414e-01 1.00873660e-03 1.44941754e+01] [-9.86958652e-03 -6.84430792e-04 9.99951060e-01 -4.65909968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20140051299998 meters 0.07468265114403953 Centerline is valid? [True, True] Translation: X:139.18, Y:14.51, Z:-0.47 [[ 9.99369346e-01 -3.43617564e-02 8.95431040e-03 1.39184215e+02] [ 3.43549057e-02 9.99409275e-01 9.17809999e-04 1.45091126e+01] [-8.98055843e-03 -6.09606689e-04 9.99959488e-01 -4.67118127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23140051299998 meters 0.07248561565901572 Centerline is valid? [True, True] Translation: X:139.21, Y:14.51, Z:-0.47 [[ 9.99303392e-01 -3.63258663e-02 8.55354405e-03 1.39214893e+02] [ 3.63196885e-02 9.99339838e-01 8.76527956e-04 1.45126905e+01] [-8.57973796e-03 -5.65255303e-04 9.99963034e-01 -4.68023774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26140051299998 meters 0.06672620398726892 Centerline is valid? [True, True] Translation: X:139.25, Y:14.51, Z:-0.47 [[ 9.99205636e-01 -3.89729578e-02 8.31896632e-03 1.39246060e+02] [ 3.89672068e-02 9.99240126e-01 8.52351104e-04 1.45118504e+01] [-8.34586360e-03 -5.27507147e-04 9.99965034e-01 -4.68485957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29140051299999 meters 0.06753788075621915 Centerline is valid? [True, True] Translation: X:139.27, Y:14.52, Z:-0.47 [[ 9.99085491e-01 -4.18659134e-02 8.68487876e-03 1.39274811e+02] [ 4.18597545e-02 9.99123100e-01 8.89800599e-04 1.45185740e+01] [-8.71451531e-03 -5.25439976e-04 9.99961890e-01 -4.68776185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321400513 meters 0.0642843304190091 Centerline is valid? [True, True] Translation: X:139.30, Y:14.52, Z:-0.47 [[ 9.98770634e-01 -4.85233516e-02 1.01343413e-02 1.39304267e+02] [ 4.85153055e-02 9.98821899e-01 1.03842722e-03 1.45220988e+01] [-1.01727900e-02 -5.45479950e-04 9.99948107e-01 -4.66285883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351400513 meters 0.051362322793230566 Centerline is valid? [True, True] Translation: X:139.34, Y:14.51, Z:-0.47 [[ 9.98550996e-01 -5.28383263e-02 1.01989658e-02 1.39335647e+02] [ 5.28304021e-02 9.98602952e-01 1.04500831e-03 1.45130964e+01] [-1.02399339e-02 -5.04678621e-04 9.99947443e-01 -4.66676804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381400513 meters 0.04585293764129399 Centerline is valid? [True, True] Translation: X:139.37, Y:14.51, Z:-0.47 [[ 9.98276506e-01 -5.78781587e-02 9.70237050e-03 1.39366264e+02] [ 5.78712253e-02 9.98323561e-01 9.94084354e-04 1.45135612e+01] [-9.74364085e-03 -4.30882987e-04 9.99952437e-01 -4.68363482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411400513 meters 0.040292957796959794 Centerline is valid? [True, True] Translation: X:139.40, Y:14.51, Z:-0.47 [[ 9.97971168e-01 -6.29862274e-02 9.28890937e-03 1.39396858e+02] [ 6.29800932e-02 9.98014330e-01 9.51712521e-04 1.45129006e+01] [-9.33040944e-03 -3.64765278e-04 9.99956404e-01 -4.70205096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441400513 meters 0.03869337052294522 Centerline is valid? [True, True] Translation: X:139.43, Y:14.51, Z:-0.47 [[ 9.97655070e-01 -6.78258298e-02 9.16619225e-03 1.39426626e+02] [ 6.78200605e-02 9.97697127e-01 9.39145974e-04 1.45149730e+01] [-9.20878203e-03 -3.15292030e-04 9.99957549e-01 -4.71586374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471400513 meters 0.03408717037735236 Centerline is valid? [True, True] Translation: X:139.46, Y:14.51, Z:-0.47 [[ 9.97337702e-01 -7.23657218e-02 8.98392833e-03 1.39457169e+02] [ 7.23603624e-02 9.97378128e-01 9.20601197e-04 1.45116660e+01] [-9.02699359e-03 -2.68069972e-04 9.99959220e-01 -4.72514766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501400513 meters 0.022668633732809054 Centerline is valid? [True, True] Translation: X:139.49, Y:14.50, Z:-0.48 [[ 9.96626507e-01 -8.17568543e-02 7.17087365e-03 1.39488716e+02] [ 8.17536823e-02 9.96652294e-01 7.34850319e-04 1.44991728e+01] [-7.20694672e-03 -1.46125981e-04 9.99974019e-01 -4.75098343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531400513 meters 0.019718899857233723 Centerline is valid? [True, True] Translation: X:139.52, Y:14.50, Z:-0.48 [[ 9.96305060e-01 -8.56698355e-02 6.07509816e-03 1.39517173e+02] [ 8.56676318e-02 9.96323577e-01 6.22512055e-04 1.44983158e+01] [-6.10609403e-03 -9.97726383e-05 9.99981353e-01 -4.77415254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561400513 meters 0.01589376160866873 Centerline is valid? [True, True] Translation: X:139.55, Y:14.50, Z:-0.48 [[ 9.96021539e-01 -8.89159518e-02 5.92013113e-03 1.39546166e+02] [ 8.89139180e-02 9.96039130e-01 6.06379894e-04 1.44955859e+01] [-5.95059910e-03 -7.75853811e-05 9.99982292e-01 -4.77933512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591400513 meters 0.013535518283106486 Centerline is valid? [True, True] Translation: X:139.58, Y:14.49, Z:-0.47 [[ 9.95789007e-01 -9.13493955e-02 7.71633174e-03 1.39575879e+02] [ 9.13459991e-02 9.95818900e-01 7.92189549e-04 1.44939856e+01] [-7.75643502e-03 -8.39976120e-05 9.99969915e-01 -4.74965962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621400513 meters 0.013397043222128428 Centerline is valid? [True, True] Translation: X:139.60, Y:14.50, Z:-0.47 [[ 9.95664868e-01 -9.22963868e-02 1.15259933e-02 1.39603523e+02] [ 9.22888436e-02 9.95731572e-01 1.18576602e-03 1.44964503e+01] [-1.15862374e-02 -1.16904965e-04 9.99932870e-01 -4.68622494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651400513 meters 0.014776414038867276 Centerline is valid? [True, True] Translation: X:139.63, Y:14.50, Z:-0.47 [[ 9.95827739e-01 -9.05629417e-02 1.12012302e-02 1.39632267e+02] [ 9.05556994e-02 9.95890725e-01 1.15310596e-03 1.45025656e+01] [-1.12596300e-02 -1.33959659e-04 9.99936599e-01 -4.69712432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681400513 meters 0.018094276915966066 Centerline is valid? [True, True] Translation: X:139.66, Y:14.51, Z:-0.47 [[ 9.96107822e-01 -8.75665535e-02 1.00651147e-02 1.39659255e+02] [ 8.75605376e-02 9.96158660e-01 1.03765968e-03 1.45102365e+01] [-1.01173155e-02 -1.52314065e-04 9.99948807e-01 -4.72101907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711400513 meters 0.018094276915966066 Centerline is valid? [True, True] Translation: X:139.69, Y:14.51, Z:-0.47 [[ 9.96091589e-01 -8.77510183e-02 1.00650220e-02 1.39686599e+02] [ 8.77450028e-02 9.96142428e-01 1.03855801e-03 1.45132307e+01] [-1.01173300e-02 -1.51343512e-04 9.99948807e-01 -4.72385207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74140051299997 meters 0.020889376991000394 Centerline is valid? [True, True] Translation: X:139.71, Y:14.52, Z:-0.47 [[ 9.96363781e-01 -8.47178271e-02 9.06125549e-03 1.39714352e+02] [ 8.47128111e-02 9.96404969e-01 9.36641294e-04 1.45199348e+01] [-9.10803021e-03 -1.65631036e-04 9.99958507e-01 -4.74614721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77140051299997 meters 0.024422257843956668 Centerline is valid? [True, True] Translation: X:139.74, Y:14.53, Z:-0.48 [[ 9.96548131e-01 -8.25980033e-02 8.33023453e-03 1.39740904e+02] [ 8.25936870e-02 9.96582932e-01 8.61429671e-04 1.45278352e+01] [-8.37292192e-03 -1.70431346e-04 9.99964932e-01 -4.76226631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80140051299998 meters 0.024666138271452934 Centerline is valid? [True, True] Translation: X:139.77, Y:14.54, Z:-0.48 [[ 9.96548158e-01 -8.25685366e-02 8.61421310e-03 1.39768199e+02] [ 8.25639127e-02 9.96585373e-01 8.91619999e-04 1.45352911e+01] [-8.65841854e-03 -1.77319129e-04 9.99962499e-01 -4.75446694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83140051299998 meters 0.02211629831673489 Centerline is valid? [True, True] Translation: X:139.80, Y:14.54, Z:-0.47 [[ 9.96390527e-01 -8.44208719e-02 8.89013814e-03 1.39796871e+02] [ 8.44160055e-02 9.96430172e-01 9.21894695e-04 1.45372707e+01] [-8.93622903e-03 -1.68097191e-04 9.99960057e-01 -4.74907250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86140051299998 meters 0.01994377456132836 Centerline is valid? [True, True] Translation: X:139.82, Y:14.54, Z:-0.48 [[ 9.96184048e-01 -8.68785092e-02 8.33470180e-03 1.39824383e+02] [ 8.68743056e-02 9.96218904e-01 8.65751664e-04 1.45383996e+01] [-8.37840271e-03 -1.38376566e-04 9.99964891e-01 -4.76394366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89140051299998 meters 0.016562958062300733 Centerline is valid? [True, True] Translation: X:139.85, Y:14.54, Z:-0.48 [[ 9.95917802e-01 -8.99680445e-02 7.31320046e-03 1.39853579e+02] [ 8.99648911e-02 9.95944648e-01 7.59686279e-04 1.45371534e+01] [-7.35189034e-03 -9.86538065e-05 9.99972970e-01 -4.78790154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92140051299998 meters 0.010240700009498593 Centerline is valid? [True, True] Translation: X:139.88, Y:14.53, Z:-0.48 [[ 9.95187467e-01 -9.76451611e-02 8.20537556e-03 1.39883460e+02] [ 9.76414370e-02 9.95221292e-01 8.54201887e-04 1.45309000e+01] [-8.24957315e-03 -4.89063508e-05 9.99965970e-01 -4.79462356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95140051299998 meters 0.007220499823707643 Centerline is valid? [True, True] Translation: X:139.91, Y:14.53, Z:-0.48 [[ 9.94780092e-01 -1.01519481e-01 1.03132178e-02 1.39912733e+02] [ 1.01513803e-01 9.94833551e-01 1.07394400e-03 1.45278862e+01] [-1.03689613e-02 -2.14041572e-05 9.99946241e-01 -4.76002162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98140051299998 meters 0.006845890433089953 Centerline is valid? [True, True] Translation: X:139.94, Y:14.53, Z:-0.47 [[ 9.94487941e-01 -1.04188573e-01 1.17675877e-02 1.39940946e+02] [ 1.04181340e-01 9.94557561e-01 1.22760479e-03 1.45275968e+01] [-1.18314457e-02 5.12490216e-06 9.99930006e-01 -4.73400361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01140051299998 meters 0.007007750472313421 Centerline is valid? [True, True] Translation: X:139.97, Y:14.53, Z:-0.47 [[ 9.94378271e-01 -1.05161729e-01 1.23638767e-02 1.39968049e+02] [ 1.05153793e-01 9.94455132e-01 1.29201954e-03 1.45292389e+01] [-1.24311916e-02 1.53523737e-05 9.99922730e-01 -4.71549297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04140051299999 meters 0.00690536801437419 Centerline is valid? [True, True] Translation: X:140.00, Y:14.53, Z:-0.47 [[ 9.94487070e-01 -1.04142551e-01 1.22391828e-02 1.39995752e+02] [ 1.04134682e-01 9.94562381e-01 1.28019943e-03 1.45337412e+01] [-1.23059540e-02 1.38163343e-06 9.99924279e-01 -4.71184791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071400513 meters 0.009775413321419167 Centerline is valid? [True, True] Translation: X:140.02, Y:14.55, Z:-0.47 [[ 9.95094691e-01 -9.82712322e-02 1.13718980e-02 1.40023863e+02] [ 9.82640329e-02 9.95159666e-01 1.19145856e-03 1.45460896e+01] [-1.14339404e-02 -6.81655257e-05 9.99934628e-01 -4.72094110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101400513 meters 0.013145133720169278 Centerline is valid? [True, True] Translation: X:140.05, Y:14.56, Z:-0.47 [[ 9.95463991e-01 -9.45650070e-02 1.04356056e-02 1.40050499e+02] [ 9.45587243e-02 9.95518683e-01 1.09492160e-03 1.45558765e+01] [-1.04923816e-02 -1.03177472e-04 9.99944948e-01 -4.74421577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131400513 meters 0.015718500831887406 Centerline is valid? [True, True] Translation: X:140.08, Y:14.56, Z:-0.48 [[ 9.95799714e-01 -9.11142015e-02 9.00736462e-03 1.40078862e+02] [ 9.11093769e-02 9.95840443e-01 9.45375885e-04 1.45639416e+01] [-9.05603514e-03 -1.20749657e-04 9.99958986e-01 -4.77451921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161400513 meters 0.02861182254452334 Centerline is valid? [True, True] Translation: X:140.10, Y:14.58, Z:-0.48 [[ 9.96179960e-01 -8.69694753e-02 7.86120466e-03 1.40103851e+02] [ 8.70025995e-02 9.96200158e-01 -3.97406696e-03 1.45774558e+01] [-7.48571080e-03 4.64283111e-03 9.99961203e-01 -4.80166165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191400513 meters 0.024809662055844506 Centerline is valid? [True, True] Translation: X:140.14, Y:14.58, Z:-0.48 [[ 9.96543469e-01 -8.28516994e-02 6.05885230e-03 1.40135089e+02] [ 8.28185871e-02 9.96549318e-01 5.52618640e-03 1.45790139e+01] [-6.49579906e-03 -5.00529938e-03 9.99966375e-01 -4.81266901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221400513 meters 0.028382096898203164 Centerline is valid? [True, True] Translation: X:140.16, Y:14.59, Z:-0.48 [[ 9.96679579e-01 -8.11240952e-02 6.97841877e-03 1.40161159e+02] [ 8.11209358e-02 9.96703995e-01 7.35073438e-04 1.45916700e+01] [-7.01505004e-03 -1.66536824e-04 9.99975380e-01 -4.81344379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251400513 meters 0.029084868504472974 Centerline is valid? [True, True] Translation: X:140.19, Y:14.60, Z:-0.48 [[ 9.96769158e-01 -7.98898470e-02 8.29808180e-03 1.40189958e+02] [ 7.98853324e-02 9.96803676e-01 8.74621678e-04 1.45974251e+01] [-8.34143184e-03 -2.08900891e-04 9.99965188e-01 -4.78926950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281400513 meters 0.0295087682883616 Centerline is valid? [True, True] Translation: X:140.22, Y:14.60, Z:-0.48 [[ 9.96832309e-01 -7.89846264e-02 9.31534714e-03 1.40218698e+02] [ 7.89788814e-02 9.96875804e-01 9.83552551e-04 1.46025162e+01] [-9.36392970e-03 -2.44721264e-04 9.99956128e-01 -4.77373344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311400513 meters 0.03148530849568998 Centerline is valid? [True, True] Translation: X:140.25, Y:14.61, Z:-0.48 [[ 9.96879347e-01 -7.83477815e-02 9.65368450e-03 1.40245887e+02] [ 7.83415653e-02 9.96926054e-01 1.02098385e-03 1.46091630e+01] [-9.70400141e-03 -2.61512955e-04 9.99952881e-01 -4.77620826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341400513 meters 0.029720790419963707 Centerline is valid? [True, True] Translation: X:140.27, Y:14.61, Z:-0.48 [[ 9.96921999e-01 -7.78502209e-02 9.26663849e-03 1.40274887e+02] [ 7.78444679e-02 9.96965033e-01 9.80452632e-04 1.46106437e+01] [-9.31484300e-03 -2.56078256e-04 9.99956583e-01 -4.79423725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371400513 meters 0.03019515737547402 Centerline is valid? [True, True] Translation: X:140.30, Y:14.61, Z:-0.48 [[ 9.96971720e-01 -7.72262152e-02 9.13794795e-03 1.40303355e+02] [ 7.72205810e-02 9.97013563e-01 9.68332370e-04 1.46136473e+01] [-9.18543869e-03 -2.59762338e-04 9.99957779e-01 -4.82122537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401400513 meters 0.032795375557762796 Centerline is valid? [True, True] Translation: X:140.33, Y:14.62, Z:-0.48 [[ 9.96975785e-01 -7.71334380e-02 9.47184787e-03 1.40330278e+02] [ 7.71273638e-02 9.97020741e-01 1.00544920e-03 1.46194260e+01] [-9.52118254e-03 -2.71869854e-04 9.99954636e-01 -4.81750730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431400513 meters 0.03272903835128256 Centerline is valid? [True, True] Translation: X:140.36, Y:14.62, Z:-0.48 [[ 9.96978920e-01 -7.70066960e-02 1.01490241e-02 1.40359154e+02] [ 7.69997091e-02 9.97030533e-01 1.07796519e-03 1.46225605e+01] [-1.02018974e-02 -2.93236669e-04 9.99947916e-01 -4.80764648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461400513 meters 0.02944142022892287 Centerline is valid? [True, True] Translation: X:140.39, Y:14.62, Z:-0.48 [[ 9.97045754e-01 -7.61278064e-02 1.02137431e-02 1.40387833e+02] [ 7.61206671e-02 9.97098021e-01 1.08649647e-03 1.46218239e+01] [-1.02668157e-02 -3.05809752e-04 9.99947248e-01 -4.80056797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49140051299997 meters 0.039740750296311377 Centerline is valid? [True, True] Translation: X:140.42, Y:14.64, Z:-0.48 [[ 9.97379827e-01 -7.17527954e-02 9.22051265e-03 1.40415072e+02] [ 7.17467756e-02 9.97422396e-01 9.82416812e-04 1.46385697e+01] [-9.26723697e-03 -3.18300656e-04 9.99957008e-01 -4.80652817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52140051299997 meters 0.042703292044028285 Centerline is valid? [True, True] Translation: X:140.44, Y:14.65, Z:-0.48 [[ 9.97558760e-01 -6.92203977e-02 9.22257946e-03 1.40444254e+02] [ 6.92142650e-02 9.97601333e-01 9.82865524e-04 1.46457468e+01] [-9.26849191e-03 -3.42132054e-04 9.99956988e-01 -4.81205509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55140051299998 meters 0.044444594473812334 Centerline is valid? [True, True] Translation: X:140.47, Y:14.65, Z:-0.48 [[ 9.97736368e-01 -6.65777486e-02 9.46276907e-03 1.40472926e+02] [ 6.65711716e-02 9.97781169e-01 1.00867367e-03 1.46517786e+01] [-9.50892801e-03 -3.76442780e-04 9.99954718e-01 -4.81201926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58140051299998 meters 0.043852425409511155 Centerline is valid? [True, True] Translation: X:140.50, Y:14.66, Z:-0.48 [[ 9.97921945e-01 -6.36618536e-02 9.94785012e-03 1.40503263e+02] [ 6.36544368e-02 9.97971436e-01 1.06074270e-03 1.46559126e+01] [-9.99519912e-03 -4.25313624e-04 9.99949956e-01 -4.80893064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61140051299998 meters 0.05278378986618743 Centerline is valid? [True, True] Translation: X:140.53, Y:14.67, Z:-0.48 [[ 9.98251884e-01 -5.83112158e-02 9.64256473e-03 1.40530767e+02] [ 5.83039981e-02 9.98298346e-01 1.02818317e-03 1.46738145e+01] [-9.68611103e-03 -4.64185709e-04 9.99952981e-01 -4.82314232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64140051299998 meters 0.05041351217736771 Centerline is valid? [True, True] Translation: X:140.56, Y:14.67, Z:-0.48 [[ 9.98364584e-01 -5.64788214e-02 8.84877003e-03 1.40561158e+02] [ 5.64726705e-02 9.98403699e-01 9.43642742e-04 1.46747511e+01] [-8.88794056e-03 -4.42385819e-04 9.99960404e-01 -4.84006122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67140051299998 meters 0.057948888221509176 Centerline is valid? [True, True] Translation: X:140.59, Y:14.69, Z:-0.49 [[ 9.98433355e-01 -5.54213606e-02 7.70115506e-03 1.40590128e+02] [ 5.54166700e-02 9.98462978e-01 8.21290223e-04 1.46873320e+01] [-7.73483524e-03 -3.93231184e-04 9.99970008e-01 -4.86113978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70140051299998 meters 0.057576259409717605 Centerline is valid? [True, True] Translation: X:140.62, Y:14.69, Z:-0.49 [[ 9.98455781e-01 -5.50936515e-02 7.12336260e-03 1.40620095e+02] [ 5.50896309e-02 9.98481124e-01 7.59559255e-04 1.46906310e+01] [-7.15438999e-03 -3.65962913e-04 9.99974340e-01 -4.87139639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73140051299998 meters 0.05439716538165196 Centerline is valid? [True, True] Translation: X:140.65, Y:14.70, Z:-0.48 [[ 9.98439036e-01 -5.51108762e-02 9.07097927e-03 1.40649895e+02] [ 5.51043572e-02 9.98480132e-01 9.67232281e-04 1.46958302e+01] [-9.11049760e-03 -4.65871985e-04 9.99958390e-01 -4.83084225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76140051299998 meters 0.05345072436577921 Centerline is valid? [True, True] Translation: X:140.68, Y:14.70, Z:-0.48 [[ 9.98428447e-01 -5.49721021e-02 1.08951427e-02 1.40681242e+02] [ 5.49626892e-02 9.98487733e-01 1.16172717e-03 1.47009169e+01] [-1.09425290e-02 -5.61075105e-04 9.99939971e-01 -4.80910524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79140051299999 meters 0.05696899622555579 Centerline is valid? [True, True] Translation: X:140.71, Y:14.71, Z:-0.48 [[ 9.98446487e-01 -5.45718220e-02 1.12484882e-02 1.40712042e+02] [ 5.45617665e-02 9.98509677e-01 1.19912193e-03 1.47097921e+01] [-1.12971626e-02 -5.83521691e-04 9.99936015e-01 -4.80895701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821400513 meters 0.05407425025428119 Centerline is valid? [True, True] Translation: X:140.74, Y:14.71, Z:-0.48 [[ 9.98494039e-01 -5.38274183e-02 1.05954463e-02 1.40744833e+02] [ 5.38184585e-02 9.98550098e-01 1.12915243e-03 1.47089270e+01] [-1.06408633e-02 -5.57221383e-04 9.99943229e-01 -4.83142192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851400513 meters 0.05745915727829006 Centerline is valid? [True, True] Translation: X:140.77, Y:14.72, Z:-0.49 [[ 9.98698591e-01 -5.05210679e-02 6.98177147e-03 1.40774800e+02] [ 5.05170992e-02 9.98722919e-01 7.43733434e-04 1.47157029e+01] [-7.01042940e-03 -3.90066691e-04 9.99975351e-01 -4.89134211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881400513 meters 0.06340799495223666 Centerline is valid? [True, True] Translation: X:140.80, Y:14.73, Z:-0.49 [[ 9.98829350e-01 -4.80079315e-02 5.93029640e-03 1.40803489e+02] [ 4.80050237e-02 9.98846894e-01 6.31795412e-04 1.47277359e+01] [-5.95378933e-03 -3.46371782e-04 9.99982216e-01 -4.91044464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911400513 meters 0.06801523647368378 Centerline is valid? [True, True] Translation: X:140.83, Y:14.74, Z:-0.49 [[ 9.98944439e-01 -4.55914124e-02 5.60631527e-03 1.40831858e+02] [ 4.55887763e-02 9.98960113e-01 5.97160530e-04 1.47378558e+01] [-5.62771073e-03 -3.40945138e-04 9.99984106e-01 -4.91523844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941400513 meters 0.06394446674379882 Centerline is valid? [True, True] Translation: X:140.86, Y:14.74, Z:-0.49 [[ 9.99051831e-01 -4.31407406e-02 5.85800978e-03 1.40862638e+02] [ 4.31378215e-02 9.99068936e-01 6.23795798e-04 1.47367318e+01] [-5.87946661e-03 -3.70502554e-04 9.99982647e-01 -4.89931694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971400513 meters 0.07018498186188873 Centerline is valid? [True, True] Translation: X:140.89, Y:14.75, Z:-0.49 [[ 9.99146196e-01 -4.08234138e-02 6.35044701e-03 1.40891983e+02] [ 4.08199367e-02 9.99166290e-01 6.76247488e-04 1.47470746e+01] [-6.37275931e-03 -4.16445261e-04 9.99979607e-01 -4.89693954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001400513 meters 0.07366023371947723 Centerline is valid? [True, True] Translation: X:140.92, Y:14.75, Z:-0.49 [[ 9.99235142e-01 -3.85557908e-02 6.52546534e-03 1.40921137e+02] [ 3.85520721e-02 9.99256351e-01 6.94750745e-04 1.47546706e+01] [-6.54739935e-03 -4.42649150e-04 9.99978468e-01 -4.89939596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031400513 meters 0.07463295103583743 Centerline is valid? [True, True] Translation: X:140.95, Y:14.76, Z:-0.49 [[ 9.99395115e-01 -3.41375179e-02 6.63582964e-03 1.40951002e+02] [ 3.41335747e-02 9.99417030e-01 7.06603880e-04 1.47619219e+01] [-6.65608285e-03 -4.79671880e-04 9.99977733e-01 -4.91987347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061400513 meters 0.08122513803928098 Centerline is valid? [True, True] Translation: X:140.98, Y:14.77, Z:-0.49 [[ 9.99434446e-01 -3.29853155e-02 6.53893751e-03 1.40979917e+02] [ 3.29814611e-02 9.99455721e-01 6.96439812e-04 1.47745104e+01] [-6.55835079e-03 -4.80382224e-04 9.99978378e-01 -4.93487695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091400513 meters 0.07438322349346398 Centerline is valid? [True, True] Translation: X:141.01, Y:14.77, Z:-0.49 [[ 9.99439211e-01 -3.28712575e-02 6.38304350e-03 1.41012659e+02] [ 3.28675846e-02 9.99459484e-01 6.79497338e-04 1.47705613e+01] [-6.40192930e-03 -4.69321061e-04 9.99979397e-01 -4.93422866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121400513 meters 0.08160168961130555 Centerline is valid? [True, True] Translation: X:141.04, Y:14.78, Z:-0.49 [[ 9.99424301e-01 -3.33218067e-02 6.38153609e-03 1.41042330e+02] [ 3.33181468e-02 9.99444566e-01 6.78996013e-04 1.47834225e+01] [-6.40061694e-03 -4.65984159e-04 9.99979407e-01 -4.93586316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151400513 meters 0.07230870332692078 Centerline is valid? [True, True] Translation: X:141.07, Y:14.78, Z:-0.49 [[ 9.99349507e-01 -3.54508670e-02 6.61802483e-03 1.41074078e+02] [ 3.54469795e-02 9.99371311e-01 7.03828887e-04 1.47767556e+01] [-6.63881549e-03 -4.68782060e-04 9.99977853e-01 -4.92163965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181400513 meters 0.07576335492822459 Centerline is valid? [True, True] Translation: X:141.10, Y:14.78, Z:-0.49 [[ 9.99307373e-01 -3.66008083e-02 6.71982594e-03 1.41103774e+02] [ 3.65968266e-02 9.99329856e-01 7.14580629e-04 1.47839815e+01] [-6.74147691e-03 -4.68161386e-04 9.99977166e-01 -4.92921368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211400513 meters 0.07604145395344825 Centerline is valid? [True, True] Translation: X:141.13, Y:14.79, Z:-0.49 [[ 9.99276073e-01 -3.74501424e-02 6.69459214e-03 1.41133590e+02] [ 3.74462101e-02 9.99298391e-01 7.11818651e-04 1.47873982e+01] [-6.71655287e-03 -4.60616242e-04 9.99977338e-01 -4.93394660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24140051299997 meters 0.06559429444518027 Centerline is valid? [True, True] Translation: X:141.17, Y:14.78, Z:-0.49 [[ 9.99262743e-01 -3.78056834e-02 6.68587899e-03 1.41167206e+02] [ 3.78017688e-02 9.99285005e-01 7.10949029e-04 1.47779796e+01] [-6.70797653e-03 -4.57686825e-04 9.99977397e-01 -4.93277224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27140051299997 meters 0.08241811340978282 Centerline is valid? [True, True] Translation: X:141.20, Y:14.80, Z:-0.50 [[ 9.99265252e-01 -3.77410912e-02 6.67574029e-03 1.41195514e+02] [ 3.77371895e-02 9.99287447e-01 7.09508553e-04 1.48024327e+01] [-6.69776110e-03 -4.57063567e-04 9.99977465e-01 -4.95017055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30140051299998 meters 0.08345443444070613 Centerline is valid? [True, True] Translation: X:141.23, Y:14.81, Z:-0.49 [[ 9.99291168e-01 -3.66891321e-02 8.43023263e-03 1.41225666e+02] [ 3.66828764e-02 9.99326556e-01 8.95534026e-04 1.48108842e+01] [-8.45741170e-03 -5.85654061e-04 9.99964064e-01 -4.91523000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33140051299998 meters 0.06753395703258665 Centerline is valid? [True, True] Translation: X:141.26, Y:14.80, Z:-0.49 [[ 9.99303721e-01 -3.62239653e-02 8.93855872e-03 1.41259267e+02] [ 3.62169145e-02 9.99343501e-01 9.49479383e-04 1.47967501e+01] [-8.96708448e-03 -6.25091263e-04 9.99959600e-01 -4.90033534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36140051299998 meters 0.07124439614047527 Centerline is valid? [True, True] Translation: X:141.29, Y:14.81, Z:-0.49 [[ 9.99321715e-01 -3.58105593e-02 8.58567543e-03 1.41290117e+02] [ 3.58040425e-02 9.99358414e-01 9.11586248e-04 1.48052887e+01] [-8.61281139e-03 -6.03566045e-04 9.99962727e-01 -4.90983385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39140051299998 meters 0.07128117579861955 Centerline is valid? [True, True] Translation: X:141.32, Y:14.81, Z:-0.49 [[ 9.99350104e-01 -3.52400580e-02 7.58336545e-03 1.41322460e+02] [ 3.52349591e-02 9.99378732e-01 8.04969918e-04 1.48089930e+01] [-7.60702133e-03 -5.37247200e-04 9.99970922e-01 -4.93027838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42140051299998 meters 0.08182290289849395 Centerline is valid? [True, True] Translation: X:141.35, Y:14.82, Z:-0.50 [[ 9.99433876e-01 -3.30091539e-02 6.50569075e-03 1.41350972e+02] [ 3.30053566e-02 9.99454936e-01 6.90222745e-04 1.48246379e+01] [-6.52492841e-03 -4.75109350e-04 9.99978600e-01 -4.96768196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45140051299998 meters 0.07641978088420087 Centerline is valid? [True, True] Translation: X:141.38, Y:14.82, Z:-0.50 [[ 9.99481322e-01 -3.13562935e-02 7.33965113e-03 1.41382775e+02] [ 3.13514167e-02 9.99508120e-01 7.78587197e-04 1.48215127e+01] [-7.36045451e-03 -5.48074900e-04 9.99972761e-01 -4.95573563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48140051299998 meters 0.07638642171519765 Centerline is valid? [True, True] Translation: X:141.41, Y:14.82, Z:-0.49 [[ 9.99525386e-01 -2.96752478e-02 8.26942217e-03 1.41414075e+02] [ 2.96690018e-02 9.99559394e-01 8.76996588e-04 1.48248639e+01] [-8.29180370e-03 -6.31234851e-04 9.99965423e-01 -4.94437459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51140051299998 meters 0.0773090085966225 Centerline is valid? [True, True] Translation: X:141.44, Y:14.83, Z:-0.49 [[ 9.99555729e-01 -2.84835661e-02 8.77676153e-03 1.41444640e+02] [ 2.84764866e-02 9.99594029e-01 9.30564886e-04 1.48297009e+01] [-8.79970423e-03 -6.80220131e-04 9.99961050e-01 -4.93663737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54140051299999 meters 0.08468720002094045 Centerline is valid? [True, True] Translation: X:141.47, Y:14.84, Z:-0.49 [[ 9.99594135e-01 -2.71187666e-02 8.72567434e-03 1.41473029e+02] [ 2.71117178e-02 9.99631982e-01 9.25112865e-04 1.48427157e+01] [-8.74755105e-03 -6.88169374e-04 9.99961503e-01 -4.93559333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571400513 meters 0.08881212067054456 Centerline is valid? [True, True] Translation: X:141.50, Y:14.85, Z:-0.49 [[ 9.99661852e-01 -2.40697681e-02 9.84012193e-03 1.41501955e+02] [ 2.40606629e-02 9.99709957e-01 1.04266909e-03 1.48532758e+01] [-9.86236467e-03 -8.05556652e-04 9.99951041e-01 -4.92487184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601400513 meters 0.08881212067054456 Centerline is valid? [True, True] Translation: X:141.53, Y:14.86, Z:-0.49 [[ 9.99663437e-01 -2.40038357e-02 9.84017464e-03 1.41534401e+02] [ 2.39947322e-02 9.99711542e-01 1.04217139e-03 1.48565907e+01] [-9.86235227e-03 -8.05708276e-04 9.99951041e-01 -4.92824303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631400513 meters 0.08438460257164562 Centerline is valid? [True, True] Translation: X:141.57, Y:14.85, Z:-0.49 [[ 9.99681862e-01 -2.28974065e-02 1.05775064e-02 1.41566219e+02] [ 2.28868340e-02 9.99737435e-01 1.11951838e-03 1.48541969e+01] [-1.06003632e-02 -8.77076587e-04 9.99943430e-01 -4.92022648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661400513 meters 0.08742245367271556 Centerline is valid? [True, True] Translation: X:141.60, Y:14.86, Z:-0.49 [[ 9.99706682e-01 -2.19148657e-02 1.03096697e-02 1.41596047e+02] [ 2.19047723e-02 9.99759466e-01 1.09094163e-03 1.48599289e+01] [-1.03310977e-02 -8.64790670e-04 9.99946259e-01 -4.93045931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691400513 meters 0.09025828743408279 Centerline is valid? [True, True] Translation: X:141.63, Y:14.87, Z:-0.50 [[ 9.99728898e-01 -2.14429773e-02 9.07350409e-03 1.41626479e+02] [ 2.14351401e-02 9.99769780e-01 9.60127617e-04 1.48660830e+01] [-9.09200318e-03 -7.65375494e-04 9.99958374e-01 -4.95600718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721400513 meters 0.09123451927930182 Centerline is valid? [True, True] Translation: X:141.66, Y:14.87, Z:-0.50 [[ 9.99739874e-01 -2.13821974e-02 7.93635586e-03 1.41656786e+02] [ 2.13762048e-02 9.99771151e-01 8.39155725e-04 1.48709996e+01] [-7.95248262e-03 -6.69288271e-04 9.99968155e-01 -4.99531061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751400513 meters 0.08480221132280882 Centerline is valid? [True, True] Translation: X:141.69, Y:14.87, Z:-0.50 [[ 9.99749906e-01 -2.05937817e-02 8.71897998e-03 1.41689143e+02] [ 2.05865219e-02 9.99787650e-01 9.21583366e-04 1.48661575e+01] [-8.73610740e-03 -7.41859412e-04 9.99961564e-01 -4.98256916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781400513 meters 0.09168506551308399 Centerline is valid? [True, True] Translation: X:141.72, Y:14.88, Z:-0.50 [[ 9.99777474e-01 -1.90813309e-02 8.99471912e-03 1.41717966e+02] [ 1.90735467e-02 9.99817632e-01 9.50418853e-04 1.48764303e+01] [-9.01121402e-03 -7.78646165e-04 9.99959095e-01 -4.97745872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811400513 meters 0.09241016264316942 Centerline is valid? [True, True] Translation: X:141.75, Y:14.88, Z:-0.50 [[ 9.99822027e-01 -1.71405718e-02 7.88129379e-03 1.41748597e+02] [ 1.71345387e-02 9.99852847e-01 8.32382312e-04 1.48791523e+01] [-7.89440154e-03 -6.97191837e-04 9.99968596e-01 -4.98812620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841400513 meters 0.0986916489198148 Centerline is valid? [True, True] Translation: X:141.78, Y:14.89, Z:-0.50 [[ 9.99888686e-01 -1.37060824e-02 5.89559688e-03 1.41776836e+02] [ 1.37026471e-02 9.99905920e-01 6.22703637e-04 1.48891322e+01] [-5.90357705e-03 -5.41849039e-04 9.99982427e-01 -5.02546642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871400513 meters 0.08627564682245191 Centerline is valid? [True, True] Translation: X:141.81, Y:14.88, Z:-0.50 [[ 9.99901178e-01 -1.28029108e-02 5.80680617e-03 1.41809486e+02] [ 1.27995633e-02 9.99917894e-01 6.13274124e-04 1.48773442e+01] [-5.81418109e-03 -5.38888936e-04 9.99982952e-01 -5.02375622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901400513 meters 0.09751232482564429 Centerline is valid? [True, True] Translation: X:141.84, Y:14.89, Z:-0.50 [[ 9.99900652e-01 -1.27972929e-02 5.90893901e-03 1.41838610e+02] [ 1.27938259e-02 9.99917961e-01 6.24167982e-04 1.48944625e+01] [-5.91644191e-03 -5.48508035e-04 9.99982347e-01 -5.02745790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931400513 meters 0.10052492829111928 Centerline is valid? [True, False] Translation: X:141.84, Y:14.89, Z:-0.50 [[ 9.99901900e-01 -1.27434094e-02 5.81347504e-03 1.41838898e+02] [ 1.27391141e-02 9.99918554e-01 7.75283120e-04 1.48937779e+01] [-5.82288131e-03 -7.01148543e-04 9.99982801e-01 -5.02669123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961400513 meters 0.08497351201611208 Centerline is valid? [False, True] Translation: X:141.82, Y:14.90, Z:-0.50 [[ 9.99929113e-01 -1.15144237e-02 3.03088137e-03 1.41818244e+02] [ 1.15407416e-02 9.99894558e-01 -8.81390781e-03 1.48969230e+01] [-2.92907472e-03 8.84826164e-03 9.99956563e-01 -5.00573817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99140051299997 meters 0.08429645621035915 Centerline is valid? [True, True] Translation: X:141.85, Y:14.89, Z:-0.50 [[ 9.99916312e-01 -1.29117576e-02 8.10225671e-04 1.41849578e+02] [ 1.29116948e-02 9.99916637e-01 8.27047624e-05 1.48906388e+01] [-8.11225992e-04 -7.22364544e-05 9.99999668e-01 -5.03001695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02140051299997 meters 0.09249395550430471 Centerline is valid? [True, True] Translation: X:141.88, Y:14.90, Z:-0.51 [[ 9.99877983e-01 -1.56019864e-02 7.72333408e-04 1.41878014e+02] [ 1.56019302e-02 9.99878279e-01 7.87381971e-05 1.49019409e+01] [-7.73467872e-04 -6.66786978e-05 9.99999699e-01 -5.05647136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05140051299998 meters 0.08787111669958901 Centerline is valid? [True, True] Translation: X:141.91, Y:14.90, Z:-0.50 [[ 9.99859896e-01 -1.66927453e-02 1.24147466e-03 1.41908911e+02] [ 1.66926007e-02 9.99860661e-01 1.26740332e-04 1.48983645e+01] [-1.24341732e-03 -1.05999134e-04 9.99999221e-01 -5.04847129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08140051299998 meters 0.090792005353383 Centerline is valid? [True, True] Translation: X:141.94, Y:14.90, Z:-0.50 [[ 9.99842159e-01 -1.76612600e-02 1.93294628e-03 1.41938191e+02] [ 1.76609113e-02 9.99844014e-01 1.97331658e-04 1.49046777e+01] [-1.93612989e-03 -1.63162918e-04 9.99998112e-01 -5.04663900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11140051299998 meters 0.08306230834843759 Centerline is valid? [True, True] Translation: X:141.97, Y:14.90, Z:-0.50 [[ 9.99806552e-01 -1.94054495e-02 3.20722909e-03 1.41969553e+02] [ 1.94044981e-02 9.99811661e-01 3.27482765e-04 1.48985633e+01] [-3.21298000e-03 -2.65184743e-04 9.99994803e-01 -5.02175016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14140051299998 meters 0.08412503463200065 Centerline is valid? [True, True] Translation: X:142.00, Y:14.90, Z:-0.50 [[ 9.99788478e-01 -2.03509271e-02 2.97318703e-03 1.42000200e+02] [ 2.03501136e-02 9.99792869e-01 3.03629136e-04 1.49026253e+01] [-2.97875032e-03 -2.43060218e-04 9.99995534e-01 -5.03430145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17140051299998 meters 0.08717405402444821 Centerline is valid? [True, True] Translation: X:142.03, Y:14.91, Z:-0.51 [[ 9.99771135e-01 -2.12263289e-02 2.66857371e-03 1.42029984e+02] [ 2.12256769e-02 9.99774673e-01 2.72409914e-04 1.49087244e+01] [-2.67375467e-03 -2.15705286e-04 9.99996402e-01 -5.05021727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20140051299998 meters 0.08456841618788354 Centerline is valid? [True, True] Translation: X:142.06, Y:14.91, Z:-0.50 [[ 9.99753216e-01 -2.19256609e-02 3.57397855e-03 1.42061574e+02] [ 2.19244959e-02 9.99759563e-01 3.64817323e-04 1.49079384e+01] [-3.58111810e-03 -2.86369613e-04 9.99993547e-01 -5.04345911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23140051299998 meters 0.07988627527735795 Centerline is valid? [True, True] Translation: X:142.09, Y:14.90, Z:-0.50 [[ 9.99729489e-01 -2.24447507e-02 6.09772092e-03 1.42093955e+02] [ 2.24413706e-02 9.99747967e-01 6.22183997e-04 1.49045285e+01] [-6.11014885e-03 -4.85174474e-04 9.99981215e-01 -4.99287343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26140051299998 meters 0.08270160202862306 Centerline is valid? [True, True] Translation: X:142.12, Y:14.91, Z:-0.50 [[ 9.99726242e-01 -2.24536963e-02 6.57819831e-03 1.42124909e+02] [ 2.24497644e-02 9.99747747e-01 6.70957874e-04 1.49117508e+01] [-6.59160442e-03 -5.23095192e-04 9.99978138e-01 -4.97962353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29140051299999 meters 0.07638366496053837 Centerline is valid? [True, True] Translation: X:142.16, Y:14.91, Z:-0.50 [[ 9.99740360e-01 -2.19093551e-02 6.26042634e-03 1.42157309e+02] [ 2.19057844e-02 9.99759836e-01 6.38377325e-04 1.49082226e+01] [-6.27290924e-03 -5.01072028e-04 9.99980200e-01 -4.97996503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321400513 meters 0.08111008776442648 Centerline is valid? [True, True] Translation: X:142.19, Y:14.92, Z:-0.50 [[ 9.99754946e-01 -2.12348718e-02 6.25528186e-03 1.42187687e+02] [ 2.12312955e-02 9.99774387e-01 6.37595302e-04 1.49180984e+01] [-6.26740985e-03 -5.04631320e-04 9.99980232e-01 -4.98977793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351400513 meters 0.08185614521203564 Centerline is valid? [True, True] Translation: X:142.22, Y:14.92, Z:-0.50 [[ 9.99764835e-01 -2.05641660e-02 6.88407259e-03 1.42219969e+02] [ 2.05598222e-02 9.99788379e-01 7.01176515e-04 1.49221973e+01] [-6.89703488e-03 -5.59476314e-04 9.99976059e-01 -4.98937977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381400513 meters 0.08722611559267911 Centerline is valid? [True, True] Translation: X:142.25, Y:14.93, Z:-0.50 [[ 9.99766012e-01 -2.00769665e-02 8.05208831e-03 1.42250003e+02] [ 2.00710113e-02 9.99798221e-01 8.19730561e-04 1.49310956e+01] [-8.06692127e-03 -6.57925199e-04 9.99967245e-01 -4.97600512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411400513 meters 0.0897596066009589 Centerline is valid? [True, True] Translation: X:142.28, Y:14.94, Z:-0.50 [[ 9.99778075e-01 -1.96972795e-02 7.47116810e-03 1.42279993e+02] [ 1.96921467e-02 9.99805802e-01 7.59968607e-04 1.49385878e+01] [-7.48468653e-03 -6.12676613e-04 9.99971802e-01 -4.99032399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441400513 meters 0.08952281714005195 Centerline is valid? [True, True] Translation: X:142.31, Y:14.94, Z:-0.50 [[ 9.99797316e-01 -1.92428087e-02 5.91960261e-03 1.42311738e+02] [ 1.92395787e-02 9.99814721e-01 6.02114278e-04 1.49430014e+01] [-5.93009221e-03 -4.88101579e-04 9.99982298e-01 -5.01439589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471400513 meters 0.08963401247685754 Centerline is valid? [True, True] Translation: X:142.34, Y:14.95, Z:-0.50 [[ 9.99821970e-01 -1.83125562e-02 4.54726597e-03 1.42343026e+02] [ 1.83106416e-02 9.99832239e-01 4.62320928e-04 1.49475717e+01] [-4.55496939e-03 -3.78975263e-04 9.99989554e-01 -5.03319641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501400513 meters 0.08422456650599139 Centerline is valid? [True, True] Translation: X:142.37, Y:14.95, Z:-0.50 [[ 9.99853085e-01 -1.66601410e-02 4.03081567e-03 1.42373914e+02] [ 1.66586238e-02 9.99861152e-01 4.09694534e-04 1.49458142e+01] [-4.03708156e-03 -3.42486502e-04 9.99991792e-01 -5.03264049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531400513 meters 0.09000586750968576 Centerline is valid? [True, True] Translation: X:142.40, Y:14.96, Z:-0.50 [[ 9.99909594e-01 -1.25428468e-02 4.84564620e-03 1.42401689e+02] [ 1.25406069e-02 9.99921242e-01 4.92356149e-04 1.49607072e+01] [-4.85144012e-03 -4.31544293e-04 9.99988139e-01 -5.01718422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561400513 meters 0.096481876732236 Centerline is valid? [True, True] Translation: X:142.43, Y:14.98, Z:-0.50 [[ 9.99933068e-01 -1.01787370e-02 5.50027716e-03 1.42430006e+02] [ 1.01758150e-02 9.99948069e-01 5.58975052e-04 1.49757379e+01] [-5.50568119e-03 -5.02967836e-04 9.99984717e-01 -5.01369832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591400513 meters 0.10397076466323489 Centerline is valid? [True, False] Translation: X:142.43, Y:14.98, Z:-0.50 [[ 9.99964940e-01 -6.29278400e-03 5.52449643e-03 1.42429895e+02] [ 6.27215033e-03 9.99973320e-01 3.74435578e-03 1.49809231e+01] [-5.54791146e-03 -3.70957403e-03 9.99977730e-01 -5.01695657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621400513 meters 0.11353467419583547 Centerline is valid? [False, False] Translation: X:142.43, Y:14.99, Z:-0.50 [[ 9.99962302e-01 -6.62039912e-03 5.61821592e-03 1.42429608e+02] [ 6.60481898e-03 9.99974304e-01 2.78718517e-03 1.49852036e+01] [-5.63652383e-03 -2.74997280e-03 9.99980333e-01 -5.01807662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651400513 meters 0.09303166372904972 Centerline is valid? [False, True] Translation: X:142.43, Y:14.99, Z:-0.50 [[ 9.99960226e-01 -6.88400908e-03 5.67069873e-03 1.42429326e+02] [ 6.87237491e-03 9.99974245e-01 2.06856684e-03 1.49884591e+01] [-5.68479272e-03 -2.02951340e-03 9.99981782e-01 -5.01603073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681400513 meters 0.0922087632630754 Centerline is valid? [True, True] Translation: X:142.46, Y:14.99, Z:-0.50 [[ 9.99952113e-01 -7.68871378e-03 6.05445081e-03 1.42460161e+02] [ 7.68506061e-03 9.99970273e-01 6.26420322e-04 1.49949795e+01] [-6.05908720e-03 -5.79861503e-04 9.99981475e-01 -5.00909354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711400513 meters 0.09041919328750145 Centerline is valid? [True, True] Translation: X:142.49, Y:15.00, Z:-0.50 [[ 9.99917136e-01 -1.20306176e-02 4.58104502e-03 1.42489068e+02] [ 1.20285723e-02 9.99927542e-01 4.73767076e-04 1.50014174e+01] [-4.58641280e-03 -4.18624387e-04 9.99989395e-01 -5.03266186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74140051299997 meters 0.08935331398936172 Centerline is valid? [True, True] Translation: X:142.52, Y:15.01, Z:-0.51 [[ 9.99885902e-01 -1.47197140e-02 3.39297271e-03 1.42519071e+02] [ 1.47186071e-02 9.99891614e-01 3.50974647e-04 1.50058165e+01] [-3.39777121e-03 -3.00994770e-04 9.99994182e-01 -5.05797584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77140051299997 meters 0.0915552259484975 Centerline is valid? [True, True] Translation: X:142.55, Y:15.01, Z:-0.51 [[ 9.99853537e-01 -1.69160995e-02 2.59813635e-03 1.42547942e+02] [ 1.69154580e-02 9.99856887e-01 2.68692008e-04 1.50134241e+01] [-2.60230974e-03 -2.24703988e-04 9.99996589e-01 -5.08014838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80140051299998 meters 0.08212030824651825 Centerline is valid? [True, True] Translation: X:142.58, Y:15.01, Z:-0.51 [[ 9.99825593e-01 -1.85842699e-02 1.84642853e-03 1.42580016e+02] [ 1.85839484e-02 9.99827285e-01 1.91102344e-04 1.50059060e+01] [-1.84966112e-03 -1.56755082e-04 9.99998277e-01 -5.08233777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83140051299998 meters 0.09222569229159851 Centerline is valid? [True, True] Translation: X:142.61, Y:15.02, Z:-0.51 [[ 9.99818410e-01 -1.87585001e-02 3.35642883e-03 1.42609450e+02] [ 1.87574391e-02 9.99824003e-01 3.47324650e-04 1.50217781e+01] [-3.36235340e-03 -2.84303569e-04 9.99994307e-01 -5.06896032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86140051299998 meters 0.0905706436407525 Centerline is valid? [True, True] Translation: X:142.64, Y:15.02, Z:-0.51 [[ 9.99839379e-01 -1.74581099e-02 4.05351627e-03 1.42641037e+02] [ 1.74565523e-02 9.99847535e-01 4.19318915e-04 1.50220217e+01] [-4.06021877e-03 -3.48491144e-04 9.99991697e-01 -5.05553761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89140051299998 meters 0.08652653339185881 Centerline is valid? [True, True] Translation: X:142.67, Y:15.02, Z:-0.51 [[ 9.99860305e-01 -1.61978145e-02 4.12328072e-03 1.42672463e+02] [ 1.61961926e-02 9.99868742e-01 4.26440236e-04 1.50222810e+01] [-4.12964691e-03 -3.59599216e-04 9.99991408e-01 -5.05045218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92140051299998 meters 0.09381377931400925 Centerline is valid? [True, True] Translation: X:142.70, Y:15.04, Z:-0.51 [[ 9.99886266e-01 -1.45631533e-02 3.92048759e-03 1.42701091e+02] [ 1.45616753e-02 9.99893891e-01 4.05269592e-04 1.50353082e+01] [-3.92597359e-03 -3.48134632e-04 9.99992233e-01 -5.05981772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95140051299998 meters 0.09077765794706623 Centerline is valid? [True, True] Translation: X:142.73, Y:15.04, Z:-0.51 [[ 9.99908089e-01 -1.29738539e-02 3.93611695e-03 1.42732501e+02] [ 1.29723514e-02 9.99915773e-01 4.07002090e-04 1.50363481e+01] [-3.94106581e-03 -3.55903990e-04 9.99992171e-01 -5.05535527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98140051299998 meters 0.09753303092085124 Centerline is valid? [True, True] Translation: X:142.76, Y:15.05, Z:-0.51 [[ 9.99936366e-01 -1.04344002e-02 4.28808335e-03 1.42761028e+02] [ 1.04325938e-02 9.99945481e-01 4.43408410e-04 1.50490619e+01] [-4.29247627e-03 -3.98644362e-04 9.99990708e-01 -5.05596254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01140051299998 meters 0.09232818056418232 Centerline is valid? [True, True] Translation: X:142.79, Y:15.04, Z:-0.51 [[ 9.99945928e-01 -9.66219129e-03 3.84497511e-03 1.42793814e+02] [ 9.66073396e-03 9.99953255e-01 3.97413038e-04 1.50449372e+01] [-3.84863526e-03 -3.60246268e-04 9.99992529e-01 -5.06515708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04140051299999 meters 0.09052914013265775 Centerline is valid? [True, True] Translation: X:142.83, Y:15.04, Z:-0.51 [[ 9.99947470e-01 -9.63625733e-03 3.49280532e-03 1.42825869e+02] [ 9.63505501e-03 9.99953517e-01 3.60891033e-04 1.50445889e+01] [-3.49612060e-03 -3.27218704e-04 9.99993835e-01 -5.07793404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071400513 meters 0.08903950232372088 Centerline is valid? [True, True] Translation: X:142.86, Y:15.04, Z:-0.51 [[ 9.99942755e-01 -1.01745846e-02 3.31120620e-03 1.42857806e+02] [ 1.01735076e-02 9.99948190e-01 3.41930467e-04 1.50446701e+01] [-3.31451364e-03 -3.08224312e-04 9.99994459e-01 -5.08240072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101400513 meters 0.0978701076040923 Centerline is valid? [True, True] Translation: X:142.89, Y:15.06, Z:-0.51 [[ 9.99913311e-01 -1.23132959e-02 4.66410705e-03 1.42886552e+02] [ 1.23111844e-02 9.99924099e-01 4.81149928e-04 1.50564254e+01] [-4.66967758e-03 -4.23687536e-04 9.99989007e-01 -5.07667345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131400513 meters 0.09915122389253339 Centerline is valid? [True, True] Translation: X:142.92, Y:15.06, Z:-0.51 [[ 9.99897453e-01 -1.34596725e-02 4.89078727e-03 1.42916206e+02] [ 1.34573639e-02 9.99909318e-01 5.04640481e-04 1.50589345e+01] [-4.89713606e-03 -4.38771628e-04 9.99987913e-01 -5.07775417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161400513 meters 0.09168068549101276 Centerline is valid? [True, True] Translation: X:142.95, Y:15.05, Z:-0.51 [[ 9.99887469e-01 -1.41836197e-02 4.88617312e-03 1.42948951e+02] [ 1.41813231e-02 9.99899313e-01 5.04337026e-04 1.50507802e+01] [-4.89283447e-03 -4.34987872e-04 9.99987935e-01 -5.07579746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191400513 meters 0.09572028107529365 Centerline is valid? [True, True] Translation: X:142.98, Y:15.06, Z:-0.51 [[ 9.99889569e-01 -1.41676538e-02 4.48640993e-03 1.42980006e+02] [ 1.41657184e-02 9.99899554e-01 4.62870098e-04 1.50561747e+01] [-4.49251707e-03 -3.99265763e-04 9.99989829e-01 -5.07772128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221400513 meters 0.09570268878291696 Centerline is valid? [True, True] Translation: X:143.01, Y:15.06, Z:-0.51 [[ 9.99898730e-01 -1.35460792e-02 4.36262635e-03 1.43011769e+02] [ 1.35442437e-02 9.99908171e-01 4.50007360e-04 1.50593251e+01] [-4.36832157e-03 -3.90873313e-04 9.99990382e-01 -5.07957865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251400513 meters 0.09001251761687026 Centerline is valid? [True, True] Translation: X:143.04, Y:15.06, Z:-0.51 [[ 9.99911624e-01 -1.27950474e-02 3.60983372e-03 1.43044638e+02] [ 1.27937862e-02 9.99918087e-01 3.72270610e-04 1.50551904e+01] [-3.61430125e-03 -3.26054270e-04 9.99993415e-01 -5.08947912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281400513 meters 0.09356918549589681 Centerline is valid? [True, True] Translation: X:143.08, Y:15.06, Z:-0.51 [[ 9.99922971e-01 -1.21454137e-02 2.55772161e-03 1.43075346e+02] [ 1.21447786e-02 9.99926215e-01 2.63697382e-04 1.50614197e+01] [-2.56073561e-03 -2.32614107e-04 9.99996694e-01 -5.11143234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311400513 meters 0.08851548881125036 Centerline is valid? [True, True] Translation: X:143.11, Y:15.06, Z:-0.51 [[ 9.99923027e-01 -1.22839981e-02 1.74456171e-03 1.43107720e+02] [ 1.22837027e-02 9.99924536e-01 1.79984408e-04 1.50573953e+01] [-1.74664098e-03 -1.58540877e-04 9.99998462e-01 -5.12728800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341400513 meters 0.09124563662454666 Centerline is valid? [True, True] Translation: X:143.14, Y:15.06, Z:-0.51 [[ 9.99914672e-01 -1.29738470e-02 1.52590146e-03 1.43137999e+02] [ 1.29736220e-02 9.99915827e-01 1.57235106e-04 1.50633037e+01] [-1.52781297e-03 -1.37425220e-04 9.99998823e-01 -5.14116072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371400513 meters 0.09500715062073174 Centerline is valid? [True, True] Translation: X:143.17, Y:15.07, Z:-0.51 [[ 9.99860377e-01 -1.63559544e-02 3.42185862e-03 1.43166996e+02] [ 1.63548444e-02 9.99866189e-01 3.52133195e-04 1.50716815e+01] [-3.42716021e-03 -2.96120064e-04 9.99994083e-01 -5.13145505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401400513 meters 0.07777162991956349 Centerline is valid? [True, True] Translation: X:143.20, Y:15.05, Z:-0.51 [[ 9.99811270e-01 -1.90368865e-02 3.87563942e-03 1.43199663e+02] [ 1.90354825e-02 9.99818729e-01 3.98842023e-04 1.50531750e+01] [-3.88252959e-03 -3.24992083e-04 9.99992410e-01 -5.11795511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431400513 meters 0.09081873999208082 Centerline is valid? [True, True] Translation: X:143.23, Y:15.07, Z:-0.51 [[ 9.99751527e-01 -2.18468705e-02 4.42708962e-03 1.43227836e+02] [ 2.18450659e-02 9.99761264e-01 4.55593700e-04 1.50710298e+01] [-4.43598601e-03 -3.58770433e-04 9.99990097e-01 -5.12370589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461400513 meters 0.08086975681126352 Centerline is valid? [True, True] Translation: X:143.26, Y:15.06, Z:-0.51 [[ 9.99691161e-01 -2.45143451e-02 4.07797186e-03 1.43259665e+02] [ 2.45128359e-02 9.99699427e-01 4.19669252e-04 1.50608697e+01] [-4.08703405e-03 -3.19576987e-04 9.99991597e-01 -5.12743928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49140051299997 meters 0.07572906908621628 Centerline is valid? [True, True] Translation: X:143.29, Y:15.06, Z:-0.52 [[ 9.99614019e-01 -2.76575258e-02 2.62171860e-03 1.43290858e+02] [ 2.76569128e-02 9.99617438e-01 2.69802230e-04 1.50555090e+01] [-2.62817769e-03 -1.97189449e-04 9.99996527e-01 -5.15000186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52140051299997 meters 0.07572906908621628 Centerline is valid? [True, True] Translation: X:143.32, Y:15.06, Z:-0.52 [[ 9.99614656e-01 -2.76345001e-02 2.62170321e-03 1.43321622e+02] [ 2.76338866e-02 9.99618075e-01 2.69951725e-04 1.50586351e+01] [-2.62816190e-03 -1.97399851e-04 9.99996527e-01 -5.15275674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55140051299998 meters 0.07683298669203575 Centerline is valid? [True, True] Translation: X:143.35, Y:15.06, Z:-0.52 [[ 9.99605275e-01 -2.79593815e-02 2.75071556e-03 1.43351647e+02] [ 2.79587071e-02 9.99609039e-01 2.83299716e-04 1.50612348e+01] [-2.75756102e-03 -2.06281440e-04 9.99996177e-01 -5.16154123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58140051299998 meters 0.07759712753070287 Centerline is valid? [True, True] Translation: X:143.38, Y:15.06, Z:-0.52 [[ 9.99620864e-01 -2.73934641e-02 2.77972534e-03 1.43383285e+02] [ 2.73927740e-02 9.99624707e-01 2.86016804e-04 1.50635821e+01] [-2.78651712e-03 -2.09763977e-04 9.99996096e-01 -5.16210836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61140051299998 meters 0.08495623230278039 Centerline is valid? [True, True] Translation: X:143.41, Y:15.07, Z:-0.52 [[ 9.99657950e-01 -2.60104479e-02 2.72767981e-03 1.43412186e+02] [ 2.60097783e-02 9.99661649e-01 2.80678367e-04 1.50737762e+01] [-2.73405746e-03 -2.09636013e-04 9.99996240e-01 -5.17198162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64140051299998 meters 0.07934462131683517 Centerline is valid? [True, True] Translation: X:143.44, Y:15.07, Z:-0.52 [[ 9.99748913e-01 -2.22078652e-02 2.98705067e-03 1.43443269e+02] [ 2.22070463e-02 9.99753346e-01 3.07041841e-04 1.50699983e+01] [-2.99313264e-03 -2.40631174e-04 9.99995492e-01 -5.16241370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67140051299998 meters 0.0933726485387916 Centerline is valid? [True, True] Translation: X:143.47, Y:15.09, Z:-0.52 [[ 9.99809315e-01 -1.93112790e-02 2.89969240e-03 1.43471508e+02] [ 1.93104948e-02 9.99813491e-01 2.98183506e-04 1.50908953e+01] [-2.90490989e-03 -2.42132151e-04 9.99995751e-01 -5.17220840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70140051299998 meters 0.08956824528616694 Centerline is valid? [True, True] Translation: X:143.50, Y:15.09, Z:-0.52 [[ 9.99858950e-01 -1.65976074e-02 2.56911516e-03 1.43502259e+02] [ 1.65969833e-02 9.99862226e-01 2.64032953e-04 1.50909565e+01] [-2.57314352e-03 -2.21356150e-04 9.99996665e-01 -5.16803049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73140051299998 meters 0.10675740083853538 Centerline is valid? [True, False] Translation: X:143.50, Y:15.10, Z:-0.52 [[ 9.99991646e-01 -2.75058361e-03 3.02351647e-03 1.43504700e+02] [ 2.76923985e-03 9.99977047e-01 -6.18360978e-03 1.50958308e+01] [-3.00643853e-03 6.19193096e-03 9.99976310e-01 -5.18521131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76140051299998 meters 0.1001752674427986 Centerline is valid? [False, False] Translation: X:143.47, Y:15.09, Z:-0.52 [[ 9.99999525e-01 7.40565698e-04 6.32922150e-04 1.43465385e+02] [-7.39617092e-04 9.99998605e-01 -1.49769340e-03 1.50898489e+01] [-6.34030408e-04 1.49722457e-03 9.99998678e-01 -5.19461669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79140051299999 meters 0.10212075432731013 Centerline is valid? [False, False] Translation: X:143.51, Y:15.10, Z:-0.52 [[ 9.99993663e-01 2.57609069e-03 2.45716386e-03 1.43506097e+02] [-2.57378166e-03 9.99996244e-01 -9.42413095e-04 1.50961472e+01] [-2.45958237e-03 9.36082920e-04 9.99996537e-01 -5.19022065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821400513 meters 0.10409381530926018 Centerline is valid? [False, False] Translation: X:143.49, Y:15.09, Z:-0.52 [[ 9.99996225e-01 1.21451243e-03 -2.46484720e-03 1.43486795e+02] [-1.19282286e-03 9.99960726e-01 8.78203523e-03 1.50897382e+01] [ 2.47541629e-03 -8.77906195e-03 9.99958399e-01 -5.15767708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851400513 meters 0.10564598923837941 Centerline is valid? [False, False] Translation: X:143.51, Y:15.10, Z:-0.52 [[ 9.99993985e-01 2.16649853e-03 2.70866643e-03 1.43506694e+02] [-2.16204223e-03 9.99996306e-01 -1.64704964e-03 1.51007166e+01] [-2.71222476e-03 1.64118348e-03 9.99994975e-01 -5.20104410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881400513 meters 0.09540761069220112 Centerline is valid? [False, True] Translation: X:143.53, Y:15.10, Z:-0.52 [[ 9.99996584e-01 -2.29596252e-03 1.24909924e-03 1.43527375e+02] [ 2.29132780e-03 9.99990532e-01 3.69931259e-03 1.51026095e+01] [-1.25758090e-03 -3.69643785e-03 9.99992377e-01 -5.16576843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911400513 meters 0.09060006618061002 Centerline is valid? [True, True] Translation: X:143.56, Y:15.11, Z:-0.51 [[ 9.99989649e-01 -4.08145577e-03 2.01066744e-03 1.43557532e+02] [ 4.08107850e-03 9.99991654e-01 1.91701751e-04 1.51057087e+01] [-2.01143308e-03 -1.83494075e-04 9.99997960e-01 -5.14671441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941400513 meters 0.09162665270473998 Centerline is valid? [True, True] Translation: X:143.59, Y:15.11, Z:-0.51 [[ 9.99979094e-01 -5.73854334e-03 2.97996601e-03 1.43586916e+02] [ 5.73772214e-03 9.99983499e-01 2.84050073e-04 1.51124600e+01] [-2.98154687e-03 -2.66945917e-04 9.99995520e-01 -5.13823306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971400513 meters 0.09482882709218683 Centerline is valid? [True, True] Translation: X:143.62, Y:15.12, Z:-0.51 [[ 9.99964326e-01 -7.32828138e-03 4.20029130e-03 1.43615805e+02] [ 7.32666359e-03 9.99973079e-01 4.00418781e-04 1.51210357e+01] [-4.20311261e-03 -3.69630376e-04 9.99991099e-01 -5.13587093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001400513 meters 0.09553272426527495 Centerline is valid? [True, True] Translation: X:143.65, Y:15.13, Z:-0.51 [[ 9.99944477e-01 -9.17568147e-03 5.18160566e-03 1.43645290e+02] [ 9.17324427e-03 9.99957803e-01 4.93926972e-04 1.51253593e+01] [-5.18591913e-03 -4.46367414e-04 9.99986453e-01 -5.13087090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031400513 meters 0.08622437678361235 Centerline is valid? [True, True] Translation: X:143.68, Y:15.12, Z:-0.51 [[ 9.99887908e-01 -1.30416981e-02 7.35430204e-03 1.43676407e+02] [ 1.30368916e-02 9.99914770e-01 7.01138082e-04 1.51168913e+01] [-7.36281926e-03 -6.05182252e-04 9.99972711e-01 -5.09789814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061400513 meters 0.09047168077116911 Centerline is valid? [True, True] Translation: X:143.71, Y:15.12, Z:-0.51 [[ 9.99862885e-01 -1.47938020e-02 7.44012591e-03 1.43705296e+02] [ 1.47889303e-02 9.99890386e-01 7.09371482e-04 1.51245840e+01] [-7.44980467e-03 -5.99242713e-04 9.99972070e-01 -5.10026295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091400513 meters 0.08730907224623849 Centerline is valid? [True, True] Translation: X:143.74, Y:15.12, Z:-0.51 [[ 9.99844225e-01 -1.64848626e-02 6.30681450e-03 1.43736738e+02] [ 1.64813946e-02 9.99863992e-01 6.01456414e-04 1.51224399e+01] [-6.31587165e-03 -4.97417624e-04 9.99979931e-01 -5.12057250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121400513 meters 0.07335215854402602 Centerline is valid? [True, True] Translation: X:143.77, Y:15.10, Z:-0.51 [[ 9.99785746e-01 -2.02307203e-02 4.37961397e-03 1.43769617e+02] [ 2.02290838e-02 9.99795284e-01 4.17649385e-04 1.51028105e+01] [-4.38716674e-03 -3.28964324e-04 9.99990322e-01 -5.14748810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151400513 meters 0.07308802819142966 Centerline is valid? [True, True] Translation: X:143.80, Y:15.10, Z:-0.51 [[ 9.99757230e-01 -2.14086144e-02 5.21071373e-03 1.43801471e+02] [ 2.14063135e-02 9.99770735e-01 4.96949465e-04 1.51026977e+01] [-5.22015809e-03 -3.85286650e-04 9.99986301e-01 -5.14024212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181400513 meters 0.08334922582334421 Centerline is valid? [True, True] Translation: X:143.83, Y:15.12, Z:-0.51 [[ 9.99742140e-01 -2.15674298e-02 7.10624347e-03 1.43832043e+02] [ 2.15631568e-02 9.99767259e-01 6.77380470e-04 1.51162918e+01] [-7.11919891e-03 -5.23972759e-04 9.99974521e-01 -5.12127981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211400513 meters 0.07718322735967992 Centerline is valid? [True, True] Translation: X:143.86, Y:15.11, Z:-0.51 [[ 9.99744875e-01 -2.09338699e-02 8.48279527e-03 1.43864869e+02] [ 2.09277625e-02 9.99780664e-01 8.08104571e-04 1.51103081e+01] [-8.49785144e-03 -6.30372479e-04 9.99963694e-01 -5.09879418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24140051299997 meters 0.08314641368317899 Centerline is valid? [True, True] Translation: X:143.89, Y:15.12, Z:-0.51 [[ 9.99826285e-01 -1.74946511e-02 6.42939362e-03 1.43894719e+02] [ 1.74910741e-02 9.99846832e-01 6.12166292e-04 1.51172373e+01] [-6.43911848e-03 -4.99602950e-04 9.99979144e-01 -5.13584968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27140051299997 meters 0.09799820452394765 Centerline is valid? [True, True] Translation: X:143.92, Y:15.14, Z:-0.52 [[ 9.99873950e-01 -1.52118088e-02 4.54809648e-03 1.43922048e+02] [ 1.52099962e-02 9.99884228e-01 4.32868135e-04 1.51359499e+01] [-4.55415465e-03 -3.63637042e-04 9.99989564e-01 -5.17611944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30140051299998 meters 0.08014169543891636 Centerline is valid? [True, True] Translation: X:143.96, Y:15.12, Z:-0.52 [[ 9.99905513e-01 -1.33930423e-02 3.09711351e-03 1.43955071e+02] [ 1.33921926e-02 9.99910277e-01 2.94937215e-04 1.51150127e+01] [-3.10078574e-03 -2.53432206e-04 9.99995160e-01 -5.18244721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33140051299998 meters 0.08477125783964205 Centerline is valid? [True, True] Translation: X:143.98, Y:15.12, Z:-0.52 [[ 9.99921519e-01 -1.22848006e-02 2.45766383e-03 1.43984447e+02] [ 1.22842623e-02 9.99924518e-01 2.34014957e-04 1.51219015e+01] [-2.46035315e-03 -2.03806004e-04 9.99996953e-01 -5.19498379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36140051299998 meters 0.0832234231430208 Centerline is valid? [True, True] Translation: X:144.02, Y:15.12, Z:-0.52 [[ 9.99915097e-01 -1.24800576e-02 3.74784281e-03 1.44016642e+02] [ 1.24788063e-02 9.99922073e-01 3.57083146e-04 1.51201996e+01] [-3.75200717e-03 -3.10284224e-04 9.99992913e-01 -5.17739054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39140051299998 meters 0.08221607663276513 Centerline is valid? [True, True] Translation: X:144.05, Y:15.12, Z:-0.52 [[ 9.99896171e-01 -1.36614485e-02 4.58382654e-03 1.44048403e+02] [ 1.36595900e-02 9.99906608e-01 4.36493971e-04 1.51199111e+01] [-4.58936158e-03 -3.73835459e-04 9.99989399e-01 -5.16645552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42140051299998 meters 0.08327479691104667 Centerline is valid? [True, True] Translation: X:144.08, Y:15.12, Z:-0.52 [[ 9.99870235e-01 -1.51041400e-02 5.60153152e-03 1.44078546e+02] [ 1.51013896e-02 9.99885825e-01 5.32984497e-04 1.51217227e+01] [-5.60894224e-03 -4.48324425e-04 9.99984169e-01 -5.15729385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45140051299998 meters 0.07594922275558932 Centerline is valid? [True, True] Translation: X:144.11, Y:15.11, Z:-0.51 [[ 9.99835199e-01 -1.68403784e-02 6.78059717e-03 1.44110329e+02] [ 1.68363877e-02 9.99858050e-01 6.45211189e-04 1.51137417e+01] [-6.79050026e-03 -5.30944094e-04 9.99976803e-01 -5.14040835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48140051299998 meters 0.07570228914642776 Centerline is valid? [True, True] Translation: X:144.14, Y:15.11, Z:-0.51 [[ 9.99760948e-01 -2.03285761e-02 8.04961405e-03 1.44140323e+02] [ 2.03230653e-02 9.99793172e-01 7.65822464e-04 1.51134701e+01] [-8.06351725e-03 -6.02046561e-04 9.99967308e-01 -5.12613860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51140051299998 meters 0.07852772376079745 Centerline is valid? [True, True] Translation: X:144.17, Y:15.12, Z:-0.51 [[ 9.99738540e-01 -2.16326878e-02 7.40804634e-03 1.44170159e+02] [ 2.16280558e-02 9.99765838e-01 7.04825526e-04 1.51183805e+01] [-7.42155893e-03 -5.44419602e-04 9.99972312e-01 -5.13684159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54140051299999 meters 0.07364945537064471 Centerline is valid? [True, True] Translation: X:144.20, Y:15.11, Z:-0.51 [[ 9.99732648e-01 -2.21648507e-02 6.58425654e-03 1.44203057e+02] [ 2.21612027e-02 9.99754214e-01 6.26506153e-04 1.51139537e+01] [-6.59652464e-03 -4.80423611e-04 9.99978127e-01 -5.14496372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571400513 meters 0.0786144919148769 Centerline is valid? [True, True] Translation: X:144.23, Y:15.12, Z:-0.52 [[ 9.99737280e-01 -2.22055805e-02 5.68182059e-03 1.44233666e+02] [ 2.22028660e-02 9.99753340e-01 5.40385967e-04 1.51216176e+01] [-5.69241870e-03 -4.14091295e-04 9.99983712e-01 -5.16082591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601400513 meters 0.07462102873444057 Centerline is valid? [True, True] Translation: X:144.27, Y:15.12, Z:-0.52 [[ 9.99754333e-01 -2.17573426e-02 4.22989047e-03 1.44265841e+02] [ 2.17558344e-02 9.99763233e-01 4.02238007e-04 1.51176182e+01] [-4.23764060e-03 -3.10114393e-04 9.99990973e-01 -5.18164990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631400513 meters 0.08139941597970327 Centerline is valid? [True, True] Translation: X:144.30, Y:15.13, Z:-0.52 [[ 9.99760435e-01 -2.14019252e-02 4.58596800e-03 1.44296250e+02] [ 2.14001496e-02 9.99770896e-01 4.35909195e-04 1.51274554e+01] [-4.59424663e-03 -3.37664365e-04 9.99989389e-01 -5.18621279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661400513 meters 0.07364495061501687 Centerline is valid? [True, True] Translation: X:144.33, Y:15.12, Z:-0.52 [[ 9.99759345e-01 -2.12411797e-02 5.48302443e-03 1.44328897e+02] [ 2.12386402e-02 9.99774299e-01 5.20974575e-04 1.51197622e+01] [-5.49285302e-03 -4.04397217e-04 9.99984832e-01 -5.16911818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691400513 meters 0.07521889398229828 Centerline is valid? [True, True] Translation: X:144.36, Y:15.12, Z:-0.52 [[ 9.99754865e-01 -2.13168212e-02 5.98353998e-03 1.44360041e+02] [ 2.13138005e-02 9.99772674e-01 5.68160090e-04 1.51233192e+01] [-5.99429114e-03 -4.40488837e-04 9.99981937e-01 -5.16530983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721400513 meters 0.0792989383979607 Centerline is valid? [True, True] Translation: X:144.39, Y:15.13, Z:-0.52 [[ 9.99727543e-01 -2.27141884e-02 5.37629970e-03 1.44390161e+02] [ 2.27117709e-02 9.99741924e-01 5.10292869e-04 1.51290597e+01] [-5.38650310e-03 -3.88048549e-04 9.99985417e-01 -5.17373678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751400513 meters 0.07551801009315091 Centerline is valid? [True, True] Translation: X:144.42, Y:15.13, Z:-0.52 [[ 9.99708376e-01 -2.37031890e-02 4.61764641e-03 1.44422383e+02] [ 2.37014162e-02 9.99718986e-01 4.38274575e-04 1.51268491e+01] [-4.62673729e-03 -3.28702004e-04 9.99989243e-01 -5.18438674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781400513 meters 0.07217102753607198 Centerline is valid? [True, True] Translation: X:144.45, Y:15.13, Z:-0.52 [[ 9.99687187e-01 -2.47311271e-02 3.72820323e-03 1.44454207e+02] [ 2.47299791e-02 9.99694105e-01 3.53724633e-04 1.51251954e+01] [-3.73581080e-03 -2.61415595e-04 9.99992988e-01 -5.19967937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811400513 meters 0.07180870568184547 Centerline is valid? [True, True] Translation: X:144.49, Y:15.13, Z:-0.52 [[ 9.99662996e-01 -2.57321718e-02 3.42786686e-03 1.44485804e+02] [ 2.57312072e-02 9.99668845e-01 3.25208608e-04 1.51270130e+01] [-3.43510002e-03 -2.36895860e-04 9.99994072e-01 -5.21737621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841400513 meters 0.07221332697933404 Centerline is valid? [True, True] Translation: X:144.52, Y:15.12, Z:-0.53 [[ 9.99598399e-01 -2.83084809e-02 1.29282273e-03 1.44515617e+02] [ 2.83083460e-02 9.99599231e-01 1.22504925e-04 1.51249444e+01] [-1.29577253e-03 -8.58580537e-05 9.99999157e-01 -5.26373883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871400513 meters 0.06758625313697106 Centerline is valid? [True, True] Translation: X:144.55, Y:15.12, Z:-0.53 [[ 9.99562444e-01 -2.95669179e-02 8.47315678e-04 1.44546342e+02] [ 2.95668605e-02 9.99562802e-01 8.02105318e-05 1.51191051e+01] [-8.49316811e-04 -5.51229708e-05 9.99999638e-01 -5.26885617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901400513 meters 0.06590828235442274 Centerline is valid? [True, True] Translation: X:144.58, Y:15.12, Z:-0.53 [[ 9.99530342e-01 -3.06023121e-02 1.61073526e-03 1.44576050e+02] [ 3.06021059e-02 9.99531634e-01 1.52503358e-04 1.51179331e+01] [-1.61464780e-03 -1.03139842e-04 9.99998691e-01 -5.25832529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931400513 meters 0.07224906605162014 Centerline is valid? [True, True] Translation: X:144.60, Y:15.13, Z:-0.52 [[ 9.99473232e-01 -3.21683166e-02 4.29617892e-03 1.44604762e+02] [ 3.21668619e-02 9.99482430e-01 4.07293140e-04 1.51255914e+01] [-4.30705728e-03 -2.68883997e-04 9.99990688e-01 -5.22878503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961400513 meters 0.06345484218045742 Centerline is valid? [True, True] Translation: X:144.64, Y:15.12, Z:-0.52 [[ 9.99451813e-01 -3.27876967e-02 4.58699515e-03 1.44637084e+02] [ 3.27860435e-02 9.99462298e-01 4.35164775e-04 1.51156523e+01] [-4.59879677e-03 -2.84536801e-04 9.99989385e-01 -5.21709663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99140051299997 meters 0.06211312094965189 Centerline is valid? [True, True] Translation: X:144.67, Y:15.11, Z:-0.52 [[ 9.99454302e-01 -3.27794486e-02 4.07507773e-03 1.44668169e+02] [ 3.27781440e-02 9.99462578e-01 3.86531535e-04 1.51145586e+01] [-4.08555798e-03 -2.52747121e-04 9.99991622e-01 -5.22818252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02140051299997 meters 0.07025594856371815 Centerline is valid? [True, True] Translation: X:144.70, Y:15.13, Z:-0.53 [[ 9.99476100e-01 -3.22299290e-02 2.95924882e-03 1.44697043e+02] [ 3.22292391e-02 9.99480464e-01 2.80520091e-04 1.51254056e+01] [-2.96675252e-03 -1.84998788e-04 9.99995582e-01 -5.26194917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05140051299998 meters 0.06795009742507503 Centerline is valid? [True, True] Translation: X:144.73, Y:15.12, Z:-0.53 [[ 9.99533077e-01 -3.04757161e-02 2.20421988e-03 1.44727719e+02] [ 3.04753292e-02 9.99535497e-01 2.08947608e-04 1.51249610e+01] [-2.20956385e-03 -1.41675719e-04 9.99997549e-01 -5.27135161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08140051299998 meters 0.07252428492048586 Centerline is valid? [True, True] Translation: X:144.76, Y:15.13, Z:-0.53 [[ 9.99549399e-01 -2.98095921e-02 3.51948812e-03 1.44756196e+02] [ 2.98086015e-02 9.99555569e-01 3.33590837e-04 1.51338956e+01] [-3.52786815e-03 -2.28529501e-04 9.99993751e-01 -5.25327758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11140051299998 meters 0.07090140604972105 Centerline is valid? [True, True] Translation: X:144.79, Y:15.14, Z:-0.52 [[ 9.99554564e-01 -2.93795226e-02 5.24566026e-03 1.44787663e+02] [ 2.93773151e-02 9.99568270e-01 4.97397775e-04 1.51351573e+01] [-5.25800886e-03 -3.43072801e-04 9.99986118e-01 -5.22112472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14140051299998 meters 0.07316755275847056 Centerline is valid? [True, True] Translation: X:144.82, Y:15.14, Z:-0.52 [[ 9.99550118e-01 -2.92803003e-02 6.49811837e-03 1.44818115e+02] [ 2.92769118e-02 9.99571150e-01 6.15996277e-04 1.51399367e+01] [-6.51336820e-03 -4.25474313e-04 9.99978697e-01 -5.20317961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17140051299998 meters 0.07087463500298723 Centerline is valid? [True, True] Translation: X:144.85, Y:15.14, Z:-0.52 [[ 9.99536911e-01 -2.97366106e-02 6.45728703e-03 1.44849662e+02] [ 2.97332756e-02 9.99557681e-01 6.11867660e-04 1.51382084e+01] [-6.47262572e-03 -4.19588016e-04 9.99978964e-01 -5.20630648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20140051299998 meters 0.06993512874474869 Centerline is valid? [True, True] Translation: X:144.88, Y:15.14, Z:-0.52 [[ 9.99480204e-01 -3.18655423e-02 4.88958913e-03 1.44879438e+02] [ 3.18636566e-02 9.99492117e-01 4.63088221e-04 1.51361984e+01] [-4.90186235e-03 -3.07047321e-04 9.99987939e-01 -5.23593677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23140051299998 meters 0.06335210524696355 Centerline is valid? [True, True] Translation: X:144.91, Y:15.13, Z:-0.52 [[ 9.99437144e-01 -3.32505426e-02 4.44943002e-03 1.44910995e+02] [ 3.32489942e-02 9.99447010e-01 4.21524862e-04 1.51298530e+01] [-4.46098546e-03 -2.73348531e-04 9.99990012e-01 -5.23970821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26140051299998 meters 0.06805329174342806 Centerline is valid? [True, True] Translation: X:144.94, Y:15.14, Z:-0.52 [[ 9.99379559e-01 -3.48316932e-02 5.22010970e-03 1.44939811e+02] [ 3.48295841e-02 9.99393144e-01 4.94436682e-04 1.51365200e+01] [-5.23416391e-03 -3.12315663e-04 9.99986253e-01 -5.24258185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29140051299999 meters 0.06075137663051226 Centerline is valid? [True, True] Translation: X:144.97, Y:15.13, Z:-0.52 [[ 9.99303560e-01 -3.67042468e-02 6.72256363e-03 1.44971067e+02] [ 3.67007900e-02 9.99326096e-01 6.36895061e-04 1.51279527e+01] [-6.74141002e-03 -3.89728106e-04 9.99977200e-01 -5.21425979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321400513 meters 0.05959888457755879 Centerline is valid? [True, True] Translation: X:145.00, Y:15.12, Z:-0.52 [[ 9.99170917e-01 -3.94002426e-02 1.02517997e-02 1.45001523e+02] [ 3.93923447e-02 9.99223348e-01 9.71255122e-04 1.51239616e+01] [-1.02821054e-02 -5.66607441e-04 9.99946977e-01 -5.15633740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351400513 meters 0.05711279827544562 Centerline is valid? [True, True] Translation: X:145.03, Y:15.12, Z:-0.52 [[ 9.99147649e-01 -3.99314182e-02 1.04621635e-02 1.45034563e+02] [ 3.99232218e-02 9.99202259e-01 9.91195869e-04 1.51222035e+01] [-1.04933972e-02 -5.72667750e-04 9.99944779e-01 -5.15541475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381400513 meters 0.05935300339022602 Centerline is valid? [True, True] Translation: X:145.07, Y:15.12, Z:-0.52 [[ 9.99182586e-01 -3.93945702e-02 9.06795963e-03 1.45066211e+02] [ 3.93883957e-02 9.99223607e-01 8.58573062e-04 1.51235510e+01] [-9.09474245e-03 -5.00698870e-04 9.99958517e-01 -5.18491210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411400513 meters 0.05935300339022602 Centerline is valid? [True, True] Translation: X:145.10, Y:15.13, Z:-0.52 [[ 9.99184406e-01 -3.93483649e-02 9.06798826e-03 1.45097792e+02] [ 3.93421912e-02 9.99225428e-01 8.58270575e-04 1.51264596e+01] [-9.09473599e-03 -5.00816047e-04 9.99958517e-01 -5.18812663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441400513 meters 0.06343555737950193 Centerline is valid? [True, True] Translation: X:145.13, Y:15.13, Z:-0.52 [[ 9.99229504e-01 -3.86493068e-02 6.82854542e-03 1.45127738e+02] [ 3.86457903e-02 9.99252763e-01 6.46221079e-04 1.51344016e+01] [-6.84841887e-03 -3.81828635e-04 9.99976476e-01 -5.22808459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471400513 meters 0.05811210957171233 Centerline is valid? [True, True] Translation: X:145.16, Y:15.12, Z:-0.53 [[ 9.99327344e-01 -3.64806022e-02 3.74494841e-03 1.45160099e+02] [ 3.64795307e-02 9.99334338e-01 3.54033841e-04 1.51222287e+01] [-3.75537091e-03 -2.17181738e-04 9.99992925e-01 -5.27480942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501400513 meters 0.06438013291517153 Centerline is valid? [True, True] Translation: X:145.19, Y:15.13, Z:-0.53 [[ 9.99382053e-01 -3.49420245e-02 3.81656701e-03 1.45189190e+02] [ 3.49409013e-02 9.99389315e-01 3.60590662e-04 1.51279847e+01] [-3.82683606e-03 -2.27013545e-04 9.99992652e-01 -5.28046358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531400513 meters 0.07037805340906557 Centerline is valid? [True, True] Translation: X:145.22, Y:15.13, Z:-0.53 [[ 9.99436447e-01 -3.32144462e-02 4.85686416e-03 1.45218408e+02] [ 3.32126064e-02 9.99448204e-01 4.58995596e-04 1.51339494e+01] [-4.86942944e-03 -2.97427810e-04 9.99988100e-01 -5.27068682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561400513 meters 0.06615894178703646 Centerline is valid? [True, True] Translation: X:145.25, Y:15.12, Z:-0.52 [[ 9.99549056e-01 -2.92819597e-02 6.65218069e-03 1.45249848e+02] [ 2.92784207e-02 9.99571097e-01 6.28782571e-04 1.51224645e+01] [-6.66773954e-03 -4.33733680e-04 9.99977676e-01 -5.23337419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591400513 meters 0.07084709471304171 Centerline is valid? [True, True] Translation: X:145.28, Y:15.13, Z:-0.53 [[ 9.99594549e-01 -2.78639711e-02 5.85975351e-03 1.45279958e+02] [ 2.78612001e-02 9.99611648e-01 5.54015509e-04 1.51251215e+01] [-5.87291494e-03 -3.90531118e-04 9.99982678e-01 -5.25097036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621400513 meters 0.0736103369079985 Centerline is valid? [True, True] Translation: X:145.31, Y:15.12, Z:-0.53 [[ 9.99625128e-01 -2.69830290e-02 4.63896339e-03 1.45309935e+02] [ 2.69812833e-02 9.99635843e-01 4.38503497e-04 1.51249951e+01] [-4.64910623e-03 -3.13173928e-04 9.99989144e-01 -5.27699512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651400513 meters 0.0707003092120732 Centerline is valid? [True, True] Translation: X:145.34, Y:15.12, Z:-0.53 [[ 9.99637633e-01 -2.66932371e-02 3.47485554e-03 1.45341278e+02] [ 2.66922559e-02 9.99643644e-01 3.28464826e-04 1.51185892e+01] [-3.48238504e-03 -2.35594068e-04 9.99993909e-01 -5.29950558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681400513 meters 0.06801629852255901 Centerline is valid? [True, True] Translation: X:145.37, Y:15.11, Z:-0.53 [[ 9.99660979e-01 -2.58131740e-02 3.40696595e-03 1.45373108e+02] [ 2.58122257e-02 9.99666757e-01 3.22047482e-04 1.51066401e+01] [-3.41414367e-03 -2.33996927e-04 9.99994144e-01 -5.30186577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711400513 meters 0.07310577009063736 Centerline is valid? [True, True] Translation: X:145.40, Y:15.11, Z:-0.53 [[ 9.99684533e-01 -2.47243916e-02 4.42034595e-03 1.45402793e+02] [ 2.47227849e-02 9.99694258e-01 4.17772599e-04 1.51092595e+01] [-4.42932364e-03 -3.08357543e-04 9.99990143e-01 -5.29147533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74140051299997 meters 0.07109674524256725 Centerline is valid? [True, True] Translation: X:145.43, Y:15.10, Z:-0.53 [[ 9.99713540e-01 -2.32166036e-02 5.81615222e-03 1.45434137e+02] [ 2.32137956e-02 9.99730372e-01 5.49846194e-04 1.51037424e+01] [-5.82734958e-03 -4.14673717e-04 9.99982935e-01 -5.27115734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77140051299997 meters 0.0712108751086094 Centerline is valid? [True, True] Translation: X:145.47, Y:15.10, Z:-0.53 [[ 9.99789221e-01 -1.96836727e-02 5.83661741e-03 1.45465491e+02] [ 1.96807849e-02 9.99806162e-01 5.51812173e-04 1.50983604e+01] [-5.84634774e-03 -4.36826651e-04 9.99982815e-01 -5.26750327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80140051299998 meters 0.08291317854626684 Centerline is valid? [True, True] Translation: X:145.49, Y:15.11, Z:-0.53 [[ 9.99831432e-01 -1.77727788e-02 4.60820644e-03 1.45494202e+02] [ 1.77709589e-02 9.99841989e-01 4.35574525e-04 1.51125504e+01] [-4.61521966e-03 -3.53608854e-04 9.99989287e-01 -5.30806944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83140051299998 meters 0.08030025977917657 Centerline is valid? [True, True] Translation: X:145.53, Y:15.11, Z:-0.53 [[ 9.99858747e-01 -1.64661631e-02 3.36921841e-03 1.45525555e+02] [ 1.64651824e-02 9.99864389e-01 3.18594406e-04 1.51101347e+01] [-3.37400753e-03 -2.63074608e-04 9.99994273e-01 -5.32840651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86140051299998 meters 0.08222234639158714 Centerline is valid? [True, True] Translation: X:145.56, Y:15.11, Z:-0.53 [[ 9.99884663e-01 -1.48159125e-02 3.33893613e-03 1.45556176e+02] [ 1.48149407e-02 9.99890203e-01 3.15618858e-04 1.51117900e+01] [-3.34324571e-03 -2.66116314e-04 9.99994376e-01 -5.34109110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89140051299998 meters 0.07817073699970281 Centerline is valid? [True, True] Translation: X:145.59, Y:15.11, Z:-0.53 [[ 9.99907814e-01 -1.30658897e-02 3.69400303e-03 1.45587935e+02] [ 1.30646882e-02 9.99914592e-01 3.49216635e-04 1.51051049e+01] [-3.69825036e-03 -3.00923444e-04 9.99993116e-01 -5.33322925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92140051299998 meters 0.0871092005010559 Centerline is valid? [True, True] Translation: X:145.62, Y:15.11, Z:-0.53 [[ 9.99934522e-01 -1.02538509e-02 5.08042008e-03 1.45617758e+02] [ 1.02515423e-02 9.99947336e-01 4.80235430e-04 1.51110719e+01] [-5.08507679e-03 -4.28121844e-04 9.99986979e-01 -5.31116305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95140051299998 meters 0.08013082715973813 Centerline is valid? [True, True] Translation: X:145.65, Y:15.10, Z:-0.53 [[ 9.99941899e-01 -9.19661207e-03 5.62328556e-03 1.45649339e+02] [ 9.19376724e-03 9.99957595e-01 5.31541735e-04 1.51042311e+01] [-5.62793549e-03 -4.79811673e-04 9.99984048e-01 -5.30098735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98140051299998 meters 0.08922362285558041 Centerline is valid? [True, True] Translation: X:145.68, Y:15.11, Z:-0.53 [[ 9.99947548e-01 -8.22238100e-03 6.10686857e-03 1.45678422e+02] [ 8.21900719e-03 9.99966057e-01 5.77354038e-04 1.51147543e+01] [-6.11140850e-03 -5.27131358e-04 9.99981186e-01 -5.31303886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01140051299998 meters 0.09173993162043247 Centerline is valid? [True, True] Translation: X:145.71, Y:15.12, Z:-0.53 [[ 9.99940195e-01 -8.53667056e-03 6.83612727e-03 1.45709001e+02] [ 8.53245265e-03 9.99963389e-01 6.45931696e-04 1.51222311e+01] [-6.84139110e-03 -5.87564133e-04 9.99976425e-01 -5.30795855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04140051299999 meters 0.08681207204594633 Centerline is valid? [True, True] Translation: X:145.74, Y:15.12, Z:-0.53 [[ 9.99931891e-01 -8.74341681e-03 7.73082917e-03 1.45741578e+02] [ 8.73803540e-03 9.99961556e-01 7.29601019e-04 1.51162073e+01] [-7.73691118e-03 -6.61999068e-04 9.99969851e-01 -5.30211427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071400513 meters 0.08570274641501957 Centerline is valid? [True, True] Translation: X:145.77, Y:15.11, Z:-0.53 [[ 9.99914700e-01 -1.05541313e-02 7.69432571e-03 1.45772330e+02] [ 1.05488571e-02 9.99944096e-01 7.25723971e-04 1.51135155e+01] [-7.70155495e-03 -6.44495724e-04 9.99970135e-01 -5.31117420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101400513 meters 0.0851437917801746 Centerline is valid? [True, True] Translation: X:145.80, Y:15.12, Z:-0.53 [[ 9.99920617e-01 -1.07078373e-02 6.64085869e-03 1.45804247e+02] [ 1.07039112e-02 9.99942515e-01 6.26460792e-04 1.51158904e+01] [-6.64718498e-03 -5.55327900e-04 9.99977753e-01 -5.32610270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131400513 meters 0.08670708134192116 Centerline is valid? [True, True] Translation: X:145.83, Y:15.12, Z:-0.53 [[ 9.99933665e-01 -1.01608346e-02 5.42429119e-03 1.45834497e+02] [ 1.01582073e-02 9.99948273e-01 5.11691617e-04 1.51213243e+01] [-5.42920983e-03 -4.56556600e-04 9.99985158e-01 -5.34824538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161400513 meters 0.08782996067134889 Centerline is valid? [True, True] Translation: X:145.86, Y:15.13, Z:-0.54 [[ 9.99962889e-01 -7.80475446e-03 3.64771652e-03 1.45864180e+02] [ 7.80355290e-03 9.99969493e-01 3.43515048e-04 1.51265834e+01] [-3.65028629e-03 -3.15037151e-04 9.99993288e-01 -5.36873702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191400513 meters 0.09041194658767417 Centerline is valid? [True, True] Translation: X:145.89, Y:15.13, Z:-0.54 [[ 9.99970925e-01 -6.40496139e-03 4.13824817e-03 1.45893224e+02] [ 6.40340260e-03 9.99979422e-01 3.89817189e-04 1.51339691e+01] [-4.14065977e-03 -3.63306986e-04 9.99991361e-01 -5.36290140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221400513 meters 0.08754732324543267 Centerline is valid? [True, True] Translation: X:145.92, Y:15.14, Z:-0.54 [[ 9.99974405e-01 -5.12256813e-03 4.99491098e-03 1.45923816e+02] [ 5.12028101e-03 9.99986781e-01 4.70571010e-04 1.51356904e+01] [-4.99725548e-03 -4.44983618e-04 9.99987415e-01 -5.35000807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251400513 meters 0.09491044382088581 Centerline is valid? [True, True] Translation: X:145.95, Y:15.15, Z:-0.54 [[ 9.99977313e-01 -4.31539893e-03 5.17202424e-03 1.45953796e+02] [ 4.31293578e-03 9.99990581e-01 4.87304518e-04 1.51487736e+01] [-5.17407843e-03 -4.64986854e-04 9.99986506e-01 -5.36054670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281400513 meters 0.08776769628800399 Centerline is valid? [True, True] Translation: X:145.98, Y:15.15, Z:-0.54 [[ 9.99969034e-01 -6.22693713e-03 4.81208768e-03 1.45984260e+02] [ 6.22482831e-03 9.99980523e-01 4.53088102e-04 1.51465638e+01] [-4.81481530e-03 -4.23119653e-04 9.99988319e-01 -5.36269982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311400513 meters 0.09134840496269238 Centerline is valid? [True, True] Translation: X:146.01, Y:15.15, Z:-0.54 [[ 9.99954983e-01 -8.47793251e-03 4.26099840e-03 1.46013676e+02] [ 8.47629941e-03 9.99963995e-01 4.01179674e-04 1.51540331e+01] [-4.26424616e-03 -3.65044116e-04 9.99990841e-01 -5.37873160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341400513 meters 0.08614139015303446 Centerline is valid? [True, True] Translation: X:146.05, Y:15.15, Z:-0.54 [[ 9.99928891e-01 -1.12645624e-02 3.91450390e-03 1.46045032e+02] [ 1.12632050e-02 9.99936500e-01 3.68619500e-04 1.51519369e+01] [-3.91840767e-03 -3.24503428e-04 9.99992270e-01 -5.38721967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371400513 meters 0.0748476878867026 Centerline is valid? [True, True] Translation: X:146.08, Y:15.14, Z:-0.54 [[ 9.99843944e-01 -1.74357383e-02 2.84305665e-03 1.46076568e+02] [ 1.74350472e-02 9.99847962e-01 2.67697692e-04 1.51441445e+01] [-2.84729190e-03 -2.18087089e-04 9.99995923e-01 -5.41187311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401400513 meters 0.07343803956938659 Centerline is valid? [True, True] Translation: X:146.11, Y:15.15, Z:-0.54 [[ 9.99794171e-01 -2.00803785e-02 2.89723992e-03 1.46107301e+02] [ 2.00796720e-02 9.99798346e-01 2.72715117e-04 1.51453037e+01] [-2.90213191e-03 -2.14483356e-04 9.99995766e-01 -5.41944513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431400513 meters 0.07209008676618507 Centerline is valid? [True, True] Translation: X:146.14, Y:15.15, Z:-0.54 [[ 9.99739197e-01 -2.25570420e-02 3.56609731e-03 1.46138155e+02] [ 2.25559873e-02 9.99745525e-01 3.35686354e-04 1.51452006e+01] [-3.57276192e-03 -2.55161961e-04 9.99993585e-01 -5.41074518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461400513 meters 0.08106350174379916 Centerline is valid? [True, True] Translation: X:146.17, Y:15.16, Z:-0.54 [[ 9.99679921e-01 -2.48262580e-02 4.86949695e-03 1.46167001e+02] [ 2.48243186e-02 9.99691724e-01 4.58333860e-04 1.51575808e+01] [-4.87937452e-03 -3.37305214e-04 9.99988039e-01 -5.40644362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49140051299997 meters 0.06953705656639181 Centerline is valid? [True, True] Translation: X:146.20, Y:15.15, Z:-0.54 [[ 9.99626284e-01 -2.67051106e-02 5.84206588e-03 1.46198417e+02] [ 2.67023505e-02 9.99643277e-01 5.49958735e-04 1.51458967e+01] [-5.85466859e-03 -3.93756315e-04 9.99982784e-01 -5.38443289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52140051299997 meters 0.06324969310281466 Centerline is valid? [True, True] Translation: X:146.23, Y:15.14, Z:-0.54 [[ 9.99576238e-01 -2.85242853e-02 5.80595991e-03 1.46229548e+02] [ 2.85215886e-02 9.99593027e-01 5.46750429e-04 1.51410414e+01] [-5.81919271e-03 -3.80923537e-04 9.99982996e-01 -5.38290677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55140051299998 meters 0.06782071528368736 Centerline is valid? [True, True] Translation: X:146.26, Y:15.15, Z:-0.54 [[ 9.99573052e-01 -2.86426893e-02 5.77143653e-03 1.46258416e+02] [ 2.86400269e-02 9.99589643e-01 5.43449291e-04 1.51481976e+01] [-5.78463403e-03 -3.77923169e-04 9.99983197e-01 -5.39325308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58140051299998 meters 0.06451232842363402 Centerline is valid? [True, True] Translation: X:146.29, Y:15.14, Z:-0.54 [[ 9.99592591e-01 -2.79468197e-02 5.79882219e-03 1.46289781e+02] [ 2.79441196e-02 9.99609338e-01 5.46145475e-04 1.51422374e+01] [-5.81181984e-03 -3.83879990e-04 9.99983038e-01 -5.39667449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61140051299998 meters 0.06848449843384546 Centerline is valid? [True, True] Translation: X:146.32, Y:15.15, Z:-0.54 [[ 9.99575362e-01 -2.82612941e-02 7.09898857e-03 1.46318356e+02] [ 2.82572556e-02 9.99600460e-01 6.68562921e-04 1.51503873e+01] [-7.11504669e-03 -4.67681089e-04 9.99974578e-01 -5.38057210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64140051299998 meters 0.06505698287616346 Centerline is valid? [True, True] Translation: X:146.35, Y:15.15, Z:-0.54 [[ 9.99564812e-01 -2.84098699e-02 7.94138595e-03 1.46349173e+02] [ 2.84048196e-02 9.99596222e-01 7.48029650e-04 1.51469230e+01] [-7.95943082e-03 -5.22130482e-04 9.99968187e-01 -5.36899358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67140051299998 meters 0.06683681276945803 Centerline is valid? [True, True] Translation: X:146.38, Y:15.15, Z:-0.54 [[ 9.99523579e-01 -2.98129871e-02 7.98759752e-03 1.46379180e+02] [ 2.98079226e-02 9.99555362e-01 7.52382496e-04 1.51471637e+01] [-8.00647670e-03 -5.13930356e-04 9.99967816e-01 -5.37270127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70140051299998 meters 0.06019248051720595 Centerline is valid? [True, True] Translation: X:146.41, Y:15.14, Z:-0.54 [[ 9.99521107e-01 -3.02654728e-02 6.44648023e-03 1.46410176e+02] [ 3.02621834e-02 9.99541811e-01 6.07218738e-04 1.51387650e+01] [-6.46190428e-03 -4.11843378e-04 9.99979037e-01 -5.39109912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73140051299998 meters 0.06568660610222475 Centerline is valid? [True, True] Translation: X:146.44, Y:15.15, Z:-0.54 [[ 9.99544945e-01 -2.96666017e-02 5.45857759e-03 1.46439297e+02] [ 2.96642346e-02 9.99559788e-01 5.14110095e-04 1.51451560e+01] [-5.47142655e-03 -3.51951621e-04 9.99984970e-01 -5.41562945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76140051299998 meters 0.06876959584827844 Centerline is valid? [True, True] Translation: X:146.47, Y:15.15, Z:-0.54 [[ 9.99598080e-01 -2.78973305e-02 5.04152002e-03 1.46468482e+02] [ 2.78952886e-02 9.99610738e-01 4.74881921e-04 1.51492494e+01] [-5.05280548e-03 -3.34056401e-04 9.99987179e-01 -5.42954253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79140051299999 meters 0.07197055347444986 Centerline is valid? [True, True] Translation: X:146.50, Y:15.15, Z:-0.54 [[ 9.99732384e-01 -2.24476172e-02 5.59149299e-03 1.46499518e+02] [ 2.24450201e-02 9.99747940e-01 5.26813530e-04 1.51497387e+01] [-5.60190931e-03 -4.01171374e-04 9.99984229e-01 -5.41580079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821400513 meters 0.0726959859182918 Centerline is valid? [True, True] Translation: X:146.53, Y:15.15, Z:-0.54 [[ 9.99791912e-01 -1.95448831e-02 5.84207438e-03 1.46530387e+02] [ 1.95419986e-02 9.99808885e-01 5.50423398e-04 1.51496418e+01] [-5.85171583e-03 -4.36143052e-04 9.99982783e-01 -5.40873742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851400513 meters 0.07447938115300033 Centerline is valid? [True, True] Translation: X:146.56, Y:15.15, Z:-0.54 [[ 9.99879446e-01 -1.39801486e-02 6.75644651e-03 1.46561376e+02] [ 1.39761642e-02 9.99902126e-01 6.36579434e-04 1.51499742e+01] [-6.76468470e-03 -5.42073486e-04 9.99976972e-01 -5.38997528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881400513 meters 0.08492859109500392 Centerline is valid? [True, True] Translation: X:146.59, Y:15.17, Z:-0.54 [[ 9.99904637e-01 -1.13034118e-02 7.93409656e-03 1.46589265e+02] [ 1.12978333e-02 9.99935898e-01 7.47576660e-04 1.51650679e+01] [-7.94203813e-03 -6.57867269e-04 9.99968245e-01 -5.37967126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911400513 meters 0.08693638835627764 Centerline is valid? [True, True] Translation: X:146.62, Y:15.17, Z:-0.54 [[ 9.99919900e-01 -8.85183604e-03 9.04643835e-03 1.46619260e+02] [ 8.84448780e-03 9.99960524e-01 8.51964550e-04 1.51695816e+01] [-9.05362269e-03 -7.71885195e-04 9.99958717e-01 -5.37252162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941400513 meters 0.08364444398758356 Centerline is valid? [True, True] Translation: X:146.65, Y:15.17, Z:-0.54 [[ 9.99938060e-01 -6.55966549e-03 8.99147956e-03 1.46650603e+02] [ 6.55231445e-03 9.99978175e-01 8.46770450e-04 1.51662789e+01] [-8.99683785e-03 -7.87802999e-04 9.99959217e-01 -5.38117005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971400513 meters 0.08996887474933896 Centerline is valid? [True, True] Translation: X:146.68, Y:15.17, Z:-0.54 [[ 9.99954796e-01 -4.75881728e-03 8.23157901e-03 1.46679944e+02] [ 4.75259568e-03 9.99988406e-01 7.75217466e-04 1.51741009e+01] [-8.23517269e-03 -7.36061057e-04 9.99965819e-01 -5.39958720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001400513 meters 0.09219875256435282 Centerline is valid? [True, True] Translation: X:146.71, Y:15.18, Z:-0.54 [[ 9.99964186e-01 -3.95571543e-03 7.48185822e-03 1.46710991e+02] [ 3.95055362e-03 9.99991948e-01 7.04562647e-04 1.51775365e+01] [-7.48458503e-03 -6.74979932e-04 9.99971762e-01 -5.41581540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031400513 meters 0.09920298668835209 Centerline is valid? [True, True] Translation: X:146.74, Y:15.19, Z:-0.54 [[ 9.99963728e-01 -5.13698969e-03 6.79360982e-03 1.46739452e+02] [ 5.13276321e-03 9.99986623e-01 6.39415098e-04 1.51872316e+01] [-6.79680361e-03 -6.04521915e-04 9.99976719e-01 -5.43749296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061400513 meters 0.09044665080605994 Centerline is valid? [True, True] Translation: X:146.77, Y:15.18, Z:-0.54 [[ 9.99957484e-01 -6.45298490e-03 6.58697620e-03 1.46771002e+02] [ 6.44903899e-03 9.99979012e-01 6.20112060e-04 1.51785761e+01] [-6.59083953e-03 -5.77606030e-04 9.99978113e-01 -5.43960365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091400513 meters 0.08885915717104555 Centerline is valid? [True, True] Translation: X:146.80, Y:15.18, Z:-0.54 [[ 9.99947996e-01 -7.96552253e-03 6.36833948e-03 1.46801614e+02] [ 7.96186535e-03 9.99968124e-01 5.99422206e-04 1.51783173e+01] [-6.37291119e-03 -5.48687172e-04 9.99979542e-01 -5.44474324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121400513 meters 0.08908328064726712 Centerline is valid? [True, True] Translation: X:146.83, Y:15.18, Z:-0.55 [[ 9.99939436e-01 -9.24487640e-03 5.97138849e-03 1.46832007e+02] [ 9.24168331e-03 9.99957137e-01 5.62104175e-04 1.51808339e+01] [-5.97632912e-03 -5.06884450e-04 9.99982013e-01 -5.45635108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151400513 meters 0.08483784745224282 Centerline is valid? [True, True] Translation: X:146.87, Y:15.18, Z:-0.55 [[ 9.99939704e-01 -9.37039933e-03 5.72572145e-03 1.46865014e+02] [ 9.36746482e-03 9.99955979e-01 5.39117182e-04 1.51786403e+01] [-5.73052114e-03 -4.85449181e-04 9.99983463e-01 -5.46527038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181400513 meters 0.08035504598406269 Centerline is valid? [True, True] Translation: X:146.90, Y:15.18, Z:-0.55 [[ 9.99948956e-01 -8.34657579e-03 5.69392783e-03 1.46896675e+02] [ 8.34365993e-03 9.99965048e-01 5.35662460e-04 1.51750054e+01] [-5.69819976e-03 -4.88126920e-04 9.99983646e-01 -5.46185322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211400513 meters 0.09087888437043637 Centerline is valid? [True, True] Translation: X:146.93, Y:15.19, Z:-0.55 [[ 9.99958542e-01 -7.13490549e-03 5.65743646e-03 1.46925781e+02] [ 7.13200865e-03 9.99974425e-01 5.32050488e-04 1.51882149e+01] [-5.66108790e-03 -4.91679545e-04 9.99983855e-01 -5.46327230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24140051299997 meters 0.08001348342911128 Centerline is valid? [True, True] Translation: X:146.96, Y:15.18, Z:-0.55 [[ 9.99965803e-01 -6.21351979e-03 5.45751731e-03 1.46958471e+02] [ 6.21081047e-03 9.99980581e-01 5.13244976e-04 1.51760594e+01] [-5.46060039e-03 -4.79331819e-04 9.99984976e-01 -5.45354913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27140051299997 meters 0.08368936687632078 Centerline is valid? [True, True] Translation: X:146.99, Y:15.18, Z:-0.55 [[ 9.99966154e-01 -6.26769846e-03 5.32982976e-03 1.46988638e+02] [ 6.26511449e-03 9.99980248e-01 5.01370620e-04 1.51837548e+01] [-5.33286693e-03 -4.67961657e-04 9.99985671e-01 -5.46777185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30140051299998 meters 0.08854938754201555 Centerline is valid? [True, True] Translation: X:147.02, Y:15.19, Z:-0.55 [[ 9.99957781e-01 -7.27582170e-03 5.61234270e-03 1.47018381e+02] [ 7.27297654e-03 9.99973413e-01 5.27191268e-04 1.51929133e+01] [-5.61602923e-03 -4.86350574e-04 9.99984112e-01 -5.47580261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33140051299998 meters 0.08854938754201555 Centerline is valid? [True, True] Translation: X:147.05, Y:15.20, Z:-0.55 [[ 9.99958098e-01 -7.23221482e-03 5.61233504e-03 1.47050030e+02] [ 7.22936852e-03 9.99973729e-01 5.27272882e-04 1.51958090e+01] [-5.61600095e-03 -4.86677150e-04 9.99984112e-01 -5.47902383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36140051299998 meters 0.0794755149416169 Centerline is valid? [True, True] Translation: X:147.08, Y:15.19, Z:-0.55 [[ 9.99945337e-01 -8.53496501e-03 6.03956839e-03 1.47081983e+02] [ 8.53169505e-03 9.99963444e-01 5.66979560e-04 1.51867470e+01] [-6.04418676e-03 -5.15420811e-04 9.99981601e-01 -5.46774338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39140051299998 meters 0.08577968749577423 Centerline is valid? [True, True] Translation: X:147.11, Y:15.19, Z:-0.55 [[ 9.99913923e-01 -1.17869462e-02 5.76317110e-03 1.47110764e+02] [ 1.17840233e-02 9.99930420e-01 5.40868409e-04 1.51941796e+01] [-5.76914529e-03 -4.72908510e-04 9.99983247e-01 -5.46770629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42140051299998 meters 0.08506414788329311 Centerline is valid? [True, True] Translation: X:147.14, Y:15.20, Z:-0.55 [[ 9.99904490e-01 -1.29587043e-02 4.80444090e-03 1.47142620e+02] [ 1.29566849e-02 9.99915957e-01 4.51197733e-04 1.51960357e+01] [-4.80988406e-03 -3.88905013e-04 9.99988357e-01 -5.48586869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45140051299998 meters 0.0803932269978182 Centerline is valid? [True, True] Translation: X:147.17, Y:15.19, Z:-0.55 [[ 9.99889320e-01 -1.42240414e-02 4.36169250e-03 1.47173924e+02] [ 1.42223903e-02 9.99898773e-01 4.09333561e-04 1.51931728e+01] [-4.36707335e-03 -3.47254563e-04 9.99990404e-01 -5.49961337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48140051299998 meters 0.07796203955825926 Centerline is valid? [True, True] Translation: X:147.20, Y:15.19, Z:-0.55 [[ 9.99877651e-01 -1.50179008e-02 4.37549242e-03 1.47204451e+02] [ 1.50162472e-02 9.99887166e-01 4.10515923e-04 1.51909433e+01] [-4.38116381e-03 -3.44762221e-04 9.99990343e-01 -5.51086716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51140051299998 meters 0.07792545982883481 Centerline is valid? [True, True] Translation: X:147.23, Y:15.19, Z:-0.55 [[ 9.99854536e-01 -1.63947143e-02 4.70311368e-03 1.47234317e+02] [ 1.63928190e-02 9.99865531e-01 4.41253890e-04 1.51900643e+01] [-4.70971549e-03 -3.64092413e-04 9.99988843e-01 -5.49466850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54140051299999 meters 0.079199645240654 Centerline is valid? [True, True] Translation: X:147.26, Y:15.19, Z:-0.55 [[ 9.99842545e-01 -1.70375068e-02 4.96073059e-03 1.47263298e+02] [ 1.70354057e-02 9.99854779e-01 4.65489959e-04 1.51944144e+01] [-4.96794098e-03 -3.80908606e-04 9.99987587e-01 -5.48614126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571400513 meters 0.08263058240888262 Centerline is valid? [True, True] Translation: X:147.29, Y:15.20, Z:-0.55 [[ 9.99827224e-01 -1.76521324e-02 5.82451473e-03 1.47292621e+02] [ 1.76492469e-02 9.99844091e-01 5.46437525e-04 1.52035013e+01] [-5.83325242e-03 -4.43544815e-04 9.99982888e-01 -5.47903051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601400513 meters 0.07650077201312239 Centerline is valid? [True, True] Translation: X:147.32, Y:15.20, Z:-0.55 [[ 9.99812566e-01 -1.81907127e-02 6.62798012e-03 1.47324494e+02] [ 1.81869883e-02 9.99834410e-01 6.21767329e-04 1.52009880e+01] [-6.63819298e-03 -5.01107792e-04 9.99977841e-01 -5.46848086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631400513 meters 0.07612531060634035 Centerline is valid? [True, True] Translation: X:147.36, Y:15.20, Z:-0.55 [[ 9.99801422e-01 -1.85570826e-02 7.26294652e-03 1.47355419e+02] [ 1.85526213e-02 9.99827653e-01 6.81149099e-04 1.52044215e+01] [-7.27433491e-03 -5.46267142e-04 9.99973392e-01 -5.46435173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661400513 meters 0.08233684774614358 Centerline is valid? [True, True] Translation: X:147.38, Y:15.21, Z:-0.55 [[ 9.99765609e-01 -2.03759148e-02 7.31777452e-03 1.47384814e+02] [ 2.03714361e-02 9.99792245e-01 6.86063254e-04 1.52145407e+01] [-7.33023339e-03 -5.36828871e-04 9.99972989e-01 -5.47193562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691400513 meters 0.07010134426385757 Centerline is valid? [True, True] Translation: X:147.42, Y:15.20, Z:-0.55 [[ 9.99722891e-01 -2.25836502e-02 6.64235212e-03 1.47416828e+02] [ 2.25800084e-02 9.99744845e-01 6.22762378e-04 1.52030616e+01] [-6.65472154e-03 -4.72605437e-04 9.99977745e-01 -5.48285718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721400513 meters 0.07180548241056939 Centerline is valid? [True, True] Translation: X:147.45, Y:15.21, Z:-0.55 [[ 9.99666583e-01 -2.51123577e-02 6.00763320e-03 1.47446048e+02] [ 2.51094247e-02 9.99684550e-01 5.63155504e-04 1.52090126e+01] [-6.01988025e-03 -4.12119525e-04 9.99981795e-01 -5.50123915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751400513 meters 0.06906813186033833 Centerline is valid? [True, True] Translation: X:147.48, Y:15.21, Z:-0.55 [[ 9.99595629e-01 -2.78427082e-02 5.77600951e-03 1.47476946e+02] [ 2.78400419e-02 9.99612244e-01 5.41527197e-04 1.52083901e+01] [-5.78884742e-03 -3.80503872e-04 9.99983172e-01 -5.50897079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781400513 meters 0.07154701606554752 Centerline is valid? [True, True] Translation: X:147.51, Y:15.21, Z:-0.55 [[ 9.99460998e-01 -3.22818741e-02 5.96612033e-03 1.47506272e+02] [ 3.22791084e-02 9.99478737e-01 5.59311943e-04 1.52095056e+01] [-5.98106605e-03 -3.66429428e-04 9.99982046e-01 -5.49734394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811400513 meters 0.06286772809487264 Centerline is valid? [True, True] Translation: X:147.54, Y:15.20, Z:-0.55 [[ 9.99388856e-01 -3.45041149e-02 5.60179230e-03 1.47537035e+02] [ 3.45017112e-02 9.99404501e-01 5.25204301e-04 1.51997223e+01] [-5.61657814e-03 -3.31611906e-04 9.99984172e-01 -5.49294472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841400513 meters 0.059832024449122626 Centerline is valid? [True, True] Translation: X:147.57, Y:15.20, Z:-0.55 [[ 9.99334395e-01 -3.60965480e-02 5.27311946e-03 1.47567651e+02] [ 3.60944393e-02 9.99348261e-01 4.94546233e-04 1.51977542e+01] [-5.28753417e-03 -3.03886771e-04 9.99985975e-01 -5.50178742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871400513 meters 0.056449943645624105 Centerline is valid? [True, True] Translation: X:147.60, Y:15.20, Z:-0.55 [[ 9.99283041e-01 -3.75500550e-02 4.83716422e-03 1.47597136e+02] [ 3.75483008e-02 9.99294711e-01 4.52982789e-04 1.51953279e+01] [-4.85076215e-03 -2.71030722e-04 9.99988198e-01 -5.51525810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901400513 meters 0.0558417304450278 Centerline is valid? [True, True] Translation: X:147.63, Y:15.20, Z:-0.55 [[ 9.99247306e-01 -3.84408198e-02 5.20817396e-03 1.47626058e+02] [ 3.84387910e-02 9.99260837e-01 4.89118689e-04 1.51952912e+01] [-5.22312639e-03 -2.88554622e-04 9.99986318e-01 -5.52004139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931400513 meters 0.05314891762313099 Centerline is valid? [True, True] Translation: X:147.66, Y:15.19, Z:-0.55 [[ 9.99234617e-01 -3.87218434e-02 5.54969682e-03 1.47655761e+02] [ 3.87195455e-02 9.99249981e-01 5.20941089e-04 1.51919948e+01] [-5.56570625e-03 -3.05660631e-04 9.99984465e-01 -5.50778927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961400513 meters 0.05871219643147812 Centerline is valid? [True, True] Translation: X:147.68, Y:15.20, Z:-0.55 [[ 9.99311969e-01 -3.66303663e-02 5.81425253e-03 1.47684670e+02] [ 3.66277993e-02 9.99328827e-01 5.47401633e-04 1.51977764e+01] [-5.83040168e-03 -3.34061728e-04 9.99982947e-01 -5.49259539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99140051299997 meters 0.07220853271513832 Centerline is valid? [True, True] Translation: X:147.71, Y:15.22, Z:-0.55 [[ 9.99372932e-01 -3.50059212e-02 5.32241095e-03 1.47711223e+02] [ 3.50037472e-02 9.99387055e-01 5.01095818e-04 1.52173336e+01] [-5.33668992e-03 -3.14477269e-04 9.99985710e-01 -5.51788120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02140051299997 meters 0.06275410577205574 Centerline is valid? [True, True] Translation: X:147.74, Y:15.21, Z:-0.55 [[ 9.99442822e-01 -3.30907573e-02 4.36434162e-03 1.47741905e+02] [ 3.30892761e-02 9.99452315e-01 4.11184909e-04 1.52092718e+01] [-4.37555776e-03 -2.66542901e-04 9.99990392e-01 -5.52589247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05140051299998 meters 0.06730435131113374 Centerline is valid? [True, True] Translation: X:147.77, Y:15.22, Z:-0.55 [[ 9.99568466e-01 -2.90182141e-02 4.56352481e-03 1.47770671e+02] [ 2.90165514e-02 9.99578839e-01 4.30140171e-04 1.52157024e+01] [-4.57408473e-03 -2.97536799e-04 9.99989495e-01 -5.53490648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08140051299998 meters 0.07642267140880078 Centerline is valid? [True, True] Translation: X:147.80, Y:15.23, Z:-0.55 [[ 9.99615269e-01 -2.72891861e-02 4.96133042e-03 1.47799239e+02] [ 2.72872004e-02 9.99627526e-01 4.67503747e-04 1.52282258e+01] [-4.97224025e-03 -3.31943066e-04 9.99987583e-01 -5.53511613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11140051299998 meters 0.06136370484043666 Centerline is valid? [True, True] Translation: X:147.83, Y:15.21, Z:-0.55 [[ 9.99646284e-01 -2.60625619e-02 5.29618064e-03 1.47829963e+02] [ 2.60602827e-02 9.99660249e-01 4.98915800e-04 1.52123678e+01] [-5.30738428e-03 -3.60719361e-04 9.99985851e-01 -5.51583071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14140051299998 meters 0.06510853128744128 Centerline is valid? [True, True] Translation: X:147.86, Y:15.22, Z:-0.55 [[ 9.99672375e-01 -2.49947927e-02 5.51388543e-03 1.47858573e+02] [ 2.49923038e-02 9.99687508e-01 5.19833801e-04 1.52183189e+01] [-5.52515553e-03 -3.81858791e-04 9.99984663e-01 -5.51775388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17140051299998 meters 0.06438535519658205 Centerline is valid? [True, True] Translation: X:147.89, Y:15.22, Z:-0.55 [[ 9.99687841e-01 -2.43842020e-02 5.44338745e-03 1.47887041e+02] [ 2.43817661e-02 9.99702589e-01 5.13429132e-04 1.52246166e+01] [-5.45428808e-03 -3.80549462e-04 9.99985053e-01 -5.51892330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20140051299998 meters 0.06401776294385039 Centerline is valid? [True, True] Translation: X:147.92, Y:15.23, Z:-0.55 [[ 9.99706186e-01 -2.37363061e-02 4.91221837e-03 1.47915856e+02] [ 2.37343144e-02 9.99718194e-01 4.63359016e-04 1.52287937e+01] [-4.92183250e-03 -3.46634740e-04 9.99987828e-01 -5.52767100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23140051299998 meters 0.07230611855622876 Centerline is valid? [True, True] Translation: X:147.94, Y:15.24, Z:-0.55 [[ 9.99723907e-01 -2.30566560e-02 4.52776978e-03 1.47943519e+02] [ 2.30549560e-02 9.99734108e-01 4.27291978e-04 1.52442199e+01] [-4.53641781e-03 -3.22786472e-04 9.99989658e-01 -5.54706935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26140051299998 meters 0.0700370598283001 Centerline is valid? [True, True] Translation: X:147.97, Y:15.25, Z:-0.55 [[ 9.99727737e-01 -2.28703782e-02 4.62579915e-03 1.47972706e+02] [ 2.28686019e-02 9.99738384e-01 4.36541372e-04 1.52450879e+01] [-4.63457283e-03 -3.30636959e-04 9.99989206e-01 -5.54734348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29140051299999 meters 0.07358108038295133 Centerline is valid? [True, True] Translation: X:148.00, Y:15.25, Z:-0.55 [[ 9.99731327e-01 -2.26605032e-02 4.87605491e-03 1.48001127e+02] [ 2.26585253e-02 9.99743157e-01 4.60511607e-04 1.52525417e+01] [-4.88523795e-03 -3.49903667e-04 9.99988006e-01 -5.54852758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321400513 meters 0.07430074493171095 Centerline is valid? [True, True] Translation: X:148.03, Y:15.26, Z:-0.56 [[ 9.99724835e-01 -2.30220151e-02 4.49902043e-03 1.48030767e+02] [ 2.30203342e-02 9.99734907e-01 4.25051666e-04 1.52552935e+01] [-4.50761332e-03 -3.21365753e-04 9.99989789e-01 -5.55986941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351400513 meters 0.07992918313661945 Centerline is valid? [True, True] Translation: X:148.06, Y:15.26, Z:-0.56 [[ 9.99711456e-01 -2.37098975e-02 3.85297291e-03 1.48059024e+02] [ 2.37086702e-02 9.99718844e-01 3.63905464e-04 1.52644926e+01] [-3.86051778e-03 -2.72451597e-04 9.99992511e-01 -5.57888264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381400513 meters 0.06292049840106764 Centerline is valid? [True, True] Translation: X:148.09, Y:15.25, Z:-0.56 [[ 9.99681941e-01 -2.49895977e-02 3.39672891e-03 1.48090241e+02] [ 2.49886536e-02 9.99687684e-01 3.20085100e-04 1.52462034e+01] [-3.40366686e-03 -2.35103612e-04 9.99994180e-01 -5.57068978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411400513 meters 0.06931475048608113 Centerline is valid? [True, True] Translation: X:148.12, Y:15.26, Z:-0.56 [[ 9.99660970e-01 -2.57659877e-02 3.74942677e-03 1.48117001e+02] [ 2.57648378e-02 9.99667969e-01 3.54651641e-04 1.52561019e+01] [-3.75731979e-03 -2.57928031e-04 9.99992908e-01 -5.57921136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441400513 meters 0.06920464869946878 Centerline is valid? [True, True] Translation: X:148.15, Y:15.26, Z:-0.56 [[ 9.99631693e-01 -2.68432473e-02 3.98982561e-03 1.48145629e+02] [ 2.68419524e-02 9.99639619e-01 3.77748052e-04 1.52576941e+01] [-3.99852774e-03 -2.70514215e-04 9.99991969e-01 -5.58054555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471400513 meters 0.06956994646910448 Centerline is valid? [True, True] Translation: X:148.17, Y:15.26, Z:-0.56 [[ 9.99606761e-01 -2.76262714e-02 4.80757687e-03 1.48174128e+02] [ 2.76243989e-02 9.99618270e-01 4.55473912e-04 1.52596541e+01] [-4.81832471e-03 -3.22488381e-04 9.99988340e-01 -5.57955290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501400513 meters 0.06680402946519653 Centerline is valid? [True, True] Translation: X:148.20, Y:15.26, Z:-0.56 [[ 9.99566400e-01 -2.90170292e-02 5.00242231e-03 1.48204362e+02] [ 2.90150171e-02 9.99578863e-01 4.74342853e-04 1.52577275e+01] [-5.01407962e-03 -3.28991809e-04 9.99987375e-01 -5.58660607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531400513 meters 0.061155022932586615 Centerline is valid? [True, True] Translation: X:148.23, Y:15.25, Z:-0.56 [[ 9.99550827e-01 -2.96505079e-02 4.35786213e-03 1.48234050e+02] [ 2.96489905e-02 9.99560287e-01 4.12387258e-04 1.52526992e+01] [-4.36817341e-03 -2.82995812e-04 9.99990419e-01 -5.59202150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561400513 meters 0.0624612341061375 Centerline is valid? [True, True] Translation: X:148.26, Y:15.26, Z:-0.56 [[ 9.99553660e-01 -2.95990652e-02 4.04670731e-03 1.48261581e+02] [ 2.95977516e-02 9.99561817e-01 3.84121656e-04 1.52554371e+01] [-4.05630375e-03 -2.64176770e-04 9.99991738e-01 -5.59413744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591400513 meters 0.0593082901278845 Centerline is valid? [True, True] Translation: X:148.29, Y:15.25, Z:-0.56 [[ 9.99561550e-01 -2.93220630e-02 4.11399102e-03 1.48290369e+02] [ 2.93207021e-02 9.99569979e-01 3.90745945e-04 1.52516927e+01] [-4.12367940e-03 -2.69949517e-04 9.99991461e-01 -5.58558619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621400513 meters 0.06751571964690813 Centerline is valid? [True, True] Translation: X:148.32, Y:15.27, Z:-0.56 [[ 9.99568763e-01 -2.89183572e-02 5.10069514e-03 1.48317135e+02] [ 2.89162576e-02 9.99581720e-01 4.84913788e-04 1.52652856e+01] [-5.11258453e-03 -3.37211661e-04 9.99986874e-01 -5.58238597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651400513 meters 0.06195451388037152 Centerline is valid? [True, True] Translation: X:148.35, Y:15.26, Z:-0.56 [[ 9.99571202e-01 -2.87194604e-02 5.70999870e-03 1.48346112e+02] [ 2.87168262e-02 9.99587440e-01 5.42794573e-04 1.52620807e+01] [-5.72323175e-03 -3.78588784e-04 9.99983551e-01 -5.57650924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681400513 meters 0.057271632246154454 Centerline is valid? [True, True] Translation: X:148.37, Y:15.26, Z:-0.56 [[ 9.99563758e-01 -2.89563509e-02 5.81578407e-03 1.48374720e+02] [ 2.89536167e-02 9.99580603e-01 5.53806785e-04 1.52615655e+01] [-5.82938117e-03 -3.85177208e-04 9.99982935e-01 -5.58202077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711400513 meters 0.06468824202733536 Centerline is valid? [True, True] Translation: X:148.40, Y:15.27, Z:-0.56 [[ 9.99544804e-01 -2.96236971e-02 5.71155389e-03 1.48402605e+02] [ 2.96210622e-02 9.99561051e-01 5.45391834e-04 1.52742779e+01] [-5.72520333e-03 -3.75961280e-04 9.99983540e-01 -5.59470198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74140051299997 meters 0.06351154831049119 Centerline is valid? [True, True] Translation: X:148.43, Y:15.28, Z:-0.56 [[ 9.99502366e-01 -3.11520039e-02 4.95721458e-03 1.48432850e+02] [ 3.11500370e-02 9.99514608e-01 4.73508626e-04 1.52756171e+01] [-4.96955913e-03 -3.18855574e-04 9.99987601e-01 -5.59687050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77140051299997 meters 0.0647452483348772 Centerline is valid? [True, True] Translation: X:148.46, Y:15.28, Z:-0.56 [[ 9.99444948e-01 -3.30158965e-02 4.44361511e-03 1.48461912e+02] [ 3.30143337e-02 9.99454788e-01 4.24610686e-04 1.52795226e+01] [-4.45521130e-03 -2.77672013e-04 9.99990037e-01 -5.60473324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80140051299998 meters 0.05300429503429836 Centerline is valid? [True, True] Translation: X:148.49, Y:15.27, Z:-0.56 [[ 9.99256466e-01 -3.82603185e-02 4.76052307e-03 1.48493987e+02] [ 3.82585831e-02 9.99267769e-01 4.55122552e-04 1.52685509e+01] [-4.77445040e-03 -2.72653286e-04 9.99988565e-01 -5.57786896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83140051299998 meters 0.053102395168245387 Centerline is valid? [True, True] Translation: X:148.52, Y:15.27, Z:-0.56 [[ 9.99167099e-01 -4.05222475e-02 4.80172246e-03 1.48523059e+02] [ 4.05205084e-02 9.99178602e-01 4.58967900e-04 1.52718117e+01] [-4.81637674e-03 -2.64017390e-04 9.99988366e-01 -5.57716396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86140051299998 meters 0.060854734698926966 Centerline is valid? [True, True] Translation: X:148.55, Y:15.28, Z:-0.56 [[ 9.99103967e-01 -4.20517067e-02 4.78722021e-03 1.48550620e+02] [ 4.20499953e-02 9.99115403e-01 4.57635203e-04 1.52838628e+01] [-4.80222979e-03 -2.55922560e-04 9.99988436e-01 -5.59150219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89140051299998 meters 0.05196890528975544 Centerline is valid? [True, True] Translation: X:148.58, Y:15.28, Z:-0.56 [[ 9.99073392e-01 -4.27105853e-02 5.30684170e-03 1.48580579e+02] [ 4.27084935e-02 9.99087447e-01 5.06921802e-04 1.52750254e+01] [-5.32364985e-03 -2.79804870e-04 9.99985790e-01 -5.57932428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92140051299998 meters 0.0535815571145863 Centerline is valid? [True, True] Translation: X:148.61, Y:15.28, Z:-0.56 [[ 9.99059477e-01 -4.29789828e-02 5.74180487e-03 1.48607886e+02] [ 4.29765297e-02 9.99075931e-01 5.49989202e-04 1.52789192e+01] [-5.76013702e-03 -3.02709077e-04 9.99983364e-01 -5.57720875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95140051299998 meters 0.05300800873449219 Centerline is valid? [True, True] Translation: X:148.64, Y:15.28, Z:-0.56 [[ 9.99036949e-01 -4.34559952e-02 6.06221878e-03 1.48636720e+02] [ 4.34532696e-02 9.99055292e-01 5.80648011e-04 1.52805354e+01] [-6.08172439e-03 -3.16665591e-04 9.99981456e-01 -5.57671166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98140051299998 meters 0.04919078725095858 Centerline is valid? [True, True] Translation: X:148.67, Y:15.28, Z:-0.56 [[ 9.99006539e-01 -4.40603968e-02 6.67950123e-03 1.48666070e+02] [ 4.40570932e-02 9.99028809e-01 6.40989803e-04 1.52778499e+01] [-6.70125643e-03 -3.46073597e-04 9.99977486e-01 -5.57095231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01140051299998 meters 0.04898511467688679 Centerline is valid? [True, True] Translation: X:148.69, Y:15.28, Z:-0.56 [[ 9.99002409e-01 -4.41718748e-02 6.55987594e-03 1.48694185e+02] [ 4.41686845e-02 9.99023889e-01 6.30477495e-04 1.52790263e+01] [-6.58132214e-03 -3.40107445e-04 9.99978285e-01 -5.57693690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04140051299999 meters 0.05442303275032365 Centerline is valid? [True, True] Translation: X:148.72, Y:15.29, Z:-0.56 [[ 9.98990270e-01 -4.45255671e-02 5.99293731e-03 1.48721463e+02] [ 4.45229018e-02 9.99008197e-01 5.77484993e-04 1.52856326e+01] [-6.01270635e-03 -3.10078929e-04 9.99981875e-01 -5.58707901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071400513 meters 0.05183777230562664 Centerline is valid? [True, True] Translation: X:148.75, Y:15.28, Z:-0.56 [[ 9.98953798e-01 -4.53195096e-02 6.11980019e-03 1.48750328e+02] [ 4.53167453e-02 9.98972495e-01 5.89676281e-04 1.52847709e+01] [-6.14023591e-03 -3.11729934e-04 9.99981100e-01 -5.58637017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101400513 meters 0.054081383720776026 Centerline is valid? [True, True] Translation: X:148.78, Y:15.29, Z:-0.56 [[ 9.98926198e-01 -4.58502980e-02 6.64836478e-03 1.48778055e+02] [ 4.58470370e-02 9.98948265e-01 6.42164984e-04 1.52891854e+01] [-6.67081592e-03 -3.36667600e-04 9.99977693e-01 -5.58494765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131400513 meters 0.05259277837094326 Centerline is valid? [True, True] Translation: X:148.81, Y:15.29, Z:-0.56 [[ 9.98914786e-01 -4.60334513e-02 7.08319552e-03 1.48806279e+02] [ 4.60297539e-02 9.98939835e-01 6.84231414e-04 1.52886949e+01] [-7.10718370e-03 -3.57451130e-04 9.99974680e-01 -5.58146629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161400513 meters 0.051065670649210845 Centerline is valid? [True, True] Translation: X:148.84, Y:15.28, Z:-0.56 [[ 9.98949852e-01 -4.54356376e-02 5.89879719e-03 1.48835877e+02] [ 4.54330578e-02 9.98967222e-01 5.70663917e-04 1.52834513e+01] [-5.91863352e-03 -3.02064241e-04 9.99982439e-01 -5.60090711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191400513 meters 0.051269220087954 Centerline is valid? [True, True] Translation: X:148.87, Y:15.28, Z:-0.56 [[ 9.98963942e-01 -4.53010461e-02 4.34253634e-03 1.48865404e+02] [ 4.52996457e-02 9.98973356e-01 4.20356536e-04 1.52791251e+01] [-4.35712069e-03 -2.23205665e-04 9.99990483e-01 -5.62634773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221400513 meters 0.051269220087954 Centerline is valid? [True, True] Translation: X:148.89, Y:15.28, Z:-0.56 [[ 9.98955468e-01 -4.54875241e-02 4.34248046e-03 1.48892831e+02] [ 4.54861230e-02 9.98964882e-01 4.20932610e-04 1.52819230e+01] [-4.35713266e-03 -2.22970333e-04 9.99990483e-01 -5.62913745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251400513 meters 0.05221796585916205 Centerline is valid? [True, True] Translation: X:148.92, Y:15.28, Z:-0.56 [[ 9.98991748e-01 -4.47478105e-02 3.62236266e-03 1.48920270e+02] [ 4.47468263e-02 9.98998297e-01 3.52336242e-04 1.52849825e+01] [-3.63450041e-03 -1.89891766e-04 9.99993377e-01 -5.64801208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281400513 meters 0.05034169113492228 Centerline is valid? [True, True] Translation: X:148.95, Y:15.28, Z:-0.56 [[ 9.99103975e-01 -4.20982103e-02 4.35754087e-03 1.48951202e+02] [ 4.20967581e-02 9.99113448e-01 4.24486980e-04 1.52787714e+01] [-4.37154783e-03 -2.40668284e-04 9.99990416e-01 -5.62755012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311400513 meters 0.056625002986894164 Centerline is valid? [True, True] Translation: X:148.98, Y:15.29, Z:-0.56 [[ 9.99199650e-01 -3.96375052e-02 5.37842393e-03 1.48979929e+02] [ 3.96352572e-02 9.99214077e-01 5.23972090e-04 1.52873983e+01] [-5.39496585e-03 -3.10377513e-04 9.99985399e-01 -5.62222614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341400513 meters 0.06029808080056887 Centerline is valid? [True, True] Translation: X:149.01, Y:15.29, Z:-0.56 [[ 9.99308782e-01 -3.66828171e-02 6.02739611e-03 1.49008552e+02] [ 3.66799389e-02 9.99326892e-01 5.87407642e-04 1.52938062e+01] [-6.04488679e-03 -3.65917094e-04 9.99981663e-01 -5.61726166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371400513 meters 0.06688181826630583 Centerline is valid? [True, True] Translation: X:149.04, Y:15.30, Z:-0.56 [[ 9.99427129e-01 -3.32334951e-02 6.39904043e-03 1.49036877e+02] [ 3.32301797e-02 9.99447530e-01 6.23763132e-04 1.53049734e+01] [-6.41623498e-03 -4.10764533e-04 9.99979331e-01 -5.62664037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401400513 meters 0.06305712413821617 Centerline is valid? [True, True] Translation: X:149.07, Y:15.30, Z:-0.56 [[ 9.99549166e-01 -2.93588741e-02 6.28664273e-03 1.49066995e+02] [ 2.93555980e-02 9.99568844e-01 6.12786331e-04 1.53038693e+01] [-6.30192292e-03 -4.27961909e-04 9.99980051e-01 -5.63045317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431400513 meters 0.06798910645085243 Centerline is valid? [True, True] Translation: X:149.10, Y:15.31, Z:-0.56 [[ 9.99655639e-01 -2.55746790e-02 5.87696772e-03 1.49095232e+02] [ 2.55717502e-02 9.99672825e-01 5.72971553e-04 1.53140119e+01] [-5.88969849e-03 -4.22489893e-04 9.99982566e-01 -5.64656648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461400513 meters 0.07813716381371105 Centerline is valid? [True, True] Translation: X:149.12, Y:15.33, Z:-0.57 [[ 9.99782606e-01 -2.04565847e-02 4.03356561e-03 1.49122966e+02] [ 2.04551638e-02 9.99790694e-01 3.93209478e-04 1.53308951e+01] [-4.04076509e-03 -3.10616751e-04 9.99991788e-01 -5.67930272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49140051299997 meters 0.07934644337774907 Centerline is valid? [True, True] Translation: X:149.15, Y:15.34, Z:-0.57 [[ 9.99811540e-01 -1.90637628e-02 3.66839087e-03 1.49152520e+02] [ 1.90625784e-02 9.99818229e-01 3.57557098e-04 1.53353775e+01] [-3.67454045e-03 -2.87560724e-04 9.99993208e-01 -5.68177478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52140051299997 meters 0.07648700632934233 Centerline is valid? [True, True] Translation: X:149.18, Y:15.34, Z:-0.57 [[ 9.99815419e-01 -1.88220226e-02 3.85484003e-03 1.49181775e+02] [ 1.88207163e-02 9.99822804e-01 3.74864690e-04 1.53351099e+01] [-3.86121269e-03 -3.02244646e-04 9.99992500e-01 -5.67471928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55140051299998 meters 0.07345670954609056 Centerline is valid? [True, True] Translation: X:149.21, Y:15.34, Z:-0.57 [[ 9.99790672e-01 -1.99360257e-02 4.60078407e-03 1.49211476e+02] [ 1.99341685e-02 9.99801194e-01 4.49177976e-04 1.53352742e+01] [-4.60882423e-03 -3.57371145e-04 9.99989315e-01 -5.66471051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58140051299998 meters 0.0754749050120232 Centerline is valid? [True, True] Translation: X:149.24, Y:15.34, Z:-0.57 [[ 9.99742081e-01 -2.20378012e-02 5.48700036e-03 1.49239925e+02] [ 2.20351900e-02 9.99757052e-01 5.35909747e-04 1.53422559e+01] [-5.49747758e-03 -4.14864431e-04 9.99984803e-01 -5.66083374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61140051299998 meters 0.06364158112263585 Centerline is valid? [True, True] Translation: X:149.27, Y:15.33, Z:-0.56 [[ 9.99588362e-01 -2.76626279e-02 7.60819821e-03 1.49271228e+02] [ 2.76577680e-02 9.99617174e-01 7.43271763e-04 1.53331230e+01] [-7.62584645e-03 -5.32540024e-04 9.99970781e-01 -5.64568645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64140051299998 meters 0.06804945348566147 Centerline is valid? [True, True] Translation: X:149.30, Y:15.34, Z:-0.56 [[ 9.99490908e-01 -3.09109482e-02 7.90183020e-03 1.49300220e+02] [ 3.09058069e-02 9.99522003e-01 7.71958947e-04 1.53406135e+01] [-7.92191514e-03 -5.27353510e-04 9.99968482e-01 -5.64709302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67140051299998 meters 0.05613883119250921 Centerline is valid? [True, True] Translation: X:149.33, Y:15.33, Z:-0.56 [[ 9.99381634e-01 -3.41941607e-02 8.19205321e-03 1.49332562e+02] [ 3.41887435e-02 9.99415073e-01 8.00446468e-04 1.53277727e+01] [-8.21463205e-03 -5.19875493e-04 9.99966124e-01 -5.64344632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70140051299998 meters 0.05887153235599274 Centerline is valid? [True, True] Translation: X:149.36, Y:15.33, Z:-0.57 [[ 9.99203083e-01 -3.91059105e-02 7.99543799e-03 1.49361635e+02] [ 3.91009068e-02 9.99234962e-01 7.81237760e-04 1.53314002e+01] [-8.01987219e-03 -4.67986302e-04 9.99967731e-01 -5.65204925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73140051299998 meters 0.05834423286314428 Centerline is valid? [True, True] Translation: X:149.39, Y:15.33, Z:-0.57 [[ 9.99149779e-01 -4.06540291e-02 6.85342568e-03 1.49391669e+02] [ 4.06503884e-02 9.99173207e-01 6.69740753e-04 1.53310487e+01] [-6.87498697e-03 -3.90576909e-04 9.99976291e-01 -5.66740868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76140051299998 meters 0.05273905744535332 Centerline is valid? [True, True] Translation: X:149.42, Y:15.32, Z:-0.57 [[ 9.99105780e-01 -4.18872475e-02 5.75323310e-03 1.49421902e+02] [ 4.18847050e-02 9.99122293e-01 5.61758307e-04 1.53233852e+01] [-5.77171396e-03 -3.20283501e-04 9.99983292e-01 -5.68091310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79140051299999 meters 0.051542764579755866 Centerline is valid? [True, True] Translation: X:149.45, Y:15.32, Z:-0.57 [[ 9.99084869e-01 -4.24013013e-02 5.61726474e-03 1.49451472e+02] [ 4.23988814e-02 9.99100612e-01 5.49239530e-04 1.53211186e+01] [-5.63550111e-03 -3.10571163e-04 9.99984072e-01 -5.68106567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821400513 meters 0.05500570323268602 Centerline is valid? [True, True] Translation: X:149.48, Y:15.33, Z:-0.57 [[ 9.99105972e-01 -4.17080931e-02 6.90589271e-03 1.49479060e+02] [ 4.17044068e-02 9.99129763e-01 6.77003334e-04 1.53255388e+01] [-6.92811946e-03 -3.88391916e-04 9.99975925e-01 -5.66437156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851400513 meters 0.0602933014807479 Centerline is valid? [True, True] Translation: X:149.51, Y:15.33, Z:-0.56 [[ 9.99141827e-01 -4.04954827e-02 8.70200067e-03 1.49507515e+02] [ 4.04895743e-02 9.99179596e-01 8.54156043e-04 1.53307428e+01] [-8.72945098e-03 -5.01082727e-04 9.99961772e-01 -5.64419520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881400513 meters 0.05578022027899426 Centerline is valid? [True, True] Translation: X:149.54, Y:15.33, Z:-0.56 [[ 9.99329313e-01 -3.53506398e-02 9.55277393e-03 1.49537999e+02] [ 3.53432816e-02 9.99374791e-01 9.38038017e-04 1.53297975e+01] [-9.57996169e-03 -5.99782509e-04 9.99953931e-01 -5.63653301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911400513 meters 0.0659575427212595 Centerline is valid? [True, True] Translation: X:149.57, Y:15.34, Z:-0.56 [[ 9.99467268e-01 -3.13212255e-02 9.17394261e-03 1.49565641e+02] [ 3.13142693e-02 9.99509182e-01 9.00949263e-04 1.53436257e+01] [-9.19765871e-03 -6.13193989e-04 9.99957513e-01 -5.64812928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941400513 meters 0.06660165379129133 Centerline is valid? [True, True] Translation: X:149.60, Y:15.35, Z:-0.56 [[ 9.99583734e-01 -2.73346818e-02 9.22894785e-03 1.49595913e+02] [ 2.73274736e-02 9.99626124e-01 9.06268587e-04 1.53452046e+01] [-9.25026993e-03 -6.53687510e-04 9.99957002e-01 -5.64914560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971400513 meters 0.07421563307681382 Centerline is valid? [True, True] Translation: X:149.62, Y:15.36, Z:-0.57 [[ 9.99688092e-01 -2.32165518e-02 9.20377740e-03 1.49624340e+02] [ 2.32092084e-02 9.99730221e-01 9.03883740e-04 1.53560827e+01] [-9.22227948e-03 -6.89989424e-04 9.99957236e-01 -5.65265021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001400513 meters 0.07907341715252121 Centerline is valid? [True, True] Translation: X:149.65, Y:15.37, Z:-0.57 [[ 9.99769159e-01 -1.95441346e-02 8.92499418e-03 1.49653575e+02] [ 1.95370837e-02 9.99808749e-01 8.76529732e-04 1.53655110e+01] [-8.94041828e-03 -7.01959035e-04 9.99959787e-01 -5.66343925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031400513 meters 0.08084590667333806 Centerline is valid? [True, True] Translation: X:149.68, Y:15.37, Z:-0.57 [[ 9.99876068e-01 -1.37155267e-02 7.72874602e-03 1.49683176e+02] [ 1.37100657e-02 9.99905724e-01 7.59126273e-04 1.53747122e+01] [-7.73842921e-03 -6.53070576e-04 9.99969845e-01 -5.70576574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061400513 meters 0.09367946306684462 Centerline is valid? [True, True] Translation: X:149.71, Y:15.39, Z:-0.57 [[ 9.99902247e-01 -1.18488434e-02 7.42302704e-03 1.49710868e+02] [ 1.18437545e-02 9.99929594e-01 7.29137509e-04 1.53942568e+01] [-7.43114385e-03 -6.41149724e-04 9.99972183e-01 -5.72216924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091400513 meters 0.09583321085228062 Centerline is valid? [True, True] Translation: X:149.74, Y:15.40, Z:-0.57 [[ 9.99908644e-01 -1.12077874e-02 7.55570614e-03 1.49742662e+02] [ 1.12024972e-02 9.99936975e-01 7.42127421e-04 1.54007797e+01] [-7.56354754e-03 -6.57416847e-04 9.99971180e-01 -5.72536607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121400513 meters 0.0881578815963181 Centerline is valid? [True, True] Translation: X:149.78, Y:15.40, Z:-0.57 [[ 9.99907580e-01 -1.09631627e-02 8.03987312e-03 1.49775665e+02] [ 1.09571678e-02 9.99939657e-01 7.89317815e-04 1.53979382e+01] [-8.04804139e-03 -7.01150628e-04 9.99967368e-01 -5.71639541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151400513 meters 0.08628670130241693 Centerline is valid? [True, True] Translation: X:149.81, Y:15.40, Z:-0.57 [[ 9.99916457e-01 -1.00836414e-02 8.08697921e-03 1.49807641e+02] [ 1.00775504e-02 9.99948905e-01 7.93582069e-04 1.54034540e+01] [-8.09456821e-03 -7.12018830e-04 9.99966985e-01 -5.71909375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181400513 meters 0.09680765281281348 Centerline is valid? [True, True] Translation: X:149.84, Y:15.42, Z:-0.57 [[ 9.99924657e-01 -9.62865838e-03 7.61377954e-03 1.49836884e+02] [ 9.62324883e-03 9.99953417e-01 7.46812450e-04 1.54223112e+01] [-7.62061567e-03 -6.73486888e-04 9.99970736e-01 -5.72918217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211400513 meters 0.08700412526459647 Centerline is valid? [True, True] Translation: X:149.87, Y:15.42, Z:-0.57 [[ 9.99927150e-01 -9.74543931e-03 7.12193176e-03 1.49869728e+02] [ 9.74071035e-03 9.99952314e-01 6.98386397e-04 1.54165012e+01] [-7.12839823e-03 -6.28962844e-04 9.99974395e-01 -5.73790682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24140051299997 meters 0.0839401221588061 Centerline is valid? [True, True] Translation: X:149.90, Y:15.42, Z:-0.57 [[ 9.99922042e-01 -1.07074258e-02 6.42352670e-03 1.49901337e+02] [ 1.07036003e-02 9.99942517e-01 6.29619655e-04 1.54195250e+01] [-6.42989906e-03 -5.60815708e-04 9.99979171e-01 -5.74917110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27140051299997 meters 0.09267988462161085 Centerline is valid? [True, True] Translation: X:149.93, Y:15.44, Z:-0.58 [[ 9.99906903e-01 -1.20810294e-02 6.34310149e-03 1.49929400e+02] [ 1.20773287e-02 9.99926873e-01 6.21401374e-04 1.54377150e+01] [-6.35014481e-03 -5.44735801e-04 9.99979689e-01 -5.75896542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30140051299998 meters 0.09227213935070308 Centerline is valid? [True, True] Translation: X:149.96, Y:15.45, Z:-0.57 [[ 9.99836590e-01 -1.64978439e-02 7.39020064e-03 1.49957593e+02] [ 1.64929405e-02 9.99863720e-01 7.23949333e-04 1.54492423e+01] [-7.40113711e-03 -6.01944893e-04 9.99972430e-01 -5.74616789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33140051299998 meters 0.0880592891137048 Centerline is valid? [True, True] Translation: X:149.99, Y:15.45, Z:-0.57 [[ 9.99780242e-01 -1.92309597e-02 8.34499041e-03 1.49987805e+02] [ 1.92248010e-02 9.99814852e-01 8.17611076e-04 1.54504523e+01] [-8.35916880e-03 -6.57000619e-04 9.99964846e-01 -5.72985911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36140051299998 meters 0.07354359838034522 Centerline is valid? [True, True] Translation: X:150.02, Y:15.44, Z:-0.57 [[ 9.99704714e-01 -2.25273911e-02 9.11048138e-03 1.50020058e+02] [ 2.25201867e-02 9.99745990e-01 8.92609462e-04 1.54390003e+01] [-9.12827539e-03 -6.87176146e-04 9.99958100e-01 -5.71875785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39140051299998 meters 0.07736529265194829 Centerline is valid? [True, True] Translation: X:150.05, Y:15.45, Z:-0.57 [[ 9.99622339e-01 -2.57846462e-02 9.50424919e-03 1.50048576e+02] [ 2.57769511e-02 9.99667285e-01 9.31278378e-04 1.54500184e+01] [-9.52509968e-03 -6.85936104e-04 9.99954400e-01 -5.71428363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42140051299998 meters 0.07820714519669746 Centerline is valid? [True, True] Translation: X:150.08, Y:15.46, Z:-0.57 [[ 9.99522416e-01 -2.92069958e-02 1.00941314e-02 1.50077866e+02] [ 2.91984881e-02 9.99573144e-01 9.89209492e-04 1.54579482e+01] [-1.01187145e-02 -6.94003685e-04 9.99948564e-01 -5.71233847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45140051299998 meters 0.060786015804308174 Centerline is valid? [True, True] Translation: X:150.11, Y:15.45, Z:-0.57 [[ 9.99333830e-01 -3.44608141e-02 1.20144709e-02 1.50109933e+02] [ 3.44491394e-02 9.99405759e-01 1.17738414e-03 1.54461151e+01] [-1.20479050e-02 -7.62711616e-04 9.99927130e-01 -5.69397160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48140051299998 meters 0.06516986647345989 Centerline is valid? [True, True] Translation: X:150.14, Y:15.46, Z:-0.57 [[ 9.99270262e-01 -3.60245403e-02 1.26954917e-02 1.50139362e+02] [ 3.60116324e-02 9.99350597e-01 1.24394881e-03 1.54564462e+01] [-1.27320598e-02 -7.85855678e-04 9.99918635e-01 -5.67423622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51140051299998 meters 0.05962210488954039 Centerline is valid? [True, True] Translation: X:150.17, Y:15.45, Z:-0.57 [[ 9.99220287e-01 -3.71503233e-02 1.33667850e-02 1.50170139e+02] [ 3.71361158e-02 9.99309358e-01 1.30962147e-03 1.54543440e+01] [-1.34062062e-02 -8.12209864e-04 9.99909803e-01 -5.66276949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54140051299999 meters 0.06788792988173066 Centerline is valid? [True, True] Translation: X:150.20, Y:15.47, Z:-0.56 [[ 9.99197583e-01 -3.76646862e-02 1.36221212e-02 1.50199020e+02] [ 3.76499789e-02 9.99290097e-01 1.33459797e-03 1.54695390e+01] [-1.36627180e-02 -8.20654490e-04 9.99906324e-01 -5.64874612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571400513 meters 0.06118822209405351 Centerline is valid? [True, True] Translation: X:150.23, Y:15.47, Z:-0.57 [[ 9.99158326e-01 -3.88855485e-02 1.30596145e-02 1.50231279e+02] [ 3.88721375e-02 9.99243374e-01 1.27927734e-03 1.54679854e+01] [-1.30994786e-02 -7.70545473e-04 9.99913901e-01 -5.66641393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601400513 meters 0.05382756385295373 Centerline is valid? [True, True] Translation: X:150.26, Y:15.46, Z:-0.57 [[ 9.99138478e-01 -3.96744515e-02 1.21753875e-02 1.50262947e+02] [ 3.96628573e-02 9.99212408e-01 1.19234946e-03 1.54622878e+01] [-1.22131041e-02 -7.08411562e-04 9.99925166e-01 -5.68937406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631400513 meters 0.05945880942320148 Centerline is valid? [True, True] Translation: X:150.29, Y:15.47, Z:-0.57 [[ 9.99126134e-01 -4.01976013e-02 1.14507881e-02 1.50292043e+02] [ 4.01873803e-02 9.99191532e-01 1.12139442e-03 1.54724689e+01] [-1.14866079e-02 -6.60237298e-04 9.99933809e-01 -5.69918495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661400513 meters 0.0525100590481243 Centerline is valid? [True, True] Translation: X:150.32, Y:15.47, Z:-0.57 [[ 9.99099102e-01 -4.09188176e-02 1.12532021e-02 1.50322547e+02] [ 4.09089930e-02 9.99162269e-01 1.10195541e-03 1.54686747e+01] [-1.12888657e-02 -6.40605489e-04 9.99936074e-01 -5.70715187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691400513 meters 0.06049968706596397 Centerline is valid? [True, True] Translation: X:150.35, Y:15.48, Z:-0.57 [[ 9.99102568e-01 -4.09667515e-02 1.07603332e-02 1.50351149e+02] [ 4.09577689e-02 9.99160323e-01 1.05392727e-03 1.54842982e+01] [-1.07944739e-02 -6.12262206e-04 9.99941551e-01 -5.71278340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721400513 meters 0.059815316887076725 Centerline is valid? [True, True] Translation: X:150.38, Y:15.49, Z:-0.57 [[ 9.99118214e-01 -4.07118458e-02 1.02635456e-02 1.50380761e+02] [ 4.07036588e-02 9.99170757e-01 1.00538600e-03 1.54898632e+01] [-1.02959657e-02 -5.86735606e-04 9.99946823e-01 -5.72543002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751400513 meters 0.05921052406267075 Centerline is valid? [True, True] Translation: X:150.41, Y:15.50, Z:-0.58 [[ 9.99189309e-01 -3.93027692e-02 8.71880010e-03 1.50409732e+02] [ 3.92968066e-02 9.99227217e-01 8.54213092e-04 1.54957027e+01] [-8.74563530e-03 -5.10899588e-04 9.99961626e-01 -5.75934800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781400513 meters 0.06732476686174892 Centerline is valid? [True, True] Translation: X:150.44, Y:15.51, Z:-0.58 [[ 9.99181214e-01 -3.94775598e-02 8.85566896e-03 1.50437117e+02] [ 3.94714126e-02 9.99220323e-01 8.67923500e-04 1.55092248e+01] [-8.88302790e-03 -5.17667093e-04 9.99960411e-01 -5.76457336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811400513 meters 0.05876965966175507 Centerline is valid? [True, True] Translation: X:150.47, Y:15.50, Z:-0.58 [[ 9.99129067e-01 -4.06745645e-02 9.31056760e-03 1.50467542e+02] [ 4.06678175e-02 9.99172305e-01 9.12917465e-04 1.55026111e+01] [-9.33999381e-03 -5.33481911e-04 9.99956239e-01 -5.76282193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841400513 meters 0.05551826372159412 Centerline is valid? [True, True] Translation: X:150.50, Y:15.50, Z:-0.58 [[ 9.99053442e-01 -4.25372890e-02 9.09936692e-03 1.50497738e+02] [ 4.25309197e-02 9.99094752e-01 8.92421067e-04 1.55026657e+01] [-9.12909092e-03 -5.04571895e-04 9.99958202e-01 -5.76741765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871400513 meters 0.052599187842607614 Centerline is valid? [True, True] Translation: X:150.53, Y:15.50, Z:-0.58 [[ 9.98866338e-01 -4.68763124e-02 8.28555040e-03 1.50526790e+02] [ 4.68711797e-02 9.98900612e-01 8.12680184e-04 1.54997566e+01] [-8.31453681e-03 -4.23405358e-04 9.99965344e-01 -5.78026310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901400513 meters 0.04930084596110226 Centerline is valid? [True, True] Translation: X:150.56, Y:15.49, Z:-0.58 [[ 9.98752727e-01 -4.92162015e-02 8.41163138e-03 1.50557836e+02] [ 4.92109928e-02 9.98788064e-01 8.25202776e-04 1.54944295e+01] [-8.44205036e-03 -4.10228792e-04 9.99964281e-01 -5.77766766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931400513 meters 0.04870817807901618 Centerline is valid? [True, True] Translation: X:150.59, Y:15.50, Z:-0.58 [[ 9.98665011e-01 -5.08876350e-02 8.86818486e-03 1.50586290e+02] [ 5.08819106e-02 9.98704298e-01 8.70073765e-04 1.54971235e+01] [-8.90097032e-03 -4.17682037e-04 9.99960298e-01 -5.76034691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961400513 meters 0.04852904590456837 Centerline is valid? [True, True] Translation: X:150.61, Y:15.50, Z:-0.58 [[ 9.98611299e-01 -5.18066465e-02 9.56786724e-03 1.50614907e+02] [ 5.18000223e-02 9.98657036e-01 9.39018913e-04 1.55007434e+01] [-9.60366537e-03 -4.42099160e-04 9.99953786e-01 -5.75396551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99140051299997 meters 0.04841970935664943 Centerline is valid? [True, True] Translation: X:150.64, Y:15.51, Z:-0.58 [[ 9.98655630e-01 -5.08947760e-02 9.83133755e-03 1.50643475e+02] [ 5.08877220e-02 9.98703913e-01 9.66487728e-04 1.55050750e+01] [-9.86778445e-03 -4.64894038e-04 9.99951204e-01 -5.75608150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02140051299997 meters 0.04990151493489878 Centerline is valid? [True, True] Translation: X:150.67, Y:15.51, Z:-0.58 [[ 9.98797437e-01 -4.80942742e-02 9.51953309e-03 1.50672952e+02] [ 4.80875187e-02 9.98842686e-01 9.37401761e-04 1.55107273e+01] [-9.55359966e-03 -4.78503750e-04 9.99954249e-01 -5.77045311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05140051299998 meters 0.06261169865974994 Centerline is valid? [True, True] Translation: X:150.70, Y:15.53, Z:-0.58 [[ 9.99153620e-01 -4.02966593e-02 8.25971636e-03 1.50700501e+02] [ 4.02913073e-02 9.99187645e-01 8.13407482e-04 1.55287707e+01] [-8.28578413e-03 -4.79924260e-04 9.99965557e-01 -5.79412574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08140051299998 meters 0.05870607198504916 Centerline is valid? [True, True] Translation: X:150.73, Y:15.53, Z:-0.58 [[ 9.99279073e-01 -3.71235681e-02 7.94822706e-03 1.50731223e+02] [ 3.71185105e-02 9.99310564e-01 7.82942135e-04 1.55286572e+01] [-7.97181287e-03 -4.87351341e-04 9.99968106e-01 -5.80186970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11140051299998 meters 0.06588319253770465 Centerline is valid? [True, True] Translation: X:150.76, Y:15.54, Z:-0.58 [[ 9.99365281e-01 -3.48064251e-02 7.58597136e-03 1.50758708e+02] [ 3.48017520e-02 9.99393956e-01 7.47206469e-04 1.55425561e+01] [-7.60738151e-03 -4.82727109e-04 9.99970947e-01 -5.81281473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14140051299998 meters 0.06588319253770465 Centerline is valid? [True, True] Translation: X:150.79, Y:15.55, Z:-0.58 [[ 9.99364507e-01 -3.48286454e-02 7.58595409e-03 1.50787790e+02] [ 3.48239715e-02 9.99393182e-01 7.47381673e-04 1.55454604e+01] [-7.60738109e-03 -4.82733668e-04 9.99970947e-01 -5.81577641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17140051299998 meters 0.06234016739032616 Centerline is valid? [True, True] Translation: X:150.82, Y:15.54, Z:-0.58 [[ 9.99411149e-01 -3.34811415e-02 7.50784999e-03 1.50817629e+02] [ 3.34765243e-02 9.99439230e-01 7.39850421e-04 1.55432500e+01] [-7.52841085e-03 -4.88078037e-04 9.99971542e-01 -5.81933895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20140051299998 meters 0.06800134965746459 Centerline is valid? [True, True] Translation: X:150.85, Y:15.55, Z:-0.58 [[ 9.99448224e-01 -3.23121538e-02 7.69232788e-03 1.50845694e+02] [ 3.23072715e-02 9.99477696e-01 7.58144592e-04 1.55518790e+01] [-7.71280743e-03 -5.09208141e-04 9.99970126e-01 -5.81171369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23140051299998 meters 0.07092197477321945 Centerline is valid? [True, True] Translation: X:150.87, Y:15.56, Z:-0.58 [[ 9.99446582e-01 -3.22605808e-02 8.11077274e-03 1.50874308e+02] [ 3.22551468e-02 9.99479347e-01 7.99928008e-04 1.55582566e+01] [-8.13235598e-03 -5.37871149e-04 9.99966787e-01 -5.80756869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26140051299998 meters 0.0678705734604457 Centerline is valid? [True, True] Translation: X:150.90, Y:15.56, Z:-0.58 [[ 9.99443610e-01 -3.21531716e-02 8.86819494e-03 1.50903652e+02] [ 3.21466702e-02 9.99482779e-01 8.74725477e-04 1.55593731e+01] [-8.89173333e-03 -5.89155850e-04 9.99960294e-01 -5.80545127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29140051299999 meters 0.06527874803027765 Centerline is valid? [True, True] Translation: X:150.93, Y:15.56, Z:-0.58 [[ 9.99439228e-01 -3.20867104e-02 9.57457692e-03 1.50934023e+02] [ 3.20791266e-02 9.99484886e-01 9.44645509e-04 1.55606121e+01] [-9.59995549e-03 -6.36971714e-04 9.99953716e-01 -5.80313716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321400513 meters 0.06672416397669843 Centerline is valid? [True, True] Translation: X:150.96, Y:15.56, Z:-0.58 [[ 9.99441095e-01 -3.18375541e-02 1.01915136e-02 1.50963830e+02] [ 3.18289486e-02 9.99492825e-01 1.00551242e-03 1.55649355e+01] [-1.02183578e-02 -6.80565274e-04 9.99947560e-01 -5.79805932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351400513 meters 0.07138952743412093 Centerline is valid? [True, True] Translation: X:150.99, Y:15.57, Z:-0.58 [[ 9.99474419e-01 -3.07969794e-02 1.01208301e-02 1.50993898e+02] [ 3.07884409e-02 9.99525425e-01 9.98423781e-04 1.55699047e+01] [-1.01467755e-02 -6.86294448e-04 9.99948285e-01 -5.79279942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381400513 meters 0.07014816249778505 Centerline is valid? [True, True] Translation: X:151.03, Y:15.57, Z:-0.58 [[ 9.99491523e-01 -3.05242683e-02 9.21764655e-03 1.51025215e+02] [ 3.05171762e-02 9.99533829e-01 9.09103714e-04 1.55705165e+01] [-9.24109928e-03 -6.27344911e-04 9.99957103e-01 -5.81102491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411400513 meters 0.07100334422567464 Centerline is valid? [True, True] Translation: X:151.05, Y:15.57, Z:-0.58 [[ 9.99503506e-01 -3.03746225e-02 8.37401866e-03 1.51054908e+02] [ 3.03687656e-02 9.99538422e-01 8.25714219e-04 1.55738525e+01] [-8.39523416e-03 -5.70995647e-04 9.99964596e-01 -5.83591568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441400513 meters 0.07136539206296312 Centerline is valid? [True, True] Translation: X:151.09, Y:15.58, Z:-0.59 [[ 9.99518775e-01 -2.99362242e-02 8.12653316e-03 1.51085737e+02] [ 2.99306949e-02 9.99551655e-01 8.01202271e-04 1.55751884e+01] [-8.14687465e-03 -5.57583928e-04 9.99966658e-01 -5.85007916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471400513 meters 0.06895098562081924 Centerline is valid? [True, True] Translation: X:151.12, Y:15.57, Z:-0.58 [[ 9.99508540e-01 -3.01165770e-02 8.69891723e-03 1.51117006e+02] [ 3.01102481e-02 9.99546216e-01 8.57634135e-04 1.55733301e+01] [-8.72079880e-03 -5.95286085e-04 9.99961796e-01 -5.84128338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501400513 meters 0.07081654906011409 Centerline is valid? [True, True] Translation: X:151.15, Y:15.58, Z:-0.58 [[ 9.99499439e-01 -3.02956781e-02 9.11283124e-03 1.51147017e+02] [ 3.02887399e-02 9.99540787e-01 8.98453207e-04 1.55767058e+01] [-9.13586576e-03 -6.21987301e-04 9.99958074e-01 -5.83617871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531400513 meters 0.06846779559092193 Centerline is valid? [True, True] Translation: X:151.18, Y:15.57, Z:-0.58 [[ 9.99487245e-01 -3.06646178e-02 9.21567948e-03 1.51177475e+02] [ 3.06575387e-02 9.99529534e-01 9.08478809e-04 1.55749096e+01] [-9.23920197e-03 -6.25482931e-04 9.99957122e-01 -5.83383806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561400513 meters 0.07205444950356961 Centerline is valid? [True, True] Translation: X:151.21, Y:15.58, Z:-0.58 [[ 9.99483985e-01 -3.08311979e-02 9.01117229e-03 1.51207792e+02] [ 3.08244361e-02 9.99524419e-01 8.88342700e-04 1.55813730e+01] [-9.03427542e-03 -6.10119997e-04 9.99959004e-01 -5.83762159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591400513 meters 0.07109863301161128 Centerline is valid? [True, True] Translation: X:151.24, Y:15.58, Z:-0.58 [[ 9.99494469e-01 -3.05813931e-02 8.69399046e-03 1.51238470e+02] [ 3.05750914e-02 9.99532105e-01 8.56855517e-04 1.55830946e+01] [-8.71612642e-03 -5.90602797e-04 9.99961839e-01 -5.84902857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621400513 meters 0.07231539187618384 Centerline is valid? [True, True] Translation: X:151.27, Y:15.59, Z:-0.59 [[ 9.99522061e-01 -2.98474346e-02 8.04867167e-03 1.51268603e+02] [ 2.98420100e-02 9.99554313e-01 7.93254692e-04 1.55863376e+01] [-8.06876110e-03 -5.52687023e-04 9.99967294e-01 -5.87983615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651400513 meters 0.07803683483706711 Centerline is valid? [True, True] Translation: X:151.30, Y:15.59, Z:-0.59 [[ 9.99533087e-01 -2.95566384e-02 7.74686767e-03 1.51297242e+02] [ 2.95516045e-02 9.99562964e-01 7.63484013e-04 1.55937440e+01] [-7.76604803e-03 -5.34195163e-04 9.99969701e-01 -5.89272156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681400513 meters 0.08010551376272042 Centerline is valid? [True, True] Translation: X:151.33, Y:15.60, Z:-0.59 [[ 9.99549280e-01 -2.90069226e-02 7.73527786e-03 1.51327032e+02] [ 2.90018867e-02 9.99579066e-01 7.62427358e-04 1.55957897e+01] [-7.75413749e-03 -5.37746065e-04 9.99969792e-01 -5.89034780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711400513 meters 0.07626209982922974 Centerline is valid? [True, True] Translation: X:151.36, Y:15.59, Z:-0.59 [[ 9.99550959e-01 -2.89976050e-02 7.55106609e-03 1.51358277e+02] [ 2.89928050e-02 9.99579343e-01 7.44375923e-04 1.55913156e+01] [-7.56947480e-03 -5.25115081e-04 9.99971213e-01 -5.88529845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74140051299997 meters 0.0637024733316681 Centerline is valid? [True, True] Translation: X:151.39, Y:15.58, Z:-0.59 [[ 9.99544586e-01 -2.94976149e-02 6.36487029e-03 1.51389942e+02] [ 2.94942149e-02 9.99564754e-01 6.27398477e-04 1.55773260e+01] [-6.38060677e-03 -4.39385899e-04 9.99979547e-01 -5.89412340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77140051299997 meters 0.0693191272864657 Centerline is valid? [True, True] Translation: X:151.42, Y:15.59, Z:-0.59 [[ 9.99545629e-01 -2.94098287e-02 6.60278446e-03 1.51417582e+02] [ 2.94061680e-02 9.99567333e-01 6.50851240e-04 1.55857968e+01] [-6.61906908e-03 -4.56392923e-04 9.99977990e-01 -5.90323338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80140051299998 meters 0.06991431844084592 Centerline is valid? [True, True] Translation: X:151.45, Y:15.59, Z:-0.59 [[ 9.99556011e-01 -2.87855999e-02 7.69220914e-03 1.51446809e+02] [ 2.87806105e-02 9.99585465e-01 7.58566587e-04 1.55869064e+01] [-7.71085624e-03 -5.36843317e-04 9.99970127e-01 -5.89512323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83140051299998 meters 0.07323149796576477 Centerline is valid? [True, True] Translation: X:151.48, Y:15.59, Z:-0.59 [[ 9.99561251e-01 -2.80996975e-02 9.36554462e-03 1.51478034e+02] [ 2.80922673e-02 9.99604907e-01 9.23998910e-04 1.55851294e+01] [-9.38780845e-03 -6.60494124e-04 9.99955715e-01 -5.87947134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86140051299998 meters 0.08043817985587051 Centerline is valid? [True, True] Translation: X:151.51, Y:15.60, Z:-0.59 [[ 9.99572472e-01 -2.71257937e-02 1.09116886e-02 1.51507407e+02] [ 2.71156498e-02 9.99631723e-01 1.07653118e-03 1.55998704e+01] [-1.09368718e-02 -7.80193408e-04 9.99939886e-01 -5.85112181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89140051299998 meters 0.06816125344301387 Centerline is valid? [True, True] Translation: X:151.54, Y:15.59, Z:-0.58 [[ 9.99597711e-01 -2.60524713e-02 1.12109144e-02 1.51540401e+02] [ 2.60416979e-02 9.99660246e-01 1.10590924e-03 1.55859537e+01] [-1.12359171e-02 -8.13513097e-04 9.99936544e-01 -5.84783168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92140051299998 meters 0.07707962920105436 Centerline is valid? [True, True] Translation: X:151.57, Y:15.60, Z:-0.59 [[ 9.99652083e-01 -2.42859012e-02 1.02911975e-02 1.51569761e+02] [ 2.42767322e-02 9.99704761e-01 1.01496248e-03 1.55951194e+01] [-1.03128084e-02 -7.64772717e-04 9.99946529e-01 -5.86220474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95140051299998 meters 0.07734291032957813 Centerline is valid? [True, True] Translation: X:151.60, Y:15.60, Z:-0.59 [[ 9.99660917e-01 -2.39232479e-02 1.02824787e-02 1.51601355e+02] [ 2.39140792e-02 9.99713504e-01 1.01372349e-03 1.55952571e+01] [-1.03037844e-02 -7.67483739e-04 9.99946620e-01 -5.86662863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98140051299998 meters 0.07475637766380211 Centerline is valid? [True, True] Translation: X:151.63, Y:15.59, Z:-0.59 [[ 9.99664887e-01 -2.37649454e-02 1.02636137e-02 1.51634203e+02] [ 2.37558044e-02 9.99717279e-01 1.01163359e-03 1.55927255e+01] [-1.02847534e-02 -7.67474177e-04 9.99946816e-01 -5.86636222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01140051299998 meters 0.07674806810113345 Centerline is valid? [True, True] Translation: X:151.67, Y:15.60, Z:-0.59 [[ 9.99662484e-01 -2.39048758e-02 1.01722432e-02 1.51665462e+02] [ 2.38959086e-02 9.99713950e-01 1.00217649e-03 1.55966820e+01] [-1.01932903e-02 -7.58763247e-04 9.99947759e-01 -5.87285223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04140051299999 meters 0.0843613865852943 Centerline is valid? [True, True] Translation: X:151.70, Y:15.61, Z:-0.59 [[ 9.99652226e-01 -2.43178322e-02 1.02014442e-02 1.51695330e+02] [ 2.43088384e-02 9.99703992e-01 1.00471305e-03 1.56082176e+01] [-1.02228569e-02 -7.56378378e-04 9.99947459e-01 -5.87408864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071400513 meters 0.07609492441938927 Centerline is valid? [True, True] Translation: X:151.73, Y:15.60, Z:-0.59 [[ 9.99637476e-01 -2.51061381e-02 9.72613799e-03 1.51728274e+02] [ 2.50980019e-02 9.99684537e-01 9.57702443e-04 1.55989255e+01] [-9.74711396e-03 -7.13248623e-04 9.99952241e-01 -5.87502029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101400513 meters 0.08693500155660264 Centerline is valid? [True, True] Translation: X:151.76, Y:15.61, Z:-0.59 [[ 9.99627363e-01 -2.52895775e-02 1.02748258e-02 1.51757248e+02] [ 2.52805107e-02 9.99679885e-01 1.01137515e-03 1.56131864e+01] [-1.02971139e-02 -7.51245428e-04 9.99946701e-01 -5.86737165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131400513 meters 0.07470011065863544 Centerline is valid? [True, True] Translation: X:151.79, Y:15.60, Z:-0.59 [[ 9.99611958e-01 -2.55954483e-02 1.09911791e-02 1.51790496e+02] [ 2.55850930e-02 9.99672063e-01 1.08174889e-03 1.55996858e+01] [-1.10152626e-02 -8.00118784e-04 9.99939010e-01 -5.85505257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161400513 meters 0.08908033176106178 Centerline is valid? [True, True] Translation: X:151.82, Y:15.62, Z:-0.59 [[ 9.99597627e-01 -2.60965794e-02 1.11154091e-02 1.51818763e+02] [ 2.60860221e-02 9.99659103e-01 1.09373836e-03 1.56199057e+01] [-1.11401627e-02 -8.03341461e-04 9.99937624e-01 -5.85666063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191400513 meters 0.070415642001082 Centerline is valid? [True, True] Translation: X:151.85, Y:15.60, Z:-0.59 [[ 9.99577429e-01 -2.76284299e-02 9.03508351e-03 1.51851747e+02] [ 2.76215176e-02 9.99618058e-01 8.88959201e-04 1.56033189e+01] [-9.05619318e-03 -6.39020834e-04 9.99958788e-01 -5.90253020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221400513 meters 0.07095880265531013 Centerline is valid? [True, True] Translation: X:151.88, Y:15.61, Z:-0.59 [[ 9.99556712e-01 -2.84226131e-02 8.86193420e-03 1.51881213e+02] [ 2.84159953e-02 9.99595804e-01 8.71811952e-04 1.56084749e+01] [-8.88313141e-03 -6.19604808e-04 9.99960352e-01 -5.91331299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251400513 meters 0.07669584135326404 Centerline is valid? [True, True] Translation: X:151.91, Y:15.62, Z:-0.59 [[ 9.99533127e-01 -2.90853738e-02 9.35786741e-03 1.51909534e+02] [ 2.90780235e-02 9.99576721e-01 9.20592394e-04 1.56195787e+01] [-9.38068220e-03 -6.48054305e-04 9.99955790e-01 -5.91181580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281400513 meters 0.07074835574575886 Centerline is valid? [True, True] Translation: X:151.94, Y:15.62, Z:-0.59 [[ 9.99505315e-01 -2.98676170e-02 9.85140658e-03 1.51941191e+02] [ 2.98595075e-02 9.99553636e-01 9.69265101e-04 1.56156224e+01] [-9.87595891e-03 -6.74627471e-04 9.99951004e-01 -5.90238939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311400513 meters 0.06642014318073475 Centerline is valid? [True, True] Translation: X:151.97, Y:15.61, Z:-0.59 [[ 9.99447404e-01 -3.16836417e-02 1.00515640e-02 1.51972614e+02] [ 3.16752919e-02 9.99497723e-01 9.88844863e-04 1.56119227e+01] [-1.00778456e-02 -6.69912206e-04 9.99948993e-01 -5.90141891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341400513 meters 0.062301139490089225 Centerline is valid? [True, True] Translation: X:152.00, Y:15.61, Z:-0.59 [[ 9.99281119e-01 -3.69535281e-02 8.46650770e-03 1.52002794e+02] [ 3.69477931e-02 9.99316850e-01 8.32841275e-04 1.56090531e+01] [-8.49150023e-03 -5.19423786e-04 9.99963812e-01 -5.91575966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371400513 meters 0.05915076077087416 Centerline is valid? [True, True] Translation: X:152.03, Y:15.61, Z:-0.59 [[ 9.99189290e-01 -3.95587355e-02 7.47460671e-03 1.52033435e+02] [ 3.95543376e-02 9.99217150e-01 7.35347177e-04 1.56079236e+01] [-7.49784462e-03 -4.39097906e-04 9.99971794e-01 -5.93454345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401400513 meters 0.05963570896961705 Centerline is valid? [True, True] Translation: X:152.06, Y:15.61, Z:-0.59 [[ 9.99122984e-01 -4.12751142e-02 7.04469434e-03 1.52061999e+02] [ 4.12712507e-02 9.99147739e-01 6.92977654e-04 1.56118775e+01] [-7.06729315e-03 -4.01626555e-04 9.99974946e-01 -5.94591953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431400513 meters 0.057491958230750886 Centerline is valid? [True, True] Translation: X:152.09, Y:15.61, Z:-0.59 [[ 9.99093995e-01 -4.19423305e-02 7.21315336e-03 1.52091043e+02] [ 4.19382982e-02 9.99119951e-01 7.09443624e-04 1.56131437e+01] [-7.23656115e-03 -4.06293488e-04 9.99973733e-01 -5.94781191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461400513 meters 0.05885514142173758 Centerline is valid? [True, True] Translation: X:152.12, Y:15.62, Z:-0.59 [[ 9.99177152e-01 -3.98279623e-02 7.66498071e-03 1.52121053e+02] [ 3.98233338e-02 9.99206451e-01 7.55581279e-04 1.56207381e+01] [-7.68899144e-03 -4.49714465e-04 9.99970338e-01 -5.94589217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49140051299997 meters 0.0682559667151858 Centerline is valid? [True, True] Translation: X:152.15, Y:15.64, Z:-0.60 [[ 9.99270398e-01 -3.74678170e-02 7.40498237e-03 1.52148978e+02] [ 3.74634329e-02 9.99297733e-01 7.29915237e-04 1.56369094e+01] [-7.42713042e-03 -4.51966629e-04 9.99972316e-01 -5.95937133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52140051299997 meters 0.06129255721655878 Centerline is valid? [True, True] Translation: X:152.18, Y:15.63, Z:-0.60 [[ 9.99371506e-01 -3.48095885e-02 6.69970914e-03 1.52180088e+02] [ 3.48059396e-02 9.99393871e-01 6.60508483e-04 1.56328112e+01] [-6.71864028e-03 -4.26903685e-04 9.99977339e-01 -5.96757159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55140051299998 meters 0.066899217718505 Centerline is valid? [True, True] Translation: X:152.21, Y:15.64, Z:-0.60 [[ 9.99448439e-01 -3.26720003e-02 5.94631078e-03 1.52207861e+02] [ 3.26690886e-02 9.99466051e-01 5.86169229e-04 1.56434052e+01] [-5.96228707e-03 -3.91585367e-04 9.99982149e-01 -5.98508210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58140051299998 meters 0.0695372277442068 Centerline is valid? [True, True] Translation: X:152.24, Y:15.65, Z:-0.60 [[ 9.99500589e-01 -3.11333147e-02 5.41198055e-03 1.52236386e+02] [ 3.11308797e-02 9.99515174e-01 5.33601196e-04 1.56500784e+01] [-5.42596946e-03 -3.64854994e-04 9.99985213e-01 -5.99543227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61140051299998 meters 0.06981913854686289 Centerline is valid? [True, True] Translation: X:152.26, Y:15.65, Z:-0.60 [[ 9.99515780e-01 -3.06686892e-02 5.25707265e-03 1.52264907e+02] [ 3.06663880e-02 9.99529542e-01 5.17793884e-04 1.56541211e+01] [-5.27047948e-03 -3.56327728e-04 9.99986047e-01 -6.00434532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64140051299998 meters 0.06788484225303666 Centerline is valid? [True, True] Translation: X:152.29, Y:15.66, Z:-0.60 [[ 9.99479606e-01 -3.17347455e-02 5.78131376e-03 1.52293710e+02] [ 3.17319714e-02 9.99496251e-01 5.70966866e-04 1.56574796e+01] [-5.79652092e-03 -3.87217255e-04 9.99983125e-01 -6.00780867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67140051299998 meters 0.06602307495468623 Centerline is valid? [True, True] Translation: X:152.32, Y:15.66, Z:-0.60 [[ 9.99438665e-01 -3.29611268e-02 5.99327569e-03 1.52323927e+02] [ 3.29581650e-02 9.99456557e-01 5.92320420e-04 1.56594938e+01] [-6.00954223e-03 -3.94460560e-04 9.99981865e-01 -6.00849559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70140051299998 meters 0.06475926765868553 Centerline is valid? [True, True] Translation: X:152.35, Y:15.66, Z:-0.60 [[ 9.99375787e-01 -3.47806422e-02 6.19211821e-03 1.52354104e+02] [ 3.47775148e-02 9.99394892e-01 6.12045906e-04 1.56622008e+01] [-6.20965865e-03 -3.96317377e-04 9.99980641e-01 -6.00690605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73140051299998 meters 0.06855098292523082 Centerline is valid? [True, True] Translation: X:152.38, Y:15.67, Z:-0.60 [[ 9.99221607e-01 -3.91411373e-02 4.91443630e-03 1.52382799e+02] [ 3.91392200e-02 9.99233649e-01 4.85747235e-04 1.56710170e+01] [-4.92968282e-03 -2.93021930e-04 9.99987806e-01 -6.02792725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76140051299998 meters 0.061721551757770166 Centerline is valid? [True, True] Translation: X:152.41, Y:15.67, Z:-0.60 [[ 9.99148141e-01 -4.09982287e-02 4.70515207e-03 1.52413074e+02] [ 4.09964914e-02 9.99159182e-01 4.65127594e-04 1.56659067e+01] [-4.72026530e-03 -2.71836644e-04 9.99988823e-01 -6.02595581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79140051299999 meters 0.058463240795714286 Centerline is valid? [True, True] Translation: X:152.44, Y:15.66, Z:-0.60 [[ 9.99099719e-01 -4.20550683e-02 5.57877452e-03 1.52442686e+02] [ 4.20526446e-02 9.99115244e-01 5.51091737e-04 1.56645023e+01] [-5.59701487e-03 -3.15993378e-04 9.99984287e-01 -6.01114536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821400513 meters 0.057800615288556345 Centerline is valid? [True, True] Translation: X:152.47, Y:15.67, Z:-0.60 [[ 9.99072599e-01 -4.24761301e-02 7.05132640e-03 1.52471817e+02] [ 4.24722586e-02 9.99097403e-01 6.97950937e-04 1.56662952e+01] [-7.07460814e-03 -3.97817898e-04 9.99974896e-01 -5.98965712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851400513 meters 0.058273691755703926 Centerline is valid? [True, True] Translation: X:152.50, Y:15.67, Z:-0.60 [[ 9.99078061e-01 -4.21750449e-02 8.01830983e-03 1.52500203e+02] [ 4.21700170e-02 9.99110133e-01 7.95158463e-04 1.56701126e+01] [-8.04471045e-03 -4.56293113e-04 9.99967537e-01 -5.98169657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881400513 meters 0.05922970729578587 Centerline is valid? [True, True] Translation: X:152.53, Y:15.68, Z:-0.60 [[ 9.99097294e-01 -4.17114153e-02 8.04702294e-03 1.52528359e+02] [ 4.17063261e-02 9.99129593e-01 7.99288868e-04 1.56755060e+01] [-8.07335823e-03 -4.62955582e-04 9.99967303e-01 -5.98678769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911400513 meters 0.06045197405401537 Centerline is valid? [True, True] Translation: X:152.56, Y:15.68, Z:-0.60 [[ 9.99122685e-01 -4.11519670e-02 7.77020688e-03 1.52556841e+02] [ 4.11471959e-02 9.99152797e-01 7.72964498e-04 1.56814094e+01] [-7.79543294e-03 -4.52564140e-04 9.99969513e-01 -5.99802340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941400513 meters 0.0627967047167054 Centerline is valid? [True, True] Translation: X:152.59, Y:15.69, Z:-0.60 [[ 9.99235808e-01 -3.83406639e-02 7.60214074e-03 1.52586701e+02] [ 3.83360041e-02 9.99264618e-01 7.57792780e-04 1.56888470e+01] [-7.62560454e-03 -4.65777983e-04 9.99970816e-01 -6.00056884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971400513 meters 0.07046756481357214 Centerline is valid? [True, True] Translation: X:152.62, Y:15.70, Z:-0.60 [[ 9.99306740e-01 -3.62410801e-02 8.52190715e-03 1.52615207e+02] [ 3.62351484e-02 9.99342930e-01 8.49478717e-04 1.57002148e+01] [-8.54709369e-03 -5.40097238e-04 9.99963327e-01 -5.98596266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001400513 meters 0.06680185341719673 Centerline is valid? [True, True] Translation: X:152.65, Y:15.70, Z:-0.60 [[ 9.99369343e-01 -3.41827815e-02 9.61533398e-03 1.52645699e+02] [ 3.41751334e-02 9.99415400e-01 9.58636440e-04 1.56975147e+01] [-9.64248171e-03 -6.29426547e-04 9.99953312e-01 -5.96594050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031400513 meters 0.06680185341719673 Centerline is valid? [True, True] Translation: X:152.67, Y:15.70, Z:-0.60 [[ 9.99368584e-01 -3.42049445e-02 9.61532386e-03 1.52674781e+02] [ 3.41972965e-02 9.99414642e-01 9.58737986e-04 1.57004530e+01] [-9.64248902e-03 -6.29314544e-04 9.99953312e-01 -5.96890277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061400513 meters 0.06742592735747904 Centerline is valid? [True, True] Translation: X:152.71, Y:15.70, Z:-0.60 [[ 9.99416240e-01 -3.26505963e-02 1.00557728e-02 1.52705360e+02] [ 3.26421509e-02 9.99466600e-01 1.00289110e-03 1.57036503e+01] [-1.00831540e-02 -6.74063595e-04 9.99948937e-01 -5.96350892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091400513 meters 0.07083924632790799 Centerline is valid? [True, True] Translation: X:152.73, Y:15.71, Z:-0.60 [[ 9.99495948e-01 -3.04468220e-02 8.99112612e-03 1.52733995e+02] [ 3.04399816e-02 9.99536194e-01 8.96699134e-04 1.57107605e+01] [-9.01425762e-03 -6.22557438e-04 9.99959177e-01 -5.99030217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121400513 meters 0.07628770242860661 Centerline is valid? [True, True] Translation: X:152.76, Y:15.72, Z:-0.60 [[ 9.99540263e-01 -2.92893224e-02 7.83566029e-03 1.52763616e+02] [ 2.92840909e-02 9.99570823e-01 7.81581606e-04 1.57201121e+01] [-7.85518941e-03 -5.51762096e-04 9.99968995e-01 -6.01480153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151400513 meters 0.07607097300584288 Centerline is valid? [True, True] Translation: X:152.79, Y:15.72, Z:-0.60 [[ 9.99582135e-01 -2.80521452e-02 6.97375236e-03 1.52793471e+02] [ 2.80479723e-02 9.99606336e-01 6.95475694e-04 1.57222757e+01] [-6.99051664e-03 -4.99585466e-04 9.99975441e-01 -6.03586483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181400513 meters 0.07709780709287639 Centerline is valid? [True, True] Translation: X:152.82, Y:15.73, Z:-0.61 [[ 9.99650610e-01 -2.56451970e-02 6.40174153e-03 1.52823246e+02] [ 2.56416309e-02 9.99670995e-01 6.38528152e-04 1.57270121e+01] [-6.41601051e-03 -4.74153963e-04 9.99979305e-01 -6.05698725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211400513 meters 0.07724587087104429 Centerline is valid? [True, True] Translation: X:152.85, Y:15.73, Z:-0.61 [[ 9.99683395e-01 -2.42014610e-02 6.88475222e-03 1.52853668e+02] [ 2.41973023e-02 9.99706967e-01 6.86714569e-04 1.57316469e+01] [-6.89935425e-03 -5.19904721e-04 9.99976064e-01 -6.05901635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24140051299997 meters 0.07715692318395599 Centerline is valid? [True, True] Translation: X:152.88, Y:15.74, Z:-0.61 [[ 9.99712453e-01 -2.27371506e-02 7.61798187e-03 1.52883601e+02] [ 2.27320168e-02 9.99741306e-01 7.59822454e-04 1.57358057e+01] [-7.63328734e-03 -5.86431877e-04 9.99970694e-01 -6.05175175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27140051299997 meters 0.07877724010568715 Centerline is valid? [True, True] Translation: X:152.91, Y:15.74, Z:-0.60 [[ 9.99747088e-01 -2.08094243e-02 8.52804324e-03 1.52914152e+02] [ 2.08029198e-02 9.99783234e-01 8.50724316e-04 1.57410674e+01] [-8.54389774e-03 -6.73100958e-04 9.99963274e-01 -6.03848144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30140051299998 meters 0.0813662138644493 Centerline is valid? [True, True] Translation: X:152.94, Y:15.75, Z:-0.60 [[ 9.99783084e-01 -1.90173305e-02 8.49267906e-03 1.52943744e+02] [ 1.90108160e-02 9.99818919e-01 8.47150614e-04 1.57469657e+01] [-8.50725174e-03 -6.85514095e-04 9.99963578e-01 -6.03494554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33140051299998 meters 0.08324752614834245 Centerline is valid? [True, True] Translation: X:152.97, Y:15.75, Z:-0.61 [[ 9.99817565e-01 -1.79140392e-02 6.62748784e-03 1.52974412e+02] [ 1.79100474e-02 9.99839384e-01 6.61184124e-04 1.57521374e+01] [-6.63826783e-03 -5.42364880e-04 9.99977819e-01 -6.07887780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36140051299998 meters 0.08756919841741664 Centerline is valid? [True, True] Translation: X:153.00, Y:15.76, Z:-0.61 [[ 9.99810750e-01 -1.86270028e-02 5.61244976e-03 1.53004056e+02] [ 1.86241514e-02 9.99826399e-01 5.59874928e-04 1.57604982e+01] [-5.62190423e-03 -4.55241857e-04 9.99984093e-01 -6.10998406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39140051299998 meters 0.07946554472926788 Centerline is valid? [True, True] Translation: X:153.04, Y:15.75, Z:-0.61 [[ 9.99785819e-01 -2.00377501e-02 5.17738521e-03 1.53035347e+02] [ 2.00353430e-02 9.99799139e-01 5.16372551e-04 1.57538508e+01] [-5.18669222e-03 -4.12531265e-04 9.99986464e-01 -6.12549788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42140051299998 meters 0.07446030354010048 Centerline is valid? [True, True] Translation: X:153.07, Y:15.75, Z:-0.61 [[ 9.99747270e-01 -2.18265469e-02 5.38500958e-03 1.53066430e+02] [ 2.18239688e-02 9.99761685e-01 5.37059828e-04 1.57505456e+01] [-5.39544841e-03 -4.19401816e-04 9.99985357e-01 -6.12243913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45140051299998 meters 0.07459889151064658 Centerline is valid? [True, True] Translation: X:153.10, Y:15.75, Z:-0.61 [[ 9.99670823e-01 -2.49265088e-02 6.07567325e-03 1.53095533e+02] [ 2.49232839e-02 9.99689183e-01 6.05938213e-04 1.57527220e+01] [-6.08888875e-03 -4.54313023e-04 9.99981359e-01 -6.10073132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48140051299998 meters 0.07714168266100106 Centerline is valid? [True, True] Translation: X:153.13, Y:15.75, Z:-0.61 [[ 9.99642701e-01 -2.59750942e-02 6.30600991e-03 1.53125507e+02] [ 2.59716408e-02 9.99662482e-01 6.28916332e-04 1.57549425e+01] [-6.32021768e-03 -4.64914196e-04 9.99979919e-01 -6.10310755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51140051299998 meters 0.07644843792870225 Centerline is valid? [True, True] Translation: X:153.15, Y:15.76, Z:-0.61 [[ 9.99641000e-01 -2.59425239e-02 6.69743379e-03 1.53154249e+02] [ 2.59386255e-02 9.99663314e-01 6.68287164e-04 1.57600972e+01] [-6.71251592e-03 -4.94325022e-04 9.99977349e-01 -6.10261710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54140051299999 meters 0.07366319729603901 Centerline is valid? [True, True] Translation: X:153.19, Y:15.76, Z:-0.61 [[ 9.99632602e-01 -2.62002506e-02 6.94318698e-03 1.53185292e+02] [ 2.61960663e-02 9.99656584e-01 6.92925870e-04 1.57597238e+01] [-6.95895741e-03 -5.10787103e-04 9.99975656e-01 -6.10602526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571400513 meters 0.0731415123152536 Centerline is valid? [True, True] Translation: X:153.22, Y:15.76, Z:-0.61 [[ 9.99626641e-01 -2.63387574e-02 7.26969254e-03 1.53215640e+02] [ 2.63341740e-02 9.99652932e-01 7.25510927e-04 1.57623287e+01] [-7.28627852e-03 -5.33798703e-04 9.99973312e-01 -6.10843234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601400513 meters 0.06329417418322746 Centerline is valid? [True, True] Translation: X:153.25, Y:15.75, Z:-0.61 [[ 9.99651622e-01 -2.53758533e-02 7.25955413e-03 1.53245120e+02] [ 2.53649907e-02 9.99677001e-01 1.58451606e-03 1.57522757e+01] [-7.29741775e-03 -1.39982553e-03 9.99972394e-01 -6.10374480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631400513 meters 0.08293056803360087 Centerline is valid? [True, True] Translation: X:153.27, Y:15.78, Z:-0.61 [[ 9.99669941e-01 -2.48114211e-02 6.66352335e-03 1.53273479e+02] [ 2.48130601e-02 9.99692095e-01 -1.63407898e-04 1.57834914e+01] [-6.65741724e-03 3.28696369e-04 9.99977785e-01 -6.12224295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661400513 meters 0.08842319734965694 Centerline is valid? [True, True] Translation: X:153.30, Y:15.79, Z:-0.62 [[ 9.99724618e-01 -2.29481780e-02 4.90599866e-03 1.53302093e+02] [ 2.29460502e-02 9.99736585e-01 4.89567967e-04 1.57939917e+01] [-4.91594104e-03 -3.76859857e-04 9.99987846e-01 -6.15430889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691400513 meters 0.07999548789002607 Centerline is valid? [True, True] Translation: X:153.33, Y:15.79, Z:-0.62 [[ 9.99786507e-01 -2.03628372e-02 3.50641396e-03 1.53333109e+02] [ 2.03617342e-02 9.99792617e-01 3.49983273e-04 1.57883585e+01] [-3.51281344e-03 -2.78511885e-04 9.99993791e-01 -6.16989725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721400513 meters 0.09322445303426276 Centerline is valid? [True, True] Translation: X:153.36, Y:15.81, Z:-0.62 [[ 9.99876112e-01 -1.54205470e-02 3.15716890e-03 1.53359776e+02] [ 1.54196281e-02 9.99881061e-01 3.15185384e-04 1.58125140e+01] [-3.16165372e-03 -2.66463966e-04 9.99994966e-01 -6.18644436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751400513 meters 0.08684029711263247 Centerline is valid? [True, True] Translation: X:153.39, Y:15.81, Z:-0.62 [[ 9.99902705e-01 -1.31608710e-02 4.62307787e-03 1.53390836e+02] [ 1.31588774e-02 9.99913312e-01 4.61371236e-04 1.58108088e+01] [-4.62874915e-03 -4.00491832e-04 9.99989207e-01 -6.16174510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781400513 meters 0.08275963282442772 Centerline is valid? [True, True] Translation: X:153.42, Y:15.81, Z:-0.61 [[ 9.99914983e-01 -1.13741803e-02 6.37604443e-03 1.53422406e+02] [ 1.13703517e-02 9.99935153e-01 6.36400592e-04 1.58083422e+01] [-6.38286950e-03 -5.63848620e-04 9.99979470e-01 -6.13773124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811400513 meters 0.09055104931744036 Centerline is valid? [True, True] Translation: X:153.45, Y:15.82, Z:-0.61 [[ 9.99921453e-01 -9.72311940e-03 7.90876544e-03 1.53450943e+02] [ 9.71717843e-03 9.99952476e-01 7.89268573e-04 1.58234168e+01] [-7.91606373e-03 -7.12355693e-04 9.99968414e-01 -6.11086102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841400513 meters 0.09015450321591321 Centerline is valid? [True, True] Translation: X:153.48, Y:15.83, Z:-0.61 [[ 9.99920943e-01 -9.62289345e-03 8.09365276e-03 1.53483031e+02] [ 9.61666746e-03 9.99953432e-01 8.07810917e-04 1.58262020e+01] [-8.10104934e-03 -7.29913087e-04 9.99966920e-01 -6.10443533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871400513 meters 0.08764897892754094 Centerline is valid? [True, True] Translation: X:153.51, Y:15.83, Z:-0.61 [[ 9.99920381e-01 -1.04714329e-02 7.04130164e-03 1.53514446e+02] [ 1.04667439e-02 9.99944975e-01 7.02456994e-04 1.58271105e+01] [-7.04826993e-03 -6.28701565e-04 9.99974963e-01 -6.12343348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901400513 meters 0.08638231029639547 Centerline is valid? [True, True] Translation: X:153.54, Y:15.83, Z:-0.62 [[ 9.99897692e-01 -1.31631969e-02 5.59782163e-03 1.53544294e+02] [ 1.31602762e-02 9.99913244e-01 5.58269082e-04 1.58314897e+01] [-5.60468459e-03 -4.84543088e-04 9.99984176e-01 -6.15592556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931400513 meters 0.08711954980259852 Centerline is valid? [True, True] Translation: X:153.57, Y:15.84, Z:-0.62 [[ 9.99879044e-01 -1.43339026e-02 6.03629792e-03 1.53574132e+02] [ 1.43305276e-02 9.99897131e-01 6.02007294e-04 1.58355057e+01] [-6.04430609e-03 -5.15431144e-04 9.99981600e-01 -6.15318905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961400513 meters 0.08391051216797926 Centerline is valid? [True, True] Translation: X:153.61, Y:15.83, Z:-0.61 [[ 9.99862571e-01 -1.51920137e-02 6.63642316e-03 1.53606065e+02] [ 1.51879525e-02 9.99884437e-01 6.61935848e-04 1.58333846e+01] [-6.64571238e-03 -5.61051199e-04 9.99977760e-01 -6.14078512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99140051299997 meters 0.08685426454542663 Centerline is valid? [True, True] Translation: X:153.64, Y:15.84, Z:-0.61 [[ 9.99848488e-01 -1.58941505e-02 7.09770744e-03 1.53636576e+02] [ 1.58895238e-02 9.99873503e-01 7.07770358e-04 1.58386041e+01] [-7.10805901e-03 -5.94883930e-04 9.99974560e-01 -6.13429732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02140051299997 meters 0.0904774875512361 Centerline is valid? [True, True] Translation: X:153.67, Y:15.85, Z:-0.61 [[ 9.99840734e-01 -1.67173284e-02 6.24800710e-03 1.53666548e+02] [ 1.67137602e-02 9.99860121e-01 6.22884107e-04 1.58456960e+01] [-6.25754610e-03 -5.18357210e-04 9.99980287e-01 -6.14779152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05140051299998 meters 0.0883373697153279 Centerline is valid? [True, True] Translation: X:153.70, Y:15.85, Z:-0.62 [[ 9.99840317e-01 -1.70160505e-02 5.45849507e-03 1.53697865e+02] [ 1.70133315e-02 9.99855115e-01 5.44177950e-04 1.58466682e+01] [-5.46696398e-03 -4.51223868e-04 9.99984954e-01 -6.16384960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08140051299998 meters 0.08363933352598525 Centerline is valid? [True, True] Translation: X:153.73, Y:15.84, Z:-0.62 [[ 9.99834720e-01 -1.74122816e-02 5.22928210e-03 1.53729645e+02] [ 1.74097921e-02 9.99848302e-01 5.21225546e-04 1.58440060e+01] [-5.23756455e-03 -4.30098684e-04 9.99986191e-01 -6.16966995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11140051299998 meters 0.077952791136831 Centerline is valid? [True, True] Translation: X:153.76, Y:15.84, Z:-0.62 [[ 9.99808892e-01 -1.85951102e-02 6.03336437e-03 1.53760634e+02] [ 1.85918191e-02 9.99826976e-01 6.01115037e-04 1.58406441e+01] [-6.04349826e-03 -4.88828940e-04 9.99981618e-01 -6.15602980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14140051299998 meters 0.0825139764260132 Centerline is valid? [True, True] Translation: X:153.79, Y:15.85, Z:-0.61 [[ 9.99775977e-01 -1.98275127e-02 7.40713853e-03 1.53789177e+02] [ 1.98225851e-02 9.99803241e-01 7.38077953e-04 1.58498598e+01] [-7.42031536e-03 -5.91083973e-04 9.99972294e-01 -6.14349359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17140051299998 meters 0.07985901462817896 Centerline is valid? [True, True] Translation: X:153.82, Y:15.85, Z:-0.61 [[ 9.99747856e-01 -2.09628711e-02 8.04873698e-03 1.53820409e+02] [ 2.09570921e-02 9.99780055e-01 8.01680832e-04 1.58506653e+01] [-8.06377223e-03 -6.32800571e-04 9.99967287e-01 -6.13477430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20140051299998 meters 0.0813011455200103 Centerline is valid? [True, True] Translation: X:153.85, Y:15.85, Z:-0.62 [[ 9.99754112e-01 -2.13578628e-02 5.96300702e-03 1.53850179e+02] [ 2.13416099e-02 9.99768388e-01 2.77607537e-03 1.58547251e+01] [-6.02091695e-03 -2.64813259e-03 9.99978368e-01 -6.15150896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23140051299998 meters 0.07744360846735562 Centerline is valid? [True, True] Translation: X:153.88, Y:15.86, Z:-0.62 [[ 9.99729220e-01 -2.26365958e-02 5.39184077e-03 1.53882071e+02] [ 2.26448051e-02 9.99742498e-01 -1.46639513e-03 1.58593775e+01] [-5.35725816e-03 1.58809524e-03 9.99984389e-01 -6.17694778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26140051299998 meters 0.08661205618416241 Centerline is valid? [True, True] Translation: X:153.91, Y:15.88, Z:-0.62 [[ 9.99690805e-01 -2.43303779e-02 5.13091401e-03 1.53910663e+02] [ 2.43280749e-02 9.99703898e-01 5.10803745e-04 1.58761213e+01] [-5.14182278e-03 -3.85820548e-04 9.99986706e-01 -6.18201707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29140051299999 meters 0.0756319561036987 Centerline is valid? [True, True] Translation: X:153.94, Y:15.87, Z:-0.62 [[ 9.99642995e-01 -2.59419492e-02 6.39511737e-03 1.53941884e+02] [ 2.59384045e-02 9.99663340e-01 6.36619000e-04 1.58676170e+01] [-6.40947952e-03 -4.70512583e-04 9.99979348e-01 -6.15652787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321400513 meters 0.07427474474520096 Centerline is valid? [True, True] Translation: X:153.97, Y:15.87, Z:-0.61 [[ 9.99580082e-01 -2.79300384e-02 7.71839062e-03 1.53971939e+02] [ 2.79249328e-02 9.99609728e-01 7.68478159e-04 1.58699041e+01] [-7.73684197e-03 -5.52619922e-04 9.99969917e-01 -6.13832463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351400513 meters 0.0787669567053306 Centerline is valid? [True, True] Translation: X:154.00, Y:15.88, Z:-0.61 [[ 9.99508729e-01 -3.01175172e-02 8.67388670e-03 1.54001339e+02] [ 3.01111511e-02 9.99546183e-01 8.63629201e-04 1.58782127e+01] [-8.69596071e-03 -6.02024212e-04 9.99962008e-01 -6.12874889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381400513 meters 0.0684623653979144 Centerline is valid? [True, True] Translation: X:154.03, Y:15.87, Z:-0.61 [[ 9.99425899e-01 -3.26657883e-02 8.98995812e-03 1.54032784e+02] [ 3.26590518e-02 9.99466150e-01 8.95161077e-04 1.58678555e+01] [-9.01439997e-03 -6.01043655e-04 9.99959189e-01 -6.12541063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411400513 meters 0.06858991382999914 Centerline is valid? [True, True] Translation: X:154.06, Y:15.87, Z:-0.61 [[ 9.99327321e-01 -3.55631973e-02 8.95342134e-03 1.54061932e+02] [ 3.55566315e-02 9.99367265e-01 8.91494397e-04 1.58693601e+01] [-8.97946059e-03 -5.72541205e-04 9.99959520e-01 -6.13087770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441400513 meters 0.059597856610671386 Centerline is valid? [True, True] Translation: X:154.09, Y:15.86, Z:-0.61 [[ 9.99111629e-01 -4.14010991e-02 7.86775182e-03 1.54093424e+02] [ 4.13962087e-02 9.99142502e-01 7.83485601e-04 1.58564820e+01] [-7.89344240e-03 -4.57094480e-04 9.99968742e-01 -6.14463673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471400513 meters 0.05693821089145577 Centerline is valid? [True, True] Translation: X:154.12, Y:15.86, Z:-0.61 [[ 9.99043341e-01 -4.30705883e-02 7.57147548e-03 1.54122459e+02] [ 4.30661074e-02 9.99071940e-01 7.53944032e-04 1.58578397e+01] [-7.59692152e-03 -4.27148788e-04 9.99971052e-01 -6.13884053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501400513 meters 0.058478776925813845 Centerline is valid? [True, True] Translation: X:154.15, Y:15.86, Z:-0.61 [[ 9.98987233e-01 -4.44119558e-02 7.21708348e-03 1.54149742e+02] [ 4.44079190e-02 9.99013223e-01 7.18710460e-04 1.58617918e+01] [-7.24188117e-03 -3.97486915e-04 9.99973698e-01 -6.14550331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531400513 meters 0.05141651715464949 Centerline is valid? [True, True] Translation: X:154.18, Y:15.85, Z:-0.62 [[ 9.98941526e-01 -4.55197727e-02 6.61656080e-03 1.54179570e+02] [ 4.55164015e-02 9.98963374e-01 6.59274261e-04 1.58546469e+01] [-6.63971191e-03 -3.57414398e-04 9.99977893e-01 -6.15094740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561400513 meters 0.05632819617436154 Centerline is valid? [True, True] Translation: X:154.21, Y:15.86, Z:-0.62 [[ 9.98894998e-01 -4.65489360e-02 6.47923142e-03 1.54207386e+02] [ 4.65457258e-02 9.98915952e-01 6.45459382e-04 1.58615452e+01] [-6.50225307e-03 -3.43165619e-04 9.99978801e-01 -6.16318575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591400513 meters 0.055983529943173106 Centerline is valid? [True, True] Translation: X:154.23, Y:15.85, Z:-0.62 [[ 9.98842678e-01 -4.75933214e-02 6.94117852e-03 1.54233631e+02] [ 4.75572326e-02 9.98854587e-01 5.27486633e-03 1.58535125e+01] [-7.18427641e-03 -4.93865837e-03 9.99961997e-01 -6.15927550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621400513 meters 0.046671045252754 Centerline is valid? [True, True] Translation: X:154.27, Y:15.85, Z:-0.62 [[ 9.98757096e-01 -4.92248700e-02 7.82145710e-03 1.54266456e+02] [ 4.92479236e-02 9.98782709e-01 -2.78262622e-03 1.58502924e+01] [-7.67496170e-03 3.16435820e-03 9.99965540e-01 -6.16808042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651400513 meters 0.05057800140649128 Centerline is valid? [True, True] Translation: X:154.29, Y:15.85, Z:-0.62 [[ 9.98683305e-01 -5.06548426e-02 8.10822316e-03 1.54294896e+02] [ 5.06499433e-02 9.98716141e-01 8.08569310e-04 1.58508706e+01] [-8.13877129e-03 -3.96823628e-04 9.99966801e-01 -6.15636971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681400513 meters 0.048466442238917135 Centerline is valid? [True, True] Translation: X:154.32, Y:15.85, Z:-0.62 [[ 9.98589427e-01 -5.24218852e-02 8.43224872e-03 1.54324820e+02] [ 5.24166475e-02 9.98624948e-01 8.41106798e-04 1.58469280e+01] [-8.46474635e-03 -3.97930146e-04 9.99964094e-01 -6.15192045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711400513 meters 0.0415405544705835 Centerline is valid? [True, True] Translation: X:154.36, Y:15.84, Z:-0.62 [[ 9.98475403e-01 -5.45487330e-02 8.44426429e-03 1.54355444e+02] [ 5.45435436e-02 9.98511036e-01 8.43799899e-04 1.58372280e+01] [-8.47771930e-03 -3.81933347e-04 9.99963991e-01 -6.15606557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74140051299997 meters 0.04509236176998129 Centerline is valid? [True, True] Translation: X:154.38, Y:15.84, Z:-0.62 [[ 9.98355505e-01 -5.67390260e-02 8.18342581e-03 1.54384474e+02] [ 5.67342241e-02 9.98388982e-01 8.17924436e-04 1.58400608e+01] [-8.21665039e-03 -3.52299050e-04 9.99966181e-01 -6.17290917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77140051299997 meters 0.041424785989185794 Centerline is valid? [True, True] Translation: X:154.42, Y:15.83, Z:-0.62 [[ 9.98172724e-01 -5.99649553e-02 7.44432360e-03 1.54415724e+02] [ 5.99610697e-02 9.98200439e-01 7.44244185e-04 1.58281497e+01] [-7.47555565e-03 -2.96514638e-04 9.99972014e-01 -6.19672502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80140051299998 meters 0.04154792699202026 Centerline is valid? [True, True] Translation: X:154.44, Y:15.83, Z:-0.62 [[ 9.98123455e-01 -6.07232040e-02 7.89053301e-03 1.54443785e+02] [ 6.07188625e-02 9.98154596e-01 7.88837609e-04 1.58255505e+01] [-7.92387254e-03 -3.08253131e-04 9.99968558e-01 -6.19132359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83140051299998 meters 0.040346858912815406 Centerline is valid? [True, True] Translation: X:154.47, Y:15.82, Z:-0.62 [[ 9.98092898e-01 -6.11119585e-02 8.71180784e-03 1.54473936e+02] [ 6.11066776e-02 9.98130861e-01 8.71326442e-04 1.58186351e+01] [-8.74877272e-03 -3.37315101e-04 9.99961672e-01 -6.16805522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86140051299998 meters 0.03816743424035305 Centerline is valid? [True, True] Translation: X:154.50, Y:15.82, Z:-0.62 [[ 9.98112080e-01 -6.08637622e-02 8.23878023e-03 1.54503057e+02] [ 6.08590206e-02 9.98146031e-01 8.25236855e-04 1.58165013e+01] [-8.27373281e-03 -3.22274778e-04 9.99965720e-01 -6.17355428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89140051299998 meters 0.041665983310532756 Centerline is valid? [True, True] Translation: X:154.53, Y:15.82, Z:-0.62 [[ 9.98131869e-01 -6.06553171e-02 7.32832226e-03 1.54530515e+02] [ 6.06515501e-02 9.98158729e-01 7.35384537e-04 1.58211499e+01] [-7.35943382e-03 -2.89536638e-04 9.99972877e-01 -6.19203725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92140051299998 meters 0.03861324533409245 Centerline is valid? [True, True] Translation: X:154.56, Y:15.82, Z:-0.62 [[ 9.98116310e-01 -6.09824870e-02 6.70585458e-03 1.54559504e+02] [ 6.09793411e-02 9.98138802e-01 6.72783731e-04 1.58170436e+01] [-6.73440168e-03 -2.62597821e-04 9.99977289e-01 -6.19810791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95140051299998 meters 0.03861324533409245 Centerline is valid? [True, True] Translation: X:154.59, Y:15.82, Z:-0.62 [[ 9.98104970e-01 -6.11678209e-02 6.70572873e-03 1.54586909e+02] [ 6.11646708e-02 9.98127461e-01 6.74035082e-04 1.58199396e+01] [-6.73440125e-03 -2.62604075e-04 9.99977289e-01 -6.20098052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98140051299998 meters 0.03748437696744166 Centerline is valid? [True, True] Translation: X:154.62, Y:15.82, Z:-0.62 [[ 9.98044171e-01 -6.21231369e-02 6.96767670e-03 1.54615986e+02] [ 6.21197488e-02 9.98068457e-01 7.01826818e-04 1.58176399e+01] [-6.99781802e-03 -2.67623838e-04 9.99975479e-01 -6.19565325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01140051299998 meters 0.034542506435850946 Centerline is valid? [True, True] Translation: X:154.65, Y:15.81, Z:-0.62 [[ 9.97873133e-01 -6.45855748e-02 8.82688362e-03 1.54646643e+02] [ 6.45802147e-02 9.97912121e-01 8.91227102e-04 1.58108943e+01] [-8.86601457e-03 -3.19289541e-04 9.99960645e-01 -6.17229454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04140051299999 meters 0.03636724549974187 Centerline is valid? [True, True] Translation: X:154.67, Y:15.81, Z:-0.62 [[ 9.97760179e-01 -6.62852631e-02 8.99385558e-03 1.54674777e+02] [ 6.62797656e-02 9.97800665e-01 9.08271065e-04 1.58147580e+01] [-9.03428007e-03 -3.10126060e-04 9.99959142e-01 -6.17783016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071400513 meters 0.034994996284891514 Centerline is valid? [True, True] Translation: X:154.70, Y:15.81, Z:-0.62 [[ 9.97621061e-01 -6.84102233e-02 8.50063199e-03 1.54702992e+02] [ 6.84053862e-02 9.97657239e-01 8.58818541e-04 1.58149914e+01] [-8.53946901e-03 -2.75286449e-04 9.99963500e-01 -6.19289998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101400513 meters 0.029948818092851395 Centerline is valid? [True, True] Translation: X:154.73, Y:15.81, Z:-0.62 [[ 9.97474976e-01 -7.05774603e-02 7.90537087e-03 1.54732865e+02] [ 7.05733437e-02 9.97506273e-01 7.98844861e-04 1.58103488e+01] [-7.94203748e-03 -2.38919303e-04 9.99968433e-01 -6.20196915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131400513 meters 0.03420133159189452 Centerline is valid? [True, True] Translation: X:154.76, Y:15.81, Z:-0.62 [[ 9.97283617e-01 -7.32407740e-02 7.82150363e-03 1.54762055e+02] [ 7.32368146e-02 9.97314264e-01 7.91830770e-04 1.58070520e+01] [-7.85849144e-03 -2.16857844e-04 9.99969098e-01 -6.19900717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161400513 meters 0.03232636459306818 Centerline is valid? [True, True] Translation: X:154.79, Y:15.81, Z:-0.62 [[ 9.97066540e-01 -7.61833462e-02 7.37652087e-03 1.54789616e+02] [ 7.61799028e-02 9.97093809e-01 7.47075854e-04 1.58085556e+01] [-7.41199804e-03 -1.82941694e-04 9.99972514e-01 -6.19817158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191400513 meters 0.02531214370656009 Centerline is valid? [True, True] Translation: X:154.82, Y:15.81, Z:-0.62 [[ 9.97082449e-01 -7.60934166e-02 6.03167479e-03 1.54818702e+02] [ 7.60911139e-02 9.97100682e-01 6.10661762e-04 1.58110452e+01] [-6.06065438e-03 -1.49923271e-04 9.99981623e-01 -6.21077134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221400513 meters 0.026937730412965776 Centerline is valid? [True, True] Translation: X:154.85, Y:15.82, Z:-0.62 [[ 9.97129760e-01 -7.55697885e-02 4.63120657e-03 1.54846432e+02] [ 7.55684207e-02 9.97140508e-01 4.69861664e-04 1.58174956e+01] [-4.65347102e-03 -1.18540081e-04 9.99989166e-01 -6.23994166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251400513 meters 0.0349708206004195 Centerline is valid? [True, True] Translation: X:154.87, Y:15.82, Z:-0.62 [[ 9.97240407e-01 -7.40908203e-02 4.70323223e-03 1.54871077e+02] [ 7.40543888e-02 9.97226016e-01 7.49797233e-03 1.58179443e+01] [-5.24571647e-03 -7.12898599e-03 9.99960829e-01 -6.23960321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281400513 meters 0.02731521367531855 Centerline is valid? [True, True] Translation: X:154.90, Y:15.84, Z:-0.62 [[ 9.97174780e-01 -7.48710475e-02 6.06503237e-03 1.54901609e+02] [ 7.49074243e-02 9.97172378e-01 -6.01049913e-03 1.58365664e+01] [-5.59787038e-03 6.44783410e-03 9.99963544e-01 -6.24838069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311400513 meters 0.026984947127458237 Centerline is valid? [True, True] Translation: X:154.93, Y:15.84, Z:-0.62 [[ 9.97121727e-01 -7.55844500e-02 5.93743835e-03 1.54930365e+02] [ 7.55821987e-02 9.97139392e-01 6.02965972e-04 1.58360007e+01] [-5.96602852e-03 -1.52465825e-04 9.99982191e-01 -6.21699386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341400513 meters 0.026909084999581043 Centerline is valid? [True, True] Translation: X:154.96, Y:15.84, Z:-0.62 [[ 9.97017464e-01 -7.69322559e-02 6.13230115e-03 1.54957698e+02] [ 7.69298713e-02 9.97036311e-01 6.24157785e-04 1.58417095e+01] [-6.16214478e-03 -1.50539074e-04 9.99981002e-01 -6.21764901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371400513 meters 0.025758470643471098 Centerline is valid? [True, True] Translation: X:154.99, Y:15.84, Z:-0.62 [[ 9.96834395e-01 -7.92540234e-02 6.32373885e-03 1.54986758e+02] [ 7.92515296e-02 9.96854443e-01 6.44367207e-04 1.58421077e+01] [-6.35491586e-03 -1.41161418e-04 9.99979797e-01 -6.21392815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401400513 meters 0.02273176605100859 Centerline is valid? [True, True] Translation: X:155.01, Y:15.85, Z:-0.62 [[ 9.96662565e-01 -8.13426221e-02 6.86359643e-03 1.55014237e+02] [ 8.13397316e-02 9.96686189e-01 6.99706889e-04 1.58486076e+01] [-6.89776776e-03 -1.39088572e-04 9.99976200e-01 -6.21922457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431400513 meters 0.01886462564692499 Centerline is valid? [True, True] Translation: X:155.04, Y:15.85, Z:-0.62 [[ 9.96450074e-01 -8.38856142e-02 7.10314511e-03 1.55042964e+02] [ 8.38825823e-02 9.96475382e-01 7.24207772e-04 1.58490479e+01] [-7.13885985e-03 -1.25806734e-04 9.99974510e-01 -6.21715006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461400513 meters 0.01654083410997343 Centerline is valid? [True, True] Translation: X:155.07, Y:15.85, Z:-0.62 [[ 9.96075899e-01 -8.81574851e-02 7.81411044e-03 1.55070785e+02] [ 8.81539334e-02 9.96106544e-01 7.98472678e-04 1.58533419e+01] [-7.85407789e-03 -1.06494820e-04 9.99969151e-01 -6.20897351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49140051299997 meters 0.014421748479252473 Centerline is valid? [True, True] Translation: X:155.10, Y:15.86, Z:-0.62 [[ 9.95944911e-01 -8.96376145e-02 7.67025142e-03 1.55099884e+02] [ 8.96342351e-02 9.95974442e-01 7.83909647e-04 1.58559933e+01] [-7.70964217e-03 -9.32137044e-05 9.99970276e-01 -6.20860608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52140051299997 meters 0.014532043244485647 Centerline is valid? [True, True] Translation: X:155.13, Y:15.86, Z:-0.62 [[ 9.95872611e-01 -9.04571832e-02 7.43246620e-03 1.55127663e+02] [ 9.04540215e-02 9.95900342e-01 7.61131653e-04 1.58618069e+01] [-7.47084545e-03 -8.56937093e-05 9.99972089e-01 -6.21808034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55140051299998 meters 0.013740960806472928 Centerline is valid? [True, True] Translation: X:155.16, Y:15.87, Z:-0.62 [[ 9.95912198e-01 -9.00661813e-02 6.85389906e-03 1.55156482e+02] [ 9.00634838e-02 9.95935779e-01 7.01834178e-04 1.58676608e+01] [-6.88925483e-03 -8.16791921e-05 9.99976265e-01 -6.21970703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58140051299998 meters 0.014693661178715968 Centerline is valid? [True, True] Translation: X:155.18, Y:15.87, Z:-0.62 [[ 9.95996574e-01 -8.91512590e-02 6.54810312e-03 1.55184287e+02] [ 8.91487673e-02 9.96018095e-01 6.72000955e-04 1.58739514e+01] [-6.58193893e-03 -8.55553275e-05 9.99978335e-01 -6.22494778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61140051299998 meters 0.01587276148175596 Centerline is valid? [True, True] Translation: X:155.21, Y:15.88, Z:-0.62 [[ 9.96090112e-01 -8.81623718e-02 5.64673674e-03 1.55211293e+02] [ 8.81605016e-02 9.96106114e-01 5.79755109e-04 1.58802743e+01] [-5.67586157e-03 -7.96691887e-05 9.99983889e-01 -6.23550564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64140051299998 meters 0.0166781671450932 Centerline is valid? [True, True] Translation: X:155.24, Y:15.89, Z:-0.63 [[ 9.96162117e-01 -8.73773274e-02 5.12233631e-03 1.55239272e+02] [ 8.73757797e-02 9.96175284e-01 5.25579672e-04 1.58859206e+01] [-5.14866857e-03 -7.59944304e-05 9.99986743e-01 -6.25125136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67140051299998 meters 0.018620113171165804 Centerline is valid? [True, True] Translation: X:155.27, Y:15.89, Z:-0.63 [[ 9.96248864e-01 -8.63853841e-02 5.07615625e-03 1.55266863e+02] [ 8.63838441e-02 9.96261792e-01 5.22272346e-04 1.58924337e+01] [-5.10229722e-03 -8.18153413e-05 9.99986980e-01 -6.26456671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70140051299998 meters 0.01985568576334536 Centerline is valid? [True, True] Translation: X:155.29, Y:15.90, Z:-0.63 [[ 9.96327768e-01 -8.54264833e-02 5.77022692e-03 1.55293810e+02] [ 8.54244750e-02 9.96344472e-01 5.94070423e-04 1.58975484e+01] [-5.79988303e-03 -9.89702534e-05 9.99983176e-01 -6.26113911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73140051299998 meters 0.022485037344671267 Centerline is valid? [True, True] Translation: X:155.32, Y:15.90, Z:-0.62 [[ 9.96556872e-01 -8.26132258e-02 7.03251227e-03 1.55322499e+02] [ 8.26101703e-02 9.96581675e-01 7.24352657e-04 1.59034346e+01] [-7.06831397e-03 -1.40901582e-04 9.99975009e-01 -6.23609670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76140051299998 meters 0.022143068745452587 Centerline is valid? [True, True] Translation: X:155.35, Y:15.91, Z:-0.62 [[ 9.96682081e-01 -8.11256607e-02 6.59222959e-03 1.55351562e+02] [ 8.11229371e-02 9.96703871e-01 6.79946271e-04 1.59054126e+01] [-6.62566184e-03 -1.42909238e-04 9.99978040e-01 -6.23463258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79140051299999 meters 0.023783037218731474 Centerline is valid? [True, True] Translation: X:155.38, Y:15.91, Z:-0.62 [[ 9.96799582e-01 -7.96661211e-02 6.62595895e-03 1.55380343e+02] [ 7.96633298e-02 9.96821591e-01 6.84564357e-04 1.59097804e+01] [-6.65943553e-03 -1.54527512e-04 9.99977814e-01 -6.23392089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821400513 meters 0.02929685709645759 Centerline is valid? [True, True] Translation: X:155.41, Y:15.92, Z:-0.62 [[ 9.97029864e-01 -7.65746601e-02 8.23232336e-03 1.55407617e+02] [ 7.65702287e-02 9.97063826e-01 8.52596437e-04 1.59197414e+01] [-8.27343911e-03 -2.19713228e-04 9.99965750e-01 -6.21823891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851400513 meters 0.030738556791054594 Centerline is valid? [True, True] Translation: X:155.44, Y:15.92, Z:-0.62 [[ 9.97193234e-01 -7.43847253e-02 8.51864033e-03 1.55436744e+02] [ 7.43798957e-02 9.97229588e-01 8.82804400e-04 1.59242700e+01] [-8.56070735e-03 -2.46710996e-04 9.99963326e-01 -6.22228907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881400513 meters 0.03446498517446756 Centerline is valid? [True, True] Translation: X:155.46, Y:15.93, Z:-0.62 [[ 9.97408305e-01 -7.15035313e-02 7.99488488e-03 1.55464333e+02] [ 7.14991839e-02 9.97440314e-01 8.28638603e-04 1.59311890e+01] [-8.03367107e-03 -2.54863280e-04 9.99967697e-01 -6.23112721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911400513 meters 0.03769426326963282 Centerline is valid? [True, True] Translation: X:155.49, Y:15.94, Z:-0.63 [[ 9.97626973e-01 -6.84848021e-02 7.08908657e-03 1.55493668e+02] [ 6.84813052e-02 9.97652129e-01 7.35145345e-04 1.59380069e+01] [-7.12278859e-03 -2.47930925e-04 9.99974602e-01 -6.25191140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941400513 meters 0.03911831988491205 Centerline is valid? [True, True] Translation: X:155.52, Y:15.94, Z:-0.63 [[ 9.97821776e-01 -6.56433926e-02 6.53055808e-03 1.55523105e+02] [ 6.56403637e-02 9.97843116e-01 6.77289403e-04 1.59429446e+01] [-6.56093199e-03 -2.47145907e-04 9.99978446e-01 -6.26480184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971400513 meters 0.04407714720974627 Centerline is valid? [True, True] Translation: X:155.55, Y:15.95, Z:-0.63 [[ 9.98065856e-01 -6.18823788e-02 5.92613795e-03 1.55551793e+02] [ 6.18798181e-02 9.98083419e-01 6.14663204e-04 1.59531535e+01] [-5.95281684e-03 -2.46766018e-04 9.99982251e-01 -6.28056635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001400513 meters 0.04277689656339551 Centerline is valid? [True, True] Translation: X:155.58, Y:15.95, Z:-0.63 [[ 9.98117725e-01 -6.10745102e-02 5.55978301e-03 1.55580439e+02] [ 6.10722477e-02 9.98133182e-01 5.75969276e-04 1.59539901e+01] [-5.58458095e-03 -2.35336698e-04 9.99984378e-01 -6.28145290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031400513 meters 0.04916007499626834 Centerline is valid? [True, True] Translation: X:155.61, Y:15.96, Z:-0.63 [[ 9.98141466e-01 -6.06450919e-02 5.98221942e-03 1.55607754e+02] [ 6.06424554e-02 9.98159359e-01 6.21308324e-04 1.59631110e+01] [-6.00888761e-03 -2.57377127e-04 9.99981913e-01 -6.28621756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061400513 meters 0.04442664840677416 Centerline is valid? [True, True] Translation: X:155.64, Y:15.96, Z:-0.63 [[ 9.98113550e-01 -6.10056270e-02 6.90329725e-03 1.55637035e+02] [ 6.10021238e-02 9.98137379e-01 7.17091961e-04 1.59590327e+01] [-6.93418567e-03 -2.94623409e-04 9.99975915e-01 -6.27459206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091400513 meters 0.04479029146735375 Centerline is valid? [True, True] Translation: X:155.66, Y:15.96, Z:-0.63 [[ 9.98074122e-01 -6.15406911e-02 7.79682819e-03 1.55664574e+02] [ 6.15362249e-02 9.98104521e-01 8.11652666e-04 1.59618089e+01] [-7.83199913e-03 -3.30302148e-04 9.99969275e-01 -6.26782351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121400513 meters 0.045128779157634046 Centerline is valid? [True, True] Translation: X:155.69, Y:15.97, Z:-0.63 [[ 9.98092432e-01 -6.12033243e-02 8.10249988e-03 1.55692510e+02] [ 6.11984866e-02 9.98125259e-01 8.43886580e-04 1.59670602e+01] [-8.13895846e-03 -3.46416078e-04 9.99966818e-01 -6.26684323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151400513 meters 0.04513115620609607 Centerline is valid? [True, True] Translation: X:155.72, Y:15.97, Z:-0.63 [[ 9.98192606e-01 -5.97002073e-02 6.88517808e-03 1.55721217e+02] [ 5.96966740e-02 9.98216305e-01 7.17738712e-04 1.59718632e+01] [-6.91574617e-03 -3.05419244e-04 9.99976039e-01 -6.28234635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181400513 meters 0.04422060337904974 Centerline is valid? [True, True] Translation: X:155.75, Y:15.98, Z:-0.63 [[ 9.98317567e-01 -5.76912813e-02 5.80963920e-03 1.55750270e+02] [ 5.76887309e-02 9.98334435e-01 6.05760896e-04 1.59758723e+01] [-5.83490999e-03 -2.69591031e-04 9.99982940e-01 -6.29422409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211400513 meters 0.050053553984344516 Centerline is valid? [True, True] Translation: X:155.78, Y:15.99, Z:-0.63 [[ 9.98437905e-01 -5.56062951e-02 5.44889488e-03 1.55777151e+02] [ 5.56040200e-02 9.98452738e-01 5.68258235e-04 1.59889516e+01] [-5.47206275e-03 -2.64390102e-04 9.99984993e-01 -6.30601926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24140051299997 meters 0.05593884884709913 Centerline is valid? [True, True] Translation: X:155.80, Y:16.00, Z:-0.63 [[ 9.98540463e-01 -5.36231231e-02 6.44245262e-03 1.55804207e+02] [ 5.36198988e-02 9.98561192e-01 6.72274303e-04 1.60028651e+01] [-6.46923261e-03 -3.25849435e-04 9.99979021e-01 -6.30551724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27140051299997 meters 0.0514772314606772 Centerline is valid? [True, True] Translation: X:155.83, Y:16.00, Z:-0.63 [[ 9.98600190e-01 -5.23679504e-02 7.43359332e-03 1.55833823e+02] [ 5.23636195e-02 9.98627783e-01 7.76181484e-04 1.60038234e+01] [-7.46403985e-03 -3.85845125e-04 9.99972069e-01 -6.28644091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30140051299998 meters 0.05213804183668699 Centerline is valid? [True, True] Translation: X:155.86, Y:16.01, Z:-0.63 [[ 9.98575013e-01 -5.28178999e-02 7.62968784e-03 1.55860952e+02] [ 5.28133500e-02 9.98604083e-01 7.96740491e-04 1.60113238e+01] [-7.66111959e-03 -3.92655773e-04 9.99970576e-01 -6.27778393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33140051299998 meters 0.05100878773367418 Centerline is valid? [True, True] Translation: X:155.89, Y:16.01, Z:-0.63 [[ 9.98529452e-01 -5.37173627e-02 7.30611393e-03 1.55890128e+02] [ 5.37132123e-02 9.98556112e-01 7.63257923e-04 1.60144482e+01] [-7.33656492e-03 -3.69700666e-04 9.99973019e-01 -6.27326648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36140051299998 meters 0.05059844164345909 Centerline is valid? [True, True] Translation: X:155.92, Y:16.02, Z:-0.63 [[ 9.98468346e-01 -5.47803276e-02 7.75093044e-03 1.55917979e+02] [ 5.47756820e-02 9.98498356e-01 8.10537897e-04 1.60200320e+01] [-7.78369284e-03 -3.84733932e-04 9.99969633e-01 -6.26704264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39140051299998 meters 0.050937973247925775 Centerline is valid? [True, True] Translation: X:155.95, Y:16.03, Z:-0.63 [[ 9.98348659e-01 -5.65838645e-02 9.91063631e-03 1.55946077e+02] [ 5.65763519e-02 9.98397737e-01 1.03698763e-03 1.60323820e+01] [-9.95343363e-03 -4.74567566e-04 9.99950351e-01 -6.25234224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42140051299998 meters 0.04672768056728507 Centerline is valid? [True, True] Translation: X:155.98, Y:16.03, Z:-0.63 [[ 9.98318892e-01 -5.70279113e-02 1.03540890e-02 1.55975139e+02] [ 5.70197328e-02 9.98372463e-01 1.08361123e-03 1.60336968e+01] [-1.03990334e-02 -4.91402178e-04 9.99945808e-01 -6.25064927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45140051299998 meters 0.04967067749530022 Centerline is valid? [True, True] Translation: X:156.00, Y:16.04, Z:-0.63 [[ 9.98330762e-01 -5.68842358e-02 9.99367809e-03 1.56001633e+02] [ 5.68765933e-02 9.98380667e-01 1.04751937e-03 1.60431710e+01] [-1.00370823e-02 -4.77364444e-04 9.99949513e-01 -6.25722623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48140051299998 meters 0.04470861117550283 Centerline is valid? [True, True] Translation: X:156.03, Y:16.04, Z:-0.63 [[ 9.98360317e-01 -5.65890033e-02 8.62334606e-03 1.56031508e+02] [ 5.65140690e-02 9.98363905e-01 8.69899624e-03 1.60360041e+01] [-9.10150498e-03 -8.19739227e-03 9.99924980e-01 -6.26070107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51140051299998 meters 0.05184474722318847 Centerline is valid? [True, True] Translation: X:156.06, Y:16.06, Z:-0.63 [[ 9.98340121e-01 -5.70220654e-02 8.09243349e-03 1.56056756e+02] [ 5.70784640e-02 9.98345725e-01 -6.91824114e-03 1.60641419e+01] [-7.68455398e-03 7.36866137e-03 9.99943324e-01 -6.31365952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54140051299999 meters 0.04498690813139953 Centerline is valid? [True, True] Translation: X:156.09, Y:16.05, Z:-0.63 [[ 9.98307294e-01 -5.78203032e-02 6.27365680e-03 1.56086788e+02] [ 5.78173023e-02 9.98326963e-01 6.58801677e-04 1.60544854e+01] [-6.30125286e-03 -2.94960607e-04 9.99980103e-01 -6.30587706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571400513 meters 0.045454773581480264 Centerline is valid? [True, True] Translation: X:156.11, Y:16.06, Z:-0.63 [[ 9.98219686e-01 -5.93036322e-02 6.36691938e-03 1.56114173e+02] [ 5.93005618e-02 9.98239948e-01 6.70126771e-04 1.60588886e+01] [-6.39545423e-03 -2.91371839e-04 9.99979506e-01 -6.30995369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601400513 meters 0.04488094529072459 Centerline is valid? [True, True] Translation: X:156.14, Y:16.06, Z:-0.63 [[ 9.98142873e-01 -6.04813323e-02 7.26734056e-03 1.56143142e+02] [ 6.04773616e-02 9.98169276e-01 7.65092299e-04 1.60609114e+01] [-7.30030987e-03 -3.24161842e-04 9.99973300e-01 -6.29985889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631400513 meters 0.047300749060573126 Centerline is valid? [True, True] Translation: X:156.17, Y:16.07, Z:-0.63 [[ 9.98092890e-01 -6.11322031e-02 8.56951105e-03 1.56170608e+02] [ 6.11266899e-02 9.98129606e-01 9.04037403e-04 1.60673719e+01] [-8.60874849e-03 -3.78487460e-04 9.99962872e-01 -6.28685333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661400513 meters 0.04339087368348633 Centerline is valid? [True, True] Translation: X:156.20, Y:16.07, Z:-0.63 [[ 9.98079277e-01 -6.12810363e-02 9.07695162e-03 1.56198801e+02] [ 6.12748536e-02 9.98120471e-01 9.57945494e-04 1.60668621e+01] [-9.11859512e-03 -3.99916664e-04 9.99958345e-01 -6.28384587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691400513 meters 0.04445879609934624 Centerline is valid? [True, True] Translation: X:156.23, Y:16.07, Z:-0.63 [[ 9.98224157e-01 -5.91158789e-02 7.33786788e-03 1.56228244e+02] [ 5.91117687e-02 9.98251069e-01 7.75945431e-04 1.60701899e+01] [-7.37090516e-03 -3.40813125e-04 9.99972776e-01 -6.31599911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721400513 meters 0.049128701123897056 Centerline is valid? [True, True] Translation: X:156.26, Y:16.08, Z:-0.63 [[ 9.98317186e-01 -5.76913790e-02 5.87378577e-03 1.56255714e+02] [ 5.76887209e-02 9.98334426e-01 6.21107097e-04 1.60770823e+01] [-5.89983507e-03 -2.81210701e-04 9.99982556e-01 -6.34376500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751400513 meters 0.05414794837241144 Centerline is valid? [True, True] Translation: X:156.28, Y:16.09, Z:-0.64 [[ 9.98412368e-01 -5.60905624e-02 5.15683585e-03 1.56283877e+02] [ 5.60884910e-02 9.98425652e-01 5.45548103e-04 1.60853158e+01] [-5.17931729e-03 -2.55442833e-04 9.99986555e-01 -6.36760188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781400513 meters 0.04877556621381143 Centerline is valid? [True, True] Translation: X:156.31, Y:16.08, Z:-0.64 [[ 9.98478556e-01 -5.48769513e-02 5.39387261e-03 1.56314053e+02] [ 5.48746661e-02 9.98493087e-01 5.70879490e-04 1.60816665e+01] [-5.41707264e-03 -2.74023971e-04 9.99985290e-01 -6.36182477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811400513 meters 0.061630739953558285 Centerline is valid? [True, True] Translation: X:156.34, Y:16.10, Z:-0.63 [[ 9.98557615e-01 -5.31071712e-02 7.89419581e-03 1.56340851e+02] [ 5.31022191e-02 9.98588732e-01 8.35740954e-04 1.60980975e+01] [-7.92743882e-03 -4.15336179e-04 9.99968491e-01 -6.33512528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841400513 meters 0.061630739953558285 Centerline is valid? [True, True] Translation: X:156.37, Y:16.10, Z:-0.63 [[ 9.98548552e-01 -5.32773117e-02 7.89418759e-03 1.56368234e+02] [ 5.32723643e-02 9.98579670e-01 8.35818926e-04 1.61011623e+01] [-7.92750542e-03 -4.14063741e-04 9.99968491e-01 -6.33803715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871400513 meters 0.05508313794971322 Centerline is valid? [True, True] Translation: X:156.40, Y:16.09, Z:-0.63 [[ 9.98532940e-01 -5.35027463e-02 8.33205153e-03 1.56397403e+02] [ 5.34972299e-02 9.98567607e-01 8.83695827e-04 1.60935942e+01] [-8.36739691e-03 -4.36657717e-04 9.99964897e-01 -6.32759791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901400513 meters 0.05273762880920451 Centerline is valid? [True, True] Translation: X:156.43, Y:16.09, Z:-0.63 [[ 9.98497823e-01 -5.41365485e-02 8.44575436e-03 1.56426728e+02] [ 5.41308896e-02 9.98533445e-01 8.97353315e-04 1.60908112e+01] [-8.48194781e-03 -4.38829135e-04 9.99963931e-01 -6.32278417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931400513 meters 0.05322270850579185 Centerline is valid? [True, True] Translation: X:156.45, Y:16.09, Z:-0.63 [[ 9.98441523e-01 -5.50887745e-02 8.93042106e-03 1.56454441e+02] [ 5.50824705e-02 9.98481356e-01 9.50511175e-04 1.60918271e+01] [-8.96922142e-03 -4.57120170e-04 9.99959671e-01 -6.31934359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961400513 meters 0.05026534563941494 Centerline is valid? [True, True] Translation: X:156.48, Y:16.09, Z:-0.63 [[ 9.98363975e-01 -5.60101969e-02 1.14991547e-02 1.56483915e+02] [ 5.59997913e-02 9.98430029e-01 1.22515465e-03 1.60858234e+01] [-1.15497225e-02 -5.79200002e-04 9.99933132e-01 -6.28902933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99140051299997 meters 0.05809870583282255 Centerline is valid? [True, True] Translation: X:156.51, Y:16.10, Z:-0.63 [[ 9.98379838e-01 -5.57739343e-02 1.12679879e-02 1.56510496e+02] [ 5.57639082e-02 9.98443259e-01 1.20225911e-03 1.60953292e+01] [-1.13175013e-02 -5.71964217e-04 9.99935791e-01 -6.29587377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02140051299997 meters 0.049335144996244924 Centerline is valid? [True, True] Translation: X:156.54, Y:16.09, Z:-0.63 [[ 9.98445074e-01 -5.48351056e-02 1.00272250e-02 1.56540068e+02] [ 5.48271111e-02 9.98495289e-01 1.07064533e-03 1.60851460e+01] [-1.00708459e-02 -5.19216775e-04 9.99949153e-01 -6.32208916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05140051299998 meters 0.05676112074110621 Centerline is valid? [True, True] Translation: X:156.57, Y:16.10, Z:-0.64 [[ 9.98554117e-01 -5.30903970e-02 8.43115811e-03 1.56567184e+02] [ 5.30846795e-02 9.98589608e-01 9.00637134e-04 1.60953391e+01] [-8.46708206e-03 -4.51769592e-04 9.99964052e-01 -6.35460143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08140051299998 meters 0.052875078264239025 Centerline is valid? [True, True] Translation: X:156.60, Y:16.09, Z:-0.64 [[ 9.98698859e-01 -5.04594738e-02 7.37776548e-03 1.56597440e+02] [ 5.04550209e-02 9.98726023e-01 7.88560151e-04 1.60925884e+01] [-7.40815671e-03 -4.15288811e-04 9.99972473e-01 -6.37418522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11140051299998 meters 0.07523193907395138 Centerline is valid? [True, True] Translation: X:156.62, Y:16.12, Z:-0.64 [[ 9.99095530e-01 -4.21984075e-02 5.23601750e-03 1.56624130e+02] [ 4.21960517e-02 9.99109193e-01 5.59641387e-04 1.61208514e+01] [-5.25496920e-03 -3.38195944e-04 9.99986135e-01 -6.40841321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14140051299998 meters 0.0779768050289605 Centerline is valid? [True, True] Translation: X:156.65, Y:16.13, Z:-0.64 [[ 9.99295375e-01 -3.73104874e-02 4.08426713e-03 1.56653734e+02] [ 3.73090128e-02 9.99303681e-01 4.36656135e-04 1.61266854e+01] [-4.09771503e-03 -2.83968481e-04 9.99991564e-01 -6.42292586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17140051299998 meters 0.07746813696253667 Centerline is valid? [True, True] Translation: X:156.68, Y:16.13, Z:-0.64 [[ 9.99448333e-01 -3.29892553e-02 3.83916851e-03 1.56683587e+02] [ 3.29879208e-02 9.99455666e-01 4.10435767e-04 1.61298846e+01] [-3.85061869e-03 -2.83563156e-04 9.99992546e-01 -6.42781628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20140051299998 meters 0.08619779310742504 Centerline is valid? [True, True] Translation: X:156.71, Y:16.15, Z:-0.64 [[ 9.99630611e-01 -2.65947130e-02 5.60032544e-03 1.56711434e+02] [ 2.65917732e-02 9.99646197e-01 5.98756947e-04 1.61475145e+01] [-5.61426779e-03 -4.49613188e-04 9.99984139e-01 -6.41746569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23140051299998 meters 0.08514027718402706 Centerline is valid? [True, True] Translation: X:156.74, Y:16.15, Z:-0.64 [[ 9.99674838e-01 -2.45796591e-02 6.78671310e-03 1.56742168e+02] [ 2.45752941e-02 9.99697718e-01 7.25815303e-04 1.61505132e+01] [-6.80250189e-03 -5.58793825e-04 9.99976707e-01 -6.39986779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26140051299998 meters 0.07655835858129063 Centerline is valid? [True, True] Translation: X:156.77, Y:16.14, Z:-0.64 [[ 9.99695397e-01 -2.36434507e-02 7.07820347e-03 1.56773073e+02] [ 2.36386803e-02 9.99720281e-01 7.56875998e-04 1.61438197e+01] [-7.09411872e-03 -5.89326063e-04 9.99974663e-01 -6.38981779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29140051299999 meters 0.08486682403449367 Centerline is valid? [True, True] Translation: X:156.80, Y:16.16, Z:-0.64 [[ 9.99687083e-01 -2.40841404e-02 6.75940181e-03 1.56801910e+02] [ 2.40797990e-02 9.99709778e-01 7.22933093e-04 1.61579045e+01] [-6.77485131e-03 -5.59941838e-04 9.99976894e-01 -6.39940275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321400513 meters 0.07630189186280709 Centerline is valid? [True, True] Translation: X:156.83, Y:16.15, Z:-0.64 [[ 9.99583665e-01 -2.82375352e-02 5.92772212e-03 1.56833270e+02] [ 2.82342696e-02 9.99601133e-01 6.33881175e-04 1.61547794e+01] [-5.94325699e-03 -4.66252364e-04 9.99982230e-01 -6.41819051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351400513 meters 0.07554912870718856 Centerline is valid? [True, True] Translation: X:156.86, Y:16.16, Z:-0.64 [[ 9.99487231e-01 -3.12974187e-02 6.76367619e-03 1.56861906e+02] [ 3.12932375e-02 9.99509985e-01 7.23155842e-04 1.61589540e+01] [-6.78299480e-03 -5.11127704e-04 9.99976865e-01 -6.41374691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381400513 meters 0.07159952867954669 Centerline is valid? [True, True] Translation: X:156.89, Y:16.16, Z:-0.64 [[ 9.99375849e-01 -3.44912704e-02 7.63314212e-03 1.56891748e+02] [ 3.44860356e-02 9.99404846e-01 8.16408942e-04 1.61580742e+01] [-7.65675820e-03 -5.52662569e-04 9.99970534e-01 -6.40217014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411400513 meters 0.0703741372274524 Centerline is valid? [True, True] Translation: X:156.92, Y:16.16, Z:-0.64 [[ 9.99262923e-01 -3.74697684e-02 8.34432683e-03 1.56921076e+02] [ 3.74636144e-02 9.99297594e-01 8.92649788e-04 1.61606106e+01] [-8.37191311e-03 -5.79383193e-04 9.99964787e-01 -6.39517150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441400513 meters 0.07630814570982102 Centerline is valid? [True, True] Translation: X:156.95, Y:16.17, Z:-0.64 [[ 9.99156497e-01 -4.00988231e-02 8.85316274e-03 1.56948938e+02] [ 4.00919972e-02 9.99195544e-01 9.47208461e-04 1.61727784e+01] [-8.88402270e-03 -5.91468512e-04 9.99960361e-01 -6.39141681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471400513 meters 0.06827399743844947 Centerline is valid? [True, True] Translation: X:156.98, Y:16.17, Z:-0.64 [[ 9.99039650e-01 -4.30040284e-02 8.39237846e-03 1.56980039e+02] [ 4.29979957e-02 9.99074755e-01 8.98029069e-04 1.61714734e+01] [-8.42323232e-03 -5.36311194e-04 9.99964380e-01 -6.39553769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501400513 meters 0.060567467136843495 Centerline is valid? [True, True] Translation: X:157.01, Y:16.17, Z:-0.64 [[ 9.99026924e-01 -4.33668240e-02 8.03267653e-03 1.57009787e+02] [ 4.33613118e-02 9.99059087e-01 8.59197711e-04 1.61668140e+01] [-8.06237915e-03 -5.10054255e-04 9.99967368e-01 -6.40196810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531400513 meters 0.06445580268896492 Centerline is valid? [True, True] Translation: X:157.04, Y:16.18, Z:-0.64 [[ 9.99032365e-01 -4.32864987e-02 7.78535878e-03 1.57037049e+02] [ 4.32813064e-02 9.99062577e-01 8.34256501e-04 1.61757436e+01] [-7.81417265e-03 -4.96488746e-04 9.99969346e-01 -6.40480123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561400513 meters 0.06391217616980469 Centerline is valid? [True, True] Translation: X:157.06, Y:16.18, Z:-0.64 [[ 9.99020767e-01 -4.34983190e-02 8.08725289e-03 1.57064986e+02] [ 4.34927215e-02 9.99053368e-01 8.66800075e-04 1.61796528e+01] [-8.11730158e-03 -5.14214638e-04 9.99966922e-01 -6.39823359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591400513 meters 0.06585065882265786 Centerline is valid? [True, True] Translation: X:157.09, Y:16.19, Z:-0.64 [[ 9.98975513e-01 -4.43015355e-02 9.23573880e-03 1.57091626e+02] [ 4.42942499e-02 9.99018036e-01 9.92009338e-04 1.61889731e+01] [-9.27061717e-03 -5.81902914e-04 9.99956858e-01 -6.39367491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621400513 meters 0.06269356764774549 Centerline is valid? [True, True] Translation: X:157.12, Y:16.19, Z:-0.64 [[ 9.98936686e-01 -4.51518504e-02 9.31704872e-03 1.57120698e+02] [ 4.51444690e-02 9.98979967e-01 1.00115352e-03 1.61887589e+01] [-9.35274895e-03 -5.79475759e-04 9.99956094e-01 -6.40162603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651400513 meters 0.06456876922302565 Centerline is valid? [True, True] Translation: X:157.15, Y:16.19, Z:-0.64 [[ 9.98884938e-01 -4.63914309e-02 8.75874886e-03 1.57148071e+02] [ 4.63849421e-02 9.98923195e-01 9.42638460e-04 1.61936150e+01] [-8.79304773e-03 -5.35313301e-04 9.99961197e-01 -6.41065372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681400513 meters 0.057673051841168145 Centerline is valid? [True, True] Translation: X:157.18, Y:16.19, Z:-0.64 [[ 9.98820938e-01 -4.78039256e-02 8.45690807e-03 1.57178728e+02] [ 4.77979221e-02 9.98856611e-01 9.10701431e-04 1.61885245e+01] [-8.49077364e-03 -5.05405024e-04 9.99963825e-01 -6.41446845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711400513 meters 0.054502496857831886 Centerline is valid? [True, True] Translation: X:157.21, Y:16.19, Z:-0.64 [[ 9.98758091e-01 -4.90551637e-02 8.71010727e-03 1.57207405e+02] [ 4.90488424e-02 9.98795941e-01 9.38008241e-04 1.61890790e+01] [-8.74563394e-03 -5.09622642e-04 9.99961626e-01 -6.41609956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74140051299997 meters 0.0543792245458107 Centerline is valid? [True, True] Translation: X:157.24, Y:16.19, Z:-0.64 [[ 9.98710675e-01 -4.98729529e-02 9.46973406e-03 1.57235921e+02] [ 4.98655140e-02 9.98755420e-01 1.02018286e-03 1.61937412e+01] [-9.50882775e-03 -5.46654356e-04 9.99954641e-01 -6.41078828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77140051299997 meters 0.06233317452177589 Centerline is valid? [True, True] Translation: X:157.26, Y:16.20, Z:-0.64 [[ 9.98682935e-01 -5.02172051e-02 1.05179698e-02 1.57263263e+02] [ 5.02080268e-02 9.98738137e-01 1.13504292e-03 1.62022718e+01] [-1.05616962e-02 -6.05461491e-04 9.99944040e-01 -6.40095603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80140051299998 meters 0.06757303774061912 Centerline is valid? [True, True] Translation: X:157.29, Y:16.21, Z:-0.64 [[ 9.98724728e-01 -4.95834587e-02 9.50780921e-03 1.57289653e+02] [ 4.95759253e-02 9.98769830e-01 1.02653271e-03 1.62148874e+01] [-9.54701203e-03 -5.53865159e-04 9.99954273e-01 -6.41086045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83140051299998 meters 0.06067171688025858 Centerline is valid? [True, True] Translation: X:157.32, Y:16.21, Z:-0.64 [[ 9.98759326e-01 -4.90935301e-02 8.34470716e-03 1.57319216e+02] [ 4.90877087e-02 9.98794065e-01 9.01133115e-04 1.62092490e+01] [-8.37888380e-03 -4.90392548e-04 9.99964776e-01 -6.43008473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86140051299998 meters 0.05723015117510867 Centerline is valid? [True, True] Translation: X:157.35, Y:16.21, Z:-0.65 [[ 9.98848717e-01 -4.74998449e-02 6.70852517e-03 1.57348879e+02] [ 4.74960384e-02 9.98871163e-01 7.25694848e-04 1.62102498e+01] [-6.73542273e-03 -4.06231000e-04 9.99977234e-01 -6.46152447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89140051299998 meters 0.06528447547374068 Centerline is valid? [True, True] Translation: X:157.37, Y:16.22, Z:-0.65 [[ 9.98883961e-01 -4.67663076e-02 6.61397440e-03 1.57374841e+02] [ 4.67625926e-02 9.98905775e-01 7.15311629e-04 1.62240139e+01] [-6.64018971e-03 -4.05226723e-04 9.99977872e-01 -6.47386855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92140051299998 meters 0.06425549646117773 Centerline is valid? [True, True] Translation: X:157.40, Y:16.23, Z:-0.65 [[ 9.98922246e-01 -4.58769836e-02 7.04620574e-03 1.57403880e+02] [ 4.58727378e-02 9.98947000e-01 7.63086001e-04 1.62258237e+01] [-7.07379417e-03 -4.39034833e-04 9.99974884e-01 -6.46960492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95140051299998 meters 0.06081540535523922 Centerline is valid? [True, True] Translation: X:157.43, Y:16.22, Z:-0.65 [[ 9.98945895e-01 -4.52640374e-02 7.63326250e-03 1.57432845e+02] [ 4.52590375e-02 9.98974943e-01 8.26580936e-04 1.62241628e+01] [-7.66285236e-03 -4.80235519e-04 9.99970525e-01 -6.45774033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98140051299998 meters 0.0640065991714886 Centerline is valid? [True, True] Translation: X:157.46, Y:16.23, Z:-0.65 [[ 9.98949889e-01 -4.51601543e-02 7.72520304e-03 1.57460581e+02] [ 4.51550179e-02 9.98979640e-01 8.38107174e-04 1.62309762e+01] [-7.75516960e-03 -4.88395388e-04 9.99969809e-01 -6.45423310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01140051299998 meters 0.06402976888881903 Centerline is valid? [True, True] Translation: X:157.49, Y:16.24, Z:-0.65 [[ 9.98913081e-01 -4.59861259e-02 7.61139639e-03 1.57488550e+02] [ 4.59811626e-02 9.98941966e-01 8.25894890e-04 1.62352989e+01] [-7.64132298e-03 -4.75016354e-04 9.99970692e-01 -6.46633074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04140051299999 meters 0.057167208526161715 Centerline is valid? [True, True] Translation: X:157.52, Y:16.23, Z:-0.65 [[ 9.98876159e-01 -4.68782103e-02 6.98945020e-03 1.57518359e+02] [ 4.68740371e-02 9.98900519e-01 7.59783093e-04 1.62308544e+01] [-7.01738271e-03 -4.31305469e-04 9.99975285e-01 -6.47745767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071400513 meters 0.0627137625487997 Centerline is valid? [True, True] Translation: X:157.55, Y:16.24, Z:-0.65 [[ 9.98836010e-01 -4.78715344e-02 5.91108612e-03 1.57545585e+02] [ 4.78685657e-02 9.98853436e-01 6.42764150e-04 1.62412890e+01] [-5.93507879e-03 -3.59060764e-04 9.99982323e-01 -6.50334584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101400513 meters 0.0618701225608083 Centerline is valid? [True, True] Translation: X:157.57, Y:16.24, Z:-0.65 [[ 9.98796083e-01 -4.88504607e-02 4.47394032e-03 1.57574491e+02] [ 4.88487725e-02 9.98806068e-01 4.85906179e-04 1.62439684e+01] [-4.49233548e-03 -2.66774695e-04 9.99989874e-01 -6.52966702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131400513 meters 0.06218961004963739 Centerline is valid? [True, True] Translation: X:157.60, Y:16.25, Z:-0.65 [[ 9.98723710e-01 -5.03390797e-02 4.11431950e-03 1.57603056e+02] [ 5.03376592e-02 9.98732156e-01 4.48164630e-04 1.62478470e+01] [-4.13166338e-03 -2.40487429e-04 9.99991436e-01 -6.53758639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161400513 meters 0.06261732867593131 Centerline is valid? [True, True] Translation: X:157.63, Y:16.25, Z:-0.65 [[ 9.98693474e-01 -5.08015095e-02 5.52735454e-03 1.57631538e+02] [ 5.07989544e-02 9.98708718e-01 6.01778899e-04 1.62505265e+01] [-5.55078844e-03 -3.20208828e-04 9.99984543e-01 -6.51251048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191400513 meters 0.053874404342844996 Centerline is valid? [True, True] Translation: X:157.66, Y:16.24, Z:-0.65 [[ 9.98712205e-01 -5.03001857e-02 6.61990079e-03 1.57660881e+02] [ 5.02964980e-02 9.98734069e-01 7.22471826e-04 1.62436850e+01] [-6.64786092e-03 -3.88583603e-04 9.99977827e-01 -6.47851783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221400513 meters 0.054490045319538334 Centerline is valid? [True, True] Translation: X:157.69, Y:16.25, Z:-0.65 [[ 9.98744888e-01 -4.95927179e-02 7.01512140e-03 1.57689194e+02] [ 4.95885588e-02 9.98769437e-01 7.65686019e-04 1.62483140e+01] [-7.04446130e-03 -4.16855237e-04 9.99975101e-01 -6.47636473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251400513 meters 0.0637378491876543 Centerline is valid? [True, True] Translation: X:157.72, Y:16.26, Z:-0.65 [[ 9.98847930e-01 -4.71214008e-02 9.07668404e-03 1.57716545e+02] [ 4.71143156e-02 9.98889011e-01 9.92958270e-04 1.62629704e+01] [-9.11338953e-03 -5.64172555e-04 9.99958313e-01 -6.46818836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281400513 meters 0.0643406928125399 Centerline is valid? [True, True] Translation: X:157.75, Y:16.27, Z:-0.65 [[ 9.98914360e-01 -4.53774306e-02 1.05351749e-02 1.57746122e+02] [ 4.53677873e-02 9.98969687e-01 1.15266014e-03 1.62663221e+01] [-1.05766252e-02 -6.73451189e-04 9.99943839e-01 -6.45049477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311400513 meters 0.0648762620904746 Centerline is valid? [True, True] Translation: X:157.78, Y:16.27, Z:-0.64 [[ 9.98997217e-01 -4.33990320e-02 1.10038585e-02 1.57776463e+02] [ 4.33883906e-02 9.99057555e-01 1.20406401e-03 1.62700559e+01] [-1.10457432e-02 -7.25416882e-04 9.99938731e-01 -6.43981645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341400513 meters 0.06963416935471191 Centerline is valid? [True, True] Translation: X:157.80, Y:16.28, Z:-0.64 [[ 9.99093180e-01 -4.12329133e-02 1.06144003e-02 1.57804630e+02] [ 4.12228902e-02 9.99149300e-01 1.16145111e-03 1.62794697e+01] [-1.06532607e-02 -7.22841623e-04 9.99942991e-01 -6.44015701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371400513 meters 0.06810425844014752 Centerline is valid? [True, True] Translation: X:157.84, Y:16.28, Z:-0.65 [[ 9.99267504e-01 -3.71185407e-02 9.30966361e-03 1.57835188e+02] [ 3.71106508e-02 9.99310643e-01 1.01887872e-03 1.62814551e+01] [-9.34106522e-03 -6.72644718e-04 9.99956145e-01 -6.45245404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401400513 meters 0.07543938538888874 Centerline is valid? [True, True] Translation: X:157.86, Y:16.29, Z:-0.65 [[ 9.99326652e-01 -3.55283112e-02 9.16418182e-03 1.57862921e+02] [ 3.55205987e-02 9.99368441e-01 1.00303800e-03 1.62928374e+01] [-9.19403035e-03 -6.76845377e-04 9.99957505e-01 -6.46260786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431400513 meters 0.07630964505921878 Centerline is valid? [True, True] Translation: X:157.89, Y:16.30, Z:-0.65 [[ 9.99364797e-01 -3.44443503e-02 9.14276535e-03 1.57892691e+02] [ 3.44366266e-02 9.99406382e-01 1.00091970e-03 1.62959231e+01] [-9.17181407e-03 -6.85437916e-04 9.99957703e-01 -6.46946805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461400513 meters 0.07827913824291885 Centerline is valid? [True, True] Translation: X:157.92, Y:16.30, Z:-0.65 [[ 9.99390436e-01 -3.35799186e-02 9.54696994e-03 1.57922660e+02] [ 3.35714565e-02 9.99435773e-01 1.04529313e-03 1.63005628e+01] [-9.57668414e-03 -7.24150276e-04 9.99953880e-01 -6.47194579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49140051299997 meters 0.07138610450552059 Centerline is valid? [True, True] Translation: X:157.95, Y:16.29, Z:-0.65 [[ 9.99433265e-01 -3.22798494e-02 9.54779407e-03 1.57954175e+02] [ 3.22713268e-02 9.99478598e-01 1.04538337e-03 1.62946894e+01] [-9.57656065e-03 -7.36670931e-04 9.99953872e-01 -6.47413523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52140051299997 meters 0.08004678483457384 Centerline is valid? [True, True] Translation: X:157.98, Y:16.31, Z:-0.65 [[ 9.99481342e-01 -3.08813913e-02 9.13161148e-03 1.57982831e+02] [ 3.08735375e-02 9.99522799e-01 9.99815738e-04 1.63080477e+01] [-9.15812957e-03 -7.17372026e-04 9.99957806e-01 -6.48065941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55140051299998 meters 0.07328928391340014 Centerline is valid? [True, True] Translation: X:158.01, Y:16.30, Z:-0.65 [[ 9.99592898e-01 -2.74278109e-02 7.85840017e-03 1.58014418e+02] [ 2.74218885e-02 9.99623579e-01 8.60417802e-04 1.63025641e+01] [-7.87904148e-03 -6.44575350e-04 9.99968752e-01 -6.49498414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58140051299998 meters 0.08831999489067198 Centerline is valid? [True, True] Translation: X:158.04, Y:16.32, Z:-0.65 [[ 9.99630585e-01 -2.60679838e-02 7.69108930e-03 1.58041824e+02] [ 2.60622704e-02 9.99659967e-01 8.42171773e-04 1.63245879e+01] [-7.71042779e-03 -6.41413413e-04 9.99970068e-01 -6.51034690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61140051299998 meters 0.08806920014934684 Centerline is valid? [True, True] Translation: X:158.07, Y:16.33, Z:-0.65 [[ 9.99658801e-01 -2.49548729e-02 7.71598995e-03 1.58072459e+02] [ 2.49490920e-02 9.99688366e-01 8.44578694e-04 1.63287972e+01] [-7.73466174e-03 -6.51783581e-04 9.99969875e-01 -6.51988496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64140051299998 meters 0.07801417557326662 Centerline is valid? [True, True] Translation: X:158.10, Y:16.32, Z:-0.65 [[ 9.99664652e-01 -2.47840401e-02 7.50566781e-03 1.58104957e+02] [ 2.47785656e-02 9.99692627e-01 8.21513964e-04 1.63226021e+01] [-7.52372120e-03 -6.35258789e-04 9.99971495e-01 -6.54285861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67140051299998 meters 0.07663367853463254 Centerline is valid? [True, True] Translation: X:158.14, Y:16.33, Z:-0.66 [[ 9.99653435e-01 -2.54766447e-02 6.62947518e-03 1.58135956e+02] [ 2.54723897e-02 9.99675263e-01 7.25488070e-04 1.63256410e+01] [-6.64580534e-03 -5.56368067e-04 9.99977762e-01 -6.55731747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70140051299998 meters 0.08381649876831847 Centerline is valid? [True, True] Translation: X:158.16, Y:16.34, Z:-0.66 [[ 9.99635684e-01 -2.62717436e-02 6.18821163e-03 1.58164436e+02] [ 2.62680527e-02 9.99654706e-01 6.76970720e-04 1.63391878e+01] [-6.20386008e-03 -5.14171820e-04 9.99980624e-01 -6.56660013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73140051299998 meters 0.0771145507269738 Centerline is valid? [True, True] Translation: X:158.20, Y:16.34, Z:-0.66 [[ 9.99618391e-01 -2.69442187e-02 6.08943419e-03 1.58195272e+02] [ 2.69406572e-02 9.99636813e-01 6.66164781e-04 1.63357938e+01] [-6.10517187e-03 -5.01857208e-04 9.99981237e-01 -6.55552070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76140051299998 meters 0.0771145507269738 Centerline is valid? [True, True] Translation: X:158.23, Y:16.34, Z:-0.66 [[ 9.99618391e-01 -2.69442187e-02 6.08943419e-03 1.58225193e+02] [ 2.69406572e-02 9.99636813e-01 6.66164781e-04 1.63390671e+01] [-6.10517187e-03 -5.01857208e-04 9.99981237e-01 -6.55870280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79140051299999 meters 0.09345812125052706 Centerline is valid? [True, True] Translation: X:158.25, Y:16.36, Z:-0.65 [[ 9.99599944e-01 -2.72724523e-02 7.49435564e-03 1.58253038e+02] [ 2.72670665e-02 9.99627848e-01 8.19893343e-04 1.63649438e+01] [-7.51392710e-03 -6.15216246e-04 9.99971581e-01 -6.53493042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821400513 meters 0.08409396769996647 Centerline is valid? [True, True] Translation: X:158.29, Y:16.36, Z:-0.65 [[ 9.99588655e-01 -2.73833405e-02 8.52487741e-03 1.58285056e+02] [ 2.73763765e-02 9.99624762e-01 9.32540600e-04 1.63581784e+01] [-8.54721463e-03 -6.98776750e-04 9.99963228e-01 -6.51749668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851400513 meters 0.0810758409871536 Centerline is valid? [True, True] Translation: X:158.32, Y:16.36, Z:-0.65 [[ 9.99583487e-01 -2.74483246e-02 8.91302143e-03 1.58315952e+02] [ 2.74407165e-02 9.99622957e-01 9.74792281e-04 1.63600016e+01] [-8.93641726e-03 -7.29806573e-04 9.99959803e-01 -6.50966332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881400513 meters 0.07626089122719709 Centerline is valid? [True, True] Translation: X:158.35, Y:16.36, Z:-0.65 [[ 9.99589444e-01 -2.73160924e-02 8.64720342e-03 1.58347041e+02] [ 2.73089280e-02 9.99626594e-01 9.45534462e-04 1.63641519e+01] [-8.66980281e-03 -7.09000412e-04 9.99962165e-01 -6.52767661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911400513 meters 0.0826885926725477 Centerline is valid? [True, True] Translation: X:158.38, Y:16.38, Z:-0.66 [[ 9.99591615e-01 -2.75225820e-02 7.68841352e-03 1.58376702e+02] [ 2.75169253e-02 9.99620984e-01 8.40576765e-04 1.63788915e+01] [-7.70863434e-03 -6.28671985e-04 9.99970090e-01 -6.55335855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941400513 meters 0.08650762064174539 Centerline is valid? [True, True] Translation: X:158.41, Y:16.39, Z:-0.66 [[ 9.99579242e-01 -2.81411949e-02 7.02938515e-03 1.58406543e+02] [ 2.81364835e-02 9.99603796e-01 7.68270190e-04 1.63896777e+01] [-7.04822011e-03 -5.70164755e-04 9.99974998e-01 -6.57316386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971400513 meters 0.0806022647776694 Centerline is valid? [True, True] Translation: X:158.44, Y:16.39, Z:-0.65 [[ 9.99517246e-01 -2.97843010e-02 8.84136796e-03 1.58437707e+02] [ 2.97769137e-02 9.99556103e-01 9.66027860e-04 1.63911205e+01] [-8.86621577e-03 -7.02292856e-04 9.99960448e-01 -6.53525257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001400513 meters 0.08834343895566249 Centerline is valid? [True, True] Translation: X:158.47, Y:16.41, Z:-0.65 [[ 9.99473713e-01 -3.09067092e-02 9.85252905e-03 1.58467301e+02] [ 3.08975905e-02 9.99521976e-01 1.07642848e-03 1.64056527e+01] [-9.88108817e-03 -7.71442564e-04 9.99950883e-01 -6.51360723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031400513 meters 0.07553445375505502 Centerline is valid? [True, True] Translation: X:158.50, Y:16.40, Z:-0.65 [[ 9.99414555e-01 -3.25144441e-02 1.06470020e-02 1.58499804e+02] [ 3.25038888e-02 9.99470932e-01 1.16297413e-03 1.63951919e+01] [-1.06791825e-02 -8.16224304e-04 9.99942643e-01 -6.50228418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061400513 meters 0.07810191555186657 Centerline is valid? [True, True] Translation: X:158.53, Y:16.40, Z:-0.65 [[ 9.99374329e-01 -3.35091177e-02 1.13177103e-02 1.58529194e+02] [ 3.34972555e-02 9.99438045e-01 1.23609953e-03 1.64032338e+01] [-1.13527709e-02 -8.56213905e-04 9.99935189e-01 -6.49512936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091400513 meters 0.07685386785990485 Centerline is valid? [True, True] Translation: X:158.56, Y:16.41, Z:-0.65 [[ 9.99343649e-01 -3.41365084e-02 1.21231464e-02 1.58560652e+02] [ 3.41229458e-02 9.99416766e-01 1.32388543e-03 1.64071537e+01] [-1.21612686e-02 -9.09339026e-04 9.99925636e-01 -6.49422244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121400513 meters 0.07066795411661984 Centerline is valid? [True, True] Translation: X:158.59, Y:16.41, Z:-0.65 [[ 9.99349961e-01 -3.42801523e-02 1.11591783e-02 1.58593355e+02] [ 3.42686738e-02 9.99411914e-01 1.21826161e-03 1.64075847e+01] [-1.11943779e-02 -8.35059451e-04 9.99936992e-01 -6.52795594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151400513 meters 0.08039940351428167 Centerline is valid? [True, True] Translation: X:158.62, Y:16.42, Z:-0.65 [[ 9.99389471e-01 -3.34644187e-02 1.00407853e-02 1.58622682e+02] [ 3.34550889e-02 9.99439621e-01 1.09576356e-03 1.64230718e+01] [-1.00718277e-02 -7.59179201e-04 9.99948990e-01 -6.54430595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181400513 meters 0.08051716201421118 Centerline is valid? [True, True] Translation: X:158.65, Y:16.43, Z:-0.66 [[ 9.99426098e-01 -3.25649618e-02 9.32731751e-03 1.58653970e+02] [ 3.25568790e-02 9.99469367e-01 1.01713911e-03 1.64265851e+01] [-9.35549123e-03 -7.12887024e-04 9.99955982e-01 -6.55419911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211400513 meters 0.0812338533922661 Centerline is valid? [True, True] Translation: X:158.68, Y:16.43, Z:-0.66 [[ 9.99465714e-01 -3.14519030e-02 8.89185868e-03 1.58684887e+02] [ 3.14445153e-02 9.99505029e-01 9.69465836e-04 1.64310169e+01] [-8.91794902e-03 -6.89347677e-04 9.99959997e-01 -6.56276229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24140051299997 meters 0.08296546827456504 Centerline is valid? [True, True] Translation: X:158.71, Y:16.44, Z:-0.66 [[ 9.99504187e-01 -3.01100426e-02 9.20683414e-03 1.58714923e+02] [ 3.01020677e-02 9.99546326e-01 1.00357820e-03 1.64394048e+01] [-9.23287503e-03 -7.25935868e-04 9.99957113e-01 -6.56577299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27140051299997 meters 0.07707848412541135 Centerline is valid? [True, True] Translation: X:158.75, Y:16.44, Z:-0.66 [[ 9.99506215e-01 -2.99835194e-02 9.39756153e-03 1.58747421e+02] [ 2.99752057e-02 9.99550118e-01 1.02429959e-03 1.64367254e+01] [-9.42404584e-03 -7.42099964e-04 9.99955317e-01 -6.57075708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30140051299998 meters 0.07570286977135204 Centerline is valid? [True, True] Translation: X:158.78, Y:16.44, Z:-0.66 [[ 9.99500672e-01 -3.01925881e-02 9.31742968e-03 1.58779257e+02] [ 3.01844287e-02 9.99543831e-01 1.01512866e-03 1.64383438e+01] [-9.34382872e-03 -7.33380483e-04 9.99956077e-01 -6.57544659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33140051299998 meters 0.07878509042695635 Centerline is valid? [True, True] Translation: X:158.81, Y:16.44, Z:-0.66 [[ 9.99489980e-01 -3.06458039e-02 8.97861109e-03 1.58808864e+02] [ 3.06382483e-02 9.99530060e-01 9.77882787e-04 1.64444930e+01] [-9.00435969e-03 -7.02295131e-04 9.99959213e-01 -6.58544686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36140051299998 meters 0.08028523933142458 Centerline is valid? [True, True] Translation: X:158.84, Y:16.45, Z:-0.66 [[ 9.99456209e-01 -3.18906780e-02 8.38281125e-03 1.58839051e+02] [ 3.18841360e-02 9.99491155e-01 9.12926570e-04 1.64493046e+01] [-8.40765954e-03 -6.45151434e-04 9.99964447e-01 -6.60667256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39140051299998 meters 0.07615981630256072 Centerline is valid? [True, True] Translation: X:158.87, Y:16.45, Z:-0.66 [[ 9.99432218e-01 -3.27020432e-02 8.11281064e-03 1.58870232e+02] [ 3.26959442e-02 9.99464954e-01 8.83302229e-04 1.64477565e+01] [-8.13735571e-03 -6.17544702e-04 9.99966700e-01 -6.61474146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42140051299998 meters 0.07975965373536445 Centerline is valid? [True, True] Translation: X:158.90, Y:16.46, Z:-0.66 [[ 9.99409818e-01 -3.35286037e-02 7.47324012e-03 1.58900483e+02] [ 3.35234510e-02 9.99437600e-01 8.13728249e-04 1.64552171e+01] [-7.49632034e-03 -5.62719203e-04 9.99971744e-01 -6.63130409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45140051299998 meters 0.07483892001799022 Centerline is valid? [True, True] Translation: X:158.93, Y:16.45, Z:-0.66 [[ 9.99400190e-01 -3.40592698e-02 6.26310645e-03 1.58932442e+02] [ 3.40556618e-02 9.99419705e-01 6.81857181e-04 1.64517400e+01] [-6.28269556e-03 -4.68153962e-04 9.99980154e-01 -6.64580147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48140051299998 meters 0.07663145607896979 Centerline is valid? [True, True] Translation: X:158.96, Y:16.46, Z:-0.67 [[ 9.99377100e-01 -3.50936786e-02 3.72106990e-03 1.58961972e+02] [ 3.50924127e-02 9.99383990e-01 4.04966421e-04 1.64572419e+01] [-3.73298944e-03 -2.74132847e-04 9.99992995e-01 -6.68448404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51140051299998 meters 0.07012257802029358 Centerline is valid? [True, True] Translation: X:158.99, Y:16.45, Z:-0.67 [[ 9.99335561e-01 -3.62058440e-02 4.19207540e-03 1.58992245e+02] [ 3.62042511e-02 9.99344308e-01 4.55260376e-04 1.64513173e+01] [-4.20580977e-03 -3.03186932e-04 9.99991110e-01 -6.67891975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54140051299999 meters 0.08099819770299749 Centerline is valid? [True, True] Translation: X:159.02, Y:16.47, Z:-0.67 [[ 9.99324890e-01 -3.63218876e-02 5.52133191e-03 1.59019262e+02] [ 3.63191154e-02 9.99340062e-01 6.01559569e-04 1.64697052e+01] [-5.53953795e-03 -4.00623559e-04 9.99984576e-01 -6.67129898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571400513 meters 0.07615702357526 Centerline is valid? [True, True] Translation: X:159.05, Y:16.47, Z:-0.66 [[ 9.99317569e-01 -3.62033916e-02 7.32877919e-03 1.59048612e+02] [ 3.61985042e-02 9.99344300e-01 7.98472872e-04 1.64664721e+01] [-7.35288114e-03 -5.32637125e-04 9.99972825e-01 -6.64334555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601400513 meters 0.07344135938799827 Centerline is valid? [True, True] Translation: X:159.08, Y:16.46, Z:-0.66 [[ 9.99348406e-01 -3.51272857e-02 8.29684181e-03 1.59078906e+02] [ 3.51209696e-02 9.99382658e-01 9.05788888e-04 1.64649150e+01] [-8.32353773e-03 -6.13805552e-04 9.99965170e-01 -6.61873844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631400513 meters 0.08321480759368657 Centerline is valid? [True, True] Translation: X:159.11, Y:16.48, Z:-0.66 [[ 9.99364936e-01 -3.48605649e-02 7.38011063e-03 1.59107217e+02] [ 3.48555580e-02 9.99392035e-01 8.05995265e-04 1.64808291e+01] [-7.40372123e-03 -5.48245532e-04 9.99972442e-01 -6.64002270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661400513 meters 0.07734239338796524 Centerline is valid? [True, True] Translation: X:159.14, Y:16.48, Z:-0.67 [[ 9.99347118e-01 -3.55150983e-02 6.63448660e-03 1.59137949e+02] [ 3.55110700e-02 9.99369021e-01 7.24027007e-04 1.64779024e+01] [-6.65601427e-03 -4.87956584e-04 9.99977729e-01 -6.65734902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691400513 meters 0.0726942276886214 Centerline is valid? [True, True] Translation: X:159.17, Y:16.47, Z:-0.66 [[ 9.99196375e-01 -3.90777946e-02 8.91798007e-03 1.59168920e+02] [ 3.90706573e-02 9.99235976e-01 9.73214197e-04 1.64744674e+01] [-8.94919759e-03 -6.24000754e-04 9.99959760e-01 -6.63381604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721400513 meters 0.07244106633983254 Centerline is valid? [True, True] Translation: X:159.20, Y:16.48, Z:-0.66 [[ 9.99088585e-01 -4.14608501e-02 1.01487905e-02 1.59198750e+02] [ 4.14517281e-02 9.99139894e-01 1.10762165e-03 1.64761572e+01] [-1.01859844e-02 -6.85927237e-04 9.99947886e-01 -6.61375297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751400513 meters 0.06940545418668109 Centerline is valid? [True, True] Translation: X:159.23, Y:16.48, Z:-0.66 [[ 9.99006027e-01 -4.35418278e-02 9.54293834e-03 1.59229910e+02] [ 4.35338561e-02 9.99051409e-01 1.04159430e-03 1.64752316e+01] [-9.57923892e-03 -6.25118081e-04 9.99953923e-01 -6.61623341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781400513 meters 0.062206335472550126 Centerline is valid? [True, True] Translation: X:159.26, Y:16.47, Z:-0.67 [[ 9.98913304e-01 -4.61669798e-02 6.38921366e-03 1.59260735e+02] [ 4.61634603e-02 9.98933656e-01 6.97317574e-04 1.64717151e+01] [-6.41459360e-03 -4.01611591e-04 9.99979346e-01 -6.65972696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811400513 meters 0.06448472531657538 Centerline is valid? [True, True] Translation: X:159.29, Y:16.48, Z:-0.67 [[ 9.98897309e-01 -4.65749897e-02 5.91070973e-03 1.59288171e+02] [ 4.65719868e-02 9.98914728e-01 6.44735348e-04 1.64788597e+01] [-5.93432355e-03 -3.68750908e-04 9.99982324e-01 -6.67391146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841400513 meters 0.06753134041733533 Centerline is valid? [True, True] Translation: X:159.32, Y:16.49, Z:-0.67 [[ 9.98888353e-01 -4.66597091e-02 6.70294274e-03 1.59315714e+02] [ 4.66558460e-02 9.98910755e-01 7.31630337e-04 1.64859146e+01] [-6.72977925e-03 -4.18085558e-04 9.99977267e-01 -6.67025900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871400513 meters 0.05937359831014858 Centerline is valid? [True, True] Translation: X:159.35, Y:16.48, Z:-0.66 [[ 9.98875807e-01 -4.67284574e-02 7.97326741e-03 1.59345563e+02] [ 4.67229911e-02 9.98907505e-01 8.70573542e-04 1.64789717e+01] [-8.00523722e-03 -4.97059947e-04 9.99967834e-01 -6.64991353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901400513 meters 0.06678813831068289 Centerline is valid? [True, True] Translation: X:159.37, Y:16.49, Z:-0.66 [[ 9.98917226e-01 -4.56353487e-02 9.04377265e-03 1.59372722e+02] [ 4.56282540e-02 9.98957999e-01 9.89369634e-04 1.64904577e+01] [-9.07949925e-03 -5.75646815e-04 9.99958615e-01 -6.63514350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931400513 meters 0.06906400570315545 Centerline is valid? [True, True] Translation: X:159.40, Y:16.50, Z:-0.66 [[ 9.98955826e-01 -4.48931003e-02 8.47746301e-03 1.59401315e+02] [ 4.48868355e-02 9.98991647e-01 9.27911651e-04 1.64957609e+01] [-8.51057157e-03 -5.46416262e-04 9.99963635e-01 -6.64378188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961400513 meters 0.0656974210370334 Centerline is valid? [True, True] Translation: X:159.43, Y:16.49, Z:-0.67 [[ 9.98981388e-01 -4.45091542e-02 7.42435836e-03 1.59431449e+02] [ 4.45043402e-02 9.99008861e-01 8.12440847e-04 1.64944060e+01] [-7.45316084e-03 -4.81197115e-04 9.99972109e-01 -6.65973251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99140051299997 meters 0.06937275865311869 Centerline is valid? [True, True] Translation: X:159.46, Y:16.50, Z:-0.67 [[ 9.98998706e-01 -4.42695208e-02 6.46487270e-03 1.59459706e+02] [ 4.42658653e-02 9.99019536e-01 7.07516355e-04 1.65018664e+01] [-6.48985553e-03 -4.20634739e-04 9.99978852e-01 -6.68233122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02140051299997 meters 0.06733357673440378 Centerline is valid? [True, True] Translation: X:159.49, Y:16.50, Z:-0.67 [[ 9.98989652e-01 -4.45017991e-02 6.26626152e-03 1.59488142e+02] [ 4.44983720e-02 9.99009222e-01 6.85354502e-04 1.65032134e+01] [-6.29055255e-03 -4.05823619e-04 9.99980132e-01 -6.69034256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05140051299998 meters 0.06862779528069432 Centerline is valid? [True, True] Translation: X:159.52, Y:16.51, Z:-0.67 [[ 9.98979087e-01 -4.46117960e-02 7.11135946e-03 1.59515613e+02] [ 4.46073707e-02 9.99004292e-01 7.79766623e-04 1.65082569e+01] [-7.13906541e-03 -4.61751502e-04 9.99974410e-01 -6.69337157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08140051299998 meters 0.06866897330115175 Centerline is valid? [True, True] Translation: X:159.54, Y:16.51, Z:-0.67 [[ 9.98969771e-01 -4.42094924e-02 1.02428868e-02 1.59544424e+02] [ 4.42002819e-02 9.99022058e-01 1.12395824e-03 1.65109873e+01] [-1.02825595e-02 -6.70061818e-04 9.99946909e-01 -6.65248122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11140051299998 meters 0.07628184063234886 Centerline is valid? [True, True] Translation: X:159.57, Y:16.52, Z:-0.66 [[ 9.98994330e-01 -4.35201452e-02 1.07854677e-02 1.59572797e+02] [ 4.35098741e-02 9.99052294e-01 1.18524305e-03 1.65239560e+01] [-1.08268282e-02 -7.14776747e-04 9.99941133e-01 -6.64461511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14140051299998 meters 0.07003154982793648 Centerline is valid? [True, True] Translation: X:159.60, Y:16.52, Z:-0.67 [[ 9.99035747e-01 -4.28122504e-02 9.73072485e-03 1.59603460e+02] [ 4.28038556e-02 9.99082923e-01 1.06944063e-03 1.65211969e+01] [-9.76758618e-03 -6.51896881e-04 9.99952083e-01 -6.66382854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17140051299998 meters 0.07863020844442963 Centerline is valid? [True, True] Translation: X:159.63, Y:16.54, Z:-0.67 [[ 9.99095397e-01 -4.17759892e-02 7.94694959e-03 1.59631714e+02] [ 4.17703566e-02 9.99126856e-01 8.73517531e-04 1.65361390e+01] [-7.97650282e-03 -5.40780426e-04 9.99968041e-01 -6.69692365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20140051299998 meters 0.07282614313321586 Centerline is valid? [True, True] Translation: X:159.66, Y:16.53, Z:-0.67 [[ 9.99190317e-01 -3.96421107e-02 6.87120944e-03 1.59662620e+02] [ 3.96378528e-02 9.99213826e-01 7.54792656e-04 1.65313304e+01] [-6.89572905e-03 -4.81821525e-04 9.99976108e-01 -6.71802800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23140051299998 meters 0.06737595154359749 Centerline is valid? [True, True] Translation: X:159.69, Y:16.53, Z:-0.67 [[ 9.99228050e-01 -3.86686394e-02 6.93112611e-03 1.59692795e+02] [ 3.86642835e-02 9.99251967e-01 7.61409963e-04 1.65259391e+01] [-6.95538409e-03 -4.92835167e-04 9.99975690e-01 -6.71313427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26140051299998 meters 0.07523530991954026 Centerline is valid? [True, True] Translation: X:159.72, Y:16.54, Z:-0.67 [[ 9.99274427e-01 -3.74076533e-02 7.16149864e-03 1.59721050e+02] [ 3.74029683e-02 9.99299954e-01 7.87058942e-04 1.65390577e+01] [-7.18592730e-03 -5.18626567e-04 9.99974046e-01 -6.71825293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29140051299999 meters 0.07913117823112545 Centerline is valid? [True, True] Translation: X:159.75, Y:16.55, Z:-0.67 [[ 9.99314548e-01 -3.62621572e-02 7.44922832e-03 1.59749984e+02] [ 3.62570558e-02 9.99342161e-01 8.18773563e-04 1.65483935e+01] [-7.47401842e-03 -5.48125246e-04 9.99971919e-01 -6.72547823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321400513 meters 0.07988594252806243 Centerline is valid? [True, True] Translation: X:159.78, Y:16.55, Z:-0.67 [[ 9.99372237e-01 -3.45790191e-02 7.70866807e-03 1.59780249e+02] [ 3.45735055e-02 9.99401798e-01 8.47411768e-04 1.65535203e+01] [-7.73335940e-03 -5.80364116e-04 9.99969929e-01 -6.72103808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351400513 meters 0.07806414316309739 Centerline is valid? [True, True] Translation: X:159.81, Y:16.55, Z:-0.67 [[ 9.99439768e-01 -3.24353770e-02 8.25200615e-03 1.59811150e+02] [ 3.24289860e-02 9.99473630e-01 9.07143071e-04 1.65543530e+01] [-8.27708607e-03 -6.39030669e-04 9.99965540e-01 -6.70856332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381400513 meters 0.08302989067779477 Centerline is valid? [True, True] Translation: X:159.84, Y:16.56, Z:-0.67 [[ 9.99508805e-01 -3.01195614e-02 8.65803162e-03 1.59840019e+02] [ 3.01124395e-02 9.99546065e-01 9.51781945e-04 1.65634360e+01] [-8.68276869e-03 -6.90599980e-04 9.99962066e-01 -6.69867947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411400513 meters 0.07987842605081778 Centerline is valid? [True, True] Translation: X:159.87, Y:16.57, Z:-0.67 [[ 9.99619998e-01 -2.61133013e-02 8.82918103e-03 1.59870128e+02] [ 2.61057407e-02 9.99658716e-01 9.70514378e-04 1.65656429e+01] [-8.85151111e-03 -7.39653270e-04 9.99960551e-01 -6.69182214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441400513 meters 0.08291342327334032 Centerline is valid? [True, True] Translation: X:159.90, Y:16.57, Z:-0.67 [[ 9.99660419e-01 -2.46537211e-02 8.44046053e-03 1.59899026e+02] [ 2.46467604e-02 9.99695792e-01 9.27732164e-04 1.65746385e+01] [-8.46076492e-03 -7.19387115e-04 9.99963948e-01 -6.70686783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471400513 meters 0.09295509534922797 Centerline is valid? [True, True] Translation: X:159.93, Y:16.59, Z:-0.67 [[ 9.99690077e-01 -2.36634665e-02 7.73244230e-03 1.59927381e+02] [ 2.36575952e-02 9.99719759e-01 8.49910428e-04 1.65910715e+01] [-7.75038718e-03 -6.66716032e-04 9.99969743e-01 -6.72765213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501400513 meters 0.08180514170286954 Centerline is valid? [True, True] Translation: X:159.96, Y:16.58, Z:-0.67 [[ 9.99700189e-01 -2.35875372e-02 6.56970834e-03 1.59961136e+02] [ 2.35832961e-02 9.99721614e-01 7.22290461e-04 1.65815692e+01] [-6.58491648e-03 -5.67138533e-04 9.99978158e-01 -6.73883934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531400513 meters 0.08798122716186307 Centerline is valid? [True, True] Translation: X:159.99, Y:16.59, Z:-0.67 [[ 9.99675226e-01 -2.44677075e-02 7.12560708e-03 1.59990432e+02] [ 2.44627439e-02 9.99700436e-01 7.82920366e-04 1.65945819e+01] [-7.14262877e-03 -6.08354192e-04 9.99974306e-01 -6.73055173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561400513 meters 0.08248163133587284 Centerline is valid? [True, True] Translation: X:160.02, Y:16.59, Z:-0.67 [[ 9.99646027e-01 -2.53851628e-02 7.96329901e-03 1.60022585e+02] [ 2.53789929e-02 9.99677519e-01 8.74912412e-04 1.65942126e+01] [-7.98294079e-03 -6.72502208e-04 9.99967910e-01 -6.71932818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591400513 meters 0.09478809344683307 Centerline is valid? [True, True] Translation: X:160.05, Y:16.61, Z:-0.67 [[ 9.99626118e-01 -2.62314023e-02 7.71604452e-03 1.60051380e+02] [ 2.62256368e-02 9.99655690e-01 8.47462257e-04 1.66145003e+01] [-7.73561793e-03 -6.44787224e-04 9.99969872e-01 -6.72713988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621400513 meters 0.08781179654096637 Centerline is valid? [True, True] Translation: X:160.08, Y:16.61, Z:-0.67 [[ 9.99621345e-01 -2.63889146e-02 7.79690824e-03 1.60084453e+02] [ 2.63830333e-02 9.99651541e-01 8.56222322e-04 1.66088103e+01] [-7.81678611e-03 -6.50192020e-04 9.99969237e-01 -6.72404779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651400513 meters 0.08781179654096637 Centerline is valid? [True, True] Translation: X:160.12, Y:16.61, Z:-0.67 [[ 9.99622497e-01 -2.63452202e-02 7.79694551e-03 1.60116046e+02] [ 2.63393403e-02 9.99652693e-01 8.55882786e-04 1.66121992e+01] [-7.81678600e-03 -6.50193287e-04 9.99969237e-01 -6.72740737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681400513 meters 0.08491598788499638 Centerline is valid? [True, True] Translation: X:160.15, Y:16.61, Z:-0.67 [[ 9.99608416e-01 -2.65878996e-02 8.72346497e-03 1.60148005e+02] [ 2.65805521e-02 9.99646216e-01 9.57148227e-04 1.66123269e+01] [-8.74582731e-03 -7.24898907e-04 9.99961492e-01 -6.71283218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711400513 meters 0.08086177415547029 Centerline is valid? [True, True] Translation: X:160.18, Y:16.61, Z:-0.67 [[ 9.99603214e-01 -2.64436595e-02 9.70298357e-03 1.60180142e+02] [ 2.64345673e-02 9.99649979e-01 1.06413479e-03 1.66127696e+01] [-9.72772694e-03 -8.07218382e-04 9.99952359e-01 -6.70089148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74140051299997 meters 0.0808851573161653 Centerline is valid? [True, True] Translation: X:160.21, Y:16.62, Z:-0.67 [[ 9.99610104e-01 -2.59879378e-02 1.02111174e-02 1.60211986e+02] [ 2.59778498e-02 9.99661892e-01 1.11936969e-03 1.66188808e+01] [-1.02367551e-02 -8.53670382e-04 9.99947239e-01 -6.70281679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77140051299997 meters 0.08688559349790317 Centerline is valid? [True, True] Translation: X:160.24, Y:16.63, Z:-0.67 [[ 9.99631162e-01 -2.52140261e-02 1.00892569e-02 1.60241780e+02] [ 2.52041429e-02 9.99681714e-01 1.10554942e-03 1.66311253e+01] [-1.01139210e-02 -8.50850582e-04 9.99948491e-01 -6.71328061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80140051299998 meters 0.09302959213057095 Centerline is valid? [True, True] Translation: X:160.27, Y:16.64, Z:-0.67 [[ 9.99658952e-01 -2.45563230e-02 8.88627183e-03 1.60272039e+02] [ 2.45486328e-02 9.99698163e-01 9.73467024e-04 1.66423604e+01] [-8.90749440e-03 -7.54989202e-04 9.99960042e-01 -6.73611010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83140051299998 meters 0.0882957796919671 Centerline is valid? [True, True] Translation: X:160.30, Y:16.64, Z:-0.67 [[ 9.99633054e-01 -2.56989932e-02 8.56260725e-03 1.60304328e+02] [ 2.56918969e-02 9.99669469e-01 9.37734441e-04 1.66407490e+01] [-8.58387588e-03 -7.17400720e-04 9.99962901e-01 -6.73984171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86140051299998 meters 0.08494419277604494 Centerline is valid? [True, True] Translation: X:160.33, Y:16.64, Z:-0.67 [[ 9.99577702e-01 -2.77962661e-02 8.47262299e-03 1.60334926e+02] [ 2.77893959e-02 9.99613370e-01 9.27541438e-04 1.66408199e+01] [-8.49512941e-03 -6.91700664e-04 9.99963677e-01 -6.74379579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89140051299998 meters 0.07995308558686938 Centerline is valid? [True, True] Translation: X:160.37, Y:16.64, Z:-0.67 [[ 9.99508322e-01 -3.02202915e-02 8.35757422e-03 1.60365625e+02] [ 3.02136909e-02 9.99543043e-01 9.14931289e-04 1.66380726e+01] [-8.38140466e-03 -6.61968273e-04 9.99964656e-01 -6.74882720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92140051299998 meters 0.080058917146177 Centerline is valid? [True, True] Translation: X:160.40, Y:16.64, Z:-0.68 [[ 9.99417245e-01 -3.31565888e-02 8.11239111e-03 1.60395524e+02] [ 3.31504661e-02 9.99449978e-01 8.88085115e-04 1.66403852e+01] [-8.13737499e-03 -6.18638032e-04 9.99966700e-01 -6.75932747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95140051299998 meters 0.0672010566722688 Centerline is valid? [True, True] Translation: X:160.43, Y:16.63, Z:-0.68 [[ 9.99192160e-01 -3.95018754e-02 7.39119533e-03 1.60428433e+02] [ 3.94969653e-02 9.99219363e-01 8.09165519e-04 1.66252340e+01] [-7.41738904e-03 -5.16582057e-04 9.99972357e-01 -6.77160598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98140051299998 meters 0.07035603905873511 Centerline is valid? [True, True] Translation: X:160.46, Y:16.63, Z:-0.68 [[ 9.99096626e-01 -4.18221972e-02 7.53893374e-03 1.60457536e+02] [ 4.18171555e-02 9.99124939e-01 8.25225161e-04 1.66318665e+01] [-7.56684945e-03 -5.09222909e-04 9.99971241e-01 -6.77576689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01140051299998 meters 0.06703536440957873 Centerline is valid? [True, True] Translation: X:160.49, Y:16.63, Z:-0.68 [[ 9.99030737e-01 -4.35520053e-02 6.38829040e-03 1.60487727e+02] [ 4.35484204e-02 9.99051073e-01 6.99262004e-04 1.66294079e+01] [-6.41268264e-03 -4.20384279e-04 9.99979350e-01 -6.79598062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04140051299999 meters 0.06292554994462143 Centerline is valid? [True, True] Translation: X:160.52, Y:16.63, Z:-0.68 [[ 9.99050875e-01 -4.32446730e-02 5.21984766e-03 1.60517132e+02] [ 4.32422790e-02 9.99064452e-01 5.70684697e-04 1.66261017e+01] [-5.23964331e-03 -3.44424937e-04 9.99986214e-01 -6.81063148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071400513 meters 0.07763276888299991 Centerline is valid? [True, True] Translation: X:160.54, Y:16.64, Z:-0.68 [[ 9.99082451e-01 -4.25486941e-02 4.88516158e-03 1.60543054e+02] [ 4.25465826e-02 9.99094341e-01 5.35394216e-04 1.66446647e+01] [-4.90351761e-03 -3.27056035e-04 9.99987924e-01 -6.83703591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101400513 meters 0.06620801357726994 Centerline is valid? [True, True] Translation: X:160.57, Y:16.63, Z:-0.68 [[ 9.99140693e-01 -4.11756260e-02 4.73741028e-03 1.60573986e+02] [ 4.11736227e-02 9.99151872e-01 5.19663173e-04 1.66338672e+01] [-4.75478980e-03 -3.24160280e-04 9.99988643e-01 -6.82024154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131400513 meters 0.07058507503373189 Centerline is valid? [True, True] Translation: X:160.60, Y:16.64, Z:-0.68 [[ 9.99205110e-01 -3.96181205e-02 4.42174554e-03 1.60602970e+02] [ 3.96163594e-02 9.99214846e-01 4.85196140e-04 1.66420890e+01] [-4.43749635e-03 -3.09637002e-04 9.99990106e-01 -6.82721948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161400513 meters 0.07306215170312998 Centerline is valid? [True, True] Translation: X:160.63, Y:16.65, Z:-0.69 [[ 9.99346667e-01 -3.60599223e-02 2.43322111e-03 1.60632484e+02] [ 3.60593785e-02 9.99349613e-01 2.66979255e-04 1.66488921e+01] [-2.44126582e-03 -1.79064387e-04 9.99997004e-01 -6.86587531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191400513 meters 0.08256079616628115 Centerline is valid? [True, True] Translation: X:160.66, Y:16.65, Z:-0.69 [[ 9.99415607e-01 -3.40385614e-02 3.13383319e-03 1.60658888e+02] [ 3.40168946e-02 9.99398629e-01 6.72539910e-03 1.66537469e+01] [-3.36087150e-03 -6.61486555e-03 9.99972474e-01 -6.88518963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221400513 meters 0.0791236375089885 Centerline is valid? [True, True] Translation: X:160.69, Y:16.67, Z:-0.69 [[ 9.99418173e-01 -3.39638679e-02 3.12586930e-03 1.60689915e+02] [ 3.39827153e-02 9.99403264e-01 -6.18798868e-03 1.66690113e+01] [-2.91383595e-03 6.29061387e-03 9.99975969e-01 -6.89805811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251400513 meters 0.07964908852510116 Centerline is valid? [True, True] Translation: X:160.72, Y:16.67, Z:-0.69 [[ 9.99444424e-01 -3.30984437e-02 3.91621545e-03 1.60719824e+02] [ 3.30970092e-02 9.99452051e-01 4.30553942e-04 1.66668808e+01] [-3.92832023e-03 -3.00699718e-04 9.99992239e-01 -6.87316721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281400513 meters 0.0806734873937996 Centerline is valid? [True, True] Translation: X:160.75, Y:16.67, Z:-0.68 [[ 9.99461785e-01 -3.23369407e-02 5.51922908e-03 1.60749383e+02] [ 3.23340788e-02 9.99476933e-01 6.07011788e-04 1.66700625e+01] [-5.53597105e-03 -4.28225897e-04 9.99984585e-01 -6.84490058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311400513 meters 0.08352726258939674 Centerline is valid? [True, True] Translation: X:160.78, Y:16.67, Z:-0.68 [[ 9.99497484e-01 -3.11720432e-02 5.75179905e-03 1.60778488e+02] [ 3.11689147e-02 9.99513931e-01 6.32781767e-04 1.66748970e+01] [-5.76872838e-03 -4.53186450e-04 9.99983258e-01 -6.83534978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341400513 meters 0.07593869690650935 Centerline is valid? [True, True] Translation: X:160.81, Y:16.67, Z:-0.68 [[ 9.99522610e-01 -3.04874061e-02 5.00710275e-03 1.60809314e+02] [ 3.04850265e-02 9.99535072e-01 5.50907524e-04 1.66692842e+01] [-5.02157055e-03 -3.98002866e-04 9.99987313e-01 -6.84614838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371400513 meters 0.07588135480601715 Centerline is valid? [True, True] Translation: X:160.84, Y:16.67, Z:-0.69 [[ 9.99549360e-01 -2.96562049e-02 4.64609362e-03 1.60839574e+02] [ 2.96541467e-02 9.99560088e-01 5.11273302e-04 1.66733259e+01] [-4.65921217e-03 -3.73266960e-04 9.99989076e-01 -6.86042925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401400513 meters 0.08288768925947575 Centerline is valid? [True, True] Translation: X:160.87, Y:16.69, Z:-0.69 [[ 9.99574638e-01 -2.86900788e-02 5.23665483e-03 1.60867560e+02] [ 2.86874516e-02 9.99588264e-01 5.76140370e-04 1.66855752e+01] [-5.25102822e-03 -4.25669020e-04 9.99986123e-01 -6.86536135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431400513 meters 0.09139945789410889 Centerline is valid? [True, True] Translation: X:160.90, Y:16.70, Z:-0.68 [[ 9.99639989e-01 -2.60885005e-02 6.26753232e-03 1.60896401e+02] [ 2.60846847e-02 9.99659499e-01 6.89809021e-04 1.66973498e+01] [-6.28339430e-03 -5.26074078e-04 9.99980121e-01 -6.84732210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461400513 meters 0.08946159053978657 Centerline is valid? [True, True] Translation: X:160.93, Y:16.70, Z:-0.68 [[ 9.99665398e-01 -2.49772061e-02 6.72537580e-03 1.60927750e+02] [ 2.49727865e-02 9.99687857e-01 7.40343964e-04 1.66973112e+01] [-6.74176825e-03 -5.72144870e-04 9.99977110e-01 -6.83604683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49140051299997 meters 0.08573631918888111 Centerline is valid? [True, True] Translation: X:160.96, Y:16.70, Z:-0.68 [[ 9.99678360e-01 -2.43712777e-02 7.01549761e-03 1.60958908e+02] [ 2.43664543e-02 9.99702796e-01 7.72199646e-04 1.66962638e+01] [-7.03223207e-03 -6.01008473e-04 9.99975093e-01 -6.82760466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52140051299997 meters 0.086664020551762 Centerline is valid? [True, True] Translation: X:160.99, Y:16.70, Z:-0.68 [[ 9.99670560e-01 -2.46316830e-02 7.21467989e-03 1.60989449e+02] [ 2.46265875e-02 9.99696404e-01 7.94261386e-04 1.67030397e+01] [-7.23205353e-03 -6.16326779e-04 9.99973658e-01 -6.82823623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55140051299998 meters 0.09088591450872782 Centerline is valid? [True, True] Translation: X:161.02, Y:16.71, Z:-0.68 [[ 9.99668642e-01 -2.47705596e-02 7.00179840e-03 1.61019483e+02] [ 2.47657687e-02 9.99692985e-01 7.70126874e-04 1.67120496e+01] [-7.01872522e-03 -5.96466766e-04 9.99975191e-01 -6.83572323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58140051299998 meters 0.08545475131602528 Centerline is valid? [True, True] Translation: X:161.05, Y:16.71, Z:-0.68 [[ 9.99667601e-01 -2.49408531e-02 6.53003392e-03 1.61051190e+02] [ 2.49366913e-02 9.99688775e-01 7.18000412e-04 1.67089612e+01] [-6.54590915e-03 -5.54924310e-04 9.99978421e-01 -6.84054130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61140051299998 meters 0.07641949787636489 Centerline is valid? [True, True] Translation: X:161.08, Y:16.70, Z:-0.68 [[ 9.99590949e-01 -2.76311350e-02 7.37939022e-03 1.61082824e+02] [ 2.76258947e-02 9.99618003e-01 8.11138915e-04 1.67026252e+01] [-7.39898401e-03 -6.06944861e-04 9.99972443e-01 -6.82002011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64140051299998 meters 0.0834357858621588 Centerline is valid? [True, True] Translation: X:161.11, Y:16.71, Z:-0.68 [[ 9.99514901e-01 -2.99475792e-02 8.55020586e-03 1.61110815e+02] [ 2.99406288e-02 9.99551237e-01 9.39761825e-04 1.67149099e+01] [-8.57451244e-03 -6.83307407e-04 9.99963005e-01 -6.80811706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67140051299998 meters 0.07972161197097082 Centerline is valid? [True, True] Translation: X:161.14, Y:16.71, Z:-0.68 [[ 9.99430053e-01 -3.24646304e-02 9.25289376e-03 1.61142070e+02] [ 3.24565967e-02 9.99472628e-01 1.01712177e-03 1.67131411e+01] [-9.28103453e-03 -7.16224628e-04 9.99956674e-01 -6.80029490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70140051299998 meters 0.08051542191389385 Centerline is valid? [True, True] Translation: X:161.17, Y:16.72, Z:-0.68 [[ 9.99357085e-01 -3.46031893e-02 9.38270090e-03 1.61171088e+02] [ 3.45950228e-02 9.99400881e-01 1.03133794e-03 1.67155215e+01] [-9.41276712e-03 -7.06080128e-04 9.99955450e-01 -6.80054388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73140051299998 meters 0.07498550009690022 Centerline is valid? [True, True] Translation: X:161.20, Y:16.71, Z:-0.68 [[ 9.99317973e-01 -3.57186477e-02 9.36843859e-03 1.61203004e+02] [ 3.57105526e-02 9.99361644e-01 1.02999638e-03 1.67102695e+01] [-9.39924827e-03 -6.94741780e-04 9.99955585e-01 -6.80251133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76140051299998 meters 0.07884811879187276 Centerline is valid? [True, True] Translation: X:161.23, Y:16.72, Z:-0.68 [[ 9.99315036e-01 -3.58240631e-02 9.27876644e-03 1.61233363e+02] [ 3.58161286e-02 9.99357876e-01 1.01994105e-03 1.67175937e+01] [-9.30934676e-03 -6.86912938e-04 9.99956431e-01 -6.80602353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79140051299999 meters 0.08193985146806598 Centerline is valid? [True, True] Translation: X:161.26, Y:16.73, Z:-0.68 [[ 9.99401612e-01 -3.32930077e-02 9.38044722e-03 1.61261548e+02] [ 3.32847905e-02 9.99445376e-01 1.03079477e-03 1.67274309e+01] [-9.40956286e-03 -7.17951731e-04 9.99955471e-01 -6.81219423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821400513 meters 0.07900171934988526 Centerline is valid? [True, True] Translation: X:161.29, Y:16.73, Z:-0.68 [[ 9.99484127e-01 -3.08612743e-02 8.89170207e-03 1.61292426e+02] [ 3.08537986e-02 9.99523431e-01 9.76737924e-04 1.67288199e+01] [-8.91760793e-03 -7.01891266e-04 9.99959991e-01 -6.82186099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851400513 meters 0.08407511483191635 Centerline is valid? [True, True] Translation: X:161.32, Y:16.74, Z:-0.68 [[ 9.99590005e-01 -2.75205207e-02 7.90210059e-03 1.61321525e+02] [ 2.75145121e-02 9.99621027e-01 8.68118209e-04 1.67388899e+01] [-7.92299698e-03 -6.50339843e-04 9.99968401e-01 -6.83838482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881400513 meters 0.08848578944208128 Centerline is valid? [True, True] Translation: X:161.35, Y:16.74, Z:-0.69 [[ 9.99710275e-01 -2.28208771e-02 7.65334178e-03 1.61350848e+02] [ 2.27956759e-02 9.99734485e-01 3.36406482e-03 1.67415410e+01] [-7.72808062e-03 -3.18862706e-03 9.99965054e-01 -6.85792989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911400513 meters 0.09422726538050487 Centerline is valid? [True, True] Translation: X:161.38, Y:16.76, Z:-0.69 [[ 9.99848970e-01 -1.65913197e-02 5.17350626e-03 1.61380337e+02] [ 1.66015165e-02 9.99860314e-01 -1.93428575e-03 1.67611215e+01] [-5.14069124e-03 2.01988166e-03 9.99984747e-01 -6.89634871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941400513 meters 0.0951706399559953 Centerline is valid? [True, True] Translation: X:161.41, Y:16.77, Z:-0.69 [[ 9.99888932e-01 -1.39948584e-02 5.12527580e-03 1.61411425e+02] [ 1.39921554e-02 9.99901947e-01 5.62856154e-04 1.67662779e+01] [-5.13265034e-03 -4.91079983e-04 9.99986707e-01 -6.90609700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971400513 meters 0.10959073875496146 Centerline is valid? [True, False] Translation: X:161.41, Y:16.76, Z:-0.69 [[ 9.99942418e-01 -9.51584664e-03 4.96070263e-03 1.61411676e+02] [ 9.48905480e-03 9.99940415e-01 5.39666250e-03 1.67641039e+01] [-5.01176086e-03 -5.34927937e-03 9.99973133e-01 -6.90233975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001400513 meters 0.09529842860632701 Centerline is valid? [False, True] Translation: X:161.39, Y:16.77, Z:-0.70 [[ 9.99909292e-01 -9.72157666e-03 9.32199542e-03 1.61393640e+02] [ 9.74833638e-03 9.99948481e-01 -2.82946984e-03 1.67714753e+01] [-9.29400824e-03 2.92008713e-03 9.99952546e-01 -6.97679963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031400513 meters 0.09173582755226631 Centerline is valid? [True, True] Translation: X:161.42, Y:16.77, Z:-0.70 [[ 9.99880717e-01 -1.18739572e-02 9.87734219e-03 1.61424688e+02] [ 1.18640000e-02 9.99929052e-01 1.06607395e-03 1.67664390e+01] [-9.88929993e-03 -9.48761998e-04 9.99950650e-01 -6.95151310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061400513 meters 0.09710510997361411 Centerline is valid? [True, True] Translation: X:161.45, Y:16.78, Z:-0.69 [[ 9.99860442e-01 -1.31721386e-02 1.02757502e-02 1.61452702e+02] [ 1.31614282e-02 9.99912769e-01 1.10922252e-03 1.67824141e+01] [-1.02894647e-02 -9.73824174e-04 9.99946588e-01 -6.94660238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091400513 meters 0.09623686360085384 Centerline is valid? [True, True] Translation: X:161.48, Y:16.79, Z:-0.70 [[ 9.99840138e-01 -1.44093291e-02 1.05862513e-02 1.61483275e+02] [ 1.43980368e-02 9.99895691e-01 1.14213718e-03 1.67888721e+01] [-1.06016045e-02 -9.89533365e-04 9.99943312e-01 -6.95442754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121400513 meters 0.09492762514184076 Centerline is valid? [True, True] Translation: X:161.51, Y:16.79, Z:-0.70 [[ 9.99823544e-01 -1.57279495e-02 1.02719564e-02 1.61513963e+02] [ 1.57173879e-02 9.99875860e-01 1.10811906e-03 1.67936334e+01] [-1.02881097e-02 -9.46475206e-04 9.99946628e-01 -6.97168522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151400513 meters 0.09439233353497471 Centerline is valid? [True, True] Translation: X:161.54, Y:16.80, Z:-0.70 [[ 9.99801604e-01 -1.73809641e-02 9.72903461e-03 1.61543852e+02] [ 1.73715685e-02 9.99848552e-01 1.04940459e-03 1.67974719e+01] [-9.74580084e-03 -8.80187803e-04 9.99952121e-01 -6.98357084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181400513 meters 0.08935317533546396 Centerline is valid? [True, True] Translation: X:161.58, Y:16.80, Z:-0.70 [[ 9.99772748e-01 -1.92259340e-02 9.20956742e-03 1.61575021e+02] [ 1.92175925e-02 9.99814832e-01 9.93398213e-04 1.67956852e+01] [-9.22696111e-03 -8.16186748e-04 9.99957098e-01 -6.98737006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211400513 meters 0.08606141659754368 Centerline is valid? [True, True] Translation: X:161.61, Y:16.80, Z:-0.70 [[ 9.99711845e-01 -2.24147810e-02 8.59099719e-03 1.61605309e+02] [ 2.24076392e-02 9.99748488e-01 9.26684691e-04 1.67989495e+01] [-8.60960789e-03 -7.33913697e-04 9.99962667e-01 -6.98503094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24140051299997 meters 0.08356964829907705 Centerline is valid? [True, True] Translation: X:161.64, Y:16.80, Z:-0.70 [[ 9.99681384e-01 -2.37108168e-02 8.65611309e-03 1.61636149e+02] [ 2.37036152e-02 9.99718594e-01 9.33629002e-04 1.68021617e+01] [-8.67581431e-03 -7.28150359e-04 9.99962099e-01 -6.98363198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27140051299997 meters 0.08074822619307653 Centerline is valid? [True, True] Translation: X:161.67, Y:16.80, Z:-0.70 [[ 9.99650624e-01 -2.48377564e-02 9.03968242e-03 1.61667829e+02] [ 2.48299482e-02 9.99691214e-01 9.74993286e-04 1.68044837e+01] [-9.06110774e-03 -7.50197800e-04 9.99958666e-01 -6.98394998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30140051299998 meters 0.07771814877537668 Centerline is valid? [True, True] Translation: X:161.70, Y:16.81, Z:-0.70 [[ 9.99597303e-01 -2.66931226e-02 9.62858003e-03 1.61698470e+02] [ 2.66843537e-02 9.99643370e-01 1.03805612e-03 1.68061221e+01] [-9.65285515e-03 -7.80705664e-04 9.99953105e-01 -6.98064186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33140051299998 meters 0.08446335092512144 Centerline is valid? [True, True] Translation: X:161.73, Y:16.82, Z:-0.70 [[ 9.99578683e-01 -2.74520735e-02 9.42551493e-03 1.61727942e+02] [ 2.74437052e-02 9.99622834e-01 1.01606190e-03 1.68171043e+01] [-9.44985296e-03 -7.56962760e-04 9.99955063e-01 -6.98826393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36140051299998 meters 0.08453127583514954 Centerline is valid? [True, True] Translation: X:161.76, Y:16.82, Z:-0.70 [[ 9.99558617e-01 -2.81363891e-02 9.53494521e-03 1.61758611e+02] [ 2.81278568e-02 9.99603805e-01 1.02778912e-03 1.68206602e+01] [-9.56008579e-03 -7.59137895e-04 9.99954013e-01 -6.98962347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39140051299998 meters 0.07507035494134316 Centerline is valid? [True, True] Translation: X:161.79, Y:16.81, Z:-0.70 [[ 9.99543529e-01 -2.86615460e-02 9.55247881e-03 1.61791671e+02] [ 2.86530073e-02 9.99588888e-01 1.02955949e-03 1.68139933e+01] [-9.57806043e-03 -7.55382276e-04 9.99953844e-01 -6.98730405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42140051299998 meters 0.08401295078815586 Centerline is valid? [True, True] Translation: X:161.82, Y:16.83, Z:-0.70 [[ 9.99537066e-01 -2.88768683e-02 9.58016450e-03 1.61821230e+02] [ 2.88682946e-02 9.99582691e-01 1.03204706e-03 1.68300157e+01] [-9.60596890e-03 -7.55006276e-04 9.99953577e-01 -6.99925156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45140051299998 meters 0.08488663451872534 Centerline is valid? [True, True] Translation: X:161.85, Y:16.84, Z:-0.70 [[ 9.99545419e-01 -2.86814732e-02 9.29129418e-03 1.61852474e+02] [ 2.86734034e-02 9.99588333e-01 1.00060843e-03 1.68355739e+01] [-9.31616818e-03 -7.33740548e-04 9.99956334e-01 -7.00506422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48140051299998 meters 0.08147684813010761 Centerline is valid? [True, True] Translation: X:161.88, Y:16.83, Z:-0.70 [[ 9.99622976e-01 -2.57568431e-02 9.51264564e-03 1.61883915e+02] [ 2.57482564e-02 9.99667934e-01 1.02405401e-03 1.68342929e+01] [-9.53586321e-03 -7.78733877e-04 9.99954229e-01 -6.99370303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51140051299998 meters 0.0776590909444042 Centerline is valid? [True, True] Translation: X:161.92, Y:16.83, Z:-0.70 [[ 9.99677950e-01 -2.36322065e-02 9.24746204e-03 1.61915216e+02] [ 2.36240036e-02 9.99720419e-01 9.95293738e-04 1.68335971e+01] [-9.26839761e-03 -7.76511127e-04 9.99956746e-01 -6.99250667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54140051299999 meters 0.08706146610328622 Centerline is valid? [True, True] Translation: X:161.94, Y:16.85, Z:-0.70 [[ 9.99741235e-01 -2.08638801e-02 9.06432209e-03 1.61943787e+02] [ 2.08558862e-02 9.99782016e-01 9.75554181e-04 1.68501841e+01] [-9.08270006e-03 -7.86257272e-04 9.99958442e-01 -6.99936665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571400513 meters 0.08706146610328622 Centerline is valid? [True, True] Translation: X:161.98, Y:16.85, Z:-0.70 [[ 9.99742174e-01 -2.08188346e-02 9.06430927e-03 1.61975397e+02] [ 2.08108377e-02 9.99782955e-01 9.75673316e-04 1.68535078e+01] [-9.08265429e-03 -7.86785893e-04 9.99958442e-01 -7.00367377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601400513 meters 0.10084597160220572 Centerline is valid? [True, False] Translation: X:161.98, Y:16.86, Z:-0.70 [[ 9.99945996e-01 -7.04466445e-03 7.64051093e-03 1.61978252e+02] [ 7.08481397e-03 9.99961170e-01 -5.24054666e-03 1.68575688e+01] [-7.60329636e-03 5.29439525e-03 9.99957079e-01 -7.01127353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631400513 meters 0.10073830177937686 Centerline is valid? [False, False] Translation: X:161.98, Y:16.86, Z:-0.70 [[ 9.99966155e-01 -2.94962206e-03 7.68038397e-03 1.61978217e+02] [ 2.96198457e-03 9.99994335e-01 -1.59874481e-03 1.68605825e+01] [-7.67562477e-03 1.62143988e-03 9.99969227e-01 -7.01709641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661400513 meters 0.09559068598000169 Centerline is valid? [False, True] Translation: X:161.96, Y:16.87, Z:-0.70 [[ 9.99968109e-01 2.20398914e-03 7.67617751e-03 1.61957318e+02] [-2.14894328e-03 9.99971973e-01 -7.17187878e-03 1.68653285e+01] [-7.69176911e-03 7.15515439e-03 9.99944819e-01 -7.03624365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691400513 meters 0.09800686770992639 Centerline is valid? [True, True] Translation: X:161.99, Y:16.87, Z:-0.70 [[ 9.99962053e-01 5.57826699e-03 6.69149911e-03 1.61988019e+02] [-5.58286797e-03 9.99984192e-01 6.69103465e-04 1.68685185e+01] [-6.68766089e-03 -7.06435831e-04 9.99977388e-01 -7.04251117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721400513 meters 0.10867605881705734 Centerline is valid? [True, False] Translation: X:161.99, Y:16.88, Z:-0.71 [[ 9.99964045e-01 4.83539199e-03 6.96623416e-03 1.61987487e+02] [-4.82068288e-03 9.99986119e-01 -2.12673290e-03 1.68803126e+01] [-6.97642104e-03 2.09307442e-03 9.99973474e-01 -7.05094126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751400513 meters 0.11185695928699689 Centerline is valid? [False, False] Translation: X:161.99, Y:16.88, Z:-0.71 [[ 9.99965063e-01 4.49781270e-03 7.04576586e-03 1.61987177e+02] [-4.47635080e-03 9.99985303e-01 -3.05888596e-03 1.68845050e+01] [-7.05942060e-03 3.02723977e-03 9.99970500e-01 -7.05006591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781400513 meters 0.10777965931556696 Centerline is valid? [False, False] Translation: X:162.01, Y:16.88, Z:-0.70 [[ 9.99987717e-01 3.89923621e-03 3.05976156e-03 1.62005399e+02] [-3.91284418e-03 9.99982425e-01 4.45408329e-03 1.68819024e+01] [-3.04234026e-03 -4.46600095e-03 9.99985399e-01 -6.96859743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811400513 meters 0.10188157761168386 Centerline is valid? [False, False] Translation: X:162.00, Y:16.89, Z:-0.69 [[ 9.99990530e-01 1.40314092e-03 4.11971852e-03 1.61998355e+02] [-1.40938472e-03 9.99997862e-01 1.51307729e-03 1.68859605e+01] [-4.11758665e-03 -1.51886923e-03 9.99990369e-01 -6.91535559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841400513 meters 0.10234471369672415 Centerline is valid? [False, False] Translation: X:162.00, Y:16.89, Z:-0.69 [[ 9.99990902e-01 1.27848194e-03 4.06952276e-03 1.61998355e+02] [-1.28315043e-03 9.99998521e-01 1.14478086e-03 1.68876110e+01] [-4.06805316e-03 -1.14999225e-03 9.99991064e-01 -6.91192415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871400513 meters 0.09352823993338033 Centerline is valid? [False, True] Translation: X:162.00, Y:16.89, Z:-0.69 [[ 9.99992157e-01 1.01057068e-03 3.82949053e-03 1.61998912e+02] [-1.01190834e-03 9.99999428e-01 3.47385471e-04 1.68909476e+01] [-3.82913728e-03 -3.51257840e-04 9.99992607e-01 -6.90970120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901400513 meters 0.09096001941095178 Centerline is valid? [True, True] Translation: X:162.03, Y:16.89, Z:-0.69 [[ 9.99982698e-01 -4.26017245e-03 4.05644407e-03 1.62028961e+02] [ 4.25874551e-03 9.99990867e-01 3.60343438e-04 1.68934822e+01] [-4.05794215e-03 -3.43061840e-04 9.99991708e-01 -6.90992861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931400513 meters 0.0817720322938265 Centerline is valid? [True, True] Translation: X:162.06, Y:16.89, Z:-0.69 [[ 9.99955729e-01 -8.51792809e-03 3.99818679e-03 1.62060506e+02] [ 8.51657557e-03 9.99963670e-01 3.55188158e-04 1.68880209e+01] [-4.00106700e-03 -3.21121574e-04 9.99991944e-01 -6.90287558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96140051299997 meters 0.08425630843971514 Centerline is valid? [True, True] Translation: X:162.09, Y:16.90, Z:-0.69 [[ 9.99928538e-01 -1.11048914e-02 4.42729301e-03 1.62089447e+02] [ 1.11032584e-02 9.99938280e-01 3.93261512e-04 1.68964967e+01] [-4.43138688e-03 -3.44076030e-04 9.99990122e-01 -6.89337938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99140051299997 meters 0.07329858705513383 Centerline is valid? [True, True] Translation: X:162.12, Y:16.89, Z:-0.69 [[ 9.99910623e-01 -1.25056821e-02 4.72800521e-03 1.62121020e+02] [ 1.25038347e-02 9.99921736e-01 4.20095598e-04 1.68901315e+01] [-4.73288876e-03 -3.60939855e-04 9.99988735e-01 -6.88270241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02140051299997 meters 0.07695802275304725 Centerline is valid? [True, True] Translation: X:162.15, Y:16.90, Z:-0.69 [[ 9.99923679e-01 -1.16266551e-02 4.17811636e-03 1.62150994e+02] [ 1.16252041e-02 9.99932356e-01 3.71424258e-04 1.68982425e+01] [-4.18215215e-03 -3.22824455e-04 9.99991203e-01 -6.89260400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05140051299998 meters 0.08501914625399798 Centerline is valid? [True, True] Translation: X:162.18, Y:16.91, Z:-0.69 [[ 9.99944347e-01 -1.00172995e-02 3.31021909e-03 1.62179507e+02] [ 1.00163809e-02 9.99949792e-01 2.93954948e-04 1.69118582e+01] [-3.31299752e-03 -2.60782173e-04 9.99994478e-01 -6.91243858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08140051299998 meters 0.07866657965541186 Centerline is valid? [True, True] Translation: X:162.21, Y:16.91, Z:-0.69 [[ 9.99965099e-01 -7.74568768e-03 3.13120898e-03 1.62210136e+02] [ 7.74485556e-03 9.99969970e-01 2.77786340e-04 1.69092048e+01] [-3.13326659e-03 -2.53525883e-04 9.99995059e-01 -6.90857455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11140051299998 meters 0.09134884234704353 Centerline is valid? [True, True] Translation: X:162.24, Y:16.93, Z:-0.69 [[ 9.99980650e-01 -5.06539948e-03 3.61135570e-03 1.62237685e+02] [ 5.06427527e-03 9.99987125e-01 3.20372892e-04 1.69309874e+01] [-3.61293202e-03 -3.02077794e-04 9.99993428e-01 -6.90952318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14140051299998 meters 0.08809243646251992 Centerline is valid? [True, True] Translation: X:162.27, Y:16.94, Z:-0.69 [[ 9.99994340e-01 7.04739902e-04 3.28981778e-03 1.62267461e+02] [-7.05703827e-04 9.99999708e-01 2.91850899e-04 1.69386584e+01] [-3.28961114e-03 -2.94170884e-04 9.99994546e-01 -6.91447431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17140051299998 meters 0.08942951769198577 Centerline is valid? [True, True] Translation: X:162.30, Y:16.95, Z:-0.69 [[ 9.99988215e-01 3.47929932e-03 3.38579196e-03 1.62298121e+02] [-3.48033623e-03 9.99993898e-01 3.00411294e-04 1.69466247e+01] [-3.38472608e-03 -3.12191449e-04 9.99994223e-01 -6.92708676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20140051299998 meters 0.09661140474533188 Centerline is valid? [True, True] Translation: X:162.33, Y:16.96, Z:-0.69 [[ 9.99976238e-01 6.08507076e-03 3.23958421e-03 1.62326822e+02] [-6.08603322e-03 9.99981439e-01 2.87319354e-04 1.69646084e+01] [-3.23777572e-03 -3.07028744e-04 9.99994711e-01 -6.93192376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23140051299998 meters 0.09188930474673832 Centerline is valid? [True, True] Translation: X:162.36, Y:16.97, Z:-0.69 [[ 9.99966635e-01 7.73800962e-03 2.61751260e-03 1.62357876e+02] [-7.73864363e-03 9.99970029e-01 2.32177140e-04 1.69664807e+01] [-2.61563756e-03 -2.52425391e-04 9.99996547e-01 -6.93713080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26140051299998 meters 0.10002635328341916 Centerline is valid? [True, False] Translation: X:162.36, Y:16.97, Z:-0.69 [[ 9.99923783e-01 1.20949717e-02 2.47795133e-03 1.62358436e+02] [-1.21064551e-02 9.99915795e-01 4.67287629e-03 1.69660244e+01] [-2.42122437e-03 -4.70251935e-03 9.99986012e-01 -6.93675112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29140051299999 meters 0.09630274636872053 Centerline is valid? [False, True] Translation: X:162.36, Y:16.98, Z:-0.69 [[ 9.99972002e-01 6.99210339e-03 2.66546997e-03 1.62357840e+02] [-6.98530706e-03 9.99972350e-01 -2.55060571e-03 1.69781858e+01] [-2.68323036e-03 2.53191517e-03 9.99993195e-01 -6.93856932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321400513 meters 0.10202574357081984 Centerline is valid? [True, False] Translation: X:162.36, Y:16.98, Z:-0.69 [[ 9.99973099e-01 6.84204059e-03 2.64360087e-03 1.62357699e+02] [-6.83423687e-03 9.99972296e-01 -2.94976823e-03 1.69800082e+01] [-2.66371006e-03 2.93162188e-03 9.99992155e-01 -6.93409267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351400513 meters 0.08811202898354956 Centerline is valid? [False, True] Translation: X:162.34, Y:16.98, Z:-0.69 [[ 9.99999472e-01 8.92348444e-04 -5.10233339e-04 1.62337321e+02] [-8.91274283e-04 9.99997394e-01 2.10160083e-03 1.69786400e+01] [ 5.12107370e-04 -2.10114496e-03 9.99997661e-01 -6.91464790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381400513 meters 0.08658456783738724 Centerline is valid? [True, True] Translation: X:162.37, Y:16.98, Z:-0.69 [[ 9.99994879e-01 -3.17391045e-03 4.10752671e-04 1.62367601e+02] [ 3.17389553e-03 9.99994962e-01 3.69598544e-05 1.69830542e+01] [-4.10867909e-04 -3.56559791e-05 9.99999915e-01 -6.90627896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411400513 meters 0.08239665482634238 Centerline is valid? [True, True] Translation: X:162.40, Y:16.98, Z:-0.69 [[ 9.99945051e-01 -1.04662290e-02 5.93716742e-04 1.62398589e+02] [ 1.04661991e-02 9.99945226e-01 5.33965561e-05 1.69819619e+01] [-5.94243083e-04 -4.71796644e-05 9.99999822e-01 -6.90685827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441400513 meters 0.07807765538860115 Centerline is valid? [True, True] Translation: X:162.43, Y:16.98, Z:-0.69 [[ 9.99917153e-01 -1.28718180e-02 5.01925930e-05 1.62429089e+02] [ 1.28718178e-02 9.99917155e-01 4.51554872e-06 1.69832423e+01] [-5.02465581e-05 -3.86910471e-06 9.99999999e-01 -6.90639181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471400513 meters 0.07665790642950421 Centerline is valid? [True, True] Translation: X:162.46, Y:16.98, Z:-0.69 [[ 9.99891476e-01 -1.47210609e-02 -5.71353279e-04 1.62460339e+02] [ 1.47210340e-02 9.99891638e-01 -5.13151766e-05 1.69847130e+01] [ 5.72046780e-04 4.28986967e-05 9.99999835e-01 -6.91436243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501400513 meters 0.07257073396932379 Centerline is valid? [True, True] Translation: X:162.49, Y:16.98, Z:-0.69 [[ 9.99882633e-01 -1.52247013e-02 -1.71108475e-03 1.62491030e+02] [ 1.52244603e-02 9.99884089e-01 -1.53800271e-04 1.69809996e+01] [ 1.71322798e-03 1.27731878e-04 9.99998524e-01 -6.93020071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531400513 meters 0.07704776377348804 Centerline is valid? [True, True] Translation: X:162.52, Y:16.99, Z:-0.69 [[ 9.99889878e-01 -1.47223943e-02 -1.86647292e-03 1.62518755e+02] [ 1.47221063e-02 9.99891610e-01 -1.67957638e-04 1.69889536e+01] [ 1.86874335e-03 1.40460729e-04 9.99998244e-01 -6.94200127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561400513 meters 0.08182794586028819 Centerline is valid? [True, True] Translation: X:162.55, Y:17.00, Z:-0.69 [[ 9.99904093e-01 -1.37902998e-02 -1.27785505e-03 1.62546521e+02] [ 1.37901639e-02 9.99904905e-01 -1.15070163e-04 1.69977789e+01] [ 1.27932039e-03 9.74372959e-05 9.99999177e-01 -6.94249831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591400513 meters 0.07819865277965002 Centerline is valid? [True, True] Translation: X:162.58, Y:17.00, Z:-0.69 [[ 9.99917307e-01 -1.28419317e-02 -6.81262238e-04 1.62576909e+02] [ 1.28418929e-02 9.99917538e-01 -6.13276077e-05 1.69958553e+01] [ 6.81993625e-04 5.25738397e-05 9.99999766e-01 -6.93382010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621400513 meters 0.08249807135551901 Centerline is valid? [True, True] Translation: X:162.61, Y:17.00, Z:-0.69 [[ 9.99926422e-01 -1.21226000e-02 -4.38459734e-04 1.62605959e+02] [ 1.21225839e-02 9.99926518e-01 -3.94916820e-05 1.70028606e+01] [ 4.38906257e-04 3.41735114e-05 9.99999903e-01 -6.92834132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651400513 meters 0.07876375368890447 Centerline is valid? [True, True] Translation: X:162.64, Y:17.00, Z:-0.69 [[ 9.99930127e-01 -1.18085486e-02 -5.46776690e-04 1.62636949e+02] [ 1.18085235e-02 9.99930276e-01 -4.91970932e-05 1.69975712e+01] [ 5.47319512e-04 4.27370303e-05 9.99999849e-01 -6.92324977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681400513 meters 0.08224143717461666 Centerline is valid? [True, True] Translation: X:162.67, Y:17.00, Z:-0.69 [[ 9.99930040e-01 -1.18079136e-02 -6.98887504e-04 1.62665774e+02] [ 1.18078725e-02 9.99930283e-01 -6.28727166e-05 1.70026742e+01] [ 6.99581175e-04 5.46159435e-05 9.99999754e-01 -6.93342682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71140051299997 meters 0.08068126626553533 Centerline is valid? [True, True] Translation: X:162.70, Y:17.00, Z:-0.69 [[ 9.99929425e-01 -1.18438266e-02 -9.31626293e-04 1.62696198e+02] [ 1.18437536e-02 9.99929857e-01 -8.38221654e-05 1.70012601e+01] [ 9.32553721e-04 7.27822974e-05 9.99999563e-01 -6.94114938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74140051299997 meters 0.08504972370666217 Centerline is valid? [True, True] Translation: X:162.73, Y:17.01, Z:-0.69 [[ 9.99931138e-01 -1.17182817e-02 -6.34094380e-04 1.62725782e+02] [ 1.17182478e-02 9.99931337e-01 -5.70995172e-05 1.70067665e+01] [ 6.34719949e-04 4.96651101e-05 9.99999797e-01 -6.94917086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77140051299997 meters 0.08685039164248363 Centerline is valid? [True, True] Translation: X:162.76, Y:17.01, Z:-0.70 [[ 9.99942972e-01 -1.05733639e-02 -1.50210739e-03 1.62755903e+02] [ 1.05731726e-02 9.99944093e-01 -1.35223900e-04 1.70079718e+01] [ 1.50345319e-03 1.19334148e-04 9.99998863e-01 -6.96542908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80140051299998 meters 0.07931401582106078 Centerline is valid? [True, True] Translation: X:162.79, Y:17.00, Z:-0.70 [[ 9.99950302e-01 -9.68025199e-03 -2.38453567e-03 1.62786608e+02] [ 9.67976726e-03 9.99953127e-01 -2.14737758e-04 1.70003546e+01] [ 2.38650262e-03 1.91645335e-04 9.99997134e-01 -6.97064944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83140051299998 meters 0.09042546142931426 Centerline is valid? [True, True] Translation: X:162.81, Y:17.02, Z:-0.70 [[ 9.99956642e-01 -8.79830116e-03 -3.05020359e-03 1.62813699e+02] [ 8.79750334e-03 9.99961263e-01 -2.74882732e-04 1.70157495e+01] [ 3.05250394e-03 2.48036637e-04 9.99995310e-01 -6.98711492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86140051299998 meters 0.09062448320521133 Centerline is valid? [True, True] Translation: X:162.84, Y:17.02, Z:-0.70 [[ 9.99967960e-01 -7.40931056e-03 -3.03010288e-03 1.62844360e+02] [ 7.40851738e-03 9.99972519e-01 -2.72909372e-04 1.70173256e+01] [ 3.03204168e-03 2.50452058e-04 9.99995372e-01 -6.98510099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89140051299998 meters 0.09302196979814827 Centerline is valid? [True, True] Translation: X:162.87, Y:17.02, Z:-0.70 [[ 9.99991514e-01 -3.77789680e-03 -1.64287774e-03 1.62874592e+02] [ 3.77765868e-03 9.99992854e-01 -1.48018770e-04 1.70213005e+01] [ 1.64342520e-03 1.41811283e-04 9.99998640e-01 -6.95557222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92140051299998 meters 0.09007942159430526 Centerline is valid? [True, True] Translation: X:162.90, Y:17.02, Z:-0.69 [[ 9.99997164e-01 -1.84681867e-03 -1.50366377e-03 1.62904692e+02] [ 1.84661706e-03 9.99998286e-01 -1.35458119e-04 1.70216785e+01] [ 1.50391136e-03 1.32681044e-04 9.99998860e-01 -6.94830338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95140051299998 meters 0.105126281060621 Centerline is valid? [True, False] Translation: X:162.91, Y:17.02, Z:-0.70 [[ 9.99996874e-01 4.19641619e-04 -2.46507052e-03 1.62911558e+02] [-4.14841144e-04 9.99998017e-01 1.94758689e-03 1.70228110e+01] [ 2.46588293e-03 -1.94655819e-03 9.99995065e-01 -7.00175762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98140051299998 meters 0.09008059343131267 Centerline is valid? [False, True] Translation: X:162.89, Y:17.03, Z:-0.71 [[ 9.99998148e-01 6.21459547e-04 1.82169890e-03 1.62893049e+02] [-6.08521936e-04 9.99974653e-01 -7.09391975e-03 1.70320988e+01] [-1.82606131e-03 7.09279806e-03 9.99973178e-01 -7.08220016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01140051299998 meters 0.08709512074378419 Centerline is valid? [True, True] Translation: X:162.93, Y:17.03, Z:-0.71 [[ 9.99997443e-01 3.88252928e-04 2.22761626e-03 1.62925080e+02] [-3.88704040e-04 9.99999904e-01 2.02079179e-04 1.70273678e+01] [-2.22753759e-03 -2.02944546e-04 9.99997498e-01 -7.07736630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04140051299999 meters 0.08900939062325848 Centerline is valid? [True, True] Translation: X:162.95, Y:17.03, Z:-0.71 [[ 9.99993996e-01 -7.74662554e-04 3.37750842e-03 1.62954401e+02] [ 7.73632976e-04 9.99999654e-01 3.06129631e-04 1.70331165e+01] [-3.37774439e-03 -3.03514841e-04 9.99994249e-01 -7.06273042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071400513 meters 0.09353743350565387 Centerline is valid? [True, True] Translation: X:162.98, Y:17.04, Z:-0.71 [[ 9.99988519e-01 -2.72149615e-03 3.94409018e-03 1.62983303e+02] [ 2.72010731e-03 9.99996237e-01 3.57450973e-04 1.70416627e+01] [-3.94504813e-03 -3.46718520e-04 9.99992158e-01 -7.06166044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101400513 meters 0.08158760233590785 Centerline is valid? [True, True] Translation: X:163.02, Y:17.03, Z:-0.71 [[ 9.99982475e-01 -4.64550340e-03 3.66997446e-03 1.63015513e+02] [ 4.64431346e-03 9.99989160e-01 3.32691025e-04 1.70305541e+01] [-3.67148019e-03 -3.15640682e-04 9.99993210e-01 -7.06333822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131400513 meters 0.09358738543763274 Centerline is valid? [True, True] Translation: X:163.04, Y:17.05, Z:-0.71 [[ 9.99975617e-01 -6.32196441e-03 2.96628340e-03 1.63043719e+02] [ 6.32119446e-03 9.99979985e-01 2.68870063e-04 1.70486885e+01] [-2.96792382e-03 -2.50113052e-04 9.99995564e-01 -7.08849962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161400513 meters 0.08092683076994192 Centerline is valid? [True, True] Translation: X:163.07, Y:17.04, Z:-0.71 [[ 9.99961078e-01 -8.44908213e-03 2.54085849e-03 1.63074983e+02] [ 8.44852413e-03 9.99964284e-01 2.30263303e-04 1.70370090e+01] [-2.54271325e-03 -2.08787836e-04 9.99996746e-01 -7.09333176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191400513 meters 0.08050283210480547 Centerline is valid? [True, True] Translation: X:163.11, Y:17.04, Z:-0.71 [[ 9.99960742e-01 -8.43061298e-03 2.72752646e-03 1.63107020e+02] [ 8.42996912e-03 9.99964437e-01 2.47472942e-04 1.70411256e+01] [-2.72951580e-03 -2.24470263e-04 9.99996250e-01 -7.09054938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221400513 meters 0.08502334258138132 Centerline is valid? [True, True] Translation: X:163.14, Y:17.05, Z:-0.71 [[ 9.99969153e-01 -7.50589103e-03 2.31404419e-03 1.63136417e+02] [ 7.50542545e-03 9.99971812e-01 2.09815925e-04 1.70517007e+01] [-2.31555381e-03 -1.92441567e-04 9.99997301e-01 -7.09646794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251400513 meters 0.08458910736617503 Centerline is valid? [True, True] Translation: X:163.17, Y:17.06, Z:-0.71 [[ 9.99978068e-01 -6.37976530e-03 1.77813781e-03 1.63167317e+02] [ 6.37948882e-03 9.99979638e-01 1.61119099e-04 1.70558355e+01] [-1.77912951e-03 -1.49771956e-04 9.99998406e-01 -7.10646731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281400513 meters 0.08437104528366361 Centerline is valid? [True, True] Translation: X:163.20, Y:17.06, Z:-0.71 [[ 9.99981451e-01 -5.59780266e-03 2.40058253e-03 1.63198755e+02] [ 5.59729648e-03 9.99984311e-01 2.17520440e-04 1.70595269e+01] [-2.40176251e-03 -2.04079633e-04 9.99997095e-01 -7.09402795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311400513 meters 0.08233209707616515 Centerline is valid? [True, True] Translation: X:163.23, Y:17.06, Z:-0.71 [[ 9.99972223e-01 -6.74407164e-03 3.17347641e-03 1.63230362e+02] [ 6.74319320e-03 9.99977223e-01 2.87424767e-04 1.70594522e+01] [-3.17534254e-03 -2.66017418e-04 9.99994923e-01 -7.07964926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341400513 meters 0.08692332285001794 Centerline is valid? [True, True] Translation: X:163.26, Y:17.07, Z:-0.71 [[ 9.99958348e-01 -8.52474989e-03 3.26065222e-03 1.63259729e+02] [ 8.52383251e-03 9.99963628e-01 2.95141728e-04 1.70675082e+01] [-3.26304963e-03 -2.67336181e-04 9.99994641e-01 -7.08384019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371400513 meters 0.08124473322719872 Centerline is valid? [True, True] Translation: X:163.29, Y:17.06, Z:-0.71 [[ 9.99942842e-01 -1.02918774e-02 2.89662890e-03 1.63291110e+02] [ 1.02911607e-02 9.99947010e-01 2.62243629e-04 1.70624788e+01] [-2.89917439e-03 -2.32418966e-04 9.99995770e-01 -7.09227292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401400513 meters 0.0856993016634217 Centerline is valid? [True, True] Translation: X:163.32, Y:17.07, Z:-0.71 [[ 9.99909266e-01 -1.29224275e-02 3.80409543e-03 1.63320801e+02] [ 1.29212106e-02 9.99916458e-01 3.44287436e-04 1.70677170e+01] [-3.80822666e-03 -2.95102679e-04 9.99992705e-01 -7.09063750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431400513 meters 0.08416861281647131 Centerline is valid? [True, True] Translation: X:163.35, Y:17.07, Z:-0.71 [[ 9.99903406e-01 -1.31101136e-02 4.61558958e-03 1.63352824e+02] [ 1.31083236e-02 9.99913995e-01 4.17859122e-04 1.70678445e+01] [-4.62067080e-03 -3.57316118e-04 9.99989261e-01 -7.07304738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46140051299997 meters 0.08416861281647131 Centerline is valid? [True, True] Translation: X:163.38, Y:17.07, Z:-0.71 [[ 9.99903991e-01 -1.30654159e-02 4.61560827e-03 1.63384468e+02] [ 1.30636263e-02 9.99914580e-01 4.17652515e-04 1.70706249e+01] [-4.62067081e-03 -3.57315834e-04 9.99989261e-01 -7.07540842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49140051299997 meters 0.08204317530150645 Centerline is valid? [True, True] Translation: X:163.42, Y:17.07, Z:-0.71 [[ 9.99914109e-01 -1.22190365e-02 4.74028439e-03 1.63416452e+02] [ 1.22171406e-02 9.99925276e-01 4.28712964e-04 1.70712718e+01] [-4.74516864e-03 -3.70763420e-04 9.99988673e-01 -7.06709000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52140051299997 meters 0.0796244375834514 Centerline is valid? [True, True] Translation: X:163.45, Y:17.07, Z:-0.71 [[ 9.99934866e-01 -1.08176665e-02 3.63881462e-03 1.63447620e+02] [ 1.08165408e-02 9.99941445e-01 3.28879924e-04 1.70723029e+01] [-3.64215926e-03 -2.89499116e-04 9.99993325e-01 -7.08003898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55140051299998 meters 0.09218385941831835 Centerline is valid? [True, True] Translation: X:163.48, Y:17.09, Z:-0.71 [[ 9.99958804e-01 -8.79350734e-03 2.25027790e-03 1.63475907e+02] [ 8.79307174e-03 9.99961320e-01 2.03397159e-04 1.70917794e+01] [-2.25197943e-03 -1.83601924e-04 9.99997447e-01 -7.11252319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58140051299998 meters 0.08608862637536989 Centerline is valid? [True, True] Translation: X:163.51, Y:17.09, Z:-0.71 [[ 9.99988465e-01 -4.64582500e-03 1.21881590e-03 1.63506728e+02] [ 4.64569420e-03 9.99989203e-01 1.10127642e-04 1.70886962e+01] [-1.21931437e-03 -1.04464126e-04 9.99999251e-01 -7.12204665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61140051299998 meters 0.09424295921665747 Centerline is valid? [True, True] Translation: X:163.54, Y:17.10, Z:-0.71 [[ 9.99993817e-01 -3.20995714e-03 1.43594641e-03 1.63535953e+02] [ 3.20977388e-03 9.99994840e-01 1.29911482e-04 1.71011422e+01] [-1.43635601e-03 -1.25301616e-04 9.99998961e-01 -7.12120179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64140051299998 meters 0.0861001958818825 Centerline is valid? [True, True] Translation: X:163.57, Y:17.09, Z:-0.71 [[ 9.99995021e-01 -2.47316771e-03 1.95991959e-03 1.63568215e+02] [ 2.47282527e-03 9.99996927e-01 1.77129184e-04 1.70938905e+01] [-1.96035164e-03 -1.72281764e-04 9.99998064e-01 -7.10678391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67140051299998 meters 0.085703178387567 Centerline is valid? [True, True] Translation: X:163.60, Y:17.10, Z:-0.71 [[ 9.99994461e-01 -2.45537462e-03 2.24702434e-03 1.63600719e+02] [ 2.45492435e-03 9.99996966e-01 2.03119565e-04 1.70968979e+01] [-2.24751626e-03 -1.97602165e-04 9.99997455e-01 -7.10101617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70140051299998 meters 0.09555352788006374 Centerline is valid? [True, True] Translation: X:163.63, Y:17.11, Z:-0.71 [[ 9.99989061e-01 -4.06476685e-03 2.31421368e-03 1.63629251e+02] [ 4.06429436e-03 9.99991719e-01 2.08836664e-04 1.71125152e+01] [-2.31504339e-03 -1.99428734e-04 9.99997300e-01 -7.11608154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73140051299998 meters 0.08396954052930601 Centerline is valid? [True, True] Translation: X:163.66, Y:17.10, Z:-0.71 [[ 9.99982667e-01 -5.38829519e-03 2.37335161e-03 1.63660889e+02] [ 5.38780194e-03 9.99985463e-01 2.14173322e-04 1.71005169e+01] [-2.37447114e-03 -2.01382461e-04 9.99997161e-01 -7.11047193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76140051299998 meters 0.0843274889867462 Centerline is valid? [True, True] Translation: X:163.69, Y:17.10, Z:-0.71 [[ 9.99974028e-01 -6.70302078e-03 2.64833895e-03 1.63690377e+02] [ 6.70241133e-03 9.99977510e-01 2.38933532e-04 1.71028941e+01] [-2.64988096e-03 -2.21177070e-04 9.99996465e-01 -7.11162723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79140051299999 meters 0.09078081457426468 Centerline is valid? [True, True] Translation: X:163.72, Y:17.11, Z:-0.71 [[ 9.99967955e-01 -7.52429260e-03 2.73376986e-03 1.63719778e+02] [ 7.52364586e-03 9.99971667e-01 2.46783296e-04 1.71135654e+01] [-2.73554927e-03 -2.26207472e-04 9.99996233e-01 -7.11679292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821400513 meters 0.09061393373652432 Centerline is valid? [True, True] Translation: X:163.75, Y:17.12, Z:-0.71 [[ 9.99971945e-01 -7.13931500e-03 2.26706934e-03 1.63751208e+02] [ 7.13886902e-03 9.99974497e-01 2.04754753e-04 1.71167980e+01] [-2.26847333e-03 -1.88564697e-04 9.99997409e-01 -7.12943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851400513 meters 0.07923447128301495 Centerline is valid? [True, True] Translation: X:163.78, Y:17.11, Z:-0.71 [[ 9.99978114e-01 -6.48195563e-03 1.32501253e-03 1.63784146e+02] [ 6.48180261e-03 9.99978986e-01 1.19743724e-04 1.71051225e+01] [-1.32576086e-03 -1.11152634e-04 9.99999115e-01 -7.13754709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881400513 meters 0.08420635033645595 Centerline is valid? [True, True] Translation: X:163.81, Y:17.12, Z:-0.72 [[ 9.99981131e-01 -6.06618616e-03 9.68673041e-04 1.63814422e+02] [ 6.06610415e-03 9.99981597e-01 8.75768666e-05 1.71150117e+01] [-9.69186472e-04 -8.16991426e-05 9.99999527e-01 -7.15374768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911400513 meters 0.09237607121481058 Centerline is valid? [True, True] Translation: X:163.84, Y:17.13, Z:-0.72 [[ 9.99983944e-01 -5.54166258e-03 1.18389381e-03 1.63844057e+02] [ 5.54154001e-03 9.99984640e-01 1.06782946e-04 1.71273399e+01] [-1.18446739e-03 -1.00220637e-04 9.99999293e-01 -7.16162451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941400513 meters 0.08324969351967274 Centerline is valid? [True, True] Translation: X:163.88, Y:17.12, Z:-0.71 [[ 9.99979718e-01 -6.09529661e-03 1.84701228e-03 1.63876780e+02] [ 6.09499913e-03 9.99981411e-01 1.66644876e-04 1.71174859e+01] [-1.84799370e-03 -1.55383957e-04 9.99998280e-01 -7.14287656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971400513 meters 0.0832499537642173 Centerline is valid? [True, True] Translation: X:163.91, Y:17.12, Z:-0.71 [[ 9.99968956e-01 -7.55556675e-03 2.23635309e-03 1.63906123e+02] [ 7.55513507e-03 9.99971439e-01 2.01415030e-04 1.71187951e+01] [-2.23781103e-03 -1.84512827e-04 9.99997479e-01 -7.14073250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001400513 meters 0.08348505675974252 Centerline is valid? [True, True] Translation: X:163.94, Y:17.12, Z:-0.71 [[ 9.99954313e-01 -9.15613656e-03 2.74555004e-03 1.63935981e+02] [ 9.15549162e-03 9.99958057e-01 2.47380716e-04 1.71204479e+01] [-2.74769993e-03 -2.22232553e-04 9.99996200e-01 -7.13546873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031400513 meters 0.08266320867829484 Centerline is valid? [True, True] Translation: X:163.97, Y:17.12, Z:-0.71 [[ 9.99943580e-01 -9.99453233e-03 3.59821109e-03 1.63967847e+02] [ 9.99342953e-03 9.99950012e-01 3.24334200e-04 1.71207546e+01] [-3.60127279e-03 -2.88357432e-04 9.99993474e-01 -7.13002564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061400513 meters 0.07889312701559727 Centerline is valid? [True, True] Translation: X:164.00, Y:17.12, Z:-0.71 [[ 9.99942939e-01 -9.96361895e-03 3.85286548e-03 1.64000681e+02] [ 9.96235468e-03 9.99950314e-01 3.47191373e-04 1.71173539e+01] [-3.85613333e-03 -3.08787949e-04 9.99992517e-01 -7.12620196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091400513 meters 0.0873862994473685 Centerline is valid? [True, True] Translation: X:164.03, Y:17.13, Z:-0.72 [[ 9.99961046e-01 -8.48122467e-03 2.44455637e-03 1.64030253e+02] [ 8.48071156e-03 9.99964014e-01 2.20187523e-04 1.71272559e+01] [-2.44633586e-03 -1.99447369e-04 9.99996988e-01 -7.15843950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121400513 meters 0.07967263334119212 Centerline is valid? [True, True] Translation: X:164.06, Y:17.12, Z:-0.72 [[ 9.99971843e-01 -7.36251884e-03 1.45111721e-03 1.64062057e+02] [ 7.36233692e-03 9.99972889e-01 1.30666575e-04 1.71188785e+01] [-1.45203991e-03 -1.19979282e-04 9.99998939e-01 -7.17145112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151400513 meters 0.08437616819773869 Centerline is valid? [True, True] Translation: X:164.09, Y:17.13, Z:-0.72 [[ 9.99978822e-01 -6.36749921e-03 1.34553585e-03 1.64091927e+02] [ 6.36734192e-03 9.99979721e-01 1.21149510e-04 1.71261392e+01] [-1.34627999e-03 -1.12579458e-04 9.99999087e-01 -7.17865678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181400513 meters 0.09239538711520762 Centerline is valid? [True, True] Translation: X:164.12, Y:17.14, Z:-0.72 [[ 9.99982127e-01 -4.78555650e-03 3.58378122e-03 1.64121419e+02] [ 4.78443126e-03 9.99988503e-01 3.22489550e-04 1.71368291e+01] [-3.58528331e-03 -3.05337432e-04 9.99993526e-01 -7.15060937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21140051299997 meters 0.08932786099054327 Centerline is valid? [True, True] Translation: X:164.15, Y:17.13, Z:-0.71 [[ 9.99982292e-01 -4.23511112e-03 4.18084945e-03 1.64153895e+02] [ 4.23357473e-03 9.99990968e-01 3.76264682e-04 1.71349723e+01] [-4.18240521e-03 -3.58558080e-04 9.99991189e-01 -7.14094194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24140051299997 meters 0.08466844415034136 Centerline is valid? [True, True] Translation: X:164.19, Y:17.13, Z:-0.71 [[ 9.99985681e-01 -3.85773029e-03 3.70894732e-03 1.64186373e+02] [ 3.85651906e-03 9.99992508e-01 3.33667801e-04 1.71309734e+01] [-3.71020674e-03 -3.19359397e-04 9.99993066e-01 -7.14513234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27140051299997 meters 0.09227328951911747 Centerline is valid? [True, True] Translation: X:164.22, Y:17.14, Z:-0.72 [[ 9.99989645e-01 -3.62805890e-03 2.74727420e-03 1.64216678e+02] [ 3.62739325e-03 9.99993390e-01 2.47239370e-04 1.71419073e+01] [-2.74815304e-03 -2.37271366e-04 9.99996196e-01 -7.16289555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30140051299998 meters 0.0858425210432769 Centerline is valid? [True, True] Translation: X:164.25, Y:17.14, Z:-0.72 [[ 9.99990009e-01 -3.82027178e-03 2.32098059e-03 1.64249220e+02] [ 3.81979771e-03 9.99992683e-01 2.08652758e-04 1.71366277e+01] [-2.32176071e-03 -1.99784998e-04 9.99997285e-01 -7.16798463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33140051299998 meters 0.09263480778195841 Centerline is valid? [True, True] Translation: X:164.28, Y:17.15, Z:-0.72 [[ 9.99990335e-01 -3.64034917e-03 2.46530234e-03 1.64279476e+02] [ 3.63981424e-03 9.99993351e-01 2.21434203e-04 1.71480226e+01] [-2.46609205e-03 -2.12458820e-04 9.99996937e-01 -7.17384270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36140051299998 meters 0.08569998293908741 Centerline is valid? [True, True] Translation: X:164.31, Y:17.14, Z:-0.72 [[ 9.99992127e-01 -3.31002141e-03 2.18867998e-03 1.64312670e+02] [ 3.30959898e-03 9.99994504e-01 1.96601707e-04 1.71418797e+01] [-2.18931871e-03 -1.89356506e-04 9.99997586e-01 -7.17487117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39140051299998 meters 0.08602654643354841 Centerline is valid? [True, True] Translation: X:164.34, Y:17.14, Z:-0.72 [[ 9.99995235e-01 -2.62389910e-03 1.62664753e-03 1.64343629e+02] [ 2.62366506e-03 9.99996548e-01 1.45995076e-04 1.71442445e+01] [-1.62702499e-03 -1.41726602e-04 9.99998666e-01 -7.18549177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42140051299998 meters 0.08655075854219933 Centerline is valid? [True, True] Translation: X:164.37, Y:17.15, Z:-0.72 [[ 9.99997682e-01 -1.87808580e-03 1.05324345e-03 1.64374405e+02] [ 1.87798731e-03 9.99998232e-01 9.44934868e-05 1.71477042e+01] [-1.05341905e-03 -9.25152899e-05 9.99999441e-01 -7.19637886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45140051299998 meters 0.0901956003279199 Centerline is valid? [True, True] Translation: X:164.40, Y:17.16, Z:-0.72 [[ 9.99996702e-01 -1.87283592e-03 1.75750414e-03 1.64404138e+02] [ 1.87256180e-03 9.99998234e-01 1.57599281e-04 1.71560209e+01] [-1.75779620e-03 -1.54307726e-04 9.99998443e-01 -7.19198419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48140051299998 meters 0.09456413166560702 Centerline is valid? [True, True] Translation: X:164.44, Y:17.16, Z:-0.72 [[ 9.99993447e-01 -2.31114240e-03 2.78652337e-03 1.64435038e+02] [ 2.31045496e-03 9.99997300e-01 2.49895912e-04 1.71632960e+01] [-2.78709339e-03 -2.43456138e-04 9.99996086e-01 -7.18478065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51140051299998 meters 0.08677854184307886 Centerline is valid? [True, True] Translation: X:164.47, Y:17.15, Z:-0.72 [[ 9.99991903e-01 -2.67375663e-03 3.00762192e-03 1.64467998e+02] [ 2.67295761e-03 9.99996391e-01 2.69654258e-04 1.71549037e+01] [-3.00833205e-03 -2.61612829e-04 9.99995441e-01 -7.17574991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54140051299999 meters 0.08882100833003134 Centerline is valid? [True, True] Translation: X:164.50, Y:17.16, Z:-0.72 [[ 9.99991719e-01 -2.76715469e-03 2.98418633e-03 1.64499764e+02] [ 2.76636889e-03 9.99996138e-01 2.67418635e-04 1.71562602e+01] [-2.98491480e-03 -2.59161060e-04 9.99995512e-01 -7.18051848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571400513 meters 0.08759130268561405 Centerline is valid? [True, True] Translation: X:164.53, Y:17.16, Z:-0.72 [[ 9.99994082e-01 -3.06855911e-03 1.55584061e-03 1.64530891e+02] [ 3.06834584e-03 9.99995283e-01 1.39445720e-04 1.71615344e+01] [-1.55626117e-03 -1.34671037e-04 9.99998780e-01 -7.20205575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601400513 meters 0.09865496905024394 Centerline is valid? [True, True] Translation: X:164.56, Y:17.18, Z:-0.72 [[ 9.99996178e-01 -2.42063875e-03 1.33574261e-03 1.64559970e+02] [ 2.42048118e-03 9.99997063e-01 1.19567569e-04 1.71791982e+01] [-1.33602811e-03 -1.16333972e-04 9.99999101e-01 -7.21135715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631400513 meters 0.08842868486392398 Centerline is valid? [True, True] Translation: X:164.59, Y:17.17, Z:-0.72 [[ 9.99998681e-01 -1.40455888e-03 8.15932718e-04 1.64592253e+02] [ 1.40449967e-03 9.99999011e-01 7.31370625e-05 1.71699361e+01] [-8.16034636e-04 -7.19909888e-05 9.99999664e-01 -7.20480424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661400513 meters 0.08942762708616456 Centerline is valid? [True, True] Translation: X:164.62, Y:17.17, Z:-0.72 [[ 9.99999946e-01 -3.01936582e-04 1.26733546e-04 1.64622980e+02] [ 3.01935137e-04 9.99999954e-01 1.14168272e-05 1.71733453e+01] [-1.26736988e-04 -1.13785612e-05 9.99999992e-01 -7.20913873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691400513 meters 0.09877030310224025 Centerline is valid? [True, True] Translation: X:164.65, Y:17.19, Z:-0.72 [[ 9.99999771e-01 6.50163853e-04 -1.89110850e-04 1.64651901e+02] [-6.50167063e-04 9.99999788e-01 -1.69096427e-05 1.71864922e+01] [ 1.89099816e-04 1.70325925e-05 9.99999982e-01 -7.22148764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721400513 meters 0.09080089270824805 Centerline is valid? [True, True] Translation: X:164.68, Y:17.18, Z:-0.72 [[ 9.99998869e-01 1.21688468e-03 8.83319502e-04 1.64683545e+02] [-1.21695492e-03 9.99999256e-01 7.89833961e-05 1.71788060e+01] [-8.83222732e-04 -8.00582668e-05 9.99999607e-01 -7.20365547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751400513 meters 0.09599828761875524 Centerline is valid? [True, True] Translation: X:164.71, Y:17.19, Z:-0.72 [[ 9.99999690e-01 2.04544698e-04 7.60274850e-04 1.64713097e+02] [-2.04596499e-04 9.99999977e-01 6.80579901e-05 1.71883608e+01] [-7.60260911e-04 -6.82135186e-05 9.99999709e-01 -7.21524616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781400513 meters 0.09059146009143344 Centerline is valid? [True, True] Translation: X:164.74, Y:17.19, Z:-0.72 [[ 9.99999154e-01 -1.00963775e-03 8.20651684e-04 1.64744624e+02] [ 1.00957782e-03 9.99999488e-01 7.34450978e-05 1.71860312e+01] [-8.20725416e-04 -7.26165239e-05 9.99999661e-01 -7.21747678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811400513 meters 0.08716320210029946 Centerline is valid? [True, True] Translation: X:164.78, Y:17.19, Z:-0.72 [[ 9.99995706e-01 -2.78136682e-03 9.23169052e-04 1.64776038e+02] [ 2.78129175e-03 9.99996129e-01 8.25845083e-05 1.71856252e+01] [-9.23395176e-04 -8.00165512e-05 9.99999570e-01 -7.21763944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841400513 meters 0.08250557334729987 Centerline is valid? [True, True] Translation: X:164.81, Y:17.18, Z:-0.72 [[ 9.99979905e-01 -6.06210711e-03 1.85463049e-03 1.64807881e+02] [ 6.06180988e-03 9.99981613e-01 1.65840150e-04 1.71789804e+01] [-1.85560173e-03 -1.54594400e-04 9.99998266e-01 -7.20136631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871400513 meters 0.0831137456773853 Centerline is valid? [True, True] Translation: X:164.84, Y:17.18, Z:-0.72 [[ 9.99968556e-01 -7.57994551e-03 2.33071712e-03 1.64837484e+02] [ 7.57948045e-03 9.99971254e-01 2.08302810e-04 1.71845909e+01] [-2.33222905e-03 -1.90630636e-04 9.99997262e-01 -7.18922298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901400513 meters 0.08503059699493785 Centerline is valid? [True, True] Translation: X:164.87, Y:17.19, Z:-0.72 [[ 9.99960640e-01 -8.38664004e-03 2.89518636e-03 1.64868099e+02] [ 8.38592550e-03 9.99964804e-01 2.58854537e-04 1.71899145e+01] [-2.89725538e-03 -2.34565531e-04 9.99995775e-01 -7.18518960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931400513 meters 0.07789552426624029 Centerline is valid? [True, True] Translation: X:164.90, Y:17.19, Z:-0.72 [[ 9.99959795e-01 -8.36522604e-03 3.22986787e-03 1.64900857e+02] [ 8.36433661e-03 9.99964977e-01 2.88785085e-04 1.71853528e+01] [-3.23217050e-03 -2.61757772e-04 9.99994742e-01 -7.18534750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96140051299997 meters 0.07796204022835512 Centerline is valid? [True, True] Translation: X:164.93, Y:17.19, Z:-0.72 [[ 9.99964373e-01 -7.83194666e-03 3.14841852e-03 1.64933233e+02] [ 7.83109934e-03 9.99969297e-01 2.81363577e-04 1.71879981e+01] [-3.15052547e-03 -2.56697975e-04 9.99995004e-01 -7.18595110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99140051299997 meters 0.097340967967366 Centerline is valid? [True, True] Translation: X:164.96, Y:17.21, Z:-0.72 [[ 9.99966279e-01 -7.46298996e-03 3.42715437e-03 1.64962655e+02] [ 7.46198464e-03 9.99972112e-01 3.06032613e-04 1.72137396e+01] [-3.42934271e-03 -2.80448920e-04 9.99994080e-01 -7.19355690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02140051299997 meters 0.08224079629730675 Centerline is valid? [True, True] Translation: X:165.00, Y:17.20, Z:-0.72 [[ 9.99963939e-01 -7.69511292e-03 3.59257560e-03 1.64996501e+02] [ 7.69401005e-03 9.99970349e-01 3.20705662e-04 1.71971185e+01] [-3.59493695e-03 -2.93052784e-04 9.99993495e-01 -7.18142139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05140051299998 meters 0.08375424310538113 Centerline is valid? [True, True] Translation: X:165.03, Y:17.20, Z:-0.72 [[ 9.99958992e-01 -8.13189417e-03 3.98581603e-03 1.65027894e+02] [ 8.13054098e-03 9.99966883e-01 3.55588256e-04 1.72005126e+01] [-3.98857563e-03 -3.23166833e-04 9.99991993e-01 -7.18041003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08140051299998 meters 0.07956911332611673 Centerline is valid? [True, True] Translation: X:165.06, Y:17.20, Z:-0.72 [[ 9.99950662e-01 -9.09720859e-03 3.98933592e-03 1.65059774e+02] [ 9.09586168e-03 9.99958569e-01 3.55641336e-04 1.71969969e+01] [-3.99240597e-03 -3.19337341e-04 9.99991979e-01 -7.18533765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11140051299998 meters 0.07626226903103933 Centerline is valid? [True, True] Translation: X:165.09, Y:17.19, Z:-0.72 [[ 9.99925984e-01 -1.16884179e-02 3.37740316e-03 1.65090336e+02] [ 1.16874677e-02 9.99931654e-01 3.00943491e-04 1.71928605e+01] [-3.38068988e-03 -2.61447926e-04 9.99994251e-01 -7.20386777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14140051299998 meters 0.07291944034757204 Centerline is valid? [True, True] Translation: X:165.12, Y:17.19, Z:-0.72 [[ 9.99916735e-01 -1.26697990e-02 2.44942317e-03 1.65122407e+02] [ 1.26693018e-02 9.99919717e-01 2.18431769e-04 1.71907592e+01] [-2.45199401e-03 -1.87381100e-04 9.99996976e-01 -7.21326912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17140051299998 meters 0.07484592147672654 Centerline is valid? [True, True] Translation: X:165.15, Y:17.20, Z:-0.72 [[ 9.99915974e-01 -1.28118656e-02 1.97521316e-03 1.65153201e+02] [ 1.28115426e-02 9.99917913e-01 1.76123263e-04 1.71958528e+01] [-1.97730748e-03 -1.50802936e-04 9.99998034e-01 -7.22184430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20140051299998 meters 0.07780270962262888 Centerline is valid? [True, True] Translation: X:165.18, Y:17.20, Z:-0.72 [[ 9.99917426e-01 -1.25900779e-02 2.57522212e-03 1.65182965e+02] [ 1.25895287e-02 9.99920722e-01 2.29336618e-04 1.72021539e+01] [-2.57790533e-03 -1.96896848e-04 9.99996658e-01 -7.21547638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23140051299998 meters 0.0774544584694443 Centerline is valid? [True, True] Translation: X:165.21, Y:17.20, Z:-0.72 [[ 9.99905537e-01 -1.34495716e-02 2.83288051e-03 1.65214962e+02] [ 1.34489104e-02 9.99909527e-01 2.52345971e-04 1.72013435e+01] [-2.83601816e-03 -2.14222977e-04 9.99995956e-01 -7.20863026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26140051299998 meters 0.07745920388700446 Centerline is valid? [True, True] Translation: X:165.25, Y:17.20, Z:-0.72 [[ 9.99892285e-01 -1.44365215e-02 2.64668200e-03 1.65245464e+02] [ 1.44359482e-02 9.99895769e-01 2.35575478e-04 1.72016418e+01] [-2.64980702e-03 -1.97342739e-04 9.99996470e-01 -7.21454469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29140051299999 meters 0.07385912364605218 Centerline is valid? [True, True] Translation: X:165.28, Y:17.20, Z:-0.72 [[ 9.99874651e-01 -1.56467901e-02 2.42071464e-03 1.65277192e+02] [ 1.56463140e-02 9.99877566e-01 2.15500489e-04 1.71977936e+01] [-2.42379015e-03 -1.77598215e-04 9.99997047e-01 -7.21917553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321400513 meters 0.08704342048507889 Centerline is valid? [True, True] Translation: X:165.31, Y:17.22, Z:-0.72 [[ 9.99854794e-01 -1.67438933e-02 3.16759523e-03 1.65306300e+02] [ 1.67430839e-02 9.99859785e-01 2.81862689e-04 1.72158351e+01] [-3.17187057e-03 -2.28786448e-04 9.99994943e-01 -7.22384730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351400513 meters 0.07845169460242804 Centerline is valid? [True, True] Translation: X:165.34, Y:17.21, Z:-0.72 [[ 9.99832739e-01 -1.76952797e-02 4.62292879e-03 1.65338870e+02] [ 1.76935666e-02 9.99843372e-01 4.11205577e-04 1.72086843e+01] [-4.62948111e-03 -3.29340700e-04 9.99989230e-01 -7.18903027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381400513 meters 0.07845169460242804 Centerline is valid? [True, True] Translation: X:165.37, Y:17.21, Z:-0.72 [[ 9.99833521e-01 -1.76510361e-02 4.62293976e-03 1.65370503e+02] [ 1.76493231e-02 9.99844154e-01 4.11082135e-04 1.72114142e+01] [-4.62947532e-03 -3.29421941e-04 9.99989230e-01 -7.19139026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411400513 meters 0.07600540146370231 Centerline is valid? [True, True] Translation: X:165.40, Y:17.21, Z:-0.72 [[ 9.99834008e-01 -1.75024926e-02 5.06146332e-03 1.65403324e+02] [ 1.75004386e-02 9.99846754e-01 4.49821326e-04 1.72109222e+01] [-5.06856067e-03 -3.61168831e-04 9.99987090e-01 -7.18327053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441400513 meters 0.07034937758590204 Centerline is valid? [True, True] Translation: X:165.44, Y:17.21, Z:-0.72 [[ 9.99837326e-01 -1.72861642e-02 5.14879258e-03 1.65435594e+02] [ 1.72840372e-02 9.99850515e-01 4.57320373e-04 1.72058993e+01] [-5.15592823e-03 -3.68254056e-04 9.99986640e-01 -7.17601178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471400513 meters 0.0710282115090356 Centerline is valid? [True, True] Translation: X:165.47, Y:17.21, Z:-0.72 [[ 9.99847015e-01 -1.68023277e-02 4.86090540e-03 1.65467629e+02] [ 1.68004269e-02 9.99858770e-01 4.31622989e-04 1.72089867e+01] [-4.86747117e-03 -3.49891672e-04 9.99988093e-01 -7.17482555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501400513 meters 0.07020607922738385 Centerline is valid? [True, True] Translation: X:165.50, Y:17.21, Z:-0.72 [[ 9.99861341e-01 -1.60993106e-02 4.25573895e-03 1.65499425e+02] [ 1.60978479e-02 9.99870350e-01 3.77732350e-04 1.72109334e+01] [-4.26126842e-03 -3.09171736e-04 9.99990873e-01 -7.18588808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531400513 meters 0.07663253796768449 Centerline is valid? [True, True] Translation: X:165.53, Y:17.22, Z:-0.72 [[ 9.99898600e-01 -1.38266233e-02 3.40794724e-03 1.65528448e+02] [ 1.38256733e-02 9.99904375e-01 3.02163244e-04 1.72223135e+01] [-3.41179926e-03 -2.55015440e-04 9.99994147e-01 -7.20709457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561400513 meters 0.08300167731366473 Centerline is valid? [True, True] Translation: X:165.56, Y:17.23, Z:-0.72 [[ 9.99917978e-01 -1.22282249e-02 3.80883408e-03 1.65557397e+02] [ 1.22270265e-02 9.99925190e-01 3.37788288e-04 1.72335048e+01] [-3.81267970e-03 -2.91189867e-04 9.99992689e-01 -7.20560472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591400513 meters 0.0832968500423059 Centerline is valid? [True, True] Translation: X:165.59, Y:17.24, Z:-0.72 [[ 9.99935472e-01 -1.05382173e-02 4.24246796e-03 1.65588020e+02] [ 1.05367151e-02 9.99944416e-01 3.76280833e-04 1.72377210e+01] [-4.24619748e-03 -3.31554876e-04 9.99990930e-01 -7.20192661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621400513 meters 0.08552187850620126 Centerline is valid? [True, True] Translation: X:165.62, Y:17.25, Z:-0.72 [[ 9.99968812e-01 -7.11807270e-03 3.42159617e-03 1.65618334e+02] [ 7.11707586e-03 9.99974627e-01 3.03427448e-04 1.72457743e+01] [-3.42366917e-03 -2.79066226e-04 9.99994100e-01 -7.22548597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651400513 meters 0.07930233194251665 Centerline is valid? [True, True] Translation: X:165.65, Y:17.24, Z:-0.73 [[ 9.99978003e-01 -6.30569411e-03 2.05698796e-03 1.65650549e+02] [ 6.30533179e-03 9.99980105e-01 1.82577958e-04 1.72413073e+01] [-2.05809832e-03 -1.69603950e-04 9.99997868e-01 -7.25036498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681400513 meters 0.07850831696648439 Centerline is valid? [True, True] Translation: X:165.68, Y:17.24, Z:-0.73 [[ 9.99982230e-01 -5.88404329e-03 9.57822565e-04 1.65682375e+02] [ 5.88396436e-03 9.99982686e-01 8.52012656e-05 1.72425529e+01] [-9.58307309e-04 -7.95639577e-05 9.99999538e-01 -7.27694742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71140051299997 meters 0.08719881901322828 Centerline is valid? [True, True] Translation: X:165.71, Y:17.25, Z:-0.73 [[ 9.99985065e-01 -5.44802861e-03 4.33559321e-04 1.65711902e+02] [ 5.44801243e-03 9.99985159e-01 3.84898746e-05 1.72541536e+01] [-4.33762581e-04 -3.61272632e-05 9.99999905e-01 -7.29762357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74140051299997 meters 0.08459466995423862 Centerline is valid? [True, True] Translation: X:165.74, Y:17.25, Z:-0.73 [[ 9.99987803e-01 -4.86929509e-03 8.26863345e-04 1.65743082e+02] [ 4.86923612e-03 9.99988143e-01 7.33149422e-05 1.72516396e+01] [-8.27210533e-04 -6.92878551e-05 9.99999655e-01 -7.28649880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77140051299997 meters 0.08478728790318187 Centerline is valid? [True, True] Translation: X:165.77, Y:17.25, Z:-0.72 [[ 9.99990321e-01 -3.30680812e-03 2.90234142e-03 1.65774878e+02] [ 3.30607561e-03 9.99994502e-01 2.57146196e-04 1.72504347e+01] [-2.90317580e-03 -2.47548346e-04 9.99995755e-01 -7.24711310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80140051299998 meters 0.09318387007080993 Centerline is valid? [True, True] Translation: X:165.80, Y:17.26, Z:-0.73 [[ 9.99992784e-01 -2.21307665e-03 3.08769678e-03 1.65803986e+02] [ 2.21224222e-03 9.99997516e-01 2.73630298e-04 1.72624090e+01] [-3.08829467e-03 -2.66797590e-04 9.99995196e-01 -7.25357182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83140051299998 meters 0.08574452047880288 Centerline is valid? [True, True] Translation: X:165.84, Y:17.26, Z:-0.73 [[ 9.99996682e-01 -5.99206471e-04 2.50556096e-03 1.65835723e+02] [ 5.98652705e-04 9.99999796e-01 2.21759030e-04 1.72560045e+01] [-2.50569332e-03 -2.20258333e-04 9.99996836e-01 -7.26582887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86140051299998 meters 0.08537611695552091 Centerline is valid? [True, True] Translation: X:165.87, Y:17.26, Z:-0.73 [[ 9.99998260e-01 1.30224476e-03 1.33550602e-03 1.65866551e+02] [-1.30240373e-03 9.99999145e-01 1.18170191e-04 1.72580250e+01] [-1.33535099e-03 -1.19909353e-04 9.99999101e-01 -7.29006978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89140051299998 meters 0.09024055369313073 Centerline is valid? [True, True] Translation: X:165.90, Y:17.27, Z:-0.73 [[ 9.99988341e-01 4.81945745e-03 -3.01738281e-04 1.65895366e+02] [-4.81946575e-03 9.99988386e-01 -2.67729719e-05 1.72662040e+01] [ 3.01605746e-04 2.82268771e-05 9.99999954e-01 -7.32418082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92140051299998 meters 0.09074083524501746 Centerline is valid? [True, True] Translation: X:165.93, Y:17.27, Z:-0.73 [[ 9.99981062e-01 6.12343276e-03 -6.15930802e-04 1.65925584e+02] [-6.12346752e-03 9.99981250e-01 -5.45585286e-05 1.72696519e+01] [ 6.15585167e-04 5.83291277e-05 9.99999809e-01 -7.32336180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95140051299998 meters 0.09408774967928409 Centerline is valid? [True, True] Translation: X:165.95, Y:17.28, Z:-0.73 [[ 9.99975445e-01 7.00040304e-03 -3.22319364e-04 1.65954722e+02] [-7.00041262e-03 9.99975496e-01 -2.86100414e-05 1.72761776e+01] [ 3.22111184e-04 3.08657074e-05 9.99999948e-01 -7.31484093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98140051299998 meters 0.10465252626717952 Centerline is valid? [True, False] Translation: X:165.95, Y:17.28, Z:-0.73 [[ 9.99975017e-01 7.06104518e-03 -3.27640635e-04 1.65954595e+02] [-7.06100190e-03 9.99975062e-01 1.33079851e-04 1.72754603e+01] [ 3.28572147e-04 -1.30763055e-04 9.99999937e-01 -7.31148221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01140051299998 meters 0.0975567912428309 Centerline is valid? [False, True] Translation: X:165.95, Y:17.27, Z:-0.73 [[ 9.99974284e-01 7.16464005e-03 -3.14349716e-04 1.65954521e+02] [-7.16451249e-03 9.99974253e-01 4.05067103e-04 1.72742385e+01] [ 3.17243782e-04 -4.02804524e-04 9.99999869e-01 -7.31064769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04140051299999 meters 0.09251792755064134 Centerline is valid? [True, True] Translation: X:165.99, Y:17.27, Z:-0.73 [[ 9.99985580e-01 5.36871363e-03 1.27616614e-04 1.65985287e+02] [-5.36871511e-03 9.99985588e-01 1.13036346e-05 1.72697585e+01] [-1.27554089e-04 -1.19886088e-05 9.99999992e-01 -7.30691166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071400513 meters 0.09918726883697256 Centerline is valid? [True, True] Translation: X:166.01, Y:17.28, Z:-0.73 [[ 9.99991944e-01 4.00056073e-03 3.28180629e-04 1.66014121e+02] [-4.00057049e-03 9.99991997e-01 2.90751372e-05 1.72804504e+01] [-3.28061686e-04 -3.03878127e-05 9.99999946e-01 -7.30985058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101400513 meters 0.09474277664110502 Centerline is valid? [True, True] Translation: X:166.05, Y:17.28, Z:-0.73 [[ 9.99996810e-01 2.40061481e-03 7.85417547e-04 1.66045394e+02] [-2.40067024e-03 9.99997116e-01 6.96344767e-05 1.72772443e+01] [-7.85248117e-04 -7.15197831e-05 9.99999689e-01 -7.30851888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131400513 meters 0.09385744260595386 Centerline is valid? [True, True] Translation: X:166.08, Y:17.28, Z:-0.73 [[ 9.99999155e-01 1.11998411e-03 6.59430018e-04 1.66075871e+02] [-1.12002287e-03 9.99999371e-01 5.84166410e-05 1.72777271e+01] [-6.59364177e-04 -5.91551684e-05 9.99999781e-01 -7.31265646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161400513 meters 0.09095131593893907 Centerline is valid? [True, True] Translation: X:166.11, Y:17.28, Z:-0.73 [[ 9.99999923e-01 -3.28042998e-04 -2.14056480e-04 1.66107229e+02] [ 3.28038964e-04 9.99999946e-01 -1.88831124e-05 1.72752826e+01] [ 2.14062663e-04 1.88128921e-05 9.99999977e-01 -7.32074604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191400513 meters 0.09288570399506296 Centerline is valid? [True, True] Translation: X:166.14, Y:17.28, Z:-0.73 [[ 9.99999560e-01 -8.43583098e-04 4.11184375e-04 1.66136441e+02] [ 8.43568222e-04 9.99999644e-01 3.63488401e-05 1.72803059e+01] [-4.11214891e-04 -3.60019620e-05 9.99999915e-01 -7.31502096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221400513 meters 0.10033529737982434 Centerline is valid? [True, False] Translation: X:166.14, Y:17.28, Z:-0.74 [[ 9.99998601e-01 1.55266691e-03 -6.22628198e-04 1.66143148e+02] [-1.55100762e-03 9.99995268e-01 2.65665681e-03 1.72786465e+01] [ 6.26750155e-04 -2.65568739e-03 9.99996277e-01 -7.36177844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251400513 meters 0.09095729922287663 Centerline is valid? [False, True] Translation: X:166.15, Y:17.28, Z:-0.74 [[ 9.99999005e-01 -4.11192800e-04 -1.34953290e-03 1.66148850e+02] [ 4.11399226e-04 9.99999904e-01 1.52687346e-04 1.72823645e+01] [ 1.34946999e-03 -1.53242390e-04 9.99999078e-01 -7.40917768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281400513 meters 0.08696815160286978 Centerline is valid? [True, True] Translation: X:166.18, Y:17.28, Z:-0.74 [[ 9.99999526e-01 -9.35354674e-04 -2.72156190e-04 1.66179115e+02] [ 9.35348217e-04 9.99999562e-01 -2.38515673e-05 1.72796206e+01] [ 2.72178380e-04 2.35969952e-05 9.99999963e-01 -7.39502377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311400513 meters 0.08273170646357432 Centerline is valid? [True, True] Translation: X:166.21, Y:17.28, Z:-0.74 [[ 9.99994868e-01 -3.19726203e-03 -2.06057879e-04 1.66210332e+02] [ 3.19725839e-03 9.99994889e-01 -1.80169994e-05 1.72760391e+01] [ 2.06114431e-04 1.73580867e-05 9.99999979e-01 -7.39390648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341400513 meters 0.08794521944374935 Centerline is valid? [True, True] Translation: X:166.24, Y:17.28, Z:-0.74 [[ 9.99987899e-01 -4.89456728e-03 -4.94074958e-04 1.66238707e+02] [ 4.89454653e-03 9.99988021e-01 -4.32023902e-05 1.72849238e+01] [ 4.94280496e-04 4.07835945e-05 9.99999877e-01 -7.40000670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371400513 meters 0.08500972611196783 Centerline is valid? [True, True] Translation: X:166.27, Y:17.28, Z:-0.74 [[ 9.99978128e-01 -6.60803776e-03 -2.79177059e-04 1.66268932e+02] [ 6.60803119e-03 9.99978166e-01 -2.44390427e-05 1.72836787e+01] [ 2.79332457e-04 2.25936975e-05 9.99999961e-01 -7.39812312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401400513 meters 0.07868187507529324 Centerline is valid? [True, True] Translation: X:166.30, Y:17.28, Z:-0.74 [[ 9.99966223e-01 -8.21724027e-03 1.70116790e-04 1.66299423e+02] [ 8.21723786e-03 9.99966238e-01 1.48461268e-05 1.72765425e+01] [-1.70233041e-04 -1.34477352e-05 9.99999985e-01 -7.38548959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431400513 meters 0.08242818769981274 Centerline is valid? [True, True] Translation: X:166.33, Y:17.28, Z:-0.74 [[ 9.99947179e-01 -1.02335470e-02 9.55769172e-04 1.66328752e+02] [ 1.02334718e-02 9.99947633e-01 8.35537541e-05 1.72777271e+01] [-9.56574173e-04 -7.37685039e-05 9.99999540e-01 -7.36325205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46140051299997 meters 0.07692987900775566 Centerline is valid? [True, True] Translation: X:166.36, Y:17.27, Z:-0.74 [[ 9.99946058e-01 -1.03756886e-02 4.75058666e-04 1.66360445e+02] [ 1.03756700e-02 9.99946170e-01 4.15991407e-05 1.72733177e+01] [-4.75464714e-04 -3.66678448e-05 9.99999886e-01 -7.36943242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49140051299997 meters 0.08410554119278688 Centerline is valid? [True, True] Translation: X:166.39, Y:17.29, Z:-0.74 [[ 9.99949229e-01 -1.00754585e-02 -1.57599346e-04 1.66389529e+02] [ 1.00754565e-02 9.99949241e-01 -1.37488310e-05 1.72851726e+01] [ 1.57729872e-04 1.21602476e-05 9.99999987e-01 -7.38396308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52140051299997 meters 0.07300489526281222 Centerline is valid? [True, True] Translation: X:166.42, Y:17.27, Z:-0.74 [[ 9.99954293e-01 -9.53064382e-03 -7.60880889e-04 1.66421131e+02] [ 9.53059595e-03 9.99954581e-01 -6.65228093e-05 1.72743093e+01] [ 7.61480335e-04 5.92681204e-05 9.99999708e-01 -7.39535580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55140051299998 meters 0.08511990302644253 Centerline is valid? [True, True] Translation: X:166.45, Y:17.29, Z:-0.74 [[ 9.99960636e-01 -8.81310475e-03 -1.02721105e-03 1.66449427e+02] [ 8.81301707e-03 9.99961161e-01 -8.98504629e-05 1.72906454e+01] [ 1.02796301e-03 8.07940975e-05 9.99999468e-01 -7.41296143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58140051299998 meters 0.07995549133483307 Centerline is valid? [True, True] Translation: X:166.48, Y:17.28, Z:-0.74 [[ 9.99964009e-01 -8.34941495e-03 -1.50607540e-03 1.66480133e+02] [ 8.34922587e-03 9.99965136e-01 -1.31786133e-04 1.72846117e+01] [ 1.50712323e-03 1.19206826e-04 9.99998857e-01 -7.41811985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61140051299998 meters 0.08563807593532942 Centerline is valid? [True, True] Translation: X:166.51, Y:17.29, Z:-0.74 [[ 9.99961667e-01 -8.58070043e-03 -1.74253084e-03 1.66508637e+02] [ 8.58044753e-03 9.99963176e-01 -1.52556295e-04 1.72908099e+01] [ 1.74377571e-03 1.37598752e-04 9.99998470e-01 -7.42231869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64140051299998 meters 0.08713033910789489 Centerline is valid? [True, True] Translation: X:166.54, Y:17.29, Z:-0.74 [[ 9.99954741e-01 -9.27559029e-03 -2.11645682e-03 1.66536732e+02] [ 9.27521743e-03 9.99956967e-01 -1.85918290e-04 1.72945835e+01] [ 2.11809025e-03 1.66279278e-04 9.99997743e-01 -7.42725531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67140051299998 meters 0.07699983887989852 Centerline is valid? [True, True] Translation: X:166.57, Y:17.28, Z:-0.74 [[ 9.99947490e-01 -1.00198407e-02 -2.14961522e-03 1.66566362e+02] [ 1.00194570e-02 9.99949786e-01 -1.89190111e-04 1.72841786e+01] [ 2.15140294e-03 1.67642200e-04 9.99997672e-01 -7.42187781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70140051299998 meters 0.07782199304027089 Centerline is valid? [True, True] Translation: X:166.59, Y:17.29, Z:-0.74 [[ 9.99943234e-01 -1.05211545e-02 -1.68338212e-03 1.66593988e+02] [ 1.05209200e-02 9.99944643e-01 -1.48072955e-04 1.72863300e+01] [ 1.68484683e-03 1.30353821e-04 9.99998572e-01 -7.41621160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73140051299998 meters 0.07734660497080284 Centerline is valid? [True, True] Translation: X:166.62, Y:17.29, Z:-0.74 [[ 9.99935259e-01 -1.13156524e-02 -1.19760518e-03 1.66623361e+02] [ 1.13155341e-02 9.99935972e-01 -1.05544055e-04 1.72867331e+01] [ 1.19872280e-03 9.19856796e-05 9.99999277e-01 -7.41075077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76140051299998 meters 0.0746996969633247 Centerline is valid? [True, True] Translation: X:166.65, Y:17.28, Z:-0.74 [[ 9.99925143e-01 -1.21810300e-02 -1.15360696e-03 1.66653248e+02] [ 1.21809209e-02 9.99925805e-01 -1.01550909e-04 1.72842718e+01] [ 1.15475836e-03 8.74913122e-05 9.99999329e-01 -7.41045381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79140051299999 meters 0.08071844833880994 Centerline is valid? [True, True] Translation: X:166.68, Y:17.29, Z:-0.75 [[ 9.99891785e-01 -1.42495491e-02 -3.65618618e-03 1.66681844e+02] [ 1.42484672e-02 9.99898434e-01 -3.21802624e-04 1.72908494e+01] [ 3.66040038e-03 2.69672752e-04 9.99993264e-01 -7.45963935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821400513 meters 0.07881848431200654 Centerline is valid? [True, True] Translation: X:166.71, Y:17.29, Z:-0.75 [[ 9.99873540e-01 -1.52088682e-02 -4.64693194e-03 1.66711075e+02] [ 1.52071296e-02 9.99884281e-01 -4.09250799e-04 1.72896201e+01] [ 4.65261845e-03 3.38532549e-04 9.99989119e-01 -7.48121149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851400513 meters 0.06987867119354296 Centerline is valid? [True, True] Translation: X:166.74, Y:17.28, Z:-0.75 [[ 9.99855268e-01 -1.62121358e-02 -5.15853496e-03 1.66740725e+02] [ 1.62100053e-02 9.99868506e-01 -4.54542686e-04 1.72801428e+01] [ 5.16522575e-03 3.70857020e-04 9.99986591e-01 -7.48131804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881400513 meters 0.07539156297988002 Centerline is valid? [True, True] Translation: X:166.77, Y:17.29, Z:-0.75 [[ 9.99837138e-01 -1.73442916e-02 -4.98732635e-03 1.66767734e+02] [ 1.73423126e-02 9.99849514e-01 -4.39779089e-04 1.72879717e+01] [ 4.99420348e-03 3.53215693e-04 9.99987467e-01 -7.48750480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911400513 meters 0.06797052365795064 Centerline is valid? [True, True] Translation: X:166.80, Y:17.28, Z:-0.74 [[ 9.99789777e-01 -2.03529585e-02 -2.48166779e-03 1.66799283e+02] [ 2.03524779e-02 9.99792843e-01 -2.18750129e-04 1.72778129e+01] [ 2.48560591e-03 1.68196054e-04 9.99996897e-01 -7.44885041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941400513 meters 0.06486018307700234 Centerline is valid? [True, True] Translation: X:166.83, Y:17.27, Z:-0.74 [[ 9.99759518e-01 -2.19002074e-02 -1.13446761e-03 1.66829951e+02] [ 2.19001079e-02 9.99760159e-01 -1.00044807e-04 1.72749093e+01] [ 1.13638652e-03 7.51757853e-05 9.99999351e-01 -7.42780240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971400513 meters 0.06969135482258353 Centerline is valid? [True, True] Translation: X:166.86, Y:17.28, Z:-0.74 [[ 9.99728275e-01 -2.33100953e-02 1.25879254e-04 1.66858457e+02] [ 2.33100941e-02 9.99728283e-01 1.10395445e-05 1.72818152e+01] [-1.26102384e-04 -8.10228750e-06 9.99999992e-01 -7.42123417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001400513 meters 0.06133829822029183 Centerline is valid? [True, True] Translation: X:166.89, Y:17.27, Z:-0.74 [[ 9.99688147e-01 -2.49676984e-02 4.72218666e-04 1.66889482e+02] [ 2.49676815e-02 9.99688258e-01 4.16162581e-05 1.72730550e+01] [-4.73110518e-04 -2.98130747e-05 9.99999888e-01 -7.41733174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031400513 meters 0.05856973214519799 Centerline is valid? [True, True] Translation: X:166.92, Y:17.27, Z:-0.74 [[ 9.99645954e-01 -2.66071125e-02 1.66544504e-04 1.66919831e+02] [ 2.66071104e-02 9.99645968e-01 1.46591994e-05 1.72710550e+01] [-1.66875581e-04 -1.02227413e-05 9.99999986e-01 -7.42362059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061400513 meters 0.05715890752581099 Centerline is valid? [True, True] Translation: X:166.95, Y:17.26, Z:-0.74 [[ 9.99565688e-01 -2.94414577e-02 -1.27913721e-03 1.66951425e+02] [ 2.94413373e-02 9.99566504e-01 -1.12840597e-04 1.72639472e+01] [ 1.28190490e-03 7.51320789e-05 9.99999176e-01 -7.43722981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091400513 meters 0.0580633771728807 Centerline is valid? [True, True] Translation: X:166.98, Y:17.27, Z:-0.74 [[ 9.99540854e-01 -3.02510234e-02 -1.71952147e-03 1.66978920e+02] [ 3.02508067e-02 9.99542328e-01 -1.51939790e-04 1.72663941e+01] [ 1.72333083e-03 9.98531161e-05 9.99998510e-01 -7.44117906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121400513 meters 0.056926750240195056 Centerline is valid? [True, True] Translation: X:167.01, Y:17.27, Z:-0.74 [[ 9.99527134e-01 -3.07150606e-02 -1.44656404e-03 1.67007235e+02] [ 3.07149075e-02 9.99528178e-01 -1.27928367e-04 1.72660481e+01] [ 1.44981085e-03 8.34367936e-05 9.99998946e-01 -7.44210499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151400513 meters 0.05643991201151851 Centerline is valid? [True, True] Translation: X:167.04, Y:17.26, Z:-0.74 [[ 9.99519797e-01 -3.09777018e-02 -7.46251777e-04 1.67035170e+02] [ 3.09776607e-02 9.99520075e-01 -6.65509954e-05 1.72631521e+01] [ 7.47955229e-04 4.34019031e-05 9.99999719e-01 -7.44001561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181400513 meters 0.053747522665530255 Centerline is valid? [True, True] Translation: X:167.06, Y:17.26, Z:-0.74 [[ 9.99539146e-01 -3.03533729e-02 -4.11218800e-04 1.67063992e+02] [ 3.03533604e-02 9.99539230e-01 -3.65836625e-05 1.72602405e+01] [ 4.12139760e-04 2.40849304e-05 9.99999915e-01 -7.43768665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21140051299997 meters 0.060719624261955596 Centerline is valid? [True, True] Translation: X:167.09, Y:17.27, Z:-0.74 [[ 9.99580949e-01 -2.89461049e-02 -2.20795372e-04 1.67092052e+02] [ 2.89461012e-02 9.99580974e-01 -1.96601560e-05 1.72691526e+01] [ 2.21271937e-04 1.32607522e-05 9.99999975e-01 -7.43760374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24140051299997 meters 0.059958599371987484 Centerline is valid? [True, True] Translation: X:167.12, Y:17.27, Z:-0.74 [[ 9.99642650e-01 -2.67304162e-02 -2.40748397e-04 1.67122568e+02] [ 2.67304118e-02 9.99642678e-01 -2.13676318e-05 1.72687606e+01] [ 2.41233538e-04 1.49246922e-05 9.99999971e-01 -7.43099195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27140051299997 meters 0.059958599371987484 Centerline is valid? [True, True] Translation: X:167.15, Y:17.27, Z:-0.74 [[ 9.99637634e-01 -2.69173143e-02 -2.40703797e-04 1.67150000e+02] [ 2.69173099e-02 9.99637663e-01 -2.18702908e-05 1.72713347e+01] [ 2.41205271e-04 1.53832670e-05 9.99999971e-01 -7.43171424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30140051299998 meters 0.06308981818781412 Centerline is valid? [True, True] Translation: X:167.18, Y:17.28, Z:-0.74 [[ 9.99715797e-01 -2.38367749e-02 -3.65186378e-04 1.67179986e+02] [ 2.38367646e-02 9.99715863e-01 -3.24361659e-05 1.72763555e+01] [ 3.65855789e-04 2.37220857e-05 9.99999933e-01 -7.43041393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33140051299998 meters 0.0675767118687377 Centerline is valid? [True, True] Translation: X:167.21, Y:17.28, Z:-0.74 [[ 9.99797409e-01 -2.01177828e-02 -6.44826347e-04 1.67209888e+02] [ 2.01177500e-02 9.99797616e-01 -5.72680525e-05 1.72838012e+01] [ 6.45847951e-04 4.42839953e-05 9.99999790e-01 -7.43083619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36140051299998 meters 0.07462699184634713 Centerline is valid? [True, True] Translation: X:167.24, Y:17.29, Z:-0.74 [[ 9.99930840e-01 -1.17345367e-02 -7.85396502e-04 1.67239311e+02] [ 1.17344855e-02 9.99931146e-01 -6.97733135e-05 1.72930630e+01] [ 7.86161182e-04 6.05522641e-05 9.99999689e-01 -7.43417840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39140051299998 meters 0.08516181791312366 Centerline is valid? [True, True] Translation: X:167.27, Y:17.31, Z:-0.74 [[ 9.99966563e-01 -8.17728426e-03 -7.43388713e-05 1.67267509e+02] [ 8.17728380e-03 9.99966565e-01 -6.60869641e-06 1.73076537e+01] [ 7.43904270e-05 6.00058539e-06 9.99999997e-01 -7.42810770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42140051299998 meters 0.08509539827081256 Centerline is valid? [True, True] Translation: X:167.30, Y:17.31, Z:-0.74 [[ 9.99985718e-01 -5.27803845e-03 8.40438316e-04 1.67297315e+02] [ 5.27797757e-03 9.99986069e-01 7.46348539e-05 1.73100516e+01] [-8.40820533e-04 -7.01979734e-05 9.99999644e-01 -7.41698478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45140051299998 meters 0.08923315510326742 Centerline is valid? [True, True] Translation: X:167.33, Y:17.32, Z:-0.74 [[ 9.99993908e-01 -3.12353538e-03 1.55829613e-03 1.67325974e+02] [ 3.12332345e-03 9.99995113e-01 1.38415767e-04 1.73176841e+01] [-1.55872087e-03 -1.33547860e-04 9.99998776e-01 -7.41191983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48140051299998 meters 0.0863377559770781 Centerline is valid? [True, True] Translation: X:167.36, Y:17.32, Z:-0.74 [[ 9.99999775e-01 -3.08541519e-04 -5.95306797e-04 1.67357016e+02] [ 3.08510093e-04 9.99999951e-01 -5.28813469e-05 1.73164411e+01] [ 5.95323084e-04 5.26976768e-05 9.99999821e-01 -7.44944926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51140051299998 meters 0.09273377420098483 Centerline is valid? [True, True] Translation: X:167.39, Y:17.33, Z:-0.75 [[ 9.99997968e-01 5.21575589e-04 -1.94726038e-03 1.67385357e+02] [-5.21913420e-04 9.99999849e-01 -1.72986012e-04 1.73267526e+01] [ 1.94716986e-03 1.74001962e-04 9.99998089e-01 -7.47906552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54140051299999 meters 0.09558297991335175 Centerline is valid? [True, True] Translation: X:167.41, Y:17.33, Z:-0.75 [[ 9.99997164e-01 8.28883551e-04 -2.23267673e-03 1.67413061e+02] [-8.29328921e-04 9.99999636e-01 -1.98559866e-04 1.73334182e+01] [ 2.23251134e-03 2.00410926e-04 9.99997488e-01 -7.48705628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571400513 meters 0.08879473689310423 Centerline is valid? [True, True] Translation: X:167.44, Y:17.33, Z:-0.75 [[ 9.99998823e-01 7.20091582e-04 -1.35459787e-03 1.67442735e+02] [-7.20255573e-04 9.99999733e-01 -1.20579108e-04 1.73288713e+01] [ 1.35451068e-03 1.21554623e-04 9.99999075e-01 -7.46748318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601400513 meters 0.08857785669748777 Centerline is valid? [True, True] Translation: X:167.47, Y:17.33, Z:-0.74 [[ 9.99998505e-01 -1.47194314e-03 9.07528996e-04 1.67472436e+02] [ 1.47187051e-03 9.99998914e-01 8.07003357e-05 1.73318202e+01] [-9.07646797e-04 -7.93644499e-05 9.99999585e-01 -7.43246722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631400513 meters 0.0840189951705289 Centerline is valid? [True, True] Translation: X:167.50, Y:17.33, Z:-0.74 [[ 9.99993789e-01 -3.37881399e-03 1.00262746e-03 1.67504098e+02] [ 3.37872627e-03 9.99994288e-01 8.91691351e-05 1.73266041e+01] [-1.00292302e-03 -8.57809775e-05 9.99999493e-01 -7.43478998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661400513 meters 0.08235339766980265 Centerline is valid? [True, True] Translation: X:167.53, Y:17.33, Z:-0.75 [[ 9.99985873e-01 -5.29204575e-03 4.97728560e-04 1.67533854e+02] [ 5.29202437e-03 9.99985996e-01 4.42491095e-05 1.73293319e+01] [-4.97955759e-04 -4.16144927e-05 9.99999875e-01 -7.45044017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691400513 meters 0.08599746789141229 Centerline is valid? [True, True] Translation: X:167.56, Y:17.34, Z:-0.75 [[ 9.99973339e-01 -7.29455206e-03 -3.32170238e-04 1.67562581e+02] [ 7.29454264e-03 9.99973394e-01 -2.95612830e-05 1.73363771e+01] [ 3.32377037e-04 2.71374649e-05 9.99999944e-01 -7.47625699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721400513 meters 0.08273296239716617 Centerline is valid? [True, True] Translation: X:167.59, Y:17.33, Z:-0.75 [[ 9.99957235e-01 -9.19019443e-03 -1.03359158e-03 1.67593574e+02] [ 9.19010428e-03 9.99957766e-01 -9.19369233e-05 1.73346529e+01] [ 1.03439284e-03 8.24341772e-05 9.99999462e-01 -7.48866293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751400513 meters 0.07349818679088417 Centerline is valid? [True, True] Translation: X:167.63, Y:17.32, Z:-0.75 [[ 9.99933867e-01 -1.15005064e-02 -1.62527691e-05 1.67625125e+02] [ 1.15005064e-02 9.99933867e-01 -1.45108702e-06 1.73240099e+01] [ 1.62683825e-05 1.26407598e-06 1.00000000e+00 -7.45978652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781400513 meters 0.08187190916491564 Centerline is valid? [True, True] Translation: X:167.65, Y:17.34, Z:-0.75 [[ 9.99930747e-01 -1.17607804e-02 4.31355585e-04 1.67653286e+02] [ 1.17607650e-02 9.99930839e-01 3.83407333e-05 1.73357035e+01] [-4.31776669e-04 -3.32650064e-05 9.99999906e-01 -7.45417567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811400513 meters 0.08199390151864532 Centerline is valid? [True, True] Translation: X:167.68, Y:17.34, Z:-0.75 [[ 9.99929846e-01 -1.18328086e-02 5.36719922e-04 1.67683957e+02] [ 1.18327847e-02 9.99929989e-01 4.77438314e-05 1.73376842e+01] [-5.37247289e-04 -4.13895907e-05 9.99999855e-01 -7.45330358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841400513 meters 0.07617095094378612 Centerline is valid? [True, True] Translation: X:167.71, Y:17.33, Z:-0.75 [[ 9.99930873e-01 -1.17345932e-02 7.40938678e-04 1.67714726e+02] [ 1.17345476e-02 9.99931146e-01 6.59100769e-05 1.73327374e+01] [-7.41661089e-04 -5.72109405e-05 9.99999723e-01 -7.45591508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871400513 meters 0.08169181829946642 Centerline is valid? [True, True] Translation: X:167.74, Y:17.34, Z:-0.74 [[ 9.99929958e-01 -1.16470828e-02 2.10326932e-03 1.67743335e+02] [ 1.16467148e-02 9.99932157e-01 1.87090157e-04 1.73410338e+01] [-2.10530568e-03 -1.62580875e-04 9.99997771e-01 -7.43770005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901400513 meters 0.07840504380006848 Centerline is valid? [True, True] Translation: X:167.78, Y:17.34, Z:-0.74 [[ 9.99925290e-01 -1.17956870e-02 3.20561450e-03 1.67775039e+02] [ 1.17948331e-02 9.99930398e-01 2.85178150e-04 1.73388159e+01] [-3.20875526e-03 -2.47347156e-04 9.99994821e-01 -7.42000438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931400513 meters 0.0784040375388023 Centerline is valid? [True, True] Translation: X:167.81, Y:17.34, Z:-0.74 [[ 9.99920707e-01 -1.19865930e-02 3.86029319e-03 1.67806672e+02] [ 1.19853563e-02 9.99928114e-01 3.43320394e-04 1.73406081e+01] [-3.86413093e-03 -2.97026182e-04 9.99992490e-01 -7.40726093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96140051299997 meters 0.07900334742515 Centerline is valid? [True, True] Translation: X:167.84, Y:17.34, Z:-0.74 [[ 9.99917137e-01 -1.24187769e-02 3.39015297e-03 1.67838405e+02] [ 1.24178258e-02 9.99922850e-01 3.01429704e-04 1.73427039e+01] [-3.39363481e-03 -2.59306398e-04 9.99994208e-01 -7.41228896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99140051299997 meters 0.07540449678368348 Centerline is valid? [True, True] Translation: X:167.87, Y:17.34, Z:-0.74 [[ 9.99910900e-01 -1.31733303e-02 2.15765215e-03 1.67870144e+02] [ 1.31729469e-02 9.99913215e-01 1.91798198e-04 1.73388596e+01] [-2.15999152e-03 -1.63358472e-04 9.99997654e-01 -7.43517189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02140051299997 meters 0.07587005564233068 Centerline is valid? [True, True] Translation: X:167.90, Y:17.34, Z:-0.75 [[ 9.99873430e-01 -1.58875522e-02 -8.42566072e-04 1.67899506e+02] [ 1.58874947e-02 9.99873783e-01 -7.49127832e-05 1.73368719e+01] [ 8.43649906e-04 6.15170375e-05 9.99999642e-01 -7.49204510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05140051299998 meters 0.071737913055392 Centerline is valid? [True, True] Translation: X:167.93, Y:17.33, Z:-0.75 [[ 9.99854060e-01 -1.70014014e-02 -1.67676480e-03 1.67929699e+02] [ 1.70011751e-02 9.99855458e-01 -1.49121710e-04 1.73321587e+01] [ 1.67905772e-03 1.20592975e-04 9.99998583e-01 -7.50575050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08140051299998 meters 0.06737264348170738 Centerline is valid? [True, True] Translation: X:167.96, Y:17.33, Z:-0.75 [[ 9.99834086e-01 -1.81108121e-02 -1.94933927e-03 1.67959347e+02] [ 1.81105077e-02 9.99835976e-01 -1.73666259e-04 1.73275450e+01] [ 1.95216477e-03 1.38333921e-04 9.99998085e-01 -7.50955854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11140051299998 meters 0.07408044699393204 Centerline is valid? [True, True] Translation: X:167.99, Y:17.34, Z:-0.75 [[ 9.99821814e-01 -1.87799271e-02 -1.91149076e-03 1.67986512e+02] [ 1.87796356e-02 9.99823633e-01 -1.70347393e-04 1.73366676e+01] [ 1.91435275e-03 1.34419939e-04 9.99998159e-01 -7.51248172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14140051299998 meters 0.07192599678471627 Centerline is valid? [True, True] Translation: X:168.02, Y:17.33, Z:-0.75 [[ 9.99814710e-01 -1.91107900e-02 -2.30735296e-03 1.68015380e+02] [ 1.91103647e-02 9.99817359e-01 -2.06239823e-04 1.73324178e+01] [ 2.31087295e-03 1.62107252e-04 9.99997317e-01 -7.51493324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17140051299998 meters 0.07188553602822281 Centerline is valid? [True, True] Translation: X:168.04, Y:17.33, Z:-0.75 [[ 9.99807703e-01 -1.92707155e-02 -3.63277849e-03 1.68042127e+02] [ 1.92696628e-02 9.99814270e-01 -3.24548183e-04 1.73337066e+01] [ 3.63835805e-03 2.54483357e-04 9.99993349e-01 -7.53962053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20140051299998 meters 0.06840918406050615 Centerline is valid? [True, True] Translation: X:168.07, Y:17.33, Z:-0.75 [[ 9.99813350e-01 -1.90349312e-02 -3.30695188e-03 1.68070887e+02] [ 1.90340571e-02 9.99818792e-01 -2.95591914e-04 1.73297356e+01] [ 3.31197920e-03 2.32592031e-04 9.99994488e-01 -7.53342953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23140051299998 meters 0.07046952868650233 Centerline is valid? [True, True] Translation: X:168.10, Y:17.33, Z:-0.75 [[ 9.99815116e-01 -1.91082054e-02 -2.14736758e-03 1.68098564e+02] [ 1.91078364e-02 9.99817410e-01 -1.92241184e-04 1.73327480e+01] [ 2.15064888e-03 1.51174093e-04 9.99997676e-01 -7.51805887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26140051299998 meters 0.06761983600788338 Centerline is valid? [True, True] Translation: X:168.13, Y:17.33, Z:-0.75 [[ 9.99811267e-01 -1.94206218e-02 -5.18957541e-04 1.68127488e+02] [ 1.94206000e-02 9.99811401e-01 -4.69196957e-05 1.73297956e+01] [ 5.19770876e-04 3.68323736e-05 9.99999864e-01 -7.48291416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29140051299999 meters 0.06984700396588707 Centerline is valid? [True, True] Translation: X:168.16, Y:17.33, Z:-0.75 [[ 9.99789125e-01 -2.04848777e-02 1.44056755e-03 1.68155553e+02] [ 2.04847131e-02 9.99790158e-01 1.28959023e-04 1.73289495e+01] [-1.44290697e-03 -9.94222159e-05 9.99998954e-01 -7.45149193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321400513 meters 0.07179364174588466 Centerline is valid? [True, True] Translation: X:168.18, Y:17.33, Z:-0.74 [[ 9.99768300e-01 -2.14663823e-02 1.59381457e-03 1.68183882e+02] [ 2.14661817e-02 9.99769565e-01 1.42880853e-04 1.73315603e+01] [-1.59651443e-03 -1.08634635e-04 9.99998720e-01 -7.44846243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351400513 meters 0.07093790693517876 Centerline is valid? [True, True] Translation: X:168.21, Y:17.33, Z:-0.75 [[ 9.99749142e-01 -2.23287417e-02 1.75526513e-03 1.68213314e+02] [ 2.23284996e-02 9.99750676e-01 1.57433340e-04 1.73317776e+01] [-1.75834279e-03 -1.18201410e-04 9.99998447e-01 -7.45207807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381400513 meters 0.07143721483190278 Centerline is valid? [True, True] Translation: X:168.24, Y:17.33, Z:-0.75 [[ 9.99741866e-01 -2.26691876e-02 1.51994839e-03 1.68241990e+02] [ 2.26690064e-02 9.99743016e-01 1.36341348e-04 1.73341535e+01] [-1.52264854e-03 -1.01850434e-04 9.99998836e-01 -7.45737861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411400513 meters 0.07188455573111414 Centerline is valid? [True, True] Translation: X:168.27, Y:17.34, Z:-0.75 [[ 9.99744909e-01 -2.25644768e-02 9.80065250e-04 1.68271149e+02] [ 2.25644016e-02 9.99745388e-01 8.77122619e-05 1.73352814e+01] [-9.81794895e-04 -6.55753014e-05 9.99999516e-01 -7.46696111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441400513 meters 0.06560195209507019 Centerline is valid? [True, True] Translation: X:168.30, Y:17.33, Z:-0.75 [[ 9.99757994e-01 -2.19250986e-02 1.80073767e-03 1.68300418e+02] [ 2.19248426e-02 9.99759609e-01 1.61783606e-04 1.73284020e+01] [-1.80385191e-03 -1.22263564e-04 9.99998366e-01 -7.45127008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471400513 meters 0.0710906221293609 Centerline is valid? [True, True] Translation: X:168.33, Y:17.34, Z:-0.74 [[ 9.99752112e-01 -2.20089497e-02 3.36460750e-03 1.68328397e+02] [ 2.20080537e-02 9.99757748e-01 3.03112547e-04 1.73364902e+01] [-3.37046360e-03 -2.28988947e-04 9.99994294e-01 -7.42719201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501400513 meters 0.06418125812179559 Centerline is valid? [True, True] Translation: X:168.36, Y:17.33, Z:-0.74 [[ 9.99740737e-01 -2.23429095e-02 4.38786155e-03 1.68359626e+02] [ 2.23413882e-02 9.99750322e-01 3.95414966e-04 1.73299272e+01] [-4.39560072e-03 -2.97281531e-04 9.99990295e-01 -7.41207105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531400513 meters 0.06906803898430484 Centerline is valid? [True, True] Translation: X:168.39, Y:17.34, Z:-0.74 [[ 9.99734921e-01 -2.26540454e-02 4.10880445e-03 1.68388382e+02] [ 2.26527140e-02 9.99743326e-01 3.70285055e-04 1.73374051e+01] [-4.11613828e-03 -2.77111327e-04 9.99991490e-01 -7.41917107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561400513 meters 0.06444343791820514 Centerline is valid? [True, True] Translation: X:168.42, Y:17.33, Z:-0.74 [[ 9.99725916e-01 -2.32090863e-02 3.07103445e-03 1.68419090e+02] [ 2.32083451e-02 9.99730612e-01 2.76784126e-04 1.73330229e+01] [-3.07663106e-03 -2.05434636e-04 9.99995246e-01 -7.43707410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591400513 meters 0.06184499290065333 Centerline is valid? [True, True] Translation: X:168.45, Y:17.33, Z:-0.75 [[ 9.99717929e-01 -2.36316768e-02 2.36787673e-03 1.68449485e+02] [ 2.36312374e-02 9.99720721e-01 2.13404671e-04 1.73304653e+01] [-2.37225854e-03 -1.57388618e-04 9.99997174e-01 -7.45529625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621400513 meters 0.06214847209820426 Centerline is valid? [True, True] Translation: X:168.48, Y:17.33, Z:-0.75 [[ 9.99681259e-01 -2.51134744e-02 2.58728976e-03 1.68478232e+02] [ 2.51129545e-02 9.99684593e-01 2.33245613e-04 1.73302951e+01] [-2.59233132e-03 -1.68196778e-04 9.99996626e-01 -7.46064648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651400513 meters 0.06358195430457639 Centerline is valid? [True, True] Translation: X:168.51, Y:17.33, Z:-0.75 [[ 9.99661358e-01 -2.58824224e-02 2.69629654e-03 1.68507029e+02] [ 2.58818603e-02 9.99664979e-01 2.43171203e-04 1.73329663e+01] [-2.70168708e-03 -1.73303685e-04 9.99996335e-01 -7.46454659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681400513 meters 0.06407974499330522 Centerline is valid? [True, True] Translation: X:168.54, Y:17.33, Z:-0.75 [[ 9.99640814e-01 -2.67379439e-02 1.82350250e-03 1.68536825e+02] [ 2.67376883e-02 9.99642471e-01 1.64397633e-04 1.73292836e+01] [-1.82724620e-03 -1.15582342e-04 9.99998324e-01 -7.47880778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71140051299997 meters 0.06493639683269446 Centerline is valid? [True, True] Translation: X:168.56, Y:17.33, Z:-0.75 [[ 9.99628658e-01 -2.72462388e-02 -4.33547267e-04 1.68564720e+02] [ 2.72462243e-02 9.99628752e-01 -3.93586077e-05 1.73303384e+01] [ 4.34458687e-04 2.75314662e-05 9.99999905e-01 -7.51605706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74140051299997 meters 0.06418520906947836 Centerline is valid? [True, True] Translation: X:168.59, Y:17.33, Z:-0.75 [[ 9.99620283e-01 -2.75482978e-02 -6.17627308e-04 1.68592956e+02] [ 2.75482681e-02 9.99620473e-01 -5.64436786e-05 1.73285742e+01] [ 6.18947829e-04 3.94076833e-05 9.99999808e-01 -7.52198104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77140051299997 meters 0.059254897205045086 Centerline is valid? [True, True] Translation: X:168.62, Y:17.32, Z:-0.75 [[ 9.99613736e-01 -2.77915628e-02 8.84953861e-05 1.68621344e+02] [ 2.77915622e-02 9.99613740e-01 7.54355575e-06 1.73220284e+01] [-8.86708511e-05 -5.08121692e-06 9.99999996e-01 -7.50794361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80140051299998 meters 0.057604566150474275 Centerline is valid? [True, True] Translation: X:168.65, Y:17.32, Z:-0.75 [[ 9.99632807e-01 -2.70845968e-02 8.21995367e-04 1.68650629e+02] [ 2.70845448e-02 9.99633144e-01 7.43407273e-05 1.73192400e+01] [-8.23707301e-04 -5.20500596e-05 9.99999659e-01 -7.49433094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83140051299998 meters 0.060703487499043016 Centerline is valid? [True, True] Translation: X:168.68, Y:17.32, Z:-0.75 [[ 9.99672914e-01 -2.55437303e-02 1.25786423e-03 1.68678549e+02] [ 2.55436065e-02 9.99673702e-01 1.14364056e-04 1.73215341e+01] [-1.26037508e-03 -8.21962600e-05 9.99999202e-01 -7.49006745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86140051299998 meters 0.07089384382596947 Centerline is valid? [True, True] Translation: X:168.71, Y:17.33, Z:-0.75 [[ 9.99790357e-01 -2.04743786e-02 2.03096504e-04 1.68707721e+02] [ 2.04743753e-02 9.99790378e-01 1.84490914e-05 1.73284767e+01] [-2.03431664e-04 -1.42869497e-05 9.99999979e-01 -7.51326635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89140051299998 meters 0.07118070765180488 Centerline is valid? [True, True] Translation: X:168.74, Y:17.33, Z:-0.75 [[ 9.99844348e-01 -1.76428547e-02 -1.01087041e-04 1.68738436e+02] [ 1.76428539e-02 9.99844353e-01 -9.20234829e-06 1.73294322e+01] [ 1.01233663e-04 7.41745203e-06 9.99999995e-01 -7.52540828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92140051299998 meters 0.0766577950216909 Centerline is valid? [True, True] Translation: X:168.77, Y:17.34, Z:-0.75 [[ 9.99890883e-01 -1.47658344e-02 -4.39310403e-04 1.68767261e+02] [ 1.47658182e-02 9.99890979e-01 -4.00253575e-05 1.73377736e+01] [ 4.39853517e-04 3.35342125e-05 9.99999903e-01 -7.53288869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95140051299998 meters 0.07121929368267851 Centerline is valid? [True, True] Translation: X:168.80, Y:17.33, Z:-0.75 [[ 9.99928886e-01 -1.19225197e-02 -2.75118570e-04 1.68798548e+02] [ 1.19225133e-02 9.99928924e-01 -2.50468525e-05 1.73320169e+01] [ 2.75397637e-04 2.17649665e-05 9.99999962e-01 -7.53430238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98140051299998 meters 0.08422856537065684 Centerline is valid? [True, True] Translation: X:168.83, Y:17.35, Z:-0.75 [[ 9.99984103e-01 -5.48814100e-03 1.29349310e-03 1.68826123e+02] [ 5.48799323e-03 9.99984934e-01 1.17766154e-04 1.73509305e+01] [-1.29411993e-03 -1.10665600e-04 9.99999157e-01 -7.50373718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01140051299998 meters 0.09103694422356035 Centerline is valid? [True, True] Translation: X:168.86, Y:17.36, Z:-0.75 [[ 9.99994606e-01 -2.77776352e-03 1.75269021e-03 1.68855221e+02] [ 2.77748809e-03 9.99996130e-01 1.59560562e-04 1.73606986e+01] [-1.75312665e-03 -1.54691625e-04 9.99998451e-01 -7.49432919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04140051299999 meters 0.10200409941948192 Centerline is valid? [True, False] Translation: X:168.86, Y:17.36, Z:-0.75 [[ 9.99994794e-01 -2.71261402e-03 1.74763242e-03 1.68855247e+02] [ 2.71202806e-03 9.99996265e-01 3.37567282e-04 1.73598955e+01] [-1.74854159e-03 -3.32825896e-04 9.99998416e-01 -7.49445471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071400513 meters 0.093621079189986 Centerline is valid? [False, True] Translation: X:168.84, Y:17.36, Z:-0.76 [[ 9.99982292e-01 -2.31227441e-03 5.48361406e-03 1.68836920e+02] [ 2.35362248e-03 9.99968760e-01 -7.54586919e-03 1.73649814e+01] [-5.46599463e-03 7.55864193e-03 9.99956494e-01 -7.57464124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101400513 meters 0.09087040161493193 Centerline is valid? [True, True] Translation: X:168.87, Y:17.36, Z:-0.76 [[ 9.99988241e-01 -2.61796521e-03 4.08224786e-03 1.68869877e+02] [ 2.61643353e-03 9.99996505e-01 3.80501086e-04 1.73583499e+01] [-4.08322973e-03 -3.69815682e-04 9.99991595e-01 -7.57620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131400513 meters 0.08093941229755505 Centerline is valid? [True, True] Translation: X:168.90, Y:17.35, Z:-0.76 [[ 9.99984340e-01 -4.05304158e-03 3.85909682e-03 1.68901319e+02] [ 4.05168441e-03 9.99991727e-01 3.59433866e-04 1.73501675e+01] [-3.86052169e-03 -3.43792395e-04 9.99992489e-01 -7.57601176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161400513 meters 0.0806308905786987 Centerline is valid? [True, True] Translation: X:168.93, Y:17.35, Z:-0.76 [[ 9.99941075e-01 -9.45879796e-03 5.32702387e-03 1.68930558e+02] [ 9.45628813e-03 9.99955165e-01 4.96141415e-04 1.73520301e+01] [-5.33147794e-03 -4.45738307e-04 9.99985688e-01 -7.55938517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191400513 meters 0.0806308905786987 Centerline is valid? [True, True] Translation: X:168.96, Y:17.35, Z:-0.76 [[ 9.99941498e-01 -9.41398339e-03 5.32701149e-03 1.68962202e+02] [ 9.41147223e-03 9.99955588e-01 4.96274302e-04 1.73549028e+01] [-5.33144683e-03 -4.46110249e-04 9.99985688e-01 -7.56142046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221400513 meters 0.0822740219894423 Centerline is valid? [True, True] Translation: X:168.99, Y:17.36, Z:-0.75 [[ 9.99901883e-01 -1.26774478e-02 5.95882296e-03 1.68991716e+02] [ 1.26743651e-02 9.99919523e-01 5.54815604e-04 1.73575989e+01] [-5.96537706e-03 -4.79236869e-04 9.99982092e-01 -7.54904491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251400513 meters 0.07170553485920014 Centerline is valid? [True, True] Translation: X:169.02, Y:17.35, Z:-0.75 [[ 9.99854511e-01 -1.58758000e-02 6.23832293e-03 1.69023777e+02] [ 1.58724835e-02 9.99873856e-01 5.80790608e-04 1.73454651e+01] [-6.24675652e-03 -4.81688431e-04 9.99980373e-01 -7.53833858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281400513 meters 0.07250620387588332 Centerline is valid? [True, True] Translation: X:169.05, Y:17.35, Z:-0.75 [[ 9.99807525e-01 -1.85764621e-02 6.31098052e-03 1.69052965e+02] [ 1.85731216e-02 9.99827332e-01 5.87514863e-04 1.73482782e+01] [-6.32080476e-03 -4.70187172e-04 9.99979913e-01 -7.53440997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311400513 meters 0.07243347118159958 Centerline is valid? [True, True] Translation: X:169.08, Y:17.35, Z:-0.75 [[ 9.99723267e-01 -2.25674648e-02 6.64073106e-03 1.69082543e+02] [ 2.25638531e-02 9.99745213e-01 6.18290441e-04 1.73503205e+01] [-6.65299233e-03 -4.68278860e-04 9.99977759e-01 -7.54016701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341400513 meters 0.07760667471646492 Centerline is valid? [True, True] Translation: X:169.11, Y:17.36, Z:-0.75 [[ 9.99693654e-01 -2.38135424e-02 6.74634205e-03 1.69112144e+02] [ 2.38098432e-02 9.99716308e-01 6.28127066e-04 1.73584447e+01] [-6.75938610e-03 -4.67305296e-04 9.99977046e-01 -7.54521217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371400513 meters 0.07745009944820441 Centerline is valid? [True, True] Translation: X:169.14, Y:17.36, Z:-0.75 [[ 9.99670886e-01 -2.46685634e-02 7.04148299e-03 1.69142653e+02] [ 2.46645550e-02 9.99695569e-01 6.55531674e-04 1.73595833e+01] [-7.05551036e-03 -4.81640885e-04 9.99974994e-01 -7.54679312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401400513 meters 0.06386044873201102 Centerline is valid? [True, True] Translation: X:169.18, Y:17.34, Z:-0.76 [[ 9.99663107e-01 -2.50455508e-02 6.81128907e-03 1.69175264e+02] [ 2.50418089e-02 9.99686204e-01 6.34103765e-04 1.73442058e+01] [-6.82503319e-03 -4.63323140e-04 9.99976602e-01 -7.55592687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431400513 meters 0.0630798908228699 Centerline is valid? [True, True] Translation: X:169.21, Y:17.34, Z:-0.76 [[ 9.99666340e-01 -2.50473243e-02 6.31191849e-03 1.69205805e+02] [ 2.50441109e-02 9.99686174e-01 5.87643721e-04 1.73440187e+01] [-6.32465655e-03 -4.29371261e-04 9.99979907e-01 -7.56175512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46140051299997 meters 0.07138135682464238 Centerline is valid? [True, True] Translation: X:169.23, Y:17.36, Z:-0.76 [[ 9.99717810e-01 -2.33295390e-02 4.47582807e-03 1.69234193e+02] [ 2.33279061e-02 9.99727781e-01 4.16689131e-04 1.73551967e+01] [-4.48433083e-03 -3.12159849e-04 9.99989897e-01 -7.58797349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49140051299997 meters 0.061406833656422015 Centerline is valid? [True, True] Translation: X:169.27, Y:17.35, Z:-0.76 [[ 9.99762459e-01 -2.15323717e-02 3.37388841e-03 1.69265680e+02] [ 2.15314336e-02 9.99768122e-01 3.14134930e-04 1.73462891e+01] [-3.37987015e-03 -2.41415656e-04 9.99994259e-01 -7.59761962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52140051299997 meters 0.0688613384049443 Centerline is valid? [True, True] Translation: X:169.29, Y:17.36, Z:-0.76 [[ 9.99804921e-01 -1.94703394e-02 3.32043410e-03 1.69293725e+02] [ 1.94694196e-02 9.99810405e-01 3.09106842e-04 1.73595561e+01] [-3.32582297e-03 -2.44399617e-04 9.99994440e-01 -7.60483948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55140051299998 meters 0.07704806910384598 Centerline is valid? [True, True] Translation: X:169.32, Y:17.37, Z:-0.76 [[ 9.99838206e-01 -1.75308836e-02 4.02855130e-03 1.69321747e+02] [ 1.75295137e-02 9.99846276e-01 3.75119572e-04 1.73741573e+01] [-4.03450819e-03 -3.04440335e-04 9.99991815e-01 -7.60030848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58140051299998 meters 0.07918516188639951 Centerline is valid? [True, True] Translation: X:169.35, Y:17.38, Z:-0.76 [[ 9.99859264e-01 -1.57062774e-02 5.89625393e-03 1.69351469e+02] [ 1.57033104e-02 9.99876545e-01 5.49170412e-04 1.73827455e+01] [-5.90415143e-03 -4.56502419e-04 9.99982466e-01 -7.57891387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61140051299998 meters 0.07989328623335085 Centerline is valid? [True, True] Translation: X:169.38, Y:17.39, Z:-0.76 [[ 9.99856052e-01 -1.59241061e-02 5.85649594e-03 1.69382536e+02] [ 1.59211820e-02 9.99873101e-01 5.45576104e-04 1.73874553e+01] [-5.86444057e-03 -4.52255232e-04 9.99982702e-01 -7.58021045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64140051299998 meters 0.06940853220555539 Centerline is valid? [True, True] Translation: X:169.41, Y:17.38, Z:-0.76 [[ 9.99839015e-01 -1.71617445e-02 5.23622422e-03 1.69414520e+02] [ 1.71594248e-02 9.99852647e-01 4.87617318e-04 1.73783718e+01] [-5.24382101e-03 -3.97688223e-04 9.99986172e-01 -7.59291653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67140051299998 meters 0.08127598681083047 Centerline is valid? [True, True] Translation: X:169.44, Y:17.40, Z:-0.76 [[ 9.99809916e-01 -1.91010482e-02 3.90926349e-03 1.69442455e+02] [ 1.90997704e-02 9.99817517e-01 3.63961688e-04 1.73962535e+01] [-3.91550216e-03 -2.89226470e-04 9.99992293e-01 -7.61936224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70140051299998 meters 0.07699612024181683 Centerline is valid? [True, True] Translation: X:169.47, Y:17.39, Z:-0.76 [[ 9.99768332e-01 -2.13486035e-02 2.74213049e-03 1.69473051e+02] [ 2.13479830e-02 9.99772073e-01 2.55343152e-04 1.73944818e+01] [-2.74695671e-03 -1.96745042e-04 9.99996208e-01 -7.63993305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73140051299998 meters 0.07115382769388401 Centerline is valid? [True, True] Translation: X:169.50, Y:17.39, Z:-0.77 [[ 9.99707830e-01 -2.40767807e-02 2.13595954e-03 1.69504257e+02] [ 2.40764105e-02 9.99710101e-01 1.98901658e-04 1.73906371e+01] [-2.14012924e-03 -1.47417307e-04 9.99997699e-01 -7.65198295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76140051299998 meters 0.07495402119374052 Centerline is valid? [True, True] Translation: X:169.53, Y:17.39, Z:-0.76 [[ 9.99547087e-01 -2.99300097e-02 3.13288678e-03 1.69533493e+02] [ 2.99292419e-02 9.99551977e-01 2.91703106e-04 1.73945368e+01] [-3.14021385e-03 -1.97806064e-04 9.99995050e-01 -7.64529953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79140051299999 meters 0.05732066183160535 Centerline is valid? [True, True] Translation: X:169.57, Y:17.38, Z:-0.76 [[ 9.99469785e-01 -3.23853259e-02 3.36742791e-03 1.69565658e+02] [ 3.23844524e-02 9.99475437e-01 3.13598464e-04 1.73764308e+01] [-3.37581747e-03 -2.04379880e-04 9.99994281e-01 -7.61947494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821400513 meters 0.05450514429709386 Centerline is valid? [True, True] Translation: X:169.60, Y:17.37, Z:-0.76 [[ 9.99397679e-01 -3.45539946e-02 3.20959962e-03 1.69596441e+02] [ 3.45532121e-02 9.99402815e-01 2.98944414e-04 1.73740303e+01] [-3.21801261e-03 -1.87862377e-04 9.99994805e-01 -7.61783164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851400513 meters 0.052288028006531324 Centerline is valid? [True, True] Translation: X:169.63, Y:17.37, Z:-0.76 [[ 9.99319380e-01 -3.67979771e-02 2.58552390e-03 1.69626870e+02] [ 3.67974768e-02 9.99322714e-01 2.40833196e-04 1.73713976e+01] [-2.59263494e-03 -1.45528525e-04 9.99996629e-01 -7.63124647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881400513 meters 0.053522380166595704 Centerline is valid? [True, True] Translation: X:169.65, Y:17.37, Z:-0.76 [[ 9.99329964e-01 -3.64945360e-02 2.78769521e-03 1.69654806e+02] [ 3.64939535e-02 9.99333840e-01 2.59534425e-04 1.73746190e+01] [-2.79530974e-03 -1.57626508e-04 9.99996081e-01 -7.63401746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911400513 meters 0.05800258613174154 Centerline is valid? [True, True] Translation: X:169.68, Y:17.38, Z:-0.76 [[ 9.99370883e-01 -3.53515422e-02 2.84728099e-03 1.69682276e+02] [ 3.53509294e-02 9.99374925e-01 2.65292586e-04 1.73818102e+01] [-2.85487972e-03 -1.64471657e-04 9.99995911e-01 -7.63774255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941400513 meters 0.0610788701833645 Centerline is valid? [True, True] Translation: X:169.71, Y:17.39, Z:-0.76 [[ 9.99422545e-01 -3.38712219e-02 2.70504644e-03 1.69710765e+02] [ 3.38706629e-02 9.99426193e-01 2.52212880e-04 1.73873559e+01] [-2.71203703e-03 -1.60445522e-04 9.99996310e-01 -7.64061531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971400513 meters 0.06392381770325536 Centerline is valid? [True, True] Translation: X:169.74, Y:17.39, Z:-0.76 [[ 9.99481007e-01 -3.21445867e-02 2.10761194e-03 1.69740065e+02] [ 3.21442432e-02 9.99483221e-01 1.96630553e-04 1.73923732e+01] [-2.11284338e-03 -1.28780912e-04 9.99997760e-01 -7.64760751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001400513 meters 0.058026353420213464 Centerline is valid? [True, True] Translation: X:169.77, Y:17.39, Z:-0.76 [[ 9.99542941e-01 -3.01993630e-02 1.38120138e-03 1.69771309e+02] [ 3.01992136e-02 9.99543891e-01 1.28906683e-04 1.73864540e+01] [-1.38446430e-03 -8.71365693e-05 9.99999038e-01 -7.64589840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031400513 meters 0.06862795652340149 Centerline is valid? [True, True] Translation: X:169.80, Y:17.40, Z:-0.76 [[ 9.99641697e-01 -2.66347873e-02 2.65795662e-03 1.69799487e+02] [ 2.66342215e-02 9.99645215e-01 2.48056534e-04 1.74003994e+01] [-2.66362055e-03 -1.77175049e-04 9.99996437e-01 -7.62663715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061400513 meters 0.06899538522438786 Centerline is valid? [True, True] Translation: X:169.83, Y:17.40, Z:-0.76 [[ 9.99680907e-01 -2.49157002e-02 4.15839675e-03 1.69829437e+02] [ 2.49143005e-02 9.99689515e-01 3.88081296e-04 1.74030297e+01] [-4.16677495e-03 -2.84353916e-04 9.99991279e-01 -7.60321923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091400513 meters 0.07021772764378705 Centerline is valid? [True, True] Translation: X:169.86, Y:17.41, Z:-0.76 [[ 9.99706372e-01 -2.36402741e-02 5.32047791e-03 1.69858840e+02] [ 2.36379643e-02 9.99720461e-01 4.96616205e-04 1.74066384e+01] [-5.33073077e-03 -3.70705118e-04 9.99985723e-01 -7.59404655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121400513 meters 0.06926684654121834 Centerline is valid? [True, True] Translation: X:169.89, Y:17.41, Z:-0.76 [[ 9.99715142e-01 -2.30928148e-02 6.02971987e-03 1.69889610e+02] [ 2.30898371e-02 9.99733236e-01 5.62980066e-04 1.74072071e+01] [-6.04111215e-03 -4.23594446e-04 9.99981663e-01 -7.58827076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151400513 meters 0.07143832147982362 Centerline is valid? [True, True] Translation: X:169.92, Y:17.41, Z:-0.76 [[ 9.99685761e-01 -2.41647225e-02 6.66678228e-03 1.69919119e+02] [ 2.41611062e-02 9.99707884e-01 6.22464283e-04 1.74097334e+01] [-6.67987648e-03 -4.61191845e-04 9.99977583e-01 -7.58612346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181400513 meters 0.0709979030225336 Centerline is valid? [True, True] Translation: X:169.95, Y:17.41, Z:-0.76 [[ 9.99654632e-01 -2.55372030e-02 6.20231321e-03 1.69948586e+02] [ 2.55340988e-02 9.99673784e-01 5.79163043e-04 1.74105114e+01] [-6.21508012e-03 -4.20592540e-04 9.99980598e-01 -7.59539229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21140051299997 meters 0.0597013574201818 Centerline is valid? [True, True] Translation: X:169.98, Y:17.40, Z:-0.76 [[ 9.99613136e-01 -2.72454502e-02 5.59145357e-03 1.69980129e+02] [ 2.72429538e-02 9.99628705e-01 5.22161374e-04 1.73977118e+01] [-5.60360402e-03 -3.69631657e-04 9.99984231e-01 -7.60626470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24140051299997 meters 0.06738204665709774 Centerline is valid? [True, True] Translation: X:170.01, Y:17.41, Z:-0.76 [[ 9.99566266e-01 -2.89045010e-02 5.64008934e-03 1.70007987e+02] [ 2.89019863e-02 9.99582111e-01 5.26874892e-04 1.74077646e+01] [-5.65296147e-03 -3.63636583e-04 9.99983956e-01 -7.61540141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27140051299997 meters 0.06581050044803596 Centerline is valid? [True, True] Translation: X:170.04, Y:17.41, Z:-0.76 [[ 9.99533253e-01 -3.01848446e-02 4.70646274e-03 1.70037468e+02] [ 3.01831079e-02 9.99544290e-01 4.39603969e-04 1.74069331e+01] [-4.71758733e-03 -2.97343112e-04 9.99988828e-01 -7.62796557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30140051299998 meters 0.06314586797046189 Centerline is valid? [True, True] Translation: X:170.07, Y:17.40, Z:-0.77 [[ 9.99535586e-01 -3.03261826e-02 2.98925768e-03 1.70066430e+02] [ 3.03254825e-02 9.99540038e-01 2.79256921e-04 1.74049062e+01] [-2.99635153e-03 -1.88476549e-04 9.99995493e-01 -7.65303102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33140051299998 meters 0.06489527278445843 Centerline is valid? [True, True] Translation: X:170.09, Y:17.41, Z:-0.77 [[ 9.99554960e-01 -2.96987663e-02 2.80452027e-03 1.70093993e+02] [ 2.96981455e-02 9.99558878e-01 2.62750798e-04 1.74089324e+01] [-2.81108651e-03 -1.79344812e-04 9.99996033e-01 -7.66468375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36140051299998 meters 0.06623241154207272 Centerline is valid? [True, True] Translation: X:170.12, Y:17.41, Z:-0.77 [[ 9.99574374e-01 -2.89981898e-02 3.19008834e-03 1.70122278e+02] [ 2.89973823e-02 9.99579443e-01 2.99106068e-04 1.74122960e+01] [-3.19742026e-03 -2.06474549e-04 9.99994867e-01 -7.66250967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39140051299998 meters 0.07367702837547381 Centerline is valid? [True, True] Translation: X:170.15, Y:17.42, Z:-0.77 [[ 9.99581775e-01 -2.86466359e-02 3.95553320e-03 1.70148776e+02] [ 2.86453905e-02 9.99589568e-01 3.71156721e-04 1.74227059e+01] [-3.96454211e-03 -2.57693700e-04 9.99992108e-01 -7.65606674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42140051299998 meters 0.06835843821569428 Centerline is valid? [True, True] Translation: X:170.18, Y:17.42, Z:-0.77 [[ 9.99573638e-01 -2.88833179e-02 4.27746184e-03 1.70177795e+02] [ 2.88818633e-02 9.99582751e-01 4.01453352e-04 1.74159258e+01] [-4.28727238e-03 -2.77741119e-04 9.99990771e-01 -7.65320747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45140051299998 meters 0.065398614634023 Centerline is valid? [True, True] Translation: X:170.21, Y:17.41, Z:-0.77 [[ 9.99561175e-01 -2.93228075e-02 4.19884838e-03 1.70207127e+02] [ 2.93214065e-02 9.99569957e-01 3.94841698e-04 1.74128663e+01] [-4.20862057e-03 -2.71552291e-04 9.99991107e-01 -7.65543065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48140051299998 meters 0.06863126173362702 Centerline is valid? [True, True] Translation: X:170.23, Y:17.42, Z:-0.76 [[ 9.99544940e-01 -2.97968742e-02 4.69668905e-03 1.70234598e+02] [ 2.97951217e-02 9.99555929e-01 4.42688670e-04 1.74163872e+01] [-4.70779412e-03 -3.02548799e-04 9.99988873e-01 -7.64949215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51140051299998 meters 0.058057646087731826 Centerline is valid? [True, True] Translation: X:170.26, Y:17.40, Z:-0.76 [[ 9.99525156e-01 -3.04696984e-02 4.58918024e-03 1.70264803e+02] [ 3.04680319e-02 9.99535648e-01 4.32609375e-04 1.74023060e+01] [-4.60023072e-03 -2.92580662e-04 9.99989376e-01 -7.64470626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54140051299999 meters 0.05927198427760225 Centerline is valid? [True, True] Translation: X:170.29, Y:17.40, Z:-0.77 [[ 9.99494156e-01 -3.16309104e-02 3.30427627e-03 1.70293451e+02] [ 3.16300508e-02 9.99499596e-01 3.12099172e-04 1.73982181e+01] [-3.31249478e-03 -2.07426872e-04 9.99994492e-01 -7.67539421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571400513 meters 0.06058626522284622 Centerline is valid? [True, True] Translation: X:170.32, Y:17.40, Z:-0.77 [[ 9.99470295e-01 -3.23735251e-02 3.32944339e-03 1.70322978e+02] [ 3.23726571e-02 9.99475819e-01 3.14278998e-04 1.73953514e+01] [-3.33787248e-03 -2.06329594e-04 9.99994408e-01 -7.68823624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601400513 meters 0.0573902176234061 Centerline is valid? [True, True] Translation: X:170.35, Y:17.39, Z:-0.77 [[ 9.99472099e-01 -3.22261542e-02 4.12281079e-03 1.70351923e+02] [ 3.22248182e-02 9.99480570e-01 3.90091091e-04 1.73945435e+01] [-4.13324042e-03 -2.57028333e-04 9.99991425e-01 -7.67217581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631400513 meters 0.05956709164756491 Centerline is valid? [True, True] Translation: X:170.38, Y:17.39, Z:-0.77 [[ 9.99490132e-01 -3.15679645e-02 4.78949455e-03 1.70380813e+02] [ 3.15661494e-02 9.99501562e-01 4.54123057e-04 1.73924937e+01] [-4.80144302e-03 -3.02705614e-04 9.99988427e-01 -7.66288351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661400513 meters 0.06657660701517802 Centerline is valid? [True, True] Translation: X:170.41, Y:17.40, Z:-0.77 [[ 9.99555026e-01 -2.93863619e-02 5.11772426e-03 1.70409082e+02] [ 2.93842554e-02 9.99568071e-01 4.86344674e-04 1.74027255e+01] [-5.12980567e-03 -3.35747747e-04 9.99986786e-01 -7.65307252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691400513 meters 0.07607332291173834 Centerline is valid? [True, True] Translation: X:170.44, Y:17.40, Z:-0.77 [[ 9.99713830e-01 -2.36277610e-02 3.73979771e-03 1.70438752e+02] [ 2.36265957e-02 9.99720790e-01 3.55498202e-04 1.74049652e+01] [-3.74715315e-03 -2.67037781e-04 9.99992944e-01 -7.68552150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721400513 meters 0.07745433401931616 Centerline is valid? [True, True] Translation: X:170.47, Y:17.41, Z:-0.77 [[ 9.99791477e-01 -2.01028751e-02 3.58830973e-03 1.70467226e+02] [ 2.01017795e-02 9.99797881e-01 3.41129922e-04 1.74107250e+01] [-3.59444215e-03 -2.68927378e-04 9.99993504e-01 -7.69029028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751400513 meters 0.08566101724907908 Centerline is valid? [True, True] Translation: X:170.50, Y:17.42, Z:-0.77 [[ 9.99847237e-01 -1.70765985e-02 3.72738115e-03 1.70495487e+02] [ 1.70753954e-02 9.99854142e-01 3.54358613e-04 1.74217117e+01] [-3.73288872e-03 -2.90657973e-04 9.99992991e-01 -7.69717952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781400513 meters 0.0769783586684698 Centerline is valid? [True, True] Translation: X:170.53, Y:17.41, Z:-0.77 [[ 9.99889491e-01 -1.43961021e-02 3.70915149e-03 1.70526771e+02] [ 1.43948927e-02 9.99896326e-01 3.52555556e-04 1.74130337e+01] [-3.71384238e-03 -2.99123758e-04 9.99993059e-01 -7.69292261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811400513 meters 0.08470378424450749 Centerline is valid? [True, True] Translation: X:170.56, Y:17.42, Z:-0.77 [[ 9.99944020e-01 -1.00693670e-02 3.25041812e-03 1.70555719e+02] [ 1.00684155e-02 9.99949264e-01 3.08947922e-04 1.74233117e+01] [-3.25336411e-03 -2.76204067e-04 9.99994670e-01 -7.69868124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841400513 meters 0.085279195382415 Centerline is valid? [True, True] Translation: X:170.59, Y:17.43, Z:-0.77 [[ 9.99955204e-01 -8.78503381e-03 3.52319377e-03 1.70586292e+02] [ 8.78390803e-03 9.99961365e-01 3.34881203e-04 1.74260960e+01] [-3.52599959e-03 -3.03918791e-04 9.99993737e-01 -7.69152901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871400513 meters 0.09123766117458587 Centerline is valid? [True, True] Translation: X:170.62, Y:17.44, Z:-0.77 [[ 9.99957989e-01 -8.09130334e-03 4.30714555e-03 1.70615893e+02] [ 8.08961433e-03 9.99967195e-01 4.09418950e-04 1.74360345e+01] [-4.31031698e-03 -3.74558604e-04 9.99990640e-01 -7.67803869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901400513 meters 0.0931955979200033 Centerline is valid? [True, True] Translation: X:170.65, Y:17.44, Z:-0.77 [[ 9.99957727e-01 -7.88929655e-03 4.72254198e-03 1.70646799e+02] [ 7.88726391e-03 9.99968794e-01 4.48881084e-04 1.74421056e+01] [-4.72593596e-03 -4.11614173e-04 9.99988748e-01 -7.67191117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931400513 meters 0.08476723535823516 Centerline is valid? [True, True] Translation: X:170.68, Y:17.44, Z:-0.77 [[ 9.99956854e-01 -8.26256025e-03 4.24499844e-03 1.70678934e+02] [ 8.26092183e-03 9.99965797e-01 4.03353240e-04 1.74369111e+01] [-4.24818597e-03 -3.68268236e-04 9.99990909e-01 -7.68279833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96140051299997 meters 0.0968492178793597 Centerline is valid? [True, True] Translation: X:170.71, Y:17.46, Z:-0.77 [[ 9.99950548e-01 -9.06161472e-03 4.09736354e-03 1.70707950e+02] [ 9.06009530e-03 9.99958881e-01 3.89239140e-04 1.74567479e+01] [-4.10072220e-03 -3.52097387e-04 9.99991530e-01 -7.69547191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99140051299997 meters 0.09109069485871203 Centerline is valid? [True, True] Translation: X:170.74, Y:17.46, Z:-0.77 [[ 9.99935744e-01 -1.04999912e-02 4.27295069e-03 1.70739350e+02] [ 1.04983524e-02 9.99944808e-01 4.05793848e-04 1.74560218e+01] [-4.27697569e-03 -3.60908831e-04 9.99990789e-01 -7.69958902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02140051299997 meters 0.08670938710032802 Centerline is valid? [True, True] Translation: X:170.77, Y:17.46, Z:-0.77 [[ 9.99917738e-01 -1.21570060e-02 4.08943705e-03 1.70770440e+02] [ 1.21555188e-02 9.99926044e-01 3.88325621e-04 1.74569780e+01] [-4.09385548e-03 -3.38584448e-04 9.99991563e-01 -7.70634209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05140051299998 meters 0.08856105520635739 Centerline is valid? [True, True] Translation: X:170.80, Y:17.46, Z:-0.77 [[ 9.99896502e-01 -1.40335197e-02 3.16936965e-03 1.70799230e+02] [ 1.40326360e-02 9.99901492e-01 3.00887127e-04 1.74643377e+01] [-3.17327995e-03 -2.56381375e-04 9.99994932e-01 -7.72364480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08140051299998 meters 0.08856105520635739 Centerline is valid? [True, True] Translation: X:170.83, Y:17.47, Z:-0.77 [[ 9.99896207e-01 -1.40545764e-02 3.16937288e-03 1.70828360e+02] [ 1.40536929e-02 9.99901197e-01 3.00853087e-04 1.74671426e+01] [-3.17328810e-03 -2.56280467e-04 9.99994932e-01 -7.72551938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11140051299998 meters 0.07497990256314949 Centerline is valid? [True, True] Translation: X:170.86, Y:17.46, Z:-0.77 [[ 9.99816502e-01 -1.90761373e-02 1.75014596e-03 1.70859879e+02] [ 1.90758754e-02 9.99818025e-01 1.66207873e-04 1.74569652e+01] [-1.75299808e-03 -1.32791808e-04 9.99998455e-01 -7.74063230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14140051299998 meters 0.07208918574365125 Centerline is valid? [True, True] Translation: X:170.89, Y:17.46, Z:-0.77 [[ 9.99746726e-01 -2.24434956e-02 1.66515263e-03 1.70890236e+02] [ 2.24432633e-02 9.99748106e-01 1.58024362e-04 1.74600112e+01] [-1.66827980e-03 -1.20612880e-04 9.99998601e-01 -7.74551402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17140051299998 meters 0.06890589926725611 Centerline is valid? [True, True] Translation: X:170.92, Y:17.46, Z:-0.77 [[ 9.99665881e-01 -2.57216129e-02 2.55435191e-03 1.70919928e+02] [ 2.57210766e-02 9.99669129e-01 2.42574607e-04 1.74631388e+01] [-2.55974616e-03 -1.76792877e-04 9.99996708e-01 -7.74259943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20140051299998 meters 0.06660470269103598 Centerline is valid? [True, True] Translation: X:170.95, Y:17.47, Z:-0.77 [[ 9.99552783e-01 -2.96988572e-02 3.49454680e-03 1.70949597e+02] [ 2.96978773e-02 9.99558866e-01 3.31991679e-04 1.74668724e+01] [-3.50286501e-03 -2.28062585e-04 9.99993839e-01 -7.73768277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23140051299998 meters 0.060297021649452394 Centerline is valid? [True, True] Translation: X:170.98, Y:17.46, Z:-0.77 [[ 9.99520978e-01 -3.07392211e-02 3.59379340e-03 1.70979035e+02] [ 3.07381916e-02 9.99527412e-01 3.41341087e-04 1.74626999e+01] [-3.60258758e-03 -2.30710866e-04 9.99993484e-01 -7.73432620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26140051299998 meters 0.05843667470950244 Centerline is valid? [True, True] Translation: X:171.01, Y:17.47, Z:-0.77 [[ 9.99497547e-01 -3.15264055e-02 3.27713170e-03 1.71007641e+02] [ 3.15255545e-02 9.99502898e-01 3.11025574e-04 1.74656145e+01] [-3.28530815e-03 -2.07555904e-04 9.99994582e-01 -7.74366420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29140051299999 meters 0.06482342439951355 Centerline is valid? [True, True] Translation: X:171.03, Y:17.48, Z:-0.78 [[ 9.99479084e-01 -3.21305192e-02 3.03151881e-03 1.71034352e+02] [ 3.21297914e-02 9.99483663e-01 2.88487665e-04 1.74798793e+01] [-3.03922279e-03 -1.90935320e-04 9.99995363e-01 -7.75085753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321400513 meters 0.05720239360033364 Centerline is valid? [True, True] Translation: X:171.06, Y:17.48, Z:-0.77 [[ 9.99432085e-01 -3.34302962e-02 4.23354820e-03 1.71064039e+02] [ 3.34288876e-02 9.99441017e-01 4.03068558e-04 1.74785375e+01] [-4.24465642e-03 -2.61316843e-04 9.99990957e-01 -7.72987632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351400513 meters 0.060783919388302146 Centerline is valid? [True, True] Translation: X:171.09, Y:17.49, Z:-0.77 [[ 9.99423518e-01 -3.37344373e-02 3.82340835e-03 1.71091702e+02] [ 3.37332878e-02 9.99430804e-01 3.64747678e-04 1.74858845e+01] [-3.83353664e-03 -2.35561273e-04 9.99992624e-01 -7.73422691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381400513 meters 0.06248344392582991 Centerline is valid? [True, True] Translation: X:171.12, Y:17.49, Z:-0.77 [[ 9.99417031e-01 -3.39954115e-02 3.14799072e-03 1.71119184e+02] [ 3.39946332e-02 9.99421970e-01 3.00436611e-04 1.74913205e+01] [-3.15638455e-03 -1.93246676e-04 9.99995000e-01 -7.74573282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411400513 meters 0.05939137014941576 Centerline is valid? [True, True] Translation: X:171.15, Y:17.49, Z:-0.78 [[ 9.99411462e-01 -3.41720799e-02 2.99964083e-03 1.71147312e+02] [ 3.41713748e-02 9.99415947e-01 2.86001843e-04 1.74920347e+01] [-3.00766216e-03 -1.83331669e-04 9.99995460e-01 -7.75181142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441400513 meters 0.05613969546472346 Centerline is valid? [True, True] Translation: X:171.18, Y:17.49, Z:-0.78 [[ 9.99419768e-01 -3.39247181e-02 3.03990612e-03 1.71176087e+02] [ 3.39239909e-02 9.99424374e-01 2.90479048e-04 1.74924647e+01] [-3.04801069e-03 -1.87184755e-04 9.99995337e-01 -7.75448477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471400513 meters 0.05881522954744051 Centerline is valid? [True, True] Translation: X:171.20, Y:17.50, Z:-0.77 [[ 9.99439442e-01 -3.33227983e-02 3.22375056e-03 1.71203534e+02] [ 3.33219743e-02 9.99444621e-01 3.08979359e-04 1.74984245e+01] [-3.23225621e-03 -2.01384425e-04 9.99994756e-01 -7.74789084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501400513 meters 0.06383106981148101 Centerline is valid? [True, True] Translation: X:171.23, Y:17.51, Z:-0.77 [[ 9.99426217e-01 -3.36812579e-02 3.57915207e-03 1.71231154e+02] [ 3.36802436e-02 9.99432601e-01 3.43296272e-04 1.75064043e+01] [-3.58868391e-03 -2.22552580e-04 9.99993536e-01 -7.74137128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531400513 meters 0.05796265132452392 Centerline is valid? [True, True] Translation: X:171.26, Y:17.50, Z:-0.77 [[ 9.99399226e-01 -3.44499056e-02 3.79364572e-03 1.71260903e+02] [ 3.44487717e-02 9.99406399e-01 3.63840671e-04 1.75020015e+01] [-3.80392808e-03 -2.32935650e-04 9.99992738e-01 -7.72882531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561400513 meters 0.05709385573903304 Centerline is valid? [True, True] Translation: X:171.29, Y:17.51, Z:-0.77 [[ 9.99387724e-01 -3.47781120e-02 3.82884103e-03 1.71289214e+02] [ 3.47769570e-02 9.99395031e-01 3.67845768e-04 1.75054102e+01] [-3.83931769e-03 -2.34465105e-04 9.99992602e-01 -7.73135492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591400513 meters 0.06879126583648423 Centerline is valid? [True, True] Translation: X:171.32, Y:17.53, Z:-0.77 [[ 9.99406253e-01 -3.42902011e-02 3.36501045e-03 1.71315210e+02] [ 3.42893037e-02 9.99411896e-01 3.24026788e-04 1.75251080e+01] [-3.37414242e-03 -2.08450533e-04 9.99994286e-01 -7.74878550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621400513 meters 0.06559892584901314 Centerline is valid? [True, True] Translation: X:171.35, Y:17.53, Z:-0.78 [[ 9.99498888e-01 -3.15729016e-02 2.26393635e-03 1.71345711e+02] [ 3.15724879e-02 9.99501441e-01 2.18245760e-04 1.75275684e+01] [-2.26969829e-03 -1.46658292e-04 9.99997413e-01 -7.76164322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651400513 meters 0.06618210036973517 Centerline is valid? [True, True] Translation: X:171.38, Y:17.53, Z:-0.77 [[ 9.99550018e-01 -2.98783962e-02 2.65385969e-03 1.71375577e+02] [ 2.98778219e-02 9.99553525e-01 2.55802147e-04 1.75320823e+01] [-2.66031776e-03 -1.76395494e-04 9.99996446e-01 -7.74953190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681400513 meters 0.062237858350047984 Centerline is valid? [True, True] Translation: X:171.41, Y:17.53, Z:-0.77 [[ 9.99616848e-01 -2.70502801e-02 5.86859469e-03 1.71406326e+02] [ 2.70474221e-02 9.99633991e-01 5.65825256e-04 1.75335614e+01] [-5.88175247e-03 -4.06878100e-04 9.99982620e-01 -7.69701842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71140051299997 meters 0.07110044158525375 Centerline is valid? [True, True] Translation: X:171.43, Y:17.55, Z:-0.77 [[ 9.99641388e-01 -2.58527516e-02 6.98069120e-03 1.71433883e+02] [ 2.58486787e-02 9.99665641e-01 6.73059088e-04 1.75507161e+01] [-6.99575757e-03 -4.92376077e-04 9.99975408e-01 -7.68695350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74140051299997 meters 0.0739098504111104 Centerline is valid? [True, True] Translation: X:171.46, Y:17.56, Z:-0.77 [[ 9.99671431e-01 -2.46360134e-02 7.07789343e-03 1.71462523e+02] [ 2.46317959e-02 9.99696358e-01 6.82435372e-04 1.75603632e+01] [-7.09255677e-03 -5.07869919e-04 9.99974719e-01 -7.69778744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77140051299997 meters 0.07106505200433255 Centerline is valid? [True, True] Translation: X:171.49, Y:17.56, Z:-0.77 [[ 9.99710883e-01 -2.33160231e-02 5.87483905e-03 1.71492928e+02] [ 2.33130945e-02 9.99728052e-01 5.66498486e-04 1.75619942e+01] [-5.88644989e-03 -4.29374024e-04 9.99982583e-01 -7.72507793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80140051299998 meters 0.06983903525602538 Centerline is valid? [True, True] Translation: X:171.52, Y:17.56, Z:-0.77 [[ 9.99744686e-01 -2.21674269e-02 4.37819538e-03 1.71522835e+02] [ 2.21657895e-02 9.99754220e-01 4.22157211e-04 1.75648073e+01] [-4.38647745e-03 -3.25003271e-04 9.99990327e-01 -7.74843396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83140051299998 meters 0.07200555881995424 Centerline is valid? [True, True] Translation: X:171.55, Y:17.57, Z:-0.78 [[ 9.99751352e-01 -2.21615812e-02 2.46935088e-03 1.71551504e+02] [ 2.21610604e-02 9.99754385e-01 2.38098040e-04 1.75744166e+01] [-2.47402100e-03 -1.83315404e-04 9.99996923e-01 -7.77118271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86140051299998 meters 0.075594326512215 Centerline is valid? [True, True] Translation: X:171.58, Y:17.58, Z:-0.78 [[ 9.99722550e-01 -2.34368324e-02 2.35308802e-03 1.71579442e+02] [ 2.34363631e-02 9.99725305e-01 2.26821298e-04 1.75842348e+01] [-2.35775762e-03 -1.71610541e-04 9.99997206e-01 -7.77446298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89140051299998 meters 0.062477613053140424 Centerline is valid? [True, True] Translation: X:171.61, Y:17.57, Z:-0.78 [[ 9.99672282e-01 -2.54127851e-02 3.08511944e-03 1.71610749e+02] [ 2.54119870e-02 9.99677019e-01 2.97627857e-04 1.75728936e+01] [-3.09168656e-03 -2.19131304e-04 9.99995197e-01 -7.75838293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92140051299998 meters 0.06749102017844093 Centerline is valid? [True, True] Translation: X:171.64, Y:17.58, Z:-0.78 [[ 9.99601871e-01 -2.79186726e-02 4.08010834e-03 1.71639882e+02] [ 2.79172972e-02 9.99610159e-01 3.93684148e-04 1.75819542e+01] [-4.08950889e-03 -2.79621814e-04 9.99991599e-01 -7.75061095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95140051299998 meters 0.06048267785887709 Centerline is valid? [True, True] Translation: X:171.67, Y:17.58, Z:-0.77 [[ 9.99504648e-01 -3.10488837e-02 5.14058075e-03 1.71671531e+02] [ 3.10467410e-02 9.99517811e-01 4.96116455e-04 1.75755647e+01] [-5.15350588e-03 -3.36272424e-04 9.99986664e-01 -7.74001156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98140051299998 meters 0.06526151038864676 Centerline is valid? [True, True] Translation: X:171.70, Y:17.58, Z:-0.77 [[ 9.99383630e-01 -3.46431562e-02 5.67559633e-03 1.71699583e+02] [ 3.46406019e-02 9.99399684e-01 5.47763921e-04 1.75831240e+01] [-5.69116545e-03 -3.50820222e-04 9.99983744e-01 -7.73942604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01140051299998 meters 0.05138058956621914 Centerline is valid? [True, True] Translation: X:171.73, Y:17.57, Z:-0.78 [[ 9.99119702e-01 -4.16836382e-02 4.72169412e-03 1.71732081e+02] [ 4.16819478e-02 9.99130826e-01 4.55886091e-04 1.75684676e+01] [-4.73659314e-03 -2.58675367e-04 9.99988749e-01 -7.75896434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04140051299999 meters 0.054196940810820736 Centerline is valid? [True, True] Translation: X:171.76, Y:17.57, Z:-0.78 [[ 9.99024145e-01 -4.40316370e-02 3.46014192e-03 1.71760640e+02] [ 4.40307438e-02 9.99030121e-01 3.33916644e-04 1.75743145e+01] [-3.47148890e-03 -1.81238167e-04 9.99993958e-01 -7.78294836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071400513 meters 0.05171213701324108 Centerline is valid? [True, True] Translation: X:171.79, Y:17.57, Z:-0.78 [[ 9.98983617e-01 -4.49909999e-02 2.74637040e-03 1.71789612e+02] [ 4.49904421e-02 9.98987382e-01 2.64568782e-04 1.75730286e+01] [-2.75549259e-03 -1.40739460e-04 9.99996194e-01 -7.78894959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101400513 meters 0.05780411530206479 Centerline is valid? [True, True] Translation: X:171.82, Y:17.58, Z:-0.78 [[ 9.99094314e-01 -4.23491493e-02 4.13540768e-03 1.71818715e+02] [ 4.23478558e-02 9.99102847e-01 3.99903115e-04 1.75803319e+01] [-4.14863314e-03 -2.24415280e-04 9.99991369e-01 -7.77145726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131400513 meters 0.05867447070816592 Centerline is valid? [True, True] Translation: X:171.85, Y:17.58, Z:-0.78 [[ 9.99185445e-01 -4.01036657e-02 4.48813531e-03 1.71848795e+02] [ 4.01021192e-02 9.99195492e-01 4.34065098e-04 1.75837932e+01] [-4.50193217e-03 -2.53727790e-04 9.99989834e-01 -7.76783420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161400513 meters 0.058800893517546596 Centerline is valid? [True, True] Translation: X:171.88, Y:17.59, Z:-0.78 [[ 9.99278867e-01 -3.77251015e-02 4.30843211e-03 1.71879084e+02] [ 3.77236541e-02 9.99288123e-01 4.16749852e-04 1.75864982e+01] [-4.32108697e-03 -2.53919517e-04 9.99990632e-01 -7.77310118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191400513 meters 0.06371477357533381 Centerline is valid? [True, True] Translation: X:171.91, Y:17.59, Z:-0.78 [[ 9.99352986e-01 -3.57318756e-02 4.10400859e-03 1.71907246e+02] [ 3.57305454e-02 9.99361381e-01 3.96994244e-04 1.75949878e+01] [-4.11557304e-03 -2.50098918e-04 9.99991500e-01 -7.78088428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221400513 meters 0.06543314214298594 Centerline is valid? [True, True] Translation: X:171.94, Y:17.60, Z:-0.78 [[ 9.99442653e-01 -3.30914613e-02 4.39758041e-03 1.71937142e+02] [ 3.30899079e-02 9.99452288e-01 4.25541189e-04 1.75977392e+01] [-4.40925358e-03 -2.79788484e-04 9.99990240e-01 -7.78190653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251400513 meters 0.0631357319354064 Centerline is valid? [True, True] Translation: X:171.97, Y:17.60, Z:-0.78 [[ 9.99447907e-01 -3.28273539e-02 5.12302805e-03 1.71966245e+02] [ 3.28252432e-02 9.99460984e-01 4.95563634e-04 1.75963707e+01] [-5.13653470e-03 -3.27125395e-04 9.99986754e-01 -7.77338406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281400513 meters 0.059667730914586825 Centerline is valid? [True, True] Translation: X:172.00, Y:17.59, Z:-0.78 [[ 9.99458212e-01 -3.24363761e-02 5.58252884e-03 1.71995456e+02] [ 3.24338583e-02 9.99473738e-01 5.40993532e-04 1.75939113e+01] [-5.59713884e-03 -3.59637479e-04 9.99984271e-01 -7.76703433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311400513 meters 0.05891442284514056 Centerline is valid? [True, True] Translation: X:172.02, Y:17.60, Z:-0.78 [[ 9.99474107e-01 -3.18844764e-02 5.90682279e-03 1.72023831e+02] [ 3.18816415e-02 9.99491487e-01 5.73504660e-04 1.75951564e+01] [-5.92210498e-03 -3.84883851e-04 9.99982390e-01 -7.76323952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341400513 meters 0.06558973137462241 Centerline is valid? [True, True] Translation: X:172.05, Y:17.60, Z:-0.78 [[ 9.99496679e-01 -3.11791804e-02 5.85208925e-03 1.72051490e+02] [ 3.11763837e-02 9.99513737e-01 5.68542417e-04 1.76026237e+01] [-5.86697028e-03 -3.85809278e-04 9.99982715e-01 -7.76560235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371400513 meters 0.06359215666678013 Centerline is valid? [True, True] Translation: X:172.08, Y:17.60, Z:-0.78 [[ 9.99564282e-01 -2.87788767e-02 6.55918845e-03 1.72081655e+02] [ 2.87753098e-02 9.99585702e-01 6.37553785e-04 1.76028830e+01] [-6.57481907e-03 -4.48533312e-04 9.99978285e-01 -7.75108025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401400513 meters 0.06433671288498162 Centerline is valid? [True, True] Translation: X:172.11, Y:17.61, Z:-0.78 [[ 9.99598335e-01 -2.75325962e-02 6.71743855e-03 1.72110744e+02] [ 2.75288266e-02 9.99620797e-01 6.53002033e-04 1.76057795e+01] [-6.73287012e-03 -4.67816544e-04 9.99977225e-01 -7.75353746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431400513 meters 0.07111494487123074 Centerline is valid? [True, True] Translation: X:172.14, Y:17.62, Z:-0.78 [[ 9.99636577e-01 -2.62647791e-02 6.07255433e-03 1.72139040e+02] [ 2.62616734e-02 9.99654928e-01 5.90612432e-04 1.76166965e+01] [-6.08597117e-03 -4.30922351e-04 9.99981387e-01 -7.76924781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46140051299997 meters 0.07161810921863605 Centerline is valid? [True, True] Translation: X:172.17, Y:17.62, Z:-0.78 [[ 9.99668193e-01 -2.53423430e-02 4.61190013e-03 1.72168803e+02] [ 2.53405416e-02 9.99678776e-01 4.48622564e-04 1.76202614e+01] [-4.62178783e-03 -3.31605661e-04 9.99989264e-01 -7.80318296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49140051299997 meters 0.06435223684350136 Centerline is valid? [True, True] Translation: X:172.20, Y:17.61, Z:-0.78 [[ 9.99687740e-01 -2.48041534e-02 3.02914154e-03 1.72198434e+02] [ 2.48033752e-02 9.99692306e-01 2.94199813e-04 1.76148344e+01] [-3.03550687e-03 -2.18975012e-04 9.99995369e-01 -7.83100032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52140051299997 meters 0.07452558722085029 Centerline is valid? [True, True] Translation: X:172.23, Y:17.63, Z:-0.78 [[ 9.99719790e-01 -2.35334389e-02 2.55321224e-03 1.72225657e+02] [ 2.35328801e-02 9.99723033e-01 2.48660692e-04 1.76298847e+01] [-2.55835692e-03 -1.88506577e-04 9.99996710e-01 -7.83973138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55140051299998 meters 0.07467174575617894 Centerline is valid? [True, True] Translation: X:172.25, Y:17.63, Z:-0.78 [[ 9.99722540e-01 -2.32844447e-02 3.56046497e-03 1.72254805e+02] [ 2.32833565e-02 9.99728846e-01 3.46793354e-04 1.76316916e+01] [-3.56757442e-03 -2.63797557e-04 9.99993601e-01 -7.81589633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58140051299998 meters 0.07701717895702227 Centerline is valid? [True, True] Translation: X:172.28, Y:17.63, Z:-0.78 [[ 9.99721300e-01 -2.33749597e-02 3.30654258e-03 1.72283808e+02] [ 2.33740201e-02 9.99726738e-01 3.22511520e-04 1.76320753e+01] [-3.31317773e-03 -2.45134444e-04 9.99994481e-01 -7.81385727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61140051299998 meters 0.07333758562429206 Centerline is valid? [True, True] Translation: X:172.31, Y:17.63, Z:-0.78 [[ 9.99723654e-01 -2.32602371e-02 3.40250566e-03 1.72313027e+02] [ 2.32592397e-02 9.99729412e-01 3.32430861e-04 1.76322829e+01] [-3.40931740e-03 -2.53199301e-04 9.99994156e-01 -7.81633979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64140051299998 meters 0.07235861149458488 Centerline is valid? [True, True] Translation: X:172.34, Y:17.63, Z:-0.78 [[ 9.99722408e-01 -2.32249775e-02 3.96324826e-03 1.72342313e+02] [ 2.32236208e-02 9.99730220e-01 3.88006491e-04 1.76334341e+01] [-3.97119050e-03 -2.95857809e-04 9.99992071e-01 -7.81380128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67140051299998 meters 0.07378132046045677 Centerline is valid? [True, True] Translation: X:172.37, Y:17.64, Z:-0.78 [[ 9.99721750e-01 -2.31146810e-02 4.70467153e-03 1.72370609e+02] [ 2.31127627e-02 9.99732758e-01 4.61726632e-04 1.76374892e+01] [-4.71408691e-03 -3.52860201e-04 9.99988826e-01 -7.81324983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70140051299998 meters 0.07222254046954613 Centerline is valid? [True, True] Translation: X:172.40, Y:17.64, Z:-0.78 [[ 9.99726624e-01 -2.28091448e-02 5.14014185e-03 1.72400098e+02] [ 2.28068494e-02 9.99739763e-01 5.04742432e-04 1.76370424e+01] [-5.15031693e-03 -3.87374006e-04 9.99986662e-01 -7.81251476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73140051299998 meters 0.07834954072734616 Centerline is valid? [True, True] Translation: X:172.43, Y:17.65, Z:-0.78 [[ 9.99744057e-01 -2.20201755e-02 5.18969289e-03 1.72428871e+02] [ 2.20178244e-02 9.99757448e-01 5.09741722e-04 1.76459500e+01] [-5.19965873e-03 -3.95345510e-04 9.99986404e-01 -7.81147343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76140051299998 meters 0.07860584762078784 Centerline is valid? [True, True] Translation: X:172.46, Y:17.65, Z:-0.78 [[ 9.99776766e-01 -2.06411497e-02 4.51229626e-03 1.72458722e+02] [ 2.06393582e-02 9.99786888e-01 4.43248723e-04 1.76473828e+01] [-4.52048380e-03 -3.50018876e-04 9.99989721e-01 -7.81183756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79140051299999 meters 0.08292947411042248 Centerline is valid? [True, True] Translation: X:172.49, Y:17.65, Z:-0.78 [[ 9.99809407e-01 -1.91382168e-02 3.85723926e-03 1.72488406e+02] [ 1.91368964e-02 9.99816801e-01 3.78934304e-04 1.76492775e+01] [-3.86378474e-03 -3.05046493e-04 9.99992489e-01 -7.81843994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821400513 meters 0.08006013652291251 Centerline is valid? [True, True] Translation: X:172.52, Y:17.65, Z:-0.78 [[ 9.99864619e-01 -1.59182885e-02 4.16548669e-03 1.72519103e+02] [ 1.59167206e-02 9.99873237e-01 4.09295454e-04 1.76512043e+01] [-4.17147395e-03 -3.42939155e-04 9.99991241e-01 -7.79891181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851400513 meters 0.08906098667351808 Centerline is valid? [True, True] Translation: X:172.55, Y:17.67, Z:-0.78 [[ 9.99877776e-01 -1.43863557e-02 6.12088641e-03 1.72547332e+02] [ 1.43829417e-02 9.99896379e-01 6.01419512e-04 1.76654054e+01] [-6.12890439e-03 -5.13309652e-04 9.99981086e-01 -7.78085411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881400513 meters 0.08348575457867623 Centerline is valid? [True, True] Translation: X:172.58, Y:17.66, Z:-0.78 [[ 9.99882170e-01 -1.29271801e-02 8.27850569e-03 1.72578768e+02] [ 1.29208851e-02 9.99916191e-01 8.13433531e-04 1.76614145e+01] [-8.28832727e-03 -7.06372064e-04 9.99965402e-01 -7.75993847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911400513 meters 0.08270105245738073 Centerline is valid? [True, True] Translation: X:172.61, Y:17.66, Z:-0.77 [[ 9.99877570e-01 -1.21025075e-02 9.91835842e-03 1.72611231e+02] [ 1.20934337e-02 9.99926397e-01 9.74319322e-04 1.76632117e+01] [-9.92942011e-03 -8.54253026e-04 9.99950337e-01 -7.74194892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941400513 meters 0.0920068791042624 Centerline is valid? [True, True] Translation: X:172.64, Y:17.68, Z:-0.78 [[ 9.99879055e-01 -1.32837477e-02 8.08805563e-03 1.72639646e+02] [ 1.32777541e-02 9.99911531e-01 7.94289200e-04 1.76796323e+01] [-8.09789123e-03 -6.86801921e-04 9.99966976e-01 -7.76874690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971400513 meters 0.0832484263098299 Centerline is valid? [True, True] Translation: X:172.67, Y:17.67, Z:-0.78 [[ 9.99869549e-01 -1.51989659e-02 5.46599787e-03 1.72671318e+02] [ 1.51962570e-02 9.99884386e-01 5.36792244e-04 1.76728713e+01] [-5.47352461e-03 -4.53659510e-04 9.99984917e-01 -7.81038343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001400513 meters 0.0832484263098299 Centerline is valid? [True, True] Translation: X:172.70, Y:17.68, Z:-0.78 [[ 9.99869882e-01 -1.51770194e-02 5.46599780e-03 1.72702109e+02] [ 1.51743101e-02 9.99884719e-01 5.36792921e-04 1.76758572e+01] [-5.47351460e-03 -4.53780328e-04 9.99984917e-01 -7.81236525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031400513 meters 0.07436627086385172 Centerline is valid? [True, True] Translation: X:172.73, Y:17.67, Z:-0.78 [[ 9.99842954e-01 -1.73411761e-02 3.65387568e-03 1.72733188e+02] [ 1.73399801e-02 9.99849587e-01 3.58743012e-04 1.76673834e+01] [-3.65954712e-03 -2.95328541e-04 9.99993260e-01 -7.84080442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061400513 meters 0.08072552017108241 Centerline is valid? [True, True] Translation: X:172.76, Y:17.68, Z:-0.79 [[ 9.99807781e-01 -1.93856924e-02 2.93192334e-03 1.72761875e+02] [ 1.93849313e-02 9.99812053e-01 2.87800619e-04 1.76761049e+01] [-2.93695151e-03 -2.30910166e-04 9.99995660e-01 -7.85837271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091400513 meters 0.07593153296331054 Centerline is valid? [True, True] Translation: X:172.79, Y:17.67, Z:-0.79 [[ 9.99774855e-01 -2.10260954e-02 2.85361297e-03 1.72792844e+02] [ 2.10253808e-02 9.99778903e-01 2.80163535e-04 1.76713433e+01] [-2.85887279e-03 -2.20102158e-04 9.99995889e-01 -7.85982442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121400513 meters 0.06766994219664171 Centerline is valid? [True, True] Translation: X:172.82, Y:17.66, Z:-0.79 [[ 9.99742598e-01 -2.24593102e-02 3.21216876e-03 1.72823372e+02] [ 2.24584122e-02 9.99747728e-01 3.15372640e-04 1.76644648e+01] [-3.21844147e-03 -2.43151252e-04 9.99994791e-01 -7.85501139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151400513 meters 0.07006415019112813 Centerline is valid? [True, True] Translation: X:172.85, Y:17.67, Z:-0.79 [[ 9.99754235e-01 -2.19875681e-02 2.83142847e-03 1.72850439e+02] [ 2.19868687e-02 9.99758221e-01 2.77916533e-04 1.76713526e+01] [-2.83685460e-03 -2.15593985e-04 9.99995953e-01 -7.86542202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181400513 meters 0.07791445133914315 Centerline is valid? [True, True] Translation: X:172.88, Y:17.68, Z:-0.79 [[ 9.99775505e-01 -2.10853192e-02 2.08533665e-03 1.72877565e+02] [ 2.10849377e-02 9.99777667e-01 2.04759303e-04 1.76846431e+01] [-2.08919042e-03 -1.60744143e-04 9.99997805e-01 -7.88574076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21140051299997 meters 0.08755439416251021 Centerline is valid? [True, True] Translation: X:172.91, Y:17.70, Z:-0.79 [[ 9.99819197e-01 -1.89135532e-02 1.96241878e-03 1.72905749e+02] [ 1.89132107e-02 9.99821111e-01 1.92972961e-04 1.76987999e+01] [-1.96571753e-03 -1.55822431e-04 9.99998056e-01 -7.89423767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24140051299997 meters 0.0781163751572744 Centerline is valid? [True, True] Translation: X:172.94, Y:17.69, Z:-0.79 [[ 9.99822395e-01 -1.86529421e-02 2.69205285e-03 1.72935427e+02] [ 1.86522971e-02 9.99825996e-01 2.64499882e-04 1.76871860e+01] [-2.69651813e-03 -2.14239936e-04 9.99996341e-01 -7.88330109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27140051299997 meters 0.07415622173355464 Centerline is valid? [True, True] Translation: X:172.96, Y:17.69, Z:-0.79 [[ 9.99813870e-01 -1.88466298e-02 4.12674573e-03 1.72964451e+02] [ 1.88451150e-02 9.99822333e-01 4.05658167e-04 1.76878622e+01] [-4.13365783e-03 -3.27813665e-04 9.99991403e-01 -7.86039692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30140051299998 meters 0.07822762149056227 Centerline is valid? [True, True] Translation: X:172.99, Y:17.70, Z:-0.78 [[ 9.99797077e-01 -1.94443006e-02 5.26531424e-03 1.72993414e+02] [ 1.94418359e-02 9.99810855e-01 5.18872361e-04 1.76954104e+01] [-5.27440744e-03 -4.16399694e-04 9.99986004e-01 -7.84907778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33140051299998 meters 0.07264216869885035 Centerline is valid? [True, True] Translation: X:173.02, Y:17.69, Z:-0.79 [[ 9.99751029e-01 -2.13992205e-02 6.32094138e-03 1.73024476e+02] [ 2.13957068e-02 9.99770892e-01 6.22986261e-04 1.76914916e+01] [-6.33282462e-03 -4.87590146e-04 9.99979829e-01 -7.85182307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36140051299998 meters 0.07782390787585111 Centerline is valid? [True, True] Translation: X:173.05, Y:17.70, Z:-0.79 [[ 9.99727776e-01 -2.26885863e-02 5.44075273e-03 1.73053463e+02] [ 2.26860018e-02 9.99742496e-01 5.36289993e-04 1.77010345e+01] [-5.45151937e-03 -4.12715076e-04 9.99985055e-01 -7.87401408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39140051299998 meters 0.07036178502097899 Centerline is valid? [True, True] Translation: X:173.08, Y:17.69, Z:-0.79 [[ 9.99709056e-01 -2.38432123e-02 3.64763410e-03 1.73084380e+02] [ 2.38420584e-02 9.99715673e-01 3.59512665e-04 1.76948737e+01] [-3.65516892e-03 -2.72440962e-04 9.99993283e-01 -7.90331169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42140051299998 meters 0.07389110171507686 Centerline is valid? [True, True] Translation: X:173.11, Y:17.70, Z:-0.79 [[ 9.99690573e-01 -2.47913717e-02 2.03635158e-03 1.73111650e+02] [ 2.47910145e-02 9.99692635e-01 2.00497147e-04 1.77010830e+01] [-2.04069627e-03 -1.49951886e-04 9.99997907e-01 -7.92680697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45140051299998 meters 0.0745611810550571 Centerline is valid? [True, True] Translation: X:173.14, Y:17.70, Z:-0.79 [[ 9.99646845e-01 -2.65124591e-02 1.80948963e-03 1.73142252e+02] [ 2.65121793e-02 9.99648474e-01 1.78432598e-04 1.76987114e+01] [-1.81358423e-03 -1.30396071e-04 9.99998347e-01 -7.90961372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48140051299998 meters 0.07235314254093947 Centerline is valid? [True, True] Translation: X:173.17, Y:17.70, Z:-0.79 [[ 9.99624636e-01 -2.72229337e-02 3.08197635e-03 1.73171614e+02] [ 2.72221259e-02 9.99629363e-01 3.03769154e-04 1.77006073e+01] [-3.08910354e-03 -2.19757182e-04 9.99995205e-01 -7.88414493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51140051299998 meters 0.07061453501088022 Centerline is valid? [True, True] Translation: X:173.20, Y:17.70, Z:-0.79 [[ 9.99612381e-01 -2.74804932e-02 4.46200181e-03 1.73200210e+02] [ 2.74788005e-02 9.99622290e-01 4.40226519e-04 1.77011958e+01] [-4.47241410e-03 -3.17445422e-04 9.99989948e-01 -7.86377043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54140051299999 meters 0.06808510220503859 Centerline is valid? [True, True] Translation: X:173.23, Y:17.70, Z:-0.79 [[ 9.99603119e-01 -2.75749942e-02 5.76408615e-03 1.73228703e+02] [ 2.75721642e-02 9.99619653e-01 5.69881720e-04 1.77019368e+01] [-5.77760828e-03 -4.10727215e-04 9.99983225e-01 -7.85191762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571400513 meters 0.07048215132071688 Centerline is valid? [True, True] Translation: X:173.26, Y:17.71, Z:-0.78 [[ 9.99610023e-01 -2.71482689e-02 6.54021335e-03 1.73256345e+02] [ 2.71446076e-02 9.99631307e-01 6.47946869e-04 1.77093192e+01] [-6.55539265e-03 -4.70162660e-04 9.99978403e-01 -7.84856627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601400513 meters 0.0740352839812564 Centerline is valid? [True, True] Translation: X:173.28, Y:17.72, Z:-0.78 [[ 9.99615127e-01 -2.69727943e-02 6.48585069e-03 1.73284784e+02] [ 2.69691883e-02 9.99636059e-01 6.42815435e-04 1.77168022e+01] [-6.50082875e-03 -4.67649905e-04 9.99978760e-01 -7.84585190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631400513 meters 0.07245500277846799 Centerline is valid? [True, True] Translation: X:173.31, Y:17.72, Z:-0.79 [[ 9.99619772e-01 -2.69327674e-02 5.91073671e-03 1.73314770e+02] [ 2.69297712e-02 9.99637156e-01 5.85935888e-04 1.77179655e+01] [-5.92437291e-03 -4.26538312e-04 9.99982360e-01 -7.85138778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661400513 meters 0.07565653460131179 Centerline is valid? [True, True] Translation: X:173.34, Y:17.72, Z:-0.79 [[ 9.99618046e-01 -2.71066642e-02 5.38440197e-03 1.73343878e+02] [ 2.71041797e-02 9.99632472e-01 5.33868104e-04 1.77212615e+01] [-5.39689443e-03 -3.87724392e-04 9.99985361e-01 -7.86245420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691400513 meters 0.06816782016282392 Centerline is valid? [True, True] Translation: X:173.37, Y:17.72, Z:-0.79 [[ 9.99606072e-01 -2.75209720e-02 5.50427196e-03 1.73372664e+02] [ 2.75183819e-02 9.99621149e-01 5.45759524e-04 1.77203162e+01] [-5.51720649e-03 -3.94075876e-04 9.99984702e-01 -7.86068047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721400513 meters 0.06755078587028772 Centerline is valid? [True, True] Translation: X:173.40, Y:17.73, Z:-0.78 [[ 9.99639152e-01 -2.60340606e-02 6.61770770e-03 1.73402935e+02] [ 2.60302761e-02 9.99660939e-01 6.57388229e-04 1.77257652e+01] [-6.63257838e-03 -4.84890253e-04 9.99977887e-01 -7.84972370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751400513 meters 0.06808428769843605 Centerline is valid? [True, True] Translation: X:173.43, Y:17.73, Z:-0.78 [[ 9.99674407e-01 -2.43943642e-02 7.48296399e-03 1.73433088e+02] [ 2.43894796e-02 9.99702256e-01 7.43340846e-04 1.77316862e+01] [-7.49886931e-03 -5.60593222e-04 9.99971726e-01 -7.84090811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781400513 meters 0.07903091098979974 Centerline is valid? [True, True] Translation: X:173.46, Y:17.75, Z:-0.78 [[ 9.99710262e-01 -2.24830869e-02 8.59663043e-03 1.73460826e+02] [ 2.24765698e-02 9.99747005e-01 8.53979192e-04 1.77498212e+01] [-8.61365562e-03 -6.60508998e-04 9.99962684e-01 -7.82479551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811400513 meters 0.07820256267588305 Centerline is valid? [True, True] Translation: X:173.49, Y:17.75, Z:-0.78 [[ 9.99746476e-01 -2.04446230e-02 9.43399077e-03 1.73491462e+02] [ 2.04366840e-02 9.99790710e-01 9.37184043e-04 1.77529145e+01] [-9.45117671e-03 -7.44146956e-04 9.99955060e-01 -7.81300478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841400513 meters 0.08094182273033672 Centerline is valid? [True, True] Translation: X:173.52, Y:17.76, Z:-0.78 [[ 9.99802200e-01 -1.74819471e-02 9.48378514e-03 1.73521381e+02] [ 1.74737919e-02 9.99846878e-01 9.42095853e-04 1.77609012e+01] [-9.49880263e-03 -7.76191819e-04 9.99954584e-01 -7.81009757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871400513 meters 0.09270871942330182 Centerline is valid? [True, True] Translation: X:173.55, Y:17.78, Z:-0.78 [[ 9.99816512e-01 -1.72116895e-02 8.40833852e-03 1.73550876e+02] [ 1.72052705e-02 9.99851630e-01 8.35157050e-04 1.77800777e+01] [-8.42146544e-03 -6.90336070e-04 9.99964301e-01 -7.82912250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901400513 meters 0.06927549655638988 Centerline is valid? [True, True] Translation: X:173.59, Y:17.76, Z:-0.79 [[ 9.99813576e-01 -1.78171749e-02 7.44050696e-03 1.73585111e+02] [ 1.78121670e-02 9.99841078e-01 7.38799891e-04 1.77570574e+01] [-7.45248782e-03 -6.06130609e-04 9.99972046e-01 -7.85502564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931400513 meters 0.07265683582318412 Centerline is valid? [True, True] Translation: X:173.61, Y:17.77, Z:-0.79 [[ 9.99771644e-01 -2.04508578e-02 6.19851677e-03 1.73613961e+02] [ 2.04474336e-02 9.99790740e-01 6.15288292e-04 1.77691858e+01] [-6.20980284e-03 -4.88404027e-04 9.99980600e-01 -7.88249887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96140051299997 meters 0.07430363278518817 Centerline is valid? [True, True] Translation: X:173.64, Y:17.78, Z:-0.79 [[ 9.99735310e-01 -2.20822915e-02 6.45616594e-03 1.73642739e+02] [ 2.20786107e-02 9.99756032e-01 6.40861514e-04 1.77766353e+01] [-6.46874254e-03 -4.98148710e-04 9.99978953e-01 -7.88287877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99140051299997 meters 0.06673479226419746 Centerline is valid? [True, True] Translation: X:173.67, Y:17.77, Z:-0.79 [[ 9.99680790e-01 -2.42422432e-02 7.11554249e-03 1.73673398e+02] [ 2.42378285e-02 9.99705971e-01 7.06022222e-04 1.77734432e+01] [-7.13056587e-03 -5.33331555e-04 9.99974435e-01 -7.87823798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02140051299997 meters 0.07371210699388486 Centerline is valid? [True, True] Translation: X:173.70, Y:17.79, Z:-0.79 [[ 9.99616960e-01 -2.67888366e-02 6.94921075e-03 1.73701776e+02] [ 2.67846868e-02 9.99640988e-01 6.89561800e-04 1.77877928e+01] [-6.96518846e-03 -5.03165237e-04 9.99975616e-01 -7.87940191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05140051299998 meters 0.06804747212749833 Centerline is valid? [True, True] Translation: X:173.73, Y:17.79, Z:-0.79 [[ 9.99449549e-01 -3.27939921e-02 5.01526215e-03 1.73732481e+02] [ 3.27919057e-02 9.99462077e-01 4.97704319e-04 1.77871528e+01] [-5.02888604e-03 -3.32970354e-04 9.99987300e-01 -7.90775476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08140051299998 meters 0.06115468296577439 Centerline is valid? [True, True] Translation: X:173.76, Y:17.78, Z:-0.79 [[ 9.99341460e-01 -3.61087155e-02 3.57857026e-03 1.73763970e+02] [ 3.61076744e-02 9.99347842e-01 3.55136176e-04 1.77777365e+01] [-3.58905998e-03 -2.25688455e-04 9.99993534e-01 -7.92805037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11140051299998 meters 0.06515485288057817 Centerline is valid? [True, True] Translation: X:173.79, Y:17.79, Z:-0.80 [[ 9.99237423e-01 -3.89592410e-02 2.59827003e-03 1.73792550e+02] [ 3.89587019e-02 9.99240788e-01 2.57806912e-04 1.77868064e+01] [-2.60634135e-03 -1.56385087e-04 9.99996591e-01 -7.95193541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14140051299998 meters 0.05429102798569378 Centerline is valid? [True, True] Translation: X:173.82, Y:17.78, Z:-0.80 [[ 9.99149830e-01 -4.11626811e-02 2.29137577e-03 1.73823268e+02] [ 4.11622675e-02 9.99152449e-01 2.27387863e-04 1.77786163e+01] [-2.29879360e-03 -1.32876323e-04 9.99997349e-01 -7.95696338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17140051299998 meters 0.05356705035487352 Centerline is valid? [True, True] Translation: X:173.85, Y:17.78, Z:-0.79 [[ 9.99091867e-01 -4.24356359e-02 3.82867319e-03 1.73851043e+02] [ 4.24344906e-02 9.99099179e-01 3.79919543e-04 1.77815577e+01] [-3.84134637e-03 -2.17106729e-04 9.99992598e-01 -7.94290660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20140051299998 meters 0.05251828634681459 Centerline is valid? [True, True] Translation: X:173.88, Y:17.78, Z:-0.79 [[ 9.99119266e-01 -4.17652047e-02 4.04482693e-03 1.73879610e+02] [ 4.17639199e-02 9.99127426e-01 4.01628210e-04 1.77814734e+01] [-4.05807160e-03 -2.32346655e-04 9.99991739e-01 -7.93320053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23140051299998 meters 0.061469756021131264 Centerline is valid? [True, True] Translation: X:173.91, Y:17.79, Z:-0.79 [[ 9.99177149e-01 -4.04040142e-02 3.54127458e-03 1.73907210e+02] [ 4.04030202e-02 9.99183403e-01 3.51804630e-04 1.77912937e+01] [-3.55259711e-03 -2.08436959e-04 9.99993668e-01 -7.93622101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26140051299998 meters 0.06311818443892955 Centerline is valid? [True, True] Translation: X:173.94, Y:17.80, Z:-0.79 [[ 9.99255125e-01 -3.84386884e-02 3.41496852e-03 1.73936291e+02] [ 3.84377516e-02 9.99260939e-01 3.39562499e-04 1.77985541e+01] [-3.42549698e-03 -2.08045856e-04 9.99994111e-01 -7.93318070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29140051299999 meters 0.06902254390527153 Centerline is valid? [True, True] Translation: X:173.96, Y:17.81, Z:-0.79 [[ 9.99341313e-01 -3.61261695e-02 3.44083960e-03 1.73964987e+02] [ 3.61252047e-02 9.99347213e-01 3.42142037e-04 1.78078525e+01] [-3.45095375e-03 -2.17615638e-04 9.99994022e-01 -7.93409625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321400513 meters 0.06927172358008529 Centerline is valid? [True, True] Translation: X:173.99, Y:17.82, Z:-0.79 [[ 9.99515971e-01 -3.08071454e-02 4.32929854e-03 1.73994575e+02] [ 3.08055676e-02 9.99525303e-01 4.30662906e-04 1.78156187e+01] [-4.34051093e-03 -2.97087954e-04 9.99990536e-01 -7.92732574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351400513 meters 0.0731088763093063 Centerline is valid? [True, True] Translation: X:174.02, Y:17.82, Z:-0.79 [[ 9.99571944e-01 -2.88954798e-02 4.58048482e-03 1.74022724e+02] [ 2.88936938e-02 9.99582386e-01 4.55619983e-04 1.78228656e+01] [-4.59173730e-03 -3.23077826e-04 9.99989406e-01 -7.93311731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381400513 meters 0.06460968996245424 Centerline is valid? [True, True] Translation: X:174.05, Y:17.81, Z:-0.79 [[ 9.99596786e-01 -2.80555681e-02 4.37611920e-03 1.74053256e+02] [ 2.80539295e-02 9.99606316e-01 4.35381620e-04 1.78132832e+01] [-4.38661127e-03 -3.12438729e-04 9.99990330e-01 -7.93498356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411400513 meters 0.07579995115910257 Centerline is valid? [True, True] Translation: X:174.08, Y:17.83, Z:-0.79 [[ 9.99624197e-01 -2.70188664e-02 4.63088173e-03 1.74079507e+02] [ 2.70226462e-02 9.99634536e-01 -7.55580518e-04 1.78263376e+01] [-4.60877438e-03 8.80435247e-04 9.99988992e-01 -7.94208386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441400513 meters 0.06479380418195042 Centerline is valid? [True, True] Translation: X:174.11, Y:17.82, Z:-0.79 [[ 9.99570416e-01 -2.88805434e-02 4.98981562e-03 1.74112551e+02] [ 2.88722698e-02 9.99581625e-01 1.72227166e-03 1.78153434e+01] [-5.03746815e-03 -1.57746449e-03 9.99986068e-01 -7.92041108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471400513 meters 0.064597900911236 Centerline is valid? [True, True] Translation: X:174.14, Y:17.82, Z:-0.79 [[ 9.99549359e-01 -2.95767677e-02 5.12772525e-03 1.74141211e+02] [ 2.95745341e-02 9.99562447e-01 5.10885152e-04 1.78182584e+01] [-5.14059193e-03 -3.59004841e-04 9.99986723e-01 -7.92206601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501400513 meters 0.07210124885577734 Centerline is valid? [True, True] Translation: X:174.17, Y:17.83, Z:-0.79 [[ 9.99538404e-01 -2.99695671e-02 4.98044335e-03 1.74168412e+02] [ 2.99674600e-02 9.99550751e-01 4.97173766e-04 1.78302430e+01] [-4.99310597e-03 -3.47693036e-04 9.99987474e-01 -7.92792456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531400513 meters 0.06696741980074708 Centerline is valid? [True, True] Translation: X:174.20, Y:17.83, Z:-0.80 [[ 9.99558613e-01 -2.93843132e-02 4.37502213e-03 1.74197040e+02] [ 2.93826813e-02 9.99568140e-01 4.36817632e-04 1.78279603e+01] [-4.38596832e-03 -3.08074945e-04 9.99990334e-01 -7.95569076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561400513 meters 0.07312088801318309 Centerline is valid? [True, True] Translation: X:174.22, Y:17.84, Z:-0.80 [[ 9.99569223e-01 -2.89827471e-02 4.62270987e-03 1.74223800e+02] [ 2.89809198e-02 9.99579858e-01 4.61785207e-04 1.78390168e+01] [-4.63415148e-03 -3.27615897e-04 9.99989209e-01 -7.96322202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591400513 meters 0.06783199186186283 Centerline is valid? [True, True] Translation: X:174.25, Y:17.84, Z:-0.80 [[ 9.99581495e-01 -2.84789923e-02 5.07767176e-03 1.74252883e+02] [ 2.84767793e-02 9.99594325e-01 5.07620406e-04 1.78360001e+01] [-5.09006839e-03 -3.62812227e-04 9.99986980e-01 -7.95218630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621400513 meters 0.07353105929192938 Centerline is valid? [True, True] Translation: X:174.28, Y:17.85, Z:-0.79 [[ 9.99609268e-01 -2.75000783e-02 5.00573203e-03 1.74280998e+02] [ 2.74979104e-02 9.99621735e-01 5.01400697e-04 1.78456941e+01] [-5.01762710e-03 -3.63557612e-04 9.99987346e-01 -7.93087441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651400513 meters 0.06869530157013641 Centerline is valid? [True, True] Translation: X:174.31, Y:17.84, Z:-0.79 [[ 9.99618409e-01 -2.73717274e-02 3.71814209e-03 1.74310554e+02] [ 2.73705302e-02 9.99625287e-01 3.72500290e-04 1.78428773e+01] [-3.72694483e-03 -2.70590627e-04 9.99993018e-01 -7.94865714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681400513 meters 0.06534458077883804 Centerline is valid? [True, True] Translation: X:174.34, Y:17.84, Z:-0.80 [[ 9.99600180e-01 -2.82088460e-02 1.93410085e-03 1.74340133e+02] [ 2.82085247e-02 9.99602042e-01 1.93204180e-04 1.78416200e+01] [-1.93878122e-03 -1.38568802e-04 9.99998111e-01 -7.98579017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71140051299997 meters 0.0800845042943775 Centerline is valid? [True, True] Translation: X:174.37, Y:17.86, Z:-0.80 [[ 9.99556990e-01 -2.97361270e-02 1.25973588e-03 1.74367351e+02] [ 2.97359913e-02 9.99557780e-01 1.26353838e-04 1.78622313e+01] [-1.26293607e-03 -8.88383666e-05 9.99999199e-01 -8.02911066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74140051299997 meters 0.06850159840347365 Centerline is valid? [True, True] Translation: X:174.40, Y:17.85, Z:-0.80 [[ 9.99486221e-01 -3.20184150e-02 1.45408162e-03 1.74398601e+02] [ 3.20182363e-02 9.99487274e-01 1.46006788e-04 1.78509587e+01] [-1.45801099e-03 -9.93746442e-05 9.99998932e-01 -8.02627762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77140051299997 meters 0.06363739210692469 Centerline is valid? [True, True] Translation: X:174.43, Y:17.85, Z:-0.80 [[ 9.99294476e-01 -3.73848657e-02 3.59466367e-03 1.74429423e+02] [ 3.73838081e-02 9.99300916e-01 3.60978557e-04 1.78462017e+01] [-3.60564584e-03 -2.26341661e-04 9.99993474e-01 -7.98288884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80140051299998 meters 0.06144164589245931 Centerline is valid? [True, True] Translation: X:174.46, Y:17.84, Z:-0.80 [[ 9.99222643e-01 -3.91474747e-02 4.64589519e-03 1.74459672e+02] [ 3.91457271e-02 9.99233403e-01 4.66541880e-04 1.78446747e+01] [-4.66059760e-03 -2.84312265e-04 9.99989099e-01 -7.96053084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83140051299998 meters 0.061214840478026306 Centerline is valid? [True, True] Translation: X:174.49, Y:17.84, Z:-0.79 [[ 9.99224300e-01 -3.87894001e-02 6.79560128e-03 1.74488588e+02] [ 3.87856515e-02 9.99247320e-01 6.82589156e-04 1.78444599e+01] [-6.81696359e-03 -4.18487849e-04 9.99976677e-01 -7.93376739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86140051299998 meters 0.06078593610502836 Centerline is valid? [True, True] Translation: X:174.52, Y:17.85, Z:-0.79 [[ 9.99291749e-01 -3.68931975e-02 7.40887942e-03 1.74518734e+02] [ 3.68886816e-02 9.99319103e-01 7.45316051e-04 1.78471147e+01] [-7.43133183e-03 -4.71484387e-04 9.99972276e-01 -7.94209925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89140051299998 meters 0.06078593610502836 Centerline is valid? [True, True] Translation: X:174.55, Y:17.85, Z:-0.79 [[ 9.99285825e-01 -3.70533304e-02 7.40885534e-03 1.74546991e+02] [ 3.70488170e-02 9.99313179e-01 7.45555272e-04 1.78500534e+01] [-7.43139209e-03 -4.70533489e-04 9.99972276e-01 -7.94391858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92140051299998 meters 0.06957942080256078 Centerline is valid? [True, True] Translation: X:174.57, Y:17.86, Z:-0.80 [[ 9.99385921e-01 -3.43564693e-02 6.88578040e-03 1.74574976e+02] [ 3.43525004e-02 9.99409538e-01 6.93875998e-04 1.78636484e+01] [-6.90555374e-03 -4.56906130e-04 9.99976052e-01 -7.95876122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95140051299998 meters 0.07118977340060008 Centerline is valid? [True, True] Translation: X:174.61, Y:17.87, Z:-0.80 [[ 9.99486689e-01 -3.15573819e-02 5.52185457e-03 1.74605436e+02] [ 3.15547872e-02 9.99501869e-01 5.56426060e-04 1.78681515e+01] [-5.53666332e-03 -3.81899495e-04 9.99984600e-01 -7.98355565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98140051299998 meters 0.07458839199544853 Centerline is valid? [True, True] Translation: X:174.64, Y:17.87, Z:-0.80 [[ 9.99621211e-01 -2.73399914e-02 3.15595814e-03 1.74635644e+02] [ 2.73391230e-02 9.99626166e-01 3.17980653e-04 1.78722711e+01] [-3.16347193e-03 -2.31579077e-04 9.99994969e-01 -8.00606362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01140051299998 meters 0.07745073731154786 Centerline is valid? [True, True] Translation: X:174.67, Y:17.88, Z:-0.80 [[ 9.99664055e-01 -2.57086663e-02 3.29268658e-03 1.74665192e+02] [ 2.57077121e-02 9.99669447e-01 3.31804920e-04 1.78784184e+01] [-3.30012843e-03 -2.47046013e-04 9.99994524e-01 -8.00074172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04140051299999 meters 0.07392969381803992 Centerline is valid? [True, True] Translation: X:174.69, Y:17.88, Z:-0.80 [[ 9.99691356e-01 -2.44631304e-02 4.32981513e-03 1.74694871e+02] [ 2.44614686e-02 9.99700678e-01 4.36339943e-04 1.78775338e+01] [-4.33919336e-03 -3.30291633e-04 9.99990531e-01 -7.98503643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071400513 meters 0.07848082558459354 Centerline is valid? [True, True] Translation: X:174.72, Y:17.89, Z:-0.80 [[ 9.99723377e-01 -2.28818346e-02 5.43968363e-03 1.74723491e+02] [ 2.28791871e-02 9.99738087e-01 5.48440226e-04 1.78859539e+01] [-5.45080822e-03 -4.23832975e-04 9.99985054e-01 -7.97508058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101400513 meters 0.08000690682222508 Centerline is valid? [True, True] Translation: X:174.75, Y:17.89, Z:-0.80 [[ 9.99791388e-01 -1.96854330e-02 5.44647650e-03 1.74753359e+02] [ 1.96827310e-02 9.99806125e-01 5.49259424e-04 1.78906403e+01] [-5.45623298e-03 -4.41943311e-04 9.99985017e-01 -7.97883924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131400513 meters 0.0808387906837668 Centerline is valid? [True, True] Translation: X:174.78, Y:17.90, Z:-0.80 [[ 9.99817978e-01 -1.84694636e-02 4.78439757e-03 1.74783726e+02] [ 1.84673645e-02 9.99829347e-01 4.82554371e-04 1.78962696e+01] [-4.79249362e-03 -3.94111322e-04 9.99988438e-01 -7.99351900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161400513 meters 0.0797871056893449 Centerline is valid? [True, True] Translation: X:174.81, Y:17.90, Z:-0.80 [[ 9.99838371e-01 -1.74279634e-02 4.41570576e-03 1.74813602e+02] [ 1.74261655e-02 9.99848054e-01 4.45320126e-04 1.78997310e+01] [-4.42279583e-03 -3.68299330e-04 9.99990152e-01 -8.00355990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191400513 meters 0.08870238817265068 Centerline is valid? [True, True] Translation: X:174.84, Y:17.91, Z:-0.80 [[ 9.99855365e-01 -1.63352869e-02 4.73361002e-03 1.74842237e+02] [ 1.63332081e-02 9.99866490e-01 4.77473956e-04 1.79145668e+01] [-4.74077772e-03 -4.00089859e-04 9.99988682e-01 -8.00515401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221400513 meters 0.08655204850355615 Centerline is valid? [True, True] Translation: X:174.87, Y:17.92, Z:-0.80 [[ 9.99875056e-01 -1.49288002e-02 5.19639171e-03 1.74873168e+02] [ 1.49262762e-02 9.99888460e-01 5.24167236e-04 1.79150714e+01] [-5.20363729e-03 -4.46538967e-04 9.99986361e-01 -7.98869642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251400513 meters 0.07936038432768544 Centerline is valid? [True, True] Translation: X:174.91, Y:17.91, Z:-0.80 [[ 9.99879914e-01 -1.47148064e-02 4.86132351e-03 1.74905176e+02] [ 1.47125950e-02 9.99891644e-01 4.90337219e-04 1.79112282e+01] [-4.86801197e-03 -4.18755653e-04 9.99988063e-01 -7.98968791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281400513 meters 0.0876491366014772 Centerline is valid? [True, True] Translation: X:174.93, Y:17.93, Z:-0.80 [[ 9.99889898e-01 -1.43752808e-02 3.68006988e-03 1.74933749e+02] [ 1.43740115e-02 9.99896620e-01 3.71110098e-04 1.79271218e+01] [-3.68502424e-03 -3.18171871e-04 9.99993160e-01 -8.00810371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311400513 meters 0.07712278288772517 Centerline is valid? [True, True] Translation: X:174.97, Y:17.92, Z:-0.80 [[ 9.99894085e-01 -1.43887773e-02 2.18696575e-03 1.74965331e+02] [ 1.43883292e-02 9.99896458e-01 2.20497249e-04 1.79200809e+01] [-2.18991200e-03 -1.89007112e-04 9.99997584e-01 -8.02817585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341400513 meters 0.08484364543685949 Centerline is valid? [True, True] Translation: X:174.99, Y:17.94, Z:-0.80 [[ 9.99872086e-01 -1.58443288e-02 2.18381168e-03 1.74993096e+02] [ 1.58438856e-02 9.99874454e-01 2.20082127e-04 1.79350479e+01] [-2.18702457e-03 -1.85453913e-04 9.99997591e-01 -8.04083454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371400513 meters 0.07977354955890643 Centerline is valid? [True, True] Translation: X:175.02, Y:17.93, Z:-0.80 [[ 9.99845076e-01 -1.70572040e-02 4.34470022e-03 1.75023217e+02] [ 1.70554601e-02 9.99854449e-01 4.38101895e-04 1.79332900e+01] [-4.35154064e-03 -3.63933160e-04 9.99990466e-01 -8.00734622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401400513 meters 0.09123268884428647 Centerline is valid? [True, True] Translation: X:175.05, Y:17.95, Z:-0.80 [[ 9.99812808e-01 -1.81660784e-02 6.65900106e-03 1.75051164e+02] [ 1.81620049e-02 9.99834832e-01 6.71688885e-04 1.79524942e+01] [-6.67010316e-03 -5.50622340e-04 9.99977603e-01 -7.97021041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431400513 meters 0.08059185979371214 Centerline is valid? [True, True] Translation: X:175.08, Y:17.95, Z:-0.80 [[ 9.99781042e-01 -1.94228627e-02 7.78593108e-03 1.75083060e+02] [ 1.94173318e-02 9.99811157e-01 7.85345610e-04 1.79453172e+01] [-7.79971442e-03 -6.33991645e-04 9.99969381e-01 -7.95253346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46140051299997 meters 0.08052520277558713 Centerline is valid? [True, True] Translation: X:175.11, Y:17.95, Z:-0.80 [[ 9.99755378e-01 -2.06932471e-02 7.80857807e-03 1.75112608e+02] [ 2.06877230e-02 9.99785676e-01 7.87557919e-04 1.79507771e+01] [-7.82320164e-03 -6.25823565e-04 9.99969202e-01 -7.95885023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49140051299997 meters 0.07726245592373517 Centerline is valid? [True, True] Translation: X:175.14, Y:17.95, Z:-0.80 [[ 9.99708126e-01 -2.34469296e-02 5.82265457e-03 1.75142771e+02] [ 2.34439045e-02 9.99724981e-01 5.87261272e-04 1.79525424e+01] [-5.83482270e-03 -4.50584109e-04 9.99982876e-01 -7.99815945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52140051299997 meters 0.07028944112209316 Centerline is valid? [True, True] Translation: X:175.17, Y:17.95, Z:-0.80 [[ 9.99685766e-01 -2.42910290e-02 6.18984673e-03 1.75173815e+02] [ 2.42876263e-02 9.99704817e-01 6.24299044e-04 1.79484406e+01] [-6.20318446e-03 -4.73766184e-04 9.99980648e-01 -7.99436626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55140051299998 meters 0.07761835684507265 Centerline is valid? [True, True] Translation: X:175.20, Y:17.96, Z:-0.80 [[ 9.99680573e-01 -2.42340418e-02 7.17371704e-03 1.75202389e+02] [ 2.42294701e-02 9.99706161e-01 7.23521505e-04 1.79628550e+01] [-7.18914297e-03 -5.49475030e-04 9.99974007e-01 -7.97919320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58140051299998 meters 0.08285686354340616 Centerline is valid? [True, True] Translation: X:175.23, Y:17.98, Z:-0.80 [[ 9.99725136e-01 -2.21074347e-02 7.80473169e-03 1.75230102e+02] [ 2.21019595e-02 9.99755412e-01 7.87096668e-04 1.79805812e+01] [-7.82022344e-03 -6.14380460e-04 9.99969233e-01 -7.97043809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61140051299998 meters 0.07690695978641891 Centerline is valid? [True, True] Translation: X:175.26, Y:17.98, Z:-0.80 [[ 9.99765254e-01 -2.04011903e-02 7.29575333e-03 1.75261612e+02] [ 2.03963604e-02 9.99791702e-01 7.35810439e-04 1.79776406e+01] [-7.30924505e-03 -5.86830896e-04 9.99973115e-01 -7.99012757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64140051299998 meters 0.07651025123039848 Centerline is valid? [True, True] Translation: X:175.29, Y:17.99, Z:-0.80 [[ 9.99808735e-01 -1.83413340e-02 6.78894666e-03 1.75291259e+02] [ 1.83371051e-02 9.99831627e-01 6.84626834e-04 1.79872205e+01] [-6.80036055e-03 -5.60006260e-04 9.99976720e-01 -8.00172247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67140051299998 meters 0.08600262524650931 Centerline is valid? [True, True] Translation: X:175.32, Y:18.01, Z:-0.80 [[ 9.99841476e-01 -1.66411940e-02 6.33193771e-03 1.75319811e+02] [ 1.66374816e-02 9.99861384e-01 6.38525423e-04 1.80055245e+01] [-6.34168582e-03 -5.33076705e-04 9.99979749e-01 -8.01087194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70140051299998 meters 0.08294603205940078 Centerline is valid? [True, True] Translation: X:175.35, Y:18.01, Z:-0.80 [[ 9.99876349e-01 -1.49139789e-02 4.98596678e-03 1.75349762e+02] [ 1.49116557e-02 9.99888689e-01 5.02803775e-04 1.80103205e+01] [-4.99291059e-03 -4.28392583e-04 9.99987444e-01 -8.02852468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73140051299998 meters 0.09093991670363427 Centerline is valid? [True, True] Translation: X:175.38, Y:18.03, Z:-0.81 [[ 9.99881589e-01 -1.49500667e-02 3.64737141e-03 1.75379680e+02] [ 1.49488235e-02 9.99888192e-01 3.67881486e-04 1.80287377e+01] [-3.65246346e-03 -3.13314013e-04 9.99993281e-01 -8.05320942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76140051299998 meters 0.0780264273644046 Centerline is valid? [True, True] Translation: X:175.41, Y:18.02, Z:-0.81 [[ 9.99860290e-01 -1.64362416e-02 3.04161855e-03 1.75411160e+02] [ 1.64353844e-02 9.99864883e-01 3.06602358e-04 1.80202397e+01] [-3.04624696e-03 -2.56569353e-04 9.99995327e-01 -8.06542504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79140051299999 meters 0.07851223478841524 Centerline is valid? [True, True] Translation: X:175.44, Y:18.03, Z:-0.81 [[ 9.99720538e-01 -2.33144737e-02 3.90918371e-03 1.75439860e+02] [ 2.33131101e-02 9.99728135e-01 3.94026066e-04 1.80282852e+01] [-3.91730745e-03 -3.02780720e-04 9.99992281e-01 -8.05828713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821400513 meters 0.07650093561432242 Centerline is valid? [True, True] Translation: X:175.47, Y:18.03, Z:-0.81 [[ 9.99608566e-01 -2.76953148e-02 3.96039148e-03 1.75469082e+02] [ 2.76939492e-02 9.99616369e-01 3.99251629e-04 1.80305180e+01] [-3.96992956e-03 -2.89416468e-04 9.99992078e-01 -8.06071248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851400513 meters 0.06716324108051842 Centerline is valid? [True, True] Translation: X:175.50, Y:18.02, Z:-0.81 [[ 9.99482985e-01 -3.19618758e-02 3.49291768e-03 1.75500564e+02] [ 3.19608393e-02 9.99489060e-01 3.52163130e-04 1.80240188e+01] [-3.50238881e-03 -2.40344475e-04 9.99993838e-01 -8.06980683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881400513 meters 0.06323364817260257 Centerline is valid? [True, True] Translation: X:175.53, Y:18.02, Z:-0.81 [[ 9.99348147e-01 -3.59592005e-02 3.19644751e-03 1.75530320e+02] [ 3.59583530e-02 9.99353237e-01 3.22225019e-04 1.80232048e+01] [-3.20596712e-03 -2.07075987e-04 9.99994839e-01 -8.08231713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911400513 meters 0.05539033101061154 Centerline is valid? [True, True] Translation: X:175.56, Y:18.02, Z:-0.81 [[ 9.99154227e-01 -4.09128692e-02 4.11927430e-03 1.75561889e+02] [ 4.09115034e-02 9.99162688e-01 4.15324541e-04 1.80152150e+01] [-4.13281730e-03 -2.46447566e-04 9.99991430e-01 -8.07233845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941400513 meters 0.05982165750586961 Centerline is valid? [True, True] Translation: X:175.59, Y:18.02, Z:-0.81 [[ 9.99105120e-01 -4.20326975e-02 4.71287911e-03 1.75589388e+02] [ 4.20309226e-02 9.99116197e-01 4.75056731e-04 1.80222183e+01] [-4.72868177e-03 -2.76544956e-04 9.99988781e-01 -8.06593191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971400513 meters 0.054974189423509456 Centerline is valid? [True, True] Translation: X:175.62, Y:18.02, Z:-0.81 [[ 9.99096396e-01 -4.22529350e-02 4.59143865e-03 1.75617650e+02] [ 4.22512526e-02 9.99106910e-01 4.62846615e-04 1.80178484e+01] [-4.60689471e-03 -2.68434351e-04 9.99989352e-01 -8.06427659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001400513 meters 0.05803956473071536 Centerline is valid? [True, True] Translation: X:175.65, Y:18.02, Z:-0.81 [[ 9.99122617e-01 -4.16779517e-02 4.11647210e-03 1.75645281e+02] [ 4.16765906e-02 9.99131067e-01 4.15922555e-04 1.80235169e+01] [-4.13022997e-03 -2.43997109e-04 9.99991441e-01 -8.07556562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031400513 meters 0.0576972811213383 Centerline is valid? [True, True] Translation: X:175.67, Y:18.02, Z:-0.81 [[ 9.99163852e-01 -4.07990749e-02 2.65166906e-03 1.75674929e+02] [ 4.07985066e-02 9.99167358e-01 2.68076222e-04 1.80231977e+01] [-2.66039844e-03 -1.59667933e-04 9.99996448e-01 -8.10055126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061400513 meters 0.057552479741635486 Centerline is valid? [True, True] Translation: X:175.70, Y:18.02, Z:-0.81 [[ 9.99149671e-01 -4.11325821e-02 2.83661754e-03 1.75704040e+02] [ 4.11319343e-02 9.99153683e-01 2.86353138e-04 1.80241440e+01] [-2.84599531e-03 -1.69434078e-04 9.99995936e-01 -8.10280470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091400513 meters 0.06278991120823534 Centerline is valid? [True, True] Translation: X:175.73, Y:18.03, Z:-0.81 [[ 9.99099253e-01 -4.22801553e-02 3.61531276e-03 1.75731595e+02] [ 4.22791061e-02 9.99105772e-01 3.66168415e-04 1.80318944e+01] [-3.62756150e-03 -2.12986398e-04 9.99993398e-01 -8.10324382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121400513 meters 0.058513709982289754 Centerline is valid? [True, True] Translation: X:175.76, Y:18.03, Z:-0.81 [[ 9.98995768e-01 -4.45653867e-02 4.62412356e-03 1.75761973e+02] [ 4.45636931e-02 9.99006435e-01 4.68703908e-04 1.80287859e+01] [-4.64041717e-03 -2.62165197e-04 9.99989199e-01 -8.09430964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151400513 meters 0.05135152573724509 Centerline is valid? [True, True] Translation: X:175.79, Y:18.02, Z:-0.81 [[ 9.98691047e-01 -5.09845390e-02 4.09504813e-03 1.75793856e+02] [ 5.09832643e-02 9.98699421e-01 4.15130348e-04 1.80194432e+01] [-4.11088743e-03 -2.05808041e-04 9.99991529e-01 -8.11141073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181400513 meters 0.05262271117017012 Centerline is valid? [True, True] Translation: X:175.82, Y:18.02, Z:-0.81 [[ 9.98514516e-01 -5.43844868e-02 3.32990084e-03 1.75824057e+02] [ 5.43836629e-02 9.98520057e-01 3.37544905e-04 1.80172095e+01] [-3.34332998e-03 -1.55951282e-04 9.99994399e-01 -8.13102311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21140051299997 meters 0.04965422179076613 Centerline is valid? [True, True] Translation: X:175.85, Y:18.01, Z:-0.81 [[ 9.98336637e-01 -5.75992490e-02 2.50710367e-03 1.75854523e+02] [ 5.75987922e-02 9.98339779e-01 2.54120765e-04 1.80131782e+01] [-2.51757849e-03 -1.09291927e-04 9.99996825e-01 -8.13784385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24140051299997 meters 0.040455746121427064 Centerline is valid? [True, True] Translation: X:175.88, Y:18.01, Z:-0.81 [[ 9.98140475e-01 -6.08726180e-02 3.18070459e-03 1.75884961e+02] [ 6.08718988e-02 9.98145534e-01 3.22503434e-04 1.80064878e+01] [-3.19443771e-03 -1.28288203e-04 9.99994890e-01 -8.12511409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27140051299997 meters 0.034206787161948284 Centerline is valid? [True, True] Translation: X:175.92, Y:18.00, Z:-0.81 [[ 9.97730759e-01 -6.71591489e-02 4.79381404e-03 1.75915543e+02] [ 6.71575869e-02 9.97742262e-01 4.86260818e-04 1.79977733e+01] [-4.81564773e-03 -1.63216392e-04 9.99988391e-01 -8.09787094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30140051299998 meters 0.03077717210261776 Centerline is valid? [True, True] Translation: X:175.95, Y:17.99, Z:-0.81 [[ 9.97532830e-01 -7.00245671e-02 4.98125837e-03 1.75945681e+02] [ 7.00229158e-02 9.97545255e-01 5.05359362e-04 1.79935808e+01] [-5.00441822e-03 -1.55310320e-04 9.99987466e-01 -8.09904932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33140051299998 meters 0.028321880207361722 Centerline is valid? [True, True] Translation: X:175.98, Y:17.99, Z:-0.81 [[ 9.97337375e-01 -7.27769304e-02 4.65610181e-03 1.75975031e+02] [ 7.27755173e-02 9.97348235e-01 4.72431327e-04 1.79875938e+01] [-4.67813702e-03 -1.32323201e-04 9.99989049e-01 -8.10557727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36140051299998 meters 0.026308622127716553 Centerline is valid? [True, True] Translation: X:176.00, Y:17.99, Z:-0.81 [[ 9.97175434e-01 -7.49492046e-02 4.87550949e-03 1.76003103e+02] [ 7.49476800e-02 9.97187345e-01 4.94926517e-04 1.79859264e+01] [-4.89889071e-03 -1.28120439e-04 9.99987992e-01 -8.10623743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39140051299998 meters 0.026740983266326 Centerline is valid? [True, True] Translation: X:176.03, Y:17.99, Z:-0.81 [[ 9.97037434e-01 -7.67059889e-02 5.70497747e-03 1.76030727e+02] [ 7.67039277e-02 9.97053746e-01 5.79544689e-04 1.79865831e+01] [-5.73262370e-03 -1.40233570e-04 9.99983559e-01 -8.09796101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42140051299998 meters 0.02354930630840576 Centerline is valid? [True, True] Translation: X:176.06, Y:17.98, Z:-0.81 [[ 9.96889062e-01 -7.85182296e-02 6.86187422e-03 1.76060125e+02] [ 7.85152869e-02 9.96912666e-01 6.97610883e-04 1.79834169e+01] [-6.89546449e-03 -1.56678636e-04 9.99976214e-01 -8.08145147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45140051299998 meters 0.028460347944240637 Centerline is valid? [True, True] Translation: X:176.09, Y:17.99, Z:-0.81 [[ 9.96913978e-01 -7.83052059e-02 5.55119570e-03 1.76089074e+02] [ 7.83032727e-02 9.96929425e-01 5.65083991e-04 1.79858168e+01] [-5.57839935e-03 -1.28663338e-04 9.99984432e-01 -8.10641959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48140051299998 meters 0.02525381111792864 Centerline is valid? [True, True] Translation: X:176.12, Y:17.99, Z:-0.81 [[ 9.97030347e-01 -7.69090268e-02 3.93545637e-03 1.76118151e+02] [ 7.69080429e-02 9.97038110e-01 4.00957668e-04 1.79877891e+01] [-3.95463724e-03 -9.70987162e-05 9.99992176e-01 -8.13144862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51140051299998 meters 0.02889036050483728 Centerline is valid? [True, True] Translation: X:176.15, Y:17.99, Z:-0.82 [[ 9.97393794e-01 -7.21164540e-02 2.19912006e-03 1.76148150e+02] [ 7.21161340e-02 9.97396217e-01 2.24600199e-04 1.79914162e+01] [-2.20959140e-03 -6.54228079e-05 9.99997557e-01 -8.15061249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54140051299999 meters 0.036587712205436745 Centerline is valid? [True, True] Translation: X:176.18, Y:18.00, Z:-0.82 [[ 9.97586212e-01 -6.94002175e-02 2.31486346e-03 1.76175893e+02] [ 6.93998557e-02 9.97588895e-01 2.36356089e-04 1.80003464e+01] [-2.32568525e-03 -7.51343857e-05 9.99997293e-01 -8.15087375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571400513 meters 0.03280322638777512 Centerline is valid? [True, True] Translation: X:176.21, Y:18.00, Z:-0.81 [[ 9.97732230e-01 -6.72604453e-02 2.53581972e-03 1.76205594e+02] [ 6.72600038e-02 9.97735448e-01 2.59075061e-04 1.80011325e+01] [-2.54750273e-03 -8.79282945e-05 9.99996751e-01 -8.14584973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601400513 meters 0.03758047113958453 Centerline is valid? [True, True] Translation: X:176.23, Y:18.01, Z:-0.82 [[ 9.97856791e-01 -6.54036314e-02 2.04675299e-03 1.76233008e+02] [ 6.54033401e-02 9.97858888e-01 2.09021926e-04 1.80085191e+01] [-2.05604145e-03 -7.47094670e-05 9.99997884e-01 -8.16274789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631400513 meters 0.04501223058253358 Centerline is valid? [True, True] Translation: X:176.26, Y:18.02, Z:-0.82 [[ 9.98160433e-01 -6.06008454e-02 1.81325910e-03 1.76261750e+02] [ 6.06006084e-02 9.98162077e-01 1.85396880e-04 1.80168314e+01] [-1.82116168e-03 -7.51712251e-05 9.99998339e-01 -8.17697399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661400513 meters 0.04602237916640152 Centerline is valid? [True, True] Translation: X:176.29, Y:18.02, Z:-0.82 [[ 9.98303297e-01 -5.81683064e-02 2.64094479e-03 1.76290966e+02] [ 5.81677953e-02 9.98306784e-01 2.70010441e-04 1.80192423e+01] [-2.65217915e-03 -1.15934378e-04 9.99996476e-01 -8.16333915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691400513 meters 0.04546006407094072 Centerline is valid? [True, True] Translation: X:176.32, Y:18.02, Z:-0.81 [[ 9.98451161e-01 -5.55189784e-02 3.59479283e-03 1.76321120e+02] [ 5.55180133e-02 9.98457618e-01 3.67795738e-04 1.80193567e+01] [-3.60966793e-03 -1.67650325e-04 9.99993471e-01 -8.14655045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721400513 meters 0.04954625379193978 Centerline is valid? [True, True] Translation: X:176.35, Y:18.02, Z:-0.81 [[ 9.98584962e-01 -5.30137378e-02 4.19732783e-03 1.76351531e+02] [ 5.30123997e-02 9.98593762e-01 4.29500288e-04 1.80189938e+01] [-4.21419480e-03 -2.06382109e-04 9.99991099e-01 -8.13880782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751400513 meters 0.05410573768397913 Centerline is valid? [True, True] Translation: X:176.38, Y:18.03, Z:-0.82 [[ 9.98792219e-01 -4.89828330e-02 3.84510047e-03 1.76380249e+02] [ 4.89816799e-02 9.98799600e-01 3.93538508e-04 1.80298264e+01] [-3.85976144e-03 -2.04723719e-04 9.99992530e-01 -8.15157321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781400513 meters 0.05534038236751484 Centerline is valid? [True, True] Translation: X:176.41, Y:18.03, Z:-0.82 [[ 9.98896419e-01 -4.68138986e-02 3.79507546e-03 1.76409865e+02] [ 4.68127598e-02 9.98903606e-01 3.88391730e-04 1.80335971e+01] [-3.80909669e-03 -2.10305153e-04 9.99992723e-01 -8.15698418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811400513 meters 0.05534038236751484 Centerline is valid? [True, True] Translation: X:176.44, Y:18.04, Z:-0.82 [[ 9.98887902e-01 -4.69952819e-02 3.79511599e-03 1.76437272e+02] [ 4.69941460e-02 9.98895089e-01 3.87996237e-04 1.80365447e+01] [-3.80915672e-03 -2.09216512e-04 9.99992723e-01 -8.15874942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841400513 meters 0.060263469625846756 Centerline is valid? [True, True] Translation: X:176.47, Y:18.04, Z:-0.81 [[ 9.99079134e-01 -4.25132580e-02 5.78856688e-03 1.76466486e+02] [ 4.25105299e-02 9.99095843e-01 5.93575143e-04 1.80431899e+01] [-5.80856791e-03 -3.46953495e-04 9.99983070e-01 -8.13515270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871400513 meters 0.06154898957957598 Centerline is valid? [True, True] Translation: X:176.50, Y:18.05, Z:-0.81 [[ 9.99140481e-01 -4.09722038e-02 6.29107073e-03 1.76496246e+02] [ 4.09689506e-02 9.99160212e-01 6.45173506e-04 1.80463903e+01] [-6.31222174e-03 -3.86880401e-04 9.99980003e-01 -8.11859449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901400513 meters 0.06586912545137742 Centerline is valid? [True, True] Translation: X:176.53, Y:18.05, Z:-0.81 [[ 9.99206690e-01 -3.93234186e-02 6.29754858e-03 1.76525139e+02] [ 3.93201251e-02 9.99226456e-01 6.45981480e-04 1.80539407e+01] [-6.31807935e-03 -3.97848619e-04 9.99979962e-01 -8.11819322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931400513 meters 0.06832546827160914 Centerline is valid? [True, True] Translation: X:176.55, Y:18.06, Z:-0.81 [[ 9.99263266e-01 -3.78975705e-02 6.05804877e-03 1.76552638e+02] [ 3.78944964e-02 9.99281552e-01 6.21469596e-04 1.80599360e+01] [-6.07724857e-03 -3.91445031e-04 9.99981457e-01 -8.12994267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96140051299997 meters 0.07688592307056225 Centerline is valid? [True, True] Translation: X:176.58, Y:18.07, Z:-0.81 [[ 9.99295290e-01 -3.71222460e-02 5.55544806e-03 1.76579441e+02] [ 3.71196476e-02 9.99310666e-01 5.70130399e-04 1.80733409e+01] [-5.57278302e-03 -3.63512347e-04 9.99984406e-01 -8.14732830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99140051299997 meters 0.06301000045822881 Centerline is valid? [True, True] Translation: X:176.61, Y:18.06, Z:-0.82 [[ 9.99277297e-01 -3.77769540e-02 4.21729850e-03 1.76609714e+02] [ 3.77754630e-02 9.99286159e-01 4.32682872e-04 1.80572646e+01] [-4.23063346e-03 -2.73059768e-04 9.99991014e-01 -8.17592536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02140051299997 meters 0.06291825049049715 Centerline is valid? [True, True] Translation: X:176.64, Y:18.06, Z:-0.82 [[ 9.99244095e-01 -3.86556953e-02 4.12028682e-03 1.76638374e+02] [ 3.86542768e-02 9.99252554e-01 4.23369248e-04 1.80587023e+01] [-4.13357276e-03 -2.63782514e-04 9.99991422e-01 -8.17452408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05140051299998 meters 0.06259206118899452 Centerline is valid? [True, True] Translation: X:176.67, Y:18.06, Z:-0.82 [[ 9.99229484e-01 -3.89483382e-02 4.84408754e-03 1.76667279e+02] [ 3.89463764e-02 9.99241178e-01 4.98697873e-04 1.80606343e+01] [-4.85983519e-03 -3.09653962e-04 9.99988143e-01 -8.16425048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08140051299998 meters 0.0629108969994367 Centerline is valid? [True, True] Translation: X:176.70, Y:18.06, Z:-0.82 [[ 9.99236168e-01 -3.87366413e-02 5.15292754e-03 1.76696678e+02] [ 3.87344140e-02 9.99249400e-01 5.31381011e-04 1.80608988e+01] [-5.16964366e-03 -3.31379497e-04 9.99986582e-01 -8.15687781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11140051299998 meters 0.06747595103731747 Centerline is valid? [True, True] Translation: X:176.72, Y:18.08, Z:-0.82 [[ 9.99316426e-01 -3.65918480e-02 5.26480109e-03 1.76724511e+02] [ 3.65894877e-02 9.99330232e-01 5.43975736e-04 1.80772812e+01] [-5.28117997e-03 -3.50967514e-04 9.99985993e-01 -8.16144332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14140051299998 meters 0.0688767210376946 Centerline is valid? [True, True] Translation: X:176.75, Y:18.08, Z:-0.82 [[ 9.99362893e-01 -3.53614228e-02 4.83506589e-03 1.76753714e+02] [ 3.53594176e-02 9.99374535e-01 4.99608236e-04 1.80834158e+01] [-4.84970858e-03 -3.28324818e-04 9.99988186e-01 -8.17125240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17140051299998 meters 0.06606395599156493 Centerline is valid? [True, True] Translation: X:176.78, Y:18.08, Z:-0.82 [[ 9.99393191e-01 -3.44681981e-02 5.01918015e-03 1.76782959e+02] [ 3.44660257e-02 9.99405735e-01 5.18711619e-04 1.80842428e+01] [-5.03407648e-03 -3.45405668e-04 9.99987269e-01 -8.16691534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20140051299998 meters 0.08010162232197826 Centerline is valid? [True, True] Translation: X:176.81, Y:18.11, Z:-0.82 [[ 9.99405753e-01 -3.40150348e-02 5.57845883e-03 1.76808252e+02] [ 3.40123425e-02 9.99421246e-01 5.76820467e-04 1.81055627e+01] [-5.59485085e-03 -3.86741240e-04 9.99984274e-01 -8.15984426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23140051299998 meters 0.06916643177689526 Centerline is valid? [True, True] Translation: X:176.84, Y:18.10, Z:-0.82 [[ 9.99389819e-01 -3.44714866e-02 5.63079732e-03 1.76838220e+02] [ 3.44687488e-02 9.99405606e-01 5.82558769e-04 1.80964054e+01] [-5.64753208e-03 -3.88116764e-04 9.99983977e-01 -8.15850903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26140051299998 meters 0.06913007615642175 Centerline is valid? [True, True] Translation: X:176.87, Y:18.10, Z:-0.82 [[ 9.99351244e-01 -3.56581696e-02 5.05821065e-03 1.76867585e+02] [ 3.56559710e-02 9.99363986e-01 5.24195031e-04 1.80997841e+01] [-5.07368539e-03 -3.43499544e-04 9.99987070e-01 -8.16781196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29140051299999 meters 0.06841643972694866 Centerline is valid? [True, True] Translation: X:176.90, Y:18.10, Z:-0.82 [[ 9.99322107e-01 -3.65026066e-02 4.78387076e-03 1.76896244e+02] [ 3.65006493e-02 9.99333506e-01 4.95828496e-04 1.81017810e+01] [-4.79878138e-03 -3.20877988e-04 9.99988434e-01 -8.17471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321400513 meters 0.06761954752796091 Centerline is valid? [True, True] Translation: X:176.93, Y:18.10, Z:-0.82 [[ 9.99277437e-01 -3.76969984e-02 4.85181991e-03 1.76926027e+02] [ 3.76949979e-02 9.99289164e-01 5.03128557e-04 1.81041543e+01] [-4.86733750e-03 -3.19875673e-04 9.99988103e-01 -8.17828006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351400513 meters 0.05697243996819516 Centerline is valid? [True, True] Translation: X:176.96, Y:18.10, Z:-0.82 [[ 9.99213346e-01 -3.93509700e-02 4.91843447e-03 1.76956883e+02] [ 3.93489336e-02 9.99225401e-01 5.10147010e-04 1.80954688e+01] [-4.93469943e-03 -3.16210549e-04 9.99987774e-01 -8.17749667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381400513 meters 0.07159341402250284 Centerline is valid? [True, True] Translation: X:176.98, Y:18.12, Z:-0.82 [[ 9.99161059e-01 -4.06948439e-02 4.59432633e-03 1.76983077e+02] [ 4.06930808e-02 9.99171580e-01 4.76608706e-04 1.81207220e+01] [-4.60991582e-03 -2.89251567e-04 9.99989332e-01 -8.19430834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411400513 meters 0.06445681464142589 Centerline is valid? [True, True] Translation: X:177.01, Y:18.12, Z:-0.82 [[ 9.99177552e-01 -4.03222718e-02 4.28179119e-03 1.77012715e+02] [ 4.03207376e-02 9.99186690e-01 4.44067201e-04 1.81161075e+01] [-4.29621457e-03 -2.71057000e-04 9.99990734e-01 -8.19731243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441400513 meters 0.06005855822764892 Centerline is valid? [True, True] Translation: X:177.04, Y:18.11, Z:-0.82 [[ 9.99220326e-01 -3.92438285e-02 4.31993784e-03 1.77042795e+02] [ 3.92422526e-02 9.99229625e-01 4.48991474e-04 1.81133622e+01] [-4.33423002e-03 -2.79117315e-04 9.99990568e-01 -8.19166459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471400513 meters 0.06381595435644198 Centerline is valid? [True, True] Translation: X:177.07, Y:18.12, Z:-0.82 [[ 9.99251385e-01 -3.84179974e-02 4.55258794e-03 1.77070688e+02] [ 3.84162383e-02 9.99261712e-01 4.73265752e-04 1.81214031e+01] [-4.56740874e-03 -2.98018156e-04 9.99989525e-01 -8.19023633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501400513 meters 0.06115112193518133 Centerline is valid? [True, True] Translation: X:177.10, Y:18.12, Z:-0.82 [[ 9.99272082e-01 -3.78322696e-02 4.90157435e-03 1.77099847e+02] [ 3.78302233e-02 9.99284051e-01 5.09542919e-04 1.81225293e+01] [-4.91734224e-03 -3.23744361e-04 9.99987857e-01 -8.19134782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531400513 meters 0.06084235266512594 Centerline is valid? [True, True] Translation: X:177.13, Y:18.13, Z:-0.82 [[ 9.99302943e-01 -3.70362626e-02 4.68440668e-03 1.77128758e+02] [ 3.70343806e-02 9.99313873e-01 4.87890940e-04 1.81256748e+01] [-4.69926224e-03 -3.14066752e-04 9.99988909e-01 -8.19892010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561400513 meters 0.070772499240454 Centerline is valid? [True, True] Translation: X:177.16, Y:18.14, Z:-0.82 [[ 9.99395806e-01 -3.46816406e-02 2.28188487e-03 1.77157206e+02] [ 3.46811878e-02 9.99398398e-01 2.37742382e-04 1.81380367e+01] [-2.28875738e-03 -1.58460262e-04 9.99997368e-01 -8.23758121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591400513 meters 0.07390454662232064 Centerline is valid? [True, True] Translation: X:177.19, Y:18.14, Z:-0.83 [[ 9.99426065e-01 -3.38732506e-02 3.79157656e-04 1.77185568e+02] [ 3.38732381e-02 9.99426136e-01 3.93202259e-05 1.81443711e+01] [-3.80271975e-04 -2.64543610e-05 9.99999927e-01 -8.26695889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621400513 meters 0.07243176787259932 Centerline is valid? [True, True] Translation: X:177.21, Y:18.15, Z:-0.83 [[ 9.99443388e-01 -3.33540693e-02 -6.48988285e-04 1.77214019e+02] [ 3.33540317e-02 9.99443597e-01 -6.87685481e-05 1.81469862e+01] [ 6.50920897e-04 4.70838949e-05 9.99999787e-01 -8.28570798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651400513 meters 0.07438432556453879 Centerline is valid? [True, True] Translation: X:177.24, Y:18.15, Z:-0.83 [[ 9.99458592e-01 -3.28998337e-02 -3.51857096e-04 1.77240989e+02] [ 3.28998226e-02 9.99458654e-01 -3.71172321e-05 1.81538374e+01] [ 3.52887770e-04 2.55211005e-05 9.99999937e-01 -8.29075366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681400513 meters 0.07303395237996606 Centerline is valid? [True, True] Translation: X:177.27, Y:18.16, Z:-0.82 [[ 9.99424804e-01 -3.38094835e-02 2.64189509e-03 1.77270084e+02] [ 3.38088728e-02 9.99428279e-01 2.75480616e-04 1.81559582e+01] [-2.64969852e-03 -1.86002666e-04 9.99996472e-01 -8.23536059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71140051299997 meters 0.07557616695740947 Centerline is valid? [True, True] Translation: X:177.30, Y:18.16, Z:-0.82 [[ 9.99384768e-01 -3.48785925e-02 3.68370950e-03 1.77298869e+02] [ 3.48774080e-02 9.99391524e-01 3.85341582e-04 1.81622847e+01] [-3.69490822e-03 -2.56626269e-04 9.99993141e-01 -8.21775198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74140051299997 meters 0.07077638520169104 Centerline is valid? [True, True] Translation: X:177.33, Y:18.16, Z:-0.82 [[ 9.99324933e-01 -3.65412899e-02 3.79644990e-03 1.77329023e+02] [ 3.65400432e-02 9.99332111e-01 3.97251768e-04 1.81607265e+01] [-3.80843039e-03 -2.58261153e-04 9.99992715e-01 -8.21703644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77140051299997 meters 0.0624462523233167 Centerline is valid? [True, True] Translation: X:177.36, Y:18.15, Z:-0.82 [[ 9.99166132e-01 -4.06760251e-02 3.53587325e-03 1.77359925e+02] [ 4.06749694e-02 9.99172362e-01 3.69987233e-04 1.81544970e+01] [-3.54799643e-03 -2.25857177e-04 9.99993680e-01 -8.23322716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80140051299998 meters 0.0627431746395324 Centerline is valid? [True, True] Translation: X:177.39, Y:18.16, Z:-0.82 [[ 9.99061950e-01 -4.31540654e-02 3.59802456e-03 1.77389617e+02] [ 4.31529879e-02 9.99068405e-01 3.76597459e-04 1.81564348e+01] [-3.61092437e-03 -2.20978681e-04 9.99993456e-01 -8.23105528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83140051299998 meters 0.05790479228980935 Centerline is valid? [True, True] Translation: X:177.42, Y:18.15, Z:-0.82 [[ 9.98952328e-01 -4.56176073e-02 3.64417284e-03 1.77420263e+02] [ 4.56165181e-02 9.98958952e-01 3.81501970e-04 1.81521592e+01] [-3.65778228e-03 -2.14867805e-04 9.99993287e-01 -8.22440411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86140051299998 meters 0.059079417916942975 Centerline is valid? [True, True] Translation: X:177.45, Y:18.15, Z:-0.82 [[ 9.98849364e-01 -4.78166078e-02 3.67702017e-03 1.77449917e+02] [ 4.78155137e-02 9.98856110e-01 3.84926430e-04 1.81522196e+01] [-3.69121994e-03 -2.08664911e-04 9.99993166e-01 -8.21766923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89140051299998 meters 0.05617280569988926 Centerline is valid? [True, True] Translation: X:177.48, Y:18.15, Z:-0.82 [[ 9.98709327e-01 -5.04836418e-02 5.57509043e-03 1.77478719e+02] [ 5.04811670e-02 9.98724842e-01 5.83822562e-04 1.81532007e+01] [-5.59745480e-03 -3.01631967e-04 9.99984289e-01 -8.19614603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92140051299998 meters 0.05607244302385976 Centerline is valid? [True, True] Translation: X:177.51, Y:18.15, Z:-0.82 [[ 9.98682586e-01 -5.09847547e-02 5.80066604e-03 1.77507590e+02] [ 5.09820833e-02 9.98699383e-01 6.07559019e-04 1.81544396e+01] [-5.82409785e-03 -3.11028573e-04 9.99982991e-01 -8.20014794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95140051299998 meters 0.054350075748889434 Centerline is valid? [True, True] Translation: X:177.54, Y:18.15, Z:-0.82 [[ 9.98697694e-01 -5.07087921e-02 5.61553565e-03 1.77536778e+02] [ 5.07062794e-02 9.98713436e-01 5.89020589e-04 1.81534983e+01] [-5.63817942e-03 -3.03510584e-04 9.99984059e-01 -8.21009510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98140051299998 meters 0.0562293337799885 Centerline is valid? [True, True] Translation: X:177.56, Y:18.16, Z:-0.82 [[ 9.98731386e-01 -5.00872323e-02 5.18543060e-03 1.77564058e+02] [ 5.00850768e-02 9.98744806e-01 5.44785015e-04 1.81573533e+01] [-5.20620865e-03 -2.84381203e-04 9.99986407e-01 -8.22107238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01140051299998 meters 0.0563508805960298 Centerline is valid? [True, True] Translation: X:177.59, Y:18.16, Z:-0.82 [[ 9.98814378e-01 -4.83297786e-02 5.83699830e-03 1.77593961e+02] [ 4.83270152e-02 9.98831379e-01 6.13635612e-04 1.81585255e+01] [-5.85983393e-03 -3.30823366e-04 9.99982776e-01 -8.21470014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04140051299999 meters 0.05846595739770507 Centerline is valid? [True, True] Translation: X:177.62, Y:18.16, Z:-0.82 [[ 9.98838570e-01 -4.78108208e-02 5.96965764e-03 1.77621362e+02] [ 4.78079203e-02 9.98856350e-01 6.27708417e-04 1.81621981e+01] [-5.99284170e-03 -3.41582461e-04 9.99981984e-01 -8.21029302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071400513 meters 0.05605889279593391 Centerline is valid? [True, True] Translation: X:177.65, Y:18.16, Z:-0.82 [[ 9.98847288e-01 -4.75866271e-02 6.29355756e-03 1.77650366e+02] [ 4.75833966e-02 9.98867049e-01 6.62136378e-04 1.81598704e+01] [-6.31793611e-03 -3.61904280e-04 9.99979976e-01 -8.20624675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101400513 meters 0.059114964922831366 Centerline is valid? [True, True] Translation: X:177.68, Y:18.16, Z:-0.82 [[ 9.98861167e-01 -4.72413966e-02 6.67980875e-03 1.77677547e+02] [ 4.72377421e-02 9.98883427e-01 7.03900399e-04 1.81641795e+01] [-6.70560349e-03 -3.87559690e-04 9.99977442e-01 -8.19846919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131400513 meters 0.0604368300144018 Centerline is valid? [True, True] Translation: X:177.71, Y:18.17, Z:-0.82 [[ 9.98927631e-01 -4.57318100e-02 7.22419776e-03 1.77707155e+02] [ 4.57274915e-02 9.98953661e-01 7.61915373e-04 1.81653829e+01] [-7.25148257e-03 -4.30753877e-04 9.99973615e-01 -8.19830102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161400513 meters 0.06360166227368311 Centerline is valid? [True, True] Translation: X:177.73, Y:18.17, Z:-0.82 [[ 9.98924485e-01 -4.57997557e-02 7.22878012e-03 1.77733919e+02] [ 4.57954316e-02 9.98950548e-01 7.62653823e-04 1.81697958e+01] [-7.25612322e-03 -4.30788472e-04 9.99973581e-01 -8.20683222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191400513 meters 0.05704387139801092 Centerline is valid? [True, True] Translation: X:177.76, Y:18.16, Z:-0.82 [[ 9.98899677e-01 -4.63905482e-02 6.88126874e-03 1.77764079e+02] [ 4.63866379e-02 9.98923296e-01 7.26852375e-04 1.81635485e+01] [-6.90757874e-03 -4.06853681e-04 9.99976060e-01 -8.21661973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221400513 meters 0.05619533388371211 Centerline is valid? [True, True] Translation: X:177.79, Y:18.16, Z:-0.82 [[ 9.98868818e-01 -4.72443369e-02 5.39048001e-03 1.77792778e+02] [ 4.72419466e-02 9.98883313e-01 5.69977430e-04 1.81630098e+01] [-5.41138874e-03 -3.14675913e-04 9.99985309e-01 -8.23633551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251400513 meters 0.053400154138711346 Centerline is valid? [True, True] Translation: X:177.82, Y:18.16, Z:-0.83 [[ 9.98794894e-01 -4.90251913e-02 2.30023396e-03 1.77823378e+02] [ 4.90247599e-02 9.98797534e-01 2.43567625e-04 1.81566607e+01] [-2.30940896e-03 -1.30505682e-04 9.99997325e-01 -8.27798001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281400513 meters 0.055673453243174985 Centerline is valid? [True, True] Translation: X:177.85, Y:18.16, Z:-0.83 [[ 9.98765466e-01 -4.96518381e-02 1.49633579e-03 1.77850962e+02] [ 4.96516566e-02 9.98766583e-01 1.58256654e-04 1.81602168e+01] [-1.50234792e-03 -8.37657293e-05 9.99998868e-01 -8.29564684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311400513 meters 0.056867588775848375 Centerline is valid? [True, True] Translation: X:177.88, Y:18.16, Z:-0.83 [[ 9.98786662e-01 -4.92344795e-02 1.08204281e-03 1.77878142e+02] [ 4.92343844e-02 9.98787246e-01 1.14346953e-04 1.81625472e+01] [-1.08636037e-03 -6.09344996e-05 9.99999408e-01 -8.30610138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341400513 meters 0.060760392635018284 Centerline is valid? [True, True] Translation: X:177.91, Y:18.17, Z:-0.83 [[ 9.98850092e-01 -4.79268792e-02 1.22774314e-03 1.77906285e+02] [ 4.79267554e-02 9.98850844e-01 1.30063946e-04 1.81684951e+01] [-1.23256583e-03 -7.10726389e-05 9.99999238e-01 -8.31186372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371400513 meters 0.06277704573963441 Centerline is valid? [True, True] Translation: X:177.94, Y:18.17, Z:-0.83 [[ 9.98926398e-01 -4.63044044e-02 1.39784539e-03 1.77935481e+02] [ 4.63042423e-02 9.98927372e-01 1.48164770e-04 1.81720864e+01] [-1.40320671e-03 -8.32795284e-05 9.99999012e-01 -8.30930154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401400513 meters 0.06332565672096326 Centerline is valid? [True, True] Translation: X:177.97, Y:18.17, Z:-0.83 [[ 9.99075201e-01 -4.29258419e-02 2.47268112e-03 1.77965630e+02] [ 4.29253232e-02 9.99078249e-01 2.62467578e-04 1.81738865e+01] [-2.48166857e-03 -1.56084212e-04 9.99996908e-01 -8.28808066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431400513 meters 0.06899075416704513 Centerline is valid? [True, True] Translation: X:177.99, Y:18.18, Z:-0.83 [[ 9.99137316e-01 -4.14130286e-02 3.09585639e-03 1.77993182e+02] [ 4.14122088e-02 9.99142093e-01 3.28469219e-04 1.81839882e+01] [-3.10680334e-03 -1.99979603e-04 9.99995154e-01 -8.28308922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46140051299997 meters 0.061876177799302774 Centerline is valid? [True, True] Translation: X:178.02, Y:18.18, Z:-0.83 [[ 9.99249644e-01 -3.84312602e-02 4.81532246e-03 1.78024035e+02] [ 3.84292402e-02 9.99261193e-01 5.11348881e-04 1.81783058e+01] [-4.83141665e-03 -3.25916004e-04 9.99988276e-01 -8.26047186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49140051299997 meters 0.07565009644017424 Centerline is valid? [True, True] Translation: X:178.05, Y:18.20, Z:-0.83 [[ 9.99261982e-01 -3.80109360e-02 5.53706988e-03 1.78050136e+02] [ 3.80082589e-02 9.99277252e-01 5.87950661e-04 1.81967722e+01] [-5.55541653e-03 -3.77062358e-04 9.99984497e-01 -8.25415226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52140051299997 meters 0.06981717856874499 Centerline is valid? [True, True] Translation: X:178.08, Y:18.19, Z:-0.82 [[ 9.99232652e-01 -3.87439727e-02 5.74553193e-03 1.78080406e+02] [ 3.87411006e-02 9.99249095e-01 6.10378953e-04 1.81906122e+01] [-5.76486609e-03 -3.87322350e-04 9.99983308e-01 -8.24813855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55140051299998 meters 0.06704014961252104 Centerline is valid? [True, True] Translation: X:178.11, Y:18.19, Z:-0.83 [[ 9.99182457e-01 -4.00698126e-02 5.36923938e-03 1.78110814e+02] [ 4.00673190e-02 9.99196819e-01 5.71246655e-04 1.81888768e+01] [-5.38781665e-03 -3.55648610e-04 9.99985422e-01 -8.25308474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58140051299998 meters 0.07367639732032401 Centerline is valid? [True, True] Translation: X:178.14, Y:18.20, Z:-0.83 [[ 9.99048700e-01 -4.33790410e-02 4.46695327e-03 1.78139024e+02] [ 4.33773478e-02 9.99058647e-01 4.75284323e-04 1.81987648e+01] [-4.48336567e-03 -2.81067599e-04 9.99989910e-01 -8.28232490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61140051299998 meters 0.05703527605536368 Centerline is valid? [True, True] Translation: X:178.17, Y:18.18, Z:-0.83 [[ 9.98977875e-01 -4.49934955e-02 4.33479003e-03 1.78170752e+02] [ 4.49919160e-02 9.98987245e-01 4.61255839e-04 1.81793780e+01] [-4.35115346e-03 -2.65753869e-04 9.99990498e-01 -8.28014794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64140051299998 meters 0.06400762088988436 Centerline is valid? [True, True] Translation: X:178.20, Y:18.19, Z:-0.83 [[ 9.98913102e-01 -4.64267358e-02 4.14401036e-03 1.78199338e+02] [ 4.64253042e-02 9.98921667e-01 4.41045813e-04 1.81874733e+01] [-4.16001805e-03 -2.48179500e-04 9.99991316e-01 -8.27905162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67140051299998 meters 0.059952715335855986 Centerline is valid? [True, True] Translation: X:178.23, Y:18.18, Z:-0.83 [[ 9.98856384e-01 -4.76692116e-02 3.68378335e-03 1.78229373e+02] [ 4.76680897e-02 9.98863154e-01 3.91803874e-04 1.81818354e+01] [-3.69827244e-03 -2.15756886e-04 9.99993138e-01 -8.28040212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70140051299998 meters 0.059952715335855986 Centerline is valid? [True, True] Translation: X:178.26, Y:18.18, Z:-0.83 [[ 9.98847903e-01 -4.78465943e-02 3.68373623e-03 1.78256780e+02] [ 4.78454719e-02 9.98854673e-01 3.92246278e-04 1.81848983e+01] [-3.69828479e-03 -2.15544273e-04 9.99993138e-01 -8.28216587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73140051299998 meters 0.06368077221530899 Centerline is valid? [True, True] Translation: X:178.28, Y:18.19, Z:-0.83 [[ 9.98817637e-01 -4.85988191e-02 1.21791540e-03 1.78284808e+02] [ 4.85986969e-02 9.98818377e-01 1.29775194e-04 1.81871626e+01] [-1.22278320e-03 -7.04326513e-05 9.99999250e-01 -8.32517044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76140051299998 meters 0.06608759291144113 Centerline is valid? [True, True] Translation: X:178.31, Y:18.19, Z:-0.83 [[ 9.98849521e-01 -4.79473358e-02 8.28533303e-04 1.78312151e+02] [ 4.79472791e-02 9.98849864e-01 8.82253704e-05 1.81910223e+01] [-8.31810549e-04 -4.83979515e-05 9.99999653e-01 -8.33887084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79140051299999 meters 0.055053860924183885 Centerline is valid? [True, True] Translation: X:178.34, Y:18.18, Z:-0.83 [[ 9.98895727e-01 -4.69581476e-02 1.50311208e-03 1.78342978e+02] [ 4.69579591e-02 9.98896854e-01 1.60449191e-04 1.81779426e+01] [-1.50898832e-03 -8.96889358e-05 9.99998857e-01 -8.31575125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821400513 meters 0.05540796072383805 Centerline is valid? [True, True] Translation: X:178.37, Y:18.18, Z:-0.83 [[ 9.98972492e-01 -4.52448357e-02 2.62030429e-03 1.78372351e+02] [ 4.52442562e-02 9.98975915e-01 2.80047079e-04 1.81784731e+01] [-2.63029156e-03 -1.61205610e-04 9.99996528e-01 -8.29560304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851400513 meters 0.06686553342162682 Centerline is valid? [True, True] Translation: X:178.40, Y:18.19, Z:-0.83 [[ 9.99213539e-01 -3.94224566e-02 4.26302065e-03 1.78400113e+02] [ 3.94208677e-02 9.99222591e-01 4.56120764e-04 1.81926837e+01] [-4.27768794e-03 -2.87710070e-04 9.99990809e-01 -8.27456371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881400513 meters 0.07151421286283458 Centerline is valid? [True, True] Translation: X:178.43, Y:18.20, Z:-0.83 [[ 9.99340638e-01 -3.60602930e-02 4.23617160e-03 1.78428281e+02] [ 3.60586935e-02 9.99349571e-01 4.53359438e-04 1.82017421e+01] [-4.24976455e-03 -3.00309697e-04 9.99990925e-01 -8.27644930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911400513 meters 0.07123924185900415 Centerline is valid? [True, True] Translation: X:178.46, Y:18.21, Z:-0.83 [[ 9.99445475e-01 -3.30576073e-02 3.99221341e-03 1.78457994e+02] [ 3.30561634e-02 9.99453404e-01 4.27137624e-04 1.82055968e+01] [-4.00415143e-03 -2.94933506e-04 9.99991940e-01 -8.28663831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941400513 meters 0.07968147233776285 Centerline is valid? [True, True] Translation: X:178.49, Y:18.22, Z:-0.83 [[ 9.99602468e-01 -2.78074974e-02 4.65284263e-03 1.78485947e+02] [ 2.78054792e-02 9.99613229e-01 4.97894564e-04 1.82200388e+01] [-4.66488825e-03 -3.68322116e-04 9.99989052e-01 -8.28223427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971400513 meters 0.08150992998349833 Centerline is valid? [True, True] Translation: X:178.52, Y:18.23, Z:-0.83 [[ 9.99645650e-01 -2.60056534e-02 5.68163796e-03 1.78515238e+02] [ 2.60026149e-02 9.99661690e-01 6.08007415e-04 1.82256427e+01] [-5.69552743e-03 -4.60054523e-04 9.99983675e-01 -8.26889721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001400513 meters 0.0810411698899465 Centerline is valid? [True, True] Translation: X:178.54, Y:18.23, Z:-0.83 [[ 9.99675107e-01 -2.47486158e-02 6.09808606e-03 1.78544949e+02] [ 2.47450920e-02 9.99693580e-01 6.52644901e-04 1.82291662e+01] [-6.11236955e-03 -5.01535160e-04 9.99981194e-01 -8.26097409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031400513 meters 0.07795402774822323 Centerline is valid? [True, True] Translation: X:178.57, Y:18.23, Z:-0.83 [[ 9.99697110e-01 -2.39311778e-02 5.74334424e-03 1.78574080e+02] [ 2.39280384e-02 9.99713495e-01 6.14715232e-04 1.82302952e+01] [-5.75640960e-03 -4.77102080e-04 9.99983318e-01 -8.26833043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061400513 meters 0.08798525987656827 Centerline is valid? [True, True] Translation: X:178.60, Y:18.25, Z:-0.83 [[ 9.99707515e-01 -2.37043883e-02 4.79448833e-03 1.78601709e+02] [ 2.37021968e-02 9.99718932e-01 5.13399975e-04 1.82481005e+01] [-4.80531059e-03 -3.99609907e-04 9.99988375e-01 -8.29281779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091400513 meters 0.08170753506339788 Centerline is valid? [True, True] Translation: X:178.63, Y:18.25, Z:-0.83 [[ 9.99685859e-01 -2.46247390e-02 4.66955882e-03 1.78630930e+02] [ 2.46226704e-02 9.99696691e-01 4.99964237e-04 1.82491873e+01] [-4.68045399e-03 -3.84830170e-04 9.99988973e-01 -8.30953381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121400513 meters 0.08653751750755699 Centerline is valid? [True, True] Translation: X:178.66, Y:18.26, Z:-0.83 [[ 9.99649605e-01 -2.58338642e-02 5.76880716e-03 1.78658586e+02] [ 2.58307238e-02 9.99666140e-01 6.18231530e-04 1.82596212e+01] [-5.78285250e-03 -4.69002440e-04 9.99983169e-01 -8.29227983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151400513 meters 0.07929181758067931 Centerline is valid? [True, True] Translation: X:178.69, Y:18.26, Z:-0.83 [[ 9.99588187e-01 -2.79466197e-02 6.51486715e-03 1.78689720e+02] [ 2.79426576e-02 9.99609284e-01 6.98422536e-04 1.82557303e+01] [-6.53184023e-03 -5.16092214e-04 9.99978534e-01 -8.27413459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181400513 meters 0.0758040175066399 Centerline is valid? [True, True] Translation: X:178.72, Y:18.26, Z:-0.83 [[ 9.99515738e-01 -3.04529645e-02 6.39573812e-03 1.78720402e+02] [ 3.04491968e-02 9.99536081e-01 6.85671701e-04 1.82565920e+01] [-6.41365175e-03 -4.90594568e-04 9.99979312e-01 -8.26809073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21140051299997 meters 0.07445988837753323 Centerline is valid? [True, True] Translation: X:178.75, Y:18.26, Z:-0.83 [[ 9.99297778e-01 -3.70829230e-02 5.36727319e-03 1.78749291e+02] [ 3.70803646e-02 9.99312121e-01 5.75416550e-04 1.82641010e+01] [-5.38491929e-03 -3.75992033e-04 9.99985431e-01 -8.29881555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24140051299997 meters 0.06785928806274204 Centerline is valid? [True, True] Translation: X:178.78, Y:18.26, Z:-0.83 [[ 9.99172728e-01 -4.03259890e-02 5.26068178e-03 1.78779345e+02] [ 4.03235759e-02 9.99186515e-01 5.64007861e-04 1.82612294e+01] [-5.27914646e-03 -3.51411772e-04 9.99986003e-01 -8.30599228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27140051299997 meters 0.06358209618107302 Centerline is valid? [True, True] Translation: X:178.81, Y:18.26, Z:-0.83 [[ 9.99054021e-01 -4.31912722e-02 5.05728919e-03 1.78810341e+02] [ 4.31890782e-02 9.99066769e-01 5.42300161e-04 1.82605130e+01] [-5.07599221e-03 -3.23367498e-04 9.99987065e-01 -8.31000147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30140051299998 meters 0.06208294173445959 Centerline is valid? [True, True] Translation: X:178.84, Y:18.27, Z:-0.83 [[ 9.98895419e-01 -4.67811435e-02 4.41210556e-03 1.78838649e+02] [ 4.67795086e-02 9.98905128e-01 4.73072333e-04 1.82661311e+01] [-4.42940573e-03 -2.66153657e-04 9.99990155e-01 -8.31421839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33140051299998 meters 0.05810263892983553 Centerline is valid? [True, True] Translation: X:178.87, Y:18.27, Z:-0.83 [[ 9.98831122e-01 -4.81440445e-02 4.30581459e-03 1.78867906e+02] [ 4.81425006e-02 9.98840371e-01 4.61541645e-04 1.82678512e+01] [-4.32304193e-03 -2.53709478e-04 9.99990623e-01 -8.31212080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36140051299998 meters 0.05858476222136607 Centerline is valid? [True, True] Translation: X:178.90, Y:18.27, Z:-0.83 [[ 9.98782021e-01 -4.90952513e-02 4.91228341e-03 1.78895008e+02] [ 4.90932487e-02 9.98794060e-01 5.27511012e-04 1.82737920e+01] [-4.93225777e-03 -2.85708564e-04 9.99987796e-01 -8.30350665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39140051299998 meters 0.05986216716156213 Centerline is valid? [True, True] Translation: X:178.92, Y:18.28, Z:-0.83 [[ 9.98741792e-01 -4.98577751e-02 5.38847283e-03 1.78922172e+02] [ 4.98553737e-02 9.98756280e-01 5.79146751e-04 1.82793261e+01] [-5.41064605e-03 -3.09773737e-04 9.99985314e-01 -8.29365985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42140051299998 meters 0.059500681935815945 Centerline is valid? [True, True] Translation: X:178.95, Y:18.28, Z:-0.83 [[ 9.98669927e-01 -5.12286770e-02 5.83096343e-03 1.78950662e+02] [ 5.12258852e-02 9.98686896e-01 6.27236033e-04 1.82822928e+01] [-5.85543924e-03 -3.27705500e-04 9.99982803e-01 -8.29896095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45140051299998 meters 0.06109437146547478 Centerline is valid? [True, True] Translation: X:178.98, Y:18.29, Z:-0.83 [[ 9.98627228e-01 -5.20774571e-02 5.62115989e-03 1.78977747e+02] [ 5.20748753e-02 9.98643000e-01 6.04788722e-04 1.82874511e+01] [-5.64502783e-03 -3.11237285e-04 9.99984018e-01 -8.31031237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48140051299998 meters 0.052060668501554636 Centerline is valid? [True, True] Translation: X:179.01, Y:18.28, Z:-0.83 [[ 9.98575116e-01 -5.31317396e-02 4.97556332e-03 1.79007434e+02] [ 5.31297294e-02 9.98587475e-01 5.35417306e-04 1.82796025e+01] [-4.99698287e-03 -2.70304066e-04 9.99987478e-01 -8.31945838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51140051299998 meters 0.05293352475912971 Centerline is valid? [True, True] Translation: X:179.04, Y:18.28, Z:-0.83 [[ 9.98539241e-01 -5.38264522e-02 4.70069446e-03 1.79035279e+02] [ 5.38246617e-02 9.98550274e-01 5.06658479e-04 1.82831771e+01] [-4.72115136e-03 -2.52905085e-04 9.99988823e-01 -8.32187517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54140051299999 meters 0.05066689328827125 Centerline is valid? [True, True] Translation: X:179.06, Y:18.28, Z:-0.83 [[ 9.98545986e-01 -5.37289550e-02 4.37178805e-03 1.79064770e+02] [ 5.37274046e-02 9.98555529e-01 4.71386036e-04 1.82828365e+01] [-4.39080020e-03 -2.35815809e-04 9.99990333e-01 -8.30992099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571400513 meters 0.055059615268065264 Centerline is valid? [True, True] Translation: X:179.09, Y:18.29, Z:-0.83 [[ 9.98599603e-01 -5.27099972e-02 4.52656020e-03 1.79093014e+02] [ 5.27083201e-02 9.98609831e-01 4.89072991e-04 1.82914471e+01] [-4.54604655e-03 -2.49800710e-04 9.99989635e-01 -8.30651762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601400513 meters 0.058564887992332615 Centerline is valid? [True, True] Translation: X:179.12, Y:18.30, Z:-0.83 [[ 9.98703333e-01 -5.06416572e-02 5.20339060e-03 1.79121893e+02] [ 5.06394114e-02 9.98716844e-01 5.62541167e-04 1.82992295e+01] [-5.22520186e-03 -2.98315101e-04 9.99986304e-01 -8.29984119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631400513 meters 0.06389139066742669 Centerline is valid? [True, True] Translation: X:179.15, Y:18.31, Z:-0.83 [[ 9.98972670e-01 -4.50798775e-02 4.62698595e-03 1.79151461e+02] [ 4.50780419e-02 9.98983343e-01 5.00283046e-04 1.83105101e+01] [-4.64483459e-03 -2.91193624e-04 9.99989170e-01 -8.32876928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661400513 meters 0.06805365113948808 Centerline is valid? [True, True] Translation: X:179.18, Y:18.32, Z:-0.84 [[ 9.99089070e-01 -4.25221550e-02 3.59105283e-03 1.79179707e+02] [ 4.25210329e-02 9.99095496e-01 3.88297372e-04 1.83192309e+01] [-3.60431595e-03 -2.35248385e-04 9.99993477e-01 -8.35835680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691400513 meters 0.07143488920059252 Centerline is valid? [True, True] Translation: X:179.21, Y:18.33, Z:-0.84 [[ 9.99175892e-01 -4.04761390e-02 3.03630945e-03 1.79208581e+02] [ 4.04753275e-02 9.99180484e-01 3.28259254e-04 1.83264271e+01] [-3.04710781e-03 -2.05093114e-04 9.99995337e-01 -8.37454057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721400513 meters 0.07012459019159636 Centerline is valid? [True, True] Translation: X:179.24, Y:18.33, Z:-0.84 [[ 9.99230545e-01 -3.90997199e-02 3.08719142e-03 1.79237784e+02] [ 3.90988745e-02 9.99235291e-01 3.33747304e-04 1.83277097e+01] [-3.09788004e-03 -2.12784791e-04 9.99995179e-01 -8.36730787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751400513 meters 0.0691536616047386 Centerline is valid? [True, True] Translation: X:179.27, Y:18.33, Z:-0.83 [[ 9.99242725e-01 -3.87302597e-02 3.73399642e-03 1.79266570e+02] [ 3.87290210e-02 9.99249669e-01 4.03513147e-04 1.83291006e+01] [-3.74682285e-03 -2.58593551e-04 9.99992947e-01 -8.33701705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781400513 meters 0.06308930521063358 Centerline is valid? [True, True] Translation: X:179.30, Y:18.32, Z:-0.83 [[ 9.99209595e-01 -3.95796718e-02 3.69257822e-03 1.79296045e+02] [ 3.95784641e-02 9.99216386e-01 3.99598644e-04 1.83249925e+01] [-3.70550065e-03 -2.53136224e-04 9.99993103e-01 -8.33417631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811400513 meters 0.06899883599399713 Centerline is valid? [True, True] Translation: X:179.32, Y:18.34, Z:-0.83 [[ 9.99166903e-01 -4.06359359e-02 3.77112640e-03 1.79322834e+02] [ 4.06346803e-02 9.99173987e-01 4.09005197e-04 1.83350902e+01] [-3.78463171e-03 -2.55425940e-04 9.99992806e-01 -8.34523639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841400513 meters 0.06647600591244544 Centerline is valid? [True, True] Translation: X:179.35, Y:18.33, Z:-0.83 [[ 9.99124150e-01 -4.16708020e-02 3.80484555e-03 1.79351746e+02] [ 4.16695304e-02 9.99131363e-01 4.12918600e-04 1.83339348e+01] [-3.81874716e-03 -2.54010818e-04 9.99992676e-01 -8.34795972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871400513 meters 0.06869355295014748 Centerline is valid? [True, True] Translation: X:179.38, Y:18.34, Z:-0.83 [[ 9.99090768e-01 -4.24096633e-02 4.36551578e-03 1.79380055e+02] [ 4.24079962e-02 9.99100264e-01 4.73781138e-04 1.83360108e+01] [-4.38168087e-03 -2.88217584e-04 9.99990359e-01 -8.33399160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901400513 meters 0.0642548459011949 Centerline is valid? [True, True] Translation: X:179.41, Y:18.33, Z:-0.83 [[ 9.99103229e-01 -4.21453021e-02 4.06332259e-03 1.79409641e+02] [ 4.21438533e-02 9.99111456e-01 4.41548355e-04 1.83322950e+01] [-4.07832134e-03 -2.69908316e-04 9.99991647e-01 -8.33121708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931400513 meters 0.06779251285787878 Centerline is valid? [True, True] Translation: X:179.44, Y:18.34, Z:-0.83 [[ 9.99145874e-01 -4.11738718e-02 3.49769435e-03 1.79437817e+02] [ 4.11727897e-02 9.99151969e-01 3.80864081e-04 1.83387818e+01] [-3.51040985e-03 -2.36528941e-04 9.99993811e-01 -8.33827963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96140051299997 meters 0.07105839855025399 Centerline is valid? [True, True] Translation: X:179.47, Y:18.35, Z:-0.83 [[ 9.99254936e-01 -3.84538965e-02 3.29711039e-03 1.79467488e+02] [ 3.84529195e-02 9.99260348e-01 3.59225460e-04 1.83450496e+01] [-3.30848530e-03 -2.32174293e-04 9.99994500e-01 -8.34278703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99140051299997 meters 0.07213004061447714 Centerline is valid? [True, True] Translation: X:179.50, Y:18.35, Z:-0.83 [[ 9.99294584e-01 -3.73262428e-02 4.13346936e-03 1.79496346e+02] [ 3.73246980e-02 9.99303089e-01 4.50276682e-04 1.83504570e+01] [-4.14739584e-03 -2.95678554e-04 9.99991356e-01 -8.33438485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02140051299997 meters 0.0772084699249282 Centerline is valid? [True, True] Translation: X:179.52, Y:18.36, Z:-0.83 [[ 9.99336418e-01 -3.61002686e-02 4.84715253e-03 1.79524169e+02] [ 3.60981289e-02 9.99348111e-01 5.28221043e-04 1.83609390e+01] [-4.86306164e-03 -3.52897388e-04 9.99988113e-01 -8.32420807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05140051299998 meters 0.08363225871790696 Centerline is valid? [True, True] Translation: X:179.55, Y:18.37, Z:-0.83 [[ 9.99375250e-01 -3.48799494e-02 5.70070262e-03 1.79551201e+02] [ 3.48769688e-02 9.99391420e-01 6.21451162e-04 1.83720378e+01] [-5.71890947e-03 -4.22239683e-04 9.99983558e-01 -8.31579522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08140051299998 meters 0.07559262533236137 Centerline is valid? [True, True] Translation: X:179.58, Y:18.37, Z:-0.83 [[ 9.99451480e-01 -3.28282195e-02 4.36434191e-03 1.79582383e+02] [ 3.28264520e-02 9.99460953e-01 4.76023364e-04 1.83678943e+01] [-4.37761632e-03 -3.32496395e-04 9.99990363e-01 -8.33241334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11140051299998 meters 0.07637101004755747 Centerline is valid? [True, True] Translation: X:179.61, Y:18.37, Z:-0.84 [[ 9.99458280e-01 -3.27765160e-02 2.97434108e-03 1.79610686e+02] [ 3.27756964e-02 9.99462680e-01 3.23909305e-04 1.83733635e+01] [-2.98335953e-03 -2.26247737e-04 9.99995524e-01 -8.35834875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14140051299998 meters 0.07583522284583784 Centerline is valid? [True, True] Translation: X:179.64, Y:18.38, Z:-0.84 [[ 9.99442556e-01 -3.33231602e-02 2.03569033e-03 1.79639094e+02] [ 3.33227774e-02 9.99444617e-01 2.21690957e-04 1.83781777e+01] [-2.04194718e-03 -1.53732522e-04 9.99997903e-01 -8.38044761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17140051299998 meters 0.07127853094232293 Centerline is valid? [True, True] Translation: X:179.67, Y:18.38, Z:-0.84 [[ 9.99328411e-01 -3.65727063e-02 2.27265781e-03 1.79669459e+02] [ 3.65722352e-02 9.99330981e-01 2.48509694e-04 1.83800039e+01] [-2.28022603e-03 -1.65226621e-04 9.99997387e-01 -8.38011581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20140051299998 meters 0.080965700659283 Centerline is valid? [True, True] Translation: X:179.70, Y:18.40, Z:-0.84 [[ 9.99249078e-01 -3.86339890e-02 2.94884055e-03 1.79696688e+02] [ 3.86332045e-02 9.99253407e-01 3.22561530e-04 1.83961931e+01] [-2.95910080e-03 -2.08396151e-04 9.99995600e-01 -8.37841421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23140051299998 meters 0.06853180817499914 Centerline is valid? [True, True] Translation: X:179.73, Y:18.39, Z:-0.84 [[ 9.99167743e-01 -4.06456753e-02 3.42791938e-03 1.79727901e+02] [ 4.06446264e-02 9.99173595e-01 3.75141594e-04 1.83858912e+01] [-3.44033441e-03 -2.35502877e-04 9.99994054e-01 -8.36020030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26140051299998 meters 0.06870844019689487 Centerline is valid? [True, True] Translation: X:179.76, Y:18.39, Z:-0.84 [[ 9.99102980e-01 -4.21847159e-02 3.69937625e-03 1.79756205e+02] [ 4.21835047e-02 9.99109798e-01 4.04834909e-04 1.83915210e+01] [-3.71316090e-03 -2.48419109e-04 9.99993075e-01 -8.35557242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29140051299999 meters 0.0670815582886774 Centerline is valid? [True, True] Translation: X:179.78, Y:18.40, Z:-0.84 [[ 9.98971932e-01 -4.52426106e-02 2.86107996e-03 1.79784876e+02] [ 4.52418984e-02 9.98976012e-01 3.13217431e-04 1.83972390e+01] [-2.87232102e-03 -1.83454733e-04 9.99995858e-01 -8.37209302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321400513 meters 0.06294210210751329 Centerline is valid? [True, True] Translation: X:179.81, Y:18.40, Z:-0.84 [[ 9.98867584e-01 -4.75264373e-02 2.18803314e-03 1.79814875e+02] [ 4.75260263e-02 9.98869971e-01 2.39506760e-04 1.83969001e+01] [-2.19694350e-03 -1.35247018e-04 9.99997578e-01 -8.38420406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351400513 meters 0.06124216474301192 Centerline is valid? [True, True] Translation: X:179.84, Y:18.40, Z:-0.84 [[ 9.98725093e-01 -5.04295343e-02 2.24727159e-03 1.79844072e+02] [ 5.04291078e-02 9.98727613e-01 2.46080668e-04 1.84000356e+01] [-2.25682192e-03 -1.32439036e-04 9.99997445e-01 -8.38722219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381400513 meters 0.04853972520113195 Centerline is valid? [True, True] Translation: X:179.88, Y:18.39, Z:-0.84 [[ 9.98355362e-01 -5.72508946e-02 2.98443548e-03 1.79875473e+02] [ 5.72501726e-02 9.98359810e-01 3.26889361e-04 1.83932291e+01] [-2.99825515e-03 -1.55492300e-04 9.99995493e-01 -8.38329419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411400513 meters 0.05041058953284962 Centerline is valid? [True, True] Translation: X:179.90, Y:18.40, Z:-0.84 [[ 9.98130269e-01 -6.10243312e-02 3.46376170e-03 1.79903996e+02] [ 6.10233811e-02 9.98136265e-01 3.79404807e-04 1.84000764e+01] [-3.48045909e-03 -1.67324972e-04 9.99993929e-01 -8.38004364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441400513 meters 0.0437253023705916 Centerline is valid? [True, True] Translation: X:179.94, Y:18.40, Z:-0.84 [[ 9.97893922e-01 -6.47701944e-02 3.54139353e-03 1.79935119e+02] [ 6.47692246e-02 9.97900194e-01 3.87992372e-04 1.83951489e+01] [-3.55908763e-03 -1.57801917e-04 9.99993654e-01 -8.36739843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471400513 meters 0.04245879645942826 Centerline is valid? [True, True] Translation: X:179.96, Y:18.40, Z:-0.84 [[ 9.97657370e-01 -6.83335984e-02 3.20788809e-03 1.79964012e+02] [ 6.83328207e-02 9.97662519e-01 3.51543695e-04 1.83964455e+01] [-3.22441195e-03 -1.31516117e-04 9.99994793e-01 -8.36800658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501400513 meters 0.04295345037714241 Centerline is valid? [True, True] Translation: X:179.99, Y:18.39, Z:-0.84 [[ 9.97293787e-01 -7.34286189e-02 3.65257904e-03 1.79992594e+02] [ 7.34225057e-02 9.97299336e-01 1.78070959e-03 1.83898479e+01] [-3.77346970e-03 -1.50770911e-03 9.99991744e-01 -8.37445889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531400513 meters 0.032233980077661505 Centerline is valid? [True, True] Translation: X:180.02, Y:18.39, Z:-0.84 [[ 9.97029372e-01 -7.69597463e-02 3.10308771e-03 1.80024427e+02] [ 7.69631257e-02 9.97033454e-01 -9.84551543e-04 1.83919845e+01] [-3.01811142e-03 1.22045014e-03 9.99994701e-01 -8.37871985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561400513 meters 0.03197630003697752 Centerline is valid? [True, True] Translation: X:180.05, Y:18.39, Z:-0.84 [[ 9.96926632e-01 -7.82717580e-02 3.28965466e-03 1.80053315e+02] [ 7.82709953e-02 9.96932055e-01 3.60147774e-04 1.83939278e+01] [-3.30775158e-03 -1.01556363e-04 9.99994524e-01 -8.37080158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591400513 meters 0.031422544639272014 Centerline is valid? [True, True] Translation: X:180.08, Y:18.40, Z:-0.84 [[ 9.96868930e-01 -7.90034143e-02 3.28600410e-03 1.80082244e+02] [ 7.90026571e-02 9.96874340e-01 3.59776496e-04 1.83966085e+01] [-3.30415675e-03 -9.90469544e-05 9.99994536e-01 -8.36794220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621400513 meters 0.031422544639272014 Centerline is valid? [True, True] Translation: X:180.11, Y:18.40, Z:-0.84 [[ 9.96854309e-01 -7.91876889e-02 3.28595321e-03 1.80109605e+02] [ 7.91869313e-02 9.96859719e-01 3.60240439e-04 1.83997629e+01] [-3.30416101e-03 -9.89026823e-05 9.99994536e-01 -8.36970830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651400513 meters 0.03151206707298872 Centerline is valid? [True, True] Translation: X:180.14, Y:18.41, Z:-0.84 [[ 9.96797022e-01 -7.99396006e-02 2.31444374e-03 1.80137507e+02] [ 7.99392263e-02 9.96799707e-01 2.53912375e-04 1.84051734e+01] [-2.32733450e-03 -6.80842568e-05 9.99997289e-01 -8.37728295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681400513 meters 0.02862113389065611 Centerline is valid? [True, True] Translation: X:180.17, Y:18.41, Z:-0.84 [[ 9.96770601e-01 -8.02738561e-02 2.11595661e-03 1.80165219e+02] [ 8.02735437e-02 9.96772845e-01 2.32257364e-04 1.84055633e+01] [-2.12777228e-03 -6.16519767e-05 9.99997734e-01 -8.38410420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71140051299997 meters 0.02852893351812785 Centerline is valid? [True, True] Translation: X:180.19, Y:18.41, Z:-0.84 [[ 9.96739134e-01 -8.06540118e-02 2.45526264e-03 1.80193449e+02] [ 8.06535905e-02 9.96742156e-01 2.70276296e-04 1.84089006e+01] [-2.46906265e-03 -7.13692138e-05 9.99996949e-01 -8.38586638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74140051299997 meters 0.03108573930930511 Centerline is valid? [True, True] Translation: X:180.22, Y:18.42, Z:-0.84 [[ 9.96699346e-01 -8.11188603e-02 3.18513396e-03 1.80220695e+02] [ 8.11181501e-02 9.96704431e-01 3.51734678e-04 1.84151602e+01] [-3.20316945e-03 -9.22015486e-05 9.99994866e-01 -8.38235255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77140051299997 meters 0.03026619507609938 Centerline is valid? [True, True] Translation: X:180.25, Y:18.42, Z:-0.84 [[ 9.96626302e-01 -8.20111959e-02 3.19031883e-03 1.80249936e+02] [ 8.20104870e-02 9.96631404e-01 3.52601417e-04 1.84180566e+01] [-3.20848920e-03 -8.97722446e-05 9.99994849e-01 -8.37997988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80140051299998 meters 0.027159104242731776 Centerline is valid? [True, True] Translation: X:180.28, Y:18.42, Z:-0.84 [[ 9.96637950e-01 -8.18953447e-02 2.43918410e-03 1.80278564e+02] [ 8.18949307e-02 9.96640932e-01 2.69331645e-04 1.84192890e+01] [-2.45304773e-03 -6.86693258e-05 9.99996989e-01 -8.38519213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83140051299998 meters 0.03029153716910726 Centerline is valid? [True, True] Translation: X:180.31, Y:18.43, Z:-0.84 [[ 9.96716327e-01 -8.09218284e-02 2.86734763e-03 1.80305826e+02] [ 8.09212490e-02 9.96720448e-01 3.17686089e-04 1.84286783e+01] [-2.88365175e-03 -8.46135603e-05 9.99995839e-01 -8.38519390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86140051299998 meters 0.030119166876669587 Centerline is valid? [True, True] Translation: X:180.33, Y:18.43, Z:-0.84 [[ 9.96761905e-01 -8.03390074e-02 3.36886042e-03 1.80334015e+02] [ 8.03382045e-02 9.96767593e-01 3.73200120e-04 1.84340865e+01] [-3.38795342e-03 -1.01343466e-04 9.99994256e-01 -8.36902872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89140051299998 meters 0.03321074983377983 Centerline is valid? [True, True] Translation: X:180.36, Y:18.44, Z:-0.84 [[ 9.96801031e-01 -7.98398396e-02 3.64755894e-03 1.80361673e+02] [ 7.98388913e-02 9.96807698e-01 4.05073822e-04 1.84422794e+01] [-3.66825586e-03 -1.12560942e-04 9.99993266e-01 -8.36494430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92140051299998 meters 0.03263529688194121 Centerline is valid? [True, True] Translation: X:180.39, Y:18.45, Z:-0.84 [[ 9.96769599e-01 -8.02513880e-02 3.17495821e-03 1.80388525e+02] [ 8.02506715e-02 9.96774651e-01 3.52637660e-04 1.84493102e+01] [-3.19301752e-03 -9.67059707e-05 9.99994898e-01 -8.36943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95140051299998 meters 0.029342153717676588 Centerline is valid? [True, True] Translation: X:180.42, Y:18.45, Z:-0.84 [[ 9.96682084e-01 -8.13238568e-02 3.35473459e-03 1.80417195e+02] [ 8.13230626e-02 9.96687725e-01 3.72704088e-04 1.84527952e+01] [-3.37393252e-03 -9.86501963e-05 9.99994303e-01 -8.36563731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98140051299998 meters 0.036250318021044926 Centerline is valid? [True, True] Translation: X:180.45, Y:18.46, Z:-0.84 [[ 9.96528822e-01 -8.31624929e-02 3.78233824e-03 1.80445017e+02] [ 8.31614924e-02 9.96535995e-01 4.21298172e-04 1.84579474e+01] [-3.80427240e-03 -1.05290879e-04 9.99992758e-01 -8.36501623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01140051299998 meters 0.021470437997912678 Centerline is valid? [True, True] Translation: X:180.47, Y:18.46, Z:-0.83 [[ 9.96123516e-01 -8.78076446e-02 5.26863648e-03 1.80474880e+02] [ 8.78057660e-02 9.96137442e-01 5.87260217e-04 1.84604106e+01] [-5.29985200e-03 -1.22367050e-04 9.99985948e-01 -8.33815902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04140051299999 meters 0.020591665859936374 Centerline is valid? [True, True] Translation: X:180.50, Y:18.47, Z:-0.83 [[ 9.95846909e-01 -9.09132782e-02 4.86921112e-03 1.80502126e+02] [ 9.09117109e-02 9.95858808e-01 5.42718495e-04 1.84673309e+01] [-4.89838710e-03 -9.77962220e-05 9.99987998e-01 -8.34879384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071400513 meters 0.022463352658621753 Centerline is valid? [True, True] Translation: X:180.53, Y:18.47, Z:-0.84 [[ 9.95551537e-01 -9.41340324e-02 3.99024024e-03 1.80529376e+02] [ 9.41330050e-02 9.95559531e-01 4.44931240e-04 1.84717839e+01] [-4.01440487e-03 -6.73386753e-05 9.99991940e-01 -8.36477534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101400513 meters 0.012773681114714159 Centerline is valid? [True, True] Translation: X:180.56, Y:18.47, Z:-0.84 [[ 9.94922743e-01 -1.00572268e-01 3.73553863e-03 1.80558291e+02] [ 1.00571412e-01 9.94929755e-01 4.16827743e-04 1.84731954e+01] [-3.75851984e-03 -3.90230070e-05 9.99992936e-01 -8.36918238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131400513 meters 0.023399986431813187 Centerline is valid? [True, True] Translation: X:180.58, Y:18.47, Z:-0.84 [[ 9.94766936e-01 -1.01987359e-01 6.10907320e-03 1.80582577e+02] [ 1.01924853e-01 9.94743894e-01 9.79339952e-03 1.84663943e+01] [-7.07576621e-03 -9.11948365e-03 9.99933382e-01 -8.35131612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161400513 meters 0.021930624461811668 Centerline is valid? [True, True] Translation: X:180.61, Y:18.49, Z:-0.84 [[ 9.94082321e-01 -1.08528118e-01 4.68905017e-03 1.80613420e+02] [ 1.08564986e-01 9.94053073e-01 -8.49300116e-03 1.84853902e+01] [-3.73943530e-03 8.95180897e-03 9.99952940e-01 -8.40327981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191400513 meters 0.007361236727024638 Centerline is valid? [True, True] Translation: X:180.64, Y:18.48, Z:-0.84 [[ 9.93660776e-01 -1.12360183e-01 3.66755686e-03 1.80642644e+02] [ 1.12359436e-01 9.93667545e-01 4.09741503e-04 1.84790410e+01] [-3.69037085e-03 4.94056041e-06 9.99993191e-01 -8.38999450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221400513 meters 0.02128990101596821 Centerline is valid? [True, True] Translation: X:180.67, Y:18.48, Z:-0.84 [[ 9.92840406e-01 -1.19417563e-01 2.71552382e-03 1.80671328e+02] [ 1.19417178e-01 9.92844119e-01 3.04084311e-04 1.84766617e+01] [-2.73240487e-03 2.23730023e-05 9.99996267e-01 -8.40672820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251400513 meters 0.02271763569754591 Centerline is valid? [True, True] Translation: X:180.70, Y:18.48, Z:-0.84 [[ 9.92434533e-01 -1.22763219e-01 1.69983016e-03 1.80700283e+02] [ 1.22763074e-01 9.92435989e-01 1.89781637e-04 1.84777099e+01] [-1.71027083e-03 2.03305254e-05 9.99998537e-01 -8.41329212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281400513 meters 0.02415948413490639 Centerline is valid? [True, True] Translation: X:180.73, Y:18.48, Z:-0.84 [[ 9.92120506e-01 -1.25285641e-01 6.40847304e-04 1.80728634e+02] [ 1.25285621e-01 9.92120712e-01 7.16102965e-05 1.84795111e+01] [-6.44769626e-04 9.24290885e-06 9.99999792e-01 -8.42572622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311400513 meters 0.030424930989815042 Centerline is valid? [True, True] Translation: X:180.75, Y:18.47, Z:-0.84 [[ 9.92249750e-01 -1.24231823e-01 2.62432164e-03 1.80753965e+02] [ 1.24201815e-01 9.92211268e-01 9.52408374e-03 1.84730514e+01] [-3.78707579e-03 -9.12432420e-03 9.99951201e-01 -8.42017724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341400513 meters 0.02906952061092956 Centerline is valid? [True, True] Translation: X:180.78, Y:18.49, Z:-0.85 [[ 9.91739419e-01 -1.28261988e-01 1.33680663e-03 1.80784992e+02] [ 1.28268845e-01 9.91698347e-01 -9.02727696e-03 1.84935978e+01] [-1.67852429e-04 9.12417705e-03 9.99958360e-01 -8.46457068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371400513 meters 0.019126860695201326 Centerline is valid? [True, True] Translation: X:180.81, Y:18.49, Z:-0.84 [[ 9.91699127e-01 -1.28569068e-01 1.68412906e-03 1.80813840e+02] [ 1.28568933e-01 9.91700557e-01 1.88564116e-04 1.84889311e+01] [-1.69439523e-03 2.95278064e-05 9.99998564e-01 -8.43513348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401400513 meters 0.025904315540246303 Centerline is valid? [True, True] Translation: X:180.84, Y:18.49, Z:-0.84 [[ 9.91668101e-01 -1.28795638e-01 2.46205151e-03 1.80840821e+02] [ 1.28795347e-01 9.91671156e-01 2.77176932e-04 1.84912979e+01] [-2.47724464e-03 4.22332560e-05 9.99996931e-01 -8.43363015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431400513 meters 0.017077004605771193 Centerline is valid? [True, True] Translation: X:180.87, Y:18.50, Z:-0.84 [[ 9.91800272e-01 -1.27761957e-01 3.01698910e-03 1.80869030e+02] [ 1.27761515e-01 9.91804860e-01 3.39726256e-04 1.85001520e+01] [-3.03566854e-03 4.85145026e-05 9.99995391e-01 -8.42298155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46140051299997 meters 0.026983842624042347 Centerline is valid? [True, True] Translation: X:180.90, Y:18.51, Z:-0.84 [[ 9.92139420e-01 -1.25130041e-01 1.35801036e-03 1.80896539e+02] [ 1.25129948e-01 9.92140349e-01 1.53111667e-04 1.85081162e+01] [-1.36649574e-03 1.80196459e-05 9.99999066e-01 -8.44207923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49140051299997 meters 0.014522728646426187 Centerline is valid? [True, True] Translation: X:180.92, Y:18.51, Z:-0.84 [[ 9.92290663e-01 -1.23930114e-01 7.53217136e-04 1.80924450e+02] [ 1.23930085e-01 9.92290949e-01 8.41740436e-05 1.85149049e+01] [-7.57842245e-04 9.82114637e-06 9.99999713e-01 -8.44972035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52140051299997 meters 0.014473143739100117 Centerline is valid? [True, True] Translation: X:180.95, Y:18.52, Z:-0.85 [[ 9.92336911e-01 -1.23559717e-01 6.72063788e-04 1.80952007e+02] [ 1.23559694e-01 9.92337138e-01 7.57378432e-05 1.85218284e+01] [-6.76272003e-04 7.88253842e-06 9.99999771e-01 -8.45165984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55140051299998 meters 0.013668046602184895 Centerline is valid? [True, True] Translation: X:180.98, Y:18.54, Z:-0.84 [[ 9.92440220e-01 -1.22690521e-01 3.07332868e-03 1.80978296e+02] [ 1.22690032e-01 9.92444978e-01 3.47840185e-04 1.85350569e+01] [-3.09278631e-03 3.18562048e-05 9.99995217e-01 -8.41209613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58140051299998 meters 0.012299691930189517 Centerline is valid? [True, True] Translation: X:181.01, Y:18.54, Z:-0.84 [[ 9.92519688e-01 -1.22021630e-01 3.92313830e-03 1.81006369e+02] [ 1.22020827e-01 9.92527441e-01 4.44330089e-04 1.85446434e+01] [-3.94804029e-03 3.76982183e-05 9.99992206e-01 -8.40227743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61140051299998 meters 0.023764435527438572 Centerline is valid? [True, True] Translation: X:181.03, Y:18.55, Z:-0.84 [[ 9.92528677e-01 -1.21964201e-01 3.39982053e-03 1.81033783e+02] [ 1.21963596e-01 9.92534499e-01 3.85418114e-04 1.85535120e+01] [-3.42144638e-03 3.21158080e-05 9.99994146e-01 -8.41087131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64140051299998 meters 0.018169320989430086 Centerline is valid? [True, True] Translation: X:181.06, Y:18.56, Z:-0.84 [[ 9.92414621e-01 -1.22927463e-01 1.43505222e-03 1.81061969e+02] [ 1.22927357e-01 9.92415658e-01 1.62364045e-04 1.85646184e+01] [-1.44412730e-03 1.52747245e-05 9.99998957e-01 -8.44724280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67140051299998 meters 0.025037609359579403 Centerline is valid? [True, True] Translation: X:181.09, Y:18.57, Z:-0.85 [[ 9.92170919e-01 -1.24883147e-01 1.03274827e-03 1.81089653e+02] [ 1.24883093e-01 9.92171457e-01 1.17311568e-04 1.85691102e+01] [-1.03931359e-03 1.25796712e-05 9.99999460e-01 -8.45295862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70140051299998 meters 0.024937980824487314 Centerline is valid? [True, True] Translation: X:181.12, Y:18.57, Z:-0.84 [[ 9.91789974e-01 -1.27874137e-01 9.23542806e-04 1.81118690e+02] [ 1.27874095e-01 9.91790404e-01 1.04309837e-04 1.85722629e+01] [-9.29299423e-04 1.46437505e-05 9.99999568e-01 -8.44856036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73140051299998 meters 0.028520512494843803 Centerline is valid? [True, True] Translation: X:181.14, Y:18.57, Z:-0.84 [[ 9.91631954e-01 -1.29086418e-01 1.66287218e-03 1.81143000e+02] [ 1.29076810e-01 9.91622150e-01 4.96882567e-03 1.85680838e+01] [-2.29034879e-03 -4.71260807e-03 9.99986273e-01 -8.44479155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76140051299998 meters 0.03812902445123974 Centerline is valid? [True, True] Translation: X:181.18, Y:18.57, Z:-0.85 [[ 9.90340636e-01 -1.38654744e-01 -5.35121393e-04 1.81177393e+02] [ 1.38650700e-01 9.90330027e-01 -4.73503470e-03 1.85743919e+01] [ 1.18648181e-03 4.61510232e-03 9.99988646e-01 -8.49846934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79140051299999 meters 0.038971290410752785 Centerline is valid? [True, True] Translation: X:181.21, Y:18.57, Z:-0.85 [[ 9.89812082e-01 -1.42362335e-01 -2.23763501e-03 1.81206329e+02] [ 1.42362119e-01 9.89814610e-01 -2.56070619e-04 1.85686076e+01] [ 2.25129864e-03 -6.50926704e-05 9.99997464e-01 -8.51548026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821400513 meters 0.03955914004926226 Centerline is valid? [True, True] Translation: X:181.24, Y:18.57, Z:-0.85 [[ 9.89391918e-01 -1.45241759e-01 -2.90930401e-03 1.81235151e+02] [ 1.45241407e-01 9.89396191e-01 -3.32943901e-04 1.85725437e+01] [ 2.92681167e-03 -9.31394035e-05 9.99995713e-01 -8.52699429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851400513 meters 0.03953764029852878 Centerline is valid? [True, True] Translation: X:181.26, Y:18.57, Z:-0.85 [[ 9.89064053e-01 -1.47469969e-01 -2.21506737e-03 1.81263619e+02] [ 1.47469770e-01 9.89066531e-01 -2.53670079e-04 1.85706296e+01] [ 2.22825772e-03 -7.57595183e-05 9.99997515e-01 -8.53819357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881400513 meters 0.04884829066925461 Centerline is valid? [True, True] Translation: X:181.29, Y:18.57, Z:-0.85 [[ 9.88469585e-01 -1.51419442e-01 -1.80960741e-04 1.81294180e+02] [ 1.51419441e-01 9.88469601e-01 -2.06970460e-05 1.85722423e+01] [ 1.82008126e-04 -6.94257364e-06 9.99999983e-01 -8.49335583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911400513 meters 0.04679147525814284 Centerline is valid? [True, True] Translation: X:181.32, Y:18.57, Z:-0.85 [[ 9.88280460e-01 -1.52648308e-01 4.75792333e-04 1.81322765e+02] [ 1.52648300e-01 9.88280574e-01 5.33935266e-05 1.85736110e+01] [-4.78366752e-04 1.98611116e-05 9.99999885e-01 -8.47808174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941400513 meters 0.046672064497953934 Centerline is valid? [True, True] Translation: X:181.35, Y:18.58, Z:-0.85 [[ 9.88208937e-01 -1.53109384e-01 7.83321531e-04 1.81351986e+02] [ 1.53109362e-01 9.88209247e-01 8.87521115e-05 1.85752120e+01] [-7.87674362e-04 3.22282300e-05 9.99999689e-01 -8.47214597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971400513 meters 0.05146331605504695 Centerline is valid? [True, True] Translation: X:181.38, Y:18.57, Z:-0.85 [[ 9.88198020e-01 -1.53180830e-01 5.54419463e-04 1.81379930e+02] [ 1.53180819e-01 9.88198175e-01 6.24509682e-05 1.85731276e+01] [-5.57442593e-04 2.32125044e-05 9.99999844e-01 -8.48114215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001400513 meters 0.04399174441761243 Centerline is valid? [True, True] Translation: X:181.41, Y:18.58, Z:-0.85 [[ 9.88277679e-01 -1.52666473e-01 -4.20075168e-04 1.81408075e+02] [ 1.52666466e-01 9.88277769e-01 -4.94535655e-05 1.85824978e+01] [ 4.22700851e-04 -1.52575363e-05 9.99999911e-01 -8.50621104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031400513 meters 0.04903382892245785 Centerline is valid? [True, True] Translation: X:181.44, Y:18.58, Z:-0.85 [[ 9.88259106e-01 -1.52780267e-01 -1.45914222e-03 1.81436113e+02] [ 1.52780184e-01 9.88260182e-01 -1.68410674e-04 1.85830667e+01] [ 1.46774198e-03 -5.64946352e-05 9.99998921e-01 -8.53465920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061400513 meters 0.046973473619225416 Centerline is valid? [True, True] Translation: X:181.46, Y:18.59, Z:-0.85 [[ 9.88218662e-01 -1.53031757e-01 -2.27094993e-03 1.81463645e+02] [ 1.53031556e-01 9.88221268e-01 -2.63004566e-04 1.85924435e+01] [ 2.28444907e-03 -8.76209795e-05 9.99997387e-01 -8.53918692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091400513 meters 0.0487672242026572 Centerline is valid? [True, True] Translation: X:181.49, Y:18.59, Z:-0.85 [[ 9.88304422e-01 -1.52483109e-01 -1.80856225e-03 1.81491847e+02] [ 1.52482982e-01 9.88306074e-01 -2.09074177e-04 1.85913610e+01] [ 1.81929334e-03 -6.91460312e-05 9.99998343e-01 -8.53312171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121400513 meters 0.0453228223561344 Centerline is valid? [True, True] Translation: X:181.52, Y:18.60, Z:-0.85 [[ 9.88429012e-01 -1.51680948e-01 -9.89000033e-04 1.81520464e+02] [ 1.51680909e-01 9.88429506e-01 -1.14772552e-04 1.85985550e+01] [ 9.94965624e-04 -3.65679041e-05 9.99999504e-01 -8.50849569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151400513 meters 0.045031456345605916 Centerline is valid? [True, True] Translation: X:181.55, Y:18.60, Z:-0.85 [[ 9.88566708e-01 -1.50784092e-01 -1.45726284e-04 1.81548665e+02] [ 1.50784091e-01 9.88566719e-01 -1.79837473e-05 1.86047524e+01] [ 1.46771817e-04 -4.19507141e-06 9.99999989e-01 -8.49498225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181400513 meters 0.041348433820047235 Centerline is valid? [True, True] Translation: X:181.58, Y:18.61, Z:-0.85 [[ 9.88724165e-01 -1.49746673e-01 6.77196244e-04 1.81576492e+02] [ 1.49746655e-01 9.88724397e-01 7.79576748e-05 1.86086501e+01] [-6.81234350e-04 2.43292349e-05 9.99999768e-01 -8.49158597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21140051299997 meters 0.044314606848444196 Centerline is valid? [True, True] Translation: X:181.60, Y:18.61, Z:-0.85 [[ 9.88897664e-01 -1.48595053e-01 9.59744691e-04 1.81604236e+02] [ 1.48595016e-01 9.88898129e-01 1.10563662e-04 1.86125270e+01] [-9.65518942e-04 3.32771302e-05 9.99999533e-01 -8.50200559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24140051299997 meters 0.04235923722632393 Centerline is valid? [True, True] Translation: X:181.63, Y:18.62, Z:-0.85 [[ 9.88841017e-01 -1.48973438e-01 5.98034338e-04 1.81632421e+02] [ 1.48973424e-01 9.88841198e-01 6.82433802e-05 1.86182410e+01] [-6.01527442e-04 2.16093694e-05 9.99999819e-01 -8.50113523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27140051299997 meters 0.04414064698087785 Centerline is valid? [True, True] Translation: X:181.66, Y:18.62, Z:-0.85 [[ 9.88735862e-01 -1.49669957e-01 5.47439440e-04 1.81660645e+02] [ 1.49669945e-01 9.88736013e-01 6.31272096e-05 1.86169258e+01] [-5.50721336e-04 1.95190949e-05 9.99999848e-01 -8.50626387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30140051299998 meters 0.0469528139108247 Centerline is valid? [True, True] Translation: X:181.69, Y:18.62, Z:-0.85 [[ 9.88392845e-01 -1.51918960e-01 4.62132122e-04 1.81690266e+02] [ 1.51918951e-01 9.88392953e-01 5.34795934e-05 1.86194415e+01] [-4.64892697e-04 1.73477799e-05 9.99999892e-01 -8.49720873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33140051299998 meters 0.04669759204149833 Centerline is valid? [True, True] Translation: X:181.72, Y:18.63, Z:-0.85 [[ 9.88217744e-01 -1.53052730e-01 7.42529362e-04 1.81718255e+02] [ 1.53052709e-01 9.88218023e-01 8.58243842e-05 1.86251070e+01] [-7.46916555e-04 2.88329511e-05 9.99999721e-01 -8.48763971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36140051299998 meters 0.04643429069266087 Centerline is valid? [True, True] Translation: X:181.75, Y:18.63, Z:-0.85 [[ 9.88132822e-01 -1.53596144e-01 1.32319581e-03 1.81746446e+02] [ 1.53596076e-01 9.88133706e-01 1.53339328e-04 1.86276912e+01] [-1.33104671e-03 5.17180610e-05 9.99999113e-01 -8.47778107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39140051299998 meters 0.04521665914454733 Centerline is valid? [True, True] Translation: X:181.77, Y:18.63, Z:-0.85 [[ 9.88100369e-01 -1.53800914e-01 1.71431639e-03 1.81774558e+02] [ 1.53800801e-01 9.88101854e-01 1.98259634e-04 1.86321309e+01] [-1.72441172e-03 6.77628170e-05 9.99998511e-01 -8.47411446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42140051299998 meters 0.04479037226920386 Centerline is valid? [True, True] Translation: X:181.80, Y:18.64, Z:-0.85 [[ 9.88179144e-01 -1.53285020e-01 2.38384039e-03 1.81802123e+02] [ 1.53284798e-01 9.88182015e-01 2.76740765e-04 1.86424874e+01] [-2.39808842e-03 9.19370403e-05 9.99997120e-01 -8.47287597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45140051299998 meters 0.046926328151257884 Centerline is valid? [True, True] Translation: X:181.83, Y:18.65, Z:-0.85 [[ 9.88262522e-01 -1.52746562e-01 2.38243100e-03 1.81829014e+02] [ 1.52746338e-01 9.88265389e-01 2.76993250e-04 1.86488820e+01] [-2.39678387e-03 9.01655631e-05 9.99997124e-01 -8.47316023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48140051299998 meters 0.04072613008123965 Centerline is valid? [True, True] Translation: X:181.86, Y:18.66, Z:-0.85 [[ 9.88417800e-01 -1.51733154e-01 2.70230201e-03 1.81857230e+02] [ 1.51732860e-01 9.88421489e-01 3.14782645e-04 1.86575546e+01] [-2.71877634e-03 9.88912434e-05 9.99996299e-01 -8.47093147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51140051299998 meters 0.04072613008123965 Centerline is valid? [True, True] Translation: X:181.88, Y:18.66, Z:-0.85 [[ 9.88388568e-01 -1.51923455e-01 2.70225904e-03 1.81884563e+02] [ 1.51923160e-01 9.88392257e-01 3.15150902e-04 1.86609224e+01] [-2.71877072e-03 9.90441826e-05 9.99996299e-01 -8.47270794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54140051299999 meters 0.03808039502907304 Centerline is valid? [True, True] Translation: X:181.91, Y:18.67, Z:-0.85 [[ 9.88609910e-01 -1.50472398e-01 2.91619107e-03 1.81912324e+02] [ 1.50472045e-01 9.88614205e-01 3.41280835e-04 1.86694596e+01] [-2.93434126e-03 1.01411618e-04 9.99995690e-01 -8.46791278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571400513 meters 0.038995549934793976 Centerline is valid? [True, True] Translation: X:181.94, Y:18.69, Z:-0.85 [[ 9.89078091e-01 -1.47369389e-01 2.60623043e-03 1.81940378e+02] [ 1.47369095e-01 9.89081522e-01 3.05237594e-04 1.86886976e+01] [-2.62275704e-03 8.21740034e-05 9.99996557e-01 -8.47130938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601400513 meters 0.037947935009874374 Centerline is valid? [True, True] Translation: X:181.97, Y:18.70, Z:-0.85 [[ 9.89221866e-01 -1.46409087e-01 2.11630388e-03 1.81968081e+02] [ 1.46408893e-01 9.89224128e-01 2.47155320e-04 1.86959433e+01] [-2.12968465e-03 6.53542608e-05 9.99997730e-01 -8.49247696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631400513 meters 0.035125901243472105 Centerline is valid? [True, True] Translation: X:181.99, Y:18.71, Z:-0.85 [[ 9.89232558e-01 -1.46344878e-01 1.45738302e-03 1.81994826e+02] [ 1.46344786e-01 9.89233630e-01 1.69985142e-04 1.87077734e+01] [-1.46656875e-03 4.51255690e-05 9.99998924e-01 -8.50562903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661400513 meters 0.03768764478502292 Centerline is valid? [True, True] Translation: X:182.02, Y:18.72, Z:-0.85 [[ 9.89105815e-01 -1.47201985e-01 1.12366487e-03 1.82022812e+02] [ 1.47201931e-01 9.89106452e-01 1.31121338e-04 1.87203598e+01] [-1.13072549e-03 3.57127601e-05 9.99999360e-01 -8.50879973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691400513 meters 0.04302797450976805 Centerline is valid? [True, True] Translation: X:182.05, Y:18.73, Z:-0.85 [[ 9.88989322e-01 -1.47986874e-01 7.25667392e-05 1.82048912e+02] [ 1.47981534e-01 9.88949221e-01 -8.99471363e-03 1.87317923e+01] [ 1.25933473e-03 8.90641427e-03 9.99959544e-01 -8.52525962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721400513 meters 0.04210021776042038 Centerline is valid? [True, True] Translation: X:182.08, Y:18.72, Z:-0.85 [[ 9.88714814e-01 -1.49803019e-01 -1.43929617e-03 1.82079274e+02] [ 1.49809925e-01 9.88672322e-01 9.16655345e-03 1.87184944e+01] [ 4.98149021e-05 -9.27872804e-03 9.99956950e-01 -8.52879565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751400513 meters 0.043730084150018056 Centerline is valid? [True, True] Translation: X:182.11, Y:18.74, Z:-0.86 [[ 9.88375172e-01 -1.52025512e-01 -1.66211747e-03 1.82107035e+02] [ 1.52025397e-01 9.88376568e-01 -1.96324326e-04 1.87368639e+01] [ 1.67264427e-03 -5.86419783e-05 9.99998599e-01 -8.56208784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781400513 meters 0.05014587840804071 Centerline is valid? [True, True] Translation: X:182.14, Y:18.73, Z:-0.86 [[ 9.87500620e-01 -1.57588864e-01 -2.87663259e-03 1.82136716e+02] [ 1.57588542e-01 9.87504803e-01 -3.39643058e-04 1.87329993e+01] [ 2.89421246e-03 -1.17926606e-04 9.99995805e-01 -8.61418702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811400513 meters 0.04506411009814232 Centerline is valid? [True, True] Translation: X:182.17, Y:18.75, Z:-0.86 [[ 9.87129376e-01 -1.59911989e-01 -1.93650795e-03 1.82165259e+02] [ 1.59911847e-01 9.87131272e-01 -2.28782425e-04 1.87450340e+01] [ 1.94817261e-03 -8.38327095e-05 9.99998099e-01 -8.58509817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841400513 meters 0.04494855177989216 Centerline is valid? [True, True] Translation: X:182.19, Y:18.75, Z:-0.86 [[ 9.86893551e-01 -1.61371498e-01 -5.98722734e-04 1.82193336e+02] [ 1.61371484e-01 9.86893732e-01 -7.11282241e-05 1.87503865e+01] [ 6.02353782e-04 -2.64207908e-05 9.99999818e-01 -8.56479787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871400513 meters 0.051688692724383103 Centerline is valid? [True, True] Translation: X:182.22, Y:18.76, Z:-0.86 [[ 9.86742236e-01 -1.62291946e-01 -1.04159984e-03 1.82220814e+02] [ 1.62291906e-01 9.86742784e-01 -1.23501415e-04 1.87578500e+01] [ 1.04783441e-03 -4.71791611e-05 9.99999450e-01 -8.56687708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901400513 meters 0.04991145999461593 Centerline is valid? [True, True] Translation: X:182.25, Y:18.77, Z:-0.86 [[ 9.86852454e-01 -1.61619548e-01 -1.16400815e-03 1.82248322e+02] [ 1.61619496e-01 9.86853140e-01 -1.38899331e-04 1.87680624e+01] [ 1.17115394e-03 -5.10532644e-05 9.99999313e-01 -8.56521103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931400513 meters 0.044558595066164886 Centerline is valid? [True, True] Translation: X:182.28, Y:18.78, Z:-0.86 [[ 9.86990476e-01 -1.60775867e-01 -9.59137170e-04 1.82276333e+02] [ 1.60775831e-01 9.86990942e-01 -1.14759809e-04 1.87804937e+01] [ 9.65110307e-04 -4.09392371e-05 9.99999533e-01 -8.55980222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96140051299997 meters 0.04992724274395268 Centerline is valid? [True, True] Translation: X:182.30, Y:18.79, Z:-0.86 [[ 9.87090083e-01 -1.60165916e-01 -2.16338124e-04 1.82303175e+02] [ 1.60165914e-01 9.87090107e-01 -2.60666119e-05 1.87902394e+01] [ 2.17720205e-04 -8.91989921e-06 9.99999976e-01 -8.55324434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99140051299997 meters 0.04856944154151751 Centerline is valid? [True, True] Translation: X:182.33, Y:18.80, Z:-0.85 [[ 9.87059431e-01 -1.60353613e-01 6.31214047e-04 1.82329487e+02] [ 1.60353598e-01 9.87059633e-01 7.43478546e-05 1.87974160e+01] [-6.34967852e-04 2.78316924e-05 9.99999798e-01 -8.54284242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02140051299997 meters 0.04551818663218375 Centerline is valid? [True, True] Translation: X:182.36, Y:18.81, Z:-0.85 [[ 9.87024322e-01 -1.60562105e-01 1.67298890e-03 1.82356635e+02] [ 1.60562000e-01 9.87025737e-01 1.97580587e-04 1.88063645e+01] [-1.68300706e-03 7.36015985e-05 9.99998581e-01 -8.53295042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05140051299998 meters 0.05083108334746065 Centerline is valid? [True, True] Translation: X:182.38, Y:18.82, Z:-0.85 [[ 9.86909248e-01 -1.61266394e-01 1.81283591e-03 1.82384342e+02] [ 1.61266272e-01 9.86910910e-01 2.14656948e-04 1.88158336e+01] [-1.82372449e-03 8.05023610e-05 9.99998334e-01 -8.52879002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08140051299998 meters 0.04692116644726916 Centerline is valid? [True, True] Translation: X:182.41, Y:18.82, Z:-0.85 [[ 9.86587596e-01 -1.63223984e-01 1.68740740e-03 1.82412549e+02] [ 1.63223879e-01 9.86589036e-01 2.00669072e-04 1.88243923e+01] [-1.69753164e-03 7.74475630e-05 9.99998556e-01 -8.53819363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11140051299998 meters 0.047666076446599454 Centerline is valid? [True, True] Translation: X:182.44, Y:18.83, Z:-0.86 [[ 9.86179392e-01 -1.65680815e-01 -2.72996345e-04 1.82441988e+02] [ 1.65680813e-01 9.86179430e-01 -3.25881719e-05 1.88316068e+01] [ 2.74622615e-04 -1.30924728e-05 9.99999962e-01 -8.56681172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14140051299998 meters 0.05216953325644155 Centerline is valid? [True, True] Translation: X:182.47, Y:18.83, Z:-0.86 [[ 9.85682272e-01 -1.68603394e-01 -1.83167335e-03 1.82471002e+02] [ 1.68603279e-01 9.85683969e-01 -2.18312421e-04 1.88313606e+01] [ 1.84225927e-03 -9.36394488e-05 9.99998299e-01 -8.60045659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17140051299998 meters 0.05848074372159256 Centerline is valid? [True, True] Translation: X:182.50, Y:18.83, Z:-0.86 [[ 9.85050018e-01 -1.72235895e-01 -3.35540672e-03 1.82500849e+02] [ 1.72235530e-01 9.85055715e-01 -3.99715918e-04 1.88321595e+01] [ 3.37410799e-03 -1.84180083e-04 9.99994291e-01 -8.62648711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20140051299998 meters 0.06254790937331416 Centerline is valid? [True, True] Translation: X:182.53, Y:18.84, Z:-0.86 [[ 9.84035590e-01 -1.77957719e-01 -2.23763407e-03 1.82531137e+02] [ 1.77957571e-01 9.84038125e-01 -2.66615119e-04 1.88358576e+01] [ 2.24936345e-03 -1.35845158e-04 9.99997461e-01 -8.59811523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23140051299998 meters 0.06957676177628407 Centerline is valid? [True, True] Translation: X:182.56, Y:18.84, Z:-0.86 [[ 9.83687879e-01 -1.79879624e-01 -1.21588407e-03 1.82561092e+02] [ 1.79879581e-01 9.83688627e-01 -1.44927982e-04 1.88354121e+01] [ 1.22212092e-03 -7.61488182e-05 9.99999250e-01 -8.58126203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26140051299998 meters 0.06595120100093266 Centerline is valid? [True, True] Translation: X:182.59, Y:18.85, Z:-0.86 [[ 9.83392359e-01 -1.81489765e-01 -9.66474118e-04 1.82588808e+02] [ 1.81489739e-01 9.83392832e-01 -1.15411016e-04 1.88490410e+01] [ 9.71369637e-04 -6.19108243e-05 9.99999526e-01 -8.56429515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29140051299999 meters 0.06776049715788897 Centerline is valid? [True, True] Translation: X:182.62, Y:18.85, Z:-0.86 [[ 9.83402375e-01 -1.81433663e-01 -1.26246897e-03 1.82616439e+02] [ 1.81433619e-01 9.83403182e-01 -1.50916129e-04 1.88505384e+01] [ 1.26889727e-03 -8.06430344e-05 9.99999192e-01 -8.58326578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321400513 meters 0.06035437712432287 Centerline is valid? [True, True] Translation: X:182.64, Y:18.86, Z:-0.86 [[ 9.83415262e-01 -1.81362763e-01 -1.40404835e-03 1.82643782e+02] [ 1.81362706e-01 9.83416260e-01 -1.68779562e-04 1.88647346e+01] [ 1.41137431e-03 -8.86616116e-05 9.99999000e-01 -8.58482831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351400513 meters 0.06330721668644183 Centerline is valid? [True, True] Translation: X:182.67, Y:18.87, Z:-0.86 [[ 9.83380561e-01 -1.81549679e-01 -1.54479020e-03 1.82671196e+02] [ 1.81549612e-01 9.83381769e-01 -1.84946330e-04 1.88685523e+01] [ 1.55269546e-03 -9.85834347e-05 9.99998790e-01 -8.59546265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381400513 meters 0.06325108769085189 Centerline is valid? [True, True] Translation: X:182.70, Y:18.88, Z:-0.86 [[ 9.83269981e-01 -1.82142536e-01 -2.05924441e-03 1.82699555e+02] [ 1.82142416e-01 9.83272129e-01 -2.47485544e-04 1.88753170e+01] [ 2.06987528e-03 -1.31730644e-04 9.99997849e-01 -8.59344828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411400513 meters 0.0715756319099967 Centerline is valid? [True, True] Translation: X:182.73, Y:18.87, Z:-0.86 [[ 9.83308786e-01 -1.81935786e-01 -1.78899552e-03 1.82728562e+02] [ 1.81935696e-01 9.83310407e-01 -2.14533648e-04 1.88702236e+01] [ 1.79816926e-03 -1.14529323e-04 9.99998377e-01 -8.59812041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441400513 meters 0.06570545091531788 Centerline is valid? [True, True] Translation: X:182.76, Y:18.88, Z:-0.86 [[ 9.83369635e-01 -1.81613426e-01 -8.50675759e-04 1.82756316e+02] [ 1.81613405e-01 9.83370002e-01 -1.03061295e-04 1.88788105e+01] [ 8.55246338e-04 -5.31467733e-05 9.99999633e-01 -8.57896772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471400513 meters 0.05696471422571843 Centerline is valid? [True, True] Translation: X:182.78, Y:18.89, Z:-0.85 [[ 9.83550578e-01 -1.80632423e-01 4.34231949e-04 1.82783953e+02] [ 1.80632417e-01 9.83550673e-01 5.17429634e-05 1.88905270e+01] [-4.36435583e-04 2.75445451e-05 9.99999904e-01 -8.54864147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501400513 meters 0.05555333100455372 Centerline is valid? [True, True] Translation: X:182.81, Y:18.90, Z:-0.85 [[ 9.84021453e-01 -1.78046145e-01 1.16236061e-03 1.82813149e+02] [ 1.78046104e-01 9.84022137e-01 1.39332851e-04 1.88997324e+01] [-1.16859625e-03 6.98472643e-05 9.99999315e-01 -8.53363311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531400513 meters 0.05961889697444458 Centerline is valid? [True, True] Translation: X:182.84, Y:18.90, Z:-0.86 [[ 9.84354633e-01 -1.76197115e-01 7.29615873e-04 1.82842526e+02] [ 1.76197099e-01 9.84354903e-01 8.73511691e-05 1.89010864e+01] [-7.33591985e-04 4.25716718e-05 9.99999730e-01 -8.55285854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561400513 meters 0.056331911208424 Centerline is valid? [True, True] Translation: X:182.87, Y:18.91, Z:-0.86 [[ 9.84704459e-01 -1.74232689e-01 3.13689583e-04 1.82871286e+02] [ 1.74232686e-01 9.84704509e-01 3.75504708e-05 1.89119997e+01] [-3.15434067e-04 1.76788627e-05 9.99999950e-01 -8.56090717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591400513 meters 0.054627563321246596 Centerline is valid? [True, True] Translation: X:182.90, Y:18.92, Z:-0.86 [[ 9.85092272e-01 -1.72026787e-01 1.57901113e-05 1.82900004e+02] [ 1.72026787e-01 9.85092272e-01 1.70688810e-06 1.89231481e+01] [-1.58483471e-05 1.03487984e-06 1.00000000e+00 -8.56885918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621400513 meters 0.055789238192857235 Centerline is valid? [True, True] Translation: X:182.93, Y:18.94, Z:-0.85 [[ 9.85748942e-01 -1.68217348e-01 1.39563812e-03 1.82927444e+02] [ 1.68217280e-01 9.85749927e-01 1.67351101e-04 1.89372620e+01] [-1.40390153e-03 6.98042765e-05 9.99999012e-01 -8.54889769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651400513 meters 0.048696768626476 Centerline is valid? [True, True] Translation: X:182.95, Y:18.95, Z:-0.85 [[ 9.85857957e-01 -1.67568827e-01 2.18576774e-03 1.82954443e+02] [ 1.67568658e-01 9.85860374e-01 2.61536731e-04 1.89516621e+01] [-2.19868720e-03 1.08428098e-04 9.99997577e-01 -8.53392587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681400513 meters 0.0507147158841878 Centerline is valid? [True, True] Translation: X:182.98, Y:18.95, Z:-0.85 [[ 9.85842716e-01 -1.67657585e-01 2.25245842e-03 1.82981116e+02] [ 1.67657404e-01 9.85845283e-01 2.70317582e-04 1.89545045e+01] [-2.26589631e-03 1.11150713e-04 9.99997427e-01 -8.53125188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71140051299997 meters 0.056193713129859095 Centerline is valid? [True, True] Translation: X:183.01, Y:18.96, Z:-0.86 [[ 9.85266522e-01 -1.71024189e-01 7.78780657e-04 1.83010644e+02] [ 1.71024168e-01 9.85266829e-01 9.36162474e-05 1.89634223e+01] [-7.83317391e-04 4.09533596e-05 9.99999692e-01 -8.55873513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74140051299997 meters 0.05331748634221227 Centerline is valid? [True, True] Translation: X:183.04, Y:18.97, Z:-0.86 [[ 9.84778211e-01 -1.73815634e-01 3.99357216e-06 1.83039993e+02] [ 1.73815634e-01 9.84778211e-01 4.80303922e-07 1.89749916e+01] [-4.01626719e-06 2.21152440e-07 1.00000000e+00 -8.56542607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77140051299997 meters 0.05418812610092621 Centerline is valid? [True, True] Translation: X:183.07, Y:18.98, Z:-0.86 [[ 9.84140697e-01 -1.77389352e-01 -3.25941921e-04 1.83069797e+02] [ 1.77389349e-01 9.84140751e-01 -3.92150076e-05 1.89793237e+01] [ 3.27729052e-04 -1.92255402e-05 9.99999946e-01 -8.57103314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80140051299998 meters 0.062660541580147 Centerline is valid? [True, True] Translation: X:183.10, Y:18.98, Z:-0.86 [[ 9.83432541e-01 -1.81273188e-01 -6.85017736e-04 1.83099550e+02] [ 1.81273174e-01 9.83432778e-01 -8.24763372e-05 1.89783057e+01] [ 6.88619644e-04 -4.30654257e-05 9.99999762e-01 -8.58771664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83140051299998 meters 0.06861118038075294 Centerline is valid? [True, True] Translation: X:183.13, Y:18.99, Z:-0.86 [[ 9.82295659e-01 -1.87323269e-01 -2.28702522e-03 1.83128925e+02] [ 1.87323134e-01 9.82298309e-01 -2.75143916e-04 1.89903961e+01] [ 2.29808187e-03 -1.58140057e-04 9.99997347e-01 -8.61945848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86140051299998 meters 0.07266729297222353 Centerline is valid? [True, True] Translation: X:183.16, Y:18.99, Z:-0.86 [[ 9.81953134e-01 -1.89109070e-01 -2.40882154e-03 1.83158200e+02] [ 1.89108925e-01 9.81956074e-01 -2.89842425e-04 1.89919604e+01] [ 2.42016878e-03 -1.70917974e-04 9.99997057e-01 -8.62816793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89140051299998 meters 0.07280645003061469 Centerline is valid? [True, True] Translation: X:183.19, Y:19.00, Z:-0.86 [[ 9.81663040e-01 -1.90615119e-01 -1.88498930e-03 1.83188344e+02] [ 1.90615033e-01 9.81664840e-01 -2.26762374e-04 1.89960336e+01] [ 1.89365205e-03 -1.36703056e-04 9.99998198e-01 -8.61763585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92140051299998 meters 0.07629315702341496 Centerline is valid? [True, True] Translation: X:183.22, Y:19.00, Z:-0.86 [[ 9.80825196e-01 -1.94889533e-01 6.49284766e-05 1.83217753e+02] [ 1.94889533e-01 9.80825198e-01 7.74278419e-06 1.90025528e+01] [-6.51924736e-05 5.05956265e-06 9.99999998e-01 -8.58374987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95140051299998 meters 0.07444107690704888 Centerline is valid? [True, True] Translation: X:183.25, Y:19.01, Z:-0.86 [[ 9.80416928e-01 -1.96932113e-01 6.24677177e-04 1.83247221e+02] [ 1.96932105e-01 9.80417126e-01 7.50860396e-05 1.90112680e+01] [-6.27231055e-04 4.94033670e-05 9.99999802e-01 -8.57102351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98140051299998 meters 0.07496202100812636 Centerline is valid? [True, True] Translation: X:183.28, Y:19.02, Z:-0.86 [[ 9.80207524e-01 -1.97971596e-01 6.76554234e-04 1.83276088e+02] [ 1.97971586e-01 9.80207756e-01 8.12632956e-05 1.90178585e+01] [-6.79251531e-04 5.42836212e-05 9.99999768e-01 -8.57159287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01140051299998 meters 0.07820795107975093 Centerline is valid? [True, True] Translation: X:183.30, Y:19.02, Z:-0.86 [[ 9.80214650e-01 -1.97937014e-01 4.21178469e-04 1.83303985e+02] [ 1.97937011e-01 9.80214740e-01 5.03222588e-05 1.90174168e+01] [-4.22805981e-04 3.40401918e-05 9.99999910e-01 -8.57417513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04140051299999 meters 0.07810891632166582 Centerline is valid? [True, True] Translation: X:183.33, Y:19.02, Z:-0.86 [[ 9.80896280e-01 -1.94531109e-01 -3.68924672e-04 1.83332708e+02] [ 1.94531105e-01 9.80896349e-01 -4.45573613e-05 1.90241638e+01] [ 3.70544657e-04 -2.80611744e-05 9.99999931e-01 -8.58809100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071400513 meters 0.06589712518320845 Centerline is valid? [True, True] Translation: X:183.36, Y:19.04, Z:-0.86 [[ 9.81526886e-01 -1.91322981e-01 -6.99674976e-04 1.83360702e+02] [ 1.91322969e-01 9.81527134e-01 -8.44568282e-05 1.90440919e+01] [ 7.02908505e-04 -5.09672461e-05 9.99999752e-01 -8.57957250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101400513 meters 0.07506473959713236 Centerline is valid? [True, True] Translation: X:183.39, Y:19.04, Z:-0.86 [[ 9.82244601e-01 -1.87602568e-01 -9.06177537e-04 1.83390659e+02] [ 1.87602546e-01 9.82245017e-01 -1.09389284e-04 1.90372801e+01] [ 9.10610081e-04 -6.25541795e-05 9.99999583e-01 -8.59308247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131400513 meters 0.06533333649795275 Centerline is valid? [True, True] Translation: X:183.42, Y:19.05, Z:-0.86 [[ 9.82910714e-01 -1.84078340e-01 -1.30109609e-03 1.83418835e+02] [ 1.84078293e-01 9.82911572e-01 -1.56902627e-04 1.90544955e+01] [ 1.30774478e-03 -8.52822748e-05 9.99999141e-01 -8.58960766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161400513 meters 0.05869459417710494 Centerline is valid? [True, True] Translation: X:183.45, Y:19.07, Z:-0.86 [[ 9.84064051e-01 -1.77813387e-01 -5.86424824e-04 1.83447903e+02] [ 1.77813376e-01 9.84064225e-01 -7.06235327e-05 1.90713064e+01] [ 5.89637499e-04 -3.47760984e-05 9.99999826e-01 -8.58937054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191400513 meters 0.05409640627026499 Centerline is valid? [True, True] Translation: X:183.48, Y:19.08, Z:-0.86 [[ 9.84498687e-01 -1.75391513e-01 3.90572008e-04 1.83477382e+02] [ 1.75391508e-01 9.84498764e-01 4.69901480e-05 1.90785388e+01] [-3.92759332e-04 2.22412744e-05 9.99999923e-01 -8.57171463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221400513 meters 0.05231580321354369 Centerline is valid? [True, True] Translation: X:183.51, Y:19.09, Z:-0.86 [[ 9.84811809e-01 -1.73619245e-01 1.43481723e-03 1.83507111e+02] [ 1.73619177e-01 9.84812851e-01 1.72843543e-04 1.90851190e+01] [-1.44303541e-03 7.88934244e-05 9.99998956e-01 -8.55607497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251400513 meters 0.05180062068300086 Centerline is valid? [True, True] Translation: X:183.54, Y:19.09, Z:-0.86 [[ 9.85292356e-01 -1.70875329e-01 7.71125411e-04 1.83535570e+02] [ 1.70875308e-01 9.85292657e-01 9.27968479e-05 1.90904704e+01] [-7.75640897e-04 4.03342674e-05 9.99999698e-01 -8.56145607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281400513 meters 0.048883114619958576 Centerline is valid? [True, True] Translation: X:183.56, Y:19.10, Z:-0.86 [[ 9.85513579e-01 -1.69594642e-01 -8.02073221e-04 1.83563893e+02] [ 1.69594619e-01 9.85513904e-01 -9.70378115e-05 1.90981090e+01] [ 8.06911404e-04 -4.03952218e-05 9.99999674e-01 -8.58183107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311400513 meters 0.04555775214631893 Centerline is valid? [True, True] Translation: X:183.59, Y:19.11, Z:-0.86 [[ 9.85681549e-01 -1.68603306e-01 -2.19306901e-03 1.83591511e+02] [ 1.68603130e-01 9.85683983e-01 -2.65967332e-04 1.91065070e+01] [ 2.20651597e-03 -1.07599208e-04 9.99997560e-01 -8.59799379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341400513 meters 0.04786788087961312 Centerline is valid? [True, True] Translation: X:183.62, Y:19.11, Z:-0.86 [[ 9.85873830e-01 -1.67471105e-01 -2.49403328e-03 1.83619003e+02] [ 1.67470876e-01 9.85876977e-01 -3.01950282e-04 1.91081879e+01] [ 2.50937794e-03 -1.19993057e-04 9.99996844e-01 -8.61147446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371400513 meters 0.049959947843790056 Centerline is valid? [True, True] Translation: X:183.65, Y:19.12, Z:-0.86 [[ 9.86208484e-01 -1.65505955e-01 -7.78219246e-04 1.83647441e+02] [ 1.65505932e-01 9.86208790e-01 -9.42242578e-05 1.91191815e+01] [ 7.83081337e-04 -3.58751395e-05 9.99999693e-01 -8.58308999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401400513 meters 0.05049371708598166 Centerline is valid? [True, True] Translation: X:183.68, Y:19.12, Z:-0.86 [[ 9.86239164e-01 -1.65324102e-01 5.02231124e-04 1.83675554e+02] [ 1.65324093e-01 9.86239292e-01 6.03358233e-05 1.91192354e+01] [-5.05295034e-04 2.35253532e-05 9.99999872e-01 -8.57093931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431400513 meters 0.05049371708598166 Centerline is valid? [True, True] Translation: X:183.70, Y:19.12, Z:-0.86 [[ 9.86208748e-01 -1.65505445e-01 5.02318947e-04 1.83702842e+02] [ 1.65505436e-01 9.86208876e-01 5.96104657e-05 1.91226896e+01] [-5.05257260e-04 2.43481535e-05 9.99999872e-01 -8.57276489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46140051299997 meters 0.04829844518345646 Centerline is valid? [True, True] Translation: X:183.73, Y:19.13, Z:-0.86 [[ 9.86095645e-01 -1.66178139e-01 4.53649199e-04 1.83730620e+02] [ 1.66178132e-01 9.86095749e-01 5.39188599e-05 1.91310095e+01] [-4.56301682e-04 2.22174234e-05 9.99999896e-01 -8.55941826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49140051299997 meters 0.05372699719240931 Centerline is valid? [True, True] Translation: X:183.76, Y:19.13, Z:-0.86 [[ 9.85751572e-01 -1.68202187e-01 1.36443015e-03 1.83758598e+02] [ 1.68202119e-01 9.85752515e-01 1.65236746e-04 1.91349562e+01] [-1.37278364e-03 6.66176601e-05 9.99999056e-01 -8.55338016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52140051299997 meters 0.04869704732802432 Centerline is valid? [True, True] Translation: X:183.79, Y:19.14, Z:-0.85 [[ 9.85414929e-01 -1.70155275e-01 2.14476396e-03 1.83787421e+02] [ 1.70155111e-01 9.85417257e-01 2.60069880e-04 1.91402213e+01] [-2.15773968e-03 1.08665809e-04 9.99997666e-01 -8.53617871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55140051299998 meters 0.05554185246673973 Centerline is valid? [True, True] Translation: X:183.82, Y:19.14, Z:-0.85 [[ 9.84992942e-01 -1.72574085e-01 2.66263043e-03 1.83817173e+02] [ 1.72573840e-01 9.84996531e-01 3.23112373e-04 1.91413439e+01] [-2.67844256e-03 1.41236952e-04 9.99996403e-01 -8.54413414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58140051299998 meters 0.059878689310297 Centerline is valid? [True, True] Translation: X:183.85, Y:19.14, Z:-0.85 [[ 9.83752527e-01 -1.79494771e-01 3.54866132e-03 1.83848200e+02] [ 1.79494380e-01 9.83758904e-01 4.30727137e-04 1.91402136e+01] [-3.56834044e-03 2.13235855e-04 9.99993611e-01 -8.53862348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61140051299998 meters 0.06725594102043853 Centerline is valid? [True, True] Translation: X:183.88, Y:19.14, Z:-0.85 [[ 9.83148140e-01 -1.82768327e-01 3.93351334e-03 1.83878884e+02] [ 1.82767874e-01 9.83155978e-01 4.77431530e-04 1.91350516e+01] [-3.95451651e-03 2.49533947e-04 9.99992150e-01 -8.53445941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64140051299998 meters 0.06398388493843538 Centerline is valid? [True, True] Translation: X:183.91, Y:19.14, Z:-0.85 [[ 9.82662886e-01 -1.85359755e-01 3.92606541e-03 1.83908747e+02] [ 1.85359324e-01 9.82670695e-01 4.76595486e-04 1.91443804e+01] [-3.94637104e-03 2.59400132e-04 9.99992179e-01 -8.53428304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67140051299998 meters 0.07735829241099351 Centerline is valid? [True, True] Translation: X:183.94, Y:19.14, Z:-0.85 [[ 9.82363843e-01 -1.86941910e-01 3.74202049e-03 1.83938327e+02] [ 1.86941530e-01 9.82370937e-01 4.54124135e-04 1.91366869e+01] [-3.76094701e-03 2.53423907e-04 9.99992896e-01 -8.54280219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70140051299998 meters 0.05690867018202865 Centerline is valid? [True, True] Translation: X:183.96, Y:19.16, Z:-0.85 [[ 9.82180705e-01 -1.87895053e-01 4.06345350e-03 1.83964398e+02] [ 1.87894612e-01 9.82189071e-01 4.93402182e-04 1.91647235e+01] [-4.08378744e-03 2.78890917e-04 9.99991622e-01 -8.51712710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73140051299998 meters 0.07945380938989838 Centerline is valid? [True, True] Translation: X:184.00, Y:19.15, Z:-0.85 [[ 9.82393327e-01 -1.86788355e-01 3.66902093e-03 1.83995224e+02] [ 1.86787987e-01 9.82400147e-01 4.45669602e-04 1.91458296e+01] [-3.68769259e-03 2.47506191e-04 9.99993170e-01 -8.53922751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76140051299998 meters 0.07074011305242646 Centerline is valid? [True, True] Translation: X:184.02, Y:19.16, Z:-0.85 [[ 9.82643579e-01 -1.85480799e-01 2.91026450e-03 1.84022950e+02] [ 1.85480561e-01 9.82647870e-01 3.53677155e-04 1.91638973e+01] [-2.92536554e-03 1.92258909e-04 9.99995703e-01 -8.54801204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79140051299999 meters 0.06726234660590255 Centerline is valid? [True, True] Translation: X:184.05, Y:19.17, Z:-0.86 [[ 9.82930114e-01 -1.83962743e-01 2.46989873e-03 1.84051780e+02] [ 1.83962567e-01 9.82933204e-01 3.00239738e-04 1.91747296e+01] [-2.48297840e-03 1.59254232e-04 9.99996905e-01 -8.56032775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821400513 meters 0.06161439507415929 Centerline is valid? [True, True] Translation: X:184.08, Y:19.19, Z:-0.86 [[ 9.83245792e-01 -1.82278158e-01 1.54465520e-03 1.84080475e+02] [ 1.82278087e-01 9.83247000e-01 1.87814636e-04 1.91882382e+01] [-1.55301210e-03 9.68888443e-05 9.99998789e-01 -8.56762587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851400513 meters 0.06590272674310127 Centerline is valid? [True, True] Translation: X:184.11, Y:19.19, Z:-0.86 [[ 9.83250444e-01 -1.82257626e-01 8.49411221e-04 1.84107977e+02] [ 1.82257605e-01 9.83250810e-01 1.02811444e-04 1.91895047e+01] [-8.53922440e-04 5.37222566e-05 9.99999634e-01 -8.57999500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881400513 meters 0.062072671772255714 Centerline is valid? [True, True] Translation: X:184.14, Y:19.20, Z:-0.86 [[ 9.83158056e-01 -1.82756492e-01 -5.49655951e-04 1.84135824e+02] [ 1.82756482e-01 9.83158209e-01 -6.80455923e-05 1.92019882e+01] [ 5.52834534e-04 -3.35536158e-05 9.99999847e-01 -8.59502979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911400513 meters 0.05951227001644186 Centerline is valid? [True, True] Translation: X:184.16, Y:19.21, Z:-0.86 [[ 9.82961630e-01 -1.83777694e-01 -3.49196480e-03 1.84164223e+02] [ 1.83777337e-01 9.82967807e-01 -4.25683774e-04 1.92134623e+01] [ 3.51072016e-03 -2.23313176e-04 9.99993812e-01 -8.62564140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941400513 meters 0.07568089501220092 Centerline is valid? [True, True] Translation: X:184.19, Y:19.20, Z:-0.87 [[ 9.82965090e-01 -1.83728135e-01 -4.85832988e-03 1.84193869e+02] [ 1.83727440e-01 9.82977048e-01 -5.92705664e-04 1.92014968e+01] [ 4.88452347e-03 -3.09999537e-04 9.99988023e-01 -8.67848027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971400513 meters 0.06195488698461477 Centerline is valid? [True, True] Translation: X:184.22, Y:19.22, Z:-0.86 [[ 9.82978814e-01 -1.83643415e-01 -5.26760929e-03 1.84220509e+02] [ 1.83642589e-01 9.82992871e-01 -6.44184548e-04 1.92240041e+01] [ 5.29632263e-03 -3.34137647e-04 9.99985919e-01 -8.64789193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001400513 meters 0.06458928410594926 Centerline is valid? [True, True] Translation: X:184.25, Y:19.22, Z:-0.86 [[ 9.83156124e-01 -1.82719421e-01 -4.20105699e-03 1.84249043e+02] [ 1.82718889e-01 9.83165065e-01 -5.13389527e-04 1.92221663e+01] [ 4.22413870e-03 -2.62870406e-04 9.99991044e-01 -8.64502922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031400513 meters 0.06271068556794729 Centerline is valid? [True, True] Translation: X:184.28, Y:19.24, Z:-0.86 [[ 9.83850306e-01 -1.78987914e-01 -1.37913447e-03 1.84277477e+02] [ 1.78987852e-01 9.83851269e-01 -1.68603162e-04 1.92352822e+01] [ 1.38704113e-03 -8.09680451e-05 9.99999035e-01 -8.60955883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061400513 meters 0.05482654222154069 Centerline is valid? [True, True] Translation: X:184.31, Y:19.24, Z:-0.86 [[ 9.84304354e-01 -1.76479046e-01 -2.91616116e-04 1.84306837e+02] [ 1.76479043e-01 9.84304397e-01 -3.56584204e-05 1.92448221e+01] [ 2.93331989e-04 -1.63653948e-05 9.99999957e-01 -8.59466926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091400513 meters 0.05279640957956173 Centerline is valid? [True, True] Translation: X:184.34, Y:19.25, Z:-0.86 [[ 9.84931419e-01 -1.72945083e-01 -3.13804812e-04 1.84336047e+02] [ 1.72945080e-01 9.84931469e-01 -3.83475721e-05 1.92549886e+01] [ 3.15708258e-04 -1.65012695e-05 9.99999950e-01 -8.59802923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121400513 meters 0.04812382496996445 Centerline is valid? [True, True] Translation: X:184.37, Y:19.26, Z:-0.86 [[ 9.85598108e-01 -1.69104605e-01 4.78988993e-05 1.84365302e+02] [ 1.69104604e-01 9.85598109e-01 5.83789757e-06 1.92626526e+01] [-4.81962799e-05 2.34610361e-06 9.99999999e-01 -8.58755814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151400513 meters 0.03654888677655363 Centerline is valid? [True, True] Translation: X:184.39, Y:19.28, Z:-0.86 [[ 9.87043625e-01 -1.60443735e-01 1.64039277e-03 1.84393886e+02] [ 1.60443623e-01 9.87044986e-01 2.00358369e-04 1.92841068e+01] [-1.65128770e-03 6.54281071e-05 9.99998634e-01 -8.55119858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181400513 meters 0.03692318836158725 Centerline is valid? [True, True] Translation: X:184.42, Y:19.29, Z:-0.85 [[ 9.87786711e-01 -1.55796578e-01 2.19985796e-03 1.84422391e+02] [ 1.55796365e-01 9.87789158e-01 2.68689202e-04 1.92896531e+01] [-2.21485670e-03 7.73222515e-05 9.99997544e-01 -8.54553545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21140051299997 meters 0.027178639682864138 Centerline is valid? [True, True] Translation: X:184.45, Y:19.31, Z:-0.85 [[ 9.89050435e-01 -1.47562586e-01 2.12632149e-03 1.84449584e+02] [ 1.47562368e-01 9.89052719e-01 2.59768411e-04 1.93126670e+01] [-2.14137615e-03 5.68409740e-05 9.99997706e-01 -8.53942293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24140051299997 meters 0.026307815563483116 Centerline is valid? [True, True] Translation: X:184.48, Y:19.32, Z:-0.85 [[ 9.89497087e-01 -1.44530139e-01 2.55984920e-03 1.84478275e+02] [ 1.44529813e-01 9.89500397e-01 3.12741208e-04 1.93206762e+01] [-2.57817233e-03 6.05180116e-05 9.99996675e-01 -8.54288851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27140051299997 meters 0.020700133927615987 Centerline is valid? [True, True] Translation: X:184.51, Y:19.33, Z:-0.85 [[ 9.89742774e-01 -1.42820804e-01 3.38507543e-03 1.84508489e+02] [ 1.42820224e-01 9.89748560e-01 4.13744769e-04 1.93338819e+01] [-3.40946489e-03 7.39563361e-05 9.99994185e-01 -8.52768561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30140051299998 meters 0.021251379873236585 Centerline is valid? [True, True] Translation: X:184.54, Y:19.34, Z:-0.85 [[ 9.89823587e-01 -1.42219763e-01 4.77551324e-03 1.84539506e+02] [ 1.42218602e-01 9.89835102e-01 5.83527303e-04 1.93386057e+01] [-4.80995975e-03 1.01577731e-04 9.99988427e-01 -8.51472762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33140051299998 meters 0.028791279039940366 Centerline is valid? [True, True] Translation: X:184.57, Y:19.34, Z:-0.85 [[ 9.89688752e-01 -1.43114378e-01 5.86932147e-03 1.84570035e+02] [ 1.43112642e-01 9.89706147e-01 7.16904078e-04 1.93445503e+01] [-5.91150282e-03 1.30462200e-04 9.99982518e-01 -8.50285333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36140051299998 meters 0.02488002573250052 Centerline is valid? [True, True] Translation: X:184.60, Y:19.35, Z:-0.85 [[ 9.89592912e-01 -1.43801037e-01 5.20875399e-03 1.84601456e+02] [ 1.43799680e-01 9.89606612e-01 6.36054848e-04 1.93471750e+01] [-5.24608273e-03 1.19581788e-04 9.99986232e-01 -8.51606522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39140051299998 meters 0.027842239729929427 Centerline is valid? [True, True] Translation: X:184.63, Y:19.35, Z:-0.85 [[ 9.89590242e-01 -1.43874471e-01 3.36007642e-03 1.84633197e+02] [ 1.43873906e-01 9.89595943e-01 4.10311299e-04 1.93545223e+01] [-3.38415131e-03 7.73872622e-05 9.99994271e-01 -8.54647102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42140051299998 meters 0.024646401975633097 Centerline is valid? [True, True] Translation: X:184.66, Y:19.36, Z:-0.86 [[ 9.89736517e-01 -1.42881555e-01 2.54736487e-03 1.84664599e+02] [ 1.42881228e-01 9.89739793e-01 3.10972361e-04 1.93572768e+01] [-2.56566059e-03 5.61899184e-05 9.99996707e-01 -8.56948109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45140051299998 meters 0.02135186197469733 Centerline is valid? [True, True] Translation: X:184.69, Y:19.37, Z:-0.86 [[ 9.90586415e-01 -1.36854667e-01 3.05851171e-03 1.84694049e+02] [ 1.36854168e-01 9.90591135e-01 3.73125519e-04 1.93734736e+01] [-3.08079856e-03 4.89570040e-05 9.99995253e-01 -8.55569746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48140051299998 meters 0.013918703178342842 Centerline is valid? [True, True] Translation: X:184.72, Y:19.38, Z:-0.85 [[ 9.91170884e-01 -1.32512942e-01 4.53852191e-03 1.84723258e+02] [ 1.32511796e-01 9.91181274e-01 5.53587889e-04 1.93834257e+01] [-4.57185549e-03 5.27074932e-05 9.99989548e-01 -8.53276800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51140051299998 meters 0.010548374099750806 Centerline is valid? [True, True] Translation: X:184.75, Y:19.39, Z:-0.85 [[ 9.91737562e-01 -1.28182288e-01 5.09017905e-03 1.84753644e+02] [ 1.28180790e-01 9.91750624e-01 6.20841325e-04 1.93936399e+01] [-5.12776911e-03 3.67515106e-05 9.99986852e-01 -8.52445500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54140051299999 meters 0.007077808223964187 Centerline is valid? [True, True] Translation: X:184.78, Y:19.41, Z:-0.85 [[ 9.92677756e-01 -1.20733709e-01 3.77424984e-03 1.84784125e+02] [ 1.20732831e-01 9.92684931e-01 4.60304799e-04 1.94102476e+01] [-3.80221525e-03 -1.25846528e-06 9.99992772e-01 -8.54433878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571400513 meters 0.007834842556242307 Centerline is valid? [True, True] Translation: X:184.82, Y:19.42, Z:-0.86 [[ 9.93017958e-01 -1.17930559e-01 2.77803906e-03 1.84815369e+02] [ 1.17930072e-01 9.93021844e-01 3.38756357e-04 1.94186116e+01] [-2.79860320e-03 -8.77679908e-06 9.99996084e-01 -8.56368729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601400513 meters 0.009055534811564667 Centerline is valid? [True, True] Translation: X:184.85, Y:19.43, Z:-0.86 [[ 9.93309967e-01 -1.15460850e-01 2.02545086e-03 1.84847290e+02] [ 1.15460587e-01 9.93312032e-01 2.46976888e-04 1.94256340e+01] [-2.04042087e-03 -1.14648590e-05 9.99997918e-01 -8.57927839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631400513 meters 0.017011747535513454 Centerline is valid? [True, True] Translation: X:184.88, Y:19.43, Z:-0.86 [[ 9.93744183e-01 -1.11654509e-01 2.40206038e-03 1.84877341e+02] [ 1.11654128e-01 9.93747086e-01 2.92718130e-04 1.94344664e+01] [-2.41972380e-03 -2.26869818e-05 9.99997072e-01 -8.58931887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661400513 meters 0.013257358844394914 Centerline is valid? [True, True] Translation: X:184.91, Y:19.44, Z:-0.86 [[ 9.93929257e-01 -1.09955972e-01 3.78380651e-03 1.84909059e+02] [ 1.09955014e-01 9.93936458e-01 4.60723712e-04 1.94395625e+01] [-3.81152256e-03 -4.18782782e-05 9.99992735e-01 -8.56980689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691400513 meters 0.015477329657996813 Centerline is valid? [True, True] Translation: X:184.94, Y:19.45, Z:-0.86 [[ 9.94109010e-01 -1.08291812e-01 4.49003454e-03 1.84940051e+02] [ 1.08290449e-01 9.94119148e-01 5.46408665e-04 1.94458436e+01] [-4.52280090e-03 -5.69619204e-05 9.99989770e-01 -8.55953795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721400513 meters 0.018277064750496452 Centerline is valid? [True, True] Translation: X:184.97, Y:19.45, Z:-0.86 [[ 9.94364972e-01 -1.05954097e-01 3.46869785e-03 1.84970542e+02] [ 1.05953269e-01 9.94371021e-01 4.22043006e-04 1.94508533e+01] [-3.49388981e-03 -5.21449060e-05 9.99993895e-01 -8.57297649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751400513 meters 0.01767773547659645 Centerline is valid? [True, True] Translation: X:185.00, Y:19.45, Z:-0.86 [[ 9.94520646e-01 -1.04521459e-01 1.98709950e-03 1.85002217e+02] [ 1.04521184e-01 9.94522631e-01 2.41870460e-04 1.94531128e+01] [-2.00149608e-03 -3.28511723e-05 9.99997996e-01 -8.59210357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781400513 meters 0.02236737829486412 Centerline is valid? [True, True] Translation: X:185.03, Y:19.46, Z:-0.86 [[ 9.94715614e-01 -1.02667033e-01 5.71535861e-04 1.85032767e+02] [ 1.02667010e-01 9.94715779e-01 6.96987634e-05 1.94621942e+01] [-5.75671504e-04 -1.06525703e-05 9.99999834e-01 -8.63395774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811400513 meters 0.02384511519094816 Centerline is valid? [True, True] Translation: X:185.06, Y:19.47, Z:-0.86 [[ 9.95062656e-01 -9.92459751e-02 7.39449249e-04 1.85064189e+02] [ 9.92459355e-02 9.95062931e-01 9.02739882e-05 1.94652022e+01] [-7.44757867e-04 -1.64409420e-05 9.99999723e-01 -8.64151748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841400513 meters 0.02636486698473172 Centerline is valid? [True, True] Translation: X:185.10, Y:19.47, Z:-0.86 [[ 9.95186292e-01 -9.79915149e-02 1.38108194e-03 1.85096307e+02] [ 9.79913761e-02 9.95187250e-01 1.67982426e-04 1.94687018e+01] [-1.39089599e-03 -3.18396878e-05 9.99999032e-01 -8.63846648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871400513 meters 0.026880718721650987 Centerline is valid? [True, True] Translation: X:185.13, Y:19.47, Z:-0.86 [[ 9.95337671e-01 -9.64405361e-02 1.46424656e-03 1.85127193e+02] [ 9.64403783e-02 9.95338747e-01 1.78123996e-04 1.94748631e+01] [-1.47459971e-03 -3.60810303e-05 9.99998912e-01 -8.63114863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901400513 meters 0.030719268117340714 Centerline is valid? [True, True] Translation: X:185.16, Y:19.48, Z:-0.86 [[ 9.95589502e-01 -9.37995887e-02 1.78351081e-03 1.85157518e+02] [ 9.37993512e-02 9.95591098e-01 2.16557807e-04 1.94841996e+01] [-1.79596052e-03 -4.83105229e-05 9.99998386e-01 -8.62795393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931400513 meters 0.02959391480113857 Centerline is valid? [True, True] Translation: X:185.19, Y:19.49, Z:-0.86 [[ 9.95681137e-01 -9.27910170e-02 2.98345615e-03 1.85189967e+02] [ 9.27903484e-02 9.95685603e-01 3.62034320e-04 1.94858196e+01] [-3.00417787e-03 -8.36348072e-05 9.99995484e-01 -8.61160953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96140051299997 meters 0.03455766703037517 Centerline is valid? [True, True] Translation: X:185.22, Y:19.49, Z:-0.86 [[ 9.95723327e-01 -9.23052631e-02 3.84626548e-03 1.85220580e+02] [ 9.23041495e-02 9.95730750e-01 4.66415249e-04 1.94905638e+01] [-3.87289739e-03 -1.09394280e-04 9.99992494e-01 -8.61212088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99140051299997 meters 0.03133425370486836 Centerline is valid? [True, True] Translation: X:185.25, Y:19.49, Z:-0.86 [[ 9.95772865e-01 -9.17681161e-02 3.87475058e-03 1.85253112e+02] [ 9.17669824e-02 9.95780398e-01 4.69756076e-04 1.94917616e+01] [-3.90150930e-03 -1.12196186e-04 9.99992383e-01 -8.61589059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02140051299997 meters 0.030526222936198017 Centerline is valid? [True, True] Translation: X:185.29, Y:19.49, Z:-0.86 [[ 9.95762545e-01 -9.19367931e-02 2.14002419e-03 1.85286666e+02] [ 9.19364473e-02 9.95764843e-01 2.59600333e-04 1.94917567e+01] [-2.15482767e-03 -6.17540676e-05 9.99997676e-01 -8.64403278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05140051299998 meters 0.03313236831979925 Centerline is valid? [True, True] Translation: X:185.32, Y:19.50, Z:-0.86 [[ 9.95800278e-01 -9.15284190e-02 2.08670813e-03 1.85316871e+02] [ 9.15280895e-02 9.95802463e-01 2.53041961e-04 1.94976125e+01] [-2.10110962e-03 -6.09868468e-05 9.99997791e-01 -8.64599362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08140051299998 meters 0.03439058414134611 Centerline is valid? [True, True] Translation: X:185.35, Y:19.50, Z:-0.86 [[ 9.95862901e-01 -9.08259633e-02 2.77958256e-03 1.85347875e+02] [ 9.08253777e-02 9.95866777e-01 3.36442150e-04 1.95025185e+01] [-2.79865161e-03 -8.25936195e-05 9.99996080e-01 -8.63238228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11140051299998 meters 0.03289783711348436 Centerline is valid? [True, True] Translation: X:185.38, Y:19.50, Z:-0.86 [[ 9.95877896e-01 -9.06133528e-02 4.05422613e-03 1.85380746e+02] [ 9.06121059e-02 9.95886141e-01 4.90566631e-04 1.95031875e+01] [-4.08199951e-03 -1.21182496e-04 9.99991661e-01 -8.61539778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14140051299998 meters 0.0374003839781637 Centerline is valid? [True, True] Translation: X:185.41, Y:19.51, Z:-0.86 [[ 9.95871264e-01 -9.06961367e-02 3.82586115e-03 1.85411420e+02] [ 9.06950283e-02 9.95878606e-01 4.62579614e-04 1.95104938e+01] [-3.85204745e-03 -1.13683159e-04 9.99992574e-01 -8.62841447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17140051299998 meters 0.031027980332569743 Centerline is valid? [True, True] Translation: X:185.45, Y:19.50, Z:-0.86 [[ 9.95873824e-01 -9.06808871e-02 3.50747864e-03 1.85445623e+02] [ 9.06799553e-02 9.95879996e-01 4.24096409e-04 1.95044462e+01] [-3.53148526e-03 -1.04288506e-04 9.99993759e-01 -8.62693331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20140051299998 meters 0.0337390014602876 Centerline is valid? [True, True] Translation: X:185.48, Y:19.51, Z:-0.86 [[ 9.95947957e-01 -8.98726942e-02 3.25036437e-03 1.85475918e+02] [ 8.98718910e-02 9.95953256e-01 3.92633771e-04 1.95094691e+01] [-3.27249804e-03 -9.89264099e-05 9.99994640e-01 -8.63592306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23140051299998 meters 0.03448747555112153 Centerline is valid? [True, True] Translation: X:185.51, Y:19.51, Z:-0.86 [[ 9.96126372e-01 -8.78665372e-02 3.42374083e-03 1.85508247e+02] [ 8.78656342e-02 9.96132250e-01 4.13561265e-04 1.95097756e+01] [-3.44683685e-03 -1.11130124e-04 9.99994053e-01 -8.63235416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26140051299998 meters 0.034029689857752767 Centerline is valid? [True, True] Translation: X:185.54, Y:19.51, Z:-0.86 [[ 9.96247944e-01 -8.64790429e-02 3.37770021e-03 1.85540462e+02] [ 8.64781567e-02 9.96253664e-01 4.07842056e-04 1.95109705e+01] [-3.40031600e-03 -1.14214522e-04 9.99994212e-01 -8.63287377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29140051299999 meters 0.03914155976400725 Centerline is valid? [True, True] Translation: X:185.57, Y:19.52, Z:-0.86 [[ 9.96394884e-01 -8.47648042e-02 3.48767582e-03 1.85570831e+02] [ 8.47638496e-02 9.96400980e-01 4.20892642e-04 1.95193868e+01] [-3.51080048e-03 -1.23746447e-04 9.99993829e-01 -8.64019910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321400513 meters 0.03914155976400725 Centerline is valid? [True, True] Translation: X:185.60, Y:19.52, Z:-0.86 [[ 9.96401008e-01 -8.46927781e-02 3.48767860e-03 1.85603154e+02] [ 8.46918231e-02 9.96407105e-01 4.20869587e-04 1.95231542e+01] [-3.51079235e-03 -1.23977021e-04 9.99993829e-01 -8.64235827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351400513 meters 0.04319314841105774 Centerline is valid? [True, True] Translation: X:185.63, Y:19.53, Z:-0.86 [[ 9.96816296e-01 -7.96759095e-02 3.00355689e-03 1.85632536e+02] [ 7.96751798e-02 9.96820814e-01 3.62041777e-04 1.95312945e+01] [-3.02285403e-03 -1.21580207e-04 9.99995424e-01 -8.64998192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381400513 meters 0.04392370574858531 Centerline is valid? [True, True] Translation: X:185.66, Y:19.54, Z:-0.87 [[ 9.97065671e-01 -7.65140815e-02 2.37535077e-03 1.85663759e+02] [ 7.65136159e-02 9.97068495e-01 2.86413612e-04 1.95357890e+01] [-2.39030209e-03 -1.03826504e-04 9.99997138e-01 -8.65889931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411400513 meters 0.050642497109552036 Centerline is valid? [True, True] Translation: X:185.69, Y:19.55, Z:-0.87 [[ 9.97331940e-01 -7.29854090e-02 1.46018348e-03 1.85692593e+02] [ 7.29852292e-02 9.97333006e-01 1.76154360e-04 1.95471974e+01] [-1.46914588e-03 -6.91125438e-05 9.99998918e-01 -8.67936028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441400513 meters 0.056916698785764185 Centerline is valid? [True, True] Translation: X:185.72, Y:19.56, Z:-0.87 [[ 9.97659123e-01 -6.83648325e-02 1.58897345e-03 1.85721448e+02] [ 6.83646142e-02 9.97660385e-01 1.91370984e-04 1.95569437e+01] [-1.59833890e-03 -8.22934516e-05 9.99998719e-01 -8.68353476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471400513 meters 0.05869421774652806 Centerline is valid? [True, True] Translation: X:185.75, Y:19.56, Z:-0.87 [[ 9.97722572e-01 -6.74211835e-02 2.01353044e-03 1.85752411e+02] [ 6.74208305e-02 9.97724598e-01 2.42753954e-04 1.95620507e+01] [-2.02531561e-03 -1.06447205e-04 9.99997943e-01 -8.67795198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501400513 meters 0.06032636274349463 Centerline is valid? [True, True] Translation: X:185.78, Y:19.57, Z:-0.87 [[ 9.97772443e-01 -6.66603908e-02 2.55835285e-03 1.85783460e+02] [ 6.66598188e-02 9.97775713e-01 3.08281165e-04 1.95665546e+01] [-2.57321248e-03 -1.37055113e-04 9.99996680e-01 -8.67400864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531400513 meters 0.05784683164375868 Centerline is valid? [True, True] Translation: X:185.82, Y:19.56, Z:-0.87 [[ 9.97803793e-01 -6.61612536e-02 3.20607420e-03 1.85816110e+02] [ 6.61603532e-02 9.97808929e-01 3.86201220e-04 1.95615174e+01] [-3.22460102e-03 -1.73238041e-04 9.99994786e-01 -8.66231608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561400513 meters 0.053979722680780114 Centerline is valid? [True, True] Translation: X:185.85, Y:19.56, Z:-0.87 [[ 9.97781914e-01 -6.64773183e-02 3.46685045e-03 1.85848731e+02] [ 6.64762680e-02 9.97787919e-01 4.17423897e-04 1.95568772e+01] [-3.48693072e-03 -1.86034735e-04 9.99993903e-01 -8.65822096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591400513 meters 0.053892186859167135 Centerline is valid? [True, True] Translation: X:185.88, Y:19.56, Z:-0.87 [[ 9.97761586e-01 -6.67931258e-02 3.23982205e-03 1.85881019e+02] [ 6.67922107e-02 9.97766831e-01 3.89946918e-04 1.95577002e+01] [-3.25863275e-03 -1.72679178e-04 9.99994676e-01 -8.66500464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621400513 meters 0.05820143989230462 Centerline is valid? [True, True] Translation: X:185.91, Y:19.56, Z:-0.87 [[ 9.97734776e-01 -6.71891568e-02 3.30664961e-03 1.85911535e+02] [ 6.71882065e-02 9.97740240e-01 3.97777690e-04 1.95615006e+01] [-3.32590372e-03 -1.74708777e-04 9.99994454e-01 -8.66903701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651400513 meters 0.04976241138314681 Centerline is valid? [True, True] Translation: X:185.94, Y:19.55, Z:-0.87 [[ 9.97686186e-01 -6.79153933e-02 3.12642759e-03 1.85944913e+02] [ 6.79145475e-02 9.97691071e-01 3.76043814e-04 1.95511335e+01] [-3.14474805e-03 -1.62843804e-04 9.99995042e-01 -8.66689663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681400513 meters 0.05834716208997741 Centerline is valid? [True, True] Translation: X:185.98, Y:19.56, Z:-0.87 [[ 9.97654732e-01 -6.84196509e-02 1.94609064e-03 1.85975400e+02] [ 6.84193242e-02 9.97656625e-01 2.34041290e-04 1.95611176e+01] [-1.95754324e-03 -1.00342194e-04 9.99998079e-01 -8.69565991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71140051299997 meters 0.05348750747707716 Centerline is valid? [True, True] Translation: X:186.01, Y:19.56, Z:-0.87 [[ 9.97591255e-01 -6.93627805e-02 7.02335492e-04 1.86008467e+02] [ 6.93627380e-02 9.97591501e-01 8.46623657e-05 1.95554963e+01] [-7.06516335e-04 -3.57425229e-05 9.99999750e-01 -8.70776173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74140051299997 meters 0.050324525242269505 Centerline is valid? [True, True] Translation: X:186.04, Y:19.55, Z:-0.87 [[ 9.97455224e-01 -7.12944820e-02 4.15554498e-04 1.86040847e+02] [ 7.12944673e-02 9.97455310e-01 5.01306176e-05 1.95507347e+01] [-4.18071077e-04 -2.03763099e-05 9.99999912e-01 -8.71300945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77140051299997 meters 0.05599727363340822 Centerline is valid? [True, True] Translation: X:186.07, Y:19.56, Z:-0.87 [[ 9.97400409e-01 -7.20242061e-02 2.22226173e-03 1.86072047e+02] [ 7.20237896e-02 9.97402879e-01 2.66991083e-04 1.95562865e+01] [-2.23572007e-03 -1.06241304e-04 9.99997495e-01 -8.69071451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80140051299998 meters 0.051619317677134784 Centerline is valid? [True, True] Translation: X:186.11, Y:19.55, Z:-0.86 [[ 9.97414273e-01 -7.15709921e-02 6.50847505e-03 1.86105365e+02] [ 7.15674160e-02 9.97435459e-01 7.81008655e-04 1.95506632e+01] [-6.54768136e-03 -3.13194439e-04 9.99978515e-01 -8.61911772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83140051299998 meters 0.051426812112829706 Centerline is valid? [True, True] Translation: X:186.14, Y:19.55, Z:-0.86 [[ 9.97442413e-01 -7.12023537e-02 6.23355843e-03 1.86137377e+02] [ 7.11990680e-02 9.97461846e-01 7.47729874e-04 1.95507856e+01] [-6.27097683e-03 -3.01993939e-04 9.99980292e-01 -8.61912968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86140051299998 meters 0.05086519595172163 Centerline is valid? [True, True] Translation: X:186.17, Y:19.55, Z:-0.86 [[ 9.97446451e-01 -7.12452670e-02 4.96891550e-03 1.86170205e+02] [ 7.12431806e-02 9.97458798e-01 5.95857207e-04 1.95509727e+01] [-4.99874049e-03 -2.40334312e-04 9.99987477e-01 -8.63731565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89140051299998 meters 0.052315286102242085 Centerline is valid? [True, True] Translation: X:186.20, Y:19.55, Z:-0.87 [[ 9.97445919e-01 -7.13483854e-02 3.32375087e-03 1.86201381e+02] [ 7.13474528e-02 9.97451444e-01 3.98478204e-04 1.95535052e+01] [-3.34371088e-03 -1.60319300e-04 9.99994397e-01 -8.66497084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92140051299998 meters 0.05428655287458452 Centerline is valid? [True, True] Translation: X:186.23, Y:19.55, Z:-0.87 [[ 9.97519776e-01 -7.03033913e-02 3.42498837e-03 1.86232180e+02] [ 7.03023948e-02 9.97525641e-01 4.10631956e-04 1.95537965e+01] [-3.44538254e-03 -1.68828612e-04 9.99994050e-01 -8.68024943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95140051299998 meters 0.05447983297964724 Centerline is valid? [True, True] Translation: X:186.26, Y:19.56, Z:-0.87 [[ 9.97572356e-01 -6.94920984e-02 4.49911069e-03 1.86264767e+02] [ 6.94903734e-02 9.97582477e-01 5.38786132e-04 1.95554765e+01] [-4.52567536e-03 -2.24833269e-04 9.99989734e-01 -8.66805753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98140051299998 meters 0.05243719994367047 Centerline is valid? [True, True] Translation: X:186.30, Y:19.56, Z:-0.87 [[ 9.97627106e-01 -6.86477369e-02 5.25800083e-03 1.86297505e+02] [ 6.86453709e-02 9.97640926e-01 6.29363328e-04 1.95555216e+01] [-5.28880118e-03 -2.66932499e-04 9.99985979e-01 -8.65890208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01140051299998 meters 0.056162762588755986 Centerline is valid? [True, True] Translation: X:186.33, Y:19.56, Z:-0.87 [[ 9.97720953e-01 -6.72869587e-02 5.03629854e-03 1.86327780e+02] [ 6.72847719e-02 9.97733630e-01 6.02574631e-04 1.95626364e+01] [-5.06542983e-03 -2.62335137e-04 9.99987136e-01 -8.65955974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04140051299999 meters 0.05656593484789924 Centerline is valid? [True, True] Translation: X:186.36, Y:19.56, Z:-0.87 [[ 9.97935653e-01 -6.40662903e-02 4.46578316e-03 1.86358706e+02] [ 6.40645397e-02 9.97945614e-01 5.34107017e-04 1.95627339e+01] [-4.49082698e-03 -2.46906092e-04 9.99989886e-01 -8.66835308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071400513 meters 0.06187055334153897 Centerline is valid? [True, True] Translation: X:186.39, Y:19.57, Z:-0.87 [[ 9.98031867e-01 -6.25869573e-02 3.90701230e-03 1.86388290e+02] [ 6.25856060e-02 9.98039490e-01 4.67295812e-04 1.95702214e+01] [-3.92859918e-03 -2.21853380e-04 9.99992258e-01 -8.67880954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101400513 meters 0.06410585571876756 Centerline is valid? [True, True] Translation: X:186.42, Y:19.58, Z:-0.87 [[ 9.98116275e-01 -6.12643515e-02 3.25269933e-03 1.86419335e+02] [ 6.12634078e-02 9.98121557e-01 3.89086739e-04 1.95751527e+01] [-3.27042647e-03 -1.89082361e-04 9.99994634e-01 -8.69167635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131400513 meters 0.062007847896714395 Centerline is valid? [True, True] Translation: X:186.45, Y:19.58, Z:-0.87 [[ 9.98258496e-01 -5.89211668e-02 2.87599661e-03 1.86450930e+02] [ 5.89204196e-02 9.98262624e-01 3.43912644e-04 1.95761302e+01] [-2.89126365e-03 -1.73858792e-04 9.99995805e-01 -8.69904780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161400513 meters 0.06442936367575282 Centerline is valid? [True, True] Translation: X:186.48, Y:19.58, Z:-0.87 [[ 9.98331461e-01 -5.76569426e-02 3.15764629e-03 1.86481258e+02] [ 5.76560353e-02 9.98336436e-01 3.77706918e-04 1.95819864e+01] [-3.17417077e-03 -1.95019333e-04 9.99994943e-01 -8.69863691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191400513 meters 0.0634142294895053 Centerline is valid? [True, True] Translation: X:186.51, Y:19.58, Z:-0.87 [[ 9.98408287e-01 -5.62882466e-02 3.53924890e-03 1.86512274e+02] [ 5.62871002e-02 9.98414535e-01 4.22766504e-04 1.95829850e+01] [-3.55743433e-03 -2.22879524e-04 9.99993647e-01 -8.69042515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221400513 meters 0.06578229168547084 Centerline is valid? [True, True] Translation: X:186.54, Y:19.59, Z:-0.87 [[ 9.98483070e-01 -5.49380438e-02 3.65640904e-03 1.86542008e+02] [ 5.49368114e-02 9.98489738e-01 4.36714008e-04 1.95884117e+01] [-3.67487911e-03 -2.35180090e-04 9.99993220e-01 -8.68977762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251400513 meters 0.07056068716175357 Centerline is valid? [True, True] Translation: X:186.57, Y:19.60, Z:-0.87 [[ 9.98613207e-01 -5.25628188e-02 2.96871237e-03 1.86570297e+02] [ 5.25619962e-02 9.98617600e-01 3.54481275e-04 1.95974379e+01] [-2.98324095e-03 -1.97948235e-04 9.99995531e-01 -8.70756704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281400513 meters 0.06831621168690923 Centerline is valid? [True, True] Translation: X:186.60, Y:19.60, Z:-0.87 [[ 9.98684598e-01 -5.12317070e-02 2.09433487e-03 1.86601697e+02] [ 5.12312944e-02 9.98686784e-01 2.50223869e-04 1.95979890e+01] [-2.10440395e-03 -1.42599238e-04 9.99997776e-01 -8.71756764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311400513 meters 0.06720753702730639 Centerline is valid? [True, True] Translation: X:186.63, Y:19.60, Z:-0.87 [[ 9.98719434e-01 -5.05696359e-02 1.48446706e-03 1.86634185e+02] [ 5.05694276e-02 9.98720532e-01 1.77499067e-04 1.95970943e+01] [-1.49154379e-03 -1.02203118e-04 9.99998882e-01 -8.72825474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341400513 meters 0.07173188851405592 Centerline is valid? [True, True] Translation: X:186.66, Y:19.60, Z:-0.88 [[ 9.98705555e-01 -5.08580706e-02 -8.18607981e-04 1.86664625e+02] [ 5.08580078e-02 9.98705889e-01 -9.74270693e-05 1.96033559e+01] [ 8.22503564e-04 5.56681843e-05 9.99999660e-01 -8.76597137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371400513 meters 0.07173867947899165 Centerline is valid? [True, True] Translation: X:186.70, Y:19.60, Z:-0.88 [[ 9.98658321e-01 -5.17635369e-02 -1.44738270e-03 1.86695977e+02] [ 5.17633410e-02 9.98659365e-01 -1.72502660e-04 1.96047860e+01] [ 1.45437163e-03 9.73498523e-05 9.99998938e-01 -8.78175914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401400513 meters 0.0707620833087735 Centerline is valid? [True, True] Translation: X:186.73, Y:19.61, Z:-0.88 [[ 9.98607107e-01 -5.27569307e-02 -7.42804424e-04 1.86727930e+02] [ 5.27568795e-02 9.98607382e-01 -8.83488746e-05 1.96056106e+01] [ 7.46430997e-04 4.90377705e-05 9.99999720e-01 -8.77999812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431400513 meters 0.06858710348519374 Centerline is valid? [True, True] Translation: X:186.76, Y:19.60, Z:-0.87 [[ 9.98508710e-01 -5.45634268e-02 1.78551277e-03 1.86759555e+02] [ 5.45631328e-02 9.98510300e-01 2.12987933e-04 1.96029318e+01] [-1.79447424e-03 -1.15247136e-04 9.99998383e-01 -8.74811792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46140051299997 meters 0.06543703268601728 Centerline is valid? [True, True] Translation: X:186.79, Y:19.60, Z:-0.87 [[ 9.98445266e-01 -5.56784446e-02 2.63845121e-03 1.86791148e+02] [ 5.56778066e-02 9.98448738e-01 3.14712203e-04 1.96006804e+01] [-2.65188097e-03 -1.67319733e-04 9.99996470e-01 -8.72768577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49140051299997 meters 0.06403905167948087 Centerline is valid? [True, True] Translation: X:186.82, Y:19.60, Z:-0.87 [[ 9.98253472e-01 -5.89889800e-02 3.21019309e-03 1.86821681e+02] [ 5.89880532e-02 9.98258615e-01 3.82727816e-04 1.95985668e+01] [-3.22717963e-03 -1.92696331e-04 9.99994774e-01 -8.71914352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52140051299997 meters 0.05939616017821538 Centerline is valid? [True, True] Translation: X:186.85, Y:19.59, Z:-0.87 [[ 9.98140907e-01 -6.08733163e-02 3.02810800e-03 1.86853807e+02] [ 6.08725002e-02 9.98145485e-01 3.61039937e-04 1.95927304e+01] [-3.04447002e-03 -1.76040226e-04 9.99995350e-01 -8.72195785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55140051299998 meters 0.057129442095057346 Centerline is valid? [True, True] Translation: X:186.89, Y:19.59, Z:-0.87 [[ 9.98033833e-01 -6.25907377e-02 3.29653119e-03 1.86886259e+02] [ 6.25897796e-02 9.98039260e-01 3.93095180e-04 1.95884744e+01] [-3.31467167e-03 -1.85993129e-04 9.99994489e-01 -8.72372943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58140051299998 meters 0.0596579424832135 Centerline is valid? [True, True] Translation: X:186.92, Y:19.59, Z:-0.87 [[ 9.97935512e-01 -6.41132913e-02 3.76824712e-03 1.86916582e+02] [ 6.41120513e-02 9.97942605e-01 4.49063797e-04 1.95895280e+01] [-3.78928531e-03 -2.06546657e-04 9.99992799e-01 -8.72260802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61140051299998 meters 0.05787562718665694 Centerline is valid? [True, True] Translation: X:186.95, Y:19.58, Z:-0.87 [[ 9.97856127e-01 -6.53092642e-02 4.22496154e-03 1.86948958e+02] [ 6.53077163e-02 9.97865045e-01 5.03457384e-04 1.95808768e+01] [-4.24882187e-03 -2.26455446e-04 9.99990948e-01 -8.70673521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64140051299998 meters 0.06331781026290764 Centerline is valid? [True, True] Translation: X:186.98, Y:19.59, Z:-0.87 [[ 9.97881469e-01 -6.48959942e-02 4.59167103e-03 1.86979172e+02] [ 6.48941620e-02 9.97892002e-01 5.47054782e-04 1.95884501e+01] [-4.61749346e-03 -2.47923186e-04 9.99989309e-01 -8.70829963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67140051299998 meters 0.06317244316611127 Centerline is valid? [True, True] Translation: X:187.01, Y:19.59, Z:-0.87 [[ 9.97904321e-01 -6.45512043e-02 4.48417415e-03 1.87011963e+02] [ 6.45494540e-02 9.97914366e-01 5.34112723e-04 1.95871629e+01] [-4.50929943e-03 -2.43542401e-04 9.99989803e-01 -8.71484402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70140051299998 meters 0.06425338840766286 Centerline is valid? [True, True] Translation: X:187.04, Y:19.58, Z:-0.88 [[ 9.97977409e-01 -6.35034489e-02 2.89871482e-03 1.87044490e+02] [ 6.35027133e-02 9.97981606e-01 3.45199714e-04 1.95816937e+01] [-2.91478545e-03 -1.60425260e-04 9.99995739e-01 -8.75293800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73140051299998 meters 0.06208882056932607 Centerline is valid? [True, True] Translation: X:187.08, Y:19.58, Z:-0.88 [[ 9.98031749e-01 -6.26820981e-02 1.89270985e-03 1.87076529e+02] [ 6.26817831e-02 9.98033538e-01 2.25359214e-04 1.95789015e+01] [-1.90311390e-03 -1.06277222e-04 9.99998183e-01 -8.77019846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76140051299998 meters 0.06172756014071708 Centerline is valid? [True, True] Translation: X:187.11, Y:19.58, Z:-0.88 [[ 9.98119505e-01 -6.12817169e-02 1.41566015e-03 1.87107331e+02] [ 6.12815394e-02 9.98120506e-01 1.68504937e-04 1.95795259e+01] [-1.42332569e-03 -8.14342316e-05 9.99998984e-01 -8.77499482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79140051299999 meters 0.06381369114148261 Centerline is valid? [True, True] Translation: X:187.14, Y:19.58, Z:-0.88 [[ 9.98236302e-01 -5.93521298e-02 1.26872099e-03 1.87138055e+02] [ 5.93519856e-02 9.98237106e-01 1.51025111e-04 1.95840507e+01] [-1.27544803e-03 -7.54576387e-05 9.99999184e-01 -8.77819979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821400513 meters 0.06577563744758375 Centerline is valid? [True, True] Translation: X:187.17, Y:19.58, Z:-0.88 [[ 9.98492142e-01 -5.48900643e-02 7.23385596e-04 1.87168299e+02] [ 5.48900164e-02 9.98492403e-01 8.59952765e-05 1.95845113e+01] [-7.27015308e-04 -4.61589606e-05 9.99999735e-01 -8.78938254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851400513 meters 0.07331734622352452 Centerline is valid? [True, True] Translation: X:187.20, Y:19.59, Z:-0.88 [[ 9.98603710e-01 -5.28199614e-02 8.26014321e-04 1.87197723e+02] [ 5.28198980e-02 9.98604050e-01 9.83640563e-05 1.95943044e+01] [-8.30056832e-04 -5.45967194e-05 9.99999654e-01 -8.79901100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881400513 meters 0.07399600776664957 Centerline is valid? [True, True] Translation: X:187.23, Y:19.60, Z:-0.88 [[ 9.98673096e-01 -5.14829091e-02 1.24771040e-03 1.87228642e+02] [ 5.14827635e-02 9.98673872e-01 1.48551618e-04 1.95970723e+01] [-1.25370365e-03 -8.41189252e-05 9.99999211e-01 -8.78978260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911400513 meters 0.0782148688788298 Centerline is valid? [True, True] Translation: X:187.26, Y:19.60, Z:-0.88 [[ 9.98700933e-01 -5.09029828e-02 2.30932193e-03 1.87258683e+02] [ 5.09024831e-02 9.98703591e-01 2.74693060e-04 1.96032075e+01] [-2.32031080e-03 -1.56785995e-04 9.99997296e-01 -8.78400696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941400513 meters 0.0706513131760277 Centerline is valid? [True, True] Translation: X:187.29, Y:19.60, Z:-0.88 [[ 9.98713521e-01 -5.05849838e-02 3.53017783e-03 1.87291194e+02] [ 5.05838142e-02 9.98719731e-01 4.19870539e-04 1.95965688e+01] [-3.54689740e-03 -2.40760525e-04 9.99993681e-01 -8.76378706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971400513 meters 0.07175917601239283 Centerline is valid? [True, True] Translation: X:187.32, Y:19.60, Z:-0.88 [[ 9.98706567e-01 -5.07287897e-02 3.43275401e-03 1.87322309e+02] [ 5.07276847e-02 9.98712439e-01 4.08243497e-04 1.95982970e+01] [-3.44904383e-03 -2.33579798e-04 9.99994025e-01 -8.76524895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001400513 meters 0.07447619244026944 Centerline is valid? [True, True] Translation: X:187.35, Y:19.60, Z:-0.88 [[ 9.98685765e-01 -5.11770905e-02 2.76551029e-03 1.87353034e+02] [ 5.11763752e-02 9.98689577e-01 3.28836122e-04 1.96023253e+01] [-2.77871518e-03 -1.86875162e-04 9.99996122e-01 -8.78231259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031400513 meters 0.08154167753440368 Centerline is valid? [True, True] Translation: X:187.38, Y:19.61, Z:-0.88 [[ 9.98655185e-01 -5.18251032e-02 1.40685618e-03 1.87382961e+02] [ 5.18249187e-02 9.98656172e-01 1.67284714e-04 1.96112215e+01] [-1.41363516e-03 -9.41495396e-05 9.99998996e-01 -8.81605073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061400513 meters 0.07003617339825485 Centerline is valid? [True, True] Translation: X:187.42, Y:19.60, Z:-0.88 [[ 9.98642515e-01 -5.20692428e-02 1.38635829e-03 1.87415602e+02] [ 5.20690640e-02 9.98643473e-01 1.64822218e-04 1.95988599e+01] [-1.39305983e-03 -9.24120953e-05 9.99999025e-01 -8.80762394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091400513 meters 0.06388278625212215 Centerline is valid? [True, True] Translation: X:187.45, Y:19.59, Z:-0.88 [[ 9.98617841e-01 -5.25349146e-02 1.57822611e-03 1.87448149e+02] [ 5.25346835e-02 9.98619082e-01 1.87579167e-04 1.95923225e+01] [-1.58590117e-03 -1.04408293e-04 9.99998737e-01 -8.79585372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121400513 meters 0.07179456304988797 Centerline is valid? [True, True] Translation: X:187.48, Y:19.60, Z:-0.88 [[ 9.98566169e-01 -5.34966119e-02 1.92819273e-03 1.87477126e+02] [ 5.34962689e-02 9.98568023e-01 2.29034553e-04 1.96028772e+01] [-1.93768418e-03 -1.25555039e-04 9.99998115e-01 -8.80071285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151400513 meters 0.06646428973662646 Centerline is valid? [True, True] Translation: X:187.51, Y:19.60, Z:-0.88 [[ 9.98499616e-01 -5.47131104e-02 2.23426044e-03 1.87509207e+02] [ 5.47126530e-02 9.98502106e-01 2.65348342e-04 1.95969054e+01] [-2.24543179e-03 -1.42707901e-04 9.99997469e-01 -8.79732870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181400513 meters 0.06763060304809278 Centerline is valid? [True, True] Translation: X:187.54, Y:19.60, Z:-0.88 [[ 9.98487379e-01 -5.49240217e-02 2.51098882e-03 1.87539851e+02] [ 5.49234449e-02 9.98490524e-01 2.98126754e-04 1.96004345e+01] [-2.52357286e-03 -1.59763645e-04 9.99996803e-01 -8.79796258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21140051299997 meters 0.06850065710254886 Centerline is valid? [True, True] Translation: X:187.57, Y:19.60, Z:-0.88 [[ 9.98487216e-01 -5.48965934e-02 3.10542371e-03 1.87569889e+02] [ 5.48957110e-02 9.98492025e-01 3.68744060e-04 1.96032680e+01] [-3.12098360e-03 -1.97711787e-04 9.99995110e-01 -8.79112393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24140051299997 meters 0.06850065710254886 Centerline is valid? [True, True] Translation: X:187.60, Y:19.61, Z:-0.88 [[ 9.98488467e-01 -5.48738390e-02 3.10542330e-03 1.87600576e+02] [ 5.48729565e-02 9.98493276e-01 3.68747485e-04 1.96068696e+01] [-3.12097888e-03 -1.97786353e-04 9.99995110e-01 -8.79317451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27140051299997 meters 0.06594251802757131 Centerline is valid? [True, True] Translation: X:187.63, Y:19.60, Z:-0.88 [[ 9.98494317e-01 -5.47616972e-02 3.20248290e-03 1.87632379e+02] [ 5.47607585e-02 9.98499432e-01 3.80115575e-04 1.95988481e+01] [-3.21849313e-03 -2.04172849e-04 9.99994800e-01 -8.78612863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30140051299998 meters 0.06793839311016193 Centerline is valid? [True, True] Translation: X:187.66, Y:19.61, Z:-0.88 [[ 9.98486156e-01 -5.48928261e-02 3.48921360e-03 1.87662164e+02] [ 5.48917125e-02 9.98492227e-01 4.14185741e-04 1.96061166e+01] [-3.50668848e-03 -2.22029818e-04 9.99993827e-01 -8.78201744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33140051299998 meters 0.0680919421876686 Centerline is valid? [True, True] Translation: X:187.69, Y:19.61, Z:-0.88 [[ 9.98489660e-01 -5.48407233e-02 3.30050980e-03 1.87693865e+02] [ 5.48397266e-02 9.98495093e-01 3.91787734e-04 1.96074972e+01] [-3.31702876e-03 -2.10196947e-04 9.99994477e-01 -8.78125108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36140051299998 meters 0.06722521116188375 Centerline is valid? [True, True] Translation: X:187.72, Y:19.61, Z:-0.88 [[ 9.98500660e-01 -5.46506977e-02 3.11992412e-03 1.87724894e+02] [ 5.46498066e-02 9.98505514e-01 3.70206837e-04 1.96078725e+01] [-3.13549349e-03 -1.99148522e-04 9.99995064e-01 -8.78380994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39140051299998 meters 0.06792242261036242 Centerline is valid? [True, True] Translation: X:187.76, Y:19.61, Z:-0.88 [[ 9.98549018e-01 -5.38040853e-02 2.23119326e-03 1.87755566e+02] [ 5.38036275e-02 9.98551501e-01 2.64750991e-04 1.96091483e+01] [-2.24220607e-03 -1.44320551e-04 9.99997476e-01 -8.79396001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42140051299998 meters 0.06770466563794822 Centerline is valid? [True, True] Translation: X:187.79, Y:19.61, Z:-0.88 [[ 9.98594172e-01 -5.29688596e-02 1.99465278e-03 1.87786118e+02] [ 5.29684921e-02 9.98596156e-01 2.36683352e-04 1.96106459e+01] [-2.00438944e-03 -1.30696866e-04 9.99997983e-01 -8.80052974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45140051299998 meters 0.06942433813325614 Centerline is valid? [True, True] Translation: X:187.82, Y:19.61, Z:-0.88 [[ 9.98656572e-01 -5.17849907e-02 1.83468578e-03 1.87816525e+02] [ 5.17846778e-02 9.98658250e-01 2.17701840e-04 1.96141144e+01] [-1.84349778e-03 -1.22400761e-04 9.99998293e-01 -8.80288374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48140051299998 meters 0.06941258840639815 Centerline is valid? [True, True] Translation: X:187.85, Y:19.62, Z:-0.88 [[ 9.98712514e-01 -5.06914267e-02 1.92177957e-03 1.87847168e+02] [ 5.06910813e-02 9.98714355e-01 2.28036295e-04 1.96157361e+01] [-1.93086832e-03 -1.30325617e-04 9.99998127e-01 -8.80138100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51140051299998 meters 0.07011893683680583 Centerline is valid? [True, True] Translation: X:187.88, Y:19.62, Z:-0.88 [[ 9.98850807e-01 -4.78703659e-02 2.34384945e-03 1.87877965e+02] [ 4.78698444e-02 9.98853543e-01 2.78114449e-04 1.96174688e+01] [-2.35447577e-03 -1.65595133e-04 9.99997215e-01 -8.79526778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54140051299999 meters 0.07063635600595501 Centerline is valid? [True, True] Translation: X:187.91, Y:19.62, Z:-0.88 [[ 9.98903843e-01 -4.67395566e-02 2.55484336e-03 1.87908462e+02] [ 4.67389334e-02 9.98907093e-01 3.03157493e-04 1.96210303e+01] [-2.56622060e-03 -1.83414531e-04 9.99996690e-01 -8.79764244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571400513 meters 0.07090662079401346 Centerline is valid? [True, True] Translation: X:187.94, Y:19.62, Z:-0.88 [[ 9.98991673e-01 -4.48202799e-02 2.60364573e-03 1.87939623e+02] [ 4.48196260e-02 9.98995048e-01 3.08969745e-04 1.96211257e+01] [-2.61487730e-03 -1.91963775e-04 9.99996563e-01 -8.79725933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601400513 meters 0.07460965666077034 Centerline is valid? [True, True] Translation: X:187.97, Y:19.63, Z:-0.88 [[ 9.99019520e-01 -4.41609444e-02 3.13216178e-03 1.87969290e+02] [ 4.41599949e-02 9.99024402e-01 3.71686767e-04 1.96302620e+01] [-3.14552009e-03 -2.33006087e-04 9.99995026e-01 -8.78882418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631400513 meters 0.07556635086469843 Centerline is valid? [True, True] Translation: X:188.00, Y:19.63, Z:-0.88 [[ 9.99040795e-01 -4.36597174e-02 3.36435759e-03 1.87999799e+02] [ 4.36586193e-02 9.99046428e-01 3.99193765e-04 1.96341089e+01] [-3.37857812e-03 -2.51927650e-04 9.99994261e-01 -8.78473759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661400513 meters 0.07399478385153781 Centerline is valid? [True, True] Translation: X:188.03, Y:19.63, Z:-0.88 [[ 9.99058956e-01 -4.32088193e-02 3.76823076e-03 1.88031473e+02] [ 4.32074385e-02 9.99066023e-01 4.47094731e-04 1.96349820e+01] [-3.78402975e-03 -2.83858396e-04 9.99992800e-01 -8.78010324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691400513 meters 0.07765408243891922 Centerline is valid? [True, True] Translation: X:188.06, Y:19.64, Z:-0.88 [[ 9.99076292e-01 -4.27155763e-02 4.68424182e-03 1.88060745e+02] [ 4.27134382e-02 9.99087210e-01 5.55585343e-04 1.96415860e+01] [-4.70369824e-03 -3.54992070e-04 9.99988875e-01 -8.76890334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721400513 meters 0.07895437350181606 Centerline is valid? [True, True] Translation: X:188.09, Y:19.65, Z:-0.88 [[ 9.99093317e-01 -4.22685602e-02 5.09053257e-03 1.88091785e+02] [ 4.22660292e-02 9.99106210e-01 6.03809079e-04 1.96464620e+01] [-5.11150484e-03 -3.88105017e-04 9.99986861e-01 -8.76496612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751400513 meters 0.07860598735269154 Centerline is valid? [True, True] Translation: X:188.12, Y:19.65, Z:-0.88 [[ 9.99116944e-01 -4.16390867e-02 5.61413437e-03 1.88122751e+02] [ 4.16359992e-02 9.99132624e-01 6.65770320e-04 1.96495382e+01] [-5.63698687e-03 -4.31432314e-04 9.99984019e-01 -8.76105355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781400513 meters 0.07694116243316529 Centerline is valid? [True, True] Translation: X:188.15, Y:19.65, Z:-0.88 [[ 9.99144490e-01 -4.09830441e-02 5.53880175e-03 1.88154797e+02] [ 4.09800294e-02 9.99159750e-01 6.56734989e-04 1.96508255e+01] [-5.56106277e-03 -4.29192887e-04 9.99984445e-01 -8.76373048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811400513 meters 0.08516333717165711 Centerline is valid? [True, True] Translation: X:188.18, Y:19.66, Z:-0.88 [[ 9.99205714e-01 -3.96312327e-02 4.16014692e-03 1.88183254e+02] [ 3.96295214e-02 9.99214320e-01 4.93034243e-04 1.96649737e+01] [-4.17641793e-03 -3.27778001e-04 9.99991225e-01 -8.78995247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841400513 meters 0.08536991719188838 Centerline is valid? [True, True] Translation: X:188.21, Y:19.67, Z:-0.88 [[ 9.99233748e-01 -3.89905750e-02 3.41337126e-03 1.88213864e+02] [ 3.89894190e-02 9.99239542e-01 4.04566928e-04 1.96693449e+01] [-3.42654983e-03 -2.71171566e-04 9.99994093e-01 -8.80374730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871400513 meters 0.08055349434450003 Centerline is valid? [True, True] Translation: X:188.25, Y:19.67, Z:-0.88 [[ 9.99250820e-01 -3.86013333e-02 2.78139991e-03 1.88246511e+02] [ 3.86005639e-02 9.99254666e-01 3.29780112e-04 1.96672978e+01] [-2.79205679e-03 -2.22169442e-04 9.99996078e-01 -8.81182744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901400513 meters 0.07877477755029841 Centerline is valid? [True, True] Translation: X:188.28, Y:19.67, Z:-0.88 [[ 9.99270242e-01 -3.81387898e-02 2.10135498e-03 1.88277630e+02] [ 3.81383499e-02 9.99272437e-01 2.49023613e-04 1.96684904e+01] [-2.10932357e-03 -1.68699674e-04 9.99997761e-01 -8.81981595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931400513 meters 0.08663013507115436 Centerline is valid? [True, True] Translation: X:188.31, Y:19.68, Z:-0.89 [[ 9.99324087e-01 -3.67556949e-02 -6.22838797e-04 1.88306255e+02] [ 3.67556560e-02 9.99324280e-01 -7.37641479e-05 1.96823119e+01] [ 6.25129185e-04 5.08214412e-05 9.99999803e-01 -8.86527470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96140051299997 meters 0.08168670805887376 Centerline is valid? [True, True] Translation: X:188.34, Y:19.68, Z:-0.89 [[ 9.99357779e-01 -3.58050803e-02 -1.42351718e-03 1.88336859e+02] [ 3.58048762e-02 9.99358786e-01 -1.68590223e-04 1.96817380e+01] [ 1.42864078e-03 1.17513094e-04 9.99998973e-01 -8.87289777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99140051299997 meters 0.08476108901223563 Centerline is valid? [True, True] Translation: X:188.36, Y:19.69, Z:-0.89 [[ 9.99380314e-01 -3.51811726e-02 -1.12800371e-03 1.88364617e+02] [ 3.51810437e-02 9.99380946e-01 -1.33956298e-04 1.96901064e+01] [ 1.13201815e-03 9.41889399e-05 9.99999355e-01 -8.87393310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02140051299997 meters 0.08173748547027153 Centerline is valid? [True, True] Translation: X:188.39, Y:19.69, Z:-0.88 [[ 9.99336741e-01 -3.63752080e-02 1.70961383e-03 1.88394171e+02] [ 3.63749146e-02 9.99338193e-01 2.02439738e-04 1.96914522e+01] [-1.71584618e-03 -1.40118411e-04 9.99998518e-01 -8.82487469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05140051299998 meters 0.0776423382996647 Centerline is valid? [True, True] Translation: X:188.43, Y:19.69, Z:-0.88 [[ 9.99265008e-01 -3.82577755e-02 2.40557634e-03 1.88425513e+02] [ 3.82571992e-02 9.99267885e-01 2.85115137e-04 1.96910717e+01] [-2.41472305e-03 -1.92874966e-04 9.99997066e-01 -8.81117760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08140051299998 meters 0.07670014202623406 Centerline is valid? [True, True] Translation: X:188.46, Y:19.69, Z:-0.88 [[ 9.99181228e-01 -4.03998275e-02 2.17429243e-03 1.88455764e+02] [ 4.03993619e-02 9.99183579e-01 2.57652928e-04 1.96944530e+01] [-2.18292643e-03 -1.69601943e-04 9.99997603e-01 -8.81691483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11140051299998 meters 0.08107556292117145 Centerline is valid? [True, True] Translation: X:188.48, Y:19.70, Z:-0.88 [[ 9.99098283e-01 -4.24108565e-02 1.98485706e-03 1.88484700e+02] [ 4.24104725e-02 9.99100243e-01 2.35179689e-04 1.97041739e+01] [-1.99304534e-03 -1.50788897e-04 9.99998003e-01 -8.83516114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14140051299998 meters 0.07194500691928661 Centerline is valid? [True, True] Translation: X:188.52, Y:19.69, Z:-0.88 [[ 9.98932480e-01 -4.61367055e-02 2.30338092e-03 1.88516318e+02] [ 4.61361982e-02 9.98935121e-01 2.72930084e-04 1.96944945e+01] [-2.31352020e-03 -1.66369487e-04 9.99997310e-01 -8.83928743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17140051299998 meters 0.07227553807477378 Centerline is valid? [True, True] Translation: X:188.55, Y:19.70, Z:-0.88 [[ 9.98853681e-01 -4.77938578e-02 2.65901603e-03 1.88546262e+02] [ 4.77931877e-02 9.98857203e-01 3.15054956e-04 1.96959760e+01] [-2.67103501e-03 -1.87610950e-04 9.99996415e-01 -8.83411940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20140051299998 meters 0.07099090451768252 Centerline is valid? [True, True] Translation: X:188.58, Y:19.69, Z:-0.88 [[ 9.98783200e-01 -4.92384154e-02 2.77466198e-03 1.88577299e+02] [ 4.92376911e-02 9.98787035e-01 3.28801830e-04 1.96949353e+01] [-2.78748609e-03 -1.91783794e-04 9.99996097e-01 -8.82418392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23140051299998 meters 0.0751080176511393 Centerline is valid? [True, True] Translation: X:188.61, Y:19.70, Z:-0.88 [[ 9.98700257e-01 -5.08660818e-02 3.23096374e-03 1.88606903e+02] [ 5.08651084e-02 9.98705459e-01 3.82784810e-04 1.97003073e+01] [-3.24625189e-03 -2.17943967e-04 9.99994707e-01 -8.81702110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26140051299998 meters 0.07154504045118631 Centerline is valid? [True, True] Translation: X:188.64, Y:19.69, Z:-0.88 [[ 9.98524031e-01 -5.41656575e-02 3.98018000e-03 1.88639065e+02] [ 5.41642063e-02 9.98531931e-01 4.71572097e-04 1.96916531e+01] [-3.99987983e-03 -2.55292780e-04 9.99991968e-01 -8.80220980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29140051299999 meters 0.0732531654121144 Centerline is valid? [True, True] Translation: X:188.67, Y:19.69, Z:-0.88 [[ 9.98447638e-01 -5.55040909e-02 4.64863491e-03 1.88669067e+02] [ 5.55021261e-02 9.98458417e-01 5.50697770e-04 1.96928092e+01] [-4.67203464e-03 -2.91833767e-04 9.99989043e-01 -8.80019717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321400513 meters 0.06335698434063673 Centerline is valid? [True, True] Translation: X:188.70, Y:19.68, Z:-0.88 [[ 9.98338852e-01 -5.72772079e-02 6.23361814e-03 1.88701752e+02] [ 5.72737094e-02 9.98358241e-01 7.38450798e-04 1.96756239e+01] [-6.26568044e-03 -3.80201688e-04 9.99980298e-01 -8.78218874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351400513 meters 0.06559285165952251 Centerline is valid? [True, True] Translation: X:188.73, Y:19.68, Z:-0.88 [[ 9.98344584e-01 -5.71501127e-02 6.47737027e-03 1.88732082e+02] [ 5.71463311e-02 9.98365518e-01 7.67542972e-04 1.96776202e+01] [-6.51064829e-03 -3.96114422e-04 9.99978727e-01 -8.77554429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381400513 meters 0.061336671836202575 Centerline is valid? [True, True] Translation: X:188.76, Y:19.67, Z:-0.88 [[ 9.98396435e-01 -5.62957569e-02 5.94525760e-03 1.88763713e+02] [ 5.62925575e-02 9.98414068e-01 7.04259355e-04 1.96719809e+01] [-5.97547564e-03 -3.68456275e-04 9.99982079e-01 -8.77784828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411400513 meters 0.07034495755869262 Centerline is valid? [True, True] Translation: X:188.79, Y:19.68, Z:-0.88 [[ 9.98490198e-01 -5.46927649e-02 5.10156077e-03 1.88792492e+02] [ 5.46903883e-02 9.98503178e-01 6.04317280e-04 1.96818282e+01] [-5.12697643e-03 -3.24398541e-04 9.99986804e-01 -8.79447847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441400513 meters 0.06652982991202262 Centerline is valid? [True, True] Translation: X:188.82, Y:19.67, Z:-0.88 [[ 9.98692937e-01 -5.09995993e-02 3.38513692e-03 1.88824058e+02] [ 5.09985319e-02 9.98698648e-01 4.00958226e-04 1.96710979e+01] [-3.40118038e-03 -2.27797135e-04 9.99994190e-01 -8.82714594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471400513 meters 0.07595938416391093 Centerline is valid? [True, True] Translation: X:188.85, Y:19.68, Z:-0.88 [[ 9.98748011e-01 -4.99369735e-02 2.95107506e-03 1.88852735e+02] [ 4.99361575e-02 9.98752351e-01 3.49567035e-04 1.96811877e+01] [-2.96484947e-03 -2.01764032e-04 9.99995584e-01 -8.84703319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501400513 meters 0.06910627331060971 Centerline is valid? [True, True] Translation: X:188.88, Y:19.67, Z:-0.89 [[ 9.98773133e-01 -4.94555957e-02 2.52445304e-03 1.88883934e+02] [ 4.94549971e-02 9.98776308e-01 2.99003174e-04 1.96712655e+01] [-2.53615127e-03 -1.73789519e-04 9.99996769e-01 -8.85287562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531400513 meters 0.06908835298038597 Centerline is valid? [True, True] Translation: X:188.91, Y:19.67, Z:-0.89 [[ 9.98766424e-01 -4.96010898e-02 2.31557776e-03 1.88912863e+02] [ 4.96005880e-02 9.98769096e-01 2.73705583e-04 1.96690631e+01] [-2.32630360e-03 -1.58513928e-04 9.99997282e-01 -8.85857378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561400513 meters 0.06780340635955187 Centerline is valid? [True, True] Translation: X:188.94, Y:19.66, Z:-0.88 [[ 9.98766954e-01 -4.95289664e-02 3.38412388e-03 1.88943036e+02] [ 4.95278905e-02 9.98772660e-01 4.01054613e-04 1.96595596e+01] [-3.39983424e-03 -2.32951577e-04 9.99994193e-01 -8.83705997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591400513 meters 0.07144251679473777 Centerline is valid? [True, True] Translation: X:188.97, Y:19.66, Z:-0.88 [[ 9.98802835e-01 -4.87722710e-02 3.76337609e-03 1.88971869e+02] [ 4.87709308e-02 9.98809890e-01 4.47111165e-04 1.96623232e+01] [-3.78070388e-03 -2.63032544e-04 9.99992819e-01 -8.83181591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621400513 meters 0.07012756299564511 Centerline is valid? [True, True] Translation: X:189.00, Y:19.66, Z:-0.88 [[ 9.98868238e-01 -4.74675713e-02 3.01218686e-03 1.89002163e+02] [ 4.74667066e-02 9.98872756e-01 3.57966571e-04 1.96604439e+01] [-3.02578320e-03 -2.14582847e-04 9.99995399e-01 -8.83901464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651400513 meters 0.08036995794053915 Centerline is valid? [True, True] Translation: X:189.03, Y:19.67, Z:-0.89 [[ 9.99091771e-01 -4.25992461e-02 9.67678156e-04 1.89030362e+02] [ 4.25991546e-02 9.99092237e-01 1.14976876e-04 1.96706293e+01] [-9.71697662e-04 -7.36501789e-05 9.99999525e-01 -8.88816116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681400513 meters 0.07687094060210647 Centerline is valid? [True, True] Translation: X:189.06, Y:19.67, Z:-0.89 [[ 9.99204558e-01 -3.98679063e-02 8.95054948e-04 1.89061632e+02] [ 3.98678269e-02 9.99204956e-01 1.06426374e-04 1.96675185e+01] [-8.98586337e-04 -7.06578218e-05 9.99999594e-01 -8.88746770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71140051299997 meters 0.07684669941945364 Centerline is valid? [True, True] Translation: X:189.09, Y:19.67, Z:-0.89 [[ 9.99307935e-01 -3.71723817e-02 1.36571482e-03 1.89092530e+02] [ 3.71721943e-02 9.99308862e-01 1.62368150e-04 1.96685920e+01] [-1.37080653e-03 -1.11489164e-04 9.99999054e-01 -8.87885620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74140051299997 meters 0.09587609462777713 Centerline is valid? [True, True] Translation: X:189.12, Y:19.69, Z:-0.89 [[ 9.99393432e-01 -3.47962423e-02 1.41048243e-03 1.89118779e+02] [ 3.47960398e-02 9.99394420e-01 1.67895252e-04 1.96929934e+01] [-1.41547039e-03 -1.18714210e-04 9.99998991e-01 -8.88590532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77140051299997 meters 0.0911361815366291 Centerline is valid? [True, True] Translation: X:189.15, Y:19.69, Z:-0.89 [[ 9.99492102e-01 -3.18674160e-02 -7.02938369e-05 1.89149738e+02] [ 3.18674155e-02 9.99492105e-01 -8.41247764e-06 1.96892513e+01] [ 7.05262189e-05 6.16812206e-06 9.99999997e-01 -8.90832540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80140051299998 meters 0.09070929089797011 Centerline is valid? [True, True] Translation: X:189.18, Y:19.69, Z:-0.89 [[ 9.99490834e-01 -3.19026935e-02 -5.39838580e-04 1.89178711e+02] [ 3.19026628e-02 9.99490978e-01 -6.52949907e-05 1.96916486e+01] [ 5.41646876e-04 4.80394565e-05 9.99999852e-01 -8.92509238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83140051299998 meters 0.08080945749621542 Centerline is valid? [True, True] Translation: X:189.21, Y:19.68, Z:-0.89 [[ 9.99455257e-01 -3.29951364e-02 -7.14426703e-04 1.89209535e+02] [ 3.29950839e-02 9.99455510e-01 -8.52147572e-05 1.96815840e+01] [ 7.16849377e-04 6.15957681e-05 9.99999741e-01 -8.92508673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86140051299998 meters 0.08908249214778904 Centerline is valid? [True, True] Translation: X:189.24, Y:19.69, Z:-0.89 [[ 9.99318073e-01 -3.69209452e-02 -4.81701417e-04 1.89238673e+02] [ 3.69209217e-02 9.99318189e-01 -5.74013480e-05 1.96895073e+01] [ 4.83492299e-04 3.95773442e-05 9.99999882e-01 -8.93475398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89140051299998 meters 0.07918439104861955 Centerline is valid? [True, True] Translation: X:189.27, Y:19.68, Z:-0.89 [[ 9.99224690e-01 -3.93690607e-02 -3.09017175e-04 1.89270620e+02] [ 3.93690512e-02 9.99224738e-01 -3.68075467e-05 1.96784773e+01] [ 3.10226684e-04 2.46132964e-05 9.99999952e-01 -8.92138282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92140051299998 meters 0.07615922019702534 Centerline is valid? [True, True] Translation: X:189.30, Y:19.68, Z:-0.89 [[ 9.99129751e-01 -4.17091944e-02 -2.88652161e-04 1.89301618e+02] [ 4.17091862e-02 9.99129793e-01 -3.43914810e-05 1.96761685e+01] [ 2.89835414e-04 2.23221051e-05 9.99999958e-01 -8.92054200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95140051299998 meters 0.07264733816805342 Centerline is valid? [True, True] Translation: X:189.33, Y:19.67, Z:-0.89 [[ 9.99048719e-01 -4.36075271e-02 -2.00436500e-04 1.89332489e+02] [ 4.36075231e-02 9.99048739e-01 -2.39449365e-05 1.96729008e+01] [ 2.01290012e-04 1.51816188e-05 9.99999980e-01 -8.92169580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98140051299998 meters 0.07762951698464987 Centerline is valid? [True, True] Translation: X:189.36, Y:19.68, Z:-0.89 [[ 9.98922900e-01 -4.63942742e-02 7.82008997e-04 1.89362285e+02] [ 4.63942155e-02 9.98923204e-01 9.31146801e-05 1.96758512e+01] [-7.85486921e-04 -5.67336924e-05 9.99999690e-01 -8.91939370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01140051299998 meters 0.07639375222366096 Centerline is valid? [True, True] Translation: X:189.39, Y:19.68, Z:-0.89 [[ 9.98893536e-01 -4.69986018e-02 1.68395416e-03 1.89391656e+02] [ 4.69983315e-02 9.98894948e-01 1.99764664e-04 1.96753639e+01] [-1.69148196e-03 -1.20400596e-04 9.99998562e-01 -8.90141578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04140051299999 meters 0.07569657298014136 Centerline is valid? [True, True] Translation: X:189.42, Y:19.68, Z:-0.89 [[ 9.98907005e-01 -4.66900820e-02 2.19806888e-03 1.89420353e+02] [ 4.66896192e-02 9.98909411e-01 2.61412228e-04 1.96774288e+01] [-2.20787705e-03 -1.58499507e-04 9.99997550e-01 -8.88989412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071400513 meters 0.07533278423475075 Centerline is valid? [True, True] Translation: X:189.45, Y:19.68, Z:-0.89 [[ 9.98943940e-01 -4.59010242e-02 2.02486014e-03 1.89449173e+02] [ 4.59006283e-02 9.98945981e-01 2.41615941e-04 1.96808981e+01] [-2.03381632e-03 -1.48418428e-04 9.99997921e-01 -8.89633798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101400513 meters 0.07623248209497524 Centerline is valid? [True, True] Translation: X:189.48, Y:19.68, Z:-0.89 [[ 9.98993695e-01 -4.48341919e-02 1.22178985e-03 1.89477890e+02] [ 4.48340470e-02 9.98994438e-01 1.45742028e-04 1.96846701e+01] [-1.22709549e-03 -9.08175837e-05 9.99999243e-01 -8.91826204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131400513 meters 0.07623248209497524 Centerline is valid? [True, True] Translation: X:189.51, Y:19.69, Z:-0.89 [[ 9.98985638e-01 -4.50133480e-02 1.22187843e-03 1.89505252e+02] [ 4.50132041e-02 9.98986382e-01 1.45001321e-04 1.96880867e+01] [-1.22716690e-03 -8.98535742e-05 9.99999243e-01 -8.92009187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161400513 meters 0.0799765974973462 Centerline is valid? [True, True] Translation: X:189.53, Y:19.70, Z:-0.89 [[ 9.98977628e-01 -4.51810105e-02 1.54087319e-03 1.89532254e+02] [ 4.51807803e-02 9.98978810e-01 1.83929930e-04 1.96951064e+01] [-1.54760981e-03 -1.14124032e-04 9.99998796e-01 -8.91805047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191400513 meters 0.07781328443394793 Centerline is valid? [True, True] Translation: X:189.56, Y:19.70, Z:-0.89 [[ 9.98949240e-01 -4.57744732e-02 2.26143771e-03 1.89560854e+02] [ 4.57739784e-02 9.98951786e-01 2.70100134e-04 1.96955042e+01] [-2.27143093e-03 -1.66301322e-04 9.99997406e-01 -8.90195798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221400513 meters 0.07468754496656073 Centerline is valid? [True, True] Translation: X:189.59, Y:19.69, Z:-0.89 [[ 9.98869794e-01 -4.74895702e-02 1.96848535e-03 1.89590892e+02] [ 4.74891971e-02 9.98871724e-01 2.35909125e-04 1.96925753e+01] [-1.97746758e-03 -1.42160711e-04 9.99998035e-01 -8.90234195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251400513 meters 0.07391749895577718 Centerline is valid? [True, True] Translation: X:189.62, Y:19.69, Z:-0.89 [[ 9.98799254e-01 -4.89687071e-02 1.45474225e-03 1.89620836e+02] [ 4.89685049e-02 9.98800308e-01 1.74334724e-04 1.96925711e+01] [-1.46153396e-03 -1.02888839e-04 9.99998927e-01 -8.91652210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281400513 meters 0.06674268635157403 Centerline is valid? [True, True] Translation: X:189.65, Y:19.68, Z:-0.89 [[ 9.98722900e-01 -5.05090431e-02 1.18593126e-03 1.89651767e+02] [ 5.05089097e-02 9.98723600e-01 1.42115569e-04 1.96844459e+01] [-1.19159566e-03 -8.20339787e-05 9.99999287e-01 -8.91720017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311400513 meters 0.06638695058102287 Centerline is valid? [True, True] Translation: X:189.68, Y:19.69, Z:-0.89 [[ 9.98646229e-01 -5.19942106e-02 1.52034357e-03 1.89681816e+02] [ 5.19939930e-02 9.98647381e-01 1.82328720e-04 1.96851067e+01] [-1.52776717e-03 -1.03033156e-04 9.99998828e-01 -8.91730390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341400513 meters 0.07897951631882456 Centerline is valid? [True, True] Translation: X:189.71, Y:19.70, Z:-0.89 [[ 9.98624199e-01 -5.23807872e-02 2.44193447e-03 1.89707929e+02] [ 5.23802273e-02 9.98627171e-01 2.92733617e-04 1.96989395e+01] [-2.45391573e-03 -1.64421791e-04 9.99996976e-01 -8.90749972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371400513 meters 0.06461553694198854 Centerline is valid? [True, True] Translation: X:189.74, Y:19.68, Z:-0.89 [[ 9.98685743e-01 -5.11879541e-02 2.56522701e-03 1.89739681e+02] [ 5.11873315e-02 9.98689022e-01 3.07821151e-04 1.96825432e+01] [-2.57762079e-03 -1.76109469e-04 9.99996662e-01 -8.88878151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401400513 meters 0.07329880257070663 Centerline is valid? [True, True] Translation: X:189.77, Y:19.69, Z:-0.89 [[ 9.98781871e-01 -4.92857504e-02 2.38516549e-03 1.89767993e+02] [ 4.92852065e-02 9.98784705e-01 2.86309785e-04 1.96942197e+01] [-2.39637780e-03 -1.68407650e-04 9.99997115e-01 -8.89545098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431400513 meters 0.07847525968811991 Centerline is valid? [True, True] Translation: X:189.80, Y:19.70, Z:-0.89 [[ 9.99073536e-01 -4.30016526e-02 1.71119729e-03 1.89797491e+02] [ 4.30013635e-02 9.99074992e-01 2.05417062e-04 1.97013747e+01] [-1.71844769e-03 -1.31642934e-04 9.99998515e-01 -8.92330869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46140051299997 meters 0.08404545972107048 Centerline is valid? [True, True] Translation: X:189.83, Y:19.71, Z:-0.89 [[ 9.99231189e-01 -3.91681917e-02 1.69831921e-03 1.89826125e+02] [ 3.91679014e-02 9.99232623e-01 2.03907348e-04 1.97098515e+01] [-1.70500264e-03 -1.37230983e-04 9.99998537e-01 -8.93596943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49140051299997 meters 0.08699831044973817 Centerline is valid? [True, True] Translation: X:189.86, Y:19.72, Z:-0.89 [[ 9.99373178e-01 -3.53634470e-02 1.63635778e-03 1.89856336e+02] [ 3.53631724e-02 9.99374508e-01 1.96470048e-04 1.97154080e+01] [-1.64228211e-03 -1.38480094e-04 9.99998642e-01 -8.93664725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52140051299997 meters 0.09142697191251548 Centerline is valid? [True, True] Translation: X:189.89, Y:19.72, Z:-0.89 [[ 9.99475144e-01 -3.23495091e-02 1.71616564e-03 1.89885205e+02] [ 3.23492026e-02 9.99476606e-01 2.06056738e-04 1.97226189e+01] [-1.72193325e-03 -1.50431998e-04 9.99998506e-01 -8.93677277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55140051299998 meters 0.10173865917143476 Centerline is valid? [True, False] Translation: X:189.91, Y:19.74, Z:-0.90 [[ 9.99742562e-01 -2.20702814e-02 5.26417707e-03 1.89908808e+02] [ 2.21696544e-02 9.99561456e-01 -1.96316543e-02 1.97369206e+01] [-4.82859236e-03 1.97433054e-02 9.99793422e-01 -8.98037568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58140051299998 meters 0.09076332635192656 Centerline is valid? [False, True] Translation: X:189.87, Y:19.72, Z:-0.90 [[ 9.99855394e-01 -1.67296962e-02 3.05101458e-03 1.89869058e+02] [ 1.67603923e-02 9.99806178e-01 -1.03293544e-02 1.97216404e+01] [-2.87761627e-03 1.03789969e-02 9.99941996e-01 -8.96831325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61140051299998 meters 0.09134995216137973 Centerline is valid? [True, True] Translation: X:189.90, Y:19.72, Z:-0.90 [[ 9.99875392e-01 -1.56803709e-02 1.82377264e-03 1.89900321e+02] [ 1.56800279e-02 9.99877040e-01 2.02269887e-04 1.97153261e+01] [-1.82672006e-03 -1.73647876e-04 9.99998316e-01 -8.96166938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64140051299998 meters 0.0926482269148031 Centerline is valid? [True, True] Translation: X:189.93, Y:19.72, Z:-0.89 [[ 9.99892603e-01 -1.43819515e-02 2.81815471e-03 1.89929825e+02] [ 1.43811268e-02 9.99896537e-01 3.12680108e-04 1.97190621e+01] [-2.82236009e-03 -2.72118287e-04 9.99995980e-01 -8.94604947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67140051299998 meters 0.09854649661179062 Centerline is valid? [True, True] Translation: X:189.96, Y:19.73, Z:-0.90 [[ 9.99893099e-01 -1.44003461e-02 2.53378381e-03 1.89959457e+02] [ 1.43996791e-02 9.99896280e-01 2.81309892e-04 1.97304222e+01] [-2.53757196e-03 -2.44794146e-04 9.99996750e-01 -8.95630176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70140051299998 meters 0.09513086172217713 Centerline is valid? [True, True] Translation: X:189.99, Y:19.73, Z:-0.90 [[ 9.99883771e-01 -1.51521858e-02 1.68977434e-03 1.89989822e+02] [ 1.51518903e-02 9.99885186e-01 1.87543997e-04 1.97308986e+01] [-1.69242203e-03 -1.61918924e-04 9.99998555e-01 -8.97539558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73140051299998 meters 0.09732780153494708 Centerline is valid? [True, True] Translation: X:190.02, Y:19.74, Z:-0.90 [[ 9.99865899e-01 -1.63594983e-02 7.42113726e-04 1.90018550e+02] [ 1.63594415e-02 9.99866172e-01 8.25808455e-05 1.97379589e+01] [-7.43365392e-04 -7.04292052e-05 9.99999721e-01 -8.99532097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76140051299998 meters 0.08997153823619973 Centerline is valid? [True, True] Translation: X:190.05, Y:19.73, Z:-0.90 [[ 9.99809194e-01 -1.95339589e-02 6.48960124e-06 1.90049620e+02] [ 1.95339589e-02 9.99809194e-01 6.85843086e-07 1.97336104e+01] [-6.50176022e-06 -5.58944619e-07 1.00000000e+00 -8.99044904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79140051299999 meters 0.09454537302856554 Centerline is valid? [True, True] Translation: X:190.08, Y:19.74, Z:-0.90 [[ 9.99783116e-01 -2.08258200e-02 -7.45222569e-05 1.90077904e+02] [ 2.08258194e-02 9.99783119e-01 -8.45201924e-06 1.97435371e+01] [ 7.46821147e-05 6.89819907e-06 9.99999997e-01 -8.99284690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821400513 meters 0.09504814141477015 Centerline is valid? [True, True] Translation: X:190.11, Y:19.75, Z:-0.90 [[ 9.99746586e-01 -2.25070298e-02 4.44268616e-04 1.90107278e+02] [ 2.25070101e-02 9.99746684e-01 4.92021051e-05 1.97484250e+01] [-4.45263469e-04 -3.91904784e-05 9.99999900e-01 -8.99094581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851400513 meters 0.08734810965876598 Centerline is valid? [True, True] Translation: X:190.14, Y:19.74, Z:-0.90 [[ 9.99701605e-01 -2.44181629e-02 6.74100889e-04 1.90138630e+02] [ 2.44181180e-02 9.99701831e-01 7.48077279e-05 1.97428950e+01] [-6.75726560e-04 -5.83251306e-05 9.99999770e-01 -8.97995696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881400513 meters 0.08659098692773634 Centerline is valid? [True, True] Translation: X:190.17, Y:19.75, Z:-0.90 [[ 9.99609775e-01 -2.78769284e-02 1.78156610e-03 1.90167999e+02] [ 2.78766200e-02 9.99611352e-01 1.97723420e-04 1.97475795e+01] [-1.78638561e-03 -1.47982223e-04 9.99998393e-01 -8.97762286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911400513 meters 0.07493194204593777 Centerline is valid? [True, True] Translation: X:190.20, Y:19.74, Z:-0.90 [[ 9.99552244e-01 -2.98297622e-02 2.34442948e-03 1.90199722e+02] [ 2.98292334e-02 9.99554976e-01 2.60208770e-04 1.97387065e+01] [-2.35114811e-03 -1.90159726e-04 9.99997218e-01 -8.96856520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941400513 meters 0.07521240840986672 Centerline is valid? [True, True] Translation: X:190.23, Y:19.74, Z:-0.90 [[ 9.99481146e-01 -3.21160137e-02 2.44945422e-03 1.90229484e+02] [ 3.21154432e-02 9.99484129e-01 2.71907045e-04 1.97424958e+01] [-2.45692319e-03 -1.93100656e-04 9.99996963e-01 -8.96827578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971400513 meters 0.08214483606468868 Centerline is valid? [True, True] Translation: X:190.26, Y:19.76, Z:-0.90 [[ 9.99398229e-01 -3.45838921e-02 2.67086287e-03 1.90257812e+02] [ 3.45832227e-02 9.99401777e-01 2.96430376e-04 1.97573997e+01] [-2.67951682e-03 -2.03884947e-04 9.99996389e-01 -8.97962294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001400513 meters 0.07539554886847107 Centerline is valid? [True, True] Translation: X:190.29, Y:19.75, Z:-0.90 [[ 9.99269620e-01 -3.81329125e-02 2.47144751e-03 1.90288485e+02] [ 3.81323500e-02 9.99272660e-01 2.74356845e-04 1.97529387e+01] [-2.48011195e-03 -1.79914359e-04 9.99996908e-01 -8.98381375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031400513 meters 0.07400718926348321 Centerline is valid? [True, True] Translation: X:190.32, Y:19.75, Z:-0.90 [[ 9.99102488e-01 -4.22711791e-02 2.71392605e-03 1.90317860e+02] [ 4.22705158e-02 9.99106157e-01 3.01331052e-04 1.97545553e+01] [-2.72423784e-03 -1.86341550e-04 9.99996272e-01 -8.98665603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061400513 meters 0.058778744921721596 Centerline is valid? [True, True] Translation: X:190.35, Y:19.74, Z:-0.90 [[ 9.98667240e-01 -5.14254820e-02 4.37769959e-03 1.90350806e+02] [ 5.14238435e-02 9.98676801e-01 4.86089477e-04 1.97382713e+01] [-4.39690440e-03 -2.60323498e-04 9.99990300e-01 -8.95929335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091400513 meters 0.05628867006217153 Centerline is valid? [True, True] Translation: X:190.38, Y:19.74, Z:-0.89 [[ 9.98432362e-01 -5.57258870e-02 5.23873724e-03 1.90380455e+02] [ 5.57235998e-02 9.98446064e-01 5.81658516e-04 1.97369389e+01] [-5.26301002e-03 -2.88825388e-04 9.99986109e-01 -8.94922270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121400513 meters 0.05123715071578009 Centerline is valid? [True, True] Translation: X:190.41, Y:19.73, Z:-0.89 [[ 9.98216423e-01 -5.94493856e-02 5.45375761e-03 1.90411878e+02] [ 5.94469612e-02 9.98231282e-01 6.05700399e-04 1.97314062e+01] [-5.48011996e-03 -2.80410768e-04 9.99984945e-01 -8.94263770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151400513 meters 0.04458592518972797 Centerline is valid? [True, True] Translation: X:190.44, Y:19.72, Z:-0.89 [[ 9.97921033e-01 -6.42457477e-02 5.10849882e-03 1.90442891e+02] [ 6.42436835e-02 9.97934080e-01 5.67309135e-04 1.97211560e+01] [-5.13439227e-03 -2.37940936e-04 9.99986791e-01 -8.94347625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181400513 meters 0.04386317555606995 Centerline is valid? [True, True] Translation: X:190.47, Y:19.72, Z:-0.89 [[ 9.97838494e-01 -6.55154625e-02 5.10522704e-03 1.90471679e+02] [ 6.55134175e-02 9.97851527e-01 5.66972700e-04 1.97210433e+01] [-5.13140408e-03 -2.31286315e-04 9.99986808e-01 -8.94962190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21140051299997 meters 0.043732865286387056 Centerline is valid? [True, True] Translation: X:190.50, Y:19.72, Z:-0.89 [[ 9.97772794e-01 -6.64729499e-02 5.54962725e-03 1.90499267e+02] [ 6.64705469e-02 9.97788197e-01 6.16535740e-04 1.97219539e+01] [-5.57833551e-03 -2.46275830e-04 9.99984411e-01 -8.94930377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24140051299997 meters 0.04619388351906035 Centerline is valid? [True, True] Translation: X:190.53, Y:19.73, Z:-0.89 [[ 9.97757013e-01 -6.66567854e-02 6.14953857e-03 1.90527121e+02] [ 6.66538343e-02 9.97775926e-01 6.83817633e-04 1.97258694e+01] [-6.18144263e-03 -2.72393513e-04 9.99980858e-01 -8.94437734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27140051299997 meters 0.04713835473669628 Centerline is valid? [True, True] Translation: X:190.55, Y:19.73, Z:-0.89 [[ 9.97746839e-01 -6.67512200e-02 6.74687659e-03 1.90554294e+02] [ 6.67476676e-02 9.97769605e-01 7.50593303e-04 1.97278449e+01] [-6.78193141e-03 -2.98563820e-04 9.99976958e-01 -8.93704706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30140051299998 meters 0.047591589963058886 Centerline is valid? [True, True] Translation: X:190.58, Y:19.73, Z:-0.89 [[ 9.97744244e-01 -6.68480387e-02 6.14518398e-03 1.90582333e+02] [ 6.68450899e-02 9.97763131e-01 6.84239419e-04 1.97279490e+01] [-6.17717807e-03 -2.71920567e-04 9.99980884e-01 -8.94137698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33140051299998 meters 0.04516240784120592 Centerline is valid? [True, True] Translation: X:190.61, Y:19.73, Z:-0.90 [[ 9.97720410e-01 -6.72634047e-02 5.44213750e-03 1.90611105e+02] [ 6.72610934e-02 9.97735224e-01 6.06834471e-04 1.97267793e+01] [-5.47063003e-03 -2.39407019e-04 9.99985007e-01 -8.95597492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36140051299998 meters 0.045690638779362004 Centerline is valid? [True, True] Translation: X:190.64, Y:19.73, Z:-0.90 [[ 9.97664669e-01 -6.80810891e-02 5.49296555e-03 1.90639150e+02] [ 6.80787403e-02 9.97679763e-01 6.13683418e-04 1.97290250e+01] [-5.52200080e-03 -2.38296089e-04 9.99984725e-01 -8.95989866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39140051299998 meters 0.04573879097836862 Centerline is valid? [True, True] Translation: X:190.67, Y:19.73, Z:-0.89 [[ 9.97570534e-01 -6.93818953e-02 6.25953960e-03 1.90667537e+02] [ 6.93788678e-02 9.97590138e-01 6.99777517e-04 1.97301073e+01] [-6.29300686e-03 -2.63797661e-04 9.99980164e-01 -8.94647253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42140051299998 meters 0.03971572744719658 Centerline is valid? [True, True] Translation: X:190.70, Y:19.72, Z:-0.89 [[ 9.97348925e-01 -7.24819087e-02 6.44165120e-03 1.90698084e+02] [ 7.24787648e-02 9.97369696e-01 7.20477748e-04 1.97223991e+01] [-6.47692930e-03 -2.51684785e-04 9.99978993e-01 -8.93577051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45140051299998 meters 0.038526511395770555 Centerline is valid? [True, True] Translation: X:190.73, Y:19.72, Z:-0.90 [[ 9.97224478e-01 -7.42637403e-02 5.31388047e-03 1.90726903e+02] [ 7.42616259e-02 9.97238616e-01 5.94367746e-04 1.97232333e+01] [-5.34334678e-03 -1.98100661e-04 9.99985705e-01 -8.95593317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48140051299998 meters 0.035740398747145075 Centerline is valid? [True, True] Translation: X:190.76, Y:19.72, Z:-0.90 [[ 9.97107529e-01 -7.58625847e-02 4.63068151e-03 1.90755719e+02] [ 7.58609955e-02 9.97118268e-01 5.18115505e-04 1.97225389e+01] [-4.65664271e-03 -1.65328762e-04 9.99989144e-01 -8.97367230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51140051299998 meters 0.03784752953427789 Centerline is valid? [True, True] Translation: X:190.78, Y:19.73, Z:-0.90 [[ 9.97000450e-01 -7.72461537e-02 4.80980360e-03 1.90783613e+02] [ 7.72444560e-02 9.97012038e-01 5.38016679e-04 1.97275220e+01] [-4.83699181e-03 -1.64872208e-04 9.99988288e-01 -8.97880990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54140051299999 meters 0.03469715205128657 Centerline is valid? [True, True] Translation: X:190.81, Y:19.73, Z:-0.90 [[ 9.96874193e-01 -7.87992331e-02 5.70297285e-03 1.90813424e+02] [ 7.87968647e-02 9.96890488e-01 6.39150541e-04 1.97258638e+01] [-5.73560397e-03 -1.87776300e-04 9.99983534e-01 -8.96535634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571400513 meters 0.03403928083308298 Centerline is valid? [True, True] Translation: X:190.84, Y:19.73, Z:-0.90 [[ 9.96833855e-01 -7.93817421e-02 4.56113586e-03 1.90842398e+02] [ 7.93802314e-02 9.96844279e-01 5.11585648e-04 1.97293909e+01] [-4.58735275e-03 -1.47901873e-04 9.99989467e-01 -8.98295416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601400513 meters 0.03577976577688036 Centerline is valid? [True, True] Translation: X:190.87, Y:19.74, Z:-0.90 [[ 9.96831481e-01 -7.94831824e-02 3.06956997e-03 1.90869153e+02] [ 7.94824968e-02 9.96836202e-01 3.44887147e-04 1.97366545e+01] [-3.08727120e-03 -9.98172795e-05 9.99995229e-01 -9.01155793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631400513 meters 0.03306720189066609 Centerline is valid? [True, True] Translation: X:190.90, Y:19.74, Z:-0.90 [[ 9.96844938e-01 -7.93507653e-02 1.90410955e-03 1.90898057e+02] [ 7.93505026e-02 9.96846755e-01 2.13199264e-04 1.97387241e+01] [-1.91502295e-03 -6.14345572e-05 9.99998164e-01 -9.02404790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661400513 meters 0.03508841379011567 Centerline is valid? [True, True] Translation: X:190.92, Y:19.75, Z:-0.90 [[ 9.96846339e-01 -7.93405479e-02 1.56659318e-03 1.90924947e+02] [ 7.93403693e-02 9.96847569e-01 1.75935656e-04 1.97455268e+01] [-1.57561343e-03 -5.10867328e-05 9.99998757e-01 -9.03574631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691400513 meters 0.03400986711958104 Centerline is valid? [True, True] Translation: X:190.95, Y:19.75, Z:-0.90 [[ 9.96732165e-01 -8.07112656e-02 3.26835491e-03 1.90952453e+02] [ 8.07104915e-02 9.96737519e-01 3.68283790e-04 1.97468753e+01] [-3.28741661e-03 -1.03289768e-04 9.99994591e-01 -9.01229489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721400513 meters 0.033955527935528695 Centerline is valid? [True, True] Translation: X:190.98, Y:19.75, Z:-0.90 [[ 9.96619363e-01 -8.20739441e-02 3.70303549e-03 1.90980286e+02] [ 8.20729587e-02 9.96626236e-01 4.17544004e-04 1.97496982e+01] [-3.72481181e-03 -1.12213360e-04 9.99993057e-01 -9.01072113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751400513 meters 0.03242747865351211 Centerline is valid? [True, True] Translation: X:191.01, Y:19.75, Z:-0.90 [[ 9.96525802e-01 -8.32296011e-02 3.02643588e-03 1.91009342e+02] [ 8.32289495e-02 9.96530394e-01 3.40824930e-04 1.97508176e+01] [-3.04430206e-03 -8.77537577e-05 9.99995362e-01 -9.02773984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781400513 meters 0.032566858202814165 Centerline is valid? [True, True] Translation: X:191.04, Y:19.75, Z:-0.91 [[ 9.96490025e-01 -8.36880459e-02 1.98531870e-03 1.91037481e+02] [ 8.36877655e-02 9.96492001e-01 2.24079920e-04 1.97531459e+01] [-1.99710702e-03 -5.71465190e-05 9.99998004e-01 -9.05217643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811400513 meters 0.03093711260772606 Centerline is valid? [True, True] Translation: X:191.07, Y:19.75, Z:-0.90 [[ 9.96607902e-01 -8.22787907e-02 1.70023277e-03 1.91066337e+02] [ 8.22785841e-02 9.96609351e-01 1.91229176e-04 1.97529593e+01] [-1.71020198e-03 -5.06877627e-05 9.99998536e-01 -9.04191634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841400513 meters 0.03341221297608671 Centerline is valid? [True, True] Translation: X:191.10, Y:19.76, Z:-0.90 [[ 9.96822546e-01 -7.96094159e-02 2.67447135e-03 1.91095525e+02] [ 7.96088897e-02 9.96826130e-01 3.02802142e-04 1.97606963e+01] [-2.69008882e-03 -8.89283073e-05 9.99996378e-01 -9.02435755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871400513 meters 0.039263298805519854 Centerline is valid? [True, True] Translation: X:191.12, Y:19.77, Z:-0.90 [[ 9.97143052e-01 -7.54425858e-02 3.76174179e-03 1.91123534e+02] [ 7.54415143e-02 9.97150137e-01 4.26123821e-04 1.97737446e+01] [-3.78316922e-03 -1.41114910e-04 9.99992834e-01 -9.00967335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901400513 meters 0.04715644430481416 Centerline is valid? [True, True] Translation: X:191.15, Y:19.79, Z:-0.90 [[ 9.97518554e-01 -7.02296848e-02 4.95240655e-03 1.91151029e+02] [ 7.02277631e-02 9.97530825e-01 5.61086452e-04 1.97896377e+01] [-4.97958312e-03 -2.11897712e-04 9.99987579e-01 -8.99911239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931400513 meters 0.05922518827828358 Centerline is valid? [True, True] Translation: X:191.18, Y:19.81, Z:-0.90 [[ 9.97909966e-01 -6.43560674e-02 5.83072308e-03 1.91177727e+02] [ 6.43533031e-02 9.97926959e-01 6.60660419e-04 1.98100646e+01] [-5.86115326e-03 -2.84053326e-04 9.99982783e-01 -8.99053761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96140051299997 meters 0.061913915273348066 Centerline is valid? [True, True] Translation: X:191.21, Y:19.82, Z:-0.90 [[ 9.98530036e-01 -5.37994766e-02 6.58663222e-03 1.91207133e+02] [ 5.37957187e-02 9.98551683e-01 7.46506126e-04 1.98204024e+01] [-6.61725432e-03 -3.91076175e-04 9.99978029e-01 -8.98715964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99140051299997 meters 0.06123762921095426 Centerline is valid? [True, True] Translation: X:191.24, Y:19.82, Z:-0.90 [[ 9.98729705e-01 -4.99982854e-02 6.25677599e-03 1.91236686e+02] [ 4.99948203e-02 9.98749225e-01 7.09096057e-04 1.98249757e+01] [-6.28440376e-03 -3.95388905e-04 9.99980175e-01 -8.99947157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02140051299997 meters 0.06948613700247973 Centerline is valid? [True, True] Translation: X:191.26, Y:19.84, Z:-0.90 [[ 9.98851897e-01 -4.75062494e-02 6.16801524e-03 1.91263848e+02] [ 4.75028341e-02 9.98870859e-01 6.99117787e-04 1.98413572e+01] [-6.19426315e-03 -4.05316923e-04 9.99980733e-01 -9.00647833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05140051299998 meters 0.06948613700247973 Centerline is valid? [True, True] Translation: X:191.29, Y:19.84, Z:-0.90 [[ 9.98843430e-01 -4.76839270e-02 6.16804959e-03 1.91291220e+02] [ 4.76805169e-02 9.98862393e-01 6.98815040e-04 1.98446121e+01] [-6.19435502e-03 -4.03911019e-04 9.99980733e-01 -9.00871467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08140051299998 meters 0.0671631256918207 Centerline is valid? [True, True] Translation: X:191.32, Y:19.85, Z:-0.90 [[ 9.98903715e-01 -4.64824876e-02 5.54498351e-03 1.91319642e+02] [ 4.64797064e-02 9.98919036e-01 6.29443013e-04 1.98511827e+01] [-5.56824766e-03 -3.71023758e-04 9.99984428e-01 -9.02034243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11140051299998 meters 0.0674072107863283 Centerline is valid? [True, True] Translation: X:191.35, Y:19.85, Z:-0.90 [[ 9.98865240e-01 -4.74238934e-02 4.38263989e-03 1.91348790e+02] [ 4.74221648e-02 9.98874812e-01 4.97546489e-04 1.98517981e+01] [-4.40130419e-03 -2.89147622e-04 9.99990272e-01 -9.03297736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14140051299998 meters 0.0694612331055488 Centerline is valid? [True, True] Translation: X:191.38, Y:19.86, Z:-0.91 [[ 9.98771303e-01 -4.94013837e-02 3.92276528e-03 1.91376625e+02] [ 4.94000131e-02 9.98778975e-01 4.45580257e-04 1.98630747e+01] [-3.93998777e-03 -2.51248117e-04 9.99992207e-01 -9.05317984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17140051299998 meters 0.0605191462514181 Centerline is valid? [True, True] Translation: X:191.41, Y:19.86, Z:-0.91 [[ 9.98648977e-01 -5.18439350e-02 3.52531269e-03 1.91407566e+02] [ 5.18428429e-02 9.98655175e-01 4.00533835e-04 1.98568755e+01] [-3.54133701e-03 -2.17230472e-04 9.99993706e-01 -9.05577161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20140051299998 meters 0.05868395846809091 Centerline is valid? [True, True] Translation: X:191.44, Y:19.86, Z:-0.91 [[ 9.98537260e-01 -5.39559448e-02 3.47796569e-03 1.91438029e+02] [ 5.39548946e-02 9.98543296e-01 3.95156264e-04 1.98567960e+01] [-3.49422036e-03 -2.06924980e-04 9.99993874e-01 -9.05010990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23140051299998 meters 0.059766790133297894 Centerline is valid? [True, True] Translation: X:191.47, Y:19.86, Z:-0.90 [[ 9.98416542e-01 -5.59971088e-02 5.36023792e-03 1.91468684e+02] [ 5.59918118e-02 9.98430585e-01 1.13333269e-03 1.98618243e+01] [-5.41528883e-03 -8.31408674e-04 9.99984992e-01 -9.04821843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26140051299998 meters 0.05390994861587758 Centerline is valid? [True, True] Translation: X:191.50, Y:19.86, Z:-0.90 [[ 9.98363841e-01 -5.69806522e-02 4.77968089e-03 1.91496813e+02] [ 5.69812190e-02 9.98375250e-01 1.76153654e-05 1.98606003e+01] [-4.77291884e-03 2.54765500e-04 9.99988577e-01 -9.04299126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29140051299999 meters 0.05601489779063561 Centerline is valid? [True, True] Translation: X:191.52, Y:19.87, Z:-0.91 [[ 9.98360227e-01 -5.70894160e-02 4.20197824e-03 1.91523864e+02] [ 5.70879081e-02 9.98369041e-01 4.78017586e-04 1.98651362e+01] [-4.22241474e-03 -2.37351598e-04 9.99991057e-01 -9.05399169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321400513 meters 0.053203295785474135 Centerline is valid? [True, True] Translation: X:191.55, Y:19.87, Z:-0.91 [[ 9.98342104e-01 -5.74523406e-02 3.50305125e-03 1.91551853e+02] [ 5.74512960e-02 9.98348231e-01 3.98194776e-04 1.98650778e+01] [-3.52014224e-03 -1.96279776e-04 9.99993785e-01 -9.06355952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351400513 meters 0.05924277250289192 Centerline is valid? [True, True] Translation: X:191.58, Y:19.88, Z:-0.91 [[ 9.98319752e-01 -5.78543038e-02 3.24848168e-03 1.91578454e+02] [ 5.78534038e-02 9.98325020e-01 3.70404616e-04 1.98760102e+01] [-3.26447004e-03 -1.81846522e-04 9.99994655e-01 -9.07630274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381400513 meters 0.05568689375968785 Centerline is valid? [True, True] Translation: X:191.61, Y:19.88, Z:-0.91 [[ 9.98288422e-01 -5.83776988e-02 3.50295864e-03 1.91607517e+02] [ 5.83766564e-02 9.98294549e-01 3.99189501e-04 1.98753508e+01] [-3.52028828e-03 -1.94015244e-04 9.99993785e-01 -9.06799588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411400513 meters 0.05156373838567619 Centerline is valid? [True, True] Translation: X:191.64, Y:19.87, Z:-0.91 [[ 9.98228022e-01 -5.94010833e-02 3.51105629e-03 1.91636529e+02] [ 5.94000404e-02 9.98234178e-01 4.00670348e-04 1.98732995e+01] [-3.52865665e-03 -1.91403483e-04 9.99993756e-01 -9.05968955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441400513 meters 0.054710504952472226 Centerline is valid? [True, True] Translation: X:191.66, Y:19.88, Z:-0.91 [[ 9.98197682e-01 -5.99833242e-02 1.84081304e-03 1.91664245e+02] [ 5.99830379e-02 9.98199374e-01 2.10407191e-04 1.98770535e+01] [-1.85011934e-03 -9.96104125e-05 9.99998284e-01 -9.08359120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471400513 meters 0.05470272796943145 Centerline is valid? [True, True] Translation: X:191.69, Y:19.88, Z:-0.91 [[ 9.98148725e-01 -6.08099327e-02 1.12950032e-03 1.91691465e+02] [ 6.08098255e-02 9.98149362e-01 1.28987919e-04 1.98822309e+01] [-1.13525377e-03 -6.00644094e-05 9.99999354e-01 -9.10847816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501400513 meters 0.05063116323215264 Centerline is valid? [True, True] Translation: X:191.72, Y:19.88, Z:-0.91 [[ 9.98083938e-01 -6.18697108e-02 7.68525142e-04 1.91720569e+02] [ 6.18696622e-02 9.98084234e-01 8.68728717e-05 1.98791438e+01] [-7.72427626e-04 -3.91580270e-05 9.99999701e-01 -9.11167083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531400513 meters 0.05556578813719128 Centerline is valid? [True, True] Translation: X:191.75, Y:19.88, Z:-0.91 [[ 9.97985937e-01 -6.34119822e-02 1.72945884e-03 1.91748488e+02] [ 6.34117336e-02 9.97987431e-01 1.98299217e-04 1.98848009e+01] [-1.73855273e-03 -8.82318467e-05 9.99998485e-01 -9.10590990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561400513 meters 0.05258625119517515 Centerline is valid? [True, True] Translation: X:191.78, Y:19.88, Z:-0.91 [[ 9.97961811e-01 -6.37503548e-02 2.84887587e-03 1.91778159e+02] [ 6.37496824e-02 9.97965867e-01 3.26277920e-04 1.98829619e+01] [-2.86388121e-03 -1.43997972e-04 9.99995889e-01 -9.08809622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591400513 meters 0.04990874941446444 Centerline is valid? [True, True] Translation: X:191.81, Y:19.88, Z:-0.91 [[ 9.97972860e-01 -6.35260301e-02 3.82298212e-03 1.91807419e+02] [ 6.35248137e-02 9.97980163e-01 4.38892814e-04 1.98811180e+01] [-3.84314144e-03 -1.95148889e-04 9.99992596e-01 -9.07445092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621400513 meters 0.05164610952428262 Centerline is valid? [True, True] Translation: X:191.84, Y:19.88, Z:-0.91 [[ 9.98025502e-01 -6.26161638e-02 4.93089550e-03 1.91835229e+02] [ 6.26141220e-02 9.98037649e-01 5.67525356e-04 1.98841485e+01] [-4.95675562e-03 -2.57661085e-04 9.99987682e-01 -9.06156124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651400513 meters 0.05247805466718101 Centerline is valid? [True, True] Translation: X:191.86, Y:19.89, Z:-0.90 [[ 9.98126231e-01 -6.09375966e-02 5.53503966e-03 1.91864392e+02] [ 6.09349939e-02 9.98141533e-01 6.37807315e-04 1.98862853e+01] [-5.56361942e-03 -2.99334603e-04 9.99984478e-01 -9.04857006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681400513 meters 0.05884315533063342 Centerline is valid? [True, True] Translation: X:191.89, Y:19.89, Z:-0.91 [[ 9.98422223e-01 -5.60081218e-02 4.01923675e-03 1.91893119e+02] [ 5.60067088e-02 9.98430285e-01 4.63352022e-04 1.98935067e+01] [-4.03887917e-03 -2.37516734e-04 9.99991815e-01 -9.06878759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71140051299997 meters 0.06457854308332299 Centerline is valid? [True, True] Translation: X:191.92, Y:19.90, Z:-0.91 [[ 9.98573645e-01 -5.33323567e-02 2.51712971e-03 1.91921458e+02] [ 5.33317942e-02 9.98576805e-01 2.90094980e-04 1.99013983e+01] [-2.52901879e-03 -1.55438158e-04 9.99996790e-01 -9.09471107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74140051299997 meters 0.06850454390088832 Centerline is valid? [True, True] Translation: X:191.95, Y:19.91, Z:-0.91 [[ 9.98703770e-01 -5.08461838e-02 2.33372542e-03 1.91950111e+02] [ 5.08456933e-02 9.98706485e-01 2.69055796e-04 1.99094733e+01] [-2.34438717e-03 -1.50047151e-04 9.99997241e-01 -9.10485745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77140051299997 meters 0.07109569521728312 Centerline is valid? [True, True] Translation: X:191.98, Y:19.92, Z:-0.91 [[ 9.98807150e-01 -4.87256320e-02 3.17661124e-03 1.91979238e+02] [ 4.87247126e-02 9.98812179e-01 3.66205272e-04 1.99155380e+01] [-3.19068158e-03 -2.10988974e-04 9.99994888e-01 -9.10264781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80140051299998 meters 0.06837557388006331 Centerline is valid? [True, True] Translation: X:192.01, Y:19.91, Z:-0.91 [[ 9.98987379e-01 -4.46835070e-02 5.25361661e-03 1.92010249e+02] [ 4.46809360e-02 9.99001125e-01 6.05798172e-04 1.99145515e+01] [-5.27543809e-03 -3.70448221e-04 9.99986016e-01 -9.06550319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83140051299998 meters 0.07401383307107316 Centerline is valid? [True, True] Translation: X:192.04, Y:19.92, Z:-0.91 [[ 9.99033300e-01 -4.36429811e-02 5.26835437e-03 1.92037952e+02] [ 4.36403817e-02 9.99047120e-01 6.07393475e-04 1.99244940e+01] [-5.28984272e-03 -3.76893312e-04 9.99985938e-01 -9.06750777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86140051299998 meters 0.06753443121999858 Centerline is valid? [True, True] Translation: X:192.07, Y:19.92, Z:-0.91 [[ 9.99042366e-01 -4.35561843e-02 4.14835293e-03 1.92067624e+02] [ 4.35545737e-02 9.99050935e-01 4.77842397e-04 1.99197878e+01] [-4.16522887e-03 -2.96705056e-04 9.99991281e-01 -9.08460183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89140051299998 meters 0.07416181949161063 Centerline is valid? [True, True] Translation: X:192.09, Y:19.93, Z:-0.91 [[ 9.99013562e-01 -4.43163840e-02 2.82162567e-03 1.92094253e+02] [ 4.43156402e-02 9.99017526e-01 3.25615266e-04 1.99305055e+01] [-2.83328359e-03 -2.00251919e-04 9.99995966e-01 -9.11539108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92140051299998 meters 0.07236115097088597 Centerline is valid? [True, True] Translation: X:192.12, Y:19.93, Z:-0.91 [[ 9.98904247e-01 -4.66907231e-02 3.20642242e-03 1.92124230e+02] [ 4.66897733e-02 9.98909369e-01 3.70488850e-04 1.99303424e+01] [-3.22022379e-03 -2.20375750e-04 9.99994791e-01 -9.10886274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95140051299998 meters 0.06799703966643347 Centerline is valid? [True, True] Translation: X:192.15, Y:19.93, Z:-0.91 [[ 9.98841618e-01 -4.79547257e-02 3.97060777e-03 1.92154277e+02] [ 4.79532790e-02 9.98849474e-01 4.58830571e-04 1.99284733e+01] [-3.98804258e-03 -2.67895408e-04 9.99992012e-01 -9.09238996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98140051299998 meters 0.06956504730949771 Centerline is valid? [True, True] Translation: X:192.18, Y:19.93, Z:-0.91 [[ 9.98788781e-01 -4.90290364e-02 4.13818419e-03 1.92181645e+02] [ 4.90274743e-02 9.98797316e-01 4.78163237e-04 1.99347696e+01] [-4.15665114e-03 -2.74699357e-04 9.99991323e-01 -9.08718924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01140051299998 meters 0.06814961075798888 Centerline is valid? [True, True] Translation: X:192.21, Y:19.94, Z:-0.91 [[ 9.98740865e-01 -5.00078617e-02 3.98716380e-03 1.92210737e+02] [ 5.00064198e-02 9.98748790e-01 4.60557920e-04 1.99382290e+01] [-4.00520653e-03 -2.60594229e-04 9.99991945e-01 -9.08915673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04140051299999 meters 0.0656667742152444 Centerline is valid? [True, True] Translation: X:192.24, Y:19.94, Z:-0.91 [[ 9.98703926e-01 -5.07566352e-02 3.77243517e-03 1.92239398e+02] [ 5.07553481e-02 9.98711021e-01 4.36184355e-04 1.99401480e+01] [-3.78971183e-03 -2.44147768e-04 9.99992789e-01 -9.09951357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071400513 meters 0.06146215272170196 Centerline is valid? [True, True] Translation: X:192.27, Y:19.94, Z:-0.91 [[ 9.98668221e-01 -5.15030651e-02 3.03637052e-03 1.92268217e+02] [ 5.15022341e-02 9.98672818e-01 3.51290904e-04 1.99394484e+01] [-3.05043326e-03 -1.94443197e-04 9.99995329e-01 -9.10869744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101400513 meters 0.06777555492271754 Centerline is valid? [True, True] Translation: X:192.29, Y:19.95, Z:-0.91 [[ 9.98630876e-01 -5.21997883e-02 3.39939071e-03 1.92294701e+02] [ 5.21987466e-02 9.98636638e-01 3.94505696e-04 1.99508520e+01] [-3.41534922e-03 -2.16521635e-04 9.99994144e-01 -9.11191601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131400513 meters 0.058231371238775205 Centerline is valid? [True, True] Translation: X:192.33, Y:19.94, Z:-0.91 [[ 9.98554713e-01 -5.35989281e-02 3.95477911e-03 1.92326048e+02] [ 5.35975275e-02 9.98562514e-01 4.59371503e-04 1.99431061e+01] [-3.97371599e-03 -2.46741198e-04 9.99992074e-01 -9.09880281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161400513 meters 0.06026905075804716 Centerline is valid? [True, True] Translation: X:192.35, Y:19.95, Z:-0.91 [[ 9.98338348e-01 -5.74604319e-02 4.34069600e-03 1.92354386e+02] [ 5.74587801e-02 9.98347752e-01 5.04387129e-04 1.99490944e+01] [-4.36250640e-03 -2.54137916e-04 9.99990452e-01 -9.09403519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191400513 meters 0.05425944401436853 Centerline is valid? [True, True] Translation: X:192.39, Y:19.94, Z:-0.91 [[ 9.98208382e-01 -5.97061630e-02 3.89875922e-03 1.92385361e+02] [ 5.97048471e-02 9.98215972e-01 4.53139234e-04 1.99443071e+01] [-3.91885893e-03 -2.19552558e-04 9.99992297e-01 -9.09845946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221400513 meters 0.05436566380630418 Centerline is valid? [True, True] Translation: X:192.41, Y:19.95, Z:-0.91 [[ 9.98072861e-01 -6.19364611e-02 3.79994506e-03 1.92413776e+02] [ 6.19352267e-02 9.98080073e-01 4.41790601e-04 1.99468799e+01] [-3.82001239e-03 -2.05588750e-04 9.99992683e-01 -9.10268117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251400513 meters 0.05277932230125522 Centerline is valid? [True, True] Translation: X:192.44, Y:19.95, Z:-0.91 [[ 9.97969742e-01 -6.35592061e-02 4.07684301e-03 1.92443424e+02] [ 6.35577986e-02 9.97978047e-01 4.74025106e-04 1.99479067e+01] [-4.09872848e-03 -2.13947547e-04 9.99991577e-01 -9.09949870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281400513 meters 0.05402706647312941 Centerline is valid? [True, True] Translation: X:192.47, Y:19.95, Z:-0.91 [[ 9.97968868e-01 -6.34433978e-02 5.75101950e-03 1.92470545e+02] [ 6.34405941e-02 9.97985393e-01 6.68816838e-04 1.99528396e+01] [-5.78186546e-03 -3.02610289e-04 9.99983239e-01 -9.08235646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311400513 meters 0.052388676375608366 Centerline is valid? [True, True] Translation: X:192.50, Y:19.95, Z:-0.91 [[ 9.98071861e-01 -6.17439496e-02 6.34394801e-03 1.92500005e+02] [ 6.17405009e-02 9.98091962e-01 7.38228889e-04 1.99542524e+01] [-6.37742469e-03 -3.45126953e-04 9.99979604e-01 -9.07587612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341400513 meters 0.059551263095153226 Centerline is valid? [True, True] Translation: X:192.53, Y:19.97, Z:-0.91 [[ 9.98233722e-01 -5.90606340e-02 6.42476884e-03 1.92528098e+02] [ 5.90570396e-02 9.98254330e-01 7.47904333e-04 1.99659593e+01] [-6.45772501e-03 -3.67155498e-04 9.99979081e-01 -9.07975051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371400513 meters 0.06276475475560213 Centerline is valid? [True, True] Translation: X:192.56, Y:19.97, Z:-0.91 [[ 9.98395202e-01 -5.63154429e-02 5.96578161e-03 1.92557113e+02] [ 5.63122944e-02 9.98412962e-01 6.94567368e-04 1.99729953e+01] [-5.99542856e-03 -3.57505878e-04 9.99981963e-01 -9.08710796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401400513 meters 0.05827455434958806 Centerline is valid? [True, True] Translation: X:192.59, Y:19.97, Z:-0.91 [[ 9.98539940e-01 -5.38251951e-02 4.56470896e-03 1.92587486e+02] [ 5.38233261e-02 9.98550333e-01 5.31388143e-04 1.99720616e+01] [-4.58669372e-03 -2.84924465e-04 9.99989440e-01 -9.10443502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43140051299997 meters 0.06586548785393072 Centerline is valid? [True, True] Translation: X:192.62, Y:19.99, Z:-0.92 [[ 9.98834685e-01 -4.82424776e-02 1.39092705e-03 1.92615133e+02] [ 4.82422986e-02 9.98835649e-01 1.61968571e-04 1.99879082e+01] [-1.39712128e-03 -9.46783092e-05 9.99999020e-01 -9.15270993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46140051299997 meters 0.07230627944180101 Centerline is valid? [True, True] Translation: X:192.64, Y:20.00, Z:-0.92 [[ 9.98962911e-01 -4.55275661e-02 5.85544942e-04 1.92643131e+02] [ 4.55275339e-02 9.98963082e-01 6.81877958e-05 1.99999509e+01] [-5.88042204e-04 -4.14586618e-05 9.99999826e-01 -9.17591438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49140051299997 meters 0.07051170795281889 Centerline is valid? [True, True] Translation: X:192.67, Y:20.00, Z:-0.92 [[ 9.99040658e-01 -4.37761610e-02 1.18796225e-03 1.92673704e+02] [ 4.37760273e-02 9.99041361e-01 1.38328433e-04 2.00017557e+01] [-1.19287891e-03 -8.61914606e-05 9.99999285e-01 -9.16598264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52140051299997 meters 0.07593074289730294 Centerline is valid? [True, True] Translation: X:192.70, Y:20.01, Z:-0.92 [[ 9.99068858e-01 -4.30712733e-02 2.50643239e-03 1.92700534e+02] [ 4.30706773e-02 9.99071985e-01 2.91338375e-04 2.00108535e+01] [-2.51665470e-03 -1.83113357e-04 9.99996816e-01 -9.15140093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55140051299998 meters 0.07878492388440193 Centerline is valid? [True, True] Translation: X:192.73, Y:20.02, Z:-0.91 [[ 9.98996770e-01 -4.44400238e-02 5.52603509e-03 1.92728398e+02] [ 4.44371383e-02 9.99011975e-01 6.43916540e-04 2.00239522e+01] [-5.54919090e-03 -3.97709358e-04 9.99984524e-01 -9.11187263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58140051299998 meters 0.07829735666945686 Centerline is valid? [True, True] Translation: X:192.76, Y:20.03, Z:-0.91 [[ 9.98923963e-01 -4.60905692e-02 5.15507397e-03 1.92758136e+02] [ 4.60880790e-02 9.98937199e-01 6.00860401e-04 2.00273603e+01] [-5.17728916e-03 -3.62626396e-04 9.99986532e-01 -9.12128079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61140051299998 meters 0.06850993789656994 Centerline is valid? [True, True] Translation: X:192.79, Y:20.02, Z:-0.91 [[ 9.98828978e-01 -4.81840444e-02 4.35553465e-03 1.92789739e+02] [ 4.81822870e-02 9.98838430e-01 5.07582260e-04 2.00181435e+01] [-4.37493276e-03 -2.97128249e-04 9.99990386e-01 -9.13228586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64140051299998 meters 0.06890134835080036 Centerline is valid? [True, True] Translation: X:192.82, Y:20.02, Z:-0.91 [[ 9.98706382e-01 -5.07211044e-02 3.59598957e-03 1.92818784e+02] [ 5.07199226e-02 9.98712828e-01 4.19158807e-04 2.00205645e+01] [-3.61262112e-03 -2.36228263e-04 9.99993447e-01 -9.14941506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67140051299998 meters 0.07054366461670383 Centerline is valid? [True, True] Translation: X:192.85, Y:20.02, Z:-0.92 [[ 9.98573720e-01 -5.32873186e-02 3.31459421e-03 1.92848185e+02] [ 5.32863284e-02 9.98579200e-01 3.86397067e-04 2.00246967e+01] [-3.33047490e-03 -2.09223401e-04 9.99994432e-01 -9.16784949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70140051299998 meters 0.06529213531826032 Centerline is valid? [True, True] Translation: X:192.88, Y:20.02, Z:-0.92 [[ 9.98434822e-01 -5.58480830e-02 2.98288337e-03 1.92879368e+02] [ 5.58472922e-02 9.98439262e-01 3.47816142e-04 2.00207788e+01] [-2.99765273e-03 -1.80685789e-04 9.99995491e-01 -9.17235650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73140051299998 meters 0.06121125575883406 Centerline is valid? [True, True] Translation: X:192.91, Y:20.02, Z:-0.92 [[ 9.98312910e-01 -5.80268257e-02 2.05446028e-03 1.92910185e+02] [ 5.80264553e-02 9.98315017e-01 2.39504119e-04 2.00177389e+01] [-2.06489621e-03 -1.19887007e-04 9.99997861e-01 -9.18412830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76140051299998 meters 0.06234989916631024 Centerline is valid? [True, True] Translation: X:192.94, Y:20.02, Z:-0.92 [[ 9.98345973e-01 -5.74789608e-02 1.21990483e-03 1.92937482e+02] [ 5.74788302e-02 9.98346715e-01 1.41879838e-04 2.00223039e+01] [-1.22604309e-03 -7.15264622e-05 9.99999246e-01 -9.19634918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79140051299999 meters 0.06058772941913918 Centerline is valid? [True, True] Translation: X:192.97, Y:20.02, Z:-0.92 [[ 9.98425625e-01 -5.60875120e-02 6.79293769e-04 1.92966608e+02] [ 5.60874713e-02 9.98425856e-01 7.88871676e-05 2.00234974e+01] [-6.82649047e-04 -4.06630999e-05 9.99999766e-01 -9.19533265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821400513 meters 0.0696459087123035 Centerline is valid? [True, True] Translation: X:192.99, Y:20.04, Z:-0.92 [[ 9.98540522e-01 -5.39931627e-02 1.25086137e-03 1.92994363e+02] [ 5.39930221e-02 9.98541302e-01 1.45854853e-04 2.00373221e+01] [-1.25691190e-03 -7.81041952e-05 9.99999207e-01 -9.19896852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851400513 meters 0.07134038812972729 Centerline is valid? [True, True] Translation: X:193.02, Y:20.04, Z:-0.91 [[ 9.98759694e-01 -4.96531828e-02 3.69258490e-03 1.93024938e+02] [ 4.96519267e-02 9.98766489e-01 4.31123970e-04 2.00397312e+01] [-3.70943673e-03 -2.47245290e-04 9.99993089e-01 -9.14760094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881400513 meters 0.07141722604793857 Centerline is valid? [True, True] Translation: X:193.05, Y:20.04, Z:-0.91 [[ 9.98858634e-01 -4.75661764e-02 4.34610220e-03 1.93054688e+02] [ 4.75644169e-02 9.98868044e-01 5.07372061e-04 2.00417459e+01] [-4.36531635e-03 -3.00073147e-04 9.99990427e-01 -9.13344330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911400513 meters 0.06545535371320281 Centerline is valid? [True, True] Translation: X:193.09, Y:20.04, Z:-0.91 [[ 9.98936193e-01 -4.59341571e-02 4.06635375e-03 1.93086105e+02] [ 4.59326030e-02 9.98944428e-01 4.74798959e-04 2.00371963e+01] [-4.08387091e-03 -2.87515652e-04 9.99991620e-01 -9.13345598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941400513 meters 0.06545535371320281 Centerline is valid? [True, True] Translation: X:193.11, Y:20.04, Z:-0.91 [[ 9.98927620e-01 -4.61202239e-02 4.06644069e-03 1.93113482e+02] [ 4.61186743e-02 9.98935855e-01 4.74054953e-04 2.00405258e+01] [-4.08397693e-03 -2.86007731e-04 9.99991620e-01 -9.13569410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971400513 meters 0.06901792031220587 Centerline is valid? [True, True] Translation: X:193.14, Y:20.05, Z:-0.91 [[ 9.98997226e-01 -4.46293580e-02 3.57261419e-03 1.93142398e+02] [ 4.46281479e-02 9.99003581e-01 4.17770499e-04 2.00484637e+01] [-3.58769920e-03 -2.57912415e-04 9.99993531e-01 -9.14804004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001400513 meters 0.07549505159015875 Centerline is valid? [True, True] Translation: X:193.17, Y:20.06, Z:-0.92 [[ 9.99062785e-01 -4.31606397e-02 3.27281874e-03 1.93170040e+02] [ 4.31596164e-02 9.99068116e-01 3.82688900e-04 2.00602612e+01] [-3.28628596e-03 -2.41076636e-04 9.99994571e-01 -9.15621499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031400513 meters 0.0771094063681113 Centerline is valid? [True, True] Translation: X:193.20, Y:20.07, Z:-0.91 [[ 9.99216078e-01 -3.92895573e-02 4.85381214e-03 1.93199577e+02] [ 3.92872599e-02 9.99227796e-01 5.67797679e-04 2.00693107e+01] [-4.87237253e-03 -3.76659591e-04 9.99988059e-01 -9.13795550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061400513 meters 0.08916581517038154 Centerline is valid? [True, True] Translation: X:193.23, Y:20.09, Z:-0.91 [[ 9.99292837e-01 -3.71849830e-02 5.57703343e-03 1.93226993e+02] [ 3.71819169e-02 9.99308300e-01 6.52495217e-04 2.00903215e+01] [-5.59743883e-03 -4.44669003e-04 9.99984235e-01 -9.13724991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091400513 meters 0.0846919007115742 Centerline is valid? [True, True] Translation: X:193.26, Y:20.09, Z:-0.91 [[ 9.99364520e-01 -3.51521869e-02 5.90594543e-03 1.93257128e+02] [ 3.51487132e-02 9.99381854e-01 6.90970942e-04 2.00914339e+01] [-5.92658383e-03 -4.82945461e-04 9.99982321e-01 -9.12988735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121400513 meters 0.08639141263932966 Centerline is valid? [True, True] Translation: X:193.29, Y:20.10, Z:-0.91 [[ 9.99423804e-01 -3.33865329e-02 6.11547178e-03 1.93286983e+02] [ 3.33827753e-02 9.99442384e-01 7.15512241e-04 2.00998865e+01] [-6.13595016e-03 -5.10948546e-04 9.99981044e-01 -9.12623123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151400513 meters 0.07693668918638102 Centerline is valid? [True, True] Translation: X:193.32, Y:20.10, Z:-0.91 [[ 9.99446274e-01 -3.27235258e-02 6.02629401e-03 1.93318087e+02] [ 3.27198650e-02 9.99464313e-01 7.05076971e-04 2.00966314e+01] [-6.04613841e-03 -5.07507025e-04 9.99981593e-01 -9.11793409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18140051299997 meters 0.08592485604159493 Centerline is valid? [True, True] Translation: X:193.35, Y:20.11, Z:-0.91 [[ 9.99413833e-01 -3.37439103e-02 5.77390696e-03 1.93346169e+02] [ 3.37405667e-02 9.99430397e-01 6.75547662e-04 2.01134992e+01] [-5.79341374e-03 -4.80336786e-04 9.99983103e-01 -9.12900038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21140051299997 meters 0.07852074436433831 Centerline is valid? [True, True] Translation: X:193.38, Y:20.11, Z:-0.91 [[ 9.99373097e-01 -3.50145276e-02 5.23410043e-03 1.93376962e+02] [ 3.50117974e-02 9.99386711e-01 6.12357666e-04 2.01110008e+01] [-5.25233183e-03 -4.28718513e-04 9.99986115e-01 -9.13971538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24140051299997 meters 0.07580822486988432 Centerline is valid? [True, True] Translation: X:193.41, Y:20.11, Z:-0.91 [[ 9.99323845e-01 -3.63720396e-02 5.37834635e-03 1.93407104e+02] [ 3.63691761e-02 9.99338225e-01 6.29297773e-04 2.01136833e+01] [-5.39767594e-03 -4.33266245e-04 9.99985339e-01 -9.14786938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27140051299997 meters 0.08259304748769686 Centerline is valid? [True, True] Translation: X:193.43, Y:20.13, Z:-0.92 [[ 9.99259697e-01 -3.80281603e-02 5.82388064e-03 1.93434792e+02] [ 3.80248303e-02 9.99276562e-01 6.81477557e-04 2.01272247e+01] [-5.84558276e-03 -4.59520984e-04 9.99982809e-01 -9.15084410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30140051299998 meters 0.06993454296470995 Centerline is valid? [True, True] Translation: X:193.47, Y:20.12, Z:-0.91 [[ 9.99101280e-01 -4.17136073e-02 7.52371675e-03 1.93466844e+02] [ 4.17081518e-02 9.99129448e-01 8.80628676e-04 2.01170878e+01] [-7.55390117e-03 -5.66036918e-04 9.99971309e-01 -9.13254903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33140051299998 meters 0.06823571437220026 Centerline is valid? [True, True] Translation: X:193.50, Y:20.12, Z:-0.91 [[ 9.99019273e-01 -4.34594889e-02 8.47145979e-03 1.93496759e+02] [ 4.34526352e-02 9.99054996e-01 9.91504216e-04 2.01196221e+01] [-8.50654449e-03 -6.22424569e-04 9.99963625e-01 -9.12406436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36140051299998 meters 0.06935347245810812 Centerline is valid? [True, True] Translation: X:193.53, Y:20.13, Z:-0.91 [[ 9.98961730e-01 -4.46880594e-02 8.85659047e-03 1.93526184e+02] [ 4.46806155e-02 9.99000785e-01 1.03667971e-03 2.01254582e+01] [-8.89406803e-03 -6.39885447e-04 9.99960242e-01 -9.12190460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39140051299998 meters 0.07231506425934445 Centerline is valid? [True, True] Translation: X:193.56, Y:20.13, Z:-0.91 [[ 9.98909543e-01 -4.59028940e-02 8.52347580e-03 1.93555533e+02] [ 4.58960435e-02 9.98945723e-01 9.97688048e-04 2.01329953e+01] [-8.56028647e-03 -6.05406295e-04 9.99963177e-01 -9.13156467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42140051299998 meters 0.06739232298192559 Centerline is valid? [True, True] Translation: X:193.59, Y:20.13, Z:-0.92 [[ 9.98870114e-01 -4.69452611e-02 7.39172725e-03 1.93586229e+02] [ 4.69401376e-02 9.98897330e-01 8.65207014e-04 2.01297147e+01] [-7.42419398e-03 -5.17260735e-04 9.99972307e-01 -9.15288714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45140051299998 meters 0.06997175540179512 Centerline is valid? [True, True] Translation: X:193.62, Y:20.13, Z:-0.92 [[ 9.98816688e-01 -4.84474252e-02 4.25087154e-03 1.93615031e+02] [ 4.84457444e-02 9.98825692e-01 4.97532850e-04 2.01325480e+01] [-4.26998389e-03 -2.91007477e-04 9.99990841e-01 -9.20434803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48140051299998 meters 0.07396896713057619 Centerline is valid? [True, True] Translation: X:193.64, Y:20.14, Z:-0.92 [[ 9.98789924e-01 -4.90840609e-02 3.07281892e-03 1.93642496e+02] [ 4.90831861e-02 9.98794629e-01 3.59503772e-04 2.01393584e+01] [-3.08676094e-03 -2.08245002e-04 9.99995214e-01 -9.23095312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51140051299998 meters 0.07720481805737707 Centerline is valid? [True, True] Translation: X:193.67, Y:20.15, Z:-0.93 [[ 9.98757104e-01 -4.97867176e-02 2.35152557e-03 1.93669639e+02] [ 4.97862071e-02 9.98759860e-01 2.75150232e-04 2.01456146e+01] [-2.36230818e-03 -1.57734710e-04 9.99997197e-01 -9.25060283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54140051299999 meters 0.07047238556448439 Centerline is valid? [True, True] Translation: X:193.70, Y:20.14, Z:-0.92 [[ 9.98781001e-01 -4.93097343e-02 2.24997268e-03 1.93698956e+02] [ 4.93092656e-02 9.98783524e-01 2.63364863e-04 2.01386608e+01] [-2.26022210e-03 -1.52099321e-04 9.99997434e-01 -9.24461132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571400513 meters 0.06637987002686549 Centerline is valid? [True, True] Translation: X:193.73, Y:20.14, Z:-0.92 [[ 9.98836226e-01 -4.81486611e-02 2.81083419e-03 1.93729300e+02] [ 4.81479237e-02 9.98840162e-01 3.29463588e-04 2.01360386e+01] [-2.82343731e-03 -1.93744337e-04 9.99995995e-01 -9.23080951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601400513 meters 0.06801294408656479 Centerline is valid? [True, True] Translation: X:193.76, Y:20.14, Z:-0.92 [[ 9.98905146e-01 -4.66689358e-02 3.24338401e-03 1.93758312e+02] [ 4.66679461e-02 9.98910385e-01 3.80213216e-04 2.01406855e+01] [-3.25759411e-03 -2.28434868e-04 9.99994668e-01 -9.22515637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631400513 meters 0.06895800715399893 Centerline is valid? [True, True] Translation: X:193.79, Y:20.15, Z:-0.92 [[ 9.98977085e-01 -4.50873042e-02 3.45233161e-03 1.93788294e+02] [ 4.50861725e-02 9.98983019e-01 4.04953750e-04 2.01450952e+01] [-3.46707893e-03 -2.48887099e-04 9.99993959e-01 -9.22471775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661400513 meters 0.07673684724191729 Centerline is valid? [True, True] Translation: X:193.82, Y:20.16, Z:-0.92 [[ 9.99037087e-01 -4.37733437e-02 2.96534643e-03 1.93815172e+02] [ 4.37725035e-02 9.99041464e-01 3.47674429e-04 2.01570981e+01] [-2.97772291e-03 -2.17539012e-04 9.99995543e-01 -9.24270486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691400513 meters 0.07721290410847252 Centerline is valid? [True, True] Translation: X:193.84, Y:20.16, Z:-0.93 [[ 9.99036082e-01 -4.38557782e-02 1.89126285e-03 1.93843628e+02] [ 4.38554380e-02 9.99037863e-01 2.21007943e-04 2.01589173e+01] [-1.89913568e-03 -1.37852749e-04 9.99998187e-01 -9.26517294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721400513 meters 0.07531783493783 Centerline is valid? [True, True] Translation: X:193.87, Y:20.16, Z:-0.93 [[ 9.98973166e-01 -4.52425277e-02 2.39297135e-03 1.93873875e+02] [ 4.52419836e-02 9.98976018e-01 2.81081626e-04 2.01582950e+01] [-2.40323784e-03 -1.72530231e-04 9.99997097e-01 -9.25870904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751400513 meters 0.0718478943618995 Centerline is valid? [True, True] Translation: X:193.90, Y:20.15, Z:-0.92 [[ 9.98859074e-01 -4.76198838e-02 3.59116461e-03 1.93904484e+02] [ 4.76186723e-02 9.98865498e-01 4.22168445e-04 2.01549285e+01] [-3.60719404e-03 -2.50680291e-04 9.99993463e-01 -9.24113062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781400513 meters 0.06897126780333748 Centerline is valid? [True, True] Translation: X:193.94, Y:20.15, Z:-0.92 [[ 9.98720288e-01 -5.03626855e-02 4.62445208e-03 1.93935496e+02] [ 5.03607056e-02 9.98730947e-01 5.43653386e-04 2.01515345e+01] [-4.64596325e-03 -3.10066996e-04 9.99989159e-01 -9.22547230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811400513 meters 0.06197445845321416 Centerline is valid? [True, True] Translation: X:193.97, Y:20.14, Z:-0.92 [[ 9.98396471e-01 -5.63782293e-02 5.09728071e-03 1.93967583e+02] [ 5.63759019e-02 9.98409434e-01 5.99249227e-04 2.01369745e+01] [-5.12295776e-03 -3.10924516e-04 9.99986829e-01 -9.21500374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841400513 meters 0.06185799992116197 Centerline is valid? [True, True] Translation: X:194.00, Y:20.14, Z:-0.92 [[ 9.98274702e-01 -5.84816365e-02 5.24571972e-03 1.93996760e+02] [ 5.84792008e-02 9.98288437e-01 6.16656546e-04 2.01391258e+01] [-5.27280442e-03 -3.08827133e-04 9.99986051e-01 -9.22269619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871400513 meters 0.060744309542251504 Centerline is valid? [True, True] Translation: X:194.03, Y:20.14, Z:-0.92 [[ 9.98188942e-01 -5.99604783e-02 4.85552794e-03 1.94027348e+02] [ 5.99584082e-02 9.98200713e-01 5.70924501e-04 2.01378449e+01] [-4.88102436e-03 -2.78760797e-04 9.99988049e-01 -9.23057067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901400513 meters 0.05756312693387493 Centerline is valid? [True, True] Translation: X:194.06, Y:20.13, Z:-0.92 [[ 9.98143629e-01 -6.07185227e-02 4.74942555e-03 1.94056776e+02] [ 6.07165527e-02 9.98154892e-01 5.58000580e-04 2.01338078e+01] [-4.77454332e-03 -2.68595977e-04 9.99988566e-01 -9.23195822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93140051299997 meters 0.05334669305569464 Centerline is valid? [True, True] Translation: X:194.09, Y:20.13, Z:-0.92 [[ 9.98088001e-01 -6.16312203e-02 4.68354957e-03 1.94086732e+02] [ 6.16293112e-02 9.98098955e-01 5.50988415e-04 2.01264215e+01] [-4.70860402e-03 -2.61290992e-04 9.99988880e-01 -9.23105500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96140051299997 meters 0.05833905301939785 Centerline is valid? [True, True] Translation: X:194.11, Y:20.13, Z:-0.92 [[ 9.98040954e-01 -6.23618157e-02 5.02579390e-03 1.94114092e+02] [ 6.23596202e-02 9.98053569e-01 5.92515617e-04 2.01343072e+01] [-5.05296189e-03 -2.77948252e-04 9.99987195e-01 -9.23433024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99140051299997 meters 0.051937787298549885 Centerline is valid? [True, True] Translation: X:194.14, Y:20.13, Z:-0.92 [[ 9.97978043e-01 -6.32956472e-02 5.78680180e-03 1.94143903e+02] [ 6.32927496e-02 9.97994770e-01 6.82676278e-04 2.01290524e+01] [-5.81840837e-03 -3.15033338e-04 9.99983023e-01 -9.22251379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02140051299997 meters 0.05267126307937768 Centerline is valid? [True, True] Translation: X:194.17, Y:20.13, Z:-0.92 [[ 9.97919889e-01 -6.40958621e-02 6.90039365e-03 1.94171514e+02] [ 6.40917584e-02 9.97943677e-01 8.14433713e-04 2.01317903e+01] [-6.93840604e-03 -3.70481238e-04 9.99975860e-01 -9.20713799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05140051299998 meters 0.05031368850863674 Centerline is valid? [True, True] Translation: X:194.20, Y:20.13, Z:-0.92 [[ 9.97810588e-01 -6.55520085e-02 8.77297157e-03 1.94200559e+02] [ 6.55454257e-02 9.97849049e-01 1.03608447e-03 2.01299794e+01] [-8.82201875e-03 -4.58787894e-04 9.99960980e-01 -9.18072423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08140051299998 meters 0.05841017212318851 Centerline is valid? [True, True] Translation: X:194.23, Y:20.14, Z:-0.92 [[ 9.97705436e-01 -6.71716371e-02 8.47549284e-03 1.94228385e+02] [ 6.71655483e-02 9.97741342e-01 1.00132781e-03 2.01438940e+01] [-8.52361043e-03 -4.29769072e-04 9.99963581e-01 -9.18936077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11140051299998 meters 0.04638436089259761 Centerline is valid? [True, True] Translation: X:194.26, Y:20.13, Z:-0.92 [[ 9.97567822e-01 -6.92764266e-02 7.69522257e-03 1.94259630e+02] [ 6.92714685e-02 9.97597432e-01 9.09310826e-04 2.01342278e+01] [-7.73972808e-03 -3.74039852e-04 9.99969978e-01 -9.20641604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14140051299998 meters 0.04323738718429273 Centerline is valid? [True, True] Translation: X:194.29, Y:20.14, Z:-0.92 [[ 9.97207485e-01 -7.44659829e-02 5.66116954e-03 1.94288137e+02] [ 7.44633828e-02 9.97223524e-01 6.68983404e-04 2.01364542e+01] [-5.69526794e-03 -2.45565424e-04 9.99983752e-01 -9.23775278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17140051299998 meters 0.038524169606887516 Centerline is valid? [True, True] Translation: X:194.32, Y:20.14, Z:-0.92 [[ 9.96949754e-01 -7.78561051e-02 5.44189181e-03 1.94318980e+02] [ 7.78537525e-02 9.96964583e-01 6.43145261e-04 2.01350630e+01] [-5.47544618e-03 -2.17511812e-04 9.99984986e-01 -9.23759844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20140051299998 meters 0.03529351015780498 Centerline is valid? [True, True] Translation: X:194.35, Y:20.14, Z:-0.92 [[ 9.96632104e-01 -8.17985430e-02 5.78333658e-03 1.94348811e+02] [ 8.17959513e-02 9.96648862e-01 6.83654880e-04 2.01353243e+01] [-5.81987779e-03 -2.08298885e-04 9.99983043e-01 -9.23598454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23140051299998 meters 0.03507557727414277 Centerline is valid? [True, True] Translation: X:194.38, Y:20.14, Z:-0.92 [[ 9.96254072e-01 -8.62464162e-02 6.27527197e-03 1.94377160e+02] [ 8.62434516e-02 9.96273816e-01 7.42018995e-04 2.01396167e+01] [-6.31588563e-03 -1.98038332e-04 9.99980035e-01 -9.23703988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26140051299998 meters 0.029464655454401224 Centerline is valid? [True, True] Translation: X:194.41, Y:20.14, Z:-0.92 [[ 9.95828825e-01 -9.10128532e-02 6.45064950e-03 1.94408187e+02] [ 9.10098206e-02 9.95849703e-01 7.62717232e-04 2.01368116e+01] [-6.49329446e-03 -1.72463351e-04 9.99978903e-01 -9.24077750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29140051299999 meters 0.0193207587039382 Centerline is valid? [True, True] Translation: X:194.44, Y:20.13, Z:-0.93 [[ 9.94903515e-01 -1.00724030e-01 4.65454161e-03 1.94439910e+02] [ 1.00722557e-01 9.94914400e-01 5.50439386e-04 2.01267581e+01] [-4.68631294e-03 -7.88167480e-05 9.99989016e-01 -9.27865995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321400513 meters 0.027911597888574172 Centerline is valid? [True, True] Translation: X:194.47, Y:20.12, Z:-0.93 [[ 9.94344578e-01 -1.06156985e-01 3.09119543e-03 1.94469520e+02] [ 1.06156362e-01 9.94349382e-01 3.65281144e-04 2.01222126e+01] [-3.11250541e-03 -3.50652626e-05 9.99995156e-01 -9.29586366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351400513 meters 0.015275429119826248 Centerline is valid? [True, True] Translation: X:194.50, Y:20.12, Z:-0.93 [[ 9.93816399e-01 -1.10999557e-01 2.83967865e-03 1.94499072e+02] [ 1.10999053e-01 9.93820456e-01 3.34992515e-04 2.01194918e+01] [-2.85931475e-03 -1.77194145e-05 9.99995912e-01 -9.29734286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381400513 meters 0.025472985350726524 Centerline is valid? [True, True] Translation: X:194.53, Y:20.12, Z:-0.93 [[ 9.93440506e-01 -1.14327573e-01 2.27328713e-03 1.94527162e+02] [ 1.14327257e-01 9.93443107e-01 2.68955379e-04 2.01200361e+01] [-2.28913045e-03 -7.29248626e-06 9.99997380e-01 -9.30410293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411400513 meters 0.007606202095415064 Centerline is valid? [True, True] Translation: X:194.56, Y:20.12, Z:-0.93 [[ 9.93215746e-01 -1.16259514e-01 2.49131359e-03 1.94555455e+02] [ 1.16259142e-01 9.93218871e-01 2.94226862e-04 2.01217080e+01] [-2.50862635e-03 -2.59277156e-06 9.99996853e-01 -9.30233737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441400513 meters 0.01747584566616801 Centerline is valid? [True, True] Translation: X:194.58, Y:20.12, Z:-0.93 [[ 9.93031461e-01 -1.17803235e-01 3.30372528e-03 1.94583223e+02] [ 1.17802585e-01 9.93036957e-01 3.91311760e-04 2.01238120e+01] [-3.32681909e-03 6.02490632e-07 9.99994466e-01 -9.28718496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471400513 meters 0.007245354267768282 Centerline is valid? [True, True] Translation: X:194.61, Y:20.13, Z:-0.93 [[ 9.93178596e-01 -1.16492447e-01 5.07792223e-03 1.94610420e+02] [ 1.16490885e-01 9.93191578e-01 6.03294575e-04 2.01299704e+01] [-5.11362885e-03 -7.64760483e-06 9.99986925e-01 -9.26922145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501400513 meters 0.015215859168172096 Centerline is valid? [True, True] Translation: X:194.64, Y:20.14, Z:-0.93 [[ 9.93417736e-01 -1.14395608e-01 5.90313164e-03 1.94637793e+02] [ 1.14393450e-01 9.93435274e-01 7.03060599e-04 2.01383467e+01] [-5.94480625e-03 -2.31532731e-05 9.99982329e-01 -9.25610135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531400513 meters 0.010458209217029503 Centerline is valid? [True, True] Translation: X:194.66, Y:20.15, Z:-0.92 [[ 9.93784910e-01 -1.11116132e-01 6.69014994e-03 1.94664341e+02] [ 1.11113282e-01 9.93807427e-01 7.97274240e-04 2.01480059e+01] [-6.73731073e-03 -4.89545912e-05 9.99977303e-01 -9.24896407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561400513 meters 0.013181119776300187 Centerline is valid? [True, True] Translation: X:194.69, Y:20.16, Z:-0.93 [[ 9.94123089e-01 -1.08061735e-01 6.47652104e-03 1.94692065e+02] [ 1.08058999e-01 9.94144183e-01 7.72019717e-04 2.01568420e+01] [-6.52202151e-03 -6.76362474e-05 9.99978729e-01 -9.25326838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591400513 meters 0.017717254717190184 Centerline is valid? [True, True] Translation: X:194.72, Y:20.17, Z:-0.93 [[ 9.94717713e-01 -1.02498851e-01 5.53693769e-03 1.94720257e+02] [ 1.02496759e-01 9.94733119e-01 6.61099486e-04 2.01691833e+01] [-5.57553724e-03 -9.00892018e-05 9.99984453e-01 -9.26469113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621400513 meters 0.01992303897395693 Centerline is valid? [True, True] Translation: X:194.75, Y:20.18, Z:-0.93 [[ 9.94981435e-01 -9.99179956e-02 5.32338831e-03 1.94747981e+02] [ 9.99160260e-02 9.94995670e-01 6.35322457e-04 2.01785151e+01] [-5.36022847e-03 -1.00242245e-04 9.99985629e-01 -9.27070583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651400513 meters 0.023234011284139548 Centerline is valid? [True, True] Translation: X:194.78, Y:20.19, Z:-0.93 [[ 9.95280000e-01 -9.69129299e-02 5.06016518e-03 1.94775010e+02] [ 9.69111055e-02 9.95292857e-01 6.05070379e-04 2.01895258e+01] [-5.09498540e-03 -1.11828246e-04 9.99987014e-01 -9.27842955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68140051299997 meters 0.027454148842597 Centerline is valid? [True, True] Translation: X:194.80, Y:20.20, Z:-0.93 [[ 9.95573656e-01 -9.38697690e-02 4.64353871e-03 1.94803567e+02] [ 9.38681983e-02 9.95584478e-01 5.55527711e-04 2.01992844e+01] [-4.67518232e-03 -1.17188142e-04 9.99989064e-01 -9.27956216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71140051299997 meters 0.03196889083213197 Centerline is valid? [True, True] Translation: X:194.83, Y:20.22, Z:-0.93 [[ 9.96143393e-01 -8.76267161e-02 4.46079578e-03 1.94832502e+02] [ 8.76252033e-02 9.96153371e-01 5.33838462e-04 2.02154730e+01] [-4.49041526e-03 -1.40901520e-04 9.99989908e-01 -9.28601933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74140051299997 meters 0.03751099000215088 Centerline is valid? [True, True] Translation: X:194.86, Y:20.23, Z:-0.93 [[ 9.96365712e-01 -8.50771878e-02 4.15202194e-03 1.94858980e+02] [ 8.50758558e-02 9.96374353e-01 4.96697024e-04 2.02294963e+01] [-4.17922576e-03 -1.41655064e-04 9.99991257e-01 -9.30368633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77140051299997 meters 0.03787980670709421 Centerline is valid? [True, True] Translation: X:194.89, Y:20.24, Z:-0.93 [[ 9.96566338e-01 -8.26907923e-02 4.21507979e-03 1.94887905e+02] [ 8.26893966e-02 9.96575240e-01 5.04605691e-04 2.02382686e+01] [-4.24237040e-03 -1.54330641e-04 9.99990989e-01 -9.31021493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80140051299998 meters 0.0390059800181268 Centerline is valid? [True, True] Translation: X:194.92, Y:20.25, Z:-0.93 [[ 9.96717362e-01 -8.08279419e-02 4.62000439e-03 1.94916826e+02] [ 8.08262447e-02 9.96728053e-01 5.53207300e-04 2.02473543e+01] [-4.64960259e-03 -1.77973715e-04 9.99989175e-01 -9.31770290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83140051299998 meters 0.04129091989126137 Centerline is valid? [True, True] Translation: X:194.95, Y:20.26, Z:-0.93 [[ 9.96897048e-01 -7.85407275e-02 5.25648607e-03 1.94945535e+02] [ 7.85384978e-02 9.96910883e-01 6.29572003e-04 2.02588885e+01] [-5.28969521e-03 -2.14781952e-04 9.99985986e-01 -9.31069184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86140051299998 meters 0.04129091989126137 Centerline is valid? [True, True] Translation: X:194.97, Y:20.26, Z:-0.93 [[ 9.96882285e-01 -7.87278840e-02 5.25652649e-03 1.94972854e+02] [ 7.87256588e-02 9.96896120e-01 6.29235023e-04 2.02623139e+01] [-5.28974921e-03 -2.13449737e-04 9.99985986e-01 -9.31292601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89140051299998 meters 0.044037017290646685 Centerline is valid? [True, True] Translation: X:195.00, Y:20.27, Z:-0.93 [[ 9.96917505e-01 -7.82449795e-02 5.76287553e-03 1.94999706e+02] [ 7.82422878e-02 9.96934133e-01 6.91394509e-04 2.02713301e+01] [-5.79930547e-03 -2.38362723e-04 9.99983155e-01 -9.30587153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92140051299998 meters 0.04574124281283905 Centerline is valid? [True, True] Translation: X:195.03, Y:20.28, Z:-0.93 [[ 9.96926826e-01 -7.81245290e-02 5.78457785e-03 1.95026492e+02] [ 7.81218130e-02 9.96943579e-01 6.94345906e-04 2.02797223e+01] [-5.82114319e-03 -2.40310351e-04 9.99983028e-01 -9.30937660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95140051299998 meters 0.04155383424590742 Centerline is valid? [True, True] Translation: X:195.05, Y:20.28, Z:-0.93 [[ 9.96901076e-01 -7.84635553e-02 5.63159775e-03 1.95054759e+02] [ 7.84609865e-02 9.96916956e-01 6.75971736e-04 2.02815511e+01] [-5.66727443e-03 -2.32016237e-04 9.99983914e-01 -9.31231581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98140051299998 meters 0.04415537573774909 Centerline is valid? [True, True] Translation: X:195.08, Y:20.29, Z:-0.93 [[ 9.96861810e-01 -7.89618816e-02 5.61723168e-03 1.95081909e+02] [ 7.89593260e-02 9.96877610e-01 6.75632220e-04 2.02912677e+01] [-5.65304168e-03 -2.29979130e-04 9.99983995e-01 -9.31748862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01140051299998 meters 0.040099247677512606 Centerline is valid? [True, True] Translation: X:195.11, Y:20.29, Z:-0.93 [[ 9.96748713e-01 -8.03778180e-02 5.60444376e-03 1.95110593e+02] [ 8.03752959e-02 9.96764444e-01 6.74175210e-04 2.02936914e+01] [-5.64049901e-03 -2.21524447e-04 9.99984068e-01 -9.32367563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04140051299999 meters 0.045590384617489696 Centerline is valid? [True, True] Translation: X:195.14, Y:20.31, Z:-0.93 [[ 9.96718478e-01 -8.08473124e-02 3.99838431e-03 1.95137510e+02] [ 8.08709640e-02 9.96705562e-01 -6.15704609e-03 2.03050096e+01] [-3.48743126e-03 6.46019480e-03 9.99973051e-01 -9.33367302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071400513 meters 0.03991663107764594 Centerline is valid? [True, True] Translation: X:195.17, Y:20.30, Z:-0.93 [[ 9.96598393e-01 -8.22993330e-02 4.29691399e-03 1.95167982e+02] [ 8.22673560e-02 9.96584627e-01 7.15287841e-03 2.02963602e+01] [-4.87091554e-03 -6.77505138e-03 9.99965186e-01 -9.32278413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101400513 meters 0.036142171626095475 Centerline is valid? [True, True] Translation: X:195.20, Y:20.30, Z:-0.93 [[ 9.96548308e-01 -8.28915193e-02 4.52384374e-03 1.95196395e+02] [ 8.28898971e-02 9.96558562e-01 5.45219448e-04 2.03014331e+01] [-4.55346928e-03 -1.68356577e-04 9.99989619e-01 -9.33387568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131400513 meters 0.04609330362236172 Centerline is valid? [True, True] Translation: X:195.22, Y:20.32, Z:-0.94 [[ 9.96698613e-01 -8.11242310e-02 3.27619731e-03 1.95223766e+02] [ 8.11233680e-02 9.96703989e-01 3.95676304e-04 2.03163371e+01] [-3.29749786e-03 -1.28593863e-04 9.99994555e-01 -9.36942223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161400513 meters 0.039572160123499775 Centerline is valid? [True, True] Translation: X:195.25, Y:20.31, Z:-0.94 [[ 9.96799076e-01 -7.98561236e-02 3.82118654e-03 1.95253455e+02] [ 7.98549418e-02 9.96806388e-01 4.61119024e-04 2.03105154e+01] [-3.84580633e-03 -1.54502389e-04 9.99992593e-01 -9.35526940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191400513 meters 0.04501482568122981 Centerline is valid? [True, True] Translation: X:195.28, Y:20.32, Z:-0.93 [[ 9.96863064e-01 -7.90037884e-02 4.73627148e-03 1.95279912e+02] [ 7.90019566e-02 9.96874296e-01 5.72894463e-04 2.03192912e+01] [-4.76672813e-03 -1.96922616e-04 9.99988620e-01 -9.34555201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221400513 meters 0.042006240280692594 Centerline is valid? [True, True] Translation: X:195.31, Y:20.32, Z:-0.93 [[ 9.96888858e-01 -7.85830436e-02 6.10825936e-03 1.95309498e+02] [ 7.85799843e-02 9.96907538e-01 7.39618570e-04 2.03179330e+01] [-6.14749127e-03 -2.57330587e-04 9.99981071e-01 -9.32631815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251400513 meters 0.05060587066312538 Centerline is valid? [True, True] Translation: X:195.34, Y:20.33, Z:-0.93 [[ 9.96973360e-01 -7.75271771e-02 5.80141402e-03 1.95335514e+02] [ 7.75585187e-02 9.96973244e-01 -5.38760770e-03 2.03283487e+01] [-5.36616854e-03 5.82125043e-03 9.99968658e-01 -9.33783058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281400513 meters 0.0422825636469923 Centerline is valid? [True, True] Translation: X:195.37, Y:20.32, Z:-0.93 [[ 9.96967316e-01 -7.75987671e-02 5.88234557e-03 1.95368247e+02] [ 7.75596954e-02 9.96965846e-01 6.60266558e-03 2.03158486e+01] [-6.37685633e-03 -6.12640886e-03 9.99960901e-01 -9.32220727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311400513 meters 0.0436050559329827 Centerline is valid? [True, True] Translation: X:195.40, Y:20.32, Z:-0.93 [[ 9.97045047e-01 -7.64982712e-02 7.01347739e-03 1.95396362e+02] [ 7.64941696e-02 9.97069665e-01 8.51607965e-04 2.03221468e+01] [-7.05807209e-03 -3.12601375e-04 9.99975043e-01 -9.32360233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341400513 meters 0.04721033790327132 Centerline is valid? [True, True] Translation: X:195.43, Y:20.32, Z:-0.93 [[ 9.97127819e-01 -7.54332574e-02 6.77762767e-03 1.95425045e+02] [ 7.54293941e-02 9.97150805e-01 8.24192870e-04 2.03221601e+01] [-6.82048843e-03 -3.10593291e-04 9.99976692e-01 -9.32475112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371400513 meters 0.05078207093729967 Centerline is valid? [True, True] Translation: X:195.45, Y:20.33, Z:-0.93 [[ 9.97365459e-01 -7.22580391e-02 6.39662912e-03 1.95453571e+02] [ 7.22545300e-02 9.97385922e-01 7.78300072e-04 2.03323451e+01] [-6.43614626e-03 -3.14064178e-04 9.99979238e-01 -9.33121586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401400513 meters 0.05531218607243031 Centerline is valid? [True, True] Translation: X:195.48, Y:20.34, Z:-0.93 [[ 9.97525371e-01 -7.00417465e-02 6.10635416e-03 1.95481619e+02] [ 7.00385067e-02 9.97544012e-01 7.43060418e-04 2.03402613e+01] [-6.14340228e-03 -3.13541692e-04 9.99981080e-01 -9.33659053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43140051299997 meters 0.05882700770017794 Centerline is valid? [True, True] Translation: X:195.51, Y:20.35, Z:-0.93 [[ 9.97723575e-01 -6.72022639e-02 5.61465625e-03 1.95511466e+02] [ 6.71994800e-02 9.97739326e-01 6.83240050e-04 2.03466384e+01] [-5.64787862e-03 -3.04382725e-04 9.99984004e-01 -9.34559979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46140051299997 meters 0.06084756690910213 Centerline is valid? [True, True] Translation: X:195.54, Y:20.35, Z:-0.94 [[ 9.97926145e-01 -6.41645023e-02 5.13094759e-03 1.95541678e+02] [ 6.41621367e-02 9.97939292e-01 6.24483273e-04 2.03511439e+01] [-5.16044386e-03 -2.93975624e-04 9.99986642e-01 -9.35129375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49140051299997 meters 0.063786343586458 Centerline is valid? [True, True] Translation: X:195.57, Y:20.36, Z:-0.94 [[ 9.98085621e-01 -6.16945879e-02 4.34416084e-03 1.95571009e+02] [ 6.16928689e-02 9.98095041e-01 5.28709999e-04 2.03554919e+01] [-4.36850394e-03 -2.59694102e-04 9.99990424e-01 -9.36314793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52140051299997 meters 0.061580487592170934 Centerline is valid? [True, True] Translation: X:195.60, Y:20.36, Z:-0.94 [[ 9.98305114e-01 -5.80123674e-02 4.63304555e-03 1.95600773e+02] [ 5.80103724e-02 9.98315821e-01 5.63952294e-04 2.03607068e+01] [-4.65795888e-03 -2.94231761e-04 9.99989108e-01 -9.36879756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55140051299998 meters 0.062410800520928074 Centerline is valid? [True, True] Translation: X:195.63, Y:20.37, Z:-0.94 [[ 9.98327355e-01 -5.75854758e-02 5.13865041e-03 1.95629286e+02] [ 5.75830181e-02 9.98340526e-01 6.25071069e-04 2.03651824e+01] [-5.16611796e-03 -3.28126547e-04 9.99986602e-01 -9.36288948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58140051299998 meters 0.06258308519584199 Centerline is valid? [True, True] Translation: X:195.66, Y:20.37, Z:-0.94 [[ 9.98316062e-01 -5.77211244e-02 5.77160087e-03 1.95657204e+02] [ 5.77180201e-02 9.98332678e-01 7.03125203e-04 2.03674481e+01] [-5.80256293e-03 -3.68815809e-04 9.99983097e-01 -9.35011999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61140051299998 meters 0.06524010199697115 Centerline is valid? [True, True] Translation: X:195.68, Y:20.37, Z:-0.93 [[ 9.98278070e-01 -5.83217717e-02 6.28214208e-03 1.95684525e+02] [ 5.83180960e-02 9.98297757e-01 7.66851448e-04 2.03719373e+01] [-6.31617248e-03 -3.99168418e-04 9.99979973e-01 -9.33710569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64140051299998 meters 0.06482749875736935 Centerline is valid? [True, True] Translation: X:195.71, Y:20.38, Z:-0.94 [[ 9.98285233e-01 -5.82442697e-02 5.84802401e-03 1.95712669e+02] [ 5.82410814e-02 9.98302292e-01 7.14170029e-04 2.03750979e+01] [-5.87969208e-03 -3.72350152e-04 9.99982645e-01 -9.35253847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67140051299998 meters 0.06135858822993379 Centerline is valid? [True, True] Translation: X:195.74, Y:20.37, Z:-0.94 [[ 9.98302480e-01 -5.80160547e-02 5.12799943e-03 1.95741970e+02] [ 5.80136005e-02 9.98315596e-01 6.26172302e-04 2.03746932e+01] [-5.15568985e-03 -3.27615652e-04 9.99986656e-01 -9.37010911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70140051299998 meters 0.06328905948417432 Centerline is valid? [True, True] Translation: X:195.77, Y:20.38, Z:-0.94 [[ 9.98360367e-01 -5.70427876e-02 4.76428966e-03 1.95769971e+02] [ 5.70406528e-02 9.98371686e-01 5.82872065e-04 2.03805196e+01] [-4.78978055e-03 -3.10158176e-04 9.99988481e-01 -9.38350911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73140051299998 meters 0.07207274617160975 Centerline is valid? [True, True] Translation: X:195.80, Y:20.40, Z:-0.94 [[ 9.98509129e-01 -5.42813899e-02 5.74893797e-03 1.95798069e+02] [ 5.42782340e-02 9.98525602e-01 7.03677847e-04 2.03959166e+01] [-5.77865836e-03 -3.90586554e-04 9.99983227e-01 -9.37233491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76140051299998 meters 0.07108262283883779 Centerline is valid? [True, True] Translation: X:195.83, Y:20.40, Z:-0.94 [[ 9.98606394e-01 -5.24209964e-02 6.10803731e-03 1.95827664e+02] [ 5.24173995e-02 9.98624983e-01 7.47601118e-04 2.04002790e+01] [-6.13882865e-03 -4.26391825e-04 9.99981066e-01 -9.36745258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79140051299999 meters 0.0725001360166347 Centerline is valid? [True, True] Translation: X:195.86, Y:20.41, Z:-0.94 [[ 9.98708281e-01 -5.05332870e-02 5.30632182e-03 1.95857598e+02] [ 5.05305454e-02 9.98722305e-01 6.49553112e-04 2.04075924e+01] [-5.33236601e-03 -3.80582736e-04 9.99985710e-01 -9.37879633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821400513 meters 0.06948085940950124 Centerline is valid? [True, True] Translation: X:195.89, Y:20.41, Z:-0.94 [[ 9.98783774e-01 -4.91086317e-02 4.39498092e-03 1.95888309e+02] [ 4.91067373e-02 9.98793392e-01 5.37994798e-04 2.04083189e+01] [-4.41609809e-03 -3.21517301e-04 9.99990197e-01 -9.39391558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851400513 meters 0.07362481003872191 Centerline is valid? [True, True] Translation: X:195.92, Y:20.42, Z:-0.94 [[ 9.98819876e-01 -4.84104759e-02 3.90902569e-03 1.95915510e+02] [ 4.84089727e-02 9.98827484e-01 4.78319741e-04 2.04167768e+01] [-3.92759798e-03 -2.88523347e-04 9.99992245e-01 -9.40117583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881400513 meters 0.08029380724929454 Centerline is valid? [True, True] Translation: X:195.94, Y:20.43, Z:-0.94 [[ 9.98841573e-01 -4.76927599e-02 6.39628956e-03 1.95941921e+02] [ 4.76887170e-02 9.98861939e-01 7.83186463e-04 2.04294440e+01] [-6.42636251e-03 -4.77248356e-04 9.99979237e-01 -9.36856071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911400513 meters 0.07375277012302557 Centerline is valid? [True, True] Translation: X:195.97, Y:20.43, Z:-0.94 [[ 9.98834262e-01 -4.76543175e-02 7.69308613e-03 1.95971268e+02] [ 4.76484641e-02 9.98863722e-01 9.42479883e-04 2.04272474e+01] [-7.72925789e-03 -5.74817460e-04 9.99969964e-01 -9.35065849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941400513 meters 0.07690448131877875 Centerline is valid? [True, True] Translation: X:196.00, Y:20.44, Z:-0.93 [[ 9.98831607e-01 -4.76066754e-02 8.30819439e-03 1.95999315e+02] [ 4.75998352e-02 9.98865965e-01 1.01922792e-03 2.04371766e+01] [-8.34729466e-03 -6.22568375e-04 9.99964967e-01 -9.34531891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971400513 meters 0.07826921350400064 Centerline is valid? [True, True] Translation: X:196.03, Y:20.44, Z:-0.94 [[ 9.98824691e-01 -4.78616979e-02 7.64815642e-03 1.96028017e+02] [ 4.78559082e-02 9.98853809e-01 9.38336426e-04 2.04449291e+01] [-7.68430054e-03 -5.71224120e-04 9.99970312e-01 -9.35839555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001400513 meters 0.07083201582998425 Centerline is valid? [True, True] Translation: X:196.06, Y:20.44, Z:-0.94 [[ 9.98762850e-01 -4.94099988e-02 5.60541944e-03 1.96058316e+02] [ 4.94069129e-02 9.98778496e-01 6.87755673e-04 2.04435744e+01] [-5.63255440e-03 -4.09958347e-04 9.99984053e-01 -9.39702477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031400513 meters 0.07746489067584032 Centerline is valid? [True, True] Translation: X:196.08, Y:20.46, Z:-0.94 [[ 9.98723090e-01 -5.02290162e-02 5.40701067e-03 1.96084829e+02] [ 5.02261575e-02 9.98737650e-01 6.63283480e-04 2.04563649e+01] [-5.43350120e-03 -3.90863157e-04 9.99985162e-01 -9.40830866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061400513 meters 0.07786604898580228 Centerline is valid? [True, True] Translation: X:196.11, Y:20.46, Z:-0.94 [[ 9.98681595e-01 -5.10130323e-02 5.72214266e-03 1.96111977e+02] [ 5.10098401e-02 9.98697904e-01 7.02536996e-04 2.04609319e+01] [-5.75053042e-03 -4.09725185e-04 9.99983382e-01 -9.40747709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091400513 meters 0.06777063722509832 Centerline is valid? [True, True] Translation: X:196.14, Y:20.45, Z:-0.94 [[ 9.98637105e-01 -5.17875789e-02 6.47915944e-03 1.96141741e+02] [ 5.17834995e-02 9.98658017e-01 7.95912232e-04 2.04521860e+01] [-6.51168289e-03 -4.59313937e-04 9.99978693e-01 -9.39435070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121400513 meters 0.0649364183223225 Centerline is valid? [True, True] Translation: X:196.17, Y:20.45, Z:-0.94 [[ 9.98510395e-01 -5.42097871e-02 6.18792514e-03 1.96171650e+02] [ 5.42061104e-02 9.98529478e-01 7.60468809e-04 2.04538118e+01] [-6.22005051e-03 -4.23912657e-04 9.99980565e-01 -9.39499996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151400513 meters 0.06709908167236754 Centerline is valid? [True, True] Translation: X:196.20, Y:20.46, Z:-0.94 [[ 9.98443258e-01 -5.55223316e-02 5.32264714e-03 1.96200231e+02] [ 5.55196297e-02 9.98457382e-01 6.54167196e-04 2.04616053e+01] [-5.35075722e-03 -3.57637428e-04 9.99985621e-01 -9.41201966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18140051299997 meters 0.0700896511371951 Centerline is valid? [True, True] Translation: X:196.23, Y:20.47, Z:-0.94 [[ 9.98393442e-01 -5.64721044e-02 4.62998709e-03 1.96227750e+02] [ 5.64700701e-02 9.98404130e-01 5.69046901e-04 2.04699674e+01] [-4.65473350e-03 -3.06676999e-04 9.99989120e-01 -9.43016759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21140051299997 meters 0.06202304174524863 Centerline is valid? [True, True] Translation: X:196.26, Y:20.46, Z:-0.94 [[ 9.98359313e-01 -5.70915624e-02 4.38574649e-03 1.96257984e+02] [ 5.70897428e-02 9.98368905e-01 5.39064350e-04 2.04644625e+01] [-4.40936895e-03 -2.87798775e-04 9.99990237e-01 -9.43364753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24140051299997 meters 0.06455531465166724 Centerline is valid? [True, True] Translation: X:196.29, Y:20.47, Z:-0.94 [[ 9.98369177e-01 -5.68964529e-02 4.66680737e-03 1.96285189e+02] [ 5.68943879e-02 9.98380037e-01 5.74160437e-04 2.04715228e+01] [-4.69191501e-03 -3.07708935e-04 9.99988946e-01 -9.43505532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27140051299997 meters 0.0705886862739835 Centerline is valid? [True, True] Translation: X:196.31, Y:20.48, Z:-0.94 [[ 9.98471676e-01 -5.50097341e-02 5.31417864e-03 1.96312829e+02] [ 5.50070274e-02 9.98485753e-01 6.54283772e-04 2.04838655e+01] [-5.34212364e-03 -3.60966645e-04 9.99985666e-01 -9.43437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30140051299998 meters 0.07516836705102095 Centerline is valid? [True, True] Translation: X:196.34, Y:20.49, Z:-0.94 [[ 9.98518792e-01 -5.41952455e-02 4.80595826e-03 1.96340206e+02] [ 5.41930222e-02 9.98530303e-01 5.91735557e-04 2.04927817e+01] [-4.83096422e-03 -3.30409671e-04 9.99988276e-01 -9.44342707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33140051299998 meters 0.07175345170089455 Centerline is valid? [True, True] Translation: X:196.37, Y:20.49, Z:-0.94 [[ 9.98537035e-01 -5.39083178e-02 4.20502185e-03 1.96369358e+02] [ 5.39066143e-02 9.98545847e-01 5.17464744e-04 2.04914818e+01] [-4.22680276e-03 -2.90029220e-04 9.99991025e-01 -9.44606382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36140051299998 meters 0.07391544110820043 Centerline is valid? [True, True] Translation: X:196.40, Y:20.50, Z:-0.94 [[ 9.98548028e-01 -5.37186316e-02 4.01789770e-03 1.96397016e+02] [ 5.37170708e-02 9.98556073e-01 4.95429564e-04 2.04965794e+01] [-4.03870994e-03 -2.78880519e-04 9.99991805e-01 -9.44765100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39140051299998 meters 0.07116680575675502 Centerline is valid? [True, True] Translation: X:196.43, Y:20.50, Z:-0.95 [[ 9.98577665e-01 -5.32032314e-02 3.47330767e-03 1.96425443e+02] [ 5.32020615e-02 9.98583676e-01 4.28411079e-04 2.04973418e+01] [-3.49118119e-03 -2.43014607e-04 9.99993876e-01 -9.46118004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42140051299998 meters 0.0694932429011168 Centerline is valid? [True, True] Translation: X:196.45, Y:20.50, Z:-0.95 [[ 9.98573290e-01 -5.33119676e-02 3.03619522e-03 1.96453954e+02] [ 5.33110754e-02 9.98577883e-01 3.74090381e-04 2.04996187e+01] [-3.05182089e-03 -2.11693830e-04 9.99995321e-01 -9.46592248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45140051299998 meters 0.0756519881953374 Centerline is valid? [True, True] Translation: X:196.48, Y:20.51, Z:-0.95 [[ 9.98589863e-01 -5.29576389e-02 3.71140002e-03 1.96480403e+02] [ 5.29562987e-02 9.98596726e-01 4.58508131e-04 2.05126508e+01] [-3.73047342e-03 -2.61319564e-04 9.99993008e-01 -9.47395433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48140051299998 meters 0.06984905444986249 Centerline is valid? [True, True] Translation: X:196.51, Y:20.51, Z:-0.95 [[ 9.98645189e-01 -5.18778722e-02 4.05870797e-03 1.96510309e+02] [ 5.18762580e-02 9.98653394e-01 5.02031206e-04 2.05095420e+01] [-4.07928680e-03 -2.90800467e-04 9.99991637e-01 -9.47120222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51140051299998 meters 0.07224054393012283 Centerline is valid? [True, True] Translation: X:196.54, Y:20.52, Z:-0.95 [[ 9.98673703e-01 -5.13534334e-02 3.69578852e-03 1.96537403e+02] [ 5.13520920e-02 9.98680506e-01 4.57001294e-04 2.05162863e+01] [-3.71438054e-03 -2.66608703e-04 9.99993066e-01 -9.48291652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54140051299999 meters 0.0695332817663786 Centerline is valid? [True, True] Translation: X:196.57, Y:20.52, Z:-0.95 [[ 9.98696955e-01 -5.09090481e-02 3.55832128e-03 1.96566575e+02] [ 5.09078018e-02 9.98703260e-01 4.39984363e-04 2.05181255e+01] [-3.57610625e-03 -2.58264729e-04 9.99993572e-01 -9.48710125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571400513 meters 0.07473701828401218 Centerline is valid? [True, True] Translation: X:196.59, Y:20.53, Z:-0.95 [[ 9.98710091e-01 -5.06430956e-02 3.66491224e-03 1.96592867e+02] [ 5.06417682e-02 9.98716779e-01 4.54131160e-04 2.05304958e+01] [-3.68320795e-03 -2.67947736e-04 9.99993181e-01 -9.49631921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601400513 meters 0.07645345636618836 Centerline is valid? [True, True] Translation: X:196.62, Y:20.54, Z:-0.95 [[ 9.98709342e-01 -5.06592654e-02 3.64539291e-03 1.96619989e+02] [ 5.06579505e-02 9.98715959e-01 4.52187527e-04 2.05384541e+01] [-3.66361956e-03 -2.66935774e-04 9.99993253e-01 -9.50190761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631400513 meters 0.07016000015596693 Centerline is valid? [True, True] Translation: X:196.65, Y:20.54, Z:-0.95 [[ 9.98624183e-01 -5.23038184e-02 3.74859296e-03 1.96650636e+02] [ 5.23024382e-02 9.98631182e-01 4.65342673e-04 2.05353535e+01] [-3.76780102e-03 -2.68641895e-04 9.99992866e-01 -9.49571465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661400513 meters 0.06725896851246903 Centerline is valid? [True, True] Translation: X:196.68, Y:20.54, Z:-0.95 [[ 9.98539794e-01 -5.38559284e-02 4.22119565e-03 1.96680388e+02] [ 5.38541914e-02 9.98548672e-01 5.24165707e-04 2.05356731e+01] [-4.24329874e-03 -2.96071239e-04 9.99990953e-01 -9.48900194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691400513 meters 0.06792835772326158 Centerline is valid? [True, True] Translation: X:196.71, Y:20.54, Z:-0.95 [[ 9.98433806e-01 -5.57453820e-02 4.73151106e-03 1.96708831e+02] [ 5.57432201e-02 9.98444965e-01 5.87668642e-04 2.05407454e+01] [-4.75691321e-03 -3.22998576e-04 9.99988634e-01 -9.48489297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721400513 meters 0.0646934385893002 Centerline is valid? [True, True] Translation: X:196.74, Y:20.54, Z:-0.95 [[ 9.98317789e-01 -5.77479835e-02 5.17323747e-03 1.96738978e+02] [ 5.77454250e-02 9.98331134e-01 6.42704053e-04 2.05413362e+01] [-5.20171889e-03 -3.42892093e-04 9.99986412e-01 -9.48542433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751400513 meters 0.0646934385893002 Centerline is valid? [True, True] Translation: X:196.77, Y:20.54, Z:-0.95 [[ 9.98307102e-01 -5.79324302e-02 5.17328983e-03 1.96766309e+02] [ 5.79298763e-02 9.98320448e-01 6.42283043e-04 2.05448753e+01] [-5.20181003e-03 -3.41507684e-04 9.99986412e-01 -9.48763195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781400513 meters 0.0655365056194128 Centerline is valid? [True, True] Translation: X:196.80, Y:20.55, Z:-0.95 [[ 9.98193874e-01 -5.98451113e-02 5.24905742e-03 1.96795286e+02] [ 5.98425007e-02 9.98207618e-01 6.53140345e-04 2.05498166e+01] [-5.27873636e-03 -3.37843969e-04 9.99986010e-01 -9.49823442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811400513 meters 0.06360953040929274 Centerline is valid? [True, True] Translation: X:196.83, Y:20.55, Z:-0.95 [[ 9.98006787e-01 -6.28520212e-02 5.66355612e-03 1.96826523e+02] [ 6.28490292e-02 9.98022797e-01 7.04911544e-04 2.05483359e+01] [-5.69666323e-03 -3.47557502e-04 9.99983713e-01 -9.48904236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841400513 meters 0.06224094707198811 Centerline is valid? [True, True] Translation: X:196.86, Y:20.55, Z:-0.95 [[ 9.97935910e-01 -6.39512910e-02 5.84398886e-03 1.96855456e+02] [ 6.39481245e-02 9.97952959e-01 7.27288463e-04 2.05487361e+01] [-5.87853701e-03 -3.52075147e-04 9.99982659e-01 -9.48202881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871400513 meters 0.05926537063620003 Centerline is valid? [True, True] Translation: X:196.88, Y:20.55, Z:-0.95 [[ 9.97880263e-01 -6.48240181e-02 5.72958407e-03 1.96884639e+02] [ 6.48209888e-02 9.97896653e-01 7.13045651e-04 2.05485045e+01] [-5.76375526e-03 -3.40136877e-04 9.99983332e-01 -9.48345314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901400513 meters 0.06101333833091756 Centerline is valid? [True, True] Translation: X:196.91, Y:20.56, Z:-0.95 [[ 9.97927379e-01 -6.41515303e-02 5.05239185e-03 1.96912102e+02] [ 6.41491612e-02 9.97940123e-01 6.29752587e-04 2.05561602e+01] [-5.08238413e-03 -3.04340650e-04 9.99987038e-01 -9.49853187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93140051299997 meters 0.06238668150652061 Centerline is valid? [True, True] Translation: X:196.94, Y:20.56, Z:-0.95 [[ 9.98031591e-01 -6.25245347e-02 4.86066229e-03 1.96941298e+02] [ 6.25223209e-02 9.98043382e-01 6.06230034e-04 2.05615515e+01] [-4.88905608e-03 -3.01136838e-04 9.99988003e-01 -9.50224259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96140051299997 meters 0.06880578295560374 Centerline is valid? [True, True] Translation: X:196.97, Y:20.57, Z:-0.95 [[ 9.98153318e-01 -6.05663834e-02 4.65468151e-03 1.96969660e+02] [ 6.05643313e-02 9.98164127e-01 5.80678841e-04 2.05730230e+01] [-4.68130573e-03 -2.97698838e-04 9.99988998e-01 -9.50819409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99140051299997 meters 0.0689130217503251 Centerline is valid? [True, True] Translation: X:197.00, Y:20.58, Z:-0.95 [[ 9.98267335e-01 -5.86880574e-02 4.24732533e-03 1.96999675e+02] [ 5.86863317e-02 9.98276331e-01 5.29902314e-04 2.05761372e+01] [-4.27110329e-03 -2.79724228e-04 9.99990840e-01 -9.51297327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02140051299997 meters 0.07463514179858807 Centerline is valid? [True, True] Translation: X:197.03, Y:20.59, Z:-0.95 [[ 9.98442325e-01 -5.55797263e-02 4.88036445e-03 1.97028190e+02] [ 5.55774104e-02 9.98454196e-01 6.08981852e-04 2.05864982e+01] [-4.90666741e-03 -3.36795237e-04 9.99987906e-01 -9.51089452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05140051299998 meters 0.07423876403852202 Centerline is valid? [True, True] Translation: X:197.06, Y:20.59, Z:-0.95 [[ 9.98472001e-01 -5.49348203e-02 5.98572577e-03 1.97057087e+02] [ 5.49313268e-02 9.98489856e-01 7.46612205e-04 2.05888556e+01] [-6.01770147e-03 -4.16667524e-04 9.99981807e-01 -9.49847173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08140051299998 meters 0.06592810733674563 Centerline is valid? [True, True] Translation: X:197.09, Y:20.58, Z:-0.95 [[ 9.98468031e-01 -5.49354764e-02 6.60944752e-03 1.97086718e+02] [ 5.49312091e-02 9.98489800e-01 8.25579547e-04 2.05810715e+01] [-6.64481953e-03 -4.61249841e-04 9.99977817e-01 -9.48909724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11140051299998 meters 0.0648374938590535 Centerline is valid? [True, True] Translation: X:197.12, Y:20.58, Z:-0.95 [[ 9.98409818e-01 -5.60251908e-02 6.24598987e-03 1.97115816e+02] [ 5.60213938e-02 9.98429263e-01 7.81346715e-04 2.05810637e+01] [-6.27995417e-03 -4.30195173e-04 9.99980188e-01 -9.49012249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14140051299998 meters 0.06809322721771921 Centerline is valid? [True, True] Translation: X:197.14, Y:20.59, Z:-0.95 [[ 9.98390237e-01 -5.63743098e-02 6.23473669e-03 1.97142919e+02] [ 5.63705316e-02 9.98409613e-01 7.80214231e-04 2.05876565e+01] [-6.26880508e-03 -4.27502849e-04 9.99980259e-01 -9.49616082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17140051299998 meters 0.07926518827305905 Centerline is valid? [True, True] Translation: X:197.17, Y:20.60, Z:-0.95 [[ 9.98409558e-01 -5.60453616e-02 6.10511807e-03 1.97169183e+02] [ 5.60417305e-02 9.98428135e-01 7.64346687e-04 2.06038589e+01] [-6.13835973e-03 -4.20989656e-04 9.99981071e-01 -9.50340090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20140051299998 meters 0.07496052765071491 Centerline is valid? [True, True] Translation: X:197.20, Y:20.60, Z:-0.95 [[ 9.98454800e-01 -5.52217098e-02 6.21088372e-03 1.97199210e+02] [ 5.52179332e-02 9.98474023e-01 7.78020223e-04 2.06008234e+01] [-6.24436966e-03 -4.33865863e-04 9.99980410e-01 -9.50212390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23140051299998 meters 0.07760400724226883 Centerline is valid? [True, True] Translation: X:197.23, Y:20.61, Z:-0.95 [[ 9.98621127e-01 -5.21637551e-02 5.89806813e-03 1.97229502e+02] [ 5.21602954e-02 9.98638452e-01 7.38996533e-04 2.06057025e+01] [-5.92858646e-03 -4.30332574e-04 9.99982333e-01 -9.50841271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26140051299998 meters 0.07979734448897378 Centerline is valid? [True, True] Translation: X:197.26, Y:20.61, Z:-0.95 [[ 9.98717816e-01 -5.04349282e-02 4.36381889e-03 1.97258719e+02] [ 5.04330180e-02 9.98727296e-01 5.46746652e-04 2.06119973e+01] [-4.38584016e-03 -3.25965066e-04 9.99990329e-01 -9.53743993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29140051299999 meters 0.08352395649843361 Centerline is valid? [True, True] Translation: X:197.29, Y:20.62, Z:-0.96 [[ 9.98815917e-01 -4.85821480e-02 2.55730402e-03 1.97287435e+02] [ 4.85814860e-02 9.98819171e-01 3.20400988e-04 2.06201899e+01] [-2.56985005e-03 -1.95783977e-04 9.99996679e-01 -9.57141215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321400513 meters 0.08333223121561943 Centerline is valid? [True, True] Translation: X:197.32, Y:20.62, Z:-0.96 [[ 9.98893137e-01 -4.70170468e-02 1.37797438e-03 1.97317515e+02] [ 4.70168532e-02 9.98894081e-01 1.72617076e-04 2.06233610e+01] [-1.38456640e-03 -1.07637993e-04 9.99999036e-01 -9.59076148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351400513 meters 0.08058975564068441 Centerline is valid? [True, True] Translation: X:197.35, Y:20.62, Z:-0.96 [[ 9.98965471e-01 -4.54523318e-02 1.43958670e-03 1.97348314e+02] [ 4.54521186e-02 9.98966502e-01 1.80428098e-04 2.06232717e+01] [-1.44629977e-03 -1.14809174e-04 9.99998948e-01 -9.58363095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381400513 meters 0.0763513211118052 Centerline is valid? [True, True] Translation: X:197.38, Y:20.62, Z:-0.95 [[ 9.99085251e-01 -4.25561205e-02 4.19963502e-03 1.97379627e+02] [ 4.25542814e-02 9.99094018e-01 5.26354941e-04 2.06222066e+01] [-4.21822985e-03 -3.47161008e-04 9.99991043e-01 -9.53439066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411400513 meters 0.08046167535803435 Centerline is valid? [True, True] Translation: X:197.41, Y:20.63, Z:-0.95 [[ 9.99143018e-01 -4.10462360e-02 5.33255335e-03 1.97408335e+02] [ 4.10432495e-02 9.99157147e-01 6.68314124e-04 2.06314844e+01] [-5.35549057e-03 -4.48876073e-04 9.99985559e-01 -9.52246830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441400513 meters 0.07755464817929576 Centerline is valid? [True, True] Translation: X:197.44, Y:20.63, Z:-0.95 [[ 9.99194465e-01 -3.97440813e-02 5.55244233e-03 1.97438508e+02] [ 3.97408231e-02 9.99209779e-01 6.95941134e-04 2.06316241e+01] [-5.57571421e-03 -4.74721900e-04 9.99984343e-01 -9.52094461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471400513 meters 0.09049545363330844 Centerline is valid? [True, True] Translation: X:197.47, Y:20.65, Z:-0.95 [[ 9.99253806e-01 -3.82571561e-02 5.31240592e-03 1.97465376e+02] [ 3.82541525e-02 9.99267820e-01 6.65883139e-04 2.06507557e+01] [-5.33399108e-03 -4.62164674e-04 9.99985667e-01 -9.53500929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501400513 meters 0.09551543397794615 Centerline is valid? [True, True] Translation: X:197.49, Y:20.66, Z:-0.96 [[ 9.99363360e-01 -3.53886945e-02 4.52930647e-03 1.97493525e+02] [ 3.53864814e-02 9.99373541e-01 5.67843136e-04 2.06632018e+01] [-4.54656427e-03 -4.07205405e-04 9.99989581e-01 -9.55145883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531400513 meters 0.09457832300738762 Centerline is valid? [True, True] Translation: X:197.52, Y:20.67, Z:-0.96 [[ 9.99399556e-01 -3.42857066e-02 5.00182876e-03 1.97522980e+02] [ 3.42829937e-02 9.99411969e-01 6.27150892e-04 2.06690489e+01] [-5.02038984e-03 -4.55296659e-04 9.99987294e-01 -9.55164613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561400513 meters 0.0963519998584347 Centerline is valid? [True, True] Translation: X:197.55, Y:20.68, Z:-0.96 [[ 9.99438443e-01 -3.31039687e-02 5.18906217e-03 1.97552558e+02] [ 3.31010325e-02 9.99451799e-01 6.50744467e-04 2.06781066e+01] [-5.20775974e-03 -4.78615722e-04 9.99986325e-01 -9.55176898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591400513 meters 0.0930299556665247 Centerline is valid? [True, True] Translation: X:197.58, Y:20.68, Z:-0.96 [[ 9.99479665e-01 -3.18417473e-02 5.14796883e-03 1.97583230e+02] [ 3.18388408e-02 9.99492807e-01 6.45591077e-04 2.06799805e+01] [-5.16591457e-03 -4.81349794e-04 9.99986541e-01 -9.55144228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621400513 meters 0.09112229192780641 Centerline is valid? [True, True] Translation: X:197.61, Y:20.69, Z:-0.96 [[ 9.99516233e-01 -3.08865768e-02 3.64945316e-03 1.97613534e+02] [ 3.08851096e-02 9.99522836e-01 4.57716227e-04 2.06853201e+01] [-3.66184906e-03 -3.44781039e-04 9.99993236e-01 -9.56951979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651400513 meters 0.08940245584270012 Centerline is valid? [True, True] Translation: X:197.64, Y:20.69, Z:-0.96 [[ 9.99510563e-01 -3.10510880e-02 3.80328520e-03 1.97643794e+02] [ 3.10494961e-02 9.99517734e-01 4.76914669e-04 2.06901853e+01] [-3.81625973e-03 -3.58591160e-04 9.99992654e-01 -9.57279124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68140051299997 meters 0.09569117578258375 Centerline is valid? [True, True] Translation: X:197.67, Y:20.70, Z:-0.96 [[ 9.99506553e-01 -3.10901260e-02 4.47818622e-03 1.97672151e+02] [ 3.10879192e-02 9.99516496e-01 5.61584358e-04 2.07041565e+01] [-4.49348073e-03 -4.22089755e-04 9.99989815e-01 -9.56708809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71140051299997 meters 0.09996184929273633 Centerline is valid? [True, True] Translation: X:197.70, Y:20.71, Z:-0.96 [[ 9.99500805e-01 -3.11800019e-02 5.09386296e-03 1.97701518e+02] [ 3.11771477e-02 9.99513670e-01 6.38802887e-04 2.07132790e+01] [-5.11130354e-03 -4.79671883e-04 9.99986822e-01 -9.56110505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74140051299997 meters 0.09774682487880136 Centerline is valid? [True, True] Translation: X:197.73, Y:20.72, Z:-0.95 [[ 9.99545566e-01 -2.95236694e-02 6.08388521e-03 1.97731742e+02] [ 2.95195696e-02 9.99563912e-01 7.62589485e-04 2.07210758e+01] [-6.10374654e-03 -5.82649265e-04 9.99981202e-01 -9.54658534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77140051299997 meters 0.0931799912722577 Centerline is valid? [True, True] Translation: X:197.76, Y:20.72, Z:-0.96 [[ 9.99568062e-01 -2.88042402e-02 5.83144577e-03 1.97762994e+02] [ 2.88004615e-02 9.99584913e-01 7.30944416e-04 2.07236310e+01] [-5.85007951e-03 -5.62680363e-04 9.99982730e-01 -9.55599234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80140051299998 meters 0.1013222466974612 Centerline is valid? [True, False] Translation: X:197.76, Y:20.73, Z:-0.96 [[ 9.99775613e-01 -1.97037441e-02 7.77732727e-03 1.97764539e+02] [ 1.97854414e-02 9.99748361e-01 -1.05712300e-02 2.07331122e+01] [-7.56707738e-03 1.07227358e-02 9.99913877e-01 -9.58060109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83140051299998 meters 0.09087107308657248 Centerline is valid? [False, True] Translation: X:197.74, Y:20.74, Z:-0.95 [[ 9.99847380e-01 -1.72347946e-02 2.85995447e-03 1.97744136e+02] [ 1.72845762e-02 9.99681194e-01 -1.84052642e-02 2.07380028e+01] [-2.54183176e-03 1.84518883e-02 9.99826518e-01 -9.53386588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86140051299998 meters 0.09360466885170375 Centerline is valid? [True, True] Translation: X:197.77, Y:20.73, Z:-0.95 [[ 9.99814151e-01 -1.92765057e-02 2.83886754e-04 1.97774554e+02] [ 1.92764974e-02 9.99814191e-01 3.20261780e-05 2.07291853e+01] [-2.84451358e-04 -2.65478837e-05 9.99999959e-01 -9.53745046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89140051299998 meters 0.09767842803613533 Centerline is valid? [True, True] Translation: X:197.80, Y:20.74, Z:-0.95 [[ 9.99766166e-01 -2.16096122e-02 7.98286113e-04 1.97802803e+02] [ 2.16095470e-02 9.99766482e-01 9.02152297e-05 2.07384219e+01] [-8.00049216e-04 -7.29435331e-05 9.99999677e-01 -9.54149982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92140051299998 meters 0.09255967784511614 Centerline is valid? [True, True] Translation: X:197.83, Y:20.74, Z:-0.95 [[ 9.99716221e-01 -2.37938227e-02 1.15420016e-03 1.97833728e+02] [ 2.37936878e-02 9.99716882e-01 1.30542168e-04 2.07366264e+01] [-1.15697948e-03 -1.03042445e-04 9.99999325e-01 -9.53894313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95140051299998 meters 0.09492642361989348 Centerline is valid? [True, True] Translation: X:197.86, Y:20.74, Z:-0.95 [[ 9.99665925e-01 -2.58358398e-02 7.40091334e-04 1.97862097e+02] [ 2.58357849e-02 9.99666197e-01 8.36459102e-05 2.07432938e+01] [-7.42005351e-04 -6.44971257e-05 9.99999723e-01 -9.54939422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98140051299998 meters 0.09658968319720426 Centerline is valid? [True, True] Translation: X:197.89, Y:20.75, Z:-0.96 [[ 9.99573682e-01 -2.91926998e-02 -4.89786620e-04 1.97891443e+02] [ 2.91926761e-02 9.99573801e-01 -5.53871843e-05 2.07492992e+01] [ 4.91194775e-04 4.10653896e-05 9.99999879e-01 -9.56787065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01140051299998 meters 0.07866906729081322 Centerline is valid? [True, True] Translation: X:197.92, Y:20.73, Z:-0.95 [[ 9.99549864e-01 -3.00002553e-02 2.30470456e-04 1.97922616e+02] [ 3.00002501e-02 9.99549891e-01 2.58084187e-05 2.07327267e+01] [-2.31140978e-04 -1.88826301e-05 9.99999973e-01 -9.53785543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04140051299999 meters 0.08786304116163525 Centerline is valid? [True, True] Translation: X:197.95, Y:20.75, Z:-0.95 [[ 9.99543582e-01 -3.01717365e-02 1.51468263e-03 1.97949776e+02] [ 3.01715114e-02 9.99544722e-01 1.71262727e-04 2.07491716e+01] [-1.51916032e-03 -1.25484295e-04 9.99998838e-01 -9.52707665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071400513 meters 0.08704051308617959 Centerline is valid? [True, True] Translation: X:197.98, Y:20.75, Z:-0.95 [[ 9.99558091e-01 -2.96200609e-02 2.50504618e-03 1.97979162e+02] [ 2.96194428e-02 9.99561208e-01 2.83504200e-04 2.07524953e+01] [-2.51234439e-03 -2.09180845e-04 9.99996822e-01 -9.51094302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101400513 meters 0.09000081874915042 Centerline is valid? [True, True] Translation: X:198.01, Y:20.76, Z:-0.95 [[ 9.99580732e-01 -2.88203248e-02 2.78387147e-03 1.98008455e+02] [ 2.88195580e-02 9.99584581e-01 3.15172132e-04 2.07576875e+01] [-2.79179836e-03 -2.34810045e-04 9.99996075e-01 -9.50086241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131400513 meters 0.08400887897010421 Centerline is valid? [True, True] Translation: X:198.04, Y:20.75, Z:-0.95 [[ 9.99562569e-01 -2.94695128e-02 2.49373432e-03 1.98040228e+02] [ 2.94688993e-02 9.99565658e-01 2.82421429e-04 2.07529495e+01] [-2.50097401e-03 -2.08810284e-04 9.99996851e-01 -9.50055631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161400513 meters 0.08380240852133315 Centerline is valid? [True, True] Translation: X:198.07, Y:20.76, Z:-0.95 [[ 9.99542019e-01 -3.01724156e-02 2.31887828e-03 1.98070763e+02] [ 3.01718871e-02 9.99544690e-01 2.62556511e-04 2.07564496e+01] [-2.32574444e-03 -1.92471332e-04 9.99997277e-01 -9.50218073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191400513 meters 0.08370004984301974 Centerline is valid? [True, True] Translation: X:198.10, Y:20.76, Z:-0.95 [[ 9.99533433e-01 -3.04332801e-02 2.59454663e-03 1.98100174e+02] [ 3.04326195e-02 9.99536777e-01 2.93695127e-04 2.07604416e+01] [-2.60228288e-03 -2.14599248e-04 9.99996591e-01 -9.50500980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221400513 meters 0.07730642789721956 Centerline is valid? [True, True] Translation: X:198.13, Y:20.75, Z:-0.95 [[ 9.99556416e-01 -2.96931888e-02 2.29891201e-03 1.98131918e+02] [ 2.96926680e-02 9.99559042e-01 2.60348464e-04 2.07540471e+01] [-2.30562886e-03 -1.91972147e-04 9.99997324e-01 -9.51874378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251400513 meters 0.08467916654602896 Centerline is valid? [True, True] Translation: X:198.16, Y:20.76, Z:-0.95 [[ 9.99577650e-01 -2.89730590e-02 2.25466402e-03 1.98159973e+02] [ 2.89725565e-02 9.99580175e-01 2.55253041e-04 2.07647192e+01] [-2.26111291e-03 -1.89821854e-04 9.99997426e-01 -9.52453823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281400513 meters 0.08599623854603607 Centerline is valid? [True, True] Translation: X:198.19, Y:20.77, Z:-0.95 [[ 9.99601500e-01 -2.81273795e-02 2.38555265e-03 1.98190268e+02] [ 2.81268141e-02 9.99604326e-01 2.70216694e-04 2.07687240e+01] [-2.39220923e-03 -2.03011017e-04 9.99997118e-01 -9.51878905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311400513 meters 0.08124654857306612 Centerline is valid? [True, True] Translation: X:198.22, Y:20.77, Z:-0.95 [[ 9.99629268e-01 -2.70686293e-02 2.93518343e-03 1.98220792e+02] [ 2.70677690e-02 9.99633546e-01 3.32440639e-04 2.07660533e+01] [-2.94310653e-03 -2.52868526e-04 9.99995637e-01 -9.50647876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341400513 meters 0.09154179649686252 Centerline is valid? [True, True] Translation: X:198.25, Y:20.78, Z:-0.95 [[ 9.99685260e-01 -2.47857708e-02 3.87889189e-03 1.98248736e+02] [ 2.47842510e-02 9.99692727e-01 4.39396883e-04 2.07795565e+01] [-3.88859080e-03 -3.43123157e-04 9.99992381e-01 -9.49564005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371400513 meters 0.08383575345739434 Centerline is valid? [True, True] Translation: X:198.28, Y:20.77, Z:-0.95 [[ 9.99716136e-01 -2.35603346e-02 3.54379808e-03 1.98280858e+02] [ 2.35590582e-02 9.99722366e-01 4.01516527e-04 2.07704554e+01] [-3.55227407e-03 -3.17914005e-04 9.99993640e-01 -9.50094521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401400513 meters 0.08955418112384976 Centerline is valid? [True, True] Translation: X:198.31, Y:20.78, Z:-0.95 [[ 9.99743807e-01 -2.24262675e-02 3.06314914e-03 1.98310211e+02] [ 2.24253088e-02 9.99748461e-01 3.46999258e-04 2.07776545e+01] [-3.07016053e-03 -2.78218294e-04 9.99995248e-01 -9.51443787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43140051299997 meters 0.0877324237280286 Centerline is valid? [True, True] Translation: X:198.34, Y:20.78, Z:-0.95 [[ 9.99764704e-01 -2.15551241e-02 2.43179470e-03 1.98342051e+02] [ 2.15545171e-02 9.99767636e-01 2.75556842e-04 2.07765435e+01] [-2.43716930e-03 -2.23075845e-04 9.99997005e-01 -9.53683786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46140051299997 meters 0.09244163547592919 Centerline is valid? [True, True] Translation: X:198.37, Y:20.79, Z:-0.96 [[ 9.99768267e-01 -2.13995306e-02 2.33927390e-03 1.98371431e+02] [ 2.13989686e-02 9.99770981e-01 2.64983260e-04 2.07851491e+01] [-2.34440868e-03 -2.14863806e-04 9.99997229e-01 -9.55046301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49140051299997 meters 0.0988389560999976 Centerline is valid? [True, True] Translation: X:198.40, Y:20.80, Z:-0.96 [[ 9.99774104e-01 -2.11554237e-02 2.04649650e-03 1.98400350e+02] [ 2.11549933e-02 9.99776181e-01 2.31760160e-04 2.07952520e+01] [-2.05094144e-03 -1.88414187e-04 9.99997879e-01 -9.55871231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52140051299997 meters 0.08734092707244899 Centerline is valid? [True, True] Translation: X:198.43, Y:20.78, Z:-0.96 [[ 9.99780697e-01 -2.08395572e-02 2.06648207e-03 1.98432826e+02] [ 2.08391176e-02 9.99782815e-01 2.34023472e-04 2.07830400e+01] [-2.07091020e-03 -1.90908487e-04 9.99997837e-01 -9.55070950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55140051299998 meters 0.09680223909569531 Centerline is valid? [True, True] Translation: X:198.46, Y:20.80, Z:-0.96 [[ 9.99814934e-01 -1.92168198e-02 9.00395532e-04 1.98461197e+02] [ 1.92167357e-02 9.99815336e-01 1.02021444e-04 2.07955999e+01] [-9.02189789e-04 -8.46999005e-05 9.99999589e-01 -9.56102643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58140051299998 meters 0.0922012844697977 Centerline is valid? [True, True] Translation: X:198.49, Y:20.79, Z:-0.96 [[ 9.99830885e-01 -1.83902230e-02 2.33062361e-05 1.98492216e+02] [ 1.83902230e-02 9.99830886e-01 2.63911212e-06 2.07939079e+01] [-2.33508285e-05 -2.21005893e-06 1.00000000e+00 -9.56993800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61140051299998 meters 0.09877957457746904 Centerline is valid? [True, True] Translation: X:198.52, Y:20.81, Z:-0.96 [[ 9.99843077e-01 -1.77018945e-02 -6.82101326e-04 1.98520568e+02] [ 1.77018458e-02 9.99843307e-01 -7.73127459e-05 2.08057537e+01] [ 6.83363028e-04 6.52261612e-05 9.99999764e-01 -9.59004732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64140051299998 meters 0.09880398179618723 Centerline is valid? [True, True] Translation: X:198.55, Y:20.81, Z:-0.96 [[ 9.99845555e-01 -1.75365023e-02 -1.15665804e-03 1.98549940e+02] [ 1.75363623e-02 9.99846218e-01 -1.31145086e-04 2.08099601e+01] [ 1.15878000e-03 1.10841256e-04 9.99999322e-01 -9.60430959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67140051299998 meters 0.09880398179618723 Centerline is valid? [True, True] Translation: X:198.58, Y:20.81, Z:-0.96 [[ 9.99842828e-01 -1.76912841e-02 -1.15655002e-03 1.98578200e+02] [ 1.76911431e-02 9.99843491e-01 -1.32098063e-04 2.08132690e+01] [ 1.15870599e-03 1.11616609e-04 9.99999322e-01 -9.60597922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70140051299998 meters 0.09213257052848575 Centerline is valid? [True, True] Translation: X:198.61, Y:20.81, Z:-0.96 [[ 9.99828512e-01 -1.85182663e-02 1.44739284e-04 1.98607892e+02] [ 1.85182643e-02 9.99828522e-01 1.55671224e-05 2.08098046e+01] [-1.45002741e-04 -1.28841325e-05 9.99999989e-01 -9.58368675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73140051299998 meters 0.09495393805908897 Centerline is valid? [True, True] Translation: X:198.64, Y:20.82, Z:-0.96 [[ 9.99808772e-01 -1.95267358e-02 1.06103400e-03 1.98636121e+02] [ 1.95266189e-02 9.99809330e-01 1.20399284e-04 2.08175387e+01] [-1.06318270e-03 -9.96578535e-05 9.99999430e-01 -9.57089310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76140051299998 meters 0.09480352422661757 Centerline is valid? [True, True] Translation: X:198.67, Y:20.82, Z:-0.96 [[ 9.99776223e-01 -2.11034995e-02 1.46492419e-03 1.98666409e+02] [ 2.11032782e-02 9.99777287e-01 1.66399823e-04 2.08219365e+01] [-1.46810955e-03 -1.35447884e-04 9.99998913e-01 -9.57253315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79140051299999 meters 0.09121817536822004 Centerline is valid? [True, True] Translation: X:198.70, Y:20.82, Z:-0.96 [[ 9.99706939e-01 -2.41781961e-02 1.20450444e-03 1.98697375e+02] [ 2.41780486e-02 9.99707659e-01 1.36867718e-04 2.08227007e+01] [-1.20746153e-03 -1.07705041e-04 9.99999265e-01 -9.57634158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821400513 meters 0.08772679204181226 Centerline is valid? [True, True] Translation: X:198.73, Y:20.82, Z:-0.96 [[ 9.99674885e-01 -2.54860921e-02 7.63627470e-04 1.98727637e+02] [ 2.54860333e-02 9.99675175e-01 8.66868217e-05 2.08232296e+01] [-7.65588733e-04 -6.71968034e-05 9.99999705e-01 -9.58510945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851400513 meters 0.08592719905314218 Centerline is valid? [True, True] Translation: X:198.76, Y:20.83, Z:-0.96 [[ 9.99651837e-01 -2.63832445e-02 -3.59195129e-04 1.98756877e+02] [ 2.63832315e-02 9.99651901e-01 -4.09487889e-05 2.08256926e+01] [ 3.60150456e-04 3.14578038e-05 9.99999935e-01 -9.59669360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881400513 meters 0.09014721047177769 Centerline is valid? [True, True] Translation: X:198.78, Y:20.84, Z:-0.96 [[ 9.99649352e-01 -2.64693831e-02 -7.38391249e-04 1.98784823e+02] [ 2.64693281e-02 9.99649622e-01 -8.41280467e-05 2.08365031e+01] [ 7.40359351e-04 6.45538271e-05 9.99999724e-01 -9.60511978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911400513 meters 0.0872182510338269 Centerline is valid? [True, True] Translation: X:198.81, Y:20.84, Z:-0.96 [[ 9.99654617e-01 -2.62801014e-02 4.78603008e-05 1.98813994e+02] [ 2.62801012e-02 9.99654618e-01 4.51056668e-06 2.08373922e+01] [-4.79623089e-05 -3.25123526e-06 9.99999999e-01 -9.58751768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941400513 meters 0.08960328570688252 Centerline is valid? [True, True] Translation: X:198.84, Y:20.85, Z:-0.96 [[ 9.99669198e-01 -2.57007097e-02 9.84009983e-04 1.98842055e+02] [ 2.57006120e-02 9.99669678e-01 1.11769667e-04 2.08453912e+01] [-9.86557503e-04 -8.64430347e-05 9.99999510e-01 -9.57442910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971400513 meters 0.08344492575500731 Centerline is valid? [True, True] Translation: X:198.87, Y:20.84, Z:-0.96 [[ 9.99686033e-01 -2.50297362e-02 1.16065199e-03 1.98872014e+02] [ 2.50295997e-02 9.99686702e-01 1.32057322e-04 2.08436537e+01] [-1.16359372e-03 -1.02965206e-04 9.99999318e-01 -9.57109210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001400513 meters 0.1042304340652683 Centerline is valid? [True, False] Translation: X:198.87, Y:20.86, Z:-0.96 [[ 9.99832688e-01 -1.72769152e-02 6.00861772e-03 1.98874718e+02] [ 1.73464361e-02 9.99780880e-01 -1.17172269e-02 2.08566242e+01] [-5.80486358e-03 1.18194946e-02 9.99913298e-01 -9.62579746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031400513 meters 0.08284595975287344 Centerline is valid? [False, True] Translation: X:198.85, Y:20.86, Z:-0.96 [[ 9.99890065e-01 -1.45595094e-02 2.80694605e-03 1.98853475e+02] [ 1.46120338e-02 9.99699144e-01 -1.97005250e-02 2.08611230e+01] [-2.51927159e-03 1.97393744e-02 9.99801986e-01 -9.59340058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061400513 meters 0.08617494518740206 Centerline is valid? [True, True] Translation: X:198.88, Y:20.85, Z:-0.96 [[ 9.99887651e-01 -1.49646333e-02 8.62652319e-04 1.98883728e+02] [ 1.49645614e-02 9.99888021e-01 8.97678177e-05 2.08529031e+01] [-8.63899062e-04 -7.68485189e-05 9.99999624e-01 -9.59314344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091400513 meters 0.08625153828325627 Centerline is valid? [True, True] Translation: X:198.91, Y:20.86, Z:-0.96 [[ 9.99873740e-01 -1.58849703e-02 4.15538029e-04 1.98914383e+02] [ 1.58849536e-02 9.99873825e-01 4.33486591e-05 2.08578276e+01] [-4.16174191e-04 -3.67423835e-05 9.99999913e-01 -9.60210568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121400513 meters 0.08800390061367541 Centerline is valid? [True, True] Translation: X:198.94, Y:20.87, Z:-0.96 [[ 9.99818461e-01 -1.90517401e-02 -2.74561102e-04 1.98943241e+02] [ 1.90517330e-02 9.99818499e-01 -2.86812904e-05 2.08659734e+01] [ 2.75057697e-04 2.34452189e-05 9.99999962e-01 -9.62434081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151400513 meters 0.08460560209061298 Centerline is valid? [True, True] Translation: X:198.97, Y:20.87, Z:-0.96 [[ 9.99777014e-01 -2.11167695e-02 7.14820729e-05 1.98973563e+02] [ 2.11167690e-02 9.99777016e-01 7.42278916e-06 2.08666915e+01] [-7.16228789e-05 -5.91166356e-06 9.99999997e-01 -9.62265000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18140051299997 meters 0.0906522868989334 Centerline is valid? [True, True] Translation: X:199.00, Y:20.88, Z:-0.96 [[ 9.99736423e-01 -2.29566030e-02 2.81151078e-04 1.99001479e+02] [ 2.29565956e-02 9.99736462e-01 2.94584536e-05 2.08790750e+01] [-2.81753250e-04 -2.29964175e-05 9.99999960e-01 -9.62864688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21140051299997 meters 0.07740726873929461 Centerline is valid? [True, True] Translation: X:199.03, Y:20.87, Z:-0.96 [[ 9.99693271e-01 -2.47659073e-02 1.21125948e-04 1.99032769e+02] [ 2.47659059e-02 9.99693278e-01 1.25384452e-05 2.08679305e+01] [-1.21399322e-04 -9.53480544e-06 9.99999993e-01 -9.62521634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24140051299997 meters 0.0800287968457291 Centerline is valid? [True, True] Translation: X:199.06, Y:20.88, Z:-0.96 [[ 9.99598121e-01 -2.83470664e-02 1.99536329e-04 1.99061202e+02] [ 2.83470628e-02 9.99598141e-01 2.06544638e-05 2.08757136e+01] [-2.00041637e-04 -1.49898943e-05 9.99999980e-01 -9.64081093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27140051299997 meters 0.07678273369414824 Centerline is valid? [True, True] Translation: X:199.09, Y:20.87, Z:-0.96 [[ 9.99534971e-01 -3.04913114e-02 3.47795656e-04 1.99092224e+02] [ 3.04913006e-02 9.99535032e-01 3.62088835e-05 2.08748537e+01] [-3.48737998e-04 -2.55873035e-05 9.99999939e-01 -9.64119202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30140051299998 meters 0.0754260796583389 Centerline is valid? [True, True] Translation: X:199.12, Y:20.88, Z:-0.97 [[ 9.99468673e-01 -3.25924400e-02 3.22158069e-04 1.99121427e+02] [ 3.25924309e-02 9.99468725e-01 3.34593881e-05 2.08762282e+01] [-3.23077437e-04 -2.29416957e-05 9.99999948e-01 -9.65005640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33140051299998 meters 0.07784952191902882 Centerline is valid? [True, True] Translation: X:199.15, Y:20.88, Z:-0.97 [[ 9.99413389e-01 -3.42472743e-02 -4.01046260e-05 1.99149789e+02] [ 3.42472742e-02 9.99413390e-01 -4.32187590e-06 2.08815460e+01] [ 4.02291127e-05 2.94586652e-06 9.99999999e-01 -9.66595846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36140051299998 meters 0.07026549758821948 Centerline is valid? [True, True] Translation: X:199.18, Y:20.87, Z:-0.97 [[ 9.99358377e-01 -3.58156531e-02 -2.70116679e-04 1.99181401e+02] [ 3.58156468e-02 9.99358414e-01 -2.83441181e-05 2.08708971e+01] [ 2.70958539e-04 1.86515283e-05 9.99999963e-01 -9.66061142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39140051299998 meters 0.07375353292504178 Centerline is valid? [True, True] Translation: X:199.21, Y:20.88, Z:-0.97 [[ 9.99350771e-01 -3.60274952e-02 2.35705529e-04 1.99209055e+02] [ 3.60274904e-02 9.99350799e-01 2.42049555e-05 2.08752863e+01] [-2.36424553e-04 -1.56973622e-05 9.99999972e-01 -9.65397432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42140051299998 meters 0.07391301414940625 Centerline is valid? [True, True] Translation: X:199.24, Y:20.88, Z:-0.96 [[ 9.99339969e-01 -3.63117316e-02 1.04096234e-03 1.99238322e+02] [ 3.63116390e-02 9.99340509e-01 1.07686632e-04 2.08760036e+01] [-1.04418612e-03 -6.98165073e-05 9.99999452e-01 -9.63856980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45140051299998 meters 0.06512966198827021 Centerline is valid? [True, True] Translation: X:199.27, Y:20.87, Z:-0.96 [[ 9.99329510e-01 -3.65776510e-02 1.61415618e-03 1.99268143e+02] [ 3.65774275e-02 9.99330808e-01 1.67763792e-04 2.08655203e+01] [-1.61921240e-03 -1.08609627e-04 9.99998683e-01 -9.61998200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48140051299998 meters 0.06890192182687728 Centerline is valid? [True, True] Translation: X:199.30, Y:20.87, Z:-0.96 [[ 9.99336124e-01 -3.63914980e-02 1.72362735e-03 1.99296573e+02] [ 3.63912412e-02 9.99337603e-01 1.80134586e-04 2.08650173e+01] [-1.72904099e-03 -1.17290061e-04 9.99998498e-01 -9.61839806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51140051299998 meters 0.07075153945776733 Centerline is valid? [True, True] Translation: X:199.32, Y:20.87, Z:-0.96 [[ 9.99340318e-01 -3.62766072e-02 1.71380460e-03 1.99324591e+02] [ 3.62763532e-02 9.99341780e-01 1.79057034e-04 2.08658704e+01] [-1.71917212e-03 -1.16768333e-04 9.99998515e-01 -9.61968430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54140051299999 meters 0.07482414170352424 Centerline is valid? [True, True] Translation: X:199.35, Y:20.87, Z:-0.96 [[ 9.99341953e-01 -3.62068632e-02 2.17333796e-03 1.99352122e+02] [ 3.62064541e-02 9.99344306e-01 2.27302523e-04 2.08695341e+01] [-2.18014283e-03 -1.48464086e-04 9.99997612e-01 -9.61911435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571400513 meters 0.07400042676542644 Centerline is valid? [True, True] Translation: X:199.38, Y:20.87, Z:-0.96 [[ 9.99336104e-01 -3.62750755e-02 3.38663313e-03 1.99381619e+02] [ 3.62740822e-02 9.99341816e-01 3.54282033e-04 2.08674844e+01] [-3.39725571e-03 -2.31199818e-04 9.99994203e-01 -9.60003525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601400513 meters 0.06469057714149731 Centerline is valid? [True, True] Translation: X:199.41, Y:20.85, Z:-0.96 [[ 9.99333978e-01 -3.60195465e-02 5.84742981e-03 1.99413268e+02] [ 3.60165706e-02 9.99351005e-01 6.13471949e-04 2.08511623e+01] [-5.86573184e-03 -4.02458995e-04 9.99982715e-01 -9.56032931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631400513 meters 0.06746365215552552 Centerline is valid? [True, True] Translation: X:199.44, Y:20.85, Z:-0.96 [[ 9.99342409e-01 -3.58186560e-02 5.63672928e-03 1.99442947e+02] [ 3.58158866e-02 9.99358230e-01 5.91516733e-04 2.08540586e+01] [-5.65429913e-03 -3.89243301e-04 9.99983939e-01 -9.56046921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661400513 meters 0.0715463425692957 Centerline is valid? [True, True] Translation: X:199.47, Y:20.86, Z:-0.96 [[ 9.99357442e-01 -3.55681672e-02 4.42823381e-03 1.99472658e+02] [ 3.55664555e-02 9.99367205e-01 4.64722205e-04 2.08589355e+01] [-4.44196097e-03 -3.06927013e-04 9.99990087e-01 -9.58795969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691400513 meters 0.06526005973206406 Centerline is valid? [True, True] Translation: X:199.50, Y:20.85, Z:-0.96 [[ 9.99368939e-01 -3.54425251e-02 2.35596861e-03 1.99503685e+02] [ 3.54420406e-02 9.99371703e-01 2.47107275e-04 2.08511318e+01] [-2.36324646e-03 -1.63451000e-04 9.99997194e-01 -9.61795771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721400513 meters 0.0676913323496118 Centerline is valid? [True, True] Translation: X:199.53, Y:20.85, Z:-0.96 [[ 9.99395540e-01 -3.47627871e-02 3.22125942e-04 1.99532355e+02] [ 3.47627781e-02 9.99395591e-01 3.35035231e-05 2.08515914e+01] [-3.23095922e-04 -2.22852789e-05 9.99999948e-01 -9.63887747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751400513 meters 0.07590747650732345 Centerline is valid? [True, True] Translation: X:199.56, Y:20.86, Z:-0.96 [[ 9.99393682e-01 -3.48078901e-02 8.23840999e-04 1.99558115e+02] [ 3.48078309e-02 9.99394020e-01 8.60361379e-05 2.08628093e+01] [-8.26336504e-04 -5.73078545e-05 9.99999657e-01 -9.63380366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781400513 meters 0.07383964586484212 Centerline is valid? [True, True] Translation: X:199.59, Y:20.86, Z:-0.96 [[ 9.99368774e-01 -3.55097965e-02 1.05298539e-03 1.99586885e+02] [ 3.55097005e-02 9.99369326e-01 1.09784601e-04 2.08618491e+01] [-1.05621973e-03 -7.23241063e-05 9.99999440e-01 -9.62422259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811400513 meters 0.06267326554808896 Centerline is valid? [True, True] Translation: X:199.62, Y:20.85, Z:-0.96 [[ 9.99239665e-01 -3.89728287e-02 1.10026351e-03 1.99618050e+02] [ 3.89727248e-02 9.99240268e-01 1.15696281e-04 2.08481076e+01] [-1.10393662e-03 -7.27280464e-05 9.99999388e-01 -9.62304052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841400513 meters 0.06383460584396933 Centerline is valid? [True, True] Translation: X:199.65, Y:20.85, Z:-0.96 [[ 9.99130136e-01 -4.16810163e-02 1.29027011e-03 1.99647104e+02] [ 4.16808756e-02 9.99130965e-01 1.35735356e-04 2.08489180e+01] [-1.29480641e-03 -8.18376962e-05 9.99999158e-01 -9.63551720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871400513 meters 0.06371733695927076 Centerline is valid? [True, True] Translation: X:199.68, Y:20.85, Z:-0.96 [[ 9.99000211e-01 -4.46710659e-02 1.75316462e-03 1.99676160e+02] [ 4.46708107e-02 9.99001744e-01 1.84493602e-04 2.08527548e+01] [-1.75965604e-03 -1.05993863e-04 9.99998446e-01 -9.63741226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901400513 meters 0.05535019335150178 Centerline is valid? [True, True] Translation: X:199.71, Y:20.84, Z:-0.96 [[ 9.98679837e-01 -5.12449194e-02 3.54142935e-03 1.99708141e+02] [ 5.12439185e-02 9.98686098e-01 3.72846078e-04 2.08448927e+01] [-3.55588273e-03 -1.90877143e-04 9.99993660e-01 -9.60569979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93140051299997 meters 0.05140817008670917 Centerline is valid? [True, True] Translation: X:199.74, Y:20.84, Z:-0.96 [[ 9.98527009e-01 -5.40955961e-02 4.18081208e-03 1.99738609e+02] [ 5.40942259e-02 9.98535738e-01 4.40185744e-04 2.08423397e+01] [-4.19850239e-03 -2.13379561e-04 9.99991163e-01 -9.59478185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96140051299997 meters 0.04922587656091492 Centerline is valid? [True, True] Translation: X:199.77, Y:20.84, Z:-0.96 [[ 9.98367761e-01 -5.70075071e-02 3.45793924e-03 1.99767434e+02] [ 5.70065874e-02 9.98373736e-01 3.64009642e-04 2.08413804e+01] [-3.47306700e-03 -1.66290176e-04 9.99993955e-01 -9.60139133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99140051299997 meters 0.04417021823438461 Centerline is valid? [True, True] Translation: X:199.80, Y:20.84, Z:-0.96 [[ 9.98195613e-01 -6.00270812e-02 1.50603023e-03 1.99798206e+02] [ 6.00269101e-02 9.98196747e-01 1.58576052e-04 2.08366275e+01] [-1.51283333e-03 -6.78875784e-05 9.99998853e-01 -9.62739332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02140051299997 meters 0.041195332439401044 Centerline is valid? [True, True] Translation: X:199.83, Y:20.83, Z:-0.97 [[ 9.97756417e-01 -6.69323057e-02 -1.48266473e-03 1.99828059e+02] [ 6.69321472e-02 9.97757517e-01 -1.56350892e-04 2.08337598e+01] [ 1.48980481e-03 5.67621719e-05 9.99998889e-01 -9.69646954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05140051299998 meters 0.03756884328051372 Centerline is valid? [True, True] Translation: X:199.86, Y:20.83, Z:-0.97 [[ 9.97527162e-01 -7.02715743e-02 -1.21089970e-03 1.99859327e+02] [ 7.02714710e-02 9.97527896e-01 -1.27681868e-04 2.08261565e+01] [ 1.21687864e-03 4.22744283e-05 9.99999259e-01 -9.68695133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08140051299998 meters 0.03569731951855969 Centerline is valid? [True, True] Translation: X:199.89, Y:20.83, Z:-0.97 [[ 9.97337489e-01 -7.29235129e-02 3.07980718e-04 1.99888317e+02] [ 7.29235064e-02 9.97337536e-01 3.23024860e-05 2.08300345e+01] [-3.09516341e-04 -9.75744645e-06 9.99999952e-01 -9.67473777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11140051299998 meters 0.03138373237189996 Centerline is valid? [True, True] Translation: X:199.92, Y:20.83, Z:-0.96 [[ 9.97155021e-01 -7.53481025e-02 2.12786770e-03 1.99918440e+02] [ 7.53477955e-02 9.97157289e-01 2.24177391e-04 2.08264373e+01] [-2.13871013e-03 -6.32094704e-05 9.99997711e-01 -9.63810145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14140051299998 meters 0.027614972250377595 Centerline is valid? [True, True] Translation: X:199.95, Y:20.82, Z:-0.96 [[ 9.96906954e-01 -7.85212332e-02 3.30758013e-03 1.99949252e+02] [ 7.85205083e-02 9.96912438e-01 3.48665819e-04 2.08238832e+01] [-3.32474544e-03 -8.78745067e-05 9.99994469e-01 -9.60657930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17140051299998 meters 0.0323383048950697 Centerline is valid? [True, True] Translation: X:199.98, Y:20.82, Z:-0.96 [[ 9.96860946e-01 -7.91054026e-02 3.25412817e-03 1.99977852e+02] [ 7.91162414e-02 9.96859772e-01 -3.34886699e-03 2.08239220e+01] [-2.97899599e-03 3.59580911e-03 9.99989098e-01 -9.61833111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20140051299998 meters 0.02742269445660097 Centerline is valid? [True, True] Translation: X:200.01, Y:20.83, Z:-0.96 [[ 9.96764408e-01 -8.03536220e-02 2.00235137e-03 2.00006217e+02] [ 8.03454334e-02 9.96759527e-01 3.88035907e-03 2.08260962e+01] [-2.30766371e-03 -3.70692403e-03 9.99990467e-01 -9.63780523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23140051299998 meters 0.024049439992533603 Centerline is valid? [True, True] Translation: X:200.03, Y:20.83, Z:-0.97 [[ 9.96565330e-01 -8.27946054e-02 1.61117020e-03 2.00034906e+02] [ 8.27944387e-02 9.96566632e-01 1.70002021e-04 2.08253376e+01] [-1.61971371e-03 -3.60221877e-05 9.99998688e-01 -9.66954553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26140051299998 meters 0.02240535034121481 Centerline is valid? [True, True] Translation: X:200.06, Y:20.82, Z:-0.97 [[ 9.96409120e-01 -8.46521722e-02 1.69579792e-03 2.00064161e+02] [ 8.46519911e-02 9.96410562e-01 1.78448906e-04 2.08246703e+01] [-1.70481705e-03 -3.42554469e-05 9.99998546e-01 -9.66593555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29140051299999 meters 0.021218469470925237 Centerline is valid? [True, True] Translation: X:200.09, Y:20.82, Z:-0.97 [[ 9.96249809e-01 -8.65077680e-02 1.65068801e-03 2.00092499e+02] [ 8.65075976e-02 9.96251176e-01 1.74476293e-04 2.08245460e+01] [-1.65959343e-03 -3.10249195e-05 9.99998622e-01 -9.65782906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321400513 meters 0.01875132341742591 Centerline is valid? [True, True] Translation: X:200.12, Y:20.82, Z:-0.96 [[ 9.96066907e-01 -8.85864198e-02 1.77851821e-03 2.00121841e+02] [ 8.85862260e-02 9.96068494e-01 1.87608498e-04 2.08226018e+01] [-1.78814552e-03 -2.93184001e-05 9.99998401e-01 -9.64963843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351400513 meters 0.01576208885831662 Centerline is valid? [True, True] Translation: X:200.15, Y:20.82, Z:-0.97 [[ 9.95775703e-01 -9.18157128e-02 7.90454485e-04 2.00151210e+02] [ 9.18156759e-02 9.95776016e-01 8.28956692e-05 2.08172719e+01] [-7.94726743e-04 -9.96938041e-06 9.99999684e-01 -9.65939349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381400513 meters 0.015267702895279319 Centerline is valid? [True, True] Translation: X:200.18, Y:20.82, Z:-0.97 [[ 9.95693392e-01 -9.27061371e-02 4.90905218e-04 2.00179049e+02] [ 9.27061229e-02 9.95693513e-01 5.18047393e-05 2.08177354e+01] [-4.93593759e-04 -6.07171717e-06 9.99999878e-01 -9.67016344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411400513 meters 0.014477292367135018 Centerline is valid? [True, True] Translation: X:200.21, Y:20.82, Z:-0.97 [[ 9.95625564e-01 -9.34326230e-02 2.85128949e-04 2.00207566e+02] [ 9.34326185e-02 9.95625605e-01 2.90991808e-05 2.08182577e+01] [-2.86600495e-04 -2.33154399e-06 9.99999959e-01 -9.67656677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441400513 meters 0.014307685309715549 Centerline is valid? [True, True] Translation: X:200.24, Y:20.82, Z:-0.97 [[ 9.95573967e-01 -9.39812309e-02 6.08732248e-05 2.00235968e+02] [ 9.39812307e-02 9.95573969e-01 5.22524991e-06 2.08199729e+01] [-6.10948734e-05 5.18817803e-07 9.99999998e-01 -9.68497287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471400513 meters 0.01384788726950047 Centerline is valid? [True, True] Translation: X:200.26, Y:20.82, Z:-0.97 [[ 9.95450283e-01 -9.52823164e-02 1.18434822e-04 2.00263938e+02] [ 9.52823156e-02 9.95450290e-01 1.20604012e-05 2.08200192e+01] [-1.19045121e-04 -7.20785712e-07 9.99999993e-01 -9.68517625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501400513 meters 0.012519929512358018 Centerline is valid? [True, True] Translation: X:200.29, Y:20.82, Z:-0.97 [[ 9.95351228e-01 -9.63096267e-02 6.23421573e-04 2.00293334e+02] [ 9.63096046e-02 9.95351423e-01 6.55875189e-05 2.08199198e+01] [-6.26840259e-04 -5.24113232e-06 9.99999804e-01 -9.67280950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531400513 meters 0.010880357350578317 Centerline is valid? [True, True] Translation: X:200.32, Y:20.82, Z:-0.97 [[ 9.95110856e-01 -9.87553520e-02 1.32837783e-03 2.00322206e+02] [ 9.87552514e-02 9.95111743e-01 1.41237045e-04 2.08158821e+01] [-1.33583230e-03 -9.36223007e-06 9.99999108e-01 -9.67215215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561400513 meters 0.010880357350578317 Centerline is valid? [True, True] Translation: X:200.35, Y:20.82, Z:-0.97 [[ 9.95092151e-01 -9.89436524e-02 1.32836710e-03 2.00349557e+02] [ 9.89435519e-02 9.95093038e-01 1.41338116e-04 2.08189795e+01] [-1.33583336e-03 -9.21109063e-06 9.99999108e-01 -9.67395902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591400513 meters 0.01853406424851681 Centerline is valid? [True, True] Translation: X:200.38, Y:20.82, Z:-0.97 [[ 9.94937863e-01 -1.00490424e-01 5.69137289e-04 2.00378300e+02] [ 1.00490406e-01 9.94938026e-01 5.99402728e-05 2.08169195e+01] [-5.72279754e-04 -2.44400986e-06 9.99999836e-01 -9.68838495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621400513 meters 0.008724164538717168 Centerline is valid? [True, True] Translation: X:200.41, Y:20.82, Z:-0.97 [[ 9.94741191e-01 -1.02420283e-01 2.22305582e-04 2.00407141e+02] [ 1.02420280e-01 9.94741215e-01 2.28324823e-05 2.08153894e+01] [-2.23475034e-04 5.61893287e-08 9.99999975e-01 -9.69894273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651400513 meters 0.015143008709981292 Centerline is valid? [True, True] Translation: X:200.44, Y:20.81, Z:-0.97 [[ 9.94550768e-01 -1.04253392e-01 -1.01958903e-05 2.00435835e+02] [ 1.04253392e-01 9.94550768e-01 -2.37273958e-06 2.08144326e+01] [ 1.03876967e-05 1.29685383e-06 1.00000000e+00 -9.70845954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68140051299997 meters 0.007602640959867402 Centerline is valid? [True, True] Translation: X:200.46, Y:20.81, Z:-0.97 [[ 9.94414593e-01 -1.05542379e-01 6.50916004e-04 2.00464379e+02] [ 1.05542356e-01 9.94414806e-01 6.90915501e-05 2.08147588e+01] [-6.54572599e-04 -6.43677725e-09 9.99999786e-01 -9.70241009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71140051299997 meters 0.007205991776279614 Centerline is valid? [True, True] Translation: X:200.49, Y:20.81, Z:-0.97 [[ 9.94266460e-01 -1.06915671e-01 1.80139723e-03 2.00493620e+02] [ 1.06915495e-01 9.94268092e-01 1.93916964e-04 2.08122172e+01] [-1.81180455e-03 -2.07856439e-07 9.99998359e-01 -9.67584215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74140051299997 meters 0.007138082845137213 Centerline is valid? [True, True] Translation: X:200.52, Y:20.81, Z:-0.97 [[ 9.94282759e-01 -1.06758133e-01 2.12053843e-03 2.00521602e+02] [ 1.06757888e-01 9.94285020e-01 2.28717545e-04 2.08137846e+01] [-2.13283705e-03 -1.02570661e-06 9.99997725e-01 -9.66080742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77140051299997 meters 0.007441711055511857 Centerline is valid? [True, True] Translation: X:200.55, Y:20.82, Z:-0.96 [[ 9.94417152e-01 -1.05484304e-01 2.75476877e-03 2.00549413e+02] [ 1.05483883e-01 9.94420968e-01 2.98037844e-04 2.08182518e+01] [-2.77083814e-03 -5.79023669e-06 9.99996161e-01 -9.64934107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80140051299998 meters 0.009488491007100497 Centerline is valid? [True, True] Translation: X:200.58, Y:20.83, Z:-0.97 [[ 9.94764508e-01 -1.02143527e-01 3.20525038e-03 2.00576052e+02] [ 1.02142936e-01 9.94769672e-01 3.48056125e-04 2.08274113e+01] [-3.22403755e-03 -1.88401955e-05 9.99994803e-01 -9.66565975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83140051299998 meters 0.010078703401641938 Centerline is valid? [True, True] Translation: X:200.60, Y:20.83, Z:-0.97 [[ 9.94813044e-01 -1.01687804e-01 2.56882889e-03 2.00603592e+02] [ 1.01687422e-01 9.94816360e-01 2.79032409e-04 2.08312543e+01] [-2.58388720e-03 -1.63674916e-05 9.99996662e-01 -9.68294539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86140051299998 meters 0.009195978316173217 Centerline is valid? [True, True] Translation: X:200.63, Y:20.83, Z:-0.97 [[ 9.94748266e-01 -1.02332707e-01 1.97587939e-03 2.00631512e+02] [ 1.02332484e-01 9.94750228e-01 2.14022825e-04 2.08325675e+01] [-1.98740801e-03 -1.07021891e-05 9.99998025e-01 -9.68982177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89140051299998 meters 0.00780519655454537 Centerline is valid? [True, True] Translation: X:200.66, Y:20.83, Z:-0.97 [[ 9.94437014e-01 -1.05324338e-01 1.34522815e-03 2.00659231e+02] [ 1.05324236e-01 9.94437924e-01 1.46269738e-04 2.08335780e+01] [-1.35315166e-03 -3.77091316e-06 9.99999084e-01 -9.68832445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92140051299998 meters 0.007298651650392342 Centerline is valid? [True, True] Translation: X:200.69, Y:20.84, Z:-0.97 [[ 9.94199474e-01 -1.07537459e-01 1.76066586e-03 2.00687216e+02] [ 1.07537288e-01 9.94201033e-01 1.91674424e-04 2.08359373e+01] [-1.77106800e-03 -1.22538053e-06 9.99998432e-01 -9.68422287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95140051299998 meters 0.016000893088678855 Centerline is valid? [True, True] Translation: X:200.71, Y:20.84, Z:-0.97 [[ 9.93901524e-01 -1.10252677e-01 2.02653631e-03 2.00714886e+02] [ 1.10252458e-01 9.93903590e-01 2.20205455e-04 2.08376589e+01] [-2.03845996e-03 4.56807121e-06 9.99997922e-01 -9.67968633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98140051299998 meters 0.008763886591887926 Centerline is valid? [True, True] Translation: X:200.74, Y:20.84, Z:-0.97 [[ 9.93564560e-01 -1.13240195e-01 2.47457795e-03 2.00742963e+02] [ 1.13239873e-01 9.93567641e-01 2.70185584e-04 2.08383368e+01] [-2.48925644e-03 1.17740724e-05 9.99996902e-01 -9.67389246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01140051299998 meters 0.013892653915969444 Centerline is valid? [True, True] Translation: X:200.77, Y:20.84, Z:-0.97 [[ 9.92866367e-01 -1.19219017e-01 1.78974396e-03 2.00770629e+02] [ 1.19218859e-01 9.92867980e-01 1.95205761e-04 2.08361032e+01] [-1.80025171e-03 1.95579981e-05 9.99998379e-01 -9.68259997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04140051299999 meters 0.016670997278848042 Centerline is valid? [True, True] Translation: X:200.80, Y:20.84, Z:-0.97 [[ 9.92513308e-01 -1.22134482e-01 7.07930122e-04 2.00799498e+02] [ 1.22134459e-01 9.92513561e-01 7.65794851e-05 2.08384590e+01] [-7.11983242e-04 1.04565043e-05 9.99999746e-01 -9.69668646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071400513 meters 0.024415510291731363 Centerline is valid? [True, True] Translation: X:200.83, Y:20.84, Z:-0.97 [[ 9.92202245e-01 -1.24637002e-01 -5.68877138e-04 2.00828258e+02] [ 1.24636986e-01 9.92202408e-01 -6.35562718e-05 2.08417882e+01] [ 5.72362729e-04 -7.84245628e-06 9.99999836e-01 -9.71040721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101400513 meters 0.024545333906223574 Centerline is valid? [True, True] Translation: X:200.86, Y:20.84, Z:-0.97 [[ 9.91600323e-01 -1.29337860e-01 -7.19474539e-04 2.00857129e+02] [ 1.29337837e-01 9.91600584e-01 -7.92400983e-05 2.08438460e+01] [ 7.23680117e-04 -1.44807734e-05 9.99999738e-01 -9.72085522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131400513 meters 0.025770925117697845 Centerline is valid? [True, True] Translation: X:200.89, Y:20.85, Z:-0.97 [[ 9.91319598e-01 -1.31474158e-01 1.81797614e-05 2.00885453e+02] [ 1.31474158e-01 9.91319598e-01 8.93285500e-07 2.08482023e+01] [-1.81393977e-05 1.50463740e-06 1.00000000e+00 -9.70402390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161400513 meters 0.02719225043438438 Centerline is valid? [True, True] Translation: X:200.91, Y:20.85, Z:-0.97 [[ 9.91051138e-01 -1.33481069e-01 6.67206368e-04 2.00914419e+02] [ 1.33481051e-01 9.91051363e-01 7.23691342e-05 2.08520101e+01] [-6.70895689e-04 1.73378940e-05 9.99999775e-01 -9.69425338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191400513 meters 0.027834328175506746 Centerline is valid? [True, True] Translation: X:200.94, Y:20.86, Z:-0.97 [[ 9.90779748e-01 -1.35479433e-01 9.02083338e-04 2.00943286e+02] [ 1.35479400e-01 9.90780159e-01 9.83701769e-05 2.08563984e+01] [-9.07093408e-04 2.47505302e-05 9.99999588e-01 -9.68013926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221400513 meters 0.0364873065753724 Centerline is valid? [True, True] Translation: X:200.97, Y:20.86, Z:-0.97 [[ 9.90298435e-01 -1.38956523e-01 3.05735645e-04 2.00972091e+02] [ 1.38956520e-01 9.90298483e-01 3.34967023e-05 2.08584545e+01] [-3.07424131e-04 9.31222933e-06 9.99999953e-01 -9.69179229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251400513 meters 0.03349540917473783 Centerline is valid? [True, True] Translation: X:201.00, Y:20.86, Z:-0.97 [[ 9.90081754e-01 -1.40489785e-01 8.60324450e-04 2.00999407e+02] [ 1.40489756e-01 9.90082128e-01 9.43278998e-05 2.08613697e+01] [-8.65043968e-04 2.74744395e-05 9.99999625e-01 -9.69437749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281400513 meters 0.03528773936231895 Centerline is valid? [True, True] Translation: X:201.03, Y:20.86, Z:-0.97 [[ 9.89902765e-01 -1.41743093e-01 1.18814077e-03 2.01026978e+02] [ 1.41743038e-01 9.89903477e-01 1.30760338e-04 2.08641775e+01] [-1.19467906e-03 3.89706630e-05 9.99999286e-01 -9.69498938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311400513 meters 0.03446411189570577 Centerline is valid? [True, True] Translation: X:201.06, Y:20.87, Z:-0.97 [[ 9.89775894e-01 -1.42625775e-01 1.25180845e-03 2.01055122e+02] [ 1.42625715e-01 9.89776685e-01 1.37471021e-04 2.08701554e+01] [-1.25861773e-03 4.24745722e-05 9.99999207e-01 -9.69261180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341400513 meters 0.041015174103220885 Centerline is valid? [True, True] Translation: X:201.08, Y:20.88, Z:-0.97 [[ 9.89878958e-01 -1.41913097e-01 5.66285516e-04 2.01082772e+02] [ 1.41913085e-01 9.89879120e-01 6.23356836e-05 2.08765558e+01] [-5.69400459e-04 1.86585429e-05 9.99999838e-01 -9.69669545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371400513 meters 0.03288997759592863 Centerline is valid? [True, True] Translation: X:201.11, Y:20.88, Z:-0.97 [[ 9.89979427e-01 -1.41209677e-01 7.49290827e-04 2.01110718e+02] [ 1.41209655e-01 9.89979710e-01 8.20027758e-05 2.08834626e+01] [-7.53362301e-04 2.46260381e-05 9.99999716e-01 -9.69175733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401400513 meters 0.03407490562318108 Centerline is valid? [True, True] Translation: X:201.14, Y:20.89, Z:-0.97 [[ 9.90089453e-01 -1.40432285e-01 1.28423443e-03 2.01138593e+02] [ 1.40432219e-01 9.90090285e-01 1.42193589e-04 2.08868146e+01] [-1.29147661e-03 3.95635186e-05 9.99999165e-01 -9.68917469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43140051299997 meters 0.030413032077329837 Centerline is valid? [True, True] Translation: X:201.17, Y:20.90, Z:-0.97 [[ 9.90337844e-01 -1.38653387e-01 2.48841834e-03 2.01166783e+02] [ 1.38653131e-01 9.90340968e-01 2.75662564e-04 2.08989718e+01] [-2.50260417e-03 7.20279248e-05 9.99996866e-01 -9.67507073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46140051299997 meters 0.031424573084899675 Centerline is valid? [True, True] Translation: X:201.20, Y:20.90, Z:-0.97 [[ 9.90380903e-01 -1.38335823e-01 2.97771417e-03 2.01195505e+02] [ 1.38335454e-01 9.90385376e-01 3.30513751e-04 2.09049684e+01] [-2.99480646e-03 8.45889342e-05 9.99995512e-01 -9.66971795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49140051299997 meters 0.03222967404372626 Centerline is valid? [True, True] Translation: X:201.22, Y:20.91, Z:-0.97 [[ 9.90436915e-01 -1.37919881e-01 3.58103109e-03 2.01223449e+02] [ 1.37919340e-01 9.90443384e-01 3.98670193e-04 2.09076330e+01] [-3.60179309e-03 9.90357701e-05 9.99993509e-01 -9.66725690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52140051299997 meters 0.029189394451711877 Centerline is valid? [True, True] Translation: X:201.25, Y:20.92, Z:-0.97 [[ 9.90405545e-01 -1.38168808e-01 2.49723508e-03 2.01250500e+02] [ 1.38168547e-01 9.90408691e-01 2.77484334e-04 2.09172653e+01] [-2.51162300e-03 7.02173184e-05 9.99996843e-01 -9.67841586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55140051299998 meters 0.032104641419066354 Centerline is valid? [True, True] Translation: X:201.28, Y:20.92, Z:-0.97 [[ 9.90424757e-01 -1.38051893e-01 -6.90105074e-04 2.01277870e+02] [ 1.38051872e-01 9.90424997e-01 -7.74976652e-05 2.09230019e+01] [ 6.94196015e-04 -1.85146915e-05 9.99999759e-01 -9.73309425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58140051299998 meters 0.035980584312268526 Centerline is valid? [True, True] Translation: X:201.31, Y:20.93, Z:-0.97 [[ 9.90450720e-01 -1.37852987e-01 -1.98129712e-03 2.01305451e+02] [ 1.37852819e-01 9.90452700e-01 -2.21835426e-04 2.09312710e+01] [ 1.99296176e-03 -5.34103370e-05 9.99998013e-01 -9.74464725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61140051299998 meters 0.03067574752775585 Centerline is valid? [True, True] Translation: X:201.33, Y:20.94, Z:-0.97 [[ 9.90498503e-01 -1.37516374e-01 -1.40100608e-03 2.01333822e+02] [ 1.37516288e-01 9.90499493e-01 -1.57928840e-04 2.09396425e+01] [ 1.40941361e-03 -3.62328761e-05 9.99999006e-01 -9.73808758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64140051299998 meters 0.027341201444460006 Centerline is valid? [True, True] Translation: X:201.36, Y:20.96, Z:-0.97 [[ 9.90634253e-01 -1.36540487e-01 6.86466625e-04 2.01361068e+02] [ 1.36540467e-01 9.90634491e-01 7.58165609e-05 2.09555600e+01] [-6.90389546e-04 1.86239915e-05 9.99999762e-01 -9.71090508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67140051299998 meters 0.03099092268108951 Centerline is valid? [True, True] Translation: X:201.39, Y:20.96, Z:-0.97 [[ 9.90598096e-01 -1.36803750e-01 3.81817989e-04 2.01388698e+02] [ 1.36803744e-01 9.90598170e-01 4.22318478e-05 2.09617367e+01] [-3.84005677e-04 1.03993424e-05 9.99999926e-01 -9.72129330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70140051299998 meters 0.029179734091540406 Centerline is valid? [True, True] Translation: X:201.42, Y:20.97, Z:-0.97 [[ 9.90511645e-01 -1.37428313e-01 3.74106632e-04 2.01415771e+02] [ 1.37428308e-01 9.90511716e-01 4.15960198e-05 2.09677839e+01] [-3.76273473e-04 1.02114993e-05 9.99999929e-01 -9.72770214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73140051299998 meters 0.03022163416517583 Centerline is valid? [True, True] Translation: X:201.44, Y:20.97, Z:-0.97 [[ 9.90318605e-01 -1.38813021e-01 -7.71208769e-05 2.01443627e+02] [ 1.38813020e-01 9.90318608e-01 -9.06466411e-06 2.09742100e+01] [ 7.76325328e-05 -1.72847634e-06 9.99999997e-01 -9.73615446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76140051299998 meters 0.03391527594260114 Centerline is valid? [True, True] Translation: X:201.47, Y:20.98, Z:-0.97 [[ 9.89857875e-01 -1.42060709e-01 3.76624935e-04 2.01471449e+02] [ 1.42060703e-01 9.89857947e-01 4.20034915e-05 2.09807707e+01] [-3.78772231e-04 1.19261163e-05 9.99999928e-01 -9.72464771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79140051299999 meters 0.03473917110236096 Centerline is valid? [True, True] Translation: X:201.50, Y:20.99, Z:-0.97 [[ 9.89566060e-01 -1.44078329e-01 6.69957163e-04 2.01500367e+02] [ 1.44078311e-01 9.89566286e-01 7.50703508e-05 2.09857108e+01] [-6.73783032e-04 2.22392252e-05 9.99999773e-01 -9.71066307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821400513 meters 0.038895962384013105 Centerline is valid? [True, True] Translation: X:201.53, Y:20.99, Z:-0.97 [[ 9.89228375e-01 -1.46380158e-01 2.68983509e-04 2.01529416e+02] [ 1.46380155e-01 9.89228411e-01 2.99089738e-05 2.09865144e+01] [-2.70464209e-04 9.78704213e-06 9.99999963e-01 -9.71621531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851400513 meters 0.0421625003111449 Centerline is valid? [True, True] Translation: X:201.56, Y:21.00, Z:-0.97 [[ 9.88482845e-01 -1.51332936e-01 -9.26578355e-05 2.01558190e+02] [ 1.51332935e-01 9.88482849e-01 -1.04975905e-05 2.09982011e+01] [ 9.31793124e-05 -3.64549406e-06 9.99999996e-01 -9.71995537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881400513 meters 0.049402274023770426 Centerline is valid? [True, True] Translation: X:201.59, Y:21.00, Z:-0.97 [[ 9.88271997e-01 -1.52699747e-01 1.11637091e-03 2.01586089e+02] [ 1.52699703e-01 9.88272627e-01 1.25225263e-04 2.10004849e+01] [-1.12240067e-03 4.67128842e-05 9.99999369e-01 -9.71695468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911400513 meters 0.046218765217019835 Centerline is valid? [True, True] Translation: X:201.61, Y:21.01, Z:-0.97 [[ 9.88220893e-01 -1.53017737e-01 2.24491857e-03 2.01613785e+02] [ 1.53017558e-01 9.88223438e-01 2.52384749e-04 2.10053002e+01] [-2.25710049e-03 9.41000743e-05 9.99997448e-01 -9.70839058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941400513 meters 0.04723428913917633 Centerline is valid? [True, True] Translation: X:201.64, Y:21.01, Z:-0.97 [[ 9.88147493e-01 -1.53495648e-01 1.90235557e-03 2.01642406e+02] [ 1.53495522e-01 9.88149320e-01 2.13429261e-04 2.10126580e+01] [-1.91257182e-03 8.11034706e-05 9.99998168e-01 -9.70984342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971400513 meters 0.04836406607423197 Centerline is valid? [True, True] Translation: X:201.67, Y:21.02, Z:-0.97 [[ 9.87925522e-01 -1.54924026e-01 1.30708620e-03 2.01670720e+02] [ 1.54923967e-01 9.87926385e-01 1.47210768e-04 2.10184752e+01] [-1.31411143e-03 5.70657042e-05 9.99999135e-01 -9.71075315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001400513 meters 0.04907349902989692 Centerline is valid? [True, True] Translation: X:201.70, Y:21.03, Z:-0.97 [[ 9.87658708e-01 -1.56616276e-01 1.27218559e-03 2.01699490e+02] [ 1.56616221e-01 9.87659526e-01 1.43380610e-04 2.10261175e+01] [-1.27894196e-03 5.76337910e-05 9.99999180e-01 -9.70902122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031400513 meters 0.04680255909613666 Centerline is valid? [True, True] Translation: X:201.73, Y:21.04, Z:-0.97 [[ 9.87325527e-01 -1.58701912e-01 1.41672402e-03 2.01727660e+02] [ 1.58701846e-01 9.87326541e-01 1.59569572e-04 2.10385881e+01] [-1.42409322e-03 6.72896051e-05 9.99998984e-01 -9.70205550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061400513 meters 0.04939512082192687 Centerline is valid? [True, True] Translation: X:201.76, Y:21.04, Z:-0.97 [[ 9.87006831e-01 -1.60663268e-01 2.19762571e-03 2.01755597e+02] [ 1.60663114e-01 9.87009272e-01 2.47816600e-04 2.10415286e+01] [-2.20889198e-03 1.08480712e-04 9.99997555e-01 -9.69734049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091400513 meters 0.055785033163994226 Centerline is valid? [True, True] Translation: X:201.78, Y:21.05, Z:-0.97 [[ 9.86413994e-01 -1.64270002e-01 1.67277604e-03 2.01784532e+02] [ 1.64269918e-01 9.86415409e-01 1.88831832e-04 2.10466821e+01] [-1.68107147e-03 8.85204210e-05 9.99998583e-01 -9.71272238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121400513 meters 0.056935486402071904 Centerline is valid? [True, True] Translation: X:201.81, Y:21.05, Z:-0.97 [[ 9.86159733e-01 -1.65795590e-01 8.96437277e-04 2.01813738e+02] [ 1.65795567e-01 9.86160139e-01 1.01121792e-04 2.10523827e+01] [-9.00796257e-04 4.89030866e-05 9.99999593e-01 -9.72410044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151400513 meters 0.05795939402024349 Centerline is valid? [True, True] Translation: X:201.84, Y:21.06, Z:-0.97 [[ 9.85855059e-01 -1.67600088e-01 -1.16250921e-04 2.01841819e+02] [ 1.67600087e-01 9.85855066e-01 -1.33805292e-05 2.10625723e+01] [ 1.16849137e-04 -6.29240207e-06 9.99999993e-01 -9.74207652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18140051299997 meters 0.05291780463234868 Centerline is valid? [True, True] Translation: X:201.87, Y:21.07, Z:-0.97 [[ 9.85788092e-01 -1.67993326e-01 2.82799855e-04 2.01869686e+02] [ 1.67993324e-01 9.85788133e-01 3.08700986e-05 2.10697331e+01] [-2.83966711e-04 1.70771119e-05 9.99999960e-01 -9.73684129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21140051299997 meters 0.05949615114625506 Centerline is valid? [True, True] Translation: X:201.90, Y:21.07, Z:-0.97 [[ 9.85792872e-01 -1.67964029e-01 7.06103520e-04 2.01898089e+02] [ 1.67964015e-01 9.85793124e-01 7.95656654e-05 2.10673400e+01] [-7.09436165e-04 4.01647165e-05 9.99999748e-01 -9.73632009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24140051299997 meters 0.05969576130973735 Centerline is valid? [True, True] Translation: X:201.93, Y:21.07, Z:-0.97 [[ 9.85753437e-01 -1.68192602e-01 1.18773206e-03 2.01925131e+02] [ 1.68192562e-01 9.85754150e-01 1.33506837e-04 2.10736243e+01] [-1.19326667e-03 6.81628752e-05 9.99999286e-01 -9.73309387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27140051299997 meters 0.0534915324605962 Centerline is valid? [True, True] Translation: X:201.95, Y:21.09, Z:-0.97 [[ 9.85626519e-01 -1.68931577e-01 1.57704330e-03 2.01951639e+02] [ 1.68931506e-01 9.85627777e-01 1.78597148e-04 2.10912848e+01] [-1.58454838e-03 9.03822150e-05 9.99998741e-01 -9.72126248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30140051299998 meters 0.061205795291370664 Centerline is valid? [True, True] Translation: X:201.98, Y:21.09, Z:-0.97 [[ 9.85638011e-01 -1.68861763e-01 1.84854728e-03 2.01979739e+02] [ 1.68861666e-01 9.85639738e-01 2.09530961e-04 2.10870969e+01] [-1.85738343e-03 1.05627094e-04 9.99998269e-01 -9.72451295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33140051299998 meters 0.05858579323637792 Centerline is valid? [True, True] Translation: X:202.01, Y:21.10, Z:-0.97 [[ 9.85655121e-01 -1.68763649e-01 1.67730539e-03 2.02008007e+02] [ 1.68763570e-01 9.85656543e-01 1.89677394e-04 2.10952217e+01] [-1.68525768e-03 9.61115503e-05 9.99998575e-01 -9.72697256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36140051299998 meters 0.05753395505390304 Centerline is valid? [True, True] Translation: X:202.04, Y:21.10, Z:-0.97 [[ 9.85628458e-01 -1.68924472e-01 1.03205911e-03 2.02035040e+02] [ 1.68924442e-01 9.85628997e-01 1.16324516e-04 2.11016295e+01] [-1.03687744e-03 5.96872563e-05 9.99999461e-01 -9.73854869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39140051299998 meters 0.06007901408345747 Centerline is valid? [True, True] Translation: X:202.06, Y:21.11, Z:-0.98 [[ 9.85450273e-01 -1.69963883e-01 1.92213005e-04 2.02062726e+02] [ 1.69963882e-01 9.85450292e-01 2.15853039e-05 2.11074405e+01] [-1.93085084e-04 1.13980249e-05 9.99999981e-01 -9.76027033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42140051299998 meters 0.0641108340922279 Centerline is valid? [True, True] Translation: X:202.09, Y:21.11, Z:-0.98 [[ 9.85236506e-01 -1.71198790e-01 -4.02351951e-05 2.02092145e+02] [ 1.71198790e-01 9.85236507e-01 -4.74026028e-06 2.11122966e+01] [ 4.04527099e-05 -2.21793926e-06 9.99999999e-01 -9.76770037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45140051299998 meters 0.0570405658014228 Centerline is valid? [True, True] Translation: X:202.12, Y:21.12, Z:-0.98 [[ 9.85004565e-01 -1.72528230e-01 1.26673395e-04 2.02120949e+02] [ 1.72528229e-01 9.85004574e-01 1.42835837e-05 2.11240972e+01] [-1.27238195e-04 7.78534137e-06 9.99999992e-01 -9.75467357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48140051299998 meters 0.0570405658014228 Centerline is valid? [True, True] Translation: X:202.15, Y:21.13, Z:-0.98 [[ 9.84971085e-01 -1.72719271e-01 1.26797106e-04 2.02148309e+02] [ 1.72719271e-01 9.84971093e-01 1.31996966e-05 2.11273660e+01] [-1.27171326e-04 8.89898422e-06 9.99999992e-01 -9.75648459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51140051299998 meters 0.06307467887592795 Centerline is valid? [True, True] Translation: X:202.18, Y:21.13, Z:-0.98 [[ 9.84595393e-01 -1.74846159e-01 -8.55494696e-04 2.02177918e+02] [ 1.74846140e-01 9.84595764e-01 -9.78316724e-05 2.11276119e+01] [ 8.59421946e-04 -5.32553313e-05 9.99999629e-01 -9.77150893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54140051299999 meters 0.06008405890691994 Centerline is valid? [True, True] Translation: X:202.21, Y:21.14, Z:-0.98 [[ 9.84404915e-01 -1.75914565e-01 -1.01410323e-03 2.02206091e+02] [ 1.75914537e-01 9.84405436e-01 -1.17141713e-04 2.11372991e+01] [ 1.01889567e-03 -6.30806233e-05 9.99999479e-01 -9.77040686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571400513 meters 0.06360754168838004 Centerline is valid? [True, True] Translation: X:202.23, Y:21.14, Z:-0.98 [[ 9.84430369e-01 -1.75773397e-01 -7.49854571e-04 2.02233837e+02] [ 1.75773383e-01 9.84430653e-01 -8.62329284e-05 2.11390867e+01] [ 7.53337280e-04 -4.69141610e-05 9.99999715e-01 -9.77697923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601400513 meters 0.06425454978681269 Centerline is valid? [True, True] Translation: X:202.26, Y:21.15, Z:-0.98 [[ 9.84579809e-01 -1.74935938e-01 -1.34724752e-04 2.02262131e+02] [ 1.74935937e-01 9.84579818e-01 -1.57376184e-05 2.11467455e+01] [ 1.35400346e-04 -8.07325933e-06 9.99999991e-01 -9.77168368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631400513 meters 0.05568410921038226 Centerline is valid? [True, True] Translation: X:202.29, Y:21.17, Z:-0.98 [[ 9.85200720e-01 -1.71403193e-01 6.98221757e-04 2.02290353e+02] [ 1.71403180e-01 9.85200966e-01 7.98788808e-05 2.11651260e+01] [-7.01580245e-04 4.09806984e-05 9.99999753e-01 -9.75712668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661400513 meters 0.06052822547955168 Centerline is valid? [True, True] Translation: X:202.32, Y:21.17, Z:-0.98 [[ 9.85462562e-01 -1.69892299e-01 -3.82084554e-04 2.02319719e+02] [ 1.69892295e-01 9.85462636e-01 -4.39279720e-05 2.11661427e+01] [ 3.83993075e-04 -2.16238497e-05 9.99999926e-01 -9.77994725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691400513 meters 0.06425096702455035 Centerline is valid? [True, True] Translation: X:202.35, Y:21.17, Z:-0.98 [[ 9.85587509e-01 -1.69161915e-01 -1.22835224e-03 2.02348008e+02] [ 1.69161869e-01 9.85588272e-01 -1.41975847e-04 2.11686754e+01] [ 1.23466646e-03 -6.78607387e-05 9.99999235e-01 -9.80284163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721400513 meters 0.06139146140711442 Centerline is valid? [True, True] Translation: X:202.38, Y:21.18, Z:-0.98 [[ 9.85591342e-01 -1.69136568e-01 -1.59016981e-03 2.02375907e+02] [ 1.69136491e-01 9.85592620e-01 -1.83748729e-04 2.11818353e+01] [ 1.59833826e-03 -8.78545851e-05 9.99998719e-01 -9.80240638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751400513 meters 0.05851512506505037 Centerline is valid? [True, True] Translation: X:202.40, Y:21.20, Z:-0.98 [[ 9.85346393e-01 -1.70564426e-01 5.12021412e-04 2.02403652e+02] [ 1.70564418e-01 9.85346526e-01 5.86012818e-05 2.11969531e+01] [-5.14513813e-04 2.95900727e-05 9.99999867e-01 -9.76057381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781400513 meters 0.06167263230208119 Centerline is valid? [True, True] Translation: X:202.43, Y:21.20, Z:-0.98 [[ 9.85234406e-01 -1.71206270e-01 1.25622659e-03 2.02431947e+02] [ 1.71206225e-01 9.85235204e-01 1.44044857e-04 2.11954105e+01] [-1.26234004e-03 7.31558631e-05 9.99999201e-01 -9.75375877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811400513 meters 0.05802531152636655 Centerline is valid? [True, True] Translation: X:202.46, Y:21.21, Z:-0.98 [[ 9.85067391e-01 -1.72169047e-01 2.34055030e-04 2.02459409e+02] [ 1.72169045e-01 9.85067419e-01 2.58291775e-05 2.12109578e+01] [-2.35006969e-04 1.48535506e-05 9.99999972e-01 -9.75316181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841400513 meters 0.05755325046620032 Centerline is valid? [True, True] Translation: X:202.49, Y:21.22, Z:-0.98 [[ 9.84927760e-01 -1.72965242e-01 -5.77166493e-04 2.02487698e+02] [ 1.72965232e-01 9.84927928e-01 -6.76811006e-05 2.12179617e+01] [ 5.80173876e-04 -3.31687418e-05 9.99999831e-01 -9.76349304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871400513 meters 0.0638873909425872 Centerline is valid? [True, True] Translation: X:202.52, Y:21.22, Z:-0.98 [[ 9.84768276e-01 -1.73871808e-01 -1.94383683e-04 2.02515049e+02] [ 1.73871807e-01 9.84768295e-01 -2.30327873e-05 2.12214510e+01] [ 1.95427641e-04 -1.11158840e-05 9.99999981e-01 -9.76809291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901400513 meters 0.05537871459684677 Centerline is valid? [True, True] Translation: X:202.54, Y:21.24, Z:-0.97 [[ 9.84782193e-01 -1.73786428e-01 1.51979315e-03 2.02542739e+02] [ 1.73786365e-01 9.84783361e-01 1.74544033e-04 2.12358600e+01] [-1.52700039e-03 9.22314716e-05 9.99998830e-01 -9.73847277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93140051299997 meters 0.05531608339396315 Centerline is valid? [True, True] Translation: X:202.57, Y:21.25, Z:-0.97 [[ 9.84954906e-01 -1.72781876e-01 3.20267177e-03 2.02569462e+02] [ 1.72781583e-01 9.84960094e-01 3.69975184e-04 2.12480637e+01] [-3.21842890e-03 1.88953826e-04 9.99994803e-01 -9.71515473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96140051299997 meters 0.05515853584411325 Centerline is valid? [True, True] Translation: X:202.60, Y:21.26, Z:-0.97 [[ 9.84971912e-01 -1.72696998e-01 2.46568584e-03 2.02597658e+02] [ 1.72696825e-01 9.84974987e-01 2.84452312e-04 2.12565455e+01] [-2.47776294e-03 1.45638579e-04 9.99996920e-01 -9.72724743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99140051299997 meters 0.059064532653063544 Centerline is valid? [True, True] Translation: X:202.63, Y:21.26, Z:-0.97 [[ 9.84896785e-01 -1.73130505e-01 2.03759238e-03 2.02625212e+02] [ 1.73130386e-01 9.84898885e-01 2.35712682e-04 2.12601047e+01] [-2.04763152e-03 1.20616494e-04 9.99997896e-01 -9.74221831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02140051299997 meters 0.059833367635379886 Centerline is valid? [True, True] Translation: X:202.65, Y:21.27, Z:-0.97 [[ 9.84750533e-01 -1.73958926e-01 2.16315698e-03 2.02653672e+02] [ 1.73958795e-01 9.84752901e-01 2.49935779e-04 2.12676207e+01] [-2.17365367e-03 1.30175790e-04 9.99997629e-01 -9.74811718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05140051299998 meters 0.062220241104361834 Centerline is valid? [True, True] Translation: X:202.68, Y:21.28, Z:-0.98 [[ 9.84302016e-01 -1.76477982e-01 2.25023753e-03 2.02682886e+02] [ 1.76477844e-01 9.84304578e-01 2.61070398e-04 2.12782430e+01] [-2.26099228e-03 1.40144949e-04 9.99997434e-01 -9.75735751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08140051299998 meters 0.06540713062106729 Centerline is valid? [True, True] Translation: X:202.71, Y:21.28, Z:-0.98 [[ 9.83996964e-01 -1.78164445e-01 2.72111113e-03 2.02711019e+02] [ 1.78164251e-01 9.84000711e-01 3.15578313e-04 2.12823832e+01] [-2.73380012e-03 1.74276624e-04 9.99996248e-01 -9.75418610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11140051299998 meters 0.06586326211750218 Centerline is valid? [True, True] Translation: X:202.74, Y:21.29, Z:-0.98 [[ 9.83555199e-01 -1.80585284e-01 2.85052897e-03 2.02740826e+02] [ 1.80585080e-01 9.83559312e-01 3.30932073e-04 2.12904646e+01] [-2.86342578e-03 1.89273041e-04 9.99995882e-01 -9.76097342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14140051299998 meters 0.07611361477109267 Centerline is valid? [True, True] Translation: X:202.77, Y:21.29, Z:-0.98 [[ 9.83031484e-01 -1.83427912e-01 1.81726190e-03 2.02770516e+02] [ 1.83427834e-01 9.83033156e-01 2.11003344e-04 2.12863717e+01] [-1.82513261e-03 1.25913485e-04 9.99998327e-01 -9.78721526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17140051299998 meters 0.07723564168996265 Centerline is valid? [True, True] Translation: X:202.80, Y:21.30, Z:-0.98 [[ 9.81835325e-01 -1.89728834e-01 -1.53786183e-03 2.02800371e+02] [ 1.89728786e-01 9.81836522e-01 -1.78559969e-04 2.12952115e+01] [ 1.54380689e-03 -1.16460173e-04 9.99998802e-01 -9.84262285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20140051299998 meters 0.06864870638495327 Centerline is valid? [True, True] Translation: X:202.83, Y:21.31, Z:-0.98 [[ 9.81306060e-01 -1.92432134e-01 -2.87936493e-03 2.02828901e+02] [ 1.92431976e-01 9.81310258e-01 -3.34362942e-04 2.13105112e+01] [ 2.88989252e-03 -2.25969504e-04 9.99995799e-01 -9.84908115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23140051299998 meters 0.07576093925827933 Centerline is valid? [True, True] Translation: X:202.86, Y:21.31, Z:-0.99 [[ 9.80983015e-01 -1.94060982e-01 -3.55815994e-03 2.02858613e+02] [ 1.94060751e-01 9.80989426e-01 -4.13285666e-04 2.13060908e+01] [ 3.57071990e-03 -2.85072971e-04 9.99993584e-01 -9.87238948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26140051299998 meters 0.07837662352141694 Centerline is valid? [True, True] Translation: X:202.89, Y:21.31, Z:-0.99 [[ 9.80975536e-01 -1.94111976e-01 -2.74557364e-03 2.02886364e+02] [ 1.94111837e-01 9.80979354e-01 -3.19396568e-04 2.13086566e+01] [ 2.75534975e-03 -2.19628125e-04 9.99996180e-01 -9.86306972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29140051299999 meters 0.07594720307080058 Centerline is valid? [True, True] Translation: X:202.92, Y:21.32, Z:-0.99 [[ 9.81253997e-01 -1.92706205e-01 -2.21617795e-03 2.02916047e+02] [ 1.92706112e-01 9.81256484e-01 -2.57602503e-04 2.13167198e+01] [ 2.22428059e-03 -1.74297550e-04 9.99997511e-01 -9.85171907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321400513 meters 0.0679119203043866 Centerline is valid? [True, True] Translation: X:202.94, Y:21.33, Z:-0.98 [[ 9.81726751e-01 -1.90283179e-01 -2.21336979e-03 2.02944845e+02] [ 1.90283080e-01 9.81729231e-01 -2.57241977e-04 2.13311399e+01] [ 2.22187864e-03 -1.68625491e-04 9.99997517e-01 -9.83957893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351400513 meters 0.06755602508697987 Centerline is valid? [True, True] Translation: X:202.97, Y:21.34, Z:-0.99 [[ 9.82986302e-01 -1.83662659e-01 -2.44078448e-03 2.02973255e+02] [ 1.83662518e-01 9.82989318e-01 -2.83883277e-04 2.13367657e+01] [ 2.45140383e-03 -1.69227250e-04 9.99996981e-01 -9.85341611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381400513 meters 0.07343921497475506 Centerline is valid? [True, True] Translation: X:203.00, Y:21.34, Z:-0.99 [[ 9.83666113e-01 -1.79989227e-01 -2.20390651e-03 2.03002189e+02] [ 1.79989102e-01 9.83668571e-01 -2.56441812e-04 2.13366026e+01] [ 2.21407033e-03 -1.44426034e-04 9.99997539e-01 -9.85895609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411400513 meters 0.06349859547715396 Centerline is valid? [True, True] Translation: X:203.03, Y:21.35, Z:-0.98 [[ 9.84400133e-01 -1.75944135e-01 -1.99361695e-04 2.03030645e+02] [ 1.75944134e-01 9.84400153e-01 -2.32952183e-05 2.13501764e+01] [ 2.00350340e-04 -1.21447048e-05 9.99999980e-01 -9.82943132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441400513 meters 0.05928943858598621 Centerline is valid? [True, True] Translation: X:203.06, Y:21.36, Z:-0.98 [[ 9.85541007e-01 -1.69430159e-01 1.53098618e-03 2.03059929e+02] [ 1.69430086e-01 9.85542193e-01 1.77968687e-04 2.13644670e+01] [-1.53900474e-03 8.39996805e-05 9.99998812e-01 -9.79954456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471400513 meters 0.053341783631250195 Centerline is valid? [True, True] Translation: X:203.09, Y:21.37, Z:-0.98 [[ 9.86002040e-01 -1.66726254e-01 1.52718733e-03 2.03089238e+02] [ 1.66726179e-01 9.86003220e-01 1.77548000e-04 2.13745881e+01] [-1.53541353e-03 7.95594174e-05 9.99998818e-01 -9.79794735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501400513 meters 0.0513966825331728 Centerline is valid? [True, True] Translation: X:203.12, Y:21.38, Z:-0.98 [[ 9.86370756e-01 -1.64533640e-01 1.18886842e-03 2.03118400e+02] [ 1.64533593e-01 9.86371470e-01 1.38210905e-04 2.13827514e+01] [-1.19540623e-03 5.92815974e-05 9.99999284e-01 -9.80477024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531400513 meters 0.047692844971326157 Centerline is valid? [True, True] Translation: X:203.15, Y:21.40, Z:-0.98 [[ 9.86852028e-01 -1.61621438e-01 1.25908233e-03 2.03146367e+02] [ 1.61621383e-01 9.86852830e-01 1.46330500e-04 2.13977049e+01] [-1.26617910e-03 5.90880759e-05 9.99999197e-01 -9.80545827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561400513 meters 0.04729717958716802 Centerline is valid? [True, True] Translation: X:203.17, Y:21.41, Z:-0.98 [[ 9.86995385e-01 -1.60735122e-01 2.08085199e-03 2.03174918e+02] [ 1.60734969e-01 9.86997574e-01 2.41411782e-04 2.14056514e+01] [-2.09259921e-03 9.61933651e-05 9.99997806e-01 -9.79437025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591400513 meters 0.04383570711793711 Centerline is valid? [True, True] Translation: X:203.20, Y:21.42, Z:-0.98 [[ 9.87092829e-01 -1.60116710e-01 3.22288269e-03 2.03202330e+02] [ 1.60116337e-01 9.87098079e-01 3.74889539e-04 2.14173600e+01] [-3.24132739e-03 1.45985397e-04 9.99994736e-01 -9.76976316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621400513 meters 0.04188069614225213 Centerline is valid? [True, True] Translation: X:203.23, Y:21.43, Z:-0.97 [[ 9.86989373e-01 -1.60725111e-01 4.40633395e-03 2.03229187e+02] [ 1.60724416e-01 9.86999189e-01 5.13688803e-04 2.14332880e+01] [-4.43161072e-03 2.01200062e-04 9.99990160e-01 -9.74433995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651400513 meters 0.04732513640128314 Centerline is valid? [True, True] Translation: X:203.26, Y:21.44, Z:-0.97 [[ 9.86766362e-01 -1.62073427e-01 4.93474859e-03 2.03256948e+02] [ 1.62072566e-01 9.86778674e-01 5.76471351e-04 2.14372664e+01] [-4.96293535e-03 2.30944829e-04 9.99987658e-01 -9.73995033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68140051299997 meters 0.054350455182432755 Centerline is valid? [True, True] Translation: X:203.28, Y:21.44, Z:-0.97 [[ 9.86458239e-01 -1.63907844e-01 5.86180950e-03 2.03284898e+02] [ 1.63906660e-01 9.86475614e-01 6.85117380e-04 2.14390264e+01] [-5.89482824e-03 2.84949934e-04 9.99982585e-01 -9.73166779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71140051299997 meters 0.050601041614835966 Centerline is valid? [True, True] Translation: X:203.31, Y:21.45, Z:-0.97 [[ 9.86020337e-01 -1.66468625e-01 7.21744741e-03 2.03313492e+02] [ 1.66466896e-01 9.86046683e-01 8.43944448e-04 2.14529510e+01] [-7.25723035e-03 3.69319676e-04 9.99973598e-01 -9.71759161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74140051299997 meters 0.06186866705522571 Centerline is valid? [True, True] Translation: X:203.34, Y:21.45, Z:-0.97 [[ 9.84720680e-01 -1.74002232e-01 6.95741479e-03 2.03343335e+02] [ 1.74000812e-01 9.84745173e-01 8.13614487e-04 2.14528660e+01] [-6.99285136e-03 4.09412809e-04 9.99975466e-01 -9.72785189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77140051299997 meters 0.06449900124668198 Centerline is valid? [True, True] Translation: X:203.37, Y:21.46, Z:-0.98 [[ 9.83873976e-01 -1.78789702e-01 5.12259673e-03 2.03373283e+02] [ 1.78788997e-01 9.83887258e-01 5.99054151e-04 2.14587819e+01] [-5.14716237e-03 3.26470140e-04 9.99986700e-01 -9.75826137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80140051299998 meters 0.06559379245532478 Centerline is valid? [True, True] Translation: X:203.40, Y:21.47, Z:-0.98 [[ 9.82915383e-01 -1.84032180e-01 3.08329255e-03 2.03402886e+02] [ 1.84031950e-01 9.82920196e-01 3.60597986e-04 2.14671902e+01] [-3.09699215e-03 2.12987033e-04 9.99995182e-01 -9.79109497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83140051299998 meters 0.06693262542913368 Centerline is valid? [True, True] Translation: X:203.43, Y:21.47, Z:-0.98 [[ 9.81943582e-01 -1.89163840e-01 1.96025960e-03 2.03433037e+02] [ 1.89163757e-01 9.81945528e-01 2.29269784e-04 2.14721377e+01] [-1.96823770e-03 1.45680079e-04 9.99998052e-01 -9.80519007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86140051299998 meters 0.08439410846523603 Centerline is valid? [True, True] Translation: X:203.46, Y:21.46, Z:-0.98 [[ 9.80302643e-01 -1.97488422e-01 2.24763759e-03 2.03463810e+02] [ 1.97488335e-01 9.80305202e-01 2.62881498e-04 2.14577144e+01] [-2.25528688e-03 1.86178778e-04 9.99997440e-01 -9.81835703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89140051299998 meters 0.07857680598474759 Centerline is valid? [True, True] Translation: X:203.49, Y:21.47, Z:-0.98 [[ 9.79745632e-01 -2.00228313e-01 2.66834493e-03 2.03493005e+02] [ 2.00228201e-01 9.79749238e-01 3.12099248e-04 2.14703478e+01] [-2.67680002e-03 2.28500028e-04 9.99996391e-01 -9.81188588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92140051299998 meters 0.0822274159492355 Centerline is valid? [True, True] Translation: X:203.52, Y:21.47, Z:-0.98 [[ 9.79356673e-01 -2.02119752e-01 2.84824119e-03 2.03522324e+02] [ 2.02119632e-01 9.79360783e-01 3.33075780e-04 2.14748505e+01] [-2.85677692e-03 2.49485474e-04 9.99995888e-01 -9.81048623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95140051299998 meters 0.08517403293694782 Centerline is valid? [True, True] Translation: X:203.55, Y:21.48, Z:-0.98 [[ 9.79389648e-01 -2.01966605e-01 2.32544288e-03 2.03550028e+02] [ 2.01966525e-01 9.79392388e-01 2.71786911e-04 2.14763663e+01] [-2.33241293e-03 2.03476330e-04 9.99997259e-01 -9.82159586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98140051299998 meters 0.07821964382655026 Centerline is valid? [True, True] Translation: X:203.58, Y:21.49, Z:-0.98 [[ 9.79416567e-01 -2.01834473e-01 2.45646066e-03 2.03577427e+02] [ 2.01834384e-01 9.79419624e-01 2.86827812e-04 2.14887915e+01] [-2.46379751e-03 2.14874312e-04 9.99996942e-01 -9.81870932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01140051299998 meters 0.08218676391927293 Centerline is valid? [True, True] Translation: X:203.61, Y:21.49, Z:-0.98 [[ 9.79467548e-01 -2.01577858e-01 3.11282705e-03 2.03605776e+02] [ 2.01577709e-01 9.79472457e-01 3.64622422e-04 2.14873241e+01] [-3.12242816e-03 2.70340716e-04 9.99995089e-01 -9.81161501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04140051299999 meters 0.07889850569600762 Centerline is valid? [True, True] Translation: X:203.63, Y:21.50, Z:-0.98 [[ 9.79667151e-01 -2.00591982e-01 3.88960725e-03 2.03634677e+02] [ 2.00591741e-01 9.79674816e-01 4.56021709e-04 2.14953517e+01] [-3.90202457e-03 3.33473602e-04 9.99992331e-01 -9.79986267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071400513 meters 0.07730129803902805 Centerline is valid? [True, True] Translation: X:203.66, Y:21.50, Z:-0.98 [[ 9.79804669e-01 -1.99935267e-01 2.94953734e-03 2.03663212e+02] [ 1.99935125e-01 9.79809076e-01 3.45754608e-04 2.15008787e+01] [-2.95911200e-03 2.50944139e-04 9.99995590e-01 -9.81629797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101400513 meters 0.08026808324643418 Centerline is valid? [True, True] Translation: X:203.69, Y:21.50, Z:-0.98 [[ 9.79943148e-01 -1.99271805e-01 1.47453446e-03 2.03691440e+02] [ 1.99271769e-01 9.79944250e-01 1.72592724e-04 2.14995897e+01] [-1.47935443e-03 1.24702034e-04 9.99998898e-01 -9.84864819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131400513 meters 0.07786028783974916 Centerline is valid? [True, True] Translation: X:203.72, Y:21.51, Z:-0.99 [[ 9.80086410e-01 -1.98570974e-01 4.44067205e-04 2.03720421e+02] [ 1.98570971e-01 9.80086510e-01 5.12242601e-05 2.15050286e+01] [-4.45395928e-04 3.79746549e-05 9.99999900e-01 -9.87181373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161400513 meters 0.07871477832675858 Centerline is valid? [True, True] Translation: X:203.75, Y:21.51, Z:-0.99 [[ 9.80357605e-01 -1.97226905e-01 -7.17480222e-04 2.03749216e+02] [ 1.97226895e-01 9.80357866e-01 -8.45950230e-05 2.15056575e+01] [ 7.20071794e-04 -5.85730223e-05 9.99999739e-01 -9.88966147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191400513 meters 0.07958697288323073 Centerline is valid? [True, True] Translation: X:203.78, Y:21.51, Z:-0.99 [[ 9.80520957e-01 -1.96413378e-01 -6.61893801e-04 2.03777277e+02] [ 1.96413370e-01 9.80521179e-01 -7.82411449e-05 2.15069282e+01] [ 6.64368497e-04 -5.32877096e-05 9.99999778e-01 -9.89210819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221400513 meters 0.07296086470066898 Centerline is valid? [True, True] Translation: X:203.81, Y:21.52, Z:-0.99 [[ 9.80750732e-01 -1.95263525e-01 3.96428872e-04 2.03806161e+02] [ 1.95263522e-01 9.80750812e-01 4.65676222e-05 2.15171127e+01] [-3.97890896e-04 3.17368683e-05 9.99999920e-01 -9.87406066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251400513 meters 0.07378860898389443 Centerline is valid? [True, True] Translation: X:203.84, Y:21.52, Z:-0.98 [[ 9.81474330e-01 -1.91574819e-01 2.68855485e-03 2.03835288e+02] [ 1.91574667e-01 9.81477991e-01 3.16235225e-04 2.15173494e+01] [-2.69934012e-03 2.04682246e-04 9.99996336e-01 -9.83354279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281400513 meters 0.07860693097291367 Centerline is valid? [True, True] Translation: X:203.86, Y:21.52, Z:-0.98 [[ 9.81876725e-01 -1.89490277e-01 3.39584672e-03 2.03864614e+02] [ 1.89490022e-01 9.81882565e-01 3.99564405e-04 2.15150565e+01] [-3.41003625e-03 2.51156081e-04 9.99994154e-01 -9.82612467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311400513 meters 0.06991771639077492 Centerline is valid? [True, True] Translation: X:203.89, Y:21.54, Z:-0.98 [[ 9.82238544e-01 -1.87606919e-01 3.32977460e-03 2.03892800e+02] [ 1.87606663e-01 9.82244158e-01 3.91919274e-04 2.15350572e+01] [-3.34417842e-03 2.39729683e-04 9.99994379e-01 -9.82701748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341400513 meters 0.06287135817200029 Centerline is valid? [True, True] Translation: X:203.92, Y:21.54, Z:-0.99 [[ 9.82902484e-01 -1.84111665e-01 2.36663724e-03 2.03921978e+02] [ 1.84111526e-01 9.82905320e-01 2.78533358e-04 2.15423977e+01] [-2.37746158e-03 1.61954064e-04 9.99997161e-01 -9.85203384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371400513 meters 0.06287135817200029 Centerline is valid? [True, True] Translation: X:203.95, Y:21.55, Z:-0.99 [[ 9.82868179e-01 -1.84294715e-01 2.36671435e-03 2.03949303e+02] [ 1.84294577e-01 9.82871015e-01 2.77879084e-04 2.15457467e+01] [-2.37738658e-03 1.63054112e-04 9.99997161e-01 -9.85384348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401400513 meters 0.0721388593557219 Centerline is valid? [True, True] Translation: X:203.98, Y:21.54, Z:-0.99 [[ 9.83063249e-01 -1.83258196e-01 1.75537223e-03 2.03978800e+02] [ 1.83258117e-01 9.83064809e-01 2.06791104e-04 2.15378326e+01] [-1.76354083e-03 1.18397476e-04 9.99998438e-01 -9.87831937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43140051299997 meters 0.06386126556709266 Centerline is valid? [True, True] Translation: X:204.01, Y:21.55, Z:-0.99 [[ 9.83073496e-01 -1.83202521e-01 1.82682204e-03 2.04006193e+02] [ 1.83202437e-01 9.83075186e-01 2.14758545e-04 2.15491452e+01] [-1.83524773e-03 1.23554817e-04 9.99998308e-01 -9.87257559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46140051299997 meters 0.06585073911904575 Centerline is valid? [True, True] Translation: X:204.04, Y:21.55, Z:-0.99 [[ 9.82674877e-01 -1.85324047e-01 2.25465098e-03 2.04037204e+02] [ 1.85323922e-01 9.82677451e-01 2.66320150e-04 2.15461228e+01] [-2.26495020e-03 1.56134640e-04 9.99997423e-01 -9.86529646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49140051299997 meters 0.0691255919472294 Centerline is valid? [True, True] Translation: X:204.07, Y:21.54, Z:-0.99 [[ 9.82298173e-01 -1.87301800e-01 2.88694929e-03 2.04066547e+02] [ 1.87301603e-01 9.82302394e-01 3.41020502e-04 2.15426696e+01] [-2.89973096e-03 2.05746414e-04 9.99995775e-01 -9.85333913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52140051299997 meters 0.06701052335151059 Centerline is valid? [True, True] Translation: X:204.10, Y:21.55, Z:-0.98 [[ 9.81863092e-01 -1.89551836e-01 3.86906495e-03 2.04095801e+02] [ 1.89551498e-01 9.81870674e-01 4.57208036e-04 2.15491385e+01] [-3.88558603e-03 2.84471363e-04 9.99992411e-01 -9.83747113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55140051299998 meters 0.06871500295745003 Centerline is valid? [True, True] Translation: X:204.13, Y:21.55, Z:-0.98 [[ 9.81379951e-01 -1.92035949e-01 3.94793757e-03 2.04126078e+02] [ 1.92035617e-01 9.81387846e-01 4.66563455e-04 2.15464087e+01] [-3.96405490e-03 3.00268605e-04 9.99992098e-01 -9.82818159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58140051299998 meters 0.07570387528459653 Centerline is valid? [True, True] Translation: X:204.15, Y:21.54, Z:-0.98 [[ 9.81426225e-01 -1.91796866e-01 4.06529390e-03 2.04154558e+02] [ 1.91796512e-01 9.81434596e-01 4.80376798e-04 2.15417316e+01] [-4.08195484e-03 3.08254804e-04 9.99991621e-01 -9.83646277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61140051299998 meters 0.06976359634858806 Centerline is valid? [True, True] Translation: X:204.18, Y:21.55, Z:-0.98 [[ 9.81719944e-01 -1.90261195e-01 5.16037876e-03 2.04183137e+02] [ 1.90260601e-01 9.81733432e-01 6.10232820e-04 2.15534480e+01] [-5.18221997e-03 3.82739033e-04 9.99986499e-01 -9.82500553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64140051299998 meters 0.06680514949382724 Centerline is valid? [True, True] Translation: X:204.21, Y:21.56, Z:-0.98 [[ 9.82176056e-01 -1.87841945e-01 6.75274685e-03 2.04212239e+02] [ 1.87840870e-01 9.82199150e-01 7.98734964e-04 2.15623182e+01] [-6.78257814e-03 4.83943489e-04 9.99976881e-01 -9.80094070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67140051299998 meters 0.0622728471630838 Centerline is valid? [True, True] Translation: X:204.24, Y:21.58, Z:-0.98 [[ 9.83246275e-01 -1.82130433e-01 7.43425993e-03 2.04241511e+02] [ 1.82128968e-01 9.83274258e-01 8.79366500e-04 2.15778123e+01] [-7.47007582e-03 4.89360253e-04 9.99971979e-01 -9.78394178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70140051299998 meters 0.06128286180980447 Centerline is valid? [True, True] Translation: X:204.27, Y:21.59, Z:-0.98 [[ 9.83708193e-01 -1.79650523e-01 6.62420623e-03 2.04269677e+02] [ 1.79649303e-01 9.83730407e-01 7.83571998e-04 2.15862565e+01] [-6.65720221e-03 4.19227837e-04 9.99977753e-01 -9.80317397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73140051299998 meters 0.059607605933220655 Centerline is valid? [True, True] Translation: X:204.30, Y:21.60, Z:-0.98 [[ 9.84008747e-01 -1.78016476e-01 6.07614002e-03 2.04298852e+02] [ 1.78015418e-01 9.84027436e-01 7.18822622e-04 2.15959820e+01] [-6.10705075e-03 3.74318856e-04 9.99981282e-01 -9.82089736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76140051299998 meters 0.05874092994573834 Centerline is valid? [True, True] Translation: X:204.33, Y:21.61, Z:-0.98 [[ 9.84053962e-01 -1.77767343e-01 6.04742075e-03 2.04326249e+02] [ 1.77766291e-01 9.84072474e-01 7.15421350e-04 2.16105136e+01] [-6.07827885e-03 3.71014342e-04 9.99981458e-01 -9.84227967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79140051299999 meters 0.05897379879933658 Centerline is valid? [True, True] Translation: X:204.35, Y:21.62, Z:-0.98 [[ 9.83860466e-01 -1.78844671e-01 5.75908748e-03 2.04354788e+02] [ 1.78843729e-01 9.83877256e-01 6.82307991e-04 2.16169420e+01] [-5.78826233e-03 3.58680823e-04 9.99983184e-01 -9.83941575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821400513 meters 0.06362464242067303 Centerline is valid? [True, True] Translation: X:204.38, Y:21.62, Z:-0.99 [[ 9.83497825e-01 -1.80850439e-01 5.01475640e-03 2.04383332e+02] [ 1.80849750e-01 9.83510556e-01 5.94307467e-04 2.16203631e+01] [-5.03954663e-03 3.22417340e-04 9.99987249e-01 -9.85698564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851400513 meters 0.06707713345979946 Centerline is valid? [True, True] Translation: X:204.41, Y:21.63, Z:-0.99 [[ 9.82282151e-01 -1.87354446e-01 4.48184168e-03 2.04412764e+02] [ 1.87353963e-01 9.82292324e-01 5.31195442e-04 2.16272539e+01] [-4.50200051e-03 3.17907000e-04 9.99989815e-01 -9.86138746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881400513 meters 0.07797539329484195 Centerline is valid? [True, True] Translation: X:204.44, Y:21.62, Z:-0.99 [[ 9.81503469e-01 -1.91380718e-01 4.93565360e-03 2.04443399e+02] [ 1.91380182e-01 9.81515809e-01 5.85017376e-04 2.16212666e+01] [-4.95638308e-03 3.70389701e-04 9.99987648e-01 -9.86685895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911400513 meters 0.07809993033704817 Centerline is valid? [True, True] Translation: X:204.47, Y:21.63, Z:-0.99 [[ 9.80663282e-01 -1.95653152e-01 4.40118633e-03 2.04473221e+02] [ 1.95652769e-01 9.80673096e-01 5.21719168e-04 2.16284559e+01] [-4.41820102e-03 3.49473460e-04 9.99990179e-01 -9.88040263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941400513 meters 0.08286090588527592 Centerline is valid? [True, True] Translation: X:204.50, Y:21.63, Z:-0.99 [[ 9.79877018e-01 -1.99583826e-01 2.70667177e-03 2.04502156e+02] [ 1.99583695e-01 9.79880730e-01 3.20810407e-04 2.16298390e+01] [-2.71624408e-03 2.25852809e-04 9.99996285e-01 -9.91298659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971400513 meters 0.0771942972758384 Centerline is valid? [True, True] Translation: X:204.53, Y:21.64, Z:-0.99 [[ 9.79211987e-01 -2.02838048e-01 7.80900867e-04 2.04530768e+02] [ 2.02838039e-01 9.79212296e-01 9.25235243e-05 2.16437405e+01] [-7.83435023e-04 6.77962562e-05 9.99999691e-01 -9.94201157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001400513 meters 0.08001151061181105 Centerline is valid? [True, True] Translation: X:204.56, Y:21.65, Z:-1.00 [[ 9.78298258e-01 -2.07201634e-01 2.98716200e-05 2.04561282e+02] [ 2.07201634e-01 9.78298259e-01 3.51577534e-06 2.16475685e+01] [-2.99518283e-05 2.74997160e-06 1.00000000e+00 -9.96100507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031400513 meters 0.08421847225715352 Centerline is valid? [True, True] Translation: X:204.59, Y:21.65, Z:-0.99 [[ 9.77948022e-01 -2.08845441e-01 1.11750231e-03 2.04590878e+02] [ 2.08845425e-01 9.77948655e-01 1.32383054e-04 2.16463126e+01] [-1.12050748e-03 1.03921499e-04 9.99999367e-01 -9.94756605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061400513 meters 0.08335167519944779 Centerline is valid? [True, True] Translation: X:204.62, Y:21.65, Z:-0.99 [[ 9.77778241e-01 -2.09628127e-01 2.40014067e-03 2.04619910e+02] [ 2.09628055e-01 9.77781160e-01 2.84558896e-04 2.16512238e+01] [-2.40646387e-03 2.24901322e-04 9.99997079e-01 -9.92525439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091400513 meters 0.08672512270066475 Centerline is valid? [True, True] Translation: X:204.65, Y:21.66, Z:-0.99 [[ 9.77961201e-01 -2.08771666e-01 2.50623352e-03 2.04649104e+02] [ 2.08771584e-01 9.77964384e-01 2.97202659e-04 2.16576654e+01] [-2.51305462e-03 2.32577674e-04 9.99996815e-01 -9.91299047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121400513 meters 0.08092691468324885 Centerline is valid? [True, True] Translation: X:204.68, Y:21.67, Z:-0.99 [[ 9.78277689e-01 -2.07285551e-01 2.33742173e-03 2.04678471e+02] [ 2.07285475e-01 9.78280458e-01 2.77274957e-04 2.16677849e+01] [-2.34412909e-03 2.13261669e-04 9.99997230e-01 -9.91986839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151400513 meters 0.07880239795188188 Centerline is valid? [True, True] Translation: X:204.71, Y:21.68, Z:-0.99 [[ 9.78632581e-01 -2.05605900e-01 2.11802173e-03 2.04708334e+02] [ 2.05605833e-01 9.78634854e-01 2.51300416e-04 2.16761589e+01] [-2.12443873e-03 1.89546847e-04 9.99997725e-01 -9.93467730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18140051299997 meters 0.08699553247910008 Centerline is valid? [True, True] Translation: X:204.74, Y:21.67, Z:-0.99 [[ 9.79232310e-01 -2.02688066e-01 4.65099015e-03 2.04737889e+02] [ 2.02687714e-01 9.79243272e-01 5.51851442e-04 2.16731487e+01] [-4.66630451e-03 4.02307800e-04 9.99989032e-01 -9.92226465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21140051299997 meters 0.0849045784833028 Centerline is valid? [True, True] Translation: X:204.77, Y:21.68, Z:-0.99 [[ 9.79414821e-01 -2.01747949e-01 6.66135441e-03 2.04767281e+02] [ 2.01747204e-01 9.79437308e-01 7.90574863e-04 2.16798023e+01] [-6.68387589e-03 5.69608889e-04 9.99977500e-01 -9.89694941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24140051299997 meters 0.07908114270360915 Centerline is valid? [True, True] Translation: X:204.79, Y:21.69, Z:-0.99 [[ 9.79372394e-01 -2.01928719e-01 7.38286937e-03 2.04794566e+02] [ 2.01927807e-01 9.79400017e-01 8.76422310e-04 2.16907995e+01] [-7.40775722e-03 6.32462806e-04 9.99972362e-01 -9.88708381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27140051299997 meters 0.08434568885914763 Centerline is valid? [True, True] Translation: X:204.82, Y:21.69, Z:-0.99 [[ 9.79057464e-01 -2.03490228e-01 6.18131863e-03 2.04824244e+02] [ 2.03489614e-01 9.79076829e-01 7.34656335e-04 2.16883115e+01] [-6.20148123e-03 5.38563375e-04 9.99980626e-01 -9.89283711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30140051299998 meters 0.08424422261798127 Centerline is valid? [True, True] Translation: X:204.85, Y:21.69, Z:-0.99 [[ 9.78831350e-01 -2.04596399e-01 5.43157524e-03 2.04853718e+02] [ 2.04595942e-01 9.78846302e-01 6.45607372e-04 2.16927134e+01] [-5.44876628e-03 4.79337517e-04 9.99985040e-01 -9.90322835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33140051299998 meters 0.08134924220001014 Centerline is valid? [True, True] Translation: X:204.88, Y:21.70, Z:-0.99 [[ 9.78731599e-01 -2.05076377e-01 5.30436322e-03 2.04881682e+02] [ 2.05075948e-01 9.78745860e-01 6.30434245e-04 2.17010266e+01] [-5.32091071e-03 4.70771401e-04 9.99985733e-01 -9.90880071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36140051299998 meters 0.08418949099810374 Centerline is valid? [True, True] Translation: X:204.91, Y:21.70, Z:-0.99 [[ 9.78954245e-01 -2.03986800e-01 6.16205716e-03 2.04910313e+02] [ 2.03986193e-01 9.78973490e-01 7.33581053e-04 2.17043803e+01] [-6.18213146e-03 5.38832292e-04 9.99980745e-01 -9.91399075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39140051299998 meters 0.08999133742040599 Centerline is valid? [True, True] Translation: X:204.94, Y:21.70, Z:-0.99 [[ 9.79169331e-01 -2.02963862e-01 5.75254626e-03 2.04939951e+02] [ 2.02963315e-01 9.79186103e-01 6.84951193e-04 2.17024379e+01] [-5.77183369e-03 4.96872657e-04 9.99983219e-01 -9.92433221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42140051299998 meters 0.0848298486918068 Centerline is valid? [True, True] Translation: X:204.97, Y:21.71, Z:-0.99 [[ 9.79372849e-01 -2.02008595e-01 4.62068113e-03 2.04969078e+02] [ 2.02008231e-01 9.79383669e-01 5.50276713e-04 2.17134715e+01] [-4.63658027e-03 3.94489548e-04 9.99989173e-01 -9.93969715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45140051299998 meters 0.07478398836033208 Centerline is valid? [True, True] Translation: X:205.00, Y:21.73, Z:-1.00 [[ 9.79720271e-01 -2.00357334e-01 2.26474711e-03 2.04997428e+02] [ 2.00357243e-01 9.79722870e-01 2.69694676e-04 2.17298161e+01] [-2.27285984e-03 1.89533144e-04 9.99997399e-01 -9.95794154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48140051299998 meters 0.08299760422369616 Centerline is valid? [True, True] Translation: X:205.03, Y:21.72, Z:-1.00 [[ 9.79731125e-01 -2.00303920e-01 2.29387320e-03 2.05026619e+02] [ 2.00303826e-01 9.79733792e-01 2.72994625e-04 2.17232782e+01] [-2.30206698e-03 1.92010249e-04 9.99997332e-01 -9.96407720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51140051299998 meters 0.08265379893127708 Centerline is valid? [True, True] Translation: X:205.05, Y:21.73, Z:-1.00 [[ 9.79618729e-01 -2.00847956e-01 2.69167294e-03 2.05054608e+02] [ 2.00847828e-01 9.79622400e-01 3.20567295e-04 2.17279029e+01] [-2.70120839e-03 2.26582937e-04 9.99996326e-01 -9.96351977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54140051299999 meters 0.08735878675651473 Centerline is valid? [True, True] Translation: X:205.08, Y:21.73, Z:-1.00 [[ 9.79606676e-01 -2.00905736e-01 2.76487836e-03 2.05081700e+02] [ 2.00905601e-01 9.79610551e-01 3.29368340e-04 2.17263213e+01] [-2.77467600e-03 2.32828124e-04 9.99996123e-01 -9.97587285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571400513 meters 0.08041912641051102 Centerline is valid? [True, True] Translation: X:205.11, Y:21.74, Z:-1.00 [[ 9.79723182e-01 -2.00348596e-01 1.71071288e-03 2.05109068e+02] [ 2.00348543e-01 9.79724665e-01 2.03712616e-04 2.17382844e+01] [-1.71684114e-03 1.43156861e-04 9.99998516e-01 -9.98936004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601400513 meters 0.08383661418773282 Centerline is valid? [True, True] Translation: X:205.14, Y:21.74, Z:-1.00 [[ 9.79877250e-01 -1.99599372e-01 8.15358814e-04 2.05137667e+02] [ 1.99599360e-01 9.79877587e-01 9.70882739e-05 2.17377345e+01] [-8.18330586e-04 6.76105065e-05 9.99999663e-01 -1.00026981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631400513 meters 0.08421640214126876 Centerline is valid? [True, True] Translation: X:205.17, Y:21.74, Z:-1.00 [[ 9.80077386e-01 -1.98615197e-01 5.66709518e-04 2.05166330e+02] [ 1.98615191e-01 9.80077549e-01 6.75540916e-05 2.17416777e+01] [-5.68836545e-04 4.63488815e-05 9.99999837e-01 -1.00023796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661400513 meters 0.07384236152303954 Centerline is valid? [True, True] Translation: X:205.19, Y:21.76, Z:-1.00 [[ 9.80624923e-01 -1.95893667e-01 6.56909541e-04 2.05194447e+02] [ 1.95893658e-01 9.80625142e-01 7.83510030e-05 2.17591507e+01] [-6.59530477e-04 5.18514664e-05 9.99999781e-01 -9.99136809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691400513 meters 0.0835786167872123 Centerline is valid? [True, True] Translation: X:205.23, Y:21.75, Z:-1.00 [[ 9.81004676e-01 -1.93980642e-01 1.15630475e-03 2.05225295e+02] [ 1.93980614e-01 9.81005353e-01 1.38074482e-04 2.17508555e+01] [-1.16112493e-03 8.88489927e-05 9.99999322e-01 -9.99896458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721400513 meters 0.08122518710293043 Centerline is valid? [True, True] Translation: X:205.26, Y:21.76, Z:-1.00 [[ 9.81444810e-01 -1.91737659e-01 1.65977509e-03 2.05255018e+02] [ 1.91737597e-01 9.81446206e-01 1.98373387e-04 2.17583258e+01] [-1.66701562e-03 1.23548756e-04 9.99998603e-01 -9.98646592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751400513 meters 0.07244733470495272 Centerline is valid? [True, True] Translation: X:205.28, Y:21.77, Z:-1.00 [[ 9.81865050e-01 -1.89564481e-01 2.51619246e-03 2.05284125e+02] [ 1.89564330e-01 9.81868257e-01 3.00633498e-04 2.17747643e+01] [-2.52755894e-03 1.81798813e-04 9.99996789e-01 -9.96358271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781400513 meters 0.07727631301565116 Centerline is valid? [True, True] Translation: X:205.31, Y:21.78, Z:-0.99 [[ 9.82458263e-01 -1.86434118e-01 4.25221144e-03 2.05312789e+02] [ 1.86433657e-01 9.82467421e-01 5.08010303e-04 2.17751637e+01] [-4.27236966e-03 2.93656410e-04 9.99990830e-01 -9.94848175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811400513 meters 0.06391954958846348 Centerline is valid? [True, True] Translation: X:205.34, Y:21.80, Z:-1.00 [[ 9.82491003e-01 -1.86263709e-01 4.15436755e-03 2.05343136e+02] [ 1.86263266e-01 9.82499745e-01 4.96613605e-04 2.17952456e+01] [-4.17416615e-03 2.85887672e-04 9.99991247e-01 -9.95571381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841400513 meters 0.06867888888702633 Centerline is valid? [True, True] Translation: X:205.37, Y:21.79, Z:-1.00 [[ 9.82358398e-01 -1.86976315e-01 3.44015881e-03 2.05373610e+02] [ 1.86976017e-01 9.82364393e-01 4.11021150e-04 2.17931987e+01] [-3.45634074e-03 2.39457112e-04 9.99993998e-01 -9.97551574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871400513 meters 0.071211669351081 Centerline is valid? [True, True] Translation: X:205.40, Y:21.79, Z:-1.00 [[ 9.82137191e-01 -1.88155435e-01 2.01740549e-03 2.05402922e+02] [ 1.88155335e-01 9.82139253e-01 2.40939439e-04 2.17949715e+01] [-2.02670719e-03 1.42950023e-04 9.99997936e-01 -9.99979488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901400513 meters 0.08375984601616512 Centerline is valid? [True, True] Translation: X:205.43, Y:21.78, Z:-1.00 [[ 9.81918746e-01 -1.89300684e-01 9.10011939e-04 2.05432790e+02] [ 1.89300665e-01 9.81919165e-01 1.08442048e-04 2.17849542e+01] [-9.14086317e-04 6.57845853e-05 9.99999580e-01 -1.00275043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93140051299997 meters 0.07540765666313506 Centerline is valid? [True, True] Translation: X:205.46, Y:21.80, Z:-1.00 [[ 9.81530406e-01 -1.91302411e-01 1.20389135e-03 2.05461057e+02] [ 1.91302378e-01 9.81531140e-01 1.43824928e-04 2.17986765e+01] [-1.20917090e-03 8.91387376e-05 9.99999265e-01 -1.00147949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96140051299997 meters 0.0783866608362267 Centerline is valid? [True, True] Translation: X:205.49, Y:21.80, Z:-1.00 [[ 9.81262352e-01 -1.92665416e-01 2.05755468e-03 2.05489578e+02] [ 1.92665322e-01 9.81264497e-01 2.45734254e-04 2.17982975e+01] [-2.06634985e-03 1.55289661e-04 9.99997853e-01 -1.00010368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99140051299997 meters 0.07779865841263503 Centerline is valid? [True, True] Translation: X:205.52, Y:21.80, Z:-1.00 [[ 9.80982425e-01 -1.94066853e-01 3.39681569e-03 2.05519451e+02] [ 1.94066604e-01 9.80988271e-01 4.06125209e-04 2.18033372e+01] [-3.41105179e-03 2.60806792e-04 9.99994148e-01 -9.97972211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02140051299997 meters 0.06851367810565903 Centerline is valid? [True, True] Translation: X:205.55, Y:21.82, Z:-1.00 [[ 9.80675470e-01 -1.95601772e-01 3.94590988e-03 2.05548817e+02] [ 1.95601447e-01 9.80683359e-01 4.71889366e-04 2.18201531e+01] [-3.96199056e-03 3.09055357e-04 9.99992104e-01 -9.96046433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05140051299998 meters 0.07384387586073167 Centerline is valid? [True, True] Translation: X:205.58, Y:21.82, Z:-1.00 [[ 9.79865445e-01 -1.99600436e-01 4.83488701e-03 2.05579006e+02] [ 1.99599997e-01 9.79877292e-01 5.78089796e-04 2.18169619e+01] [-4.85298296e-03 3.98593218e-04 9.99988145e-01 -9.96459233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08140051299998 meters 0.08286412049803757 Centerline is valid? [True, True] Translation: X:205.61, Y:21.81, Z:-1.00 [[ 9.79335026e-01 -2.02164377e-01 5.69829922e-03 2.05610124e+02] [ 2.02163810e-01 9.79351484e-01 6.81399346e-04 2.18064342e+01] [-5.71839247e-03 4.84671631e-04 9.99983532e-01 -9.95487577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11140051299998 meters 0.08363883672910419 Centerline is valid? [True, True] Translation: X:205.64, Y:21.81, Z:-0.99 [[ 9.78808300e-01 -2.04677120e-01 6.44885451e-03 2.05640837e+02] [ 2.04676447e-01 9.78829381e-01 7.71228325e-04 2.18069924e+01] [-6.47018106e-03 5.65043940e-04 9.99978909e-01 -9.94647749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14140051299998 meters 0.08673285780065748 Centerline is valid? [True, True] Translation: X:205.67, Y:21.80, Z:-1.00 [[ 9.78357595e-01 -2.06832452e-01 6.06235874e-03 2.05671679e+02] [ 2.06831898e-01 9.78376226e-01 7.25034256e-04 2.18045746e+01] [-6.08122828e-03 5.44546395e-04 9.99981361e-01 -9.95319641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17140051299998 meters 0.10034735394037454 Centerline is valid? [True, False] Translation: X:205.67, Y:21.80, Z:-1.00 [[ 9.80962070e-01 -1.94053793e-01 7.51943738e-03 2.05672917e+02] [ 1.94092123e-01 9.80971811e-01 -4.74906252e-03 2.18013652e+01] [-6.45478251e-03 6.11811376e-03 9.99960451e-01 -9.97027000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20140051299998 meters 0.09136905282095482 Centerline is valid? [False, True] Translation: X:205.64, Y:21.79, Z:-1.00 [[ 9.83853925e-01 -1.78959509e-01 2.22456885e-03 2.05636316e+02] [ 1.78972578e-01 9.83809897e-01 -9.32220016e-03 2.17870248e+01] [-5.20256485e-04 9.56982004e-03 9.99954073e-01 -9.96768189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23140051299998 meters 0.09254277256838338 Centerline is valid? [True, True] Translation: X:205.67, Y:21.78, Z:-1.00 [[ 9.84048754e-01 -1.77896596e-01 9.22747362e-04 2.05667223e+02] [ 1.77896597e-01 9.84049183e-01 8.23475237e-05 2.17781538e+01] [-9.22678132e-04 8.31196373e-05 9.99999571e-01 -9.98701060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26140051299998 meters 0.0792155034416825 Centerline is valid? [True, True] Translation: X:205.70, Y:21.79, Z:-1.00 [[ 9.84469853e-01 -1.75550805e-01 1.01201250e-03 2.05696167e+02] [ 1.75550804e-01 9.84470369e-01 9.03044670e-05 2.17924352e+01] [-1.01214934e-03 8.87575830e-05 9.99999484e-01 -9.96458966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29140051299999 meters 0.0792155034416825 Centerline is valid? [True, True] Translation: X:205.73, Y:21.80, Z:-1.00 [[ 9.84465859e-01 -1.75573199e-01 1.01202173e-03 2.05725321e+02] [ 1.75573199e-01 9.84466375e-01 9.02010995e-05 2.17950733e+01] [-1.01213826e-03 8.88839889e-05 9.99999484e-01 -9.96636467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321400513 meters 0.08247014872805965 Centerline is valid? [True, True] Translation: X:205.76, Y:21.79, Z:-0.99 [[ 9.85619542e-01 -1.68950041e-01 3.16266245e-03 2.05755548e+02] [ 1.68949999e-01 9.85624583e-01 2.82275916e-04 2.17876745e+01] [-3.16488838e-03 2.56115159e-04 9.99994959e-01 -9.93407052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351400513 meters 0.07906974682327626 Centerline is valid? [True, True] Translation: X:205.79, Y:21.79, Z:-0.99 [[ 9.86141264e-01 -1.65856744e-01 4.11670249e-03 2.05785704e+02] [ 1.65856647e-01 9.86149805e-01 3.67531360e-04 2.17908629e+01] [-4.12064291e-03 3.20344630e-04 9.99991459e-01 -9.92242481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381400513 meters 0.0691361418285866 Centerline is valid? [True, True] Translation: X:205.82, Y:21.80, Z:-0.99 [[ 9.86522737e-01 -1.63562188e-01 4.50565136e-03 2.05815220e+02] [ 1.63562046e-01 9.86532967e-01 4.02306216e-04 2.18022736e+01] [-4.51077569e-03 3.40069328e-04 9.99989769e-01 -9.92224353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411400513 meters 0.06956917746302693 Centerline is valid? [True, True] Translation: X:205.85, Y:21.80, Z:-0.99 [[ 9.86815998e-01 -1.61760566e-01 5.26359495e-03 2.05845016e+02] [ 1.61760348e-01 9.86829960e-01 4.69982026e-04 2.18018017e+01] [-5.27029775e-03 3.87655168e-04 9.99986037e-01 -9.91894901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441400513 meters 0.0709645955909988 Centerline is valid? [True, True] Translation: X:205.87, Y:21.80, Z:-0.99 [[ 9.87041406e-01 -1.60381473e-01 5.20065240e-03 2.05874688e+02] [ 1.60381241e-01 9.87055035e-01 4.64352399e-04 2.18014237e+01] [-5.20780366e-03 3.75752043e-04 9.99986369e-01 -9.91905191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471400513 meters 0.06721370071385238 Centerline is valid? [True, True] Translation: X:205.90, Y:21.81, Z:-1.00 [[ 9.87291517e-01 -1.58895214e-01 2.78784295e-03 2.05904754e+02] [ 1.58895142e-01 9.87295433e-01 2.48955890e-04 2.18060143e+01] [-2.79198252e-03 1.97182663e-04 9.99996083e-01 -9.95119229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501400513 meters 0.07359650914830017 Centerline is valid? [True, True] Translation: X:205.93, Y:21.80, Z:-1.00 [[ 9.87285442e-01 -1.58950924e-01 1.43514256e-03 2.05934065e+02] [ 1.58950905e-01 9.87286480e-01 1.28000967e-04 2.17989216e+01] [-1.43724272e-03 1.01743717e-04 9.99998962e-01 -9.98147229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531400513 meters 0.0664887488954899 Centerline is valid? [True, True] Translation: X:205.96, Y:21.81, Z:-1.00 [[ 9.87202363e-01 -1.59471988e-01 4.24705231e-04 2.05963348e+02] [ 1.59471987e-01 9.87202453e-01 3.78110355e-05 2.18082777e+01] [-4.25299847e-04 3.04014433e-05 9.99999909e-01 -9.98916818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561400513 meters 0.07377815926849506 Centerline is valid? [True, True] Translation: X:205.99, Y:21.80, Z:-1.00 [[ 9.87016725e-01 -1.60617239e-01 2.95865097e-04 2.05992440e+02] [ 1.60617238e-01 9.87016769e-01 2.61472314e-05 2.17997603e+01] [-2.96223508e-04 2.17132800e-05 9.99999956e-01 -1.00008358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591400513 meters 0.07518370653086927 Centerline is valid? [True, True] Translation: X:206.02, Y:21.80, Z:-1.00 [[ 9.86707067e-01 -1.62508241e-01 4.84404732e-04 2.06022943e+02] [ 1.62508239e-01 9.86707186e-01 4.32258804e-05 2.17987687e+01] [-4.84990192e-04 3.60684783e-05 9.99999882e-01 -1.00009206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621400513 meters 0.07805017337408172 Centerline is valid? [True, True] Translation: X:206.05, Y:21.79, Z:-1.00 [[ 9.85916223e-01 -1.67224857e-01 2.24668562e-03 2.06053786e+02] [ 1.67224830e-01 9.85918767e-01 2.00904829e-04 2.17936131e+01] [-2.24864580e-03 1.77626291e-04 9.99997456e-01 -9.98414622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651400513 meters 0.08236515443606242 Centerline is valid? [True, True] Translation: X:206.08, Y:21.79, Z:-1.00 [[ 9.85560456e-01 -1.69302631e-01 2.68459851e-03 2.06084106e+02] [ 1.69302601e-01 9.85564088e-01 2.40021399e-04 2.17886661e+01] [-2.68648014e-03 2.17953912e-04 9.99996368e-01 -9.98422559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68140051299997 meters 0.07739501305472356 Centerline is valid? [True, True] Translation: X:206.11, Y:21.80, Z:-1.00 [[ 9.85305893e-01 -1.70780132e-01 2.53858986e-03 2.06114123e+02] [ 1.70780109e-01 9.85309141e-01 2.27087542e-04 2.17952563e+01] [-2.54007783e-03 2.09789960e-04 9.99996752e-01 -9.98163366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71140051299997 meters 0.0821367365599477 Centerline is valid? [True, True] Translation: X:206.14, Y:21.79, Z:-1.00 [[ 9.85179781e-01 -1.71509649e-01 2.28891062e-03 2.06143469e+02] [ 1.71509633e-01 9.85182422e-01 2.04561179e-04 2.17899132e+01] [-2.29007872e-03 1.91040682e-04 9.99997360e-01 -9.98661707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74140051299997 meters 0.0780929543980765 Centerline is valid? [True, True] Translation: X:206.17, Y:21.79, Z:-1.00 [[ 9.85240595e-01 -1.71163641e-01 1.99439223e-03 2.06172092e+02] [ 1.71163629e-01 9.85242600e-01 1.77775446e-04 2.17949173e+01] [-1.99538888e-03 1.66215826e-04 9.99997995e-01 -9.98367702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77140051299997 meters 0.08059399791371402 Centerline is valid? [True, True] Translation: X:206.20, Y:21.79, Z:-1.00 [[ 9.85349191e-01 -1.70536960e-01 2.02923061e-03 2.06200387e+02] [ 1.70536945e-01 9.85351266e-01 1.81679620e-04 2.17947681e+01] [-2.03048804e-03 1.67040922e-04 9.99997925e-01 -9.98580138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80140051299998 meters 0.09014836487593149 Centerline is valid? [True, True] Translation: X:206.23, Y:21.79, Z:-1.00 [[ 9.85533913e-01 -1.69465663e-01 2.07231727e-03 2.06230234e+02] [ 1.69465645e-01 9.85536078e-01 1.85728472e-04 2.17866701e+01] [-2.07381803e-03 1.68144874e-04 9.99997836e-01 -9.99224739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83140051299998 meters 0.07965178792367943 Centerline is valid? [True, True] Translation: X:206.26, Y:21.80, Z:-1.00 [[ 9.85943612e-01 -1.67068315e-01 1.83615563e-03 2.06258901e+02] [ 1.67068296e-01 9.85945311e-01 1.64674225e-04 2.18045720e+01] [-1.83786087e-03 1.44403892e-04 9.99998301e-01 -9.98878168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86140051299998 meters 0.07504260662654341 Centerline is valid? [True, True] Translation: X:206.29, Y:21.82, Z:-1.00 [[ 9.86057311e-01 -1.66392595e-01 2.11762041e-03 2.06286598e+02] [ 1.66392569e-01 9.86059571e-01 1.89751286e-04 2.18162082e+01] [-2.11967308e-03 1.65250659e-04 9.99997740e-01 -9.99250046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89140051299998 meters 0.072506291016962 Centerline is valid? [True, True] Translation: X:206.31, Y:21.82, Z:-1.00 [[ 9.86099512e-01 -1.66139094e-01 2.35648261e-03 2.06314995e+02] [ 1.66139062e-01 9.86102311e-01 2.10867970e-04 2.18220880e+01] [-2.35876636e-03 1.83567008e-04 9.99997201e-01 -9.98110109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92140051299998 meters 0.07562228113642692 Centerline is valid? [True, True] Translation: X:206.34, Y:21.82, Z:-1.00 [[ 9.86069873e-01 -1.66302634e-01 3.10491565e-03 2.06343084e+02] [ 1.66302575e-01 9.86074731e-01 2.78956112e-04 2.18239311e+01] [-3.10807000e-03 2.41285249e-04 9.99995141e-01 -9.96975287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95140051299998 meters 0.07384254349190482 Centerline is valid? [True, True] Translation: X:206.37, Y:21.83, Z:-1.00 [[ 9.85841949e-01 -1.67644652e-01 3.30487601e-03 2.06371371e+02] [ 1.67644592e-01 9.85847454e-01 2.97197394e-04 2.18330464e+01] [-3.30792715e-03 2.61054932e-04 9.99994495e-01 -9.97555109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98140051299998 meters 0.08013231191794833 Centerline is valid? [True, True] Translation: X:206.40, Y:21.83, Z:-1.00 [[ 9.85631164e-01 -1.68884140e-01 3.05861975e-03 2.06400288e+02] [ 1.68884095e-01 9.85635879e-01 2.75070525e-04 2.18282486e+01] [-3.06114041e-03 2.45434145e-04 9.99995285e-01 -9.99121235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01140051299998 meters 0.07341336905239002 Centerline is valid? [True, True] Translation: X:206.43, Y:21.84, Z:-1.00 [[ 9.85414154e-01 -1.70153399e-01 2.60114731e-03 2.06428496e+02] [ 1.70153370e-01 9.85417564e-01 2.34105243e-04 2.18396458e+01] [-2.60305005e-03 2.11903362e-04 9.99996590e-01 -9.99663166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04140051299999 meters 0.08592561591525975 Centerline is valid? [True, True] Translation: X:206.46, Y:21.83, Z:-1.00 [[ 9.85188999e-01 -1.71453693e-01 2.50329218e-03 2.06458428e+02] [ 1.71453670e-01 9.85192158e-01 2.25418636e-04 2.18289049e+01] [-2.50487268e-03 2.07118671e-04 9.99996841e-01 -1.00020921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071400513 meters 0.07344156290245331 Centerline is valid? [True, True] Translation: X:206.49, Y:21.85, Z:-1.00 [[ 9.85021684e-01 -1.72418648e-01 2.02289089e-03 2.06486409e+02] [ 1.72418635e-01 9.85023747e-01 1.82178350e-04 2.18493762e+01] [-2.02400651e-03 1.69334460e-04 9.99997937e-01 -1.00007263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101400513 meters 0.08295571544092005 Centerline is valid? [True, True] Translation: X:206.52, Y:21.84, Z:-1.00 [[ 9.84600367e-01 -1.74816818e-01 1.09414379e-03 2.06516278e+02] [ 1.74816816e-01 9.84600971e-01 9.85551916e-05 2.18420507e+01] [-1.09452414e-03 9.42372554e-05 9.99999397e-01 -1.00310797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131400513 meters 0.09106183568373877 Centerline is valid? [True, True] Translation: X:206.55, Y:21.83, Z:-1.00 [[ 9.84295290e-01 -1.76527584e-01 8.90915242e-04 2.06546008e+02] [ 1.76527583e-01 9.84295690e-01 8.02537205e-05 2.18339907e+01] [-8.91091028e-04 7.82777555e-05 9.99999600e-01 -1.00419180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161400513 meters 0.08783696848128857 Centerline is valid? [True, True] Translation: X:206.58, Y:21.84, Z:-1.00 [[ 9.84002366e-01 -1.78153905e-01 7.27298043e-04 2.06575625e+02] [ 1.78153905e-01 9.84002633e-01 6.54829321e-05 2.18401018e+01] [-7.27329229e-04 6.51356264e-05 9.99999733e-01 -1.00378958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191400513 meters 0.0902730506793485 Centerline is valid? [True, True] Translation: X:206.61, Y:21.84, Z:-1.00 [[ 9.83707553e-01 -1.79776109e-01 8.10184262e-06 2.06605349e+02] [ 1.79776109e-01 9.83707553e-01 6.82439931e-07 2.18418908e+01] [-8.09253018e-06 7.85196426e-07 1.00000000e+00 -1.00425263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221400513 meters 0.10595565961901383 Centerline is valid? [True, False] Translation: X:206.61, Y:21.84, Z:-1.01 [[ 9.85754446e-01 -1.68180912e-01 1.83103797e-03 2.06605921e+02] [ 1.68189855e-01 9.85728014e-01 -7.24257670e-03 2.18428900e+01] [-5.86842273e-04 7.44736420e-03 9.99972096e-01 -1.00600612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251400513 meters 0.09204198365625384 Centerline is valid? [False, True] Translation: X:206.59, Y:21.83, Z:-1.01 [[ 9.87336366e-01 -1.58438624e-01 8.00639538e-03 2.06585736e+02] [ 1.58465430e-01 9.87360474e-01 -2.82858074e-03 2.18335312e+01] [-7.45704190e-03 4.06149752e-03 9.99963948e-01 -1.01339913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281400513 meters 0.08273166771740349 Centerline is valid? [True, True] Translation: X:206.62, Y:21.84, Z:-1.01 [[ 9.87433058e-01 -1.57811502e-01 8.45495523e-03 2.06615742e+02] [ 1.57812483e-01 9.87468942e-01 5.55123402e-04 2.18415414e+01] [-8.43661055e-03 7.86150283e-04 9.99964102e-01 -1.01336716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311400513 meters 0.08458100608588341 Centerline is valid? [True, True] Translation: X:206.65, Y:21.84, Z:-1.01 [[ 9.87691010e-01 -1.56176995e-01 8.67271052e-03 2.06645873e+02] [ 1.56177966e-01 9.87728768e-01 5.69385603e-04 2.18395655e+01] [-8.65521060e-03 7.92109245e-04 9.99962229e-01 -1.01410205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341400513 meters 0.0799514631660929 Centerline is valid? [True, True] Translation: X:206.68, Y:21.85, Z:-1.01 [[ 9.88578078e-01 -1.50440791e-01 8.99728060e-03 2.06675678e+02] [ 1.50441599e-01 9.88618721e-01 5.90782317e-04 2.18453428e+01] [-8.98375780e-03 7.69530836e-04 9.99959349e-01 -1.01322303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371400513 meters 0.07190785169952181 Centerline is valid? [True, True] Translation: X:206.71, Y:21.86, Z:-1.01 [[ 9.89075305e-01 -1.47109919e-01 9.41869949e-03 2.06705667e+02] [ 1.47110654e-01 9.89119848e-01 6.18501841e-04 2.18565507e+01] [-9.40721036e-03 7.73846150e-04 9.99955452e-01 -1.01202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401400513 meters 0.08146971152763607 Centerline is valid? [True, True] Translation: X:206.74, Y:21.85, Z:-1.01 [[ 9.89541283e-01 -1.43884224e-01 1.02654777e-02 2.06736102e+02] [ 1.43884927e-01 9.89594196e-01 6.73846476e-04 2.18454495e+01] [-1.02556130e-02 8.10248606e-04 9.99947082e-01 -1.01218974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43140051299997 meters 0.06883370775504634 Centerline is valid? [True, True] Translation: X:206.77, Y:21.86, Z:-1.01 [[ 9.90171884e-01 -1.39223709e-01 1.32815452e-02 2.06766014e+02] [ 1.39224466e-01 9.90260464e-01 8.72091282e-04 2.18585909e+01] [-1.32736049e-02 9.85595780e-04 9.99911416e-01 -1.00853319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46140051299997 meters 0.06941534760258584 Centerline is valid? [True, True] Translation: X:206.80, Y:21.86, Z:-1.01 [[ 9.90347981e-01 -1.37859248e-01 1.43424184e-02 2.06796722e+02] [ 1.37859989e-01 9.90451279e-01 9.41787769e-04 2.18578533e+01] [-1.43353009e-02 1.04454803e-03 9.99896699e-01 -1.00823986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49140051299997 meters 0.07387415548466557 Centerline is valid? [True, True] Translation: X:206.83, Y:21.85, Z:-1.01 [[ 9.90455339e-01 -1.37128323e-01 1.39300093e-02 2.06827924e+02] [ 1.37128953e-01 9.90552782e-01 9.14425645e-04 2.18531342e+01] [-1.39238032e-02 1.00450983e-03 9.99902555e-01 -1.00890499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52140051299997 meters 0.06695113839086489 Centerline is valid? [True, True] Translation: X:206.86, Y:21.86, Z:-1.01 [[ 9.90515058e-01 -1.36807403e-01 1.27927110e-02 2.06859470e+02] [ 1.36807912e-01 9.90597239e-01 8.39421240e-04 2.18626699e+01] [-1.27872632e-02 9.18684703e-04 9.99917818e-01 -1.01040565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55140051299998 meters 0.06633320990692426 Centerline is valid? [True, True] Translation: X:206.89, Y:21.86, Z:-1.01 [[ 9.90428432e-01 -1.37643759e-01 1.02818902e-02 2.06890375e+02] [ 1.37644137e-01 9.90481518e-01 6.74276672e-04 2.18617676e+01] [-1.02768321e-02 7.47419108e-04 9.99946913e-01 -1.01406559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58140051299998 meters 0.06625309982303057 Centerline is valid? [True, True] Translation: X:206.92, Y:21.86, Z:-1.01 [[ 9.90291407e-01 -1.38626444e-01 1.02780250e-02 2.06921367e+02] [ 1.38626879e-01 9.90344453e-01 6.73522360e-04 2.18616101e+01] [-1.02721531e-02 7.57827126e-04 9.99946953e-01 -1.01444669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61140051299998 meters 0.07171186896553686 Centerline is valid? [True, True] Translation: X:206.95, Y:21.86, Z:-1.01 [[ 9.90132830e-01 -1.39704945e-01 1.09319171e-02 2.06952345e+02] [ 1.39705504e-01 9.90192839e-01 7.16232099e-04 2.18552723e+01] [-1.09247672e-02 8.18084073e-04 9.99939988e-01 -1.01442714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64140051299998 meters 0.07580104446145411 Centerline is valid? [True, True] Translation: X:206.98, Y:21.85, Z:-1.01 [[ 9.90041877e-01 -1.40280804e-01 1.17634352e-02 2.06982870e+02] [ 1.40281493e-01 9.90111362e-01 7.70644811e-04 2.18510740e+01] [-1.17552175e-02 8.87221619e-04 9.99930511e-01 -1.01360118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67140051299998 meters 0.08182166848484608 Centerline is valid? [True, True] Translation: X:207.01, Y:21.84, Z:-1.01 [[ 9.89993273e-01 -1.40550395e-01 1.26057619e-02 2.07012634e+02] [ 1.40551215e-01 9.90073065e-01 8.25251784e-04 2.18446120e+01] [-1.25966148e-02 9.54761428e-04 9.99920204e-01 -1.01365585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70140051299998 meters 0.07012891425146882 Centerline is valid? [True, True] Translation: X:207.04, Y:21.86, Z:-1.01 [[ 9.90045437e-01 -1.40141071e-01 1.30580953e-02 2.07043856e+02] [ 1.40141911e-01 9.90131059e-01 8.55196295e-04 2.18613028e+01] [-1.30490739e-02 9.83303244e-04 9.99914374e-01 -1.01319681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73140051299998 meters 0.0696298200213153 Centerline is valid? [True, True] Translation: X:207.07, Y:21.86, Z:-1.01 [[ 9.90167813e-01 -1.39197333e-01 1.38493417e-02 2.07074545e+02] [ 1.39198196e-01 9.90264127e-01 9.06274381e-04 2.18647341e+01] [-1.38406572e-02 1.03043966e-03 9.99903683e-01 -1.01296433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76140051299998 meters 0.07698283210803462 Centerline is valid? [True, True] Translation: X:207.11, Y:21.86, Z:-1.01 [[ 9.90293261e-01 -1.38171398e-01 1.50971187e-02 2.07105100e+02] [ 1.38172312e-01 9.90407713e-01 9.87529994e-04 2.18584326e+01] [-1.50887512e-02 1.10805949e-03 9.99885544e-01 -1.01214192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79140051299999 meters 0.07764025422371242 Centerline is valid? [True, True] Translation: X:207.14, Y:21.86, Z:-1.01 [[ 9.90378999e-01 -1.37497125e-01 1.56198387e-02 2.07136669e+02] [ 1.37498023e-01 9.90501514e-01 1.02154795e-03 2.18622370e+01] [-1.56119338e-02 1.13597731e-03 9.99877481e-01 -1.01289485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821400513 meters 0.07212751815684433 Centerline is valid? [True, True] Translation: X:207.17, Y:21.87, Z:-1.02 [[ 9.90538904e-01 -1.36566406e-01 1.35016947e-02 2.07167929e+02] [ 1.36566995e-01 9.90630444e-01 8.82648822e-04 2.18694786e+01] [-1.34957300e-02 9.69587875e-04 9.99908458e-01 -1.01621730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851400513 meters 0.06916858916436001 Centerline is valid? [True, True] Translation: X:207.20, Y:21.88, Z:-1.02 [[ 9.90551483e-01 -1.36581553e-01 1.23789774e-02 2.07199956e+02] [ 1.36582053e-01 9.90628431e-01 8.08927093e-04 2.18759183e+01] [-1.23734514e-02 8.89462214e-04 9.99923050e-01 -1.01801623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881400513 meters 0.07568349200884233 Centerline is valid? [True, True] Translation: X:207.23, Y:21.87, Z:-1.02 [[ 9.90542864e-01 -1.36667425e-01 1.21181228e-02 2.07231730e+02] [ 1.36667917e-01 9.90616603e-01 7.91438630e-04 2.18712333e+01] [-1.21125775e-02 8.72204715e-04 9.99926260e-01 -1.01848643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911400513 meters 0.06968941124966985 Centerline is valid? [True, True] Translation: X:207.26, Y:21.88, Z:-1.02 [[ 9.90544910e-01 -1.36642446e-01 1.22320543e-02 2.07263268e+02] [ 1.36642957e-01 9.90620041e-01 7.97923265e-04 2.18814463e+01] [-1.22263483e-02 8.81045239e-04 9.99924867e-01 -1.01776690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941400513 meters 0.07499789740475452 Centerline is valid? [True, True] Translation: X:207.30, Y:21.88, Z:-1.02 [[ 9.90604283e-01 -1.36204668e-01 1.23062104e-02 2.07295287e+02] [ 1.36205158e-01 9.90680328e-01 8.02191638e-04 2.18780824e+01] [-1.23007828e-02 8.81514864e-04 9.99923954e-01 -1.01783425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971400513 meters 0.07037314300998311 Centerline is valid? [True, True] Translation: X:207.33, Y:21.89, Z:-1.02 [[ 9.90647819e-01 -1.35926617e-01 1.18681670e-02 2.07326868e+02] [ 1.35927059e-01 9.90718546e-01 7.73122246e-04 2.18868273e+01] [-1.18631011e-02 8.47313169e-04 9.99929272e-01 -1.01869755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001400513 meters 0.07290924574176219 Centerline is valid? [True, True] Translation: X:207.36, Y:21.89, Z:-1.02 [[ 9.90668305e-01 -1.35811516e-01 1.14691220e-02 2.07358352e+02] [ 1.35811928e-01 9.90734355e-01 7.46576806e-04 2.18874223e+01] [-1.14642470e-02 8.18033595e-04 9.99933949e-01 -1.02013176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031400513 meters 0.07278456836430441 Centerline is valid? [True, True] Translation: X:207.39, Y:21.89, Z:-1.02 [[ 9.90679533e-01 -1.35708879e-01 1.17116828e-02 2.07390518e+02] [ 1.35709306e-01 9.90748406e-01 7.62004513e-04 2.18912278e+01] [-1.17067418e-02 8.34482061e-04 9.99931126e-01 -1.02053874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061400513 meters 0.06585946165771256 Centerline is valid? [True, True] Translation: X:207.42, Y:21.90, Z:-1.02 [[ 9.90693034e-01 -1.35559147e-01 1.22894462e-02 2.07421760e+02] [ 1.35559612e-01 9.90768870e-01 7.99020533e-04 2.19023854e+01] [-1.22843152e-02 8.74368485e-04 9.99924163e-01 -1.01937886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091400513 meters 0.0728669733333058 Centerline is valid? [True, True] Translation: X:207.45, Y:21.90, Z:-1.02 [[ 9.90636789e-01 -1.35998288e-01 1.19673307e-02 2.07453066e+02] [ 1.35998768e-01 9.90708701e-01 7.77490970e-04 2.18958914e+01] [-1.19618761e-02 8.57331077e-04 9.99928087e-01 -1.02068905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121400513 meters 0.07523765145164626 Centerline is valid? [True, True] Translation: X:207.48, Y:21.90, Z:-1.02 [[ 9.90520768e-01 -1.36927329e-01 1.09322901e-02 2.07484093e+02] [ 1.36927790e-01 9.90580777e-01 7.09849086e-04 2.18987240e+01] [-1.09265141e-02 7.93814052e-04 9.99939989e-01 -1.02227921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151400513 meters 0.07148102973751416 Centerline is valid? [True, True] Translation: X:207.51, Y:21.91, Z:-1.02 [[ 9.90214083e-01 -1.39111514e-01 1.11380463e-02 2.07514198e+02] [ 1.39112134e-01 9.90276371e-01 7.22853599e-04 2.19055132e+01] [-1.11303013e-02 8.33657578e-04 9.99937709e-01 -1.02206750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18140051299997 meters 0.07148102973751416 Centerline is valid? [True, True] Translation: X:207.55, Y:21.91, Z:-1.02 [[ 9.90220399e-01 -1.39066551e-01 1.11380341e-02 2.07545897e+02] [ 1.39067166e-01 9.90282687e-01 7.23042195e-04 2.19074952e+01] [-1.11303533e-02 8.32963700e-04 9.99937709e-01 -1.02258276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21140051299997 meters 0.07814687899985888 Centerline is valid? [True, True] Translation: X:207.58, Y:21.90, Z:-1.02 [[ 9.90139370e-01 -1.39608126e-01 1.15584670e-02 2.07577845e+02] [ 1.39608831e-01 9.90206449e-01 7.49861501e-04 2.19015910e+01] [-1.15499553e-02 8.71196669e-04 9.99932918e-01 -1.02324189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24140051299997 meters 0.07874906069672617 Centerline is valid? [True, True] Translation: X:207.61, Y:21.90, Z:-1.02 [[ 9.90049258e-01 -1.40206212e-01 1.20285000e-02 2.07609352e+02] [ 1.40207030e-01 9.90121902e-01 7.79382849e-04 2.19038259e+01] [-1.20189557e-02 9.14852858e-04 9.99927351e-01 -1.02354658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27140051299997 meters 0.08004366745842313 Centerline is valid? [True, True] Translation: X:207.64, Y:21.90, Z:-1.02 [[ 9.90003626e-01 -1.40465618e-01 1.27370098e-02 2.07640118e+02] [ 1.40466561e-01 9.90085079e-01 8.24950048e-04 2.19030176e+01] [-1.27266004e-02 9.72420422e-04 9.99918541e-01 -1.02297040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30140051299998 meters 0.07701265461411445 Centerline is valid? [True, True] Translation: X:207.67, Y:21.91, Z:-1.02 [[ 9.89963020e-01 -1.40696928e-01 1.33264384e-02 2.07671981e+02] [ 1.40697983e-01 9.90052187e-01 8.63067672e-04 2.19089846e+01] [-1.33153005e-02 1.02059792e-03 9.99910827e-01 -1.02209887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33140051299998 meters 0.08070070093928099 Centerline is valid? [True, True] Translation: X:207.70, Y:21.91, Z:-1.02 [[ 9.89851343e-01 -1.41503924e-01 1.30751313e-02 2.07702322e+02] [ 1.41505018e-01 9.89937177e-01 8.46118124e-04 2.19061739e+01] [-1.30632876e-02 1.01266553e-03 9.99914159e-01 -1.02275589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36140051299998 meters 0.0741995402034247 Centerline is valid? [True, True] Translation: X:207.73, Y:21.92, Z:-1.02 [[ 9.89812940e-01 -1.41836231e-01 1.23623477e-02 2.07734081e+02] [ 1.41837234e-01 9.89889670e-01 7.99997523e-04 2.19152082e+01] [-1.23508289e-02 9.61593306e-04 9.99923263e-01 -1.02458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39140051299998 meters 0.08219648501363715 Centerline is valid? [True, True] Translation: X:207.77, Y:21.91, Z:-1.03 [[ 9.89758999e-01 -1.42258445e-01 1.18176886e-02 2.07765830e+02] [ 1.42259399e-01 9.89829116e-01 7.64195325e-04 2.19065320e+01] [-1.18062055e-02 9.24808068e-04 9.99929877e-01 -1.02621280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42140051299998 meters 0.07297948929277723 Centerline is valid? [True, True] Translation: X:207.80, Y:21.92, Z:-1.03 [[ 9.89750722e-01 -1.42320059e-01 1.17689809e-02 2.07797343e+02] [ 1.42321013e-01 9.89820262e-01 7.60701394e-04 2.19194058e+01] [-1.17574388e-02 9.22068532e-04 9.99930454e-01 -1.02598579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45140051299998 meters 0.0714054309285402 Centerline is valid? [True, True] Translation: X:207.83, Y:21.92, Z:-1.03 [[ 9.89884193e-01 -1.41362709e-01 1.20775910e-02 2.07828355e+02] [ 1.41363651e-01 9.89957428e-01 7.79975678e-04 2.19228392e+01] [-1.20665604e-02 9.35246760e-04 9.99926759e-01 -1.02583054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48140051299998 meters 0.07527937050679898 Centerline is valid? [True, True] Translation: X:207.86, Y:21.92, Z:-1.03 [[ 9.90121772e-01 -1.39731957e-01 1.15696252e-02 2.07858753e+02] [ 1.39732715e-01 9.90188977e-01 7.46809390e-04 2.19195457e+01] [-1.15604685e-02 8.77222905e-04 9.99932791e-01 -1.02740966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51140051299998 meters 0.06974782364061426 Centerline is valid? [True, True] Translation: X:207.89, Y:21.93, Z:-1.03 [[ 9.90430049e-01 -1.37575420e-01 1.10145991e-02 2.07888900e+02] [ 1.37575974e-01 9.90490962e-01 7.11033267e-04 2.19276523e+01] [-1.10076816e-02 8.11115490e-04 9.99939085e-01 -1.02853691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54140051299999 meters 0.07876125001628662 Centerline is valid? [True, True] Translation: X:207.92, Y:21.92, Z:-1.03 [[ 9.90752484e-01 -1.35251072e-01 1.08011109e-02 2.07919001e+02] [ 1.35251469e-01 9.90811059e-01 6.97049563e-04 2.19184318e+01] [-1.07961368e-02 7.70262532e-04 9.99941423e-01 -1.03012579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571400513 meters 0.06085624627136183 Centerline is valid? [True, True] Translation: X:207.95, Y:21.94, Z:-1.03 [[ 9.91424407e-01 -1.30160896e-01 1.16527509e-02 2.07947872e+02] [ 1.30161006e-01 9.91492585e-01 7.52183263e-04 2.19445127e+01] [-1.16515210e-02 7.71000945e-04 9.99931821e-01 -1.02826963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601400513 meters 0.06963367197040318 Centerline is valid? [True, True] Translation: X:207.98, Y:21.94, Z:-1.03 [[ 9.91686717e-01 -1.28091617e-01 1.22471514e-02 2.07977822e+02] [ 1.28091581e-01 9.91762029e-01 7.90665551e-04 2.19392349e+01] [-1.22475374e-02 7.84664458e-04 9.99924688e-01 -1.02872342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631400513 meters 0.05916375561065999 Centerline is valid? [True, True] Translation: X:208.01, Y:21.96, Z:-1.03 [[ 9.91785285e-01 -1.27237272e-01 1.31386883e-02 2.08008610e+02] [ 1.27237164e-01 9.91871960e-01 8.47527991e-04 2.19552851e+01] [-1.31397337e-02 8.31163647e-04 9.99913325e-01 -1.02757500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661400513 meters 0.061241454175680166 Centerline is valid? [True, True] Translation: X:208.04, Y:21.95, Z:-1.03 [[ 9.91732614e-01 -1.27616400e-01 1.34341704e-02 2.08039995e+02] [ 1.27616326e-01 9.91823232e-01 8.66222411e-04 2.19537848e+01] [-1.34348665e-02 8.55358461e-04 9.99909382e-01 -1.02716355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691400513 meters 0.06468288417646705 Centerline is valid? [True, True] Translation: X:208.07, Y:21.95, Z:-1.03 [[ 9.91186178e-01 -1.31801716e-01 1.33517517e-02 2.08070891e+02] [ 1.31802038e-01 9.91275685e-01 8.59647495e-04 2.19545008e+01] [-1.33485699e-02 9.07717376e-04 9.99910492e-01 -1.02826758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721400513 meters 0.07216901137482894 Centerline is valid? [True, True] Translation: X:208.10, Y:21.95, Z:-1.03 [[ 9.90811543e-01 -1.34511197e-01 1.41146820e-02 2.08100728e+02] [ 1.34511835e-01 9.90911571e-01 9.08535365e-04 2.19466182e+01] [-1.41086099e-02 9.98404445e-04 9.99899970e-01 -1.02814107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751400513 meters 0.06660776076298403 Centerline is valid? [True, True] Translation: X:208.13, Y:21.96, Z:-1.03 [[ 9.90432987e-01 -1.37233997e-01 1.44681632e-02 2.08131008e+02] [ 1.37234953e-01 9.90538086e-01 9.31451950e-04 2.19559942e+01] [-1.44590935e-02 1.06299695e-03 9.99894897e-01 -1.02753187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781400513 meters 0.07352747054537322 Centerline is valid? [True, True] Translation: X:208.16, Y:21.95, Z:-1.03 [[ 9.89931805e-01 -1.40913464e-01 1.33573148e-02 2.08160780e+02] [ 1.40914612e-01 9.90021380e-01 8.59880832e-04 2.19507651e+01] [-1.33451960e-02 1.03101745e-03 9.99910417e-01 -1.02933455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811400513 meters 0.07295663716850187 Centerline is valid? [True, True] Translation: X:208.19, Y:21.95, Z:-1.03 [[ 9.89780894e-01 -1.42150106e-01 1.12751829e-02 2.08191800e+02] [ 1.42151001e-01 9.89844718e-01 7.26115911e-04 2.19540517e+01] [-1.12638977e-02 8.84082882e-04 9.99936169e-01 -1.03296772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841400513 meters 0.07234877502204613 Centerline is valid? [True, True] Translation: X:208.22, Y:21.96, Z:-1.04 [[ 9.89688307e-01 -1.42926546e-01 9.43700675e-03 2.08223993e+02] [ 1.42927208e-01 9.89733016e-01 6.07739987e-04 2.19566281e+01] [-9.42697934e-03 7.47331867e-04 9.99955286e-01 -1.03632782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871400513 meters 0.0756274049283733 Centerline is valid? [True, True] Translation: X:208.26, Y:21.95, Z:-1.04 [[ 9.89609526e-01 -1.43485581e-01 9.21267526e-03 2.08255688e+02] [ 1.43486241e-01 9.89652135e-01 5.92806787e-04 2.19498079e+01] [-9.20240297e-03 7.35244895e-04 9.99957387e-01 -1.03856228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901400513 meters 0.07679009869833604 Centerline is valid? [True, True] Translation: X:208.29, Y:21.95, Z:-1.03 [[ 9.89507571e-01 -1.43936353e-01 1.25337254e-02 2.08286660e+02] [ 1.43937617e-01 9.89586435e-01 8.05862005e-04 2.19474025e+01] [-1.25191975e-02 1.00666801e-03 9.99921125e-01 -1.03461926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93140051299997 meters 0.073979755874275 Centerline is valid? [True, True] Translation: X:208.32, Y:21.95, Z:-1.03 [[ 9.89528317e-01 -1.43691542e-01 1.36546908e-02 2.08318507e+02] [ 1.43693026e-01 9.89621920e-01 8.77446729e-04 2.19530934e+01] [-1.36390630e-02 1.09382545e-03 9.99906385e-01 -1.03259854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96140051299997 meters 0.07120911545103407 Centerline is valid? [True, True] Translation: X:208.35, Y:21.96, Z:-1.03 [[ 9.89651307e-01 -1.42908392e-01 1.29414763e-02 2.08349524e+02] [ 1.42909667e-01 9.89735387e-01 8.30985025e-04 2.19590394e+01] [-1.29273918e-02 1.02707665e-03 9.99915910e-01 -1.03274976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99140051299997 meters 0.07790426765328895 Centerline is valid? [True, True] Translation: X:208.38, Y:21.95, Z:-1.04 [[ 9.89872309e-01 -1.41498077e-01 1.14501351e-02 2.08379940e+02] [ 1.41498984e-01 9.89938128e-01 7.34890481e-04 2.19522805e+01] [-1.14389109e-02 8.92734751e-04 9.99934175e-01 -1.03571708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02140051299997 meters 0.07653413132236275 Centerline is valid? [True, True] Translation: X:208.41, Y:21.95, Z:-1.04 [[ 9.90361911e-01 -1.38176832e-01 9.51044209e-03 2.08409190e+02] [ 1.38177307e-01 9.90407320e-01 6.10318061e-04 2.19548391e+01] [-9.50354327e-03 7.09691512e-04 9.99954588e-01 -1.03972459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05140051299998 meters 0.06688033344272239 Centerline is valid? [True, True] Translation: X:208.44, Y:21.97, Z:-1.04 [[ 9.90616687e-01 -1.36308188e-01 9.93266279e-03 2.08439304e+02] [ 1.36308610e-01 9.90666218e-01 6.37687084e-04 2.19694409e+01] [-9.92687545e-03 7.22203992e-04 9.99950467e-01 -1.03835769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08140051299998 meters 0.06662638628890931 Centerline is valid? [True, True] Translation: X:208.47, Y:21.97, Z:-1.04 [[ 9.90896019e-01 -1.34167393e-01 1.11440675e-02 2.08468485e+02] [ 1.34167789e-01 9.90958371e-01 7.15478629e-04 2.19734739e+01] [-1.11393009e-02 7.86209971e-04 9.99937647e-01 -1.03661117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11140051299998 meters 0.06073267772366183 Centerline is valid? [True, True] Translation: X:208.50, Y:21.98, Z:-1.03 [[ 9.91161113e-01 -1.32046569e-01 1.27808720e-02 2.08499165e+02] [ 1.32046925e-01 9.91243127e-01 8.19779548e-04 2.19843483e+01] [-1.27772006e-02 8.75141234e-04 9.99917985e-01 -1.03430564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14140051299998 meters 0.07173997435028402 Centerline is valid? [True, True] Translation: X:208.53, Y:21.98, Z:-1.03 [[ 9.91464578e-01 -1.29666608e-01 1.35853707e-02 2.08529451e+02] [ 1.29666791e-01 9.91557242e-01 8.71080894e-04 2.19779506e+01] [-1.35836228e-02 8.97925578e-04 9.99907335e-01 -1.03401974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17140051299998 meters 0.07118746908749997 Centerline is valid? [True, True] Translation: X:208.56, Y:21.98, Z:-1.03 [[ 9.91485269e-01 -1.29541640e-01 1.32636449e-02 2.08560749e+02] [ 1.29541799e-01 9.91573597e-01 8.50742927e-04 2.19822730e+01] [-1.32620867e-02 8.74697346e-04 9.99911672e-01 -1.03491977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20140051299998 meters 0.07117357964161487 Centerline is valid? [True, True] Translation: X:208.59, Y:21.99, Z:-1.04 [[ 9.91477584e-01 -1.29671296e-01 1.25521132e-02 2.08592036e+02] [ 1.29671461e-01 9.91556688e-01 8.04186908e-04 2.19921311e+01] [-1.25504117e-02 8.30317557e-04 9.99920896e-01 -1.03651052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23140051299998 meters 0.061228883887431966 Centerline is valid? [True, True] Translation: X:208.62, Y:22.01, Z:-1.04 [[ 9.91420533e-01 -1.30148519e-01 1.21115715e-02 2.08623725e+02] [ 1.30148714e-01 9.91494181e-01 7.75455859e-04 2.20071074e+01] [-1.21094771e-02 8.07502592e-04 9.99926352e-01 -1.03732189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26140051299998 meters 0.0710625383324457 Centerline is valid? [True, True] Translation: X:208.65, Y:22.00, Z:-1.04 [[ 9.91166591e-01 -1.32074568e-01 1.20456796e-02 2.08654456e+02] [ 1.32074911e-01 9.91239438e-01 7.70531769e-04 2.20033145e+01] [-1.20419204e-02 8.27206714e-04 9.99927151e-01 -1.03888132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29140051299999 meters 0.0661973557349692 Centerline is valid? [True, True] Translation: X:208.68, Y:22.01, Z:-1.04 [[ 9.90884029e-01 -1.34158557e-01 1.22605935e-02 2.08684526e+02] [ 1.34159073e-01 9.90959499e-01 7.84132576e-04 2.20147710e+01] [-1.22549497e-02 8.67885406e-04 9.99924529e-01 -1.03833602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321400513 meters 0.06747447705970312 Centerline is valid? [True, True] Translation: X:208.71, Y:22.02, Z:-1.04 [[ 9.90539944e-01 -1.36663428e-01 1.23986374e-02 2.08714797e+02] [ 1.36664152e-01 9.90617121e-01 7.92792616e-04 2.20207196e+01] [-1.23906482e-02 9.09156507e-04 9.99922820e-01 -1.03816818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351400513 meters 0.07425606872867473 Centerline is valid? [True, True] Translation: X:208.75, Y:22.02, Z:-1.04 [[ 9.90121979e-01 -1.39633325e-01 1.26886406e-02 2.08745121e+02] [ 1.39634327e-01 9.90202806e-01 8.11296491e-04 2.20178239e+01] [-1.26776115e-02 9.68487297e-04 9.99919167e-01 -1.03816700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381400513 meters 0.08364120829475669 Centerline is valid? [True, True] Translation: X:208.78, Y:22.02, Z:-1.04 [[ 9.89634874e-01 -1.43044360e-01 1.26936171e-02 2.08775021e+02] [ 1.43045643e-01 9.89715760e-01 8.11492765e-04 2.20159131e+01] [-1.26791524e-02 1.01268509e-03 9.99919104e-01 -1.03959607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411400513 meters 0.077802492761845 Centerline is valid? [True, True] Translation: X:208.80, Y:22.03, Z:-1.04 [[ 9.88457570e-01 -1.50909722e-01 1.33374890e-02 2.08804961e+02] [ 1.50911846e-01 9.88546856e-01 8.52861759e-04 2.20294168e+01] [-1.33134379e-02 1.16976743e-03 9.99910688e-01 -1.04013903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441400513 meters 0.08933400664322888 Centerline is valid? [True, True] Translation: X:208.83, Y:22.02, Z:-1.04 [[ 9.87869469e-01 -1.54733353e-01 1.30958436e-02 2.08834994e+02] [ 1.54735734e-01 9.87955541e-01 8.37371244e-04 2.20195306e+01] [-1.30676805e-02 1.19918148e-03 9.99913895e-01 -1.04206661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471400513 meters 0.08357150043786682 Centerline is valid? [True, True] Translation: X:208.87, Y:22.03, Z:-1.04 [[ 9.86975298e-01 -1.60495954e-01 1.09913204e-02 2.08865116e+02] [ 1.60497987e-01 9.87035917e-01 7.02648929e-04 2.20288553e+01] [-1.09616003e-02 1.07058766e-03 9.99939347e-01 -1.04495609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501400513 meters 0.09643381751708974 Centerline is valid? [True, True] Translation: X:208.90, Y:22.01, Z:-1.05 [[ 9.86773052e-01 -1.61794100e-01 1.00803436e-02 2.08895942e+02] [ 1.61795874e-01 9.86824037e-01 6.44624673e-04 2.20139245e+01] [-1.00518218e-02 9.94859751e-04 9.99948984e-01 -1.04755019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531400513 meters 0.09121070830640844 Centerline is valid? [True, True] Translation: X:208.93, Y:22.02, Z:-1.05 [[ 9.86732403e-01 -1.62022079e-01 1.03928666e-02 2.08927564e+02] [ 1.62023982e-01 9.86786597e-01 6.64216592e-04 2.20205616e+01] [-1.03631592e-02 1.02848959e-03 9.99945772e-01 -1.04699239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561400513 meters 0.09630564093554869 Centerline is valid? [True, True] Translation: X:208.96, Y:22.02, Z:-1.05 [[ 9.86853341e-01 -1.61228955e-01 1.12119708e-02 2.08958935e+02] [ 1.61231126e-01 9.86916416e-01 7.15891991e-04 2.20153368e+01] [-1.11807005e-02 1.10123827e-03 9.99936888e-01 -1.04652987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591400513 meters 0.10135124628811744 Centerline is valid? [True, False] Translation: X:209.00, Y:22.02, Z:-1.05 [[ 9.88450449e-01 -1.50548577e-01 1.73446427e-02 2.08998823e+02] [ 1.50647319e-01 9.88577206e-01 -4.52700118e-03 2.20190202e+01] [-1.64649848e-02 7.08764027e-03 9.99839322e-01 -1.04965170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621400513 meters 0.08219986667218473 Centerline is valid? [False, True] Translation: X:209.00, Y:22.02, Z:-1.05 [[ 9.90745491e-01 -1.34585110e-01 1.76130931e-02 2.08998143e+02] [ 1.34735315e-01 9.90852221e-01 -7.63358665e-03 2.20171260e+01] [-1.64246053e-02 9.93604721e-03 9.99815737e-01 -1.04941576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651400513 meters 0.09914222474838483 Centerline is valid? [True, True] Translation: X:209.03, Y:21.99, Z:-1.05 [[ 9.91222511e-01 -1.31163834e-01 1.65523825e-02 2.09028481e+02] [ 1.31169752e-01 9.91359652e-01 7.32336358e-04 2.19902413e+01] [-1.65054202e-02 1.44526362e-03 9.99862732e-01 -1.05280108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68140051299997 meters 0.08466012440239962 Centerline is valid? [True, True] Translation: X:209.06, Y:22.01, Z:-1.05 [[ 9.91738360e-01 -1.27293276e-01 1.58571035e-02 2.09057876e+02] [ 1.27298210e-01 9.91864241e-01 7.01934788e-04 2.20107758e+01] [-1.58174455e-02 1.32244523e-03 9.99874022e-01 -1.05260825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71140051299997 meters 0.07046748411803358 Centerline is valid? [True, True] Translation: X:209.09, Y:22.03, Z:-1.05 [[ 9.92304177e-01 -1.22864931e-01 1.53827218e-02 2.09087079e+02] [ 1.22869046e-01 9.92422659e-01 6.80895789e-04 2.20317270e+01] [-1.53498199e-02 1.21440461e-03 9.99881447e-01 -1.05237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74140051299997 meters 0.07026084057298684 Centerline is valid? [True, True] Translation: X:209.12, Y:22.04, Z:-1.05 [[ 9.93322761e-01 -1.14155097e-01 1.66884893e-02 2.09116641e+02] [ 1.14158718e-01 9.93462250e-01 7.38640042e-04 2.20374198e+01] [-1.66637036e-02 1.17142858e-03 9.99860465e-01 -1.05135289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77140051299997 meters 0.06029813004859547 Centerline is valid? [True, True] Translation: X:209.15, Y:22.05, Z:-1.05 [[ 9.93742435e-01 -1.10332561e-01 1.73982458e-02 2.09147132e+02] [ 1.10335910e-01 9.93894056e-01 7.70203700e-04 2.20528741e+01] [-1.73769917e-02 1.15426719e-03 9.99848342e-01 -1.05101214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80140051299998 meters 0.06443502874245238 Centerline is valid? [True, True] Translation: X:209.18, Y:22.05, Z:-1.05 [[ 9.94108893e-01 -1.06951092e-01 1.75776024e-02 2.09176422e+02] [ 1.06953989e-01 9.94263667e-01 7.77871425e-04 2.20521566e+01] [-1.75599656e-02 1.10670580e-03 9.99845199e-01 -1.05207456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83140051299998 meters 0.05626526888598084 Centerline is valid? [True, True] Translation: X:209.21, Y:22.07, Z:-1.05 [[ 9.94450634e-01 -1.03768350e-01 1.73224380e-02 2.09206688e+02] [ 1.03770678e-01 9.94600954e-01 7.66833204e-04 2.20676818e+01] [-1.73084864e-02 1.03498336e-03 9.99849661e-01 -1.05261160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86140051299998 meters 0.0518387471565795 Centerline is valid? [True, True] Translation: X:209.24, Y:22.08, Z:-1.05 [[ 9.94756597e-01 -1.00867284e-01 1.68850067e-02 2.09236534e+02] [ 1.00869079e-01 9.94899427e-01 7.47489763e-04 2.20797351e+01] [-1.68742808e-02 9.59604709e-04 9.99857159e-01 -1.05390991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89140051299998 meters 0.05831010922429795 Centerline is valid? [True, True] Translation: X:209.27, Y:22.08, Z:-1.06 [[ 9.95221059e-01 -9.61233423e-02 1.71856581e-02 2.09266368e+02] [ 9.61244986e-02 9.95369028e-01 7.60663762e-04 2.20808565e+01] [-1.71791894e-02 8.94934176e-04 9.99852026e-01 -1.05569068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92140051299998 meters 0.04927636280928387 Centerline is valid? [True, True] Translation: X:209.30, Y:22.09, Z:-1.05 [[ 9.95325642e-01 -9.48467430e-02 1.81923429e-02 2.09297903e+02] [ 9.48478287e-02 9.95491457e-01 8.05089182e-04 2.20914692e+01] [-1.81866821e-02 9.24178318e-04 9.99834181e-01 -1.05454954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95140051299998 meters 0.04886732805045231 Centerline is valid? [True, True] Translation: X:209.33, Y:22.09, Z:-1.05 [[ 9.95373871e-01 -9.41835449e-02 1.89820367e-02 2.09329671e+02] [ 9.41846192e-02 9.95554395e-01 8.39375563e-04 2.20949740e+01] [-1.89767055e-02 9.52323400e-04 9.99819473e-01 -1.05397944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98140051299998 meters 0.04598504425534415 Centerline is valid? [True, True] Translation: X:209.36, Y:22.10, Z:-1.05 [[ 9.95392582e-01 -9.36438872e-02 2.06017132e-02 2.09362052e+02] [ 9.36450588e-02 9.95605230e-01 9.09978136e-04 2.21025599e+01] [-2.05963873e-02 1.02346316e-03 9.99787348e-01 -1.05265285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01140051299998 meters 0.0518803524030563 Centerline is valid? [True, True] Translation: X:209.39, Y:22.10, Z:-1.05 [[ 9.95464626e-01 -9.28406172e-02 2.07556960e-02 2.09393801e+02] [ 9.28416565e-02 9.95680465e-01 9.15608990e-04 2.20966635e+01] [-2.07510467e-02 1.01553684e-03 9.99784158e-01 -1.05296551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04140051299999 meters 0.04631029235846379 Centerline is valid? [True, True] Translation: X:209.42, Y:22.11, Z:-1.05 [[ 9.95641008e-01 -9.10630404e-02 2.01619839e-02 2.09424816e+02] [ 9.10637203e-02 9.95844673e-01 8.86292058e-04 2.21077861e+01] [-2.01589128e-02 9.53596548e-04 9.99796334e-01 -1.05413616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071400513 meters 0.04032975141729981 Centerline is valid? [True, True] Translation: X:209.45, Y:22.12, Z:-1.06 [[ 9.96236302e-01 -8.46919723e-02 1.84526279e-02 2.09453967e+02] [ 8.46914595e-02 9.96406895e-01 8.10654130e-04 2.21150568e+01] [-1.84549816e-02 7.55176919e-04 9.99829407e-01 -1.05585694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101400513 meters 0.04032975141729981 Centerline is valid? [True, True] Translation: X:209.49, Y:22.12, Z:-1.06 [[ 9.96251792e-01 -8.45095831e-02 1.84525927e-02 2.09486522e+02] [ 8.45090242e-02 9.96422384e-01 8.11456616e-04 2.21163478e+01] [-1.84551523e-02 7.50995498e-04 9.99829407e-01 -1.05655363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131400513 meters 0.03531680868943455 Centerline is valid? [True, True] Translation: X:209.52, Y:22.13, Z:-1.06 [[ 9.96573149e-01 -8.07112055e-02 1.81013612e-02 2.09516641e+02] [ 8.07101115e-02 9.96737303e-01 7.92167071e-04 2.21251302e+01] [-1.81062387e-02 6.71510447e-04 9.99835843e-01 -1.05736257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161400513 meters 0.03286461722568125 Centerline is valid? [True, True] Translation: X:209.55, Y:22.13, Z:-1.06 [[ 9.96859954e-01 -7.70210945e-02 1.83843146e-02 2.09546446e+02] [ 7.70193385e-02 9.97029274e-01 8.04584489e-04 2.21295726e+01] [-1.83916698e-02 6.13889693e-04 9.99830670e-01 -1.05808085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191400513 meters 0.03204854021734519 Centerline is valid? [True, True] Translation: X:209.58, Y:22.13, Z:-1.06 [[ 9.97112800e-01 -7.35559475e-02 1.88569993e-02 2.09575771e+02] [ 7.35534863e-02 9.97290932e-01 8.24987547e-04 2.21311326e+01] [-1.88665971e-02 5.64392396e-04 9.99821851e-01 -1.05890331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221400513 meters 0.023924136273024192 Centerline is valid? [True, True] Translation: X:209.61, Y:22.14, Z:-1.06 [[ 9.97510310e-01 -6.76731990e-02 1.98373202e-02 2.09606262e+02] [ 6.76693071e-02 9.97707428e-01 8.68150369e-04 2.21423371e+01] [-1.98505922e-02 4.76388769e-04 9.99802844e-01 -1.05816463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251400513 meters 0.023033216508517772 Centerline is valid? [True, True] Translation: X:209.64, Y:22.14, Z:-1.06 [[ 9.97666936e-01 -6.51943903e-02 2.02577429e-02 2.09638007e+02] [ 6.51898210e-02 9.97872487e-01 8.86545468e-04 2.21448044e+01] [-2.02724421e-02 4.36121535e-04 9.99794398e-01 -1.05824746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281400513 meters 0.01995604519875557 Centerline is valid? [True, True] Translation: X:209.67, Y:22.15, Z:-1.06 [[ 9.97839373e-01 -6.27831432e-02 1.93613685e-02 2.09670121e+02] [ 6.27785738e-02 9.98027123e-01 8.44314387e-04 2.21492781e+01] [-1.93761796e-02 3.72988964e-04 9.99812195e-01 -1.05965587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311400513 meters 0.01805077896596089 Centerline is valid? [True, True] Translation: X:209.70, Y:22.15, Z:-1.06 [[ 9.98012351e-01 -6.05286016e-02 1.75395644e-02 2.09701898e+02] [ 6.05245482e-02 9.98166418e-01 7.62323003e-04 2.21524781e+01] [-1.75535466e-02 3.00766442e-04 9.99845879e-01 -1.06286517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341400513 meters 0.015095830870004075 Centerline is valid? [True, True] Translation: X:209.73, Y:22.16, Z:-1.07 [[ 9.98297962e-01 -5.63883256e-02 1.48841082e-02 2.09733100e+02] [ 5.63849762e-02 9.98408893e-01 6.44914523e-04 2.21578178e+01] [-1.48967917e-02 1.95423233e-04 9.99889018e-01 -1.06818444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371400513 meters 0.013612525133748436 Centerline is valid? [True, True] Translation: X:209.76, Y:22.16, Z:-1.07 [[ 9.98417638e-01 -5.39752369e-02 1.57763790e-02 2.09764189e+02] [ 5.39712138e-02 9.98542260e-01 6.80966874e-04 2.21614475e+01] [-1.57901365e-02 1.71580986e-04 9.99875313e-01 -1.06813773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401400513 meters 0.010769115141816037 Centerline is valid? [True, True] Translation: X:209.80, Y:22.17, Z:-1.07 [[ 9.98527181e-01 -5.13554366e-02 1.74953574e-02 2.09796514e+02] [ 5.13501379e-02 9.98680428e-01 7.52252941e-04 2.21670167e+01] [-1.75109033e-02 1.47244008e-04 9.99846662e-01 -1.06610720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43140051299997 meters 0.009297943109696408 Centerline is valid? [True, True] Translation: X:209.83, Y:22.17, Z:-1.06 [[ 9.98633649e-01 -4.87420733e-02 1.88426363e-02 2.09827270e+02] [ 4.87355260e-02 9.98811392e-01 8.06780944e-04 2.21707993e+01] [-1.88595639e-02 1.12627192e-04 9.99822136e-01 -1.06465454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46140051299997 meters 0.006649260069247512 Centerline is valid? [True, True] Translation: X:209.86, Y:22.18, Z:-1.07 [[ 9.98892710e-01 -4.33921786e-02 1.81789168e-02 2.09859234e+02] [ 4.33852462e-02 9.99058116e-01 7.75739985e-04 2.21795883e+01] [-1.81954555e-02 1.38157665e-05 9.99834449e-01 -1.06646131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49140051299997 meters 0.0067223209938702 Centerline is valid? [True, True] Translation: X:209.89, Y:22.18, Z:-1.07 [[ 9.98971331e-01 -4.17327622e-02 1.77385778e-02 2.09891885e+02] [ 4.17259489e-02 9.99128809e-01 7.54190870e-04 2.21836967e+01] [-1.77545986e-02 -1.32560662e-05 9.99842375e-01 -1.06888776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52140051299997 meters 0.006595921787168252 Centerline is valid? [True, True] Translation: X:209.93, Y:22.19, Z:-1.07 [[ 9.98976416e-01 -4.12699676e-02 1.85178489e-02 2.09925098e+02] [ 4.12625309e-02 9.99148032e-01 7.83657949e-04 2.21859264e+01] [-1.85344138e-02 -1.87624953e-05 9.99828223e-01 -1.06876604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55140051299998 meters 0.00647497065507935 Centerline is valid? [True, True] Translation: X:209.96, Y:22.19, Z:-1.07 [[ 9.98947385e-01 -4.16112771e-02 1.93034456e-02 2.09958127e+02] [ 4.16033336e-02 9.99133876e-01 8.13079774e-04 2.21866640e+01] [-1.93205597e-02 -9.13622658e-06 9.99813341e-01 -1.06758715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58140051299998 meters 0.006428963230464212 Centerline is valid? [True, True] Translation: X:209.99, Y:22.18, Z:-1.07 [[ 9.98909855e-01 -4.23576383e-02 1.96196778e-02 2.09990017e+02] [ 4.23496513e-02 9.99102512e-01 8.22585249e-04 2.21844128e+01] [-1.96369121e-02 9.19799928e-06 9.99807177e-01 -1.06703263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61140051299998 meters 0.00656239502339613 Centerline is valid? [True, True] Translation: X:210.02, Y:22.18, Z:-1.07 [[ 9.98903759e-01 -4.26725810e-02 1.92439979e-02 2.10023266e+02] [ 4.26650193e-02 9.99089110e-01 8.03512416e-04 2.21835048e+01] [-1.92607567e-02 1.84139704e-05 9.99814494e-01 -1.06787170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64140051299998 meters 0.00667200671069143 Centerline is valid? [True, True] Translation: X:210.06, Y:22.18, Z:-1.07 [[ 9.98895325e-01 -4.28773703e-02 1.92265674e-02 2.10055239e+02] [ 4.28699315e-02 9.99080342e-01 7.99083786e-04 2.21822191e+01] [-1.92431481e-02 2.60405688e-05 9.99814833e-01 -1.06848959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67140051299998 meters 0.006474099366514639 Centerline is valid? [True, True] Translation: X:210.09, Y:22.18, Z:-1.07 [[ 9.98915864e-01 -4.19925118e-02 2.00929025e-02 2.10088130e+02] [ 4.19842839e-02 9.99117925e-01 8.31341580e-04 2.21793663e+01] [-2.01100892e-02 1.31458281e-05 9.99797772e-01 -1.06827293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70140051299998 meters 0.0065074546125291465 Centerline is valid? [True, True] Translation: X:210.12, Y:22.18, Z:-1.07 [[ 9.98990033e-01 -4.01963019e-02 2.00791302e-02 2.10120571e+02] [ 4.01878007e-02 9.99191802e-01 8.26878220e-04 2.21803589e+01] [-2.00961397e-02 -1.91070172e-05 9.99798052e-01 -1.06907874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73140051299998 meters 0.0077104746577048595 Centerline is valid? [True, True] Translation: X:210.15, Y:22.18, Z:-1.07 [[ 9.99102204e-01 -3.74247641e-02 1.98538102e-02 2.10152406e+02] [ 3.74159498e-02 9.99299446e-01 8.15367836e-04 2.21838313e+01] [-1.98704165e-02 -7.17866354e-05 9.99802561e-01 -1.07028742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76140051299998 meters 0.009780648358640509 Centerline is valid? [True, True] Translation: X:210.18, Y:22.19, Z:-1.07 [[ 9.99226749e-01 -3.39517473e-02 1.98288494e-02 2.10184002e+02] [ 3.39423412e-02 9.99423464e-01 8.10824547e-04 2.21884421e+01] [-1.98449462e-02 -1.37160006e-04 9.99803060e-01 -1.07079169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79140051299999 meters 0.017913323945187586 Centerline is valid? [True, True] Translation: X:210.21, Y:22.20, Z:-1.07 [[ 9.99518955e-01 -2.51068985e-02 1.82071921e-02 2.10214724e+02] [ 2.50975525e-02 9.99684732e-01 7.41665033e-04 2.22002411e+01] [-1.82200729e-02 -2.84352299e-04 9.99833960e-01 -1.07232779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821400513 meters 0.023778668923493947 Centerline is valid? [True, True] Translation: X:210.24, Y:22.21, Z:-1.07 [[ 9.99650079e-01 -1.99247666e-02 1.73989534e-02 2.10244831e+02] [ 1.99154536e-02 9.99801417e-01 7.08387074e-04 2.22076277e+01] [-1.74096127e-02 -3.61631147e-04 9.99848376e-01 -1.07436209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851400513 meters 0.027243481825758746 Centerline is valid? [True, True] Translation: X:210.28, Y:22.21, Z:-1.08 [[ 9.99737809e-01 -1.51192195e-02 1.71965923e-02 2.10275551e+02] [ 1.51094207e-02 9.99885601e-01 6.99598330e-04 2.22120582e+01] [-1.72052024e-02 -4.39584353e-04 9.99851883e-01 -1.07537596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881400513 meters 0.03418586149473414 Centerline is valid? [True, True] Translation: X:210.31, Y:22.22, Z:-1.07 [[ 9.99784509e-01 -7.98363005e-03 1.91623810e-02 2.10306123e+02] [ 7.97016400e-03 9.99967934e-01 7.79002677e-04 2.22225276e+01] [-1.91679858e-02 -6.26107490e-04 9.99816081e-01 -1.07381542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911400513 meters 0.03932905225743843 Centerline is valid? [True, True] Translation: X:210.34, Y:22.23, Z:-1.07 [[ 9.99785271e-01 -5.68706681e-03 1.99265926e-02 2.10336471e+02] [ 5.67204978e-03 9.99983586e-01 8.10054888e-04 2.22312852e+01] [-1.99308723e-02 -6.96856321e-04 9.99801118e-01 -1.07344329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941400513 meters 0.04085122578073914 Centerline is valid? [True, True] Translation: X:210.37, Y:22.23, Z:-1.07 [[ 9.99791799e-01 -4.13928274e-03 1.99805965e-02 2.10368364e+02] [ 4.12388455e-03 9.99991167e-01 8.11798801e-04 2.22349592e+01] [-1.99837803e-02 -7.29232111e-04 9.99800038e-01 -1.07446702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971400513 meters 0.03912815303927761 Centerline is valid? [True, True] Translation: X:210.40, Y:22.23, Z:-1.08 [[ 9.99810286e-01 -3.13486620e-03 1.92240859e-02 2.10400517e+02] [ 3.12043839e-03 9.99994827e-01 7.80457246e-04 2.22332970e+01] [-1.92264331e-02 -7.20321606e-04 9.99814896e-01 -1.07642505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001400513 meters 0.04332919214984278 Centerline is valid? [True, True] Translation: X:210.43, Y:22.24, Z:-1.08 [[ 9.99826941e-01 -2.67678490e-03 1.84098741e-02 2.10431459e+02] [ 2.66353169e-03 9.99996176e-01 7.44378831e-04 2.22387811e+01] [-1.84117962e-02 -6.95214727e-04 9.99830247e-01 -1.07910171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031400513 meters 0.0388173998150708 Centerline is valid? [True, True] Translation: X:210.46, Y:22.23, Z:-1.08 [[ 9.99821859e-01 -2.67311908e-03 1.86843215e-02 2.10464088e+02] [ 2.65952238e-03 9.99996180e-01 7.52516222e-04 2.22348721e+01] [-1.86862617e-02 -7.02690797e-04 9.99825150e-01 -1.07881833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061400513 meters 0.04267954762005582 Centerline is valid? [True, True] Translation: X:210.50, Y:22.24, Z:-1.08 [[ 9.99804322e-01 -2.34734608e-03 1.96419993e-02 2.10495501e+02] [ 2.33232607e-03 9.99996970e-01 7.87561893e-04 2.22415399e+01] [-1.96437885e-02 -7.41596238e-04 9.99806767e-01 -1.07800725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091400513 meters 0.0374305319748726 Centerline is valid? [True, True] Translation: X:210.53, Y:22.24, Z:-1.08 [[ 9.99795058e-01 -1.47413431e-03 2.01908313e-02 2.10527743e+02] [ 1.45816198e-03 9.99998612e-01 8.05767916e-04 2.22361965e+01] [-2.01919911e-02 -7.76161278e-04 9.99795820e-01 -1.07746566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121400513 meters 0.04117608730253562 Centerline is valid? [True, True] Translation: X:210.56, Y:22.24, Z:-1.08 [[ 9.99807570e-01 -9.49957693e-04 1.95938670e-02 2.10558882e+02] [ 9.34881465e-04 9.99999260e-01 7.78581605e-04 2.22412524e+01] [-1.95945921e-02 -7.60113840e-04 9.99807719e-01 -1.07910093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151400513 meters 0.038926076746718566 Centerline is valid? [True, True] Translation: X:210.59, Y:22.24, Z:-1.08 [[ 9.99857114e-01 -6.09788315e-04 1.68931989e-02 2.10591472e+02] [ 5.98571100e-04 9.99999597e-01 6.69056043e-04 2.22372880e+01] [-1.68936000e-02 -6.58848663e-04 9.99857076e-01 -1.08320259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18140051299997 meters 0.043787655955052615 Centerline is valid? [True, True] Translation: X:210.62, Y:22.24, Z:-1.08 [[ 9.99846520e-01 -4.91590815e-04 1.75127211e-02 2.10623566e+02] [ 4.79572670e-04 9.99999647e-01 6.90445277e-04 2.22430908e+01] [-1.75130543e-02 -6.81940684e-04 9.99846402e-01 -1.08343246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21140051299997 meters 0.04401247010353474 Centerline is valid? [True, True] Translation: X:210.66, Y:22.24, Z:-1.08 [[ 9.99814901e-01 -3.46465753e-04 1.92365077e-02 2.10656164e+02] [ 3.32015532e-04 9.99999660e-01 7.54375958e-04 2.22431632e+01] [-1.92367625e-02 -7.47849505e-04 9.99814677e-01 -1.08129818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24140051299997 meters 0.041045006833170576 Centerline is valid? [True, True] Translation: X:210.69, Y:22.24, Z:-1.08 [[ 9.99761980e-01 -8.74808204e-06 2.18170198e-02 2.10689227e+02] [-9.83192170e-06 9.99999637e-01 8.51521451e-04 2.22365865e+01] [-2.18170194e-02 -8.51533276e-04 9.99761618e-01 -1.07757954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27140051299997 meters 0.039970871222995086 Centerline is valid? [True, True] Translation: X:210.72, Y:22.23, Z:-1.08 [[ 9.99768612e-01 4.85971486e-04 2.15054742e-02 2.10721676e+02] [-5.04050626e-04 9.99999524e-01 8.35263577e-04 2.22333449e+01] [-2.15050581e-02 -8.45910155e-04 9.99768382e-01 -1.07880192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30140051299998 meters 0.04481861434465316 Centerline is valid? [True, True] Translation: X:210.75, Y:22.24, Z:-1.08 [[ 9.99791277e-01 1.32610858e-03 2.03873420e-02 2.10752841e+02] [-1.34246266e-03 9.99998788e-01 7.88503636e-04 2.22368187e+01] [-2.03862717e-02 -8.15708303e-04 9.99791846e-01 -1.08166756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33140051299998 meters 0.046428455882465025 Centerline is valid? [True, True] Translation: X:210.79, Y:22.24, Z:-1.08 [[ 9.99807747e-01 2.60721675e-03 1.94337801e-02 2.10785352e+02] [-2.62226097e-03 9.99996282e-01 7.48684793e-04 2.22361208e+01] [-1.94317559e-02 -7.99501299e-04 9.99810866e-01 -1.08366847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36140051299998 meters 0.04575470327231933 Centerline is valid? [True, True] Translation: X:210.82, Y:22.23, Z:-1.08 [[ 9.99794399e-01 4.98402918e-03 1.96549993e-02 2.10816293e+02] [-4.99980705e-03 9.99987217e-01 7.53682261e-04 2.22296263e+01] [-1.96509916e-02 -8.51798507e-04 9.99806538e-01 -1.08303515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39140051299998 meters 0.04720270369426908 Centerline is valid? [True, True] Translation: X:210.85, Y:22.23, Z:-1.08 [[ 9.99779330e-01 5.89292117e-03 2.01634629e-02 2.10847241e+02] [-5.90970902e-03 9.99982239e-01 7.73102152e-04 2.22295099e+01] [-2.01585490e-02 -8.92091750e-04 9.99796398e-01 -1.08271685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42140051299998 meters 0.047289586626743284 Centerline is valid? [True, True] Translation: X:210.88, Y:22.23, Z:-1.08 [[ 9.99767508e-01 6.32060910e-03 2.06150379e-02 2.10879311e+02] [-6.33817977e-03 9.99979604e-01 7.87095855e-04 2.22275808e+01] [-2.06096425e-02 -9.17574677e-04 9.99787178e-01 -1.08324899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45140051299998 meters 0.04694834738093184 Centerline is valid? [True, True] Translation: X:210.91, Y:22.22, Z:-1.09 [[ 9.99776609e-01 6.46734343e-03 2.01222643e-02 2.10912292e+02] [-6.48404700e-03 9.99978686e-01 7.64970392e-04 2.22204666e+01] [-2.01168881e-02 -8.95273212e-04 9.99797234e-01 -1.08622624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48140051299998 meters 0.04786720118362577 Centerline is valid? [True, True] Translation: X:210.94, Y:22.22, Z:-1.09 [[ 9.99795688e-01 6.11637837e-03 1.92658110e-02 2.10943957e+02] [-6.13155422e-03 9.99980936e-01 7.28736274e-04 2.22183831e+01] [-1.92609865e-02 -8.46716749e-04 9.99814131e-01 -1.08880759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51140051299998 meters 0.045855967928918356 Centerline is valid? [True, True] Translation: X:210.98, Y:22.21, Z:-1.09 [[ 9.99813647e-01 5.52461384e-03 1.84972876e-02 2.10976623e+02] [-5.53845085e-03 9.99984420e-01 6.96911661e-04 2.22147706e+01] [-1.84931493e-02 -7.99228108e-04 9.99828668e-01 -1.09056162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54140051299999 meters 0.044909561295934444 Centerline is valid? [True, True] Translation: X:211.01, Y:22.21, Z:-1.09 [[ 9.99824841e-01 4.74219374e-03 1.81052311e-02 2.11009200e+02] [-4.75526764e-03 9.99988463e-01 6.79123318e-04 2.22116026e+01] [-1.81018017e-02 -7.65099584e-04 9.99835856e-01 -1.09201447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571400513 meters 0.04562496708197544 Centerline is valid? [True, True] Translation: X:211.04, Y:22.21, Z:-1.09 [[ 9.99836358e-01 2.01979375e-03 1.79771658e-02 2.11039623e+02] [-2.03217887e-03 9.99997710e-01 6.70695045e-04 2.22061021e+01] [-1.79757700e-02 -7.07118108e-04 9.99838173e-01 -1.09368857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601400513 meters 0.04009316527735486 Centerline is valid? [True, True] Translation: X:211.07, Y:22.20, Z:-1.09 [[ 9.99842234e-01 2.18190896e-04 1.77612039e-02 2.11071821e+02] [-2.29998734e-04 9.99999754e-01 6.62770715e-04 2.21963345e+01] [-1.77610549e-02 -6.66751206e-04 9.99842038e-01 -1.09462113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631400513 meters 0.038026030858581764 Centerline is valid? [True, True] Translation: X:211.10, Y:22.19, Z:-1.09 [[ 9.99835550e-01 -1.46217846e-03 1.80758374e-02 2.11103894e+02] [ 1.45023502e-03 9.99998721e-01 6.73830909e-04 2.21908220e+01] [-1.80767995e-02 -6.47505885e-04 9.99836392e-01 -1.09480362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661400513 meters 0.04156716778235299 Centerline is valid? [True, True] Translation: X:211.13, Y:22.19, Z:-1.10 [[ 9.99827897e-01 -2.44644701e-03 1.83899861e-02 2.11134990e+02] [ 2.43426044e-03 9.99996803e-01 6.85030024e-04 2.21922002e+01] [-1.83916032e-02 -6.40146112e-04 9.99830655e-01 -1.09501049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691400513 meters 0.040828744757453926 Centerline is valid? [True, True] Translation: X:211.17, Y:22.18, Z:-1.10 [[ 9.99833310e-01 -2.02503249e-03 1.81452782e-02 2.11167458e+02] [ 2.01312668e-03 9.99997746e-01 6.74379770e-04 2.21849034e+01] [-1.81466029e-02 -6.37738614e-04 9.99835133e-01 -1.09524865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721400513 meters 0.04053080472290066 Centerline is valid? [True, True] Translation: X:211.20, Y:22.18, Z:-1.10 [[ 9.99834700e-01 -6.35442327e-04 1.81705292e-02 2.11199500e+02] [ 6.23327841e-04 9.99999580e-01 6.72366520e-04 2.21827911e+01] [-1.81709488e-02 -6.60929181e-04 9.99834676e-01 -1.09572295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751400513 meters 0.04120884354473107 Centerline is valid? [True, True] Translation: X:211.23, Y:22.18, Z:-1.09 [[ 9.99823768e-01 9.73762803e-04 1.87479127e-02 2.11231544e+02] [-9.86875556e-04 9.99999275e-01 6.90185693e-04 2.21835600e+01] [-1.87472271e-02 -7.08565917e-04 9.99824004e-01 -1.09496262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781400513 meters 0.044877066225473536 Centerline is valid? [True, True] Translation: X:211.26, Y:22.19, Z:-1.09 [[ 9.99796161e-01 5.68579501e-03 1.93728628e-02 2.11262476e+02] [-5.70065918e-03 9.99983498e-01 7.12129373e-04 2.21885085e+01] [-1.93684941e-02 -8.22422301e-04 9.99812075e-01 -1.09367725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811400513 meters 0.05116066665395068 Centerline is valid? [True, True] Translation: X:211.29, Y:22.20, Z:-1.10 [[ 9.99788690e-01 8.20864477e-03 1.88465923e-02 2.11292179e+02] [-8.22315865e-03 9.99965949e-01 6.92738408e-04 2.21967040e+01] [-1.88402641e-02 -8.47570544e-04 9.99822147e-01 -1.09558221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841400513 meters 0.0532427742219149 Centerline is valid? [True, True] Translation: X:211.32, Y:22.20, Z:-1.10 [[ 9.99781911e-01 1.06380948e-02 1.79711282e-02 2.11323295e+02] [-1.06516844e-02 9.99943051e-01 6.60640006e-04 2.21998282e+01] [-1.79630768e-02 -8.51918714e-04 9.99838288e-01 -1.09749514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871400513 meters 0.05364400424166341 Centerline is valid? [True, True] Translation: X:211.35, Y:22.20, Z:-1.10 [[ 9.99745551e-01 1.40207943e-02 1.76705878e-02 2.11354128e+02] [-1.40344516e-02 9.99901302e-01 6.49105928e-04 2.22024377e+01] [-1.76597427e-02 -8.96937772e-04 9.99843652e-01 -1.09897871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901400513 meters 0.05902359446334754 Centerline is valid? [True, True] Translation: X:211.38, Y:22.21, Z:-1.10 [[ 9.99727838e-01 1.47410964e-02 1.80817346e-02 2.11384804e+02] [-1.47555221e-02 9.99890910e-01 6.64642481e-04 2.22112348e+01] [-1.80699645e-02 -9.31267025e-04 9.99836291e-01 -1.09934525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93140051299997 meters 0.05422229115456805 Centerline is valid? [True, True] Translation: X:211.42, Y:22.21, Z:-1.10 [[ 9.99715912e-01 1.47706517e-02 1.87062247e-02 2.11416781e+02] [-1.47860395e-02 9.99890446e-01 6.84557698e-04 2.22075299e+01] [-1.86940640e-02 -9.60954202e-04 9.99824789e-01 -1.09872976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96140051299997 meters 0.054091134387495896 Centerline is valid? [True, True] Translation: X:211.45, Y:22.21, Z:-1.10 [[ 9.99714798e-01 1.44212976e-02 1.90354557e-02 2.11448798e+02] [-1.44371058e-02 9.99895539e-01 6.93290069e-04 2.22095597e+01] [-1.90234691e-02 -9.67909228e-04 9.99818569e-01 -1.09855241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99140051299997 meters 0.054091134387495896 Centerline is valid? [True, True] Translation: X:211.48, Y:22.21, Z:-1.10 [[ 9.99711974e-01 1.46155822e-02 1.90355708e-02 2.11481385e+02] [-1.46313651e-02 9.99892718e-01 6.90114907e-04 2.22105663e+01] [-1.90234421e-02 -9.68432522e-04 9.99818569e-01 -1.09924859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02140051299997 meters 0.05486714949945079 Centerline is valid? [True, True] Translation: X:211.51, Y:22.22, Z:-1.10 [[ 9.99706100e-01 1.31373480e-02 2.03745859e-02 2.11512207e+02] [-1.31550337e-02 9.99913199e-01 7.34234489e-04 2.22151658e+01] [-2.03631714e-02 -1.00204706e-03 9.99792147e-01 -1.09773615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05140051299998 meters 0.05465992274205124 Centerline is valid? [True, True] Translation: X:211.54, Y:22.22, Z:-1.10 [[ 9.99690168e-01 1.24605139e-02 2.15476915e-02 2.11543385e+02] [-1.24801260e-02 9.99921819e-01 7.75932715e-04 2.22167912e+01] [-2.15363383e-02 -1.04461021e-03 9.99767520e-01 -1.09688638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08140051299998 meters 0.05006850646550239 Centerline is valid? [True, True] Translation: X:211.58, Y:22.21, Z:-1.10 [[ 9.99672453e-01 1.20986939e-02 2.25523337e-02 2.11575372e+02] [-1.21200036e-02 9.99926223e-01 8.08449145e-04 2.22123505e+01] [-2.25408887e-02 -1.08151870e-03 9.99745337e-01 -1.09655660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11140051299998 meters 0.05646947832309397 Centerline is valid? [True, True] Translation: X:211.61, Y:22.22, Z:-1.10 [[ 9.99668628e-01 1.16968774e-02 2.29307161e-02 2.11606663e+02] [-1.17187116e-02 9.99930999e-01 8.18032473e-04 2.22209417e+01] [-2.29195655e-02 -1.08647985e-03 9.99736722e-01 -1.09733513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14140051299998 meters 0.04957617986631973 Centerline is valid? [True, True] Translation: X:211.64, Y:22.21, Z:-1.10 [[ 9.99737107e-01 1.04103813e-02 2.04289439e-02 2.11638386e+02] [-1.04273810e-02 9.99945370e-01 7.25788388e-04 2.22116072e+01] [-2.04202722e-02 -9.38617964e-04 9.99791044e-01 -1.10262987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17140051299998 meters 0.04876637951886487 Centerline is valid? [True, True] Translation: X:211.67, Y:22.21, Z:-1.10 [[ 9.99750398e-01 1.03436898e-02 1.98027941e-02 2.11670820e+02] [-1.03596454e-02 9.99946090e-01 7.03305222e-04 2.22098993e+01] [-1.97944517e-02 -9.08279599e-04 9.99803658e-01 -1.10451144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20140051299998 meters 0.04980745685440653 Centerline is valid? [True, True] Translation: X:211.70, Y:22.21, Z:-1.10 [[ 9.99735814e-01 1.06779880e-02 2.03539374e-02 2.11703281e+02] [-1.06948408e-02 9.99942550e-01 7.19311980e-04 2.22094184e+01] [-2.03450872e-02 -9.36804067e-04 9.99792578e-01 -1.10467392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23140051299998 meters 0.05338729064062714 Centerline is valid? [True, True] Translation: X:211.73, Y:22.21, Z:-1.10 [[ 9.99683133e-01 1.14676683e-02 2.24081837e-02 2.11734731e+02] [-1.14881936e-02 9.99933698e-01 7.87451122e-04 2.22090398e+01] [-2.23976678e-02 -1.04463116e-03 9.99748595e-01 -1.10234073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26140051299998 meters 0.050683908605339126 Centerline is valid? [True, True] Translation: X:211.77, Y:22.20, Z:-1.10 [[ 9.99672261e-01 1.18123953e-02 2.27120844e-02 2.11767695e+02] [-1.18334867e-02 9.99929666e-01 7.94464181e-04 2.22042995e+01] [-2.27011024e-02 -1.06296695e-03 9.99741732e-01 -1.10288952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29140051299999 meters 0.04839484430765743 Centerline is valid? [True, True] Translation: X:211.80, Y:22.20, Z:-1.10 [[ 9.99684731e-01 1.18977173e-02 2.21107105e-02 2.11800920e+02] [-1.19176350e-02 9.99928687e-01 7.69261481e-04 2.21996096e+01] [-2.20999812e-02 -1.03252633e-03 9.99755232e-01 -1.10496941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321400513 meters 0.04863198336887873 Centerline is valid? [True, True] Translation: X:211.83, Y:22.20, Z:-1.11 [[ 9.99706632e-01 1.17856761e-02 2.11600332e-02 2.11832791e+02] [-1.18038077e-02 9.99930065e-01 7.32182230e-04 2.21970676e+01] [-2.11499241e-02 -9.81736394e-04 9.99775833e-01 -1.10717395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351400513 meters 0.04969929135507483 Centerline is valid? [True, True] Translation: X:211.86, Y:22.19, Z:-1.11 [[ 9.99718847e-01 1.14596364e-02 2.07582098e-02 2.11864753e+02] [-1.14769430e-02 9.99933882e-01 7.14779701e-04 2.21901585e+01] [-2.07486462e-02 -9.52819530e-04 9.99784270e-01 -1.10758258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381400513 meters 0.04782733761048025 Centerline is valid? [True, True] Translation: X:211.90, Y:22.18, Z:-1.11 [[ 9.99719558e-01 1.13749474e-02 2.07705638e-02 2.11897177e+02] [-1.13921825e-02 9.99934854e-01 7.11642626e-04 2.21846098e+01] [-2.07611158e-02 -9.48065104e-04 9.99784015e-01 -1.10754037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411400513 meters 0.049828884477378016 Centerline is valid? [True, True] Translation: X:211.93, Y:22.18, Z:-1.11 [[ 9.99734987e-01 1.14245740e-02 1.99858532e-02 2.11929120e+02] [-1.14404741e-02 9.99934323e-01 6.81407682e-04 2.21837768e+01] [-1.99767558e-02 -9.09874736e-04 9.99800031e-01 -1.10900348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441400513 meters 0.0467450899808306 Centerline is valid? [True, True] Translation: X:211.96, Y:22.18, Z:-1.11 [[ 9.99758750e-01 1.12951277e-02 1.88377928e-02 2.11961817e+02] [-1.13091923e-02 9.99935844e-01 6.40250558e-04 2.21762421e+01] [-1.88293525e-02 -8.53136318e-04 9.99822348e-01 -1.11153531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471400513 meters 0.051713304125159586 Centerline is valid? [True, True] Translation: X:211.99, Y:22.17, Z:-1.12 [[ 9.99814062e-01 1.20198486e-02 1.50785884e-02 2.11992616e+02] [-1.20289053e-02 9.99927520e-01 5.10081013e-04 2.21736673e+01] [-1.50713644e-02 -6.91365083e-04 9.99886182e-01 -1.11926044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501400513 meters 0.05294116243230528 Centerline is valid? [True, True] Translation: X:212.02, Y:22.17, Z:-1.12 [[ 9.99823454e-01 1.32204866e-02 1.33521724e-02 2.12024445e+02] [-1.32276889e-02 9.99912408e-01 4.51241194e-04 2.21723866e+01] [-1.33450373e-02 -6.27779913e-04 9.99910754e-01 -1.12262465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531400513 meters 0.053692282913343395 Centerline is valid? [True, True] Translation: X:212.06, Y:22.17, Z:-1.12 [[ 9.99803369e-01 1.55801767e-02 1.22671043e-02 2.12055695e+02] [-1.55863976e-02 9.99878440e-01 4.11676171e-04 2.21679699e+01] [-1.22591991e-02 -6.02795187e-04 9.99924672e-01 -1.12442315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561400513 meters 0.05334471491967962 Centerline is valid? [True, True] Translation: X:212.09, Y:22.17, Z:-1.12 [[ 9.99775686e-01 1.66809916e-02 1.30507466e-02 2.12088182e+02] [-1.66881412e-02 9.99860647e-01 4.39109011e-04 2.21656100e+01] [-1.30416032e-02 -6.56803215e-04 9.99914739e-01 -1.12351369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591400513 meters 0.05769103716809098 Centerline is valid? [True, True] Translation: X:212.12, Y:22.17, Z:-1.12 [[ 9.99753697e-01 1.71494519e-02 1.40869451e-02 2.12120497e+02] [-1.71577919e-02 9.99852683e-01 4.71382083e-04 2.21693633e+01] [-1.40767860e-02 -7.12966853e-04 9.99900663e-01 -1.12287529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621400513 meters 0.056096243431553276 Centerline is valid? [True, True] Translation: X:212.15, Y:22.17, Z:-1.12 [[ 9.99733442e-01 1.71883464e-02 1.54144602e-02 2.12152447e+02] [-1.71982874e-02 9.99851967e-01 5.12571911e-04 2.21660259e+01] [-1.54033681e-02 -7.77537598e-04 9.99881059e-01 -1.12147598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651400513 meters 0.053749266243918965 Centerline is valid? [True, True] Translation: X:212.18, Y:22.16, Z:-1.12 [[ 9.99724691e-01 1.61606305e-02 1.70110803e-02 2.12183833e+02] [-1.61725252e-02 9.99869058e-01 5.61889427e-04 2.21579694e+01] [-1.69997724e-02 -8.36846860e-04 9.99855143e-01 -1.12054428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68140051299997 meters 0.05290730098353441 Centerline is valid? [True, True] Translation: X:212.22, Y:22.15, Z:-1.12 [[ 9.99720848e-01 1.54473408e-02 1.78775041e-02 2.12216273e+02] [-1.54603653e-02 9.99880307e-01 5.90552026e-04 2.21541097e+01] [-1.78662418e-02 -8.66779915e-04 9.99840010e-01 -1.12069492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71140051299997 meters 0.0485320462497867 Centerline is valid? [True, True] Translation: X:212.25, Y:22.15, Z:-1.12 [[ 9.99712354e-01 1.47122258e-02 1.89409688e-02 2.12248797e+02] [-1.47266510e-02 9.99891363e-01 6.22325569e-04 2.21454052e+01] [-1.89297553e-02 -9.01083597e-04 9.99820410e-01 -1.11947959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74140051299997 meters 0.052145878745279296 Centerline is valid? [True, True] Translation: X:212.28, Y:22.15, Z:-1.12 [[ 9.99698910e-01 1.41085222e-02 2.00758343e-02 2.12279998e+02] [-1.41245328e-02 9.99900029e-01 6.55926934e-04 2.21468981e+01] [-2.00645731e-02 -9.39291221e-04 9.99798245e-01 -1.11830414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77140051299997 meters 0.051624612675467474 Centerline is valid? [True, True] Translation: X:212.31, Y:22.14, Z:-1.12 [[ 9.99700420e-01 1.38428854e-02 2.01852558e-02 2.12312415e+02] [-1.38589522e-02 9.99903745e-01 6.56292384e-04 2.21406262e+01] [-2.01742279e-02 -9.35842267e-04 9.99796042e-01 -1.11834306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80140051299998 meters 0.05244995839400778 Centerline is valid? [True, True] Translation: X:212.34, Y:22.14, Z:-1.12 [[ 9.99696249e-01 1.50628012e-02 1.95069655e-02 2.12344967e+02] [-1.50779735e-02 9.99886122e-01 6.30936078e-04 2.21389496e+01] [-1.94952404e-02 -9.24869939e-04 9.99809522e-01 -1.11976803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83140051299998 meters 0.05448119813298727 Centerline is valid? [True, True] Translation: X:212.38, Y:22.14, Z:-1.12 [[ 9.99677544e-01 1.71814571e-02 1.86977561e-02 2.12375799e+02] [-1.71957487e-02 9.99851960e-01 6.03829256e-04 2.21385306e+01] [-1.86846134e-02 -9.25156462e-04 9.99824999e-01 -1.12206914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86140051299998 meters 0.06117683295061958 Centerline is valid? [True, True] Translation: X:212.41, Y:22.14, Z:-1.12 [[ 9.99569757e-01 2.25883417e-02 1.87101077e-02 2.12405836e+02] [-2.26035920e-02 9.99744324e-01 6.03981810e-04 2.21398501e+01] [-1.86916810e-02 -1.02663759e-03 9.99824768e-01 -1.12354070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89140051299998 meters 0.05949676451363457 Centerline is valid? [True, True] Translation: X:212.44, Y:22.14, Z:-1.12 [[ 9.99496511e-01 2.54091143e-02 1.90026903e-02 2.12437196e+02] [-2.54253536e-02 9.99676535e-01 6.13431722e-04 2.21355856e+01] [-1.89809568e-02 -1.09627299e-03 9.99819244e-01 -1.12342024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92140051299998 meters 0.06432966039019353 Centerline is valid? [True, True] Translation: X:212.47, Y:22.14, Z:-1.12 [[ 9.99426812e-01 2.78399655e-02 1.92609572e-02 2.12466857e+02] [-2.78570914e-02 9.99611723e-01 6.21369939e-04 2.21395248e+01] [-1.92361797e-02 -1.15756802e-03 9.99814297e-01 -1.12426517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95140051299998 meters 0.06973101958469369 Centerline is valid? [True, True] Translation: X:212.50, Y:22.14, Z:-1.13 [[ 9.99355149e-01 3.06553260e-02 1.86959130e-02 2.12496090e+02] [-3.06719519e-02 9.99529323e-01 6.03115644e-04 2.21384122e+01] [-1.86686246e-02 -1.17616687e-03 9.99825034e-01 -1.12633064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98140051299998 meters 0.06425317559208661 Centerline is valid? [True, True] Translation: X:212.53, Y:22.13, Z:-1.13 [[ 9.99331204e-01 3.13146281e-02 1.88822160e-02 2.12528492e+02] [-3.13317160e-02 9.99508855e-01 6.09749209e-04 2.21285208e+01] [-1.88538481e-02 -1.20095364e-03 9.99821529e-01 -1.12694410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01140051299998 meters 0.07296005162930995 Centerline is valid? [True, True] Translation: X:212.56, Y:22.14, Z:-1.13 [[ 9.99306766e-01 3.16814385e-02 1.95518257e-02 2.12559276e+02] [-3.16997631e-02 9.99497239e-01 6.27943401e-04 2.21368938e+01] [-1.95221017e-02 -1.24729633e-03 9.99808648e-01 -1.12694954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04140051299999 meters 0.06575467618977267 Centerline is valid? [True, True] Translation: X:212.59, Y:22.13, Z:-1.13 [[ 9.99290533e-01 3.17220292e-02 2.03013167e-02 2.12592254e+02] [-3.17417285e-02 9.99495894e-01 6.48767438e-04 2.21259814e+01] [-2.02705024e-02 -1.29270604e-03 9.99793697e-01 -1.12668439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071400513 meters 0.06499568160595098 Centerline is valid? [True, True] Translation: X:212.62, Y:22.12, Z:-1.13 [[ 9.99331241e-01 3.03681606e-02 2.03677644e-02 2.12624109e+02] [-3.03876378e-02 9.99537979e-01 6.47390642e-04 2.21181316e+01] [-2.03386940e-02 -1.26588594e-03 9.99792346e-01 -1.12760272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101400513 meters 0.06537190358980113 Centerline is valid? [True, True] Translation: X:212.65, Y:22.12, Z:-1.13 [[ 9.99378303e-01 2.91935376e-02 1.97672469e-02 2.12654425e+02] [-2.92116400e-02 9.99573052e-01 6.27590886e-04 2.21158009e+01] [-1.97404857e-02 -1.20463441e-03 9.99804412e-01 -1.12902481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131400513 meters 0.06784705663073876 Centerline is valid? [True, True] Translation: X:212.69, Y:22.12, Z:-1.13 [[ 9.99424337e-01 2.78137089e-02 1.94265981e-02 2.12685155e+02] [-2.78309290e-02 9.99612455e-01 6.16573077e-04 2.21165354e+01] [-1.94019202e-02 -1.15687841e-03 9.99811096e-01 -1.13037588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161400513 meters 0.06076650712076202 Centerline is valid? [True, True] Translation: X:212.72, Y:22.11, Z:-1.13 [[ 9.99472544e-01 2.60496726e-02 1.93919867e-02 2.12717277e+02] [-2.60664922e-02 9.99660022e-01 6.15048873e-04 2.21054710e+01] [-1.93693720e-02 -1.12020553e-03 9.99811769e-01 -1.13075473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191400513 meters 0.05929397473436804 Centerline is valid? [True, True] Translation: X:212.75, Y:22.10, Z:-1.13 [[ 9.99555542e-01 2.29979973e-02 1.89686882e-02 2.12746844e+02] [-2.30135285e-02 9.99734973e-01 6.00869823e-04 2.20965032e+01] [-1.89498421e-02 -1.03713921e-03 9.99819898e-01 -1.13136834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221400513 meters 0.05743418452932945 Centerline is valid? [True, True] Translation: X:212.78, Y:22.09, Z:-1.13 [[ 9.99579320e-01 2.23642818e-02 1.84667766e-02 2.12779206e+02] [-2.23789058e-02 9.99749389e-01 5.85611972e-04 2.20910615e+01] [-1.84490518e-02 -9.98631871e-04 9.99829303e-01 -1.13245116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251400513 meters 0.05414747165930697 Centerline is valid? [True, True] Translation: X:212.81, Y:22.08, Z:-1.13 [[ 9.99594529e-01 2.23125055e-02 1.76898230e-02 2.12811201e+02] [-2.23258680e-02 9.99750591e-01 5.58226475e-04 2.20845234e+01] [-1.76729556e-02 -9.52940783e-04 9.99843367e-01 -1.13388456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281400513 meters 0.06464464389758583 Centerline is valid? [True, True] Translation: X:212.84, Y:22.09, Z:-1.14 [[ 9.99607341e-01 2.35117072e-02 1.52434868e-02 2.12841503e+02] [-2.35217230e-02 9.99723212e-01 4.78078804e-04 2.20938046e+01] [-1.52280272e-02 -8.36444157e-04 9.99883697e-01 -1.13953319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311400513 meters 0.06309593357512917 Centerline is valid? [True, True] Translation: X:212.87, Y:22.09, Z:-1.14 [[ 9.99578771e-01 2.51293693e-02 1.45188039e-02 2.12872623e+02] [-2.51386216e-02 9.99683871e-01 4.55079722e-04 2.20903990e+01] [-1.45027782e-02 -8.19870747e-04 9.99894493e-01 -1.14077562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341400513 meters 0.06144795695565995 Centerline is valid? [True, True] Translation: X:212.90, Y:22.09, Z:-1.14 [[ 9.99525571e-01 2.71344054e-02 1.45724436e-02 2.12904156e+02] [-2.71439312e-02 9.99631431e-01 4.56262328e-04 2.20865918e+01] [-1.45546923e-02 -8.51599271e-04 9.99893712e-01 -1.14044666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371400513 meters 0.06643291283304031 Centerline is valid? [True, True] Translation: X:212.93, Y:22.09, Z:-1.14 [[ 9.99380847e-01 3.14919329e-02 1.56901491e-02 2.12933952e+02] [-3.15035023e-02 9.99503521e-01 4.90692192e-04 2.20911300e+01] [-1.56669064e-02 -9.84683027e-04 9.99876782e-01 -1.13900598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401400513 meters 0.06907911475177053 Centerline is valid? [True, True] Translation: X:212.96, Y:22.10, Z:-1.14 [[ 9.99304612e-01 3.37355250e-02 1.58810025e-02 2.12964703e+02] [-3.37476623e-02 9.99430262e-01 4.96819117e-04 2.20956252e+01] [-1.58551941e-02 -1.03242035e-03 9.99873765e-01 -1.13949182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43140051299997 meters 0.07326666582163521 Centerline is valid? [True, True] Translation: X:213.00, Y:22.10, Z:-1.14 [[ 9.99196672e-01 3.69833675e-02 1.54350953e-02 2.12995284e+02] [-3.69952148e-02 9.99315326e-01 4.82640587e-04 2.20992252e+01] [-1.54066776e-02 -1.05327753e-03 9.99880755e-01 -1.14175281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46140051299997 meters 0.0755837177738391 Centerline is valid? [True, True] Translation: X:213.03, Y:22.10, Z:-1.14 [[ 9.99158690e-01 3.79575604e-02 1.55285660e-02 2.13026125e+02] [-3.79696818e-02 9.99278773e-01 4.86400472e-04 2.21042722e+01] [-1.54989039e-02 -1.07560597e-03 9.99879306e-01 -1.14255383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49140051299997 meters 0.07380104713039286 Centerline is valid? [True, True] Translation: X:213.06, Y:22.10, Z:-1.14 [[ 9.99127036e-01 3.83413655e-02 1.65863357e-02 2.13058636e+02] [-3.83552032e-02 9.99264035e-01 5.16862829e-04 2.21022859e+01] [-1.65543115e-02 -1.15258390e-03 9.99862304e-01 -1.14109480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52140051299997 meters 0.0732949932152344 Centerline is valid? [True, True] Translation: X:213.09, Y:22.10, Z:-1.14 [[ 9.99104722e-01 3.83442094e-02 1.78739075e-02 2.13090879e+02] [-3.83602234e-02 9.99263822e-01 5.53832141e-04 2.21016538e+01] [-1.78395128e-02 -1.23898339e-03 9.99840096e-01 -1.13903668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55140051299998 meters 0.07693283343483583 Centerline is valid? [True, True] Translation: X:213.12, Y:22.10, Z:-1.14 [[ 9.99109528e-01 3.71112177e-02 2.00726050e-02 2.13121905e+02] [-3.71310902e-02 9.99310212e-01 6.18113112e-04 2.21014669e+01] [-2.00358203e-02 -1.36288041e-03 9.99798334e-01 -1.13723679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58140051299998 meters 0.07550227441034293 Centerline is valid? [True, True] Translation: X:213.15, Y:22.10, Z:-1.14 [[ 9.99141928e-01 3.57687547e-02 2.08806867e-02 2.13154084e+02] [-3.57899577e-02 9.99359128e-01 6.42502662e-04 2.20950904e+01] [-2.08443233e-02 -1.38927024e-03 9.99781768e-01 -1.13698328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61140051299998 meters 0.06753364310464283 Centerline is valid? [True, True] Translation: X:213.19, Y:22.08, Z:-1.14 [[ 9.99161453e-01 3.45980739e-02 2.18943834e-02 2.13186250e+02] [-3.46210894e-02 9.99400284e-01 6.72916351e-04 2.20839202e+01] [-2.18579714e-02 -1.43035948e-03 9.99760063e-01 -1.13596406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64140051299998 meters 0.0683118616364903 Centerline is valid? [True, True] Translation: X:213.22, Y:22.08, Z:-1.14 [[ 9.99213599e-01 3.31809263e-02 2.17073714e-02 2.13216510e+02] [-3.32032009e-02 9.99448400e-01 6.66421081e-04 2.20816825e+01] [-2.16732851e-02 -1.38665122e-03 9.99764145e-01 -1.13748806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67140051299998 meters 0.06657432431861789 Centerline is valid? [True, True] Translation: X:213.25, Y:22.08, Z:-1.14 [[ 9.99214829e-01 3.39101361e-02 2.04897109e-02 2.13248884e+02] [-3.39301321e-02 9.99424009e-01 6.28946568e-04 2.20770123e+01] [-2.04565813e-02 -1.32367133e-03 9.99789866e-01 -1.14004682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70140051299998 meters 0.07411492140936372 Centerline is valid? [True, True] Translation: X:213.28, Y:22.08, Z:-1.14 [[ 9.99185303e-01 3.49900172e-02 2.01104215e-02 2.13279717e+02] [-3.50094322e-02 9.99386793e-01 6.14059636e-04 2.20824512e+01] [-2.00766037e-02 -1.31761380e-03 9.99797576e-01 -1.14176705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73140051299998 meters 0.07145382575964823 Centerline is valid? [True, True] Translation: X:213.31, Y:22.08, Z:-1.14 [[ 9.99133899e-01 3.60320820e-02 2.08120377e-02 2.13312346e+02] [-3.60530316e-02 9.99349678e-01 6.32156207e-04 2.20750968e+01] [-2.07757253e-02 -1.38194575e-03 9.99783206e-01 -1.14165939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76140051299998 meters 0.07785063502399064 Centerline is valid? [True, True] Translation: X:213.34, Y:22.07, Z:-1.14 [[ 9.99019152e-01 3.76710477e-02 2.32728834e-02 2.13342680e+02] [-3.76976620e-02 9.99288941e-01 7.05755506e-04 2.20748933e+01] [-2.32297485e-02 -1.58239656e-03 9.99728901e-01 -1.13864689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79140051299999 meters 0.0750896546670366 Centerline is valid? [True, True] Translation: X:213.37, Y:22.07, Z:-1.14 [[ 9.98992426e-01 3.82191349e-02 2.35251110e-02 2.13374902e+02] [-3.82464585e-02 9.99268083e-01 7.12462372e-04 2.20675307e+01] [-2.34806628e-02 -1.61149670e-03 9.99722992e-01 -1.13957566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821400513 meters 0.07659408707338655 Centerline is valid? [True, True] Translation: X:213.41, Y:22.06, Z:-1.14 [[ 9.98991149e-01 3.86840842e-02 2.28084678e-02 2.13407577e+02] [-3.87098092e-02 9.99250258e-01 6.87274433e-04 2.20631600e+01] [-2.27647807e-02 -1.56949251e-03 9.99739617e-01 -1.14181045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851400513 meters 0.07493247501455817 Centerline is valid? [True, True] Translation: X:213.44, Y:22.06, Z:-1.14 [[ 9.98980109e-01 3.98200011e-02 2.12863718e-02 2.13439975e+02] [-3.98425962e-02 9.99205765e-01 6.38266483e-04 2.20587341e+01] [-2.12440496e-02 -1.48571983e-03 9.99773216e-01 -1.14481862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881400513 meters 0.08303184346690835 Centerline is valid? [True, True] Translation: X:213.47, Y:22.06, Z:-1.15 [[ 9.98938428e-01 4.22627424e-02 1.83269612e-02 2.13469352e+02] [-4.22798848e-02 9.99105655e-01 5.48737409e-04 2.20593752e+01] [-1.82873794e-02 -1.32301669e-03 9.99831897e-01 -1.14999400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911400513 meters 0.08303184346690835 Centerline is valid? [True, True] Translation: X:213.50, Y:22.06, Z:-1.15 [[ 9.98931049e-01 4.24368078e-02 1.83269515e-02 2.13501945e+02] [-4.24539852e-02 9.99098272e-01 5.49061899e-04 2.20601836e+01] [-1.82871251e-02 -1.32652711e-03 9.99831897e-01 -1.15069111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941400513 meters 0.07621271966586714 Centerline is valid? [True, True] Translation: X:213.53, Y:22.05, Z:-1.15 [[ 9.98888764e-01 4.38391930e-02 1.73021034e-02 2.13532959e+02] [-4.38546532e-02 9.99037789e-01 5.14957739e-04 2.20484862e+01] [-1.72628798e-02 -1.27316324e-03 9.99850175e-01 -1.15248815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971400513 meters 0.07617349575574282 Centerline is valid? [True, True] Translation: X:213.56, Y:22.05, Z:-1.15 [[ 9.98848913e-01 4.51280554e-02 1.62575482e-02 2.13564514e+02] [-4.51418671e-02 9.98980469e-01 4.83400380e-04 2.20455582e+01] [-1.62191582e-02 -1.21674002e-03 9.99867720e-01 -1.15424628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001400513 meters 0.07786653379116895 Centerline is valid? [True, True] Translation: X:213.60, Y:22.04, Z:-1.16 [[ 9.98708933e-01 4.84292806e-02 1.53320647e-02 2.13595523e+02] [-4.84419446e-02 9.98825896e-01 4.55462854e-04 2.20405947e+01] [-1.52920056e-02 -1.19758985e-03 9.99882353e-01 -1.15560510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031400513 meters 0.08009948994713366 Centerline is valid? [True, True] Translation: X:213.63, Y:22.04, Z:-1.16 [[ 9.98644981e-01 4.99106798e-02 1.47352000e-02 2.13626421e+02] [-4.99225360e-02 9.98752997e-01 4.37656742e-04 2.20406991e+01] [-1.46949814e-02 -1.17268226e-03 9.99891335e-01 -1.15732857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061400513 meters 0.0852427589833196 Centerline is valid? [True, True] Translation: X:213.66, Y:22.05, Z:-1.16 [[ 9.98602852e-01 5.09161704e-02 1.41381863e-02 2.13655883e+02] [-5.09271820e-02 9.98702281e-01 4.19688267e-04 2.20458074e+01] [-1.40984700e-02 -1.13911989e-03 9.99899963e-01 -1.15931268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091400513 meters 0.08320059414619017 Centerline is valid? [True, True] Translation: X:213.69, Y:22.04, Z:-1.16 [[ 9.98586212e-01 5.10965304e-02 1.46533827e-02 2.13688554e+02] [-5.11083897e-02 9.98693017e-01 4.35746280e-04 2.20411618e+01] [-1.46119658e-02 -1.18404102e-03 9.99892538e-01 -1.15991490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121400513 meters 0.08208406785905971 Centerline is valid? [True, True] Translation: X:213.72, Y:22.04, Z:-1.16 [[ 9.98614521e-01 5.01703103e-02 1.58738248e-02 2.13720624e+02] [-5.01840726e-02 9.98739875e-01 4.69590330e-04 2.20384564e+01] [-1.58302624e-02 -1.26555290e-03 9.99873893e-01 -1.15887341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151400513 meters 0.08089299073065304 Centerline is valid? [True, True] Translation: X:213.75, Y:22.03, Z:-1.16 [[ 9.98675922e-01 4.85704314e-02 1.69504093e-02 2.13751278e+02] [-4.85858819e-02 9.98818883e-01 5.00658913e-04 2.20328407e+01] [-1.69060717e-02 -1.32354659e-03 9.99856206e-01 -1.15768716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18140051299997 meters 0.0818371898208313 Centerline is valid? [True, True] Translation: X:213.78, Y:22.03, Z:-1.16 [[ 9.98896185e-01 4.35957574e-02 1.74877459e-02 2.13780719e+02] [-4.36114443e-02 9.99048435e-01 5.16485070e-04 2.20343712e+01] [-1.74485886e-02 -1.27858082e-03 9.99846944e-01 -1.15707342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21140051299997 meters 0.07239049791633577 Centerline is valid? [True, True] Translation: X:213.81, Y:22.02, Z:-1.16 [[ 9.99018797e-01 4.06986504e-02 1.74660455e-02 2.13811599e+02] [-4.07138622e-02 9.99170714e-01 5.16091595e-04 2.20231169e+01] [-1.74305570e-02 -1.22669538e-03 9.99847324e-01 -1.15722350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24140051299997 meters 0.07027112887247274 Centerline is valid? [True, True] Translation: X:213.84, Y:22.02, Z:-1.16 [[ 9.99123406e-01 3.79135203e-02 1.77477862e-02 2.13842326e+02] [-3.79287896e-02 9.99280307e-01 5.24418394e-04 2.20203459e+01] [-1.77151307e-02 -1.19711074e-03 9.99842358e-01 -1.15736693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27140051299997 meters 0.06791762794665374 Centerline is valid? [True, True] Translation: X:213.87, Y:22.01, Z:-1.15 [[ 9.99257306e-01 3.29012055e-02 2.00585690e-02 2.13872582e+02] [-3.29197047e-02 9.99457824e-01 5.92677003e-04 2.20140273e+01] [-2.00281940e-02 -1.25255899e-03 9.99798631e-01 -1.15411833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30140051299998 meters 0.07163192469169942 Centerline is valid? [True, True] Translation: X:213.90, Y:22.02, Z:-1.15 [[ 9.99314563e-01 3.04666091e-02 2.10283151e-02 2.13902298e+02] [-3.04864071e-02 9.99534988e-01 6.21488735e-04 2.20179426e+01] [-2.09996021e-02 -1.26214052e-03 9.99778687e-01 -1.15319001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33140051299998 meters 0.05887132302907974 Centerline is valid? [True, True] Translation: X:213.93, Y:22.00, Z:-1.15 [[ 9.99373052e-01 2.83755044e-02 2.11739009e-02 2.13933401e+02] [-2.83951100e-02 9.99596582e-01 6.25793759e-04 2.20018162e+01] [-2.11476018e-02 -1.22663666e-03 9.99775612e-01 -1.15355646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36140051299998 meters 0.06369685950551426 Centerline is valid? [True, True] Translation: X:213.96, Y:22.01, Z:-1.16 [[ 9.99413152e-01 2.71553449e-02 2.08791322e-02 2.13963701e+02] [-2.71741379e-02 9.99630525e-01 6.16842434e-04 2.20066718e+01] [-2.08546674e-02 -1.18385286e-03 9.99781817e-01 -1.15503957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39140051299998 meters 0.06275589038690005 Centerline is valid? [True, True] Translation: X:214.00, Y:22.00, Z:-1.16 [[ 9.99442927e-01 2.64473420e-02 2.03561866e-02 2.13996468e+02] [-2.64650550e-02 9.99649558e-01 6.01204950e-04 2.20039713e+01] [-2.03331527e-02 -1.13959763e-03 9.99792611e-01 -1.15631052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42140051299998 meters 0.0621960498389945 Centerline is valid? [True, True] Translation: X:214.03, Y:22.00, Z:-1.16 [[ 9.99465493e-01 2.56290727e-02 2.02948231e-02 2.14028941e+02] [-2.56464902e-02 9.99670896e-01 5.98372537e-04 2.20001294e+01] [-2.02728083e-02 -1.11854369e-03 9.99793860e-01 -1.15699681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45140051299998 meters 0.06198149450829594 Centerline is valid? [True, True] Translation: X:214.06, Y:22.00, Z:-1.16 [[ 9.99449534e-01 2.57717069e-02 2.08913612e-02 2.14062216e+02] [-2.57901254e-02 9.99667192e-01 6.12639640e-04 2.19993572e+01] [-2.08686197e-02 -1.15109323e-03 9.99781564e-01 -1.15670517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48140051299998 meters 0.054914148627316806 Centerline is valid? [True, True] Translation: X:214.09, Y:21.99, Z:-1.16 [[ 9.99426819e-01 2.63264260e-02 2.12827001e-02 2.14094352e+02] [-2.63455845e-02 9.99652702e-01 6.20259726e-04 2.19897058e+01] [-2.12589794e-02 -1.18060938e-03 9.99773305e-01 -1.15618756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51140051299998 meters 0.06886157541276504 Centerline is valid? [True, True] Translation: X:214.13, Y:22.01, Z:-1.16 [[ 9.99391907e-01 2.72900676e-02 2.17041246e-02 2.14125101e+02] [-2.73101402e-02 9.99626811e-01 6.28901961e-04 2.20054478e+01] [-2.16788620e-02 -1.22126221e-03 9.99764240e-01 -1.15537205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54140051299999 meters 0.059006174005704126 Centerline is valid? [True, True] Translation: X:214.16, Y:21.99, Z:-1.16 [[ 9.99295689e-01 3.06362086e-02 2.16690805e-02 2.14156244e+02] [-3.06569299e-02 9.99529771e-01 6.24638963e-04 2.19904176e+01] [-2.16397545e-02 -1.28850650e-03 9.99765003e-01 -1.15642528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571400513 meters 0.05962398662878373 Centerline is valid? [True, True] Translation: X:214.19, Y:21.99, Z:-1.16 [[ 9.99248782e-01 3.23452129e-02 2.13461882e-02 2.14187207e+02] [-3.23657085e-02 9.99475904e-01 6.15279171e-04 2.19908438e+01] [-2.13150994e-02 -1.30570147e-03 9.99771955e-01 -1.15808585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601400513 meters 0.0664533355671847 Centerline is valid? [True, True] Translation: X:214.22, Y:22.00, Z:-1.16 [[ 9.99206206e-01 3.36301036e-02 2.13535471e-02 2.14216690e+02] [-3.36509002e-02 9.99433459e-01 6.15239444e-04 2.19990587e+01] [-2.13207588e-02 -1.33331715e-03 9.99771798e-01 -1.15947519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631400513 meters 0.06711900982632477 Centerline is valid? [True, True] Translation: X:214.25, Y:22.00, Z:-1.16 [[ 9.99169520e-01 3.43327601e-02 2.19438276e-02 2.14248412e+02] [-3.43548896e-02 9.99409497e-01 6.32162365e-04 2.19995265e+01] [-2.19091658e-02 -1.38551514e-03 9.99759005e-01 -1.15968932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661400513 meters 0.06949340535572958 Centerline is valid? [True, True] Translation: X:214.28, Y:22.00, Z:-1.16 [[ 9.99139889e-01 3.45871765e-02 2.28737899e-02 2.14279267e+02] [-3.46112089e-02 9.99400638e-01 6.55471998e-04 2.20003729e+01] [-2.28374093e-02 -1.44659774e-03 9.99738146e-01 -1.15773638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691400513 meters 0.07130807356339425 Centerline is valid? [True, True] Translation: X:214.31, Y:22.00, Z:-1.16 [[ 9.99154961e-01 3.47820790e-02 2.18991006e-02 2.14311015e+02] [-3.48040859e-02 9.99393959e-01 6.24472828e-04 2.20016973e+01] [-2.18641084e-02 -1.38612330e-03 9.99759991e-01 -1.15906628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721400513 meters 0.0699046542056969 Centerline is valid? [True, True] Translation: X:214.34, Y:22.00, Z:-1.16 [[ 9.99188970e-01 3.51381654e-02 1.96649699e-02 2.14343266e+02] [-3.51559211e-02 9.99381684e-01 5.57828757e-04 2.19976993e+01] [-1.96332097e-02 -1.24871647e-03 9.99806470e-01 -1.16338561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751400513 meters 0.0635508700630865 Centerline is valid? [True, True] Translation: X:214.38, Y:21.99, Z:-1.17 [[ 9.99170210e-01 3.60114764e-02 1.90279858e-02 2.14375618e+02] [-3.60281987e-02 9.99350630e-01 5.36644212e-04 2.19891213e+01] [-1.89963042e-02 -1.22174296e-03 9.99818807e-01 -1.16532130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781400513 meters 0.0704765632618787 Centerline is valid? [True, True] Translation: X:214.41, Y:22.00, Z:-1.17 [[ 9.99109880e-01 3.75287549e-02 1.92623972e-02 2.14405829e+02] [-3.75461536e-02 9.99294747e-01 5.42268549e-04 2.19973897e+01] [-1.92284617e-02 -1.26501479e-03 9.99814316e-01 -1.16659811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811400513 meters 0.07513800020923718 Centerline is valid? [True, True] Translation: X:214.43, Y:22.00, Z:-1.17 [[ 9.98996636e-01 4.01493369e-02 1.98432076e-02 2.14434994e+02] [-4.01683102e-02 9.99192772e-01 5.58350989e-04 2.20029969e+01] [-1.98047721e-02 -1.35485888e-03 9.99802948e-01 -1.16675990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841400513 meters 0.0797950738036405 Centerline is valid? [True, True] Translation: X:214.47, Y:22.01, Z:-1.17 [[ 9.98688369e-01 4.72068018e-02 1.98257416e-02 2.14465328e+02] [-4.72271284e-02 9.98884021e-01 5.58055177e-04 2.20102078e+01] [-1.97772725e-02 -1.49363606e-03 9.99803295e-01 -1.16658654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871400513 meters 0.08007995158883045 Centerline is valid? [True, True] Translation: X:214.50, Y:22.01, Z:-1.17 [[ 9.98524005e-01 5.09331208e-02 1.88581296e-02 2.14496058e+02] [-5.09521710e-02 9.98700954e-01 5.30781444e-04 2.20130698e+01] [-1.88065977e-02 -1.49086066e-03 9.99822029e-01 -1.16830667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901400513 meters 0.0891672696686594 Centerline is valid? [True, True] Translation: X:214.53, Y:22.03, Z:-1.17 [[ 9.98384548e-01 5.41317962e-02 1.72638924e-02 2.14525546e+02] [-5.41482348e-02 9.98532790e-01 4.85840890e-04 2.20264505e+01] [-1.72122632e-02 -1.41986534e-03 9.99850850e-01 -1.17171737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93140051299997 meters 0.09532066082095134 Centerline is valid? [True, True] Translation: X:214.56, Y:22.04, Z:-1.18 [[ 9.98261320e-01 5.67327458e-02 1.59916276e-02 2.14555465e+02] [-5.67471833e-02 9.98388479e-01 4.50132933e-04 2.20355797e+01] [-1.59403195e-02 -1.35683012e-03 9.99872024e-01 -1.17518392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96140051299997 meters 0.09199632582967368 Centerline is valid? [True, True] Translation: X:214.59, Y:22.03, Z:-1.17 [[ 9.98135653e-01 5.86472695e-02 1.69031465e-02 2.14586287e+02] [-5.86636705e-02 9.98277691e-01 4.75671312e-04 2.20317346e+01] [-1.68461372e-02 -1.46638511e-03 9.99857018e-01 -1.17443367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99140051299997 meters 0.08946937813621972 Centerline is valid? [True, True] Translation: X:214.62, Y:22.03, Z:-1.17 [[ 9.98174474e-01 5.76622289e-02 1.79662934e-02 2.14617660e+02] [-5.76806003e-02 9.98334960e-01 5.05608307e-04 2.20291471e+01] [-1.79072243e-02 -1.54099189e-03 9.99838465e-01 -1.17275670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02140051299997 meters 0.08402394806411068 Centerline is valid? [True, True] Translation: X:214.65, Y:22.02, Z:-1.17 [[ 9.98281986e-01 5.57746980e-02 1.79515875e-02 2.14648926e+02] [-5.57927281e-02 9.98442245e-01 5.04734049e-04 2.20229682e+01] [-1.78954719e-02 -1.50543495e-03 9.99838730e-01 -1.17254598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05140051299998 meters 0.07739517217622247 Centerline is valid? [True, True] Translation: X:214.68, Y:22.02, Z:-1.17 [[ 9.98532919e-01 5.14516415e-02 1.68741741e-02 2.14680134e+02] [-5.14669572e-02 9.98674585e-01 4.74352346e-04 2.20163215e+01] [-1.68274026e-02 -1.34211883e-03 9.99857508e-01 -1.17432214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08140051299998 meters 0.08513313126049454 Centerline is valid? [True, True] Translation: X:214.71, Y:22.03, Z:-1.17 [[ 9.98596117e-01 4.99147944e-02 1.77287232e-02 2.14709941e+02] [-4.99314586e-02 9.98752522e-01 4.98281500e-04 2.20272957e+01] [-1.76817354e-02 -1.38280298e-03 9.99842710e-01 -1.17496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11140051299998 meters 0.08253596785958821 Centerline is valid? [True, True] Translation: X:214.74, Y:22.03, Z:-1.17 [[ 9.98619558e-01 4.90805593e-02 1.87103292e-02 2.14741438e+02] [-4.90989759e-02 9.98793779e-01 5.25929583e-04 2.20256587e+01] [-1.86619475e-02 -1.44386157e-03 9.99824808e-01 -1.17454714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14140051299998 meters 0.08339471744296686 Centerline is valid? [True, True] Translation: X:214.77, Y:22.03, Z:-1.17 [[ 9.98650617e-01 4.82463350e-02 1.92155392e-02 2.14771745e+02] [-4.82655974e-02 9.98834391e-01 5.39666026e-04 2.20281134e+01] [-1.91671045e-02 -1.46638729e-03 9.99815219e-01 -1.17486648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17140051299998 meters 0.07294649366712465 Centerline is valid? [True, True] Translation: X:214.80, Y:22.02, Z:-1.18 [[ 9.98710843e-01 4.71154538e-02 1.88888079e-02 2.14803832e+02] [-4.71338627e-02 9.98888441e-01 5.30342620e-04 2.20164028e+01] [-1.88428245e-02 -1.41996140e-03 9.99821450e-01 -1.17540668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20140051299998 meters 0.07850167605193376 Centerline is valid? [True, True] Translation: X:214.83, Y:22.02, Z:-1.18 [[ 9.98857152e-01 4.42804130e-02 1.79898563e-02 2.14833567e+02] [-4.42966411e-02 9.99018295e-01 5.04403615e-04 2.20227748e+01] [-1.79498604e-02 -1.30071737e-03 9.99838042e-01 -1.17750630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23140051299998 meters 0.06829721751974246 Centerline is valid? [True, True] Translation: X:214.86, Y:22.01, Z:-1.18 [[ 9.98921261e-01 4.27433268e-02 1.81472630e-02 2.14864964e+02] [-4.27595874e-02 9.99085261e-01 5.08784810e-04 2.20098493e+01] [-1.81089158e-02 -1.28420544e-03 9.99835195e-01 -1.17678860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26140051299998 meters 0.07632762663310523 Centerline is valid? [True, True] Translation: X:214.90, Y:22.02, Z:-1.18 [[ 9.98945837e-01 4.15354874e-02 1.95452978e-02 2.14895704e+02] [-4.15541154e-02 9.99136105e-01 5.47728428e-04 2.20192225e+01] [-1.95056625e-02 -1.35933859e-03 9.99808822e-01 -1.17591964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29140051299999 meters 0.07016693457845895 Centerline is valid? [True, True] Translation: X:214.93, Y:22.01, Z:-1.17 [[ 9.98946715e-01 4.06689977e-02 2.12483656e-02 2.14927112e+02] [-4.06908078e-02 9.99171609e-01 5.94913877e-04 2.20108837e+01] [-2.12065691e-02 -1.45890042e-03 9.99774051e-01 -1.17423046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321400513 meters 0.07399603375252393 Centerline is valid? [True, True] Translation: X:214.96, Y:22.01, Z:-1.17 [[ 9.98900737e-01 4.09214472e-02 2.28637856e-02 2.14958615e+02] [-4.09467496e-02 9.99161126e-01 6.39396590e-04 2.20147316e+01] [-2.28184407e-02 -1.57489143e-03 9.99738385e-01 -1.17273580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351400513 meters 0.07354728507044211 Centerline is valid? [True, True] Translation: X:214.99, Y:22.01, Z:-1.17 [[ 9.98836365e-01 4.20584399e-02 2.36009323e-02 2.14990004e+02] [-4.20856387e-02 9.99113791e-01 6.56714694e-04 2.20132878e+01] [-2.35523966e-02 -1.64921083e-03 9.99721244e-01 -1.17235379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381400513 meters 0.07678333056193692 Centerline is valid? [True, True] Translation: X:215.02, Y:22.01, Z:-1.18 [[ 9.98726418e-01 4.52234441e-02 2.23692217e-02 2.15020824e+02] [-4.52486563e-02 9.98975561e-01 6.21967387e-04 2.20143113e+01] [-2.23181783e-02 -1.63335248e-03 9.99749584e-01 -1.17512194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411400513 meters 0.08080340290801852 Centerline is valid? [True, True] Translation: X:215.05, Y:22.02, Z:-1.18 [[ 9.98681085e-01 4.66083059e-02 2.15349931e-02 2.15050857e+02] [-4.66319849e-02 9.98911958e-01 5.98428380e-04 2.20188173e+01] [-2.14836704e-02 -1.60185858e-03 9.99767916e-01 -1.17710983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441400513 meters 0.08170894971055023 Centerline is valid? [True, True] Translation: X:215.08, Y:22.02, Z:-1.18 [[ 9.98589896e-01 4.89671528e-02 2.05045747e-02 2.15081886e+02] [-4.89891091e-02 9.98799150e-01 5.69568303e-04 2.20170418e+01] [-2.04520616e-02 -1.57326600e-03 9.99789597e-01 -1.18025290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471400513 meters 0.0802912777405089 Centerline is valid? [True, True] Translation: X:215.11, Y:22.01, Z:-1.18 [[ 9.98551778e-01 4.99245745e-02 2.00470238e-02 2.15114458e+02] [-4.99457535e-02 9.98751777e-01 5.56866568e-04 2.20131868e+01] [-1.99941994e-02 -1.55732381e-03 9.99798883e-01 -1.18175319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501400513 meters 0.07807201933972371 Centerline is valid? [True, True] Translation: X:215.15, Y:22.01, Z:-1.18 [[ 9.98531744e-01 5.05857447e-02 1.93762491e-02 2.15146532e+02] [-5.06056373e-02 9.98718569e-01 5.37396852e-04 2.20081535e+01] [-1.93242352e-02 -1.51715525e-03 9.99812118e-01 -1.18361146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531400513 meters 0.08367207213930554 Centerline is valid? [True, True] Translation: X:215.18, Y:22.01, Z:-1.19 [[ 9.98535629e-01 5.06970519e-02 1.88787511e-02 2.15178263e+02] [-5.07159457e-02 9.98712981e-01 5.23072054e-04 2.20133102e+01] [-1.88279356e-02 -1.47975980e-03 9.99821644e-01 -1.18581555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561400513 meters 0.07859828119502066 Centerline is valid? [True, True] Translation: X:215.21, Y:22.00, Z:-1.18 [[ 9.98561598e-01 4.97971507e-02 1.98740921e-02 2.15210371e+02] [-4.98178376e-02 9.98758171e-01 5.46860094e-04 2.20030269e+01] [-1.98221798e-02 -1.53615778e-03 9.99802341e-01 -1.18487166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591400513 meters 0.08549322868152458 Centerline is valid? [True, True] Translation: X:215.24, Y:22.01, Z:-1.18 [[ 9.98537821e-01 5.00874779e-02 2.03338228e-02 2.15241000e+02] [-5.01091808e-02 9.98743590e-01 5.58911673e-04 2.20116353e+01] [-2.02802807e-02 -1.57700565e-03 9.99793090e-01 -1.18451141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621400513 meters 0.07889864292805045 Centerline is valid? [True, True] Translation: X:215.27, Y:22.00, Z:-1.19 [[ 9.98523612e-01 5.06599505e-02 1.96001369e-02 2.15273724e+02] [-5.06801710e-02 9.98714791e-01 5.35992126e-04 2.20019316e+01] [-1.95477932e-02 -1.52853908e-03 9.99807755e-01 -1.18563157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651400513 meters 0.08388624294878769 Centerline is valid? [True, True] Translation: X:215.30, Y:22.01, Z:-1.19 [[ 9.98483549e-01 5.19403237e-02 1.82429563e-02 2.15303394e+02] [-5.19579983e-02 9.98649148e-01 4.95892127e-04 2.20068858e+01] [-1.81925559e-02 -1.44300762e-03 9.99833460e-01 -1.18844940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68140051299997 meters 0.08635299858943125 Centerline is valid? [True, True] Translation: X:215.33, Y:22.01, Z:-1.19 [[ 9.98440701e-01 5.34723677e-02 1.60272193e-02 2.15334514e+02] [-5.34861903e-02 9.98568495e-01 4.34736005e-04 2.20093478e+01] [-1.59810299e-02 -1.29129302e-03 9.99871461e-01 -1.19285866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71140051299997 meters 0.08605665527964734 Centerline is valid? [True, True] Translation: X:215.37, Y:22.01, Z:-1.20 [[ 9.98379312e-01 5.51218845e-02 1.41537139e-02 2.15365568e+02] [-5.51328263e-02 9.98478955e-01 3.83750535e-04 2.20088542e+01] [-1.41110325e-02 -1.16346285e-03 9.99899758e-01 -1.19660984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74140051299997 meters 0.0886480306997085 Centerline is valid? [True, True] Translation: X:215.40, Y:22.01, Z:-1.20 [[ 9.98191781e-01 5.84605139e-02 1.39834131e-02 2.15395958e+02] [-5.84715177e-02 9.98289005e-01 3.79027608e-04 2.20112179e+01] [-1.39373294e-02 -1.19597363e-03 9.99902155e-01 -1.19752879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77140051299997 meters 0.08485985754068291 Centerline is valid? [True, True] Translation: X:215.43, Y:22.01, Z:-1.20 [[ 9.98092858e-01 5.98510929e-02 1.51159788e-02 2.15427611e+02] [-5.98641113e-02 9.98206452e-01 4.09820419e-04 2.20059964e+01] [-1.50643394e-02 -1.31394347e-03 9.99885663e-01 -1.19579973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80140051299998 meters 0.08485985754068291 Centerline is valid? [True, True] Translation: X:215.46, Y:22.01, Z:-1.20 [[ 9.98081921e-01 6.00332179e-02 1.51159612e-02 2.15460225e+02] [-6.00462668e-02 9.98195511e-01 4.10475486e-04 2.20067408e+01] [-1.50640424e-02 -1.31734520e-03 9.99885663e-01 -1.19649730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83140051299998 meters 0.10028716200549709 Centerline is valid? [True, False] Translation: X:215.46, Y:22.00, Z:-1.19 [[ 9.98613305e-01 5.08102589e-02 1.37762494e-02 2.15458477e+02] [-5.09672188e-02 9.98636485e-01 1.12922178e-02 2.20009157e+01] [-1.31837048e-02 -1.19786960e-02 9.99841338e-01 -1.19404490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86140051299998 meters 0.10614632049395951 Centerline is valid? [False, False] Translation: X:215.46, Y:22.00, Z:-1.19 [[ 9.99066824e-01 4.13740010e-02 1.23964892e-02 2.15457256e+02] [-4.16361222e-02 9.98897367e-01 2.16906372e-02 2.19962083e+01] [-1.14853920e-02 -2.21865378e-02 9.99687873e-01 -1.19227055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89140051299998 meters 0.09881245765899767 Centerline is valid? [False, True] Translation: X:215.46, Y:22.01, Z:-1.20 [[ 9.99535667e-01 2.79281595e-02 1.21847893e-02 2.15457713e+02] [-2.79880502e-02 9.99596864e-01 4.77264488e-03 2.20131555e+01] [-1.20465860e-02 -5.11145728e-03 9.99914373e-01 -1.19561621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92140051299998 meters 0.0921792107307712 Centerline is valid? [True, True] Translation: X:215.49, Y:22.01, Z:-1.20 [[ 9.99525914e-01 2.81339852e-02 1.25070762e-02 2.15491061e+02] [-2.81462507e-02 9.99603491e-01 8.05712794e-04 2.20108975e+01] [-1.24794491e-02 -1.15735812e-03 9.99921459e-01 -1.19611201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95140051299998 meters 0.10050138212692927 Centerline is valid? [True, False] Translation: X:215.49, Y:22.00, Z:-1.19 [[ 9.99768250e-01 2.02224395e-02 7.38241776e-03 2.15489734e+02] [-2.03105999e-02 9.99720871e-01 1.20689576e-02 2.20047705e+01] [-7.13629335e-03 -1.22161019e-02 9.99899915e-01 -1.19122659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98140051299998 meters 0.10682268024706264 Centerline is valid? [False, False] Translation: X:215.49, Y:22.01, Z:-1.19 [[ 9.99850376e-01 1.56170054e-02 7.43879249e-03 2.15489445e+02] [-1.56671697e-02 9.99854588e-01 6.73375361e-03 2.20091268e+01] [-7.33254973e-03 -6.84929090e-03 9.99949659e-01 -1.19158922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01140051299998 meters 0.09473303934480434 Centerline is valid? [False, True] Translation: X:215.49, Y:22.01, Z:-1.19 [[ 9.99910702e-01 1.10559398e-02 7.50687919e-03 2.15489134e+02] [-1.10681739e-02 9.99937482e-01 1.59013343e-03 2.20126642e+01] [-7.48882945e-03 -1.67307888e-03 9.99970559e-01 -1.19181212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04140051299999 meters 0.08970873061964492 Centerline is valid? [True, True] Translation: X:215.52, Y:22.01, Z:-1.19 [[ 9.99950191e-01 7.06017500e-03 7.05475799e-03 2.15520723e+02] [-7.06420314e-03 9.99974899e-01 5.46227480e-04 2.20071543e+01] [-7.05072445e-03 -5.96036516e-04 9.99974966e-01 -1.19235227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071400513 meters 0.08587347020491327 Centerline is valid? [True, True] Translation: X:215.55, Y:22.00, Z:-1.19 [[ 9.99967498e-01 5.21758912e-03 6.14659768e-03 2.15552114e+02] [-5.22061266e-03 9.99986259e-01 4.75962598e-04 2.20044430e+01] [-6.14402984e-03 -5.08036134e-04 9.99980996e-01 -1.19382006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101400513 meters 0.08652153533280475 Centerline is valid? [True, True] Translation: X:215.58, Y:22.01, Z:-1.20 [[ 9.99976909e-01 3.57382337e-03 5.78006505e-03 2.15581657e+02] [-3.57646921e-03 9.99993504e-01 4.47481397e-04 2.20071610e+01] [-5.77842829e-03 -4.68143289e-04 9.99983195e-01 -1.19531192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131400513 meters 0.08843167880142878 Centerline is valid? [True, True] Translation: X:215.61, Y:22.01, Z:-1.20 [[ 9.99978268e-01 2.33609070e-03 6.16492625e-03 2.15611192e+02] [-2.33907725e-03 9.99997150e-01 4.77276602e-04 2.20104972e+01] [-6.16379372e-03 -4.91686468e-04 9.99980883e-01 -1.19525506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161400513 meters 0.08979051034780688 Centerline is valid? [True, True] Translation: X:215.64, Y:22.01, Z:-1.19 [[ 9.99969475e-01 -9.00363607e-05 7.81284327e-03 2.15640746e+02] [ 8.53135168e-05 9.99999813e-01 6.04828621e-04 2.20082623e+01] [-7.81289627e-03 -6.04143618e-04 9.99969296e-01 -1.19290513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191400513 meters 0.08146695638326326 Centerline is valid? [True, True] Translation: X:215.67, Y:22.00, Z:-1.19 [[ 9.99969107e-01 -5.55677499e-04 7.84062373e-03 2.15673870e+02] [ 5.50931432e-04 9.99999664e-01 6.07464367e-04 2.20014100e+01] [-7.84095865e-03 -6.03125955e-04 9.99969077e-01 -1.19287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221400513 meters 0.0863714574153932 Centerline is valid? [True, True] Translation: X:215.70, Y:22.01, Z:-1.19 [[ 9.99976093e-01 -6.86457394e-04 6.88060037e-03 2.15704949e+02] [ 6.82811831e-04 9.99999625e-01 5.32167235e-04 2.20088304e+01] [-6.88096310e-03 -5.27456357e-04 9.99976187e-01 -1.19477947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251400513 meters 0.09133048405085947 Centerline is valid? [True, True] Translation: X:215.74, Y:22.02, Z:-1.20 [[ 9.99984859e-01 -6.82941043e-04 5.46043500e-03 2.15736248e+02] [ 6.80650008e-04 9.99999680e-01 4.21417384e-04 2.20163004e+01] [-5.46072105e-03 -4.17694358e-04 9.99985003e-01 -1.19786621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281400513 meters 0.08474616046471989 Centerline is valid? [True, True] Translation: X:215.77, Y:22.01, Z:-1.20 [[ 9.99989930e-01 -4.45769500e-04 4.46561804e-03 2.15768603e+02] [ 4.44236055e-04 9.99999842e-01 3.44375042e-04 2.20091092e+01] [-4.46577084e-03 -3.42387786e-04 9.99989970e-01 -1.19938970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311400513 meters 0.0784005646105988 Centerline is valid? [True, True] Translation: X:215.80, Y:22.00, Z:-1.20 [[ 9.99992291e-01 -2.58726233e-04 3.91816078e-03 2.15802090e+02] [ 2.57544331e-04 9.99999921e-01 3.02148827e-04 2.19988449e+01] [-3.91823864e-03 -3.01137398e-04 9.99992278e-01 -1.19954699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341400513 meters 0.08744436954135648 Centerline is valid? [True, True] Translation: X:215.83, Y:22.01, Z:-1.20 [[ 9.99990619e-01 -1.27747833e-04 4.32960408e-03 2.15832896e+02] [ 1.26304809e-04 9.99999936e-01 3.33564322e-04 2.20099283e+01] [-4.32964642e-03 -3.33014343e-04 9.99990572e-01 -1.20018835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371400513 meters 0.08292031461114192 Centerline is valid? [True, True] Translation: X:215.87, Y:22.00, Z:-1.20 [[ 9.99987985e-01 1.45910635e-04 4.89990360e-03 2.15865552e+02] [-1.47761353e-04 9.99999918e-01 3.77344976e-04 2.20048330e+01] [-4.89984814e-03 -3.78064459e-04 9.99987924e-01 -1.19919031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401400513 meters 0.08158428603908537 Centerline is valid? [True, True] Translation: X:215.90, Y:22.00, Z:-1.20 [[ 9.99983499e-01 6.00661717e-04 5.71317051e-03 2.15897418e+02] [-6.03183000e-04 9.99999721e-01 4.39597811e-04 2.20038179e+01] [-5.71290487e-03 -4.43036644e-04 9.99983583e-01 -1.19825092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43140051299997 meters 0.08472740731594698 Centerline is valid? [True, True] Translation: X:215.93, Y:22.00, Z:-1.20 [[ 9.99971968e-01 2.23306273e-03 7.14679026e-03 2.15927707e+02] [-2.23704677e-03 9.99997347e-01 5.49512370e-04 2.20049146e+01] [-7.14554420e-03 -5.65484671e-04 9.99974310e-01 -1.19677111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46140051299997 meters 0.09318001987526958 Centerline is valid? [True, True] Translation: X:215.96, Y:22.02, Z:-1.20 [[ 9.99971480e-01 3.20029679e-03 6.84079969e-03 2.15957237e+02] [-3.20396945e-03 9.99994729e-01 5.25984484e-04 2.20154918e+01] [-6.83908032e-03 -5.47887196e-04 9.99976463e-01 -1.19804780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49140051299997 meters 0.0854958933104467 Centerline is valid? [True, True] Translation: X:215.99, Y:22.01, Z:-1.20 [[ 9.99971627e-01 3.99743440e-03 6.38481662e-03 2.15989459e+02] [-4.00065149e-03 9.99991877e-01 4.91174421e-04 2.20078428e+01] [-6.38280132e-03 -5.16703911e-04 9.99979496e-01 -1.19918570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52140051299997 meters 0.08250177302100109 Centerline is valid? [True, True] Translation: X:216.02, Y:22.01, Z:-1.20 [[ 9.99968688e-01 4.82396833e-03 6.27313351e-03 2.16021448e+02] [-4.82708457e-03 9.99988234e-01 4.81714179e-04 2.20059749e+01] [-6.27073592e-03 -5.11980041e-04 9.99980208e-01 -1.19993901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55140051299998 meters 0.08809447633191508 Centerline is valid? [True, True] Translation: X:216.05, Y:22.01, Z:-1.20 [[ 9.99949960e-01 6.39523536e-03 7.69280274e-03 2.16051158e+02] [-6.39995376e-03 9.99979347e-01 5.88891628e-04 2.20110992e+01] [-7.68887776e-03 -6.38095741e-04 9.99970237e-01 -1.19798937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58140051299998 meters 0.09300650947144956 Centerline is valid? [True, True] Translation: X:216.08, Y:22.02, Z:-1.20 [[ 9.99937331e-01 6.94397252e-03 8.78156681e-03 2.16082391e+02] [-6.95014392e-03 9.99975621e-01 6.72445420e-04 2.20168121e+01] [-8.77668328e-03 -7.33436431e-04 9.99961215e-01 -1.19661246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61140051299998 meters 0.08721065711517062 Centerline is valid? [True, True] Translation: X:216.12, Y:22.01, Z:-1.19 [[ 9.99928208e-01 7.04141230e-03 9.69522221e-03 2.16115579e+02] [-7.04892438e-03 9.99974882e-01 7.40869545e-04 2.20103244e+01] [-9.68976191e-03 -8.09157245e-04 9.99952726e-01 -1.19489833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64140051299998 meters 0.08598763055159328 Centerline is valid? [True, True] Translation: X:216.15, Y:22.01, Z:-1.19 [[ 9.99926663e-01 6.75306658e-03 1.00530705e-02 2.16147472e+02] [-6.76111282e-03 9.99976850e-01 7.66605849e-04 2.20099497e+01] [-1.00476608e-02 -8.34519573e-04 9.99949173e-01 -1.19482222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67140051299998 meters 0.0864584578647395 Centerline is valid? [True, True] Translation: X:216.18, Y:22.01, Z:-1.20 [[ 9.99949902e-01 5.95866115e-03 8.04291561e-03 2.16178826e+02] [-5.96377589e-03 9.99982029e-01 6.12098198e-04 2.20112754e+01] [-8.03912379e-03 -6.60033679e-04 9.99967468e-01 -1.19806267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70140051299998 meters 0.0846113439009269 Centerline is valid? [True, True] Translation: X:216.21, Y:22.01, Z:-1.20 [[ 9.99960079e-01 5.72861285e-03 6.85730458e-03 2.16211358e+02] [-5.73232766e-03 9.99983434e-01 5.22199609e-04 2.20105682e+01] [-6.85419950e-03 -5.61487079e-04 9.99976352e-01 -1.20057763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73140051299998 meters 0.08505616358066447 Centerline is valid? [True, True] Translation: X:216.24, Y:22.01, Z:-1.20 [[ 9.99967071e-01 4.87365555e-03 6.48885545e-03 2.16242783e+02] [-4.87695477e-03 9.99987986e-01 4.92718255e-04 2.20126605e+01] [-6.48637615e-03 -5.24347885e-04 9.99978826e-01 -1.20165251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76140051299998 meters 0.07983551654995473 Centerline is valid? [True, True] Translation: X:216.27, Y:22.01, Z:-1.20 [[ 9.99969083e-01 4.02494111e-03 6.75525719e-03 2.16274383e+02] [-4.02849649e-03 9.99991754e-01 5.12789478e-04 2.20081398e+01] [-6.75313754e-03 -5.39987153e-04 9.99977052e-01 -1.20152959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79140051299999 meters 0.08375619928206054 Centerline is valid? [True, True] Translation: X:216.30, Y:22.01, Z:-1.20 [[ 9.99971213e-01 3.24117908e-03 6.86066672e-03 2.16304386e+02] [-3.24482660e-03 9.99994600e-01 5.20592863e-04 2.20144626e+01] [-6.85894233e-03 -5.42839550e-04 9.99976330e-01 -1.20237599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821400513 meters 0.09007883223678065 Centerline is valid? [True, True] Translation: X:216.33, Y:22.02, Z:-1.20 [[ 9.99983047e-01 2.08008202e-03 5.43856524e-03 2.16334260e+02] [-2.08235683e-03 9.99997747e-01 4.12644775e-04 2.20211838e+01] [-5.43769466e-03 -4.23962813e-04 9.99985126e-01 -1.20448930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851400513 meters 0.07971092058029292 Centerline is valid? [True, True] Translation: X:216.37, Y:22.01, Z:-1.20 [[ 9.99985842e-01 1.98599743e-03 4.93674743e-03 2.16367606e+02] [-1.98787247e-03 9.99997954e-01 3.74934886e-04 2.20103985e+01] [-4.93599271e-03 -3.84743202e-04 9.99987744e-01 -1.20442129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881400513 meters 0.08035673630633433 Centerline is valid? [True, True] Translation: X:216.40, Y:22.01, Z:-1.20 [[ 9.99984269e-01 2.38590530e-03 5.07628067e-03 2.16399557e+02] [-2.38789236e-03 9.99997075e-01 3.85416111e-04 2.20139667e+01] [-5.07534626e-03 -3.97531660e-04 9.99987041e-01 -1.20417280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911400513 meters 0.08026728849531119 Centerline is valid? [True, True] Translation: X:216.43, Y:22.02, Z:-1.20 [[ 9.99962831e-01 3.98341733e-03 7.64655215e-03 2.16430622e+02] [-3.98795415e-03 9.99991881e-01 5.78160561e-04 2.20166227e+01] [-7.64418701e-03 -6.08633171e-04 9.99970598e-01 -1.20015331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941400513 meters 0.08407635183670092 Centerline is valid? [True, True] Translation: X:216.46, Y:22.02, Z:-1.20 [[ 9.99952263e-01 5.30819714e-03 8.20328296e-03 2.16460288e+02] [-5.31346280e-03 9.99985691e-01 6.20236156e-04 2.20231285e+01] [-8.19987324e-03 -6.63794387e-04 9.99966160e-01 -1.19965162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971400513 meters 0.0844928448756892 Centerline is valid? [True, True] Translation: X:216.49, Y:22.03, Z:-1.20 [[ 9.99949893e-01 6.94596059e-03 7.20863191e-03 2.16490795e+02] [-6.95006586e-03 9.99975700e-01 5.44600293e-04 2.20258208e+01] [-7.20467397e-03 -5.94673472e-04 9.99973869e-01 -1.20136430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001400513 meters 0.08921658587577497 Centerline is valid? [True, True] Translation: X:216.52, Y:22.03, Z:-1.20 [[ 9.99943889e-01 8.76428835e-03 5.95034877e-03 2.16520117e+02] [-8.76711670e-03 9.99961467e-01 4.49406712e-04 2.20343170e+01] [-5.94618076e-03 -5.01548898e-04 9.99982196e-01 -1.20451191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031400513 meters 0.09847124287279498 Centerline is valid? [True, True] Translation: X:216.55, Y:22.05, Z:-1.21 [[ 9.99911845e-01 1.25659726e-02 4.28933513e-03 2.16548702e+02] [-1.25674771e-02 9.99920974e-01 3.23970711e-04 2.20510546e+01] [-4.28492516e-03 -3.77848273e-04 9.99990748e-01 -1.20931613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061400513 meters 0.09414725974884688 Centerline is valid? [True, True] Translation: X:216.58, Y:22.05, Z:-1.21 [[ 9.99883559e-01 1.45611105e-02 4.56534153e-03 2.16579197e+02] [-1.45628359e-02 9.99893897e-01 3.44924212e-04 2.20498913e+01] [-4.55983465e-03 -4.11368368e-04 9.99989519e-01 -1.20913927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091400513 meters 0.09197500690154438 Centerline is valid? [True, True] Translation: X:216.61, Y:22.05, Z:-1.21 [[ 9.99853530e-01 1.64474847e-02 4.73267208e-03 2.16609504e+02] [-1.64493598e-02 9.99864636e-01 3.57561742e-04 2.20507737e+01] [-4.72615046e-03 -4.35358796e-04 9.99988737e-01 -1.20846406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121400513 meters 0.09649096922723073 Centerline is valid? [True, True] Translation: X:216.64, Y:22.06, Z:-1.21 [[ 9.99821228e-01 1.81872426e-02 5.17075902e-03 2.16638411e+02] [-1.81895043e-02 9.99834481e-01 3.90695456e-04 2.20599453e+01] [-5.16279749e-03 -4.84679154e-04 9.99986555e-01 -1.20786319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151400513 meters 0.09751272447355937 Centerline is valid? [True, True] Translation: X:216.67, Y:22.07, Z:-1.21 [[ 9.99792693e-01 1.94890915e-02 5.89467450e-03 2.16668786e+02] [-1.94920525e-02 9.99809913e-01 4.45275510e-04 2.20652190e+01] [-5.88487599e-03 -5.60082505e-04 9.99982527e-01 -1.20662304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18140051299997 meters 0.1014846559257524 Centerline is valid? [True, False] Translation: X:216.67, Y:22.07, Z:-1.21 [[ 9.99796377e-01 1.92747002e-02 5.97415884e-03 2.16668559e+02] [-1.92740812e-02 9.99814225e-01 -1.61169388e-04 2.20679377e+01] [-5.97615548e-03 4.59901474e-05 9.99982142e-01 -1.20668730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21140051299997 meters 0.09793857140406885 Centerline is valid? [False, True] Translation: X:216.65, Y:22.07, Z:-1.21 [[ 9.99810875e-01 1.72652162e-02 8.95129375e-03 2.16650908e+02] [-1.73392731e-02 9.99815521e-01 8.26279470e-03 2.20657189e+01] [-8.80698348e-03 -8.41644093e-03 9.99925798e-01 -1.21458188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24140051299997 meters 0.10178959739664684 Centerline is valid? [True, False] Translation: X:216.65, Y:22.07, Z:-1.22 [[ 9.99880858e-01 1.25092482e-02 9.04373091e-03 2.16650754e+02] [-1.25301936e-02 9.99918933e-01 2.26307995e-03 2.20728174e+01] [-9.01468834e-03 -2.37613002e-03 9.99956544e-01 -1.21567004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27140051299997 meters 0.08747616412740854 Centerline is valid? [False, True] Translation: X:216.63, Y:22.07, Z:-1.21 [[ 9.99941054e-01 9.45748578e-03 5.33338530e-03 2.16631639e+02] [-9.51592278e-03 9.99893777e-01 1.10400192e-02 2.20680566e+01] [-5.22840794e-03 -1.10901205e-02 9.99924834e-01 -1.21334920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30140051299998 meters 0.08615335901125667 Centerline is valid? [True, True] Translation: X:216.66, Y:22.08, Z:-1.21 [[ 9.99968092e-01 4.27853364e-03 6.74610843e-03 2.16659890e+02] [-4.28244350e-03 9.99990671e-01 5.65234125e-04 2.20831392e+01] [-6.74362712e-03 -5.94105918e-04 9.99977085e-01 -1.21335997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33140051299998 meters 0.09135428468131225 Centerline is valid? [True, True] Translation: X:216.69, Y:22.09, Z:-1.21 [[ 9.99974216e-01 5.03929467e-04 7.16327326e-03 2.16688822e+02] [-5.08243073e-04 9.99999691e-01 6.00375996e-04 2.20928492e+01] [-7.16296850e-03 -6.04001200e-04 9.99974163e-01 -1.21358924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36140051299998 meters 0.0812634430810035 Centerline is valid? [True, True] Translation: X:216.72, Y:22.08, Z:-1.21 [[ 9.99967259e-01 -3.61154898e-03 7.24132515e-03 2.16720772e+02] [ 3.60724845e-03 9.99993310e-01 6.06860048e-04 2.20832284e+01] [-7.24346841e-03 -5.80718920e-04 9.99973597e-01 -1.21333498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39140051299998 meters 0.08045351529815747 Centerline is valid? [True, True] Translation: X:216.75, Y:22.08, Z:-1.21 [[ 9.99947116e-01 -7.83991581e-03 6.65588682e-03 2.16750302e+02] [ 7.83637571e-03 9.99969140e-01 5.57788338e-04 2.20847065e+01] [-6.66005443e-03 -5.05600811e-04 9.99977694e-01 -1.21462675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42140051299998 meters 0.07010522103240764 Centerline is valid? [True, True] Translation: X:216.78, Y:22.08, Z:-1.21 [[ 9.99863144e-01 -1.53142602e-02 6.25831317e-03 2.16781872e+02] [ 1.53112762e-02 9.99882638e-01 5.24444535e-04 2.20754664e+01] [-6.26561017e-03 -4.28550000e-04 9.99980279e-01 -1.21451517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45140051299998 meters 0.06982261684982279 Centerline is valid? [True, True] Translation: X:216.81, Y:22.08, Z:-1.21 [[ 9.99810600e-01 -1.79868570e-02 7.43214468e-03 2.16811024e+02] [ 1.79827227e-02 9.99838104e-01 6.22733405e-04 2.20774253e+01] [-7.44214246e-03 -4.88965263e-04 9.99972187e-01 -1.21291713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48140051299998 meters 0.06400793127369607 Centerline is valid? [True, True] Translation: X:216.84, Y:22.07, Z:-1.21 [[ 9.99769798e-01 -1.96076831e-02 8.71149017e-03 2.16842398e+02] [ 1.96020628e-02 9.99807595e-01 7.30089610e-04 2.20721432e+01] [-8.72412940e-03 -5.59158364e-04 9.99961788e-01 -1.21079712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51140051299998 meters 0.06591126590411166 Centerline is valid? [True, True] Translation: X:216.87, Y:22.08, Z:-1.21 [[ 9.99750937e-01 -2.00811993e-02 9.73697624e-03 2.16873927e+02] [ 2.00742010e-02 9.99798160e-01 8.15946875e-04 2.20762012e+01] [-9.75139612e-03 -6.20281635e-04 9.99952262e-01 -1.20947867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54140051299999 meters 0.07355132449085766 Centerline is valid? [True, True] Translation: X:216.90, Y:22.09, Z:-1.21 [[ 9.99761333e-01 -1.94153947e-02 1.00159590e-02 2.16904364e+02] [ 1.94079610e-02 9.99811296e-01 8.38864206e-04 2.20874264e+01] [-1.00303559e-02 -6.44274654e-04 9.99949487e-01 -1.20970076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571400513 meters 0.06487649802785002 Centerline is valid? [True, True] Translation: X:216.94, Y:22.08, Z:-1.21 [[ 9.99785151e-01 -1.82596733e-02 9.81005246e-03 2.16937340e+02] [ 1.82524927e-02 9.99833072e-01 8.21003898e-04 2.20789963e+01] [-9.82340615e-03 -6.41769596e-04 9.99951543e-01 -1.21040686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601400513 meters 0.07776795580332832 Centerline is valid? [True, True] Translation: X:216.97, Y:22.09, Z:-1.21 [[ 9.99822895e-01 -1.60970496e-02 9.75001057e-03 2.16965763e+02] [ 1.60898587e-02 9.99870217e-01 8.15523002e-04 2.20943302e+01] [-9.76187271e-03 -6.58502277e-04 9.99952135e-01 -1.21116539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631400513 meters 0.07074215698654901 Centerline is valid? [True, True] Translation: X:217.00, Y:22.09, Z:-1.21 [[ 9.99825934e-01 -1.58209986e-02 9.88929337e-03 2.16998354e+02] [ 1.58135912e-02 9.99874616e-01 8.26782109e-04 2.20864682e+01] [-9.90113393e-03 -6.70252951e-04 9.99950758e-01 -1.21104538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661400513 meters 0.07266007574583594 Centerline is valid? [True, True] Translation: X:217.03, Y:22.09, Z:-1.21 [[ 9.99819379e-01 -1.58343532e-02 1.05110863e-02 2.17028926e+02] [ 1.58259909e-02 9.99874375e-01 8.78273061e-04 2.20897670e+01] [-1.05236728e-02 -7.11766070e-04 9.99944371e-01 -1.21089434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691400513 meters 0.07191977918311857 Centerline is valid? [True, True] Translation: X:217.06, Y:22.09, Z:-1.21 [[ 9.99807777e-01 -1.58825296e-02 1.14958222e-02 2.17060679e+02] [ 1.58725410e-02 9.99873563e-01 9.59612773e-04 2.20904778e+01] [-1.15096097e-02 -7.76960404e-04 9.99933460e-01 -1.20986761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721400513 meters 0.07191977918311857 Centerline is valid? [True, True] Translation: X:217.09, Y:22.09, Z:-1.21 [[ 9.99808836e-01 -1.58157239e-02 1.14958660e-02 2.17093147e+02] [ 1.58057369e-02 9.99874622e-01 9.59087451e-04 2.20930671e+01] [-1.15095933e-02 -7.77203475e-04 9.99933460e-01 -1.21022469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751400513 meters 0.07428893719935575 Centerline is valid? [True, True] Translation: X:217.12, Y:22.10, Z:-1.21 [[ 9.99821673e-01 -1.41437928e-02 1.25130461e-02 2.17123790e+02] [ 1.41318400e-02 9.99899596e-01 1.04313201e-03 2.20966788e+01] [-1.25265436e-02 -8.66113627e-04 9.99921165e-01 -1.20957471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781400513 meters 0.07443758538482358 Centerline is valid? [True, True] Translation: X:217.15, Y:22.10, Z:-1.21 [[ 9.99851402e-01 -1.25106778e-02 1.18598908e-02 2.17154596e+02] [ 1.24998275e-02 9.99921385e-01 9.88556779e-04 2.20985823e+01] [-1.18713260e-02 -8.40163292e-04 9.99929180e-01 -1.21077566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811400513 meters 0.07433882758718117 Centerline is valid? [True, True] Translation: X:217.19, Y:22.10, Z:-1.21 [[ 9.99885691e-01 -1.07830946e-02 1.05985383e-02 2.17185299e+02] [ 1.07743342e-02 9.99941565e-01 8.83313434e-04 2.20992710e+01] [-1.06074438e-02 -7.69020269e-04 9.99943444e-01 -1.21262500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841400513 meters 0.08456680269413307 Centerline is valid? [True, True] Translation: X:217.21, Y:22.12, Z:-1.21 [[ 9.99908034e-01 -8.80215647e-03 1.03172646e-02 2.17214282e+02] [ 8.79375110e-03 9.99960965e-01 8.59773038e-04 2.21154258e+01] [-1.03244297e-02 -7.68966511e-04 9.99946406e-01 -1.21434049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871400513 meters 0.0794501053415614 Centerline is valid? [True, True] Translation: X:217.25, Y:22.11, Z:-1.22 [[ 9.99936101e-01 -6.90595548e-03 8.94992672e-03 2.17245929e+02] [ 6.89955799e-03 9.99975920e-01 7.45487790e-04 2.21114347e+01] [-8.95485951e-03 -6.83689616e-04 9.99959671e-01 -1.21681092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901400513 meters 0.08720734170672281 Centerline is valid? [True, True] Translation: X:217.28, Y:22.12, Z:-1.22 [[ 9.99971198e-01 -3.06182196e-03 6.94461504e-03 2.17275035e+02] [ 3.05787869e-03 9.99995157e-01 5.78364362e-04 2.21230262e+01] [-6.94635226e-03 -5.57111914e-04 9.99975719e-01 -1.22116378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93140051299997 meters 0.08259646635194394 Centerline is valid? [True, True] Translation: X:217.31, Y:22.12, Z:-1.22 [[ 9.99975466e-01 -1.69087184e-03 6.79761170e-03 2.17306222e+02] [ 1.68706197e-03 9.99998417e-01 5.66165524e-04 2.21203457e+01] [-6.79855825e-03 -5.54683641e-04 9.99976736e-01 -1.22161774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96140051299997 meters 0.08580190362297667 Centerline is valid? [True, True] Translation: X:217.34, Y:22.13, Z:-1.22 [[ 9.99976907e-01 -7.71009444e-04 6.75213090e-03 2.17336243e+02] [ 7.67230079e-04 9.99999548e-01 5.62301495e-04 2.21273879e+01] [-6.75256139e-03 -5.57108072e-04 9.99977046e-01 -1.22184047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99140051299997 meters 0.08528396473619038 Centerline is valid? [True, True] Translation: X:217.37, Y:22.13, Z:-1.22 [[ 9.99974043e-01 -4.32861886e-04 7.19205871e-03 2.17367823e+02] [ 4.28563980e-04 9.99999729e-01 5.99121006e-04 2.21297583e+01] [-7.19231609e-03 -5.96023198e-04 9.99973957e-01 -1.22134973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02140051299997 meters 0.08846756917309154 Centerline is valid? [True, True] Translation: X:217.40, Y:22.14, Z:-1.22 [[ 9.99975987e-01 -1.60400954e-03 6.74191592e-03 2.17398481e+02] [ 1.60026443e-03 9.99998562e-01 5.60853369e-04 2.21350900e+01] [-6.74280584e-03 -5.50051052e-04 9.99977116e-01 -1.22167262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05140051299998 meters 0.08002090421381175 Centerline is valid? [True, True] Translation: X:217.43, Y:22.13, Z:-1.22 [[ 9.99971672e-01 -2.45410097e-03 7.11564467e-03 2.17430891e+02] [ 2.44995142e-03 9.99996824e-01 5.91816151e-04 2.21297485e+01] [-7.11707445e-03 -5.74366402e-04 9.99974508e-01 -1.22188582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08140051299998 meters 0.08303347272817492 Centerline is valid? [True, True] Translation: X:217.46, Y:22.14, Z:-1.22 [[ 9.99967686e-01 -3.52699917e-03 7.22413595e-03 2.17461227e+02] [ 3.52275208e-03 9.99993615e-01 6.00543634e-04 2.21364504e+01] [-7.22620794e-03 -5.75075388e-04 9.99973725e-01 -1.22243205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11140051299998 meters 0.08383961896280427 Centerline is valid? [True, True] Translation: X:217.49, Y:22.14, Z:-1.22 [[ 9.99961075e-01 -4.54081347e-03 7.56497240e-03 2.17491494e+02] [ 4.53618666e-03 9.99989514e-01 6.28656374e-04 2.21404985e+01] [-7.56774768e-03 -5.94315777e-04 9.99971188e-01 -1.22269890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14140051299998 meters 0.08015817021656242 Centerline is valid? [True, True] Translation: X:217.52, Y:22.14, Z:-1.22 [[ 9.99950011e-01 -6.12851321e-03 7.90044599e-03 2.17522349e+02] [ 6.12351692e-03 9.99981036e-01 6.56440619e-04 2.21392904e+01] [-7.90431917e-03 -6.08029289e-04 9.99968576e-01 -1.22220761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17140051299998 meters 0.08471678655141619 Centerline is valid? [True, True] Translation: X:217.55, Y:22.15, Z:-1.22 [[ 9.99906626e-01 -1.02545768e-02 9.03235237e-03 2.17551474e+02] [ 1.02482148e-02 9.99947204e-01 7.50361824e-04 2.21490967e+01] [-9.03957014e-03 -6.57726273e-04 9.99958926e-01 -1.22131793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20140051299998 meters 0.08440049257994493 Centerline is valid? [True, True] Translation: X:217.58, Y:22.15, Z:-1.22 [[ 9.99886479e-01 -1.18196000e-02 9.34483297e-03 2.17582142e+02] [ 1.18128586e-02 9.99929924e-01 7.76269383e-04 2.21526031e+01] [-9.35335332e-03 -6.65792070e-04 9.99956035e-01 -1.22084176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23140051299998 meters 0.07749574693838247 Centerline is valid? [True, True] Translation: X:217.61, Y:22.15, Z:-1.22 [[ 9.99874479e-01 -1.26104936e-02 9.59178713e-03 2.17613971e+02] [ 1.26034283e-02 9.99920256e-01 7.96694398e-04 2.21478287e+01] [-9.60106895e-03 -6.75704995e-04 9.99953680e-01 -1.22059973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26140051299998 meters 0.06738565257409196 Centerline is valid? [True, True] Translation: X:217.65, Y:22.14, Z:-1.22 [[ 9.99880011e-01 -1.26216203e-02 8.98102654e-03 2.17646553e+02] [ 1.26154278e-02 9.99920144e-01 7.45829269e-04 2.21388868e+01] [-8.98972292e-03 -6.32440285e-04 9.99959392e-01 -1.22082493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29140051299999 meters 0.0835478171619088 Centerline is valid? [True, True] Translation: X:217.67, Y:22.16, Z:-1.22 [[ 9.99911808e-01 -1.11108915e-02 7.27495949e-03 2.17674416e+02] [ 1.11067916e-02 9.99938135e-01 6.03733173e-04 2.21632951e+01] [-7.28121744e-03 -5.22878470e-04 9.99973355e-01 -1.22412313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321400513 meters 0.07827310246790078 Centerline is valid? [True, True] Translation: X:217.71, Y:22.16, Z:-1.22 [[ 9.99923866e-01 -1.01678178e-02 6.99130229e-03 2.17706792e+02] [ 1.01640072e-02 9.99948177e-01 5.80367977e-04 2.21612068e+01] [-6.99684106e-03 -5.09264144e-04 9.99975392e-01 -1.22448026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351400513 meters 0.08575172712690518 Centerline is valid? [True, True] Translation: X:217.74, Y:22.17, Z:-1.22 [[ 9.99929377e-01 -9.28959112e-03 7.41246382e-03 2.17737006e+02] [ 9.28528589e-03 9.99956702e-01 6.15012043e-04 2.21740580e+01] [-7.41785608e-03 -5.46141763e-04 9.99972338e-01 -1.22495182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381400513 meters 0.07751003156636753 Centerline is valid? [True, True] Translation: X:217.77, Y:22.17, Z:-1.22 [[ 9.99929762e-01 -8.55680302e-03 8.20079244e-03 2.17769594e+02] [ 8.55151339e-03 9.99963204e-01 6.79862991e-04 2.21670424e+01] [-8.20630814e-03 -6.09686052e-04 9.99966142e-01 -1.22369485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411400513 meters 0.08056319922435885 Centerline is valid? [True, True] Translation: X:217.80, Y:22.17, Z:-1.22 [[ 9.99941485e-01 -6.26743908e-03 8.81737965e-03 2.17799041e+02] [ 6.26124045e-03 9.99980131e-01 7.30430311e-04 2.21724643e+01] [-8.82178239e-03 -6.75179836e-04 9.99960859e-01 -1.22270538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441400513 meters 0.08176289792267273 Centerline is valid? [True, True] Translation: X:217.83, Y:22.18, Z:-1.22 [[ 9.99956098e-01 -5.05191760e-03 7.89177931e-03 2.17829449e+02] [ 5.04691350e-03 9.99987050e-01 6.53876740e-04 2.21764844e+01] [-7.89498045e-03 -6.14018906e-04 9.99968646e-01 -1.22417253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471400513 meters 0.08329216407924396 Centerline is valid? [True, True] Translation: X:217.86, Y:22.18, Z:-1.23 [[ 9.99969540e-01 -3.99294559e-03 6.70644137e-03 2.17859653e+02] [ 3.98930856e-03 9.99991888e-01 5.55608409e-04 2.21815006e+01] [-6.70860549e-03 -5.28837421e-04 9.99977357e-01 -1.22667744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501400513 meters 0.08411532653187888 Centerline is valid? [True, True] Translation: X:217.89, Y:22.18, Z:-1.23 [[ 9.99978346e-01 -3.22998607e-03 5.73361093e-03 2.17891187e+02] [ 3.22731482e-03 9.99994679e-01 4.75083990e-04 2.21835288e+01] [-5.73511494e-03 -4.56569536e-04 9.99983450e-01 -1.22857429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531400513 meters 0.07767179594680267 Centerline is valid? [True, True] Translation: X:217.92, Y:22.18, Z:-1.23 [[ 9.99976621e-01 -2.09814557e-03 6.50801980e-03 2.17922388e+02] [ 2.09468257e-03 9.99997661e-01 5.38883176e-04 2.21798255e+01] [-6.50913524e-03 -5.25238342e-04 9.99978677e-01 -1.22839287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561400513 meters 0.09015927332396942 Centerline is valid? [True, True] Translation: X:217.95, Y:22.19, Z:-1.23 [[ 9.99962953e-01 -8.95567772e-05 8.60724127e-03 2.17950665e+02] [ 8.34270435e-05 9.99999743e-01 7.12516495e-04 2.21941435e+01] [-8.60730286e-03 -7.11772022e-04 9.99962703e-01 -1.22685383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591400513 meters 0.08745379552930996 Centerline is valid? [True, True] Translation: X:217.98, Y:22.19, Z:-1.23 [[ 9.99962166e-01 6.43304063e-04 8.67484305e-03 2.17983397e+02] [-6.49559560e-04 9.99999531e-01 7.18309578e-04 2.21924383e+01] [-8.67437689e-03 -7.23917229e-04 9.99962115e-01 -1.22710859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621400513 meters 0.08713407367569233 Centerline is valid? [True, True] Translation: X:218.02, Y:22.19, Z:-1.23 [[ 9.99964760e-01 1.29059807e-03 8.29536640e-03 2.18015726e+02] [-1.29633746e-03 9.99998924e-01 6.86539514e-04 2.21935917e+01] [-8.29447143e-03 -6.97268915e-04 9.99965357e-01 -1.22795894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651400513 meters 0.08780705646473984 Centerline is valid? [True, True] Translation: X:218.05, Y:22.20, Z:-1.23 [[ 9.99967239e-01 1.82358702e-03 7.88643650e-03 2.18047685e+02] [-1.82878835e-03 9.99998115e-01 6.52367400e-04 2.21958237e+01] [-7.88523199e-03 -6.66768651e-04 9.99968689e-01 -1.22910835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68140051299997 meters 0.08979115537348739 Centerline is valid? [True, True] Translation: X:218.08, Y:22.20, Z:-1.23 [[ 9.99973545e-01 3.01181192e-03 6.62102267e-03 2.18078775e+02] [-3.01550145e-03 9.99995304e-01 5.47332076e-04 2.21958761e+01] [-6.61934312e-03 -5.67283300e-04 9.99977931e-01 -1.23062065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71140051299997 meters 0.08830247148248362 Centerline is valid? [True, True] Translation: X:218.11, Y:22.20, Z:-1.23 [[ 9.99966630e-01 4.25173665e-03 6.97573429e-03 2.18109771e+02] [-4.25586145e-03 9.99990778e-01 5.76570600e-04 2.21974709e+01] [-6.97321853e-03 -6.06239119e-04 9.99975503e-01 -1.23103015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74140051299997 meters 0.09138670835003387 Centerline is valid? [True, True] Translation: X:218.14, Y:22.20, Z:-1.23 [[ 9.99960451e-01 5.32539653e-03 7.12293095e-03 2.18139242e+02] [-5.32972487e-03 9.99985624e-01 5.88818305e-04 2.22044525e+01] [-7.11969285e-03 -6.26758281e-04 9.99974458e-01 -1.23183500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77140051299997 meters 0.08259553002156109 Centerline is valid? [True, True] Translation: X:218.17, Y:22.20, Z:-1.24 [[ 9.99962769e-01 6.50284750e-03 5.67217598e-03 2.18171060e+02] [-6.50560868e-03 9.99978729e-01 4.68479893e-04 2.21966778e+01] [-5.66900887e-03 -5.05363409e-04 9.99983803e-01 -1.23516158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80140051299998 meters 0.08642263437830723 Centerline is valid? [True, True] Translation: X:218.20, Y:22.20, Z:-1.24 [[ 9.99966736e-01 6.81100056e-03 4.48740345e-03 2.18202203e+02] [-6.81273569e-03 9.99976724e-01 3.71495560e-04 2.22032717e+01] [-4.48476875e-03 -4.02054696e-04 9.99989863e-01 -1.23750705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83140051299998 meters 0.09220862315948912 Centerline is valid? [True, True] Translation: X:218.23, Y:22.21, Z:-1.24 [[ 9.99967799e-01 6.80914120e-03 4.24705618e-03 2.18233077e+02] [-6.81069299e-03 9.99976745e-01 3.51023164e-04 2.22122814e+01] [-4.24456725e-03 -3.79937257e-04 9.99990920e-01 -1.23894028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86140051299998 meters 0.08889531766869059 Centerline is valid? [True, True] Translation: X:218.27, Y:22.21, Z:-1.24 [[ 9.99969513e-01 6.16250525e-03 4.79544418e-03 2.18265256e+02] [-6.16446857e-03 9.99980922e-01 3.94739952e-04 2.22107270e+01] [-4.79292010e-03 -4.24289282e-04 9.99988424e-01 -1.23827838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89140051299998 meters 0.0910521509700941 Centerline is valid? [True, True] Translation: X:218.29, Y:22.22, Z:-1.24 [[ 9.99971263e-01 4.16171243e-03 6.33668172e-03 2.18294168e+02] [-4.16509733e-03 9.99991190e-01 5.21073208e-04 2.22171509e+01] [-6.33445734e-03 -5.47451130e-04 9.99979787e-01 -1.23618572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92140051299998 meters 0.0916004875844174 Centerline is valid? [True, True] Translation: X:218.33, Y:22.22, Z:-1.24 [[ 9.99974652e-01 3.50702067e-03 6.19653546e-03 2.18325724e+02] [-3.51024668e-03 9.99993709e-01 5.09816062e-04 2.22213122e+01] [-6.19470855e-03 -5.31554507e-04 9.99980671e-01 -1.23698780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95140051299998 meters 0.09278442571820393 Centerline is valid? [True, True] Translation: X:218.36, Y:22.23, Z:-1.24 [[ 9.99978267e-01 3.51299549e-03 5.57891782e-03 2.18356604e+02] [-3.51561299e-03 9.99993715e-01 4.59438773e-04 2.22263814e+01] [-5.57726875e-03 -4.79042104e-04 9.99984332e-01 -1.23846841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98140051299998 meters 0.09310344326753635 Centerline is valid? [True, True] Translation: X:218.39, Y:22.23, Z:-1.24 [[ 9.99979531e-01 3.41365475e-03 5.41157383e-03 2.18388877e+02] [-3.41611249e-03 9.99994066e-01 4.44984701e-04 2.22307421e+01] [-5.41002269e-03 -4.63462137e-04 9.99985258e-01 -1.23894196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01140051299998 meters 0.08891713333586702 Centerline is valid? [True, True] Translation: X:218.42, Y:22.23, Z:-1.24 [[ 9.99979728e-01 2.66333104e-03 5.78360024e-03 2.18420631e+02] [-2.66611626e-03 9.99996334e-01 4.73915800e-04 2.22298832e+01] [-5.78231684e-03 -4.89325943e-04 9.99983163e-01 -1.23844722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04140051299999 meters 0.08938119664999009 Centerline is valid? [True, True] Translation: X:218.45, Y:22.23, Z:-1.24 [[ 9.99985621e-01 -1.08414952e-04 5.36147451e-03 2.18449868e+02] [ 1.06062586e-04 9.99999898e-01 4.39035940e-04 2.22348088e+01] [-5.36152157e-03 -4.38460975e-04 9.99985531e-01 -1.23919096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071400513 meters 0.08510969943518058 Centerline is valid? [True, True] Translation: X:218.48, Y:22.23, Z:-1.24 [[ 9.99985964e-01 -2.19875312e-03 4.82058061e-03 2.18481178e+02] [ 2.19687495e-03 9.99997509e-01 3.94874841e-04 2.22322237e+01] [-4.82143684e-03 -3.84279085e-04 9.99988303e-01 -1.23951805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101400513 meters 0.07438474325804594 Centerline is valid? [True, True] Translation: X:218.51, Y:22.22, Z:-1.24 [[ 9.99976415e-01 -4.67093681e-03 5.03503401e-03 2.18512646e+02] [ 4.66891902e-03 9.99989015e-01 4.12429509e-04 2.22216994e+01] [-5.03690514e-03 -3.88911615e-04 9.99987239e-01 -1.23842534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131400513 meters 0.07045067304191653 Centerline is valid? [True, True] Translation: X:218.54, Y:22.22, Z:-1.24 [[ 9.99957276e-01 -7.39042408e-03 5.55232799e-03 2.18543543e+02] [ 7.38801215e-03 9.99972605e-01 4.54784480e-04 2.22197416e+01] [-5.55553693e-03 -4.13744383e-04 9.99984482e-01 -1.23771872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161400513 meters 0.07012400206906262 Centerline is valid? [True, True] Translation: X:218.57, Y:22.22, Z:-1.24 [[ 9.99900516e-01 -1.21843944e-02 7.10626922e-03 2.18573306e+02] [ 1.21805645e-02 9.99925645e-01 5.81979688e-04 2.22218242e+01] [-7.11283190e-03 -4.95363419e-04 9.99974581e-01 -1.23565496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191400513 meters 0.07340611527698337 Centerline is valid? [True, True] Translation: X:218.60, Y:22.23, Z:-1.24 [[ 9.99881121e-01 -1.36111832e-02 7.24425784e-03 2.18603640e+02] [ 1.36072390e-02 9.99907241e-01 5.93468818e-04 2.22281361e+01] [-7.25166368e-03 -4.94823919e-04 9.99973584e-01 -1.23585169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221400513 meters 0.07309544193062485 Centerline is valid? [True, True] Translation: X:218.64, Y:22.23, Z:-1.24 [[ 9.99874192e-01 -1.42346298e-02 6.99819641e-03 2.18635419e+02] [ 1.42309646e-02 9.99898570e-01 5.73247439e-04 2.22304473e+01] [-7.00564655e-03 -4.73584235e-04 9.99975348e-01 -1.23657501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251400513 meters 0.07206296457250444 Centerline is valid? [True, True] Translation: X:218.67, Y:22.23, Z:-1.24 [[ 9.99880069e-01 -1.40942954e-02 6.41860637e-03 2.18667090e+02] [ 1.40912113e-02 9.99900576e-01 5.25475407e-04 2.22318530e+01] [-6.42537441e-03 -4.34966448e-04 9.99979262e-01 -1.23834893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281400513 meters 0.07608931575315048 Centerline is valid? [True, True] Translation: X:218.70, Y:22.24, Z:-1.24 [[ 9.99891979e-01 -1.33839542e-02 6.07460795e-03 2.18697796e+02] [ 1.33811791e-02 9.99910344e-01 4.97250221e-04 2.22389883e+01] [-6.08071850e-03 -4.15911090e-04 9.99981426e-01 -1.24031711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311400513 meters 0.07126079748044503 Centerline is valid? [True, True] Translation: X:218.73, Y:22.24, Z:-1.24 [[ 9.99902316e-01 -1.23886762e-02 6.47146455e-03 2.18730084e+02] [ 1.23855093e-02 9.99923157e-01 5.29201552e-04 2.22352418e+01] [-6.47752337e-03 -4.48997472e-04 9.99978920e-01 -1.24002314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341400513 meters 0.06837808544622735 Centerline is valid? [True, True] Translation: X:218.76, Y:22.23, Z:-1.24 [[ 9.99919925e-01 -1.06229313e-02 6.87730100e-03 2.18761416e+02] [ 1.06193156e-02 9.99943456e-01 5.62039924e-04 2.22326623e+01] [-6.88288264e-03 -4.88962689e-04 9.99976193e-01 -1.23958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371400513 meters 0.07417030262082333 Centerline is valid? [True, True] Translation: X:218.79, Y:22.24, Z:-1.24 [[ 9.99938490e-01 -9.35251286e-03 5.96206459e-03 2.18791023e+02] [ 9.34977339e-03 9.99956171e-01 4.87190338e-04 2.22418002e+01] [-5.96635974e-03 -4.31416418e-04 9.99982108e-01 -1.24154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401400513 meters 0.07776918167461536 Centerline is valid? [True, True] Translation: X:218.82, Y:22.25, Z:-1.24 [[ 9.99951784e-01 -8.15667315e-03 5.46799101e-03 2.18820708e+02] [ 8.15435176e-03 9.99966653e-01 4.46701067e-04 2.22478460e+01] [-5.47145226e-03 -4.02091606e-04 9.99984951e-01 -1.24328793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43140051299997 meters 0.07514062831306917 Centerline is valid? [True, True] Translation: X:218.85, Y:22.25, Z:-1.24 [[ 9.99953585e-01 -7.19381515e-03 6.40913435e-03 2.18853006e+02] [ 7.19060488e-03 9.99974010e-01 5.23793217e-04 2.22453584e+01] [-6.41273585e-03 -4.77683352e-04 9.99979324e-01 -1.24242685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46140051299997 meters 0.0881540193288044 Centerline is valid? [True, True] Translation: X:218.88, Y:22.26, Z:-1.24 [[ 9.99939470e-01 -6.01342539e-03 9.21380443e-03 2.18882262e+02] [ 6.00674716e-03 9.99981676e-01 7.52308792e-04 2.22586818e+01] [-9.21815956e-03 -6.96918262e-04 9.99957269e-01 -1.23885644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49140051299997 meters 0.07842228692782943 Centerline is valid? [True, True] Translation: X:218.92, Y:22.25, Z:-1.24 [[ 9.99943106e-01 -5.17928562e-03 9.32520267e-03 2.18915601e+02] [ 5.17240936e-03 9.99986333e-01 7.61351209e-04 2.22473536e+01] [-9.32901848e-03 -7.13074127e-04 9.99956230e-01 -1.23826561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52140051299997 meters 0.07875624409439305 Centerline is valid? [True, True] Translation: X:218.95, Y:22.25, Z:-1.24 [[ 9.99955097e-01 -4.15400731e-03 8.51754271e-03 2.18947178e+02] [ 4.14823702e-03 9.99991155e-01 6.95013751e-04 2.22491215e+01] [-8.52035446e-03 -6.59649757e-04 9.99963484e-01 -1.23970827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55140051299998 meters 0.07696013068408353 Centerline is valid? [True, True] Translation: X:218.98, Y:22.25, Z:-1.24 [[ 9.99974138e-01 -2.43995752e-03 6.76533478e-03 2.18978491e+02] [ 2.43627920e-03 9.99996880e-01 5.51889502e-04 2.22481206e+01] [-6.76666026e-03 -5.35392985e-04 9.99976963e-01 -1.24308346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58140051299998 meters 0.08190019596685975 Centerline is valid? [True, True] Translation: X:219.01, Y:22.26, Z:-1.24 [[ 9.99973779e-01 -1.72959556e-03 7.03201909e-03 2.19008871e+02] [ 1.72560404e-03 9.99998347e-01 5.73647947e-04 2.22557054e+01] [-7.03299964e-03 -5.61498425e-04 9.99975111e-01 -1.24317463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61140051299998 meters 0.08190019596685975 Centerline is valid? [True, True] Translation: X:219.04, Y:22.26, Z:-1.24 [[ 9.99973893e-01 -1.66251952e-03 7.03202815e-03 2.19041374e+02] [ 1.65852713e-03 9.99998460e-01 5.73536829e-04 2.22582380e+01] [-7.03297084e-03 -5.61859047e-04 9.99975111e-01 -1.24353203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64140051299998 meters 0.08219351930659605 Centerline is valid? [True, True] Translation: X:219.07, Y:22.26, Z:-1.24 [[ 9.99970537e-01 -1.22680932e-03 7.57761333e-03 2.19072970e+02] [ 1.22216611e-03 9.99999063e-01 6.17353286e-04 2.22597313e+01] [-7.57836361e-03 -6.08073994e-04 9.99971099e-01 -1.24287846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67140051299998 meters 0.08328060898861205 Centerline is valid? [True, True] Translation: X:219.10, Y:22.26, Z:-1.24 [[ 9.99968478e-01 -9.58263349e-04 7.88188912e-03 2.19103894e+02] [ 9.53233684e-04 9.99999340e-01 6.41861267e-04 2.22624603e+01] [-7.88249898e-03 -6.34327752e-04 9.99968731e-01 -1.24207588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70140051299998 meters 0.08545399032733966 Centerline is valid? [True, True] Translation: X:219.13, Y:22.27, Z:-1.24 [[ 9.99966035e-01 -1.11675506e-03 8.16586911e-03 2.19134604e+02] [ 1.11136403e-03 9.99999162e-01 6.64698140e-04 2.22674309e+01] [-8.16660457e-03 -6.55600311e-04 9.99966438e-01 -1.24211174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73140051299998 meters 0.08324920209938036 Centerline is valid? [True, True] Translation: X:219.17, Y:22.27, Z:-1.24 [[ 9.99966222e-01 -2.90407099e-03 7.68907224e-03 2.19165555e+02] [ 2.89934602e-03 9.99995601e-01 6.25580638e-04 2.22669833e+01] [-7.69085515e-03 -6.03266226e-04 9.99970243e-01 -1.24240245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76140051299998 meters 0.07662380491409511 Centerline is valid? [True, True] Translation: X:219.20, Y:22.26, Z:-1.24 [[ 9.99958817e-01 -4.54356604e-03 7.85619689e-03 2.19196730e+02] [ 4.53868469e-03 9.99989496e-01 6.39054130e-04 2.22605924e+01] [-7.85901795e-03 -6.03371011e-04 9.99968935e-01 -1.24179540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79140051299999 meters 0.07867197087990824 Centerline is valid? [True, True] Translation: X:219.23, Y:22.27, Z:-1.24 [[ 9.99943397e-01 -6.68601130e-03 8.27645940e-03 2.19226002e+02] [ 6.68066684e-03 9.99977457e-01 6.73220431e-04 2.22651064e+01] [-8.28077399e-03 -6.17890057e-04 9.99965523e-01 -1.24085935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821400513 meters 0.07519346611018639 Centerline is valid? [True, True] Translation: X:219.26, Y:22.26, Z:-1.24 [[ 9.99920035e-01 -9.23593267e-03 8.63832826e-03 2.19256680e+02] [ 9.23020448e-03 9.99957154e-01 7.02746857e-04 2.22637128e+01] [-8.64444866e-03 -6.22957126e-04 9.99962442e-01 -1.24075834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851400513 meters 0.07605213437303739 Centerline is valid? [True, True] Translation: X:219.29, Y:22.27, Z:-1.24 [[ 9.99893330e-01 -1.19867025e-02 8.34556277e-03 2.19286054e+02] [ 1.19814518e-02 9.99927989e-01 6.78866719e-04 2.22684409e+01] [-8.35309917e-03 -5.78802346e-04 9.99964945e-01 -1.24158446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881400513 meters 0.06879301904601523 Centerline is valid? [True, True] Translation: X:219.32, Y:22.26, Z:-1.24 [[ 9.99858108e-01 -1.49309449e-02 7.79938864e-03 2.19317242e+02] [ 1.49264473e-02 9.99888393e-01 6.34553210e-04 2.22636884e+01] [-7.80799265e-03 -5.18046009e-04 9.99969383e-01 -1.24326557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911400513 meters 0.06314273833687006 Centerline is valid? [True, True] Translation: X:219.35, Y:22.26, Z:-1.24 [[ 9.99745711e-01 -2.11171162e-02 7.91074406e-03 2.19347861e+02] [ 2.11126821e-02 9.99776895e-01 6.43607616e-04 2.22601936e+01] [-7.92257027e-03 -4.76426929e-04 9.99968502e-01 -1.24336691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941400513 meters 0.0602361015413329 Centerline is valid? [True, True] Translation: X:219.38, Y:22.26, Z:-1.24 [[ 9.99668535e-01 -2.43265292e-02 8.42851184e-03 2.19378664e+02] [ 2.43216093e-02 9.99703951e-01 6.85742257e-04 2.22592754e+01] [-8.44269832e-03 -4.80519985e-04 9.99964244e-01 -1.24236459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971400513 meters 0.05608869706663038 Centerline is valid? [True, True] Translation: X:219.41, Y:22.26, Z:-1.24 [[ 9.99494942e-01 -3.02871053e-02 9.62040476e-03 2.19408783e+02] [ 3.02809709e-02 9.99541120e-01 7.82700233e-04 2.22596313e+01] [-9.63969587e-03 -4.90989727e-04 9.99953417e-01 -1.24016101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001400513 meters 0.04758529026100264 Centerline is valid? [True, True] Translation: X:219.44, Y:22.25, Z:-1.24 [[ 9.99393622e-01 -3.33374348e-02 1.00500627e-02 2.19440159e+02] [ 3.33308932e-02 9.99444037e-01 8.17742541e-04 2.22541691e+01] [-1.00717366e-02 -4.82269114e-04 9.99949162e-01 -1.23981259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031400513 meters 0.04500679845564647 Centerline is valid? [True, True] Translation: X:219.47, Y:22.26, Z:-1.24 [[ 9.99295822e-01 -3.60466578e-02 1.04162877e-02 2.19471043e+02] [ 3.60397789e-02 9.99349997e-01 8.47414671e-04 2.22559178e+01] [-1.04400636e-02 -4.71417233e-04 9.99945390e-01 -1.23976046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061400513 meters 0.047900474495862176 Centerline is valid? [True, True] Translation: X:219.50, Y:22.26, Z:-1.24 [[ 9.99212962e-01 -3.82649856e-02 1.04521069e-02 2.19501080e+02] [ 3.82581817e-02 9.99267526e-01 8.50200211e-04 2.22637575e+01] [-1.04769839e-02 -4.49652465e-04 9.99945014e-01 -1.23999839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091400513 meters 0.045215598479726234 Centerline is valid? [True, True] Translation: X:219.53, Y:22.27, Z:-1.24 [[ 9.99103100e-01 -4.08847161e-02 1.10197527e-02 2.19531998e+02] [ 4.08773150e-02 9.99163771e-01 8.96115399e-04 2.22683726e+01] [-1.10471751e-02 -4.44853770e-04 9.99938879e-01 -1.23997557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121400513 meters 0.04384923121551709 Centerline is valid? [True, True] Translation: X:219.56, Y:22.27, Z:-1.24 [[ 9.99049326e-01 -4.19887039e-02 1.17215140e-02 2.19562800e+02] [ 4.19804077e-02 9.99117980e-01 9.53033424e-04 2.22736862e+01] [-1.17511920e-02 -4.60053465e-04 9.99930847e-01 -1.23931392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151400513 meters 0.04153328015251959 Centerline is valid? [True, True] Translation: X:219.59, Y:22.28, Z:-1.24 [[ 9.99010339e-01 -4.26446198e-02 1.26403702e-02 2.19594021e+02] [ 4.26350282e-02 9.99090185e-01 1.02743689e-03 2.22781359e+01] [-1.26726844e-02 -4.87497541e-04 9.99919579e-01 -1.23807465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18140051299997 meters 0.040449573412562036 Centerline is valid? [True, True] Translation: X:219.63, Y:22.28, Z:-1.24 [[ 9.98993884e-01 -4.29055210e-02 1.30512785e-02 2.19625396e+02] [ 4.28953225e-02 9.99079009e-01 1.06047809e-03 2.22837427e+01] [-1.30847588e-02 -4.99572324e-04 9.99914266e-01 -1.23692074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21140051299997 meters 0.04241901582568462 Centerline is valid? [True, True] Translation: X:219.66, Y:22.29, Z:-1.24 [[ 9.99006662e-01 -4.26582701e-02 1.28826003e-02 2.19656044e+02] [ 4.26483204e-02 9.99089599e-01 1.04620118e-03 2.22918426e+01] [-1.29155011e-02 -4.95740685e-04 9.99916469e-01 -1.23684420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24140051299997 meters 0.04109967938769966 Centerline is valid? [True, True] Translation: X:219.69, Y:22.30, Z:-1.24 [[ 9.98997012e-01 -4.31423869e-02 1.19876991e-02 2.19686719e+02] [ 4.31338109e-02 9.99068830e-01 9.73145820e-04 2.22982753e+01] [-1.20185203e-02 -4.55094620e-04 9.99927671e-01 -1.23839656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27140051299997 meters 0.04115003255074848 Centerline is valid? [True, True] Translation: X:219.72, Y:22.30, Z:-1.24 [[ 9.98948515e-01 -4.43102078e-02 1.17673076e-02 2.19716971e+02] [ 4.43020282e-02 9.99017727e-01 9.54997595e-04 2.23046219e+01] [-1.17980651e-02 -4.32677835e-04 9.99930307e-01 -1.23942531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30140051299998 meters 0.04037715725296306 Centerline is valid? [True, True] Translation: X:219.75, Y:22.31, Z:-1.24 [[ 9.98867140e-01 -4.61332273e-02 1.16688194e-02 2.19747476e+02] [ 4.61253099e-02 9.98935213e-01 9.46863306e-04 2.23104499e+01] [-1.17000765e-02 -4.07562730e-04 9.99931469e-01 -1.24052634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33140051299998 meters 0.03588738925034016 Centerline is valid? [True, True] Translation: X:219.78, Y:22.31, Z:-1.24 [[ 9.98755485e-01 -4.85915474e-02 1.12402018e-02 2.19777906e+02] [ 4.85843592e-02 9.98818667e-01 9.11845105e-04 2.23101173e+01] [-1.12712313e-02 -3.64612300e-04 9.99936411e-01 -1.24191263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36140051299998 meters 0.030430978520400897 Centerline is valid? [True, True] Translation: X:219.81, Y:22.31, Z:-1.24 [[ 9.98595447e-01 -5.18857051e-02 1.07241569e-02 2.19809338e+02] [ 5.18793515e-02 9.98652981e-01 8.69986492e-04 2.23071581e+01] [-1.07548511e-02 -3.12402244e-04 9.99942116e-01 -1.24326492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39140051299998 meters 0.027474392783716224 Centerline is valid? [True, True] Translation: X:219.84, Y:22.31, Z:-1.24 [[ 9.98218376e-01 -5.87565798e-02 1.03797207e-02 2.19838712e+02] [ 5.87510016e-02 9.98272313e-01 8.41785391e-04 2.23072005e+01] [-1.04112482e-02 -2.30466659e-04 9.99945775e-01 -1.24422327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42140051299998 meters 0.020856131436518252 Centerline is valid? [True, True] Translation: X:219.87, Y:22.30, Z:-1.24 [[ 9.98023396e-01 -6.19660235e-02 1.04648389e-02 2.19868481e+02] [ 6.19605285e-02 9.98078240e-01 8.48800855e-04 2.23018984e+01] [-1.04973248e-02 -1.98716166e-04 9.99944882e-01 -1.24482923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45140051299998 meters 0.019888064945742544 Centerline is valid? [True, True] Translation: X:219.90, Y:22.30, Z:-1.25 [[ 9.97835161e-01 -6.48901973e-02 1.06889735e-02 2.19896838e+02] [ 6.48846225e-02 9.97892395e-01 8.67877891e-04 2.23030693e+01] [-1.07227621e-02 -1.72449066e-04 9.99942495e-01 -1.24521894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48140051299998 meters 0.015522501483298506 Centerline is valid? [True, True] Translation: X:219.93, Y:22.30, Z:-1.25 [[ 9.97563073e-01 -6.90161004e-02 1.02319450e-02 2.19926558e+02] [ 6.90111913e-02 9.97615538e-01 8.32497431e-04 2.22966763e+01] [-1.02650030e-02 -1.24349985e-04 9.99947306e-01 -1.24545628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51140051299998 meters 0.013476558409804442 Centerline is valid? [True, True] Translation: X:219.96, Y:22.29, Z:-1.24 [[ 9.97451267e-01 -7.05782240e-02 1.04730104e-02 2.19955700e+02] [ 7.05731623e-02 9.97506242e-01 8.52553774e-04 2.22947104e+01] [-1.05070650e-02 -1.11267380e-04 9.99944793e-01 -1.24475009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54140051299999 meters 0.013376306935682255 Centerline is valid? [True, True] Translation: X:219.98, Y:22.30, Z:-1.24 [[ 9.97392325e-01 -7.13962324e-02 1.05417337e-02 2.19983153e+02] [ 7.13911309e-02 9.97448027e-01 8.59935689e-04 2.22963808e+01] [-1.05762277e-02 -1.05106962e-04 9.99944065e-01 -1.24490057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571400513 meters 0.014013532792260613 Centerline is valid? [True, True] Translation: X:220.01, Y:22.30, Z:-1.25 [[ 9.97388951e-01 -7.14830212e-02 1.02692810e-02 2.20009921e+02] [ 7.14781643e-02 9.97441811e-01 8.39675994e-04 2.22996429e+01] [-1.03030328e-02 -1.03454202e-04 9.99946917e-01 -1.24651532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601400513 meters 0.01466151375445849 Centerline is valid? [True, True] Translation: X:220.04, Y:22.30, Z:-1.25 [[ 9.97451059e-01 -7.07055328e-02 9.59751208e-03 2.20038296e+02] [ 7.07012438e-02 9.97497226e-01 7.85867110e-04 2.23027869e+01] [-9.62905683e-03 -1.05307940e-04 9.99953634e-01 -1.24789852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631400513 meters 0.015312002151740181 Centerline is valid? [True, True] Translation: X:220.07, Y:22.31, Z:-1.25 [[ 9.97525230e-01 -6.97244404e-02 9.05089919e-03 2.20066787e+02] [ 6.97205733e-02 9.97566284e-01 7.42471379e-04 2.23064245e+01] [-9.08064028e-03 -1.09600052e-04 9.99958764e-01 -1.24851557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661400513 meters 0.017186747257035465 Centerline is valid? [True, True] Translation: X:220.09, Y:22.31, Z:-1.25 [[ 9.97608930e-01 -6.84948863e-02 9.21270401e-03 2.20094333e+02] [ 6.84908113e-02 9.97651460e-01 7.57478016e-04 2.23126708e+01] [-9.24295098e-03 -1.24681261e-04 9.99957275e-01 -1.24858937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691400513 meters 0.01732796605546145 Centerline is valid? [True, True] Translation: X:220.12, Y:22.32, Z:-1.25 [[ 9.97680183e-01 -6.73462273e-02 9.93674754e-03 2.20122580e+02] [ 6.73414243e-02 9.97729655e-01 8.17532510e-04 2.23174103e+01] [-9.96924543e-03 -1.46481251e-04 9.99950295e-01 -1.24723885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721400513 meters 0.020016544927448834 Centerline is valid? [True, True] Translation: X:220.15, Y:22.33, Z:-1.24 [[ 9.97845377e-01 -6.45674633e-02 1.16467621e-02 2.20150469e+02] [ 6.45606492e-02 9.97913323e-01 9.60485035e-04 2.23278180e+01] [-1.16844751e-02 -2.06493033e-04 9.99931713e-01 -1.24399472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751400513 meters 0.02275990051991248 Centerline is valid? [True, True] Translation: X:220.18, Y:22.34, Z:-1.25 [[ 9.97944476e-01 -6.31644368e-02 1.08202409e-02 2.20177752e+02] [ 6.31584547e-02 9.98003111e-01 8.94018573e-04 2.23367477e+01] [-1.08551043e-02 -2.08791201e-04 9.99941060e-01 -1.24525364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781400513 meters 0.02530701693013852 Centerline is valid? [True, True] Translation: X:220.21, Y:22.35, Z:-1.25 [[ 9.98057869e-01 -6.15964556e-02 9.29334678e-03 2.20205025e+02] [ 6.15919679e-02 9.98101116e-01 7.68598938e-04 2.23464797e+01] [-9.32304277e-03 -1.94710702e-04 9.99956521e-01 -1.24828194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811400513 meters 0.0252896605683581 Centerline is valid? [True, True] Translation: X:220.23, Y:22.35, Z:-1.25 [[ 9.98153058e-01 -6.02057654e-02 8.10793221e-03 2.20233091e+02] [ 6.02023030e-02 9.98185971e-01 6.70645360e-04 2.23537249e+01] [-8.13360090e-03 -1.81290525e-04 9.99966905e-01 -1.25074915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841400513 meters 0.02650579687071954 Centerline is valid? [True, True] Translation: X:220.26, Y:22.36, Z:-1.25 [[ 9.98228416e-01 -5.89820782e-02 7.81948625e-03 2.20260760e+02] [ 5.89788088e-02 9.98259024e-01 6.48251422e-04 2.23621141e+01] [-7.84410793e-03 -1.85919005e-04 9.99969217e-01 -1.25181567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871400513 meters 0.02767966258451404 Centerline is valid? [True, True] Translation: X:220.29, Y:22.37, Z:-1.25 [[ 9.98271853e-01 -5.81939044e-02 8.17172738e-03 2.20289047e+02] [ 5.81903029e-02 9.98305278e-01 6.78001992e-04 2.23742375e+01] [-8.19733417e-03 -2.01315014e-04 9.99966381e-01 -1.25140944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901400513 meters 0.02858616415915332 Centerline is valid? [True, True] Translation: X:220.32, Y:22.38, Z:-1.25 [[ 9.98243314e-01 -5.86948451e-02 8.07475285e-03 2.20317389e+02] [ 5.86913313e-02 9.98275952e-01 6.71637648e-04 2.23818982e+01] [-8.10025325e-03 -1.96539797e-04 9.99967173e-01 -1.25213199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93140051299997 meters 0.027002923607469056 Centerline is valid? [True, True] Translation: X:220.35, Y:22.39, Z:-1.25 [[ 9.98163404e-01 -6.01116527e-02 7.51059906e-03 2.20346194e+02] [ 6.01086543e-02 9.98191645e-01 6.24519579e-04 2.23866589e+01] [-7.53455814e-03 -1.71920586e-04 9.99971600e-01 -1.25301980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96140051299997 meters 0.03116660295492249 Centerline is valid? [True, True] Translation: X:220.38, Y:22.39, Z:-1.25 [[ 9.98050046e-01 -6.20227721e-02 7.02008015e-03 2.20375155e+02] [ 6.20201928e-02 9.98074724e-01 5.84734576e-04 2.23890806e+01] [-7.04283141e-03 -1.48207647e-04 9.99975188e-01 -1.25446686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99140051299997 meters 0.02227947405855786 Centerline is valid? [True, True] Translation: X:220.40, Y:22.39, Z:-1.25 [[ 9.97861557e-01 -6.49668678e-02 7.18459752e-03 2.20402676e+02] [ 6.49642307e-02 9.97887413e-01 6.00070225e-04 2.23934784e+01] [-7.20840412e-03 -1.32045159e-04 9.99974010e-01 -1.25393719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02140051299997 meters 0.021488525732003712 Centerline is valid? [True, True] Translation: X:220.43, Y:22.40, Z:-1.25 [[ 9.97779336e-01 -6.60775074e-02 8.37612239e-03 2.20430815e+02] [ 6.60739593e-02 9.97814483e-01 6.99925982e-04 2.23966998e+01] [-8.40406560e-03 -1.44928112e-04 9.99964675e-01 -1.25219672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05140051299998 meters 0.022330177179319333 Centerline is valid? [True, True] Translation: X:220.46, Y:22.40, Z:-1.25 [[ 9.97785670e-01 -6.56147944e-02 1.08837018e-02 2.20457755e+02] [ 6.56087512e-02 9.97845008e-01 9.11757534e-04 2.24049802e+01] [-1.09200723e-02 -1.95672518e-04 9.99940355e-01 -1.24787514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08140051299998 meters 0.02466291428780259 Centerline is valid? [True, True] Translation: X:220.49, Y:22.41, Z:-1.25 [[ 9.97907622e-01 -6.36285769e-02 1.14796388e-02 2.20486569e+02] [ 6.36217108e-02 9.97973622e-01 9.62681657e-04 2.24140576e+01] [-1.15176308e-02 -2.30313105e-04 9.99933643e-01 -1.24733994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11140051299998 meters 0.0254321970088957 Centerline is valid? [True, True] Translation: X:220.52, Y:22.42, Z:-1.25 [[ 9.98100987e-01 -6.05855894e-02 1.11268312e-02 2.20516585e+02] [ 6.05789471e-02 9.98162973e-01 9.33336599e-04 2.24211605e+01] [-1.11629376e-02 -2.57512464e-04 9.99937659e-01 -1.24823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14140051299998 meters 0.028376351250778767 Centerline is valid? [True, True] Translation: X:220.55, Y:22.43, Z:-1.25 [[ 9.98295733e-01 -5.74645695e-02 1.01711997e-02 2.20546960e+02] [ 5.74588571e-02 9.98347511e-01 8.53194587e-04 2.24307278e+01] [-1.02034204e-02 -2.67315004e-04 9.99947908e-01 -1.24988452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17140051299998 meters 0.03512109429552939 Centerline is valid? [True, True] Translation: X:220.58, Y:22.44, Z:-1.25 [[ 9.98499980e-01 -5.39667223e-02 9.24033410e-03 2.20576381e+02] [ 5.39618600e-02 9.98542697e-01 7.74893980e-04 2.24440622e+01] [-9.26868662e-03 -2.75106008e-04 9.99957007e-01 -1.25227536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20140051299998 meters 0.03481916818307914 Centerline is valid? [True, True] Translation: X:220.61, Y:22.45, Z:-1.25 [[ 9.98658193e-01 -5.09873478e-02 9.06112989e-03 2.20606970e+02] [ 5.09825507e-02 9.98699255e-01 7.59761195e-04 2.24480969e+01] [-9.08808188e-03 -2.96782228e-04 9.99958658e-01 -1.25287970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23140051299998 meters 0.03982123081661158 Centerline is valid? [True, True] Translation: X:220.64, Y:22.46, Z:-1.25 [[ 9.98889800e-01 -4.58518298e-02 1.08063280e-02 2.20636738e+02] [ 4.58447083e-02 9.98948168e-01 9.05938016e-04 2.24595542e+01] [-1.08365005e-02 -4.09519286e-04 9.99941200e-01 -1.25044083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26140051299998 meters 0.04218688744615307 Centerline is valid? [True, True] Translation: X:220.67, Y:22.47, Z:-1.25 [[ 9.98967651e-01 -4.38310327e-02 1.19361649e-02 2.20666776e+02] [ 4.38222005e-02 9.99038845e-01 1.00061790e-03 2.24665622e+01] [-1.19685506e-02 -4.76515897e-04 9.99928261e-01 -1.24893184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29140051299999 meters 0.04695248957489871 Centerline is valid? [True, True] Translation: X:220.70, Y:22.48, Z:-1.25 [[ 9.99024187e-01 -4.23169059e-02 1.26473019e-02 2.20697229e+02] [ 4.23068713e-02 9.99104101e-01 1.06003567e-03 2.24771171e+01] [-1.26808286e-02 -5.23933506e-04 9.99919458e-01 -1.24768723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321400513 meters 0.04858682822304675 Centerline is valid? [True, True] Translation: X:220.73, Y:22.48, Z:-1.25 [[ 9.99086272e-01 -4.08241400e-02 1.26495361e-02 2.20728387e+02] [ 4.08139880e-02 9.99166200e-01 1.05977914e-03 2.24842174e+01] [-1.26822535e-02 -5.42532773e-04 9.99919430e-01 -1.24782364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351400513 meters 0.04970110335359229 Centerline is valid? [True, True] Translation: X:220.76, Y:22.49, Z:-1.25 [[ 9.99165734e-01 -3.90221496e-02 1.20460321e-02 2.20759433e+02] [ 3.90128171e-02 9.99238201e-01 1.00883614e-03 2.24909847e+01] [-1.20762224e-02 -5.38044861e-04 9.99926935e-01 -1.24909681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381400513 meters 0.050937416285285496 Centerline is valid? [True, True] Translation: X:220.79, Y:22.50, Z:-1.25 [[ 9.99310889e-01 -3.54552448e-02 1.09850773e-02 2.20789445e+02] [ 3.54472714e-02 9.99371125e-01 9.19754679e-04 2.25002021e+01] [-1.10107792e-02 -5.29729848e-04 9.99939239e-01 -1.25243095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411400513 meters 0.05291742651122986 Centerline is valid? [True, True] Translation: X:220.82, Y:22.51, Z:-1.25 [[ 9.99380035e-01 -3.34379002e-02 1.10205854e-02 2.20819992e+02] [ 3.34297532e-02 9.99440644e-01 9.22696639e-04 2.25071770e+01] [-1.10452740e-02 -5.53709149e-04 9.99938846e-01 -1.25254332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441400513 meters 0.05900505630892711 Centerline is valid? [True, True] Translation: X:220.85, Y:22.52, Z:-1.25 [[ 9.99440955e-01 -3.14957519e-02 1.12158428e-02 2.20849653e+02] [ 3.14871931e-02 9.99503714e-01 9.38910775e-04 2.25190003e+01] [-1.12398483e-02 -5.85230473e-04 9.99936660e-01 -1.25175991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471400513 meters 0.0601902492864174 Centerline is valid? [True, True] Translation: X:220.88, Y:22.53, Z:-1.25 [[ 9.99511355e-01 -2.97421938e-02 9.61522433e-03 2.20880766e+02] [ 2.97358235e-02 9.99557469e-01 8.04838830e-04 2.25260722e+01] [-9.63490696e-03 -5.18528936e-04 9.99953449e-01 -1.25350652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501400513 meters 0.05807489602193986 Centerline is valid? [True, True] Translation: X:220.91, Y:22.53, Z:-1.26 [[ 9.99514814e-01 -3.00406242e-02 8.22786126e-03 2.20913283e+02] [ 3.00359705e-02 9.99548581e-01 6.88622380e-04 2.25273456e+01] [-8.24483369e-03 -4.41156473e-04 9.99965913e-01 -1.25615590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531400513 meters 0.05807489602193986 Centerline is valid? [True, True] Translation: X:220.94, Y:22.53, Z:-1.26 [[ 9.99516197e-01 -2.99945526e-02 8.22789287e-03 2.20944895e+02] [ 2.99899004e-02 9.99549965e-01 6.88244463e-04 2.25299064e+01] [-8.24483361e-03 -4.41157801e-04 9.99965913e-01 -1.25650353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561400513 meters 0.06006477599023945 Centerline is valid? [True, True] Translation: X:220.98, Y:22.54, Z:-1.26 [[ 9.99510132e-01 -3.04090722e-02 7.40161512e-03 2.20975331e+02] [ 3.04053201e-02 9.99537460e-01 6.18948730e-04 2.25363096e+01] [-7.41701323e-03 -3.93597049e-04 9.99972416e-01 -1.25821576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591400513 meters 0.0557560479148603 Centerline is valid? [True, True] Translation: X:221.01, Y:22.54, Z:-1.26 [[ 9.99477391e-01 -3.11265592e-02 8.72248435e-03 2.21007355e+02] [ 3.11213836e-02 9.99515347e-01 7.28496366e-04 2.25371106e+01] [-8.74093256e-03 -4.56659866e-04 9.99961693e-01 -1.25563920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621400513 meters 0.0552317488155907 Centerline is valid? [True, True] Translation: X:221.04, Y:22.54, Z:-1.25 [[ 9.99475092e-01 -3.10180612e-02 9.34985804e-03 2.21039470e+02] [ 3.10121140e-02 9.99518704e-01 7.80419733e-04 2.25408020e+01] [-9.36956510e-03 -4.90051221e-04 9.99955985e-01 -1.25450495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651400513 meters 0.054239092095616975 Centerline is valid? [True, True] Translation: X:221.07, Y:22.54, Z:-1.25 [[ 9.99490809e-01 -3.05300889e-02 9.27555141e-03 2.21071236e+02] [ 3.05242190e-02 9.99533728e-01 7.73787346e-04 2.25435289e+01] [-9.29485027e-03 -4.90264379e-04 9.99956682e-01 -1.25465812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68140051299997 meters 0.05694773405520035 Centerline is valid? [True, True] Translation: X:221.10, Y:22.55, Z:-1.26 [[ 9.99524559e-01 -2.95571622e-02 8.77672919e-03 2.21101907e+02] [ 2.95518729e-02 9.99562980e-01 7.31760613e-04 2.25498686e+01] [-8.79452235e-03 -4.72043918e-04 9.99961216e-01 -1.25600162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71140051299997 meters 0.05849154853052046 Centerline is valid? [True, True] Translation: X:221.13, Y:22.55, Z:-1.26 [[ 9.99561348e-01 -2.84836969e-02 8.11111933e-03 2.21133532e+02] [ 2.84791460e-02 9.99594158e-01 6.76038532e-04 2.25542871e+01] [-8.12708358e-03 -4.44744235e-04 9.99966876e-01 -1.25761959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74140051299997 meters 0.06133587411283417 Centerline is valid? [True, True] Translation: X:221.16, Y:22.56, Z:-1.26 [[ 9.99632251e-01 -2.59354185e-02 7.91940792e-03 2.21164035e+02] [ 2.59310042e-02 9.99663517e-01 6.59598155e-04 2.25616502e+01] [-7.93385013e-03 -4.53997389e-04 9.99968423e-01 -1.25733068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77140051299997 meters 0.06613023199444171 Centerline is valid? [True, True] Translation: X:221.19, Y:22.57, Z:-1.26 [[ 9.99673875e-01 -2.42155427e-02 8.10874405e-03 2.21193710e+02] [ 2.42108591e-02 9.99706646e-01 6.75270551e-04 2.25717063e+01] [-8.12271737e-03 -4.78730668e-04 9.99966896e-01 -1.25697695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80140051299998 meters 0.06400611253228837 Centerline is valid? [True, True] Translation: X:221.22, Y:22.57, Z:-1.26 [[ 9.99720024e-01 -2.20896009e-02 8.48076280e-03 2.21224514e+02] [ 2.20844021e-02 9.99755860e-01 7.06183126e-04 2.25734386e+01] [-8.49429162e-03 -5.18692835e-04 9.99963788e-01 -1.25570381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83140051299998 meters 0.06555006805785822 Centerline is valid? [True, True] Translation: X:221.26, Y:22.58, Z:-1.25 [[ 9.99759815e-01 -1.99219626e-02 9.13382613e-03 2.21255336e+02] [ 1.99158448e-02 9.99801371e-01 7.60276969e-04 2.25790051e+01] [-9.14715809e-03 -5.78186499e-04 9.99957997e-01 -1.25498731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86140051299998 meters 0.06651340926237978 Centerline is valid? [True, True] Translation: X:221.29, Y:22.58, Z:-1.25 [[ 9.99791324e-01 -1.80399577e-02 9.58474773e-03 2.21285976e+02] [ 1.80331359e-02 9.99837072e-01 7.97692478e-04 2.25820769e+01] [-9.59757644e-03 -6.24682961e-04 9.99953747e-01 -1.25497779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89140051299998 meters 0.07414767927325133 Centerline is valid? [True, True] Translation: X:221.31, Y:22.60, Z:-1.26 [[ 9.99836938e-01 -1.51294842e-02 9.85883432e-03 2.21314663e+02] [ 1.51221269e-02 9.99885318e-01 8.20379312e-04 2.25977647e+01] [-9.87011560e-03 -6.71158995e-04 9.99951064e-01 -1.25565013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92140051299998 meters 0.07043467781349777 Centerline is valid? [True, True] Translation: X:221.35, Y:22.60, Z:-1.26 [[ 9.99854438e-01 -1.41930666e-02 9.46888217e-03 2.21346745e+02] [ 1.41862383e-02 9.99899060e-01 7.87914696e-04 2.25974479e+01] [-9.47910931e-03 -6.53472187e-04 9.99954859e-01 -1.25671495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95140051299998 meters 0.07792142854431922 Centerline is valid? [True, True] Translation: X:221.38, Y:22.61, Z:-1.26 [[ 9.99865304e-01 -1.38036190e-02 8.87883444e-03 2.21376630e+02] [ 1.37976035e-02 9.99904536e-01 7.38409691e-04 2.26097586e+01] [-8.88817956e-03 -6.15803593e-04 9.99960310e-01 -1.25833420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98140051299998 meters 0.07758161948099862 Centerline is valid? [True, True] Translation: X:221.41, Y:22.61, Z:-1.26 [[ 9.99846002e-01 -1.50056512e-02 9.09954848e-03 2.21407274e+02] [ 1.49993856e-02 9.99887217e-01 7.56415562e-04 2.26103627e+01] [-9.10987271e-03 -6.19811439e-04 9.99958312e-01 -1.25776903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01140051299998 meters 0.06766907899895976 Centerline is valid? [True, True] Translation: X:221.44, Y:22.60, Z:-1.26 [[ 9.99799388e-01 -1.72408897e-02 1.01948524e-02 2.21439427e+02] [ 1.72331433e-02 9.99851139e-01 8.47198842e-04 2.25998047e+01] [-1.02079412e-02 -6.71339532e-04 9.99947672e-01 -1.25594799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04140051299999 meters 0.06989295070385465 Centerline is valid? [True, True] Translation: X:221.47, Y:22.61, Z:-1.25 [[ 9.99764393e-01 -1.86667042e-02 1.10775844e-02 2.21469351e+02] [ 1.86576471e-02 9.99825507e-01 9.20404344e-04 2.26065598e+01] [-1.10928323e-02 -7.13505831e-04 9.99938218e-01 -1.25473094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071400513 meters 0.07120254672117478 Centerline is valid? [True, True] Translation: X:221.50, Y:22.61, Z:-1.26 [[ 9.99716045e-01 -2.09865498e-02 1.12868676e-02 2.21499075e+02] [ 2.09773032e-02 9.99779513e-01 9.37010652e-04 2.26093862e+01] [-1.13040436e-02 -6.99976539e-04 9.99935862e-01 -1.25512222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101400513 meters 0.06346795769644735 Centerline is valid? [True, True] Translation: X:221.53, Y:22.60, Z:-1.26 [[ 9.99683941e-01 -2.29861121e-02 1.01812406e-02 2.21530570e+02] [ 2.29786917e-02 9.99735598e-01 8.45228651e-04 2.25998728e+01] [-1.01979772e-02 -6.11009920e-04 9.99947813e-01 -1.25785424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131400513 meters 0.06295192776901322 Centerline is valid? [True, True] Translation: X:221.56, Y:22.60, Z:-1.26 [[ 9.99681243e-01 -2.32667732e-02 9.80149650e-03 2.21561672e+02] [ 2.32599097e-02 9.99729121e-01 8.13676041e-04 2.26008907e+01] [-9.81777309e-03 -5.85434752e-04 9.99951633e-01 -1.25847695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161400513 meters 0.06264021887019476 Centerline is valid? [True, True] Translation: X:221.59, Y:22.60, Z:-1.26 [[ 9.99654472e-01 -2.42006363e-02 1.02598791e-02 2.21592865e+02] [ 2.41931688e-02 9.99706940e-01 8.51340202e-04 2.26006264e+01] [-1.02774753e-02 -6.02827052e-04 9.99947004e-01 -1.25812246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191400513 meters 0.06106560549305802 Centerline is valid? [True, True] Translation: X:221.63, Y:22.60, Z:-1.26 [[ 9.99629987e-01 -2.49482703e-02 1.08385225e-02 2.21625660e+02] [ 2.49399834e-02 9.99688546e-01 8.99092399e-04 2.25989718e+01] [-1.08575776e-02 -6.28447151e-04 9.99940857e-01 -1.25751457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221400513 meters 0.06538838018254398 Centerline is valid? [True, True] Translation: X:221.65, Y:22.59, Z:-1.26 [[ 9.99648448e-01 -2.37074604e-02 1.18716916e-02 2.21654168e+02] [ 2.35499495e-02 9.99635033e-01 1.32363142e-02 2.25890295e+01] [-1.21811582e-02 -1.29520832e-02 9.99841919e-01 -1.25872173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251400513 meters 0.06425558558045157 Centerline is valid? [True, True] Translation: X:221.69, Y:22.61, Z:-1.26 [[ 9.99622494e-01 -2.49384046e-02 1.15301576e-02 2.21686327e+02] [ 2.50728818e-02 9.99617514e-01 -1.16694516e-02 2.26107067e+01] [-1.12347299e-02 1.19541406e-02 9.99865431e-01 -1.25782932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281400513 meters 0.06527514721185486 Centerline is valid? [True, True] Translation: X:221.72, Y:22.60, Z:-1.26 [[ 9.99670537e-01 -2.39119907e-02 9.32920820e-03 2.21718823e+02] [ 2.39058085e-02 9.99713916e-01 7.73637595e-04 2.26019705e+01] [-9.34503848e-03 -5.50360445e-04 9.99956183e-01 -1.26039734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311400513 meters 0.06711431577686414 Centerline is valid? [True, True] Translation: X:221.75, Y:22.61, Z:-1.26 [[ 9.99716328e-01 -2.22351714e-02 8.53587900e-03 2.21750080e+02] [ 2.22299375e-02 9.99752634e-01 7.07563697e-04 2.26058072e+01] [-8.54950032e-03 -5.17610924e-04 9.99963318e-01 -1.26192209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341400513 meters 0.0715637597864051 Centerline is valid? [True, True] Translation: X:221.78, Y:22.61, Z:-1.26 [[ 9.99783620e-01 -1.85995852e-02 9.31495851e-03 2.21780464e+02] [ 1.85931975e-02 9.99826834e-01 7.71886105e-04 2.26106525e+01] [-9.32770223e-03 -5.98524221e-04 9.99956317e-01 -1.26226580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371400513 meters 0.07280721688494997 Centerline is valid? [True, True] Translation: X:221.81, Y:22.61, Z:-1.26 [[ 9.99810579e-01 -1.70370266e-02 9.40985405e-03 2.21811609e+02] [ 1.70304395e-02 9.99854668e-01 7.79720209e-04 2.26125958e+01] [-9.42177061e-03 -6.19318564e-04 9.99955422e-01 -1.26270532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40140051299997 meters 0.07369226706741208 Centerline is valid? [True, True] Translation: X:221.84, Y:22.61, Z:-1.26 [[ 9.99845033e-01 -1.53827498e-02 8.56043661e-03 2.21842848e+02] [ 1.53772394e-02 9.99881512e-01 7.09164793e-04 2.26145454e+01] [-8.57033120e-03 -5.77419014e-04 9.99963107e-01 -1.26410020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43140051299997 meters 0.08223910147389214 Centerline is valid? [True, True] Translation: X:221.87, Y:22.63, Z:-1.27 [[ 9.99882226e-01 -1.34535887e-02 7.38484108e-03 2.21871899e+02] [ 1.34494371e-02 9.99909365e-01 6.11565844e-04 2.26268078e+01] [-7.39239952e-03 -5.12171862e-04 9.99972545e-01 -1.26650356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46140051299997 meters 0.07566956021502126 Centerline is valid? [True, True] Translation: X:221.90, Y:22.62, Z:-1.27 [[ 9.99938019e-01 -8.86275042e-03 6.73872150e-03 2.21903141e+02] [ 8.85918970e-03 9.99960601e-01 5.58064255e-04 2.26212359e+01] [-6.74340198e-03 -4.98330054e-04 9.99977139e-01 -1.26665909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49140051299997 meters 0.08253816110811588 Centerline is valid? [True, True] Translation: X:221.93, Y:22.63, Z:-1.27 [[ 9.99947059e-01 -6.95623499e-03 7.58222290e-03 2.21932077e+02] [ 6.95167169e-03 9.99975640e-01 6.28030314e-04 2.26305013e+01] [-7.58640692e-03 -5.75287942e-04 9.99971057e-01 -1.26541645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52140051299997 meters 0.07838295517117148 Centerline is valid? [True, True] Translation: X:221.96, Y:22.63, Z:-1.26 [[ 9.99949211e-01 -5.74077122e-03 8.28364789e-03 2.21964060e+02] [ 5.73528660e-03 9.99983318e-01 6.85704783e-04 2.26262147e+01] [-8.28744618e-03 -6.38160862e-04 9.99965455e-01 -1.26405835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55140051299998 meters 0.08538852110036943 Centerline is valid? [True, True] Translation: X:221.99, Y:22.64, Z:-1.27 [[ 9.99955932e-01 -5.21926286e-03 7.80343841e-03 2.21994070e+02] [ 5.21437992e-03 9.99986196e-01 6.45956715e-04 2.26356012e+01] [-7.80670211e-03 -6.05238156e-04 9.99969344e-01 -1.26506689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58140051299998 meters 0.08698522005527463 Centerline is valid? [True, True] Translation: X:222.02, Y:22.64, Z:-1.27 [[ 9.99966819e-01 -5.14712520e-03 6.31411230e-03 2.22024962e+02] [ 5.14393033e-03 9.99986634e-01 5.22124799e-04 2.26372430e+01] [-6.31671534e-03 -4.89628121e-04 9.99979929e-01 -1.26857118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61140051299998 meters 0.07959304368129236 Centerline is valid? [True, True] Translation: X:222.06, Y:22.63, Z:-1.27 [[ 9.99967643e-01 -4.90037177e-03 6.37953981e-03 2.22058183e+02] [ 4.89710638e-03 9.99987870e-01 5.27374734e-04 2.26296328e+01] [-6.38204676e-03 -4.96116385e-04 9.99979511e-01 -1.26843076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64140051299998 meters 0.08756813987112022 Centerline is valid? [True, True] Translation: X:222.09, Y:22.64, Z:-1.27 [[ 9.99964156e-01 -4.24605873e-03 7.32509751e-03 2.22088265e+02] [ 4.24173945e-03 9.99990821e-01 6.05089476e-04 2.26408247e+01] [-7.32759952e-03 -5.73996632e-04 9.99972988e-01 -1.26770926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67140051299998 meters 0.08650470802025409 Centerline is valid? [True, True] Translation: X:222.12, Y:22.64, Z:-1.27 [[ 9.99959298e-01 -3.26782502e-03 8.40977894e-03 2.22120227e+02] [ 3.26210035e-03 9.99994438e-01 6.94343261e-04 2.26414846e+01] [-8.41200115e-03 -6.66881457e-04 9.99964396e-01 -1.26610652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70140051299998 meters 0.08640530531469866 Centerline is valid? [True, True] Translation: X:222.15, Y:22.64, Z:-1.27 [[ 9.99959122e-01 -7.03896648e-04 9.01436119e-03 2.22151076e+02] [ 6.97219168e-04 9.99999480e-01 7.43881311e-04 2.26417904e+01] [-9.01488013e-03 -7.37565917e-04 9.99959093e-01 -1.26525343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73140051299998 meters 0.0903910597348029 Centerline is valid? [True, True] Translation: X:222.18, Y:22.65, Z:-1.27 [[ 9.99962684e-01 8.73318438e-05 8.63841362e-03 2.22181873e+02] [-9.34936982e-05 9.99999742e-01 7.12907302e-04 2.26472667e+01] [-8.63834913e-03 -7.13688337e-04 9.99962434e-01 -1.26645751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76140051299998 meters 0.08100887150452697 Centerline is valid? [True, True] Translation: X:222.21, Y:22.64, Z:-1.27 [[ 9.99970272e-01 5.48630797e-04 7.69113639e-03 2.22214909e+02] [-5.53527480e-04 9.99999645e-01 6.34551597e-04 2.26364993e+01] [-7.69078553e-03 -6.38789988e-04 9.99970221e-01 -1.26737089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79140051299999 meters 0.08164600957586833 Centerline is valid? [True, True] Translation: X:222.25, Y:22.64, Z:-1.27 [[ 9.99974288e-01 3.72361298e-04 7.16131038e-03 2.22246968e+02] [-3.76602930e-04 9.99999754e-01 5.90958980e-04 2.26374627e+01] [-7.16108857e-03 -5.93640756e-04 9.99974183e-01 -1.26857807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821400513 meters 0.08813117495878804 Centerline is valid? [True, True] Translation: X:222.28, Y:22.65, Z:-1.27 [[ 9.99973911e-01 1.75107867e-03 7.00796924e-03 2.22276322e+02] [-1.75516352e-03 9.99998293e-01 5.76778453e-04 2.26480376e+01] [-7.00694730e-03 -5.89063537e-04 9.99975278e-01 -1.26980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851400513 meters 0.09364080434316731 Centerline is valid? [True, True] Translation: X:222.31, Y:22.65, Z:-1.27 [[ 9.99970312e-01 2.18054857e-03 7.39055947e-03 2.22306750e+02] [-2.18510251e-03 9.99997428e-01 6.08164869e-04 2.26546593e+01] [-7.38921433e-03 -6.24295944e-04 9.99972505e-01 -1.26962232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881400513 meters 0.08467861473140047 Centerline is valid? [True, True] Translation: X:222.34, Y:22.64, Z:-1.27 [[ 9.99962106e-01 2.53505019e-03 8.32826481e-03 2.22339527e+02] [-2.54083384e-03 9.99996538e-01 6.83953260e-04 2.26435877e+01] [-8.32650213e-03 -7.05088080e-04 9.99965085e-01 -1.26815363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911400513 meters 0.0791197788274625 Centerline is valid? [True, True] Translation: X:222.37, Y:22.64, Z:-1.27 [[ 9.99957899e-01 2.52459530e-03 8.82197638e-03 2.22372100e+02] [-2.53107130e-03 9.99996535e-01 7.22988892e-04 2.26371771e+01] [-8.82012056e-03 -7.45287504e-04 9.99960824e-01 -1.26682900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941400513 meters 0.09174834457301678 Centerline is valid? [True, True] Translation: X:222.40, Y:22.65, Z:-1.27 [[ 9.99953374e-01 2.52153827e-03 9.32155912e-03 2.22401717e+02] [-2.52875297e-03 9.99996512e-01 7.62274095e-04 2.26541199e+01] [-9.31960450e-03 -7.85810474e-04 9.99956263e-01 -1.26681912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971400513 meters 0.08312857394486631 Centerline is valid? [True, True] Translation: X:222.43, Y:22.64, Z:-1.27 [[ 9.99964944e-01 2.49385467e-03 7.99319809e-03 2.22434534e+02] [-2.49915105e-03 9.99996664e-01 6.52690338e-04 2.26446341e+01] [-7.99154371e-03 -6.72643667e-04 9.99967841e-01 -1.26964666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001400513 meters 0.08293759333399943 Centerline is valid? [True, True] Translation: X:222.47, Y:22.64, Z:-1.27 [[ 9.99968910e-01 2.88700498e-03 7.33784182e-03 2.22467162e+02] [-2.89147133e-03 9.99995641e-01 5.98137229e-04 2.26446122e+01] [-7.33608300e-03 -6.19335792e-04 9.99972899e-01 -1.27083669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031400513 meters 0.08539465595883823 Centerline is valid? [True, True] Translation: X:222.50, Y:22.65, Z:-1.27 [[ 9.99965042e-01 3.21288502e-03 7.71958416e-03 2.22498248e+02] [-3.21782723e-03 9.99994626e-01 6.27882511e-04 2.26474469e+01] [-7.71752536e-03 -6.52700850e-04 9.99970006e-01 -1.27067512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061400513 meters 0.08933935997190469 Centerline is valid? [True, True] Translation: X:222.53, Y:22.65, Z:-1.27 [[ 9.99952509e-01 4.26559549e-03 8.76269527e-03 2.22527816e+02] [-4.27198788e-03 9.99990622e-01 7.10912153e-04 2.26524699e+01] [-8.75958063e-03 -7.48312519e-04 9.99961354e-01 -1.26838846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091400513 meters 0.09370730672951913 Centerline is valid? [True, True] Translation: X:222.56, Y:22.66, Z:-1.27 [[ 9.99951322e-01 5.08964540e-03 8.45278814e-03 2.22557239e+02] [-5.09562284e-03 9.99986782e-01 6.85769576e-04 2.26603236e+01] [-8.44918609e-03 -7.28808414e-04 9.99964039e-01 -1.26933060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121400513 meters 0.0906366402291398 Centerline is valid? [True, True] Translation: X:222.59, Y:22.66, Z:-1.27 [[ 9.99952619e-01 5.83383622e-03 7.79267910e-03 2.22589341e+02] [-5.83893995e-03 9.99982753e-01 6.32348191e-04 2.26597381e+01] [-7.78885569e-03 -6.77819215e-04 9.99969437e-01 -1.27021082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15140051299997 meters 0.09074697858563717 Centerline is valid? [True, True] Translation: X:222.62, Y:22.66, Z:-1.27 [[ 9.99953264e-01 6.47582598e-03 7.17868430e-03 2.22621063e+02] [-6.48017150e-03 9.99978834e-01 5.82241041e-04 2.26626949e+01] [-7.17476187e-03 -6.28732935e-04 9.99974063e-01 -1.27111110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18140051299997 meters 0.09418376118898224 Centerline is valid? [True, True] Translation: X:222.65, Y:22.67, Z:-1.27 [[ 9.99957405e-01 6.01094714e-03 7.00397880e-03 2.22651430e+02] [-6.01507144e-03 9.99981748e-01 5.67935122e-04 2.26706010e+01] [-7.00043714e-03 -6.10040364e-04 9.99975311e-01 -1.27228736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21140051299997 meters 0.09871857806557541 Centerline is valid? [True, True] Translation: X:222.68, Y:22.68, Z:-1.27 [[ 9.99960938e-01 4.55644672e-03 7.57372404e-03 2.22680737e+02] [-4.56122004e-03 9.99989410e-01 6.13093601e-04 2.26789433e+01] [-7.57085030e-03 -6.47615074e-04 9.99971131e-01 -1.27262960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24140051299997 meters 0.08717012397545286 Centerline is valid? [True, True] Translation: X:222.71, Y:22.67, Z:-1.27 [[ 9.99962402e-01 2.75713496e-03 8.22148022e-03 2.22712605e+02] [-2.76269949e-03 9.99995962e-01 6.65547936e-04 2.26665736e+01] [-8.21961202e-03 -6.88236392e-04 9.99965982e-01 -1.27183097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27140051299997 meters 0.07874390339899902 Centerline is valid? [True, True] Translation: X:222.74, Y:22.66, Z:-1.27 [[ 9.99961393e-01 4.36358938e-04 8.77619345e-03 2.22743642e+02] [-4.42610272e-04 9.99999650e-01 7.10376192e-04 2.26567869e+01] [-8.77588040e-03 -7.14233200e-04 9.99961236e-01 -1.27101546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30140051299998 meters 0.07599813252414386 Centerline is valid? [True, True] Translation: X:222.77, Y:22.65, Z:-1.27 [[ 9.99956790e-01 -5.15150402e-03 7.73822974e-03 2.22774139e+02] [ 5.14681054e-03 9.99986559e-01 6.26324234e-04 2.26521972e+01] [-7.74135224e-03 -5.86469968e-04 9.99969863e-01 -1.27194381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33140051299998 meters 0.07293615673440136 Centerline is valid? [True, True] Translation: X:222.81, Y:22.65, Z:-1.27 [[ 9.99942084e-01 -8.10357426e-03 7.08243001e-03 2.22805030e+02] [ 8.09971614e-03 9.99967032e-01 5.73258888e-04 2.26497334e+01] [-7.08684196e-03 -5.15860014e-04 9.99974755e-01 -1.27320917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36140051299998 meters 0.07594891468855575 Centerline is valid? [True, True] Translation: X:222.83, Y:22.65, Z:-1.27 [[ 9.99913135e-01 -1.08361771e-02 7.50326365e-03 2.22834461e+02] [ 1.08319237e-02 9.99941149e-01 6.07289450e-04 2.26546703e+01] [-7.50940277e-03 -5.25961919e-04 9.99971666e-01 -1.27301719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39140051299998 meters 0.07374850653211643 Centerline is valid? [True, True] Translation: X:222.87, Y:22.65, Z:-1.27 [[ 9.99879461e-01 -1.28925270e-02 8.65136216e-03 2.22865207e+02] [ 1.28869474e-02 9.99916715e-01 7.00374986e-04 2.26532876e+01] [-8.65967123e-03 -5.88800914e-04 9.99962331e-01 -1.27157627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42140051299998 meters 0.07374850653211643 Centerline is valid? [True, True] Translation: X:222.90, Y:22.66, Z:-1.27 [[ 9.99880321e-01 -1.28256654e-02 8.65136046e-03 2.22897689e+02] [ 1.28200832e-02 9.99917574e-01 7.00396115e-04 2.26557948e+01] [-8.65963041e-03 -5.89401132e-04 9.99962331e-01 -1.27192781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45140051299998 meters 0.06851878859601138 Centerline is valid? [True, True] Translation: X:222.93, Y:22.65, Z:-1.27 [[ 9.99830505e-01 -1.56298337e-02 9.72979450e-03 2.22929197e+02] [ 1.56229130e-02 9.99877645e-01 7.86890397e-04 2.26486977e+01] [-9.74090298e-03 -6.34749290e-04 9.99952355e-01 -1.27076619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48140051299998 meters 0.06343327307706217 Centerline is valid? [True, True] Translation: X:222.96, Y:22.64, Z:-1.27 [[ 9.99816598e-01 -1.69839812e-02 8.84955238e-03 2.22961651e+02] [ 1.69783084e-02 9.99855602e-01 7.15762200e-04 2.26431018e+01] [-8.86043102e-03 -5.65380498e-04 9.99960586e-01 -1.27200803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51140051299998 meters 0.06241017310997884 Centerline is valid? [True, True] Translation: X:222.99, Y:22.64, Z:-1.27 [[ 9.99801589e-01 -1.83188026e-02 7.82335823e-03 2.22993176e+02] [ 1.83144120e-02 9.99832077e-01 6.32496547e-04 2.26424908e+01] [-7.83363109e-03 -4.89090846e-04 9.99969197e-01 -1.27352085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54140051299999 meters 0.0639445194139767 Centerline is valid? [True, True] Translation: X:223.02, Y:22.64, Z:-1.27 [[ 9.99774006e-01 -1.98436350e-02 7.62678883e-03 2.23023686e+02] [ 1.98395078e-02 9.99802988e-01 6.16431432e-04 2.26445581e+01] [-7.63751850e-03 -4.64980386e-04 9.99970726e-01 -1.27462747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571400513 meters 0.0578073010067298 Centerline is valid? [True, True] Translation: X:223.05, Y:22.64, Z:-1.27 [[ 9.99731823e-01 -2.16335883e-02 8.26255339e-03 2.23054717e+02] [ 2.16288074e-02 9.99765847e-01 6.67545393e-04 2.26368007e+01] [-8.27506009e-03 -4.88657197e-04 9.99965642e-01 -1.27420619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601400513 meters 0.05950162247722579 Centerline is valid? [True, True] Translation: X:223.08, Y:22.63, Z:-1.27 [[ 9.99630915e-01 -2.51353159e-02 1.03077121e-02 2.23084285e+02] [ 2.51280609e-02 9.99683894e-01 8.32772032e-04 2.26343173e+01] [-1.03253858e-02 -5.73451851e-04 9.99946527e-01 -1.27271948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631400513 meters 0.05738402607196709 Centerline is valid? [True, True] Translation: X:223.12, Y:22.63, Z:-1.27 [[ 9.99592540e-01 -2.64571668e-02 1.07131784e-02 2.23116592e+02] [ 2.64494040e-02 9.99649779e-01 8.65659719e-04 2.26296538e+01] [-1.07323294e-02 -5.81949812e-04 9.99942238e-01 -1.27245992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661400513 meters 0.05720845666323477 Centerline is valid? [True, True] Translation: X:223.15, Y:22.63, Z:-1.27 [[ 9.99571973e-01 -2.71822259e-02 1.08165218e-02 2.23147744e+02] [ 2.71743591e-02 9.99630327e-01 8.73630648e-04 2.26266865e+01] [-1.08362704e-02 -5.79324664e-04 9.99941118e-01 -1.27249546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691400513 meters 0.056769875272282215 Centerline is valid? [True, True] Translation: X:223.18, Y:22.62, Z:-1.27 [[ 9.99571431e-01 -2.73104799e-02 1.05399961e-02 2.23180228e+02] [ 2.73030269e-02 9.99626841e-01 8.50390133e-04 2.26243328e+01] [-1.05592876e-02 -5.62251885e-04 9.99944091e-01 -1.27299706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721400513 meters 0.06116468386443805 Centerline is valid? [True, True] Translation: X:223.21, Y:22.63, Z:-1.27 [[ 9.99655379e-01 -2.45045812e-02 9.41532683e-03 2.23209519e+02] [ 2.44985141e-02 9.99699578e-01 7.59198706e-04 2.26256247e+01] [-9.43110210e-03 -5.28275554e-04 9.99955387e-01 -1.27499390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751400513 meters 0.06265141505841373 Centerline is valid? [True, True] Translation: X:223.24, Y:22.63, Z:-1.28 [[ 9.99719194e-01 -2.17571866e-02 9.38919686e-03 2.23239853e+02] [ 2.17510315e-02 9.99763132e-01 7.57187569e-04 2.26269571e+01] [-9.40344713e-03 -5.52750231e-04 9.99955634e-01 -1.27556130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781400513 meters 0.07234729990514871 Centerline is valid? [True, True] Translation: X:223.27, Y:22.64, Z:-1.28 [[ 9.99793329e-01 -1.82806201e-02 8.89486275e-03 2.23268313e+02] [ 1.82749593e-02 9.99832742e-01 7.17276451e-04 2.26383654e+01] [-8.90648727e-03 -5.54574956e-04 9.99960183e-01 -1.27753733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811400513 meters 0.06825713536399622 Centerline is valid? [True, True] Translation: X:223.30, Y:22.63, Z:-1.28 [[ 9.99915000e-01 -1.13140949e-02 6.47952337e-03 2.23299508e+02] [ 1.13109451e-02 9.99935893e-01 5.22556703e-04 2.26305772e+01] [-6.48502024e-03 -4.49222753e-04 9.99978871e-01 -1.28188361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841400513 meters 0.07967090544095227 Centerline is valid? [True, True] Translation: X:223.33, Y:22.64, Z:-1.28 [[ 9.99952640e-01 -7.94135707e-03 5.62610608e-03 2.23328127e+02] [ 7.93892911e-03 9.99968383e-01 4.53754482e-04 2.26449583e+01] [-5.62953163e-03 -4.09067735e-04 9.99984070e-01 -1.28416863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871400513 meters 0.07630874816241362 Centerline is valid? [True, True] Translation: X:223.36, Y:22.64, Z:-1.28 [[ 9.99970969e-01 -5.48663260e-03 5.28750780e-03 2.23359423e+02] [ 5.48445363e-03 9.99984869e-01 4.26509687e-04 2.26423364e+01] [-5.28976790e-03 -3.97498213e-04 9.99985930e-01 -1.28408672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90140051299997 meters 0.08308810551766078 Centerline is valid? [True, True] Translation: X:223.39, Y:22.65, Z:-1.28 [[ 9.99977151e-01 -4.01651799e-03 5.43730315e-03 2.23388387e+02] [ 4.01419094e-03 9.99991847e-01 4.38824244e-04 2.26530222e+01] [-5.43902137e-03 -4.16987844e-04 9.99985121e-01 -1.28412256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93140051299997 meters 0.08213437932533874 Centerline is valid? [True, True] Translation: X:223.42, Y:22.65, Z:-1.28 [[ 9.99966494e-01 -3.15073384e-03 7.55537673e-03 2.23420324e+02] [ 3.14622056e-03 9.99994865e-01 6.09170932e-04 2.26549852e+01] [-7.55725727e-03 -5.85379639e-04 9.99971272e-01 -1.28144355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96140051299997 meters 0.08852865465665247 Centerline is valid? [True, True] Translation: X:223.45, Y:22.66, Z:-1.28 [[ 9.99954240e-01 -3.77090880e-03 8.79197971e-03 2.23449897e+02] [ 3.76482572e-03 9.99992662e-01 7.08337986e-04 2.26645964e+01] [-8.79458627e-03 -6.75205301e-04 9.99961099e-01 -1.28000982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99140051299997 meters 0.07608869988412004 Centerline is valid? [True, True] Translation: X:223.48, Y:22.65, Z:-1.28 [[ 9.99940754e-01 -5.30294784e-03 9.50612836e-03 2.23481969e+02] [ 5.29590626e-03 9.99985683e-01 7.65760115e-04 2.26507668e+01] [-9.51005305e-03 -7.15371182e-04 9.99954523e-01 -1.27878708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02140051299997 meters 0.07479887709902115 Centerline is valid? [True, True] Translation: X:223.51, Y:22.65, Z:-1.28 [[ 9.99932802e-01 -7.15749919e-03 9.11926169e-03 2.23512645e+02] [ 7.15109665e-03 9.99974161e-01 7.34503774e-04 2.26503933e+01] [-9.12428326e-03 -6.69241695e-04 9.99958149e-01 -1.27934309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05140051299998 meters 0.07931458372968649 Centerline is valid? [True, True] Translation: X:223.54, Y:22.65, Z:-1.28 [[ 9.99932346e-01 -1.04452339e-02 5.11869638e-03 2.23540741e+02] [ 1.04440219e-02 9.99945425e-01 2.63446969e-04 2.26528626e+01] [-5.12116879e-03 -2.09969369e-04 9.99986865e-01 -1.28481144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08140051299998 meters 0.07148583124704805 Centerline is valid? [True, True] Translation: X:223.57, Y:22.65, Z:-1.29 [[ 9.99890024e-01 -1.35745904e-02 5.97251390e-03 2.23573348e+02] [ 1.35712370e-02 9.99907726e-01 6.01643524e-04 2.26476337e+01] [-5.98012985e-03 -5.20522955e-04 9.99981983e-01 -1.28528564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11140051299998 meters 0.06996755115088138 Centerline is valid? [True, True] Translation: X:223.60, Y:22.65, Z:-1.29 [[ 9.99856573e-01 -1.57617999e-02 6.19662849e-03 2.23604118e+02] [ 1.57590091e-02 9.99875695e-01 4.98941023e-04 2.26451807e+01] [-6.20372242e-03 -4.01216737e-04 9.99980676e-01 -1.28518887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14140051299998 meters 0.06840900743370926 Centerline is valid? [True, True] Translation: X:223.63, Y:22.64, Z:-1.28 [[ 9.99823572e-01 -1.75250350e-02 6.76002227e-03 2.23634865e+02] [ 1.75217538e-02 9.99846334e-01 5.44304489e-04 2.26423450e+01] [-6.76852244e-03 -4.25761013e-04 9.99977003e-01 -1.28444660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17140051299998 meters 0.06806950469527386 Centerline is valid? [True, True] Translation: X:223.67, Y:22.64, Z:-1.28 [[ 9.99802415e-01 -1.85547481e-02 7.13110376e-03 2.23666724e+02] [ 1.85511220e-02 9.99827748e-01 5.74304477e-04 2.26418868e+01] [-7.14053149e-03 -4.41901027e-04 9.99974408e-01 -1.28374168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20140051299998 meters 0.0672590944728357 Centerline is valid? [True, True] Translation: X:223.70, Y:22.64, Z:-1.28 [[ 9.99803557e-01 -1.80018926e-02 8.29335098e-03 2.23699197e+02] [ 1.79969718e-02 9.99837819e-01 6.67598485e-04 2.26394695e+01] [-8.30402398e-03 -5.18212136e-04 9.99965387e-01 -1.28158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23140051299998 meters 0.07278923380857108 Centerline is valid? [True, True] Translation: X:223.73, Y:22.65, Z:-1.28 [[ 9.99831672e-01 -1.59978591e-02 8.98308947e-03 2.23728416e+02] [ 1.59920092e-02 9.99871858e-01 7.22671775e-04 2.26462706e+01] [-8.99349956e-03 -5.78892480e-04 9.99959390e-01 -1.28070283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26140051299998 meters 0.07645055211301377 Centerline is valid? [True, True] Translation: X:223.76, Y:22.65, Z:-1.28 [[ 9.99865114e-01 -1.33804679e-02 9.52450401e-03 2.23757473e+02] [ 1.33737780e-02 9.99910274e-01 7.65737124e-04 2.26503037e+01] [-9.53389533e-03 -6.38255235e-04 9.99954348e-01 -1.28008290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29140051299999 meters 0.07850331003260146 Centerline is valid? [True, True] Translation: X:223.79, Y:22.65, Z:-1.28 [[ 9.99898955e-01 -1.02158913e-02 9.88506274e-03 2.23788020e+02] [ 1.02085303e-02 9.99947576e-01 7.94828144e-04 2.26518170e+01] [-9.89266440e-03 -6.93835868e-04 9.99950826e-01 -1.27994105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321400513 meters 0.08701871222267622 Centerline is valid? [True, True] Translation: X:223.82, Y:22.66, Z:-1.28 [[ 9.99952400e-01 -3.75525802e-03 9.00527956e-03 2.23817088e+02] [ 3.74888871e-03 9.99992711e-01 7.24062333e-04 2.26590768e+01] [-9.00793296e-03 -6.90268077e-04 9.99959190e-01 -1.28236760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351400513 meters 0.09041328474349242 Centerline is valid? [True, True] Translation: X:223.85, Y:22.66, Z:-1.28 [[ 9.99968122e-01 -7.46794387e-04 7.94972269e-03 2.23847433e+02] [ 7.41737201e-04 9.99999521e-01 6.39075538e-04 2.26630768e+01] [-7.95019614e-03 -6.33158560e-04 9.99968196e-01 -1.28446307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381400513 meters 0.08542869274677015 Centerline is valid? [True, True] Translation: X:223.88, Y:22.65, Z:-1.29 [[ 9.99975929e-01 1.79889990e-03 6.70109365e-03 2.23878947e+02] [-1.80254961e-03 9.99998230e-01 5.38644425e-04 2.26547875e+01] [-6.70011282e-03 -5.50710513e-04 9.99977402e-01 -1.28578164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411400513 meters 0.08555519386983375 Centerline is valid? [True, True] Translation: X:223.91, Y:22.66, Z:-1.29 [[ 9.99954123e-01 7.15271939e-03 6.37101187e-03 2.23909560e+02] [-7.15612617e-03 9.99974263e-01 5.12095234e-04 2.26556240e+01] [-6.36718503e-03 -5.57663505e-04 9.99979574e-01 -1.28541349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441400513 meters 0.09423273039914834 Centerline is valid? [True, True] Translation: X:223.94, Y:22.67, Z:-1.29 [[ 9.99932284e-01 9.43643931e-03 6.81040124e-03 2.23938214e+02] [-9.44038445e-03 9.99955289e-01 5.47367670e-04 2.26687228e+01] [-6.80493154e-03 -6.11623411e-04 9.99976659e-01 -1.28530747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471400513 meters 0.10522523643410944 Centerline is valid? [True, False] Translation: X:223.94, Y:22.67, Z:-1.29 [[ 9.99933130e-01 9.28320609e-03 6.89619819e-03 2.23938084e+02] [-9.28407934e-03 9.99956898e-01 9.46251143e-05 2.26707138e+01] [-6.89502252e-03 -1.58643638e-04 9.99976216e-01 -1.28569356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501400513 meters 0.09791035038239611 Centerline is valid? [False, True] Translation: X:223.92, Y:22.66, Z:-1.29 [[ 9.99954495e-01 8.33622357e-03 4.63841359e-03 2.23922519e+02] [-8.38924351e-03 9.99898323e-01 1.15310535e-02 2.26635325e+01] [-4.54181652e-03 -1.15694415e-02 9.99922757e-01 -1.28861073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531400513 meters 0.09876277537306347 Centerline is valid? [True, True] Translation: X:223.95, Y:22.68, Z:-1.29 [[ 9.99931653e-01 1.07568600e-02 4.58035084e-03 2.23952619e+02] [-1.07587718e-02 9.99942046e-01 3.92959899e-04 2.26779695e+01] [-4.57585837e-03 -4.42211991e-04 9.99989433e-01 -1.29209925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561400513 meters 0.1040887989360354 Centerline is valid? [True, False] Translation: X:223.94, Y:22.68, Z:-1.30 [[ 9.99951861e-01 5.69523369e-03 7.98997669e-03 2.23937478e+02] [-5.73386233e-03 9.99971944e-01 4.82008906e-03 2.26751771e+01] [-7.96230100e-03 -4.86567045e-03 9.99956463e-01 -1.30192458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591400513 meters 0.10167810870192019 Centerline is valid? [False, False] Translation: X:223.94, Y:22.68, Z:-1.30 [[ 9.99966032e-01 9.78142523e-04 8.18404040e-03 2.23937020e+02] [-9.70916592e-04 9.99999135e-01 -8.86856017e-04 2.26811664e+01] [-8.18490079e-03 8.78879871e-04 9.99966117e-01 -1.30245761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621400513 meters 0.09144228882225594 Centerline is valid? [False, True] Translation: X:223.94, Y:22.68, Z:-1.30 [[ 9.99966476e-01 9.13474849e-04 8.13714376e-03 2.23937040e+02] [-9.04858526e-04 9.99999026e-01 -1.06250651e-03 2.26819827e+01] [-8.13810641e-03 1.05510793e-03 9.99966328e-01 -1.30215726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65140051299997 meters 0.09849867289236955 Centerline is valid? [True, True] Translation: X:223.97, Y:22.69, Z:-1.30 [[ 9.99962118e-01 -2.65874037e-03 8.28815856e-03 2.23965823e+02] [ 2.65262027e-03 9.99996201e-01 7.49320909e-04 2.26939691e+01] [-8.29011932e-03 -7.27307186e-04 9.99965372e-01 -1.30249958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68140051299997 meters 0.0802593163059005 Centerline is valid? [True, True] Translation: X:224.00, Y:22.68, Z:-1.30 [[ 9.99898691e-01 -1.14530160e-02 8.45198110e-03 2.23998397e+02] [ 1.14469628e-02 9.99934189e-01 7.64210174e-04 2.26762769e+01] [-8.46017738e-03 -6.67383239e-04 9.99963989e-01 -1.30250705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71140051299997 meters 0.07374695581866685 Centerline is valid? [True, True] Translation: X:224.03, Y:22.67, Z:-1.30 [[ 9.99846369e-01 -1.54027287e-02 8.36630692e-03 2.24029288e+02] [ 1.53969350e-02 9.99881174e-01 7.56481288e-04 2.26744632e+01] [-8.37696466e-03 -6.27549586e-04 9.99964716e-01 -1.30279582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74140051299997 meters 0.07667734329195472 Centerline is valid? [True, True] Translation: X:224.06, Y:22.68, Z:-1.30 [[ 9.99781732e-01 -1.91598253e-02 8.33001638e-03 2.24058737e+02] [ 1.91542124e-02 9.99816258e-01 7.53073839e-04 2.26829794e+01] [-8.34291457e-03 -5.93354564e-04 9.99965021e-01 -1.30346745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77140051299997 meters 0.07038210957542813 Centerline is valid? [True, True] Translation: X:224.09, Y:22.68, Z:-1.30 [[ 9.99709131e-01 -2.26481713e-02 8.28941118e-03 2.24089348e+02] [ 2.26427323e-02 9.99743340e-01 7.49413913e-04 2.26800200e+01] [-8.30425647e-03 -5.61501013e-04 9.99965361e-01 -1.30356865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80140051299998 meters 0.0689454127238366 Centerline is valid? [True, True] Translation: X:224.12, Y:22.68, Z:-1.31 [[ 9.99584245e-01 -2.79742141e-02 6.98434339e-03 2.24118508e+02] [ 2.79704822e-02 9.99608550e-01 6.31446135e-04 2.26836002e+01] [-6.99927358e-03 -4.35828155e-04 9.99975410e-01 -1.30599717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83140051299998 meters 0.06417510859437939 Centerline is valid? [True, True] Translation: X:224.15, Y:22.68, Z:-1.31 [[ 9.99525391e-01 -3.00907713e-02 6.59835431e-03 2.24149356e+02] [ 3.00874866e-02 9.99547091e-01 5.96526758e-04 2.26816532e+01] [-6.61331581e-03 -3.97715745e-04 9.99978053e-01 -1.30644898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86140051299998 meters 0.06224361219632258 Centerline is valid? [True, True] Translation: X:224.18, Y:22.68, Z:-1.31 [[ 9.99469239e-01 -3.18205956e-02 6.97788635e-03 2.24180511e+02] [ 3.18169638e-02 9.99493513e-01 6.30894748e-04 2.26832184e+01] [-6.99442759e-03 -4.08544736e-04 9.99975455e-01 -1.30644970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89140051299998 meters 0.059736736669011234 Centerline is valid? [True, True] Translation: X:224.21, Y:22.68, Z:-1.30 [[ 9.99407607e-01 -3.34578246e-02 8.06282539e-03 2.24211186e+02] [ 3.34530300e-02 9.99440025e-01 7.28831785e-04 2.26837934e+01] [-8.08269553e-03 -4.58674091e-04 9.99967229e-01 -1.30459820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92140051299998 meters 0.05911561202559246 Centerline is valid? [True, True] Translation: X:224.24, Y:22.69, Z:-1.30 [[ 9.99309160e-01 -3.57756398e-02 1.00651327e-02 2.24240409e+02] [ 3.57682843e-02 9.99359696e-01 9.09913005e-04 2.26870454e+01] [-1.00912407e-02 -5.49271872e-04 9.99948931e-01 -1.30185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95140051299998 meters 0.05421330049395915 Centerline is valid? [True, True] Translation: X:224.27, Y:22.68, Z:-1.30 [[ 9.99284916e-01 -3.64847859e-02 9.92555245e-03 2.24271759e+02] [ 3.64776726e-02 9.99334066e-01 8.96816160e-04 2.26840311e+01] [-9.95166283e-03 -5.34113809e-04 9.99950338e-01 -1.30198320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98140051299998 meters 0.05958044481086033 Centerline is valid? [True, True] Translation: X:224.30, Y:22.69, Z:-1.30 [[ 9.99275162e-01 -3.69442646e-02 9.18000810e-03 2.24302542e+02] [ 3.69382007e-02 9.99317208e-01 8.29291951e-04 2.26935287e+01] [-9.20437764e-03 -4.89597867e-04 9.99957519e-01 -1.30366673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01140051299998 meters 0.06564467050924284 Centerline is valid? [True, True] Translation: X:224.33, Y:22.71, Z:-1.31 [[ 9.99339045e-01 -3.53879293e-02 8.31671127e-03 2.24331777e+02] [ 3.53829014e-02 9.99373547e-01 7.50967763e-04 2.27062348e+01] [-8.33807643e-03 -4.56202032e-04 9.99965134e-01 -1.30520010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04140051299999 meters 0.06258816920007118 Centerline is valid? [True, True] Translation: X:224.36, Y:22.71, Z:-1.30 [[ 9.99391262e-01 -3.38159712e-02 8.57814267e-03 2.24362842e+02] [ 3.38105653e-02 9.99427959e-01 7.74475208e-04 2.27067728e+01] [-8.59942526e-03 -4.83971903e-04 9.99962907e-01 -1.30478000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071400513 meters 0.06492231051830898 Centerline is valid? [True, True] Translation: X:224.39, Y:22.71, Z:-1.31 [[ 9.99437867e-01 -3.24882932e-02 8.27407439e-03 2.24393158e+02] [ 3.24832191e-02 9.99472002e-01 7.46934614e-04 2.27127214e+01] [-8.29397232e-03 -4.77746166e-04 9.99965490e-01 -1.30565933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101400513 meters 0.06715955222800403 Centerline is valid? [True, True] Translation: X:224.42, Y:22.72, Z:-1.31 [[ 9.99474011e-01 -3.14156298e-02 8.04731061e-03 2.24422855e+02] [ 3.14107965e-02 9.99506295e-01 7.26335001e-04 2.27178449e+01] [-8.06615589e-03 -4.73180521e-04 9.99967356e-01 -1.30662513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131400513 meters 0.06402841035265101 Centerline is valid? [True, True] Translation: X:224.45, Y:22.72, Z:-1.31 [[ 9.99499259e-01 -3.07182504e-02 7.59080687e-03 2.24454168e+02] [ 3.07139291e-02 9.99527981e-01 6.85230333e-04 2.27176480e+01] [-7.60827294e-03 -4.51743707e-04 9.99970955e-01 -1.30739364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161400513 meters 0.058800008544393295 Centerline is valid? [True, True] Translation: X:224.49, Y:22.71, Z:-1.31 [[ 9.99491580e-01 -3.08061452e-02 8.21968234e-03 2.24485974e+02] [ 3.08010828e-02 9.99525259e-01 7.41795185e-04 2.27145201e+01] [-8.23863197e-03 -4.88242925e-04 9.99965943e-01 -1.30693438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191400513 meters 0.06776217142926784 Centerline is valid? [True, True] Translation: X:224.52, Y:22.73, Z:-1.31 [[ 9.99472946e-01 -3.11771477e-02 9.04524393e-03 2.24515790e+02] [ 3.11710343e-02 9.99513732e-01 8.16092843e-04 2.27278470e+01] [-9.06628896e-03 -5.33713109e-04 9.99958758e-01 -1.30652649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221400513 meters 0.0678216122100575 Centerline is valid? [True, True] Translation: X:224.55, Y:22.73, Z:-1.31 [[ 9.99447608e-01 -3.17927622e-02 9.67979749e-03 2.24547018e+02] [ 3.17857936e-02 9.99494323e-01 8.72946029e-04 2.27297629e+01] [-9.70265600e-03 -5.64783776e-04 9.99952769e-01 -1.30549283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251400513 meters 0.06596705820780278 Centerline is valid? [True, True] Translation: X:224.58, Y:22.73, Z:-1.31 [[ 9.99425683e-01 -3.26031972e-02 9.23777156e-03 2.24578938e+02] [ 3.25968866e-02 9.99468233e-01 8.32915880e-04 2.27287595e+01] [-9.26001494e-03 -5.31314930e-04 9.99956984e-01 -1.30590457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281400513 meters 0.0631161047175324 Centerline is valid? [True, True] Translation: X:224.61, Y:22.73, Z:-1.31 [[ 9.99441706e-01 -3.23007566e-02 8.54035568e-03 2.24611692e+02] [ 3.22953534e-02 9.99478073e-01 7.69862836e-04 2.27282386e+01] [-8.56076538e-03 -4.93619221e-04 9.99963234e-01 -1.30785362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311400513 meters 0.05771744434970787 Centerline is valid? [True, True] Translation: X:224.64, Y:22.72, Z:-1.31 [[ 9.99480435e-01 -3.12680400e-02 7.82114360e-03 2.24643039e+02] [ 3.12634799e-02 9.99510930e-01 7.04657167e-04 2.27245118e+01] [-7.83935176e-03 -4.59774886e-04 9.99969166e-01 -1.30910223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341400513 meters 0.05771744434970787 Centerline is valid? [True, True] Translation: X:224.67, Y:22.73, Z:-1.31 [[ 9.99481163e-01 -3.12447309e-02 7.82116584e-03 2.24673802e+02] [ 3.12401721e-02 9.99511658e-01 7.04410204e-04 2.27272432e+01] [-7.83935555e-03 -4.59710164e-04 9.99969166e-01 -1.30947316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371400513 meters 0.06650797279108844 Centerline is valid? [True, True] Translation: X:224.70, Y:22.74, Z:-1.31 [[ 9.99537677e-01 -2.95189340e-02 7.28459858e-03 2.24702921e+02] [ 2.95149350e-02 9.99564124e-01 6.55877303e-04 2.27409454e+01] [-7.30078420e-03 -4.40569621e-04 9.99973252e-01 -1.31212219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40140051299997 meters 0.0723184898658346 Centerline is valid? [True, True] Translation: X:224.73, Y:22.75, Z:-1.31 [[ 9.99673261e-01 -2.46528653e-02 6.75327629e-03 2.24732289e+02] [ 2.46493185e-02 9.99695975e-01 6.07934316e-04 2.27524676e+01] [-6.76621044e-03 -4.41272022e-04 9.99977012e-01 -1.31337029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43140051299997 meters 0.06637098204344903 Centerline is valid? [True, True] Translation: X:224.76, Y:22.75, Z:-1.31 [[ 9.99728555e-01 -2.23568327e-02 6.55652599e-03 2.24763122e+02] [ 2.23534407e-02 9.99749956e-01 5.90188826e-04 2.27493632e+01] [-6.56808133e-03 -4.43467708e-04 9.99978332e-01 -1.31285565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46140051299997 meters 0.07418178547850748 Centerline is valid? [True, True] Translation: X:224.79, Y:22.76, Z:-1.31 [[ 9.99771632e-01 -2.04945702e-02 6.05445628e-03 2.24792215e+02] [ 2.04916440e-02 9.99789876e-01 5.44950457e-04 2.27624087e+01] [-6.06435262e-03 -4.20760245e-04 9.99981523e-01 -1.31388402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49140051299997 meters 0.07415460196073206 Centerline is valid? [True, True] Translation: X:224.82, Y:22.77, Z:-1.31 [[ 9.99795593e-01 -1.94877705e-02 5.38508723e-03 2.24823205e+02] [ 1.94854403e-02 9.99810023e-01 4.84850422e-04 2.27662714e+01] [-5.39351284e-03 -3.79820520e-04 9.99985383e-01 -1.31472469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52140051299997 meters 0.07571763353258296 Centerline is valid? [True, True] Translation: X:224.85, Y:22.77, Z:-1.32 [[ 9.99797151e-01 -1.93690947e-02 5.52226020e-03 2.24853491e+02] [ 1.93666427e-02 9.99812325e-01 4.97141093e-04 2.27722407e+01] [-5.53085299e-03 -3.90092608e-04 9.99984629e-01 -1.31591178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55140051299998 meters 0.07479440712225581 Centerline is valid? [True, True] Translation: X:224.89, Y:22.77, Z:-1.32 [[ 9.99768852e-01 -2.04749161e-02 6.55905643e-03 2.24885330e+02] [ 2.04714827e-02 9.99790263e-01 5.90179627e-04 2.27739082e+01] [-6.56976463e-03 -4.55769597e-04 9.99978315e-01 -1.31521973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58140051299998 meters 0.07150393303992433 Centerline is valid? [True, True] Translation: X:224.92, Y:22.77, Z:-1.31 [[ 9.99724479e-01 -2.21969366e-02 7.63289978e-03 2.24916103e+02] [ 2.21923404e-02 9.99753484e-01 6.86337130e-04 2.27722273e+01] [-7.64625273e-03 -5.16756120e-04 9.99970633e-01 -1.31409332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61140051299998 meters 0.06908892058570702 Centerline is valid? [True, True] Translation: X:224.95, Y:22.77, Z:-1.31 [[ 9.99673101e-01 -2.40909471e-02 8.56252093e-03 2.24947164e+02] [ 2.40852320e-02 9.99709612e-01 7.69965456e-04 2.27713274e+01] [-8.57858367e-03 -5.63483452e-04 9.99963045e-01 -1.31313112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64140051299998 meters 0.059012331404635666 Centerline is valid? [True, True] Translation: X:224.98, Y:22.76, Z:-1.31 [[ 9.99562423e-01 -2.85126376e-02 7.87344462e-03 2.24978996e+02] [ 2.85079425e-02 9.99593315e-01 7.07920821e-04 2.27604628e+01] [-7.89042730e-03 -4.83155344e-04 9.99968753e-01 -1.31246566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67140051299998 meters 0.06876207867832228 Centerline is valid? [True, True] Translation: X:225.01, Y:22.78, Z:-1.31 [[ 9.99507328e-01 -3.04904478e-02 7.44542838e-03 2.25007615e+02] [ 3.04863050e-02 9.99534960e-01 6.69316953e-04 2.27750697e+01] [-7.46237373e-03 -4.42003599e-04 9.99972058e-01 -1.31371689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70140051299998 meters 0.06262961594496991 Centerline is valid? [True, True] Translation: X:225.04, Y:22.77, Z:-1.31 [[ 9.99451163e-01 -3.22873175e-02 7.40963268e-03 2.25039303e+02] [ 3.22832632e-02 9.99478538e-01 6.66150074e-04 2.27706971e+01] [-7.42727704e-03 -4.26577344e-04 9.99972326e-01 -1.31353616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73140051299998 meters 0.055907012735907 Centerline is valid? [True, True] Translation: X:225.07, Y:22.76, Z:-1.31 [[ 9.99402198e-01 -3.37446046e-02 7.51990543e-03 2.25070719e+02] [ 3.37404705e-02 9.99430400e-01 6.75979722e-04 2.27648065e+01] [-7.53843275e-03 -4.21850472e-04 9.99971497e-01 -1.31279036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76140051299998 meters 0.0575807424455024 Centerline is valid? [True, True] Translation: X:225.10, Y:22.77, Z:-1.31 [[ 9.99316917e-01 -3.58410954e-02 9.00645445e-03 2.25100082e+02] [ 3.58352519e-02 9.99357383e-01 8.09406886e-04 2.27657420e+01] [-9.02967678e-03 -4.86105430e-04 9.99959113e-01 -1.31223768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79140051299999 meters 0.05893270129143083 Centerline is valid? [True, True] Translation: X:225.13, Y:22.77, Z:-1.31 [[ 9.99257461e-01 -3.73688359e-02 9.38599651e-03 2.25130343e+02] [ 3.73625537e-02 9.99301420e-01 8.43829980e-04 2.27673571e+01] [-9.41097258e-03 -4.92518605e-04 9.99955595e-01 -1.31248345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821400513 meters 0.05557159173620127 Centerline is valid? [True, True] Translation: X:225.16, Y:22.76, Z:-1.31 [[ 9.99179800e-01 -3.93638263e-02 9.49819086e-03 2.25161338e+02] [ 3.93574905e-02 9.99224830e-01 8.53124113e-04 2.27638083e+01] [-9.52441037e-03 -4.78599424e-04 9.99954527e-01 -1.31243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851400513 meters 0.050241969780834866 Centerline is valid? [True, True] Translation: X:225.19, Y:22.76, Z:-1.31 [[ 9.99021306e-01 -4.29532225e-02 1.05570116e-02 2.25192698e+02] [ 4.29455952e-02 9.99076962e-01 9.48229243e-04 2.27555684e+01] [-1.05879966e-02 -4.93924071e-04 9.99943824e-01 -1.31094218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881400513 meters 0.047345637217701186 Centerline is valid? [True, True] Translation: X:225.22, Y:22.75, Z:-1.31 [[ 9.98955247e-01 -4.41654820e-02 1.17398830e-02 2.25223522e+02] [ 4.41561334e-02 9.99024086e-01 1.05445345e-03 2.27512022e+01] [-1.17749964e-02 -5.34963961e-04 9.99930529e-01 -1.30936366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911400513 meters 0.04964446872868033 Centerline is valid? [True, True] Translation: X:225.25, Y:22.75, Z:-1.31 [[ 9.98914996e-01 -4.47311979e-02 1.29595444e-02 2.25253874e+02] [ 4.47198539e-02 9.98998889e-01 1.16395826e-03 2.27524576e+01] [-1.29986357e-02 -5.83146427e-04 9.99915344e-01 -1.30805254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941400513 meters 0.04414274031188682 Centerline is valid? [True, True] Translation: X:225.29, Y:22.74, Z:-1.31 [[ 9.98884372e-01 -4.52803507e-02 1.34052902e-02 2.25285993e+02] [ 4.52682697e-02 9.98974142e-01 1.20342895e-03 2.27445100e+01] [-1.34460299e-02 -5.95252076e-04 9.99909421e-01 -1.30827057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971400513 meters 0.04957024361988269 Centerline is valid? [True, True] Translation: X:225.32, Y:22.75, Z:-1.31 [[ 9.98887400e-01 -4.53699208e-02 1.28659746e-02 2.25316977e+02] [ 4.53588037e-02 9.98970092e-01 1.15471005e-03 2.27505698e+01] [-1.29051129e-02 -5.69840099e-04 9.99916563e-01 -1.30943006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001400513 meters 0.05815939772080661 Centerline is valid? [True, True] Translation: X:225.34, Y:22.74, Z:-1.31 [[ 9.99053700e-01 -4.17872752e-02 1.20635204e-02 2.25344874e+02] [ 4.16633971e-02 9.99078158e-01 1.03438217e-02 2.27438534e+01] [-1.24846399e-02 -9.83142612e-03 9.99873730e-01 -1.31379420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031400513 meters 0.04985143540439624 Centerline is valid? [True, True] Translation: X:225.38, Y:22.76, Z:-1.32 [[ 9.99062512e-01 -4.20701614e-02 1.02077549e-02 2.25377535e+02] [ 4.21521105e-02 9.99079573e-01 -7.95028521e-03 2.27595700e+01] [-9.86388961e-03 8.37311033e-03 9.99916294e-01 -1.31673112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061400513 meters 0.05787307300668596 Centerline is valid? [True, True] Translation: X:225.41, Y:22.76, Z:-1.31 [[ 9.99257208e-01 -3.67982858e-02 1.14419754e-02 2.25406577e+02] [ 3.67889528e-02 9.99322532e-01 1.02515928e-03 2.27619107e+01] [-1.14719479e-02 -6.03459510e-04 9.99934013e-01 -1.31135223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091400513 meters 0.059325207997756854 Centerline is valid? [True, True] Translation: X:225.44, Y:22.77, Z:-1.31 [[ 9.99360489e-01 -3.35120767e-02 1.24720888e-02 2.25436803e+02] [ 3.35007323e-02 9.99438068e-01 1.11745170e-03 2.27666437e+01] [-1.25025285e-02 -6.98912969e-04 9.99921596e-01 -1.31016058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121400513 meters 0.062312347769778995 Centerline is valid? [True, True] Translation: X:225.47, Y:22.77, Z:-1.31 [[ 9.99465472e-01 -3.02266152e-02 1.24547859e-02 2.25466971e+02] [ 3.02150484e-02 9.99542798e-01 1.11587622e-03 2.27742119e+01] [-1.24828207e-02 -7.38957794e-04 9.99921814e-01 -1.31069267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15140051299997 meters 0.06508896723469149 Centerline is valid? [True, True] Translation: X:225.50, Y:22.78, Z:-1.31 [[ 9.99568786e-01 -2.70527541e-02 1.14188553e-02 2.25497401e+02] [ 2.70428253e-02 9.99633752e-01 1.02304346e-03 2.27817349e+01] [-1.14423493e-02 -7.13804197e-04 9.99934279e-01 -1.31322831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18140051299997 meters 0.07324048051040978 Centerline is valid? [True, True] Translation: X:225.53, Y:22.80, Z:-1.32 [[ 9.99743291e-01 -2.13576580e-02 7.56320622e-03 2.25526034e+02] [ 2.13531401e-02 9.99771766e-01 6.77612312e-04 2.27965115e+01] [-7.57595225e-03 -5.15940161e-04 9.99971169e-01 -1.32000916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21140051299997 meters 0.075553138640844 Centerline is valid? [True, True] Translation: X:225.56, Y:22.80, Z:-1.32 [[ 9.99793541e-01 -1.93643755e-02 6.15599354e-03 2.25555877e+02] [ 1.93613449e-02 9.99812399e-01 5.51516525e-04 2.28034117e+01] [-6.16551844e-03 -4.32214345e-04 9.99980900e-01 -1.32274143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24140051299997 meters 0.06950203825345898 Centerline is valid? [True, True] Translation: X:225.59, Y:22.80, Z:-1.32 [[ 9.99826224e-01 -1.78236769e-02 5.46253914e-03 2.25587731e+02] [ 1.78212672e-02 9.99841069e-01 4.89493339e-04 2.28009638e+01] [-5.47039554e-03 -3.92058907e-04 9.99984960e-01 -1.32325882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27140051299997 meters 0.07457403658398244 Centerline is valid? [True, True] Translation: X:225.62, Y:22.81, Z:-1.32 [[ 9.99850469e-01 -1.64425559e-02 5.35561014e-03 2.25617310e+02] [ 1.64402206e-02 9.99864735e-01 4.79781511e-04 2.28116115e+01] [-5.36277455e-03 -3.91662357e-04 9.99985544e-01 -1.32406778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30140051299998 meters 0.07923680532035454 Centerline is valid? [True, True] Translation: X:225.65, Y:22.82, Z:-1.32 [[ 9.99893985e-01 -1.37166704e-02 4.88579810e-03 2.25646075e+02] [ 1.37146960e-02 9.99905853e-01 4.37385328e-04 2.28234928e+01] [-4.89133759e-03 -3.70331723e-04 9.99987969e-01 -1.32393284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33140051299998 meters 0.07990491698798663 Centerline is valid? [True, True] Translation: X:225.68, Y:22.83, Z:-1.32 [[ 9.99918617e-01 -1.18891379e-02 4.62682774e-03 2.25676169e+02] [ 1.18873467e-02 9.99929257e-01 4.14439636e-04 2.28296705e+01] [-4.63142775e-03 -3.59405203e-04 9.99989210e-01 -1.32399770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36140051299998 meters 0.08384794745725246 Centerline is valid? [True, True] Translation: X:225.71, Y:22.84, Z:-1.32 [[ 9.99934649e-01 -1.02606153e-02 5.04164122e-03 2.25705785e+02] [ 1.02584684e-02 9.99947279e-01 4.51513932e-04 2.28409386e+01] [-5.04600823e-03 -3.99764908e-04 9.99987189e-01 -1.32420502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39140051299998 meters 0.09330464173213514 Centerline is valid? [True, True] Translation: X:225.73, Y:22.86, Z:-1.32 [[ 9.99938897e-01 -9.31519189e-03 5.95226453e-03 2.25734574e+02] [ 9.31218319e-03 9.99956499e-01 5.32987135e-04 2.28587833e+01] [-5.95697048e-03 -4.77525990e-04 9.99982143e-01 -1.32418263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42140051299998 meters 0.08339666244413582 Centerline is valid? [True, True] Translation: X:225.77, Y:22.85, Z:-1.32 [[ 9.99930546e-01 -9.62536547e-03 6.80112240e-03 2.25768041e+02] [ 9.62144578e-03 9.99953527e-01 6.08815498e-04 2.28522508e+01] [-6.80666640e-03 -5.43336583e-04 9.99976687e-01 -1.32225927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45140051299998 meters 0.07403345979407361 Centerline is valid? [True, True] Translation: X:225.80, Y:22.85, Z:-1.32 [[ 9.99873312e-01 -1.41483912e-02 7.29271774e-03 2.25798904e+02] [ 1.41440092e-02 9.99899756e-01 6.52100905e-04 2.28450580e+01] [-7.30121287e-03 -5.48870025e-04 9.99973195e-01 -1.32108212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48140051299998 meters 0.07786209231965499 Centerline is valid? [True, True] Translation: X:225.83, Y:22.85, Z:-1.32 [[ 9.99823629e-01 -1.74496191e-02 6.94419565e-03 2.25828443e+02] [ 1.74457251e-02 9.99847619e-01 6.20944039e-04 2.28525390e+01] [-6.95397273e-03 -4.99687994e-04 9.99975696e-01 -1.32235507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51140051299998 meters 0.06840588228027182 Centerline is valid? [True, True] Translation: X:225.86, Y:22.84, Z:-1.32 [[ 9.99768749e-01 -2.05184208e-02 6.43756663e-03 2.25859808e+02] [ 2.05151379e-02 9.99789377e-01 5.75578362e-04 2.28437324e+01] [-6.44802069e-03 -4.43377692e-04 9.99979113e-01 -1.32254103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54140051299999 meters 0.0755516106428013 Centerline is valid? [True, True] Translation: X:225.89, Y:22.85, Z:-1.32 [[ 9.99713930e-01 -2.29854272e-02 6.61276479e-03 2.25888709e+02] [ 2.29820172e-02 9.99735704e-01 5.91204038e-04 2.28548112e+01] [-6.62460614e-03 -4.39060238e-04 9.99977961e-01 -1.32363536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571400513 meters 0.06635130972187066 Centerline is valid? [True, True] Translation: X:225.92, Y:22.84, Z:-1.32 [[ 9.99627676e-01 -2.63553150e-02 7.06449591e-03 2.25920192e+02] [ 2.63515063e-02 9.99652539e-01 6.31689479e-04 2.28447365e+01] [-7.07868965e-03 -4.45294177e-04 9.99974847e-01 -1.32205447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601400513 meters 0.07318625409265836 Centerline is valid? [True, True] Translation: X:225.95, Y:22.86, Z:-1.32 [[ 9.99610918e-01 -2.68197370e-02 7.66255258e-03 2.25950230e+02] [ 2.68152689e-02 9.99640171e-01 6.85271121e-04 2.28554795e+01] [-7.67817417e-03 -4.79531086e-04 9.99970407e-01 -1.32245848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631400513 meters 0.06676714717620054 Centerline is valid? [True, True] Translation: X:225.98, Y:22.85, Z:-1.32 [[ 9.99613133e-01 -2.66184379e-02 8.06492061e-03 2.25982219e+02] [ 2.66134833e-02 9.99645538e-01 7.21057467e-04 2.28509915e+01] [-8.08125533e-03 -5.06142884e-04 9.99967218e-01 -1.32249704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661400513 meters 0.07279174309973041 Centerline is valid? [True, True] Translation: X:226.01, Y:22.86, Z:-1.32 [[ 9.99654711e-01 -2.49542424e-02 8.23073819e-03 2.26011863e+02] [ 2.49490277e-02 9.99688454e-01 7.35648433e-04 2.28614209e+01] [-8.24653149e-03 -5.30045507e-04 9.99965856e-01 -1.32391725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691400513 meters 0.0672418298759188 Centerline is valid? [True, True] Translation: X:226.04, Y:22.86, Z:-1.32 [[ 9.99674412e-01 -2.40751103e-02 8.45330376e-03 2.26043513e+02] [ 2.40695790e-02 9.99710000e-01 7.55485213e-04 2.28571135e+01] [-8.46904069e-03 -5.51771774e-04 9.99963985e-01 -1.32283565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721400513 meters 0.07005130459366754 Centerline is valid? [True, True] Translation: X:226.07, Y:22.86, Z:-1.32 [[ 9.99694169e-01 -2.32749215e-02 8.35743894e-03 2.26074374e+02] [ 2.32694883e-02 9.99728950e-01 7.46772698e-04 2.28629263e+01] [-8.37255473e-03 -5.52070985e-04 9.99964797e-01 -1.32318338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751400513 meters 0.06672513317311025 Centerline is valid? [True, True] Translation: X:226.11, Y:22.86, Z:-1.32 [[ 9.99720391e-01 -2.23277750e-02 7.78531950e-03 2.26106959e+02] [ 2.23230330e-02 9.99750568e-01 6.95466094e-04 2.28620827e+01] [-7.79890581e-03 -5.21479691e-04 9.99969452e-01 -1.32391752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781400513 meters 0.06914007806590636 Centerline is valid? [True, True] Translation: X:226.14, Y:22.87, Z:-1.33 [[ 9.99772092e-01 -2.00480064e-02 7.33768744e-03 2.26137426e+02] [ 2.00437367e-02 9.99798890e-01 6.54965850e-04 2.28695571e+01] [-7.34934252e-03 -5.07741903e-04 9.99972864e-01 -1.32554658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811400513 meters 0.0749708306279322 Centerline is valid? [True, True] Translation: X:226.17, Y:22.88, Z:-1.33 [[ 9.99790770e-01 -1.88928634e-02 7.84070352e-03 2.26166296e+02] [ 1.88879513e-02 9.99821362e-01 7.00071279e-04 2.28798233e+01] [-7.85252922e-03 -5.51829977e-04 9.99969016e-01 -1.32628041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841400513 meters 0.08083010534166042 Centerline is valid? [True, True] Translation: X:226.20, Y:22.89, Z:-1.33 [[ 9.99800920e-01 -1.81671940e-02 8.25071553e-03 2.26196581e+02] [ 1.81617351e-02 9.99834791e-01 7.36078133e-04 2.28910659e+01] [-8.26272492e-03 -5.86084284e-04 9.99965691e-01 -1.32647916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871400513 meters 0.07673636259181844 Centerline is valid? [True, True] Translation: X:226.23, Y:22.89, Z:-1.33 [[ 9.99803992e-01 -1.78669877e-02 8.52930983e-03 2.26228471e+02] [ 1.78611452e-02 9.99840188e-01 7.60674217e-04 2.28912198e+01] [-8.54153770e-03 -6.08181877e-04 9.99963335e-01 -1.32595568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90140051299997 meters 0.0709596951770426 Centerline is valid? [True, True] Translation: X:226.26, Y:22.89, Z:-1.33 [[ 9.99813259e-01 -1.76422592e-02 7.88650877e-03 2.26260434e+02] [ 1.76372597e-02 9.99844204e-01 7.03042898e-04 2.28916428e+01] [-7.89768335e-03 -5.63815208e-04 9.99968654e-01 -1.32612131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93140051299997 meters 0.07707995006275035 Centerline is valid? [True, True] Translation: X:226.29, Y:22.90, Z:-1.33 [[ 9.99820947e-01 -1.75854848e-02 6.98746451e-03 2.26290232e+02] [ 1.75815611e-02 9.99845239e-01 6.22579221e-04 2.29033437e+01] [-6.99733148e-03 -4.99617212e-04 9.99975394e-01 -1.32830287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96140051299997 meters 0.0759819905458887 Centerline is valid? [True, True] Translation: X:226.32, Y:22.91, Z:-1.33 [[ 9.99833234e-01 -1.75941826e-02 4.89371198e-03 2.26321808e+02] [ 1.75922579e-02 9.99845149e-01 4.36058001e-04 2.29075811e+01] [-4.90062627e-03 -3.49893838e-04 9.99987931e-01 -1.33324825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99140051299997 meters 0.07682911193556294 Centerline is valid? [True, True] Translation: X:226.35, Y:22.91, Z:-1.34 [[ 9.99839278e-01 -1.74958429e-02 3.91335937e-03 2.26352159e+02] [ 1.74946120e-02 9.99846897e-01 3.48543372e-04 2.29128269e+01] [-3.91885828e-03 -2.80024650e-04 9.99992282e-01 -1.33566367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02140051299997 meters 0.07721472934623169 Centerline is valid? [True, True] Translation: X:226.38, Y:22.92, Z:-1.34 [[ 9.99843037e-01 -1.73993455e-02 3.34127021e-03 2.26382801e+02] [ 1.73984482e-02 9.99848591e-01 2.97439100e-04 2.29177382e+01] [-3.34593956e-03 -2.39259496e-04 9.99994374e-01 -1.33682956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05140051299998 meters 0.07813364472616742 Centerline is valid? [True, True] Translation: X:226.41, Y:22.92, Z:-1.34 [[ 9.99848859e-01 -1.71604688e-02 2.78886677e-03 2.26414068e+02] [ 1.71598428e-02 9.99852728e-01 2.48246553e-04 2.29234377e+01] [-2.79271607e-03 -2.00352518e-04 9.99996080e-01 -1.33799251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08140051299998 meters 0.07490456303780094 Centerline is valid? [True, True] Translation: X:226.44, Y:22.92, Z:-1.34 [[ 9.99859640e-01 -1.65668318e-02 2.49813279e-03 2.26444718e+02] [ 1.65663282e-02 9.99862744e-01 2.22126161e-04 2.29235494e+01] [-2.50146983e-03 -1.80710096e-04 9.99996855e-01 -1.33754278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11140051299998 meters 0.08127359948737624 Centerline is valid? [True, True] Translation: X:226.47, Y:22.94, Z:-1.34 [[ 9.99881685e-01 -1.49106034e-02 3.78022869e-03 2.26473626e+02] [ 1.49094375e-02 9.99888792e-01 3.36420970e-04 2.29362810e+01] [-3.78482453e-03 -2.80020083e-04 9.99992798e-01 -1.33643872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14140051299998 meters 0.07793981390448489 Centerline is valid? [True, True] Translation: X:226.51, Y:22.94, Z:-1.34 [[ 9.99883898e-01 -1.45273378e-02 4.59869072e-03 2.26505053e+02] [ 1.45256096e-02 9.99894414e-01 4.08992464e-04 2.29361474e+01] [-4.60414674e-03 -3.42146193e-04 9.99989342e-01 -1.33502605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17140051299998 meters 0.07613131639969821 Centerline is valid? [True, True] Translation: X:226.54, Y:22.94, Z:-1.34 [[ 9.99879084e-01 -1.45714518e-02 5.43046691e-03 2.26537374e+02] [ 1.45690435e-02 9.99893749e-01 4.82789986e-04 2.29381011e+01] [-5.43692487e-03 -4.03614900e-04 9.99985138e-01 -1.33500947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20140051299998 meters 0.08070666144941052 Centerline is valid? [True, True] Translation: X:226.57, Y:22.95, Z:-1.33 [[ 9.99857583e-01 -1.53939404e-02 6.91672784e-03 2.26566764e+02] [ 1.53900557e-02 9.99881377e-01 6.14510755e-04 2.29483305e+01] [-6.92536710e-03 -5.07974411e-04 9.99975890e-01 -1.33441378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23140051299998 meters 0.08070666144941052 Centerline is valid? [True, True] Translation: X:226.60, Y:22.95, Z:-1.33 [[ 9.99858256e-01 -1.53501124e-02 6.91676786e-03 2.26598398e+02] [ 1.53462298e-02 9.99882051e-01 6.14059805e-04 2.29510569e+01] [-6.92537792e-03 -5.07826457e-04 9.99975890e-01 -1.33479975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26140051299998 meters 0.07516732130894131 Centerline is valid? [True, True] Translation: X:226.63, Y:22.95, Z:-1.33 [[ 9.99838179e-01 -1.62419963e-02 7.73391032e-03 2.26629876e+02] [ 1.62371725e-02 9.99867933e-01 6.86105967e-04 2.29476093e+01] [-7.74403266e-03 -5.60418105e-04 9.99969857e-01 -1.33332285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29140051299999 meters 0.078972965292633 Centerline is valid? [True, True] Translation: X:226.66, Y:22.96, Z:-1.33 [[ 9.99814192e-01 -1.73965598e-02 8.30313843e-03 2.26660124e+02] [ 1.73910412e-02 9.99848493e-01 7.36394818e-04 2.29556112e+01] [-8.31469119e-03 -5.91857767e-04 9.99965257e-01 -1.33292104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321400513 meters 0.07371554642504768 Centerline is valid? [True, True] Translation: X:226.69, Y:22.95, Z:-1.33 [[ 9.99775866e-01 -1.95961425e-02 8.01308075e-03 2.26690825e+02] [ 1.95910748e-02 9.99807824e-01 7.10438122e-04 2.29539004e+01] [-8.02546267e-03 -5.53294024e-04 9.99967642e-01 -1.33317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351400513 meters 0.07331381531485583 Centerline is valid? [True, True] Translation: X:226.72, Y:22.96, Z:-1.33 [[ 9.99763746e-01 -2.02124576e-02 7.99434647e-03 2.26722681e+02] [ 2.02074325e-02 9.99795558e-01 7.08864135e-04 2.29568518e+01] [-8.00703998e-03 -5.47151446e-04 9.99967793e-01 -1.33381257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381400513 meters 0.07168499382001797 Centerline is valid? [True, True] Translation: X:226.75, Y:22.96, Z:-1.33 [[ 9.99750814e-01 -2.07410592e-02 8.25342031e-03 2.26754659e+02] [ 2.07357242e-02 9.99784724e-01 7.31450923e-04 2.29584655e+01] [-8.26681462e-03 -5.60128008e-04 9.99965672e-01 -1.33363827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411400513 meters 0.07256078747321688 Centerline is valid? [True, True] Translation: X:226.79, Y:22.96, Z:-1.33 [[ 9.99739044e-01 -2.10116929e-02 8.96398111e-03 2.26785981e+02] [ 2.10054147e-02 9.99779047e-01 7.93970767e-04 2.29630872e+01] [-8.97868315e-03 -6.05471435e-04 9.99959508e-01 -1.33313657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441400513 meters 0.06679338292794962 Centerline is valid? [True, True] Translation: X:226.82, Y:22.96, Z:-1.33 [[ 9.99732665e-01 -2.09397942e-02 9.80430526e-03 2.26818202e+02] [ 2.09322850e-02 9.99780519e-01 8.67909544e-04 2.29597090e+01] [-9.82032724e-03 -6.62451009e-04 9.99951560e-01 -1.33147440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471400513 meters 0.07230438060985378 Centerline is valid? [True, True] Translation: X:226.85, Y:22.97, Z:-1.33 [[ 9.99719201e-01 -2.02795162e-02 1.22580789e-02 2.26848298e+02] [ 2.02677369e-02 9.99794000e-01 1.08441601e-03 2.29712573e+01] [-1.22775452e-02 -8.35667988e-04 9.99924279e-01 -1.32909745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501400513 meters 0.07119656966390477 Centerline is valid? [True, True] Translation: X:226.88, Y:22.97, Z:-1.33 [[ 9.99724509e-01 -1.98391666e-02 1.25424967e-02 2.26880001e+02] [ 1.98268055e-02 9.99802814e-01 1.10912685e-03 2.29738120e+01] [-1.25620277e-02 -8.60143654e-04 9.99920725e-01 -1.32890548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531400513 meters 0.08009703849537929 Centerline is valid? [True, True] Translation: X:226.91, Y:22.99, Z:-1.33 [[ 9.99735389e-01 -1.96057945e-02 1.20317868e-02 2.26909851e+02] [ 1.95944091e-02 9.99807446e-01 1.06343921e-03 2.29887264e+01] [-1.20503196e-02 -8.27402055e-04 9.99927050e-01 -1.32970546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561400513 meters 0.07579836929280655 Centerline is valid? [True, True] Translation: X:226.94, Y:22.99, Z:-1.33 [[ 9.99784288e-01 -1.84931198e-02 9.45415651e-03 2.26941381e+02] [ 1.84860433e-02 9.99828770e-01 8.35348766e-04 2.29881820e+01] [-9.46798588e-03 -6.60398625e-04 9.99954960e-01 -1.33417836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591400513 meters 0.07710947082074178 Centerline is valid? [True, True] Translation: X:226.97, Y:22.99, Z:-1.34 [[ 9.99811072e-01 -1.76681437e-02 8.10286457e-03 2.26973087e+02] [ 1.76629191e-02 9.99843742e-01 7.15898850e-04 2.29942492e+01] [-8.11424703e-03 -5.72643356e-04 9.99966915e-01 -1.33719747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621400513 meters 0.07653883713430645 Centerline is valid? [True, True] Translation: X:227.00, Y:23.00, Z:-1.34 [[ 9.99829369e-01 -1.68326528e-02 7.60887284e-03 2.27004782e+02] [ 1.68280241e-02 9.99858173e-01 6.71950080e-04 2.29988900e+01] [-7.61910440e-03 -5.43793129e-04 9.99970826e-01 -1.33824985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65140051299997 meters 0.07569225533414566 Centerline is valid? [True, True] Translation: X:227.04, Y:23.00, Z:-1.34 [[ 9.99836179e-01 -1.60852749e-02 8.29937355e-03 2.27036242e+02] [ 1.60797462e-02 9.99870444e-01 7.32467039e-04 2.30040708e+01] [-8.31008025e-03 -5.98895225e-04 9.99965291e-01 -1.33777001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68140051299997 meters 0.07849552573282577 Centerline is valid? [True, True] Translation: X:227.07, Y:23.02, Z:-1.34 [[ 9.99842727e-01 -1.47791511e-02 9.80293921e-03 2.27065599e+02] [ 1.47713796e-02 9.99890523e-01 8.64705009e-04 2.30155998e+01] [-9.81464562e-03 -7.19766078e-04 9.99951576e-01 -1.33529593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71140051299997 meters 0.0820587647770105 Centerline is valid? [True, True] Translation: X:227.10, Y:23.02, Z:-1.34 [[ 9.99846082e-01 -1.48784844e-02 9.29743636e-03 2.27095748e+02] [ 1.48714972e-02 9.99889077e-01 8.20209743e-04 2.30233709e+01] [-9.30860854e-03 -6.81816700e-04 9.99956442e-01 -1.33635915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74140051299997 meters 0.07737140971214894 Centerline is valid? [True, True] Translation: X:227.13, Y:23.02, Z:-1.34 [[ 9.99838246e-01 -1.59849536e-02 8.24401415e-03 2.27127726e+02] [ 1.59795034e-02 9.99872056e-01 7.26551991e-04 2.30208951e+01] [-8.25457328e-03 -5.94699216e-04 9.99965754e-01 -1.33794173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77140051299997 meters 0.0780115086571434 Centerline is valid? [True, True] Translation: X:227.16, Y:23.03, Z:-1.34 [[ 9.99811267e-01 -1.81195453e-02 7.00804386e-03 2.27157403e+02] [ 1.81156615e-02 9.99835707e-01 6.17277497e-04 2.30253698e+01] [-7.01807728e-03 -4.90205645e-04 9.99975253e-01 -1.34084815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80140051299998 meters 0.06431758862552918 Centerline is valid? [True, True] Translation: X:227.19, Y:23.01, Z:-1.34 [[ 9.99707708e-01 -2.35857966e-02 5.31111074e-03 2.27189258e+02] [ 2.35836426e-02 9.99721758e-01 4.67823078e-04 2.30104063e+01] [-5.32066695e-03 -3.42431000e-04 9.99985787e-01 -1.34322555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83140051299998 meters 0.06666666614152036 Centerline is valid? [True, True] Translation: X:227.22, Y:23.01, Z:-1.34 [[ 9.99640572e-01 -2.63463136e-02 4.95975802e-03 2.27218269e+02] [ 2.63444695e-02 9.99652829e-01 4.36791227e-04 2.30136176e+01] [-4.96954397e-03 -3.05972038e-04 9.99987605e-01 -1.34472509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86140051299998 meters 0.06335839380523152 Centerline is valid? [True, True] Translation: X:227.25, Y:23.01, Z:-1.34 [[ 9.99573330e-01 -2.88687529e-02 4.44454882e-03 2.27249460e+02] [ 2.88672960e-02 9.99583176e-01 3.91598356e-04 2.30097774e+01] [-4.45400118e-03 -2.63129166e-04 9.99990046e-01 -1.34495476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89140051299998 meters 0.06438472878473123 Centerline is valid? [True, True] Translation: X:227.28, Y:23.01, Z:-1.35 [[ 9.99527723e-01 -3.04570049e-02 4.08678023e-03 2.27278746e+02] [ 3.04557873e-02 9.99536050e-01 3.59861053e-04 2.30114204e+01] [-4.09584446e-03 -2.35224989e-04 9.99991584e-01 -1.34599296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92140051299998 meters 0.05771338483142543 Centerline is valid? [True, True] Translation: X:227.31, Y:23.00, Z:-1.35 [[ 9.99513311e-01 -3.09480879e-02 3.91884607e-03 2.27310048e+02] [ 3.09469715e-02 9.99520968e-01 3.45204695e-04 2.30036683e+01] [-3.92765225e-03 -2.23760270e-04 9.99992262e-01 -1.34544045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95140051299998 meters 0.060131581966856536 Centerline is valid? [True, True] Translation: X:227.34, Y:23.00, Z:-1.34 [[ 9.99551660e-01 -2.95503049e-02 4.82274025e-03 2.27340530e+02] [ 2.95485980e-02 9.99563255e-01 4.24827244e-04 2.30030197e+01] [-4.83318772e-03 -2.82131564e-04 9.99988280e-01 -1.34432957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98140051299998 meters 0.05970642290795823 Centerline is valid? [True, True] Translation: X:227.37, Y:23.00, Z:-1.34 [[ 9.99594390e-01 -2.79752984e-02 5.33283304e-03 2.27372265e+02] [ 2.79731880e-02 9.99608563e-01 4.69919654e-04 2.30011261e+01] [-5.34389171e-03 -3.20552708e-04 9.99985670e-01 -1.34362624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01140051299998 meters 0.06565302660398895 Centerline is valid? [True, True] Translation: X:227.40, Y:23.01, Z:-1.34 [[ 9.99641133e-01 -2.61205001e-02 5.94348160e-03 2.27402358e+02] [ 2.61178474e-02 9.99658734e-01 5.23522143e-04 2.30069800e+01] [-5.95512795e-03 -3.68103323e-04 9.99982200e-01 -1.34362476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04140051299999 meters 0.07028231627602277 Centerline is valid? [True, True] Translation: X:227.43, Y:23.01, Z:-1.34 [[ 9.99717425e-01 -2.29540723e-02 6.17912381e-03 2.27431490e+02] [ 2.29511460e-02 9.99736440e-01 5.44083320e-04 2.30090949e+01] [-6.18998417e-03 -4.02111602e-04 9.99980761e-01 -1.34357967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071400513 meters 0.06752325243037285 Centerline is valid? [True, True] Translation: X:227.46, Y:23.01, Z:-1.34 [[ 9.99744781e-01 -2.17298278e-02 6.17967015e-03 2.27462644e+02] [ 2.17268776e-02 9.99763795e-01 5.44137793e-04 2.30058480e+01] [-6.19003450e-03 -4.09733982e-04 9.99980758e-01 -1.34319084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101400513 meters 0.07170156757262508 Centerline is valid? [True, True] Translation: X:227.49, Y:23.01, Z:-1.34 [[ 9.99766556e-01 -2.05789963e-02 6.58312971e-03 2.27492205e+02] [ 2.05756245e-02 9.99788131e-01 5.79515144e-04 2.30106519e+01] [-6.59366079e-03 -4.43927855e-04 9.99978163e-01 -1.34290394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131400513 meters 0.0748039041524117 Centerline is valid? [True, True] Translation: X:227.52, Y:23.01, Z:-1.34 [[ 9.99788743e-01 -1.92629872e-02 7.16980862e-03 2.27522126e+02] [ 1.92589520e-02 9.99814330e-01 6.31422057e-04 2.30138960e+01] [-7.18064047e-03 -4.93205664e-04 9.99974097e-01 -1.34215975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161400513 meters 0.0764765495098864 Centerline is valid? [True, True] Translation: X:227.55, Y:23.01, Z:-1.34 [[ 9.99813669e-01 -1.69862704e-02 9.17025835e-03 2.27552853e+02] [ 1.69795813e-02 9.99855511e-01 8.06797164e-04 2.30146515e+01] [-9.18263782e-03 -6.50939686e-04 9.99957627e-01 -1.34013757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191400513 meters 0.07784554669102266 Centerline is valid? [True, True] Translation: X:227.58, Y:23.02, Z:-1.34 [[ 9.99824741e-01 -1.57281542e-02 1.01544008e-02 2.27583823e+02] [ 1.57198883e-02 9.99876036e-01 8.93326207e-04 2.30181428e+01] [-1.01671924e-02 -7.33543597e-04 9.99948044e-01 -1.33961105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221400513 meters 0.08210751931039854 Centerline is valid? [True, True] Translation: X:227.61, Y:23.02, Z:-1.34 [[ 9.99792861e-01 -1.46153494e-02 1.41642663e-02 2.27614849e+02] [ 1.44851127e-02 9.99852260e-01 9.25412586e-03 2.30150186e+01] [-1.42974260e-02 -9.04703798e-03 9.99856857e-01 -1.33806913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251400513 meters 0.07111413597533 Centerline is valid? [True, True] Translation: X:227.65, Y:23.02, Z:-1.34 [[ 9.99837242e-01 -1.27956233e-02 1.27185741e-02 2.27646175e+02] [ 1.28741484e-02 9.99898448e-01 -6.11146909e-03 2.30170243e+01] [-1.26390825e-02 6.27421521e-03 9.99900439e-01 -1.33827855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281400513 meters 0.0833968244866724 Centerline is valid? [True, True] Translation: X:227.68, Y:23.02, Z:-1.34 [[ 9.99868353e-01 -1.14875534e-02 1.14592026e-02 2.27675397e+02] [ 1.14767587e-02 9.99933632e-01 1.00733508e-03 2.30226090e+01] [-1.14700139e-02 -8.75687962e-04 9.99933834e-01 -1.33837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311400513 meters 0.08110906172805339 Centerline is valid? [True, True] Translation: X:227.71, Y:23.02, Z:-1.34 [[ 9.99876236e-01 -1.14902263e-02 1.07464788e-02 2.27707623e+02] [ 1.14807320e-02 9.99933648e-01 9.44760788e-04 2.30215166e+01] [-1.07566213e-02 -8.21266418e-04 9.99941809e-01 -1.34004031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341400513 meters 0.0885237727798771 Centerline is valid? [True, True] Translation: X:227.74, Y:23.03, Z:-1.34 [[ 9.99877528e-01 -1.14114811e-02 1.07101507e-02 2.27738374e+02] [ 1.14020517e-02 9.99934552e-01 9.41070618e-04 2.30329580e+01] [-1.07201887e-02 -8.18837671e-04 9.99942202e-01 -1.34115204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371400513 meters 0.08039540273196236 Centerline is valid? [True, True] Translation: X:227.77, Y:23.02, Z:-1.34 [[ 9.99876925e-01 -1.05007270e-02 1.16562741e-02 2.27771596e+02] [ 1.04895012e-02 9.99944460e-01 1.02378839e-03 2.30221387e+01] [-1.16663772e-02 -9.01393887e-04 9.99931539e-01 -1.33935766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40140051299997 meters 0.08088559862661589 Centerline is valid? [True, True] Translation: X:227.80, Y:23.02, Z:-1.34 [[ 9.99880965e-01 -1.03198266e-02 1.14698334e-02 2.27803406e+02] [ 1.03089511e-02 9.99946354e-01 1.00690526e-03 2.30225613e+01] [-1.14796092e-02 -8.88543454e-04 9.99933712e-01 -1.33945094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43140051299997 meters 0.07952031736348904 Centerline is valid? [True, True] Translation: X:227.84, Y:23.02, Z:-1.34 [[ 9.99889910e-01 -1.02742443e-02 1.07055052e-02 2.27836536e+02] [ 1.02647718e-02 9.99946875e-01 9.39405400e-04 2.30218062e+01] [-1.07145882e-02 -8.29412413e-04 9.99942253e-01 -1.34072687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46140051299997 meters 0.07999541024791956 Centerline is valid? [True, True] Translation: X:227.87, Y:23.02, Z:-1.34 [[ 9.99891309e-01 -1.14728371e-02 9.25980376e-03 2.27867531e+02] [ 1.14658075e-02 9.99933936e-01 8.11886896e-04 2.30203471e+01] [-9.26850666e-03 -7.05627524e-04 9.99956798e-01 -1.34431436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49140051299997 meters 0.08595172826475146 Centerline is valid? [True, True] Translation: X:227.90, Y:23.03, Z:-1.35 [[ 9.99876998e-01 -1.29819812e-02 8.80101410e-03 2.27897137e+02] [ 1.29756914e-02 9.99915515e-01 7.71394537e-04 2.30269380e+01] [-8.81028477e-03 -6.57100410e-04 9.99960973e-01 -1.34584678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52140051299997 meters 0.08136550773043516 Centerline is valid? [True, True] Translation: X:227.93, Y:23.02, Z:-1.35 [[ 9.99851815e-01 -1.48879755e-02 8.64268940e-03 2.27928315e+02] [ 1.48819808e-02 9.99888970e-01 7.57517635e-04 2.30205655e+01] [-8.65300771e-03 -6.28785045e-04 9.99962364e-01 -1.34605867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55140051299998 meters 0.07156286509573154 Centerline is valid? [True, True] Translation: X:227.96, Y:23.01, Z:-1.35 [[ 9.99816160e-01 -1.72176252e-02 8.43798056e-03 2.27960018e+02] [ 1.72119935e-02 9.99851589e-01 7.39589682e-04 2.30079185e+01] [-8.44946225e-03 -5.94219249e-04 9.99964126e-01 -1.34566464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58140051299998 meters 0.07603729007420285 Centerline is valid? [True, True] Translation: X:227.99, Y:23.01, Z:-1.35 [[ 9.99746221e-01 -2.14070534e-02 7.01657963e-03 2.27989401e+02] [ 2.14032627e-02 9.99770735e-01 6.14898824e-04 2.30096587e+01] [-7.02813414e-03 -4.64565078e-04 9.99975194e-01 -1.34878979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61140051299998 meters 0.06807779163069663 Centerline is valid? [True, True] Translation: X:228.02, Y:23.00, Z:-1.35 [[ 9.99720257e-01 -2.26707806e-02 6.74112042e-03 2.28022337e+02] [ 2.26673080e-02 9.99742889e-01 5.91103308e-04 2.29990334e+01] [-6.75278797e-03 -4.38134899e-04 9.99977104e-01 -1.34972804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64140051299998 meters 0.06638199855513162 Centerline is valid? [True, True] Translation: X:228.05, Y:23.00, Z:-1.35 [[ 9.99705288e-01 -2.33288929e-02 6.71569039e-03 2.28054237e+02] [ 2.33254631e-02 9.99727751e-01 5.88582389e-04 2.29952325e+01] [-6.72759303e-03 -4.31762338e-04 9.99977276e-01 -1.35015633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67140051299998 meters 0.07566146223287228 Centerline is valid? [True, True] Translation: X:228.08, Y:23.00, Z:-1.35 [[ 9.99704584e-01 -2.32817851e-02 6.97877361e-03 2.28084943e+02] [ 2.32780810e-02 9.99728842e-01 6.11532593e-04 2.30045154e+01] [-6.99111883e-03 -4.48899479e-04 9.99975461e-01 -1.35120536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70140051299998 meters 0.06834008183847659 Centerline is valid? [True, True] Translation: X:228.12, Y:22.99, Z:-1.35 [[ 9.99720264e-01 -2.26617061e-02 6.77059907e-03 2.28117195e+02] [ 2.26582075e-02 9.99743094e-01 5.93007348e-04 2.29944418e+01] [-6.78229823e-03 -4.39431823e-04 9.99976903e-01 -1.35067157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73140051299998 meters 0.07072360487797531 Centerline is valid? [True, True] Translation: X:228.15, Y:22.99, Z:-1.35 [[ 9.99789996e-01 -1.95765541e-02 6.05982800e-03 2.28148350e+02] [ 1.95736966e-02 9.99808276e-01 5.30499120e-04 2.29932849e+01] [-6.06905153e-03 -4.11774479e-04 9.99981498e-01 -1.35111240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76140051299998 meters 0.08219013409703349 Centerline is valid? [True, True] Translation: X:228.18, Y:23.01, Z:-1.35 [[ 9.99830615e-01 -1.73133368e-02 6.24422941e-03 2.28177135e+02] [ 1.73102591e-02 9.99850017e-01 5.46593135e-04 2.30062475e+01] [-6.25275623e-03 -4.38411321e-04 9.99980355e-01 -1.35193939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79140051299999 meters 0.07650598446957127 Centerline is valid? [True, True] Translation: X:228.21, Y:23.00, Z:-1.35 [[ 9.99866573e-01 -1.48638866e-02 6.77504367e-03 2.28208495e+02] [ 1.48602066e-02 9.99889405e-01 5.93194043e-04 2.29984435e+01] [-6.78311156e-03 -4.92436346e-04 9.99976873e-01 -1.35075924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821400513 meters 0.0836871615863876 Centerline is valid? [True, True] Translation: X:228.24, Y:23.01, Z:-1.35 [[ 9.99893925e-01 -1.22704167e-02 7.84696205e-03 2.28236776e+02] [ 1.22653995e-02 9.99924541e-01 6.87180103e-04 2.30091976e+01] [-7.85480191e-03 -5.90861086e-04 9.99968976e-01 -1.34976068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851400513 meters 0.08406978057437069 Centerline is valid? [True, True] Translation: X:228.27, Y:23.01, Z:-1.35 [[ 9.99932708e-01 -7.34122108e-03 8.98253679e-03 2.28266957e+02] [ 7.33445383e-03 9.99972794e-01 7.86088316e-04 2.30111135e+01] [-8.98806326e-03 -7.20153417e-04 9.99959347e-01 -1.34832994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881400513 meters 0.08484343026881494 Centerline is valid? [True, True] Translation: X:228.30, Y:23.01, Z:-1.35 [[ 9.99949968e-01 -5.44846767e-03 8.38904131e-03 2.28297127e+02] [ 5.44249807e-03 9.99984920e-01 7.34259259e-04 2.30126653e+01] [-8.39291539e-03 -6.88565181e-04 9.99964542e-01 -1.34949203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911400513 meters 0.08591897111406951 Centerline is valid? [True, True] Translation: X:228.33, Y:23.01, Z:-1.35 [[ 9.99958256e-01 -4.44201048e-03 7.98470290e-03 2.28327843e+02] [ 4.43657047e-03 9.99989914e-01 6.98888008e-04 2.30143589e+01] [-7.98772684e-03 -6.63434136e-04 9.99967878e-01 -1.35063220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941400513 meters 0.08553921504710366 Centerline is valid? [True, True] Translation: X:228.36, Y:23.01, Z:-1.35 [[ 9.99945808e-01 -3.88297403e-03 9.65933703e-03 2.28360188e+02] [ 3.87498723e-03 9.99992135e-01 8.45425906e-04 2.30133807e+01] [-9.66254382e-03 -8.07950283e-04 9.99952990e-01 -1.34833425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971400513 meters 0.08430356502335151 Centerline is valid? [True, True] Translation: X:228.39, Y:23.01, Z:-1.35 [[ 9.99930803e-01 -4.12945504e-03 1.10153144e-02 2.28392236e+02] [ 4.11908942e-03 9.99991052e-01 9.63540542e-04 2.30141135e+01] [-1.10191947e-02 -9.18100802e-04 9.99938865e-01 -1.34698833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001400513 meters 0.09561886751908626 Centerline is valid? [True, True] Translation: X:228.42, Y:23.03, Z:-1.35 [[ 9.99922702e-01 -4.59547411e-03 1.15529880e-02 2.28422138e+02] [ 4.58410909e-03 9.99988983e-01 1.01001911e-03 2.30296481e+01] [-1.15575022e-02 -9.56980880e-04 9.99932752e-01 -1.34667952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031400513 meters 0.08616323173944897 Centerline is valid? [True, True] Translation: X:228.45, Y:23.02, Z:-1.35 [[ 9.99913300e-01 -5.24204186e-03 1.20794261e-02 2.28454197e+02] [ 5.22966942e-03 9.99985768e-01 1.05561659e-03 2.30201075e+01] [-1.20847877e-02 -9.92353667e-04 9.99926484e-01 -1.34622415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061400513 meters 0.08947589988068529 Centerline is valid? [True, True] Translation: X:228.48, Y:23.03, Z:-1.35 [[ 9.99903968e-01 -6.21157089e-03 1.23883219e-02 2.28484361e+02] [ 6.19863492e-03 9.99980203e-01 1.08233092e-03 2.30267100e+01] [-1.23947996e-02 -1.00543630e-03 9.99922676e-01 -1.34588964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091400513 meters 0.07872352795897954 Centerline is valid? [True, True] Translation: X:228.52, Y:23.02, Z:-1.35 [[ 9.99877726e-01 -9.51049914e-03 1.24130105e-02 2.28516183e+02] [ 9.49776755e-03 9.99954307e-01 1.08421408e-03 2.30179715e+01] [-1.24227547e-02 -9.66185621e-04 9.99922368e-01 -1.34653923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121400513 meters 0.08136074195785101 Centerline is valid? [True, True] Translation: X:228.55, Y:23.02, Z:-1.35 [[ 9.99868395e-01 -1.16119892e-02 1.13293180e-02 2.28545609e+02] [ 1.16015192e-02 9.99932211e-01 9.89435926e-04 2.30240961e+01] [-1.13400393e-02 -8.57868411e-04 9.99935332e-01 -1.34848363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15140051299997 meters 0.08136074195785101 Centerline is valid? [True, True] Translation: X:228.58, Y:23.03, Z:-1.35 [[ 9.99869149e-01 -1.15469081e-02 1.13293033e-02 2.28578083e+02] [ 1.15364320e-02 9.99932963e-01 9.89603915e-04 2.30268136e+01] [-1.13399707e-02 -8.58774687e-04 9.99935332e-01 -1.34889278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18140051299997 meters 0.07444118667006645 Centerline is valid? [True, True] Translation: X:228.61, Y:23.02, Z:-1.35 [[ 9.99850394e-01 -1.42037340e-02 9.87134643e-03 2.28609042e+02] [ 1.41959167e-02 9.99898862e-01 8.61536978e-04 2.30208291e+01] [-9.88258510e-03 -7.21275276e-04 9.99950906e-01 -1.35143578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21140051299997 meters 0.06750500100972993 Centerline is valid? [True, True] Translation: X:228.64, Y:23.01, Z:-1.35 [[ 9.99739043e-01 -2.13323429e-02 8.17177060e-03 2.28640538e+02] [ 2.13272225e-02 9.99772295e-01 7.13234942e-04 2.30148864e+01] [-8.18512481e-03 -5.38767648e-04 9.99966356e-01 -1.35393848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24140051299997 meters 0.0656189243713666 Centerline is valid? [True, True] Translation: X:228.67, Y:23.02, Z:-1.35 [[ 9.99642482e-01 -2.54866568e-02 8.08325454e-03 2.28669757e+02] [ 2.54817830e-02 9.99675038e-01 7.05376938e-04 2.30158340e+01] [-8.09860549e-03 -4.99149014e-04 9.99967081e-01 -1.35453442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27140051299997 meters 0.058861802286647835 Centerline is valid? [True, True] Translation: X:228.70, Y:23.01, Z:-1.35 [[ 9.99515068e-01 -3.00250971e-02 8.25359496e-03 2.28701173e+02] [ 3.00201683e-02 9.99549034e-01 7.20442200e-04 2.30107589e+01] [-8.27150421e-03 -4.72318525e-04 9.99965679e-01 -1.35467859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30140051299998 meters 0.05645517634237181 Centerline is valid? [True, True] Translation: X:228.73, Y:23.01, Z:-1.36 [[ 9.99368311e-01 -3.45159625e-02 8.46325830e-03 2.28731122e+02] [ 3.45109414e-02 9.99404047e-01 7.38651857e-04 2.30100293e+01] [-8.48370988e-03 -4.46110248e-04 9.99963913e-01 -1.35513577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33140051299998 meters 0.04992904852607283 Centerline is valid? [True, True] Translation: X:228.76, Y:23.00, Z:-1.36 [[ 9.99091800e-01 -4.18425438e-02 8.04836457e-03 2.28760858e+02] [ 4.18382410e-02 9.99124151e-01 7.02316529e-04 2.30025893e+01] [-8.07070213e-03 -3.64949269e-04 9.99967365e-01 -1.35667494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36140051299998 meters 0.04264819267980714 Centerline is valid? [True, True] Translation: X:228.79, Y:23.00, Z:-1.36 [[ 9.98973531e-01 -4.46480443e-02 7.64436011e-03 2.28791253e+02] [ 4.46442453e-02 9.99002726e-01 6.66975192e-04 2.29958360e+01] [-7.66651573e-03 -3.25013874e-04 9.99970559e-01 -1.35677783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39140051299998 meters 0.043631581960217006 Centerline is valid? [True, True] Translation: X:228.82, Y:23.00, Z:-1.36 [[ 9.98871934e-01 -4.68473539e-02 7.75786667e-03 2.28820116e+02] [ 4.68435060e-02 9.98902011e-01 6.77066140e-04 2.29995470e+01] [-7.78106738e-03 -3.12896690e-04 9.99969678e-01 -1.35706855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42140051299998 meters 0.03851525578016821 Centerline is valid? [True, True] Translation: X:228.85, Y:23.00, Z:-1.36 [[ 9.98790795e-01 -4.84676989e-02 8.23595420e-03 2.28849524e+02] [ 4.84634162e-02 9.98824700e-01 7.18900460e-04 2.29956670e+01] [-8.26111793e-03 -3.18888686e-04 9.99965826e-01 -1.35598250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45140051299998 meters 0.03988976442852657 Centerline is valid? [True, True] Translation: X:228.88, Y:23.00, Z:-1.36 [[ 9.98717593e-01 -4.98909220e-02 8.60610653e-03 2.28877098e+02] [ 4.98862951e-02 9.98754621e-01 7.51598545e-04 2.29994760e+01] [-8.63288661e-03 -3.21307920e-04 9.99962684e-01 -1.35606489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48140051299998 meters 0.03715355887358027 Centerline is valid? [True, True] Translation: X:228.91, Y:23.00, Z:-1.36 [[ 9.98641883e-01 -5.13563824e-02 8.76987588e-03 2.28905814e+02] [ 5.13516328e-02 9.98680341e-01 7.66050980e-04 2.29981305e+01] [-8.79764424e-03 -3.14663148e-04 9.99961250e-01 -1.35622483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51140051299998 meters 0.0391782447839116 Centerline is valid? [True, True] Translation: X:228.93, Y:23.00, Z:-1.36 [[ 9.98456760e-01 -5.49694454e-02 7.90303176e-03 2.28933895e+02] [ 5.49656884e-02 9.98488004e-01 6.91973376e-04 2.30030636e+01] [-7.92911981e-03 -2.56509914e-04 9.99968531e-01 -1.36070701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54140051299999 meters 0.031780978326227276 Centerline is valid? [True, True] Translation: X:228.96, Y:23.00, Z:-1.36 [[ 9.98318437e-01 -5.74134140e-02 7.99992506e-03 2.28964337e+02] [ 5.74096400e-02 9.98350461e-01 7.00791536e-04 2.29953753e+01] [-8.02696370e-03 -2.40340294e-04 9.99967755e-01 -1.36069712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571400513 meters 0.024957371173789506 Centerline is valid? [True, True] Translation: X:229.00, Y:22.98, Z:-1.36 [[ 9.97837047e-01 -6.50069436e-02 9.76348390e-03 2.28995213e+02] [ 6.50016821e-02 9.97884788e-01 8.55596407e-04 2.29832370e+01] [-9.79845177e-03 -2.19102915e-04 9.99951970e-01 -1.35759034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601400513 meters 0.027868808768731716 Centerline is valid? [True, True] Translation: X:229.03, Y:22.97, Z:-1.36 [[ 9.97517837e-01 -6.97245188e-02 9.83141177e-03 2.29025879e+02] [ 6.97194118e-02 9.97566269e-01 8.61653550e-04 2.29738888e+01] [-9.86756314e-03 -1.74074540e-04 9.99951299e-01 -1.35741567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631400513 meters 0.015209855672619444 Centerline is valid? [True, True] Translation: X:229.05, Y:22.97, Z:-1.36 [[ 9.97220826e-01 -7.39127344e-02 9.35585283e-03 2.29054713e+02] [ 7.39082924e-02 9.97264705e-01 8.20111002e-04 2.29696445e+01] [-9.39087845e-03 -1.26356664e-04 9.99955897e-01 -1.35839114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661400513 meters 0.012800106599300438 Centerline is valid? [True, True] Translation: X:229.08, Y:22.97, Z:-1.36 [[ 9.96947465e-01 -7.74946293e-02 9.50439195e-03 2.29083086e+02] [ 7.74902037e-02 9.96992765e-01 8.33567731e-04 2.29659946e+01] [-9.54040703e-03 -9.45259685e-05 9.99954485e-01 -1.35940313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691400513 meters 0.010147048559439069 Centerline is valid? [True, True] Translation: X:229.11, Y:22.96, Z:-1.36 [[ 9.96706375e-01 -8.04202497e-02 1.04396110e-02 2.29112841e+02] [ 8.04150657e-02 9.96761044e-01 9.16065291e-04 2.29605654e+01] [-1.04794678e-02 -7.35461089e-05 9.99945086e-01 -1.35846732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721400513 meters 0.008296977082255545 Centerline is valid? [True, True] Translation: X:229.14, Y:22.95, Z:-1.36 [[ 9.96497769e-01 -8.27769989e-02 1.18391588e-02 2.29142671e+02] [ 8.27704719e-02 9.96568094e-01 1.04107208e-03 2.29544590e+01] [-1.18847047e-02 -5.74932465e-05 9.99929373e-01 -1.35673306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751400513 meters 0.007371241727802236 Centerline is valid? [True, True] Translation: X:229.17, Y:22.95, Z:-1.35 [[ 9.96329749e-01 -8.45717581e-02 1.32155052e-02 2.29171908e+02] [ 8.45637514e-02 9.96417390e-01 1.16448951e-03 2.29455580e+01] [-1.32666421e-02 -4.26628502e-05 9.99911993e-01 -1.35412435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781400513 meters 0.0077629261525299885 Centerline is valid? [True, True] Translation: X:229.20, Y:22.95, Z:-1.36 [[ 9.96376985e-01 -8.41082369e-02 1.25979312e-02 2.29198999e+02] [ 8.41009150e-02 9.96456623e-01 1.11079055e-03 2.29460355e+01] [-1.26467186e-02 -4.72685985e-05 9.99920026e-01 -1.35542293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811400513 meters 0.008515256075413986 Centerline is valid? [True, True] Translation: X:229.23, Y:22.95, Z:-1.36 [[ 9.96486060e-01 -8.29646782e-02 1.15063021e-02 2.29228167e+02] [ 8.29584849e-02 9.96552487e-01 1.01532517e-03 2.29470285e+01] [-1.15508701e-02 -5.72119834e-05 9.99933285e-01 -1.35792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841400513 meters 0.009357048235491711 Centerline is valid? [True, True] Translation: X:229.26, Y:22.95, Z:-1.36 [[ 9.96620589e-01 -8.15051906e-02 1.02130350e-02 2.29256641e+02] [ 8.15002200e-02 9.96672915e-01 9.02639147e-04 2.29477235e+01] [-1.02526252e-02 -6.72241575e-05 9.99947438e-01 -1.36027086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871400513 meters 0.012486096845720508 Centerline is valid? [True, True] Translation: X:229.28, Y:22.95, Z:-1.36 [[ 9.96912182e-01 -7.79734371e-02 9.28675388e-03 2.29284046e+02] [ 7.79691592e-02 9.96955432e-01 8.22358137e-04 2.29474911e+01] [-9.32260181e-03 -9.57384538e-05 9.99956539e-01 -1.36216452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90140051299997 meters 0.013532043917073695 Centerline is valid? [True, True] Translation: X:229.31, Y:22.95, Z:-1.36 [[ 9.97015587e-01 -7.66204750e-02 9.44578503e-03 2.29312875e+02] [ 7.66159808e-02 9.97060324e-01 8.37264909e-04 2.29494857e+01] [-9.48216912e-03 -1.11068080e-04 9.99955037e-01 -1.36157350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93140051299997 meters 0.015577719017180598 Centerline is valid? [True, True] Translation: X:229.34, Y:22.95, Z:-1.36 [[ 9.97108045e-01 -7.53029394e-02 1.02476330e-02 2.29340704e+02] [ 7.52975581e-02 9.97160694e-01 9.10482766e-04 2.29537459e+01] [-1.02870988e-02 -1.36227950e-04 9.99947077e-01 -1.36127124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96140051299997 meters 0.017023197972181915 Centerline is valid? [True, True] Translation: X:229.37, Y:22.96, Z:-1.36 [[ 9.97214844e-01 -7.38204028e-02 1.06349593e-02 2.29368891e+02] [ 7.38145162e-02 9.97271539e-01 9.45507202e-04 2.29571528e+01] [-1.06757399e-02 -1.57859442e-04 9.99943000e-01 -1.36095824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99140051299997 meters 0.019666060931370435 Centerline is valid? [True, True] Translation: X:229.40, Y:22.96, Z:-1.36 [[ 9.97389150e-01 -7.14247562e-02 1.06483463e-02 2.29397967e+02] [ 7.14187099e-02 9.97445974e-01 9.47481389e-04 2.29605102e+01] [-1.06888238e-02 -1.84516500e-04 9.99942856e-01 -1.36151106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02140051299997 meters 0.019757919356234766 Centerline is valid? [True, True] Translation: X:229.43, Y:22.96, Z:-1.36 [[ 9.97391092e-01 -7.14197277e-02 1.04991838e-02 2.29426236e+02] [ 7.14138323e-02 9.97446334e-01 9.35828252e-04 2.29623654e+01] [-1.05392090e-02 -1.83599808e-04 9.99944444e-01 -1.36245393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05140051299998 meters 0.01864978003941322 Centerline is valid? [True, True] Translation: X:229.45, Y:22.96, Z:-1.36 [[ 9.97331073e-01 -7.23209782e-02 1.00203690e-02 2.29454942e+02] [ 7.23156356e-02 9.97381395e-01 8.94950273e-04 2.29636175e+01] [-1.00588533e-02 -1.67932365e-04 9.99949394e-01 -1.36365286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08140051299998 meters 0.01638741845406853 Centerline is valid? [True, True] Translation: X:229.48, Y:22.96, Z:-1.36 [[ 9.97119266e-01 -7.51709019e-02 1.01244205e-02 2.29482609e+02] [ 7.51655751e-02 9.97170655e-01 9.06166643e-04 2.29641862e+01] [-1.01638923e-02 -1.42548332e-04 9.99948336e-01 -1.36465146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11140051299998 meters 0.014427600907955208 Centerline is valid? [True, True] Translation: X:229.51, Y:22.96, Z:-1.36 [[ 9.96968115e-01 -7.71288374e-02 1.02819956e-02 2.29511263e+02] [ 7.71234437e-02 9.97021127e-01 9.20643280e-04 2.29646538e+01] [-1.03223749e-02 -1.24869090e-04 9.99946715e-01 -1.36436018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14140051299998 meters 0.01266595973202198 Centerline is valid? [True, True] Translation: X:229.54, Y:22.97, Z:-1.36 [[ 9.96786674e-01 -7.94212140e-02 1.04209944e-02 2.29539738e+02] [ 7.94157805e-02 9.96841141e-01 9.34835032e-04 2.29655987e+01] [-1.04623217e-02 -1.04239697e-04 9.99945263e-01 -1.36415547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17140051299998 meters 0.010826240001910768 Centerline is valid? [True, True] Translation: X:229.57, Y:22.97, Z:-1.36 [[ 9.96602514e-01 -8.16870030e-02 1.05196228e-02 2.29569087e+02] [ 8.16815754e-02 9.96658029e-01 9.45281913e-04 2.29664621e+01] [-1.05616838e-02 -8.28109680e-05 9.99944220e-01 -1.36414597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20140051299998 meters 0.009082318767027326 Centerline is valid? [True, True] Translation: X:229.60, Y:22.97, Z:-1.36 [[ 9.96403068e-01 -8.40828804e-02 1.05354221e-02 2.29597719e+02] [ 8.40775538e-02 9.96458763e-01 9.48267740e-04 2.29674047e+01] [-1.05778468e-02 -5.90643651e-05 9.99944051e-01 -1.36412456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23140051299998 meters 0.006736537776806193 Centerline is valid? [True, True] Translation: X:229.63, Y:22.97, Z:-1.36 [[ 9.96023532e-01 -8.84043282e-02 1.10362572e-02 2.29627179e+02] [ 8.83987276e-02 9.96084672e-01 9.95207550e-04 2.29670377e+01] [-1.10810273e-02 -1.56590458e-05 9.99938603e-01 -1.36259722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26140051299998 meters 0.0065320423133812516 Centerline is valid? [True, True] Translation: X:229.65, Y:22.97, Z:-1.36 [[ 9.95858502e-01 -9.01978909e-02 1.14098335e-02 2.29654656e+02] [ 9.01920001e-02 9.95923863e-01 1.03084631e-03 2.29690985e+01] [-1.14563057e-02 2.49864386e-06 9.99934374e-01 -1.36200101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29140051299999 meters 0.006629738316161167 Centerline is valid? [True, True] Translation: X:229.68, Y:22.97, Z:-1.36 [[ 9.95744341e-01 -9.13394790e-02 1.22599927e-02 2.29682439e+02] [ 9.13327331e-02 9.95819813e-01 1.11017334e-03 2.29726351e+01] [-1.23101463e-02 1.42898192e-05 9.99924227e-01 -1.36141461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321400513 meters 0.006614058323130053 Centerline is valid? [True, True] Translation: X:229.71, Y:22.98, Z:-1.36 [[ 9.95711478e-01 -9.16322507e-02 1.27351204e-02 2.29709696e+02] [ 9.16249646e-02 9.95792915e-01 1.15563607e-03 2.29775086e+01] [-1.27874362e-02 1.61748561e-05 9.99918237e-01 -1.36151724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351400513 meters 0.006510934322537017 Centerline is valid? [True, True] Translation: X:229.74, Y:22.98, Z:-1.36 [[ 9.95755521e-01 -9.11722298e-02 1.25923086e-02 2.29736580e+02] [ 9.11650401e-02 9.95835139e-01 1.14499788e-03 2.29824063e+01] [-1.26442554e-02 7.84035507e-06 9.99920058e-01 -1.36250831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381400513 meters 0.006771808062276491 Centerline is valid? [True, True] Translation: X:229.76, Y:22.99, Z:-1.37 [[ 9.95915385e-01 -8.96028466e-02 1.11299712e-02 2.29763991e+02] [ 8.95971188e-02 9.95977575e-01 1.01318769e-03 2.29890922e+01] [-1.11759863e-02 -1.18358525e-05 9.99937547e-01 -1.36549607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411400513 meters 0.0070017717974687815 Centerline is valid? [True, True] Translation: X:229.79, Y:22.99, Z:-1.37 [[ 9.95995834e-01 -8.87499190e-02 1.07587824e-02 2.29791736e+02] [ 8.87444966e-02 9.96053940e-01 9.81298548e-04 2.29946043e+01] [-1.08034178e-02 -2.25865337e-05 9.99941641e-01 -1.36667684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441400513 meters 0.00765909791962355 Centerline is valid? [True, True] Translation: X:229.82, Y:23.00, Z:-1.37 [[ 9.96091619e-01 -8.76175053e-02 1.11650904e-02 2.29818014e+02] [ 8.76115693e-02 9.96154191e-01 1.02060333e-03 2.30012349e+01] [-1.12115743e-02 -3.84233340e-05 9.99937148e-01 -1.36642034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471400513 meters 0.009406893369634205 Centerline is valid? [True, True] Translation: X:229.85, Y:23.01, Z:-1.37 [[ 9.96315081e-01 -8.50350054e-02 1.11940355e-02 2.29846232e+02] [ 8.50288601e-02 9.96377962e-01 1.02462461e-03 2.30112428e+01] [-1.12406192e-02 -6.90328723e-05 9.99936820e-01 -1.36640277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501400513 meters 0.01022594787168683 Centerline is valid? [True, True] Translation: X:229.87, Y:23.02, Z:-1.37 [[ 9.96428731e-01 -8.37825859e-02 1.05006060e-02 2.29874815e+02] [ 8.37770922e-02 9.96484055e-01 9.62730065e-04 2.30160453e+01] [-1.05443465e-02 -7.95816585e-05 9.99944404e-01 -1.36782075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531400513 meters 0.011663817906544367 Centerline is valid? [True, True] Translation: X:229.90, Y:23.02, Z:-1.37 [[ 9.96516146e-01 -8.28226471e-02 9.79689350e-03 2.29901827e+02] [ 8.28178023e-02 9.96564299e-01 8.99879641e-04 2.30207693e+01] [-9.83776472e-03 -8.53874024e-05 9.99951604e-01 -1.36980017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561400513 meters 0.011867437282402055 Centerline is valid? [True, True] Translation: X:229.93, Y:23.02, Z:-1.37 [[ 9.96545194e-01 -8.25464521e-02 9.15199516e-03 2.29930567e+02] [ 8.25422064e-02 9.96587215e-01 8.41318148e-04 2.30242200e+01] [-9.19020919e-03 -8.29856842e-05 9.99957766e-01 -1.37126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591400513 meters 0.010866666395891927 Centerline is valid? [True, True] Translation: X:229.96, Y:23.03, Z:-1.37 [[ 9.96449178e-01 -8.36807194e-02 9.30447259e-03 2.29959542e+02] [ 8.36763660e-02 9.96492615e-01 8.56879854e-04 2.30272163e+01] [-9.34354255e-03 -7.52727720e-05 9.99956345e-01 -1.37237329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621400513 meters 0.009933067737106768 Centerline is valid? [True, True] Translation: X:229.99, Y:23.03, Z:-1.37 [[ 9.96293111e-01 -8.55157917e-02 9.33197541e-03 2.29987856e+02] [ 8.55114785e-02 9.96336813e-01 8.60959307e-04 2.30288424e+01] [-9.37141626e-03 -5.97768123e-05 9.99956086e-01 -1.37297896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65140051299997 meters 0.008244710155682362 Centerline is valid? [True, True] Translation: X:230.02, Y:23.03, Z:-1.37 [[ 9.96090944e-01 -8.77884929e-02 9.79851201e-03 2.30017356e+02] [ 8.77838306e-02 9.96139136e-01 9.05723650e-04 2.30283334e+01] [-9.84019340e-03 -4.20322075e-05 9.99951583e-01 -1.37230404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68140051299997 meters 0.007128451388311352 Centerline is valid? [True, True] Translation: X:230.05, Y:23.03, Z:-1.37 [[ 9.95874931e-01 -9.01900485e-02 9.94369859e-03 2.30046033e+02] [ 9.01853502e-02 9.95924573e-01 9.20790956e-04 2.30273102e+01] [-9.98621996e-03 -2.02166892e-05 9.99950136e-01 -1.37117789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71140051299997 meters 0.007646244416500326 Centerline is valid? [True, True] Translation: X:230.07, Y:23.02, Z:-1.37 [[ 9.95318880e-01 -9.60527497e-02 1.06862312e-02 2.30074337e+02] [ 9.60476416e-02 9.95376244e-01 9.91378716e-04 2.30217628e+01] [-1.07320453e-02 3.96493494e-05 9.99942409e-01 -1.36991170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74140051299997 meters 0.01006019005174347 Centerline is valid? [True, True] Translation: X:230.10, Y:23.02, Z:-1.37 [[ 9.94962747e-01 -9.96074929e-02 1.12906579e-02 2.30102912e+02] [ 9.96019922e-02 9.95026804e-01 1.04985443e-03 2.30208487e+01] [-1.13390806e-02 8.00059645e-05 9.99935707e-01 -1.37010443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77140051299997 meters 0.012926637886793357 Centerline is valid? [True, True] Translation: X:230.13, Y:23.02, Z:-1.37 [[ 9.94556979e-01 -1.03519272e-01 1.18395479e-02 2.30132117e+02] [ 1.03513493e-01 9.94627440e-01 1.10154863e-03 2.30206668e+01] [-1.18899707e-02 1.30000074e-04 9.99929303e-01 -1.37036591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80140051299998 meters 0.01737141800633392 Centerline is valid? [True, True] Translation: X:230.16, Y:23.02, Z:-1.37 [[ 9.94174710e-01 -1.07114027e-01 1.19678908e-02 2.30160311e+02] [ 1.07108357e-01 9.94246728e-01 1.11558121e-03 2.30178121e+01] [-1.20185307e-02 1.72778493e-04 9.99927760e-01 -1.37171454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83140051299998 meters 0.02130530274012396 Centerline is valid? [True, True] Translation: X:230.19, Y:23.01, Z:-1.38 [[ 9.93584246e-01 -1.12647253e-01 1.00469770e-02 2.30190164e+02] [ 1.12643535e-01 9.93635022e-01 9.37021959e-04 2.30137584e+01] [-1.00885812e-02 2.00716748e-04 9.99949089e-01 -1.37527628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86140051299998 meters 0.02244812684298997 Centerline is valid? [True, True] Translation: X:230.22, Y:23.01, Z:-1.38 [[ 9.93437066e-01 -1.14015414e-01 9.12583140e-03 2.30219117e+02] [ 1.14012404e-01 9.93478962e-01 8.51127634e-04 2.30136986e+01] [-9.16336318e-03 1.94916236e-04 9.99957997e-01 -1.37605815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89140051299998 meters 0.02324407681562106 Centerline is valid? [True, True] Translation: X:230.25, Y:23.01, Z:-1.38 [[ 9.93400832e-01 -1.14337777e-01 9.03660932e-03 2.30247119e+02] [ 1.14334822e-01 9.93441913e-01 8.44619771e-04 2.30143518e+01] [-9.07391840e-03 1.94153134e-04 9.99958812e-01 -1.37607746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92140051299998 meters 0.0230981937357709 Centerline is valid? [True, True] Translation: X:230.28, Y:23.02, Z:-1.37 [[ 9.93436206e-01 -1.13999485e-01 9.41391617e-03 2.30275023e+02] [ 1.13996253e-01 9.93480789e-01 8.80908291e-04 2.30169231e+01] [-9.45296796e-03 1.98024982e-04 9.99955300e-01 -1.37479204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95140051299998 meters 0.021447230288849307 Centerline is valid? [True, True] Translation: X:230.30, Y:23.02, Z:-1.37 [[ 9.93538749e-01 -1.13004987e-01 1.05179681e-02 2.30304083e+02] [ 1.13000891e-01 9.93594399e-01 9.84753544e-04 2.30223576e+01] [-1.05618762e-02 2.10148964e-04 9.99944200e-01 -1.37267460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98140051299998 meters 0.017267087803211283 Centerline is valid? [True, True] Translation: X:230.33, Y:23.03, Z:-1.37 [[ 9.93905067e-01 -1.09467765e-01 1.30202522e-02 2.30332659e+02] [ 1.09461153e-01 9.93990324e-01 1.22157543e-03 2.30329191e+01] [-1.30757279e-02 2.11081810e-04 9.99914487e-01 -1.36820852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01140051299998 meters 0.02237592293302112 Centerline is valid? [True, True] Translation: X:230.36, Y:23.04, Z:-1.37 [[ 9.94170959e-01 -1.07006892e-01 1.31768126e-02 2.30359695e+02] [ 1.06999876e-01 9.94258263e-01 1.23834163e-03 2.30385525e+01] [-1.32336659e-02 1.78794027e-04 9.99912415e-01 -1.36801292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04140051299999 meters 0.02237592293302112 Centerline is valid? [True, True] Translation: X:230.39, Y:23.04, Z:-1.37 [[ 9.94150893e-01 -1.07193171e-01 1.31767292e-02 2.30387099e+02] [ 1.07186159e-01 9.94238197e-01 1.23922833e-03 2.30413033e+01] [-1.32336443e-02 1.80383045e-04 9.99912415e-01 -1.36835848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071400513 meters 0.013069421679556246 Centerline is valid? [True, True] Translation: X:230.42, Y:23.05, Z:-1.37 [[ 9.94471219e-01 -1.04256167e-01 1.25557135e-02 2.30415481e+02] [ 1.04249539e-01 9.94550468e-01 1.18308463e-03 2.30497567e+01] [-1.26106346e-02 1.32383728e-04 9.99920474e-01 -1.36937334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101400513 meters 0.023515512721986286 Centerline is valid? [True, True] Translation: X:230.44, Y:23.07, Z:-1.37 [[ 9.95164240e-01 -9.76566366e-02 1.05506630e-02 2.30442790e+02] [ 9.76515700e-02 9.95220166e-01 9.95546428e-04 2.30663782e+01] [-1.05974543e-02 3.95565996e-05 9.99943845e-01 -1.37245416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131400513 meters 0.006614149643873945 Centerline is valid? [True, True] Translation: X:230.47, Y:23.08, Z:-1.37 [[ 9.95486781e-01 -9.43546291e-02 1.01623054e-02 2.30469323e+02] [ 9.43497385e-02 9.95538650e-01 9.60668565e-04 2.30754870e+01] [-1.02076113e-02 2.47799659e-06 9.99947901e-01 -1.37348063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161400513 meters 0.007073877582338779 Centerline is valid? [True, True] Translation: X:230.50, Y:23.08, Z:-1.37 [[ 9.95715736e-01 -9.18776103e-02 1.04248677e-02 2.30496819e+02] [ 9.18723140e-02 9.95770307e-01 9.86823975e-04 2.30835885e+01] [-1.04714407e-02 -2.48394448e-05 9.99945173e-01 -1.37278782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191400513 meters 0.00821792067124025 Centerline is valid? [True, True] Translation: X:230.53, Y:23.09, Z:-1.37 [[ 9.95889553e-01 -8.98940838e-02 1.10928589e-02 2.30525243e+02] [ 8.98879385e-02 9.95951330e-01 1.05233336e-03 2.30906552e+01] [-1.11425462e-02 -5.08935773e-05 9.99937919e-01 -1.37215787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221400513 meters 0.010132695914532688 Centerline is valid? [True, True] Translation: X:230.55, Y:23.10, Z:-1.37 [[ 9.96173437e-01 -8.67096431e-02 1.09508664e-02 2.30552783e+02] [ 8.67034408e-02 9.96233622e-01 1.04075896e-03 2.31010112e+01] [-1.09998651e-02 -8.72986327e-05 9.99939496e-01 -1.37354571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251400513 meters 0.011817222063077967 Centerline is valid? [True, True] Translation: X:230.58, Y:23.11, Z:-1.38 [[ 9.96308711e-01 -8.52469222e-02 1.00952678e-02 2.30580299e+02] [ 8.52415669e-02 9.96359851e-01 9.60354954e-04 2.31080746e+01] [-1.01403868e-02 -9.62735613e-05 9.99948580e-01 -1.37606457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281400513 meters 0.013545817386160565 Centerline is valid? [True, True] Translation: X:230.61, Y:23.11, Z:-1.38 [[ 9.96434609e-01 -8.38354270e-02 9.47059388e-03 2.30608058e+02] [ 8.38306451e-02 9.96479609e-01 9.01469196e-04 2.31142035e+01] [-9.51282874e-03 -1.04329110e-04 9.99954747e-01 -1.37844009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311400513 meters 0.014417995381950096 Centerline is valid? [True, True] Translation: X:230.64, Y:23.12, Z:-1.38 [[ 9.96535538e-01 -8.26217537e-02 9.51667610e-03 2.30637084e+02] [ 8.26168675e-02 9.96580971e-01 9.06099407e-04 2.31184802e+01] [-9.55900184e-03 -1.16722291e-04 9.99954305e-01 -1.37876472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341400513 meters 0.015476545980375338 Centerline is valid? [True, True] Translation: X:230.67, Y:23.12, Z:-1.38 [[ 9.96622061e-01 -8.15343958e-02 9.82907871e-03 2.30665753e+02] [ 8.15291139e-02 9.96670520e-01 9.37544911e-04 2.31223446e+01] [-9.87279514e-03 -1.33021864e-04 9.99951254e-01 -1.37831130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371400513 meters 0.018966899597945425 Centerline is valid? [True, True] Translation: X:230.69, Y:23.13, Z:-1.38 [[ 9.96805164e-01 -7.92190950e-02 1.01882687e-02 2.30692655e+02] [ 7.92132790e-02 9.96857216e-01 9.73756825e-04 2.31300255e+01] [-1.02333893e-02 -1.63599662e-04 9.99947624e-01 -1.37782075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40140051299997 meters 0.01998688691735642 Centerline is valid? [True, True] Translation: X:230.72, Y:23.14, Z:-1.38 [[ 9.96892017e-01 -7.81243899e-02 1.01432358e-02 2.30721341e+02] [ 7.81185612e-02 9.96943604e-01 9.70172059e-04 2.31350389e+01] [-1.01880281e-02 -1.74781795e-04 9.99948085e-01 -1.37883899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43140051299997 meters 0.021025548972301293 Centerline is valid? [True, True] Translation: X:230.75, Y:23.14, Z:-1.38 [[ 9.96999246e-01 -7.67585411e-02 1.00314411e-02 2.30750278e+02] [ 7.67527551e-02 9.97049693e-01 9.61072667e-04 2.31400393e+01] [-1.00756158e-02 -1.88247982e-04 9.99949222e-01 -1.37953338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46140051299997 meters 0.022207917262139193 Centerline is valid? [True, True] Translation: X:230.78, Y:23.14, Z:-1.38 [[ 9.97126686e-01 -7.50553179e-02 1.02504426e-02 2.30778705e+02] [ 7.50491689e-02 9.97179349e-01 9.83763867e-04 2.31449488e+01] [-1.02953664e-02 -2.11650009e-04 9.99946979e-01 -1.38005722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49140051299997 meters 0.02876442724634124 Centerline is valid? [True, True] Translation: X:230.81, Y:23.16, Z:-1.38 [[ 9.97448407e-01 -7.05412598e-02 1.09820628e-02 2.30805733e+02] [ 7.05339045e-02 9.97508823e-01 1.05611797e-03 2.31565705e+01] [-1.10292045e-02 -2.78815415e-04 9.99939138e-01 -1.38019412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52140051299997 meters 0.02785618559473196 Centerline is valid? [True, True] Translation: X:230.83, Y:23.16, Z:-1.38 [[ 9.97610042e-01 -6.81807141e-02 1.12068713e-02 2.30834733e+02] [ 6.81728995e-02 9.97672939e-01 1.07828499e-03 2.31585178e+01] [-1.12543105e-02 -3.11703018e-04 9.99936620e-01 -1.38005384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55140051299998 meters 0.03276675220405197 Centerline is valid? [True, True] Translation: X:230.86, Y:23.17, Z:-1.38 [[ 9.97757350e-01 -6.60159687e-02 1.10526924e-02 2.30862719e+02] [ 6.60082309e-02 9.97818511e-01 1.06382374e-03 2.31678385e+01] [-1.10988104e-02 -3.31869286e-04 9.99938351e-01 -1.38100871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58140051299998 meters 0.03565042871644075 Centerline is valid? [True, True] Translation: X:230.89, Y:23.17, Z:-1.38 [[ 9.98021922e-01 -6.21844384e-02 9.23789395e-03 2.30892656e+02] [ 6.21788644e-02 9.98064626e-01 8.89651032e-04 2.31747283e+01] [-9.27533762e-03 -3.13489477e-04 9.99956934e-01 -1.38391975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61140051299998 meters 0.0388129302614553 Centerline is valid? [True, True] Translation: X:230.92, Y:23.18, Z:-1.39 [[ 9.98098176e-01 -6.10815500e-02 8.31111702e-03 2.30921428e+02] [ 6.10770058e-02 9.98132737e-01 7.99718806e-04 2.31786322e+01] [-8.34444604e-03 -2.90579740e-04 9.99965142e-01 -1.38572711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64140051299998 meters 0.03840288154705139 Centerline is valid? [True, True] Translation: X:230.95, Y:23.18, Z:-1.39 [[ 9.98156735e-01 -6.01560171e-02 8.02410608e-03 2.30949214e+02] [ 6.01517378e-02 9.98188945e-01 7.73801628e-04 2.31827122e+01] [-8.05612280e-03 -2.89711381e-04 9.99967507e-01 -1.38650974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67140051299998 meters 0.03719060926767511 Centerline is valid? [True, True] Translation: X:230.98, Y:23.18, Z:-1.39 [[ 9.98184061e-01 -5.96224204e-02 8.58766172e-03 2.30978017e+02] [ 5.96174980e-02 9.98220951e-01 8.28276007e-04 2.31836024e+01] [-8.62176767e-03 -3.14797003e-04 9.99962782e-01 -1.38576479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70140051299998 meters 0.04344623311955513 Centerline is valid? [True, True] Translation: X:231.01, Y:23.19, Z:-1.39 [[ 9.98203207e-01 -5.91620122e-02 9.49805080e-03 2.31005166e+02] [ 5.91559508e-02 9.98248331e-01 9.18097273e-04 2.31939108e+01] [-9.53572984e-03 -3.54581417e-04 9.99954471e-01 -1.38548351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73140051299998 meters 0.03997105169613034 Centerline is valid? [True, True] Translation: X:231.03, Y:23.19, Z:-1.38 [[ 9.98222770e-01 -5.86284379e-02 1.06774116e-02 2.31034560e+02] [ 5.86207370e-02 9.98279791e-01 1.03305063e-03 2.31918652e+01] [-1.07196104e-02 -4.05296925e-04 9.99942461e-01 -1.38371308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76140051299998 meters 0.038747244940846366 Centerline is valid? [True, True] Translation: X:231.06, Y:23.19, Z:-1.38 [[ 9.98279492e-01 -5.76375822e-02 1.07686775e-02 2.31063128e+02] [ 5.76296706e-02 9.98337484e-01 1.04380763e-03 2.31918944e+01] [-1.08109370e-02 -4.21416410e-04 9.99941471e-01 -1.38351316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79140051299999 meters 0.0398086119193564 Centerline is valid? [True, True] Translation: X:231.09, Y:23.19, Z:-1.38 [[ 9.98367027e-01 -5.61089997e-02 1.07266275e-02 2.31092471e+02] [ 5.61010542e-02 9.98424554e-01 1.04042686e-03 2.31942889e+01] [-1.07681056e-02 -4.36952753e-04 9.99941927e-01 -1.38428147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821400513 meters 0.04166390563551243 Centerline is valid? [True, True] Translation: X:231.12, Y:23.20, Z:-1.39 [[ 9.98505783e-01 -5.37577969e-02 9.81324505e-03 2.31122036e+02] [ 5.37510316e-02 9.98553915e-01 9.52042038e-04 2.31958793e+01] [-9.85023394e-03 -4.23147436e-04 9.99951396e-01 -1.38647924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851400513 meters 0.04413417801996354 Centerline is valid? [True, True] Translation: X:231.15, Y:23.20, Z:-1.39 [[ 9.98528006e-01 -5.33287051e-02 9.89298878e-03 2.31149074e+02] [ 5.33218081e-02 9.98576919e-01 9.59811291e-04 2.32006867e+01] [-9.93009575e-03 -4.30886405e-04 9.99950603e-01 -1.38683552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881400513 meters 0.0426143493168475 Centerline is valid? [True, True] Translation: X:231.18, Y:23.20, Z:-1.39 [[ 9.98530702e-01 -5.31532336e-02 1.05437201e-02 2.31178421e+02] [ 5.31453785e-02 9.98586261e-01 1.02398698e-03 2.32011805e+01] [-1.05832422e-02 -4.62132447e-04 9.99943889e-01 -1.38608540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911400513 meters 0.04699586711689621 Centerline is valid? [True, True] Translation: X:231.21, Y:23.21, Z:-1.38 [[ 9.98549586e-01 -5.26170744e-02 1.14090939e-02 2.31205311e+02] [ 5.26078172e-02 9.98614633e-01 1.11019914e-03 2.32089244e+01] [-1.14517035e-02 -5.08381363e-04 9.99934298e-01 -1.38492871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941400513 meters 0.05502720310338771 Centerline is valid? [True, True] Translation: X:231.23, Y:23.22, Z:-1.38 [[ 9.98646690e-01 -5.05008470e-02 1.24278790e-02 2.31232439e+02] [ 5.04896891e-02 9.98723849e-01 1.21012962e-03 2.32196409e+01] [-1.24731317e-02 -5.81012195e-04 9.99922039e-01 -1.38362743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971400513 meters 0.05087496991463162 Centerline is valid? [True, True] Translation: X:231.26, Y:23.22, Z:-1.38 [[ 9.98726869e-01 -4.89451539e-02 1.22070953e-02 2.31262205e+02] [ 4.89342651e-02 9.98801293e-01 1.18927806e-03 2.32162914e+01] [-1.22506720e-02 -5.90418717e-04 9.99924783e-01 -1.38401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001400513 meters 0.046748558035670976 Centerline is valid? [True, True] Translation: X:231.29, Y:23.21, Z:-1.39 [[ 9.98829493e-01 -4.70120632e-02 1.13802054e-02 2.31292419e+02] [ 4.70024679e-02 9.98894157e-01 1.10929651e-03 2.32134326e+01] [-1.14197710e-02 -5.73100336e-04 9.99934628e-01 -1.38509192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031400513 meters 0.05879362241664859 Centerline is valid? [True, True] Translation: X:231.32, Y:23.23, Z:-1.39 [[ 9.98925336e-01 -4.51224165e-02 1.05896568e-02 2.31319658e+02] [ 4.51140000e-02 9.98981312e-01 1.03244694e-03 2.32315260e+01] [-1.06254557e-02 -5.53595633e-04 9.99943395e-01 -1.38735997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061400513 meters 0.05669025444971535 Centerline is valid? [True, True] Translation: X:231.35, Y:23.23, Z:-1.39 [[ 9.99013022e-01 -4.33608961e-02 9.63406048e-03 2.31349071e+02] [ 4.33538454e-02 9.99059338e-01 9.39589326e-04 2.32332842e+01] [-9.66573953e-03 -5.20988403e-04 9.99953150e-01 -1.38977346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091400513 meters 0.06124037898113954 Centerline is valid? [True, True] Translation: X:231.38, Y:23.24, Z:-1.39 [[ 9.99135097e-01 -4.03851630e-02 9.90436445e-03 2.31377139e+02] [ 4.03775610e-02 9.99184026e-01 9.66389860e-04 2.32440420e+01] [-9.93531056e-03 -5.65639947e-04 9.99950484e-01 -1.39059344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121400513 meters 0.05398861606936679 Centerline is valid? [True, True] Translation: X:231.41, Y:23.24, Z:-1.39 [[ 9.99157957e-01 -3.96385719e-02 1.05905822e-02 2.31406830e+02] [ 3.96298416e-02 9.99213895e-01 1.03301798e-03 2.32385496e+01] [-1.06232043e-02 -6.12445038e-04 9.99943385e-01 -1.38937514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15140051299997 meters 0.060147744763036436 Centerline is valid? [True, True] Translation: X:231.43, Y:23.25, Z:-1.39 [[ 9.99191368e-01 -3.88961660e-02 1.01832227e-02 2.31434812e+02] [ 3.88880362e-02 9.99243079e-01 9.95217866e-04 2.32495848e+01] [-1.02142250e-02 -5.98407568e-04 9.99947654e-01 -1.39001345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18140051299997 meters 0.06156758694781633 Centerline is valid? [True, True] Translation: X:231.46, Y:23.26, Z:-1.39 [[ 9.99238578e-01 -3.79508598e-02 9.05523570e-03 2.31463537e+02] [ 3.79443910e-02 9.99279460e-01 8.85162897e-04 2.32557069e+01] [-9.08230373e-03 -5.40893510e-04 9.99958609e-01 -1.39202885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21140051299997 meters 0.06320381474043844 Centerline is valid? [True, True] Translation: X:231.49, Y:23.26, Z:-1.39 [[ 9.99288541e-01 -3.67676851e-02 8.39931503e-03 2.31492261e+02] [ 3.67620774e-02 9.99323709e-01 8.21109633e-04 2.32640542e+01] [-8.42382495e-03 -5.11749179e-04 9.99964388e-01 -1.39426643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24140051299997 meters 0.05606586002819827 Centerline is valid? [True, True] Translation: X:231.52, Y:23.26, Z:-1.39 [[ 9.99274704e-01 -3.69538344e-02 9.19134311e-03 2.31522886e+02] [ 3.69471217e-02 9.99316818e-01 8.99119331e-04 2.32595292e+01] [-9.21828965e-03 -5.58873532e-04 9.99957354e-01 -1.39328887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27140051299997 meters 0.06250997518960824 Centerline is valid? [True, True] Translation: X:231.55, Y:23.27, Z:-1.39 [[ 9.99235490e-01 -3.78021512e-02 9.97159390e-03 2.31551073e+02] [ 3.77942896e-02 9.99285064e-01 9.75735578e-04 2.32709922e+01] [-1.00013498e-02 -5.98120311e-04 9.99949806e-01 -1.39281435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30140051299998 meters 0.06090003357421383 Centerline is valid? [True, True] Translation: X:231.58, Y:23.27, Z:-1.39 [[ 9.99095409e-01 -4.14501582e-02 9.49990799e-03 2.31581061e+02] [ 4.14431858e-02 9.99140430e-01 9.29714592e-04 2.32716127e+01] [-9.53027897e-03 -5.35167128e-04 9.99954443e-01 -1.39309809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33140051299998 meters 0.052408093666928696 Centerline is valid? [True, True] Translation: X:231.61, Y:23.26, Z:-1.39 [[ 9.98992072e-01 -4.39558065e-02 9.09548113e-03 2.31611535e+02] [ 4.39495191e-02 9.99033357e-01 8.90078556e-04 2.32636141e+01] [-9.12581316e-03 -4.89439399e-04 9.99958239e-01 -1.39330403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36140051299998 meters 0.05533034947713386 Centerline is valid? [True, True] Translation: X:231.64, Y:23.27, Z:-1.39 [[ 9.98887551e-01 -4.62741834e-02 9.07530038e-03 2.31639997e+02] [ 4.62680174e-02 9.98928667e-01 8.88314462e-04 2.32693175e+01] [-9.10668374e-03 -4.67430101e-04 9.99958424e-01 -1.39410919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39140051299998 meters 0.05291512679818658 Centerline is valid? [True, True] Translation: X:231.67, Y:23.27, Z:-1.39 [[ 9.98807815e-01 -4.79699288e-02 9.04626029e-03 2.31669792e+02] [ 4.79638697e-02 9.98848679e-01 8.85682767e-04 2.32680936e+01] [-9.07833128e-03 -4.50733219e-04 9.99958690e-01 -1.39439555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42140051299998 meters 0.05210488313749258 Centerline is valid? [True, True] Translation: X:231.70, Y:23.27, Z:-1.40 [[ 9.98718699e-01 -4.97977914e-02 9.00779390e-03 2.31699777e+02] [ 4.97918557e-02 9.98759227e-01 8.82157528e-04 2.32671912e+01] [-9.04054677e-03 -4.32512444e-04 9.99959040e-01 -1.39518013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45140051299998 meters 0.05048598986824698 Centerline is valid? [True, True] Translation: X:231.73, Y:23.27, Z:-1.40 [[ 9.98717475e-01 -4.98567308e-02 8.81540692e-03 2.31728914e+02] [ 4.98510523e-02 9.98756291e-01 8.62866209e-04 2.32675784e+01] [-8.84746280e-03 -4.22302250e-04 9.99960771e-01 -1.39569161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48140051299998 meters 0.05206423797274961 Centerline is valid? [True, True] Translation: X:231.76, Y:23.27, Z:-1.40 [[ 9.98755575e-01 -4.90924566e-02 8.78823618e-03 2.31757685e+02] [ 4.90867711e-02 9.98794146e-01 8.61609026e-04 2.32731635e+01] [-8.81993735e-03 -4.29150680e-04 9.99961012e-01 -1.39620492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51140051299998 meters 0.05153202461711342 Centerline is valid? [True, True] Translation: X:231.79, Y:23.27, Z:-1.40 [[ 9.98831519e-01 -4.74483362e-02 9.17885369e-03 2.31787208e+02] [ 4.74420474e-02 9.98873585e-01 9.01793284e-04 2.32728255e+01] [-9.21130308e-03 -4.65275944e-04 9.99957467e-01 -1.39594940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54140051299999 meters 0.0519123349421172 Centerline is valid? [True, True] Translation: X:231.82, Y:23.28, Z:-1.39 [[ 9.99018573e-01 -4.31731467e-02 9.89797381e-03 2.31816991e+02] [ 4.31656176e-02 9.99067456e-01 9.73148635e-04 2.32789090e+01] [-9.93075740e-03 -5.44941409e-04 9.99950540e-01 -1.39415503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571400513 meters 0.05905444648970193 Centerline is valid? [True, True] Translation: X:231.84, Y:23.29, Z:-1.39 [[ 9.99073836e-01 -4.17224488e-02 1.05217353e-02 2.31844868e+02] [ 4.17138606e-02 9.99129063e-01 1.03446424e-03 2.32890820e+01] [-1.05557320e-02 -5.94603959e-04 9.99944110e-01 -1.39335745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601400513 meters 0.06735031204108215 Centerline is valid? [True, True] Translation: X:231.87, Y:23.30, Z:-1.39 [[ 9.99086363e-01 -4.12337345e-02 1.12346828e-02 2.31872821e+02] [ 4.12239076e-02 9.99149322e-01 1.10497270e-03 2.33015614e+01] [-1.12706879e-02 -6.40825629e-04 9.99936278e-01 -1.39275929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631400513 meters 0.05303554234734314 Centerline is valid? [True, True] Translation: X:231.90, Y:23.29, Z:-1.39 [[ 9.98997604e-01 -4.31310204e-02 1.19792728e-02 2.31904639e+02] [ 4.31199765e-02 9.99069206e-01 1.17879584e-03 2.32870860e+01] [-1.20189653e-02 -6.61068254e-04 9.99927551e-01 -1.39251013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661400513 meters 0.05714824593545643 Centerline is valid? [True, True] Translation: X:231.93, Y:23.29, Z:-1.39 [[ 9.98948825e-01 -4.43237693e-02 1.16896382e-02 2.31933615e+02] [ 4.43133330e-02 9.99017019e-01 1.15041817e-03 2.32917539e+01] [-1.17291384e-02 -6.31202055e-04 9.99931012e-01 -1.39408917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691400513 meters 0.056027867579807676 Centerline is valid? [True, True] Translation: X:231.96, Y:23.29, Z:-1.39 [[ 9.98916692e-01 -4.51445189e-02 1.12877932e-02 2.31962133e+02] [ 4.51348374e-02 9.98980286e-01 1.11110994e-03 2.32934188e+01] [-1.13264434e-02 -6.00433560e-04 9.99935674e-01 -1.39473823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721400513 meters 0.050893447827051984 Centerline is valid? [True, True] Translation: X:231.99, Y:23.29, Z:-1.39 [[ 9.98921892e-01 -4.49279534e-02 1.16846870e-02 2.31991444e+02] [ 4.49175606e-02 9.98990035e-01 1.15048391e-03 2.32871477e+01] [-1.17245748e-02 -6.24395929e-04 9.99931070e-01 -1.39319367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751400513 meters 0.05504651911693017 Centerline is valid? [True, True] Translation: X:232.02, Y:23.29, Z:-1.39 [[ 9.98979088e-01 -4.35374112e-02 1.20530096e-02 2.32019238e+02] [ 4.35262266e-02 9.99051577e-01 1.18885096e-03 2.32946052e+01] [-1.20933377e-02 -6.63015221e-04 9.99926653e-01 -1.39262864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781400513 meters 0.057704440101086385 Centerline is valid? [True, True] Translation: X:232.05, Y:23.30, Z:-1.39 [[ 9.99080121e-01 -4.12497802e-02 1.17203683e-02 2.32048910e+02] [ 4.12390398e-02 9.99148639e-01 1.15668955e-03 2.33002781e+01] [-1.17581033e-02 -6.72288797e-04 9.99930645e-01 -1.39298396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811400513 meters 0.06255601473111809 Centerline is valid? [True, True] Translation: X:232.08, Y:23.31, Z:-1.39 [[ 9.99212259e-01 -3.81785645e-02 1.08286145e-02 2.32077561e+02] [ 3.81692144e-02 9.99270718e-01 1.06889420e-03 2.33085245e+01] [-1.08615263e-02 -6.54732476e-04 9.99940798e-01 -1.39494325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841400513 meters 0.07041359566191562 Centerline is valid? [True, True] Translation: X:232.11, Y:23.32, Z:-1.40 [[ 9.99512197e-01 -3.01642418e-02 8.09243477e-03 2.32106305e+02] [ 3.01587585e-02 9.99544802e-01 7.98795232e-04 2.33217727e+01] [-8.11284616e-03 -5.54347791e-04 9.99966937e-01 -1.40034025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871400513 meters 0.07370725445144309 Centerline is valid? [True, True] Translation: X:232.14, Y:23.33, Z:-1.40 [[ 9.99637358e-01 -2.59868374e-02 7.05953971e-03 2.32135933e+02] [ 2.59825610e-02 9.99662153e-01 6.96810662e-04 2.33301223e+01] [-7.07526257e-03 -5.13133048e-04 9.99974838e-01 -1.40260114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90140051299997 meters 0.07838581256841996 Centerline is valid? [True, True] Translation: X:232.16, Y:23.34, Z:-1.40 [[ 9.99726902e-01 -2.24946678e-02 6.33335648e-03 2.32164790e+02] [ 2.24911559e-02 9.99746846e-01 6.25187256e-04 2.33406981e+01] [-6.34581655e-03 -4.82572010e-04 9.99979749e-01 -1.40444002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93140051299997 meters 0.08804676305621657 Centerline is valid? [True, True] Translation: X:232.19, Y:23.36, Z:-1.41 [[ 9.99784366e-01 -1.97916836e-02 6.28580998e-03 2.32193010e+02] [ 1.97881704e-02 9.99804002e-01 6.20619852e-04 2.33575386e+01] [-6.29686109e-03 -4.96101346e-04 9.99980052e-01 -1.40560656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96140051299997 meters 0.08804676305621657 Centerline is valid? [True, True] Translation: X:232.22, Y:23.36, Z:-1.41 [[ 9.99784784e-01 -1.97705444e-02 6.28579906e-03 2.32223790e+02] [ 1.97670301e-02 9.99804420e-01 6.20730494e-04 2.33605374e+01] [-6.29684187e-03 -4.96345324e-04 9.99980052e-01 -1.40599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99140051299997 meters 0.09088904397270405 Centerline is valid? [True, True] Translation: X:232.25, Y:23.37, Z:-1.41 [[ 9.99819477e-01 -1.77739434e-02 6.71565654e-03 2.32254006e+02] [ 1.77698890e-02 9.99841883e-01 6.62918955e-04 2.33686757e+01] [-6.72637737e-03 -5.43462812e-04 9.99977230e-01 -1.40583816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02140051299997 meters 0.08943016833554653 Centerline is valid? [True, True] Translation: X:232.28, Y:23.37, Z:-1.41 [[ 9.99834770e-01 -1.67323443e-02 7.10357806e-03 2.32284601e+02] [ 1.67277814e-02 9.99859835e-01 7.01268632e-04 2.33712924e+01] [-7.11431625e-03 -5.82325661e-04 9.99974523e-01 -1.40572725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05140051299998 meters 0.0898635833525062 Centerline is valid? [True, True] Translation: X:232.32, Y:23.38, Z:-1.41 [[ 9.99818955e-01 -1.78423177e-02 6.61126364e-03 2.32315115e+02] [ 1.78383903e-02 9.99840670e-01 6.52549484e-04 2.33761574e+01] [-6.62185326e-03 -5.34497042e-04 9.99977932e-01 -1.40752932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08140051299998 meters 0.0799761835564939 Centerline is valid? [True, True] Translation: X:232.35, Y:23.37, Z:-1.41 [[ 9.99784024e-01 -1.97085771e-02 6.59367442e-03 2.32347384e+02] [ 1.97047121e-02 9.99805632e-01 6.50628307e-04 2.33678637e+01] [-6.60521578e-03 -5.20561331e-04 9.99978050e-01 -1.40761845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11140051299998 meters 0.08079471681261671 Centerline is valid? [True, True] Translation: X:232.38, Y:23.37, Z:-1.41 [[ 9.99730450e-01 -2.19849155e-02 7.46268015e-03 2.32378442e+02] [ 2.19800290e-02 9.99758139e-01 7.36183263e-04 2.33686303e+01] [-7.47706015e-03 -5.71954898e-04 9.99971883e-01 -1.40758431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14140051299998 meters 0.07756187412269638 Centerline is valid? [True, True] Translation: X:232.41, Y:23.37, Z:-1.41 [[ 9.99666413e-01 -2.42593920e-02 8.86250799e-03 2.32408126e+02] [ 2.42525896e-02 9.99705480e-01 8.74227015e-04 2.33720126e+01] [-8.88110602e-03 -6.58996614e-04 9.99960345e-01 -1.40504218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17140051299998 meters 0.07118212334863636 Centerline is valid? [True, True] Translation: X:232.44, Y:23.37, Z:-1.40 [[ 9.99535568e-01 -2.87091103e-02 1.02193682e-02 2.32439008e+02] [ 2.87002954e-02 9.99587553e-01 1.00820196e-03 2.33664684e+01] [-1.02440978e-02 -7.14434837e-04 9.99947273e-01 -1.40255753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20140051299998 meters 0.07223605078435093 Centerline is valid? [True, True] Translation: X:232.47, Y:23.37, Z:-1.40 [[ 9.99489284e-01 -3.04120011e-02 9.81233251e-03 2.32468685e+02] [ 3.04039554e-02 9.99537224e-01 9.68129643e-04 2.33710162e+01] [-9.83723435e-03 -6.69301484e-04 9.99951389e-01 -1.40376291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23140051299998 meters 0.0697012784312072 Centerline is valid? [True, True] Translation: X:232.50, Y:23.37, Z:-1.41 [[ 9.99423882e-01 -3.26826128e-02 9.15155723e-03 2.32499773e+02] [ 3.26757087e-02 9.99465599e-01 9.02964776e-04 2.33715144e+01] [-9.17617788e-03 -6.03410944e-04 9.99957716e-01 -1.40549954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26140051299998 meters 0.06650690677303937 Centerline is valid? [True, True] Translation: X:232.53, Y:23.37, Z:-1.40 [[ 9.99388536e-01 -3.36061489e-02 9.65299334e-03 2.32530652e+02] [ 3.35985115e-02 9.99434957e-01 9.52321162e-04 2.33702316e+01] [-9.67954283e-03 -6.27412644e-04 9.99952955e-01 -1.40470730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29140051299999 meters 0.06761856698948013 Centerline is valid? [True, True] Translation: X:232.56, Y:23.37, Z:-1.40 [[ 9.99359641e-01 -3.42213617e-02 1.04501713e-02 2.32560626e+02] [ 3.42124440e-02 9.99414051e-01 1.03099011e-03 2.33738280e+01] [-1.04793299e-02 -6.72804001e-04 9.99944864e-01 -1.40348836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321400513 meters 0.06529916659163085 Centerline is valid? [True, True] Translation: X:232.59, Y:23.37, Z:-1.40 [[ 9.99323595e-01 -3.49978111e-02 1.12918644e-02 2.32591226e+02] [ 3.49874500e-02 9.99387131e-01 1.11387818e-03 2.33740096e+01] [-1.13239273e-02 -7.18051208e-04 9.99935624e-01 -1.40250006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351400513 meters 0.06662929149535039 Centerline is valid? [True, True] Translation: X:232.62, Y:23.38, Z:-1.40 [[ 9.99278018e-01 -3.61075028e-02 1.18190958e-02 2.32621172e+02] [ 3.60962287e-02 9.99347639e-01 1.16589417e-03 2.33793904e+01] [-1.18534830e-02 -7.38427630e-04 9.99929472e-01 -1.40239635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381400513 meters 0.0627642920877644 Centerline is valid? [True, True] Translation: X:232.65, Y:23.38, Z:-1.40 [[ 9.99187177e-01 -3.86267961e-02 1.15306609e-02 2.32651978e+02] [ 3.86162342e-02 9.99253468e-01 1.13731042e-03 2.33786710e+01] [-1.15659835e-02 -6.91115283e-04 9.99932873e-01 -1.40348468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411400513 meters 0.060493178050651374 Centerline is valid? [True, True] Translation: X:232.68, Y:23.38, Z:-1.40 [[ 9.99158378e-01 -3.93352873e-02 1.16306360e-02 2.32683004e+02] [ 3.93245902e-02 9.99225831e-01 1.14708789e-03 2.33784532e+01] [-1.16667529e-02 -6.88752479e-04 9.99931704e-01 -1.40328822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441400513 meters 0.06409674565222863 Centerline is valid? [True, True] Translation: X:232.71, Y:23.38, Z:-1.40 [[ 9.99143066e-01 -3.95624890e-02 1.21632115e-02 2.32713535e+02] [ 3.95508066e-02 9.99216841e-01 1.19961764e-03 2.33826189e+01] [-1.22011456e-02 -7.17524818e-04 9.99925306e-01 -1.40271785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471400513 meters 0.060550403112541534 Centerline is valid? [True, True] Translation: X:232.74, Y:23.38, Z:-1.40 [[ 9.99183924e-01 -3.82144721e-02 1.30820391e-02 2.32743500e+02] [ 3.82008446e-02 9.99269249e-01 1.29009358e-03 2.33828669e+01] [-1.31217797e-02 -7.89295825e-04 9.99913594e-01 -1.40103216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501400513 meters 0.06458177191067774 Centerline is valid? [True, True] Translation: X:232.77, Y:23.39, Z:-1.40 [[ 9.99241195e-01 -3.68765030e-02 1.25362662e-02 2.32772983e+02] [ 3.68638823e-02 9.99319531e-01 1.23640792e-03 2.33910566e+01] [-1.25733301e-02 -7.73334287e-04 9.99920654e-01 -1.40245799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531400513 meters 0.06357571879895386 Centerline is valid? [True, True] Translation: X:232.80, Y:23.39, Z:-1.41 [[ 9.99325493e-01 -3.50608678e-02 1.09222019e-02 2.32803905e+02] [ 3.50511825e-02 9.99384938e-01 1.07697690e-03 2.33933270e+01] [-1.09532438e-02 -6.93414381e-04 9.99939771e-01 -1.40528374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561400513 meters 0.07710824449259021 Centerline is valid? [True, True] Translation: X:232.83, Y:23.41, Z:-1.41 [[ 9.99497468e-01 -3.04557751e-02 8.78961896e-03 2.32831557e+02] [ 3.04493269e-02 9.99535936e-01 8.66536068e-04 2.34145913e+01] [-8.81193104e-03 -5.98462625e-04 9.99960995e-01 -1.40925215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591400513 meters 0.07265579122024522 Centerline is valid? [True, True] Translation: X:232.86, Y:23.41, Z:-1.41 [[ 9.99569902e-01 -2.78084911e-02 9.31126913e-03 2.32862563e+02] [ 2.78011390e-02 9.99613052e-01 9.18124793e-04 2.34134864e+01] [-9.33319782e-03 -6.58866021e-04 9.99956228e-01 -1.40815149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621400513 meters 0.08144833332845944 Centerline is valid? [True, True] Translation: X:232.89, Y:23.43, Z:-1.41 [[ 9.99630429e-01 -2.52049831e-02 1.01840334e-02 2.32890579e+02] [ 2.51960540e-02 9.99682025e-01 1.00414808e-03 2.34284012e+01] [-1.02061047e-02 -7.47179524e-04 9.99947637e-01 -1.40697579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65140051299997 meters 0.08043305989419398 Centerline is valid? [True, True] Translation: X:232.92, Y:23.43, Z:-1.41 [[ 9.99681515e-01 -2.27306015e-02 1.09630650e-02 2.32921250e+02] [ 2.27201047e-02 9.99741281e-01 1.08108663e-03 2.34310462e+01] [-1.09848024e-02 -8.31660332e-04 9.99939319e-01 -1.40581250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68140051299997 meters 0.09258002939802867 Centerline is valid? [True, True] Translation: X:232.95, Y:23.45, Z:-1.41 [[ 9.99772309e-01 -1.90083641e-02 9.69595012e-03 2.32949265e+02] [ 1.89999798e-02 9.99819027e-01 9.56112236e-04 2.34506410e+01] [-9.71236955e-03 -7.71671682e-04 9.99952536e-01 -1.40811418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71140051299997 meters 0.0925151392923428 Centerline is valid? [True, True] Translation: X:232.98, Y:23.46, Z:-1.41 [[ 9.99806567e-01 -1.77516634e-02 8.46804617e-03 2.32979652e+02] [ 1.77452231e-02 9.99842192e-01 8.35085788e-04 2.34558634e+01] [-8.48153401e-03 -6.84656886e-04 9.99963797e-01 -1.41049822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74140051299997 meters 0.08767622483597683 Centerline is valid? [True, True] Translation: X:233.01, Y:23.46, Z:-1.41 [[ 9.99826047e-01 -1.68935742e-02 7.90457668e-03 2.33011151e+02] [ 1.68879360e-02 9.99857085e-01 7.79495061e-04 2.34562290e+01] [-7.91661545e-03 -6.45867481e-04 9.99968455e-01 -1.41246481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77140051299997 meters 0.08561117792027323 Centerline is valid? [True, True] Translation: X:233.04, Y:23.46, Z:-1.41 [[ 9.99816297e-01 -1.69821377e-02 8.88707569e-03 2.33043496e+02] [ 1.69750155e-02 9.99855530e-01 8.76235089e-04 2.34601093e+01] [-8.90067212e-03 -7.25215875e-04 9.99960125e-01 -1.41224125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80140051299998 meters 0.08586114246257487 Centerline is valid? [True, True] Translation: X:233.07, Y:23.46, Z:-1.41 [[ 9.99781849e-01 -1.84608374e-02 9.76996366e-03 2.33072926e+02] [ 1.84523058e-02 9.99829278e-01 9.62679604e-04 2.34634406e+01] [-9.78606759e-03 -7.82191237e-04 9.99951809e-01 -1.41121314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83140051299998 meters 0.0813563482592792 Centerline is valid? [True, True] Translation: X:233.10, Y:23.46, Z:-1.41 [[ 9.99740327e-01 -2.04873687e-02 9.97730994e-03 2.33103425e+02] [ 2.04785716e-02 9.99789809e-01 9.83090566e-04 2.34610148e+01] [-9.99535374e-03 -7.78514228e-04 9.99949742e-01 -1.41055216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86140051299998 meters 0.0766469608108948 Centerline is valid? [True, True] Translation: X:233.13, Y:23.46, Z:-1.41 [[ 9.99688813e-01 -2.29735775e-02 9.72067613e-03 2.33134352e+02] [ 2.29653430e-02 9.99735803e-01 9.57900978e-04 2.34584140e+01] [-9.74011437e-03 -7.34364231e-04 9.99952294e-01 -1.41101479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89140051299998 meters 0.07500820203072246 Centerline is valid? [True, True] Translation: X:233.16, Y:23.46, Z:-1.41 [[ 9.99595676e-01 -2.71637004e-02 8.40339764e-03 2.33164701e+02] [ 2.71576934e-02 9.99630819e-01 8.28137762e-04 2.34580516e+01] [-8.42279054e-03 -5.99586030e-04 9.99964348e-01 -1.41369864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92140051299998 meters 0.07080755269759363 Centerline is valid? [True, True] Translation: X:233.20, Y:23.45, Z:-1.41 [[ 9.99559560e-01 -2.85269042e-02 8.17929028e-03 2.33195845e+02] [ 2.85212595e-02 9.99592861e-01 8.05952340e-04 2.34547065e+01] [-8.19895150e-03 -5.72313706e-04 9.99966224e-01 -1.41463683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95140051299998 meters 0.07897288301443856 Centerline is valid? [True, True] Translation: X:233.22, Y:23.47, Z:-1.42 [[ 9.99546904e-01 -2.90261676e-02 7.96667089e-03 2.33224858e+02] [ 2.90208291e-02 9.99578499e-01 7.84914800e-04 2.34662416e+01] [-7.98609600e-03 -5.53359764e-04 9.99967958e-01 -1.41599535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98140051299998 meters 0.07304207278712894 Centerline is valid? [True, True] Translation: X:233.26, Y:23.46, Z:-1.42 [[ 9.99541102e-01 -2.91845476e-02 8.11466252e-03 2.33255617e+02] [ 2.91790153e-02 9.99573882e-01 7.99352523e-04 2.34612400e+01] [-8.13453346e-03 -5.62207840e-04 9.99966756e-01 -1.41595871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01140051299998 meters 0.08280783445762618 Centerline is valid? [True, True] Translation: X:233.28, Y:23.47, Z:-1.42 [[ 9.99536439e-01 -2.92100824e-02 8.58360636e-03 2.33284730e+02] [ 2.92038927e-02 9.99573118e-01 8.45590031e-04 2.34741896e+01] [-8.60464193e-03 -5.94523329e-04 9.99962803e-01 -1.41615803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04140051299999 meters 0.07030042203020329 Centerline is valid? [True, True] Translation: X:233.32, Y:23.46, Z:-1.41 [[ 9.99529068e-01 -2.93077491e-02 9.09379313e-03 2.33317697e+02] [ 2.93008064e-02 9.99570238e-01 8.95780003e-04 2.34606886e+01] [-9.11613825e-03 -6.28902681e-04 9.99958249e-01 -1.41412503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071400513 meters 0.0654097972672113 Centerline is valid? [True, True] Translation: X:233.35, Y:23.46, Z:-1.41 [[ 9.99524048e-01 -2.93868123e-02 9.38582071e-03 2.33349339e+02] [ 2.93794220e-02 9.99567904e-01 9.24328100e-04 2.34564304e+01] [-9.40892819e-03 -6.48138176e-04 9.99955525e-01 -1.41330291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101400513 meters 0.07034828088069353 Centerline is valid? [True, True] Translation: X:233.38, Y:23.46, Z:-1.42 [[ 9.99532692e-01 -2.93931629e-02 8.39281365e-03 2.33379562e+02] [ 2.93872557e-02 9.99567760e-01 8.26323754e-04 2.34634433e+01] [-8.41347420e-03 -5.79295846e-04 9.99964438e-01 -1.41623980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131400513 meters 0.06816679280599988 Centerline is valid? [True, True] Translation: X:233.41, Y:23.46, Z:-1.42 [[ 9.99543862e-01 -2.90530310e-02 8.24551963e-03 2.33410506e+02] [ 2.90473190e-02 9.99577708e-01 8.11680009e-04 2.34625075e+01] [-8.26561938e-03 -5.71799532e-04 9.99965676e-01 -1.41761672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161400513 meters 0.06855424124570358 Centerline is valid? [True, True] Translation: X:233.44, Y:23.46, Z:-1.42 [[ 9.99550424e-01 -2.86785487e-02 8.74584931e-03 2.33440587e+02] [ 2.86721082e-02 9.99588500e-01 8.60931919e-04 2.34643087e+01] [-8.76694067e-03 -6.09782928e-04 9.99961384e-01 -1.41775827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191400513 meters 0.07309688499962444 Centerline is valid? [True, True] Translation: X:233.47, Y:23.47, Z:-1.42 [[ 9.99559343e-01 -2.82519026e-02 9.10772936e-03 2.33469978e+02] [ 2.82449000e-02 9.99600631e-01 8.96593370e-04 2.34715035e+01] [-9.12942249e-03 -6.38951374e-04 9.99958122e-01 -1.41742230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221400513 meters 0.07279369465863489 Centerline is valid? [True, True] Translation: X:233.50, Y:23.47, Z:-1.42 [[ 9.99594813e-01 -2.72457033e-02 8.23904847e-03 2.33500989e+02] [ 2.72399391e-02 9.99628595e-01 8.11044942e-04 2.34748216e+01] [-8.25808594e-03 -5.86285138e-04 9.99965730e-01 -1.41804498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251400513 meters 0.06965921819575543 Centerline is valid? [True, True] Translation: X:233.53, Y:23.48, Z:-1.42 [[ 9.99625119e-01 -2.64530327e-02 7.06105684e-03 2.33532386e+02] [ 2.64487802e-02 9.99649928e-01 6.94968943e-04 2.34750121e+01] [-7.07696900e-03 -5.07952072e-04 9.99974829e-01 -1.41995814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281400513 meters 0.07582492758048584 Centerline is valid? [True, True] Translation: X:233.56, Y:23.49, Z:-1.42 [[ 9.99656922e-01 -2.54466387e-02 6.20535997e-03 2.33561113e+02] [ 2.54433348e-02 9.99676079e-01 6.10799468e-04 2.34856934e+01] [-6.21889272e-03 -4.52704865e-04 9.99980560e-01 -1.42245672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311400513 meters 0.07581775899183513 Centerline is valid? [True, True] Translation: X:233.59, Y:23.49, Z:-1.42 [[ 9.99681882e-01 -2.42381634e-02 6.97468100e-03 2.33591571e+02] [ 2.42339650e-02 9.99706079e-01 6.85850530e-04 2.34893497e+01] [-6.98925476e-03 -5.16608173e-04 9.99975441e-01 -1.42185820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341400513 meters 0.07550615422793285 Centerline is valid? [True, True] Translation: X:233.62, Y:23.49, Z:-1.42 [[ 9.99666280e-01 -2.42847608e-02 8.80788938e-03 2.33622034e+02] [ 2.42780670e-02 9.99704869e-01 8.66117833e-04 2.34931058e+01] [-8.82632337e-03 -6.51990263e-04 9.99960835e-01 -1.41945171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371400513 meters 0.07445248077890787 Centerline is valid? [True, True] Translation: X:233.65, Y:23.50, Z:-1.42 [[ 9.99628197e-01 -2.51870215e-02 1.04441837e-02 2.33653610e+02] [ 2.51776577e-02 9.99682465e-01 1.02709406e-03 2.34963248e+01] [-1.04667367e-02 -7.63752097e-04 9.99944931e-01 -1.41686038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40140051299997 meters 0.07193560310501804 Centerline is valid? [True, True] Translation: X:233.68, Y:23.50, Z:-1.42 [[ 9.99580071e-01 -2.69794972e-02 1.05729798e-02 2.33684461e+02] [ 2.69700053e-02 9.99635703e-01 1.03933548e-03 2.34970718e+01] [-1.05971689e-02 -7.53745708e-04 9.99943564e-01 -1.41625046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43140051299997 meters 0.07472595266736284 Centerline is valid? [True, True] Translation: X:233.71, Y:23.51, Z:-1.42 [[ 9.99435962e-01 -3.24160737e-02 8.77248243e-03 2.33713206e+02] [ 3.24097493e-02 9.99474294e-01 8.62186046e-04 2.35060522e+01] [-8.79581937e-03 -5.77385784e-04 9.99961149e-01 -1.41975091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46140051299997 meters 0.07094092246861336 Centerline is valid? [True, True] Translation: X:233.74, Y:23.51, Z:-1.42 [[ 9.99327191e-01 -3.57131690e-02 8.35071936e-03 2.33743387e+02] [ 3.57075516e-02 9.99361945e-01 8.20862160e-04 2.35064449e+01] [-8.37470673e-03 -5.22126134e-04 9.99964795e-01 -1.42117431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49140051299997 meters 0.055072233141929876 Centerline is valid? [True, True] Translation: X:233.78, Y:23.49, Z:-1.42 [[ 9.99211073e-01 -3.87156039e-02 8.85061196e-03 2.33775820e+02] [ 3.87094110e-02 9.99250131e-01 8.70009325e-04 2.34915468e+01] [-8.87765810e-03 -5.26720975e-04 9.99960454e-01 -1.42017366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52140051299997 meters 0.059604650323028294 Centerline is valid? [True, True] Translation: X:233.80, Y:23.50, Z:-1.42 [[ 9.99128660e-01 -4.06243020e-02 9.57006823e-03 2.33803873e+02] [ 4.06171490e-02 9.99174340e-01 9.40690049e-04 2.35001227e+01] [-9.60038149e-03 -5.51161502e-04 9.99953763e-01 -1.41964363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55140051299998 meters 0.05770555417231691 Centerline is valid? [True, True] Translation: X:233.83, Y:23.50, Z:-1.42 [[ 9.99089548e-01 -4.15593440e-02 9.63825355e-03 2.33833487e+02] [ 4.15521298e-02 9.99135888e-01 9.47623423e-04 2.35001869e+01] [-9.66930762e-03 -5.46270695e-04 9.99953102e-01 -1.41904661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58140051299998 meters 0.0597630013407119 Centerline is valid? [True, True] Translation: X:233.86, Y:23.51, Z:-1.42 [[ 9.99116883e-01 -4.12045438e-02 8.22434059e-03 2.33861995e+02] [ 4.11992782e-02 9.99150622e-01 8.08707850e-04 2.35058095e+01] [-8.25067746e-03 -4.69156770e-04 9.99965853e-01 -1.42041197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61140051299998 meters 0.06256876852234894 Centerline is valid? [True, True] Translation: X:233.89, Y:23.51, Z:-1.42 [[ 9.99156787e-01 -4.02617766e-02 8.04387447e-03 2.33889823e+02] [ 4.02567070e-02 9.99189057e-01 7.91231210e-04 2.35140551e+01] [-8.06920772e-03 -4.66744136e-04 9.99967334e-01 -1.42134396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64140051299998 meters 0.06254096058679098 Centerline is valid? [True, True] Translation: X:233.92, Y:23.52, Z:-1.42 [[ 9.99190348e-01 -3.92272226e-02 8.93724645e-03 2.33918719e+02] [ 3.92209200e-02 9.99230177e-01 8.79454409e-04 2.35198888e+01] [-8.96486491e-03 -5.28215328e-04 9.99959675e-01 -1.42058318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67140051299998 meters 0.0619043173509372 Centerline is valid? [True, True] Translation: X:233.95, Y:23.52, Z:-1.42 [[ 9.99223978e-01 -3.80406350e-02 1.02153023e-02 2.33948030e+02] [ 3.80323350e-02 9.99276003e-01 1.00562090e-03 2.35207990e+01] [-1.02461609e-02 -6.16328720e-04 9.99947317e-01 -1.41963191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70140051299998 meters 0.06246141083594436 Centerline is valid? [True, True] Translation: X:233.98, Y:23.53, Z:-1.42 [[ 9.99292211e-01 -3.62430347e-02 1.00757042e-02 2.33976667e+02] [ 3.62348645e-02 9.99342809e-01 9.92310544e-04 2.35324375e+01] [-1.01050469e-02 -6.26516420e-04 9.99948746e-01 -1.42030562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73140051299998 meters 0.05915285493333566 Centerline is valid? [True, True] Translation: X:234.01, Y:23.53, Z:-1.42 [[ 9.99319154e-01 -3.58221743e-02 8.83180154e-03 2.34008003e+02] [ 3.58158798e-02 9.99358027e-01 8.69890141e-04 2.35335067e+01] [-8.85729312e-03 -5.52979138e-04 9.99960621e-01 -1.42201588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76140051299998 meters 0.06481739362870932 Centerline is valid? [True, True] Translation: X:234.04, Y:23.55, Z:-1.42 [[ 9.99326976e-01 -3.58047749e-02 7.97579085e-03 2.34037123e+02] [ 3.57996417e-02 9.99358679e-01 7.85486364e-04 2.35454730e+01] [-7.99879996e-03 -4.99427258e-04 9.99967884e-01 -1.42422712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79140051299999 meters 0.06433938917307004 Centerline is valid? [True, True] Translation: X:234.07, Y:23.55, Z:-1.42 [[ 9.99306145e-01 -3.64606393e-02 7.60592504e-03 2.34066523e+02] [ 3.64559944e-02 9.99334979e-01 7.48490961e-04 2.35499327e+01] [-7.62815740e-03 -4.70690056e-04 9.99970794e-01 -1.42446048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821400513 meters 0.063467306810826 Centerline is valid? [True, True] Translation: X:234.10, Y:23.55, Z:-1.42 [[ 9.99193872e-01 -3.92628803e-02 8.36855553e-03 2.34095612e+02] [ 3.92573530e-02 9.99228793e-01 8.23796236e-04 2.35548128e+01] [-8.39444626e-03 -4.94604813e-04 9.99964644e-01 -1.42258754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851400513 meters 0.063467306810826 Centerline is valid? [True, True] Translation: X:234.12, Y:23.56, Z:-1.42 [[ 9.99193000e-01 -3.92850641e-02 8.36854796e-03 2.34124684e+02] [ 3.92795369e-02 9.99227922e-01 8.23873169e-04 2.35577155e+01] [-8.39445269e-03 -4.94495615e-04 9.99964644e-01 -1.42295435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881400513 meters 0.060813346925376814 Centerline is valid? [True, True] Translation: X:234.15, Y:23.56, Z:-1.42 [[ 9.99126813e-01 -4.06936923e-02 9.46760475e-03 2.34154989e+02] [ 4.06866783e-02 9.99171519e-01 9.32356565e-04 2.35580578e+01] [-9.49770205e-03 -5.46337054e-04 9.99954747e-01 -1.42126315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911400513 meters 0.05856177739737061 Centerline is valid? [True, True] Translation: X:234.18, Y:23.56, Z:-1.42 [[ 9.99057872e-01 -4.20257903e-02 1.08259396e-02 2.34184749e+02] [ 4.20166958e-02 9.99116340e-01 1.06624718e-03 2.35589330e+01] [-1.08611830e-02 -6.10372432e-04 9.99940829e-01 -1.42008187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941400513 meters 0.05373751345858798 Centerline is valid? [True, True] Translation: X:234.22, Y:23.56, Z:-1.42 [[ 9.99012595e-01 -4.29158236e-02 1.14920266e-02 2.34215658e+02] [ 4.29056307e-02 9.99078488e-01 1.13215242e-03 2.35566627e+01] [-1.15300238e-02 -6.37961874e-04 9.99933324e-01 -1.42014394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971400513 meters 0.052529370592484706 Centerline is valid? [True, True] Translation: X:234.25, Y:23.56, Z:-1.42 [[ 9.98984216e-01 -4.39139963e-02 1.01043039e-02 2.34245778e+02] [ 4.39061674e-02 9.99035163e-01 9.95439051e-04 2.35589745e+01] [-1.01382686e-02 -5.50786642e-04 9.99948455e-01 -1.42314236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001400513 meters 0.05573095543396602 Centerline is valid? [True, True] Translation: X:234.28, Y:23.57, Z:-1.43 [[ 9.99007840e-01 -4.36776991e-02 8.69451477e-03 2.34275181e+02] [ 4.36718940e-02 9.99045561e-01 8.56506960e-04 2.35655578e+01] [-8.72362664e-03 -4.75951240e-04 9.99961835e-01 -1.42572601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031400513 meters 0.06359132242748863 Centerline is valid? [True, True] Translation: X:234.30, Y:23.58, Z:-1.43 [[ 9.99041328e-01 -4.30741484e-02 7.81293123e-03 2.34303101e+02] [ 4.30694422e-02 9.99071785e-01 7.69686122e-04 2.35770781e+01] [-7.83883272e-03 -4.32449656e-04 9.99969182e-01 -1.42713583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061400513 meters 0.058715031041525444 Centerline is valid? [True, True] Translation: X:234.33, Y:23.57, Z:-1.43 [[ 9.99057606e-01 -4.25497202e-02 8.56858867e-03 2.34332813e+02] [ 4.25440431e-02 9.99094236e-01 8.43816391e-04 2.35740920e+01] [-8.59673170e-03 -4.78478778e-04 9.99962933e-01 -1.42552967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091400513 meters 0.059157710491473905 Centerline is valid? [True, True] Translation: X:234.36, Y:23.58, Z:-1.43 [[ 9.99090458e-01 -4.16538435e-02 9.12212519e-03 2.34361741e+02] [ 4.16473536e-02 9.99131967e-01 9.00337334e-04 2.35773958e+01] [-9.15170940e-03 -5.19606066e-04 9.99957987e-01 -1.42570895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121400513 meters 0.059078438043987755 Centerline is valid? [True, True] Translation: X:234.39, Y:23.58, Z:-1.43 [[ 9.99117265e-01 -4.10220546e-02 9.04880735e-03 2.34391048e+02] [ 4.10156396e-02 9.99158105e-01 8.93447729e-04 2.35791234e+01] [-9.07784027e-03 -5.21516431e-04 9.99958660e-01 -1.42628863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15140051299997 meters 0.06101679387457548 Centerline is valid? [True, True] Translation: X:234.42, Y:23.58, Z:-1.43 [[ 9.99087475e-01 -4.16666240e-02 9.38666241e-03 2.34419434e+02] [ 4.16597475e-02 9.99131426e-01 9.26998152e-04 2.35808042e+01] [-9.41713429e-03 -5.35106256e-04 9.99955515e-01 -1.42743715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18140051299997 meters 0.06625219214950306 Centerline is valid? [True, True] Translation: X:234.45, Y:23.59, Z:-1.43 [[ 9.99053521e-01 -4.24791327e-02 9.35872317e-03 2.34448085e+02] [ 4.24723290e-02 9.99097216e-01 9.24629819e-04 2.35880141e+01] [-9.38955174e-03 -5.26267906e-04 9.99955779e-01 -1.42852647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21140051299997 meters 0.05807767116050685 Centerline is valid? [True, True] Translation: X:234.48, Y:23.58, Z:-1.43 [[ 9.99029987e-01 -4.30440785e-02 9.28934371e-03 2.34478481e+02] [ 4.30374028e-02 9.99073041e-01 9.17437461e-04 2.35785871e+01] [-9.32022312e-03 -5.16758307e-04 9.99956432e-01 -1.42856496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24140051299997 meters 0.057832071768391224 Centerline is valid? [True, True] Translation: X:234.51, Y:23.58, Z:-1.43 [[ 9.99024262e-01 -4.33168958e-02 8.61226493e-03 2.34507899e+02] [ 4.33111584e-02 9.99061268e-01 8.51672648e-04 2.35782145e+01] [-8.64107214e-03 -4.77834468e-04 9.99962551e-01 -1.42952948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27140051299997 meters 0.0534759069447573 Centerline is valid? [True, True] Translation: X:234.54, Y:23.57, Z:-1.43 [[ 9.99022578e-01 -4.34979816e-02 7.86223244e-03 2.34537684e+02] [ 4.34931973e-02 9.99053420e-01 7.78558843e-04 2.35699428e+01] [-7.88865595e-03 -4.35844236e-04 9.99968789e-01 -1.43009744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30140051299998 meters 0.05772520734016833 Centerline is valid? [True, True] Translation: X:234.57, Y:23.58, Z:-1.43 [[ 9.99043508e-01 -4.30836572e-02 7.47440343e-03 2.34565087e+02] [ 4.30793092e-02 9.99071380e-01 7.41812376e-04 2.35751555e+01] [-7.49942254e-03 -4.19110702e-04 9.99971791e-01 -1.43131413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33140051299998 meters 0.05992877942476225 Centerline is valid? [True, True] Translation: X:234.59, Y:23.58, Z:-1.43 [[ 9.99062123e-01 -4.27359845e-02 6.96495075e-03 2.34592946e+02] [ 4.27322021e-02 9.99086323e-01 6.91052678e-04 2.35779740e+01] [-6.98811985e-03 -3.92776872e-04 9.99975506e-01 -1.43275100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36140051299998 meters 0.060004894223425274 Centerline is valid? [True, True] Translation: X:234.62, Y:23.58, Z:-1.43 [[ 9.99086845e-01 -4.22189279e-02 6.56037331e-03 2.34621531e+02] [ 4.22155510e-02 9.99108313e-01 6.52442053e-04 2.35779341e+01] [-6.58206892e-03 -3.74896498e-04 9.99978268e-01 -1.43360446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39140051299998 meters 0.06093017163446343 Centerline is valid? [True, True] Translation: X:234.65, Y:23.57, Z:-1.43 [[ 9.99151271e-01 -4.06859245e-02 6.43371259e-03 2.34651961e+02] [ 4.06826414e-02 9.99171913e-01 6.40402701e-04 2.35743375e+01] [-6.45444029e-03 -3.78118751e-04 9.99979098e-01 -1.43374699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42140051299998 meters 0.06751735380870776 Centerline is valid? [True, True] Translation: X:234.68, Y:23.58, Z:-1.43 [[ 9.99197010e-01 -3.94807430e-02 6.82685437e-03 2.34679501e+02] [ 3.94770181e-02 9.99220248e-01 6.79567777e-04 2.35812638e+01] [-6.84836095e-03 -4.09518238e-04 9.99976466e-01 -1.43426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45140051299998 meters 0.06477576430048618 Centerline is valid? [True, True] Translation: X:234.71, Y:23.57, Z:-1.43 [[ 9.99337483e-01 -3.57850640e-02 6.63508381e-03 2.34710761e+02] [ 3.57814609e-02 9.99359420e-01 6.60989118e-04 2.35724011e+01] [-6.65448705e-03 -4.23138209e-04 9.99977769e-01 -1.43345417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48140051299998 meters 0.07182093646171171 Centerline is valid? [True, True] Translation: X:234.74, Y:23.58, Z:-1.43 [[ 9.99416067e-01 -3.35364648e-02 6.54452256e-03 2.34739545e+02] [ 3.35329114e-02 9.99437401e-01 6.51965379e-04 2.35806454e+01] [-6.56270523e-03 -4.32127779e-04 9.99978372e-01 -1.43413483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51140051299998 meters 0.07385066560882102 Centerline is valid? [True, True] Translation: X:234.77, Y:23.58, Z:-1.43 [[ 9.99494782e-01 -3.10208407e-02 6.92020063e-03 2.34769614e+02] [ 3.10168056e-02 9.99518625e-01 6.89675154e-04 2.35839221e+01] [-6.93826372e-03 -4.74684200e-04 9.99975817e-01 -1.43378109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54140051299999 meters 0.07122320291017106 Centerline is valid? [True, True] Translation: X:234.80, Y:23.58, Z:-1.43 [[ 9.99561717e-01 -2.86165695e-02 7.58056116e-03 2.34800564e+02] [ 2.86116587e-02 9.99590317e-01 7.55496765e-04 2.35823929e+01] [-7.59907526e-03 -5.38273216e-04 9.99970982e-01 -1.43312065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571400513 meters 0.07832561630504224 Centerline is valid? [True, True] Translation: X:234.83, Y:23.59, Z:-1.43 [[ 9.99664509e-01 -2.41692839e-02 9.31211475e-03 2.34828722e+02] [ 2.41616814e-02 9.99707633e-01 9.28066956e-04 2.35914079e+01] [-9.33182291e-03 -7.02759248e-04 9.99956211e-01 -1.43167450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601400513 meters 0.08402365131846642 Centerline is valid? [True, True] Translation: X:234.86, Y:23.60, Z:-1.43 [[ 9.99695944e-01 -2.24394451e-02 1.02221091e-02 2.34857854e+02] [ 2.24301918e-02 9.99747892e-01 1.01898513e-03 2.35993639e+01] [-1.02423974e-02 -7.89391437e-04 9.99947234e-01 -1.43097770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631400513 meters 0.07786225235442897 Centerline is valid? [True, True] Translation: X:234.89, Y:23.59, Z:-1.43 [[ 9.99721504e-01 -2.11398078e-02 1.04892206e-02 2.34889303e+02] [ 2.11299933e-02 9.99776190e-01 1.04563450e-03 2.35928457e+01] [-1.05089775e-02 -8.23706132e-04 9.99944440e-01 -1.43049768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661400513 meters 0.07933567086616967 Centerline is valid? [True, True] Translation: X:234.92, Y:23.60, Z:-1.43 [[ 9.99731325e-01 -2.07056666e-02 1.04188494e-02 2.34921271e+02] [ 2.06959603e-02 9.99785276e-01 1.03857279e-03 2.35960420e+01] [-1.04381165e-02 -8.22665656e-04 9.99945183e-01 -1.43072774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691400513 meters 0.07589494855000023 Centerline is valid? [True, True] Translation: X:234.95, Y:23.59, Z:-1.43 [[ 9.99728734e-01 -2.13782366e-02 9.24284948e-03 2.34952797e+02] [ 2.13706303e-02 9.99771198e-01 9.20925223e-04 2.35927064e+01] [-9.26042246e-03 -7.23149887e-04 9.99956860e-01 -1.43282723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721400513 meters 0.0764687357761203 Centerline is valid? [True, True] Translation: X:234.98, Y:23.60, Z:-1.43 [[ 9.99707475e-01 -2.25663712e-02 8.70191365e-03 2.34983218e+02] [ 2.25596755e-02 9.99745122e-01 8.66846234e-04 2.35963874e+01] [-8.71925730e-03 -6.70280312e-04 9.99961762e-01 -1.43440388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751400513 meters 0.07483634128052308 Centerline is valid? [True, True] Translation: X:235.01, Y:23.60, Z:-1.44 [[ 9.99676541e-01 -2.40290614e-02 8.33172105e-03 2.35014066e+02] [ 2.40229758e-02 9.99711062e-01 8.29745102e-04 2.35974274e+01] [-8.34925170e-03 -6.29323980e-04 9.99964946e-01 -1.43579393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781400513 meters 0.07894740197874255 Centerline is valid? [True, True] Translation: X:235.04, Y:23.60, Z:-1.44 [[ 9.99581151e-01 -2.74212137e-02 9.25203751e-03 2.35043559e+02] [ 2.74138553e-02 9.99623745e-01 9.21239414e-04 2.36042085e+01] [-9.27381789e-03 -6.67219536e-04 9.99956775e-01 -1.43589540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811400513 meters 0.07295039417430521 Centerline is valid? [True, True] Translation: X:235.08, Y:23.60, Z:-1.44 [[ 9.99528334e-01 -2.91268037e-02 9.73338448e-03 2.35075101e+02] [ 2.91187398e-02 9.99575490e-01 9.69198327e-04 2.35992558e+01] [-9.75748221e-03 -6.85317299e-04 9.99952160e-01 -1.43561701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841400513 meters 0.0620595144813193 Centerline is valid? [True, True] Translation: X:235.11, Y:23.59, Z:-1.44 [[ 9.99471376e-01 -3.10419363e-02 9.66266732e-03 2.35106873e+02] [ 3.10340790e-02 9.99517864e-01 9.62075672e-04 2.35882770e+01] [-9.68787329e-03 -6.61695114e-04 9.99952853e-01 -1.43570433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871400513 meters 0.06559991948416506 Centerline is valid? [True, True] Translation: X:235.14, Y:23.59, Z:-1.44 [[ 9.99328088e-01 -3.54837251e-02 9.18024417e-03 2.35135858e+02] [ 3.54768198e-02 9.99370082e-01 9.13999674e-04 2.35943572e+01] [-9.20689348e-03 -5.87699679e-04 9.99957443e-01 -1.43756818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90140051299997 meters 0.06557098851680326 Centerline is valid? [True, True] Translation: X:235.16, Y:23.60, Z:-1.44 [[ 9.99255161e-01 -3.75694497e-02 8.81243856e-03 2.35164346e+02] [ 3.75631672e-02 9.99293870e-01 8.77412599e-04 2.35958553e+01] [-8.83917974e-03 -5.45735966e-04 9.99960785e-01 -1.43887412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93140051299997 meters 0.061047310183621986 Centerline is valid? [True, True] Translation: X:235.19, Y:23.59, Z:-1.44 [[ 9.99196294e-01 -3.91452752e-02 8.62629612e-03 2.35194617e+02] [ 3.91393110e-02 9.99233394e-01 8.59200657e-04 2.35916810e+01] [-8.65331679e-03 -5.20882826e-04 9.99962424e-01 -1.43897673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96140051299997 meters 0.06145191924417177 Centerline is valid? [True, True] Translation: X:235.22, Y:23.59, Z:-1.44 [[ 9.99156147e-01 -4.00354165e-02 9.17380158e-03 2.35222259e+02] [ 4.00287083e-02 9.99198112e-01 9.13760794e-04 2.35937776e+01] [-9.20302801e-03 -5.45774287e-04 9.99957502e-01 -1.43804498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99140051299997 meters 0.058292731698970326 Centerline is valid? [True, True] Translation: X:235.25, Y:23.59, Z:-1.44 [[ 9.99162778e-01 -3.98165402e-02 9.40140845e-03 2.35251686e+02] [ 3.98094800e-02 9.99206849e-01 9.36993115e-04 2.35910787e+01] [-9.43125953e-03 -5.61943462e-04 9.99955367e-01 -1.43677720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02140051299997 meters 0.062260758643845344 Centerline is valid? [True, True] Translation: X:235.28, Y:23.60, Z:-1.44 [[ 9.99196976e-01 -3.91085940e-02 8.71322783e-03 2.35278585e+02] [ 3.91024888e-02 9.99234826e-01 8.70011935e-04 2.35979168e+01] [-8.74058564e-03 -5.28604401e-04 9.99961661e-01 -1.43732536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05140051299998 meters 0.06374683441296151 Centerline is valid? [True, True] Translation: X:235.31, Y:23.60, Z:-1.44 [[ 9.99231851e-01 -3.84743941e-02 7.44504283e-03 2.35306154e+02] [ 3.84699158e-02 9.99259482e-01 7.43835598e-04 2.36008167e+01] [-7.46814827e-03 -4.56854051e-04 9.99972009e-01 -1.43935221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08140051299998 meters 0.06294809555691513 Centerline is valid? [True, True] Translation: X:235.33, Y:23.60, Z:-1.44 [[ 9.99245356e-01 -3.84622428e-02 5.41983761e-03 2.35334916e+02] [ 3.84598688e-02 9.99259999e-01 5.41608338e-04 2.35977583e+01] [-5.43665839e-03 -3.32753373e-04 9.99985166e-01 -1.44205652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11140051299998 meters 0.06449175109288229 Centerline is valid? [True, True] Translation: X:235.36, Y:23.60, Z:-1.44 [[ 9.99251045e-01 -3.84245572e-02 4.57196527e-03 2.35362698e+02] [ 3.84228668e-02 9.99261464e-01 4.57029014e-04 2.36007611e+01] [-4.58614985e-03 -2.81018707e-04 9.99989444e-01 -1.44374860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14140051299998 meters 0.06578583317898706 Centerline is valid? [True, True] Translation: X:235.39, Y:23.60, Z:-1.45 [[ 9.99266830e-01 -3.80620588e-02 4.13309620e-03 2.35390295e+02] [ 3.80606736e-02 9.99275345e-01 4.13322797e-04 2.36041679e+01] [-4.14583304e-03 -2.55711336e-04 9.99991373e-01 -1.44514360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17140051299998 meters 0.0654867057394837 Centerline is valid? [True, True] Translation: X:235.42, Y:23.61, Z:-1.45 [[ 9.99305200e-01 -3.70646848e-02 3.91485323e-03 2.35419482e+02] [ 3.70634330e-02 9.99312838e-01 3.91868842e-04 2.36052960e+01] [-3.92668759e-03 -2.46498671e-04 9.99992260e-01 -1.44564323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20140051299998 meters 0.06554166004411774 Centerline is valid? [True, True] Translation: X:235.45, Y:23.61, Z:-1.44 [[ 9.99403382e-01 -3.40256038e-02 5.92776457e-03 2.35450092e+02] [ 3.40226766e-02 9.99420885e-01 5.93985135e-04 2.36051492e+01] [-5.94454241e-03 -3.91952337e-04 9.99982254e-01 -1.44176010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23140051299998 meters 0.07462271092783464 Centerline is valid? [True, True] Translation: X:235.48, Y:23.62, Z:-1.44 [[ 9.99460285e-01 -3.20143478e-02 7.36343586e-03 2.35477928e+02] [ 3.20097773e-02 9.99487284e-01 7.37744913e-04 2.36186495e+01] [-7.38327892e-03 -5.01644799e-04 9.99972617e-01 -1.44040655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26140051299998 meters 0.07055150336722242 Centerline is valid? [True, True] Translation: X:235.51, Y:23.62, Z:-1.44 [[ 9.99533898e-01 -2.94573233e-02 8.01573693e-03 2.35508458e+02] [ 2.94518229e-02 9.99565878e-01 8.03398794e-04 2.36168747e+01] [-8.03592310e-03 -5.66946264e-04 9.99967551e-01 -1.43921246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29140051299999 meters 0.07656976706803544 Centerline is valid? [True, True] Translation: X:235.54, Y:23.63, Z:-1.44 [[ 9.99616677e-01 -2.66027619e-02 7.66761338e-03 2.35537110e+02] [ 2.65976457e-02 9.99645925e-01 7.68473048e-04 2.36269439e+01] [-7.68534198e-03 -5.64238011e-04 9.99970308e-01 -1.44115243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321400513 meters 0.07764141155193699 Centerline is valid? [True, True] Translation: X:235.57, Y:23.63, Z:-1.44 [[ 9.99748482e-01 -2.16185119e-02 5.96765085e-03 2.35567708e+02] [ 2.16153239e-02 9.99766183e-01 5.98207161e-04 2.36275649e+01] [-5.97918786e-03 -4.69063995e-04 9.99982014e-01 -1.44434941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351400513 meters 0.08804305085933528 Centerline is valid? [True, True] Translation: X:235.60, Y:23.64, Z:-1.44 [[ 9.99773690e-01 -2.02951567e-02 6.37768730e-03 2.35595704e+02] [ 2.02914892e-02 9.99793902e-01 6.39231611e-04 2.36428063e+01] [-6.38934618e-03 -5.09674174e-04 9.99979458e-01 -1.44491991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381400513 meters 0.0813300369386247 Centerline is valid? [True, True] Translation: X:235.63, Y:23.64, Z:-1.44 [[ 9.99776961e-01 -1.96705375e-02 7.68747265e-03 2.35626605e+02] [ 1.96651897e-02 9.99806324e-01 7.70625725e-04 2.36369219e+01] [-7.70114240e-03 -6.19278238e-04 9.99970154e-01 -1.44298259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411400513 meters 0.08230470581536763 Centerline is valid? [True, True] Translation: X:235.66, Y:23.64, Z:-1.44 [[ 9.99762106e-01 -1.98427025e-02 9.05531812e-03 2.35657253e+02] [ 1.98352871e-02 9.99802849e-01 9.07982673e-04 2.36409255e+01] [-9.07154968e-03 -7.28151834e-04 9.99958588e-01 -1.44113557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441400513 meters 0.08385997577737428 Centerline is valid? [True, True] Translation: X:235.69, Y:23.64, Z:-1.44 [[ 9.99706173e-01 -2.20274789e-02 1.01172227e-02 2.35686809e+02] [ 2.20183368e-02 9.99757053e-01 1.01412986e-03 2.36445482e+01] [-1.01371035e-02 -7.91067463e-04 9.99948305e-01 -1.44133028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471400513 meters 0.08078926772814614 Centerline is valid? [True, True] Translation: X:235.72, Y:23.64, Z:-1.44 [[ 9.99682201e-01 -2.33380014e-02 9.53069127e-03 2.35718079e+02] [ 2.33299464e-02 9.99727363e-01 9.55492041e-04 2.36429805e+01] [-9.55039213e-03 -7.32837870e-04 9.99954125e-01 -1.44307069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501400513 meters 0.07823203305084349 Centerline is valid? [True, True] Translation: X:235.75, Y:23.64, Z:-1.44 [[ 9.99658867e-01 -2.46348476e-02 8.67599792e-03 2.35749365e+02] [ 2.46282219e-02 9.99696301e-01 8.69713858e-04 2.36426506e+01] [-8.69478829e-03 -6.55742769e-04 9.99961985e-01 -1.44470888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531400513 meters 0.07264951694263012 Centerline is valid? [True, True] Translation: X:235.78, Y:23.64, Z:-1.45 [[ 9.99612239e-01 -2.68167109e-02 7.49899767e-03 2.35780136e+02] [ 2.68118227e-02 9.99640216e-01 7.51634776e-04 2.36402646e+01] [-7.51645602e-03 -5.50281525e-04 9.99971600e-01 -1.44560356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561400513 meters 0.06826272080095158 Centerline is valid? [True, True] Translation: X:235.81, Y:23.64, Z:-1.45 [[ 9.99588679e-01 -2.76865479e-02 7.47855973e-03 2.35809797e+02] [ 2.76817119e-02 9.99616507e-01 7.49406496e-04 2.36393077e+01] [-7.49644024e-03 -5.42078913e-04 9.99971754e-01 -1.44548646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591400513 meters 0.07786997127791899 Centerline is valid? [True, True] Translation: X:235.84, Y:23.65, Z:-1.45 [[ 9.99565869e-01 -2.83108208e-02 8.15909015e-03 2.35837622e+02] [ 2.83050831e-02 9.99598996e-01 8.17863349e-04 2.36546603e+01] [-8.17897270e-03 -5.86564564e-04 9.99966380e-01 -1.44538855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621400513 meters 0.07350239704423911 Centerline is valid? [True, True] Translation: X:235.87, Y:23.65, Z:-1.44 [[ 9.99535875e-01 -2.92628195e-02 8.46883477e-03 2.35868169e+02] [ 2.92566711e-02 9.99571571e-01 8.49015952e-04 2.36521415e+01] [-8.49005108e-03 -6.00851989e-04 9.99963778e-01 -1.44446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65140051299997 meters 0.08269487589919958 Centerline is valid? [True, True] Translation: X:235.90, Y:23.66, Z:-1.45 [[ 9.99470648e-01 -3.15470878e-02 7.95018919e-03 2.35896561e+02] [ 3.15417407e-02 9.99502118e-01 7.97088334e-04 2.36646787e+01] [-7.97137675e-03 -5.45903587e-04 9.99968079e-01 -1.44673352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68140051299997 meters 0.06867659959226065 Centerline is valid? [True, True] Translation: X:235.93, Y:23.65, Z:-1.45 [[ 9.99436308e-01 -3.28362234e-02 6.98919020e-03 2.35927846e+02] [ 3.28321222e-02 9.99460635e-01 7.00764743e-04 2.36494639e+01] [-7.00843094e-03 -4.70899782e-04 9.99975330e-01 -1.44758375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71140051299997 meters 0.0733075389151371 Centerline is valid? [True, True] Translation: X:235.96, Y:23.66, Z:-1.45 [[ 9.99398606e-01 -3.41384354e-02 6.08216103e-03 2.35956218e+02] [ 3.41353529e-02 9.99417033e-01 6.09922853e-04 2.36573712e+01] [-6.09943714e-03 -4.01939336e-04 9.99981317e-01 -1.44976302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74140051299997 meters 0.06796989779942172 Centerline is valid? [True, True] Translation: X:235.99, Y:23.65, Z:-1.45 [[ 9.99354948e-01 -3.55614819e-02 5.00693646e-03 2.35986153e+02] [ 3.55594105e-02 9.99367438e-01 5.02161298e-04 2.36535939e+01] [-5.02162686e-03 -3.23793669e-04 9.99987339e-01 -1.45184280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77140051299997 meters 0.06796989779942172 Centerline is valid? [True, True] Translation: X:236.01, Y:23.66, Z:-1.45 [[ 9.99348720e-01 -3.57360625e-02 5.00704043e-03 2.36013583e+02] [ 3.57339984e-02 9.99361211e-01 5.01126405e-04 2.36564920e+01] [-5.02175027e-03 -3.21878457e-04 9.99987339e-01 -1.45218905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80140051299998 meters 0.0670158504200763 Centerline is valid? [True, True] Translation: X:236.04, Y:23.66, Z:-1.45 [[ 9.99348980e-01 -3.57833720e-02 4.60063419e-03 2.36042047e+02] [ 3.57816262e-02 9.99359526e-01 4.61247214e-04 2.36578666e+01] [-4.61419258e-03 -2.96328761e-04 9.99989311e-01 -1.45309044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83140051299998 meters 0.06895656479306228 Centerline is valid? [True, True] Translation: X:236.07, Y:23.66, Z:-1.45 [[ 9.99363612e-01 -3.53476972e-02 4.78666088e-03 2.36069967e+02] [ 3.53457958e-02 9.99375026e-01 4.81269816e-04 2.36626165e+01] [-4.80068112e-03 -3.11775204e-04 9.99988428e-01 -1.45324061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86140051299998 meters 0.07243933566306346 Centerline is valid? [True, True] Translation: X:236.10, Y:23.67, Z:-1.45 [[ 9.99418680e-01 -3.35473952e-02 6.07241970e-03 2.36098834e+02] [ 3.35442943e-02 9.99437045e-01 6.11807901e-04 2.36696587e+01] [-6.08952576e-03 -4.07757211e-04 9.99981376e-01 -1.45135927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89140051299998 meters 0.07554142312367423 Centerline is valid? [True, True] Translation: X:236.13, Y:23.68, Z:-1.45 [[ 9.99459646e-01 -3.22829922e-02 6.18263278e-03 2.36126946e+02] [ 3.22797546e-02 9.99478679e-01 6.22768862e-04 2.36770077e+01] [-6.19951448e-03 -4.22858477e-04 9.99980693e-01 -1.45123945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92140051299998 meters 0.07509988735055251 Centerline is valid? [True, True] Translation: X:236.16, Y:23.68, Z:-1.45 [[ 9.99507768e-01 -3.07132587e-02 6.39672646e-03 2.36157274e+02] [ 3.07097569e-02 9.99528136e-01 6.44958237e-04 2.36807545e+01] [-6.41351684e-03 -4.48198853e-04 9.99979333e-01 -1.45122860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95140051299998 meters 0.06737775996607243 Centerline is valid? [True, True] Translation: X:236.19, Y:23.68, Z:-1.45 [[ 9.99546444e-01 -2.94187600e-02 6.43757536e-03 2.36186887e+02] [ 2.94151888e-02 9.99567069e-01 6.48747602e-04 2.36756398e+01] [-6.45387369e-03 -4.59090864e-04 9.99979068e-01 -1.45106679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98140051299998 meters 0.07445617542126658 Centerline is valid? [True, True] Translation: X:236.21, Y:23.69, Z:-1.45 [[ 9.99587978e-01 -2.78216329e-02 7.05915360e-03 2.36214619e+02] [ 2.78172947e-02 9.99612771e-01 7.12008377e-04 2.36900924e+01] [-7.07622932e-03 -5.15348457e-04 9.99974830e-01 -1.45179873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01140051299998 meters 0.08866917712942403 Centerline is valid? [True, True] Translation: X:236.24, Y:23.71, Z:-1.45 [[ 9.99580861e-01 -2.80179435e-02 7.28678695e-03 2.36241604e+02] [ 2.80133245e-02 9.99607279e-01 7.35204720e-04 2.37119091e+01] [-7.30452420e-03 -5.30769439e-04 9.99973181e-01 -1.45322045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04140051299999 meters 0.07068001439507247 Centerline is valid? [True, True] Translation: X:236.27, Y:23.69, Z:-1.45 [[ 9.99547974e-01 -2.92568778e-02 6.91980329e-03 2.36273406e+02] [ 2.92527422e-02 9.99571803e-01 6.98118596e-04 2.36945450e+01] [-6.93726503e-03 -4.95379805e-04 9.99975814e-01 -1.45246936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071400513 meters 0.06646391558217507 Centerline is valid? [True, True] Translation: X:236.30, Y:23.69, Z:-1.45 [[ 9.99397237e-01 -3.41444502e-02 6.27050632e-03 2.36304656e+02] [ 3.41411478e-02 9.99416821e-01 6.32972251e-04 2.36922227e+01] [-6.28846198e-03 -4.18508436e-04 9.99980140e-01 -1.45377292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101400513 meters 0.060959005297249284 Centerline is valid? [True, True] Translation: X:236.34, Y:23.69, Z:-1.45 [[ 9.99273258e-01 -3.76086271e-02 6.20866632e-03 2.36335285e+02] [ 3.76054565e-02 9.99292468e-01 6.26678852e-04 2.36866853e+01] [-6.22784202e-03 -3.92743687e-04 9.99980530e-01 -1.45327933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131400513 meters 0.0676911123578338 Centerline is valid? [True, True] Translation: X:236.36, Y:23.70, Z:-1.45 [[ 9.99109818e-01 -4.15667111e-02 7.19578822e-03 2.36363122e+02] [ 4.15625537e-02 9.99135640e-01 7.26399591e-04 2.36963767e+01] [-7.21976250e-03 -4.26677629e-04 9.99973846e-01 -1.45347138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161400513 meters 0.057288074872612886 Centerline is valid? [True, True] Translation: X:236.39, Y:23.69, Z:-1.45 [[ 9.98931907e-01 -4.54422520e-02 8.36934852e-03 2.36394233e+02] [ 4.54367604e-02 9.98966860e-01 8.45232439e-04 2.36856134e+01] [-8.39911108e-03 -4.64053569e-04 9.99964619e-01 -1.45134476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191400513 meters 0.05383482023833523 Centerline is valid? [True, True] Translation: X:236.42, Y:23.68, Z:-1.45 [[ 9.98664693e-01 -5.08142627e-02 9.31357029e-03 2.36423856e+02] [ 5.08076933e-02 9.98708012e-01 9.40759779e-04 2.36807807e+01] [-9.34934128e-03 -4.66302553e-04 9.99956185e-01 -1.45020268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221400513 meters 0.04805970450569632 Centerline is valid? [True, True] Translation: X:236.45, Y:23.67, Z:-1.45 [[ 9.98607773e-01 -5.19597399e-02 9.09406518e-03 2.36453396e+02] [ 5.19535230e-02 9.98649081e-01 9.18697887e-04 2.36734611e+01] [-9.12951514e-03 -4.44950127e-04 9.99958226e-01 -1.45065155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251400513 meters 0.048251242725839937 Centerline is valid? [True, True] Translation: X:236.48, Y:23.67, Z:-1.45 [[ 9.98597192e-01 -5.21789395e-02 9.00036784e-03 2.36481145e+02] [ 5.21728596e-02 9.98637655e-01 9.09156326e-04 2.36735529e+01] [-9.03554505e-03 -4.38306026e-04 9.99959083e-01 -1.45113604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281400513 meters 0.052713786373359973 Centerline is valid? [True, True] Translation: X:236.51, Y:23.68, Z:-1.45 [[ 9.98721734e-01 -4.96062688e-02 9.70134920e-03 2.36509842e+02] [ 4.95990597e-02 9.98768726e-01 9.82437442e-04 2.36788031e+01] [-9.73813923e-03 -5.00003827e-04 9.99952458e-01 -1.45034646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311400513 meters 0.05587281453550425 Centerline is valid? [True, True] Translation: X:236.54, Y:23.68, Z:-1.45 [[ 9.98838698e-01 -4.72996450e-02 9.16511700e-03 2.36538388e+02] [ 4.72931136e-02 9.98880623e-01 9.28172547e-04 2.36846827e+01] [-9.19876002e-03 -4.93647739e-04 9.99957569e-01 -1.45138708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341400513 meters 0.053211824845469866 Centerline is valid? [True, True] Translation: X:236.57, Y:23.68, Z:-1.45 [[ 9.98962223e-01 -4.47725580e-02 8.36037866e-03 2.36568824e+02] [ 4.47670334e-02 9.98997095e-01 8.46882700e-04 2.36836578e+01] [-8.38991110e-03 -4.71734474e-04 9.99964693e-01 -1.45268302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371400513 meters 0.059190839476352466 Centerline is valid? [True, True] Translation: X:236.60, Y:23.69, Z:-1.45 [[ 9.99130556e-01 -4.08920656e-02 8.12225276e-03 2.36597993e+02] [ 4.08867223e-02 9.99163449e-01 8.22889932e-04 2.36915848e+01] [-8.14910775e-03 -4.90082182e-04 9.99966675e-01 -1.45436700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40140051299997 meters 0.06457876331862909 Centerline is valid? [True, True] Translation: X:236.63, Y:23.70, Z:-1.45 [[ 9.99172057e-01 -3.97628435e-02 8.60905619e-03 2.36626208e+02] [ 3.97567996e-02 9.99209005e-01 8.72117091e-04 2.37000225e+01] [-8.63692433e-03 -5.29126507e-04 9.99962561e-01 -1.45477278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43140051299997 meters 0.06704344140568763 Centerline is valid? [True, True] Translation: X:236.65, Y:23.70, Z:-1.46 [[ 9.99180076e-01 -3.95968242e-02 8.44194629e-03 2.36653837e+02] [ 3.95910051e-02 9.99215603e-01 8.55383139e-04 2.37041516e+01] [-8.46919490e-03 -5.20456652e-04 9.99964000e-01 -1.45561638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46140051299997 meters 0.06294706187774406 Centerline is valid? [True, True] Translation: X:236.68, Y:23.70, Z:-1.46 [[ 9.99138786e-01 -4.08068180e-02 7.51600291e-03 2.36683241e+02] [ 4.08022366e-02 9.99166951e-01 7.61953616e-04 2.36974558e+01] [-7.54083462e-03 -4.54627681e-04 9.99971464e-01 -1.45687308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49140051299997 meters 0.06160665912003663 Centerline is valid? [True, True] Translation: X:236.71, Y:23.70, Z:-1.46 [[ 9.99119158e-01 -4.13021585e-02 7.41893015e-03 2.36712827e+02] [ 4.12977097e-02 9.99146603e-01 7.51919961e-04 2.36969966e+01] [-7.44365477e-03 -4.44872815e-04 9.99972197e-01 -1.45738129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52140051299997 meters 0.06742373421628414 Centerline is valid? [True, True] Translation: X:236.74, Y:23.71, Z:-1.46 [[ 9.99135397e-01 -4.08013130e-02 7.98187599e-03 2.36739577e+02] [ 4.07961338e-02 9.99167162e-01 8.10684384e-04 2.37059051e+01] [-8.00830537e-03 -4.84353784e-04 9.99967816e-01 -1.45749708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55140051299998 meters 0.06304786063086837 Centerline is valid? [True, True] Translation: X:236.77, Y:23.70, Z:-1.46 [[ 9.99262256e-01 -3.74648435e-02 8.44561846e-03 2.36770591e+02] [ 3.74589201e-02 9.99297800e-01 8.58509482e-04 2.37030875e+01] [-8.47185187e-03 -5.41512375e-04 9.99963967e-01 -1.45650761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58140051299998 meters 0.0682906823459989 Centerline is valid? [True, True] Translation: X:236.80, Y:23.71, Z:-1.46 [[ 9.99346838e-01 -3.52496080e-02 7.96002142e-03 2.36799080e+02] [ 3.52442764e-02 9.99378400e-01 8.09132974e-04 2.37120675e+01] [-7.98359509e-03 -5.28059285e-04 9.99967991e-01 -1.45743029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61140051299998 meters 0.06678572996720612 Centerline is valid? [True, True] Translation: X:236.83, Y:23.71, Z:-1.46 [[ 9.99411581e-01 -3.34728510e-02 7.48735549e-03 2.36829448e+02] [ 3.34680835e-02 9.99439497e-01 7.61165887e-04 2.37127115e+01] [-7.50863720e-03 -5.10130563e-04 9.99971680e-01 -1.45808323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64140051299998 meters 0.07610472057068997 Centerline is valid? [True, True] Translation: X:236.86, Y:23.73, Z:-1.46 [[ 9.99453392e-01 -3.22184647e-02 7.40856327e-03 2.36856813e+02] [ 3.22137627e-02 9.99480718e-01 7.53162641e-04 2.37267107e+01] [-7.42898188e-03 -5.14093257e-04 9.99972273e-01 -1.45911928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67140051299998 meters 0.07545458564822398 Centerline is valid? [True, True] Translation: X:236.89, Y:23.73, Z:-1.46 [[ 9.99477849e-01 -3.13435528e-02 7.84929751e-03 2.36886092e+02] [ 3.13382451e-02 9.99508518e-01 7.98313985e-04 2.37296860e+01] [-7.87046172e-03 -5.51913935e-04 9.99968875e-01 -1.45896534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70140051299998 meters 0.07272964745177943 Centerline is valid? [True, True] Translation: X:236.92, Y:23.73, Z:-1.46 [[ 9.99466361e-01 -3.14058211e-02 8.98156441e-03 2.36915012e+02] [ 3.13988762e-02 9.99506517e-01 9.13240861e-04 2.37336864e+01] [-9.00581324e-03 -6.30742491e-04 9.99959248e-01 -1.45752025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73140051299998 meters 0.06330275292296206 Centerline is valid? [True, True] Translation: X:236.95, Y:23.73, Z:-1.46 [[ 9.99435026e-01 -3.23237680e-02 9.20889445e-03 2.36945214e+02] [ 3.23164883e-02 9.99477245e-01 9.38256260e-04 2.37271760e+01] [-9.23440843e-03 -6.40127040e-04 9.99957157e-01 -1.45657753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76140051299998 meters 0.07123208924576084 Centerline is valid? [True, True] Translation: X:236.97, Y:23.74, Z:-1.46 [[ 9.99387729e-01 -3.36410330e-02 9.61499266e-03 2.36972326e+02] [ 3.36331558e-02 9.99433765e-01 9.79834912e-04 2.37416195e+01] [-9.64251098e-03 -6.55852441e-04 9.99953295e-01 -1.45722043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79140051299999 meters 0.06283364214667643 Centerline is valid? [True, True] Translation: X:237.00, Y:23.74, Z:-1.46 [[ 9.99229339e-01 -3.78307990e-02 1.04670470e-02 2.37003361e+02] [ 3.78216877e-02 9.99283934e-01 1.06712857e-03 2.37366968e+01] [-1.04999222e-02 -6.70424795e-04 9.99944650e-01 -1.45613107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821400513 meters 0.062441928662088225 Centerline is valid? [True, True] Translation: X:237.03, Y:23.74, Z:-1.46 [[ 9.99141624e-01 -3.99439011e-02 1.09772169e-02 2.37032418e+02] [ 3.99340066e-02 9.99201693e-01 1.11916435e-03 2.37399265e+01] [-1.10131575e-02 -6.79839432e-04 9.99939122e-01 -1.45619760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851400513 meters 0.0601999649671363 Centerline is valid? [True, True] Translation: X:237.06, Y:23.74, Z:-1.46 [[ 9.99072627e-01 -4.16301705e-02 1.09916168e-02 2.37062562e+02] [ 4.16203491e-02 9.99132869e-01 1.12087141e-03 2.37409318e+01] [-1.10287477e-02 -6.62357013e-04 9.99938962e-01 -1.45664598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881400513 meters 0.05782941083288235 Centerline is valid? [True, True] Translation: X:237.09, Y:23.74, Z:-1.46 [[ 9.98956714e-01 -4.45975101e-02 9.82576622e-03 2.37093310e+02] [ 4.45898017e-02 9.99004877e-01 1.00230167e-03 2.37434844e+01] [-9.86068853e-03 -5.63127014e-04 9.99951224e-01 -1.45905320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911400513 meters 0.05835992554502146 Centerline is valid? [True, True] Translation: X:237.12, Y:23.75, Z:-1.46 [[ 9.98904497e-01 -4.58842707e-02 9.18906213e-03 2.37120836e+02] [ 4.58775846e-02 9.98946630e-01 9.37190375e-04 2.37483752e+01] [-9.22238494e-03 -5.14591705e-04 9.99957340e-01 -1.46097821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941400513 meters 0.054067670244223626 Centerline is valid? [True, True] Translation: X:237.15, Y:23.75, Z:-1.46 [[ 9.98850194e-01 -4.70719964e-02 9.08393847e-03 2.37150436e+02] [ 4.70655077e-02 9.98891375e-01 9.26886551e-04 2.37477625e+01] [-9.11749819e-03 -4.98280634e-04 9.99958311e-01 -1.46158686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971400513 meters 0.052872005709698 Centerline is valid? [True, True] Translation: X:237.18, Y:23.75, Z:-1.46 [[ 9.98792565e-01 -4.80814517e-02 1.00789493e-02 2.37179223e+02] [ 4.80735045e-02 9.98843270e-01 1.02943013e-03 2.37503321e+01] [-1.01167871e-02 -5.43656744e-04 9.99948676e-01 -1.46098043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001400513 meters 0.05237286532594914 Centerline is valid? [True, True] Translation: X:237.21, Y:23.75, Z:-1.46 [[ 9.98713188e-01 -4.94703923e-02 1.11646370e-02 2.37208300e+02] [ 4.94607222e-02 9.98775418e-01 1.14075840e-03 2.37534659e+01] [-1.12073988e-02 -5.87079451e-04 9.99937023e-01 -1.46010179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031400513 meters 0.05119042990917749 Centerline is valid? [True, True] Translation: X:237.24, Y:23.76, Z:-1.46 [[ 9.98701412e-01 -4.98570323e-02 1.04768915e-02 2.37237191e+02] [ 4.98485232e-02 9.98756214e-01 1.07190688e-03 2.37553928e+01] [-1.05173025e-02 -5.48257346e-04 9.99944541e-01 -1.46164345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061400513 meters 0.05203858563612859 Centerline is valid? [True, True] Translation: X:237.27, Y:23.76, Z:-1.46 [[ 9.98719421e-01 -4.96926353e-02 9.49529460e-03 2.37265335e+02] [ 4.96856259e-02 9.98764433e-01 9.72825424e-04 2.37598052e+01] [-9.53190479e-03 -4.99799989e-04 9.99954445e-01 -1.46369557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091400513 meters 0.06013129872587618 Centerline is valid? [True, True] Translation: X:237.29, Y:23.77, Z:-1.46 [[ 9.98877233e-01 -4.65558654e-02 8.76498801e-03 2.37293189e+02] [ 4.65497564e-02 9.98915567e-01 8.99805793e-04 2.37732431e+01] [-8.79737421e-03 -4.90787464e-04 9.99961182e-01 -1.46470203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121400513 meters 0.05972974860162422 Centerline is valid? [True, True] Translation: X:237.32, Y:23.78, Z:-1.46 [[ 9.98968946e-01 -4.44698450e-02 9.13663634e-03 2.37322986e+02] [ 4.44631187e-02 9.99010586e-01 9.38097600e-04 2.37772391e+01] [-9.16931348e-03 -5.30887024e-04 9.99957820e-01 -1.46396850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15140051299997 meters 0.05960150826869348 Centerline is valid? [True, True] Translation: X:237.35, Y:23.78, Z:-1.46 [[ 9.99040721e-01 -4.27102856e-02 9.66797298e-03 2.37351622e+02] [ 4.27026716e-02 9.99087332e-01 9.92705614e-04 2.37823427e+01] [-9.70154807e-03 -5.78905058e-04 9.99952771e-01 -1.46372035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18140051299997 meters 0.05704205439890062 Centerline is valid? [True, True] Translation: X:237.38, Y:23.78, Z:-1.46 [[ 9.99096201e-01 -4.14025702e-02 9.62334883e-03 2.37380619e+02] [ 4.13949628e-02 9.99142372e-01 9.88441858e-04 2.37842185e+01] [-9.65601962e-03 -5.89190338e-04 9.99953206e-01 -1.46376615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21140051299997 meters 0.06392633925403897 Centerline is valid? [True, True] Translation: X:237.41, Y:23.80, Z:-1.47 [[ 9.99132457e-01 -4.06732333e-02 8.94549776e-03 2.37406690e+02] [ 4.06666303e-02 9.99172348e-01 9.18864579e-04 2.37982240e+01] [-8.97546720e-03 -5.54284174e-04 9.99959566e-01 -1.46649984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24140051299997 meters 0.06505037928627466 Centerline is valid? [True, True] Translation: X:237.43, Y:23.80, Z:-1.47 [[ 9.99126555e-01 -4.09272316e-02 8.43142408e-03 2.37433858e+02] [ 4.09213665e-02 9.99161994e-01 8.67037345e-04 2.38030091e+01] [-8.45984393e-03 -5.21254640e-04 9.99964079e-01 -1.46797141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27140051299997 meters 0.06831888449835817 Centerline is valid? [True, True] Translation: X:237.46, Y:23.81, Z:-1.47 [[ 9.99093938e-01 -4.17906295e-02 8.05266087e-03 2.37461359e+02] [ 4.17853051e-02 9.99126269e-01 8.28387342e-04 2.38101723e+01] [-8.08024384e-03 -4.91153881e-04 9.99967234e-01 -1.46934377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30140051299998 meters 0.05824235244391101 Centerline is valid? [True, True] Translation: X:237.49, Y:23.80, Z:-1.47 [[ 9.98983614e-01 -4.42858464e-02 8.39662033e-03 2.37492286e+02] [ 4.42801369e-02 9.99018779e-01 8.64766045e-04 2.38008066e+01] [-8.42667829e-03 -4.92083611e-04 9.99964374e-01 -1.46797952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33140051299998 meters 0.05843125808911242 Centerline is valid? [True, True] Translation: X:237.52, Y:23.80, Z:-1.47 [[ 9.98916292e-01 -4.56814518e-02 8.91331037e-03 2.37520785e+02] [ 4.56750724e-02 9.98955927e-01 9.18077254e-04 2.38043586e+01] [-8.94594333e-03 -5.09966229e-04 9.99959854e-01 -1.46723197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36140051299998 meters 0.05311012027969695 Centerline is valid? [True, True] Translation: X:237.55, Y:23.80, Z:-1.47 [[ 9.98852359e-01 -4.69191279e-02 9.62081898e-03 2.37550081e+02] [ 4.69117496e-02 9.98898546e-01 9.91276581e-04 2.38011062e+01] [-9.65673192e-03 -5.38809501e-04 9.99953228e-01 -1.46617012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39140051299998 meters 0.054145355449298646 Centerline is valid? [True, True] Translation: X:237.58, Y:23.81, Z:-1.47 [[ 9.98786875e-01 -4.82783473e-02 9.69429292e-03 2.37577875e+02] [ 4.82709152e-02 9.98833780e-01 9.99307141e-04 2.38059082e+01] [-9.73123214e-03 -5.30142465e-04 9.99952510e-01 -1.46710256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42140051299998 meters 0.05761529693662847 Centerline is valid? [True, True] Translation: X:237.60, Y:23.81, Z:-1.47 [[ 9.98785790e-01 -4.84370462e-02 8.98882076e-03 2.37604627e+02] [ 4.84306606e-02 9.98826117e-01 9.26844798e-04 2.38129110e+01] [-9.02316256e-03 -4.90384887e-04 9.99959170e-01 -1.46922418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45140051299998 meters 0.05597606709138566 Centerline is valid? [True, True] Translation: X:237.63, Y:23.81, Z:-1.47 [[ 9.98782678e-01 -4.86178918e-02 8.33438627e-03 2.37632355e+02] [ 4.86124070e-02 9.98817348e-01 8.59534849e-04 2.38130889e+01] [-8.36631836e-03 -4.53333941e-04 9.99964899e-01 -1.47089348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48140051299998 meters 0.05521873655864323 Centerline is valid? [True, True] Translation: X:237.66, Y:23.81, Z:-1.47 [[ 9.98787863e-01 -4.85471168e-02 8.12290919e-03 2.37661483e+02] [ 4.85418921e-02 9.98820795e-01 8.39241856e-04 2.38144694e+01] [-8.15407339e-03 -4.43923199e-04 9.99966656e-01 -1.47159719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51140051299998 meters 0.060004680025595676 Centerline is valid? [True, True] Translation: X:237.69, Y:23.82, Z:-1.47 [[ 9.98836363e-01 -4.75458014e-02 8.08182838e-03 2.37689740e+02] [ 4.75405818e-02 9.98868957e-01 8.36840142e-04 2.38223650e+01] [-8.11247572e-03 -4.51651540e-04 9.99966991e-01 -1.47243964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54140051299999 meters 0.05164201080442255 Centerline is valid? [True, True] Translation: X:237.72, Y:23.81, Z:-1.47 [[ 9.98858717e-01 -4.72082069e-02 7.25592524e-03 2.37719604e+02] [ 4.72039943e-02 9.98884988e-01 7.50831226e-04 2.38139267e+01] [-7.28328019e-03 -4.07465661e-04 9.99973394e-01 -1.47229232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571400513 meters 0.05083199946390429 Centerline is valid? [True, True] Translation: X:237.75, Y:23.81, Z:-1.47 [[ 9.98877230e-01 -4.68381813e-02 7.10379391e-03 2.37748076e+02] [ 4.68341219e-02 9.98902409e-01 7.36802256e-04 2.38148087e+01] [-7.13050733e-03 -4.03275046e-04 9.99974496e-01 -1.47273623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601400513 meters 0.05295765393776408 Centerline is valid? [True, True] Translation: X:237.78, Y:23.82, Z:-1.47 [[ 9.98906272e-01 -4.62493775e-02 6.87415062e-03 2.37775910e+02] [ 4.62455598e-02 9.98929847e-01 7.13375916e-04 2.38177522e+01] [-6.89978742e-03 -3.94696733e-04 9.99976118e-01 -1.47361968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631400513 meters 0.06503359583165384 Centerline is valid? [True, True] Translation: X:237.80, Y:23.83, Z:-1.48 [[ 9.98927173e-01 -4.57410033e-02 7.22931540e-03 2.37801794e+02] [ 4.57367641e-02 9.98953245e-01 7.50711897e-04 2.38346873e+01] [-7.25608639e-03 -4.19261020e-04 9.99973586e-01 -1.47505632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661400513 meters 0.06503359583165384 Centerline is valid? [True, True] Translation: X:237.83, Y:23.84, Z:-1.48 [[ 9.98919316e-01 -4.59122691e-02 7.22933408e-03 2.37829202e+02] [ 4.59080357e-02 9.98945388e-01 7.50532966e-04 2.38376911e+01] [-7.25616861e-03 -4.17837350e-04 9.99973586e-01 -1.47540231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691400513 meters 0.06676316592163997 Centerline is valid? [True, True] Translation: X:237.86, Y:23.84, Z:-1.48 [[ 9.98940402e-01 -4.54754124e-02 7.07528297e-03 2.37856318e+02] [ 4.54713340e-02 9.98965373e-01 7.36308214e-04 2.38413702e+01] [-7.10144661e-03 -4.13805469e-04 9.99974699e-01 -1.47612984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721400513 meters 0.06736151153861131 Centerline is valid? [True, True] Translation: X:237.88, Y:23.84, Z:-1.48 [[ 9.98933666e-01 -4.55049796e-02 7.79924768e-03 2.37883931e+02] [ 4.55000241e-02 9.98964008e-01 8.11735181e-04 2.38430335e+01] [-7.82810572e-03 -4.56003642e-04 9.99969256e-01 -1.47587796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751400513 meters 0.06482264962389446 Centerline is valid? [True, True] Translation: X:237.91, Y:23.84, Z:-1.47 [[ 9.98886636e-01 -4.64568154e-02 8.20079542e-03 2.37913408e+02] [ 4.64513515e-02 9.98920187e-01 8.55593579e-04 2.38372982e+01] [-8.23168825e-03 -4.73702961e-04 9.99966007e-01 -1.47468221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781400513 meters 0.05753964161093127 Centerline is valid? [True, True] Translation: X:237.94, Y:23.83, Z:-1.47 [[ 9.98856656e-01 -4.71281464e-02 8.01983714e-03 2.37943233e+02] [ 4.71229440e-02 9.98888747e-01 8.36532554e-04 2.38295442e+01] [-8.05034930e-03 -4.57657773e-04 9.99967491e-01 -1.47495829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811400513 meters 0.05658393249808658 Centerline is valid? [True, True] Translation: X:237.97, Y:23.83, Z:-1.48 [[ 9.98846318e-01 -4.74416617e-02 7.43788064e-03 2.37971467e+02] [ 4.74371887e-02 9.98873921e-01 7.76748243e-04 2.38298163e+01] [-7.46635523e-03 -4.23019975e-04 9.99972037e-01 -1.47634777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841400513 meters 0.058811487760762095 Centerline is valid? [True, True] Translation: X:238.00, Y:23.83, Z:-1.48 [[ 9.98904557e-01 -4.63411251e-02 6.49507380e-03 2.37999837e+02] [ 4.63376793e-02 9.98925601e-01 6.80077889e-04 2.38331885e+01] [-6.51961108e-03 -3.78366255e-04 9.99978676e-01 -1.47758102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871400513 meters 0.06131273092232901 Centerline is valid? [True, True] Translation: X:238.03, Y:23.84, Z:-1.48 [[ 9.98985388e-01 -4.45324219e-02 6.71250137e-03 2.38028930e+02] [ 4.45286984e-02 9.99007858e-01 7.03218151e-04 2.38386714e+01] [-6.73715763e-03 -4.03605709e-04 9.99977224e-01 -1.47697404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90140051299997 meters 0.06627288360118197 Centerline is valid? [True, True] Translation: X:238.06, Y:23.85, Z:-1.48 [[ 9.99104397e-01 -4.16224978e-02 7.61391599e-03 2.38057788e+02] [ 4.16176221e-02 9.99133293e-01 7.97749766e-04 2.38477267e+01] [-7.64052129e-03 -4.80162220e-04 9.99970696e-01 -1.47625928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93140051299997 meters 0.07305951587005939 Centerline is valid? [True, True] Translation: X:238.09, Y:23.86, Z:-1.48 [[ 9.99421681e-01 -3.30546306e-02 7.98090780e-03 2.38087495e+02] [ 3.30490004e-02 9.99453383e-01 8.36347055e-04 2.38597900e+01] [-8.00419044e-03 -5.72102355e-04 9.99967802e-01 -1.47617937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96140051299997 meters 0.07971872106545572 Centerline is valid? [True, True] Translation: X:238.12, Y:23.87, Z:-1.48 [[ 9.99559798e-01 -2.86556628e-02 7.68527268e-03 2.38115673e+02] [ 2.86503127e-02 9.99589171e-01 8.05353723e-04 2.38716316e+01] [-7.70519329e-03 -5.84813739e-04 9.99970144e-01 -1.47808976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99140051299997 meters 0.08199115657071586 Centerline is valid? [True, True] Translation: X:238.15, Y:23.88, Z:-1.48 [[ 9.99717524e-01 -2.25978609e-02 7.36262854e-03 2.38145101e+02] [ 2.25927864e-02 9.99744453e-01 7.71678759e-04 2.38804103e+01] [-7.37818533e-03 -6.05118484e-04 9.99972598e-01 -1.47864473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02140051299997 meters 0.08248976732717817 Centerline is valid? [True, True] Translation: X:238.17, Y:23.89, Z:-1.48 [[ 9.99746639e-01 -2.09787211e-02 8.15782943e-03 2.38174673e+02] [ 2.09724373e-02 9.99779689e-01 8.55065456e-04 2.38862130e+01] [-8.17397034e-03 -6.83759250e-04 9.99966359e-01 -1.47719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05140051299998 meters 0.0832159300373449 Centerline is valid? [True, True] Translation: X:238.21, Y:23.89, Z:-1.48 [[ 9.99759366e-01 -1.98808586e-02 9.27153335e-03 2.38205236e+02] [ 1.98726933e-02 9.99802046e-01 9.71992550e-04 2.38922420e+01] [-9.28902206e-03 -7.87508317e-04 9.99956546e-01 -1.47548391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08140051299998 meters 0.08506048877559057 Centerline is valid? [True, True] Translation: X:238.24, Y:23.90, Z:-1.47 [[ 9.99760012e-01 -1.93896393e-02 1.01961371e-02 2.38235644e+02] [ 1.93797398e-02 9.99811624e-01 1.06882246e-03 2.38998454e+01] [-1.02149405e-02 -8.70967467e-04 9.99947447e-01 -1.47413746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11140051299998 meters 0.08355581005000008 Centerline is valid? [True, True] Translation: X:238.27, Y:23.90, Z:-1.47 [[ 9.99757529e-01 -1.92711987e-02 1.06538362e-02 2.38267152e+02] [ 1.92603859e-02 9.99813878e-01 1.11659478e-03 2.39035004e+01] [-1.06733714e-02 -9.11127040e-04 9.99942623e-01 -1.47407887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14140051299998 meters 0.08473334601566355 Centerline is valid? [True, True] Translation: X:238.30, Y:23.91, Z:-1.48 [[ 9.99748386e-01 -2.01603992e-02 9.83480880e-03 2.38296621e+02] [ 2.01512326e-02 9.99796412e-01 1.03026980e-03 2.39139079e+01] [-9.85357721e-03 -8.31827051e-04 9.99951106e-01 -1.47663877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17140051299998 meters 0.0860647423766797 Centerline is valid? [True, True] Translation: X:238.33, Y:23.92, Z:-1.48 [[ 9.99736061e-01 -2.11539346e-02 8.96212416e-03 2.38326628e+02] [ 2.11463627e-02 9.99775950e-01 9.38800185e-04 2.39222987e+01] [-8.97997552e-03 -7.49036070e-04 9.99959399e-01 -1.47834087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20140051299998 meters 0.08217634216271827 Centerline is valid? [True, True] Translation: X:238.36, Y:23.92, Z:-1.48 [[ 9.99727365e-01 -2.19112928e-02 8.06792282e-03 2.38358037e+02] [ 2.19051823e-02 9.99759696e-01 8.44982665e-04 2.39207281e+01] [-8.08449873e-03 -6.68022972e-04 9.99967097e-01 -1.48036221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23140051299998 meters 0.0758696123411647 Centerline is valid? [True, True] Translation: X:238.39, Y:23.92, Z:-1.48 [[ 9.99613505e-01 -2.65820890e-02 8.13836639e-03 2.38388206e+02] [ 2.65760274e-02 9.99646432e-01 8.52076349e-04 2.39235973e+01] [-8.15813889e-03 -6.35461578e-04 9.99966520e-01 -1.47990798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26140051299998 meters 0.07716695133755584 Centerline is valid? [True, True] Translation: X:238.42, Y:23.93, Z:-1.48 [[ 9.99528912e-01 -2.93012900e-02 9.13178234e-03 2.38417010e+02] [ 2.92937714e-02 9.99570388e-01 9.56044301e-04 2.39298694e+01] [-9.15587255e-03 -6.88089575e-04 9.99957847e-01 -1.47897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29140051299999 meters 0.07485412819778874 Centerline is valid? [True, True] Translation: X:238.45, Y:23.93, Z:-1.48 [[ 9.99436978e-01 -3.21754544e-02 9.51137522e-03 2.38447818e+02] [ 3.21674258e-02 9.99481998e-01 9.95924594e-04 2.39318066e+01] [-9.53849264e-03 -6.89407410e-04 9.99954270e-01 -1.47923377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321400513 meters 0.06787729280531472 Centerline is valid? [True, True] Translation: X:238.48, Y:23.93, Z:-1.48 [[ 9.99215970e-01 -3.88413218e-02 7.66797219e-03 2.38478782e+02] [ 3.88362988e-02 9.99245264e-01 8.02938288e-04 2.39270024e+01] [-7.69337208e-03 -5.04513100e-04 9.99970278e-01 -1.48303673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351400513 meters 0.058732359842850204 Centerline is valid? [True, True] Translation: X:238.51, Y:23.92, Z:-1.48 [[ 9.99085025e-01 -4.21535943e-02 7.22408730e-03 2.38510593e+02] [ 4.21492221e-02 9.99111040e-01 7.56470185e-04 2.39180987e+01] [-7.24955331e-03 -4.51288373e-04 9.99973620e-01 -1.48367854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381400513 meters 0.06081204189200918 Centerline is valid? [True, True] Translation: X:238.54, Y:23.92, Z:-1.48 [[ 9.98945809e-01 -4.52698509e-02 7.60989412e-03 2.38539631e+02] [ 4.52650896e-02 9.98974693e-01 7.96827073e-04 2.39227506e+01] [-7.63816388e-03 -4.51524526e-04 9.99970727e-01 -1.48446482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411400513 meters 0.05441546272197797 Centerline is valid? [True, True] Translation: X:238.57, Y:23.92, Z:-1.48 [[ 9.98850672e-01 -4.72990180e-02 7.75490247e-03 2.38570577e+02] [ 4.72941342e-02 9.98880676e-01 8.12052205e-04 2.39166868e+01] [-7.78463149e-03 -4.44357492e-04 9.99969601e-01 -1.48420214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441400513 meters 0.056596969962986333 Centerline is valid? [True, True] Translation: X:238.60, Y:23.92, Z:-1.48 [[ 9.98797843e-01 -4.83783642e-02 7.89951140e-03 2.38598641e+02] [ 4.83733290e-02 9.98828983e-01 8.27341196e-04 2.39215149e+01] [-7.93028635e-03 -4.44220939e-04 9.99968456e-01 -1.48470422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471400513 meters 0.05160427957906535 Centerline is valid? [True, True] Translation: X:238.63, Y:23.92, Z:-1.48 [[ 9.98850142e-01 -4.73788589e-02 7.32370350e-03 2.38628745e+02] [ 4.73745012e-02 9.98876903e-01 7.67452985e-04 2.39170224e+01] [-7.35183932e-03 -4.19613723e-04 9.99972887e-01 -1.48486184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501400513 meters 0.062141996925199235 Centerline is valid? [True, True] Translation: X:238.66, Y:23.93, Z:-1.49 [[ 9.98914954e-01 -4.59838889e-02 7.37543733e-03 2.38656075e+02] [ 4.59794312e-02 9.98942088e-01 7.72909190e-04 2.39322804e+01] [-7.40317613e-03 -4.32952135e-04 9.99972502e-01 -1.48634348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531400513 meters 0.055491919832958723 Centerline is valid? [True, True] Translation: X:238.69, Y:23.93, Z:-1.49 [[ 9.98981264e-01 -4.45383995e-02 7.26402635e-03 2.38686584e+02] [ 4.45340337e-02 9.99007577e-01 7.61748205e-04 2.39267959e+01] [-7.29074441e-03 -4.37475790e-04 9.99973326e-01 -1.48624488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561400513 meters 0.05618565760798326 Centerline is valid? [True, True] Translation: X:238.72, Y:23.93, Z:-1.49 [[ 9.99080283e-01 -4.22277818e-02 7.44327978e-03 2.38716545e+02] [ 4.22231323e-02 9.99107901e-01 7.80768077e-04 2.39302600e+01] [-7.46960974e-03 -4.65771405e-04 9.99971994e-01 -1.48661127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591400513 meters 0.06612075500277903 Centerline is valid? [True, True] Translation: X:238.74, Y:23.94, Z:-1.49 [[ 9.99156575e-01 -4.04544917e-02 7.04081809e-03 2.38744816e+02] [ 4.04502866e-02 9.99181279e-01 7.38699235e-04 2.39385340e+01] [-7.06493732e-03 -4.53273089e-04 9.99974940e-01 -1.48851414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621400513 meters 0.06438202770681394 Centerline is valid? [True, True] Translation: X:238.77, Y:23.94, Z:-1.49 [[ 9.99182792e-01 -4.00176930e-02 5.68620827e-03 2.38772356e+02] [ 4.00149462e-02 9.99198904e-01 5.96051018e-04 2.39441233e+01] [-5.70550565e-03 -3.68030602e-04 9.99983656e-01 -1.48952467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65140051299997 meters 0.060225147327386576 Centerline is valid? [True, True] Translation: X:238.80, Y:23.94, Z:-1.49 [[ 9.99236245e-01 -3.88842761e-02 3.86511199e-03 2.38801952e+02] [ 3.88829969e-02 9.99243688e-01 4.05600625e-04 2.39405958e+01] [-3.87796025e-03 -2.55003708e-04 9.99992448e-01 -1.49105272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68140051299997 meters 0.06535302816814487 Centerline is valid? [True, True] Translation: X:238.83, Y:23.95, Z:-1.49 [[ 9.99280617e-01 -3.77033067e-02 4.08780224e-03 2.38829866e+02] [ 3.77018653e-02 9.99288940e-01 4.29140219e-04 2.39487757e+01] [-4.10107557e-03 -2.74713734e-04 9.99991553e-01 -1.49139686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71140051299997 meters 0.06836187631867574 Centerline is valid? [True, True] Translation: X:238.86, Y:23.96, Z:-1.49 [[ 9.99273932e-01 -3.76490441e-02 5.84455536e-03 2.38856900e+02] [ 3.76460950e-02 9.99290946e-01 6.13813157e-04 2.39556468e+01] [-5.86352074e-03 -3.93342800e-04 9.99982732e-01 -1.48918442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74140051299997 meters 0.0688351846709579 Centerline is valid? [True, True] Translation: X:238.89, Y:23.96, Z:-1.49 [[ 9.99267057e-01 -3.75649654e-02 7.36356713e-03 2.38885394e+02] [ 3.75602813e-02 9.99294064e-01 7.73435574e-04 2.39596014e+01] [-7.38742301e-03 -4.96291037e-04 9.99972589e-01 -1.48729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77140051299997 meters 0.06297823569044009 Centerline is valid? [True, True] Translation: X:238.92, Y:23.96, Z:-1.49 [[ 9.99278236e-01 -3.70538474e-02 8.36777985e-03 2.38915095e+02] [ 3.70477676e-02 9.99313108e-01 8.80468777e-04 2.39558092e+01] [-8.39465684e-03 -5.69825723e-04 9.99964602e-01 -1.48582782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80140051299998 meters 0.07639451282148536 Centerline is valid? [True, True] Translation: X:238.94, Y:23.98, Z:-1.49 [[ 9.99293532e-01 -3.66541950e-02 8.30099444e-03 2.38940848e+02] [ 3.66481833e-02 9.99327846e-01 8.75223021e-04 2.39759804e+01] [-8.32749549e-03 -5.70388339e-04 9.99965163e-01 -1.48827641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83140051299998 meters 0.06984147636654371 Centerline is valid? [True, True] Translation: X:238.97, Y:23.97, Z:-1.49 [[ 9.99299686e-01 -3.64973962e-02 8.25094581e-03 2.38969655e+02] [ 3.64914475e-02 9.99333586e-01 8.70428587e-04 2.39729302e+01] [-8.27721565e-03 -5.68730058e-04 9.99965582e-01 -1.48888541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86140051299998 meters 0.07056294121916293 Centerline is valid? [True, True] Translation: X:239.00, Y:23.98, Z:-1.49 [[ 9.99296412e-01 -3.65143532e-02 8.56637516e-03 2.38998208e+02] [ 3.65079405e-02 9.99332954e-01 9.03818394e-04 2.39797120e+01] [-8.59366334e-03 -5.90441764e-04 9.99962899e-01 -1.48946695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89140051299998 meters 0.06983905381500233 Centerline is valid? [True, True] Translation: X:239.03, Y:23.99, Z:-1.49 [[ 9.99268073e-01 -3.69363577e-02 9.95108744e-03 2.39026761e+02] [ 3.69277064e-02 9.99317386e-01 1.05178360e-03 2.39867006e+01] [-9.98314374e-03 -6.83542938e-04 9.99949934e-01 -1.48731993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92140051299998 meters 0.06833993638371488 Centerline is valid? [True, True] Translation: X:239.06, Y:23.99, Z:-1.49 [[ 9.99227244e-01 -3.77389392e-02 1.09857597e-02 2.39056233e+02] [ 3.77284201e-02 9.99287353e-01 1.16327100e-03 2.39899140e+01] [-1.10218313e-02 -7.47896716e-04 9.99938978e-01 -1.48584569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95140051299998 meters 0.0673946098301099 Centerline is valid? [True, True] Translation: X:239.09, Y:23.99, Z:-1.48 [[ 9.99160966e-01 -3.91720350e-02 1.19546939e-02 2.39085780e+02] [ 3.91596768e-02 9.99232163e-01 1.26617092e-03 2.39947470e+01] [-1.19951131e-02 -7.96966609e-04 9.99927738e-01 -1.48477503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98140051299998 meters 0.06522151555438135 Centerline is valid? [True, True] Translation: X:239.12, Y:24.00, Z:-1.49 [[ 9.99027779e-01 -4.24027031e-02 1.20626124e-02 2.39115587e+02] [ 4.23903536e-02 9.99100308e-01 1.27774208e-03 2.40033542e+01] [-1.21059395e-02 -7.65161423e-04 9.99926428e-01 -1.48573123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01140051299998 meters 0.05658456757705236 Centerline is valid? [True, True] Translation: X:239.15, Y:24.00, Z:-1.49 [[ 9.98964292e-01 -4.40923487e-02 1.12342412e-02 2.39146201e+02] [ 4.40817435e-02 9.99027219e-01 1.19000190e-03 2.39995776e+01] [-1.12757827e-02 -6.93544471e-04 9.99936186e-01 -1.48742070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04140051299999 meters 0.06126422062530043 Centerline is valid? [True, True] Translation: X:239.17, Y:24.01, Z:-1.49 [[ 9.98890702e-01 -4.58332518e-02 1.08017641e-02 2.39174230e+02] [ 4.58235478e-02 9.98948894e-01 1.14429343e-03 2.40117123e+01] [-1.08428570e-02 -6.48048912e-04 9.99941005e-01 -1.48864760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071400513 meters 0.050568486648173185 Centerline is valid? [True, True] Translation: X:239.20, Y:24.01, Z:-1.49 [[ 9.98806920e-01 -4.75647805e-02 1.10602306e-02 2.39204732e+02] [ 4.75547093e-02 9.98867947e-01 1.17193910e-03 2.40054788e+01] [-1.11034529e-02 -6.44574827e-04 9.99938147e-01 -1.48800820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101400513 meters 0.057605700467662425 Centerline is valid? [True, True] Translation: X:239.23, Y:24.02, Z:-1.49 [[ 9.98652304e-01 -5.03922704e-02 1.24175210e-02 2.39231874e+02] [ 5.03797891e-02 9.98729265e-01 1.31609715e-03 2.40247851e+01] [-1.24680627e-02 -6.88731359e-04 9.99922033e-01 -1.48637962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131400513 meters 0.05405661694499935 Centerline is valid? [True, True] Translation: X:239.26, Y:24.03, Z:-1.49 [[ 9.98577987e-01 -5.18133636e-02 1.25450593e-02 2.39261495e+02] [ 5.18007338e-02 9.98656555e-01 1.32982614e-03 2.40260396e+01] [-1.25971085e-02 -6.78091830e-04 9.99920423e-01 -1.48673490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161400513 meters 0.055454561312335796 Centerline is valid? [True, True] Translation: X:239.29, Y:24.03, Z:-1.49 [[ 9.98503473e-01 -5.34203432e-02 1.17081366e-02 2.39289580e+02] [ 5.34094497e-02 9.98571925e-01 1.24135109e-03 2.40322551e+01] [-1.17577299e-02 -6.14168241e-04 9.99930687e-01 -1.48839409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191400513 meters 0.04825271797132922 Centerline is valid? [True, True] Translation: X:239.32, Y:24.03, Z:-1.49 [[ 9.98445930e-01 -5.47705700e-02 1.02912208e-02 2.39318998e+02] [ 5.47622224e-02 9.98498827e-01 1.09139644e-03 2.40274236e+01] [-1.03355483e-02 -5.26130213e-04 9.99946448e-01 -1.49093863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221400513 meters 0.048662456396352215 Centerline is valid? [True, True] Translation: X:239.35, Y:24.03, Z:-1.50 [[ 9.98304146e-01 -5.77860081e-02 7.04344772e-03 2.39347202e+02] [ 5.77821714e-02 9.98328935e-01 7.47179044e-04 2.40330814e+01] [-7.07485415e-03 -3.38926234e-04 9.99974915e-01 -1.49597238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251400513 meters 0.04789754870751913 Centerline is valid? [True, True] Translation: X:239.38, Y:24.04, Z:-1.50 [[ 9.98200084e-01 -5.96230837e-02 6.45595695e-03 2.39375993e+02] [ 5.96198974e-02 9.98220917e-01 6.85057544e-04 2.40353983e+01] [-6.48531651e-03 -2.98921008e-04 9.99978925e-01 -1.49773783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281400513 meters 0.05123805271103905 Centerline is valid? [True, True] Translation: X:239.40, Y:24.04, Z:-1.50 [[ 9.98106436e-01 -6.11115875e-02 6.99405971e-03 2.39404744e+02] [ 6.11078827e-02 9.98130891e-01 7.42371286e-04 2.40359048e+01] [-7.02635454e-03 -3.13573378e-04 9.99975266e-01 -1.49827025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311400513 meters 0.043836193388440095 Centerline is valid? [True, True] Translation: X:239.43, Y:24.04, Z:-1.50 [[ 9.97958821e-01 -6.33442298e-02 8.10558786e-03 2.39434488e+02] [ 6.33393228e-02 9.97991678e-01 8.60920648e-04 2.40357450e+01] [-8.14384358e-03 -3.45760909e-04 9.99966779e-01 -1.49590090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341400513 meters 0.04059242301661038 Centerline is valid? [True, True] Translation: X:239.46, Y:24.03, Z:-1.49 [[ 9.97818724e-01 -6.53041356e-02 9.65217483e-03 2.39464771e+02] [ 6.52972661e-02 9.97865329e-01 1.02546776e-03 2.40324721e+01] [-9.69853790e-03 -3.92970298e-04 9.99952891e-01 -1.49305928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371400513 meters 0.043716616487095156 Centerline is valid? [True, True] Translation: X:239.49, Y:24.04, Z:-1.49 [[ 9.97822281e-01 -6.52593173e-02 9.58738809e-03 2.39491756e+02] [ 6.52525365e-02 9.97868262e-01 1.01870781e-03 2.40378705e+01] [-9.63343047e-03 -3.90887957e-04 9.99953521e-01 -1.49348581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40140051299997 meters 0.043681019569291525 Centerline is valid? [True, True] Translation: X:239.52, Y:24.04, Z:-1.49 [[ 9.97866345e-01 -6.46142414e-02 9.36784766e-03 2.39520880e+02] [ 6.46077372e-02 9.97910241e-01 9.95589715e-04 2.40389998e+01] [-9.41260039e-03 -3.88230031e-04 9.99955625e-01 -1.49413279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43140051299997 meters 0.04245268667769769 Centerline is valid? [True, True] Translation: X:239.55, Y:24.04, Z:-1.50 [[ 9.97945145e-01 -6.34308776e-02 9.05598435e-03 2.39549753e+02] [ 6.34247348e-02 9.97986159e-01 9.64191060e-04 2.40354650e+01] [-9.09890653e-03 -3.87836382e-04 9.99958529e-01 -1.49500086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46140051299997 meters 0.04730307341527191 Centerline is valid? [True, True] Translation: X:239.58, Y:24.05, Z:-1.49 [[ 9.98042479e-01 -6.16722372e-02 1.03799940e-02 2.39577323e+02] [ 6.16640637e-02 9.98096348e-01 1.10594904e-03 2.40455366e+01] [-1.04284405e-02 -4.63711515e-04 9.99945515e-01 -1.49429803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49140051299997 meters 0.04867272746239024 Centerline is valid? [True, True] Translation: X:239.61, Y:24.05, Z:-1.50 [[ 9.98136005e-01 -6.01490354e-02 1.03251972e-02 2.39606190e+02] [ 6.01408627e-02 9.98189293e-01 1.10048355e-03 2.40498049e+01] [-1.03726944e-02 -4.77465989e-04 9.99946088e-01 -1.49530051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52140051299997 meters 0.04588210798253568 Centerline is valid? [True, True] Translation: X:239.64, Y:24.05, Z:-1.50 [[ 9.98245002e-01 -5.84395394e-02 9.57786440e-03 2.39635557e+02] [ 5.84324257e-02 9.98290844e-01 1.02112262e-03 2.40482077e+01] [-9.62116827e-03 -4.59672699e-04 9.99953610e-01 -1.49602752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55140051299998 meters 0.05055173533889911 Centerline is valid? [True, True] Translation: X:239.66, Y:24.06, Z:-1.50 [[ 9.98361671e-01 -5.65116080e-02 8.96723197e-03 2.39663575e+02] [ 5.65052927e-02 9.98401842e-01 9.56261644e-04 2.40552111e+01] [-9.00694080e-03 -4.47998906e-04 9.99959336e-01 -1.49688523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58140051299998 meters 0.05055173533889911 Centerline is valid? [True, True] Translation: X:239.69, Y:24.06, Z:-1.50 [[ 9.98351332e-01 -5.66939747e-02 8.96723436e-03 2.39690962e+02] [ 5.66876670e-02 9.98391503e-01 9.56239807e-04 2.40582775e+01] [-9.00702363e-03 -4.46331689e-04 9.99959336e-01 -1.49723109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61140051299998 meters 0.05511272099733662 Centerline is valid? [True, True] Translation: X:239.72, Y:24.06, Z:-1.50 [[ 9.98548928e-01 -5.31262545e-02 8.81127763e-03 2.39720395e+02] [ 5.31200060e-02 9.98587692e-01 9.41829500e-04 2.40644374e+01] [-8.84886926e-03 -4.72407716e-04 9.99960736e-01 -1.49756689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64140051299998 meters 0.055018942942591784 Centerline is valid? [True, True] Translation: X:239.75, Y:24.07, Z:-1.50 [[ 9.98628253e-01 -5.15399962e-02 9.23264143e-03 2.39749808e+02] [ 5.15330675e-02 9.98670801e-01 9.86957603e-04 2.40674240e+01] [-9.27123720e-03 -5.09817414e-04 9.99956891e-01 -1.49741000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67140051299998 meters 0.05911264483907849 Centerline is valid? [True, True] Translation: X:239.78, Y:24.07, Z:-1.50 [[ 9.98732063e-01 -4.95385055e-02 8.95561381e-03 2.39779300e+02] [ 4.95319040e-02 9.98772083e-01 9.57582160e-04 2.40739298e+01] [-8.99205424e-03 -5.12779403e-04 9.99959439e-01 -1.49880077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70140051299998 meters 0.059521352545485226 Centerline is valid? [True, True] Translation: X:239.81, Y:24.08, Z:-1.50 [[ 9.98769521e-01 -4.87766042e-02 8.96026227e-03 2.39806112e+02] [ 4.87699661e-02 9.98809578e-01 9.57980983e-04 2.40798961e+01] [-8.99632284e-03 -5.19810521e-04 9.99959397e-01 -1.50017043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73140051299998 meters 0.06829904505309475 Centerline is valid? [True, True] Translation: X:239.83, Y:24.09, Z:-1.50 [[ 9.98853908e-01 -4.72048528e-02 7.91031914e-03 2.39833601e+02] [ 4.71996254e-02 9.98885118e-01 8.46328866e-04 2.40943685e+01] [-7.94145090e-03 -4.71994794e-04 9.99968355e-01 -1.50297322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76140051299998 meters 0.06039714257933069 Centerline is valid? [True, True] Translation: X:239.86, Y:24.09, Z:-1.50 [[ 9.98894989e-01 -4.62481265e-02 8.36129815e-03 2.39863547e+02] [ 4.62422500e-02 9.98929854e-01 8.94881687e-04 2.40889750e+01] [-8.39373694e-03 -5.07247593e-04 9.99964643e-01 -1.50221330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79140051299999 meters 0.05865030941510566 Centerline is valid? [True, True] Translation: X:239.89, Y:24.09, Z:-1.50 [[ 9.99025309e-01 -4.31473633e-02 9.31331147e-03 2.39893490e+02] [ 4.31399338e-02 9.99068542e-01 9.97247025e-04 2.40913176e+01] [-9.34766509e-03 -5.94499377e-04 9.99956133e-01 -1.50076054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821400513 meters 0.06501395280328388 Centerline is valid? [True, True] Translation: X:239.92, Y:24.10, Z:-1.50 [[ 9.99074242e-01 -4.20737493e-02 8.96991833e-03 2.39920975e+02] [ 4.20668155e-02 9.99114338e-01 9.60366222e-04 2.41024361e+01] [-9.00238022e-03 -5.82141256e-04 9.99959308e-01 -1.50180855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851400513 meters 0.061618958515996816 Centerline is valid? [True, True] Translation: X:239.95, Y:24.10, Z:-1.50 [[ 9.99096126e-01 -4.15919597e-02 8.77726660e-03 2.39950312e+02] [ 4.15853036e-02 9.99134515e-01 9.39563592e-04 2.41025222e+01] [-8.80874830e-03 -5.73709048e-04 9.99961038e-01 -1.50222658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881400513 meters 0.06095645987555478 Centerline is valid? [True, True] Translation: X:239.98, Y:24.11, Z:-1.50 [[ 9.99097939e-01 -4.15471423e-02 8.78310374e-03 2.39978717e+02] [ 4.15404630e-02 9.99136379e-01 9.41624860e-04 2.41058590e+01] [-8.81464029e-03 -5.75921261e-04 9.99960984e-01 -1.50242839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911400513 meters 0.06801712409123462 Centerline is valid? [True, True] Translation: X:240.00, Y:24.12, Z:-1.50 [[ 9.99103653e-01 -4.13312716e-02 9.14423216e-03 2.40004972e+02] [ 4.13240049e-02 9.99145316e-01 9.82282141e-04 2.41194510e+01] [-9.17701570e-03 -6.03525381e-04 9.99957708e-01 -1.50269842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941400513 meters 0.06745771922281069 Centerline is valid? [True, True] Translation: X:240.03, Y:24.12, Z:-1.50 [[ 9.99118929e-01 -4.08399070e-02 9.66786881e-03 2.40033519e+02] [ 4.08317581e-02 9.99165496e-01 1.03885474e-03 2.41229027e+01] [-9.70222766e-03 -6.43183351e-04 9.99952725e-01 -1.50176822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971400513 meters 0.06997745611593449 Centerline is valid? [True, True] Translation: X:240.06, Y:24.13, Z:-1.50 [[ 9.99158080e-01 -3.98030715e-02 9.94220653e-03 2.40061106e+02] [ 3.97943834e-02 9.99207317e-01 1.07024338e-03 2.41302710e+01] [-9.97692448e-03 -6.73698341e-04 9.99950002e-01 -1.50157870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001400513 meters 0.07144362852613172 Centerline is valid? [True, True] Translation: X:240.09, Y:24.14, Z:-1.50 [[ 9.99217001e-01 -3.84484634e-02 9.33272771e-03 2.40090054e+02] [ 3.84407441e-02 9.99260376e-01 1.00516220e-03 2.41373159e+01] [-9.36447194e-03 -6.45618162e-04 9.99955944e-01 -1.50285585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031400513 meters 0.0722201001291659 Centerline is valid? [True, True] Translation: X:240.12, Y:24.14, Z:-1.50 [[ 9.99276654e-01 -3.70349112e-02 8.63618011e-03 2.40120099e+02] [ 3.70282465e-02 9.99313786e-01 9.30400903e-04 2.41436331e+01] [-8.66471116e-03 -6.09945296e-04 9.99962275e-01 -1.50455094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061400513 meters 0.06995596028199505 Centerline is valid? [True, True] Translation: X:240.15, Y:24.15, Z:-1.51 [[ 9.99325629e-01 -3.58075401e-02 8.13064154e-03 2.40149388e+02] [ 3.58015936e-02 9.99358534e-01 8.75788219e-04 2.41456204e+01] [-8.15678583e-03 -5.84107688e-04 9.99966562e-01 -1.50528270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091400513 meters 0.07502189256891253 Centerline is valid? [True, True] Translation: X:240.18, Y:24.16, Z:-1.51 [[ 9.99358448e-01 -3.49486404e-02 7.82848616e-03 2.40177054e+02] [ 3.49430995e-02 9.99388947e-01 8.43495995e-04 2.41561574e+01] [-7.85318158e-03 -5.69403278e-04 9.99969001e-01 -1.50643986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121400513 meters 0.06889964065639331 Centerline is valid? [True, True] Translation: X:240.21, Y:24.15, Z:-1.51 [[ 9.99344883e-01 -3.52237992e-02 8.31195729e-03 2.40207584e+02] [ 3.52175592e-02 9.99379268e-01 8.95944012e-04 2.41524914e+01] [-8.33835634e-03 -6.02630216e-04 9.99965054e-01 -1.50575635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15140051299997 meters 0.06475012156059057 Centerline is valid? [True, True] Translation: X:240.24, Y:24.15, Z:-1.50 [[ 9.99315402e-01 -3.57840383e-02 9.39305189e-03 2.40237832e+02] [ 3.57760917e-02 9.99359318e-01 1.01272788e-03 2.41512311e+01] [-9.42327342e-03 -6.75987882e-04 9.99955371e-01 -1.50498070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18140051299997 meters 0.06894030884814857 Centerline is valid? [True, True] Translation: X:240.27, Y:24.16, Z:-1.50 [[ 9.99295288e-01 -3.61650190e-02 1.00508222e-02 2.40266116e+02] [ 3.61559367e-02 9.99345573e-01 1.08393466e-03 2.41602860e+01] [-1.00834451e-02 -7.19773905e-04 9.99948902e-01 -1.50495974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21140051299997 meters 0.06707576519822081 Centerline is valid? [True, True] Translation: X:240.30, Y:24.16, Z:-1.51 [[ 9.99274798e-01 -3.68944889e-02 9.41669991e-03 2.40296939e+02] [ 3.68865475e-02 9.99318944e-01 1.01568598e-03 2.41617660e+01] [-9.44775982e-03 -6.67599853e-04 9.99955146e-01 -1.50628516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24140051299997 meters 0.07729611283632325 Centerline is valid? [True, True] Translation: X:240.32, Y:24.18, Z:-1.51 [[ 9.99271680e-01 -3.72307698e-02 8.36533337e-03 2.40324513e+02] [ 3.72245148e-02 9.99306520e-01 9.02238178e-04 2.41777640e+01] [-8.39312320e-03 -5.90185584e-04 9.99964603e-01 -1.50882838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27140051299997 meters 0.06553774800554203 Centerline is valid? [True, True] Translation: X:240.36, Y:24.17, Z:-1.51 [[ 9.99277218e-01 -3.72012427e-02 7.81720040e-03 2.40355143e+02] [ 3.71957795e-02 9.99307642e-01 8.43144595e-04 2.41671040e+01] [-7.84315412e-03 -5.51768323e-04 9.99969090e-01 -1.50922440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30140051299998 meters 0.06584384045375279 Centerline is valid? [True, True] Translation: X:240.38, Y:24.17, Z:-1.51 [[ 9.99281621e-01 -3.69460906e-02 8.43966150e-03 2.40384769e+02] [ 3.69397118e-02 9.99317081e-01 9.10502329e-04 2.41712719e+01] [-8.46753740e-03 -5.98089580e-04 9.99963971e-01 -1.50867659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33140051299998 meters 0.07421346667302382 Centerline is valid? [True, True] Translation: X:240.41, Y:24.18, Z:-1.50 [[ 9.99306922e-01 -3.55643112e-02 1.09934108e-02 2.40412550e+02] [ 3.55534005e-02 9.99367074e-01 1.18638863e-03 2.41828588e+01] [-1.10286459e-02 -7.94713237e-04 9.99938867e-01 -1.50498040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36140051299998 meters 0.07480347407468996 Centerline is valid? [True, True] Translation: X:240.44, Y:24.18, Z:-1.50 [[ 9.99331688e-01 -3.47325555e-02 1.13941932e-02 2.40443864e+02] [ 3.47207804e-02 9.99396295e-01 1.22968411e-03 2.41845996e+01] [-1.14300245e-02 -8.33247015e-04 9.99934328e-01 -1.50488880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39140051299998 meters 0.08595355559923121 Centerline is valid? [True, True] Translation: X:240.47, Y:24.20, Z:-1.51 [[ 9.99345865e-01 -3.44193852e-02 1.10971997e-02 2.40472913e+02] [ 3.44081992e-02 9.99407145e-01 1.19740556e-03 2.41994655e+01] [-1.11318347e-02 -8.14787632e-04 9.99937707e-01 -1.50617379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42140051299998 meters 0.07423215737802748 Centerline is valid? [True, True] Translation: X:240.51, Y:24.19, Z:-1.51 [[ 9.99339969e-01 -3.46486857e-02 1.09130205e-02 2.40506018e+02] [ 3.46378857e-02 9.99399235e-01 1.17715875e-03 2.41884634e+01] [-1.09472514e-02 -7.98377829e-04 9.99939758e-01 -1.50806236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45140051299998 meters 0.06893904614845277 Centerline is valid? [True, True] Translation: X:240.54, Y:24.19, Z:-1.51 [[ 9.99331671e-01 -3.46059545e-02 1.17745506e-02 2.40538062e+02] [ 3.45933822e-02 9.99400663e-01 1.26980398e-03 2.41856210e+01] [-1.18114365e-02 -8.61633799e-04 9.99929871e-01 -1.50710141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48140051299998 meters 0.0734773962148798 Centerline is valid? [True, True] Translation: X:240.57, Y:24.19, Z:-1.51 [[ 9.99302290e-01 -3.49283896e-02 1.32265325e-02 2.40567345e+02] [ 3.49125578e-02 9.99389353e-01 1.42605630e-03 2.41939705e+01] [-1.32682656e-02 -9.63289243e-04 9.99911509e-01 -1.50544101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51140051299998 meters 0.07475701987317734 Centerline is valid? [True, True] Translation: X:240.60, Y:24.20, Z:-1.50 [[ 9.99270893e-01 -3.54470534e-02 1.41840992e-02 2.40597347e+02] [ 3.54289004e-02 9.99371030e-01 1.52912502e-03 2.41976872e+01] [-1.42293808e-02 -1.02548308e-03 9.99898231e-01 -1.50351559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54140051299999 meters 0.07022330599947824 Centerline is valid? [True, True] Translation: X:240.63, Y:24.19, Z:-1.50 [[ 9.99215596e-01 -3.68673025e-02 1.44566745e-02 2.40629237e+02] [ 3.68485957e-02 9.99319645e-01 1.55832409e-03 2.41939193e+01] [-1.45042900e-02 -1.02439358e-03 9.99894283e-01 -1.50340331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571400513 meters 0.06357564274322822 Centerline is valid? [True, True] Translation: X:240.66, Y:24.19, Z:-1.51 [[ 9.99221826e-01 -3.72955548e-02 1.28368074e-02 2.40660943e+02] [ 3.72808440e-02 9.99303870e-01 1.38345861e-03 2.41886506e+01] [-1.28794682e-02 -9.03815024e-04 9.99916648e-01 -1.50673365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601400513 meters 0.07253836749798591 Centerline is valid? [True, True] Translation: X:240.69, Y:24.20, Z:-1.51 [[ 9.99249607e-01 -3.72076920e-02 1.07615362e-02 2.40690274e+02] [ 3.71973508e-02 9.99307266e-01 1.15957433e-03 2.42021852e+01] [-1.07972264e-02 -7.58403553e-04 9.99941421e-01 -1.51049460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631400513 meters 0.07947655656451175 Centerline is valid? [True, True] Translation: X:240.72, Y:24.21, Z:-1.51 [[ 9.99294172e-01 -3.64318105e-02 9.15869658e-03 2.40719263e+02] [ 3.64242876e-02 9.99335928e-01 9.86916192e-04 2.42126098e+01] [-9.18856969e-03 -6.52620600e-04 9.99957571e-01 -1.51336826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661400513 meters 0.06743390231590897 Centerline is valid? [True, True] Translation: X:240.75, Y:24.20, Z:-1.51 [[ 9.99331990e-01 -3.54992791e-02 8.68191496e-03 2.40750443e+02] [ 3.54924902e-02 9.99369506e-01 9.34827078e-04 2.42002578e+01] [-8.70962675e-03 -6.26059821e-04 9.99961874e-01 -1.51373317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691400513 meters 0.07571061341207307 Centerline is valid? [True, True] Translation: X:240.78, Y:24.21, Z:-1.51 [[ 9.99384623e-01 -3.38506578e-02 9.19287854e-03 2.40777758e+02] [ 3.38429748e-02 9.99426672e-01 9.90076642e-04 2.42149990e+01] [-9.22112276e-03 -6.78353015e-04 9.99957254e-01 -1.51411317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721400513 meters 0.07395840509536039 Centerline is valid? [True, True] Translation: X:240.81, Y:24.22, Z:-1.51 [[ 9.99411340e-01 -3.29578250e-02 9.52653251e-03 2.40807885e+02] [ 3.29495313e-02 9.99456490e-01 1.02627667e-03 2.42169635e+01] [-9.55517859e-03 -7.11777761e-04 9.99954095e-01 -1.51435629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751400513 meters 0.08298484799235864 Centerline is valid? [True, True] Translation: X:240.84, Y:24.23, Z:-1.52 [[ 9.99449266e-01 -3.18716993e-02 9.23899897e-03 2.40837095e+02] [ 3.18638505e-02 9.99491723e-01 9.95515253e-04 2.42306759e+01] [-9.26603176e-03 -7.00576907e-04 9.99956824e-01 -1.51601295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781400513 meters 0.07553658407134832 Centerline is valid? [True, True] Translation: X:240.87, Y:24.22, Z:-1.52 [[ 9.99468388e-01 -3.13361746e-02 8.99915253e-03 2.40868947e+02] [ 3.13287082e-02 9.99508665e-01 9.69490673e-04 2.42238508e+01] [-9.02511106e-03 -6.87043457e-04 9.99959037e-01 -1.51638096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811400513 meters 0.07657793503578475 Centerline is valid? [True, True] Translation: X:240.90, Y:24.23, Z:-1.52 [[ 9.99440229e-01 -3.22192913e-02 9.00809230e-03 2.40898629e+02] [ 3.22118492e-02 9.99480593e-01 9.70071335e-04 2.42276372e+01] [-9.03466844e-03 -6.79361007e-04 9.99958956e-01 -1.51680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841400513 meters 0.07478219483225787 Centerline is valid? [True, True] Translation: X:240.93, Y:24.23, Z:-1.52 [[ 9.99411822e-01 -3.30428620e-02 9.17487577e-03 2.40929265e+02] [ 3.30351762e-02 9.99453701e-01 9.88032060e-04 2.42290667e+01] [-9.20251095e-03 -6.84357284e-04 9.99957422e-01 -1.51734030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871400513 meters 0.0695011177022475 Centerline is valid? [True, True] Translation: X:240.96, Y:24.23, Z:-1.52 [[ 9.99381216e-01 -3.39664507e-02 9.13595775e-03 2.40960372e+02] [ 3.39588684e-02 9.99422747e-01 9.83841023e-04 2.42260965e+01] [-9.16410158e-03 -6.72985451e-04 9.99957782e-01 -1.51762052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90140051299997 meters 0.06697182059040337 Centerline is valid? [True, True] Translation: X:240.99, Y:24.23, Z:-1.52 [[ 9.99304850e-01 -3.62402116e-02 8.74433782e-03 2.40990777e+02] [ 3.62333520e-02 9.99342913e-01 9.41658450e-04 2.42260715e+01] [-8.77271793e-03 -6.24167185e-04 9.99961324e-01 -1.51958256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93140051299997 meters 0.06267056095731813 Centerline is valid? [True, True] Translation: X:241.02, Y:24.22, Z:-1.52 [[ 9.99255140e-01 -3.76603897e-02 8.41787372e-03 2.41020684e+02] [ 3.76540835e-02 9.99290422e-01 9.06436390e-04 2.42233118e+01] [-8.44603733e-03 -5.88793902e-04 9.99964158e-01 -1.52005904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96140051299997 meters 0.06823960022652097 Centerline is valid? [True, True] Translation: X:241.05, Y:24.23, Z:-1.52 [[ 9.99207890e-01 -3.89229455e-02 8.28235250e-03 2.41048868e+02] [ 3.89168823e-02 9.99242053e-01 8.92035219e-04 2.42328971e+01] [-8.31079555e-03 -5.69005292e-04 9.99965303e-01 -1.52090359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99140051299997 meters 0.0722357779124485 Centerline is valid? [True, True] Translation: X:241.08, Y:24.24, Z:-1.52 [[ 9.99170573e-01 -3.98684802e-02 8.28676565e-03 2.41077026e+02] [ 3.98624416e-02 9.99204778e-01 8.92662805e-04 2.42401796e+01] [-8.31576494e-03 -5.61591694e-04 9.99965266e-01 -1.52124984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02140051299997 meters 0.06631412683922935 Centerline is valid? [True, True] Translation: X:241.11, Y:24.23, Z:-1.52 [[ 9.99134782e-01 -4.07097073e-02 8.50923565e-03 2.41106431e+02] [ 4.07033722e-02 9.99170854e-01 9.16431288e-04 2.42343060e+01] [-8.53948791e-03 -5.69283790e-04 9.99963376e-01 -1.52059086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05140051299998 meters 0.05936389155791801 Centerline is valid? [True, True] Translation: X:241.14, Y:24.23, Z:-1.52 [[ 9.99061270e-01 -4.23420086e-02 9.15057769e-03 2.41137102e+02] [ 4.23347318e-02 9.99102995e-01 9.87558591e-04 2.42262306e+01] [-9.18418480e-03 -5.99244288e-04 9.99957645e-01 -1.52044362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08140051299998 meters 0.06722779370798816 Centerline is valid? [True, True] Translation: X:241.16, Y:24.24, Z:-1.52 [[ 9.99028167e-01 -4.30078342e-02 9.64615313e-03 2.41163583e+02] [ 4.29997781e-02 9.99074539e-01 1.04110921e-03 2.42376093e+01] [-9.68200185e-03 -6.25314977e-04 9.99952933e-01 -1.52147978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11140051299998 meters 0.06656535749046391 Centerline is valid? [True, True] Translation: X:241.19, Y:24.24, Z:-1.52 [[ 9.98976181e-01 -4.38351934e-02 1.11832750e-02 2.41192919e+02] [ 4.38244048e-02 9.99038519e-01 1.20806257e-03 2.42355816e+01] [-1.12254781e-02 -7.16725365e-04 9.99936735e-01 -1.51977505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14140051299998 meters 0.06417818247451475 Centerline is valid? [True, True] Translation: X:241.22, Y:24.23, Z:-1.52 [[ 9.98982313e-01 -4.35550484e-02 1.17173410e-02 2.41222267e+02] [ 4.35431632e-02 9.99050742e-01 1.26765879e-03 2.42334474e+01] [-1.17614311e-02 -7.56158619e-04 9.99930546e-01 -1.51867262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17140051299998 meters 0.07126586603794319 Centerline is valid? [True, True] Translation: X:241.25, Y:24.24, Z:-1.52 [[ 9.99011121e-01 -4.29296798e-02 1.15681485e-02 2.41250295e+02] [ 4.29180310e-02 9.99077811e-01 1.25345918e-03 2.42445563e+01] [-1.16112910e-02 -7.55737506e-04 9.99932301e-01 -1.51895662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20140051299998 meters 0.05869004614462827 Centerline is valid? [True, True] Translation: X:241.28, Y:24.23, Z:-1.52 [[ 9.99032115e-01 -4.26241276e-02 1.08635449e-02 2.41280356e+02] [ 4.26138353e-02 9.99090924e-01 1.17724224e-03 2.42325816e+01] [-1.09038480e-02 -7.13165495e-04 9.99940297e-01 -1.52030814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23140051299998 meters 0.06743839943754616 Centerline is valid? [True, True] Translation: X:241.31, Y:24.24, Z:-1.52 [[ 9.99064252e-01 -4.22228327e-02 9.37294299e-03 2.41307329e+02] [ 4.22151381e-02 9.99108026e-01 1.01735732e-03 2.42446145e+01] [-9.40753828e-03 -6.20725250e-04 9.99955555e-01 -1.52403533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26140051299998 meters 0.06013997274572938 Centerline is valid? [True, True] Translation: X:241.34, Y:24.23, Z:-1.52 [[ 9.99042720e-01 -4.28211187e-02 8.94397695e-03 2.41337348e+02] [ 4.28141365e-02 9.99082583e-01 9.70766230e-04 2.42331437e+01] [-8.97734088e-03 -5.86908286e-04 9.99959531e-01 -1.52453626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29140051299999 meters 0.06570948928351 Centerline is valid? [True, True] Translation: X:241.36, Y:24.24, Z:-1.52 [[ 9.99005290e-01 -4.35920229e-02 9.38969372e-03 2.41364085e+02] [ 4.35843422e-02 9.99049229e-01 1.02116253e-03 2.42443543e+01] [-9.42528082e-03 -6.10903147e-04 9.99955394e-01 -1.52382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321400513 meters 0.061709701797921415 Centerline is valid? [True, True] Translation: X:241.39, Y:24.24, Z:-1.52 [[ 9.98973580e-01 -4.39659453e-02 1.08987512e-02 2.41393219e+02] [ 4.39556129e-02 9.99032781e-01 1.18588563e-03 2.42427131e+01] [-1.09403483e-02 -7.05607123e-04 9.99939904e-01 -1.52186323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351400513 meters 0.06824884981491615 Centerline is valid? [True, True] Translation: X:241.42, Y:24.26, Z:-1.52 [[ 9.99057489e-01 -4.15662672e-02 1.25051983e-02 2.41421522e+02] [ 4.15524478e-02 9.99135394e-01 1.36300882e-03 2.42551134e+01] [-1.25510415e-02 -8.42102572e-04 9.99920878e-01 -1.52101113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381400513 meters 0.07093084996621274 Centerline is valid? [True, True] Translation: X:241.45, Y:24.26, Z:-1.52 [[ 9.99145389e-01 -3.96549195e-02 1.16609955e-02 2.41450408e+02] [ 3.96427728e-02 9.99213108e-01 1.27104535e-03 2.42612712e+01] [-1.17022227e-02 -8.07684911e-04 9.99931200e-01 -1.52267231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411400513 meters 0.07193599207062466 Centerline is valid? [True, True] Translation: X:241.48, Y:24.27, Z:-1.52 [[ 9.99242000e-01 -3.73780186e-02 1.08769701e-02 2.41480487e+02] [ 3.73673135e-02 9.99300894e-01 1.18583770e-03 2.42656896e+01] [-1.09136902e-02 -7.78495682e-04 9.99940141e-01 -1.52375766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441400513 meters 0.07395875335414687 Centerline is valid? [True, True] Translation: X:241.51, Y:24.27, Z:-1.53 [[ 9.99415685e-01 -3.28806749e-02 9.33544230e-03 2.41511104e+02] [ 3.28725933e-02 9.99459032e-01 1.01786182e-03 2.42692811e+01] [-9.36386011e-03 -7.10386869e-04 9.99955906e-01 -1.52625622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471400513 meters 0.07395875335414687 Centerline is valid? [True, True] Translation: X:241.54, Y:24.27, Z:-1.53 [[ 9.99414933e-01 -3.29035147e-02 9.33545992e-03 2.41540178e+02] [ 3.28954356e-02 9.99458281e-01 1.01770021e-03 2.42724880e+01] [-9.36388863e-03 -7.10010763e-04 9.99955906e-01 -1.52662351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501400513 meters 0.0782297791033352 Centerline is valid? [True, True] Translation: X:241.57, Y:24.29, Z:-1.53 [[ 9.99473557e-01 -3.11118681e-02 9.20111787e-03 2.41568279e+02] [ 3.11039425e-02 9.99515652e-01 1.00326399e-03 2.42853369e+01] [-9.22787475e-03 -7.16544784e-04 9.99957166e-01 -1.52723839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531400513 meters 0.08658262275733808 Centerline is valid? [True, True] Translation: X:241.60, Y:24.30, Z:-1.53 [[ 9.99508118e-01 -2.98417091e-02 9.64333613e-03 2.41595756e+02] [ 2.98329422e-02 9.99554345e-01 1.05172021e-03 2.42988065e+01] [-9.67042366e-03 -7.63513802e-04 9.99952949e-01 -1.52751580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561400513 meters 0.08458571843185249 Centerline is valid? [True, True] Translation: X:241.63, Y:24.30, Z:-1.53 [[ 9.99531438e-01 -2.89752371e-02 9.86605745e-03 2.41626780e+02] [ 2.89660155e-02 9.99579817e-01 1.07632330e-03 2.42993264e+01] [-9.89309862e-03 -7.90038608e-04 9.99950750e-01 -1.52755865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591400513 meters 0.07630445777972385 Centerline is valid? [True, True] Translation: X:241.66, Y:24.29, Z:-1.53 [[ 9.99540866e-01 -2.86370353e-02 9.89837161e-03 2.41659325e+02] [ 2.86277375e-02 9.99589559e-01 1.07977085e-03 2.42924819e+01] [-9.92523035e-03 -7.95907109e-04 9.99950427e-01 -1.52770037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621400513 meters 0.08631344840716916 Centerline is valid? [True, True] Translation: X:241.69, Y:24.31, Z:-1.53 [[ 9.99533134e-01 -2.90197241e-02 9.55871135e-03 2.41688473e+02] [ 2.90110722e-02 9.99578547e-01 1.04257874e-03 2.43082748e+01] [-9.58493814e-03 -7.64783528e-04 9.99953771e-01 -1.52897676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65140051299997 meters 0.0800535959486967 Centerline is valid? [True, True] Translation: X:241.72, Y:24.30, Z:-1.53 [[ 9.99523725e-01 -2.96246297e-02 8.64322801e-03 2.41720110e+02] [ 2.96175823e-02 9.99560859e-01 9.42248157e-04 2.43042303e+01] [-8.66734617e-03 -6.85807870e-04 9.99962203e-01 -1.53038448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68140051299997 meters 0.09060383377066823 Centerline is valid? [True, True] Translation: X:241.75, Y:24.32, Z:-1.53 [[ 9.99523151e-01 -2.97102597e-02 8.41252152e-03 2.41749228e+02] [ 2.97035874e-02 9.99558330e-01 9.17007168e-04 2.43209141e+01] [-8.43605049e-03 -6.66687826e-04 9.99964194e-01 -1.53224056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71140051299997 meters 0.07772146095366893 Centerline is valid? [True, True] Translation: X:241.78, Y:24.31, Z:-1.53 [[ 9.99539893e-01 -2.92817666e-02 7.91080643e-03 2.41780887e+02] [ 2.92758541e-02 9.99570998e-01 8.62187635e-04 2.43109531e+01] [-7.93265906e-03 -6.30195321e-04 9.99968337e-01 -1.53250850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74140051299997 meters 0.07977901545354939 Centerline is valid? [True, True] Translation: X:241.81, Y:24.32, Z:-1.53 [[ 9.99551899e-01 -2.88170619e-02 8.09808916e-03 2.41809919e+02] [ 2.88108513e-02 9.99584492e-01 8.82550053e-04 2.43184400e+01] [-8.12015684e-03 -6.48841738e-04 9.99966820e-01 -1.53260893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77140051299997 meters 0.08361131969151403 Centerline is valid? [True, True] Translation: X:241.84, Y:24.33, Z:-1.53 [[ 9.99573508e-01 -2.78601166e-02 8.75306379e-03 2.41838444e+02] [ 2.78528234e-02 9.99611580e-01 9.54040750e-04 2.43282006e+01] [-8.77624361e-03 -7.09836320e-04 9.99961236e-01 -1.53178231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80140051299998 meters 0.09220277719278906 Centerline is valid? [True, True] Translation: X:241.87, Y:24.34, Z:-1.53 [[ 9.99591311e-01 -2.68991991e-02 9.67701062e-03 2.41867405e+02] [ 2.68902383e-02 9.99637836e-01 1.05493161e-03 2.43413591e+01] [-9.70188277e-03 -7.94283348e-04 9.99952620e-01 -1.53088652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83140051299998 meters 0.08178894282061934 Centerline is valid? [True, True] Translation: X:241.90, Y:24.34, Z:-1.53 [[ 9.99619338e-01 -2.60173672e-02 9.18014290e-03 2.41899543e+02] [ 2.60092666e-02 9.99661201e-01 1.00070999e-03 2.43381753e+01] [-9.20306852e-03 -7.61560272e-04 9.99957361e-01 -1.53021833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86140051299998 meters 0.08724209147866278 Centerline is valid? [True, True] Translation: X:241.93, Y:24.35, Z:-1.53 [[ 9.99611205e-01 -2.65879437e-02 8.39758710e-03 2.41929338e+02] [ 2.65811868e-02 9.99646239e-01 9.15239889e-04 2.43497442e+01] [-8.41895071e-03 -6.91666217e-04 9.99964321e-01 -1.53234221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89140051299998 meters 0.0905175626682684 Centerline is valid? [True, True] Translation: X:241.96, Y:24.36, Z:-1.53 [[ 9.99576988e-01 -2.79495194e-02 8.04176568e-03 2.41958444e+02] [ 2.79433689e-02 9.99609124e-01 8.76192288e-04 2.43585572e+01] [-8.06311150e-03 -6.51107623e-04 9.99967281e-01 -1.53404923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92140051299998 meters 0.08945242327563172 Centerline is valid? [True, True] Translation: X:241.99, Y:24.36, Z:-1.53 [[ 9.99532531e-01 -2.93539748e-02 8.54771068e-03 2.41989773e+02] [ 2.93470768e-02 9.99568848e-01 9.31340038e-04 2.43581934e+01] [-8.57136385e-03 -6.80054344e-04 9.99963034e-01 -1.53387163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95140051299998 meters 0.08376623760514575 Centerline is valid? [True, True] Translation: X:242.02, Y:24.36, Z:-1.53 [[ 9.99413587e-01 -3.24108579e-02 1.10461945e-02 2.42019712e+02] [ 3.23995243e-02 9.99474273e-01 1.20347585e-03 2.43606905e+01] [-1.10793929e-02 -8.44878665e-04 9.99938265e-01 -1.52948976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98140051299998 meters 0.0820154379545671 Centerline is valid? [True, True] Translation: X:242.05, Y:24.36, Z:-1.53 [[ 9.99380561e-01 -3.33304300e-02 1.12949541e-02 2.42050737e+02] [ 3.33186381e-02 9.99444022e-01 1.23061895e-03 2.43629852e+01] [-1.13296914e-02 -8.53524172e-04 9.99935453e-01 -1.52875548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01140051299998 meters 0.07494479650091368 Centerline is valid? [True, True] Translation: X:242.08, Y:24.36, Z:-1.53 [[ 9.99357655e-01 -3.40268168e-02 1.12451349e-02 2.42082643e+02] [ 3.40151752e-02 9.99420566e-01 1.22494857e-03 2.43583283e+01] [-1.12803002e-02 -8.41656494e-04 9.99936021e-01 -1.52928290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04140051299999 meters 0.07679193627170273 Centerline is valid? [True, True] Translation: X:242.11, Y:24.36, Z:-1.53 [[ 9.99343585e-01 -3.44935316e-02 1.10722696e-02 2.42112330e+02] [ 3.44822761e-02 9.99404582e-01 1.20590393e-03 2.43647094e+01] [-1.11072728e-02 -8.23315302e-04 9.99937973e-01 -1.53006054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071400513 meters 0.07562066249894864 Centerline is valid? [True, True] Translation: X:242.14, Y:24.37, Z:-1.53 [[ 9.99289220e-01 -3.58645543e-02 1.16098747e-02 2.42143159e+02] [ 3.58522781e-02 9.99356301e-01 1.26386551e-03 2.43666729e+01] [-1.16477294e-02 -8.46726722e-04 9.99931804e-01 -1.53033408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101400513 meters 0.08228351118429794 Centerline is valid? [True, True] Translation: X:242.17, Y:24.38, Z:-1.53 [[ 9.99229644e-01 -3.73194963e-02 1.21397270e-02 2.42172073e+02] [ 3.73061817e-02 9.99303008e-01 1.32146413e-03 2.43765881e+01] [-1.21805821e-02 -8.67559266e-04 9.99925438e-01 -1.53010155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131400513 meters 0.07122111611165997 Centerline is valid? [True, True] Translation: X:242.20, Y:24.36, Z:-1.53 [[ 9.99136752e-01 -3.96198208e-02 1.24908144e-02 2.42204506e+02] [ 3.96059037e-02 9.99214453e-01 1.35968153e-03 2.43645706e+01] [-1.25348726e-02 -8.63797799e-04 9.99921062e-01 -1.52905497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161400513 meters 0.07021907969809228 Centerline is valid? [True, True] Translation: X:242.23, Y:24.36, Z:-1.53 [[ 9.99024626e-01 -4.22371879e-02 1.28769972e-02 2.42234264e+02] [ 4.22226139e-02 9.99107245e-01 1.40167522e-03 2.43644697e+01] [-1.29247040e-02 -8.56607578e-04 9.99916106e-01 -1.52818393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191400513 meters 0.062244334484478 Centerline is valid? [True, True] Translation: X:242.27, Y:24.35, Z:-1.53 [[ 9.98810621e-01 -4.70650577e-02 1.27367011e-02 2.42265984e+02] [ 4.70511888e-02 9.98891517e-01 1.38653026e-03 2.43543133e+01] [-1.27878398e-02 -7.85604218e-04 9.99917924e-01 -1.52720793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221400513 meters 0.062339395230179305 Centerline is valid? [True, True] Translation: X:242.29, Y:24.36, Z:-1.53 [[ 9.98763986e-01 -4.81644112e-02 1.22755510e-02 2.42294597e+02] [ 4.81516106e-02 9.98839144e-01 1.33637507e-03 2.43560711e+01] [-1.23256666e-02 -7.43635734e-04 9.99923760e-01 -1.52775864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251400513 meters 0.060668729431258894 Centerline is valid? [True, True] Translation: X:242.32, Y:24.36, Z:-1.53 [[ 9.98779096e-01 -4.79644861e-02 1.18205822e-02 2.42323854e+02] [ 4.79525993e-02 9.98848783e-01 1.28714718e-03 2.43556034e+01] [-1.18687115e-02 -7.18748053e-04 9.99929306e-01 -1.52895228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281400513 meters 0.06875778168588653 Centerline is valid? [True, True] Translation: X:242.35, Y:24.36, Z:-1.53 [[ 9.98869043e-01 -4.61300443e-02 1.15175579e-02 2.42351958e+02] [ 4.61186153e-02 9.98935181e-01 1.25608647e-03 2.43629044e+01] [-1.15632371e-02 -7.23492073e-04 9.99932882e-01 -1.53033877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311400513 meters 0.06876735487398418 Centerline is valid? [True, True] Translation: X:242.38, Y:24.37, Z:-1.53 [[ 9.99114859e-01 -4.08408415e-02 1.00759368e-02 2.42381887e+02] [ 4.08318242e-02 9.99165429e-01 1.09911198e-03 2.43682744e+01] [-1.01124164e-02 -6.86720227e-04 9.99948632e-01 -1.53250384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341400513 meters 0.07258289502181664 Centerline is valid? [True, True] Translation: X:242.41, Y:24.38, Z:-1.53 [[ 9.99229751e-01 -3.79758703e-02 9.88623659e-03 2.42410484e+02] [ 3.79670497e-02 9.99278410e-01 1.07843577e-03 2.43758924e+01] [-9.92005731e-03 -7.02253874e-04 9.99950548e-01 -1.53358409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371400513 meters 0.07114629250023806 Centerline is valid? [True, True] Translation: X:242.44, Y:24.38, Z:-1.53 [[ 9.99396552e-01 -3.32957417e-02 9.89568370e-03 2.42440699e+02] [ 3.32866760e-02 9.99445262e-01 1.07947069e-03 2.43780810e+01] [-9.92613597e-03 -7.49424867e-04 9.99950454e-01 -1.53346087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40140051299997 meters 0.07629648092208723 Centerline is valid? [True, True] Translation: X:242.47, Y:24.39, Z:-1.53 [[ 9.99432970e-01 -3.22529436e-02 9.66880429e-03 2.42469733e+02] [ 3.22442399e-02 9.99479463e-01 1.05475778e-03 2.43875332e+01] [-9.69779036e-03 -7.42396454e-04 9.99952700e-01 -1.53379203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43140051299997 meters 0.06961314068502342 Centerline is valid? [True, True] Translation: X:242.50, Y:24.38, Z:-1.53 [[ 9.99436570e-01 -3.22376069e-02 9.34237501e-03 2.42501310e+02] [ 3.22294804e-02 9.99479976e-01 1.01914802e-03 2.43822200e+01] [-9.37037164e-03 -7.17473904e-04 9.99955840e-01 -1.53459820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46140051299997 meters 0.08472198681209081 Centerline is valid? [True, True] Translation: X:242.53, Y:24.40, Z:-1.54 [[ 9.99414536e-01 -3.30232316e-02 8.94715021e-03 2.42529567e+02] [ 3.30158091e-02 9.99454353e-01 9.76074236e-04 2.44031970e+01] [-8.97450135e-03 -6.80105377e-04 9.99959497e-01 -1.53675759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49140051299997 meters 0.08097174941826832 Centerline is valid? [True, True] Translation: X:242.56, Y:24.40, Z:-1.54 [[ 9.99355153e-01 -3.46706093e-02 9.33949313e-03 2.42560204e+02] [ 3.46625958e-02 9.99398553e-01 1.01857763e-03 2.44015975e+01] [-9.36919062e-03 -6.94189730e-04 9.99955867e-01 -1.53690505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52140051299997 meters 0.07111884480945607 Centerline is valid? [True, True] Translation: X:242.59, Y:24.39, Z:-1.53 [[ 9.99175367e-01 -3.90354480e-02 1.11722658e-02 2.42592078e+02] [ 3.90242441e-02 9.99237520e-01 1.21916485e-03 2.43923926e+01] [-1.12113378e-02 -7.82170264e-04 9.99936845e-01 -1.53439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55140051299998 meters 0.06737093131003347 Centerline is valid? [True, True] Translation: X:242.62, Y:24.39, Z:-1.53 [[ 9.99092408e-01 -4.10652292e-02 1.13140577e-02 2.42622250e+02] [ 4.10538686e-02 9.99156172e-01 1.23464030e-03 2.43902122e+01] [-1.13552114e-02 -7.69033916e-04 9.99935232e-01 -1.53393467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58140051299998 meters 0.06789369595407674 Centerline is valid? [True, True] Translation: X:242.65, Y:24.39, Z:-1.53 [[ 9.99048588e-01 -4.22045176e-02 1.09862388e-02 2.42651279e+02] [ 4.21938732e-02 9.99108723e-01 1.19897021e-03 2.43933115e+01] [-1.10270490e-02 -7.34277526e-04 9.99938931e-01 -1.53409980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61140051299998 meters 0.07116781413665026 Centerline is valid? [True, True] Translation: X:242.68, Y:24.40, Z:-1.54 [[ 9.99051132e-01 -4.23023387e-02 1.03608989e-02 2.42679348e+02] [ 4.22928749e-02 9.99104616e-01 1.13092011e-03 2.43996885e+01] [-1.03994625e-02 -6.91654810e-04 9.99945685e-01 -1.53521272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64140051299998 meters 0.06852892055533326 Centerline is valid? [True, True] Translation: X:242.71, Y:24.40, Z:-1.53 [[ 9.99081536e-01 -4.14639903e-02 1.08084308e-02 2.42708688e+02] [ 4.14536385e-02 9.99139732e-01 1.18012775e-03 2.44001342e+01] [-1.08480654e-02 -7.30995064e-04 9.99940891e-01 -1.53492711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67140051299998 meters 0.06183063447393728 Centerline is valid? [True, True] Translation: X:242.74, Y:24.40, Z:-1.53 [[ 9.99106194e-01 -4.07655376e-02 1.11795950e-02 2.42738502e+02] [ 4.07544129e-02 9.99168448e-01 1.22120606e-03 2.43958042e+01] [-1.12200817e-02 -7.64496709e-04 9.99936761e-01 -1.53398011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70140051299998 meters 0.07310358363862868 Centerline is valid? [True, True] Translation: X:242.77, Y:24.41, Z:-1.53 [[ 9.99185652e-01 -3.88419275e-02 1.09241687e-02 2.42766143e+02] [ 3.88311848e-02 9.99245072e-01 1.19386860e-03 2.44143784e+01] [-1.09622938e-02 -7.68697966e-04 9.99939617e-01 -1.53436698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73140051299998 meters 0.07254052787702212 Centerline is valid? [True, True] Translation: X:242.80, Y:24.42, Z:-1.54 [[ 9.99233285e-01 -3.77310674e-02 1.04503280e-02 2.42795768e+02] [ 3.77211749e-02 9.99287650e-01 1.14217861e-03 2.44175706e+01] [-1.04859794e-02 -7.47104230e-04 9.99944742e-01 -1.53581455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76140051299998 meters 0.08246355220627821 Centerline is valid? [True, True] Translation: X:242.82, Y:24.43, Z:-1.54 [[ 9.99282958e-01 -3.64076460e-02 1.03948211e-02 2.42823044e+02] [ 3.63977847e-02 9.99336735e-01 1.13634329e-03 2.44332474e+01] [-1.04292982e-02 -7.57180018e-04 9.99945327e-01 -1.53687427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79140051299999 meters 0.07479501552570518 Centerline is valid? [True, True] Translation: X:242.85, Y:24.43, Z:-1.54 [[ 9.99328240e-01 -3.50024613e-02 1.08580185e-02 2.42854312e+02] [ 3.49916159e-02 9.99386901e-01 1.18726877e-03 2.44276847e+01] [-1.08929188e-02 -8.06531596e-04 9.99940345e-01 -1.53614387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821400513 meters 0.0760587945836167 Centerline is valid? [True, True] Translation: X:242.88, Y:24.43, Z:-1.54 [[ 9.99358061e-01 -3.40458320e-02 1.11510769e-02 2.42884382e+02] [ 3.40343340e-02 9.99419920e-01 1.21931321e-03 2.44334694e+01] [-1.11861209e-02 -8.39011006e-04 9.99937081e-01 -1.53570585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851400513 meters 0.07711743100929828 Centerline is valid? [True, True] Translation: X:242.91, Y:24.44, Z:-1.54 [[ 9.99435747e-01 -3.22361013e-02 9.43514426e-03 2.42914767e+02] [ 3.22277894e-02 9.99480017e-01 1.03170907e-03 2.44387498e+01] [-9.46349642e-03 -7.27053081e-04 9.99954956e-01 -1.53820170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881400513 meters 0.08719893101240697 Centerline is valid? [True, True] Translation: X:242.94, Y:24.46, Z:-1.54 [[ 9.99453161e-01 -3.18941821e-02 8.72585028e-03 2.42943231e+02] [ 3.18870605e-02 9.99491023e-01 9.54099624e-04 2.44576328e+01] [-8.75183925e-03 -6.75336169e-04 9.99961474e-01 -1.54034482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911400513 meters 0.07688338856263359 Centerline is valid? [True, True] Translation: X:242.97, Y:24.45, Z:-1.54 [[ 9.99454702e-01 -3.16049258e-02 9.56176890e-03 2.42974574e+02] [ 3.15963625e-02 9.99500164e-01 1.04534661e-03 2.44496686e+01] [-9.59002769e-03 -7.42659470e-04 9.99953739e-01 -1.54053799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941400513 meters 0.07813266211294159 Centerline is valid? [True, True] Translation: X:243.00, Y:24.45, Z:-1.54 [[ 9.99438063e-01 -3.18871437e-02 1.03329066e-02 2.43004864e+02] [ 3.18771585e-02 9.99491156e-01 1.12965175e-03 2.44538263e+01] [-1.03636701e-02 -7.99633250e-04 9.99945976e-01 -1.53979246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971400513 meters 0.06792494221735994 Centerline is valid? [True, True] Translation: X:243.04, Y:24.44, Z:-1.54 [[ 9.99413498e-01 -3.25768964e-02 1.05548762e-02 2.43037565e+02] [ 3.25665153e-02 9.99468904e-01 1.15396448e-03 2.44440418e+01] [-1.05868632e-02 -8.09552135e-04 9.99943630e-01 -1.53910622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001400513 meters 0.07884884718232286 Centerline is valid? [True, True] Translation: X:243.07, Y:24.46, Z:-1.54 [[ 9.99392810e-01 -3.33245856e-02 1.01727173e-02 2.43067057e+02] [ 3.33149836e-02 9.99444283e-01 1.11195167e-03 2.44574829e+01] [-1.02041195e-02 -7.72372591e-04 9.99947638e-01 -1.54119267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031400513 meters 0.06721055148675989 Centerline is valid? [True, True] Translation: X:243.10, Y:24.45, Z:-1.54 [[ 9.99345980e-01 -3.52821087e-02 7.92372939e-03 2.43098676e+02] [ 3.52763457e-02 9.99377221e-01 8.65946573e-04 2.44497446e+01] [-7.94934707e-03 -5.85860009e-04 9.99968232e-01 -1.54416788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061400513 meters 0.07527654100243943 Centerline is valid? [True, True] Translation: X:243.13, Y:24.46, Z:-1.54 [[ 9.99331414e-01 -3.55629649e-02 8.48529737e-03 2.43125777e+02] [ 3.55563686e-02 9.99367242e-01 9.27016727e-04 2.44620993e+01] [-8.51289570e-03 -6.24690576e-04 9.99963570e-01 -1.54468108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091400513 meters 0.08120216565975485 Centerline is valid? [True, True] Translation: X:243.15, Y:24.47, Z:-1.54 [[ 9.99325843e-01 -3.53870969e-02 9.77819400e-03 2.43153925e+02] [ 3.53783248e-02 9.99373420e-01 1.06867788e-03 2.44718520e+01] [-9.80988458e-03 -7.22021296e-04 9.99951621e-01 -1.54352816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121400513 meters 0.07107037871778835 Centerline is valid? [True, True] Translation: X:243.19, Y:24.46, Z:-1.54 [[ 9.99333198e-01 -3.48234110e-02 1.09767881e-02 2.43185136e+02] [ 3.48123177e-02 9.99393147e-01 1.20012474e-03 2.44624610e+01] [-1.10119192e-02 -8.17197061e-04 9.99939033e-01 -1.54166164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15140051299997 meters 0.07125120193969113 Centerline is valid? [True, True] Translation: X:243.22, Y:24.47, Z:-1.54 [[ 9.99416838e-01 -3.21502483e-02 1.15041784e-02 2.43215654e+02] [ 3.21378855e-02 9.99482653e-01 1.25793683e-03 2.44667022e+01] [-1.15386698e-02 -8.87483276e-04 9.99933033e-01 -1.54202489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18140051299997 meters 0.07723427650431516 Centerline is valid? [True, True] Translation: X:243.24, Y:24.48, Z:-1.54 [[ 9.99476280e-01 -3.05158062e-02 1.07680922e-02 2.43244251e+02] [ 3.05048803e-02 9.99533924e-01 1.17748984e-03 2.44772816e+01] [-1.07990055e-02 -8.48393806e-04 9.99941329e-01 -1.54399297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21140051299997 meters 0.07404829788795059 Centerline is valid? [True, True] Translation: X:243.28, Y:24.48, Z:-1.55 [[ 9.99532609e-01 -2.89024975e-02 9.96035824e-03 2.43275697e+02] [ 2.88930729e-02 9.99581915e-01 1.08884755e-03 2.44770458e+01] [-9.98766438e-03 -8.00553280e-04 9.99949802e-01 -1.54543798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24140051299997 meters 0.09048157819149899 Centerline is valid? [True, True] Translation: X:243.30, Y:24.50, Z:-1.55 [[ 9.99582699e-01 -2.71310588e-02 9.91636213e-03 2.43303320e+02] [ 2.71216321e-02 9.99631553e-01 1.08389308e-03 2.45009194e+01] [-9.94211564e-03 -8.14492849e-04 9.99950244e-01 -1.54631005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27140051299997 meters 0.08438914986272937 Centerline is valid? [True, True] Translation: X:243.33, Y:24.50, Z:-1.55 [[ 9.99637978e-01 -2.50306838e-02 9.86801198e-03 2.43334515e+02] [ 2.50212470e-02 9.99686338e-01 1.07861959e-03 2.44996535e+01] [-9.89191535e-03 -8.31319139e-04 9.99950728e-01 -1.54575286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30140051299998 meters 0.08540066444388913 Centerline is valid? [True, True] Translation: X:243.37, Y:24.51, Z:-1.55 [[ 9.99641751e-01 -2.47117500e-02 1.02810039e-02 2.43365350e+02] [ 2.47014899e-02 9.99694240e-01 1.12377215e-03 2.45058276e+01] [-1.03056307e-02 -8.69413444e-04 9.99946518e-01 -1.54572619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33140051299998 meters 0.07444531560805182 Centerline is valid? [True, True] Translation: X:243.40, Y:24.50, Z:-1.55 [[ 9.99648913e-01 -2.44197612e-02 1.02823458e-02 2.43399093e+02] [ 2.44094849e-02 9.99701413e-01 1.12374471e-03 2.44968250e+01] [-1.03067172e-02 -8.72363415e-04 9.99946504e-01 -1.54532148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36140051299998 meters 0.08749432191476678 Centerline is valid? [True, True] Translation: X:243.43, Y:24.52, Z:-1.55 [[ 9.99638815e-01 -2.45195912e-02 1.10013133e-02 2.43427885e+02] [ 2.45078398e-02 9.99698915e-01 1.20174235e-03 2.45169745e+01] [-1.10274672e-02 -9.31689876e-04 9.99938762e-01 -1.54566424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39140051299998 meters 0.08749432191476678 Centerline is valid? [True, True] Translation: X:243.46, Y:24.52, Z:-1.55 [[ 9.99639880e-01 -2.44761268e-02 1.10013536e-02 2.43459479e+02] [ 2.44643769e-02 9.99699980e-01 1.20137364e-03 2.45203476e+01] [-1.10274580e-02 -9.31799740e-04 9.99938762e-01 -1.54606326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42140051299998 meters 0.08235982882835022 Centerline is valid? [True, True] Translation: X:243.49, Y:24.52, Z:-1.55 [[ 9.99612244e-01 -2.56605934e-02 1.08118631e-02 2.43491129e+02] [ 2.56493190e-02 9.99670305e-01 1.18017801e-03 2.45183744e+01] [-1.08385826e-02 -9.02403461e-04 9.99940854e-01 -1.54672473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45140051299998 meters 0.0750878554875054 Centerline is valid? [True, True] Translation: X:243.52, Y:24.51, Z:-1.55 [[ 9.99587211e-01 -2.68318340e-02 1.02694082e-02 2.43523305e+02] [ 2.68217261e-02 9.99639605e-01 1.12075578e-03 2.45128206e+01] [-1.02957791e-02 -8.44849888e-04 9.99946640e-01 -1.54738561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48140051299998 meters 0.08709323822194516 Centerline is valid? [True, True] Translation: X:243.55, Y:24.53, Z:-1.55 [[ 9.99542769e-01 -2.84670201e-02 1.01921907e-02 2.43551200e+02] [ 2.84571510e-02 9.99594395e-01 1.11204023e-03 2.45309064e+01] [-1.02197132e-02 -8.21491059e-04 9.99947440e-01 -1.54801671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51140051299998 meters 0.07956459750297024 Centerline is valid? [True, True] Translation: X:243.58, Y:24.53, Z:-1.55 [[ 9.99437700e-01 -3.16260592e-02 1.11389769e-02 2.43582939e+02] [ 3.16144663e-02 9.99499399e-01 1.21535010e-03 2.45255737e+01] [-1.11718375e-02 -8.62513896e-04 9.99937221e-01 -1.54650991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54140051299999 meters 0.07729749339108731 Centerline is valid? [True, True] Translation: X:243.61, Y:24.53, Z:-1.55 [[ 9.99396989e-01 -3.27149773e-02 1.16356638e-02 2.43614175e+02] [ 3.27024016e-02 9.99464327e-01 1.26946665e-03 2.45264675e+01] [-1.16709615e-02 -8.88186993e-04 9.99931498e-01 -1.54618204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571400513 meters 0.07543895399638548 Centerline is valid? [True, True] Translation: X:243.65, Y:24.53, Z:-1.55 [[ 9.99370683e-01 -3.35119380e-02 1.16270791e-02 2.43645730e+02] [ 3.34994359e-02 9.99437932e-01 1.26840979e-03 2.45275209e+01] [-1.16630508e-02 -8.78110967e-04 9.99931599e-01 -1.54669923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601400513 meters 0.0715797414990356 Centerline is valid? [True, True] Translation: X:243.68, Y:24.53, Z:-1.55 [[ 9.99360098e-01 -3.39798877e-02 1.11696975e-02 2.43677660e+02] [ 3.39683816e-02 9.99422165e-01 1.21827253e-03 2.45261275e+01] [-1.12046401e-02 -8.38076402e-04 9.99936875e-01 -1.54766621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631400513 meters 0.08144737351408513 Centerline is valid? [True, True] Translation: X:243.71, Y:24.54, Z:-1.55 [[ 9.99361951e-01 -3.39956512e-02 1.09538767e-02 2.43706288e+02] [ 3.39845893e-02 9.99421643e-01 1.19446961e-03 2.45427453e+01] [-1.09881482e-02 -8.21444477e-04 9.99939291e-01 -1.54873403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661400513 meters 0.07773096318923467 Centerline is valid? [True, True] Translation: X:243.74, Y:24.54, Z:-1.55 [[ 9.99360595e-01 -3.38178692e-02 1.16083113e-02 2.43738026e+02] [ 3.38054356e-02 9.99427631e-01 1.26570120e-03 2.45422285e+01] [-1.16444704e-02 -8.72467882e-04 9.99931820e-01 -1.54773737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691400513 meters 0.07432684823090403 Centerline is valid? [True, True] Translation: X:243.77, Y:24.54, Z:-1.55 [[ 9.99369335e-01 -3.33422622e-02 1.22157659e-02 2.43769901e+02] [ 3.33284613e-02 9.99443565e-01 1.33164923e-03 2.45415173e+01] [-1.22533688e-02 -9.23676729e-04 9.99924498e-01 -1.54671191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721400513 meters 0.07716236261161924 Centerline is valid? [True, True] Translation: X:243.80, Y:24.55, Z:-1.55 [[ 9.99405755e-01 -3.21650846e-02 1.23913191e-02 2.43799777e+02] [ 3.21507978e-02 9.99482117e-01 1.35049938e-03 2.45487571e+01] [-1.24283408e-02 -9.51306062e-04 9.99922313e-01 -1.54634663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751400513 meters 0.08287002320545947 Centerline is valid? [True, True] Translation: X:243.83, Y:24.56, Z:-1.55 [[ 9.99509807e-01 -2.92127549e-02 1.12588089e-02 2.43828835e+02] [ 2.92007757e-02 9.99572813e-01 1.22694890e-03 2.45604037e+01] [-1.12898418e-02 -8.97581511e-04 9.99935865e-01 -1.54978253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781400513 meters 0.0794696026368112 Centerline is valid? [True, True] Translation: X:243.86, Y:24.56, Z:-1.55 [[ 9.99545596e-01 -2.81473357e-02 1.07855486e-02 2.43859704e+02] [ 2.81362813e-02 9.99603405e-01 1.17533583e-03 2.45602088e+01] [-1.08143536e-02 -8.71336529e-04 9.99941144e-01 -1.55149948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811400513 meters 0.08160828804269792 Centerline is valid? [True, True] Translation: X:243.89, Y:24.57, Z:-1.55 [[ 9.99569685e-01 -2.73014458e-02 1.07273640e-02 2.43889412e+02] [ 2.72904647e-02 9.99626863e-01 1.16873732e-03 2.45668593e+01] [-1.07552695e-02 -8.75479643e-04 9.99941777e-01 -1.55194263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841400513 meters 0.08517706487587089 Centerline is valid? [True, True] Translation: X:243.92, Y:24.58, Z:-1.55 [[ 9.99576696e-01 -2.70782909e-02 1.06393180e-02 2.43919394e+02] [ 2.70674767e-02 9.99632937e-01 1.15914922e-03 2.45751234e+01] [-1.06668004e-02 -8.70679054e-04 9.99942729e-01 -1.55221856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871400513 meters 0.08377949274514734 Centerline is valid? [True, True] Translation: X:243.95, Y:24.58, Z:-1.55 [[ 9.99547823e-01 -2.84761174e-02 9.65713789e-03 2.43950318e+02] [ 2.84672808e-02 9.99594172e-01 1.05129225e-03 2.45781198e+01] [-9.68315547e-03 -7.75904419e-04 9.99952816e-01 -1.55326046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90140051299997 meters 0.08011798842684109 Centerline is valid? [True, True] Translation: X:243.98, Y:24.58, Z:-1.56 [[ 9.99515413e-01 -2.99339635e-02 8.53798372e-03 2.43981746e+02] [ 2.99271099e-02 9.99551652e-01 9.29382186e-04 2.45769741e+01] [-8.56197582e-03 -6.73414642e-04 9.99963119e-01 -1.55556610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93140051299997 meters 0.08008665974282869 Centerline is valid? [True, True] Translation: X:244.01, Y:24.58, Z:-1.56 [[ 9.99454636e-01 -3.22371454e-02 7.15523759e-03 2.44010953e+02] [ 3.22323919e-02 9.99480098e-01 7.78698234e-04 2.45793870e+01] [-7.17662057e-03 -5.47643138e-04 9.99974098e-01 -1.55849214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96140051299997 meters 0.07532777617129398 Centerline is valid? [True, True] Translation: X:244.04, Y:24.58, Z:-1.56 [[ 9.99359230e-01 -3.52137786e-02 6.41244364e-03 2.44042018e+02] [ 3.52100221e-02 9.99379691e-01 6.97794975e-04 2.45756378e+01] [-6.43303794e-03 -4.71565567e-04 9.99979197e-01 -1.56047600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99140051299997 meters 0.06829625537005016 Centerline is valid? [True, True] Translation: X:244.07, Y:24.57, Z:-1.56 [[ 9.99088393e-01 -4.19647024e-02 7.83239912e-03 2.44073102e+02] [ 4.19593014e-02 9.99118957e-01 8.52697321e-04 2.45680119e+01] [-7.86128163e-03 -5.23278000e-04 9.99968963e-01 -1.55828502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02140051299997 meters 0.060746502345643154 Centerline is valid? [True, True] Translation: X:244.10, Y:24.56, Z:-1.56 [[ 9.98957756e-01 -4.47372433e-02 9.05428640e-03 2.44104115e+02] [ 4.47301376e-02 9.98998620e-01 9.85884361e-04 2.45617089e+01] [-9.08932537e-03 -5.79857353e-04 9.99958523e-01 -1.55623616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05140051299998 meters 0.06031933508964904 Centerline is valid? [True, True] Translation: X:244.13, Y:24.56, Z:-1.56 [[ 9.98868476e-01 -4.66186926e-02 9.40554533e-03 2.44133238e+02] [ 4.66111082e-02 9.98912587e-01 1.02409706e-03 2.45644617e+01] [-9.44305968e-03 -5.84535382e-04 9.99955242e-01 -1.55566696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08140051299998 meters 0.06088726210079496 Centerline is valid? [True, True] Translation: X:244.16, Y:24.57, Z:-1.56 [[ 9.98822407e-01 -4.76046204e-02 9.35947359e-03 2.44160535e+02] [ 4.75971530e-02 9.98866093e-01 1.01910301e-03 2.45682670e+01] [-9.39737484e-03 -5.72418629e-04 9.99955680e-01 -1.55614874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11140051299998 meters 0.06272087213243124 Centerline is valid? [True, True] Translation: X:244.19, Y:24.57, Z:-1.56 [[ 9.98791563e-01 -4.84122055e-02 8.46590953e-03 2.44188816e+02] [ 4.84061222e-02 9.98827311e-01 9.22123881e-04 2.45707004e+01] [-8.50062370e-03 -5.11207701e-04 9.99963738e-01 -1.55817079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14140051299998 meters 0.061260593353112645 Centerline is valid? [True, True] Translation: X:244.22, Y:24.57, Z:-1.56 [[ 9.98769644e-01 -4.88878169e-02 8.31738879e-03 2.44218275e+02] [ 4.88819507e-02 9.98804151e-01 9.07241498e-04 2.45692173e+01] [-8.35179551e-03 -4.99555079e-04 9.99964998e-01 -1.55879325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17140051299998 meters 0.05525730026758498 Centerline is valid? [True, True] Translation: X:244.25, Y:24.56, Z:-1.56 [[ 9.98682812e-01 -5.04663667e-02 9.26216019e-03 2.44249511e+02] [ 5.04591398e-02 9.98725613e-01 1.01244135e-03 2.45567305e+01] [-9.30145085e-03 -5.43747139e-04 9.99956593e-01 -1.55670558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20140051299998 meters 0.05475635157219241 Centerline is valid? [True, True] Translation: X:244.28, Y:24.56, Z:-1.56 [[ 9.98623463e-01 -5.16356086e-02 9.21645914e-03 2.44276899e+02] [ 5.16285015e-02 9.98665851e-01 1.00754854e-03 2.45597315e+01] [-9.25618839e-03 -5.30329633e-04 9.99957020e-01 -1.55680883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23140051299998 meters 0.05500574028570589 Centerline is valid? [True, True] Translation: X:244.31, Y:24.56, Z:-1.56 [[ 9.98581976e-01 -5.25449054e-02 8.54814919e-03 2.44305056e+02] [ 5.25388246e-02 9.98618445e-01 9.34531936e-04 2.45621924e+01] [-8.58544435e-03 -4.84097036e-04 9.99963027e-01 -1.55859621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26140051299998 meters 0.053149998528471146 Centerline is valid? [True, True] Translation: X:244.33, Y:24.56, Z:-1.56 [[ 9.98559841e-01 -5.30356237e-02 8.09111838e-03 2.44334226e+02] [ 5.30301819e-02 9.98592517e-01 8.85772692e-04 2.45623255e+01] [-8.12670778e-03 -4.55423559e-04 9.99966874e-01 -1.56003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29140051299999 meters 0.052003100088567046 Centerline is valid? [True, True] Translation: X:244.36, Y:24.56, Z:-1.56 [[ 9.98567371e-01 -5.26299974e-02 9.65862766e-03 2.44363491e+02] [ 5.26222047e-02 9.98613930e-01 1.05935950e-03 2.45617561e+01] [-9.70099421e-03 -5.49583548e-04 9.99952793e-01 -1.55931186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321400513 meters 0.05933260408678669 Centerline is valid? [True, True] Translation: X:244.39, Y:24.57, Z:-1.56 [[ 9.98607362e-01 -5.15852771e-02 1.10587495e-02 2.44391538e+02] [ 5.15749715e-02 9.98668386e-01 1.21525629e-03 2.45722849e+01] [-1.11067129e-02 -6.43209191e-04 9.99938112e-01 -1.55818951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351400513 meters 0.06001818982181299 Centerline is valid? [True, True] Translation: X:244.42, Y:24.57, Z:-1.56 [[ 9.98658526e-01 -5.03573064e-02 1.20536730e-02 2.44421322e+02] [ 5.03449681e-02 9.98731009e-01 1.32506308e-03 2.45742883e+01] [-1.21051036e-02 -7.16443764e-04 9.99926474e-01 -1.55703485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381400513 meters 0.05705340945151718 Centerline is valid? [True, True] Translation: X:244.45, Y:24.57, Z:-1.56 [[ 9.98686798e-01 -4.97877155e-02 1.20774023e-02 2.44450669e+02] [ 4.97752844e-02 9.98759560e-01 1.32788968e-03 2.45717740e+01] [-1.21285336e-02 -7.24989757e-04 9.99926184e-01 -1.55660062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411400513 meters 0.06044222343065567 Centerline is valid? [True, True] Translation: X:244.48, Y:24.58, Z:-1.56 [[ 9.98668297e-01 -5.06543546e-02 9.78617893e-03 2.44477999e+02] [ 5.06462197e-02 9.98716076e-01 1.07746756e-03 2.45774038e+01] [-9.82819264e-03 -5.80399730e-04 9.99951534e-01 -1.55986801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441400513 meters 0.060107796571628916 Centerline is valid? [True, True] Translation: X:244.51, Y:24.58, Z:-1.56 [[ 9.98618695e-01 -5.18479474e-02 8.51420207e-03 2.44505825e+02] [ 5.18418296e-02 9.98654868e-01 9.37826510e-04 2.45811048e+01] [-8.55137373e-03 -4.95139273e-04 9.99963314e-01 -1.56255996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471400513 meters 0.05479864787534875 Centerline is valid? [True, True] Translation: X:244.54, Y:24.58, Z:-1.56 [[ 9.98535617e-01 -5.34131140e-02 8.58253414e-03 2.44536261e+02] [ 5.34069495e-02 9.98572382e-01 9.46016610e-04 2.45787340e+01] [-8.62081125e-03 -4.86264312e-04 9.99962722e-01 -1.56326876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501400513 meters 0.05715164984477729 Centerline is valid? [True, True] Translation: X:244.56, Y:24.59, Z:-1.56 [[ 9.98420908e-01 -5.52662079e-02 1.00666062e-02 2.44564172e+02] [ 5.52578200e-02 9.98471503e-01 1.10968581e-03 2.45852205e+01] [-1.01125475e-02 -5.51674801e-04 9.99948715e-01 -1.56214493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531400513 meters 0.05041182703607862 Centerline is valid? [True, True] Translation: X:244.60, Y:24.58, Z:-1.56 [[ 9.98033473e-01 -6.15470709e-02 1.18804392e-02 2.44595084e+02] [ 6.15358254e-02 9.98104015e-01 1.31013957e-03 2.45801496e+01] [-1.19385493e-02 -5.76490513e-04 9.99928567e-01 -1.55959411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561400513 meters 0.04854863805475909 Centerline is valid? [True, True] Translation: X:244.63, Y:24.57, Z:-1.56 [[ 9.97791310e-01 -6.55202196e-02 1.09362606e-02 2.44626386e+02] [ 6.55109281e-02 9.97851123e-01 1.20606978e-03 2.45740632e+01] [-1.09917819e-02 -4.86961362e-04 9.99939470e-01 -1.56121800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591400513 meters 0.04429328308195021 Centerline is valid? [True, True] Translation: X:244.66, Y:24.57, Z:-1.56 [[ 9.97525401e-01 -6.97133540e-02 9.11714443e-03 2.44656924e+02] [ 6.97070713e-02 9.97566997e-01 1.00546240e-03 2.45724880e+01] [-9.16505654e-03 -3.67444849e-04 9.99957932e-01 -1.56404411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621400513 meters 0.03461059462813677 Centerline is valid? [True, True] Translation: X:244.69, Y:24.57, Z:-1.57 [[ 9.97000592e-01 -7.69989625e-02 7.80887746e-03 2.44686069e+02] [ 7.69945774e-02 9.97031140e-01 8.61085758e-04 2.45692747e+01] [-7.85199670e-03 -2.57261791e-04 9.99969140e-01 -1.56684102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65140051299997 meters 0.031563678205607945 Centerline is valid? [True, True] Translation: X:244.72, Y:24.57, Z:-1.56 [[ 9.96792234e-01 -7.95190811e-02 9.05301046e-03 2.44716163e+02] [ 7.95132877e-02 9.96833306e-01 9.98645807e-04 2.45688563e+01] [-9.10375374e-03 -2.75607760e-04 9.99958522e-01 -1.56444373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68140051299997 meters 0.028791528075501786 Centerline is valid? [True, True] Translation: X:244.75, Y:24.57, Z:-1.56 [[ 9.96639511e-01 -8.12066108e-02 1.07317855e-02 2.44745335e+02] [ 8.11985644e-02 9.96697241e-01 1.18409398e-03 2.45694218e+01] [-1.07924972e-02 -3.08709271e-04 9.99941712e-01 -1.56197700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71140051299997 meters 0.035991269378629155 Centerline is valid? [True, True] Translation: X:244.77, Y:24.57, Z:-1.56 [[ 9.96591758e-01 -8.17214044e-02 1.12463683e-02 2.44772378e+02] [ 8.17125943e-02 9.96655161e-01 1.24142097e-03 2.45745131e+01] [-1.13102017e-02 -3.18219971e-04 9.99935987e-01 -1.56128230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74140051299997 meters 0.036149325040800075 Centerline is valid? [True, True] Translation: X:244.80, Y:24.58, Z:-1.56 [[ 9.96599718e-01 -8.16866790e-02 1.07837521e-02 2.44800075e+02] [ 8.16785702e-02 9.96658012e-01 1.19096978e-03 2.45810665e+01] [-1.08449993e-02 -3.06118690e-04 9.99941144e-01 -1.56244082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77140051299997 meters 0.037296943973216555 Centerline is valid? [True, True] Translation: X:244.83, Y:24.59, Z:-1.57 [[ 9.96764276e-01 -7.98876446e-02 8.88493302e-03 2.44828538e+02] [ 7.98820644e-02 9.96803838e-01 9.81733135e-04 2.45886084e+01] [-8.93496369e-03 -2.68809725e-04 9.99960046e-01 -1.56511140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80140051299998 meters 0.03088717026099666 Centerline is valid? [True, True] Translation: X:244.86, Y:24.59, Z:-1.57 [[ 9.96837711e-01 -7.89923165e-02 8.64819384e-03 2.44857166e+02] [ 7.89869979e-02 9.96875188e-01 9.55361534e-04 2.45946921e+01] [-8.69663609e-03 -2.69245536e-04 9.99962147e-01 -1.56554152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83140051299998 meters 0.03220941855443876 Centerline is valid? [True, True] Translation: X:244.89, Y:24.60, Z:-1.57 [[ 9.96911929e-01 -7.80069839e-02 9.02865520e-03 2.44885054e+02] [ 7.80011322e-02 9.96952770e-01 9.98994191e-04 2.46026267e+01] [-9.07907134e-03 -2.91663898e-04 9.99958742e-01 -1.56529467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86140051299998 meters 0.033449532611430896 Centerline is valid? [True, True] Translation: X:244.91, Y:24.61, Z:-1.56 [[ 9.96946208e-01 -7.75008006e-02 9.58566156e-03 2.44912180e+02] [ 7.74941615e-02 9.96992240e-01 1.06266174e-03 2.46093003e+01] [-9.63918732e-03 -3.16583783e-04 9.99953492e-01 -1.56497084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89140051299998 meters 0.03333126603644095 Centerline is valid? [True, True] Translation: X:244.94, Y:24.61, Z:-1.57 [[ 9.96895352e-01 -7.82955216e-02 8.33478754e-03 2.44940148e+02] [ 7.82905267e-02 9.96930158e-01 9.24387384e-04 2.46132402e+01] [-8.38157645e-03 -2.68982580e-04 9.99964838e-01 -1.56753989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92140051299998 meters 0.037863583798541545 Centerline is valid? [True, True] Translation: X:244.97, Y:24.62, Z:-1.57 [[ 9.96817283e-01 -7.93823453e-02 7.33121950e-03 2.44969158e+02] [ 7.93785117e-02 9.96844216e-01 8.12880392e-04 2.46158612e+01] [-7.37261211e-03 -2.28351932e-04 9.99972796e-01 -1.56927298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95140051299998 meters 0.033853134089422664 Centerline is valid? [True, True] Translation: X:245.00, Y:24.62, Z:-1.57 [[ 9.96718063e-01 -8.06108937e-02 7.41534824e-03 2.44997670e+02] [ 8.06069963e-02 9.96745622e-01 8.23443337e-04 2.46189762e+01] [-7.45759440e-03 -2.23011899e-04 9.99972167e-01 -1.56941841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98140051299998 meters 0.026416507117193993 Centerline is valid? [True, True] Translation: X:245.03, Y:24.62, Z:-1.57 [[ 9.96472966e-01 -8.33981893e-02 9.29351986e-03 2.45027911e+02] [ 8.33921644e-02 9.96516270e-01 1.03460620e-03 2.46217898e+01] [-9.34742803e-03 -2.55950373e-04 9.99956279e-01 -1.56589354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01140051299998 meters 0.03487348117826439 Centerline is valid? [True, True] Translation: X:245.06, Y:24.62, Z:-1.56 [[ 9.96277740e-01 -8.55775164e-02 1.03514498e-02 2.45055450e+02] [ 8.55701585e-02 9.96331481e-01 1.15244747e-03 2.46247124e+01] [-1.04120989e-02 -2.62382556e-04 9.99945758e-01 -1.56476341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04140051299999 meters 0.022774800009431634 Centerline is valid? [True, True] Translation: X:245.08, Y:24.62, Z:-1.56 [[ 9.95985379e-01 -8.88757043e-02 1.06879883e-02 2.45084410e+02] [ 8.88680441e-02 9.96042697e-01 1.19045474e-03 2.46237972e+01] [-1.07514952e-02 -2.35854903e-04 9.99942173e-01 -1.56439133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071400513 meters 0.030010798871879088 Centerline is valid? [True, True] Translation: X:245.11, Y:24.62, Z:-1.57 [[ 9.95651093e-01 -9.25630903e-02 1.05344945e-02 2.45112213e+02] [ 9.25558502e-02 9.95706803e-01 1.17378099e-03 2.46234878e+01] [-1.05979166e-02 -1.93647230e-04 9.99943822e-01 -1.56539889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101400513 meters 0.013295800158566105 Centerline is valid? [True, True] Translation: X:245.14, Y:24.62, Z:-1.57 [[ 9.94944095e-01 -9.98994990e-02 1.03120251e-02 2.45142984e+02] [ 9.98929445e-02 9.94997526e-01 1.15002328e-03 2.46196373e+01] [-1.03753262e-02 -1.14110316e-04 9.99946168e-01 -1.56775808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131400513 meters 0.023264255055234426 Centerline is valid? [True, True] Translation: X:245.17, Y:24.62, Z:-1.57 [[ 9.94630490e-01 -1.03008083e-01 9.97610671e-03 2.45172393e+02] [ 1.03002109e-01 9.94680516e-01 1.11213833e-03 2.46180297e+01] [-1.00375982e-02 -7.86066610e-05 9.99949619e-01 -1.56814754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161400513 meters 0.02077854696103727 Centerline is valid? [True, True] Translation: X:245.20, Y:24.62, Z:-1.57 [[ 9.94391945e-01 -1.05305377e-01 9.76924583e-03 2.45200175e+02] [ 1.05299741e-01 9.94439930e-01 1.09097879e-03 2.46169241e+01] [-9.82981407e-03 -5.61614646e-05 9.99951685e-01 -1.56843473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191400513 meters 0.022281386626292195 Centerline is valid? [True, True] Translation: X:245.23, Y:24.62, Z:-1.57 [[ 9.94232242e-01 -1.06743714e-01 1.03937032e-02 2.45229348e+02] [ 1.06737408e-01 9.94286567e-01 1.16115764e-03 2.46166325e+01] [-1.04582657e-02 -4.50634253e-05 9.99945310e-01 -1.56673129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221400513 meters 0.018354159315652915 Centerline is valid? [True, True] Translation: X:245.26, Y:24.62, Z:-1.56 [[ 9.94256140e-01 -1.06374107e-01 1.18015883e-02 2.45256679e+02] [ 1.06365923e-01 9.94326177e-01 1.32071444e-03 2.46227962e+01] [-1.18751180e-02 -5.78416068e-05 9.99929487e-01 -1.56456484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251400513 meters 0.00979805974817831 Centerline is valid? [True, True] Translation: X:245.29, Y:24.63, Z:-1.57 [[ 9.94400020e-01 -1.05034853e-01 1.16739116e-02 2.45285054e+02] [ 1.05026727e-01 9.94468538e-01 1.30869525e-03 2.46295068e+01] [-1.17467964e-02 -7.52938595e-05 9.99931001e-01 -1.56578351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281400513 meters 0.00979805974817831 Centerline is valid? [True, True] Translation: X:245.31, Y:24.63, Z:-1.57 [[ 9.94379742e-01 -1.05226679e-01 1.16736927e-02 2.45312400e+02] [ 1.05218543e-01 9.94448259e-01 1.31064473e-03 2.46327299e+01] [-1.17467982e-02 -7.49896344e-05 9.99931001e-01 -1.56612865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311400513 meters 0.028463340205510498 Centerline is valid? [True, True] Translation: X:245.34, Y:24.64, Z:-1.57 [[ 9.94612696e-01 -1.03152353e-01 1.02555807e-02 2.45340495e+02] [ 1.03145945e-01 9.94665564e-01 1.15318220e-03 2.46393150e+01] [-1.03198264e-02 -8.91481041e-05 9.99946745e-01 -1.56804908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341400513 meters 0.015755279294918004 Centerline is valid? [True, True] Translation: X:245.37, Y:24.65, Z:-1.57 [[ 9.95099852e-01 -9.85419288e-02 8.11001047e-03 2.45367558e+02] [ 9.85377564e-02 9.95132894e-01 9.13429091e-04 2.46515838e+01] [-8.16054925e-03 -1.09810918e-04 9.99966696e-01 -1.57178332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371400513 meters 0.01967520663885011 Centerline is valid? [True, True] Translation: X:245.40, Y:24.66, Z:-1.57 [[ 9.95306495e-01 -9.64188798e-02 8.26923213e-03 2.45395702e+02] [ 9.64144693e-02 9.95340838e-01 9.31285950e-04 2.46601384e+01] [-8.32049798e-03 -1.29641328e-04 9.99965376e-01 -1.57186363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40140051299997 meters 0.019025548839385942 Centerline is valid? [True, True] Translation: X:245.42, Y:24.67, Z:-1.57 [[ 9.95485991e-01 -9.44694844e-02 9.11912107e-03 2.45423544e+02] [ 9.44640229e-02 9.95527744e-01 1.02874589e-03 2.46689543e+01] [-9.17552312e-03 -1.62673262e-04 9.99957891e-01 -1.57093156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43140051299997 meters 0.02311602699639338 Centerline is valid? [True, True] Translation: X:245.45, Y:24.68, Z:-1.57 [[ 9.95657449e-01 -9.25575391e-02 9.96727476e-03 2.45450101e+02] [ 9.25508977e-02 9.95707318e-01 1.12652030e-03 2.46800255e+01] [-1.00287564e-02 -1.99148102e-04 9.99949691e-01 -1.57053523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46140051299997 meters 0.022788099018113597 Centerline is valid? [True, True] Translation: X:245.48, Y:24.69, Z:-1.57 [[ 9.95817493e-01 -9.09981681e-02 8.17644475e-03 2.45477982e+02] [ 9.09936408e-02 9.95851044e-01 9.24791631e-04 2.46859373e+01] [-8.22667539e-03 -1.76919207e-04 9.99966145e-01 -1.57216902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49140051299997 meters 0.03285667752352892 Centerline is valid? [True, True] Translation: X:245.51, Y:24.69, Z:-1.57 [[ 9.95779697e-01 -9.15185523e-02 6.86651746e-03 2.45505366e+02] [ 9.15153749e-02 9.95803361e-01 7.76177567e-04 2.46902940e+01] [-6.90873581e-03 -1.44509944e-04 9.99976124e-01 -1.57374225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52140051299997 meters 0.019275145849813484 Centerline is valid? [True, True] Translation: X:245.53, Y:24.69, Z:-1.57 [[ 9.95645555e-01 -9.29618097e-02 6.93036346e-03 2.45534487e+02] [ 9.29585978e-02 9.95669666e-01 7.84852627e-04 2.46926103e+01] [-6.97331399e-03 -1.37198160e-04 9.99975677e-01 -1.57340001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55140051299998 meters 0.02009613347719961 Centerline is valid? [True, True] Translation: X:245.56, Y:24.70, Z:-1.57 [[ 9.95529530e-01 -9.40901702e-02 8.24589027e-03 2.45561430e+02] [ 9.40856422e-02 9.95563667e-01 9.36184084e-04 2.46986457e+01] [-8.29739448e-03 -1.56179019e-04 9.99965564e-01 -1.57237513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58140051299998 meters 0.027974442514762225 Centerline is valid? [True, True] Translation: X:245.59, Y:24.70, Z:-1.57 [[ 9.95268247e-01 -9.63612723e-02 1.24748596e-02 2.45589270e+02] [ 9.63510721e-02 9.95346403e-01 1.41749590e-03 2.47013087e+01] [-1.25533983e-02 -2.08822564e-04 9.99921181e-01 -1.56558433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61140051299998 meters 0.018131779144571085 Centerline is valid? [True, True] Translation: X:245.62, Y:24.70, Z:-1.57 [[ 9.95157026e-01 -9.74371431e-02 1.29805982e-02 2.45617687e+02] [ 9.74261748e-02 9.95241660e-01 1.47616746e-03 2.47033585e+01] [-1.30626656e-02 -2.04368393e-04 9.99914659e-01 -1.56529387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64140051299998 meters 0.026970679096196232 Centerline is valid? [True, True] Translation: X:245.65, Y:24.71, Z:-1.57 [[ 9.95109516e-01 -9.81456679e-02 1.11570417e-02 2.45646895e+02] [ 9.81375923e-02 9.95172045e-01 1.27033232e-03 2.47052532e+01] [-1.12278536e-02 -1.69194572e-04 9.99936951e-01 -1.56868685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67140051299998 meters 0.016907102018698255 Centerline is valid? [True, True] Translation: X:245.68, Y:24.71, Z:-1.57 [[ 9.95116953e-01 -9.83100732e-02 8.79654139e-03 2.45675637e+02] [ 9.83050506e-02 9.95155823e-01 1.00258730e-03 2.47082905e+01] [-8.85249382e-03 -1.32947173e-04 9.99960807e-01 -1.57347747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70140051299998 meters 0.02164648043285998 Centerline is valid? [True, True] Translation: X:245.70, Y:24.72, Z:-1.58 [[ 9.95443114e-01 -9.51239830e-02 6.66586190e-03 2.45703829e+02] [ 9.51210182e-02 9.95465425e-01 7.61129038e-04 2.47167279e+01] [-6.70803667e-03 -1.23597090e-04 9.99977493e-01 -1.57690072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73140051299998 meters 0.02219523664779089 Centerline is valid? [True, True] Translation: X:245.73, Y:24.72, Z:-1.57 [[ 9.95699465e-01 -9.23184817e-02 7.73777747e-03 2.45732506e+02] [ 9.23144042e-02 9.95729517e-01 8.83241276e-04 2.47208148e+01] [-7.78627291e-03 -1.65134550e-04 9.99969673e-01 -1.57389165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76140051299998 meters 0.02508258971093267 Centerline is valid? [True, True] Translation: X:245.76, Y:24.73, Z:-1.57 [[ 9.95961844e-01 -8.92816576e-02 9.42287616e-03 2.45761481e+02] [ 8.92754511e-02 9.96006391e-01 1.07809298e-03 2.47285214e+01] [-9.48149881e-03 -2.32507951e-04 9.99955023e-01 -1.57107963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79140051299999 meters 0.031175023730995278 Centerline is valid? [True, True] Translation: X:245.79, Y:24.74, Z:-1.57 [[ 9.96225484e-01 -8.61124162e-02 1.09286867e-02 2.45788986e+02] [ 8.61038736e-02 9.96285380e-01 1.25066959e-03 2.47385921e+01] [-1.09957890e-02 -3.04946661e-04 9.99939498e-01 -1.56894112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821400513 meters 0.03553598085317908 Centerline is valid? [True, True] Translation: X:245.82, Y:24.75, Z:-1.57 [[ 9.96736955e-01 -8.00740593e-02 1.01777973e-02 2.45818692e+02] [ 8.00663314e-02 9.96788857e-01 1.16515363e-03 2.47497380e+01] [-1.02384136e-02 -3.46452782e-04 9.99947526e-01 -1.57213818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851400513 meters 0.03983884100748692 Centerline is valid? [True, True] Translation: X:245.85, Y:24.76, Z:-1.58 [[ 9.96952508e-01 -7.74977673e-02 8.93273917e-03 2.45846684e+02] [ 7.74917122e-02 9.96992472e-01 1.02250774e-03 2.47573282e+01] [-8.98511577e-03 -3.27178400e-04 9.99959580e-01 -1.57505562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881400513 meters 0.04099693551936395 Centerline is valid? [True, True] Translation: X:245.88, Y:24.76, Z:-1.58 [[ 9.97095637e-01 -7.56812892e-02 8.52256365e-03 2.45875923e+02] [ 7.56757084e-02 9.97132005e-01 9.75879081e-04 2.47613467e+01] [-8.57197677e-03 -3.28093732e-04 9.99963206e-01 -1.57574730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911400513 meters 0.038808711069650025 Centerline is valid? [True, True] Translation: X:245.90, Y:24.76, Z:-1.57 [[ 9.97163377e-01 -7.45072430e-02 1.06710315e-02 2.45904576e+02] [ 7.44984238e-02 9.97220382e-01 1.22214207e-03 2.47608351e+01] [-1.07324286e-02 -4.23700286e-04 9.99942316e-01 -1.57236172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941400513 meters 0.03849915576906975 Centerline is valid? [True, True] Translation: X:245.93, Y:24.76, Z:-1.57 [[ 9.97081718e-01 -7.53411626e-02 1.23189453e-02 2.45933495e+02] [ 7.53294622e-02 9.97157700e-01 1.41171488e-03 2.47624680e+01] [-1.23902914e-02 -4.79615572e-04 9.99923122e-01 -1.57009565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971400513 meters 0.039563679173398904 Centerline is valid? [True, True] Translation: X:245.96, Y:24.77, Z:-1.57 [[ 9.96977754e-01 -7.65129642e-02 1.34582137e-02 2.45960926e+02] [ 7.64990739e-02 9.97068456e-01 1.54464291e-03 2.47653918e+01] [-1.35369456e-02 -5.10433731e-04 9.99908241e-01 -1.56863663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001400513 meters 0.03654002662534611 Centerline is valid? [True, True] Translation: X:245.99, Y:24.76, Z:-1.57 [[ 9.96874625e-01 -7.78670156e-02 1.33307639e-02 2.45990772e+02] [ 7.78534917e-02 9.96963635e-01 1.53124060e-03 2.47623675e+01] [-1.34095200e-02 -4.88608387e-04 9.99909969e-01 -1.56945078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031400513 meters 0.034869581819453314 Centerline is valid? [True, True] Translation: X:246.02, Y:24.76, Z:-1.57 [[ 9.96766164e-01 -7.94018452e-02 1.23515710e-02 2.46019808e+02] [ 7.93903308e-02 9.96842594e-01 1.42053479e-03 2.47608175e+01] [-1.24253652e-02 -4.35345706e-04 9.99922707e-01 -1.57117729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061400513 meters 0.03864738732188138 Centerline is valid? [True, True] Translation: X:246.05, Y:24.75, Z:-1.58 [[ 9.96670742e-01 -8.09065240e-02 1.00780232e-02 2.46049222e+02] [ 8.08989225e-02 9.96721635e-01 1.16032626e-03 2.47549905e+01] [-1.01388617e-02 -3.41162015e-04 9.99948542e-01 -1.57525411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091400513 meters 0.035559437054660435 Centerline is valid? [True, True] Translation: X:246.08, Y:24.76, Z:-1.58 [[ 9.96707203e-01 -8.05345875e-02 9.43035371e-03 2.46077480e+02] [ 8.05278980e-02 9.96751762e-01 1.08754587e-03 2.47565583e+01] [-9.48730673e-03 -3.24558237e-04 9.99954942e-01 -1.57632452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121400513 meters 0.03370874081044662 Centerline is valid? [True, True] Translation: X:246.11, Y:24.76, Z:-1.58 [[ 9.96732934e-01 -8.02288483e-02 9.31617166e-03 2.46106594e+02] [ 8.02223046e-02 9.96776418e-01 1.07458520e-03 2.47564944e+01] [-9.37235295e-03 -3.23709699e-04 9.99956026e-01 -1.57629865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15140051299997 meters 0.036103239093970535 Centerline is valid? [True, True] Translation: X:246.13, Y:24.76, Z:-1.58 [[ 9.96802296e-01 -7.93597768e-02 9.33850939e-03 2.46133864e+02] [ 7.93531455e-02 9.96845983e-01 1.07908562e-03 2.47599597e+01] [-9.39469157e-03 -3.34594930e-04 9.99955813e-01 -1.57599739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18140051299997 meters 0.040479958614226465 Centerline is valid? [True, True] Translation: X:246.16, Y:24.76, Z:-1.58 [[ 9.97017633e-01 -7.65990146e-02 9.40373507e-03 2.46162002e+02] [ 7.65921619e-02 9.97061913e-01 1.08722852e-03 2.47634492e+01] [-9.45938672e-03 -3.63733610e-04 9.99955193e-01 -1.57592099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21140051299997 meters 0.039752925171306706 Centerline is valid? [True, True] Translation: X:246.19, Y:24.76, Z:-1.58 [[ 9.97145418e-01 -7.49584294e-02 9.06908934e-03 2.46191654e+02] [ 7.49519836e-02 9.97186592e-01 1.04902530e-03 2.47631429e+01] [-9.12220758e-03 -3.66284537e-04 9.99958325e-01 -1.57662903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24140051299997 meters 0.043340272974410114 Centerline is valid? [True, True] Translation: X:246.22, Y:24.77, Z:-1.58 [[ 9.97262679e-01 -7.33671824e-02 9.18723617e-03 2.46220270e+02] [ 7.33604985e-02 9.97304922e-01 1.06287525e-03 2.47680803e+01] [-9.24045602e-03 -3.85985593e-04 9.99957232e-01 -1.57691732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27140051299997 meters 0.04577756316256518 Centerline is valid? [True, True] Translation: X:246.25, Y:24.77, Z:-1.58 [[ 9.97440017e-01 -7.08926171e-02 9.36212095e-03 2.46250498e+02] [ 7.08855636e-02 9.97483866e-01 1.08352019e-03 2.47694982e+01] [-9.41537818e-03 -4.17107181e-04 9.99955587e-01 -1.57744020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30140051299998 meters 0.04554946137039032 Centerline is valid? [True, True] Translation: X:246.28, Y:24.77, Z:-1.58 [[ 9.97526095e-01 -6.96229871e-02 9.71237750e-03 2.46280219e+02] [ 6.96153350e-02 9.97573276e-01 1.12414148e-03 2.47697041e+01] [-9.76707433e-03 -4.45230043e-04 9.99952202e-01 -1.57730521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33140051299998 meters 0.04876505275543419 Centerline is valid? [True, True] Translation: X:246.31, Y:24.77, Z:-1.58 [[ 9.97620395e-01 -6.82195212e-02 9.98217800e-03 2.46308160e+02] [ 6.82113661e-02 9.97670223e-01 1.15555150e-03 2.47736062e+01] [-1.00377529e-02 -4.71903742e-04 9.99949509e-01 -1.57710624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36140051299998 meters 0.05017622940062373 Centerline is valid? [True, True] Translation: X:246.34, Y:24.78, Z:-1.58 [[ 9.97703239e-01 -6.69229021e-02 1.04677066e-02 2.46337403e+02] [ 6.69138574e-02 9.97758020e-01 1.21229882e-03 2.47755663e+01] [-1.05253688e-02 -5.09079832e-04 9.99944477e-01 -1.57686678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39140051299998 meters 0.05006242817151843 Centerline is valid? [True, True] Translation: X:246.37, Y:24.77, Z:-1.58 [[ 9.97821524e-01 -6.49647693e-02 1.14797792e-02 2.46367617e+02] [ 6.49537566e-02 9.97887389e-01 1.32995511e-03 2.47737693e+01] [-1.15419271e-02 -5.81403054e-04 9.99933221e-01 -1.57641230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42140051299998 meters 0.0521143643388984 Centerline is valid? [True, True] Translation: X:246.39, Y:24.78, Z:-1.58 [[ 9.97881691e-01 -6.39912127e-02 1.17155948e-02 2.46394862e+02] [ 6.39796731e-02 9.97950279e-01 1.35751764e-03 2.47771243e+01] [-1.17784503e-02 -6.05082077e-04 9.99930449e-01 -1.57657576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45140051299998 meters 0.04901880970342075 Centerline is valid? [True, True] Translation: X:246.42, Y:24.77, Z:-1.58 [[ 9.97939387e-01 -6.31084841e-02 1.15887176e-02 2.46424057e+02] [ 6.30971256e-02 9.98006487e-01 1.34351543e-03 2.47743103e+01] [-1.16504026e-02 -6.09532197e-04 9.99931946e-01 -1.57700790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48140051299998 meters 0.05320145347251731 Centerline is valid? [True, True] Translation: X:246.45, Y:24.78, Z:-1.58 [[ 9.98015108e-01 -6.20026269e-02 1.10235285e-02 2.46452008e+02] [ 6.19922609e-02 9.98075809e-01 1.27990730e-03 2.47803265e+01] [-1.10816748e-02 -5.93993363e-04 9.99938420e-01 -1.57774403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51140051299998 meters 0.05412377642639387 Centerline is valid? [True, True] Translation: X:246.48, Y:24.78, Z:-1.58 [[ 9.98212059e-01 -5.90822010e-02 9.05420631e-03 2.46482455e+02] [ 5.90750851e-02 9.98252988e-01 1.05160297e-03 2.47812426e+01] [-9.10051953e-03 -5.14844754e-04 9.99958457e-01 -1.57986094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54140051299999 meters 0.055911004254646235 Centerline is valid? [True, True] Translation: X:246.51, Y:24.79, Z:-1.58 [[ 9.98289937e-01 -5.78399989e-02 8.46976776e-03 2.46511928e+02] [ 5.78337278e-02 9.98325745e-01 9.83681084e-04 2.47851707e+01] [-8.51248332e-03 -4.92160684e-04 9.99963647e-01 -1.58138037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571400513 meters 0.0647812938536046 Centerline is valid? [True, True] Translation: X:246.54, Y:24.80, Z:-1.58 [[ 9.98348317e-01 -5.68254197e-02 8.45635488e-03 2.46539368e+02] [ 5.68191308e-02 9.98384005e-01 9.82272649e-04 2.47976079e+01] [-8.49850751e-03 -5.00167512e-04 9.99963762e-01 -1.58261634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601400513 meters 0.060013015933122894 Centerline is valid? [True, True] Translation: X:246.57, Y:24.79, Z:-1.58 [[ 9.98341488e-01 -5.66546009e-02 1.02239833e-02 2.46569522e+02] [ 5.66453974e-02 9.98393654e-01 1.18776435e-03 2.47918708e+01] [-1.02748523e-02 -6.06652835e-04 9.99947028e-01 -1.57976244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631400513 meters 0.05617377156654285 Centerline is valid? [True, True] Translation: X:246.60, Y:24.79, Z:-1.58 [[ 9.98281104e-01 -5.75866705e-02 1.08909496e-02 2.46599385e+02] [ 5.75762618e-02 9.98340307e-01 1.26711899e-03 2.47900133e+01] [-1.09458431e-02 -6.37880778e-04 9.99939889e-01 -1.57900293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661400513 meters 0.05763144271029014 Centerline is valid? [True, True] Translation: X:246.63, Y:24.80, Z:-1.58 [[ 9.98206538e-01 -5.87968838e-02 1.12531367e-02 2.46626962e+02] [ 5.87858267e-02 9.98269757e-01 1.31112897e-03 2.47952846e+01] [-1.13107563e-02 -6.47252570e-04 9.99935822e-01 -1.57956774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691400513 meters 0.06232281322291546 Centerline is valid? [True, True] Translation: X:246.66, Y:24.81, Z:-1.58 [[ 9.98107001e-01 -6.04915268e-02 1.10990507e-02 2.46655176e+02] [ 6.04808673e-02 9.98168518e-01 1.29385391e-03 2.48052673e+01] [-1.11569902e-02 -6.20124430e-04 9.99937567e-01 -1.58092671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721400513 meters 0.05159564818226783 Centerline is valid? [True, True] Translation: X:246.69, Y:24.80, Z:-1.58 [[ 9.97808394e-01 -6.56241109e-02 8.47851435e-03 2.46685955e+02] [ 6.56180740e-02 9.97844322e-01 9.88551942e-04 2.47970992e+01] [-8.52511025e-03 -4.30041643e-04 9.99963568e-01 -1.58478049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751400513 meters 0.04776837614103391 Centerline is valid? [True, True] Translation: X:246.72, Y:24.80, Z:-1.59 [[ 9.97597497e-01 -6.88747838e-02 7.44973267e-03 2.46716698e+02] [ 6.88702131e-02 9.97625250e-01 8.68645043e-04 2.47963011e+01] [-7.49186915e-03 -3.53493444e-04 9.99971873e-01 -1.58534642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781400513 meters 0.04380741969457872 Centerline is valid? [True, True] Translation: X:246.75, Y:24.80, Z:-1.58 [[ 9.97342380e-01 -7.24704192e-02 7.49765290e-03 2.46747643e+02] [ 7.24658904e-02 9.97370508e-01 8.74306045e-04 2.47957430e+01] [-7.54129920e-03 -3.28658379e-04 9.99971510e-01 -1.58467913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811400513 meters 0.041456054154859805 Centerline is valid? [True, True] Translation: X:246.78, Y:24.80, Z:-1.58 [[ 9.97071129e-01 -7.59884113e-02 8.65587838e-03 2.46776677e+02] [ 7.59825072e-02 9.97108640e-01 1.00939624e-03 2.47981606e+01] [-8.70755354e-03 -3.48744509e-04 9.99962028e-01 -1.58292258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841400513 meters 0.034078150936738064 Centerline is valid? [True, True] Translation: X:246.81, Y:24.80, Z:-1.58 [[ 9.96603179e-01 -8.16028715e-02 1.10939042e-02 2.46807867e+02] [ 8.15935168e-02 9.96664850e-01 1.29399649e-03 2.47966515e+01] [-1.11624982e-02 -3.84410354e-04 9.99937623e-01 -1.57859589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871400513 meters 0.033381852747550525 Centerline is valid? [True, True] Translation: X:246.84, Y:24.80, Z:-1.58 [[ 9.96388878e-01 -8.40897587e-02 1.17523249e-02 2.46836601e+02] [ 8.40794366e-02 9.96458113e-01 1.37052258e-03 2.48008406e+01] [-1.18259464e-02 -3.77444599e-04 9.99930000e-01 -1.57784865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90140051299997 meters 0.030765185748848126 Centerline is valid? [True, True] Translation: X:246.87, Y:24.80, Z:-1.58 [[ 9.96149242e-01 -8.68680227e-02 1.18589311e-02 2.46866128e+02] [ 8.68577057e-02 9.96219768e-01 1.38323726e-03 2.48030681e+01] [-1.19342607e-02 -3.47871193e-04 9.99928724e-01 -1.57818744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93140051299997 meters 0.026254081281391093 Centerline is valid? [True, True] Translation: X:246.90, Y:24.80, Z:-1.58 [[ 9.95893165e-01 -8.97859995e-02 1.16309520e-02 2.46896267e+02] [ 8.97762711e-02 9.95961033e-01 1.35690862e-03 2.48027110e+01] [-1.17058063e-02 -3.07152522e-04 9.99931438e-01 -1.57881089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96140051299997 meters 0.024549934971808147 Centerline is valid? [True, True] Translation: X:246.93, Y:24.80, Z:-1.58 [[ 9.95593937e-01 -9.30979273e-02 1.12021864e-02 2.46925146e+02] [ 9.30891095e-02 9.95656923e-01 1.30714359e-03 2.48049267e+01] [-1.12752268e-02 -2.58582678e-04 9.99936399e-01 -1.57986755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99140051299997 meters 0.0165877097066941 Centerline is valid? [True, True] Translation: X:246.96, Y:24.80, Z:-1.58 [[ 9.94877006e-01 -1.00487042e-01 1.10497504e-02 2.46956172e+02] [ 1.00478915e-01 9.94938352e-01 1.28963150e-03 2.47979397e+01] [-1.11234118e-02 -1.72757788e-04 9.99938118e-01 -1.57960983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.021400513 meters 0.01391347040954603 Centerline is valid? [True, True] Translation: X:246.99, Y:24.80, Z:-1.58 [[ 9.94514968e-01 -1.03944740e-01 1.16391468e-02 2.46985014e+02] [ 1.03935959e-01 9.94583064e-01 1.35843840e-03 2.47972796e+01] [-1.17173009e-02 -1.41261435e-04 9.99931340e-01 -1.57896472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05140051300003 meters 0.012338981486922423 Centerline is valid? [True, True] Translation: X:247.01, Y:24.80, Z:-1.58 [[ 9.94228409e-01 -1.06587407e-01 1.22063789e-02 2.47013111e+02] [ 1.06577921e-01 9.94303329e-01 1.42682237e-03 2.47985663e+01] [-1.22889245e-02 -1.17656842e-04 9.99924481e-01 -1.57834863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.081400513 meters 0.011321665351730943 Centerline is valid? [True, True] Translation: X:247.04, Y:24.80, Z:-1.58 [[ 9.94101096e-01 -1.07614946e-01 1.34920458e-02 2.47041508e+02] [ 1.07603438e-01 9.94192642e-01 1.57812589e-03 2.48008804e+01] [-1.35835226e-02 -1.17026169e-04 9.99907733e-01 -1.57792605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11140051300004 meters 0.012695058667221636 Centerline is valid? [True, True] Translation: X:247.07, Y:24.81, Z:-1.58 [[ 9.94265223e-01 -1.06088147e-01 1.34897143e-02 2.47069710e+02] [ 1.06076467e-01 9.94356719e-01 1.58039782e-03 2.48055493e+01] [-1.35812495e-02 -1.40393355e-04 9.99907761e-01 -1.57842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.141400513 meters 0.01596593570083687 Centerline is valid? [True, True] Translation: X:247.10, Y:24.81, Z:-1.58 [[ 9.94531598e-01 -1.03573417e-01 1.33958315e-02 2.47097021e+02] [ 1.03561643e-01 9.94621796e-01 1.57151981e-03 2.48118253e+01] [-1.34865536e-02 -1.75631789e-04 9.99909037e-01 -1.57882758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17140051300004 meters 0.01754737615683154 Centerline is valid? [True, True] Translation: X:247.13, Y:24.82, Z:-1.58 [[ 9.94799007e-01 -1.01003600e-01 1.31608442e-02 2.47125170e+02] [ 1.00992000e-01 9.94886039e-01 1.54473690e-03 2.48155027e+01] [-1.32495641e-02 -2.07562762e-04 9.99912199e-01 -1.57936185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.201400513 meters 0.01754737615683154 Centerline is valid? [True, True] Translation: X:247.15, Y:24.82, Z:-1.58 [[ 9.94780290e-01 -1.01187798e-01 1.31607012e-02 2.47152505e+02] [ 1.01176198e-01 9.94867321e-01 1.54595410e-03 2.48188670e+01] [-1.32495833e-02 -2.06334954e-04 9.99912199e-01 -1.57970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23140051300004 meters 0.023855664667716832 Centerline is valid? [True, True] Translation: X:247.18, Y:24.83, Z:-1.58 [[ 9.95289043e-01 -9.62477843e-02 1.16655349e-02 2.47180369e+02] [ 9.62383072e-02 9.95357375e-01 1.37235804e-03 2.48253694e+01] [-1.17434627e-02 -2.43221581e-04 9.99931014e-01 -1.58124478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.261400513 meters 0.024008054726309295 Centerline is valid? [True, True] Translation: X:247.21, Y:24.83, Z:-1.58 [[ 9.95429851e-01 -9.48735962e-02 1.08817589e-02 2.47208847e+02] [ 9.48652628e-02 9.95489298e-01 1.28060348e-03 2.48263039e+01] [-1.09541700e-02 -2.42450019e-04 9.99939972e-01 -1.58250995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.291400513 meters 0.02554731212753859 Centerline is valid? [True, True] Translation: X:247.24, Y:24.83, Z:-1.58 [[ 9.95518985e-01 -9.39463503e-02 1.07719372e-02 2.47236172e+02] [ 9.39381239e-02 9.95577230e-01 1.26824881e-03 2.48293486e+01] [-1.08434428e-02 -2.50670196e-04 9.99941177e-01 -1.58310850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.321400513 meters 0.027161579629561033 Centerline is valid? [True, True] Translation: X:247.26, Y:24.83, Z:-1.58 [[ 9.95577884e-01 -9.30673434e-02 1.27729139e-02 2.47264219e+02] [ 9.30556877e-02 9.95659768e-01 1.50512775e-03 2.48304902e+01] [-1.28575547e-02 -3.09879616e-04 9.99917290e-01 -1.58089230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.351400513 meters 0.02727237079584336 Centerline is valid? [True, True] Translation: X:247.29, Y:24.83, Z:-1.58 [[ 9.95659410e-01 -9.21363569e-02 1.31617089e-02 2.47292830e+02] [ 9.21238883e-02 9.95746344e-01 1.55178844e-03 2.48313818e+01] [-1.32486997e-02 -3.32544958e-04 9.99912177e-01 -1.58057100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.381400513 meters 0.02885449208470722 Centerline is valid? [True, True] Translation: X:247.32, Y:24.83, Z:-1.58 [[ 9.95812357e-01 -9.04969865e-02 1.29631914e-02 2.47321827e+02] [ 9.04847255e-02 9.95896667e-01 1.53044616e-03 2.48334756e+01] [-1.30484999e-02 -3.51066382e-04 9.99914803e-01 -1.58105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.411400513 meters 0.0317175104115711 Centerline is valid? [True, True] Translation: X:247.35, Y:24.84, Z:-1.58 [[ 9.96015391e-01 -8.83452975e-02 1.21839775e-02 2.47350163e+02] [ 8.83342822e-02 9.96089845e-01 1.44034254e-03 2.48374021e+01] [-1.22635837e-02 -3.58340432e-04 9.99924735e-01 -1.58259730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441400513 meters 0.03248778815322353 Centerline is valid? [True, True] Translation: X:247.38, Y:24.84, Z:-1.59 [[ 9.96367271e-01 -8.44624419e-02 1.08792177e-02 2.47380614e+02] [ 8.44534243e-02 9.96426597e-01 1.28646215e-03 2.48378775e+01] [-1.09489997e-02 -3.63001591e-04 9.99939992e-01 -1.58599188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.471400513 meters 0.0362732102536678 Centerline is valid? [True, True] Translation: X:247.41, Y:24.84, Z:-1.59 [[ 9.96468982e-01 -8.32433192e-02 1.09598526e-02 2.47408293e+02] [ 8.32340928e-02 9.96529180e-01 1.29608039e-03 2.48437541e+01] [-1.10297030e-02 -3.79270519e-04 9.99939099e-01 -1.58690006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501400513 meters 0.03450308236253353 Centerline is valid? [True, True] Translation: X:247.44, Y:24.84, Z:-1.59 [[ 9.96537931e-01 -8.24337675e-02 1.08086212e-02 2.47437228e+02] [ 8.24247416e-02 9.96596472e-01 1.27864617e-03 2.48420261e+01] [-1.08772374e-02 -3.83321603e-04 9.99940768e-01 -1.58732572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.531400513 meters 0.03651734913764926 Centerline is valid? [True, True] Translation: X:247.47, Y:24.84, Z:-1.59 [[ 9.96680235e-01 -8.08483629e-02 9.59432971e-03 2.47465893e+02] [ 8.08411614e-02 9.96726349e-01 1.13669102e-03 2.48413597e+01] [-9.65482083e-03 -3.57300713e-04 9.99953327e-01 -1.58902385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561400513 meters 0.04037719581552521 Centerline is valid? [True, True] Translation: X:247.49, Y:24.85, Z:-1.59 [[ 9.96767680e-01 -7.98005306e-02 9.27725278e-03 2.47493447e+02] [ 7.97937484e-02 9.96810789e-01 1.09950877e-03 2.48470191e+01] [-9.33540704e-03 -3.55688034e-04 9.99956361e-01 -1.59036967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.591400513 meters 0.0367468948387481 Centerline is valid? [True, True] Translation: X:247.52, Y:24.84, Z:-1.59 [[ 9.96846281e-01 -7.88460785e-02 8.98826336e-03 2.47523176e+02] [ 7.88396724e-02 9.96886739e-01 1.06537897e-03 2.48434189e+01] [-9.04428151e-03 -3.53387322e-04 9.99959037e-01 -1.59079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621400513 meters 0.040287655120038 Centerline is valid? [True, True] Translation: X:247.55, Y:24.85, Z:-1.59 [[ 9.96970266e-01 -7.72542851e-02 9.05893863e-03 2.47551003e+02] [ 7.72476945e-02 9.97011352e-01 1.07570017e-03 2.48477364e+01] [-9.11496711e-03 -3.72658963e-04 9.99958388e-01 -1.59140289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.651400513 meters 0.04964151750107549 Centerline is valid? [True, True] Translation: X:247.58, Y:24.86, Z:-1.59 [[ 9.97168451e-01 -7.45920032e-02 9.54536274e-03 2.47579025e+02] [ 7.45845587e-02 9.97214048e-01 1.13401517e-03 2.48561433e+01] [-9.60335828e-03 -4.18867478e-04 9.99953799e-01 -1.59158378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681400513 meters 0.04244921368821286 Centerline is valid? [True, True] Translation: X:247.61, Y:24.85, Z:-1.59 [[ 9.97245477e-01 -7.34777651e-02 1.01230711e-02 2.47609173e+02] [ 7.34693358e-02 9.97296751e-01 1.20256863e-03 2.48487624e+01] [-1.01840680e-02 -4.55520816e-04 9.99948037e-01 -1.59072071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.711400513 meters 0.047183859207535664 Centerline is valid? [True, True] Translation: X:247.64, Y:24.86, Z:-1.59 [[ 9.97345915e-01 -7.20311852e-02 1.06128948e-02 2.47636831e+02] [ 7.20218165e-02 9.97402257e-01 1.26282675e-03 2.48561895e+01] [-1.06762881e-02 -4.95115141e-04 9.99942884e-01 -1.59083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74140051300003 meters 0.053292179086336926 Centerline is valid? [True, True] Translation: X:247.67, Y:24.86, Z:-1.59 [[ 9.97556781e-01 -6.90818577e-02 1.04003070e-02 2.47666047e+02] [ 6.90726948e-02 9.97610861e-01 1.23808519e-03 2.48614234e+01] [-1.04609885e-02 -5.16683047e-04 9.99945149e-01 -1.59173151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.771400513 meters 0.05050077152064185 Centerline is valid? [True, True] Translation: X:247.70, Y:24.86, Z:-1.59 [[ 9.97673951e-01 -6.74937727e-02 9.55391538e-03 2.47696443e+02] [ 6.74859673e-02 9.97719575e-01 1.13739126e-03 2.48587977e+01] [-9.60889522e-03 -4.89990412e-04 9.99953713e-01 -1.59270792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80140051300003 meters 0.05200193768857187 Centerline is valid? [True, True] Translation: X:247.73, Y:24.86, Z:-1.59 [[ 9.97779987e-01 -6.59625846e-02 9.16707156e-03 2.47725751e+02] [ 6.59553322e-02 9.97821979e-01 1.09153591e-03 2.48623146e+01] [-9.21910602e-03 -4.84495433e-04 9.99957386e-01 -1.59339798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.831400513 meters 0.05439581850271216 Centerline is valid? [True, True] Translation: X:247.75, Y:24.87, Z:-1.59 [[ 9.97876617e-01 -6.44297679e-02 9.54262987e-03 2.47753996e+02] [ 6.44218377e-02 9.97922109e-01 1.13640793e-03 2.48670780e+01] [-9.59601983e-03 -5.19241148e-04 9.99953822e-01 -1.59325010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86140051300004 meters 0.05626190921613045 Centerline is valid? [True, True] Translation: X:247.78, Y:24.87, Z:-1.59 [[ 9.98027046e-01 -6.20331980e-02 9.69007013e-03 2.47783866e+02] [ 6.20249027e-02 9.98073934e-01 1.15453981e-03 2.48693921e+01] [-9.74302622e-03 -5.51236302e-04 9.99952384e-01 -1.59313784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.891400513 meters 0.05956764641445982 Centerline is valid? [True, True] Translation: X:247.81, Y:24.87, Z:-1.59 [[ 9.98104147e-01 -6.07849579e-02 9.65923253e-03 2.47811719e+02] [ 6.07766567e-02 9.98150727e-01 1.15090388e-03 2.48745747e+01] [-9.71132761e-03 -5.61666079e-04 9.99952686e-01 -1.59367508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92140051300004 meters 0.058377874822617415 Centerline is valid? [True, True] Translation: X:247.84, Y:24.87, Z:-1.59 [[ 9.98177845e-01 -5.95659032e-02 9.63809861e-03 2.47841324e+02] [ 5.95575760e-02 9.98224211e-01 1.14897336e-03 2.48748383e+01] [-9.68942301e-03 -5.72857964e-04 9.99952892e-01 -1.59396436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.951400513 meters 0.061479149024880976 Centerline is valid? [True, True] Translation: X:247.87, Y:24.88, Z:-1.59 [[ 9.98247224e-01 -5.84025417e-02 9.57196606e-03 2.47869500e+02] [ 5.83942733e-02 9.98292946e-01 1.14127165e-03 2.48809375e+01] [-9.62227937e-03 -5.80323253e-04 9.99953536e-01 -1.59467562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98140051300004 meters 0.06271111309408214 Centerline is valid? [True, True] Translation: X:247.90, Y:24.88, Z:-1.59 [[ 9.98421720e-01 -5.50619808e-02 1.10565898e-02 2.47899888e+02] [ 5.50507390e-02 9.98482687e-01 1.31877088e-03 2.48848148e+01] [-1.11124277e-02 -7.08016045e-04 9.99938004e-01 -1.59285667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.011400513 meters 0.06562496197814255 Centerline is valid? [True, True] Translation: X:247.93, Y:24.89, Z:-1.59 [[ 9.98513731e-01 -5.32098550e-02 1.17915106e-02 2.47928858e+02] [ 5.31969404e-02 9.98583050e-01 1.40641941e-03 2.48917799e+01] [-1.18496380e-02 -7.77056803e-04 9.99929489e-01 -1.59207923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.041400513 meters 0.06436197052643446 Centerline is valid? [True, True] Translation: X:247.96, Y:24.89, Z:-1.59 [[ 9.98604499e-01 -5.14555705e-02 1.18902623e-02 2.47959263e+02] [ 5.14423131e-02 9.98674961e-01 1.41833946e-03 2.48945314e+01] [-1.19474887e-02 -8.04697570e-04 9.99928302e-01 -1.59253095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.071400513 meters 0.06848618177736238 Centerline is valid? [True, True] Translation: X:247.99, Y:24.90, Z:-1.59 [[ 9.98726826e-01 -4.91614778e-02 1.13082481e-02 2.47987619e+02] [ 4.91493405e-02 9.98790530e-01 1.34889432e-03 2.49033735e+01] [-1.13608848e-02 -7.91384004e-04 9.99935150e-01 -1.59467858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.101400513 meters 0.06531597993678177 Centerline is valid? [True, True] Translation: X:248.02, Y:24.90, Z:-1.59 [[ 9.98727118e-01 -4.90390427e-02 1.18032499e-02 2.48016287e+02] [ 4.90258089e-02 9.98796519e-01 1.40811690e-03 2.49022629e+01] [-1.18580976e-02 -8.27660656e-04 9.99929348e-01 -1.59474407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.131400513 meters 0.06875313181577952 Centerline is valid? [True, True] Translation: X:248.04, Y:24.91, Z:-1.59 [[ 9.98714646e-01 -4.91446370e-02 1.24040431e-02 2.48043554e+02] [ 4.91300204e-02 9.98791294e-01 1.48053839e-03 2.49087762e+01] [-1.24618108e-02 -8.69224486e-04 9.99921971e-01 -1.59400361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.161400513 meters 0.06522875968648009 Centerline is valid? [True, True] Translation: X:248.07, Y:24.91, Z:-1.59 [[ 9.98712648e-01 -4.91422709e-02 1.25731564e-02 2.48072412e+02] [ 4.91272435e-02 9.98791399e-01 1.50146108e-03 2.49077124e+01] [-1.26317457e-02 -8.81843652e-04 9.99919827e-01 -1.59406664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191400513 meters 0.07561520431872149 Centerline is valid? [True, True] Translation: X:248.10, Y:24.93, Z:-1.60 [[ 9.98748067e-01 -4.89253459e-02 1.04215408e-02 2.48097842e+02] [ 4.89149946e-02 9.98802168e-01 1.24599932e-03 2.49264715e+01] [-1.04700185e-02 -7.34669801e-04 9.99944918e-01 -1.59835095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.221400513 meters 0.06800992695801955 Centerline is valid? [True, True] Translation: X:248.13, Y:24.92, Z:-1.60 [[ 9.98746055e-01 -4.92512262e-02 8.97971189e-03 2.48127291e+02] [ 4.92435504e-02 9.98786223e-01 1.07402603e-03 2.49225546e+01] [-9.02170962e-03 -6.30486361e-04 9.99959105e-01 -1.60108324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251400513 meters 0.06085932168787669 Centerline is valid? [True, True] Translation: X:248.16, Y:24.92, Z:-1.60 [[ 9.98725625e-01 -4.97589887e-02 8.43614841e-03 2.48157259e+02] [ 4.97522221e-02 9.98761080e-01 1.01019569e-03 2.49185439e+01] [-8.47596301e-03 -5.89191195e-04 9.99963905e-01 -1.60229425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.281400513 meters 0.06871011147848248 Centerline is valid? [True, True] Translation: X:248.18, Y:24.93, Z:-1.60 [[ 9.98702148e-01 -5.01526629e-02 8.87294293e-03 2.48183270e+02] [ 5.01451763e-02 9.98741372e-01 1.06436068e-03 2.49319927e+01] [-8.91515572e-03 -6.18044012e-04 9.99960068e-01 -1.60274709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311400513 meters 0.062219045742604694 Centerline is valid? [True, True] Translation: X:248.21, Y:24.92, Z:-1.60 [[ 9.98626851e-01 -5.15640578e-02 9.24992657e-03 2.48214594e+02] [ 5.15559721e-02 9.98669489e-01 1.11062491e-03 2.49218733e+01] [-9.29488777e-03 -6.32210895e-04 9.99956602e-01 -1.60105696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.341400513 meters 0.06622851871467726 Centerline is valid? [True, True] Translation: X:248.24, Y:24.93, Z:-1.60 [[ 9.98607909e-01 -5.20879824e-02 8.31181317e-03 2.48241543e+02] [ 5.20814736e-02 9.98642341e-01 9.97755466e-04 2.49320790e+01] [-8.35249963e-03 -5.63475021e-04 9.99964959e-01 -1.60243909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371400513 meters 0.061705989164545554 Centerline is valid? [True, True] Translation: X:248.27, Y:24.93, Z:-1.60 [[ 9.98628768e-01 -5.18871746e-02 6.95009969e-03 2.48270217e+02] [ 5.18826148e-02 9.98652841e-01 8.34887369e-04 2.49309506e+01] [-6.98405675e-03 -4.73153199e-04 9.99975499e-01 -1.60397643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.401400513 meters 0.08213097097213119 Centerline is valid? [True, True] Translation: X:248.30, Y:24.96, Z:-1.61 [[ 9.98702001e-01 -5.04274452e-02 7.16844058e-03 2.48295248e+02] [ 5.04225534e-02 9.98727602e-01 8.61617875e-04 2.49612337e+01] [-7.20276866e-03 -4.99048418e-04 9.99973935e-01 -1.60644226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431400513 meters 0.06142476294515809 Centerline is valid? [True, True] Translation: X:248.33, Y:24.94, Z:-1.60 [[ 9.98802437e-01 -4.83603082e-02 7.41435225e-03 2.48327546e+02] [ 4.83550145e-02 9.98829814e-01 8.91689404e-04 2.49416044e+01] [-7.44879846e-03 -5.32100439e-04 9.99972116e-01 -1.60448293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.461400513 meters 0.07737150024678727 Centerline is valid? [True, True] Translation: X:248.35, Y:24.97, Z:-1.61 [[ 9.98916648e-01 -4.59011509e-02 7.65599039e-03 2.48354070e+02] [ 4.58954331e-02 9.98945825e-01 9.20963796e-04 2.49660072e+01] [-7.69019293e-03 -5.68591074e-04 9.99970268e-01 -1.60631044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49140051300003 meters 0.07695491830973866 Centerline is valid? [True, True] Translation: X:248.38, Y:24.97, Z:-1.61 [[ 9.99015100e-01 -4.37289654e-02 7.52384682e-03 2.48384700e+02] [ 4.37233822e-02 9.99043266e-01 9.05041970e-04 2.49698054e+01] [-7.55622505e-03 -5.75182564e-04 9.99971286e-01 -1.60644632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.521400513 meters 0.08556667633304621 Centerline is valid? [True, True] Translation: X:248.41, Y:24.98, Z:-1.60 [[ 9.99137009e-01 -4.05940481e-02 8.79551762e-03 2.48412856e+02] [ 4.05862973e-02 9.99175477e-01 1.05800744e-03 2.49842799e+01] [-8.83121431e-03 -7.00116901e-04 9.99960759e-01 -1.60427328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55140051300003 meters 0.07969409995824536 Centerline is valid? [True, True] Translation: X:248.44, Y:24.98, Z:-1.60 [[ 9.99140089e-01 -4.03883695e-02 9.37352907e-03 2.48441960e+02] [ 4.03795606e-02 9.99183777e-01 1.12719445e-03 2.49813803e+01] [-9.41140373e-03 -7.47726177e-04 9.99955432e-01 -1.60295789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.581400513 meters 0.07661907788546388 Centerline is valid? [True, True] Translation: X:248.47, Y:24.98, Z:-1.60 [[ 9.99117879e-01 -4.08697561e-02 9.65025482e-03 2.48471046e+02] [ 4.08604268e-02 9.99164188e-01 1.16201702e-03 2.49821089e+01] [-9.68968038e-03 -7.66678453e-04 9.99952760e-01 -1.60254292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61140051300004 meters 0.07776123888224075 Centerline is valid? [True, True] Translation: X:248.50, Y:24.99, Z:-1.60 [[ 9.99038671e-01 -4.24878982e-02 1.07941235e-02 2.48498985e+02] [ 4.24762968e-02 9.99096627e-01 1.30188008e-03 2.49891144e+01] [-1.08396865e-02 -8.42134154e-04 9.99940894e-01 -1.60149314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.641400513 meters 0.08215903581433882 Centerline is valid? [True, True] Translation: X:248.53, Y:25.00, Z:-1.60 [[ 9.99020254e-01 -4.27872023e-02 1.13042897e-02 2.48525896e+02] [ 4.27744935e-02 9.99083822e-01 1.36375001e-03 2.49988262e+01] [-1.13522840e-02 -8.78878613e-04 9.99935175e-01 -1.60068870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67140051300004 meters 0.08185388925926751 Centerline is valid? [True, True] Translation: X:248.55, Y:25.00, Z:-1.60 [[ 9.99001397e-01 -4.32230603e-02 1.13126583e-02 2.48553923e+02] [ 4.32103508e-02 9.99065063e-01 1.36561391e-03 2.50038108e+01] [-1.13611077e-02 -8.75426271e-04 9.99935077e-01 -1.60120447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.701400513 meters 0.07211688905460699 Centerline is valid? [True, True] Translation: X:248.58, Y:25.00, Z:-1.60 [[ 9.98982070e-01 -4.38084357e-02 1.07537984e-02 2.48583834e+02] [ 4.37969681e-02 9.99039607e-01 1.29967716e-03 2.49984486e+01] [-1.08004074e-02 -8.27370419e-04 9.99941332e-01 -1.60270668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73140051300004 meters 0.07660188793407564 Centerline is valid? [True, True] Translation: X:248.61, Y:25.01, Z:-1.61 [[ 9.98976407e-01 -4.41229515e-02 9.96512216e-03 2.48610483e+02] [ 4.41131029e-02 9.99025815e-01 1.20605632e-03 2.50110093e+01] [-1.00086291e-02 -7.65229349e-04 9.99949620e-01 -1.60524100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.761400513 meters 0.08450230342508332 Centerline is valid? [True, True] Translation: X:248.64, Y:25.03, Z:-1.61 [[ 9.98980388e-01 -4.39918753e-02 1.01439539e-02 2.48635799e+02] [ 4.39816574e-02 9.99031584e-01 1.22828523e-03 2.50316386e+01] [-1.01881649e-02 -7.80884948e-04 9.99947794e-01 -1.60561071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.791400513 meters 0.0763576661350108 Centerline is valid? [True, True] Translation: X:248.67, Y:25.03, Z:-1.60 [[ 9.98978057e-01 -4.39458351e-02 1.05643307e-02 2.48665458e+02] [ 4.39347458e-02 9.99033583e-01 1.27960645e-03 2.50281996e+01] [-1.06103545e-02 -8.14157580e-04 9.99943377e-01 -1.60434894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.821400513 meters 0.08094770263208989 Centerline is valid? [True, True] Translation: X:248.69, Y:25.04, Z:-1.60 [[ 9.98956448e-01 -4.43878235e-02 1.07580307e-02 2.48692238e+02] [ 4.43763288e-02 9.99014033e-01 1.30495890e-03 2.50401386e+01] [-1.08053479e-02 -8.26195201e-04 9.99941279e-01 -1.60370214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.851400513 meters 0.07255506193380408 Centerline is valid? [True, True] Translation: X:248.72, Y:25.04, Z:-1.60 [[ 9.98906928e-01 -4.54711666e-02 1.08315648e-02 2.48722374e+02] [ 4.54595703e-02 9.98965314e-01 1.31453674e-03 2.50369824e+01] [-1.08801310e-02 -8.20701573e-04 9.99940473e-01 -1.60325297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.881400513 meters 0.07216575529710949 Centerline is valid? [True, True] Translation: X:248.75, Y:25.05, Z:-1.60 [[ 9.98811088e-01 -4.74645693e-02 1.11142155e-02 2.48750122e+02] [ 4.74524797e-02 9.98872586e-01 1.34910719e-03 2.50487306e+01] [-1.11657200e-02 -8.20106131e-04 9.99937325e-01 -1.60342118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.911400513 meters 0.081036902145277 Centerline is valid? [True, True] Translation: X:248.78, Y:25.07, Z:-1.60 [[ 9.98749933e-01 -4.85050605e-02 1.20760435e-02 2.48776807e+02] [ 4.84908609e-02 9.98822550e-01 1.46605447e-03 2.50667001e+01] [-1.21329356e-02 -8.78644054e-04 9.99926007e-01 -1.60271246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941400513 meters 0.06943158363114309 Centerline is valid? [True, True] Translation: X:248.81, Y:25.06, Z:-1.60 [[ 9.98684526e-01 -4.95648156e-02 1.31357295e-02 2.48807006e+02] [ 4.95480993e-02 9.98770465e-01 1.59518735e-03 2.50587952e+01] [-1.31986438e-02 -9.42238491e-04 9.99912450e-01 -1.60168932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.971400513 meters 0.07216199813195502 Centerline is valid? [True, True] Translation: X:248.83, Y:25.07, Z:-1.60 [[ 9.98635329e-01 -5.03911778e-02 1.37189489e-02 2.48834450e+02] [ 5.03730127e-02 9.98729083e-01 1.66665535e-03 2.50685189e+01] [-1.37854980e-02 -9.73316125e-04 9.99904502e-01 -1.60095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001400513 meters 0.07095932798573538 Centerline is valid? [True, True] Translation: X:248.86, Y:25.07, Z:-1.60 [[ 9.98598901e-01 -5.12087417e-02 1.33378830e-02 2.48863192e+02] [ 5.11916353e-02 9.98687533e-01 1.62103455e-03 2.50741776e+01] [-1.34033886e-02 -9.35975284e-04 9.99909732e-01 -1.60225640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.031400513 meters 0.07077145980978758 Centerline is valid? [True, True] Translation: X:248.89, Y:25.08, Z:-1.61 [[ 9.98624560e-01 -5.13925010e-02 1.03826644e-02 2.48890433e+02] [ 5.13821346e-02 9.98678267e-01 1.26290767e-03 2.50846913e+01] [-1.04338453e-02 -7.27687152e-04 9.99945301e-01 -1.60754315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061400513 meters 0.07124899310625542 Centerline is valid? [True, True] Translation: X:248.92, Y:25.09, Z:-1.61 [[ 9.98631026e-01 -5.15698036e-02 8.75384279e-03 2.48917552e+02] [ 5.15624307e-02 9.98669204e-01 1.06600449e-03 2.50898375e+01] [-8.79716685e-03 -6.13175743e-04 9.99961116e-01 -1.61045721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.091400513 meters 0.07124899310625542 Centerline is valid? [True, True] Translation: X:248.94, Y:25.09, Z:-1.61 [[ 9.98621873e-01 -5.17467684e-02 8.75365333e-03 2.48944925e+02] [ 5.17393887e-02 9.98660050e-01 1.06755751e-03 2.50933128e+01] [-8.79716652e-03 -6.13177609e-04 9.99961116e-01 -1.61080310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121400513 meters 0.07001614718258584 Centerline is valid? [True, True] Translation: X:248.97, Y:25.10, Z:-1.61 [[ 9.98585813e-01 -5.26725401e-02 7.20949549e-03 2.48972706e+02] [ 5.26675509e-02 9.98611713e-01 8.80283019e-04 2.51005448e+01] [-7.24585338e-03 -4.99331664e-04 9.99973624e-01 -1.61351129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.151400513 meters 0.06588183231342855 Centerline is valid? [True, True] Translation: X:249.00, Y:25.10, Z:-1.61 [[ 9.98517096e-01 -5.39715303e-02 7.11917691e-03 2.49002419e+02] [ 5.39666856e-02 9.98542357e-01 8.71011077e-04 2.51009973e+01] [-7.15580949e-03 -4.85521070e-04 9.99974279e-01 -1.61357672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181400513 meters 0.06924800392605157 Centerline is valid? [True, True] Translation: X:249.03, Y:25.11, Z:-1.61 [[ 9.98414759e-01 -5.57627638e-02 7.64748329e-03 2.49030924e+02] [ 5.57572242e-02 9.98443917e-01 9.35844266e-04 2.51100138e+01] [-7.68776844e-03 -5.07958286e-04 9.99970320e-01 -1.61377565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.211400513 meters 0.06017336268129619 Centerline is valid? [True, True] Translation: X:249.06, Y:25.10, Z:-1.61 [[ 9.98283520e-01 -5.79775514e-02 8.28352420e-03 2.49062355e+02] [ 5.79711257e-02 9.98317745e-01 1.01393858e-03 2.51028677e+01] [-8.32837488e-03 -5.31992957e-04 9.99965177e-01 -1.61266980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24140051300003 meters 0.06551629990859403 Centerline is valid? [True, True] Translation: X:249.09, Y:25.11, Z:-1.61 [[ 9.98127403e-01 -6.05693492e-02 8.54644785e-03 2.49091134e+02] [ 6.05626029e-02 9.98163853e-01 1.04620954e-03 2.51105751e+01] [-8.59412354e-03 -5.26655280e-04 9.99962931e-01 -1.61298285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.271400513 meters 0.06573893862441628 Centerline is valid? [True, True] Translation: X:249.12, Y:25.11, Z:-1.61 [[ 9.97886712e-01 -6.43551402e-02 8.97364506e-03 2.49120609e+02] [ 6.43478539e-02 9.97926925e-01 1.09863320e-03 2.51116151e+01] [-9.02574471e-03 -5.18876671e-04 9.99959133e-01 -1.61337628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30140051300003 meters 0.053119590316550634 Centerline is valid? [True, True] Translation: X:249.15, Y:25.10, Z:-1.61 [[ 9.97818201e-01 -6.54369031e-02 8.76639995e-03 2.49151297e+02] [ 6.54299908e-02 9.97856585e-01 1.07329453e-03 2.50976855e+01] [-8.81784299e-03 -4.97367353e-04 9.99960998e-01 -1.61278609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.331400513 meters 0.05559698104952409 Centerline is valid? [True, True] Translation: X:249.18, Y:25.10, Z:-1.61 [[ 9.97789954e-01 -6.58241841e-02 9.07653779e-03 2.49179160e+02] [ 6.58167872e-02 9.97831105e-01 1.11157689e-03 2.51017020e+01] [-9.13002038e-03 -5.11731694e-04 9.99958190e-01 -1.61252184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36140051300004 meters 0.058664156794147326 Centerline is valid? [True, True] Translation: X:249.21, Y:25.10, Z:-1.61 [[ 9.97829591e-01 -6.48865529e-02 1.12179799e-02 2.49207135e+02] [ 6.48751805e-02 9.97892439e-01 1.37509532e-03 2.51027031e+01] [-1.12835625e-02 -6.44342330e-04 9.99936131e-01 -1.60875031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.391400513 meters 0.05380210804182524 Centerline is valid? [True, True] Translation: X:249.24, Y:25.10, Z:-1.61 [[ 9.97843362e-01 -6.44951442e-02 1.22065753e-02 2.49236713e+02] [ 6.44816408e-02 9.97917771e-01 1.49700542e-03 2.50976715e+01] [-1.22777080e-02 -7.06676922e-04 9.99924376e-01 -1.60757942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42140051300004 meters 0.05905169609109624 Centerline is valid? [True, True] Translation: X:249.26, Y:25.11, Z:-1.61 [[ 9.97921574e-01 -6.32592203e-02 1.22802259e-02 2.49264843e+02] [ 6.32454347e-02 9.97996864e-01 1.50809736e-03 2.51055324e+01] [-1.23510280e-02 -7.28294662e-04 9.99923458e-01 -1.60859585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.451400513 meters 0.06704182366323576 Centerline is valid? [True, True] Translation: X:249.29, Y:25.12, Z:-1.61 [[ 9.97994401e-01 -6.22218992e-02 1.16451739e-02 2.49292306e+02] [ 6.22094277e-02 9.98062093e-01 1.43049679e-03 2.51169449e+01] [-1.17116148e-02 -7.03188186e-04 9.99931169e-01 -1.61039981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48140051300004 meters 0.06270076162588413 Centerline is valid? [True, True] Translation: X:249.32, Y:25.11, Z:-1.61 [[ 9.98109616e-01 -6.06570508e-02 9.89529690e-03 2.49322338e+02] [ 6.06479666e-02 9.98158477e-01 1.21581425e-03 2.51104288e+01] [-9.95082219e-03 -6.13386261e-04 9.99950301e-01 -1.61345597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.511400513 meters 0.06034288193227035 Centerline is valid? [True, True] Translation: X:249.35, Y:25.11, Z:-1.61 [[ 9.98143769e-01 -6.01720723e-02 9.39885615e-03 2.49351541e+02] [ 6.01638563e-02 9.98187847e-01 1.15471863e-03 2.51088024e+01] [-9.45130579e-03 -5.87103771e-04 9.99955163e-01 -1.61422195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.541400513 meters 0.06198268513615156 Centerline is valid? [True, True] Translation: X:249.38, Y:25.11, Z:-1.61 [[ 9.98171524e-01 -5.96968996e-02 9.48093242e-03 2.49378766e+02] [ 5.96885004e-02 9.98216370e-01 1.16665497e-03 2.51126144e+01] [-9.53366763e-03 -5.98619135e-04 9.99954374e-01 -1.61445798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.571400513 meters 0.06768229594030847 Centerline is valid? [True, True] Translation: X:249.41, Y:25.12, Z:-1.61 [[ 9.98209606e-01 -5.89453026e-02 1.01505399e-02 2.49405876e+02] [ 5.89356299e-02 9.98261003e-01 1.24968546e-03 2.51222192e+01] [-1.02065512e-02 -6.49219567e-04 9.99947701e-01 -1.61400363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.601400513 meters 0.07077119420503407 Centerline is valid? [True, True] Translation: X:249.43, Y:25.13, Z:-1.61 [[ 9.98302504e-01 -5.71655383e-02 1.11450405e-02 2.49434810e+02] [ 5.71537584e-02 9.98364444e-01 1.37286875e-03 2.51264938e+01] [-1.12052930e-02 -7.33557352e-04 9.99936950e-01 -1.61288059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.631400513 meters 0.06504288468073097 Centerline is valid? [True, True] Translation: X:249.47, Y:25.12, Z:-1.61 [[ 9.98359340e-01 -5.62153826e-02 1.08838772e-02 2.49465011e+02] [ 5.62040899e-02 9.98418400e-01 1.34091129e-03 2.51212217e+01] [-1.09420431e-02 -7.26992900e-04 9.99939870e-01 -1.61348273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.661400513 meters 0.06148218637961864 Centerline is valid? [True, True] Translation: X:249.49, Y:25.12, Z:-1.61 [[ 9.98440011e-01 -5.48976586e-02 1.01877997e-02 2.49494509e+02] [ 5.48876926e-02 9.98491745e-01 1.25547281e-03 2.51199990e+01] [-1.02413564e-02 -6.94329469e-04 9.99947315e-01 -1.61499627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691400513 meters 0.06313423349005387 Centerline is valid? [True, True] Translation: X:249.52, Y:25.13, Z:-1.62 [[ 9.98535469e-01 -5.32012289e-02 9.82578384e-03 2.49522720e+02] [ 5.31918733e-02 9.98583576e-01 1.21122288e-03 2.51266098e+01] [-9.87630491e-03 -6.86797161e-04 9.99950992e-01 -1.61714299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.721400513 meters 0.07199851711848809 Centerline is valid? [True, True] Translation: X:249.55, Y:25.14, Z:-1.62 [[ 9.98704972e-01 -4.97420974e-02 1.06818762e-02 2.49549877e+02] [ 4.97308400e-02 9.98761788e-01 1.31709253e-03 2.51434426e+01] [-1.07341647e-02 -7.84168182e-04 9.99942080e-01 -1.61811235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751400513 meters 0.07664530145515464 Centerline is valid? [True, True] Translation: X:249.58, Y:25.15, Z:-1.62 [[ 9.98735460e-01 -4.90249805e-02 1.11370069e-02 2.49577920e+02] [ 4.90127013e-02 9.98797212e-01 1.37300251e-03 2.51529635e+01] [-1.11909229e-02 -8.25411497e-04 9.99937039e-01 -1.61755576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.781400513 meters 0.07132841826158089 Centerline is valid? [True, True] Translation: X:249.61, Y:25.15, Z:-1.62 [[ 9.98742751e-01 -4.89046515e-02 1.10114705e-02 2.49606959e+02] [ 4.88926382e-02 9.98803117e-01 1.35770845e-03 2.51503808e+01] [-1.10646893e-02 -8.17621631e-04 9.99938450e-01 -1.61758902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811400513 meters 0.07696817281232561 Centerline is valid? [True, True] Translation: X:249.63, Y:25.16, Z:-1.62 [[ 9.98721680e-01 -4.95886474e-02 9.79653280e-03 2.49633979e+02] [ 4.95791558e-02 9.98769465e-01 1.20951904e-03 2.51582243e+01] [-9.84445624e-03 -7.22269066e-04 9.99951281e-01 -1.61923210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.841400513 meters 0.0689968849678081 Centerline is valid? [True, True] Translation: X:249.66, Y:25.16, Z:-1.62 [[ 9.98618273e-01 -5.18208316e-02 8.72618141e-03 2.49664951e+02] [ 5.18133801e-02 9.98656203e-01 1.07798500e-03 2.51588409e+01] [-8.77031727e-03 -6.24362564e-04 9.99961345e-01 -1.62128555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871400513 meters 0.06704646763512125 Centerline is valid? [True, True] Translation: X:249.70, Y:25.16, Z:-1.62 [[ 9.98534843e-01 -5.34009140e-02 8.74697331e-03 2.49695078e+02] [ 5.33934874e-02 9.98572966e-01 1.08054540e-03 2.51623088e+01] [-8.79219319e-03 -6.11930826e-04 9.99961161e-01 -1.62186957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.901400513 meters 0.07538719576119625 Centerline is valid? [True, True] Translation: X:249.72, Y:25.18, Z:-1.62 [[ 9.98444540e-01 -5.49719446e-02 9.30515210e-03 2.49722614e+02] [ 5.49636070e-02 9.98487697e-01 1.14957871e-03 2.51783073e+01] [-9.35427446e-03 -6.36345864e-04 9.99956045e-01 -1.62259743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931400513 meters 0.0647394960766467 Centerline is valid? [True, True] Translation: X:249.75, Y:25.17, Z:-1.62 [[ 9.98344165e-01 -5.66327714e-02 1.00825047e-02 2.49754050e+02] [ 5.66230644e-02 9.98394850e-01 1.24585459e-03 2.51712229e+01] [-1.01368770e-02 -6.72889345e-04 9.99948394e-01 -1.62162427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.961400513 meters 0.05992476227758422 Centerline is valid? [True, True] Translation: X:249.78, Y:25.17, Z:-1.62 [[ 9.98237368e-01 -5.84307209e-02 1.03926765e-02 2.49784068e+02] [ 5.84205010e-02 9.98291238e-01 1.28451158e-03 2.51719440e+01] [-1.04499728e-02 -6.75102094e-04 9.99945170e-01 -1.62086280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99140051300003 meters 0.07236545174472736 Centerline is valid? [True, True] Translation: X:249.81, Y:25.19, Z:-1.62 [[ 9.98210693e-01 -5.89070671e-02 1.02649483e-02 2.49809278e+02] [ 5.88971223e-02 9.98263252e-01 1.26868761e-03 2.51915434e+01] [-1.03218553e-02 -6.61841623e-04 9.99946509e-01 -1.62081434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.021400513 meters 0.06226250890997459 Centerline is valid? [True, True] Translation: X:249.84, Y:25.18, Z:-1.62 [[ 9.98190568e-01 -5.92039096e-02 1.05112377e-02 2.49839509e+02] [ 5.91934906e-02 9.98245682e-01 1.29985647e-03 2.51844244e+01] [-1.05697542e-02 -6.75307622e-04 9.99943911e-01 -1.61892965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05140051300003 meters 0.06028440914362476 Centerline is valid? [True, True] Translation: X:249.87, Y:25.19, Z:-1.62 [[ 9.98245649e-01 -5.80868734e-02 1.14690890e-02 2.49867808e+02] [ 5.80743704e-02 9.98311249e-01 1.42048011e-03 2.51926345e+01] [-1.15322318e-02 -7.51927971e-04 9.99933219e-01 -1.61825658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.081400513 meters 0.06414705608811926 Centerline is valid? [True, True] Translation: X:249.90, Y:25.20, Z:-1.62 [[ 9.98286031e-01 -5.72513335e-02 1.21361339e-02 2.49895649e+02] [ 5.72372643e-02 9.98359471e-01 1.50374672e-03 2.52036096e+01] [-1.22023157e-02 -8.06530244e-04 9.99925224e-01 -1.61774396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11140051300004 meters 0.06612109194599808 Centerline is valid? [True, True] Translation: X:249.92, Y:25.21, Z:-1.62 [[ 9.98312533e-01 -5.66928486e-02 1.25700751e-02 2.49922139e+02] [ 5.66777054e-02 9.98391311e-01 1.55797183e-03 2.52115450e+01] [-1.26381796e-02 -8.42899794e-04 9.99919780e-01 -1.61723919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.141400513 meters 0.06714215537663637 Centerline is valid? [True, True] Translation: X:249.95, Y:25.22, Z:-1.62 [[ 9.98329576e-01 -5.63957771e-02 1.25528178e-02 2.49949753e+02] [ 5.63806413e-02 9.98408133e-01 1.55668796e-03 2.52188187e+01] [-1.26206260e-02 -8.46351721e-04 9.99919999e-01 -1.61750721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17140051300004 meters 0.06792782986123047 Centerline is valid? [True, True] Translation: X:249.98, Y:25.23, Z:-1.62 [[ 9.98363989e-01 -5.59934177e-02 1.15794286e-02 2.49977700e+02] [ 5.59805055e-02 9.98430829e-01 1.43648675e-03 2.52283120e+01] [-1.16416923e-02 -7.85914376e-04 9.99931924e-01 -1.61942503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.201400513 meters 0.06645674295046511 Centerline is valid? [True, True] Translation: X:250.01, Y:25.23, Z:-1.62 [[ 9.98365887e-01 -5.59690663e-02 1.15333593e-02 2.50006800e+02] [ 5.59562340e-02 9.98432195e-01 1.43258589e-03 2.52318511e+01] [-1.15954577e-02 -7.84881530e-04 9.99932462e-01 -1.62044684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23140051300004 meters 0.06320403154695116 Centerline is valid? [True, True] Translation: X:250.04, Y:25.23, Z:-1.62 [[ 9.98375594e-01 -5.58013791e-02 1.15056358e-02 2.50036111e+02] [ 5.57885761e-02 9.98441579e-01 1.43097307e-03 2.52325258e+01] [-1.15675555e-02 -7.86765552e-04 9.99932784e-01 -1.62063208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.261400513 meters 0.07049335854960599 Centerline is valid? [True, True] Translation: X:250.06, Y:25.25, Z:-1.62 [[ 9.98458179e-01 -5.42037907e-02 1.19672092e-02 2.50063700e+02] [ 5.41898002e-02 9.98529541e-01 1.49049369e-03 2.52478742e+01] [-1.20304024e-02 -8.39694939e-04 9.99927280e-01 -1.61972296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.291400513 meters 0.07206365165293786 Centerline is valid? [True, True] Translation: X:250.09, Y:25.26, Z:-1.62 [[ 9.98513459e-01 -5.31211654e-02 1.22071519e-02 2.50091991e+02] [ 5.31065271e-02 9.98587695e-01 1.52042771e-03 2.52559119e+01] [-1.22706785e-02 -8.69888091e-04 9.99924334e-01 -1.61967243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.321400513 meters 0.07249496223770743 Centerline is valid? [True, True] Translation: X:250.12, Y:25.26, Z:-1.62 [[ 9.98587963e-01 -5.16291750e-02 1.25103593e-02 2.50121676e+02] [ 5.16136785e-02 9.98665910e-01 1.55862243e-03 2.52625767e+01] [-1.25741398e-02 -9.10715930e-04 9.99920528e-01 -1.61979087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.351400513 meters 0.08061711925141146 Centerline is valid? [True, True] Translation: X:250.15, Y:25.28, Z:-1.62 [[ 9.98689071e-01 -4.94045746e-02 1.33913327e-02 2.50149429e+02] [ 4.93866174e-02 9.98778343e-01 1.66855452e-03 2.52772701e+01] [-1.34574073e-02 -1.00501454e-03 9.99908940e-01 -1.61915711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.381400513 meters 0.08765004581160447 Centerline is valid? [True, True] Translation: X:250.18, Y:25.29, Z:-1.62 [[ 9.98906932e-01 -4.44731787e-02 1.43901778e-02 2.50177200e+02] [ 4.44519309e-02 9.99009915e-01 1.79320637e-03 2.52916159e+01] [-1.44556799e-02 -1.15157509e-03 9.99894848e-01 -1.61813313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.411400513 meters 0.08161511080247345 Centerline is valid? [True, True] Translation: X:250.21, Y:25.29, Z:-1.62 [[ 9.98997472e-01 -4.23828004e-02 1.44135280e-02 2.50208360e+02] [ 4.23612667e-02 9.99100744e-01 1.79616613e-03 2.52901571e+01] [-1.44766931e-02 -1.18379012e-03 9.99894506e-01 -1.61937305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441400513 meters 0.08045411016547269 Centerline is valid? [True, True] Translation: X:250.24, Y:25.30, Z:-1.62 [[ 9.99071107e-01 -4.07980531e-02 1.38723389e-02 2.50239160e+02] [ 4.07779544e-02 9.99166738e-01 1.72873554e-03 2.52951412e+01] [-1.39313086e-02 -1.16144412e-03 9.99902280e-01 -1.62139749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.471400513 meters 0.0932532195109041 Centerline is valid? [True, True] Translation: X:250.27, Y:25.32, Z:-1.63 [[ 9.99139089e-01 -3.97031608e-02 1.20307781e-02 2.50266719e+02] [ 3.96879670e-02 9.99210998e-01 1.49913163e-03 2.53166340e+01] [-1.20808061e-02 -1.02036388e-03 9.99926504e-01 -1.62543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501400513 meters 0.08479302646547592 Centerline is valid? [True, True] Translation: X:250.30, Y:25.31, Z:-1.63 [[ 9.99111573e-01 -4.05359869e-02 1.15281254e-02 2.50298169e+02] [ 4.05220913e-02 9.99177610e-01 1.43649707e-03 2.53103122e+01] [-1.15768747e-02 -9.68077091e-04 9.99932517e-01 -1.62644082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.531400513 meters 0.07785909927779376 Centerline is valid? [True, True] Translation: X:250.33, Y:25.31, Z:-1.63 [[ 9.99041879e-01 -4.21844313e-02 1.16532304e-02 2.50329246e+02] [ 4.21703439e-02 9.99109380e-01 1.45207697e-03 2.53059057e+01] [-1.17041069e-02 -9.59264969e-04 9.99931044e-01 -1.62653061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561400513 meters 0.08857858242319795 Centerline is valid? [True, True] Translation: X:250.36, Y:25.32, Z:-1.63 [[ 9.98945728e-01 -4.44169042e-02 1.16004672e-02 2.50356866e+02] [ 4.44030921e-02 9.99012650e-01 1.44563215e-03 2.53226274e+01] [-1.16532240e-02 -9.29011443e-04 9.99931667e-01 -1.62750150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.591400513 meters 0.07390193198049272 Centerline is valid? [True, True] Translation: X:250.39, Y:25.31, Z:-1.63 [[ 9.98688050e-01 -5.00689431e-02 1.07367944e-02 2.50389909e+02] [ 5.00574341e-02 9.98745444e-01 1.33816418e-03 2.53067230e+01] [-1.07903250e-02 -7.98952197e-04 9.99941464e-01 -1.62941956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621400513 meters 0.07117889722280829 Centerline is valid? [True, True] Translation: X:250.42, Y:25.31, Z:-1.63 [[ 9.98513345e-01 -5.34870860e-02 1.04990750e-02 2.50419500e+02] [ 5.34762697e-02 9.98568263e-01 1.30845407e-03 2.53057001e+01] [-1.05540285e-02 -7.45057489e-04 9.99944027e-01 -1.63019322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.651400513 meters 0.06809598571055292 Centerline is valid? [True, True] Translation: X:250.45, Y:25.30, Z:-1.63 [[ 9.98321296e-01 -5.69092397e-02 1.07670001e-02 2.50449967e+02] [ 5.68980599e-02 9.98379091e-01 1.34207167e-03 2.53042902e+01] [-1.08259241e-02 -7.27197311e-04 9.99941134e-01 -1.63033659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681400513 meters 0.06671254952623126 Centerline is valid? [True, True] Translation: X:250.48, Y:25.30, Z:-1.63 [[ 9.98132692e-01 -6.00024431e-02 1.14383811e-02 2.50479621e+02] [ 5.99900249e-02 9.98197958e-01 1.42600940e-03 2.53048615e+01] [-1.15033327e-02 -7.37157838e-04 9.99933563e-01 -1.62987826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.711400513 meters 0.06283624906362717 Centerline is valid? [True, True] Translation: X:250.51, Y:25.30, Z:-1.63 [[ 9.97846529e-01 -6.44390883e-02 1.22436959e-02 2.50511253e+02] [ 6.44251902e-02 9.97921372e-01 1.52657990e-03 2.52987119e+01] [-1.23166172e-02 -7.34490021e-04 9.99923878e-01 -1.62862380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74140051300003 meters 0.06141039223719852 Centerline is valid? [True, True] Translation: X:250.54, Y:25.30, Z:-1.63 [[ 9.97781123e-01 -6.54052144e-02 1.24494739e-02 2.50540406e+02] [ 6.53909189e-02 9.97858516e-01 1.55233647e-03 2.52978724e+01] [-1.25243444e-02 -7.34809490e-04 9.99921297e-01 -1.62790265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.771400513 meters 0.0673276959075253 Centerline is valid? [True, True] Translation: X:250.57, Y:25.31, Z:-1.63 [[ 9.97768786e-01 -6.55935459e-02 1.24473281e-02 2.50566818e+02] [ 6.55792629e-02 9.97846155e-01 1.55262551e-03 2.53067535e+01] [-1.25223607e-02 -7.32874664e-04 9.99921324e-01 -1.62817830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80140051300003 meters 0.0683629801377235 Centerline is valid? [True, True] Translation: X:250.60, Y:25.31, Z:-1.63 [[ 9.97901495e-01 -6.39023798e-02 1.04447068e-02 2.50597019e+02] [ 6.38922175e-02 9.97955953e-01 1.30409933e-03 2.53088477e+01] [-1.05066924e-02 -6.34027192e-04 9.99944602e-01 -1.63208731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.831400513 meters 0.06185631239406212 Centerline is valid? [True, True] Translation: X:250.63, Y:25.30, Z:-1.63 [[ 9.97986717e-01 -6.28260455e-02 8.68336293e-03 2.50627812e+02] [ 6.28189809e-02 9.98024348e-01 1.08421581e-03 2.53019175e+01] [-8.73432463e-03 -5.36552964e-04 9.99961711e-01 -1.63458651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86140051300004 meters 0.06449351982746516 Centerline is valid? [True, True] Translation: X:250.66, Y:25.31, Z:-1.64 [[ 9.98063094e-01 -6.16959705e-02 7.97918391e-03 2.50655814e+02] [ 6.16899688e-02 9.98094863e-01 9.96348236e-04 2.53051230e+01] [-8.02545314e-03 -5.02182796e-04 9.99967669e-01 -1.63570978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.891400513 meters 0.06459784184666592 Centerline is valid? [True, True] Translation: X:250.69, Y:25.30, Z:-1.63 [[ 9.98135444e-01 -6.00104060e-02 1.11529109e-02 2.50685238e+02] [ 5.99985670e-02 9.98197491e-01 1.39339122e-03 2.53049717e+01] [-1.12164257e-02 -7.21634492e-04 9.99936834e-01 -1.63044510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92140051300004 meters 0.0649221296737665 Centerline is valid? [True, True] Translation: X:250.71, Y:25.31, Z:-1.63 [[ 9.98160584e-01 -5.91588936e-02 1.32541847e-02 2.50714909e+02] [ 5.91420913e-02 9.98248200e-01 1.65643197e-03 2.53086043e+01] [-1.33289587e-02 -8.69504905e-04 9.99910787e-01 -1.62741443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.951400513 meters 0.06903028456162841 Centerline is valid? [True, True] Translation: X:250.74, Y:25.32, Z:-1.63 [[ 9.98213046e-01 -5.80842430e-02 1.40333393e-02 2.50742496e+02] [ 5.80652960e-02 9.98311246e-01 1.75418040e-03 2.53165341e+01] [-1.41115307e-02 -9.36195766e-04 9.99899989e-01 -1.62604803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98140051300004 meters 0.07086228122301665 Centerline is valid? [True, True] Translation: X:250.77, Y:25.32, Z:-1.63 [[ 9.98422782e-01 -5.46501685e-02 1.28572098e-02 2.50772614e+02] [ 5.46339740e-02 9.98505155e-01 1.60771140e-03 2.53189814e+01] [-1.29258519e-02 -9.02735222e-04 9.99916050e-01 -1.62845108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.011400513 meters 0.07247570540519718 Centerline is valid? [True, True] Translation: X:250.80, Y:25.32, Z:-1.63 [[ 9.98536589e-01 -5.26332975e-02 1.24264120e-02 2.50802046e+02] [ 5.26180131e-02 9.98613504e-01 1.55396759e-03 2.53232271e+01] [-1.24909733e-02 -8.97840392e-04 9.99921582e-01 -1.63008423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.041400513 meters 0.07247570540519718 Centerline is valid? [True, True] Translation: X:250.83, Y:25.33, Z:-1.63 [[ 9.98527278e-01 -5.28096570e-02 1.24263955e-02 2.50829412e+02] [ 5.27943846e-02 9.98604195e-01 1.55409955e-03 2.53267869e+01] [-1.24911221e-02 -8.95766886e-04 9.99921582e-01 -1.63043069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.071400513 meters 0.07494667851671662 Centerline is valid? [True, True] Translation: X:250.86, Y:25.33, Z:-1.63 [[ 9.98667912e-01 -4.99107288e-02 1.30889192e-02 2.50859419e+02] [ 4.98935057e-02 9.98753198e-01 1.63931139e-03 2.53313995e+01] [-1.31544192e-02 -9.84075621e-04 9.99912993e-01 -1.63082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.101400513 meters 0.07351219423841615 Centerline is valid? [True, True] Translation: X:250.89, Y:25.33, Z:-1.63 [[ 9.98686233e-01 -4.94611451e-02 1.33941143e-02 2.50888633e+02] [ 4.94430673e-02 9.98775535e-01 1.67767742e-03 2.53324305e+01] [-1.34606935e-02 -1.01322725e-03 9.99908887e-01 -1.63062468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.131400513 meters 0.07195626216579232 Centerline is valid? [True, True] Translation: X:250.92, Y:25.33, Z:-1.63 [[ 9.98671341e-01 -4.97628442e-02 1.33869991e-02 2.50918012e+02] [ 4.97447840e-02 9.98760551e-01 1.67891137e-03 2.53330576e+01] [-1.34539540e-02 -1.01074729e-03 9.99908981e-01 -1.63037766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.161400513 meters 0.07596326853716594 Centerline is valid? [True, True] Translation: X:250.94, Y:25.34, Z:-1.63 [[ 9.98636920e-01 -5.04243638e-02 1.34790552e-02 2.50944829e+02] [ 5.04060862e-02 9.98727371e-01 1.69252678e-03 2.53405085e+01] [-1.35472459e-02 -1.01079331e-03 9.99907721e-01 -1.63037183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191400513 meters 0.07690628402851984 Centerline is valid? [True, True] Translation: X:250.97, Y:25.34, Z:-1.63 [[ 9.98547722e-01 -5.21139579e-02 1.36594800e-02 2.50974967e+02] [ 5.20953348e-02 9.98640642e-01 1.71591467e-03 2.53396073e+01] [-1.37303350e-02 -1.00182750e-03 9.99905233e-01 -1.63127128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.221400513 meters 0.07369421789033535 Centerline is valid? [True, True] Translation: X:251.00, Y:25.34, Z:-1.63 [[ 9.98532495e-01 -5.23826284e-02 1.37447050e-02 2.51002262e+02] [ 5.23637944e-02 9.98626582e-01 1.72683376e-03 2.53449115e+01] [-1.38162839e-02 -1.00457471e-03 9.99904046e-01 -1.63167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251400513 meters 0.08498818494412333 Centerline is valid? [True, True] Translation: X:251.03, Y:25.36, Z:-1.63 [[ 9.98559907e-01 -5.20013194e-02 1.31899785e-02 2.51028008e+02] [ 5.19839327e-02 9.98646545e-01 1.65784902e-03 2.53627564e+01] [-1.32583368e-02 -9.69794602e-04 9.99911634e-01 -1.63369195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.281400513 meters 0.07510503408970265 Centerline is valid? [True, True] Translation: X:251.06, Y:25.35, Z:-1.64 [[ 9.98578519e-01 -5.17340156e-02 1.28270505e-02 2.51058272e+02] [ 5.17175413e-02 9.98660450e-01 1.61296195e-03 2.53536360e+01] [-1.28933130e-02 -9.47285644e-04 9.99916429e-01 -1.63567263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311400513 meters 0.07299352081091118 Centerline is valid? [True, True] Translation: X:251.09, Y:25.35, Z:-1.63 [[ 9.98655813e-01 -4.99989063e-02 1.36629970e-02 2.51085128e+02] [ 4.99547020e-02 9.98745147e-01 3.55789454e-03 2.53536250e+01] [-1.38237428e-02 -2.87058112e-03 9.99900327e-01 -1.63413861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.341400513 meters 0.08272003594321305 Centerline is valid? [True, True] Translation: X:251.11, Y:25.37, Z:-1.63 [[ 9.98557836e-01 -5.15869410e-02 1.48672904e-02 2.51114348e+02] [ 5.15910851e-02 9.98668288e-01 1.04910482e-04 2.53709613e+01] [-1.48529034e-02 6.62260458e-04 9.99889470e-01 -1.63353956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371400513 meters 0.08415899107407646 Centerline is valid? [True, True] Translation: X:251.14, Y:25.37, Z:-1.63 [[ 9.98587540e-01 -5.08279153e-02 1.54741150e-02 2.51140318e+02] [ 5.07629505e-02 9.98700307e-01 4.56276606e-03 2.53744293e+01] [-1.56859193e-02 -3.77080960e-03 9.99869858e-01 -1.63033580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.401400513 meters 0.07211012021611639 Centerline is valid? [True, True] Translation: X:251.17, Y:25.37, Z:-1.63 [[ 9.98512947e-01 -5.20984787e-02 1.60512855e-02 2.51172155e+02] [ 5.21079836e-02 9.98641441e-01 -1.74213286e-04 2.53692073e+01] [-1.60204026e-02 1.01035434e-03 9.99871155e-01 -1.63138301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431400513 meters 0.06648396131754124 Centerline is valid? [True, True] Translation: X:251.20, Y:25.37, Z:-1.63 [[ 9.98468275e-01 -5.30233180e-02 1.57997212e-02 2.51201425e+02] [ 5.29984325e-02 9.98592613e-01 1.98992028e-03 2.53662125e+01] [-1.58829970e-02 -1.14951181e-03 9.99873196e-01 -1.63135160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.461400513 meters 0.07086272629853321 Centerline is valid? [True, True] Translation: X:251.23, Y:25.38, Z:-1.63 [[ 9.98430826e-01 -5.37516220e-02 1.57050383e-02 2.51228511e+02] [ 5.37271115e-02 9.98553695e-01 1.97875719e-03 2.53760224e+01] [-1.57886855e-02 -1.13186583e-03 9.99874710e-01 -1.63175650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49140051300003 meters 0.07177125577763761 Centerline is valid? [True, True] Translation: X:251.26, Y:25.38, Z:-1.63 [[ 9.98382845e-01 -5.46884642e-02 1.55198513e-02 2.51256055e+02] [ 5.46646272e-02 9.98502855e-01 1.95630936e-03 2.53812580e+01] [-1.56036034e-02 -1.10475882e-03 9.99877646e-01 -1.63210421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.521400513 meters 0.07721374245509065 Centerline is valid? [True, True] Translation: X:251.28, Y:25.39, Z:-1.63 [[ 9.98324809e-01 -5.57568019e-02 1.54516881e-02 2.51284041e+02] [ 5.57332891e-02 9.98443791e-01 1.94848656e-03 2.53929097e+01] [-1.55362835e-02 -1.08404907e-03 9.99878717e-01 -1.63176701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55140051300003 meters 0.0687290810637326 Centerline is valid? [True, True] Translation: X:251.31, Y:25.39, Z:-1.63 [[ 9.98323989e-01 -5.59038314e-02 1.49657921e-02 2.51312763e+02] [ 5.58817802e-02 9.98435608e-01 1.88791674e-03 2.53872800e+01] [-1.50479215e-02 -1.04843747e-03 9.99886224e-01 -1.63289685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.581400513 meters 0.06468521565671924 Centerline is valid? [True, True] Translation: X:251.34, Y:25.39, Z:-1.64 [[ 9.98396378e-01 -5.49420545e-02 1.36397645e-02 2.51342439e+02] [ 5.49236199e-02 9.98489073e-01 1.72274654e-03 2.53893501e+01] [-1.37138071e-02 -9.70838658e-04 9.99905490e-01 -1.63548416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61140051300004 meters 0.0647886347332381 Centerline is valid? [True, True] Translation: X:251.37, Y:25.40, Z:-1.64 [[ 9.98434155e-01 -5.43891883e-02 1.30788112e-02 2.51371060e+02] [ 5.43721870e-02 9.98519372e-01 1.65225822e-03 2.53952280e+01] [-1.31493114e-02 -9.38547465e-04 9.99913104e-01 -1.63694184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.641400513 meters 0.07517912372985582 Centerline is valid? [True, True] Translation: X:251.40, Y:25.41, Z:-1.64 [[ 9.98472190e-01 -5.36160478e-02 1.33642949e-02 2.51397573e+02] [ 5.35981985e-02 9.98561153e-01 1.69046376e-03 2.54139209e+01] [-1.34357017e-02 -9.71578918e-04 9.99909265e-01 -1.63723425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67140051300004 meters 0.07630946755747754 Centerline is valid? [True, True] Translation: X:251.43, Y:25.42, Z:-1.64 [[ 9.98502173e-01 -5.28583691e-02 1.41210414e-02 2.51426346e+02] [ 5.28383585e-02 9.98601480e-01 1.78668581e-03 2.54220416e+01] [-1.41957341e-02 -1.03787702e-03 9.99898697e-01 -1.63635931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.701400513 meters 0.07668291867226071 Centerline is valid? [True, True] Translation: X:251.46, Y:25.43, Z:-1.63 [[ 9.98560599e-01 -5.13596850e-02 1.54567813e-02 2.51455040e+02] [ 5.13355254e-02 9.98679547e-01 1.95602893e-03 2.54327965e+01] [-1.55368324e-02 -1.15973143e-03 9.99878624e-01 -1.63332472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73140051300004 meters 0.07565817100992643 Centerline is valid? [True, True] Translation: X:251.48, Y:25.44, Z:-1.63 [[ 9.98589463e-01 -5.08273393e-02 1.53514078e-02 2.51483728e+02] [ 5.08034419e-02 9.98706781e-01 1.94292593e-03 2.54389852e+01] [-1.54303088e-02 -1.16028100e-03 9.99880272e-01 -1.63346557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.761400513 meters 0.08180106130004905 Centerline is valid? [True, True] Translation: X:251.51, Y:25.46, Z:-1.64 [[ 9.98581945e-01 -5.12946611e-02 1.42463039e-02 2.51510893e+02] [ 5.12741221e-02 9.98682989e-01 1.80347195e-03 2.54588915e+01] [-1.43200499e-02 -1.07044780e-03 9.99896890e-01 -1.63606863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.791400513 meters 0.08502812565116269 Centerline is valid? [True, True] Translation: X:251.54, Y:25.47, Z:-1.64 [[ 9.98533682e-01 -5.20190446e-02 1.49834873e-02 2.51537878e+02] [ 5.19964027e-02 9.98645470e-01 1.89701519e-03 2.54712219e+01] [-1.50618726e-02 -1.11514612e-03 9.99885942e-01 -1.63635075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.821400513 meters 0.07039980469778259 Centerline is valid? [True, True] Translation: X:251.57, Y:25.46, Z:-1.64 [[ 9.98438807e-01 -5.33177047e-02 1.66484324e-02 2.51569443e+02] [ 5.32899221e-02 9.98576857e-01 2.10828485e-03 2.54614998e+01] [-1.67371482e-02 -1.21779975e-03 9.99859183e-01 -1.63542102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.851400513 meters 0.07200788953345807 Centerline is valid? [True, True] Translation: X:251.60, Y:25.47, Z:-1.63 [[ 9.98248225e-01 -5.58898849e-02 1.94113705e-02 2.51598361e+02] [ 5.58525928e-02 9.98435999e-01 2.45842881e-03 2.54712672e+01] [-1.95184124e-02 -1.36994682e-03 9.99808559e-01 -1.63146651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.881400513 meters 0.07153471186873342 Centerline is valid? [True, True] Translation: X:251.63, Y:25.48, Z:-1.63 [[ 9.98225362e-01 -5.63700970e-02 1.91973703e-02 2.51628924e+02] [ 5.63337107e-02 9.98409035e-01 2.43134174e-03 2.54766278e+01] [-1.93038829e-02 -1.34556789e-03 9.99812757e-01 -1.63147042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.911400513 meters 0.07003800205784999 Centerline is valid? [True, True] Translation: X:251.66, Y:25.48, Z:-1.63 [[ 9.98228865e-01 -5.65830366e-02 1.83710006e-02 2.51659597e+02] [ 5.65497592e-02 9.98397072e-01 2.32628208e-03 2.54808558e+01] [-1.84731813e-02 -1.28328626e-03 9.99828533e-01 -1.63314509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941400513 meters 0.07068265572462827 Centerline is valid? [True, True] Translation: X:251.69, Y:25.49, Z:-1.64 [[ 9.98235206e-01 -5.68145780e-02 1.72794136e-02 2.51689909e+02] [ 5.67851783e-02 9.98384023e-01 2.18773546e-03 2.54877575e+01] [-1.73757857e-02 -1.20265997e-03 9.99848306e-01 -1.63635199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.971400513 meters 0.07074534647102988 Centerline is valid? [True, True] Translation: X:251.72, Y:25.49, Z:-1.64 [[ 9.98261356e-01 -5.63365272e-02 1.73337799e-02 2.51718702e+02] [ 5.63068721e-02 9.98411098e-01 2.19452884e-03 2.54943988e+01] [-1.74298703e-02 -1.21470241e-03 9.99847350e-01 -1.63622501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001400513 meters 0.07176300350894625 Centerline is valid? [True, True] Translation: X:251.75, Y:25.50, Z:-1.64 [[ 9.98239533e-01 -5.64824798e-02 1.80987471e-02 2.51749294e+02] [ 5.64501702e-02 9.98402788e-01 2.29152551e-03 2.54994288e+01] [-1.81992706e-02 -1.26581400e-03 9.99833578e-01 -1.63604519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.031400513 meters 0.07117461273323943 Centerline is valid? [True, True] Translation: X:251.78, Y:25.50, Z:-1.64 [[ 9.98196646e-01 -5.70278673e-02 1.87424314e-02 2.51779954e+02] [ 5.69933140e-02 9.98371740e-01 2.37302392e-03 2.55018351e+01] [-1.88472424e-02 -1.30055124e-03 9.99821529e-01 -1.63590922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061400513 meters 0.06921071145717683 Centerline is valid? [True, True] Translation: X:251.81, Y:25.50, Z:-1.64 [[ 9.98237421e-01 -5.66421418e-02 1.77121064e-02 2.51810599e+02] [ 5.66112231e-02 9.98393780e-01 2.24257201e-03 2.55045376e+01] [-1.78106810e-02 -1.23591529e-03 9.99840613e-01 -1.63745927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.091400513 meters 0.07093104865770881 Centerline is valid? [True, True] Translation: X:251.84, Y:25.51, Z:-1.64 [[ 9.98317464e-01 -5.55807618e-02 1.65233017e-02 2.51840095e+02] [ 5.55537094e-02 9.98453508e-01 2.09209905e-03 2.55096335e+01] [-1.66140290e-02 -1.17064832e-03 9.99861292e-01 -1.63964145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121400513 meters 0.0735595971142816 Centerline is valid? [True, True] Translation: X:251.87, Y:25.52, Z:-1.64 [[ 9.98523490e-01 -5.21580241e-02 1.51783126e-02 2.51869911e+02] [ 5.21348016e-02 9.98638207e-01 1.92193194e-03 2.55156214e+01] [-1.52578870e-02 -1.12777587e-03 9.99882956e-01 -1.64213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.151400513 meters 0.07778801658153961 Centerline is valid? [True, True] Translation: X:251.90, Y:25.53, Z:-1.64 [[ 9.98617456e-01 -5.01058849e-02 1.58926674e-02 2.51898185e+02] [ 5.00801661e-02 9.98743174e-01 2.01240021e-03 2.55256558e+01] [-1.59735261e-02 -1.21371056e-03 9.99871678e-01 -1.64148088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181400513 meters 0.07868102243243717 Centerline is valid? [True, True] Translation: X:251.93, Y:25.53, Z:-1.64 [[ 9.98739395e-01 -4.69786280e-02 1.76813148e-02 2.51927395e+02] [ 4.69463038e-02 9.98894905e-01 2.23903526e-03 2.55346219e+01] [-1.77669621e-02 -1.40614034e-03 9.99841166e-01 -1.63970461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.211400513 meters 0.07285927349369906 Centerline is valid? [True, True] Translation: X:251.96, Y:25.53, Z:-1.64 [[ 9.98790296e-01 -4.59220044e-02 1.75816511e-02 2.51959104e+02] [ 4.58898810e-02 9.98944023e-01 2.22641460e-03 2.55322273e+01] [-1.76653267e-02 -1.41690142e-03 9.99842952e-01 -1.64024135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24140051300003 meters 0.08722265929396966 Centerline is valid? [True, True] Translation: X:251.99, Y:25.55, Z:-1.64 [[ 9.98818927e-01 -4.54108686e-02 1.72801495e-02 2.51987959e+02] [ 4.53797695e-02 9.98967412e-01 2.18778155e-03 2.55534074e+01] [-1.73616553e-02 -1.40102842e-03 9.99848294e-01 -1.64035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.271400513 meters 0.07559574986904422 Centerline is valid? [True, True] Translation: X:252.02, Y:25.54, Z:-1.64 [[ 9.98828151e-01 -4.55726244e-02 1.62929405e-02 2.52020613e+02] [ 4.55450071e-02 9.98960159e-01 2.06229395e-03 2.55427528e+01] [-1.63699825e-02 -1.31781517e-03 9.99865134e-01 -1.64250970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30140051300003 meters 0.07174604913714616 Centerline is valid? [True, True] Translation: X:252.05, Y:25.54, Z:-1.64 [[ 9.98682613e-01 -4.83768319e-02 1.71090931e-02 2.52051141e+02] [ 4.83467925e-02 9.98828263e-01 2.16527663e-03 2.55419628e+01] [-1.71937949e-02 -1.33525435e-03 9.99851284e-01 -1.64306666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.331400513 meters 0.07609387033980254 Centerline is valid? [True, True] Translation: X:252.08, Y:25.55, Z:-1.64 [[ 9.98565265e-01 -5.04146012e-02 1.80493454e-02 2.52079658e+02] [ 5.03814996e-02 9.98727434e-01 2.28428329e-03 2.55509145e+01] [-1.81415376e-02 -1.37165287e-03 9.99834488e-01 -1.64186214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36140051300004 meters 0.07520634918064423 Centerline is valid? [True, True] Translation: X:252.11, Y:25.55, Z:-1.64 [[ 9.98467656e-01 -5.21477011e-02 1.85191040e-02 2.52110283e+02] [ 5.21131486e-02 9.98638436e-01 2.34381854e-03 2.55534297e+01] [-1.86161138e-02 -1.37513818e-03 9.99825759e-01 -1.64167755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.391400513 meters 0.07275722519245781 Centerline is valid? [True, True] Translation: X:252.14, Y:25.56, Z:-1.64 [[ 9.98353829e-01 -5.43904006e-02 1.82021194e-02 2.52141036e+02] [ 5.43573946e-02 9.98518887e-01 2.30353480e-03 2.55556880e+01] [-1.83004501e-02 -1.31032300e-03 9.99831674e-01 -1.64234486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42140051300004 meters 0.07189708344297524 Centerline is valid? [True, True] Translation: X:252.17, Y:25.56, Z:-1.64 [[ 9.98340031e-01 -5.44427723e-02 1.87927272e-02 2.52172416e+02] [ 5.44076024e-02 9.98515978e-01 2.37807725e-03 2.55606646e+01] [-1.88943075e-02 -1.35166248e-03 9.99820573e-01 -1.64225841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.451400513 meters 0.07933551988144458 Centerline is valid? [True, True] Translation: X:252.20, Y:25.58, Z:-1.64 [[ 9.98381497e-01 -5.34370669e-02 1.94645016e-02 2.52201096e+02] [ 5.33991544e-02 9.98570211e-01 2.46271299e-03 2.55766618e+01] [-1.95682716e-02 -1.41933916e-03 9.99807516e-01 -1.64085362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48140051300004 meters 0.0689826062377474 Centerline is valid? [True, True] Translation: X:252.23, Y:25.57, Z:-1.64 [[ 9.98420879e-01 -5.26268230e-02 1.96511164e-02 2.52233905e+02] [ 5.25880299e-02 9.98613198e-01 2.48601683e-03 2.55692421e+01] [-1.97546953e-02 -1.44867761e-03 9.99803807e-01 -1.64243777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.511400513 meters 0.0715164509499333 Centerline is valid? [True, True] Translation: X:252.26, Y:25.58, Z:-1.64 [[ 9.98456644e-01 -5.18563540e-02 1.98808715e-02 2.52264382e+02] [ 5.18165117e-02 9.98653457e-01 2.51431622e-03 2.55783020e+01] [-1.99844843e-02 -1.48027832e-03 9.99799194e-01 -1.64238603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.541400513 meters 0.07696406016440346 Centerline is valid? [True, True] Translation: X:252.29, Y:25.59, Z:-1.64 [[ 9.98558747e-01 -4.98827223e-02 1.98025855e-02 2.52292651e+02] [ 4.98428242e-02 9.98753936e-01 2.50357001e-03 2.55946449e+01] [-1.99027951e-02 -1.51294495e-03 9.99800775e-01 -1.64301234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.571400513 meters 0.07720605414343545 Centerline is valid? [True, True] Translation: X:252.32, Y:25.60, Z:-1.64 [[ 9.98617363e-01 -4.87897469e-02 1.95684214e-02 2.52323277e+02] [ 4.87505827e-02 9.98807920e-01 2.47374595e-03 2.56025446e+01] [-1.96657877e-02 -1.51635371e-03 9.99805460e-01 -1.64356091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.601400513 meters 0.08169603237014832 Centerline is valid? [True, True] Translation: X:252.35, Y:25.61, Z:-1.64 [[ 9.98642111e-01 -4.82352507e-02 1.96797844e-02 2.52353507e+02] [ 4.81955428e-02 9.98834823e-01 2.48729823e-03 2.56134082e+01] [-1.97768294e-02 -1.53544286e-03 9.99803240e-01 -1.64484347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.631400513 meters 0.08054163335053638 Centerline is valid? [True, True] Translation: X:252.38, Y:25.63, Z:-1.64 [[ 9.98626746e-01 -4.84374974e-02 1.99607181e-02 2.52383204e+02] [ 4.83967013e-02 9.98825009e-01 2.52212566e-03 2.56270576e+01] [-2.00594299e-02 -1.55262923e-03 9.99797584e-01 -1.64440352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.661400513 meters 0.07181429720055113 Centerline is valid? [True, True] Translation: X:252.41, Y:25.62, Z:-1.65 [[ 9.98544926e-01 -4.99590864e-02 2.03007499e-02 2.52414549e+02] [ 4.99172114e-02 9.98750066e-01 2.56457070e-03 2.56237744e+01] [-2.04034989e-02 -1.54748223e-03 9.99790629e-01 -1.64543403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691400513 meters 0.07787073576990276 Centerline is valid? [True, True] Translation: X:252.44, Y:25.64, Z:-1.64 [[ 9.98423078e-01 -5.20404558e-02 2.10510701e-02 2.52442520e+02] [ 5.19958989e-02 9.98643759e-01 2.65881810e-03 2.56368757e+01] [-2.11608858e-02 -1.56005604e-03 9.99774866e-01 -1.64448457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.721400513 meters 0.07649757775650935 Centerline is valid? [True, True] Translation: X:252.47, Y:25.64, Z:-1.64 [[ 9.98135849e-01 -5.69749224e-02 2.18788668e-02 2.52471878e+02] [ 5.69279837e-02 9.98374465e-01 2.76277425e-03 2.56388039e+01] [-2.20007107e-02 -1.51210425e-03 9.99756812e-01 -1.64277656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751400513 meters 0.0627605601649717 Centerline is valid? [True, True] Translation: X:252.50, Y:25.63, Z:-1.64 [[ 9.97997853e-01 -5.94674056e-02 2.15386383e-02 2.52503931e+02] [ 5.94224929e-02 9.98229217e-01 2.71982846e-03 2.56262641e+01] [-2.16622392e-02 -1.43450338e-03 9.99764317e-01 -1.64478687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.781400513 meters 0.07212116390544342 Centerline is valid? [True, True] Translation: X:252.53, Y:25.64, Z:-1.64 [[ 9.97757577e-01 -6.32118212e-02 2.20019098e-02 2.52531591e+02] [ 6.31658585e-02 9.97999176e-01 2.77846335e-03 2.56445569e+01] [-2.21335196e-02 -1.38246334e-03 9.99754068e-01 -1.64287939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811400513 meters 0.06502778529911668 Centerline is valid? [True, True] Translation: X:252.56, Y:25.64, Z:-1.64 [[ 9.97680572e-01 -6.41142635e-02 2.28656587e-02 2.52564189e+02] [ 6.40648608e-02 9.97941560e-01 2.88735458e-03 2.56411526e+01] [-2.30037117e-02 -1.41577233e-03 9.99734377e-01 -1.64414955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.841400513 meters 0.06238779240812531 Centerline is valid? [True, True] Translation: X:252.60, Y:25.64, Z:-1.64 [[ 9.97638786e-01 -6.44758531e-02 2.36583530e-02 2.52596304e+02] [ 6.44230887e-02 9.97918206e-01 2.98650332e-03 2.56424442e+01] [-2.38016585e-02 -1.45530737e-03 9.99715641e-01 -1.64393318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871400513 meters 0.06470092843245484 Centerline is valid? [True, True] Translation: X:252.63, Y:25.65, Z:-1.64 [[ 9.97621095e-01 -6.42445266e-02 2.49958480e-02 2.52627077e+02] [ 6.41855797e-02 9.97932995e-01 3.15430694e-03 2.56495182e+01] [-2.51468284e-02 -1.54243015e-03 9.99682579e-01 -1.64222472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.901400513 meters 0.06470092843245484 Centerline is valid? [True, True] Translation: X:252.66, Y:25.65, Z:-1.64 [[ 9.97623951e-01 -6.42001035e-02 2.49959711e-02 2.52658560e+02] [ 6.41411671e-02 9.97935853e-01 3.15333095e-03 2.56534125e+01] [-2.51468200e-02 -1.54256772e-03 9.99682579e-01 -1.64262743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931400513 meters 0.05879970811221872 Centerline is valid? [True, True] Translation: X:252.69, Y:25.65, Z:-1.64 [[ 9.97641488e-01 -6.37713427e-02 2.53904978e-02 2.52691392e+02] [ 6.37104226e-02 9.97963291e-01 3.20191665e-03 2.56533497e+01] [-2.55429753e-02 -1.57672554e-03 9.99672482e-01 -1.64334964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.961400513 meters 0.059011503506001206 Centerline is valid? [True, True] Translation: X:252.72, Y:25.66, Z:-1.64 [[ 9.97642490e-01 -6.37557305e-02 2.53903155e-02 2.52723229e+02] [ 6.36948369e-02 9.97964290e-01 3.20069114e-03 2.56592680e+01] [-2.55426906e-02 -1.57591348e-03 9.99672490e-01 -1.64370490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99140051300003 meters 0.05560354693439752 Centerline is valid? [True, True] Translation: X:252.76, Y:25.66, Z:-1.65 [[ 9.97642680e-01 -6.42667934e-02 2.40595384e-02 2.52755426e+02] [ 6.42122926e-02 9.97931656e-01 3.03180516e-03 2.56581696e+01] [-2.42046194e-02 -1.47974010e-03 9.99705930e-01 -1.64716869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.021400513 meters 0.06126708394604456 Centerline is valid? [True, True] Translation: X:252.78, Y:25.67, Z:-1.65 [[ 9.97723369e-01 -6.35352386e-02 2.26130825e-02 2.52784639e+02] [ 6.34869299e-02 9.97978605e-01 2.84858133e-03 2.56730352e+01] [-2.27483578e-02 -1.40646098e-03 9.99740233e-01 -1.64807413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05140051300003 meters 0.06353651531285284 Centerline is valid? [True, True] Translation: X:252.81, Y:25.68, Z:-1.65 [[ 9.97774889e-01 -6.31557796e-02 2.13686188e-02 2.52814668e+02] [ 6.31125720e-02 9.98002786e-01 2.69106863e-03 2.56820650e+01] [-2.14958977e-02 -1.33645221e-03 9.99768043e-01 -1.65104861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.081400513 meters 0.059441522244851476 Centerline is valid? [True, True] Translation: X:252.85, Y:25.68, Z:-1.65 [[ 9.97800884e-01 -6.28578073e-02 2.10307361e-02 2.52846528e+02] [ 6.28159095e-02 9.98021619e-01 2.64758135e-03 2.56842332e+01] [-2.11555504e-02 -1.32069420e-03 9.99775324e-01 -1.65371767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11140051300004 meters 0.07274525761869849 Centerline is valid? [True, True] Translation: X:252.87, Y:25.71, Z:-1.65 [[ 9.97803872e-01 -6.26536940e-02 2.14929538e-02 2.52874678e+02] [ 6.26099101e-02 9.98034410e-01 2.70468886e-03 2.57096777e+01] [-2.16201662e-02 -1.35307711e-03 9.99765341e-01 -1.65150751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.141400513 meters 0.064268902622625 Centerline is valid? [True, True] Translation: X:252.91, Y:25.70, Z:-1.65 [[ 9.97800259e-01 -6.28130991e-02 2.11933548e-02 2.52908014e+02] [ 6.27705813e-02 9.98024421e-01 2.66614915e-03 2.57049295e+01] [-2.13189547e-02 -1.32996511e-03 9.99771841e-01 -1.65337405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17140051300004 meters 0.060919216992109136 Centerline is valid? [True, True] Translation: X:252.94, Y:25.70, Z:-1.66 [[ 9.97796423e-01 -6.29428248e-02 2.09880897e-02 2.52936264e+02] [ 6.28094555e-02 9.98001303e-01 6.95494935e-03 2.57025783e+01] [-2.13839050e-02 -5.62137309e-03 9.99755535e-01 -1.65589660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.201400513 meters 0.056698057974386935 Centerline is valid? [True, True] Translation: X:252.97, Y:25.71, Z:-1.66 [[ 9.97592176e-01 -6.62956570e-02 2.03650879e-02 2.52969566e+02] [ 6.63401401e-02 9.97795915e-01 -1.51577652e-03 2.57128129e+01] [-2.02197121e-02 2.86314958e-03 9.99791461e-01 -1.65914736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23140051300004 meters 0.0530200389742229 Centerline is valid? [True, True] Translation: X:253.00, Y:25.72, Z:-1.66 [[ 9.97384356e-01 -6.98263449e-02 1.86742732e-02 2.53000043e+02] [ 6.97946043e-02 9.97558623e-01 2.34686460e-03 2.57155047e+01] [-1.87925552e-02 -1.03736253e-03 9.99822866e-01 -1.66186372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.261400513 meters 0.051949483320770116 Centerline is valid? [True, True] Translation: X:253.03, Y:25.72, Z:-1.66 [[ 9.97238142e-01 -7.20557939e-02 1.80014143e-02 2.53029005e+02] [ 7.20266613e-02 9.97400141e-01 2.26232897e-03 2.57211684e+01] [-1.81176271e-02 -9.59498971e-04 9.99835402e-01 -1.66309363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.291400513 meters 0.05591797457083339 Centerline is valid? [True, True] Translation: X:253.06, Y:25.73, Z:-1.66 [[ 9.97088378e-01 -7.41416233e-02 1.78265842e-02 2.53057856e+02] [ 7.41133837e-02 9.97247305e-01 2.24050548e-03 2.57321904e+01] [-1.79436277e-02 -9.12793498e-04 9.99838583e-01 -1.66283560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.321400513 meters 0.04644406345420401 Centerline is valid? [True, True] Translation: X:253.09, Y:25.73, Z:-1.66 [[ 9.96731774e-01 -7.86343219e-02 1.85044084e-02 2.53089596e+02] [ 7.86046656e-02 9.96903154e-01 2.32569784e-03 2.57262056e+01] [-1.86299828e-02 -8.63564097e-04 9.99826074e-01 -1.66148808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.351400513 meters 0.04284245195506079 Centerline is valid? [True, True] Translation: X:253.12, Y:25.73, Z:-1.66 [[ 9.96542107e-01 -8.07952099e-02 1.93897541e-02 2.53119733e+02] [ 8.07630523e-02 9.96730350e-01 2.43713782e-03 2.57256165e+01] [-1.95232655e-02 -8.62734738e-04 9.99809031e-01 -1.66024631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.381400513 meters 0.042581588476150546 Centerline is valid? [True, True] Translation: X:253.15, Y:25.73, Z:-1.66 [[ 9.96374125e-01 -8.26306370e-02 2.02677157e-02 2.53147962e+02] [ 8.25958675e-02 9.96579866e-01 2.54808820e-03 2.57297244e+01] [-2.04089475e-02 -8.64819594e-04 9.99791342e-01 -1.65905365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.411400513 meters 0.04011381783486461 Centerline is valid? [True, True] Translation: X:253.18, Y:25.73, Z:-1.66 [[ 9.96198068e-01 -8.46437467e-02 2.06117882e-02 2.53177958e+02] [ 8.46082048e-02 9.96410926e-01 2.59190746e-03 2.57319640e+01] [-2.07571997e-02 -8.38126807e-04 9.99784195e-01 -1.65981965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441400513 meters 0.041338482772653826 Centerline is valid? [True, True] Translation: X:253.21, Y:25.74, Z:-1.66 [[ 9.95843113e-01 -8.88114708e-02 2.02241839e-02 2.53206942e+02] [ 8.87781057e-02 9.96048181e-01 2.54343174e-03 2.57391793e+01] [-2.03701475e-02 -7.37394246e-04 9.99792235e-01 -1.66131288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.471400513 meters 0.038657194497812866 Centerline is valid? [True, True] Translation: X:253.24, Y:25.74, Z:-1.66 [[ 9.95666855e-01 -9.09497935e-02 1.93816501e-02 2.53236543e+02] [ 9.09195322e-02 9.95855256e-01 2.43865861e-03 2.57396052e+01] [-1.95231136e-02 -6.65920986e-04 9.99809184e-01 -1.66344419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501400513 meters 0.033679645098221286 Centerline is valid? [True, True] Translation: X:253.27, Y:25.74, Z:-1.67 [[ 9.95472765e-01 -9.32773814e-02 1.82566187e-02 2.53266995e+02] [ 9.32508876e-02 9.95639988e-01 2.29899869e-03 2.57366412e+01] [-1.83914642e-02 -5.86144689e-04 9.99830691e-01 -1.66614261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.531400513 meters 0.03310747601885314 Centerline is valid? [True, True] Translation: X:253.29, Y:25.74, Z:-1.67 [[ 9.95463854e-01 -9.33846490e-02 1.81940388e-02 2.53294982e+02] [ 9.33583294e-02 9.95629935e-01 2.29248559e-03 2.57395927e+01] [-1.83286126e-02 -5.83521475e-04 9.99831847e-01 -1.66686826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561400513 meters 0.035951725909440846 Centerline is valid? [True, True] Translation: X:253.32, Y:25.75, Z:-1.67 [[ 9.95622378e-01 -9.18063467e-02 1.75406828e-02 2.53322457e+02] [ 9.17815926e-02 9.95776703e-01 2.21278833e-03 2.57471044e+01] [-1.76697513e-02 -5.93189772e-04 9.99843702e-01 -1.66823372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.591400513 meters 0.03594877533406718 Centerline is valid? [True, True] Translation: X:253.35, Y:25.75, Z:-1.67 [[ 9.95721576e-01 -9.07783394e-02 1.72579086e-02 2.53350907e+02] [ 9.07541966e-02 9.95870940e-01 2.17862725e-03 2.57510291e+01] [-1.73844218e-02 -6.03078525e-04 9.99848698e-01 -1.66914256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621400513 meters 0.036344503368464426 Centerline is valid? [True, True] Translation: X:253.38, Y:25.76, Z:-1.67 [[ 9.95808222e-01 -8.98897153e-02 1.69063095e-02 2.53379077e+02] [ 8.98663708e-02 9.95951539e-01 2.13703141e-03 2.57554010e+01] [-1.70299621e-02 -6.08764770e-04 9.99854794e-01 -1.67044804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.651400513 meters 0.035955629998875936 Centerline is valid? [True, True] Translation: X:253.41, Y:25.76, Z:-1.67 [[ 9.95848670e-01 -8.94544586e-02 1.68323159e-02 2.53407190e+02] [ 8.94312156e-02 9.95990723e-01 2.13005684e-03 2.57588139e+01] [-1.69553736e-02 -6.15879798e-04 9.99856058e-01 -1.67185616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681400513 meters 0.03931557230326936 Centerline is valid? [True, True] Translation: X:253.43, Y:25.77, Z:-1.67 [[ 9.95801656e-01 -8.97212309e-02 1.81428347e-02 2.53433333e+02] [ 8.96942428e-02 9.95966698e-01 2.29746905e-03 2.57657632e+01] [-1.82757910e-02 -6.60515655e-04 9.99832766e-01 -1.67013488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.711400513 meters 0.0391945840421494 Centerline is valid? [True, True] Translation: X:253.46, Y:25.77, Z:-1.67 [[ 9.95727543e-01 -9.03974670e-02 1.88403392e-02 2.53462466e+02] [ 9.03684407e-02 9.95905539e-01 2.38810353e-03 2.57694410e+01] [-1.89790767e-02 -6.75328384e-04 9.99819653e-01 -1.66954449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74140051300003 meters 0.03902464584420164 Centerline is valid? [True, True] Translation: X:253.49, Y:25.77, Z:-1.67 [[ 9.95651986e-01 -9.11219690e-02 1.93367186e-02 2.53490411e+02] [ 9.10914995e-02 9.95839507e-01 2.45254636e-03 2.57731361e+01] [-1.94797492e-02 -6.80471963e-04 9.99810020e-01 -1.66963429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.771400513 meters 0.03598334538347315 Centerline is valid? [True, True] Translation: X:253.52, Y:25.77, Z:-1.67 [[ 9.95593299e-01 -9.16736281e-02 1.97466024e-02 2.53519714e+02] [ 9.16419229e-02 9.95788871e-01 2.50646593e-03 2.57728507e+01] [-1.98932237e-02 -6.85804066e-04 9.99801875e-01 -1.67099101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80140051300003 meters 0.03497387440163682 Centerline is valid? [True, True] Translation: X:253.55, Y:25.78, Z:-1.67 [[ 9.95481691e-01 -9.24835267e-02 2.15174469e-02 2.53547581e+02] [ 9.24459809e-02 9.95713944e-01 2.73525646e-03 2.57753379e+01] [-2.16781881e-02 -7.33696234e-04 9.99764731e-01 -1.67081430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.831400513 meters 0.036587550228768084 Centerline is valid? [True, True] Translation: X:253.58, Y:25.78, Z:-1.67 [[ 9.95456103e-01 -9.25248081e-02 2.25012673e-02 2.53575262e+02] [ 9.24836892e-02 9.95710082e-01 2.86345850e-03 2.57820231e+01] [-2.26696796e-02 -7.69447031e-04 9.99742714e-01 -1.66938994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86140051300004 meters 0.03942503927769297 Centerline is valid? [True, True] Translation: X:253.60, Y:25.78, Z:-1.67 [[ 9.95398474e-01 -9.31852245e-02 2.23247005e-02 2.53603935e+02] [ 9.31448600e-02 9.95648507e-01 2.84340415e-03 2.57829603e+01] [-2.24925179e-02 -7.50889049e-04 9.99746729e-01 -1.67096789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.891400513 meters 0.03388884658680571 Centerline is valid? [True, True] Translation: X:253.63, Y:25.79, Z:-1.67 [[ 9.95425432e-01 -9.31207928e-02 2.13711573e-02 2.53632049e+02] [ 9.30837324e-02 9.95654556e-01 2.72455924e-03 2.57850907e+01] [-2.15320033e-02 -7.22788467e-04 9.99767898e-01 -1.67201728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92140051300004 meters 0.038057345863083285 Centerline is valid? [True, True] Translation: X:253.66, Y:25.79, Z:-1.67 [[ 9.95322752e-01 -9.44142786e-02 2.04588164e-02 2.53658912e+02] [ 9.43805634e-02 9.95532772e-01 2.60945438e-03 2.57938086e+01] [-2.06137919e-02 -6.66334700e-04 9.99787291e-01 -1.67262440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.951400513 meters 0.03250294034818743 Centerline is valid? [True, True] Translation: X:253.69, Y:25.79, Z:-1.68 [[ 9.95142944e-01 -9.65061833e-02 1.94185012e-02 2.53688217e+02] [ 9.64761875e-02 9.95332209e-01 2.47780936e-03 2.57916346e+01] [-1.95669836e-02 -5.92351537e-04 9.99808373e-01 -1.67628560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98140051300004 meters 0.029330669121000366 Centerline is valid? [True, True] Translation: X:253.72, Y:25.79, Z:-1.68 [[ 9.94740335e-01 -1.00863926e-01 1.78363067e-02 2.53717270e+02] [ 1.00839307e-01 9.94900121e-01 2.27659104e-03 2.57921777e+01] [-1.79749696e-02 -4.66016129e-04 9.99838329e-01 -1.67911583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.011400513 meters 0.029993070221607628 Centerline is valid? [True, True] Translation: X:253.74, Y:25.79, Z:-1.68 [[ 9.94677524e-01 -1.01237767e-01 1.91712818e-02 2.53742824e+02] [ 1.01104161e-01 9.94845134e-01 7.81709930e-03 2.57893444e+01] [-1.98638421e-02 -5.83719661e-03 9.99785654e-01 -1.67842238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.041400513 meters 0.02512325245309373 Centerline is valid? [True, True] Translation: X:253.77, Y:25.80, Z:-1.68 [[ 9.94406533e-01 -1.04079389e-01 1.79757582e-02 2.53774530e+02] [ 1.04142792e-01 9.94558891e-01 -2.62527924e-03 2.57984722e+01] [-1.76047127e-02 4.48264048e-03 9.99834976e-01 -1.68048592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.071400513 meters 0.026653990983021486 Centerline is valid? [True, True] Translation: X:253.80, Y:25.80, Z:-1.68 [[ 9.94445661e-01 -1.03835176e-01 1.72071000e-02 2.53801930e+02] [ 1.03812697e-01 9.94594439e-01 2.19693213e-03 2.58024974e+01] [-1.73422048e-02 -3.98414158e-04 9.99849533e-01 -1.68037524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.101400513 meters 0.025533381225058733 Centerline is valid? [True, True] Translation: X:253.83, Y:25.81, Z:-1.68 [[ 9.94513968e-01 -1.03213042e-01 1.70010162e-02 2.53830332e+02] [ 1.03190982e-01 9.94659190e-01 2.17208003e-03 2.58076835e+01] [-1.71344040e-02 -4.05812371e-04 9.99853113e-01 -1.68200345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.131400513 meters 0.029558383808733612 Centerline is valid? [True, True] Translation: X:253.86, Y:25.82, Z:-1.68 [[ 9.94541612e-01 -1.02984981e-01 1.67652998e-02 2.53856751e+02] [ 1.02963456e-01 9.94682828e-01 2.14432900e-03 2.58173292e+01] [-1.68969895e-02 -4.06411212e-04 9.99857153e-01 -1.68308541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.161400513 meters 0.027094801600262015 Centerline is valid? [True, True] Translation: X:253.88, Y:25.82, Z:-1.69 [[ 9.94761972e-01 -1.01029905e-01 1.55427775e-02 2.53884702e+02] [ 1.01011148e-01 9.94883305e-01 1.98914791e-03 2.58246622e+01] [-1.56642132e-02 -4.08734897e-04 9.99877225e-01 -1.68562133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.191400513 meters 0.028798714461848566 Centerline is valid? [True, True] Translation: X:253.91, Y:25.83, Z:-1.69 [[ 9.94849064e-01 -1.00376094e-01 1.41414336e-02 2.53911667e+02] [ 1.00360472e-01 9.94949493e-01 1.81187609e-03 2.58331508e+01] [-1.42518813e-02 -3.83302283e-04 9.99898363e-01 -1.68728953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.221400513 meters 0.028871865235729672 Centerline is valid? [True, True] Translation: X:253.94, Y:25.84, Z:-1.69 [[ 9.94902072e-01 -1.00040701e-01 1.27171286e-02 2.53939832e+02] [ 1.00028031e-01 9.94983284e-01 1.63007490e-03 2.58401369e+01] [-1.28164042e-02 -3.49695572e-04 9.99917805e-01 -1.68967986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.251400513 meters 0.028499428162048993 Centerline is valid? [True, True] Translation: X:253.97, Y:25.85, Z:-1.69 [[ 9.94847254e-01 -1.00756368e-01 1.12736503e-02 2.53967521e+02] [ 1.00746438e-01 9.94911083e-01 1.44671318e-03 2.58494773e+01] [-1.13620452e-02 -3.03478519e-04 9.99935404e-01 -1.69192572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.281400513 meters 0.029393108899026146 Centerline is valid? [True, True] Translation: X:253.99, Y:25.86, Z:-1.69 [[ 9.94672477e-01 -1.02422663e-01 1.16731418e-02 2.53994944e+02] [ 1.02412108e-01 9.94740926e-01 1.50002751e-03 2.58579919e+01] [-1.17653887e-02 -2.96565026e-04 9.99930741e-01 -1.69179994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.311400513 meters 0.025512912989988968 Centerline is valid? [True, True] Translation: X:254.02, Y:25.86, Z:-1.69 [[ 9.94558713e-01 -1.03285835e-01 1.36015564e-02 2.54020112e+02] [ 1.03216867e-01 9.94642655e-01 5.68046345e-03 2.58560944e+01] [-1.41153995e-02 -4.24564439e-03 9.99891359e-01 -1.69022351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.341400513 meters 0.023131954714195713 Centerline is valid? [True, True] Translation: X:254.05, Y:25.87, Z:-1.69 [[ 9.93946849e-01 -1.09000484e-01 1.37315815e-02 2.54050867e+02] [ 1.09038598e-01 9.94035390e-01 -2.05603129e-03 2.58725183e+01] [-1.34255695e-02 3.54085822e-03 9.99903604e-01 -1.68993278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.371400513 meters 0.019081831965875266 Centerline is valid? [True, True] Translation: X:254.08, Y:25.87, Z:-1.69 [[ 9.93667863e-01 -1.11614622e-01 1.28978017e-02 2.54080028e+02] [ 1.11602441e-01 9.93751544e-01 1.66258704e-03 2.58704817e+01] [-1.30027794e-02 -2.12633160e-04 9.99915438e-01 -1.69055638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.401400513 meters 0.017618539110067825 Centerline is valid? [True, True] Translation: X:254.11, Y:25.87, Z:-1.69 [[ 9.93434767e-01 -1.13711577e-01 1.25315886e-02 2.54107179e+02] [ 1.13700220e-01 9.93513787e-01 1.61731431e-03 2.58742661e+01] [-1.26342134e-02 -1.81851882e-04 9.99920169e-01 -1.69175514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.431400513 meters 0.01564001727619853 Centerline is valid? [True, True] Translation: X:254.14, Y:25.88, Z:-1.69 [[ 9.93240893e-01 -1.15420978e-01 1.22689392e-02 2.54135661e+02] [ 1.15410214e-01 9.93316653e-01 1.58408549e-03 2.58767276e+01] [-1.23697783e-02 -1.57417590e-04 9.99923479e-01 -1.69293588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.461400513 meters 0.01545150986333868 Centerline is valid? [True, True] Translation: X:254.16, Y:25.88, Z:-1.69 [[ 9.93033913e-01 -1.17149136e-01 1.26383195e-02 2.54162685e+02] [ 1.17137826e-01 9.93114324e-01 1.63403283e-03 2.58832959e+01] [-1.27427217e-02 -1.42224741e-04 9.99918798e-01 -1.69314241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49140051300003 meters 0.015119513551496303 Centerline is valid? [True, True] Translation: X:254.19, Y:25.89, Z:-1.69 [[ 9.92991978e-01 -1.17489626e-01 1.27718439e-02 2.54190434e+02] [ 1.17478093e-01 9.93074100e-01 1.65208538e-03 2.58885725e+01] [-1.28774903e-02 -1.40095669e-04 9.99917072e-01 -1.69282995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.521400513 meters 0.01658919880940126 Centerline is valid? [True, True] Translation: X:254.22, Y:25.90, Z:-1.69 [[ 9.93186327e-01 -1.15869679e-01 1.24554312e-02 2.54218135e+02] [ 1.15858554e-01 9.93264412e-01 1.61344448e-03 2.59010836e+01] [-1.25584858e-02 -1.59382743e-04 9.99921126e-01 -1.69385994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55140051300003 meters 0.01724299951073713 Centerline is valid? [True, True] Translation: X:254.25, Y:25.91, Z:-1.69 [[ 9.93314875e-01 -1.14764904e-01 1.24328867e-02 2.54246601e+02] [ 1.14753708e-01 9.93392665e-01 1.61258433e-03 2.59092561e+01] [-1.25358065e-02 -1.75084164e-04 9.99921408e-01 -1.69458946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.581400513 meters 0.018241060287354133 Centerline is valid? [True, True] Translation: X:254.27, Y:25.92, Z:-1.69 [[ 9.93415962e-01 -1.13862343e-01 1.26528397e-02 2.54274273e+02] [ 1.13850646e-01 9.93496517e-01 1.64329345e-03 2.59171733e+01] [-1.27576614e-02 -1.91939972e-04 9.99918599e-01 -1.69444996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61140051300004 meters 0.01818968832939076 Centerline is valid? [True, True] Translation: X:254.30, Y:25.93, Z:-1.70 [[ 9.93393861e-01 -1.14097619e-01 1.22625202e-02 2.54301332e+02] [ 1.14086626e-01 9.93469526e-01 1.59458720e-03 2.59276403e+01] [-1.23643788e-02 -1.85063585e-04 9.99923541e-01 -1.69534127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.641400513 meters 0.01820502804941928 Centerline is valid? [True, True] Translation: X:254.33, Y:25.93, Z:-1.70 [[ 9.93297036e-01 -1.14954084e-01 1.21060977e-02 2.54328480e+02] [ 1.14943404e-01 9.93370791e-01 1.57663404e-03 2.59346159e+01] [-1.22070844e-02 -1.74549830e-04 9.99925476e-01 -1.69666366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67140051300004 meters 0.017475652720246346 Centerline is valid? [True, True] Translation: X:254.36, Y:25.94, Z:-1.70 [[ 9.93176281e-01 -1.16011086e-01 1.19290943e-02 2.54355887e+02] [ 1.16000784e-01 9.93247906e-01 1.55428649e-03 2.59400595e+01] [-1.20288624e-02 -1.59896184e-04 9.99927638e-01 -1.69797254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.701400513 meters 0.015059172504522385 Centerline is valid? [True, True] Translation: X:254.38, Y:25.94, Z:-1.70 [[ 9.92947849e-01 -1.18029153e-01 1.11215522e-02 2.54384448e+02] [ 1.18020320e-01 9.93010122e-01 1.44948652e-03 2.59435573e+01] [-1.12148956e-02 -1.26695375e-04 9.99937103e-01 -1.69946414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73140051300004 meters 0.014816665053888371 Centerline is valid? [True, True] Translation: X:254.41, Y:25.95, Z:-1.70 [[ 9.92911223e-01 -1.18406088e-01 1.03586533e-02 2.54412425e+02] [ 1.18398430e-01 9.92965249e-01 1.35159822e-03 2.59489177e+01] [-1.04458202e-02 -1.15568761e-04 9.99945434e-01 -1.70083966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.761400513 meters 0.014920180464175408 Centerline is valid? [True, True] Translation: X:254.44, Y:25.96, Z:-1.70 [[ 9.92907114e-01 -1.18498934e-01 9.66776442e-03 2.54439707e+02] [ 1.18492251e-01 9.92954174e-01 1.26317177e-03 2.59553125e+01] [-9.74933154e-03 -1.08657063e-04 9.99952468e-01 -1.70174984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.791400513 meters 0.016768225095410896 Centerline is valid? [True, True] Translation: X:254.47, Y:25.96, Z:-1.70 [[ 9.92955692e-01 -1.18138451e-01 9.07190058e-03 2.54466414e+02] [ 1.18132535e-01 9.92997127e-01 1.18702886e-03 2.59649954e+01] [-9.14860496e-03 -1.06980444e-04 9.99958145e-01 -1.70372177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.821400513 meters 0.01734251090087066 Centerline is valid? [True, True] Translation: X:254.49, Y:25.97, Z:-1.71 [[ 9.93210316e-01 -1.16097114e-01 7.39792581e-03 2.54493600e+02] [ 1.16093113e-01 9.93237861e-01 9.69433429e-04 2.59748807e+01] [-7.46044843e-03 -1.04003047e-04 9.99972165e-01 -1.70592367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.851400513 meters 0.01734251090087066 Centerline is valid? [True, True] Translation: X:254.52, Y:25.98, Z:-1.71 [[ 9.93188006e-01 -1.16287807e-01 7.39796017e-03 2.54520844e+02] [ 1.16283813e-01 9.93215553e-01 9.69172203e-04 2.59786233e+01] [-7.46047201e-03 -1.02307188e-04 9.99972165e-01 -1.70627772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.881400513 meters 0.02009642732941257 Centerline is valid? [True, True] Translation: X:254.55, Y:25.99, Z:-1.71 [[ 9.93316016e-01 -1.15194840e-01 7.31036913e-03 2.54548076e+02] [ 1.15190897e-01 9.93342910e-01 9.59666624e-04 2.59881546e+01] [-7.37225198e-03 -1.11164253e-04 9.99972818e-01 -1.70829812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.911400513 meters 0.019829431876941573 Centerline is valid? [True, True] Translation: X:254.58, Y:25.99, Z:-1.71 [[ 9.93418665e-01 -1.14306984e-01 7.29856953e-03 2.54576765e+02] [ 1.14303027e-01 9.93445469e-01 9.58352287e-04 2.59934086e+01] [-7.36027719e-03 -1.17796460e-04 9.99972906e-01 -1.70826062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.941400513 meters 0.02292547579507385 Centerline is valid? [True, True] Translation: X:254.60, Y:26.00, Z:-1.71 [[ 9.93553494e-01 -1.12926160e-01 9.95674365e-03 2.54602151e+02] [ 1.12868613e-01 9.93590793e-01 6.16547912e-03 2.59972688e+01] [-1.05891727e-02 -5.00192948e-03 9.99931423e-01 -1.70920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.971400513 meters 0.023852291540437845 Centerline is valid? [True, True] Translation: X:254.63, Y:26.01, Z:-1.71 [[ 9.93751725e-01 -1.11367601e-01 7.40048229e-03 2.54630963e+02] [ 1.11398781e-01 9.93767965e-01 -3.94254216e-03 2.60111870e+01] [-6.91529077e-03 4.74231278e-03 9.99964844e-01 -1.71113402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.001400513 meters 0.02565386053701969 Centerline is valid? [True, True] Translation: X:254.66, Y:26.01, Z:-1.71 [[ 9.93879161e-01 -1.10295626e-01 6.25207548e-03 2.54658651e+02] [ 1.10292627e-01 9.93898817e-01 8.23526355e-04 2.60130178e+01] [-6.30476177e-03 -1.28927856e-04 9.99980116e-01 -1.71217660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.031400513 meters 0.025711205740832924 Centerline is valid? [True, True] Translation: X:254.69, Y:26.02, Z:-1.71 [[ 9.93969406e-01 -1.09516580e-01 5.56217606e-03 2.54687188e+02] [ 1.09514197e-01 9.93984962e-01 7.32111406e-04 2.60162275e+01] [-5.60889770e-03 -1.18559093e-04 9.99984263e-01 -1.71306821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.061400513 meters 0.026748089048574772 Centerline is valid? [True, True] Translation: X:254.71, Y:26.02, Z:-1.72 [[ 9.94135599e-01 -1.08045888e-01 4.52727961e-03 2.54714951e+02] [ 1.08044288e-01 9.94145902e-01 5.97143766e-04 2.60215336e+01] [-4.56529540e-03 -1.04495174e-04 9.99989574e-01 -1.71520775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.091400513 meters 0.030185154244298365 Centerline is valid? [True, True] Translation: X:254.74, Y:26.02, Z:-1.72 [[ 9.94117736e-01 -1.08257372e-01 3.20458391e-03 2.54743712e+02] [ 1.08256575e-01 9.94122898e-01 4.21595230e-04 2.60242455e+01] [-3.23139103e-03 -7.21980180e-05 9.99994776e-01 -1.71727747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.121400513 meters 0.030352285684023025 Centerline is valid? [True, True] Translation: X:254.77, Y:26.03, Z:-1.72 [[ 9.94274128e-01 -1.06821891e-01 2.83572474e-03 2.54770620e+02] [ 1.06821259e-01 9.94278170e-01 3.74085972e-04 2.60328047e+01] [-2.85945977e-03 -6.90283181e-05 9.99995909e-01 -1.71897800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.151400513 meters 0.03210673430419986 Centerline is valid? [True, True] Translation: X:254.80, Y:26.04, Z:-1.72 [[ 9.94442200e-01 -1.05237089e-01 3.14092490e-03 2.54799078e+02] [ 1.05236305e-01 9.94447157e-01 4.14093350e-04 2.60401618e+01] [-3.16706181e-03 -8.12525708e-05 9.99994982e-01 -1.71840639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.181400513 meters 0.037139896645299646 Centerline is valid? [True, True] Translation: X:254.83, Y:26.06, Z:-1.72 [[ 9.95115529e-01 -9.86541034e-02 3.52881261e-03 2.54828183e+02] [ 9.86530651e-02 9.95121779e-01 4.67530871e-04 2.60552434e+01] [-3.55772212e-03 -1.17119050e-04 9.99993664e-01 -1.71734485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.211400513 meters 0.041337650431264084 Centerline is valid? [True, True] Translation: X:254.86, Y:26.07, Z:-1.72 [[ 9.95493232e-01 -9.48153761e-02 1.80807359e-03 2.54856491e+02] [ 9.48150974e-02 9.95494872e-01 2.39428446e-04 2.60673010e+01] [-1.82262948e-03 -6.69167247e-05 9.99998337e-01 -1.72079738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24140051300003 meters 0.04886538729316304 Centerline is valid? [True, True] Translation: X:254.88, Y:26.09, Z:-1.73 [[ 9.96124548e-01 -8.79047191e-02 -2.94038775e-03 2.54884225e+02] [ 8.79039510e-02 9.96128879e-01 -3.89694009e-04 2.60874659e+01] [ 2.96326109e-03 1.29712068e-04 9.99995601e-01 -1.73030433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.271400513 meters 0.05139175672151305 Centerline is valid? [True, True] Translation: X:254.91, Y:26.10, Z:-1.73 [[ 9.96319003e-01 -8.56191045e-02 -4.22050682e-03 2.54913198e+02] [ 8.56175009e-02 9.96327923e-01 -5.59510054e-04 2.60974705e+01] [ 4.25291355e-03 1.96101253e-04 9.99990937e-01 -1.73261476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30140051300003 meters 0.05471624016965024 Centerline is valid? [True, True] Translation: X:254.94, Y:26.11, Z:-1.73 [[ 9.96395526e-01 -8.47669648e-02 -3.24307277e-03 2.54939557e+02] [ 8.47660108e-02 9.96400792e-01 -4.30721926e-04 2.61077699e+01] [ 3.26791127e-03 1.54267059e-04 9.99994648e-01 -1.73171567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.331400513 meters 0.052031194477675104 Centerline is valid? [True, True] Translation: X:254.97, Y:26.11, Z:-1.73 [[ 9.96258152e-01 -8.63840730e-02 -2.73626028e-03 2.54969304e+02] [ 8.63833951e-02 9.96261901e-01 -3.65192337e-04 2.61066056e+01] [ 2.75757867e-03 1.27458390e-04 9.99996190e-01 -1.72986248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36140051300004 meters 0.05123034219084573 Centerline is valid? [True, True] Translation: X:255.00, Y:26.11, Z:-1.73 [[ 9.96124714e-01 -8.79020711e-02 -2.96303377e-03 2.54998044e+02] [ 8.79012820e-02 9.96129112e-01 -3.95755046e-04 2.61116057e+01] [ 2.98635189e-03 1.33766915e-04 9.99995532e-01 -1.73021963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.391400513 meters 0.04645471046131239 Centerline is valid? [True, True] Translation: X:255.03, Y:26.12, Z:-1.73 [[ 9.96019578e-01 -8.90577948e-02 -3.70255993e-03 2.55026521e+02] [ 8.90565695e-02 9.96026447e-01 -4.94813420e-04 2.61172463e+01] [ 3.73191461e-03 1.63106568e-04 9.99993023e-01 -1.73061766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42140051300004 meters 0.050327542751448934 Centerline is valid? [True, True] Translation: X:255.05, Y:26.13, Z:-1.74 [[ 9.95867819e-01 -9.06422531e-02 -5.59192880e-03 2.55053173e+02] [ 9.06394842e-02 9.95883490e-01 -7.47137240e-04 2.61308060e+01] [ 5.63663177e-03 2.37200391e-04 9.99984086e-01 -1.73722001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.451400513 meters 0.049771055437776504 Centerline is valid? [True, True] Translation: X:255.08, Y:26.13, Z:-1.74 [[ 9.95866454e-01 -9.05800875e-02 -6.72703962e-03 2.55081355e+02] [ 9.05760886e-02 9.95889134e-01 -8.97370620e-04 2.61342837e+01] [ 6.78066957e-03 2.84352360e-04 9.99976971e-01 -1.73879720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48140051300004 meters 0.04770603564311193 Centerline is valid? [True, True] Translation: X:255.11, Y:26.14, Z:-1.74 [[ 9.95894982e-01 -9.02349728e-02 -7.12986798e-03 2.55110531e+02] [ 9.02304537e-02 9.95920457e-01 -9.53630002e-04 2.61364748e+01] [ 7.18683215e-03 3.06384111e-04 9.99974127e-01 -1.73822428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.511400513 meters 0.05034959312707074 Centerline is valid? [True, True] Translation: X:255.14, Y:26.14, Z:-1.74 [[ 9.95948636e-01 -8.96265718e-02 -7.30699727e-03 2.55137543e+02] [ 8.96218162e-02 9.95975390e-01 -9.76339025e-04 2.61446515e+01] [ 7.36509538e-03 3.17517154e-04 9.99972827e-01 -1.73917112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.541400513 meters 0.051621530040509386 Centerline is valid? [True, True] Translation: X:255.17, Y:26.15, Z:-1.74 [[ 9.96101552e-01 -8.78157848e-02 -8.37170502e-03 2.55166066e+02] [ 8.78094796e-02 9.96136659e-01 -1.11847837e-03 2.61525845e+01] [ 8.43758233e-03 3.79002983e-04 9.99964331e-01 -1.73977001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.571400513 meters 0.05234873457605152 Centerline is valid? [True, True] Translation: X:255.20, Y:26.16, Z:-1.74 [[ 9.96181920e-01 -8.68401262e-02 -8.96522619e-03 2.55195139e+02] [ 8.68328555e-02 9.96222174e-01 -1.19781012e-03 2.61578867e+01] [ 9.03537511e-03 4.14760594e-04 9.99959094e-01 -1.74025619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.601400513 meters 0.05867565078523181 Centerline is valid? [True, True] Translation: X:255.22, Y:26.17, Z:-1.74 [[ 9.96416996e-01 -8.40152521e-02 -9.72666102e-03 2.55223024e+02] [ 8.40065576e-02 9.96464354e-01 -1.29974387e-03 2.61683094e+01] [ 9.80146930e-03 4.77983572e-04 9.99951850e-01 -1.74368006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.631400513 meters 0.05695500342109159 Centerline is valid? [True, True] Translation: X:255.25, Y:26.17, Z:-1.74 [[ 9.96588691e-01 -8.19705802e-02 -9.58147697e-03 2.55252594e+02] [ 8.19620468e-02 9.96634629e-01 -1.28057675e-03 2.61701592e+01] [ 9.65420136e-03 4.90890848e-04 9.99953277e-01 -1.74199252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.661400513 meters 0.059878975059763334 Centerline is valid? [True, True] Translation: X:255.28, Y:26.18, Z:-1.74 [[ 9.96763084e-01 -7.98667420e-02 -9.20097930e-03 2.55280753e+02] [ 7.98587757e-02 9.96805428e-01 -1.23056203e-03 2.61781870e+01] [ 9.26986709e-03 4.91799859e-04 9.99956913e-01 -1.74215476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.691400513 meters 0.06824038493097348 Centerline is valid? [True, True] Translation: X:255.31, Y:26.19, Z:-1.74 [[ 9.96993502e-01 -7.70948852e-02 -7.76765273e-03 2.55308089e+02] [ 7.70891242e-02 9.97023665e-01 -1.03879477e-03 2.61923840e+01] [ 7.82461935e-03 4.36870084e-04 9.99969292e-01 -1.74279402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.721400513 meters 0.06166914434589366 Centerline is valid? [True, True] Translation: X:255.34, Y:26.19, Z:-1.74 [[ 9.97051996e-01 -7.64630788e-02 -6.38088999e-03 2.55337649e+02] [ 7.64591596e-02 9.97072346e-01 -8.56265594e-04 2.61887611e+01] [ 6.42768166e-03 3.65863833e-04 9.99979275e-01 -1.73779956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.751400513 meters 0.06668524934657359 Centerline is valid? [True, True] Translation: X:255.36, Y:26.20, Z:-1.74 [[ 9.97107785e-01 -7.58239423e-02 -5.17632298e-03 2.55364318e+02] [ 7.58213580e-02 9.97121176e-01 -6.93960096e-04 2.61968471e+01] [ 5.21404005e-03 2.99477176e-04 9.99986362e-01 -1.73742198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.781400513 meters 0.0656764237594138 Centerline is valid? [True, True] Translation: X:255.39, Y:26.20, Z:-1.74 [[ 9.97137512e-01 -7.54272381e-02 -5.24537577e-03 2.55393161e+02] [ 7.54245677e-02 9.97151261e-01 -7.05355322e-04 2.61984989e+01] [ 5.28363607e-03 3.07706051e-04 9.99985994e-01 -1.73693400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.811400513 meters 0.05999509659484509 Centerline is valid? [True, True] Translation: X:255.42, Y:26.20, Z:-1.73 [[ 9.97305241e-01 -7.32169399e-02 -4.64078728e-03 2.55422218e+02] [ 7.31890406e-02 9.97300510e-01 -5.92092722e-03 2.61964564e+01] [ 5.06177169e-03 5.56531697e-03 9.99971702e-01 -1.73300479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.841400513 meters 0.06359849864969636 Centerline is valid? [True, True] Translation: X:255.45, Y:26.20, Z:-1.73 [[ 9.97332134e-01 -7.28111602e-02 -5.21057750e-03 2.55452187e+02] [ 7.28351671e-02 9.97333494e-01 4.57604417e-03 2.61978543e+01] [ 4.86349638e-03 -4.94334918e-03 9.99975955e-01 -1.73322095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.871400513 meters 0.0705961695230839 Centerline is valid? [True, True] Translation: X:255.48, Y:26.21, Z:-1.73 [[ 9.97509169e-01 -7.04726381e-02 -3.01069899e-03 2.55479953e+02] [ 7.04717382e-02 9.97513695e-01 -4.04100605e-04 2.62143528e+01] [ 3.03169151e-03 1.90924867e-04 9.99995386e-01 -1.73207174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.901400513 meters 0.07321737415579072 Centerline is valid? [True, True] Translation: X:255.51, Y:26.22, Z:-1.73 [[ 9.97913395e-01 -6.45632211e-02 -6.67940472e-04 2.55509248e+02] [ 6.45631755e-02 9.97913618e-01 -8.96415665e-05 2.62230018e+01] [ 6.72334441e-04 4.63301621e-05 9.99999773e-01 -1.72752360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.931400513 meters 0.07892389320884324 Centerline is valid? [True, True] Translation: X:255.54, Y:26.24, Z:-1.73 [[ 9.98114663e-01 -6.13690799e-02 -9.77983486e-04 2.55536952e+02] [ 6.13689809e-02 9.98115139e-01 -1.30956771e-04 2.62354235e+01] [ 9.84176820e-04 7.06920232e-05 9.99999513e-01 -1.72841134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.961400513 meters 0.08364806169616436 Centerline is valid? [True, True] Translation: X:255.57, Y:26.25, Z:-1.73 [[ 9.98478938e-01 -5.50747055e-02 -2.56643639e-03 2.55566050e+02] [ 5.50740011e-02 9.98482216e-01 -3.44384288e-04 2.62491787e+01] [ 2.58150795e-03 2.02516538e-04 9.99996647e-01 -1.73010764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99140051300003 meters 0.08801803433257578 Centerline is valid? [True, True] Translation: X:255.59, Y:26.26, Z:-1.73 [[ 9.98584625e-01 -5.30954960e-02 -3.10082903e-03 2.55594716e+02] [ 5.30944583e-02 9.98589408e-01 -4.16057969e-04 2.62600106e+01] [ 3.11854583e-03 2.50832253e-04 9.99995106e-01 -1.73125234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.021400513 meters 0.07500371387099602 Centerline is valid? [True, True] Translation: X:255.62, Y:26.25, Z:-1.73 [[ 9.98603168e-01 -5.27993666e-02 -1.98480679e-03 2.55623589e+02] [ 5.27969940e-02 9.98604509e-01 -1.22941271e-03 2.62501344e+01] [ 2.04694922e-03 1.12290359e-03 9.99997275e-01 -1.72682884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05140051300003 meters 0.072641398819403 Centerline is valid? [True, True] Translation: X:255.65, Y:26.25, Z:-1.73 [[ 9.98277595e-01 -5.86631402e-02 -6.92206409e-04 2.55654596e+02] [ 5.86637248e-02 9.98277433e-01 8.56863026e-04 2.62521706e+01] [ 6.40747761e-04 -8.95994567e-04 9.99999393e-01 -1.72578704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.081400513 meters 0.07140010878079452 Centerline is valid? [True, True] Translation: X:255.68, Y:26.26, Z:-1.73 [[ 9.97990756e-01 -6.33560991e-02 6.75662158e-04 2.55684299e+02] [ 6.33560522e-02 9.97990983e-01 9.06019406e-05 2.62553696e+01] [-6.80044927e-04 -4.76126122e-05 9.99999768e-01 -1.72533793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11140051300004 meters 0.07020511897030504 Centerline is valid? [True, True] Translation: X:255.71, Y:26.26, Z:-1.73 [[ 9.97657797e-01 -6.83948458e-02 1.03224252e-03 2.55713729e+02] [ 6.83947389e-02 9.97658329e-01 1.38529395e-04 2.62564331e+01] [-1.03930005e-03 -6.76049727e-05 9.99999458e-01 -1.72581200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.141400513 meters 0.06156470624778728 Centerline is valid? [True, True] Translation: X:255.75, Y:26.25, Z:-1.73 [[ 9.97079593e-01 -7.63690735e-02 -2.23492471e-04 2.55746290e+02] [ 7.63690687e-02 9.97079618e-01 -3.00548203e-05 2.62455499e+01] [ 2.25135046e-04 1.28991361e-05 9.99999975e-01 -1.72800396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17140051300004 meters 0.056080446891103246 Centerline is valid? [True, True] Translation: X:255.78, Y:26.24, Z:-1.73 [[ 9.96931022e-01 -7.82789023e-02 -9.75328263e-04 2.55776629e+02] [ 7.82788111e-02 9.96931497e-01 -1.31393756e-04 2.62406042e+01] [ 9.82620824e-04 5.46429749e-05 9.99999516e-01 -1.72801701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.201400513 meters 0.05903140551736841 Centerline is valid? [True, True] Translation: X:255.80, Y:26.25, Z:-1.73 [[ 9.96921183e-01 -7.84070113e-02 -7.03431318e-04 2.55804067e+02] [ 7.84069635e-02 9.96921431e-01 -9.53519550e-05 2.62464221e+01] [ 7.08742018e-04 3.99044701e-05 9.99999748e-01 -1.72840165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23140051300004 meters 0.05768788501805855 Centerline is valid? [True, True] Translation: X:255.83, Y:26.25, Z:-1.73 [[ 9.97238129e-01 -7.42681999e-02 5.89576553e-04 2.55831443e+02] [ 7.42687322e-02 9.97237822e-01 -9.39057097e-04 2.62458536e+01] [-5.18205957e-04 9.80250646e-04 9.99999385e-01 -1.72573724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.261400513 meters 0.06843827503523664 Centerline is valid? [True, True] Translation: X:255.86, Y:26.26, Z:-1.73 [[ 9.97427831e-01 -7.16685219e-02 1.15968891e-03 2.55861974e+02] [ 7.16671639e-02 9.97427913e-01 1.17309364e-03 2.62590672e+01] [-1.24077997e-03 -1.08696463e-03 9.99998639e-01 -1.72604783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.291400513 meters 0.0679882616089578 Centerline is valid? [True, True] Translation: X:255.89, Y:26.26, Z:-1.73 [[ 9.97579279e-01 -6.95193374e-02 1.62583892e-03 2.55892269e+02] [ 6.95190729e-02 9.97580599e-01 2.18707328e-04 2.62599997e+01] [-1.63710975e-03 -1.05151084e-04 9.99998654e-01 -1.72633950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.321400513 meters 0.07138532651139277 Centerline is valid? [True, True] Translation: X:255.92, Y:26.26, Z:-1.73 [[ 9.97810103e-01 -6.61116414e-02 2.06148069e-03 2.55921473e+02] [ 6.61112087e-02 9.97812222e-01 2.77431342e-04 2.62637372e+01] [-2.07531207e-03 -1.40536815e-04 9.99997837e-01 -1.72653685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.351400513 meters 0.07628772098212322 Centerline is valid? [True, True] Translation: X:255.95, Y:26.27, Z:-1.73 [[ 9.97878650e-01 -6.50398679e-02 2.83127085e-03 2.55948808e+02] [ 6.50390481e-02 9.97882647e-01 3.80769938e-04 2.62714807e+01] [-2.85004128e-03 -1.95819030e-04 9.99995919e-01 -1.72620455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.381400513 meters 0.07670646103772091 Centerline is valid? [True, True] Translation: X:255.98, Y:26.27, Z:-1.72 [[ 9.97930073e-01 -6.42103657e-02 3.54931425e-03 2.55978176e+02] [ 6.42090702e-02 9.97936354e-01 4.77872156e-04 2.62744549e+01] [-3.57267407e-03 -2.48984828e-04 9.99993587e-01 -1.72465008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.411400513 meters 0.07593122745236366 Centerline is valid? [True, True] Translation: X:256.01, Y:26.28, Z:-1.73 [[ 9.98079171e-01 -6.19154808e-02 2.10766788e-03 2.56008561e+02] [ 6.19150186e-02 9.98081384e-01 2.83923009e-04 2.62762222e+01] [-2.12120330e-03 -1.52881346e-04 9.99997739e-01 -1.72641845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.441400513 meters 0.07615278982382183 Centerline is valid? [True, True] Translation: X:256.04, Y:26.28, Z:-1.73 [[ 9.98187302e-01 -6.01835436e-02 2.27324292e-04 2.56038059e+02] [ 6.01835382e-02 9.98187328e-01 3.04794679e-05 2.62808995e+01] [-2.28746590e-04 -1.67430376e-05 9.99999974e-01 -1.72902696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.471400513 meters 0.08279544893133406 Centerline is valid? [True, True] Translation: X:256.07, Y:26.29, Z:-1.73 [[ 9.98293303e-01 -5.83952760e-02 -6.88240523e-04 2.56066135e+02] [ 5.83952258e-02 9.98293538e-01 -9.28841598e-05 2.62934495e+01] [ 6.92490063e-04 5.25356739e-05 9.99999759e-01 -1.73187124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.501400513 meters 0.07884770513124979 Centerline is valid? [True, True] Translation: X:256.10, Y:26.29, Z:-1.73 [[ 9.98443727e-01 -5.57483430e-02 1.49878539e-03 2.56097295e+02] [ 5.57481023e-02 9.98444845e-01 2.01926705e-04 2.62938147e+01] [-1.50771162e-03 -1.18058011e-04 9.99998856e-01 -1.72656959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.531400513 meters 0.07862921228667209 Centerline is valid? [True, True] Translation: X:256.13, Y:26.30, Z:-1.72 [[ 9.98448991e-01 -5.56051516e-02 2.77106973e-03 2.56127533e+02] [ 5.56043281e-02 9.98452813e-01 3.73394058e-04 2.62967171e+01] [-2.78754500e-03 -2.18731450e-04 9.99996091e-01 -1.72463042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.561400513 meters 0.08675446809982632 Centerline is valid? [True, True] Translation: X:256.16, Y:26.31, Z:-1.72 [[ 9.98424543e-01 -5.60266317e-02 3.07387033e-03 2.56155815e+02] [ 5.60256204e-02 9.98429246e-01 4.14195609e-04 2.63119563e+01] [-3.09224802e-03 -2.41327570e-04 9.99995190e-01 -1.72469298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.591400513 meters 0.08244695392257095 Centerline is valid? [True, True] Translation: X:256.19, Y:26.31, Z:-1.73 [[ 9.98246343e-01 -5.91718578e-02 1.71197649e-03 2.56186669e+02] [ 5.91715488e-02 9.98247802e-01 2.30664352e-04 2.63094893e+01] [-1.72262561e-03 -1.28959546e-04 9.99998508e-01 -1.72724863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.621400513 meters 0.08108045384741475 Centerline is valid? [True, True] Translation: X:256.22, Y:26.31, Z:-1.73 [[ 9.98119457e-01 -6.12743791e-02 1.73202795e-03 2.56218055e+02] [ 6.12740659e-02 9.98120952e-01 2.33357426e-04 2.63070382e+01] [-1.74307222e-03 -1.26790192e-04 9.99998473e-01 -1.72892748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.651400513 meters 0.07507727718500865 Centerline is valid? [True, True] Translation: X:256.25, Y:26.31, Z:-1.73 [[ 9.97967902e-01 -6.36727141e-02 2.41901641e-03 2.56249069e+02] [ 6.36721101e-02 9.97970819e-01 3.25944883e-04 2.63069122e+01] [-2.43486158e-03 -1.71258652e-04 9.99997021e-01 -1.72652948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.681400513 meters 0.07715073810457505 Centerline is valid? [True, True] Translation: X:256.28, Y:26.31, Z:-1.73 [[ 9.97828395e-01 -6.57644609e-02 3.67840574e-03 2.56277724e+02] [ 6.57630789e-02 9.97835143e-01 4.95548540e-04 2.63124405e+01] [-3.70303199e-03 -2.52569117e-04 9.99993112e-01 -1.72582314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.711400513 meters 0.07715073810457505 Centerline is valid? [True, True] Translation: X:256.31, Y:26.32, Z:-1.73 [[ 9.97826925e-01 -6.57867594e-02 3.67840833e-03 2.56306688e+02] [ 6.57853776e-02 9.97833673e-01 4.95529310e-04 2.63163857e+01] [-3.70303896e-03 -2.52467007e-04 9.99993112e-01 -1.72619764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74140051300003 meters 0.06788508320437557 Centerline is valid? [True, True] Translation: X:256.34, Y:26.31, Z:-1.72 [[ 9.97672981e-01 -6.79211995e-02 5.94416879e-03 2.56337961e+02] [ 6.79176261e-02 9.97690610e-01 8.01205916e-04 2.63108378e+01] [-5.98486026e-03 -3.95627662e-04 9.99982012e-01 -1.72046250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.771400513 meters 0.06891256998381809 Centerline is valid? [True, True] Translation: X:256.37, Y:26.32, Z:-1.72 [[ 9.97683919e-01 -6.77673758e-02 5.86348397e-03 2.56368294e+02] [ 6.77638959e-02 9.97701072e-01 7.90363023e-04 2.63159941e+01] [-5.90356507e-03 -3.91199961e-04 9.99982497e-01 -1.72082320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80140051300003 meters 0.07324499363685301 Centerline is valid? [True, True] Translation: X:256.40, Y:26.32, Z:-1.72 [[ 9.97717108e-01 -6.73087092e-02 5.48725300e-03 2.56397258e+02] [ 6.73056547e-02 9.97732129e-01 7.39649309e-04 2.63240200e+01] [-5.52459346e-03 -3.68637614e-04 9.99984671e-01 -1.72270595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.831400513 meters 0.06788305823120011 Centerline is valid? [True, True] Translation: X:256.42, Y:26.31, Z:-1.72 [[ 9.98114107e-01 -6.09858127e-02 6.99720426e-03 2.56421484e+02] [ 6.09763732e-02 9.98137999e-01 1.55472861e-03 2.63124973e+01] [-7.07899184e-03 -1.12513242e-03 9.99974311e-01 -1.72026291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86140051300004 meters 0.073698389837692 Centerline is valid? [True, True] Translation: X:256.46, Y:26.33, Z:-1.72 [[ 9.97798914e-01 -6.57121701e-02 8.90160561e-03 2.56456634e+02] [ 6.57084875e-02 9.97838612e-01 7.05845739e-04 2.63278854e+01] [-8.92874845e-03 -1.19381071e-04 9.99960131e-01 -1.71870637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.891400513 meters 0.06931248723129642 Centerline is valid? [True, True] Translation: X:256.49, Y:26.32, Z:-1.71 [[ 9.97758196e-01 -6.58898015e-02 1.17096452e-02 2.56489034e+02] [ 6.58757741e-02 9.97826581e-01 1.58004421e-03 2.63234257e+01] [-1.17883040e-02 -8.05120117e-04 9.99930191e-01 -1.71415344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92140051300004 meters 0.07563103817528016 Centerline is valid? [True, True] Translation: X:256.51, Y:26.32, Z:-1.71 [[ 9.98126638e-01 -5.99287199e-02 1.23192030e-02 2.56509334e+02] [ 5.98597145e-02 9.98189386e-01 5.89620509e-03 2.63240914e+01] [-1.26502497e-02 -5.14773539e-03 9.99906732e-01 -1.71450439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.951400513 meters 0.07200249453714964 Centerline is valid? [True, True] Translation: X:256.55, Y:26.33, Z:-1.72 [[ 9.97853035e-01 -6.44855150e-02 1.14428517e-02 2.56547764e+02] [ 6.45175926e-02 9.97913547e-01 -2.45625708e-03 2.63343620e+01] [-1.12605837e-02 3.18924882e-03 9.99931512e-01 -1.71612589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98140051300004 meters 0.08058082607623669 Centerline is valid? [True, True] Translation: X:256.58, Y:26.34, Z:-1.72 [[ 9.98094471e-01 -6.10275186e-02 9.11424342e-03 2.56577014e+02] [ 6.10188198e-02 9.98135858e-01 1.22972096e-03 2.63425366e+01] [-9.17230000e-03 -6.71237316e-04 9.99957708e-01 -1.71961609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.011400513 meters 0.07849772868208665 Centerline is valid? [True, True] Translation: X:256.61, Y:26.34, Z:-1.72 [[ 9.98236980e-01 -5.86697288e-02 8.98860341e-03 2.56607976e+02] [ 5.86611739e-02 9.98277214e-01 1.21268212e-03 2.63441628e+01] [-9.04426570e-03 -6.83262112e-04 9.99958866e-01 -1.71981137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.041400513 meters 0.08599923790459277 Centerline is valid? [True, True] Translation: X:256.64, Y:26.36, Z:-1.72 [[ 9.98379155e-01 -5.61491080e-02 9.29193586e-03 2.56636306e+02] [ 5.61398575e-02 9.98422128e-01 1.25360193e-03 2.63570063e+01] [-9.34766300e-03 -7.29922084e-04 9.99956043e-01 -1.71995926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.071400513 meters 0.08507945627043806 Centerline is valid? [True, True] Translation: X:256.67, Y:26.36, Z:-1.72 [[ 9.98513249e-01 -5.37416896e-02 9.11719532e-03 2.56666852e+02] [ 5.37326848e-02 9.98554598e-01 1.22994544e-03 2.63591136e+01] [-9.17011665e-03 -7.38225431e-04 9.99957681e-01 -1.71922828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.101400513 meters 0.08226533236083916 Centerline is valid? [True, True] Translation: X:256.70, Y:26.36, Z:-1.72 [[ 9.98579029e-01 -5.26017154e-02 8.54294306e-03 2.56698712e+02] [ 5.25937671e-02 9.98615325e-01 1.15255555e-03 2.63583000e+01] [-8.59174026e-03 -7.01612248e-04 9.99962844e-01 -1.72022287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.131400513 meters 0.08629552436434786 Centerline is valid? [True, True] Translation: X:256.73, Y:26.36, Z:-1.73 [[ 9.98530088e-01 -5.38359276e-02 6.27339426e-03 2.56728601e+02] [ 5.38316666e-02 9.98549666e-01 8.46221873e-04 2.63633379e+01] [-6.30985288e-03 -5.07270734e-04 9.99979964e-01 -1.72567167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.161400513 meters 0.07966475047272846 Centerline is valid? [True, True] Translation: X:256.76, Y:26.36, Z:-1.73 [[ 9.98416203e-01 -5.59974863e-02 5.41921767e-03 2.56760408e+02] [ 5.59943389e-02 9.98430819e-01 7.30903733e-04 2.63572307e+01] [-5.45164271e-03 -4.26300619e-04 9.99985049e-01 -1.72765891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.191400513 meters 0.07176001635563144 Centerline is valid? [True, True] Translation: X:256.79, Y:26.35, Z:-1.73 [[ 9.98088792e-01 -6.15552947e-02 5.45059092e-03 2.56792820e+02] [ 6.15521935e-02 9.98103595e-01 7.35057928e-04 2.63471779e+01] [-5.48550110e-03 -3.98157253e-04 9.99984875e-01 -1.72822546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.221400513 meters 0.07813702716591625 Centerline is valid? [True, True] Translation: X:256.82, Y:26.36, Z:-1.73 [[ 9.97926211e-01 -6.40824654e-02 6.05923582e-03 2.56821313e+02] [ 6.40786795e-02 9.97944515e-01 8.17099277e-04 2.63577638e+01] [-6.09914289e-03 -4.27136955e-04 9.99981309e-01 -1.72863745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.251400513 meters 0.07830993702778397 Centerline is valid? [True, True] Translation: X:256.85, Y:26.36, Z:-1.73 [[ 9.97757036e-01 -6.65426655e-02 7.27809024e-03 2.56850168e+02] [ 6.65372675e-02 9.97783458e-01 9.81592511e-04 2.63618695e+01] [-7.32727582e-03 -4.95126598e-04 9.99973033e-01 -1.72718539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.281400513 meters 0.07043053276095872 Centerline is valid? [True, True] Translation: X:256.88, Y:26.36, Z:-1.73 [[ 9.97760413e-01 -6.64752567e-02 7.42955526e-03 2.56880933e+02] [ 6.64696294e-02 9.97787946e-01 1.00207169e-03 2.63568088e+01] [-7.47973365e-03 -5.05987680e-04 9.99971898e-01 -1.72669926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.311400513 meters 0.07639883292604785 Centerline is valid? [True, True] Translation: X:256.91, Y:26.37, Z:-1.73 [[ 9.97791131e-01 -6.60133988e-02 7.42225687e-03 2.56910189e+02] [ 6.60077662e-02 9.97818607e-01 1.00155960e-03 2.63681226e+01] [-7.47218236e-03 -5.09420692e-04 9.99971953e-01 -1.72741279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.341400513 meters 0.0697857626782301 Centerline is valid? [True, True] Translation: X:256.94, Y:26.36, Z:-1.73 [[ 9.97867139e-01 -6.48303835e-02 7.62857664e-03 2.56941360e+02] [ 6.48244029e-02 9.97896156e-01 1.02890385e-03 2.63633854e+01] [-7.67923153e-03 -5.32191416e-04 9.99970373e-01 -1.72573282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.371400513 meters 0.07469171127456237 Centerline is valid? [True, True] Translation: X:256.97, Y:26.37, Z:-1.73 [[ 9.97883225e-01 -6.45772826e-02 7.67095765e-03 2.56970864e+02] [ 6.45712263e-02 9.97912564e-01 1.03482955e-03 2.63733557e+01] [-7.72177149e-03 -5.37315903e-04 9.99970042e-01 -1.72544766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.401400513 meters 0.07082013829965932 Centerline is valid? [True, True] Translation: X:257.00, Y:26.37, Z:-1.72 [[ 9.97872541e-01 -6.47004501e-02 8.01517524e-03 2.57001267e+02] [ 6.46938433e-02 9.97904574e-01 1.08110978e-03 2.63731682e+01] [-8.06832832e-03 -5.60277273e-04 9.99967294e-01 -1.72484168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.431400513 meters 0.07348949072505509 Centerline is valid? [True, True] Translation: X:257.03, Y:26.38, Z:-1.72 [[ 9.97805450e-01 -6.56399412e-02 8.69950197e-03 2.57030622e+02] [ 6.56321935e-02 9.97843193e-01 1.17341373e-03 2.63805703e+01] [-8.75776163e-03 -5.99871217e-04 9.99961470e-01 -1.72469793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.461400513 meters 0.0768380765901782 Centerline is valid? [True, True] Translation: X:257.06, Y:26.39, Z:-1.72 [[ 9.97766407e-01 -6.61590125e-02 9.22940398e-03 2.57060207e+02] [ 6.61503139e-02 9.97808893e-01 1.24492769e-03 2.63884147e+01] [-9.29154455e-03 -6.31619058e-04 9.99956633e-01 -1.72458570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49140051300003 meters 0.07712984487728623 Centerline is valid? [True, True] Translation: X:257.09, Y:26.39, Z:-1.72 [[ 9.97795786e-01 -6.54870324e-02 1.07246621e-02 2.57090915e+02] [ 6.54752495e-02 9.97853145e-01 1.44649589e-03 2.63948959e+01] [-1.07963646e-02 -7.41107578e-04 9.99941443e-01 -1.72230663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.521400513 meters 0.08372139115960484 Centerline is valid? [True, True] Translation: X:257.12, Y:26.41, Z:-1.72 [[ 9.97888454e-01 -6.40855764e-02 1.05674699e-02 2.57119773e+02] [ 6.40740609e-02 9.97944129e-01 1.42503823e-03 2.64077806e+01] [-1.06370689e-02 -7.44928484e-04 9.99943147e-01 -1.72234611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55140051300003 meters 0.07680880263157937 Centerline is valid? [True, True] Translation: X:257.15, Y:26.40, Z:-1.72 [[ 9.97996116e-01 -6.24867061e-02 9.95814459e-03 2.57152012e+02] [ 6.24764019e-02 9.98045538e-01 1.34279947e-03 2.64037846e+01] [-1.00225889e-02 -7.17959614e-04 9.99949515e-01 -1.72305947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.581400513 meters 0.08123413774531082 Centerline is valid? [True, True] Translation: X:257.18, Y:26.41, Z:-1.73 [[ 9.98192969e-01 -5.93963810e-02 9.10308332e-03 2.57181376e+02] [ 5.93876449e-02 9.98234242e-01 1.22725516e-03 2.64126406e+01] [-9.15990399e-03 -6.84426789e-04 9.99957813e-01 -1.72528102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61140051300004 meters 0.08180446542201507 Centerline is valid? [True, True] Translation: X:257.21, Y:26.42, Z:-1.73 [[ 9.98262452e-01 -5.81643590e-02 9.43313628e-03 2.57211757e+02] [ 5.81549235e-02 9.98306760e-01 1.27171161e-03 2.64175701e+01] [-9.49113201e-03 -7.20918634e-04 9.99954698e-01 -1.72577312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.641400513 meters 0.0843992827328748 Centerline is valid? [True, True] Translation: X:257.24, Y:26.43, Z:-1.73 [[ 9.98293400e-01 -5.75027320e-02 1.01844347e-02 2.57242482e+02] [ 5.74916995e-02 9.98345040e-01 1.37299688e-03 2.64253359e+01] [-1.02465310e-02 -7.85133264e-04 9.99947195e-01 -1.72548676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67140051300004 meters 0.07784997354117618 Centerline is valid? [True, True] Translation: X:257.28, Y:26.42, Z:-1.72 [[ 9.98289892e-01 -5.73290340e-02 1.14312204e-02 2.57275163e+02] [ 5.73151327e-02 9.98354948e-01 1.54025953e-03 2.64220935e+01] [-1.15007170e-02 -8.82443606e-04 9.99933475e-01 -1.72433072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.701400513 meters 0.08037263239972867 Centerline is valid? [True, True] Translation: X:257.30, Y:26.43, Z:-1.72 [[ 9.98206361e-01 -5.84720922e-02 1.28481429e-02 2.57304941e+02] [ 5.84546338e-02 9.98288566e-01 1.73050991e-03 2.64267399e+01] [-1.29273407e-02 -9.76372516e-04 9.99915962e-01 -1.72237491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73140051300004 meters 0.07791842697742007 Centerline is valid? [True, True] Translation: X:257.34, Y:26.43, Z:-1.72 [[ 9.98163590e-01 -5.92555527e-02 1.25788259e-02 2.57336732e+02] [ 5.92388822e-02 9.98242398e-01 1.69409340e-03 2.64255535e+01] [-1.26571018e-02 -9.45826766e-04 9.99919448e-01 -1.72288161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.761400513 meters 0.07600428765536933 Centerline is valid? [True, True] Translation: X:257.37, Y:26.42, Z:-1.73 [[ 9.98148620e-01 -5.99577854e-02 1.02174851e-02 2.57368548e+02] [ 5.99468250e-02 9.98200624e-01 1.37589190e-03 2.64228930e+01] [-1.02815954e-02 -7.60838813e-04 9.99946854e-01 -1.72648042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.791400513 meters 0.07231984135650206 Centerline is valid? [True, True] Translation: X:257.40, Y:26.42, Z:-1.73 [[ 9.98140280e-01 -6.02408669e-02 9.32838617e-03 2.57400929e+02] [ 6.02317448e-02 9.98183630e-01 1.25601421e-03 2.64208926e+01] [-9.38710575e-03 -6.91813400e-04 9.99955701e-01 -1.72824608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.821400513 meters 0.08196382565605992 Centerline is valid? [True, True] Translation: X:257.43, Y:26.43, Z:-1.73 [[ 9.98156668e-01 -6.00242408e-02 8.96419676e-03 2.57430339e+02] [ 6.00158111e-02 9.98196697e-01 1.20667716e-03 2.64347064e+01] [-9.02046148e-03 -6.66459310e-04 9.99959093e-01 -1.72993788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.851400513 meters 0.08055665812768285 Centerline is valid? [True, True] Translation: X:257.46, Y:26.43, Z:-1.73 [[ 9.98126196e-01 -6.03597723e-02 1.00396619e-02 2.57462007e+02] [ 6.03492198e-02 9.98176410e-01 1.35100344e-03 2.64323939e+01] [-1.01028999e-02 -7.42586160e-04 9.99948689e-01 -1.72836741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.881400513 meters 0.07715353691777657 Centerline is valid? [True, True] Translation: X:257.49, Y:26.43, Z:-1.73 [[ 9.98177707e-01 -5.94942786e-02 1.00844833e-02 2.57493983e+02] [ 5.94835901e-02 9.98228361e-01 1.35680676e-03 2.64319404e+01] [-1.01473395e-02 -7.54472987e-04 9.99948230e-01 -1.72758933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.911400513 meters 0.08069932303560105 Centerline is valid? [True, True] Translation: X:257.52, Y:26.44, Z:-1.73 [[ 9.98226636e-01 -5.86395353e-02 1.02463466e-02 2.57523228e+02] [ 5.86284592e-02 9.98278921e-01 1.37828770e-03 2.64397587e+01] [-1.03095340e-02 -7.75115983e-04 9.99946555e-01 -1.72778856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.941400513 meters 0.08241647496948658 Centerline is valid? [True, True] Translation: X:257.55, Y:26.45, Z:-1.73 [[ 9.98262864e-01 -5.80898855e-02 9.83965575e-03 2.57554198e+02] [ 5.80796438e-02 9.98311075e-01 1.32367844e-03 2.64453796e+01] [-9.89992964e-03 -7.49895327e-04 9.99950713e-01 -1.72859076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.971400513 meters 0.08064275489645853 Centerline is valid? [True, True] Translation: X:257.59, Y:26.44, Z:-1.73 [[ 9.98325796e-01 -5.72337307e-02 8.36087494e-03 2.57586248e+02] [ 5.72263085e-02 9.98360599e-01 1.12447932e-03 2.64440536e+01] [-8.41152626e-03 -6.44134701e-04 9.99964415e-01 -1.73142400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.001400513 meters 0.08142697312600289 Centerline is valid? [True, True] Translation: X:257.62, Y:26.45, Z:-1.73 [[ 9.98334054e-01 -5.71279351e-02 8.09414896e-03 2.57616805e+02] [ 5.71209773e-02 9.98366671e-01 1.08837858e-03 2.64476453e+01] [-8.14310537e-03 -6.24219703e-04 9.99966650e-01 -1.73260929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.031400513 meters 0.07831068055855342 Centerline is valid? [True, True] Translation: X:257.65, Y:26.45, Z:-1.73 [[ 9.98270861e-01 -5.80782063e-02 9.06693062e-03 2.57647541e+02] [ 5.80695160e-02 9.98311798e-01 1.21902185e-03 2.64471198e+01] [-9.12242241e-03 -6.90401720e-04 9.99958152e-01 -1.73198666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.061400513 meters 0.08278843657074066 Centerline is valid? [True, True] Translation: X:257.68, Y:26.46, Z:-1.73 [[ 9.98247112e-01 -5.85169978e-02 8.85803614e-03 2.57676580e+02] [ 5.85087201e-02 9.98286187e-01 1.19098061e-03 2.64563766e+01] [-8.91254773e-03 -6.70620598e-04 9.99960058e-01 -1.73277975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.091400513 meters 0.08212808952527251 Centerline is valid? [True, True] Translation: X:257.71, Y:26.46, Z:-1.73 [[ 9.98225318e-01 -5.90275023e-02 7.87205726e-03 2.57707487e+02] [ 5.90209808e-02 9.98256181e-01 1.05839257e-03 2.64595909e+01] [-7.92080409e-03 -5.91897719e-04 9.99968455e-01 -1.73442867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.121400513 meters 0.07925258827102674 Centerline is valid? [True, True] Translation: X:257.74, Y:26.46, Z:-1.74 [[ 9.98146912e-01 -6.05879298e-02 5.64309549e-03 2.57738889e+02] [ 6.05846041e-02 9.98162777e-01 7.58586800e-04 2.64598449e+01] [-5.67868907e-03 -4.15296366e-04 9.99983790e-01 -1.73813693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.151400513 meters 0.07917658280925528 Centerline is valid? [True, True] Translation: X:257.77, Y:26.47, Z:-1.74 [[ 9.98110250e-01 -6.12105235e-02 5.40384613e-03 2.57766590e+02] [ 6.12074850e-02 9.98124800e-01 7.26041078e-04 2.64662035e+01] [-5.43815419e-03 -3.93913211e-04 9.99985136e-01 -1.73930243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.181400513 meters 0.0754379419558762 Centerline is valid? [True, True] Translation: X:257.80, Y:26.47, Z:-1.74 [[ 9.97898481e-01 -6.43794466e-02 7.34227688e-03 2.57796749e+02] [ 6.43739189e-02 9.97925360e-01 9.86965992e-04 2.64669079e+01] [-7.39058463e-03 -5.12240728e-04 9.99972558e-01 -1.73692913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.211400513 meters 0.06884502640620527 Centerline is valid? [True, True] Translation: X:257.83, Y:26.46, Z:-1.74 [[ 9.97794892e-01 -6.58562052e-02 8.26518016e-03 2.57827200e+02] [ 6.58492496e-02 9.97828964e-01 1.11117786e-03 2.64636718e+01] [-8.32041412e-03 -5.64471687e-04 9.99965225e-01 -1.73540521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24140051300003 meters 0.07624342220985758 Centerline is valid? [True, True] Translation: X:257.86, Y:26.48, Z:-1.74 [[ 9.97700170e-01 -6.71859693e-02 8.96747037e-03 2.57855233e+02] [ 6.71778312e-02 9.97740289e-01 1.20600579e-03 2.64774009e+01] [-9.02823315e-03 -6.00816972e-04 9.99959064e-01 -1.73538665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.271400513 meters 0.06854185053858852 Centerline is valid? [True, True] Translation: X:257.89, Y:26.47, Z:-1.73 [[ 9.97606318e-01 -6.84566205e-02 9.76345457e-03 2.57886750e+02] [ 6.84470373e-02 9.97653888e-01 1.31272338e-03 2.64728468e+01] [-9.83041301e-03 -6.41301604e-04 9.99951475e-01 -1.73390153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30140051300003 meters 0.0656497749687473 Centerline is valid? [True, True] Translation: X:257.92, Y:26.47, Z:-1.73 [[ 9.97429600e-01 -7.06355471e-02 1.20338279e-02 2.57917472e+02] [ 7.06211464e-02 9.97501898e-01 1.61797941e-03 2.64748108e+01] [-1.21180531e-02 -7.63977835e-04 9.99926282e-01 -1.73016650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.331400513 meters 0.06224816243342787 Centerline is valid? [True, True] Translation: X:257.95, Y:26.48, Z:-1.73 [[ 9.97329334e-01 -7.19726379e-02 1.24152674e-02 2.57948592e+02] [ 7.19574125e-02 9.97406308e-01 1.66930400e-03 2.64753288e+01] [-1.25032102e-02 -7.71475326e-04 9.99921534e-01 -1.72986448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36140051300004 meters 0.06812028105462022 Centerline is valid? [True, True] Translation: X:257.98, Y:26.49, Z:-1.73 [[ 9.97261890e-01 -7.29429182e-02 1.21677097e-02 2.57977908e+02] [ 7.29283663e-02 9.97335840e-01 1.63597916e-03 2.64861009e+01] [-1.22546260e-02 -7.44128481e-04 9.99924632e-01 -1.73115811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.391400513 meters 0.06228894995512293 Centerline is valid? [True, True] Translation: X:258.01, Y:26.48, Z:-1.73 [[ 9.97029113e-01 -7.61236155e-02 1.17534391e-02 2.58009361e+02] [ 7.61102595e-02 9.97098155e-01 1.58013429e-03 2.64797939e+01] [-1.18396180e-02 -6.80882582e-04 9.99929677e-01 -1.73216121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42140051300004 meters 0.059545243664754194 Centerline is valid? [True, True] Translation: X:258.04, Y:26.48, Z:-1.73 [[ 9.96919879e-01 -7.74747956e-02 1.21823627e-02 2.58039799e+02] [ 7.74605475e-02 9.96994073e-01 1.63780299e-03 2.64783400e+01] [-1.22726318e-02 -6.89105877e-04 9.99924451e-01 -1.73130545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.451400513 meters 0.060646795280264815 Centerline is valid? [True, True] Translation: X:258.07, Y:26.48, Z:-1.73 [[ 9.96857770e-01 -7.81917338e-02 1.26743118e-02 2.58068909e+02] [ 7.81763675e-02 9.96938088e-01 1.70409357e-03 2.64816162e+01] [-1.27687502e-02 -7.07907261e-04 9.99918226e-01 -1.73019499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48140051300004 meters 0.06353002158687608 Centerline is valid? [True, True] Translation: X:258.10, Y:26.49, Z:-1.73 [[ 9.96914967e-01 -7.72914792e-02 1.36592963e-02 2.58098076e+02] [ 7.72735450e-02 9.97008238e-01 1.83669574e-03 2.64881368e+01] [-1.37603919e-02 -7.75527218e-04 9.99905021e-01 -1.72763293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.511400513 meters 0.07154834154643176 Centerline is valid? [True, True] Translation: X:258.13, Y:26.50, Z:-1.73 [[ 9.97050506e-01 -7.54772294e-02 1.39095969e-02 2.58125975e+02] [ 7.54584536e-02 9.97147192e-01 1.87051318e-03 2.65018604e+01] [-1.40110967e-02 -8.15399442e-04 9.99901507e-01 -1.72768606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.541400513 meters 0.072497802728492 Centerline is valid? [True, True] Translation: X:258.16, Y:26.51, Z:-1.73 [[ 9.97214674e-01 -7.33522026e-02 1.35036157e-02 2.58155937e+02] [ 7.33343108e-02 9.97305761e-01 1.81605480e-03 2.65066277e+01] [-1.36004454e-02 -8.20718145e-04 9.99907173e-01 -1.72843891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.571400513 meters 0.07194987915004258 Centerline is valid? [True, True] Translation: X:258.19, Y:26.51, Z:-1.73 [[ 9.97558517e-01 -6.86866609e-02 1.26154127e-02 2.58186155e+02] [ 6.86706741e-02 9.97637940e-01 1.69658551e-03 2.65089178e+01] [-1.27021472e-02 -8.26134430e-04 9.99918983e-01 -1.73114381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.601400513 meters 0.07274391853529204 Centerline is valid? [True, True] Translation: X:258.22, Y:26.51, Z:-1.73 [[ 9.97694074e-01 -6.65316934e-02 1.34189311e-02 2.58217077e+02] [ 6.65134103e-02 9.97783899e-01 1.80470339e-03 2.65122409e+01] [-1.35092634e-02 -9.08003005e-04 9.99908333e-01 -1.73117614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.631400513 meters 0.07580734330304598 Centerline is valid? [True, True] Translation: X:258.25, Y:26.52, Z:-1.73 [[ 9.97920876e-01 -6.28754107e-02 1.41635948e-02 2.58245659e+02] [ 6.28546780e-02 9.98020872e-01 1.90466732e-03 2.65217629e+01] [-1.42553200e-02 -1.01045909e-03 9.99897877e-01 -1.73063458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.661400513 meters 0.07580734330304598 Centerline is valid? [True, True] Translation: X:258.28, Y:26.53, Z:-1.73 [[ 9.97923676e-01 -6.28309549e-02 1.41635970e-02 2.58277132e+02] [ 6.28102179e-02 9.98023671e-01 1.90465061e-03 2.65259145e+01] [-1.42552761e-02 -1.01107732e-03 9.99897877e-01 -1.73104138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.691400513 meters 0.07474054461479251 Centerline is valid? [True, True] Translation: X:258.31, Y:26.53, Z:-1.73 [[ 9.98231065e-01 -5.77253920e-02 1.42309327e-02 2.58307225e+02] [ 5.77039498e-02 9.98331906e-01 1.91311547e-03 2.65285304e+01] [-1.43176295e-02 -1.08855027e-03 9.99896905e-01 -1.73166942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.721400513 meters 0.07631354447633279 Centerline is valid? [True, True] Translation: X:258.34, Y:26.53, Z:-1.73 [[ 9.98358295e-01 -5.58113583e-02 1.28766441e-02 2.58337677e+02] [ 5.57936461e-02 9.98440821e-01 1.73096629e-03 2.65344475e+01] [-1.29531747e-02 -1.00968963e-03 9.99915594e-01 -1.73350758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.751400513 meters 0.08301255356311084 Centerline is valid? [True, True] Translation: X:258.37, Y:26.55, Z:-1.74 [[ 9.98527473e-01 -5.30905327e-02 1.11481792e-02 2.58366052e+02] [ 5.30770897e-02 9.98589294e-01 1.49847392e-03 2.65477740e+01] [-1.12120072e-02 -9.04554471e-04 9.99936734e-01 -1.73689442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.781400513 meters 0.08814010212638788 Centerline is valid? [True, True] Translation: X:258.40, Y:26.56, Z:-1.74 [[ 9.98581027e-01 -5.19778511e-02 1.15859919e-02 2.58395131e+02] [ 5.19632554e-02 9.98647783e-01 1.55746374e-03 2.65587443e+01] [-1.16512787e-02 -9.53207889e-04 9.99931667e-01 -1.73765959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.811400513 meters 0.0889464324545397 Centerline is valid? [True, True] Translation: X:258.43, Y:26.56, Z:-1.74 [[ 9.98614277e-01 -5.12434237e-02 1.19848433e-02 2.58426930e+02] [ 5.12277547e-02 9.98685697e-01 1.61096296e-03 2.65638790e+01] [-1.20516428e-02 -9.94773999e-04 9.99926881e-01 -1.73745794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.841400513 meters 0.10102159359364407 Centerline is valid? [True, False] Translation: X:258.43, Y:26.57, Z:-1.74 [[ 9.99018271e-01 -4.19247005e-02 1.43113171e-02 2.58427898e+02] [ 4.20585709e-02 9.99072928e-01 -9.18486639e-03 2.65701065e+01] [-1.39129767e-02 9.77776288e-03 9.99855402e-01 -1.73954731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.871400513 meters 0.08024307547766767 Centerline is valid? [False, True] Translation: X:258.39, Y:26.57, Z:-1.73 [[ 9.99437991e-01 -3.28530674e-02 6.66173826e-03 2.58387933e+02] [ 3.29690967e-02 9.99291963e-01 -1.81276341e-02 2.65704238e+01] [-6.06147312e-03 1.83370777e-02 9.99813488e-01 -1.73492048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.901400513 meters 0.08589689064651122 Centerline is valid? [True, True] Translation: X:258.42, Y:26.57, Z:-1.74 [[ 9.99422098e-01 -3.38316136e-02 3.30019453e-03 2.58418722e+02] [ 3.38305413e-02 9.99427511e-01 3.80223069e-04 2.65668168e+01] [-3.31116876e-03 -2.68355970e-04 9.99994482e-01 -1.73726385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.931400513 meters 0.07944979440184671 Centerline is valid? [True, True] Translation: X:258.45, Y:26.56, Z:-1.74 [[ 9.99383231e-01 -3.50371815e-02 2.35660400e-03 2.58450203e+02] [ 3.50366380e-02 9.99385992e-01 2.71504337e-04 2.65640989e+01] [-2.36466977e-03 -1.88769400e-04 9.99997186e-01 -1.73899938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.961400513 meters 0.08215943171378859 Centerline is valid? [True, True] Translation: X:258.48, Y:26.57, Z:-1.74 [[ 9.99290465e-01 -3.76306782e-02 1.58050206e-03 2.58479240e+02] [ 3.76304371e-02 9.99291708e-01 1.82028511e-04 2.65730062e+01] [-1.58623246e-03 -1.22424372e-04 9.99998734e-01 -1.73983805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99140051300003 meters 0.0809047515032047 Centerline is valid? [True, True] Translation: X:258.51, Y:26.58, Z:-1.74 [[ 9.99232030e-01 -3.91553638e-02 1.48586995e-03 2.58509202e+02] [ 3.91551525e-02 9.99233128e-01 1.70997206e-04 2.65780815e+01] [-1.49142594e-03 -1.12686421e-04 9.99998881e-01 -1.73952191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.021400513 meters 0.08081855777619355 Centerline is valid? [True, True] Translation: X:258.54, Y:26.59, Z:-1.74 [[ 9.99089471e-01 -4.26582941e-02 7.06131750e-04 2.58537108e+02] [ 4.26582474e-02 9.99089719e-01 8.11760424e-05 2.65878365e+01] [-7.08951803e-04 -5.09797864e-05 9.99999747e-01 -1.74045364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05140051300003 meters 0.07235434098769013 Centerline is valid? [True, True] Translation: X:258.57, Y:26.58, Z:-1.74 [[ 9.99015630e-01 -4.43512217e-02 8.60049582e-04 2.58567784e+02] [ 4.43511528e-02 9.99015999e-01 9.90423588e-05 2.65833636e+01] [-8.63595941e-04 -6.08006741e-05 9.99999625e-01 -1.73975411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.081400513 meters 0.08299963098565637 Centerline is valid? [True, True] Translation: X:258.60, Y:26.60, Z:-1.74 [[ 9.98955468e-01 -4.56760888e-02 1.29174031e-03 2.58595133e+02] [ 4.56759344e-02 9.98956299e-01 1.48747229e-04 2.66018734e+01] [-1.29718631e-03 -8.95904122e-05 9.99999155e-01 -1.74088157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11140051300004 meters 0.07293255757483011 Centerline is valid? [True, True] Translation: X:258.63, Y:26.60, Z:-1.74 [[ 9.98878956e-01 -4.72635192e-02 2.64415120e-03 2.58625797e+02] [ 4.72628775e-02 9.98882439e-01 3.04667653e-04 2.65992036e+01] [-2.65559586e-03 -1.79355912e-04 9.99996458e-01 -1.73830356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.141400513 meters 0.07556193510416108 Centerline is valid? [True, True] Translation: X:258.65, Y:26.61, Z:-1.74 [[ 9.98830894e-01 -4.81687972e-02 4.07578134e-03 2.58654696e+02] [ 4.81672788e-02 9.98839172e-01 4.69950062e-04 2.66093513e+01] [-4.09368699e-03 -2.73081344e-04 9.99991584e-01 -1.73635138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17140051300004 meters 0.07333508666952143 Centerline is valid? [True, True] Translation: X:258.68, Y:26.61, Z:-1.73 [[ 9.98763366e-01 -4.94478236e-02 5.16244979e-03 2.58684738e+02] [ 4.94454046e-02 9.98776651e-01 5.95246259e-04 2.66133987e+01] [-5.18556794e-03 -3.39250739e-04 9.99986497e-01 -1.73400924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.201400513 meters 0.06486706430875522 Centerline is valid? [True, True] Translation: X:258.72, Y:26.61, Z:-1.73 [[ 9.98642933e-01 -5.17002812e-02 6.27474825e-03 2.58716187e+02] [ 5.16967517e-02 9.98662567e-01 7.23501703e-04 2.66124435e+01] [-6.30376143e-03 -3.98135762e-04 9.99980052e-01 -1.73217280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23140051300004 meters 0.06791349911486687 Centerline is valid? [True, True] Translation: X:258.75, Y:26.62, Z:-1.73 [[ 9.98582902e-01 -5.28180832e-02 6.51442477e-03 2.58745488e+02] [ 5.28143030e-02 9.98604068e-01 7.51064917e-04 2.66211646e+01] [-6.54500088e-03 -4.05945781e-04 9.99978499e-01 -1.73279397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.261400513 meters 0.06636671353705834 Centerline is valid? [True, True] Translation: X:258.78, Y:26.62, Z:-1.73 [[ 9.98471456e-01 -5.48025362e-02 7.17176664e-03 2.58776620e+02] [ 5.47980063e-02 9.98497118e-01 8.26762540e-04 2.66230845e+01] [-7.20629700e-03 -4.32500284e-04 9.99973941e-01 -1.73311338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.291400513 meters 0.06484322905351207 Centerline is valid? [True, True] Translation: X:258.81, Y:26.62, Z:-1.73 [[ 9.98440647e-01 -5.52833123e-02 7.74786527e-03 2.58807776e+02] [ 5.52780404e-02 9.98470601e-01 8.93105348e-04 2.66239578e+01] [-7.78538951e-03 -4.63425872e-04 9.99969586e-01 -1.73209390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.321400513 meters 0.06179469853411078 Centerline is valid? [True, True] Translation: X:258.84, Y:26.62, Z:-1.73 [[ 9.98435058e-01 -5.53424879e-02 8.04010063e-03 2.58839836e+02] [ 5.53368141e-02 9.98467315e-01 9.26601604e-04 2.66227066e+01] [-8.07905812e-03 -4.80237973e-04 9.99967249e-01 -1.73087086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.351400513 meters 0.06926227412904103 Centerline is valid? [True, True] Translation: X:258.87, Y:26.63, Z:-1.73 [[ 9.98512142e-01 -5.39605501e-02 7.85882144e-03 2.58869047e+02] [ 5.39550880e-02 9.98542953e-01 9.05543783e-04 2.66328373e+01] [-7.89623441e-03 -4.80173060e-04 9.99968709e-01 -1.73083187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.381400513 meters 0.06383692571905039 Centerline is valid? [True, True] Translation: X:258.90, Y:26.63, Z:-1.73 [[ 9.98574626e-01 -5.28557780e-02 7.41499597e-03 2.58900373e+02] [ 5.28508858e-02 9.98602050e-01 8.54312289e-04 2.66293788e+01] [-7.44978551e-03 -4.61205470e-04 9.99972144e-01 -1.73194071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.411400513 meters 0.06289280185656922 Centerline is valid? [True, True] Translation: X:258.93, Y:26.63, Z:-1.73 [[ 9.98650538e-01 -5.13993834e-02 7.43009063e-03 2.58931183e+02] [ 5.13944323e-02 9.98678066e-01 8.55882231e-04 2.66314654e+01] [-7.46426036e-03 -4.72861960e-04 9.99972030e-01 -1.73305254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.441400513 meters 0.0685967581862306 Centerline is valid? [True, True] Translation: X:258.96, Y:26.64, Z:-1.73 [[ 9.98818436e-01 -4.80330149e-02 7.38655309e-03 2.58959690e+02] [ 4.80280306e-02 9.98845626e-01 8.50795943e-04 2.66417292e+01] [-7.41889254e-03 -4.95029076e-04 9.99972357e-01 -1.73324809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.471400513 meters 0.06887939622692796 Centerline is valid? [True, True] Translation: X:258.99, Y:26.65, Z:-1.73 [[ 9.98902470e-01 -4.62947825e-02 7.11672285e-03 2.58990800e+02] [ 4.62901114e-02 9.98927702e-01 8.19769180e-04 2.66453924e+01] [-7.14704263e-03 -4.89435565e-04 9.99974340e-01 -1.73341657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.501400513 meters 0.06354367885059663 Centerline is valid? [True, True] Translation: X:259.02, Y:26.64, Z:-1.73 [[ 9.98983502e-01 -4.45004664e-02 7.18823369e-03 2.59022283e+02] [ 4.44956559e-02 9.99009235e-01 8.27842678e-04 2.66410571e+01] [-7.21795122e-03 -5.07156005e-04 9.99973822e-01 -1.73169806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.531400513 meters 0.07674685432602829 Centerline is valid? [True, True] Translation: X:259.05, Y:26.66, Z:-1.73 [[ 9.98991555e-01 -4.42419841e-02 7.64989003e-03 2.59051626e+02] [ 4.42365295e-02 9.99020697e-01 8.80845259e-04 2.66599778e+01] [-7.68136881e-03 -5.41552389e-04 9.99970351e-01 -1.73097147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.561400513 meters 0.07337959960348885 Centerline is valid? [True, True] Translation: X:259.08, Y:26.66, Z:-1.73 [[ 9.98962894e-01 -4.47996404e-02 8.13199352e-03 2.59083210e+02] [ 4.47934999e-02 9.98995829e-01 9.35768855e-04 2.66582105e+01] [-8.16574972e-03 -5.70537912e-04 9.99966497e-01 -1.73060060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.591400513 meters 0.07158236530109803 Centerline is valid? [True, True] Translation: X:259.11, Y:26.65, Z:-1.73 [[ 9.98835757e-01 -4.74097406e-02 8.91333023e-03 2.59113170e+02] [ 4.74024680e-02 9.98875345e-01 1.02553476e-03 2.66541207e+01] [-8.95192615e-03 -6.01826941e-04 9.99959750e-01 -1.73089439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.621400513 meters 0.06673033880216202 Centerline is valid? [True, True] Translation: X:259.14, Y:26.65, Z:-1.73 [[ 9.98759449e-01 -4.91951867e-02 7.70697889e-03 2.59144724e+02] [ 4.91898021e-02 9.98789055e-01 8.86778333e-04 2.66482085e+01] [-7.74127139e-03 -5.06573473e-04 9.99969908e-01 -1.73319427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.651400513 meters 0.06852296889350297 Centerline is valid? [True, True] Translation: X:259.17, Y:26.65, Z:-1.74 [[ 9.98678709e-01 -5.09872198e-02 6.41397660e-03 2.59173923e+02] [ 5.09835278e-02 9.98699222e-01 7.37923924e-04 2.66505079e+01] [-6.44325813e-03 -4.09941757e-04 9.99979158e-01 -1.73539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.681400513 meters 0.06198064807120765 Centerline is valid? [True, True] Translation: X:259.21, Y:26.64, Z:-1.74 [[ 9.98590835e-01 -5.27978456e-02 5.36011695e-03 2.59205725e+02] [ 5.27952927e-02 9.98605166e-01 6.16757848e-04 2.66430200e+01] [-5.38520396e-03 -3.32899792e-04 9.99985444e-01 -1.73650854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.711400513 meters 0.06515595791792571 Centerline is valid? [True, True] Translation: X:259.24, Y:26.64, Z:-1.73 [[ 9.98419413e-01 -5.57992205e-02 6.71735995e-03 2.59235399e+02] [ 5.57952793e-02 9.98441931e-01 7.72830879e-04 2.66428849e+01] [-6.75001720e-03 -3.96812377e-04 9.99977140e-01 -1.73378097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74140051300003 meters 0.06436282190378141 Centerline is valid? [True, True] Translation: X:259.27, Y:26.64, Z:-1.73 [[ 9.98414762e-01 -5.56957612e-02 8.12060562e-03 2.59265691e+02] [ 5.56899972e-02 9.98447671e-01 9.34386561e-04 2.66434617e+01] [-8.16004114e-03 -4.80668832e-04 9.99966591e-01 -1.73096497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.771400513 meters 0.07324893610942934 Centerline is valid? [True, True] Translation: X:259.29, Y:26.65, Z:-1.73 [[ 9.98493483e-01 -5.40533130e-02 9.43419636e-03 2.59294529e+02] [ 5.40454602e-02 9.98537886e-01 1.08553311e-03 2.66517156e+01] [-9.47907915e-03 -5.74022254e-04 9.99954908e-01 -1.72997370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80140051300003 meters 0.06754107331286842 Centerline is valid? [True, True] Translation: X:259.33, Y:26.64, Z:-1.73 [[ 9.98556656e-01 -5.29293854e-02 9.11507830e-03 2.59327025e+02] [ 5.29220087e-02 9.98598098e-01 1.04875853e-03 2.66448092e+01] [-9.15780999e-03 -5.64856560e-04 9.99957907e-01 -1.73172689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.831400513 meters 0.06667131098644229 Centerline is valid? [True, True] Translation: X:259.36, Y:26.64, Z:-1.73 [[ 9.98597574e-01 -5.21659669e-02 9.03307296e-03 2.59358386e+02] [ 5.21586929e-02 9.98638268e-01 1.03914705e-03 2.66430456e+01] [-9.07498044e-03 -5.66536444e-04 9.99958661e-01 -1.73310025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86140051300004 meters 0.06708748487284534 Centerline is valid? [True, True] Translation: X:259.39, Y:26.64, Z:-1.73 [[ 9.98663809e-01 -5.08094884e-02 9.43353839e-03 2.59390059e+02] [ 5.08014959e-02 9.98708181e-01 1.08510476e-03 2.66374338e+01] [-9.47648558e-03 -6.04416996e-04 9.99954914e-01 -1.73261010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.891400513 meters 0.07024404383147977 Centerline is valid? [True, True] Translation: X:259.42, Y:26.64, Z:-1.73 [[ 9.98695071e-01 -5.01968849e-02 9.40362712e-03 2.59419887e+02] [ 5.01889174e-02 9.98739157e-01 1.08150104e-03 2.66407389e+01] [-9.44605860e-03 -6.08131893e-04 9.99955200e-01 -1.73277431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92140051300004 meters 0.07327106357948823 Centerline is valid? [True, True] Translation: X:259.45, Y:26.63, Z:-1.73 [[ 9.98817268e-01 -4.75607606e-02 1.01014202e-02 2.59448748e+02] [ 4.74911807e-02 9.98846989e-01 7.01992365e-03 2.66342402e+01] [-1.04236460e-02 -6.53189259e-03 9.99924338e-01 -1.73393759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.951400513 meters 0.06937059745720171 Centerline is valid? [True, True] Translation: X:259.48, Y:26.64, Z:-1.74 [[ 9.98913965e-01 -4.57163721e-02 8.99470261e-03 2.59482433e+02] [ 4.57600582e-02 9.98941345e-01 -4.71244087e-03 2.66411918e+01] [-8.76974462e-03 5.11892111e-03 9.99948443e-01 -1.73556381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98140051300004 meters 0.08067461263677281 Centerline is valid? [True, True] Translation: X:259.51, Y:26.65, Z:-1.74 [[ 9.99026628e-01 -4.33180405e-02 8.32727965e-03 2.59510974e+02] [ 4.33115521e-02 9.99061155e-01 9.58024353e-04 2.66492187e+01] [-8.36096137e-03 -5.96424432e-04 9.99964869e-01 -1.73561474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.011400513 meters 0.08054537611380906 Centerline is valid? [True, True] Translation: X:259.54, Y:26.65, Z:-1.74 [[ 9.99118601e-01 -4.10221584e-02 8.89968164e-03 2.59541924e+02] [ 4.10146575e-02 9.99158020e-01 1.02379030e-03 2.66486761e+01] [-8.93418638e-03 -6.57870543e-04 9.99959873e-01 -1.73523182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.041400513 meters 0.08248459023400725 Centerline is valid? [True, True] Translation: X:259.57, Y:26.65, Z:-1.73 [[ 9.99262178e-01 -3.69260154e-02 1.05626486e-02 2.59572650e+02] [ 3.69152219e-02 9.99317662e-01 1.21507210e-03 2.66478340e+01] [-1.06003091e-02 -8.24253074e-04 9.99943475e-01 -1.73384156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.071400513 meters 0.07994143239415608 Centerline is valid? [True, True] Translation: X:259.60, Y:26.64, Z:-1.73 [[ 9.99315905e-01 -3.52195621e-02 1.12829281e-02 2.59604411e+02] [ 3.52071388e-02 9.99379194e-01 1.29786850e-03 2.66444444e+01] [-1.13216339e-02 -8.99741022e-04 9.99935503e-01 -1.73341121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.101400513 meters 0.09265440378485745 Centerline is valid? [True, True] Translation: X:259.63, Y:26.66, Z:-1.73 [[ 9.99399211e-01 -3.27833451e-02 1.12458216e-02 2.59632364e+02] [ 3.27708500e-02 9.99462054e-01 1.29362015e-03 2.66560339e+01] [-1.12821811e-02 -9.24307828e-04 9.99935927e-01 -1.73266827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.131400513 meters 0.09514677560611538 Centerline is valid? [True, True] Translation: X:259.66, Y:26.66, Z:-1.73 [[ 9.99437390e-01 -3.17835253e-02 1.07102884e-02 2.59662664e+02] [ 3.17721348e-02 9.99494379e-01 1.23203063e-03 2.66603903e+01] [-1.07440313e-02 -8.91048750e-04 9.99941884e-01 -1.73347842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.161400513 meters 0.0886113683697184 Centerline is valid? [True, True] Translation: X:259.70, Y:26.65, Z:-1.74 [[ 9.99467844e-01 -3.10090045e-02 1.01227669e-02 2.59695715e+02] [ 3.09987935e-02 9.99518744e-01 1.16410579e-03 2.66547869e+01] [-1.01539930e-02 -8.49692745e-04 9.99948086e-01 -1.73510884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.191400513 meters 0.09214900341378839 Centerline is valid? [True, True] Translation: X:259.73, Y:26.66, Z:-1.74 [[ 9.99490146e-01 -3.03629605e-02 9.87615896e-03 2.59726821e+02] [ 3.03532136e-02 9.99538590e-01 1.13534902e-03 2.66585065e+01] [-9.90607456e-03 -8.34996992e-04 9.99950585e-01 -1.73684880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.221400513 meters 0.08841915841808588 Centerline is valid? [True, True] Translation: X:259.76, Y:26.66, Z:-1.74 [[ 9.99476536e-01 -3.07189055e-02 1.01490082e-02 2.59759599e+02] [ 3.07086347e-02 9.99527698e-01 1.16633135e-03 2.66550669e+01] [-1.01800432e-02 -8.54058637e-04 9.99947817e-01 -1.73704084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.251400513 meters 0.08814736094800961 Centerline is valid? [True, True] Translation: X:259.79, Y:26.66, Z:-1.74 [[ 9.99462434e-01 -3.09667583e-02 1.07658275e-02 2.59791662e+02] [ 3.09552207e-02 9.99520007e-01 1.23671946e-03 2.66560669e+01] [-1.07989572e-02 -9.02796075e-04 9.99941282e-01 -1.73622918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.281400513 meters 0.08863820997000854 Centerline is valid? [True, True] Translation: X:259.82, Y:26.66, Z:-1.74 [[ 9.99412859e-01 -3.22881581e-02 1.14635125e-02 2.59820928e+02] [ 3.22751658e-02 9.99478154e-01 1.31660331e-03 2.66584915e+01] [-1.15000410e-02 -9.45843507e-04 9.99933425e-01 -1.73511785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.311400513 meters 0.08775808052967192 Centerline is valid? [True, True] Translation: X:259.85, Y:26.66, Z:-1.74 [[ 9.99398232e-01 -3.28569781e-02 1.11172683e-02 2.59852666e+02] [ 3.28447946e-02 9.99459649e-01 1.27676067e-03 2.66612608e+01] [-1.11532116e-02 -9.10847967e-04 9.99937386e-01 -1.73667712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.341400513 meters 0.08675757273746176 Centerline is valid? [True, True] Translation: X:259.89, Y:26.66, Z:-1.74 [[ 9.99390671e-01 -3.32424800e-02 1.06406768e-02 2.59885060e+02] [ 3.32313446e-02 9.99446940e-01 1.22164034e-03 2.66640856e+01] [-1.06754022e-02 -8.67291966e-04 9.99942640e-01 -1.73878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.371400513 meters 0.09124779108160974 Centerline is valid? [True, True] Translation: X:259.91, Y:26.67, Z:-1.74 [[ 9.99347336e-01 -3.45463537e-02 1.05570707e-02 2.59914038e+02] [ 3.45354680e-02 9.99402738e-01 1.21174995e-03 2.66749405e+01] [-1.05926269e-02 -8.46365707e-04 9.99943538e-01 -1.73987995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.401400513 meters 0.08586347616452858 Centerline is valid? [True, True] Translation: X:259.95, Y:26.67, Z:-1.74 [[ 9.99321488e-01 -3.52593821e-02 1.06461275e-02 2.59945952e+02] [ 3.52483531e-02 9.99377837e-01 1.22188398e-03 2.66731350e+01] [-1.06825867e-02 -8.45796455e-04 9.99942582e-01 -1.74050338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.431400513 meters 0.07670971508640888 Centerline is valid? [True, True] Translation: X:259.98, Y:26.67, Z:-1.74 [[ 9.99285594e-01 -3.62441809e-02 1.07079541e-02 2.59978056e+02] [ 3.62330822e-02 9.99342611e-01 1.22873816e-03 2.66667945e+01] [-1.07454494e-02 -8.39878165e-04 9.99941913e-01 -1.74148267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.461400513 meters 0.07890826278630124 Centerline is valid? [True, True] Translation: X:260.01, Y:26.67, Z:-1.74 [[ 9.99163548e-01 -3.93678340e-02 1.10624637e-02 2.60007339e+02] [ 3.93561802e-02 9.99224439e-01 1.26926251e-03 2.66740461e+01] [-1.11038522e-02 -8.32824516e-04 9.99938004e-01 -1.74039391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49140051300003 meters 0.07591200325962544 Centerline is valid? [True, True] Translation: X:260.04, Y:26.67, Z:-1.74 [[ 9.99071219e-01 -4.14546897e-02 1.17562302e-02 2.60038619e+02] [ 4.14416725e-02 9.99140014e-01 1.34882001e-03 2.66742120e+01] [-1.18020350e-02 -8.60369410e-04 9.99929983e-01 -1.73999034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.521400513 meters 0.07591200325962544 Centerline is valid? [True, True] Translation: X:260.07, Y:26.68, Z:-1.74 [[ 9.99073064e-01 -4.14101920e-02 1.17562634e-02 2.60070172e+02] [ 4.13971751e-02 9.99141859e-01 1.34853053e-03 2.66777531e+01] [-1.18020178e-02 -8.60604436e-04 9.99929983e-01 -1.74020342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55140051300003 meters 0.07942839069117681 Centerline is valid? [True, True] Translation: X:260.10, Y:26.69, Z:-1.74 [[ 9.98848770e-01 -4.61070431e-02 1.32391313e-02 2.60099431e+02] [ 4.60909494e-02 9.98936094e-01 1.51833306e-03 2.66855278e+01] [-1.32950519e-02 -9.06380983e-04 9.99911206e-01 -1.73805058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.581400513 meters 0.07077193401927356 Centerline is valid? [True, True] Translation: X:260.13, Y:26.68, Z:-1.74 [[ 9.98733718e-01 -4.83948866e-02 1.37439440e-02 2.60131658e+02] [ 4.83777591e-02 9.98827867e-01 1.57612722e-03 2.66783207e+01] [-1.38041108e-02 -9.09230189e-04 9.99904305e-01 -1.73831158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61140051300004 meters 0.0696931038747901 Centerline is valid? [True, True] Translation: X:260.16, Y:26.68, Z:-1.74 [[ 9.98634362e-01 -5.02772523e-02 1.41989118e-02 2.60161933e+02] [ 5.02591634e-02 9.98734883e-01 1.62815774e-03 2.66796922e+01] [-1.42628078e-02 -9.12308835e-04 9.99897865e-01 -1.73792197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.641400513 meters 0.06518386216334718 Centerline is valid? [True, True] Translation: X:260.19, Y:26.67, Z:-1.74 [[ 9.98507304e-01 -5.28626779e-02 1.37368748e-02 2.60193475e+02] [ 5.28459912e-02 9.98601432e-01 1.57515530e-03 2.66749127e+01] [-1.38009298e-02 -8.46865300e-04 9.99904404e-01 -1.73945271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67140051300004 meters 0.07273881711457912 Centerline is valid? [True, True] Translation: X:260.22, Y:26.69, Z:-1.74 [[ 9.98457412e-01 -5.39300449e-02 1.32040150e-02 2.60223086e+02] [ 5.39147229e-02 9.98544396e-01 1.51388684e-03 2.66855411e+01] [-1.32664392e-02 -7.99660725e-04 9.99911677e-01 -1.73943458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.701400513 meters 0.06254505466692448 Centerline is valid? [True, True] Translation: X:260.26, Y:26.67, Z:-1.74 [[ 9.98422707e-01 -5.46369811e-02 1.29189272e-02 2.60255652e+02] [ 5.46223763e-02 9.98505985e-01 1.48091047e-03 2.66748373e+01] [-1.29805386e-02 -7.72912138e-04 9.99915451e-01 -1.74136480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73140051300004 meters 0.06462824420498012 Centerline is valid? [True, True] Translation: X:260.29, Y:26.68, Z:-1.74 [[ 9.98394530e-01 -5.52720165e-02 1.23841319e-02 2.60285244e+02] [ 5.52586457e-02 9.98471065e-01 1.41952536e-03 2.66773920e+01] [-1.24436574e-02 -7.32915999e-04 9.99922306e-01 -1.74225168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.761400513 meters 0.0626768066262265 Centerline is valid? [True, True] Translation: X:260.32, Y:26.68, Z:-1.74 [[ 9.98419873e-01 -5.49245341e-02 1.18765915e-02 2.60316467e+02] [ 5.49122115e-02 9.98490258e-01 1.36142125e-03 2.66765057e+01] [-1.19334363e-02 -7.07100126e-04 9.99928544e-01 -1.74321255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.791400513 meters 0.06380180861089708 Centerline is valid? [True, True] Translation: X:260.35, Y:26.68, Z:-1.74 [[ 9.98475300e-01 -5.40250538e-02 1.13299895e-02 2.60346685e+02] [ 5.40137817e-02 9.98539346e-01 1.29876391e-03 2.66796901e+01] [-1.13836060e-02 -6.84808108e-04 9.99934970e-01 -1.74419413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.821400513 meters 0.06826784081898632 Centerline is valid? [True, True] Translation: X:260.37, Y:26.69, Z:-1.74 [[ 9.98541172e-01 -5.27495672e-02 1.15330282e-02 2.60374823e+02] [ 5.27378014e-02 9.98607519e-01 1.32214847e-03 2.66874151e+01] [-1.15867114e-02 -7.11993138e-04 9.99932618e-01 -1.74371161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.851400513 meters 0.06981185230426121 Centerline is valid? [True, True] Translation: X:260.41, Y:26.69, Z:-1.74 [[ 9.98704246e-01 -4.86828504e-02 1.48259545e-02 2.60405004e+02] [ 4.86629552e-02 9.98813810e-01 1.69994393e-03 2.66913791e+01] [-1.48911262e-02 -9.76266468e-04 9.99888644e-01 -1.73924211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.881400513 meters 0.07280114864286785 Centerline is valid? [True, True] Translation: X:260.44, Y:26.70, Z:-1.74 [[ 9.98776263e-01 -4.68299197e-02 1.59039526e-02 2.60435418e+02] [ 4.68067922e-02 9.98902297e-01 1.82353145e-03 2.66976826e+01] [-1.59718906e-02 -1.07688692e-03 9.99871861e-01 -1.73735866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.911400513 meters 0.0716201373203958 Centerline is valid? [True, True] Translation: X:260.47, Y:26.70, Z:-1.74 [[ 9.98812748e-01 -4.60269607e-02 1.59566035e-02 2.60467670e+02] [ 4.60035858e-02 9.98939600e-01 1.82907151e-03 2.66986514e+01] [-1.60238697e-02 -1.09283897e-03 9.99871012e-01 -1.73814810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.941400513 meters 0.06875375083486421 Centerline is valid? [True, True] Translation: X:260.50, Y:26.70, Z:-1.74 [[ 9.98824446e-01 -4.60956616e-02 1.49971901e-02 2.60499662e+02] [ 4.60750311e-02 9.98936504e-01 1.71842827e-03 2.66981680e+01] [-1.50604527e-02 -1.02541217e-03 9.99886059e-01 -1.74077519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.971400513 meters 0.07490413091342989 Centerline is valid? [True, True] Translation: X:260.53, Y:26.71, Z:-1.74 [[ 9.98710485e-01 -4.88528738e-02 1.38117455e-02 2.60528228e+02] [ 4.88356413e-02 9.98805575e-01 1.58239313e-03 2.67080190e+01] [-1.38725529e-02 -9.05847161e-04 9.99903361e-01 -1.74292256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.001400513 meters 0.0661923124082709 Centerline is valid? [True, True] Translation: X:260.56, Y:26.70, Z:-1.74 [[ 9.98588633e-01 -5.11842790e-02 1.41743399e-02 2.60560089e+02] [ 5.11663638e-02 9.98688823e-01 1.62392600e-03 2.66992916e+01] [-1.42388744e-02 -8.96384611e-04 9.99898220e-01 -1.74410410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.031400513 meters 0.06302242482579022 Centerline is valid? [True, True] Translation: X:260.59, Y:26.70, Z:-1.74 [[ 9.98417112e-01 -5.42600054e-02 1.48028096e-02 2.60591316e+02] [ 5.42408042e-02 9.98526444e-01 1.69584139e-03 2.66964779e+01] [-1.48730132e-02 -8.90240765e-04 9.99888994e-01 -1.74319063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.061400513 meters 0.058179384777916815 Centerline is valid? [True, True] Translation: X:260.62, Y:26.69, Z:-1.74 [[ 9.98086747e-01 -6.00663441e-02 1.46587880e-02 2.60621386e+02] [ 6.00481364e-02 9.98194070e-01 1.67949050e-03 2.66896312e+01] [-1.47331961e-02 -7.96044302e-04 9.99891144e-01 -1.74320342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.091400513 meters 0.0569697907523529 Centerline is valid? [True, True] Translation: X:260.65, Y:26.69, Z:-1.74 [[ 9.97990435e-01 -6.17280463e-02 1.43087236e-02 2.60651657e+02] [ 6.17108627e-02 9.98092721e-01 1.63976732e-03 2.66910961e+01] [-1.43826526e-02 -7.53468418e-04 9.99896280e-01 -1.74408276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.121400513 meters 0.05629678812048478 Centerline is valid? [True, True] Translation: X:260.68, Y:26.69, Z:-1.75 [[ 9.97977772e-01 -6.20231275e-02 1.39103858e-02 2.60681164e+02] [ 6.20069106e-02 9.98074446e-01 1.59450114e-03 2.66935296e+01] [-1.39824966e-02 -7.28736640e-04 9.99901975e-01 -1.74518263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.151400513 meters 0.05689622782098544 Centerline is valid? [True, True] Translation: X:260.71, Y:26.70, Z:-1.75 [[ 9.98058984e-01 -6.06353368e-02 1.41993297e-02 2.60710491e+02] [ 6.06182945e-02 9.98159693e-01 1.62794759e-03 2.66968515e+01] [-1.42719097e-02 -7.64048570e-04 9.99897859e-01 -1.74540859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.181400513 meters 0.0639470733334451 Centerline is valid? [True, True] Translation: X:260.74, Y:26.71, Z:-1.74 [[ 9.98380522e-01 -5.49157200e-02 1.48525372e-02 2.60739213e+02] [ 5.48964401e-02 9.98490601e-01 1.70299382e-03 2.67067125e+01] [-1.49236399e-02 -8.84884444e-04 9.99888245e-01 -1.74473509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.211400513 meters 0.06511556188743772 Centerline is valid? [True, True] Translation: X:260.77, Y:26.71, Z:-1.75 [[ 9.98528383e-01 -5.21782607e-02 1.47816441e-02 2.60769536e+02] [ 5.21588658e-02 9.98637362e-01 1.69484505e-03 2.67119232e+01] [-1.48499361e-02 -9.21357103e-04 9.99889309e-01 -1.74516340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24140051300003 meters 0.06017767126842117 Centerline is valid? [True, True] Translation: X:260.80, Y:26.71, Z:-1.75 [[ 9.98633442e-01 -5.03004970e-02 1.41812939e-02 2.60801230e+02] [ 5.02824599e-02 9.98733714e-01 1.62581609e-03 2.67102721e+01] [-1.42451156e-02 -9.10523979e-04 9.99898119e-01 -1.74769089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.271400513 meters 0.06968179711172416 Centerline is valid? [True, True] Translation: X:260.83, Y:26.73, Z:-1.75 [[ 9.98687907e-01 -4.94659993e-02 1.32506337e-02 2.60829728e+02] [ 4.94501819e-02 9.98775436e-01 1.51889355e-03 2.67262473e+01] [-1.33095411e-02 -8.61654370e-04 9.99911053e-01 -1.74876627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30140051300003 meters 0.06301242785004203 Centerline is valid? [True, True] Translation: X:260.86, Y:26.72, Z:-1.75 [[ 9.98700966e-01 -4.95230876e-02 1.19934871e-02 2.60861391e+02] [ 4.95101359e-02 9.98772675e-01 1.37459352e-03 2.67219776e+01] [-1.20468413e-02 -7.79008695e-04 9.99927131e-01 -1.75205377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.331400513 meters 0.06598466405152353 Centerline is valid? [True, True] Translation: X:260.89, Y:26.73, Z:-1.75 [[ 9.98697642e-01 -5.00235487e-02 1.00331249e-02 2.60891069e+02] [ 5.00145134e-02 9.98747829e-01 1.14960687e-03 2.67288873e+01] [-1.00780692e-02 -6.46307811e-04 9.99949006e-01 -1.75427359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36140051300004 meters 0.06696577018295817 Centerline is valid? [True, True] Translation: X:260.92, Y:26.73, Z:-1.75 [[ 9.98695793e-01 -5.01360785e-02 9.64814293e-03 2.60919944e+02] [ 5.01277314e-02 9.98742204e-01 1.10519333e-03 2.67336694e+01] [-9.69141759e-03 -6.20112415e-04 9.99952845e-01 -1.75499961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.391400513 meters 0.06720442209189548 Centerline is valid? [True, True] Translation: X:260.95, Y:26.74, Z:-1.76 [[ 9.98680711e-01 -5.04694841e-02 9.46932103e-03 2.60949097e+02] [ 5.04614572e-02 9.98725420e-01 1.08484657e-03 2.67390288e+01] [-9.51200326e-03 -6.05579605e-04 9.99954577e-01 -1.75556036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42140051300004 meters 0.0724697803555386 Centerline is valid? [True, True] Translation: X:260.98, Y:26.75, Z:-1.76 [[ 9.98662651e-01 -5.08280271e-02 9.45631668e-03 2.60977368e+02] [ 5.08200365e-02 9.98707239e-01 1.08353744e-03 2.67508554e+01] [-9.49916600e-03 -6.01518018e-04 9.99954701e-01 -1.75592045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.451400513 meters 0.0664345688679183 Centerline is valid? [True, True] Translation: X:261.01, Y:26.75, Z:-1.76 [[ 9.98589085e-01 -5.22132828e-02 9.67531984e-03 2.61007073e+02] [ 5.22049776e-02 9.98635775e-01 1.10914530e-03 2.67495598e+01] [-9.72003264e-03 -6.02480537e-04 9.99952578e-01 -1.75713485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48140051300004 meters 0.06665995988266041 Centerline is valid? [True, True] Translation: X:261.04, Y:26.75, Z:-1.76 [[ 9.98514314e-01 -5.36009488e-02 9.80320961e-03 2.61035637e+02] [ 5.35924784e-02 9.98562257e-01 1.12489346e-03 2.67535545e+01] [-9.84941047e-03 -5.97843925e-04 9.99951315e-01 -1.75697847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.511400513 meters 0.06413373795620989 Centerline is valid? [True, True] Translation: X:261.07, Y:26.75, Z:-1.76 [[ 9.98415714e-01 -5.54600451e-02 9.49979944e-03 2.61065807e+02] [ 5.54521725e-02 9.98460749e-01 1.09032636e-03 2.67542243e+01] [-9.54564642e-03 -5.61814452e-04 9.99954281e-01 -1.75726625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.541400513 meters 0.061352520062342306 Centerline is valid? [True, True] Translation: X:261.10, Y:26.75, Z:-1.76 [[ 9.98322125e-01 -5.71940907e-02 9.04271241e-03 2.61096191e+02] [ 5.71870274e-02 9.98362943e-01 1.03796272e-03 2.67549359e+01] [-9.08727431e-03 -5.19095310e-04 9.99958575e-01 -1.75806463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.571400513 meters 0.06000432298460695 Centerline is valid? [True, True] Translation: X:261.12, Y:26.76, Z:-1.76 [[ 9.98197656e-01 -5.94970674e-02 7.84461857e-03 2.61124703e+02] [ 5.94918220e-02 9.98228387e-01 9.00531963e-04 2.67584257e+01] [-7.88429995e-03 -4.32218243e-04 9.99968825e-01 -1.75979376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.601400513 meters 0.057379199134926555 Centerline is valid? [True, True] Translation: X:261.15, Y:26.76, Z:-1.76 [[ 9.98142892e-01 -6.04325505e-02 7.65989282e-03 2.61153321e+02] [ 6.04275743e-02 9.98172197e-01 8.79630993e-04 2.67595776e+01] [-7.69905039e-03 -4.15128680e-04 9.99970276e-01 -1.76022924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.631400513 meters 0.05859470592844528 Centerline is valid? [True, True] Translation: X:261.18, Y:26.77, Z:-1.76 [[ 9.98115906e-01 -6.08813865e-02 7.62203430e-03 2.61180746e+02] [ 6.08764639e-02 9.98144923e-01 8.76395739e-04 2.67654324e+01] [-7.66125103e-03 -4.10742031e-04 9.99970568e-01 -1.76056657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.661400513 meters 0.06390818795103437 Centerline is valid? [True, True] Translation: X:261.21, Y:26.78, Z:-1.76 [[ 9.98083721e-01 -6.13304054e-02 8.21379503e-03 2.61207247e+02] [ 6.13246995e-02 9.98117422e-01 9.44974206e-04 2.67773031e+01] [-8.25628757e-03 -4.39454860e-04 9.99965820e-01 -1.76002434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.691400513 meters 0.05919897767705488 Centerline is valid? [True, True] Translation: X:261.24, Y:26.78, Z:-1.76 [[ 9.98081969e-01 -6.14260396e-02 7.69579313e-03 2.61235739e+02] [ 6.14210281e-02 9.98111553e-01 8.86088260e-04 2.67757713e+01] [-7.73568892e-03 -4.11705189e-04 9.99969994e-01 -1.76102000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.721400513 meters 0.05638866941389827 Centerline is valid? [True, True] Translation: X:261.27, Y:26.78, Z:-1.76 [[ 9.98067536e-01 -6.18080957e-02 6.39940492e-03 2.61265083e+02] [ 6.18046322e-02 9.98087994e-01 7.37773089e-04 2.67765113e+01] [-6.43276957e-03 -3.40834502e-04 9.99979251e-01 -1.76316521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.751400513 meters 0.0597492387452708 Centerline is valid? [True, True] Translation: X:261.29, Y:26.78, Z:-1.77 [[ 9.98023284e-01 -6.26350513e-02 5.13558113e-03 2.61292371e+02] [ 6.26328277e-02 9.98036461e-01 5.92835695e-04 2.67846943e+01] [-5.16262951e-03 -2.70007860e-04 9.99986637e-01 -1.76575027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.781400513 meters 0.05645124676927797 Centerline is valid? [True, True] Translation: X:261.32, Y:26.79, Z:-1.77 [[ 9.97961930e-01 -6.36842779e-02 4.03730629e-03 2.61321797e+02] [ 6.36829125e-02 9.97970074e-01 4.65965482e-04 2.67859597e+01] [-4.05878553e-03 -2.07908388e-04 9.99991741e-01 -1.76779071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.811400513 meters 0.055350758650226706 Centerline is valid? [True, True] Translation: X:261.35, Y:26.79, Z:-1.77 [[ 9.97835912e-01 -6.56733007e-02 3.24210409e-03 2.61349939e+02] [ 6.56724284e-02 9.97841166e-01 3.74893506e-04 2.67921334e+01] [-3.25972542e-03 -1.61165354e-04 9.99994674e-01 -1.76979985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.841400513 meters 0.05214486579593965 Centerline is valid? [True, True] Translation: X:261.38, Y:26.79, Z:-1.77 [[ 9.97757867e-01 -6.68461643e-02 3.29070742e-03 2.61378919e+02] [ 6.68452720e-02 9.97763281e-01 3.80517422e-04 2.67929526e+01] [-3.30878316e-03 -1.59696019e-04 9.99994513e-01 -1.77004971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.871400513 meters 0.04668753542679255 Centerline is valid? [True, True] Translation: X:261.41, Y:26.79, Z:-1.77 [[ 9.97708655e-01 -6.75977525e-02 2.82557338e-03 2.61408176e+02] [ 6.75970987e-02 9.97712647e-01 3.26352139e-04 2.67910857e+01] [-2.84117096e-03 -1.34603792e-04 9.99995955e-01 -1.77039060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.901400513 meters 0.05256890417491805 Centerline is valid? [True, True] Translation: X:261.43, Y:26.80, Z:-1.77 [[ 9.97709518e-01 -6.76157632e-02 1.95632096e-03 2.61434285e+02] [ 6.76154492e-02 9.97711431e-01 2.26260972e-04 2.68032517e+01] [-1.96714259e-03 -9.34652049e-05 9.99998061e-01 -1.77271388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.931400513 meters 0.05262164422181499 Centerline is valid? [True, True] Translation: X:261.46, Y:26.81, Z:-1.77 [[ 9.97743401e-01 -6.71280747e-02 1.38813884e-03 2.61463095e+02] [ 6.71279167e-02 9.97744365e-01 1.60169141e-04 2.68087024e+01] [-1.39575955e-03 -6.66248349e-05 9.99999024e-01 -1.77387359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.961400513 meters 0.05518194636676602 Centerline is valid? [True, True] Translation: X:261.49, Y:26.82, Z:-1.77 [[ 9.97920527e-01 -6.44359242e-02 1.62293584e-03 2.61491870e+02] [ 6.44357027e-02 9.97921843e-01 1.88447689e-04 2.68187664e+01] [-1.63170593e-03 -8.34808053e-05 9.99998665e-01 -1.77269498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99140051300003 meters 0.053327077625687815 Centerline is valid? [True, True] Translation: X:261.52, Y:26.82, Z:-1.77 [[ 9.98025231e-01 -6.27814332e-02 2.03198622e-03 2.61521093e+02] [ 6.27810827e-02 9.98027294e-01 2.35877235e-04 2.68215287e+01] [-2.04278642e-03 -1.07841137e-04 9.99997908e-01 -1.77083990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.021400513 meters 0.056994658387689544 Centerline is valid? [True, True] Translation: X:261.55, Y:26.83, Z:-1.77 [[ 9.98142634e-01 -6.08701680e-02 2.47097216e-03 2.61548465e+02] [ 6.08696436e-02 9.98145683e-01 2.86925803e-04 2.68313315e+01] [-2.48385542e-03 -1.35985682e-04 9.99996906e-01 -1.77018743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05140051300003 meters 0.06302378848988072 Centerline is valid? [True, True] Translation: X:261.58, Y:26.85, Z:-1.78 [[ 9.98359574e-01 -5.72552091e-02 -5.30557340e-05 2.61575678e+02] [ 5.72552089e-02 9.98359575e-01 -6.18245107e-06 2.68496199e+01] [ 5.33226776e-05 3.13459208e-06 9.99999999e-01 -1.77519645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.081400513 meters 0.06580026075516675 Centerline is valid? [True, True] Translation: X:261.60, Y:26.86, Z:-1.78 [[ 9.98463650e-01 -5.53906880e-02 -1.48692366e-03 2.61603438e+02] [ 5.53904916e-02 9.98464753e-01 -1.72923793e-04 2.68611949e+01] [ 1.49421923e-03 9.02966889e-05 9.99998880e-01 -1.77888011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11140051300004 meters 0.0695028664435628 Centerline is valid? [True, True] Translation: X:261.63, Y:26.87, Z:-1.78 [[ 9.98546589e-01 -5.38670541e-02 -1.74625229e-03 2.61630330e+02] [ 5.38667803e-02 9.98548110e-01 -2.03465379e-04 2.68734427e+01] [ 1.75467700e-03 1.09104672e-04 9.99998455e-01 -1.78083981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.141400513 meters 0.07614094659604953 Centerline is valid? [True, True] Translation: X:261.66, Y:26.89, Z:-1.78 [[ 9.98590628e-01 -5.30473328e-02 -1.65457410e-03 2.61657199e+02] [ 5.30470860e-02 9.98591994e-01 -1.92718178e-04 2.68883788e+01] [ 1.66246764e-03 1.04676231e-04 9.99998613e-01 -1.78175052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17140051300004 meters 0.06892066167942335 Centerline is valid? [True, True] Translation: X:261.69, Y:26.89, Z:-1.78 [[ 9.98595230e-01 -5.29593435e-02 -1.69574512e-03 2.61686314e+02] [ 5.29590823e-02 9.98596663e-01 -1.98602868e-04 2.68857698e+01] [ 1.70388330e-03 1.08518771e-04 9.99998543e-01 -1.77983168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.201400513 meters 0.0690626610090312 Centerline is valid? [True, True] Translation: X:261.71, Y:26.89, Z:-1.78 [[ 9.98495475e-01 -5.47220496e-02 -3.50474617e-03 2.61714500e+02] [ 5.47209511e-02 9.98501603e-01 -4.08642946e-04 2.68925928e+01] [ 3.52185645e-03 2.16245088e-04 9.99993775e-01 -1.78279887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23140051300004 meters 0.06205044964176734 Centerline is valid? [True, True] Translation: X:261.74, Y:26.89, Z:-1.78 [[ 9.98378494e-01 -5.67321985e-02 -4.67330644e-03 2.61744959e+02] [ 5.67302674e-02 9.98389393e-01 -5.44857379e-04 2.68879582e+01] [ 4.69669053e-03 2.78855965e-04 9.99988932e-01 -1.78365934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.261400513 meters 0.06235686090002086 Centerline is valid? [True, True] Translation: X:261.77, Y:26.89, Z:-1.79 [[ 9.98256016e-01 -5.87840208e-02 -5.41897851e-03 2.61773908e+02] [ 5.87814539e-02 9.98270675e-01 -6.31893389e-04 2.68906393e+01] [ 5.44675257e-03 3.12255941e-04 9.99985118e-01 -1.78588535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.291400513 meters 0.057718371560163566 Centerline is valid? [True, True] Translation: X:261.80, Y:26.89, Z:-1.79 [[ 9.98133167e-01 -6.08637366e-02 -5.07813245e-03 2.61804903e+02] [ 6.08615092e-02 9.98146044e-01 -5.92140881e-04 2.68872248e+01] [ 5.10475772e-03 2.81972648e-04 9.99986931e-01 -1.78509821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.321400513 meters 0.058127949144781026 Centerline is valid? [True, True] Translation: X:261.83, Y:26.89, Z:-1.78 [[ 9.97968148e-01 -6.36507154e-02 -2.85704316e-03 2.61834298e+02] [ 6.36500215e-02 9.97972226e-01 -3.33237941e-04 2.68887994e+01] [ 2.87246056e-03 1.50709992e-04 9.99995863e-01 -1.78339765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.351400513 meters 0.05674916596705441 Centerline is valid? [True, True] Translation: X:261.86, Y:26.89, Z:-1.78 [[ 9.97943040e-01 -6.40586268e-02 -2.48639220e-03 2.61863568e+02] [ 6.40580991e-02 9.97946128e-01 -2.91392539e-04 2.68897435e+01] [ 2.49995167e-03 1.31519598e-04 9.99996866e-01 -1.78266552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.381400513 meters 0.06021029742244595 Centerline is valid? [True, True] Translation: X:261.89, Y:26.90, Z:-1.78 [[ 9.98001334e-01 -6.31345681e-02 -2.71367596e-03 2.61891708e+02] [ 6.31339384e-02 9.98005013e-01 -3.17183213e-04 2.68966485e+01] [ 2.72828743e-03 1.45224219e-04 9.99996268e-01 -1.78406546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.411400513 meters 0.06122658892719075 Centerline is valid? [True, True] Translation: X:261.92, Y:26.90, Z:-1.79 [[ 9.98106092e-01 -6.13614068e-02 -4.35971623e-03 2.61921249e+02] [ 6.13597656e-02 9.98115584e-01 -5.09336320e-04 2.69010456e+01] [ 4.38275431e-03 2.40860517e-04 9.99990367e-01 -1.78661824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.441400513 meters 0.05722558878117212 Centerline is valid? [True, True] Translation: X:261.95, Y:26.90, Z:-1.79 [[ 9.98240579e-01 -5.90022039e-02 -5.87252495e-03 2.61951267e+02] [ 5.89991847e-02 9.98257795e-01 -6.86180509e-04 2.68998307e+01] [ 5.90277997e-03 3.38499044e-04 9.99982521e-01 -1.78741504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.471400513 meters 0.05722558878117212 Centerline is valid? [True, True] Translation: X:261.98, Y:26.90, Z:-1.79 [[ 9.98229555e-01 -5.91884460e-02 -5.87226416e-03 2.61978610e+02] [ 5.91854170e-02 9.98246769e-01 -6.88410924e-04 2.69031743e+01] [ 5.90271470e-03 3.39639727e-04 9.99982521e-01 -1.78759989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.501400513 meters 0.06589951184134688 Centerline is valid? [True, True] Translation: X:262.01, Y:26.92, Z:-1.79 [[ 9.98370843e-01 -5.66976812e-02 -6.40568454e-03 2.62006466e+02] [ 5.66940327e-02 9.98391318e-01 -7.49873766e-04 2.69182085e+01] [ 6.43789594e-03 3.85488014e-04 9.99979202e-01 -1.78986398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.531400513 meters 0.07211491588989487 Centerline is valid? [True, True] Translation: X:262.03, Y:26.93, Z:-1.79 [[ 9.98589692e-01 -5.26327576e-02 -6.95838953e-03 2.62034065e+02] [ 5.26283531e-02 9.98613836e-01 -8.14700960e-04 2.69326017e+01] [ 6.99162402e-03 4.47343399e-04 9.99975458e-01 -1.79069801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.561400513 meters 0.07109720099727343 Centerline is valid? [True, True] Translation: X:262.06, Y:26.94, Z:-1.79 [[ 9.98636202e-01 -5.16515680e-02 -7.60598286e-03 2.62062877e+02] [ 5.16462747e-02 9.98665043e-01 -8.90849196e-04 2.69364489e+01] [ 7.64184296e-03 4.96813578e-04 9.99970677e-01 -1.79151851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.591400513 meters 0.07192837929343968 Centerline is valid? [True, True] Translation: X:262.09, Y:26.94, Z:-1.79 [[ 9.98620552e-01 -5.17995167e-02 -8.59092821e-03 2.62089945e+02] [ 5.17927638e-02 9.98657347e-01 -1.00681594e-03 2.69413416e+01] [ 8.63154615e-03 5.60479177e-04 9.99962590e-01 -1.79313148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.621400513 meters 0.07123064683934648 Centerline is valid? [True, True] Translation: X:262.12, Y:26.94, Z:-1.79 [[ 9.98545152e-01 -5.31587366e-02 -9.04031956e-03 2.62118983e+02] [ 5.31512970e-02 9.98585907e-01 -1.06138083e-03 2.69438354e+01] [ 9.08395736e-03 5.79331971e-04 9.99958572e-01 -1.79450786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.651400513 meters 0.06336445103995103 Centerline is valid? [True, True] Translation: X:262.15, Y:26.94, Z:-1.79 [[ 9.98263271e-01 -5.82930974e-02 -8.50627859e-03 2.62150732e+02] [ 5.82867040e-02 9.98299386e-01 -9.97794699e-04 2.69364457e+01] [ 8.54997724e-03 5.00258857e-04 9.99963323e-01 -1.79236777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.681400513 meters 0.0629455914402369 Centerline is valid? [True, True] Translation: X:262.18, Y:26.94, Z:-1.79 [[ 9.98045214e-01 -6.19283604e-02 -8.40413033e-03 2.62179903e+02] [ 6.19222464e-02 9.98080489e-01 -9.86016753e-04 2.69380075e+01] [ 8.44906092e-03 4.63686672e-04 9.99964199e-01 -1.79297502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.711400513 meters 0.054957105317096334 Centerline is valid? [True, True] Translation: X:262.21, Y:26.93, Z:-1.79 [[ 9.97788963e-01 -6.58401603e-02 -9.06961598e-03 2.62212140e+02] [ 6.58332013e-02 9.97830074e-01 -1.06402904e-03 2.69269350e+01] [ 9.11999143e-03 4.64594579e-04 9.99958304e-01 -1.79157423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74140051300003 meters 0.053105613323722156 Centerline is valid? [True, True] Translation: X:262.24, Y:26.93, Z:-1.79 [[ 9.97538630e-01 -6.94368369e-02 -9.75744168e-03 2.62241490e+02] [ 6.94289516e-02 9.97586242e-01 -1.14496081e-03 2.69282867e+01] [ 9.81339203e-03 4.64693693e-04 9.99951740e-01 -1.79446519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.771400513 meters 0.051231868417525576 Centerline is valid? [True, True] Translation: X:262.27, Y:26.92, Z:-1.79 [[ 9.97465420e-01 -7.05873411e-02 -8.95344530e-03 2.62268207e+02] [ 7.05924202e-02 9.97505211e-01 2.52133573e-04 2.69193050e+01] [ 8.91331091e-03 -8.83539893e-04 9.99959885e-01 -1.79321734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80140051300003 meters 0.04818154197441196 Centerline is valid? [True, True] Translation: X:262.30, Y:26.92, Z:-1.79 [[ 9.97178796e-01 -7.44614269e-02 -9.48392848e-03 2.62300478e+02] [ 7.44411383e-02 9.97222338e-01 -2.47508564e-03 2.69225853e+01] [ 9.64188374e-03 1.76210848e-03 9.99951963e-01 -1.79290500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.831400513 meters 0.048005704742053415 Centerline is valid? [True, True] Translation: X:262.33, Y:26.92, Z:-1.79 [[ 9.97198980e-01 -7.42200304e-02 -9.25103395e-03 2.62329165e+02] [ 7.42131173e-02 9.97241810e-01 -1.08880812e-03 2.69222804e+01] [ 9.30632921e-03 3.99210274e-04 9.99956615e-01 -1.79155343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86140051300004 meters 0.04973316890877125 Centerline is valid? [True, True] Translation: X:262.36, Y:26.91, Z:-1.79 [[ 9.97409734e-01 -7.15236097e-02 -7.62859871e-03 2.62355268e+02] [ 7.15540418e-02 9.97429511e-01 3.79346177e-03 2.69141512e+01] [ 7.33766740e-03 -4.32949277e-03 9.99963706e-01 -1.78934770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.891400513 meters 0.053487399525920576 Centerline is valid? [True, True] Translation: X:262.38, Y:26.94, Z:-1.80 [[ 9.97371206e-01 -7.17191129e-02 -1.03463459e-02 2.62384957e+02] [ 7.16602517e-02 9.97411339e-01 -5.95231900e-03 2.69359843e+01] [ 1.07464578e-02 5.19524982e-03 9.99928759e-01 -1.79587266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92140051300004 meters 0.0538002139542058 Centerline is valid? [True, True] Translation: X:262.41, Y:26.93, Z:-1.80 [[ 9.97486079e-01 -6.99256534e-02 -1.14858538e-02 2.62414558e+02] [ 6.99146924e-02 9.97552056e-01 -1.35356715e-03 2.69341761e+01] [ 1.15523862e-02 5.47134452e-04 9.99933119e-01 -1.79625302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.951400513 meters 0.05611685352124287 Centerline is valid? [True, True] Translation: X:262.44, Y:26.94, Z:-1.80 [[ 9.97643081e-01 -6.77173242e-02 -1.10746519e-02 2.62443544e+02] [ 6.77069941e-02 9.97704394e-01 -1.30548704e-03 2.69392527e+01] [ 1.11376329e-02 5.52578727e-04 9.99937822e-01 -1.79587210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98140051300004 meters 0.05952033840170944 Centerline is valid? [True, True] Translation: X:262.47, Y:26.94, Z:-1.79 [[ 9.97975709e-01 -6.32155284e-02 -6.94846289e-03 2.62473210e+02] [ 6.32113538e-02 9.97999827e-01 -8.19001244e-04 2.69439213e+01] [ 6.98633836e-03 3.78121601e-04 9.99975524e-01 -1.78854113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.011400513 meters 0.06064262919970802 Centerline is valid? [True, True] Translation: X:262.50, Y:26.95, Z:-1.79 [[ 9.98076293e-01 -6.17068109e-02 -5.99858364e-03 2.62502825e+02] [ 6.17036708e-02 9.98094262e-01 -7.07307248e-04 2.69466747e+01] [ 6.03079759e-03 3.35811966e-04 9.99981758e-01 -1.78624812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.041400513 meters 0.06999079860991254 Centerline is valid? [True, True] Translation: X:262.53, Y:26.96, Z:-1.79 [[ 9.98131138e-01 -6.07538073e-02 -6.57313521e-03 2.62529547e+02] [ 6.07500135e-02 9.98152711e-01 -7.75486700e-04 2.69595221e+01] [ 6.60810650e-03 3.74719370e-04 9.99978096e-01 -1.78944630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.071400513 meters 0.06454501628753789 Centerline is valid? [True, True] Translation: X:262.56, Y:26.96, Z:-1.79 [[ 9.98165499e-01 -6.00555932e-02 -7.67875437e-03 2.62559395e+02] [ 6.00503929e-02 9.98194935e-01 -9.06225741e-04 2.69553599e+01] [ 7.71931764e-03 4.43451052e-04 9.99970107e-01 -1.79047555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.101400513 meters 0.06811685360001261 Centerline is valid? [True, True] Translation: X:262.59, Y:26.96, Z:-1.79 [[ 9.98138965e-01 -6.04847625e-02 -7.75886089e-03 2.62586597e+02] [ 6.04794621e-02 9.98169021e-01 -9.16178689e-04 2.69618620e+01] [ 7.80006943e-03 4.45221916e-04 9.99969480e-01 -1.79293233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.131400513 meters 0.06367948336011772 Centerline is valid? [True, True] Translation: X:262.62, Y:26.96, Z:-1.79 [[ 9.98103272e-01 -6.11907350e-02 -6.74928082e-03 2.62615970e+02] [ 6.11867385e-02 9.98126018e-01 -7.97240057e-04 2.69595377e+01] [ 6.78541649e-03 3.82761429e-04 9.99976906e-01 -1.79024287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.161400513 meters 0.06001858115395891 Centerline is valid? [True, True] Translation: X:262.65, Y:26.96, Z:-1.79 [[ 9.98085126e-01 -6.15545527e-02 -6.09243505e-03 2.62645531e+02] [ 6.15512920e-02 9.98103661e-01 -7.21432694e-04 2.69573536e+01] [ 6.12528919e-03 3.45053993e-04 9.99981181e-01 -1.78773852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.191400513 meters 0.06444575909986448 Centerline is valid? [True, True] Translation: X:262.67, Y:26.96, Z:-1.79 [[ 9.98076580e-01 -6.16934416e-02 -6.08764617e-03 2.62672284e+02] [ 6.16901889e-02 9.98095086e-01 -7.20816378e-04 2.69642300e+01] [ 6.12051938e-03 3.43881903e-04 9.99981210e-01 -1.78830417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.221400513 meters 0.05737694258609315 Centerline is valid? [True, True] Translation: X:262.70, Y:26.96, Z:-1.79 [[ 9.98064664e-01 -6.18226892e-02 -6.69933008e-03 2.62702117e+02] [ 6.18187421e-02 9.98087076e-01 -7.94851883e-04 2.69572475e+01] [ 6.73565466e-03 3.79169419e-04 9.99977243e-01 -1.78664850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.251400513 meters 0.061182286952937745 Centerline is valid? [True, True] Translation: X:262.73, Y:26.96, Z:-1.79 [[ 9.98071074e-01 -6.16522322e-02 -7.28933679e-03 2.62729084e+02] [ 6.16475575e-02 9.98097606e-01 -8.64472272e-04 2.69636243e+01] [ 7.32876625e-03 4.13434959e-04 9.99973059e-01 -1.78883122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.281400513 meters 0.060454052575600194 Centerline is valid? [True, True] Translation: X:262.76, Y:26.96, Z:-1.79 [[ 9.98152186e-01 -6.03457068e-02 -7.11397107e-03 2.62758644e+02] [ 6.03412206e-02 9.98177452e-01 -8.43774376e-04 2.69639672e+01] [ 7.15192368e-03 4.12949540e-04 9.99974339e-01 -1.78850677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.311400513 meters 0.06101043049727344 Centerline is valid? [True, True] Translation: X:262.79, Y:26.97, Z:-1.79 [[ 9.98213677e-01 -5.94352273e-02 -6.07534174e-03 2.62787094e+02] [ 5.94319272e-02 9.98232099e-01 -7.22450140e-04 2.69672874e+01] [ 6.10754013e-03 3.60090342e-04 9.99981284e-01 -1.78705938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.341400513 meters 0.06616065113016079 Centerline is valid? [True, True] Translation: X:262.81, Y:26.98, Z:-1.79 [[ 9.98294225e-01 -5.81436350e-02 -5.28759193e-03 2.62814866e+02] [ 5.81411200e-02 9.98308177e-01 -6.28245592e-04 2.69762949e+01] [ 5.31517474e-03 3.19747430e-04 9.99985823e-01 -1.78615191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.371400513 meters 0.06991619974255352 Centerline is valid? [True, True] Translation: X:262.84, Y:26.98, Z:-1.79 [[ 9.98411063e-01 -5.61427222e-02 -4.83161905e-03 2.62843691e+02] [ 5.61405993e-02 9.98422708e-01 -5.73988781e-04 2.69841430e+01] [ 4.85622347e-03 3.01826759e-04 9.99988163e-01 -1.78546342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.401400513 meters 0.06764824723510085 Centerline is valid? [True, True] Translation: X:262.87, Y:26.98, Z:-1.78 [[ 9.98550562e-01 -5.36070749e-02 -4.80174899e-03 2.62873760e+02] [ 5.36049491e-02 9.98562058e-01 -5.70425647e-04 2.69849615e+01] [ 4.82542321e-03 3.12201340e-04 9.99988309e-01 -1.78359997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.431400513 meters 0.07041744265106772 Centerline is valid? [True, True] Translation: X:262.90, Y:26.99, Z:-1.78 [[ 9.98683890e-01 -5.10506909e-02 -4.93103058e-03 2.62903420e+02] [ 5.10484180e-02 9.98696008e-01 -5.85772970e-04 2.69919580e+01] [ 4.95450467e-03 3.33280718e-04 9.99987671e-01 -1.78429073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.461400513 meters 0.07102448287980301 Centerline is valid? [True, True] Translation: X:262.93, Y:27.00, Z:-1.79 [[ 9.98841205e-01 -4.77242408e-02 -6.21639969e-03 2.62933176e+02] [ 4.77205641e-02 9.98860452e-01 -7.38522447e-04 2.69952626e+01] [ 6.24456123e-03 4.41016551e-04 9.99980405e-01 -1.78585713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49140051300003 meters 0.07363125641853079 Centerline is valid? [True, True] Translation: X:262.96, Y:27.00, Z:-1.79 [[ 9.98843369e-01 -4.77226714e-02 -5.87126008e-03 2.62960041e+02] [ 4.77193859e-02 9.98860537e-01 -6.98487708e-04 2.70014399e+01] [ 5.89790370e-03 4.17506890e-04 9.99982520e-01 -1.78594327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.521400513 meters 0.07151468478505835 Centerline is valid? [True, True] Translation: X:262.99, Y:27.00, Z:-1.78 [[ 9.98815071e-01 -4.83866555e-02 -5.21393894e-03 2.62989261e+02] [ 4.83840659e-02 9.98828612e-01 -6.21725310e-04 2.70028101e+01] [ 5.23791460e-03 3.68717045e-04 9.99986214e-01 -1.78487251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55140051300003 meters 0.0747997205629537 Centerline is valid? [True, True] Translation: X:263.02, Y:27.01, Z:-1.78 [[ 9.98705263e-01 -5.06665925e-02 -4.54917266e-03 2.63018112e+02] [ 5.06646483e-02 9.98715575e-01 -5.41677830e-04 2.70105924e+01] [ 4.57077456e-03 3.10494267e-04 9.99989506e-01 -1.78476564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.581400513 meters 0.06905411307730679 Centerline is valid? [True, True] Translation: X:263.05, Y:27.01, Z:-1.78 [[ 9.98660752e-01 -5.15450361e-02 -4.45104747e-03 2.63047309e+02] [ 5.15431817e-02 9.98670626e-01 -5.30413026e-04 2.70065511e+01] [ 4.47247052e-03 3.00281523e-04 9.99989953e-01 -1.78334928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61140051300004 meters 0.07257256498850363 Centerline is valid? [True, True] Translation: X:263.07, Y:27.01, Z:-1.78 [[ 9.98671071e-01 -5.13311034e-02 -4.60550796e-03 2.63074007e+02] [ 5.13291137e-02 9.98681641e-01 -5.49275245e-04 2.70139957e+01] [ 4.62763115e-03 3.12148655e-04 9.99989244e-01 -1.78392326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.641400513 meters 0.07312441802510422 Centerline is valid? [True, True] Translation: X:263.10, Y:27.02, Z:-1.78 [[ 9.98755163e-01 -4.96921732e-02 -4.33726210e-03 2.63103469e+02] [ 4.96903945e-02 9.98764536e-01 -5.16977237e-04 2.70188666e+01] [ 4.35759329e-03 3.00813420e-04 9.99990460e-01 -1.78328924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67140051300004 meters 0.07471793084272577 Centerline is valid? [True, True] Translation: X:263.13, Y:27.03, Z:-1.78 [[ 9.98870812e-01 -4.73194277e-02 -4.23945008e-03 2.63133763e+02] [ 4.73177077e-02 9.98879762e-01 -5.05155903e-04 2.70255875e+01] [ 4.25860458e-03 3.03984427e-04 9.99990886e-01 -1.78344857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.701400513 meters 0.07571380892042943 Centerline is valid? [True, True] Translation: X:263.16, Y:27.03, Z:-1.78 [[ 9.98979963e-01 -4.49465736e-02 -4.34028286e-03 2.63163591e+02] [ 4.49447482e-02 9.98989340e-01 -5.17249247e-04 2.70314385e+01] [ 4.35914490e-03 3.21648713e-04 9.99990447e-01 -1.78412260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73140051300004 meters 0.0901121771417113 Centerline is valid? [True, True] Translation: X:263.19, Y:27.05, Z:-1.79 [[ 9.99161409e-01 -4.06623713e-02 -4.80109468e-03 2.63190219e+02] [ 4.06600878e-02 9.99172873e-01 -5.72324728e-04 2.70534242e+01] [ 4.82039565e-03 3.76631850e-04 9.99988311e-01 -1.78725555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.761400513 meters 0.08461885626891365 Centerline is valid? [True, True] Translation: X:263.22, Y:27.05, Z:-1.79 [[ 9.99219368e-01 -3.91765148e-02 -5.08482447e-03 2.63221345e+02] [ 3.91739348e-02 9.99232223e-01 -6.06040087e-04 2.70512912e+01] [ 5.10466299e-03 4.06374411e-04 9.99986889e-01 -1.78666407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.791400513 meters 0.08688917222618803 Centerline is valid? [True, True] Translation: X:263.25, Y:27.06, Z:-1.79 [[ 9.99246812e-01 -3.84183136e-02 -5.46274015e-03 2.63249876e+02] [ 3.84153214e-02 9.99261647e-01 -6.51662731e-04 2.70589026e+01] [ 5.48374250e-03 4.41318988e-04 9.99984867e-01 -1.78784427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.821400513 meters 0.08435779008094008 Centerline is valid? [True, True] Translation: X:263.28, Y:27.06, Z:-1.79 [[ 9.99250365e-01 -3.84536469e-02 -4.47491948e-03 2.63277420e+02] [ 3.84516314e-02 9.99260319e-01 -5.35582218e-04 2.70620332e+01] [ 4.49220456e-03 3.63112773e-04 9.99989844e-01 -1.78629440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.851400513 meters 0.09379718973382281 Centerline is valid? [True, True] Translation: X:263.30, Y:27.08, Z:-1.79 [[ 9.99226502e-01 -3.91967814e-02 -3.16401897e-03 2.63304089e+02] [ 3.91957788e-02 9.99231479e-01 -3.78273540e-04 2.70779754e+01] [ 3.17641446e-03 2.53964758e-04 9.99994923e-01 -1.78563237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.881400513 meters 0.08162416046982508 Centerline is valid? [True, True] Translation: X:263.34, Y:27.07, Z:-1.78 [[ 9.99198921e-01 -3.99822666e-02 -1.71298460e-03 2.63335179e+02] [ 3.99819739e-02 9.99200380e-01 -2.04823875e-04 2.70678200e+01] [ 1.71980419e-03 1.36171290e-04 9.99998512e-01 -1.78128618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.911400513 meters 0.08191988324675185 Centerline is valid? [True, True] Translation: X:263.36, Y:27.07, Z:-1.78 [[ 9.99160021e-01 -4.09735861e-02 -6.45752672e-04 2.63363407e+02] [ 4.09735446e-02 9.99160229e-01 -7.74042306e-05 2.70725458e+01] [ 6.48381916e-04 5.08804368e-05 9.99999789e-01 -1.77988824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.941400513 meters 0.07926679070840273 Centerline is valid? [True, True] Translation: X:263.39, Y:27.07, Z:-1.78 [[ 9.99080672e-01 -4.28635908e-02 -7.22814952e-04 2.63394134e+02] [ 4.28635394e-02 9.99080932e-01 -8.64423788e-05 2.70730123e+01] [ 7.25855867e-04 5.53805028e-05 9.99999735e-01 -1.78064232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.971400513 meters 0.0801972941229131 Centerline is valid? [True, True] Translation: X:263.42, Y:27.08, Z:-1.78 [[ 9.99020322e-01 -4.42263971e-02 -1.55615572e-03 2.63422318e+02] [ 4.42261604e-02 9.99021527e-01 -1.86202018e-04 2.70765702e+01] [ 1.56286811e-03 1.17196808e-04 9.99998772e-01 -1.78262623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.001400513 meters 0.07604934679909361 Centerline is valid? [True, True] Translation: X:263.45, Y:27.07, Z:-1.78 [[ 9.98964538e-01 -4.54429281e-02 -2.18889031e-03 2.63452250e+02] [ 4.54424628e-02 9.98966923e-01 -2.61880363e-04 2.70739258e+01] [ 2.19852962e-03 1.62140630e-04 9.99997570e-01 -1.78267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.031400513 meters 0.07399296764051115 Centerline is valid? [True, True] Translation: X:263.48, Y:27.07, Z:-1.78 [[ 9.98917638e-01 -4.64541044e-02 -2.35968603e-03 2.63481013e+02] [ 4.64535658e-02 9.98920410e-01 -2.82565183e-04 2.70739140e+01] [ 2.37026485e-03 1.72643516e-04 9.99997176e-01 -1.78217860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.061400513 meters 0.07312571302959263 Centerline is valid? [True, True] Translation: X:263.51, Y:27.08, Z:-1.78 [[ 9.98877727e-01 -4.73429131e-02 -1.39107300e-03 2.63510504e+02] [ 4.73427253e-02 9.98878690e-01 -1.67602673e-04 2.70753437e+01] [ 1.39744798e-03 1.01557390e-04 9.99999018e-01 -1.78063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.091400513 meters 0.08743952456711405 Centerline is valid? [True, True] Translation: X:263.54, Y:27.09, Z:-1.78 [[ 9.98836738e-01 -4.82200225e-02 -1.12340914e-05 2.63535981e+02] [ 4.82200224e-02 9.98836738e-01 -1.90924303e-06 2.70939167e+01] [ 1.13130870e-05 1.36531395e-06 1.00000000e+00 -1.78024997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.121400513 meters 0.07438886266815102 Centerline is valid? [True, True] Translation: X:263.57, Y:27.08, Z:-1.78 [[ 9.98753539e-01 -4.99044209e-02 9.57345211e-04 2.63568316e+02] [ 4.99043338e-02 9.98753996e-01 1.14674434e-04 2.70776203e+01] [-9.61875116e-04 -6.67558216e-05 9.99999535e-01 -1.77752102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.151400513 meters 0.07545857806970462 Centerline is valid? [True, True] Translation: X:263.60, Y:27.08, Z:-1.78 [[ 9.98715017e-01 -5.06747750e-02 6.18284956e-04 2.63596349e+02] [ 5.06747389e-02 9.98715207e-01 7.38368262e-05 2.70822901e+01] [-6.21232253e-04 -4.24105184e-05 9.99999806e-01 -1.77839430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.181400513 meters 0.08164708634355144 Centerline is valid? [True, True] Translation: X:263.62, Y:27.09, Z:-1.78 [[ 9.98704901e-01 -5.08768275e-02 -2.64665705e-04 2.63621652e+02] [ 5.08768207e-02 9.98704935e-01 -3.22719857e-05 2.70940456e+01] [ 2.65964842e-04 1.87648406e-05 9.99999964e-01 -1.78021873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.211400513 meters 0.08230978963331961 Centerline is valid? [True, True] Translation: X:263.65, Y:27.10, Z:-1.78 [[ 9.98830307e-01 -4.83257186e-02 -1.62588038e-03 2.63651730e+02] [ 4.83254648e-02 9.98831623e-01 -1.95080626e-04 2.70992439e+01] [ 1.63340815e-03 1.16281016e-04 9.99998659e-01 -1.78214498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24140051300003 meters 0.08032241731997997 Centerline is valid? [True, True] Translation: X:263.68, Y:27.10, Z:-1.78 [[ 9.98956263e-01 -4.56355155e-02 -1.94535079e-03 2.63682337e+02] [ 4.56351470e-02 9.98958147e-01 -2.33410669e-04 2.71003731e+01] [ 1.95397584e-03 1.44390681e-04 9.99998081e-01 -1.78169222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.271400513 meters 0.07998971011037403 Centerline is valid? [True, True] Translation: X:263.71, Y:27.10, Z:-1.78 [[ 9.99080883e-01 -4.28130354e-02 -2.10532659e-03 2.63712827e+02] [ 4.28125975e-02 9.99083088e-01 -2.52643126e-04 2.71041763e+01] [ 2.11421261e-03 1.62276418e-04 9.99997752e-01 -1.78177835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30140051300003 meters 0.07500277657456535 Centerline is valid? [True, True] Translation: X:263.74, Y:27.10, Z:-1.78 [[ 9.99196765e-01 -4.00067527e-02 -2.29863408e-03 2.63743906e+02] [ 4.00062234e-02 9.99199393e-01 -2.75805434e-04 2.71031273e+01] [ 2.30782786e-03 1.83624229e-04 9.99997320e-01 -1.78129011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.331400513 meters 0.07500277657456535 Centerline is valid? [True, True] Translation: X:263.77, Y:27.11, Z:-1.78 [[ 9.99189310e-01 -4.01925384e-02 -2.29843332e-03 2.63771283e+02] [ 4.01920058e-02 9.99191936e-01 -2.77477336e-04 2.71065492e+01] [ 2.30772855e-03 1.84873743e-04 9.99997320e-01 -1.78147560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36140051300004 meters 0.08521113797961698 Centerline is valid? [True, True] Translation: X:263.80, Y:27.12, Z:-1.78 [[ 9.99288082e-01 -3.76319690e-02 -2.67672150e-03 2.63798464e+02] [ 3.76312408e-02 9.99291642e-01 -3.21899170e-04 2.71239873e+01] [ 2.68693913e-03 2.20941652e-04 9.99996366e-01 -1.78373179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.391400513 meters 0.0833440163168191 Centerline is valid? [True, True] Translation: X:263.83, Y:27.13, Z:-1.78 [[ 9.99334105e-01 -3.63419579e-02 -3.25719387e-03 2.63829044e+02] [ 3.63408735e-02 9.99339376e-01 -3.91515461e-04 2.71261782e+01] [ 3.26927052e-03 2.72885483e-04 9.99994619e-01 -1.78460606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42140051300004 meters 0.09599458114130696 Centerline is valid? [True, True] Translation: X:263.86, Y:27.14, Z:-1.79 [[ 9.99261490e-01 -3.82940293e-02 -3.16892457e-03 2.63856860e+02] [ 3.82930122e-02 9.99266481e-01 -3.81046039e-04 2.71424995e+01] [ 3.18119189e-03 2.59416965e-04 9.99994906e-01 -1.78639391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.451400513 meters 0.08414502590913607 Centerline is valid? [True, True] Translation: X:263.89, Y:27.13, Z:-1.78 [[ 9.99156852e-01 -4.09764770e-02 -2.55207796e-03 2.63888894e+02] [ 4.09758256e-02 9.99160091e-01 -3.07028940e-04 2.71301569e+01] [ 2.56251541e-03 2.02196568e-04 9.99996696e-01 -1.78374620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48140051300004 meters 0.07520960102369514 Centerline is valid? [True, True] Translation: X:263.92, Y:27.12, Z:-1.78 [[ 9.99031914e-01 -4.39549154e-02 -1.78890577e-03 2.63920378e+02] [ 4.39546002e-02 9.99033506e-01 -2.15150717e-04 2.71219000e+01] [ 1.79663374e-03 1.36311795e-04 9.99998377e-01 -1.78142544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.511400513 meters 0.07722668163641715 Centerline is valid? [True, True] Translation: X:263.95, Y:27.13, Z:-1.78 [[ 9.98862266e-01 -4.76856549e-02 -5.00905834e-04 2.63950010e+02] [ 4.76856306e-02 9.98862391e-01 -6.03126756e-05 2.71253674e+01] [ 5.03212049e-04 3.63580453e-05 9.99999873e-01 -1.78074189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.541400513 meters 0.07672700007717288 Centerline is valid? [True, True] Translation: X:263.98, Y:27.13, Z:-1.78 [[ 9.98824191e-01 -4.84690549e-02 -9.92732788e-04 2.63979040e+02] [ 4.84689597e-02 9.98824682e-01 -1.19726836e-04 2.71264920e+01] [ 9.97369058e-04 7.14693352e-05 9.99999500e-01 -1.78159341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.571400513 meters 0.07810901409221678 Centerline is valid? [True, True] Translation: X:264.01, Y:27.13, Z:-1.78 [[ 9.98814513e-01 -4.86623337e-02 -1.24344835e-03 2.64006212e+02] [ 4.86621845e-02 9.98815283e-01 -1.50030768e-04 2.71296616e+01] [ 1.24927606e-03 8.93439959e-05 9.99999216e-01 -1.78271561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.601400513 meters 0.07483986234388779 Centerline is valid? [True, True] Translation: X:264.04, Y:27.13, Z:-1.78 [[ 9.98825802e-01 -4.84188245e-02 -1.62293152e-03 2.64035328e+02] [ 4.84185686e-02 9.98827114e-01 -1.96648775e-04 2.71275518e+01] [ 1.63054951e-03 1.17837849e-04 9.99998664e-01 -1.78241678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.631400513 meters 0.07372222226876121 Centerline is valid? [True, True] Translation: X:264.06, Y:27.13, Z:-1.78 [[ 9.98839359e-01 -4.81361436e-02 -1.68741899e-03 2.64064259e+02] [ 4.81358661e-02 9.98840776e-01 -2.04699140e-04 2.71282294e+01] [ 1.69531632e-03 1.23236183e-04 9.99998555e-01 -1.78196768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.661400513 meters 0.06931800653189209 Centerline is valid? [True, True] Translation: X:264.09, Y:27.12, Z:-1.78 [[ 9.98862447e-01 -4.76387979e-02 -2.08739591e-03 2.64093319e+02] [ 4.76383733e-02 9.98864616e-01 -2.52705385e-04 2.71246602e+01] [ 2.09706450e-03 1.52977773e-04 9.99997789e-01 -1.78115788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.691400513 meters 0.07854646942201095 Centerline is valid? [True, True] Translation: X:264.12, Y:27.14, Z:-1.78 [[ 9.98939450e-01 -4.59623126e-02 -2.72771775e-03 2.64121316e+02] [ 4.59615829e-02 9.98943154e-01 -3.29642261e-04 2.71361214e+01] [ 2.73998609e-03 2.03922434e-04 9.99996225e-01 -1.78331579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.721400513 meters 0.07571252151698088 Centerline is valid? [True, True] Translation: X:264.15, Y:27.13, Z:-1.78 [[ 9.98996310e-01 -4.47462455e-02 -2.03600868e-03 2.64151406e+02] [ 4.47458363e-02 9.98998373e-01 -2.46133574e-04 2.71341623e+01] [ 2.04498292e-03 1.54783621e-04 9.99997897e-01 -1.78168992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.751400513 meters 0.08737231040269917 Centerline is valid? [True, True] Translation: X:264.18, Y:27.15, Z:-1.78 [[ 9.99052102e-01 -4.35271327e-02 -5.34739059e-04 2.64177815e+02] [ 4.35271041e-02 9.99052244e-01 -6.50076578e-05 2.71493333e+01] [ 5.37061854e-04 4.16703945e-05 9.99999855e-01 -1.78045070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.781400513 meters 0.07939729657985975 Centerline is valid? [True, True] Translation: X:264.21, Y:27.14, Z:-1.78 [[ 9.99070713e-01 -4.30952764e-02 7.12984282e-04 2.64207703e+02] [ 4.30952265e-02 9.99070966e-01 8.52376487e-05 2.71420007e+01] [-7.15995235e-04 -5.44322193e-05 9.99999742e-01 -1.77696250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.811400513 meters 0.0804363631257706 Centerline is valid? [True, True] Translation: X:264.24, Y:27.15, Z:-1.78 [[ 9.99081364e-01 -4.28268922e-02 1.51194477e-03 2.64235360e+02] [ 4.28266645e-02 9.99082501e-01 1.82699099e-04 2.71466903e+01] [-1.51838199e-03 -1.17779713e-04 9.99998840e-01 -1.77585498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.841400513 meters 0.08071355376999177 Centerline is valid? [True, True] Translation: X:264.27, Y:27.15, Z:-1.78 [[ 9.99140021e-01 -4.14479608e-02 1.13339752e-03 2.64265407e+02] [ 4.14478316e-02 9.99140660e-01 1.37237120e-04 2.71529692e+01] [-1.13811175e-03 -9.01422291e-05 9.99999348e-01 -1.77665450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.871400513 meters 0.09113541930542612 Centerline is valid? [True, True] Translation: X:264.29, Y:27.17, Z:-1.78 [[ 9.99173584e-01 -4.06257208e-02 1.30399612e-03 2.64291765e+02] [ 4.06255494e-02 9.99174429e-01 1.57652307e-04 2.71693908e+01] [-1.30932432e-03 -1.04546462e-04 9.99999137e-01 -1.77781923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.901400513 meters 0.09306865921106829 Centerline is valid? [True, True] Translation: X:264.32, Y:27.18, Z:-1.78 [[ 9.99188584e-01 -4.02313315e-02 1.90083075e-03 2.64320070e+02] [ 4.02309672e-02 9.99190381e-01 2.29535652e-04 2.71753838e+01] [-1.90852633e-03 -1.52877144e-04 9.99998167e-01 -1.77732783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.931400513 meters 0.08414648504264288 Centerline is valid? [True, True] Translation: X:264.35, Y:27.17, Z:-1.78 [[ 9.99213581e-01 -3.95769343e-02 2.42588865e-03 2.64350345e+02] [ 3.95763363e-02 9.99216507e-01 2.94011814e-04 2.71683064e+01] [-2.43562407e-03 -1.97772812e-04 9.99997014e-01 -1.77572122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.961400513 meters 0.08623213431511575 Centerline is valid? [True, True] Translation: X:264.38, Y:27.17, Z:-1.78 [[ 9.99240895e-01 -3.88625372e-02 2.70882352e-03 2.64378356e+02] [ 3.88617886e-02 9.99244541e-01 3.28461245e-04 2.71748840e+01] [-2.71954195e-03 -2.22942181e-04 9.99996277e-01 -1.77551246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99140051300003 meters 0.08163601462066454 Centerline is valid? [True, True] Translation: X:264.41, Y:27.17, Z:-1.78 [[ 9.99283500e-01 -3.77949266e-02 2.00775319e-03 2.64408489e+02] [ 3.77945130e-02 9.99285502e-01 2.43579040e-04 2.71740408e+01] [-2.01552470e-03 -1.67522462e-04 9.99997955e-01 -1.77608783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.021400513 meters 0.08762706650031026 Centerline is valid? [True, True] Translation: X:264.44, Y:27.19, Z:-1.78 [[ 9.99277124e-01 -3.79798941e-02 1.66030634e-03 2.64435187e+02] [ 3.79796118e-02 9.99278494e-01 2.01268394e-04 2.71854388e+01] [-1.66675257e-03 -1.38065111e-04 9.99998601e-01 -1.77714267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05140051300003 meters 0.09474456871460697 Centerline is valid? [True, True] Translation: X:264.46, Y:27.20, Z:-1.78 [[ 9.99246314e-01 -3.87893082e-02 1.48094339e-03 2.64461722e+02] [ 3.87890844e-02 9.99247404e-01 1.79576008e-04 2.71984042e+01] [-1.48679446e-03 -1.21996226e-04 9.99998887e-01 -1.77820100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.081400513 meters 0.07743569038449322 Centerline is valid? [True, True] Translation: X:264.49, Y:27.18, Z:-1.78 [[ 9.99194484e-01 -4.00576776e-02 2.40115603e-03 2.64493953e+02] [ 4.00570915e-02 9.99197350e-01 2.91708823e-04 2.71819131e+01] [-2.41091392e-03 -1.95290520e-04 9.99997075e-01 -1.77559589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11140051300004 meters 0.09153076957449445 Centerline is valid? [True, True] Translation: X:264.52, Y:27.20, Z:-1.78 [[ 9.99171050e-01 -4.05896200e-02 3.11368034e-03 2.64519672e+02] [ 4.05886373e-02 9.99175870e-01 3.78166246e-04 2.72020857e+01] [-3.12646388e-03 -2.51472724e-04 9.99995081e-01 -1.77573466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.141400513 meters 0.09028557917233673 Centerline is valid? [True, True] Translation: X:264.55, Y:27.20, Z:-1.78 [[ 9.99145734e-01 -4.12194908e-02 2.95891007e-03 2.64548792e+02] [ 4.12186067e-02 9.99150088e-01 3.59170182e-04 2.72037407e+01] [-2.97120007e-03 -2.36901205e-04 9.99995558e-01 -1.77597555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17140051300004 meters 0.08522913141438426 Centerline is valid? [True, True] Translation: X:264.58, Y:27.20, Z:-1.78 [[ 9.99133809e-01 -4.15275798e-02 2.66318377e-03 2.64578544e+02] [ 4.15268639e-02 9.99137335e-01 3.23562948e-04 2.72012263e+01] [-2.67432312e-03 -2.12689010e-04 9.99996401e-01 -1.77621448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.201400513 meters 0.08243855792968906 Centerline is valid? [True, True] Translation: X:264.61, Y:27.20, Z:-1.78 [[ 9.99118922e-01 -4.19110471e-02 2.20064606e-03 2.64607524e+02] [ 4.19105589e-02 9.99121331e-01 2.67519699e-04 2.72022428e+01] [-2.20992446e-03 -1.75053687e-04 9.99997543e-01 -1.77701231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23140051300004 meters 0.08774267667895268 Centerline is valid? [True, True] Translation: X:264.63, Y:27.21, Z:-1.78 [[ 9.99109227e-01 -4.21657531e-02 1.67364783e-03 2.64634197e+02] [ 4.21654702e-02 9.99110620e-01 2.03973040e-04 2.72131232e+01] [-1.68075999e-03 -1.33221199e-04 9.99998579e-01 -1.77815330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.261400513 meters 0.08293173611894519 Centerline is valid? [True, True] Translation: X:264.66, Y:27.21, Z:-1.78 [[ 9.99069684e-01 -4.31245836e-02 1.91318365e-04 2.64663249e+02] [ 4.31245800e-02 9.99069702e-01 2.30693953e-05 2.72126956e+01] [-1.92135240e-04 -1.47974093e-05 9.99999981e-01 -1.78004137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.291400513 meters 0.08184162745970633 Centerline is valid? [True, True] Translation: X:264.69, Y:27.22, Z:-1.78 [[ 9.99032505e-01 -4.39739022e-02 -5.92262168e-04 2.64692581e+02] [ 4.39738663e-02 9.99032679e-01 -7.33954880e-05 2.72154210e+01] [ 5.94916747e-04 4.72804208e-05 9.99999822e-01 -1.78159558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.321400513 meters 0.07580845998982855 Centerline is valid? [True, True] Translation: X:264.72, Y:27.21, Z:-1.78 [[ 9.98983299e-01 -4.50723252e-02 -9.24508493e-04 2.64723147e+02] [ 4.50722396e-02 9.98983724e-01 -1.13229647e-04 2.72116160e+01] [ 9.28672461e-04 7.14448582e-05 9.99999566e-01 -1.78161240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.351400513 meters 0.08133451022680532 Centerline is valid? [True, True] Translation: X:264.75, Y:27.22, Z:-1.78 [[ 9.98904296e-01 -4.67978571e-02 4.10063040e-04 2.64751551e+02] [ 4.67978405e-02 9.98904380e-01 5.00105355e-05 2.72207310e+01] [-4.11954152e-04 -3.07656741e-05 9.99999915e-01 -1.77970779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.381400513 meters 0.06994720632979226 Centerline is valid? [True, True] Translation: X:264.78, Y:27.21, Z:-1.78 [[ 9.98864898e-01 -4.76234803e-02 9.58718840e-04 2.64781879e+02] [ 4.76233898e-02 9.98865356e-01 1.17012891e-04 2.72097307e+01] [-9.63203596e-04 -7.12226281e-05 9.99999534e-01 -1.77745015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.411400513 meters 0.07878162190655436 Centerline is valid? [True, True] Translation: X:264.81, Y:27.22, Z:-1.78 [[ 9.98826212e-01 -4.84216269e-02 1.24303883e-03 2.64808640e+02] [ 4.84214760e-02 9.98826981e-01 1.51257028e-04 2.72234045e+01] [-1.24890483e-03 -9.08897096e-05 9.99999216e-01 -1.77775541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.441400513 meters 0.07884146365885308 Centerline is valid? [True, True] Translation: X:264.84, Y:27.23, Z:-1.78 [[ 9.98798671e-01 -4.89836061e-02 1.34945140e-03 2.64836763e+02] [ 4.89834282e-02 9.98799578e-01 1.64529934e-04 2.72274910e+01] [-1.35589076e-03 -9.82315235e-05 9.99999076e-01 -1.77817941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.471400513 meters 0.0777998896466742 Centerline is valid? [True, True] Translation: X:264.86, Y:27.23, Z:-1.78 [[ 9.98803536e-01 -4.88502129e-02 2.26997786e-03 2.64864855e+02] [ 4.88497070e-02 9.98806102e-01 2.77820630e-04 2.72336240e+01] [-2.28083933e-03 -1.66600474e-04 9.99997385e-01 -1.77790096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.501400513 meters 0.0768195475510049 Centerline is valid? [True, True] Translation: X:264.89, Y:27.24, Z:-1.78 [[ 9.98839284e-01 -4.80929202e-02 2.67509213e-03 2.64893615e+02] [ 4.80922120e-02 9.98842846e-01 3.28448655e-04 2.72383297e+01] [-2.68779269e-03 -1.99416321e-04 9.99996368e-01 -1.77732183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.531400513 meters 0.07982925535865036 Centerline is valid? [True, True] Translation: X:264.92, Y:27.25, Z:-1.78 [[ 9.98883788e-01 -4.71474857e-02 2.87978802e-03 2.64921488e+02] [ 4.71466606e-02 9.98887915e-01 3.53797358e-04 2.72468933e+01] [-2.89326611e-03 -2.17630057e-04 9.99995791e-01 -1.77706945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.561400513 meters 0.08765379573014918 Centerline is valid? [True, True] Translation: X:264.95, Y:27.26, Z:-1.78 [[ 9.98906527e-01 -4.66620985e-02 2.89822755e-03 2.64947908e+02] [ 4.66612606e-02 9.98910707e-01 3.56079867e-04 2.72611029e+01] [-2.91168596e-03 -2.20455552e-04 9.99995737e-01 -1.77677610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.591400513 meters 0.07810145833501482 Centerline is valid? [True, True] Translation: X:264.98, Y:27.26, Z:-1.78 [[ 9.98920591e-01 -4.63423749e-02 3.16802355e-03 2.64977816e+02] [ 4.63413727e-02 9.98925586e-01 3.89075937e-04 2.72550808e+01] [-3.18265048e-03 -2.41845406e-04 9.99994906e-01 -1.77534305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.621400513 meters 0.08253111958616789 Centerline is valid? [True, True] Translation: X:265.01, Y:27.27, Z:-1.77 [[ 9.98979638e-01 -4.48420254e-02 5.37352833e-03 2.65005555e+02] [ 4.48391107e-02 9.98994002e-01 6.61734408e-04 2.72695464e+01] [-5.39779608e-03 -4.20114968e-04 9.99985344e-01 -1.77159766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.651400513 meters 0.08282600223107635 Centerline is valid? [True, True] Translation: X:265.03, Y:27.28, Z:-1.77 [[ 9.98996747e-01 -4.43150101e-02 6.45593508e-03 2.65034192e+02] [ 4.43107916e-02 9.99017478e-01 7.95077916e-04 2.72753920e+01] [-6.48482587e-03 -5.08212658e-04 9.99978844e-01 -1.77038050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.681400513 meters 0.08335034250458369 Centerline is valid? [True, True] Translation: X:265.06, Y:27.28, Z:-1.77 [[ 9.99000877e-01 -4.42571468e-02 6.20903954e-03 2.65063821e+02] [ 4.42532424e-02 9.99020053e-01 7.64876398e-04 2.72807402e+01] [-6.23680626e-03 -4.89342061e-04 9.99980431e-01 -1.77055171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.711400513 meters 0.07666839243147465 Centerline is valid? [True, True] Translation: X:265.09, Y:27.28, Z:-1.77 [[ 9.98983386e-01 -4.48076443e-02 4.94659727e-03 2.65093872e+02] [ 4.48051726e-02 9.98995558e-01 6.09438059e-04 2.72770183e+01] [-4.96893619e-03 -3.87185351e-04 9.99987580e-01 -1.77250708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74140051300003 meters 0.07941624474990136 Centerline is valid? [True, True] Translation: X:265.12, Y:27.28, Z:-1.77 [[ 9.98926517e-01 -4.61808245e-02 3.62553357e-03 2.65121677e+02] [ 4.61795057e-02 9.98933058e-01 4.46686382e-04 2.72844055e+01] [-3.64229368e-03 -2.78781524e-04 9.99993328e-01 -1.77488689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.771400513 meters 0.07775896128749751 Centerline is valid? [True, True] Translation: X:265.15, Y:27.28, Z:-1.78 [[ 9.98734377e-01 -5.02306280e-02 2.55494803e-03 2.65151627e+02] [ 5.02299859e-02 9.98737628e-01 3.14931187e-04 2.72849987e+01] [-2.56754193e-03 -1.86197600e-04 9.99996687e-01 -1.77700489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80140051300003 meters 0.07365583366441628 Centerline is valid? [True, True] Translation: X:265.18, Y:27.28, Z:-1.78 [[ 9.98645773e-01 -5.19535659e-02 2.72888098e-03 2.65182037e+02] [ 5.19528398e-02 9.98649483e-01 3.36352333e-04 2.72827584e+01] [-2.74267029e-03 -1.94123719e-04 9.99996220e-01 -1.77606001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.831400513 meters 0.07357825327608593 Centerline is valid? [True, True] Translation: X:265.21, Y:27.28, Z:-1.77 [[ 9.98615532e-01 -5.24803320e-02 3.58252843e-03 2.65210827e+02] [ 5.24790853e-02 9.98621926e-01 4.41178494e-04 2.72828243e+01] [-3.60074464e-03 -2.52559881e-04 9.99993485e-01 -1.77443083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86140051300004 meters 0.06818434744617008 Centerline is valid? [True, True] Translation: X:265.24, Y:27.28, Z:-1.78 [[ 9.98681695e-01 -5.12418349e-02 3.02424665e-03 2.65240779e+02] [ 5.12409385e-02 9.98686251e-01 3.73193746e-04 2.72782333e+01] [-3.03939668e-03 -2.17736527e-04 9.99995357e-01 -1.77500242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.891400513 meters 0.07857442598692059 Centerline is valid? [True, True] Translation: X:265.27, Y:27.29, Z:-1.78 [[ 9.98789980e-01 -4.91014775e-02 2.76046593e-03 2.65268428e+02] [ 4.91007221e-02 9.98793774e-01 3.40820698e-04 2.72942601e+01] [-2.77387098e-03 -2.04867428e-04 9.99996132e-01 -1.77667205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92140051300004 meters 0.08799165795689962 Centerline is valid? [True, True] Translation: X:265.30, Y:27.31, Z:-1.78 [[ 9.98934523e-01 -4.60672425e-02 2.76178743e-03 2.65295839e+02] [ 4.60664745e-02 9.98938318e-01 3.41106881e-04 2.73105300e+01] [-2.77456914e-03 -2.13517629e-04 9.99996128e-01 -1.77791692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.951400513 meters 0.08352714792513133 Centerline is valid? [True, True] Translation: X:265.33, Y:27.31, Z:-1.78 [[ 9.99076009e-01 -4.28883705e-02 2.77786681e-03 2.65326650e+02] [ 4.28875815e-02 9.99079846e-01 3.42996716e-04 2.73108887e+01] [-2.79002132e-03 -2.23543801e-04 9.99996083e-01 -1.77834447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98140051300004 meters 0.08381131486724695 Centerline is valid? [True, True] Translation: X:265.36, Y:27.32, Z:-1.78 [[ 9.99188544e-01 -4.01962588e-02 2.55235563e-03 2.65356584e+02] [ 4.01955840e-02 9.99191781e-01 3.15147290e-04 2.73164834e+01] [-2.56296051e-03 -2.12298136e-04 9.99996693e-01 -1.77911669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.011400513 meters 0.08780057818271075 Centerline is valid? [True, True] Translation: X:265.38, Y:27.33, Z:-1.78 [[ 9.99274988e-01 -3.80716679e-02 -2.14703466e-04 2.65384763e+02] [ 3.80716631e-02 9.99275011e-01 -2.65892396e-05 2.73265427e+01] [ 2.15560105e-04 1.83958441e-05 9.99999977e-01 -1.78311019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.041400513 meters 0.08907230850340622 Centerline is valid? [True, True] Translation: X:265.41, Y:27.33, Z:-1.78 [[ 9.99243973e-01 -3.88624636e-02 -1.09155969e-03 2.65412303e+02] [ 3.88623389e-02 9.99244565e-01 -1.35227519e-04 2.73326743e+01] [ 1.09599036e-03 9.27047206e-05 9.99999395e-01 -1.78474683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.071400513 meters 0.07789769426737246 Centerline is valid? [True, True] Translation: X:265.44, Y:27.32, Z:-1.78 [[ 9.99190332e-01 -4.02254601e-02 -7.69766178e-04 2.65443290e+02] [ 4.02253985e-02 9.99190627e-01 -9.52720170e-05 2.73242948e+01] [ 7.72975510e-04 6.42307270e-05 9.99999699e-01 -1.78355277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.101400513 meters 0.08077285767799955 Centerline is valid? [True, True] Translation: X:265.47, Y:27.33, Z:-1.78 [[ 9.99106793e-01 -4.22533260e-02 5.23032230e-04 2.65471475e+02] [ 4.22532979e-02 9.99106929e-01 6.45403633e-05 2.73322968e+01] [-5.25292170e-04 -4.23828787e-05 9.99999861e-01 -1.78276058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.131400513 meters 0.08011314884069305 Centerline is valid? [True, True] Translation: X:265.50, Y:27.33, Z:-1.78 [[ 9.98996990e-01 -4.47428497e-02 1.75803428e-03 2.65500686e+02] [ 4.47425364e-02 9.98998528e-01 2.17187376e-04 2.73349697e+01] [-1.76599124e-03 -1.38310622e-04 9.99998431e-01 -1.78133218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.161400513 meters 0.07448052469024664 Centerline is valid? [True, True] Translation: X:265.53, Y:27.33, Z:-1.78 [[ 9.98675001e-01 -5.14265911e-02 1.88365083e-03 2.65531806e+02] [ 5.14262430e-02 9.98676768e-01 2.32783207e-04 2.73315288e+01] [-1.89312957e-03 -1.35605684e-04 9.99998199e-01 -1.78172766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.191400513 meters 0.07151012597838713 Centerline is valid? [True, True] Translation: X:265.56, Y:27.33, Z:-1.78 [[ 9.98491124e-01 -5.49051678e-02 9.47853921e-04 2.65561553e+02] [ 5.49050813e-02 9.98491571e-01 1.17047362e-04 2.73320363e+01] [-9.52850656e-04 -6.48287551e-05 9.99999544e-01 -1.78334243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.221400513 meters 0.07626718796929229 Centerline is valid? [True, True] Translation: X:265.59, Y:27.34, Z:-1.79 [[ 9.98305935e-01 -5.81820833e-02 3.23675702e-04 2.65590253e+02] [ 5.81820734e-02 9.98305988e-01 3.99255176e-05 2.73408879e+01] [-3.25450341e-04 -2.10257577e-05 9.99999947e-01 -1.78583076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.251400513 meters 0.058396248886206786 Centerline is valid? [True, True] Translation: X:265.62, Y:27.32, Z:-1.78 [[ 9.97899130e-01 -6.47820615e-02 7.81532014e-04 2.65623939e+02] [ 6.47820056e-02 9.97899435e-01 9.66700048e-05 2.73176309e+01] [-7.86152837e-04 -4.58377024e-05 9.99999690e-01 -1.78370912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.281400513 meters 0.058396248886206786 Centerline is valid? [True, True] Translation: X:265.65, Y:27.32, Z:-1.78 [[ 9.97887046e-01 -6.49679348e-02 7.81674916e-04 2.65651265e+02] [ 6.49678799e-02 9.97887351e-01 9.55148418e-05 2.73211591e+01] [-7.86228913e-04 -4.45292613e-05 9.99999690e-01 -1.78389437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.311400513 meters 0.05232861543083166 Centerline is valid? [True, True] Translation: X:265.68, Y:27.31, Z:-1.78 [[ 9.97678128e-01 -6.81018752e-02 6.98103346e-04 2.65683080e+02] [ 6.81018313e-02 9.97678372e-01 8.64158997e-05 2.73136946e+01] [-7.02367694e-04 -3.86731367e-05 9.99999753e-01 -1.78339288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.341400513 meters 0.0564321904308339 Centerline is valid? [True, True] Translation: X:265.71, Y:27.32, Z:-1.78 [[ 9.97480106e-01 -7.09411952e-02 8.86445360e-04 2.65711726e+02] [ 7.09411257e-02 9.97480498e-01 1.09617518e-04 2.73183276e+01] [-8.91988357e-04 -4.64558619e-05 9.99999601e-01 -1.78419496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.371400513 meters 0.04927479395010498 Centerline is valid? [True, True] Translation: X:265.74, Y:27.31, Z:-1.78 [[ 9.97304053e-01 -7.33635490e-02 1.55426246e-03 2.65743037e+02] [ 7.33633380e-02 9.97305261e-01 1.92467621e-04 2.73093784e+01] [-1.56419423e-03 -7.79228564e-05 9.99998774e-01 -1.78268911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.401400513 meters 0.051115595434829596 Centerline is valid? [True, True] Translation: X:265.77, Y:27.31, Z:-1.78 [[ 9.97175315e-01 -7.50518558e-02 2.93443688e-03 2.65771414e+02] [ 7.50511111e-02 9.97179622e-01 3.63244583e-04 2.73114075e+01] [-2.95342284e-03 -1.41985783e-04 9.99995629e-01 -1.78114577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.431400513 meters 0.05048129222916404 Centerline is valid? [True, True] Translation: X:265.80, Y:27.31, Z:-1.78 [[ 9.97134304e-01 -7.55366087e-02 4.17137253e-03 2.65801028e+02] [ 7.55351083e-02 9.97143009e-01 5.16293031e-04 2.73102988e+01] [-4.19845398e-03 -1.99728416e-04 9.99991167e-01 -1.77916093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.461400513 meters 0.053751089551902206 Centerline is valid? [True, True] Translation: X:265.83, Y:27.31, Z:-1.78 [[ 9.97270207e-01 -7.36475679e-02 5.30751879e-03 2.65829938e+02] [ 7.36451050e-02 9.97284295e-01 6.58243320e-04 2.73097473e+01] [-5.34158316e-03 -2.65573673e-04 9.99985698e-01 -1.77710492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49140051300003 meters 0.051089813097902184 Centerline is valid? [True, True] Translation: X:265.86, Y:27.31, Z:-1.78 [[ 9.97414611e-01 -7.16608796e-02 5.36760109e-03 2.65859645e+02] [ 7.16583311e-02 9.97429015e-01 6.65860070e-04 2.73068017e+01] [-5.40151719e-03 -2.79505227e-04 9.99985373e-01 -1.77714298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.521400513 meters 0.05763241757624399 Centerline is valid? [True, True] Translation: X:265.89, Y:27.32, Z:-1.78 [[ 9.97605099e-01 -6.90110383e-02 4.64144241e-03 2.65887652e+02] [ 6.90091029e-02 9.97615864e-01 5.76028807e-04 2.73160406e+01] [-4.67012893e-03 -2.54347498e-04 9.99989063e-01 -1.77850752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55140051300003 meters 0.062269004882607844 Centerline is valid? [True, True] Translation: X:265.92, Y:27.32, Z:-1.78 [[ 9.97820702e-01 -6.59074063e-02 3.17176328e-03 2.65916324e+02] [ 6.59064865e-02 9.97825726e-01 3.93745672e-04 2.73232989e+01] [-3.19081776e-03 -1.83847809e-04 9.99994892e-01 -1.78122185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.581400513 meters 0.06731597127387902 Centerline is valid? [True, True] Translation: X:265.95, Y:27.33, Z:-1.78 [[ 9.98196107e-01 -6.00249204e-02 1.24120642e-03 2.65946208e+02] [ 6.00247750e-02 9.98196876e-01 1.54078815e-04 2.73285427e+01] [-1.24821694e-03 -7.92977370e-05 9.99999218e-01 -1.78486343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61140051300004 meters 0.06874297701617264 Centerline is valid? [True, True] Translation: X:265.98, Y:27.33, Z:-1.78 [[ 9.98305444e-01 -5.81674767e-02 1.66857958e-03 2.65976715e+02] [ 5.81672114e-02 9.98306833e-01 2.07134547e-04 2.73311746e+01] [-1.67780289e-03 -1.09726925e-04 9.99998586e-01 -1.78440559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.641400513 meters 0.06804335093578229 Centerline is valid? [True, True] Translation: X:266.01, Y:27.33, Z:-1.78 [[ 9.98347098e-01 -5.74006709e-02 2.86950875e-03 2.66006018e+02] [ 5.73998848e-02 9.98351204e-01 3.55612108e-04 2.73310462e+01] [-2.88518988e-03 -1.90314845e-04 9.99995820e-01 -1.78269067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67140051300004 meters 0.0670036365599589 Centerline is valid? [True, True] Translation: X:266.04, Y:27.33, Z:-1.78 [[ 9.98282786e-01 -5.84637724e-02 3.66972487e-03 2.66035413e+02] [ 5.84624895e-02 9.98289502e-01 4.55999417e-04 2.73266954e+01] [-3.69010726e-03 -2.40675117e-04 9.99993163e-01 -1.78186606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.701400513 meters 0.07015656677002324 Centerline is valid? [True, True] Translation: X:266.06, Y:27.33, Z:-1.78 [[ 9.98178121e-01 -6.02753286e-02 2.70631009e-03 2.66064204e+02] [ 6.02746371e-02 9.98181775e-01 3.36419446e-04 2.73291818e+01] [-2.72166720e-03 -1.72684672e-04 9.99996281e-01 -1.78461621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73140051300004 meters 0.05884117765456596 Centerline is valid? [True, True] Translation: X:266.10, Y:27.32, Z:-1.79 [[ 9.98052926e-01 -6.23460769e-02 1.82308234e-03 2.66095596e+02] [ 6.23457666e-02 9.98054585e-01 2.26613505e-04 2.73175505e+01] [-1.83366415e-03 -1.12510806e-04 9.99998313e-01 -1.78584780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.761400513 meters 0.05566877263879683 Centerline is valid? [True, True] Translation: X:266.13, Y:27.31, Z:-1.79 [[ 9.97920643e-01 -6.44381674e-02 1.45368648e-03 2.66126712e+02] [ 6.44379723e-02 9.97921698e-01 1.80759890e-04 2.73139721e+01] [-1.46231312e-03 -8.67114165e-05 9.99998927e-01 -1.78676558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.791400513 meters 0.06303703226182575 Centerline is valid? [True, True] Translation: X:266.15, Y:27.32, Z:-1.79 [[ 9.97819039e-01 -6.59848236e-02 1.77994293e-03 2.66154251e+02] [ 6.59845335e-02 9.97820621e-01 2.21251653e-04 2.73229762e+01] [-1.79066301e-03 -1.03320408e-04 9.99998391e-01 -1.78740885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.821400513 meters 0.0565914905010596 Centerline is valid? [True, True] Translation: X:266.18, Y:27.32, Z:-1.79 [[ 9.97756870e-01 -6.68977945e-02 2.43194312e-03 2.66184048e+02] [ 6.68972554e-02 9.97759824e-01 3.02424001e-04 2.73150663e+01] [-2.44672663e-03 -1.39055305e-04 9.99996997e-01 -1.78581435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.851400513 meters 0.05943057694638029 Centerline is valid? [True, True] Translation: X:266.21, Y:27.32, Z:-1.79 [[ 9.97772517e-01 -6.66706774e-02 2.24173164e-03 2.66211842e+02] [ 6.66702187e-02 9.97775027e-01 2.78801583e-04 2.73155986e+01] [-2.25533174e-03 -1.28723818e-04 9.99997448e-01 -1.78605116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.881400513 meters 0.05520357876187616 Centerline is valid? [True, True] Translation: X:266.24, Y:27.31, Z:-1.79 [[ 9.97842632e-01 -6.56375771e-02 1.33806795e-03 2.66241851e+02] [ 6.56374126e-02 9.97843526e-01 1.66518276e-04 2.73124292e+01] [-1.34611230e-03 -7.83317166e-05 9.99999091e-01 -1.78763434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.911400513 meters 0.06252696442641002 Centerline is valid? [True, True] Translation: X:266.27, Y:27.32, Z:-1.79 [[ 9.97927624e-01 -6.43446684e-02 4.69429456e-04 2.66269258e+02] [ 6.43446481e-02 9.97927734e-01 5.82562856e-05 2.73231764e+01] [-4.72205155e-04 -2.79302835e-05 9.99999888e-01 -1.78970927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.941400513 meters 0.0674253619212304 Centerline is valid? [True, True] Translation: X:266.30, Y:27.32, Z:-1.79 [[ 9.98165118e-01 -6.05504841e-02 1.89787325e-04 2.66300025e+02] [ 6.05504807e-02 9.98165136e-01 2.36520516e-05 2.73247072e+01] [-1.90871234e-04 -1.21169391e-05 9.99999982e-01 -1.79109499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.971400513 meters 0.06145837471265811 Centerline is valid? [True, True] Translation: X:266.33, Y:27.33, Z:-1.79 [[ 9.98282071e-01 -5.85909398e-02 9.08782017e-05 2.66330306e+02] [ 5.85909391e-02 9.98282075e-01 1.12458857e-05 2.73255906e+01] [-9.13809868e-05 -5.90192688e-06 9.99999996e-01 -1.79101519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.001400513 meters 0.07204429072113042 Centerline is valid? [True, True] Translation: X:266.36, Y:27.34, Z:-1.79 [[ 9.98370398e-01 -5.70647582e-02 4.03193504e-04 2.66357033e+02] [ 5.70647427e-02 9.98370479e-01 4.98886691e-05 2.73411195e+01] [-4.05383376e-04 -2.67992368e-05 9.99999917e-01 -1.79209295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.031400513 meters 0.07750772887486126 Centerline is valid? [True, True] Translation: X:266.38, Y:27.35, Z:-1.79 [[ 9.98423541e-01 -5.61215936e-02 8.94086608e-04 2.66384715e+02] [ 5.61215164e-02 9.98423940e-01 1.11191024e-04 2.73503304e+01] [-8.98917691e-04 -6.08382392e-05 9.99999594e-01 -1.79210742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.061400513 meters 0.06844777950170407 Centerline is valid? [True, True] Translation: X:266.41, Y:27.34, Z:-1.79 [[ 9.98422935e-01 -5.60951600e-02 2.23055335e-03 2.66414553e+02] [ 5.60946795e-02 9.98425415e-01 2.77474047e-04 2.73404302e+01] [-2.24260610e-03 -1.51914277e-04 9.99997474e-01 -1.78971931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.091400513 meters 0.07047531400946193 Centerline is valid? [True, True] Translation: X:266.44, Y:27.35, Z:-1.79 [[ 9.98365547e-01 -5.70812411e-02 2.82242380e-03 2.66442264e+02] [ 5.70804727e-02 9.98369519e-01 3.52137578e-04 2.73454721e+01] [-2.83792234e-03 -1.90456741e-04 9.99995955e-01 -1.78887645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.121400513 meters 0.06812749636110194 Centerline is valid? [True, True] Translation: X:266.47, Y:27.35, Z:-1.79 [[ 9.98306832e-01 -5.80793669e-02 3.20264030e-03 2.66470968e+02] [ 5.80783812e-02 9.98311946e-01 4.00023420e-04 2.73461753e+01] [-3.22046718e-03 -2.13341949e-04 9.99994792e-01 -1.78815015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.151400513 meters 0.07233879563029472 Centerline is valid? [True, True] Translation: X:266.50, Y:27.36, Z:-1.79 [[ 9.98273486e-01 -5.86302110e-02 3.54205345e-03 2.66497728e+02] [ 5.86290082e-02 9.98279742e-01 4.42574992e-04 2.73552787e+01] [-3.56190847e-03 -2.34143799e-04 9.99993629e-01 -1.78831673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.181400513 meters 0.06760689472143114 Centerline is valid? [True, True] Translation: X:266.53, Y:27.35, Z:-1.79 [[ 9.98253433e-01 -5.89488363e-02 3.88824508e-03 2.66526994e+02] [ 5.89473892e-02 9.98260973e-01 4.85804940e-04 2.73531716e+01] [-3.91012095e-03 -2.55754553e-04 9.99992323e-01 -1.78861174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.211400513 meters 0.06695057578943044 Centerline is valid? [True, True] Translation: X:266.56, Y:27.35, Z:-1.79 [[ 9.98238699e-01 -5.92141159e-02 3.63161487e-03 2.66555098e+02] [ 5.92128538e-02 9.98245276e-01 4.54172277e-04 2.73542353e+01] [-3.65213580e-03 -2.38334062e-04 9.99993303e-01 -1.78863786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24140051300003 meters 0.0708381479129127 Centerline is valid? [True, True] Translation: X:266.58, Y:27.36, Z:-1.79 [[ 9.98231569e-01 -5.93675788e-02 3.03743525e-03 2.66582140e+02] [ 5.93666944e-02 9.98236170e-01 3.80589431e-04 2.73566738e+01] [-3.05467240e-03 -1.99593894e-04 9.99995315e-01 -1.78872355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.271400513 meters 0.06928734005029999 Centerline is valid? [True, True] Translation: X:266.61, Y:27.36, Z:-1.79 [[ 9.98250185e-01 -5.90684822e-02 2.73544555e-03 2.66609311e+02] [ 5.90677631e-02 9.98253916e-01 3.43004553e-04 2.73610495e+01] [-2.75092999e-03 -1.80827709e-04 9.99996200e-01 -1.78872111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30140051300003 meters 0.07305043016639923 Centerline is valid? [True, True] Translation: X:266.64, Y:27.37, Z:-1.79 [[ 9.98453947e-01 -5.55117326e-02 2.85708382e-03 2.66638891e+02] [ 5.55109325e-02 9.98458015e-01 3.58650011e-04 2.73695667e+01] [-2.87258753e-03 -1.99496131e-04 9.99995854e-01 -1.78843886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.331400513 meters 0.08074985288908143 Centerline is valid? [True, True] Translation: X:266.67, Y:27.38, Z:-1.79 [[ 9.98644183e-01 -5.19291492e-02 3.62767590e-03 2.66666944e+02] [ 5.19278359e-02 9.98650736e-01 4.55345643e-04 2.73829332e+01] [-3.64642692e-03 -2.66350919e-04 9.99993316e-01 -1.78798114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36140051300004 meters 0.07606521484564185 Centerline is valid? [True, True] Translation: X:266.70, Y:27.38, Z:-1.79 [[ 9.98834838e-01 -4.80728075e-02 4.23937602e-03 2.66698070e+02] [ 4.80709791e-02 9.98843780e-01 5.32207359e-04 2.73816399e+01] [-4.26005907e-03 -3.27796295e-04 9.99990872e-01 -1.78703635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.391400513 meters 0.0921561328528479 Centerline is valid? [True, True] Translation: X:266.72, Y:27.41, Z:-1.79 [[ 9.99008983e-01 -4.42782749e-02 4.52624343e-03 2.66724198e+02] [ 4.42761522e-02 9.99019169e-01 5.68165930e-04 2.74052453e+01] [-4.54696135e-03 -3.67198225e-04 9.99989595e-01 -1.78771150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42140051300004 meters 0.09205532532702085 Centerline is valid? [True, True] Translation: X:266.75, Y:27.41, Z:-1.79 [[ 9.99167325e-01 -4.05486665e-02 4.52348658e-03 2.66754009e+02] [ 4.05465078e-02 9.99177491e-01 5.67950875e-04 2.74090200e+01] [-4.54279562e-03 -3.84066373e-04 9.99989608e-01 -1.78802896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.451400513 meters 0.09701883133045382 Centerline is valid? [True, True] Translation: X:266.78, Y:27.42, Z:-1.79 [[ 9.99382555e-01 -3.47328250e-02 5.30468170e-03 2.66783856e+02] [ 3.47297747e-02 9.99396517e-01 6.66073974e-04 2.74176475e+01] [-5.32461505e-03 -4.81432310e-04 9.99985708e-01 -1.78676045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48140051300004 meters 0.08948300003399512 Centerline is valid? [True, True] Translation: X:266.81, Y:27.41, Z:-1.79 [[ 9.99419981e-01 -3.34843572e-02 6.20482046e-03 2.66814847e+02] [ 3.34801600e-02 9.99439079e-01 7.79116496e-04 2.74116376e+01] [-6.22742826e-03 -5.70926212e-04 9.99980446e-01 -1.78553458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.511400513 meters 0.09001119451825368 Centerline is valid? [True, True] Translation: X:266.84, Y:27.42, Z:-1.79 [[ 9.99416445e-01 -3.35025828e-02 6.65937933e-03 2.66843977e+02] [ 3.34977479e-02 9.99438443e-01 8.36273675e-04 2.74163175e+01] [-6.68365704e-03 -6.12711453e-04 9.99977476e-01 -1.78534916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.541400513 meters 0.09101788527503969 Centerline is valid? [True, True] Translation: X:266.87, Y:27.42, Z:-1.79 [[ 9.99383262e-01 -3.49308293e-02 3.59617739e-03 2.66872645e+02] [ 3.49294285e-02 9.99389679e-01 4.51613956e-04 2.74224305e+01] [-3.60975782e-03 -3.25723007e-04 9.99993432e-01 -1.79135311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.571400513 meters 0.09414934223567815 Centerline is valid? [True, True] Translation: X:266.90, Y:27.43, Z:-1.80 [[ 9.99336778e-01 -3.63940676e-02 1.21465304e-03 2.66901071e+02] [ 3.63939089e-02 9.99337511e-01 1.52468095e-04 2.74294751e+01] [-1.21939728e-03 -1.08161003e-04 9.99999251e-01 -1.79536129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.601400513 meters 0.09270318146428667 Centerline is valid? [True, True] Translation: X:266.93, Y:27.43, Z:-1.80 [[ 9.99296018e-01 -3.75159824e-02 -1.37981862e-04 2.66931459e+02] [ 3.75159804e-02 9.99296028e-01 -1.74108912e-05 2.74310926e+01] [ 1.38537913e-04 1.22221094e-05 9.99999990e-01 -1.79771479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.631400513 meters 0.08990216748131624 Centerline is valid? [True, True] Translation: X:266.96, Y:27.43, Z:-1.80 [[ 9.99273003e-01 -3.81238283e-02 -2.00407296e-04 2.66960441e+02] [ 3.81238239e-02 9.99273022e-01 -2.54855191e-05 2.74317302e+01] [ 2.01233210e-04 1.78266988e-05 9.99999980e-01 -1.79781175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.661400513 meters 0.08532942137923338 Centerline is valid? [True, True] Translation: X:266.99, Y:27.43, Z:-1.79 [[ 9.99239921e-01 -3.89318136e-02 1.97333728e-03 2.66990247e+02] [ 3.89313993e-02 9.99241855e-01 2.47943218e-04 2.74317271e+01] [-1.98149409e-03 -1.70929980e-04 9.99998022e-01 -1.79474298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.691400513 meters 0.08898961696667584 Centerline is valid? [True, True] Translation: X:267.02, Y:27.44, Z:-1.79 [[ 9.99229129e-01 -3.91714033e-02 2.59781974e-03 2.67016755e+02] [ 3.91706864e-02 9.99232481e-01 3.26264451e-04 2.74409817e+01] [-2.60860610e-03 -2.24254561e-04 9.99996572e-01 -1.79454235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.721400513 meters 0.08778951555522925 Centerline is valid? [True, True] Translation: X:267.05, Y:27.44, Z:-1.79 [[ 9.99214360e-01 -3.95380358e-02 2.72156991e-03 2.67045651e+02] [ 3.95372505e-02 9.99218039e-01 3.41775875e-04 2.74446079e+01] [-2.73295489e-03 -2.33903971e-04 9.99996238e-01 -1.79475017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.751400513 meters 0.08483113776975942 Centerline is valid? [True, True] Translation: X:267.07, Y:27.45, Z:-1.79 [[ 9.99179804e-01 -4.04019266e-02 2.72102541e-03 2.67074856e+02] [ 4.04011435e-02 9.99183482e-01 3.42167067e-04 2.74462967e+01] [-2.73262785e-03 -2.31953885e-04 9.99996239e-01 -1.79481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.781400513 meters 0.08600174501812824 Centerline is valid? [True, True] Translation: X:267.10, Y:27.45, Z:-1.80 [[ 9.99138177e-01 -4.14052568e-02 2.91679634e-03 2.67102777e+02] [ 4.14043584e-02 9.99142404e-01 3.67729207e-04 2.74520837e+01] [-2.92952083e-03 -2.46644208e-04 9.99995679e-01 -1.79508795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.811400513 meters 0.08595154305035302 Centerline is valid? [True, True] Translation: X:267.13, Y:27.45, Z:-1.79 [[ 9.99073561e-01 -4.29131603e-02 3.23734441e-03 2.67133215e+02] [ 4.29120610e-02 9.99078770e-01 4.08300562e-04 2.74537548e+01] [-3.25188354e-03 -2.69001175e-04 9.99994676e-01 -1.79457494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.841400513 meters 0.087045271442048 Centerline is valid? [True, True] Translation: X:267.16, Y:27.46, Z:-1.79 [[ 9.98925315e-01 -4.61690406e-02 4.07853078e-03 2.67162122e+02] [ 4.61673225e-02 9.98933588e-01 5.14461505e-04 2.74630714e+01] [-4.09793358e-03 -3.25613775e-04 9.99991550e-01 -1.79237724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.871400513 meters 0.0801176775653616 Centerline is valid? [True, True] Translation: X:267.19, Y:27.46, Z:-1.79 [[ 9.98865764e-01 -4.75012573e-02 3.28869213e-03 2.67192034e+02] [ 4.75001474e-02 9.98871145e-01 4.14808927e-04 2.74611266e+01] [-3.30468362e-03 -2.58125075e-04 9.99994506e-01 -1.79276747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.901400513 meters 0.088353523215236 Centerline is valid? [True, True] Translation: X:267.22, Y:27.48, Z:-1.80 [[ 9.98824557e-01 -4.84148892e-02 2.34570228e-03 2.67217779e+02] [ 4.84143277e-02 9.98827295e-01 2.95618256e-04 2.74775568e+01] [-2.35726379e-03 -1.81705175e-04 9.99997205e-01 -1.79500319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.931400513 meters 0.07410855157641998 Centerline is valid? [True, True] Translation: X:267.25, Y:27.47, Z:-1.79 [[ 9.98773339e-01 -4.94825704e-02 1.81458008e-03 2.67248901e+02] [ 4.94822367e-02 9.98774978e-01 2.28374818e-04 2.74664353e+01] [-1.82365776e-03 -1.38305198e-04 9.99998328e-01 -1.79447352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.961400513 meters 0.08543002411775581 Centerline is valid? [True, True] Translation: X:267.27, Y:27.49, Z:-1.79 [[ 9.98751227e-01 -4.98868479e-02 2.69992411e-03 2.67274282e+02] [ 4.98861071e-02 9.98754855e-01 3.41069475e-04 2.74897343e+01] [-2.71357719e-03 -2.05954853e-04 9.99996297e-01 -1.79380826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99140051300003 meters 0.07723577887038871 Centerline is valid? [True, True] Translation: X:267.30, Y:27.49, Z:-1.79 [[ 9.98714890e-01 -5.05457054e-02 3.70126083e-03 2.67303661e+02] [ 5.05443175e-02 9.98721710e-01 4.67623574e-04 2.74873068e+01] [-3.72016591e-03 -2.79944924e-04 9.99993041e-01 -1.79165910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.021400513 meters 0.07624916535563855 Centerline is valid? [True, True] Translation: X:267.33, Y:27.49, Z:-1.79 [[ 9.98670267e-01 -5.14030049e-02 3.92801480e-03 2.67331856e+02] [ 5.14014445e-02 9.98677948e-01 4.97263877e-04 2.74932131e+01] [-3.94838262e-03 -2.94697014e-04 9.99992162e-01 -1.79116627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05140051300003 meters 0.07301367814311306 Centerline is valid? [True, True] Translation: X:267.36, Y:27.50, Z:-1.79 [[ 9.98491352e-01 -5.48669770e-02 2.15271624e-03 2.67361445e+02] [ 5.48665162e-02 9.98493661e-01 2.72603079e-04 2.74968808e+01] [-2.16443043e-03 -1.54079776e-04 9.99997646e-01 -1.79409486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.081400513 meters 0.07787521619003071 Centerline is valid? [True, True] Translation: X:267.39, Y:27.51, Z:-1.80 [[ 9.98319988e-01 -5.79104892e-02 1.89132216e-03 2.67390028e+02] [ 5.79101387e-02 9.98321771e-01 2.39599622e-04 2.75081620e+01] [-1.90202342e-03 -1.29670362e-04 9.99998183e-01 -1.79549361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11140051300004 meters 0.06769599967451927 Centerline is valid? [True, True] Translation: X:267.42, Y:27.50, Z:-1.79 [[ 9.98092744e-01 -6.16671448e-02 2.83492996e-03 2.67421425e+02] [ 6.16663726e-02 9.98096754e-01 3.59069208e-04 2.75017837e+01] [-2.85167717e-03 -1.83564524e-04 9.99995917e-01 -1.79362901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.141400513 meters 0.06769599967451927 Centerline is valid? [True, True] Translation: X:267.45, Y:27.51, Z:-1.79 [[ 9.98081811e-01 -6.18438417e-02 2.83499615e-03 2.67448757e+02] [ 6.18430717e-02 9.98085821e-01 3.58547385e-04 2.75053959e+01] [-2.85174341e-03 -1.82534754e-04 9.99995917e-01 -1.79381434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17140051300004 meters 0.059457186545982504 Centerline is valid? [True, True] Translation: X:267.48, Y:27.50, Z:-1.79 [[ 9.97695269e-01 -6.75273241e-02 6.64911873e-03 2.67479566e+02] [ 6.75231954e-02 9.97717348e-01 8.43740675e-04 2.75017321e+01] [-6.69091666e-03 -3.92826337e-04 9.99977538e-01 -1.78747454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.201400513 meters 0.06144185898787457 Centerline is valid? [True, True] Translation: X:267.51, Y:27.51, Z:-1.78 [[ 9.97586126e-01 -6.89721819e-02 8.04730870e-03 2.67508152e+02] [ 6.89661806e-02 9.97618476e-01 1.02121431e-03 2.75072268e+01] [-8.09857922e-03 -4.63757086e-04 9.99967098e-01 -1.78435342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.231400513 meters 0.06023673532389966 Centerline is valid? [True, True] Translation: X:267.54, Y:27.51, Z:-1.78 [[ 9.97530972e-01 -6.96614873e-02 8.90146773e-03 2.67537241e+02] [ 6.96541670e-02 9.97570559e-01 1.13013126e-03 2.75091535e+01] [-8.95856877e-03 -5.07316618e-04 9.99959743e-01 -1.78236814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.261400513 meters 0.06561763011996016 Centerline is valid? [True, True] Translation: X:267.56, Y:27.52, Z:-1.78 [[ 9.97559495e-01 -6.92731344e-02 8.73418589e-03 2.67563461e+02] [ 6.92660615e-02 9.97597604e-01 1.11007163e-03 2.75201580e+01] [-8.79010106e-03 -5.02379837e-04 9.99961240e-01 -1.78243843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.291400513 meters 0.06191151973322951 Centerline is valid? [True, True] Translation: X:267.59, Y:27.52, Z:-1.79 [[ 9.97680174e-01 -6.76438688e-02 7.65359631e-03 2.67592757e+02] [ 6.76383865e-02 9.97709427e-01 9.73180277e-04 2.75212247e+01] [-7.70189487e-03 -4.53245763e-04 9.99970237e-01 -1.78506530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.321400513 meters 0.06814185925169633 Centerline is valid? [True, True] Translation: X:267.62, Y:27.54, Z:-1.79 [[ 9.98085507e-01 -6.16467363e-02 5.00006101e-03 2.67621278e+02] [ 6.16443205e-02 9.98097978e-01 6.35988423e-04 2.75353764e+01] [-5.02975740e-03 -3.26545464e-04 9.99987297e-01 -1.79061138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.351400513 meters 0.07084766201572155 Centerline is valid? [True, True] Translation: X:267.65, Y:27.54, Z:-1.79 [[ 9.98273653e-01 -5.85502952e-02 4.64516790e-03 2.67651026e+02] [ 5.85481767e-02 9.98284409e-01 5.90860779e-04 2.75430848e+01] [-4.67179377e-03 -3.17874637e-04 9.99989037e-01 -1.79115401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.381400513 meters 0.07871974218401567 Centerline is valid? [True, True] Translation: X:267.68, Y:27.56, Z:-1.79 [[ 9.98422546e-01 -5.59553580e-02 4.62788537e-03 2.67678677e+02] [ 5.59532274e-02 9.98433217e-01 5.88690613e-04 2.75569649e+01] [-4.65357487e-03 -3.28816859e-04 9.99989118e-01 -1.79075577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.411400513 meters 0.08002273897004039 Centerline is valid? [True, True] Translation: X:267.71, Y:27.56, Z:-1.79 [[ 9.98513027e-01 -5.43133160e-02 4.66892963e-03 2.67707827e+02] [ 5.43111297e-02 9.98523885e-01 5.93880628e-04 2.75640612e+01] [-4.69429338e-03 -3.39422701e-04 9.99988924e-01 -1.79044361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.441400513 meters 0.07128590862444578 Centerline is valid? [True, True] Translation: X:267.74, Y:27.56, Z:-1.79 [[ 9.98637487e-01 -5.19448207e-02 4.99051624e-03 2.67739198e+02] [ 5.19422930e-02 9.98649886e-01 6.34860053e-04 2.75620184e+01] [-5.01675617e-03 -3.74776191e-04 9.99987346e-01 -1.79084435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.471400513 meters 0.07662315068330873 Centerline is valid? [True, True] Translation: X:267.77, Y:27.57, Z:-1.79 [[ 9.98669290e-01 -5.13432576e-02 4.84971188e-03 2.67765477e+02] [ 5.13408641e-02 9.98680998e-01 6.16836846e-04 2.75729118e+01] [-4.87498551e-03 -3.67027616e-04 9.99988050e-01 -1.79209481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.501400513 meters 0.07808936540333014 Centerline is valid? [True, True] Translation: X:267.79, Y:27.58, Z:-1.79 [[ 9.98680868e-01 -5.11710470e-02 4.24818149e-03 2.67794047e+02] [ 5.11692088e-02 9.98689852e-01 5.40351191e-04 2.75777211e+01] [-4.27026608e-03 -3.22262312e-04 9.99990830e-01 -1.79347328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.531400513 meters 0.07429922907407158 Centerline is valid? [True, True] Translation: X:267.82, Y:27.58, Z:-1.79 [[ 9.98698027e-01 -5.09043039e-02 3.31713365e-03 2.67822947e+02] [ 5.09031799e-02 9.98703503e-01 4.22461641e-04 2.75753791e+01] [-3.33433811e-03 -2.53058957e-04 9.99994409e-01 -1.79449975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.561400513 meters 0.07724564463159629 Centerline is valid? [True, True] Translation: X:267.85, Y:27.58, Z:-1.80 [[ 9.98750781e-01 -4.99277975e-02 2.02289965e-03 2.67850810e+02] [ 4.99273771e-02 9.98752818e-01 2.57819404e-04 2.75831077e+01] [-2.03324908e-03 -1.56499257e-04 9.99997921e-01 -1.79666572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.591400513 meters 0.08331018533056066 Centerline is valid? [True, True] Translation: X:267.88, Y:27.60, Z:-1.80 [[ 9.98783480e-01 -4.92668848e-02 2.08200433e-03 2.67878059e+02] [ 4.92664378e-02 9.98785636e-01 2.65434280e-04 2.75959951e+01] [-2.09255314e-03 -1.62538437e-04 9.99997797e-01 -1.79751121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.621400513 meters 0.08051747484912411 Centerline is valid? [True, True] Translation: X:267.91, Y:27.60, Z:-1.80 [[ 9.98840483e-01 -4.80905164e-02 2.23425665e-03 2.67907384e+02] [ 4.80899986e-02 9.98842966e-01 2.84937090e-04 2.75971241e+01] [-2.24537431e-03 -1.77161301e-04 9.99997463e-01 -1.79794158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.651400513 meters 0.08399767194944062 Centerline is valid? [True, True] Translation: X:267.94, Y:27.60, Z:-1.80 [[ 9.98925662e-01 -4.63088468e-02 1.73577991e-03 2.67935926e+02] [ 4.63085315e-02 9.98927160e-01 2.21430674e-04 2.76042987e+01] [-1.74417189e-03 -1.40811365e-04 9.99998469e-01 -1.79860787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.681400513 meters 0.09610909247815237 Centerline is valid? [True, True] Translation: X:267.96, Y:27.62, Z:-1.80 [[ 9.99133460e-01 -4.16195783e-02 -3.74932431e-04 2.67962910e+02] [ 4.16195633e-02 9.99133529e-01 -4.77665903e-05 2.76215990e+01] [ 3.76595588e-04 3.21206746e-05 9.99999929e-01 -1.80131925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.711400513 meters 0.09317383482454761 Centerline is valid? [True, True] Translation: X:267.99, Y:27.62, Z:-1.80 [[ 9.99230406e-01 -3.91996420e-02 -1.40866751e-03 2.67993219e+02] [ 3.91994271e-02 9.99231391e-01 -1.79799690e-04 2.76239197e+01] [ 1.41463288e-03 1.24442357e-04 9.99998992e-01 -1.80308850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74140051300003 meters 0.0890379791598053 Centerline is valid? [True, True] Translation: X:268.02, Y:27.62, Z:-1.80 [[ 9.99308677e-01 -3.71210789e-02 -2.04759165e-03 2.68023328e+02] [ 3.71206204e-02 9.99310758e-01 -2.61456864e-04 2.76249452e+01] [ 2.05588592e-03 1.85268241e-04 9.99997870e-01 -1.80454349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.771400513 meters 0.09418036067671431 Centerline is valid? [True, True] Translation: X:268.05, Y:27.64, Z:-1.81 [[ 9.99358949e-01 -3.57340985e-02 -2.18280174e-03 2.68051779e+02] [ 3.57335742e-02 9.99361313e-01 -2.78738776e-04 2.76358479e+01] [ 2.19136809e-03 2.00560782e-04 9.99997579e-01 -1.80572958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80140051300003 meters 0.10263444426266373 Centerline is valid? [True, False] Translation: X:268.05, Y:27.64, Z:-1.80 [[ 9.99599564e-01 -2.82953064e-02 -2.93817189e-04 2.68046836e+02] [ 2.82888012e-02 9.99509366e-01 -1.34450949e-02 2.76441950e+01] [ 6.74106113e-04 1.34313993e-02 9.99909567e-01 -1.80318955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.831400513 meters 0.09428692642242088 Centerline is valid? [False, True] Translation: X:268.05, Y:27.64, Z:-1.80 [[ 9.99818669e-01 -1.90275330e-02 -7.63382150e-04 2.68046933e+02] [ 1.90253699e-02 9.99815227e-01 -2.74735368e-03 2.76359814e+01] [ 8.15516460e-04 2.73233187e-03 9.99995935e-01 -1.80100676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86140051300004 meters 0.09167605166218472 Centerline is valid? [True, True] Translation: X:268.08, Y:27.64, Z:-1.80 [[ 9.99798981e-01 -2.00498095e-02 5.87613781e-05 2.68077034e+02] [ 2.00498092e-02 9.99798982e-01 6.44454886e-06 2.76364994e+01] [-5.88787780e-05 -5.26509896e-06 9.99999998e-01 -1.79918646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.891400513 meters 0.0854649533952663 Centerline is valid? [True, True] Translation: X:268.11, Y:27.64, Z:-1.80 [[ 9.99752010e-01 -2.22678032e-02 2.51896306e-04 2.68107387e+02] [ 2.22677969e-02 9.99752041e-01 2.77807374e-05 2.76351179e+01] [-2.52452462e-04 -2.21646722e-05 9.99999968e-01 -1.79869942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92140051300004 meters 0.09469439202195364 Centerline is valid? [True, True] Translation: X:268.13, Y:27.65, Z:-1.80 [[ 9.99723541e-01 -2.35125522e-02 -3.66989999e-05 2.68134417e+02] [ 2.35125520e-02 9.99723542e-01 -4.16438700e-06 2.76499510e+01] [ 3.67867696e-05 3.30034857e-06 9.99999999e-01 -1.79965835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.951400513 meters 0.08769871580662755 Centerline is valid? [True, True] Translation: X:268.17, Y:27.65, Z:-1.80 [[ 9.99685158e-01 -2.50880848e-02 -4.15899501e-04 2.68165334e+02] [ 2.50880678e-02 9.99685244e-01 -4.59801795e-05 2.76475088e+01] [ 4.16922149e-04 3.55315882e-05 9.99999912e-01 -1.79998173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.981400513 meters 0.08173543757591137 Centerline is valid? [True, True] Translation: X:268.20, Y:27.65, Z:-1.80 [[ 9.99587845e-01 -2.86989095e-02 -7.15579121e-04 2.68196452e+02] [ 2.86988603e-02 9.99588100e-01 -7.89699741e-05 2.76460501e+01] [ 7.17550726e-04 5.84011210e-05 9.99999741e-01 -1.80041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.011400513 meters 0.07880628525410058 Centerline is valid? [True, True] Translation: X:268.23, Y:27.65, Z:-1.80 [[ 9.99526179e-01 -3.07574628e-02 -1.18155995e-03 2.68227543e+02] [ 3.07573300e-02 9.99526873e-01 -1.30415315e-04 2.76454547e+01] [ 1.18501216e-03 9.40118921e-05 9.99999293e-01 -1.80094197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.041400513 meters 0.08052018148923366 Centerline is valid? [True, True] Translation: X:268.26, Y:27.65, Z:-1.80 [[ 9.99468193e-01 -3.25525223e-02 -1.91434443e-03 2.68256649e+02] [ 3.25521768e-02 9.99470015e-01 -2.11405260e-04 2.76502570e+01] [ 1.92021163e-03 1.48976755e-04 9.99998145e-01 -1.80210218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.071400513 meters 0.07608788375342429 Centerline is valid? [True, True] Translation: X:268.29, Y:27.65, Z:-1.80 [[ 9.99417064e-01 -3.40572947e-02 -2.37342207e-03 2.68286826e+02] [ 3.40567676e-02 9.99419866e-01 -2.62169003e-04 2.76485348e+01] [ 2.38097393e-03 1.81185092e-04 9.99997149e-01 -1.80227120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.101400513 meters 0.0801881042683186 Centerline is valid? [True, True] Translation: X:268.31, Y:27.66, Z:-1.80 [[ 9.99383351e-01 -3.50352046e-02 -2.33485078e-03 2.68314215e+02] [ 3.50346968e-02 9.99386063e-01 -2.58074806e-04 2.76579878e+01] [ 2.34245903e-03 1.76114875e-04 9.99997241e-01 -1.80265289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.131400513 meters 0.07759104000295503 Centerline is valid? [True, True] Translation: X:268.34, Y:27.66, Z:-1.80 [[ 9.99348132e-01 -3.60942766e-02 -7.16931089e-04 2.68343570e+02] [ 3.60942290e-02 9.99348388e-01 -7.92884086e-05 2.76604039e+01] [ 7.19325785e-04 5.33596482e-05 9.99999740e-01 -1.80033057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.161400513 meters 0.0796085208495952 Centerline is valid? [True, True] Translation: X:268.37, Y:27.67, Z:-1.80 [[ 9.99337576e-01 -3.63921894e-02 1.33156587e-04 2.68370639e+02] [ 3.63921878e-02 9.99337585e-01 1.45310821e-05 2.76666014e+01] [-1.33597200e-04 -9.67559683e-06 9.99999991e-01 -1.79945393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.191400513 meters 0.0797447205980762 Centerline is valid? [True, True] Translation: X:268.40, Y:27.67, Z:-1.80 [[ 9.99322705e-01 -3.67958363e-02 4.43933877e-04 2.68399596e+02] [ 3.67958183e-02 9.99322803e-01 4.86145589e-05 2.76674087e+01] [-4.45422059e-04 -3.22467222e-05 9.99999900e-01 -1.80013100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.221400513 meters 0.07659693336075325 Centerline is valid? [True, True] Translation: X:268.43, Y:27.67, Z:-1.80 [[ 9.99303894e-01 -3.73031078e-02 4.53871676e-04 2.68428671e+02] [ 3.73030891e-02 9.99303996e-01 4.97847675e-05 2.76697410e+01] [-4.55412907e-04 -3.28192964e-05 9.99999896e-01 -1.80000735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.251400513 meters 0.077891406609099 Centerline is valid? [True, True] Translation: X:268.46, Y:27.67, Z:-1.80 [[ 9.99276283e-01 -3.80372826e-02 2.73515961e-04 2.68456049e+02] [ 3.80372758e-02 9.99276321e-01 3.01481171e-05 2.76747461e+01] [-2.74464776e-04 -1.97224964e-05 9.99999962e-01 -1.80055548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.281400513 meters 0.07584107281058641 Centerline is valid? [True, True] Translation: X:268.49, Y:27.68, Z:-1.80 [[ 9.99190712e-01 -4.02120362e-02 -9.56105012e-04 2.68486162e+02] [ 4.02119531e-02 9.99191167e-01 -1.06060053e-04 2.76764954e+01] [ 9.59596573e-04 6.75273695e-05 9.99999537e-01 -1.80158405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.311400513 meters 0.07532976569873061 Centerline is valid? [True, True] Translation: X:268.52, Y:27.68, Z:-1.80 [[ 9.99147724e-01 -4.12736105e-02 -5.60555429e-04 2.68515379e+02] [ 4.12735820e-02 9.99147881e-01 -6.24649825e-05 2.76799406e+01] [ 5.62655924e-04 3.92756146e-05 9.99999841e-01 -1.80068888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.341400513 meters 0.0727002122488667 Centerline is valid? [True, True] Translation: X:268.54, Y:27.68, Z:-1.80 [[ 9.99123277e-01 -4.18606150e-02 6.04767885e-04 2.68544829e+02] [ 4.18605823e-02 9.99123459e-01 6.67194440e-05 2.76807063e+01] [-6.07030698e-04 -4.13450137e-05 9.99999815e-01 -1.79887232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.371400513 meters 0.07534427499944152 Centerline is valid? [True, True] Translation: X:268.57, Y:27.69, Z:-1.80 [[ 9.99146000e-01 -4.11762221e-02 3.43360093e-03 2.68572247e+02] [ 4.11751527e-02 9.99151871e-01 3.81609908e-04 2.76892704e+01] [-3.44640204e-03 -2.39904971e-04 9.99994032e-01 -1.79529850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.401400513 meters 0.08109258896751963 Centerline is valid? [True, True] Translation: X:268.60, Y:27.70, Z:-1.80 [[ 9.99195509e-01 -3.99433641e-02 3.58649280e-03 2.68599692e+02] [ 3.99421886e-02 9.99201913e-01 3.98807174e-04 2.77006743e+01] [-3.59956017e-03 -2.55233965e-04 9.99993489e-01 -1.79588942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.431400513 meters 0.07387968440793972 Centerline is valid? [True, True] Translation: X:268.63, Y:27.70, Z:-1.80 [[ 9.99253333e-01 -3.85872985e-02 1.94876041e-03 2.68629899e+02] [ 3.85869489e-02 9.99255223e-01 2.16724878e-04 2.76964063e+01] [-1.95567185e-03 -1.41366338e-04 9.99998078e-01 -1.79880392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.461400513 meters 0.07509477116737417 Centerline is valid? [True, True] Translation: X:268.66, Y:27.70, Z:-1.80 [[ 9.99293486e-01 -3.75828753e-02 -2.35807631e-04 2.68659265e+02] [ 3.75828701e-02 9.99293514e-01 -2.63158760e-05 2.77020848e+01] [ 2.36630062e-04 1.74349559e-05 9.99999972e-01 -1.80231850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49140051300003 meters 0.0860174422936522 Centerline is valid? [True, True] Translation: X:268.69, Y:27.72, Z:-1.81 [[ 9.99305253e-01 -3.70534000e-02 -4.00701080e-03 2.68686417e+02] [ 3.70519077e-02 9.99313243e-01 -4.46041650e-04 2.77192996e+01] [ 4.02078631e-03 2.97264370e-04 9.99991872e-01 -1.81001812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.521400513 meters 0.07774805899574466 Centerline is valid? [True, True] Translation: X:268.72, Y:27.71, Z:-1.81 [[ 9.99275731e-01 -3.78475433e-02 -3.94687431e-03 2.68716385e+02] [ 3.78460975e-02 9.99283483e-01 -4.40392764e-04 2.77126720e+01] [ 3.96071409e-03 2.90700011e-04 9.99992114e-01 -1.80968434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55140051300003 meters 0.07363128506585809 Centerline is valid? [True, True] Translation: X:268.75, Y:27.71, Z:-1.81 [[ 9.99227601e-01 -3.91617822e-02 -3.24892525e-03 2.68746649e+02] [ 3.91608106e-02 9.99232856e-01 -3.62166701e-04 2.77110084e+01] [ 3.26061595e-03 2.34656418e-04 9.99994657e-01 -1.80796005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.581400513 meters 0.06854926175852395 Centerline is valid? [True, True] Translation: X:268.78, Y:27.71, Z:-1.81 [[ 9.99161113e-01 -4.08861828e-02 -2.32152755e-03 2.68777287e+02] [ 4.08856912e-02 9.99163797e-01 -2.58826155e-04 2.77079806e+01] [ 2.33016870e-03 1.63691770e-04 9.99997272e-01 -1.80608565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61140051300004 meters 0.0782795015704794 Centerline is valid? [True, True] Translation: X:268.80, Y:27.72, Z:-1.80 [[ 9.99044817e-01 -4.36874580e-02 -9.26853924e-04 2.68804821e+02] [ 4.36873808e-02 9.99045245e-01 -1.03378074e-04 2.77245006e+01] [ 9.30485331e-04 6.27875086e-05 9.99999565e-01 -1.80397693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.641400513 meters 0.0712301493255717 Centerline is valid? [True, True] Translation: X:268.83, Y:27.72, Z:-1.80 [[ 9.99049333e-01 -4.35926951e-02 -3.27585250e-04 2.68834018e+02] [ 4.35926853e-02 9.99049386e-01 -3.71085410e-05 2.77212400e+01] [ 3.28891504e-04 2.27929424e-05 9.99999946e-01 -1.80235850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67140051300004 meters 0.07265646417542497 Centerline is valid? [True, True] Translation: X:268.86, Y:27.73, Z:-1.80 [[ 9.99111318e-01 -4.21493713e-02 -6.31289978e-05 2.68862991e+02] [ 4.21493709e-02 9.99111320e-01 -7.12535904e-06 2.77290296e+01] [ 6.33732258e-05 4.45817932e-06 9.99999998e-01 -1.80205025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.701400513 meters 0.07700870708041063 Centerline is valid? [True, True] Translation: X:268.89, Y:27.74, Z:-1.80 [[ 9.99337148e-01 -3.64040898e-02 8.43180303e-05 2.68892831e+02] [ 3.64040891e-02 9.99337151e-01 9.40106319e-06 2.77387041e+01] [-8.46043774e-05 -6.32531059e-06 9.99999996e-01 -1.80141953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.731400513 meters 0.08294329717400961 Centerline is valid? [True, True] Translation: X:268.92, Y:27.75, Z:-1.80 [[ 9.99441316e-01 -3.34205121e-02 -3.53274436e-04 2.68920838e+02] [ 3.34205002e-02 9.99441378e-01 -3.94653285e-05 2.77542340e+01] [ 3.54396041e-04 2.76366715e-05 9.99999937e-01 -1.80170989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.761400513 meters 0.08366150714587409 Centerline is valid? [True, True] Translation: X:268.95, Y:27.76, Z:-1.80 [[ 9.99525610e-01 -3.07647556e-02 -1.44355702e-03 2.68951111e+02] [ 3.07645547e-02 9.99526646e-01 -1.61208220e-04 2.77614389e+01] [ 1.44783324e-03 1.16721355e-04 9.99998945e-01 -1.80269544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.791400513 meters 0.08605305298695305 Centerline is valid? [True, True] Translation: X:268.98, Y:27.77, Z:-1.80 [[ 9.99588026e-01 -2.86255593e-02 -2.08717862e-03 2.68979888e+02] [ 2.86251346e-02 9.99590190e-01 -2.33093700e-04 2.77748794e+01] [ 2.09299571e-03 1.73251903e-04 9.99997795e-01 -1.80437668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.821400513 meters 0.08508644982551407 Centerline is valid? [True, True] Translation: X:269.01, Y:27.78, Z:-1.80 [[ 9.99564683e-01 -2.94595202e-02 -1.60676800e-03 2.69008868e+02] [ 2.94592684e-02 9.99565965e-01 -1.80168132e-04 2.77793996e+01] [ 1.61137828e-03 1.32755492e-04 9.99998693e-01 -1.80388969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.851400513 meters 0.09535837562911308 Centerline is valid? [True, True] Translation: X:269.04, Y:27.80, Z:-1.80 [[ 9.99510661e-01 -3.12688569e-02 -8.35372399e-04 2.69036791e+02] [ 3.12687896e-02 9.99511007e-01 -9.34774426e-05 2.77973477e+01] [ 8.37886841e-04 6.73106166e-05 9.99999647e-01 -1.80401917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.881400513 meters 0.07960279186661547 Centerline is valid? [True, True] Translation: X:269.07, Y:27.78, Z:-1.80 [[ 9.99426961e-01 -3.38462720e-02 -4.23577242e-04 2.69068978e+02] [ 3.38462549e-02 9.99427050e-01 -4.73801657e-05 2.77832063e+01] [ 4.24938196e-04 3.30165117e-05 9.99999909e-01 -1.80250880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.911400513 meters 0.07399317056210147 Centerline is valid? [True, True] Translation: X:269.10, Y:27.78, Z:-1.80 [[ 9.99268133e-01 -3.82515951e-02 1.21335112e-04 2.69099953e+02] [ 3.82515937e-02 9.99268140e-01 1.35649665e-05 2.77822182e+01] [-1.21765194e-04 -8.91377728e-06 9.99999993e-01 -1.80223969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.941400513 meters 0.07224966137907483 Centerline is valid? [True, True] Translation: X:269.13, Y:27.78, Z:-1.80 [[ 9.99221491e-01 -3.94507048e-02 -2.32651716e-04 2.69129460e+02] [ 3.94506996e-02 9.99221518e-01 -2.65633409e-05 2.77833369e+01] [ 2.33518544e-04 1.73643881e-05 9.99999973e-01 -1.80250532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.971400513 meters 0.07638918184122558 Centerline is valid? [True, True] Translation: X:269.16, Y:27.79, Z:-1.80 [[ 9.99197854e-01 -4.00422643e-02 -5.15032123e-04 2.69156177e+02] [ 4.00422397e-02 9.99197986e-01 -5.79043184e-05 2.77915171e+01] [ 5.16937680e-04 3.72348309e-05 9.99999866e-01 -1.80349668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.001400513 meters 0.07539952820150772 Centerline is valid? [True, True] Translation: X:269.18, Y:27.79, Z:-1.80 [[ 9.99191422e-01 -4.02016093e-02 -5.76321181e-04 2.69183576e+02] [ 4.02015783e-02 9.99191588e-01 -6.52938975e-05 2.77941768e+01] [ 5.78480196e-04 4.20720812e-05 9.99999832e-01 -1.80328204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.031400513 meters 0.0783268219739251 Centerline is valid? [True, True] Translation: X:269.21, Y:27.80, Z:-1.80 [[ 9.99256321e-01 -3.85571609e-02 3.88734066e-04 2.69211834e+02] [ 3.85571469e-02 9.99256396e-01 4.35614504e-05 2.78026204e+01] [-3.90124607e-04 -2.85405781e-05 9.99999923e-01 -1.80154915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.061400513 meters 0.07743931687742439 Centerline is valid? [True, True] Translation: X:269.24, Y:27.80, Z:-1.80 [[ 9.99309574e-01 -3.71531368e-02 1.37978587e-04 2.69242120e+02] [ 3.71531351e-02 9.99309584e-01 1.54518332e-05 2.78034049e+01] [-1.38457409e-04 -1.03148277e-05 9.99999990e-01 -1.80212061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.091400513 meters 0.07743931687742439 Centerline is valid? [True, True] Translation: X:269.27, Y:27.81, Z:-1.80 [[ 9.99302842e-01 -3.73337845e-02 1.38039902e-04 2.69269504e+02] [ 3.73337828e-02 9.99302851e-01 1.49061597e-05 2.78066273e+01] [-1.38500171e-04 -9.74221602e-06 9.99999990e-01 -1.80221403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.121400513 meters 0.08130874875639281 Centerline is valid? [True, True] Translation: X:269.30, Y:27.82, Z:-1.80 [[ 9.99357535e-01 -3.58335981e-02 -6.85617430e-04 2.69297389e+02] [ 3.58335535e-02 9.99357769e-01 -7.71895793e-05 2.78164253e+01] [ 6.87943086e-04 5.25718789e-05 9.99999762e-01 -1.80383543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.151400513 meters 0.08271955784040926 Centerline is valid? [True, True] Translation: X:269.33, Y:27.82, Z:-1.81 [[ 9.99416951e-01 -3.41255719e-02 -1.09716932e-03 2.69326879e+02] [ 3.41254568e-02 9.99417549e-01 -1.23451393e-04 2.78226663e+01] [ 1.10074312e-03 8.59380107e-05 9.99999390e-01 -1.80590173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.181400513 meters 0.08564591324756203 Centerline is valid? [True, True] Translation: X:269.36, Y:27.83, Z:-1.81 [[ 9.99490064e-01 -3.18463817e-02 -2.32801951e-03 2.69356222e+02] [ 3.18458576e-02 9.99492758e-01 -2.61881497e-04 2.78327268e+01] [ 2.33517862e-03 1.87610176e-04 9.99997256e-01 -1.80859871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.211400513 meters 0.07926904485782597 Centerline is valid? [True, True] Translation: X:269.39, Y:27.83, Z:-1.81 [[ 9.99498734e-01 -3.15414189e-02 -2.72391009e-03 2.69385561e+02] [ 3.15406976e-02 9.99502421e-01 -3.07391119e-04 2.78285212e+01] [ 2.73225028e-03 2.21323010e-04 9.99996243e-01 -1.80843792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24140051300003 meters 0.08440042198690059 Centerline is valid? [True, True] Translation: X:269.41, Y:27.84, Z:-1.81 [[ 9.99494880e-01 -3.16458296e-02 -2.92015456e-03 2.69412021e+02] [ 3.16450012e-02 9.99499117e-01 -3.29458591e-04 2.78375712e+01] [ 2.92911790e-03 2.36883880e-04 9.99995682e-01 -1.80879762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.271400513 meters 0.08069461533955365 Centerline is valid? [True, True] Translation: X:269.44, Y:27.84, Z:-1.81 [[ 9.99400822e-01 -3.44930318e-02 -2.86835273e-03 2.69442615e+02] [ 3.44922445e-02 9.99404913e-01 -3.23508359e-04 2.78383223e+01] [ 2.87780459e-03 2.24378596e-04 9.99995834e-01 -1.80855163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30140051300003 meters 0.08218124983104376 Centerline is valid? [True, True] Translation: X:269.47, Y:27.85, Z:-1.81 [[ 9.99336586e-01 -3.63120003e-02 -2.79745372e-03 2.69470596e+02] [ 3.63112586e-02 9.99340479e-01 -3.15484713e-04 2.78451998e+01] [ 2.80706463e-03 2.13696351e-04 9.99996037e-01 -1.80926951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.331400513 meters 0.07989370394198232 Centerline is valid? [True, True] Translation: X:269.50, Y:27.85, Z:-1.81 [[ 9.99278097e-01 -3.78838531e-02 -2.84580340e-03 2.69500568e+02] [ 3.78830918e-02 9.99282126e-01 -3.20975245e-04 2.78476018e+01] [ 2.85592026e-03 2.12935700e-04 9.99995899e-01 -1.80978565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36140051300004 meters 0.08207980269441195 Centerline is valid? [True, True] Translation: X:269.53, Y:27.85, Z:-1.81 [[ 9.99245398e-01 -3.87425279e-02 -2.76588522e-03 2.69528302e+02] [ 3.87418113e-02 9.99249205e-01 -3.12199237e-04 2.78545107e+01] [ 2.77590400e-03 2.04808247e-04 9.99996126e-01 -1.81014639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.391400513 meters 0.07652831990490455 Centerline is valid? [True, True] Translation: X:269.56, Y:27.85, Z:-1.81 [[ 9.99256491e-01 -3.85047013e-02 -1.96297662e-03 2.69557662e+02] [ 3.85043384e-02 9.99258408e-01 -2.22317602e-04 2.78537172e+01] [ 1.97008116e-03 1.46569191e-04 9.99998049e-01 -1.80793912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42140051300004 meters 0.07372657067776928 Centerline is valid? [True, True] Translation: X:269.59, Y:27.86, Z:-1.81 [[ 9.99269197e-01 -3.81646097e-02 -2.12942660e-03 2.69585822e+02] [ 3.81641826e-02 9.99271453e-01 -2.40904095e-04 2.78567117e+01] [ 2.13706923e-03 1.59460216e-04 9.99997704e-01 -1.80744113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.451400513 meters 0.07807883497037324 Centerline is valid? [True, True] Translation: X:269.61, Y:27.87, Z:-1.81 [[ 9.99266449e-01 -3.82102861e-02 -2.55701788e-03 2.69612030e+02] [ 3.82096700e-02 9.99269702e-01 -2.89385357e-04 2.78698247e+01] [ 2.56620799e-03 1.91470269e-04 9.99996689e-01 -1.80875575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.481400513 meters 0.07451330627249124 Centerline is valid? [True, True] Translation: X:269.64, Y:27.87, Z:-1.81 [[ 9.99228112e-01 -3.91088821e-02 -3.69809843e-03 2.69640571e+02] [ 3.91075964e-02 9.99234917e-01 -4.19371052e-04 2.78729999e+01] [ 3.71167021e-03 2.74423604e-04 9.99993074e-01 -1.80984268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.511400513 meters 0.07803676172836718 Centerline is valid? [True, True] Translation: X:269.67, Y:27.88, Z:-1.81 [[ 9.99158267e-01 -4.07872268e-02 -4.37722530e-03 2.69668786e+02] [ 4.07854435e-02 9.99167805e-01 -4.95926721e-04 2.78831851e+01] [ 4.39381007e-03 3.16982208e-04 9.99990297e-01 -1.81168184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.541400513 meters 0.064527911043201 Centerline is valid? [True, True] Translation: X:269.70, Y:27.87, Z:-1.81 [[ 9.98860640e-01 -4.76082475e-02 -3.29801231e-03 2.69700834e+02] [ 4.76072719e-02 9.98866061e-01 -3.73726545e-04 2.78721584e+01] [ 3.31206503e-03 2.16291367e-04 9.99994492e-01 -1.80962804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.571400513 meters 0.064904938613977 Centerline is valid? [True, True] Translation: X:269.73, Y:27.88, Z:-1.81 [[ 9.98655258e-01 -5.18030890e-02 -2.02858606e-03 2.69729803e+02] [ 5.18027284e-02 9.98657311e-01 -2.29943981e-04 2.78782208e+01] [ 2.03777411e-03 1.24548473e-04 9.99997916e-01 -1.80885507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.601400513 meters 0.06868830137292363 Centerline is valid? [True, True] Translation: X:269.76, Y:27.89, Z:-1.81 [[ 9.98433560e-01 -5.59442624e-02 -8.16502080e-04 2.69757885e+02] [ 5.59442053e-02 9.98433892e-01 -9.26517620e-05 2.78870596e+01] [ 8.20406684e-04 4.68280685e-05 9.99999662e-01 -1.80821828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.631400513 meters 0.055134640362898564 Centerline is valid? [True, True] Translation: X:269.79, Y:27.87, Z:-1.81 [[ 9.98065626e-01 -6.21685714e-02 2.73258469e-04 2.69790111e+02] [ 6.21685652e-02 9.98065663e-01 3.09600763e-05 2.78736156e+01] [-2.74654638e-04 -1.39121010e-05 9.99999962e-01 -1.80512853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.661400513 meters 0.05231635073810649 Centerline is valid? [True, True] Translation: X:269.82, Y:27.87, Z:-1.80 [[ 9.97993492e-01 -6.33162967e-02 1.93255387e-04 2.69818811e+02] [ 6.33162937e-02 9.97993510e-01 2.17586817e-05 2.78736929e+01] [-1.94245301e-04 -9.47880785e-06 9.99999981e-01 -1.80468420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.691400513 meters 0.05616962232266873 Centerline is valid? [True, True] Translation: X:269.85, Y:27.88, Z:-1.81 [[ 9.98028154e-01 -6.27674879e-02 -2.12983890e-04 2.69845665e+02] [ 6.27674842e-02 9.98028177e-01 -2.43596510e-05 2.78828092e+01] [ 2.14092917e-04 1.09431546e-05 9.99999977e-01 -1.80516463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.721400513 meters 0.052481964266819274 Centerline is valid? [True, True] Translation: X:269.88, Y:27.88, Z:-1.81 [[ 9.98173607e-01 -6.04083176e-02 -5.34864309e-04 2.69875868e+02] [ 6.04082937e-02 9.98173750e-01 -6.07311273e-05 2.78839265e+01] [ 5.37556178e-04 2.83099681e-05 9.99999855e-01 -1.80529482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.751400513 meters 0.0546357123917768 Centerline is valid? [True, True] Translation: X:269.91, Y:27.89, Z:-1.81 [[ 9.98383524e-01 -5.68274412e-02 -9.90017488e-04 2.69905670e+02] [ 5.68273577e-02 9.98384014e-01 -1.12340485e-04 2.78920894e+01] [ 9.94801656e-04 5.58988117e-05 9.99999504e-01 -1.80617392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.781400513 meters 0.06627112842434883 Centerline is valid? [True, True] Translation: X:269.93, Y:27.91, Z:-1.81 [[ 9.98813869e-01 -4.86432346e-02 -2.16580724e-03 2.69932755e+02] [ 4.86428155e-02 9.98816207e-01 -2.45772668e-04 2.79110211e+01] [ 2.17519855e-03 1.40130187e-04 9.99997624e-01 -1.80801790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.811400513 meters 0.06768624733557937 Centerline is valid? [True, True] Translation: X:269.96, Y:27.92, Z:-1.81 [[ 9.98973721e-01 -4.51957843e-02 -2.97431775e-03 2.69962495e+02] [ 4.51949787e-02 9.98978128e-01 -3.37535384e-04 2.79169295e+01] [ 2.98653356e-03 2.02764751e-04 9.99995520e-01 -1.80862911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.841400513 meters 0.07725643808697173 Centerline is valid? [True, True] Translation: X:269.99, Y:27.94, Z:-1.81 [[ 9.99141548e-01 -4.12982148e-02 -3.25959227e-03 2.69989458e+02] [ 4.12972262e-02 9.99146837e-01 -3.70040948e-04 2.79377675e+01] [ 3.27209334e-03 2.35111166e-04 9.99994619e-01 -1.81023788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.871400513 meters 0.07828467402196027 Centerline is valid? [True, True] Translation: X:270.02, Y:27.95, Z:-1.81 [[ 9.99152965e-01 -4.10538019e-02 -2.81734477e-03 2.70017526e+02] [ 4.10530599e-02 9.99156916e-01 -3.20745975e-04 2.79450572e+01] [ 2.82813735e-03 2.04813669e-04 9.99995980e-01 -1.81017503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.901400513 meters 0.07024965311058999 Centerline is valid? [True, True] Translation: X:270.05, Y:27.94, Z:-1.81 [[ 9.99142958e-01 -4.12980610e-02 -2.79635236e-03 2.70046552e+02] [ 4.12973291e-02 9.99146850e-01 -3.18993908e-04 2.79400503e+01] [ 2.80714048e-03 2.03238633e-04 9.99996039e-01 -1.80950260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.931400513 meters 0.07604095782982113 Centerline is valid? [True, True] Translation: X:270.07, Y:27.95, Z:-1.81 [[ 9.99129990e-01 -4.16211955e-02 -2.63435559e-03 2.70073218e+02] [ 4.16205472e-02 9.99133444e-01 -3.00442029e-04 2.79498490e+01] [ 2.64457754e-03 1.90537320e-04 9.99996485e-01 -1.80988714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.961400513 meters 0.07780322514398857 Centerline is valid? [True, True] Translation: X:270.10, Y:27.95, Z:-1.81 [[ 9.99100417e-01 -4.23414604e-02 -2.35760326e-03 2.70100301e+02] [ 4.23409430e-02 9.99103184e-01 -2.68940159e-04 2.79549636e+01] [ 2.36687624e-03 1.68875080e-04 9.99997185e-01 -1.80928037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99140051300003 meters 0.06772838589913259 Centerline is valid? [True, True] Translation: X:270.13, Y:27.95, Z:-1.81 [[ 9.99046164e-01 -4.36283983e-02 -1.82334821e-03 2.70131046e+02] [ 4.36280910e-02 9.99047820e-01 -2.07970677e-04 2.79467693e+01] [ 1.83068548e-03 1.28223106e-04 9.99998316e-01 -1.80733634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.021400513 meters 0.06934159722907211 Centerline is valid? [True, True] Translation: X:270.16, Y:27.95, Z:-1.81 [[ 9.98877897e-01 -4.73582588e-02 -3.77908171e-04 2.70159457e+02] [ 4.73582459e-02 9.98877968e-01 -4.31607443e-05 2.79547931e+01] [ 3.79528164e-04 2.52152453e-05 9.99999928e-01 -1.80554457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05140051300003 meters 0.07084005479780636 Centerline is valid? [True, True] Translation: X:270.19, Y:27.96, Z:-1.81 [[ 9.98791846e-01 -4.91410525e-02 6.88452261e-05 2.70188303e+02] [ 4.91410521e-02 9.98791849e-01 7.77487605e-06 2.79603842e+01] [-6.91441162e-05 -4.38235596e-06 9.99999998e-01 -1.80520504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.081400513 meters 0.06913934476141408 Centerline is valid? [True, True] Translation: X:270.22, Y:27.96, Z:-1.81 [[ 9.98729240e-01 -5.03972416e-02 -1.54742604e-04 2.70218047e+02] [ 5.03972395e-02 9.98729252e-01 -1.77307658e-05 2.79586581e+01] [ 1.55439547e-04 9.90963413e-06 9.99999988e-01 -1.80585477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11140051300004 meters 0.06565721927702053 Centerline is valid? [True, True] Translation: X:270.25, Y:27.96, Z:-1.81 [[ 9.98673526e-01 -5.14852060e-02 -6.79751571e-04 2.70246791e+02] [ 5.14851649e-02 9.98673756e-01 -7.77338789e-05 2.79613871e+01] [ 6.82852199e-04 4.26336452e-05 9.99999766e-01 -1.80615734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.141400513 meters 0.062421547666696754 Centerline is valid? [True, True] Translation: X:270.28, Y:27.96, Z:-1.81 [[ 9.98638734e-01 -5.21241896e-02 -1.93583033e-03 2.70275642e+02] [ 5.21238572e-02 9.98640603e-01 -2.21807821e-04 2.79629237e+01] [ 1.94476032e-03 1.20602938e-04 9.99998102e-01 -1.80782996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17140051300004 meters 0.06836041709904421 Centerline is valid? [True, True] Translation: X:270.30, Y:27.97, Z:-1.81 [[ 9.98645450e-01 -5.19525361e-02 -2.86344280e-03 2.70301997e+02] [ 5.19518086e-02 9.98649539e-01 -3.27907097e-04 2.79734968e+01] [ 2.87661144e-03 1.78701898e-04 9.99995847e-01 -1.80994123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.201400513 meters 0.07071442126039086 Centerline is valid? [True, True] Translation: X:270.33, Y:27.98, Z:-1.81 [[ 9.98671274e-01 -5.14401089e-02 -3.09867903e-03 2.70329065e+02] [ 5.14392546e-02 9.98676062e-01 -3.54839580e-04 2.79790725e+01] [ 3.11282956e-03 1.94974356e-04 9.99995136e-01 -1.81047475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.231400513 meters 0.07117832992849416 Centerline is valid? [True, True] Translation: X:270.36, Y:27.98, Z:-1.81 [[ 9.98767756e-01 -4.96274602e-02 -2.91240519e-04 2.70357599e+02] [ 4.96281297e-02 9.98762859e-01 3.13066371e-03 2.79757029e+01] [ 1.35513325e-04 -3.14125969e-03 9.99995057e-01 -1.80951342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.261400513 meters 0.06831432164293684 Centerline is valid? [True, True] Translation: X:270.39, Y:27.99, Z:-1.81 [[ 9.98810811e-01 -4.87259562e-02 -1.65695895e-03 2.70385892e+02] [ 4.87202107e-02 9.98806857e-01 -3.34710732e-03 2.79868926e+01] [ 1.81807296e-03 3.26239958e-03 9.99993026e-01 -1.80818028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.291400513 meters 0.06659789924609158 Centerline is valid? [True, True] Translation: X:270.42, Y:27.99, Z:-1.81 [[ 9.98866779e-01 -4.75554638e-02 -1.90679811e-03 2.70415816e+02] [ 4.75551329e-02 9.98868591e-01 -2.18501723e-04 2.79867776e+01] [ 1.91503169e-03 1.27576075e-04 9.99998158e-01 -1.80834453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.321400513 meters 0.07070362062095123 Centerline is valid? [True, True] Translation: X:270.44, Y:28.00, Z:-1.81 [[ 9.98926275e-01 -4.62873433e-02 -1.94382217e-03 2.70443637e+02] [ 4.62869969e-02 9.98928158e-01 -2.22850337e-04 2.79954644e+01] [ 1.95205385e-03 1.32637367e-04 9.99998086e-01 -1.80894950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.351400513 meters 0.07237777403901374 Centerline is valid? [True, True] Translation: X:270.47, Y:28.00, Z:-1.81 [[ 9.98993088e-01 -4.48028152e-02 -2.34889590e-03 2.70474006e+02] [ 4.48023056e-02 9.98995836e-01 -2.69146978e-04 2.80002723e+01] [ 2.35859577e-03 1.63640019e-04 9.99997205e-01 -1.80986730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.381400513 meters 0.07785374453786988 Centerline is valid? [True, True] Translation: X:270.50, Y:28.01, Z:-1.81 [[ 9.99051368e-01 -4.34483589e-02 -2.93325934e-03 2.70501195e+02] [ 4.34475575e-02 9.99055652e-01 -3.36430391e-04 2.80088123e+01] [ 2.94510667e-03 2.08668288e-04 9.99995641e-01 -1.81123755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.411400513 meters 0.07541778405237355 Centerline is valid? [True, True] Translation: X:270.53, Y:28.01, Z:-1.81 [[ 9.99104752e-01 -4.21530588e-02 -3.57980586e-03 2.70530564e+02] [ 4.21518567e-02 9.99111131e-01 -4.10612777e-04 2.80081745e+01] [ 3.59393246e-03 2.59349713e-04 9.99993508e-01 -1.81153710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.441400513 meters 0.07789648340729508 Centerline is valid? [True, True] Translation: X:270.56, Y:28.02, Z:-1.81 [[ 9.99180128e-01 -4.02792157e-02 -4.08136338e-03 2.70559916e+02] [ 4.02776379e-02 9.99188417e-01 -4.68096222e-04 2.80153065e+01] [ 4.09690556e-03 3.03324767e-04 9.99991562e-01 -1.81210397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.471400513 meters 0.07939732440817678 Centerline is valid? [True, True] Translation: X:270.59, Y:28.02, Z:-1.81 [[ 9.99222374e-01 -3.92337251e-02 -3.91944226e-03 2.70588075e+02] [ 3.92322611e-02 9.99230017e-01 -4.49737317e-04 2.80206975e+01] [ 3.93406922e-03 2.95619008e-04 9.99992218e-01 -1.81216419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.501400513 meters 0.08229423740850969 Centerline is valid? [True, True] Translation: X:270.62, Y:28.03, Z:-1.81 [[ 9.99266012e-01 -3.81373122e-02 -3.60301750e-03 2.70616536e+02] [ 3.81360670e-02 9.99272470e-01 -4.13693391e-04 2.80264755e+01] [ 3.61617335e-03 2.75984828e-04 9.99993424e-01 -1.81175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.531400513 meters 0.08410050936605164 Centerline is valid? [True, True] Translation: X:270.65, Y:28.03, Z:-1.81 [[ 9.99359002e-01 -3.57689791e-02 -1.47139941e-03 2.70647274e+02] [ 3.57687690e-02 9.99360079e-01 -1.68880400e-04 2.80296602e+01] [ 1.47649851e-03 1.16142003e-04 9.99998903e-01 -1.80826583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.561400513 meters 0.08649485137396278 Centerline is valid? [True, True] Translation: X:270.68, Y:28.04, Z:-1.81 [[ 9.99386482e-01 -3.50197332e-02 -5.26294310e-04 2.70675033e+02] [ 3.50197062e-02 9.99386620e-01 -6.05735285e-05 2.80365219e+01] [ 5.28092761e-04 4.21056935e-05 9.99999860e-01 -1.80716199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.591400513 meters 0.0849678961363945 Centerline is valid? [True, True] Translation: X:270.70, Y:28.04, Z:-1.81 [[ 9.99392746e-01 -3.48398907e-02 -5.66699178e-04 2.70703890e+02] [ 3.48398591e-02 9.99392906e-01 -6.56836624e-05 2.80398050e+01] [ 5.68643550e-04 4.59000562e-05 9.99999837e-01 -1.80755681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.621400513 meters 0.0760578718029147 Centerline is valid? [True, True] Translation: X:270.73, Y:28.03, Z:-1.81 [[ 9.99380692e-01 -3.51577883e-02 -1.47053023e-03 2.70733956e+02] [ 3.51575761e-02 9.99381767e-01 -1.69867933e-04 2.80336141e+01] [ 1.47559328e-03 1.18062454e-04 9.99998904e-01 -1.80858567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.651400513 meters 0.0782484517529955 Centerline is valid? [True, True] Translation: X:270.76, Y:28.04, Z:-1.81 [[ 9.99309992e-01 -3.70735006e-02 -2.25720727e-03 2.70762394e+02] [ 3.70730073e-02 9.99312526e-01 -2.60019318e-04 2.80390125e+01] [ 2.26529533e-03 1.76158441e-04 9.99997419e-01 -1.81017177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.681400513 meters 0.07708767651791049 Centerline is valid? [True, True] Translation: X:270.79, Y:28.04, Z:-1.81 [[ 9.99253215e-01 -3.86303900e-02 -8.39989890e-04 2.70792238e+02] [ 3.86303222e-02 9.99253566e-01 -9.67820699e-05 2.80406768e+01] [ 8.43101622e-04 6.42607143e-05 9.99999643e-01 -1.80784935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.711400513 meters 0.07831984111045548 Centerline is valid? [True, True] Translation: X:270.82, Y:28.05, Z:-1.81 [[ 9.99183790e-01 -4.03905475e-02 5.97543439e-04 2.70820910e+02] [ 4.03905136e-02 9.99183968e-01 6.87568662e-05 2.80460934e+01] [-5.99832952e-04 -4.45656598e-05 9.99999819e-01 -1.80565072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74140051300003 meters 0.0773237596233101 Centerline is valid? [True, True] Translation: X:270.85, Y:28.05, Z:-1.80 [[ 9.99106053e-01 -4.22612877e-02 1.03847848e-03 2.70850687e+02] [ 4.22611861e-02 9.99106590e-01 1.19601109e-04 2.80496669e+01] [-1.04260519e-03 -7.56068597e-05 9.99999454e-01 -1.80473566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.771400513 meters 0.0715697738917436 Centerline is valid? [True, True] Translation: X:270.88, Y:28.05, Z:-1.81 [[ 9.99029870e-01 -4.40352782e-02 4.61743761e-04 2.70881238e+02] [ 4.40352584e-02 9.99029976e-01 5.31090251e-05 2.80473751e+01] [-4.63634529e-04 -3.27244966e-05 9.99999892e-01 -1.80603051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80140051300003 meters 0.07139717036462519 Centerline is valid? [True, True] Translation: X:270.91, Y:28.05, Z:-1.81 [[ 9.98952769e-01 -4.57121345e-02 -1.94086563e-03 2.70909634e+02] [ 4.57117856e-02 9.98954645e-01 -2.23771186e-04 2.80505868e+01] [ 1.94906579e-03 1.34816413e-04 9.99998091e-01 -1.81082663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.831400513 meters 0.06913873988354259 Centerline is valid? [True, True] Translation: X:270.94, Y:28.05, Z:-1.81 [[ 9.98922017e-01 -4.63534853e-02 -2.48167875e-03 2.70938557e+02] [ 4.63529147e-02 9.98925085e-01 -2.86989988e-04 2.80505509e+01] [ 2.49231414e-03 1.71647574e-04 9.99996879e-01 -1.81174260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86140051300004 meters 0.06675114297466664 Centerline is valid? [True, True] Translation: X:270.97, Y:28.05, Z:-1.81 [[ 9.98900472e-01 -4.68169745e-02 -2.45326170e-03 2.70967152e+02] [ 4.68164172e-02 9.98903470e-01 -2.84125705e-04 2.80506535e+01] [ 2.46387353e-03 1.68960378e-04 9.99996950e-01 -1.81099668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.891400513 meters 0.07020852985513706 Centerline is valid? [True, True] Translation: X:270.99, Y:28.06, Z:-1.81 [[ 9.98890671e-01 -4.70411371e-02 -2.13509438e-03 2.70993984e+02] [ 4.70407159e-02 9.98892942e-01 -2.47115040e-04 2.80587306e+01] [ 2.14435528e-03 1.46404540e-04 9.99997690e-01 -1.81051676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92140051300004 meters 0.07421380987727946 Centerline is valid? [True, True] Translation: X:271.02, Y:28.07, Z:-1.81 [[ 9.98935475e-01 -4.60847098e-02 -2.02872534e-03 2.71022259e+02] [ 4.60843275e-02 9.98937525e-01 -2.34801153e-04 2.80681930e+01] [ 2.03739062e-03 1.41058758e-04 9.99997915e-01 -1.80948920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.951400513 meters 0.07421380987727946 Centerline is valid? [True, True] Translation: X:271.05, Y:28.07, Z:-1.81 [[ 9.98927050e-01 -4.62669791e-02 -2.02862466e-03 2.71049610e+02] [ 4.62665955e-02 9.98929100e-01 -2.35670659e-04 2.80715136e+01] [ 2.03735598e-03 1.41560240e-04 9.99997915e-01 -1.80958250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.981400513 meters 0.08099047161288882 Centerline is valid? [True, True] Translation: X:271.08, Y:28.08, Z:-1.81 [[ 9.98974000e-01 -4.52553289e-02 -1.70394321e-03 2.71076562e+02] [ 4.52550572e-02 9.98975446e-01 -1.97688558e-04 2.80846618e+01] [ 1.71114388e-03 1.20373682e-04 9.99998529e-01 -1.81022841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.011400513 meters 0.0794424605573575 Centerline is valid? [True, True] Translation: X:271.11, Y:28.09, Z:-1.81 [[ 9.99021561e-01 -4.42188107e-02 -7.85255313e-04 2.71106057e+02] [ 4.42187527e-02 9.99021868e-01 -9.11175302e-05 2.80904583e+01] [ 7.88516339e-04 5.63053668e-05 9.99999688e-01 -1.80966555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.041400513 meters 0.07949437561389416 Centerline is valid? [True, True] Translation: X:271.13, Y:28.10, Z:-1.81 [[ 9.99078377e-01 -4.29189255e-02 -6.02847531e-04 2.71134989e+02] [ 4.29188910e-02 9.99078557e-01 -7.00280154e-05 2.80960391e+01] [ 6.05297569e-04 4.40899284e-05 9.99999816e-01 -1.80976441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.071400513 meters 0.07521393992622871 Centerline is valid? [True, True] Translation: X:271.17, Y:28.10, Z:-1.81 [[ 9.99134567e-01 -4.15578067e-02 -1.75067302e-03 2.71165236e+02] [ 4.15575144e-02 9.99136093e-01 -2.03031495e-04 2.80997287e+01] [ 1.75759814e-03 1.30102166e-04 9.99998447e-01 -1.81133347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.101400513 meters 0.08259591111377328 Centerline is valid? [True, True] Translation: X:271.19, Y:28.11, Z:-1.81 [[ 9.99124148e-01 -4.17490859e-02 -2.81977563e-03 2.71191377e+02] [ 4.17483274e-02 9.99128105e-01 -3.27375275e-04 2.81145993e+01] [ 2.83098470e-03 2.09367626e-04 9.99995971e-01 -1.81381487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.131400513 meters 0.07771726332168281 Centerline is valid? [True, True] Translation: X:271.22, Y:28.11, Z:-1.81 [[ 9.99100226e-01 -4.22250636e-02 -3.97279101e-03 2.71220769e+02] [ 4.22235579e-02 9.99108081e-01 -4.62139215e-04 2.81143316e+01] [ 3.98876146e-03 2.93978023e-04 9.99992002e-01 -1.81477459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.161400513 meters 0.07725771937324512 Centerline is valid? [True, True] Translation: X:271.25, Y:28.12, Z:-1.82 [[ 9.99074926e-01 -4.27385330e-02 -4.76546337e-03 2.71249228e+02] [ 4.27363693e-02 9.99086230e-01 -5.55005055e-04 2.81188303e+01] [ 4.78482893e-03 3.50833033e-04 9.99988491e-01 -1.81583836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.191400513 meters 0.07337153023581694 Centerline is valid? [True, True] Translation: X:271.28, Y:28.12, Z:-1.82 [[ 9.99034413e-01 -4.36233770e-02 -5.21935469e-03 2.71278009e+02] [ 4.36207944e-02 9.99047975e-01 -6.07677032e-04 2.81192590e+01] [ 5.24089466e-03 3.79417870e-04 9.99986194e-01 -1.81628134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.221400513 meters 0.06971125742520996 Centerline is valid? [True, True] Translation: X:271.31, Y:28.12, Z:-1.82 [[ 9.98892812e-01 -4.66605176e-02 -5.99552482e-03 2.71307908e+02] [ 4.66571652e-02 9.98910718e-01 -6.97881947e-04 2.81235572e+01] [ 6.02155753e-03 4.17375068e-04 9.99981783e-01 -1.81722244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.251400513 meters 0.07693575717410407 Centerline is valid? [True, True] Translation: X:271.34, Y:28.14, Z:-1.82 [[ 9.98810103e-01 -4.83706028e-02 -6.21799076e-03 2.71335405e+02] [ 4.83670286e-02 9.98829368e-01 -7.23994978e-04 2.81362012e+01] [ 6.24573185e-03 4.22387762e-04 9.99980406e-01 -1.81893209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.281400513 meters 0.07462282064240958 Centerline is valid? [True, True] Translation: X:271.36, Y:28.14, Z:-1.82 [[ 9.98721639e-01 -5.00999325e-02 -6.71445002e-03 2.71363987e+02] [ 5.00958027e-02 9.98744111e-01 -7.81944143e-04 2.81416982e+01] [ 6.74519276e-03 4.44578773e-04 9.99977152e-01 -1.82000307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.311400513 meters 0.06524829903800212 Centerline is valid? [True, True] Translation: X:271.39, Y:28.14, Z:-1.82 [[ 9.98655079e-01 -5.13928432e-02 -6.84167194e-03 2.71394143e+02] [ 5.13885753e-02 9.98678415e-01 -7.98254262e-04 2.81353894e+01] [ 6.87365464e-03 4.45596900e-04 9.99976277e-01 -1.81887438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.341400513 meters 0.06645201433438766 Centerline is valid? [True, True] Translation: X:271.42, Y:28.14, Z:-1.82 [[ 9.98629851e-01 -5.19850728e-02 -5.99773445e-03 2.71421635e+02] [ 5.19818030e-02 9.98647787e-01 -6.99885995e-04 2.81408097e+01] [ 6.02600786e-03 3.87153996e-04 9.99981769e-01 -1.81817283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.371400513 meters 0.06775728908344614 Centerline is valid? [True, True] Translation: X:271.45, Y:28.15, Z:-1.82 [[ 9.98638551e-01 -5.20082481e-02 -4.02318260e-03 2.71448392e+02] [ 5.20067758e-02 9.98646621e-01 -4.69770523e-04 2.81486273e+01] [ 4.04216965e-03 2.59898199e-04 9.99991797e-01 -1.81504041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.401400513 meters 0.07382227851417722 Centerline is valid? [True, True] Translation: X:271.47, Y:28.16, Z:-1.82 [[ 9.98667214e-01 -5.14241202e-02 -4.39953935e-03 2.71474220e+02] [ 5.14223513e-02 9.98676863e-01 -5.14317566e-04 2.81627431e+01] [ 4.42016648e-03 2.87397433e-04 9.99990190e-01 -1.81556585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.431400513 meters 0.06835283919664041 Centerline is valid? [True, True] Translation: X:271.50, Y:28.16, Z:-1.81 [[ 9.98711873e-01 -5.04878865e-02 -5.05639550e-03 2.71504118e+02] [ 5.04855391e-02 9.98724617e-01 -5.90896659e-04 2.81635227e+01] [ 5.07977978e-03 3.34860656e-04 9.99987042e-01 -1.81462041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.461400513 meters 0.06949128878616911 Centerline is valid? [True, True] Translation: X:271.53, Y:28.17, Z:-1.81 [[ 9.98770974e-01 -4.93124239e-02 -4.98252614e-03 2.71532827e+02] [ 4.93101294e-02 9.98783346e-01 -5.82382621e-04 2.81716806e+01] [ 5.00518283e-03 3.35977849e-04 9.99987418e-01 -1.81429162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49140051300003 meters 0.07013055173635874 Centerline is valid? [True, True] Translation: X:271.56, Y:28.18, Z:-1.81 [[ 9.98837948e-01 -4.79948354e-02 -4.38742006e-03 2.71561864e+02] [ 4.79930431e-02 9.98847538e-01 -5.12936674e-04 2.81778834e+01] [ 4.40698204e-03 3.01774975e-04 9.99990244e-01 -1.81311507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.521400513 meters 0.07305461167671967 Centerline is valid? [True, True] Translation: X:271.59, Y:28.19, Z:-1.81 [[ 9.98975570e-01 -4.52323655e-02 -1.35790962e-03 2.71591253e+02] [ 4.52321913e-02 9.98976488e-01 -1.58742394e-04 2.81886647e+01] [ 1.36370008e-03 9.71585452e-05 9.99999065e-01 -1.80888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55140051300003 meters 0.0833771649795757 Centerline is valid? [True, True] Translation: X:271.62, Y:28.21, Z:-1.81 [[ 9.99013925e-01 -4.43979510e-02 -2.03555410e-05 2.71617926e+02] [ 4.43979510e-02 9.99013925e-01 -2.49755252e-06 2.82070449e+01] [ 2.04463551e-05 1.59134544e-06 1.00000000e+00 -1.80788448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.581400513 meters 0.0759300787677611 Centerline is valid? [True, True] Translation: X:271.65, Y:28.20, Z:-1.81 [[ 9.99033080e-01 -4.39633790e-02 3.54909905e-04 2.71649185e+02] [ 4.39633671e-02 9.99033143e-01 4.14997160e-05 2.82030489e+01] [-3.56391226e-04 -2.58565546e-05 9.99999936e-01 -1.80691715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61140051300004 meters 0.08038368577987777 Centerline is valid? [True, True] Translation: X:271.68, Y:28.21, Z:-1.81 [[ 9.99026417e-01 -4.41154551e-02 2.12558179e-04 2.71677973e+02] [ 4.41154508e-02 9.99026439e-01 2.48181665e-05 2.82128281e+01] [-2.13446105e-04 -1.54169041e-05 9.99999977e-01 -1.80737237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.641400513 meters 0.07326137991658448 Centerline is valid? [True, True] Translation: X:271.71, Y:28.21, Z:-1.81 [[ 9.98995007e-01 -4.48205814e-02 3.02255929e-04 2.71709261e+02] [ 4.48205727e-02 9.98995053e-01 3.53463556e-05 2.82071970e+01] [-3.03536422e-04 -2.17635489e-05 9.99999954e-01 -1.80699697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67140051300004 meters 0.07249696869913266 Centerline is valid? [True, True] Translation: X:271.74, Y:28.21, Z:-1.81 [[ 9.98987441e-01 -4.49833608e-02 7.68462837e-04 2.71739249e+02] [ 4.49833049e-02 9.98987735e-01 8.98654355e-05 2.82097731e+01] [-7.71727398e-04 -5.52064433e-05 9.99999701e-01 -1.80654399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.701400513 meters 0.08077335920449451 Centerline is valid? [True, True] Translation: X:271.77, Y:28.22, Z:-1.81 [[ 9.98979318e-01 -4.51597156e-02 9.59899222e-04 2.71767409e+02] [ 4.51596285e-02 9.98979777e-01 1.12224278e-04 2.82233351e+01] [-9.63987928e-04 -6.87610402e-05 9.99999533e-01 -1.80688590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.731400513 meters 0.07205028715101938 Centerline is valid? [True, True] Translation: X:271.80, Y:28.22, Z:-1.81 [[ 9.98973550e-01 -4.52931045e-02 6.16515984e-04 2.71798614e+02] [ 4.52930685e-02 9.98973740e-01 7.21036959e-05 2.82159102e+01] [-6.19149078e-04 -4.41057844e-05 9.99999807e-01 -1.80754700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.761400513 meters 0.07914711218090105 Centerline is valid? [True, True] Translation: X:271.83, Y:28.23, Z:-1.81 [[ 9.98968610e-01 -4.54047951e-02 -3.48367863e-04 2.71827269e+02] [ 4.54047837e-02 9.98968670e-01 -4.07863455e-05 2.82270745e+01] [ 3.49860476e-04 2.49267114e-05 9.99999938e-01 -1.80950906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.791400513 meters 0.08035599319896822 Centerline is valid? [True, True] Translation: X:271.86, Y:28.23, Z:-1.81 [[ 9.98929336e-01 -4.62311912e-02 -1.69057835e-03 2.71856142e+02] [ 4.62309222e-02 9.98930760e-01 -1.97851925e-04 2.82301688e+01] [ 1.69791764e-03 1.19483096e-04 9.99998551e-01 -1.81209119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.821400513 meters 0.0785152347784377 Centerline is valid? [True, True] Translation: X:271.89, Y:28.23, Z:-1.81 [[ 9.98902069e-01 -4.68262315e-02 -1.39986759e-03 2.71885251e+02] [ 4.68260467e-02 9.98903045e-01 -1.64519219e-04 2.82306304e+01] [ 1.40603581e-03 9.87883233e-05 9.99999007e-01 -1.81124930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.851400513 meters 0.07293506065049804 Centerline is valid? [True, True] Translation: X:271.91, Y:28.23, Z:-1.81 [[ 9.98884539e-01 -4.72162006e-02 -5.55286487e-04 2.71914509e+02] [ 4.72161714e-02 9.98884692e-01 -6.56880554e-05 2.82257155e+01] [ 5.57768712e-04 3.93962810e-05 9.99999844e-01 -1.81030170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.881400513 meters 0.07154699473396776 Centerline is valid? [True, True] Translation: X:271.94, Y:28.22, Z:-1.81 [[ 9.98884798e-01 -4.72139824e-02 2.33850006e-05 2.71944362e+02] [ 4.72139823e-02 9.98884798e-01 2.19528258e-06 2.82205956e+01] [-2.34625696e-05 -1.08873540e-06 1.00000000e+00 -1.80963274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.911400513 meters 0.07430038546255333 Centerline is valid? [True, True] Translation: X:271.97, Y:28.22, Z:-1.81 [[ 9.98892194e-01 -4.70530819e-02 -6.26865461e-04 2.71972589e+02] [ 4.70530448e-02 9.98892389e-01 -7.37784414e-05 2.82240150e+01] [ 6.29642641e-04 4.42007806e-05 9.99999801e-01 -1.81041786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.941400513 meters 0.07749513767345348 Centerline is valid? [True, True] Translation: X:272.00, Y:28.23, Z:-1.81 [[ 9.98900755e-01 -4.68494627e-02 -1.55237880e-03 2.72000940e+02] [ 4.68492352e-02 9.98901955e-01 -1.82584517e-04 2.82292182e+01] [ 1.55922821e-03 1.09656052e-04 9.99998778e-01 -1.81226429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.971400513 meters 0.07089724061568452 Centerline is valid? [True, True] Translation: X:272.03, Y:28.22, Z:-1.81 [[ 9.98906087e-01 -4.67013743e-02 -2.36869062e-03 2.72030364e+02] [ 4.67008425e-02 9.98908881e-01 -2.79371441e-04 2.82229989e+01] [ 2.37915313e-03 1.68445986e-04 9.99997156e-01 -1.81306555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.001400513 meters 0.07306921466739356 Centerline is valid? [True, True] Translation: X:272.06, Y:28.22, Z:-1.81 [[ 9.98980009e-01 -4.51151373e-02 -1.88861396e-03 2.72059942e+02] [ 4.51147971e-02 9.98981784e-01 -2.22372873e-04 2.82236767e+01] [ 1.89672332e-03 1.36941620e-04 9.99998192e-01 -1.81377423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.031400513 meters 0.0775586645758037 Centerline is valid? [True, True] Translation: X:272.09, Y:28.23, Z:-1.81 [[ 9.99043039e-01 -4.37138593e-02 -1.45056238e-03 2.72088160e+02] [ 4.37136568e-02 9.99044087e-01 -1.71011435e-04 2.82298835e+01] [ 1.45665134e-03 1.07438398e-04 9.99998933e-01 -1.81342456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.061400513 meters 0.07616547955683042 Centerline is valid? [True, True] Translation: X:272.12, Y:28.23, Z:-1.81 [[ 9.99108871e-01 -4.21662919e-02 -1.86206579e-03 2.72118719e+02] [ 4.21659560e-02 9.99110597e-01 -2.19300494e-04 2.82309432e+01] [ 1.86965675e-03 1.40589284e-04 9.99998242e-01 -1.81337681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.091400513 meters 0.07618199347223367 Centerline is valid? [True, True] Translation: X:272.15, Y:28.24, Z:-1.81 [[ 9.99192817e-01 -4.00849811e-02 -2.62849779e-03 2.72149178e+02] [ 4.00843047e-02 9.99196253e-01 -3.09533111e-04 2.82351315e+01] [ 2.63879277e-03 2.03921755e-04 9.99996498e-01 -1.81430852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.121400513 meters 0.08772095115293244 Centerline is valid? [True, True] Translation: X:272.18, Y:28.25, Z:-1.82 [[ 9.99275669e-01 -3.78847481e-02 -3.58930133e-03 2.72177105e+02] [ 3.78834727e-02 9.99282074e-01 -4.22690372e-04 2.82504615e+01] [ 3.60273800e-03 2.86409005e-04 9.99993469e-01 -1.81660043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.151400513 meters 0.08487237701844491 Centerline is valid? [True, True] Translation: X:272.21, Y:28.25, Z:-1.82 [[ 9.99331047e-01 -3.63431159e-02 -4.07889886e-03 2.72206837e+02] [ 3.63414556e-02 9.99339316e-01 -4.80439198e-04 2.82529093e+01] [ 4.09366465e-03 3.31884684e-04 9.99991566e-01 -1.81685990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.181400513 meters 0.09131758105635789 Centerline is valid? [True, True] Translation: X:272.23, Y:28.26, Z:-1.82 [[ 9.99386425e-01 -3.47986590e-02 -3.97819770e-03 2.72234661e+02] [ 3.47970674e-02 9.99394289e-01 -4.68619030e-04 2.82630395e+01] [ 3.99209538e-03 3.29901884e-04 9.99991977e-01 -1.81688564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.211400513 meters 0.08927428373515489 Centerline is valid? [True, True] Translation: X:272.26, Y:28.26, Z:-1.82 [[ 9.99380351e-01 -3.50526462e-02 -3.19786826e-03 2.72263946e+02] [ 3.50516174e-02 9.99385432e-01 -3.77226703e-04 2.82647506e+01] [ 3.20912575e-03 2.64902500e-04 9.99994816e-01 -1.81513771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24140051300003 meters 0.08648584829952446 Centerline is valid? [True, True] Translation: X:272.29, Y:28.27, Z:-1.81 [[ 9.99356484e-01 -3.57756253e-02 -2.59262070e-03 2.72292522e+02] [ 3.57749514e-02 9.99359825e-01 -3.05869887e-04 2.82659350e+01] [ 2.60190366e-03 2.12922176e-04 9.99996592e-01 -1.81424639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.271400513 meters 0.0855258091288675 Centerline is valid? [True, True] Translation: X:272.32, Y:28.27, Z:-1.82 [[ 9.99315532e-01 -3.68819431e-02 -2.86165738e-03 2.72322204e+02] [ 3.68811266e-02 9.99319603e-01 -3.37582788e-04 2.82686645e+01] [ 2.87216103e-03 2.31810575e-04 9.99995848e-01 -1.81517926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30140051300003 meters 0.08013001507575633 Centerline is valid? [True, True] Translation: X:272.35, Y:28.26, Z:-1.82 [[ 9.99238829e-01 -3.88833425e-02 -3.13816878e-03 2.72353378e+02] [ 3.88823706e-02 9.99243726e-01 -3.70137427e-04 2.82647820e+01] [ 3.15018764e-03 2.47836247e-04 9.99995007e-01 -1.81619051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.331400513 meters 0.08676097645087516 Centerline is valid? [True, True] Translation: X:272.38, Y:28.28, Z:-1.82 [[ 9.99204093e-01 -3.98297581e-02 -2.18419840e-03 2.72380861e+02] [ 3.98292891e-02 9.99206466e-01 -2.57805477e-04 2.82760454e+01] [ 2.19273349e-03 1.70605218e-04 9.99997581e-01 -1.81540903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36140051300004 meters 0.08332245295592446 Centerline is valid? [True, True] Translation: X:272.41, Y:28.28, Z:-1.81 [[ 9.99173790e-01 -4.06224782e-02 -1.24537634e-03 2.72409701e+02] [ 4.06223262e-02 9.99174562e-01 -1.47136618e-04 2.82758138e+01] [ 1.25032542e-03 9.64249681e-05 9.99999214e-01 -1.81311146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.391400513 meters 0.08463735929891662 Centerline is valid? [True, True] Translation: X:272.44, Y:28.28, Z:-1.81 [[ 9.99142965e-01 -4.13826187e-02 -9.02092087e-04 2.72437641e+02] [ 4.13825392e-02 9.99143370e-01 -1.06617744e-04 2.82814228e+01] [ 9.05731449e-04 6.91955073e-05 9.99999587e-01 -1.81240722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42140051300004 meters 0.07746450092907033 Centerline is valid? [True, True] Translation: X:272.47, Y:28.28, Z:-1.81 [[ 9.99069811e-01 -4.30488564e-02 -2.51156309e-03 2.72468254e+02] [ 4.30482461e-02 9.99072951e-01 -2.96580188e-04 2.82766216e+01] [ 2.52200218e-03 1.88185927e-04 9.99996802e-01 -1.81415449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.451400513 meters 0.08190575588846258 Centerline is valid? [True, True] Translation: X:272.50, Y:28.28, Z:-1.81 [[ 9.99028752e-01 -4.39891469e-02 -2.55109141e-03 2.72495011e+02] [ 4.39885195e-02 9.99031991e-01 -3.01549443e-04 2.82847783e+01] [ 2.56188684e-03 1.89037829e-04 9.99996700e-01 -1.81481744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.481400513 meters 0.07537110435331323 Centerline is valid? [True, True] Translation: X:272.53, Y:28.28, Z:-1.81 [[ 9.98983547e-01 -4.50402280e-02 -1.80278723e-03 2.72525627e+02] [ 4.50399164e-02 9.98985165e-01 -2.13079876e-04 2.82796625e+01] [ 1.81055486e-03 1.31665905e-04 9.99998352e-01 -1.81294366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.511400513 meters 0.0781459972324612 Centerline is valid? [True, True] Translation: X:272.55, Y:28.29, Z:-1.81 [[ 9.98928624e-01 -4.62731464e-02 -6.32872376e-04 2.72553980e+02] [ 4.62731082e-02 9.98928823e-01 -7.49135388e-05 2.82853551e+01] [ 6.35660943e-04 4.55483062e-05 9.99999797e-01 -1.81143562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.541400513 meters 0.07300944549294493 Centerline is valid? [True, True] Translation: X:272.59, Y:28.28, Z:-1.81 [[ 9.98785397e-01 -4.92714065e-02 -2.43051625e-04 2.72585762e+02] [ 4.92714009e-02 9.98785427e-01 -2.87325329e-05 2.82783287e+01] [ 2.44172113e-04 1.67221402e-05 9.99999970e-01 -1.81027699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.571400513 meters 0.0762021885720561 Centerline is valid? [True, True] Translation: X:272.61, Y:28.28, Z:-1.81 [[ 9.98718412e-01 -5.05898573e-02 -1.48346019e-03 2.72613995e+02] [ 5.05896522e-02 9.98719508e-01 -1.75493931e-04 2.82829672e+01] [ 1.49043884e-03 1.00221285e-04 9.99998884e-01 -1.81258674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.601400513 meters 0.07012570189342625 Centerline is valid? [True, True] Translation: X:272.64, Y:28.28, Z:-1.81 [[ 9.98649103e-01 -5.18896908e-02 -2.72564727e-03 2.72644419e+02] [ 5.18890012e-02 9.98652806e-01 -3.23147195e-04 2.82765317e+01] [ 2.73874330e-03 1.81279542e-04 9.99996233e-01 -1.81414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.631400513 meters 0.06690837980823984 Centerline is valid? [True, True] Translation: X:272.67, Y:28.27, Z:-1.81 [[ 9.98580410e-01 -5.32013512e-02 -2.60398681e-03 2.72674754e+02] [ 5.32007272e-02 9.98583791e-01 -3.08379976e-04 2.82736520e+01] [ 2.61670525e-03 1.69408211e-04 9.99996562e-01 -1.81452231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.661400513 meters 0.06615624774494043 Centerline is valid? [True, True] Translation: X:272.71, Y:28.27, Z:-1.81 [[ 9.98413822e-01 -5.63012889e-02 -7.10114200e-05 2.72705213e+02] [ 5.63012884e-02 9.98413824e-01 -8.45446651e-06 2.82693561e+01] [ 7.13747808e-05 4.44302178e-06 9.99999997e-01 -1.81018390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.691400513 meters 0.0677925912280914 Centerline is valid? [True, True] Translation: X:272.73, Y:28.27, Z:-1.81 [[ 9.98334285e-01 -5.76941255e-02 2.07422802e-04 2.72734278e+02] [ 5.76941217e-02 9.98334307e-01 2.44887196e-05 2.82711112e+01] [-2.08490155e-04 -1.24808520e-05 9.99999978e-01 -1.80886303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.721400513 meters 0.06481684505868482 Centerline is valid? [True, True] Translation: X:272.76, Y:28.27, Z:-1.81 [[ 9.98300260e-01 -5.82762145e-02 -6.88958128e-04 2.72763265e+02] [ 5.82761716e-02 9.98300496e-01 -8.22461836e-05 2.82682683e+01] [ 6.92580237e-04 4.19565444e-05 9.99999759e-01 -1.80980378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.751400513 meters 0.06096139450515344 Centerline is valid? [True, True] Translation: X:272.79, Y:28.27, Z:-1.81 [[ 9.98330630e-01 -5.77109619e-02 -2.32336965e-03 2.72792248e+02] [ 5.77104756e-02 9.98333324e-01 -2.75873905e-04 2.82656147e+01] [ 2.33541829e-03 1.41330601e-04 9.99997263e-01 -1.81134757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.781400513 meters 0.06663957733775822 Centerline is valid? [True, True] Translation: X:272.82, Y:28.28, Z:-1.81 [[ 9.98416031e-01 -5.61578271e-02 -3.42452632e-03 2.72819457e+02] [ 5.61567613e-02 9.98421881e-01 -4.06649415e-04 2.82750541e+01] [ 3.44195856e-03 2.13694988e-04 9.99994054e-01 -1.81394576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.811400513 meters 0.07934041978916452 Centerline is valid? [True, True] Translation: X:272.85, Y:28.29, Z:-1.81 [[ 9.98682259e-01 -5.12626156e-02 -2.42691050e-03 2.72847031e+02] [ 5.12620659e-02 9.98685194e-01 -2.88199704e-04 2.82900336e+01] [ 2.43849345e-03 1.63411485e-04 9.99997014e-01 -1.81443744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.841400513 meters 0.07733217273598332 Centerline is valid? [True, True] Translation: X:272.88, Y:28.29, Z:-1.81 [[ 9.98803517e-01 -4.88565980e-02 -2.13727299e-03 2.72877431e+02] [ 4.88561663e-02 9.98805792e-01 -2.53757653e-04 2.82881001e+01] [ 2.14711838e-03 1.49035071e-04 9.99997684e-01 -1.81365600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.871400513 meters 0.08733766088993561 Centerline is valid? [True, True] Translation: X:272.91, Y:28.30, Z:-1.82 [[ 9.98907503e-01 -4.66190159e-02 -3.23526165e-03 2.72905661e+02] [ 4.66180149e-02 9.98912715e-01 -3.84195560e-04 2.83005325e+01] [ 3.24965482e-03 2.32954352e-04 9.99994693e-01 -1.81628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.901400513 meters 0.08733766088993561 Centerline is valid? [True, True] Translation: X:272.93, Y:28.30, Z:-1.82 [[ 9.98899602e-01 -4.67880277e-02 -3.23513437e-03 2.72933004e+02] [ 4.67870241e-02 9.98904813e-01 -3.85266685e-04 2.83039547e+01] [ 3.24961716e-03 2.33480429e-04 9.99994693e-01 -1.81637961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.931400513 meters 0.07997592112191472 Centerline is valid? [True, True] Translation: X:272.96, Y:28.30, Z:-1.82 [[ 9.98987862e-01 -4.47619667e-02 -4.42929013e-03 2.72964224e+02] [ 4.47600688e-02 9.98997627e-01 -5.26734720e-04 2.82963704e+01] [ 4.44842801e-03 3.27946261e-04 9.99990052e-01 -1.81730102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.961400513 meters 0.07420359545948345 Centerline is valid? [True, True] Translation: X:273.00, Y:28.29, Z:-1.82 [[ 9.99083711e-01 -4.24994671e-02 -5.05306394e-03 2.72995695e+02] [ 4.24969682e-02 9.99096415e-01 -6.00927452e-04 2.82922037e+01] [ 5.07403716e-03 3.85636932e-04 9.99987053e-01 -1.81664636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99140051300003 meters 0.0850746116530128 Centerline is valid? [True, True] Translation: X:273.02, Y:28.31, Z:-1.81 [[ 9.99306543e-01 -3.71874146e-02 -1.87889775e-03 2.73023534e+02] [ 3.71870598e-02 9.99308297e-01 -2.23448053e-04 2.83104697e+01] [ 1.88590757e-03 1.53422418e-04 9.99998210e-01 -1.81253846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.021400513 meters 0.08781214899052542 Centerline is valid? [True, True] Translation: X:273.05, Y:28.32, Z:-1.81 [[ 9.99405644e-01 -3.44722019e-02 1.64183256e-04 2.73053085e+02] [ 3.44721991e-02 9.99405657e-01 1.95268931e-05 2.83184823e+01] [-1.64758810e-04 -1.38555293e-05 9.99999986e-01 -1.80977017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05140051300003 meters 0.09129441366288717 Centerline is valid? [True, True] Translation: X:273.08, Y:28.33, Z:-1.81 [[ 9.99482617e-01 -3.21468902e-02 1.03763288e-03 2.73082709e+02] [ 3.21467793e-02 9.99483151e-01 1.23396340e-04 2.83271698e+01] [-1.04106339e-03 -8.99759412e-05 9.99999454e-01 -1.80926532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.081400513 meters 0.0924145163128686 Centerline is valid? [True, True] Translation: X:273.11, Y:28.33, Z:-1.81 [[ 9.99530691e-01 -3.06298730e-02 4.55837782e-04 2.73112150e+02] [ 3.06298515e-02 9.99530795e-01 5.41588526e-05 2.83325188e+01] [-4.57282779e-04 -4.01711919e-05 9.99999895e-01 -1.81040890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11140051300004 meters 0.09095179537058812 Centerline is valid? [True, True] Translation: X:273.14, Y:28.33, Z:-1.81 [[ 9.99543284e-01 -3.02150773e-02 -5.21385215e-04 2.73141716e+02] [ 3.02150490e-02 9.99543419e-01 -6.21009381e-05 2.83340530e+01] [ 5.23023545e-04 4.63188959e-05 9.99999862e-01 -1.81254118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.141400513 meters 0.09288247224985922 Centerline is valid? [True, True] Translation: X:273.17, Y:28.34, Z:-1.81 [[ 9.99505284e-01 -3.14102995e-02 -1.60644966e-03 2.73170575e+02] [ 3.14100324e-02 9.99506565e-01 -1.91217540e-04 2.83391527e+01] [ 1.61166318e-03 1.40664306e-04 9.99998691e-01 -1.81409706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17140051300004 meters 0.07968913619096778 Centerline is valid? [True, True] Translation: X:273.20, Y:28.32, Z:-1.81 [[ 9.99288245e-01 -3.76475782e-02 -2.37991110e-03 2.73202598e+02] [ 3.76470098e-02 9.99291060e-01 -2.83194849e-04 2.83247734e+01] [ 2.38888548e-03 1.93396747e-04 9.99997128e-01 -1.81415365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.201400513 meters 0.08206696964314159 Centerline is valid? [True, True] Translation: X:273.23, Y:28.33, Z:-1.81 [[ 9.99117711e-01 -4.19596123e-02 -1.78600221e-03 2.73232002e+02] [ 4.19592990e-02 9.99119298e-01 -2.12584874e-04 2.83299355e+01] [ 1.79334926e-03 1.37457912e-04 9.99998383e-01 -1.81387639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.231400513 meters 0.07147216368545314 Centerline is valid? [True, True] Translation: X:273.26, Y:28.32, Z:-1.81 [[ 9.98934457e-01 -4.61406205e-02 -9.97249862e-04 2.73264077e+02] [ 4.61405248e-02 9.98934952e-01 -1.18693668e-04 2.83182196e+01] [ 1.00166434e-03 7.25535631e-05 9.99999496e-01 -1.81248655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.261400513 meters 0.06845865422361175 Centerline is valid? [True, True] Translation: X:273.29, Y:28.31, Z:-1.81 [[ 9.98613806e-01 -5.26347007e-02 -2.32046682e-04 2.73294553e+02] [ 5.26346957e-02 9.98613833e-01 -2.76727325e-05 2.83105314e+01] [ 2.33181573e-04 1.54206662e-05 9.99999973e-01 -1.81143109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.291400513 meters 0.06787061076660796 Centerline is valid? [True, True] Translation: X:273.32, Y:28.31, Z:-1.81 [[ 9.98515633e-01 -5.44632777e-02 -5.31069939e-04 2.73323230e+02] [ 5.44632516e-02 9.98515774e-01 -6.33435499e-05 2.83103728e+01] [ 5.33731609e-04 3.43257291e-05 9.99999857e-01 -1.81194718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.321400513 meters 0.06316646264870047 Centerline is valid? [True, True] Translation: X:273.35, Y:28.31, Z:-1.81 [[ 9.98451857e-01 -5.56146599e-02 -9.48065630e-04 2.73352419e+02] [ 5.56145775e-02 9.98452305e-01 -1.13076840e-04 2.83066599e+01] [ 9.52887044e-04 6.01755119e-05 9.99999544e-01 -1.81181102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.351400513 meters 0.06975059763872013 Centerline is valid? [True, True] Translation: X:273.38, Y:28.32, Z:-1.81 [[ 9.98421287e-01 -5.61496288e-02 -1.46758094e-03 2.73378866e+02] [ 5.61494319e-02 9.98422361e-01 -1.75078475e-04 2.83170902e+01] [ 1.47509622e-03 9.23982401e-05 9.99998908e-01 -1.81287563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.381400513 meters 0.06610494971003247 Centerline is valid? [True, True] Translation: X:273.41, Y:28.31, Z:-1.81 [[ 9.98420057e-01 -5.61670546e-02 -1.62817097e-03 2.73408061e+02] [ 5.61668113e-02 9.98421380e-01 -1.94819755e-04 2.83139958e+01] [ 1.63654316e-03 1.03062779e-04 9.99998656e-01 -1.81310451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.411400513 meters 0.07102580070570683 Centerline is valid? [True, True] Translation: X:273.44, Y:28.32, Z:-1.81 [[ 9.98430445e-01 -5.59821211e-02 -1.62737192e-03 2.73435250e+02] [ 5.59818782e-02 9.98431766e-01 -1.94469079e-04 2.83203573e+01] [ 1.63570661e-03 1.03060512e-04 9.99998657e-01 -1.81390724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.441400513 meters 0.06451644015451082 Centerline is valid? [True, True] Translation: X:273.47, Y:28.31, Z:-1.81 [[ 9.98462123e-01 -5.54234032e-02 -1.27899608e-03 2.73465794e+02] [ 5.54232519e-02 9.98462939e-01 -1.53449336e-04 2.83106466e+01] [ 1.28553486e-03 8.23272282e-05 9.99999170e-01 -1.81291014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.471400513 meters 0.07089009091847298 Centerline is valid? [True, True] Translation: X:273.49, Y:28.32, Z:-1.81 [[ 9.98494250e-01 -5.48448746e-02 -1.12782738e-03 2.73492884e+02] [ 5.48447569e-02 9.98494885e-01 -1.35087115e-04 2.83207524e+01] [ 1.13353870e-03 7.30282893e-05 9.99999355e-01 -1.81358242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.501400513 meters 0.0702908320297848 Centerline is valid? [True, True] Translation: X:273.52, Y:28.32, Z:-1.81 [[ 9.98552028e-01 -5.37832277e-02 -1.10108724e-03 2.73521888e+02] [ 5.37831149e-02 9.98552632e-01 -1.31845428e-04 2.83231902e+01] [ 1.10658464e-03 7.24346174e-05 9.99999385e-01 -1.81327686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.531400513 meters 0.07360733146729187 Centerline is valid? [True, True] Translation: X:273.55, Y:28.33, Z:-1.81 [[ 9.98620006e-01 -5.25108626e-02 -8.32263613e-04 2.73550019e+02] [ 5.25107976e-02 9.98620351e-01 -9.97781907e-05 2.83300979e+01] [ 8.36354821e-04 5.59376712e-05 9.99999649e-01 -1.81330357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.561400513 meters 0.07141359299277175 Centerline is valid? [True, True] Translation: X:273.58, Y:28.33, Z:-1.81 [[ 9.98755244e-01 -4.98575424e-02 -1.47936815e-03 2.73580684e+02] [ 4.98573345e-02 9.98756334e-01 -1.77076418e-04 2.83295511e+01] [ 1.48635690e-03 1.03098649e-04 9.99998890e-01 -1.81447872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.591400513 meters 0.07327761685509954 Centerline is valid? [True, True] Translation: X:273.61, Y:28.33, Z:-1.82 [[ 9.98781473e-01 -4.93159035e-02 -1.87362949e-03 2.73607924e+02] [ 4.93155686e-02 9.98783222e-01 -2.24556129e-04 2.83349065e+01] [ 1.88242389e-03 1.31883398e-04 9.99998220e-01 -1.81551650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.621400513 meters 0.0695529842831413 Centerline is valid? [True, True] Translation: X:273.64, Y:28.33, Z:-1.82 [[ 9.98779483e-01 -4.93321357e-02 -2.42582790e-03 2.73637516e+02] [ 4.93315726e-02 9.98782414e-01 -2.91438441e-04 2.83333830e+01] [ 2.43725153e-03 1.71412830e-04 9.99997015e-01 -1.81623983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.651400513 meters 0.0686928152540289 Centerline is valid? [True, True] Translation: X:273.67, Y:28.33, Z:-1.82 [[ 9.98764954e-01 -4.96071400e-02 -2.77474228e-03 2.73665183e+02] [ 4.96064030e-02 9.98768789e-01 -3.33879452e-04 2.83348391e+01] [ 2.78788879e-03 1.95822112e-04 9.99996095e-01 -1.81701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.681400513 meters 0.06872372064936418 Centerline is valid? [True, True] Translation: X:273.69, Y:28.34, Z:-1.82 [[ 9.98732483e-01 -5.02004298e-02 -3.65309421e-03 2.73693616e+02] [ 5.01991549e-02 9.98739131e-01 -4.39886613e-04 2.83369248e+01] [ 3.67057063e-03 2.55946807e-04 9.99993231e-01 -1.81839616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.711400513 meters 0.07116964937791574 Centerline is valid? [True, True] Translation: X:273.72, Y:28.34, Z:-1.82 [[ 9.98626917e-01 -5.21834614e-02 -4.60067312e-03 2.73722566e+02] [ 5.21814628e-02 9.98637466e-01 -5.53480528e-04 2.83414642e+01] [ 4.62328707e-03 3.12650701e-04 9.99989264e-01 -1.82009870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74140051300003 meters 0.07043821385119231 Centerline is valid? [True, True] Translation: X:273.75, Y:28.34, Z:-1.82 [[ 9.98601513e-01 -5.27150411e-02 -4.01769793e-03 2.73751836e+02] [ 5.27135190e-02 9.98609559e-01 -4.83892978e-04 2.83438310e+01] [ 4.03761999e-03 2.71429264e-04 9.99991812e-01 -1.81891667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.771400513 meters 0.06920111797374395 Centerline is valid? [True, True] Translation: X:273.78, Y:28.34, Z:-1.82 [[ 9.98623108e-01 -5.23560220e-02 -3.27644326e-03 2.73781042e+02] [ 5.23550049e-02 9.98628458e-01 -3.95478148e-04 2.83429694e+01] [ 3.29265514e-03 2.23395414e-04 9.99994554e-01 -1.81763408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80140051300003 meters 0.06402539450959553 Centerline is valid? [True, True] Translation: X:273.81, Y:28.34, Z:-1.82 [[ 9.98642519e-01 -5.20239714e-02 -2.57405755e-03 2.73809781e+02] [ 5.20233428e-02 9.98645821e-01 -3.10620751e-04 2.83412306e+01] [ 2.58673154e-03 1.76288011e-04 9.99996639e-01 -1.81540768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.831400513 meters 0.07742999379678271 Centerline is valid? [True, True] Translation: X:273.84, Y:28.36, Z:-1.82 [[ 9.98844863e-01 -4.80057357e-02 -2.09504444e-03 2.73836681e+02] [ 4.80053106e-02 9.98847048e-01 -2.52776763e-04 2.83613844e+01] [ 2.10476369e-03 1.51911512e-04 9.99997773e-01 -1.81622927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86140051300004 meters 0.08098275566972048 Centerline is valid? [True, True] Translation: X:273.87, Y:28.37, Z:-1.82 [[ 9.98975004e-01 -4.52068723e-02 -2.29774448e-03 2.73865725e+02] [ 4.52063537e-02 9.98977632e-01 -2.77156408e-04 2.83709498e+01] [ 2.30792472e-03 1.72999674e-04 9.99997322e-01 -1.81715437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.891400513 meters 0.07439101057149325 Centerline is valid? [True, True] Translation: X:273.90, Y:28.37, Z:-1.82 [[ 9.99105102e-01 -4.22045554e-02 -2.78767720e-03 2.73896542e+02] [ 4.22037805e-02 9.99108967e-01 -3.36244062e-04 2.83692036e+01] [ 2.79938432e-03 2.18292641e-04 9.99996058e-01 -1.81666889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92140051300004 meters 0.08578445276810577 Centerline is valid? [True, True] Translation: X:273.92, Y:28.39, Z:-1.82 [[ 9.99226075e-01 -3.92138332e-02 -3.08653798e-03 2.73923874e+02] [ 3.92128688e-02 9.99230810e-01 -3.72364071e-04 2.83893762e+01] [ 3.09876567e-03 2.51043880e-04 9.99995167e-01 -1.81801155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.951400513 meters 0.08895388310399949 Centerline is valid? [True, True] Translation: X:273.95, Y:28.40, Z:-1.82 [[ 9.99325502e-01 -3.65939909e-02 -3.06950699e-03 2.73953578e+02] [ 3.65930250e-02 9.99330182e-01 -3.70269426e-04 2.83994686e+01] [ 3.08100062e-03 2.57697134e-04 9.99995221e-01 -1.81781946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.981400513 meters 0.08116412961490757 Centerline is valid? [True, True] Translation: X:273.98, Y:28.40, Z:-1.82 [[ 9.99377804e-01 -3.51368982e-02 -3.06655831e-03 2.73984233e+02] [ 3.51359271e-02 9.99382474e-01 -3.69990965e-04 2.83989581e+01] [ 3.07766496e-03 2.62014389e-04 9.99995230e-01 -1.81704871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.011400513 meters 0.0882080997765807 Centerline is valid? [True, True] Translation: X:274.01, Y:28.42, Z:-1.82 [[ 9.99327815e-01 -3.64952491e-02 -3.46635510e-03 2.74011181e+02] [ 3.64940161e-02 9.99333784e-01 -4.18321504e-04 2.84151564e+01] [ 3.47931251e-03 2.91539096e-04 9.99993905e-01 -1.81934933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.041400513 meters 0.08093934344735662 Centerline is valid? [True, True] Translation: X:274.04, Y:28.41, Z:-1.82 [[ 9.99223041e-01 -3.92107880e-02 -3.97843120e-03 2.74042247e+02] [ 3.92091854e-02 9.99230909e-01 -4.80055972e-04 2.84138934e+01] [ 3.99419479e-03 3.23691942e-04 9.99991971e-01 -1.82069501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.071400513 meters 0.0818347277358078 Centerline is valid? [True, True] Translation: X:274.07, Y:28.42, Z:-1.82 [[ 9.99063264e-01 -4.31109033e-02 -3.74761853e-03 2.74071324e+02] [ 4.31095083e-02 9.99070251e-01 -4.52280126e-04 2.84208801e+01] [ 3.76363239e-03 2.90298467e-04 9.99992875e-01 -1.82163422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.101400513 meters 0.0707782865395961 Centerline is valid? [True, True] Translation: X:274.10, Y:28.41, Z:-1.82 [[ 9.98866421e-01 -4.74874176e-02 -3.28905487e-03 2.74102540e+02] [ 4.74863665e-02 9.98871807e-01 -3.96991865e-04 2.84119378e+01] [ 3.30419630e-03 2.40356579e-04 9.99994512e-01 -1.82009541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.131400513 meters 0.06877586697411106 Centerline is valid? [True, True] Translation: X:274.13, Y:28.42, Z:-1.82 [[ 9.98485526e-01 -5.49916426e-02 -1.60415810e-03 2.74131383e+02] [ 5.49914022e-02 9.98486809e-01 -1.93622945e-04 2.84158337e+01] [ 1.61237835e-03 1.05114805e-04 9.99998695e-01 -1.81683653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.161400513 meters 0.0678141602134419 Centerline is valid? [True, True] Translation: X:274.16, Y:28.42, Z:-1.82 [[ 9.98347960e-01 -5.74448996e-02 -1.19780276e-03 2.74161480e+02] [ 5.74447673e-02 9.98348675e-01 -1.44577055e-04 2.84177246e+01] [ 1.20413001e-03 7.55307072e-05 9.99999272e-01 -1.81638750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.191400513 meters 0.0603085134269948 Centerline is valid? [True, True] Translation: X:274.19, Y:28.42, Z:-1.82 [[ 9.98148385e-01 -6.08206185e-02 -8.08638006e-04 2.74191893e+02] [ 6.08205593e-02 9.98148711e-01 -9.76065333e-05 2.84171471e+01] [ 8.13077473e-04 4.82439878e-05 9.99999668e-01 -1.81584145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.221400513 meters 0.058987420560396714 Centerline is valid? [True, True] Translation: X:274.22, Y:28.42, Z:-1.82 [[ 9.98097939e-01 -6.16438105e-02 -7.38100619e-04 2.74220839e+02] [ 6.16437609e-02 9.98098211e-01 -8.97677590e-05 2.84174011e+01] [ 7.42230534e-04 4.40977171e-05 9.99999724e-01 -1.81580467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.251400513 meters 0.05875460948748754 Centerline is valid? [True, True] Translation: X:274.25, Y:28.42, Z:-1.82 [[ 9.98078992e-01 -6.19493361e-02 -7.78322471e-04 2.74250011e+02] [ 6.19492809e-02 9.98079294e-01 -9.47602348e-05 2.84185682e+01] [ 7.82697876e-04 4.63616822e-05 9.99999693e-01 -1.81615752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.281400513 meters 0.06272118427679535 Centerline is valid? [True, True] Translation: X:274.28, Y:28.43, Z:-1.82 [[ 9.98083299e-01 -6.18750879e-02 -1.09587498e-03 2.74277448e+02] [ 6.18749791e-02 9.98083899e-01 -1.32895922e-04 2.84252807e+01] [ 1.10199812e-03 6.48339589e-05 9.99999391e-01 -1.81653826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.311400513 meters 0.06810879124950926 Centerline is valid? [True, True] Translation: X:274.30, Y:28.43, Z:-1.82 [[ 9.98084642e-01 -6.18463650e-02 -1.44022808e-03 2.74304223e+02] [ 6.18461771e-02 9.98085678e-01 -1.74670406e-04 2.84346363e+01] [ 1.44827375e-03 8.52632488e-05 9.99998948e-01 -1.81790958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.341400513 meters 0.06449177947207915 Centerline is valid? [True, True] Translation: X:274.33, Y:28.43, Z:-1.82 [[ 9.98061283e-01 -6.22022622e-02 -2.13399379e-03 2.74333566e+02] [ 6.22018492e-02 9.98063556e-01 -2.59397736e-04 2.84336063e+01] [ 2.14599656e-03 1.26156477e-04 9.99997689e-01 -1.81897835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.371400513 meters 0.0639636333779473 Centerline is valid? [True, True] Translation: X:274.36, Y:28.43, Z:-1.82 [[ 9.98097613e-01 -6.15861741e-02 -2.88066362e-03 2.74363011e+02] [ 6.15854182e-02 9.98101755e-01 -3.50456108e-04 2.84313444e+01] [ 2.89677866e-03 1.72382531e-04 9.99995789e-01 -1.82171538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.401400513 meters 0.0648298276332527 Centerline is valid? [True, True] Translation: X:274.39, Y:28.44, Z:-1.82 [[ 9.98125360e-01 -6.11713044e-02 -1.95899296e-03 2.74390661e+02] [ 6.11709542e-02 9.98127275e-01 -2.38262815e-04 2.84369017e+01] [ 1.96989915e-03 1.17982689e-04 9.99998053e-01 -1.82041939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.431400513 meters 0.06347947925056106 Centerline is valid? [True, True] Translation: X:274.42, Y:28.44, Z:-1.82 [[ 9.98238774e-01 -5.93110450e-02 -1.24513543e-03 2.74421136e+02] [ 5.93109022e-02 9.98239547e-01 -1.51369810e-04 2.84371463e+01] [ 1.25192133e-03 7.72531079e-05 9.99999213e-01 -1.81893298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.461400513 meters 0.06605160926006609 Centerline is valid? [True, True] Translation: X:274.45, Y:28.44, Z:-1.82 [[ 9.98373298e-01 -5.70075842e-02 -9.45326552e-04 2.74450649e+02] [ 5.70075008e-02 9.98373743e-01 -1.14942662e-04 2.84425091e+01] [ 9.50341812e-04 6.08649806e-05 9.99999547e-01 -1.81819358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49140051300003 meters 0.07419390781539194 Centerline is valid? [True, True] Translation: X:274.48, Y:28.45, Z:-1.82 [[ 9.98694962e-01 -5.10552181e-02 -1.31814833e-03 2.74478830e+02] [ 5.10550508e-02 9.98695828e-01 -1.60231988e-04 2.84530491e+01] [ 1.32460992e-03 9.27247494e-05 9.99999118e-01 -1.81809500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.521400513 meters 0.07263612071095016 Centerline is valid? [True, True] Translation: X:274.51, Y:28.45, Z:-1.82 [[ 9.98830833e-01 -4.83155315e-02 -1.60515554e-03 2.74509059e+02] [ 4.83152800e-02 9.98832116e-01 -1.95111080e-04 2.84535442e+01] [ 1.61270780e-03 1.17329423e-04 9.99998693e-01 -1.81743793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55140051300003 meters 0.07733540687716592 Centerline is valid? [True, True] Translation: X:274.54, Y:28.46, Z:-1.82 [[ 9.98937121e-01 -4.60741932e-02 -1.34077752e-03 2.74537736e+02] [ 4.60740157e-02 9.98938015e-01 -1.62979288e-04 2.84626819e+01] [ 1.34686278e-03 1.01031056e-04 9.99999088e-01 -1.81774014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.581400513 meters 0.08439368216540762 Centerline is valid? [True, True] Translation: X:274.57, Y:28.48, Z:-1.82 [[ 9.99019835e-01 -4.42471271e-02 -1.24905704e-03 2.74565090e+02] [ 4.42469715e-02 9.99020612e-01 -1.51931976e-04 2.84760531e+01] [ 1.25455628e-03 9.65160666e-05 9.99999208e-01 -1.81842254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61140051300004 meters 0.08255108575135936 Centerline is valid? [True, True] Translation: X:274.59, Y:28.48, Z:-1.82 [[ 9.99078725e-01 -4.28990447e-02 -1.17178683e-03 2.74594798e+02] [ 4.28989069e-02 9.99079408e-01 -1.42512398e-04 2.84796075e+01] [ 1.17682174e-03 9.21127303e-05 9.99999303e-01 -1.81845706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.641400513 meters 0.07866412294768112 Centerline is valid? [True, True] Translation: X:274.62, Y:28.48, Z:-1.82 [[ 9.99092004e-01 -4.26013756e-02 -5.39442759e-04 2.74623745e+02] [ 4.26013460e-02 9.99092148e-01 -6.62223971e-05 2.84802480e+01] [ 5.41774190e-04 4.31812797e-05 9.99999852e-01 -1.81739705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67140051300004 meters 0.0786754444646079 Centerline is valid? [True, True] Translation: X:274.65, Y:28.48, Z:-1.81 [[ 9.99014443e-01 -4.43678586e-02 1.27896444e-03 2.74653052e+02] [ 4.43676955e-02 9.99015257e-01 1.55665530e-04 2.84823258e+01] [-1.28461153e-03 -9.87674082e-05 9.99999170e-01 -1.81420208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.701400513 meters 0.08212768486194061 Centerline is valid? [True, True] Translation: X:274.68, Y:28.49, Z:-1.81 [[ 9.98924374e-01 -4.63313172e-02 1.87214060e-03 2.74682290e+02] [ 4.63309709e-02 9.98926118e-01 2.27950256e-04 2.84883631e+01] [-1.88069138e-03 -1.40966975e-04 9.99998222e-01 -1.81337066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.731400513 meters 0.08054886779603014 Centerline is valid? [True, True] Translation: X:274.71, Y:28.49, Z:-1.81 [[ 9.98807087e-01 -4.87623893e-02 2.57544272e-03 2.74712079e+02] [ 4.87617418e-02 9.98810389e-01 3.13650402e-04 2.84888375e+01] [-2.58767329e-03 -1.87693171e-04 9.99996634e-01 -1.81287115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.761400513 meters 0.06961145334245905 Centerline is valid? [True, True] Translation: X:274.74, Y:28.48, Z:-1.81 [[ 9.98665669e-01 -5.15787574e-02 2.55199797e-03 2.74743820e+02] [ 5.15781307e-02 9.98668914e-01 3.10838890e-04 2.84783471e+01] [-2.56463373e-03 -1.78796843e-04 9.99996695e-01 -1.81389502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.791400513 meters 0.06961145334245905 Centerline is valid? [True, True] Translation: X:274.77, Y:28.48, Z:-1.81 [[ 9.98656139e-01 -5.17629457e-02 2.55201574e-03 2.74771159e+02] [ 5.17623199e-02 9.98659384e-01 3.10693089e-04 2.84818242e+01] [-2.56467686e-03 -1.78177305e-04 9.99996695e-01 -1.81398835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.821400513 meters 0.06427574512121258 Centerline is valid? [True, True] Translation: X:274.80, Y:28.47, Z:-1.82 [[ 9.98385230e-01 -5.67758690e-02 1.85282568e-03 2.74803085e+02] [ 5.67755469e-02 9.98386942e-01 2.26020137e-04 2.84738082e+01] [-1.86266946e-03 -1.20459975e-04 9.99998258e-01 -1.81804707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.851400513 meters 0.06396738935017143 Centerline is valid? [True, True] Translation: X:274.83, Y:28.48, Z:-1.82 [[ 9.98238167e-01 -5.93241330e-02 1.09983899e-03 2.74832534e+02] [ 5.93240211e-02 9.98238770e-01 1.34140863e-04 2.84762086e+01] [-1.10585971e-03 -6.86576579e-05 9.99999386e-01 -1.81845288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.881400513 meters 0.06035540434918418 Centerline is valid? [True, True] Translation: X:274.86, Y:28.47, Z:-1.82 [[ 9.98106777e-01 -6.15048862e-02 1.01404494e-04 2.74863525e+02] [ 6.15048852e-02 9.98106782e-01 1.23341450e-05 2.84724263e+01] [-1.01971123e-04 -6.07392192e-06 9.99999995e-01 -1.81935881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.911400513 meters 0.06424331416812289 Centerline is valid? [True, True] Translation: X:274.89, Y:28.48, Z:-1.82 [[ 9.98021045e-01 -6.28678002e-02 -1.27822790e-03 2.74890821e+02] [ 6.28676515e-02 9.98021860e-01 -1.56244058e-04 2.84763177e+01] [ 1.28552211e-03 7.55756717e-05 9.99999171e-01 -1.82113193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.941400513 meters 0.057906848124844354 Centerline is valid? [True, True] Translation: X:274.92, Y:28.47, Z:-1.82 [[ 9.97952406e-01 -6.39299661e-02 -1.98874953e-03 2.74920246e+02] [ 6.39296071e-02 9.97954381e-01 -2.43662776e-04 2.84715470e+01] [ 2.00025866e-03 1.16023877e-04 9.99997993e-01 -1.82067102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.971400513 meters 0.05860945304049322 Centerline is valid? [True, True] Translation: X:274.95, Y:28.47, Z:-1.82 [[ 9.98052089e-01 -6.23627195e-02 -1.70839782e-03 2.74950213e+02] [ 6.23624529e-02 9.98053546e-01 -2.08962969e-04 2.84721458e+01] [ 1.71810401e-03 1.02016049e-04 9.99998519e-01 -1.82082583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.001400513 meters 0.06700463154411684 Centerline is valid? [True, True] Translation: X:274.98, Y:28.48, Z:-1.82 [[ 9.98170960e-01 -6.04521580e-02 -5.19900840e-04 2.74977673e+02] [ 6.04521331e-02 9.98171095e-01 -6.35891452e-05 2.84847691e+01] [ 5.22794092e-04 3.20437233e-05 9.99999863e-01 -1.82019986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.031400513 meters 0.06439571600871544 Centerline is valid? [True, True] Translation: X:275.01, Y:28.48, Z:-1.82 [[ 9.98289691e-01 -5.84585346e-02 5.40337816e-04 2.75008334e+02] [ 5.84585074e-02 9.98289837e-01 6.60692405e-05 2.84848958e+01] [-5.43276061e-04 -3.43688995e-05 9.99999852e-01 -1.81884614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.061400513 meters 0.06395101950372682 Centerline is valid? [True, True] Translation: X:275.04, Y:28.49, Z:-1.82 [[ 9.98401956e-01 -5.65040913e-02 9.06398195e-04 2.75038278e+02] [ 5.65040139e-02 9.98402366e-01 1.10799812e-04 2.84880773e+01] [-9.11210745e-04 -5.94076132e-05 9.99999583e-01 -1.81814462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.091400513 meters 0.06636317860291116 Centerline is valid? [True, True] Translation: X:275.07, Y:28.49, Z:-1.82 [[ 9.98553033e-01 -5.37756399e-02 1.46241790e-04 2.75068274e+02] [ 5.37756379e-02 9.98553043e-01 1.78790159e-05 2.84941149e+01] [-1.46991640e-04 -9.98889999e-06 9.99999989e-01 -1.81942743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.121400513 meters 0.07306065519536314 Centerline is valid? [True, True] Translation: X:275.09, Y:28.50, Z:-1.82 [[ 9.98548565e-01 -5.38583021e-02 -2.17181472e-04 2.75094216e+02] [ 5.38582975e-02 9.98548588e-01 -2.68537888e-05 2.85037262e+01] [ 2.18312551e-04 1.51177880e-05 9.99999976e-01 -1.82066921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.151400513 meters 0.0730710685724595 Centerline is valid? [True, True] Translation: X:275.12, Y:28.50, Z:-1.82 [[ 9.98477989e-01 -5.51515712e-02 -9.93558839e-05 2.75123512e+02] [ 5.51515703e-02 9.98477994e-01 -1.22360220e-05 2.85046568e+01] [ 9.98794995e-05 6.73776560e-06 9.99999995e-01 -1.82090951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.181400513 meters 0.0714592511928241 Centerline is valid? [True, True] Translation: X:275.15, Y:28.50, Z:-1.82 [[ 9.98327130e-01 -5.78154004e-02 5.66695640e-04 2.75153404e+02] [ 5.78153703e-02 9.98327290e-01 6.93218629e-05 2.85032945e+01] [-5.69755594e-04 -3.64421782e-05 9.99999837e-01 -1.82044577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.211400513 meters 0.05861192765600976 Centerline is valid? [True, True] Translation: X:275.19, Y:28.49, Z:-1.82 [[ 9.98079362e-01 -6.19407078e-02 9.67307098e-04 2.75185846e+02] [ 6.19406221e-02 9.98079829e-01 1.18342419e-04 2.84882516e+01] [-9.72779917e-04 -5.81995227e-05 9.99999525e-01 -1.81978947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24140051300003 meters 0.05457048368039185 Centerline is valid? [True, True] Translation: X:275.22, Y:28.48, Z:-1.82 [[ 9.97750716e-01 -6.70299571e-02 7.01917091e-04 2.75215558e+02] [ 6.70299132e-02 9.97750963e-01 8.58710860e-05 2.84832515e+01] [-7.06094388e-04 -3.86284959e-05 9.99999750e-01 -1.82065485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.271400513 meters 0.05007453519879392 Centerline is valid? [True, True] Translation: X:275.25, Y:28.47, Z:-1.82 [[ 9.97116285e-01 -7.58855347e-02 -7.06367138e-04 2.75246659e+02] [ 7.58854924e-02 9.97116535e-01 -8.65254130e-05 2.84717567e+01] [ 7.10896381e-04 3.26728803e-05 9.99999747e-01 -1.82387098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30140051300003 meters 0.04649454871565283 Centerline is valid? [True, True] Translation: X:275.28, Y:28.46, Z:-1.82 [[ 9.96894657e-01 -7.87453775e-02 -4.55439516e-04 2.75278164e+02] [ 7.87453601e-02 9.96894761e-01 -5.58716736e-05 2.84616015e+01] [ 4.58424904e-04 1.98344242e-05 9.99999895e-01 -1.82419120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.331400513 meters 0.04349617486963347 Centerline is valid? [True, True] Translation: X:275.31, Y:28.46, Z:-1.82 [[ 9.96716433e-01 -8.09679836e-02 7.32781297e-04 2.75309381e+02] [ 8.09679395e-02 9.96716702e-01 8.97251054e-05 2.84563939e+01] [-7.37640219e-04 -3.00986954e-05 9.99999727e-01 -1.82259815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36140051300004 meters 0.04218527336783575 Centerline is valid? [True, True] Translation: X:275.34, Y:28.46, Z:-1.82 [[ 9.96636530e-01 -8.19166346e-02 2.30055372e-03 2.75336774e+02] [ 8.19162021e-02 9.96639181e-01 2.81753848e-04 2.84585918e+01] [-2.31590230e-03 -9.23535539e-05 9.99997314e-01 -1.81970261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.391400513 meters 0.04129632474484902 Centerline is valid? [True, True] Translation: X:275.37, Y:28.46, Z:-1.82 [[ 9.96844583e-01 -7.93414476e-02 2.41073308e-03 2.75366708e+02] [ 7.93409648e-02 9.96847493e-01 2.95435975e-04 2.84581198e+01] [-2.42657355e-03 -1.03233863e-04 9.99997051e-01 -1.81896119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42140051300004 meters 0.04409373691308959 Centerline is valid? [True, True] Translation: X:275.39, Y:28.46, Z:-1.82 [[ 9.96998601e-01 -7.74018073e-02 1.65825491e-03 2.75394368e+02] [ 7.74015762e-02 9.96999977e-01 2.03192037e-04 2.84631094e+01] [-1.66900754e-03 -7.42306327e-05 9.99998604e-01 -1.82000883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.451400513 meters 0.05133865178393719 Centerline is valid? [True, True] Translation: X:275.42, Y:28.47, Z:-1.82 [[ 9.97096244e-01 -7.61445855e-02 1.03987009e-03 2.75421921e+02] [ 7.61444939e-02 9.97096786e-01 1.27438164e-04 2.84731755e+01] [-1.04655485e-03 -4.78877330e-05 9.99999451e-01 -1.82120850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.481400513 meters 0.0492219159339389 Centerline is valid? [True, True] Translation: X:275.45, Y:28.47, Z:-1.82 [[ 9.97117117e-01 -7.58716044e-02 9.77260529e-04 2.75450670e+02] [ 7.58715237e-02 9.97117595e-01 1.19490075e-04 2.84723742e+01] [-9.83509572e-04 -4.49993537e-05 9.99999515e-01 -1.82130858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.511400513 meters 0.04414660878066582 Centerline is valid? [True, True] Translation: X:275.48, Y:28.47, Z:-1.82 [[ 9.96916091e-01 -7.84579050e-02 1.63246220e-03 2.75481268e+02] [ 7.84576817e-02 9.96917425e-01 2.00495935e-04 2.84705288e+01] [-1.64316050e-03 -7.17984248e-05 9.99998647e-01 -1.82169898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.541400513 meters 0.04626468120801508 Centerline is valid? [True, True] Translation: X:275.51, Y:28.47, Z:-1.82 [[ 9.96692621e-01 -8.12547958e-02 1.21518789e-03 2.75511301e+02] [ 8.12546742e-02 9.96693361e-01 1.49225205e-04 2.84698673e+01] [-1.22329497e-03 -4.99919643e-05 9.99999251e-01 -1.82364056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.571400513 meters 0.03772936029764748 Centerline is valid? [True, True] Translation: X:275.54, Y:28.47, Z:-1.82 [[ 9.96386063e-01 -8.49386714e-02 4.85506601e-04 2.75540229e+02] [ 8.49386524e-02 9.96386181e-01 5.95490960e-05 2.84689154e+01] [-4.88810089e-04 -1.80956129e-05 9.99999880e-01 -1.82409595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.601400513 meters 0.034636132610723874 Centerline is valid? [True, True] Translation: X:275.57, Y:28.47, Z:-1.82 [[ 9.96068864e-01 -8.85822168e-02 -9.38242956e-05 2.75569182e+02] [ 8.85822161e-02 9.96068869e-01 -1.15809195e-05 2.84673304e+01] [ 9.44813235e-05 3.22422934e-06 9.99999996e-01 -1.82473365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.631400513 meters 0.031736470140308295 Centerline is valid? [True, True] Translation: X:275.60, Y:28.47, Z:-1.82 [[ 9.95778361e-01 -9.17882635e-02 -6.08460611e-04 2.75599558e+02] [ 9.17882349e-02 9.95778547e-01 -7.48373578e-05 2.84668709e+01] [ 6.12761214e-04 1.86718960e-05 9.99999812e-01 -1.82486183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.661400513 meters 0.02636870018233814 Centerline is valid? [True, True] Translation: X:275.63, Y:28.46, Z:-1.83 [[ 9.95249078e-01 -9.73570625e-02 -9.35702917e-04 2.75630481e+02] [ 9.73569974e-02 9.95249517e-01 -1.15062794e-04 2.84646807e+01] [ 9.42460052e-04 2.34189128e-05 9.99999556e-01 -1.82602608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.691400513 meters 0.024609160398530453 Centerline is valid? [True, True] Translation: X:275.66, Y:28.47, Z:-1.83 [[ 9.95042732e-01 -9.94437849e-02 -9.45909053e-04 2.75659174e+02] [ 9.94437186e-02 9.95043182e-01 -1.17013542e-04 2.84657174e+01] [ 9.52856623e-04 2.23687610e-05 9.99999546e-01 -1.82644777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.721400513 meters 0.02291049355152893 Centerline is valid? [True, True] Translation: X:275.69, Y:28.47, Z:-1.83 [[ 9.94896309e-01 -1.00894786e-01 -1.25568276e-03 2.75687764e+02] [ 1.00894670e-01 9.94897101e-01 -1.55370643e-04 2.84665217e+01] [ 1.26495122e-03 2.78859819e-05 9.99999200e-01 -1.82703948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.751400513 meters 0.02314139186508488 Centerline is valid? [True, True] Translation: X:275.71, Y:28.47, Z:-1.83 [[ 9.94824623e-01 -1.01590932e-01 -1.80310914e-03 2.75714924e+02] [ 1.01590696e-01 9.94826257e-01 -2.22595024e-04 2.84700056e+01] [ 1.81639395e-03 3.82639001e-05 9.99998350e-01 -1.82840679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.781400513 meters 0.024004243479362235 Centerline is valid? [True, True] Translation: X:275.74, Y:28.48, Z:-1.83 [[ 9.94781948e-01 -1.01994763e-01 -2.43795878e-03 2.75742288e+02] [ 1.01994332e-01 9.94784934e-01 -3.01035906e-04 2.84753099e+01] [ 2.45594875e-03 5.08071085e-05 9.99996983e-01 -1.82983121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.811400513 meters 0.02275646511098948 Centerline is valid? [True, True] Translation: X:275.77, Y:28.48, Z:-1.83 [[ 9.94745733e-01 -1.02343475e-01 -2.59627565e-03 2.75770577e+02] [ 1.02342984e-01 9.94749119e-01 -3.21510625e-04 2.84782888e+01] [ 2.61554743e-03 5.41107260e-05 9.99996578e-01 -1.82992630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.841400513 meters 0.021202712518245077 Centerline is valid? [True, True] Translation: X:275.80, Y:28.48, Z:-1.83 [[ 9.94610103e-01 -1.03670452e-01 -1.78366377e-03 2.75799159e+02] [ 1.03670221e-01 9.94611701e-01 -2.21307645e-04 2.84810070e+01] [ 1.79699592e-03 3.52020024e-05 9.99998385e-01 -1.82903127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.871400513 meters 0.020283702419605077 Centerline is valid? [True, True] Translation: X:275.83, Y:28.48, Z:-1.83 [[ 9.94469152e-01 -1.05027125e-01 -6.39501766e-04 2.75827043e+02] [ 1.05027096e-01 9.94469357e-01 -7.93826961e-05 2.84833829e+01] [ 6.44302247e-04 1.17786292e-05 9.99999792e-01 -1.82762405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.901400513 meters 0.027630807319516726 Centerline is valid? [True, True] Translation: X:275.86, Y:28.48, Z:-1.83 [[ 9.94252885e-01 -1.07055887e-01 4.88209281e-04 2.75855789e+02] [ 1.07055870e-01 9.94253005e-01 5.99624346e-05 2.84845203e+01] [-4.91822876e-04 -7.35215424e-06 9.99999879e-01 -1.82691928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.931400513 meters 0.025406627529304785 Centerline is valid? [True, True] Translation: X:275.88, Y:28.49, Z:-1.83 [[ 9.93991172e-01 -1.09456062e-01 9.59103028e-04 2.75883994e+02] [ 1.09455999e-01 9.93991635e-01 1.18510311e-04 2.84865803e+01] [-9.66312059e-04 -1.28186230e-05 9.99999533e-01 -1.82643501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.961400513 meters 0.018367872781034945 Centerline is valid? [True, True] Translation: X:275.91, Y:28.48, Z:-1.83 [[ 9.93410631e-01 -1.14608989e-01 3.13353677e-04 2.75912516e+02] [ 1.14608982e-01 9.93410680e-01 3.87273610e-05 2.84820685e+01] [-3.15727393e-04 -2.55902616e-06 9.99999950e-01 -1.82798755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99140051300003 meters 0.016844109030416624 Centerline is valid? [True, True] Translation: X:275.94, Y:28.48, Z:-1.83 [[ 9.93127489e-01 -1.17036909e-01 3.89534867e-04 2.75942226e+02] [ 1.17036899e-01 9.93127566e-01 4.79157651e-05 2.84810290e+01] [-3.92465727e-04 -1.99651060e-06 9.99999923e-01 -1.82774186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.021400513 meters 0.02231006723482175 Centerline is valid? [True, True] Translation: X:275.97, Y:28.48, Z:-1.83 [[ 9.92855199e-01 -1.19313002e-01 1.72080419e-03 2.75971118e+02] [ 1.19312811e-01 9.92856690e-01 2.13739297e-04 2.84815838e+01] [-1.73401383e-03 -6.89818711e-06 9.99998497e-01 -1.82641468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05140051300003 meters 0.022501640072186715 Centerline is valid? [True, True] Translation: X:276.00, Y:28.48, Z:-1.82 [[ 9.92599947e-01 -1.21406897e-01 2.38972677e-03 2.75998831e+02] [ 1.21406533e-01 9.92602824e-01 2.97425784e-04 2.84822444e+01] [-2.40815909e-03 -5.09637508e-06 9.99997100e-01 -1.82489596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.081400513 meters 0.015428256539164752 Centerline is valid? [True, True] Translation: X:276.03, Y:28.48, Z:-1.82 [[ 9.92334902e-01 -1.23516539e-01 3.88664743e-03 2.76026257e+02] [ 1.23515587e-01 9.92342514e-01 4.84853697e-04 2.84828015e+01] [-3.91677293e-03 -1.07570626e-06 9.99992329e-01 -1.82245908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11140051300004 meters 0.024111732300307463 Centerline is valid? [True, True] Translation: X:276.05, Y:28.49, Z:-1.82 [[ 9.92232672e-01 -1.24324531e-01 4.21126778e-03 2.76053952e+02] [ 1.24323419e-01 9.92241609e-01 5.25822758e-04 2.84853062e+01] [-4.24396778e-03 1.82068838e-06 9.99990994e-01 -1.82235186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.141400513 meters 0.008226215151256452 Centerline is valid? [True, True] Translation: X:276.08, Y:28.49, Z:-1.82 [[ 9.92116285e-01 -1.25252535e-01 4.13270033e-03 2.76082229e+02] [ 1.25251469e-01 9.92124893e-01 5.16791109e-04 2.84876054e+01] [-4.16488426e-03 4.90991271e-06 9.99991327e-01 -1.82148506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17140051300004 meters 0.024275263568215136 Centerline is valid? [True, True] Translation: X:276.11, Y:28.49, Z:-1.82 [[ 9.91968045e-01 -1.26419363e-01 4.18835772e-03 2.76110278e+02] [ 1.26418274e-01 9.91976887e-01 5.24594622e-04 2.84913742e+01] [-4.22107297e-03 9.10385448e-06 9.99991091e-01 -1.82287800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.201400513 meters 0.020514494423684172 Centerline is valid? [True, True] Translation: X:276.14, Y:28.49, Z:-1.82 [[ 9.91803903e-01 -1.27701399e-01 4.16780274e-03 2.76138072e+02] [ 1.27700330e-01 9.91812660e-01 5.22747933e-04 2.84945101e+01] [-4.20043517e-03 1.37663469e-05 9.99991178e-01 -1.82267449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.231400513 meters 0.009586087934302198 Centerline is valid? [True, True] Translation: X:276.17, Y:28.50, Z:-1.82 [[ 9.91616882e-01 -1.29145732e-01 4.16402788e-03 2.76165814e+02] [ 1.29144676e-01 9.91625625e-01 5.22534621e-04 2.84964162e+01] [-4.19663986e-03 1.96078803e-05 9.99991194e-01 -1.82164768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.261400513 meters 0.017198887014344008 Centerline is valid? [True, True] Translation: X:276.19, Y:28.50, Z:-1.82 [[ 9.91232949e-01 -1.32075783e-01 3.63699519e-03 2.76194461e+02] [ 1.32074997e-01 9.91239621e-01 4.56627540e-04 2.84964842e+01] [-3.66544318e-03 2.77318650e-05 9.99993282e-01 -1.82270400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.291400513 meters 0.02239970925010837 Centerline is valid? [True, True] Translation: X:276.22, Y:28.50, Z:-1.82 [[ 9.91082214e-01 -1.33217844e-01 3.00856381e-03 2.76222371e+02] [ 1.33217309e-01 9.91086780e-01 3.78182472e-04 2.84983281e+01] [-3.03212847e-03 2.59828540e-05 9.99995403e-01 -1.82352887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.321400513 meters 0.022817501618277572 Centerline is valid? [True, True] Translation: X:276.25, Y:28.50, Z:-1.82 [[ 9.90831560e-01 -1.35077417e-01 2.62910575e-03 2.76251054e+02] [ 1.35077015e-01 9.90835047e-01 3.30537753e-04 2.85027350e+01] [-2.64965830e-03 2.76245190e-05 9.99996489e-01 -1.82416596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.351400513 meters 0.023985552654802737 Centerline is valid? [True, True] Translation: X:276.28, Y:28.51, Z:-1.82 [[ 9.90521377e-01 -1.37331154e-01 2.74874218e-03 2.76279654e+02] [ 1.37330723e-01 9.90525190e-01 3.46075261e-04 2.85059297e+01] [-2.77022528e-03 3.46918052e-05 9.99996162e-01 -1.82389274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.381400513 meters 0.019632945568460448 Centerline is valid? [True, True] Translation: X:276.31, Y:28.51, Z:-1.82 [[ 9.90154796e-01 -1.39948505e-01 2.81009101e-03 2.76308284e+02] [ 1.39948063e-01 9.90158782e-01 3.54292265e-04 2.85084091e+01] [-2.83201897e-03 4.24626101e-05 9.99995989e-01 -1.82319643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.411400513 meters 0.03173881641085432 Centerline is valid? [True, True] Translation: X:276.34, Y:28.51, Z:-1.82 [[ 9.89717345e-01 -1.43013874e-01 2.57064678e-03 2.76336134e+02] [ 1.43013513e-01 9.89720683e-01 3.24587868e-04 2.85086730e+01] [-2.59064286e-03 4.63869845e-05 9.99996643e-01 -1.82387567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.441400513 meters 0.03807293962116299 Centerline is valid? [True, True] Translation: X:276.37, Y:28.51, Z:-1.82 [[ 9.88846031e-01 -1.48926348e-01 2.11422345e-03 2.76366927e+02] [ 1.48926117e-01 9.88848290e-01 2.67126934e-04 2.85081553e+01] [-2.13042848e-03 5.07156812e-05 9.99997729e-01 -1.82493890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.471400513 meters 0.039253510846877275 Centerline is valid? [True, True] Translation: X:276.40, Y:28.51, Z:-1.83 [[ 9.88545885e-01 -1.50905266e-01 2.15265821e-03 2.76395035e+02] [ 1.50905032e-01 9.88548227e-01 2.71908819e-04 2.85095664e+01] [-2.16903893e-03 5.60526116e-05 9.99997646e-01 -1.82516182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.501400513 meters 0.03754893966120975 Centerline is valid? [True, True] Translation: X:276.42, Y:28.51, Z:-1.82 [[ 9.88335765e-01 -1.52271190e-01 2.42885876e-03 2.76423585e+02] [ 1.52270895e-01 9.88338748e-01 3.06869073e-04 2.85147235e+01] [-2.44726254e-03 6.65548177e-05 9.99997003e-01 -1.82473649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.531400513 meters 0.038886921806890615 Centerline is valid? [True, True] Translation: X:276.45, Y:28.52, Z:-1.83 [[ 9.88261782e-01 -1.52758214e-01 1.89186714e-03 2.76451685e+02] [ 1.52758036e-01 9.88263591e-01 2.39216080e-04 2.85204880e+01] [-1.90620563e-03 5.25897986e-05 9.99998182e-01 -1.82507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.561400513 meters 0.038023955768960595 Centerline is valid? [True, True] Translation: X:276.48, Y:28.52, Z:-1.83 [[ 9.88302916e-01 -1.52498374e-01 1.26210320e-03 2.76479930e+02] [ 1.52498295e-01 9.88303721e-01 1.59850726e-04 2.85220527e+01] [-1.27171826e-03 3.44876469e-05 9.99999191e-01 -1.82652950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.591400513 meters 0.03868769787210889 Centerline is valid? [True, True] Translation: X:276.51, Y:28.53, Z:-1.83 [[ 9.88312721e-01 -1.52440026e-01 6.66651119e-05 2.76507534e+02] [ 1.52440025e-01 9.88312723e-01 7.79600312e-06 2.85284734e+01] [-6.70744012e-05 2.45754230e-06 9.99999998e-01 -1.82787553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.621400513 meters 0.03706955041686469 Centerline is valid? [True, True] Translation: X:276.54, Y:28.53, Z:-1.83 [[ 9.88276409e-01 -1.52674563e-01 -4.65226326e-04 2.76535295e+02] [ 1.52674552e-01 9.88276519e-01 -5.94518531e-05 2.85343160e+01] [ 4.68849040e-04 -1.22733570e-05 9.99999890e-01 -1.82945131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.651400513 meters 0.03715539635208162 Centerline is valid? [True, True] Translation: X:276.56, Y:28.54, Z:-1.83 [[ 9.88323807e-01 -1.52367497e-01 -4.45420459e-04 2.76563849e+02] [ 1.52367486e-01 9.88323907e-01 -5.72892426e-05 2.85415647e+01] [ 4.48948707e-04 -1.12472734e-05 9.99999899e-01 -1.82961818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.681400513 meters 0.039391074770012066 Centerline is valid? [True, True] Translation: X:276.59, Y:28.54, Z:-1.83 [[ 9.88514312e-01 -1.51125374e-01 -7.58502289e-04 2.76591295e+02] [ 1.51125344e-01 9.88514603e-01 -9.68073323e-05 2.85443929e+01] [ 7.64420634e-04 -1.89334860e-05 9.99999708e-01 -1.83030505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.711400513 meters 0.039391074770012066 Centerline is valid? [True, True] Translation: X:276.62, Y:28.55, Z:-1.83 [[ 9.88485985e-01 -1.51310551e-01 -7.58430254e-04 2.76618583e+02] [ 1.51310520e-01 9.88486276e-01 -9.73723876e-05 2.85480568e+01] [ 7.64431367e-04 -1.85072359e-05 9.99999708e-01 -1.83039825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74140051300003 meters 0.034884094054783904 Centerline is valid? [True, True] Translation: X:276.65, Y:28.56, Z:-1.83 [[ 9.88768912e-01 -1.49447383e-01 -1.23248055e-03 2.76646385e+02] [ 1.49447302e-01 9.88769679e-01 -1.57995902e-04 2.85588315e+01] [ 1.24225147e-03 -2.79694569e-05 9.99999228e-01 -1.83042291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.771400513 meters 0.03306345344996829 Centerline is valid? [True, True] Translation: X:276.67, Y:28.57, Z:-1.83 [[ 9.89036266e-01 -1.47662786e-01 -1.72244652e-03 2.76673743e+02] [ 1.47662627e-01 9.89037765e-01 -2.20301603e-04 2.85656811e+01] [ 1.73609500e-03 -3.64547024e-05 9.99998492e-01 -1.83116383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80140051300003 meters 0.03411130999155805 Centerline is valid? [True, True] Translation: X:276.70, Y:28.57, Z:-1.83 [[ 9.89274291e-01 -1.46059212e-01 -1.75582152e-03 2.76701771e+02] [ 1.46059042e-01 9.89275849e-01 -2.25243400e-04 2.85748802e+01] [ 1.76989070e-03 -3.36261045e-05 9.99998433e-01 -1.83075873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.831400513 meters 0.01962427324871715 Centerline is valid? [True, True] Translation: X:276.73, Y:28.59, Z:-1.83 [[ 9.89652851e-01 -1.43482524e-01 6.09895638e-06 2.76729582e+02] [ 1.43482524e-01 9.89652851e-01 6.14864321e-07 2.85871084e+01] [-6.12407185e-06 2.66591423e-07 1.00000000e+00 -1.82711858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86140051300004 meters 0.03201761886550967 Centerline is valid? [True, True] Translation: X:276.76, Y:28.59, Z:-1.83 [[ 9.89724902e-01 -1.42984160e-01 3.85256326e-04 2.76757710e+02] [ 1.42984151e-01 9.89724977e-01 4.88039938e-05 2.85944917e+01] [-3.88276006e-04 6.78302081e-06 9.99999925e-01 -1.82792521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.891400513 meters 0.027773744438270347 Centerline is valid? [True, True] Translation: X:276.79, Y:28.60, Z:-1.83 [[ 9.89713572e-01 -1.43062867e-01 2.48752361e-04 2.76785528e+02] [ 1.43062863e-01 9.89713603e-01 3.12705673e-05 2.86016266e+01] [-2.50667253e-04 4.63832019e-06 9.99999969e-01 -1.82831095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92140051300004 meters 0.020104299472607227 Centerline is valid? [True, True] Translation: X:276.81, Y:28.61, Z:-1.83 [[ 9.89572504e-01 -1.44035471e-01 -2.05297908e-04 2.76813100e+02] [ 1.44035469e-01 9.89572525e-01 -2.65724685e-05 2.86071682e+01] [ 2.06984547e-04 -3.27479618e-06 9.99999979e-01 -1.82818602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.951400513 meters 0.024425183084895715 Centerline is valid? [True, True] Translation: X:276.84, Y:28.61, Z:-1.83 [[ 9.89306741e-01 -1.45849702e-01 -1.91630048e-04 2.76841685e+02] [ 1.45849700e-01 9.89306759e-01 -2.52359160e-05 2.86141566e+01] [ 1.93261553e-04 -2.98312314e-06 9.99999981e-01 -1.82880924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.981400513 meters 0.03488770347580373 Centerline is valid? [True, True] Translation: X:276.87, Y:28.62, Z:-1.83 [[ 9.88914368e-01 -1.48486375e-01 4.10222431e-04 2.76868928e+02] [ 1.48486366e-01 9.88914454e-01 5.24331032e-05 2.86177387e+01] [-4.13460492e-04 9.06058887e-06 9.99999914e-01 -1.82843268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.011400513 meters 0.037543855974086014 Centerline is valid? [True, True] Translation: X:276.90, Y:28.61, Z:-1.83 [[ 9.87856038e-01 -1.55353151e-01 2.41787021e-03 2.76898876e+02] [ 1.55352855e-01 9.87858995e-01 3.11200562e-04 2.86144858e+01] [-2.43686082e-03 6.82016847e-05 9.99997029e-01 -1.82541452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.041400513 meters 0.040580956079589676 Centerline is valid? [True, True] Translation: X:276.93, Y:28.61, Z:-1.82 [[ 9.87309120e-01 -1.58773926e-01 3.39748699e-03 2.76928544e+02] [ 1.58773360e-01 9.87314959e-01 4.37398930e-04 2.86139255e+01] [-3.42383727e-03 1.07582470e-04 9.99994133e-01 -1.82354084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.071400513 meters 0.045871334282271754 Centerline is valid? [True, True] Translation: X:276.96, Y:28.61, Z:-1.82 [[ 9.86840787e-01 -1.61656087e-01 3.54543860e-03 2.76957627e+02] [ 1.61655489e-01 9.86847148e-01 4.56580601e-04 2.86131870e+01] [-3.57261501e-03 1.22567252e-04 9.99993611e-01 -1.82286485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.101400513 meters 0.04166648650818924 Centerline is valid? [True, True] Translation: X:276.99, Y:28.62, Z:-1.82 [[ 9.86418605e-01 -1.64218497e-01 3.25898625e-03 2.76986747e+02] [ 1.64218005e-01 9.86423981e-01 4.19799942e-04 2.86199425e+01] [-3.28368111e-03 1.21085748e-04 9.99994601e-01 -1.82300710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.131400513 meters 0.044505484513853805 Centerline is valid? [True, True] Translation: X:277.02, Y:28.62, Z:-1.82 [[ 9.86042083e-01 -1.66470973e-01 2.90256006e-03 2.77015137e+02] [ 1.66470592e-01 9.86046349e-01 3.73939791e-04 2.86207670e+01] [-2.92430887e-03 1.14470522e-04 9.99995718e-01 -1.82353950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.161400513 meters 0.049899612569759284 Centerline is valid? [True, True] Translation: X:277.05, Y:28.62, Z:-1.82 [[ 9.85393703e-01 -1.70261735e-01 3.19255066e-03 2.77045028e+02] [ 1.70261294e-01 9.85398865e-01 4.11478861e-04 2.86185385e+01] [-3.21599490e-03 1.38099128e-04 9.99994819e-01 -1.82372925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.191400513 meters 0.049592490535983774 Centerline is valid? [True, True] Translation: X:277.07, Y:28.63, Z:-1.82 [[ 9.85186373e-01 -1.71453531e-01 3.39064936e-03 2.77072872e+02] [ 1.71453040e-01 9.85192196e-01 4.37104449e-04 2.86291508e+01] [-3.41538439e-03 1.50707793e-04 9.99994156e-01 -1.82359110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.221400513 meters 0.047802505407582525 Centerline is valid? [True, True] Translation: X:277.10, Y:28.63, Z:-1.82 [[ 9.85043504e-01 -1.72271179e-01 3.45486531e-03 2.77101148e+02] [ 1.72270672e-01 9.85049550e-01 4.45988963e-04 2.86304045e+01] [-3.48004457e-03 1.55853437e-04 9.99993932e-01 -1.82301480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.251400513 meters 0.051607476607092306 Centerline is valid? [True, True] Translation: X:277.13, Y:28.64, Z:-1.82 [[ 9.85046064e-01 -1.72264333e-01 3.04149804e-03 2.77128756e+02] [ 1.72263939e-01 9.85050750e-01 3.92756536e-04 2.86387303e+01] [-3.06368787e-03 1.37057155e-04 9.99995298e-01 -1.82332231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.281400513 meters 0.04832771338557636 Centerline is valid? [True, True] Translation: X:277.16, Y:28.64, Z:-1.82 [[ 9.85140355e-01 -1.71725852e-01 2.95178312e-03 2.77156130e+02] [ 1.71725478e-01 9.85144768e-01 3.81708150e-04 2.86407902e+01] [-2.97348286e-03 1.30860264e-04 9.99995571e-01 -1.82235379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.311400513 meters 0.05237785834281432 Centerline is valid? [True, True] Translation: X:277.18, Y:28.65, Z:-1.82 [[ 9.85250465e-01 -1.71106822e-01 1.99429449e-03 2.77184454e+02] [ 1.71106650e-01 9.85252479e-01 2.57815121e-04 2.86505219e+01] [-2.00899752e-03 8.72245825e-05 9.99997978e-01 -1.82406096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.341400513 meters 0.050461161713715785 Centerline is valid? [True, True] Translation: X:277.21, Y:28.66, Z:-1.83 [[ 9.85375512e-01 -1.70396366e-01 4.22868461e-04 2.77212548e+02] [ 1.70396358e-01 9.85375603e-01 5.42728526e-05 2.86606444e+01] [-4.25932162e-04 1.85761059e-05 9.99999909e-01 -1.82652642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.371400513 meters 0.04952498400930134 Centerline is valid? [True, True] Translation: X:277.24, Y:28.66, Z:-1.83 [[ 9.85571012e-01 -1.69258057e-01 -1.22056409e-03 2.77239900e+02] [ 1.69257990e-01 9.85571767e-01 -1.58604183e-04 2.86641282e+01] [ 1.22979854e-03 -5.02745399e-05 9.99999243e-01 -1.82997783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.401400513 meters 0.050344665244894116 Centerline is valid? [True, True] Translation: X:277.27, Y:28.68, Z:-1.83 [[ 9.85778625e-01 -1.68029865e-01 -2.54318425e-03 2.77267364e+02] [ 1.68029569e-01 9.85781900e-01 -3.31052891e-04 2.86784346e+01] [ 2.56265177e-03 -1.00985291e-04 9.99996711e-01 -1.83183597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.431400513 meters 0.04905721822798467 Centerline is valid? [True, True] Translation: X:277.29, Y:28.69, Z:-1.83 [[ 9.85960494e-01 -1.66955654e-01 -2.77751355e-03 2.77294720e+02] [ 1.66955297e-01 9.85964400e-01 -3.61302171e-04 2.86858245e+01] [ 2.79885092e-03 -1.07490934e-04 9.99996077e-01 -1.83216920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.461400513 meters 0.04806694176763257 Centerline is valid? [True, True] Translation: X:277.32, Y:28.69, Z:-1.83 [[ 9.85847117e-01 -1.67645684e-01 -6.20910039e-04 2.77321575e+02] [ 1.67645666e-01 9.85847313e-01 -8.10844354e-05 2.86933960e+01] [ 6.25715949e-04 -2.41560203e-05 9.99999804e-01 -1.82845323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49140051300003 meters 0.04437651370103401 Centerline is valid? [True, True] Translation: X:277.35, Y:28.70, Z:-1.83 [[ 9.85606878e-01 -1.69053074e-01 3.73050526e-04 2.77349608e+02] [ 1.69053068e-01 9.85606949e-01 4.83544315e-05 2.86980980e+01] [-3.75855656e-04 1.54068757e-05 9.99999929e-01 -1.82617829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.521400513 meters 0.049121208636933825 Centerline is valid? [True, True] Translation: X:277.38, Y:28.71, Z:-1.83 [[ 9.85350572e-01 -1.70540989e-01 1.48111122e-04 2.77378493e+02] [ 1.70540988e-01 9.85350583e-01 1.91994115e-05 2.87056926e+01] [-1.49215667e-04 6.34086592e-06 9.99999989e-01 -1.82729488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55140051300003 meters 0.05373015366964781 Centerline is valid? [True, True] Translation: X:277.41, Y:28.71, Z:-1.83 [[ 9.84979375e-01 -1.72670595e-01 -7.04019103e-04 2.77406577e+02] [ 1.72670573e-01 9.84979627e-01 -9.18482037e-05 2.87092521e+01] [ 7.09303957e-04 -3.10947957e-05 9.99999748e-01 -1.82934775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.581400513 meters 0.048872853287862186 Centerline is valid? [True, True] Translation: X:277.44, Y:28.71, Z:-1.83 [[ 9.84514439e-01 -1.75300235e-01 -1.07054291e-03 2.77436277e+02] [ 1.75300187e-01 9.84515020e-01 -1.39480843e-04 2.87142971e+01] [ 1.07841660e-03 -5.03454687e-05 9.99999417e-01 -1.82971458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61140051300004 meters 0.056581768082277946 Centerline is valid? [True, True] Translation: X:277.47, Y:28.72, Z:-1.83 [[ 9.83942938e-01 -1.78479379e-01 -1.18608487e-03 2.77466042e+02] [ 1.78479322e-01 9.83943651e-01 -1.54559228e-04 2.87156211e+01] [ 1.19462631e-03 -5.96141615e-05 9.99999285e-01 -1.82999852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.641400513 meters 0.05958568014753481 Centerline is valid? [True, True] Translation: X:277.50, Y:28.71, Z:-1.83 [[ 9.82610932e-01 -1.85673630e-01 -1.02965922e-03 2.77495616e+02] [ 1.85673591e-01 9.82611469e-01 -1.34185504e-04 2.87128098e+01] [ 1.03666967e-03 -5.93283814e-05 9.99999461e-01 -1.82973875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67140051300004 meters 0.06215472843282528 Centerline is valid? [True, True] Translation: X:277.53, Y:28.71, Z:-1.83 [[ 9.82056809e-01 -1.88584789e-01 -4.47859823e-04 2.77525027e+02] [ 1.88584782e-01 9.82056911e-01 -5.84311220e-05 2.87131118e+01] [ 4.50843055e-04 -2.70768657e-05 9.99999898e-01 -1.82859194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.701400513 meters 0.06274306498969111 Centerline is valid? [True, True] Translation: X:277.55, Y:28.72, Z:-1.83 [[ 9.81785722e-01 -1.89991190e-01 3.79724862e-04 2.77554231e+02] [ 1.89991185e-01 9.81785795e-01 4.94046824e-05 2.87200435e+01] [-3.82194930e-04 2.36395647e-05 9.99999927e-01 -1.82738248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.731400513 meters 0.06773024667191664 Centerline is valid? [True, True] Translation: X:277.58, Y:28.72, Z:-1.83 [[ 9.81798973e-01 -1.89918994e-01 1.24593392e-03 2.77582090e+02] [ 1.89918940e-01 9.81799761e-01 1.62182002e-04 2.87199966e+01] [-1.25405907e-03 7.73963268e-05 9.99999211e-01 -1.82637925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.761400513 meters 0.06600742901340484 Centerline is valid? [True, True] Translation: X:277.61, Y:28.73, Z:-1.83 [[ 9.81976482e-01 -1.88993867e-01 1.87281994e-03 2.77610424e+02] [ 1.88993744e-01 9.81978261e-01 2.44011101e-04 2.87290921e+01] [-1.88518507e-03 1.14338089e-04 9.99998217e-01 -1.82572763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.791400513 meters 0.0649340382321666 Centerline is valid? [True, True] Translation: X:277.64, Y:28.74, Z:-1.83 [[ 9.82288957e-01 -1.87360515e-01 2.10771679e-03 2.77639481e+02] [ 1.87360355e-01 9.82291210e-01 2.75186622e-04 2.87393427e+01] [-2.12195079e-03 1.24589786e-04 9.99997741e-01 -1.82598757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.821400513 meters 0.06376217201131895 Centerline is valid? [True, True] Translation: X:277.67, Y:28.75, Z:-1.83 [[ 9.82804320e-01 -1.84639599e-01 1.97141959e-03 2.77668446e+02] [ 1.84639453e-01 9.82806291e-01 2.57399595e-04 2.87456931e+01] [-1.98504974e-03 1.11028401e-04 9.99998024e-01 -1.82757592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.851400513 meters 0.060180497098758896 Centerline is valid? [True, True] Translation: X:277.70, Y:28.75, Z:-1.83 [[ 9.82854091e-01 -1.84378515e-01 1.54860432e-03 2.77696817e+02] [ 1.84378424e-01 9.82855308e-01 2.02087494e-04 2.87548224e+01] [-1.55931457e-03 8.69067053e-05 9.99998780e-01 -1.82867297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.881400513 meters 0.06371293592899865 Centerline is valid? [True, True] Translation: X:277.72, Y:28.76, Z:-1.83 [[ 9.82778142e-01 -1.84787100e-01 9.22940014e-04 2.77724209e+02] [ 1.84787068e-01 9.82778574e-01 1.20477520e-04 2.87578505e+01] [-9.29308362e-04 5.21447066e-05 9.99999567e-01 -1.83011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.911400513 meters 0.06137959254883893 Centerline is valid? [True, True] Translation: X:277.75, Y:28.77, Z:-1.83 [[ 9.82638716e-01 -1.85528595e-01 5.41853682e-04 2.77751620e+02] [ 1.85528584e-01 9.82638865e-01 7.06759381e-05 2.87671543e+01] [-5.45558895e-04 3.10804333e-05 9.99999851e-01 -1.83080145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.941400513 meters 0.06291991117794721 Centerline is valid? [True, True] Translation: X:277.78, Y:28.76, Z:-1.83 [[ 9.82443302e-01 -1.86560766e-01 4.88191781e-04 2.77779621e+02] [ 1.86560758e-01 9.82443423e-01 6.35539396e-05 2.87631162e+01] [-4.91477476e-04 2.86392861e-05 9.99999879e-01 -1.83151212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.971400513 meters 0.06282657633369075 Centerline is valid? [True, True] Translation: X:277.81, Y:28.77, Z:-1.83 [[ 9.82277508e-01 -1.87431566e-01 5.53028427e-04 2.77807786e+02] [ 1.87431555e-01 9.82277663e-01 7.19261386e-05 2.87708957e+01] [-5.56708699e-04 3.30035496e-05 9.99999844e-01 -1.83098443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.001400513 meters 0.05963858174922132 Centerline is valid? [True, True] Translation: X:277.84, Y:28.78, Z:-1.83 [[ 9.81990250e-01 -1.88930869e-01 5.25702390e-04 2.77837115e+02] [ 1.88930859e-01 9.81990390e-01 6.88455451e-05 2.87760950e+01] [-5.29241744e-04 3.17157501e-05 9.99999859e-01 -1.82930805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.031400513 meters 0.0668736479553179 Centerline is valid? [True, True] Translation: X:277.86, Y:28.78, Z:-1.83 [[ 9.81961067e-01 -1.89082433e-01 5.45025660e-04 2.77863973e+02] [ 1.89082423e-01 9.81961217e-01 7.10892607e-05 2.87776107e+01] [-5.48635791e-04 3.32478860e-05 9.99999849e-01 -1.82916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.061400513 meters 0.061959585971333386 Centerline is valid? [True, True] Translation: X:277.89, Y:28.79, Z:-1.83 [[ 9.81968476e-01 -1.89043877e-01 5.69326761e-04 2.77891452e+02] [ 1.89043865e-01 9.81968641e-01 7.42382311e-05 2.87911400e+01] [-5.73095308e-04 3.47281288e-05 9.99999835e-01 -1.82871898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.091400513 meters 0.06834223403503849 Centerline is valid? [True, True] Translation: X:277.92, Y:28.79, Z:-1.83 [[ 9.82025462e-01 -1.88748120e-01 3.73541598e-04 2.77920228e+02] [ 1.88748115e-01 9.82025533e-01 4.89075051e-05 2.87874819e+01] [-3.76058587e-04 2.24768572e-05 9.99999929e-01 -1.82984326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.121400513 meters 0.0607608657234891 Centerline is valid? [True, True] Translation: X:277.95, Y:28.80, Z:-1.83 [[ 9.81997736e-01 -1.88891849e-01 5.62105161e-04 2.77946489e+02] [ 1.88891838e-01 9.81997896e-01 7.33529969e-05 2.88019637e+01] [-5.65841869e-04 3.41446002e-05 9.99999839e-01 -1.83003811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.151400513 meters 0.06473670774612195 Centerline is valid? [True, True] Translation: X:277.97, Y:28.80, Z:-1.83 [[ 9.81884669e-01 -1.89477452e-01 8.89438268e-04 2.77973851e+02] [ 1.89477423e-01 9.81885071e-01 1.16938905e-04 2.88037381e+01] [-8.95483443e-04 5.37079534e-05 9.99999598e-01 -1.83128733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.181400513 meters 0.06868112299322099 Centerline is valid? [True, True] Translation: X:278.00, Y:28.81, Z:-1.83 [[ 9.81800018e-01 -1.89917566e-01 2.07709194e-04 2.78001474e+02] [ 1.89917564e-01 9.81800040e-01 2.70840171e-05 2.88055864e+01] [-2.09072625e-04 1.28565356e-05 9.99999978e-01 -1.83232486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.211400513 meters 0.0709698357201662 Centerline is valid? [True, True] Translation: X:278.03, Y:28.81, Z:-1.83 [[ 9.81632698e-01 -1.90779508e-01 -6.52020196e-04 2.78029944e+02] [ 1.90779492e-01 9.81632914e-01 -8.66240087e-05 2.88097617e+01] [ 6.56570571e-04 -3.93591225e-05 9.99999784e-01 -1.83375349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24140051300003 meters 0.06720438022763364 Centerline is valid? [True, True] Translation: X:278.06, Y:28.81, Z:-1.83 [[ 9.81439265e-01 -1.91767676e-01 -1.45859176e-03 2.78059013e+02] [ 1.91767601e-01 9.81440345e-01 -1.92658357e-04 2.88146710e+01] [ 1.46846645e-03 -9.06281661e-05 9.99998918e-01 -1.83426690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.271400513 meters 0.060253186832168605 Centerline is valid? [True, True] Translation: X:278.09, Y:28.83, Z:-1.83 [[ 9.81144498e-01 -1.93268354e-01 -1.67853340e-03 2.78087266e+02] [ 1.93268256e-01 9.81145928e-01 -2.21745474e-04 2.88295715e+01] [ 1.68974259e-03 -1.06842871e-04 9.99998567e-01 -1.83363727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30140051300003 meters 0.06402133661323316 Centerline is valid? [True, True] Translation: X:278.12, Y:28.83, Z:-1.83 [[ 9.80830600e-01 -1.94858131e-01 -1.28180448e-03 2.78115713e+02] [ 1.94858075e-01 9.80831434e-01 -1.69503691e-04 2.88278852e+01] [ 1.29026330e-03 -8.35155463e-05 9.99999164e-01 -1.83375700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.331400513 meters 0.07231167668992906 Centerline is valid? [True, True] Translation: X:278.14, Y:28.82, Z:-1.83 [[ 9.80562967e-01 -1.96204556e-01 -1.99727304e-04 2.78144481e+02] [ 1.96204554e-01 9.80562987e-01 -2.65583526e-05 2.88247434e+01] [ 2.01056072e-04 -1.31452697e-05 9.99999980e-01 -1.83271759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36140051300004 meters 0.06987193166716234 Centerline is valid? [True, True] Translation: X:278.17, Y:28.83, Z:-1.83 [[ 9.80595254e-01 -1.96043154e-01 1.71313975e-04 2.78172815e+02] [ 1.96043153e-01 9.80595269e-01 2.21140761e-05 2.88331138e+01] [-1.72324987e-04 1.18999737e-05 9.99999985e-01 -1.83163092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.391400513 meters 0.06798480558380059 Centerline is valid? [True, True] Translation: X:278.20, Y:28.84, Z:-1.83 [[ 9.80680676e-01 -1.95613104e-01 9.61626851e-04 2.78200788e+02] [ 1.95613073e-01 9.80681146e-01 1.26847847e-04 2.88400206e+01] [-9.67862423e-04 6.37095511e-05 9.99999530e-01 -1.83046969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42140051300004 meters 0.06968046075713191 Centerline is valid? [True, True] Translation: X:278.23, Y:28.85, Z:-1.83 [[ 9.80753675e-01 -1.95240528e-01 1.83442578e-03 2.78228359e+02] [ 1.95240414e-01 9.80755383e-01 2.42774771e-04 2.88519323e+01] [-1.84652243e-03 1.20051799e-04 9.99998288e-01 -1.82902777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.451400513 meters 0.07149225157445024 Centerline is valid? [True, True] Translation: X:278.26, Y:28.86, Z:-1.83 [[ 9.80646642e-01 -1.95778951e-01 1.66304934e-03 2.78256075e+02] [ 1.95778858e-01 9.80648046e-01 2.20508928e-04 2.88565255e+01] [-1.67403709e-03 1.09348559e-04 9.99998593e-01 -1.82931396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.481400513 meters 0.06614768249533669 Centerline is valid? [True, True] Translation: X:278.28, Y:28.87, Z:-1.83 [[ 9.80404115e-01 -1.96996719e-01 2.53402412e-04 2.78284191e+02] [ 1.96996717e-01 9.80404148e-01 3.35151658e-05 2.88675587e+01] [-2.55039154e-04 1.70610367e-05 9.99999967e-01 -1.83084814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.511400513 meters 0.07645064529619638 Centerline is valid? [True, True] Translation: X:278.31, Y:28.86, Z:-1.83 [[ 9.80117949e-01 -1.98412275e-01 -1.17283711e-03 2.78314501e+02] [ 1.98412230e-01 9.80118647e-01 -1.55864057e-04 2.88590215e+01] [ 1.18044487e-03 -7.99400671e-05 9.99999300e-01 -1.83405314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.541400513 meters 0.07212757204521368 Centerline is valid? [True, True] Translation: X:278.34, Y:28.87, Z:-1.83 [[ 9.79802096e-01 -1.99961112e-01 -1.84551011e-03 2.78343856e+02] [ 1.99961003e-01 9.79803826e-01 -2.45126512e-04 2.88682741e+01] [ 1.85725364e-03 -1.28854582e-04 9.99998267e-01 -1.83455480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.571400513 meters 0.07122703040665085 Centerline is valid? [True, True] Translation: X:278.37, Y:28.87, Z:-1.83 [[ 9.79548200e-01 -2.01203453e-01 -1.57917401e-03 2.78372731e+02] [ 2.01203375e-01 9.79549467e-01 -2.09896226e-04 2.88743567e+01] [ 1.58911091e-03 -1.12131671e-04 9.99998731e-01 -1.83328326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.601400513 meters 0.07122703040665085 Centerline is valid? [True, True] Translation: X:278.40, Y:28.88, Z:-1.83 [[ 9.79509909e-01 -2.01389782e-01 -1.57906514e-03 2.78400047e+02] [ 2.01389703e-01 9.79511176e-01 -2.10715130e-04 2.88781318e+01] [ 1.58914783e-03 -1.11609902e-04 9.99998731e-01 -1.83337664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.631400513 meters 0.07474280663883603 Centerline is valid? [True, True] Translation: X:278.43, Y:28.88, Z:-1.83 [[ 9.79445915e-01 -2.01706760e-01 -2.88890083e-04 2.78428108e+02] [ 2.01706757e-01 9.79445957e-01 -3.86506012e-05 2.88790723e+01] [ 2.90748311e-04 -2.04149084e-05 9.99999958e-01 -1.83081258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.661400513 meters 0.07337461252831914 Centerline is valid? [True, True] Translation: X:278.46, Y:28.89, Z:-1.83 [[ 9.79648292e-01 -2.00721758e-01 -2.77203769e-05 2.78456845e+02] [ 2.00721758e-01 9.79648292e-01 -4.21072139e-06 2.88862661e+01] [ 2.80014033e-05 -1.43905677e-06 1.00000000e+00 -1.83038556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.691400513 meters 0.07200024023533792 Centerline is valid? [True, True] Translation: X:278.49, Y:28.89, Z:-1.83 [[ 9.80053540e-01 -1.98733305e-01 -3.64447638e-04 2.78485455e+02] [ 1.98733301e-01 9.80053607e-01 -4.86493057e-05 2.88949546e+01] [ 3.66846460e-04 -2.47489579e-05 9.99999932e-01 -1.83093247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.721400513 meters 0.0690642599344613 Centerline is valid? [True, True] Translation: X:278.51, Y:28.90, Z:-1.83 [[ 9.80631965e-01 -1.95856032e-01 -1.16753638e-03 2.78513354e+02] [ 1.95855985e-01 9.80632657e-01 -1.55698728e-04 2.89031967e+01] [ 1.17541884e-03 -7.59858386e-05 9.99999306e-01 -1.83272317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.751400513 meters 0.06670787311389906 Centerline is valid? [True, True] Translation: X:278.54, Y:28.91, Z:-1.83 [[ 9.81292133e-01 -1.92521124e-01 -1.16888588e-03 2.78542217e+02] [ 1.92521074e-01 9.81292827e-01 -1.55873370e-04 2.89138132e+01] [ 1.17702825e-03 -7.20778539e-05 9.99999305e-01 -1.83330467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.781400513 meters 0.0625028686742052 Centerline is valid? [True, True] Translation: X:278.57, Y:28.92, Z:-1.83 [[ 9.81867835e-01 -1.89566177e-01 -4.68646577e-04 2.78571337e+02] [ 1.89566168e-01 9.81867946e-01 -6.25065305e-05 2.89245892e+01] [ 4.71998177e-04 -2.74663843e-05 9.99999888e-01 -1.83205184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.811400513 meters 0.06192136810258762 Centerline is valid? [True, True] Translation: X:278.60, Y:28.94, Z:-1.83 [[ 9.82633107e-01 -1.85549078e-01 1.92802763e-03 2.78599004e+02] [ 1.85548929e-01 9.82634993e-01 2.56994005e-04 2.89358556e+01] [-1.94223241e-03 1.05212644e-04 9.99998108e-01 -1.82776425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.841400513 meters 0.05625348061439027 Centerline is valid? [True, True] Translation: X:278.63, Y:28.95, Z:-1.83 [[ 9.82763690e-01 -1.84854930e-01 2.04539844e-03 2.78625472e+02] [ 1.84854762e-01 9.82765813e-01 2.72520956e-04 2.89538603e+01] [-2.06052450e-03 1.10277940e-04 9.99997871e-01 -1.82715563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.871400513 meters 0.05751712247549821 Centerline is valid? [True, True] Translation: X:278.65, Y:28.96, Z:-1.83 [[ 9.82794322e-01 -1.84698923e-01 1.27633787e-03 2.78652444e+02] [ 1.84698857e-01 9.82795148e-01 1.70286339e-04 2.89589157e+01] [-1.28583037e-03 6.83816991e-05 9.99999171e-01 -1.82876055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.901400513 meters 0.05541834794215473 Centerline is valid? [True, True] Translation: X:278.68, Y:28.97, Z:-1.83 [[ 9.82677152e-01 -1.85325420e-01 3.22917203e-04 2.78680109e+02] [ 1.85325416e-01 9.82677205e-01 4.26302136e-05 2.89676521e+01] [-3.25223836e-04 1.79530281e-05 9.99999947e-01 -1.83119064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.931400513 meters 0.05573726207453095 Centerline is valid? [True, True] Translation: X:278.71, Y:28.98, Z:-1.83 [[ 9.82432256e-01 -1.86619303e-01 3.13009808e-04 2.78707603e+02] [ 1.86619299e-01 9.82432306e-01 4.17542370e-05 2.89828170e+01] [-3.15303094e-04 1.73929617e-05 9.99999950e-01 -1.83192476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.961400513 meters 0.05825273563563671 Centerline is valid? [True, True] Translation: X:278.73, Y:28.99, Z:-1.83 [[ 9.82276066e-01 -1.87438394e-01 7.60743590e-04 2.78734385e+02] [ 1.87438371e-01 9.82276360e-01 1.01618489e-04 2.89898554e+01] [-7.66307650e-04 4.27751297e-05 9.99999705e-01 -1.83166437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99140051300003 meters 0.05057578711826679 Centerline is valid? [True, True] Translation: X:278.76, Y:29.01, Z:-1.83 [[ 9.82357278e-01 -1.87013532e-01 3.42679871e-04 2.78759654e+02] [ 1.87013106e-01 9.82356896e-01 1.01344898e-03 2.90085477e+01] [-5.26162607e-04 -9.31483350e-04 9.99999428e-01 -1.83141371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.021400513 meters 0.058557063594298825 Centerline is valid? [True, True] Translation: X:278.79, Y:29.01, Z:-1.83 [[ 9.81920355e-01 -1.89292833e-01 7.99673743e-04 2.78789244e+02] [ 1.89293497e-01 9.81920178e-01 -8.57927809e-04 2.90104414e+01] [-6.22816199e-04 9.93789818e-04 9.99999312e-01 -1.83159111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05140051300003 meters 0.057680297445053166 Centerline is valid? [True, True] Translation: X:278.82, Y:29.02, Z:-1.83 [[ 9.81720637e-01 -1.90327357e-01 2.96961940e-04 2.78817297e+02] [ 1.90327354e-01 9.81720682e-01 3.92965224e-05 2.90206007e+01] [-2.99012881e-04 1.79417731e-05 9.99999955e-01 -1.83221986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.081400513 meters 0.05941461152725055 Centerline is valid? [True, True] Translation: X:278.84, Y:29.03, Z:-1.83 [[ 9.81557029e-01 -1.91169067e-01 -4.32699981e-04 2.78844565e+02] [ 1.91169060e-01 9.81557124e-01 -5.87175548e-05 2.90316620e+01] [ 4.35944729e-04 -2.50842199e-05 9.99999905e-01 -1.83351010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11140051300004 meters 0.06129899972492057 Centerline is valid? [True, True] Translation: X:278.87, Y:29.04, Z:-1.84 [[ 9.80938525e-01 -1.94316596e-01 -8.18609322e-04 2.78874207e+02] [ 1.94316572e-01 9.80938866e-01 -1.10023309e-04 2.90398151e+01] [ 8.24385055e-04 -5.11432546e-05 9.99999659e-01 -1.83503745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.141400513 meters 0.05816525578759172 Centerline is valid? [True, True] Translation: X:278.90, Y:29.05, Z:-1.84 [[ 9.80509174e-01 -1.96471655e-01 -8.05210745e-04 2.78903588e+02] [ 1.96471632e-01 9.80509503e-01 -1.08259926e-04 2.90477866e+01] [ 8.10786795e-04 -5.20512188e-05 9.99999670e-01 -1.83505137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17140051300004 meters 0.06015883115336934 Centerline is valid? [True, True] Translation: X:278.93, Y:29.05, Z:-1.84 [[ 9.80072761e-01 -1.98636692e-01 -9.20147724e-04 2.78933702e+02] [ 1.98636663e-01 9.80073191e-01 -1.23665793e-04 2.90525805e+01] [ 9.26376680e-04 -6.15735987e-05 9.99999569e-01 -1.83560758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.201400513 meters 0.06935305184564194 Centerline is valid? [True, True] Translation: X:278.96, Y:29.05, Z:-1.84 [[ 9.79747821e-01 -2.00232366e-01 -1.09857799e-03 2.78963074e+02] [ 2.00232326e-01 9.79748434e-01 -1.47807046e-04 2.90484577e+01] [ 1.10592582e-03 -7.51571954e-05 9.99999386e-01 -1.83661349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.231400513 meters 0.06788775152773081 Centerline is valid? [True, True] Translation: X:278.99, Y:29.05, Z:-1.84 [[ 9.79506244e-01 -2.01411284e-01 -1.00605751e-03 2.78991695e+02] [ 2.01411251e-01 9.79506758e-01 -1.35402556e-04 2.90535487e+01] [ 1.01271173e-03 -7.00036517e-05 9.99999485e-01 -1.83643826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.261400513 meters 0.07151364548374807 Centerline is valid? [True, True] Translation: X:279.02, Y:29.05, Z:-1.84 [[ 9.79451079e-01 -2.01678743e-01 -1.12607105e-03 2.79019320e+02] [ 2.01678701e-01 9.79451723e-01 -1.51684778e-04 2.90545757e+01] [ 1.13352383e-03 -7.85367276e-05 9.99999354e-01 -1.83643901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.291400513 meters 0.06605971218557938 Centerline is valid? [True, True] Translation: X:279.05, Y:29.07, Z:-1.84 [[ 9.79717342e-01 -2.00377943e-01 -1.61576327e-03 2.79047016e+02] [ 2.00377856e-01 9.79718668e-01 -2.17486409e-04 2.90724734e+01] [ 1.62657291e-03 -1.10687971e-04 9.99998671e-01 -1.83567739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.321400513 meters 0.062089014384340044 Centerline is valid? [True, True] Translation: X:279.08, Y:29.08, Z:-1.83 [[ 9.79959986e-01 -1.99192339e-01 -9.15032792e-04 2.79075679e+02] [ 1.99192310e-01 9.79960412e-01 -1.23224687e-04 2.90804161e+01] [ 9.21241325e-04 -6.15122334e-05 9.99999574e-01 -1.83433007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.351400513 meters 0.07820008181610148 Centerline is valid? [True, True] Translation: X:279.11, Y:29.07, Z:-1.83 [[ 9.80142784e-01 -1.98292966e-01 1.49044264e-04 2.79105987e+02] [ 1.98292966e-01 9.80142795e-01 1.99012669e-05 2.90675531e+01] [-1.50030943e-04 1.00483460e-05 9.99999989e-01 -1.83400870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.381400513 meters 0.07020864728076907 Centerline is valid? [True, True] Translation: X:279.13, Y:29.08, Z:-1.83 [[ 9.80143468e-01 -1.98289520e-01 2.21152211e-04 2.79132732e+02] [ 1.98289518e-01 9.80143493e-01 2.92590547e-05 2.90832948e+01] [-2.22562664e-04 1.51740939e-05 9.99999975e-01 -1.83398670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.411400513 meters 0.07178783291274211 Centerline is valid? [True, True] Translation: X:279.16, Y:29.08, Z:-1.84 [[ 9.79875256e-01 -1.99610679e-01 -2.45092833e-04 2.79161450e+02] [ 1.99610677e-01 9.79875286e-01 -3.32035481e-05 2.90816925e+01] [ 2.46788193e-04 -1.63878112e-05 9.99999969e-01 -1.83581203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.441400513 meters 0.0719578191548352 Centerline is valid? [True, True] Translation: X:279.19, Y:29.08, Z:-1.84 [[ 9.78768312e-01 -2.04968905e-01 -5.81997978e-04 2.79192117e+02] [ 2.04968895e-01 9.78768484e-01 -7.84877623e-05 2.90820617e+01] [ 5.85728830e-04 -4.24701477e-05 9.99999828e-01 -1.83679923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.471400513 meters 0.07661523809133793 Centerline is valid? [True, True] Translation: X:279.22, Y:29.08, Z:-1.84 [[ 9.78120018e-01 -2.08041340e-01 -1.78345139e-04 2.79222241e+02] [ 2.08041339e-01 9.78120034e-01 -2.40945975e-05 2.90798567e+01] [ 1.79455625e-04 -1.35357534e-05 9.99999984e-01 -1.83539048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.501400513 meters 0.07577406906290947 Centerline is valid? [True, True] Translation: X:279.25, Y:29.08, Z:-1.83 [[ 9.77494113e-01 -2.10961669e-01 6.58230853e-04 2.79252946e+02] [ 2.10961656e-01 9.77494333e-01 8.87583410e-05 2.90823736e+01] [-6.62141536e-04 5.21007151e-05 9.99999779e-01 -1.83346810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.531400513 meters 0.07049536237019516 Centerline is valid? [True, True] Translation: X:279.28, Y:29.09, Z:-1.83 [[ 9.76961957e-01 -2.13412324e-01 7.16666232e-04 2.79282280e+02] [ 2.13412310e-01 9.76962219e-01 9.66218897e-05 2.90903008e+01] [-7.20776134e-04 5.85494858e-05 9.99999739e-01 -1.83242950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.561400513 meters 0.08320112990355799 Centerline is valid? [True, True] Translation: X:279.31, Y:29.08, Z:-1.83 [[ 9.76751832e-01 -2.14373170e-01 4.27221216e-05 2.79312966e+02] [ 2.14373170e-01 9.76751833e-01 5.58920662e-06 2.90766888e+01] [-4.29270865e-05 3.69920882e-06 9.99999999e-01 -1.83400152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.591400513 meters 0.08307130164325895 Centerline is valid? [True, True] Translation: X:279.34, Y:29.08, Z:-1.84 [[ 9.76733950e-01 -2.14447191e-01 -1.78711128e-03 2.79340921e+02] [ 2.14447104e-01 9.76735574e-01 -2.42064319e-04 2.90798751e+01] [ 1.79744517e-03 -1.46808400e-04 9.99998374e-01 -1.83724572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.621400513 meters 0.07087152694732633 Centerline is valid? [True, True] Translation: X:279.37, Y:29.10, Z:-1.84 [[ 9.77284891e-01 -2.11869824e-01 -5.04169034e-03 2.79369250e+02] [ 2.11869111e-01 9.77297813e-01 -6.81201822e-04 2.90954140e+01] [ 5.07155905e-03 -4.02450202e-04 9.99987059e-01 -1.84155235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.651400513 meters 0.07702754493378829 Centerline is valid? [True, True] Translation: X:279.40, Y:29.09, Z:-1.84 [[ 9.77632601e-01 -2.10258904e-01 -5.06855777e-03 2.79398998e+02] [ 2.10258161e-01 9.77645660e-01 -6.85011668e-04 2.90903669e+01] [ 5.09928331e-03 -3.96015897e-04 9.99986920e-01 -1.84265424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.681400513 meters 0.0724043699755923 Centerline is valid? [True, True] Translation: X:279.43, Y:29.10, Z:-1.84 [[ 9.77913722e-01 -2.08963882e-01 -4.34140941e-03 2.79428109e+02] [ 2.08963324e-01 9.77923302e-01 -5.86760466e-04 2.90986874e+01] [ 4.36817717e-03 -3.33394231e-04 9.99990404e-01 -1.84043733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.711400513 meters 0.07184409283212324 Centerline is valid? [True, True] Translation: X:279.46, Y:29.11, Z:-1.84 [[ 9.78202638e-01 -2.07627686e-01 -3.21601990e-03 2.79457245e+02] [ 2.07627373e-01 9.78207895e-01 -4.34709360e-04 2.91066933e+01] [ 3.23619375e-03 -2.42499920e-04 9.99994734e-01 -1.83796248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74140051300003 meters 0.07288033360952813 Centerline is valid? [True, True] Translation: X:279.49, Y:29.10, Z:-1.84 [[ 9.78455427e-01 -2.06445010e-01 -2.33135853e-03 2.79486268e+02] [ 2.06444841e-01 9.78458189e-01 -3.15306565e-04 2.91044996e+01] [ 2.34623031e-03 -1.72783520e-04 9.99997233e-01 -1.83703474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.771400513 meters 0.07614442917086317 Centerline is valid? [True, True] Translation: X:279.51, Y:29.11, Z:-1.84 [[ 9.78640075e-01 -2.05563946e-01 -2.65852876e-03 2.79514306e+02] [ 2.05563723e-01 9.78643667e-01 -3.59912026e-04 2.91064349e+01] [ 2.67573727e-03 -1.94272737e-04 9.99996401e-01 -1.83796013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80140051300003 meters 0.07401135856048306 Centerline is valid? [True, True] Translation: X:279.54, Y:29.11, Z:-1.84 [[ 9.78375130e-01 -2.06788453e-01 -4.54320578e-03 2.79544049e+02] [ 2.06787815e-01 9.78385620e-01 -6.14773646e-04 2.91082224e+01] [ 4.57213529e-03 -3.38000352e-04 9.99989491e-01 -1.84077955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.831400513 meters 0.06924936415570544 Centerline is valid? [True, True] Translation: X:279.57, Y:29.11, Z:-1.84 [[ 9.78072631e-01 -2.08212956e-01 -4.61448137e-03 2.79572689e+02] [ 2.08212313e-01 9.78083454e-01 -6.24630552e-04 2.91145653e+01] [ 4.64340405e-03 -3.49857790e-04 9.99989158e-01 -1.84008664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86140051300004 meters 0.07566635406160989 Centerline is valid? [True, True] Translation: X:279.60, Y:29.11, Z:-1.84 [[ 9.77819630e-01 -2.09423113e-01 -3.27567817e-03 2.79602646e+02] [ 2.09422795e-01 9.77825085e-01 -4.43561789e-04 2.91088609e+01] [ 3.29593238e-03 -2.52278255e-04 9.99994537e-01 -1.83883824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.891400513 meters 0.07276884662450368 Centerline is valid? [True, True] Translation: X:279.63, Y:29.12, Z:-1.84 [[ 9.77598712e-01 -2.10470095e-01 -1.75970887e-03 2.79631393e+02] [ 2.10470005e-01 9.77600286e-01 -2.38340625e-04 2.91165963e+01] [ 1.77045547e-03 -1.37364448e-04 9.99998423e-01 -1.83619219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92140051300004 meters 0.07848218889463554 Centerline is valid? [True, True] Translation: X:279.66, Y:29.11, Z:-1.83 [[ 9.77323579e-01 -2.11751314e-01 6.09416983e-05 2.79660740e+02] [ 2.11751314e-01 9.77323581e-01 8.09309097e-06 2.91108275e+01] [-6.12734815e-05 4.99491605e-06 9.99999998e-01 -1.83419700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.951400513 meters 0.07743364850034679 Centerline is valid? [True, True] Translation: X:279.69, Y:29.11, Z:-1.84 [[ 9.77359240e-01 -2.11586347e-01 -3.65910355e-04 2.79689877e+02] [ 2.11586343e-01 9.77359308e-01 -5.01725022e-05 2.91125089e+01] [ 3.68241708e-04 -2.83850754e-05 9.99999932e-01 -1.83501012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.981400513 meters 0.07460812134912587 Centerline is valid? [True, True] Translation: X:279.72, Y:29.12, Z:-1.84 [[ 9.77623866e-01 -2.10357524e-01 -1.13547479e-03 2.79719529e+02] [ 2.10357486e-01 9.77624521e-01 -1.54121584e-04 2.91192085e+01] [ 1.14248864e-03 -8.81826837e-05 9.99999343e-01 -1.83607580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.011400513 meters 0.07194855842267012 Centerline is valid? [True, True] Translation: X:279.75, Y:29.13, Z:-1.84 [[ 9.77973005e-01 -2.08721666e-01 -2.01673840e-03 2.79748483e+02] [ 2.08721543e-01 9.77975073e-01 -2.73680503e-04 2.91264227e+01] [ 2.02944293e-03 -1.53284606e-04 9.99997929e-01 -1.83708783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.041400513 meters 0.07467162324945298 Centerline is valid? [True, True] Translation: X:279.78, Y:29.13, Z:-1.84 [[ 9.78237551e-01 -2.07471308e-01 -2.63637718e-03 2.79777865e+02] [ 2.07471093e-01 9.78241083e-01 -3.57806277e-04 2.91314283e+01] [ 2.65324700e-03 -1.96952519e-04 9.99996461e-01 -1.83847264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.071400513 meters 0.07537211835825418 Centerline is valid? [True, True] Translation: X:279.81, Y:29.13, Z:-1.84 [[ 9.78331203e-01 -2.07036206e-01 -2.01669643e-03 2.79806619e+02] [ 2.07036079e-01 9.78333270e-01 -2.73961793e-04 2.91290041e+01] [ 2.02972122e-03 -1.49503551e-04 9.99997929e-01 -1.83830870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.101400513 meters 0.0757540009201675 Centerline is valid? [True, True] Translation: X:279.83, Y:29.14, Z:-1.84 [[ 9.78195334e-01 -2.07674171e-01 -2.30813535e-03 2.79834881e+02] [ 2.07674005e-01 9.78198042e-01 -3.14265075e-04 2.91350166e+01] [ 2.32307822e-03 -1.71927081e-04 9.99997287e-01 -1.83813764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.131400513 meters 0.07922526019458251 Centerline is valid? [True, True] Translation: X:279.86, Y:29.13, Z:-1.84 [[ 9.78068763e-01 -2.08269320e-01 -2.32066854e-03 2.79862945e+02] [ 2.08269153e-01 9.78071500e-01 -3.15744614e-04 2.91331622e+01] [ 2.33553967e-03 -1.74503728e-04 9.99997257e-01 -1.83858034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.161400513 meters 0.07484646488205643 Centerline is valid? [True, True] Translation: X:279.89, Y:29.14, Z:-1.84 [[ 9.78013791e-01 -2.08529501e-01 -2.11478219e-03 2.79891324e+02] [ 2.08529362e-01 9.78016064e-01 -2.88453904e-04 2.91379670e+01] [ 2.12844210e-03 -1.58882284e-04 9.99997722e-01 -1.83805905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.191400513 meters 0.07439799139539487 Centerline is valid? [True, True] Translation: X:279.92, Y:29.14, Z:-1.84 [[ 9.78161288e-01 -2.07838446e-01 -1.91674430e-03 2.79920443e+02] [ 2.07838330e-01 9.78163156e-01 -2.61746413e-04 2.91424522e+01] [ 1.92928962e-03 -1.42342727e-04 9.99998129e-01 -1.83794798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.221400513 meters 0.07324210909650683 Centerline is valid? [True, True] Translation: X:279.95, Y:29.15, Z:-1.84 [[ 9.78999618e-01 -2.03861119e-01 -6.26342116e-04 2.79949716e+02] [ 2.03861105e-01 9.78999817e-01 -8.54377232e-05 2.91497171e+01] [ 6.30606247e-04 -4.40432977e-05 9.99999800e-01 -1.83629012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.251400513 meters 0.06458787691249869 Centerline is valid? [True, True] Translation: X:279.98, Y:29.16, Z:-1.84 [[ 9.79651740e-01 -2.00704084e-01 -5.82702556e-04 2.79978455e+02] [ 2.00704072e-01 9.79651912e-01 -7.94885612e-05 2.91609517e+01] [ 5.86799352e-04 -3.90796687e-05 9.99999827e-01 -1.83600978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.281400513 meters 0.05810978542343533 Centerline is valid? [True, True] Translation: X:280.01, Y:29.17, Z:-1.84 [[ 9.80320511e-01 -1.97401840e-01 -2.05169652e-03 2.80007267e+02] [ 1.97401685e-01 9.80322649e-01 -2.79815848e-04 2.91747014e+01] [ 2.06656074e-03 -1.30699137e-04 9.99997856e-01 -1.83788958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.311400513 meters 0.06395287010196046 Centerline is valid? [True, True] Translation: X:280.04, Y:29.18, Z:-1.84 [[ 9.80960085e-01 -1.94170787e-01 -3.87531723e-03 2.80036704e+02] [ 1.94170208e-01 9.80967711e-01 -5.28524334e-04 2.91765564e+01] [ 3.90418506e-03 -2.34009878e-04 9.99992351e-01 -1.84204263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.341400513 meters 0.05431895348466359 Centerline is valid? [True, True] Translation: X:280.07, Y:29.19, Z:-1.84 [[ 9.81982363e-01 -1.88915514e-01 -4.64409090e-03 2.80065098e+02] [ 1.88914625e-01 9.81993311e-01 -6.33350095e-04 2.91930632e+01] [ 4.68011586e-03 -2.55398070e-04 9.99989016e-01 -1.84322082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.371400513 meters 0.056954923929414016 Centerline is valid? [True, True] Translation: X:280.09, Y:29.20, Z:-1.84 [[ 9.82301009e-01 -1.87263825e-01 -4.12162660e-03 2.80093940e+02] [ 1.87263110e-01 9.82309631e-01 -5.62254650e-04 2.91961167e+01] [ 4.15400346e-03 -2.19525304e-04 9.99991348e-01 -1.84258999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.401400513 meters 0.057315089306808474 Centerline is valid? [True, True] Translation: X:280.12, Y:29.20, Z:-1.84 [[ 9.82459850e-01 -1.86448537e-01 -3.09619624e-03 2.80122415e+02] [ 1.86448129e-01 9.82464715e-01 -4.22614609e-04 2.92024201e+01] [ 3.12069943e-03 -1.62078110e-04 9.99995117e-01 -1.84071784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.431400513 meters 0.0535724583963973 Centerline is valid? [True, True] Translation: X:280.15, Y:29.21, Z:-1.84 [[ 9.82497586e-01 -1.86255168e-01 -2.73970256e-03 2.80150075e+02] [ 1.86254845e-01 9.82501396e-01 -3.74861455e-04 2.92141853e+01] [ 2.76158147e-03 -1.41982402e-04 9.99996177e-01 -1.83944974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.461400513 meters 0.04985814082387197 Centerline is valid? [True, True] Translation: X:280.18, Y:29.22, Z:-1.84 [[ 9.82591386e-01 -1.85763867e-01 -2.43998416e-03 2.80177674e+02] [ 1.85763610e-01 9.82594408e-01 -3.33691055e-04 2.92200984e+01] [ 2.45950253e-03 -1.25378310e-04 9.99996968e-01 -1.83875728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49140051300003 meters 0.057487247061203714 Centerline is valid? [True, True] Translation: X:280.21, Y:29.22, Z:-1.84 [[ 9.82670826e-01 -1.85340454e-01 -2.63896716e-03 2.80205929e+02] [ 1.85340151e-01 9.82674360e-01 -3.61218031e-04 2.92206328e+01] [ 2.66019368e-03 -1.34148150e-04 9.99996453e-01 -1.84016090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.521400513 meters 0.057487247061203714 Centerline is valid? [True, True] Translation: X:280.23, Y:29.22, Z:-1.84 [[ 9.82636962e-01 -1.85519911e-01 -2.63885751e-03 2.80233178e+02] [ 1.85519606e-01 9.82640496e-01 -3.62018998e-04 2.92245232e+01] [ 2.66020999e-03 -1.33826557e-04 9.99996453e-01 -1.84025409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55140051300003 meters 0.05273030852566254 Centerline is valid? [True, True] Translation: X:280.26, Y:29.24, Z:-1.84 [[ 9.82718867e-01 -1.85084588e-01 -2.70627743e-03 2.80260442e+02] [ 1.85084265e-01 9.82722584e-01 -3.71639246e-04 2.92375340e+01] [ 2.72830464e-03 -1.35672470e-04 9.99996269e-01 -1.84084304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.581400513 meters 0.05161664262015329 Centerline is valid? [True, True] Translation: X:280.29, Y:29.25, Z:-1.84 [[ 9.82794895e-01 -1.84685785e-01 -2.31421258e-03 2.80288134e+02] [ 1.84685546e-01 9.82797613e-01 -3.18279608e-04 2.92471942e+01] [ 2.33318432e-03 -1.14598041e-04 9.99997272e-01 -1.84048217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61140051300004 meters 0.047794283172709666 Centerline is valid? [True, True] Translation: X:280.32, Y:29.26, Z:-1.84 [[ 9.82869177e-01 -1.84300162e-01 -1.27741059e-03 2.80316050e+02] [ 1.84300089e-01 9.82870005e-01 -1.75797936e-04 2.92591407e+01] [ 1.28792814e-03 -6.26405132e-05 9.99999169e-01 -1.83898285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.641400513 meters 0.053353735052367485 Centerline is valid? [True, True] Translation: X:280.34, Y:29.26, Z:-1.84 [[ 9.82960540e-01 -1.83816111e-01 4.61743505e-04 2.80344376e+02] [ 1.83816102e-01 9.82960649e-01 6.32552726e-05 2.92582944e+01] [-4.65503034e-04 2.26984543e-05 9.99999891e-01 -1.83748727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67140051300004 meters 0.04869664748927195 Centerline is valid? [True, True] Translation: X:280.37, Y:29.27, Z:-1.84 [[ 9.83044603e-01 -1.83362758e-01 1.18609503e-03 2.80371863e+02] [ 1.83362695e-01 9.83045317e-01 1.62657302e-04 2.92723479e+01] [-1.19581045e-03 5.75861978e-05 9.99999283e-01 -1.83543620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.701400513 meters 0.05282980069983978 Centerline is valid? [True, True] Translation: X:280.40, Y:29.28, Z:-1.84 [[ 9.83095238e-01 -1.83089265e-01 1.43989682e-03 2.80399260e+02] [ 1.83089171e-01 9.83096290e-01 1.98027013e-04 2.92759200e+01] [-1.45181384e-03 6.89501002e-05 9.99998944e-01 -1.83500742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.731400513 meters 0.0543245724914375 Centerline is valid? [True, True] Translation: X:280.43, Y:29.29, Z:-1.84 [[ 9.82773063e-01 -1.84812542e-01 1.19621010e-03 2.80427083e+02] [ 1.84812478e-01 9.82773789e-01 1.64604090e-04 2.92889778e+01] [-1.20602483e-03 5.93060870e-05 9.99999271e-01 -1.83619929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.761400513 meters 0.05284676889877766 Centerline is valid? [True, True] Translation: X:280.46, Y:29.30, Z:-1.84 [[ 9.82352664e-01 -1.87034906e-01 1.08959855e-03 2.80456188e+02] [ 1.87034854e-01 9.82353267e-01 1.50038429e-04 2.93007413e+01] [-1.09843312e-03 5.64022564e-05 9.99999395e-01 -1.83697935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.791400513 meters 0.05467844636167367 Centerline is valid? [True, True] Translation: X:280.49, Y:29.31, Z:-1.84 [[ 9.81711909e-01 -1.90366253e-01 1.55485486e-03 2.80486103e+02] [ 1.90366152e-01 9.81713136e-01 2.14096803e-04 2.93077190e+01] [-1.56717825e-03 8.58103561e-05 9.99998768e-01 -1.83733929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.821400513 meters 0.05993247875998104 Centerline is valid? [True, True] Translation: X:280.52, Y:29.31, Z:-1.84 [[ 9.80913159e-01 -1.94435768e-01 2.02624347e-03 2.80515963e+02] [ 1.94435605e-01 9.80915245e-01 2.79008585e-04 2.93094666e+01] [-2.04182236e-03 1.20290683e-04 9.99997908e-01 -1.83751833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.851400513 meters 0.07041980570096187 Centerline is valid? [True, True] Translation: X:280.55, Y:29.31, Z:-1.84 [[ 9.79083012e-01 -2.03457182e-01 1.27706181e-03 2.80545862e+02] [ 2.03457125e-01 9.79083841e-01 1.75860552e-04 2.93071806e+01] [-1.28613068e-03 8.76452452e-05 9.99999169e-01 -1.83916123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.881400513 meters 0.07524705554911443 Centerline is valid? [True, True] Translation: X:280.58, Y:29.31, Z:-1.84 [[ 9.78180847e-01 -2.07755179e-01 -1.26624288e-04 2.80575213e+02] [ 2.07755179e-01 9.78180855e-01 -1.75151247e-05 2.93084589e+01] [ 1.27500312e-04 -9.17389205e-06 9.99999992e-01 -1.84163348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.911400513 meters 0.07639096354460886 Centerline is valid? [True, True] Translation: X:280.60, Y:29.31, Z:-1.84 [[ 9.77301248e-01 -2.11838337e-01 -2.60559933e-03 2.80604865e+02] [ 2.11838129e-01 9.77304701e-01 -3.58972465e-04 2.93145747e+01] [ 2.62250860e-03 -2.01141048e-04 9.99996541e-01 -1.84464686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.941400513 meters 0.08896124784576206 Centerline is valid? [True, True] Translation: X:280.64, Y:29.31, Z:-1.85 [[ 9.76591459e-01 -2.15052198e-01 -4.65557042e-03 2.80635575e+02] [ 2.15051568e-01 9.76602484e-01 -6.41506205e-04 2.93055714e+01] [ 4.68459896e-03 -3.74698237e-04 9.99988957e-01 -1.84894904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.971400513 meters 0.08206590120991294 Centerline is valid? [True, True] Translation: X:280.66, Y:29.32, Z:-1.85 [[ 9.75934781e-01 -2.17979211e-01 -6.03055005e-03 2.80663389e+02] [ 2.17978209e-01 9.75953283e-01 -8.30978922e-04 2.93231700e+01] [ 6.06667125e-03 -5.03547266e-04 9.99981471e-01 -1.84943297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.001400513 meters 0.0849874421432637 Centerline is valid? [True, True] Translation: X:280.69, Y:29.32, Z:-1.85 [[ 9.75372293e-01 -2.20484850e-01 -5.94309504e-03 2.80692624e+02] [ 2.20483923e-01 9.75390265e-01 -8.18791821e-04 2.93230615e+01] [ 5.97736824e-03 -5.11730055e-04 9.99982004e-01 -1.84905514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.031400513 meters 0.07922946170937267 Centerline is valid? [True, True] Translation: X:280.72, Y:29.33, Z:-1.84 [[ 9.74569721e-01 -2.24061715e-01 -3.19477676e-03 2.80721857e+02] [ 2.24061467e-01 9.74574915e-01 -4.40161655e-04 2.93347805e+01] [ 3.21217266e-03 -2.86858144e-04 9.99994800e-01 -1.84389708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.061400513 meters 0.08574168364038136 Centerline is valid? [True, True] Translation: X:280.75, Y:29.33, Z:-1.84 [[ 9.74288435e-01 -2.25297373e-01 -1.77155897e-03 2.80751270e+02] [ 2.25297299e-01 9.74290033e-01 -2.44262312e-04 2.93318090e+01] [ 1.78104391e-03 -1.61145506e-04 9.99998401e-01 -1.84295974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.091400513 meters 0.09015354499828747 Centerline is valid? [True, True] Translation: X:280.78, Y:29.33, Z:-1.84 [[ 9.74107419e-01 -2.26079646e-01 -1.65216419e-03 2.80779796e+02] [ 2.26079582e-01 9.74108809e-01 -2.27921249e-04 2.93308592e+01] [ 1.66091605e-03 -1.51500810e-04 9.99998609e-01 -1.84324899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.121400513 meters 0.094544076996881 Centerline is valid? [True, True] Translation: X:280.81, Y:29.33, Z:-1.85 [[ 9.74006472e-01 -2.26497723e-01 -3.18981364e-03 2.80808261e+02] [ 2.26497484e-01 9.74011651e-01 -4.40777349e-04 2.93294951e+01] [ 3.20675071e-03 -2.93164771e-04 9.99994815e-01 -1.84601196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.151400513 meters 0.08625275408303741 Centerline is valid? [True, True] Translation: X:280.84, Y:29.34, Z:-1.85 [[ 9.73987845e-01 -2.26539498e-01 -5.24722703e-03 2.80835692e+02] [ 2.26538848e-01 9.74001860e-01 -7.25608133e-04 2.93426621e+01] [ 5.27518779e-03 -4.81967265e-04 9.99985970e-01 -1.84840792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.181400513 meters 0.09593849745508733 Centerline is valid? [True, True] Translation: X:280.86, Y:29.34, Z:-1.85 [[ 9.73994771e-01 -2.26452489e-01 -7.31144791e-03 2.80864674e+02] [ 2.26451227e-01 9.74021981e-01 -1.01091093e-03 2.93359708e+01] [ 7.35043427e-03 -6.71064391e-04 9.99972760e-01 -1.85229958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.211400513 meters 0.08723306865678553 Centerline is valid? [True, True] Translation: X:280.89, Y:29.35, Z:-1.85 [[ 9.74209782e-01 -2.25545394e-01 -6.67647181e-03 2.80892734e+02] [ 2.25544320e-01 9.74232471e-01 -9.23172171e-04 2.93476770e+01] [ 6.71265286e-03 -6.06476935e-04 9.99977286e-01 -1.84933177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24140051300003 meters 0.08241479506781077 Centerline is valid? [True, True] Translation: X:280.92, Y:29.36, Z:-1.85 [[ 9.74443243e-01 -2.24572280e-01 -5.25901567e-03 2.80921326e+02] [ 2.24571599e-01 9.74457320e-01 -7.27318789e-04 2.93567045e+01] [ 5.28802196e-03 -4.72294678e-04 9.99985907e-01 -1.84673593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.271400513 meters 0.08589566681647197 Centerline is valid? [True, True] Translation: X:280.95, Y:29.36, Z:-1.85 [[ 9.74732761e-01 -2.23338570e-01 -3.99100399e-03 2.80950768e+02] [ 2.23338167e-01 9.74740867e-01 -5.52064785e-04 2.93554026e+01] [ 4.01349205e-03 -3.53227885e-04 9.99991884e-01 -1.84555259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30140051300003 meters 0.09345204558639873 Centerline is valid? [True, True] Translation: X:280.98, Y:29.35, Z:-1.85 [[ 9.75032620e-01 -2.22036879e-01 -3.31868544e-03 2.80980386e+02] [ 2.22036593e-01 9.75038225e-01 -4.59229413e-04 2.93498389e+01] [ 3.33781103e-03 -2.89105948e-04 9.99994388e-01 -1.84611468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.331400513 meters 0.09085446337393394 Centerline is valid? [True, True] Translation: X:281.01, Y:29.36, Z:-1.85 [[ 9.75338533e-01 -2.20692168e-01 -3.11658808e-03 2.81009394e+02] [ 2.20691908e-01 9.75343476e-01 -4.31298610e-04 2.93569407e+01] [ 3.13492808e-03 -2.67143617e-04 9.99995050e-01 -1.84657359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36140051300004 meters 0.08078767516185337 Centerline is valid? [True, True] Translation: X:281.04, Y:29.37, Z:-1.85 [[ 9.75862849e-01 -2.18350877e-01 -3.82018479e-03 2.81037532e+02] [ 2.18350470e-01 9.75870275e-01 -5.28555294e-04 2.93717964e+01] [ 3.84341530e-03 -3.18341669e-04 9.99992563e-01 -1.84788299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.391400513 meters 0.0818732506032085 Centerline is valid? [True, True] Translation: X:281.07, Y:29.37, Z:-1.85 [[ 9.76036587e-01 -2.17561568e-01 -4.42091202e-03 2.81065160e+02] [ 2.17561012e-01 9.76046531e-01 -6.12132425e-04 2.93736931e+01] [ 4.44819233e-03 -3.64354448e-04 9.99990040e-01 -1.84895063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42140051300004 meters 0.07890641289961273 Centerline is valid? [True, True] Translation: X:281.09, Y:29.38, Z:-1.85 [[ 9.76125054e-01 -2.17159591e-01 -4.64662138e-03 2.81093370e+02] [ 2.17158967e-01 9.76136040e-01 -6.44485154e-04 2.93814123e+01] [ 4.67569072e-03 -3.79957393e-04 9.99988997e-01 -1.84897431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.451400513 meters 0.0806049415789094 Centerline is valid? [True, True] Translation: X:281.12, Y:29.38, Z:-1.85 [[ 9.76218281e-01 -2.16743288e-01 -4.49609268e-03 2.81120896e+02] [ 2.16742700e-01 9.76228566e-01 -6.23532195e-04 2.93832050e+01] [ 4.52436053e-03 -3.65791740e-04 9.99989698e-01 -1.84902095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.481400513 meters 0.08249945525160086 Centerline is valid? [True, True] Translation: X:281.15, Y:29.38, Z:-1.85 [[ 9.76798863e-01 -2.14124208e-01 -3.84762631e-03 2.81150620e+02] [ 2.14123758e-01 9.76806394e-01 -5.33547842e-04 2.93826114e+01] [ 3.87263149e-03 -3.02699278e-04 9.99992456e-01 -1.84769809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.511400513 meters 0.07937122839789174 Centerline is valid? [True, True] Translation: X:281.18, Y:29.39, Z:-1.85 [[ 9.77294584e-01 -2.11856285e-01 -3.49431561e-03 2.81179784e+02] [ 2.11855899e-01 9.77300795e-01 -4.84558633e-04 2.93899230e+01] [ 3.51765422e-03 -2.66734848e-04 9.99993777e-01 -1.84592875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.541400513 meters 0.07228869192397407 Centerline is valid? [True, True] Translation: X:281.21, Y:29.40, Z:-1.84 [[ 9.77880164e-01 -2.09144884e-01 -2.96687135e-03 2.81208151e+02] [ 2.09144593e-01 9.77884640e-01 -4.11477684e-04 2.94039314e+01] [ 2.98731638e-03 -2.18129234e-04 9.99995514e-01 -1.84396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.571400513 meters 0.06805637867863912 Centerline is valid? [True, True] Translation: X:281.24, Y:29.42, Z:-1.84 [[ 9.78609906e-01 -2.05706644e-01 -2.72538111e-03 2.81236421e+02] [ 2.05706385e-01 9.78613683e-01 -3.78061112e-04 2.94166902e+01] [ 2.74486493e-03 -1.90653945e-04 9.99996215e-01 -1.84306004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.601400513 meters 0.07031853712502524 Centerline is valid? [True, True] Translation: X:281.26, Y:29.42, Z:-1.84 [[ 9.79435548e-01 -2.01744989e-01 -2.22879120e-03 2.81264471e+02] [ 2.01744806e-01 9.79438072e-01 -3.09301377e-04 2.94221423e+01] [ 2.24536296e-03 -1.46706283e-04 9.99997468e-01 -1.84289898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.631400513 meters 0.06076715001553377 Centerline is valid? [True, True] Translation: X:281.29, Y:29.44, Z:-1.84 [[ 9.80199880e-01 -1.98005696e-01 -1.39277153e-03 2.81291579e+02] [ 1.98005621e-01 9.80200866e-01 -1.93248418e-04 2.94415529e+01] [ 1.40346015e-03 -8.63545158e-05 9.99999011e-01 -1.84169300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.661400513 meters 0.05600512388367534 Centerline is valid? [True, True] Translation: X:281.32, Y:29.46, Z:-1.84 [[ 9.81448876e-01 -1.91723424e-01 4.82188150e-04 2.81319855e+02] [ 1.91723414e-01 9.81448994e-01 6.68817682e-05 2.94598358e+01] [-4.86065876e-04 2.68057221e-05 9.99999882e-01 -1.83897708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.691400513 meters 0.055907885264901244 Centerline is valid? [True, True] Translation: X:281.35, Y:29.47, Z:-1.84 [[ 9.81814516e-01 -1.89840579e-01 9.00802693e-04 2.81348151e+02] [ 1.89840544e-01 9.81814928e-01 1.24919086e-04 2.94666256e+01] [-9.08136242e-04 4.83615011e-05 9.99999586e-01 -1.83839989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.721400513 meters 0.0542372084421549 Centerline is valid? [True, True] Translation: X:281.38, Y:29.48, Z:-1.84 [[ 9.81997089e-01 -1.88896044e-01 4.68784307e-05 2.81375170e+02] [ 1.88896044e-01 9.81997090e-01 6.34768906e-06 2.94817872e+01] [-4.72335358e-05 2.62173790e-06 9.99999999e-01 -1.83908256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.751400513 meters 0.047652349345697224 Centerline is valid? [True, True] Translation: X:281.40, Y:29.49, Z:-1.84 [[ 9.81951721e-01 -1.89131013e-01 -5.25914705e-04 2.81402833e+02] [ 1.89131001e-01 9.81951862e-01 -7.36700070e-05 2.94944666e+01] [ 5.30356207e-04 -2.71263844e-05 9.99999859e-01 -1.83973878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.781400513 meters 0.05267301686238601 Centerline is valid? [True, True] Translation: X:281.43, Y:29.50, Z:-1.84 [[ 9.81712496e-01 -1.90368584e-01 -6.13469377e-04 2.81431138e+02] [ 1.90368568e-01 9.81712688e-01 -8.54616681e-05 2.94959855e+01] [ 6.18519887e-04 -3.28864991e-05 9.99999808e-01 -1.84029698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.811400513 meters 0.054870443755503547 Centerline is valid? [True, True] Translation: X:281.46, Y:29.50, Z:-1.84 [[ 9.81293579e-01 -1.92517303e-01 2.00392315e-05 2.81460593e+02] [ 1.92517303e-01 9.81293579e-01 2.74680343e-06 2.95002038e+01] [-2.01931764e-05 1.16247823e-06 1.00000000e+00 -1.83935486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.841400513 meters 0.05969781771074506 Centerline is valid? [True, True] Translation: X:281.49, Y:29.51, Z:-1.84 [[ 9.80069121e-01 -1.98650011e-01 1.64033483e-03 2.81490551e+02] [ 1.98649907e-01 9.80070489e-01 2.28076093e-04 2.95052651e+01] [-1.65295107e-03 1.02322024e-04 9.99998629e-01 -1.83596323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.871400513 meters 0.06675838365799915 Centerline is valid? [True, True] Translation: X:281.52, Y:29.51, Z:-1.84 [[ 9.79448459e-01 -2.01690382e-01 1.30645263e-03 2.81520255e+02] [ 2.01690319e-01 9.79449326e-01 1.81658076e-04 2.95079722e+01] [-1.31624283e-03 8.55741239e-05 9.99999130e-01 -1.83644764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.901400513 meters 0.06489251700142072 Centerline is valid? [True, True] Translation: X:281.55, Y:29.52, Z:-1.84 [[ 9.78916841e-01 -2.04258780e-01 4.11968763e-04 2.81549905e+02] [ 2.04258774e-01 9.78916927e-01 5.72740324e-05 2.95170464e+01] [-4.14981919e-04 2.80817197e-05 9.99999914e-01 -1.83713300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.931400513 meters 0.06714727641283011 Centerline is valid? [True, True] Translation: X:281.58, Y:29.53, Z:-1.84 [[ 9.78222302e-01 -2.07554116e-01 -1.55485486e-03 2.81579720e+02] [ 2.07554034e-01 9.78223531e-01 -2.16197594e-04 2.95264331e+01] [ 1.56586831e-03 -1.11227091e-04 9.99998768e-01 -1.84065518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.961400513 meters 0.07333066442385057 Centerline is valid? [True, True] Translation: X:281.61, Y:29.53, Z:-1.84 [[ 9.77979937e-01 -2.08692306e-01 -1.66288332e-03 2.81608008e+02] [ 2.08692213e-01 9.77981343e-01 -2.31454997e-04 2.95264997e+01] [ 1.67457174e-03 -1.20672457e-04 9.99998591e-01 -1.84172090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99140051300003 meters 0.06749509316929511 Centerline is valid? [True, True] Translation: X:281.63, Y:29.54, Z:-1.84 [[ 9.77814462e-01 -2.09469838e-01 -1.12429565e-03 2.81634813e+02] [ 2.09469795e-01 9.77815105e-01 -1.57126643e-04 2.95412826e+01] [ 1.13226656e-03 -8.18652751e-05 9.99999356e-01 -1.84109548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.021400513 meters 0.06938956615311466 Centerline is valid? [True, True] Translation: X:281.66, Y:29.55, Z:-1.84 [[ 9.77648232e-01 -2.10247285e-01 -1.16255155e-04 2.81662410e+02] [ 2.10247285e-01 9.77648239e-01 -1.63943701e-05 2.95466624e+01] [ 1.17103519e-04 -8.41440383e-06 9.99999993e-01 -1.83995294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05140051300003 meters 0.07102993094373074 Centerline is valid? [True, True] Translation: X:281.69, Y:29.55, Z:-1.84 [[ 9.77424790e-01 -2.11282256e-01 7.67425531e-04 2.81691135e+02] [ 2.11282236e-01 9.77425089e-01 1.06857068e-04 2.95544811e+01] [-7.72677970e-04 5.76986354e-05 9.99999700e-01 -1.83884962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.081400513 meters 0.06934526226292508 Centerline is valid? [True, True] Translation: X:281.72, Y:29.56, Z:-1.84 [[ 9.76690669e-01 -2.14651656e-01 5.81683880e-05 2.81720191e+02] [ 2.14651656e-01 9.76690671e-01 8.08085175e-06 2.95637783e+01] [-5.85470901e-05 4.59344831e-06 9.99999998e-01 -1.83916253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11140051300004 meters 0.07671587531180012 Centerline is valid? [True, True] Translation: X:281.75, Y:29.56, Z:-1.84 [[ 9.76093300e-01 -2.17348819e-01 -1.16687307e-03 2.81750868e+02] [ 2.17348778e-01 9.76093992e-01 -1.62656192e-04 2.95593247e+01] [ 1.17433093e-03 -9.48508183e-05 9.99999306e-01 -1.84134254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.141400513 meters 0.08222228388727586 Centerline is valid? [True, True] Translation: X:281.78, Y:29.56, Z:-1.84 [[ 9.75501623e-01 -2.19980617e-01 -2.26095242e-03 2.81780509e+02] [ 2.19980474e-01 9.75504225e-01 -3.14993446e-04 2.95572021e+01] [ 2.27486108e-03 -1.90088766e-04 9.99997394e-01 -1.84294200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17140051300004 meters 0.07983064808569436 Centerline is valid? [True, True] Translation: X:281.81, Y:29.57, Z:-1.84 [[ 9.74945331e-01 -2.22424187e-01 -3.01385840e-03 2.81809755e+02] [ 2.22423943e-01 9.74949954e-01 -4.19962968e-04 2.95661062e+01] [ 3.03177103e-03 -2.60913336e-04 9.99995370e-01 -1.84276113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.201400513 meters 0.08642852751932886 Centerline is valid? [True, True] Translation: X:281.84, Y:29.56, Z:-1.84 [[ 9.74489464e-01 -2.24406356e-01 -3.47454783e-03 2.81839634e+02] [ 2.24406044e-01 9.74495609e-01 -4.84257686e-04 2.95636409e+01] [ 3.49460210e-03 -3.07805521e-04 9.99993846e-01 -1.84375098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.231400513 meters 0.08414006400684777 Centerline is valid? [True, True] Translation: X:281.87, Y:29.57, Z:-1.84 [[ 9.74158172e-01 -2.25832588e-01 -3.93684809e-03 2.81868718e+02] [ 2.25832199e-01 9.74166062e-01 -5.48718300e-04 2.95710525e+01] [ 3.95906227e-03 -3.54528646e-04 9.99992100e-01 -1.84415795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.261400513 meters 0.08312485177104148 Centerline is valid? [True, True] Translation: X:281.90, Y:29.58, Z:-1.85 [[ 9.73893572e-01 -2.26961237e-01 -4.46182270e-03 2.81898404e+02] [ 2.26960750e-01 9.73903707e-01 -6.21936216e-04 2.95771256e+01] [ 4.48654108e-03 -4.06958941e-04 9.99989853e-01 -1.84510555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.291400513 meters 0.0852068836190115 Centerline is valid? [True, True] Translation: X:281.93, Y:29.58, Z:-1.85 [[ 9.73719138e-01 -2.27716409e-01 -4.03442719e-03 2.81928107e+02] [ 2.27716016e-01 9.73727426e-01 -5.62496479e-04 2.95806170e+01] [ 4.05652208e-03 -3.70990099e-04 9.99991703e-01 -1.84555186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.321400513 meters 0.08234386518379708 Centerline is valid? [True, True] Translation: X:281.96, Y:29.59, Z:-1.84 [[ 9.73709201e-01 -2.27760726e-01 -3.92979611e-03 2.81955964e+02] [ 2.27760349e-01 9.73717065e-01 -5.49024170e-04 2.95890572e+01] [ 3.95155568e-03 -3.60461849e-04 9.99992128e-01 -1.84481477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.351400513 meters 0.08722238713894172 Centerline is valid? [True, True] Translation: X:281.98, Y:29.59, Z:-1.85 [[ 9.73753280e-01 -2.27566064e-01 -4.27026979e-03 2.81984295e+02] [ 2.27565618e-01 9.73762565e-01 -5.96649430e-04 2.95885011e+01] [ 4.29400603e-03 -3.90777242e-04 9.99990704e-01 -1.84564344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.381400513 meters 0.08719041581494677 Centerline is valid? [True, True] Translation: X:282.01, Y:29.60, Z:-1.85 [[ 9.73729931e-01 -2.27653246e-01 -4.90105429e-03 2.82011585e+02] [ 2.27652653e-01 9.73742162e-01 -6.85967886e-04 2.95963432e+01] [ 4.92852602e-03 -4.47790550e-04 9.99987754e-01 -1.84676966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.411400513 meters 0.08719041581494677 Centerline is valid? [True, True] Translation: X:282.04, Y:29.60, Z:-1.85 [[ 9.73688884e-01 -2.27828748e-01 -4.90093050e-03 2.82038883e+02] [ 2.27828153e-01 9.73701115e-01 -6.86852184e-04 2.96002910e+01] [ 4.92852616e-03 -4.47789607e-04 9.99987754e-01 -1.84686311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.441400513 meters 0.08001558002381107 Centerline is valid? [True, True] Translation: X:282.07, Y:29.62, Z:-1.85 [[ 9.74096060e-01 -2.26053566e-01 -6.05410298e-03 2.82066881e+02] [ 2.26052627e-01 9.74114722e-01 -8.47869447e-04 2.96151938e+01] [ 6.08905475e-03 -5.42639596e-04 9.99981314e-01 -1.84689875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.471400513 meters 0.0843864645951816 Centerline is valid? [True, True] Translation: X:282.10, Y:29.62, Z:-1.85 [[ 9.74567216e-01 -2.24026040e-01 -5.57452191e-03 2.82096923e+02] [ 2.24025211e-01 9.74583037e-01 -7.80786925e-04 2.96151489e+01] [ 5.60775109e-03 -4.87904106e-04 9.99984157e-01 -1.84710057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.501400513 meters 0.08699786066209665 Centerline is valid? [True, True] Translation: X:282.13, Y:29.62, Z:-1.85 [[ 9.75148568e-01 -2.21500212e-01 -4.78818109e-03 2.82125783e+02] [ 2.21499569e-01 9.75160239e-01 -6.70840562e-04 2.96176242e+01] [ 4.81783514e-03 -4.06410833e-04 9.99988312e-01 -1.84738201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.531400513 meters 0.08401623373192989 Centerline is valid? [True, True] Translation: X:282.15, Y:29.63, Z:-1.85 [[ 9.75731055e-01 -2.18933770e-01 -4.11254689e-03 2.82154308e+02] [ 2.18933273e-01 9.75739663e-01 -5.76250808e-04 2.96267751e+01] [ 4.13893588e-03 -3.38107541e-04 9.99991377e-01 -1.84628486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.561400513 meters 0.07857370944746549 Centerline is valid? [True, True] Translation: X:282.18, Y:29.64, Z:-1.85 [[ 9.76313512e-01 -2.16319285e-01 -4.23011412e-03 2.82182629e+02] [ 2.16318735e-01 9.76322618e-01 -5.92735301e-04 2.96388989e+01] [ 4.25817617e-03 -3.36357451e-04 9.99990877e-01 -1.84649468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.591400513 meters 0.08055575527086935 Centerline is valid? [True, True] Translation: X:282.21, Y:29.65, Z:-1.85 [[ 9.76799783e-01 -2.14081911e-01 -5.57848748e-03 2.82211057e+02] [ 2.14080917e-01 9.76815617e-01 -7.81756323e-04 2.96472886e+01] [ 5.61651358e-03 -4.30628308e-04 9.99984135e-01 -1.84930129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.621400513 meters 0.07109453234132401 Centerline is valid? [True, True] Translation: X:282.24, Y:29.67, Z:-1.85 [[ 9.77668433e-01 -2.09999877e-01 -8.03034744e-03 2.82238174e+02] [ 2.09997679e-01 9.77701237e-01 -1.12541949e-03 2.96681603e+01] [ 8.08761858e-03 -5.86067210e-04 9.99967123e-01 -1.85344217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.651400513 meters 0.07672148616308483 Centerline is valid? [True, True] Translation: X:282.27, Y:29.67, Z:-1.85 [[ 9.77996400e-01 -2.08481919e-01 -7.63751612e-03 2.82267462e+02] [ 2.08479883e-01 9.78026069e-01 -1.07058097e-03 2.96689605e+01] [ 7.69288665e-03 -5.45244134e-04 9.99970261e-01 -1.85401692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.681400513 meters 0.06460219376436405 Centerline is valid? [True, True] Translation: X:282.29, Y:29.69, Z:-1.85 [[ 9.78218987e-01 -2.07485441e-01 -6.11599324e-03 2.82293760e+02] [ 2.07484115e-01 9.78238011e-01 -8.57467821e-04 2.96938866e+01] [ 6.16080915e-03 -4.30180140e-04 9.99980930e-01 -1.84906370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.711400513 meters 0.0649394201633516 Centerline is valid? [True, True] Translation: X:282.32, Y:29.70, Z:-1.85 [[ 9.78360602e-01 -2.06862312e-01 -4.30305911e-03 2.82321345e+02] [ 2.06861648e-01 9.78370019e-01 -6.03603776e-04 2.97037943e+01] [ 4.33484690e-03 -2.99595747e-04 9.99990560e-01 -1.84636880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74140051300003 meters 0.06346224718986271 Centerline is valid? [True, True] Translation: X:282.35, Y:29.71, Z:-1.84 [[ 9.78466752e-01 -2.06389336e-01 -2.50130988e-03 2.82347990e+02] [ 2.06389109e-01 9.78469934e-01 -3.51289822e-04 2.97113709e+01] [ 2.51995899e-03 -1.72517706e-04 9.99996810e-01 -1.84386947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.771400513 meters 0.06425792301128895 Centerline is valid? [True, True] Translation: X:282.38, Y:29.72, Z:-1.84 [[ 9.78452991e-01 -2.06469715e-01 -3.66850412e-05 2.82375781e+02] [ 2.06469715e-01 9.78452992e-01 -5.70812348e-06 2.97207285e+01] [ 3.70731429e-05 -1.98921950e-06 9.99999999e-01 -1.84128548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80140051300003 meters 0.0756541299652395 Centerline is valid? [True, True] Translation: X:282.41, Y:29.72, Z:-1.84 [[ 9.78237711e-01 -2.07486969e-01 3.71005552e-04 2.82405698e+02] [ 2.07486964e-01 9.78237781e-01 5.20175626e-05 2.97152555e+01] [-3.73724615e-04 2.60932744e-05 9.99999930e-01 -1.84178877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.831400513 meters 0.07202866557618517 Centerline is valid? [True, True] Translation: X:282.44, Y:29.72, Z:-1.84 [[ 9.77849915e-01 -2.09306993e-01 3.54341787e-04 2.82435241e+02] [ 2.09306989e-01 9.77849979e-01 4.97598461e-05 2.97211514e+01] [-3.56908193e-04 2.55085512e-05 9.99999936e-01 -1.84134924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86140051300004 meters 0.07121810632866106 Centerline is valid? [True, True] Translation: X:282.46, Y:29.74, Z:-1.84 [[ 9.77414960e-01 -2.11328284e-01 5.92905706e-04 2.82463651e+02] [ 2.11328273e-01 9.77415139e-01 8.32674124e-05 2.97357507e+01] [-5.97111773e-04 4.39109242e-05 9.99999821e-01 -1.84035506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.891400513 meters 0.06871432068446197 Centerline is valid? [True, True] Translation: X:282.49, Y:29.74, Z:-1.84 [[ 9.77061584e-01 -2.12952931e-01 1.30746415e-03 2.82494054e+02] [ 2.12952875e-01 9.77062454e-01 1.83772421e-04 2.97399841e+01] [-1.31660900e-03 9.88712757e-05 9.99999128e-01 -1.83912743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92140051300004 meters 0.08263549821130219 Centerline is valid? [True, True] Translation: X:282.52, Y:29.73, Z:-1.84 [[ 9.76786990e-01 -2.14204328e-01 1.91883367e-03 2.82523819e+02] [ 2.14204209e-01 9.76788864e-01 2.69636830e-04 2.97318096e+01] [-1.93205274e-03 1.47644501e-04 9.99998123e-01 -1.83882007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.951400513 meters 0.07978896824775032 Centerline is valid? [True, True] Translation: X:282.55, Y:29.74, Z:-1.84 [[ 9.76603203e-01 -2.15048437e-01 5.94778443e-04 2.82552529e+02] [ 2.15048426e-01 9.76603383e-01 8.35657958e-05 2.97426784e+01] [-5.98833333e-04 4.62955439e-05 9.99999820e-01 -1.84034782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.981400513 meters 0.07983747279271036 Centerline is valid? [True, True] Translation: X:282.58, Y:29.75, Z:-1.84 [[ 9.76649275e-01 -2.14839124e-01 -5.86174494e-04 2.82580678e+02] [ 2.14839112e-01 9.76649450e-01 -8.30532614e-05 2.97519929e+01] [ 5.90330087e-04 -4.48193005e-05 9.99999825e-01 -1.84194295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.011400513 meters 0.07282146336526951 Centerline is valid? [True, True] Translation: X:282.61, Y:29.77, Z:-1.84 [[ 9.76840516e-01 -2.13960448e-01 -1.87954593e-03 2.82608855e+02] [ 2.13960333e-01 9.76842314e-01 -2.64609605e-04 2.97703162e+01] [ 1.89263598e-03 -1.43666890e-04 9.99998199e-01 -1.84279137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.041400513 meters 0.07121761422699331 Centerline is valid? [True, True] Translation: X:282.64, Y:29.77, Z:-1.84 [[ 9.77020262e-01 -2.13134397e-01 -2.26648214e-03 2.82637737e+02] [ 2.13134227e-01 9.77022876e-01 -3.19215431e-04 2.97729586e+01] [ 2.28244069e-03 -1.71184974e-04 9.99997381e-01 -1.84372247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.071400513 meters 0.0712568426159103 Centerline is valid? [True, True] Translation: X:282.67, Y:29.78, Z:-1.84 [[ 9.77177869e-01 -2.12414556e-01 -1.86245270e-03 2.82665669e+02] [ 2.12414439e-01 9.77179634e-01 -2.62484867e-04 2.97773335e+01] [ 1.87570645e-03 -1.39117442e-04 9.99998231e-01 -1.84355406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.101400513 meters 0.07105412421455966 Centerline is valid? [True, True] Translation: X:282.69, Y:29.79, Z:-1.84 [[ 9.77205847e-01 -2.12287715e-01 -1.63080383e-03 2.82694429e+02] [ 2.12287625e-01 9.77207200e-01 -2.29960526e-04 2.97868788e+01] [ 1.64245104e-03 -1.21480703e-04 9.99998644e-01 -1.84315006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.131400513 meters 0.07762004923253393 Centerline is valid? [True, True] Translation: X:282.72, Y:29.78, Z:-1.84 [[ 9.76756754e-01 -2.14342749e-01 -1.85173055e-03 2.82724808e+02] [ 2.14342637e-01 9.76758499e-01 -2.60985555e-04 2.97839836e+01] [ 1.86463392e-03 -1.41985406e-04 9.99998251e-01 -1.84450586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.161400513 meters 0.0752472875237786 Centerline is valid? [True, True] Translation: X:282.75, Y:29.79, Z:-1.84 [[ 9.76377808e-01 -2.16058188e-01 -2.28826886e-03 2.82753893e+02] [ 2.16058022e-01 9.76380472e-01 -3.22547396e-04 2.97944165e+01] [ 2.30391003e-03 -1.79470724e-04 9.99997330e-01 -1.84471342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.191400513 meters 0.07828436719683282 Centerline is valid? [True, True] Translation: X:282.78, Y:29.79, Z:-1.84 [[ 9.75967805e-01 -2.17902939e-01 -2.26973953e-03 2.82783925e+02] [ 2.17902781e-01 9.75970428e-01 -3.19947630e-04 2.97927083e+01] [ 2.28491619e-03 -1.82323969e-04 9.99997373e-01 -1.84496350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.221400513 meters 0.08252115805904055 Centerline is valid? [True, True] Translation: X:282.81, Y:29.79, Z:-1.84 [[ 9.75227971e-01 -2.21194043e-01 -1.89760429e-03 2.82814233e+02] [ 2.21193938e-01 9.75229804e-01 -2.67506257e-04 2.97908846e+01] [ 1.90977105e-03 -1.58858983e-04 9.99998164e-01 -1.84447356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.251400513 meters 0.08058183665031073 Centerline is valid? [True, True] Translation: X:282.84, Y:29.80, Z:-1.85 [[ 9.75046593e-01 -2.21990534e-01 -2.08451413e-03 2.82842589e+02] [ 2.21990409e-01 9.75048805e-01 -2.94009903e-04 2.97993913e+01] [ 2.09777042e-03 -1.76068789e-04 9.99997784e-01 -1.84511157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.281400513 meters 0.09174087715062103 Centerline is valid? [True, True] Translation: X:282.87, Y:29.79, Z:-1.85 [[ 9.75065460e-01 -2.21893365e-01 -3.26866772e-03 2.82871371e+02] [ 2.21893057e-01 9.75070899e-01 -4.61227012e-04 2.97911909e+01] [ 3.28952599e-03 -2.75568144e-04 9.99994552e-01 -1.84788401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.311400513 meters 0.08383162211251143 Centerline is valid? [True, True] Translation: X:282.90, Y:29.80, Z:-1.85 [[ 9.75264046e-01 -2.20997765e-01 -4.47541072e-03 2.82898792e+02] [ 2.20997178e-01 9.75274243e-01 -6.31593436e-04 2.98036887e+01] [ 4.50433354e-03 -3.73082768e-04 9.99989786e-01 -1.84948118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.341400513 meters 0.08577237898914232 Centerline is valid? [True, True] Translation: X:282.93, Y:29.81, Z:-1.85 [[ 9.75561718e-01 -2.19665561e-01 -5.13580685e-03 2.82927902e+02] [ 2.19664769e-01 9.75575145e-01 -7.24713913e-04 2.98067282e+01] [ 5.16956020e-03 -4.21152677e-04 9.99986549e-01 -1.85089064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.371400513 meters 0.0736445248798155 Centerline is valid? [True, True] Translation: X:282.96, Y:29.82, Z:-1.85 [[ 9.75894453e-01 -2.18194106e-01 -4.62044467e-03 2.82955704e+02] [ 2.18193449e-01 9.75905320e-01 -6.52051158e-04 2.98244747e+01] [ 4.65139025e-03 -3.71817650e-04 9.99989113e-01 -1.84900102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.401400513 meters 0.08154112326113123 Centerline is valid? [True, True] Translation: X:282.99, Y:29.82, Z:-1.85 [[ 9.76563396e-01 -2.15218186e-01 -2.25057881e-03 2.82985707e+02] [ 2.15218022e-01 9.76565974e-01 -3.17764392e-04 2.98192318e+01] [ 2.26622736e-03 -1.74048045e-04 9.99997417e-01 -1.84708510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.431400513 meters 0.0715216130595684 Centerline is valid? [True, True] Translation: X:283.01, Y:29.84, Z:-1.85 [[ 9.76839852e-01 -2.13966968e-01 -1.42835520e-03 2.83013668e+02] [ 2.13966901e-01 9.76840890e-01 -2.01662395e-04 2.98369252e+01] [ 1.43842486e-03 -1.08628872e-04 9.99998960e-01 -1.84559270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.461400513 meters 0.07292002110316217 Centerline is valid? [True, True] Translation: X:283.04, Y:29.84, Z:-1.85 [[ 9.77078620e-01 -2.12876260e-01 -1.03333436e-03 2.83043083e+02] [ 2.12876224e-01 9.77079164e-01 -1.45914032e-04 2.98401736e+01] [ 1.04071111e-03 -7.74028348e-05 9.99999455e-01 -1.84612816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49140051300003 meters 0.07505707971163117 Centerline is valid? [True, True] Translation: X:283.07, Y:29.84, Z:-1.85 [[ 9.77210479e-01 -2.12265005e-01 -1.80193686e-03 2.83071512e+02] [ 2.12264895e-01 9.77212131e-01 -2.54557146e-04 2.98409593e+01] [ 1.81490813e-03 -1.33732027e-04 9.99998344e-01 -1.84764696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.521400513 meters 0.06660280842854463 Centerline is valid? [True, True] Translation: X:283.10, Y:29.85, Z:-1.85 [[ 9.77293658e-01 -2.11870466e-01 -2.83058727e-03 2.83100217e+02] [ 2.11870192e-01 9.77297734e-01 -3.99690018e-04 2.98528007e+01] [ 2.85100904e-03 -2.09102550e-04 9.99995914e-01 -1.84901806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55140051300003 meters 0.06783925374165865 Centerline is valid? [True, True] Translation: X:283.13, Y:29.86, Z:-1.85 [[ 9.77433354e-01 -2.11206766e-01 -3.96735795e-03 2.83130604e+02] [ 2.11206222e-01 9.77441363e-01 -5.60206493e-04 2.98568652e+01] [ 3.99617916e-03 -2.90366173e-04 9.99991973e-01 -1.85052162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.581400513 meters 0.06592175981122857 Centerline is valid? [True, True] Translation: X:283.16, Y:29.86, Z:-1.85 [[ 9.77928511e-01 -2.08875414e-01 -5.18551744e-03 2.83159758e+02] [ 2.08874453e-01 9.77942190e-01 -7.32270843e-04 2.98649350e+01] [ 5.22408966e-03 -3.67013585e-04 9.99986287e-01 -1.85088636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61140051300004 meters 0.06246905683633666 Centerline is valid? [True, True] Translation: X:283.19, Y:29.87, Z:-1.85 [[ 9.78340298e-01 -2.06958630e-01 -4.28806522e-03 2.83189567e+02] [ 2.06957954e-01 9.78349650e-01 -6.05679820e-04 2.98721161e+01] [ 4.32057777e-03 -2.94888230e-04 9.99990623e-01 -1.84947644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.641400513 meters 0.05820894014475856 Centerline is valid? [True, True] Translation: X:283.22, Y:29.88, Z:-1.84 [[ 9.79311008e-01 -2.02359675e-01 -7.15277135e-04 2.83218915e+02] [ 2.02359655e-01 9.79311268e-01 -1.01007278e-04 2.98809988e+01] [ 7.20918758e-04 -4.58256958e-05 9.99999739e-01 -1.84470003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67140051300004 meters 0.06071431063251966 Centerline is valid? [True, True] Translation: X:283.25, Y:29.89, Z:-1.84 [[ 9.79561308e-01 -2.01145824e-01 4.03162081e-05 2.83249558e+02] [ 2.01145824e-01 9.79561309e-01 5.77211812e-06 2.98869861e+01] [-4.06532351e-05 2.45529333e-06 9.99999999e-01 -1.84419974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.701400513 meters 0.06435239913350047 Centerline is valid? [True, True] Translation: X:283.28, Y:29.89, Z:-1.84 [[ 9.79697088e-01 -2.00483438e-01 -7.92872938e-05 2.83280162e+02] [ 2.00483438e-01 9.79697091e-01 -1.10331312e-05 2.98866675e+01] [ 7.98894912e-05 -5.08666269e-06 9.99999997e-01 -1.84455380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.731400513 meters 0.056863381694177595 Centerline is valid? [True, True] Translation: X:283.31, Y:29.90, Z:-1.84 [[ 9.79815989e-01 -1.99900870e-01 -5.18931664e-04 2.83310393e+02] [ 1.99900859e-01 9.79816126e-01 -7.31602099e-05 2.98978223e+01] [ 5.23082403e-04 -3.20513421e-05 9.99999863e-01 -1.84372069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.761400513 meters 0.06533679675370428 Centerline is valid? [True, True] Translation: X:283.34, Y:29.90, Z:-1.84 [[ 9.79962776e-01 -1.99180011e-01 -5.29790222e-04 2.83341767e+02] [ 1.99179999e-01 9.79962919e-01 -7.46808462e-05 2.98957369e+01] [ 5.34049704e-04 -3.23391665e-05 9.99999857e-01 -1.84492801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.791400513 meters 0.05410299549045424 Centerline is valid? [True, True] Translation: X:283.37, Y:29.91, Z:-1.84 [[ 9.80230596e-01 -1.97857905e-01 -4.77295971e-04 2.83371248e+02] [ 1.97857896e-01 9.80230712e-01 -6.72607300e-05 2.99097796e+01] [ 4.81168237e-04 -2.85057510e-05 9.99999884e-01 -1.84346977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.821400513 meters 0.0564642224869841 Centerline is valid? [True, True] Translation: X:283.40, Y:29.92, Z:-1.84 [[ 9.80503856e-01 -1.96499748e-01 -1.91355243e-04 2.83401233e+02] [ 1.96499747e-01 9.80503875e-01 -2.69113126e-05 2.99205732e+01] [ 1.92912624e-04 -1.12146110e-05 9.99999981e-01 -1.84301530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.851400513 meters 0.05568793869355487 Centerline is valid? [True, True] Translation: X:283.43, Y:29.93, Z:-1.84 [[ 9.80937184e-01 -1.94323835e-01 6.98678759e-04 2.83430880e+02] [ 1.94323814e-01 9.80937432e-01 9.85573792e-05 2.99272912e+01] [-7.04512196e-04 3.90913235e-05 9.99999751e-01 -1.84147021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.881400513 meters 0.05674213916058179 Centerline is valid? [True, True] Translation: X:283.46, Y:29.93, Z:-1.84 [[ 9.81214194e-01 -1.92919464e-01 8.86707112e-04 2.83461294e+02] [ 1.92919430e-01 9.81214593e-01 1.25138920e-04 2.99316013e+01] [-8.94191691e-04 4.82749460e-05 9.99999599e-01 -1.84178325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.911400513 meters 0.05148384548589335 Centerline is valid? [True, True] Translation: X:283.49, Y:29.95, Z:-1.84 [[ 9.81494330e-01 -1.91488865e-01 9.46255737e-04 2.83491080e+02] [ 1.91488825e-01 9.81494785e-01 1.33577786e-04 2.99472134e+01] [-9.54323729e-04 5.00915592e-05 9.99999543e-01 -1.84235307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.941400513 meters 0.04755131339848191 Centerline is valid? [True, True] Translation: X:283.52, Y:29.96, Z:-1.84 [[ 9.81752568e-01 -1.90160129e-01 1.01006875e-03 2.83521500e+02] [ 1.90160083e-01 9.81753086e-01 1.42464977e-04 2.99564093e+01] [-1.01872927e-03 5.22093996e-05 9.99999480e-01 -1.84184664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.971400513 meters 0.04588320238292646 Centerline is valid? [True, True] Translation: X:283.55, Y:29.97, Z:-1.84 [[ 9.81839890e-01 -1.89708640e-01 1.03026340e-03 2.83552933e+02] [ 1.89708592e-01 9.81840430e-01 1.45371116e-04 2.99677776e+01] [-1.03913242e-03 5.27186590e-05 9.99999459e-01 -1.84109208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.001400513 meters 0.05107163168348977 Centerline is valid? [True, True] Translation: X:283.58, Y:29.97, Z:-1.84 [[ 9.81769848e-01 -1.90070618e-01 1.06127346e-03 2.83583626e+02] [ 1.90070567e-01 9.81770420e-01 1.49621987e-04 2.99747288e+01] [-1.07036564e-03 5.48224928e-05 9.99999426e-01 -1.84113518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.031400513 meters 0.05486006999345525 Centerline is valid? [True, True] Translation: X:283.61, Y:29.98, Z:-1.84 [[ 9.81096585e-01 -1.93515064e-01 1.18792304e-03 2.83613144e+02] [ 1.93515003e-01 9.81097302e-01 1.67347781e-04 2.99822148e+01] [-1.19785241e-03 6.56965938e-05 9.99999280e-01 -1.84198022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.061400513 meters 0.05661508812657818 Centerline is valid? [True, True] Translation: X:283.64, Y:29.98, Z:-1.84 [[ 9.80539459e-01 -1.96316839e-01 1.43779265e-03 2.83642635e+02] [ 1.96316752e-01 9.80540510e-01 2.02522232e-04 2.99836906e+01] [-1.44957247e-03 8.36817438e-05 9.99998946e-01 -1.84263985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.091400513 meters 0.06171792325535157 Centerline is valid? [True, True] Translation: X:283.67, Y:29.98, Z:-1.84 [[ 9.79876763e-01 -1.99595383e-01 1.79262298e-03 2.83672376e+02] [ 1.99595253e-01 9.79878396e-01 2.52524440e-04 2.99818228e+01] [-1.80695524e-03 1.10356208e-04 9.99998361e-01 -1.84243983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.121400513 meters 0.05885620100063586 Centerline is valid? [True, True] Translation: X:283.70, Y:29.99, Z:-1.84 [[ 9.79133082e-01 -2.03211249e-01 1.89624504e-03 2.83702534e+02] [ 2.03211111e-01 9.79134911e-01 2.67181805e-04 2.99917489e+01] [-1.91097407e-03 1.23731517e-04 9.99998166e-01 -1.84257226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.151400513 meters 0.07085646196911709 Centerline is valid? [True, True] Translation: X:283.73, Y:29.98, Z:-1.85 [[ 9.77612902e-01 -2.10411477e-01 1.56977826e-04 2.83733979e+02] [ 2.10411477e-01 9.77612914e-01 2.21172308e-05 2.99834579e+01] [-1.58117269e-04 1.14078460e-05 9.99999987e-01 -1.84508212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.181400513 meters 0.07182030578872418 Centerline is valid? [True, True] Translation: X:283.76, Y:29.99, Z:-1.85 [[ 9.76907837e-01 -2.13658496e-01 -1.06045809e-03 2.83764615e+02] [ 2.13658459e-01 9.76908410e-01 -1.49299720e-04 2.99905707e+01] [ 1.06786958e-03 -8.07237751e-05 9.99999427e-01 -1.84677456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.211400513 meters 0.0692101455649677 Centerline is valid? [True, True] Translation: X:283.80, Y:29.99, Z:-1.85 [[ 9.76251010e-01 -2.16628742e-01 -2.43977730e-03 2.83795593e+02] [ 2.16628556e-01 9.76254040e-01 -3.43491712e-04 2.99918859e+01] [ 2.45625262e-03 -1.93191302e-04 9.99996965e-01 -1.84787561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24140051300003 meters 0.08146511280787144 Centerline is valid? [True, True] Translation: X:283.83, Y:29.98, Z:-1.85 [[ 9.75809008e-01 -2.18595386e-01 -3.58287568e-03 2.83826678e+02] [ 2.18594997e-01 9.75815542e-01 -5.04616413e-04 2.99823607e+01] [ 3.60653259e-03 -2.90789455e-04 9.99993454e-01 -1.85069289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.271400513 meters 0.07946498233352176 Centerline is valid? [True, True] Translation: X:283.86, Y:29.99, Z:-1.85 [[ 9.75585334e-01 -2.19586005e-01 -3.90409633e-03 2.83856748e+02] [ 2.19585552e-01 9.75593093e-01 -5.49740496e-04 2.99906633e+01] [ 3.92952473e-03 -3.20964381e-04 9.99992228e-01 -1.85021660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30140051300003 meters 0.07398160304519161 Centerline is valid? [True, True] Translation: X:283.89, Y:30.00, Z:-1.85 [[ 9.75629854e-01 -2.19400811e-01 -3.10988954e-03 2.83887229e+02] [ 2.19400522e-01 9.75634778e-01 -4.37788808e-04 2.99961351e+01] [ 3.13016761e-03 -2.55191559e-04 9.99995068e-01 -1.84884306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.331400513 meters 0.07398160304519161 Centerline is valid? [True, True] Translation: X:283.92, Y:30.00, Z:-1.85 [[ 9.75639789e-01 -2.19356631e-01 -3.10992007e-03 2.83918715e+02] [ 2.19356343e-01 9.75644712e-01 -4.37571939e-04 3.00004957e+01] [ 3.13016138e-03 -2.55268099e-04 9.99995068e-01 -1.84895069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36140051300004 meters 0.08670979112946646 Centerline is valid? [True, True] Translation: X:283.95, Y:29.99, Z:-1.85 [[ 9.76106840e-01 -2.17282486e-01 -1.93858432e-03 2.83950508e+02] [ 2.17282370e-01 9.76108753e-01 -2.72917440e-04 2.99862140e+01] [ 1.95156930e-03 -1.54823615e-04 9.99998084e-01 -1.84889970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.391400513 meters 0.07598056269807613 Centerline is valid? [True, True] Translation: X:283.98, Y:30.01, Z:-1.85 [[ 9.76410114e-01 -2.15916188e-01 -1.86768079e-03 2.83978173e+02] [ 2.15916078e-01 9.76411890e-01 -2.62899956e-04 3.00075000e+01] [ 1.88039009e-03 -1.46564137e-04 9.99998221e-01 -1.84776097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42140051300004 meters 0.07548823651238104 Centerline is valid? [True, True] Translation: X:284.01, Y:30.00, Z:-1.85 [[ 9.76794430e-01 -2.14172872e-01 -1.61934998e-03 2.84008963e+02] [ 2.14172787e-01 9.76795764e-01 -2.27944217e-04 3.00029569e+01] [ 1.63059367e-03 -1.24166056e-04 9.99998663e-01 -1.84763508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.451400513 meters 0.06777145341478252 Centerline is valid? [True, True] Translation: X:284.04, Y:30.02, Z:-1.85 [[ 9.77341500e-01 -2.11667905e-01 -5.38138648e-04 2.84038472e+02] [ 2.11667895e-01 9.77341648e-01 -7.57019337e-05 3.00158707e+01] [ 5.41968982e-04 -3.99200332e-05 9.99999852e-01 -1.84580092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.481400513 meters 0.07661839517165828 Centerline is valid? [True, True] Translation: X:284.07, Y:30.01, Z:-1.84 [[ 9.78000184e-01 -2.08601074e-01 1.10958127e-03 2.84069334e+02] [ 2.08601031e-01 9.78000811e-01 1.56146032e-04 3.00099048e+01] [-1.11774361e-03 7.87489478e-05 9.99999372e-01 -1.84338479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.511400513 meters 0.06689789262777487 Centerline is valid? [True, True] Translation: X:284.10, Y:30.02, Z:-1.84 [[ 9.79233027e-01 -2.02732758e-01 1.45185292e-03 2.84098419e+02] [ 2.02732677e-01 9.79234099e-01 2.04375354e-04 3.00196281e+01] [-1.46313746e-03 9.42069314e-05 9.99998925e-01 -1.84215216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.541400513 meters 0.06411166927837378 Centerline is valid? [True, True] Translation: X:284.13, Y:30.03, Z:-1.85 [[ 9.79651393e-01 -2.00705771e-01 -5.84641181e-04 2.84127657e+02] [ 2.00705757e-01 9.79651567e-01 -8.22932916e-05 3.00301020e+01] [ 5.89261388e-04 -3.67221134e-05 9.99999826e-01 -1.84552377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.571400513 meters 0.05934424665668987 Centerline is valid? [True, True] Translation: X:284.16, Y:30.04, Z:-1.85 [[ 9.80026134e-01 -1.98857409e-01 -2.12290933e-03 2.84157144e+02] [ 1.98857226e-01 9.80028425e-01 -2.98817808e-04 3.00379657e+01] [ 2.13993362e-03 -1.29306600e-04 9.99997702e-01 -1.84815173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.601400513 meters 0.06369292239126223 Centerline is valid? [True, True] Translation: X:284.19, Y:30.04, Z:-1.85 [[ 9.80329276e-01 -1.97359278e-01 -1.95625999e-03 2.84187954e+02] [ 1.97359120e-01 9.80331221e-01 -2.75238960e-04 3.00385739e+01] [ 1.97210371e-03 -1.16260940e-04 9.99998049e-01 -1.84924702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.631400513 meters 0.05847952751852375 Centerline is valid? [True, True] Translation: X:284.22, Y:30.05, Z:-1.85 [[ 9.80528101e-01 -1.96378035e-01 -5.56410990e-04 2.84218548e+02] [ 1.96378022e-01 9.80528259e-01 -7.82174128e-05 3.00459427e+01] [ 5.60936881e-04 -3.25725184e-05 9.99999842e-01 -1.84692649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.661400513 meters 0.053117688184168024 Centerline is valid? [True, True] Translation: X:284.25, Y:30.06, Z:-1.84 [[ 9.80697553e-01 -1.95525864e-01 1.39528232e-03 2.84250087e+02] [ 1.95525782e-01 9.80698542e-01 1.96448575e-04 3.00552627e+01] [-1.40676212e-03 8.01570306e-05 9.99999007e-01 -1.84339093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.691400513 meters 0.05532027301484668 Centerline is valid? [True, True] Translation: X:284.28, Y:30.06, Z:-1.84 [[ 9.80586563e-01 -1.96058794e-01 3.30797952e-03 2.84282138e+02] [ 1.96058336e-01 9.80592123e-01 4.65284033e-04 3.00610238e+01] [-3.33500168e-03 1.92305689e-04 9.99994420e-01 -1.84061667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.721400513 meters 0.052232562871385585 Centerline is valid? [True, True] Translation: X:284.31, Y:30.07, Z:-1.84 [[ 9.80567266e-01 -1.96166540e-01 2.55454418e-03 2.84313330e+02] [ 1.96166267e-01 9.80570582e-01 3.59226341e-04 3.00697341e+01] [-2.57537906e-03 1.48869806e-04 9.99996673e-01 -1.84169235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.751400513 meters 0.058129248775971136 Centerline is valid? [True, True] Translation: X:284.34, Y:30.07, Z:-1.85 [[ 9.80541162e-01 -1.96310375e-01 1.12533277e-03 2.84344779e+02] [ 1.96310322e-01 9.80541806e-01 1.58256099e-04 3.00703860e+01] [-1.13450314e-03 6.57378188e-05 9.99999354e-01 -1.84504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.781400513 meters 0.054558530781218036 Centerline is valid? [True, True] Translation: X:284.38, Y:30.08, Z:-1.85 [[ 9.80602479e-01 -1.96007088e-01 -1.08336323e-05 2.84376133e+02] [ 1.96007088e-01 9.80602479e-01 -1.36329479e-06 3.00804418e+01] [ 1.08907022e-05 -7.86618473e-07 1.00000000e+00 -1.84713778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.811400513 meters 0.06435069219860816 Centerline is valid? [True, True] Translation: X:284.41, Y:30.07, Z:-1.85 [[ 9.80871405e-01 -1.94655417e-01 -7.45218637e-04 2.84407796e+02] [ 1.94655393e-01 9.80871687e-01 -1.04637668e-04 3.00732509e+01] [ 7.51332151e-04 -4.24247308e-05 9.99999717e-01 -1.84785978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.841400513 meters 0.05757290139760122 Centerline is valid? [True, True] Translation: X:284.44, Y:30.09, Z:-1.85 [[ 9.80984305e-01 -1.94085863e-01 -6.86863209e-04 2.84437568e+02] [ 1.94085843e-01 9.80984544e-01 -9.62935632e-05 3.00925968e+01] [ 6.92491412e-04 -3.88479508e-05 9.99999759e-01 -1.84657681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.871400513 meters 0.050909272806749034 Centerline is valid? [True, True] Translation: X:284.47, Y:30.10, Z:-1.84 [[ 9.81044683e-01 -1.93781653e-01 1.29715567e-05 2.84468501e+02] [ 1.93781653e-01 9.81044683e-01 1.97966839e-06 3.01042625e+01] [-1.31093001e-05 5.71506551e-07 1.00000000e+00 -1.84446277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.901400513 meters 0.06244797743671211 Centerline is valid? [True, True] Translation: X:284.50, Y:30.10, Z:-1.84 [[ 9.80977385e-01 -1.94121013e-01 6.34558338e-04 2.84501057e+02] [ 1.94120995e-01 9.80977590e-01 8.91701649e-05 3.00989643e+01] [-6.39797312e-04 3.57071811e-05 9.99999795e-01 -1.84399473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.931400513 meters 0.057082751002936215 Centerline is valid? [True, True] Translation: X:284.53, Y:30.11, Z:-1.84 [[ 9.80883734e-01 -1.94591714e-01 1.07911214e-03 2.84531776e+02] [ 1.94591665e-01 9.80884326e-01 1.51541403e-04 3.01131095e+01] [-1.08797289e-03 6.13417315e-05 9.99999406e-01 -1.84256683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.961400513 meters 0.05957473989087488 Centerline is valid? [True, True] Translation: X:284.56, Y:30.12, Z:-1.84 [[ 9.80747345e-01 -1.95276420e-01 1.32878074e-03 2.84562633e+02] [ 1.95276346e-01 9.80748242e-01 1.86484541e-04 3.01194515e+01] [-1.33961541e-03 7.65852301e-05 9.99999100e-01 -1.84294357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99140051300003 meters 0.06077228412613716 Centerline is valid? [True, True] Translation: X:284.59, Y:30.13, Z:-1.85 [[ 9.80489326e-01 -1.96571635e-01 5.23623089e-04 2.84592857e+02] [ 1.96571624e-01 9.80489465e-01 7.35060710e-05 3.01306813e+01] [-5.27856131e-04 3.08575228e-05 9.99999860e-01 -1.84559418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.021400513 meters 0.06057080318694883 Centerline is valid? [True, True] Translation: X:284.62, Y:30.14, Z:-1.85 [[ 9.80285658e-01 -1.97585470e-01 -1.06092246e-04 2.84624321e+02] [ 1.97585469e-01 9.80285664e-01 -1.47177075e-05 3.01388775e+01] [ 1.06908713e-04 -6.53472859e-06 9.99999994e-01 -1.84683406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05140051300003 meters 0.05953424514579644 Centerline is valid? [True, True] Translation: X:284.65, Y:30.15, Z:-1.85 [[ 9.79970969e-01 -1.99139068e-01 -7.29605633e-04 2.84654515e+02] [ 1.99139047e-01 9.79971239e-01 -1.02234495e-04 3.01456233e+01] [ 7.35351418e-04 -4.51061339e-05 9.99999729e-01 -1.84811070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.081400513 meters 0.05816514976846911 Centerline is valid? [True, True] Translation: X:284.69, Y:30.15, Z:-1.85 [[ 9.79583024e-01 -2.01033823e-01 -1.58174499e-03 2.84685028e+02] [ 2.01033726e-01 9.79584295e-01 -2.21605281e-04 3.01548148e+01] [ 1.59400270e-03 -1.00903317e-04 9.99998724e-01 -1.84884153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11140051300004 meters 0.06485095777538787 Centerline is valid? [True, True] Translation: X:284.72, Y:30.15, Z:-1.85 [[ 9.79199092e-01 -2.02888523e-01 -2.32047290e-03 2.84715982e+02] [ 2.02888320e-01 9.79201830e-01 -3.24957162e-04 3.01495492e+01] [ 2.33814139e-03 -1.52599090e-04 9.99997255e-01 -1.85019947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.141400513 meters 0.06313402756785778 Centerline is valid? [True, True] Translation: X:284.75, Y:30.16, Z:-1.85 [[ 9.78891481e-01 -2.04363547e-01 -2.64730531e-03 2.84746034e+02] [ 2.04363289e-01 9.78895045e-01 -3.70762904e-04 3.01611311e+01] [ 2.66720447e-03 -1.78075371e-04 9.99996427e-01 -1.84993343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17140051300004 meters 0.060092861424759184 Centerline is valid? [True, True] Translation: X:284.78, Y:30.17, Z:-1.85 [[ 9.78562404e-01 -2.05939736e-01 -2.10885533e-03 2.84776078e+02] [ 2.05939575e-01 9.78564665e-01 -2.95349490e-04 3.01684392e+01] [ 2.12447551e-03 -1.45278864e-04 9.99997733e-01 -1.84851668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.201400513 meters 0.060750393251918965 Centerline is valid? [True, True] Translation: X:284.81, Y:30.17, Z:-1.85 [[ 9.78545529e-01 -2.06024499e-01 -1.59814153e-03 2.84806786e+02] [ 2.06024407e-01 9.78546828e-01 -2.23676759e-04 3.01748865e+01] [ 1.60993922e-03 -1.10378269e-04 9.99998698e-01 -1.84794375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.231400513 meters 0.06746221674383023 Centerline is valid? [True, True] Translation: X:284.84, Y:30.18, Z:-1.85 [[ 9.78655892e-01 -2.05504713e-01 -6.76809727e-04 2.84838329e+02] [ 2.05504697e-01 9.78656125e-01 -9.44010395e-05 3.01759055e+01] [ 6.81763844e-04 -4.67014441e-05 9.99999767e-01 -1.84796911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.261400513 meters 0.05924737413745384 Centerline is valid? [True, True] Translation: X:284.87, Y:30.19, Z:-1.85 [[ 9.78826761e-01 -2.04690410e-01 8.60336214e-05 2.84867651e+02] [ 2.04690410e-01 9.78826765e-01 1.21167645e-05 3.01902026e+01] [-8.66921968e-05 5.75004385e-06 9.99999996e-01 -1.84606152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.291400513 meters 0.06964696241088705 Centerline is valid? [True, True] Translation: X:284.90, Y:30.19, Z:-1.85 [[ 9.79041521e-01 -2.03660187e-01 4.77370379e-04 2.84898627e+02] [ 2.03660179e-01 9.79041637e-01 6.68267905e-05 3.01892814e+01] [-4.80975434e-04 3.17951340e-05 9.99999884e-01 -1.84666279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.321400513 meters 0.056415854742903414 Centerline is valid? [True, True] Translation: X:284.93, Y:30.21, Z:-1.84 [[ 9.79276959e-01 -2.02524535e-01 6.70454618e-04 2.84927457e+02] [ 2.02524518e-01 9.79277188e-01 9.38648369e-05 3.02076420e+01] [-6.75570845e-04 4.38638262e-05 9.99999771e-01 -1.84498032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.351400513 meters 0.06481799908511374 Centerline is valid? [True, True] Translation: X:284.96, Y:30.21, Z:-1.85 [[ 9.79353559e-01 -2.02153008e-01 8.75910667e-04 2.84959204e+02] [ 2.02152978e-01 9.79353949e-01 1.22758941e-04 3.02050154e+01] [-8.82642661e-04 5.68435442e-05 9.99999609e-01 -1.84555609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.381400513 meters 0.06293839174915514 Centerline is valid? [True, True] Translation: X:284.99, Y:30.21, Z:-1.85 [[ 9.79378149e-01 -2.02031433e-01 1.31972984e-03 2.84990801e+02] [ 2.02031367e-01 9.79379034e-01 1.84575542e-04 3.02148791e+01] [-1.32980580e-03 8.58575709e-05 9.99999112e-01 -1.84523225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.411400513 meters 0.06255386548221113 Centerline is valid? [True, True] Translation: X:285.02, Y:30.22, Z:-1.85 [[ 9.79355567e-01 -2.02140852e-01 1.32289238e-03 2.85022031e+02] [ 2.02140785e-01 9.79356456e-01 1.84959180e-04 3.02241468e+01] [-1.33297100e-03 8.62697021e-05 9.99999108e-01 -1.84541930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.441400513 meters 0.05804828781339488 Centerline is valid? [True, True] Translation: X:285.05, Y:30.23, Z:-1.85 [[ 9.79261858e-01 -2.02597930e-01 5.40789709e-04 2.85053847e+02] [ 2.02597918e-01 9.79262007e-01 7.56780907e-05 3.02299980e+01] [-5.44907040e-04 3.54542017e-05 9.99999851e-01 -1.84585304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.471400513 meters 0.06396216076900699 Centerline is valid? [True, True] Translation: X:285.09, Y:30.23, Z:-1.85 [[ 9.79142192e-01 -2.03176116e-01 1.84257669e-04 2.85085255e+02] [ 2.03176114e-01 9.79142209e-01 2.58053038e-05 3.02272980e+01] [-1.85657483e-04 1.21696956e-05 9.99999983e-01 -1.84744882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.501400513 meters 0.05924685359619734 Centerline is valid? [True, True] Translation: X:285.12, Y:30.24, Z:-1.85 [[ 9.78926124e-01 -2.04210038e-01 1.38006885e-03 2.85115969e+02] [ 2.04209968e-01 9.78927092e-01 1.92844295e-04 3.02382271e+01] [-1.39036752e-03 9.30434966e-05 9.99999029e-01 -1.84592697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.531400513 meters 0.06302702570900037 Centerline is valid? [True, True] Translation: X:285.15, Y:30.24, Z:-1.84 [[ 9.78854647e-01 -2.04538380e-01 2.76254883e-03 2.85147315e+02] [ 2.04538103e-01 9.78858527e-01 3.85601175e-04 3.02375025e+01] [-2.78301472e-03 1.87598995e-04 9.99996110e-01 -1.84394645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.561400513 meters 0.06246158366663118 Centerline is valid? [True, True] Translation: X:285.18, Y:30.24, Z:-1.84 [[ 9.78758584e-01 -2.04982331e-01 3.72523128e-03 2.85179541e+02] [ 2.04981833e-01 9.78765640e-01 5.19273404e-04 3.02407017e+01] [-3.75257026e-03 2.55361434e-04 9.99992926e-01 -1.84264758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.591400513 meters 0.06548595111235436 Centerline is valid? [True, True] Translation: X:285.21, Y:30.24, Z:-1.84 [[ 9.78691722e-01 -2.05299944e-01 3.80093690e-03 2.85211328e+02] [ 2.05299428e-01 9.78699067e-01 5.29653879e-04 3.02386779e+01] [-3.82871131e-03 2.61962305e-04 9.99992636e-01 -1.84234116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.621400513 meters 0.06743794908240403 Centerline is valid? [True, True] Translation: X:285.24, Y:30.24, Z:-1.84 [[ 9.78671106e-01 -2.05404945e-01 3.41694612e-03 2.85243269e+02] [ 2.05404529e-01 9.78677042e-01 4.76039125e-04 3.02397662e+01] [-3.44186751e-03 2.35970471e-04 9.99994049e-01 -1.84344103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.651400513 meters 0.06268329946180144 Centerline is valid? [True, True] Translation: X:285.27, Y:30.25, Z:-1.84 [[ 9.78733883e-01 -2.05116759e-01 2.66474518e-03 2.85274924e+02] [ 2.05116505e-01 9.78737494e-01 3.71158156e-04 3.02476108e+01] [-2.68421678e-03 1.83318155e-04 9.99996381e-01 -1.84364181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.681400513 meters 0.06185050039701909 Centerline is valid? [True, True] Translation: X:285.30, Y:30.25, Z:-1.85 [[ 9.79160642e-01 -2.03070796e-01 2.58629384e-03 2.85304474e+02] [ 2.03070550e-01 9.79164042e-01 3.60080962e-04 3.02509755e+01] [-2.60552786e-03 1.72623007e-04 9.99996591e-01 -1.84519476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.711400513 meters 0.055520074526883054 Centerline is valid? [True, True] Translation: X:285.33, Y:30.26, Z:-1.85 [[ 9.79611023e-01 -2.00883946e-01 2.80767981e-03 2.85333952e+02] [ 2.00883647e-01 9.79615030e-01 3.90916710e-04 3.02611079e+01] [-2.82897423e-03 1.81070641e-04 9.99995982e-01 -1.84554601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74140051300003 meters 0.056764006360012324 Centerline is valid? [True, True] Translation: X:285.36, Y:30.26, Z:-1.85 [[ 9.80032579e-01 -1.98814842e-01 2.96681406e-03 2.85363549e+02] [ 1.98814499e-01 9.80037053e-01 4.12984712e-04 3.02622232e+01] [-2.98969520e-03 1.85107179e-04 9.99995514e-01 -1.84580863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.771400513 meters 0.05504126012416203 Centerline is valid? [True, True] Translation: X:285.39, Y:30.27, Z:-1.85 [[ 9.80554194e-01 -1.96247729e-01 5.48610899e-04 2.85393913e+02] [ 1.96247716e-01 9.80554347e-01 7.64117775e-05 3.02696723e+01] [-5.52938440e-04 3.27377472e-05 9.99999847e-01 -1.84820861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80140051300003 meters 0.05873779403795543 Centerline is valid? [True, True] Translation: X:285.43, Y:30.27, Z:-1.85 [[ 9.80656281e-01 -1.95734689e-01 -1.09092668e-03 2.85425265e+02] [ 1.95734641e-01 9.80656886e-01 -1.51702800e-04 3.02698148e+01] [ 1.09951826e-03 -6.47638381e-05 9.99999393e-01 -1.85006068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.831400513 meters 0.056834855905214324 Centerline is valid? [True, True] Translation: X:285.46, Y:30.28, Z:-1.85 [[ 9.80622046e-01 -1.95904731e-01 -1.31920950e-03 2.85456561e+02] [ 1.95904661e-01 9.80622930e-01 -1.83374641e-04 3.02770358e+01] [ 1.32957104e-03 -7.86180736e-05 9.99999113e-01 -1.85086086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86140051300004 meters 0.061522272365633124 Centerline is valid? [True, True] Translation: X:285.49, Y:30.28, Z:-1.85 [[ 9.80383392e-01 -1.97098496e-01 -7.66273756e-04 2.85488874e+02] [ 1.97098473e-01 9.80383690e-01 -1.06415507e-04 3.02802662e+01] [ 7.72216630e-04 -4.67033913e-05 9.99999701e-01 -1.85158874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.891400513 meters 0.06042789784835455 Centerline is valid? [True, True] Translation: X:285.52, Y:30.28, Z:-1.85 [[ 9.79928662e-01 -1.99348310e-01 2.63385889e-04 2.85519281e+02] [ 1.99348308e-01 9.79928697e-01 3.66301420e-05 3.02788849e+01] [-2.65401548e-04 1.66106052e-05 9.99999965e-01 -1.85026611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92140051300004 meters 0.06155458630073353 Centerline is valid? [True, True] Translation: X:285.55, Y:30.28, Z:-1.85 [[ 9.79389296e-01 -2.01980671e-01 6.44130433e-04 2.85550043e+02] [ 2.01980655e-01 9.79389507e-01 8.95888899e-05 3.02806887e+01] [-6.48949811e-04 4.23594870e-05 9.99999789e-01 -1.84996574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.951400513 meters 0.06053273885416911 Centerline is valid? [True, True] Translation: X:285.58, Y:30.29, Z:-1.85 [[ 9.78394208e-01 -2.06748087e-01 4.74277980e-05 2.85580791e+02] [ 2.06748087e-01 9.78394209e-01 6.64465044e-06 3.02850742e+01] [-4.77768517e-05 3.30451903e-06 9.99999999e-01 -1.84965202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.981400513 meters 0.07992412921198011 Centerline is valid? [True, True] Translation: X:285.61, Y:30.27, Z:-1.85 [[ 9.78095063e-01 -2.08158600e-01 2.11696816e-04 2.85613724e+02] [ 2.08158599e-01 9.78095086e-01 2.96074912e-05 3.02656259e+01] [-2.13222670e-04 1.51075717e-05 9.99999977e-01 -1.85105599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.011400513 meters 0.06420040703034548 Centerline is valid? [True, True] Translation: X:285.64, Y:30.29, Z:-1.85 [[ 9.77801720e-01 -2.09531370e-01 6.32946543e-04 2.85642028e+02] [ 2.09531356e-01 9.77801924e-01 8.80137396e-05 3.02851634e+01] [-6.37337987e-04 4.65621616e-05 9.99999796e-01 -1.84922404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.041400513 meters 0.0696884744571672 Centerline is valid? [True, True] Translation: X:285.67, Y:30.28, Z:-1.85 [[ 9.77474287e-01 -2.11053660e-01 6.09022516e-04 2.85672573e+02] [ 2.11053648e-01 9.77474476e-01 8.47782963e-05 3.02817457e+01] [-6.13196735e-04 4.56678190e-05 9.99999811e-01 -1.84989688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.071400513 meters 0.0715288718179562 Centerline is valid? [True, True] Translation: X:285.70, Y:30.28, Z:-1.85 [[ 9.77170648e-01 -2.12455846e-01 1.93568449e-04 2.85703049e+02] [ 2.12455845e-01 9.77170667e-01 2.70529576e-05 3.02820354e+01] [-1.94896969e-04 1.46893922e-05 9.99999981e-01 -1.84967881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.101400513 meters 0.06987793219723848 Centerline is valid? [True, True] Translation: X:285.73, Y:30.29, Z:-1.85 [[ 9.76894079e-01 -2.13723927e-01 -2.05791575e-04 2.85733926e+02] [ 2.13723925e-01 9.76894100e-01 -2.85014484e-05 3.02878760e+01] [ 2.07128017e-04 -1.61396870e-05 9.99999978e-01 -1.84957576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.131400513 meters 0.07416574937932463 Centerline is valid? [True, True] Translation: X:285.76, Y:30.28, Z:-1.85 [[ 9.76607064e-01 -2.15031675e-01 -1.48760648e-04 2.85764557e+02] [ 2.15031674e-01 9.76607075e-01 -2.04789995e-05 3.02828737e+01] [ 1.49684334e-04 -1.19883156e-05 9.99999989e-01 -1.84933564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.161400513 meters 0.06987753457404254 Centerline is valid? [True, True] Translation: X:285.80, Y:30.29, Z:-1.85 [[ 9.76597587e-01 -2.15074528e-01 -3.15937710e-04 2.85796386e+02] [ 2.15074525e-01 9.76597638e-01 -4.36875029e-05 3.02899380e+01] [ 3.17940091e-04 -2.52850430e-05 9.99999949e-01 -1.84917756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.191400513 meters 0.08492716690819203 Centerline is valid? [True, True] Translation: X:285.83, Y:30.27, Z:-1.85 [[ 9.76661857e-01 -2.14782437e-01 -3.49679617e-04 2.85829871e+02] [ 2.14782433e-01 9.76661919e-01 -4.83975118e-05 3.02744229e+01] [ 3.51913701e-04 -2.78370351e-05 9.99999938e-01 -1.85045742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.221400513 meters 0.08492716690819203 Centerline is valid? [True, True] Translation: X:285.86, Y:30.28, Z:-1.85 [[ 9.76666363e-01 -2.14761946e-01 -3.49674506e-04 2.85860519e+02] [ 2.14761942e-01 9.76666425e-01 -4.84343415e-05 3.02786361e+01] [ 3.51917203e-04 -2.77925838e-05 9.99999938e-01 -1.85056215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.251400513 meters 0.0699258136259998 Centerline is valid? [True, True] Translation: X:285.89, Y:30.30, Z:-1.85 [[ 9.76753188e-01 -2.14366767e-01 -3.14147579e-04 2.85889395e+02] [ 2.14366764e-01 9.76753238e-01 -4.34064795e-05 3.03031432e+01] [ 3.16149572e-04 -2.49453827e-05 9.99999950e-01 -1.84983181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.281400513 meters 0.06815268569940507 Centerline is valid? [True, True] Translation: X:285.92, Y:30.31, Z:-1.85 [[ 9.76983840e-01 -2.13313218e-01 2.15652296e-04 2.85920512e+02] [ 2.13313217e-01 9.76983864e-01 2.99781716e-05 3.03082824e+01] [-2.17083554e-04 1.67132959e-05 9.99999976e-01 -1.84838943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.311400513 meters 0.06926173673165621 Centerline is valid? [True, True] Translation: X:285.95, Y:30.31, Z:-1.85 [[ 9.77248759e-01 -2.12095172e-01 7.07761468e-04 2.85951058e+02] [ 2.12095156e-01 9.77249014e-01 9.81911056e-05 3.03115627e+01] [-7.12485056e-04 5.41556428e-05 9.99999745e-01 -1.84723964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.341400513 meters 0.07018933294647565 Centerline is valid? [True, True] Translation: X:285.98, Y:30.31, Z:-1.85 [[ 9.77881380e-01 -2.09158053e-01 9.56563712e-04 2.85981025e+02] [ 2.09158023e-01 9.77881846e-01 1.32601782e-04 3.03142845e+01] [-9.63141018e-04 7.04041607e-05 9.99999534e-01 -1.84687242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.371400513 meters 0.07187881997716361 Centerline is valid? [True, True] Translation: X:286.01, Y:30.32, Z:-1.85 [[ 9.78233246e-01 -2.07507271e-01 6.70232274e-04 2.86010214e+02] [ 2.07507256e-01 9.78233474e-01 9.30319845e-05 3.03180663e+01] [-6.74948459e-04 4.80710798e-05 9.99999771e-01 -1.84816314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.401400513 meters 0.06941193110028625 Centerline is valid? [True, True] Translation: X:286.04, Y:30.33, Z:-1.85 [[ 9.78563920e-01 -2.05942937e-01 4.02122055e-04 2.86039635e+02] [ 2.05942931e-01 9.78564002e-01 5.57259783e-05 3.03265843e+01] [-4.04978539e-04 2.82827630e-05 9.99999918e-01 -1.84905901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.431400513 meters 0.06412573732368769 Centerline is valid? [True, True] Translation: X:286.07, Y:30.34, Z:-1.85 [[ 9.79341421e-01 -2.02208010e-01 1.51732769e-03 2.86068738e+02] [ 2.02207926e-01 9.79342591e-01 2.10268957e-04 3.03381900e+01] [-1.52850170e-03 1.00890586e-04 9.99998827e-01 -1.84901933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.461400513 meters 0.057825921332110175 Centerline is valid? [True, True] Translation: X:286.10, Y:30.35, Z:-1.85 [[ 9.79721671e-01 -2.00352689e-01 2.06117394e-03 2.86098155e+02] [ 2.00352529e-01 9.79723830e-01 2.85654291e-04 3.03497201e+01] [-2.07661283e-03 1.33099713e-04 9.99997835e-01 -1.84749326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49140051300003 meters 0.0650695990672255 Centerline is valid? [True, True] Translation: X:286.13, Y:30.35, Z:-1.85 [[ 9.80077158e-01 -1.98605042e-01 2.19127233e-03 2.86128532e+02] [ 1.98604858e-01 9.80079598e-01 3.03642721e-04 3.03488162e+01] [-2.20792628e-03 1.37604035e-04 9.99997553e-01 -1.84720615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.521400513 meters 0.05983033981032694 Centerline is valid? [True, True] Translation: X:286.16, Y:30.36, Z:-1.85 [[ 9.80412588e-01 -1.96942504e-01 2.19277213e-03 2.86157804e+02] [ 1.96942315e-01 9.80415031e-01 3.03850547e-04 3.03581407e+01] [-2.20966784e-03 1.33950719e-04 9.99997550e-01 -1.84615700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55140051300003 meters 0.058305290811220004 Centerline is valid? [True, True] Translation: X:286.19, Y:30.36, Z:-1.85 [[ 9.80721034e-01 -1.95405732e-01 1.68898364e-03 2.86188493e+02] [ 1.95405617e-01 9.80722484e-01 2.34078946e-04 3.03649409e+01] [-1.70216460e-03 1.00470746e-04 9.99998546e-01 -1.84719851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.581400513 meters 0.05419275000401621 Centerline is valid? [True, True] Translation: X:286.22, Y:30.37, Z:-1.85 [[ 9.81271079e-01 -1.92631677e-01 3.25556891e-04 2.86218074e+02] [ 1.92631673e-01 9.81271133e-01 4.51293388e-05 3.03746254e+01] [-3.28152919e-04 1.84284536e-05 9.99999946e-01 -1.85004447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61140051300004 meters 0.05144469640472805 Centerline is valid? [True, True] Translation: X:286.25, Y:30.38, Z:-1.85 [[ 9.81507897e-01 -1.91421217e-01 4.06578356e-04 2.86248986e+02] [ 1.91421210e-01 9.81507981e-01 5.64299022e-05 3.03840749e+01] [-4.09861782e-04 2.24413262e-05 9.99999916e-01 -1.85004199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.641400513 meters 0.05043446377218995 Centerline is valid? [True, True] Translation: X:286.28, Y:30.39, Z:-1.85 [[ 9.81718110e-01 -1.90339370e-01 6.90291727e-04 2.86279503e+02] [ 1.90339350e-01 9.81718352e-01 9.56697327e-05 3.03920707e+01] [-6.95881774e-04 3.74689694e-05 9.99999757e-01 -1.84966207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67140051300004 meters 0.04914334135336461 Centerline is valid? [True, True] Translation: X:286.31, Y:30.40, Z:-1.85 [[ 9.81814314e-01 -1.89839725e-01 1.23716954e-03 2.86310490e+02] [ 1.89839660e-01 9.81815092e-01 1.71422311e-04 3.04004455e+01] [-1.24721449e-03 6.65589659e-05 9.99999220e-01 -1.84904440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.701400513 meters 0.05421994805170368 Centerline is valid? [True, True] Translation: X:286.34, Y:30.40, Z:-1.85 [[ 9.81801178e-01 -1.89906501e-01 1.40273806e-03 2.86341504e+02] [ 1.89906416e-01 9.81802177e-01 1.94361200e-04 3.04005694e+01] [-1.41412174e-03 7.55649030e-05 9.99998997e-01 -1.84978913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.731400513 meters 0.05440849968623947 Centerline is valid? [True, True] Translation: X:286.37, Y:30.41, Z:-1.85 [[ 9.81660002e-01 -1.90638992e-01 6.43627137e-04 2.86372326e+02] [ 1.90638975e-01 9.81660213e-01 8.94487722e-05 3.04094829e+01] [-6.48875576e-04 3.48921355e-05 9.99999789e-01 -1.85149455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.761400513 meters 0.055952169740545975 Centerline is valid? [True, True] Translation: X:286.40, Y:30.42, Z:-1.85 [[ 9.80833398e-01 -1.94847750e-01 -4.46322349e-04 2.86402362e+02] [ 1.94847742e-01 9.80833499e-01 -6.16525288e-05 3.04164939e+01] [ 4.49780768e-04 -2.64940426e-05 9.99999898e-01 -1.85400228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.791400513 meters 0.058532300082338035 Centerline is valid? [True, True] Translation: X:286.43, Y:30.42, Z:-1.85 [[ 9.80189666e-01 -1.98059737e-01 -7.48279832e-04 2.86433221e+02] [ 1.98059716e-01 9.80189950e-01 -1.03388979e-04 3.04181259e+01] [ 7.53933565e-04 -4.68632820e-05 9.99999715e-01 -1.85488676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.821400513 meters 0.05939305323963772 Centerline is valid? [True, True] Translation: X:286.46, Y:30.42, Z:-1.86 [[ 9.79466985e-01 -2.01601787e-01 -1.06970490e-03 2.86463417e+02] [ 2.01601745e-01 9.79467567e-01 -1.47579504e-04 3.04172225e+01] [ 1.07749354e-03 -7.11051224e-05 9.99999417e-01 -1.85512876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.851400513 meters 0.06503162482035194 Centerline is valid? [True, True] Translation: X:286.49, Y:30.41, Z:-1.86 [[ 9.78730062e-01 -2.05148058e-01 -1.31916967e-03 2.86493759e+02] [ 2.05147998e-01 9.78730947e-01 -1.82237436e-04 3.04139546e+01] [ 1.32849783e-03 -9.22637600e-05 9.99999113e-01 -1.85606532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.881400513 meters 0.07585328056940216 Centerline is valid? [True, True] Translation: X:286.52, Y:30.41, Z:-1.86 [[ 9.78031726e-01 -2.08450053e-01 -1.58714552e-03 2.86524994e+02] [ 2.08449971e-01 9.78033006e-01 -2.19205257e-04 3.04080233e+01] [ 1.59797406e-03 -1.16450742e-04 9.99998716e-01 -1.85758661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.911400513 meters 0.07474221553479879 Centerline is valid? [True, True] Translation: X:286.56, Y:30.41, Z:-1.86 [[ 9.77071755e-01 -2.12904599e-01 -1.55491759e-03 2.86556083e+02] [ 2.12904525e-01 9.77072985e-01 -2.14766190e-04 3.04061024e+01] [ 1.56499268e-03 -1.21207013e-04 9.99998768e-01 -1.85802081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.941400513 meters 0.07166964697291309 Centerline is valid? [True, True] Translation: X:286.59, Y:30.41, Z:-1.86 [[ 9.77003574e-01 -2.13218118e-01 -1.43175814e-03 2.86587102e+02] [ 2.13218056e-01 9.77004617e-01 -1.97540737e-04 3.04145335e+01] [ 1.44095357e-03 -1.12278680e-04 9.99998956e-01 -1.85788707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.971400513 meters 0.07680584107722448 Centerline is valid? [True, True] Translation: X:286.62, Y:30.41, Z:-1.86 [[ 9.77142079e-01 -2.12585420e-01 -8.92046090e-04 2.86618865e+02] [ 2.12585396e-01 9.77142484e-01 -1.23026889e-04 3.04120822e+01] [ 8.97809855e-04 -6.94212207e-05 9.99999595e-01 -1.85706204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.001400513 meters 0.07406358240142745 Centerline is valid? [True, True] Translation: X:286.65, Y:30.42, Z:-1.86 [[ 9.77527176e-01 -2.10809437e-01 -2.95929524e-05 2.86649090e+02] [ 2.10809437e-01 9.77527177e-01 -4.04721919e-06 3.04163747e+01] [ 2.97811072e-05 -2.28220689e-06 1.00000000e+00 -1.85594460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.031400513 meters 0.06867455502668883 Centerline is valid? [True, True] Translation: X:286.68, Y:30.43, Z:-1.85 [[ 9.78125232e-01 -2.08015046e-01 8.78227262e-04 2.86678685e+02] [ 2.08015021e-01 9.78125624e-01 1.21223981e-04 3.04256716e+01] [-8.84233001e-04 6.41122273e-05 9.99999607e-01 -1.85402549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.061400513 meters 0.06299571329706463 Centerline is valid? [True, True] Translation: X:286.71, Y:30.44, Z:-1.85 [[ 9.78864639e-01 -2.04507091e-01 9.31542582e-04 2.86708258e+02] [ 2.04507061e-01 9.78865080e-01 1.28609717e-04 3.04380439e+01] [-9.38156103e-04 6.46155313e-05 9.99999558e-01 -1.85346045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.091400513 meters 0.05724715577728404 Centerline is valid? [True, True] Translation: X:286.74, Y:30.45, Z:-1.86 [[ 9.80358800e-01 -1.97214658e-01 -1.73235709e-03 2.86736950e+02] [ 1.97214542e-01 9.80360325e-01 -2.39050040e-04 3.04523733e+01] [ 1.74547834e-03 -1.07291200e-04 9.99998471e-01 -1.85729233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.121400513 meters 0.05147858516249268 Centerline is valid? [True, True] Translation: X:286.77, Y:30.46, Z:-1.86 [[ 9.80905547e-01 -1.94466033e-01 -2.69624782e-03 2.86766600e+02] [ 1.94465742e-01 9.80909240e-01 -3.72054866e-04 3.04629327e+01] [ 2.71712643e-03 -1.59377151e-04 9.99996296e-01 -1.85831965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.151400513 meters 0.06037513054342161 Centerline is valid? [True, True] Translation: X:286.80, Y:30.46, Z:-1.86 [[ 9.81190385e-01 -1.93017658e-01 -3.10049121e-03 2.86797450e+02] [ 1.93017266e-01 9.81195267e-01 -4.27797958e-04 3.04623870e+01] [ 3.12475986e-03 -1.78697094e-04 9.99995102e-01 -1.85994954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.181400513 meters 0.054441670971538715 Centerline is valid? [True, True] Translation: X:286.83, Y:30.47, Z:-1.86 [[ 9.81200629e-01 -1.92973151e-01 -2.58617000e-03 2.86828755e+02] [ 1.92972879e-01 9.81204026e-01 -3.56592208e-04 3.04701720e+01] [ 2.60637314e-03 -1.49172173e-04 9.99996592e-01 -1.85840648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.211400513 meters 0.059865189299281 Centerline is valid? [True, True] Translation: X:286.86, Y:30.48, Z:-1.86 [[ 9.80982999e-01 -1.94083977e-01 -1.94042831e-03 2.86860672e+02] [ 1.94083826e-01 9.80984912e-01 -2.67427109e-04 3.04755109e+01] [ 1.95543421e-03 -1.14264303e-04 9.99998082e-01 -1.85797590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24140051300003 meters 0.0561622847533842 Centerline is valid? [True, True] Translation: X:286.89, Y:30.48, Z:-1.85 [[ 9.80018169e-01 -1.98907862e-01 2.25705624e-04 2.86890361e+02] [ 1.98907860e-01 9.80018195e-01 3.11361908e-05 3.04842753e+01] [-2.27388852e-04 1.43805899e-05 9.99999974e-01 -1.85453385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.271400513 meters 0.0669382053420528 Centerline is valid? [True, True] Translation: X:286.92, Y:30.48, Z:-1.85 [[ 9.79415651e-01 -2.01853500e-01 3.84494824e-04 2.86921151e+02] [ 2.01853495e-01 9.79415726e-01 5.30479752e-05 3.04794391e+01] [-3.87288196e-04 2.56556069e-05 9.99999925e-01 -1.85482951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30140051300003 meters 0.059486666201280514 Centerline is valid? [True, True] Translation: X:286.95, Y:30.49, Z:-1.85 [[ 9.78805587e-01 -2.04791529e-01 2.27269350e-04 2.86950738e+02] [ 2.04791528e-01 9.78805614e-01 3.13504572e-05 3.04918368e+01] [-2.28872824e-04 1.58568347e-05 9.99999974e-01 -1.85393521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.331400513 meters 0.06756874882908735 Centerline is valid? [True, True] Translation: X:286.98, Y:30.49, Z:-1.85 [[ 9.78305882e-01 -2.07165576e-01 -1.61596336e-04 2.86981182e+02] [ 2.07165576e-01 9.78305895e-01 -2.22295373e-05 3.04884953e+01] [ 1.62695843e-04 -1.17299109e-05 9.99999987e-01 -1.85442274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36140051300004 meters 0.0671676348132982 Centerline is valid? [True, True] Translation: X:287.01, Y:30.49, Z:-1.85 [[ 9.78044723e-01 -2.08395099e-01 -4.49521840e-05 2.87011729e+02] [ 2.08395098e-01 9.78044724e-01 -6.15857214e-06 3.04949977e+01] [ 4.52486627e-05 -3.34445583e-06 9.99999999e-01 -1.85453596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.391400513 meters 0.06702918360512178 Centerline is valid? [True, True] Translation: X:287.04, Y:30.50, Z:-1.85 [[ 9.77914059e-01 -2.09006371e-01 6.55074293e-04 2.87043133e+02] [ 2.09006357e-01 9.77914278e-01 9.04299372e-05 3.05022830e+01] [-6.59506937e-04 4.84819848e-05 9.99999781e-01 -1.85457930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42140051300004 meters 0.06594470079491985 Centerline is valid? [True, True] Translation: X:287.07, Y:30.51, Z:-1.85 [[ 9.77767355e-01 -2.09675896e-01 2.64935233e-03 2.87074919e+02] [ 2.09675672e-01 9.77770924e-01 3.65135472e-04 3.05085473e+01] [-2.66701978e-03 1.98487185e-04 9.99996424e-01 -1.85419809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.451400513 meters 0.06981048942317757 Centerline is valid? [True, True] Translation: X:287.11, Y:30.51, Z:-1.86 [[ 9.77829031e-01 -2.09395615e-01 1.96531795e-03 2.87106861e+02] [ 2.09395491e-01 9.77830995e-01 2.70954319e-04 3.05087338e+01] [-1.97848546e-03 1.46581720e-04 9.99998032e-01 -1.85531783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.481400513 meters 0.0701741213203577 Centerline is valid? [True, True] Translation: X:287.14, Y:30.52, Z:-1.86 [[ 9.77951993e-01 -2.08829720e-01 2.18856675e-04 2.87138193e+02] [ 2.08829718e-01 9.77952017e-01 3.02590770e-05 3.05156266e+01] [-2.20350321e-04 1.61118531e-05 9.99999976e-01 -1.85692232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.511400513 meters 0.062242063833633766 Centerline is valid? [True, True] Translation: X:287.17, Y:30.53, Z:-1.86 [[ 9.78156013e-01 -2.07866943e-01 -1.46545017e-03 2.87168241e+02] [ 2.07866874e-01 9.78157105e-01 -2.01426726e-04 3.05297295e+01] [ 1.47531045e-03 -1.07591782e-04 9.99998906e-01 -1.85790667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.541400513 meters 0.06588632999348976 Centerline is valid? [True, True] Translation: X:287.20, Y:30.53, Z:-1.86 [[ 9.78395046e-01 -2.06721744e-01 -3.04226318e-03 2.87198787e+02] [ 2.06721437e-01 9.78399751e-01 -4.18329389e-04 3.05315991e+01] [ 3.06302732e-03 -2.19609617e-04 9.99995285e-01 -1.86007574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.571400513 meters 0.0647114506625476 Centerline is valid? [True, True] Translation: X:287.23, Y:30.54, Z:-1.86 [[ 9.78620988e-01 -2.05644599e-01 -3.35570525e-03 2.87230443e+02] [ 2.05644220e-01 9.78626712e-01 -4.61242464e-04 3.05360793e+01] [ 3.37883482e-03 -2.38699834e-04 9.99994263e-01 -1.86079513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.601400513 meters 0.06486033887349518 Centerline is valid? [True, True] Translation: X:287.26, Y:30.54, Z:-1.86 [[ 9.78888889e-01 -2.04379368e-01 -2.37012476e-03 2.87260113e+02] [ 2.04379175e-01 9.78891744e-01 -3.25789828e-04 3.05421376e+01] [ 2.38668028e-03 -1.65492101e-04 9.99997138e-01 -1.85970728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.631400513 meters 0.06822399372094858 Centerline is valid? [True, True] Translation: X:287.29, Y:30.55, Z:-1.86 [[ 9.78933209e-01 -2.04178486e-01 -9.57748512e-04 2.87291611e+02] [ 2.04178455e-01 9.78933676e-01 -1.31469336e-04 3.05490650e+01] [ 9.64415481e-04 -6.68519118e-05 9.99999533e-01 -1.85818990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.661400513 meters 0.06913660972385673 Centerline is valid? [True, True] Translation: X:287.32, Y:30.55, Z:-1.86 [[ 9.78953831e-01 -2.04081726e-01 2.16611451e-04 2.87323219e+02] [ 2.04081724e-01 9.78953854e-01 3.02977461e-05 3.05532435e+01] [-2.18235831e-04 1.45463438e-05 9.99999976e-01 -1.85605917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.691400513 meters 0.06420569843865297 Centerline is valid? [True, True] Translation: X:287.35, Y:30.56, Z:-1.85 [[ 9.78847576e-01 -2.04588266e-01 1.03202641e-03 2.87354572e+02] [ 2.04588230e-01 9.78848117e-01 1.41761455e-04 3.05618538e+01] [-1.03919984e-03 7.23776005e-05 9.99999457e-01 -1.85445368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.721400513 meters 0.061957466033418 Centerline is valid? [True, True] Translation: X:287.39, Y:30.57, Z:-1.86 [[ 9.78766161e-01 -2.04979787e-01 2.97233969e-04 2.87385678e+02] [ 2.04979784e-01 9.78766206e-01 4.10431038e-05 3.05692503e+01] [-2.99335571e-04 2.07553537e-05 9.99999955e-01 -1.85509185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.751400513 meters 0.06208963622836471 Centerline is valid? [True, True] Translation: X:287.42, Y:30.58, Z:-1.86 [[ 9.79015522e-01 -2.03777979e-01 -1.77301970e-03 2.87415850e+02] [ 2.03777871e-01 9.79017119e-01 -2.43012889e-04 3.05750474e+01] [ 1.78533731e-03 -1.23388789e-04 9.99998399e-01 -1.85814796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.781400513 meters 0.06360921953440714 Centerline is valid? [True, True] Translation: X:287.45, Y:30.58, Z:-1.86 [[ 9.79253047e-01 -2.02624181e-01 -2.62884079e-03 2.87447163e+02] [ 2.02623940e-01 9.79256559e-01 -3.60221538e-04 3.05823414e+01] [ 2.64729918e-03 -1.79918041e-04 9.99996480e-01 -1.85950392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.811400513 meters 0.06854372853034775 Centerline is valid? [True, True] Translation: X:287.48, Y:30.59, Z:-1.86 [[ 9.79484727e-01 -2.01491019e-01 -3.32257794e-03 2.87477027e+02] [ 2.01490628e-01 9.79490337e-01 -4.55351732e-04 3.05856694e+01] [ 3.34618227e-03 -2.23458249e-04 9.99994377e-01 -1.86043582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.841400513 meters 0.06543607364927445 Centerline is valid? [True, True] Translation: X:287.51, Y:30.59, Z:-1.86 [[ 9.79669565e-01 -2.00571932e-01 -4.29455688e-03 2.87509172e+02] [ 2.00571272e-01 9.79678937e-01 -5.88182988e-04 3.05920318e+01] [ 4.32525991e-03 -2.85139765e-04 9.99990605e-01 -1.86154638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.871400513 meters 0.0583535431673342 Centerline is valid? [True, True] Translation: X:287.54, Y:30.60, Z:-1.86 [[ 9.79787914e-01 -1.99970720e-01 -5.23024093e-03 2.87540118e+02] [ 1.99969739e-01 9.79801813e-01 -7.15167947e-04 3.06036143e+01] [ 5.26761219e-03 -3.45177003e-04 9.99986066e-01 -1.86187658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.901400513 meters 0.06477552546914554 Centerline is valid? [True, True] Translation: X:287.57, Y:30.60, Z:-1.86 [[ 9.79903709e-01 -1.99386654e-01 -5.80371090e-03 2.87571550e+02] [ 1.99385441e-01 9.79920822e-01 -7.92810656e-04 3.06036420e+01] [ 5.84525302e-03 -3.80297352e-04 9.99982844e-01 -1.86397465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.931400513 meters 0.06239912464894163 Centerline is valid? [True, True] Translation: X:287.60, Y:30.62, Z:-1.86 [[ 9.80013303e-01 -1.98878933e-01 -4.59308644e-03 2.87602344e+02] [ 1.98878172e-01 9.80024020e-01 -6.26549003e-04 3.06175236e+01] [ 4.62594244e-03 -2.99438278e-04 9.99989255e-01 -1.86132824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.961400513 meters 0.06322188608816993 Centerline is valid? [True, True] Translation: X:287.63, Y:30.62, Z:-1.86 [[ 9.80052928e-01 -1.98713117e-01 -3.05858008e-03 2.87633354e+02] [ 1.98712781e-01 9.80057681e-01 -4.16627167e-04 3.06188988e+01] [ 3.08037419e-03 -1.99462279e-04 9.99995236e-01 -1.85968826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99140051300003 meters 0.06857952855396617 Centerline is valid? [True, True] Translation: X:287.66, Y:30.62, Z:-1.86 [[ 9.80091200e-01 -1.98536983e-01 -2.07500286e-03 2.87664931e+02] [ 1.98536829e-01 9.80093387e-01 -2.82203366e-04 3.06214486e+01] [ 2.08972439e-03 -1.35379452e-04 9.99997807e-01 -1.85839702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.021400513 meters 0.061390355633177074 Centerline is valid? [True, True] Translation: X:287.70, Y:30.64, Z:-1.86 [[ 9.80103666e-01 -1.98482772e-01 -1.17987060e-03 2.87695983e+02] [ 1.98482723e-01 9.80104374e-01 -1.59918260e-04 3.06351026e+01] [ 1.18813736e-03 -7.74474575e-05 9.99999291e-01 -1.85711344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05140051300003 meters 0.0553528122760872 Centerline is valid? [True, True] Translation: X:287.73, Y:30.65, Z:-1.86 [[ 9.79985807e-01 -1.99066858e-01 -4.51223819e-04 2.87727029e+02] [ 1.99066851e-01 9.79985911e-01 -6.07615361e-05 3.06489200e+01] [ 4.54288593e-04 -3.02782616e-05 9.99999896e-01 -1.85599194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.081400513 meters 0.06417354427126298 Centerline is valid? [True, True] Translation: X:287.76, Y:30.65, Z:-1.86 [[ 9.79734859e-01 -2.00298790e-01 -4.00591174e-05 2.87757294e+02] [ 2.00298790e-01 9.79734859e-01 -5.44358343e-06 3.06476172e+01] [ 4.03376569e-05 -2.69052430e-06 9.99999999e-01 -1.85614088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11140051300004 meters 0.06182898084487938 Centerline is valid? [True, True] Translation: X:287.79, Y:30.66, Z:-1.85 [[ 9.79035186e-01 -2.03685146e-01 1.57030385e-03 2.87787880e+02] [ 2.03685065e-01 9.79036439e-01 2.13418524e-04 3.06561695e+01] [-1.58085487e-03 1.10903197e-04 9.99998744e-01 -1.85495166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.141400513 meters 0.06182898084487938 Centerline is valid? [True, True] Translation: X:287.82, Y:30.66, Z:-1.86 [[ 9.79071949e-01 -2.03508362e-01 1.57026808e-03 2.87820259e+02] [ 2.03508280e-01 9.79073202e-01 2.13682002e-04 3.06604555e+01] [-1.58089347e-03 1.10352501e-04 9.99998744e-01 -1.85506224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17140051300004 meters 0.06679114710874172 Centerline is valid? [True, True] Translation: X:287.85, Y:30.66, Z:-1.86 [[ 9.78790549e-01 -2.04855226e-01 1.84336060e-03 2.87850313e+02] [ 2.04855116e-01 9.78792276e-01 2.50120043e-04 3.06631744e+01] [-1.85550551e-03 1.32806715e-04 9.99998270e-01 -1.85534658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.201400513 meters 0.06725675684548481 Centerline is valid? [True, True] Translation: X:287.88, Y:30.66, Z:-1.86 [[ 9.78529342e-01 -2.06099086e-01 1.86930534e-03 2.87880037e+02] [ 2.06098976e-01 9.78531117e-01 2.53640407e-04 3.06645546e+01] [-1.88144850e-03 1.37067335e-04 9.99998221e-01 -1.85507807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.231400513 meters 0.06788434068661628 Centerline is valid? [True, True] Translation: X:287.91, Y:30.67, Z:-1.86 [[ 9.78460378e-01 -2.06433123e-01 8.09444810e-04 2.87911295e+02] [ 2.06433102e-01 9.78460711e-01 1.10239873e-04 3.06730406e+01] [-8.14767105e-04 5.92308549e-05 9.99999666e-01 -1.85672455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.261400513 meters 0.07013238744057261 Centerline is valid? [True, True] Translation: X:287.94, Y:30.67, Z:-1.86 [[ 9.78312064e-01 -2.07135912e-01 -4.68986296e-04 2.87943235e+02] [ 2.07135905e-01 9.78312175e-01 -6.32679846e-05 3.06719931e+01] [ 4.71920075e-04 -3.52480685e-05 9.99999888e-01 -1.85875370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.291400513 meters 0.06804961801575242 Centerline is valid? [True, True] Translation: X:287.97, Y:30.68, Z:-1.86 [[ 9.78230974e-01 -2.07509847e-01 -1.95586681e-03 2.87974579e+02] [ 2.07509731e-01 9.78232918e-01 -2.64100716e-04 3.06805127e+01] [ 1.96809680e-03 -1.47509896e-04 9.99998052e-01 -1.86048333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.321400513 meters 0.07038746469690269 Centerline is valid? [True, True] Translation: X:288.01, Y:30.69, Z:-1.86 [[ 9.78064039e-01 -2.08288809e-01 -2.55121362e-03 2.88005594e+02] [ 2.08288614e-01 9.78067347e-01 -3.44729151e-04 3.06857520e+01] [ 2.56706196e-03 -1.94221562e-04 9.99996686e-01 -1.86074519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.351400513 meters 0.06652748759758902 Centerline is valid? [True, True] Translation: X:288.04, Y:30.70, Z:-1.86 [[ 9.78082141e-01 -2.08216576e-01 -1.08776847e-03 2.88037368e+02] [ 2.08216541e-01 9.78082742e-01 -1.46273180e-04 3.06963407e+01] [ 1.09438407e-03 -8.34242040e-05 9.99999398e-01 -1.85792762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.381400513 meters 0.07245202990402119 Centerline is valid? [True, True] Translation: X:288.07, Y:30.70, Z:-1.86 [[ 9.78125935e-01 -2.08011814e-01 8.60821003e-04 2.88069311e+02] [ 2.08011792e-01 9.78126311e-01 1.16613058e-04 3.06966291e+01] [-8.66248566e-04 6.49986630e-05 9.99999623e-01 -1.85575158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.411400513 meters 0.06721368489864836 Centerline is valid? [True, True] Translation: X:288.10, Y:30.71, Z:-1.85 [[ 9.78202227e-01 -2.07638219e-01 2.60264635e-03 2.88100388e+02] [ 2.07638015e-01 9.78205669e-01 3.51189807e-04 3.07059210e+01] [-2.61884384e-03 1.96873671e-04 9.99996551e-01 -1.85384806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.441400513 meters 0.07016152776506551 Centerline is valid? [True, True] Translation: X:288.13, Y:30.70, Z:-1.85 [[ 9.78288524e-01 -2.07220488e-01 3.35149842e-03 2.88131788e+02] [ 2.07220150e-01 9.78294233e-01 4.51544042e-04 3.07045788e+01] [-3.37232075e-03 2.52757652e-04 9.99994282e-01 -1.85354801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.471400513 meters 0.06952011293559877 Centerline is valid? [True, True] Translation: X:288.16, Y:30.71, Z:-1.85 [[ 9.78495881e-01 -2.06240926e-01 3.23902129e-03 2.88162796e+02] [ 2.06240606e-01 9.78501212e-01 4.36096150e-04 3.07098308e+01] [-3.25932713e-03 2.41299427e-04 9.99994659e-01 -1.85415730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.501400513 meters 0.06506707033137947 Centerline is valid? [True, True] Translation: X:288.19, Y:30.72, Z:-1.86 [[ 9.79322104e-01 -2.02299810e-01 1.73319953e-03 2.88192506e+02] [ 2.02299713e-01 9.79323630e-01 2.33330692e-04 3.07190749e+01] [-1.74456601e-03 1.22119861e-04 9.99998471e-01 -1.85570094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.531400513 meters 0.06347840750585845 Centerline is valid? [True, True] Translation: X:288.22, Y:30.73, Z:-1.86 [[ 9.79828702e-01 -1.99835084e-01 1.28640649e-03 2.88222277e+02] [ 1.99835028e-01 9.79829542e-01 1.73165945e-04 3.07251466e+01] [-1.29506371e-03 8.73961130e-05 9.99999158e-01 -1.85625587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.561400513 meters 0.06109141446714004 Centerline is valid? [True, True] Translation: X:288.25, Y:30.74, Z:-1.86 [[ 9.80312762e-01 -1.97448868e-01 9.12472000e-04 2.88251540e+02] [ 1.97448839e-01 9.80313185e-01 1.22838843e-04 3.07356378e+01] [-9.18762723e-04 5.97460508e-05 9.99999576e-01 -1.85597521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.591400513 meters 0.059184265017119035 Centerline is valid? [True, True] Translation: X:288.28, Y:30.74, Z:-1.85 [[ 9.80660445e-01 -1.95710473e-01 1.58214336e-03 2.88280869e+02] [ 1.95710383e-01 9.80661716e-01 2.12923822e-04 3.07389878e+01] [-1.59321884e-03 1.00835913e-04 9.99998726e-01 -1.85448438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.621400513 meters 0.05100229849012676 Centerline is valid? [True, True] Translation: X:288.31, Y:30.75, Z:-1.85 [[ 9.80933012e-01 -1.94337046e-01 1.88136099e-03 2.88310516e+02] [ 1.94336916e-01 9.80934809e-01 2.53273202e-04 3.07537936e+01] [-1.89471284e-03 1.17173848e-04 9.99998198e-01 -1.85332528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.651400513 meters 0.05289196830442964 Centerline is valid? [True, True] Translation: X:288.34, Y:30.76, Z:-1.85 [[ 9.81066544e-01 -1.93664442e-01 1.58773908e-03 2.88342957e+02] [ 1.93664349e-01 9.81067823e-01 2.13782897e-04 3.07584236e+01] [-1.59908187e-03 9.77532074e-05 9.99998717e-01 -1.85340667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.681400513 meters 0.05880950725448731 Centerline is valid? [True, True] Translation: X:288.38, Y:30.75, Z:-1.85 [[ 9.80927106e-01 -1.94372431e-01 1.17102403e-03 2.88375605e+02] [ 1.94372381e-01 9.80927802e-01 1.57709215e-04 3.07502594e+01] [-1.17934435e-03 7.29134859e-05 9.99999302e-01 -1.85489798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.711400513 meters 0.0661390353777476 Centerline is valid? [True, True] Translation: X:288.41, Y:30.75, Z:-1.86 [[ 9.80698877e-01 -1.95520066e-01 1.27112552e-03 2.88407321e+02] [ 1.95520008e-01 9.80699698e-01 1.70945782e-04 3.07503953e+01] [-1.28001575e-03 8.08841360e-05 9.99999178e-01 -1.85552618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74140051300003 meters 0.06164440326736232 Centerline is valid? [True, True] Translation: X:288.44, Y:30.75, Z:-1.86 [[ 9.80371888e-01 -1.97151792e-01 1.45984650e-03 2.88438594e+02] [ 1.97151718e-01 9.80372971e-01 1.96236123e-04 3.07510125e+01] [-1.46988235e-03 9.54268663e-05 9.99998915e-01 -1.85512454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.771400513 meters 0.06441199514222794 Centerline is valid? [True, True] Translation: X:288.47, Y:30.75, Z:-1.86 [[ 9.79652006e-01 -2.00699751e-01 1.24792033e-03 2.88470420e+02] [ 2.00699699e-01 9.79652797e-01 1.67754546e-04 3.07497552e+01] [-1.25619693e-03 8.61161565e-05 9.99999207e-01 -1.85513001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80140051300003 meters 0.07414074031281304 Centerline is valid? [True, True] Translation: X:288.50, Y:30.74, Z:-1.86 [[ 9.79380294e-01 -2.02023807e-01 7.87792137e-04 2.88502236e+02] [ 2.02023787e-01 9.79380609e-01 1.05890713e-04 3.07409843e+01] [-7.92940788e-04 5.54454738e-05 9.99999684e-01 -1.85678374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.831400513 meters 0.06718358747733659 Centerline is valid? [True, True] Translation: X:288.53, Y:30.75, Z:-1.86 [[ 9.79063454e-01 -2.03554184e-01 6.68431023e-04 2.88531696e+02] [ 2.03554170e-01 9.79063681e-01 8.98873177e-05 3.07513540e+01] [-6.72733478e-04 4.80565344e-05 9.99999773e-01 -1.85645238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86140051300004 meters 0.06791114041256262 Centerline is valid? [True, True] Translation: X:288.56, Y:30.75, Z:-1.86 [[ 9.78887858e-01 -2.04396503e-01 7.94430517e-04 2.88563395e+02] [ 2.04396484e-01 9.78888179e-01 1.06912904e-04 3.07525199e+01] [-7.99511265e-04 5.77230609e-05 9.99999679e-01 -1.85626124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.891400513 meters 0.06502124008924122 Centerline is valid? [True, True] Translation: X:288.59, Y:30.76, Z:-1.86 [[ 9.78812223e-01 -2.04758329e-01 8.11805897e-04 2.88594686e+02] [ 2.04758308e-01 9.78812558e-01 1.09413203e-04 3.07610717e+01] [-8.17009071e-04 5.91290219e-05 9.99999665e-01 -1.85589076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92140051300004 meters 0.06730142427490124 Centerline is valid? [True, True] Translation: X:288.63, Y:30.75, Z:-1.86 [[ 9.78714157e-01 -2.05224868e-01 1.16311654e-03 2.88626640e+02] [ 2.05224827e-01 9.78714844e-01 1.56028862e-04 3.07534766e+01] [-1.17038042e-03 8.59927335e-05 9.99999311e-01 -1.85644788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.951400513 meters 0.06240237565554029 Centerline is valid? [True, True] Translation: X:288.66, Y:30.76, Z:-1.86 [[ 9.78776978e-01 -2.04925675e-01 1.04609142e-03 2.88658042e+02] [ 2.04925641e-01 9.78777534e-01 1.40637532e-04 3.07616849e+01] [-1.05271102e-03 7.67181756e-05 9.99999443e-01 -1.85623064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.981400513 meters 0.07038464601677866 Centerline is valid? [True, True] Translation: X:288.69, Y:30.76, Z:-1.86 [[ 9.78878697e-01 -2.04438217e-01 1.22924035e-03 2.88690369e+02] [ 2.04438170e-01 9.78879465e-01 1.64937720e-04 3.07577154e+01] [-1.23699771e-03 8.98496284e-05 9.99999231e-01 -1.85568690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.011400513 meters 0.06392391550045523 Centerline is valid? [True, True] Translation: X:288.72, Y:30.77, Z:-1.85 [[ 9.78996570e-01 -2.03869992e-01 1.65610772e-03 2.88721096e+02] [ 2.03869906e-01 9.78997963e-01 2.21806604e-04 3.07700106e+01] [-1.66654579e-03 1.20482621e-04 9.99998604e-01 -1.85459918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.041400513 meters 0.06764991503558004 Centerline is valid? [True, True] Translation: X:288.75, Y:30.76, Z:-1.85 [[ 9.79135410e-01 -2.03199936e-01 1.90666679e-03 2.88753640e+02] [ 2.03199823e-01 9.79137257e-01 2.54867825e-04 3.07639589e+01] [-1.91867762e-03 1.37884242e-04 9.99998150e-01 -1.85474254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.071400513 meters 0.058996424562175784 Centerline is valid? [True, True] Translation: X:288.78, Y:30.78, Z:-1.86 [[ 9.79305837e-01 -2.02381211e-01 1.38685675e-03 2.88784896e+02] [ 2.02381150e-01 9.79306814e-01 1.85481883e-04 3.07756552e+01] [-1.39569631e-03 9.90301727e-05 9.99999021e-01 -1.85593797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.101400513 meters 0.06446406860842868 Centerline is valid? [True, True] Translation: X:288.82, Y:30.77, Z:-1.86 [[ 9.79474635e-01 -2.01567277e-01 2.70502783e-04 2.88817630e+02] [ 2.01567274e-01 9.79474672e-01 3.65398499e-05 3.07657632e+01] [-2.72315863e-04 1.87346526e-05 9.99999963e-01 -1.85829485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.131400513 meters 0.07657156680657916 Centerline is valid? [True, True] Translation: X:288.85, Y:30.75, Z:-1.86 [[ 9.79499058e-01 -2.01448603e-01 2.36346217e-04 2.88851448e+02] [ 2.01448601e-01 9.79499086e-01 3.18338761e-05 3.07546866e+01] [-2.37913793e-04 1.64303630e-05 9.99999972e-01 -1.85898591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.161400513 meters 0.06872886004157926 Centerline is valid? [True, True] Translation: X:288.88, Y:30.77, Z:-1.86 [[ 9.79469244e-01 -2.01593344e-01 3.51042276e-04 2.88882471e+02] [ 2.01593340e-01 9.79469307e-01 4.71916518e-05 3.07670996e+01] [-3.53348658e-04 2.45450134e-05 9.99999937e-01 -1.85754938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.191400513 meters 0.06936689642979169 Centerline is valid? [True, True] Translation: X:288.91, Y:30.76, Z:-1.86 [[ 9.79350522e-01 -2.02166753e-01 1.07631397e-03 2.88913892e+02] [ 2.02166717e-01 9.79351111e-01 1.43113831e-04 3.07640196e+01] [-1.08302214e-03 7.74362563e-05 9.99999411e-01 -1.85661417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.221400513 meters 0.06836181544199135 Centerline is valid? [True, True] Translation: X:288.95, Y:30.77, Z:-1.86 [[ 9.79223272e-01 -2.02781381e-01 1.22247889e-03 2.88945398e+02] [ 2.02781335e-01 9.79224031e-01 1.62560365e-04 3.07710727e+01] [-1.23004492e-03 8.87130085e-05 9.99999240e-01 -1.85593618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.251400513 meters 0.06897770473568822 Centerline is valid? [True, True] Translation: X:288.98, Y:30.77, Z:-1.86 [[ 9.79083575e-01 -2.03454861e-01 1.21312760e-03 2.88976627e+02] [ 2.03454817e-01 9.79084323e-01 1.61213062e-04 3.07688781e+01] [-1.22055380e-03 8.89755922e-05 9.99999251e-01 -1.85578729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.281400513 meters 0.06936910414061026 Centerline is valid? [True, True] Translation: X:289.01, Y:30.77, Z:-1.86 [[ 9.78688911e-01 -2.05348259e-01 3.28040351e-04 2.89007243e+02] [ 2.05348256e-01 9.78688966e-01 4.36032211e-05 3.07699744e+01] [-3.30003317e-04 2.46885248e-05 9.99999945e-01 -1.85747723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.311400513 meters 0.0728311991720875 Centerline is valid? [True, True] Translation: X:289.04, Y:30.76, Z:-1.86 [[ 9.78437466e-01 -2.06542507e-01 5.64010236e-04 2.89038593e+02] [ 2.06542498e-01 9.78437627e-01 7.49424088e-05 3.07639287e+01] [-5.67327630e-04 4.31656225e-05 9.99999838e-01 -1.85778111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.341400513 meters 0.0658781952583035 Centerline is valid? [True, True] Translation: X:289.07, Y:30.77, Z:-1.86 [[ 9.78150492e-01 -2.07896177e-01 8.91951364e-04 2.89068673e+02] [ 2.07896155e-01 9.78150896e-01 1.18485246e-04 3.07730816e+01] [-8.97095655e-04 6.95368567e-05 9.99999595e-01 -1.85717096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.371400513 meters 0.0690903615186188 Centerline is valid? [True, True] Translation: X:289.10, Y:30.77, Z:-1.86 [[ 9.77819711e-01 -2.09442178e-01 1.60865295e-03 2.89099017e+02] [ 2.09442108e-01 9.77821025e-01 2.13620104e-04 3.07693163e+01] [-1.61771574e-03 1.28037717e-04 9.99998683e-01 -1.85654645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.401400513 meters 0.07991181338520797 Centerline is valid? [True, True] Translation: X:289.13, Y:30.76, Z:-1.86 [[ 9.77473734e-01 -2.11051403e-01 1.55049085e-03 2.89130555e+02] [ 2.11051340e-01 9.77474956e-01 2.05896502e-04 3.07580565e+01] [-1.55902072e-03 1.25974749e-04 9.99998777e-01 -1.85664111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.431400513 meters 0.07689648938990096 Centerline is valid? [True, True] Translation: X:289.16, Y:30.76, Z:-1.86 [[ 9.77075273e-01 -2.12887613e-01 1.66602222e-03 2.89161724e+02] [ 2.12887543e-01 9.77076683e-01 2.21263658e-04 3.07601408e+01] [-1.67493576e-03 1.38484128e-04 9.99998588e-01 -1.85625031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.461400513 meters 0.07943246450736349 Centerline is valid? [True, True] Translation: X:289.19, Y:30.75, Z:-1.86 [[ 9.76514186e-01 -2.15452214e-01 6.23204747e-04 2.89194189e+02] [ 2.15452205e-01 9.76514383e-01 8.27951265e-05 3.07528931e+01] [-6.26406793e-04 5.34202214e-05 9.99999802e-01 -1.85728278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49140051300003 meters 0.08554726441039465 Centerline is valid? [True, True] Translation: X:289.23, Y:30.75, Z:-1.86 [[ 9.76396886e-01 -2.15983934e-01 -2.46364129e-04 2.89226395e+02] [ 2.15983933e-01 9.76396917e-01 -3.25872892e-05 3.07477730e+01] [ 2.47587507e-04 -2.13925658e-05 9.99999969e-01 -1.85869511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.521400513 meters 0.07911366706144159 Centerline is valid? [True, True] Translation: X:289.26, Y:30.76, Z:-1.86 [[ 9.76417372e-01 -2.15890775e-01 -5.38083452e-04 2.89258088e+02] [ 2.15890768e-01 9.76417519e-01 -7.11495108e-05 3.07582784e+01] [ 5.40754632e-04 -4.66956316e-05 9.99999853e-01 -1.85869305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55140051300003 meters 0.0807965834730377 Centerline is valid? [True, True] Translation: X:289.29, Y:30.75, Z:-1.86 [[ 9.76627052e-01 -2.14940925e-01 -3.85745929e-06 2.89289395e+02] [ 2.14940925e-01 9.76627052e-01 -4.72870866e-07 3.07524813e+01] [ 3.86893838e-06 -3.67307387e-07 1.00000000e+00 -1.85771701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.581400513 meters 0.07803467569306778 Centerline is valid? [True, True] Translation: X:289.32, Y:30.75, Z:-1.85 [[ 9.77715641e-01 -2.09924335e-01 1.97435807e-03 2.89319890e+02] [ 2.09924231e-01 9.77717622e-01 2.61905201e-04 3.07531009e+01] [-1.98534495e-03 1.58396787e-04 9.99998017e-01 -1.85379580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61140051300004 meters 0.08330919664722804 Centerline is valid? [True, True] Translation: X:289.35, Y:30.75, Z:-1.85 [[ 9.78400145e-01 -2.06707631e-01 2.26081702e-03 2.89350955e+02] [ 2.06707486e-01 9.78402742e-01 2.99875604e-04 3.07471567e+01] [-2.27397615e-03 1.73929470e-04 9.99997399e-01 -1.85364501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.641400513 meters 0.063881556520145 Centerline is valid? [True, True] Translation: X:289.38, Y:30.77, Z:-1.85 [[ 9.78962063e-01 -2.04027733e-01 2.44207648e-03 2.89378472e+02] [ 2.04027557e-01 9.78965092e-01 3.23921935e-04 3.07709119e+01] [-2.45679669e-03 1.81143613e-04 9.99996966e-01 -1.85357647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67140051300004 meters 0.06506530840537779 Centerline is valid? [True, True] Translation: X:289.41, Y:30.77, Z:-1.85 [[ 9.79410889e-01 -2.01860875e-01 2.54897115e-03 2.89407875e+02] [ 2.01860675e-01 9.79414189e-01 3.38085761e-04 3.07711417e+01] [-2.56474480e-03 1.83412162e-04 9.99996694e-01 -1.85421514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.701400513 meters 0.0629109079131784 Centerline is valid? [True, True] Translation: X:289.44, Y:30.78, Z:-1.85 [[ 9.79711879e-01 -2.00393663e-01 2.64830464e-03 2.89438880e+02] [ 2.00393442e-01 9.79715441e-01 3.51348046e-04 3.07769839e+01] [-2.66499287e-03 1.86483028e-04 9.99996432e-01 -1.85418658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.731400513 meters 0.06906424812904499 Centerline is valid? [True, True] Translation: X:289.47, Y:30.78, Z:-1.85 [[ 9.80070498e-01 -1.98624356e-01 3.19139866e-03 2.89468184e+02] [ 1.98624026e-01 9.80075669e-01 4.23257589e-04 3.07789338e+01] [-3.21188144e-03 2.19066173e-04 9.99994818e-01 -1.85276510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.761400513 meters 0.06205123643355192 Centerline is valid? [True, True] Translation: X:289.50, Y:30.79, Z:-1.85 [[ 9.80032757e-01 -1.98805279e-01 3.50089838e-03 2.89499311e+02] [ 1.98804883e-01 9.80038980e-01 4.64340989e-04 3.07863170e+01] [-3.52333032e-03 2.40926312e-04 9.99993764e-01 -1.85180963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.791400513 meters 0.0657180172964274 Centerline is valid? [True, True] Translation: X:289.53, Y:30.79, Z:-1.85 [[ 9.79850334e-01 -1.99707426e-01 3.20423105e-03 2.89530933e+02] [ 1.99707099e-01 9.79855548e-01 4.24854418e-04 3.07869248e+01] [-3.22453015e-03 2.23613943e-04 9.99994776e-01 -1.85195286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.821400513 meters 0.062434835760318004 Centerline is valid? [True, True] Translation: X:289.56, Y:30.79, Z:-1.85 [[ 9.79508138e-01 -2.01385686e-01 2.75907287e-03 2.89561059e+02] [ 2.01385450e-01 9.79512004e-01 3.65736419e-04 3.07942350e+01] [-2.77619908e-03 1.97395334e-04 9.99996127e-01 -1.85292676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.851400513 meters 0.06941775667392133 Centerline is valid? [True, True] Translation: X:289.59, Y:30.79, Z:-1.86 [[ 9.79102038e-01 -2.03362881e-01 1.65446692e-03 2.89591552e+02] [ 2.03362799e-01 9.79103429e-01 2.19287999e-04 3.07909512e+01] [-1.66448928e-03 1.21751699e-04 9.99998607e-01 -1.85512915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.881400513 meters 0.07320276284762457 Centerline is valid? [True, True] Translation: X:289.62, Y:30.79, Z:-1.86 [[ 9.78552871e-01 -2.05992491e-01 1.17173678e-03 2.89621403e+02] [ 2.05992452e-01 9.78553568e-01 1.55286012e-04 3.07878699e+01] [-1.17859496e-03 8.94133596e-05 9.99999301e-01 -1.85691759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.911400513 meters 0.08415088318168779 Centerline is valid? [True, True] Translation: X:289.65, Y:30.78, Z:-1.86 [[ 9.77381656e-01 -2.11481143e-01 -9.08455087e-04 2.89652737e+02] [ 2.11481122e-01 9.77382075e-01 -1.20481707e-04 3.07759621e+01] [ 9.13387327e-04 -7.43644904e-05 9.99999580e-01 -1.86161782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.941400513 meters 0.07465809783735808 Centerline is valid? [True, True] Translation: X:289.68, Y:30.78, Z:-1.86 [[ 9.76928751e-01 -2.13563704e-01 -8.71548011e-04 2.89682892e+02] [ 2.13563685e-01 9.76929137e-01 -1.15530196e-04 3.07847986e+01] [ 8.76113703e-04 -7.32662344e-05 9.99999614e-01 -1.86159549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.971400513 meters 0.08160242008834528 Centerline is valid? [True, True] Translation: X:289.71, Y:30.78, Z:-1.86 [[ 9.76748353e-01 -2.14387968e-01 -6.74664986e-04 2.89714364e+02] [ 2.14387957e-01 9.76748584e-01 -8.93054450e-05 3.07789654e+01] [ 6.78124083e-04 -5.74111017e-05 9.99999768e-01 -1.86109292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.001400513 meters 0.08080353617122077 Centerline is valid? [True, True] Translation: X:289.75, Y:30.78, Z:-1.86 [[ 9.76882470e-01 -2.13776680e-01 -4.14094527e-04 2.89745196e+02] [ 2.13776676e-01 9.76882557e-01 -5.47968388e-05 3.07843042e+01] [ 4.16236007e-04 -3.49936804e-05 9.99999913e-01 -1.85997784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.031400513 meters 0.08080353617122077 Centerline is valid? [True, True] Translation: X:289.78, Y:30.79, Z:-1.86 [[ 9.76891825e-01 -2.13733923e-01 -4.14106611e-04 2.89776722e+02] [ 2.13733919e-01 9.76891913e-01 -5.47056159e-05 3.07884078e+01] [ 4.16229845e-04 -3.50671599e-05 9.99999913e-01 -1.86008548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.061400513 meters 0.0772289350692919 Centerline is valid? [True, True] Translation: X:289.81, Y:30.80, Z:-1.86 [[ 9.77313656e-01 -2.11796471e-01 -5.23247267e-04 2.89806316e+02] [ 2.11796464e-01 9.77313795e-01 -6.92999490e-05 3.07973372e+01] [ 5.26054257e-04 -4.30941343e-05 9.99999861e-01 -1.85991103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.091400513 meters 0.07116260244663213 Centerline is valid? [True, True] Translation: X:289.84, Y:30.81, Z:-1.86 [[ 9.77947226e-01 -2.08850162e-01 -9.12197089e-04 2.89835322e+02] [ 2.08850140e-01 9.77947649e-01 -1.20835524e-04 3.08083261e+01] [ 9.17317517e-04 -7.23417240e-05 9.99999577e-01 -1.86054752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.121400513 meters 0.07057560242410088 Centerline is valid? [True, True] Translation: X:289.86, Y:30.81, Z:-1.86 [[ 9.79066296e-01 -2.03536072e-01 -1.50197536e-03 2.89864736e+02] [ 2.03536005e-01 9.79067442e-01 -1.98958658e-04 3.08097196e+01] [ 1.51103044e-03 -1.10912347e-04 9.99998852e-01 -1.86351996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.151400513 meters 0.07146313903365419 Centerline is valid? [True, True] Translation: X:289.89, Y:30.81, Z:-1.86 [[ 9.79435973e-01 -2.01748033e-01 -1.70466957e-03 2.89894745e+02] [ 2.01747944e-01 9.79437449e-01 -2.25807334e-04 3.08135303e+01] [ 1.71517340e-03 -1.22749755e-04 9.99998522e-01 -1.86451358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.181400513 meters 0.0611814245111304 Centerline is valid? [True, True] Translation: X:289.92, Y:30.83, Z:-1.86 [[ 9.79639151e-01 -2.00762972e-01 -1.16770032e-03 2.89924293e+02] [ 2.00762929e-01 9.79639843e-01 -1.54571033e-04 3.08285639e+01] [ 1.17495790e-03 -8.30071021e-05 9.99999306e-01 -1.86364194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.211400513 meters 0.06531131233511071 Centerline is valid? [True, True] Translation: X:289.96, Y:30.83, Z:-1.86 [[ 9.79755275e-01 -2.00198491e-01 -4.07657754e-04 2.89955609e+02] [ 2.00198486e-01 9.79755359e-01 -5.38576493e-05 3.08268904e+01] [ 4.10187089e-04 -2.88451492e-05 9.99999915e-01 -1.86299745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24140051300003 meters 0.06001352553646825 Centerline is valid? [True, True] Translation: X:289.99, Y:30.84, Z:-1.86 [[ 9.79739154e-01 -2.00277712e-01 1.66382874e-04 2.89986470e+02] [ 2.00277711e-01 9.79739168e-01 2.21822992e-05 3.08358102e+01] [-1.67454439e-04 1.15899141e-05 9.99999986e-01 -1.86212885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.271400513 meters 0.06768050232451747 Centerline is valid? [True, True] Translation: X:290.02, Y:30.83, Z:-1.86 [[ 9.79655962e-01 -2.00684318e-01 2.78854368e-05 2.90018294e+02] [ 2.00684318e-01 9.79655962e-01 3.81000706e-06 3.08327622e+01] [-2.80827431e-05 1.86367374e-06 1.00000000e+00 -1.86186528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30140051300003 meters 0.06712091493655593 Centerline is valid? [True, True] Translation: X:290.05, Y:30.83, Z:-1.86 [[ 9.79253739e-01 -2.02634963e-01 -1.08947154e-03 2.90048515e+02] [ 2.02634927e-01 9.79254342e-01 -1.44033920e-04 3.08293079e+01] [ 1.09605605e-03 -7.97192326e-05 9.99999396e-01 -1.86236337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.331400513 meters 0.07150458593273465 Centerline is valid? [True, True] Translation: X:290.08, Y:30.83, Z:-1.86 [[ 9.78991045e-01 -2.03897377e-01 -1.54689076e-03 2.90079706e+02] [ 2.03897307e-01 9.78992261e-01 -2.04586771e-04 3.08256251e+01] [ 1.55610878e-03 -1.15118242e-04 9.99998783e-01 -1.86464044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36140051300004 meters 0.08634205251486304 Centerline is valid? [True, True] Translation: X:290.11, Y:30.81, Z:-1.87 [[ 9.78667647e-01 -2.05443137e-01 -1.65951382e-03 2.90111283e+02] [ 2.05443058e-01 9.78669046e-01 -2.19579558e-04 3.08123317e+01] [ 1.66922592e-03 -1.26040185e-04 9.99998599e-01 -1.86644633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.391400513 meters 0.06824137022588977 Centerline is valid? [True, True] Translation: X:290.14, Y:30.83, Z:-1.86 [[ 9.78296377e-01 -2.07210416e-01 -2.04524799e-04 2.90140255e+02] [ 2.07210415e-01 9.78296398e-01 -2.70155645e-05 3.08288878e+01] [ 2.05683781e-04 -1.59504397e-05 9.99999979e-01 -1.86485333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42140051300004 meters 0.07279669397897309 Centerline is valid? [True, True] Translation: X:290.17, Y:30.82, Z:-1.86 [[ 9.78034984e-01 -2.08439283e-01 7.96932372e-04 2.90171135e+02] [ 2.08439266e-01 9.78035307e-01 1.05419140e-04 3.08224422e+01] [-8.01401486e-04 6.30083923e-05 9.99999677e-01 -1.86377105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.451400513 meters 0.07072033345294282 Centerline is valid? [True, True] Translation: X:290.20, Y:30.82, Z:-1.86 [[ 9.77934113e-01 -2.08912146e-01 7.64976007e-04 2.90203015e+02] [ 2.08912130e-01 9.77934411e-01 1.01282767e-04 3.08224263e+01] [-7.69255561e-04 6.07648939e-05 9.99999702e-01 -1.86257067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.481400513 meters 0.070739311516804 Centerline is valid? [True, True] Translation: X:290.23, Y:30.82, Z:-1.86 [[ 9.78095354e-01 -2.08157339e-01 5.11269402e-06 2.90234075e+02] [ 2.08157338e-01 9.78095354e-01 7.54118460e-07 3.08239846e+01] [-5.15767758e-06 3.26645018e-07 1.00000000e+00 -1.86333439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.511400513 meters 0.07546866464046921 Centerline is valid? [True, True] Translation: X:290.27, Y:30.82, Z:-1.86 [[ 9.78373762e-01 -2.06844712e-01 -2.15934481e-04 2.90265154e+02] [ 2.06844711e-01 9.78373786e-01 -2.85514715e-05 3.08193798e+01] [ 2.17170357e-04 -1.67308947e-05 9.99999976e-01 -1.86340873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.541400513 meters 0.07131171819944733 Centerline is valid? [True, True] Translation: X:290.29, Y:30.83, Z:-1.86 [[ 9.78680244e-01 -2.05389803e-01 -9.43810989e-05 2.90294865e+02] [ 2.05389803e-01 9.78680248e-01 -1.24963707e-05 3.08260854e+01] [ 9.49355445e-05 -7.15496416e-06 9.99999995e-01 -1.86314216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.571400513 meters 0.06654326426745986 Centerline is valid? [True, True] Translation: X:290.32, Y:30.83, Z:-1.86 [[ 9.79044708e-01 -2.03644620e-01 -5.73366080e-04 2.90324970e+02] [ 2.03644611e-01 9.79044875e-01 -7.57714405e-05 3.08346966e+01] [ 5.76781568e-04 -4.25792842e-05 9.99999833e-01 -1.86291160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.601400513 meters 0.06846184173276972 Centerline is valid? [True, True] Translation: X:290.35, Y:30.84, Z:-1.86 [[ 9.79853934e-01 -1.99713256e-01 -9.39975518e-04 2.90354627e+02] [ 1.99713228e-01 9.79854383e-01 -1.24285739e-04 3.08360976e+01] [ 9.45860641e-04 -6.59436746e-05 9.99999550e-01 -1.86375310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.631400513 meters 0.061500822746554905 Centerline is valid? [True, True] Translation: X:290.38, Y:30.85, Z:-1.86 [[ 9.80319884e-01 -1.97414581e-01 -6.38860451e-04 2.90383561e+02] [ 1.97414568e-01 9.80320091e-01 -8.44936689e-05 3.08478849e+01] [ 6.42968017e-04 -4.32895360e-05 9.99999792e-01 -1.86370309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.661400513 meters 0.06596690767095326 Centerline is valid? [True, True] Translation: X:290.41, Y:30.85, Z:-1.86 [[ 9.80675094e-01 -1.95643328e-01 -2.18414573e-04 2.90414266e+02] [ 1.95643326e-01 9.80675118e-01 -2.88796839e-05 3.08458298e+01] [ 2.19843855e-04 -1.44097669e-05 9.99999976e-01 -1.86390720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.691400513 meters 0.06530695480193914 Centerline is valid? [True, True] Translation: X:290.44, Y:30.85, Z:-1.86 [[ 9.80861746e-01 -1.94705420e-01 1.87039693e-04 2.90444647e+02] [ 1.94705419e-01 9.80861764e-01 2.47311666e-05 3.08504064e+01] [-1.88275375e-04 1.21597865e-05 9.99999982e-01 -1.86378113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.721400513 meters 0.059387894161938175 Centerline is valid? [True, True] Translation: X:290.48, Y:30.86, Z:-1.86 [[ 9.80799685e-01 -1.95017807e-01 1.83371891e-04 2.90475474e+02] [ 1.95017806e-01 9.80799702e-01 2.43957347e-05 3.08623423e+01] [-1.84608699e-04 1.18334550e-05 9.99999983e-01 -1.86368478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.751400513 meters 0.061234073388655406 Centerline is valid? [True, True] Translation: X:290.51, Y:30.86, Z:-1.86 [[ 9.80550104e-01 -1.96268848e-01 -1.79175619e-04 2.90506034e+02] [ 1.96268847e-01 9.80550121e-01 -2.36414523e-05 3.08645690e+01] [ 1.80330756e-04 -1.19849637e-05 9.99999984e-01 -1.86440440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.781400513 meters 0.06244261212573808 Centerline is valid? [True, True] Translation: X:290.54, Y:30.87, Z:-1.87 [[ 9.79662966e-01 -2.00643274e-01 -1.65794511e-03 2.90536399e+02] [ 2.00643189e-01 9.79664362e-01 -2.19107223e-04 3.08665955e+01] [ 1.66819213e-03 -1.18004163e-04 9.99998602e-01 -1.86642159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.811400513 meters 0.06853758837626613 Centerline is valid? [True, True] Translation: X:290.57, Y:30.86, Z:-1.87 [[ 9.78965084e-01 -2.04017494e-01 -2.05583148e-03 2.90566097e+02] [ 2.04017371e-01 9.78967231e-01 -2.71589373e-04 3.08624969e+01] [ 2.06800063e-03 -1.53548821e-04 9.99997850e-01 -1.86734033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.841400513 meters 0.06927641620469102 Centerline is valid? [True, True] Translation: X:290.60, Y:30.87, Z:-1.87 [[ 9.78208750e-01 -2.07616838e-01 -1.70028370e-03 2.90596272e+02] [ 2.07616759e-01 9.78210218e-01 -2.24707997e-04 3.08654213e+01] [ 1.70988806e-03 -1.33196063e-04 9.99998529e-01 -1.86606095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.871400513 meters 0.08096706901724217 Centerline is valid? [True, True] Translation: X:290.63, Y:30.85, Z:-1.87 [[ 9.77514018e-01 -2.10868915e-01 -8.03411943e-04 2.90627563e+02] [ 2.10868899e-01 9.77514346e-01 -1.06213615e-04 3.08549104e+01] [ 8.07743849e-04 -6.55892936e-05 9.99999672e-01 -1.86508076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.901400513 meters 0.0788052561570603 Centerline is valid? [True, True] Translation: X:290.66, Y:30.86, Z:-1.86 [[ 9.76444637e-01 -2.15765722e-01 1.01162356e-03 2.90658115e+02] [ 2.15765698e-01 9.76445157e-01 1.33682418e-04 3.08579288e+01] [-1.01663901e-03 8.77401841e-05 9.99999479e-01 -1.86261338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.931400513 meters 0.08379663906295903 Centerline is valid? [True, True] Translation: X:290.69, Y:30.85, Z:-1.86 [[ 9.76110622e-01 -2.17271047e-01 1.15981519e-03 2.90688224e+02] [ 2.17271017e-01 9.76111306e-01 1.53259656e-04 3.08520574e+01] [-1.16540760e-03 1.02395848e-04 9.99999316e-01 -1.86333699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.961400513 meters 0.08053202352576427 Centerline is valid? [True, True] Translation: X:290.72, Y:30.86, Z:-1.86 [[ 9.75943956e-01 -2.18018923e-01 1.06975145e-03 2.90717378e+02] [ 2.18018898e-01 9.75944537e-01 1.41341418e-04 3.08565181e+01] [-1.07483319e-03 9.52847292e-05 9.99999418e-01 -1.86398069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99140051300003 meters 0.08622945574732954 Centerline is valid? [True, True] Translation: X:290.75, Y:30.85, Z:-1.86 [[ 9.76045945e-01 -2.17562293e-01 9.81033012e-04 2.90745754e+02] [ 2.17562272e-01 9.76046434e-01 1.29554380e-04 3.08512467e+01] [-9.85719921e-04 8.69847436e-05 9.99999510e-01 -1.86408170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.021400513 meters 0.07761708990198982 Centerline is valid? [True, True] Translation: X:290.77, Y:30.86, Z:-1.86 [[ 9.76829603e-01 -2.14007060e-01 2.21487446e-03 2.90774860e+02] [ 2.14006942e-01 9.76832096e-01 2.92925667e-04 3.08644038e+01] [-2.22624862e-03 1.87860048e-04 9.99997504e-01 -1.86043010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05140051300003 meters 0.07414186609877933 Centerline is valid? [True, True] Translation: X:290.81, Y:30.87, Z:-1.86 [[ 9.77387748e-01 -2.11431438e-01 3.15245045e-03 2.90805155e+02] [ 2.11431186e-01 9.77392797e-01 4.16930240e-04 3.08708920e+01] [-3.16933452e-03 2.59023828e-04 9.99994944e-01 -1.85891771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.081400513 meters 0.06946279678143821 Centerline is valid? [True, True] Translation: X:290.83, Y:30.88, Z:-1.86 [[ 9.77970684e-01 -2.08719549e-01 3.08070107e-03 2.90834785e+02] [ 2.08719295e-01 9.77975506e-01 4.07409205e-04 3.08780982e+01] [-3.09788445e-03 2.44567496e-04 9.99995172e-01 -1.85890051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11140051300004 meters 0.0708491354200466 Centerline is valid? [True, True] Translation: X:290.87, Y:30.88, Z:-1.86 [[ 9.78641633e-01 -2.05561516e-01 2.23999345e-03 2.90865077e+02] [ 2.05561373e-01 9.78644182e-01 2.96230150e-04 3.08777459e+01] [-2.25305008e-03 1.70552972e-04 9.99997447e-01 -1.86025779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.141400513 meters 0.07328047242662265 Centerline is valid? [True, True] Translation: X:290.89, Y:30.88, Z:-1.86 [[ 9.79281934e-01 -2.02498084e-01 1.19155301e-03 2.90894437e+02] [ 2.02498042e-01 9.79282655e-01 1.57543677e-04 3.08771939e+01] [-1.19876949e-03 8.70074739e-05 9.99999278e-01 -1.86167043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17140051300004 meters 0.07042855965208748 Centerline is valid? [True, True] Translation: X:290.92, Y:30.88, Z:-1.86 [[ 9.79834204e-01 -1.99809317e-01 1.08127519e-03 2.90923931e+02] [ 1.99809280e-01 9.79834798e-01 1.43012029e-04 3.08844888e+01] [-1.08804619e-03 7.59207390e-05 9.99999405e-01 -1.86204618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.201400513 meters 0.06873505256765662 Centerline is valid? [True, True] Translation: X:290.95, Y:30.89, Z:-1.86 [[ 9.80209270e-01 -1.97958574e-01 1.47993591e-03 2.90953356e+02] [ 1.97958503e-01 9.80210382e-01 1.95727078e-04 3.08909188e+01] [-1.48939440e-03 1.01112403e-04 9.99998886e-01 -1.86169169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.231400513 meters 0.06576798280450394 Centerline is valid? [True, True] Translation: X:290.98, Y:30.90, Z:-1.86 [[ 9.80715664e-01 -1.95418797e-01 2.87748950e-03 2.90982575e+02] [ 1.95418517e-01 9.80719867e-01 3.80631221e-04 3.09009250e+01] [-2.89639362e-03 1.89023731e-04 9.99995788e-01 -1.85969535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.261400513 meters 0.06349099377509693 Centerline is valid? [True, True] Translation: X:291.01, Y:30.91, Z:-1.86 [[ 9.80779505e-01 -1.95095883e-01 3.02626614e-03 2.91012772e+02] [ 1.95095573e-01 9.80784154e-01 4.00319082e-04 3.09063375e+01] [-3.04621449e-03 1.97786375e-04 9.99995341e-01 -1.85941032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.291400513 meters 0.06556697022170259 Centerline is valid? [True, True] Translation: X:291.04, Y:30.91, Z:-1.86 [[ 9.80726567e-01 -1.95371719e-01 2.30042989e-03 2.91042585e+02] [ 1.95371540e-01 9.80729253e-01 3.04304361e-04 3.09084534e+01] [-2.31555136e-03 1.50999161e-04 9.99997308e-01 -1.86098019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.321400513 meters 0.063543459196055 Centerline is valid? [True, True] Translation: X:291.07, Y:30.92, Z:-1.86 [[ 9.80538003e-01 -1.96324927e-01 1.32229626e-03 2.91072425e+02] [ 1.96324869e-01 9.80538890e-01 1.74915358e-04 3.09155582e+01] [-1.33090316e-03 8.80884844e-05 9.99999110e-01 -1.86273114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.351400513 meters 0.06323545366862962 Centerline is valid? [True, True] Translation: X:291.10, Y:30.92, Z:-1.86 [[ 9.80258922e-01 -1.97717412e-01 5.20164658e-04 2.91102441e+02] [ 1.97717403e-01 9.80259060e-01 6.88411741e-05 3.09200572e+01] [-5.23507217e-04 3.53634302e-05 9.99999862e-01 -1.86433040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.381400513 meters 0.06427254661815339 Centerline is valid? [True, True] Translation: X:291.13, Y:30.92, Z:-1.87 [[ 9.79834250e-01 -1.99811770e-01 3.13815560e-04 2.91132310e+02] [ 1.99811767e-01 9.79834300e-01 4.14727240e-05 3.09222425e+01] [-3.15773988e-04 2.20676461e-05 9.99999950e-01 -1.86533224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.411400513 meters 0.07016343305440137 Centerline is valid? [True, True] Translation: X:291.16, Y:30.92, Z:-1.87 [[ 9.78642518e-01 -2.05568467e-01 6.53208576e-04 2.91162829e+02] [ 2.05568455e-01 9.78642735e-01 8.63917208e-05 3.09170917e+01] [-6.57017241e-04 4.97324665e-05 9.99999783e-01 -1.86546030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.441400513 meters 0.08231297404308262 Centerline is valid? [True, True] Translation: X:291.19, Y:30.91, Z:-1.87 [[ 9.78079239e-01 -2.08231175e-01 8.82838844e-04 2.91193449e+02] [ 2.08231154e-01 9.78079635e-01 1.16760373e-04 3.09080495e+01] [-8.87799844e-04 6.96336541e-05 9.99999603e-01 -1.86567004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.471400513 meters 0.07665451995258717 Centerline is valid? [True, True] Translation: X:291.22, Y:30.91, Z:-1.87 [[ 9.77566640e-01 -2.10622149e-01 1.33231961e-03 2.91223091e+02] [ 2.10622103e-01 9.77567542e-01 1.76263877e-04 3.09144698e+01] [-1.33955748e-03 1.08306271e-04 9.99999097e-01 -1.86501071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.501400513 meters 0.08396136591656864 Centerline is valid? [True, True] Translation: X:291.25, Y:30.91, Z:-1.87 [[ 9.77338979e-01 -2.11678264e-01 9.12258892e-04 2.91251935e+02] [ 2.11678243e-01 9.77339402e-01 1.20579712e-04 3.09108214e+01] [-9.17110664e-04 7.52581069e-05 9.99999577e-01 -1.86547169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.531400513 meters 0.07364950228832434 Centerline is valid? [True, True] Translation: X:291.28, Y:30.92, Z:-1.87 [[ 9.77248358e-01 -2.12098050e-01 2.55062292e-04 2.91278993e+02] [ 2.12098048e-01 9.77248391e-01 3.32476897e-05 3.09239950e+01] [-2.56310985e-04 2.16069641e-05 9.99999967e-01 -1.86608651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.561400513 meters 0.08556004099472314 Centerline is valid? [True, True] Translation: X:291.31, Y:30.91, Z:-1.87 [[ 9.77325862e-01 -2.11740658e-01 -2.29545134e-04 2.91308699e+02] [ 2.11740656e-01 9.77325889e-01 -3.06254758e-05 3.09123658e+01] [ 2.30825060e-04 -1.86729677e-05 9.99999973e-01 -1.86725271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.591400513 meters 0.07324227136206886 Centerline is valid? [True, True] Translation: X:291.34, Y:30.93, Z:-1.87 [[ 9.77946319e-01 -2.08855372e-01 6.56772111e-04 2.91336920e+02] [ 2.08855361e-01 9.77946538e-01 8.70169782e-05 3.09257321e+01] [-6.60461976e-04 5.20724428e-05 9.99999781e-01 -1.86547243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.621400513 meters 0.07222782164446134 Centerline is valid? [True, True] Translation: X:291.37, Y:30.93, Z:-1.86 [[ 9.78452029e-01 -2.06470019e-01 1.32569039e-03 2.91366814e+02] [ 2.06469969e-01 9.78452922e-01 1.75762219e-04 3.09339558e+01] [-1.33341526e-03 1.01740354e-04 9.99999106e-01 -1.86417824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.651400513 meters 0.06980687327306716 Centerline is valid? [True, True] Translation: X:291.40, Y:30.94, Z:-1.86 [[ 9.78940012e-01 -2.04141649e-01 1.62496383e-03 2.91396041e+02] [ 2.04141571e-01 9.78941353e-01 2.15424965e-04 3.09387799e+01] [-1.63472150e-03 1.20834551e-04 9.99998657e-01 -1.86356666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.681400513 meters 0.06730149858064279 Centerline is valid? [True, True] Translation: X:291.43, Y:30.95, Z:-1.86 [[ 9.79399252e-01 -2.01931310e-01 9.22696755e-04 2.91425642e+02] [ 2.01931284e-01 9.79399684e-01 1.22343790e-04 3.09486539e+01] [-9.28393952e-04 6.64979235e-05 9.99999567e-01 -1.86485752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.711400513 meters 0.07922637740452806 Centerline is valid? [True, True] Translation: X:291.46, Y:30.94, Z:-1.87 [[ 9.79812588e-01 -1.99918061e-01 2.48774126e-04 2.91456298e+02] [ 1.99918059e-01 9.79812619e-01 3.29161471e-05 3.09360041e+01] [-2.50332560e-04 1.74827850e-05 9.99999969e-01 -1.86731875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74140051300003 meters 0.059163015207817624 Centerline is valid? [True, True] Translation: X:291.48, Y:30.96, Z:-1.87 [[ 9.80378345e-01 -1.97122961e-01 -9.15963072e-04 2.91483670e+02] [ 1.97122933e-01 9.80378771e-01 -1.21489815e-04 3.09602356e+01] [ 9.21939183e-04 -6.14513437e-05 9.99999573e-01 -1.86854369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.771400513 meters 0.06517762692553532 Centerline is valid? [True, True] Translation: X:291.51, Y:30.96, Z:-1.87 [[ 9.80603439e-01 -1.96001476e-01 -5.63311659e-04 2.91512942e+02] [ 1.96001465e-01 9.80603600e-01 -7.48039825e-05 3.09621286e+01] [ 5.67047131e-04 -3.70568682e-05 9.99999839e-01 -1.86773703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80140051300003 meters 0.05866967602577529 Centerline is valid? [True, True] Translation: X:291.54, Y:30.97, Z:-1.87 [[ 9.80695062e-01 -1.95542366e-01 6.15129079e-04 2.91542912e+02] [ 1.95542354e-01 9.80695254e-01 8.15980687e-05 3.09691535e+01] [-6.19210048e-04 4.02609648e-05 9.99999807e-01 -1.86596378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.831400513 meters 0.057754872628757274 Centerline is valid? [True, True] Translation: X:291.57, Y:30.98, Z:-1.86 [[ 9.80812096e-01 -1.94941465e-01 2.33620705e-03 2.91573269e+02] [ 1.94941277e-01 9.80814867e-01 3.09914543e-04 3.09753079e+01] [-2.35180181e-03 1.51455254e-04 9.99997223e-01 -1.86395282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86140051300004 meters 0.06658129593175091 Centerline is valid? [True, True] Translation: X:291.60, Y:30.97, Z:-1.86 [[ 9.80784395e-01 -1.95074673e-01 2.80026599e-03 2.91604196e+02] [ 1.95074405e-01 9.80788376e-01 3.71420841e-04 3.09684577e+01] [-2.81892313e-03 1.81976456e-04 9.99996010e-01 -1.86419896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.891400513 meters 0.06083029218427486 Centerline is valid? [True, True] Translation: X:291.63, Y:30.98, Z:-1.86 [[ 9.80706383e-01 -1.95467586e-01 2.72277351e-03 2.91633830e+02] [ 1.95467334e-01 9.80710146e-01 3.61181116e-04 3.09795217e+01] [-2.74085081e-03 1.78000654e-04 9.99996228e-01 -1.86486884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92140051300004 meters 0.06450256423388691 Centerline is valid? [True, True] Translation: X:291.66, Y:30.98, Z:-1.87 [[ 9.80575450e-01 -1.96130313e-01 2.16493165e-03 2.91664705e+02] [ 1.96130155e-01 9.80577830e-01 2.87210227e-04 3.09848375e+01] [-2.17921461e-03 1.42977083e-04 9.99997615e-01 -1.86681147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.951400513 meters 0.06450256423388691 Centerline is valid? [True, True] Translation: X:291.69, Y:30.99, Z:-1.87 [[ 9.80575450e-01 -1.96130313e-01 2.16494190e-03 2.91694508e+02] [ 1.96130155e-01 9.80577830e-01 2.87133008e-04 3.09887903e+01] [-2.17920951e-03 1.43054810e-04 9.99997615e-01 -1.86691327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.981400513 meters 0.06222080127069121 Centerline is valid? [True, True] Translation: X:291.72, Y:30.99, Z:-1.87 [[ 9.80298278e-01 -1.97514693e-01 1.79782615e-03 2.91723369e+02] [ 1.97514586e-01 9.80299919e-01 2.38439579e-04 3.09909310e+01] [-1.80950415e-03 1.21354979e-04 9.99998355e-01 -1.86783311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.011400513 meters 0.06688919372963484 Centerline is valid? [True, True] Translation: X:291.75, Y:30.99, Z:-1.87 [[ 9.80045054e-01 -1.98770843e-01 1.35791526e-03 2.91752024e+02] [ 1.98770784e-01 9.80045990e-01 1.80031713e-04 3.09914659e+01] [-1.36660446e-03 9.34746915e-05 9.99999062e-01 -1.86910419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.041400513 meters 0.06760817458734229 Centerline is valid? [True, True] Translation: X:291.78, Y:30.99, Z:-1.87 [[ 9.79633566e-01 -2.00791388e-01 9.45689275e-04 2.91780855e+02] [ 2.00791360e-01 9.79634020e-01 1.25404923e-04 3.09930447e+01] [-9.51609615e-04 6.70353639e-05 9.99999545e-01 -1.86867633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.071400513 meters 0.06740199617563802 Centerline is valid? [True, True] Translation: X:291.81, Y:31.00, Z:-1.87 [[ 9.79527083e-01 -2.01309945e-01 1.00009792e-03 2.91808793e+02] [ 2.01309914e-01 9.79527591e-01 1.32566188e-04 3.09985816e+01] [-1.00631040e-03 7.14774537e-05 9.99999491e-01 -1.86850022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.101400513 meters 0.07062344945054706 Centerline is valid? [True, True] Translation: X:291.84, Y:31.01, Z:-1.87 [[ 9.79423737e-01 -2.01814165e-01 4.31626172e-04 2.91837256e+02] [ 2.01814159e-01 9.79423832e-01 5.71621721e-05 3.10062680e+01] [-4.34281095e-04 3.11222848e-05 9.99999905e-01 -1.86949874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.131400513 meters 0.07105839917469167 Centerline is valid? [True, True] Translation: X:291.87, Y:31.01, Z:-1.87 [[ 9.79282337e-01 -2.02499626e-01 -7.12653911e-05 2.91865200e+02] [ 2.02499626e-01 9.79282340e-01 -9.66187082e-06 3.10091106e+01] [ 7.17454641e-05 -4.96951562e-06 9.99999997e-01 -1.87112242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.161400513 meters 0.06845503280664907 Centerline is valid? [True, True] Translation: X:291.89, Y:31.02, Z:-1.87 [[ 9.79146661e-01 -2.03151950e-01 -1.04971028e-03 2.91894700e+02] [ 2.03151916e-01 9.79147220e-01 -1.39453674e-04 3.10176626e+01] [ 1.05615118e-03 -7.67050550e-05 9.99999439e-01 -1.87293237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.191400513 meters 0.06641280592583843 Centerline is valid? [True, True] Translation: X:291.92, Y:31.02, Z:-1.87 [[ 9.78908639e-01 -2.04291811e-01 -1.65333577e-03 2.91923530e+02] [ 2.04291729e-01 9.78910027e-01 -2.19821410e-04 3.10189280e+01] [ 1.66337468e-03 -1.22577746e-04 9.99998609e-01 -1.87408834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.221400513 meters 0.06522858952083367 Centerline is valid? [True, True] Translation: X:291.95, Y:31.03, Z:-1.87 [[ 9.78401511e-01 -2.06710123e-01 -1.18649317e-03 2.91953157e+02] [ 2.06710083e-01 9.78402226e-01 -1.57674900e-04 3.10271661e+01] [ 1.19346056e-03 -9.09907410e-05 9.99999284e-01 -1.87227406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.251400513 meters 0.07166073864000566 Centerline is valid? [True, True] Translation: X:291.98, Y:31.03, Z:-1.87 [[ 9.78080023e-01 -2.08228208e-01 -6.93741856e-04 2.91982824e+02] [ 2.08228194e-01 9.78080268e-01 -9.22340137e-05 3.10264126e+01] [ 6.97740943e-04 -5.42443676e-05 9.99999755e-01 -1.87167494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.281400513 meters 0.08080015452031081 Centerline is valid? [True, True] Translation: X:292.01, Y:31.02, Z:-1.87 [[ 9.77702956e-01 -2.09991706e-01 -6.43111540e-04 2.92013333e+02] [ 2.09991695e-01 9.77703166e-01 -8.55612768e-05 3.10168021e+01] [ 6.46739347e-04 -5.13945690e-05 9.99999790e-01 -1.87277784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.311400513 meters 0.0763703021337011 Centerline is valid? [True, True] Translation: X:292.04, Y:31.02, Z:-1.87 [[ 9.77384488e-01 -2.11469423e-01 -4.94992765e-04 2.92042689e+02] [ 2.11469417e-01 9.77384613e-01 -6.58390727e-05 3.10215120e+01] [ 4.97721263e-04 -4.03257428e-05 9.99999875e-01 -1.87300291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.341400513 meters 0.08149898378126759 Centerline is valid? [True, True] Translation: X:292.07, Y:31.02, Z:-1.87 [[ 9.77129274e-01 -2.12645389e-01 -5.66497191e-04 2.92072609e+02] [ 2.12645381e-01 9.77129437e-01 -7.53953031e-05 3.10210008e+01] [ 5.69573545e-04 -4.67920534e-05 9.99999837e-01 -1.87343762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.371400513 meters 0.07417105907213938 Centerline is valid? [True, True] Translation: X:292.10, Y:31.03, Z:-1.87 [[ 9.77007734e-01 -2.13203849e-01 -8.30625494e-05 2.92100301e+02] [ 2.13203849e-01 9.77007737e-01 -1.12434508e-05 3.10277047e+01] [ 8.35499004e-05 -6.72431687e-06 9.99999996e-01 -1.87235050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.401400513 meters 0.08397079961027969 Centerline is valid? [True, True] Translation: X:292.13, Y:31.02, Z:-1.87 [[ 9.77506690e-01 -2.10903619e-01 -5.77684018e-04 2.92130874e+02] [ 2.10903610e-01 9.77506860e-01 -7.68474374e-05 3.10183045e+01] [ 5.80897493e-04 -4.67167610e-05 9.99999830e-01 -1.87378544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.431400513 meters 0.0763298002827139 Centerline is valid? [True, True] Translation: X:292.16, Y:31.03, Z:-1.87 [[ 9.78025306e-01 -2.08482936e-01 -1.16866010e-03 2.92159688e+02] [ 2.08482898e-01 9.78026000e-01 -1.55458999e-04 3.10297817e+01] [ 1.17539051e-03 -9.16028101e-05 9.99999305e-01 -1.87450633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.461400513 meters 0.07283801599857863 Centerline is valid? [True, True] Translation: X:292.19, Y:31.04, Z:-1.88 [[ 9.78681217e-01 -2.05379081e-01 -1.58356800e-03 2.92189097e+02] [ 2.05379007e-01 9.78682491e-01 -2.10733026e-04 3.10369138e+01] [ 1.59309043e-03 -1.18991170e-04 9.99998724e-01 -1.87537155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49140051300003 meters 0.06583586045816743 Centerline is valid? [True, True] Translation: X:292.22, Y:31.04, Z:-1.87 [[ 9.80330258e-01 -1.97362353e-01 -8.28978432e-04 2.92218216e+02] [ 1.97362330e-01 9.80330607e-01 -1.10305208e-04 3.10413620e+01] [ 8.34443025e-04 -5.54735820e-05 9.99999650e-01 -1.87429830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.521400513 meters 0.06096603890427205 Centerline is valid? [True, True] Translation: X:292.25, Y:31.05, Z:-1.87 [[ 9.81285024e-01 -1.92560168e-01 5.32151262e-04 2.92247680e+02] [ 1.92560158e-01 9.81285168e-01 7.07835341e-05 3.10517279e+01] [-5.35822229e-04 3.30123091e-05 9.99999856e-01 -1.87205362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55140051300003 meters 0.05846761646585128 Centerline is valid? [True, True] Translation: X:292.28, Y:31.06, Z:-1.87 [[ 9.82233587e-01 -1.87653242e-01 1.85511076e-03 2.92276894e+02] [ 1.87653110e-01 9.82235333e-01 2.46804154e-04 3.10612371e+01] [-1.86846894e-03 1.05697974e-04 9.99998249e-01 -1.86957611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.581400513 meters 0.05414125578486135 Centerline is valid? [True, True] Translation: X:292.31, Y:31.06, Z:-1.87 [[ 9.82997667e-01 -1.83597704e-01 2.73302700e-03 2.92305940e+02] [ 1.83597400e-01 9.83001456e-01 3.63629653e-04 3.10636693e+01] [-2.75333109e-03 1.44329551e-04 9.99996199e-01 -1.86806266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61140051300004 meters 0.046090316059152946 Centerline is valid? [True, True] Translation: X:292.34, Y:31.08, Z:-1.87 [[ 9.83696869e-01 -1.79812460e-01 2.81939559e-03 2.92335355e+02] [ 1.79812121e-01 9.83700900e-01 3.75165479e-04 3.10776958e+01] [-2.84090141e-03 1.37912395e-04 9.99995955e-01 -1.86813182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.641400513 meters 0.04482366048012607 Centerline is valid? [True, True] Translation: X:292.36, Y:31.08, Z:-1.87 [[ 9.84316110e-01 -1.76391884e-01 2.77460914e-03 2.92364218e+02] [ 1.76391542e-01 9.84320013e-01 3.69227341e-04 3.10830514e+01] [-2.79623201e-03 1.25981166e-04 9.99996083e-01 -1.86883811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67140051300004 meters 0.03794247110579226 Centerline is valid? [True, True] Translation: X:292.39, Y:31.09, Z:-1.87 [[ 9.85112683e-01 -1.71870277e-01 3.68921919e-03 2.92393878e+02] [ 1.71869641e-01 9.85119579e-01 4.90897471e-04 3.10939710e+01] [-3.71869274e-03 1.50475454e-04 9.99993074e-01 -1.86878075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.701400513 meters 0.04103981957978597 Centerline is valid? [True, True] Translation: X:292.42, Y:31.10, Z:-1.87 [[ 9.85446073e-01 -1.69938911e-01 4.09927023e-03 2.92424566e+02] [ 1.69938110e-01 9.85454586e-01 5.45439186e-04 3.10956923e+01] [-4.13233599e-03 1.59121333e-04 9.99991449e-01 -1.86857818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.731400513 meters 0.037476137466043495 Centerline is valid? [True, True] Translation: X:292.46, Y:31.10, Z:-1.87 [[ 9.85655332e-01 -1.68714129e-01 4.37145816e-03 2.92456096e+02] [ 1.68713207e-01 9.85665012e-01 5.81521725e-04 3.11032498e+01] [-4.40690429e-03 1.64342734e-04 9.99990276e-01 -1.86761229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.761400513 meters 0.04513654925121256 Centerline is valid? [True, True] Translation: X:292.49, Y:31.10, Z:-1.87 [[ 9.85835350e-01 -1.67665183e-01 4.12899191e-03 2.92487742e+02] [ 1.67664351e-01 9.85843986e-01 5.49088870e-04 3.11044613e+01] [-4.16260492e-03 1.50973531e-04 9.99991325e-01 -1.86790633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.791400513 meters 0.039436798909926504 Centerline is valid? [True, True] Translation: X:292.52, Y:31.12, Z:-1.87 [[ 9.86000163e-01 -1.66705038e-01 3.62047534e-03 2.92519239e+02] [ 1.66704393e-01 9.86006802e-01 4.81344126e-04 3.11159989e+01] [-3.65005580e-03 1.28943759e-04 9.99993330e-01 -1.86902447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.821400513 meters 0.03360330067588781 Centerline is valid? [True, True] Translation: X:292.55, Y:31.12, Z:-1.87 [[ 9.86141701e-01 -1.65872247e-01 3.30814666e-03 2.92550072e+02] [ 1.65871705e-01 9.86147243e-01 4.39637881e-04 3.11203505e+01] [-3.33524343e-03 1.15182678e-04 9.99994431e-01 -1.86974527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.851400513 meters 0.03206490122117567 Centerline is valid? [True, True] Translation: X:292.58, Y:31.13, Z:-1.87 [[ 9.86572629e-01 -1.63293832e-01 3.09384907e-03 2.92579930e+02] [ 1.63293345e-01 9.86577475e-01 4.11049503e-04 3.11252353e+01] [-3.11944365e-03 9.96747751e-05 9.99995130e-01 -1.87085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.881400513 meters 0.03539294891674274 Centerline is valid? [True, True] Translation: X:292.61, Y:31.12, Z:-1.87 [[ 9.86879434e-01 -1.61434542e-01 2.80555108e-03 2.92610918e+02] [ 1.61434135e-01 9.86883418e-01 3.72722844e-04 3.11248683e+01] [-2.82892219e-03 8.50792020e-05 9.99995995e-01 -1.87119994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.911400513 meters 0.032684912421460335 Centerline is valid? [True, True] Translation: X:292.64, Y:31.14, Z:-1.87 [[ 9.87240028e-01 -1.59224648e-01 2.15375123e-03 2.92640783e+02] [ 1.59224403e-01 9.87242375e-01 2.86129013e-04 3.11411547e+01] [-2.17183327e-03 6.04517378e-05 9.99997640e-01 -1.87262844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.941400513 meters 0.026417772763785895 Centerline is valid? [True, True] Translation: X:292.67, Y:31.14, Z:-1.87 [[ 9.87531166e-01 -1.57412427e-01 1.87713415e-03 2.92671987e+02] [ 1.57412237e-01 9.87532949e-01 2.49289677e-04 3.11444419e+01] [-1.89297312e-03 4.93025613e-05 9.99998207e-01 -1.87275105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.971400513 meters 0.02649106751140103 Centerline is valid? [True, True] Translation: X:292.70, Y:31.15, Z:-1.87 [[ 9.87827466e-01 -1.55540682e-01 1.99833110e-03 2.92702961e+02] [ 1.55540463e-01 9.87829486e-01 2.65299903e-04 3.11485785e+01] [-2.01527531e-03 4.87508136e-05 9.99997968e-01 -1.87294356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.001400513 meters 0.023580805772154958 Centerline is valid? [True, True] Translation: X:292.73, Y:31.16, Z:-1.87 [[ 9.88435329e-01 -1.51627504e-01 2.16826934e-03 2.92733634e+02] [ 1.51627237e-01 9.88437706e-01 2.87772937e-04 3.11588548e+01] [-2.18683347e-03 4.43237528e-05 9.99997608e-01 -1.87244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.031400513 meters 0.020473476170263537 Centerline is valid? [True, True] Translation: X:292.76, Y:31.17, Z:-1.87 [[ 9.88742635e-01 -1.49613270e-01 1.96770101e-03 2.92764128e+02] [ 1.49613047e-01 9.88744592e-01 2.61094617e-04 3.11653718e+01] [-1.98461695e-03 3.62383639e-05 9.99998030e-01 -1.87222475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.061400513 meters 0.017008697807885467 Centerline is valid? [True, True] Translation: X:292.80, Y:31.18, Z:-1.87 [[ 9.89114561e-01 -1.47141106e-01 1.37149146e-03 2.92795462e+02] [ 1.47140995e-01 9.89115511e-01 1.81997402e-04 3.11750885e+01] [-1.38334277e-03 2.17863368e-05 9.99999043e-01 -1.87263890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.091400513 meters 0.01516270533956817 Centerline is valid? [True, True] Translation: X:292.83, Y:31.18, Z:-1.87 [[ 9.89524427e-01 -1.44362335e-01 9.61772064e-04 2.92826079e+02] [ 1.44362280e-01 9.89524894e-01 1.27599922e-04 3.11824436e+01] [-9.70118023e-04 1.25803683e-05 9.99999529e-01 -1.87321287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.121400513 meters 0.01219706434821325 Centerline is valid? [True, True] Translation: X:292.86, Y:31.19, Z:-1.87 [[ 9.89933872e-01 -1.41525723e-01 1.18268389e-03 2.92857224e+02] [ 1.41525636e-01 9.89934578e-01 1.56866248e-04 3.11918702e+01] [-1.19298029e-03 1.20928778e-05 9.99999288e-01 -1.87334065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.151400513 meters 0.008434754614485607 Centerline is valid? [True, True] Translation: X:292.89, Y:31.20, Z:-1.87 [[ 9.90811670e-01 -1.35232985e-01 2.06746014e-03 2.92887450e+02] [ 1.35232708e-01 9.90813827e-01 2.73993729e-04 3.12048287e+01] [-2.08552109e-03 8.11204877e-06 9.99997825e-01 -1.87343202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.181400513 meters 0.00755196591530131 Centerline is valid? [True, True] Translation: X:292.92, Y:31.21, Z:-1.87 [[ 9.91207252e-01 -1.32303781e-01 1.97320448e-03 2.92917481e+02] [ 1.32303523e-01 9.91209216e-01 2.61394933e-04 3.12140382e+01] [-1.99044200e-03 1.96535088e-06 9.99998019e-01 -1.87387081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.211400513 meters 0.007857687721441957 Centerline is valid? [True, True] Translation: X:292.95, Y:31.22, Z:-1.87 [[ 9.91605320e-01 -1.29293342e-01 1.45645670e-03 2.92948911e+02] [ 1.29293198e-01 9.91606390e-01 1.93076957e-04 3.12239867e+01] [-1.46919533e-03 -3.14619350e-06 9.99998921e-01 -1.87433071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24140051300003 meters 0.014941636817362368 Centerline is valid? [True, True] Translation: X:292.98, Y:31.23, Z:-1.88 [[ 9.92024792e-01 -1.26042500e-01 3.16243753e-04 2.92980512e+02] [ 1.26042493e-01 9.92024843e-01 4.19848776e-05 3.12339525e+01] [-3.19013539e-04 -1.78988845e-06 9.99999949e-01 -1.87520120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.271400513 meters 0.01157904893145219 Centerline is valid? [True, True] Translation: X:293.01, Y:31.24, Z:-1.88 [[ 9.92346032e-01 -1.23487745e-01 3.58769267e-04 2.93010394e+02] [ 1.23487736e-01 9.92346097e-01 4.75540291e-05 3.12447372e+01] [-3.61895622e-04 -2.88644766e-06 9.99999935e-01 -1.87531137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30140051300003 meters 0.019294561957648605 Centerline is valid? [True, True] Translation: X:293.04, Y:31.25, Z:-1.88 [[ 9.92680364e-01 -1.20767436e-01 9.59795374e-04 2.93042110e+02] [ 1.20767369e-01 9.92680828e-01 1.27005170e-04 3.12530163e+01] [-9.68108555e-04 -1.01635761e-05 9.99999531e-01 -1.87501539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.331400513 meters 0.020508012887056663 Centerline is valid? [True, True] Translation: X:293.07, Y:31.26, Z:-1.87 [[ 9.93026307e-01 -1.17856145e-01 2.94646292e-03 2.93073381e+02] [ 1.17855509e-01 9.93030678e-01 3.89419538e-04 3.12578741e+01] [-2.97182356e-03 -3.94469595e-05 9.99995583e-01 -1.87393828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36140051300004 meters 0.016758024741965635 Centerline is valid? [True, True] Translation: X:293.10, Y:31.26, Z:-1.87 [[ 9.93049090e-01 -1.17655281e-01 3.27714125e-03 2.93104948e+02] [ 1.17654492e-01 9.93054496e-01 4.32993679e-04 3.12641356e+01] [-3.30532384e-03 -4.44135895e-05 9.99994536e-01 -1.87469009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.391400513 meters 0.016904115209176448 Centerline is valid? [True, True] Translation: X:293.14, Y:31.27, Z:-1.88 [[ 9.93079131e-01 -1.17423454e-01 2.36030154e-03 2.93138052e+02] [ 1.17423045e-01 9.93081936e-01 3.11624262e-04 3.12681736e+01] [-2.38056482e-03 -3.23137565e-05 9.99997166e-01 -1.87693791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42140051300004 meters 0.015691414996475198 Centerline is valid? [True, True] Translation: X:293.17, Y:31.27, Z:-1.88 [[ 9.93085879e-01 -1.17381716e-01 1.40319835e-03 2.93170881e+02] [ 1.17381571e-01 9.93086871e-01 1.85264092e-04 3.12704905e+01] [-1.41524447e-03 -1.92735270e-05 9.99998998e-01 -1.87838426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.451400513 meters 0.016902315147663254 Centerline is valid? [True, True] Translation: X:293.20, Y:31.28, Z:-1.88 [[ 9.93093198e-01 -1.17327623e-01 3.58705834e-04 2.93202150e+02] [ 1.17327613e-01 9.93093263e-01 4.74799809e-05 3.12752548e+01] [-3.61799060e-04 -5.06594684e-06 9.99999935e-01 -1.88041584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.481400513 meters 0.0161635623736999 Centerline is valid? [True, True] Translation: X:293.23, Y:31.28, Z:-1.88 [[ 9.93115928e-01 -1.17135537e-01 -1.42142352e-04 2.93234437e+02] [ 1.17135535e-01 9.93115938e-01 -1.85633046e-05 3.12764126e+01] [ 1.43338258e-04 1.78559298e-06 9.99999990e-01 -1.88115970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.511400513 meters 0.018296572793850153 Centerline is valid? [True, True] Translation: X:293.27, Y:31.28, Z:-1.88 [[ 9.93367789e-01 -1.14975368e-01 1.04929899e-03 2.93265193e+02] [ 1.14975286e-01 9.93368343e-01 1.38322649e-04 3.12791349e+01] [-1.05824410e-03 -1.67618118e-05 9.99999440e-01 -1.87881896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.541400513 meters 0.019466203421126857 Centerline is valid? [True, True] Translation: X:293.30, Y:31.28, Z:-1.88 [[ 9.93545402e-01 -1.13414259e-01 2.17708151e-03 2.93296923e+02] [ 1.13413902e-01 9.93547787e-01 2.86796253e-04 3.12835177e+01] [-2.19556130e-03 -3.80337887e-05 9.99997589e-01 -1.87661517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.571400513 meters 0.02398469814711539 Centerline is valid? [True, True] Translation: X:293.33, Y:31.29, Z:-1.88 [[ 9.93913331e-01 -1.10131872e-01 2.69470911e-03 2.93326982e+02] [ 1.10131315e-01 9.93916982e-01 3.54839828e-04 3.12911027e+01] [-2.71739632e-03 -5.59081772e-05 9.99996306e-01 -1.87576750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.601400513 meters 0.023967236803693878 Centerline is valid? [True, True] Translation: X:293.36, Y:31.29, Z:-1.88 [[ 9.94061689e-01 -1.08793644e-01 2.30249335e-03 2.93359127e+02] [ 1.08793234e-01 9.94064354e-01 3.03000828e-04 3.12929192e+01] [-2.32179113e-03 -5.07058173e-05 9.99997303e-01 -1.87671519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.631400513 meters 0.026573711379974684 Centerline is valid? [True, True] Translation: X:293.39, Y:31.30, Z:-1.88 [[ 9.94170954e-01 -1.07785094e-01 2.54727739e-03 2.93389563e+02] [ 1.07784589e-01 9.94174215e-01 3.35101494e-04 3.12973458e+01] [-2.56855644e-03 -5.85909241e-05 9.99996700e-01 -1.87661871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.661400513 meters 0.02627872742245628 Centerline is valid? [True, True] Translation: X:293.42, Y:31.30, Z:-1.87 [[ 9.94409542e-01 -1.05459672e-01 5.28406029e-03 2.93417778e+02] [ 1.05486254e-01 9.94408026e-01 -5.03276458e-03 3.13013643e+01] [-4.72375826e-03 5.56202484e-03 9.99973375e-01 -1.87266718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.691400513 meters 0.026535631273493804 Centerline is valid? [True, True] Translation: X:293.45, Y:31.29, Z:-1.88 [[ 9.94282536e-01 -1.06732100e-01 3.23982125e-03 2.93452751e+02] [ 1.06710670e-01 9.94270838e-01 6.19143078e-03 3.12945497e+01] [-3.88208419e-03 -5.81030800e-03 9.99975585e-01 -1.87591120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.721400513 meters 0.026440500984574417 Centerline is valid? [True, True] Translation: X:293.48, Y:31.30, Z:-1.87 [[ 9.94267858e-01 -1.06850619e-01 3.79102471e-03 2.93484110e+02] [ 1.06849498e-01 9.94275081e-01 4.97511582e-04 3.12999969e+01] [-3.82248082e-03 -8.95906871e-05 9.99992690e-01 -1.87477711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.751400513 meters 0.024061723937402454 Centerline is valid? [True, True] Translation: X:293.52, Y:31.29, Z:-1.88 [[ 9.94195337e-01 -1.07566099e-01 2.27294096e-03 2.93517194e+02] [ 1.07565698e-01 9.94197934e-01 2.98244345e-04 3.12934730e+01] [-2.29183419e-03 -5.20226563e-05 9.99997372e-01 -1.87813655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.781400513 meters 0.025697611585831753 Centerline is valid? [True, True] Translation: X:293.55, Y:31.30, Z:-1.88 [[ 9.94152015e-01 -1.07961900e-01 2.44951244e-03 2.93548036e+02] [ 1.07961436e-01 9.94155031e-01 3.21322269e-04 3.12961680e+01] [-2.46988568e-03 -5.49903009e-05 9.99996948e-01 -1.87842952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.811400513 meters 0.02405016363189906 Centerline is valid? [True, True] Translation: X:293.58, Y:31.30, Z:-1.88 [[ 9.94094033e-01 -1.08462593e-01 3.59430068e-03 2.93580382e+02] [ 1.08461599e-01 9.94100528e-01 4.70996585e-04 3.12952555e+01] [-3.62418172e-03 -7.83712958e-05 9.99993430e-01 -1.87647880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.841400513 meters 0.02405016363189906 Centerline is valid? [True, True] Translation: X:293.61, Y:31.30, Z:-1.88 [[ 9.94101818e-01 -1.08391219e-01 3.59432402e-03 2.93612652e+02] [ 1.08390225e-01 9.94108313e-01 4.70818474e-04 3.12993555e+01] [-3.62417997e-03 -7.84519139e-05 9.99993430e-01 -1.87658876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.871400513 meters 0.02319882732062371 Centerline is valid? [True, True] Translation: X:293.65, Y:31.30, Z:-1.87 [[ 9.94046431e-01 -1.08833993e-01 5.18218275e-03 2.93645380e+02] [ 1.08831935e-01 9.94059933e-01 6.78368137e-04 3.12993257e+01] [-5.22522975e-03 -1.10342450e-04 9.99986342e-01 -1.87443487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.901400513 meters 0.022546509569894898 Centerline is valid? [True, True] Translation: X:293.68, Y:31.30, Z:-1.87 [[ 9.94019842e-01 -1.09004136e-01 6.53088312e-03 2.93678732e+02] [ 1.09000874e-01 9.94041287e-01 8.54473133e-04 3.12985597e+01] [-6.58510856e-03 -1.37491283e-04 9.99978308e-01 -1.87274115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.931400513 meters 0.0231766923951833 Centerline is valid? [True, True] Translation: X:293.71, Y:31.30, Z:-1.87 [[ 9.93992898e-01 -1.09272780e-01 6.13009494e-03 2.93710180e+02] [ 1.09269913e-01 9.94011792e-01 8.01698236e-04 3.12956911e+01] [-6.18099045e-03 -1.27047415e-04 9.99980889e-01 -1.87352715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.961400513 meters 0.024249829912894424 Centerline is valid? [True, True] Translation: X:293.74, Y:31.30, Z:-1.88 [[ 9.94043403e-01 -1.08897931e-01 4.35355422e-03 2.93740954e+02] [ 1.08896482e-01 9.94052932e-01 5.69236688e-04 3.12984552e+01] [-4.38965204e-03 -9.17592361e-05 9.99990361e-01 -1.87611480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99140051300003 meters 0.024728649743299327 Centerline is valid? [True, True] Translation: X:293.77, Y:31.30, Z:-1.88 [[ 9.94146042e-01 -1.08023806e-01 2.12221093e-03 2.93773133e+02] [ 1.08023460e-01 9.94148306e-01 2.77483604e-04 3.13004234e+01] [-2.13976723e-03 -4.66106596e-05 9.99997710e-01 -1.88015106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.021400513 meters 0.025936162216054 Centerline is valid? [True, True] Translation: X:293.81, Y:31.30, Z:-1.88 [[ 9.94301025e-01 -1.06608225e-01 -3.97409067e-04 2.93805025e+02] [ 1.06608213e-01 9.94301104e-01 -5.17491744e-05 3.13025317e+01] [ 4.00661162e-04 9.08718679e-06 9.99999920e-01 -1.88441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05140051300003 meters 0.029040938808065173 Centerline is valid? [True, True] Translation: X:293.84, Y:31.30, Z:-1.89 [[ 9.94641020e-01 -1.03352933e-01 -2.72272129e-03 2.93835877e+02] [ 1.03352346e-01 9.94644744e-01 -3.55587098e-04 3.13036720e+01] [ 2.74489139e-03 7.22818803e-05 9.99996230e-01 -1.88832997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.081400513 meters 0.03538670404725126 Centerline is valid? [True, True] Translation: X:293.87, Y:31.31, Z:-1.89 [[ 9.94854319e-01 -1.01298872e-01 -1.85023199e-03 2.93868032e+02] [ 1.01298598e-01 9.94856038e-01 -2.41411584e-04 3.13080322e+01] [ 1.86516918e-03 5.27434510e-05 9.99998259e-01 -1.88720298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11140051300004 meters 0.03348692959006796 Centerline is valid? [True, True] Translation: X:293.90, Y:31.31, Z:-1.88 [[ 9.95051256e-01 -9.93629115e-02 -1.00131998e-04 2.93898567e+02] [ 9.93629107e-02 9.95051261e-01 -1.29463833e-05 3.13135920e+01] [ 1.00922861e-04 2.93290820e-06 9.99999995e-01 -1.88431761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.141400513 meters 0.036670008765170736 Centerline is valid? [True, True] Translation: X:293.93, Y:31.32, Z:-1.88 [[ 9.95327234e-01 -9.65553725e-02 8.70341106e-04 2.93929292e+02] [ 9.65553099e-02 9.95327614e-01 1.13665096e-04 3.13206029e+01] [-8.77249512e-04 -2.90979100e-05 9.99999615e-01 -1.88304325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17140051300004 meters 0.04251177824854162 Centerline is valid? [True, True] Translation: X:293.96, Y:31.33, Z:-1.88 [[ 9.95695087e-01 -9.26865984e-02 6.98269302e-04 2.93958674e+02] [ 9.26865572e-02 9.95695332e-01 9.11595025e-05 3.13309977e+01] [-7.03712749e-04 -2.60468912e-05 9.99999752e-01 -1.88346237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.201400513 meters 0.04443170982614343 Centerline is valid? [True, True] Translation: X:293.99, Y:31.34, Z:-1.88 [[ 9.96069508e-01 -8.85750090e-02 -5.67590075e-05 2.93988556e+02] [ 8.85750088e-02 9.96069510e-01 -7.39408789e-06 3.13372238e+01] [ 5.71908481e-05 2.33759590e-06 9.99999998e-01 -1.88451469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.231400513 meters 0.05387589888867009 Centerline is valid? [True, True] Translation: X:294.02, Y:31.35, Z:-1.89 [[ 9.96705392e-01 -8.10991225e-02 -1.13738846e-03 2.94016693e+02] [ 8.10990058e-02 9.96706040e-01 -1.48412574e-04 3.13535986e+01] [ 1.14567807e-03 5.56825396e-05 9.99999342e-01 -1.88632152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.261400513 meters 0.059133180712269584 Centerline is valid? [True, True] Translation: X:294.05, Y:31.36, Z:-1.89 [[ 9.96902959e-01 -7.86368167e-02 -8.60523123e-04 2.94045937e+02] [ 7.86367490e-02 9.96903330e-01 -1.12236746e-04 3.13640621e+01] [ 8.66684307e-04 4.42204033e-05 9.99999623e-01 -1.88617567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.291400513 meters 0.06361226259618548 Centerline is valid? [True, True] Translation: X:294.08, Y:31.37, Z:-1.89 [[ 9.97011669e-01 -7.72510906e-02 -4.07783235e-05 2.94076283e+02] [ 7.72510905e-02 9.97011669e-01 -5.08241554e-06 3.13731501e+01] [ 4.10490865e-05 1.91705764e-06 9.99999999e-01 -1.88546573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.321400513 meters 0.0579304785161583 Centerline is valid? [True, True] Translation: X:294.11, Y:31.37, Z:-1.88 [[ 9.97024149e-01 -7.70830358e-02 1.02544259e-03 2.94109937e+02] [ 7.70829388e-02 9.97024675e-01 1.33892609e-04 3.13697650e+01] [-1.03271241e-03 -5.44500364e-05 9.99999465e-01 -1.88389464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.351400513 meters 0.058116171434456056 Centerline is valid? [True, True] Translation: X:294.14, Y:31.37, Z:-1.88 [[ 9.96996318e-01 -7.74362827e-02 1.40117758e-03 2.94142231e+02] [ 7.74361021e-02 9.96997300e-01 1.82713287e-04 3.13731557e+01] [-1.41111890e-03 -7.36627444e-05 9.99999002e-01 -1.88420237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.381400513 meters 0.05717507071860218 Centerline is valid? [True, True] Translation: X:294.17, Y:31.38, Z:-1.88 [[ 9.96938878e-01 -7.81709415e-02 1.47542646e-03 2.94174258e+02] [ 7.81707423e-02 9.96939967e-01 1.92316186e-04 3.13750095e+01] [-1.48594514e-03 -7.63923013e-05 9.99998893e-01 -1.88449711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.411400513 meters 0.05519081603032852 Centerline is valid? [True, True] Translation: X:294.21, Y:31.37, Z:-1.88 [[ 9.96823127e-01 -7.96172513e-02 2.17875832e-03 2.94205946e+02] [ 7.96168207e-02 9.96825502e-01 2.83782423e-04 3.13745118e+01] [-2.19443583e-03 -1.09415072e-04 9.99997586e-01 -1.88372372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.441400513 meters 0.053771790933713516 Centerline is valid? [True, True] Translation: X:294.24, Y:31.37, Z:-1.88 [[ 9.96813184e-01 -7.97362718e-02 2.36690489e-03 2.94238374e+02] [ 7.97357641e-02 9.96815987e-01 3.08248497e-04 3.13744826e+01] [-2.38394722e-03 -1.18539196e-04 9.99997151e-01 -1.88266201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.471400513 meters 0.05815204697625827 Centerline is valid? [True, True] Translation: X:294.27, Y:31.38, Z:-1.88 [[ 9.96766941e-01 -8.02959682e-02 2.86752429e-03 2.94268961e+02] [ 8.02952258e-02 9.96771056e-01 3.73261908e-04 3.13825538e+01] [-2.88823664e-03 -1.41806619e-04 9.99995819e-01 -1.88210504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.501400513 meters 0.054251683735599104 Centerline is valid? [True, True] Translation: X:294.30, Y:31.38, Z:-1.88 [[ 9.96631160e-01 -8.19163432e-02 4.00537286e-03 2.94300844e+02] [ 8.19149086e-02 9.96639191e-01 5.21178165e-04 3.13843775e+01] [-4.03460457e-03 -1.91322647e-04 9.99991843e-01 -1.88096322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.531400513 meters 0.05144743874341924 Centerline is valid? [True, True] Translation: X:294.33, Y:31.38, Z:-1.88 [[ 9.96512016e-01 -8.33110064e-02 4.80402966e-03 2.94333074e+02] [ 8.33089600e-02 9.96523571e-01 6.24884788e-04 3.13838290e+01] [-4.83938857e-03 -2.22486485e-04 9.99988265e-01 -1.88045166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.561400513 meters 0.04948506857324231 Centerline is valid? [True, True] Translation: X:294.37, Y:31.38, Z:-1.88 [[ 9.96331779e-01 -8.53847835e-02 5.69432319e-03 2.94365466e+02] [ 8.53819436e-02 9.96348019e-01 7.40411593e-04 3.13806288e+01] [-5.73674752e-03 -2.51503217e-04 9.99983513e-01 -1.87957081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.591400513 meters 0.04398193823578515 Centerline is valid? [True, True] Translation: X:294.40, Y:31.37, Z:-1.88 [[ 9.96250680e-01 -8.63729171e-02 4.92963939e-03 2.94398922e+02] [ 8.63708018e-02 9.96262854e-01 6.40797012e-04 3.13746615e+01] [-4.96656411e-03 -2.12617553e-04 9.99987644e-01 -1.88111596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.621400513 meters 0.047849370548255096 Centerline is valid? [True, True] Translation: X:294.43, Y:31.38, Z:-1.88 [[ 9.96159247e-01 -8.74763514e-02 3.82646155e-03 2.94429925e+02] [ 8.74750856e-02 9.96166584e-01 4.97246848e-04 3.13797465e+01] [-3.85529047e-03 -1.60616994e-04 9.99992555e-01 -1.88300628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.651400513 meters 0.04568109337702602 Centerline is valid? [True, True] Translation: X:294.46, Y:31.38, Z:-1.88 [[ 9.96054042e-01 -8.86909541e-02 3.20328489e-03 2.94463239e+02] [ 8.86900736e-02 9.96059184e-01 4.16168637e-04 3.13770994e+01] [-3.22757173e-03 -1.30426880e-04 9.99994783e-01 -1.88482117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.681400513 meters 0.04346476255027824 Centerline is valid? [True, True] Translation: X:294.50, Y:31.37, Z:-1.89 [[ 9.95950570e-01 -8.98283324e-02 3.65142901e-03 2.94496215e+02] [ 8.98271968e-02 9.95957253e-01 4.74146636e-04 3.13737035e+01] [-3.67925901e-03 -1.44228980e-04 9.99993221e-01 -1.88507729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.711400513 meters 0.04702262084485523 Centerline is valid? [True, True] Translation: X:294.53, Y:31.37, Z:-1.88 [[ 9.96004059e-01 -8.91948386e-02 4.49399961e-03 2.94528101e+02] [ 8.91931132e-02 9.96014181e-01 5.83312811e-04 3.13733152e+01] [-4.52811583e-03 -1.80148111e-04 9.99989732e-01 -1.88393458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74140051300003 meters 0.04397615113579403 Centerline is valid? [True, True] Translation: X:294.56, Y:31.37, Z:-1.89 [[ 9.96188190e-01 -8.71833031e-02 2.85693018e-03 2.94560743e+02] [ 8.71825977e-02 9.96192279e-01 3.70764690e-04 3.13692856e+01] [-2.87837628e-03 -1.20276811e-04 9.99995850e-01 -1.88599430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.771400513 meters 0.050131019693246785 Centerline is valid? [True, True] Translation: X:294.59, Y:31.38, Z:-1.89 [[ 9.96433363e-01 -8.43802261e-02 7.28764611e-04 2.94590305e+02] [ 8.43801795e-02 9.96433629e-01 9.45778275e-05 3.13765711e+01] [-7.34146064e-04 -3.27472140e-05 9.99999730e-01 -1.88917683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80140051300003 meters 0.05163976025848494 Centerline is valid? [True, True] Translation: X:294.62, Y:31.38, Z:-1.89 [[ 9.96690185e-01 -8.12770322e-02 -1.64900461e-03 2.94620767e+02] [ 8.12767894e-02 9.96691546e-01 -2.13852359e-04 3.13786318e+01] [ 1.66093024e-03 7.91187469e-05 9.99998618e-01 -1.89265950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.831400513 meters 0.05663216447633864 Centerline is valid? [True, True] Translation: X:294.65, Y:31.38, Z:-1.89 [[ 9.96961386e-01 -7.78598326e-02 -2.41674492e-03 2.94649892e+02] [ 7.78593011e-02 9.96964308e-01 -3.13390119e-04 3.13847327e+01] [ 2.43380893e-03 1.24271777e-04 9.99997031e-01 -1.89426913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86140051300004 meters 0.06043910198445106 Centerline is valid? [True, True] Translation: X:294.68, Y:31.39, Z:-1.89 [[ 9.97246410e-01 -7.41237412e-02 -2.29525339e-03 2.94680408e+02] [ 7.41232518e-02 9.97249044e-01 -2.97669987e-04 3.13894169e+01] [ 2.31100367e-03 1.26718681e-04 9.99997322e-01 -1.89398717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.891400513 meters 0.06639562366635877 Centerline is valid? [True, True] Translation: X:294.71, Y:31.39, Z:-1.89 [[ 9.97749311e-01 -6.70367673e-02 -1.54399076e-03 2.94710798e+02] [ 6.70365374e-02 9.97750501e-01 -2.00241781e-04 3.13928979e+01] [ 1.55394112e-03 9.62873047e-05 9.99998788e-01 -1.89273936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92140051300004 meters 0.07508117704773802 Centerline is valid? [True, True] Translation: X:294.74, Y:31.40, Z:-1.89 [[ 9.97943815e-01 -6.40730635e-02 -1.66868629e-03 2.94738872e+02] [ 6.40727907e-02 9.97945204e-01 -2.16465617e-04 3.14041656e+01] [ 1.67912709e-03 1.09103136e-04 9.99998584e-01 -1.89348821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.951400513 meters 0.0775478604447242 Centerline is valid? [True, True] Translation: X:294.77, Y:31.41, Z:-1.89 [[ 9.98101138e-01 -6.15629747e-02 -2.02951924e-03 2.94768761e+02] [ 6.15625661e-02 9.98103192e-01 -2.63221054e-04 3.14079802e+01] [ 2.04187430e-03 1.37778821e-04 9.99997906e-01 -1.89414791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.981400513 meters 0.08611159018492684 Centerline is valid? [True, True] Translation: X:294.80, Y:31.42, Z:-1.89 [[ 9.98431116e-01 -5.59420914e-02 -2.40594884e-03 2.94797534e+02] [ 5.59415008e-02 9.98433999e-01 -3.12101112e-04 3.14160280e+01] [ 2.41964072e-03 1.77019073e-04 9.99997057e-01 -1.89475038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.011400513 meters 0.0890276887700242 Centerline is valid? [True, True] Translation: X:294.83, Y:31.42, Z:-1.89 [[ 9.98620668e-01 -5.24554676e-02 -2.27713374e-03 2.94827534e+02] [ 5.24549299e-02 9.98623249e-01 -2.95244220e-04 3.14221902e+01] [ 2.28948587e-03 1.75390090e-04 9.99997364e-01 -1.89393196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.041400513 meters 0.08445894890423654 Centerline is valid? [True, True] Translation: X:294.86, Y:31.42, Z:-1.89 [[ 9.98808643e-01 -4.87429743e-02 -2.32740724e-03 2.94858111e+02] [ 4.87424024e-02 9.98811337e-01 -3.01833931e-04 3.14218715e+01] [ 2.33935302e-03 1.88030918e-04 9.99997246e-01 -1.89290937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.071400513 meters 0.09367872822235279 Centerline is valid? [True, True] Translation: X:294.89, Y:31.44, Z:-1.89 [[ 9.98971459e-01 -4.52897154e-02 -2.20593070e-03 2.94885288e+02] [ 4.52891931e-02 9.98973877e-01 -2.86176003e-04 3.14400791e+01] [ 2.21662797e-03 1.85976837e-04 9.99997526e-01 -1.89299840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.101400513 meters 0.0918436718871071 Centerline is valid? [True, True] Translation: X:294.92, Y:31.44, Z:-1.89 [[ 9.99111475e-01 -4.21166195e-02 -1.56524268e-03 2.94915970e+02] [ 4.21163529e-02 9.99112692e-01 -2.02916651e-04 3.14448871e+01] [ 1.57239999e-03 1.36814042e-04 9.99998754e-01 -1.89208904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.131400513 meters 0.09608145818750363 Centerline is valid? [True, True] Translation: X:294.94, Y:31.46, Z:-1.89 [[ 9.99199260e-01 -3.99991259e-02 -9.53530644e-04 2.94944471e+02] [ 3.99990260e-02 9.99199711e-01 -1.23613976e-04 3.14560040e+01] [ 9.57711995e-04 8.53746959e-05 9.99999538e-01 -1.89156115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.161400513 meters 0.08810119859342048 Centerline is valid? [True, True] Translation: X:294.98, Y:31.45, Z:-1.89 [[ 9.99214614e-01 -3.96242714e-02 -2.70235024e-04 2.94976975e+02] [ 3.96242635e-02 9.99214650e-01 -3.48678817e-05 3.14532209e+01] [ 2.71404409e-04 2.41326331e-05 9.99999963e-01 -1.89098762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.191400513 meters 0.09110069894542523 Centerline is valid? [True, True] Translation: X:295.01, Y:31.46, Z:-1.89 [[ 9.99140356e-01 -4.14553684e-02 4.42263591e-05 2.95006113e+02] [ 4.14553681e-02 9.99140357e-01 5.71866510e-06 3.14627155e+01] [-4.44254096e-05 -3.88032909e-06 9.99999999e-01 -1.89096469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.221400513 meters 0.08859733251774032 Centerline is valid? [True, True] Translation: X:295.04, Y:31.47, Z:-1.89 [[ 9.99020714e-01 -4.42391115e-02 7.17490943e-04 2.95037115e+02] [ 4.42390560e-02 9.99020969e-01 9.30215670e-05 3.14656926e+01] [-7.20903689e-04 -6.11893502e-05 9.99999738e-01 -1.89065128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.251400513 meters 0.0855121423873856 Centerline is valid? [True, True] Translation: X:295.07, Y:31.47, Z:-1.89 [[ 9.98890334e-01 -4.70778412e-02 1.33296939e-03 2.95067693e+02] [ 4.70776522e-02 9.98891218e-01 1.72794971e-04 3.14653884e+01] [-1.33962623e-03 -1.09850157e-04 9.99999097e-01 -1.88995514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.281400513 meters 0.08097543388842071 Centerline is valid? [True, True] Translation: X:295.10, Y:31.46, Z:-1.89 [[ 9.98616405e-01 -5.25784597e-02 8.83847009e-04 2.95097789e+02] [ 5.25783787e-02 9.98616794e-01 1.14560372e-04 3.14647949e+01] [-8.88647875e-04 -6.79306238e-05 9.99999603e-01 -1.89025566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.311400513 meters 0.07895291427053895 Centerline is valid? [True, True] Translation: X:295.13, Y:31.47, Z:-1.89 [[ 9.98476536e-01 -5.51708049e-02 8.87971881e-04 2.95128663e+02] [ 5.51707243e-02 9.98476929e-01 1.15107634e-04 3.14650478e+01] [-8.92970017e-04 -6.59422199e-05 9.99999599e-01 -1.89026763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.341400513 meters 0.07792895691856952 Centerline is valid? [True, True] Translation: X:295.16, Y:31.47, Z:-1.89 [[ 9.98346275e-01 -5.74723883e-02 1.28054798e-03 2.95158681e+02] [ 5.74722225e-02 9.98347092e-01 1.65966383e-04 3.14667965e+01] [-1.28796984e-03 -9.20959820e-05 9.99999166e-01 -1.88941701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.371400513 meters 0.08189737406134019 Centerline is valid? [True, True] Translation: X:295.19, Y:31.48, Z:-1.89 [[ 9.98233605e-01 -5.93830846e-02 1.82195249e-03 2.95187983e+02] [ 5.93827519e-02 9.98235259e-01 2.36172363e-04 3.14754284e+01] [-1.83276186e-03 -1.27562637e-04 9.99998312e-01 -1.88822942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.401400513 meters 0.07202756967603109 Centerline is valid? [True, True] Translation: X:295.22, Y:31.47, Z:-1.89 [[ 9.98163108e-01 -6.05306570e-02 2.53968061e-03 2.95220979e+02] [ 6.05300143e-02 9.98166323e-01 3.29237744e-04 3.14674454e+01] [-2.55495263e-03 -1.74906066e-04 9.99996721e-01 -1.88685868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.431400513 meters 0.07404793481651295 Centerline is valid? [True, True] Translation: X:295.25, Y:31.47, Z:-1.89 [[ 9.98196912e-01 -5.99438312e-02 3.10852910e-03 2.95251606e+02] [ 5.99428659e-02 9.98201728e-01 4.02852189e-04 3.14718360e+01] [-3.12708763e-03 -2.15791668e-04 9.99995087e-01 -1.88605939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.461400513 meters 0.07769812082068243 Centerline is valid? [True, True] Translation: X:295.28, Y:31.48, Z:-1.89 [[ 9.98264203e-01 -5.88559529e-02 2.13483580e-03 2.95282392e+02] [ 5.88554954e-02 9.98266475e-01 2.76543295e-04 3.14785757e+01] [-2.14741123e-03 -1.50416453e-04 9.99997683e-01 -1.88788152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49140051300003 meters 0.07936716424223159 Centerline is valid? [True, True] Translation: X:295.31, Y:31.48, Z:-1.89 [[ 9.98334231e-01 -5.76898351e-02 8.03229781e-04 2.95313570e+02] [ 5.76897699e-02 9.98334553e-01 1.04063938e-04 3.14829039e+01] [-8.07895476e-04 -5.75524503e-05 9.99999672e-01 -1.89015953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.521400513 meters 0.08188864768373988 Centerline is valid? [True, True] Translation: X:295.34, Y:31.49, Z:-1.89 [[ 9.98387552e-01 -5.67651445e-02 -1.16865123e-04 2.95344295e+02] [ 5.67651431e-02 9.98387559e-01 -1.49164060e-05 3.14887419e+01] [ 1.17523416e-04 8.25848871e-06 9.99999993e-01 -1.89186608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55140051300003 meters 0.07372403996915333 Centerline is valid? [True, True] Translation: X:295.38, Y:31.48, Z:-1.89 [[ 9.98448062e-01 -5.56896865e-02 -3.54089229e-04 2.95377069e+02] [ 5.56896738e-02 9.98448125e-01 -4.57289605e-05 3.14789333e+01] [ 3.56086358e-04 2.59388784e-05 9.99999936e-01 -1.89281797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.581400513 meters 0.0776314644387799 Centerline is valid? [True, True] Translation: X:295.41, Y:31.48, Z:-1.89 [[ 9.98482601e-01 -5.50670537e-02 -3.40209213e-04 2.95407762e+02] [ 5.50670420e-02 9.98482658e-01 -4.38809032e-05 3.14848183e+01] [ 3.42109391e-04 2.50800034e-05 9.99999941e-01 -1.89365902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61140051300004 meters 0.0792337502806306 Centerline is valid? [True, True] Translation: X:295.44, Y:31.49, Z:-1.89 [[ 9.98509872e-01 -5.45713678e-02 -4.31272133e-05 2.95438864e+02] [ 5.45713676e-02 9.98509873e-01 -5.45699150e-06 3.14883638e+01] [ 4.33607437e-05 3.09534887e-06 9.99999999e-01 -1.89350228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.641400513 meters 0.07926063357376688 Centerline is valid? [True, True] Translation: X:295.47, Y:31.49, Z:-1.89 [[ 9.98528247e-01 -5.42324948e-02 4.20572646e-04 2.95471286e+02] [ 5.42324766e-02 9.98528335e-01 5.45196206e-05 3.14912987e+01] [-4.22910439e-04 -3.16306850e-05 9.99999910e-01 -1.89254594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67140051300004 meters 0.08533307914031238 Centerline is valid? [True, True] Translation: X:295.50, Y:31.50, Z:-1.89 [[ 9.98557901e-01 -5.36850450e-02 1.82702855e-04 2.95500958e+02] [ 5.36850415e-02 9.98557918e-01 2.36901319e-05 3.15020575e+01] [-1.83711189e-04 -1.38475581e-05 9.99999983e-01 -1.89266056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.701400513 meters 0.07792763354350413 Centerline is valid? [True, True] Translation: X:295.53, Y:31.50, Z:-1.90 [[ 9.98589150e-01 -5.30782861e-02 -1.55064679e-03 2.95534039e+02] [ 5.30780389e-02 9.98590347e-01 -2.00157462e-04 3.14958130e+01] [ 1.55908493e-03 1.17569779e-04 9.99998778e-01 -1.89505667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.731400513 meters 0.07792763354350413 Centerline is valid? [True, True] Translation: X:295.57, Y:31.50, Z:-1.90 [[ 9.98591663e-01 -5.30309962e-02 -1.55065629e-03 2.95565557e+02] [ 5.30307490e-02 9.98592860e-01 -2.00083885e-04 3.14998015e+01] [ 1.55908495e-03 1.17569635e-04 9.99998778e-01 -1.89516407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.761400513 meters 0.08807989930239622 Centerline is valid? [True, True] Translation: X:295.59, Y:31.51, Z:-1.90 [[ 9.98630438e-01 -5.20961577e-02 -4.82068994e-03 2.95593963e+02] [ 5.20937560e-02 9.98642004e-01 -6.22523966e-04 3.15126232e+01] [ 4.84657457e-03 3.70543535e-04 9.99988187e-01 -1.90146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.791400513 meters 0.07634714881141676 Centerline is valid? [True, True] Translation: X:295.63, Y:31.50, Z:-1.90 [[ 9.98647156e-01 -5.18177608e-02 -4.33328070e-03 2.95625912e+02] [ 5.18158176e-02 9.98656501e-01 -5.59581952e-04 3.15014372e+01] [ 4.35645523e-03 3.34292443e-04 9.99990455e-01 -1.89874109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.821400513 meters 0.08908726663177091 Centerline is valid? [True, True] Translation: X:295.65, Y:31.52, Z:-1.90 [[ 9.98676619e-01 -5.13485649e-02 -2.88704658e-03 2.95654044e+02] [ 5.13477006e-02 9.98680767e-01 -3.72745752e-04 3.15198666e+01] [ 2.90237785e-03 2.24009264e-04 9.99995763e-01 -1.89704297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.851400513 meters 0.07890120604273224 Centerline is valid? [True, True] Translation: X:295.69, Y:31.51, Z:-1.89 [[ 9.98700756e-01 -5.09284995e-02 -1.75737812e-03 2.95686695e+02] [ 5.09281788e-02 9.98702293e-01 -2.26797031e-04 3.15098580e+01] [ 1.76664799e-03 1.37002299e-04 9.99998430e-01 -1.89416523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.881400513 meters 0.08422940634522842 Centerline is valid? [True, True] Translation: X:295.72, Y:31.52, Z:-1.89 [[ 9.98717033e-01 -5.06331611e-02 -7.55950201e-04 2.95717241e+02] [ 5.06331017e-02 9.98717317e-01 -9.74461710e-05 3.15152357e+01] [ 7.59914565e-04 5.90450473e-05 9.99999710e-01 -1.89402983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.911400513 meters 0.082041157940963 Centerline is valid? [True, True] Translation: X:295.75, Y:31.51, Z:-1.89 [[ 9.98707280e-01 -5.08188373e-02 -1.10167682e-03 2.95749604e+02] [ 5.08187114e-02 9.98707884e-01 -1.41977478e-04 3.15148593e+01] [ 1.10746846e-03 8.58081442e-05 9.99999383e-01 -1.89485764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.941400513 meters 0.0788778058591484 Centerline is valid? [True, True] Translation: X:295.78, Y:31.52, Z:-1.90 [[ 9.98701720e-01 -5.09181723e-02 -1.48779184e-03 2.95782271e+02] [ 5.09179428e-02 9.98702822e-01 -1.91718877e-04 3.15150850e+01] [ 1.49562389e-03 1.15714673e-04 9.99998875e-01 -1.89609038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.971400513 meters 0.08850734292821985 Centerline is valid? [True, True] Translation: X:295.81, Y:31.53, Z:-1.90 [[ 9.98709802e-01 -5.07438470e-02 -1.94790635e-03 2.95811196e+02] [ 5.07434533e-02 9.98711690e-01 -2.51030096e-04 3.15309784e+01] [ 1.95813507e-03 1.51862723e-04 9.99998071e-01 -1.89765866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.001400513 meters 0.07975259119843352 Centerline is valid? [True, True] Translation: X:295.84, Y:31.52, Z:-1.90 [[ 9.98682911e-01 -5.12702135e-02 -1.95144551e-03 2.95844041e+02] [ 5.12698194e-02 9.98684806e-01 -2.51480591e-04 3.15238664e+01] [ 1.96177245e-03 1.51099109e-04 9.99998064e-01 -1.89669810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.031400513 meters 0.07911571961783585 Centerline is valid? [True, True] Translation: X:295.87, Y:31.53, Z:-1.90 [[ 9.98624602e-01 -5.24114891e-02 -1.39263168e-03 2.95874552e+02] [ 5.24112898e-02 9.98625568e-01 -1.79199708e-04 3.15250911e+01] [ 1.40010972e-03 1.05963615e-04 9.99999014e-01 -1.89535047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.061400513 meters 0.07004756351542295 Centerline is valid? [True, True] Translation: X:295.91, Y:31.51, Z:-1.89 [[ 9.98434028e-01 -5.59365703e-02 7.69809267e-04 2.95906975e+02] [ 5.59365103e-02 9.98434323e-01 9.91992862e-05 3.15128244e+01] [-7.74152862e-04 -5.59834988e-05 9.99999699e-01 -1.89130880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.091400513 meters 0.08202461601851499 Centerline is valid? [True, True] Translation: X:295.94, Y:31.53, Z:-1.89 [[ 9.98372089e-01 -5.70054491e-02 1.88436348e-03 2.95936028e+02] [ 5.70050918e-02 9.98373858e-01 2.42808588e-04 3.15289757e+01] [-1.89514065e-03 -1.34995004e-04 9.99998195e-01 -1.89056227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.121400513 meters 0.07954631553793383 Centerline is valid? [True, True] Translation: X:295.97, Y:31.53, Z:-1.89 [[ 9.98345204e-01 -5.74701355e-02 2.00931863e-03 2.95968773e+02] [ 5.74697302e-02 9.98347216e-01 2.58883153e-04 3.15272377e+01] [-2.02087571e-03 -1.42979755e-04 9.99997948e-01 -1.89106015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.151400513 meters 0.07856469868220772 Centerline is valid? [True, True] Translation: X:296.00, Y:31.53, Z:-1.89 [[ 9.98433581e-01 -5.59464025e-02 6.20163550e-04 2.96000572e+02] [ 5.59463636e-02 9.98433772e-01 7.99185925e-05 3.15253737e+01] [-6.23663391e-04 -4.50975111e-05 9.99999805e-01 -1.89364936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.181400513 meters 0.07594767905046074 Centerline is valid? [True, True] Translation: X:296.03, Y:31.52, Z:-1.89 [[ 9.98541667e-01 -5.39864667e-02 -1.30760260e-05 2.96031517e+02] [ 5.39864666e-02 9.98541667e-01 -1.64336789e-06 3.15244664e+01] [ 1.31456764e-05 9.35042872e-07 1.00000000e+00 -1.89482890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.211400513 meters 0.08013063969505814 Centerline is valid? [True, True] Translation: X:296.06, Y:31.53, Z:-1.90 [[ 9.98672560e-01 -5.15076341e-02 -2.86166738e-04 2.96060144e+02] [ 5.15076257e-02 9.98672601e-01 -3.68737257e-05 3.15327048e+01] [ 2.87686158e-04 2.20850089e-05 9.99999958e-01 -1.89507033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24140051300003 meters 0.08189910635851072 Centerline is valid? [True, True] Translation: X:296.09, Y:31.54, Z:-1.89 [[ 9.98785788e-01 -4.92639796e-02 -9.60473890e-05 2.96090530e+02] [ 4.92639786e-02 9.98785793e-01 -1.23577744e-05 3.15390549e+01] [ 9.65395607e-05 7.61109291e-06 9.99999995e-01 -1.89469737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.271400513 meters 0.08454149795051527 Centerline is valid? [True, True] Translation: X:296.12, Y:31.55, Z:-1.89 [[ 9.98879937e-01 -4.73165367e-02 -1.31613235e-04 2.96120904e+02] [ 4.73165348e-02 9.98879945e-01 -1.69319140e-05 3.15463159e+01] [ 1.32266981e-04 1.06854669e-05 9.99999991e-01 -1.89480577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30140051300003 meters 0.07952405773823164 Centerline is valid? [True, True] Translation: X:296.15, Y:31.54, Z:-1.90 [[ 9.98970464e-01 -4.53091547e-02 -2.25660371e-03 2.96152223e+02] [ 4.53086133e-02 9.98972995e-01 -2.90486285e-04 3.15402070e+01] [ 2.26744786e-03 1.87943634e-04 9.99997412e-01 -1.89754047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.331400513 meters 0.0872393682145638 Centerline is valid? [True, True] Translation: X:296.18, Y:31.55, Z:-1.90 [[ 9.98934832e-01 -4.60494050e-02 -2.94162919e-03 2.96180915e+02] [ 4.60484885e-02 9.98939134e-01 -3.78603089e-04 3.15526804e+01] [ 2.95594296e-03 2.42742236e-04 9.99995602e-01 -1.90024752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36140051300004 meters 0.08441792295377558 Centerline is valid? [True, True] Translation: X:296.21, Y:31.55, Z:-1.90 [[ 9.98854204e-01 -4.77729513e-02 -2.83257288e-03 2.96212673e+02] [ 4.77721083e-02 9.98858195e-01 -3.64533339e-04 3.15493746e+01] [ 2.84675347e-03 2.28797680e-04 9.99995922e-01 -1.90032793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.391400513 meters 0.08109713385741533 Centerline is valid? [True, True] Translation: X:296.24, Y:31.55, Z:-1.90 [[ 9.98728355e-01 -5.04033171e-02 -1.08590048e-03 2.96242613e+02] [ 5.04031947e-02 9.98728941e-01 -1.39817242e-04 3.15495165e+01] [ 1.09156749e-03 8.49065906e-05 9.99999401e-01 -1.89798764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42140051300004 meters 0.0764518356440418 Centerline is valid? [True, True] Translation: X:296.27, Y:31.54, Z:-1.89 [[ 9.98400862e-01 -5.64924247e-02 2.07981980e-03 2.96274091e+02] [ 5.64919889e-02 9.98403017e-01 2.67723180e-04 3.15418896e+01] [-2.09162269e-03 -1.49801897e-04 9.99997801e-01 -1.89233533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.451400513 meters 0.07615927584149917 Centerline is valid? [True, True] Translation: X:296.30, Y:31.54, Z:-1.89 [[ 9.98225787e-01 -5.94886544e-02 2.52566201e-03 2.96303659e+02] [ 5.94880215e-02 9.98228967e-01 3.25072343e-04 3.15427057e+01] [-2.54052709e-03 -1.74248959e-04 9.99996758e-01 -1.89173396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.481400513 meters 0.07062756941216393 Centerline is valid? [True, True] Translation: X:296.33, Y:31.54, Z:-1.89 [[ 9.98049077e-01 -6.24007213e-02 2.04677595e-03 2.96334879e+02] [ 6.24003116e-02 9.98051167e-01 2.63472648e-04 3.15379692e+01] [-2.05922801e-03 -1.35239176e-04 9.99997871e-01 -1.89241614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.511400513 meters 0.07206465015366122 Centerline is valid? [True, True] Translation: X:296.36, Y:31.54, Z:-1.89 [[ 9.97875945e-01 -6.51321052e-02 1.18622709e-03 2.96364368e+02] [ 6.51319696e-02 9.97876647e-01 1.52671515e-04 3.15412140e+01] [-1.19365213e-03 -7.50859257e-05 9.99999285e-01 -1.89431478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.541400513 meters 0.06380721467187757 Centerline is valid? [True, True] Translation: X:296.40, Y:31.53, Z:-1.90 [[ 9.97728395e-01 -6.73628327e-02 5.46453578e-04 2.96396299e+02] [ 6.73628043e-02 9.97728544e-01 7.03447795e-05 3.15313104e+01] [-5.49950956e-04 -3.33743385e-05 9.99999848e-01 -1.89585787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.571400513 meters 0.06892267953585646 Centerline is valid? [True, True] Translation: X:296.43, Y:31.54, Z:-1.90 [[ 9.97660357e-01 -6.83648379e-02 -2.45794012e-04 2.96425968e+02] [ 6.83648321e-02 9.97660387e-01 -3.16409778e-05 3.15367541e+01] [ 2.47382079e-04 1.47632829e-05 9.99999969e-01 -1.89757395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.601400513 meters 0.06810916653956658 Centerline is valid? [True, True] Translation: X:296.46, Y:31.53, Z:-1.90 [[ 9.97636940e-01 -6.86947341e-02 -1.25271482e-03 2.96457267e+02] [ 6.86945856e-02 9.97637724e-01 -1.61261544e-04 3.15338098e+01] [ 1.26083338e-03 7.48257478e-05 9.99999202e-01 -1.89851839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.631400513 meters 0.06584886216760401 Centerline is valid? [True, True] Translation: X:296.49, Y:31.53, Z:-1.90 [[ 9.97715266e-01 -6.75267197e-02 -2.09511858e-03 2.96487286e+02] [ 6.75263014e-02 9.97717458e-01 -2.69832085e-04 3.15338729e+01] [ 2.10855726e-03 1.27739982e-04 9.99997769e-01 -1.89913700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.661400513 meters 0.07215047734996495 Centerline is valid? [True, True] Translation: X:296.52, Y:31.54, Z:-1.90 [[ 9.97845133e-01 -6.55594763e-02 -2.65424699e-03 2.96515625e+02] [ 6.55587981e-02 9.97848649e-01 -3.41813150e-04 3.15441038e+01] [ 2.67094586e-03 1.67067346e-04 9.99996419e-01 -1.90041827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.691400513 meters 0.06956632839698244 Centerline is valid? [True, True] Translation: X:296.55, Y:31.54, Z:-1.90 [[ 9.97982685e-01 -6.33890529e-02 -3.51979198e-03 2.96546226e+02] [ 6.33878466e-02 9.97988865e-01 -4.53346205e-04 3.15427772e+01] [ 3.54145039e-03 2.29319629e-04 9.99993703e-01 -1.90092493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.721400513 meters 0.07665854398282945 Centerline is valid? [True, True] Translation: X:296.57, Y:31.55, Z:-1.90 [[ 9.98123595e-01 -6.11123868e-02 -3.81635887e-03 2.96574871e+02] [ 6.11109517e-02 9.98130858e-01 -4.91645654e-04 3.15498337e+01] [ 3.83927119e-03 2.57501806e-04 9.99992597e-01 -1.90259667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.751400513 meters 0.07837655154604371 Centerline is valid? [True, True] Translation: X:296.60, Y:31.56, Z:-1.90 [[ 9.98223494e-01 -5.94397567e-02 -4.09524242e-03 2.96603515e+02] [ 5.94380902e-02 9.98231854e-01 -5.27547219e-04 3.15568926e+01] [ 4.11935871e-03 2.83196640e-04 9.99991475e-01 -1.90298224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.781400513 meters 0.07496815800722287 Centerline is valid? [True, True] Translation: X:296.63, Y:31.56, Z:-1.90 [[ 9.98375222e-01 -5.68167102e-02 -4.33323944e-03 2.96634642e+02] [ 5.68148199e-02 9.98384578e-01 -5.58189424e-04 3.15559241e+01] [ 4.35795392e-03 3.11090272e-04 9.99990456e-01 -1.90325944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.811400513 meters 0.07710824725899607 Centerline is valid? [True, True] Translation: X:296.66, Y:31.56, Z:-1.90 [[ 9.98470948e-01 -5.51019484e-02 -4.42056996e-03 2.96665000e+02] [ 5.50999644e-02 9.98480681e-01 -5.69434147e-04 3.15593917e+01] [ 4.44523064e-03 3.24990205e-04 9.99990067e-01 -1.90400760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.841400513 meters 0.08377259348138247 Centerline is valid? [True, True] Translation: X:296.69, Y:31.57, Z:-1.90 [[ 9.98532705e-01 -5.39750456e-02 -4.37402138e-03 2.96692813e+02] [ 5.39730917e-02 9.98542231e-01 -5.63620793e-04 3.15709453e+01] [ 4.39806653e-03 3.26714337e-04 9.99990275e-01 -1.90452220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.871400513 meters 0.08645740197532263 Centerline is valid? [True, True] Translation: X:296.72, Y:31.57, Z:-1.90 [[ 9.98637611e-01 -5.21283883e-02 -2.35660760e-03 2.96722774e+02] [ 5.21278160e-02 9.98640375e-01 -3.03685845e-04 3.15734165e+01] [ 2.36923415e-03 1.80427299e-04 9.99997177e-01 -1.90009378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.901400513 meters 0.07712275088998742 Centerline is valid? [True, True] Translation: X:296.75, Y:31.56, Z:-1.90 [[ 9.98672280e-01 -5.15101555e-02 -6.16742628e-04 2.96754932e+02] [ 5.15101162e-02 9.98672470e-01 -7.94670405e-05 3.15649925e+01] [ 6.20017243e-04 4.75930461e-05 9.99999807e-01 -1.89571989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.931400513 meters 0.08051903606087031 Centerline is valid? [True, True] Translation: X:296.78, Y:31.57, Z:-1.89 [[ 9.98713455e-01 -5.06845184e-02 1.58551576e-03 2.96784224e+02] [ 5.06842576e-02 9.98714706e-01 2.04272084e-04 3.15707623e+01] [-1.59383134e-03 -1.23648590e-04 9.99998722e-01 -1.89285594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.961400513 meters 0.08811244950375864 Centerline is valid? [True, True] Translation: X:296.81, Y:31.58, Z:-1.89 [[ 9.98748476e-01 -4.99397475e-02 2.73930750e-03 2.96813216e+02] [ 4.99389660e-02 9.98752209e-01 3.52998394e-04 3.15821989e+01] [-2.75351807e-03 -2.15758423e-04 9.99996186e-01 -1.89078757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99140051300003 meters 0.08308340525450146 Centerline is valid? [True, True] Translation: X:296.84, Y:31.58, Z:-1.89 [[ 9.98796761e-01 -4.89482458e-02 3.01668681e-03 2.96844287e+02] [ 4.89472936e-02 9.98801287e-01 3.88709396e-04 3.15824733e+01] [-3.03209731e-03 -2.40583030e-04 9.99995374e-01 -1.89093645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.021400513 meters 0.09197217977682519 Centerline is valid? [True, True] Translation: X:296.87, Y:31.60, Z:-1.89 [[ 9.98857828e-01 -4.77507273e-02 1.70529189e-03 2.96872403e+02] [ 4.77504214e-02 9.98859274e-01 2.19675319e-04 3.15969214e+01] [-1.71383627e-03 -1.37996006e-04 9.99998522e-01 -1.89296341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05140051300003 meters 0.08378275568760622 Centerline is valid? [True, True] Translation: X:296.90, Y:31.59, Z:-1.90 [[ 9.98938665e-01 -4.60523364e-02 -8.51478538e-04 2.96904082e+02] [ 4.60522596e-02 9.98939026e-01 -1.09638454e-04 3.15915137e+01] [ 8.55624248e-04 7.03095807e-05 9.99999631e-01 -1.89642935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.081400513 meters 0.09006463052390246 Centerline is valid? [True, True] Translation: X:296.93, Y:31.60, Z:-1.90 [[ 9.98943381e-01 -4.59406562e-02 -1.25566633e-03 2.96933375e+02] [ 4.59404891e-02 9.98944165e-01 -1.61579106e-04 3.16033888e+01] [ 1.26176360e-03 1.03722453e-04 9.99999199e-01 -1.89742806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11140051300004 meters 0.08773137647432357 Centerline is valid? [True, True] Translation: X:296.96, Y:31.60, Z:-1.90 [[ 9.98935232e-01 -4.61273257e-02 -8.19571966e-04 2.96963774e+02] [ 4.61272545e-02 9.98935566e-01 -1.05538940e-04 3.16047982e+01] [ 8.23567815e-04 6.76219605e-05 9.99999659e-01 -1.89682594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.141400513 meters 0.08301522234752963 Centerline is valid? [True, True] Translation: X:297.00, Y:31.60, Z:-1.90 [[ 9.98896589e-01 -4.69586235e-02 -7.01792832e-04 2.96995277e+02] [ 4.69585716e-02 9.98896834e-01 -9.03247376e-05 3.16029944e+01] [ 7.05260163e-04 5.72698833e-05 9.99999750e-01 -1.89654598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17140051300004 meters 0.08699485349926839 Centerline is valid? [True, True] Translation: X:297.02, Y:31.61, Z:-1.90 [[ 9.98698380e-01 -5.09963935e-02 -9.55534247e-04 2.97023874e+02] [ 5.09962990e-02 9.98698835e-01 -1.23000357e-04 3.16113923e+01] [ 9.60563514e-04 7.41115475e-05 9.99999536e-01 -1.89898930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.201400513 meters 0.07866683851016482 Centerline is valid? [True, True] Translation: X:297.06, Y:31.60, Z:-1.90 [[ 9.98576453e-01 -5.33274151e-02 -1.12009399e-03 2.97055670e+02] [ 5.33272866e-02 9.98577077e-01 -1.44224317e-04 3.16045244e+01] [ 1.12619129e-03 8.42874336e-05 9.99999362e-01 -1.89986633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.231400513 meters 0.07475891311636258 Centerline is valid? [True, True] Translation: X:297.09, Y:31.60, Z:-1.90 [[ 9.98454305e-01 -5.55536075e-02 -1.67266795e-03 2.97086900e+02] [ 5.55533242e-02 9.98455698e-01 -2.15397776e-04 3.16023706e+01] [ 1.68205097e-03 1.22142572e-04 9.99998578e-01 -1.90072454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.261400513 meters 0.08358106723199607 Centerline is valid? [True, True] Translation: X:297.11, Y:31.62, Z:-1.90 [[ 9.98369278e-01 -5.70758433e-02 -1.06427920e-03 2.97114863e+02] [ 5.70757294e-02 9.98369842e-01 -1.37090277e-04 3.16150207e+01] [ 1.07036880e-03 7.61222091e-05 9.99999424e-01 -1.90154733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.291400513 meters 0.07530618675089859 Centerline is valid? [True, True] Translation: X:297.15, Y:31.61, Z:-1.90 [[ 9.98277735e-01 -5.86575633e-02 -9.23758034e-04 2.97145652e+02] [ 5.86574781e-02 9.98278161e-01 -1.19054725e-04 3.16068994e+01] [ 9.29150931e-04 6.46643642e-05 9.99999566e-01 -1.90056453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.321400513 meters 0.07808133955322878 Centerline is valid? [True, True] Translation: X:297.17, Y:31.61, Z:-1.90 [[ 9.98200496e-01 -5.99298643e-02 -2.04454430e-03 2.97174991e+02] [ 5.99294500e-02 9.98202580e-01 -2.63392577e-04 3.16116224e+01] [ 2.05665447e-03 1.40390186e-04 9.99997875e-01 -1.90227356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.351400513 meters 0.07053602917739228 Centerline is valid? [True, True] Translation: X:297.21, Y:31.61, Z:-1.90 [[ 9.98226257e-01 -5.94662424e-02 -2.84700248e-03 2.97205632e+02] [ 5.94654368e-02 9.98230298e-01 -3.66864641e-04 3.16057712e+01] [ 2.86378019e-03 1.96915672e-04 9.99995880e-01 -1.90336911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.381400513 meters 0.08402190206146624 Centerline is valid? [True, True] Translation: X:297.23, Y:31.62, Z:-1.91 [[ 9.98261170e-01 -5.87920493e-02 -4.25803489e-03 2.97231705e+02] [ 5.87902401e-02 9.98270207e-01 -5.48920783e-04 3.16247588e+01] [ 4.28294155e-03 2.97635409e-04 9.99990784e-01 -1.90747127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.411400513 meters 0.07399183359133711 Centerline is valid? [True, True] Translation: X:297.26, Y:31.62, Z:-1.91 [[ 9.98297775e-01 -5.80814220e-02 -5.30100072e-03 2.97262523e+02] [ 5.80786074e-02 9.98311779e-01 -6.83488716e-04 3.16151733e+01] [ 5.33174945e-03 3.74450525e-04 9.99985716e-01 -1.90819594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.441400513 meters 0.07417416280497656 Centerline is valid? [True, True] Translation: X:297.29, Y:31.62, Z:-1.91 [[ 9.98297706e-01 -5.80657356e-02 -5.48283377e-03 2.97290744e+02] [ 5.80627170e-02 9.98312686e-01 -7.08273112e-04 3.16180884e+01] [ 5.51470890e-03 3.88719197e-04 9.99984718e-01 -1.90884457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.471400513 meters 0.08063084151384647 Centerline is valid? [True, True] Translation: X:297.32, Y:31.63, Z:-1.91 [[ 9.98266373e-01 -5.86432958e-02 -5.02125315e-03 2.97318081e+02] [ 5.86407669e-02 9.98278938e-01 -6.49513773e-04 3.16278669e+01] [ 5.05070089e-03 3.53937622e-04 9.99987182e-01 -1.90917674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.501400513 meters 0.07703188863105445 Centerline is valid? [True, True] Translation: X:297.35, Y:31.62, Z:-1.90 [[ 9.98147021e-01 -6.08286059e-02 -1.55115953e-03 2.97349159e+02] [ 6.08283675e-02 9.98148220e-01 -2.00487360e-04 3.16232890e+01] [ 1.56048249e-03 1.05761359e-04 9.99998777e-01 -1.90246398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.531400513 meters 0.07801195408390194 Centerline is valid? [True, True] Translation: X:297.38, Y:31.63, Z:-1.90 [[ 9.98041626e-01 -6.25529336e-02 -2.06127634e-04 2.97377553e+02] [ 6.25529294e-02 9.98041648e-01 -2.67619712e-05 3.16258643e+01] [ 2.07398003e-04 1.38156740e-05 9.99999978e-01 -1.90037582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.561400513 meters 0.07494657007737499 Centerline is valid? [True, True] Translation: X:297.41, Y:31.62, Z:-1.90 [[ 9.97920905e-01 -6.44478357e-02 -5.86783145e-04 2.97407840e+02] [ 6.44478022e-02 9.97921077e-01 -7.59471881e-05 3.16235238e+01] [ 5.90457899e-04 3.79724026e-05 9.99999825e-01 -1.90108516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.591400513 meters 0.06878627120283673 Centerline is valid? [True, True] Translation: X:297.44, Y:31.61, Z:-1.90 [[ 9.97829434e-01 -6.58120078e-02 -2.28038834e-03 2.97437818e+02] [ 6.58115045e-02 9.97832029e-01 -2.95120427e-04 3.16141410e+01] [ 2.29486699e-03 1.44404061e-04 9.99997356e-01 -1.90399112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.621400513 meters 0.07059736405841242 Centerline is valid? [True, True] Translation: X:297.47, Y:31.62, Z:-1.91 [[ 9.97741236e-01 -6.70184792e-02 -4.57705058e-03 2.97466008e+02] [ 6.70164600e-02 9.97751694e-01 -5.93300790e-04 3.16175697e+01] [ 4.60652209e-03 2.85222936e-04 9.99989349e-01 -1.90894335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.651400513 meters 0.07059736405841242 Centerline is valid? [True, True] Translation: X:297.49, Y:31.62, Z:-1.91 [[ 9.97729174e-01 -6.71978197e-02 -4.57693410e-03 2.97493286e+02] [ 6.71957982e-02 9.97739631e-01 -5.94199238e-04 3.16212764e+01] [ 4.60651743e-03 2.85299175e-04 9.99989349e-01 -1.90903646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.681400513 meters 0.07077766172365973 Centerline is valid? [True, True] Translation: X:297.52, Y:31.62, Z:-1.91 [[ 9.97740901e-01 -6.70299931e-02 -4.48047709e-03 2.97522191e+02] [ 6.70280513e-02 9.97750921e-01 -5.82328077e-04 3.16232797e+01] [ 4.50943359e-03 2.80694893e-04 9.99989793e-01 -1.90895559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.711400513 meters 0.07260969023284182 Centerline is valid? [True, True] Translation: X:297.55, Y:31.63, Z:-1.91 [[ 9.97793496e-01 -6.62394432e-02 -4.52492370e-03 2.97551142e+02] [ 6.62374559e-02 9.97803715e-01 -5.87831738e-04 3.16277164e+01] [ 4.55392332e-03 2.86815252e-04 9.99989590e-01 -1.90847661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74140051300003 meters 0.06857059154779388 Centerline is valid? [True, True] Translation: X:297.58, Y:31.63, Z:-1.91 [[ 9.97884654e-01 -6.48816972e-02 -4.07215952e-03 2.97581261e+02] [ 6.48800760e-02 9.97892928e-01 -5.29084182e-04 3.16257685e+01] [ 4.09790707e-03 2.63762966e-04 9.99991569e-01 -1.90683913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.771400513 meters 0.06858118712338622 Centerline is valid? [True, True] Translation: X:297.61, Y:31.63, Z:-1.91 [[ 9.97996159e-01 -6.31559082e-02 -3.87276424e-03 2.97611301e+02] [ 6.31544290e-02 9.98003640e-01 -5.03187574e-04 3.16292122e+01] [ 3.89681208e-03 2.57597052e-04 9.99992374e-01 -1.90591793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80140051300003 meters 0.07674384940751532 Centerline is valid? [True, True] Translation: X:297.64, Y:31.64, Z:-1.91 [[ 9.98119572e-01 -6.11868002e-02 -3.67363760e-03 2.97638466e+02] [ 6.11854558e-02 9.98126301e-01 -4.77351652e-04 3.16432820e+01] [ 3.69596193e-03 2.51680836e-04 9.99993138e-01 -1.90659352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.831400513 meters 0.07968873023879289 Centerline is valid? [True, True] Translation: X:297.67, Y:31.65, Z:-1.91 [[ 9.98194436e-01 -6.00266365e-02 -2.16114706e-03 2.97665759e+02] [ 6.00261680e-02 9.98196764e-01 -2.81071050e-04 3.16522797e+01] [ 2.17412175e-03 1.50838182e-04 9.99997625e-01 -1.90554719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86140051300004 meters 0.07848174672686709 Centerline is valid? [True, True] Translation: X:297.69, Y:31.65, Z:-1.90 [[ 9.98140726e-01 -6.09336515e-02 -1.47703021e-03 2.97694381e+02] [ 6.09334335e-02 9.98141813e-01 -1.92201377e-04 3.16534643e+01] [ 1.48599714e-03 1.01843500e-04 9.99998891e-01 -1.90471389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.891400513 meters 0.07230350771507173 Centerline is valid? [True, True] Translation: X:297.73, Y:31.65, Z:-1.90 [[ 9.98038410e-01 -6.26005758e-02 -7.07265062e-04 2.97725237e+02] [ 6.26005263e-02 9.98038659e-01 -9.20087262e-05 3.16473771e+01] [ 7.11637674e-04 4.75530777e-05 9.99999746e-01 -1.90340634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92140051300004 meters 0.0716851658908023 Centerline is valid? [True, True] Translation: X:297.75, Y:31.65, Z:-1.90 [[ 9.97915000e-01 -6.45418309e-02 -7.17111832e-05 2.97754765e+02] [ 6.45418304e-02 9.97915002e-01 -9.40361526e-06 3.16476972e+01] [ 7.21685921e-05 4.75563770e-06 9.99999997e-01 -1.90222034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.951400513 meters 0.06611839571555608 Centerline is valid? [True, True] Translation: X:297.79, Y:31.64, Z:-1.90 [[ 9.97631050e-01 -6.87820292e-02 1.14878194e-03 2.97785940e+02] [ 6.87819026e-02 9.97631709e-01 1.49357008e-04 3.16420969e+01] [-1.15633437e-03 -6.99877816e-05 9.99999329e-01 -1.89980396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.981400513 meters 0.06005408043941009 Centerline is valid? [True, True] Translation: X:297.82, Y:31.64, Z:-1.90 [[ 9.97488760e-01 -7.08012258e-02 1.83330366e-03 2.97816898e+02] [ 7.08009067e-02 9.97490438e-01 2.38434741e-04 3.16374784e+01] [-1.84558434e-03 -1.08036413e-04 9.99998291e-01 -1.89914883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.011400513 meters 0.060508807922419895 Centerline is valid? [True, True] Translation: X:297.85, Y:31.64, Z:-1.90 [[ 9.97364621e-01 -7.25216600e-02 2.10255145e-03 2.97845898e+02] [ 7.25212440e-02 9.97366830e-01 2.73541650e-04 3.16394314e+01] [-2.11685277e-03 -1.20341117e-04 9.99997752e-01 -1.89897211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.041400513 meters 0.057099835246666675 Centerline is valid? [True, True] Translation: X:297.88, Y:31.64, Z:-1.90 [[ 9.97261861e-01 -7.39310100e-02 1.72808813e-03 2.97875312e+02] [ 7.39307311e-02 9.97263354e-01 2.24812260e-04 3.16355159e+01] [-1.73997957e-03 -9.64378735e-05 9.99998482e-01 -1.89958315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.071400513 meters 0.056835107550128765 Centerline is valid? [True, True] Translation: X:297.90, Y:31.64, Z:-1.90 [[ 9.97181165e-01 -7.50250197e-02 9.85147135e-04 2.97904513e+02] [ 7.50249296e-02 9.97181650e-01 1.28138495e-04 3.16350401e+01] [-9.91984239e-04 -5.38666993e-05 9.99999507e-01 -1.90098556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.101400513 meters 0.05491685690871012 Centerline is valid? [True, True] Translation: X:297.93, Y:31.63, Z:-1.90 [[ 9.97074642e-01 -7.64221946e-02 -1.34390350e-03 2.97934784e+02] [ 7.64220269e-02 9.97075545e-01 -1.75750600e-04 3.16298761e+01] [ 1.35340456e-03 7.25326378e-05 9.99999082e-01 -1.90392748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.131400513 meters 0.05636759512166479 Centerline is valid? [True, True] Translation: X:297.96, Y:31.63, Z:-1.91 [[ 9.97033158e-01 -7.69508999e-02 -1.85494607e-03 2.97962327e+02] [ 7.69505821e-02 9.97034879e-01 -2.42172060e-04 3.16320304e+01] [ 1.86808129e-03 9.87143933e-05 9.99998250e-01 -1.90500593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.161400513 meters 0.05351277147711191 Centerline is valid? [True, True] Translation: X:297.99, Y:31.63, Z:-1.90 [[ 9.96974670e-01 -7.77123287e-02 -1.51686029e-03 2.97991932e+02] [ 7.77121161e-02 9.96975821e-01 -1.98688385e-04 3.16282450e+01] [ 1.52771357e-03 8.02088647e-05 9.99998830e-01 -1.90416699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.191400513 meters 0.05571349764850976 Centerline is valid? [True, True] Translation: X:298.02, Y:31.63, Z:-1.90 [[ 9.97059543e-01 -7.66280640e-02 -6.38302123e-04 2.98020712e+02] [ 7.66280262e-02 9.97059747e-01 -8.35737922e-05 3.16254226e+01] [ 6.42829451e-04 3.44162153e-05 9.99999793e-01 -1.90295290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.221400513 meters 0.05940367959209584 Centerline is valid? [True, True] Translation: X:298.05, Y:31.63, Z:-1.90 [[ 9.97169138e-01 -7.51810703e-02 -1.23189983e-03 2.98048800e+02] [ 7.51809284e-02 9.97169896e-01 -1.61128208e-04 3.16300940e+01] [ 1.24052722e-03 6.80567030e-05 9.99999228e-01 -1.90421222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.251400513 meters 0.058152666719617135 Centerline is valid? [True, True] Translation: X:298.08, Y:31.63, Z:-1.91 [[ 9.97292292e-01 -7.34997045e-02 -2.42434285e-03 2.98078243e+02] [ 7.34991499e-02 9.97295229e-01 -3.17170483e-04 3.16288029e+01] [ 2.44109749e-03 1.38124540e-04 9.99997011e-01 -1.90614984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.281400513 meters 0.06283211674999772 Centerline is valid? [True, True] Translation: X:298.11, Y:31.63, Z:-1.91 [[ 9.97462617e-01 -7.10670327e-02 -4.21954232e-03 2.98106668e+02] [ 7.10653317e-02 9.97471510e-01 -5.51899628e-04 3.16342561e+01] [ 4.24809512e-03 2.50636073e-04 9.99990945e-01 -1.90919394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.311400513 meters 0.07072054125680288 Centerline is valid? [True, True] Translation: X:298.13, Y:31.64, Z:-1.91 [[ 9.97693989e-01 -6.76590000e-02 -5.38182200e-03 2.98134785e+02] [ 6.76561829e-02 9.97708447e-01 -7.04020439e-04 3.16434377e+01] [ 5.41712259e-03 3.38283427e-04 9.99985270e-01 -1.91157633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.341400513 meters 0.06757201502012859 Centerline is valid? [True, True] Translation: X:298.17, Y:31.64, Z:-1.91 [[ 9.97952400e-01 -6.37351713e-02 -5.36989348e-03 2.98166109e+02] [ 6.37323102e-02 9.97966783e-01 -7.02436046e-04 3.16400237e+01] [ 5.40374520e-03 3.58762021e-04 9.99985335e-01 -1.91026951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.371400513 meters 0.08944723372589163 Centerline is valid? [True, True] Translation: X:298.19, Y:31.67, Z:-1.91 [[ 9.98455299e-01 -5.54725723e-02 -3.13196847e-03 2.98191762e+02] [ 5.54715591e-02 9.98460184e-01 -4.09492690e-04 3.16679264e+01] [ 3.14986143e-03 2.35124972e-04 9.99995012e-01 -1.90758736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.401400513 meters 0.08731372568229347 Centerline is valid? [True, True] Translation: X:298.22, Y:31.67, Z:-1.91 [[ 9.98662382e-01 -5.16197497e-02 -2.97455765e-03 2.98222246e+02] [ 5.16188184e-02 9.98666784e-01 -3.89067129e-04 3.16686972e+01] [ 2.99067547e-03 2.35003554e-04 9.99995500e-01 -1.90711635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.431400513 meters 0.09012791734992134 Centerline is valid? [True, True] Translation: X:298.25, Y:31.67, Z:-1.91 [[ 9.98822843e-01 -4.83906940e-02 -3.35694077e-03 2.98252051e+02] [ 4.83894896e-02 9.98828446e-01 -4.39112661e-04 3.16748227e+01] [ 3.37425689e-03 2.76155106e-04 9.99994269e-01 -1.90834132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.461400513 meters 0.08644917334562907 Centerline is valid? [True, True] Translation: X:298.28, Y:31.67, Z:-1.91 [[ 9.98925736e-01 -4.62287523e-02 -3.20580961e-03 2.98282826e+02] [ 4.62276429e-02 9.98930843e-01 -4.19320177e-04 3.16722162e+01] [ 3.22176675e-03 2.70672694e-04 9.99994773e-01 -1.90864714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49140051300003 meters 0.09165332102023827 Centerline is valid? [True, True] Translation: X:298.31, Y:31.68, Z:-1.91 [[ 9.98965874e-01 -4.54223043e-02 -1.99908839e-03 2.98310179e+02] [ 4.54218708e-02 9.98967860e-01 -2.61754618e-04 3.16806241e+01] [ 2.00891454e-03 1.70681597e-04 9.99997968e-01 -1.90826664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.521400513 meters 0.08849508062114878 Centerline is valid? [True, True] Translation: X:298.34, Y:31.68, Z:-1.90 [[ 9.98842583e-01 -4.80787687e-02 1.38787746e-03 2.98340871e+02] [ 4.80785626e-02 9.98843541e-01 1.81569685e-04 3.16775630e+01] [-1.39500209e-03 -1.14632380e-04 9.99999020e-01 -1.90279231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55140051300003 meters 0.08388842651440609 Centerline is valid? [True, True] Translation: X:298.37, Y:31.67, Z:-1.90 [[ 9.98670209e-01 -5.15280796e-02 1.63442564e-03 2.98371725e+02] [ 5.15277981e-02 9.98671538e-01 2.13883897e-04 3.16736229e+01] [-1.64327540e-03 -1.29381122e-04 9.99998641e-01 -1.90147629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.581400513 meters 0.08234469713482982 Centerline is valid? [True, True] Translation: X:298.40, Y:31.67, Z:-1.90 [[ 9.98434372e-01 -5.59249859e-02 1.09594536e-03 2.98400932e+02] [ 5.59248620e-02 9.98434970e-01 1.43399602e-04 3.16736432e+01] [-1.10224979e-03 -8.18844990e-05 9.99999389e-01 -1.90275451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61140051300004 meters 0.07496020975889656 Centerline is valid? [True, True] Translation: X:298.43, Y:31.67, Z:-1.90 [[ 9.98198672e-01 -5.99927860e-02 5.25460890e-04 2.98432325e+02] [ 5.99927580e-02 9.98198810e-01 6.87816351e-05 3.16680950e+01] [-5.28640837e-04 -3.71338889e-05 9.99999860e-01 -1.90358759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.641400513 meters 0.0673345395903845 Centerline is valid? [True, True] Translation: X:298.46, Y:31.66, Z:-1.91 [[ 9.97891524e-01 -6.49038201e-02 -1.15111781e-05 2.98464000e+02] [ 6.49038201e-02 9.97891524e-01 -1.51183053e-06 3.16632148e+01] [ 1.15850306e-05 7.61523434e-07 1.00000000e+00 -1.90519851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67140051300004 meters 0.07007101293169413 Centerline is valid? [True, True] Translation: X:298.49, Y:31.67, Z:-1.91 [[ 9.97819979e-01 -6.59945850e-02 6.46841050e-05 2.98490960e+02] [ 6.59945846e-02 9.97819981e-01 8.20490107e-06 3.16704729e+01] [-6.50845715e-05 -3.91821358e-06 9.99999998e-01 -1.90530981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.701400513 meters 0.06945543730818143 Centerline is valid? [True, True] Translation: X:298.52, Y:31.67, Z:-1.90 [[ 9.97789532e-01 -6.64526510e-02 3.08819754e-04 2.98520022e+02] [ 6.64526418e-02 9.97789579e-01 3.99947215e-05 3.16742569e+01] [-3.10794888e-04 -1.93844259e-05 9.99999952e-01 -1.90458597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.731400513 meters 0.060904541273407053 Centerline is valid? [True, True] Translation: X:298.55, Y:31.67, Z:-1.90 [[ 9.97754571e-01 -6.69752377e-02 3.65379574e-04 2.98549873e+02] [ 6.69752248e-02 9.97754638e-01 4.74047379e-05 3.16688366e+01] [-3.67734108e-04 -2.28269148e-05 9.99999932e-01 -1.90370233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.761400513 meters 0.06385180347030979 Centerline is valid? [True, True] Translation: X:298.58, Y:31.68, Z:-1.90 [[ 9.97701088e-01 -6.77682744e-02 1.12286570e-05 2.98576669e+02] [ 6.77682744e-02 9.97701088e-01 1.17888181e-06 3.16772948e+01] [-1.12827341e-05 -4.15224957e-07 1.00000000e+00 -1.90405528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.791400513 meters 0.06864295032839941 Centerline is valid? [True, True] Translation: X:298.60, Y:31.69, Z:-1.91 [[ 9.97608996e-01 -6.91028573e-02 -1.04217109e-03 2.98604748e+02] [ 6.91027518e-02 9.97609538e-01 -1.37013182e-04 3.16877910e+01] [ 1.04914782e-03 6.46686931e-05 9.99999448e-01 -1.90615633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.821400513 meters 0.06457717715541215 Centerline is valid? [True, True] Translation: X:298.64, Y:31.69, Z:-1.91 [[ 9.97305414e-01 -7.32978109e-02 -3.05646928e-03 2.98635086e+02] [ 7.32969228e-02 9.97310082e-01 -4.01717386e-04 3.16870483e+01] [ 3.07769263e-03 1.76605131e-04 9.99995248e-01 -1.90980816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.851400513 meters 0.05635214540793489 Centerline is valid? [True, True] Translation: X:298.67, Y:31.68, Z:-1.91 [[ 9.97093903e-01 -7.61194171e-02 -3.09552849e-03 2.98666553e+02] [ 7.61185198e-02 9.97098694e-01 -4.06813801e-04 3.16811724e+01] [ 3.11751384e-03 1.70004515e-04 9.99995126e-01 -1.90936704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.881400513 meters 0.05833626925325088 Centerline is valid? [True, True] Translation: X:298.70, Y:31.69, Z:-1.91 [[ 9.96836090e-01 -7.94513563e-02 -2.30051513e-03 2.98695490e+02] [ 7.94508694e-02 9.96838737e-01 -3.02403599e-04 3.16878620e+01] [ 2.31726897e-03 1.18668894e-04 9.99997308e-01 -1.90888244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.911400513 meters 0.05453782089620093 Centerline is valid? [True, True] Translation: X:298.73, Y:31.69, Z:-1.91 [[ 9.96541310e-01 -8.30879313e-02 -1.34665500e-03 2.98725999e+02] [ 8.30877678e-02 9.96542218e-01 -1.76999456e-04 3.16875195e+01] [ 1.35670508e-03 6.44967112e-05 9.99999078e-01 -1.90738750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.941400513 meters 0.0423360476276155 Centerline is valid? [True, True] Translation: X:298.76, Y:31.68, Z:-1.91 [[ 9.95867331e-01 -9.08168966e-02 -7.42053979e-04 2.98758148e+02] [ 9.08168491e-02 9.95867607e-01 -9.75478846e-05 3.16752709e+01] [ 7.47846517e-04 2.97537472e-05 9.99999720e-01 -1.90557927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.971400513 meters 0.041254325499894356 Centerline is valid? [True, True] Translation: X:298.79, Y:31.68, Z:-1.91 [[ 9.95475025e-01 -9.50190585e-02 -9.23534481e-04 2.98787044e+02] [ 9.50189866e-02 9.95475453e-01 -1.21453492e-04 3.16765782e+01] [ 9.30896302e-04 3.31506078e-05 9.99999566e-01 -1.90652246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.001400513 meters 0.03271868687597639 Centerline is valid? [True, True] Translation: X:298.82, Y:31.67, Z:-1.91 [[ 9.95046934e-01 -9.94038085e-02 -6.94101941e-04 2.98817980e+02] [ 9.94037690e-02 9.95047176e-01 -9.13380388e-05 3.16684248e+01] [ 6.99743525e-04 2.18892864e-05 9.99999755e-01 -1.90597827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.031400513 meters 0.030454940208148467 Centerline is valid? [True, True] Translation: X:298.85, Y:31.67, Z:-1.91 [[ 9.94572949e-01 -1.04041327e-01 2.25455488e-04 2.98846883e+02] [ 1.04041323e-01 9.94572975e-01 2.95671238e-05 3.16673761e+01] [-2.27308139e-04 -5.94997415e-06 9.99999974e-01 -1.90524845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.061400513 meters 0.025662756624925915 Centerline is valid? [True, True] Translation: X:298.88, Y:31.66, Z:-1.90 [[ 9.94077744e-01 -1.08656039e-01 1.81783017e-03 2.98878010e+02] [ 1.08655783e-01 9.94079405e-01 2.39001605e-04 3.16631963e+01] [-1.83303650e-03 -4.00684147e-05 9.99998319e-01 -1.90294837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.091400513 meters 0.019788278536738407 Centerline is valid? [True, True] Translation: X:298.91, Y:31.66, Z:-1.90 [[ 9.93608466e-01 -1.12830063e-01 3.40491952e-03 2.98909144e+02] [ 1.12829190e-01 9.93614298e-01 4.47842617e-04 3.16565688e+01] [-3.43370682e-03 -6.08059044e-05 9.99994103e-01 -1.90074882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.121400513 meters 0.0209271374579576 Centerline is valid? [True, True] Translation: X:298.94, Y:31.65, Z:-1.90 [[ 9.92867345e-01 -1.19137682e-01 4.54407759e-03 2.98940081e+02] [ 1.19136194e-01 9.92877742e-01 5.97756255e-04 3.16461118e+01] [-4.58292879e-03 -5.21285590e-05 9.99989497e-01 -1.89886762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.151400513 meters 0.012625839297148308 Centerline is valid? [True, True] Translation: X:298.97, Y:31.64, Z:-1.90 [[ 9.92664456e-01 -1.20819109e-01 4.47441849e-03 2.98969629e+02] [ 1.20817682e-01 9.92674539e-01 5.88859911e-04 3.16437039e+01] [-4.51278684e-03 -4.39514334e-05 9.99989816e-01 -1.89820743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.181400513 meters 0.012825325327993157 Centerline is valid? [True, True] Translation: X:299.00, Y:31.64, Z:-1.90 [[ 9.92638567e-01 -1.21062149e-01 3.55397981e-03 2.98996580e+02] [ 1.21061248e-01 9.92644929e-01 4.68188068e-04 3.16443603e+01] [-3.58451989e-03 -3.44923013e-05 9.99993575e-01 -1.89898278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.211400513 meters 0.013495419887234015 Centerline is valid? [True, True] Translation: X:299.03, Y:31.65, Z:-1.90 [[ 9.92800320e-01 -1.19757122e-01 2.39920167e-03 2.99025180e+02] [ 1.19756708e-01 9.92803219e-01 3.16088119e-04 3.16459192e+01] [-2.41978894e-03 -2.64918929e-05 9.99997072e-01 -1.90055271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24140051300003 meters 0.01564201389280656 Centerline is valid? [True, True] Translation: X:299.05, Y:31.65, Z:-1.90 [[ 9.93069742e-01 -1.17519704e-01 1.26745353e-03 2.99053999e+02] [ 1.17519587e-01 9.93070551e-01 1.66929250e-04 3.16491201e+01] [-1.27828825e-03 -1.68217719e-05 9.99999183e-01 -1.90240189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.271400513 meters 0.020595690710982793 Centerline is valid? [True, True] Translation: X:299.08, Y:31.66, Z:-1.90 [[ 9.93437843e-01 -1.14373277e-01 7.97921645e-05 2.99081404e+02] [ 1.14373277e-01 9.93437846e-01 1.03467334e-05 3.16558860e+01] [-8.04519458e-05 -1.15274523e-06 9.99999997e-01 -1.90499747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30140051300003 meters 0.027367769222886706 Centerline is valid? [True, True] Translation: X:299.11, Y:31.66, Z:-1.91 [[ 9.94223880e-01 -1.07316499e-01 -1.43021101e-03 2.99110560e+02] [ 1.07316338e-01 9.94224908e-01 -1.89175970e-04 3.16641677e+01] [ 1.44225312e-03 3.45982583e-05 9.99998959e-01 -1.90827320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.331400513 meters 0.02683979906907406 Centerline is valid? [True, True] Translation: X:299.14, Y:31.67, Z:-1.91 [[ 9.94539753e-01 -1.04344948e-01 -1.67679964e-03 2.99139646e+02] [ 1.04344722e-01 9.94541165e-01 -2.21915551e-04 3.16658302e+01] [ 1.69080204e-03 4.57386440e-05 9.99998570e-01 -1.90777837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36140051300004 meters 0.029592050191912855 Centerline is valid? [True, True] Translation: X:299.17, Y:31.67, Z:-1.91 [[ 9.94800472e-01 -1.01822390e-01 -2.05453616e-03 2.99167499e+02] [ 1.01822045e-01 9.94802592e-01 -2.72020433e-04 3.16709556e+01] [ 2.07155567e-03 6.14089823e-05 9.99997852e-01 -1.90795179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.391400513 meters 0.03447023606188247 Centerline is valid? [True, True] Translation: X:299.20, Y:31.68, Z:-1.91 [[ 9.94983357e-01 -1.00013148e-01 -2.34289979e-03 2.99195851e+02] [ 1.00012695e-01 9.94986113e-01 -3.10220465e-04 3.16773038e+01] [ 2.36217888e-03 7.43444786e-05 9.99997207e-01 -1.90909894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42140051300004 meters 0.033947485138851596 Centerline is valid? [True, True] Translation: X:299.23, Y:31.67, Z:-1.91 [[ 9.95109899e-01 -9.87543662e-02 -1.96594278e-03 2.99225378e+02] [ 9.87540429e-02 9.95111838e-01 -2.61103817e-04 3.16735132e+01] [ 1.98211808e-03 6.56821955e-05 9.99998033e-01 -1.90889951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.451400513 meters 0.0337967088085097 Centerline is valid? [True, True] Translation: X:299.25, Y:31.67, Z:-1.91 [[ 9.95142138e-01 -9.84401891e-02 -1.28649018e-03 2.99254000e+02] [ 9.84400499e-02 9.95142968e-01 -1.71281002e-04 3.16747634e+01] [ 1.29710259e-03 4.38067859e-05 9.99999158e-01 -1.90816894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.481400513 meters 0.03427777377416596 Centerline is valid? [True, True] Translation: X:299.28, Y:31.68, Z:-1.91 [[ 9.95196004e-01 -9.79010118e-02 -5.52705684e-04 2.99282285e+02] [ 9.79009860e-02 9.95196157e-01 -7.35784611e-05 3.16770396e+01] [ 5.57253979e-04 1.91145591e-05 9.99999845e-01 -1.90833553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.511400513 meters 0.03939231232891053 Centerline is valid? [True, True] Translation: X:299.31, Y:31.68, Z:-1.91 [[ 9.95265309e-01 -9.71920392e-02 -8.19768395e-04 2.99308813e+02] [ 9.71919821e-02 9.95265646e-01 -1.09270605e-04 3.16845150e+01] [ 8.26507554e-04 2.90783275e-05 9.99999658e-01 -1.90994972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.541400513 meters 0.03939231232891053 Centerline is valid? [True, True] Translation: X:299.34, Y:31.69, Z:-1.91 [[ 9.95247790e-01 -9.73712675e-02 -8.19714824e-04 2.99336074e+02] [ 9.73712102e-02 9.95248128e-01 -1.09673292e-04 3.16883059e+01] [ 8.26498671e-04 2.93354775e-05 9.99999658e-01 -1.91004274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.571400513 meters 0.03860304345413648 Centerline is valid? [True, True] Translation: X:299.36, Y:31.69, Z:-1.91 [[ 9.95366329e-01 -9.61398942e-02 -1.72984627e-03 2.99364624e+02] [ 9.61396385e-02 9.95367830e-01 -2.30597835e-04 3.16881403e+01] [ 1.74400298e-03 6.32225248e-05 9.99998477e-01 -1.91166832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.601400513 meters 0.04766878895352504 Centerline is valid? [True, True] Translation: X:299.39, Y:31.69, Z:-1.91 [[ 9.95768498e-01 -9.18538058e-02 -2.82444667e-03 2.99394259e+02] [ 9.18531080e-02 9.95772497e-01 -3.76055694e-04 3.16948830e+01] [ 2.84704846e-03 1.15030208e-04 9.99995941e-01 -1.91329336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.631400513 meters 0.04631093211965671 Centerline is valid? [True, True] Translation: X:299.42, Y:31.70, Z:-1.91 [[ 9.95993456e-01 -8.93912251e-02 -2.49903769e-03 2.99422629e+02] [ 8.93906706e-02 9.95996585e-01 -3.32919896e-04 3.17020558e+01] [ 2.51879312e-03 1.08195383e-04 9.99996822e-01 -1.91240162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.661400513 meters 0.049130115096667426 Centerline is valid? [True, True] Translation: X:299.45, Y:31.71, Z:-1.91 [[ 9.96213878e-01 -8.69171427e-02 -1.82222700e-03 2.99452519e+02] [ 8.69168439e-02 9.96215541e-01 -2.42670894e-04 3.17103783e+01] [ 1.83642312e-03 8.33698925e-05 9.99998310e-01 -1.91152690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.691400513 meters 0.04625337662318191 Centerline is valid? [True, True] Translation: X:299.48, Y:31.71, Z:-1.91 [[ 9.96420906e-01 -8.45182524e-02 -1.42954864e-03 2.99483101e+02] [ 8.45180660e-02 9.96421929e-01 -1.90376855e-04 3.17114682e+01] [ 1.44052393e-03 6.88727923e-05 9.99998960e-01 -1.91014635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.721400513 meters 0.05383026971938071 Centerline is valid? [True, True] Translation: X:299.51, Y:31.72, Z:-1.91 [[ 9.96615568e-01 -8.21978080e-02 -9.64255441e-04 2.99510434e+02] [ 8.21977220e-02 9.96616033e-01 -1.28516592e-04 3.17246746e+01] [ 9.71556215e-04 4.88220355e-05 9.99999527e-01 -1.91016937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.751400513 meters 0.05348427251471066 Centerline is valid? [True, True] Translation: X:299.54, Y:31.73, Z:-1.91 [[ 9.96920476e-01 -7.84168879e-02 -5.97238467e-04 2.99540785e+02] [ 7.84168542e-02 9.96920654e-01 -7.95529124e-05 3.17279928e+01] [ 6.01637655e-04 3.24743655e-05 9.99999818e-01 -1.90944818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.781400513 meters 0.05983801964149094 Centerline is valid? [True, True] Translation: X:299.57, Y:31.74, Z:-1.91 [[ 9.97006551e-01 -7.73168068e-02 -2.20163346e-04 2.99567547e+02] [ 7.73168021e-02 9.97006575e-01 -2.94941809e-05 3.17394537e+01] [ 2.21784700e-04 1.23835657e-05 9.99999975e-01 -1.90938553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.811400513 meters 0.05948362498552036 Centerline is valid? [True, True] Translation: X:299.60, Y:31.74, Z:-1.91 [[ 9.97011946e-01 -7.72474409e-02 1.14136813e-04 2.99596041e+02] [ 7.72474397e-02 9.97011952e-01 1.46896283e-05 3.17420711e+01] [-1.14930503e-04 -5.82895835e-06 9.99999993e-01 -1.90914262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.841400513 meters 0.05905165046800043 Centerline is valid? [True, True] Translation: X:299.62, Y:31.74, Z:-1.91 [[ 9.96962031e-01 -7.78889284e-02 1.51389723e-04 2.99624880e+02] [ 7.78889264e-02 9.96962043e-01 1.96836592e-05 3.17444446e+01] [-1.52462946e-04 -7.83227787e-06 9.99999988e-01 -1.90908124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.871400513 meters 0.05846169401528967 Centerline is valid? [True, True] Translation: X:299.65, Y:31.75, Z:-1.91 [[ 9.96883234e-01 -7.88911811e-02 -3.03054785e-07 2.99654287e+02] [ 7.88911810e-02 9.96883234e-01 -5.38944617e-07 3.17460532e+01] [ 3.44628197e-07 5.13356502e-07 1.00000000e+00 -1.90969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.901400513 meters 0.057751814833597745 Centerline is valid? [True, True] Translation: X:299.68, Y:31.75, Z:-1.91 [[ 9.96785319e-01 -8.01173853e-02 -4.81393957e-04 2.99683047e+02] [ 8.01173635e-02 9.96785435e-01 -6.45440313e-05 3.17470374e+01] [ 4.85017584e-04 2.57685282e-05 9.99999882e-01 -1.91059534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.931400513 meters 0.05478812731011885 Centerline is valid? [True, True] Translation: X:299.71, Y:31.74, Z:-1.91 [[ 9.96654753e-01 -8.17243114e-02 -6.63196637e-04 2.99713680e+02] [ 8.17242704e-02 9.96654973e-01 -8.87550728e-05 3.17441803e+01] [ 6.68231674e-04 3.42589039e-05 9.99999776e-01 -1.90983740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.961400513 meters 0.056959682197451324 Centerline is valid? [True, True] Translation: X:299.74, Y:31.75, Z:-1.91 [[ 9.96700944e-01 -8.11615894e-02 -1.56973288e-04 2.99740618e+02] [ 8.11615871e-02 9.96700956e-01 -2.12396222e-05 3.17495123e+01] [ 1.58179268e-04 8.42935028e-06 9.99999987e-01 -1.90886303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99140051300003 meters 0.05436261126115226 Centerline is valid? [True, True] Translation: X:299.77, Y:31.75, Z:-1.91 [[ 9.96812337e-01 -7.97815269e-02 -2.69385325e-04 2.99770741e+02] [ 7.97815200e-02 9.96812373e-01 -3.61396024e-05 3.17487867e+01] [ 2.71409898e-04 1.45324309e-05 9.99999963e-01 -1.90819651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.021400513 meters 0.05891899536357318 Centerline is valid? [True, True] Translation: X:299.80, Y:31.76, Z:-1.91 [[ 9.96943696e-01 -7.81172700e-02 -9.79278369e-04 2.99798026e+02] [ 7.81171786e-02 9.96944176e-01 -1.31291584e-04 3.17559749e+01] [ 9.86542006e-04 5.43918538e-05 9.99999512e-01 -1.90910502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05140051300003 meters 0.06709484146453813 Centerline is valid? [True, True] Translation: X:299.83, Y:31.77, Z:-1.91 [[ 9.97086672e-01 -7.62637334e-02 -1.41793099e-03 2.99825690e+02] [ 7.62635402e-02 9.97087677e-01 -1.89898952e-04 3.17676153e+01] [ 1.42828392e-03 8.12092764e-05 9.99998977e-01 -1.91051809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.081400513 meters 0.06111455435068544 Centerline is valid? [True, True] Translation: X:299.86, Y:31.76, Z:-1.91 [[ 9.97216537e-01 -7.45506228e-02 -1.17630095e-03 2.99856286e+02] [ 7.45504885e-02 9.97217228e-01 -1.57628663e-04 3.17626050e+01] [ 1.18477889e-03 6.94960993e-05 9.99999296e-01 -1.90950762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11140051300004 meters 0.06757707709528432 Centerline is valid? [True, True] Translation: X:299.88, Y:31.77, Z:-1.91 [[ 9.97422726e-01 -7.17484258e-02 -2.62068846e-04 2.99884915e+02] [ 7.17484190e-02 9.97422760e-01 -3.51006910e-05 3.17719514e+01] [ 2.63911851e-04 1.62072015e-05 9.99999965e-01 -1.90826600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.141400513 meters 0.07294867666873993 Centerline is valid? [True, True] Translation: X:299.91, Y:31.78, Z:-1.91 [[ 9.97484292e-01 -7.08876331e-02 -1.74343055e-04 2.99912828e+02] [ 7.08876300e-02 9.97484307e-01 -2.34695727e-05 3.17811638e+01] [ 1.75568164e-04 1.10517641e-05 9.99999985e-01 -1.90785402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17140051300004 meters 0.058603849373253754 Centerline is valid? [True, True] Translation: X:299.94, Y:31.77, Z:-1.91 [[ 9.97496765e-01 -7.07109959e-02 -3.99033008e-04 2.99943904e+02] [ 7.07109799e-02 9.97496844e-01 -5.40919667e-05 3.17664536e+01] [ 4.01859063e-04 2.57405468e-05 9.99999919e-01 -1.90701038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.201400513 meters 0.06315581084062566 Centerline is valid? [True, True] Translation: X:299.97, Y:31.78, Z:-1.91 [[ 9.97458267e-01 -7.12476765e-02 -8.80107877e-04 2.99971258e+02] [ 7.12475993e-02 9.97458654e-01 -1.18767421e-04 3.17751840e+01] [ 8.86333121e-04 5.57599729e-05 9.99999606e-01 -1.90800629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.231400513 meters 0.060866360932283675 Centerline is valid? [True, True] Translation: X:300.00, Y:31.78, Z:-1.91 [[ 9.97343085e-01 -7.28117898e-02 -2.28333609e-03 3.00000806e+02] [ 7.28112775e-02 9.97345689e-01 -3.06801738e-04 3.17766715e+01] [ 2.29961419e-03 1.39733974e-04 9.99997346e-01 -1.90995840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.261400513 meters 0.05848211650813008 Centerline is valid? [True, True] Translation: X:300.03, Y:31.78, Z:-1.91 [[ 9.97251797e-01 -7.40405807e-02 -2.61644909e-03 3.00029913e+02] [ 7.40399118e-02 9.97255217e-01 -3.51752870e-04 3.17781723e+01] [ 2.63531149e-03 1.57064522e-04 9.99996515e-01 -1.91072688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.291400513 meters 0.060365176025032434 Centerline is valid? [True, True] Translation: X:300.06, Y:31.78, Z:-1.91 [[ 9.97112303e-01 -7.59114494e-02 -2.12291171e-03 3.00058226e+02] [ 7.59110133e-02 9.97114555e-01 -2.85402734e-04 3.17839926e+01] [ 2.13845150e-03 1.23426198e-04 9.99997706e-01 -1.91051862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.321400513 meters 0.059050068081528836 Centerline is valid? [True, True] Translation: X:300.09, Y:31.78, Z:-1.91 [[ 9.96930736e-01 -7.82775173e-02 -1.31820116e-03 3.00087836e+02] [ 7.82773511e-02 9.96931605e-01 -1.77276384e-04 3.17848318e+01] [ 1.32803315e-03 7.35469813e-05 9.99999115e-01 -1.90939872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.351400513 meters 0.05642760501846071 Centerline is valid? [True, True] Translation: X:300.12, Y:31.78, Z:-1.91 [[ 9.96691260e-01 -8.12773155e-02 -7.28056518e-04 3.00118690e+02] [ 8.12772656e-02 9.96691525e-01 -9.78817223e-05 3.17843449e+01] [ 7.33603325e-04 3.83834142e-05 9.99999730e-01 -1.90870825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.381400513 meters 0.04731558653133167 Centerline is valid? [True, True] Translation: X:300.15, Y:31.78, Z:-1.91 [[ 9.96284012e-01 -8.61087639e-02 -1.85697349e-03 3.00150611e+02] [ 8.61084476e-02 9.96285739e-01 -2.49771670e-04 3.17751709e+01] [ 1.87158374e-03 8.89424167e-05 9.99998245e-01 -1.90977561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.411400513 meters 0.051307934310931204 Centerline is valid? [True, True] Translation: X:300.18, Y:31.78, Z:-1.91 [[ 9.96193237e-01 -8.71321562e-02 -2.64988779e-03 3.00177741e+02] [ 8.71315151e-02 9.96196754e-01 -3.56646074e-04 3.17830765e+01] [ 2.67088495e-03 1.24399669e-04 9.99996425e-01 -1.91135673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.441400513 meters 0.04866786230495285 Centerline is valid? [True, True] Translation: X:300.21, Y:31.78, Z:-1.91 [[ 9.96168391e-01 -8.73974090e-02 -3.19845053e-03 3.00205549e+02] [ 8.73964732e-02 9.96173514e-01 -4.31463684e-04 3.17834115e+01] [ 3.22392051e-03 1.50277188e-04 9.99994792e-01 -1.91139806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.471400513 meters 0.05165179982337177 Centerline is valid? [True, True] Translation: X:300.23, Y:31.79, Z:-1.91 [[ 9.96235181e-01 -8.66285555e-02 -3.31016582e-03 3.00233436e+02] [ 8.66275498e-02 9.96240668e-01 -4.46272959e-04 3.17887350e+01] [ 3.33638179e-03 1.57841268e-04 9.99994422e-01 -1.91151976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.501400513 meters 0.052520487894371415 Centerline is valid? [True, True] Translation: X:300.26, Y:31.80, Z:-1.91 [[ 9.96318763e-01 -8.56878021e-02 -2.55391056e-03 3.00260683e+02] [ 8.56871999e-02 9.96322029e-01 -3.44506125e-04 3.17971277e+01] [ 2.57403733e-03 1.24400471e-04 9.99996679e-01 -1.91051181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.531400513 meters 0.04896991646918405 Centerline is valid? [True, True] Translation: X:300.29, Y:31.80, Z:-1.91 [[ 9.96426107e-01 -8.44516231e-02 -1.71353799e-03 3.00290160e+02] [ 8.44513501e-02 9.96427577e-01 -2.31196230e-04 3.17965957e+01] [ 1.72694141e-03 8.56593625e-05 9.99998505e-01 -1.90909657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.561400513 meters 0.053607184163344306 Centerline is valid? [True, True] Translation: X:300.32, Y:31.80, Z:-1.91 [[ 9.96579374e-01 -8.26250486e-02 -1.62867204e-03 3.00317816e+02] [ 8.26247994e-02 9.96580701e-01 -2.19867995e-04 3.18024873e+01] [ 1.64126973e-03 8.45472079e-05 9.99998650e-01 -1.90989950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.591400513 meters 0.04842987384831251 Centerline is valid? [True, True] Translation: X:300.35, Y:31.80, Z:-1.91 [[ 9.96538205e-01 -8.30960676e-02 -2.57848155e-03 3.00347136e+02] [ 8.30954424e-02 9.96541532e-01 -3.48845051e-04 3.17976483e+01] [ 2.59855161e-03 1.33377355e-04 9.99996615e-01 -1.91055765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.621400513 meters 0.05292376930616673 Centerline is valid? [True, True] Translation: X:300.37, Y:31.81, Z:-1.91 [[ 9.96452067e-01 -8.40986124e-02 -3.27140186e-03 3.00374401e+02] [ 8.40976124e-02 9.96457423e-01 -4.42270050e-04 3.18053097e+01] [ 3.29700696e-03 1.65583820e-04 9.99994551e-01 -1.91242223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.651400513 meters 0.053835035703496514 Centerline is valid? [True, True] Translation: X:300.40, Y:31.80, Z:-1.91 [[ 9.96334114e-01 -8.54638252e-02 -3.77734022e-03 3.00403374e+02] [ 8.54625015e-02 9.96341257e-01 -5.10772485e-04 3.18037971e+01] [ 3.80717247e-03 1.86079107e-04 9.99992735e-01 -1.91288349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.681400513 meters 0.0475391412585195 Centerline is valid? [True, True] Translation: X:300.43, Y:31.81, Z:-1.91 [[ 9.96240746e-01 -8.65597507e-02 -3.43287329e-03 3.00432188e+02] [ 8.65586605e-02 9.96246647e-01 -4.65181803e-04 3.18052870e+01] [ 3.46025453e-03 1.66288153e-04 9.99993999e-01 -1.91168775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.711400513 meters 0.044929649518535314 Centerline is valid? [True, True] Translation: X:300.46, Y:31.80, Z:-1.91 [[ 9.96207210e-01 -8.69860057e-02 -2.15161364e-03 3.00461136e+02] [ 8.69855771e-02 9.96209528e-01 -2.92151028e-04 3.18041454e+01] [ 2.16887106e-03 1.03883606e-04 9.99997643e-01 -1.90896842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74140051300003 meters 0.05055264508711703 Centerline is valid? [True, True] Translation: X:300.49, Y:31.81, Z:-1.91 [[ 9.96447093e-01 -8.42185063e-02 -6.59422775e-04 3.00490011e+02] [ 8.42184655e-02 9.96447310e-01 -8.94596996e-05 3.18079811e+01] [ 6.64614213e-04 3.36062833e-05 9.99999779e-01 -1.90554902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.771400513 meters 0.049688805542979254 Centerline is valid? [True, True] Translation: X:300.52, Y:31.81, Z:-1.91 [[ 9.96665921e-01 -8.15880736e-02 -6.54837052e-04 3.00520176e+02] [ 8.15880328e-02 9.96666135e-01 -8.88056429e-05 3.18117002e+01] [ 6.59899395e-04 3.50826909e-05 9.99999782e-01 -1.90533169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80140051300003 meters 0.05385772322067604 Centerline is valid? [True, True] Translation: X:300.55, Y:31.82, Z:-1.91 [[ 9.96916650e-01 -7.84649876e-02 -6.62375979e-04 3.00548773e+02] [ 7.84649452e-02 9.96916869e-01 -8.97933385e-05 3.18197590e+01] [ 6.67379421e-04 3.75431792e-05 9.99999777e-01 -1.90594550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.831400513 meters 0.06332455906292404 Centerline is valid? [True, True] Translation: X:300.58, Y:31.83, Z:-1.91 [[ 9.97175612e-01 -7.51045044e-02 -3.35594078e-04 3.00576269e+02] [ 7.51044934e-02 9.97175668e-01 -4.54872460e-05 3.18349232e+01] [ 3.38062546e-04 2.01541492e-05 9.99999943e-01 -1.90652682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86140051300004 meters 0.06710320337614234 Centerline is valid? [True, True] Translation: X:300.61, Y:31.84, Z:-1.91 [[ 9.97385950e-01 -7.22573782e-02 3.70556115e-04 3.00605528e+02] [ 7.22573645e-02 9.97386019e-01 5.02230888e-05 3.18425775e+01] [-3.73216477e-04 -2.33163949e-05 9.99999930e-01 -1.90621667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.891400513 meters 0.06686507354548943 Centerline is valid? [True, True] Translation: X:300.64, Y:31.84, Z:-1.91 [[ 9.97631580e-01 -6.87835591e-02 -2.30696972e-04 3.00635655e+02] [ 6.87835537e-02 9.97631606e-01 -3.13123247e-05 3.18428421e+01] [ 2.32304364e-04 1.53700064e-05 9.99999973e-01 -1.90751282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92140051300004 meters 0.07054705827734567 Centerline is valid? [True, True] Translation: X:300.66, Y:31.85, Z:-1.91 [[ 9.97709475e-01 -6.76374271e-02 -9.90667742e-04 3.00663675e+02] [ 6.76373268e-02 9.97709965e-01 -1.34451382e-04 3.18494390e+01] [ 9.97493024e-04 6.71372998e-05 9.99999500e-01 -1.90903911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.951400513 meters 0.06802725728746108 Centerline is valid? [True, True] Translation: X:300.69, Y:31.85, Z:-1.91 [[ 9.97791597e-01 -6.63981547e-02 -1.79293561e-03 3.00693235e+02] [ 6.63978242e-02 9.97793200e-01 -2.43304552e-04 3.18485641e+01] [ 1.80513393e-03 1.23720214e-04 9.99998363e-01 -1.90956006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.981400513 meters 0.07188499583433676 Centerline is valid? [True, True] Translation: X:300.72, Y:31.86, Z:-1.91 [[ 9.97903542e-01 -6.47000332e-02 -1.55774409e-03 3.00721335e+02] [ 6.46997818e-02 9.97904752e-01 -2.11318642e-04 3.18556376e+01] [ 1.56815256e-03 1.10089919e-04 9.99998764e-01 -1.90914274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.011400513 meters 0.06908640696990467 Centerline is valid? [True, True] Translation: X:300.75, Y:31.85, Z:-1.91 [[ 9.98067611e-01 -6.21302111e-02 -9.37968519e-04 3.00751867e+02] [ 6.21301188e-02 9.98068050e-01 -1.27235500e-04 3.18549105e+01] [ 9.44061579e-04 6.87135359e-05 9.99999552e-01 -1.90721228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.041400513 meters 0.08039337767610487 Centerline is valid? [True, True] Translation: X:300.78, Y:31.87, Z:-1.90 [[ 9.98447799e-01 -5.56762125e-02 1.46687523e-03 3.00779434e+02] [ 5.56759799e-02 9.98448870e-01 1.98955072e-04 3.18728983e+01] [-1.47567698e-03 -1.16976538e-04 9.99998904e-01 -1.90405429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.071400513 meters 0.08385571508939686 Centerline is valid? [True, True] Translation: X:300.81, Y:31.88, Z:-1.90 [[ 9.98627698e-01 -5.23273616e-02 2.13705953e-03 3.00808322e+02] [ 5.23268602e-02 9.98629969e-01 2.89889446e-04 3.18821672e+01] [-2.14930084e-03 -1.77666015e-04 9.99997674e-01 -1.90356561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.101400513 meters 0.08827237760117085 Centerline is valid? [True, True] Translation: X:300.84, Y:31.89, Z:-1.90 [[ 9.98796597e-01 -4.90009210e-02 2.06600041e-03 3.00836160e+02] [ 4.90004453e-02 9.98798717e-01 2.80277871e-04 3.18923576e+01] [-2.07725243e-03 -1.78705644e-04 9.99997827e-01 -1.90420299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.131400513 meters 0.0991441333156712 Centerline is valid? [True, True] Translation: X:300.86, Y:31.91, Z:-1.91 [[ 9.98942753e-01 -4.59586630e-02 1.08475413e-03 3.00863399e+02] [ 4.59585301e-02 9.98943338e-01 1.47140976e-04 3.19104121e+01] [-1.09037031e-03 -9.71317062e-05 9.99999401e-01 -1.90672880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.161400513 meters 0.09152372191545984 Centerline is valid? [True, True] Translation: X:300.89, Y:31.91, Z:-1.91 [[ 9.99057336e-01 -4.34100751e-02 -6.87933065e-05 3.00894893e+02] [ 4.34100745e-02 9.99057338e-01 -9.33078633e-06 3.19062790e+01] [ 6.91335079e-05 6.33566797e-06 9.99999998e-01 -1.90847133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.191400513 meters 0.10588019190038317 Centerline is valid? [True, False] Translation: X:300.90, Y:31.91, Z:-1.91 [[ 9.99410545e-01 -3.42336449e-02 2.57297979e-03 3.00896509e+02] [ 3.42597848e-02 9.99353365e-01 -1.09141882e-02 3.19136228e+01] [-2.19768357e-03 1.09959045e-02 9.99937128e-01 -1.91205434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.221400513 meters 0.09654567071576683 Centerline is valid? [False, True] Translation: X:300.90, Y:31.92, Z:-1.91 [[ 9.99665338e-01 -2.52259952e-02 5.73255073e-03 3.00897570e+02] [ 2.53445285e-02 9.99444481e-01 -2.16421806e-02 3.19230554e+01] [-5.18342065e-03 2.17802266e-02 9.99749346e-01 -1.91484459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.251400513 meters 0.08950579249576339 Centerline is valid? [True, True] Translation: X:300.93, Y:31.90, Z:-1.91 [[ 9.99627995e-01 -2.70378568e-02 3.58129993e-03 3.00930876e+02] [ 2.70365073e-02 9.99634357e-01 4.24713941e-04 3.19014920e+01] [-3.59147381e-03 -3.27730103e-04 9.99993497e-01 -1.91202761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.281400513 meters 0.09150614544769638 Centerline is valid? [True, True] Translation: X:300.96, Y:31.91, Z:-1.91 [[ 9.99578232e-01 -2.87628900e-02 4.00670456e-03 3.00959472e+02] [ 2.87612146e-02 9.99586198e-01 4.75136060e-04 3.19093218e+01] [-4.01871286e-03 -3.59697973e-04 9.99991860e-01 -1.91207856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.311400513 meters 0.09235884224419401 Centerline is valid? [True, True] Translation: X:300.99, Y:31.91, Z:-1.91 [[ 9.99520764e-01 -3.07233059e-02 3.78417406e-03 3.00989674e+02] [ 3.07218252e-02 9.99527873e-01 4.48813762e-04 3.19146940e+01] [-3.79617649e-03 -3.32341940e-04 9.99992739e-01 -1.91305849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.341400513 meters 0.08372276801825132 Centerline is valid? [True, True] Translation: X:301.02, Y:31.91, Z:-1.91 [[ 9.99466434e-01 -3.25459304e-02 2.75860151e-03 3.01020694e+02] [ 3.25451504e-02 9.99470213e-01 3.27190963e-04 3.19100785e+01] [-2.76778878e-03 -2.37237284e-04 9.99996142e-01 -1.91418748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.371400513 meters 0.08739948866722622 Centerline is valid? [True, True] Translation: X:301.05, Y:31.92, Z:-1.92 [[ 9.99410058e-01 -3.43110489e-02 1.51275372e-03 3.01048860e+02] [ 3.43108165e-02 9.99411195e-01 1.79307977e-04 3.19183013e+01] [-1.51801524e-03 -1.27298380e-04 9.99998840e-01 -1.91709522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.401400513 meters 0.08516979770594367 Centerline is valid? [True, True] Translation: X:301.08, Y:31.92, Z:-1.92 [[ 9.99332170e-01 -3.65189983e-02 1.25548877e-03 3.01079197e+02] [ 3.65188398e-02 9.99332954e-01 1.48957537e-04 3.19184521e+01] [-1.26009108e-03 -1.03009065e-04 9.99999201e-01 -1.91800452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.431400513 meters 0.07653578078516966 Centerline is valid? [True, True] Translation: X:301.11, Y:31.91, Z:-1.92 [[ 9.99309486e-01 -3.70983000e-02 2.06561021e-03 3.01109595e+02] [ 3.70978740e-02 9.99311607e-01 2.44155462e-04 3.19104238e+01] [-2.07324601e-03 -1.67357122e-04 9.99997837e-01 -1.91554464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.461400513 meters 0.07653578078516966 Centerline is valid? [True, True] Translation: X:301.14, Y:31.91, Z:-1.92 [[ 9.99302666e-01 -3.72815712e-02 2.06559929e-03 3.01136984e+02] [ 3.72811454e-02 9.99304787e-01 2.44248226e-04 3.19138100e+01] [-2.07326922e-03 -1.67069996e-04 9.99997837e-01 -1.91577580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49140051300003 meters 0.08380533056502333 Centerline is valid? [True, True] Translation: X:301.16, Y:31.93, Z:-1.91 [[ 9.99304653e-01 -3.71543949e-02 3.12445651e-03 3.01163509e+02] [ 3.71534137e-02 9.99309505e-01 3.71494834e-04 3.19251784e+01] [-3.13610176e-03 -2.55152290e-04 9.99995050e-01 -1.91471198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.521400513 meters 0.08536010172858202 Centerline is valid? [True, True] Translation: X:301.19, Y:31.93, Z:-1.91 [[ 9.99319802e-01 -3.66556648e-02 4.03687445e-03 3.01190873e+02] [ 3.66540213e-02 9.99327900e-01 4.80361130e-04 3.19305702e+01] [-4.05176922e-03 -3.32066706e-04 9.99991736e-01 -1.91385656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55140051300003 meters 0.08678538443385342 Centerline is valid? [True, True] Translation: X:301.22, Y:31.94, Z:-1.91 [[ 9.99336904e-01 -3.61464544e-02 4.38013881e-03 3.01219119e+02] [ 3.61445152e-02 9.99346438e-01 5.21102297e-04 3.19371998e+01] [-4.39611212e-03 -3.62438763e-04 9.99990271e-01 -1.91368455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.581400513 meters 0.09236024952255112 Centerline is valid? [True, True] Translation: X:301.25, Y:31.95, Z:-1.91 [[ 9.99370743e-01 -3.51991462e-02 4.37472277e-03 3.01246127e+02] [ 3.51971979e-02 9.99380251e-01 5.21572924e-04 3.19495457e+01] [-4.39037046e-03 -3.67266737e-04 9.99990295e-01 -1.91463666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61140051300004 meters 0.0799801389699848 Centerline is valid? [True, True] Translation: X:301.28, Y:31.94, Z:-1.91 [[ 9.99483885e-01 -3.19301029e-02 3.52589225e-03 3.01277298e+02] [ 3.19288162e-02 9.99490057e-01 4.20618085e-04 3.19410050e+01] [-3.53752462e-03 -3.07823433e-04 9.99993696e-01 -1.91480878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.641400513 meters 0.08137312515305088 Centerline is valid? [True, True] Translation: X:301.31, Y:31.95, Z:-1.92 [[ 9.99539147e-01 -3.01855082e-02 3.21370629e-03 3.01306836e+02] [ 3.01844303e-02 9.99544273e-01 3.83398120e-04 3.19472445e+01] [-3.22381478e-03 -2.86217536e-04 9.99994763e-01 -1.91504983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67140051300004 meters 0.0910337764141487 Centerline is valid? [True, True] Translation: X:301.33, Y:31.97, Z:-1.92 [[ 9.99593337e-01 -2.84337330e-02 2.16390752e-03 3.01333914e+02] [ 2.84332403e-02 9.99595660e-01 2.58116571e-04 3.19680833e+01] [-2.17037179e-03 -1.96484702e-04 9.99997625e-01 -1.91816742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.701400513 meters 0.0882011309856355 Centerline is valid? [True, True] Translation: X:301.36, Y:31.97, Z:-1.92 [[ 9.99593916e-01 -2.84274680e-02 1.97031672e-03 3.01362920e+02] [ 2.84270595e-02 9.99595842e-01 2.35006434e-04 3.19713728e+01] [-1.97620104e-03 -1.78900691e-04 9.99998031e-01 -1.91902833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.731400513 meters 0.08188906587659146 Centerline is valid? [True, True] Translation: X:301.39, Y:31.97, Z:-1.92 [[ 9.99566362e-01 -2.92993679e-02 2.93851553e-03 3.01393439e+02] [ 2.92984624e-02 9.99570646e-01 3.50706421e-04 3.19692685e+01] [-2.94752934e-03 -2.64460354e-04 9.99995621e-01 -1.91790579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.761400513 meters 0.08625724327836673 Centerline is valid? [True, True] Translation: X:301.42, Y:31.98, Z:-1.92 [[ 9.99517242e-01 -3.06689159e-02 4.96989719e-03 3.01421127e+02] [ 3.06663425e-02 9.99529501e-01 5.93195683e-04 3.19784484e+01] [-4.98575153e-03 -4.40500744e-04 9.99987474e-01 -1.91522367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.791400513 meters 0.0895923041229962 Centerline is valid? [True, True] Translation: X:301.45, Y:31.99, Z:-1.91 [[ 9.99442519e-01 -3.26688249e-02 6.88473704e-03 3.01449767e+02] [ 3.26639308e-02 9.99466053e-01 8.22134891e-04 3.19859689e+01] [-6.90791914e-03 -5.96793991e-04 9.99975962e-01 -1.91165049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.821400513 meters 0.09390656127277301 Centerline is valid? [True, True] Translation: X:301.48, Y:31.99, Z:-1.91 [[ 9.99349330e-01 -3.52512251e-02 7.63335366e-03 3.01478330e+02] [ 3.52452829e-02 9.99378276e-01 9.11616948e-04 3.19946771e+01] [-7.66074343e-03 -6.41984077e-04 9.99970450e-01 -1.90948046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.851400513 meters 0.08078051890232142 Centerline is valid? [True, True] Translation: X:301.51, Y:31.98, Z:-1.91 [[ 9.99127704e-01 -4.13216385e-02 6.02933899e-03 3.01510438e+02] [ 4.13180405e-02 9.99145786e-01 7.20142306e-04 3.19827671e+01] [-6.05394611e-03 -4.70393656e-04 9.99981564e-01 -1.91244605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.881400513 meters 0.0788758491430331 Centerline is valid? [True, True] Translation: X:301.54, Y:31.98, Z:-1.92 [[ 9.98994827e-01 -4.46151853e-02 4.33830137e-03 3.01540852e+02] [ 4.46133545e-02 9.99004194e-01 5.17936059e-04 3.19830743e+01] [-4.35708908e-03 -3.23869267e-04 9.99990455e-01 -1.91602428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.911400513 meters 0.06948943689474261 Centerline is valid? [True, True] Translation: X:301.57, Y:31.97, Z:-1.92 [[ 9.98859415e-01 -4.76325245e-02 3.31840750e-03 3.01572789e+02] [ 4.76314687e-02 9.98864899e-01 3.96492440e-04 3.19735089e+01] [-3.33352671e-03 -2.37979583e-04 9.99994415e-01 -1.91806787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.941400513 meters 0.08139212474750114 Centerline is valid? [True, True] Translation: X:301.60, Y:31.99, Z:-1.92 [[ 9.98764342e-01 -4.95670262e-02 3.59151535e-03 3.01600146e+02] [ 4.95658023e-02 9.98770768e-01 4.29031210e-04 3.19894112e+01] [-3.60836635e-03 -2.50484734e-04 9.99993458e-01 -1.91930489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.971400513 meters 0.06718414619530967 Centerline is valid? [True, True] Translation: X:301.63, Y:31.97, Z:-1.92 [[ 9.98703366e-01 -5.07101475e-02 4.47966922e-03 3.01632379e+02] [ 5.07082541e-02 9.98713365e-01 5.35324888e-04 3.19740369e+01] [-4.50105192e-03 -3.07474563e-04 9.99989823e-01 -1.91690441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.001400513 meters 0.05716260790398449 Centerline is valid? [True, True] Translation: X:301.66, Y:31.96, Z:-1.92 [[ 9.98677827e-01 -5.11397074e-02 5.22772086e-03 3.01662704e+02] [ 5.11371369e-02 9.98691446e-01 6.24292421e-04 3.19636802e+01] [-5.25280623e-03 -3.56136321e-04 9.99986141e-01 -1.91503879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.031400513 meters 0.06744052286613589 Centerline is valid? [True, True] Translation: X:301.69, Y:31.98, Z:-1.92 [[ 9.98715697e-01 -5.03969911e-02 5.20576507e-03 3.01688736e+02] [ 5.03944257e-02 9.98729199e-01 6.22882387e-04 3.19760814e+01] [-5.23054098e-03 -3.59740876e-04 9.99986256e-01 -1.91557322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.061400513 meters 0.06825050526692193 Centerline is valid? [True, True] Translation: X:301.72, Y:31.98, Z:-1.92 [[ 9.98762784e-01 -4.94390938e-02 5.35508878e-03 3.01718192e+02] [ 4.94363624e-02 9.98777070e-01 6.41311618e-04 3.19795833e+01] [-5.38024575e-03 -3.75782068e-04 9.99985456e-01 -1.91628818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.091400513 meters 0.0670376887748828 Centerline is valid? [True, True] Translation: X:301.75, Y:31.98, Z:-1.92 [[ 9.98839692e-01 -4.78103359e-02 5.78289994e-03 3.01748857e+02] [ 4.78071222e-02 9.98856346e-01 6.92755241e-04 3.19810107e+01] [-5.80940716e-03 -4.15487628e-04 9.99983039e-01 -1.91612113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.121400513 meters 0.07121400922091302 Centerline is valid? [True, True] Translation: X:301.78, Y:31.99, Z:-1.92 [[ 9.98939474e-01 -4.56188069e-02 6.23306989e-03 3.01777011e+02] [ 4.56150313e-02 9.98958814e-01 7.46639580e-04 3.19889198e+01] [-6.26064091e-03 -4.61526071e-04 9.99980295e-01 -1.91592304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.151400513 meters 0.07458685808507469 Centerline is valid? [True, True] Translation: X:301.81, Y:32.00, Z:-1.92 [[ 9.99137246e-01 -4.10162425e-02 6.51397168e-03 3.01806955e+02] [ 4.10120204e-02 9.99158348e-01 7.80463275e-04 3.19959840e+01] [-6.54050086e-03 -5.12638787e-04 9.99978479e-01 -1.91559811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.181400513 meters 0.0809972988984022 Centerline is valid? [True, True] Translation: X:301.84, Y:32.01, Z:-1.92 [[ 9.99222870e-01 -3.89202065e-02 6.23487804e-03 3.01835322e+02] [ 3.89162981e-02 9.99242195e-01 7.47012045e-04 3.20076176e+01] [-6.25922708e-03 -5.03793147e-04 9.99980284e-01 -1.91610861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.211400513 meters 0.07833128688051341 Centerline is valid? [True, True] Translation: X:301.87, Y:32.01, Z:-1.92 [[ 9.99285384e-01 -3.74143403e-02 5.37486324e-03 3.01865524e+02] [ 3.74114138e-02 9.99299740e-01 6.44027914e-04 3.20088205e+01] [-5.39519532e-03 -4.42486448e-04 9.99985348e-01 -1.91734688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24140051300003 meters 0.07839655611726444 Centerline is valid? [True, True] Translation: X:301.89, Y:32.01, Z:-1.92 [[ 9.99318251e-01 -3.66240092e-02 4.65991302e-03 3.01894287e+02] [ 3.66218009e-02 9.99329041e-01 5.58363718e-04 3.20131854e+01] [-4.67723593e-03 -3.87328647e-04 9.99988987e-01 -1.91902657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.271400513 meters 0.0802799549366135 Centerline is valid? [True, True] Translation: X:301.92, Y:32.02, Z:-1.92 [[ 9.99309660e-01 -3.69446972e-02 3.91057650e-03 3.01922322e+02] [ 3.69431441e-02 9.99317259e-01 4.68666936e-04 3.20192023e+01] [-3.92522135e-03 -3.23874405e-04 9.99992244e-01 -1.92073169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30140051300003 meters 0.08184599439129082 Centerline is valid? [True, True] Translation: X:301.95, Y:32.02, Z:-1.92 [[ 9.99183217e-01 -4.02817237e-02 3.20643781e-03 3.01950694e+02] [ 4.02806964e-02 9.99188329e-01 3.84357228e-04 3.20243467e+01] [-3.21931781e-03 -2.54885744e-04 9.99994785e-01 -1.92173579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.331400513 meters 0.07271767127306322 Centerline is valid? [True, True] Translation: X:301.98, Y:32.02, Z:-1.92 [[ 9.99084125e-01 -4.26307068e-02 3.67873247e-03 3.01981902e+02] [ 4.26293694e-02 9.99090858e-01 4.41255717e-04 3.20171810e+01] [-3.69419902e-03 -2.84029537e-04 9.99993136e-01 -1.92077291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36140051300004 meters 0.07648413989143352 Centerline is valid? [True, True] Translation: X:302.01, Y:32.02, Z:-1.92 [[ 9.99000056e-01 -4.44617081e-02 4.69518350e-03 3.02010660e+02] [ 4.44595497e-02 9.99011027e-01 5.63124047e-04 3.20249573e+01] [-4.71557755e-03 -3.53815210e-04 9.99988819e-01 -1.92012708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.391400513 meters 0.07789433473941458 Centerline is valid? [True, True] Translation: X:302.04, Y:32.03, Z:-1.92 [[ 9.98928482e-01 -4.58973452e-02 5.94319357e-03 3.02039231e+02] [ 4.58939111e-02 9.98946065e-01 7.12996575e-04 3.20290961e+01] [-5.96965448e-03 -4.39476189e-04 9.99982085e-01 -1.91867373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42140051300004 meters 0.06845770755811975 Centerline is valid? [True, True] Translation: X:302.07, Y:32.02, Z:-1.92 [[ 9.98855924e-01 -4.73336433e-02 6.80952646e-03 3.02070247e+02] [ 4.73291669e-02 9.98879013e-01 8.17110218e-04 3.20196437e+01] [-6.84056987e-03 -4.93886168e-04 9.99976481e-01 -1.91697153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.451400513 meters 0.06838257293488142 Centerline is valid? [True, True] Translation: X:302.10, Y:32.02, Z:-1.92 [[ 9.98776906e-01 -4.89917974e-02 6.67058300e-03 3.02099867e+02] [ 4.89875376e-02 9.98799069e-01 8.00590185e-04 3.20200207e+01] [-6.70179444e-03 -4.72835552e-04 9.99977431e-01 -1.91686415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.481400513 meters 0.07000159088934024 Centerline is valid? [True, True] Translation: X:302.13, Y:32.03, Z:-1.92 [[ 9.98688867e-01 -5.08750900e-02 5.68079531e-03 3.02128340e+02] [ 5.08720303e-02 9.98704947e-01 6.81902770e-04 3.20264397e+01] [-5.70813025e-03 -3.92015113e-04 9.99983632e-01 -1.91832025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.511400513 meters 0.07762061484564194 Centerline is valid? [True, True] Translation: X:302.16, Y:32.04, Z:-1.92 [[ 9.98656007e-01 -5.15586562e-02 5.28062553e-03 3.02155240e+02] [ 5.15560223e-02 9.98669903e-01 6.33792679e-04 3.20377994e+01] [-5.30627928e-03 -3.60692818e-04 9.99985857e-01 -1.91982185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.541400513 meters 0.06794015914151856 Centerline is valid? [True, True] Translation: X:302.19, Y:32.03, Z:-1.92 [[ 9.98610195e-01 -5.23747776e-02 5.87888945e-03 3.02185788e+02] [ 5.23715232e-02 9.98627420e-01 7.06264765e-04 3.20272770e+01] [-5.90781066e-03 -3.97396799e-04 9.99982470e-01 -1.91866480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.571400513 meters 0.061578945478165475 Centerline is valid? [True, True] Translation: X:302.22, Y:32.02, Z:-1.92 [[ 9.98555014e-01 -5.32789446e-02 7.01694175e-03 3.02216185e+02] [ 5.32743287e-02 9.98579559e-01 8.43240643e-04 3.20204604e+01] [-7.05190156e-03 -4.68199311e-04 9.99975025e-01 -1.91709318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.601400513 meters 0.07206264545993105 Centerline is valid? [True, True] Translation: X:302.24, Y:32.03, Z:-1.92 [[ 9.98507047e-01 -5.40564194e-02 7.84732990e-03 3.02243110e+02] [ 5.40506595e-02 9.98537748e-01 9.44395102e-04 3.20340088e+01] [-7.88690575e-03 -5.18831809e-04 9.99968763e-01 -1.91615061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.631400513 meters 0.0638768303094206 Centerline is valid? [True, True] Translation: X:302.27, Y:32.02, Z:-1.92 [[ 9.98459877e-01 -5.50071097e-02 7.21748290e-03 3.02274044e+02] [ 5.50022531e-02 9.98485851e-01 8.69814714e-04 3.20206694e+01] [-7.25440055e-03 -4.71497271e-04 9.99973575e-01 -1.91775536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.661400513 meters 0.06195405526053619 Centerline is valid? [True, True] Translation: X:302.30, Y:32.02, Z:-1.92 [[ 9.98431336e-01 -5.56351421e-02 6.29278842e-03 3.02303113e+02] [ 5.56314627e-02 9.98451083e-01 7.58379459e-04 3.20181392e+01] [-6.32523396e-03 -4.07112792e-04 9.99979913e-01 -1.91974084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.691400513 meters 0.06357129116833593 Centerline is valid? [True, True] Translation: X:302.33, Y:32.02, Z:-1.92 [[ 9.98411625e-01 -5.59857257e-02 6.31076095e-03 3.02330776e+02] [ 5.59820246e-02 9.98431486e-01 7.61742478e-04 3.20203243e+01] [-6.34350914e-03 -4.07243371e-04 9.99979797e-01 -1.92009320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.721400513 meters 0.062320764419300005 Centerline is valid? [True, True] Translation: X:302.36, Y:32.02, Z:-1.92 [[ 9.98410619e-01 -5.58058439e-02 7.87039577e-03 3.02360395e+02] [ 5.58000752e-02 9.98441509e-01 9.50828800e-04 3.20193276e+01] [-7.91119164e-03 -5.10148896e-04 9.99968576e-01 -1.91799499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.751400513 meters 0.06267403441703694 Centerline is valid? [True, True] Translation: X:302.39, Y:32.02, Z:-1.92 [[ 9.98431550e-01 -5.51811039e-02 9.45969256e-03 3.02389081e+02] [ 5.51727259e-02 9.98476169e-01 1.14454189e-03 3.20186018e+01] [-9.50843467e-03 -6.20829706e-04 9.99954601e-01 -1.91564218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.781400513 meters 0.06835273685873125 Centerline is valid? [True, True] Translation: X:302.42, Y:32.02, Z:-1.91 [[ 9.98526406e-01 -5.31937117e-02 1.07445911e-02 3.02417464e+02] [ 5.31827821e-02 9.98583947e-01 1.30058769e-03 3.20229738e+01] [-1.07985593e-02 -7.27243903e-04 9.99941429e-01 -1.91291091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.811400513 meters 0.0657147850167699 Centerline is valid? [True, True] Translation: X:302.45, Y:32.02, Z:-1.92 [[ 9.98594458e-01 -5.21025965e-02 9.71738056e-03 3.02447497e+02] [ 5.20936044e-02 9.98641514e-01 1.17635783e-03 3.20196770e+01] [-9.76547093e-03 -6.68491033e-04 9.99952093e-01 -1.91524740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.841400513 meters 0.07669643224046929 Centerline is valid? [True, True] Translation: X:302.47, Y:32.03, Z:-1.92 [[ 9.98665915e-01 -5.10320256e-02 7.88176188e-03 3.02474377e+02] [ 5.10260757e-02 9.98696865e-01 9.54279599e-04 3.20322354e+01] [-7.92018971e-03 -5.50831130e-04 9.99968483e-01 -1.91886776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.871400513 meters 0.07198978696544496 Centerline is valid? [True, True] Translation: X:302.51, Y:32.03, Z:-1.92 [[ 9.98727475e-01 -5.00106905e-02 6.50859453e-03 3.02505252e+02] [ 5.00066098e-02 9.98748576e-01 7.88301123e-04 3.20256690e+01] [-6.53987300e-03 -4.61825243e-04 9.99978508e-01 -1.92186892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.901400513 meters 0.07385649029558078 Centerline is valid? [True, True] Translation: X:302.53, Y:32.03, Z:-1.92 [[ 9.98763352e-01 -4.94374596e-02 5.26352084e-03 3.02532710e+02] [ 4.94347838e-02 9.98777150e-01 6.37352002e-04 3.20265252e+01] [-5.28859341e-03 -3.76362807e-04 9.99985944e-01 -1.92417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.931400513 meters 0.07371161617972606 Centerline is valid? [True, True] Translation: X:302.56, Y:32.03, Z:-1.93 [[ 9.98758163e-01 -4.95889883e-02 4.80248146e-03 3.02561493e+02] [ 4.95867619e-02 9.98769650e-01 5.81642756e-04 3.20251552e+01] [-4.82541580e-03 -3.42780947e-04 9.99988299e-01 -1.92545297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.961400513 meters 0.06509003616985339 Centerline is valid? [True, True] Translation: X:302.59, Y:32.01, Z:-1.93 [[ 9.98698343e-01 -5.09104880e-02 3.12124060e-03 3.02593857e+02] [ 5.09095512e-02 9.98703196e-01 3.78931519e-04 3.20095024e+01] [-3.13648455e-03 -2.19537323e-04 9.99995057e-01 -1.92778301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99140051300003 meters 0.0807663412074592 Centerline is valid? [True, True] Translation: X:302.62, Y:32.03, Z:-1.93 [[ 9.98688871e-01 -5.11361000e-02 2.37456622e-03 3.02619568e+02] [ 5.11355590e-02 9.98691680e-01 2.88009744e-04 3.20276052e+01] [-2.38618723e-03 -1.66207355e-04 9.99997139e-01 -1.93074302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.021400513 meters 0.068942184736897 Centerline is valid? [True, True] Translation: X:302.65, Y:32.01, Z:-1.93 [[ 9.98710169e-01 -5.07279693e-02 2.16140998e-03 3.02649962e+02] [ 5.07275200e-02 9.98712496e-01 2.62244645e-04 3.20124376e+01] [-2.17193029e-03 -1.52263426e-04 9.99997630e-01 -1.92989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05140051300003 meters 0.07390347365869443 Centerline is valid? [True, True] Translation: X:302.68, Y:32.02, Z:-1.93 [[ 9.98758170e-01 -4.97508783e-02 2.63959272e-03 3.02678016e+02] [ 4.97502037e-02 9.98761640e-01 3.20650953e-04 3.20188995e+01] [-2.65227662e-03 -1.88932483e-04 9.99996465e-01 -1.92938476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.081400513 meters 0.07224287991915562 Centerline is valid? [True, True] Translation: X:302.71, Y:32.02, Z:-1.93 [[ 9.98823267e-01 -4.83684086e-02 3.54656794e-03 3.02707964e+02] [ 4.83671811e-02 9.98829530e-01 4.31100520e-04 3.20185723e+01] [-3.56326844e-03 -2.59055736e-04 9.99993618e-01 -1.92798562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11140051300004 meters 0.07069228021326329 Centerline is valid? [True, True] Translation: X:302.74, Y:32.02, Z:-1.93 [[ 9.98904249e-01 -4.65878597e-02 4.45777029e-03 3.02737996e+02] [ 4.65859020e-02 9.98914140e-01 5.42054340e-04 3.20183551e+01] [-4.47818293e-03 -3.33791134e-04 9.99989917e-01 -1.92687057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.141400513 meters 0.07978860991556544 Centerline is valid? [True, True] Translation: X:302.77, Y:32.03, Z:-1.93 [[ 9.99101494e-01 -4.21836346e-02 4.09223488e-03 3.02766186e+02] [ 4.21819480e-02 9.99109822e-01 4.97632909e-04 3.20277190e+01] [-4.10958403e-03 -3.24567344e-04 9.99991503e-01 -1.92789338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17140051300004 meters 0.08185722750585157 Centerline is valid? [True, True] Translation: X:302.80, Y:32.03, Z:-1.93 [[ 9.99175967e-01 -4.03722666e-02 4.17940296e-03 3.02796495e+02] [ 4.03704910e-02 9.99184650e-01 5.08356878e-04 3.20315564e+01] [-4.19651880e-03 -3.39213425e-04 9.99991137e-01 -1.92742835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.201400513 meters 0.08467399058561521 Centerline is valid? [True, True] Translation: X:302.82, Y:32.04, Z:-1.93 [[ 9.99224808e-01 -3.91000376e-02 4.57927802e-03 3.02824816e+02] [ 3.90978928e-02 9.99235230e-01 5.56982686e-04 3.20380069e+01] [-4.59755397e-03 -3.77510796e-04 9.99989360e-01 -1.92688128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.231400513 meters 0.07415009603645496 Centerline is valid? [True, True] Translation: X:302.85, Y:32.03, Z:-1.92 [[ 9.99228155e-01 -3.88321222e-02 5.92962876e-03 3.02854814e+02] [ 3.88285234e-02 9.99245629e-01 7.20871818e-04 3.20313566e+01] [-5.95314860e-03 -4.90076688e-04 9.99982160e-01 -1.92471392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.261400513 meters 0.08883796330530276 Centerline is valid? [True, True] Translation: X:302.88, Y:32.05, Z:-1.92 [[ 9.99190392e-01 -3.96717864e-02 6.68650470e-03 3.02880884e+02] [ 3.96672192e-02 9.99212614e-01 8.14342721e-04 3.20527567e+01] [-6.71354627e-03 -5.48448375e-04 9.99977313e-01 -1.92486057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.291400513 meters 0.08227408295050315 Centerline is valid? [True, True] Translation: X:302.91, Y:32.05, Z:-1.93 [[ 9.99135167e-01 -4.10566140e-02 6.57817198e-03 3.02911844e+02] [ 4.10522212e-02 9.99156681e-01 8.01483041e-04 3.20476169e+01] [-6.60553066e-03 -5.30741320e-04 9.99978042e-01 -1.92503729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.321400513 meters 0.09001706318610425 Centerline is valid? [True, True] Translation: X:302.94, Y:32.06, Z:-1.93 [[ 9.99064238e-01 -4.28700944e-02 5.72742047e-03 3.02939867e+02] [ 4.28667932e-02 9.99080553e-01 6.97960560e-04 3.20573790e+01] [-5.75207604e-03 -4.51791286e-04 9.99983355e-01 -1.92682913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.351400513 meters 0.09001706318610425 Centerline is valid? [True, True] Translation: X:302.97, Y:32.06, Z:-1.93 [[ 9.99056985e-01 -4.30387835e-02 5.72745277e-03 3.02967247e+02] [ 4.30354865e-02 9.99073301e-01 6.97695852e-04 3.20608675e+01] [-5.75217313e-03 -4.50554197e-04 9.99983355e-01 -1.92706046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.381400513 meters 0.07189452582481781 Centerline is valid? [True, True] Translation: X:303.00, Y:32.05, Z:-1.93 [[ 9.98999458e-01 -4.44266540e-02 5.13371778e-03 3.02999632e+02] [ 4.44240173e-02 9.99012570e-01 6.26553391e-04 3.20456647e+01] [-5.15648426e-03 -3.97866131e-04 9.99986626e-01 -1.92779952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.411400513 meters 0.07367477399420809 Centerline is valid? [True, True] Translation: X:303.03, Y:32.05, Z:-1.93 [[ 9.98932813e-01 -4.59878264e-02 4.28422687e-03 3.03028411e+02] [ 4.59860039e-02 9.98941947e-01 5.22987698e-04 3.20523772e+01] [-4.30374500e-03 -3.25415099e-04 9.99990686e-01 -1.92967865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.441400513 meters 0.07570011651810105 Centerline is valid? [True, True] Translation: X:303.06, Y:32.06, Z:-1.93 [[ 9.98808328e-01 -4.86480799e-02 3.91010858e-03 3.03057122e+02] [ 4.86465816e-02 9.98815940e-01 4.77433528e-04 3.20572485e+01] [-3.92870500e-03 -2.86651168e-04 9.99992242e-01 -1.93004186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.471400513 meters 0.0711066738928897 Centerline is valid? [True, True] Translation: X:303.09, Y:32.05, Z:-1.93 [[ 9.98751762e-01 -4.97849150e-02 4.04717574e-03 3.03086911e+02] [ 4.97833213e-02 9.98759920e-01 4.93652855e-04 3.20546354e+01] [-4.06673338e-03 -2.91554809e-04 9.99991688e-01 -1.92833091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.501400513 meters 0.07082093937191537 Centerline is valid? [True, True] Translation: X:303.11, Y:32.06, Z:-1.93 [[ 9.98718235e-01 -5.04609073e-02 3.94759687e-03 3.03114598e+02] [ 5.04593924e-02 9.98725997e-01 4.82460141e-04 3.20583660e+01] [-3.96691299e-03 -2.82648401e-04 9.99992092e-01 -1.92770551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.531400513 meters 0.07147302716205726 Centerline is valid? [True, True] Translation: X:303.14, Y:32.06, Z:-1.93 [[ 9.98711755e-01 -5.06143565e-02 3.60805958e-03 3.03141554e+02] [ 5.06130914e-02 9.98718239e-01 4.41129873e-04 3.20643892e+01] [-3.62576242e-03 -2.57946540e-04 9.99993394e-01 -1.92853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.561400513 meters 0.07136200345534174 Centerline is valid? [True, True] Translation: X:303.17, Y:32.07, Z:-1.93 [[ 9.98721174e-01 -5.04374386e-02 3.47590871e-03 3.03169707e+02] [ 5.04362646e-02 9.98727191e-01 4.24656349e-04 3.20703034e+01] [-3.49290313e-03 -2.48801436e-04 9.99993869e-01 -1.92958251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.591400513 meters 0.07344675889373149 Centerline is valid? [True, True] Translation: X:303.20, Y:32.08, Z:-1.93 [[ 9.98745099e-01 -4.98993225e-02 4.27610188e-03 3.03196583e+02] [ 4.98975348e-02 9.98754205e-01 5.23811919e-04 3.20778583e+01] [-4.29691259e-03 -3.09787645e-04 9.99990720e-01 -1.92904187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.621400513 meters 0.07542686566312805 Centerline is valid? [True, True] Translation: X:303.23, Y:32.08, Z:-1.92 [[ 9.98825633e-01 -4.77768805e-02 8.04511499e-03 3.03226508e+02] [ 4.77704767e-02 9.98857852e-01 9.86387073e-04 3.20839745e+01] [-8.08305278e-03 -6.00909715e-04 9.99967151e-01 -1.92285540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.651400513 meters 0.07628704695131931 Centerline is valid? [True, True] Translation: X:303.26, Y:32.09, Z:-1.92 [[ 9.98880083e-01 -4.65150668e-02 8.65615392e-03 3.03255174e+02] [ 4.65076052e-02 9.98917372e-01 1.06141459e-03 3.20893792e+01] [-8.69615429e-03 -6.57648906e-04 9.99961971e-01 -1.92183029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.681400513 meters 0.07568671797064865 Centerline is valid? [True, True] Translation: X:303.28, Y:32.09, Z:-1.92 [[ 9.98943218e-01 -4.51626850e-02 8.53103942e-03 3.03284813e+02] [ 4.51553861e-02 9.98979427e-01 1.04635220e-03 3.20947202e+01] [-8.56958895e-03 -6.60024051e-04 9.99963063e-01 -1.92255544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.711400513 meters 0.08100092587546681 Centerline is valid? [True, True] Translation: X:303.31, Y:32.11, Z:-1.93 [[ 9.99048495e-01 -4.29806668e-02 7.40049610e-03 3.03312622e+02] [ 4.29751142e-02 9.99075731e-01 9.07757966e-04 3.21104572e+01] [-7.43267209e-03 -5.88857064e-04 9.99972204e-01 -1.92567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74140051300003 meters 0.0735634954337481 Centerline is valid? [True, True] Translation: X:303.34, Y:32.11, Z:-1.93 [[ 9.99055514e-01 -4.28519912e-02 7.19633391e-03 3.03342422e+02] [ 4.28467381e-02 9.99081267e-01 8.82640086e-04 3.21075092e+01] [-7.22754529e-03 -5.73467010e-04 9.99973717e-01 -1.92658686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.771400513 meters 0.08010918018391369 Centerline is valid? [True, True] Translation: X:303.37, Y:32.12, Z:-1.93 [[ 9.99043269e-01 -4.31352597e-02 7.20382244e-03 3.03368555e+02] [ 4.31299938e-02 9.99069077e-01 8.84814369e-04 3.21213791e+01] [-7.23528294e-03 -5.73267022e-04 9.99973661e-01 -1.92727582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80140051300003 meters 0.08646347129176939 Centerline is valid? [True, True] Translation: X:303.40, Y:32.14, Z:-1.93 [[ 9.98990071e-01 -4.43146972e-02 7.41926497e-03 3.03396189e+02] [ 4.43091385e-02 9.99017452e-01 9.11999094e-04 3.21351266e+01] [-7.45239015e-03 -5.82336801e-04 9.99972061e-01 -1.92736220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.831400513 meters 0.0783594842735952 Centerline is valid? [True, True] Translation: X:303.43, Y:32.13, Z:-1.93 [[ 9.98895048e-01 -4.62921982e-02 8.10656191e-03 3.03427694e+02] [ 4.62856251e-02 9.98927749e-01 9.96685100e-04 3.21309681e+01] [-8.14400839e-03 -6.20366525e-04 9.99966645e-01 -1.92633961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86140051300004 meters 0.07652899716043281 Centerline is valid? [True, True] Translation: X:303.46, Y:32.13, Z:-1.93 [[ 9.98766917e-01 -4.88766702e-02 8.70157821e-03 3.03458163e+02] [ 4.88691937e-02 9.98804614e-01 1.06989889e-03 3.21334903e+01] [-8.74346956e-03 -6.43340509e-04 9.99961568e-01 -1.92531944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.891400513 meters 0.07431054126815881 Centerline is valid? [True, True] Translation: X:303.49, Y:32.14, Z:-1.93 [[ 9.98384845e-01 -5.61828608e-02 8.43728104e-03 3.03487640e+02] [ 5.61760909e-02 9.98420338e-01 1.03741951e-03 3.21357310e+01] [-8.48223818e-03 -5.61770451e-04 9.99963867e-01 -1.92512044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92140051300004 meters 0.06138148147035337 Centerline is valid? [True, True] Translation: X:303.52, Y:32.13, Z:-1.93 [[ 9.98119007e-01 -6.07389142e-02 8.32058978e-03 3.03519719e+02] [ 6.07324875e-02 9.98153554e-01 1.02312066e-03 3.21253622e+01] [-8.36736950e-03 -5.15866062e-04 9.99964860e-01 -1.92598324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.951400513 meters 0.06565990153775136 Centerline is valid? [True, True] Translation: X:303.55, Y:32.14, Z:-1.93 [[ 9.97835380e-01 -6.52397730e-02 8.26602627e-03 3.03547709e+02] [ 6.52335842e-02 9.97869504e-01 1.01640895e-03 3.21365191e+01] [-8.31472582e-03 -4.74986286e-04 9.99965319e-01 -1.92667696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.981400513 meters 0.05605499555442334 Centerline is valid? [True, True] Translation: X:303.58, Y:32.13, Z:-1.93 [[ 9.97558496e-01 -6.93416849e-02 8.29329570e-03 3.03578661e+02] [ 6.93355959e-02 9.97592870e-01 1.01982848e-03 3.21306873e+01] [-8.34404928e-03 -4.42317961e-04 9.99965090e-01 -1.92731708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.011400513 meters 0.05272295913896546 Centerline is valid? [True, True] Translation: X:303.61, Y:32.13, Z:-1.93 [[ 9.97313121e-01 -7.28271861e-02 7.92080412e-03 3.03609710e+02] [ 7.28217403e-02 9.97344497e-01 9.74163557e-04 3.21314135e+01] [-7.97071599e-03 -3.94739357e-04 9.99968155e-01 -1.92804210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.041400513 meters 0.049375465924422275 Centerline is valid? [True, True] Translation: X:303.64, Y:32.13, Z:-1.93 [[ 9.96994233e-01 -7.72075735e-02 6.44119952e-03 3.03639665e+02] [ 7.72040639e-02 9.97014997e-01 7.92123539e-04 3.21323243e+01] [-6.48313046e-03 -2.92455822e-04 9.99978942e-01 -1.92893149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.071400513 meters 0.047007104476340066 Centerline is valid? [True, True] Translation: X:303.67, Y:32.14, Z:-1.93 [[ 9.96901304e-01 -7.84282851e-02 6.06583151e-03 3.03668454e+02] [ 7.84251957e-02 9.96919722e-01 7.45871535e-04 3.21351399e+01] [-6.10564449e-03 -2.67846282e-04 9.99981325e-01 -1.92915815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.101400513 meters 0.046833650231732006 Centerline is valid? [True, True] Translation: X:303.70, Y:32.14, Z:-1.93 [[ 9.96836266e-01 -7.92284109e-02 6.34954630e-03 3.03696422e+02] [ 7.92250414e-02 9.96856451e-01 7.80840155e-04 3.21410421e+01] [-6.39145091e-03 -2.75326717e-04 9.99979537e-01 -1.92852554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.131400513 meters 0.0491781036661366 Centerline is valid? [True, True] Translation: X:303.72, Y:32.15, Z:-1.93 [[ 9.96826658e-01 -7.92887907e-02 7.06404341e-03 3.03722838e+02] [ 7.92846119e-02 9.96851641e-01 8.70082944e-04 3.21496812e+01] [-7.11079108e-03 -3.07251934e-04 9.99974671e-01 -1.92734512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.161400513 meters 0.04771696701130545 Centerline is valid? [True, True] Translation: X:303.75, Y:32.15, Z:-1.93 [[ 9.96827907e-01 -7.91594639e-02 8.24038524e-03 3.03751424e+02] [ 7.91537668e-02 9.96861901e-01 1.01573475e-03 3.21536630e+01] [-8.29493112e-03 -3.60255214e-04 9.99965532e-01 -1.92621267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.191400513 meters 0.047798160094538404 Centerline is valid? [True, True] Translation: X:303.78, Y:32.16, Z:-1.93 [[ 9.96806053e-01 -7.93734858e-02 8.80578258e-03 3.03779088e+02] [ 7.93669751e-02 9.96844874e-01 1.08692304e-03 3.21610207e+01] [-8.86427209e-03 -3.84563138e-04 9.99960638e-01 -1.92636082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.221400513 meters 0.04682087816580245 Centerline is valid? [True, True] Translation: X:303.81, Y:32.17, Z:-1.93 [[ 9.96732201e-01 -8.03373388e-02 8.41616255e-03 3.03807404e+02] [ 8.03314141e-02 9.96767667e-01 1.04020181e-03 3.21657371e+01] [-8.47252576e-03 -3.60720405e-04 9.99964042e-01 -1.92741982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.251400513 meters 0.04481624444144484 Centerline is valid? [True, True] Translation: X:303.84, Y:32.17, Z:-1.93 [[ 9.96690367e-01 -8.09507871e-02 7.43525342e-03 3.03835840e+02] [ 8.09461724e-02 9.96718050e-01 9.19994034e-04 3.21700462e+01] [-7.48532553e-03 -3.15093886e-04 9.99971935e-01 -1.92930180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.281400513 meters 0.04549273981063597 Centerline is valid? [True, True] Translation: X:303.86, Y:32.18, Z:-1.93 [[ 9.96669373e-01 -8.13349139e-02 5.89853998e-03 3.03863198e+02] [ 8.13320109e-02 9.96686796e-01 7.30777388e-04 3.21779426e+01] [-5.93843463e-03 -2.48603324e-04 9.99982336e-01 -1.93208622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.311400513 meters 0.04812716670122195 Centerline is valid? [True, True] Translation: X:303.89, Y:32.19, Z:-1.94 [[ 9.96602098e-01 -8.22649269e-02 4.09143029e-03 3.03889642e+02] [ 8.22635376e-02 9.96610482e-01 5.06984023e-04 3.21875107e+01] [-4.11926932e-03 -1.68685812e-04 9.99991502e-01 -1.93604637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.341400513 meters 0.03993072805291379 Centerline is valid? [True, True] Translation: X:303.92, Y:32.19, Z:-1.94 [[ 9.96249199e-01 -8.64802093e-02 2.95077481e-03 3.03920935e+02] [ 8.64795042e-02 9.96253563e-01 3.65958409e-04 3.21852336e+01] [-2.97136808e-03 -1.09404229e-04 9.99995579e-01 -1.93714756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.371400513 meters 0.038044245876432674 Centerline is valid? [True, True] Translation: X:303.95, Y:32.19, Z:-1.94 [[ 9.95983255e-01 -8.94613933e-02 3.74372389e-03 3.03949417e+02] [ 8.94602797e-02 9.95990283e-01 4.64190080e-04 3.21885067e+01] [-3.77023971e-03 -1.27410960e-04 9.99992885e-01 -1.93597306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.401400513 meters 0.036797143544022935 Centerline is valid? [True, True] Translation: X:303.98, Y:32.19, Z:-1.93 [[ 9.95682262e-01 -9.26945865e-02 4.95449758e-03 3.03977923e+02] [ 9.26926748e-02 9.95694577e-01 6.14582222e-04 3.21925160e+01] [-4.99013482e-03 -1.52682983e-04 9.99987538e-01 -1.93460064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.431400513 meters 0.028752929451867717 Centerline is valid? [True, True] Translation: X:304.01, Y:32.19, Z:-1.93 [[ 9.95385507e-01 -9.57667095e-02 6.03573727e-03 3.04008433e+02] [ 9.57639270e-02 9.95403792e-01 7.48995107e-04 3.21873547e+01] [-6.07972457e-03 -1.67532970e-04 9.99981504e-01 -1.93253319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.461400513 meters 0.025132668988917688 Centerline is valid? [True, True] Translation: X:304.04, Y:32.19, Z:-1.93 [[ 9.94808772e-01 -1.01523515e-01 6.96304511e-03 3.04037831e+02] [ 1.01519951e-01 9.94833128e-01 8.64263886e-04 3.21887002e+01] [-7.01481106e-03 -1.52889295e-04 9.99975384e-01 -1.93170656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49140051300003 meters 0.022549870205599423 Centerline is valid? [True, True] Translation: X:304.07, Y:32.19, Z:-1.93 [[ 9.94595735e-01 -1.03609636e-01 6.66089669e-03 3.04066231e+02] [ 1.03606422e-01 9.94618030e-01 8.26678702e-04 3.21908656e+01] [-6.71069983e-03 -1.32099435e-04 9.99977474e-01 -1.93276272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.521400513 meters 0.022927478473386716 Centerline is valid? [True, True] Translation: X:304.09, Y:32.20, Z:-1.93 [[ 9.94455218e-01 -1.05010000e-01 5.63191263e-03 3.04093492e+02] [ 1.05007719e-01 9.94471160e-01 6.99965276e-04 3.21970171e+01] [-5.67427804e-03 -1.04689820e-04 9.99983896e-01 -1.93485820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55140051300003 meters 0.026500693145262124 Centerline is valid? [True, True] Translation: X:304.12, Y:32.20, Z:-1.94 [[ 9.94339419e-01 -1.06169932e-01 4.13091384e-03 3.04122843e+02] [ 1.06168716e-01 9.94347998e-01 5.13110856e-04 3.21988470e+01] [-4.16204285e-03 -7.16325316e-05 9.99991336e-01 -1.93677672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.581400513 meters 0.018935547930941595 Centerline is valid? [True, True] Translation: X:304.15, Y:32.20, Z:-1.94 [[ 9.94283945e-01 -1.06712673e-01 3.44115734e-03 3.04150420e+02] [ 1.06711832e-01 9.94289898e-01 4.27578609e-04 3.22045866e+01] [-3.46713604e-03 -5.79223431e-05 9.99993988e-01 -1.93788011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61140051300004 meters 0.01998643388620589 Centerline is valid? [True, True] Translation: X:304.18, Y:32.21, Z:-1.94 [[ 9.94221008e-01 -1.07311504e-01 2.97110942e-03 3.04177337e+02] [ 1.07310877e-01 9.94225447e-01 3.70241604e-04 3.22125926e+01] [-2.99368378e-03 -4.92696236e-05 9.99995518e-01 -1.93903508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.641400513 meters 0.01599842923782408 Centerline is valid? [True, True] Translation: X:304.21, Y:32.22, Z:-1.94 [[ 9.93961982e-01 -1.09629781e-01 4.57043939e-03 3.04205407e+02] [ 1.09628320e-01 9.93972488e-01 5.69661898e-04 3.22190476e+01] [-4.60534292e-03 -6.51726783e-05 9.99989393e-01 -1.93561442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67140051300004 meters 0.015847798076824474 Centerline is valid? [True, True] Translation: X:304.23, Y:32.23, Z:-1.93 [[ 9.93738386e-01 -1.11573114e-01 5.95480603e-03 3.04232278e+02] [ 1.11570659e-01 9.93756225e-01 7.43933353e-04 3.22261839e+01] [-6.00062852e-03 -7.48934981e-05 9.99981993e-01 -1.93366070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.701400513 meters 0.01344645630901191 Centerline is valid? [True, True] Translation: X:304.26, Y:32.23, Z:-1.93 [[ 9.93424264e-01 -1.14263181e-01 7.22194590e-03 3.04260949e+02] [ 1.14259638e-01 9.93450512e-01 9.02676984e-04 3.22298219e+01] [-7.27778860e-03 -7.15642959e-05 9.99973514e-01 -1.93175943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.731400513 meters 0.010292061810139152 Centerline is valid? [True, True] Translation: X:304.29, Y:32.23, Z:-1.93 [[ 9.93023237e-01 -1.17675638e-01 7.56931230e-03 3.04289654e+02] [ 1.17671835e-01 9.93052084e-01 9.47391626e-04 3.22320271e+01] [-7.62820627e-03 -5.00870315e-05 9.99970904e-01 -1.93130835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.761400513 meters 0.008226710500215862 Centerline is valid? [True, True] Translation: X:304.32, Y:32.23, Z:-1.93 [[ 9.92565961e-01 -1.21479338e-01 7.45541003e-03 3.04318167e+02] [ 1.21475747e-01 9.92593960e-01 9.34366393e-04 3.22347761e+01] [-7.51370118e-03 -2.17687764e-05 9.99971772e-01 -1.93191580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.791400513 meters 0.007592119249635049 Centerline is valid? [True, True] Translation: X:304.34, Y:32.24, Z:-1.93 [[ 9.92051027e-01 -1.25636490e-01 7.08742204e-03 3.04344626e+02] [ 1.25633342e-01 9.92076344e-01 8.89351986e-04 3.22371946e+01] [-7.14299881e-03 8.13396685e-06 9.99974488e-01 -1.93274149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.821400513 meters 0.011535085319892505 Centerline is valid? [True, True] Translation: X:304.37, Y:32.24, Z:-1.93 [[ 9.91098664e-01 -1.32974787e-01 6.41444423e-03 3.04373235e+02] [ 1.32972354e-01 9.91119419e-01 8.06246693e-04 3.22372278e+01] [-6.46469072e-03 5.38737251e-05 9.99979102e-01 -1.93392192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.851400513 meters 0.013957752725212 Centerline is valid? [True, True] Translation: X:304.40, Y:32.24, Z:-1.93 [[ 9.90799621e-01 -1.35213478e-01 5.78151443e-03 3.04401284e+02] [ 1.35211538e-01 9.90816487e-01 7.26996289e-04 3.22384744e+01] [-5.82671952e-03 6.14198085e-05 9.99983023e-01 -1.93471270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.881400513 meters 0.014142671483865136 Centerline is valid? [True, True] Translation: X:304.43, Y:32.24, Z:-1.93 [[ 9.90527430e-01 -1.37207024e-01 5.44453229e-03 3.04430092e+02] [ 1.37205333e-01 9.90542391e-01 6.84584480e-04 3.22432189e+01] [-5.48696983e-03 6.89191608e-05 9.99984944e-01 -1.93455935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.911400513 meters 0.016587701915926723 Centerline is valid? [True, True] Translation: X:304.46, Y:32.25, Z:-1.93 [[ 9.90276649e-01 -1.38987629e-01 5.88192199e-03 3.04457288e+02] [ 1.38985679e-01 9.90294114e-01 7.41037134e-04 3.22484890e+01] [-5.92782772e-03 8.36711510e-05 9.99982427e-01 -1.93376363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.941400513 meters 0.017660209531654963 Centerline is valid? [True, True] Translation: X:304.48, Y:32.25, Z:-1.94 [[ 9.90302281e-01 -1.38817060e-01 5.58721222e-03 3.04484122e+02] [ 1.38815296e-01 9.90318039e-01 7.04175867e-04 3.22537252e+01] [-5.63086867e-03 7.82435516e-05 9.99984143e-01 -1.93510362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.971400513 meters 0.016202139843924816 Centerline is valid? [True, True] Translation: X:304.51, Y:32.26, Z:-1.94 [[ 9.90408618e-01 -1.38080720e-01 4.94809369e-03 3.04512002e+02] [ 1.38079327e-01 9.90420976e-01 6.23691144e-04 3.22613060e+01] [-4.98681551e-03 6.55203629e-05 9.99987564e-01 -1.93667673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.001400513 meters 0.014974648732711275 Centerline is valid? [True, True] Translation: X:304.54, Y:32.27, Z:-1.94 [[ 9.90485305e-01 -1.37544054e-01 4.52708819e-03 3.04539496e+02] [ 1.37542880e-01 9.90495649e-01 5.71165493e-04 3.22671150e+01] [-4.56262157e-03 5.69377177e-05 9.99989590e-01 -1.93767330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.031400513 meters 0.014875202657380635 Centerline is valid? [True, True] Translation: X:304.57, Y:32.27, Z:-1.94 [[ 9.90522077e-01 -1.37269003e-01 4.82035543e-03 3.04567034e+02] [ 1.37267661e-01 9.90533804e-01 6.09706246e-04 3.22708179e+01] [-4.85841877e-03 5.77514207e-05 9.99988196e-01 -1.93761282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.061400513 meters 0.015323094379837796 Centerline is valid? [True, True] Translation: X:304.59, Y:32.27, Z:-1.94 [[ 9.90524621e-01 -1.37231239e-01 5.34441154e-03 3.04594198e+02] [ 1.37229588e-01 9.90539037e-01 6.76304311e-04 3.22737778e+01] [-5.38665834e-03 6.35153200e-05 9.99985490e-01 -1.93707975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.091400513 meters 0.014755979570966136 Centerline is valid? [True, True] Translation: X:304.62, Y:32.28, Z:-1.94 [[ 9.90490195e-01 -1.37488076e-01 5.11878671e-03 3.04621594e+02] [ 1.37486564e-01 9.90503420e-01 6.47803742e-04 3.22808404e+01] [-5.15924103e-03 6.21211434e-05 9.99986689e-01 -1.93569940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.121400513 meters 0.014840868914820322 Centerline is valid? [True, True] Translation: X:304.65, Y:32.29, Z:-1.94 [[ 9.90521897e-01 -1.37286427e-01 4.33691235e-03 3.04648321e+02] [ 1.37285336e-01 9.90531390e-01 5.49705431e-04 3.22863157e+01] [-4.37131491e-03 5.08992008e-05 9.99990444e-01 -1.93685666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.151400513 meters 0.01450624096555048 Centerline is valid? [True, True] Translation: X:304.68, Y:32.29, Z:-1.94 [[ 9.90510792e-01 -1.37396092e-01 3.26869700e-03 3.04676135e+02] [ 1.37395473e-01 9.90516185e-01 4.14155375e-04 3.22932315e+01] [-3.29460061e-03 3.88788010e-05 9.99994572e-01 -1.93796281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.181400513 meters 0.019352464307744476 Centerline is valid? [True, True] Translation: X:304.70, Y:32.31, Z:-1.94 [[ 9.90497699e-01 -1.37493395e-01 3.14228164e-03 3.04702397e+02] [ 1.37492822e-01 9.90502683e-01 3.98677159e-04 3.23067779e+01] [-3.16725387e-03 3.71523614e-05 9.99994984e-01 -1.93769277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.211400513 meters 0.014440590930314958 Centerline is valid? [True, True] Translation: X:304.73, Y:32.31, Z:-1.94 [[ 9.90562674e-01 -1.36992670e-01 4.31236995e-03 3.04729234e+02] [ 1.36991577e-01 9.90572060e-01 5.49163850e-04 3.23141944e+01] [-4.34694461e-03 4.67771471e-05 9.99990551e-01 -1.93714254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24140051300003 meters 0.014285736020896087 Centerline is valid? [True, True] Translation: X:304.76, Y:32.32, Z:-1.94 [[ 9.90565297e-01 -1.36920537e-01 5.75840266e-03 3.04756106e+02] [ 1.36918585e-01 9.90582032e-01 7.33771890e-04 3.23214146e+01] [-5.80463865e-03 6.15833751e-05 9.99983151e-01 -1.93545761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.271400513 meters 0.014285736020896087 Centerline is valid? [True, True] Translation: X:304.78, Y:32.33, Z:-1.94 [[ 9.90539648e-01 -1.37105966e-01 5.75836989e-03 3.04783378e+02] [ 1.37104015e-01 9.90556384e-01 7.34029173e-04 3.23250782e+01] [-5.80462984e-03 6.24106350e-05 9.99983151e-01 -1.93568813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30140051300003 meters 0.014609248944096993 Centerline is valid? [True, True] Translation: X:304.81, Y:32.33, Z:-1.93 [[ 9.90415106e-01 -1.37961385e-01 6.67644338e-03 3.04811281e+02] [ 1.37958772e-01 9.90437605e-01 8.52576155e-04 3.23307690e+01] [-6.73022318e-03 7.66696297e-05 9.99977349e-01 -1.93454711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.331400513 meters 0.015091046973514603 Centerline is valid? [True, True] Translation: X:304.84, Y:32.34, Z:-1.93 [[ 9.90171132e-01 -1.39693279e-01 6.84967878e-03 3.04839688e+02] [ 1.39690560e-01 9.90194819e-01 8.76083149e-04 3.23368422e+01] [-6.90489936e-03 8.93632220e-05 9.99976157e-01 -1.93411362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36140051300004 meters 0.020019443581035752 Centerline is valid? [True, True] Translation: X:304.87, Y:32.34, Z:-1.94 [[ 9.89798921e-01 -1.42338871e-01 6.14336106e-03 3.04867204e+02] [ 1.42336728e-01 9.89817982e-01 7.86894056e-04 3.23375845e+01] [-6.19281486e-03 9.55590241e-05 9.99980820e-01 -1.93611007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.391400513 meters 0.026839960941553442 Centerline is valid? [True, True] Translation: X:304.90, Y:32.34, Z:-1.94 [[ 9.88806649e-01 -1.49172032e-01 3.01918023e-03 3.04896660e+02] [ 1.49171545e-01 9.88811256e-01 3.86966100e-04 3.23411669e+01] [-3.04312391e-03 6.77411264e-05 9.99995367e-01 -1.94167726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42140051300004 meters 0.030774420961810434 Centerline is valid? [True, True] Translation: X:304.93, Y:32.34, Z:-1.94 [[ 9.88217604e-01 -1.53038823e-01 2.25525881e-03 3.04926028e+02] [ 1.53038562e-01 9.88220175e-01 2.88911581e-04 3.23429214e+01] [-2.27290695e-03 5.96340545e-05 9.99997415e-01 -1.94329593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.451400513 meters 0.03620133097064481 Centerline is valid? [True, True] Translation: X:304.95, Y:32.34, Z:-1.94 [[ 9.87628869e-01 -1.56796953e-01 1.98314357e-03 3.04954833e+02] [ 1.56796759e-01 9.87630858e-01 2.54016853e-04 3.23423307e+01] [-1.99844285e-03 6.00761071e-05 9.99998001e-01 -1.94446652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.481400513 meters 0.03749217986069747 Centerline is valid? [True, True] Translation: X:304.98, Y:32.35, Z:-1.94 [[ 9.87205935e-01 -1.59440293e-01 1.79859043e-03 3.04983964e+02] [ 1.59440137e-01 9.87207572e-01 2.30576411e-04 3.23468132e+01] [-1.81234526e-03 5.91411044e-05 9.99998356e-01 -1.94388526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.511400513 meters 0.03757324891806052 Centerline is valid? [True, True] Translation: X:305.01, Y:32.35, Z:-1.94 [[ 9.87047040e-01 -1.60421467e-01 1.75872091e-03 3.05011743e+02] [ 1.60421321e-01 9.87048605e-01 2.24554066e-04 3.23548368e+01] [-1.77196632e-03 6.04909066e-05 9.99998428e-01 -1.94288320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.541400513 meters 0.03708878913086786 Centerline is valid? [True, True] Translation: X:305.04, Y:32.36, Z:-1.94 [[ 9.87232444e-01 -1.59265825e-01 2.54925266e-03 3.05039059e+02] [ 1.59265511e-01 9.87235732e-01 3.27175441e-04 3.23614687e+01] [-2.56882118e-03 8.30098160e-05 9.99996697e-01 -1.94178378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.571400513 meters 0.03478032039790519 Centerline is valid? [True, True] Translation: X:305.07, Y:32.37, Z:-1.94 [[ 9.87579161e-01 -1.57080115e-01 3.63835872e-03 3.05065672e+02] [ 1.57079458e-01 9.87585857e-01 4.67388897e-04 3.23714856e+01] [-3.66660912e-03 1.09927881e-04 9.99993272e-01 -1.94022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.601400513 meters 0.031191116256964448 Centerline is valid? [True, True] Translation: X:305.09, Y:32.38, Z:-1.94 [[ 9.88065711e-01 -1.53957375e-01 4.82470464e-03 3.05094615e+02] [ 1.53956180e-01 9.88077482e-01 6.20398670e-04 3.23845135e+01] [-4.86269696e-03 1.29798444e-04 9.99988169e-01 -1.93846777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.631400513 meters 0.031585832680200265 Centerline is valid? [True, True] Translation: X:305.12, Y:32.40, Z:-1.94 [[ 9.88669994e-01 -1.50018827e-01 5.09850295e-03 3.05122886e+02] [ 1.50017439e-01 9.88683133e-01 6.55670816e-04 3.24006908e+01] [-5.13916684e-03 1.16622294e-04 9.99986788e-01 -1.93790946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.661400513 meters 0.020788689225495354 Centerline is valid? [True, True] Translation: X:305.15, Y:32.42, Z:-1.94 [[ 9.89461891e-01 -1.44706534e-01 5.01858870e-03 3.05150373e+02] [ 1.44705121e-01 9.89474614e-01 6.45413269e-04 3.24154406e+01] [-5.05916164e-03 8.76036530e-05 9.99987199e-01 -1.93879421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.691400513 meters 0.011007754603578744 Centerline is valid? [True, True] Translation: X:305.18, Y:32.44, Z:-1.94 [[ 9.90950424e-01 -1.34188559e-01 3.26934744e-03 3.05176874e+02] [ 1.34187902e-01 9.90955816e-01 4.20523810e-04 3.24430172e+01] [-3.29620835e-03 2.19886261e-05 9.99994567e-01 -1.94233339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.721400513 meters 0.00867225452283913 Centerline is valid? [True, True] Translation: X:305.20, Y:32.46, Z:-1.94 [[ 9.91385640e-01 -1.30921969e-01 3.73520713e-03 3.05204660e+02] [ 1.30921091e-01 9.91392676e-01 4.79765761e-04 3.24564544e+01] [-3.76586887e-03 1.33845053e-05 9.99992909e-01 -1.94226512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.751400513 meters 0.007991049312269856 Centerline is valid? [True, True] Translation: X:305.23, Y:32.47, Z:-1.94 [[ 9.91589407e-01 -1.29335198e-01 4.78071214e-03 3.05231130e+02] [ 1.29333732e-01 9.91600931e-01 6.15685100e-04 3.24666853e+01] [-4.82018836e-03 7.80052197e-06 9.99988383e-01 -1.94083400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.781400513 meters 0.007788723250335915 Centerline is valid? [True, True] Translation: X:305.26, Y:32.47, Z:-1.94 [[ 9.91569588e-01 -1.29449871e-01 5.69931090e-03 3.05258573e+02] [ 1.29447790e-01 9.91585967e-01 7.34077739e-04 3.24736141e+01] [-5.74638299e-03 9.87404062e-06 9.99983489e-01 -1.93913345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.811400513 meters 0.008749640309111505 Centerline is valid? [True, True] Translation: X:305.29, Y:32.48, Z:-1.94 [[ 9.91262756e-01 -1.31798102e-01 5.23537193e-03 3.05286331e+02] [ 1.31796372e-01 9.91276581e-01 6.75650357e-04 3.24763285e+01] [-5.27875102e-03 2.02559907e-05 9.99986067e-01 -1.93903311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.841400513 meters 0.010352677167201218 Centerline is valid? [True, True] Translation: X:305.31, Y:32.48, Z:-1.94 [[ 9.91061564e-01 -1.33334367e-01 4.35011610e-03 3.05314542e+02] [ 1.33333187e-01 9.91071110e-01 5.61586852e-04 3.24775356e+01] [-4.38615322e-03 2.34476981e-05 9.99990381e-01 -1.94148895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.871400513 meters 0.010272414185700811 Centerline is valid? [True, True] Translation: X:305.34, Y:32.48, Z:-1.94 [[ 9.90967300e-01 -1.34050030e-01 3.79476743e-03 3.05342519e+02] [ 1.34049139e-01 9.90974565e-01 4.89458214e-04 3.24820598e+01] [-3.82612989e-03 2.36482205e-05 9.99992680e-01 -1.94259486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.901400513 meters 0.010255761874818805 Centerline is valid? [True, True] Translation: X:305.37, Y:32.49, Z:-1.94 [[ 9.91001633e-01 -1.33795440e-01 3.81348733e-03 3.05369439e+02] [ 1.33794533e-01 9.91008971e-01 4.93117609e-04 3.24868319e+01] [-3.84517704e-03 2.15434011e-05 9.99992607e-01 -1.94345486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.931400513 meters 0.009095501866008425 Centerline is valid? [True, True] Translation: X:305.40, Y:32.49, Z:-1.94 [[ 9.91208531e-01 -1.32223771e-01 4.74581053e-03 3.05396689e+02] [ 1.32222346e-01 9.91219892e-01 6.14233794e-04 3.24936160e+01] [-4.78535811e-03 1.86684253e-05 9.99988550e-01 -1.94211625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.961400513 meters 0.008021403911679098 Centerline is valid? [True, True] Translation: X:305.42, Y:32.51, Z:-1.94 [[ 9.91918347e-01 -1.26760444e-01 5.45732446e-03 3.05423269e+02] [ 1.26758474e-01 9.91933360e-01 7.06606736e-04 3.25051347e+01] [-5.50287197e-03 -9.13406262e-06 9.99984859e-01 -1.93933747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99140051300003 meters 0.009668745094598382 Centerline is valid? [True, True] Translation: X:305.45, Y:32.51, Z:-1.94 [[ 9.92337748e-01 -1.23462801e-01 4.76757925e-03 3.05451286e+02] [ 1.23461256e-01 9.92349201e-01 6.18114680e-04 3.25131596e+01] [-4.80741763e-03 -2.47672052e-05 9.99988444e-01 -1.94035363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.021400513 meters 0.013514209365513317 Centerline is valid? [True, True] Translation: X:305.48, Y:32.52, Z:-1.94 [[ 9.92809363e-01 -1.19639198e-01 4.00391236e-03 3.05478290e+02] [ 1.19638074e-01 9.92817436e-01 5.20053517e-04 3.25228267e+01] [-4.03737279e-03 -3.72936395e-05 9.99991849e-01 -1.94257650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05140051300003 meters 0.017323922909421335 Centerline is valid? [True, True] Translation: X:305.51, Y:32.53, Z:-1.94 [[ 9.93255887e-01 -1.15897648e-01 3.23709978e-03 3.05505750e+02] [ 1.15896893e-01 9.93261161e-01 4.20418443e-04 3.25312677e+01] [-3.26401099e-03 -4.24132855e-05 9.99994672e-01 -1.94430079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.081400513 meters 0.021546662463670107 Centerline is valid? [True, True] Translation: X:305.53, Y:32.54, Z:-1.95 [[ 9.93709950e-01 -1.11947301e-01 2.88739538e-03 3.05534318e+02] [ 1.11946682e-01 9.93714144e-01 3.75532028e-04 3.25397932e+01] [-2.91128542e-03 -4.99355810e-05 9.99995761e-01 -1.94548005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11140051300004 meters 0.028527948474554494 Centerline is valid? [True, True] Translation: X:305.56, Y:32.55, Z:-1.95 [[ 9.94571984e-01 -1.03989933e-01 3.55840304e-03 3.05563598e+02] [ 1.03988942e-01 9.94578346e-01 4.63012050e-04 3.25525560e+01] [-3.58725921e-03 -9.04642459e-05 9.99993562e-01 -1.94552425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.141400513 meters 0.031998611418163014 Centerline is valid? [True, True] Translation: X:305.59, Y:32.56, Z:-1.95 [[ 9.94945561e-01 -1.00329349e-01 4.16562019e-03 3.05591682e+02] [ 1.00327958e-01 9.94954274e-01 5.41934524e-04 3.25619469e+01] [-4.19897355e-03 -1.21267181e-04 9.99991177e-01 -1.94505600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17140051300004 meters 0.03816199800609894 Centerline is valid? [True, True] Translation: X:305.62, Y:32.57, Z:-1.95 [[ 9.95229172e-01 -9.74661439e-02 4.38703743e-03 3.05618693e+02] [ 9.74645734e-02 9.95238831e-01 5.70868142e-04 3.25746388e+01] [-4.42179032e-03 -1.40563897e-04 9.99990214e-01 -1.94507244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.201400513 meters 0.039792704076045946 Centerline is valid? [True, True] Translation: X:305.65, Y:32.58, Z:-1.95 [[ 9.95460661e-01 -9.50969717e-02 3.82591589e-03 3.05647359e+02] [ 9.50957591e-02 9.95468005e-01 4.98042501e-04 3.25812564e+01] [-3.85593919e-03 -1.31953342e-04 9.99992557e-01 -1.94575270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.231400513 meters 0.04236949357784611 Centerline is valid? [True, True] Translation: X:305.68, Y:32.59, Z:-1.95 [[ 9.95796746e-01 -9.15301170e-02 3.32834049e-03 3.05676672e+02] [ 9.15291787e-02 9.95802300e-01 4.33462934e-04 3.25880585e+01] [-3.35404403e-03 -1.27000708e-04 9.99994367e-01 -1.94540302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.261400513 meters 0.045727571274932655 Centerline is valid? [True, True] Translation: X:305.70, Y:32.60, Z:-1.94 [[ 9.95877489e-01 -9.06127995e-02 4.16499727e-03 3.05703432e+02] [ 9.06113227e-02 9.95886185e-01 5.42304775e-04 3.25952834e+01] [-4.19700300e-03 -1.62673206e-04 9.99991179e-01 -1.94461224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.291400513 meters 0.045149743463589506 Centerline is valid? [True, True] Translation: X:305.73, Y:32.60, Z:-1.94 [[ 9.95906153e-01 -9.02544053e-02 5.00765621e-03 3.05732615e+02] [ 9.02522657e-02 9.95918723e-01 6.52071638e-04 3.25974914e+01] [-5.04607091e-03 -1.97449838e-04 9.99987249e-01 -1.94362936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.321400513 meters 0.04288623876933891 Centerline is valid? [True, True] Translation: X:305.76, Y:32.60, Z:-1.94 [[ 9.95892999e-01 -9.03505337e-02 5.82378185e-03 3.05761154e+02] [ 9.03476351e-02 9.95910000e-01 7.59434370e-04 3.25970648e+01] [-5.86857788e-03 -2.30150455e-04 9.99982753e-01 -1.94270760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.351400513 meters 0.04300118209869007 Centerline is valid? [True, True] Translation: X:305.79, Y:32.60, Z:-1.94 [[ 9.95859895e-01 -9.06833254e-02 6.29324578e-03 3.05789191e+02] [ 9.06799372e-02 9.95879748e-01 8.22242236e-04 3.25993423e+01] [-6.34187968e-03 -2.48166935e-04 9.99979859e-01 -1.94274284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.381400513 meters 0.044737749381474345 Centerline is valid? [True, True] Translation: X:305.82, Y:32.60, Z:-1.94 [[ 9.95813923e-01 -9.12086260e-02 5.96808902e-03 3.05817192e+02] [ 9.12055879e-02 9.95831779e-01 7.79839832e-04 3.26035250e+01] [-6.01434083e-03 -2.32252294e-04 9.99981887e-01 -1.94380417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.411400513 meters 0.04556136597844024 Centerline is valid? [True, True] Translation: X:305.84, Y:32.61, Z:-1.95 [[ 9.95805202e-01 -9.14126826e-02 3.96496794e-03 3.05843993e+02] [ 9.14113410e-02 9.95813084e-01 5.18652332e-04 3.26060364e+01] [-3.99577836e-03 -1.54033653e-04 9.99992005e-01 -1.94777396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.441400513 meters 0.04274820004905842 Centerline is valid? [True, True] Translation: X:305.87, Y:32.61, Z:-1.95 [[ 9.95810547e-01 -9.13661535e-02 3.68524560e-03 3.05873452e+02] [ 9.13649947e-02 9.95817355e-01 4.81914448e-04 3.26058143e+01] [-3.71386220e-03 -1.43193045e-04 9.99993093e-01 -1.94802086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.471400513 meters 0.042129162932099576 Centerline is valid? [True, True] Translation: X:305.90, Y:32.61, Z:-1.95 [[ 9.95813548e-01 -9.13264610e-02 3.85428601e-03 3.05902626e+02] [ 9.13251906e-02 9.95820995e-01 5.04711116e-04 3.26075749e+01] [-3.88427241e-03 -1.50604763e-04 9.99992445e-01 -1.94796662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.501400513 meters 0.04218803883516517 Centerline is valid? [True, True] Translation: X:305.93, Y:32.61, Z:-1.95 [[ 9.95819779e-01 -9.12410603e-02 4.24688378e-03 3.05931418e+02] [ 9.12395134e-02 9.95828821e-01 5.56972411e-04 3.26092922e+01] [-4.27998802e-03 -1.67160534e-04 9.99990827e-01 -1.94778589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.531400513 meters 0.04687203945651014 Centerline is valid? [True, True] Translation: X:305.96, Y:32.61, Z:-1.95 [[ 9.95976673e-01 -8.95396724e-02 3.62136801e-03 3.05959570e+02] [ 8.95385330e-02 9.95983245e-01 4.75880000e-04 3.26145790e+01] [-3.64943200e-03 -1.49713400e-04 9.99993330e-01 -1.94943372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.561400513 meters 0.04460383738057849 Centerline is valid? [True, True] Translation: X:305.99, Y:32.61, Z:-1.95 [[ 9.96032467e-01 -8.89511400e-02 2.64938521e-03 3.05988030e+02] [ 8.89505281e-02 9.96035984e-01 3.48131487e-04 3.26148664e+01] [-2.66984970e-03 -1.11086050e-04 9.99996430e-01 -1.95118624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.591400513 meters 0.04742315571228819 Centerline is valid? [True, True] Translation: X:306.02, Y:32.62, Z:-1.95 [[ 9.96009506e-01 -8.92257586e-02 1.95635701e-03 3.06015329e+02] [ 8.92254255e-02 9.96011424e-01 2.57055833e-04 3.26221841e+01] [-1.97148994e-03 -8.14732660e-05 9.99998053e-01 -1.95361503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.621400513 meters 0.04269763145612215 Centerline is valid? [True, True] Translation: X:306.05, Y:32.62, Z:-1.95 [[ 9.95907144e-01 -9.03689207e-02 1.55547441e-03 3.06045178e+02] [ 9.03687126e-02 9.95908356e-01 2.03722809e-04 3.26206494e+01] [-1.56752017e-03 -6.23227805e-05 9.99998769e-01 -1.95430192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.651400513 meters 0.04190842877664471 Centerline is valid? [True, True] Translation: X:306.07, Y:32.62, Z:-1.95 [[ 9.95779821e-01 -9.17597963e-02 1.63976891e-03 3.06074479e+02] [ 9.17595655e-02 9.95781169e-01 2.15587491e-04 3.26232568e+01] [-1.65263326e-03 -6.42131906e-05 9.99998632e-01 -1.95479196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.681400513 meters 0.04275153948435395 Centerline is valid? [True, True] Translation: X:306.10, Y:32.63, Z:-1.95 [[ 9.95637719e-01 -9.32768304e-02 2.22832487e-03 3.06102544e+02] [ 9.32764066e-02 9.95640209e-01 2.93588638e-04 3.26272888e+01] [-2.24599485e-03 -8.44577856e-05 9.99997474e-01 -1.95447642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.711400513 meters 0.04262966250166184 Centerline is valid? [True, True] Translation: X:306.13, Y:32.63, Z:-1.96 [[ 9.95387052e-01 -9.59315453e-02 1.32470060e-03 3.06131563e+02] [ 9.59313979e-02 9.95387933e-01 1.74527202e-04 3.26277431e+01] [-1.33533365e-03 -4.66417370e-05 9.99999107e-01 -1.95622121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74140051300003 meters 0.03923935849657666 Centerline is valid? [True, True] Translation: X:306.16, Y:32.63, Z:-1.96 [[ 9.95245861e-01 -9.73935833e-02 4.07944863e-04 3.06161244e+02] [ 9.73935700e-02 9.95245944e-01 5.25551677e-05 3.26257665e+01] [-4.11124007e-04 -1.25741066e-05 9.99999915e-01 -1.95733977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.771400513 meters 0.04212632215252141 Centerline is valid? [True, True] Translation: X:306.19, Y:32.63, Z:-1.96 [[ 9.95119873e-01 -9.86732934e-02 -1.42022042e-04 3.06188221e+02] [ 9.86732917e-02 9.95119883e-01 -1.92512082e-05 3.26311392e+01] [ 1.43228537e-04 5.14347752e-06 9.99999990e-01 -1.95944885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80140051300003 meters 0.03485047415380695 Centerline is valid? [True, True] Translation: X:306.22, Y:32.62, Z:-1.95 [[ 9.94990991e-01 -9.99542943e-02 1.43800407e-03 3.06218538e+02] [ 9.99541244e-02 9.94992029e-01 1.89756876e-04 3.26218962e+01] [-1.44976960e-03 -4.50719444e-05 9.99998948e-01 -1.95415737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.831400513 meters 0.037233358795775225 Centerline is valid? [True, True] Translation: X:306.25, Y:32.63, Z:-1.95 [[ 9.95066720e-01 -9.91812078e-02 2.30459285e-03 3.06245763e+02] [ 9.91807685e-02 9.95069386e-01 3.04387391e-04 3.26261126e+01] [-2.32341930e-03 -7.43144724e-05 9.99997298e-01 -1.95260551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86140051300004 meters 0.037826246821011315 Centerline is valid? [True, True] Translation: X:306.27, Y:32.63, Z:-1.95 [[ 9.95200253e-01 -9.78267731e-02 2.52552726e-03 3.06274290e+02] [ 9.78262423e-02 9.95203454e-01 3.33152236e-04 3.26284442e+01] [-2.54600466e-03 -8.44903488e-05 9.99996755e-01 -1.95158574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.891400513 meters 0.03900724327020806 Centerline is valid? [True, True] Translation: X:306.30, Y:32.63, Z:-1.95 [[ 9.95389165e-01 -9.58861933e-02 2.49965561e-03 3.06303485e+02] [ 9.58856642e-02 9.95392299e-01 3.30955218e-04 3.26321427e+01] [-2.51987198e-03 -8.97480998e-05 9.99996821e-01 -1.95135303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92140051300004 meters 0.04719030621712235 Centerline is valid? [True, True] Translation: X:306.33, Y:32.64, Z:-1.95 [[ 9.95564346e-01 -9.40477519e-02 2.57936958e-03 3.06330729e+02] [ 9.40471823e-02 9.95567683e-01 3.41510328e-04 3.26447174e+01] [-2.60005528e-03 -9.74130651e-05 9.99996615e-01 -1.95257907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.951400513 meters 0.04238534998439842 Centerline is valid? [True, True] Translation: X:306.36, Y:32.64, Z:-1.95 [[ 9.95739522e-01 -9.21571845e-02 3.13973820e-03 3.06361293e+02] [ 9.21563304e-02 9.95744464e-01 4.15938166e-04 3.26414961e+01] [-3.16470862e-03 -1.24819320e-04 9.99994985e-01 -1.95083529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.981400513 meters 0.04757168906909526 Centerline is valid? [True, True] Translation: X:306.39, Y:32.65, Z:-1.95 [[ 9.96062829e-01 -8.84580227e-02 5.83265800e-03 3.06389927e+02] [ 8.84550098e-02 9.96079873e-01 7.73017263e-04 3.26477369e+01] [-5.87817282e-03 -2.54045941e-04 9.99982691e-01 -1.94723577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.011400513 meters 0.04584622926391397 Centerline is valid? [True, True] Translation: X:306.42, Y:32.65, Z:-1.95 [[ 9.96248321e-01 -8.62507272e-02 7.07779168e-03 3.06419499e+02] [ 8.62462345e-02 9.96273410e-01 9.38122117e-04 3.26468492e+01] [-7.13232937e-03 -3.24169703e-04 9.99974512e-01 -1.94500554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.041400513 meters 0.04820228597199608 Centerline is valid? [True, True] Translation: X:306.45, Y:32.65, Z:-1.94 [[ 9.96457306e-01 -8.37426093e-02 7.74679112e-03 3.06449297e+02] [ 8.37371489e-02 9.96487348e-01 1.02711784e-03 3.26513387e+01] [-7.80559287e-03 -3.74784870e-04 9.99969466e-01 -1.94451740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.071400513 meters 0.05454590875952944 Centerline is valid? [True, True] Translation: X:306.48, Y:32.66, Z:-1.95 [[ 9.96888642e-01 -7.85425851e-02 6.64055585e-03 3.06477665e+02] [ 7.85384570e-02 9.96910696e-01 8.80547024e-04 3.26600047e+01] [-6.68920159e-03 -3.56268317e-04 9.99977564e-01 -1.94685598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.101400513 meters 0.06299101326502658 Centerline is valid? [True, True] Translation: X:306.51, Y:32.67, Z:-1.95 [[ 9.97115612e-01 -7.56744397e-02 5.81680432e-03 3.06505468e+02] [ 7.56712241e-02 9.97132524e-01 7.71238034e-04 3.26731662e+01] [-5.85848778e-03 -3.28848781e-04 9.99982785e-01 -1.94917167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.131400513 meters 0.06285462873243007 Centerline is valid? [True, True] Translation: X:306.54, Y:32.68, Z:-1.95 [[ 9.97350862e-01 -7.25632526e-02 5.08264075e-03 3.06536094e+02] [ 7.25607570e-02 9.97363766e-01 6.73934035e-04 3.26756808e+01] [-5.11814457e-03 -3.03348429e-04 9.99986856e-01 -1.94998668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.161400513 meters 0.06285462873243007 Centerline is valid? [True, True] Translation: X:306.56, Y:32.68, Z:-1.95 [[ 9.97337630e-01 -7.27448832e-02 5.08271736e-03 3.06563375e+02] [ 7.27423930e-02 9.97350536e-01 6.73356660e-04 3.26794562e+01] [-5.11823414e-03 -3.01834911e-04 9.99986856e-01 -1.95021753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.191400513 meters 0.06370729786169892 Centerline is valid? [True, True] Translation: X:306.59, Y:32.68, Z:-1.95 [[ 9.97565114e-01 -6.95804697e-02 4.73312423e-03 3.06593375e+02] [ 6.95782679e-02 9.97576298e-01 6.28474363e-04 3.26828737e+01] [-4.76538209e-03 -2.97621514e-04 9.99988601e-01 -1.95059688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.221400513 meters 0.06668575708813228 Centerline is valid? [True, True] Translation: X:306.62, Y:32.69, Z:-1.95 [[ 9.97749045e-01 -6.69294671e-02 4.15800044e-03 3.06622061e+02] [ 6.69277452e-02 9.97757672e-01 5.52052734e-04 3.26891224e+01] [-4.18562544e-03 -2.72524494e-04 9.99991203e-01 -1.95119327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.251400513 meters 0.07112504763012512 Centerline is valid? [True, True] Translation: X:306.65, Y:32.70, Z:-1.95 [[ 9.97950136e-01 -6.39422874e-02 2.62879692e-03 3.06650170e+02] [ 6.39415890e-02 9.97953582e-01 3.48966193e-04 3.26971006e+01] [-2.64573100e-03 -1.80161408e-04 9.99996484e-01 -1.95352970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.281400513 meters 0.06672060479754144 Centerline is valid? [True, True] Translation: X:306.68, Y:32.69, Z:-1.95 [[ 9.98057976e-01 -6.22125979e-02 3.14147599e-03 3.06677912e+02] [ 6.22058484e-02 9.98060911e-01 2.20245594e-03 3.26912749e+01] [-3.27240489e-03 -2.00276054e-03 9.99992640e-01 -1.95464496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.311400513 meters 0.07264544976816398 Centerline is valid? [True, True] Translation: X:306.71, Y:32.70, Z:-1.96 [[ 9.97936448e-01 -6.41889953e-02 1.61804519e-03 3.06707406e+02] [ 6.41915138e-02 9.97936385e-01 -1.55576495e-03 3.27035146e+01] [-1.51484318e-03 1.65641932e-03 9.99997481e-01 -1.95704245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.341400513 meters 0.07076658978005416 Centerline is valid? [True, True] Translation: X:306.74, Y:32.70, Z:-1.96 [[ 9.97860093e-01 -6.53790389e-02 9.03333714e-04 3.06737361e+02] [ 6.53789578e-02 9.97860500e-01 1.19043928e-04 3.27002167e+01] [-9.09184009e-04 -5.97301687e-05 9.99999585e-01 -1.95781876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.371400513 meters 0.07132468440953775 Centerline is valid? [True, True] Translation: X:306.77, Y:32.70, Z:-1.96 [[ 9.97756458e-01 -6.69443235e-02 7.12326119e-04 3.06767564e+02] [ 6.69442728e-02 9.97756712e-01 9.47653807e-05 3.27007463e+01] [-7.17072170e-04 -4.68666166e-05 9.99999742e-01 -1.95902911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.401400513 meters 0.0691598200606619 Centerline is valid? [True, True] Translation: X:306.80, Y:32.70, Z:-1.96 [[ 9.97598628e-01 -6.92552982e-02 8.24753106e-04 3.06797236e+02] [ 6.92552310e-02 9.97598968e-01 1.09765222e-04 3.26998758e+01] [-8.30374670e-04 -5.23831681e-05 9.99999654e-01 -1.95865112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.431400513 meters 0.07092728498592869 Centerline is valid? [True, True] Translation: X:306.83, Y:32.70, Z:-1.96 [[ 9.97554102e-01 -6.98876277e-02 1.23794514e-03 3.06825270e+02] [ 6.98874781e-02 9.97554867e-01 1.63741973e-04 3.27031710e+01] [-1.24636174e-03 -7.68246131e-05 9.99999220e-01 -1.95850721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.461400513 meters 0.06349064093974277 Centerline is valid? [True, True] Translation: X:306.86, Y:32.69, Z:-1.96 [[ 9.97585420e-01 -6.94396458e-02 1.21053810e-03 3.06855827e+02] [ 6.94395023e-02 9.97586152e-01 1.60238994e-04 3.26942009e+01] [-1.21874298e-03 -7.57929209e-05 9.99999254e-01 -1.95699191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49140051300003 meters 0.0719162486326707 Centerline is valid? [True, True] Translation: X:306.88, Y:32.70, Z:-1.96 [[ 9.97721780e-01 -6.74571854e-02 8.82285219e-04 3.06883610e+02] [ 6.74571076e-02 9.97722168e-01 1.17614383e-04 3.27047563e+01] [-8.88209457e-04 -5.78300227e-05 9.99999604e-01 -1.95793311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.521400513 meters 0.07232596887381477 Centerline is valid? [True, True] Translation: X:306.91, Y:32.71, Z:-1.96 [[ 9.97909085e-01 -6.46329147e-02 2.11244620e-04 3.06913946e+02] [ 6.46329102e-02 9.97909107e-01 2.82054385e-05 3.27076838e+01] [-2.12625930e-04 -1.44931088e-05 9.99999977e-01 -1.95888703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55140051300003 meters 0.07617983048300211 Centerline is valid? [True, True] Translation: X:306.94, Y:32.72, Z:-1.96 [[ 9.98106210e-01 -6.15140013e-02 -1.42672233e-04 3.06943363e+02] [ 6.15139992e-02 9.98106221e-01 -1.90462116e-05 3.27164590e+01] [ 1.43573652e-04 1.02338024e-05 9.99999990e-01 -1.96009542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.581400513 meters 0.08445464684484338 Centerline is valid? [True, True] Translation: X:306.97, Y:32.73, Z:-1.96 [[ 9.98401358e-01 -5.64398145e-02 3.04554474e-03 3.06970963e+02] [ 5.64388353e-02 9.98405976e-01 4.06593639e-04 3.27310911e+01] [-3.06363814e-03 -2.34056643e-04 9.99995280e-01 -1.95696808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61140051300004 meters 0.08118156661763573 Centerline is valid? [True, True] Translation: X:307.00, Y:32.73, Z:-1.95 [[ 9.98515184e-01 -5.42404590e-02 5.03991387e-03 3.07001866e+02] [ 5.42377486e-02 9.98527823e-01 6.73009210e-04 3.27306788e+01] [-5.06899855e-03 -3.98656333e-04 9.99987073e-01 -1.95299631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.641400513 meters 0.07977484512668342 Centerline is valid? [True, True] Translation: X:307.03, Y:32.73, Z:-1.95 [[ 9.98613981e-01 -5.22939602e-02 5.95466045e-03 3.07032037e+02] [ 5.22901422e-02 9.98631618e-01 7.95177021e-04 3.27322501e+01] [-5.98809515e-03 -4.82704850e-04 9.99981955e-01 -1.95071177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67140051300004 meters 0.08028860021923451 Centerline is valid? [True, True] Translation: X:307.06, Y:32.74, Z:-1.95 [[ 9.98753473e-01 -4.97937649e-02 3.47584843e-03 3.07062038e+02] [ 4.97924488e-02 9.98759479e-01 4.64216043e-04 3.27375580e+01] [-3.49465163e-03 -2.90566380e-04 9.99993851e-01 -1.95362251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.701400513 meters 0.08594229515482596 Centerline is valid? [True, True] Translation: X:307.09, Y:32.75, Z:-1.96 [[ 9.98761629e-01 -4.97177705e-02 1.83071199e-03 3.07088920e+02] [ 4.97174059e-02 9.98763295e-01 2.44122237e-04 3.27483898e+01] [-1.84058515e-03 -1.52801672e-04 9.99998294e-01 -1.95679571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.731400513 meters 0.07856352448006454 Centerline is valid? [True, True] Translation: X:307.12, Y:32.74, Z:-1.96 [[ 9.98713070e-01 -5.06927114e-02 1.56631286e-03 3.07119659e+02] [ 5.06924453e-02 9.98714290e-01 2.09118838e-04 3.27419006e+01] [-1.57489983e-03 -1.29449488e-04 9.99998751e-01 -1.95697762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.761400513 meters 0.07893439022731229 Centerline is valid? [True, True] Translation: X:307.15, Y:32.75, Z:-1.96 [[ 9.98675464e-01 -5.14112318e-02 2.04987477e-03 3.07147099e+02] [ 5.14107779e-02 9.98677554e-01 2.73567126e-04 3.27465285e+01] [-2.06122834e-03 -1.67819120e-04 9.99997862e-01 -1.95589348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.791400513 meters 0.0737017524156347 Centerline is valid? [True, True] Translation: X:307.18, Y:32.74, Z:-1.95 [[ 9.98469524e-01 -5.51543262e-02 4.07548781e-03 3.07178512e+02] [ 5.51525589e-02 9.98477791e-01 5.44858936e-04 3.27426055e+01] [-4.09933539e-03 -3.19251462e-04 9.99991547e-01 -1.95204647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.821400513 meters 0.07997168005075035 Centerline is valid? [True, True] Translation: X:307.21, Y:32.75, Z:-1.95 [[ 9.98339026e-01 -5.74124710e-02 4.79558306e-03 3.07207159e+02] [ 5.74100499e-02 9.98350477e-01 6.41113851e-04 3.27531449e+01] [-4.82448057e-03 -3.64734314e-04 9.99988296e-01 -1.95104952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.851400513 meters 0.06911619801368483 Centerline is valid? [True, True] Translation: X:307.24, Y:32.74, Z:-1.95 [[ 9.98201313e-01 -5.97706447e-02 4.64842593e-03 3.07239303e+02] [ 5.97683949e-02 9.98212078e-01 6.21545147e-04 3.27424128e+01] [-4.67726506e-03 -3.42598226e-04 9.99989003e-01 -1.95035352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.881400513 meters 0.07024033844279445 Centerline is valid? [True, True] Translation: X:307.27, Y:32.75, Z:-1.95 [[ 9.98060734e-01 -6.20890540e-02 4.44073472e-03 3.07267943e+02] [ 6.20870239e-02 9.98070563e-01 5.93690017e-04 3.27462332e+01] [-4.46902825e-03 -3.16826691e-04 9.99989964e-01 -1.95098546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.911400513 meters 0.06779989940580478 Centerline is valid? [True, True] Translation: X:307.30, Y:32.75, Z:-1.95 [[ 9.97922210e-01 -6.42889526e-02 4.26528428e-03 3.07298271e+02] [ 6.42870989e-02 9.97931282e-01 5.70432178e-04 3.27463663e+01] [-4.29313310e-03 -2.95044187e-04 9.99990741e-01 -1.95184361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.941400513 meters 0.064826863848096 Centerline is valid? [True, True] Translation: X:307.33, Y:32.75, Z:-1.95 [[ 9.97773911e-01 -6.65106593e-02 4.85322217e-03 3.07328782e+02] [ 6.65082854e-02 9.97785662e-01 6.49084416e-04 3.27467021e+01] [-4.88564653e-03 -3.24860011e-04 9.99988012e-01 -1.95188811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.971400513 meters 0.06266702144623515 Centerline is valid? [True, True] Translation: X:307.36, Y:32.75, Z:-1.95 [[ 9.97462681e-01 -7.08366751e-02 7.09680360e-03 3.07358778e+02] [ 7.08317075e-02 9.97487829e-01 9.49204513e-04 3.27467479e+01] [-7.14621371e-03 -4.44117362e-04 9.99974367e-01 -1.95082509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.001400513 meters 0.06174047114394832 Centerline is valid? [True, True] Translation: X:307.39, Y:32.75, Z:-1.95 [[ 9.97293823e-01 -7.31924427e-02 6.92078817e-03 3.07388336e+02] [ 7.31877748e-02 9.97317749e-01 9.25685636e-04 3.27469199e+01] [-6.96997807e-03 -4.16663481e-04 9.99975623e-01 -1.95074960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.031400513 meters 0.05612680396906237 Centerline is valid? [True, True] Translation: X:307.42, Y:32.74, Z:-1.95 [[ 9.97134781e-01 -7.54337236e-02 5.65519597e-03 3.07419480e+02] [ 7.54306422e-02 9.97150764e-01 7.56496933e-04 3.27413584e+01] [-5.69614837e-03 -3.27754339e-04 9.99983723e-01 -1.95194392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.061400513 meters 0.06227225517788838 Centerline is valid? [True, True] Translation: X:307.45, Y:32.75, Z:-1.95 [[ 9.97028220e-01 -7.69307930e-02 4.04736382e-03 3.07446294e+02] [ 7.69292278e-02 9.97036409e-01 5.41224696e-04 3.27502120e+01] [-4.07700594e-03 -2.28255721e-04 9.99991663e-01 -1.95485895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.091400513 meters 0.06091738860645802 Centerline is valid? [True, True] Translation: X:307.48, Y:32.75, Z:-1.96 [[ 9.97031790e-01 -7.69631869e-02 2.06825080e-03 3.07475795e+02] [ 7.69627796e-02 9.97033928e-01 2.75917777e-04 3.27489608e+01] [-2.08335173e-03 -1.15920465e-04 9.99997823e-01 -1.95859842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.121400513 meters 0.06465066714134841 Centerline is valid? [True, True] Translation: X:307.50, Y:32.76, Z:-1.96 [[ 9.97169348e-01 -7.51540031e-02 2.27296497e-03 3.07504545e+02] [ 7.51535033e-02 9.97171930e-01 3.04621638e-04 3.27565142e+01] [-2.28943040e-03 -1.32938080e-04 9.99997370e-01 -1.95898438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.151400513 meters 0.07170038891933718 Centerline is valid? [True, True] Translation: X:307.53, Y:32.77, Z:-1.96 [[ 9.97328774e-01 -7.30060130e-02 2.33222726e-03 3.07532738e+02] [ 7.30054809e-02 9.97331491e-01 3.12593716e-04 3.27683225e+01] [-2.34882491e-03 -1.41493334e-04 9.99997231e-01 -1.95992882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.181400513 meters 0.06926513119350056 Centerline is valid? [True, True] Translation: X:307.56, Y:32.77, Z:-1.96 [[ 9.97495948e-01 -7.07095167e-02 1.41323792e-03 3.07563054e+02] [ 7.07093190e-02 9.97496946e-01 1.89400495e-04 3.27689795e+01] [-1.42309293e-03 -8.89971353e-05 9.99998983e-01 -1.96076544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.211400513 meters 0.059021689945068685 Centerline is valid? [True, True] Translation: X:307.60, Y:32.76, Z:-1.96 [[ 9.97669895e-01 -6.82254828e-02 2.52644689e-04 3.07595221e+02] [ 6.82254764e-02 9.97669927e-01 3.37911931e-05 3.27595888e+01] [-2.54361428e-04 -1.64756519e-05 9.99999968e-01 -1.96057040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24140051300003 meters 0.07425638631782276 Centerline is valid? [True, True] Translation: X:307.62, Y:32.77, Z:-1.96 [[ 9.98001040e-01 -6.31867229e-02 1.16739777e-03 3.07620325e+02] [ 6.31801512e-02 9.97989615e-01 4.99973061e-03 3.27721638e+01] [-1.48096745e-03 -4.91597998e-03 9.99986820e-01 -1.96218536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.271400513 meters 0.06834115026613764 Centerline is valid? [True, True] Translation: X:307.65, Y:32.78, Z:-1.96 [[ 9.97913753e-01 -6.45594649e-02 4.66692485e-04 3.07652664e+02] [ 6.45610157e-02 9.97900418e-01 -5.16056694e-03 3.27764454e+01] [-1.32549186e-04 5.17993086e-03 9.99986575e-01 -1.96219275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30140051300003 meters 0.06640498824158819 Centerline is valid? [True, True] Translation: X:307.68, Y:32.77, Z:-1.96 [[ 9.97994948e-01 -6.32675926e-02 1.81555846e-03 3.07679723e+02] [ 6.32570417e-02 9.97982788e-01 5.37601716e-03 3.27655056e+01] [-2.15202376e-03 -5.25039111e-03 9.99983901e-01 -1.95992521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.331400513 meters 0.06249312640971196 Centerline is valid? [True, True] Translation: X:307.71, Y:32.77, Z:-1.96 [[ 9.97965976e-01 -6.36924040e-02 2.68117731e-03 3.07708283e+02] [ 6.36924755e-02 9.97969571e-01 5.87838148e-05 3.27671562e+01] [-2.67947745e-03 1.12106573e-04 9.99996404e-01 -1.96041518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36140051300004 meters 0.07314224775350628 Centerline is valid? [True, True] Translation: X:307.74, Y:32.78, Z:-1.96 [[ 9.98064393e-01 -6.21430141e-02 2.39038819e-03 3.07735128e+02] [ 6.21417882e-02 9.98067161e-01 5.83813102e-04 3.27786597e+01] [-2.42204786e-03 -4.34140072e-04 9.99996973e-01 -1.96146936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.391400513 meters 0.06033040812812823 Centerline is valid? [True, True] Translation: X:307.77, Y:32.77, Z:-1.96 [[ 9.98161809e-01 -6.05799622e-02 1.75266508e-03 3.07766229e+02] [ 6.05822108e-02 9.98162416e-01 -1.25962181e-03 3.27681103e+01] [-1.67313657e-03 1.36348671e-03 9.99997671e-01 -1.95952886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42140051300004 meters 0.07734606652710191 Centerline is valid? [True, True] Translation: X:307.80, Y:32.80, Z:-1.96 [[ 9.98235070e-01 -5.93826068e-02 6.70970624e-04 3.07795803e+02] [ 5.93841380e-02 9.98231934e-01 -2.55554737e-03 3.27960267e+01] [-5.18029238e-04 2.59088203e-03 9.99996509e-01 -1.96161371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.451400513 meters 0.08911025263379481 Centerline is valid? [True, True] Translation: X:307.82, Y:32.81, Z:-1.96 [[ 9.98530241e-01 -5.41286306e-02 2.72935401e-03 3.07820377e+02] [ 5.41151820e-02 9.98523252e-01 4.78153122e-03 3.28068067e+01] [-2.98414118e-03 -4.62680403e-03 9.99984844e-01 -1.96138514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.481400513 meters 0.0824863249950785 Centerline is valid? [True, True] Translation: X:307.85, Y:32.81, Z:-1.96 [[ 9.98555092e-01 -5.36946695e-02 2.14713107e-03 3.07853750e+02] [ 5.37028534e-02 9.98549127e-01 -3.95520655e-03 3.28124836e+01] [-1.93164235e-03 4.06479870e-03 9.99989873e-01 -1.96095809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.511400513 meters 0.07111909890073867 Centerline is valid? [True, True] Translation: X:307.88, Y:32.79, Z:-1.96 [[ 9.98730080e-01 -5.02469190e-02 3.67074651e-03 3.07882350e+02] [ 5.02265376e-02 9.98722990e-01 5.44828805e-03 3.27918619e+01] [-3.93981862e-03 -5.25700028e-03 9.99978421e-01 -1.95736998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.541400513 meters 0.08148364547493886 Centerline is valid? [True, True] Translation: X:307.91, Y:32.81, Z:-1.96 [[ 9.98750427e-01 -4.98422745e-02 3.65125301e-03 3.07909177e+02] [ 4.98566635e-02 9.98748525e-01 -3.96190209e-03 3.28138096e+01] [-3.44921335e-03 4.13899070e-03 9.99985486e-01 -1.95773122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.571400513 meters 0.07457057773182016 Centerline is valid? [True, True] Translation: X:307.94, Y:32.80, Z:-1.96 [[ 9.98720910e-01 -5.04529164e-02 3.32362286e-03 3.07938215e+02] [ 5.04477318e-02 9.98725379e-01 1.62575836e-03 3.28042775e+01] [-3.40141076e-03 -1.45600963e-03 9.99993155e-01 -1.95673276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.601400513 meters 0.07431286255459174 Centerline is valid? [True, True] Translation: X:307.97, Y:32.81, Z:-1.96 [[ 9.98518878e-01 -5.41255681e-02 5.52021747e-03 3.07968210e+02] [ 5.41153221e-02 9.98532711e-01 1.98897754e-03 3.28095775e+01] [-5.61977225e-03 -1.68730327e-03 9.99982785e-01 -1.95602145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.631400513 meters 0.07197319895327693 Centerline is valid? [True, True] Translation: X:308.00, Y:32.82, Z:-1.96 [[ 9.98372259e-01 -5.67095162e-02 6.07143350e-03 3.07999075e+02] [ 5.67224714e-02 9.98388015e-01 -1.98316139e-03 3.28158170e+01] [-5.94918232e-03 2.32432003e-03 9.99979602e-01 -1.95624506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.661400513 meters 0.07820475947398382 Centerline is valid? [True, True] Translation: X:308.03, Y:32.83, Z:-1.96 [[ 9.98361977e-01 -5.69542690e-02 5.43822878e-03 3.08025581e+02] [ 5.69511258e-02 9.98376700e-01 7.31235135e-04 3.28252863e+01] [-5.47104787e-03 -4.20324104e-04 9.99984945e-01 -1.95691341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.691400513 meters 0.07652081020029544 Centerline is valid? [True, True] Translation: X:308.05, Y:32.82, Z:-1.96 [[ 9.98495198e-01 -5.45711144e-02 5.41596128e-03 3.08051673e+02] [ 5.45459722e-02 9.98500263e-01 4.68629312e-03 3.28227061e+01] [-5.66357500e-03 -4.38382230e-03 9.99974353e-01 -1.95748328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.721400513 meters 0.07639912605939128 Centerline is valid? [True, True] Translation: X:308.08, Y:32.84, Z:-1.96 [[ 9.98451847e-01 -5.55035515e-02 3.64216813e-03 3.08084342e+02] [ 5.55159652e-02 9.98452009e-01 -3.40059045e-03 3.28356272e+01] [-3.44778524e-03 3.59752430e-03 9.99987585e-01 -1.95978879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.751400513 meters 0.08352449797038698 Centerline is valid? [True, True] Translation: X:308.11, Y:32.85, Z:-1.96 [[ 9.98496437e-01 -5.47312960e-02 3.05771230e-03 3.08111410e+02] [ 5.47302905e-02 9.98501090e-01 4.11612769e-04 3.28457745e+01] [-3.07565716e-03 -2.43644401e-04 9.99995240e-01 -1.96030506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.781400513 meters 0.08172235057309125 Centerline is valid? [True, True] Translation: X:308.14, Y:32.85, Z:-1.96 [[ 9.98504527e-01 -5.45051221e-02 4.23101598e-03 3.08140496e+02] [ 5.45031955e-02 9.98513434e-01 5.69419080e-04 3.28488774e+01] [-4.25576255e-03 -3.37963638e-04 9.99990887e-01 -1.95907983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.811400513 meters 0.08233414502914901 Centerline is valid? [True, True] Translation: X:308.17, Y:32.85, Z:-1.96 [[ 9.98572804e-01 -5.31274025e-02 5.46210182e-03 3.08166159e+02] [ 5.31053893e-02 9.98580499e-01 4.09927398e-03 3.28482795e+01] [-5.67213214e-03 -3.80335647e-03 9.99976680e-01 -1.95836585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.841400513 meters 0.07465517495566348 Centerline is valid? [True, True] Translation: X:308.20, Y:32.85, Z:-1.96 [[ 9.98406092e-01 -5.62139245e-02 5.02693358e-03 3.08199899e+02] [ 5.62274166e-02 9.98414643e-01 -2.58407500e-03 3.28494152e+01] [-4.87370310e-03 2.86260771e-03 9.99984026e-01 -1.95968247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.871400513 meters 0.08029504480981195 Centerline is valid? [True, True] Translation: X:308.23, Y:32.86, Z:-1.96 [[ 9.98322141e-01 -5.77855911e-02 3.70519059e-03 3.08228105e+02] [ 5.77841302e-02 9.98328976e-01 5.00200879e-04 3.28561695e+01] [-3.72790353e-03 -2.85260397e-04 9.99993011e-01 -1.96105464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.901400513 meters 0.07751221631200868 Centerline is valid? [True, True] Translation: X:308.26, Y:32.85, Z:-1.96 [[ 9.98186963e-01 -6.01672097e-02 1.64130018e-03 3.08259229e+02] [ 6.01669261e-02 9.98188305e-01 2.21648492e-04 3.28548766e+01] [-1.65166261e-03 -1.22494649e-04 9.99998629e-01 -1.96408881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.931400513 meters 0.07104008526821391 Centerline is valid? [True, True] Translation: X:308.29, Y:32.85, Z:-1.96 [[ 9.98149557e-01 -6.07723621e-02 2.04496508e-03 3.08289066e+02] [ 6.07719253e-02 9.98151640e-01 2.75106855e-04 3.28503375e+01] [-2.05790414e-03 -1.50321321e-04 9.99997871e-01 -1.96268439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.961400513 meters 0.07732104751293896 Centerline is valid? [True, True] Translation: X:308.32, Y:32.86, Z:-1.96 [[ 9.98156823e-01 -6.06139189e-02 2.98474212e-03 3.08315806e+02] [ 6.06129825e-02 9.98161261e-01 4.03274222e-04 3.28616520e+01] [-3.00369799e-03 -2.21616795e-04 9.99995464e-01 -1.96195117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99140051300003 meters 0.07873680350246864 Centerline is valid? [True, True] Translation: X:308.34, Y:32.87, Z:-1.96 [[ 9.98181279e-01 -6.01492578e-02 4.02508083e-03 3.08344221e+02] [ 6.01475513e-02 9.98189349e-01 5.43791602e-04 3.28678296e+01] [-4.05050147e-03 -3.00703841e-04 9.99991751e-01 -1.96063700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.021400513 meters 0.08035381613465249 Centerline is valid? [True, True] Translation: X:308.37, Y:32.87, Z:-1.96 [[ 9.98213959e-01 -5.95761052e-02 4.42499021e-03 3.08371761e+02] [ 5.95740316e-02 9.98223710e-01 5.99081832e-04 3.28742910e+01] [-4.45282111e-03 -3.34397341e-04 9.99990030e-01 -1.96109422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05140051300003 meters 0.0775375490767619 Centerline is valid? [True, True] Translation: X:308.40, Y:32.87, Z:-1.96 [[ 9.98246949e-01 -5.90544228e-02 3.95016994e-03 3.08400271e+02] [ 5.90527662e-02 9.98254719e-01 5.34823457e-04 3.28747059e+01] [-3.97485947e-03 -3.00617422e-04 9.99992055e-01 -1.96266996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.081400513 meters 0.0775375490767619 Centerline is valid? [True, True] Translation: X:308.43, Y:32.88, Z:-1.96 [[ 9.98236321e-01 -5.92337963e-02 3.95018261e-03 3.08427582e+02] [ 5.92321414e-02 9.98244092e-01 5.34730524e-04 3.28785551e+01] [-3.97492058e-03 -2.99809656e-04 9.99992055e-01 -1.96290854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11140051300004 meters 0.07997951880424549 Centerline is valid? [True, True] Translation: X:308.45, Y:32.88, Z:-1.97 [[ 9.98262747e-01 -5.88608574e-02 2.62447971e-03 3.08454979e+02] [ 5.88601240e-02 9.98266176e-01 3.55908739e-04 3.28807262e+01] [-2.64087842e-03 -2.00813234e-04 9.99996493e-01 -1.96594929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.141400513 meters 0.07464555397007885 Centerline is valid? [True, True] Translation: X:308.48, Y:32.88, Z:-1.96 [[ 9.98217819e-01 -5.96045953e-02 2.91166015e-03 3.08484511e+02] [ 5.96036965e-02 9.98222041e-01 3.94579214e-04 3.28754273e+01] [-2.93000207e-03 -2.20330294e-04 9.99995683e-01 -1.96455137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17140051300004 meters 0.08209395197656674 Centerline is valid? [True, True] Translation: X:308.51, Y:32.88, Z:-1.96 [[ 9.98257830e-01 -5.88651907e-02 4.02422455e-03 3.08509080e+02] [ 5.88545839e-02 9.98262901e-01 2.70530487e-03 3.28827437e+01] [-4.17648236e-03 -2.46374771e-03 9.99988243e-01 -1.96359595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.201400513 meters 0.07121098389316806 Centerline is valid? [True, True] Translation: X:308.54, Y:32.88, Z:-1.96 [[ 9.98150428e-01 -6.06942887e-02 3.45338735e-03 3.08543021e+02] [ 6.06997729e-02 9.98154933e-01 -1.50595157e-03 3.28762797e+01] [-3.35561296e-03 1.71278603e-03 9.99992903e-01 -1.96376499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.231400513 meters 0.07552534117141921 Centerline is valid? [True, True] Translation: X:308.57, Y:32.88, Z:-1.96 [[ 9.98131587e-01 -6.10478093e-02 2.54938446e-03 3.08571580e+02] [ 6.10471240e-02 9.98134825e-01 3.45811319e-04 3.28779540e+01] [-2.56574044e-03 -1.89532611e-04 9.99996691e-01 -1.96489481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.261400513 meters 0.07645043292341336 Centerline is valid? [True, True] Translation: X:308.60, Y:32.88, Z:-1.97 [[ 9.98199769e-01 -5.98989055e-02 3.05635551e-03 3.08599330e+02] [ 5.98979110e-02 9.98204422e-01 4.15987098e-04 3.28831613e+01] [-3.07578476e-03 -2.32168915e-04 9.99995243e-01 -1.96509307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.291400513 meters 0.07826342057838838 Centerline is valid? [True, True] Translation: X:308.63, Y:32.88, Z:-1.96 [[ 9.98305061e-01 -5.79206888e-02 5.67436874e-03 3.08629680e+02] [ 5.79172244e-02 9.98321089e-01 7.73109857e-04 3.28825152e+01] [-5.70962103e-03 -4.43155796e-04 9.99983602e-01 -1.96217926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.321400513 meters 0.083554255205386 Centerline is valid? [True, True] Translation: X:308.66, Y:32.89, Z:-1.96 [[ 9.98392869e-01 -5.62128760e-02 7.19657630e-03 3.08658056e+02] [ 5.62072586e-02 9.98418641e-01 9.80615095e-04 3.28901374e+01] [-7.24031913e-03 -5.74539294e-04 9.99973623e-01 -1.96049912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.351400513 meters 0.0850701701546395 Centerline is valid? [True, True] Translation: X:308.69, Y:32.89, Z:-1.96 [[ 9.98531415e-01 -5.36346216e-02 7.63814631e-03 3.08688451e+02] [ 5.36282181e-02 9.98560429e-01 1.04087639e-03 3.28937374e+01] [-7.68297767e-03 -6.29727601e-04 9.99970287e-01 -1.96021001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.381400513 meters 0.0804774683648636 Centerline is valid? [True, True] Translation: X:308.72, Y:32.89, Z:-1.96 [[ 9.98684515e-01 -5.08608609e-02 6.51241282e-03 3.08719928e+02] [ 5.08561471e-02 9.98705595e-01 8.87496907e-04 3.28892164e+01] [-6.54912198e-03 -5.55133195e-04 9.99978400e-01 -1.96265142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.411400513 meters 0.09773096250208867 Centerline is valid? [True, True] Translation: X:308.75, Y:32.91, Z:-1.97 [[ 9.98842798e-01 -4.78475749e-02 4.86563925e-03 3.08746962e+02] [ 4.78449083e-02 9.98854557e-01 6.63034440e-04 3.29110052e+01] [-4.89179052e-03 -4.29471111e-04 9.99987943e-01 -1.96583989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.441400513 meters 0.09241719288198193 Centerline is valid? [True, True] Translation: X:308.78, Y:32.91, Z:-1.97 [[ 9.99054107e-01 -4.34015849e-02 2.68208354e-03 3.08777951e+02] [ 4.34007586e-02 9.99057676e-01 3.65542465e-04 3.29097700e+01] [-2.69542127e-03 -2.48792241e-04 9.99996336e-01 -1.96912793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.471400513 meters 0.09703915844426907 Centerline is valid? [True, True] Translation: X:308.81, Y:32.92, Z:-1.97 [[ 9.99097804e-01 -4.23833985e-02 2.68796182e-03 3.08805430e+02] [ 4.23825658e-02 9.99101388e-01 3.66016004e-04 3.29198523e+01] [-2.70105939e-03 -2.51763067e-04 9.99996320e-01 -1.96977222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.501400513 meters 0.09304468640833646 Centerline is valid? [True, True] Translation: X:308.83, Y:32.92, Z:-1.97 [[ 9.99130418e-01 -4.15075445e-02 3.94091988e-03 3.08834778e+02] [ 4.15057457e-02 9.99138121e-01 5.37145600e-04 3.29194354e+01] [-3.95981887e-03 -3.73107690e-04 9.99992090e-01 -1.96807897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.531400513 meters 0.09734026822362041 Centerline is valid? [True, True] Translation: X:308.86, Y:32.93, Z:-1.97 [[ 9.99145931e-01 -4.09948567e-02 5.17982978e-03 3.08861544e+02] [ 4.09917415e-02 9.99159236e-01 7.06199071e-04 3.29285092e+01] [-5.20442529e-03 -4.93265685e-04 9.99986335e-01 -1.96674519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.561400513 meters 0.10069496088491986 Centerline is valid? [True, False] Translation: X:308.86, Y:32.93, Z:-1.97 [[ 9.99414778e-01 -3.28843647e-02 9.41914054e-03 3.08861563e+02] [ 3.29829373e-02 9.99400672e-01 -1.05082655e-02 3.29333437e+01] [-9.06793775e-03 1.08127867e-02 9.99900423e-01 -1.96986143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.591400513 meters 0.09752316400210069 Centerline is valid? [False, True] Translation: X:308.84, Y:32.93, Z:-1.97 [[ 9.99590054e-01 -2.82781471e-02 4.48000147e-03 3.08841624e+02] [ 2.83435699e-02 9.99481399e-01 -1.52831513e-02 3.29324014e+01] [-4.04549894e-03 1.54038652e-02 9.99873169e-01 -1.96552511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.621400513 meters 0.08674390609525325 Centerline is valid? [True, True] Translation: X:308.87, Y:32.91, Z:-1.97 [[ 9.99556431e-01 -2.97444855e-02 1.48582106e-03 3.08874142e+02] [ 2.97442490e-02 9.99557526e-01 1.80994196e-04 3.29111180e+01] [-1.49054720e-03 -1.36719281e-04 9.99998880e-01 -1.96568388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.651400513 meters 0.09046522875592251 Centerline is valid? [True, True] Translation: X:308.90, Y:32.92, Z:-1.97 [[ 9.99499826e-01 -3.16058257e-02 1.08109658e-03 3.08902302e+02] [ 3.16057016e-02 9.99500406e-01 1.31728962e-04 3.29209744e+01] [-1.08471987e-03 -9.74942590e-05 9.99999407e-01 -1.96682148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.681400513 meters 0.09331971776876277 Centerline is valid? [True, True] Translation: X:308.93, Y:32.93, Z:-1.97 [[ 9.99421083e-01 -3.40030852e-02 1.13554600e-03 3.08931243e+02] [ 3.40029497e-02 9.99421723e-01 1.38392036e-04 3.29296027e+01] [-1.13959509e-03 -9.97000055e-05 9.99999346e-01 -1.96678631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.711400513 meters 0.09653724902258695 Centerline is valid? [True, True] Translation: X:308.96, Y:32.94, Z:-1.97 [[ 9.99322589e-01 -3.67825506e-02 1.18657495e-03 3.08959179e+02] [ 3.67824047e-02 9.99323288e-01 1.44525932e-04 3.29380760e+01] [-1.19108801e-03 -1.00782948e-04 9.99999286e-01 -1.96695706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74140051300003 meters 0.08551073225685683 Centerline is valid? [True, True] Translation: X:308.99, Y:32.93, Z:-1.97 [[ 9.99135303e-01 -4.15733974e-02 5.46352323e-04 3.08991219e+02] [ 4.15733672e-02 9.99135452e-01 6.66283880e-05 3.29284141e+01] [-5.48649944e-04 -4.38570689e-05 9.99999849e-01 -1.96752293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.771400513 meters 0.08375467823561722 Centerline is valid? [True, True] Translation: X:309.02, Y:32.93, Z:-1.97 [[ 9.99084492e-01 -4.27777470e-02 4.92131093e-04 3.09021102e+02] [ 4.27777227e-02 9.99084612e-01 5.98736664e-05 3.29295241e+01] [-4.94241862e-04 -3.87666042e-05 9.99999877e-01 -1.96823180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80140051300003 meters 0.08471649584948229 Centerline is valid? [True, True] Translation: X:309.05, Y:32.93, Z:-1.97 [[ 9.99068706e-01 -4.31392891e-02 8.50086463e-04 3.09048703e+02] [ 4.31392169e-02 9.99069065e-01 1.03138955e-04 3.29338195e+01] [-8.53744429e-04 -6.63708379e-05 9.99999633e-01 -1.96837645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.831400513 meters 0.0837959284226533 Centerline is valid? [True, True] Translation: X:309.08, Y:32.94, Z:-1.97 [[ 9.99070785e-01 -4.30834256e-02 1.17710441e-03 3.09077443e+02] [ 4.30832872e-02 9.99071474e-01 1.42685963e-04 3.29363498e+01] [-1.18215884e-03 -9.18398498e-05 9.99999297e-01 -1.96820336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86140051300004 meters 0.08369454592998292 Centerline is valid? [True, True] Translation: X:309.11, Y:32.94, Z:-1.97 [[ 9.99101923e-01 -4.23556726e-02 1.15957018e-03 3.09106799e+02] [ 4.23555366e-02 9.99102592e-01 1.41614895e-04 3.29402833e+01] [-1.16452776e-03 -9.23734964e-05 9.99999318e-01 -1.96789842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.891400513 meters 0.0862267226514286 Centerline is valid? [True, True] Translation: X:309.13, Y:32.95, Z:-1.97 [[ 9.99145930e-01 -4.13115529e-02 8.75440041e-04 3.09134143e+02] [ 4.13114752e-02 9.99146311e-01 1.06667003e-04 3.29478518e+01] [-8.79099267e-04 -7.04101821e-05 9.99999611e-01 -1.96799157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92140051300004 meters 0.0865153849206014 Centerline is valid? [True, True] Translation: X:309.16, Y:32.95, Z:-1.97 [[ 9.99279299e-01 -3.79223331e-02 1.66703411e-03 3.09163506e+02] [ 3.79220454e-02 9.99280680e-01 2.03869932e-04 3.29534629e+01] [-1.67356621e-03 -1.40505660e-04 9.99998590e-01 -1.96644349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.951400513 meters 0.0902104877145951 Centerline is valid? [True, True] Translation: X:309.19, Y:32.96, Z:-1.97 [[ 9.99345309e-01 -3.61083338e-02 2.26737368e-03 3.09192290e+02] [ 3.61077968e-02 9.99347862e-01 2.77352158e-04 3.29630358e+01] [-2.27590976e-03 -1.95300710e-04 9.99997391e-01 -1.96653844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.981400513 meters 0.08928859263870947 Centerline is valid? [True, True] Translation: X:309.22, Y:32.97, Z:-1.97 [[ 9.99409752e-01 -3.42603153e-02 2.52564390e-03 3.09222184e+02] [ 3.42596430e-02 9.99412918e-01 3.08989583e-04 3.29677137e+01] [-2.53474722e-03 -2.22279544e-04 9.99996763e-01 -1.96613179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.011400513 meters 0.09101244760781294 Centerline is valid? [True, True] Translation: X:309.25, Y:32.98, Z:-1.96 [[ 9.99481653e-01 -3.19967953e-02 3.55388834e-03 3.09251628e+02] [ 3.19954498e-02 9.99487920e-01 4.34835722e-04 3.29758099e+01] [-3.56598181e-03 -3.20902070e-04 9.99993590e-01 -1.96484282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.041400513 meters 0.09332769592155615 Centerline is valid? [True, True] Translation: X:309.28, Y:32.98, Z:-1.96 [[ 9.99466548e-01 -3.24061067e-02 4.05748415e-03 3.09280844e+02] [ 3.24043565e-02 9.99474718e-01 4.96367699e-04 3.29799569e+01] [-4.07143817e-03 -3.64622748e-04 9.99991645e-01 -1.96438884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.071400513 meters 0.09019411709625319 Centerline is valid? [True, True] Translation: X:309.31, Y:32.98, Z:-1.96 [[ 9.99446656e-01 -3.29502664e-02 4.54543893e-03 3.09310587e+02] [ 3.29480749e-02 9.99456910e-01 5.56183945e-04 3.29801419e+01] [-4.56129675e-03 -4.06112722e-04 9.99989515e-01 -1.96274110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.101400513 meters 0.09193180071251653 Centerline is valid? [True, True] Translation: X:309.34, Y:32.99, Z:-1.96 [[ 9.99387180e-01 -3.46671219e-02 4.84308194e-03 3.09339639e+02] [ 3.46646533e-02 9.99398825e-01 5.92748269e-04 3.29852902e+01] [-4.86071927e-03 -4.24501264e-04 9.99988097e-01 -1.96254405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.131400513 meters 0.08457862762851268 Centerline is valid? [True, True] Translation: X:309.37, Y:32.98, Z:-1.96 [[ 9.99306936e-01 -3.68608372e-02 5.18912706e-03 3.09370554e+02] [ 3.68580320e-02 9.99320310e-01 6.35218679e-04 3.29800370e+01] [-5.20901476e-03 -4.43517420e-04 9.99986335e-01 -1.96182868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.161400513 meters 0.08434732704538485 Centerline is valid? [True, True] Translation: X:309.40, Y:32.98, Z:-1.96 [[ 9.99231254e-01 -3.87602382e-02 5.87757832e-03 3.09399409e+02] [ 3.87566719e-02 9.99248419e-01 7.19484316e-04 3.29836418e+01] [-5.90104823e-03 -4.91135840e-04 9.99982468e-01 -1.96141541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.191400513 meters 0.08280583948799389 Centerline is valid? [True, True] Translation: X:309.43, Y:32.99, Z:-1.96 [[ 9.99180383e-01 -4.00246317e-02 6.04910189e-03 3.09429673e+02] [ 4.00208770e-02 9.99198569e-01 7.40535000e-04 3.29854113e+01] [-6.07389359e-03 -4.97837682e-04 9.99981430e-01 -1.96144760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.221400513 meters 0.08861900516728449 Centerline is valid? [True, True] Translation: X:309.46, Y:32.99, Z:-1.96 [[ 9.99199154e-01 -3.96809765e-02 5.14491326e-03 3.09457148e+02] [ 3.96782553e-02 9.99212309e-01 6.29937124e-04 3.29949332e+01] [-5.16585718e-03 -4.25291460e-04 9.99986566e-01 -1.96303613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.251400513 meters 0.09148996811363937 Centerline is valid? [True, True] Translation: X:309.48, Y:33.00, Z:-1.96 [[ 9.99212803e-01 -3.94433221e-02 4.24244169e-03 3.09484402e+02] [ 3.94414693e-02 9.99221747e-01 5.19532460e-04 3.29998185e+01] [-4.25963208e-03 -3.51795352e-04 9.99990866e-01 -1.96401249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.281400513 meters 0.08500948993478462 Centerline is valid? [True, True] Translation: X:309.51, Y:33.00, Z:-1.96 [[ 9.99249572e-01 -3.84694919e-02 4.51555506e-03 3.09514399e+02] [ 3.84673812e-02 9.99259703e-01 5.53364833e-04 3.29977532e+01] [-4.53349988e-03 -3.79247995e-04 9.99989652e-01 -1.96373750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.311400513 meters 0.09675085242267535 Centerline is valid? [True, True] Translation: X:309.54, Y:33.02, Z:-1.96 [[ 9.99273243e-01 -3.78696910e-02 4.34426641e-03 3.09540388e+02] [ 3.78677319e-02 9.99282618e-01 5.32375618e-04 3.30166009e+01] [-4.36131081e-03 -3.67481195e-04 9.99990422e-01 -1.96480154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.341400513 meters 0.08937337903155869 Centerline is valid? [True, True] Translation: X:309.57, Y:33.01, Z:-1.97 [[ 9.99292446e-01 -3.74220623e-02 3.76783625e-03 3.09569526e+02] [ 3.74205855e-02 9.99299498e-01 4.61714708e-04 3.30120051e+01] [-3.78247519e-03 -3.20393381e-04 9.99992795e-01 -1.96577334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.371400513 meters 0.08786637874172198 Centerline is valid? [True, True] Translation: X:309.60, Y:33.01, Z:-1.97 [[ 9.99322922e-01 -3.66971646e-02 2.64870178e-03 3.09598648e+02] [ 3.66964315e-02 9.99326406e-01 3.24871060e-04 3.30148966e+01] [-2.65883948e-03 -2.27453193e-04 9.99996439e-01 -1.96817592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.401400513 meters 0.09011858183699478 Centerline is valid? [True, True] Translation: X:309.63, Y:33.02, Z:-1.97 [[ 9.99319405e-01 -3.67831602e-02 2.77967710e-03 3.09626236e+02] [ 3.67823531e-02 9.99323242e-01 3.40930144e-04 3.30223912e+01] [-2.79033642e-03 -2.38455044e-04 9.99996079e-01 -1.96886960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.431400513 meters 0.08776334928333848 Centerline is valid? [True, True] Translation: X:309.65, Y:33.02, Z:-1.97 [[ 9.99301330e-01 -3.72504295e-02 3.04254566e-03 3.09654791e+02] [ 3.72494655e-02 9.99305928e-01 3.72891474e-04 3.30246648e+01] [-3.05432428e-03 -2.59297747e-04 9.99995302e-01 -1.96920244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.461400513 meters 0.08166140759804248 Centerline is valid? [True, True] Translation: X:309.69, Y:33.02, Z:-1.97 [[ 9.99259866e-01 -3.83929325e-02 2.38820289e-03 3.09685405e+02] [ 3.83923397e-02 9.99262699e-01 2.93603955e-04 3.30205444e+01] [-2.39771438e-03 -2.01697952e-04 9.99997105e-01 -1.97054236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49140051300003 meters 0.0830198857345243 Centerline is valid? [True, True] Translation: X:309.71, Y:33.03, Z:-1.97 [[ 9.99217148e-01 -3.94976308e-02 2.24251628e-03 3.09713578e+02] [ 3.94971111e-02 9.99219647e-01 2.75583253e-04 3.30277224e+01] [-2.25165121e-03 -1.86794597e-04 9.99997448e-01 -1.97114167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.521400513 meters 0.08278694626742916 Centerline is valid? [True, True] Translation: X:309.74, Y:33.03, Z:-1.97 [[ 9.99083046e-01 -4.27952445e-02 1.27817489e-03 3.09742722e+02] [ 4.27950783e-02 9.99083859e-01 1.57105039e-04 3.30316609e+01] [-1.28372725e-03 -1.02261386e-04 9.99999171e-01 -1.97212634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55140051300003 meters 0.08559861826727586 Centerline is valid? [True, True] Translation: X:309.77, Y:33.04, Z:-1.97 [[ 9.99031657e-01 -4.39909659e-02 7.36531880e-04 3.09770912e+02] [ 4.39909111e-02 9.99031927e-01 9.04566798e-05 3.30394307e+01] [-7.39798140e-04 -5.79683783e-05 9.99999725e-01 -1.97332309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.581400513 meters 0.08215393856100961 Centerline is valid? [True, True] Translation: X:309.80, Y:33.04, Z:-1.97 [[ 9.98983045e-01 -4.50816862e-02 7.19005064e-04 3.09801249e+02] [ 4.50816342e-02 9.98983302e-01 8.83969368e-05 3.30400942e+01] [-7.22259136e-04 -5.58931178e-05 9.99999738e-01 -1.97322892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61140051300004 meters 0.07859137497554634 Centerline is valid? [True, True] Translation: X:309.83, Y:33.04, Z:-1.97 [[ 9.98919558e-01 -4.64431093e-02 1.65975538e-03 3.09831556e+02] [ 4.64428338e-02 9.98920929e-01 2.04188500e-04 3.30398583e+01] [-1.66744754e-03 -1.26884143e-04 9.99998602e-01 -1.97199446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.641400513 meters 0.08781954449013421 Centerline is valid? [True, True] Translation: X:309.86, Y:33.05, Z:-1.97 [[ 9.98835637e-01 -4.81873153e-02 2.31382256e-03 3.09858596e+02] [ 4.81867846e-02 9.98838302e-01 2.84590450e-04 3.30539601e+01] [-2.32484825e-03 -1.72763414e-04 9.99997283e-01 -1.97177026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67140051300004 meters 0.06891855584141958 Centerline is valid? [True, True] Translation: X:309.89, Y:33.03, Z:-1.97 [[ 9.98644231e-01 -5.19996136e-02 2.39565954e-03 3.09892469e+02] [ 5.19990549e-02 9.98647090e-01 2.94938174e-04 3.30310166e+01] [-2.40775510e-03 -1.69966274e-04 9.99997087e-01 -1.97061715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.701400513 meters 0.0666969685027982 Centerline is valid? [True, True] Translation: X:309.92, Y:33.03, Z:-1.97 [[ 9.98644471e-01 -5.20155183e-02 1.89927086e-03 3.09920680e+02] [ 5.20190557e-02 9.98644354e-01 -1.86318462e-03 3.30292535e+01] [-1.79978161e-03 1.95945729e-03 9.99996461e-01 -1.97149724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.731400513 meters 0.07088000991766656 Centerline is valid? [True, True] Translation: X:309.95, Y:33.03, Z:-1.97 [[ 9.98473631e-01 -5.51844574e-02 2.25457280e-03 3.09951003e+02] [ 5.51790609e-02 9.98473616e-01 2.38952272e-03 3.30335638e+01] [-2.38299597e-03 -2.26147022e-03 9.99994604e-01 -1.97110106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.761400513 meters 0.06532222379152455 Centerline is valid? [True, True] Translation: X:309.98, Y:33.03, Z:-1.97 [[ 9.98431221e-01 -5.58820928e-02 3.50543494e-03 3.09980297e+02] [ 5.58809209e-02 9.98437347e-01 4.31460345e-04 3.30308236e+01] [-3.52406807e-03 -2.34896547e-04 9.99993763e-01 -1.96939834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.791400513 meters 0.06651750242742205 Centerline is valid? [True, True] Translation: X:310.01, Y:33.04, Z:-1.97 [[ 9.98442015e-01 -5.55700952e-02 5.05046950e-03 3.10008557e+02] [ 5.55676514e-02 9.98454730e-01 6.23030779e-04 3.30354293e+01] [-5.07728704e-03 -3.41417377e-04 9.99987052e-01 -1.96769263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.821400513 meters 0.07469452060405934 Centerline is valid? [True, True] Translation: X:310.04, Y:33.05, Z:-1.96 [[ 9.98545274e-01 -5.33362872e-02 7.91054253e-03 3.10036629e+02] [ 5.33302059e-02 9.98576453e-01 9.77864088e-04 3.30478113e+01] [-7.95143714e-03 -5.54570702e-04 9.99968233e-01 -1.96387643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.851400513 meters 0.07367079533158823 Centerline is valid? [True, True] Translation: X:310.07, Y:33.05, Z:-1.96 [[ 9.98606335e-01 -5.20430396e-02 8.76986390e-03 3.10066515e+02] [ 5.20355145e-02 9.98644646e-01 1.08422440e-03 3.30480462e+01] [-8.81440397e-03 -6.26368978e-04 9.99960956e-01 -1.96303510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.881400513 meters 0.07245416197082316 Centerline is valid? [True, True] Translation: X:310.10, Y:33.05, Z:-1.96 [[ 9.98661932e-01 -5.09336700e-02 8.95025670e-03 3.10096413e+02] [ 5.09257859e-02 9.98701827e-01 1.10673362e-03 3.30468888e+01] [-8.99500773e-03 -6.49453877e-04 9.99959333e-01 -1.96264343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.911400513 meters 0.07077155992784503 Centerline is valid? [True, True] Translation: X:310.12, Y:33.04, Z:-1.96 [[ 9.98834822e-01 -4.74747513e-02 8.66867342e-03 3.10123738e+02] [ 4.74709346e-02 9.98872411e-01 6.45631091e-04 3.30430179e+01] [-8.68954989e-03 -2.33368788e-04 9.99962218e-01 -1.96315747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.941400513 meters 0.07164736104146732 Centerline is valid? [True, True] Translation: X:310.15, Y:33.05, Z:-1.96 [[ 9.98743964e-01 -4.95534745e-02 7.41262331e-03 3.10154887e+02] [ 4.95444695e-02 9.98770946e-01 1.39367084e-03 3.30463196e+01] [-7.47257404e-03 -1.02466585e-03 9.99971555e-01 -1.96411779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.971400513 meters 0.07164736104146732 Centerline is valid? [True, True] Translation: X:310.18, Y:33.05, Z:-1.96 [[ 9.98734631e-01 -4.97325489e-02 7.47065034e-03 3.10182196e+02] [ 4.97270125e-02 9.98762418e-01 9.25131214e-04 3.30502412e+01] [-7.50741394e-03 -5.52467458e-04 9.99971666e-01 -1.96440869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.001400513 meters 0.08345701802997381 Centerline is valid? [True, True] Translation: X:310.21, Y:33.07, Z:-1.97 [[ 9.98771871e-01 -4.91354141e-02 6.36085991e-03 3.10208161e+02] [ 4.91313810e-02 9.98792013e-01 7.88855013e-04 3.30657087e+01] [-6.39193679e-03 -4.75368366e-04 9.99979458e-01 -1.96634765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.031400513 meters 0.07188622301877123 Centerline is valid? [True, True] Translation: X:310.24, Y:33.05, Z:-1.97 [[ 9.98815711e-01 -4.81375912e-02 7.06736535e-03 3.10239523e+02] [ 4.81325842e-02 9.98840571e-01 8.76949109e-04 3.30503423e+01] [-7.10138546e-03 -5.35739990e-04 9.99974641e-01 -1.96595181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.061400513 meters 0.08072106248131668 Centerline is valid? [True, True] Translation: X:310.27, Y:33.06, Z:-1.96 [[ 9.98857350e-01 -4.70896304e-02 8.15854325e-03 3.10267252e+02] [ 4.70829204e-02 9.98890471e-01 1.01267651e-03 3.30618657e+01] [-8.19717767e-03 -6.27391334e-04 9.99966206e-01 -1.96472844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.091400513 meters 0.07873726726257411 Centerline is valid? [True, True] Translation: X:310.30, Y:33.06, Z:-1.96 [[ 9.98907704e-01 -4.58969038e-02 8.76768240e-03 3.10297422e+02] [ 4.58891060e-02 9.98945947e-01 1.08860139e-03 3.30600280e+01] [-8.80840423e-03 -6.85071205e-04 9.99960971e-01 -1.96440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.121400513 meters 0.08507088725334958 Centerline is valid? [True, True] Translation: X:310.33, Y:33.07, Z:-1.97 [[ 9.98971640e-01 -4.44966274e-02 8.70129183e-03 3.10325761e+02] [ 4.44888927e-02 9.99009295e-01 1.08055364e-03 3.30683020e+01] [-8.74075240e-03 -6.92331600e-04 9.99961559e-01 -1.96504845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.151400513 meters 0.07794256661081723 Centerline is valid? [True, True] Translation: X:310.36, Y:33.06, Z:-1.97 [[ 9.99044190e-01 -4.30128827e-02 7.78454549e-03 3.10356864e+02] [ 4.30066460e-02 9.99074318e-01 9.66865990e-04 3.30605468e+01] [-7.81892718e-03 -6.31154657e-04 9.99969233e-01 -1.96720283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.181400513 meters 0.08816153158951585 Centerline is valid? [True, True] Translation: X:310.38, Y:33.07, Z:-1.97 [[ 9.99199046e-01 -3.95811766e-02 5.88193335e-03 3.10384545e+02] [ 3.95775568e-02 9.99216234e-01 7.30596421e-04 3.30723286e+01] [-5.90624116e-03 -4.97218696e-04 9.99982434e-01 -1.97093283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.211400513 meters 0.08571816661004121 Centerline is valid? [True, True] Translation: X:310.42, Y:33.07, Z:-1.97 [[ 9.99249233e-01 -3.82587072e-02 6.10259408e-03 3.10415053e+02] [ 3.82547852e-02 9.99267730e-01 7.58158770e-04 3.30715900e+01] [-6.12713151e-03 -5.24136144e-04 9.99981092e-01 -1.97056311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24140051300003 meters 0.08341749901242473 Centerline is valid? [True, True] Translation: X:310.45, Y:33.07, Z:-1.97 [[ 9.99297967e-01 -3.68282135e-02 6.87423930e-03 3.10445061e+02] [ 3.68232027e-02 9.99321431e-01 8.54129931e-04 3.30712812e+01] [-6.90103074e-03 -6.00398796e-04 9.99976007e-01 -1.96969192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.271400513 meters 0.08645196417597042 Centerline is valid? [True, True] Translation: X:310.47, Y:33.08, Z:-1.97 [[ 9.99365358e-01 -3.48998236e-02 7.13322802e-03 3.10474203e+02] [ 3.48943786e-02 9.99390613e-01 8.86403289e-04 3.30779242e+01] [-7.15981644e-03 -6.36931181e-04 9.99974165e-01 -1.96957100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30140051300003 meters 0.09055378544641281 Centerline is valid? [True, True] Translation: X:310.50, Y:33.09, Z:-1.97 [[ 9.99435834e-01 -3.28920630e-02 6.79155104e-03 3.10502970e+02] [ 3.28870812e-02 9.99458717e-01 8.43938980e-04 3.30868624e+01] [-6.81563378e-03 -6.20108568e-04 9.99976581e-01 -1.97071985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.331400513 meters 0.1060175230634859 Centerline is valid? [True, False] Translation: X:310.50, Y:33.10, Z:-1.98 [[ 9.99654337e-01 -2.41736186e-02 1.03364803e-02 3.10504875e+02] [ 2.42818043e-02 9.99650302e-01 -1.04722161e-02 3.30952342e+01] [-1.00797143e-02 1.07195846e-02 9.99891739e-01 -1.97563612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36140051300004 meters 0.09704784849938312 Centerline is valid? [False, True] Translation: X:310.51, Y:33.09, Z:-1.97 [[ 9.99834483e-01 -1.52816875e-02 9.87302780e-03 3.10505348e+02] [ 1.52887446e-02 9.99882916e-01 -6.39703779e-04 3.30904295e+01] [-9.86209607e-03 7.90544098e-04 9.99951056e-01 -1.97423931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.391400513 meters 0.11380174316515704 Centerline is valid? [True, False] Translation: X:310.51, Y:33.10, Z:-1.97 [[ 9.99948876e-01 -8.57827812e-03 5.35341976e-03 3.10506031e+02] [ 8.65393841e-03 9.99860676e-01 -1.42736836e-02 3.30990433e+01] [-5.23023027e-03 1.43192820e-02 9.99883795e-01 -1.97138074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42140051300004 meters 0.09704808408250823 Centerline is valid? [False, True] Translation: X:310.51, Y:33.09, Z:-1.97 [[ 9.99979272e-01 -3.98779732e-03 5.05498987e-03 3.10506555e+02] [ 4.03298821e-03 9.99951713e-01 -8.96141347e-03 3.30949096e+01] [-5.01900948e-03 8.98161444e-03 9.99947069e-01 -1.97047970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.451400513 meters 0.08991523199120363 Centerline is valid? [True, True] Translation: X:310.54, Y:33.08, Z:-1.97 [[ 9.99976144e-01 -6.03479734e-03 3.36031575e-03 3.10538026e+02] [ 6.03374275e-03 9.99981744e-01 3.23884770e-04 3.30824097e+01] [-3.36220898e-03 -3.03601763e-04 9.99994302e-01 -1.96964226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.481400513 meters 0.09484980782778053 Centerline is valid? [True, True] Translation: X:310.56, Y:33.09, Z:-1.97 [[ 9.99988182e-01 -4.13080511e-03 2.56373448e-03 3.10561242e+02] [ 4.12467825e-03 9.99988636e-01 2.39052269e-03 3.30871032e+01] [-2.57358013e-03 -2.37991986e-03 9.99993856e-01 -1.97044205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.511400513 meters 0.08634563041219771 Centerline is valid? [True, True] Translation: X:310.60, Y:33.09, Z:-1.97 [[ 9.99935563e-01 -1.09365036e-02 3.04362941e-03 3.10598008e+02] [ 1.09417412e-02 9.99938676e-01 -1.70953725e-03 3.30887115e+01] [-3.02474641e-03 1.74272969e-03 9.99993907e-01 -1.97085648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.541400513 meters 0.0839199705712924 Centerline is valid? [True, True] Translation: X:310.63, Y:33.09, Z:-1.97 [[ 9.99874716e-01 -1.55167365e-02 3.12788397e-03 3.10627983e+02] [ 1.55158698e-02 9.99879576e-01 3.01187249e-04 3.30880824e+01] [-3.13218074e-03 -2.52617674e-04 9.99995063e-01 -1.97042788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.571400513 meters 0.08333395634411658 Centerline is valid? [True, True] Translation: X:310.66, Y:33.09, Z:-1.97 [[ 9.99839560e-01 -1.74820291e-02 3.90286362e-03 3.10657053e+02] [ 1.74806946e-02 9.99847130e-01 3.75779516e-04 3.30906265e+01] [-3.90883638e-03 -3.07494459e-04 9.99992313e-01 -1.97001648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.601400513 meters 0.07315259727530057 Centerline is valid? [True, True] Translation: X:310.69, Y:33.08, Z:-1.97 [[ 9.99806408e-01 -1.91134322e-02 4.67160946e-03 3.10689062e+02] [ 1.91115372e-02 9.99817257e-01 4.49939320e-04 3.30814850e+01] [-4.67935564e-03 -3.60570577e-04 9.99988987e-01 -1.96984022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.631400513 meters 0.08014486851423626 Centerline is valid? [True, True] Translation: X:310.72, Y:33.09, Z:-1.97 [[ 9.99787712e-01 -1.99249166e-02 5.24682074e-03 3.10717872e+02] [ 1.99225378e-02 9.99801399e-01 5.05262560e-04 3.30949241e+01] [-5.25584603e-03 -4.00625314e-04 9.99986108e-01 -1.96828787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.661400513 meters 0.0772504090688718 Centerline is valid? [True, True] Translation: X:310.75, Y:33.10, Z:-1.97 [[ 9.99771693e-01 -2.08256541e-02 4.78059053e-03 3.10748498e+02] [ 2.08236895e-02 9.99783057e-01 4.60365148e-04 3.30974145e+01] [-4.78914083e-03 -3.60710511e-04 9.99988467e-01 -1.96876748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.691400513 meters 0.0782534101820251 Centerline is valid? [True, True] Translation: X:310.78, Y:33.10, Z:-1.97 [[ 9.99785663e-01 -2.03000469e-02 4.06652843e-03 3.10778737e+02] [ 2.02986210e-02 9.99793885e-01 3.91601822e-04 3.31026925e+01] [-4.07363980e-03 -3.08972968e-04 9.99991655e-01 -1.97002275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.721400513 meters 0.07867353627285081 Centerline is valid? [True, True] Translation: X:310.81, Y:33.11, Z:-1.97 [[ 9.99802756e-01 -1.94717391e-02 3.91150837e-03 3.10808512e+02] [ 1.94704137e-02 9.99810363e-01 3.76650851e-04 3.31067019e+01] [-3.91810065e-03 -3.00417873e-04 9.99992279e-01 -1.97054020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.751400513 meters 0.080224396010853 Centerline is valid? [True, True] Translation: X:310.84, Y:33.11, Z:-1.97 [[ 9.99819884e-01 -1.85742414e-02 3.89845664e-03 3.10838774e+02] [ 1.85729178e-02 9.99827438e-01 3.75460329e-04 3.31123754e+01] [-3.90475781e-03 -3.02986988e-04 9.99992331e-01 -1.97104620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.781400513 meters 0.09205584216981956 Centerline is valid? [True, True] Translation: X:310.87, Y:33.13, Z:-1.97 [[ 9.99840068e-01 -1.75104676e-02 3.63614653e-03 3.10867168e+02] [ 1.75093087e-02 9.99846639e-01 3.50293302e-04 3.31292311e+01] [-3.64172268e-03 -2.86570867e-04 9.99993328e-01 -1.97327542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.811400513 meters 0.08591886126968756 Centerline is valid? [True, True] Translation: X:310.90, Y:33.13, Z:-1.97 [[ 9.99859763e-01 -1.64053131e-02 3.36458740e-03 3.10897497e+02] [ 1.64043156e-02 9.99865388e-01 3.23875032e-04 3.31264019e+01] [-3.36944776e-03 -2.68635860e-04 9.99994287e-01 -1.97340890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.841400513 meters 0.08245693239337805 Centerline is valid? [True, True] Translation: X:310.93, Y:33.13, Z:-1.97 [[ 9.99879413e-01 -1.50302920e-02 3.90508212e-03 3.10927467e+02] [ 1.50289376e-02 9.99886988e-01 3.75946694e-04 3.31260725e+01] [-3.91029139e-03 -3.17212124e-04 9.99992304e-01 -1.97323497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.871400513 meters 0.08552132722534575 Centerline is valid? [True, True] Translation: X:310.96, Y:33.13, Z:-1.97 [[ 9.99891710e-01 -1.40632341e-02 4.33519049e-03 3.10957475e+02] [ 1.40615554e-02 9.99901044e-01 4.17474675e-04 3.31326127e+01] [-4.34063254e-03 -3.56469945e-04 9.99990516e-01 -1.97250813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.901400513 meters 0.0883248668357839 Centerline is valid? [True, True] Translation: X:310.99, Y:33.14, Z:-1.97 [[ 9.99909739e-01 -1.25369017e-02 4.83104762e-03 3.10986847e+02] [ 1.25347995e-02 9.99921328e-01 4.65181062e-04 3.31384724e+01] [-4.83649948e-03 -4.04582862e-04 9.99988222e-01 -1.97147076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.931400513 meters 0.09255546746023507 Centerline is valid? [True, True] Translation: X:311.02, Y:33.15, Z:-1.97 [[ 9.99936618e-01 -9.23673692e-03 6.43756463e-03 3.11016387e+02] [ 9.23293749e-03 9.99957184e-01 6.19665846e-04 3.31494556e+01] [-6.44301268e-03 -5.60188938e-04 9.99979087e-01 -1.96923956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.961400513 meters 0.09412447845662272 Centerline is valid? [True, True] Translation: X:311.05, Y:33.16, Z:-1.97 [[ 9.99955984e-01 -6.27943145e-03 6.97126061e-03 3.11046465e+02] [ 6.27490453e-03 9.99980087e-01 6.71051733e-04 3.31568871e+01] [-6.97533562e-03 -6.27278201e-04 9.99975475e-01 -1.96891711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99140051300003 meters 0.09346738274700149 Centerline is valid? [True, True] Translation: X:311.08, Y:33.16, Z:-1.97 [[ 9.99969411e-01 -3.19437972e-03 7.13948498e-03 3.11076401e+02] [ 3.18955465e-03 9.99994677e-01 6.87113339e-04 3.31618710e+01] [-7.14164188e-03 -6.64320544e-04 9.99974277e-01 -1.96938893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.021400513 meters 0.09883266272789053 Centerline is valid? [True, True] Translation: X:311.10, Y:33.17, Z:-1.97 [[ 9.99977502e-01 8.99589496e-06 6.70789486e-03 3.11104880e+02] [-1.33266754e-05 9.99999792e-01 6.45579954e-04 3.31742565e+01] [-6.70788765e-03 -6.45654824e-04 9.99977293e-01 -1.97038036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05140051300003 meters 0.10637334458476554 Centerline is valid? [True, False] Translation: X:311.10, Y:33.18, Z:-1.97 [[ 9.99976842e-01 -3.08727227e-04 6.79860869e-03 3.11104783e+02] [ 3.11268232e-04 9.99999882e-01 -3.72698794e-04 3.31786977e+01] [-6.79849283e-03 3.74806354e-04 9.99976820e-01 -1.97099360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.081400513 meters 0.1020032618347821 Centerline is valid? [False, False] Translation: X:311.10, Y:33.18, Z:-1.97 [[ 9.99975891e-01 -6.46984176e-04 6.91366150e-03 3.11104638e+02] [ 6.56810068e-04 9.99998777e-01 -1.41905240e-03 3.31832760e+01] [-6.91273494e-03 1.42355915e-03 9.99975093e-01 -1.97167770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11140051300004 meters 0.09868209646954364 Centerline is valid? [False, True] Translation: X:311.10, Y:33.19, Z:-1.97 [[ 9.99974257e-01 -1.36692615e-03 7.04397785e-03 3.11104613e+02] [ 1.39153408e-03 9.99992943e-01 -3.48975452e-03 3.31923406e+01] [-7.03915790e-03 3.49946662e-03 9.99969102e-01 -1.97271313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.141400513 meters 0.10029211755552875 Centerline is valid? [True, False] Translation: X:311.10, Y:33.19, Z:-1.97 [[ 9.99971014e-01 3.55799700e-05 7.61385279e-03 3.11099271e+02] [-2.04705412e-05 9.99998031e-01 -1.98453431e-03 3.31926635e+01] [-7.61390841e-03 1.98432093e-03 9.99969045e-01 -1.96780101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17140051300004 meters 0.0991038556807037 Centerline is valid? [False, True] Translation: X:311.12, Y:33.19, Z:-1.96 [[ 9.99993900e-01 -6.19361678e-04 3.43763318e-03 3.11118116e+02] [ 6.01490113e-04 9.99986313e-01 5.19740075e-03 3.31907917e+01] [-3.44080520e-03 -5.19530134e-03 9.99980585e-01 -1.96008331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.201400513 meters 0.09637493185948191 Centerline is valid? [True, True] Translation: X:311.15, Y:33.20, Z:-1.96 [[ 9.99985954e-01 -3.74819643e-03 3.74750863e-03 3.11148514e+02] [ 3.74686232e-03 9.99992915e-01 3.62955434e-04 3.31978570e+01] [-3.74884251e-03 -3.48908937e-04 9.99992912e-01 -1.96025412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.231400513 meters 0.08791401799715746 Centerline is valid? [True, True] Translation: X:311.18, Y:33.19, Z:-1.96 [[ 9.99969214e-01 -6.85618040e-03 3.81631430e-03 3.11180025e+02] [ 6.85481939e-03 9.99976437e-01 3.69597459e-04 3.31942050e+01] [-3.81875841e-03 -3.43425936e-04 9.99992650e-01 -1.95988843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.261400513 meters 0.08420331745759724 Centerline is valid? [True, True] Translation: X:311.21, Y:33.20, Z:-1.96 [[ 9.99944669e-01 -9.72454157e-03 4.01140014e-03 3.11211013e+02] [ 9.72306095e-03 9.99952654e-01 3.88440643e-04 3.31973483e+01] [-4.01498762e-03 -3.49416063e-04 9.99991879e-01 -1.95945266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.291400513 meters 0.09171594548912676 Centerline is valid? [True, True] Translation: X:311.24, Y:33.22, Z:-1.96 [[ 9.99905551e-01 -1.32474533e-02 3.65966670e-03 3.11238339e+02] [ 1.32462443e-02 9.99912202e-01 3.54415986e-04 3.32216480e+01] [-3.66404050e-03 -3.05905673e-04 9.99993241e-01 -1.96055495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.321400513 meters 0.08268766733070516 Centerline is valid? [True, True] Translation: X:311.27, Y:33.22, Z:-1.96 [[ 9.99891084e-01 -1.44614550e-02 2.94713433e-03 3.11269473e+02] [ 1.44606761e-02 9.99895398e-01 2.85432109e-04 3.32188827e+01] [-2.95095382e-03 -2.42783466e-04 9.99995616e-01 -1.96205152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.351400513 meters 0.08445649977553794 Centerline is valid? [True, True] Translation: X:311.29, Y:33.23, Z:-1.96 [[ 9.99949492e-01 -1.00501990e-02 -7.93726027e-05 3.11289219e+02] [ 1.00496823e-02 9.99937220e-01 -4.95584516e-03 3.32263149e+01] [ 1.29174850e-04 4.95479718e-03 9.99987717e-01 -1.96344709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.381400513 meters 0.08099182322972305 Centerline is valid? [True, True] Translation: X:311.33, Y:33.23, Z:-1.96 [[ 9.99841903e-01 -1.76862867e-02 1.83438478e-03 3.11329428e+02] [ 1.76767293e-02 9.99830739e-01 5.10168462e-03 3.32253288e+01] [-1.92430414e-03 -5.06845213e-03 9.99985304e-01 -1.96286311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.411400513 meters 0.08165045025439047 Centerline is valid? [True, True] Translation: X:311.36, Y:33.24, Z:-1.96 [[ 9.99792519e-01 -2.02159643e-02 2.49686555e-03 3.11358004e+02] [ 2.02154229e-02 9.99795618e-01 2.41885467e-04 3.32352218e+01] [-2.50124519e-03 -1.91360087e-04 9.99996854e-01 -1.96259427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.441400513 meters 0.07344558870775139 Centerline is valid? [True, True] Translation: X:311.39, Y:33.23, Z:-1.96 [[ 9.99620584e-01 -2.72136261e-02 4.25509161e-03 3.11388892e+02] [ 2.72121164e-02 9.99629597e-01 4.12298191e-04 3.32307942e+01] [-4.26473564e-03 -2.96351710e-04 9.99990862e-01 -1.95886315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.471400513 meters 0.07174146176567622 Centerline is valid? [True, True] Translation: X:311.42, Y:33.23, Z:-1.96 [[ 9.99509974e-01 -3.08712537e-02 5.17479124e-03 3.11418774e+02] [ 3.08690696e-02 9.99523311e-01 5.01411927e-04 3.32314583e+01] [-5.18780369e-03 -3.41425231e-04 9.99986485e-01 -1.95757422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.501400513 meters 0.062906230910669 Centerline is valid? [True, True] Translation: X:311.45, Y:33.22, Z:-1.96 [[ 9.99384211e-01 -3.45851659e-02 5.92165524e-03 3.11450313e+02] [ 3.45823708e-02 9.99401686e-01 5.73788154e-04 3.32225213e+01] [-5.93795679e-03 -3.68649944e-04 9.99982302e-01 -1.95723335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.531400513 meters 0.06611019767058594 Centerline is valid? [True, True] Translation: X:311.48, Y:33.23, Z:-1.96 [[ 9.99277740e-01 -3.74753248e-02 6.29270201e-03 3.11479488e+02] [ 3.74722254e-02 9.99297483e-01 6.09765753e-04 3.32275106e+01] [-6.31113245e-03 -3.73523796e-04 9.99980015e-01 -1.95699803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.561400513 meters 0.055516558590661534 Centerline is valid? [True, True] Translation: X:311.51, Y:33.21, Z:-1.96 [[ 9.99135982e-01 -4.12149997e-02 5.34921220e-03 3.11511432e+02] [ 4.12128133e-02 9.99150257e-01 5.18377903e-04 3.32118707e+01] [-5.36603168e-03 -2.97473932e-04 9.99985559e-01 -1.95957494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.591400513 meters 0.0603950898891292 Centerline is valid? [True, True] Translation: X:311.54, Y:33.22, Z:-1.96 [[ 9.99113960e-01 -4.18732995e-02 4.23335972e-03 3.11539825e+02] [ 4.18719360e-02 9.99122902e-01 4.10245810e-04 3.32176549e+01] [-4.24682500e-03 -2.32623349e-04 9.99990955e-01 -1.96101164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.621400513 meters 0.05441814186004315 Centerline is valid? [True, True] Translation: X:311.57, Y:33.21, Z:-1.96 [[ 9.99095172e-01 -4.23550141e-02 3.85866477e-03 3.11569231e+02] [ 4.23538846e-02 9.99102602e-01 3.73992486e-04 3.32104078e+01] [-3.87104246e-03 -2.10224645e-04 9.99992485e-01 -1.96154297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.651400513 meters 0.05680940943549845 Centerline is valid? [True, True] Translation: X:311.60, Y:33.21, Z:-1.96 [[ 9.99111628e-01 -4.19346901e-02 4.17576325e-03 3.11596403e+02] [ 4.19333605e-02 9.99120328e-01 4.05488128e-04 3.32134230e+01] [-4.18909396e-03 -2.30024118e-04 9.99991199e-01 -1.96067408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.681400513 meters 0.05927523760773127 Centerline is valid? [True, True] Translation: X:311.62, Y:33.22, Z:-1.96 [[ 9.99159172e-01 -4.07010601e-02 4.93689498e-03 3.11624649e+02] [ 4.06991847e-02 9.99171330e-01 4.79785270e-04 3.32163225e+01] [-4.95233169e-03 -2.78454252e-04 9.99987698e-01 -1.95903027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.711400513 meters 0.06359147833480121 Centerline is valid? [True, True] Translation: X:311.65, Y:33.22, Z:-1.96 [[ 9.99209937e-01 -3.92368351e-02 6.32241233e-03 3.11653013e+02] [ 3.92337281e-02 9.99229872e-01 6.14757552e-04 3.32202966e+01] [-6.34166440e-03 -3.66220049e-04 9.99979824e-01 -1.95754294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74140051300003 meters 0.06271958285400152 Centerline is valid? [True, True] Translation: X:311.68, Y:33.22, Z:-1.96 [[ 9.99400883e-01 -3.39850510e-02 6.54916244e-03 3.11683330e+02] [ 3.39816035e-02 9.99422256e-01 6.36989589e-04 3.32175845e+01] [-6.56702682e-03 -4.14056916e-04 9.99978351e-01 -1.95724520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.771400513 meters 0.07118160885664064 Centerline is valid? [True, True] Translation: X:311.71, Y:33.23, Z:-1.96 [[ 9.99482776e-01 -3.15170477e-02 6.39183250e-03 3.11712156e+02] [ 3.15137133e-02 9.99503126e-01 6.21743661e-04 3.32291430e+01] [-6.40825209e-03 -4.19991704e-04 9.99979379e-01 -1.95815651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80140051300003 meters 0.06619573919551566 Centerline is valid? [True, True] Translation: X:311.74, Y:33.22, Z:-1.96 [[ 9.99539086e-01 -2.96067301e-02 6.71251687e-03 3.11743123e+02] [ 2.96030096e-02 9.99561522e-01 6.52961524e-04 3.32249869e+01] [-6.72890563e-03 -4.53949863e-04 9.99977258e-01 -1.95855718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.831400513 meters 0.07593432763542488 Centerline is valid? [True, True] Translation: X:311.77, Y:33.24, Z:-1.96 [[ 9.99576280e-01 -2.81042874e-02 7.57692305e-03 3.11771559e+02] [ 2.80995036e-02 9.99604859e-01 7.37105029e-04 3.32390342e+01] [-7.59464491e-03 -5.23884927e-04 9.99971023e-01 -1.95713949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86140051300004 meters 0.06996592507240916 Centerline is valid? [True, True] Translation: X:311.80, Y:33.23, Z:-1.96 [[ 9.99589394e-01 -2.74912835e-02 8.07917671e-03 3.11803699e+02] [ 2.74858252e-02 9.99621884e-01 7.85880159e-04 3.32343796e+01] [-8.09772670e-03 -5.63494633e-04 9.99967054e-01 -1.95656487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.891400513 meters 0.06996592507240916 Centerline is valid? [True, True] Translation: X:311.83, Y:33.24, Z:-1.96 [[ 9.99590017e-01 -2.74686201e-02 8.07919456e-03 3.11834465e+02] [ 2.74631625e-02 9.99622507e-01 7.85696624e-04 3.32373331e+01] [-8.09772672e-03 -5.63494269e-04 9.99967054e-01 -1.95670010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92140051300004 meters 0.07386377354561945 Centerline is valid? [True, True] Translation: X:311.86, Y:33.24, Z:-1.96 [[ 9.99603341e-01 -2.71519545e-02 7.47878397e-03 3.11864637e+02] [ 2.71472704e-02 9.99631180e-01 7.27143311e-04 3.32440737e+01] [-7.49576901e-03 -5.23826313e-04 9.99971769e-01 -1.95720817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.951400513 meters 0.06707310395875785 Centerline is valid? [True, True] Translation: X:311.90, Y:33.24, Z:-1.96 [[ 9.99599768e-01 -2.80576891e-02 3.61531373e-03 3.11897188e+02] [ 2.80566005e-02 9.99606274e-01 3.51485624e-04 3.32362202e+01] [-3.62375216e-03 -2.49911535e-04 9.99993403e-01 -1.96379011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.981400513 meters 0.07118793315596303 Centerline is valid? [True, True] Translation: X:311.93, Y:33.24, Z:-1.97 [[ 9.99567836e-01 -2.92535040e-02 2.89373270e-03 3.11925278e+02] [ 2.92528120e-02 9.99572005e-01 2.81159075e-04 3.32435881e+01] [-2.90071909e-03 -1.96387749e-04 9.99995774e-01 -1.96569666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.011400513 meters 0.06782902836940707 Centerline is valid? [True, True] Translation: X:311.96, Y:33.24, Z:-1.97 [[ 9.99514261e-01 -3.09950575e-02 3.24797379e-03 3.11955235e+02] [ 3.09941945e-02 9.99519515e-01 3.15723167e-04 3.32426460e+01] [-3.25619904e-03 -2.14901476e-04 9.99994675e-01 -1.96540486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.041400513 meters 0.06107301122469857 Centerline is valid? [True, True] Translation: X:311.99, Y:33.24, Z:-1.96 [[ 9.99434408e-01 -3.33468622e-02 4.34167144e-03 3.11985506e+02] [ 3.33453416e-02 9.99443800e-01 4.22170141e-04 3.32373249e+01] [-4.35333465e-03 -2.77156848e-04 9.99990486e-01 -1.96402492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.071400513 meters 0.06610780768689485 Centerline is valid? [True, True] Translation: X:312.01, Y:33.24, Z:-1.96 [[ 9.99275217e-01 -3.77789637e-02 4.66811050e-03 3.12014002e+02] [ 3.77772535e-02 9.99286082e-01 4.54030437e-04 3.32436047e+01] [-4.68193065e-03 -2.77352970e-04 9.99989001e-01 -1.96269098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.101400513 meters 0.0629983513732091 Centerline is valid? [True, True] Translation: X:312.04, Y:33.24, Z:-1.96 [[ 9.99216549e-01 -3.93827401e-02 3.91010992e-03 3.12043844e+02] [ 3.93815520e-02 9.99224173e-01 3.80411181e-04 3.32410385e+01] [-3.92205799e-03 -2.26126950e-04 9.99992283e-01 -1.96363222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.131400513 meters 0.06445818494572733 Centerline is valid? [True, True] Translation: X:312.07, Y:33.24, Z:-1.96 [[ 9.99170336e-01 -4.05805646e-02 3.44339631e-03 3.12071619e+02] [ 4.05796502e-02 9.99176251e-01 3.35016555e-04 3.32445604e+01] [-3.45415497e-03 -1.95006786e-04 9.99994015e-01 -1.96496189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.161400513 meters 0.06979275373395752 Centerline is valid? [True, True] Translation: X:312.10, Y:33.25, Z:-1.96 [[ 9.99143347e-01 -4.12198946e-02 3.67311413e-03 3.12098800e+02] [ 4.12188573e-02 9.99150078e-01 3.57707582e-04 3.32520779e+01] [-3.68473694e-03 -2.05999584e-04 9.99993190e-01 -1.96460661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.191400513 meters 0.06033132500894092 Centerline is valid? [True, True] Translation: X:312.13, Y:33.24, Z:-1.96 [[ 9.99137935e-01 -4.12512306e-02 4.66081006e-03 3.12128934e+02] [ 4.12495591e-02 9.99148771e-01 4.54246063e-04 3.32410677e+01] [-4.67558086e-03 -2.61598114e-04 9.99989035e-01 -1.96262448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.221400513 meters 0.06299086131587676 Centerline is valid? [True, True] Translation: X:312.16, Y:33.24, Z:-1.96 [[ 9.99194585e-01 -3.97205272e-02 5.69750179e-03 3.12157849e+02] [ 3.97179995e-02 9.99210774e-01 5.56170550e-04 3.32417616e+01] [-5.71509656e-03 -3.29429229e-04 9.99983614e-01 -1.96031589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.251400513 meters 0.05660856696891776 Centerline is valid? [True, True] Translation: X:312.19, Y:33.24, Z:-1.96 [[ 9.99224850e-01 -3.90525603e-02 4.95940983e-03 3.12187480e+02] [ 3.90506357e-02 9.99237116e-01 4.84348729e-04 3.32351083e+01] [-4.97454143e-03 -2.90305180e-04 9.99987585e-01 -1.96206744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.281400513 meters 0.06384478802812917 Centerline is valid? [True, True] Translation: X:312.22, Y:33.25, Z:-1.96 [[ 9.99283977e-01 -3.76321518e-02 3.91858656e-03 3.12215286e+02] [ 3.76309373e-02 9.99291632e-01 3.83254196e-04 3.32457958e+01] [-3.93023344e-03 -2.35519692e-04 9.99992249e-01 -1.96428132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.311400513 meters 0.06501758512223112 Centerline is valid? [True, True] Translation: X:312.24, Y:33.25, Z:-1.97 [[ 9.99363324e-01 -3.55244077e-02 3.31114117e-03 3.12244920e+02] [ 3.55235285e-02 9.99368788e-01 3.23961309e-04 3.32486542e+01] [-3.32055967e-03 -2.06131632e-04 9.99994466e-01 -1.96585429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.341400513 meters 0.07294535354996577 Centerline is valid? [True, True] Translation: X:312.27, Y:33.26, Z:-1.96 [[ 9.99562516e-01 -2.93301886e-02 3.81012962e-03 3.12273129e+02] [ 2.93289795e-02 9.99569743e-01 3.72827345e-04 3.32581961e+01] [-3.81942539e-03 -2.60917025e-04 9.99992672e-01 -1.96451662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.371400513 meters 0.07471438871764158 Centerline is valid? [True, True] Translation: X:312.30, Y:33.26, Z:-1.96 [[ 9.99661311e-01 -2.55867425e-02 4.75204426e-03 3.12303281e+02] [ 2.55848191e-02 9.99672547e-01 4.65111558e-04 3.32625912e+01] [-4.76238888e-03 -3.43373837e-04 9.99988601e-01 -1.96278127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.401400513 meters 0.08615706960385416 Centerline is valid? [True, True] Translation: X:312.33, Y:33.28, Z:-1.96 [[ 9.99748644e-01 -2.16864775e-02 5.68738067e-03 3.12331274e+02] [ 2.16836597e-02 9.99764727e-01 5.56666817e-04 3.32796214e+01] [-5.69811472e-03 -4.33203668e-04 9.99983672e-01 -1.96111763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.431400513 meters 0.08347345560132557 Centerline is valid? [True, True] Translation: X:312.36, Y:33.28, Z:-1.96 [[ 9.99828131e-01 -1.76961712e-02 5.52751728e-03 3.12362306e+02] [ 1.76934487e-02 9.99843312e-01 5.41058580e-04 3.32800110e+01] [-5.53622586e-03 -4.43164745e-04 9.99984577e-01 -1.96175789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.461400513 meters 0.09723580666853061 Centerline is valid? [True, True] Translation: X:312.39, Y:33.30, Z:-1.96 [[ 9.99890842e-01 -1.40614430e-02 4.53654737e-03 3.12390513e+02] [ 1.40595720e-02 9.99901061e-01 4.44047870e-04 3.33002102e+01] [-4.54234248e-03 -3.80217484e-04 9.99989611e-01 -1.96405051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49140051300003 meters 0.08895835133119705 Centerline is valid? [True, True] Translation: X:312.42, Y:33.29, Z:-1.97 [[ 9.99932488e-01 -1.11630633e-02 3.22574860e-03 3.12421940e+02] [ 1.11621023e-02 9.99937652e-01 3.15766169e-04 3.32930175e+01] [-3.22907240e-03 -2.79738715e-04 9.99994747e-01 -1.96682061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.521400513 meters 0.0916841885624733 Centerline is valid? [True, True] Translation: X:312.45, Y:33.30, Z:-1.97 [[ 9.99953039e-01 -9.23171034e-03 2.94874784e-03 3.12450956e+02] [ 9.23089912e-03 9.99957353e-01 2.88597436e-04 3.32997714e+01] [-2.95128634e-03 -2.61364289e-04 9.99995611e-01 -1.96760797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55140051300003 meters 0.08999660911425698 Centerline is valid? [True, True] Translation: X:312.48, Y:33.30, Z:-1.97 [[ 9.99946056e-01 -9.81653429e-03 3.39425779e-03 3.12482139e+02] [ 9.81546288e-03 9.99951772e-01 3.32169479e-04 3.33012150e+01] [-3.39735484e-03 -2.98835350e-04 9.99994184e-01 -1.96727113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.581400513 meters 0.09057738806175984 Centerline is valid? [True, True] Translation: X:312.51, Y:33.31, Z:-1.97 [[ 9.99933072e-01 -1.09284246e-02 3.79754535e-03 3.12511460e+02] [ 1.09270917e-02 9.99940229e-01 3.71550153e-04 3.33055212e+01] [-3.80137882e-03 -3.30029160e-04 9.99992720e-01 -1.96679329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61140051300004 meters 0.08486014701190704 Centerline is valid? [True, True] Translation: X:312.54, Y:33.30, Z:-1.97 [[ 9.99896628e-01 -1.37382023e-02 4.24216297e-03 3.12542791e+02] [ 1.37365651e-02 9.99905563e-01 4.14853519e-04 3.33021953e+01] [-4.24746169e-03 -3.56537887e-04 9.99990916e-01 -1.96648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.641400513 meters 0.08310579592327258 Centerline is valid? [True, True] Translation: X:312.57, Y:33.30, Z:-1.97 [[ 9.99874795e-01 -1.52700767e-02 4.14966345e-03 3.12573917e+02] [ 1.52685233e-02 9.99883347e-01 4.05787842e-04 3.33038610e+01] [-4.15537579e-03 -3.42377803e-04 9.99991308e-01 -1.96673463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67140051300004 meters 0.07664126234228126 Centerline is valid? [True, True] Translation: X:312.61, Y:33.30, Z:-1.97 [[ 9.99854572e-01 -1.65788845e-02 3.99703966e-03 3.12605319e+02] [ 1.65774537e-02 9.99862508e-01 3.90820063e-04 3.32995311e+01] [-4.00296946e-03 -3.24502486e-04 9.99991935e-01 -1.96696642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.701400513 meters 0.08301471571774878 Centerline is valid? [True, True] Translation: X:312.63, Y:33.31, Z:-1.97 [[ 9.99844329e-01 -1.72264362e-02 3.81675006e-03 3.12634954e+02] [ 1.72251364e-02 9.99851567e-01 3.73149963e-04 3.33101856e+01] [-3.82261157e-03 -3.07347833e-04 9.99992647e-01 -1.96719420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.731400513 meters 0.0821228884436385 Centerline is valid? [True, True] Translation: X:312.67, Y:33.31, Z:-1.97 [[ 9.99834860e-01 -1.77433958e-02 3.92754486e-03 3.12665684e+02] [ 1.77420237e-02 9.99842524e-01 3.83930453e-04 3.33104101e+01] [-3.93373859e-03 -3.14184457e-04 9.99992213e-01 -1.96750926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.761400513 meters 0.08233911781062324 Centerline is valid? [True, True] Translation: X:312.70, Y:33.31, Z:-1.97 [[ 9.99818621e-01 -1.85929020e-02 4.12673571e-03 3.12695775e+02] [ 1.85913943e-02 9.99827084e-01 4.03404586e-04 3.33112212e+01] [-4.13352259e-03 -3.26609646e-04 9.99991404e-01 -1.96741449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.791400513 meters 0.0702050198199033 Centerline is valid? [True, True] Translation: X:312.73, Y:33.29, Z:-1.97 [[ 9.99743412e-01 -2.20270314e-02 5.28388547e-03 3.12727974e+02] [ 2.20246077e-02 9.99757296e-01 5.16458481e-04 3.32934788e+01] [-5.29397909e-03 -3.99950460e-04 9.99985907e-01 -1.96593159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.821400513 meters 0.0788566615770937 Centerline is valid? [True, True] Translation: X:312.76, Y:33.30, Z:-1.97 [[ 9.99702545e-01 -2.38312327e-02 5.18598600e-03 3.12757227e+02] [ 2.38289220e-02 9.99715922e-01 5.06894074e-04 3.33032709e+01] [-5.19659269e-03 -3.83166840e-04 9.99986424e-01 -1.96582680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.851400513 meters 0.07581958850338377 Centerline is valid? [True, True] Translation: X:312.79, Y:33.30, Z:-1.97 [[ 9.99672900e-01 -2.51389617e-02 4.70379584e-03 3.12788642e+02] [ 2.51370752e-02 9.99683908e-01 4.59759425e-04 3.32981604e+01] [-4.71386689e-03 -3.41369368e-04 9.99988831e-01 -1.96647597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.881400513 meters 0.07383310450515601 Centerline is valid? [True, True] Translation: X:312.82, Y:33.29, Z:-1.97 [[ 9.99653799e-01 -2.60130449e-02 3.95009417e-03 3.12819512e+02] [ 2.60117214e-02 9.99661563e-01 3.86050021e-04 3.32941847e+01] [-3.95879965e-03 -2.83167621e-04 9.99992124e-01 -1.96759883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.911400513 meters 0.07708934033928001 Centerline is valid? [True, True] Translation: X:312.85, Y:33.30, Z:-1.97 [[ 9.99646304e-01 -2.63811442e-02 3.36188923e-03 3.12848456e+02] [ 2.63801877e-02 9.99651928e-01 3.28541502e-04 3.32970944e+01] [-3.36938635e-03 -2.39738029e-04 9.99994295e-01 -1.96873894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.941400513 meters 0.07437418834635799 Centerline is valid? [True, True] Translation: X:312.88, Y:33.29, Z:-1.97 [[ 9.99648194e-01 -2.63018218e-02 3.42073372e-03 3.12877932e+02] [ 2.63008313e-02 9.99654017e-01 3.34244305e-04 3.32931294e+01] [-3.42834144e-03 -2.44158576e-04 9.99994093e-01 -1.96937105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.971400513 meters 0.07631131185753838 Centerline is valid? [True, True] Translation: X:312.91, Y:33.29, Z:-1.97 [[ 9.99692286e-01 -2.44617478e-02 4.11789606e-03 3.12907983e+02] [ 2.44602934e-02 9.99700721e-01 4.03186260e-04 3.32919622e+01] [-4.12652630e-03 -3.02337248e-04 9.99991440e-01 -1.96927172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.001400513 meters 0.07398597368338602 Centerline is valid? [True, True] Translation: X:312.94, Y:33.29, Z:-1.97 [[ 9.99710357e-01 -2.37936121e-02 3.61474706e-03 3.12938018e+02] [ 2.37924870e-02 9.99716856e-01 3.53948467e-04 3.32883400e+01] [-3.62214528e-03 -2.67842126e-04 9.99993404e-01 -1.96939577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.031400513 meters 0.08652018563335036 Centerline is valid? [True, True] Translation: X:312.97, Y:33.30, Z:-1.97 [[ 9.99724836e-01 -2.33159277e-02 2.57304657e-03 3.12965694e+02] [ 2.33153560e-02 9.99728128e-01 2.51977627e-04 3.33028744e+01] [-2.57822213e-03 -1.91916794e-04 9.99996658e-01 -1.97070751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.061400513 meters 0.07693818610119267 Centerline is valid? [True, True] Translation: X:313.00, Y:33.29, Z:-1.97 [[ 9.99734546e-01 -2.30130637e-02 1.11212638e-03 3.12995550e+02] [ 2.30129572e-02 9.99735161e-01 1.08444974e-04 3.32906113e+01] [-1.11432750e-03 -8.28228700e-05 9.99999376e-01 -1.97193641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.091400513 meters 0.07553869642439599 Centerline is valid? [True, True] Translation: X:313.03, Y:33.29, Z:-1.97 [[ 9.99767351e-01 -2.15485602e-02 9.50127322e-04 3.13026931e+02] [ 2.15484812e-02 9.99767800e-01 9.32309329e-05 3.32852329e+01] [-9.51915695e-04 -7.27354421e-05 9.99999544e-01 -1.97291695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.121400513 meters 0.07889141434443477 Centerline is valid? [True, True] Translation: X:313.06, Y:33.29, Z:-1.97 [[ 9.99787003e-01 -2.04968407e-02 2.41409218e-03 3.13055234e+02] [ 2.04963282e-02 9.99789900e-01 2.36816497e-04 3.32882280e+01] [-2.41843897e-03 -1.87286031e-04 9.99997058e-01 -1.97077121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.151400513 meters 0.08908252822567225 Centerline is valid? [True, True] Translation: X:313.08, Y:33.30, Z:-1.97 [[ 9.99802119e-01 -1.94469049e-02 4.18825697e-03 3.13082991e+02] [ 1.94453523e-02 9.99810837e-01 4.11107269e-04 3.33001626e+01] [-4.19545947e-03 -3.29583786e-04 9.99991145e-01 -1.96838517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.181400513 meters 0.08900931106937836 Centerline is valid? [True, True] Translation: X:313.11, Y:33.30, Z:-1.97 [[ 9.99818717e-01 -1.83983562e-02 4.90241424e-03 3.13113266e+02] [ 1.83962156e-02 9.99830659e-01 4.81382357e-04 3.33004660e+01] [-4.91044070e-03 -3.91109222e-04 9.99987867e-01 -1.96693790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.211400513 meters 0.0899632300727395 Centerline is valid? [True, True] Translation: X:313.14, Y:33.30, Z:-1.97 [[ 9.99837511e-01 -1.75161172e-02 4.25868994e-03 3.13143257e+02] [ 1.75144937e-02 9.99846522e-01 4.18214369e-04 3.33037300e+01] [-4.26536182e-03 -3.43557615e-04 9.99990844e-01 -1.96807039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24140051300003 meters 0.0834947350232774 Centerline is valid? [True, True] Translation: X:313.17, Y:33.30, Z:-1.97 [[ 9.99857333e-01 -1.65727066e-02 3.26470856e-03 3.13174367e+02] [ 1.65717475e-02 9.99862628e-01 3.20602826e-04 3.32988132e+01] [-3.26957334e-03 -2.66455160e-04 9.99994619e-01 -1.97047925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.271400513 meters 0.08122215522093829 Centerline is valid? [True, True] Translation: X:313.20, Y:33.30, Z:-1.97 [[ 9.99885438e-01 -1.48876395e-02 2.73282876e-03 3.13204601e+02] [ 1.48869613e-02 9.99889147e-01 2.68352560e-04 3.32976424e+01] [-2.73652096e-03 -2.27638301e-04 9.99996230e-01 -1.97221632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30140051300003 meters 0.08982275939774399 Centerline is valid? [True, True] Translation: X:313.23, Y:33.31, Z:-1.97 [[ 9.99895945e-01 -1.40171220e-02 3.40879549e-03 3.13232915e+02] [ 1.40160616e-02 9.99901714e-01 3.34780400e-04 3.33097828e+01] [-3.41315312e-03 -2.86967677e-04 9.99994134e-01 -1.97095173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.331400513 meters 0.08497353885507171 Centerline is valid? [True, True] Translation: X:313.26, Y:33.31, Z:-1.97 [[ 9.99899789e-01 -1.35306617e-02 4.16340146e-03 3.13264168e+02] [ 1.35290754e-02 9.99908394e-01 4.08952598e-04 3.33068115e+01] [-4.16855347e-03 -3.52584644e-04 9.99991249e-01 -1.96961630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36140051300004 meters 0.09407946726495063 Centerline is valid? [True, True] Translation: X:313.29, Y:33.32, Z:-1.97 [[ 9.99905751e-01 -1.31248101e-02 4.02856287e-03 3.13293233e+02] [ 1.31233217e-02 9.99913807e-01 3.95664750e-04 3.33220911e+01] [-4.03340866e-03 -3.42759333e-04 9.99991807e-01 -1.96944310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.391400513 meters 0.08970771984995381 Centerline is valid? [True, True] Translation: X:313.32, Y:33.32, Z:-1.97 [[ 9.99917176e-01 -1.23385857e-02 3.66067444e-03 3.13324895e+02] [ 1.23373516e-02 9.99923827e-01 3.59504191e-04 3.33226424e+01] [-3.66483137e-03 -3.14311387e-04 9.99993235e-01 -1.96994861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42140051300004 meters 0.08436953776408962 Centerline is valid? [True, True] Translation: X:313.36, Y:33.32, Z:-1.97 [[ 9.99926966e-01 -1.15747113e-02 3.47678888e-03 3.13356538e+02] [ 1.15735937e-02 9.99932965e-01 3.41374662e-04 3.33219764e+01] [-3.48050713e-03 -3.01110788e-04 9.99993898e-01 -1.97114319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.451400513 meters 0.08314738394961345 Centerline is valid? [True, True] Translation: X:313.39, Y:33.33, Z:-1.97 [[ 9.99958184e-01 -8.23049083e-03 3.98601992e-03 3.13386316e+02] [ 8.22899606e-03 9.99966065e-01 3.91258727e-04 3.33278969e+01] [-3.98910490e-03 -3.58441424e-04 9.99991979e-01 -1.97065568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.481400513 meters 0.10177728300079028 Centerline is valid? [True, False] Translation: X:313.40, Y:33.34, Z:-1.96 [[ 9.99994337e-01 -3.28364637e-03 7.37719878e-04 3.13401552e+02] [ 3.28741440e-03 9.99981253e-01 -5.16588002e-03 3.33354072e+01] [-7.20743125e-04 5.16827595e-03 9.99986385e-01 -1.96119694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.511400513 meters 0.09956654614433699 Centerline is valid? [False, True] Translation: X:313.40, Y:33.33, Z:-1.96 [[ 9.99999105e-01 1.20800326e-03 5.75353090e-04 3.13401902e+02] [-1.20780556e-03 9.99999211e-01 -3.43844929e-04 3.33332971e+01] [-5.75768002e-04 3.43149706e-04 9.99999775e-01 -1.96080268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.541400513 meters 0.10132475713276354 Centerline is valid? [True, False] Translation: X:313.37, Y:33.33, Z:-1.96 [[ 9.99997875e-01 3.47533691e-04 -2.03225818e-03 3.13365237e+02] [-3.46792887e-04 9.99999873e-01 3.64864055e-04 3.33345879e+01] [ 2.03238472e-03 -3.64158507e-04 9.99997868e-01 -1.96424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.571400513 meters 0.09382991541813107 Centerline is valid? [False, True] Translation: X:313.37, Y:33.34, Z:-1.96 [[ 9.99997865e-01 1.97270700e-04 -2.05709933e-03 3.13365410e+02] [-1.97324837e-04 9.99999980e-01 -2.61142444e-05 3.33363299e+01] [ 2.05709413e-03 2.65201055e-05 9.99997884e-01 -1.96447069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.601400513 meters 0.09043090788989606 Centerline is valid? [True, True] Translation: X:313.40, Y:33.34, Z:-1.96 [[ 9.99997082e-01 -6.79458141e-04 -2.31846421e-03 3.13395145e+02] [ 6.78974050e-04 9.99999748e-01 -2.09578553e-04 3.33365151e+01] [ 2.31860602e-03 2.08003765e-04 9.99997290e-01 -1.96468900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.631400513 meters 0.10109245151400201 Centerline is valid? [True, False] Translation: X:313.40, Y:33.34, Z:-1.96 [[ 9.99996952e-01 -8.10172691e-04 -2.33243315e-03 3.13395279e+02] [ 8.08903694e-04 9.99999524e-01 -5.44957778e-04 3.33380118e+01] [ 2.33287355e-03 5.43069403e-04 9.99997131e-01 -1.96489559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.661400513 meters 0.08753569457180306 Centerline is valid? [False, True] Translation: X:313.40, Y:33.34, Z:-1.97 [[ 9.99996890e-01 -9.74269385e-04 -2.29595683e-03 3.13395250e+02] [ 9.72038984e-04 9.99999055e-01 -9.72362918e-04 3.33399248e+01] [ 2.29690200e-03 9.70128134e-04 9.99996892e-01 -1.96511428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.691400513 meters 0.0919021552819424 Centerline is valid? [True, True] Translation: X:313.42, Y:33.35, Z:-1.97 [[ 9.99997298e-01 -7.55128688e-04 -2.19867816e-03 3.13422432e+02] [ 7.54693747e-04 9.99999695e-01 -1.98642139e-04 3.33498623e+01] [ 2.19882749e-03 1.96982274e-04 9.99997563e-01 -1.96500803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.721400513 meters 0.09256796803550799 Centerline is valid? [True, True] Translation: X:313.45, Y:33.36, Z:-1.97 [[ 9.99996652e-01 -1.34675542e-03 -2.20956307e-03 3.13450068e+02] [ 1.34631742e-03 9.99999074e-01 -1.99704502e-04 3.33587524e+01] [ 2.20982998e-03 1.96729061e-04 9.99997539e-01 -1.96567447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.751400513 meters 0.0922273322283104 Centerline is valid? [True, True] Translation: X:313.48, Y:33.36, Z:-1.97 [[ 9.99993175e-01 -2.54963305e-03 -2.67392207e-03 3.13479391e+02] [ 2.54899584e-03 9.99996722e-01 -2.41688261e-04 3.33632969e+01] [ 2.67452952e-03 2.34870795e-04 9.99996396e-01 -1.96660378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.781400513 meters 0.0922273322283104 Centerline is valid? [True, True] Translation: X:313.51, Y:33.37, Z:-1.97 [[ 9.99992715e-01 -2.72401651e-03 -2.67386016e-03 3.13506878e+02] [ 2.72337810e-03 9.99996262e-01 -2.42372627e-04 3.33659266e+01] [ 2.67451039e-03 2.35088929e-04 9.99996396e-01 -1.96664338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.811400513 meters 0.0872165857923558 Centerline is valid? [True, True] Translation: X:313.54, Y:33.36, Z:-1.97 [[ 9.99986048e-01 -4.23369775e-03 -3.15906463e-03 3.13537545e+02] [ 4.23281487e-03 9.99991001e-01 -2.86108632e-04 3.33644521e+01] [ 3.16024750e-03 2.72732905e-04 9.99994969e-01 -1.96728633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.841400513 meters 0.0827952721359082 Centerline is valid? [True, True] Translation: X:313.57, Y:33.37, Z:-1.97 [[ 9.99967051e-01 -7.85285999e-03 -2.05679199e-03 3.13567740e+02] [ 7.85249333e-03 9.99969151e-01 -1.86286008e-04 3.33658245e+01] [ 2.05819142e-03 1.70128925e-04 9.99997867e-01 -1.96552029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.871400513 meters 0.0849479464127015 Centerline is valid? [True, True] Translation: X:313.60, Y:33.37, Z:-1.96 [[ 9.99950106e-01 -9.93887244e-03 -1.00262615e-03 3.13597014e+02] [ 9.93878632e-03 9.99950605e-01 -9.08380613e-05 3.33727479e+01] [ 1.00347946e-03 8.08686419e-05 9.99999493e-01 -1.96357232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.901400513 meters 0.08116554025429798 Centerline is valid? [True, True] Translation: X:313.63, Y:33.37, Z:-1.96 [[ 9.99922496e-01 -1.24398458e-02 -5.02164771e-04 3.13627981e+02] [ 1.24398245e-02 9.99922621e-01 -4.54903613e-05 3.33719338e+01] [ 5.02691807e-04 3.92399940e-05 9.99999873e-01 -1.96216167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.931400513 meters 0.08388245416828098 Centerline is valid? [True, True] Translation: X:313.66, Y:33.38, Z:-1.96 [[ 9.99886211e-01 -1.50669759e-02 -7.41982984e-04 3.13656836e+02] [ 1.50669302e-02 9.99886485e-01 -6.72397904e-05 3.33785268e+01] [ 7.42911858e-04 5.60527334e-05 9.99999722e-01 -1.96224019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.961400513 meters 0.07286888835843915 Centerline is valid? [True, True] Translation: X:313.69, Y:33.37, Z:-1.96 [[ 9.99786422e-01 -2.06542799e-02 -7.14821082e-04 3.13688006e+02] [ 2.06542388e-02 9.99786676e-01 -6.47660832e-05 3.33685686e+01] [ 7.16006291e-04 4.99881652e-05 9.99999742e-01 -1.96284447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99140051300003 meters 0.07159759711446706 Centerline is valid? [True, True] Translation: X:313.72, Y:33.37, Z:-1.96 [[ 9.99720287e-01 -2.36370923e-02 7.97009069e-04 3.13717476e+02] [ 2.36370422e-02 9.99720603e-01 7.21999411e-05 3.33697606e+01] [-7.98492985e-04 -5.33408088e-05 9.99999680e-01 -1.96121783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.021400513 meters 0.06600593329406018 Centerline is valid? [True, True] Translation: X:313.75, Y:33.36, Z:-1.96 [[ 9.99631156e-01 -2.70404724e-02 2.52294725e-03 3.13747761e+02] [ 2.70399811e-02 9.99634327e-01 2.28627725e-04 3.33648153e+01] [-2.52820687e-03 -1.60322951e-04 9.99996791e-01 -1.95828363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05140051300003 meters 0.06849307916682855 Centerline is valid? [True, True] Translation: X:313.78, Y:33.37, Z:-1.96 [[ 9.99530612e-01 -3.03115028e-02 4.44628247e-03 3.13776965e+02] [ 3.03100089e-02 9.99540465e-01 4.03000416e-04 3.33694546e+01] [-4.45645480e-03 -2.68044391e-04 9.99990034e-01 -1.95531040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.081400513 meters 0.06923408638953245 Centerline is valid? [True, True] Translation: X:313.81, Y:33.37, Z:-1.95 [[ 9.99435736e-01 -3.31561146e-02 5.37412458e-03 3.13806498e+02] [ 3.31539727e-02 9.99450137e-01 4.87171768e-04 3.33723316e+01] [-5.38732227e-03 -3.08723295e-04 9.99985441e-01 -1.95355387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11140051300004 meters 0.05151983321164865 Centerline is valid? [True, True] Translation: X:313.84, Y:33.35, Z:-1.96 [[ 9.99311915e-01 -3.68689941e-02 4.04651062e-03 3.13839010e+02] [ 3.68678100e-02 9.99320084e-01 3.66841185e-04 3.33523795e+01] [-4.05728440e-03 -2.17402782e-04 9.99991746e-01 -1.95708957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.141400513 meters 0.05594476659925479 Centerline is valid? [True, True] Translation: X:313.87, Y:33.36, Z:-1.96 [[ 9.99296722e-01 -3.73973632e-02 2.73839896e-03 3.13866022e+02] [ 3.73968226e-02 9.99300463e-01 2.48369905e-04 3.33592879e+01] [-2.74577173e-03 -1.45787812e-04 9.99996220e-01 -1.95908823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17140051300004 meters 0.05926093890927841 Centerline is valid? [True, True] Translation: X:313.89, Y:33.36, Z:-1.96 [[ 9.99315543e-01 -3.69788533e-02 1.00506563e-03 3.13893226e+02] [ 3.69787802e-02 9.99316047e-01 9.11804427e-05 3.33649655e+01] [-1.00774996e-03 -5.39519327e-05 9.99999491e-01 -1.96111478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.201400513 meters 0.06114479843248119 Centerline is valid? [True, True] Translation: X:313.92, Y:33.37, Z:-1.96 [[ 9.99355812e-01 -3.58878682e-02 1.49135637e-04 3.13922385e+02] [ 3.58878666e-02 9.99355823e-01 1.35134156e-05 3.33694965e+01] [-1.49524535e-04 -8.15255056e-06 9.99999989e-01 -1.96211468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.231400513 meters 0.0743306704566167 Centerline is valid? [True, True] Translation: X:313.95, Y:33.39, Z:-1.96 [[ 9.99483766e-01 -3.21203674e-02 6.95086891e-04 3.13950299e+02] [ 3.21203312e-02 9.99484007e-01 6.31283963e-05 3.33902405e+01] [-6.96755938e-04 -4.07693861e-05 9.99999756e-01 -1.96120199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.261400513 meters 0.06859274541767893 Centerline is valid? [True, True] Translation: X:313.98, Y:33.39, Z:-1.96 [[ 9.99551681e-01 -2.99397776e-02 2.16100712e-04 3.13980813e+02] [ 2.99397740e-02 9.99551704e-01 1.96142957e-05 3.33867460e+01] [-2.16591082e-04 -1.31354957e-05 9.99999976e-01 -1.96183752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.291400513 meters 0.06680334341025615 Centerline is valid? [True, True] Translation: X:314.01, Y:33.39, Z:-1.96 [[ 9.99607418e-01 -2.80114368e-02 -6.07661183e-04 3.14010951e+02] [ 2.80114084e-02 9.99607602e-01 -5.52212229e-05 3.33877375e+01] [ 6.08969563e-04 3.81780985e-05 9.99999814e-01 -1.96349441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.321400513 meters 0.0754624453670458 Centerline is valid? [True, True] Translation: X:314.04, Y:33.40, Z:-1.97 [[ 9.99646823e-01 -2.65265830e-02 -1.60328338e-03 3.14038565e+02] [ 2.65263832e-02 9.99648103e-01 -1.45757611e-04 3.34021061e+01] [ 1.60658565e-03 1.03176824e-04 9.99998704e-01 -1.96541362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.351400513 meters 0.0762550700943426 Centerline is valid? [True, True] Translation: X:314.07, Y:33.41, Z:-1.97 [[ 9.99665302e-01 -2.57918736e-02 -2.01595671e-03 3.14067286e+02] [ 2.57915561e-02 9.99667326e-01 -1.83324709e-04 3.34078378e+01] [ 2.02001434e-03 1.31268689e-04 9.99997951e-01 -1.96676935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.381400513 meters 0.06930306996715012 Centerline is valid? [True, True] Translation: X:314.10, Y:33.40, Z:-1.97 [[ 9.99671906e-01 -2.55565972e-02 -1.71490644e-03 3.14096359e+02] [ 2.55563663e-02 9.99673370e-01 -1.56402740e-04 3.34044169e+01] [ 1.71834343e-03 1.12524648e-04 9.99998517e-01 -1.96647289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.411400513 meters 0.0778077143038703 Centerline is valid? [True, True] Translation: X:314.12, Y:33.42, Z:-1.96 [[ 9.99655207e-01 -2.62485069e-02 6.94855049e-04 3.14123587e+02] [ 2.62484693e-02 9.99655448e-01 6.31663840e-05 3.34175396e+01] [-6.96273658e-04 -4.49057232e-05 9.99999757e-01 -1.96251243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.441400513 meters 0.06710394970806847 Centerline is valid? [True, True] Translation: X:314.16, Y:33.41, Z:-1.96 [[ 9.99618939e-01 -2.75807257e-02 1.13196651e-03 3.14155051e+02] [ 2.75806263e-02 9.99619577e-01 1.03263400e-04 3.34060508e+01] [-1.13438396e-03 -7.20037052e-05 9.99999354e-01 -1.96164026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.471400513 meters 0.06690453435182711 Centerline is valid? [True, True] Translation: X:314.18, Y:33.41, Z:-1.96 [[ 9.99570705e-01 -2.92967786e-02 3.22045145e-04 3.14183717e+02] [ 2.92967707e-02 9.99570757e-01 2.93459024e-05 3.34081350e+01] [-3.22766650e-04 -1.98984216e-05 9.99999948e-01 -1.96294392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.501400513 meters 0.07009480893196923 Centerline is valid? [True, True] Translation: X:314.21, Y:33.42, Z:-1.96 [[ 9.99515945e-01 -3.11036792e-02 -6.60724126e-04 3.14211826e+02] [ 3.11036461e-02 9.99516163e-01 -6.03756779e-05 3.34154543e+01] [ 6.62282349e-04 3.97955234e-05 9.99999780e-01 -1.96471393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.531400513 meters 0.06473796343354932 Centerline is valid? [True, True] Translation: X:314.24, Y:33.41, Z:-1.96 [[ 9.99479287e-01 -3.22660430e-02 2.38986685e-04 3.14241517e+02] [ 3.22660387e-02 9.99479316e-01 2.16486636e-05 3.34111288e+01] [-2.39560765e-04 -1.39262373e-05 9.99999971e-01 -1.96352617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.561400513 meters 0.06563677190355337 Centerline is valid? [True, True] Translation: X:314.27, Y:33.41, Z:-1.96 [[ 9.99488300e-01 -3.19622678e-02 1.24555308e-03 3.14269938e+02] [ 3.19621506e-02 9.99489073e-01 1.13878414e-04 3.34129568e+01] [-1.24855651e-03 -7.40095874e-05 9.99999218e-01 -1.96100312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.591400513 meters 0.06241201662803045 Centerline is valid? [True, True] Translation: X:314.30, Y:33.41, Z:-1.96 [[ 9.99506310e-01 -3.13578552e-02 1.95476706e-03 3.14299111e+02] [ 3.13575645e-02 9.99508215e-01 1.79153156e-04 3.34100567e+01] [-1.95942359e-03 -1.17767975e-04 9.99998073e-01 -1.95917899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.621400513 meters 0.07131345864916248 Centerline is valid? [True, True] Translation: X:314.33, Y:33.42, Z:-1.96 [[ 9.99543255e-01 -3.01286034e-02 2.35552471e-03 3.14326219e+02] [ 3.01281772e-02 9.99546020e-01 2.16207461e-04 3.34228997e+01] [-2.36096938e-03 -1.45141043e-04 9.99997202e-01 -1.95860974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.651400513 meters 0.06667321125343159 Centerline is valid? [True, True] Translation: X:314.36, Y:33.42, Z:-1.96 [[ 9.99592083e-01 -2.84614357e-02 2.36952888e-03 3.14356771e+02] [ 2.84609996e-02 9.99594880e-01 2.17581310e-04 3.34200487e+01] [-2.37476161e-03 -1.50053395e-04 9.99997169e-01 -1.95915592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.681400513 meters 0.06398359158627745 Centerline is valid? [True, True] Translation: X:314.39, Y:33.42, Z:-1.96 [[ 9.99687698e-01 -2.48976521e-02 2.14765842e-03 3.14387536e+02] [ 2.48972856e-02 9.99689995e-01 1.97222317e-04 3.34198791e+01] [-2.15190301e-03 -1.43689859e-04 9.99997674e-01 -1.96084331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.711400513 meters 0.07427251131817067 Centerline is valid? [True, True] Translation: X:314.42, Y:33.44, Z:-1.96 [[ 9.99734258e-01 -2.29272868e-02 2.39841075e-03 3.14415156e+02] [ 2.29268240e-02 9.99737122e-01 2.20270741e-04 3.34358755e+01] [-2.40283047e-03 -1.65224265e-04 9.99997100e-01 -1.96099313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74140051300003 meters 0.072176603496582 Centerline is valid? [True, True] Translation: X:314.45, Y:33.44, Z:-1.96 [[ 9.99778187e-01 -2.09648174e-02 2.01343084e-03 3.14445010e+02] [ 2.09644872e-02 9.99780204e-01 1.84948417e-04 3.34373148e+01] [-2.01686570e-03 -1.42696848e-04 9.99997956e-01 -1.96140726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.771400513 meters 0.07687549887875547 Centerline is valid? [True, True] Translation: X:314.47, Y:33.45, Z:-1.96 [[ 9.99809611e-01 -1.94749109e-02 1.21193786e-03 3.14473011e+02] [ 1.94747902e-02 9.99810342e-01 1.11330241e-04 3.34474931e+01] [-1.21387615e-03 -8.77068097e-05 9.99999259e-01 -1.96264536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80140051300003 meters 0.07615109806287038 Centerline is valid? [True, True] Translation: X:314.50, Y:33.45, Z:-1.97 [[ 9.99831950e-01 -1.82969193e-02 -1.13790266e-03 3.14502079e+02] [ 1.82968120e-02 9.99832594e-01 -1.04645750e-04 3.34514719e+01] [ 1.13962687e-03 8.38081733e-05 9.99999347e-01 -1.96574632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.831400513 meters 0.07552549049476474 Centerline is valid? [True, True] Translation: X:314.53, Y:33.45, Z:-1.97 [[ 9.99827694e-01 -1.84825903e-02 -1.72520382e-03 3.14529655e+02] [ 1.84823431e-02 9.99829174e-01 -1.59150162e-04 3.34533860e+01] [ 1.72785062e-03 1.27236930e-04 9.99998499e-01 -1.96625309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86140051300004 meters 0.07749447793966652 Centerline is valid? [True, True] Translation: X:314.56, Y:33.46, Z:-1.96 [[ 9.99822359e-01 -1.88065242e-02 -1.25072384e-03 3.14557647e+02] [ 1.88063942e-02 9.99823137e-01 -1.15611475e-04 3.34585233e+01] [ 1.25267688e-03 9.20693319e-05 9.99999211e-01 -1.96487089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.891400513 meters 0.07516726552904401 Centerline is valid? [True, True] Translation: X:314.59, Y:33.46, Z:-1.96 [[ 9.99811770e-01 -1.94012885e-02 -1.20846839e-04 3.14586977e+02] [ 1.94012872e-02 9.99811777e-01 -1.13760204e-05 3.34590408e+01] [ 1.21044802e-04 9.02929489e-06 9.99999993e-01 -1.96316043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92140051300004 meters 0.07449932793924592 Centerline is valid? [True, True] Translation: X:314.62, Y:33.46, Z:-1.96 [[ 9.99796301e-01 -2.01736079e-02 6.18143296e-04 3.14615534e+02] [ 2.01735765e-02 9.99796491e-01 5.69910857e-05 3.34623118e+01] [-6.19167215e-04 -4.45093156e-05 9.99999807e-01 -1.96191365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.951400513 meters 0.07827546641279011 Centerline is valid? [True, True] Translation: X:314.64, Y:33.47, Z:-1.96 [[ 9.99786735e-01 -2.06180113e-02 1.17523966e-03 3.14642786e+02] [ 2.06178976e-02 9.99787423e-01 1.08761175e-04 3.34707893e+01] [-1.17723227e-03 -8.45070092e-05 9.99999303e-01 -1.96184047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.981400513 meters 0.07569488678431419 Centerline is valid? [True, True] Translation: X:314.67, Y:33.47, Z:-1.97 [[ 9.99812156e-01 -1.93814596e-02 1.12119678e-04 3.14672366e+02] [ 1.93814585e-02 9.99812162e-01 1.03578052e-05 3.34718661e+01] [-1.12299367e-04 -8.18281663e-06 9.99999994e-01 -1.96502903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.011400513 meters 0.0765356912615153 Centerline is valid? [True, True] Translation: X:314.70, Y:33.48, Z:-1.97 [[ 9.99827730e-01 -1.85078932e-02 -1.40269659e-03 3.14701521e+02] [ 1.85077288e-02 9.99828709e-01 -1.30047518e-04 3.34761053e+01] [ 1.40486322e-03 1.04064387e-04 9.99999008e-01 -1.96747560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.041400513 meters 0.08631956146476007 Centerline is valid? [True, True] Translation: X:314.73, Y:33.49, Z:-1.97 [[ 9.99837341e-01 -1.78518895e-02 -2.56945161e-03 3.14728507e+02] [ 1.78513356e-02 9.99840624e-01 -2.38346215e-04 3.34896649e+01] [ 2.57329703e-03 1.92439303e-04 9.99996671e-01 -1.96955003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.071400513 meters 0.0801028594586243 Centerline is valid? [True, True] Translation: X:314.76, Y:33.49, Z:-1.97 [[ 9.99853207e-01 -1.69381514e-02 -2.58155373e-03 3.14758792e+02] [ 1.69375891e-02 9.99856520e-01 -2.39491878e-04 3.34856164e+01] [ 2.58523988e-03 1.95731426e-04 9.99996639e-01 -1.96797345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.101400513 meters 0.08408477295105242 Centerline is valid? [True, True] Translation: X:314.79, Y:33.49, Z:-1.97 [[ 9.99859989e-01 -1.66352617e-02 -1.80861042e-03 3.14786178e+02] [ 1.66349850e-02 9.99861615e-01 -1.67943439e-04 3.34923350e+01] [ 1.81115392e-03 1.37833718e-04 9.99998350e-01 -1.96687261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.131400513 meters 0.08086546566672823 Centerline is valid? [True, True] Translation: X:314.82, Y:33.49, Z:-1.97 [[ 9.99867441e-01 -1.62214101e-02 -1.40231223e-03 3.14815241e+02] [ 1.62212428e-02 9.99868418e-01 -1.30594718e-04 3.34902096e+01] [ 1.40424614e-03 1.07830159e-04 9.99999008e-01 -1.96587733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.161400513 meters 0.07797507742652805 Centerline is valid? [True, True] Translation: X:314.84, Y:33.49, Z:-1.97 [[ 9.99878631e-01 -1.55495893e-02 -9.66527255e-04 3.14844763e+02] [ 1.55495096e-02 9.99879095e-01 -8.99385645e-05 3.34888535e+01] [ 9.67808905e-04 7.48986239e-05 9.99999529e-01 -1.96505485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.191400513 meters 0.08363254587903972 Centerline is valid? [True, True] Translation: X:314.87, Y:33.50, Z:-1.96 [[ 9.99890593e-01 -1.47887935e-02 -3.05636888e-04 3.14872990e+02] [ 1.47887855e-02 9.99890640e-01 -2.84834917e-05 3.34982853e+01] [ 3.06024699e-04 2.39603770e-05 9.99999953e-01 -1.96469641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.221400513 meters 0.08286673815443693 Centerline is valid? [True, True] Translation: X:314.90, Y:33.50, Z:-1.96 [[ 9.99902623e-01 -1.39483153e-02 4.34357590e-04 3.14902023e+02] [ 1.39482991e-02 9.99902717e-01 4.03632619e-05 3.34999699e+01] [-4.34878334e-04 -3.43007819e-05 9.99999905e-01 -1.96393100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.251400513 meters 0.08020034327007675 Centerline is valid? [True, True] Translation: X:314.93, Y:33.50, Z:-1.96 [[ 9.99921166e-01 -1.25292268e-02 8.25062886e-04 3.14932612e+02] [ 1.25291677e-02 9.99921504e-01 7.67933997e-05 3.34952241e+01] [-8.25960284e-04 -6.64499944e-05 9.99999657e-01 -1.96368653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.281400513 meters 0.0868945826436619 Centerline is valid? [True, True] Translation: X:314.96, Y:33.51, Z:-1.97 [[ 9.99932079e-01 -1.16530483e-02 -2.07737325e-04 3.14960963e+02] [ 1.16530445e-02 9.99932101e-01 -1.93586070e-05 3.35076230e+01] [ 2.07948806e-04 1.69365198e-05 9.99999978e-01 -1.96504520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.311400513 meters 0.08140237747231653 Centerline is valid? [True, True] Translation: X:314.99, Y:33.50, Z:-1.97 [[ 9.99941747e-01 -1.06595994e-02 -1.69554552e-03 3.14990903e+02] [ 1.06593468e-02 9.99943175e-01 -1.57942149e-04 3.35041488e+01] [ 1.69713277e-03 1.39859541e-04 9.99998550e-01 -1.96711909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.341400513 meters 0.08640604774192853 Centerline is valid? [True, True] Translation: X:315.02, Y:33.51, Z:-1.97 [[ 9.99953726e-01 -9.00441681e-03 -3.38611967e-03 3.15019126e+02] [ 9.00339982e-03 9.99959419e-01 -3.15464945e-04 3.35139390e+01] [ 3.38882284e-03 2.84963758e-04 9.99994217e-01 -1.97065500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.371400513 meters 0.08939048914020259 Centerline is valid? [True, True] Translation: X:315.05, Y:33.52, Z:-1.97 [[ 9.99950351e-01 -9.51332023e-03 -2.96519541e-03 3.15046998e+02] [ 9.51254066e-03 9.99954716e-01 -2.76901409e-04 3.35193357e+01] [ 2.96769539e-03 2.48681119e-04 9.99995565e-01 -1.97026203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.401400513 meters 0.08633106782405862 Centerline is valid? [True, True] Translation: X:315.08, Y:33.52, Z:-1.97 [[ 9.99938550e-01 -1.08318586e-02 -2.35933486e-03 3.15077141e+02] [ 1.08313690e-02 9.99941315e-01 -2.20231489e-04 3.35168152e+01] [ 2.36158191e-03 1.94663130e-04 9.99997193e-01 -1.96879311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.431400513 meters 0.08788013157907541 Centerline is valid? [True, True] Translation: X:315.11, Y:33.52, Z:-1.97 [[ 9.99922512e-01 -1.23233736e-02 -1.76210933e-03 3.15105489e+02] [ 1.23231026e-02 9.99924054e-01 -1.64565427e-04 3.35201581e+01] [ 1.76400351e-03 1.42838021e-04 9.99998434e-01 -1.96771655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.461400513 meters 0.08079908307245975 Centerline is valid? [True, True] Translation: X:315.14, Y:33.51, Z:-1.96 [[ 9.99882122e-01 -1.53533112e-02 1.33603405e-04 3.15136591e+02] [ 1.53533097e-02 9.99882131e-01 1.24074989e-05 3.35144408e+01] [-1.33778153e-04 -1.03547819e-05 9.99999991e-01 -1.96458592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49140051300003 meters 0.07515180456678325 Centerline is valid? [True, True] Translation: X:315.17, Y:33.51, Z:-1.96 [[ 9.99869524e-01 -1.60856964e-02 1.47857734e-03 3.15166446e+02] [ 1.60855096e-02 9.99870610e-01 1.38129793e-04 3.35108360e+01] [-1.48060794e-03 -1.14328100e-04 9.99998897e-01 -1.96247296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.521400513 meters 0.08166463821890822 Centerline is valid? [True, True] Translation: X:315.19, Y:33.52, Z:-1.96 [[ 9.99866811e-01 -1.60397956e-02 3.01415484e-03 3.15194497e+02] [ 1.60390176e-02 9.99871327e-01 2.82091966e-04 3.35219373e+01] [-3.01829170e-03 -2.33710312e-04 9.99995418e-01 -1.96051777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55140051300003 meters 0.08184666618331567 Centerline is valid? [True, True] Translation: X:315.22, Y:33.53, Z:-1.96 [[ 9.99871181e-01 -1.56143624e-02 3.71661735e-03 3.15224927e+02] [ 1.56131764e-02 9.99878046e-01 3.47915684e-04 3.35250147e+01] [-3.72159658e-03 -2.89842664e-04 9.99993033e-01 -1.95917371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.581400513 meters 0.08420402787874258 Centerline is valid? [True, True] Translation: X:315.25, Y:33.53, Z:-1.96 [[ 9.99879123e-01 -1.51815012e-02 3.35574593e-03 3.15254672e+02] [ 1.51805319e-02 9.99884720e-01 3.14112932e-04 3.35302868e+01] [-3.36012778e-03 -2.63132955e-04 9.99994320e-01 -1.95895183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61140051300004 meters 0.08520548917211236 Centerline is valid? [True, True] Translation: X:315.29, Y:33.54, Z:-1.96 [[ 9.99894448e-01 -1.44542588e-02 1.47250117e-03 3.15285179e+02] [ 1.44540714e-02 9.99895525e-01 1.37825827e-04 3.35352746e+01] [-1.47433950e-03 -1.16527642e-04 9.99998906e-01 -1.96247227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.641400513 meters 0.09905056676434017 Centerline is valid? [True, True] Translation: X:315.31, Y:33.56, Z:-1.96 [[ 9.99896242e-01 -1.43908629e-02 6.38239458e-04 3.15312972e+02] [ 1.43908277e-02 9.99896445e-01 5.97305026e-05 3.35561375e+01] [-6.39032939e-04 -5.05395110e-05 9.99999795e-01 -1.96473853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67140051300004 meters 0.0777112578596753 Centerline is valid? [True, True] Translation: X:315.34, Y:33.53, Z:-1.97 [[ 9.99896466e-01 -1.43849287e-02 3.62939462e-04 3.15343978e+02] [ 1.43849173e-02 9.99896531e-01 3.38047635e-05 3.35330153e+01] [-3.63388188e-04 -2.85804094e-05 9.99999934e-01 -1.96543577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.701400513 meters 0.0777112578596753 Centerline is valid? [True, True] Translation: X:315.37, Y:33.54, Z:-1.97 [[ 9.99894178e-01 -1.45430827e-02 3.62934053e-04 3.15372274e+02] [ 1.45430714e-02 9.99894243e-01 3.38625907e-05 3.35357678e+01] [-3.63388137e-04 -2.85808315e-05 9.99999934e-01 -1.96547651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.731400513 meters 0.08157071905865894 Centerline is valid? [True, True] Translation: X:315.40, Y:33.54, Z:-1.97 [[ 9.99897879e-01 -1.42818032e-02 5.10628315e-04 3.15400203e+02] [ 1.42817806e-02 9.99898009e-01 4.79321841e-05 3.35422435e+01] [-5.11260794e-04 -4.06346077e-05 9.99999868e-01 -1.96520734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.761400513 meters 0.08945583573870458 Centerline is valid? [True, True] Translation: X:315.43, Y:33.55, Z:-1.97 [[ 9.99903220e-01 -1.39103541e-02 2.29450681e-04 3.15428018e+02] [ 1.39103495e-02 9.99903246e-01 2.15202469e-05 3.35534561e+01] [-2.29727835e-04 -1.83264250e-05 9.99999973e-01 -1.96512690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.791400513 meters 0.08450004316829925 Centerline is valid? [True, True] Translation: X:315.46, Y:33.55, Z:-1.97 [[ 9.99927014e-01 -1.19503238e-02 -1.77638445e-03 3.15459016e+02] [ 1.19500459e-02 9.99928582e-01 -1.66990180e-04 3.35514895e+01] [ 1.77825317e-03 1.45750117e-04 9.99998408e-01 -1.96800718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.821400513 meters 0.0932870636706277 Centerline is valid? [True, True] Translation: X:315.49, Y:33.57, Z:-1.97 [[ 9.99950387e-01 -9.73360486e-03 -2.11671676e-03 3.15487364e+02] [ 9.73320523e-03 9.99952611e-01 -1.99017328e-04 3.35668714e+01] [ 2.11855360e-03 1.78405016e-04 9.99997740e-01 -1.96947633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.851400513 meters 0.0930943761658687 Centerline is valid? [True, True] Translation: X:315.52, Y:33.57, Z:-1.97 [[ 9.99984784e-01 -5.09004405e-03 -2.12697296e-03 3.15517764e+02] [ 5.08963012e-03 9.99987028e-01 -1.99980765e-04 3.35720914e+01] [ 2.12796328e-03 1.89152217e-04 9.99997718e-01 -1.96931940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.881400513 meters 0.09557088009405658 Centerline is valid? [True, True] Translation: X:315.55, Y:33.58, Z:-1.97 [[ 9.99992991e-01 -3.29609010e-03 -1.77589688e-03 3.15547885e+02] [ 3.29579872e-03 9.99994555e-01 -1.66976551e-04 3.35792229e+01] [ 1.77643758e-03 1.61122382e-04 9.99998409e-01 -1.96864482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.911400513 meters 0.09513867889734226 Centerline is valid? [True, True] Translation: X:315.58, Y:33.58, Z:-1.97 [[ 9.99995732e-01 -2.00617116e-03 -2.12386439e-03 3.15577335e+02] [ 2.00575145e-03 9.99997969e-01 -1.99727515e-04 3.35834890e+01] [ 2.12426076e-03 1.95466718e-04 9.99997725e-01 -1.96913343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.941400513 meters 0.09214538349330839 Centerline is valid? [True, True] Translation: X:315.61, Y:33.58, Z:-1.97 [[ 9.99994365e-01 -1.93369605e-03 -2.74406120e-03 3.15606622e+02] [ 1.93299355e-03 9.99998098e-01 -2.58637494e-04 3.35846797e+01] [ 2.74455611e-03 2.53331784e-04 9.99996202e-01 -1.97059779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.971400513 meters 0.09472780365098084 Centerline is valid? [True, True] Translation: X:315.63, Y:33.59, Z:-1.97 [[ 9.99990893e-01 -2.89475334e-03 -3.13610242e-03 3.15634966e+02] [ 2.89384087e-03 9.99995769e-01 -2.95453403e-04 3.35920831e+01] [ 3.13694442e-03 2.86375331e-04 9.99995039e-01 -1.97173239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.001400513 meters 0.09127312625468154 Centerline is valid? [True, True] Translation: X:315.67, Y:33.59, Z:-1.97 [[ 9.99982496e-01 -4.98326005e-03 -3.18993026e-03 3.15665391e+02] [ 4.98232661e-03 9.99987543e-01 -3.00499715e-04 3.35921200e+01] [ 3.19138799e-03 2.84601181e-04 9.99994867e-01 -1.97186602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.031400513 meters 0.08594539600895978 Centerline is valid? [True, True] Translation: X:315.70, Y:33.59, Z:-1.97 [[ 9.99937881e-01 -1.10901170e-02 -1.11489571e-03 3.15695787e+02] [ 1.10900068e-02 9.99938498e-01 -1.05033140e-04 3.35921131e+01] [ 1.11599197e-03 9.26624150e-05 9.99999373e-01 -1.96968265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.061400513 meters 0.08205232027644023 Centerline is valid? [True, True] Translation: X:315.73, Y:33.59, Z:-1.97 [[ 9.99897910e-01 -1.42882415e-02 -1.27353668e-04 3.15725783e+02] [ 1.42882401e-02 9.99897918e-01 -1.20271113e-05 3.35914999e+01] [ 1.27512513e-04 1.02062237e-05 9.99999992e-01 -1.96820742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.091400513 meters 0.080774083250506 Centerline is valid? [True, True] Translation: X:315.76, Y:33.59, Z:-1.97 [[ 9.99858539e-01 -1.67966727e-02 8.79900486e-04 3.15755837e+02] [ 1.67966062e-02 9.99858924e-01 8.29068440e-05 3.35932648e+01] [-8.81168912e-04 -6.81157739e-05 9.99999609e-01 -1.96651392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.121400513 meters 0.06949790399191741 Centerline is valid? [True, True] Translation: X:315.79, Y:33.58, Z:-1.97 [[ 9.99820311e-01 -1.89330417e-02 9.40952475e-04 3.15787497e+02] [ 1.89329666e-02 9.99820751e-01 8.86607770e-05 3.35832580e+01] [-9.42462429e-04 -7.08298238e-05 9.99999553e-01 -1.96594287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.151400513 meters 0.07777060126183545 Centerline is valid? [True, True] Translation: X:315.82, Y:33.60, Z:-1.97 [[ 9.99782325e-01 -2.08580824e-02 -4.92213918e-04 3.15815471e+02] [ 2.08580621e-02 9.99782446e-01 -4.64257128e-05 3.35997120e+01] [ 4.93075186e-04 3.61489786e-05 9.99999878e-01 -1.96805157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.181400513 meters 0.07046704547020127 Centerline is valid? [True, True] Translation: X:315.85, Y:33.59, Z:-1.97 [[ 9.99772423e-01 -2.13231919e-02 -6.51442565e-04 3.15845346e+02] [ 2.13231562e-02 9.99772634e-01 -6.17385957e-05 3.35945768e+01] [ 6.52610913e-04 4.78337338e-05 9.99999786e-01 -1.96762877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.211400513 meters 0.0753932961271409 Centerline is valid? [True, True] Translation: X:315.87, Y:33.60, Z:-1.97 [[ 9.99766210e-01 -2.16184087e-02 4.12205875e-04 3.15872767e+02] [ 2.16183945e-02 9.99766294e-01 3.88596487e-05 3.36028576e+01] [-4.12949624e-04 -2.99393345e-05 9.99999914e-01 -1.96634581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24140051300003 meters 0.07497652809921582 Centerline is valid? [True, True] Translation: X:315.90, Y:33.60, Z:-1.96 [[ 9.99746998e-01 -2.24285965e-02 1.70219542e-03 3.15901520e+02] [ 2.24283550e-02 9.99748440e-01 1.60854280e-04 3.36021178e+01] [-1.70537495e-03 -1.22636141e-04 9.99998538e-01 -1.96387420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.271400513 meters 0.06828703124229227 Centerline is valid? [True, True] Translation: X:315.93, Y:33.60, Z:-1.96 [[ 9.99727877e-01 -2.32011181e-02 2.42492155e-03 3.15930999e+02] [ 2.32006290e-02 9.99730803e-01 2.29632508e-04 3.35972533e+01] [-2.42959649e-03 -1.73310315e-04 9.99997034e-01 -1.96266816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30140051300003 meters 0.07035447803026829 Centerline is valid? [True, True] Translation: X:315.96, Y:33.60, Z:-1.96 [[ 9.99711281e-01 -2.39411158e-02 2.04369170e-03 3.15959176e+02] [ 2.39407695e-02 9.99713360e-01 1.93748950e-04 3.36015646e+01] [-2.04774446e-03 -1.44765459e-04 9.99997893e-01 -1.96296993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.331400513 meters 0.07288296197802656 Centerline is valid? [True, True] Translation: X:315.99, Y:33.61, Z:-1.97 [[ 9.99701942e-01 -2.44100745e-02 4.17666510e-04 3.15987746e+02] [ 2.44100601e-02 9.99702029e-01 3.95712311e-05 3.36062329e+01] [-4.18507994e-04 -2.93641720e-05 9.99999912e-01 -1.96610523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36140051300004 meters 0.0711812125491414 Centerline is valid? [True, True] Translation: X:316.02, Y:33.61, Z:-1.97 [[ 9.99709769e-01 -2.40887427e-02 3.32829139e-04 3.16016408e+02] [ 2.40887336e-02 9.99709824e-01 3.13984773e-05 3.36063129e+01] [-3.33488909e-04 -2.33719320e-05 9.99999944e-01 -1.96637355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.391400513 meters 0.07744035786657218 Centerline is valid? [True, True] Translation: X:316.04, Y:33.62, Z:-1.97 [[ 9.99736271e-01 -2.29528039e-02 7.47089845e-04 3.16044404e+02] [ 2.29527572e-02 9.99736548e-01 7.09530227e-05 3.36166887e+01] [-7.48521593e-04 -5.37865385e-05 9.99999718e-01 -1.96621044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42140051300004 meters 0.07600606279765623 Centerline is valid? [True, True] Translation: X:316.07, Y:33.62, Z:-1.97 [[ 9.99782980e-01 -2.08258653e-02 5.25570324e-04 3.16074345e+02] [ 2.08258419e-02 9.99783117e-01 4.99586608e-05 3.36176064e+01] [-5.26496770e-04 -3.90023743e-05 9.99999861e-01 -1.96671618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.451400513 meters 0.07855650447310922 Centerline is valid? [True, True] Translation: X:316.10, Y:33.62, Z:-1.97 [[ 9.99892219e-01 -1.46153653e-02 -1.39336910e-03 3.16104115e+02] [ 1.46151947e-02 9.99893184e-01 -1.32509432e-04 3.36230003e+01] [ 1.39515694e-03 1.12130789e-04 9.99999020e-01 -1.96977753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.481400513 meters 0.08178226234392146 Centerline is valid? [True, True] Translation: X:316.13, Y:33.63, Z:-1.97 [[ 9.99927242e-01 -1.17887897e-02 -2.55654115e-03 3.16133589e+02] [ 1.17882063e-02 9.99930487e-01 -2.43145446e-04 3.36290747e+01] [ 2.55922983e-03 2.12990720e-04 9.99996702e-01 -1.97137350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.511400513 meters 0.08805346687069542 Centerline is valid? [True, True] Translation: X:316.16, Y:33.64, Z:-1.97 [[ 9.99950395e-01 -9.53777460e-03 -2.87035380e-03 3.16162139e+02] [ 9.53702989e-03 9.99954484e-01 -2.73024874e-04 3.36397244e+01] [ 2.87282720e-03 2.45636680e-04 9.99995843e-01 -1.97232058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.541400513 meters 0.09403738265426204 Centerline is valid? [True, True] Translation: X:316.19, Y:33.65, Z:-1.97 [[ 9.99966667e-01 -7.69785922e-03 -2.72155397e-03 3.16190537e+02] [ 7.69718282e-03 9.99970343e-01 -2.58919063e-04 3.36507956e+01] [ 2.72346637e-03 2.37962134e-04 9.99996263e-01 -1.97240791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.571400513 meters 0.09239490639307392 Centerline is valid? [True, True] Translation: X:316.22, Y:33.65, Z:-1.97 [[ 9.99975917e-01 -6.63514605e-03 -2.03490911e-03 3.16219610e+02] [ 6.63476553e-03 9.99977971e-01 -1.93692391e-04 3.36529760e+01] [ 2.03614946e-03 1.80186581e-04 9.99997911e-01 -1.97155428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.601400513 meters 0.08985846618007227 Centerline is valid? [True, True] Translation: X:316.25, Y:33.65, Z:-1.97 [[ 9.99972506e-01 -7.35627275e-03 -9.34303336e-04 3.16248252e+02] [ 7.35619277e-03 9.99972939e-01 -8.90147501e-05 3.36545473e+01] [ 9.34932869e-04 8.21393873e-05 9.99999560e-01 -1.96903094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.631400513 meters 0.08796068259911943 Centerline is valid? [True, True] Translation: X:316.28, Y:33.66, Z:-1.97 [[ 9.99961001e-01 -8.76922081e-03 -1.04795005e-03 3.16277764e+02] [ 8.76912098e-03 9.99961546e-01 -9.98263568e-05 3.36556038e+01] [ 1.04878515e-03 9.06328628e-05 9.99999446e-01 -1.96898160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.661400513 meters 0.07926418935729929 Centerline is valid? [True, True] Translation: X:316.31, Y:33.65, Z:-1.97 [[ 9.99944675e-01 -1.03882842e-02 -1.65249963e-03 3.16308776e+02] [ 1.03880382e-02 9.99946030e-01 -1.57400450e-04 3.36484010e+01] [ 1.65404557e-03 1.40225513e-04 9.99998622e-01 -1.96939310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.691400513 meters 0.08834846621364208 Centerline is valid? [True, True] Translation: X:316.34, Y:33.66, Z:-1.97 [[ 9.99924156e-01 -1.22149357e-02 -1.57412160e-03 3.16337215e+02] [ 1.22147146e-02 9.99925386e-01 -1.49969621e-04 3.36636334e+01] [ 1.57583602e-03 1.30730801e-04 9.99998750e-01 -1.97001322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.721400513 meters 0.0782552877993427 Centerline is valid? [True, True] Translation: X:316.37, Y:33.66, Z:-1.97 [[ 9.99897311e-01 -1.42695625e-02 -1.32212431e-03 3.16368933e+02] [ 1.42694083e-02 9.99898179e-01 -1.25947518e-04 3.36560632e+01] [ 1.32378691e-03 1.07068653e-04 9.99999118e-01 -1.96970967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.751400513 meters 0.07537442606187936 Centerline is valid? [True, True] Translation: X:316.40, Y:33.66, Z:-1.97 [[ 9.99815040e-01 -1.92224428e-02 -6.19115547e-04 3.16399634e+02] [ 1.92224100e-02 9.99815231e-01 -5.89860694e-05 3.36560107e+01] [ 6.20135010e-04 4.70742665e-05 9.99999807e-01 -1.97000839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.781400513 meters 0.07260581128934149 Centerline is valid? [True, True] Translation: X:316.43, Y:33.66, Z:-1.97 [[ 9.99760928e-01 -2.18598017e-02 -4.84774147e-04 3.16428912e+02] [ 2.18597818e-02 9.99761045e-01 -4.62079149e-05 3.36572145e+01] [ 4.85668404e-04 3.55998108e-05 9.99999881e-01 -1.96913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.811400513 meters 0.06693162207236976 Centerline is valid? [True, True] Translation: X:316.46, Y:33.65, Z:-1.97 [[ 9.99679746e-01 -2.52964986e-02 -7.01369265e-04 3.16459354e+02] [ 2.52964579e-02 9.99679991e-01 -6.68636390e-05 3.36534645e+01] [ 7.02836237e-04 4.91000676e-05 9.99999752e-01 -1.96868613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.841400513 meters 0.07038864492151499 Centerline is valid? [True, True] Translation: X:316.49, Y:33.66, Z:-1.97 [[ 9.99580192e-01 -2.89518947e-02 -1.10816321e-03 3.16487896e+02] [ 2.89517953e-02 9.99580803e-01 -1.05649974e-04 3.36615329e+01] [ 1.11075743e-03 7.35223069e-05 9.99999380e-01 -1.96919254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.871400513 meters 0.06256789189990566 Centerline is valid? [True, True] Translation: X:316.52, Y:33.66, Z:-1.97 [[ 9.99477150e-01 -3.22925045e-02 -1.61874788e-03 3.16519569e+02] [ 3.22922968e-02 9.99478456e-01 -1.54260123e-04 3.36557496e+01] [ 1.62288508e-03 1.01906381e-04 9.99998678e-01 -1.96940528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.901400513 meters 0.05581350282425851 Centerline is valid? [True, True] Translation: X:316.55, Y:33.65, Z:-1.97 [[ 9.99259559e-01 -3.84456586e-02 -1.50518662e-03 3.16550796e+02] [ 3.84454860e-02 9.99260689e-01 -1.43458936e-04 3.36499684e+01] [ 1.50958919e-03 8.54850817e-05 9.99998857e-01 -1.97020351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.931400513 meters 0.057285290349879156 Centerline is valid? [True, True] Translation: X:316.58, Y:33.65, Z:-1.97 [[ 9.99146921e-01 -4.12771124e-02 -1.27684689e-03 3.16579796e+02] [ 4.12769904e-02 9.99147734e-01 -1.21734694e-04 3.36533231e+01] [ 1.28078354e-03 6.89264474e-05 9.99999177e-01 -1.97041673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.961400513 meters 0.05537825796214045 Centerline is valid? [True, True] Translation: X:316.61, Y:33.65, Z:-1.97 [[ 9.99028024e-01 -4.40722737e-02 -8.01650776e-04 3.16609297e+02] [ 4.40722265e-02 9.99028344e-01 -7.64540891e-05 3.36532393e+01] [ 8.04241353e-04 4.10492430e-05 9.99999676e-01 -1.96979045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99140051300003 meters 0.04812128525433287 Centerline is valid? [True, True] Translation: X:316.64, Y:33.65, Z:-1.97 [[ 9.98918250e-01 -4.65002877e-02 -2.31167073e-04 3.16640173e+02] [ 4.65002839e-02 9.98918276e-01 -2.20590429e-05 3.36469642e+01] [ 2.31942766e-04 1.12858460e-05 9.99999973e-01 -1.96872203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.021400513 meters 0.04479347289043871 Centerline is valid? [True, True] Translation: X:316.67, Y:33.64, Z:-1.97 [[ 9.98739745e-01 -5.01854911e-02 5.81075764e-04 3.16670663e+02] [ 5.01854673e-02 9.98739914e-01 5.54047153e-05 3.36449249e+01] [-5.83124071e-04 -2.61733325e-05 9.99999830e-01 -1.96700130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05140051300003 meters 0.044990816993179736 Centerline is valid? [True, True] Translation: X:316.70, Y:33.65, Z:-1.97 [[ 9.98681848e-01 -5.13214405e-02 8.22546929e-04 3.16698708e+02] [ 5.13213933e-02 9.98682186e-01 7.83977531e-05 3.36472674e+01] [-8.25486451e-04 -3.60801585e-05 9.99999659e-01 -1.96673357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.081400513 meters 0.042107512649280185 Centerline is valid? [True, True] Translation: X:316.73, Y:33.65, Z:-1.97 [[ 9.98630663e-01 -5.23130680e-02 3.75985004e-04 3.16727758e+02] [ 5.23130582e-02 9.98630734e-01 3.56970143e-05 3.36465276e+01] [-3.77337601e-04 -1.59792077e-05 9.99999929e-01 -1.96738927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11140051300004 meters 0.04152850201745727 Centerline is valid? [True, True] Translation: X:316.76, Y:33.65, Z:-1.97 [[ 9.98573878e-01 -5.33863278e-02 -3.31898584e-04 3.16755341e+02] [ 5.33863202e-02 9.98573933e-01 -3.18280678e-05 3.36490192e+01] [ 3.33124458e-04 1.40638330e-05 9.99999944e-01 -1.96869912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.141400513 meters 0.03990033011971624 Centerline is valid? [True, True] Translation: X:316.78, Y:33.65, Z:-1.97 [[ 9.98497613e-01 -5.47849417e-02 -1.06134426e-03 3.16783965e+02] [ 5.47848645e-02 9.98498176e-01 -1.01626223e-04 3.36503251e+01] [ 1.06531790e-03 4.33279395e-05 9.99999432e-01 -1.97012065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17140051300004 meters 0.03810766426617012 Centerline is valid? [True, True] Translation: X:316.81, Y:33.65, Z:-1.97 [[ 9.98328777e-01 -5.77589818e-02 -1.88504508e-03 3.16813158e+02] [ 5.77587439e-02 9.98330554e-01 -1.80455092e-04 3.36515862e+01] [ 1.89232100e-03 7.12756753e-05 9.99998207e-01 -1.97118029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.201400513 meters 0.03569958024093086 Centerline is valid? [True, True] Translation: X:316.84, Y:33.65, Z:-1.97 [[ 9.98226796e-01 -5.94855626e-02 -2.17501184e-03 3.16842038e+02] [ 5.94852497e-02 9.98229163e-01 -2.08346788e-04 3.36520787e+01] [ 2.18355388e-03 7.85962237e-05 9.99997613e-01 -1.97106507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.231400513 meters 0.03384629080070009 Centerline is valid? [True, True] Translation: X:316.87, Y:33.65, Z:-1.97 [[ 9.98097690e-01 -6.16263558e-02 -1.78708939e-03 3.16871159e+02] [ 6.16261472e-02 9.98099288e-01 -1.71633480e-04 3.36539177e+01] [ 1.79426980e-03 6.11755460e-05 9.99998388e-01 -1.97004293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.261400513 meters 0.03662980764035574 Centerline is valid? [True, True] Translation: X:316.90, Y:33.66, Z:-1.97 [[ 9.97955654e-01 -6.39093755e-02 -3.24400724e-04 3.16898497e+02] [ 6.39093687e-02 9.97955706e-01 -3.12196185e-05 3.36617779e+01] [ 3.25732780e-04 1.04235493e-05 9.99999947e-01 -1.96857775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.291400513 meters 0.033184480660431746 Centerline is valid? [True, True] Translation: X:316.93, Y:33.66, Z:-1.96 [[ 9.97717945e-01 -6.74901090e-02 1.99701217e-03 3.16928657e+02] [ 6.74898605e-02 9.97719942e-01 1.91670729e-04 3.36639659e+01] [-2.00539475e-03 -5.64552534e-05 9.99997988e-01 -1.96478290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.321400513 meters 0.02866739308860727 Centerline is valid? [True, True] Translation: X:316.96, Y:33.66, Z:-1.97 [[ 9.97608871e-01 -6.90879447e-02 1.84309250e-03 3.16958152e+02] [ 6.90877355e-02 9.97610572e-01 1.76976017e-04 3.36632849e+01] [-1.85091548e-03 -4.92177571e-05 9.99998286e-01 -1.96504183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.351400513 meters 0.025992610939713955 Centerline is valid? [True, True] Translation: X:316.99, Y:33.67, Z:-1.97 [[ 9.97479007e-01 -7.09552650e-02 9.90417916e-04 3.16986853e+02] [ 7.09552055e-02 9.97479498e-01 9.51452003e-05 3.36650214e+01] [-9.94672619e-04 -2.46300332e-05 9.99999505e-01 -1.96618966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.381400513 meters 0.026668995106289395 Centerline is valid? [True, True] Translation: X:317.02, Y:33.66, Z:-1.97 [[ 9.97300870e-01 -7.34226320e-02 -3.02611306e-04 3.17015520e+02] [ 7.34226264e-02 9.97300916e-01 -2.94496641e-05 3.36648750e+01] [ 3.03956805e-04 7.15165871e-06 9.99999954e-01 -1.96782073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.411400513 meters 0.021054164431979168 Centerline is valid? [True, True] Translation: X:317.04, Y:33.67, Z:-1.97 [[ 9.97102739e-01 -7.60656877e-02 -3.74011740e-04 3.17043385e+02] [ 7.60656794e-02 9.97102809e-01 -3.64006331e-05 3.36704815e+01] [ 3.75696995e-04 7.84571385e-06 9.99999929e-01 -1.96848101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.441400513 meters 0.01922917334605681 Centerline is valid? [True, True] Translation: X:317.07, Y:33.67, Z:-1.97 [[ 9.96845521e-01 -7.93657597e-02 2.89831370e-04 3.17071161e+02] [ 7.93657549e-02 9.96845563e-01 2.79182482e-05 3.36736987e+01] [-2.91132868e-04 -4.82749521e-06 9.99999958e-01 -1.96785262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.471400513 meters 0.011420373040910344 Centerline is valid? [True, True] Translation: X:317.10, Y:33.67, Z:-1.97 [[ 9.96208608e-01 -8.69918505e-02 9.09805242e-04 3.17101862e+02] [ 8.69918065e-02 9.96209023e-01 8.79875773e-05 3.36697742e+01] [-9.14010393e-04 -8.50838039e-06 9.99999582e-01 -1.96643962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.501400513 meters 0.008660857176914836 Centerline is valid? [True, True] Translation: X:317.13, Y:33.67, Z:-1.97 [[ 9.95853516e-01 -9.09712712e-02 -5.13907962e-05 3.17131035e+02] [ 9.09712710e-02 9.95853517e-01 -5.22902211e-06 3.36701087e+01] [ 5.16533959e-05 5.32254011e-07 9.99999999e-01 -1.96752983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.531400513 meters 0.0068762193436638945 Centerline is valid? [True, True] Translation: X:317.16, Y:33.67, Z:-1.97 [[ 9.95484050e-01 -9.49261950e-02 -7.23447985e-04 3.17159829e+02] [ 9.49261688e-02 9.95484313e-01 -7.05298108e-05 3.36707586e+01] [ 7.26876247e-04 1.53715618e-06 9.99999736e-01 -1.96893309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.561400513 meters 0.00841985789274348 Centerline is valid? [True, True] Translation: X:317.19, Y:33.67, Z:-1.97 [[ 9.94829725e-01 -1.01556849e-01 -1.58376978e-04 3.17188084e+02] [ 1.01556848e-01 9.94829737e-01 -1.54841997e-05 3.36714836e+01] [ 1.59130654e-04 -6.80124578e-07 9.99999987e-01 -1.96892871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.591400513 meters 0.00841985789274348 Centerline is valid? [True, True] Translation: X:317.22, Y:33.67, Z:-1.97 [[ 9.94810142e-01 -1.01748493e-01 -1.58355765e-04 3.17215456e+02] [ 1.01748491e-01 9.94810155e-01 -1.57021150e-05 3.36743142e+01] [ 1.59131590e-04 -4.91836896e-07 9.99999987e-01 -1.96896816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.621400513 meters 0.011008801466256064 Centerline is valid? [True, True] Translation: X:317.24, Y:33.68, Z:-1.97 [[ 9.94551350e-01 -1.04245922e-01 6.32147736e-04 3.17242833e+02] [ 1.04245904e-01 9.94551551e-01 6.15162515e-05 3.36753622e+01] [-6.35116330e-04 4.71774156e-06 9.99999798e-01 -1.96817908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.651400513 meters 0.011589438692184689 Centerline is valid? [True, True] Translation: X:317.27, Y:33.68, Z:-1.97 [[ 9.94354731e-01 -1.06104336e-01 7.33713104e-04 3.17271426e+02] [ 1.06104312e-01 9.94355002e-01 7.14014061e-05 3.36796020e+01] [-7.37147293e-04 6.85179792e-06 9.99999728e-01 -1.96815636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.681400513 meters 0.013197783810638613 Centerline is valid? [True, True] Translation: X:317.30, Y:33.68, Z:-1.97 [[ 9.94182996e-01 -1.07703592e-01 3.27624961e-04 3.17298872e+02] [ 1.07703587e-01 9.94183050e-01 3.18917996e-05 3.36829518e+01] [-3.29154044e-04 3.58009871e-06 9.99999946e-01 -1.96888860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.711400513 meters 0.014966164822280605 Centerline is valid? [True, True] Translation: X:317.33, Y:33.69, Z:-1.97 [[ 9.94052957e-01 -1.08897617e-01 -1.63650893e-04 3.17326725e+02] [ 1.08897616e-01 9.94052971e-01 -1.60908506e-05 3.36866890e+01] [ 1.64429912e-04 -1.82603447e-06 9.99999986e-01 -1.96990200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74140051300003 meters 0.015731590760594494 Centerline is valid? [True, True] Translation: X:317.35, Y:33.70, Z:-1.97 [[ 9.93883191e-01 -1.10433663e-01 -7.79857854e-04 3.17354742e+02] [ 1.10433637e-01 9.93883497e-01 -7.66431868e-05 3.36953139e+01] [ 7.83551839e-04 -9.94816414e-06 9.99999693e-01 -1.97102241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.771400513 meters 0.01678482941695992 Centerline is valid? [True, True] Translation: X:317.38, Y:33.70, Z:-1.97 [[ 9.93815627e-01 -1.11039643e-01 -8.34683839e-04 3.17381862e+02] [ 1.11039614e-01 9.93815978e-01 -8.19088680e-05 3.36997464e+01] [ 8.38617267e-04 -1.12806579e-05 9.99999648e-01 -1.97102413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80140051300003 meters 0.016718333842873533 Centerline is valid? [True, True] Translation: X:317.41, Y:33.71, Z:-1.97 [[ 9.93750220e-01 -1.11624421e-01 -6.99433040e-04 3.17409867e+02] [ 1.11624400e-01 9.93750466e-01 -6.89768984e-05 3.37059744e+01] [ 7.02761416e-04 -9.52798543e-06 9.99999753e-01 -1.97045533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.831400513 meters 0.016830823872922653 Centerline is valid? [True, True] Translation: X:317.44, Y:33.71, Z:-1.97 [[ 9.93672237e-01 -1.12316466e-01 -7.05299173e-04 3.17438319e+02] [ 1.12316445e-01 9.93672487e-01 -6.96449819e-05 3.37119984e+01] [ 7.08658661e-04 -1.00124108e-05 9.99999749e-01 -1.97034163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86140051300004 meters 0.02268494570505714 Centerline is valid? [True, True] Translation: X:317.47, Y:33.72, Z:-1.97 [[ 9.93582272e-01 -1.13111124e-01 -3.76496132e-04 3.17465696e+02] [ 1.13111119e-01 9.93582344e-01 -3.71565683e-05 3.37156456e+01] [ 3.78282730e-04 -5.66779106e-06 9.99999928e-01 -1.97014433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.891400513 meters 0.0193635597120506 Centerline is valid? [True, True] Translation: X:317.49, Y:33.72, Z:-1.97 [[ 9.93498038e-01 -1.13849217e-01 5.74477679e-05 3.17493439e+02] [ 1.13849217e-01 9.93498040e-01 5.57444384e-06 3.37194247e+01] [-5.77088909e-05 1.00218438e-06 9.99999998e-01 -1.97008122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92140051300004 meters 0.021929693838853438 Centerline is valid? [True, True] Translation: X:317.52, Y:33.72, Z:-1.97 [[ 9.93314307e-01 -1.15432800e-01 -1.39849070e-03 3.17521240e+02] [ 1.15432720e-01 9.93315291e-01 -1.38024358e-04 3.37211441e+01] [ 1.40507473e-03 -2.43300161e-05 9.99999013e-01 -1.97387747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.951400513 meters 0.02974021752157216 Centerline is valid? [True, True] Translation: X:317.55, Y:33.72, Z:-1.97 [[ 9.93319769e-01 -1.15384361e-01 1.51218328e-03 3.17548589e+02] [ 1.15362857e-01 9.93269845e-01 1.03162970e-02 3.37159108e+01] [-2.69234538e-03 -1.00729320e-02 9.99945642e-01 -1.97436811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.981400513 meters 0.019734461421862828 Centerline is valid? [True, True] Translation: X:317.58, Y:33.74, Z:-1.98 [[ 9.93329771e-01 -1.15298528e-01 -1.48863076e-03 3.17576263e+02] [ 1.15279872e-01 9.93289348e-01 -9.31789072e-03 3.37391596e+01] [ 2.55298016e-03 9.08412909e-03 9.99955479e-01 -1.97724450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.011400513 meters 0.021812546185889806 Centerline is valid? [True, True] Translation: X:317.60, Y:33.73, Z:-1.98 [[ 9.93426047e-01 -1.14460888e-01 -1.84225472e-03 3.17604668e+02] [ 1.14460747e-01 9.93427755e-01 -1.82102958e-04 3.37326036e+01] [ 1.85099064e-03 -2.99600308e-05 9.99998286e-01 -1.97542472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.041400513 meters 0.017428363771469266 Centerline is valid? [True, True] Translation: X:317.63, Y:33.74, Z:-1.97 [[ 9.93603528e-01 -1.12923414e-01 -5.76719783e-04 3.17633017e+02] [ 1.12923399e-01 9.93603695e-01 -5.73962024e-05 3.37420309e+01] [ 5.79512282e-04 -8.09608915e-06 9.99999832e-01 -1.97241307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.071400513 meters 0.011719873449501431 Centerline is valid? [True, True] Translation: X:317.66, Y:33.75, Z:-1.97 [[ 9.94219114e-01 -1.07364391e-01 1.11417299e-03 3.17661005e+02] [ 1.07364335e-01 9.94219738e-01 1.10212289e-04 3.37540895e+01] [-1.11956566e-03 1.00472778e-05 9.99999373e-01 -1.96932109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.101400513 meters 0.009132235158695016 Centerline is valid? [True, True] Translation: X:317.69, Y:33.76, Z:-1.97 [[ 9.94553407e-01 -1.04218340e-01 1.43476200e-03 3.17688232e+02] [ 1.04218244e-01 9.94554442e-01 1.42015845e-04 3.37614054e+01] [-1.44174957e-03 8.28603373e-06 9.99998961e-01 -1.96932529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.131400513 meters 0.007069748508677315 Centerline is valid? [True, True] Translation: X:317.72, Y:33.77, Z:-1.97 [[ 9.94872726e-01 -1.01131518e-01 8.21725411e-04 3.17716371e+02] [ 1.01131486e-01 9.94873065e-01 8.12143632e-05 3.37698658e+01] [-8.25725811e-04 2.30435675e-06 9.99999659e-01 -1.97143159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.161400513 meters 0.0066981887503482565 Centerline is valid? [True, True] Translation: X:317.74, Y:33.78, Z:-1.97 [[ 9.95173165e-01 -9.81343010e-02 -1.73486596e-04 3.17742793e+02] [ 9.81342994e-02 9.95173180e-01 -1.73944110e-05 3.37771643e+01] [ 1.74356196e-04 2.85465413e-07 9.99999985e-01 -1.97382379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.191400513 meters 0.007769119920528525 Centerline is valid? [True, True] Translation: X:317.77, Y:33.78, Z:-1.97 [[ 9.95458583e-01 -9.51933752e-02 -6.56895850e-04 3.17770790e+02] [ 9.51933525e-02 9.95458799e-01 -6.56917844e-05 3.37832829e+01] [ 6.60166177e-04 2.86133235e-06 9.99999782e-01 -1.97416048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.221400513 meters 0.011216388157522612 Centerline is valid? [True, True] Translation: X:317.80, Y:33.79, Z:-1.97 [[ 9.95922737e-01 -9.02099232e-02 2.69343563e-04 3.17799280e+02] [ 9.02099193e-02 9.95922773e-01 2.65112109e-05 3.37901100e+01] [-2.70636963e-04 -2.10565661e-06 9.99999963e-01 -1.97118511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.251400513 meters 0.013884039253600529 Centerline is valid? [True, True] Translation: X:317.83, Y:33.80, Z:-1.97 [[ 9.96094993e-01 -8.82857382e-02 6.26971888e-04 3.17826656e+02] [ 8.82857164e-02 9.96095190e-01 6.23695379e-05 3.37963318e+01] [-6.30030023e-04 -6.77332208e-06 9.99999802e-01 -1.96990694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.281400513 meters 0.0163808351435652 Centerline is valid? [True, True] Translation: X:317.85, Y:33.80, Z:-1.97 [[ 9.96277977e-01 -8.61984908e-02 1.11977429e-04 3.17853850e+02] [ 8.61984902e-02 9.96277983e-01 1.10652205e-05 3.38031108e+01] [-1.12514452e-04 -1.37175019e-06 9.99999994e-01 -1.97058707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.311400513 meters 0.01758357219130424 Centerline is valid? [True, True] Translation: X:317.88, Y:33.81, Z:-1.97 [[ 9.96481260e-01 -8.38151759e-02 -3.38866472e-04 3.17882646e+02] [ 8.38151691e-02 9.96481318e-01 -3.42092034e-05 3.38089598e+01] [ 3.40541359e-04 5.68667946e-06 9.99999942e-01 -1.97127937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.341400513 meters 0.028627932210439567 Centerline is valid? [True, True] Translation: X:317.91, Y:33.82, Z:-1.97 [[ 9.97026915e-01 -7.70539753e-02 1.28128843e-04 3.17910587e+02] [ 7.70539743e-02 9.97026923e-01 1.27940420e-05 3.38235774e+01] [-1.28733738e-04 -2.88316767e-06 9.99999992e-01 -1.97028844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.371400513 meters 0.028028173807334737 Centerline is valid? [True, True] Translation: X:317.94, Y:33.83, Z:-1.97 [[ 9.97332753e-01 -7.29861033e-02 6.38583038e-04 3.17939370e+02] [ 7.29860774e-02 9.97332958e-01 6.38257008e-05 3.38328593e+01] [-6.41538299e-04 -1.70477909e-05 9.99999794e-01 -1.96878536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.401400513 meters 0.031596030433160005 Centerline is valid? [True, True] Translation: X:317.97, Y:33.84, Z:-1.97 [[ 9.97618705e-01 -6.89687431e-02 4.81791147e-04 3.17968581e+02] [ 6.89687279e-02 9.97618821e-01 4.81719890e-05 3.38437646e+01] [-4.83966277e-04 -1.48287548e-05 9.99999883e-01 -1.96857978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.431400513 meters 0.03544513893084853 Centerline is valid? [True, True] Translation: X:318.00, Y:33.86, Z:-1.97 [[ 9.97886985e-01 -6.49735612e-02 2.40838255e-05 3.17998007e+02] [ 6.49735611e-02 9.97886986e-01 2.40918895e-06 3.38556513e+01] [-2.41894696e-05 -8.39286397e-07 1.00000000e+00 -1.96948352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.461400513 meters 0.045693202607551824 Centerline is valid? [True, True] Translation: X:318.03, Y:33.87, Z:-1.97 [[ 9.98100262e-01 -6.16078577e-02 -5.81337133e-04 3.18025815e+02] [ 6.16078343e-02 9.98100432e-01 -5.81699124e-05 3.38696114e+01] [ 5.83816567e-04 2.22444831e-05 9.99999829e-01 -1.97073738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49140051300003 meters 0.04495573141958861 Centerline is valid? [True, True] Translation: X:318.05, Y:33.88, Z:-1.97 [[ 9.98431380e-01 -5.59687914e-02 -1.50784391e-03 3.18054897e+02] [ 5.59686273e-02 9.98432516e-01 -1.50843300e-04 3.38834705e+01] [ 1.51392291e-03 6.62147300e-05 9.99998852e-01 -1.97142653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.521400513 meters 0.05059351189959036 Centerline is valid? [True, True] Translation: X:318.08, Y:33.90, Z:-1.97 [[ 9.98508741e-01 -5.45772935e-02 -1.26995874e-03 3.18082188e+02] [ 5.45771758e-02 9.98509547e-01 -1.27159600e-04 3.38967181e+01] [ 1.27500595e-03 5.76592109e-05 9.99999186e-01 -1.97159164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55140051300003 meters 0.04923470315535474 Centerline is valid? [True, True] Translation: X:318.11, Y:33.90, Z:-1.97 [[ 9.98531146e-01 -5.41757155e-02 -7.36128010e-04 3.18110607e+02] [ 5.41756755e-02 9.98531417e-01 -7.41010611e-05 3.39020508e+01] [ 7.39061423e-04 3.41119853e-05 9.99999726e-01 -1.97057955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.581400513 meters 0.05317493170237742 Centerline is valid? [True, True] Translation: X:318.14, Y:33.91, Z:-1.97 [[ 9.98509196e-01 -5.45828999e-02 3.03263511e-04 3.18137116e+02] [ 5.45828932e-02 9.98509242e-01 3.03050091e-05 3.39140956e+01] [-3.04465554e-04 -1.37068304e-05 9.99999954e-01 -1.96918622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61140051300004 meters 0.04571157131205711 Centerline is valid? [True, True] Translation: X:318.17, Y:33.92, Z:-1.97 [[ 9.98403553e-01 -5.64398638e-02 2.21087571e-03 3.18166794e+02] [ 5.64395109e-02 9.98405996e-01 2.21748173e-04 3.39155008e+01] [-2.21986700e-03 -9.66134197e-05 9.99997531e-01 -1.96555573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.641400513 meters 0.0484060319136555 Centerline is valid? [True, True] Translation: X:318.19, Y:33.93, Z:-1.97 [[ 9.98362453e-01 -5.71521633e-02 2.45816115e-03 3.18193626e+02] [ 5.71517289e-02 9.98365474e-01 2.46632831e-04 3.39253145e+01] [-2.46823882e-03 -1.05740798e-04 9.99996948e-01 -1.96538693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67140051300004 meters 0.04830367212070174 Centerline is valid? [True, True] Translation: X:318.22, Y:33.93, Z:-1.97 [[ 9.98338964e-01 -5.75802899e-02 1.95529536e-03 3.18222263e+02] [ 5.75800157e-02 9.98340875e-01 1.96274546e-04 3.39317497e+01] [-1.96335282e-03 -8.33625889e-05 9.99998069e-01 -1.96602282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.701400513 meters 0.04627147226821741 Centerline is valid? [True, True] Translation: X:318.25, Y:33.94, Z:-1.97 [[ 9.98335914e-01 -5.76489595e-02 1.41446926e-03 3.18249975e+02] [ 5.76488159e-02 9.98336914e-01 1.42113300e-04 3.39353638e+01] [-1.42030956e-03 -6.03343330e-05 9.99998990e-01 -1.96708308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.731400513 meters 0.04983618618123233 Centerline is valid? [True, True] Translation: X:318.28, Y:33.95, Z:-1.97 [[ 9.98345297e-01 -5.74938666e-02 1.06019940e-03 3.18276977e+02] [ 5.74937856e-02 9.98345859e-01 1.06739234e-04 3.39451947e+01] [-1.06458253e-03 -4.56077353e-05 9.99999432e-01 -1.96798878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.761400513 meters 0.04664845230565914 Centerline is valid? [True, True] Translation: X:318.31, Y:33.95, Z:-1.97 [[ 9.98349642e-01 -5.74243143e-02 6.64134741e-04 3.18305412e+02] [ 5.74242826e-02 9.98349862e-01 6.67278517e-05 3.39462675e+01] [-6.66870628e-04 -2.84802657e-05 9.99999777e-01 -1.96825805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.791400513 meters 0.04882457752729513 Centerline is valid? [True, True] Translation: X:318.33, Y:33.95, Z:-1.97 [[ 9.98440784e-01 -5.58168660e-02 6.91108314e-04 3.18334650e+02] [ 5.58168311e-02 9.98441023e-01 6.97370920e-05 3.39549903e+01] [-6.93923398e-04 -3.10528808e-05 9.99999759e-01 -1.96767122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.821400513 meters 0.04954325874391387 Centerline is valid? [True, True] Translation: X:318.36, Y:33.96, Z:-1.97 [[ 9.98523116e-01 -5.43217679e-02 8.55200909e-04 3.18363919e+02] [ 5.43217139e-02 9.98523482e-01 8.63254271e-05 3.39602534e+01] [-8.58627539e-04 -3.97419555e-05 9.99999631e-01 -1.96757269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.851400513 meters 0.05681185600566354 Centerline is valid? [True, True] Translation: X:318.39, Y:33.97, Z:-1.97 [[ 9.98628223e-01 -5.23437809e-02 1.34198589e-03 3.18390798e+02] [ 5.23436460e-02 9.98629123e-01 1.35505932e-04 3.39734075e+01] [-1.34723908e-03 -6.50756133e-05 9.99999090e-01 -1.96710536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.881400513 meters 0.05625853786998778 Centerline is valid? [True, True] Translation: X:318.42, Y:33.98, Z:-1.97 [[ 9.98885758e-01 -4.71854767e-02 8.79556228e-04 3.18421039e+02] [ 4.71854167e-02 9.98886144e-01 8.88721931e-05 3.39789862e+01] [-8.82770006e-04 -4.72709408e-05 9.99999609e-01 -1.96767352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.911400513 meters 0.05987028342955155 Centerline is valid? [True, True] Translation: X:318.45, Y:33.99, Z:-1.97 [[ 9.98995763e-01 -4.48037557e-02 2.98674014e-04 3.18449393e+02] [ 4.48037487e-02 9.98995807e-01 3.01556021e-05 3.39884773e+01] [-2.99725172e-04 -1.67436033e-05 9.99999955e-01 -1.96853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.941400513 meters 0.058850410595883744 Centerline is valid? [True, True] Translation: X:318.48, Y:33.99, Z:-1.97 [[ 9.99098429e-01 -4.24494397e-02 -6.12149014e-04 3.18478872e+02] [ 4.24494097e-02 9.99098616e-01 -6.19016250e-05 3.39923798e+01] [ 6.14224922e-04 3.58604519e-05 9.99999811e-01 -1.96953989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.971400513 meters 0.06274567736733468 Centerline is valid? [True, True] Translation: X:318.51, Y:34.00, Z:-1.97 [[ 9.99193429e-01 -4.01250065e-02 -1.57334825e-03 3.18507570e+02] [ 4.01248056e-02 9.99194663e-01 -1.59059928e-04 3.40015217e+01] [ 1.57846346e-03 9.58013424e-05 9.99998750e-01 -1.97129630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.001400513 meters 0.06430514160262045 Centerline is valid? [True, True] Translation: X:318.54, Y:34.01, Z:-1.97 [[ 9.99242250e-01 -3.88728747e-02 -1.95586229e-03 3.18537114e+02] [ 3.88725618e-02 9.99244157e-01 -1.97793347e-04 3.40072302e+01] [ 1.96207276e-03 1.21614092e-04 9.99998068e-01 -1.97186819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.031400513 meters 0.06369354436398102 Centerline is valid? [True, True] Translation: X:318.57, Y:34.01, Z:-1.97 [[ 9.99257737e-01 -3.84889965e-02 -1.60380642e-03 3.18565295e+02] [ 3.84887853e-02 9.99259019e-01 -1.62360988e-04 3.40105984e+01] [ 1.60886714e-03 1.00511912e-04 9.99998701e-01 -1.97109536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.061400513 meters 0.06849319671640612 Centerline is valid? [True, True] Translation: X:318.59, Y:34.02, Z:-1.97 [[ 9.99219609e-01 -3.94970767e-02 -3.91927952e-04 3.18592213e+02] [ 3.94970641e-02 9.99219686e-01 -3.97571285e-05 3.40239571e+01] [ 3.93192416e-04 2.42460989e-05 9.99999922e-01 -1.96999509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.091400513 meters 0.07124612721259002 Centerline is valid? [True, True] Translation: X:318.62, Y:34.03, Z:-1.97 [[ 9.99183501e-01 -4.04009412e-02 -3.07675093e-04 3.18619864e+02] [ 4.04009335e-02 9.99183549e-01 -3.12156628e-05 3.40323137e+01] [ 3.08685033e-04 1.87598143e-05 9.99999952e-01 -1.97043500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.121400513 meters 0.06266988498721918 Centerline is valid? [True, True] Translation: X:318.65, Y:34.03, Z:-1.97 [[ 9.99148628e-01 -4.12535790e-02 -4.02324837e-04 3.18650340e+02] [ 4.12535659e-02 9.99148708e-01 -4.07876359e-05 3.40257322e+01] [ 4.03664977e-04 2.41555762e-05 9.99999918e-01 -1.97020345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.151400513 meters 0.06244896503953164 Centerline is valid? [True, True] Translation: X:318.68, Y:34.03, Z:-1.97 [[ 9.99106183e-01 -4.22670269e-02 -5.77496829e-04 3.18678969e+02] [ 4.22670000e-02 9.99106349e-01 -5.85693889e-05 3.40280005e+01] [ 5.79456303e-04 3.41079801e-05 9.99999832e-01 -1.97060835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.181400513 meters 0.06049525025967766 Centerline is valid? [True, True] Translation: X:318.71, Y:34.03, Z:-1.97 [[ 9.99010123e-01 -4.44768266e-02 7.66070416e-04 3.18708737e+02] [ 4.44767801e-02 9.99010415e-01 7.75918432e-05 3.40267067e+01] [-7.68763364e-04 -4.34426913e-05 9.99999704e-01 -1.96852021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.211400513 meters 0.06457977500630496 Centerline is valid? [True, True] Translation: X:318.74, Y:34.03, Z:-1.97 [[ 9.98935395e-01 -4.61031064e-02 1.60629208e-03 3.18737438e+02] [ 4.61029041e-02 9.98936683e-01 1.62733720e-04 3.40337910e+01] [-1.61208661e-03 -8.85057428e-05 9.99998697e-01 -1.96690605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24140051300003 meters 0.06029598032948472 Centerline is valid? [True, True] Translation: X:318.77, Y:34.03, Z:-1.97 [[ 9.98833602e-01 -4.82494816e-02 1.84992292e-03 3.18767696e+02] [ 4.82492169e-02 9.98835311e-01 1.87465951e-04 3.40302386e+01] [-1.85681347e-03 -9.79899591e-05 9.99998271e-01 -1.96688685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.271400513 meters 0.0541151086558101 Centerline is valid? [True, True] Translation: X:318.80, Y:34.02, Z:-1.97 [[ 9.98719839e-01 -5.05649561e-02 1.36723496e-03 3.18798041e+02] [ 5.05648137e-02 9.98720772e-01 1.38570845e-04 3.40238056e+01] [-1.37249279e-03 -6.92594712e-05 9.99999056e-01 -1.96802934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30140051300003 meters 0.05183661962046118 Centerline is valid? [True, True] Translation: X:318.83, Y:34.02, Z:-1.97 [[ 9.98603472e-01 -5.28272876e-02 6.19925547e-04 3.18828390e+02] [ 5.28272587e-02 9.98603664e-01 6.28352248e-05 3.40216046e+01] [-6.22379336e-04 -2.99985064e-05 9.99999806e-01 -1.96898357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.331400513 meters 0.054014745199313575 Centerline is valid? [True, True] Translation: X:318.86, Y:34.02, Z:-1.97 [[ 9.98500324e-01 -5.47444546e-02 3.85256853e-04 3.18857448e+02] [ 5.47444436e-02 9.98500398e-01 3.90274440e-05 3.40245149e+01] [-3.86815657e-04 -1.78782435e-05 9.99999925e-01 -1.96933129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36140051300004 meters 0.05111733571388207 Centerline is valid? [True, True] Translation: X:318.89, Y:34.02, Z:-1.97 [[ 9.98392324e-01 -5.66810830e-02 1.45977711e-04 3.18888415e+02] [ 5.66810814e-02 9.98392335e-01 1.47847546e-05 3.40188629e+01] [-1.46581043e-04 -6.48681105e-06 9.99999989e-01 -1.96903788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.391400513 meters 0.046493480880098206 Centerline is valid? [True, True] Translation: X:318.92, Y:34.01, Z:-1.97 [[ 9.98380528e-01 -5.68881194e-02 -2.50954529e-04 3.18916954e+02] [ 5.68881147e-02 9.98380560e-01 -2.58684926e-05 3.40134243e+01] [ 2.52019733e-04 1.15502693e-05 9.99999968e-01 -1.96880942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42140051300004 meters 0.04784923561543158 Centerline is valid? [True, True] Translation: X:318.94, Y:34.02, Z:-1.97 [[ 9.98431581e-01 -5.59806370e-02 -7.38745225e-04 3.18944147e+02] [ 5.59805965e-02 9.98431854e-01 -7.53491822e-05 3.40151784e+01] [ 7.41804860e-04 3.38756048e-05 9.99999724e-01 -1.96970877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.451400513 meters 0.04907455396004277 Centerline is valid? [True, True] Translation: X:318.97, Y:34.02, Z:-1.97 [[ 9.98550489e-01 -5.38115731e-02 -1.11163593e-03 3.18973606e+02] [ 5.38114804e-02 9.98551106e-01 -1.13153597e-04 3.40174917e+01] [ 1.11611426e-03 5.31708044e-05 9.99999376e-01 -1.97026739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.481400513 meters 0.04907455396004277 Centerline is valid? [True, True] Translation: X:319.00, Y:34.02, Z:-1.97 [[ 9.98540283e-01 -5.40006299e-02 -1.11158204e-03 3.19000966e+02] [ 5.40005367e-02 9.98540900e-01 -1.13682717e-04 3.40204353e+01] [ 1.11609907e-03 5.34907455e-05 9.99999376e-01 -1.97032057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.511400513 meters 0.0581025697773617 Centerline is valid? [True, True] Translation: X:319.03, Y:34.03, Z:-1.97 [[ 9.98694489e-01 -5.10682348e-02 -1.16320820e-03 3.19028677e+02] [ 5.10681311e-02 9.98695165e-01 -1.18651017e-04 3.40328675e+01] [ 1.16774971e-03 5.90932475e-05 9.99999316e-01 -1.97075692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.541400513 meters 0.060842181125756546 Centerline is valid? [True, True] Translation: X:319.06, Y:34.04, Z:-1.97 [[ 9.98865184e-01 -4.76245918e-02 -4.92094528e-04 3.19058917e+02] [ 4.76245728e-02 9.98865305e-01 -5.01788658e-05 3.40380341e+01] [ 4.93925899e-04 2.66861304e-05 9.99999878e-01 -1.96948732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.571400513 meters 0.06260751238651499 Centerline is valid? [True, True] Translation: X:319.09, Y:34.04, Z:-1.97 [[ 9.99145075e-01 -4.13316225e-02 9.03769821e-04 3.19089237e+02] [ 4.13315560e-02 9.99145482e-01 9.21495899e-05 3.40397461e+01] [-9.06806226e-04 -5.47165959e-05 9.99999587e-01 -1.96659210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.601400513 meters 0.06430081754405619 Centerline is valid? [True, True] Translation: X:319.12, Y:34.04, Z:-1.97 [[ 9.99246033e-01 -3.88146892e-02 8.85995546e-04 3.19118736e+02] [ 3.88146243e-02 9.99246424e-01 9.03318896e-05 3.40428902e+01] [-8.88834086e-04 -5.58741980e-05 9.99999603e-01 -1.96684227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.631400513 meters 0.06763175788476426 Centerline is valid? [True, True] Translation: X:319.15, Y:34.05, Z:-1.97 [[ 9.99342646e-01 -3.62508287e-02 3.92272925e-04 3.19148791e+02] [ 3.62508158e-02 9.99342722e-01 3.99936583e-05 3.40482899e+01] [-3.93464896e-04 -2.57471547e-05 9.99999922e-01 -1.96787711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.661400513 meters 0.0698463903245291 Centerline is valid? [True, True] Translation: X:319.18, Y:34.05, Z:-1.97 [[ 9.99441862e-01 -3.34034090e-02 -4.19605357e-04 3.19179233e+02] [ 3.34033939e-02 9.99441950e-01 -4.28014360e-05 3.40532241e+01] [ 4.20800910e-04 2.87613039e-05 9.99999911e-01 -1.96950275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.691400513 meters 0.0768962770334766 Centerline is valid? [True, True] Translation: X:319.21, Y:34.06, Z:-1.97 [[ 9.99524933e-01 -3.08099296e-02 -8.10274806e-04 3.19207438e+02] [ 3.08098726e-02 9.99525260e-01 -8.26759232e-05 3.40647343e+01] [ 8.12437375e-04 5.76721831e-05 9.99999668e-01 -1.97056867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.721400513 meters 0.07710670879568618 Centerline is valid? [True, True] Translation: X:319.24, Y:34.07, Z:-1.97 [[ 9.99605862e-01 -2.80677741e-02 -5.66211567e-04 3.19237442e+02] [ 2.80677459e-02 9.99606022e-01 -5.77559890e-05 3.40682940e+01] [ 5.67609574e-04 4.18409428e-05 9.99999838e-01 -1.97041593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.751400513 meters 0.08032376239209167 Centerline is valid? [True, True] Translation: X:319.27, Y:34.08, Z:-1.97 [[ 9.99735341e-01 -2.30052658e-02 7.66853186e-05 3.19266671e+02] [ 2.30052652e-02 9.99735344e-01 7.81995010e-06 3.40769178e+01] [-7.68449234e-05 -6.05371439e-06 9.99999997e-01 -1.96964488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.781400513 meters 0.0817327742191518 Centerline is valid? [True, True] Translation: X:319.30, Y:34.08, Z:-1.97 [[ 9.99778287e-01 -2.10450352e-02 -6.94890688e-04 3.19296118e+02] [ 2.10449910e-02 9.99778527e-01 -7.09080447e-05 3.40822902e+01] [ 6.96229051e-04 5.62683552e-05 9.99999756e-01 -1.97049750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.811400513 meters 0.08416640510406247 Centerline is valid? [True, True] Translation: X:319.32, Y:34.09, Z:-1.97 [[ 9.99801247e-01 -1.98744695e-02 -1.57232033e-03 3.19324942e+02] [ 1.98742416e-02 9.99802475e-01 -1.60439481e-04 3.40892011e+01] [ 1.57519841e-03 1.29158919e-04 9.99998751e-01 -1.97180838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.841400513 meters 0.08563154013218777 Centerline is valid? [True, True] Translation: X:319.35, Y:34.10, Z:-1.97 [[ 9.99819695e-01 -1.87931108e-02 -2.71950678e-03 3.19353256e+02] [ 1.87924247e-02 9.99823368e-01 -2.77619147e-04 3.40966917e+01] [ 2.72424375e-03 2.26462965e-04 9.99996264e-01 -1.97368714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.871400513 meters 0.08044907626742881 Centerline is valid? [True, True] Translation: X:319.38, Y:34.10, Z:-1.97 [[ 9.99813004e-01 -1.92089019e-02 -2.23044662e-03 3.19382430e+02] [ 1.92084401e-02 9.99815475e-01 -2.28321168e-04 3.40951894e+01] [ 2.23442085e-03 1.85435073e-04 9.99997486e-01 -1.97276804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.901400513 meters 0.09010999518491127 Centerline is valid? [True, True] Translation: X:319.41, Y:34.11, Z:-1.97 [[ 9.99803972e-01 -1.97670317e-02 -1.13193517e-03 3.19409479e+02] [ 1.97669131e-02 9.99804609e-01 -1.15818026e-04 3.41118889e+01] [ 1.13400338e-03 9.34204580e-05 9.99999353e-01 -1.97149232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.931400513 meters 0.08303494635282316 Centerline is valid? [True, True] Translation: X:319.44, Y:34.11, Z:-1.97 [[ 9.99797309e-01 -2.01322978e-02 -1.78415794e-04 3.19439369e+02] [ 2.01322948e-02 9.99797325e-01 -1.82929692e-05 3.41081430e+01] [ 1.78747913e-04 1.46973420e-05 9.99999984e-01 -1.96981076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.961400513 meters 0.0827462653174855 Centerline is valid? [True, True] Translation: X:319.47, Y:34.11, Z:-1.97 [[ 9.99800252e-01 -1.99642748e-02 9.39666196e-04 3.19469450e+02] [ 1.99641933e-02 9.99800691e-01 9.61111298e-05 3.41131168e+01] [-9.41397701e-04 -7.73322543e-05 9.99999554e-01 -1.96827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99140051300003 meters 0.08054167626800832 Centerline is valid? [True, True] Translation: X:319.50, Y:34.12, Z:-1.97 [[ 9.99817256e-01 -1.90887095e-02 1.03725110e-03 3.19500123e+02] [ 1.90886097e-02 9.99817790e-01 1.06092329e-04 3.41160189e+01] [-1.03908727e-03 -8.62732596e-05 9.99999456e-01 -1.96752600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.021400513 meters 0.08644980169518204 Centerline is valid? [True, True] Translation: X:319.53, Y:34.13, Z:-1.97 [[ 9.99876923e-01 -1.56888114e-02 -1.41906303e-05 3.19527867e+02] [ 1.56888114e-02 9.99876923e-01 -1.43888265e-06 3.41326100e+01] [ 1.42114581e-05 1.21607144e-06 1.00000000e+00 -1.96909379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05140051300003 meters 0.09383590371517284 Centerline is valid? [True, True] Translation: X:319.56, Y:34.15, Z:-1.97 [[ 9.99902737e-01 -1.39286493e-02 -7.13753506e-04 3.19555654e+02] [ 1.39286007e-02 9.99902990e-01 -7.30232139e-05 3.41476608e+01] [ 7.14701379e-04 6.30745238e-05 9.99999743e-01 -1.97039816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.081400513 meters 0.09324051764359408 Centerline is valid? [True, True] Translation: X:319.59, Y:34.15, Z:-1.97 [[ 9.99918877e-01 -1.27031633e-02 -9.32523128e-04 3.19585519e+02] [ 1.27030798e-02 9.99919308e-01 -9.54151162e-05 3.41529106e+01] [ 9.33659955e-04 8.35614601e-05 9.99999561e-01 -1.97151753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11140051300004 meters 0.08879931222324335 Centerline is valid? [True, True] Translation: X:319.62, Y:34.15, Z:-1.97 [[ 9.99922341e-01 -1.23852280e-02 -1.38480965e-03 3.19616252e+02] [ 1.23850436e-02 9.99923292e-01 -1.41660447e-04 3.41533405e+01] [ 1.38645792e-03 1.24498518e-04 9.99999031e-01 -1.97261265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.141400513 meters 0.09152436465338615 Centerline is valid? [True, True] Translation: X:319.65, Y:34.16, Z:-1.97 [[ 9.99919874e-01 -1.25545415e-02 -1.62124444e-03 3.19645078e+02] [ 1.25542889e-02 9.99921178e-01 -1.65887885e-04 3.41626409e+01] [ 1.62319929e-03 1.45521022e-04 9.99998672e-01 -1.97357254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17140051300004 meters 0.08753211523816176 Centerline is valid? [True, True] Translation: X:319.68, Y:34.16, Z:-1.97 [[ 9.99914804e-01 -1.29089322e-02 -1.93520358e-03 3.19675271e+02] [ 1.29085729e-02 9.99916661e-01 -1.98031041e-04 3.41638166e+01] [ 1.93759867e-03 1.73033452e-04 9.99998108e-01 -1.97373910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.201400513 meters 0.08793153381233855 Centerline is valid? [True, True] Translation: X:319.70, Y:34.17, Z:-1.97 [[ 9.99893887e-01 -1.43650642e-02 -2.42070906e-03 3.19703679e+02] [ 1.43645061e-02 9.99896794e-01 -2.47786058e-04 3.41730936e+01] [ 2.42401870e-03 2.12987475e-04 9.99997039e-01 -1.97467295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.231400513 meters 0.08493529077034301 Centerline is valid? [True, True] Translation: X:319.73, Y:34.18, Z:-1.97 [[ 9.99885287e-01 -1.49750784e-02 -2.27173538e-03 3.19732886e+02] [ 1.49745871e-02 9.99887847e-01 -2.33134427e-04 3.41751041e+01] [ 2.27497181e-03 1.99089384e-04 9.99997392e-01 -1.97470775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.261400513 meters 0.08289646592368835 Centerline is valid? [True, True] Translation: X:319.76, Y:34.18, Z:-1.97 [[ 9.99874211e-01 -1.57982568e-02 -1.40605006e-03 3.19762112e+02] [ 1.57980695e-02 9.99875192e-01 -1.44191603e-04 3.41817015e+01] [ 1.40815255e-03 1.21960589e-04 9.99999001e-01 -1.97461786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.291400513 meters 0.09166023209617687 Centerline is valid? [True, True] Translation: X:319.79, Y:34.20, Z:-1.97 [[ 9.99870250e-01 -1.60802241e-02 -9.53753336e-04 3.19789646e+02] [ 1.60801380e-02 9.99870701e-01 -9.78111062e-05 3.41987582e+01] [ 9.55202842e-04 8.24619300e-05 9.99999540e-01 -1.97459827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.321400513 meters 0.09098017164496307 Centerline is valid? [True, True] Translation: X:319.82, Y:34.20, Z:-1.97 [[ 9.99862925e-01 -1.65207834e-02 -1.09286649e-03 3.19819459e+02] [ 1.65206707e-02 9.99863518e-01 -1.12051884e-04 3.42038477e+01] [ 1.09456852e-03 9.39816375e-05 9.99999397e-01 -1.97452030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.351400513 meters 0.07625740939928422 Centerline is valid? [True, True] Translation: X:319.85, Y:34.19, Z:-1.97 [[ 9.99846339e-01 -1.74419570e-02 -1.75389354e-03 3.19850897e+02] [ 1.74416680e-02 9.99847866e-01 -1.79980257e-04 3.41910384e+01] [ 1.75676592e-03 1.49361773e-04 9.99998446e-01 -1.97438001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.381400513 meters 0.08279872864089431 Centerline is valid? [True, True] Translation: X:319.88, Y:34.20, Z:-1.98 [[ 9.99821761e-01 -1.86626872e-02 -2.85495165e-03 3.19879611e+02] [ 1.86619266e-02 9.99825808e-01 -2.92837821e-04 3.42039224e+01] [ 2.85991948e-03 2.39506727e-04 9.99995882e-01 -1.97583661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.411400513 meters 0.08201739674147347 Centerline is valid? [True, True] Translation: X:319.91, Y:34.21, Z:-1.98 [[ 9.99784707e-01 -2.03993582e-02 -3.79542187e-03 3.19907998e+02] [ 2.03980255e-02 9.99791863e-01 -3.89504891e-04 3.42078363e+01] [ 3.80257755e-03 3.12001921e-04 9.99992722e-01 -1.97771779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.441400513 meters 0.07789019865284638 Centerline is valid? [True, True] Translation: X:319.94, Y:34.21, Z:-1.98 [[ 9.99688779e-01 -2.45608543e-02 -4.37140248e-03 3.19938547e+02] [ 2.45591266e-02 9.99698279e-01 -4.48466394e-04 3.42104108e+01] [ 4.38109825e-03 3.40968995e-04 9.99990345e-01 -1.97932163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.471400513 meters 0.07618835384211108 Centerline is valid? [True, True] Translation: X:319.97, Y:34.21, Z:-1.98 [[ 9.99637181e-01 -2.66921736e-02 -3.61017614e-03 3.19969011e+02] [ 2.66910090e-02 9.99643663e-01 -3.70402924e-04 3.42137453e+01] [ 3.61877656e-03 2.73909291e-04 9.99993415e-01 -1.97849723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.501400513 meters 0.07547420687833589 Centerline is valid? [True, True] Translation: X:320.00, Y:34.22, Z:-1.98 [[ 9.99564888e-01 -2.93570057e-02 -2.86360434e-03 3.19998328e+02] [ 2.93562837e-02 9.99568968e-01 -2.93867420e-04 3.42179059e+01] [ 2.87099710e-03 2.09674774e-04 9.99995857e-01 -1.97748087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.531400513 meters 0.07436166479444832 Centerline is valid? [True, True] Translation: X:320.03, Y:34.22, Z:-1.98 [[ 9.99485005e-01 -3.20127983e-02 -2.21499983e-03 3.20027238e+02] [ 3.20123727e-02 9.99487447e-01 -2.27342325e-04 3.42207251e+01] [ 2.22114239e-03 1.56317845e-04 9.99997521e-01 -1.97661863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.561400513 meters 0.06943167644844007 Centerline is valid? [True, True] Translation: X:320.06, Y:34.22, Z:-1.97 [[ 9.99298082e-01 -3.74382766e-02 -1.31123394e-03 3.20058109e+02] [ 3.74381321e-02 9.99298938e-01 -1.34575277e-04 3.42177315e+01] [ 1.31535295e-03 8.53906673e-05 9.99999131e-01 -1.97489684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.591400513 meters 0.06298419477262986 Centerline is valid? [True, True] Translation: X:320.09, Y:34.21, Z:-1.97 [[ 9.99193166e-01 -4.01588052e-02 -5.36164037e-04 3.20089709e+02] [ 4.01587814e-02 9.99193309e-01 -5.50316443e-05 3.42121220e+01] [ 5.37941523e-04 3.34555485e-05 9.99999855e-01 -1.97345772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.621400513 meters 0.061026469989715885 Centerline is valid? [True, True] Translation: X:320.12, Y:34.21, Z:-1.97 [[ 9.99112762e-01 -4.21139011e-02 3.27956693e-04 3.20120630e+02] [ 4.21138923e-02 9.99112816e-01 3.36585070e-05 3.42105204e+01] [-3.29083226e-04 -1.98171110e-05 9.99999946e-01 -1.97203998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.651400513 meters 0.062015945118819485 Centerline is valid? [True, True] Translation: X:320.15, Y:34.21, Z:-1.97 [[ 9.99058880e-01 -4.33448790e-02 1.60467028e-03 3.20149811e+02] [ 4.33446702e-02 9.99060165e-01 1.64685049e-04 3.42134116e+01] [-1.61030040e-03 -9.49761571e-05 9.99998699e-01 -1.97020062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.681400513 meters 0.06153645069699677 Centerline is valid? [True, True] Translation: X:320.18, Y:34.21, Z:-1.97 [[ 9.99030097e-01 -4.39676245e-02 2.39040547e-03 3.20180949e+02] [ 4.39671629e-02 9.99032947e-01 2.45352544e-04 3.42138241e+01] [-2.39888139e-03 -1.40015229e-04 9.99997113e-01 -1.96873080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.711400513 meters 0.061567301830720456 Centerline is valid? [True, True] Translation: X:320.21, Y:34.21, Z:-1.97 [[ 9.99033190e-01 -4.38733883e-02 2.79470139e-03 3.20211868e+02] [ 4.38727570e-02 9.99037086e-01 2.86812951e-04 3.42146286e+01] [-2.80459379e-03 -1.63924403e-04 9.99996054e-01 -1.96840358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74140051300003 meters 0.06803908824801769 Centerline is valid? [True, True] Translation: X:320.24, Y:34.22, Z:-1.97 [[ 9.99123105e-01 -4.18242572e-02 1.93719083e-03 3.20241053e+02] [ 4.18239500e-02 9.99124976e-01 1.98793137e-04 3.42205694e+01] [-1.94381012e-03 -1.17597844e-04 9.99998104e-01 -1.97102743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.771400513 meters 0.06308609321484322 Centerline is valid? [True, True] Translation: X:320.27, Y:34.22, Z:-1.97 [[ 9.99210522e-01 -3.97081857e-02 1.26220091e-03 3.20273093e+02] [ 3.97080536e-02 9.99211316e-01 1.29541906e-04 3.42150395e+01] [-1.26634930e-03 -7.93200938e-05 9.99999195e-01 -1.97276125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80140051300003 meters 0.07424044245213501 Centerline is valid? [True, True] Translation: X:320.30, Y:34.23, Z:-1.97 [[ 9.99311903e-01 -3.70799684e-02 8.92404654e-04 3.20300944e+02] [ 3.70799014e-02 9.99312300e-01 9.15468239e-05 3.42289080e+01] [-8.95185500e-04 -5.83935542e-05 9.99999598e-01 -1.97323028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.831400513 meters 0.06969113901162906 Centerline is valid? [True, True] Translation: X:320.33, Y:34.22, Z:-1.97 [[ 9.99418557e-01 -3.40866289e-02 8.05710359e-04 3.20331784e+02] [ 3.40865732e-02 9.99418880e-01 8.26704129e-05 3.42235211e+01] [-8.08060100e-04 -5.51584396e-05 9.99999672e-01 -1.97281845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86140051300004 meters 0.07543103586198686 Centerline is valid? [True, True] Translation: X:320.36, Y:34.23, Z:-1.97 [[ 9.99614064e-01 -2.77795803e-02 1.34868075e-04 3.20361679e+02] [ 2.77795787e-02 9.99614073e-01 1.38226859e-05 3.42289568e+01] [-1.35200014e-04 -1.00707730e-05 9.99999991e-01 -1.97302604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.891400513 meters 0.07215770687524833 Centerline is valid? [True, True] Translation: X:320.39, Y:34.23, Z:-1.97 [[ 9.99686537e-01 -2.50345080e-02 -3.18730232e-04 3.20392698e+02] [ 2.50344989e-02 9.99686587e-01 -3.27171283e-05 3.42268810e+01] [ 3.19449395e-04 2.47276210e-05 9.99999949e-01 -1.97367344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92140051300004 meters 0.07904979856575632 Centerline is valid? [True, True] Translation: X:320.42, Y:34.24, Z:-1.98 [[ 9.99740233e-01 -2.27876568e-02 -4.34937795e-04 3.20421551e+02] [ 2.27876395e-02 9.99740327e-01 -4.46567255e-05 3.42380813e+01] [ 4.35842476e-04 3.47339194e-05 9.99999904e-01 -1.97511259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.951400513 meters 0.0816716644759607 Centerline is valid? [True, True] Translation: X:320.45, Y:34.24, Z:-1.98 [[ 9.99784435e-01 -2.07562032e-02 -5.13845389e-04 3.20450946e+02] [ 2.07561788e-02 9.99784566e-01 -5.27614258e-05 3.42442431e+01] [ 5.14829816e-04 4.20845855e-05 9.99999867e-01 -1.97591113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.981400513 meters 0.08163865288167692 Centerline is valid? [True, True] Translation: X:320.48, Y:34.25, Z:-1.98 [[ 9.99820667e-01 -1.89188151e-02 -8.43738573e-04 3.20481213e+02] [ 1.89187487e-02 9.99821021e-01 -8.66231880e-05 3.42464073e+01] [ 8.45226369e-04 7.06451756e-05 9.99999640e-01 -1.97660025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.011400513 meters 0.08562718763847423 Centerline is valid? [True, True] Translation: X:320.51, Y:34.25, Z:-1.98 [[ 9.99871620e-01 -1.57893408e-02 -2.72779314e-03 3.20510027e+02] [ 1.57886351e-02 9.99875313e-01 -2.80050523e-04 3.42537129e+01] [ 2.73187483e-03 2.36946439e-04 9.99996240e-01 -1.97814258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.041400513 meters 0.08774216919413949 Centerline is valid? [True, True] Translation: X:320.54, Y:34.26, Z:-1.98 [[ 9.99881476e-01 -1.49250375e-02 -3.77848055e-03 3.20538448e+02] [ 1.49236763e-02 9.99888560e-01 -3.88177693e-04 3.42598227e+01] [ 3.78385304e-03 3.31742864e-04 9.99992786e-01 -1.97934536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.071400513 meters 0.09574671002241682 Centerline is valid? [True, True] Translation: X:320.57, Y:34.27, Z:-1.98 [[ 9.99881592e-01 -1.47498926e-02 -4.38668633e-03 3.20565032e+02] [ 1.47480552e-02 9.99891140e-01 -4.50913759e-04 3.42734268e+01] [ 4.39285973e-03 3.86165276e-04 9.99990277e-01 -1.98136035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.101400513 meters 0.0886065664800145 Centerline is valid? [True, True] Translation: X:320.59, Y:34.27, Z:-1.98 [[ 9.99874616e-01 -1.51810111e-02 -4.50436197e-03 3.20594290e+02] [ 1.51790739e-02 9.99884684e-01 -4.63941605e-04 3.42672883e+01] [ 4.51088564e-03 3.95511391e-04 9.99989748e-01 -1.98100866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.131400513 meters 0.08553521145881952 Centerline is valid? [True, True] Translation: X:320.62, Y:34.27, Z:-1.98 [[ 9.99861661e-01 -1.62556253e-02 -3.52339799e-03 3.20623876e+02] [ 1.62544470e-02 9.99867822e-01 -3.62786734e-04 3.42676135e+01] [ 3.52882960e-03 3.05465661e-04 9.99993727e-01 -1.97968466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.161400513 meters 0.086583435804905 Centerline is valid? [True, True] Translation: X:320.65, Y:34.27, Z:-1.98 [[ 9.99836839e-01 -1.78748581e-02 -2.60489898e-03 3.20653097e+02] [ 1.78742193e-02 9.99840207e-01 -2.68285779e-04 3.42717898e+01] [ 2.60927830e-03 2.21681470e-04 9.99996571e-01 -1.97880367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.191400513 meters 0.079097053030486 Centerline is valid? [True, True] Translation: X:320.68, Y:34.27, Z:-1.98 [[ 9.99760616e-01 -2.17647804e-02 -2.23728739e-03 3.20684665e+02] [ 2.17643190e-02 9.99763103e-01 -2.30387507e-04 3.42655335e+01] [ 2.24177171e-03 1.81639320e-04 9.99997471e-01 -1.97741914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.221400513 meters 0.08593698140117931 Centerline is valid? [True, True] Translation: X:320.71, Y:34.28, Z:-1.98 [[ 9.99728236e-01 -2.32066759e-02 -2.21457061e-03 3.20712134e+02] [ 2.32062269e-02 9.99730673e-01 -2.28193557e-04 3.42765437e+01] [ 2.21926978e-03 1.76739714e-04 9.99997522e-01 -1.97772015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.251400513 meters 0.07961055591700433 Centerline is valid? [True, True] Translation: X:320.74, Y:34.27, Z:-1.98 [[ 9.99707820e-01 -2.40414247e-02 -2.50675041e-03 3.20742570e+02] [ 2.40408520e-02 9.99710944e-01 -2.58326479e-04 3.42706998e+01] [ 2.51223635e-03 1.97986586e-04 9.99996825e-01 -1.97780271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.281400513 meters 0.07059723171276286 Centerline is valid? [True, True] Translation: X:320.77, Y:34.26, Z:-1.98 [[ 9.99697084e-01 -2.44181949e-02 -3.08083267e-03 3.20773045e+02] [ 2.44173315e-02 9.99701802e-01 -3.17554348e-04 3.42613696e+01] [ 3.08766807e-03 2.42232443e-04 9.99995204e-01 -1.97810082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.311400513 meters 0.08062250399777487 Centerline is valid? [True, True] Translation: X:320.80, Y:34.28, Z:-1.98 [[ 9.99726260e-01 -2.33266574e-02 -1.80908095e-03 3.20800605e+02] [ 2.33263577e-02 9.99727886e-01 -1.86578442e-04 3.42765142e+01] [ 1.81294093e-03 1.44328098e-04 9.99998346e-01 -1.97862457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.341400513 meters 0.08318807700062573 Centerline is valid? [True, True] Translation: X:320.83, Y:34.28, Z:-1.98 [[ 9.99752934e-01 -2.22200738e-02 -5.81937147e-04 3.20829661e+02] [ 2.22200426e-02 9.99753103e-01 -6.00239673e-05 3.42828931e+01] [ 5.83127205e-04 4.70784692e-05 9.99999829e-01 -1.97691687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.371400513 meters 0.09018843946678935 Centerline is valid? [True, True] Translation: X:320.86, Y:34.29, Z:-1.98 [[ 9.99776597e-01 -2.11362387e-02 1.22272538e-04 3.20858224e+02] [ 2.11362373e-02 9.99776605e-01 1.25865117e-05 3.42943565e+01] [-1.22511254e-04 -9.99931848e-06 9.99999992e-01 -1.97580769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.401400513 meters 0.09018843946678935 Centerline is valid? [True, True] Translation: X:320.89, Y:34.30, Z:-1.98 [[ 9.99776597e-01 -2.11362387e-02 1.22270288e-04 3.20888166e+02] [ 2.11362373e-02 9.99776605e-01 1.26083296e-05 3.42974440e+01] [-1.22509466e-04 -1.00211790e-05 9.99999992e-01 -1.97586587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.431400513 meters 0.08252365193720142 Centerline is valid? [True, True] Translation: X:320.92, Y:34.29, Z:-1.98 [[ 9.99791434e-01 -2.04176940e-02 -4.54014611e-04 3.20919351e+02] [ 2.04176749e-02 9.99791536e-01 -4.68173091e-05 3.42903776e+01] [ 4.54875867e-04 3.75376219e-05 9.99999896e-01 -1.97594682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.461400513 meters 0.08482730350699638 Centerline is valid? [True, True] Translation: X:320.95, Y:34.30, Z:-1.98 [[ 9.99796862e-01 -2.00755098e-02 -1.79104058e-03 3.20948409e+02] [ 2.00752109e-02 9.99798456e-01 -1.84732483e-04 3.42952048e+01] [ 1.79438820e-03 1.48739440e-04 9.99998379e-01 -1.97791323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49140051300003 meters 0.08763826169545963 Centerline is valid? [True, True] Translation: X:320.98, Y:34.30, Z:-1.98 [[ 9.99788427e-01 -2.03704114e-02 -2.85427781e-03 3.20977441e+02] [ 2.03696533e-02 9.99792474e-01 -2.94417124e-04 3.43008896e+01] [ 2.85968287e-03 2.36214184e-04 9.99995883e-01 -1.98009373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.521400513 meters 0.07921756935819528 Centerline is valid? [True, True] Translation: X:321.01, Y:34.29, Z:-1.98 [[ 9.99737148e-01 -2.28963488e-02 -1.18010550e-03 3.21008563e+02] [ 2.28962210e-02 9.99737840e-01 -1.21723749e-04 3.42919093e+01] [ 1.18258316e-03 9.46717971e-05 9.99999296e-01 -1.97761999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55140051300003 meters 0.08663297721092356 Centerline is valid? [True, True] Translation: X:321.04, Y:34.30, Z:-1.98 [[ 9.99690979e-01 -2.48568097e-02 2.91675779e-04 3.21037148e+02] [ 2.48568020e-02 9.99691022e-01 3.00625078e-05 3.43026298e+01] [-2.92332916e-04 -2.28030908e-05 9.99999957e-01 -1.97514157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.581400513 meters 0.0852854140317144 Centerline is valid? [True, True] Translation: X:321.07, Y:34.30, Z:-1.97 [[ 9.99639006e-01 -2.68480132e-02 1.02054504e-03 3.21067296e+02] [ 2.68479196e-02 9.99639524e-01 1.05271940e-04 3.43022417e+01] [-1.02300350e-03 -7.78344259e-05 9.99999474e-01 -1.97382288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61140051300004 meters 0.07291633294244038 Centerline is valid? [True, True] Translation: X:321.10, Y:34.29, Z:-1.97 [[ 9.99536448e-01 -3.04441103e-02 2.12064526e-04 3.21099326e+02] [ 3.04441063e-02 9.99536471e-01 2.18825758e-05 3.42873237e+01] [-2.12632423e-04 -1.54163171e-05 9.99999977e-01 -1.97429584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.641400513 meters 0.07660929835777135 Centerline is valid? [True, True] Translation: X:321.13, Y:34.29, Z:-1.97 [[ 9.99509113e-01 -3.13293942e-02 4.60182647e-05 3.21128558e+02] [ 3.13293940e-02 9.99509114e-01 4.77714640e-06 3.42931605e+01] [-4.61453401e-05 -3.33307702e-06 9.99999999e-01 -1.97486284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67140051300004 meters 0.07336332144471301 Centerline is valid? [True, True] Translation: X:321.16, Y:34.29, Z:-1.97 [[ 9.99484117e-01 -3.21160859e-02 2.40368958e-04 3.21159273e+02] [ 3.21160809e-02 9.99484145e-01 2.47727081e-05 3.42901603e+01] [-2.41040565e-04 -1.70402193e-05 9.99999971e-01 -1.97468190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.701400513 meters 0.08035707311102272 Centerline is valid? [True, True] Translation: X:321.19, Y:34.30, Z:-1.97 [[ 9.99451022e-01 -3.31274000e-02 4.79286171e-04 3.21188190e+02] [ 3.31273801e-02 9.99451136e-01 4.94662611e-05 3.42987402e+01] [-4.80661797e-04 -3.35616100e-05 9.99999884e-01 -1.97456219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.731400513 meters 0.07184058419615685 Centerline is valid? [True, True] Translation: X:321.22, Y:34.29, Z:-1.97 [[ 9.99404257e-01 -3.45112974e-02 3.19832253e-04 3.21219910e+02] [ 3.45112886e-02 9.99404308e-01 3.29862969e-05 3.42884299e+01] [-3.20780131e-04 -2.19288224e-05 9.99999948e-01 -1.97470189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.761400513 meters 0.07043344263122923 Centerline is valid? [True, True] Translation: X:321.25, Y:34.29, Z:-1.97 [[ 9.99345788e-01 -3.61660452e-02 1.17603944e-04 3.21250569e+02] [ 3.61660440e-02 9.99345795e-01 1.21084799e-05 3.42872674e+01] [-1.17964923e-04 -7.84728894e-06 9.99999993e-01 -1.97483941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.791400513 meters 0.07263080273430948 Centerline is valid? [True, True] Translation: X:321.28, Y:34.29, Z:-1.97 [[ 9.99244678e-01 -3.88596004e-02 6.53816460e-05 3.21280082e+02] [ 3.88596001e-02 9.99244680e-01 6.71867048e-06 3.42863199e+01] [-6.55933469e-05 -4.17289111e-06 9.99999998e-01 -1.97499645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.821400513 meters 0.06986284324472954 Centerline is valid? [True, True] Translation: X:321.31, Y:34.28, Z:-1.97 [[ 9.99186817e-01 -4.03198616e-02 1.14577813e-04 3.21311075e+02] [ 4.03198606e-02 9.99186824e-01 1.17995798e-05 3.42819004e+01] [-1.14960398e-04 -7.17022312e-06 9.99999993e-01 -1.97487519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.851400513 meters 0.06255169989845584 Centerline is valid? [True, True] Translation: X:321.34, Y:34.27, Z:-1.97 [[ 9.99130909e-01 -4.16818388e-02 2.27874849e-04 3.21341777e+02] [ 4.16818345e-02 9.99130934e-01 2.34706079e-05 3.42725152e+01] [-2.28655109e-04 -1.39519681e-05 9.99999974e-01 -1.97468351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.881400513 meters 0.05727372911848539 Centerline is valid? [True, True] Translation: X:321.37, Y:34.27, Z:-1.98 [[ 9.99093570e-01 -4.25674663e-02 -2.22501330e-04 3.21371989e+02] [ 4.25674622e-02 9.99093595e-01 -2.32997169e-05 3.42662729e+01] [ 2.23291464e-04 1.38072804e-05 9.99999975e-01 -1.97517775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.911400513 meters 0.06253505850541194 Centerline is valid? [True, True] Translation: X:321.40, Y:34.27, Z:-1.98 [[ 9.99121290e-01 -4.18792750e-02 -1.66586724e-03 3.21399904e+02] [ 4.18790456e-02 9.99122673e-01 -1.72389991e-04 3.42699403e+01] [ 1.67162530e-03 1.02473580e-04 9.99998598e-01 -1.97781375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.941400513 meters 0.06223979408789511 Centerline is valid? [True, True] Translation: X:321.43, Y:34.27, Z:-1.98 [[ 9.99163695e-01 -4.08265628e-02 -2.25888299e-03 3.21429830e+02] [ 4.08261384e-02 9.99166238e-01 -2.33699717e-04 3.42698348e+01] [ 2.26654077e-03 1.41282803e-04 9.99997421e-01 -1.97827131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.971400513 meters 0.06686914773366463 Centerline is valid? [True, True] Translation: X:321.46, Y:34.28, Z:-1.98 [[ 9.99218444e-01 -3.94544810e-02 -2.41779878e-03 3.21457753e+02] [ 3.94539905e-02 9.99221357e-01 -2.50245798e-04 3.42766109e+01] [ 2.42578950e-03 1.54658406e-04 9.99997046e-01 -1.97885262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.001400513 meters 0.06733441029380301 Centerline is valid? [True, True] Translation: X:321.49, Y:34.28, Z:-1.98 [[ 9.99266438e-01 -3.81982748e-02 -2.73440107e-03 3.21487545e+02] [ 3.81976427e-02 9.99270164e-01 -2.83045737e-04 3.42796551e+01] [ 2.74321726e-03 1.78390430e-04 9.99996221e-01 -1.97909996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.031400513 meters 0.06716523004973939 Centerline is valid? [True, True] Translation: X:321.52, Y:34.28, Z:-1.98 [[ 9.99304511e-01 -3.71967910e-02 -2.62562233e-03 3.21517139e+02] [ 3.71962046e-02 9.99307945e-01 -2.71849218e-04 3.42822342e+01] [ 2.63391717e-03 1.73996965e-04 9.99996516e-01 -1.97962058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.061400513 meters 0.06486781342729724 Centerline is valid? [True, True] Translation: X:321.55, Y:34.28, Z:-1.98 [[ 9.99331597e-01 -3.64710570e-02 -2.49444004e-03 3.21546108e+02] [ 3.64705237e-02 9.99334696e-01 -2.58960913e-04 3.42819504e+01] [ 2.50222505e-03 1.67814288e-04 9.99996855e-01 -1.98006482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.091400513 meters 0.0764460813107788 Centerline is valid? [True, True] Translation: X:321.57, Y:34.30, Z:-1.98 [[ 9.99398668e-01 -3.45926308e-02 -2.37766248e-03 3.21573550e+02] [ 3.45921415e-02 9.99401482e-01 -2.46634178e-04 3.42957774e+01] [ 2.38477113e-03 1.64237432e-04 9.99997143e-01 -1.98188433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.121400513 meters 0.07000771327373584 Centerline is valid? [True, True] Translation: X:321.60, Y:34.29, Z:-1.98 [[ 9.99409356e-01 -3.42690502e-02 -2.56336375e-03 3.21602985e+02] [ 3.42684786e-02 9.99412628e-01 -2.66583344e-04 3.42895398e+01] [ 2.57099366e-03 1.78583313e-04 9.99996679e-01 -1.98082940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.151400513 meters 0.07041684928497205 Centerline is valid? [True, True] Translation: X:321.63, Y:34.29, Z:-1.98 [[ 9.99417852e-01 -3.39497559e-02 -3.37224606e-03 3.21631902e+02] [ 3.39487633e-02 9.99423513e-01 -3.51160196e-04 3.42924158e+01] [ 3.38222380e-03 2.36472186e-04 9.99994252e-01 -1.98108534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.181400513 meters 0.07194596938179924 Centerline is valid? [True, True] Translation: X:321.66, Y:34.30, Z:-1.98 [[ 9.99416053e-01 -3.39421455e-02 -3.93497108e-03 3.21659474e+02] [ 3.39407941e-02 9.99423761e-01 -4.09731768e-04 3.42971677e+01] [ 3.94661077e-03 2.75936464e-04 9.99992174e-01 -1.98194174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.211400513 meters 0.06795520806692291 Centerline is valid? [True, True] Translation: X:321.69, Y:34.29, Z:-1.98 [[ 9.99402368e-01 -3.42968175e-02 -4.31691729e-03 3.21688996e+02] [ 3.42951904e-02 9.99411645e-01 -4.50415016e-04 3.42945059e+01] [ 4.32982521e-03 3.02096334e-04 9.99990581e-01 -1.98294923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24140051300003 meters 0.0700834902410967 Centerline is valid? [True, True] Translation: X:321.72, Y:34.30, Z:-1.98 [[ 9.99394825e-01 -3.44586894e-02 -4.75218332e-03 3.21715856e+02] [ 3.44567184e-02 9.99406068e-01 -4.96029361e-04 3.42986918e+01] [ 4.76645337e-03 3.31984534e-04 9.99988585e-01 -1.98440286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.271400513 meters 0.07769493275571161 Centerline is valid? [True, True] Translation: X:321.74, Y:34.31, Z:-1.99 [[ 9.99418059e-01 -3.36972810e-02 -5.29495183e-03 3.21741429e+02] [ 3.36814262e-02 9.99427949e-01 -3.05551495e-03 3.43076003e+01] [ 5.39488540e-03 2.87539529e-03 9.99981313e-01 -1.98554366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30140051300003 meters 0.06920103827545034 Centerline is valid? [True, True] Translation: X:321.77, Y:34.30, Z:-1.98 [[ 9.99413740e-01 -3.39285192e-02 -4.58614134e-03 3.21772368e+02] [ 3.39375952e-02 9.99422118e-01 1.91585165e-03 3.42996537e+01] [ 4.51848908e-03 -2.07037107e-03 9.99987648e-01 -1.98432904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.331400513 meters 0.07083448360749003 Centerline is valid? [True, True] Translation: X:321.80, Y:34.30, Z:-1.98 [[ 9.99447795e-01 -3.31423942e-02 -2.38474856e-03 3.21799941e+02] [ 3.31418927e-02 9.99450625e-01 -2.49528260e-04 3.43029847e+01] [ 2.39170840e-03 1.70355389e-04 9.99997125e-01 -1.98082508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36140051300004 meters 0.07251961209610167 Centerline is valid? [True, True] Translation: X:321.83, Y:34.31, Z:-1.98 [[ 9.99460913e-01 -3.27857025e-02 -1.72668044e-03 3.21828877e+02] [ 3.27854382e-02 9.99462397e-01 -1.81177152e-04 3.43056527e+01] [ 1.73169219e-03 1.24469507e-04 9.99998493e-01 -1.97964217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.391400513 meters 0.06764747219156095 Centerline is valid? [True, True] Translation: X:321.86, Y:34.30, Z:-1.98 [[ 9.99474891e-01 -3.23508224e-02 -1.83506807e-03 3.21858649e+02] [ 3.23505225e-02 9.99476566e-01 -1.92851439e-04 3.43006170e+01] [ 1.84034643e-03 1.33384760e-04 9.99998298e-01 -1.97924003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42140051300004 meters 0.0707531464162401 Centerline is valid? [True, True] Translation: X:321.89, Y:34.31, Z:-1.98 [[ 9.99507854e-01 -3.12947686e-02 -2.16498756e-03 3.21886478e+02] [ 3.12943491e-02 9.99510186e-01 -2.27343991e-04 3.43058417e+01] [ 2.17104180e-03 1.59480228e-04 9.99997631e-01 -1.98020715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.451400513 meters 0.07504861236339079 Centerline is valid? [True, True] Translation: X:321.92, Y:34.31, Z:-1.98 [[ 9.99608715e-01 -2.78289692e-02 -2.82237689e-03 3.21915657e+02] [ 2.78282428e-02 9.99612676e-01 -2.96310477e-04 3.43101177e+01] [ 2.82952973e-03 2.17652746e-04 9.99995973e-01 -1.98207557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.481400513 meters 0.0783600551771395 Centerline is valid? [True, True] Translation: X:321.95, Y:34.31, Z:-1.98 [[ 9.99665107e-01 -2.57332917e-02 -2.73351495e-03 3.21945753e+02] [ 2.57326026e-02 9.99668821e-01 -2.86990500e-04 3.43138109e+01] [ 2.73999488e-03 2.16553935e-04 9.99996223e-01 -1.98234613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.511400513 meters 0.08298179785278464 Centerline is valid? [True, True] Translation: X:321.97, Y:34.32, Z:-1.98 [[ 9.99719860e-01 -2.35403979e-02 -2.45973016e-03 3.21974369e+02] [ 2.35398332e-02 9.99722866e-01 -2.58296164e-04 3.43228236e+01] [ 2.46512889e-03 2.00322168e-04 9.99996942e-01 -1.98157273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.541400513 meters 0.08916844271288957 Centerline is valid? [True, True] Translation: X:322.00, Y:34.33, Z:-1.98 [[ 9.99774739e-01 -2.11357425e-02 -1.93679381e-03 3.22003003e+02] [ 2.11353879e-02 9.99776602e-01 -2.03360683e-04 3.43329989e+01] [ 1.94065931e-03 1.62379985e-04 9.99998104e-01 -1.98018731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.571400513 meters 0.09268768108670099 Centerline is valid? [True, True] Translation: X:322.03, Y:34.34, Z:-1.98 [[ 9.99829399e-01 -1.84148642e-02 -1.43726391e-03 3.22032914e+02] [ 1.84146661e-02 9.99830424e-01 -1.50908535e-04 3.43407713e+01] [ 1.43979914e-03 1.24416055e-04 9.99998956e-01 -1.97908557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.601400513 meters 0.09864112011750037 Centerline is valid? [True, True] Translation: X:322.06, Y:34.35, Z:-1.98 [[ 9.99918076e-01 -1.26858505e-02 -1.70609232e-03 3.22062835e+02] [ 1.26855632e-02 9.99919519e-01 -1.79140930e-04 3.43512661e+01] [ 1.70822757e-03 1.57483512e-04 9.99998529e-01 -1.97992431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.631400513 meters 0.09046732878105347 Centerline is valid? [True, True] Translation: X:322.09, Y:34.35, Z:-1.98 [[ 9.99943206e-01 -1.05127679e-02 -1.75097154e-03 3.22093614e+02] [ 1.05124619e-02 9.99944726e-01 -1.83852278e-04 3.43456721e+01] [ 1.75280755e-03 1.65434814e-04 9.99998450e-01 -1.97984797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.661400513 meters 0.09420790212496541 Centerline is valid? [True, True] Translation: X:322.12, Y:34.35, Z:-1.98 [[ 9.99957031e-01 -9.09073319e-03 -1.81496323e-03 3.22122318e+02] [ 9.09040205e-03 9.99958663e-01 -1.90613115e-04 3.43548993e+01] [ 1.81662102e-03 1.74106179e-04 9.99998335e-01 -1.98033297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.691400513 meters 0.10043884846902978 Centerline is valid? [True, False] Translation: X:322.14, Y:34.36, Z:-1.97 [[ 9.99969628e-01 -3.23272165e-03 -7.09165828e-03 3.22142934e+02] [ 3.20922094e-03 9.99989330e-01 -3.32273279e-03 3.43596564e+01] [ 7.10232408e-03 3.29987317e-03 9.99969333e-01 -1.97422945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.721400513 meters 0.09560683234464978 Centerline is valid? [False, True] Translation: X:322.14, Y:34.36, Z:-1.97 [[ 9.99968946e-01 -3.47292453e-03 -7.07435738e-03 3.22142964e+02] [ 3.44513807e-03 9.99986319e-01 -3.93617818e-03 3.43624068e+01] [ 7.08793064e-03 3.91168381e-03 9.99967229e-01 -1.97444522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.751400513 meters 0.10216809642395833 Centerline is valid? [True, False] Translation: X:322.17, Y:34.36, Z:-1.97 [[ 9.99960505e-01 -4.60850187e-03 -7.59934556e-03 3.22165006e+02] [ 4.64695781e-03 9.99976449e-01 5.05056007e-03 3.43627103e+01] [ 7.57589107e-03 -5.08567443e-03 9.99958370e-01 -1.97271847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.781400513 meters 0.09120441435937476 Centerline is valid? [False, True] Translation: X:322.16, Y:34.37, Z:-1.97 [[ 9.99928261e-01 -9.45681223e-03 -7.35136113e-03 3.22164344e+02] [ 9.45061544e-03 9.99954957e-01 -8.77226502e-04 3.43696254e+01] [ 7.35932577e-03 8.07688684e-04 9.99972594e-01 -1.97287123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.811400513 meters 0.09601912177906857 Centerline is valid? [True, True] Translation: X:322.19, Y:34.38, Z:-1.97 [[ 9.99903549e-01 -1.17349676e-02 -7.42852693e-03 3.22192480e+02] [ 1.17295907e-02 9.99930912e-01 -7.66970954e-04 3.43813729e+01] [ 7.43701409e-03 6.79763398e-04 9.99972114e-01 -1.97264802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.841400513 meters 0.08863636125155687 Centerline is valid? [True, True] Translation: X:322.22, Y:34.38, Z:-1.97 [[ 9.99858248e-01 -1.46122080e-02 -8.36467544e-03 3.22223132e+02] [ 1.46054889e-02 9.99892961e-01 -8.63800243e-04 3.43786140e+01] [ 8.37640212e-03 7.41507623e-04 9.99964642e-01 -1.97291547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.871400513 meters 0.08454418987590703 Centerline is valid? [True, True] Translation: X:322.25, Y:34.38, Z:-1.97 [[ 9.99794836e-01 -1.78824191e-02 -9.51338944e-03 3.22253837e+02] [ 1.78738739e-02 9.99839767e-01 -9.82502672e-04 3.43789136e+01] [ 9.52943460e-03 8.12259976e-04 9.99954264e-01 -1.97448227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.901400513 meters 0.0847288625805706 Centerline is valid? [True, True] Translation: X:322.28, Y:34.38, Z:-1.98 [[ 9.99622876e-01 -2.54555847e-02 -1.03013866e-02 3.22282617e+02] [ 2.54459642e-02 9.99675633e-01 -1.06391302e-03 3.43849730e+01] [ 1.03251277e-02 8.01383075e-04 9.99946373e-01 -1.97578908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.931400513 meters 0.08134641886014995 Centerline is valid? [True, True] Translation: X:322.31, Y:34.39, Z:-1.97 [[ 9.99536216e-01 -2.90737714e-02 -9.05923105e-03 3.22312854e+02] [ 2.90664789e-02 9.99577043e-01 -9.35639222e-04 3.43856317e+01] [ 9.08260194e-03 6.71885339e-04 9.99958527e-01 -1.97346572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.961400513 meters 0.07211861581135921 Centerline is valid? [True, True] Translation: X:322.34, Y:34.38, Z:-1.97 [[ 9.99437934e-01 -3.25500218e-02 -8.01952568e-03 3.22343206e+02] [ 3.25444177e-02 9.99469947e-01 -8.28352636e-04 3.43795790e+01] [ 8.04223781e-03 5.66896253e-04 9.99967500e-01 -1.97075075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99140051300003 meters 0.07413539533568618 Centerline is valid? [True, True] Translation: X:322.37, Y:34.39, Z:-1.97 [[ 9.99343675e-01 -3.53850040e-02 -7.75379268e-03 3.22372086e+02] [ 3.53798491e-02 9.99373616e-01 -8.01024820e-04 3.43866086e+01] [ 7.77728009e-03 5.26171072e-04 9.99969618e-01 -1.97017314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.021400513 meters 0.0649497736625882 Centerline is valid? [True, True] Translation: X:322.40, Y:34.38, Z:-1.97 [[ 9.99239983e-01 -3.79907020e-02 -8.72714274e-03 3.22403666e+02] [ 3.79842700e-02 9.99277930e-01 -9.01640085e-04 3.43798797e+01] [ 8.75509507e-03 5.69460677e-04 9.99961511e-01 -1.97050621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05140051300003 meters 0.06878963108920563 Centerline is valid? [True, True] Translation: X:322.43, Y:34.39, Z:-1.97 [[ 9.99241321e-01 -3.79040552e-02 -8.94795638e-03 3.22431152e+02] [ 3.78972870e-02 9.99281212e-01 -9.24805059e-04 3.43882521e+01] [ 8.97657856e-03 5.85000158e-04 9.99959539e-01 -1.97115276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.081400513 meters 0.06505729546683608 Centerline is valid? [True, True] Translation: X:322.46, Y:34.39, Z:-1.97 [[ 9.99269188e-01 -3.72487653e-02 -8.58013243e-03 3.22459871e+02] [ 3.72425087e-02 9.99305863e-01 -8.87876061e-04 3.43879932e+01] [ 8.60724892e-03 5.67681534e-04 9.99962796e-01 -1.96948076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11140051300004 meters 0.07331015790683437 Centerline is valid? [True, True] Translation: X:322.49, Y:34.40, Z:-1.97 [[ 9.99342372e-01 -3.56487134e-02 -6.63265930e-03 3.22486527e+02] [ 3.56449356e-02 9.99364281e-01 -6.86956450e-04 3.44038355e+01] [ 6.65293191e-03 4.50083974e-04 9.99977768e-01 -1.96753788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.141400513 meters 0.06924368634136627 Centerline is valid? [True, True] Translation: X:322.51, Y:34.40, Z:-1.97 [[ 9.99343335e-01 -3.57830082e-02 -5.69870911e-03 3.22514524e+02] [ 3.57802179e-02 9.99359508e-01 -5.90869323e-04 3.44023522e+01] [ 5.71620221e-03 3.86580266e-04 9.99983588e-01 -1.96589738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17140051300004 meters 0.07292616747893774 Centerline is valid? [True, True] Translation: X:322.54, Y:34.41, Z:-1.96 [[ 9.99330210e-01 -3.62887959e-02 -4.71738549e-03 3.22542161e+02] [ 3.62868859e-02 9.99341294e-01 -4.89861779e-04 3.44101480e+01] [ 4.73205461e-03 3.18354446e-04 9.99988753e-01 -1.96472528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.201400513 meters 0.0678143290680117 Centerline is valid? [True, True] Translation: X:322.57, Y:34.41, Z:-1.96 [[ 9.99301412e-01 -3.71353968e-02 -4.20119085e-03 3.22571268e+02] [ 3.71338874e-02 9.99310204e-01 -4.36756949e-04 3.44066278e+01] [ 4.21451203e-03 2.80445288e-04 9.99991080e-01 -1.96394201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.231400513 meters 0.06558277388190353 Centerline is valid? [True, True] Translation: X:322.60, Y:34.41, Z:-1.96 [[ 9.99267809e-01 -3.79922578e-02 -4.52051034e-03 3.22600193e+02] [ 3.79905178e-02 9.99277989e-01 -4.70176438e-04 3.44055986e+01] [ 4.53510954e-03 2.98095650e-04 9.99989672e-01 -1.96447699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.261400513 meters 0.06656761807259039 Centerline is valid? [True, True] Translation: X:322.63, Y:34.41, Z:-1.97 [[ 9.99224378e-01 -3.89221907e-02 -5.97538628e-03 3.22628257e+02] [ 3.89191646e-02 9.99242169e-01 -6.21926879e-04 3.44073848e+01] [ 5.99506471e-03 3.88887457e-04 9.99981954e-01 -1.96670746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.291400513 meters 0.06656761807259039 Centerline is valid? [True, True] Translation: X:322.66, Y:34.41, Z:-1.97 [[ 9.99217176e-01 -3.91066483e-02 -5.97530464e-03 3.22655636e+02] [ 3.91036208e-02 9.99234967e-01 -6.22710505e-04 3.44103900e+01] [ 5.99508546e-03 3.88566986e-04 9.99981954e-01 -1.96662206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.321400513 meters 0.06329367765330136 Centerline is valid? [True, True] Translation: X:322.69, Y:34.40, Z:-1.97 [[ 9.99096410e-01 -4.16798590e-02 -8.31580687e-03 3.22687193e+02] [ 4.16740770e-02 9.99130882e-01 -8.67445051e-04 3.44036787e+01] [ 8.34473444e-03 5.20107661e-04 9.99965047e-01 -1.96991452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.351400513 meters 0.07003243026283422 Centerline is valid? [True, True] Translation: X:322.72, Y:34.41, Z:-1.97 [[ 9.99032018e-01 -4.33067282e-02 -7.71714595e-03 3.22715299e+02] [ 4.33017962e-02 9.99061713e-01 -8.05116316e-04 3.44129171e+01] [ 7.74477200e-03 4.70170697e-04 9.99969898e-01 -1.96988596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.381400513 meters 0.06239099733229368 Centerline is valid? [True, True] Translation: X:322.75, Y:34.40, Z:-1.97 [[ 9.98982312e-01 -4.45383655e-02 -7.11852545e-03 3.22745347e+02] [ 4.45341984e-02 9.99007584e-01 -7.42914988e-04 3.44047842e+01] [ 7.14454913e-03 4.25141108e-04 9.99974387e-01 -1.96853586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.411400513 meters 0.06189198548708695 Centerline is valid? [True, True] Translation: X:322.77, Y:34.40, Z:-1.97 [[ 9.98965620e-01 -4.48910297e-02 -7.24463918e-03 3.22774012e+02] [ 4.48867169e-02 9.98991797e-01 -7.56897149e-04 3.44045959e+01] [ 7.27131300e-03 4.30926162e-04 9.99973471e-01 -1.96903808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.441400513 meters 0.0600198874372597 Centerline is valid? [True, True] Translation: X:322.81, Y:34.40, Z:-1.97 [[ 9.99022597e-01 -4.32276333e-02 -9.23158286e-03 3.22805106e+02] [ 4.32205527e-02 9.99065089e-01 -9.65209345e-04 3.43981171e+01] [ 9.26467586e-03 5.65271833e-04 9.99956922e-01 -1.97195165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.471400513 meters 0.07088527307104053 Centerline is valid? [True, True] Translation: X:322.83, Y:34.41, Z:-1.97 [[ 9.99068431e-01 -4.20221945e-02 -9.81858023e-03 3.22832035e+02] [ 4.20141233e-02 9.99116489e-01 -1.02694877e-03 3.44117541e+01] [ 9.85306005e-03 6.13473058e-04 9.99951269e-01 -1.97430871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.501400513 meters 0.06537097625840899 Centerline is valid? [True, True] Translation: X:322.86, Y:34.41, Z:-1.97 [[ 9.99089245e-01 -4.14002148e-02 -1.03297103e-02 3.22861836e+02] [ 4.13912344e-02 9.99142430e-01 -1.08174435e-03 3.44062418e+01] [ 1.03656363e-02 6.53199686e-04 9.99946062e-01 -1.97415961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.531400513 meters 0.07193533507110686 Centerline is valid? [True, True] Translation: X:322.89, Y:34.41, Z:-1.97 [[ 9.99116998e-01 -4.08751499e-02 -9.71839709e-03 3.22889354e+02] [ 4.08671679e-02 9.99164069e-01 -1.01858369e-03 3.44128376e+01] [ 9.75190794e-03 6.20520913e-04 9.99952256e-01 -1.97422589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.561400513 meters 0.06373661648995194 Centerline is valid? [True, True] Translation: X:322.92, Y:34.40, Z:-1.97 [[ 9.99100246e-01 -4.13424719e-02 -9.46037990e-03 3.22919175e+02] [ 4.13349175e-02 9.99144854e-01 -9.92761513e-04 3.44035468e+01] [ 9.49333311e-03 6.00824249e-04 9.99954757e-01 -1.97267531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.591400513 meters 0.06479136705895167 Centerline is valid? [True, True] Translation: X:322.95, Y:34.41, Z:-1.97 [[ 9.99090768e-01 -4.16344749e-02 -9.17643456e-03 3.22946493e+02] [ 4.16273716e-02 9.99132740e-01 -9.63810556e-04 3.44056743e+01] [ 9.20860396e-03 5.80943377e-04 9.99957431e-01 -1.97209169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.621400513 meters 0.06980147823092869 Centerline is valid? [True, True] Translation: X:322.97, Y:34.41, Z:-1.97 [[ 9.99088151e-01 -4.16991120e-02 -9.16795427e-03 3.22972516e+02] [ 4.16920184e-02 9.99130045e-01 -9.63593041e-04 3.44128501e+01] [ 9.20015953e-03 5.80483872e-04 9.99957509e-01 -1.97221132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.651400513 meters 0.0693739479214646 Centerline is valid? [True, True] Translation: X:323.00, Y:34.41, Z:-1.97 [[ 9.99087981e-01 -4.16225565e-02 -9.52726211e-03 3.23001789e+02] [ 4.16148801e-02 9.99133223e-01 -1.00263827e-03 3.44140741e+01] [ 9.56073646e-03 6.05247978e-04 9.99954112e-01 -1.97233687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.681400513 meters 0.0671152695252477 Centerline is valid? [True, True] Translation: X:323.03, Y:34.41, Z:-1.97 [[ 9.99091934e-01 -4.13847552e-02 -1.01296484e-02 3.23031100e+02] [ 4.13760485e-02 9.99143074e-01 -1.06768561e-03 3.44131447e+01] [ 1.01651540e-02 6.47591253e-04 9.99948124e-01 -1.97260742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.711400513 meters 0.0722487314443466 Centerline is valid? [True, True] Translation: X:323.06, Y:34.42, Z:-1.97 [[ 9.99148692e-01 -3.98443514e-02 -1.06920124e-02 3.23060248e+02] [ 3.98345566e-02 9.99205653e-01 -1.12757032e-03 3.44204178e+01] [ 1.07284466e-02 7.00698831e-04 9.99942203e-01 -1.97429192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74140051300003 meters 0.06560658951944351 Centerline is valid? [True, True] Translation: X:323.09, Y:34.41, Z:-1.97 [[ 9.99173207e-01 -3.90506097e-02 -1.13115953e-02 3.23091022e+02] [ 3.90395935e-02 9.99236952e-01 -1.19314218e-03 3.44140696e+01] [ 1.13495569e-02 7.50555622e-04 9.99935310e-01 -1.97371857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.771400513 meters 0.06570554451636205 Centerline is valid? [True, True] Translation: X:323.12, Y:34.42, Z:-1.97 [[ 9.99193834e-01 -3.83907697e-02 -1.17401272e-02 3.23119173e+02] [ 3.83788507e-02 9.99262492e-01 -1.23893339e-03 3.44161057e+01] [ 1.17790324e-02 7.87362010e-04 9.99930315e-01 -1.97348420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80140051300003 meters 0.07182966051490011 Centerline is valid? [True, True] Translation: X:323.15, Y:34.43, Z:-1.97 [[ 9.99224378e-01 -3.76695274e-02 -1.14738154e-02 3.23146147e+02] [ 3.76580879e-02 9.99289948e-01 -1.21150613e-03 3.44256862e+01] [ 1.15113053e-02 7.78484512e-04 9.99933440e-01 -1.97338254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.831400513 meters 0.0719441502282819 Centerline is valid? [True, True] Translation: X:323.18, Y:34.43, Z:-1.97 [[ 9.99360301e-01 -3.45960060e-02 -9.06119775e-03 3.23176680e+02] [ 3.45887446e-02 9.99401172e-01 -9.56908160e-04 3.44279448e+01] [ 9.08887685e-03 6.42880572e-04 9.99958489e-01 -1.96885975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86140051300004 meters 0.07325940079973801 Centerline is valid? [True, True] Translation: X:323.21, Y:34.43, Z:-1.97 [[ 9.99447160e-01 -3.24104098e-02 -7.41214809e-03 3.23206370e+02] [ 3.24054908e-02 9.99474498e-01 -7.82811624e-04 3.44325700e+01] [ 7.43362423e-03 5.42184558e-04 9.99972223e-01 -1.96653047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.891400513 meters 0.07298769321108958 Centerline is valid? [True, True] Translation: X:323.24, Y:34.43, Z:-1.96 [[ 9.99521056e-01 -3.02542473e-02 -6.50681079e-03 3.23236189e+02] [ 3.02504106e-02 9.99542115e-01 -6.87283876e-04 3.44349188e+01] [ 6.52462467e-03 4.90121007e-04 9.99978594e-01 -1.96480812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92140051300004 meters 0.08020548526969633 Centerline is valid? [True, True] Translation: X:323.26, Y:34.45, Z:-1.97 [[ 9.99585328e-01 -2.80624146e-02 -6.45545465e-03 3.23264418e+02] [ 2.80585921e-02 9.99606048e-01 -6.81963408e-04 3.44460211e+01] [ 6.47204905e-03 5.00549648e-04 9.99978931e-01 -1.96508297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.951400513 meters 0.07890095811813806 Centerline is valid? [True, True] Translation: X:323.30, Y:34.45, Z:-1.97 [[ 9.99639836e-01 -2.59185149e-02 -6.95913676e-03 3.23295279e+02] [ 2.59140205e-02 9.99663905e-01 -7.35239539e-04 3.44464352e+01] [ 6.97585415e-03 5.54635519e-04 9.99975515e-01 -1.96563892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.981400513 meters 0.08136147151393262 Centerline is valid? [True, True] Translation: X:323.33, Y:34.45, Z:-1.97 [[ 9.99722658e-01 -2.23497999e-02 -7.42254260e-03 3.23325467e+02] [ 2.23445889e-02 9.99750021e-01 -7.84256956e-04 3.44490054e+01] [ 7.43821511e-03 6.18185785e-04 9.99972145e-01 -1.96594043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.011400513 meters 0.08806807869446108 Centerline is valid? [True, True] Translation: X:323.35, Y:34.46, Z:-1.97 [[ 9.99751658e-01 -2.10049272e-02 -7.44419818e-03 3.23353451e+02] [ 2.09996476e-02 9.99779174e-01 -7.86679573e-04 3.44590536e+01] [ 7.45907845e-03 6.30158668e-04 9.99971982e-01 -1.96563486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.041400513 meters 0.09931281220689357 Centerline is valid? [True, True] Translation: X:323.38, Y:34.48, Z:-1.97 [[ 9.99776476e-01 -1.97375370e-02 -7.57809969e-03 3.23380666e+02] [ 1.97320284e-02 9.99804984e-01 -8.01002672e-04 3.44756524e+01] [ 7.59243166e-03 6.51292350e-04 9.99970965e-01 -1.96672716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.071400513 meters 0.08613911578837755 Centerline is valid? [True, True] Translation: X:323.41, Y:34.46, Z:-1.97 [[ 9.99792368e-01 -1.86633306e-02 -8.17932340e-03 3.23412091e+02] [ 1.86568760e-02 9.99825571e-01 -8.64742909e-04 3.44630735e+01] [ 8.19403568e-03 7.11962739e-04 9.99966175e-01 -1.96667728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.101400513 meters 0.08548117472582034 Centerline is valid? [True, True] Translation: X:323.44, Y:34.47, Z:-1.97 [[ 9.99808564e-01 -1.73749051e-02 -8.99713087e-03 3.23442301e+02] [ 1.73670421e-02 9.99848729e-01 -9.51350063e-04 3.44653476e+01] [ 9.01229948e-03 7.94914390e-04 9.99959072e-01 -1.96791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.131400513 meters 0.09098862135519058 Centerline is valid? [True, True] Translation: X:323.47, Y:34.47, Z:-1.97 [[ 9.99872223e-01 -1.33380926e-02 -8.81100025e-03 3.23470992e+02] [ 1.33303958e-02 9.99910712e-01 -9.31698526e-04 3.44738992e+01] [ 8.82264062e-03 8.14125356e-04 9.99960748e-01 -1.96766995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.161400513 meters 0.0925853093961347 Centerline is valid? [True, True] Translation: X:323.50, Y:34.48, Z:-1.97 [[ 9.99901964e-01 -1.10076271e-02 -8.65419804e-03 3.23501248e+02] [ 1.10001154e-02 9.99939078e-01 -9.15113282e-04 3.44799737e+01] [ 8.66374404e-03 8.19826391e-04 9.99962133e-01 -1.96748706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.191400513 meters 0.10127497047363164 Centerline is valid? [True, False] Translation: X:323.51, Y:34.49, Z:-1.97 [[ 9.99990234e-01 -4.11994129e-03 -1.59967272e-03 3.23505483e+02] [ 4.10195861e-03 9.99930129e-01 -1.10865641e-02 3.44895960e+01] [ 1.64523694e-03 1.10798941e-02 9.99937263e-01 -1.97358789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.221400513 meters 0.09810215843674361 Centerline is valid? [False, True] Translation: X:323.51, Y:34.49, Z:-1.97 [[ 9.99998413e-01 3.62931902e-04 -1.74449600e-03 3.23505995e+02] [-3.73984125e-04 9.99979836e-01 -6.33933627e-03 3.44877664e+01] [ 1.74216008e-03 6.33997862e-03 9.99978385e-01 -1.97379331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.251400513 meters 0.10316061456694223 Centerline is valid? [True, False] Translation: X:323.50, Y:34.49, Z:-1.97 [[ 9.99996972e-01 2.29717912e-03 -8.82467697e-04 3.23499520e+02] [-2.30088516e-03 9.99988441e-01 -4.22182974e-03 3.44874608e+01] [ 8.72759197e-04 4.22384742e-03 9.99990699e-01 -1.96868873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.281400513 meters 0.09327400863536098 Centerline is valid? [False, True] Translation: X:323.49, Y:34.49, Z:-1.96 [[ 9.99992100e-01 3.97171906e-03 -1.60423852e-04 3.23493547e+02] [-3.97210374e-03 9.99989053e-01 -2.47329939e-03 3.44881374e+01] [ 1.50598846e-04 2.47391708e-03 9.99996929e-01 -1.96351966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.311400513 meters 0.10152146125252556 Centerline is valid? [True, False] Translation: X:323.52, Y:34.49, Z:-1.96 [[ 9.99997505e-01 2.23257086e-03 7.05733513e-05 3.23516363e+02] [-2.23297603e-03 9.99977115e-01 6.38623424e-03 3.44858995e+01] [-5.63140158e-05 -6.38637590e-03 9.99979605e-01 -1.96341377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.341400513 meters 0.09719645487086236 Centerline is valid? [False, True] Translation: X:323.45, Y:34.49, Z:-1.96 [[ 9.99996704e-01 2.52614713e-03 4.58578421e-04 3.23451335e+02] [-2.52518890e-03 9.99994652e-01 -2.07826786e-03 3.44868736e+01] [-4.63825979e-04 2.07710301e-03 9.99997735e-01 -1.96358001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.371400513 meters 0.08931066900548867 Centerline is valid? [True, True] Translation: X:323.48, Y:34.48, Z:-1.96 [[ 9.99999902e-01 -8.95621265e-05 -4.34526090e-04 3.23482962e+02] [ 8.95451408e-05 9.99999995e-01 -3.91096249e-05 3.44798402e+01] [ 4.34529590e-04 3.90707114e-05 9.99999905e-01 -1.96490925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.401400513 meters 0.09361893061562188 Centerline is valid? [True, True] Translation: X:323.51, Y:34.49, Z:-1.97 [[ 9.99994594e-01 -3.24095144e-03 -5.55782486e-04 3.23512180e+02] [ 3.24092411e-03 9.99994747e-01 -5.00617547e-05 3.44886835e+01] [ 5.55941814e-04 4.82602351e-05 9.99999844e-01 -1.96651484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.431400513 meters 0.08428980350537163 Centerline is valid? [True, True] Translation: X:323.54, Y:34.48, Z:-1.96 [[ 9.99976196e-01 -6.89168153e-03 3.33710286e-04 3.23543060e+02] [ 6.89167186e-03 9.99976252e-01 3.01263692e-05 3.44811768e+01] [-3.33909982e-04 -2.78258303e-05 9.99999944e-01 -1.96496862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.461400513 meters 0.07606516657340168 Centerline is valid? [True, True] Translation: X:323.57, Y:34.47, Z:-1.96 [[ 9.99890770e-01 -1.45383339e-02 2.66187828e-03 3.23574228e+02] [ 1.45377458e-02 9.99894293e-01 2.40156770e-04 3.44749160e+01] [-2.66508838e-03 -2.01432828e-04 9.99996428e-01 -1.96129892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49140051300003 meters 0.07580103297872218 Centerline is valid? [True, True] Translation: X:323.60, Y:34.48, Z:-1.96 [[ 9.99829881e-01 -1.82624272e-02 2.58719235e-03 3.23604410e+02] [ 1.82618841e-02 9.99833211e-01 2.33404656e-04 3.44758202e+01] [-2.59102337e-03 -1.86117942e-04 9.99996626e-01 -1.96187542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.521400513 meters 0.07133136237282008 Centerline is valid? [True, True] Translation: X:323.64, Y:34.47, Z:-1.96 [[ 9.99767156e-01 -2.15411511e-02 1.26967921e-03 3.23635612e+02] [ 2.15410230e-02 9.99767959e-01 1.14511741e-04 3.44711909e+01] [-1.27185130e-03 -8.71348885e-05 9.99999187e-01 -1.96356084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55140051300003 meters 0.07026866289046625 Centerline is valid? [True, True] Translation: X:323.67, Y:34.47, Z:-1.97 [[ 9.99708399e-01 -2.41477064e-02 -7.28442318e-05 3.23665454e+02] [ 2.41477060e-02 9.99708402e-01 -6.68044173e-06 3.44716046e+01] [ 7.29843079e-05 4.91947261e-06 9.99999997e-01 -1.96543641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.581400513 meters 0.06834510274307735 Centerline is valid? [True, True] Translation: X:323.70, Y:34.47, Z:-1.96 [[ 9.99634457e-01 -2.70337317e-02 3.59789694e-04 3.23695135e+02] [ 2.70337218e-02 9.99634522e-01 3.23440470e-05 3.44725610e+01] [-3.60532579e-04 -2.26057693e-05 9.99999935e-01 -1.96422556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61140051300004 meters 0.06211472179481838 Centerline is valid? [True, True] Translation: X:323.72, Y:34.47, Z:-1.96 [[ 9.99607641e-01 -2.79668284e-02 1.55590769e-03 3.23724520e+02] [ 2.79666442e-02 9.99608847e-01 1.40039161e-04 3.44670322e+01] [-1.55921554e-03 -9.64706985e-05 9.99998780e-01 -1.96111199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.641400513 meters 0.06331430357878537 Centerline is valid? [True, True] Translation: X:323.75, Y:34.47, Z:-1.96 [[ 9.99576949e-01 -2.89284805e-02 3.01087081e-03 3.23753192e+02] [ 2.89277932e-02 9.99581467e-01 2.71580272e-04 3.44692546e+01] [-3.01746707e-03 -1.84367531e-04 9.99995430e-01 -1.95890285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67140051300004 meters 0.06220856364646701 Centerline is valid? [True, True] Translation: X:323.78, Y:34.47, Z:-1.96 [[ 9.99498005e-01 -3.14974778e-02 3.41272407e-03 3.23783421e+02] [ 3.14966088e-02 9.99503811e-01 3.08116989e-04 3.44660165e+01] [-3.42073562e-03 -2.00473081e-04 9.99994129e-01 -1.95793628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.701400513 meters 0.05774249990973889 Centerline is valid? [True, True] Translation: X:323.81, Y:34.46, Z:-1.96 [[ 9.99457134e-01 -3.28136164e-02 2.95015272e-03 3.23813787e+02] [ 3.28129728e-02 9.99461474e-01 2.66297986e-04 3.44604514e+01] [-2.95730219e-03 -1.69350141e-04 9.99995613e-01 -1.95838097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.731400513 meters 0.058439620823523025 Centerline is valid? [True, True] Translation: X:323.84, Y:34.46, Z:-1.96 [[ 9.99423405e-01 -3.38749527e-02 2.31174698e-03 3.23844172e+02] [ 3.38745602e-02 9.99426071e-01 2.08756132e-04 3.44577801e+01] [-2.31749180e-03 -1.30326352e-04 9.99997306e-01 -1.95973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.761400513 meters 0.057631550313618676 Centerline is valid? [True, True] Translation: X:323.87, Y:34.45, Z:-1.96 [[ 9.99375831e-01 -3.52662491e-02 2.05895405e-03 3.23874084e+02] [ 3.52659426e-02 9.99377946e-01 1.85007782e-04 3.44538875e+01] [-2.06419780e-03 -1.12281351e-04 9.99997863e-01 -1.96040560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.791400513 meters 0.0559818394524389 Centerline is valid? [True, True] Translation: X:323.90, Y:34.45, Z:-1.96 [[ 9.99341832e-01 -3.61778917e-02 2.65768436e-03 3.23903192e+02] [ 3.61773822e-02 9.99345356e-01 2.39535018e-04 3.44514518e+01] [-2.66461039e-03 -1.43229301e-04 9.99996440e-01 -1.95995933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.821400513 meters 0.0599289646149961 Centerline is valid? [True, True] Translation: X:323.93, Y:34.45, Z:-1.96 [[ 9.99340425e-01 -3.60039498e-02 4.73604584e-03 3.23931417e+02] [ 3.60023186e-02 9.99351614e-01 4.29265366e-04 3.44530171e+01] [-4.74843030e-03 -2.58473602e-04 9.99988693e-01 -1.95887686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.851400513 meters 0.05443403144290316 Centerline is valid? [True, True] Translation: X:323.96, Y:34.45, Z:-1.96 [[ 9.99359177e-01 -3.54020012e-02 5.28521766e-03 3.23961829e+02] [ 3.53999599e-02 9.99373110e-01 4.79302376e-04 3.44468712e+01] [-5.29887267e-03 -2.91898735e-04 9.99985918e-01 -1.95767109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.881400513 meters 0.06111651120031197 Centerline is valid? [True, True] Translation: X:323.99, Y:34.45, Z:-1.96 [[ 9.99413345e-01 -3.38582857e-02 5.15574073e-03 3.23990904e+02] [ 3.38563219e-02 9.99426601e-01 4.67718472e-04 3.44530948e+01] [-5.16862058e-03 -2.92889665e-04 9.99986600e-01 -1.95876993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.911400513 meters 0.05920750354428759 Centerline is valid? [True, True] Translation: X:324.02, Y:34.45, Z:-1.96 [[ 9.99482719e-01 -3.18866252e-02 4.18768903e-03 3.24021664e+02] [ 3.18853122e-02 9.99491462e-01 3.79929098e-04 3.44503453e+01] [-4.19767409e-03 -2.46206796e-04 9.99991159e-01 -1.95937221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.941400513 meters 0.06387331460762197 Centerline is valid? [True, True] Translation: X:324.05, Y:34.45, Z:-1.96 [[ 9.99675164e-01 -2.53662378e-02 2.47407348e-03 3.24052029e+02] [ 2.53657594e-02 9.99678212e-01 2.24526152e-04 3.44531876e+01] [-2.47897274e-03 -1.61696465e-04 9.99996914e-01 -1.96159404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.971400513 meters 0.06848340703842523 Centerline is valid? [True, True] Translation: X:324.08, Y:34.46, Z:-1.96 [[ 9.99752686e-01 -2.20888236e-02 2.57875489e-03 3.24081056e+02] [ 2.20882933e-02 9.99755997e-01 2.33949297e-04 3.44597627e+01] [-2.58329333e-03 -1.76931144e-04 9.99996648e-01 -1.96214034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.001400513 meters 0.07589136383814668 Centerline is valid? [True, True] Translation: X:324.11, Y:34.47, Z:-1.96 [[ 9.99807512e-01 -1.92325436e-02 3.87917681e-03 3.24110044e+02] [ 1.92313217e-02 9.99814999e-01 3.52067467e-04 3.44670418e+01] [-3.88523031e-03 -2.77398001e-04 9.99992414e-01 -1.96221354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.031400513 meters 0.07799142298266443 Centerline is valid? [True, True] Translation: X:324.14, Y:34.47, Z:-1.96 [[ 9.99838436e-01 -1.74471803e-02 4.32398376e-03 3.24139513e+02] [ 1.74456454e-02 9.99847736e-01 3.92448781e-04 3.44721037e+01] [-4.33017249e-03 -3.16950688e-04 9.99990575e-01 -1.96070978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.061400513 meters 0.07115084173688176 Centerline is valid? [True, True] Translation: X:324.17, Y:34.46, Z:-1.96 [[ 9.99854732e-01 -1.67118175e-02 3.35105545e-03 3.24171524e+02] [ 1.67108913e-02 9.99860317e-01 3.04206653e-04 3.44599147e+01] [-3.35567121e-03 -2.48163338e-04 9.99994339e-01 -1.96204337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.091400513 meters 0.06744129169340203 Centerline is valid? [True, True] Translation: X:324.20, Y:34.46, Z:-1.96 [[ 9.99841120e-01 -1.76839046e-02 2.23932588e-03 3.24202509e+02] [ 1.76834935e-02 9.99843614e-01 2.03216977e-04 3.44553318e+01] [-2.24256935e-03 -1.63585585e-04 9.99997472e-01 -1.96322191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.121400513 meters 0.06963587085635792 Centerline is valid? [True, True] Translation: X:324.23, Y:34.46, Z:-1.96 [[ 9.99824885e-01 -1.86230358e-02 1.83885406e-03 3.24231656e+02] [ 1.86227604e-02 9.99826567e-01 1.66794365e-04 3.44593789e+01] [-1.84164136e-03 -1.32520619e-04 9.99998295e-01 -1.96413485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.151400513 meters 0.06767028357237684 Centerline is valid? [True, True] Translation: X:324.26, Y:34.46, Z:-1.96 [[ 9.99819791e-01 -1.88664318e-02 2.10800741e-03 3.24261237e+02] [ 1.88660705e-02 9.99822002e-01 1.91171299e-04 3.44594374e+01] [-2.11123891e-03 -1.51367032e-04 9.99997760e-01 -1.96352824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.181400513 meters 0.07447245213674257 Centerline is valid? [True, True] Translation: X:324.29, Y:34.47, Z:-1.96 [[ 9.99834392e-01 -1.79497715e-02 2.99897645e-03 3.24290001e+02] [ 1.79490353e-02 9.99838866e-01 2.72195010e-04 3.44707636e+01] [-3.00337905e-03 -2.18321198e-04 9.99995466e-01 -1.96243126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.211400513 meters 0.07447245213674257 Centerline is valid? [True, True] Translation: X:324.32, Y:34.47, Z:-1.96 [[ 9.99834797e-01 -1.79271968e-02 2.99895583e-03 3.24320792e+02] [ 1.79264599e-02 9.99839271e-01 2.72422147e-04 3.44735197e+01] [-3.00335758e-03 -2.18616480e-04 9.99995466e-01 -1.96269836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24140051300003 meters 0.07672100437409961 Centerline is valid? [True, True] Translation: X:324.35, Y:34.48, Z:-1.96 [[ 9.99900608e-01 -1.35322006e-02 3.95639438e-03 3.24350324e+02] [ 1.35308850e-02 9.99908389e-01 3.59116294e-04 3.44793982e+01] [-3.96089156e-03 -3.05547083e-04 9.99992109e-01 -1.96070108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.271400513 meters 0.084380680985298 Centerline is valid? [True, True] Translation: X:324.38, Y:34.49, Z:-1.96 [[ 9.99938307e-01 -1.04367926e-02 3.80191594e-03 3.24379127e+02] [ 1.04355545e-02 9.99945488e-01 3.45353236e-04 3.44917313e+01] [-3.80531308e-03 -3.05656830e-04 9.99992713e-01 -1.96164166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30140051300003 meters 0.0967097437911601 Centerline is valid? [True, True] Translation: X:324.41, Y:34.51, Z:-1.96 [[ 9.99968067e-01 -7.40210888e-03 3.01235320e-03 3.24407370e+02] [ 7.40131815e-03 9.99972572e-01 2.73559475e-04 3.45096006e+01] [-3.01429550e-03 -2.51255355e-04 9.99995425e-01 -1.96402362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.331400513 meters 0.08887499272560088 Centerline is valid? [True, True] Translation: X:324.44, Y:34.50, Z:-1.97 [[ 9.99984304e-01 -5.19027295e-03 2.11010171e-03 3.24438938e+02] [ 5.18988059e-03 9.99986514e-01 1.91373075e-04 3.45029850e+01] [-2.11106653e-03 -1.80418895e-04 9.99997755e-01 -1.96526593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36140051300004 meters 0.09034609437653608 Centerline is valid? [True, True] Translation: X:324.47, Y:34.51, Z:-1.97 [[ 9.99991074e-01 -4.21671409e-03 2.66515855e-04 3.24469926e+02] [ 4.21670775e-03 9.99991109e-01 2.43555411e-05 3.45074598e+01] [-2.66616186e-04 -2.32315042e-05 9.99999964e-01 -1.96871928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.391400513 meters 0.0828138333948373 Centerline is valid? [True, True] Translation: X:324.50, Y:34.50, Z:-1.97 [[ 9.99986557e-01 -5.18010408e-03 -2.28204404e-04 3.24500984e+02] [ 5.18009947e-03 9.99986583e-01 -2.07929772e-05 3.44991841e+01] [ 2.28309052e-04 1.96105761e-05 9.99999974e-01 -1.96953029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42140051300004 meters 0.09073850992463268 Centerline is valid? [True, True] Translation: X:324.53, Y:34.52, Z:-1.97 [[ 9.99979636e-01 -6.36065116e-03 -5.18770125e-04 3.24529048e+02] [ 6.36062772e-03 9.99979770e-01 -4.68060705e-05 3.45150196e+01] [ 5.19057347e-04 4.35054138e-05 9.99999864e-01 -1.97004055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.451400513 meters 0.0889630213881297 Centerline is valid? [True, True] Translation: X:324.56, Y:34.52, Z:-1.97 [[ 9.99969370e-01 -7.82413213e-03 2.06383224e-04 3.24558807e+02] [ 7.82412845e-03 9.99969391e-01 1.86158880e-05 3.45169640e+01] [-2.06522560e-04 -1.70005490e-05 9.99999979e-01 -1.96878584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.481400513 meters 0.07994693759381254 Centerline is valid? [True, True] Translation: X:324.59, Y:34.51, Z:-1.96 [[ 9.99950611e-01 -9.27038804e-03 3.58263707e-03 3.24589860e+02] [ 9.26928364e-03 9.99956987e-01 3.24747757e-04 3.45112061e+01] [-3.58549351e-03 -2.91523239e-04 9.99993530e-01 -1.96344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.511400513 meters 0.08142479120249882 Centerline is valid? [True, True] Translation: X:324.62, Y:34.52, Z:-1.96 [[ 9.99948995e-01 -8.86055311e-03 4.84747117e-03 3.24620690e+02] [ 8.85852538e-03 9.99960666e-01 4.39617615e-04 3.45172666e+01] [-4.85117575e-03 -3.96653746e-04 9.99988154e-01 -1.96207624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.541400513 meters 0.08336913632910624 Centerline is valid? [True, True] Translation: X:324.65, Y:34.52, Z:-1.96 [[ 9.99951030e-01 -8.07410603e-03 5.72245967e-03 3.24650928e+02] [ 8.07126836e-03 9.99967292e-01 5.18804088e-04 3.45240398e+01] [-5.72646138e-03 -4.72591174e-04 9.99983492e-01 -1.96156489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.571400513 meters 0.08773196568083075 Centerline is valid? [True, True] Translation: X:324.68, Y:34.53, Z:-1.96 [[ 9.99954905e-01 -7.63397995e-03 5.64889061e-03 3.24681339e+02] [ 7.63120785e-03 9.99970751e-01 5.12125067e-04 3.45331341e+01] [-5.65263494e-03 -4.68994114e-04 9.99983914e-01 -1.96171852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.601400513 meters 0.07732912885070689 Centerline is valid? [True, True] Translation: X:324.71, Y:34.52, Z:-1.96 [[ 9.99953324e-01 -8.15019329e-03 5.18889904e-03 3.24714604e+02] [ 8.14786294e-03 9.99966695e-01 4.70084259e-04 3.45225840e+01] [-5.19255750e-03 -4.27783879e-04 9.99986427e-01 -1.96122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.631400513 meters 0.07735617930241624 Centerline is valid? [True, True] Translation: X:324.75, Y:34.53, Z:-1.96 [[ 9.99947363e-01 -8.93410487e-03 5.04516434e-03 3.24746385e+02] [ 8.93191310e-03 9.99960005e-01 4.56795553e-04 3.45250752e+01] [-5.04904362e-03 -4.11708539e-04 9.99987169e-01 -1.96119220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.661400513 meters 0.08749304462073403 Centerline is valid? [True, True] Translation: X:324.78, Y:34.54, Z:-1.96 [[ 9.99940314e-01 -9.69849867e-03 5.03056462e-03 3.24775443e+02] [ 9.69633048e-03 9.99952886e-01 4.55214285e-04 3.45408106e+01] [-5.03474251e-03 -4.06409098e-04 9.99987243e-01 -1.96171612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.691400513 meters 0.077002215301964 Centerline is valid? [True, True] Translation: X:324.81, Y:34.53, Z:-1.96 [[ 9.99937723e-01 -1.00312592e-02 4.89121216e-03 3.24808559e+02] [ 1.00292130e-02 9.99949608e-01 4.42680131e-04 3.45323581e+01] [-4.89540632e-03 -3.93597554e-04 9.99987940e-01 -1.96168257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.721400513 meters 0.07833070390307542 Centerline is valid? [True, True] Translation: X:324.84, Y:34.54, Z:-1.96 [[ 9.99941982e-01 -9.75898046e-03 4.56008429e-03 3.24839210e+02] [ 9.75720023e-03 9.99952312e-01 4.12478273e-04 3.45381014e+01] [-4.56389220e-03 -3.67960687e-04 9.99989518e-01 -1.96342284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.751400513 meters 0.08100149338247714 Centerline is valid? [True, True] Translation: X:324.87, Y:34.55, Z:-1.97 [[ 9.99958902e-01 -8.64075189e-03 2.74422807e-03 3.24868496e+02] [ 8.64010349e-03 9.99962643e-01 2.48046474e-04 3.45455010e+01] [-2.74626887e-03 -2.24325865e-04 9.99996204e-01 -1.96620471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.781400513 meters 0.08842119814561315 Centerline is valid? [True, True] Translation: X:324.90, Y:34.56, Z:-1.97 [[ 9.99966918e-01 -7.91672993e-03 1.86780115e-03 3.24897492e+02] [ 7.91642830e-03 9.99968650e-01 1.68827619e-04 3.45581086e+01] [-1.86907916e-03 -1.54035720e-04 9.99998241e-01 -1.96785282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.811400513 meters 0.08975040364375947 Centerline is valid? [True, True] Translation: X:324.93, Y:34.56, Z:-1.97 [[ 9.99973987e-01 -7.11632371e-03 1.17571743e-03 3.24927567e+02] [ 7.11620346e-03 9.99974674e-01 1.06436771e-04 3.45630926e+01] [-1.17644509e-03 -9.80673577e-05 9.99999303e-01 -1.96892970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.841400513 meters 0.08785889016279662 Centerline is valid? [True, True] Translation: X:324.96, Y:34.56, Z:-1.97 [[ 9.99977971e-01 -6.59788818e-03 7.24385406e-04 3.24958433e+02] [ 6.59784248e-03 9.99978232e-01 6.54599227e-05 3.45643772e+01] [-7.24801535e-04 -6.06790999e-05 9.99999735e-01 -1.96891842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.871400513 meters 0.08801877997710238 Centerline is valid? [True, True] Translation: X:324.99, Y:34.57, Z:-1.97 [[ 9.99978754e-01 -6.39825192e-03 1.24636999e-03 3.24988279e+02] [ 6.39811647e-03 9.99979526e-01 1.12629661e-04 3.45699315e+01] [-1.24706510e-03 -1.04652848e-04 9.99999217e-01 -1.96898169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.901400513 meters 0.08663250511220076 Centerline is valid? [True, True] Translation: X:325.02, Y:34.57, Z:-1.97 [[ 9.99978182e-01 -6.56391420e-03 7.41565910e-04 3.25019899e+02] [ 6.56386617e-03 9.99978455e-01 6.71890780e-05 3.45719339e+01] [-7.41990957e-04 -6.23200727e-05 9.99999723e-01 -1.97000894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.931400513 meters 0.07680149202944485 Centerline is valid? [True, True] Translation: X:325.05, Y:34.56, Z:-1.97 [[ 9.99973892e-01 -7.22410720e-03 1.63733517e-04 3.25051408e+02] [ 7.22410487e-03 9.99973906e-01 1.47922905e-05 3.45631603e+01] [-1.63836106e-04 -1.36090762e-05 9.99999986e-01 -1.97009661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.961400513 meters 0.08662679194480838 Centerline is valid? [True, True] Translation: X:325.08, Y:34.58, Z:-1.97 [[ 9.99967850e-01 -7.98120933e-03 7.74320858e-04 3.25079552e+02] [ 7.98115744e-03 9.99968148e-01 7.00878579e-05 3.45784037e+01] [-7.74855580e-04 -6.39056279e-05 9.99999698e-01 -1.97092551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99140051300003 meters 0.07476060635833844 Centerline is valid? [True, True] Translation: X:325.11, Y:34.57, Z:-1.97 [[ 9.99956641e-01 -9.24022099e-03 1.15532308e-03 3.25110964e+02] [ 9.24010655e-03 9.99957304e-01 1.04356552e-04 3.45676269e+01] [-1.15623803e-03 -9.36767187e-05 9.99999327e-01 -1.96909912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.021400513 meters 0.0854157468102308 Centerline is valid? [True, True] Translation: X:325.14, Y:34.58, Z:-1.97 [[ 9.99927721e-01 -1.17897643e-02 2.35689198e-03 3.25139028e+02] [ 1.17892952e-02 9.99930481e-01 2.12815792e-04 3.45842661e+01] [-2.35923718e-03 -1.85014314e-04 9.99997200e-01 -1.96904945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05140051300003 meters 0.08366293709101104 Centerline is valid? [True, True] Translation: X:325.17, Y:34.58, Z:-1.97 [[ 9.99908438e-01 -1.33163930e-02 2.40597810e-03 3.25169485e+02] [ 1.33159083e-02 9.99911316e-01 2.17352830e-04 3.45841435e+01] [-2.40865908e-03 -1.85295146e-04 9.99997082e-01 -1.96888196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.081400513 meters 0.07296706795054635 Centerline is valid? [True, True] Translation: X:325.20, Y:34.57, Z:-1.97 [[ 9.99883428e-01 -1.51438686e-02 1.94796034e-03 3.25201468e+02] [ 1.51435542e-02 9.99885314e-01 1.76053398e-04 3.45726027e+01] [-1.95040307e-03 -1.46533832e-04 9.99998087e-01 -1.96829133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11140051300004 meters 0.07531883049860683 Centerline is valid? [True, True] Translation: X:325.23, Y:34.58, Z:-1.97 [[ 9.99858695e-01 -1.66435098e-02 2.36309009e-03 3.25230652e+02] [ 1.66430517e-02 9.99861472e-01 2.13378827e-04 3.45769917e+01] [-2.36631410e-03 -1.74019645e-04 9.99997185e-01 -1.96862253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.141400513 meters 0.07200175544280929 Centerline is valid? [True, True] Translation: X:325.26, Y:34.57, Z:-1.97 [[ 9.99842130e-01 -1.75553976e-02 2.74282655e-03 3.25262162e+02] [ 1.75547834e-02 9.99845872e-01 2.47851076e-04 3.45723691e+01] [-2.74675493e-03 -1.99662221e-04 9.99996208e-01 -1.96703792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17140051300004 meters 0.07152592239039493 Centerline is valid? [True, True] Translation: X:325.29, Y:34.57, Z:-1.97 [[ 9.99849980e-01 -1.71092112e-02 2.70030863e-03 3.25293998e+02] [ 1.71086141e-02 9.99853607e-01 2.44048558e-04 3.45726796e+01] [-2.70408880e-03 -1.97813408e-04 9.99996324e-01 -1.96737982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.201400513 meters 0.06996372566319328 Centerline is valid? [True, True] Translation: X:325.32, Y:34.57, Z:-1.97 [[ 9.99866161e-01 -1.62024551e-02 2.26742286e-03 3.25324442e+02] [ 1.62020322e-02 9.99868717e-01 2.04756637e-04 3.45719878e+01] [-2.27044275e-03 -1.67992374e-04 9.99997408e-01 -1.96787221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.231400513 meters 0.07486331369788113 Centerline is valid? [True, True] Translation: X:325.35, Y:34.58, Z:-1.97 [[ 9.99880805e-01 -1.52943476e-02 2.11146840e-03 3.25354307e+02] [ 1.52939787e-02 9.99883022e-01 1.90749665e-04 3.45797821e+01] [-2.11413880e-03 -1.58434175e-04 9.99997753e-01 -1.96879680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.261400513 meters 0.08185342873022305 Centerline is valid? [True, True] Translation: X:325.38, Y:34.59, Z:-1.97 [[ 9.99927917e-01 -1.15535372e-02 3.26741181e-03 3.25382932e+02] [ 1.15526348e-02 9.99933223e-01 2.94907590e-04 3.45890590e+01] [-3.27060084e-03 -2.57139117e-04 9.99994619e-01 -1.96773653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.291400513 meters 0.08576492661729937 Centerline is valid? [True, True] Translation: X:325.41, Y:34.60, Z:-1.97 [[ 9.99959049e-01 -8.41838278e-03 3.32120752e-03 3.25412715e+02] [ 8.41743237e-03 9.99964528e-01 3.00037908e-04 3.45959236e+01] [-3.32361554e-03 -2.72069582e-04 9.99994440e-01 -1.96762864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.321400513 meters 0.08891088477592385 Centerline is valid? [True, True] Translation: X:325.44, Y:34.60, Z:-1.97 [[ 9.99986147e-01 -4.44392681e-03 2.82075440e-03 3.25443028e+02] [ 4.44322586e-03 9.99990096e-01 2.54715050e-04 3.46027385e+01] [-2.82185840e-03 -2.42178273e-04 9.99995989e-01 -1.96860211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.351400513 meters 0.09340233734394734 Centerline is valid? [True, True] Translation: X:325.47, Y:34.61, Z:-1.97 [[ 9.99997833e-01 -6.13454119e-04 1.98917203e-03 3.25472034e+02] [ 6.13098164e-04 9.99999796e-01 1.79551318e-04 3.46119765e+01] [-1.98928177e-03 -1.78331372e-04 9.99998005e-01 -1.97030146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.381400513 meters 0.09594086903112278 Centerline is valid? [True, True] Translation: X:325.50, Y:34.62, Z:-1.97 [[ 9.99996355e-01 2.25594088e-03 1.48335281e-03 3.25502308e+02] [-2.25614199e-03 9.99997446e-01 1.33916512e-04 3.46192096e+01] [-1.48304692e-03 -1.37262679e-04 9.99998891e-01 -1.97133514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.411400513 meters 0.08660650300291109 Centerline is valid? [True, True] Translation: X:325.53, Y:34.61, Z:-1.97 [[ 9.99991416e-01 3.86829439e-03 1.48456089e-03 3.25533805e+02] [-3.86849777e-03 9.99992508e-01 1.34148192e-04 3.46112364e+01] [-1.48403085e-03 -1.39890061e-04 9.99998889e-01 -1.97050856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.441400513 meters 0.08786385631266612 Centerline is valid? [True, True] Translation: X:325.56, Y:34.62, Z:-1.97 [[ 9.99987378e-01 2.98332024e-03 4.04278514e-03 3.25563572e+02] [-2.98482047e-03 9.99995479e-01 3.65105080e-04 3.46164358e+01] [-4.04167763e-03 -3.77167460e-04 9.99991761e-01 -1.96673551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.471400513 meters 0.09429193325828655 Centerline is valid? [True, True] Translation: X:325.59, Y:34.63, Z:-1.97 [[ 9.99986800e-01 7.82316642e-04 5.07822336e-03 3.25592175e+02] [-7.84654778e-04 9.99999587e-01 4.58447999e-04 3.46277766e+01] [-5.07786262e-03 -4.62426600e-04 9.99987001e-01 -1.96650388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.501400513 meters 0.08983455319603062 Centerline is valid? [True, True] Translation: X:325.62, Y:34.63, Z:-1.97 [[ 9.99972631e-01 -6.53887478e-03 3.46122163e-03 3.25621807e+02] [ 6.53783215e-03 9.99978579e-01 3.12460035e-04 3.46256995e+01] [-3.46319063e-03 -2.89822597e-04 9.99993961e-01 -1.96992953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.531400513 meters 0.07478564236513426 Centerline is valid? [True, True] Translation: X:325.65, Y:34.61, Z:-1.97 [[ 9.99935580e-01 -1.11436218e-02 2.15764325e-03 3.25654274e+02] [ 1.11432271e-02 9.99937893e-01 1.94868128e-04 3.46085274e+01] [-2.15968078e-03 -1.70812466e-04 9.99997653e-01 -1.97157823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.561400513 meters 0.07466055287031638 Centerline is valid? [True, True] Translation: X:325.68, Y:34.61, Z:-1.97 [[ 9.99870748e-01 -1.60061315e-02 1.51364851e-03 3.25683607e+02] [ 1.60059429e-02 9.99871887e-01 1.36623128e-04 3.46086711e+01] [-1.51564140e-03 -1.12378097e-04 9.99998845e-01 -1.97343664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.591400513 meters 0.07324811731543819 Centerline is valid? [True, True] Translation: X:325.71, Y:34.61, Z:-1.97 [[ 9.99786134e-01 -2.06276483e-02 1.47881264e-03 3.25713114e+02] [ 2.06274733e-02 9.99787222e-01 1.33491391e-04 3.46075185e+01] [-1.48125160e-03 -1.02958674e-04 9.99998898e-01 -1.97473252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.621400513 meters 0.06557903259388165 Centerline is valid? [True, True] Translation: X:325.74, Y:34.60, Z:-1.97 [[ 9.99686407e-01 -2.49768686e-02 1.80078321e-03 3.25744658e+02] [ 2.49766158e-02 9.99688022e-01 1.62715630e-04 3.45996130e+01] [-1.80428553e-03 -1.17687134e-04 9.99998365e-01 -1.97435319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.651400513 meters 0.05731880040902504 Centerline is valid? [True, True] Translation: X:325.78, Y:34.59, Z:-1.97 [[ 9.99464492e-01 -3.26560394e-02 2.07644782e-03 3.25776194e+02] [ 3.26557202e-02 9.99466642e-01 1.87463146e-04 3.45888460e+01] [-2.08146214e-03 -1.19554859e-04 9.99997827e-01 -1.97419697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.681400513 meters 0.05521906404331164 Centerline is valid? [True, True] Translation: X:325.81, Y:34.59, Z:-1.97 [[ 9.99363124e-01 -3.56298979e-02 1.96377708e-03 3.25806047e+02] [ 3.56296180e-02 9.99365048e-01 1.77311340e-04 3.45876827e+01] [-1.96884776e-03 -1.07229787e-04 9.99998056e-01 -1.97381728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.711400513 meters 0.05167256205606164 Centerline is valid? [True, True] Translation: X:325.84, Y:34.58, Z:-1.97 [[ 9.99274859e-01 -3.80253448e-02 1.95706046e-03 3.25836943e+02] [ 3.80250714e-02 9.99276770e-01 1.76751669e-04 3.45832035e+01] [-1.96236610e-03 -1.02206135e-04 9.99998069e-01 -1.97356324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74140051300003 meters 0.05017085396177642 Centerline is valid? [True, True] Translation: X:325.87, Y:34.58, Z:-1.97 [[ 9.99184089e-01 -4.03181577e-02 2.36709752e-03 3.25866094e+02] [ 4.03177642e-02 9.99186886e-01 2.13760011e-04 3.45814970e+01] [-2.37379121e-03 -1.18149522e-04 9.99997176e-01 -1.97281968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.771400513 meters 0.05009255255073111 Centerline is valid? [True, True] Translation: X:325.90, Y:34.58, Z:-1.97 [[ 9.99074691e-01 -4.28648627e-02 3.51634306e-03 3.25896657e+02] [ 4.28640098e-02 9.99080865e-01 3.17602025e-04 3.45784240e+01] [-3.52672503e-03 -1.66583582e-04 9.99993767e-01 -1.97273373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80140051300003 meters 0.04855484695549662 Centerline is valid? [True, True] Translation: X:325.93, Y:34.58, Z:-1.97 [[ 9.98845575e-01 -4.78639966e-02 4.06878641e-03 3.25926237e+02] [ 4.78628943e-02 9.98853847e-01 3.67909170e-04 3.45787584e+01] [-4.08173256e-03 -1.72740552e-04 9.99991655e-01 -1.97380986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.831400513 meters 0.04774220601109351 Centerline is valid? [True, True] Translation: X:325.96, Y:34.57, Z:-1.98 [[ 9.98738275e-01 -5.01242068e-02 3.06948642e-03 3.25956665e+02] [ 5.01235902e-02 9.98742984e-01 2.77512403e-04 3.45736097e+01] [-3.07953812e-03 -1.23308579e-04 9.99995251e-01 -1.97569402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86140051300004 meters 0.04655289155572154 Centerline is valid? [True, True] Translation: X:325.99, Y:34.58, Z:-1.98 [[ 9.98629386e-01 -5.22915650e-02 2.22286269e-03 3.25985392e+02] [ 5.22912472e-02 9.98631857e-01 2.00891317e-04 3.45759982e+01] [-2.23032641e-03 -8.43797104e-05 9.99997509e-01 -1.97726447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.891400513 meters 0.036327049488516595 Centerline is valid? [True, True] Translation: X:326.02, Y:34.57, Z:-1.97 [[ 9.98505440e-01 -5.46101272e-02 2.14950044e-03 3.26015892e+02] [ 5.46098351e-02 9.98507751e-01 1.94398699e-04 3.45679824e+01] [-2.15690898e-03 -7.67242935e-05 9.99997671e-01 -1.97429203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.921400513 meters 0.036410651773639426 Centerline is valid? [True, True] Translation: X:326.05, Y:34.57, Z:-1.97 [[ 9.98259848e-01 -5.88599064e-02 3.57600198e-03 3.26046292e+02] [ 5.88591241e-02 9.98266246e-01 3.23694011e-04 3.45655105e+01] [-3.58885467e-03 -1.12650390e-04 9.99993554e-01 -1.97241453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.951400513 meters 0.03442289240965498 Centerline is valid? [True, True] Translation: X:326.08, Y:34.56, Z:-1.97 [[ 9.98145403e-01 -6.06846733e-02 4.80881298e-03 3.26075424e+02] [ 6.06832801e-02 9.98156977e-01 4.35236842e-04 3.45647049e+01] [-4.82636243e-03 -1.42615108e-04 9.99988343e-01 -1.97121813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.981400513 meters 0.03712845261949844 Centerline is valid? [True, True] Translation: X:326.10, Y:34.57, Z:-1.97 [[ 9.98054806e-01 -6.20846551e-02 5.66573845e-03 3.26104880e+02] [ 6.20827435e-02 9.98070874e-01 5.12824241e-04 3.45650498e+01] [-5.68664705e-03 -1.60082112e-04 9.99983818e-01 -1.97028972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.011400513 meters 0.03770499919518656 Centerline is valid? [True, True] Translation: X:326.13, Y:34.56, Z:-1.97 [[ 9.98012953e-01 -6.26119857e-02 7.06294071e-03 3.26133680e+02] [ 6.26090180e-02 9.98037925e-01 6.40711814e-04 3.45643676e+01] [-7.08919894e-03 -1.97234906e-04 9.99974852e-01 -1.96725343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.041400513 meters 0.03385426575483439 Centerline is valid? [True, True] Translation: X:326.16, Y:34.57, Z:-1.97 [[ 9.98018766e-01 -6.25298659e-02 6.96842751e-03 3.26161053e+02] [ 6.25269657e-02 9.98043074e-01 6.33486221e-04 3.45679163e+01] [-6.99440262e-03 -1.96516508e-04 9.99975520e-01 -1.96739067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.071400513 meters 0.032469638915831635 Centerline is valid? [True, True] Translation: X:326.19, Y:34.57, Z:-1.97 [[ 9.97998344e-01 -6.28580349e-02 6.94069448e-03 3.26189346e+02] [ 6.28551643e-02 9.98022460e-01 6.31165540e-04 3.45711603e+01] [-6.96664280e-03 -1.93643672e-04 9.99975714e-01 -1.96763304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.101400513 meters 0.032469638915831635 Centerline is valid? [True, True] Translation: X:326.22, Y:34.57, Z:-1.97 [[ 9.97986384e-01 -6.30476530e-02 6.94057439e-03 3.26216743e+02] [ 6.30447778e-02 9.98010499e-01 6.32483002e-04 3.45738131e+01] [-6.96664268e-03 -1.93642453e-04 9.99975714e-01 -1.96787059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.131400513 meters 0.032950091918556544 Centerline is valid? [True, True] Translation: X:326.25, Y:34.58, Z:-1.97 [[ 9.97946896e-01 -6.36523518e-02 7.09727803e-03 3.26245153e+02] [ 6.36493505e-02 9.97972114e-01 6.48193738e-04 3.45762520e+01] [-7.12414461e-03 -1.95125792e-04 9.99974604e-01 -1.96841565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.161400513 meters 0.03445761145902663 Centerline is valid? [True, True] Translation: X:326.27, Y:34.58, Z:-1.97 [[ 9.97898130e-01 -6.43969343e-02 7.23584894e-03 3.26273110e+02] [ 6.43938239e-02 9.97924344e-01 6.62251751e-04 3.45796368e+01] [-7.26347679e-03 -1.94915801e-04 9.99973602e-01 -1.96878581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.191400513 meters 0.029597323947353173 Centerline is valid? [True, True] Translation: X:326.30, Y:34.58, Z:-1.97 [[ 9.97810164e-01 -6.57414018e-02 7.27631709e-03 3.26302253e+02] [ 6.57382902e-02 9.97836677e-01 6.66248555e-04 3.45785779e+01] [-7.30437618e-03 -1.86456935e-04 9.99973305e-01 -1.96914661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.221400513 meters 0.022901218014891395 Centerline is valid? [True, True] Translation: X:326.33, Y:34.57, Z:-1.97 [[ 9.97489707e-01 -7.05506471e-02 6.07382662e-03 3.26332093e+02] [ 7.05485609e-02 9.97508190e-01 5.57311344e-04 3.45738458e+01] [-6.09801047e-03 -1.27412602e-04 9.99981399e-01 -1.97074368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.251400513 meters 0.03055152184104399 Centerline is valid? [True, True] Translation: X:326.36, Y:34.57, Z:-1.97 [[ 9.97267234e-01 -7.36773215e-02 5.45121815e-03 3.26361770e+02] [ 7.36756894e-02 9.97282128e-01 4.99876439e-04 3.45715742e+01] [-5.47323200e-03 -9.68881383e-05 9.99985017e-01 -1.97394486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.281400513 meters 0.02869273158823131 Centerline is valid? [True, True] Translation: X:326.39, Y:34.57, Z:-1.97 [[ 9.97015556e-01 -7.70229556e-02 5.23892156e-03 3.26390705e+02] [ 7.70214905e-02 9.97029317e-01 4.81146815e-04 3.45684427e+01] [-5.26041773e-03 -7.62013119e-05 9.99986161e-01 -1.97441006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.311400513 meters 0.02904706333875265 Centerline is valid? [True, True] Translation: X:326.42, Y:34.57, Z:-1.97 [[ 9.96803185e-01 -7.97062726e-02 5.50637185e-03 3.26418798e+02] [ 7.97046877e-02 9.96818392e-01 5.07018848e-04 3.45665350e+01] [-5.52926531e-03 -6.65143544e-05 9.99984711e-01 -1.97446547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.341400513 meters 0.020993389012221315 Centerline is valid? [True, True] Translation: X:326.45, Y:34.56, Z:-1.97 [[ 9.96551350e-01 -8.27371733e-02 6.32201552e-03 3.26447267e+02] [ 8.27351422e-02 9.96571401e-01 5.82583859e-04 3.45628963e+01] [-6.34854120e-03 -5.75218777e-05 9.99979846e-01 -1.97281182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.371400513 meters 0.025957313773317413 Centerline is valid? [True, True] Translation: X:326.48, Y:34.56, Z:-1.97 [[ 9.96470017e-01 -8.36908839e-02 6.58335046e-03 3.26475657e+02] [ 8.36887009e-02 9.96491763e-01 6.06867327e-04 3.45642112e+01] [-6.61104377e-03 -5.37730477e-05 9.99978145e-01 -1.97316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.401400513 meters 0.020463518419839805 Centerline is valid? [True, True] Translation: X:326.50, Y:34.57, Z:-1.97 [[ 9.96442574e-01 -8.40545746e-02 6.08477359e-03 3.26502316e+02] [ 8.40527097e-02 9.96461151e-01 5.62017394e-04 3.45674339e+01] [-6.11048063e-03 -4.85763504e-05 9.99981330e-01 -1.97426078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.431400513 meters 0.024114233140418596 Centerline is valid? [True, True] Translation: X:326.53, Y:34.57, Z:-1.98 [[ 9.96426806e-01 -8.43135077e-02 4.98515113e-03 3.26530558e+02] [ 8.43122598e-02 9.96439276e-01 4.60328696e-04 3.45702727e+01] [-5.00621231e-03 -3.83744951e-05 9.99987468e-01 -1.97582269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.461400513 meters 0.02903350806796322 Centerline is valid? [True, True] Translation: X:326.56, Y:34.57, Z:-1.98 [[ 9.96398751e-01 -8.46750293e-02 4.43490861e-03 3.26558889e+02] [ 8.46740422e-02 9.96408620e-01 4.10191374e-04 3.45733233e+01] [-4.45371413e-03 -3.31925344e-05 9.99990082e-01 -1.97731824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49140051300003 meters 0.0252271811492481 Centerline is valid? [True, True] Translation: X:326.59, Y:34.57, Z:-1.98 [[ 9.96189050e-01 -8.70891351e-02 4.78109989e-03 3.26586782e+02] [ 8.70880086e-02 9.96200523e-01 4.43682828e-04 3.45747896e+01] [-4.80157416e-03 -2.56155062e-05 9.99988472e-01 -1.97666198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.521400513 meters 0.026510110458895692 Centerline is valid? [True, True] Translation: X:326.62, Y:34.58, Z:-1.98 [[ 9.96027715e-01 -8.88891270e-02 5.24535066e-03 3.26615678e+02] [ 8.88877946e-02 9.96041527e-01 4.87059015e-04 3.45769020e+01] [-5.26788133e-03 -1.88766255e-05 9.99986124e-01 -1.97539644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55140051300003 meters 0.026262173144549726 Centerline is valid? [True, True] Translation: X:326.64, Y:34.58, Z:-1.98 [[ 9.95791811e-01 -9.14834585e-02 5.42647122e-03 3.26643725e+02] [ 9.14820662e-02 9.95806596e-01 5.04746068e-04 3.45786265e+01] [-5.44989175e-03 -6.19720206e-06 9.99985149e-01 -1.97529712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.581400513 meters 0.027755350354024638 Centerline is valid? [True, True] Translation: X:326.67, Y:34.58, Z:-1.98 [[ 9.95513586e-01 -9.44909091e-02 4.91613591e-03 3.26670359e+02] [ 9.44897972e-02 9.95525724e-01 4.58472446e-04 3.45788723e+01] [-4.93746124e-03 8.10913658e-06 9.99987811e-01 -1.97702356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61140051300004 meters 0.027156207165668824 Centerline is valid? [True, True] Translation: X:326.70, Y:34.58, Z:-1.98 [[ 9.94934019e-01 -1.00459652e-01 3.76258303e-03 3.26699475e+02] [ 1.00459044e-01 9.94941133e-01 3.50626213e-04 3.45774938e+01] [-3.77877241e-03 2.91355475e-05 9.99992860e-01 -1.97851490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.641400513 meters 0.01917591952166925 Centerline is valid? [True, True] Translation: X:326.73, Y:34.58, Z:-1.98 [[ 9.94656341e-01 -1.03174975e-01 3.69977846e-03 3.26728303e+02] [ 1.03174404e-01 9.94663221e-01 3.45369156e-04 3.45793189e+01] [-3.71566701e-03 3.81988163e-05 9.99993096e-01 -1.97833400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.671400513 meters 0.030168744381159168 Centerline is valid? [True, True] Translation: X:326.76, Y:34.58, Z:-1.98 [[ 9.94456013e-01 -1.05067254e-01 4.25573561e-03 3.26757019e+02] [ 1.05066512e-01 9.94465117e-01 3.98212357e-04 3.45829711e+01] [-4.27401969e-03 5.11306236e-05 9.99990865e-01 -1.97883627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.701400513 meters 0.026189559339801407 Centerline is valid? [True, True] Translation: X:326.78, Y:34.59, Z:-1.98 [[ 9.94348904e-01 -1.06052775e-01 4.80277945e-03 3.26784317e+02] [ 1.06051834e-01 9.94360501e-01 4.50828541e-04 3.45870157e+01] [-4.82350580e-03 6.10627048e-05 9.99988365e-01 -1.97861416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.731400513 meters 0.02347186506500461 Centerline is valid? [True, True] Translation: X:326.81, Y:34.59, Z:-1.98 [[ 9.94205065e-01 -1.07372493e-01 5.23794759e-03 3.26812223e+02] [ 1.07371393e-01 9.94218860e-01 4.91670452e-04 3.45945137e+01] [-5.26045816e-03 7.35844750e-05 9.99986161e-01 -1.97719993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.761400513 meters 0.029083054204458753 Centerline is valid? [True, True] Translation: X:326.84, Y:34.60, Z:-1.98 [[ 9.94070604e-01 -1.08578927e-01 5.85239353e-03 3.26840038e+02] [ 1.08577566e-01 9.94087828e-01 5.50825859e-04 3.45983955e+01] [-5.87760125e-03 8.78788485e-05 9.99982723e-01 -1.97692263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.791400513 meters 0.029026238668024385 Centerline is valid? [True, True] Translation: X:326.87, Y:34.60, Z:-1.98 [[ 9.93885340e-01 -1.10218314e-01 6.62231106e-03 3.26867561e+02] [ 1.10216604e-01 9.93907396e-01 6.23764073e-04 3.46011541e+01] [-6.65071416e-03 1.09938668e-04 9.99977878e-01 -1.97641404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.821400513 meters 0.02595849719584918 Centerline is valid? [True, True] Translation: X:326.90, Y:34.60, Z:-1.98 [[ 9.93669424e-01 -1.12087600e-01 7.57924818e-03 3.26895727e+02] [ 1.12085410e-01 9.93698320e-01 7.14431690e-04 3.46033459e+01] [-7.61156511e-03 1.39614214e-04 9.99971022e-01 -1.97575540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.851400513 meters 0.025532121959999536 Centerline is valid? [True, True] Translation: X:326.93, Y:34.60, Z:-1.97 [[ 9.93234380e-01 -1.15864647e-01 7.80063936e-03 3.26925468e+02] [ 1.15862439e-01 9.93264997e-01 7.35807334e-04 3.46039684e+01] [-7.83335608e-03 1.72971963e-04 9.99969304e-01 -1.97420858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.881400513 meters 0.02712592542101822 Centerline is valid? [True, True] Translation: X:326.95, Y:34.61, Z:-1.98 [[ 9.93032903e-01 -1.17632815e-01 6.94078067e-03 3.26954206e+02] [ 1.17631112e-01 9.93057145e-01 6.54601183e-04 3.46058588e+01] [-6.96959442e-03 1.66411233e-04 9.99975698e-01 -1.97536106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.911400513 meters 0.028011140640186075 Centerline is valid? [True, True] Translation: X:326.98, Y:34.61, Z:-1.98 [[ 9.92890484e-01 -1.18883260e-01 5.93775192e-03 3.26982718e+02] [ 1.18882031e-01 9.92908228e-01 5.60805531e-04 3.46091055e+01] [-5.96231313e-03 1.49073530e-04 9.99982214e-01 -1.97667543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.941400513 meters 0.03648042195553232 Centerline is valid? [True, True] Translation: X:327.01, Y:34.61, Z:-1.98 [[ 9.92878034e-01 -1.19019772e-01 5.24433768e-03 3.27010675e+02] [ 1.19018811e-01 9.92891876e-01 4.95956453e-04 3.46148679e+01] [-5.26608890e-03 1.31750569e-04 9.99986125e-01 -1.97926919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.971400513 meters 0.0370545739575558 Centerline is valid? [True, True] Translation: X:327.04, Y:34.62, Z:-1.98 [[ 9.92956862e-01 -1.18348062e-01 5.51419954e-03 3.27038030e+02] [ 1.18346981e-01 9.92972164e-01 5.23088732e-04 3.46178806e+01] [-5.53735318e-03 1.33184319e-04 9.99984660e-01 -1.97983639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.001400513 meters 0.03084751482686624 Centerline is valid? [True, True] Translation: X:327.07, Y:34.63, Z:-1.98 [[ 9.93355295e-01 -1.14821090e-01 7.83416787e-03 3.27066914e+02] [ 1.14818793e-01 9.93386174e-01 7.43901610e-04 3.46289688e+01] [-7.86776965e-03 1.60551092e-04 9.99969036e-01 -1.97661833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.031400513 meters 0.03256177058537794 Centerline is valid? [True, True] Translation: X:327.09, Y:34.63, Z:-1.98 [[ 9.93614316e-01 -1.12515373e-01 8.41909034e-03 3.27094335e+02] [ 1.12512635e-01 9.93649972e-01 7.99662715e-04 3.46345735e+01] [-8.45560323e-03 1.52697719e-04 9.99964239e-01 -1.97610639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.061400513 meters 0.02914373564934725 Centerline is valid? [True, True] Translation: X:327.12, Y:34.64, Z:-1.98 [[ 9.93901554e-01 -1.09996326e-01 7.77872668e-03 3.27122564e+02] [ 1.09993909e-01 9.93931986e-01 7.39188628e-04 3.46429333e+01] [-7.81283330e-03 1.20931829e-04 9.99969472e-01 -1.97713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.091400513 meters 0.021126448950225304 Centerline is valid? [True, True] Translation: X:327.15, Y:34.65, Z:-1.98 [[ 9.94209123e-01 -1.07280728e-01 6.25020644e-03 3.27149797e+02] [ 1.07279107e-01 9.94228766e-01 5.94993675e-04 3.46485841e+01] [-6.27796639e-03 7.89684283e-05 9.99980290e-01 -1.97984119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.121400513 meters 0.016341596746213452 Centerline is valid? [True, True] Translation: X:327.18, Y:34.66, Z:-1.98 [[ 9.94558242e-01 -1.04104897e-01 4.00911587e-03 3.27178520e+02] [ 1.04104205e-01 9.94566322e-01 3.81568355e-04 3.46558982e+01] [-4.02705475e-03 3.78738660e-05 9.99991891e-01 -1.98271685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.151400513 meters 0.02925142328567774 Centerline is valid? [True, True] Translation: X:327.21, Y:34.66, Z:-1.98 [[ 9.94581756e-01 -1.03875566e-01 4.12276113e-03 3.27205963e+02] [ 1.03874832e-01 9.94590300e-01 3.92311140e-04 3.46596344e+01] [-4.14120977e-03 3.80656176e-05 9.99991424e-01 -1.98359433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.181400513 meters 0.03064540058072029 Centerline is valid? [True, True] Translation: X:327.23, Y:34.66, Z:-1.98 [[ 9.94614565e-01 -1.03551477e-01 4.35412240e-03 3.27233824e+02] [ 1.03550648e-01 9.94624095e-01 4.15865003e-04 3.46624876e+01] [-4.37377849e-03 3.72468084e-05 9.99990434e-01 -1.98361255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.211400513 meters 0.02723074599742372 Centerline is valid? [True, True] Translation: X:327.26, Y:34.67, Z:-1.98 [[ 9.94745583e-01 -1.02279208e-01 4.49325900e-03 3.27262661e+02] [ 1.02278314e-01 9.94755730e-01 4.29003662e-04 3.46656909e+01] [-4.51357329e-03 3.28134560e-05 9.99989813e-01 -1.98354061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24140051300003 meters 0.02678341796944587 Centerline is valid? [True, True] Translation: X:327.29, Y:34.67, Z:-1.98 [[ 9.94893008e-01 -1.00841826e-01 4.33923030e-03 3.27291489e+02] [ 1.00840975e-01 9.94902470e-01 4.14963108e-04 3.46680826e+01] [-4.35895658e-03 2.47283191e-05 9.99990499e-01 -1.98311328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.271400513 meters 0.03362120360780989 Centerline is valid? [True, True] Translation: X:327.32, Y:34.67, Z:-1.98 [[ 9.95090628e-01 -9.88791925e-02 4.18899874e-03 3.27318905e+02] [ 9.88783773e-02 9.95099445e-01 4.01766174e-04 3.46709676e+01] [-4.20819664e-03 1.44076441e-05 9.99991145e-01 -1.98340983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30140051300003 meters 0.030768612054031256 Centerline is valid? [True, True] Translation: X:327.35, Y:34.68, Z:-1.98 [[ 9.95278629e-01 -9.69597281e-02 4.38890197e-03 3.27347003e+02] [ 9.69588158e-02 9.95288306e-01 4.20675360e-04 3.46759408e+01] [-4.40901138e-03 6.85354245e-06 9.99990280e-01 -1.98315475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.331400513 meters 0.02085671540772009 Centerline is valid? [True, True] Translation: X:327.37, Y:34.68, Z:-1.98 [[ 9.95535365e-01 -9.42809862e-02 4.52021514e-03 3.27374645e+02] [ 9.42799867e-02 9.95545627e-01 4.34174514e-04 3.46825933e+01] [-4.54101482e-03 -6.07026014e-06 9.99989690e-01 -1.98228300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36140051300004 meters 0.020714759100590573 Centerline is valid? [True, True] Translation: X:327.40, Y:34.69, Z:-1.98 [[ 9.96110746e-01 -8.79733748e-02 4.90581556e-03 3.27401709e+02] [ 8.79721130e-02 9.96122826e-01 4.72830775e-04 3.46936967e+01] [-4.92839137e-03 -3.94168556e-05 9.99987855e-01 -1.98109598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.391400513 meters 0.02848236228457254 Centerline is valid? [True, True] Translation: X:327.43, Y:34.70, Z:-1.98 [[ 9.96334520e-01 -8.53856954e-02 5.17756867e-03 3.27430472e+02] [ 8.53842551e-02 9.96347971e-01 4.98996448e-04 3.46984193e+01] [-5.20126720e-03 -5.50845426e-05 9.99986472e-01 -1.98076137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.421400513 meters 0.029990151656664098 Centerline is valid? [True, True] Translation: X:327.46, Y:34.70, Z:-1.98 [[ 9.96508245e-01 -8.33394768e-02 5.08424933e-03 3.27457975e+02] [ 8.33380550e-02 9.96521213e-01 4.91231981e-04 3.47047439e+01] [-5.10750133e-03 -6.58052681e-05 9.99986954e-01 -1.98123559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.451400513 meters 0.025540426864908584 Centerline is valid? [True, True] Translation: X:327.49, Y:34.71, Z:-1.98 [[ 9.96631766e-01 -8.18463410e-02 5.12839101e-03 3.27486399e+02] [ 8.18448750e-02 9.96644957e-01 4.95430463e-04 3.47078630e+01] [-5.15173421e-03 -7.40292157e-05 9.99986727e-01 -1.98133882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.481400513 meters 0.02146782700291817 Centerline is valid? [True, True] Translation: X:327.52, Y:34.71, Z:-1.98 [[ 9.96781353e-01 -8.00042082e-02 5.12457338e-03 3.27515129e+02] [ 8.00027155e-02 9.96794522e-01 4.95933309e-04 3.47112876e+01] [-5.14782342e-03 -8.43572889e-05 9.99986746e-01 -1.98021951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.511400513 meters 0.026285570502049656 Centerline is valid? [True, True] Translation: X:327.54, Y:34.72, Z:-1.98 [[ 9.96888835e-01 -7.85906714e-02 6.01307217e-03 3.27543397e+02] [ 7.85885829e-02 9.96906964e-01 5.83191453e-04 3.47153152e+01] [-6.04030693e-03 -1.08818227e-04 9.99981751e-01 -1.97940009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.541400513 meters 0.022432174251491667 Centerline is valid? [True, True] Translation: X:327.57, Y:34.72, Z:-1.98 [[ 9.96998547e-01 -7.71197930e-02 6.81432117e-03 3.27571101e+02] [ 7.71170658e-02 9.97021825e-01 6.62445016e-04 3.47204472e+01] [-6.84511455e-03 -1.34956264e-04 9.99976563e-01 -1.97748769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.571400513 meters 0.027999428179051305 Centerline is valid? [True, True] Translation: X:327.60, Y:34.73, Z:-1.98 [[ 9.97225647e-01 -7.41809775e-02 6.17990058e-03 3.27600177e+02] [ 7.41786756e-02 9.97244786e-01 6.01180396e-04 3.47259051e+01] [-6.20746978e-03 -1.41095670e-04 9.99980724e-01 -1.97924584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.601400513 meters 0.02928857739367959 Centerline is valid? [True, True] Translation: X:327.63, Y:34.73, Z:-1.98 [[ 9.97566605e-01 -6.94398236e-02 6.24328519e-03 3.27628792e+02] [ 6.94373805e-02 9.97586127e-01 6.07500322e-04 3.47344057e+01] [-6.27039941e-03 -1.72504666e-04 9.99980326e-01 -1.97987676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.631400513 meters 0.033031606732707476 Centerline is valid? [True, True] Translation: X:327.66, Y:34.74, Z:-1.98 [[ 9.97751218e-01 -6.67223486e-02 6.37458531e-03 3.27658089e+02] [ 6.67197452e-02 9.97771562e-01 6.20434838e-04 3.47401041e+01] [-6.40177681e-03 -1.93728907e-04 9.99979490e-01 -1.98085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.661400513 meters 0.03322451367710297 Centerline is valid? [True, True] Translation: X:327.69, Y:34.74, Z:-1.98 [[ 9.97855364e-01 -6.51470367e-02 6.36685571e-03 3.27686598e+02] [ 6.51444086e-02 9.97875655e-01 6.19514355e-04 3.47448240e+01] [-6.39368983e-03 -2.03420672e-04 9.99979539e-01 -1.98058300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.691400513 meters 0.03338432798240801 Centerline is valid? [True, True] Translation: X:327.72, Y:34.75, Z:-1.98 [[ 9.97983683e-01 -6.32371506e-02 5.44354335e-03 3.27716380e+02] [ 6.32351948e-02 9.97998511e-01 5.30829657e-04 3.47466085e+01] [-5.46621632e-03 -1.85535811e-04 9.99985043e-01 -1.98199388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.721400513 meters 0.04428780636160841 Centerline is valid? [True, True] Translation: X:327.75, Y:34.75, Z:-1.99 [[ 9.98210050e-01 -5.96718333e-02 3.99616390e-03 3.27745312e+02] [ 5.96707506e-02 9.98218037e-01 3.89730078e-04 3.47504921e+01] [-4.01229880e-03 -1.50578381e-04 9.99991939e-01 -1.98599819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.751400513 meters 0.0400616970724586 Centerline is valid? [True, True] Translation: X:327.77, Y:34.75, Z:-1.98 [[ 9.98249449e-01 -5.89786186e-02 4.42263745e-03 3.27773218e+02] [ 5.89772857e-02 9.98259232e-01 4.31304643e-04 3.47543455e+01] [-4.44037642e-03 -1.69714470e-04 9.99990127e-01 -1.98482151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.781400513 meters 0.045817269776574514 Centerline is valid? [True, True] Translation: X:327.80, Y:34.76, Z:-1.99 [[ 9.98390687e-01 -5.65254710e-02 4.57251567e-03 3.27802330e+02] [ 5.65240191e-02 9.98401140e-01 4.46250528e-04 3.47591353e+01] [-4.59042938e-03 -1.87075408e-04 9.99989446e-01 -1.98597922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.811400513 meters 0.04325330335286594 Centerline is valid? [True, True] Translation: X:327.83, Y:34.76, Z:-1.98 [[ 9.98497434e-01 -5.45480962e-02 5.23258970e-03 3.27831756e+02] [ 5.45461655e-02 9.98511119e-01 5.11084026e-04 3.47614858e+01] [-5.25267766e-03 -2.24898385e-04 9.99986179e-01 -1.98425056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.841400513 meters 0.0474989029470322 Centerline is valid? [True, True] Translation: X:327.86, Y:34.77, Z:-1.98 [[ 9.98664324e-01 -5.13992275e-02 5.26180801e-03 3.27861374e+02] [ 5.13972307e-02 9.98678157e-01 5.14104252e-04 3.47669613e+01] [-5.28127729e-03 -2.42975215e-04 9.99986024e-01 -1.98488854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.871400513 meters 0.058661272607929554 Centerline is valid? [True, True] Translation: X:327.89, Y:34.78, Z:-1.99 [[ 9.98983889e-01 -4.47597109e-02 5.26862952e-03 3.27890135e+02] [ 4.47576166e-02 9.98997743e-01 5.14806360e-04 3.47768324e+01] [-5.28639159e-03 -2.78471959e-04 9.99985988e-01 -1.98577353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.901400513 meters 0.05826951470390527 Centerline is valid? [True, True] Translation: X:327.92, Y:34.78, Z:-1.99 [[ 9.99102331e-01 -4.20664511e-02 4.99452159e-03 3.27919043e+02] [ 4.20645348e-02 9.99114777e-01 4.88144285e-04 3.47845927e+01] [-5.01063482e-03 -2.77613866e-04 9.99987408e-01 -1.98528283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.931400513 meters 0.057017900342637776 Centerline is valid? [True, True] Translation: X:327.95, Y:34.79, Z:-1.99 [[ 9.99243199e-01 -3.85403828e-02 5.26013485e-03 3.27949290e+02] [ 3.85382081e-02 9.99256995e-01 5.14207409e-04 3.47855414e+01] [-5.27604429e-03 -3.11102084e-04 9.99986033e-01 -1.98516498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.961400513 meters 0.060745900284227494 Centerline is valid? [True, True] Translation: X:327.98, Y:34.79, Z:-1.99 [[ 9.99373920e-01 -3.49559327e-02 5.46362828e-03 3.27978293e+02] [ 3.49535331e-02 9.99388796e-01 5.34098455e-04 3.47921846e+01] [-5.47895880e-03 -3.42790955e-04 9.99984932e-01 -1.98562407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99140051300003 meters 0.0646389017742831 Centerline is valid? [True, True] Translation: X:328.01, Y:34.80, Z:-1.99 [[ 9.99544528e-01 -2.96804490e-02 5.45955450e-03 3.28008423e+02] [ 2.96779746e-02 9.99559369e-01 5.33702301e-04 3.47986854e+01] [-5.47298937e-03 -3.71430695e-04 9.99984954e-01 -1.98592632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.021400513 meters 0.0646389017742831 Centerline is valid? [True, True] Translation: X:328.04, Y:34.80, Z:-1.99 [[ 9.99544528e-01 -2.96804493e-02 5.45955133e-03 3.28038348e+02] [ 2.96779747e-02 9.99559369e-01 5.33734640e-04 3.48016110e+01] [-5.47298717e-03 -3.71463113e-04 9.99984954e-01 -1.98618612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05140051300003 meters 0.06748554997936804 Centerline is valid? [True, True] Translation: X:328.07, Y:34.81, Z:-1.99 [[ 9.99579766e-01 -2.84718878e-02 5.44456074e-03 3.28067930e+02] [ 2.84694081e-02 9.99594522e-01 5.32421322e-04 3.48082953e+01] [-5.45751213e-03 -3.77194159e-04 9.99985037e-01 -1.98627605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.081400513 meters 0.07053610126322457 Centerline is valid? [True, True] Translation: X:328.10, Y:34.81, Z:-1.99 [[ 9.99582708e-01 -2.83052365e-02 5.76399200e-03 3.28097361e+02] [ 2.83024573e-02 9.99599247e-01 5.63186235e-04 3.48147419e+01] [-5.77762318e-03 -3.99816084e-04 9.99983229e-01 -1.98671443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11140051300004 meters 0.0735717663938017 Centerline is valid? [True, True] Translation: X:328.13, Y:34.82, Z:-1.99 [[ 9.99556674e-01 -2.92485788e-02 5.56554943e-03 3.28126925e+02] [ 2.92460016e-02 9.99572096e-01 5.43908906e-04 3.48207416e+01] [-5.57907648e-03 -3.80897709e-04 9.99984364e-01 -1.98675307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.141400513 meters 0.0695866295890418 Centerline is valid? [True, True] Translation: X:328.16, Y:34.82, Z:-1.99 [[ 9.99514291e-01 -3.06232342e-02 5.77916550e-03 3.28157515e+02] [ 3.06204789e-02 9.99530924e-01 5.64665287e-04 3.48184036e+01] [-5.79374651e-03 -3.87430209e-04 9.99983141e-01 -1.98619145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.171400513 meters 0.067128751533653 Centerline is valid? [True, True] Translation: X:328.19, Y:34.82, Z:-1.98 [[ 9.99458352e-01 -3.22583881e-02 6.51142238e-03 3.28187586e+02] [ 3.22549233e-02 9.99479472e-01 6.36442773e-04 3.48184372e+01] [-6.52856362e-03 -4.26072616e-04 9.99978598e-01 -1.98489720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.201400513 meters 0.06263548091223921 Centerline is valid? [True, True] Translation: X:328.22, Y:34.82, Z:-1.98 [[ 9.99386927e-01 -3.40808002e-02 8.01678557e-03 3.28218874e+02] [ 3.40756055e-02 9.99418951e-01 7.83708283e-04 3.48159662e+01] [-8.03883682e-03 -5.10050990e-04 9.99967558e-01 -1.98267583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.231400513 meters 0.06628445534667109 Centerline is valid? [True, True] Translation: X:328.25, Y:34.82, Z:-1.98 [[ 9.99394193e-01 -3.39819324e-02 7.51503076e-03 3.28248617e+02] [ 3.39773655e-02 9.99422333e-01 7.34576231e-04 3.48234895e+01] [-7.53565189e-03 -4.78790273e-04 9.99971492e-01 -1.98372799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.261400513 meters 0.061835720939796064 Centerline is valid? [True, True] Translation: X:328.28, Y:34.82, Z:-1.99 [[ 9.99413127e-01 -3.35684880e-02 6.82337979e-03 3.28279807e+02] [ 3.35647138e-02 9.99436324e-01 6.66919943e-04 3.48225737e+01] [-6.84192111e-03 -4.37503756e-04 9.99976498e-01 -1.98517303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.291400513 meters 0.06427614434565519 Centerline is valid? [True, True] Translation: X:328.31, Y:34.83, Z:-1.99 [[ 9.99441142e-01 -3.29086781e-02 5.86709536e-03 3.28309330e+02] [ 3.29058769e-02 9.99458291e-01 5.73364649e-04 3.48312794e+01] [-5.88278577e-03 -3.79982302e-04 9.99982624e-01 -1.98733236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.321400513 meters 0.06788331833130504 Centerline is valid? [True, True] Translation: X:328.34, Y:34.84, Z:-1.99 [[ 9.99471630e-01 -3.21284986e-02 4.92144673e-03 3.28338160e+02] [ 3.21265196e-02 9.99483695e-01 4.80680948e-04 3.48420928e+01] [-4.93434931e-03 -3.22318016e-04 9.99987774e-01 -1.98979624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.351400513 meters 0.06972375770602254 Centerline is valid? [True, True] Translation: X:328.37, Y:34.85, Z:-1.99 [[ 9.99533170e-01 -3.02315823e-02 4.41523557e-03 3.28367865e+02] [ 3.02299706e-02 9.99542877e-01 4.31328316e-04 3.48509690e+01] [-4.42625700e-03 -2.97654518e-04 9.99990160e-01 -1.99077096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.381400513 meters 0.06576032601116014 Centerline is valid? [True, True] Translation: X:328.40, Y:34.85, Z:-1.99 [[ 9.99559602e-01 -2.92792789e-02 4.82966024e-03 3.28397510e+02] [ 2.92773398e-02 9.99571215e-01 4.71725370e-04 3.48498899e+01] [-4.84140114e-03 -3.30118018e-04 9.99988226e-01 -1.98973041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.411400513 meters 0.06783661266707465 Centerline is valid? [True, True] Translation: X:328.43, Y:34.86, Z:-1.99 [[ 9.99585491e-01 -2.82939973e-02 5.31940676e-03 3.28426692e+02] [ 2.82916301e-02 9.99599577e-01 5.19744197e-04 3.48575169e+01] [-5.33198239e-03 -3.69034070e-04 9.99985717e-01 -1.98869510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.441400513 meters 0.07661656573113068 Centerline is valid? [True, True] Translation: X:328.45, Y:34.87, Z:-1.99 [[ 9.99615399e-01 -2.71434673e-02 5.68218120e-03 3.28454950e+02] [ 2.71407464e-02 9.99631468e-01 5.55438054e-04 3.48749387e+01] [-5.69516365e-03 -4.01005793e-04 9.99983702e-01 -1.98884656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.471400513 meters 0.0733825359312724 Centerline is valid? [True, True] Translation: X:328.49, Y:34.88, Z:-1.99 [[ 9.99663720e-01 -2.53640384e-02 5.39562731e-03 3.28485474e+02] [ 2.53615611e-02 9.99678205e-01 5.27069035e-04 3.48815373e+01] [-5.40725962e-03 -3.90050261e-04 9.99985305e-01 -1.98976572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.501400513 meters 0.08548972179061802 Centerline is valid? [True, True] Translation: X:328.51, Y:34.90, Z:-1.99 [[ 9.99675055e-01 -2.48487433e-02 5.68536781e-03 3.28514118e+02] [ 2.48459849e-02 9.99691137e-01 5.55301451e-04 3.49013757e+01] [-5.69741035e-03 -4.13862446e-04 9.99983684e-01 -1.99059900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.531400513 meters 0.07650615207941436 Centerline is valid? [True, True] Translation: X:328.55, Y:34.90, Z:-1.99 [[ 9.99676418e-01 -2.46088596e-02 6.43919674e-03 3.28545733e+02] [ 2.46053167e-02 9.99697046e-01 6.28867245e-04 3.48955325e+01] [-6.45272166e-03 -4.70225280e-04 9.99979070e-01 -1.98995426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.561400513 meters 0.0778764297166185 Centerline is valid? [True, True] Translation: X:328.58, Y:34.90, Z:-1.99 [[ 9.99678202e-01 -2.42332738e-02 7.49945437e-03 3.28576635e+02] [ 2.42284591e-02 9.99706180e-01 7.32213098e-04 3.49008187e+01] [-7.51499480e-03 -5.50277249e-04 9.99971611e-01 -1.99036833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.591400513 meters 0.07017119185623986 Centerline is valid? [True, True] Translation: X:328.61, Y:34.90, Z:-1.99 [[ 9.99675539e-01 -2.42317797e-02 7.85097363e-03 3.28609583e+02] [ 2.42265043e-02 9.99706201e-01 7.66365377e-04 3.48971429e+01] [-7.86723742e-03 -5.75915075e-04 9.99968887e-01 -1.99085026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.621400513 meters 0.07222802647053302 Centerline is valid? [True, True] Translation: X:328.64, Y:34.90, Z:-1.99 [[ 9.99693430e-01 -2.39702409e-02 6.20267017e-03 3.28640120e+02] [ 2.39669446e-02 9.99712568e-01 6.05230748e-04 3.49038632e+01] [-6.21539485e-03 -4.56386150e-04 9.99980580e-01 -1.99292191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.651400513 meters 0.0788749254235606 Centerline is valid? [True, True] Translation: X:328.67, Y:34.92, Z:-2.00 [[ 9.99689950e-01 -2.46508928e-02 3.51252871e-03 3.28669802e+02] [ 2.46498401e-02 9.99696088e-01 3.42684212e-04 3.49160861e+01] [-3.51990869e-03 -2.55994692e-04 9.99993772e-01 -1.99631034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.681400513 meters 0.07863664302972352 Centerline is valid? [True, True] Translation: X:328.70, Y:34.92, Z:-2.00 [[ 9.99685130e-01 -2.48604933e-02 3.40550282e-03 3.28700387e+02] [ 2.48595056e-02 9.99690900e-01 3.32048467e-04 3.49186782e+01] [-3.41270507e-03 -2.47284798e-04 9.99994146e-01 -1.99626731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.711400513 meters 0.07240445023626953 Centerline is valid? [True, True] Translation: X:328.73, Y:34.91, Z:-2.00 [[ 9.99688497e-01 -2.45665858e-02 4.40353348e-03 3.28732174e+02] [ 2.45649316e-02 9.99698144e-01 4.29359956e-04 3.49104386e+01] [-4.41275216e-03 -3.21053710e-04 9.99990212e-01 -1.99577115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74140051300003 meters 0.06804416960140475 Centerline is valid? [True, True] Translation: X:328.76, Y:34.91, Z:-1.99 [[ 9.99679902e-01 -2.47019249e-02 5.46888924e-03 3.28762700e+02] [ 2.46993752e-02 9.99694782e-01 5.33272987e-04 3.49122030e+01] [-5.48039291e-03 -3.98024140e-04 9.99984903e-01 -1.99342820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.771400513 meters 0.08944684120260511 Centerline is valid? [True, True] Translation: X:328.79, Y:34.94, Z:-1.99 [[ 9.99718342e-01 -2.27043674e-02 6.91001297e-03 3.28790402e+02] [ 2.27002503e-02 9.99742089e-01 6.73668576e-04 3.49396479e+01] [-6.92352602e-03 -5.16619808e-04 9.99975899e-01 -1.99313661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80140051300003 meters 0.07642507703513818 Centerline is valid? [True, True] Translation: X:328.82, Y:34.93, Z:-1.99 [[ 9.99754383e-01 -2.12682605e-02 6.23172927e-03 3.28822917e+02] [ 2.12648842e-02 9.99773692e-01 6.07568858e-04 3.49258178e+01] [-6.24324091e-03 -4.74902628e-04 9.99980398e-01 -1.99359841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.831400513 meters 0.08215309093744694 Centerline is valid? [True, True] Translation: X:328.85, Y:34.94, Z:-2.00 [[ 9.99789323e-01 -1.98667033e-02 5.15979548e-03 3.28852228e+02] [ 1.98643705e-02 9.99802557e-01 5.02977630e-04 3.49362342e+01] [-5.16876922e-03 -4.00375575e-04 9.99986562e-01 -1.99621369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86140051300004 meters 0.08400367329378511 Centerline is valid? [True, True] Translation: X:328.88, Y:34.94, Z:-2.00 [[ 9.99831780e-01 -1.78314785e-02 4.29524202e-03 3.28882767e+02] [ 1.78298432e-02 9.99840948e-01 4.18721874e-04 3.49427994e+01] [-4.30202529e-03 -3.42067945e-04 9.99990688e-01 -1.99844891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.891400513 meters 0.08417520837386709 Centerline is valid? [True, True] Translation: X:328.91, Y:34.95, Z:-2.00 [[ 9.99868070e-01 -1.56612591e-02 4.30897537e-03 3.28913252e+02] [ 1.56595934e-02 9.99877293e-01 4.20028023e-04 3.49467953e+01] [-4.31502479e-03 -3.52495807e-04 9.99990628e-01 -1.99912087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.921400513 meters 0.0830330443959753 Centerline is valid? [True, True] Translation: X:328.94, Y:34.95, Z:-2.00 [[ 9.99890503e-01 -1.34765726e-02 6.11267072e-03 3.28943595e+02] [ 1.34731802e-02 9.99909055e-01 5.95826445e-04 3.49494822e+01] [-6.12014450e-03 -5.13404090e-04 9.99981140e-01 -1.99541277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.951400513 meters 0.08872474500390085 Centerline is valid? [True, True] Translation: X:328.97, Y:34.96, Z:-2.00 [[ 9.99884656e-01 -1.39063203e-02 6.10645806e-03 3.28974000e+02] [ 1.39029423e-02 9.99903172e-01 5.95286128e-04 3.49608230e+01] [-6.11414502e-03 -5.10319731e-04 9.99981178e-01 -1.99510148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.981400513 meters 0.08018172179677407 Centerline is valid? [True, True] Translation: X:329.01, Y:34.96, Z:-2.00 [[ 9.99870837e-01 -1.52913384e-02 4.94809869e-03 3.29005307e+02] [ 1.52891382e-02 9.99882998e-01 4.82174247e-04 3.49552720e+01] [-4.95489285e-03 -4.06459803e-04 9.99987642e-01 -1.99647861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.011400513 meters 0.07759520543376794 Centerline is valid? [True, True] Translation: X:329.04, Y:34.96, Z:-2.00 [[ 9.99845688e-01 -1.71813863e-02 3.66056588e-03 3.29036585e+02] [ 1.71801948e-02 9.99852346e-01 3.56699923e-04 3.49557697e+01] [-3.66615398e-03 -2.93755645e-04 9.99993236e-01 -1.99851504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.041400513 meters 0.08259903270694574 Centerline is valid? [True, True] Translation: X:329.07, Y:34.96, Z:-2.00 [[ 9.99763873e-01 -2.13859060e-02 3.85254400e-03 3.29065620e+02] [ 2.13846179e-02 9.99771252e-01 3.75236908e-04 3.49615380e+01] [-3.85968752e-03 -2.92763123e-04 9.99992509e-01 -2.00089966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.071400513 meters 0.0867370231404802 Centerline is valid? [True, True] Translation: X:329.10, Y:34.97, Z:-2.00 [[ 9.99724562e-01 -2.28904109e-02 5.17968907e-03 3.29095192e+02] [ 2.28881022e-02 9.99737906e-01 5.04570675e-04 3.49675054e+01] [-5.18988134e-03 -3.85878444e-04 9.99986458e-01 -1.99929383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.101400513 meters 0.0777483519992965 Centerline is valid? [True, True] Translation: X:329.13, Y:34.96, Z:-2.00 [[ 9.99691697e-01 -2.38500219e-02 6.90561131e-03 3.29127966e+02] [ 2.38459406e-02 9.99715419e-01 6.72755964e-04 3.49590514e+01] [-6.91969135e-03 -5.07877754e-04 9.99975930e-01 -1.99661030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.131400513 meters 0.07719456623769679 Centerline is valid? [True, True] Translation: X:329.16, Y:34.96, Z:-2.00 [[ 9.99686148e-01 -2.38510729e-02 7.66372463e-03 3.29160071e+02] [ 2.38460485e-02 9.99715364e-01 7.46331079e-04 3.49613671e+01] [-7.67934405e-03 -5.63347292e-04 9.99970355e-01 -1.99554703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.161400513 meters 0.08005074052302776 Centerline is valid? [True, True] Translation: X:329.19, Y:34.97, Z:-2.00 [[ 9.99705581e-01 -2.31802740e-02 7.17125679e-03 3.29190543e+02] [ 2.31758597e-02 9.99731160e-01 6.98056202e-04 3.49676970e+01] [-7.18551000e-03 -5.31650640e-04 9.99974043e-01 -1.99659551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.191400513 meters 0.07311281426810538 Centerline is valid? [True, True] Translation: X:329.22, Y:34.96, Z:-2.00 [[ 9.99742018e-01 -2.20016238e-02 5.64150711e-03 3.29222750e+02] [ 2.19988742e-02 9.99757845e-01 5.48989482e-04 3.49618100e+01] [-5.65221965e-03 -4.24741048e-04 9.99983936e-01 -1.99871266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.221400513 meters 0.0848969488074536 Centerline is valid? [True, True] Translation: X:329.25, Y:34.98, Z:-2.00 [[ 9.99836929e-01 -1.77665370e-02 3.23506968e-03 3.29250341e+02] [ 1.77656110e-02 9.99842130e-01 3.14774059e-04 3.49789695e+01] [-3.24015140e-03 -2.57249739e-04 9.99994718e-01 -2.00384022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.251400513 meters 0.08491676519250069 Centerline is valid? [True, True] Translation: X:329.28, Y:34.98, Z:-2.00 [[ 9.99875508e-01 -1.52627700e-02 4.00197283e-03 3.29281083e+02] [ 1.52613335e-02 9.99883463e-01 3.89251755e-04 3.49829210e+01] [-4.00744751e-03 -3.28127855e-04 9.99991916e-01 -2.00318776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.281400513 meters 0.08680348237935429 Centerline is valid? [True, True] Translation: X:329.31, Y:34.99, Z:-2.00 [[ 9.99899261e-01 -1.29832866e-02 5.73598113e-03 3.29311663e+02] [ 1.29802983e-02 9.99915597e-01 5.57893559e-04 3.49890671e+01] [-5.74274028e-03 -4.83382611e-04 9.99983393e-01 -2.00066702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.311400513 meters 0.09285571905959993 Centerline is valid? [True, True] Translation: X:329.34, Y:35.00, Z:-2.00 [[ 9.99913425e-01 -1.08189740e-02 7.48945270e-03 3.29340769e+02] [ 1.08138193e-02 9.99941264e-01 7.28427767e-04 3.49994318e+01] [-7.49689364e-03 -6.47375116e-04 9.99971688e-01 -1.99761352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.341400513 meters 0.09480530360029807 Centerline is valid? [True, True] Translation: X:329.37, Y:35.00, Z:-2.00 [[ 9.99933164e-01 -8.11361141e-03 8.23632358e-03 3.29371712e+02] [ 8.10728677e-03 9.99966815e-01 8.00994407e-04 3.50039582e+01] [-8.24254922e-03 -7.34166635e-04 9.99965760e-01 -1.99713221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.371400513 meters 0.09298952013726779 Centerline is valid? [True, True] Translation: X:329.40, Y:35.01, Z:-2.00 [[ 9.99943865e-01 -7.53737722e-03 7.44686243e-03 3.29403902e+02] [ 7.53219174e-03 9.99971370e-01 7.24132425e-04 3.50051780e+01] [-7.45210729e-03 -6.68000580e-04 9.99972010e-01 -1.99940798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.401400513 meters 0.085515359263575 Centerline is valid? [True, True] Translation: X:329.44, Y:35.00, Z:-2.00 [[ 9.99953995e-01 -6.82950342e-03 6.73544931e-03 3.29436565e+02] [ 6.82524723e-03 9.99976493e-01 6.54692703e-04 3.50000467e+01] [-6.73976221e-03 -6.08691477e-04 9.99977102e-01 -2.00179753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.431400513 meters 0.08588248789534988 Centerline is valid? [True, True] Translation: X:329.47, Y:35.00, Z:-2.00 [[ 9.99961132e-01 -6.07486235e-03 6.38991458e-03 3.29467999e+02] [ 6.07101831e-03 9.99981378e-01 6.20804077e-04 3.50045703e+01] [-6.39356689e-03 -5.81986659e-04 9.99979392e-01 -2.00276212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.461400513 meters 0.09679043829373365 Centerline is valid? [True, True] Translation: X:329.50, Y:35.02, Z:-2.00 [[ 9.99966177e-01 -5.31583739e-03 6.27591458e-03 3.29497513e+02] [ 5.31211581e-03 9.99985705e-01 6.09514225e-04 3.50213035e+01] [-6.27906494e-03 -5.76155225e-04 9.99980120e-01 -2.00354487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49140051300003 meters 0.09493994104911431 Centerline is valid? [True, True] Translation: X:329.53, Y:35.02, Z:-2.00 [[ 9.99972904e-01 -4.47054180e-03 5.84858134e-03 3.29529183e+02] [ 4.46729673e-03 9.99989860e-01 5.67793650e-04 3.50209484e+01] [-5.85106038e-03 -5.41650916e-04 9.99982736e-01 -2.00318354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.521400513 meters 0.08840126352914439 Centerline is valid? [True, True] Translation: X:329.56, Y:35.02, Z:-2.00 [[ 9.99970000e-01 -4.80316062e-03 6.07685575e-03 3.29562096e+02] [ 4.79966389e-03 9.99988308e-01 5.89871511e-04 3.50158080e+01] [-6.07961794e-03 -5.60686950e-04 9.99981362e-01 -2.00244959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55140051300003 meters 0.09689740978217203 Centerline is valid? [True, True] Translation: X:329.59, Y:35.03, Z:-2.00 [[ 9.99963412e-01 -5.72098208e-03 6.35970274e-03 3.29591787e+02] [ 5.71717297e-03 9.99983467e-01 6.16962900e-04 3.50288148e+01] [-6.36312722e-03 -5.80580806e-04 9.99979587e-01 -2.00376874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.581400513 meters 0.09378532197102127 Centerline is valid? [True, True] Translation: X:329.62, Y:35.03, Z:-2.00 [[ 9.99933778e-01 -8.90144329e-03 7.29412297e-03 3.29622754e+02] [ 8.89651820e-03 9.99960175e-01 7.07383214e-04 3.50256590e+01] [-7.30012921e-03 -6.42444072e-04 9.99973147e-01 -2.00441918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61140051300004 meters 0.09319416211476926 Centerline is valid? [True, True] Translation: X:329.65, Y:35.03, Z:-2.00 [[ 9.99909481e-01 -1.08511550e-02 7.95502209e-03 3.29652227e+02] [ 1.08453581e-02 9.99940890e-01 7.71482429e-04 3.50254292e+01] [-7.96292334e-03 -6.85137531e-04 9.99968061e-01 -2.00371657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.641400513 meters 0.0839314129915132 Centerline is valid? [True, True] Translation: X:329.68, Y:35.01, Z:-2.00 [[ 9.99891093e-01 -1.23923050e-02 8.01460426e-03 3.29684038e+02] [ 1.23864694e-02 9.99922983e-01 7.77351471e-04 3.50149577e+01] [-8.02362017e-03 -6.77994162e-04 9.99967580e-01 -2.00297871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.671400513 meters 0.08500830343433038 Centerline is valid? [True, True] Translation: X:329.71, Y:35.02, Z:-2.00 [[ 9.99884863e-01 -1.31967054e-02 7.49050111e-03 3.29714755e+02] [ 1.31916312e-02 9.99912723e-01 7.26423024e-04 3.50177341e+01] [-7.49943376e-03 -6.27527458e-04 9.99971682e-01 -2.00246535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.701400513 meters 0.08325123560759169 Centerline is valid? [True, True] Translation: X:329.75, Y:35.02, Z:-2.00 [[ 9.99889536e-01 -1.31943602e-02 6.84279457e-03 3.29746931e+02] [ 1.31901262e-02 9.99912786e-01 6.63509506e-04 3.50169296e+01] [-6.85095237e-03 -5.73178888e-04 9.99976368e-01 -2.00283750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.731400513 meters 0.08094486223180701 Centerline is valid? [True, True] Translation: X:329.78, Y:35.02, Z:-2.00 [[ 9.99900194e-01 -1.25008545e-02 6.58266725e-03 3.29778944e+02] [ 1.24969231e-02 9.99921707e-01 6.38033212e-04 3.50151061e+01] [-6.59012783e-03 -5.55706446e-04 9.99978130e-01 -2.00379512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.761400513 meters 0.09305386085853151 Centerline is valid? [True, True] Translation: X:329.81, Y:35.03, Z:-2.01 [[ 9.99914013e-01 -1.15843681e-02 6.14566818e-03 3.29808428e+02] [ 1.15809260e-02 9.99932762e-01 5.95371807e-04 3.50307017e+01] [-6.15215196e-03 -5.24148084e-04 9.99980938e-01 -2.00594692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.791400513 meters 0.08565269501121804 Centerline is valid? [True, True] Translation: X:329.84, Y:35.02, Z:-2.01 [[ 9.99939846e-01 -9.51822233e-03 5.45041078e-03 3.29839673e+02] [ 9.51548789e-03 9.99954588e-01 5.27406130e-04 3.50208261e+01] [-5.45518323e-03 -4.75511087e-04 9.99985007e-01 -2.00916758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.821400513 meters 0.08387189890233969 Centerline is valid? [True, True] Translation: X:329.87, Y:35.02, Z:-2.01 [[ 9.99946198e-01 -9.07327860e-03 5.02750254e-03 3.29871523e+02] [ 9.07094592e-03 9.99958740e-01 4.86591032e-04 3.50202951e+01] [-5.03171008e-03 -4.40960649e-04 9.99987244e-01 -2.00996295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.851400513 meters 0.10923311762382418 Centerline is valid? [True, False] Translation: X:329.91, Y:35.02, Z:-2.01 [[ 9.99955865e-01 -6.62709371e-03 6.65958071e-03 3.29912898e+02] [ 6.61496444e-03 9.99976425e-01 1.84170531e-03 3.50209635e+01] [-6.67162886e-03 -1.79757113e-03 9.99976129e-01 -2.01000511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.881400513 meters 0.08037846975386588 Centerline is valid? [False, True] Translation: X:329.89, Y:35.02, Z:-2.01 [[ 9.99961995e-01 -5.94962682e-03 6.37259399e-03 3.29892354e+02] [ 6.00031083e-03 9.99950284e-01 -7.96406682e-03 3.50241447e+01] [-6.32489394e-03 8.00200169e-03 9.99947980e-01 -2.01159896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.911400513 meters 0.08037846975386588 Centerline is valid? [True, True] Translation: X:329.92, Y:35.02, Z:-2.01 [[ 9.99966437e-01 -5.98788481e-03 5.59199485e-03 3.29924682e+02] [ 5.98509657e-03 9.99981956e-01 5.15214460e-04 3.50197545e+01] [-5.59497899e-03 -4.81728538e-04 9.99984232e-01 -2.01122142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.941400513 meters 0.08521585288133356 Centerline is valid? [True, True] Translation: X:329.95, Y:35.02, Z:-2.01 [[ 9.99924136e-01 -9.93594276e-03 7.28002279e-03 3.29954487e+02] [ 9.93132532e-03 9.99950459e-01 6.70138292e-04 3.50246461e+01] [-7.28632058e-03 -5.97787178e-04 9.99973276e-01 -2.00960837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.971400513 meters 0.08511968530124138 Centerline is valid? [True, True] Translation: X:329.98, Y:35.03, Z:-2.01 [[ 9.99888454e-01 -1.19535838e-02 8.95491914e-03 3.29984475e+02] [ 1.19466769e-02 9.99928296e-01 8.24394090e-04 3.50252917e+01] [-8.96413150e-03 -7.17320607e-04 9.99959564e-01 -2.00777448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.001400513 meters 0.08008671110580463 Centerline is valid? [True, True] Translation: X:330.02, Y:35.02, Z:-2.01 [[ 9.99843767e-01 -1.46418942e-02 9.90231695e-03 3.30019107e+02] [ 1.46648196e-02 9.99889942e-01 -2.24652061e-03 3.50218351e+01] [-9.86833381e-03 2.39138532e-03 9.99948447e-01 -2.00730795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.031400513 meters 0.07397416643715914 Centerline is valid? [True, True] Translation: X:330.05, Y:35.01, Z:-2.01 [[ 9.99852412e-01 -1.45367323e-02 9.15634161e-03 3.30048655e+02] [ 1.45009656e-02 9.99887012e-01 3.96057838e-03 3.50096039e+01] [-9.21288092e-03 -3.82721805e-03 9.99950236e-01 -2.00761787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.061400513 meters 0.07546622833001836 Centerline is valid? [True, True] Translation: X:330.08, Y:35.01, Z:-2.01 [[ 9.99845738e-01 -1.50290414e-02 9.08998577e-03 3.30079608e+02] [ 1.50220552e-02 9.99886813e-01 8.36355089e-04 3.50100000e+01] [-9.10152651e-03 -6.99675804e-04 9.99958335e-01 -2.00886927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.091400513 meters 0.07558062070855974 Centerline is valid? [True, True] Translation: X:330.11, Y:35.01, Z:-2.01 [[ 9.99853703e-01 -1.44111606e-02 9.21363712e-03 3.30112060e+02] [ 1.44039599e-02 9.99895898e-01 8.47410163e-04 3.50107798e+01] [-9.22489013e-03 -7.14573330e-04 9.99957194e-01 -2.00866249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.121400513 meters 0.08200734808619863 Centerline is valid? [True, True] Translation: X:330.14, Y:35.02, Z:-2.01 [[ 9.99874723e-01 -1.32598007e-02 8.64386437e-03 3.30140971e+02] [ 1.32534239e-02 9.99911854e-01 7.94591393e-04 3.50197829e+01] [-8.65363857e-03 -6.79931050e-04 9.99962325e-01 -2.00990207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.151400513 meters 0.08383951851806112 Centerline is valid? [True, True] Translation: X:330.17, Y:35.02, Z:-2.01 [[ 9.99905294e-01 -1.16504044e-02 7.32605633e-03 3.30172160e+02] [ 1.16457805e-02 9.99931959e-01 6.73501387e-04 3.50235498e+01] [-7.33340442e-03 -5.88119959e-04 9.99972937e-01 -2.01233886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.181400513 meters 0.09439825115740771 Centerline is valid? [True, True] Translation: X:330.20, Y:35.04, Z:-2.01 [[ 9.99931441e-01 -9.73778616e-03 6.50302296e-03 3.30200593e+02] [ 9.73410362e-03 9.99952444e-01 5.97692683e-04 3.50370032e+01] [-6.50853391e-03 -5.34350606e-04 9.99978677e-01 -2.01475290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.211400513 meters 0.08145973158134685 Centerline is valid? [True, True] Translation: X:330.23, Y:35.02, Z:-2.01 [[ 9.99951815e-01 -7.43028247e-03 6.41551122e-03 3.30232369e+02] [ 7.42665205e-03 9.99972248e-01 5.89519438e-04 3.50212160e+01] [-6.41971348e-03 -5.41845263e-04 9.99979247e-01 -2.01394644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24140051300003 meters 0.09141135511044277 Centerline is valid? [True, True] Translation: X:330.26, Y:35.03, Z:-2.01 [[ 9.99968451e-01 -2.22169227e-03 7.62640380e-03 3.30261022e+02] [ 2.21641164e-03 9.99997298e-01 7.00796045e-04 3.50324653e+01] [-7.62794014e-03 -6.83870685e-04 9.99970673e-01 -2.01162947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.271400513 meters 0.0856549660292966 Centerline is valid? [True, True] Translation: X:330.29, Y:35.03, Z:-2.01 [[ 9.99966349e-01 9.74351555e-04 8.14558775e-03 3.30291999e+02] [-9.80479513e-04 9.99999239e-01 7.48344516e-04 3.50274643e+01] [-8.14485241e-03 -7.56305916e-04 9.99966544e-01 -2.01080776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30140051300003 meters 0.10744623644121844 Centerline is valid? [True, False] Translation: X:330.33, Y:35.03, Z:-2.01 [[ 9.99948528e-01 2.41859721e-03 9.85353940e-03 3.30333806e+02] [-2.41688277e-03 9.99997062e-01 -1.85896817e-04 3.50325496e+01] [-9.85396006e-03 1.62072399e-04 9.99951435e-01 -2.01231363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.331400513 meters 0.09869721726502317 Centerline is valid? [False, True] Translation: X:330.33, Y:35.03, Z:-2.00 [[ 9.99987210e-01 1.95406148e-03 -4.66488235e-03 3.30329105e+02] [-1.95312826e-03 9.99998072e-01 2.04598033e-04 3.50304254e+01] [ 4.66527315e-03 -1.95484303e-04 9.99989098e-01 -2.00296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36140051300004 meters 0.1092183518183216 Centerline is valid? [True, False] Translation: X:330.35, Y:35.03, Z:-2.00 [[ 9.99982978e-01 2.53706223e-03 -5.25427418e-03 3.30349168e+02] [-2.47830226e-03 9.99934657e-01 1.11597478e-02 3.50251289e+01] [ 5.28224383e-03 -1.11465361e-02 9.99923923e-01 -1.99978949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.391400513 meters 0.09910598458488457 Centerline is valid? [False, True] Translation: X:330.28, Y:35.03, Z:-2.01 [[ 9.99996538e-01 2.12639126e-03 -1.55005373e-03 3.30284152e+02] [-2.12253594e-03 9.99994661e-01 2.48463396e-03 3.50282172e+01] [ 1.55532876e-03 -2.48133531e-03 9.99995712e-01 -2.00632159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.421400513 meters 0.10479545523768592 Centerline is valid? [True, False] Translation: X:330.28, Y:35.03, Z:-2.01 [[ 9.99996919e-01 1.98629332e-03 -1.48870075e-03 3.30284005e+02] [-1.98314506e-03 9.99995801e-01 2.11326962e-03 3.50298880e+01] [ 1.49289207e-03 -2.11031080e-03 9.99996659e-01 -2.00646091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.451400513 meters 0.11322498157177184 Centerline is valid? [False, False] Translation: X:330.31, Y:35.03, Z:-2.01 [[ 9.99999321e-01 8.69474848e-04 -7.75743889e-04 3.30305192e+02] [-8.60719017e-04 9.99936719e-01 1.12168395e-02 3.50276389e+01] [ 7.85447559e-04 -1.12161642e-02 9.99936788e-01 -2.00557407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.481400513 meters 0.10468282217617074 Centerline is valid? [False, False] Translation: X:330.28, Y:35.04, Z:-2.01 [[ 9.99999380e-01 9.74553396e-04 5.38070902e-04 3.30284415e+02] [-9.74800027e-04 9.99999420e-01 4.58290618e-04 3.50371792e+01] [-5.37623961e-04 -4.58814845e-04 9.99999750e-01 -2.00933292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.511400513 meters 0.10548459739940923 Centerline is valid? [False, False] Translation: X:330.30, Y:35.03, Z:-2.00 [[ 9.99993330e-01 7.39222618e-04 -3.57679940e-03 3.30302510e+02] [-7.10996794e-04 9.99968651e-01 7.88621026e-03 3.50338429e+01] [ 3.58251693e-03 -7.88361457e-03 9.99962506e-01 -2.00165398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.541400513 meters 0.09987599330270358 Centerline is valid? [False, True] Translation: X:330.30, Y:35.04, Z:-2.00 [[ 9.99986284e-01 -4.05982635e-03 -3.30908177e-03 3.30301941e+02] [ 4.06657248e-03 9.99989662e-01 2.03449948e-03 3.50403779e+01] [ 3.30078784e-03 -2.04792820e-03 9.99992455e-01 -2.00254288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.571400513 meters 0.10257114753497186 Centerline is valid? [True, False] Translation: X:330.32, Y:35.05, Z:-2.01 [[ 9.99992650e-01 -3.02188524e-03 2.35970018e-03 3.30322524e+02] [ 3.04143765e-03 9.99960706e-01 -8.32682136e-03 3.50519934e+01] [-2.33444476e-03 8.33393704e-03 9.99962547e-01 -2.00844469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.601400513 meters 0.10021043156557913 Centerline is valid? [False, False] Translation: X:330.28, Y:35.04, Z:-2.01 [[ 9.99999585e-01 8.05027123e-04 4.26210036e-04 3.30282187e+02] [-8.04434007e-04 9.99998710e-01 -1.38995174e-03 3.50421995e+01] [-4.27328435e-04 1.38960831e-03 9.99998943e-01 -2.00746723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.631400513 meters 0.1015044197148453 Centerline is valid? [False, False] Translation: X:330.29, Y:35.04, Z:-2.01 [[ 9.99994763e-01 3.18413301e-03 -5.78903974e-04 3.30288871e+02] [-3.18369328e-03 9.99994644e-01 7.58917679e-04 3.50444139e+01] [ 5.81317368e-04 -7.57070652e-04 9.99999544e-01 -2.01215829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.661400513 meters 0.09528862160997352 Centerline is valid? [False, True] Translation: X:330.29, Y:35.05, Z:-2.01 [[ 9.99995282e-01 3.01854526e-03 -5.69250153e-04 3.30288955e+02] [-3.01835868e-03 9.99995391e-01 3.28328601e-04 3.50463423e+01] [ 5.70238604e-04 -3.26608851e-04 9.99999784e-01 -2.01244358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.691400513 meters 0.09949972593123303 Centerline is valid? [True, True] Translation: X:330.32, Y:35.06, Z:-2.01 [[ 9.99993916e-01 3.17134999e-03 -1.45287560e-03 3.30317454e+02] [-3.17155959e-03 9.99994961e-01 -1.41985154e-04 3.50565064e+01] [ 1.45241799e-03 1.46592172e-04 9.99998934e-01 -2.01420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.721400513 meters 0.11403616523463461 Centerline is valid? [True, False] Translation: X:330.32, Y:35.06, Z:-2.01 [[ 9.99994357e-01 3.02554766e-03 -1.46028561e-03 3.30317626e+02] [-3.02630214e-03 9.99995288e-01 -5.14734074e-04 3.50581666e+01] [ 1.45872138e-03 5.19150434e-04 9.99998801e-01 -2.01455490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.751400513 meters 0.09514638017096237 Centerline is valid? [False, True] Translation: X:330.30, Y:35.05, Z:-2.02 [[ 9.99999736e-01 -3.87937528e-04 6.14585695e-04 3.30297796e+02] [ 3.83426320e-04 9.99973110e-01 7.32343370e-03 3.50549193e+01] [-6.17410203e-04 -7.32319611e-03 9.99972994e-01 -2.01972372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.781400513 meters 0.10400262981012898 Centerline is valid? [True, False] Translation: X:330.34, Y:35.07, Z:-2.02 [[ 9.99995138e-01 -1.93874284e-03 2.44225327e-03 3.30338860e+02] [ 1.93193037e-03 9.99994245e-01 2.78869657e-03 3.50650233e+01] [-2.44764578e-03 -2.78396475e-03 9.99993129e-01 -2.02081313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.811400513 meters 0.0976860568712666 Centerline is valid? [False, True] Translation: X:330.34, Y:35.07, Z:-2.02 [[ 9.99994786e-01 -2.08843087e-03 2.46304869e-03 3.30338834e+02] [ 2.08252843e-03 9.99994960e-01 2.39652878e-03 3.50667905e+01] [-2.46804126e-03 -2.39138692e-03 9.99994095e-01 -2.02093747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.841400513 meters 0.09378854409506722 Centerline is valid? [True, True] Translation: X:330.37, Y:35.07, Z:-2.02 [[ 9.99995442e-01 -1.82464762e-03 2.40541444e-03 3.30370613e+02] [ 1.82405617e-03 9.99998306e-01 2.48051268e-04 3.50691013e+01] [-2.40586297e-03 -2.43662526e-04 9.99997076e-01 -2.02206085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.871400513 meters 0.10267522677011921 Centerline is valid? [True, False] Translation: X:330.41, Y:35.08, Z:-2.02 [[ 9.99993483e-01 -3.58189365e-04 3.59248367e-03 3.30414028e+02] [ 3.60343784e-04 9.99999756e-01 -5.99072461e-04 3.50759919e+01] [-3.59226821e-03 6.00363086e-04 9.99993368e-01 -2.02392253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.901400513 meters 0.10485308411372667 Centerline is valid? [False, False] Translation: X:330.39, Y:35.08, Z:-2.02 [[ 9.99998879e-01 1.43997726e-03 -4.10157310e-04 3.30392927e+02] [-1.44372162e-03 9.99955898e-01 -9.27997946e-03 3.50817816e+01] [ 3.96776262e-04 9.28056122e-03 9.99956856e-01 -2.02053473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.931400513 meters 0.10131680228583309 Centerline is valid? [False, False] Translation: X:330.41, Y:35.08, Z:-2.01 [[ 9.99988753e-01 1.36264039e-03 -4.54278602e-03 3.30410656e+02] [-1.36939902e-03 9.99997960e-01 -1.48499352e-03 3.50771711e+01] [ 4.54075324e-03 1.49119771e-03 9.99988579e-01 -2.01249369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.961400513 meters 0.10238399291664915 Centerline is valid? [False, False] Translation: X:330.37, Y:35.07, Z:-2.01 [[ 9.99978668e-01 1.12656216e-03 -6.43385361e-03 3.30370956e+02] [-1.12633155e-03 9.99999365e-01 3.94662610e-05 3.50728031e+01] [ 6.43389399e-03 -3.22187668e-05 9.99979302e-01 -2.01378914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99140051300003 meters 0.10231943222445868 Centerline is valid? [False, False] Translation: X:330.37, Y:35.07, Z:-2.01 [[ 9.99978496e-01 1.04719576e-03 -6.47384135e-03 3.30371125e+02] [-1.04826450e-03 9.99999437e-01 -1.61695735e-04 3.50737047e+01] [ 6.47366838e-03 1.68478556e-04 9.99979031e-01 -2.01388372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.021400513 meters 0.10341010598045568 Centerline is valid? [False, False] Translation: X:330.39, Y:35.07, Z:-2.01 [[ 9.99983280e-01 -7.53812693e-04 -5.73329505e-03 3.30394034e+02] [ 8.02460401e-04 9.99963658e-01 8.48756009e-03 3.50708556e+01] [ 5.72668866e-03 -8.49201893e-03 9.99947544e-01 -2.01435567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05140051300003 meters 0.10653313419102024 Centerline is valid? [False, False] Translation: X:330.39, Y:35.07, Z:-2.01 [[ 9.99969317e-01 -5.39637300e-03 -5.67831299e-03 3.30394074e+02] [ 5.41599981e-03 9.99979393e-01 3.44676996e-03 3.50740087e+01] [ 5.65959592e-03 -3.47741795e-03 9.99977938e-01 -2.01480490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.081400513 meters 0.08410787402960875 Centerline is valid? [False, True] Translation: X:330.39, Y:35.08, Z:-2.02 [[ 9.99934551e-01 -1.00227015e-02 -5.51710759e-03 3.30393764e+02] [ 1.00138433e-02 9.99948530e-01 -1.63087508e-03 3.50772981e+01] [ 5.53316940e-03 1.57552089e-03 9.99983451e-01 -2.01510644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11140051300004 meters 0.09533262420856004 Centerline is valid? [True, True] Translation: X:330.42, Y:35.09, Z:-2.02 [[ 9.99906065e-01 -1.27102169e-02 -5.12956844e-03 3.30421581e+02] [ 1.27077406e-02 9.99919121e-01 -5.15059820e-04 3.50926470e+01] [ 5.13570009e-03 4.49826212e-04 9.99986711e-01 -2.01531439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.141400513 meters 0.09522454211917081 Centerline is valid? [True, True] Translation: X:330.45, Y:35.09, Z:-2.01 [[ 9.99847600e-01 -1.68594278e-02 -4.53167181e-03 3.30450597e+02] [ 1.68575371e-02 9.99857798e-01 -4.55089074e-04 3.50948530e+01] [ 4.53869993e-03 3.78626893e-04 9.99989628e-01 -2.01481843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.171400513 meters 0.09300756567519648 Centerline is valid? [True, True] Translation: X:330.48, Y:35.10, Z:-2.02 [[ 9.99828093e-01 -1.79669999e-02 -4.57939227e-03 3.30480611e+02] [ 1.79650804e-02 9.99838509e-01 -4.59933727e-04 3.50950564e+01] [ 4.58691637e-03 3.77585511e-04 9.99989409e-01 -2.01515906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.201400513 meters 0.08345991708607231 Centerline is valid? [True, True] Translation: X:330.51, Y:35.09, Z:-2.02 [[ 9.99818161e-01 -1.83409250e-02 -5.22059905e-03 3.30510397e+02] [ 1.83384320e-02 9.99831699e-01 -5.25015905e-04 3.50864263e+01] [ 5.22934969e-03 4.29182837e-04 9.99986235e-01 -2.01563389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.231400513 meters 0.08617899106061334 Centerline is valid? [True, True] Translation: X:330.54, Y:35.09, Z:-2.02 [[ 9.99811534e-01 -1.83639851e-02 -6.29760256e-03 3.30537258e+02] [ 1.83603546e-02 9.99831234e-01 -6.33815468e-04 3.50932975e+01] [ 6.30817912e-03 5.18069799e-04 9.99979969e-01 -2.01720582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.261400513 meters 0.07886132213278722 Centerline is valid? [True, True] Translation: X:330.57, Y:35.09, Z:-2.02 [[ 9.99821690e-01 -1.76375192e-02 -6.74582518e-03 3.30567154e+02] [ 1.76333354e-02 9.99844290e-01 -6.79190487e-04 3.50866386e+01] [ 6.75675402e-03 5.60117983e-04 9.99977016e-01 -2.01781783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.291400513 meters 0.09821729135996499 Centerline is valid? [True, True] Translation: X:330.59, Y:35.12, Z:-2.02 [[ 9.99826438e-01 -1.71380376e-02 -7.30631678e-03 3.30592196e+02] [ 1.71331118e-02 9.99852946e-01 -7.36242579e-04 3.51185525e+01] [ 7.31786012e-03 6.10934852e-04 9.99973037e-01 -2.01882912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.321400513 meters 0.09570091401322728 Centerline is valid? [True, True] Translation: X:330.62, Y:35.12, Z:-2.01 [[ 9.99864497e-01 -1.55065041e-02 -5.52597110e-03 3.30621804e+02] [ 1.55036610e-02 9.99879656e-01 -5.56975369e-04 3.51237054e+01] [ 5.53394282e-03 4.71227115e-04 9.99984577e-01 -2.01483795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.351400513 meters 0.07998443295428066 Centerline is valid? [True, True] Translation: X:330.65, Y:35.11, Z:-2.01 [[ 9.99877870e-01 -1.51640858e-02 -3.78091571e-03 3.30652253e+02] [ 1.51627506e-02 9.99884966e-01 -3.81555222e-04 3.51090635e+01] [ 3.78626671e-03 3.24179541e-04 9.99992780e-01 -2.01107985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.381400513 meters 0.08611835609594785 Centerline is valid? [True, True] Translation: X:330.68, Y:35.12, Z:-2.01 [[ 9.99881129e-01 -1.52284461e-02 -2.41293003e-03 3.30678608e+02] [ 1.52279018e-02 9.99884019e-01 -2.43791842e-04 3.51210662e+01] [ 2.41636275e-03 2.07019001e-04 9.99997059e-01 -2.00928758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.411400513 meters 0.08849387815556278 Centerline is valid? [True, True] Translation: X:330.71, Y:35.13, Z:-2.01 [[ 9.99876209e-01 -1.56253324e-02 -1.84830476e-03 3.30705703e+02] [ 1.56250134e-02 9.99877905e-01 -1.86891848e-04 3.51291162e+01] [ 1.85099934e-03 1.57988926e-04 9.99998274e-01 -2.00854540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.441400513 meters 0.08112928779923538 Centerline is valid? [True, True] Translation: X:330.74, Y:35.13, Z:-2.01 [[ 9.99855415e-01 -1.68436135e-02 -2.33265024e-03 3.30736293e+02] [ 1.68431085e-02 9.99858117e-01 -2.35953322e-04 3.51263939e+01] [ 2.33629358e-03 1.96630126e-04 9.99997252e-01 -2.00894942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.471400513 meters 0.07800289477953631 Centerline is valid? [True, True] Translation: X:330.77, Y:35.13, Z:-2.01 [[ 9.99825949e-01 -1.84887655e-02 -2.49742379e-03 3.30766263e+02] [ 1.84881917e-02 9.99829047e-01 -2.52670059e-04 3.51290904e+01] [ 2.50166840e-03 2.06453232e-04 9.99996850e-01 -2.00955001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.501400513 meters 0.07803349452744757 Centerline is valid? [True, True] Translation: X:330.80, Y:35.14, Z:-2.01 [[ 9.99739526e-01 -2.27137612e-02 -2.22814377e-03 3.30795160e+02] [ 2.27133148e-02 9.99741994e-01 -2.25450661e-04 3.51366630e+01] [ 2.23268973e-03 1.74783406e-04 9.99997492e-01 -2.00903002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.531400513 meters 0.07637541458663355 Centerline is valid? [True, True] Translation: X:330.83, Y:35.14, Z:-2.01 [[ 9.99700677e-01 -2.43896256e-02 -1.92418120e-03 3.30825563e+02] [ 2.43892958e-02 9.99702518e-01 -1.94707227e-04 3.51385455e+01] [ 1.92835763e-03 1.47719523e-04 9.99998130e-01 -2.00823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.561400513 meters 0.07614329260092266 Centerline is valid? [True, True] Translation: X:330.85, Y:35.14, Z:-2.01 [[ 9.99662504e-01 -2.58988315e-02 -2.03169623e-03 3.30854847e+02] [ 2.58984668e-02 9.99664557e-01 -2.05622793e-04 3.51419542e+01] [ 2.03634010e-03 1.52935579e-04 9.99997915e-01 -2.00837785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.591400513 meters 0.07244725362648866 Centerline is valid? [True, True] Translation: X:330.89, Y:35.14, Z:-2.01 [[ 9.99607600e-01 -2.77827287e-02 -3.57296158e-03 3.30885329e+02] [ 2.77816125e-02 9.99613951e-01 -3.61680901e-04 3.51428770e+01] [ 3.58163073e-03 2.62276343e-04 9.99993552e-01 -2.01114284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.621400513 meters 0.0710516962376931 Centerline is valid? [True, True] Translation: X:330.91, Y:35.14, Z:-2.01 [[ 9.99587375e-01 -2.83426619e-02 -4.66609458e-03 3.30914345e+02] [ 2.83407612e-02 9.99598208e-01 -4.72958157e-04 3.51446313e+01] [ 4.67762467e-03 3.40522331e-04 9.99989002e-01 -2.01287754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.651400513 meters 0.08287225090103065 Centerline is valid? [True, True] Translation: X:330.94, Y:35.16, Z:-2.01 [[ 9.99599706e-01 -2.78576651e-02 -4.93733401e-03 3.30940828e+02] [ 2.78555292e-02 9.99611834e-01 -5.00856347e-04 3.51614076e+01] [ 4.94937019e-03 3.63123806e-04 9.99987686e-01 -2.01385870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.681400513 meters 0.07336280711543272 Centerline is valid? [True, True] Translation: X:330.97, Y:35.15, Z:-2.01 [[ 9.99628343e-01 -2.68309980e-02 -4.82431406e-03 3.30971143e+02] [ 2.68289459e-02 9.99639919e-01 -4.89582169e-04 3.51511009e+01] [ 4.83571290e-03 3.59968952e-04 9.99988243e-01 -2.01282926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.711400513 meters 0.07397222758051394 Centerline is valid? [True, True] Translation: X:331.00, Y:35.15, Z:-2.01 [[ 9.99675872e-01 -2.51538242e-02 -3.92880923e-03 3.31000882e+02] [ 2.51524502e-02 9.99683548e-01 -3.98767081e-04 3.51536795e+01] [ 3.93759647e-03 2.99818651e-04 9.99992203e-01 -2.01102584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74140051300003 meters 0.08312361540866745 Centerline is valid? [True, True] Translation: X:331.03, Y:35.17, Z:-2.01 [[ 9.99765629e-01 -2.14918204e-02 -2.60553492e-03 3.31029314e+02] [ 2.14912036e-02 9.99769002e-01 -2.64479669e-04 3.51676658e+01] [ 2.61061720e-03 2.08421601e-04 9.99996571e-01 -2.00958758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.771400513 meters 0.08270409588537828 Centerline is valid? [True, True] Translation: X:331.06, Y:35.17, Z:-2.01 [[ 9.99807661e-01 -1.94823823e-02 -2.25352102e-03 3.31059880e+02] [ 1.94819158e-02 9.99810183e-01 -2.28761722e-04 3.51699379e+01] [ 2.25755009e-03 1.84814815e-04 9.99997435e-01 -2.00927623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80140051300003 meters 0.08258275644736171 Centerline is valid? [True, True] Translation: X:331.09, Y:35.17, Z:-2.01 [[ 9.99837979e-01 -1.77837412e-02 -2.78475641e-03 3.31089742e+02] [ 1.77830222e-02 9.99841830e-01 -2.82723584e-04 3.51715095e+01] [ 2.78934383e-03 2.33156392e-04 9.99996083e-01 -2.00988882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.831400513 meters 0.08258275644736171 Centerline is valid? [True, True] Translation: X:331.12, Y:35.17, Z:-2.01 [[ 9.99834711e-01 -1.79665375e-02 -2.78472154e-03 3.31117175e+02] [ 1.79658183e-02 9.99838562e-01 -2.83066707e-04 3.51744372e+01] [ 2.78935771e-03 2.32990118e-04 9.99996083e-01 -2.00986124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86140051300004 meters 0.09078447772777772 Centerline is valid? [True, True] Translation: X:331.14, Y:35.19, Z:-2.01 [[ 9.99849814e-01 -1.70100134e-02 -3.31807071e-03 3.31144826e+02] [ 1.70089861e-02 9.99855280e-01 -3.37580407e-04 3.51854713e+01] [ 3.32333277e-03 2.81092689e-04 9.99994438e-01 -2.01133491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.891400513 meters 0.0886154819915608 Centerline is valid? [True, True] Translation: X:331.17, Y:35.18, Z:-2.01 [[ 9.99832818e-01 -1.76261133e-02 -4.86379660e-03 3.31173963e+02] [ 1.76239100e-02 9.99844564e-01 -4.95499779e-04 3.51816170e+01] [ 4.87177433e-03 4.09697827e-04 9.99988049e-01 -2.01432482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.921400513 meters 0.08983462504377016 Centerline is valid? [True, True] Translation: X:331.20, Y:35.18, Z:-2.01 [[ 9.99816173e-01 -1.85141517e-02 -4.98467462e-03 3.31201581e+02] [ 1.85118465e-02 9.99828512e-01 -5.08195975e-04 3.51839680e+01] [ 4.99322862e-03 4.15827023e-04 9.99987447e-01 -2.01456740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.951400513 meters 0.09108143735734638 Centerline is valid? [True, True] Translation: X:331.23, Y:35.19, Z:-2.01 [[ 9.99804233e-01 -1.92137100e-02 -4.72530440e-03 3.31229120e+02] [ 1.92116446e-02 9.99815323e-01 -4.82090750e-04 3.51857890e+01] [ 4.73369450e-03 3.91215504e-04 9.99988719e-01 -2.01419552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.981400513 meters 0.08238412613487929 Centerline is valid? [True, True] Translation: X:331.26, Y:35.18, Z:-2.01 [[ 9.99794556e-01 -1.97560127e-02 -4.53269660e-03 3.31259518e+02] [ 1.97541149e-02 9.99804761e-01 -4.63082569e-04 3.51753423e+01] [ 4.54096031e-03 3.73448022e-04 9.99989620e-01 -2.01278562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.011400513 meters 0.08793998543179062 Centerline is valid? [True, True] Translation: X:331.29, Y:35.18, Z:-2.01 [[ 9.99790266e-01 -2.00593393e-02 -4.12890830e-03 3.31286301e+02] [ 2.00577658e-02 9.99798734e-01 -4.22153975e-04 3.51828352e+01] [ 4.13654542e-03 3.39248759e-04 9.99991387e-01 -2.01231830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.041400513 meters 0.08683571690644067 Centerline is valid? [True, True] Translation: X:331.32, Y:35.18, Z:-2.01 [[ 9.99784265e-01 -2.03417882e-02 -4.19948742e-03 3.31315707e+02] [ 2.03401606e-02 9.99793025e-01 -4.29930256e-04 3.51830712e+01] [ 4.20736378e-03 3.44419256e-04 9.99991090e-01 -2.01190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.071400513 meters 0.08411051073259311 Centerline is valid? [True, True] Translation: X:331.35, Y:35.18, Z:-2.01 [[ 9.99785602e-01 -2.02829608e-02 -4.16553914e-03 3.31345081e+02] [ 2.02813562e-02 9.99794221e-01 -4.27113651e-04 3.51823901e+01] [ 4.17334508e-03 3.42539296e-04 9.99991233e-01 -2.01184830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.101400513 meters 0.08456564665559532 Centerline is valid? [True, True] Translation: X:331.37, Y:35.18, Z:-2.01 [[ 9.99794875e-01 -1.99830884e-02 -3.29910019e-03 3.31373615e+02] [ 1.99820786e-02 9.99800281e-01 -3.38768863e-04 3.51830532e+01] [ 3.30521094e-03 2.72776494e-04 9.99994501e-01 -2.01189993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.131400513 meters 0.08634208138126478 Centerline is valid? [True, True] Translation: X:331.40, Y:35.19, Z:-2.01 [[ 9.99789953e-01 -2.01444227e-02 -3.77507231e-03 3.31399923e+02] [ 2.01430996e-02 9.99797032e-01 -3.88189425e-04 3.51913484e+01] [ 3.78212594e-03 3.12066230e-04 9.99992799e-01 -2.01180881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.161400513 meters 0.08850879108081859 Centerline is valid? [True, True] Translation: X:331.43, Y:35.20, Z:-2.01 [[ 9.99773481e-01 -2.07687817e-02 -4.65239484e-03 3.31427656e+02] [ 2.07667767e-02 9.99784233e-01 -4.78867998e-04 3.51963163e+01] [ 4.66133651e-03 3.82144280e-04 9.99989063e-01 -2.01292361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.191400513 meters 0.08463831164583928 Centerline is valid? [True, True] Translation: X:331.46, Y:35.19, Z:-2.01 [[ 9.99695783e-01 -2.39230421e-02 -6.00250686e-03 3.31458553e+02] [ 2.39197601e-02 9.99713691e-01 -6.17976459e-04 3.51919201e+01] [ 6.01557216e-03 4.74209936e-04 9.99981794e-01 -2.01391884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.221400513 meters 0.08303525094477598 Centerline is valid? [True, True] Translation: X:331.49, Y:35.19, Z:-2.01 [[ 9.99630173e-01 -2.65990912e-02 -5.65726001e-03 3.31487838e+02] [ 2.65962181e-02 9.99646088e-01 -5.82500486e-04 3.51924915e+01] [ 5.67075183e-03 4.31823341e-04 9.99983828e-01 -2.01307268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.251400513 meters 0.08027241949395249 Centerline is valid? [True, True] Translation: X:331.52, Y:35.19, Z:-2.01 [[ 9.99556712e-01 -2.95400190e-02 -3.71038169e-03 3.31518221e+02] [ 2.95388032e-02 9.99563561e-01 -3.82065059e-04 3.51925264e+01] [ 3.72004855e-03 2.72295460e-04 9.99993044e-01 -2.01061715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.281400513 meters 0.07791037865104249 Centerline is valid? [True, True] Translation: X:331.55, Y:35.19, Z:-2.01 [[ 9.99475391e-01 -3.23643394e-02 -1.22149006e-03 3.31548848e+02] [ 3.23642097e-02 9.99476134e-01 -1.25781551e-04 3.51924311e+01] [ 1.22492100e-03 8.61830044e-05 9.99999246e-01 -2.00714280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.311400513 meters 0.07071319866326083 Centerline is valid? [True, True] Translation: X:331.58, Y:35.18, Z:-2.00 [[ 9.99341564e-01 -3.62494334e-02 1.55453614e-03 3.31579660e+02] [ 3.62492280e-02 9.99342768e-01 1.60130802e-04 3.51846773e+01] [-1.55931909e-03 -1.03674631e-04 9.99998779e-01 -2.00330035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.341400513 meters 0.07235837125785041 Centerline is valid? [True, True] Translation: X:331.61, Y:35.19, Z:-2.00 [[ 9.99311821e-01 -3.70857056e-02 7.31950820e-04 3.31607447e+02] [ 3.70856602e-02 9.99312087e-01 7.54850003e-05 3.51890506e+01] [-7.34246716e-04 -4.82881736e-05 9.99999729e-01 -2.00436832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.371400513 meters 0.07140499988612475 Centerline is valid? [True, True] Translation: X:331.64, Y:35.19, Z:-2.01 [[ 9.99295304e-01 -3.75168309e-02 -1.17568551e-03 3.31636634e+02] [ 3.75167142e-02 9.99295993e-01 -1.21185274e-04 3.51909889e+01] [ 1.17940431e-03 7.69920183e-05 9.99999302e-01 -2.00745113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.401400513 meters 0.06479018255282802 Centerline is valid? [True, True] Translation: X:331.67, Y:35.19, Z:-2.01 [[ 9.99308200e-01 -3.70607390e-02 -3.10203449e-03 3.31666240e+02] [ 3.70599219e-02 9.99312994e-01 -3.20506560e-04 3.51857616e+01] [ 3.11178158e-03 2.05323678e-04 9.99995137e-01 -2.00935341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.431400513 meters 0.06549547450717627 Centerline is valid? [True, True] Translation: X:331.70, Y:35.19, Z:-2.01 [[ 9.99362361e-01 -3.54829841e-02 -3.97871663e-03 3.31696787e+02] [ 3.54816266e-02 9.99370244e-01 -4.11297315e-04 3.51887771e+01] [ 3.99080507e-03 2.69863718e-04 9.99992000e-01 -2.00983844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.461400513 meters 0.07020401056395523 Centerline is valid? [True, True] Translation: X:331.73, Y:35.20, Z:-2.01 [[ 9.99526214e-01 -3.06685599e-02 -2.60535937e-03 3.31726085e+02] [ 3.06679615e-02 9.99529591e-01 -2.69338082e-04 3.51956928e+01] [ 2.61239400e-03 1.89309413e-04 9.99996570e-01 -2.00754229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49140051300003 meters 0.07901649058033648 Centerline is valid? [True, True] Translation: X:331.75, Y:35.21, Z:-2.01 [[ 9.99604436e-01 -2.80332362e-02 -2.26048797e-03 3.31754447e+02] [ 2.80327789e-02 9.99606977e-01 -2.33707129e-04 3.52103766e+01] [ 2.26615111e-03 1.70246923e-04 9.99997418e-01 -2.00725487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.521400513 meters 0.07650363385391133 Centerline is valid? [True, True] Translation: X:331.78, Y:35.21, Z:-2.01 [[ 9.99683866e-01 -2.49978640e-02 -2.69714045e-03 3.31784900e+02] [ 2.49972020e-02 9.99687482e-01 -2.78885379e-04 3.52088222e+01] [ 2.70326909e-03 2.11376249e-04 9.99996324e-01 -2.00855527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55140051300003 meters 0.08423281040870648 Centerline is valid? [True, True] Translation: X:331.81, Y:35.23, Z:-2.01 [[ 9.99751030e-01 -2.20474202e-02 -3.43360825e-03 3.31812197e+02] [ 2.20463298e-02 9.99756887e-01 -3.55106164e-04 3.52257412e+01] [ 3.44060267e-03 2.79319293e-04 9.99994042e-01 -2.00982202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.581400513 meters 0.09250466864689409 Centerline is valid? [True, True] Translation: X:331.84, Y:35.24, Z:-2.01 [[ 9.99857348e-01 -1.64392721e-02 -3.87731445e-03 3.31840095e+02] [ 1.64378396e-02 9.99864809e-01 -4.01027195e-04 3.52418269e+01] [ 3.88338287e-03 3.37235315e-04 9.99992403e-01 -2.01050261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61140051300004 meters 0.09010173632800153 Centerline is valid? [True, True] Translation: X:331.87, Y:35.24, Z:-2.01 [[ 9.99896725e-01 -1.38593714e-02 -3.80236873e-03 3.31870844e+02] [ 1.38579753e-02 9.99903896e-01 -3.93276062e-04 3.52443099e+01] [ 3.80745387e-03 3.40542315e-04 9.99992694e-01 -2.00971950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.641400513 meters 0.09724960068984628 Centerline is valid? [True, True] Translation: X:331.90, Y:35.26, Z:-2.01 [[ 9.99920533e-01 -1.20350685e-02 -3.75289379e-03 3.31899317e+02] [ 1.20336956e-02 9.99927517e-01 -3.88197811e-04 3.52588658e+01] [ 3.75729376e-03 3.43005781e-04 9.99992883e-01 -2.00990103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.671400513 meters 0.09701884104800616 Centerline is valid? [True, True] Translation: X:331.93, Y:35.26, Z:-2.01 [[ 9.99927472e-01 -1.12934457e-02 -4.18433203e-03 3.31928860e+02] [ 1.12917322e-02 9.99936153e-01 -4.32912255e-04 3.52639390e+01] [ 4.18895394e-03 3.85632500e-04 9.99991152e-01 -2.01036294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.701400513 meters 0.09507607743001557 Centerline is valid? [True, True] Translation: X:331.96, Y:35.27, Z:-2.01 [[ 9.99902285e-01 -1.28518411e-02 -5.50010042e-03 3.31959157e+02] [ 1.28489034e-02 9.99917287e-01 -5.69120826e-04 3.52672246e+01] [ 5.50695975e-03 4.98394955e-04 9.99984712e-01 -2.01208423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.731400513 meters 0.09129485511519635 Centerline is valid? [True, True] Translation: X:331.99, Y:35.27, Z:-2.01 [[ 9.99875336e-01 -1.48359202e-02 -5.40444515e-03 3.31990002e+02] [ 1.48331125e-02 9.99889827e-01 -5.59242499e-04 3.52673274e+01] [ 5.41214660e-03 4.79008038e-04 9.99985240e-01 -2.01221259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.761400513 meters 0.09316897865503022 Centerline is valid? [True, True] Translation: X:332.02, Y:35.27, Z:-2.01 [[ 9.99842368e-01 -1.68867677e-02 -5.48424995e-03 3.32018674e+02] [ 1.68839067e-02 9.99857296e-01 -5.67563101e-04 3.52748311e+01] [ 5.49305163e-03 4.74878071e-04 9.99984800e-01 -2.01248801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.791400513 meters 0.09137322290194527 Centerline is valid? [True, True] Translation: X:332.05, Y:35.28, Z:-2.01 [[ 9.99813031e-01 -1.86637903e-02 -5.05636147e-03 3.32048953e+02] [ 1.86613807e-02 9.99825724e-01 -5.23317958e-04 3.52790824e+01] [ 5.06524736e-03 4.28861427e-04 9.99987080e-01 -2.01249691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.821400513 meters 0.08270378436386251 Centerline is valid? [True, True] Translation: X:332.08, Y:35.27, Z:-2.01 [[ 9.99789057e-01 -1.99636370e-02 -4.82644438e-03 3.32080026e+02] [ 1.99614563e-02 9.99800625e-01 -4.99572212e-04 3.52741322e+01] [ 4.83545539e-03 4.03123972e-04 9.99988228e-01 -2.01130340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.851400513 meters 0.08336612951975203 Centerline is valid? [True, True] Translation: X:332.11, Y:35.28, Z:-2.01 [[ 9.99750531e-01 -2.19578797e-02 -4.08978995e-03 3.32108839e+02] [ 2.19563302e-02 9.99758841e-01 -4.23376713e-04 3.52802364e+01] [ 4.09810012e-03 3.33474315e-04 9.99991547e-01 -2.00997354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.881400513 meters 0.07532748685663981 Centerline is valid? [True, True] Translation: X:332.14, Y:35.27, Z:-2.01 [[ 9.99724392e-01 -2.31173771e-02 -4.08984334e-03 3.32139421e+02] [ 2.31158369e-02 9.99732704e-01 -4.23469329e-04 3.52745462e+01] [ 4.09853964e-03 3.28812466e-04 9.99991547e-01 -2.00899926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.911400513 meters 0.07715706746400923 Centerline is valid? [True, True] Translation: X:332.17, Y:35.28, Z:-2.01 [[ 9.99696926e-01 -2.42497670e-02 -4.24320537e-03 3.32169144e+02] [ 2.42481184e-02 9.99705875e-01 -4.39563445e-04 3.52790885e+01] [ 4.25261665e-03 3.36540479e-04 9.99990901e-01 -2.00964209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.941400513 meters 0.08553708920658779 Centerline is valid? [True, True] Translation: X:332.20, Y:35.30, Z:-2.01 [[ 9.99687733e-01 -2.46613249e-02 -4.03186600e-03 3.32195301e+02] [ 2.46598384e-02 9.99695813e-01 -4.17996231e-04 3.52954094e+01] [ 4.04094790e-03 3.18440541e-04 9.99991785e-01 -2.01035404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.971400513 meters 0.07969239137828277 Centerline is valid? [True, True] Translation: X:332.22, Y:35.29, Z:-2.01 [[ 9.99683150e-01 -2.48104287e-02 -4.24764319e-03 3.32224309e+02] [ 2.48087772e-02 9.99692118e-01 -4.41059241e-04 3.52914942e+01] [ 4.25727829e-03 3.35540658e-04 9.99990881e-01 -2.01055683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.001400513 meters 0.0863485166379493 Centerline is valid? [True, True] Translation: X:332.25, Y:35.30, Z:-2.01 [[ 9.99706612e-01 -2.39211524e-02 -3.80366138e-03 3.32251608e+02] [ 2.39198205e-02 9.99713802e-01 -3.95261114e-04 3.53035464e+01] [ 3.81202789e-03 3.04162252e-04 9.99992688e-01 -2.01010824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.031400513 meters 0.08102522760650598 Centerline is valid? [True, True] Translation: X:332.28, Y:35.30, Z:-2.01 [[ 9.99746343e-01 -2.22665751e-02 -3.38365717e-03 3.32282395e+02] [ 2.22655115e-02 9.99752031e-01 -3.51687693e-04 3.52996239e+01] [ 3.39064901e-03 2.76259627e-04 9.99994214e-01 -2.00917680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.061400513 meters 0.09701866635424437 Centerline is valid? [True, True] Translation: X:332.31, Y:35.33, Z:-2.01 [[ 9.99797649e-01 -1.98568899e-02 -3.21947579e-03 3.32308749e+02] [ 1.98559144e-02 9.99802796e-01 -3.34686766e-04 3.53259780e+01] [ 3.22548673e-03 2.70693406e-04 9.99994761e-01 -2.00892769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.091400513 meters 0.08988210415765277 Centerline is valid? [True, True] Translation: X:332.34, Y:35.32, Z:-2.01 [[ 9.99848903e-01 -1.71844824e-02 -2.62018385e-03 3.32339625e+02] [ 1.71838271e-02 9.99852310e-01 -2.72422670e-04 3.53210093e+01] [ 2.62447832e-03 2.27356721e-04 9.99996530e-01 -2.00811140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.121400513 meters 0.09600382973634317 Centerline is valid? [True, True] Translation: X:332.37, Y:35.33, Z:-2.01 [[ 9.99900353e-01 -1.39751788e-02 -1.99441763e-03 3.32367752e+02] [ 1.39747928e-02 9.99902326e-01 -2.07371449e-04 3.53290577e+01] [ 1.99712088e-03 1.79479212e-04 9.99997990e-01 -2.00758266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.151400513 meters 0.09257956314148287 Centerline is valid? [True, True] Translation: X:332.40, Y:35.33, Z:-2.01 [[ 9.99899203e-01 -1.41215999e-02 -1.47107063e-03 3.32396718e+02] [ 1.41213899e-02 9.99900276e-01 -1.53032563e-04 3.53268318e+01] [ 1.47308500e-03 1.32243576e-04 9.99998906e-01 -2.00714728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.181400513 meters 0.08805321234992551 Centerline is valid? [True, True] Translation: X:332.43, Y:35.32, Z:-2.01 [[ 9.99882883e-01 -1.52281563e-02 -1.52459583e-03 3.32426848e+02] [ 1.52279317e-02 9.99884036e-01 -1.58774872e-04 3.53234733e+01] [ 1.52683688e-03 1.35539836e-04 9.99998825e-01 -2.00731854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.211400513 meters 0.0874385490901332 Centerline is valid? [True, True] Translation: X:332.46, Y:35.32, Z:-2.01 [[ 9.99855135e-01 -1.68010591e-02 -2.72628671e-03 3.32456657e+02] [ 1.68003467e-02 9.99858824e-01 -2.84001647e-04 3.53238451e+01] [ 2.73067335e-03 2.38157943e-04 9.99996243e-01 -2.00930467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24140051300003 meters 0.10600014518449775 Centerline is valid? [True, False] Translation: X:332.46, Y:35.33, Z:-2.01 [[ 9.99929833e-01 -1.18459178e-02 -5.50356511e-05 3.32458550e+02] [ 1.18438281e-02 9.99821749e-01 -1.47035336e-02 3.53262259e+01] [ 2.29202692e-04 1.47018501e-02 9.99891896e-01 -2.01253512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.271400513 meters 0.08451127307119882 Centerline is valid? [False, True] Translation: X:332.46, Y:35.32, Z:-2.01 [[ 9.99975425e-01 -7.00120097e-03 -3.65351762e-04 3.32459060e+02] [ 6.99787906e-03 9.99940104e-01 -8.41531017e-03 3.53180154e+01] [ 4.24247157e-04 8.41254668e-03 9.99964524e-01 -2.01160240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30140051300003 meters 0.08403620305522186 Centerline is valid? [True, True] Translation: X:332.49, Y:35.31, Z:-2.01 [[ 9.99960285e-01 -8.80779016e-03 -1.36033624e-03 3.32489862e+02] [ 8.80763563e-03 9.99961205e-01 -1.19547107e-04 3.53087678e+01] [ 1.36133641e-03 1.07561013e-04 9.99999068e-01 -2.01223547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.331400513 meters 0.084196794689002 Centerline is valid? [True, True] Translation: X:332.52, Y:35.31, Z:-2.01 [[ 9.99949049e-01 -9.92405601e-03 -1.84723951e-03 3.32518957e+02] [ 9.92377284e-03 9.99950745e-01 -1.62392479e-04 3.53110839e+01] [ 1.84876011e-03 1.44052620e-04 9.99998281e-01 -2.01300404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36140051300004 meters 0.08208918101960112 Centerline is valid? [True, True] Translation: X:332.55, Y:35.31, Z:-2.01 [[ 9.99939723e-01 -1.06258851e-02 -2.76408407e-03 3.32548428e+02] [ 1.06252519e-02 9.99943521e-01 -2.43666229e-04 3.53072909e+01] [ 2.76651713e-03 2.14282452e-04 9.99996150e-01 -2.01471767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.391400513 meters 0.0810872652480557 Centerline is valid? [True, True] Translation: X:332.58, Y:35.30, Z:-2.01 [[ 9.99935014e-01 -1.09337445e-02 -3.22820584e-03 3.32577479e+02] [ 1.09328809e-02 9.99940194e-01 -2.85042482e-04 3.53047194e+01] [ 3.23112936e-03 2.49730369e-04 9.99994749e-01 -2.01470114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.421400513 meters 0.08420271158856724 Centerline is valid? [True, True] Translation: X:332.61, Y:35.31, Z:-2.01 [[ 9.99949618e-01 -9.84141326e-03 -1.97672735e-03 3.32605662e+02] [ 9.84108732e-03 9.99951560e-01 -1.74547632e-04 3.53082706e+01] [ 1.97834939e-03 1.55085691e-04 9.99998031e-01 -2.01232085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.451400513 meters 0.0827874192542796 Centerline is valid? [True, True] Translation: X:332.63, Y:35.31, Z:-2.01 [[ 9.99954423e-01 -9.38921218e-03 -1.73037686e-03 3.32634017e+02] [ 9.38896154e-03 9.99955911e-01 -1.52915370e-04 3.53098217e+01] [ 1.73173632e-03 1.36661959e-04 9.99998491e-01 -2.01244445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.481400513 meters 0.08204675613020335 Centerline is valid? [True, True] Translation: X:332.66, Y:35.31, Z:-2.01 [[ 9.99956683e-01 -9.08270488e-03 -2.03382922e-03 3.32662398e+02] [ 9.08235780e-03 9.99958738e-01 -1.79827948e-04 3.53113449e+01] [ 2.03537862e-03 1.61348193e-04 9.99997916e-01 -2.01364698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.511400513 meters 0.08625415533878215 Centerline is valid? [True, True] Translation: X:332.69, Y:35.32, Z:-2.02 [[ 9.99957543e-01 -8.87848175e-03 -2.46689786e-03 3.32689534e+02] [ 8.87797021e-03 9.99960566e-01 -2.18234392e-04 3.53171764e+01] [ 2.46873817e-03 1.96324080e-04 9.99996933e-01 -2.01519316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.541400513 meters 0.08029355419801706 Centerline is valid? [True, True] Translation: X:332.72, Y:35.31, Z:-2.01 [[ 9.99954155e-01 -9.42301270e-03 -1.70118137e-03 3.32719482e+02] [ 9.42276936e-03 9.99955593e-01 -1.50999346e-04 3.53091571e+01] [ 1.70252869e-03 1.34962584e-04 9.99998542e-01 -2.01415782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.571400513 meters 0.08181275191818306 Centerline is valid? [True, True] Translation: X:332.75, Y:35.31, Z:-2.01 [[ 9.99944158e-01 -1.04888471e-02 -1.29007139e-03 3.32748302e+02] [ 1.04887083e-02 9.99944985e-01 -1.14348254e-04 3.53143840e+01] [ 1.29119980e-03 1.00810686e-04 9.99999161e-01 -2.01357710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.601400513 meters 0.08324773275511488 Centerline is valid? [True, True] Translation: X:332.78, Y:35.32, Z:-2.01 [[ 9.99928768e-01 -1.18817301e-02 -1.13284433e-03 3.32776836e+02] [ 1.18816239e-02 9.99929406e-01 -1.00442046e-04 3.53204204e+01] [ 1.13395779e-03 8.69748614e-05 9.99999353e-01 -2.01327790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.631400513 meters 0.07802505131718158 Centerline is valid? [True, True] Translation: X:332.81, Y:35.32, Z:-2.01 [[ 9.99892278e-01 -1.45251544e-02 -2.11024377e-03 3.32807521e+02] [ 1.45247919e-02 9.99894492e-01 -1.87029664e-04 3.53181356e+01] [ 2.11273776e-03 1.56358665e-04 9.99997756e-01 -2.01438940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.661400513 meters 0.07968988797686938 Centerline is valid? [True, True] Translation: X:332.83, Y:35.32, Z:-2.01 [[ 9.99880650e-01 -1.53010077e-02 -2.13661218e-03 3.32834794e+02] [ 1.53006373e-02 9.99882920e-01 -1.89589876e-04 3.53223450e+01] [ 2.13926294e-03 1.56875721e-04 9.99997699e-01 -2.01392969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.691400513 meters 0.07786345387677271 Centerline is valid? [True, True] Translation: X:332.86, Y:35.32, Z:-2.01 [[ 9.99876889e-01 -1.56527959e-02 -1.09371663e-03 3.32863263e+02] [ 1.56526986e-02 9.99877484e-01 -9.74674473e-05 3.53235474e+01] [ 1.09510827e-03 8.03358312e-05 9.99999397e-01 -2.01233753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.721400513 meters 0.07786345387677271 Centerline is valid? [True, True] Translation: X:332.89, Y:35.33, Z:-2.01 [[ 9.99874452e-01 -1.58077373e-02 -1.09370160e-03 3.32891547e+02] [ 1.58076400e-02 9.99875047e-01 -9.76362559e-05 3.53261720e+01] [ 1.09510835e-03 8.03351567e-05 9.99999397e-01 -2.01239246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.751400513 meters 0.07163024856981186 Centerline is valid? [True, True] Translation: X:332.92, Y:35.32, Z:-2.01 [[ 9.99880391e-01 -1.54609506e-02 -4.02940372e-04 3.32920314e+02] [ 1.54609373e-02 9.99880472e-01 -3.59956457e-05 3.53226156e+01] [ 4.03448736e-04 2.97615045e-05 9.99999918e-01 -2.01046742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.781400513 meters 0.08633993003564928 Centerline is valid? [True, True] Translation: X:332.95, Y:35.35, Z:-2.01 [[ 9.99895824e-01 -1.44340131e-02 -2.29125048e-05 3.32947214e+02] [ 1.44340131e-02 9.99895824e-01 -2.10832906e-06 3.53451511e+01] [ 2.29405496e-05 1.77739003e-06 1.00000000e+00 -2.01076577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.811400513 meters 0.07373793282673624 Centerline is valid? [True, True] Translation: X:332.98, Y:35.34, Z:-2.01 [[ 9.99926175e-01 -1.21060525e-02 -1.04287246e-03 3.32978991e+02] [ 1.21059622e-02 9.99926716e-01 -9.29149506e-05 3.53362327e+01] [ 1.04392087e-03 8.02831166e-05 9.99999452e-01 -2.01220361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.841400513 meters 0.08410442557287491 Centerline is valid? [True, True] Translation: X:333.01, Y:35.35, Z:-2.01 [[ 9.99940572e-01 -1.08412218e-02 -1.14927137e-03 3.33005588e+02] [ 1.08411111e-02 9.99941228e-01 -1.02533344e-04 3.53534074e+01] [ 1.15031542e-03 9.00678722e-05 9.99999334e-01 -2.01293238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.871400513 meters 0.08395643409150733 Centerline is valid? [True, True] Translation: X:333.03, Y:35.36, Z:-2.01 [[ 9.99950537e-01 -9.86804375e-03 -1.24269050e-03 3.33034847e+02] [ 9.86791358e-03 9.99951305e-01 -1.10841695e-04 3.53576812e+01] [ 1.24372378e-03 9.85734496e-05 9.99999222e-01 -2.01310444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.901400513 meters 0.08432751623192196 Centerline is valid? [True, True] Translation: X:333.06, Y:35.36, Z:-2.01 [[ 9.99959076e-01 -8.96668511e-03 -1.20210082e-03 3.33063748e+02] [ 8.96656258e-03 9.99959794e-01 -1.07284782e-04 3.53618495e+01] [ 1.20301448e-03 9.65016796e-05 9.99999272e-01 -2.01319835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.931400513 meters 0.08364488506658893 Centerline is valid? [True, True] Translation: X:333.09, Y:35.37, Z:-2.01 [[ 9.99964658e-01 -8.28740473e-03 -1.41445226e-03 3.33092813e+02] [ 8.28723435e-03 9.99965652e-01 -1.26273610e-04 3.53657672e+01] [ 1.41545016e-03 1.14547250e-04 9.99998992e-01 -2.01246739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.961400513 meters 0.08601504323629089 Centerline is valid? [True, True] Translation: X:333.12, Y:35.37, Z:-2.01 [[ 9.99961229e-01 -8.63392099e-03 -1.73072488e-03 3.33121049e+02] [ 8.63366634e-03 9.99962717e-01 -1.54551876e-04 3.53727814e+01] [ 1.73199474e-03 1.39603383e-04 9.99998490e-01 -2.01292912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99140051300003 meters 0.08717879845135101 Centerline is valid? [True, True] Translation: X:333.15, Y:35.38, Z:-2.01 [[ 9.99958866e-01 -8.91992843e-03 -1.64354608e-03 3.33149184e+02] [ 8.91969908e-03 9.99960208e-01 -1.46823635e-04 3.53784645e+01] [ 1.64479034e-03 1.32157659e-04 9.99998639e-01 -2.01333927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.021400513 meters 0.0850449177375558 Centerline is valid? [True, True] Translation: X:333.18, Y:35.38, Z:-2.01 [[ 9.99957416e-01 -9.11397278e-03 -1.44976813e-03 3.33178128e+02] [ 9.11379384e-03 9.99958460e-01 -1.29985414e-04 3.53797678e+01] [ 1.45089259e-03 1.16766991e-04 9.99998941e-01 -2.01308445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05140051300003 meters 0.08342735908423117 Centerline is valid? [True, True] Translation: X:333.21, Y:35.38, Z:-2.01 [[ 9.99958510e-01 -9.10912015e-03 -4.89134793e-05 3.33207129e+02] [ 9.10911993e-03 9.99958511e-01 -4.68714941e-06 3.53812355e+01] [ 4.89541458e-05 4.24139619e-06 9.99999999e-01 -2.01100130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.081400513 meters 0.07817706548856695 Centerline is valid? [True, True] Translation: X:333.24, Y:35.38, Z:-2.01 [[ 9.99960285e-01 -8.91196907e-03 -7.76392102e-05 3.33236849e+02] [ 8.91196856e-03 9.99960288e-01 -7.00367626e-06 3.53775649e+01] [ 7.76985435e-05 6.31147991e-06 9.99999997e-01 -2.01072091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11140051300004 meters 0.08251471857464071 Centerline is valid? [True, True] Translation: X:333.27, Y:35.39, Z:-2.01 [[ 9.99959995e-01 -8.88861540e-03 -1.00087304e-03 3.33265844e+02] [ 8.88853000e-03 9.99960492e-01 -8.97444149e-05 3.53857164e+01] [ 1.00163120e-03 8.08445346e-05 9.99999495e-01 -2.01214081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.141400513 meters 0.08007055018635333 Centerline is valid? [True, True] Translation: X:333.30, Y:35.39, Z:-2.01 [[ 9.99946893e-01 -1.00331258e-02 -2.35532079e-03 3.33295788e+02] [ 1.00326558e-02 9.99949649e-01 -2.11280386e-04 3.53863927e+01] [ 2.35732200e-03 1.87639043e-04 9.99997204e-01 -2.01464737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.171400513 meters 0.08566227718789421 Centerline is valid? [True, True] Translation: X:333.32, Y:35.40, Z:-2.01 [[ 9.99936175e-01 -1.11982116e-02 -1.49887448e-03 3.33324342e+02] [ 1.11980225e-02 9.99937291e-01 -1.34492141e-04 3.53954950e+01] [ 1.50028656e-03 1.17699127e-04 9.99998868e-01 -2.01333623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.201400513 meters 0.0836091922460337 Centerline is valid? [True, True] Translation: X:333.35, Y:35.39, Z:-2.01 [[ 9.99917090e-01 -1.28674090e-02 -4.93313791e-04 3.33354332e+02] [ 1.28673887e-02 9.99917211e-01 -4.42768678e-05 3.53942492e+01] [ 4.93842678e-04 3.79255365e-05 9.99999877e-01 -2.01123912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.231400513 meters 0.076215344319018 Centerline is valid? [True, True] Translation: X:333.39, Y:35.39, Z:-2.01 [[ 9.99892052e-01 -1.46903963e-02 2.75793988e-04 3.33385692e+02] [ 1.46903901e-02 9.99892090e-01 2.47227752e-05 3.53858056e+01] [-2.76127414e-04 -2.06685851e-05 9.99999962e-01 -2.00972650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.261400513 meters 0.07229692339965778 Centerline is valid? [True, True] Translation: X:333.42, Y:35.38, Z:-2.01 [[ 9.99868011e-01 -1.62405207e-02 4.54497725e-04 3.33416243e+02] [ 1.62405039e-02 9.99868113e-01 4.07614133e-05 3.53811088e+01] [-4.55099770e-04 -3.33747612e-05 9.99999896e-01 -2.00942558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.291400513 meters 0.07233162856752329 Centerline is valid? [True, True] Translation: X:333.44, Y:35.38, Z:-2.01 [[ 9.99840328e-01 -1.78427708e-02 -9.76622297e-04 3.33444990e+02] [ 1.78426936e-02 9.99840803e-01 -8.77358957e-05 3.53801206e+01] [ 9.78032273e-04 7.02963143e-05 9.99999519e-01 -2.01207650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.321400513 meters 0.07078440584895841 Centerline is valid? [True, True] Translation: X:333.47, Y:35.38, Z:-2.01 [[ 9.99840364e-01 -1.77906412e-02 -1.65512521e-03 3.33473526e+02] [ 1.77904185e-02 9.99841727e-01 -1.49161622e-04 3.53798230e+01] [ 1.65751693e-03 1.19692440e-04 9.99998619e-01 -2.01341142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.351400513 meters 0.0849829464560855 Centerline is valid? [True, True] Translation: X:333.50, Y:35.40, Z:-2.01 [[ 9.99851259e-01 -1.71281405e-02 -2.02154954e-03 3.33500096e+02] [ 1.71278073e-02 9.99853292e-01 -1.82026948e-04 3.53988522e+01] [ 2.02437074e-03 1.47375162e-04 9.99997940e-01 -2.01488098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.381400513 meters 0.07326789613843994 Centerline is valid? [True, True] Translation: X:333.53, Y:35.39, Z:-2.01 [[ 9.99866470e-01 -1.62673320e-02 -1.55454113e-03 3.33530772e+02] [ 1.62671339e-02 9.99867672e-01 -1.39971335e-04 3.53861323e+01] [ 1.55661238e-03 1.14664716e-04 9.99998782e-01 -2.01320942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.411400513 meters 0.08388362115149427 Centerline is valid? [True, True] Translation: X:333.56, Y:35.40, Z:-2.01 [[ 9.99900780e-01 -1.40448086e-02 -1.08294638e-03 3.33559219e+02] [ 1.40447112e-02 9.99901363e-01 -9.75245476e-05 3.53988632e+01] [ 1.08420928e-03 8.23052021e-05 9.99999409e-01 -2.01195710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.441400513 meters 0.0833409090575913 Centerline is valid? [True, True] Translation: X:333.59, Y:35.40, Z:-2.01 [[ 9.99922789e-01 -1.23784263e-02 -1.09136468e-03 3.33589745e+02] [ 1.23783264e-02 9.99923381e-01 -9.82524970e-05 3.54000921e+01] [ 1.09249727e-03 8.47356426e-05 9.99999400e-01 -2.01209246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.471400513 meters 0.08424875329822308 Centerline is valid? [True, True] Translation: X:333.62, Y:35.40, Z:-2.01 [[ 9.99943842e-01 -1.05035990e-02 -1.40938563e-03 3.33619858e+02] [ 1.05034305e-02 9.99944829e-01 -1.26936433e-04 3.54034437e+01] [ 1.41064116e-03 1.12125921e-04 9.99998999e-01 -2.01266221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.501400513 meters 0.08671771910778238 Centerline is valid? [True, True] Translation: X:333.65, Y:35.41, Z:-2.01 [[ 9.99967837e-01 -7.90274516e-03 -1.36800192e-03 3.33650234e+02] [ 7.90258397e-03 9.99968767e-01 -1.23190629e-04 3.54092221e+01] [ 1.36893274e-03 1.12375917e-04 9.99999057e-01 -2.01327472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.531400513 meters 0.08885044367445538 Centerline is valid? [True, True] Translation: X:333.68, Y:35.41, Z:-2.01 [[ 9.99985175e-01 -5.30728884e-03 -1.21770331e-03 3.33680279e+02] [ 5.30715923e-03 9.99985911e-01 -1.09648226e-04 3.54146109e+01] [ 1.21826809e-03 1.03184055e-04 9.99999253e-01 -2.01312855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.561400513 meters 0.09068720863247186 Centerline is valid? [True, True] Translation: X:333.71, Y:35.42, Z:-2.01 [[ 9.99999880e-01 -4.89259739e-04 -3.10840318e-05 3.33710429e+02] [ 4.89259653e-04 9.99999880e-01 -2.79637955e-06 3.54200198e+01] [ 3.10853962e-05 2.78117105e-06 1.00000000e+00 -2.01112057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.591400513 meters 0.09082764999973335 Centerline is valid? [True, True] Translation: X:333.74, Y:35.42, Z:-2.01 [[ 9.99999151e-01 1.26220295e-03 -3.22903030e-04 3.33740683e+02] [-1.26221241e-03 9.99999203e-01 -2.90945043e-05 3.54240233e+01] [ 3.22866050e-04 2.95020518e-05 9.99999947e-01 -2.01144104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.621400513 meters 0.10646045964916594 Centerline is valid? [True, False] Translation: X:333.74, Y:35.43, Z:-2.01 [[ 9.99999395e-01 1.05918365e-03 -2.97668558e-04 3.33740866e+02] [-1.05935706e-03 9.99999269e-01 -5.82997044e-04 3.54264627e+01] [ 2.97050840e-04 5.83312029e-04 9.99999786e-01 -2.01211280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.651400513 meters 0.09156847933360297 Centerline is valid? [False, True] Translation: X:333.74, Y:35.43, Z:-2.01 [[ 9.99999554e-01 8.99713587e-04 -2.85720113e-04 3.33741059e+02] [-9.00002470e-04 9.99999082e-01 -1.01255643e-03 3.54283482e+01] [ 2.84808840e-04 1.01281312e-03 9.99999447e-01 -2.01269819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.681400513 meters 0.0981028064753569 Centerline is valid? [True, True] Translation: X:333.77, Y:35.44, Z:-2.01 [[ 9.99997847e-01 1.74017646e-03 -1.13018300e-03 3.33769558e+02] [-1.74029634e-03 9.99998480e-01 -1.05093115e-04 3.54384095e+01] [ 1.12999841e-03 1.07059742e-04 9.99999356e-01 -2.01453702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.711400513 meters 0.10869664018415917 Centerline is valid? [True, False] Translation: X:333.73, Y:35.43, Z:-2.01 [[ 9.99997555e-01 2.50256821e-04 -2.19727696e-03 3.33725149e+02] [-2.49059342e-04 9.99999820e-01 5.45239781e-04 3.54323764e+01] [ 2.19741302e-03 -5.44691195e-04 9.99997437e-01 -2.01190324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74140051300003 meters 0.09669326925729607 Centerline is valid? [False, True] Translation: X:333.74, Y:35.43, Z:-2.01 [[ 9.99990102e-01 -4.44229619e-03 -2.48912674e-04 3.33744234e+02] [ 4.44375253e-03 9.99970952e-01 6.19252759e-03 3.54315610e+01] [ 2.21396402e-04 -6.19357241e-03 9.99980795e-01 -2.01108670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.771400513 meters 0.08518447515639135 Centerline is valid? [True, True] Translation: X:333.78, Y:35.43, Z:-2.01 [[ 9.99970221e-01 -7.63380706e-03 1.13241529e-03 3.33776017e+02] [ 7.63368994e-03 9.99970857e-01 1.07713875e-04 3.54258307e+01] [-1.13320455e-03 -9.90661603e-05 9.99999353e-01 -2.01013578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80140051300003 meters 0.09005595477933558 Centerline is valid? [True, True] Translation: X:333.81, Y:35.43, Z:-2.01 [[ 9.99936824e-01 -1.11438022e-02 1.47104882e-03 3.33805136e+02] [ 1.11436084e-02 9.99937898e-01 1.39898821e-04 3.54339479e+01] [-1.47251647e-03 -1.23497191e-04 9.99998908e-01 -2.01008037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.831400513 meters 0.07985091903746182 Centerline is valid? [True, True] Translation: X:333.84, Y:35.42, Z:-2.01 [[ 9.99853277e-01 -1.70054104e-02 2.05938953e-03 3.33837201e+02] [ 1.70050429e-02 9.99855385e-01 1.95821379e-04 3.54218606e+01] [-2.06242173e-03 -1.60772640e-04 9.99997860e-01 -2.00932888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86140051300004 meters 0.08097033236091601 Centerline is valid? [True, True] Translation: X:333.87, Y:35.43, Z:-2.01 [[ 9.99820755e-01 -1.88154965e-02 2.10592942e-03 3.33867245e+02] [ 1.88151163e-02 9.99822960e-01 2.00209879e-04 3.54260228e+01] [-2.10932363e-03 -1.60550685e-04 9.99997762e-01 -2.00924359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.891400513 meters 0.07774568003453529 Centerline is valid? [True, True] Translation: X:333.90, Y:35.43, Z:-2.01 [[ 9.99801893e-01 -1.97978801e-02 2.05417990e-03 3.33897985e+02] [ 1.97975204e-02 9.99803991e-01 1.95290072e-04 3.54257051e+01] [-2.05764359e-03 -1.54583715e-04 9.99997871e-01 -2.00930945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.921400513 meters 0.08179893364354486 Centerline is valid? [True, True] Translation: X:333.93, Y:35.43, Z:-2.01 [[ 9.99793012e-01 -2.03215870e-02 9.82506425e-04 3.33927020e+02] [ 2.03215050e-02 9.99793493e-01 9.33787376e-05 3.54340171e+01] [-9.84201134e-04 -7.33934002e-05 9.99999513e-01 -2.01115674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.951400513 meters 0.07061239901632681 Centerline is valid? [True, True] Translation: X:333.96, Y:35.42, Z:-2.01 [[ 9.99797505e-01 -2.00755684e-02 -1.38612291e-03 3.33957591e+02] [ 2.00754048e-02 9.99798460e-01 -1.31907999e-04 3.54239549e+01] [ 1.38849167e-03 1.04054310e-04 9.99999031e-01 -2.01469841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.981400513 meters 0.07209437380671496 Centerline is valid? [True, True] Translation: X:333.99, Y:35.43, Z:-2.02 [[ 9.99797659e-01 -2.00469023e-02 -1.66199306e-03 3.33985009e+02] [ 2.00466666e-02 9.99799033e-01 -1.58363042e-04 3.54291327e+01] [ 1.66483375e-03 1.25013578e-04 9.99998606e-01 -2.01526834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.011400513 meters 0.08610572933548656 Centerline is valid? [True, True] Translation: X:334.01, Y:35.45, Z:-2.02 [[ 9.99796622e-01 -2.00874754e-02 -1.79118256e-03 3.34010798e+02] [ 2.00872013e-02 9.99798217e-01 -1.70915358e-04 3.54492485e+01] [ 1.79425439e-03 1.34900753e-04 9.99998381e-01 -2.01639095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.041400513 meters 0.07329565512983961 Centerline is valid? [True, True] Translation: X:334.04, Y:35.44, Z:-2.02 [[ 9.99786480e-01 -2.05969098e-02 -1.66177271e-03 3.34041510e+02] [ 2.05966742e-02 9.99787853e-01 -1.58724460e-04 3.54365160e+01] [ 1.66468940e-03 1.24463578e-04 9.99998607e-01 -2.01534700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.071400513 meters 0.08317596578939523 Centerline is valid? [True, True] Translation: X:334.07, Y:35.45, Z:-2.02 [[ 9.99767319e-01 -2.15325037e-02 -1.28808234e-03 3.34068607e+02] [ 2.15323629e-02 9.99768144e-01 -1.23019983e-04 3.54507339e+01] [ 1.29043262e-03 9.52559026e-05 9.99999163e-01 -2.01558431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.101400513 meters 0.06846696544270864 Centerline is valid? [True, True] Translation: X:334.10, Y:35.44, Z:-2.01 [[ 9.99707453e-01 -2.41831939e-02 4.26759563e-04 3.34101164e+02] [ 2.41831787e-02 9.99707543e-01 4.07346655e-05 3.54351242e+01] [-4.27619849e-04 -3.04023459e-05 9.99999908e-01 -2.01253552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.131400513 meters 0.07000479693768864 Centerline is valid? [True, True] Translation: X:334.13, Y:35.44, Z:-2.01 [[ 9.99680314e-01 -2.52692762e-02 8.56458792e-04 3.34129776e+02] [ 2.52692155e-02 9.99680679e-01 8.16228076e-05 3.54403490e+01] [-8.58247856e-04 -5.99546722e-05 9.99999630e-01 -2.01251166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.161400513 meters 0.0698992801656917 Centerline is valid? [True, True] Translation: X:334.16, Y:35.44, Z:-2.01 [[ 9.99660211e-01 -2.60512210e-02 8.92498834e-04 3.34158610e+02] [ 2.60511554e-02 9.99660607e-01 8.50228767e-05 3.54433906e+01] [-8.94410876e-04 -6.17433610e-05 9.99999598e-01 -2.01246100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.191400513 meters 0.06744955195911158 Centerline is valid? [True, True] Translation: X:334.19, Y:35.44, Z:-2.01 [[ 9.99639972e-01 -2.68224526e-02 6.95248049e-04 3.34187730e+02] [ 2.68224132e-02 9.99640212e-01 6.59040465e-05 3.54427416e+01] [-6.96765615e-04 -4.72320887e-05 9.99999756e-01 -2.01239246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.221400513 meters 0.067912738771365 Centerline is valid? [True, True] Translation: X:334.22, Y:35.45, Z:-2.01 [[ 9.99659019e-01 -2.61040903e-02 -6.49022979e-04 3.34216846e+02] [ 2.61040554e-02 9.99659229e-01 -6.22556296e-05 3.54456071e+01] [ 6.50426938e-04 4.52922699e-05 9.99999787e-01 -2.01419223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.251400513 meters 0.08235231290454643 Centerline is valid? [True, True] Translation: X:334.24, Y:35.47, Z:-2.02 [[ 9.99697078e-01 -2.45987992e-02 -8.06841289e-04 3.34243670e+02] [ 2.45987448e-02 9.99697402e-01 -7.72787456e-05 3.54674731e+01] [ 8.08498105e-04 5.74080532e-05 9.99999672e-01 -2.01544518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.281400513 meters 0.07046417866296494 Centerline is valid? [True, True] Translation: X:334.28, Y:35.46, Z:-2.01 [[ 9.99741737e-01 -2.27196400e-02 -5.25898590e-04 3.34275424e+02] [ 2.27196167e-02 9.99741875e-01 -5.03178900e-05 3.54576239e+01] [ 5.26906047e-04 3.83566804e-05 9.99999860e-01 -2.01411975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.311400513 meters 0.08389054525193891 Centerline is valid? [True, True] Translation: X:334.30, Y:35.48, Z:-2.01 [[ 9.99836174e-01 -1.80824344e-02 8.06645746e-04 3.34303519e+02] [ 1.80823780e-02 9.99836497e-01 7.71680192e-05 3.54776403e+01] [-8.07909243e-04 -6.25693039e-05 9.99999672e-01 -2.01123841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.341400513 meters 0.08401989878003943 Centerline is valid? [True, True] Translation: X:334.33, Y:35.48, Z:-2.01 [[ 9.99879479e-01 -1.54993360e-02 8.93303984e-04 3.34333566e+02] [ 1.54992658e-02 9.99879876e-01 8.54670905e-05 3.54797013e+01] [-8.94521359e-04 -7.16112341e-05 9.99999597e-01 -2.01069366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.371400513 meters 0.0835117216722762 Centerline is valid? [True, True] Translation: X:334.36, Y:35.48, Z:-2.01 [[ 9.99912289e-01 -1.32372161e-02 4.35393983e-04 3.34364183e+02] [ 1.32371992e-02 9.99912384e-01 4.16595019e-05 3.54813762e+01] [-4.35907291e-04 -3.58924510e-05 9.99999904e-01 -2.01146049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.401400513 meters 0.08085665596463226 Centerline is valid? [True, True] Translation: X:334.40, Y:35.48, Z:-2.01 [[ 9.99935874e-01 -1.13121684e-02 -5.31859938e-04 3.34395182e+02] [ 1.13121429e-02 9.99936014e-01 -5.08661091e-05 3.54810919e+01] [ 5.32401312e-04 4.48463717e-05 9.99999857e-01 -2.01286662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.431400513 meters 0.09271780067880908 Centerline is valid? [True, True] Translation: X:334.42, Y:35.50, Z:-2.01 [[ 9.99955008e-01 -9.44018020e-03 -9.30419076e-04 3.34422977e+02] [ 9.44010135e-03 9.99955437e-01 -8.90974771e-05 3.54990017e+01] [ 9.31218710e-04 8.03102181e-05 9.99999563e-01 -2.01463043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.461400513 meters 0.0932254445764248 Centerline is valid? [True, True] Translation: X:334.45, Y:35.50, Z:-2.01 [[ 9.99983981e-01 -5.65877336e-03 -1.24021428e-04 3.34453407e+02] [ 5.65877193e-03 9.99983989e-01 -1.18798416e-05 3.55031465e+01] [ 1.24086667e-04 1.11778424e-05 9.99999992e-01 -2.01361215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49140051300003 meters 0.08864432060472205 Centerline is valid? [True, True] Translation: X:334.48, Y:35.50, Z:-2.01 [[ 9.99991789e-01 -4.03321466e-03 3.93720302e-04 3.34483527e+02] [ 4.03320015e-03 9.99991866e-01 3.76444172e-05 3.55003674e+01] [-3.93868928e-04 -3.60561553e-05 9.99999922e-01 -2.01235449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.521400513 meters 0.09911731836782399 Centerline is valid? [True, True] Translation: X:334.51, Y:35.52, Z:-2.01 [[ 9.99995453e-01 -2.97797331e-03 4.75332753e-04 3.34512193e+02] [ 2.97795201e-03 9.99995565e-01 4.54954680e-05 3.55161164e+01] [-4.75466129e-04 -4.40797430e-05 9.99999886e-01 -2.01251964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55140051300003 meters 0.0959642711495619 Centerline is valid? [True, True] Translation: X:334.54, Y:35.52, Z:-2.01 [[ 9.99996853e-01 -2.48657958e-03 3.32340402e-04 3.34543242e+02] [ 2.48656914e-03 9.99996908e-01 3.18092579e-05 3.55157096e+01] [-3.32418471e-04 -3.09827704e-05 9.99999944e-01 -2.01299954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.581400513 meters 0.09354535114471262 Centerline is valid? [True, True] Translation: X:334.57, Y:35.52, Z:-2.02 [[ 9.99993304e-01 -3.53477496e-03 -9.47552960e-04 3.34574021e+02] [ 3.53469060e-03 9.99993749e-01 -9.06930252e-05 3.55151280e+01] [ 9.47867616e-04 8.73431114e-05 9.99999547e-01 -2.01574024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61140051300004 meters 0.09678619306028038 Centerline is valid? [True, True] Translation: X:334.60, Y:35.52, Z:-2.02 [[ 9.99986618e-01 -4.83377182e-03 -1.84334322e-03 3.34602960e+02] [ 4.83345462e-03 9.99988303e-01 -1.76491086e-04 3.55209600e+01] [ 1.84417477e-03 1.67579008e-04 9.99998285e-01 -2.01763379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.641400513 meters 0.09678619306028038 Centerline is valid? [True, True] Translation: X:334.63, Y:35.52, Z:-2.02 [[ 9.99985865e-01 -4.98715153e-03 -1.84326906e-03 3.34631262e+02] [ 4.98683318e-03 9.99987550e-01 -1.77265150e-04 3.55237808e+01] [ 1.84413016e-03 1.68070569e-04 9.99998285e-01 -2.01773246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.671400513 meters 0.09189793590270601 Centerline is valid? [True, True] Translation: X:334.66, Y:35.52, Z:-2.02 [[ 9.99974227e-01 -6.61992358e-03 -2.77887283e-03 3.34662263e+02] [ 6.61920834e-03 9.99978057e-01 -2.66503092e-04 3.55195860e+01] [ 2.78057608e-03 2.48102285e-04 9.99996103e-01 -2.01892106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.701400513 meters 0.09091152955457561 Centerline is valid? [True, True] Translation: X:334.69, Y:35.52, Z:-2.02 [[ 9.99957371e-01 -8.68024603e-03 -3.14785157e-03 3.34692750e+02] [ 8.67933846e-03 9.99962288e-01 -3.01859598e-04 3.55198368e+01] [ 3.15035307e-03 2.74525461e-04 9.99995000e-01 -2.01968659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.731400513 meters 0.07844729695456595 Centerline is valid? [True, True] Translation: X:334.73, Y:35.50, Z:-2.02 [[ 9.99901393e-01 -1.38742992e-02 -2.16987624e-03 3.34725140e+02] [ 1.38738802e-02 9.99903731e-01 -2.08057451e-04 3.55043121e+01] [ 2.17255400e-03 1.77932332e-04 9.99997624e-01 -2.01803281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.761400513 meters 0.07991001641267137 Centerline is valid? [True, True] Translation: X:334.75, Y:35.51, Z:-2.02 [[ 9.99865564e-01 -1.63731204e-02 -8.80552754e-04 3.34754561e+02] [ 1.63730523e-02 9.99865949e-01 -8.44944082e-05 3.55074350e+01] [ 8.81818153e-04 7.00657128e-05 9.99999609e-01 -2.01669308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.791400513 meters 0.09150917834433568 Centerline is valid? [True, True] Translation: X:334.78, Y:35.52, Z:-2.02 [[ 9.99839574e-01 -1.79097199e-02 2.60642240e-04 3.34781879e+02] [ 1.79097140e-02 9.99839608e-01 2.49517246e-05 3.55231252e+01] [-2.61047314e-04 -2.02796937e-05 9.99999966e-01 -2.01533115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.821400513 meters 0.07500379192591719 Centerline is valid? [True, True] Translation: X:334.81, Y:35.51, Z:-2.01 [[ 9.99820409e-01 -1.89349865e-02 7.84511433e-04 3.34812859e+02] [ 1.89349336e-02 9.99820715e-01 7.48455505e-05 3.55055251e+01] [-7.85787982e-04 -5.99774371e-05 9.99999689e-01 -2.01354400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.851400513 meters 0.07772867168443012 Centerline is valid? [True, True] Translation: X:334.84, Y:35.51, Z:-2.02 [[ 9.99840452e-01 -1.78480390e-02 -7.20004648e-04 3.34841174e+02] [ 1.78479937e-02 9.99840709e-01 -6.92650423e-05 3.55117119e+01] [ 7.21126203e-04 5.64033527e-05 9.99999738e-01 -2.01589742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.881400513 meters 0.0926348060617333 Centerline is valid? [True, True] Translation: X:334.87, Y:35.53, Z:-2.02 [[ 9.99859681e-01 -1.66935205e-02 -1.39474619e-03 3.34867438e+02] [ 1.66933494e-02 9.99860647e-01 -1.34243066e-04 3.55326989e+01] [ 1.39679282e-03 1.10941244e-04 9.99999018e-01 -2.01856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.911400513 meters 0.08518288354688681 Centerline is valid? [True, True] Translation: X:334.90, Y:35.53, Z:-2.02 [[ 9.99873143e-01 -1.58612180e-02 -1.45611446e-03 3.34897866e+02] [ 1.58610307e-02 9.99874196e-01 -1.40094613e-04 3.55263328e+01] [ 1.45815335e-03 1.16981365e-04 9.99998930e-01 -2.01847041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.941400513 meters 0.08356190338302831 Centerline is valid? [True, True] Translation: X:334.93, Y:35.53, Z:-2.02 [[ 9.99873261e-01 -1.59123411e-02 -5.09720557e-04 3.34927236e+02] [ 1.59123179e-02 9.99873390e-01 -4.96400125e-05 3.55267394e+01] [ 5.10445910e-04 4.15228856e-05 9.99999869e-01 -2.01672557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.971400513 meters 0.0755179795809438 Centerline is valid? [True, True] Translation: X:334.96, Y:35.52, Z:-2.01 [[ 9.99853021e-01 -1.69773120e-02 2.38880755e-03 3.34958542e+02] [ 1.69768105e-02 9.99855857e-01 2.30068617e-04 3.55183519e+01] [-2.39236917e-03 -1.89480469e-04 9.99997120e-01 -2.01109114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.001400513 meters 0.08768802473183294 Centerline is valid? [True, True] Translation: X:334.99, Y:35.54, Z:-2.01 [[ 9.99830623e-01 -1.80977009e-02 3.34652704e-03 3.34986494e+02] [ 1.80967226e-02 9.99836189e-01 3.22366507e-04 3.55355354e+01] [-3.35181293e-03 -2.61750734e-04 9.99994348e-01 -2.00980232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.031400513 meters 0.0726236644156077 Centerline is valid? [True, True] Translation: X:335.02, Y:35.52, Z:-2.01 [[ 9.99797014e-01 -1.99106857e-02 3.08134508e-03 3.35018748e+02] [ 1.99098651e-02 9.99801735e-01 2.96754146e-04 3.55199074e+01] [-3.08664274e-03 -2.35344744e-04 9.99995209e-01 -2.01073881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.061400513 meters 0.07898970763326423 Centerline is valid? [True, True] Translation: X:335.05, Y:35.53, Z:-2.01 [[ 9.99753018e-01 -2.21181041e-02 2.16605865e-03 3.35047220e+02] [ 2.21177038e-02 9.99755352e-01 2.08568811e-04 3.55300364e+01] [-2.17014187e-03 -1.60609055e-04 9.99997632e-01 -2.01300997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.091400513 meters 0.07302722692301679 Centerline is valid? [True, True] Translation: X:335.08, Y:35.52, Z:-2.01 [[ 9.99657791e-01 -2.60825412e-02 2.00038746e-03 3.35078382e+02] [ 2.60822077e-02 9.99659783e-01 1.92635042e-04 3.55232920e+01] [-2.00473131e-03 -1.40394599e-04 9.99997981e-01 -2.01330222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.121400513 meters 0.07445410836908171 Centerline is valid? [True, True] Translation: X:335.11, Y:35.53, Z:-2.01 [[ 9.99616829e-01 -2.75371499e-02 2.81072596e-03 3.35107137e+02] [ 2.75364972e-02 9.99620762e-01 2.70664982e-04 3.55259815e+01] [-2.81711337e-03 -1.93163723e-04 9.99996013e-01 -2.01149282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.151400513 meters 0.07408829368808036 Centerline is valid? [True, True] Translation: X:335.14, Y:35.53, Z:-2.01 [[ 9.99582037e-01 -2.87819874e-02 2.71083744e-03 3.35135598e+02] [ 2.87813847e-02 9.99585696e-01 2.61096370e-04 3.55270397e+01] [-2.71722921e-03 -1.82965586e-04 9.99996292e-01 -2.01120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.181400513 meters 0.06467321627929226 Centerline is valid? [True, True] Translation: X:335.17, Y:35.52, Z:-2.01 [[ 9.99554423e-01 -2.97931707e-02 1.82283336e-03 3.35166398e+02] [ 2.97928997e-02 9.99556078e-01 1.75606594e-04 3.55179693e+01] [-1.82725604e-03 -1.21220856e-04 9.99998323e-01 -2.01221519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.211400513 meters 0.06855939241532073 Centerline is valid? [True, True] Translation: X:335.19, Y:35.53, Z:-2.02 [[ 9.99512727e-01 -3.12136326e-02 1.33964397e-04 3.35194356e+02] [ 3.12136312e-02 9.99512736e-01 1.27948938e-05 3.55262494e+01] [-1.34298496e-04 -8.60714395e-06 9.99999991e-01 -2.01654348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24140051300003 meters 0.0712352786073993 Centerline is valid? [True, True] Translation: X:335.22, Y:35.53, Z:-2.02 [[ 9.99501299e-01 -3.15774716e-02 1.32054228e-04 3.35222188e+02] [ 3.15774702e-02 9.99501307e-01 1.24521101e-05 3.55321080e+01] [-1.32381579e-04 -8.27596178e-06 9.99999991e-01 -2.01715280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.271400513 meters 0.07134784073505612 Centerline is valid? [True, True] Translation: X:335.25, Y:35.53, Z:-2.02 [[ 9.99492699e-01 -3.18453006e-02 4.71394229e-04 3.35251455e+02] [ 3.18452828e-02 9.99492809e-01 4.50250543e-05 3.55336149e+01] [-4.72588979e-04 -2.99905305e-05 9.99999888e-01 -2.01655614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30140051300003 meters 0.0743325950939276 Centerline is valid? [True, True] Translation: X:335.28, Y:35.54, Z:-2.02 [[ 9.99478866e-01 -3.22628706e-02 1.05086397e-03 3.35278975e+02] [ 3.22627817e-02 9.99479416e-01 1.01440103e-04 3.55383470e+01] [-1.05358965e-03 -6.74834445e-05 9.99999443e-01 -2.01528331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.331400513 meters 0.06700675568263793 Centerline is valid? [True, True] Translation: X:335.31, Y:35.53, Z:-2.01 [[ 9.99451545e-01 -3.30984577e-02 1.04898307e-03 3.35308389e+02] [ 3.30983695e-02 9.99452094e-01 1.01341338e-04 3.55309536e+01] [-1.05176257e-03 -6.65661271e-05 9.99999445e-01 -2.01463823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36140051300004 meters 0.06408950471915859 Centerline is valid? [True, True] Translation: X:335.34, Y:35.53, Z:-2.02 [[ 9.99403449e-01 -3.45360616e-02 7.71423445e-05 3.35338461e+02] [ 3.45360611e-02 9.99403452e-01 7.38677461e-06 3.55279892e+01] [-7.73514355e-05 -4.71817529e-06 9.99999997e-01 -2.01593529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.391400513 meters 0.06132929966447669 Centerline is valid? [True, True] Translation: X:335.37, Y:35.53, Z:-2.02 [[ 9.99380465e-01 -3.51949635e-02 1.91480759e-05 3.35367463e+02] [ 3.51949634e-02 9.99380465e-01 1.29058546e-06 3.55258613e+01] [-1.91816351e-05 -6.15870070e-07 1.00000000e+00 -2.01666422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.421400513 meters 0.06628959658329812 Centerline is valid? [True, True] Translation: X:335.39, Y:35.53, Z:-2.02 [[ 9.99385057e-01 -3.50632273e-02 -2.80171414e-04 3.35394619e+02] [ 3.50632210e-02 9.99385096e-01 -2.73783542e-05 3.55326869e+01] [ 2.80959109e-04 1.75378058e-05 9.99999960e-01 -2.01768354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.451400513 meters 0.06697492046542063 Centerline is valid? [True, True] Translation: X:335.42, Y:35.53, Z:-2.02 [[ 9.99411550e-01 -3.43008877e-02 5.31189194e-05 3.35422865e+02] [ 3.43008875e-02 9.99411551e-01 4.96132140e-06 3.55345603e+01] [-5.32578394e-05 -3.13637583e-06 9.99999999e-01 -2.01785660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.481400513 meters 0.06960080182381317 Centerline is valid? [True, True] Translation: X:335.45, Y:35.54, Z:-2.02 [[ 9.99459297e-01 -3.28774415e-02 4.32430774e-04 3.35451258e+02] [ 3.28774265e-02 9.99459390e-01 4.18136870e-05 3.55390755e+01] [-4.33571724e-04 -2.75738673e-05 9.99999906e-01 -2.01722267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.511400513 meters 0.0672239209549589 Centerline is valid? [True, True] Translation: X:335.48, Y:35.54, Z:-2.02 [[ 9.99583756e-01 -2.88369295e-02 8.64313304e-04 3.35481981e+02] [ 2.88368677e-02 9.99584128e-01 8.39375183e-05 3.55374548e+01] [-8.66374361e-04 -5.89784914e-05 9.99999623e-01 -2.01564271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.541400513 meters 0.07172004904318917 Centerline is valid? [True, True] Translation: X:335.51, Y:35.55, Z:-2.02 [[ 9.99642059e-01 -2.67524427e-02 2.46269521e-04 3.35510792e+02] [ 2.67524377e-02 9.99642089e-01 2.38610317e-05 3.55461424e+01] [-2.46819720e-04 -1.72641808e-05 9.99999969e-01 -2.01646419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.571400513 meters 0.0839409574591663 Centerline is valid? [True, True] Translation: X:335.54, Y:35.56, Z:-2.02 [[ 9.99696494e-01 -2.46356648e-02 6.69347249e-05 3.35538359e+02] [ 2.46356645e-02 9.99696496e-01 6.42527460e-06 3.55649379e+01] [-6.70727009e-05 -4.77434306e-06 9.99999998e-01 -2.01812248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.601400513 meters 0.08088327220087344 Centerline is valid? [True, True] Translation: X:335.57, Y:35.57, Z:-2.02 [[ 9.99783824e-01 -2.07896431e-02 -3.10042573e-04 3.35568591e+02] [ 2.07896347e-02 9.99783872e-01 -3.01636121e-05 3.55659863e+01] [ 3.10602655e-04 2.37114196e-05 9.99999951e-01 -2.01953693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.631400513 meters 0.08359217139952811 Centerline is valid? [True, True] Translation: X:335.60, Y:35.57, Z:-2.02 [[ 9.99813966e-01 -1.92879356e-02 9.20593488e-05 3.35596849e+02] [ 1.92879349e-02 9.99813970e-01 8.86974535e-06 3.55723019e+01] [-9.22133021e-05 -7.09246055e-06 9.99999996e-01 -2.01880841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.661400513 meters 0.0910058227056944 Centerline is valid? [True, True] Translation: X:335.62, Y:35.58, Z:-2.02 [[ 9.99823919e-01 -1.87508447e-02 7.33275558e-04 3.35624300e+02] [ 1.87507976e-02 9.99824186e-01 7.11393363e-05 3.55838197e+01] [-7.34480561e-04 -5.73773085e-05 9.99999729e-01 -2.01794937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.691400513 meters 0.07716438793591451 Centerline is valid? [True, True] Translation: X:335.66, Y:35.57, Z:-2.02 [[ 9.99815566e-01 -1.91794557e-02 9.90854244e-04 3.35655791e+02] [ 1.91793696e-02 9.99816054e-01 9.62828784e-05 3.55691707e+01] [-9.92518634e-04 -7.72611608e-05 9.99999504e-01 -2.01611846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.721400513 meters 0.07970638209213075 Centerline is valid? [True, True] Translation: X:335.68, Y:35.57, Z:-2.02 [[ 9.99785739e-01 -2.06709217e-02 1.09046128e-03 3.35684227e+02] [ 2.06708183e-02 9.99786330e-01 1.05995104e-04 3.55749335e+01] [-1.09241930e-03 -8.34316666e-05 9.99999400e-01 -2.01598567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.751400513 meters 0.07724163694853202 Centerline is valid? [True, True] Translation: X:335.71, Y:35.57, Z:-2.02 [[ 9.99686509e-01 -2.50371968e-02 1.51204754e-04 3.35714200e+02] [ 2.50371948e-02 9.99686520e-01 1.46658468e-05 3.55744938e+01] [-1.51524546e-04 -1.08755063e-05 9.99999988e-01 -2.01784308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.781400513 meters 0.0736207092163147 Centerline is valid? [True, True] Translation: X:335.75, Y:35.57, Z:-2.02 [[ 9.99618381e-01 -2.76195776e-02 -5.00750842e-04 3.35745177e+02] [ 2.76195566e-02 9.99618506e-01 -4.87250880e-05 3.55719945e+01] [ 5.01905575e-04 3.48759774e-05 9.99999873e-01 -2.01940053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.811400513 meters 0.06322260944054867 Centerline is valid? [True, True] Translation: X:335.78, Y:35.56, Z:-2.02 [[ 9.99490322e-01 -3.19112492e-02 -8.76337875e-04 3.35777128e+02] [ 3.19111866e-02 9.99490705e-01 -8.52766652e-05 3.55573694e+01] [ 8.78612845e-04 5.72682201e-05 9.99999612e-01 -2.01883379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.841400513 meters 0.06806547273463799 Centerline is valid? [True, True] Translation: X:335.80, Y:35.56, Z:-2.02 [[ 9.99458666e-01 -3.28858301e-02 9.46856509e-04 3.35804440e+02] [ 3.28857576e-02 9.99459113e-01 9.19767035e-05 3.55638694e+01] [-9.49369097e-04 -6.07888197e-05 9.99999548e-01 -2.01679428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.871400513 meters 0.06835937313970576 Centerline is valid? [True, True] Translation: X:335.83, Y:35.57, Z:-2.01 [[ 9.99459139e-01 -3.27949622e-02 2.43299634e-03 3.35833332e+02] [ 3.27944828e-02 9.99462088e-01 2.36695940e-04 3.55659164e+01] [-2.43945003e-03 -1.56779064e-04 9.99997012e-01 -2.01401722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.901400513 meters 0.0708116908444605 Centerline is valid? [True, True] Translation: X:335.86, Y:35.57, Z:-2.01 [[ 9.99514176e-01 -3.09783564e-02 3.42830610e-03 3.35863132e+02] [ 3.09773912e-02 9.99520030e-01 3.34291851e-04 3.55707123e+01] [-3.43701642e-03 -2.27929465e-04 9.99994067e-01 -2.01275817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.931400513 meters 0.07818938454678198 Centerline is valid? [True, True] Translation: X:335.89, Y:35.58, Z:-2.01 [[ 9.99595159e-01 -2.82803348e-02 3.12096375e-03 3.35891473e+02] [ 2.82795216e-02 9.99600008e-01 3.04364582e-04 3.55791812e+01] [-3.12832292e-03 -2.15982001e-04 9.99995083e-01 -2.01368425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.961400513 meters 0.08512799689073922 Centerline is valid? [True, True] Translation: X:335.92, Y:35.59, Z:-2.02 [[ 9.99746878e-01 -2.23709677e-02 2.39155129e-03 3.35919606e+02] [ 2.23704735e-02 9.99749722e-01 2.33230589e-04 3.55892379e+01] [-2.39617033e-03 -1.79671418e-04 9.99997113e-01 -2.01577005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99140051300003 meters 0.077425598551745 Centerline is valid? [True, True] Translation: X:335.95, Y:35.58, Z:-2.02 [[ 9.99797921e-01 -1.99445008e-02 2.51682839e-03 3.35950573e+02] [ 1.99439458e-02 9.99801070e-01 2.45433327e-04 3.55814925e+01] [-2.52122276e-03 -1.95188241e-04 9.99996803e-01 -2.01606389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.021400513 meters 0.07323503404681883 Centerline is valid? [True, True] Translation: X:335.98, Y:35.58, Z:-2.02 [[ 9.99829627e-01 -1.82403070e-02 2.82989724e-03 3.35981460e+02] [ 1.82395985e-02 9.99833607e-01 2.75967558e-04 3.55781650e+01] [-2.83446009e-03 -2.24304351e-04 9.99995958e-01 -2.01519963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05140051300003 meters 0.08392818854630218 Centerline is valid? [True, True] Translation: X:336.01, Y:35.59, Z:-2.01 [[ 9.99854514e-01 -1.67075603e-02 3.43632006e-03 3.36009813e+02] [ 1.67065065e-02 9.99860380e-01 3.35154231e-04 3.55926870e+01] [-3.44143990e-03 -2.77696567e-04 9.99994040e-01 -2.01470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.081400513 meters 0.08490597669239898 Centerline is valid? [True, True] Translation: X:336.04, Y:35.60, Z:-2.01 [[ 9.99867841e-01 -1.59841501e-02 2.96759002e-03 3.36040321e+02] [ 1.59833609e-02 9.99872216e-01 2.89472439e-04 3.55950871e+01] [-2.97183778e-03 -2.42002120e-04 9.99995555e-01 -2.01487828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11140051300004 meters 0.08320967703251822 Centerline is valid? [True, True] Translation: X:336.07, Y:35.59, Z:-2.02 [[ 9.99881779e-01 -1.53295786e-02 1.19705577e-03 3.36070846e+02] [ 1.53294497e-02 9.99882490e-01 1.16766349e-04 3.55943504e+01] [-1.19870508e-03 -9.84023389e-05 9.99999277e-01 -2.01715950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.141400513 meters 0.08615495976592906 Centerline is valid? [True, True] Translation: X:336.10, Y:35.60, Z:-2.02 [[ 9.99879153e-01 -1.55166281e-02 9.55812348e-04 3.36099610e+02] [ 1.55165461e-02 9.99879607e-01 9.32064061e-05 3.56013950e+01] [-9.57143524e-04 -7.83642361e-05 9.99999539e-01 -2.01798359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.171400513 meters 0.08522656939015687 Centerline is valid? [True, True] Translation: X:336.13, Y:35.60, Z:-2.02 [[ 9.99861669e-01 -1.65839609e-02 1.27119630e-03 3.36130002e+02] [ 1.65838166e-02 9.99862471e-01 1.23941635e-04 3.56001921e+01] [-1.27307691e-03 -1.02843204e-04 9.99999184e-01 -2.01796806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.201400513 meters 0.08625979742717056 Centerline is valid? [True, True] Translation: X:336.16, Y:35.61, Z:-2.02 [[ 9.99844719e-01 -1.74984248e-02 2.08398789e-03 3.36157946e+02] [ 1.74980388e-02 9.99846877e-01 2.03327134e-04 3.56067736e+01] [-2.08722669e-03 -1.66829860e-04 9.99997808e-01 -2.01725799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.231400513 meters 0.07380667491556533 Centerline is valid? [True, True] Translation: X:336.19, Y:35.59, Z:-2.02 [[ 9.99788289e-01 -2.05240901e-02 1.46251998e-03 3.36190068e+02] [ 2.05239031e-02 9.99789352e-01 1.42761632e-04 3.55905641e+01] [-1.46514196e-03 -1.12714790e-04 9.99998920e-01 -2.01738638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.261400513 meters 0.07861876789650649 Centerline is valid? [True, True] Translation: X:336.22, Y:35.60, Z:-2.02 [[ 9.99747430e-01 -2.24492895e-02 1.05111960e-03 3.36218581e+02] [ 2.24491940e-02 9.99747980e-01 1.02563864e-04 3.55980262e+01] [-1.05315718e-03 -7.89411715e-05 9.99999442e-01 -2.01785769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.291400513 meters 0.0794930037336783 Centerline is valid? [True, True] Translation: X:336.25, Y:35.60, Z:-2.02 [[ 9.99698740e-01 -2.45314558e-02 7.98006884e-04 3.36248155e+02] [ 2.45314014e-02 9.99699057e-01 7.78878902e-05 3.56018435e+01] [-7.99677432e-04 -5.82881986e-05 9.99999679e-01 -2.01839882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.321400513 meters 0.07117023991950966 Centerline is valid? [True, True] Translation: X:336.28, Y:35.60, Z:-2.02 [[ 9.99638187e-01 -2.68821566e-02 9.19319902e-04 3.36279356e+02] [ 2.68820854e-02 9.99638607e-01 8.97799606e-05 3.55958203e+01] [-9.21401146e-04 -6.50342409e-05 9.99999573e-01 -2.01848443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.351400513 meters 0.07366610685976323 Centerline is valid? [True, True] Translation: X:336.31, Y:35.60, Z:-2.02 [[ 9.99629378e-01 -2.72076047e-02 9.23341756e-04 3.36306342e+02] [ 2.72075331e-02 9.99629802e-01 9.00368407e-05 3.56015572e+01] [-9.25449624e-04 -6.48816197e-05 9.99999570e-01 -2.01920855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.381400513 meters 0.07088868101945517 Centerline is valid? [True, True] Translation: X:336.33, Y:35.60, Z:-2.02 [[ 9.99624939e-01 -2.73764847e-02 7.14048833e-04 3.36334434e+02] [ 2.73764421e-02 9.99625193e-01 6.92794183e-05 3.56004310e+01] [-7.15677829e-04 -4.97053178e-05 9.99999743e-01 -2.01978561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.411400513 meters 0.06700920077830319 Centerline is valid? [True, True] Translation: X:336.36, Y:35.60, Z:-2.02 [[ 9.99638119e-01 -2.68949425e-02 5.42164076e-04 3.36363072e+02] [ 2.68949177e-02 9.99638265e-01 5.29107860e-05 3.55979516e+01] [-5.43390989e-04 -3.83101804e-05 9.99999852e-01 -2.01995242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.441400513 meters 0.07618732195215136 Centerline is valid? [True, True] Translation: X:336.39, Y:35.61, Z:-2.02 [[ 9.99666028e-01 -2.58328682e-02 7.03218685e-04 3.36390464e+02] [ 2.58328262e-02 9.99666274e-01 6.87948675e-05 3.56121139e+01] [-7.04761172e-04 -5.06057659e-05 9.99999750e-01 -2.02030853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.471400513 meters 0.07736826705413397 Centerline is valid? [True, True] Translation: X:336.42, Y:35.62, Z:-2.02 [[ 9.99720624e-01 -2.36345187e-02 2.90232146e-04 3.36420594e+02] [ 2.36345114e-02 9.99720666e-01 2.84313163e-05 3.56174066e+01] [-2.90823034e-04 -2.15638783e-05 9.99999957e-01 -2.02104794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.501400513 meters 0.07199254270767604 Centerline is valid? [True, True] Translation: X:336.45, Y:35.61, Z:-2.02 [[ 9.99742873e-01 -2.26716881e-02 4.28036402e-04 3.36450327e+02] [ 2.26716723e-02 9.99742964e-01 4.18787540e-05 3.56139262e+01] [-4.28875843e-04 -3.21636848e-05 9.99999908e-01 -2.02035431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.531400513 meters 0.07199254270767604 Centerline is valid? [True, True] Translation: X:336.48, Y:35.62, Z:-2.02 [[ 9.99738656e-01 -2.28568472e-02 4.28083584e-04 3.36477767e+02] [ 2.28568315e-02 9.99738748e-01 4.13979714e-05 3.56167543e+01] [-4.28917973e-04 -3.16025179e-05 9.99999908e-01 -2.02045000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.561400513 meters 0.08035868883628039 Centerline is valid? [True, True] Translation: X:336.51, Y:35.63, Z:-2.02 [[ 9.99758954e-01 -2.19349682e-02 9.43862630e-04 3.36505100e+02] [ 2.19348905e-02 9.99759397e-01 9.25668163e-05 3.56296172e+01] [-9.45665984e-04 -7.18409800e-05 9.99999550e-01 -2.02048574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.591400513 meters 0.08183208531958495 Centerline is valid? [True, True] Translation: X:336.53, Y:35.63, Z:-2.02 [[ 9.99788933e-01 -2.04912221e-02 1.48307631e-03 3.36534653e+02] [ 2.04910283e-02 9.99790026e-01 1.45715089e-04 3.56340079e+01] [-1.48575078e-03 -1.15294575e-04 9.99998890e-01 -2.01955151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.621400513 meters 0.07915678954897815 Centerline is valid? [True, True] Translation: X:336.57, Y:35.63, Z:-2.02 [[ 9.99840707e-01 -1.77859040e-02 1.49065932e-03 3.36565168e+02] [ 1.77857052e-02 9.99841811e-01 1.46491236e-04 3.56346747e+01] [-1.49302900e-03 -1.19955474e-04 9.99998878e-01 -2.01916065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.651400513 meters 0.08618146601884286 Centerline is valid? [True, True] Translation: X:336.59, Y:35.65, Z:-2.02 [[ 9.99857630e-01 -1.68259395e-02 1.26812659e-03 3.36593713e+02] [ 1.68257949e-02 9.99858429e-01 1.24608752e-04 3.56475269e+01] [-1.27004372e-03 -1.03253774e-04 9.99999188e-01 -2.01965204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.681400513 meters 0.08235006393017565 Centerline is valid? [True, True] Translation: X:336.62, Y:35.65, Z:-2.02 [[ 9.99867433e-01 -1.62674652e-02 6.97279448e-04 3.36623042e+02] [ 1.62674215e-02 9.99867674e-01 6.84090329e-05 3.56466779e+01] [-6.98300022e-04 -5.70570255e-05 9.99999755e-01 -2.02026328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.711400513 meters 0.08575711615000144 Centerline is valid? [True, True] Translation: X:336.65, Y:35.65, Z:-2.02 [[ 9.99874039e-01 -1.58701804e-02 -2.09547504e-04 3.36650763e+02] [ 1.58701764e-02 9.99874061e-01 -2.07713040e-05 3.56539009e+01] [ 2.09850758e-04 1.74431318e-05 9.99999978e-01 -2.02203946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74140051300003 meters 0.08683153342558698 Centerline is valid? [True, True] Translation: X:336.68, Y:35.66, Z:-2.02 [[ 9.99883652e-01 -1.52431682e-02 -5.73631101e-04 3.36678877e+02] [ 1.52431382e-02 9.99883815e-01 -5.66158894e-05 3.56564337e+01] [ 5.74427460e-04 4.78653641e-05 9.99999834e-01 -2.02278799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.771400513 meters 0.09401322429470313 Centerline is valid? [True, True] Translation: X:336.71, Y:35.67, Z:-2.02 [[ 9.99885796e-01 -1.51089554e-02 3.37550427e-04 3.36705940e+02] [ 1.51089451e-02 9.99885853e-01 3.30531837e-05 3.56665547e+01] [-3.38011296e-04 -2.79493780e-05 9.99999942e-01 -2.02220994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80140051300003 meters 0.08647915538515803 Centerline is valid? [True, True] Translation: X:336.74, Y:35.66, Z:-2.02 [[ 9.99879763e-01 -1.54553326e-02 1.26168482e-03 3.36735878e+02] [ 1.54551884e-02 9.99880554e-01 1.23916650e-04 3.56591122e+01] [-1.26344929e-03 -1.04402174e-04 9.99999196e-01 -2.02039454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.831400513 meters 0.07828265483783939 Centerline is valid? [True, True] Translation: X:336.77, Y:35.65, Z:-2.02 [[ 9.99871349e-01 -1.59378982e-02 1.80799527e-03 3.36766686e+02] [ 1.59376016e-02 9.99872972e-01 1.78300991e-04 3.56510251e+01] [-1.81060735e-03 -1.49462944e-04 9.99998350e-01 -2.01978881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86140051300004 meters 0.08320102126320497 Centerline is valid? [True, True] Translation: X:336.80, Y:35.66, Z:-2.02 [[ 9.99860727e-01 -1.65323171e-02 2.28235445e-03 3.36795547e+02] [ 1.65318459e-02 9.99863314e-01 2.25168108e-04 3.56587114e+01] [-2.28576503e-03 -1.87405216e-04 9.99997370e-01 -2.01977070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.891400513 meters 0.08696014001084265 Centerline is valid? [True, True] Translation: X:336.82, Y:35.67, Z:-2.02 [[ 9.99870455e-01 -1.58926912e-02 2.54879591e-03 3.36823892e+02] [ 1.58921013e-02 9.99873681e-01 2.51510327e-04 3.56665631e+01] [-2.55247113e-03 -2.10972022e-04 9.99996720e-01 -2.01951682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.921400513 meters 0.07955627103582723 Centerline is valid? [True, True] Translation: X:336.85, Y:35.66, Z:-2.02 [[ 9.99891483e-01 -1.45046031e-02 2.57648242e-03 3.36854981e+02] [ 1.45039959e-02 9.99894779e-01 2.54196497e-04 3.56615548e+01] [-2.57989834e-03 -2.16799622e-04 9.99996649e-01 -2.01873728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.951400513 meters 0.08006413167176964 Centerline is valid? [True, True] Translation: X:336.88, Y:35.67, Z:-2.02 [[ 9.99916841e-01 -1.25992090e-02 2.75143566e-03 3.36884688e+02] [ 1.25985093e-02 9.99920599e-01 2.71454756e-04 3.56664071e+01] [-2.75463731e-03 -2.36768194e-04 9.99996178e-01 -2.01792709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.981400513 meters 0.0875924738036909 Centerline is valid? [True, True] Translation: X:336.91, Y:35.68, Z:-2.02 [[ 9.99957721e-01 -9.05520361e-03 1.59974081e-03 3.36913058e+02] [ 9.05496254e-03 9.99958991e-01 1.57868350e-04 3.56820921e+01] [-1.60110473e-03 -1.43376082e-04 9.99998708e-01 -2.01892863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.011400513 meters 0.09626711205859001 Centerline is valid? [True, True] Translation: X:336.94, Y:35.70, Z:-2.02 [[ 9.99967179e-01 -8.06047578e-03 8.18162202e-04 3.36941665e+02] [ 8.06041242e-03 9.99967511e-01 8.07093987e-05 3.56970319e+01] [-8.18786177e-04 -7.41120250e-05 9.99999662e-01 -2.02006610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.041400513 meters 0.0942984412135066 Centerline is valid? [True, True] Translation: X:336.97, Y:35.70, Z:-2.02 [[ 9.99969790e-01 -7.69979255e-03 1.06382288e-03 3.36972374e+02] [ 7.69968523e-03 9.99970351e-01 1.04943133e-04 3.56994442e+01] [-1.06459938e-03 -9.67488616e-05 9.99999429e-01 -2.02030948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.071400513 meters 0.09207618793851977 Centerline is valid? [True, True] Translation: X:337.00, Y:35.70, Z:-2.02 [[ 9.99964853e-01 -8.04407848e-03 2.36319799e-03 3.37002618e+02] [ 8.04354983e-03 9.99967623e-01 2.33122831e-04 3.57015826e+01] [-2.36499673e-03 -2.14106137e-04 9.99997180e-01 -2.01821818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.101400513 meters 0.08492003886672109 Centerline is valid? [True, True] Translation: X:337.03, Y:35.70, Z:-2.01 [[ 9.99922925e-01 -1.02188793e-02 7.05112529e-03 3.37033550e+02] [ 1.02142265e-02 9.99947592e-01 6.95571885e-04 3.56986792e+01] [-7.05786372e-03 -6.23496483e-04 9.99974899e-01 -2.01093376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.131400513 meters 0.09087987864482926 Centerline is valid? [True, True] Translation: X:337.06, Y:35.71, Z:-2.01 [[ 9.99901138e-01 -1.18308610e-02 7.59906970e-03 3.37062880e+02] [ 1.18255031e-02 9.99929795e-01 7.49623079e-04 3.57100318e+01] [-7.60740490e-03 -6.59686147e-04 9.99970846e-01 -2.00929108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.161400513 meters 0.08744151690600081 Centerline is valid? [True, True] Translation: X:337.09, Y:35.71, Z:-2.01 [[ 9.99888169e-01 -1.31978783e-02 7.03321953e-03 3.37093707e+02] [ 1.31933225e-02 9.99912724e-01 6.93763956e-04 3.57103393e+01] [-7.04176191e-03 -6.00894838e-04 9.99975026e-01 -2.01041466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.191400513 meters 0.08569251073496838 Centerline is valid? [True, True] Translation: X:337.12, Y:35.71, Z:-2.01 [[ 9.99875101e-01 -1.44676491e-02 6.36162369e-03 3.37124122e+02] [ 1.44639476e-02 9.99895195e-01 6.27482279e-04 3.57129135e+01] [-6.37003515e-03 -5.35389716e-04 9.99979568e-01 -2.01164344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.221400513 meters 0.0864321576211601 Centerline is valid? [True, True] Translation: X:337.15, Y:35.72, Z:-2.01 [[ 9.99858031e-01 -1.54903442e-02 6.63074385e-03 3.37154119e+02] [ 1.54863454e-02 9.99879865e-01 6.53991434e-04 3.57186596e+01] [-6.64007783e-03 -5.51212598e-04 9.99977803e-01 -2.01168047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.251400513 meters 0.08662969326899582 Centerline is valid? [True, True] Translation: X:337.19, Y:35.72, Z:-2.01 [[ 9.99842688e-01 -1.63164321e-02 6.95506464e-03 3.37185694e+02] [ 1.63120538e-02 9.99866714e-01 6.85782944e-04 3.57241976e+01] [-6.96532716e-03 -5.72223674e-04 9.99975578e-01 -2.01092316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.281400513 meters 0.08535210918232077 Centerline is valid? [True, True] Translation: X:337.22, Y:35.73, Z:-2.01 [[ 9.99847930e-01 -1.63264108e-02 6.12900185e-03 3.37217406e+02] [ 1.63230125e-02 9.99866588e-01 6.04076711e-04 3.57256884e+01] [-6.13804657e-03 -5.03941076e-04 9.99981035e-01 -2.01158457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.311400513 meters 0.08432319892106079 Centerline is valid? [True, True] Translation: X:337.25, Y:35.73, Z:-2.01 [[ 9.99856723e-01 -1.61640106e-02 5.02583552e-03 3.37249520e+02] [ 1.61617246e-02 9.99869268e-01 4.95151221e-04 3.57270807e+01] [-5.03318211e-03 -4.13854108e-04 9.99987248e-01 -2.01310466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.341400513 meters 0.09408174745757822 Centerline is valid? [True, True] Translation: X:337.28, Y:35.74, Z:-2.02 [[ 9.99855809e-01 -1.66037151e-02 3.56051695e-03 3.37278215e+02] [ 1.66025709e-02 9.99862106e-01 3.50675527e-04 3.57426425e+01] [-3.56584850e-03 -2.91511228e-04 9.99993600e-01 -2.01684749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.371400513 meters 0.09200469890882508 Centerline is valid? [True, True] Translation: X:337.31, Y:35.74, Z:-2.02 [[ 9.99846656e-01 -1.72399893e-02 3.07355338e-03 3.37309332e+02] [ 1.72391397e-02 9.99851349e-01 3.02685255e-04 3.57437877e+01] [-3.07831478e-03 -2.49653424e-04 9.99995231e-01 -2.01858380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.401400513 meters 0.08044229435049206 Centerline is valid? [True, True] Translation: X:337.34, Y:35.73, Z:-2.02 [[ 9.99795013e-01 -2.00834528e-02 2.56652171e-03 3.37341039e+02] [ 2.00828698e-02 9.99798287e-01 2.52721174e-04 3.57322578e+01] [-2.57107953e-03 -2.01126248e-04 9.99996675e-01 -2.01979459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.431400513 meters 0.08725804414017681 Centerline is valid? [True, True] Translation: X:337.37, Y:35.74, Z:-2.02 [[ 9.99762756e-01 -2.16744734e-02 2.15633777e-03 3.37369073e+02] [ 2.16740656e-02 9.99765067e-01 2.12298387e-04 3.57416746e+01] [-2.16043263e-03 -1.65511415e-04 9.99997653e-01 -2.02069044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.461400513 meters 0.07479530015527161 Centerline is valid? [True, True] Translation: X:337.40, Y:35.72, Z:-2.02 [[ 9.99722853e-01 -2.34892844e-02 1.57199897e-03 3.37400771e+02] [ 2.34890699e-02 9.99724082e-01 1.54790923e-04 3.57229690e+01] [-1.57520115e-03 -1.17823229e-04 9.99998752e-01 -2.02091199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49140051300003 meters 0.08067221449089908 Centerline is valid? [True, True] Translation: X:337.43, Y:35.73, Z:-2.02 [[ 9.99693003e-01 -2.47515904e-02 1.12188021e-03 3.37429233e+02] [ 2.47514819e-02 9.99693629e-01 1.10472178e-04 3.57335934e+01] [-1.12427086e-03 -8.26700653e-05 9.99999365e-01 -2.02181562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.521400513 meters 0.08274555989190246 Centerline is valid? [True, True] Translation: X:337.46, Y:35.74, Z:-2.02 [[ 9.99670005e-01 -2.56830487e-02 5.12414244e-04 3.37457454e+02] [ 2.56830263e-02 9.99670135e-01 5.03658839e-05 3.57361970e+01] [-5.13538766e-04 -3.71889149e-05 9.99999867e-01 -2.02319798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55140051300003 meters 0.0744624624845208 Centerline is valid? [True, True] Translation: X:337.49, Y:35.72, Z:-2.02 [[ 9.99647287e-01 -2.65562161e-02 2.63116658e-04 3.37487612e+02] [ 2.65562102e-02 9.99647321e-01 2.57957508e-05 3.57246969e+01] [-2.63708900e-04 -1.87992710e-05 9.99999965e-01 -2.02447036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.581400513 meters 0.07315017190874008 Centerline is valid? [True, True] Translation: X:337.52, Y:35.72, Z:-2.02 [[ 9.99639538e-01 -2.68417354e-02 5.61415365e-04 3.37516968e+02] [ 2.68417088e-02 9.99639695e-01 5.49128845e-05 3.57230643e+01] [-5.62687042e-04 -3.98237427e-05 9.99999841e-01 -2.02451713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61140051300004 meters 0.08175204646980828 Centerline is valid? [True, True] Translation: X:337.54, Y:35.73, Z:-2.02 [[ 9.99642745e-01 -2.67105983e-02 9.62252967e-04 3.37543536e+02] [ 2.67105193e-02 9.99643206e-01 9.48514672e-05 3.57326271e+01] [-9.64443181e-04 -6.91153047e-05 9.99999533e-01 -2.02432043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.641400513 meters 0.07724787123390026 Centerline is valid? [True, True] Translation: X:337.57, Y:35.73, Z:-2.02 [[ 9.99654311e-01 -2.62713612e-02 1.03645665e-03 3.37572759e+02] [ 2.62712694e-02 9.99654845e-01 1.02103277e-04 3.57269811e+01] [-1.03878130e-03 -7.48389494e-05 9.99999458e-01 -2.02362499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.671400513 meters 0.07697452294168386 Centerline is valid? [True, True] Translation: X:337.60, Y:35.73, Z:-2.02 [[ 9.99703890e-01 -2.42966247e-02 1.34429831e-03 3.37603247e+02] [ 2.42964676e-02 9.99704788e-01 1.33102102e-04 3.57280676e+01] [-1.34713539e-03 -1.00400989e-04 9.99999088e-01 -2.02284712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.701400513 meters 0.08229564387884244 Centerline is valid? [True, True] Translation: X:337.63, Y:35.74, Z:-2.02 [[ 9.99738944e-01 -2.28357593e-02 7.56710541e-04 3.37631846e+02] [ 2.28357091e-02 9.99739228e-01 7.49100273e-05 3.57376133e+01] [-7.58223840e-04 -5.76104497e-05 9.99999711e-01 -2.02410271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.731400513 meters 0.08834932685482995 Centerline is valid? [True, True] Translation: X:337.66, Y:35.75, Z:-2.03 [[ 9.99779442e-01 -2.10005272e-02 -2.12990440e-04 3.37659681e+02] [ 2.10005232e-02 9.99779464e-01 -2.11483348e-05 3.57474919e+01] [ 2.13387594e-04 1.66707597e-05 9.99999977e-01 -2.02582815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.761400513 meters 0.09266819754392905 Centerline is valid? [True, True] Translation: X:337.69, Y:35.75, Z:-2.03 [[ 9.99816117e-01 -1.91728724e-02 -3.63937792e-04 3.37688166e+02] [ 1.91728606e-02 9.99816183e-01 -3.61243188e-05 3.57549301e+01] [ 3.64563501e-04 2.91399476e-05 9.99999933e-01 -2.02622650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.791400513 meters 0.07896264235817031 Centerline is valid? [True, True] Translation: X:337.72, Y:35.74, Z:-2.02 [[ 9.99840687e-01 -1.78456824e-02 3.64575440e-04 3.37720187e+02] [ 1.78456704e-02 9.99840753e-01 3.60886612e-05 3.57394571e+01] [-3.65161409e-04 -2.95768187e-05 9.99999933e-01 -2.02419999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.821400513 meters 0.07653163550470427 Centerline is valid? [True, True] Translation: X:337.75, Y:35.74, Z:-2.02 [[ 9.99877004e-01 -1.54968708e-02 2.41329867e-03 3.37750042e+02] [ 1.54963384e-02 9.99879896e-01 2.39149947e-04 3.57431612e+01] [-2.41671490e-03 -2.01723240e-04 9.99997059e-01 -2.02095938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.851400513 meters 0.08776145291236846 Centerline is valid? [True, True] Translation: X:337.78, Y:35.76, Z:-2.02 [[ 9.99892573e-01 -1.44796629e-02 2.27631669e-03 3.37777671e+02] [ 1.44791866e-02 9.99895146e-01 2.25557245e-04 3.57608502e+01] [-2.27934400e-03 -1.92573800e-04 9.99997384e-01 -2.02154112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.881400513 meters 0.0875533866187399 Centerline is valid? [True, True] Translation: X:337.81, Y:35.76, Z:-2.02 [[ 9.99898324e-01 -1.42043397e-02 1.25639192e-03 3.37808430e+02] [ 1.42041944e-02 9.99899108e-01 1.24538559e-04 3.57635304e+01] [-1.25803415e-03 -1.06679862e-04 9.99999203e-01 -2.02331592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.911400513 meters 0.08812538299956733 Centerline is valid? [True, True] Translation: X:337.84, Y:35.77, Z:-2.02 [[ 9.99891839e-01 -1.47036511e-02 3.37256392e-04 3.37838191e+02] [ 1.47036406e-02 9.99891895e-01 3.33613624e-05 3.57663716e+01] [-3.37710467e-04 -2.83988572e-05 9.99999943e-01 -2.02470158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.941400513 meters 0.08421828100993636 Centerline is valid? [True, True] Translation: X:337.87, Y:35.77, Z:-2.02 [[ 9.99856903e-01 -1.68365908e-02 1.64407363e-03 3.37868705e+02] [ 1.68363453e-02 9.99858245e-01 1.62999969e-04 3.57654281e+01] [-1.64658494e-03 -1.35296453e-04 9.99998635e-01 -2.02316138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.971400513 meters 0.0840502685446685 Centerline is valid? [True, True] Translation: X:337.90, Y:35.77, Z:-2.02 [[ 9.99845508e-01 -1.72538493e-02 3.35641503e-03 3.37898434e+02] [ 1.72528288e-02 9.99851103e-01 3.32779656e-04 3.57696633e+01] [-3.36165700e-03 -2.74820590e-04 9.99994312e-01 -2.02156173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.001400513 meters 0.07964608537732411 Centerline is valid? [True, True] Translation: X:337.93, Y:35.77, Z:-2.02 [[ 9.99852796e-01 -1.65459266e-02 4.54082688e-03 3.37928691e+02] [ 1.65440509e-02 9.99863036e-01 4.50327554e-04 3.57678505e+01] [-4.54765603e-03 -3.75137593e-04 9.99989589e-01 -2.02075018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.031400513 meters 0.08615494188656252 Centerline is valid? [True, True] Translation: X:337.96, Y:35.78, Z:-2.02 [[ 9.99905536e-01 -1.33664596e-02 3.20248779e-03 3.37957533e+02] [ 1.33655103e-02 9.99910627e-01 3.17637206e-04 3.57795219e+01] [-3.20644726e-03 -2.74804318e-04 9.99994822e-01 -2.02277174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.061400513 meters 0.0888680874922378 Centerline is valid? [True, True] Translation: X:337.99, Y:35.79, Z:-2.03 [[ 9.99928813e-01 -1.17774768e-02 1.91292823e-03 3.37987883e+02] [ 1.17771354e-02 9.99930629e-01 1.89674381e-04 3.57875665e+01] [-1.91502942e-03 -1.67132064e-04 9.99998152e-01 -2.02503633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.091400513 meters 0.09129201358128342 Centerline is valid? [True, True] Translation: X:338.02, Y:35.80, Z:-2.03 [[ 9.99946622e-01 -1.02634225e-02 1.18941585e-03 3.38016715e+02] [ 1.02632895e-02 9.99947324e-01 1.17888489e-04 3.57954335e+01] [-1.19056314e-03 -1.05674877e-04 9.99999286e-01 -2.02614690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.121400513 meters 0.0923703999503196 Centerline is valid? [True, True] Translation: X:338.05, Y:35.80, Z:-2.03 [[ 9.99957354e-01 -9.12833728e-03 1.40141956e-03 3.38046888e+02] [ 9.12815144e-03 9.99958328e-01 1.38946449e-04 3.58014962e+01] [-1.40262951e-03 -1.26148153e-04 9.99999008e-01 -2.02631411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.151400513 meters 0.09122526289945758 Centerline is valid? [True, True] Translation: X:338.08, Y:35.80, Z:-2.03 [[ 9.99957060e-01 -8.97807944e-03 2.29603753e-03 3.38077283e+02] [ 8.97758021e-03 9.99959675e-01 2.27645075e-04 3.58047025e+01] [-2.29798876e-03 -2.07022439e-04 9.99997338e-01 -2.02545290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.181400513 meters 0.09948848412893195 Centerline is valid? [True, True] Translation: X:338.11, Y:35.82, Z:-2.03 [[ 9.99947299e-01 -1.00220793e-02 2.22667417e-03 3.38105605e+02] [ 1.00216123e-02 9.99949758e-01 2.20817392e-04 3.58186800e+01] [-2.22877534e-03 -1.98490889e-04 9.99997497e-01 -2.02619907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.211400513 meters 0.09120657931932705 Centerline is valid? [True, True] Translation: X:338.14, Y:35.81, Z:-2.03 [[ 9.99925563e-01 -1.20509853e-02 1.90840901e-03 3.38137077e+02] [ 1.20506461e-02 9.99927370e-01 1.89140087e-04 3.58128705e+01] [-1.91054973e-03 -1.66128446e-04 9.99998161e-01 -2.02708528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24140051300003 meters 0.08752475387190028 Centerline is valid? [True, True] Translation: X:338.17, Y:35.81, Z:-2.03 [[ 9.99891281e-01 -1.46420524e-02 1.74265299e-03 3.38167517e+02] [ 1.46417735e-02 9.99892789e-01 1.72701754e-04 3.58121600e+01] [-1.74499486e-03 -1.47167447e-04 9.99998467e-01 -2.02775214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.271400513 meters 0.0880889084512123 Centerline is valid? [True, True] Translation: X:338.20, Y:35.82, Z:-2.03 [[ 9.99848484e-01 -1.73332667e-02 1.60215427e-03 3.38197338e+02] [ 1.73330344e-02 9.99849759e-01 1.58779928e-04 3.58155766e+01] [-1.60466574e-03 -1.30985676e-04 9.99998704e-01 -2.02811578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30140051300003 meters 0.08889953144167126 Centerline is valid? [True, True] Translation: X:338.23, Y:35.82, Z:-2.03 [[ 9.99806699e-01 -1.96133603e-02 1.37152060e-03 3.38226371e+02] [ 1.96131922e-02 9.99807634e-01 1.35898121e-04 3.58183163e+01] [-1.37392219e-03 -1.08971954e-04 9.99999050e-01 -2.02848480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.331400513 meters 0.08616060275751389 Centerline is valid? [True, True] Translation: X:338.26, Y:35.82, Z:-2.03 [[ 9.99736916e-01 -2.28873474e-02 1.50622688e-03 3.38256390e+02] [ 2.28871483e-02 9.99738044e-01 1.49259685e-04 3.58156363e+01] [-1.50924847e-03 -1.14747179e-04 9.99998855e-01 -2.02858953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36140051300004 meters 0.08585806958526915 Centerline is valid? [True, True] Translation: X:338.29, Y:35.82, Z:-2.03 [[ 9.99720505e-01 -2.35760067e-02 1.75629546e-03 3.38285173e+02] [ 2.35757371e-02 9.99722039e-01 1.74041215e-04 3.58173936e+01] [-1.75991047e-03 -1.32586611e-04 9.99998443e-01 -2.02836719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.391400513 meters 0.07948274328877761 Centerline is valid? [True, True] Translation: X:338.31, Y:35.81, Z:-2.03 [[ 9.99729968e-01 -2.31494826e-02 2.02298721e-03 3.38314872e+02] [ 2.31491241e-02 9.99732003e-01 2.00416360e-04 3.58119313e+01] [-2.02708459e-03 -1.53531859e-04 9.99997934e-01 -2.02816923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.421400513 meters 0.0804961997091633 Centerline is valid? [True, True] Translation: X:338.34, Y:35.81, Z:-2.03 [[ 9.99817363e-01 -1.90511117e-02 1.51491048e-03 3.38344786e+02] [ 1.90509054e-02 9.99818504e-01 1.50474865e-04 3.58145941e+01] [-1.51750224e-03 -1.21586967e-04 9.99998841e-01 -2.02764664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.451400513 meters 0.0804961997091633 Centerline is valid? [True, True] Translation: X:338.37, Y:35.82, Z:-2.03 [[ 9.99816939e-01 -1.90733648e-02 1.51491293e-03 3.38373900e+02] [ 1.90731586e-02 9.99818079e-01 1.50450207e-04 3.58175248e+01] [-1.51750692e-03 -1.21528491e-04 9.99998841e-01 -2.02774815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.481400513 meters 0.08167289380635649 Centerline is valid? [True, True] Translation: X:338.40, Y:35.82, Z:-2.03 [[ 9.99860780e-01 -1.66398623e-02 1.23945646e-03 3.38403687e+02] [ 1.66397224e-02 9.99861543e-01 1.23157150e-04 3.58212125e+01] [-1.24133416e-03 -1.02515793e-04 9.99999224e-01 -2.02780456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.511400513 meters 0.08760216569917666 Centerline is valid? [True, True] Translation: X:338.43, Y:35.83, Z:-2.03 [[ 9.99891691e-01 -1.46324010e-02 1.58112961e-03 3.38432574e+02] [ 1.46321708e-02 9.99892932e-01 1.57081138e-04 3.58308855e+01] [-1.58325879e-03 -1.33928766e-04 9.99998738e-01 -2.02793505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.541400513 meters 0.08100727175457516 Centerline is valid? [True, True] Translation: X:338.46, Y:35.82, Z:-2.03 [[ 9.99916356e-01 -1.27629558e-02 2.09460199e-03 3.38462801e+02] [ 1.27576938e-02 9.99915476e-01 2.50656099e-03 3.58230100e+01] [-2.12641608e-03 -2.47962904e-03 9.99994665e-01 -2.02785204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.571400513 meters 0.08664473078794976 Centerline is valid? [True, True] Translation: X:338.49, Y:35.84, Z:-2.03 [[ 9.99929025e-01 -1.18107963e-02 1.56508237e-03 3.38492244e+02] [ 1.18141252e-02 9.99927931e-01 -2.13504755e-03 3.58371880e+01] [-1.53975297e-03 2.15338610e-03 9.99996496e-01 -2.03038206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.601400513 meters 0.08937300183085632 Centerline is valid? [True, True] Translation: X:338.52, Y:35.84, Z:-2.03 [[ 9.99942454e-01 -1.06939471e-02 8.53099527e-04 3.38521273e+02] [ 1.06938787e-02 9.99942815e-01 8.47299180e-05 3.58410401e+01] [-8.53956840e-04 -7.56020993e-05 9.99999633e-01 -2.03084222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.631400513 meters 0.09081262401004286 Centerline is valid? [True, True] Translation: X:338.55, Y:35.85, Z:-2.03 [[ 9.99953224e-01 -9.65366736e-03 5.97762790e-04 3.38551434e+02] [ 9.65363355e-03 9.99953401e-01 5.94238581e-05 3.58452169e+01] [-5.98308593e-04 -5.36504955e-05 9.99999820e-01 -2.03154023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.661400513 meters 0.08993438273291969 Centerline is valid? [True, True] Translation: X:338.58, Y:35.85, Z:-2.03 [[ 9.99958894e-01 -9.05355452e-03 4.94164227e-04 3.38581462e+02] [ 9.05353135e-03 9.99959015e-01 4.90919747e-05 3.58465466e+01] [-4.94588431e-04 -4.46160254e-05 9.99999877e-01 -2.03138510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.691400513 meters 0.08740101280685786 Centerline is valid? [True, True] Translation: X:338.61, Y:35.85, Z:-2.03 [[ 9.99959190e-01 -8.91030772e-03 1.49144693e-03 3.38610968e+02] [ 8.91009646e-03 9.99960293e-01 1.48237662e-04 3.58467846e+01] [-1.49270855e-03 -1.34942677e-04 9.99998877e-01 -2.03077344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.721400513 meters 0.09760242412331342 Centerline is valid? [True, True] Translation: X:338.64, Y:35.86, Z:-2.03 [[ 9.99960288e-01 -8.66679749e-03 2.07569812e-03 3.38639754e+02] [ 8.66638751e-03 9.99962425e-01 2.06431808e-04 3.58627352e+01] [-2.07740922e-03 -1.88434806e-04 9.99997824e-01 -2.03045102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.751400513 meters 0.09273846831409785 Centerline is valid? [True, True] Translation: X:338.67, Y:35.86, Z:-2.03 [[ 9.99964929e-01 -8.01864642e-03 2.41721671e-03 3.38670806e+02] [ 8.01808862e-03 9.99967826e-01 2.40362601e-04 3.58618802e+01] [-2.41906632e-03 -2.20972713e-04 9.99997050e-01 -2.03078338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.781400513 meters 0.09423163033172624 Centerline is valid? [True, True] Translation: X:338.70, Y:35.87, Z:-2.03 [[ 9.99965615e-01 -8.07174507e-03 1.90173459e-03 3.38701168e+02] [ 8.07139987e-03 9.99967408e-01 1.89125642e-04 3.58685028e+01] [-1.90319918e-03 -1.73769478e-04 9.99998174e-01 -2.03164162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.811400513 meters 0.08625159998895478 Centerline is valid? [True, True] Translation: X:338.73, Y:35.86, Z:-2.03 [[ 9.99959598e-01 -8.81003374e-03 1.78496398e-03 3.38732832e+02] [ 8.80973095e-03 9.99961178e-01 1.77424241e-04 3.58634899e+01] [-1.78645780e-03 -1.61692020e-04 9.99998391e-01 -2.03190436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.841400513 meters 0.08751147515279677 Centerline is valid? [True, True] Translation: X:338.76, Y:35.87, Z:-2.03 [[ 9.99944927e-01 -1.02572919e-02 2.22068582e-03 3.38761959e+02] [ 1.02568269e-02 9.99947373e-01 2.20671838e-04 3.58691400e+01] [-2.22283245e-03 -1.97882495e-04 9.99997510e-01 -2.03078365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.871400513 meters 0.08885653100364489 Centerline is valid? [True, True] Translation: X:338.79, Y:35.88, Z:-2.03 [[ 9.99880551e-01 -1.50706741e-02 3.42894516e-03 3.38790976e+02] [ 1.50695933e-02 9.99886389e-01 3.40797996e-04 3.58751483e+01] [-3.43369165e-03 -2.89084479e-04 9.99994063e-01 -2.02812935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.901400513 meters 0.08414693029144901 Centerline is valid? [True, True] Translation: X:338.82, Y:35.87, Z:-2.03 [[ 9.99831857e-01 -1.80274620e-02 3.35690261e-03 3.38821517e+02] [ 1.80264426e-02 9.99837455e-01 3.33680479e-04 3.58734562e+01] [-3.36237237e-03 -2.73111361e-04 9.99994310e-01 -2.02896816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.931400513 meters 0.08355838381980417 Centerline is valid? [True, True] Translation: X:338.85, Y:35.88, Z:-2.03 [[ 9.99772884e-01 -2.11243842e-02 2.81779501e-03 3.38850648e+02] [ 2.11236781e-02 9.99776831e-01 2.80087463e-04 3.58761301e+01] [-2.82308284e-03 -2.20501656e-04 9.99995991e-01 -2.02968594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.961400513 meters 0.08007347802084487 Centerline is valid? [True, True] Translation: X:338.88, Y:35.87, Z:-2.03 [[ 9.99696247e-01 -2.45014746e-02 2.66316676e-03 3.38881192e+02] [ 2.45008558e-02 9.99699774e-01 2.64737001e-04 3.58745022e+01] [-2.66885365e-03 -1.99406721e-04 9.99996419e-01 -2.03036127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99140051300003 meters 0.07432152355923476 Centerline is valid? [True, True] Translation: X:338.91, Y:35.87, Z:-2.03 [[ 9.99605999e-01 -2.79045673e-02 3.03013133e-03 3.38911796e+02] [ 2.79037815e-02 9.99610568e-01 3.01302981e-04 3.58696137e+01] [-3.03735903e-03 -2.16632145e-04 9.99995364e-01 -2.02944146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.021400513 meters 0.07611742275893009 Centerline is valid? [True, True] Translation: X:338.94, Y:35.88, Z:-2.03 [[ 9.99395377e-01 -3.45372623e-02 4.00717303e-03 3.38940991e+02] [ 3.45359407e-02 9.99403377e-01 3.98556615e-04 3.58757350e+01] [-4.01854731e-03 -2.59924149e-04 9.99991892e-01 -2.02749022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05140051300003 meters 0.06511392660771034 Centerline is valid? [True, True] Translation: X:338.97, Y:35.87, Z:-2.03 [[ 9.99295765e-01 -3.72816158e-02 4.24915552e-03 3.38972427e+02] [ 3.72801545e-02 9.99304764e-01 4.22625403e-04 3.58666316e+01] [-4.26195751e-03 -2.63918601e-04 9.99990883e-01 -2.02711813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.081400513 meters 0.058090092582037525 Centerline is valid? [True, True] Translation: X:339.00, Y:35.86, Z:-2.03 [[ 9.99197317e-01 -3.98420471e-02 4.16326765e-03 3.39003791e+02] [ 3.98406664e-02 9.99205960e-01 4.14093124e-04 3.58620217e+01] [-4.17646016e-03 -2.47893381e-04 9.99991248e-01 -2.02727974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11140051300004 meters 0.05854017310348666 Centerline is valid? [True, True] Translation: X:339.03, Y:35.87, Z:-2.03 [[ 9.99100732e-01 -4.22754794e-02 3.24210032e-03 3.39032158e+02] [ 4.22746548e-02 9.99105975e-01 3.22473397e-04 3.58660798e+01] [-3.25283452e-03 -1.85124736e-04 9.99994692e-01 -2.02881391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.141400513 meters 0.05678142040952188 Centerline is valid? [True, True] Translation: X:339.06, Y:35.87, Z:-2.03 [[ 9.98997633e-01 -4.47027351e-02 2.32255602e-03 3.39062043e+02] [ 4.47023183e-02 9.99000325e-01 2.31084870e-04 3.58675004e+01] [-2.33056434e-03 -1.27029600e-04 9.99997276e-01 -2.02990190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.171400513 meters 0.05068426833788942 Centerline is valid? [True, True] Translation: X:339.09, Y:35.86, Z:-2.03 [[ 9.98719274e-01 -5.05486779e-02 2.15467910e-03 3.39092679e+02] [ 5.05483327e-02 9.98721593e-01 2.14404502e-04 3.58625760e+01] [-2.16276240e-03 -1.05214473e-04 9.99997656e-01 -2.03033487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.201400513 meters 0.05617354977059287 Centerline is valid? [True, True] Translation: X:339.12, Y:35.88, Z:-2.03 [[ 9.98557992e-01 -5.36041006e-02 2.92177066e-03 3.39120913e+02] [ 5.36034788e-02 9.98562258e-01 2.90772756e-04 3.58750913e+01] [-2.93315652e-03 -1.33736388e-04 9.99995689e-01 -2.02943954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.231400513 meters 0.04678686391755186 Centerline is valid? [True, True] Translation: X:339.15, Y:35.87, Z:-2.03 [[ 9.98379653e-01 -5.67836358e-02 3.69966533e-03 3.39151673e+02] [ 5.67826602e-02 9.98386495e-01 3.68295663e-04 3.58672148e+01] [-3.71460907e-03 -1.57622057e-04 9.99993088e-01 -2.02815358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.261400513 meters 0.038208335562433075 Centerline is valid? [True, True] Translation: X:339.18, Y:35.86, Z:-2.03 [[ 9.98120265e-01 -6.12177601e-02 2.88503474e-03 3.39183139e+02] [ 6.12171852e-02 9.98124428e-01 2.87259018e-04 3.58616873e+01] [-2.89720900e-03 -1.10105341e-04 9.99995797e-01 -2.02877599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.291400513 meters 0.03627638991548205 Centerline is valid? [True, True] Translation: X:339.21, Y:35.86, Z:-2.03 [[ 9.98030879e-01 -6.26912731e-02 2.04191099e-03 3.39211741e+02] [ 6.26909883e-02 9.98032965e-01 2.03248644e-04 3.58640073e+01] [-2.05063639e-03 -7.48390054e-05 9.99997895e-01 -2.02984241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.321400513 meters 0.035874166858663986 Centerline is valid? [True, True] Translation: X:339.24, Y:35.87, Z:-2.03 [[ 9.97953359e-01 -6.39252086e-02 1.63135991e-03 3.39240154e+02] [ 6.39250287e-02 9.97954691e-01 1.62211308e-04 3.58686924e+01] [-1.63839266e-03 -5.75945911e-05 9.99998656e-01 -2.03027736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.351400513 meters 0.03501979358265301 Centerline is valid? [True, True] Translation: X:339.27, Y:35.87, Z:-2.03 [[ 9.97854495e-01 -6.54567282e-02 1.35055038e-03 3.39267568e+02] [ 6.54566060e-02 9.97855408e-01 1.34581783e-04 3.58726391e+01] [-1.35646328e-03 -4.58905929e-05 9.99999079e-01 -2.03027517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.381400513 meters 0.02949317344110549 Centerline is valid? [True, True] Translation: X:339.30, Y:35.87, Z:-2.03 [[ 9.97564532e-01 -6.97398297e-02 1.16611062e-03 3.39298140e+02] [ 6.97397413e-02 9.97565213e-01 1.16406007e-04 3.58726612e+01] [-1.17138952e-03 -3.47982514e-05 9.99999313e-01 -2.03061542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.411400513 meters 0.02857192772930202 Centerline is valid? [True, True] Translation: X:339.33, Y:35.88, Z:-2.03 [[ 9.97368763e-01 -7.24924211e-02 6.31858381e-04 3.39326184e+02] [ 7.24923957e-02 9.97368963e-01 6.29856980e-05 3.58760614e+01] [-6.34761924e-04 -1.70150398e-05 9.99999798e-01 -2.03185867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.441400513 meters 0.025930602521574978 Centerline is valid? [True, True] Translation: X:339.36, Y:35.88, Z:-2.03 [[ 9.97136908e-01 -7.56172487e-02 1.32159702e-04 3.39355694e+02] [ 7.56172477e-02 9.97136917e-01 1.27001049e-05 3.58769939e+01] [-1.32741665e-04 -2.67019038e-06 9.99999991e-01 -2.03312822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.471400513 meters 0.022932363535597033 Centerline is valid? [True, True] Translation: X:339.38, Y:35.88, Z:-2.03 [[ 9.96795218e-01 -7.99949626e-02 3.13947770e-04 3.39384471e+02] [ 7.99949567e-02 9.96795268e-01 3.13506024e-05 3.58776690e+01] [-3.15449541e-04 -6.13589233e-06 9.99999950e-01 -2.03234234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.501400513 meters 0.020211520860072985 Centerline is valid? [True, True] Translation: X:339.41, Y:35.88, Z:-2.03 [[ 9.96677134e-01 -8.14491686e-02 8.50963402e-04 3.39413608e+02] [ 8.14491259e-02 9.96677497e-01 8.47674061e-05 3.58784799e+01] [-8.55040308e-04 -1.51755100e-05 9.99999634e-01 -2.03088987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.531400513 meters 0.030206000486257354 Centerline is valid? [True, True] Translation: X:339.44, Y:35.88, Z:-2.03 [[ 9.96559465e-01 -8.28732539e-02 1.12091997e-03 3.39441062e+02] [ 8.28731800e-02 9.96560095e-01 1.12215500e-04 3.58829729e+01] [-1.12636377e-03 -1.89352162e-05 9.99999365e-01 -2.03067803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.561400513 meters 0.017906159932509134 Centerline is valid? [True, True] Translation: X:339.47, Y:35.89, Z:-2.03 [[ 9.96488202e-01 -8.37049088e-02 2.17992046e-03 3.39470038e+02] [ 8.37046308e-02 9.96490586e-01 2.18608587e-04 3.58857108e+01] [-2.19056883e-03 -3.53714399e-05 9.99997600e-01 -2.03010730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.591400513 meters 0.019049550271501146 Centerline is valid? [True, True] Translation: X:339.50, Y:35.89, Z:-2.03 [[ 9.96397922e-01 -8.47313780e-02 3.43149538e-03 3.39497750e+02] [ 8.47306920e-02 9.96403829e-01 3.45043641e-04 3.58920895e+01] [-3.44839116e-03 -5.30477886e-05 9.99994053e-01 -2.02924978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.621400513 meters 0.01602300897567753 Centerline is valid? [True, True] Translation: X:339.53, Y:35.89, Z:-2.03 [[ 9.96265963e-01 -8.62314742e-02 4.27366454e-03 3.39527117e+02] [ 8.62304224e-02 9.96275127e-01 4.30114024e-04 3.58927919e+01] [-4.29483505e-03 -5.99880638e-05 9.99990775e-01 -2.02821934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.651400513 meters 0.014012012843432758 Centerline is valid? [True, True] Translation: X:339.55, Y:35.90, Z:-2.03 [[ 9.96029233e-01 -8.89684641e-02 3.22179417e-03 3.39554607e+02] [ 8.89678793e-02 9.96034443e-01 3.24646098e-04 3.58965721e+01] [-3.23790123e-03 -3.67208081e-05 9.99994757e-01 -2.02947936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.681400513 meters 0.012597945768939757 Centerline is valid? [True, True] Translation: X:339.58, Y:35.90, Z:-2.03 [[ 9.95871251e-01 -9.07653954e-02 1.44738008e-03 3.39583661e+02] [ 9.07652796e-02 9.95872302e-01 1.45600750e-04 3.58989877e+01] [-1.45462124e-03 -1.36277433e-05 9.99998942e-01 -2.03224786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.711400513 meters 0.011399005799454567 Centerline is valid? [True, True] Translation: X:339.61, Y:35.90, Z:-2.04 [[ 9.95653944e-01 -9.31299495e-02 1.92129481e-04 3.39611556e+02] [ 9.31299475e-02 9.95653962e-01 1.92089742e-05 3.59000446e+01] [-1.93083410e-04 -1.23248245e-06 9.99999981e-01 -2.03526469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74140051300003 meters 0.008897837865122292 Centerline is valid? [True, True] Translation: X:339.64, Y:35.90, Z:-2.04 [[ 9.95326430e-01 -9.65662542e-02 -5.06336199e-04 3.39640923e+02] [ 9.65662403e-02 9.95326559e-01 -5.18379306e-05 3.58972883e+01] [ 5.08975661e-04 2.70067937e-06 9.99999870e-01 -2.03584427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.771400513 meters 0.014500881067070837 Centerline is valid? [True, True] Translation: X:339.67, Y:35.89, Z:-2.03 [[ 9.94583801e-01 -1.03935474e-01 6.93115603e-04 3.39670569e+02] [ 1.03935451e-01 9.94584042e-01 6.96890194e-05 3.58907356e+01] [-6.96604880e-04 2.72771270e-06 9.99999757e-01 -2.03410941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80140051300003 meters 0.010671043592100827 Centerline is valid? [True, True] Translation: X:339.70, Y:35.89, Z:-2.03 [[ 9.94309672e-01 -1.06523100e-01 1.05138703e-03 3.39698634e+02] [ 1.06523047e-01 9.94310228e-01 1.06463569e-04 3.58882530e+01] [-1.05674571e-03 6.13919389e-06 9.99999442e-01 -2.03409771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.831400513 meters 0.011134826042750795 Centerline is valid? [True, True] Translation: X:339.73, Y:35.89, Z:-2.03 [[ 9.94092850e-01 -1.08530060e-01 7.94398693e-04 3.39727093e+02] [ 1.08530031e-01 9.94093168e-01 8.01462554e-05 3.58907913e+01] [-7.98404591e-04 6.54329500e-06 9.99999681e-01 -2.03428091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86140051300004 meters 0.011999004883965944 Centerline is valid? [True, True] Translation: X:339.76, Y:35.89, Z:-2.04 [[ 9.93947242e-01 -1.09858364e-01 1.43410784e-04 3.39755873e+02] [ 1.09858363e-01 9.93947252e-01 1.40036403e-05 3.58909551e+01] [-1.44081172e-04 1.83599429e-06 9.99999990e-01 -2.03532324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.891400513 meters 0.012134186089364158 Centerline is valid? [True, True] Translation: X:339.78, Y:35.89, Z:-2.03 [[ 9.93906596e-01 -1.10225552e-01 7.44220726e-05 3.39784199e+02] [ 1.10225552e-01 9.93906599e-01 6.91048466e-06 3.58936659e+01] [-7.47303011e-05 1.33483773e-06 9.99999997e-01 -2.03496274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.921400513 meters 0.012268690382834492 Centerline is valid? [True, True] Translation: X:339.81, Y:35.90, Z:-2.04 [[ 9.93930252e-01 -1.10012054e-01 -3.70494923e-05 3.39811232e+02] [ 1.10012054e-01 9.93930253e-01 -4.07838190e-06 3.58976960e+01] [ 3.72732824e-05 -2.22636042e-08 9.99999999e-01 -2.03518027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.951400513 meters 0.011979468243010034 Centerline is valid? [True, True] Translation: X:339.84, Y:35.90, Z:-2.04 [[ 9.93954523e-01 -1.09791375e-01 -5.09464119e-04 3.39839163e+02] [ 1.09791362e-01 9.93954654e-01 -5.27760014e-05 3.59035049e+01] [ 5.12178582e-04 -3.47781447e-06 9.99999869e-01 -2.03579757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.981400513 meters 0.01183486226361194 Centerline is valid? [True, True] Translation: X:339.87, Y:35.91, Z:-2.04 [[ 9.93989454e-01 -1.09474520e-01 -5.42371000e-04 3.39865411e+02] [ 1.09474506e-01 9.93989602e-01 -5.58104253e-05 3.59086939e+01] [ 5.45220954e-04 -3.90082324e-06 9.99999851e-01 -2.03602645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.011400513 meters 0.011563296777775919 Centerline is valid? [True, True] Translation: X:339.89, Y:35.91, Z:-2.03 [[ 9.93963936e-01 -1.09700416e-01 1.22987549e-03 3.39892818e+02] [ 1.09700345e-01 9.93964697e-01 1.25468342e-04 3.59148116e+01] [-1.23621675e-03 1.02067578e-05 9.99999236e-01 -2.03347031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.041400513 meters 0.012147768392310042 Centerline is valid? [True, True] Translation: X:339.92, Y:35.92, Z:-2.03 [[ 9.93856110e-01 -1.10659687e-01 2.11348762e-03 3.39920784e+02] [ 1.10659477e-01 9.93858357e-01 2.16495340e-04 3.59188165e+01] [-2.12446464e-03 1.87122193e-05 9.99997743e-01 -2.03221258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.071400513 meters 0.01247199565084706 Centerline is valid? [True, True] Translation: X:339.95, Y:35.92, Z:-2.03 [[ 9.93704342e-01 -1.11997708e-01 2.86241724e-03 3.39949579e+02] [ 1.11997326e-01 9.93708465e-01 2.94011859e-04 3.59238884e+01] [-2.87733690e-03 2.84222159e-05 9.99995860e-01 -2.03119886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.101400513 meters 0.01368908827887464 Centerline is valid? [True, True] Translation: X:339.98, Y:35.93, Z:-2.03 [[ 9.93540264e-01 -1.13426708e-01 3.48209658e-03 3.39978471e+02] [ 1.13426148e-01 9.93546366e-01 3.58399131e-04 3.59276738e+01] [-3.50027643e-03 3.88768354e-05 9.99993873e-01 -2.03069788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.131400513 meters 0.016092477562030787 Centerline is valid? [True, True] Translation: X:340.01, Y:35.93, Z:-2.03 [[ 9.93215014e-01 -1.16235308e-01 3.64551865e-03 3.40006611e+02] [ 1.16234711e-01 9.93221703e-01 3.75859138e-04 3.59304198e+01] [-3.66449634e-03 5.04268671e-05 9.99993284e-01 -2.03024924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.161400513 meters 0.01803128574000128 Centerline is valid? [True, True] Translation: X:340.03, Y:35.93, Z:-2.03 [[ 9.93048020e-01 -1.17659216e-01 3.45527188e-03 3.40034348e+02] [ 1.17658687e-01 9.93054030e-01 3.56448740e-04 3.59316772e+01] [-3.47321114e-03 5.25720385e-05 9.99993967e-01 -2.03098581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.191400513 meters 0.029491266373795774 Centerline is valid? [True, True] Translation: X:340.06, Y:35.94, Z:-2.03 [[ 9.92852548e-01 -1.19302564e-01 3.27353340e-03 3.40062777e+02] [ 1.19302099e-01 9.92857943e-01 3.37873488e-04 3.59353418e+01] [-3.29046281e-03 5.50808510e-05 9.99994585e-01 -2.03144423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.221400513 meters 0.03163042328880511 Centerline is valid? [True, True] Translation: X:340.09, Y:35.94, Z:-2.03 [[ 9.92826064e-01 -1.19525311e-01 3.17922180e-03 3.40090213e+02] [ 1.19519203e-01 9.92829779e-01 2.04707891e-03 3.59357895e+01] [-3.40110382e-03 -1.65241524e-03 9.99992851e-01 -2.03148353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.251400513 meters 0.01809313684517435 Centerline is valid? [True, True] Translation: X:340.12, Y:35.95, Z:-2.03 [[ 9.92942299e-01 -1.18570548e-01 2.57199488e-03 3.40118474e+02] [ 1.18574391e-01 9.92944189e-01 -1.39659407e-03 3.59455451e+01] [-2.38825245e-03 1.69171006e-03 9.99995717e-01 -2.03274902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.281400513 meters 0.017613337970929243 Centerline is valid? [True, True] Translation: X:340.15, Y:35.95, Z:-2.03 [[ 9.93135307e-01 -1.16959464e-01 1.65681874e-03 3.40146549e+02] [ 1.16959341e-01 9.93136689e-01 1.71519649e-04 3.59478744e+01] [-1.66550832e-03 2.34382074e-05 9.99998613e-01 -2.03362545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.311400513 meters 0.014615769882081334 Centerline is valid? [True, True] Translation: X:340.18, Y:35.96, Z:-2.04 [[ 9.93411345e-01 -1.14599508e-01 9.23169838e-04 3.40175009e+02] [ 1.14599469e-01 9.93411774e-01 9.52530957e-05 3.59552815e+01] [-9.28003744e-04 1.11692674e-05 9.99999569e-01 -2.03508344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.341400513 meters 0.014615769882081334 Centerline is valid? [True, True] Translation: X:340.20, Y:35.96, Z:-2.04 [[ 9.93389217e-01 -1.14791167e-01 9.23160053e-04 3.40202360e+02] [ 1.14791128e-01 9.93389646e-01 9.53478011e-05 3.59582976e+01] [-9.28002723e-04 1.12531064e-05 9.99999569e-01 -2.03517950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.371400513 meters 0.011737978126947105 Centerline is valid? [True, True] Translation: X:340.23, Y:35.96, Z:-2.04 [[ 9.93779341e-01 -1.11349712e-01 1.96559275e-03 3.40230487e+02] [ 1.11337092e-01 9.93766592e-01 5.65796256e-03 3.59607353e+01] [-2.58335290e-03 -5.40392292e-03 9.99982062e-01 -2.03610894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.401400513 meters 0.022211861885115144 Centerline is valid? [True, True] Translation: X:340.26, Y:35.98, Z:-2.04 [[ 9.94698892e-01 -1.02827510e-01 7.85904361e-04 3.40256983e+02] [ 1.02830241e-01 9.94684796e-01 -5.30076284e-03 3.59849530e+01] [-2.36662875e-04 5.35347766e-03 9.99985642e-01 -2.03657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.431400513 meters 0.009703424576889432 Centerline is valid? [True, True] Translation: X:340.29, Y:35.99, Z:-2.03 [[ 9.95162823e-01 -9.82314383e-02 1.24115567e-03 3.40285646e+02] [ 9.82313538e-02 9.95163597e-01 1.28991304e-04 3.59894183e+01] [-1.24782394e-03 -6.44694840e-06 9.99999221e-01 -2.03372716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.461400513 meters 0.029026045669378477 Centerline is valid? [True, True] Translation: X:340.31, Y:36.00, Z:-2.03 [[ 9.95533665e-01 -9.43583395e-02 3.03749494e-03 3.40313251e+02] [ 9.43525289e-02 9.95536834e-01 2.00288769e-03 3.59980873e+01] [-3.21292726e-03 -1.70734679e-03 9.99993381e-01 -2.03262650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49140051300003 meters 0.023997171386567647 Centerline is valid? [True, True] Translation: X:340.34, Y:36.01, Z:-2.03 [[ 9.95869801e-01 -9.07647974e-02 2.25639446e-03 3.40340581e+02] [ 9.07681793e-02 9.95871002e-01 -1.44429103e-03 3.60098189e+01] [-2.11598703e-03 1.64313464e-03 9.99996411e-01 -2.03374103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.521400513 meters 0.020601150344154592 Centerline is valid? [True, True] Translation: X:340.37, Y:36.02, Z:-2.04 [[ 9.96436371e-01 -8.43456578e-02 6.07405387e-04 3.40369178e+02] [ 8.43456348e-02 9.96436556e-01 6.34931181e-05 3.60203961e+01] [-6.10596301e-04 -1.20348592e-05 9.99999814e-01 -2.03656977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55140051300003 meters 0.023091123205522684 Centerline is valid? [True, True] Translation: X:340.40, Y:36.03, Z:-2.04 [[ 9.96596714e-01 -8.24302633e-02 4.91568078e-04 3.40396150e+02] [ 8.24302480e-02 9.96596835e-01 5.12671988e-05 3.60274014e+01] [-4.94121159e-04 -1.05726432e-05 9.99999878e-01 -2.03702896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.581400513 meters 0.029011553713949798 Centerline is valid? [True, True] Translation: X:340.42, Y:36.03, Z:-2.04 [[ 9.96721976e-01 -8.08970281e-02 9.86767302e-04 3.40424286e+02] [ 8.08969658e-02 9.96722464e-01 1.02912234e-04 3.60338134e+01] [-9.91858431e-04 -2.27484050e-05 9.99999508e-01 -2.03532530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61140051300004 meters 0.03335274357460853 Centerline is valid? [True, True] Translation: X:340.45, Y:36.04, Z:-2.03 [[ 9.96698776e-01 -8.11829441e-02 9.37366042e-04 3.40451755e+02] [ 8.11828876e-02 9.96699217e-01 9.81783613e-05 3.60377609e+01] [-9.42242408e-04 -2.17561706e-05 9.99999556e-01 -2.03485391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.641400513 meters 0.03016064257193898 Centerline is valid? [True, True] Translation: X:340.48, Y:36.04, Z:-2.03 [[ 9.96596891e-01 -8.24223793e-02 1.08976914e-03 3.40480905e+02] [ 8.24223039e-02 9.96597487e-01 1.13970693e-04 3.60385710e+01] [-1.09545492e-03 -2.37615553e-05 9.99999400e-01 -2.03496160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.671400513 meters 0.02343891984894491 Centerline is valid? [True, True] Translation: X:340.51, Y:36.04, Z:-2.04 [[ 9.96491868e-01 -8.36830795e-02 1.04858844e-03 3.40508581e+02] [ 8.36830099e-02 9.96492419e-01 1.10099599e-04 3.60416558e+01] [-1.05412391e-03 -2.19643178e-05 9.99999444e-01 -2.03538406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.701400513 meters 0.02170712545488741 Centerline is valid? [True, True] Translation: X:340.54, Y:36.04, Z:-2.04 [[ 9.96351847e-01 -8.53330902e-02 1.12320570e-03 3.40537381e+02] [ 8.53330117e-02 9.96352479e-01 1.17768377e-04 3.60412623e+01] [-1.12915832e-03 -2.14922152e-05 9.99999362e-01 -2.03574153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.731400513 meters 0.025311230659806287 Centerline is valid? [True, True] Translation: X:340.57, Y:36.04, Z:-2.04 [[ 9.96160536e-01 -8.75399667e-02 9.69527653e-04 3.40566638e+02] [ 8.75399091e-02 9.96161008e-01 1.01729705e-04 3.60384684e+01] [-9.74711059e-04 -1.64667551e-05 9.99999525e-01 -2.03598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.761400513 meters 0.020155380048396062 Centerline is valid? [True, True] Translation: X:340.59, Y:36.04, Z:-2.04 [[ 9.96201145e-01 -8.70765564e-02 9.75635760e-04 3.40594465e+02] [ 8.70764975e-02 9.96201623e-01 1.02818688e-04 3.60402253e+01] [-9.80883024e-04 -1.74731497e-05 9.99999519e-01 -2.03596393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.791400513 meters 0.020808542878224614 Centerline is valid? [True, True] Translation: X:340.62, Y:36.04, Z:-2.04 [[ 9.96269722e-01 -8.62870442e-02 1.08947970e-03 3.40623043e+02] [ 8.62869704e-02 9.96270318e-01 1.14644874e-04 3.60426005e+01] [-1.09530865e-03 -2.02093141e-05 9.99999400e-01 -2.03570515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.821400513 meters 0.022042770043930064 Centerline is valid? [True, True] Translation: X:340.65, Y:36.05, Z:-2.03 [[ 9.96404222e-01 -8.47135010e-02 1.49956624e-03 3.40651441e+02] [ 8.47133587e-02 9.96405350e-01 1.58276041e-04 3.60465738e+01] [-1.50758394e-03 -3.06736231e-05 9.99998863e-01 -2.03499011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.851400513 meters 0.024597025850616183 Centerline is valid? [True, True] Translation: X:340.68, Y:36.05, Z:-2.03 [[ 9.96580564e-01 -8.26023920e-02 2.00588541e-03 3.40679041e+02] [ 8.26021317e-02 9.96582582e-01 2.12425537e-04 3.60525508e+01] [-2.01657731e-03 -4.60087516e-05 9.99997966e-01 -2.03446811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.881400513 meters 0.029429124849739426 Centerline is valid? [True, True] Translation: X:340.71, Y:36.06, Z:-2.04 [[ 9.96956027e-01 -7.79611490e-02 8.60207220e-04 3.40707332e+02] [ 7.79610994e-02 9.96956398e-01 9.11696556e-05 3.60602896e+01] [-8.64696783e-04 -2.38294370e-05 9.99999626e-01 -2.03544369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.911400513 meters 0.034043976728894226 Centerline is valid? [True, True] Translation: X:340.74, Y:36.06, Z:-2.04 [[ 9.97080779e-01 -7.63532306e-02 -3.24497721e-04 3.40736108e+02] [ 7.63532233e-02 9.97080831e-01 -3.50428829e-05 3.60644191e+01] [ 3.26226095e-04 1.01641380e-05 9.99999947e-01 -2.03764343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.941400513 meters 0.03571386650016385 Centerline is valid? [True, True] Translation: X:340.76, Y:36.07, Z:-2.04 [[ 9.97224989e-01 -7.44221902e-02 -1.91301807e-03 3.40763770e+02] [ 7.44219368e-02 9.97226822e-01 -2.03387332e-04 3.60718862e+01] [ 1.92284946e-03 6.04524202e-05 9.99998149e-01 -2.04072550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.971400513 meters 0.033878717619012594 Centerline is valid? [True, True] Translation: X:340.79, Y:36.07, Z:-2.04 [[ 9.97369185e-01 -7.24552144e-02 -2.22486836e-03 3.40793152e+02] [ 7.24548666e-02 9.97371664e-01 -2.36622668e-04 3.60720787e+01] [ 2.23616520e-03 7.47976182e-05 9.99997497e-01 -2.04035631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.001400513 meters 0.04442947074929809 Centerline is valid? [True, True] Translation: X:340.82, Y:36.09, Z:-2.04 [[ 9.97667891e-01 -6.82482075e-02 9.80477207e-04 3.40821136e+02] [ 6.82481381e-02 9.97668372e-01 1.04163766e-04 3.60876961e+01] [-9.85300089e-04 -3.70051009e-05 9.99999514e-01 -2.03620099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.031400513 meters 0.0401050631346669 Centerline is valid? [True, True] Translation: X:340.85, Y:36.09, Z:-2.03 [[ 9.97775685e-01 -6.66271288e-02 2.12307060e-03 3.40851030e+02] [ 6.66267992e-02 9.97777941e-01 2.25635242e-04 3.60851344e+01] [-2.13338644e-03 -8.36799597e-05 9.99997721e-01 -2.03328485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.061400513 meters 0.04059208906601493 Centerline is valid? [True, True] Translation: X:340.88, Y:36.09, Z:-2.03 [[ 9.97852368e-01 -6.54635384e-02 2.27517985e-03 3.40879541e+02] [ 6.54631573e-02 9.97854958e-01 2.41684599e-04 3.60889106e+01] [-2.28612102e-03 -9.22250934e-05 9.99997383e-01 -2.03272148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.091400513 meters 0.043312684830090376 Centerline is valid? [True, True] Translation: X:340.91, Y:36.10, Z:-2.03 [[ 9.97910137e-01 -6.45866075e-02 1.98219178e-03 3.40906286e+02] [ 6.45863158e-02 9.97912102e-01 2.10917778e-04 3.60954602e+01] [-1.99167563e-03 -8.24545251e-05 9.99998013e-01 -2.03317591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.121400513 meters 0.043721978760652695 Centerline is valid? [True, True] Translation: X:340.94, Y:36.10, Z:-2.04 [[ 9.98014632e-01 -6.29567724e-02 1.79991221e-03 3.40935585e+02] [ 6.29565287e-02 9.98016252e-01 1.91812978e-04 3.60979558e+01] [-1.80841756e-03 -7.81159343e-05 9.99998362e-01 -2.03559812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.151400513 meters 0.048717973155702574 Centerline is valid? [True, True] Translation: X:340.96, Y:36.11, Z:-2.04 [[ 9.98051887e-01 -6.23598774e-02 1.91761217e-03 3.40963003e+02] [ 6.23595997e-02 9.98053725e-01 2.04350988e-04 3.61057006e+01] [-1.92662327e-03 -8.43713625e-05 9.99998141e-01 -2.03607582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.181400513 meters 0.04811553383514699 Centerline is valid? [True, True] Translation: X:340.99, Y:36.11, Z:-2.04 [[ 9.98103054e-01 -6.15411369e-02 1.72676954e-03 3.40992124e+02] [ 6.15409106e-02 9.98104545e-01 1.83915479e-04 3.61064932e+01] [-1.73481489e-03 -7.72996317e-05 9.99998492e-01 -2.03596238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.211400513 meters 0.04665514976052241 Centerline is valid? [True, True] Translation: X:341.02, Y:36.11, Z:-2.04 [[ 9.98145577e-01 -6.08568631e-02 1.36010974e-03 3.41021452e+02] [ 6.08567220e-02 9.98146501e-01 1.44955092e-04 3.61070531e+01] [-1.36641029e-03 -6.19144642e-05 9.99999065e-01 -2.03615984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24140051300003 meters 0.05098041775218482 Centerline is valid? [True, True] Translation: X:341.05, Y:36.11, Z:-2.04 [[ 9.98160073e-01 -6.06266927e-02 9.33899741e-04 3.41049601e+02] [ 6.06266261e-02 9.98160509e-01 9.95035413e-05 3.61117494e+01] [-9.38214412e-04 -4.27012717e-05 9.99999559e-01 -2.03701506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.271400513 meters 0.045166039570370776 Centerline is valid? [True, True] Translation: X:341.08, Y:36.11, Z:-2.04 [[ 9.98212117e-01 -5.97671232e-02 6.78810547e-04 3.41078315e+02] [ 5.97670878e-02 9.98212347e-01 7.22676435e-05 3.61121967e+01] [-6.81916298e-04 -3.15679079e-05 9.99999767e-01 -2.03685715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30140051300003 meters 0.05093367489150086 Centerline is valid? [True, True] Translation: X:341.11, Y:36.12, Z:-2.04 [[ 9.98413648e-01 -5.62966553e-02 9.35128618e-04 3.41106252e+02] [ 5.62965860e-02 9.98414085e-01 1.00329711e-04 3.61233346e+01] [-9.39293811e-04 -4.75260040e-05 9.99999558e-01 -2.03658186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.331400513 meters 0.058703305335740155 Centerline is valid? [True, True] Translation: X:341.13, Y:36.14, Z:-2.04 [[ 9.98556155e-01 -5.37113196e-02 8.36888288e-04 3.41134214e+02] [ 5.37112631e-02 9.98556504e-01 8.98150986e-05 3.61367996e+01] [-8.40504331e-04 -4.47350924e-05 9.99999646e-01 -2.03724930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36140051300004 meters 0.057734384449021584 Centerline is valid? [True, True] Translation: X:341.16, Y:36.14, Z:-2.04 [[ 9.98840221e-01 -4.81475546e-02 -1.58345379e-04 3.41163918e+02] [ 4.81475525e-02 9.98840234e-01 -1.70391677e-05 3.61401948e+01] [ 1.58982130e-04 9.39546352e-06 9.99999987e-01 -2.03805413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.391400513 meters 0.07011159525523541 Centerline is valid? [True, True] Translation: X:341.19, Y:36.16, Z:-2.04 [[ 9.98940748e-01 -4.60147881e-02 1.48459748e-04 3.41191914e+02] [ 4.60147863e-02 9.98940759e-01 1.59014437e-05 3.61565825e+01] [-1.49034194e-04 -9.05325649e-06 9.99999989e-01 -2.03852614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.421400513 meters 0.059959748355284594 Centerline is valid? [True, True] Translation: X:341.22, Y:36.15, Z:-2.04 [[ 9.99001152e-01 -4.46838684e-02 2.22665991e-04 3.41221834e+02] [ 4.46838642e-02 9.99001177e-01 2.37945466e-05 3.61502582e+01] [-2.23506819e-04 -1.38212026e-05 9.99999975e-01 -2.03674859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.451400513 meters 0.062141212724042806 Centerline is valid? [True, True] Translation: X:341.25, Y:36.16, Z:-2.04 [[ 9.99015277e-01 -4.43628326e-02 6.43753431e-04 3.41248689e+02] [ 4.43627974e-02 9.99015484e-01 6.89510471e-05 3.61565444e+01] [-6.46178510e-04 -4.03244464e-05 9.99999790e-01 -2.03640355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.481400513 meters 0.06946957350346221 Centerline is valid? [True, True] Translation: X:341.27, Y:36.17, Z:-2.04 [[ 9.98991925e-01 -4.48836650e-02 7.67790695e-04 3.41274990e+02] [ 4.48836149e-02 9.98992219e-01 8.23738440e-05 3.61695036e+01] [-7.70714170e-04 -4.78295831e-05 9.99999702e-01 -2.03676074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.511400513 meters 0.06535251162923655 Centerline is valid? [True, True] Translation: X:341.30, Y:36.17, Z:-2.04 [[ 9.98942466e-01 -4.59712933e-02 7.68293413e-04 3.41304422e+02] [ 4.59712434e-02 9.98942760e-01 8.25069811e-05 3.61679955e+01] [-7.71274095e-04 -4.71003236e-05 9.99999701e-01 -2.03667288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.541400513 meters 0.06366566435542688 Centerline is valid? [True, True] Translation: X:341.33, Y:36.17, Z:-2.04 [[ 9.98790754e-01 -4.91543705e-02 9.36751517e-04 3.41334743e+02] [ 4.91542976e-02 9.98791192e-01 1.00786419e-04 3.61660550e+01] [-9.40573257e-04 -5.46191803e-05 9.99999556e-01 -2.03695081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.571400513 meters 0.061343682110073204 Centerline is valid? [True, True] Translation: X:341.37, Y:36.16, Z:-2.04 [[ 9.98705029e-01 -5.08605931e-02 1.21015345e-03 3.41365202e+02] [ 5.08604726e-02 9.98705760e-01 1.30185035e-04 3.61631597e+01] [-1.21520851e-03 -6.84674726e-05 9.99999259e-01 -2.03630128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.601400513 meters 0.06202801392002102 Centerline is valid? [True, True] Translation: X:341.39, Y:36.16, Z:-2.04 [[ 9.98629400e-01 -5.23082312e-02 1.78047276e-03 3.41394536e+02] [ 5.23079725e-02 9.98630983e-01 1.91557982e-04 3.61638360e+01] [-1.78805532e-03 -9.81625125e-05 9.99998397e-01 -2.03520738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.631400513 meters 0.054473398401913196 Centerline is valid? [True, True] Translation: X:341.42, Y:36.16, Z:-2.03 [[ 9.98575394e-01 -5.33125022e-02 2.22709510e-03 3.41424776e+02] [ 5.33120999e-02 9.98577870e-01 2.39648588e-04 3.61552503e+01] [-2.23670414e-03 -1.20576067e-04 9.99997491e-01 -2.03451005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.661400513 meters 0.05225595479910277 Centerline is valid? [True, True] Translation: X:341.45, Y:36.15, Z:-2.03 [[ 9.98537070e-01 -5.40304836e-02 2.10403085e-03 3.41453639e+02] [ 5.40301263e-02 9.98539280e-01 2.26329246e-04 3.61534419e+01] [-2.11318613e-03 -1.12317089e-04 9.99997761e-01 -2.03477075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.691400513 meters 0.057941554239646656 Centerline is valid? [True, True] Translation: X:341.48, Y:36.16, Z:-2.04 [[ 9.98543665e-01 -5.39137704e-02 1.96304598e-03 3.41481292e+02] [ 5.39134583e-02 9.98545589e-01 2.11616780e-04 3.61564164e+01] [-1.97159996e-03 -1.05473997e-04 9.99998051e-01 -2.03673532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.721400513 meters 0.05696251162279475 Centerline is valid? [True, True] Translation: X:341.51, Y:36.15, Z:-2.04 [[ 9.98558451e-01 -5.36262147e-02 2.29093823e-03 3.41511405e+02] [ 5.36257887e-02 9.98561072e-01 2.47004402e-04 3.61500051e+01] [-2.30088764e-03 -1.23794964e-04 9.99997345e-01 -2.03683273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.751400513 meters 0.05999333346894085 Centerline is valid? [True, True] Translation: X:341.54, Y:36.16, Z:-2.04 [[ 9.98625128e-01 -5.23572602e-02 2.56325223e-03 3.41539281e+02] [ 5.23567213e-02 9.98628408e-01 2.76968073e-04 3.61588608e+01] [-2.57423778e-03 -1.42383795e-04 9.99996677e-01 -2.03644999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.781400513 meters 0.058306541535721075 Centerline is valid? [True, True] Translation: X:341.57, Y:36.16, Z:-2.04 [[ 9.98714473e-01 -5.06452732e-02 2.11141069e-03 3.41568712e+02] [ 5.06449034e-02 9.98716697e-01 2.28245830e-04 3.61581203e+01] [-2.12026068e-03 -1.21020223e-04 9.99997745e-01 -2.03680488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.811400513 meters 0.058740775014926506 Centerline is valid? [True, True] Translation: X:341.60, Y:36.16, Z:-2.04 [[ 9.98829025e-01 -4.83525564e-02 1.61553645e-03 3.41598953e+02] [ 4.83523368e-02 9.98830326e-01 1.74712375e-04 3.61602748e+01] [-1.62209459e-03 -9.63928284e-05 9.99998680e-01 -2.03751204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.841400513 meters 0.06147455504017534 Centerline is valid? [True, True] Translation: X:341.63, Y:36.16, Z:-2.04 [[ 9.98959950e-01 -4.55909164e-02 6.97581991e-04 3.41629150e+02] [ 4.55908748e-02 9.98960193e-01 7.54442523e-05 3.61643952e+01] [-7.00296213e-04 -4.35624133e-05 9.99999754e-01 -2.03849967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.871400513 meters 0.06930892851209983 Centerline is valid? [True, True] Translation: X:341.66, Y:36.17, Z:-2.04 [[ 9.99196619e-01 -4.00643588e-02 -9.81453227e-04 3.41657356e+02] [ 4.00642739e-02 9.99197099e-01 -1.06016034e-04 3.61731511e+01] [ 9.84912682e-04 6.66096518e-05 9.99999513e-01 -2.04081894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.901400513 meters 0.06781798403080175 Centerline is valid? [True, True] Translation: X:341.69, Y:36.17, Z:-2.04 [[ 9.99287101e-01 -3.77102484e-02 -1.79658328e-03 3.41687414e+02] [ 3.77099597e-02 9.99288708e-01 -1.94310531e-04 3.61746724e+01] [ 1.80263288e-03 1.26422924e-04 9.99998367e-01 -2.04247525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.931400513 meters 0.08088749344514735 Centerline is valid? [True, True] Translation: X:341.71, Y:36.19, Z:-2.05 [[ 9.99411128e-01 -3.42295145e-02 -2.39542573e-03 3.41714432e+02] [ 3.42289915e-02 9.99413983e-01 -2.58993409e-04 3.61936579e+01] [ 2.40288718e-03 1.76847888e-04 9.99997097e-01 -2.04592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.961400513 meters 0.07208315621732099 Centerline is valid? [True, True] Translation: X:341.74, Y:36.19, Z:-2.04 [[ 9.99436280e-01 -3.35009056e-02 -2.19345099e-03 3.41744599e+02] [ 3.35004647e-02 9.99438674e-01 -2.37454375e-04 3.61850972e+01] [ 2.20017469e-03 1.63838890e-04 9.99997566e-01 -2.04492699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99140051300003 meters 0.07290240034686096 Centerline is valid? [True, True] Translation: X:341.77, Y:36.19, Z:-2.04 [[ 9.99430841e-01 -3.36726596e-02 -2.03618960e-03 3.41772633e+02] [ 3.36722783e-02 9.99432904e-01 -2.21305742e-04 3.61887876e+01] [ 2.04248684e-03 1.52616641e-04 9.99997902e-01 -2.04443700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.021400513 meters 0.07943986287575858 Centerline is valid? [True, True] Translation: X:341.80, Y:36.20, Z:-2.04 [[ 9.99418492e-01 -3.40743190e-02 -1.27194427e-03 3.41799636e+02] [ 3.40741707e-02 9.99419297e-01 -1.38112654e-04 3.62000813e+01] [ 1.27591174e-03 9.46918940e-05 9.99999182e-01 -2.04378308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05140051300003 meters 0.0791667028151461 Centerline is valid? [True, True] Translation: X:341.83, Y:36.20, Z:-2.04 [[ 9.99378802e-01 -3.52277908e-02 -1.00615651e-03 3.41828889e+02] [ 3.52276981e-02 9.99379306e-01 -1.09742012e-04 3.62040054e+01] [ 1.00939796e-03 7.42292623e-05 9.99999488e-01 -2.04328902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.081400513 meters 0.07102483048855883 Centerline is valid? [True, True] Translation: X:341.86, Y:36.20, Z:-2.04 [[ 9.99353021e-01 -3.59510966e-02 -1.02824505e-03 3.41858707e+02] [ 3.59509999e-02 9.99353548e-01 -1.12373125e-04 3.61980384e+01] [ 1.03162028e-03 7.53339844e-05 9.99999465e-01 -2.04238774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11140051300004 meters 0.07764945830146619 Centerline is valid? [True, True] Translation: X:341.89, Y:36.21, Z:-2.05 [[ 9.99358907e-01 -3.56366814e-02 -3.43550961e-03 3.41885553e+02] [ 3.56356045e-02 9.99364780e-01 -3.74166612e-04 3.62093699e+01] [ 3.44666136e-03 2.51500274e-04 9.99994029e-01 -2.04633155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.141400513 meters 0.07726964860738962 Centerline is valid? [True, True] Translation: X:341.92, Y:36.21, Z:-2.05 [[ 9.99395214e-01 -3.45261270e-02 -4.14149283e-03 3.41915271e+02] [ 3.45245535e-02 9.99403748e-01 -4.50855263e-04 3.62130911e+01] [ 4.15458974e-03 3.07599402e-04 9.99991322e-01 -2.04725337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.171400513 meters 0.08113287683586161 Centerline is valid? [True, True] Translation: X:341.94, Y:36.22, Z:-2.05 [[ 9.99446104e-01 -3.30922462e-02 -3.51979971e-03 3.41943095e+02] [ 3.30911005e-02 9.99452266e-01 -3.83266374e-04 3.62230984e+01] [ 3.53055494e-03 2.66580038e-04 9.99993732e-01 -2.04734931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.201400513 meters 0.08059854371230346 Centerline is valid? [True, True] Translation: X:341.97, Y:36.23, Z:-2.04 [[ 9.99482551e-01 -3.21362574e-02 -1.37554146e-03 3.41971871e+02] [ 3.21360812e-02 9.99483492e-01 -1.49975554e-04 3.62274162e+01] [ 1.37965063e-03 1.05693437e-04 9.99999043e-01 -2.04487281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.231400513 meters 0.07798700620806799 Centerline is valid? [True, True] Translation: X:342.00, Y:36.23, Z:-2.04 [[ 9.99546659e-01 -2.99427433e-02 3.14794364e-03 3.42001990e+02] [ 2.99418111e-02 9.99551585e-01 3.42848517e-04 3.62317601e+01] [-3.15679788e-03 -2.48437956e-04 9.99994986e-01 -2.03750675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.261400513 meters 0.08614239702807623 Centerline is valid? [True, True] Translation: X:342.03, Y:36.25, Z:-2.04 [[ 9.99560109e-01 -2.94609331e-02 3.41193818e-03 3.42029340e+02] [ 2.94598352e-02 9.99565896e-01 3.71623150e-04 3.62452781e+01] [-3.42140540e-03 -2.70944540e-04 9.99994110e-01 -2.03643881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.291400513 meters 0.08614239702807623 Centerline is valid? [True, True] Translation: X:342.06, Y:36.25, Z:-2.04 [[ 9.99559466e-01 -2.94827612e-02 3.41192546e-03 3.42058421e+02] [ 2.94816630e-02 9.99565252e-01 3.71739838e-04 3.62484869e+01] [-3.42140205e-03 -2.70986837e-04 9.99994110e-01 -2.03654165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.321400513 meters 0.08367226196780087 Centerline is valid? [True, True] Translation: X:342.09, Y:36.25, Z:-2.04 [[ 9.99569198e-01 -2.92377460e-02 2.56389109e-03 3.42088579e+02] [ 2.92371249e-02 9.99572465e-01 2.79381060e-04 3.62490774e+01] [-2.57096341e-03 -2.04299898e-04 9.99996674e-01 -2.03760298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.351400513 meters 0.08313217793655342 Centerline is valid? [True, True] Translation: X:342.12, Y:36.25, Z:-2.04 [[ 9.99581772e-01 -2.88807213e-02 1.47816916e-03 3.42118546e+02] [ 2.88805145e-02 9.99582858e-01 1.61072307e-04 3.62517369e+01] [-1.48220444e-03 -1.18314656e-04 9.99998895e-01 -2.03901233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.381400513 meters 0.07989149636705345 Centerline is valid? [True, True] Translation: X:342.15, Y:36.25, Z:-2.04 [[ 9.99619282e-01 -2.75688253e-02 1.11865851e-03 3.42149396e+02] [ 2.75687059e-02 9.99619904e-01 1.21956817e-04 3.62511844e+01] [-1.12159552e-03 -9.10704186e-05 9.99999367e-01 -2.03964406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.411400513 meters 0.07790930464038785 Centerline is valid? [True, True] Translation: X:342.18, Y:36.25, Z:-2.04 [[ 9.99640433e-01 -2.67850529e-02 1.25123771e-03 3.42179371e+02] [ 2.67849031e-02 9.99641211e-01 1.36358432e-04 3.62525183e+01] [-1.25444114e-03 -1.02795122e-04 9.99999208e-01 -2.03957546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.441400513 meters 0.08681035334653929 Centerline is valid? [True, True] Translation: X:342.21, Y:36.27, Z:-2.04 [[ 9.99660406e-01 -2.59821271e-02 2.00032508e-03 3.42206040e+02] [ 2.59817425e-02 9.99662394e-01 2.18053908e-04 3.62674090e+01] [-2.00531526e-03 -1.66007927e-04 9.99997976e-01 -2.03933859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.471400513 meters 0.08399115675039921 Centerline is valid? [True, True] Translation: X:342.24, Y:36.27, Z:-2.04 [[ 9.99667263e-01 -2.56620695e-02 2.61169891e-03 3.42235789e+02] [ 2.56614122e-02 9.99670651e-01 2.84890882e-04 3.62676004e+01] [-2.61814964e-03 -2.17776206e-04 9.99996549e-01 -2.03900148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.501400513 meters 0.08749468591785607 Centerline is valid? [True, True] Translation: X:342.26, Y:36.27, Z:-2.04 [[ 9.99663112e-01 -2.57830040e-02 2.98326728e-03 3.42264280e+02] [ 2.57821466e-02 9.99667532e-01 3.25515334e-04 3.62742260e+01] [-2.99066821e-03 -2.48490637e-04 9.99995497e-01 -2.03889899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.531400513 meters 0.08421650400788962 Centerline is valid? [True, True] Translation: X:342.29, Y:36.27, Z:-2.04 [[ 9.99635522e-01 -2.68773477e-02 2.53584359e-03 3.42294932e+02] [ 2.68767318e-02 9.99638717e-01 2.76669585e-04 3.62708852e+01] [-2.54236357e-03 -2.08413557e-04 9.99996746e-01 -2.03949199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.561400513 meters 0.07933623934661034 Centerline is valid? [True, True] Translation: X:342.33, Y:36.26, Z:-2.04 [[ 9.99511243e-01 -3.12379729e-02 1.21008841e-03 3.42326901e+02] [ 3.12378358e-02 9.99511971e-01 1.32039490e-04 3.62613578e+01] [-1.21362249e-03 -9.41744114e-05 9.99999259e-01 -2.04080805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.591400513 meters 0.07251459205323897 Centerline is valid? [True, True] Translation: X:342.36, Y:36.25, Z:-2.04 [[ 9.99432047e-01 -3.36858187e-02 9.21881730e-04 3.42358408e+02] [ 3.36857401e-02 9.99432469e-01 1.00595177e-04 3.62538726e+01] [-9.24747165e-04 -6.94837752e-05 9.99999570e-01 -2.04151000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.621400513 meters 0.0798275059848807 Centerline is valid? [True, True] Translation: X:342.39, Y:36.26, Z:-2.04 [[ 9.99367636e-01 -3.55409319e-02 1.08134395e-03 3.42386074e+02] [ 3.55408250e-02 9.99368218e-01 1.17919853e-04 3.62640131e+01] [-1.08485176e-03 -7.94134285e-05 9.99999408e-01 -2.04250194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.651400513 meters 0.07666250892838487 Centerline is valid? [True, True] Translation: X:342.42, Y:36.26, Z:-2.04 [[ 9.99339199e-01 -3.63265991e-02 1.24276544e-03 3.42416094e+02] [ 3.63264587e-02 9.99339967e-01 1.35330495e-04 3.62586554e+01] [-1.24686127e-03 -9.00958011e-05 9.99999219e-01 -2.04321264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.681400513 meters 0.07838404064844998 Centerline is valid? [True, True] Translation: X:342.44, Y:36.26, Z:-2.04 [[ 9.99392528e-01 -3.48491890e-02 3.28958679e-04 3.42444820e+02] [ 3.48491791e-02 9.99392582e-01 3.58867933e-05 3.62621487e+01] [-3.30009489e-04 -2.44010531e-05 9.99999945e-01 -2.04415184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.711400513 meters 0.07957635069237838 Centerline is valid? [True, True] Translation: X:342.48, Y:36.26, Z:-2.05 [[ 9.99436612e-01 -3.35405968e-02 -1.21969319e-03 3.42475380e+02] [ 3.35404588e-02 9.99437352e-01 -1.33350751e-04 3.62639178e+01] [ 1.22347960e-03 9.23665530e-05 9.99999247e-01 -2.04629556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74140051300003 meters 0.07273141014246153 Centerline is valid? [True, True] Translation: X:342.51, Y:36.26, Z:-2.05 [[ 9.99476782e-01 -3.22340071e-02 -2.67029632e-03 3.42506496e+02] [ 3.22333413e-02 9.99480328e-01 -2.92019873e-04 3.62566122e+01] [ 2.67832161e-03 2.05794511e-04 9.99996392e-01 -2.04787504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.771400513 meters 0.08113689799964786 Centerline is valid? [True, True] Translation: X:342.53, Y:36.27, Z:-2.05 [[ 9.99556197e-01 -2.96162911e-02 -3.20698413e-03 3.42534547e+02] [ 2.96153182e-02 9.99561309e-01 -3.50444146e-04 3.62674873e+01] [ 3.21595611e-03 2.55312762e-04 9.99994796e-01 -2.04969910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80140051300003 meters 0.08129550625568378 Centerline is valid? [True, True] Translation: X:342.56, Y:36.27, Z:-2.05 [[ 9.99576439e-01 -2.90273100e-02 -2.08769542e-03 3.42562801e+02] [ 2.90268952e-02 9.99578605e-01 -2.28693362e-04 3.62697522e+01] [ 2.09345403e-03 1.67997180e-04 9.99997795e-01 -2.04821415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.831400513 meters 0.08309305473765151 Centerline is valid? [True, True] Translation: X:342.59, Y:36.27, Z:-2.05 [[ 9.99562349e-01 -2.95778136e-02 -5.13155300e-04 3.42590855e+02] [ 2.95777884e-02 9.99562480e-01 -5.67717967e-05 3.62727205e+01] [ 5.14609969e-04 4.15689517e-05 9.99999867e-01 -2.04577339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86140051300004 meters 0.07768657677023219 Centerline is valid? [True, True] Translation: X:342.62, Y:36.27, Z:-2.04 [[ 9.99551053e-01 -2.99463477e-02 9.53011770e-04 3.42619907e+02] [ 2.99462621e-02 9.99551505e-01 1.03999083e-04 3.62684473e+01] [-9.55698742e-04 -7.54132523e-05 9.99999540e-01 -2.04271910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.891400513 meters 0.07991401992772164 Centerline is valid? [True, True] Translation: X:342.65, Y:36.27, Z:-2.04 [[ 9.99526814e-01 -3.07204909e-02 1.54909300e-03 3.42647191e+02] [ 3.07202644e-02 9.99528007e-01 1.69806388e-04 3.62734507e+01] [-1.55357837e-03 -1.22137492e-04 9.99998786e-01 -2.04135519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.921400513 meters 0.08203338503561258 Centerline is valid? [True, True] Translation: X:342.67, Y:36.28, Z:-2.04 [[ 9.99523129e-01 -3.08790418e-02 -1.32245072e-05 3.42674494e+02] [ 3.08790418e-02 9.99523129e-01 -1.64894903e-06 3.62781240e+01] [ 1.32691188e-05 1.23980258e-06 1.00000000e+00 -2.04479861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.951400513 meters 0.07726360608769088 Centerline is valid? [True, True] Translation: X:342.70, Y:36.27, Z:-2.05 [[ 9.99532958e-01 -3.05391201e-02 -1.10856615e-03 3.42704190e+02] [ 3.05390029e-02 9.99533568e-01 -1.22520280e-04 3.62739322e+01] [ 1.11179074e-03 8.86085528e-05 9.99999378e-01 -2.04641751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.981400513 meters 0.08136474882051216 Centerline is valid? [True, True] Translation: X:342.73, Y:36.28, Z:-2.05 [[ 9.99564973e-01 -2.94545498e-02 -1.51439088e-03 3.42731943e+02] [ 2.94543306e-02 9.99566113e-01 -1.66833088e-04 3.62807204e+01] [ 1.51864780e-03 1.22155141e-04 9.99998839e-01 -2.04733615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.011400513 meters 0.08753904920315926 Centerline is valid? [True, True] Translation: X:342.76, Y:36.29, Z:-2.05 [[ 9.99610968e-01 -2.78404469e-02 -1.67988086e-03 3.42760296e+02] [ 2.78401751e-02 9.99612370e-01 -1.85003051e-04 3.62913628e+01] [ 1.68438026e-03 1.38162902e-04 9.99998572e-01 -2.04772235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.041400513 meters 0.08713096708172426 Centerline is valid? [True, True] Translation: X:342.79, Y:36.30, Z:-2.05 [[ 9.99688079e-01 -2.49343723e-02 -1.42160714e-03 3.42790283e+02] [ 2.49341748e-02 9.99689083e-01 -1.56489175e-04 3.62973983e+01] [ 1.42506709e-03 1.20993762e-04 9.99998977e-01 -2.04720552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.071400513 meters 0.10589743782329386 Centerline is valid? [True, False] Translation: X:342.79, Y:36.30, Z:-2.05 [[ 9.99856017e-01 -1.65413939e-02 3.78529656e-03 3.42791340e+02] [ 1.65813355e-02 9.99804454e-01 -1.07755697e-02 3.63041648e+01] [-3.60631342e-03 1.08367834e-02 9.99934777e-01 -2.05176058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.101400513 meters 0.08137184585271195 Centerline is valid? [False, True] Translation: X:342.79, Y:36.30, Z:-2.05 [[ 9.99923062e-01 -1.18934356e-02 3.52367302e-03 3.42791721e+02] [ 1.19120242e-02 9.99914992e-01 -5.30217102e-03 3.62992508e+01] [-3.46031245e-03 5.34373716e-03 9.99979735e-01 -2.05099004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.131400513 meters 0.09009211415885145 Centerline is valid? [True, True] Translation: X:342.82, Y:36.30, Z:-2.05 [[ 9.99918234e-01 -1.22177898e-02 3.77515261e-03 3.42821351e+02] [ 1.22164771e-02 9.99925307e-01 3.70571960e-04 3.63048584e+01] [-3.77939820e-03 -3.24422594e-04 9.99992805e-01 -2.04993673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.161400513 meters 0.08360268710549601 Centerline is valid? [True, True] Translation: X:342.85, Y:36.30, Z:-2.05 [[ 9.99908974e-01 -1.21129719e-02 5.94300502e-03 3.42853451e+02] [ 1.21097176e-02 9.99926505e-01 5.83271463e-04 3.63011468e+01] [-5.94963339e-03 -5.11250258e-04 9.99982170e-01 -2.04658650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.191400513 meters 0.0893105223440431 Centerline is valid? [True, True] Translation: X:342.88, Y:36.30, Z:-2.04 [[ 9.99898768e-01 -1.02292491e-02 9.89017098e-03 3.42879221e+02] [ 1.01502032e-02 9.99916405e-01 8.00979644e-03 3.63029070e+01] [-9.97127841e-03 -7.90859835e-03 9.99919011e-01 -2.04271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.221400513 meters 0.08778051694256375 Centerline is valid? [True, True] Translation: X:342.91, Y:36.32, Z:-2.04 [[ 9.99892394e-01 -1.10204540e-02 9.68247917e-03 3.42914084e+02] [ 1.10783860e-02 9.99920930e-01 -5.95005819e-03 3.63190933e+01] [-9.61614124e-03 6.05668417e-03 9.99935421e-01 -2.04347779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.251400513 meters 0.09010237523530024 Centerline is valid? [True, True] Translation: X:342.94, Y:36.32, Z:-2.04 [[ 9.99922058e-01 -8.50009637e-03 9.14474115e-03 3.42943441e+02] [ 8.49225198e-03 9.99963538e-01 8.96293278e-04 3.63232571e+01] [-9.15202630e-03 -8.18563973e-04 9.99957784e-01 -2.04291892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.281400513 meters 0.09706588018372193 Centerline is valid? [True, True] Translation: X:342.97, Y:36.34, Z:-2.04 [[ 9.99943923e-01 -5.69035871e-03 8.93146301e-03 3.42972724e+02] [ 5.68276840e-03 9.99983470e-01 8.74988358e-04 3.63367792e+01] [-8.93629437e-03 -8.24183856e-04 9.99959731e-01 -2.04345429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.311400513 meters 0.10974588359767076 Centerline is valid? [True, False] Translation: X:342.99, Y:36.34, Z:-2.04 [[ 9.99993776e-01 7.40537020e-04 3.44965861e-03 3.42994384e+02] [-7.30711229e-04 9.99995675e-01 -2.84872725e-03 3.63441328e+01] [-3.45175328e-03 2.84618882e-03 9.99989992e-01 -2.03794228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.341400513 meters 0.10648926733042925 Centerline is valid? [False, False] Translation: X:343.00, Y:36.34, Z:-2.04 [[ 9.99991904e-01 3.17067872e-03 2.47747063e-03 3.43001270e+02] [-3.16970253e-03 9.99994897e-01 -3.97857797e-04 3.63434567e+01] [-2.47871947e-03 3.90001732e-04 9.99996852e-01 -2.04322544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.371400513 meters 0.0988479490099436 Centerline is valid? [False, True] Translation: X:342.98, Y:36.34, Z:-2.04 [[ 9.99995376e-01 1.64405508e-03 -2.55843401e-03 3.42982426e+02] [-1.61942914e-03 9.99952628e-01 9.59788297e-03 3.63358422e+01] [ 2.57409226e-03 -9.59369538e-03 9.99950666e-01 -2.03974493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.401400513 meters 0.10217300662139261 Centerline is valid? [True, False] Translation: X:342.98, Y:36.34, Z:-2.04 [[ 9.99992500e-01 -3.07486058e-03 -2.35461115e-03 3.42982058e+02] [ 3.08420559e-03 9.99987341e-01 3.97552056e-03 3.63413547e+01] [ 2.34235717e-03 -3.98275285e-03 9.99989325e-01 -2.04063318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.431400513 meters 0.0944779125899669 Centerline is valid? [False, True] Translation: X:343.00, Y:36.35, Z:-2.04 [[ 9.99998159e-01 1.47814547e-03 -1.22344210e-03 3.42999043e+02] [-1.48261634e-03 9.99992197e-01 -3.66153062e-03 3.63472383e+01] [ 1.21802028e-03 3.66333777e-03 9.99992548e-01 -2.03739177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.461400513 meters 0.09702604282345584 Centerline is valid? [True, True] Translation: X:343.03, Y:36.35, Z:-2.04 [[ 9.99999655e-01 1.34785091e-04 -8.19876572e-04 3.43027517e+02] [-1.34851665e-04 9.99999988e-01 -8.11456414e-05 3.63534423e+01] [ 8.19865625e-04 8.12561751e-05 9.99999661e-01 -2.03687486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49140051300003 meters 0.10037957833685883 Centerline is valid? [True, False] Translation: X:343.03, Y:36.35, Z:-2.04 [[ 9.99999665e-01 1.87910700e-05 -8.18402768e-04 3.43027556e+02] [-1.90978001e-05 9.99999930e-01 -3.74784963e-04 3.63547731e+01] [ 8.18395668e-04 3.74800467e-04 9.99999595e-01 -2.03698614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.521400513 meters 0.10118512646563471 Centerline is valid? [False, False] Translation: X:343.03, Y:36.36, Z:-2.04 [[ 9.99999682e-01 -6.31126599e-05 -7.95285635e-04 3.43027521e+02] [ 6.26460084e-05 9.99999826e-01 -5.86783364e-04 3.63557297e+01] [ 7.95322530e-04 5.86733355e-04 9.99999512e-01 -2.03709174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55140051300003 meters 0.10677917735901454 Centerline is valid? [False, False] Translation: X:343.03, Y:36.36, Z:-2.04 [[ 9.99999658e-01 -1.12241873e-04 -8.19931112e-04 3.43027659e+02] [ 1.11660410e-04 9.99999742e-01 -7.09172729e-04 3.63562728e+01] [ 8.20010499e-04 7.09080932e-04 9.99999412e-01 -2.03722081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.581400513 meters 0.09632172750637265 Centerline is valid? [False, True] Translation: X:343.03, Y:36.36, Z:-2.04 [[ 9.99999605e-01 -1.70310651e-04 -8.72677247e-04 3.43027899e+02] [ 1.69560341e-04 9.99999616e-01 -8.59781592e-04 3.63569311e+01] [ 8.72823342e-04 8.59633280e-04 9.99999250e-01 -2.03738918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61140051300004 meters 0.09665871469389821 Centerline is valid? [True, True] Translation: X:343.06, Y:36.36, Z:-2.04 [[ 9.99996710e-01 -2.27533161e-03 -1.18438472e-03 3.43057276e+02] [ 2.27519889e-03 9.99997405e-01 -1.13398590e-04 3.63614883e+01] [ 1.18463966e-03 1.10703506e-04 9.99999292e-01 -2.03775141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.641400513 meters 0.09029872675963857 Centerline is valid? [True, True] Translation: X:343.09, Y:36.36, Z:-2.04 [[ 9.99990479e-01 -4.12250206e-03 -1.43037147e-03 3.43088381e+02] [ 4.12231037e-03 9.99991494e-01 -1.36935014e-04 3.63587000e+01] [ 1.43092382e-03 1.31037275e-04 9.99998968e-01 -2.03821347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.671400513 meters 0.09464343600258793 Centerline is valid? [True, True] Translation: X:343.12, Y:36.37, Z:-2.04 [[ 9.99980986e-01 -5.85694378e-03 -1.92962725e-03 3.43116672e+02] [ 5.85659812e-03 9.99982833e-01 -1.84735807e-04 3.63681945e+01] [ 1.93067611e-03 1.73431243e-04 9.99998121e-01 -2.03919346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.701400513 meters 0.08934203338085261 Centerline is valid? [True, True] Translation: X:343.15, Y:36.36, Z:-2.04 [[ 9.99942565e-01 -1.00169148e-02 -3.81165354e-03 3.43147412e+02] [ 1.00155960e-02 9.99949776e-01 -3.64919756e-04 3.63641866e+01] [ 3.81511747e-03 3.26722815e-04 9.99992669e-01 -2.04164366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.731400513 meters 0.0885659958295826 Centerline is valid? [True, True] Translation: X:343.18, Y:36.37, Z:-2.04 [[ 9.99914250e-01 -1.26591456e-02 -3.35241884e-03 3.43176281e+02] [ 1.26581398e-02 9.99919831e-01 -3.21084050e-04 3.63660681e+01] [ 3.35621473e-03 2.78621130e-04 9.99994329e-01 -2.04097714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.761400513 meters 0.08616127430509467 Centerline is valid? [True, True] Translation: X:343.21, Y:36.37, Z:-2.04 [[ 9.99888898e-01 -1.48448372e-02 -1.34987407e-03 3.43207235e+02] [ 1.48446762e-02 9.99889803e-01 -1.29244637e-04 3.63672445e+01] [ 1.35164393e-03 1.09191834e-04 9.99999081e-01 -2.03797518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.791400513 meters 0.08069393170188514 Centerline is valid? [True, True] Translation: X:343.24, Y:36.37, Z:-2.03 [[ 9.99866472e-01 -1.63185427e-02 8.61683832e-04 3.43237362e+02] [ 1.63184776e-02 9.99866841e-01 8.25043340e-05 3.63654383e+01] [-8.62915441e-04 -6.84319491e-05 9.99999625e-01 -2.03464949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.821400513 meters 0.08316406092555252 Centerline is valid? [True, True] Translation: X:343.27, Y:36.37, Z:-2.03 [[ 9.99856817e-01 -1.67800761e-02 2.18515370e-03 3.43266479e+02] [ 1.67796586e-02 9.99859190e-01 2.09258338e-04 3.63729887e+01] [-2.18835738e-03 -1.72562243e-04 9.99997591e-01 -2.03278190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.851400513 meters 0.0745289388477794 Centerline is valid? [True, True] Translation: X:343.30, Y:36.37, Z:-2.03 [[ 9.99864007e-01 -1.63693334e-02 2.00332351e-03 3.43297830e+02] [ 1.63689817e-02 9.99866001e-01 1.91832771e-04 3.63660273e+01] [-2.00619524e-03 -1.59014317e-04 9.99997975e-01 -2.03321207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.881400513 meters 0.08967941254184356 Centerline is valid? [True, True] Translation: X:343.33, Y:36.39, Z:-2.03 [[ 9.99894644e-01 -1.44973629e-02 7.26635649e-04 3.43325501e+02] [ 1.44973161e-02 9.99894906e-01 6.95733968e-05 3.63869518e+01] [-7.27567915e-04 -5.90318001e-05 9.99999734e-01 -2.03466419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.911400513 meters 0.08671860051980121 Centerline is valid? [True, True] Translation: X:343.36, Y:36.39, Z:-2.04 [[ 9.99912121e-01 -1.32422520e-02 6.26349953e-04 3.43355437e+02] [ 1.32422170e-02 9.99912316e-01 5.99714183e-05 3.63863456e+01] [-6.27089189e-04 -5.16718861e-05 9.99999802e-01 -2.03502748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.941400513 meters 0.0877630250249367 Centerline is valid? [True, True] Translation: X:343.39, Y:36.39, Z:-2.03 [[ 9.99925813e-01 -1.21327350e-02 1.07966246e-03 3.43385211e+02] [ 1.21326303e-02 9.99926392e-01 1.03408151e-04 3.63912219e+01] [-1.08083761e-03 -9.03013343e-05 9.99999412e-01 -2.03445763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.971400513 meters 0.0892318128004702 Centerline is valid? [True, True] Translation: X:343.42, Y:36.40, Z:-2.03 [[ 9.99947646e-01 -1.00579230e-02 1.88262514e-03 3.43415053e+02] [ 1.00576011e-02 9.99949405e-01 1.80343218e-04 3.63959923e+01] [-1.88434377e-03 -1.61399083e-04 9.99998212e-01 -2.03287229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.001400513 meters 0.09775296768101181 Centerline is valid? [True, True] Translation: X:343.44, Y:36.41, Z:-2.03 [[ 9.99954522e-01 -9.32512708e-03 1.99894870e-03 3.43444238e+02] [ 9.32476279e-03 9.99956505e-01 1.91482032e-04 3.64088245e+01] [-2.00064735e-03 -1.72833601e-04 9.99997984e-01 -2.03267452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.031400513 meters 0.08604369141589675 Centerline is valid? [True, True] Translation: X:343.48, Y:36.40, Z:-2.03 [[ 9.99959254e-01 -8.77641028e-03 2.11309348e-03 3.43476294e+02] [ 8.77600206e-03 9.99961470e-01 2.02381648e-04 3.63976825e+01] [-2.11478825e-03 -1.83828889e-04 9.99997747e-01 -2.03311620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.061400513 meters 0.09056099519941267 Centerline is valid? [True, True] Translation: X:343.51, Y:36.41, Z:-2.03 [[ 9.99961649e-01 -8.49907076e-03 2.11321293e-03 3.43506925e+02] [ 8.49866201e-03 9.99963865e-01 2.02332337e-04 3.64070405e+01] [-2.11485621e-03 -1.84365095e-04 9.99997747e-01 -2.03332211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.091400513 meters 0.0941197540159207 Centerline is valid? [True, True] Translation: X:343.54, Y:36.42, Z:-2.03 [[ 9.99964321e-01 -8.16795855e-03 2.15428447e-03 3.43536813e+02] [ 8.16753313e-03 9.99966624e-01 2.06198835e-04 3.64154279e+01] [-2.15589680e-03 -1.88596289e-04 9.99997658e-01 -2.03398519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.121400513 meters 0.09138484761807872 Centerline is valid? [True, True] Translation: X:343.57, Y:36.42, Z:-2.03 [[ 9.99971099e-01 -7.22839083e-03 2.35624653e-03 3.43567920e+02] [ 7.22787945e-03 9.99973853e-01 2.25474427e-04 3.64180174e+01] [-2.35781474e-03 -2.08437245e-04 9.99997199e-01 -2.03395342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.151400513 meters 0.09138484761807872 Centerline is valid? [True, True] Translation: X:343.60, Y:36.42, Z:-2.03 [[ 9.99971258e-01 -7.20633102e-03 2.35625152e-03 3.43598737e+02] [ 7.20581971e-03 9.99974012e-01 2.25422267e-04 3.64209268e+01] [-2.35781475e-03 -2.08437065e-04 9.99997199e-01 -2.03399869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.181400513 meters 0.10383189372074206 Centerline is valid? [True, False] Translation: X:343.60, Y:36.42, Z:-2.03 [[ 9.99969540e-01 -7.43129265e-03 2.38621929e-03 3.43598703e+02] [ 7.43218779e-03 9.99972314e-01 -3.66483437e-04 3.64235965e+01] [-2.38342977e-03 3.84207104e-04 9.99997086e-01 -2.03419124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.211400513 meters 0.09360410926388028 Centerline is valid? [False, True] Translation: X:343.60, Y:36.43, Z:-2.03 [[ 9.99967348e-01 -7.71160833e-03 2.41552180e-03 3.43598756e+02] [ 7.71429630e-03 9.99969633e-01 -1.10545508e-03 3.64269117e+01] [-2.40692361e-03 1.12405304e-03 9.99996472e-01 -2.03459006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24140051300003 meters 0.0927255426161096 Centerline is valid? [True, True] Translation: X:343.63, Y:36.43, Z:-2.04 [[ 9.99971570e-01 -7.53458392e-03 2.99797504e-04 3.43629720e+02] [ 7.53457554e-03 9.99971614e-01 2.90961114e-05 3.64310876e+01] [-3.00008221e-04 -2.68364373e-05 9.99999955e-01 -2.03786932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.271400513 meters 0.10409012116547463 Centerline is valid? [True, False] Translation: X:343.63, Y:36.43, Z:-2.04 [[ 9.99969740e-01 -7.77487405e-03 2.67138163e-04 3.43630093e+02] [ 7.77503025e-03 9.99969601e-01 -5.88717397e-04 3.64338434e+01] [-2.62552839e-04 5.90776590e-04 9.99999791e-01 -2.03853176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30140051300003 meters 0.08969230829281336 Centerline is valid? [False, True] Translation: X:343.59, Y:36.43, Z:-2.04 [[ 9.99967415e-01 -7.94798763e-03 -1.41381412e-03 3.43588055e+02] [ 7.94850013e-03 9.99968346e-01 3.57242866e-04 3.64339470e+01] [ 1.41093001e-03 -3.68468927e-04 9.99998937e-01 -2.03805020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.331400513 meters 0.08926063020191606 Centerline is valid? [True, True] Translation: X:343.62, Y:36.44, Z:-2.04 [[ 9.99957838e-01 -9.18271927e-03 -7.64088430e-06 3.43618068e+02] [ 9.18271926e-03 9.99957838e-01 -7.61756832e-07 3.64380157e+01] [ 7.64755714e-06 6.91560619e-07 1.00000000e+00 -2.03646215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36140051300004 meters 0.09219144053211036 Centerline is valid? [True, True] Translation: X:343.65, Y:36.45, Z:-2.03 [[ 9.99950804e-01 -9.85224138e-03 1.15048283e-03 3.43646886e+02] [ 9.85212112e-03 9.99951461e-01 1.10149187e-04 3.64505022e+01] [-1.15151220e-03 -9.88090715e-05 9.99999332e-01 -2.03399238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.391400513 meters 0.08879956519427919 Centerline is valid? [True, True] Translation: X:343.68, Y:36.45, Z:-2.04 [[ 9.99925103e-01 -1.22335228e-02 3.58874298e-04 3.43677547e+02] [ 1.22335113e-02 9.99925167e-01 3.43384231e-05 3.64547214e+01] [-3.59267523e-04 -2.99455585e-05 9.99999935e-01 -2.03544210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.421400513 meters 0.08456775548418893 Centerline is valid? [True, True] Translation: X:343.71, Y:36.45, Z:-2.04 [[ 9.99913968e-01 -1.31146458e-02 -2.50661289e-04 3.43708068e+02] [ 1.31146402e-02 9.99913999e-01 -2.40339016e-05 3.64541718e+01] [ 2.50954928e-04 2.07445013e-05 9.99999968e-01 -2.03705837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.451400513 meters 0.08689595189545303 Centerline is valid? [True, True] Translation: X:343.74, Y:36.46, Z:-2.04 [[ 9.99901922e-01 -1.39924202e-02 -5.98166864e-04 3.43736763e+02] [ 1.39923883e-02 9.99902100e-01 -5.73547913e-05 3.64611697e+01] [ 5.98910836e-04 4.89793831e-05 9.99999819e-01 -2.03835076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.481400513 meters 0.08499111493290007 Centerline is valid? [True, True] Translation: X:343.77, Y:36.46, Z:-2.04 [[ 9.99889106e-01 -1.48731914e-02 -7.50521944e-04 3.43765927e+02] [ 1.48731412e-02 9.99889386e-01 -7.23865174e-05 3.64631556e+01] [ 7.51515545e-04 6.12158714e-05 9.99999716e-01 -2.03852934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.511400513 meters 0.08855970511597991 Centerline is valid? [True, True] Translation: X:343.79, Y:36.47, Z:-2.04 [[ 9.99878914e-01 -1.55538430e-02 -4.84928424e-04 3.43793642e+02] [ 1.55538222e-02 9.99879031e-01 -4.66245431e-05 3.64720585e+01] [ 4.85594953e-04 3.90764071e-05 9.99999881e-01 -2.03834571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.541400513 meters 0.08270060328429991 Centerline is valid? [True, True] Translation: X:343.82, Y:36.47, Z:-2.04 [[ 9.99865853e-01 -1.63791365e-02 -2.72429974e-05 3.43823943e+02] [ 1.63791364e-02 9.99865853e-01 -2.67485480e-06 3.64690822e+01] [ 2.72831547e-05 2.22827920e-06 1.00000000e+00 -2.03748773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.571400513 meters 0.08561405067314745 Centerline is valid? [True, True] Translation: X:343.85, Y:36.47, Z:-2.04 [[ 9.99828644e-01 -1.85021641e-02 -5.94336557e-04 3.43853434e+02] [ 1.85021334e-02 9.99828819e-01 -5.70923509e-05 3.64744105e+01] [ 5.95291150e-04 4.60860735e-05 9.99999822e-01 -2.03781465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.601400513 meters 0.0837321802616751 Centerline is valid? [True, True] Translation: X:343.88, Y:36.47, Z:-2.04 [[ 9.99793070e-01 -2.02911444e-02 -1.44431231e-03 3.43883200e+02] [ 2.02909651e-02 9.99794108e-01 -1.38744856e-04 3.64736983e+01] [ 1.44683023e-03 1.09409655e-04 9.99998947e-01 -2.03936625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.631400513 meters 0.08148099580953279 Centerline is valid? [True, True] Translation: X:343.91, Y:36.47, Z:-2.04 [[ 9.99752669e-01 -2.21321028e-02 -2.18421886e-03 3.43912939e+02] [ 2.21316969e-02 9.99755042e-01 -2.09841069e-04 3.64727751e+01] [ 2.18832804e-03 1.61448699e-04 9.99997593e-01 -2.04058554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.661400513 meters 0.07582414476193677 Centerline is valid? [True, True] Translation: X:343.94, Y:36.47, Z:-2.04 [[ 9.99705360e-01 -2.41846036e-02 -2.07333859e-03 3.43943387e+02] [ 2.41842422e-02 9.99707499e-01 -1.99210397e-04 3.64679031e+01] [ 2.07754996e-03 1.49009579e-04 9.99997831e-01 -2.04072494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.691400513 meters 0.0679926094858513 Centerline is valid? [True, True] Translation: X:343.97, Y:36.46, Z:-2.04 [[ 9.99623009e-01 -2.74482839e-02 -6.57084199e-04 3.43974706e+02] [ 2.74482483e-02 9.99623224e-01 -6.31397870e-05 3.64577039e+01] [ 6.58569704e-04 4.50801736e-05 9.99999782e-01 -2.03802026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.721400513 meters 0.08119662107859404 Centerline is valid? [True, True] Translation: X:344.00, Y:36.47, Z:-2.04 [[ 9.99595887e-01 -2.84263919e-02 5.21983482e-05 3.44001510e+02] [ 2.84263917e-02 9.99595888e-01 4.89369322e-06 3.64740746e+01] [-5.23163643e-05 -3.40790493e-06 9.99999999e-01 -2.03769565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.751400513 meters 0.07167712753157744 Centerline is valid? [True, True] Translation: X:344.03, Y:36.46, Z:-2.04 [[ 9.99577335e-01 -2.90699858e-02 2.95366108e-04 3.44031274e+02] [ 2.90699788e-02 9.99577378e-01 2.80147458e-05 3.64632067e+01] [-2.96055668e-04 -1.94166184e-05 9.99999956e-01 -2.03686749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.781400513 meters 0.07305485318464408 Centerline is valid? [True, True] Translation: X:344.06, Y:36.47, Z:-2.04 [[ 9.99577544e-01 -2.90536082e-02 7.88280955e-04 3.44058480e+02] [ 2.90535574e-02 9.99577853e-01 7.57842746e-05 3.64661849e+01] [-7.90149992e-04 -5.28498931e-05 9.99999686e-01 -2.03659668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.811400513 meters 0.06956352074228901 Centerline is valid? [True, True] Translation: X:344.09, Y:36.46, Z:-2.04 [[ 9.99588634e-01 -2.86614192e-02 1.04189143e-03 3.44087653e+02] [ 2.86613303e-02 9.99589175e-01 1.00102988e-04 3.64634130e+01] [-1.04433249e-03 -7.01998146e-05 9.99999452e-01 -2.03611422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.841400513 meters 0.0762798777020532 Centerline is valid? [True, True] Translation: X:344.12, Y:36.47, Z:-2.03 [[ 9.99642310e-01 -2.66768840e-02 1.89623116e-03 3.44116169e+02] [ 2.66765847e-02 9.99644100e-01 1.82952522e-04 3.64705244e+01] [-1.90043689e-03 -1.32302111e-04 9.99998185e-01 -2.03481346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.871400513 meters 0.06953131698058468 Centerline is valid? [True, True] Translation: X:344.15, Y:36.46, Z:-2.03 [[ 9.99671343e-01 -2.55079641e-02 2.55908420e-03 3.44146952e+02] [ 2.55074151e-02 9.99674602e-01 2.46957343e-04 3.64628232e+01] [-2.56455086e-03 -1.81600556e-04 9.99996695e-01 -2.03393558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.901400513 meters 0.07287473496456345 Centerline is valid? [True, True] Translation: X:344.18, Y:36.47, Z:-2.03 [[ 9.99710938e-01 -2.38560076e-02 2.98853498e-03 3.44175474e+02] [ 2.38552512e-02 9.99715381e-01 2.88480637e-04 3.64683049e+01] [-2.99456639e-03 -2.17104996e-04 9.99995493e-01 -2.03278700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.931400513 meters 0.0752791655510712 Centerline is valid? [True, True] Translation: X:344.21, Y:36.47, Z:-2.03 [[ 9.99759103e-01 -2.18413983e-02 2.16525027e-03 3.44205736e+02] [ 2.18409965e-02 9.99761435e-01 2.09049211e-04 3.64700733e+01] [-2.16929964e-03 -1.61707628e-04 9.99997634e-01 -2.03438043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.961400513 meters 0.08209034192521152 Centerline is valid? [True, True] Translation: X:344.23, Y:36.48, Z:-2.03 [[ 9.99768925e-01 -2.13720844e-02 2.30873492e-03 3.44234425e+02] [ 2.13716262e-02 9.99771576e-01 2.22929732e-04 3.64783153e+01] [-2.31297203e-03 -1.73536798e-04 9.99997310e-01 -2.03418693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99140051300003 meters 0.07838040643157533 Centerline is valid? [True, True] Translation: X:344.27, Y:36.47, Z:-2.03 [[ 9.99767037e-01 -2.13442567e-02 3.20848081e-03 3.44266229e+02] [ 2.13433716e-02 9.99772156e-01 3.09850586e-04 3.64709942e+01] [-3.21436331e-03 -2.41298604e-04 9.99994805e-01 -2.03404137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.021400513 meters 0.07554000655304473 Centerline is valid? [True, True] Translation: X:344.30, Y:36.47, Z:-2.03 [[ 9.99770330e-01 -2.11149875e-02 3.66664728e-03 3.44296360e+02] [ 2.11138300e-02 9.99777016e-01 3.54108358e-04 3.64708924e+01] [-3.67330667e-03 -2.76610063e-04 9.99993215e-01 -2.03180247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05140051300003 meters 0.07896132381974953 Centerline is valid? [True, True] Translation: X:344.33, Y:36.48, Z:-2.03 [[ 9.99764439e-01 -2.12428686e-02 4.45049220e-03 3.44326417e+02] [ 2.12411645e-02 9.99774289e-01 4.29825059e-04 3.64762042e+01] [-4.45861840e-03 -3.35190172e-04 9.99990004e-01 -2.03072703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.081400513 meters 0.08161130901653817 Centerline is valid? [True, True] Translation: X:344.36, Y:36.48, Z:-2.03 [[ 9.99756823e-01 -2.12823558e-02 5.77556270e-03 3.44356414e+02] [ 2.12794870e-02 9.99773411e-01 5.57725263e-04 3.64796077e+01] [-5.78612372e-03 -4.34688626e-04 9.99983166e-01 -2.02969591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11140051300004 meters 0.0823945672571737 Centerline is valid? [True, True] Translation: X:344.39, Y:36.48, Z:-2.03 [[ 9.99753714e-01 -2.13095773e-02 6.19790298e-03 3.44388148e+02] [ 2.13062752e-02 9.99772817e-01 5.98321249e-04 3.64810040e+01] [-6.20924489e-03 -4.66119663e-04 9.99980614e-01 -2.02937477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.141400513 meters 0.08194228991699283 Centerline is valid? [True, True] Translation: X:344.42, Y:36.48, Z:-2.03 [[ 9.99760458e-01 -2.10041236e-02 6.15256681e-03 3.44419420e+02] [ 2.10008651e-02 9.99779281e-01 5.93751004e-04 3.64802907e+01] [-6.16368005e-03 -4.64399550e-04 9.99980897e-01 -2.03010094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.171400513 meters 0.07921810703463324 Centerline is valid? [True, True] Translation: X:344.45, Y:36.48, Z:-2.03 [[ 9.99780829e-01 -2.05692492e-02 3.89868260e-03 3.44451292e+02] [ 2.05679378e-02 9.99788387e-01 3.76175732e-04 3.64754230e+01] [-3.90559524e-03 -2.95905424e-04 9.99992329e-01 -2.03356429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.201400513 meters 0.08042538153467334 Centerline is valid? [True, True] Translation: X:344.48, Y:36.48, Z:-2.04 [[ 9.99779634e-01 -2.08257533e-02 2.64022178e-03 3.44481263e+02] [ 2.08251528e-02 9.99783101e-01 2.54709829e-04 3.64782977e+01] [-2.64495364e-03 -1.99670678e-04 9.99996482e-01 -2.03576021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.231400513 meters 0.07392438050575983 Centerline is valid? [True, True] Translation: X:344.51, Y:36.47, Z:-2.04 [[ 9.99778928e-01 -2.09785543e-02 1.41287639e-03 3.44512854e+02] [ 2.09783826e-02 9.99779920e-01 1.36247450e-04 3.64720089e+01] [-1.41542372e-03 -1.06577468e-04 9.99998993e-01 -2.03743425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.261400513 meters 0.07930088716017114 Centerline is valid? [True, True] Translation: X:344.54, Y:36.48, Z:-2.04 [[ 9.99788110e-01 -2.05817760e-02 3.53654395e-04 3.44541271e+02] [ 2.05817652e-02 9.99788172e-01 3.40243954e-05 3.64799882e+01] [-3.54279764e-04 -2.67383543e-05 9.99999937e-01 -2.03886848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.291400513 meters 0.08087445521818676 Centerline is valid? [True, True] Translation: X:344.57, Y:36.48, Z:-2.04 [[ 9.99806624e-01 -1.96647893e-02 -1.07572413e-04 3.44570520e+02] [ 1.96647883e-02 9.99806629e-01 -1.04388521e-05 3.64837767e+01] [ 1.07756889e-04 8.32144474e-06 9.99999994e-01 -2.03972161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.321400513 meters 0.07797003888533688 Centerline is valid? [True, True] Translation: X:344.60, Y:36.48, Z:-2.04 [[ 9.99826160e-01 -1.86452606e-02 6.55312998e-05 3.44600182e+02] [ 1.86452603e-02 9.99826162e-01 6.23436513e-06 3.64824509e+01] [-6.56361494e-05 -5.01143321e-06 9.99999998e-01 -2.03976423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.351400513 meters 0.09324064699592187 Centerline is valid? [True, True] Translation: X:344.63, Y:36.50, Z:-2.04 [[ 9.99869690e-01 -1.61432101e-02 -1.11633658e-05 3.44627921e+02] [ 1.61432101e-02 9.99869690e-01 -1.10813233e-06 3.65043101e+01] [ 1.11797999e-05 9.27775369e-07 1.00000000e+00 -2.04099266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.381400513 meters 0.08703921965476097 Centerline is valid? [True, True] Translation: X:344.66, Y:36.50, Z:-2.04 [[ 9.99886612e-01 -1.50571052e-02 -2.17421490e-04 3.44657618e+02] [ 1.50571010e-02 9.99886635e-01 -2.10845110e-05 3.64999642e+01] [ 2.17714313e-04 1.78083829e-05 9.99999976e-01 -2.04133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.411400513 meters 0.08705405785794632 Centerline is valid? [True, True] Translation: X:344.69, Y:36.50, Z:-2.04 [[ 9.99896209e-01 -1.44052558e-02 -2.44094498e-04 3.44687452e+02] [ 1.44052505e-02 9.99896239e-01 -2.36362957e-05 3.65031781e+01] [ 2.44409658e-04 2.01176001e-05 9.99999970e-01 -2.04104758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.441400513 meters 0.09282010374504564 Centerline is valid? [True, True] Translation: X:344.72, Y:36.51, Z:-2.04 [[ 9.99897564e-01 -1.43121381e-02 -1.54939332e-04 3.44715144e+02] [ 1.43121360e-02 9.99897576e-01 -1.50589942e-05 3.65128808e+01] [ 1.55138988e-04 1.28399389e-05 9.99999988e-01 -2.04115259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.471400513 meters 0.08475210096766293 Centerline is valid? [True, True] Translation: X:344.75, Y:36.50, Z:-2.04 [[ 9.99870361e-01 -1.61008628e-02 1.54980859e-04 3.44745791e+02] [ 1.61008606e-02 9.99870373e-01 1.49324609e-05 3.65048037e+01] [-1.55201194e-04 -1.24351999e-05 9.99999988e-01 -2.03995823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.501400513 meters 0.08061749853384476 Centerline is valid? [True, True] Translation: X:344.78, Y:36.50, Z:-2.04 [[ 9.99850461e-01 -1.72780335e-02 7.24859629e-04 3.44776301e+02] [ 1.72779872e-02 9.99850722e-01 7.00290956e-05 3.65017163e+01] [-7.25961389e-04 -5.74945081e-05 9.99999735e-01 -2.03941359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.531400513 meters 0.07825246204500262 Centerline is valid? [True, True] Translation: X:344.81, Y:36.50, Z:-2.04 [[ 9.99829439e-01 -1.84237270e-02 1.28791999e-03 3.44806111e+02] [ 1.84235821e-02 9.99830264e-01 1.24277941e-04 3.64999789e+01] [-1.28999105e-03 -1.00528644e-04 9.99999163e-01 -2.03910274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.561400513 meters 0.0800756494688824 Centerline is valid? [True, True] Translation: X:344.83, Y:36.50, Z:-2.04 [[ 9.99817343e-01 -1.90677539e-02 1.30431686e-03 3.44834562e+02] [ 1.90676053e-02 9.99818189e-01 1.26211440e-04 3.65032364e+01] [-1.30648629e-03 -1.01318188e-04 9.99999141e-01 -2.03936533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.591400513 meters 0.08131565790318397 Centerline is valid? [True, True] Translation: X:344.86, Y:36.51, Z:-2.04 [[ 9.99816403e-01 -1.90996452e-02 1.53720655e-03 3.44864271e+02] [ 1.90994389e-02 9.99817578e-01 1.48828385e-04 3.65061557e+01] [-1.53976870e-03 -1.19441278e-04 9.99998807e-01 -2.03943245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.621400513 meters 0.08177391052900455 Centerline is valid? [True, True] Translation: X:344.89, Y:36.51, Z:-2.04 [[ 9.99824391e-01 -1.86754072e-02 1.55448200e-03 3.44894256e+02] [ 1.86751956e-02 9.99825592e-01 1.50548743e-04 3.65083775e+01] [-1.55702245e-03 -1.21492050e-04 9.99998780e-01 -2.03949142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.651400513 meters 0.07795864189900328 Centerline is valid? [True, True] Translation: X:344.92, Y:36.50, Z:-2.04 [[ 9.99865810e-01 -1.60882416e-02 3.08720479e-03 3.44924859e+02] [ 1.60873944e-02 9.99870545e-01 2.99049402e-04 3.65045001e+01] [-3.09161632e-03 -2.49344191e-04 9.99995190e-01 -2.03653219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.681400513 meters 0.07784503086589745 Centerline is valid? [True, True] Translation: X:344.96, Y:36.51, Z:-2.04 [[ 9.99894951e-01 -1.39237174e-02 4.02710663e-03 3.44955383e+02] [ 1.39222585e-02 9.99903005e-01 3.90097026e-04 3.65061920e+01] [-4.03214762e-03 -3.33989627e-04 9.99991815e-01 -2.03514420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.711400513 meters 0.08700628772541398 Centerline is valid? [True, True] Translation: X:344.98, Y:36.52, Z:-2.03 [[ 9.99928654e-01 -1.12221035e-02 4.09287018e-03 3.44984131e+02] [ 1.12205740e-02 9.99936969e-01 3.96460436e-04 3.65195875e+01] [-4.09706132e-03 -3.50507797e-04 9.99991546e-01 -2.03496552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74140051300003 meters 0.09353800945747233 Centerline is valid? [True, True] Translation: X:345.01, Y:36.53, Z:-2.04 [[ 9.99959038e-01 -8.25635958e-03 3.70874610e-03 3.45013161e+02] [ 8.25508353e-03 9.99965862e-01 3.59242846e-04 3.65297409e+01] [-3.71158553e-03 -3.28612121e-04 9.99993058e-01 -2.03536868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.771400513 meters 0.09884567206649655 Centerline is valid? [True, True] Translation: X:345.04, Y:36.54, Z:-2.04 [[ 9.99986641e-01 -4.18754338e-03 3.03009463e-03 3.45042975e+02] [ 4.18667305e-03 9.99991193e-01 2.93513583e-04 3.65369699e+01] [-3.03129704e-03 -2.80823646e-04 9.99995366e-01 -2.03823162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80140051300003 meters 0.11179852647115711 Centerline is valid? [True, False] Translation: X:345.04, Y:36.54, Z:-2.04 [[ 9.99986353e-01 -4.24115773e-03 3.05065176e-03 3.45042917e+02] [ 4.24072388e-03 9.99990997e-01 1.48668863e-04 3.65376278e+01] [-3.05125483e-03 -1.35729863e-04 9.99995336e-01 -2.03825661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.831400513 meters 0.09962595965646542 Centerline is valid? [False, True] Translation: X:345.04, Y:36.54, Z:-2.04 [[ 9.99986165e-01 -4.25891444e-03 3.08727057e-03 3.45042793e+02] [ 4.25862645e-03 9.99990927e-01 9.98514104e-05 3.65378534e+01] [-3.08766782e-03 -8.67024968e-05 9.99995229e-01 -2.03825190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86140051300004 meters 0.09561167198843808 Centerline is valid? [True, True] Translation: X:345.07, Y:36.54, Z:-2.04 [[ 9.99987066e-01 -4.06499136e-03 3.05673230e-03 3.45074962e+02] [ 4.06407850e-03 9.99991695e-01 3.04791564e-04 3.65357396e+01] [-3.05794589e-03 -2.92364821e-04 9.99995282e-01 -2.03820607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.891400513 meters 0.09561842054729856 Centerline is valid? [True, True] Translation: X:345.10, Y:36.54, Z:-2.04 [[ 9.99978919e-01 -5.34970858e-03 3.67984602e-03 3.45104274e+02] [ 5.34839472e-03 9.99985630e-01 3.66789028e-04 3.65396634e+01] [-3.68175535e-03 -3.47100027e-04 9.99993162e-01 -2.03751982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.921400513 meters 0.10401735909373137 Centerline is valid? [True, False] Translation: X:345.10, Y:36.54, Z:-2.04 [[ 9.99978974e-01 -5.34014040e-03 3.67884765e-03 3.45104321e+02] [ 5.33873925e-03 9.99985673e-01 3.90580055e-04 3.65395456e+01] [-3.68088069e-03 -3.70931435e-04 9.99993157e-01 -2.03761656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.951400513 meters 0.08928203826301151 Centerline is valid? [False, True] Translation: X:345.10, Y:36.54, Z:-2.04 [[ 9.99979690e-01 -5.26055094e-03 3.59800146e-03 3.45104595e+02] [ 5.25839504e-03 9.99985989e-01 6.08392038e-04 3.65385523e+01] [-3.60115153e-03 -5.89459969e-04 9.99993342e-01 -2.03762757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.981400513 meters 0.09199852082607887 Centerline is valid? [True, True] Translation: X:345.13, Y:36.54, Z:-2.04 [[ 9.99969389e-01 -7.16379272e-03 3.14655467e-03 3.45134192e+02] [ 7.16286725e-03 9.99974300e-01 3.05292693e-04 3.65443340e+01] [-3.14866086e-03 -2.82744994e-04 9.99995003e-01 -2.03866317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.011400513 meters 0.09218738899512081 Centerline is valid? [True, True] Translation: X:345.16, Y:36.55, Z:-2.04 [[ 9.99949909e-01 -9.62936521e-03 2.73035240e-03 3.45163876e+02] [ 9.62867744e-03 9.99953608e-01 2.64930697e-04 3.65467039e+01] [-2.73277685e-03 -2.38627744e-04 9.99996237e-01 -2.03901563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.041400513 meters 0.0912352980501913 Centerline is valid? [True, True] Translation: X:345.19, Y:36.55, Z:-2.04 [[ 9.99925923e-01 -1.19326728e-02 2.39990692e-03 3.45193453e+02] [ 1.19321479e-02 9.99928782e-01 2.32890384e-04 3.65477224e+01] [-2.40251501e-03 -2.04237088e-04 9.99997093e-01 -2.03952503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.071400513 meters 0.0856216956601842 Centerline is valid? [True, True] Translation: X:345.22, Y:36.54, Z:-2.04 [[ 9.99855276e-01 -1.68594974e-02 2.27705153e-03 3.45224378e+02] [ 1.68590375e-02 9.99857852e-01 2.21003193e-04 3.65420998e+01] [-2.28045386e-03 -1.82582312e-04 9.99997383e-01 -2.04067508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.101400513 meters 0.0856216956601842 Centerline is valid? [True, True] Translation: X:345.25, Y:36.55, Z:-2.04 [[ 9.99855276e-01 -1.68594974e-02 2.27705114e-03 3.45254333e+02] [ 1.68590375e-02 9.99857852e-01 2.21007201e-04 3.65450072e+01] [-2.28045354e-03 -1.82586325e-04 9.99997383e-01 -2.04078015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.131400513 meters 0.07924604115992191 Centerline is valid? [True, True] Translation: X:345.29, Y:36.54, Z:-2.04 [[ 9.99816163e-01 -1.90091589e-02 2.50849240e-03 3.45285554e+02] [ 1.90086075e-02 9.99819290e-01 2.43466602e-04 3.65385030e+01] [-2.51266718e-03 -1.95738896e-04 9.99996824e-01 -2.04079944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.161400513 meters 0.08912033346975744 Centerline is valid? [True, True] Translation: X:345.31, Y:36.55, Z:-2.04 [[ 9.99794734e-01 -2.00902984e-02 2.62087154e-03 3.45314273e+02] [ 2.00897002e-02 9.99798149e-01 2.54388593e-04 3.65515684e+01] [-2.62545326e-03 -2.01683853e-04 9.99996533e-01 -2.04104310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.191400513 meters 0.076927069516314 Centerline is valid? [True, True] Translation: X:345.35, Y:36.54, Z:-2.04 [[ 9.99786651e-01 -2.05047712e-02 2.49145580e-03 3.45345092e+02] [ 2.05042320e-02 9.99789737e-01 2.41804657e-04 3.65377443e+01] [-2.49589009e-03 -1.90667681e-04 9.99996867e-01 -2.04104568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.221400513 meters 0.08334125940745987 Centerline is valid? [True, True] Translation: X:345.37, Y:36.54, Z:-2.04 [[ 9.99838851e-01 -1.79188646e-02 1.08918900e-03 3.45373834e+02] [ 1.79187600e-02 9.99839441e-01 1.05717173e-04 3.65447433e+01] [-1.09090845e-03 -8.61832204e-05 9.99999401e-01 -2.04270212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.251400513 meters 0.09044557282133574 Centerline is valid? [True, True] Translation: X:345.40, Y:36.56, Z:-2.04 [[ 9.99876025e-01 -1.57162329e-02 9.66547487e-04 3.45402339e+02] [ 1.57161495e-02 9.99876489e-01 9.38181264e-05 3.65552547e+01] [-9.67902576e-04 -7.86160906e-05 9.99999528e-01 -2.04344107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.281400513 meters 0.09210470382721223 Centerline is valid? [True, True] Translation: X:345.43, Y:36.56, Z:-2.04 [[ 9.99913297e-01 -1.30830110e-02 1.49450091e-03 3.45432339e+02] [ 1.30828087e-02 9.99914406e-01 1.45108727e-04 3.65573359e+01] [-1.49627145e-03 -1.25543876e-04 9.99998873e-01 -2.04388812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.311400513 meters 0.08889630573564865 Centerline is valid? [True, True] Translation: X:345.46, Y:36.56, Z:-2.04 [[ 9.99945713e-01 -1.02684361e-02 1.76925511e-03 3.45462825e+02] [ 1.02681480e-02 9.99947266e-01 1.71831156e-04 3.65600309e+01] [-1.77092625e-03 -1.53654854e-04 9.99998420e-01 -2.04261568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.341400513 meters 0.10072983082801058 Centerline is valid? [True, False] Translation: X:345.48, Y:36.57, Z:-2.03 [[ 9.99983788e-01 -5.40157491e-03 -1.80166504e-03 3.45478612e+02] [ 5.39299364e-03 9.99974251e-01 -4.73429612e-03 3.65661120e+01] [ 1.82719130e-03 4.72450300e-03 9.99987170e-01 -2.03336099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.371400513 meters 0.10256910668796389 Centerline is valid? [False, False] Translation: X:345.48, Y:36.56, Z:-2.03 [[ 9.99997766e-01 -8.11017612e-04 -1.95222300e-03 3.45478932e+02] [ 8.11592974e-04 9.99999627e-01 2.93947449e-04 3.65630431e+01] [ 1.95198388e-03 -2.95531203e-04 9.99998051e-01 -2.03303603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.401400513 meters 0.09824023708315384 Centerline is valid? [False, True] Translation: X:345.46, Y:36.57, Z:-2.04 [[ 9.99993453e-01 3.23528377e-03 -1.62051572e-03 3.45459112e+02] [-3.24450920e-03 9.99978360e-01 -5.72299079e-03 3.65659578e+01] [ 1.60196516e-03 5.72821111e-03 9.99982310e-01 -2.03631278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.431400513 meters 0.09680829358825221 Centerline is valid? [True, True] Translation: X:345.49, Y:36.57, Z:-2.03 [[ 9.99975078e-01 6.87463272e-03 -1.60718882e-03 3.45489859e+02] [-6.87487617e-03 9.99976357e-01 -1.45996844e-04 3.65652204e+01] [ 1.60614714e-03 1.57042430e-04 9.99998698e-01 -2.03457597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.461400513 meters 0.09741333358854135 Centerline is valid? [True, True] Translation: X:345.52, Y:36.57, Z:-2.03 [[ 9.99967869e-01 8.01233959e-03 -2.51655575e-04 3.45519884e+02] [-8.01234560e-03 9.99967900e-01 -2.28651633e-05 3.65700901e+01] [ 2.51464294e-04 2.48807800e-05 9.99999968e-01 -2.03248200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49140051300003 meters 0.10090475521721912 Centerline is valid? [True, False] Translation: X:345.52, Y:36.57, Z:-2.03 [[ 9.99968847e-01 7.89139997e-03 -1.76447511e-04 3.45519555e+02] [-7.89146104e-03 9.99968801e-01 -3.48181226e-04 3.65715879e+01] [ 1.73694369e-04 3.49562807e-04 9.99999924e-01 -2.03228910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.521400513 meters 0.09400521626231216 Centerline is valid? [False, True] Translation: X:345.50, Y:36.57, Z:-2.03 [[ 9.99993566e-01 3.27882822e-03 -1.45488529e-03 3.45501761e+02] [-3.26879273e-03 9.99971214e-01 6.84737262e-03 3.65691385e+01] [ 1.47729477e-03 -6.84257285e-03 9.99975498e-01 -2.03473892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55140051300003 meters 0.09629152643260677 Centerline is valid? [True, True] Translation: X:345.53, Y:36.59, Z:-2.04 [[ 9.99997471e-01 -1.86484277e-05 -2.24879482e-03 3.45530051e+02] [ 1.81656694e-05 9.99999977e-01 -2.14694464e-04 3.65888394e+01] [ 2.24879877e-03 2.14653070e-04 9.99997448e-01 -2.03745616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.581400513 meters 0.09517080945915138 Centerline is valid? [True, True] Translation: X:345.56, Y:36.59, Z:-2.04 [[ 9.99989796e-01 -3.18445977e-03 -3.20427458e-03 3.45559632e+02] [ 3.18349565e-03 9.99994886e-01 -3.05943139e-04 3.65933598e+01] [ 3.20523246e-03 2.95739223e-04 9.99994819e-01 -2.03914025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61140051300004 meters 0.10197063922185665 Centerline is valid? [True, False] Translation: X:345.56, Y:36.59, Z:-2.04 [[ 9.99989383e-01 -3.22452355e-03 -3.29199979e-03 3.45559815e+02] [ 3.22317565e-03 9.99994720e-01 -4.14669189e-04 3.65938577e+01] [ 3.29331951e-03 4.04054092e-04 9.99994495e-01 -2.03891503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.641400513 meters 0.09134992954580662 Centerline is valid? [False, True] Translation: X:345.56, Y:36.59, Z:-2.04 [[ 9.99989069e-01 -3.22722576e-03 -3.38346255e-03 3.45559912e+02] [ 3.22582822e-03 9.99994709e-01 -4.18425034e-04 3.65939137e+01] [ 3.38479501e-03 4.07505991e-04 9.99994189e-01 -2.03843374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.671400513 meters 0.07853198621850295 Centerline is valid? [True, True] Translation: X:345.59, Y:36.58, Z:-2.03 [[ 9.99939377e-01 -1.09710653e-02 -9.36815041e-04 3.45590911e+02] [ 1.09709931e-02 9.99939813e-01 -8.22117621e-05 3.65838688e+01] [ 9.37660608e-04 7.19289868e-05 9.99999558e-01 -2.03444512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.701400513 meters 0.0683197104902493 Centerline is valid? [True, True] Translation: X:345.62, Y:36.58, Z:-2.03 [[ 9.99900413e-01 -1.41123730e-02 -7.56810117e-05 3.45622203e+02] [ 1.41123725e-02 9.99900415e-01 -6.62939155e-06 3.65753183e+01] [ 7.57670315e-05 5.56069272e-06 9.99999997e-01 -2.03336890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.731400513 meters 0.07605964385014327 Centerline is valid? [True, True] Translation: X:345.65, Y:36.59, Z:-2.03 [[ 9.99873439e-01 -1.58965002e-02 6.38077676e-04 3.45650607e+02] [ 1.58964676e-02 9.99873642e-01 5.60723740e-05 3.65880792e+01] [-6.38888404e-04 -4.59220964e-05 9.99999795e-01 -2.03206871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.761400513 meters 0.06962676345045975 Centerline is valid? [True, True] Translation: X:345.68, Y:36.58, Z:-2.03 [[ 9.99858865e-01 -1.67954393e-02 4.05301025e-04 3.45680493e+02] [ 1.67954260e-02 9.99858946e-01 3.59901934e-05 3.65838027e+01] [-4.05848326e-04 -2.91779105e-05 9.99999917e-01 -2.03266556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.791400513 meters 0.07224039615839722 Centerline is valid? [True, True] Translation: X:345.71, Y:36.59, Z:-2.03 [[ 9.99865920e-01 -1.63643831e-02 -5.90088331e-04 3.45708863e+02] [ 1.63643553e-02 9.99866094e-01 -5.18346049e-05 3.65911793e+01] [ 5.90857556e-04 4.21712398e-05 9.99999825e-01 -2.03382558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.821400513 meters 0.0780291670863008 Centerline is valid? [True, True] Translation: X:345.74, Y:36.60, Z:-2.04 [[ 9.99880098e-01 -1.54192676e-02 -1.42673201e-03 3.45736223e+02] [ 1.54191041e-02 9.99881111e-01 -1.25489949e-04 3.66042500e+01] [ 1.42849735e-03 1.03475973e-04 9.99998974e-01 -2.03522846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.851400513 meters 0.08117374563306429 Centerline is valid? [True, True] Translation: X:345.77, Y:36.62, Z:-2.04 [[ 9.99919989e-01 -1.25258578e-02 -1.76565277e-03 3.45765177e+02] [ 1.25256028e-02 9.99921539e-01 -1.55392247e-04 3.66191488e+01] [ 1.76746066e-03 1.33263949e-04 9.99998429e-01 -2.03676772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.881400513 meters 0.0814954207331745 Centerline is valid? [True, True] Translation: X:345.79, Y:36.62, Z:-2.04 [[ 9.99931443e-01 -1.15538852e-02 -1.90200671e-03 3.45794061e+02] [ 1.15535876e-02 9.99933241e-01 -1.67405648e-04 3.66241814e+01] [ 1.90381392e-03 1.45419170e-04 9.99998177e-01 -2.03701168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.911400513 meters 0.0764061219171077 Centerline is valid? [True, True] Translation: X:345.82, Y:36.62, Z:-2.04 [[ 9.99927440e-01 -1.18168048e-02 -2.34061280e-03 3.45822091e+02] [ 1.18163545e-02 9.99930163e-01 -2.06110754e-04 3.66209459e+01] [ 2.34288491e-03 1.78438288e-04 9.99997240e-01 -2.03740196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.941400513 meters 0.07978103781280131 Centerline is valid? [True, True] Translation: X:345.85, Y:36.63, Z:-2.04 [[ 9.99891775e-01 -1.40565704e-02 -4.34176867e-03 3.45850558e+02] [ 1.40550385e-02 9.99901150e-01 -3.83145044e-04 3.66291748e+01] [ 4.34672519e-03 3.22079852e-04 9.99990501e-01 -2.03960668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.971400513 meters 0.08148881113133952 Centerline is valid? [True, True] Translation: X:345.88, Y:36.64, Z:-2.04 [[ 9.99870025e-01 -1.54313970e-02 -4.66958342e-03 3.45878528e+02] [ 1.54296395e-02 9.99880871e-01 -4.12160575e-04 3.66361709e+01] [ 4.67538735e-03 3.40057016e-04 9.99989012e-01 -2.03990491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.001400513 meters 0.08285493093735091 Centerline is valid? [True, True] Translation: X:345.91, Y:36.64, Z:-2.04 [[ 9.99858923e-01 -1.64027529e-02 -3.61722786e-03 3.45905668e+02] [ 1.64017042e-02 9.99865432e-01 -3.19385518e-04 3.66429757e+01] [ 3.62197990e-03 2.60011758e-04 9.99993407e-01 -2.03868787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.031400513 meters 0.07595237113008674 Centerline is valid? [True, True] Translation: X:345.93, Y:36.64, Z:-2.04 [[ 9.99858716e-01 -1.66009214e-02 -2.63767583e-03 3.45933858e+02] [ 1.66003641e-02 9.99862177e-01 -2.33046585e-04 3.66396373e+01] [ 2.64118109e-03 1.89227281e-04 9.99996494e-01 -2.03718239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.061400513 meters 0.07607009773913746 Centerline is valid? [True, True] Translation: X:345.96, Y:36.65, Z:-2.04 [[ 9.99875552e-01 -1.55730280e-02 -2.52227758e-03 3.45963017e+02] [ 1.55725141e-02 9.99878716e-01 -2.23251763e-04 3.66450697e+01] [ 2.52544838e-03 1.83945776e-04 9.99996794e-01 -2.03645847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.091400513 meters 0.08185409606671287 Centerline is valid? [True, True] Translation: X:345.99, Y:36.66, Z:-2.04 [[ 9.99907372e-01 -1.31539705e-02 -3.49581058e-03 3.45991344e+02] [ 1.31529684e-02 9.99913448e-01 -3.09491229e-04 3.66579721e+01] [ 3.49957905e-03 2.63482275e-04 9.99993842e-01 -2.03767062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.121400513 meters 0.08558177294500807 Centerline is valid? [True, True] Translation: X:346.02, Y:36.67, Z:-2.04 [[ 9.99960138e-01 -6.68788237e-03 -5.91559004e-03 3.46020196e+02] [ 6.68490039e-03 9.99977519e-01 -5.23718814e-04 3.66733759e+01] [ 5.91895962e-03 4.84152808e-04 9.99982366e-01 -2.04120316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.151400513 meters 0.0901115480764827 Centerline is valid? [True, True] Translation: X:346.05, Y:36.68, Z:-2.04 [[ 9.99971747e-01 -4.15239202e-03 -6.26598198e-03 3.46048832e+02] [ 4.14899658e-03 9.99991239e-01 -5.54786758e-04 3.66847460e+01] [ 6.26823078e-03 5.28773546e-04 9.99980215e-01 -2.04154093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.181400513 meters 0.09201404675941195 Centerline is valid? [True, True] Translation: X:346.08, Y:36.69, Z:-2.04 [[ 9.99980615e-01 -2.26792248e-03 -5.79884009e-03 3.46078805e+02] [ 2.26498278e-03 9.99997303e-01 -5.13463517e-04 3.66924762e+01] [ 5.79998895e-03 5.00319290e-04 9.99983055e-01 -2.04074809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.211400513 meters 0.08796333833282594 Centerline is valid? [True, True] Translation: X:346.11, Y:36.69, Z:-2.04 [[ 9.99984769e-01 -2.25186311e-03 -5.03884341e-03 3.46107491e+02] [ 2.24964106e-03 9.99997370e-01 -4.46608257e-04 3.66927642e+01] [ 5.03983586e-03 4.35265866e-04 9.99987205e-01 -2.03916934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24140051300003 meters 0.08938662892568638 Centerline is valid? [True, True] Translation: X:346.13, Y:36.70, Z:-2.04 [[ 9.99987627e-01 -3.12922868e-03 -3.86689187e-03 3.46134786e+02] [ 3.12792515e-03 9.99995049e-01 -3.43101234e-04 3.66999236e+01] [ 3.86794637e-03 3.31001641e-04 9.99992465e-01 -2.03725492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.271400513 meters 0.09029298421992554 Centerline is valid? [True, True] Translation: X:346.16, Y:36.71, Z:-2.04 [[ 9.99986628e-01 -4.49460216e-03 -2.55787128e-03 3.46162746e+02] [ 4.49403599e-03 9.99989876e-01 -2.27048075e-04 3.67070960e+01] [ 2.55886588e-03 2.15549873e-04 9.99996703e-01 -2.03551384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30140051300003 meters 0.08738932607260799 Centerline is valid? [True, True] Translation: X:346.19, Y:36.71, Z:-2.03 [[ 9.99964733e-01 -8.11307492e-03 -2.17042082e-03 3.46193316e+02] [ 8.11267561e-03 9.99967073e-01 -1.92720959e-04 3.67118471e+01] [ 2.17191292e-03 1.75106242e-04 9.99997626e-01 -2.03436435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.331400513 meters 0.08533701627938756 Centerline is valid? [True, True] Translation: X:346.22, Y:36.71, Z:-2.03 [[ 9.99950945e-01 -9.57521352e-03 -2.53419764e-03 3.46222825e+02] [ 9.57467376e-03 9.99954136e-01 -2.25038575e-04 3.67139039e+01] [ 2.53623620e-03 2.00763420e-04 9.99996764e-01 -2.03458704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36140051300004 meters 0.08198589920632732 Centerline is valid? [True, True] Translation: X:346.25, Y:36.71, Z:-2.03 [[ 9.99935738e-01 -1.09723296e-02 -2.85098343e-03 3.46252864e+02] [ 1.09716519e-02 9.99939778e-01 -2.53233088e-04 3.67143230e+01] [ 2.85359029e-03 2.21936817e-04 9.99995904e-01 -2.03473965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.391400513 meters 0.07667720046578638 Centerline is valid? [True, True] Translation: X:346.28, Y:36.71, Z:-2.03 [[ 9.99923201e-01 -1.21682607e-02 -2.35082919e-03 3.46282773e+02] [ 1.21678032e-02 9.99925948e-01 -2.08830215e-04 3.67123914e+01] [ 2.35319620e-03 1.80209750e-04 9.99997215e-01 -2.03436545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.421400513 meters 0.084036951964142 Centerline is valid? [True, True] Translation: X:346.31, Y:36.73, Z:-2.03 [[ 9.99895684e-01 -1.44305335e-02 -6.17354965e-04 3.46311566e+02] [ 1.44305023e-02 9.99895873e-01 -5.48318418e-05 3.67255574e+01] [ 6.18081935e-04 4.59173797e-05 9.99999808e-01 -2.03228368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.451400513 meters 0.07254455855282986 Centerline is valid? [True, True] Translation: X:346.34, Y:36.71, Z:-2.03 [[ 9.99871128e-01 -1.60410850e-02 -6.41579753e-04 3.46342819e+02] [ 1.60410517e-02 9.99871332e-01 -5.69972418e-05 3.67142786e+01] [ 6.42411500e-04 4.66982824e-05 9.99999793e-01 -2.03287916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.481400513 meters 0.07880395950641855 Centerline is valid? [True, True] Translation: X:346.37, Y:36.72, Z:-2.03 [[ 9.99844893e-01 -1.75552610e-02 -1.41528039e-03 3.46371252e+02] [ 1.75551004e-02 9.99845889e-01 -1.25770329e-04 3.67249065e+01] [ 1.41727021e-03 1.00905432e-04 9.99998991e-01 -2.03451270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.511400513 meters 0.06685462965632084 Centerline is valid? [True, True] Translation: X:346.40, Y:36.71, Z:-2.04 [[ 9.99803088e-01 -1.96318340e-02 -2.89434627e-03 3.46402674e+02] [ 1.96311710e-02 9.99807257e-01 -2.57324504e-04 3.67131195e+01] [ 2.89884015e-03 2.00454427e-04 9.99995778e-01 -2.03732388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.541400513 meters 0.07386532839739623 Centerline is valid? [True, True] Translation: X:346.43, Y:36.72, Z:-2.04 [[ 9.99764505e-01 -2.13098714e-02 -4.10162168e-03 3.46430580e+02] [ 2.13085535e-02 9.99772880e-01 -3.64758804e-04 3.67238560e+01] [ 4.10846309e-03 2.77273281e-04 9.99991522e-01 -2.03991127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.571400513 meters 0.06633192141960638 Centerline is valid? [True, True] Translation: X:346.46, Y:36.71, Z:-2.04 [[ 9.99707501e-01 -2.37392094e-02 -4.62197353e-03 3.46461778e+02] [ 2.37375612e-02 9.99718140e-01 -4.11130678e-04 3.67146494e+01] [ 4.63043070e-03 3.01296043e-04 9.99989234e-01 -2.03967024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.601400513 meters 0.06735582471947085 Centerline is valid? [True, True] Translation: X:346.49, Y:36.72, Z:-2.04 [[ 9.99692441e-01 -2.44826063e-02 -3.95291768e-03 3.46489433e+02] [ 2.44814062e-02 9.99700224e-01 -3.51717163e-04 3.67171328e+01] [ 3.96034364e-03 2.54836006e-04 9.99992125e-01 -2.03822272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.631400513 meters 0.06865206997962123 Centerline is valid? [True, True] Translation: X:346.52, Y:36.72, Z:-2.04 [[ 9.99694777e-01 -2.44371075e-02 -3.63063481e-03 3.46517122e+02] [ 2.44360939e-02 9.99701342e-01 -3.23277950e-04 3.67200955e+01] [ 3.63745047e-03 2.34460745e-04 9.99993357e-01 -2.03782148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.661400513 meters 0.06935492796316162 Centerline is valid? [True, True] Translation: X:346.55, Y:36.72, Z:-2.04 [[ 9.99704047e-01 -2.40411176e-02 -3.72050847e-03 3.46546239e+02] [ 2.40400489e-02 9.99710941e-01 -3.31709407e-04 3.67226517e+01] [ 3.72740769e-03 2.42170032e-04 9.99993024e-01 -2.03773064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.691400513 meters 0.07093976635318365 Centerline is valid? [True, True] Translation: X:346.58, Y:36.73, Z:-2.04 [[ 9.99727113e-01 -2.30547458e-02 -3.76550444e-03 3.46575311e+02] [ 2.30536425e-02 9.99734173e-01 -3.36142176e-04 3.67261388e+01] [ 3.77225314e-03 2.49241853e-04 9.99992854e-01 -2.03794588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.721400513 meters 0.07425756425059334 Centerline is valid? [True, True] Translation: X:346.60, Y:36.73, Z:-2.04 [[ 9.99750276e-01 -2.19962425e-02 -3.94353509e-03 3.46603066e+02] [ 2.19950237e-02 9.99758018e-01 -3.52190276e-04 3.67320949e+01] [ 3.95032769e-03 2.65364178e-04 9.99992162e-01 -2.03852111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.751400513 meters 0.07573926927312184 Centerline is valid? [True, True] Translation: X:346.63, Y:36.74, Z:-2.04 [[ 9.99807500e-01 -1.90318489e-02 -4.76995391e-03 3.46633658e+02] [ 1.90300315e-02 9.99818822e-01 -4.26121537e-04 3.67361874e+01] [ 4.77719958e-03 3.35267135e-04 9.99988533e-01 -2.03944267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.781400513 meters 0.07703592632997158 Centerline is valid? [True, True] Translation: X:346.66, Y:36.74, Z:-2.04 [[ 9.99831192e-01 -1.78074243e-02 -4.52580372e-03 3.46662810e+02] [ 1.78057753e-02 9.99841383e-01 -4.04384839e-04 3.67397947e+01] [ 4.53228690e-03 3.23731131e-04 9.99989677e-01 -2.03886514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.811400513 meters 0.07754243891452683 Centerline is valid? [True, True] Translation: X:346.69, Y:36.74, Z:-2.04 [[ 9.99855889e-01 -1.64740567e-02 -4.09954393e-03 3.46692223e+02] [ 1.64726922e-02 9.99864249e-01 -3.66408830e-04 3.67422102e+01] [ 4.10502365e-03 2.98825501e-04 9.99991530e-01 -2.03718061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.841400513 meters 0.07901851807964469 Centerline is valid? [True, True] Translation: X:346.72, Y:36.75, Z:-2.04 [[ 9.99886888e-01 -1.45255892e-02 -3.90113356e-03 3.46722645e+02] [ 1.45243386e-02 9.99894455e-01 -3.48724801e-04 3.67458605e+01] [ 3.90578725e-03 2.92023972e-04 9.99992330e-01 -2.03640051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.871400513 meters 0.08636134476161057 Centerline is valid? [True, True] Translation: X:346.75, Y:36.76, Z:-2.04 [[ 9.99927322e-01 -1.08013982e-02 -5.35533759e-03 3.46751447e+02] [ 1.07989882e-02 9.99941575e-01 -4.78747580e-04 3.67568190e+01] [ 5.36019584e-03 4.20880559e-04 9.99985545e-01 -2.03950469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.901400513 meters 0.07656394506076125 Centerline is valid? [True, True] Translation: X:346.78, Y:36.75, Z:-2.04 [[ 9.99928063e-01 -1.01760919e-02 -6.34945699e-03 3.46781713e+02] [ 1.01726900e-02 9.99948096e-01 -5.67844025e-04 3.67478654e+01] [ 6.35490586e-03 5.03212119e-04 9.99979681e-01 -2.04137979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.931400513 meters 0.08596989629337255 Centerline is valid? [True, True] Translation: X:346.81, Y:36.76, Z:-2.04 [[ 9.99925009e-01 -1.04423662e-02 -6.39792827e-03 3.46808669e+02] [ 1.04389153e-02 9.99945349e-01 -5.72528820e-04 3.67614078e+01] [ 6.40355717e-03 5.05698454e-04 9.99979369e-01 -2.04261834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.961400513 meters 0.08596989629337255 Centerline is valid? [True, True] Translation: X:346.84, Y:36.76, Z:-2.04 [[ 9.99923156e-01 -1.06183525e-02 -6.39785196e-03 3.46836120e+02] [ 1.06148998e-02 9.99943496e-01 -5.73380647e-04 3.67640218e+01] [ 6.40357881e-03 5.05424029e-04 9.99979369e-01 -2.04255445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99140051300003 meters 0.0809583150825063 Centerline is valid? [True, True] Translation: X:346.87, Y:36.76, Z:-2.04 [[ 9.99917563e-01 -1.15832057e-02 -5.54050369e-03 3.46866089e+02] [ 1.15806287e-02 9.99932819e-01 -4.96972154e-04 3.67588808e+01] [ 5.54588800e-03 4.32768669e-04 9.99984528e-01 -2.04148112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.021400513 meters 0.08488847454775961 Centerline is valid? [True, True] Translation: X:346.90, Y:36.76, Z:-2.04 [[ 9.99908475e-01 -1.26507773e-02 -4.79573072e-03 3.46895021e+02] [ 1.26488583e-02 9.99919907e-01 -4.30268778e-04 3.67636042e+01] [ 4.80078985e-03 3.69568879e-04 9.99988408e-01 -2.03991491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05140051300003 meters 0.08322714958120189 Centerline is valid? [True, True] Translation: X:346.93, Y:36.76, Z:-2.04 [[ 9.99892693e-01 -1.38490701e-02 -4.77551389e-03 3.46925654e+02] [ 1.38471805e-02 9.99904031e-01 -4.28533936e-04 3.67615179e+01] [ 4.78099038e-03 3.62360549e-04 9.99988505e-01 -2.03888862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.081400513 meters 0.07930576042437183 Centerline is valid? [True, True] Translation: X:346.96, Y:36.76, Z:-2.04 [[ 9.99861944e-01 -1.57142739e-02 -5.39952266e-03 3.46955936e+02] [ 1.57118847e-02 9.99876443e-01 -4.84627607e-04 3.67552830e+01] [ 5.40647108e-03 3.99724024e-04 9.99985305e-01 -2.03960105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11140051300004 meters 0.08902946887558177 Centerline is valid? [True, True] Translation: X:346.98, Y:36.77, Z:-2.04 [[ 9.99857113e-01 -1.59490965e-02 -5.60170193e-03 3.46982658e+02] [ 1.59465273e-02 9.99872720e-01 -5.03011014e-04 3.67673532e+01] [ 5.60901151e-03 4.13611447e-04 9.99984184e-01 -2.04053136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.141400513 meters 0.07850690237736956 Centerline is valid? [True, True] Translation: X:347.01, Y:36.75, Z:-2.04 [[ 9.99863731e-01 -1.56624365e-02 -5.21611854e-03 3.47012202e+02] [ 1.56602031e-02 9.99877262e-01 -4.68755394e-04 3.67543919e+01] [ 5.22282017e-03 3.87006041e-04 9.99986286e-01 -2.03928494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.171400513 meters 0.08068643329027761 Centerline is valid? [True, True] Translation: X:347.04, Y:36.76, Z:-2.04 [[ 9.99878849e-01 -1.48878574e-02 -4.54295252e-03 3.47040495e+02] [ 1.48861541e-02 9.99889112e-01 -4.08506803e-04 3.67573852e+01] [ 4.54853055e-03 3.40830221e-04 9.99989597e-01 -2.03752838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.201400513 meters 0.08182878074195182 Centerline is valid? [True, True] Translation: X:347.07, Y:36.76, Z:-2.04 [[ 9.99893696e-01 -1.40572792e-02 -3.87151931e-03 3.47069594e+02] [ 1.40560355e-02 9.99901148e-01 -3.48248877e-04 3.67606504e+01] [ 3.87603203e-03 2.93793644e-04 9.99992445e-01 -2.03633790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.231400513 meters 0.08079985758471217 Centerline is valid? [True, True] Translation: X:347.10, Y:36.76, Z:-2.04 [[ 9.99913848e-01 -1.27768960e-02 -3.00790059e-03 3.47098904e+02] [ 1.27761393e-02 9.99918345e-01 -2.70648376e-04 3.67618928e+01] [ 3.01111303e-03 2.32195702e-04 9.99995440e-01 -2.03513425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.261400513 meters 0.09054740982228617 Centerline is valid? [True, True] Translation: X:347.13, Y:36.78, Z:-2.03 [[ 9.99913392e-01 -1.29570866e-02 -2.30717504e-03 3.47125317e+02] [ 1.29566417e-02 9.99916038e-01 -2.07657112e-04 3.67756928e+01] [ 2.30967195e-03 1.77745887e-04 9.99997317e-01 -2.03374957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.291400513 meters 0.0787683891486237 Centerline is valid? [True, True] Translation: X:347.16, Y:36.76, Z:-2.03 [[ 9.99900622e-01 -1.39256594e-02 -2.19598827e-03 3.47155908e+02] [ 1.39252585e-02 9.99903019e-01 -1.97756058e-04 3.67636523e+01] [ 2.19852919e-03 1.67156701e-04 9.99997569e-01 -2.03294399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.321400513 meters 0.08063842141887363 Centerline is valid? [True, True] Translation: X:347.18, Y:36.77, Z:-2.03 [[ 9.99881593e-01 -1.51241526e-02 -2.83918115e-03 3.47184106e+02] [ 1.51234859e-02 9.99885601e-01 -2.56133845e-04 3.67685409e+01] [ 2.84273015e-03 2.13165201e-04 9.99995937e-01 -2.03319545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.351400513 meters 0.0759408195872382 Centerline is valid? [True, True] Translation: X:347.21, Y:36.76, Z:-2.03 [[ 9.99821065e-01 -1.86111189e-02 -3.38594028e-03 3.47214655e+02] [ 1.86101903e-02 9.99826769e-01 -3.05560041e-04 3.67639783e+01] [ 3.39104055e-03 2.42492373e-04 9.99994221e-01 -2.03400201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.381400513 meters 0.07313774263346297 Centerline is valid? [True, True] Translation: X:347.24, Y:36.76, Z:-2.03 [[ 9.99776409e-01 -2.10186803e-02 -2.31216227e-03 3.47244985e+02] [ 2.10182537e-02 9.99779070e-01 -2.08670083e-04 3.67615013e+01] [ 2.31603741e-03 1.60025813e-04 9.99997305e-01 -2.03260448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.411400513 meters 0.07224920257339713 Centerline is valid? [True, True] Translation: X:347.27, Y:36.76, Z:-2.03 [[ 9.99721945e-01 -2.35713080e-02 -6.52601600e-04 3.47274634e+02] [ 2.35712746e-02 9.99722157e-01 -5.88761051e-05 3.67619212e+01] [ 6.53808066e-04 4.34770828e-05 9.99999785e-01 -2.03035368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.441400513 meters 0.06948902670807879 Centerline is valid? [True, True] Translation: X:347.31, Y:36.76, Z:-2.03 [[ 9.99665556e-01 -2.58599791e-02 1.92133313e-04 3.47305288e+02] [ 2.58599762e-02 9.99665575e-01 1.73518333e-05 3.67611977e+01] [-1.92517777e-04 -1.23774672e-05 9.99999981e-01 -2.02901115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.471400513 meters 0.06536446251288748 Centerline is valid? [True, True] Translation: X:347.33, Y:36.76, Z:-2.03 [[ 9.99629745e-01 -2.72068685e-02 3.98819688e-04 3.47334855e+02] [ 2.72068561e-02 9.99629824e-01 3.64024922e-05 3.67590024e+01] [-3.99662453e-04 -2.55383842e-05 9.99999920e-01 -2.02898864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.501400513 meters 0.06943816449031728 Centerline is valid? [True, True] Translation: X:347.36, Y:36.77, Z:-2.03 [[ 9.99623394e-01 -2.74412606e-02 -2.18528155e-04 3.47362165e+02] [ 2.74412570e-02 9.99623418e-01 -1.95865624e-05 3.67663810e+01] [ 2.18983341e-04 1.35824987e-05 9.99999976e-01 -2.02950890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.531400513 meters 0.06824448860933398 Centerline is valid? [True, True] Translation: X:347.39, Y:36.77, Z:-2.03 [[ 9.99684855e-01 -2.49116419e-02 -3.09842340e-03 3.47392736e+02] [ 2.49108919e-02 9.99689636e-01 -2.80407621e-04 3.67657330e+01] [ 3.10444717e-03 2.03134761e-04 9.99995161e-01 -2.03315065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.561400513 meters 0.0710181343897816 Centerline is valid? [True, True] Translation: X:347.42, Y:36.77, Z:-2.03 [[ 9.99741233e-01 -2.23956063e-02 -3.98805045e-03 3.47422659e+02] [ 2.23943439e-02 9.99749150e-01 -3.60937593e-04 3.67716633e+01] [ 3.99513347e-03 2.71534421e-04 9.99991983e-01 -2.03433975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.591400513 meters 0.07707585311668329 Centerline is valid? [True, True] Translation: X:347.45, Y:36.78, Z:-2.04 [[ 9.99797650e-01 -1.96591907e-02 -4.26316343e-03 3.47451262e+02] [ 1.96577233e-02 9.99806694e-01 -3.85841224e-04 3.67824084e+01] [ 4.26992466e-03 3.01959062e-04 9.99990838e-01 -2.03507673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.621400513 meters 0.07717747146700661 Centerline is valid? [True, True] Translation: X:347.48, Y:36.79, Z:-2.04 [[ 9.99839161e-01 -1.73087182e-02 -4.69688801e-03 3.47481204e+02] [ 1.73069112e-02 9.99850134e-01 -4.25098912e-04 3.67856524e+01] [ 4.70354203e-03 3.43741916e-04 9.99988879e-01 -2.03604335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.651400513 meters 0.08149009222631046 Centerline is valid? [True, True] Translation: X:347.51, Y:36.79, Z:-2.04 [[ 9.99860742e-01 -1.58680577e-02 -5.16735121e-03 3.47509850e+02] [ 1.58658511e-02 9.99874020e-01 -4.67747747e-04 3.67934062e+01] [ 5.17412247e-03 3.85698184e-04 9.99986540e-01 -2.03725982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.681400513 meters 0.08170131821796628 Centerline is valid? [True, True] Translation: X:347.54, Y:36.79, Z:-2.04 [[ 9.99885386e-01 -1.44631605e-02 -4.47575066e-03 3.47539807e+02] [ 1.44614907e-02 9.99895345e-01 -4.05212865e-04 3.67948731e+01] [ 4.48114291e-03 3.40440395e-04 9.99989902e-01 -2.03707106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.711400513 meters 0.08311673055199503 Centerline is valid? [True, True] Translation: X:347.57, Y:36.80, Z:-2.04 [[ 9.99903984e-01 -1.32966789e-02 -3.90151727e-03 3.47569239e+02] [ 1.32954011e-02 9.99911550e-01 -3.53282170e-04 3.67998693e+01] [ 3.90586966e-03 3.01376012e-04 9.99992327e-01 -2.03567813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74140051300003 meters 0.07851895785557447 Centerline is valid? [True, True] Translation: X:347.60, Y:36.80, Z:-2.03 [[ 9.99923961e-01 -1.17343535e-02 -3.79166007e-03 3.47599992e+02] [ 1.17331352e-02 9.99931105e-01 -3.43384299e-04 3.67984912e+01] [ 3.79542824e-03 2.98870128e-04 9.99992753e-01 -2.03457419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.771400513 meters 0.08283139466550368 Centerline is valid? [True, True] Translation: X:347.63, Y:36.81, Z:-2.04 [[ 9.99939315e-01 -9.95798501e-03 -4.71218115e-03 3.47628931e+02] [ 9.95608369e-03 9.99950346e-01 -4.26776701e-04 3.68074438e+01] [ 4.71619701e-03 3.79835932e-04 9.99988807e-01 -2.03571004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80140051300003 meters 0.0798518885055969 Centerline is valid? [True, True] Translation: X:347.66, Y:36.81, Z:-2.04 [[ 9.99948138e-01 -8.22994294e-03 -5.99906506e-03 3.47659078e+02] [ 8.22682996e-03 9.99966011e-01 -5.43404004e-04 3.68073193e+01] [ 6.00333335e-03 4.94022534e-04 9.99981858e-01 -2.03726384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.831400513 meters 0.08155768091646946 Centerline is valid? [True, True] Translation: X:347.69, Y:36.81, Z:-2.04 [[ 9.99957239e-01 -5.47430728e-03 -7.45331940e-03 3.47688950e+02] [ 5.46942584e-03 9.99984815e-01 -6.75161169e-04 3.68137847e+01] [ 7.45690226e-03 6.34366921e-04 9.99971996e-01 -2.03923205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86140051300004 meters 0.09250828774956117 Centerline is valid? [True, True] Translation: X:347.72, Y:36.83, Z:-2.04 [[ 9.99959474e-01 -4.68518679e-03 -7.68763150e-03 3.47715956e+02] [ 4.67996904e-03 9.99988806e-01 -6.96569395e-04 3.68309556e+01] [ 7.69080900e-03 6.60563288e-04 9.99970207e-01 -2.04030357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.891400513 meters 0.08811366324668289 Centerline is valid? [True, True] Translation: X:347.74, Y:36.83, Z:-2.04 [[ 9.99957615e-01 -4.45126082e-03 -8.05945488e-03 3.47744675e+02] [ 4.44551058e-03 9.99989851e-01 -7.31252582e-04 3.68293199e+01] [ 8.06262809e-03 6.95393196e-04 9.99967255e-01 -2.04026049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.921400513 meters 0.09275737706777923 Centerline is valid? [True, True] Translation: X:347.77, Y:36.84, Z:-2.04 [[ 9.99958463e-01 -4.30773752e-03 -8.03220561e-03 3.47772201e+02] [ 4.30201599e-03 9.99990480e-01 -7.29465724e-04 3.68385973e+01] [ 8.03527149e-03 6.94880747e-04 9.99967475e-01 -2.03994588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.951400513 meters 0.08428622386936639 Centerline is valid? [True, True] Translation: X:347.80, Y:36.83, Z:-2.04 [[ 9.99963164e-01 -4.33420822e-03 -7.40852075e-03 3.47801448e+02] [ 4.32933448e-03 9.99990401e-01 -6.73766340e-04 3.68316519e+01] [ 7.41136988e-03 6.41667557e-04 9.99972330e-01 -2.03804923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.981400513 meters 0.09075034206661768 Centerline is valid? [True, True] Translation: X:347.83, Y:36.85, Z:-2.03 [[ 9.99980153e-01 -4.65260721e-03 -4.24807881e-03 3.47827781e+02] [ 4.65100627e-03 9.99989109e-01 -3.86665019e-04 3.68462495e+01] [ 4.24983154e-03 3.66899504e-04 9.99990902e-01 -2.03447325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.011400513 meters 0.09108646521377459 Centerline is valid? [True, True] Translation: X:347.86, Y:36.85, Z:-2.03 [[ 9.99985458e-01 -4.78052672e-03 -2.49589529e-03 3.47855650e+02] [ 4.77997420e-03 9.99988550e-01 -2.27290313e-04 3.68526505e+01] [ 2.49695328e-03 2.15356693e-04 9.99996859e-01 -2.03175945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.041400513 meters 0.0858237239758389 Centerline is valid? [True, True] Translation: X:347.88, Y:36.85, Z:-2.03 [[ 9.99988027e-01 -4.71508113e-03 -1.30925867e-03 3.47884402e+02] [ 4.71492897e-03 9.99988878e-01 -1.19283969e-04 3.68522993e+01] [ 1.30980654e-03 1.13109480e-04 9.99999136e-01 -2.02993298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.071400513 meters 0.09040301062136737 Centerline is valid? [True, True] Translation: X:347.91, Y:36.86, Z:-2.03 [[ 9.99989820e-01 -4.26838359e-03 -1.46319715e-03 3.47911890e+02] [ 4.26819251e-03 9.99990882e-01 -1.33692342e-04 3.68635382e+01] [ 1.46375446e-03 1.27445774e-04 9.99998921e-01 -2.02977085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.101400513 meters 0.09351926716446314 Centerline is valid? [True, True] Translation: X:347.94, Y:36.87, Z:-2.03 [[ 9.99977141e-01 -5.08065367e-03 -4.46146200e-03 3.47940184e+02] [ 5.07888385e-03 9.99987019e-01 -4.07930841e-04 3.68729818e+01] [ 4.46347664e-03 3.85262269e-04 9.99989964e-01 -2.03422345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.131400513 meters 0.08744799250608307 Centerline is valid? [True, True] Translation: X:347.97, Y:36.87, Z:-2.04 [[ 9.99962672e-01 -6.85612768e-03 -5.25814465e-03 3.47971375e+02] [ 6.85369334e-03 9.99976398e-01 -4.80845311e-04 3.68699894e+01] [ 5.26131729e-03 4.44789651e-04 9.99986060e-01 -2.03510494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.161400513 meters 0.08933617265507941 Centerline is valid? [True, True] Translation: X:348.00, Y:36.88, Z:-2.03 [[ 9.99950559e-01 -8.85196368e-03 -4.53024133e-03 3.48000610e+02] [ 8.85017685e-03 9.99960751e-01 -4.14317330e-04 3.68771786e+01] [ 4.53373104e-03 3.74203409e-04 9.99989653e-01 -2.03440155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.191400513 meters 0.08645500948762297 Centerline is valid? [True, True] Translation: X:348.03, Y:36.88, Z:-2.03 [[ 9.99935826e-01 -1.09884121e-02 -2.75657513e-03 3.48031306e+02] [ 1.09877585e-02 9.99939601e-01 -2.52125223e-04 3.68787635e+01] [ 2.75917909e-03 2.21820461e-04 9.99996169e-01 -2.03159749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.221400513 meters 0.07775750937230017 Centerline is valid? [True, True] Translation: X:348.06, Y:36.87, Z:-2.03 [[ 9.99914197e-01 -1.30785283e-02 -7.41685860e-04 3.48062050e+02] [ 1.30784815e-02 9.99914471e-01 -6.78348189e-05 3.68723528e+01] [ 7.42509604e-04 5.81288737e-05 9.99999723e-01 -2.02819957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.251400513 meters 0.07256554201874901 Centerline is valid? [True, True] Translation: X:348.09, Y:36.87, Z:-2.03 [[ 9.99882798e-01 -1.52946928e-02 6.80693134e-04 3.48093342e+02] [ 1.52946539e-02 9.99883028e-01 6.22679964e-05 3.68691448e+01] [-6.81565882e-04 -5.18497326e-05 9.99999766e-01 -2.02552820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.281400513 meters 0.0783947266716562 Centerline is valid? [True, True] Translation: X:348.12, Y:36.88, Z:-2.03 [[ 9.99821796e-01 -1.88520511e-02 -9.88627934e-04 3.48122051e+02] [ 1.88519709e-02 9.99822282e-01 -9.04124501e-05 3.68789906e+01] [ 9.90156697e-04 7.17587532e-05 9.99999507e-01 -2.02743892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.311400513 meters 0.08146978508964581 Centerline is valid? [True, True] Translation: X:348.15, Y:36.89, Z:-2.03 [[ 9.99800130e-01 -1.97161096e-02 -3.31293008e-03 3.48150347e+02] [ 1.97152129e-02 9.99805590e-01 -3.03108779e-04 3.68865198e+01] [ 3.31826214e-03 2.37733074e-04 9.99994466e-01 -2.03162590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.341400513 meters 0.0688116445652962 Centerline is valid? [True, True] Translation: X:348.18, Y:36.88, Z:-2.03 [[ 9.99788818e-01 -1.99165340e-02 -5.06476535e-03 3.48179068e+02] [ 1.99144375e-02 9.99801580e-01 -4.64030696e-04 3.68752892e+01] [ 5.07300228e-03 3.63070748e-04 9.99987066e-01 -2.03419098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.371400513 meters 0.06850681125027895 Centerline is valid? [True, True] Translation: X:348.21, Y:36.88, Z:-2.04 [[ 9.99801927e-01 -1.90633142e-02 -5.71811187e-03 3.48208743e+02] [ 1.90606248e-02 9.99818192e-01 -5.24464238e-04 3.68793764e+01] [ 5.72707030e-03 4.15369571e-04 9.99983514e-01 -2.03530121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.401400513 meters 0.08091578304845827 Centerline is valid? [True, True] Translation: X:348.24, Y:36.90, Z:-2.03 [[ 9.99831917e-01 -1.75804263e-02 -5.20257608e-03 3.48236795e+02] [ 1.75781795e-02 9.99845378e-01 -4.77263537e-04 3.68991775e+01] [ 5.21016214e-03 3.85731501e-04 9.99986353e-01 -2.03480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.431400513 meters 0.0780660112501475 Centerline is valid? [True, True] Translation: X:348.27, Y:36.90, Z:-2.03 [[ 9.99877067e-01 -1.48832321e-02 -4.93358846e-03 3.48266793e+02] [ 1.48811790e-02 9.99889167e-01 -4.52613445e-04 3.69023882e+01] [ 4.93977801e-03 3.79140191e-04 9.99987727e-01 -2.03300528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.461400513 meters 0.08252694818119397 Centerline is valid? [True, True] Translation: X:348.29, Y:36.91, Z:-2.03 [[ 9.99881188e-01 -1.43587085e-02 -5.60688281e-03 3.48294091e+02] [ 1.43560474e-02 9.99896814e-01 -5.14570842e-04 3.69123272e+01] [ 5.61369283e-03 4.34017030e-04 9.99984149e-01 -2.03355746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49140051300003 meters 0.07523531864953205 Centerline is valid? [True, True] Translation: X:348.32, Y:36.91, Z:-2.03 [[ 9.99881506e-01 -1.41024080e-02 -6.17212605e-03 3.48322848e+02] [ 1.40991761e-02 9.99900441e-01 -5.66817090e-04 3.69086853e+01] [ 6.17950505e-03 4.79728033e-04 9.99980792e-01 -2.03361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.521400513 meters 0.08504131828116021 Centerline is valid? [True, True] Translation: X:348.35, Y:36.93, Z:-2.03 [[ 9.99890209e-01 -1.41309626e-02 -4.45942000e-03 3.48348633e+02] [ 1.41292741e-02 9.99900093e-01 -4.09906021e-04 3.69279067e+01] [ 4.46476684e-03 3.46852649e-04 9.99989973e-01 -2.03280519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55140051300003 meters 0.08016425130012626 Centerline is valid? [True, True] Translation: X:348.38, Y:36.93, Z:-2.03 [[ 9.99890172e-01 -1.44917555e-02 -3.10363573e-03 3.48377937e+02] [ 1.44909383e-02 9.99894960e-01 -2.85617790e-04 3.69262379e+01] [ 3.10744883e-03 2.40611827e-04 9.99995143e-01 -2.03134604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.581400513 meters 0.08308645042870615 Centerline is valid? [True, True] Translation: X:348.41, Y:36.93, Z:-2.03 [[ 9.99883067e-01 -1.51822685e-02 -1.83034833e-03 3.48405077e+02] [ 1.51819851e-02 9.99884733e-01 -1.68631242e-04 3.69331652e+01] [ 1.83269756e-03 1.40823202e-04 9.99998311e-01 -2.02996344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61140051300004 meters 0.08377088609008897 Centerline is valid? [True, True] Translation: X:348.43, Y:36.94, Z:-2.03 [[ 9.99866146e-01 -1.63351896e-02 -9.22993542e-04 3.48433770e+02] [ 1.63351180e-02 9.99866569e-01 -8.50557098e-05 3.69360566e+01] [ 9.24259787e-04 6.99671163e-05 9.99999570e-01 -2.02827770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.641400513 meters 0.07557343685554047 Centerline is valid? [True, True] Translation: X:348.46, Y:36.93, Z:-2.03 [[ 9.99841215e-01 -1.78028940e-02 -7.75323345e-04 3.48464938e+02] [ 1.78028439e-02 9.99841514e-01 -7.14943150e-05 3.69271740e+01] [ 7.76473273e-04 5.76800023e-05 9.99999697e-01 -2.02745858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.671400513 meters 0.0807230976499241 Centerline is valid? [True, True] Translation: X:348.49, Y:36.93, Z:-2.03 [[ 9.99815052e-01 -1.91753307e-02 -1.47227171e-03 3.48493765e+02] [ 1.91751514e-02 9.99816131e-01 -1.35792861e-04 3.69343001e+01] [ 1.47460488e-03 1.07536714e-04 9.99998907e-01 -2.02766956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.701400513 meters 0.0795689450653072 Centerline is valid? [True, True] Translation: X:348.52, Y:36.93, Z:-2.03 [[ 9.99782439e-01 -2.03462080e-02 -4.59416366e-03 3.48523851e+02] [ 2.03444737e-02 9.99792940e-01 -4.23926769e-04 3.69336279e+01] [ 4.60183770e-03 3.30368698e-04 9.99989357e-01 -2.03217193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.731400513 meters 0.07760242939383084 Centerline is valid? [True, True] Translation: X:348.55, Y:36.93, Z:-2.03 [[ 9.99785493e-01 -1.98801429e-02 -5.80934853e-03 3.48552345e+02] [ 1.98773605e-02 9.99802282e-01 -5.36287311e-04 3.69335719e+01] [ 5.81886138e-03 4.20697758e-04 9.99982982e-01 -2.03430317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.761400513 meters 0.07251665202148942 Centerline is valid? [True, True] Translation: X:348.58, Y:36.93, Z:-2.04 [[ 9.99793522e-01 -1.93279919e-02 -6.27240439e-03 3.48581977e+02] [ 1.93247326e-02 9.99813092e-01 -5.79820394e-04 3.69294288e+01] [ 6.28243879e-03 4.58488136e-04 9.99980160e-01 -2.03502234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.791400513 meters 0.07695841186368363 Centerline is valid? [True, True] Translation: X:348.61, Y:36.94, Z:-2.03 [[ 9.99802547e-01 -1.89593095e-02 -5.95080125e-03 3.48609188e+02] [ 1.89563660e-02 9.99820160e-01 -5.50659361e-04 3.69361932e+01] [ 5.96017118e-03 4.37745065e-04 9.99982142e-01 -2.03464197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.821400513 meters 0.0758998785524033 Centerline is valid? [True, True] Translation: X:348.64, Y:36.94, Z:-2.03 [[ 9.99797783e-01 -1.94132828e-02 -5.24573406e-03 3.48638356e+02] [ 1.94109986e-02 9.99811471e-01 -4.86002621e-04 3.69363689e+01] [ 5.25417999e-03 3.84079407e-04 9.99986123e-01 -2.03349357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.851400513 meters 0.07272573601951017 Centerline is valid? [True, True] Translation: X:348.67, Y:36.93, Z:-2.03 [[ 9.99754992e-01 -2.17780804e-02 -3.95878105e-03 3.48668740e+02] [ 2.17767968e-02 9.99762790e-01 -3.67051691e-04 3.69334694e+01] [ 3.96583567e-03 2.80752189e-04 9.99992097e-01 -2.03163569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.881400513 meters 0.07601487546281468 Centerline is valid? [True, True] Translation: X:348.70, Y:36.94, Z:-2.03 [[ 9.99722472e-01 -2.33239230e-02 -3.31252208e-03 3.48697014e+02] [ 2.33230326e-02 9.99727934e-01 -3.07170392e-04 3.69390480e+01] [ 3.31878527e-03 2.29827084e-04 9.99994466e-01 -2.03103610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.911400513 meters 0.07601487546281468 Centerline is valid? [True, True] Translation: X:348.72, Y:36.94, Z:-2.03 [[ 9.99718330e-01 -2.35007898e-02 -3.31249832e-03 3.48724436e+02] [ 2.34998995e-02 9.99723792e-01 -3.07426383e-04 3.69417510e+01] [ 3.31880814e-03 2.29496412e-04 9.99994466e-01 -2.03097226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.941400513 meters 0.06965718293672245 Centerline is valid? [True, True] Translation: X:348.75, Y:36.94, Z:-2.03 [[ 9.99687187e-01 -2.48148563e-02 -3.12269026e-03 3.48754523e+02] [ 2.48140699e-02 9.99692041e-01 -2.90320621e-04 3.69360125e+01] [ 3.12893286e-03 2.12743150e-04 9.99995082e-01 -2.03075912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.971400513 meters 0.07044098220352937 Centerline is valid? [True, True] Translation: X:348.78, Y:36.94, Z:-2.03 [[ 9.99668292e-01 -2.55376039e-02 -3.33710869e-03 3.48782008e+02] [ 2.55367084e-02 9.99673837e-01 -3.10682512e-04 3.69388123e+01] [ 3.34395434e-03 2.25360685e-04 9.99994384e-01 -2.03100516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.001400513 meters 0.07419153038377628 Centerline is valid? [True, True] Translation: X:348.81, Y:36.95, Z:-2.03 [[ 9.99656772e-01 -2.59097542e-02 -3.87581718e-03 3.48809714e+02] [ 2.59085481e-02 9.99664252e-01 -3.61077454e-04 3.69455332e+01] [ 3.88387131e-03 2.60536727e-04 9.99992424e-01 -2.03188776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.031400513 meters 0.08220435062737196 Centerline is valid? [True, True] Translation: X:348.84, Y:36.96, Z:-2.03 [[ 9.99694503e-01 -2.41808972e-02 -5.11715460e-03 3.48838416e+02] [ 2.41787712e-02 9.99707537e-01 -4.76934404e-04 3.69574669e+01] [ 5.12719072e-03 3.53062191e-04 9.99986794e-01 -2.03440588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.061400513 meters 0.06861665030030752 Centerline is valid? [True, True] Translation: X:348.87, Y:36.94, Z:-2.03 [[ 9.99711153e-01 -2.33778996e-02 -5.57531948e-03 3.48869944e+02] [ 2.33753627e-02 9.99726624e-01 -5.19748787e-04 3.69426952e+01] [ 5.58594596e-03 3.89273544e-04 9.99984323e-01 -2.03441406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.091400513 meters 0.07486894997339846 Centerline is valid? [True, True] Translation: X:348.90, Y:36.95, Z:-2.03 [[ 9.99720017e-01 -2.30358394e-02 -5.40713433e-03 3.48896748e+02] [ 2.30334471e-02 9.99734568e-01 -5.04302804e-04 3.69518916e+01] [ 5.41731614e-03 3.79616665e-04 9.99985254e-01 -2.03452535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.121400513 meters 0.07827392186539889 Centerline is valid? [True, True] Translation: X:348.92, Y:36.96, Z:-2.03 [[ 9.99732222e-01 -2.24897770e-02 -5.44916353e-03 3.48924219e+02] [ 2.24873376e-02 9.99746999e-01 -5.08535343e-04 3.69571004e+01] [ 5.45922173e-03 3.85861989e-04 9.99985024e-01 -2.03422330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.151400513 meters 0.07728773040587829 Centerline is valid? [True, True] Translation: X:348.95, Y:36.96, Z:-2.03 [[ 9.99748117e-01 -2.17135769e-02 -5.67655404e-03 3.48954155e+02] [ 2.17109160e-02 9.99764150e-01 -5.29967510e-04 3.69573261e+01] [ 5.68672272e-03 4.06590833e-04 9.99983748e-01 -2.03433504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.181400513 meters 0.08154218214902938 Centerline is valid? [True, True] Translation: X:348.98, Y:36.96, Z:-2.03 [[ 9.99775185e-01 -2.04081753e-02 -5.75206989e-03 3.48982501e+02] [ 2.04054206e-02 9.99791643e-01 -5.37185969e-04 3.69635228e+01] [ 5.76183440e-03 4.19691796e-04 9.99983312e-01 -2.03448668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.211400513 meters 0.07983722737862654 Centerline is valid? [True, True] Translation: X:349.01, Y:36.96, Z:-2.03 [[ 9.99800197e-01 -1.91423241e-02 -5.75648193e-03 3.49012108e+02] [ 1.91395432e-02 9.99816678e-01 -5.37791325e-04 3.69626467e+01] [ 5.76572121e-03 4.27507438e-04 9.99983287e-01 -2.03474246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24140051300003 meters 0.08391018901097558 Centerline is valid? [True, True] Translation: X:349.04, Y:36.97, Z:-2.04 [[ 9.99817462e-01 -1.81624497e-02 -5.93025277e-03 3.49040055e+02] [ 1.81594796e-02 9.99834949e-01 -5.54295009e-04 3.69689963e+01] [ 5.93934133e-03 4.46503524e-04 9.99982262e-01 -2.03551520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.271400513 meters 0.08254424418019005 Centerline is valid? [True, True] Translation: X:349.07, Y:36.97, Z:-2.04 [[ 9.99830904e-01 -1.72558689e-02 -6.35597638e-03 3.49070100e+02] [ 1.72524375e-02 9.99850989e-01 -5.94306691e-04 3.69694919e+01] [ 6.36528455e-03 4.84550110e-04 9.99979624e-01 -2.03629371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30140051300003 meters 0.08530440623582954 Centerline is valid? [True, True] Translation: X:349.10, Y:36.97, Z:-2.04 [[ 9.99861154e-01 -1.48038674e-02 -7.64973697e-03 3.49099947e+02] [ 1.47988250e-02 9.99890236e-01 -7.15343506e-04 3.69733709e+01] [ 7.65948715e-03 6.02037064e-04 9.99970484e-01 -2.03866817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.331400513 meters 0.08618256749783283 Centerline is valid? [True, True] Translation: X:349.13, Y:36.97, Z:-2.04 [[ 9.99872971e-01 -1.39951244e-02 -7.62748546e-03 3.49129453e+02] [ 1.39900870e-02 9.99901879e-01 -7.13381940e-04 3.69742559e+01] [ 7.63672091e-03 6.06582134e-04 9.99970656e-01 -2.03839663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36140051300004 meters 0.07876367235422915 Centerline is valid? [True, True] Translation: X:349.16, Y:36.96, Z:-2.04 [[ 9.99868588e-01 -1.45773402e-02 -7.09279588e-03 3.49159638e+02] [ 1.45729930e-02 9.99893588e-01 -6.64192768e-04 3.69641398e+01] [ 7.10172328e-03 5.60742220e-04 9.99974625e-01 -2.03701520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.391400513 meters 0.08441953991179538 Centerline is valid? [True, True] Translation: X:349.19, Y:36.97, Z:-2.04 [[ 9.99845787e-01 -1.61781309e-02 -6.83161408e-03 3.49188405e+02] [ 1.61741320e-02 9.99868985e-01 -6.40197184e-04 3.69702898e+01] [ 6.84107624e-03 5.29603029e-04 9.99976459e-01 -2.03721189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.421400513 meters 0.08026467757331525 Centerline is valid? [True, True] Translation: X:349.22, Y:36.96, Z:-2.04 [[ 9.99793585e-01 -1.91707275e-02 -6.72829506e-03 3.49219062e+02] [ 1.91669152e-02 9.99816099e-01 -6.30643295e-04 3.69627859e+01] [ 6.73914761e-03 5.01552460e-04 9.99977166e-01 -2.03706742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.451400513 meters 0.0771864150870789 Centerline is valid? [True, True] Translation: X:349.25, Y:36.96, Z:-2.04 [[ 9.99787264e-01 -1.95658767e-02 -6.52712328e-03 3.49248812e+02] [ 1.95622927e-02 9.99808452e-01 -6.12501361e-04 3.69580491e+01] [ 6.53785715e-03 4.84685564e-04 9.99978511e-01 -2.03623491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.481400513 meters 0.07109942683136748 Centerline is valid? [True, True] Translation: X:349.28, Y:36.95, Z:-2.03 [[ 9.99799138e-01 -1.91695715e-02 -5.84906914e-03 3.49278386e+02] [ 1.91666813e-02 9.99816151e-01 -5.49788411e-04 3.69519102e+01] [ 5.85853300e-03 4.37570735e-04 9.99982743e-01 -2.03484353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.511400513 meters 0.08726783785622559 Centerline is valid? [True, True] Translation: X:349.30, Y:36.97, Z:-2.03 [[ 9.99861408e-01 -1.61302407e-02 -4.12073016e-03 3.49302659e+02] [ 1.61413857e-02 9.99866112e-01 2.68584339e-03 3.69650864e+01] [ 4.07685514e-03 -2.75198545e-03 9.99987903e-01 -2.03435723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.541400513 meters 0.08300040559519888 Centerline is valid? [True, True] Translation: X:349.34, Y:36.97, Z:-2.03 [[ 9.99832746e-01 -1.75350639e-02 -5.19627854e-03 3.49335091e+02] [ 1.75149738e-02 9.99839046e-01 -3.88685575e-03 3.69722750e+01] [ 5.26359844e-03 3.79519298e-03 9.99978945e-01 -2.03434693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.571400513 meters 0.08474009446291918 Centerline is valid? [True, True] Translation: X:349.36, Y:36.97, Z:-2.03 [[ 9.99843315e-01 -1.68515900e-02 -5.41929358e-03 3.49363319e+02] [ 1.68490589e-02 9.99857913e-01 -5.12388588e-04 3.69741846e+01] [ 5.42715813e-03 4.20998308e-04 9.99985184e-01 -2.03396677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.601400513 meters 0.07995521105747051 Centerline is valid? [True, True] Translation: X:349.39, Y:36.97, Z:-2.03 [[ 9.99835397e-01 -1.72266539e-02 -5.69403091e-03 3.49393253e+02] [ 1.72238623e-02 9.99851513e-01 -5.38956348e-04 3.69693870e+01] [ 5.70246983e-03 4.40794430e-04 9.99983644e-01 -2.03350711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.631400513 meters 0.07637957751410011 Centerline is valid? [True, True] Translation: X:349.42, Y:36.97, Z:-2.03 [[ 9.99822364e-01 -1.79280339e-02 -5.81604889e-03 3.49422717e+02] [ 1.79251301e-02 9.99839180e-01 -5.51029062e-04 3.69654703e+01] [ 5.82499242e-03 4.46677746e-04 9.99982935e-01 -2.03300257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.661400513 meters 0.07713445734164831 Centerline is valid? [True, True] Translation: X:349.45, Y:36.97, Z:-2.03 [[ 9.99805397e-01 -1.89909562e-02 -5.33959729e-03 3.49451781e+02] [ 1.89885228e-02 9.99819574e-01 -5.06057789e-04 3.69667993e+01] [ 5.34824441e-03 4.04568244e-04 9.99985616e-01 -2.03246795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.691400513 meters 0.07532033666479934 Centerline is valid? [True, True] Translation: X:349.48, Y:36.97, Z:-2.03 [[ 9.99761380e-01 -2.16203782e-02 -3.12134566e-03 3.49482128e+02] [ 2.16195593e-02 9.99766226e-01 -2.95857930e-04 3.69654329e+01] [ 3.12701253e-03 2.28305214e-04 9.99995085e-01 -2.02947999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.721400513 meters 0.07693927651934065 Centerline is valid? [True, True] Translation: X:349.51, Y:36.97, Z:-2.03 [[ 9.99739793e-01 -2.27384082e-02 -1.81980766e-03 3.49510817e+02] [ 2.27381317e-02 9.99741440e-01 -1.72479571e-04 3.69700923e+01] [ 1.82325904e-03 1.31055665e-04 9.99998329e-01 -2.02783818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.751400513 meters 0.06919232805786231 Centerline is valid? [True, True] Translation: X:349.54, Y:36.96, Z:-2.03 [[ 9.99727259e-01 -2.33221461e-02 -1.21825140e-03 3.49540052e+02] [ 2.33220229e-02 9.99727998e-01 -1.15300337e-04 3.69628169e+01] [ 1.22060909e-03 8.68568030e-05 9.99999251e-01 -2.02697511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.781400513 meters 0.07231295670657283 Centerline is valid? [True, True] Translation: X:349.57, Y:36.97, Z:-2.03 [[ 9.99733100e-01 -2.30454709e-02 -1.62336940e-03 3.49567080e+02] [ 2.30452508e-02 9.99734411e-01 -1.54117584e-04 3.69676767e+01] [ 1.62648996e-03 1.16665495e-04 9.99998670e-01 -2.02692162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.811400513 meters 0.07604817949490708 Centerline is valid? [True, True] Translation: X:349.59, Y:36.97, Z:-2.03 [[ 9.99761655e-01 -2.17056093e-02 -2.34532904e-03 3.49594735e+02] [ 2.17051458e-02 9.99764391e-01 -2.22899600e-04 3.69731229e+01] [ 2.34961463e-03 1.71940764e-04 9.99997225e-01 -2.02770269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.841400513 meters 0.0809314345185717 Centerline is valid? [True, True] Translation: X:349.62, Y:36.98, Z:-2.03 [[ 9.99797161e-01 -1.98551581e-02 -3.37783311e-03 3.49623334e+02] [ 1.98541855e-02 9.99802835e-01 -3.21240885e-04 3.69815481e+01] [ 3.38354541e-03 2.54111600e-04 9.99994244e-01 -2.02903730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.871400513 meters 0.0857402017039378 Centerline is valid? [True, True] Translation: X:349.65, Y:36.99, Z:-2.03 [[ 9.99863220e-01 -1.59101175e-02 -4.51760851e-03 3.49651957e+02] [ 1.59083373e-02 9.99873362e-01 -4.29699862e-04 3.69941285e+01] [ 4.52387299e-03 3.57773447e-04 9.99989703e-01 -2.03137170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.901400513 meters 0.07961495944998528 Centerline is valid? [True, True] Translation: X:349.68, Y:36.99, Z:-2.03 [[ 9.99876884e-01 -1.49961891e-02 -4.61865890e-03 3.49682301e+02] [ 1.49943184e-02 9.99887482e-01 -4.39386100e-04 3.69908537e+01] [ 4.62472834e-03 3.70078362e-04 9.99989237e-01 -2.03164992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.931400513 meters 0.08931293666081794 Centerline is valid? [True, True] Translation: X:349.71, Y:37.00, Z:-2.03 [[ 9.99878652e-01 -1.48927332e-02 -4.57030693e-03 3.49708848e+02] [ 1.48908997e-02 9.99889030e-01 -4.34962488e-04 3.70029896e+01] [ 4.57627754e-03 3.66853724e-04 9.99989461e-01 -2.03199047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.961400513 meters 0.07917373728002919 Centerline is valid? [True, True] Translation: X:349.74, Y:37.00, Z:-2.03 [[ 9.99877565e-01 -1.50600736e-02 -4.24832550e-03 3.49737428e+02] [ 1.50584888e-02 9.99886533e-01 -4.04779918e-04 3.69959996e+01] [ 4.25393946e-03 3.40756997e-04 9.99990894e-01 -2.03134949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99140051300003 meters 0.0855834298361626 Centerline is valid? [True, True] Translation: X:349.76, Y:37.01, Z:-2.03 [[ 9.99858162e-01 -1.60486575e-02 -5.10853922e-03 3.49763957e+02] [ 1.60463752e-02 9.99871130e-01 -4.87435799e-04 3.70089552e+01] [ 5.11570357e-03 4.05393125e-04 9.99986833e-01 -2.03292748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.021400513 meters 0.08662191917543413 Centerline is valid? [True, True] Translation: X:349.79, Y:37.01, Z:-2.03 [[ 9.99835368e-01 -1.71244969e-02 -5.99910885e-03 3.49792720e+02] [ 1.71213673e-02 9.99853255e-01 -5.72652572e-04 3.70136788e+01] [ 6.00803490e-03 4.69845349e-04 9.99981841e-01 -2.03430891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05140051300003 meters 0.0822437297638882 Centerline is valid? [True, True] Translation: X:349.82, Y:37.01, Z:-2.03 [[ 9.99798280e-01 -1.89145116e-02 -6.75581509e-03 3.49822931e+02] [ 1.89105825e-02 9.99820971e-01 -6.44992965e-04 3.70105990e+01] [ 6.76680533e-03 5.17106458e-04 9.99976971e-01 -2.03487690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.081400513 meters 0.07792711997617854 Centerline is valid? [True, True] Translation: X:349.85, Y:37.01, Z:-2.03 [[ 9.99749704e-01 -2.14011128e-02 -6.52086533e-03 3.49854132e+02] [ 2.13975047e-02 9.99770853e-01 -6.22593862e-04 3.70076378e+01] [ 6.53269530e-03 4.82907783e-04 9.99978545e-01 -2.03376027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11140051300004 meters 0.07560940416615065 Centerline is valid? [True, True] Translation: X:349.88, Y:37.01, Z:-2.03 [[ 9.99685888e-01 -2.43095462e-02 -6.09680034e-03 3.49883396e+02] [ 2.43064456e-02 9.99704385e-01 -5.82156439e-04 3.70078699e+01] [ 6.10915000e-03 4.33782031e-04 9.99981245e-01 -2.03286427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.141400513 meters 0.06820594597163139 Centerline is valid? [True, True] Translation: X:349.91, Y:37.00, Z:-2.03 [[ 9.99613511e-01 -2.71981341e-02 -5.75238381e-03 3.49914246e+02] [ 2.71954213e-02 9.99629985e-01 -5.49306540e-04 3.70029859e+01] [ 5.76519545e-03 3.92655738e-04 9.99983304e-01 -2.03213614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.171400513 meters 0.06463104908857513 Centerline is valid? [True, True] Translation: X:349.94, Y:37.00, Z:-2.03 [[ 9.99460733e-01 -3.24294000e-02 -5.15525815e-03 3.49943527e+02] [ 3.24272903e-02 9.99473976e-01 -4.92327181e-04 3.70012050e+01] [ 5.16851223e-03 3.24890633e-04 9.99986590e-01 -2.03217515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.201400513 meters 0.07264083781038605 Centerline is valid? [True, True] Translation: X:349.97, Y:37.01, Z:-2.03 [[ 9.99382651e-01 -3.47411266e-02 -5.23177457e-03 3.49971275e+02] [ 3.47389847e-02 9.99396294e-01 -4.99763897e-04 3.70113033e+01] [ 5.24597847e-03 3.17708832e-04 9.99986189e-01 -2.03269121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.231400513 meters 0.06247161620677915 Centerline is valid? [True, True] Translation: X:350.00, Y:37.00, Z:-2.03 [[ 9.99301179e-01 -3.69633025e-02 -5.55586816e-03 3.50002071e+02] [ 3.69609202e-02 9.99316571e-01 -5.30882440e-04 3.69990088e+01] [ 5.57169428e-03 3.25161449e-04 9.99984425e-01 -2.03186108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.261400513 meters 0.05600961992490642 Centerline is valid? [True, True] Translation: X:350.03, Y:36.99, Z:-2.03 [[ 9.99240498e-01 -3.85223187e-02 -5.87005528e-03 3.50032964e+02] [ 3.85196856e-02 9.99257684e-01 -5.61002935e-04 3.69912849e+01] [ 5.88730898e-03 3.34464168e-04 9.99982614e-01 -2.03118405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.291400513 meters 0.060364200129086415 Centerline is valid? [True, True] Translation: X:350.06, Y:37.00, Z:-2.03 [[ 9.99191623e-01 -3.97287868e-02 -6.14194482e-03 3.50060296e+02] [ 3.97259253e-02 9.99210441e-01 -5.87233256e-04 3.69968675e+01] [ 6.16042546e-03 3.42764109e-04 9.99980966e-01 -2.03205818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.321400513 meters 0.06021487412374846 Centerline is valid? [True, True] Translation: X:350.09, Y:37.00, Z:-2.03 [[ 9.99173261e-01 -4.02124043e-02 -5.97975019e-03 3.50089752e+02] [ 4.02096964e-02 9.99191099e-01 -5.72422009e-04 3.69954500e+01] [ 5.99793163e-03 3.31504826e-04 9.99981957e-01 -2.03264005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.351400513 meters 0.059783021266701174 Centerline is valid? [True, True] Translation: X:350.12, Y:37.00, Z:-2.03 [[ 9.99221007e-01 -3.91093389e-02 -5.27628575e-03 3.50119071e+02] [ 3.91072129e-02 9.99234892e-01 -5.05552680e-04 3.69952457e+01] [ 5.29202066e-03 2.98818028e-04 9.99985953e-01 -2.03152103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.381400513 meters 0.06281962438207575 Centerline is valid? [True, True] Translation: X:350.15, Y:37.00, Z:-2.03 [[ 9.99287953e-01 -3.74985976e-02 -4.17643124e-03 3.50148039e+02] [ 3.74972509e-02 9.99296651e-01 -4.00317242e-04 3.69967368e+01] [ 4.18850508e-03 2.43427507e-04 9.99991199e-01 -2.02931901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.411400513 meters 0.07000212962176207 Centerline is valid? [True, True] Translation: X:350.18, Y:37.01, Z:-2.03 [[ 9.99489472e-01 -3.17889407e-02 -3.20281978e-03 3.50176790e+02] [ 3.17881193e-02 9.99494583e-01 -3.07058568e-04 3.70073240e+01] [ 3.21096209e-03 2.05090189e-04 9.99994824e-01 -2.02607284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.441400513 meters 0.07559550272209294 Centerline is valid? [True, True] Translation: X:350.21, Y:37.02, Z:-2.03 [[ 9.99598570e-01 -2.81009041e-02 -3.61070754e-03 3.50205405e+02] [ 2.80998362e-02 9.99605062e-01 -3.46170887e-04 3.70172552e+01] [ 3.61900925e-03 2.44571634e-04 9.99993421e-01 -2.02674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.471400513 meters 0.07745062661350566 Centerline is valid? [True, True] Translation: X:350.24, Y:37.02, Z:-2.03 [[ 9.99698374e-01 -2.41996160e-02 -4.18802412e-03 3.50235272e+02] [ 2.41981450e-02 9.99707101e-01 -4.01566365e-04 3.70229902e+01] [ 4.19651521e-03 3.00102827e-04 9.99991150e-01 -2.02751654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.501400513 meters 0.07791635569076136 Centerline is valid? [True, True] Translation: X:350.27, Y:37.03, Z:-2.03 [[ 9.99777446e-01 -2.06186632e-02 -4.46431235e-03 3.50265699e+02] [ 2.06169561e-02 9.99787356e-01 -4.28082270e-04 3.70269258e+01] [ 4.47218952e-03 3.35946466e-04 9.99989943e-01 -2.02853148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.531400513 meters 0.08592301424474022 Centerline is valid? [True, True] Translation: X:350.29, Y:37.04, Z:-2.03 [[ 9.99836773e-01 -1.73682550e-02 -4.97707083e-03 3.50294050e+02] [ 1.73660930e-02 9.99849084e-01 -4.77265326e-04 3.70396144e+01] [ 4.98460898e-03 3.90755148e-04 9.99987500e-01 -2.02989637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.561400513 meters 0.0869404309362981 Centerline is valid? [True, True] Translation: X:350.32, Y:37.04, Z:-2.03 [[ 9.99877246e-01 -1.48203136e-02 -5.08447986e-03 3.50324030e+02] [ 1.48180246e-02 9.99890088e-01 -4.87582080e-04 3.70443760e+01] [ 5.09114714e-03 4.12180279e-04 9.99986955e-01 -2.03034980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.591400513 meters 0.08785045785700689 Centerline is valid? [True, True] Translation: X:350.35, Y:37.05, Z:-2.03 [[ 9.99920233e-01 -1.16036064e-02 -4.98829405e-03 3.50353289e+02] [ 1.16013632e-02 9.99932587e-01 -4.78383730e-04 3.70521524e+01] [ 4.99350875e-03 4.20474560e-04 9.99987444e-01 -2.03028192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.621400513 meters 0.08859845073991214 Centerline is valid? [True, True] Translation: X:350.38, Y:37.06, Z:-2.03 [[ 9.99923193e-01 -1.12957294e-02 -5.10046260e-03 3.50380616e+02] [ 1.12933790e-02 9.99936108e-01 -4.89391331e-04 3.70579831e+01] [ 5.10566476e-03 4.31752285e-04 9.99986873e-01 -2.03039421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.651400513 meters 0.09370014699481152 Centerline is valid? [True, True] Translation: X:350.41, Y:37.07, Z:-2.03 [[ 9.99915927e-01 -1.18176965e-02 -5.33684410e-03 3.50407914e+02] [ 1.18151270e-02 9.99930067e-01 -5.12734374e-04 3.70691465e+01] [ 5.34253022e-03 4.49635775e-04 9.99985627e-01 -2.03061087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.681400513 meters 0.0881455511174466 Centerline is valid? [True, True] Translation: X:350.44, Y:37.07, Z:-2.03 [[ 9.99897080e-01 -1.29191020e-02 -6.23910162e-03 3.50437394e+02] [ 1.29156054e-02 9.99916410e-01 -6.00404841e-04 3.70678297e+01] [ 6.24633678e-03 5.19761273e-04 9.99980356e-01 -2.03109088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.711400513 meters 0.08520156641315395 Centerline is valid? [True, True] Translation: X:350.47, Y:37.07, Z:-2.03 [[ 9.99836876e-01 -1.60950637e-02 -8.19576881e-03 3.50467267e+02] [ 1.60891310e-02 9.99870250e-01 -7.89297560e-04 3.70736238e+01] [ 8.20740921e-03 6.57306009e-04 9.99966103e-01 -2.03475682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74140051300003 meters 0.08561462788271629 Centerline is valid? [True, True] Translation: X:350.50, Y:37.08, Z:-2.03 [[ 9.99813475e-01 -1.75682464e-02 -8.02321761e-03 3.50495858e+02] [ 1.75626066e-02 9.99845467e-01 -7.72859864e-04 3.70807464e+01] [ 8.03555555e-03 6.31807092e-04 9.99967515e-01 -2.03479890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.771400513 meters 0.08561462788271629 Centerline is valid? [True, True] Translation: X:350.52, Y:37.08, Z:-2.03 [[ 9.99810388e-01 -1.77431052e-02 -8.02311846e-03 3.50523295e+02] [ 1.77374628e-02 9.99842379e-01 -7.73888232e-04 3.70835452e+01] [ 8.03558503e-03 6.31431728e-04 9.99967515e-01 -2.03473097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80140051300003 meters 0.07995712792855243 Centerline is valid? [True, True] Translation: X:350.55, Y:37.08, Z:-2.03 [[ 9.99788266e-01 -1.94019940e-02 -6.85456891e-03 3.50553721e+02] [ 1.93979114e-02 9.99811624e-01 -6.61592626e-04 3.70830362e+01] [ 6.86611389e-03 5.28488225e-04 9.99976288e-01 -2.03286602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.831400513 meters 0.0821600523952624 Centerline is valid? [True, True] Translation: X:350.58, Y:37.09, Z:-2.03 [[ 9.99766076e-01 -2.10764096e-02 -4.85583077e-03 3.50582005e+02] [ 2.10743801e-02 9.99777801e-01 -4.68751336e-04 3.70913032e+01] [ 4.86463140e-03 3.66308061e-04 9.99988101e-01 -2.02942825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86140051300004 meters 0.0785772673085667 Centerline is valid? [True, True] Translation: X:350.61, Y:37.09, Z:-2.03 [[ 9.99733054e-01 -2.29226192e-02 -2.89378396e-03 3.50612104e+02] [ 2.29219060e-02 9.99737220e-01 -2.79385501e-04 3.70917427e+01] [ 2.89942778e-03 2.12979876e-04 9.99995774e-01 -2.02617135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.891400513 meters 0.07651530529733513 Centerline is valid? [True, True] Translation: X:350.64, Y:37.09, Z:-2.02 [[ 9.99689795e-01 -2.48038935e-02 -2.25394691e-03 3.50641946e+02] [ 2.48034656e-02 9.99692323e-01 -2.17629943e-04 3.70932209e+01] [ 2.25865149e-03 1.61656739e-04 9.99997436e-01 -2.02463542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.921400513 meters 0.06847749440129457 Centerline is valid? [True, True] Translation: X:350.67, Y:37.09, Z:-2.03 [[ 9.99594079e-01 -2.81831719e-02 -4.16971434e-03 3.50672042e+02] [ 2.81817362e-02 9.99602735e-01 -4.02687743e-04 3.70898837e+01] [ 4.17940688e-03 2.85014494e-04 9.99991226e-01 -2.02790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.951400513 meters 0.07304440620215671 Centerline is valid? [True, True] Translation: X:350.70, Y:37.10, Z:-2.03 [[ 9.99558599e-01 -2.91477041e-02 -5.74609654e-03 3.50699182e+02] [ 2.91449923e-02 9.99575040e-01 -5.55136330e-04 3.71016110e+01] [ 5.75983563e-03 3.87421353e-04 9.99983337e-01 -2.03063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.981400513 meters 0.06672317667312176 Centerline is valid? [True, True] Translation: X:350.73, Y:37.10, Z:-2.03 [[ 9.99552509e-01 -2.91786279e-02 -6.58708578e-03 3.50728016e+02] [ 2.91750595e-02 9.99574114e-01 -6.37189841e-04 3.71007740e+01] [ 6.60287276e-03 4.44726085e-04 9.99978102e-01 -2.03188760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.011400513 meters 0.07328826125634856 Centerline is valid? [True, True] Translation: X:350.76, Y:37.12, Z:-2.03 [[ 9.99577198e-01 -2.83252182e-02 -6.56556147e-03 3.50755279e+02] [ 2.83216508e-02 9.99598659e-01 -6.35703707e-04 3.71155725e+01] [ 6.58093289e-03 4.49487391e-04 9.99978244e-01 -2.03260505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.041400513 meters 0.07411089864382503 Centerline is valid? [True, True] Translation: X:350.78, Y:37.12, Z:-2.03 [[ 9.99621084e-01 -2.68612989e-02 -6.01331271e-03 3.50784596e+02] [ 2.68582790e-02 9.99639082e-01 -5.82418225e-04 3.71225813e+01] [ 6.02678691e-03 4.20690307e-04 9.99981750e-01 -2.03131471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.071400513 meters 0.07825581154281712 Centerline is valid? [True, True] Translation: X:350.81, Y:37.13, Z:-2.03 [[ 9.99704559e-01 -2.36105392e-02 -5.77385996e-03 3.50813984e+02] [ 2.36077008e-02 9.99721143e-01 -5.59275138e-04 3.71340552e+01] [ 5.78545466e-03 4.22802347e-04 9.99983175e-01 -2.03014764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.101400513 meters 0.08190282377513639 Centerline is valid? [True, True] Translation: X:350.84, Y:37.14, Z:-2.03 [[ 9.99726762e-01 -2.25989074e-02 -5.97420935e-03 3.50841775e+02] [ 2.25958498e-02 9.99744514e-01 -5.78797810e-04 3.71430900e+01] [ 5.98576322e-03 4.43647323e-04 9.99981987e-01 -2.03111874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.131400513 meters 0.07525026193616169 Centerline is valid? [True, True] Translation: X:350.87, Y:37.14, Z:-2.03 [[ 9.99734735e-01 -2.22709320e-02 -5.87068557e-03 3.50870656e+02] [ 2.22679701e-02 9.99751876e-01 -5.69399928e-04 3.71401752e+01] [ 5.88190998e-03 4.38520636e-04 9.99982605e-01 -2.03122400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.161400513 meters 0.08073435621532085 Centerline is valid? [True, True] Translation: X:350.90, Y:37.15, Z:-2.03 [[ 9.99735225e-01 -2.23740486e-02 -5.37418894e-03 3.50897249e+02] [ 2.23715653e-02 9.99749589e-01 -5.21773807e-04 3.71509133e+01] [ 5.38451738e-03 4.01406636e-04 9.99985423e-01 -2.03115262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.191400513 meters 0.0764795486180294 Centerline is valid? [True, True] Translation: X:350.93, Y:37.15, Z:-2.03 [[ 9.99673697e-01 -2.51733525e-02 -4.33606655e-03 3.50928552e+02] [ 2.51717617e-02 9.99683052e-01 -4.21079498e-04 3.71480341e+01] [ 4.34529223e-03 3.11795664e-04 9.99990511e-01 -2.02986261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.221400513 meters 0.07587701735469117 Centerline is valid? [True, True] Translation: X:350.96, Y:37.15, Z:-2.03 [[ 9.99613963e-01 -2.74536622e-02 -4.26868758e-03 3.50957929e+02] [ 2.74521411e-02 9.99623033e-01 -4.14538889e-04 3.71493997e+01] [ 4.27845904e-03 2.97194248e-04 9.99990803e-01 -2.02961146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.251400513 meters 0.07169565125624223 Centerline is valid? [True, True] Translation: X:350.99, Y:37.15, Z:-2.03 [[ 9.99538342e-01 -3.00606867e-02 -4.41120061e-03 3.50988854e+02] [ 3.00590874e-02 9.99548032e-01 -4.28418046e-04 3.71472775e+01] [ 4.42208543e-03 2.95623598e-04 9.99990179e-01 -2.02968525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.281400513 meters 0.06977921488060461 Centerline is valid? [True, True] Translation: X:351.02, Y:37.15, Z:-2.03 [[ 9.99458484e-01 -3.25265498e-02 -4.97616848e-03 3.51019331e+02] [ 3.25245450e-02 9.99470820e-01 -4.83308053e-04 3.71475329e+01] [ 4.98925553e-03 3.21198718e-04 9.99987502e-01 -2.03010397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.311400513 meters 0.06878859062750113 Centerline is valid? [True, True] Translation: X:351.05, Y:37.15, Z:-2.03 [[ 9.99380073e-01 -3.47080986e-02 -5.90056503e-03 3.51048505e+02] [ 3.47053170e-02 9.99397425e-01 -5.73182678e-04 3.71476163e+01] [ 5.91690358e-03 3.68046367e-04 9.99982427e-01 -2.03162750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.341400513 meters 0.06622083290027303 Centerline is valid? [True, True] Translation: X:351.08, Y:37.14, Z:-2.03 [[ 9.99307166e-01 -3.65367860e-02 -7.08884983e-03 3.51079302e+02] [ 3.65328162e-02 9.99332217e-01 -6.88730936e-04 3.71449909e+01] [ 7.10928003e-03 4.29278111e-04 9.99974637e-01 -2.03283173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.371400513 meters 0.06267486431802227 Centerline is valid? [True, True] Translation: X:351.11, Y:37.14, Z:-2.03 [[ 9.99243540e-01 -3.82053151e-02 -7.25954678e-03 3.51109403e+02] [ 3.82011947e-02 9.99269819e-01 -7.05452886e-04 3.71398981e+01] [ 7.28119805e-03 4.27595880e-04 9.99973400e-01 -2.03210726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.401400513 meters 0.06503259844965545 Centerline is valid? [True, True] Translation: X:351.14, Y:37.14, Z:-2.03 [[ 9.99255619e-01 -3.80689813e-02 -6.24185222e-03 3.51137227e+02] [ 3.80659309e-02 9.99275046e-01 -6.06820204e-04 3.71444978e+01] [ 6.26042818e-03 3.68766584e-04 9.99980335e-01 -2.03024293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.431400513 meters 0.059663044389879724 Centerline is valid? [True, True] Translation: X:351.17, Y:37.14, Z:-2.03 [[ 9.99286246e-01 -3.74330705e-02 -5.07587580e-03 3.51166945e+02] [ 3.74310423e-02 9.99299091e-01 -4.94010962e-04 3.71396813e+01] [ 5.09081042e-03 3.03663037e-04 9.99986996e-01 -2.02792239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.461400513 meters 0.06700348847732336 Centerline is valid? [True, True] Translation: X:351.20, Y:37.15, Z:-2.03 [[ 9.99326494e-01 -3.63864912e-02 -4.75208726e-03 3.51195008e+02] [ 3.63846995e-02 9.99337750e-01 -4.62956358e-04 3.71493757e+01] [ 4.76578555e-03 2.89741286e-04 9.99988602e-01 -2.02800034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49140051300003 meters 0.06891336666592368 Centerline is valid? [True, True] Translation: X:351.22, Y:37.15, Z:-2.03 [[ 9.99353653e-01 -3.55424746e-02 -5.38600662e-03 3.51222955e+02] [ 3.55401597e-02 9.99368111e-01 -5.24936158e-04 3.71517122e+01] [ 5.40126079e-03 3.33177331e-04 9.99985358e-01 -2.02909682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.521400513 meters 0.06842829957734188 Centerline is valid? [True, True] Translation: X:351.25, Y:37.15, Z:-2.03 [[ 9.99363447e-01 -3.51102397e-02 -6.32239996e-03 3.51251696e+02] [ 3.51070366e-02 9.99383368e-01 -6.16929147e-04 3.71511410e+01] [ 6.34016190e-03 3.94575712e-04 9.99979823e-01 -2.03063102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55140051300003 meters 0.06818408721531631 Centerline is valid? [True, True] Translation: X:351.28, Y:37.15, Z:-2.03 [[ 9.99399570e-01 -3.37938697e-02 -7.64677975e-03 3.51282138e+02] [ 3.37891412e-02 9.99428705e-01 -7.46741968e-04 3.71473103e+01] [ 7.66764648e-03 4.87915481e-04 9.99970484e-01 -2.03270545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.581400513 meters 0.0672645631171792 Centerline is valid? [True, True] Translation: X:351.31, Y:37.15, Z:-2.03 [[ 9.99429356e-01 -3.28420041e-02 -7.89711408e-03 3.51312346e+02] [ 3.28369300e-02 9.99460425e-01 -7.71369467e-04 3.71454205e+01] [ 7.91818631e-03 5.11612308e-04 9.99968520e-01 -2.03256172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61140051300004 meters 0.07624566304438789 Centerline is valid? [True, True] Translation: X:351.34, Y:37.16, Z:-2.03 [[ 9.99475445e-01 -3.13597792e-02 -8.08691029e-03 3.51340310e+02] [ 3.13544079e-02 9.99508017e-01 -7.90155932e-04 3.71560525e+01] [ 8.10771078e-03 5.36181168e-04 9.99966988e-01 -2.03319469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.641400513 meters 0.07263777411365306 Centerline is valid? [True, True] Translation: X:351.37, Y:37.15, Z:-2.03 [[ 9.99533539e-01 -2.95127550e-02 -7.85510474e-03 3.51371398e+02] [ 2.95076298e-02 9.99564260e-01 -7.67587151e-04 3.71522120e+01] [ 7.87433557e-03 5.35443578e-04 9.99968854e-01 -2.03216603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.671400513 meters 0.0741183566940801 Centerline is valid? [True, True] Translation: X:351.40, Y:37.15, Z:-2.03 [[ 9.99668996e-01 -2.50072248e-02 -6.04454779e-03 3.51401607e+02] [ 2.50041078e-02 9.99687174e-01 -5.90708390e-04 3.71542804e+01] [ 6.05742888e-03 4.39374339e-04 9.99981557e-01 -2.02874922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.701400513 meters 0.07679138642194921 Centerline is valid? [True, True] Translation: X:351.43, Y:37.16, Z:-2.03 [[ 9.99740373e-01 -2.20747131e-02 -5.64743835e-03 3.51431364e+02] [ 2.20719454e-02 9.99756233e-01 -5.51935489e-04 3.71593115e+01] [ 5.65824551e-03 4.27142240e-04 9.99983901e-01 -2.02801218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.731400513 meters 0.08222268786389571 Centerline is valid? [True, True] Translation: X:351.46, Y:37.17, Z:-2.03 [[ 9.99802359e-01 -1.90789718e-02 -5.58896493e-03 3.51460169e+02] [ 1.90762144e-02 9.99817883e-01 -5.46258962e-04 3.71673884e+01] [ 5.59836915e-03 4.39534706e-04 9.99984232e-01 -2.02781697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.761400513 meters 0.09411644071708486 Centerline is valid? [True, True] Translation: X:351.49, Y:37.18, Z:-2.03 [[ 9.99847862e-01 -1.65000042e-02 -5.65702207e-03 3.51488294e+02] [ 1.64971381e-02 9.99863760e-01 -5.52941682e-04 3.71832599e+01] [ 5.66537490e-03 4.59532885e-04 9.99983846e-01 -2.02822899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.791400513 meters 0.0864832340440788 Centerline is valid? [True, True] Translation: X:351.52, Y:37.18, Z:-2.03 [[ 9.99875074e-01 -1.46078654e-02 -6.03718590e-03 3.51519901e+02] [ 1.46045667e-02 9.99893173e-01 -5.90123143e-04 3.71760573e+01] [ 6.04516141e-03 5.01878937e-04 9.99981602e-01 -2.02763218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.821400513 meters 0.08335328324039695 Centerline is valid? [True, True] Translation: X:351.55, Y:37.17, Z:-2.03 [[ 9.99881582e-01 -1.38368988e-02 -6.73510137e-03 3.51550013e+02] [ 1.38327752e-02 9.99904106e-01 -6.58455334e-04 3.71741310e+01] [ 6.74356649e-03 5.65212218e-04 9.99977102e-01 -2.02919602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.851400513 meters 0.08328041676404975 Centerline is valid? [True, True] Translation: X:351.58, Y:37.18, Z:-2.03 [[ 9.99862912e-01 -1.49255833e-02 -7.16833098e-03 3.51579675e+02] [ 1.49209387e-02 9.99888431e-01 -7.00976265e-04 3.71751603e+01] [ 7.17799369e-03 5.93921942e-04 9.99974061e-01 -2.03068097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.881400513 meters 0.08505175313741781 Centerline is valid? [True, True] Translation: X:351.61, Y:37.18, Z:-2.03 [[ 9.99825545e-01 -1.69616036e-02 -7.82200587e-03 3.51609084e+02] [ 1.69561341e-02 9.99855942e-01 -7.65032927e-04 3.71772341e+01] [ 7.83385523e-03 6.32268482e-04 9.99969115e-01 -2.03168968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.911400513 meters 0.08354596503159523 Centerline is valid? [True, True] Translation: X:351.64, Y:37.18, Z:-2.03 [[ 9.99780162e-01 -1.93419728e-02 -8.09414791e-03 3.51640248e+02] [ 1.93361930e-02 9.99812725e-01 -7.91722716e-04 3.71758035e+01] [ 8.10794556e-03 6.35038660e-04 9.99966928e-01 -2.03193806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.941400513 meters 0.0825739303678578 Centerline is valid? [True, True] Translation: X:351.67, Y:37.18, Z:-2.03 [[ 9.99730844e-01 -2.17722908e-02 -8.01289678e-03 3.51670272e+02] [ 2.17667039e-02 9.99762770e-01 -7.83802395e-04 3.71764832e+01] [ 8.02806105e-03 6.09177078e-04 9.99967589e-01 -2.03180215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.971400513 meters 0.07801227386409255 Centerline is valid? [True, True] Translation: X:351.70, Y:37.17, Z:-2.03 [[ 9.99681019e-01 -2.39690977e-02 -7.95886783e-03 3.51700633e+02] [ 2.39636549e-02 9.99712527e-01 -7.78533634e-04 3.71742958e+01] [ 7.97524063e-03 5.87561734e-04 9.99968025e-01 -2.03113742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.001400513 meters 0.06648418371504729 Centerline is valid? [True, True] Translation: X:351.73, Y:37.16, Z:-2.03 [[ 9.99613219e-01 -2.70230369e-02 -6.57015275e-03 3.51732455e+02] [ 2.70193933e-02 9.99634703e-01 -6.42704300e-04 3.71634453e+01] [ 6.58512052e-03 4.64934174e-04 9.99978210e-01 -2.02789227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.031400513 meters 0.07408381649686896 Centerline is valid? [True, True] Translation: X:351.76, Y:37.17, Z:-2.03 [[ 9.99608155e-01 -2.74028084e-02 -5.71158218e-03 3.51759410e+02] [ 2.74000595e-02 9.99624392e-01 -5.58994710e-04 3.71742522e+01] [ 5.72475488e-03 4.02277980e-04 9.99983533e-01 -2.02689912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.061400513 meters 0.08076087182013503 Centerline is valid? [True, True] Translation: X:351.79, Y:37.18, Z:-2.03 [[ 9.99617429e-01 -2.72424443e-02 -4.77970665e-03 3.51786323e+02] [ 2.72405159e-02 9.99628799e-01 -4.68093389e-04 3.71836482e+01] [ 4.79068442e-03 3.37712634e-04 9.99988468e-01 -2.02554704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.091400513 meters 0.0754629367465321 Centerline is valid? [True, True] Translation: X:351.82, Y:37.18, Z:-2.02 [[ 9.99626053e-01 -2.70176316e-02 -4.21930663e-03 3.51815505e+02] [ 2.70161252e-02 9.99634912e-01 -4.13612288e-04 3.71774683e+01] [ 4.22894103e-03 2.99468303e-04 9.99991013e-01 -2.02474779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.121400513 meters 0.07091464673046592 Centerline is valid? [True, True] Translation: X:351.85, Y:37.18, Z:-2.03 [[ 9.99655931e-01 -2.56756623e-02 -5.36469887e-03 3.51845513e+02] [ 2.56732048e-02 9.99670250e-01 -5.26454071e-04 3.71755368e+01] [ 5.37644692e-03 3.88543922e-04 9.99985471e-01 -2.02697736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.151400513 meters 0.078456716806555 Centerline is valid? [True, True] Translation: X:351.87, Y:37.19, Z:-2.03 [[ 9.99658730e-01 -2.55440962e-02 -5.47017477e-03 3.51871898e+02] [ 2.55415377e-02 9.99673617e-01 -5.37073127e-04 3.71868823e+01] [ 5.48210845e-03 3.97173164e-04 9.99984894e-01 -2.02732951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.181400513 meters 0.0741284878799382 Centerline is valid? [True, True] Translation: X:351.90, Y:37.18, Z:-2.03 [[ 9.99658314e-01 -2.55325341e-02 -5.59871985e-03 3.51900730e+02] [ 2.55298500e-02 9.99673909e-01 -5.50370867e-04 3.71839816e+01] [ 5.61094652e-03 4.07248335e-04 9.99984176e-01 -2.02661715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.211400513 meters 0.07011435931049474 Centerline is valid? [True, True] Translation: X:351.93, Y:37.18, Z:-2.03 [[ 9.99658430e-01 -2.54963589e-02 -5.74096243e-03 3.51930091e+02] [ 2.54935306e-02 9.99674827e-01 -5.65291795e-04 3.71820359e+01] [ 5.75350851e-03 4.18741307e-04 9.99983361e-01 -2.02552278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24140051300003 meters 0.07788236919926246 Centerline is valid? [True, True] Translation: X:351.96, Y:37.20, Z:-2.03 [[ 9.99669700e-01 -2.50877002e-02 -5.57651527e-03 3.51956760e+02] [ 2.50850222e-02 9.99685170e-01 -5.49669490e-04 3.71955263e+01] [ 5.58854956e-03 4.09600925e-04 9.99984300e-01 -2.02501059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.271400513 meters 0.08061982459521959 Centerline is valid? [True, True] Translation: X:351.99, Y:37.20, Z:-2.02 [[ 9.99743281e-01 -2.19755402e-02 -5.51790066e-03 3.51986448e+02] [ 2.19728703e-02 9.99758419e-01 -5.44030450e-04 3.72048105e+01] [ 5.52852301e-03 4.22646672e-04 9.99984628e-01 -2.02468895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30140051300003 meters 0.08391314897862458 Centerline is valid? [True, True] Translation: X:352.02, Y:37.21, Z:-2.03 [[ 9.99789923e-01 -1.96743545e-02 -5.74712828e-03 3.52016486e+02] [ 1.96714203e-02 9.99806338e-01 -5.66638687e-04 3.72123171e+01] [ 5.75716353e-03 4.53465474e-04 9.99983325e-01 -2.02567161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.331400513 meters 0.08680288172589389 Centerline is valid? [True, True] Translation: X:352.05, Y:37.22, Z:-2.03 [[ 9.99827310e-01 -1.75892213e-02 -5.99743336e-03 3.52045684e+02] [ 1.75859887e-02 9.99845180e-01 -5.91320275e-04 3.72189124e+01] [ 6.00690570e-03 4.85747365e-04 9.99981840e-01 -2.02691188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36140051300004 meters 0.0811884685968122 Centerline is valid? [True, True] Translation: X:352.08, Y:37.22, Z:-2.03 [[ 9.99851729e-01 -1.60394608e-02 -6.26542112e-03 3.52075860e+02] [ 1.60359023e-02 9.99871226e-01 -6.17782836e-04 3.72158068e+01] [ 6.27452319e-03 5.17219555e-04 9.99980181e-01 -2.02683205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.391400513 meters 0.0822000998465492 Centerline is valid? [True, True] Translation: X:352.10, Y:37.22, Z:-2.03 [[ 9.99866579e-01 -1.52608298e-02 -5.82510298e-03 3.52104436e+02] [ 1.52577397e-02 9.99883429e-01 -5.74558566e-04 3.72229043e+01] [ 5.83319218e-03 4.85604003e-04 9.99982869e-01 -2.02526398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.421400513 meters 0.08607655321859331 Centerline is valid? [True, True] Translation: X:352.13, Y:37.23, Z:-2.03 [[ 9.99847197e-01 -1.62079848e-02 -6.54857118e-03 3.52131389e+02] [ 1.62040971e-02 9.99868496e-01 -6.46286901e-04 3.72311376e+01] [ 6.55818503e-03 5.40074463e-04 9.99978349e-01 -2.02631561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.451400513 meters 0.08603188497635701 Centerline is valid? [True, True] Translation: X:352.16, Y:37.23, Z:-2.03 [[ 9.99810791e-01 -1.77128737e-02 -8.03970959e-03 3.52159998e+02] [ 1.77070603e-02 9.99842903e-01 -7.93704371e-04 3.72332796e+01] [ 8.05250536e-03 6.51194572e-04 9.99967366e-01 -2.02837317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.481400513 meters 0.08400458993677062 Centerline is valid? [True, True] Translation: X:352.19, Y:37.23, Z:-2.03 [[ 9.99767566e-01 -1.96554203e-02 -8.85875284e-03 3.52190068e+02] [ 1.96484365e-02 9.99806568e-01 -8.74697929e-04 3.72325572e+01] [ 8.87423183e-03 7.00433977e-04 9.99960378e-01 -2.02975257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.511400513 meters 0.08221714425039317 Centerline is valid? [True, True] Translation: X:352.22, Y:37.23, Z:-2.03 [[ 9.99721551e-01 -2.19577647e-02 -8.64163782e-03 3.52221021e+02] [ 2.19512041e-02 9.99758679e-01 -8.53308029e-04 3.72322615e+01] [ 8.65828915e-03 6.63376070e-04 9.99962296e-01 -2.02959749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.541400513 meters 0.07562440958623476 Centerline is valid? [True, True] Translation: X:352.25, Y:37.23, Z:-2.03 [[ 9.99681997e-01 -2.40416693e-02 -7.60937006e-03 3.52252415e+02] [ 2.40366425e-02 9.99710796e-01 -7.51393709e-04 3.72265303e+01] [ 7.62523416e-03 5.68251056e-04 9.99970766e-01 -2.02785824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.571400513 meters 0.06900126943216213 Centerline is valid? [True, True] Translation: X:352.28, Y:37.22, Z:-2.03 [[ 9.99599317e-01 -2.74374966e-02 -6.95629386e-03 3.52282843e+02] [ 2.74333767e-02 9.99623398e-01 -6.86994222e-04 3.72199496e+01] [ 6.97252351e-03 4.95884325e-04 9.99975569e-01 -2.02591949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.601400513 meters 0.0735936770862396 Centerline is valid? [True, True] Translation: X:352.31, Y:37.23, Z:-2.03 [[ 9.99555369e-01 -2.88295748e-02 -7.61046034e-03 3.52311340e+02] [ 2.88246825e-02 9.99584200e-01 -7.51768655e-04 3.72269967e+01] [ 7.62896908e-03 5.32065293e-04 9.99970757e-01 -2.02691489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.631400513 meters 0.07509338042770292 Centerline is valid? [True, True] Translation: X:352.34, Y:37.23, Z:-2.03 [[ 9.99496806e-01 -3.05755958e-02 -8.44200116e-03 3.52342392e+02] [ 3.05723680e-02 9.99532425e-01 -5.11174067e-04 3.72256641e+01] [ 8.45368334e-03 2.52824882e-04 9.99964235e-01 -2.02832880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.661400513 meters 0.06370535866837222 Centerline is valid? [True, True] Translation: X:352.37, Y:37.22, Z:-2.03 [[ 9.99446051e-01 -3.20485081e-02 -8.97132502e-03 3.52372576e+02] [ 3.20393341e-02 9.99485930e-01 -1.16448836e-03 3.72150265e+01] [ 9.00403325e-03 8.76408008e-04 9.99959079e-01 -2.02819033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.691400513 meters 0.06591553327112497 Centerline is valid? [True, True] Translation: X:352.40, Y:37.21, Z:-2.03 [[ 9.99352518e-01 -3.48610799e-02 -8.90229508e-03 3.52401892e+02] [ 3.48546133e-02 9.99392005e-01 -8.80562256e-04 3.72128598e+01] [ 8.92757988e-03 5.69706055e-04 9.99959986e-01 -2.02779101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.721400513 meters 0.06591553327112497 Centerline is valid? [True, True] Translation: X:352.43, Y:37.22, Z:-2.03 [[ 9.99346175e-01 -3.50424554e-02 -8.90217557e-03 3.52429304e+02] [ 3.50359852e-02 9.99385662e-01 -8.81769312e-04 3.72157223e+01] [ 8.92760599e-03 5.69296297e-04 9.99959986e-01 -2.02772345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.751400513 meters 0.06405376835694963 Centerline is valid? [True, True] Translation: X:352.46, Y:37.21, Z:-2.03 [[ 9.99317073e-01 -3.59377459e-02 -8.59450446e-03 3.52458807e+02] [ 3.59317421e-02 9.99353883e-01 -8.52016438e-04 3.72089936e+01] [ 8.61957096e-03 5.42619056e-04 9.99962704e-01 -2.02617567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.781400513 meters 0.06377272282765657 Centerline is valid? [True, True] Translation: X:352.49, Y:37.21, Z:-2.03 [[ 9.99305839e-01 -3.64332510e-02 -7.77551745e-03 3.52486429e+02] [ 3.64283474e-02 9.99335970e-01 -7.71391826e-04 3.72137096e+01] [ 7.79845859e-03 4.87607105e-04 9.99969473e-01 -2.02544225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.811400513 meters 0.06497155410107662 Centerline is valid? [True, True] Translation: X:352.51, Y:37.22, Z:-2.02 [[ 9.99308591e-01 -3.65033648e-02 -7.06000716e-03 3.52514646e+02] [ 3.64993206e-02 9.99333432e-01 -7.00864582e-04 3.72159178e+01] [ 7.08088510e-03 4.42694533e-04 9.99974832e-01 -2.02450241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.841400513 meters 0.06495957302988387 Centerline is valid? [True, True] Translation: X:352.54, Y:37.22, Z:-2.02 [[ 9.99334551e-01 -3.59193013e-02 -6.34504032e-03 3.52543854e+02] [ 3.59160183e-02 9.99354613e-01 -6.30639421e-04 3.72162911e+01] [ 6.36359744e-03 4.02331179e-04 9.99979671e-01 -2.02332890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.871400513 meters 0.06166319746745666 Centerline is valid? [True, True] Translation: X:352.57, Y:37.21, Z:-2.02 [[ 9.99383304e-01 -3.46247825e-02 -5.84258076e-03 3.52573897e+02] [ 3.46219743e-02 9.99400311e-01 -5.81139346e-04 3.72123378e+01] [ 5.85919885e-03 3.78499279e-04 9.99982763e-01 -2.02186561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.901400513 meters 0.06560702247576859 Centerline is valid? [True, True] Translation: X:352.60, Y:37.22, Z:-2.02 [[ 9.99498598e-01 -3.12218256e-02 -5.26791477e-03 3.52604676e+02] [ 3.12194953e-02 9.99512415e-01 -5.24029843e-04 3.72151245e+01] [ 5.28170738e-03 3.59305453e-04 9.99985987e-01 -2.02092766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.931400513 meters 0.06395585557739489 Centerline is valid? [True, True] Translation: X:352.63, Y:37.21, Z:-2.02 [[ 9.99541487e-01 -2.97336199e-02 -5.72083084e-03 3.52634742e+02] [ 2.97308469e-02 9.99557779e-01 -5.69159911e-04 3.72139546e+01] [ 5.73522415e-03 3.98813798e-04 9.99983474e-01 -2.02149312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.961400513 meters 0.07549501994114151 Centerline is valid? [True, True] Translation: X:352.66, Y:37.23, Z:-2.02 [[ 9.99565605e-01 -2.87670141e-02 -6.40777126e-03 3.52661765e+02] [ 2.87635139e-02 9.99586041e-01 -6.37756110e-04 3.72290394e+01] [ 6.42346505e-03 4.53169055e-04 9.99979267e-01 -2.02355577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99140051300003 meters 0.0730453754170431 Centerline is valid? [True, True] Translation: X:352.69, Y:37.23, Z:-2.02 [[ 9.99574832e-01 -2.82174188e-02 -7.34390343e-03 3.52691346e+02] [ 2.82127996e-02 9.99601672e-01 -7.31837247e-04 3.72250176e+01] [ 7.36162871e-03 5.24334017e-04 9.99972765e-01 -2.02493309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.021400513 meters 0.06527552363375724 Centerline is valid? [True, True] Translation: X:352.72, Y:37.22, Z:-2.02 [[ 9.99568004e-01 -2.84301394e-02 -7.45198995e-03 3.52720000e+02] [ 2.84253791e-02 9.99595640e-01 -7.43952404e-04 3.72157923e+01] [ 7.47012733e-03 5.31805381e-04 9.99971957e-01 -2.02453371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05140051300003 meters 0.07320073791750938 Centerline is valid? [True, True] Translation: X:352.75, Y:37.22, Z:-2.03 [[ 9.99565766e-01 -2.85145870e-02 -7.42946983e-03 3.52746636e+02] [ 2.85098513e-02 9.99593236e-01 -7.42579600e-04 3.72245496e+01] [ 7.44762214e-03 5.30444066e-04 9.99972125e-01 -2.02501456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.081400513 meters 0.07496908380965188 Centerline is valid? [True, True] Translation: X:352.77, Y:37.23, Z:-2.02 [[ 9.99570439e-01 -2.84433558e-02 -7.06493129e-03 3.52774007e+02] [ 2.84390670e-02 9.99595278e-01 -7.06793221e-04 3.72258516e+01] [ 7.08217553e-03 5.05569555e-04 9.99974793e-01 -2.02422466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11140051300004 meters 0.06739714456161064 Centerline is valid? [True, True] Translation: X:352.80, Y:37.22, Z:-2.02 [[ 9.99584307e-01 -2.80516895e-02 -6.65702194e-03 3.52804104e+02] [ 2.80478669e-02 9.99606359e-01 -6.66902686e-04 3.72165169e+01] [ 6.67310921e-03 4.79910194e-04 9.99977619e-01 -2.02312336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.141400513 meters 0.06950108040656956 Centerline is valid? [True, True] Translation: X:352.83, Y:37.22, Z:-2.02 [[ 9.99623197e-01 -2.64266861e-02 -7.42248609e-03 3.52834701e+02] [ 2.64218860e-02 9.99650604e-01 -7.44032410e-04 3.72189392e+01] [ 7.43955502e-03 5.47635975e-04 9.99972176e-01 -2.02434712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.171400513 meters 0.06668089909152061 Centerline is valid? [True, True] Translation: X:352.86, Y:37.22, Z:-2.02 [[ 9.99641038e-01 -2.55923950e-02 -7.92613477e-03 3.52864995e+02] [ 2.55868943e-02 9.99672286e-01 -7.94648693e-04 3.72167707e+01] [ 7.94387423e-03 5.91558273e-04 9.99968272e-01 -2.02490470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.201400513 meters 0.07339290377502267 Centerline is valid? [True, True] Translation: X:352.89, Y:37.23, Z:-2.03 [[ 9.99661108e-01 -2.48064896e-02 -7.89343141e-03 3.52892773e+02] [ 2.48010078e-02 9.99692094e-01 -7.91620639e-04 3.72254378e+01] [ 7.91063831e-03 5.95587312e-04 9.99968533e-01 -2.02553446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.231400513 meters 0.07866508125761314 Centerline is valid? [True, True] Translation: X:352.92, Y:37.23, Z:-2.03 [[ 9.99678966e-01 -2.41632081e-02 -7.62262536e-03 3.52919841e+02] [ 2.41580745e-02 9.99707859e-01 -7.64839214e-04 3.72322583e+01] [ 7.63887944e-03 5.80445723e-04 9.99970655e-01 -2.02510586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.261400513 meters 0.07793804114191698 Centerline is valid? [True, True] Translation: X:352.95, Y:37.23, Z:-2.02 [[ 9.99697151e-01 -2.35573281e-02 -7.11747397e-03 3.52948471e+02] [ 2.35528343e-02 9.99722338e-01 -7.14545003e-04 3.72322029e+01] [ 7.13233049e-03 5.46691918e-04 9.99974415e-01 -2.02383513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.291400513 meters 0.07527264650298779 Centerline is valid? [True, True] Translation: X:352.98, Y:37.23, Z:-2.02 [[ 9.99709642e-01 -2.31271004e-02 -6.76530985e-03 3.52977543e+02] [ 2.31230250e-02 9.99732396e-01 -6.80010150e-04 3.72300736e+01] [ 6.77922609e-03 5.23378275e-04 9.99976884e-01 -2.02252794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.321400513 meters 0.08047393960393032 Centerline is valid? [True, True] Translation: X:353.01, Y:37.24, Z:-2.02 [[ 9.99721344e-01 -2.25019171e-02 -7.13427228e-03 3.53005659e+02] [ 2.24973651e-02 9.99746645e-01 -7.17665450e-04 3.72358990e+01] [ 7.14861362e-03 5.56963140e-04 9.99974293e-01 -2.02301990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.351400513 meters 0.07456371755738575 Centerline is valid? [True, True] Translation: X:353.04, Y:37.23, Z:-2.02 [[ 9.99707702e-01 -2.30063724e-02 -7.43082479e-03 3.53035329e+02] [ 2.30014413e-02 9.99735152e-01 -7.48383967e-04 3.72306198e+01] [ 7.44607435e-03 5.77245535e-04 9.99972111e-01 -2.02351011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.381400513 meters 0.07354244409338188 Centerline is valid? [True, True] Translation: X:353.06, Y:37.23, Z:-2.02 [[ 9.99685955e-01 -2.39062322e-02 -7.51554248e-03 3.53063841e+02] [ 2.39012086e-02 9.99714038e-01 -7.57545560e-04 3.72318397e+01] [ 7.53150338e-03 5.77677108e-04 9.99971471e-01 -2.02400441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.411400513 meters 0.0791899426384146 Centerline is valid? [True, True] Translation: X:353.09, Y:37.24, Z:-2.02 [[ 9.99663016e-01 -2.48985160e-02 -7.34290831e-03 3.53091332e+02] [ 2.48937447e-02 9.99689828e-01 -7.40478370e-04 3.72411435e+01] [ 7.35906756e-03 5.57436356e-04 9.99972766e-01 -2.02445146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.441400513 meters 0.08242219240435371 Centerline is valid? [True, True] Translation: X:353.12, Y:37.25, Z:-2.02 [[ 9.99637569e-01 -2.58862890e-02 -7.39129127e-03 3.53119906e+02] [ 2.58814798e-02 9.99664740e-01 -7.45578915e-04 3.72466541e+01] [ 7.40811354e-03 5.54011138e-04 9.99972406e-01 -2.02494499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.471400513 meters 0.07573892118522892 Centerline is valid? [True, True] Translation: X:353.15, Y:37.24, Z:-2.03 [[ 9.99603769e-01 -2.69518656e-02 -8.11803041e-03 3.53149619e+02] [ 2.69460967e-02 9.99636552e-01 -8.19197667e-04 3.72394577e+01] [ 8.13715884e-03 6.00123843e-04 9.99966713e-01 -2.02516089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.501400513 meters 0.06615307002795193 Centerline is valid? [True, True] Translation: X:353.18, Y:37.23, Z:-2.02 [[ 9.99560799e-01 -2.85517749e-02 -7.93753133e-03 3.53181234e+02] [ 2.85463084e-02 9.99592150e-01 -8.01153533e-04 3.72276544e+01] [ 7.95716837e-03 5.74214448e-04 9.99968176e-01 -2.02355487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.531400513 meters 0.0666539645340449 Centerline is valid? [True, True] Translation: X:353.21, Y:37.23, Z:-2.02 [[ 9.99549174e-01 -2.91447612e-02 -7.21325007e-03 3.53208862e+02] [ 2.91402600e-02 9.99575067e-01 -7.28354960e-04 3.72302943e+01] [ 7.23141265e-03 5.17830617e-04 9.99973719e-01 -2.02210429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.561400513 meters 0.07135758823982523 Centerline is valid? [True, True] Translation: X:353.24, Y:37.24, Z:-2.02 [[ 9.99543597e-01 -2.95741870e-02 -6.16160986e-03 3.53235781e+02] [ 2.95709087e-02 9.99562491e-01 -6.22503889e-04 3.72383531e+01] [ 6.17732415e-03 4.40015374e-04 9.99980823e-01 -2.02082082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.591400513 meters 0.06605977196789817 Centerline is valid? [True, True] Translation: X:353.27, Y:37.23, Z:-2.02 [[ 9.99537500e-01 -2.99089238e-02 -5.49924445e-03 3.53265435e+02] [ 2.99063140e-02 9.99552551e-01 -5.56211465e-04 3.72347537e+01] [ 5.51341951e-03 3.91492086e-04 9.99984724e-01 -2.01943294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.621400513 meters 0.07618092977212297 Centerline is valid? [True, True] Translation: X:353.29, Y:37.25, Z:-2.02 [[ 9.99551643e-01 -2.95498352e-02 -4.82910979e-03 3.53292272e+02] [ 2.95478161e-02 9.99563248e-01 -4.88920000e-04 3.72498547e+01] [ 4.84144818e-03 3.46011141e-04 9.99988220e-01 -2.01898934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.651400513 meters 0.07020794288534471 Centerline is valid? [True, True] Translation: X:353.32, Y:37.25, Z:-2.02 [[ 9.99588756e-01 -2.82916830e-02 -4.67975777e-03 3.53321906e+02] [ 2.82897722e-02 9.99599652e-01 -4.74013070e-04 3.72455086e+01] [ 4.69129486e-03 3.41428854e-04 9.99988938e-01 -2.01792564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.681400513 meters 0.07362074976692945 Centerline is valid? [True, True] Translation: X:353.35, Y:37.25, Z:-2.02 [[ 9.99673936e-01 -2.48459464e-02 -5.89070005e-03 3.53351468e+02] [ 2.48428585e-02 9.99691190e-01 -5.96811238e-04 3.72532634e+01] [ 5.90370929e-03 4.50274811e-04 9.99982472e-01 -2.02000902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.711400513 meters 0.07355498528937358 Centerline is valid? [True, True] Translation: X:353.38, Y:37.26, Z:-2.02 [[ 9.99701827e-01 -2.34954710e-02 -6.64986337e-03 3.53380966e+02] [ 2.34915056e-02 9.99723809e-01 -6.73807759e-04 3.72573977e+01] [ 6.66385817e-03 5.17391545e-04 9.99977662e-01 -2.02137624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74140051300003 meters 0.07670014191451859 Centerline is valid? [True, True] Translation: X:353.41, Y:37.27, Z:-2.02 [[ 9.99724070e-01 -2.25392144e-02 -6.61577948e-03 3.53408588e+02] [ 2.25352672e-02 9.99745824e-01 -6.70575840e-04 3.72662703e+01] [ 6.62921216e-03 5.21302449e-04 9.99977891e-01 -2.02191371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.771400513 meters 0.08163099735148915 Centerline is valid? [True, True] Translation: X:353.44, Y:37.28, Z:-2.02 [[ 9.99743851e-01 -2.19418186e-02 -5.54879649e-03 3.53435242e+02] [ 2.19390313e-02 9.99759152e-01 -5.62695291e-04 3.72776736e+01] [ 5.55980664e-03 4.40815937e-04 9.99984447e-01 -2.02037966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80140051300003 meters 0.08139960579829988 Centerline is valid? [True, True] Translation: X:353.46, Y:37.28, Z:-2.02 [[ 9.99753340e-01 -2.17431767e-02 -4.52703971e-03 3.53463609e+02] [ 2.17413174e-02 9.99763524e-01 -4.59518600e-04 3.72844934e+01] [ 4.53596057e-03 3.60981448e-04 9.99989647e-01 -2.01804675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.831400513 meters 0.0815520081329389 Centerline is valid? [True, True] Translation: X:353.49, Y:37.29, Z:-2.02 [[ 9.99740893e-01 -2.21888011e-02 -5.07980699e-03 3.53492590e+02] [ 2.21864617e-02 9.99753717e-01 -5.16437422e-04 3.72889949e+01] [ 5.09001505e-03 4.03600666e-04 9.99986964e-01 -2.01857591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86140051300004 meters 0.0874007615456251 Centerline is valid? [True, True] Translation: X:353.52, Y:37.30, Z:-2.02 [[ 9.99722850e-01 -2.28343942e-02 -5.72837652e-03 3.53519519e+02] [ 2.28314264e-02 9.99739159e-01 -5.82955922e-04 3.73005762e+01] [ 5.74019377e-03 4.52007349e-04 9.99983423e-01 -2.02002747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.891400513 meters 0.08248245300538272 Centerline is valid? [True, True] Translation: X:353.55, Y:37.30, Z:-2.02 [[ 9.99698861e-01 -2.36788900e-02 -6.44192985e-03 3.53548828e+02] [ 2.36751521e-02 9.99719489e-01 -6.55900113e-04 3.72997448e+01] [ 6.45565381e-03 5.03188926e-04 9.99979035e-01 -2.02093789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.921400513 meters 0.07245178418743481 Centerline is valid? [True, True] Translation: X:353.58, Y:37.29, Z:-2.02 [[ 9.99668266e-01 -2.48424963e-02 -6.79762664e-03 3.53579752e+02] [ 2.48383598e-02 9.99691241e-01 -6.92279697e-04 3.72934622e+01] [ 6.81272577e-03 5.23208148e-04 9.99976656e-01 -2.02073673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.951400513 meters 0.07237925639129328 Centerline is valid? [True, True] Translation: X:353.61, Y:37.30, Z:-2.02 [[ 9.99636378e-01 -2.61114633e-02 -6.73071700e-03 3.53608155e+02] [ 2.61074353e-02 9.99658908e-01 -6.85642292e-04 3.72987392e+01] [ 6.74632433e-03 5.09671219e-04 9.99977113e-01 -2.02069378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.981400513 meters 0.07351022362667849 Centerline is valid? [True, True] Translation: X:353.64, Y:37.31, Z:-2.02 [[ 9.99536754e-01 -2.98306374e-02 -6.03417072e-03 3.53637030e+02] [ 2.98274666e-02 9.99554873e-01 -6.14801000e-04 3.73053135e+01] [ 6.04982465e-03 4.34532170e-04 9.99981605e-01 -2.01917758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.011400513 meters 0.06843223361391824 Centerline is valid? [True, True] Translation: X:353.67, Y:37.30, Z:-2.02 [[ 9.99454108e-01 -3.24762923e-02 -6.06436534e-03 3.53667912e+02] [ 3.24731379e-02 9.99472418e-01 -6.17910822e-04 3.73032392e+01] [ 6.08123334e-03 4.20644537e-04 9.99981421e-01 -2.01853434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.041400513 meters 0.06787994659938322 Centerline is valid? [True, True] Translation: X:353.70, Y:37.31, Z:-2.02 [[ 9.99363611e-01 -3.50667245e-02 -6.53442322e-03 3.53696949e+02] [ 3.50631169e-02 9.99384878e-01 -6.65866635e-04 3.73065241e+01] [ 6.55375351e-03 4.36325639e-04 9.99978429e-01 -2.01946027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.071400513 meters 0.06876929338334549 Centerline is valid? [True, True] Translation: X:353.73, Y:37.31, Z:-2.02 [[ 9.99274049e-01 -3.74058424e-02 -7.22339959e-03 3.53725794e+02] [ 3.74014940e-02 9.99300048e-01 -7.36185107e-04 3.73117703e+01] [ 7.24588118e-03 4.65484736e-04 9.99973640e-01 -2.02064027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.101400513 meters 0.06536804080049867 Centerline is valid? [True, True] Translation: X:353.76, Y:37.31, Z:-2.02 [[ 9.99198488e-01 -3.93177463e-02 -7.51635237e-03 3.53756028e+02] [ 3.93130916e-02 9.99226648e-01 -7.66081332e-04 3.73113211e+01] [ 7.54066017e-03 4.69976260e-04 9.99971458e-01 -2.02025613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.131400513 meters 0.058809551115730684 Centerline is valid? [True, True] Translation: X:353.79, Y:37.31, Z:-2.02 [[ 9.99128778e-01 -4.11104308e-02 -7.18454197e-03 3.53786416e+02] [ 4.11062234e-02 9.99154514e-01 -7.32373900e-04 3.73065838e+01] [ 7.20857575e-03 4.36406453e-04 9.99973923e-01 -2.01930774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.161400513 meters 0.05823523224036744 Centerline is valid? [True, True] Translation: X:353.82, Y:37.31, Z:-2.02 [[ 9.99035017e-01 -4.34560176e-02 -6.37261255e-03 3.53816438e+02] [ 4.34527541e-02 9.99055272e-01 -6.49749911e-04 3.73090293e+01] [ 6.39482771e-03 3.72215347e-04 9.99979484e-01 -2.01850782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.191400513 meters 0.06066335569596374 Centerline is valid? [True, True] Translation: X:353.84, Y:37.32, Z:-2.02 [[ 9.99000731e-01 -4.43006170e-02 -5.91563495e-03 3.53843460e+02] [ 4.42978158e-02 9.99018188e-01 -6.03775121e-04 3.73182998e+01] [ 5.93657452e-03 3.41122079e-04 9.99982320e-01 -2.01860514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.221400513 meters 0.05551062041386116 Centerline is valid? [True, True] Translation: X:353.87, Y:37.31, Z:-2.02 [[ 9.98955785e-01 -4.52928397e-02 -5.99155298e-03 3.53873050e+02] [ 4.52899780e-02 9.98973695e-01 -6.12516609e-04 3.73141143e+01] [ 6.01314644e-03 3.40519707e-04 9.99981863e-01 -2.01880129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.251400513 meters 0.05371129212270683 Centerline is valid? [True, True] Translation: X:353.90, Y:37.32, Z:-2.02 [[ 9.98897004e-01 -4.64895549e-02 -6.59513025e-03 3.53900667e+02] [ 4.64861090e-02 9.98918708e-01 -6.74911518e-04 3.73162943e+01] [ 6.61937532e-03 3.67585150e-04 9.99978024e-01 -2.01927468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.281400513 meters 0.058309834450029734 Centerline is valid? [True, True] Translation: X:353.93, Y:37.32, Z:-2.02 [[ 9.98809086e-01 -4.82805589e-02 -7.02829139e-03 3.53929247e+02] [ 4.82766882e-02 9.98833742e-01 -7.19445588e-04 3.73245523e+01] [ 7.05482982e-03 3.79286158e-04 9.99975042e-01 -2.02064039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.311400513 meters 0.05829873309296324 Centerline is valid? [True, True] Translation: X:353.96, Y:37.33, Z:-2.02 [[ 9.98577739e-01 -5.29515275e-02 -6.21566086e-03 3.53957980e+02] [ 5.29485896e-02 9.98597037e-01 -6.36397439e-04 3.73260125e+01] [ 6.24063873e-03 3.06381840e-04 9.99980480e-01 -2.01968050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.341400513 meters 0.04692854256594614 Centerline is valid? [True, True] Translation: X:353.99, Y:37.31, Z:-2.02 [[ 9.98460009e-01 -5.52153553e-02 -5.37352841e-03 3.53989490e+02] [ 5.52131917e-02 9.98474437e-01 -5.50271160e-04 3.73142106e+01] [ 5.39571417e-03 2.52734093e-04 9.99985411e-01 -2.01780936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.371400513 meters 0.04558226786190923 Centerline is valid? [True, True] Translation: X:354.02, Y:37.31, Z:-2.02 [[ 9.98346065e-01 -5.73032217e-02 -4.63407625e-03 3.54018371e+02] [ 5.73016345e-02 9.98356799e-01 -4.74649818e-04 3.73144860e+01] [ 4.65366049e-03 2.08324634e-04 9.99989150e-01 -2.01689384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.401400513 meters 0.043372791437638815 Centerline is valid? [True, True] Translation: X:354.05, Y:37.31, Z:-2.02 [[ 9.98217880e-01 -5.95007190e-02 -4.55283091e-03 3.54048571e+02] [ 5.94992093e-02 9.98228244e-01 -4.66436762e-04 3.73135311e+01] [ 4.57251773e-03 1.94715676e-04 9.99989527e-01 -2.01747470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.431400513 meters 0.038961445277200434 Centerline is valid? [True, True] Translation: X:354.08, Y:37.31, Z:-2.02 [[ 9.97868026e-01 -6.51003966e-02 -4.61955737e-03 3.54079178e+02] [ 6.50989021e-02 9.97878705e-01 -4.73315986e-04 3.73052934e+01] [ 4.64057098e-03 1.71578776e-04 9.99989218e-01 -2.01752234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.461400513 meters 0.03696065260133954 Centerline is valid? [True, True] Translation: X:354.11, Y:37.30, Z:-2.02 [[ 9.97647491e-01 -6.84044236e-02 -4.50753525e-03 3.54108767e+02] [ 6.84030341e-02 9.97657663e-01 -4.61901851e-04 3.73014318e+01] [ 4.52857321e-03 1.52486136e-04 9.99989734e-01 -2.01677902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49140051300003 meters 0.030253961363327038 Centerline is valid? [True, True] Translation: X:354.14, Y:37.29, Z:-2.02 [[ 9.97418106e-01 -7.16403566e-02 -4.97807670e-03 3.54139378e+02] [ 7.16387014e-02 9.97430517e-01 -5.10243179e-04 3.72914807e+01] [ 5.00183962e-03 1.52302835e-04 9.99987479e-01 -2.01655784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.521400513 meters 0.030013180542526715 Centerline is valid? [True, True] Translation: X:354.17, Y:37.29, Z:-2.02 [[ 9.97185404e-01 -7.47772954e-02 -5.44301578e-03 3.54168739e+02] [ 7.47753626e-02 9.97200248e-01 -5.58034309e-04 3.72898335e+01] [ 5.46950498e-03 1.49460189e-04 9.99985031e-01 -2.01764774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55140051300003 meters 0.026481241454191534 Centerline is valid? [True, True] Translation: X:354.20, Y:37.28, Z:-2.02 [[ 9.96957479e-01 -7.77251983e-02 -5.88038254e-03 3.54198604e+02] [ 7.77229923e-02 9.96974810e-01 -6.03096296e-04 3.72835725e+01] [ 5.90946904e-03 1.44220436e-04 9.99982529e-01 -2.01874439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.581400513 meters 0.026481241454191534 Centerline is valid? [True, True] Translation: X:354.23, Y:37.29, Z:-2.02 [[ 9.96943195e-01 -7.79081962e-02 -5.88030625e-03 3.54225978e+02] [ 7.79059890e-02 9.96960527e-01 -6.03839395e-04 3.72865390e+01] [ 5.90947726e-03 1.43882502e-04 9.99982529e-01 -2.01867692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61140051300004 meters 0.023821893131650475 Centerline is valid? [True, True] Translation: X:354.26, Y:37.28, Z:-2.02 [[ 9.96739988e-01 -8.04638423e-02 -5.91329929e-03 3.54255538e+02] [ 8.04616515e-02 9.96757520e-01 -6.07843832e-04 3.72806476e+01] [ 5.94303499e-03 1.30068427e-04 9.99982332e-01 -2.01901412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.641400513 meters 0.020591743834850112 Centerline is valid? [True, True] Translation: X:354.29, Y:37.27, Z:-2.02 [[ 9.96459847e-01 -8.38825048e-02 -5.61232552e-03 3.54286183e+02] [ 8.38805822e-02 9.96475647e-01 -5.77495732e-04 3.72682401e+01] [ 5.64098749e-03 1.04686177e-04 9.99984084e-01 -2.01806466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.671400513 meters 0.019612853163781044 Centerline is valid? [True, True] Translation: X:354.31, Y:37.27, Z:-2.02 [[ 9.96414065e-01 -8.43917643e-02 -6.08614249e-03 3.54314240e+02] [ 8.43895062e-02 9.96432646e-01 -6.27348793e-04 3.72651227e+01] [ 6.11737413e-03 1.11492602e-04 9.99981282e-01 -2.01873259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.701400513 meters 0.02120771984043657 Centerline is valid? [True, True] Translation: X:354.34, Y:37.27, Z:-2.02 [[ 9.96442446e-01 -8.40127784e-02 -6.65613092e-03 3.54341988e+02] [ 8.40100639e-02 9.96464669e-01 -6.86861307e-04 3.72669486e+01] [ 6.69030443e-03 1.25235777e-04 9.99977612e-01 -2.01986851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.731400513 meters 0.021739941505616173 Centerline is valid? [True, True] Translation: X:354.37, Y:37.27, Z:-2.02 [[ 9.96530443e-01 -8.29780042e-02 -6.45967119e-03 3.54371168e+02] [ 8.29754207e-02 9.96551371e-01 -6.67387670e-04 3.72685462e+01] [ 6.49277267e-03 1.29078196e-04 9.99978913e-01 -2.01957998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.761400513 meters 0.02499050321950541 Centerline is valid? [True, True] Translation: X:354.40, Y:37.27, Z:-2.02 [[ 9.96646482e-01 -8.16335810e-02 -5.63452728e-03 3.54399034e+02] [ 8.16315903e-02 9.96662402e-01 -5.82763179e-04 3.72735803e+01] [ 5.66329454e-03 1.20853450e-04 9.99983956e-01 -2.01830544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.791400513 meters 0.02330539428676575 Centerline is valid? [True, True] Translation: X:354.43, Y:37.27, Z:-2.02 [[ 9.96740392e-01 -8.05269637e-02 -4.89894110e-03 3.54428231e+02] [ 8.05254426e-02 9.96752425e-01 -5.07280092e-04 3.72722702e+01] [ 4.92388115e-03 1.11137157e-04 9.99987871e-01 -2.01614419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.821400513 meters 0.02385416064903258 Centerline is valid? [True, True] Translation: X:354.46, Y:37.27, Z:-2.01 [[ 9.96784918e-01 -8.00201470e-02 -4.07469344e-03 3.54456969e+02] [ 8.00190879e-02 9.96793242e-01 -4.22544680e-04 3.72709063e+01] [ 4.09543897e-03 9.51329117e-05 9.99991609e-01 -2.01487147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.851400513 meters 0.02247402702130518 Centerline is valid? [True, True] Translation: X:354.49, Y:37.27, Z:-2.01 [[ 9.96711288e-01 -8.09420914e-02 -3.87113441e-03 3.54486444e+02] [ 8.09411400e-02 9.96718802e-01 -4.02067690e-04 3.72704769e+01] [ 3.89097665e-03 8.74113737e-05 9.99992426e-01 -2.01481762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.881400513 meters 0.030509681824274958 Centerline is valid? [True, True] Translation: X:354.51, Y:37.28, Z:-2.02 [[ 9.96623780e-01 -8.20164160e-02 -3.78783787e-03 3.54513511e+02] [ 8.20155109e-02 9.96630975e-01 -3.93942194e-04 3.72752649e+01] [ 3.80738628e-03 8.19507003e-05 9.99992749e-01 -2.01561861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.911400513 meters 0.023444412192967574 Centerline is valid? [True, True] Translation: X:354.54, Y:37.27, Z:-2.02 [[ 9.96556525e-01 -8.28182551e-02 -4.02859329e-03 3.54542823e+02] [ 8.28172358e-02 9.96564664e-01 -4.19468603e-04 3.72747446e+01] [ 4.04949338e-03 8.43872125e-05 9.99991797e-01 -2.01561688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.941400513 meters 0.02295502236257483 Centerline is valid? [True, True] Translation: X:354.57, Y:37.28, Z:-2.02 [[ 9.96487925e-01 -8.36229527e-02 -4.36085189e-03 3.54571639e+02] [ 8.36217629e-02 9.96497463e-01 -4.54797122e-04 3.72753923e+01] [ 4.38360933e-03 8.85377171e-05 9.99990388e-01 -2.01592693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.971400513 meters 0.020802179319452333 Centerline is valid? [True, True] Translation: X:354.60, Y:37.27, Z:-2.02 [[ 9.96346969e-01 -8.52532464e-02 -4.96000093e-03 3.54600697e+02] [ 8.52517230e-02 9.96359310e-01 -5.18137948e-04 3.72747067e+01] [ 4.98611605e-03 9.33965489e-05 9.99987565e-01 -2.01587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.001400513 meters 0.020470573493340524 Centerline is valid? [True, True] Translation: X:354.63, Y:37.28, Z:-2.02 [[ 9.96269693e-01 -8.61403194e-02 -5.15201831e-03 3.54628779e+02] [ 8.61386847e-02 9.96283010e-01 -5.38764581e-04 3.72780718e+01] [ 5.17927767e-03 9.29667426e-05 9.99986583e-01 -2.01610610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.031400513 meters 0.020818171997335513 Centerline is valid? [True, True] Translation: X:354.66, Y:37.28, Z:-2.02 [[ 9.96207135e-01 -8.68415122e-02 -5.46777066e-03 3.54656262e+02] [ 8.68396798e-02 9.96222135e-01 -5.72105597e-04 3.72823426e+01] [ 5.49679668e-03 9.51162247e-05 9.99984888e-01 -2.01660114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.061400513 meters 0.018100810094661135 Centerline is valid? [True, True] Translation: X:354.69, Y:37.28, Z:-2.02 [[ 9.96028685e-01 -8.88044721e-02 -6.37377585e-03 3.54685093e+02] [ 8.88020175e-02 9.96049073e-01 -6.67654260e-04 3.72826988e+01] [ 6.40788421e-03 9.89986399e-05 9.99979464e-01 -2.01802709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.091400513 meters 0.01586856468869291 Centerline is valid? [True, True] Translation: X:354.71, Y:37.28, Z:-2.02 [[ 9.95888285e-01 -9.04045976e-02 -5.79075108e-03 3.54714494e+02] [ 9.04025936e-02 9.95905117e-01 -6.07431275e-04 3.72833039e+01] [ 5.82195321e-03 8.14347742e-05 9.99983049e-01 -2.01685133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.121400513 meters 0.013806022561153385 Centerline is valid? [True, True] Translation: X:354.74, Y:37.28, Z:-2.01 [[ 9.95711331e-01 -9.24069262e-02 -4.46152817e-03 3.54743198e+02] [ 9.24057538e-02 9.95721325e-01 -4.68630602e-04 3.72840429e+01] [ 4.48574345e-03 5.43499267e-05 9.99989938e-01 -2.01461106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.151400513 meters 0.012883823554827605 Centerline is valid? [True, True] Translation: X:354.77, Y:37.29, Z:-2.01 [[ 9.95514255e-01 -9.45395590e-02 -3.69333582e-03 3.54771111e+02] [ 9.45387688e-02 9.95521105e-01 -3.88355963e-04 3.72858162e+01] [ 3.71350876e-03 3.74504764e-05 9.99993104e-01 -2.01390187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.181400513 meters 0.010219525630703497 Centerline is valid? [True, True] Translation: X:354.80, Y:37.28, Z:-2.01 [[ 9.95233950e-01 -9.74644462e-02 -3.17268146e-03 3.54800241e+02] [ 9.74638771e-02 9.95239007e-01 -3.33854623e-04 3.72846259e+01] [ 3.19011530e-03 2.30416196e-05 9.99994911e-01 -2.01313197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.211400513 meters 0.008019491110674043 Centerline is valid? [True, True] Translation: X:354.83, Y:37.28, Z:-2.01 [[ 9.94897904e-01 -1.00837916e-01 -3.14261298e-03 3.54828125e+02] [ 1.00837373e-01 9.94902867e-01 -3.31127838e-04 3.72831623e+01] [ 3.15998490e-03 1.25455551e-05 9.99995007e-01 -2.01322203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24140051300003 meters 0.0075952508631038276 Centerline is valid? [True, True] Translation: X:354.86, Y:37.28, Z:-2.02 [[ 9.94106127e-01 -1.08309687e-01 -4.69243197e-03 3.54856696e+02] [ 1.08308557e-01 9.94117202e-01 -4.95077505e-04 3.72771294e+01] [ 4.71844903e-03 -1.60709542e-05 9.99988868e-01 -2.01568632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.271400513 meters 0.009792736200478436 Centerline is valid? [True, True] Translation: X:354.88, Y:37.28, Z:-2.02 [[ 9.93750999e-01 -1.11453987e-01 -6.07960869e-03 3.54884768e+02] [ 1.11452143e-01 9.93769595e-01 -6.42265583e-04 3.72753367e+01] [ 6.11331333e-03 -3.93333546e-05 9.99981313e-01 -2.01825621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30140051300003 meters 0.012360650993610544 Centerline is valid? [True, True] Translation: X:354.91, Y:37.27, Z:-2.02 [[ 9.93426608e-01 -1.14238262e-01 -7.29343418e-03 3.54913418e+02] [ 1.14235679e-01 9.93453378e-01 -7.71105687e-04 3.72723637e+01] [ 7.33377660e-03 -6.71334981e-05 9.99973105e-01 -2.01975404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.331400513 meters 0.014126703808993606 Centerline is valid? [True, True] Translation: X:354.94, Y:37.27, Z:-2.02 [[ 9.93184528e-01 -1.16288022e-01 -7.84788044e-03 3.54942256e+02] [ 1.16285087e-01 9.93215530e-01 -8.30852777e-04 3.72703263e+01] [ 7.89125496e-03 -8.74013332e-05 9.99968860e-01 -2.01980771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36140051300004 meters 0.025801151533234555 Centerline is valid? [True, True] Translation: X:354.97, Y:37.27, Z:-2.02 [[ 9.93076534e-01 -1.17226135e-01 -7.55182382e-03 3.54970759e+02] [ 1.17223438e-01 9.93105244e-01 -8.00352140e-04 3.72704648e+01] [ 7.59357803e-03 -9.04398232e-05 9.99971164e-01 -2.01959071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.391400513 meters 0.01375078407418247 Centerline is valid? [True, True] Translation: X:355.00, Y:37.27, Z:-2.02 [[ 9.93104777e-01 -1.17003169e-01 -7.29105131e-03 3.54998462e+02] [ 1.17000640e-01 9.93131538e-01 -7.73875764e-04 3.72744487e+01] [ 7.33151892e-03 -8.45179522e-05 9.99973120e-01 -2.01746646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.421400513 meters 0.011592511963661305 Centerline is valid? [True, True] Translation: X:355.03, Y:37.28, Z:-2.02 [[ 9.93373500e-01 -1.14756858e-01 -6.32077061e-03 3.55026883e+02] [ 1.14754905e-01 9.93393608e-01 -6.71967838e-04 3.72821662e+01] [ 6.35612603e-03 -5.78243890e-05 9.99979798e-01 -2.01639350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.451400513 meters 0.010544405389984138 Centerline is valid? [True, True] Translation: X:355.05, Y:37.29, Z:-2.02 [[ 9.93584373e-01 -1.12916718e-01 -6.31736480e-03 3.55054138e+02] [ 1.12914725e-01 9.93604455e-01 -6.72372282e-04 3.72869837e+01] [ 6.35288388e-03 -4.52649173e-05 9.99979819e-01 -2.01666951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.481400513 meters 0.00870924718787532 Centerline is valid? [True, True] Translation: X:355.08, Y:37.29, Z:-2.02 [[ 9.93801963e-01 -1.10999864e-01 -6.05714593e-03 3.55082611e+02] [ 1.10997992e-01 9.93820421e-01 -6.45498463e-04 3.72930418e+01] [ 6.09136556e-03 -3.08333942e-05 9.99981447e-01 -2.01554598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.511400513 meters 0.007587223497559652 Centerline is valid? [True, True] Translation: X:355.11, Y:37.30, Z:-2.01 [[ 9.94031694e-01 -1.08966276e-01 -5.22903281e-03 3.55109754e+02] [ 1.08964849e-01 9.94045447e-01 -5.57770322e-04 3.72987804e+01] [ 5.25867441e-03 -1.53393943e-05 9.99986173e-01 -2.01404277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.541400513 meters 0.006748201810428983 Centerline is valid? [True, True] Translation: X:355.14, Y:37.31, Z:-2.01 [[ 9.94398237e-01 -1.05674885e-01 -2.22807070e-03 3.55137820e+02] [ 1.05674618e-01 9.94400733e-01 -2.37691499e-04 3.73108939e+01] [ 2.24071316e-03 9.09487877e-07 9.99997490e-01 -2.00989390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.571400513 meters 0.0072753796790887 Centerline is valid? [True, True] Translation: X:355.16, Y:37.32, Z:-2.01 [[ 9.94570022e-01 -1.04067816e-01 -6.01692839e-04 3.55164748e+02] [ 1.04067796e-01 9.94570204e-01 -6.41901673e-05 3.73184795e+01] [ 6.05105900e-04 1.22476849e-06 9.99999817e-01 -2.00771896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.601400513 meters 0.00792783123765443 Centerline is valid? [True, True] Translation: X:355.19, Y:37.33, Z:-2.01 [[ 9.94690448e-01 -1.02911923e-01 2.21526740e-04 3.55192538e+02] [ 1.02911920e-01 9.94690473e-01 2.38402396e-05 3.73251533e+01] [-2.22803983e-04 -9.15916450e-07 9.99999975e-01 -2.00640476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.631400513 meters 0.007872275346403949 Centerline is valid? [True, True] Translation: X:355.22, Y:37.33, Z:-2.01 [[ 9.94724055e-01 -1.02583577e-01 -8.15190682e-04 3.55219942e+02] [ 1.02583540e-01 9.94724389e-01 -8.68871586e-05 3.73299807e+01] [ 8.19803248e-04 2.80360058e-06 9.99999664e-01 -2.00807568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.661400513 meters 0.00798910949107152 Centerline is valid? [True, True] Translation: X:355.25, Y:37.34, Z:-2.01 [[ 9.94682193e-01 -1.02955452e-01 -2.74030609e-03 3.55246839e+02] [ 1.02955033e-01 9.94685968e-01 -2.93728032e-04 3.73351727e+01] [ 2.75598492e-03 1.00377395e-05 9.99996202e-01 -2.01146654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.691400513 meters 0.007569242049482504 Centerline is valid? [True, True] Translation: X:355.27, Y:37.34, Z:-2.02 [[ 9.94552012e-01 -1.04111246e-01 -5.20988605e-03 3.55274972e+02] [ 1.04109743e-01 9.94565658e-01 -5.59572576e-04 3.73384800e+01] [ 5.23983154e-03 1.41241334e-05 9.99986272e-01 -2.01538585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.721400513 meters 0.007400801728549787 Centerline is valid? [True, True] Translation: X:355.30, Y:37.34, Z:-2.02 [[ 9.94183114e-01 -1.07422563e-01 -7.76712067e-03 3.55304182e+02] [ 1.07419312e-01 9.94213454e-01 -8.35788850e-04 3.73378498e+01] [ 7.81195845e-03 -3.41159501e-06 9.99969486e-01 -2.01823497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.751400513 meters 0.008047278917106387 Centerline is valid? [True, True] Translation: X:355.33, Y:37.34, Z:-2.02 [[ 9.93978944e-01 -1.09261976e-01 -8.22676065e-03 3.55331840e+02] [ 1.09258385e-01 9.94012988e-01 -8.86016265e-04 3.73374449e+01] [ 8.27431482e-03 -1.81610723e-05 9.99965767e-01 -2.01835613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.781400513 meters 0.008897636398701747 Centerline is valid? [True, True] Translation: X:355.36, Y:37.34, Z:-2.02 [[ 9.93748464e-01 -1.11302501e-01 -8.70312458e-03 3.55361162e+02] [ 1.11298550e-01 9.93786573e-01 -9.38516650e-04 3.73378546e+01] [ 8.75350760e-03 -3.59956631e-05 9.99961687e-01 -2.01885261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.811400513 meters 0.009617294484804768 Centerline is valid? [True, True] Translation: X:355.39, Y:37.34, Z:-2.02 [[ 9.93616700e-01 -1.12393960e-01 -9.66702977e-03 3.55389840e+02] [ 1.12389121e-01 9.93663723e-01 -1.04404310e-03 3.73404644e+01] [ 9.72312093e-03 -4.90903261e-05 9.99952728e-01 -2.02135793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.841400513 meters 0.008653384685373924 Centerline is valid? [True, True] Translation: X:355.42, Y:37.35, Z:-2.02 [[ 9.93775391e-01 -1.11015955e-01 -9.26979492e-03 3.55418607e+02] [ 1.11011432e-01 9.93818624e-01 -1.00266244e-03 3.73458695e+01] [ 9.32380635e-03 -3.26319493e-05 9.99956532e-01 -2.02105072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.871400513 meters 0.007499006325841946 Centerline is valid? [True, True] Translation: X:355.45, Y:37.35, Z:-2.02 [[ 9.94067688e-01 -1.08474589e-01 -7.91798372e-03 3.55445720e+02] [ 1.08471202e-01 9.94099222e-01 -8.57124617e-04 3.73518092e+01] [ 7.96423770e-03 -6.83332699e-06 9.99968285e-01 -2.01853361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.901400513 meters 0.007476376797681283 Centerline is valid? [True, True] Translation: X:355.47, Y:37.36, Z:-2.02 [[ 9.94382072e-01 -1.05640650e-01 -6.65947258e-03 3.55473536e+02] [ 1.05638185e-01 9.94404371e-01 -7.21818061e-04 3.73581282e+01] [ 6.69846197e-03 1.42683448e-05 9.99977565e-01 -2.01563045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.931400513 meters 0.009073511398245731 Centerline is valid? [True, True] Translation: X:355.50, Y:37.37, Z:-2.01 [[ 9.94716666e-01 -1.02495507e-01 -5.78143911e-03 3.55501098e+02] [ 1.02493593e-01 9.94733467e-01 -6.27249085e-04 3.73652205e+01] [ 5.81528118e-03 3.13746520e-05 9.99983091e-01 -2.01392170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.961400513 meters 0.011212914277380099 Centerline is valid? [True, True] Translation: X:355.53, Y:37.37, Z:-2.01 [[ 9.95033205e-01 -9.93745606e-02 -5.79812749e-03 3.55528954e+02] [ 9.93725779e-02 9.95050096e-01 -6.29768342e-04 3.73724309e+01] [ 5.83201027e-03 5.04655360e-05 9.99982992e-01 -2.01361111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99140051300003 meters 0.016816504051433867 Centerline is valid? [True, True] Translation: X:355.56, Y:37.38, Z:-2.02 [[ 9.95699060e-01 -9.23954176e-02 -6.81673398e-03 3.55557187e+02] [ 9.23925090e-02 9.95722389e-01 -7.41046436e-04 3.73848319e+01] [ 6.85604394e-03 1.08044084e-04 9.99976491e-01 -2.01594835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.021400513 meters 0.02142559182369089 Centerline is valid? [True, True] Translation: X:355.58, Y:37.39, Z:-2.02 [[ 9.95988816e-01 -8.91670513e-02 -7.45087608e-03 3.55584471e+02] [ 8.91634834e-02 9.96016675e-01 -8.10337859e-04 3.73936509e+01] [ 7.49345225e-03 1.42741379e-04 9.99971914e-01 -2.01726870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05140051300003 meters 0.024711396429824735 Centerline is valid? [True, True] Translation: X:355.61, Y:37.40, Z:-2.02 [[ 9.96253958e-01 -8.61438940e-02 -7.56833929e-03 3.55612886e+02] [ 8.61401227e-02 9.96282691e-01 -8.23477566e-04 3.74006968e+01] [ 7.61114300e-03 1.68455110e-04 9.99971021e-01 -2.01679041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.081400513 meters 0.025134039270129246 Centerline is valid? [True, True] Translation: X:355.64, Y:37.40, Z:-2.02 [[ 9.96487400e-01 -8.34069790e-02 -7.49250257e-03 3.55641725e+02] [ 8.34032029e-02 9.96515550e-01 -8.15580554e-04 3.74049531e+01] [ 7.53442043e-03 1.87817034e-04 9.99971598e-01 -2.01524336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11140051300004 meters 0.03177722058554388 Centerline is valid? [True, True] Translation: X:355.67, Y:37.42, Z:-2.01 [[ 9.96946902e-01 -7.78022116e-02 -6.60994302e-03 3.55670221e+02] [ 7.77991485e-02 9.96968793e-01 -7.19664396e-04 3.74182952e+01] [ 6.64589840e-03 2.03219251e-04 9.99977895e-01 -2.01403235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.141400513 meters 0.03841064959102768 Centerline is valid? [True, True] Translation: X:355.70, Y:37.43, Z:-2.01 [[ 9.97161466e-01 -7.50922753e-02 -5.49197619e-03 3.55697671e+02] [ 7.50901188e-02 9.97176572e-01 -5.98113803e-04 3.74263000e+01] [ 5.52138372e-03 1.84022891e-04 9.99984740e-01 -2.01252384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.171400513 meters 0.03954918549950851 Centerline is valid? [True, True] Translation: X:355.73, Y:37.43, Z:-2.01 [[ 9.97345314e-01 -7.26952402e-02 -4.21032928e-03 3.55727053e+02] [ 7.26939509e-02 9.97354189e-01 -4.58665612e-04 3.74291732e+01] [ 4.23253235e-03 1.51382529e-04 9.99991031e-01 -2.01011445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.201400513 meters 0.03863650304561091 Centerline is valid? [True, True] Translation: X:355.75, Y:37.44, Z:-2.01 [[ 9.97478389e-01 -7.08967875e-02 -3.24182038e-03 3.55754425e+02] [ 7.08960134e-02 9.97483649e-01 -3.53242817e-04 3.74379443e+01] [ 3.25870661e-03 1.22519934e-04 9.99994683e-01 -2.00860991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.231400513 meters 0.04370808181322366 Centerline is valid? [True, True] Translation: X:355.78, Y:37.44, Z:-2.01 [[ 9.97530939e-01 -7.01631257e-02 -3.02680181e-03 3.55783065e+02] [ 7.01624468e-02 9.97535524e-01 -3.30020972e-04 3.74401328e+01] [ 3.04249763e-03 1.16838309e-04 9.99995365e-01 -2.00832240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.261400513 meters 0.043919809264335294 Centerline is valid? [True, True] Translation: X:355.81, Y:37.44, Z:-2.01 [[ 9.97566400e-01 -6.96486977e-02 -3.21497473e-03 3.55811842e+02] [ 6.96479274e-02 9.97571573e-01 -3.51093217e-04 3.74430797e+01] [ 3.23162058e-03 1.26322470e-04 9.99994770e-01 -2.00965312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.291400513 meters 0.04422519581977531 Centerline is valid? [True, True] Translation: X:355.84, Y:37.45, Z:-2.01 [[ 9.97526704e-01 -7.01971098e-02 -3.58350611e-03 3.55839410e+02] [ 7.01961544e-02 9.97533130e-01 -3.91856291e-04 3.74456024e+01] [ 3.60217324e-03 1.39338767e-04 9.99993502e-01 -2.01083359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.321400513 meters 0.03439757582843487 Centerline is valid? [True, True] Translation: X:355.87, Y:37.44, Z:-2.01 [[ 9.97494764e-01 -7.06078413e-02 -4.32772608e-03 3.55868911e+02] [ 7.06064495e-02 9.97504138e-01 -4.73734870e-04 3.74409201e+01] [ 4.35037407e-03 1.66982678e-04 9.99990523e-01 -2.01116752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.351400513 meters 0.040620617780578884 Centerline is valid? [True, True] Translation: X:355.90, Y:37.45, Z:-2.01 [[ 9.97459647e-01 -7.10513852e-02 -5.09435407e-03 3.55895973e+02] [ 7.10494591e-02 9.97472638e-01 -5.58309679e-04 3.74500286e+01] [ 5.12114747e-03 1.94940274e-04 9.99986868e-01 -2.01240686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.381400513 meters 0.03948627501396287 Centerline is valid? [True, True] Translation: X:355.92, Y:37.45, Z:-2.01 [[ 9.97448057e-01 -7.11345332e-02 -6.10334947e-03 3.55924741e+02] [ 7.11317653e-02 9.97466703e-01 -6.69667100e-04 3.74493598e+01] [ 6.13552433e-03 2.33816126e-04 9.99981150e-01 -2.01356954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.411400513 meters 0.037394439584247374 Centerline is valid? [True, True] Translation: X:355.95, Y:37.45, Z:-2.01 [[ 9.97483132e-01 -7.05774461e-02 -6.79896998e-03 3.55953780e+02] [ 7.05739903e-02 9.97506267e-01 -7.47162829e-04 3.74503288e+01] [ 6.83474801e-03 2.65451877e-04 9.99976608e-01 -2.01374315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.441400513 meters 0.048305638994983364 Centerline is valid? [True, True] Translation: X:355.98, Y:37.45, Z:-2.01 [[ 9.97688786e-01 -6.75858563e-02 -7.01694886e-03 3.55983010e+02] [ 6.75820977e-02 9.97713418e-01 -7.71645552e-04 3.74530763e+01] [ 7.05305636e-03 2.95641991e-04 9.99975083e-01 -2.01407589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.471400513 meters 0.04673495427354793 Centerline is valid? [True, True] Translation: X:356.01, Y:37.46, Z:-2.01 [[ 9.97795207e-01 -6.60787735e-02 -6.19028639e-03 3.56010690e+02] [ 6.60758180e-02 9.97814373e-01 -6.80970666e-04 3.74605451e+01] [ 6.22175444e-03 2.70441030e-04 9.99980608e-01 -2.01248007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.501400513 meters 0.042704509612323825 Centerline is valid? [True, True] Translation: X:356.04, Y:37.46, Z:-2.01 [[ 9.97872291e-01 -6.49166763e-02 -6.05932690e-03 3.56039725e+02] [ 6.49138212e-02 9.97890651e-01 -6.66894143e-04 3.74558410e+01] [ 6.08983822e-03 2.72141124e-04 9.99981420e-01 -2.01123362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.531400513 meters 0.042704509612323825 Centerline is valid? [True, True] Translation: X:356.07, Y:37.46, Z:-2.01 [[ 9.97860075e-01 -6.51041896e-02 -6.05923619e-03 3.56067104e+02] [ 6.51013329e-02 9.97878435e-01 -6.67717552e-04 3.74589937e+01] [ 6.08985234e-03 2.71824335e-04 9.99981420e-01 -2.01116609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.561400513 meters 0.047886691034696206 Centerline is valid? [True, True] Translation: X:356.09, Y:37.47, Z:-2.01 [[ 9.97907884e-01 -6.43651386e-02 -6.08151495e-03 3.56094698e+02] [ 6.43622430e-02 9.97926376e-01 -6.70852978e-04 3.74663720e+01] [ 6.11208372e-03 2.78029533e-04 9.99981282e-01 -2.01181196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.591400513 meters 0.04711728509142946 Centerline is valid? [True, True] Translation: X:356.12, Y:37.47, Z:-2.01 [[ 9.97945107e-01 -6.37064705e-02 -6.85927309e-03 3.56123953e+02] [ 6.37027654e-02 9.97968629e-01 -7.57523573e-04 3.74650841e+01] [ 6.89359851e-03 3.19012278e-04 9.99976188e-01 -2.01400424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.621400513 meters 0.04802385560920544 Centerline is valid? [True, True] Translation: X:356.15, Y:37.47, Z:-2.01 [[ 9.97952772e-01 -6.35330550e-02 -7.33589172e-03 3.56151258e+02] [ 6.35288056e-02 9.97979676e-01 -8.11072528e-04 3.74673055e+01] [ 7.37260075e-03 3.43371639e-04 9.99972763e-01 -2.01496605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.651400513 meters 0.045368257232759314 Centerline is valid? [True, True] Translation: X:356.18, Y:37.47, Z:-2.02 [[ 9.97953449e-01 -6.34910845e-02 -7.60230050e-03 3.56180665e+02] [ 6.34865113e-02 9.97982342e-01 -8.41630242e-04 3.74650761e+01] [ 7.64039767e-03 3.57264267e-04 9.99970748e-01 -2.01517364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.681400513 meters 0.04696823143240325 Centerline is valid? [True, True] Translation: X:356.21, Y:37.47, Z:-2.02 [[ 9.97975986e-01 -6.30911169e-02 -7.96505251e-03 3.56208638e+02] [ 6.30860781e-02 9.98007699e-01 -8.82531693e-04 3.74683797e+01] [ 8.00486364e-03 3.78261512e-04 9.99967889e-01 -2.01537545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.711400513 meters 0.04890602360471969 Centerline is valid? [True, True] Translation: X:356.24, Y:37.47, Z:-2.02 [[ 9.98019685e-01 -6.23437036e-02 -8.36491256e-03 3.56236099e+02] [ 6.23381159e-02 9.98054658e-01 -9.27326284e-04 3.74722778e+01] [ 8.40645289e-03 4.04036997e-04 9.99964584e-01 -2.01576376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74140051300003 meters 0.051902322940636764 Centerline is valid? [True, True] Translation: X:356.26, Y:37.48, Z:-2.02 [[ 9.98079707e-01 -6.13269835e-02 -8.71199576e-03 3.56264251e+02] [ 6.13208806e-02 9.98117636e-01 -9.66164845e-04 3.74782240e+01] [ 8.75484859e-03 4.30082274e-04 9.99961583e-01 -2.01649492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.771400513 meters 0.047585326940924516 Centerline is valid? [True, True] Translation: X:356.29, Y:37.47, Z:-2.02 [[ 9.98161344e-01 -5.99551398e-02 -8.90580146e-03 3.56294587e+02] [ 5.99487057e-02 9.98200970e-01 -9.87896263e-04 3.74749982e+01] [ 8.94900911e-03 4.52188590e-04 9.99959855e-01 -2.01583997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80140051300003 meters 0.04743388044809811 Centerline is valid? [True, True] Translation: X:356.32, Y:37.48, Z:-2.01 [[ 9.98193206e-01 -5.95603775e-02 -7.92994582e-03 3.56323399e+02] [ 5.95552562e-02 9.98224622e-01 -8.80611190e-04 3.74778340e+01] [ 7.96831671e-03 4.06750152e-04 9.99968170e-01 -2.01411717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.831400513 meters 0.050141558530398346 Centerline is valid? [True, True] Translation: X:356.35, Y:37.48, Z:-2.01 [[ 9.98240829e-01 -5.89438429e-02 -6.39307378e-03 3.56351094e+02] [ 5.89404974e-02 9.98261245e-01 -7.10619339e-04 3.74842912e+01] [ 6.42384443e-03 3.32558289e-04 9.99979312e-01 -2.01194883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86140051300004 meters 0.05408329494131978 Centerline is valid? [True, True] Translation: X:356.38, Y:37.49, Z:-2.01 [[ 9.98292904e-01 -5.82035833e-02 -4.86012295e-03 3.56378139e+02] [ 5.82016396e-02 9.98304701e-01 -5.40529802e-04 3.74912145e+01] [ 4.88334436e-03 2.56739942e-04 9.99988043e-01 -2.00981600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.891400513 meters 0.05473739848608298 Centerline is valid? [True, True] Translation: X:356.41, Y:37.50, Z:-2.01 [[ 9.98328892e-01 -5.76672771e-02 -3.72939655e-03 3.56405207e+02] [ 5.76661280e-02 9.98335838e-01 -4.14992445e-04 3.74963027e+01] [ 3.74712171e-03 1.99239089e-04 9.99992960e-01 -2.00724759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.921400513 meters 0.0589848355138446 Centerline is valid? [True, True] Translation: X:356.43, Y:37.51, Z:-2.01 [[ 9.98354806e-01 -5.71905544e-02 -4.11354881e-03 3.56431782e+02] [ 5.71891509e-02 9.98363256e-01 -4.58109881e-04 3.75062851e+01] [ 4.13301555e-03 2.22105838e-04 9.99991434e-01 -2.00809652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.951400513 meters 0.05118250586911864 Centerline is valid? [True, True] Translation: X:356.46, Y:37.50, Z:-2.01 [[ 9.98362793e-01 -5.70066703e-02 -4.68764740e-03 3.56461735e+02] [ 5.70048428e-02 9.98373765e-01 -5.22648839e-04 3.75008276e+01] [ 4.70981865e-03 2.54574551e-04 9.99988876e-01 -2.00846406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.981400513 meters 0.055245328237102743 Centerline is valid? [True, True] Translation: X:356.49, Y:37.51, Z:-2.01 [[ 9.98377092e-01 -5.67108743e-02 -5.20179973e-03 3.56489146e+02] [ 5.67086168e-02 9.98390603e-01 -5.80578156e-04 3.75101395e+01] [ 5.22635307e-03 2.84649064e-04 9.99986302e-01 -2.00894093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.011400513 meters 0.05126224553949581 Centerline is valid? [True, True] Translation: X:356.52, Y:37.51, Z:-2.01 [[ 9.98378811e-01 -5.66791073e-02 -5.21810827e-03 3.56517768e+02] [ 5.66768320e-02 9.98392406e-01 -5.82998551e-04 3.75102403e+01] [ 5.24276351e-03 2.86307555e-04 9.99986216e-01 -2.00859984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.041400513 meters 0.06062200977635706 Centerline is valid? [True, True] Translation: X:356.54, Y:37.53, Z:-2.01 [[ 9.98404639e-01 -5.62867023e-02 -4.47038119e-03 3.56543204e+02] [ 5.62850264e-02 9.98414616e-01 -4.99920335e-04 3.75299905e+01] [ 4.49143279e-03 2.47507258e-04 9.99989883e-01 -2.00788595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.071400513 meters 0.05673499201328891 Centerline is valid? [True, True] Translation: X:356.57, Y:37.53, Z:-2.01 [[ 9.98415338e-01 -5.60896579e-02 -4.55660448e-03 3.56571856e+02] [ 5.60879125e-02 9.98425704e-01 -5.10044639e-04 3.75307242e+01] [ 4.57803926e-03 2.53665958e-04 9.99989489e-01 -2.00746374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.101400513 meters 0.05664323943660678 Centerline is valid? [True, True] Translation: X:356.60, Y:37.53, Z:-2.01 [[ 9.98422444e-01 -5.59266370e-02 -4.98345990e-03 3.56600471e+02] [ 5.59245430e-02 9.98434842e-01 -5.58654930e-04 3.75347901e+01] [ 5.00690369e-03 2.79075903e-04 9.99987426e-01 -2.00751779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.131400513 meters 0.05838292980394512 Centerline is valid? [True, True] Translation: X:356.63, Y:37.54, Z:-2.01 [[ 9.98428017e-01 -5.57159539e-02 -6.10135583e-03 3.56627389e+02] [ 5.57128068e-02 9.98446601e-01 -6.84697797e-04 3.75406639e+01] [ 6.13002658e-03 3.43697805e-04 9.99981152e-01 -2.00912271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.161400513 meters 0.05555737054485682 Centerline is valid? [True, True] Translation: X:356.66, Y:37.54, Z:-2.01 [[ 9.98454704e-01 -5.51683121e-02 -6.68297617e-03 3.56655632e+02] [ 5.51645213e-02 9.98476996e-01 -7.50393814e-04 3.75426382e+01] [ 6.71419594e-03 3.80571052e-04 9.99977387e-01 -2.01005741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.191400513 meters 0.05539902388711915 Centerline is valid? [True, True] Translation: X:356.68, Y:37.55, Z:-2.01 [[ 9.98473062e-01 -5.49078275e-02 -6.05593032e-03 3.56683744e+02] [ 5.49047078e-02 9.98491367e-01 -6.80323560e-04 3.75463094e+01] [ 6.08414923e-03 3.46785664e-04 9.99981431e-01 -2.00933095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.221400513 meters 0.06122691744404823 Centerline is valid? [True, True] Translation: X:356.71, Y:37.56, Z:-2.01 [[ 9.98529840e-01 -5.39121807e-02 -5.62447255e-03 3.56711477e+02] [ 5.39094726e-02 9.98545627e-01 -6.32094981e-04 3.75561381e+01] [ 5.65037009e-03 3.27953351e-04 9.99983983e-01 -2.00841499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.251400513 meters 0.05786915919313003 Centerline is valid? [True, True] Translation: X:356.74, Y:37.55, Z:-2.01 [[ 9.98588935e-01 -5.27904150e-02 -5.77156126e-03 3.56741754e+02] [ 5.27875438e-02 9.98605555e-01 -6.48788494e-04 3.75548253e+01] [ 5.79776295e-03 3.43206468e-04 9.99983134e-01 -2.00775057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.281400513 meters 0.05945985913374423 Centerline is valid? [True, True] Translation: X:356.77, Y:37.56, Z:-2.01 [[ 9.98644967e-01 -5.16241008e-02 -6.57138265e-03 3.56770659e+02] [ 5.16203521e-02 9.98666508e-01 -7.38903761e-04 3.75597466e+01] [ 6.60076500e-03 3.98685435e-04 9.99978135e-01 -2.00873614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.311400513 meters 0.06440562923111878 Centerline is valid? [True, True] Translation: X:356.80, Y:37.57, Z:-2.01 [[ 9.98698378e-01 -5.04806603e-02 -7.29738759e-03 3.56798172e+02] [ 5.04760046e-02 9.98724937e-01 -8.20889699e-04 3.75692604e+01] [ 7.32952201e-03 4.51478242e-04 9.99973037e-01 -2.01069807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.341400513 meters 0.0646644865789245 Centerline is valid? [True, True] Translation: X:356.83, Y:37.57, Z:-2.01 [[ 9.98801550e-01 -4.84170185e-02 -7.15934594e-03 3.56828739e+02] [ 4.84124835e-02 9.98827103e-01 -8.05488510e-04 3.75720026e+01] [ 7.18994812e-03 4.57921454e-04 9.99974047e-01 -2.01059155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.371400513 meters 0.06428781736261403 Centerline is valid? [True, True] Translation: X:356.86, Y:37.57, Z:-2.01 [[ 9.98837869e-01 -4.77598825e-02 -6.47339108e-03 3.56857183e+02] [ 4.77561597e-02 9.98858758e-01 -7.28542310e-04 3.75727206e+01] [ 6.50079847e-03 4.18551350e-04 9.99978782e-01 -2.00891444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.401400513 meters 0.06409367258928858 Centerline is valid? [True, True] Translation: X:356.89, Y:37.57, Z:-2.01 [[ 9.98862369e-01 -4.72761181e-02 -6.23993772e-03 3.56885955e+02] [ 4.72726449e-02 9.98881776e-01 -7.03012518e-04 3.75731682e+01] [ 6.26619577e-03 4.07234389e-04 9.99980284e-01 -2.00774001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.431400513 meters 0.06732756171723503 Centerline is valid? [True, True] Translation: X:356.91, Y:37.58, Z:-2.01 [[ 9.98873751e-01 -4.68586475e-02 -7.44957821e-03 3.56913415e+02] [ 4.68536800e-02 9.98901410e-01 -8.40047304e-04 3.75762103e+01] [ 7.48075766e-03 4.90061049e-04 9.99971899e-01 -2.01009866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.461400513 meters 0.06545425113228967 Centerline is valid? [True, True] Translation: X:356.94, Y:37.58, Z:-2.01 [[ 9.98861483e-01 -4.69975176e-02 -8.18355726e-03 3.56942500e+02] [ 4.69915189e-02 9.98894861e-01 -9.23877840e-04 3.75754528e+01] [ 8.21793326e-03 5.38268204e-04 9.99966087e-01 -2.01139404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49140051300003 meters 0.06832984524574319 Centerline is valid? [True, True] Translation: X:356.97, Y:37.58, Z:-2.01 [[ 9.98866244e-01 -4.68494392e-02 -8.44730488e-03 3.56969983e+02] [ 4.68430360e-02 9.98901807e-01 -9.54390741e-04 3.75803535e+01] [ 8.48274078e-03 5.57611287e-04 9.99963865e-01 -2.01196243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.521400513 meters 0.06885199648707545 Centerline is valid? [True, True] Translation: X:357.00, Y:37.58, Z:-2.01 [[ 9.98893028e-01 -4.63555760e-02 -7.99243157e-03 3.56999055e+02] [ 4.63498201e-02 9.98924861e-01 -9.03995611e-04 3.75825495e+01] [ 8.02574383e-03 5.32547148e-04 9.99967651e-01 -2.01131307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55140051300003 meters 0.0676371895417842 Centerline is valid? [True, True] Translation: X:357.03, Y:37.58, Z:-2.01 [[ 9.98950472e-01 -4.52335291e-02 -7.20291368e-03 3.57029112e+02] [ 4.52288219e-02 9.98976321e-01 -8.15146572e-04 3.75833368e+01] [ 7.23241216e-03 4.88511753e-04 9.99973726e-01 -2.00931052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.581400513 meters 0.0809001335577312 Centerline is valid? [True, True] Translation: X:357.06, Y:37.60, Z:-2.01 [[ 9.99131247e-01 -4.11920151e-02 -6.32210495e-03 3.57056375e+02] [ 4.11883080e-02 9.99151145e-01 -7.15517443e-04 3.76020546e+01] [ 6.34621201e-03 4.54499029e-04 9.99979759e-01 -2.00860532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61140051300004 meters 0.08345084773997256 Centerline is valid? [True, True] Translation: X:357.09, Y:37.61, Z:-2.01 [[ 9.99218744e-01 -3.89810242e-02 -6.51006944e-03 3.57086648e+02] [ 3.89770466e-02 9.99239835e-01 -7.36800540e-04 3.76082287e+01] [ 6.53384195e-03 4.82481630e-04 9.99978538e-01 -2.00877620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.641400513 meters 0.07375121880484366 Centerline is valid? [True, True] Translation: X:357.12, Y:37.60, Z:-2.01 [[ 9.99267559e-01 -3.76051595e-02 -7.08507399e-03 3.57118539e+02] [ 3.76004137e-02 9.99292533e-01 -8.01883983e-04 3.75987719e+01] [ 7.11021650e-03 5.34894936e-04 9.99974579e-01 -2.00840130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.671400513 meters 0.07525275861137284 Centerline is valid? [True, True] Translation: X:357.15, Y:37.60, Z:-2.01 [[ 9.99274497e-01 -3.73767712e-02 -7.31136297e-03 3.57146253e+02] [ 3.73717084e-02 9.99301091e-01 -8.27906034e-04 3.76024740e+01] [ 7.33719745e-03 5.54067261e-04 9.99972929e-01 -2.00867443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.701400513 meters 0.06753095478521476 Centerline is valid? [True, True] Translation: X:357.18, Y:37.59, Z:-2.01 [[ 9.99201938e-01 -3.91272391e-02 -8.03407019e-03 3.57176991e+02] [ 3.91211793e-02 9.99234059e-01 -9.10097894e-04 3.75947544e+01] [ 8.06352619e-03 5.95069280e-04 9.99967312e-01 -2.01009073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.731400513 meters 0.07362126046897838 Centerline is valid? [True, True] Translation: X:357.20, Y:37.61, Z:-2.01 [[ 9.99124457e-01 -4.11153838e-02 -7.73595977e-03 3.57204912e+02] [ 4.11098233e-02 9.99154249e-01 -8.76503309e-04 3.76050263e+01] [ 7.76545485e-03 5.57711954e-04 9.99969693e-01 -2.01105596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.761400513 meters 0.07091844546768428 Centerline is valid? [True, True] Translation: X:357.24, Y:37.60, Z:-2.01 [[ 9.99038537e-01 -4.32572420e-02 -7.12832105e-03 3.57235659e+02] [ 4.32525744e-02 9.99063843e-01 -8.07725053e-04 3.76040744e+01] [ 7.15658778e-03 4.98630218e-04 9.99974267e-01 -2.01046329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.791400513 meters 0.06827418759276097 Centerline is valid? [True, True] Translation: X:357.27, Y:37.60, Z:-2.01 [[ 9.98974394e-01 -4.47911401e-02 -6.62672158e-03 3.57265598e+02] [ 4.47871392e-02 9.98996270e-01 -7.50990374e-04 3.76025978e+01] [ 6.65370785e-03 4.53428252e-04 9.99977761e-01 -2.00961884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.821400513 meters 0.06456253972784189 Centerline is valid? [True, True] Translation: X:357.30, Y:37.60, Z:-2.01 [[ 9.98937724e-01 -4.55849569e-02 -6.74050420e-03 3.57295231e+02] [ 4.55808338e-02 9.98960361e-01 -7.64138077e-04 3.75997459e+01] [ 6.76832971e-03 4.56088551e-04 9.99976991e-01 -2.00878134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.851400513 meters 0.07035644526798542 Centerline is valid? [True, True] Translation: X:357.32, Y:37.61, Z:-2.01 [[ 9.98973182e-01 -4.47684059e-02 -6.95499265e-03 3.57322524e+02] [ 4.47639942e-02 9.98997279e-01 -7.88775279e-04 3.76088390e+01] [ 6.98333094e-03 4.76632100e-04 9.99975503e-01 -2.00894966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.881400513 meters 0.08116519735116329 Centerline is valid? [True, True] Translation: X:357.35, Y:37.63, Z:-2.01 [[ 9.99202863e-01 -3.92842329e-02 -7.09844550e-03 3.57350258e+02] [ 3.92794985e-02 9.99227938e-01 -8.05205869e-04 3.76254506e+01] [ 7.12459695e-03 5.25740631e-04 9.99974482e-01 -2.00932884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.911400513 meters 0.07826280398750908 Centerline is valid? [True, True] Translation: X:357.38, Y:37.63, Z:-2.01 [[ 9.99345537e-01 -3.55078536e-02 -6.90585467e-03 3.57380744e+02] [ 3.55032825e-02 9.99369253e-01 -7.83429255e-04 3.76262350e+01] [ 6.92931671e-03 5.37736020e-04 9.99975847e-01 -2.00826003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.941400513 meters 0.08972804028275584 Centerline is valid? [True, True] Translation: X:357.41, Y:37.65, Z:-2.01 [[ 9.99487882e-01 -3.12963574e-02 -6.67164202e-03 3.57408122e+02] [ 3.12919973e-02 9.99509999e-01 -7.56938973e-04 3.76450679e+01] [ 6.69206234e-03 5.47782327e-04 9.99977458e-01 -2.00813018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.971400513 meters 0.08571866657251134 Centerline is valid? [True, True] Translation: X:357.44, Y:37.65, Z:-2.01 [[ 9.99704531e-01 -2.31402764e-02 -7.44169873e-03 3.57438482e+02] [ 2.31346270e-02 9.99732002e-01 -8.44358603e-04 3.76478274e+01] [ 7.45924306e-03 6.71948197e-04 9.99971954e-01 -2.00851285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.001400513 meters 0.0886445680181186 Centerline is valid? [True, True] Translation: X:357.47, Y:37.66, Z:-2.01 [[ 9.99773089e-01 -1.97848192e-02 -7.89499272e-03 3.57467972e+02] [ 1.97783563e-02 9.99803988e-01 -8.95853565e-04 3.76572098e+01] [ 7.91116951e-03 7.39500307e-04 9.99968433e-01 -2.00954699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.031400513 meters 0.09960596504090942 Centerline is valid? [True, True] Translation: X:357.50, Y:37.68, Z:-2.01 [[ 9.99818838e-01 -1.71541322e-02 -8.24781158e-03 3.57495173e+02] [ 1.71469901e-02 9.99852542e-01 -9.35875475e-04 3.76763336e+01] [ 8.26264950e-03 7.94280787e-04 9.99965548e-01 -2.01024276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.061400513 meters 0.10412540188971217 Centerline is valid? [True, False] Translation: X:357.50, Y:37.67, Z:-2.01 [[ 9.99884402e-01 -1.26386633e-02 -8.45265375e-03 3.57495340e+02] [ 1.26712490e-02 9.99912448e-01 3.81270956e-03 3.76745853e+01] [ 8.40372614e-03 -3.91937450e-03 9.99957007e-01 -2.00949457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.091400513 meters 0.09959675379913231 Centerline is valid? [False, True] Translation: X:357.51, Y:37.69, Z:-2.01 [[ 9.99949876e-01 -9.09969492e-03 -4.17625436e-03 3.57511874e+02] [ 9.07755222e-03 9.99944802e-01 -5.29072565e-03 3.76854927e+01] [ 4.22416783e-03 5.25255029e-03 9.99977283e-01 -2.01086692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.121400513 meters 0.1061048107758893 Centerline is valid? [True, False] Translation: X:357.51, Y:37.68, Z:-2.01 [[ 9.99979630e-01 -4.67044223e-03 -4.35048621e-03 3.57512117e+02] [ 4.66734343e-03 9.99988847e-01 -7.22170011e-04 3.76845301e+01] [ 4.35381055e-03 7.01850087e-04 9.99990276e-01 -2.01028442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.151400513 meters 0.09677848611201426 Centerline is valid? [False, True] Translation: X:357.51, Y:37.69, Z:-2.01 [[ 9.99988092e-01 -3.44049784e-03 -3.46116079e-03 3.57505585e+02] [ 3.44064327e-03 9.99994080e-01 3.60654588e-05 3.76898235e+01] [ 3.46101621e-03 -4.79736488e-05 9.99994010e-01 -2.00554935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.181400513 meters 0.09516124286066231 Centerline is valid? [True, True] Translation: X:357.54, Y:37.70, Z:-2.00 [[ 9.99984126e-01 -5.02063267e-03 -2.55769099e-03 3.57535100e+02] [ 5.01998401e-03 9.99987366e-01 -2.59967087e-04 3.76954317e+01] [ 2.55896387e-03 2.47123393e-04 9.99996695e-01 -2.00459436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.211400513 meters 0.09067488554429613 Centerline is valid? [True, True] Translation: X:357.56, Y:37.70, Z:-2.00 [[ 9.99969329e-01 -7.55447305e-03 -2.06645971e-03 3.57564811e+02] [ 7.55405490e-03 9.99971446e-01 -2.10080588e-04 3.76967802e+01] [ 2.06798776e-03 1.94463995e-04 9.99997843e-01 -2.00384830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24140051300003 meters 0.09432557718172797 Centerline is valid? [True, True] Translation: X:357.59, Y:37.71, Z:-2.00 [[ 9.99940162e-01 -1.08357908e-02 -1.50262945e-03 3.57593401e+02] [ 1.08355733e-02 9.99941282e-01 -1.52776737e-04 3.77084722e+01] [ 1.50419667e-03 1.36485744e-04 9.99998859e-01 -2.00302975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.271400513 meters 0.07877510612183755 Centerline is valid? [True, True] Translation: X:357.62, Y:37.70, Z:-2.00 [[ 9.99830710e-01 -1.83315895e-02 -1.58267261e-03 3.57624455e+02] [ 1.83313575e-02 9.99831954e-01 -1.60944142e-04 3.77009306e+01] [ 1.58535701e-03 1.31904358e-04 9.99998735e-01 -2.00211208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30140051300003 meters 0.08281806472044224 Centerline is valid? [True, True] Translation: X:357.65, Y:37.71, Z:-2.00 [[ 9.99774860e-01 -2.11505916e-02 -1.69779710e-03 3.57652325e+02] [ 2.11503286e-02 9.99776292e-01 -1.72708738e-04 3.77124833e+01] [ 1.70107018e-03 1.36760888e-04 9.99998544e-01 -2.00242990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.331400513 meters 0.07889283702346445 Centerline is valid? [True, True] Translation: X:357.68, Y:37.71, Z:-2.00 [[ 9.99736636e-01 -2.28832518e-02 -1.73639195e-03 3.57682222e+02] [ 2.28829793e-02 9.99738135e-01 -1.76639341e-04 3.77137216e+01] [ 1.73997934e-03 1.36858999e-04 9.99998477e-01 -2.00227298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36140051300004 meters 0.07143080745091045 Centerline is valid? [True, True] Translation: X:357.71, Y:37.71, Z:-2.00 [[ 9.99706885e-01 -2.41155116e-02 -2.14146959e-03 3.57713189e+02] [ 2.41150999e-02 9.99709165e-01 -2.17870245e-04 3.77091565e+01] [ 2.14610083e-03 1.66164631e-04 9.99997683e-01 -2.00269155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.391400513 meters 0.07143080745091045 Centerline is valid? [True, True] Translation: X:357.74, Y:37.71, Z:-2.00 [[ 9.99702422e-01 -2.42998500e-02 -2.14141498e-03 3.57740636e+02] [ 2.42994376e-02 9.99704701e-01 -2.18406584e-04 3.77120741e+01] [ 2.14608987e-03 1.66306411e-04 9.99997683e-01 -2.00271426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.421400513 meters 0.07774189259913347 Centerline is valid? [True, True] Translation: X:357.77, Y:37.73, Z:-2.00 [[ 9.99671635e-01 -2.55066644e-02 -2.45608806e-03 3.57768229e+02] [ 2.55061257e-02 9.99674634e-01 -2.50401519e-04 3.77268768e+01] [ 2.46167584e-03 1.87674005e-04 9.99996952e-01 -2.00314602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.451400513 meters 0.06855510056916711 Centerline is valid? [True, True] Translation: X:357.80, Y:37.72, Z:-2.00 [[ 9.99646843e-01 -2.63909773e-02 -3.11536744e-03 3.57797622e+02] [ 2.63901144e-02 9.99651670e-01 -3.17776354e-04 3.77223165e+01] [ 3.12266869e-03 2.35449226e-04 9.99995097e-01 -2.00369369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.481400513 meters 0.08424699294408991 Centerline is valid? [True, True] Translation: X:357.82, Y:37.75, Z:-2.01 [[ 9.99605936e-01 -2.76865889e-02 -4.62875434e-03 3.57823846e+02] [ 2.76846975e-02 9.99616594e-01 -4.72216617e-04 3.77502829e+01] [ 4.64005371e-03 3.43884870e-04 9.99989176e-01 -2.00756152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.511400513 meters 0.07590480898186618 Centerline is valid? [True, True] Translation: X:357.85, Y:37.74, Z:-2.01 [[ 9.99585117e-01 -2.83947158e-02 -4.83042811e-03 3.57853240e+02] [ 2.83926600e-02 9.99596725e-01 -4.93655336e-04 3.77445520e+01] [ 4.84249732e-03 3.56301824e-04 9.99988212e-01 -2.00704427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.541400513 meters 0.08274385843418355 Centerline is valid? [True, True] Translation: X:357.88, Y:37.76, Z:-2.01 [[ 9.99565292e-01 -2.90672116e-02 -4.93188298e-03 3.57880172e+02] [ 2.90650758e-02 9.99577394e-01 -5.04212706e-04 3.77565908e+01] [ 4.94445480e-03 3.60647968e-04 9.99987711e-01 -2.00761693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.571400513 meters 0.06667145989308144 Centerline is valid? [True, True] Translation: X:357.91, Y:37.74, Z:-2.01 [[ 9.99534162e-01 -3.00472212e-02 -5.35014361e-03 3.57910587e+02] [ 3.00447203e-02 9.99548406e-01 -5.47213383e-04 3.77403867e+01] [ 5.36416976e-03 3.86214901e-04 9.99985538e-01 -2.00608855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.601400513 meters 0.07309926881353336 Centerline is valid? [True, True] Translation: X:357.94, Y:37.75, Z:-2.01 [[ 9.99472142e-01 -3.20165515e-02 -5.51169589e-03 3.57938561e+02] [ 3.20139266e-02 9.99487264e-01 -5.63844813e-04 3.77519651e+01] [ 5.52692221e-03 3.87096155e-04 9.99984652e-01 -2.00729667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.631400513 meters 0.07177987955316768 Centerline is valid? [True, True] Translation: X:357.97, Y:37.75, Z:-2.01 [[ 9.99456623e-01 -3.25091098e-02 -5.44217827e-03 3.57967084e+02] [ 3.25065526e-02 9.99471367e-01 -5.57698420e-04 3.77527299e+01] [ 5.45743163e-03 3.80488925e-04 9.99985036e-01 -2.00684203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.661400513 meters 0.07886758432250365 Centerline is valid? [True, True] Translation: X:357.99, Y:37.76, Z:-2.01 [[ 9.99459428e-01 -3.24410332e-02 -5.33216953e-03 3.57994004e+02] [ 3.24385762e-02 9.99473581e-01 -5.46642356e-04 3.77629574e+01] [ 5.34709622e-03 3.73378869e-04 9.99985634e-01 -2.00747735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.691400513 meters 0.06373079861519237 Centerline is valid? [True, True] Translation: X:358.03, Y:37.75, Z:-2.01 [[ 9.99483425e-01 -3.16492045e-02 -5.58669484e-03 3.58025884e+02] [ 3.16464945e-02 9.99498960e-01 -5.72839903e-04 3.77462727e+01] [ 5.60202561e-03 3.95744680e-04 9.99984230e-01 -2.00611115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.721400513 meters 0.07272630527106679 Centerline is valid? [True, True] Translation: X:358.05, Y:37.76, Z:-2.01 [[ 9.99525330e-01 -3.02335526e-02 -5.92006751e-03 3.58053011e+02] [ 3.02304831e-02 9.99542770e-01 -6.07318486e-04 3.77593302e+01] [ 5.93572208e-03 4.28063710e-04 9.99982292e-01 -2.00762798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.751400513 meters 0.08608730615732607 Centerline is valid? [True, True] Translation: X:358.08, Y:37.78, Z:-2.01 [[ 9.99641103e-01 -2.55964849e-02 -7.90470065e-03 3.58080581e+02] [ 2.55908685e-02 9.99672171e-01 -8.10862176e-04 3.77779712e+01] [ 7.92286449e-03 6.08283005e-04 9.99968429e-01 -2.01205178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.781400513 meters 0.08094415858678923 Centerline is valid? [True, True] Translation: X:358.11, Y:37.78, Z:-2.01 [[ 9.99705759e-01 -2.27716212e-02 -8.35752901e-03 3.58111865e+02] [ 2.27652448e-02 9.99740471e-01 -8.57308882e-04 3.77754037e+01] [ 8.37488230e-03 6.66795433e-04 9.99964708e-01 -2.01147796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.811400513 meters 0.08330276349015825 Centerline is valid? [True, True] Translation: X:358.14, Y:37.78, Z:-2.01 [[ 9.99763875e-01 -2.01161886e-02 -8.21784954e-03 3.58141553e+02] [ 2.01099342e-02 9.99797419e-01 -8.43014559e-04 3.77820888e+01] [ 8.23314301e-03 6.77555089e-04 9.99965878e-01 -2.01110185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.841400513 meters 0.08408629725327638 Centerline is valid? [True, True] Translation: X:358.17, Y:37.79, Z:-2.01 [[ 9.99807511e-01 -1.80474763e-02 -7.69610107e-03 3.58171813e+02] [ 1.80419298e-02 9.99836919e-01 -7.89509962e-04 3.77867152e+01] [ 7.70909465e-03 6.50505475e-04 9.99970073e-01 -2.00958224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.871400513 meters 0.08244687569932657 Centerline is valid? [True, True] Translation: X:358.20, Y:37.79, Z:-2.01 [[ 9.99863691e-01 -1.51408575e-02 -6.58432700e-03 3.58201685e+02] [ 1.51367350e-02 9.99885205e-01 -6.75498405e-04 3.77903147e+01] [ 6.59379878e-03 5.75741115e-04 9.99978095e-01 -2.00695464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.901400513 meters 0.08998612202597714 Centerline is valid? [True, True] Translation: X:358.23, Y:37.80, Z:-2.01 [[ 9.99877810e-01 -1.45392681e-02 -5.74228939e-03 3.58227750e+02] [ 1.45361202e-02 9.99894171e-01 -5.89552791e-04 3.78042199e+01] [ 5.75025335e-03 5.06010145e-04 9.99983339e-01 -2.00631497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.931400513 meters 0.09087796496588485 Centerline is valid? [True, True] Translation: X:358.25, Y:37.81, Z:-2.00 [[ 9.99879266e-01 -1.48425633e-02 -4.59917003e-03 3.58254699e+02] [ 1.48405460e-02 9.99889761e-01 -4.72443717e-04 3.78104410e+01] [ 4.60567530e-03 4.04132483e-04 9.99989312e-01 -2.00491046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.961400513 meters 0.09270775060696013 Centerline is valid? [True, True] Translation: X:358.28, Y:37.82, Z:-2.00 [[ 9.99870623e-01 -1.57239595e-02 -3.39024388e-03 3.58283255e+02] [ 1.57228682e-02 9.99876327e-01 -3.48317050e-04 3.78179269e+01] [ 3.39530152e-03 2.94967628e-04 9.99994192e-01 -2.00340492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99140051300003 meters 0.08820808326570362 Centerline is valid? [True, True] Translation: X:358.31, Y:37.82, Z:-2.00 [[ 9.99850217e-01 -1.69632357e-02 -3.43411292e-03 3.58313005e+02] [ 1.69621229e-02 9.99856071e-01 -3.52900084e-04 3.78179307e+01] [ 3.43960498e-03 2.94597380e-04 9.99994041e-01 -2.00315921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.021400513 meters 0.08566702316325625 Centerline is valid? [True, True] Translation: X:358.34, Y:37.82, Z:-2.00 [[ 9.99798060e-01 -1.95556548e-02 -4.62760704e-03 3.58343419e+02] [ 1.95536621e-02 9.99808696e-01 -4.75471869e-04 3.78246480e+01] [ 4.63601992e-03 3.84889188e-04 9.99989180e-01 -2.00451574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05140051300003 meters 0.08599469353469719 Centerline is valid? [True, True] Translation: X:358.37, Y:37.83, Z:-2.00 [[ 9.99772125e-01 -2.08765299e-02 -4.45743159e-03 3.58372370e+02] [ 2.08746935e-02 9.99781995e-01 -4.58110177e-04 3.78323008e+01] [ 4.46602360e-03 3.64958267e-04 9.99989961e-01 -2.00450977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.081400513 meters 0.08514068602815328 Centerline is valid? [True, True] Translation: X:358.40, Y:37.84, Z:-2.00 [[ 9.99750608e-01 -2.19372492e-02 -4.18088231e-03 3.58401758e+02] [ 2.19356425e-02 9.99759292e-01 -4.29781557e-04 3.78384014e+01] [ 4.18930417e-03 3.37964033e-04 9.99991168e-01 -2.00412623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11140051300004 meters 0.08183446677100266 Centerline is valid? [True, True] Translation: X:358.43, Y:37.84, Z:-2.00 [[ 9.99722020e-01 -2.34399952e-02 -2.53942084e-03 3.58430917e+02] [ 2.34394071e-02 9.99725225e-01 -2.61108447e-04 3.78447401e+01] [ 2.54484345e-03 2.01513345e-04 9.99996742e-01 -2.00193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.141400513 meters 0.08336322942302221 Centerline is valid? [True, True] Translation: X:358.46, Y:37.85, Z:-2.00 [[ 9.99712427e-01 -2.38805028e-02 -2.18727118e-03 3.58458374e+02] [ 2.38800672e-02 9.99714805e-01 -2.25050631e-04 3.78531299e+01] [ 2.19202170e-03 1.72753730e-04 9.99997583e-01 -2.00131271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.171400513 meters 0.07969912832303233 Centerline is valid? [True, True] Translation: X:358.49, Y:37.86, Z:-2.00 [[ 9.99693783e-01 -2.46239751e-02 -2.44955179e-03 3.58486807e+02] [ 2.46234298e-02 9.99696765e-01 -2.52499541e-04 3.78555689e+01] [ 2.45502655e-03 1.92105854e-04 9.99996968e-01 -2.00166741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.201400513 meters 0.0793870593385787 Centerline is valid? [True, True] Translation: X:358.51, Y:37.86, Z:-2.00 [[ 9.99680660e-01 -2.50587156e-02 -3.26170144e-03 3.58514727e+02] [ 2.50577496e-02 9.99685949e-01 -3.36686964e-04 3.78621449e+01] [ 3.26911404e-03 2.54848548e-04 9.99994624e-01 -2.00282328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.231400513 meters 0.08025048700456965 Centerline is valid? [True, True] Translation: X:358.54, Y:37.87, Z:-2.00 [[ 9.99653361e-01 -2.60586481e-02 -3.75557139e-03 3.58542096e+02] [ 2.60573743e-02 9.99660374e-01 -3.87721433e-04 3.78722578e+01] [ 3.76439940e-03 2.89726704e-04 9.99992873e-01 -2.00438772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.261400513 meters 0.0815442185411093 Centerline is valid? [True, True] Translation: X:358.57, Y:37.88, Z:-2.00 [[ 9.99641312e-01 -2.65082829e-02 -3.81550682e-03 3.58569596e+02] [ 2.65069700e-02 9.99648551e-01 -3.94253955e-04 3.78787598e+01] [ 3.82461686e-03 2.92975016e-04 9.99992643e-01 -2.00451232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.291400513 meters 0.0806725720640754 Centerline is valid? [True, True] Translation: X:358.60, Y:37.88, Z:-2.00 [[ 9.99631447e-01 -2.69126927e-02 -3.56039665e-03 3.58598110e+02] [ 2.69115499e-02 9.99637751e-01 -3.68514027e-04 3.78828311e+01] [ 3.56902461e-03 2.72562418e-04 9.99993594e-01 -2.00387878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.321400513 meters 0.07904889573153824 Centerline is valid? [True, True] Translation: X:358.63, Y:37.89, Z:-2.00 [[ 9.99631604e-01 -2.69097239e-02 -3.53874585e-03 3.58627130e+02] [ 2.69085929e-02 9.99637831e-01 -3.66832141e-04 3.78860919e+01] [ 3.54733558e-03 2.71474330e-04 9.99993671e-01 -2.00358903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.351400513 meters 0.08065452895819043 Centerline is valid? [True, True] Translation: X:358.65, Y:37.89, Z:-2.00 [[ 9.99630442e-01 -2.68911074e-02 -3.98093530e-03 3.58653969e+02] [ 2.68896754e-02 9.99638322e-01 -4.12793852e-04 3.78934936e+01] [ 3.99059597e-03 3.05595243e-04 9.99991991e-01 -2.00397058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.381400513 meters 0.0818693346319735 Centerline is valid? [True, True] Translation: X:358.68, Y:37.90, Z:-2.01 [[ 9.99628749e-01 -2.65187009e-02 -6.25481979e-03 3.58680796e+02] [ 2.65151566e-02 9.99648201e-01 -6.48901792e-04 3.79029154e+01] [ 6.26982738e-03 4.82813360e-04 9.99980228e-01 -2.00751490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.411400513 meters 0.08398640420544526 Centerline is valid? [True, True] Translation: X:358.71, Y:37.91, Z:-2.01 [[ 9.99624012e-01 -2.64199851e-02 -7.33610043e-03 3.58707967e+02] [ 2.64151039e-02 9.99650770e-01 -7.61477039e-04 3.79096531e+01] [ 7.35365666e-03 5.67406878e-04 9.99972801e-01 -2.00946753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.441400513 meters 0.0841096504582434 Centerline is valid? [True, True] Translation: X:358.74, Y:37.91, Z:-2.01 [[ 9.99616375e-01 -2.64532341e-02 -8.20541213e-03 3.58736137e+02] [ 2.64471176e-02 9.99649850e-01 -8.53056301e-04 3.79134689e+01] [ 8.22510510e-03 6.35719549e-04 9.99965971e-01 -2.01065343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.471400513 meters 0.08112105672006344 Centerline is valid? [True, True] Translation: X:358.76, Y:37.91, Z:-2.01 [[ 9.99609795e-01 -2.66220006e-02 -8.45733467e-03 3.58764002e+02] [ 2.66154957e-02 9.99645357e-01 -8.80785556e-04 3.79135831e+01] [ 8.47778361e-03 6.55345715e-04 9.99963848e-01 -2.01031230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.501400513 meters 0.08255764781371135 Centerline is valid? [True, True] Translation: X:358.79, Y:37.92, Z:-2.01 [[ 9.99601655e-01 -2.68899065e-02 -8.57112751e-03 3.58790982e+02] [ 2.68832297e-02 9.99638182e-01 -8.93274638e-04 3.79193106e+01] [ 8.59204639e-03 6.62499217e-04 9.99962868e-01 -2.01066994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.531400513 meters 0.08274602367403384 Centerline is valid? [True, True] Translation: X:358.82, Y:37.92, Z:-2.01 [[ 9.99573060e-01 -2.77545433e-02 -9.13139750e-03 3.58818413e+02] [ 2.77469944e-02 9.99614524e-01 -9.52369037e-04 3.79241663e+01] [ 9.15431013e-03 6.98593598e-04 9.99957854e-01 -2.01165268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.561400513 meters 0.08845943301571077 Centerline is valid? [True, True] Translation: X:358.84, Y:37.93, Z:-2.01 [[ 9.99556668e-01 -2.81928793e-02 -9.57235140e-03 3.58844887e+02] [ 2.81845988e-02 9.99602236e-01 -9.98864216e-04 3.79346686e+01] [ 9.59670473e-03 7.28628503e-04 9.99953685e-01 -2.01313159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.591400513 meters 0.07213777748093586 Centerline is valid? [True, True] Translation: X:358.88, Y:37.92, Z:-2.01 [[ 9.99539949e-01 -2.88593303e-02 -9.32890611e-03 3.58875518e+02] [ 2.88514794e-02 9.99583234e-01 -9.75083386e-04 3.79187443e+01] [ 9.35315839e-03 7.05482055e-04 9.99956009e-01 -2.01017729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.621400513 meters 0.07594466736872237 Centerline is valid? [True, True] Translation: X:358.90, Y:37.93, Z:-2.01 [[ 9.99520876e-01 -3.03736251e-02 -5.95499483e-03 3.58903844e+02] [ 3.03704524e-02 9.99538518e-01 -6.22504872e-04 3.79296863e+01] [ 5.97115443e-03 4.41350728e-04 9.99982075e-01 -2.00659497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.651400513 meters 0.07073463809352473 Centerline is valid? [True, True] Translation: X:358.93, Y:37.93, Z:-2.00 [[ 9.99493013e-01 -3.15641517e-02 -4.17376988e-03 3.58934054e+02] [ 3.15626030e-02 9.99501682e-01 -4.36408064e-04 3.79265854e+01] [ 4.18546486e-03 3.04451769e-04 9.99991195e-01 -2.00421383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.681400513 meters 0.0834852996732768 Centerline is valid? [True, True] Translation: X:358.96, Y:37.95, Z:-2.00 [[ 9.99454928e-01 -3.28574204e-02 -3.19944351e-03 3.58961173e+02] [ 3.28565168e-02 9.99460023e-01 -3.34611420e-04 3.79464943e+01] [ 3.20871035e-03 2.29306464e-04 9.99994826e-01 -2.00322725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.711400513 meters 0.07724004508946207 Centerline is valid? [True, True] Translation: X:358.99, Y:37.94, Z:-2.00 [[ 9.99415073e-01 -3.39676001e-02 -3.96397317e-03 3.58991359e+02] [ 3.39662213e-02 9.99422895e-01 -4.14651337e-04 3.79421502e+01] [ 3.97577025e-03 2.79767607e-04 9.99992057e-01 -2.00392059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74140051300003 meters 0.0752319348802682 Centerline is valid? [True, True] Translation: X:359.02, Y:37.94, Z:-2.01 [[ 9.99368322e-01 -3.51354519e-02 -5.33451385e-03 3.59020678e+02] [ 3.51329667e-02 9.99382490e-01 -5.58884192e-04 3.79436980e+01] [ 5.35085639e-03 3.71113860e-04 9.99985615e-01 -2.00585598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.771400513 meters 0.07446283647121248 Centerline is valid? [True, True] Translation: X:359.05, Y:37.95, Z:-2.01 [[ 9.99320275e-01 -3.63136487e-02 -6.34872389e-03 3.59049305e+02] [ 3.63101513e-02 9.99340348e-01 -6.65316268e-04 3.79477261e+01] [ 6.36869600e-03 4.34340911e-04 9.99979625e-01 -2.00758479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80140051300003 meters 0.0715137091175705 Centerline is valid? [True, True] Translation: X:359.08, Y:37.95, Z:-2.01 [[ 9.99224476e-01 -3.88362371e-02 -6.49564250e-03 3.59079936e+02] [ 3.88326291e-02 9.99245497e-01 -6.80691338e-04 3.79520453e+01] [ 6.51717701e-03 4.27920569e-04 9.99978671e-01 -2.00736821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.831400513 meters 0.0665314731508722 Centerline is valid? [True, True] Translation: X:359.11, Y:37.95, Z:-2.01 [[ 9.99167961e-01 -4.03255729e-02 -6.10190726e-03 3.59110689e+02] [ 4.03224163e-02 9.99186516e-01 -6.39508670e-04 3.79503124e+01] [ 6.12273201e-03 3.92932930e-04 9.99981179e-01 -2.00553181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86140051300004 meters 0.06557667122495793 Centerline is valid? [True, True] Translation: X:359.14, Y:37.95, Z:-2.00 [[ 9.99098554e-01 -4.21045045e-02 -5.41202312e-03 3.59139287e+02] [ 4.21020462e-02 9.99113155e-01 -5.67410143e-04 3.79528866e+01] [ 5.43111402e-03 3.39041406e-04 9.99985194e-01 -2.00435235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.891400513 meters 0.0647862704152828 Centerline is valid? [True, True] Translation: X:359.17, Y:37.96, Z:-2.00 [[ 9.99021541e-01 -4.40051367e-02 -4.41689069e-03 3.59168789e+02] [ 4.40035174e-02 9.99031269e-01 -4.63173435e-04 3.79558025e+01] [ 4.43299392e-03 2.68361513e-04 9.99990138e-01 -2.00313660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.921400513 meters 0.06683601995512145 Centerline is valid? [True, True] Translation: X:359.20, Y:37.96, Z:-2.00 [[ 9.98926261e-01 -4.61738111e-02 -3.78207061e-03 3.59196893e+02] [ 4.61726388e-02 9.98933396e-01 -3.96743686e-04 3.79619882e+01] [ 3.79635580e-03 2.21689507e-04 9.99992769e-01 -2.00244231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.951400513 meters 0.0596149060587486 Centerline is valid? [True, True] Translation: X:359.23, Y:37.96, Z:-2.00 [[ 9.98736300e-01 -5.01990611e-02 -2.42037900e-03 3.59227307e+02] [ 5.01985926e-02 9.98739224e-01 -2.53948208e-04 3.79563761e+01] [ 2.43007540e-03 1.32127674e-04 9.99997039e-01 -2.00058844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.981400513 meters 0.05228629755471694 Centerline is valid? [True, True] Translation: X:359.26, Y:37.95, Z:-2.00 [[ 9.98627614e-01 -5.23373638e-02 -1.92048330e-03 3.59257727e+02] [ 5.23370727e-02 9.98629456e-01 -2.01549998e-04 3.79488828e+01] [ 1.92839979e-03 1.00760920e-04 9.99998136e-01 -1.99967544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.011400513 meters 0.05200737718979668 Centerline is valid? [True, True] Translation: X:359.29, Y:37.95, Z:-2.00 [[ 9.98519944e-01 -5.43532008e-02 -1.91067211e-03 3.59286276e+02] [ 5.43529162e-02 9.98521768e-01 -2.00597128e-04 3.79493719e+01] [ 1.91875079e-03 9.64496321e-05 9.99998155e-01 -1.99985938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.041400513 meters 0.05167005077219052 Centerline is valid? [True, True] Translation: X:359.31, Y:37.95, Z:-2.00 [[ 9.98435722e-01 -5.58502412e-02 -2.61920304e-03 3.59314534e+02] [ 5.58497113e-02 9.98439149e-01 -2.75103097e-04 3.79498913e+01] [ 2.63047943e-03 1.28391025e-04 9.99996532e-01 -2.00073432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.071400513 meters 0.05251378441089966 Centerline is valid? [True, True] Translation: X:359.34, Y:37.95, Z:-2.00 [[ 9.98388464e-01 -5.66228619e-02 -3.78506559e-03 3.59341871e+02] [ 5.66217599e-02 9.98395622e-01 -3.97765609e-04 3.79523042e+01] [ 3.80151554e-03 1.82807521e-04 9.99992758e-01 -2.00266770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.101400513 meters 0.05067689019721196 Centerline is valid? [True, True] Translation: X:359.37, Y:37.95, Z:-2.00 [[ 9.98423235e-01 -5.58423952e-02 -5.71588996e-03 3.59370631e+02] [ 5.58398675e-02 9.98439557e-01 -6.00981767e-04 3.79494786e+01] [ 5.74053089e-03 2.80859622e-04 9.99983484e-01 -2.00489233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.131400513 meters 0.05462505148805167 Centerline is valid? [True, True] Translation: X:359.40, Y:37.95, Z:-2.00 [[ 9.98531739e-01 -5.39157196e-02 -5.24031735e-03 3.59398574e+02] [ 5.39135673e-02 9.98545454e-01 -5.51215195e-04 3.79543984e+01] [ 5.26241423e-03 2.67881666e-04 9.99986118e-01 -2.00406732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.161400513 meters 0.0523823262516103 Centerline is valid? [True, True] Translation: X:359.43, Y:37.95, Z:-2.00 [[ 9.98645796e-01 -5.18065091e-02 -4.76023650e-03 3.59429637e+02] [ 5.18047094e-02 9.98657109e-01 -5.00682429e-04 3.79521870e+01] [ 4.77978263e-03 2.53401735e-04 9.99988545e-01 -2.00164809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.191400513 meters 0.06684847647990463 Centerline is valid? [True, True] Translation: X:359.46, Y:37.97, Z:-2.00 [[ 9.98892356e-01 -4.69240238e-02 -3.49243418e-03 3.59457526e+02] [ 4.69230252e-02 9.98898441e-01 -3.67364990e-04 3.79677672e+01] [ 3.50582530e-03 2.03082503e-04 9.99993834e-01 -2.00095360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.221400513 meters 0.06521572095017084 Centerline is valid? [True, True] Translation: X:359.49, Y:37.97, Z:-2.00 [[ 9.98993097e-01 -4.47482546e-02 -3.22274666e-03 3.59488000e+02] [ 4.47473929e-02 9.98998276e-01 -3.39037136e-04 3.79659401e+01] [ 3.23468967e-03 1.94486248e-04 9.99994749e-01 -2.00026277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.251400513 meters 0.06696270785881518 Centerline is valid? [True, True] Translation: X:359.52, Y:37.97, Z:-2.00 [[ 9.99094011e-01 -4.24157310e-02 -3.47314841e-03 3.59517920e+02] [ 4.24147160e-02 9.99100024e-01 -3.65418104e-04 3.79680845e+01] [ 3.48552214e-03 2.17774436e-04 9.99993902e-01 -2.00075558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.281400513 meters 0.07613222382887222 Centerline is valid? [True, True] Translation: X:359.55, Y:37.98, Z:-2.00 [[ 9.99191470e-01 -4.00269598e-02 -3.77484381e-03 3.59546391e+02] [ 4.00257438e-02 9.99198570e-01 -3.97170069e-04 3.79803028e+01] [ 3.78771605e-03 2.45758014e-04 9.99992796e-01 -2.00214520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.311400513 meters 0.07007414844793308 Centerline is valid? [True, True] Translation: X:359.58, Y:37.97, Z:-2.00 [[ 9.99276629e-01 -3.78251093e-02 -3.93456933e-03 3.59577369e+02] [ 3.78237710e-02 9.99284339e-01 -4.14025829e-04 3.79749005e+01] [ 3.94741409e-03 2.64906085e-04 9.99992174e-01 -2.00179910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.341400513 meters 0.07007414844793308 Centerline is valid? [True, True] Translation: X:359.60, Y:37.98, Z:-2.00 [[ 9.99269820e-01 -3.80045708e-02 -3.93448041e-03 3.59604769e+02] [ 3.80032306e-02 9.99277530e-01 -4.14870173e-04 3.79779347e+01] [ 3.94740483e-03 2.65044276e-04 9.99992174e-01 -2.00182178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.371400513 meters 0.07179675974702698 Centerline is valid? [True, True] Translation: X:359.63, Y:37.98, Z:-2.00 [[ 9.99346017e-01 -3.59549187e-02 -3.84464298e-03 3.59634694e+02] [ 3.59536243e-02 9.99353377e-01 -4.05305144e-04 3.79823233e+01] [ 3.85672966e-03 2.66811233e-04 9.99992527e-01 -2.00149924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.401400513 meters 0.07371252379861881 Centerline is valid? [True, True] Translation: X:359.67, Y:37.98, Z:-2.00 [[ 9.99472733e-01 -3.20993610e-02 -4.88746079e-03 3.59665379e+02] [ 3.20972232e-02 9.99484619e-01 -5.15221992e-04 3.79824009e+01] [ 4.90148018e-03 3.58076413e-04 9.99987924e-01 -2.00217615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.431400513 meters 0.08788463438924227 Centerline is valid? [True, True] Translation: X:359.69, Y:38.00, Z:-2.00 [[ 9.99522557e-01 -3.03522991e-02 -5.77884219e-03 3.59693019e+02] [ 3.03492806e-02 9.99539169e-01 -6.09339982e-04 3.79993536e+01] [ 5.79467398e-03 4.33665354e-04 9.99983117e-01 -2.00439524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.461400513 meters 0.07837877161460537 Centerline is valid? [True, True] Translation: X:359.72, Y:37.99, Z:-2.00 [[ 9.99572248e-01 -2.85755989e-02 -6.22545045e-03 3.59724588e+02] [ 2.85720611e-02 9.99591520e-01 -6.56491678e-04 3.79884103e+01] [ 6.24166712e-03 4.78336912e-04 9.99980406e-01 -2.00355898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49140051300003 meters 0.08275948427066035 Centerline is valid? [True, True] Translation: X:359.75, Y:37.99, Z:-2.00 [[ 9.99679861e-01 -2.48581600e-02 -4.71674578e-03 3.59753209e+02] [ 2.48560880e-02 9.99690916e-01 -4.97399246e-04 3.79932885e+01] [ 4.72765234e-03 3.80000161e-04 9.99988752e-01 -2.00239262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.521400513 meters 0.08679136154976778 Centerline is valid? [True, True] Translation: X:359.78, Y:38.00, Z:-2.00 [[ 9.99737877e-01 -2.25536574e-02 -3.93822469e-03 3.59781708e+02] [ 2.25521959e-02 9.99745581e-01 -4.15143276e-04 3.79992577e+01] [ 3.94658573e-03 3.26218843e-04 9.99992159e-01 -2.00167760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55140051300003 meters 0.08851160987309524 Centerline is valid? [True, True] Translation: X:359.81, Y:38.00, Z:-2.00 [[ 9.99786233e-01 -2.03344248e-02 -3.74156709e-03 3.59811400e+02] [ 2.03330900e-02 9.99793184e-01 -3.94435006e-04 3.80032030e+01] [ 3.74881388e-03 3.18273068e-04 9.99992923e-01 -2.00123890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.581400513 meters 0.08841132910683909 Centerline is valid? [True, True] Translation: X:359.84, Y:38.01, Z:-2.00 [[ 9.99833232e-01 -1.78243990e-02 -3.97478391e-03 3.59842065e+02] [ 1.78228730e-02 9.99841072e-01 -4.19019656e-04 3.80060894e+01] [ 3.98162098e-03 3.48107708e-04 9.99992013e-01 -2.00144285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61140051300004 meters 0.09241371852049454 Centerline is valid? [True, True] Translation: X:359.87, Y:38.01, Z:-2.00 [[ 9.99868215e-01 -1.54972602e-02 -4.83612915e-03 3.59870382e+02] [ 1.54949735e-02 9.99879816e-01 -5.09947105e-04 3.80148185e+01] [ 4.84345071e-03 4.34944208e-04 9.99988176e-01 -2.00254076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.641400513 meters 0.09646119601183593 Centerline is valid? [True, True] Translation: X:359.90, Y:38.02, Z:-2.00 [[ 9.99887834e-01 -1.35768052e-02 -6.32378835e-03 3.59899282e+02] [ 1.35728568e-02 9.99907662e-01 -6.66872612e-04 3.80237515e+01] [ 6.33225842e-03 5.80965937e-04 9.99979782e-01 -2.00496188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.671400513 meters 0.0912766827364793 Centerline is valid? [True, True] Translation: X:359.93, Y:38.02, Z:-2.01 [[ 9.99888576e-01 -1.14359638e-02 -9.59450861e-03 3.59930267e+02] [ 1.14267772e-02 9.99934200e-01 -1.01176376e-03 3.80219829e+01] [ 9.60544779e-03 9.02016713e-04 9.99953460e-01 -2.00996923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.701400513 meters 0.09049744816220888 Centerline is valid? [True, True] Translation: X:359.96, Y:38.03, Z:-2.01 [[ 9.99881582e-01 -1.14812423e-02 -1.02471141e-02 3.59958408e+02] [ 1.14707592e-02 9.99933624e-01 -1.08121292e-03 3.80250673e+01] [ 1.02588476e-02 9.63542704e-04 9.99946912e-01 -2.01101607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.731400513 meters 0.09837088584097721 Centerline is valid? [True, True] Translation: X:359.98, Y:38.04, Z:-2.01 [[ 9.99874852e-01 -1.21139600e-02 -1.01750841e-02 3.59984856e+02] [ 1.21036504e-02 9.99926171e-01 -1.07418951e-03 3.80392437e+01] [ 1.01873456e-02 9.50899416e-04 9.99947656e-01 -2.01241341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.761400513 meters 0.10614454002372488 Centerline is valid? [True, False] Translation: X:359.99, Y:38.04, Z:-2.01 [[ 9.99918022e-01 -7.47668584e-03 -1.03945988e-02 3.59985121e+02] [ 7.51977513e-03 9.99963270e-01 4.11246785e-03 3.80356418e+01] [ 1.03634693e-02 -4.19029576e-03 9.99937518e-01 -2.01150188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.791400513 meters 0.08810658009185364 Centerline is valid? [False, True] Translation: X:359.98, Y:38.04, Z:-2.01 [[ 9.99917081e-01 -7.48423127e-03 -1.04794136e-02 3.59984921e+02] [ 7.52743567e-03 9.99963306e-01 4.08943273e-03 3.80358933e+01] [ 1.04484228e-02 -4.16797675e-03 9.99936727e-01 -2.01031158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.821400513 meters 0.09485411281620043 Centerline is valid? [True, True] Translation: X:360.01, Y:38.05, Z:-2.01 [[ 9.99905348e-01 -1.08004091e-02 -8.52328657e-03 3.60012893e+02] [ 1.07939170e-02 9.99941418e-01 -8.07332330e-04 3.80514046e+01] [ 8.53150677e-03 7.15256267e-04 9.99963350e-01 -2.00971035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.851400513 meters 0.07990442630007072 Centerline is valid? [True, True] Translation: X:360.04, Y:38.04, Z:-2.01 [[ 9.99866753e-01 -1.43346046e-02 -7.80992320e-03 3.60044545e+02] [ 1.43292601e-02 9.99897057e-01 -7.39847659e-04 3.80358676e+01] [ 7.81972465e-03 6.27838655e-04 9.99969228e-01 -2.00763899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.881400513 meters 0.07987709089333304 Centerline is valid? [True, True] Translation: X:360.07, Y:38.04, Z:-2.01 [[ 9.99814681e-01 -1.76156572e-02 -7.76482457e-03 3.60073751e+02] [ 1.76104721e-02 9.99844653e-01 -7.35640739e-04 3.80382649e+01] [ 7.77657712e-03 5.98762184e-04 9.99969583e-01 -2.00803930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.911400513 meters 0.0709623165516352 Centerline is valid? [True, True] Translation: X:360.10, Y:38.03, Z:-2.01 [[ 9.99682976e-01 -2.36532370e-02 -8.62970967e-03 3.60104752e+02] [ 2.36470559e-02 9.99720035e-01 -8.17606377e-04 3.80297056e+01] [ 8.64663269e-03 6.13279949e-04 9.99962429e-01 -2.00946111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.941400513 meters 0.06990359059638315 Centerline is valid? [True, True] Translation: X:360.13, Y:38.03, Z:-2.01 [[ 9.99611552e-01 -2.64831792e-02 -8.68252801e-03 3.60133925e+02] [ 2.64770276e-02 9.99649084e-01 -8.22704310e-04 3.80302390e+01] [ 8.70126900e-03 5.92497198e-04 9.99961968e-01 -2.00948050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.971400513 meters 0.06837409192773672 Centerline is valid? [True, True] Translation: X:360.16, Y:38.03, Z:-2.01 [[ 9.99526838e-01 -2.95302423e-02 -8.60615434e-03 3.60163104e+02] [ 2.95243099e-02 9.99563730e-01 -8.15583639e-04 3.80296448e+01] [ 8.62648412e-03 5.61106968e-04 9.99962634e-01 -2.00899385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.001400513 meters 0.06578184322383561 Centerline is valid? [True, True] Translation: X:360.19, Y:38.03, Z:-2.01 [[ 9.99434617e-01 -3.25357531e-02 -8.47765769e-03 3.60194043e+02] [ 3.25301039e-02 9.99470433e-01 -8.03445354e-04 3.80278796e+01] [ 8.49930890e-03 5.27212015e-04 9.99963741e-01 -2.00796815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.031400513 meters 0.05556635734841184 Centerline is valid? [True, True] Translation: X:360.23, Y:38.02, Z:-2.01 [[ 9.99263581e-01 -3.74718238e-02 -8.25573902e-03 3.60225571e+02] [ 3.74666342e-02 9.99297573e-01 -7.82427077e-04 3.80156864e+01] [ 8.27925893e-03 4.72536129e-04 9.99965615e-01 -2.00581193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.061400513 meters 0.060416143933747155 Centerline is valid? [True, True] Translation: X:360.25, Y:38.02, Z:-2.01 [[ 9.99224064e-01 -3.86061124e-02 -7.79989142e-03 3.60253388e+02] [ 3.86015124e-02 9.99254410e-01 -7.39500678e-04 3.80232418e+01] [ 7.82262515e-03 4.37839268e-04 9.99969307e-01 -2.00603391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.091400513 meters 0.0602215451062755 Centerline is valid? [True, True] Translation: X:360.28, Y:38.02, Z:-2.01 [[ 9.99200878e-01 -3.92637094e-02 -7.48107391e-03 3.60282570e+02] [ 3.92594888e-02 9.99228797e-01 -7.10244232e-04 3.80219446e+01] [ 7.50319130e-03 4.15973523e-04 9.99971764e-01 -2.00642965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.121400513 meters 0.05927550055910194 Centerline is valid? [True, True] Translation: X:360.31, Y:38.02, Z:-2.01 [[ 9.99189141e-01 -3.95253823e-02 -7.66840651e-03 3.60310533e+02] [ 3.95209492e-02 9.99218476e-01 -7.28837609e-04 3.80246014e+01] [ 7.69122105e-03 4.25183920e-04 9.99970332e-01 -2.00582609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.151400513 meters 0.06516492229978368 Centerline is valid? [True, True] Translation: X:360.34, Y:38.03, Z:-2.00 [[ 9.99232334e-01 -3.86537006e-02 -6.37456035e-03 3.60337987e+02] [ 3.86506171e-02 9.99252602e-01 -6.06252478e-04 3.80303211e+01] [ 6.39322992e-03 3.59406387e-04 9.99979499e-01 -2.00447710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.181400513 meters 0.057180761971420434 Centerline is valid? [True, True] Translation: X:360.37, Y:38.02, Z:-2.00 [[ 9.99262844e-01 -3.79636501e-02 -5.70357301e-03 3.60367916e+02] [ 3.79611663e-02 9.99279068e-01 -5.43145018e-04 3.80205719e+01] [ 5.72008088e-03 3.26230351e-04 9.99983587e-01 -2.00212985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.211400513 meters 0.060577663499317994 Centerline is valid? [True, True] Translation: X:360.40, Y:38.03, Z:-2.00 [[ 9.99300207e-01 -3.69810612e-02 -5.61224305e-03 3.60395698e+02] [ 3.69786382e-02 9.99315913e-01 -5.34928915e-04 3.80251769e+01] [ 5.62818603e-03 3.27021470e-04 9.99984108e-01 -2.00171590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24140051300003 meters 0.05823697662524056 Centerline is valid? [True, True] Translation: X:360.43, Y:38.02, Z:-2.00 [[ 9.99344031e-01 -3.56650545e-02 -6.28588531e-03 3.60425603e+02] [ 3.56619876e-02 9.99363729e-01 -5.99339280e-04 3.80233924e+01] [ 6.30326125e-03 3.74778967e-04 9.99980064e-01 -2.00220832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.271400513 meters 0.0642326495740859 Centerline is valid? [True, True] Translation: X:360.45, Y:38.03, Z:-2.00 [[ 9.99409895e-01 -3.35892458e-02 -7.18499452e-03 3.60454505e+02] [ 3.35851846e-02 9.99435624e-01 -6.85179818e-04 3.80323571e+01] [ 7.20395415e-03 4.43466123e-04 9.99973953e-01 -2.00362427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30140051300003 meters 0.06862932303264462 Centerline is valid? [True, True] Translation: X:360.48, Y:38.04, Z:-2.00 [[ 9.99586263e-01 -2.77386719e-02 -7.60712125e-03 3.60484641e+02] [ 2.77339504e-02 9.99615077e-01 -7.25480791e-04 3.80381964e+01] [ 7.62431697e-03 5.14205109e-04 9.99970802e-01 -2.00358482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.331400513 meters 0.08050028348084916 Centerline is valid? [True, True] Translation: X:360.51, Y:38.05, Z:-2.00 [[ 9.99670956e-01 -2.46239454e-02 -7.18610925e-03 3.60512983e+02] [ 2.46196518e-02 9.99696656e-01 -6.85346175e-04 3.80545363e+01] [ 7.20080531e-03 5.08201158e-04 9.99973945e-01 -2.00325497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36140051300004 meters 0.07658273350078679 Centerline is valid? [True, True] Translation: X:360.54, Y:38.05, Z:-2.00 [[ 9.99739298e-01 -2.18117601e-02 -6.75150478e-03 3.60543609e+02] [ 2.18079063e-02 9.99761972e-01 -6.43901236e-04 3.80529170e+01] [ 6.76394235e-03 4.96497186e-04 9.99977001e-01 -2.00183038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.391400513 meters 0.08355862462976227 Centerline is valid? [True, True] Translation: X:360.57, Y:38.07, Z:-2.00 [[ 9.99792215e-01 -1.91855339e-02 -6.88787133e-03 3.60571901e+02] [ 1.91814605e-02 9.99815803e-01 -6.56962383e-04 3.80657201e+01] [ 6.89920678e-03 5.24706444e-04 9.99976063e-01 -2.00260383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.421400513 meters 0.07814273549466294 Centerline is valid? [True, True] Translation: X:360.60, Y:38.06, Z:-2.00 [[ 9.99833776e-01 -1.68058711e-02 -7.06982361e-03 3.60602944e+02] [ 1.68015202e-02 9.99858617e-01 -6.74355422e-04 3.80632823e+01] [ 7.08015719e-03 5.55459543e-04 9.99974781e-01 -2.00232642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.451400513 meters 0.08568871767195364 Centerline is valid? [True, True] Translation: X:360.63, Y:38.08, Z:-2.00 [[ 9.99865815e-01 -1.46351322e-02 -7.35970352e-03 3.60630931e+02] [ 1.46303582e-02 9.99892724e-01 -7.02082053e-04 3.80762887e+01] [ 7.36918906e-03 5.94312745e-04 9.99972671e-01 -2.00309875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.481400513 meters 0.08450282701218803 Centerline is valid? [True, True] Translation: X:360.66, Y:38.08, Z:-2.00 [[ 9.99896392e-01 -1.16319767e-02 -8.47958388e-03 3.60660550e+02] [ 1.16255313e-02 9.99932094e-01 -8.09009483e-04 3.80816837e+01] [ 8.48841844e-03 7.10345995e-04 9.99963720e-01 -2.00388937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.511400513 meters 0.09747453246420433 Centerline is valid? [True, True] Translation: X:360.69, Y:38.10, Z:-2.00 [[ 9.99906334e-01 -1.05877729e-02 -8.67312118e-03 3.60686734e+02] [ 1.05809881e-02 9.99943677e-01 -8.27793646e-04 3.81033993e+01] [ 8.68139717e-03 7.35945918e-04 9.99962045e-01 -2.00493426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.541400513 meters 0.09641187444878505 Centerline is valid? [True, True] Translation: X:360.72, Y:38.11, Z:-2.00 [[ 9.99913238e-01 -9.97320418e-03 -8.60528824e-03 3.60715959e+02] [ 9.96650054e-03 9.99949996e-01 -8.21546904e-04 3.81087481e+01] [ 8.61305139e-03 7.35711015e-04 9.99962636e-01 -2.00482090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.571400513 meters 0.09010694703263336 Centerline is valid? [True, True] Translation: X:360.74, Y:38.11, Z:-2.00 [[ 9.99919387e-01 -9.61727494e-03 -8.29016591e-03 3.60744837e+02] [ 9.61103273e-03 9.99953499e-01 -7.92477345e-04 3.81075530e+01] [ 8.29740188e-03 7.12736405e-04 9.99965322e-01 -2.00374813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.601400513 meters 0.0893987728451091 Centerline is valid? [True, True] Translation: X:360.77, Y:38.12, Z:-2.00 [[ 9.99929798e-01 -9.77526567e-03 -6.69645439e-03 3.60772635e+02] [ 9.77118981e-03 9.99952055e-01 -6.41106729e-04 3.81176987e+01] [ 6.70240032e-03 5.75629396e-04 9.99977373e-01 -2.00118190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.631400513 meters 0.08722551942316308 Centerline is valid? [True, True] Translation: X:360.80, Y:38.12, Z:-2.00 [[ 9.99925884e-01 -1.02020291e-02 -6.64422989e-03 3.60801724e+02] [ 1.01980214e-02 9.99947796e-01 -6.36775382e-04 3.81217768e+01] [ 6.65037943e-03 5.68970188e-04 9.99977724e-01 -2.00043498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.661400513 meters 0.08706368973646048 Centerline is valid? [True, True] Translation: X:360.83, Y:38.13, Z:-2.00 [[ 9.99921014e-01 -1.06078599e-02 -6.74086700e-03 3.60830413e+02] [ 1.06037378e-02 9.99943570e-01 -6.46948740e-04 3.81277469e+01] [ 6.74734935e-03 5.75419253e-04 9.99977071e-01 -2.00069851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.691400513 meters 0.09729608982183532 Centerline is valid? [True, True] Translation: X:360.86, Y:38.15, Z:-2.00 [[ 9.99910960e-01 -1.12854387e-02 -7.12114527e-03 3.60856710e+02] [ 1.12808501e-02 9.99936135e-01 -6.84203048e-04 3.81456338e+01] [ 7.12841201e-03 6.03809554e-04 9.99974410e-01 -2.00167115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.721400513 meters 0.09047683994303689 Centerline is valid? [True, True] Translation: X:360.89, Y:38.14, Z:-2.00 [[ 9.99882922e-01 -1.36643387e-02 -6.88674266e-03 3.60887586e+02] [ 1.36601020e-02 9.99906477e-01 -6.61849075e-04 3.81437604e+01] [ 6.89514232e-03 5.67697980e-04 9.99976067e-01 -2.00152627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.751400513 meters 0.08853492140035416 Centerline is valid? [True, True] Translation: X:360.92, Y:38.15, Z:-2.00 [[ 9.99852289e-01 -1.59272092e-02 -6.45947212e-03 3.60917152e+02] [ 1.59235289e-02 9.99873020e-01 -6.20798466e-04 3.81488547e+01] [ 6.46853948e-03 5.17849177e-04 9.99978945e-01 -2.00006062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.781400513 meters 0.08294519534735909 Centerline is valid? [True, True] Translation: X:360.95, Y:38.15, Z:-2.00 [[ 9.99811567e-01 -1.85097235e-02 -5.84975675e-03 3.60948372e+02] [ 1.85067492e-02 9.99828577e-01 -5.62168597e-04 3.81476729e+01] [ 5.85915955e-03 4.53802685e-04 9.99982732e-01 -1.99943580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.811400513 meters 0.08171484878297847 Centerline is valid? [True, True] Translation: X:360.98, Y:38.15, Z:-2.00 [[ 9.99757255e-01 -2.11841192e-02 -6.05516860e-03 3.60978045e+02] [ 2.11809813e-02 9.99775489e-01 -5.81897692e-04 3.81506666e+01] [ 6.06613613e-03 4.53502026e-04 9.99981498e-01 -1.99988016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.841400513 meters 0.07380320433917514 Centerline is valid? [True, True] Translation: X:361.01, Y:38.14, Z:-2.00 [[ 9.99610193e-01 -2.73188917e-02 -5.75673773e-03 3.61008161e+02] [ 2.73487309e-02 9.99612584e-01 5.16998851e-03 3.81374956e+01] [ 5.61326912e-03 -5.32541269e-03 9.99970065e-01 -2.00183739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.871400513 meters 0.07343445004110216 Centerline is valid? [True, True] Translation: X:361.04, Y:38.15, Z:-2.00 [[ 9.99507157e-01 -3.07671937e-02 -6.23074369e-03 3.61038207e+02] [ 3.07277244e-02 9.99507721e-01 -6.33426723e-03 3.81480330e+01] [ 6.42256405e-03 6.13968886e-03 9.99960527e-01 -2.00255420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.901400513 meters 0.07198737403856356 Centerline is valid? [True, True] Translation: X:361.07, Y:38.14, Z:-2.00 [[ 9.99402980e-01 -3.40737005e-02 -5.71545474e-03 3.61067815e+02] [ 3.40711143e-02 9.99419260e-01 -5.49281473e-04 3.81429303e+01] [ 5.73085160e-03 3.54221629e-04 9.99983516e-01 -2.00012294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.931400513 meters 0.06887957733264594 Centerline is valid? [True, True] Translation: X:361.10, Y:38.14, Z:-2.00 [[ 9.99331176e-01 -3.62934740e-02 -4.47045476e-03 3.61097946e+02] [ 3.62919136e-02 9.99341139e-01 -4.29698586e-04 3.81407748e+01] [ 4.48310461e-03 2.67169835e-04 9.99989915e-01 -1.99751858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.961400513 meters 0.06424118374631345 Centerline is valid? [True, True] Translation: X:361.13, Y:38.14, Z:-2.00 [[ 9.99285034e-01 -3.76030411e-02 -3.92839603e-03 3.61127890e+02] [ 3.76018451e-02 9.99292729e-01 -3.77900697e-04 3.81358798e+01] [ 3.93982781e-03 2.29915572e-04 9.99992212e-01 -1.99608217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99140051300003 meters 0.06107213605847823 Centerline is valid? [True, True] Translation: X:361.16, Y:38.13, Z:-2.00 [[ 9.99285039e-01 -3.76253731e-02 -3.70716212e-03 3.61156926e+02] [ 3.76243061e-02 9.99291891e-01 -3.57167661e-04 3.81316807e+01] [ 3.71797561e-03 2.17432898e-04 9.99993065e-01 -1.99566881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.021400513 meters 0.07296633922208852 Centerline is valid? [True, True] Translation: X:361.19, Y:38.14, Z:-2.00 [[ 9.99412240e-01 -3.39388495e-02 -4.83000117e-03 3.61185511e+02] [ 3.39369933e-02 9.99423866e-01 -4.65766737e-04 3.81425645e+01] [ 4.84302603e-03 3.01577261e-04 9.99988227e-01 -1.99822387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05140051300003 meters 0.0612964470597273 Centerline is valid? [True, True] Translation: X:361.22, Y:38.13, Z:-2.00 [[ 9.99519716e-01 -3.05001789e-02 -5.48413148e-03 3.61216901e+02] [ 3.04977341e-02 9.99534696e-01 -5.28894913e-04 3.81289635e+01] [ 5.49771108e-03 3.61387310e-04 9.99984822e-01 -1.99847463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.081400513 meters 0.07422188476990262 Centerline is valid? [True, True] Translation: X:361.24, Y:38.15, Z:-2.00 [[ 9.99648899e-01 -2.58813104e-02 -5.67771349e-03 3.61244894e+02] [ 2.58786153e-02 9.99664943e-01 -5.47634475e-04 3.81461492e+01] [ 5.68998463e-03 4.00510837e-04 9.99983732e-01 -1.99934971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11140051300004 meters 0.07853471647434966 Centerline is valid? [True, True] Translation: X:361.27, Y:38.15, Z:-2.00 [[ 9.99765633e-01 -2.06887507e-02 -6.37613951e-03 3.61274420e+02] [ 2.06852466e-02 9.99785848e-01 -6.15035524e-04 3.81532036e+01] [ 6.38749836e-03 4.82999362e-04 9.99979483e-01 -1.99981329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.141400513 meters 0.09588759145589748 Centerline is valid? [True, True] Translation: X:361.30, Y:38.18, Z:-2.00 [[ 9.99918215e-01 -9.48930799e-03 -8.57413958e-03 3.61301855e+02] [ 9.48256202e-03 9.99954697e-01 -8.27092845e-04 3.81770640e+01] [ 8.58159969e-03 7.45720391e-04 9.99962899e-01 -2.00338674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.171400513 meters 0.09399068755206968 Centerline is valid? [True, True] Translation: X:361.33, Y:38.18, Z:-2.00 [[ 9.99947325e-01 -4.43645524e-03 -9.25555519e-03 3.61332106e+02] [ 4.42837885e-03 9.99989796e-01 -8.92911132e-04 3.81786488e+01] [ 9.25942211e-03 8.51876993e-04 9.99956768e-01 -2.00387668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.201400513 meters 0.09399068755206968 Centerline is valid? [True, True] Translation: X:361.36, Y:38.18, Z:-2.00 [[ 9.99946529e-01 -4.61262457e-03 -9.25542906e-03 3.61359583e+02] [ 4.60454367e-03 9.99988999e-01 -8.94217288e-04 3.81814425e+01] [ 9.25945194e-03 8.51552446e-04 9.99956768e-01 -2.00382245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.231400513 meters 0.102099125605824 Centerline is valid? [True, False] Translation: X:361.36, Y:38.18, Z:-2.00 [[ 9.99947523e-01 -4.76729720e-03 -9.06776993e-03 3.61359137e+02] [ 4.75492052e-03 9.99987735e-01 -1.38597939e-03 3.81835897e+01] [ 9.07426609e-03 1.34279013e-03 9.99957926e-01 -2.00425273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.261400513 meters 0.09108768903509845 Centerline is valid? [False, True] Translation: X:361.36, Y:38.19, Z:-2.00 [[ 9.99947869e-01 -4.91097188e-03 -8.95216604e-03 3.61358885e+02] [ 4.89513361e-03 9.99986416e-01 -1.79026541e-03 3.81853816e+01] [ 8.96083637e-03 1.74635003e-03 9.99958326e-01 -2.00457243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.291400513 meters 0.09768771940517873 Centerline is valid? [True, True] Translation: X:361.39, Y:38.20, Z:-2.01 [[ 9.99955311e-01 -3.18217087e-03 -8.90226246e-03 3.61387266e+02] [ 3.17404341e-03 9.99994533e-01 -9.26944817e-04 3.81955427e+01] [ 8.90516349e-03 8.98647225e-04 9.99959944e-01 -2.00529661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.321400513 meters 0.10773294618080002 Centerline is valid? [True, False] Translation: X:361.39, Y:38.20, Z:-2.01 [[ 9.99955324e-01 -3.21662146e-03 -8.88833977e-03 3.61387284e+02] [ 3.20773750e-03 9.99994342e-01 -1.01358171e-03 3.81959236e+01] [ 8.89154978e-03 9.85024962e-04 9.99959984e-01 -2.00543925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.351400513 meters 0.10183920396277729 Centerline is valid? [False, False] Translation: X:361.39, Y:38.20, Z:-2.01 [[ 9.99954578e-01 -3.44147730e-03 -8.88809007e-03 3.61387375e+02] [ 3.42785136e-03 9.99992927e-01 -1.54783515e-03 3.81983535e+01] [ 8.89335405e-03 1.51729779e-03 9.99959302e-01 -2.00565899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.381400513 meters 0.0967234832483331 Centerline is valid? [False, True] Translation: X:361.39, Y:38.20, Z:-2.01 [[ 9.99954328e-01 -3.64485566e-03 -8.83499198e-03 3.61387220e+02] [ 3.62689843e-03 9.99991326e-01 -2.04768297e-03 3.82006313e+01] [ 8.84237885e-03 2.01554583e-03 9.99958874e-01 -2.00573786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.411400513 meters 0.10068329592840015 Centerline is valid? [True, False] Translation: X:361.41, Y:38.21, Z:-2.01 [[ 9.99991118e-01 -3.23520383e-03 -2.70151553e-03 3.61408447e+02] [ 3.20053177e-03 9.99913702e-01 -1.27414757e-02 3.82133284e+01] [ 2.74250367e-03 1.27327163e-02 9.99915175e-01 -2.01255702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.441400513 meters 0.09895517642617213 Centerline is valid? [False, True] Translation: X:361.39, Y:38.21, Z:-2.02 [[ 9.99990316e-01 -3.88117654e-03 2.07484106e-03 3.61389672e+02] [ 3.88959638e-03 9.99984155e-01 -4.06955352e-03 3.82077119e+01] [-2.05901352e-03 4.07758441e-03 9.99989567e-01 -2.02001798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.471400513 meters 0.10395926912167641 Centerline is valid? [True, False] Translation: X:361.39, Y:38.21, Z:-2.02 [[ 9.99998106e-01 6.32990411e-04 1.84061508e-03 3.61390132e+02] [-6.34606519e-04 9.99999414e-01 8.77574279e-04 3.82050861e+01] [-1.84005850e-03 -8.78740683e-04 9.99997921e-01 -2.01927723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.501400513 meters 0.09015319576564727 Centerline is valid? [False, True] Translation: X:361.35, Y:38.20, Z:-2.02 [[ 9.99999715e-01 -6.91661419e-04 3.01196004e-04 3.61347564e+02] [ 6.91406513e-04 9.99999403e-01 8.45594641e-04 3.82048502e+01] [-3.01780689e-04 -8.45386151e-04 9.99999597e-01 -2.01834010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.531400513 meters 0.0956179538969204 Centerline is valid? [True, True] Translation: X:361.38, Y:38.22, Z:-2.02 [[ 9.99997570e-01 -2.08689946e-03 -7.10184019e-04 3.61375413e+02] [ 2.08685245e-03 9.99997820e-01 -6.69262109e-05 3.82229497e+01] [ 7.10322139e-04 6.54439990e-05 9.99999746e-01 -2.02016533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.561400513 meters 0.09186413895201961 Centerline is valid? [True, True] Translation: X:361.40, Y:38.22, Z:-2.02 [[ 9.99994150e-01 -3.06810328e-03 -1.51197453e-03 3.61404753e+02] [ 3.06789129e-03 9.99995284e-01 -1.42508994e-04 3.82247780e+01] [ 1.51240464e-03 1.37869587e-04 9.99998847e-01 -2.02124410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.591400513 meters 0.0923584569117936 Centerline is valid? [True, True] Translation: X:361.43, Y:38.23, Z:-2.02 [[ 9.99988107e-01 -4.58403655e-03 -1.66522143e-03 3.61433331e+02] [ 4.58378145e-03 9.99989482e-01 -1.56976690e-04 3.82320678e+01] [ 1.66592351e-03 1.49341812e-04 9.99998601e-01 -2.02178456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.621400513 meters 0.0943789839102296 Centerline is valid? [True, True] Translation: X:361.46, Y:38.24, Z:-2.02 [[ 9.99979991e-01 -6.29215093e-03 -6.52859332e-04 3.61461616e+02] [ 6.29211206e-03 9.99980203e-01 -6.15821302e-05 3.82411225e+01] [ 6.53233891e-04 5.74730340e-05 9.99999785e-01 -2.02058383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.651400513 meters 0.09478571321243674 Centerline is valid? [True, True] Translation: X:361.49, Y:38.25, Z:-2.02 [[ 9.99941552e-01 -1.06920914e-02 1.60342533e-03 3.61490462e+02] [ 1.06918629e-02 9.99942829e-01 1.51040159e-04 3.82528626e+01] [-1.60494859e-03 -1.33887728e-04 9.99998703e-01 -2.01648590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.681400513 meters 0.09219389538646101 Centerline is valid? [True, True] Translation: X:361.52, Y:38.26, Z:-2.02 [[ 9.99907895e-01 -1.34182973e-02 2.03719106e-03 3.61521168e+02] [ 1.34179340e-02 9.99909957e-01 1.91905454e-04 3.82568594e+01] [-2.03958267e-03 -1.64552884e-04 9.99997907e-01 -2.01563155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.711400513 meters 0.0828391886248621 Centerline is valid? [True, True] Translation: X:361.55, Y:38.25, Z:-2.02 [[ 9.99866680e-01 -1.61937843e-02 2.09378437e-03 3.61552094e+02] [ 1.61934065e-02 9.99868859e-01 1.97258739e-04 3.82525596e+01] [-2.09670415e-03 -1.63326939e-04 9.99997789e-01 -2.01528841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74140051300003 meters 0.08475631810406825 Centerline is valid? [True, True] Translation: X:361.58, Y:38.26, Z:-2.02 [[ 9.99824477e-01 -1.86216477e-02 2.06162397e-03 3.61580880e+02] [ 1.86212866e-02 9.99826590e-01 1.94193801e-04 3.82616310e+01] [-2.06488267e-03 -1.55769624e-04 9.99997856e-01 -2.01626909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.771400513 meters 0.07951194380560775 Centerline is valid? [True, True] Translation: X:361.61, Y:38.26, Z:-2.02 [[ 9.99784678e-01 -2.06742037e-02 1.78176300e-03 3.61611918e+02] [ 2.06739371e-02 9.99786257e-01 1.67887460e-04 3.82615059e+01] [-1.78485310e-03 -1.31015254e-04 9.99998399e-01 -2.01648979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80140051300003 meters 0.07152667014535391 Centerline is valid? [True, True] Translation: X:361.64, Y:38.26, Z:-2.02 [[ 9.99749204e-01 -2.23397584e-02 1.56989565e-03 3.61642605e+02] [ 2.23395536e-02 9.99750430e-01 1.47872897e-04 3.82574993e+01] [-1.57280730e-03 -1.12765043e-04 9.99998757e-01 -2.01643694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.831400513 meters 0.07528285580290764 Centerline is valid? [True, True] Translation: X:361.67, Y:38.27, Z:-2.02 [[ 9.99680475e-01 -2.52633639e-02 8.43039686e-04 3.61671040e+02] [ 2.52633059e-02 9.99680829e-01 7.93785361e-05 3.82705721e+01] [-8.44775981e-04 -5.80552032e-05 9.99999641e-01 -2.01739945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86140051300004 meters 0.06957755436950062 Centerline is valid? [True, True] Translation: X:361.70, Y:38.27, Z:-2.02 [[ 9.99641610e-01 -2.67557465e-02 8.84140186e-04 3.61701147e+02] [ 2.67556833e-02 9.99641999e-01 8.31757407e-05 3.82696426e+01] [-8.86049092e-04 -5.94901565e-05 9.99999606e-01 -2.01715186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.891400513 meters 0.07405043807115186 Centerline is valid? [True, True] Translation: X:361.73, Y:38.28, Z:-2.02 [[ 9.99603183e-01 -2.81152502e-02 1.73464391e-03 3.61728649e+02] [ 2.81150088e-02 9.99604682e-01 1.63406554e-04 3.82804535e+01] [-1.73855239e-03 -1.14572183e-04 9.99998482e-01 -2.01691546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.921400513 meters 0.07236608121817904 Centerline is valid? [True, True] Translation: X:361.76, Y:38.28, Z:-2.02 [[ 9.99571014e-01 -2.91873417e-02 2.42628323e-03 3.61758023e+02] [ 2.91868721e-02 9.99573946e-01 2.28760892e-04 3.82834472e+01] [-2.43192643e-03 -1.57847139e-04 9.99997030e-01 -2.01686969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.951400513 meters 0.07031251418264446 Centerline is valid? [True, True] Translation: X:361.79, Y:38.29, Z:-2.02 [[ 9.99524689e-01 -3.07776317e-02 1.76989138e-03 3.61788002e+02] [ 3.07773842e-02 9.99526250e-01 1.66921601e-04 3.82867783e+01] [-1.77419035e-03 -1.12369634e-04 9.99998420e-01 -2.01892098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.981400513 meters 0.060453027004078175 Centerline is valid? [True, True] Translation: X:361.82, Y:38.28, Z:-2.02 [[ 9.99504250e-01 -3.14797630e-02 5.28408797e-04 3.61818389e+02] [ 3.14797411e-02 9.99504389e-01 4.97307868e-05 3.82784531e+01] [-5.29712425e-04 -3.30719607e-05 9.99999859e-01 -2.01996727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.011400513 meters 0.06296873508131101 Centerline is valid? [True, True] Translation: X:361.85, Y:38.29, Z:-2.02 [[ 9.99484281e-01 -3.21102813e-02 3.20037302e-04 3.61846315e+02] [ 3.21102733e-02 9.99484332e-01 3.00109514e-05 3.82852684e+01] [-3.20835929e-04 -1.97189889e-05 9.99999948e-01 -2.02150798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.041400513 meters 0.059308909151089446 Centerline is valid? [True, True] Translation: X:361.88, Y:38.28, Z:-2.02 [[ 9.99472445e-01 -3.24764980e-02 -3.29494946e-04 3.61875133e+02] [ 3.24764892e-02 9.99472499e-01 -3.21193501e-05 3.82833262e+01] [ 3.30364261e-04 2.14015663e-05 9.99999945e-01 -2.02152260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.071400513 meters 0.06323382107549849 Centerline is valid? [True, True] Translation: X:361.90, Y:38.29, Z:-2.02 [[ 9.99475570e-01 -3.23799550e-02 -3.51420268e-04 3.61902891e+02] [ 3.23799452e-02 9.99475632e-01 -3.37671292e-05 3.82898040e+01] [ 3.52329372e-04 2.23704517e-05 9.99999938e-01 -2.02173849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.101400513 meters 0.06937381796602678 Centerline is valid? [True, True] Translation: X:361.93, Y:38.30, Z:-2.02 [[ 9.99504323e-01 -3.14734606e-02 -7.27137706e-04 3.61930923e+02] [ 3.14734187e-02 9.99504587e-01 -6.90561744e-05 3.82982118e+01] [ 7.28950910e-04 4.61364354e-05 9.99999733e-01 -2.02212218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.131400513 meters 0.06805985564747977 Centerline is valid? [True, True] Translation: X:361.96, Y:38.30, Z:-2.02 [[ 9.99515809e-01 -3.11037670e-02 -8.38471232e-04 3.61959598e+02] [ 3.11037104e-02 9.99516159e-01 -8.04427909e-05 3.82988624e+01] [ 8.40567619e-04 5.43242748e-05 9.99999645e-01 -2.02246273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.161400513 meters 0.0691162020914644 Centerline is valid? [True, True] Translation: X:361.99, Y:38.30, Z:-2.02 [[ 9.99526501e-01 -3.07631264e-02 -6.35213526e-04 3.61988201e+02] [ 3.07630936e-02 9.99526702e-01 -6.12574956e-05 3.83018161e+01] [ 6.36797353e-04 4.16873570e-05 9.99999796e-01 -2.02259316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.191400513 meters 0.07075523374920023 Centerline is valid? [True, True] Translation: X:362.02, Y:38.30, Z:-2.02 [[ 9.99546978e-01 -3.00964004e-02 -2.12570739e-04 3.62015967e+02] [ 3.00963967e-02 9.99547001e-01 -2.05297800e-05 3.83043850e+01] [ 2.13092317e-04 1.41228663e-05 9.99999977e-01 -2.02225009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.221400513 meters 0.07715614119330881 Centerline is valid? [True, True] Translation: X:362.04, Y:38.31, Z:-2.02 [[ 9.99577607e-01 -2.90303088e-02 1.35979442e-03 3.62044368e+02] [ 2.90301599e-02 9.99578528e-01 1.29134711e-04 3.83112151e+01] [-1.36297012e-03 -8.96051160e-05 9.99999067e-01 -2.02000177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.251400513 meters 0.075251061909563 Centerline is valid? [True, True] Translation: X:362.07, Y:38.31, Z:-2.02 [[ 9.99596642e-01 -2.83877154e-02 8.30731607e-04 3.62074625e+02] [ 2.83876596e-02 9.99596986e-01 7.89008942e-05 3.83103734e+01] [-8.32636627e-04 -5.52865428e-05 9.99999652e-01 -2.02039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.281400513 meters 0.07157418251886885 Centerline is valid? [True, True] Translation: X:362.10, Y:38.31, Z:-2.02 [[ 9.99619375e-01 -2.75861838e-02 -3.28287628e-04 3.62104030e+02] [ 2.75861750e-02 9.99619429e-01 -3.14343630e-05 3.83082537e+01] [ 3.29029845e-04 2.23661983e-05 9.99999946e-01 -2.02192906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.311400513 meters 0.07598391529609874 Centerline is valid? [True, True] Translation: X:362.13, Y:38.32, Z:-2.03 [[ 9.99660175e-01 -2.59855520e-02 -2.07029598e-03 3.62132744e+02] [ 2.59851991e-02 9.99662308e-01 -1.97189980e-04 3.83157838e+01] [ 2.07472095e-03 1.43325917e-04 9.99997837e-01 -2.02505132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.341400513 meters 0.072388427528403 Centerline is valid? [True, True] Translation: X:362.16, Y:38.31, Z:-2.03 [[ 9.99772528e-01 -2.10569685e-02 -3.39054974e-03 3.62163083e+02] [ 2.10559944e-02 9.99778246e-01 -3.22742081e-04 3.83135267e+01] [ 3.39659385e-03 2.51277270e-04 9.99994200e-01 -2.02659559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.371400513 meters 0.08071126215996194 Centerline is valid? [True, True] Translation: X:362.19, Y:38.33, Z:-2.03 [[ 9.99821268e-01 -1.86799227e-02 -2.91409083e-03 3.62191460e+02] [ 1.86791931e-02 9.99825490e-01 -2.77368013e-04 3.83262509e+01] [ 2.91876351e-03 2.22885573e-04 9.99995716e-01 -2.02688551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.401400513 meters 0.085630638718219 Centerline is valid? [True, True] Translation: X:362.22, Y:38.33, Z:-2.03 [[ 9.99860765e-01 -1.65545039e-02 -2.09732874e-03 3.62219859e+02] [ 1.65541213e-02 9.99862951e-01 -1.99652098e-04 3.83347933e+01] [ 2.10034644e-03 1.64904865e-04 9.99997781e-01 -2.02518527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.431400513 meters 0.08151276029507669 Centerline is valid? [True, True] Translation: X:362.25, Y:38.33, Z:-2.02 [[ 9.99891727e-01 -1.46640385e-02 -1.22460700e-03 3.62250275e+02] [ 1.46639066e-02 9.99892472e-01 -1.16646162e-04 3.83323333e+01] [ 1.22618582e-03 9.86760098e-05 9.99999243e-01 -2.02316265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.461400513 meters 0.0893238550336259 Centerline is valid? [True, True] Translation: X:362.28, Y:38.34, Z:-2.02 [[ 9.99912568e-01 -1.32105750e-02 -5.81266276e-04 3.62278124e+02] [ 1.32105450e-02 9.99912735e-01 -5.54785179e-05 3.83442253e+01] [ 5.81948455e-04 4.77948230e-05 9.99999830e-01 -2.02277323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49140051300003 meters 0.08608996621116971 Centerline is valid? [True, True] Translation: X:362.31, Y:38.34, Z:-2.02 [[ 9.99937977e-01 -1.11368693e-02 1.14391697e-04 3.62308659e+02] [ 1.11368682e-02 9.99937983e-01 1.08757339e-05 3.83432209e+01] [-1.14505724e-04 -9.60109409e-06 9.99999993e-01 -2.02221206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.521400513 meters 0.08695566382659571 Centerline is valid? [True, True] Translation: X:362.34, Y:38.35, Z:-2.02 [[ 9.99945699e-01 -1.04079355e-02 5.23640447e-04 3.62338419e+02] [ 1.04079109e-02 9.99945835e-01 4.98049242e-05 3.83476832e+01] [-5.24130450e-04 -4.43522167e-05 9.99999862e-01 -2.02182065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55140051300003 meters 0.08917998821780473 Centerline is valid? [True, True] Translation: X:362.37, Y:38.35, Z:-2.02 [[ 9.99949653e-01 -1.00300066e-02 2.99246029e-04 3.62367258e+02] [ 1.00299986e-02 9.99949698e-01 2.84383428e-05 3.83533997e+01] [-2.99516213e-04 -2.54354737e-05 9.99999955e-01 -2.02220741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.581400513 meters 0.09087356053176376 Centerline is valid? [True, True] Translation: X:362.40, Y:38.36, Z:-2.02 [[ 9.99943290e-01 -1.06364962e-02 5.30752449e-04 3.62396467e+02] [ 1.06364709e-02 9.99943430e-01 5.04954870e-05 3.83586329e+01] [-5.31259519e-04 -4.48472904e-05 9.99999858e-01 -2.02227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61140051300004 meters 0.08590155248869671 Centerline is valid? [True, True] Translation: X:362.43, Y:38.36, Z:-2.02 [[ 9.99933990e-01 -1.14427527e-02 1.03925294e-03 3.62427166e+02] [ 1.14426560e-02 9.99934526e-01 9.89973409e-05 3.83560502e+01] [-1.04031770e-03 -8.70989922e-05 9.99999455e-01 -2.02164906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.641400513 meters 0.08692863157324096 Centerline is valid? [True, True] Translation: X:362.46, Y:38.36, Z:-2.02 [[ 9.99920904e-01 -1.24927331e-02 1.45537483e-03 3.62457000e+02] [ 1.24925444e-02 9.99921956e-01 1.38636353e-04 3.83610416e+01] [-1.45699319e-03 -1.20444053e-04 9.99998931e-01 -2.02163663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.671400513 meters 0.08724542584019158 Centerline is valid? [True, True] Translation: X:362.49, Y:38.37, Z:-2.02 [[ 9.99906787e-01 -1.35409501e-02 1.74932330e-03 3.62486827e+02] [ 1.35406791e-02 9.99908307e-01 1.66637348e-04 3.83651250e+01] [-1.75141932e-03 -1.42934790e-04 9.99998456e-01 -2.02221835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.701400513 meters 0.08680071303886927 Centerline is valid? [True, True] Translation: X:362.52, Y:38.37, Z:-2.02 [[ 9.99898238e-01 -1.42148895e-02 1.20428213e-03 3.62518300e+02] [ 1.42147614e-02 9.99898959e-01 1.14817886e-04 3.83679233e+01] [-1.20579257e-03 -9.76876189e-05 9.99999268e-01 -2.02331527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.731400513 meters 0.08350157414892782 Centerline is valid? [True, True] Translation: X:362.55, Y:38.37, Z:-2.02 [[ 9.99891522e-01 -1.47289944e-02 3.49601818e-05 3.62548736e+02] [ 1.47289943e-02 9.99891522e-01 3.32946136e-06 3.83676626e+01] [-3.50054290e-05 -2.81417187e-06 9.99999999e-01 -2.02489860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.761400513 meters 0.08616206549267436 Centerline is valid? [True, True] Translation: X:362.58, Y:38.38, Z:-2.03 [[ 9.99901622e-01 -1.39892660e-02 -1.02288610e-03 3.62577111e+02] [ 1.39891735e-02 9.99902142e-01 -9.74908525e-05 3.83782841e+01] [ 1.02414983e-03 8.31719304e-05 9.99999472e-01 -2.02673834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.791400513 meters 0.09373084753504554 Centerline is valid? [True, True] Translation: X:362.60, Y:38.39, Z:-2.03 [[ 9.99922421e-01 -1.24411594e-02 -6.07619043e-04 3.62604569e+02] [ 1.24411264e-02 9.99922605e-01 -5.80143525e-05 3.83931417e+01] [ 6.08293782e-04 5.04503865e-05 9.99999814e-01 -2.02716641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.821400513 meters 0.08482547085131688 Centerline is valid? [True, True] Translation: X:362.64, Y:38.39, Z:-2.03 [[ 9.99944853e-01 -1.05003355e-02 1.83801843e-04 3.62635341e+02] [ 1.05003325e-02 9.99944870e-01 1.74703105e-05 3.83877613e+01] [-1.83975154e-04 -1.55393666e-05 9.99999983e-01 -2.02526445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.851400513 meters 0.09875323133630431 Centerline is valid? [True, True] Translation: X:362.66, Y:38.41, Z:-2.03 [[ 9.99962400e-01 -8.56542501e-03 1.35386179e-03 3.62662649e+02] [ 8.56525823e-03 9.99963309e-01 1.28940468e-04 3.84101538e+01] [-1.35491655e-03 -1.17339444e-04 9.99999075e-01 -2.02510228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.881400513 meters 0.10186481845874804 Centerline is valid? [True, False] Translation: X:362.64, Y:38.42, Z:-2.03 [[ 9.99991093e-01 -3.68657301e-03 2.05496625e-03 3.62641790e+02] [ 3.69888068e-03 9.99975051e-01 -6.01795796e-03 3.84177860e+01] [-2.03272934e-03 6.02550543e-03 9.99979780e-01 -2.02773861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.911400513 meters 0.10037870915302904 Centerline is valid? [False, False] Translation: X:362.64, Y:38.42, Z:-2.03 [[ 9.99997905e-01 7.33486671e-04 1.91085169e-03 3.62642127e+02] [-7.30802776e-04 9.99998746e-01 -1.40487437e-03 3.84165741e+01] [-1.91187975e-03 1.40347497e-03 9.99997187e-01 -2.02746684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.941400513 meters 0.10633154261873456 Centerline is valid? [False, False] Translation: X:362.64, Y:38.42, Z:-2.02 [[ 9.99994119e-01 2.17820322e-03 2.64891088e-03 3.62636353e+02] [-2.17816358e-03 9.99997628e-01 -1.78502743e-05 3.84168167e+01] [-2.64894348e-03 1.20804082e-05 9.99996491e-01 -2.02283409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.971400513 meters 0.09632155629376885 Centerline is valid? [False, True] Translation: X:362.64, Y:38.42, Z:-2.02 [[ 9.99975212e-01 6.59788417e-03 2.45851484e-03 3.62636912e+02] [-6.60921080e-03 9.99967450e-01 4.62781981e-03 3.84154680e+01] [-2.42790100e-03 -4.64395394e-03 9.99986269e-01 -2.02254164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.001400513 meters 0.09872109894630342 Centerline is valid? [True, True] Translation: X:362.67, Y:38.43, Z:-2.02 [[ 9.99984475e-01 5.30534432e-03 1.70364067e-03 3.62665816e+02] [-5.30559717e-03 9.99985915e-01 1.43928779e-04 3.84302773e+01] [-1.70285308e-03 -1.52965376e-04 9.99998538e-01 -2.02488131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.031400513 meters 0.09227727063212242 Centerline is valid? [True, True] Translation: X:362.70, Y:38.43, Z:-2.03 [[ 9.99991263e-01 4.11088583e-03 7.57997412e-04 3.62696381e+02] [-4.11093554e-03 9.99991548e-01 6.40379420e-05 3.84278505e+01] [-7.57727753e-04 -6.71534610e-05 9.99999711e-01 -2.02586790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.061400513 meters 0.08778044535217856 Centerline is valid? [True, True] Translation: X:362.73, Y:38.43, Z:-2.03 [[ 9.99997641e-01 2.12214226e-03 4.63782091e-04 3.62727078e+02] [-2.12216067e-03 9.99997747e-01 3.91936543e-05 3.84280134e+01] [-4.63697872e-04 -4.01777819e-05 9.99999892e-01 -2.02639313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.091400513 meters 0.08274201200351289 Centerline is valid? [True, True] Translation: X:362.76, Y:38.42, Z:-2.03 [[ 9.99999925e-01 2.73823341e-04 2.73125742e-04 3.62758109e+02] [-2.73829673e-04 9.99999962e-01 2.31438674e-05 3.84239030e+01] [-2.73119395e-04 -2.32186556e-05 9.99999962e-01 -2.02637040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.121400513 meters 0.08181187532503524 Centerline is valid? [True, True] Translation: X:362.79, Y:38.43, Z:-2.03 [[ 9.99995198e-01 -3.09731837e-03 1.06095437e-04 3.62787542e+02] [ 3.09731743e-03 9.99995203e-01 8.95450034e-06 3.84319620e+01] [-1.06122663e-04 -8.62584610e-06 9.99999994e-01 -2.02717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.151400513 meters 0.08181187532503524 Centerline is valid? [True, True] Translation: X:362.82, Y:38.43, Z:-2.03 [[ 9.99995198e-01 -3.09731842e-03 1.06094807e-04 3.62817534e+02] [ 3.09731748e-03 9.99995203e-01 8.96194748e-06 3.84344955e+01] [-1.06122057e-04 -8.63329513e-06 9.99999994e-01 -2.02736992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.181400513 meters 0.07805263714033402 Centerline is valid? [True, True] Translation: X:362.85, Y:38.44, Z:-2.03 [[ 9.99966887e-01 -8.13764523e-03 -6.70555529e-05 3.62848114e+02] [ 8.13764486e-03 9.99966889e-01 -5.66789688e-06 3.84358971e+01] [ 6.70994559e-05 5.12203492e-06 9.99999998e-01 -2.02798897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.211400513 meters 0.08085505581136421 Centerline is valid? [True, True] Translation: X:362.88, Y:38.44, Z:-2.03 [[ 9.99950372e-01 -9.96151014e-03 1.48126975e-04 3.62877639e+02] [ 9.96150839e-03 9.99950383e-01 1.25125332e-05 3.84425373e+01] [-1.48244269e-04 -1.10363441e-05 9.99999989e-01 -2.02773142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24140051300003 meters 0.0727995809072477 Centerline is valid? [True, True] Translation: X:362.91, Y:38.44, Z:-2.03 [[ 9.99935506e-01 -1.13441477e-02 5.42119802e-04 3.62909294e+02] [ 1.13441245e-02 9.99935652e-01 4.58638380e-05 3.84367158e+01] [-5.42605204e-04 -3.97110055e-05 9.99999852e-01 -2.02573247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.271400513 meters 0.07960255185852577 Centerline is valid? [True, True] Translation: X:362.94, Y:38.45, Z:-2.03 [[ 9.99928762e-01 -1.18858136e-02 1.09509921e-03 3.62938390e+02] [ 1.18857193e-02 9.99929358e-01 9.24921020e-05 3.84493070e+01] [-1.09612120e-03 -7.94694711e-05 9.99999396e-01 -2.02559608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30140051300003 meters 0.07852280021960953 Centerline is valid? [True, True] Translation: X:362.97, Y:38.45, Z:-2.03 [[ 9.99928629e-01 -1.18984754e-02 1.07877576e-03 3.62969273e+02] [ 1.18983839e-02 9.99929208e-01 9.12366694e-05 3.84524048e+01] [-1.07978497e-03 -7.83944695e-05 9.99999414e-01 -2.02589487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.331400513 meters 0.0822944679857912 Centerline is valid? [True, True] Translation: X:363.00, Y:38.46, Z:-2.03 [[ 9.99937820e-01 -1.11390550e-02 5.27246244e-04 3.62998627e+02] [ 1.11390331e-02 9.99937958e-01 4.45193649e-05 3.84610817e+01] [-5.27709436e-04 -3.86435833e-05 9.99999860e-01 -2.02805737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36140051300004 meters 0.07283327002180108 Centerline is valid? [True, True] Translation: X:363.03, Y:38.45, Z:-2.03 [[ 9.99939331e-01 -1.10079275e-02 3.98787174e-04 3.63030391e+02] [ 1.10079149e-02 9.99939411e-01 3.36725997e-05 3.84514476e+01] [-3.99133677e-04 -2.92807415e-05 9.99999920e-01 -2.02751419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.391400513 meters 0.07500306893207481 Centerline is valid? [True, True] Translation: X:363.06, Y:38.46, Z:-2.03 [[ 9.99936843e-01 -1.11436735e-02 1.45928746e-03 3.63060690e+02] [ 1.11435054e-02 9.99937902e-01 1.23278081e-04 3.84565263e+01] [-1.46057061e-03 -1.07008718e-04 9.99998928e-01 -2.02658443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.421400513 meters 0.0755674598336849 Centerline is valid? [True, True] Translation: X:363.09, Y:38.46, Z:-2.02 [[ 9.99926623e-01 -1.12703963e-02 4.44158168e-03 3.63091373e+02] [ 1.12688410e-02 9.99936434e-01 3.75032824e-04 3.84609494e+01] [-4.44552612e-03 -3.24953827e-04 9.99990066e-01 -2.02131058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.451400513 meters 0.08066752371291745 Centerline is valid? [True, True] Translation: X:363.12, Y:38.47, Z:-2.02 [[ 9.99919509e-01 -1.12541065e-02 5.85839085e-03 3.63122166e+02] [ 1.12514015e-02 9.99936579e-01 4.94489271e-04 3.84705869e+01] [-5.86358434e-03 -4.28534362e-04 9.99982717e-01 -2.01966127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.481400513 meters 0.08100048955227583 Centerline is valid? [True, True] Translation: X:363.15, Y:38.47, Z:-2.02 [[ 9.99919787e-01 -1.11260078e-02 6.05247681e-03 3.63154492e+02] [ 1.11231195e-02 9.99938006e-01 5.10660802e-04 3.84734408e+01] [-6.05778321e-03 -4.43297418e-04 9.99981553e-01 -2.01982573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.511400513 meters 0.07746725370313522 Centerline is valid? [True, True] Translation: X:363.19, Y:38.47, Z:-2.02 [[ 9.99922942e-01 -1.10948183e-02 5.56909807e-03 3.63187118e+02] [ 1.10923737e-02 9.99938367e-01 4.69652875e-04 3.84711550e+01] [-5.57396555e-03 -4.07842168e-04 9.99984382e-01 -2.02123240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.541400513 meters 0.07378926017021412 Centerline is valid? [True, True] Translation: X:363.22, Y:38.47, Z:-2.02 [[ 9.99924965e-01 -1.11311486e-02 5.11496660e-03 3.63219519e+02] [ 1.11290880e-02 9.99937977e-01 4.31148280e-04 3.84687551e+01] [-5.11944853e-03 -3.74191016e-04 9.99986826e-01 -2.02184360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.571400513 meters 0.07902276143368756 Centerline is valid? [True, True] Translation: X:363.25, Y:38.48, Z:-2.02 [[ 9.99922513e-01 -1.11794296e-02 5.47622460e-03 3.63250473e+02] [ 1.11770697e-02 9.99937428e-01 4.61357653e-04 3.84782241e+01] [-5.48103966e-03 -4.00113759e-04 9.99984899e-01 -2.02169509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.601400513 meters 0.08118953323853083 Centerline is valid? [True, True] Translation: X:363.28, Y:38.48, Z:-2.02 [[ 9.99923600e-01 -1.11314983e-02 5.37446047e-03 3.63281065e+02] [ 1.11292271e-02 9.99937966e-01 4.52321234e-04 3.84838175e+01] [-5.37916208e-03 -3.92473086e-04 9.99985455e-01 -2.02222252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.631400513 meters 0.07574822256995503 Centerline is valid? [True, True] Translation: X:363.31, Y:38.48, Z:-2.02 [[ 9.99929942e-01 -1.09692303e-02 4.44834235e-03 3.63313906e+02] [ 1.09676732e-02 9.99939783e-01 3.74292340e-04 3.84798703e+01] [-4.45218018e-03 -3.25478152e-04 9.99990036e-01 -2.02421490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.661400513 meters 0.08059041253539113 Centerline is valid? [True, True] Translation: X:363.34, Y:38.49, Z:-2.03 [[ 9.99939393e-01 -1.06550394e-02 2.77141386e-03 3.63344092e+02] [ 1.06544339e-02 9.99943213e-01 2.33134028e-04 3.84880039e+01] [-2.77374053e-03 -2.03592052e-04 9.99996132e-01 -2.02718012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.691400513 meters 0.0802359170987474 Centerline is valid? [True, True] Translation: X:363.38, Y:38.49, Z:-2.03 [[ 9.99947092e-01 -1.02335951e-02 1.04203206e-03 3.63376225e+02] [ 1.02335091e-02 9.99947632e-01 8.78204978e-05 3.84895708e+01] [-1.04287621e-03 -7.71522069e-05 9.99999453e-01 -2.03047390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.721400513 meters 0.08233423240886283 Centerline is valid? [True, True] Translation: X:363.41, Y:38.49, Z:-2.03 [[ 9.99944972e-01 -1.03556480e-02 1.67715053e-03 3.63406247e+02] [ 1.03554261e-02 9.99946371e-01 1.40926402e-04 3.84947097e+01] [-1.67851998e-03 -1.23551039e-04 9.99998584e-01 -2.02935668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.751400513 meters 0.07383496586141028 Centerline is valid? [True, True] Translation: X:363.44, Y:38.49, Z:-2.03 [[ 9.99956623e-01 -9.21733929e-03 1.33861871e-03 3.63435604e+02] [ 9.22861127e-03 9.99919795e-01 -8.67383224e-03 3.84922153e+01] [-1.25856169e-03 8.68580960e-03 9.99961486e-01 -2.02644078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.781400513 meters 0.06767865558228155 Centerline is valid? [True, True] Translation: X:363.47, Y:38.48, Z:-2.03 [[ 9.99945353e-01 -1.03553344e-02 1.43486170e-03 3.63467126e+02] [ 1.03550106e-02 9.99946358e-01 2.32926264e-04 3.84782471e+01] [-1.43719677e-03 -2.18055527e-04 9.99998943e-01 -2.02551297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.811400513 meters 0.07931653181365002 Centerline is valid? [True, True] Translation: X:363.50, Y:38.49, Z:-2.03 [[ 9.99890194e-01 -1.45895639e-02 2.59686297e-03 3.63498372e+02] [ 1.45679592e-02 9.99860645e-01 8.15262201e-03 3.84881859e+01] [-2.71544429e-03 -8.11389581e-03 9.99963395e-01 -2.02635500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.841400513 meters 0.06928579413521098 Centerline is valid? [True, True] Translation: X:363.53, Y:38.48, Z:-2.03 [[ 9.99787773e-01 -2.02311912e-02 3.88694278e-03 3.63530180e+02] [ 2.02300759e-02 9.99795298e-01 3.26043812e-04 3.84795535e+01] [-3.89274337e-03 -2.47341469e-04 9.99992393e-01 -2.02669032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.871400513 meters 0.06078449384233927 Centerline is valid? [True, True] Translation: X:363.56, Y:38.47, Z:-2.03 [[ 9.99715325e-01 -2.34649630e-02 4.32035098e-03 3.63561581e+02] [ 2.34636155e-02 9.99724626e-01 3.62323979e-04 3.84684834e+01] [-4.32766319e-03 -2.60849780e-04 9.99990602e-01 -2.02698787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.901400513 meters 0.05913957153243895 Centerline is valid? [True, True] Translation: X:363.59, Y:38.47, Z:-2.03 [[ 9.99698137e-01 -2.43136909e-02 3.53269185e-03 3.63590320e+02] [ 2.43347110e-02 9.99685655e-01 -6.03427094e-03 3.84685353e+01] [-3.38486597e-03 6.11841645e-03 9.99975554e-01 -2.02720486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.931400513 meters 0.058427659827507764 Centerline is valid? [True, True] Translation: X:363.62, Y:38.46, Z:-2.03 [[ 9.99574146e-01 -2.89750084e-02 3.46048457e-03 3.63623073e+02] [ 2.89516173e-02 9.99558837e-01 6.62843771e-03 3.84569506e+01] [-3.65101697e-03 -6.52542835e-03 9.99972044e-01 -2.02832781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.961400513 meters 0.0595463852009162 Centerline is valid? [True, True] Translation: X:363.65, Y:38.46, Z:-2.03 [[ 9.99524079e-01 -3.07006334e-02 3.01441941e-03 3.63652549e+02] [ 3.07000104e-02 9.99528612e-01 2.52741913e-04 3.84585308e+01] [-3.02075779e-03 -1.60078920e-04 9.99995425e-01 -2.03036957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99140051300003 meters 0.05416516171427101 Centerline is valid? [True, True] Translation: X:363.68, Y:38.45, Z:-2.03 [[ 9.99557567e-01 -2.96498364e-02 2.35726618e-03 3.63683471e+02] [ 2.96494524e-02 9.99560339e-01 1.97699166e-04 3.84513548e+01] [-2.36209153e-03 -1.27720046e-04 9.99997202e-01 -2.03068747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.021400513 meters 0.059189498283521186 Centerline is valid? [True, True] Translation: X:363.71, Y:38.46, Z:-2.03 [[ 9.99624052e-01 -2.73620845e-02 1.75237585e-03 3.63711876e+02] [ 2.73618689e-02 9.99625583e-01 1.46909166e-04 3.84577724e+01] [-1.75573947e-03 -9.89056576e-05 9.99998454e-01 -2.03189753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05140051300003 meters 0.06557480560025494 Centerline is valid? [True, True] Translation: X:363.74, Y:38.47, Z:-2.03 [[ 9.99708528e-01 -2.40931335e-02 1.54268161e-03 3.63740982e+02] [ 2.40929625e-02 9.99709714e-01 1.29345594e-04 3.84663082e+01] [-1.54535013e-03 -9.21401231e-05 9.99998802e-01 -2.03300830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.081400513 meters 0.06933252488162366 Centerline is valid? [True, True] Translation: X:363.77, Y:38.47, Z:-2.03 [[ 9.99785857e-01 -2.06140741e-02 1.81667835e-03 3.63771419e+02] [ 2.06138311e-02 9.99787501e-01 1.52408378e-04 3.84721110e+01] [-1.81943407e-03 -1.14927040e-04 9.99998338e-01 -2.03291521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11140051300004 meters 0.07140774087512915 Centerline is valid? [True, True] Translation: X:363.80, Y:38.48, Z:-2.03 [[ 9.99844761e-01 -1.74576984e-02 2.38379758e-03 3.63801547e+02] [ 1.74572710e-02 9.99847590e-01 1.99984318e-04 3.84758256e+01] [-2.38692553e-03 -1.58338673e-04 9.99997139e-01 -2.03250281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.141400513 meters 0.07155969724564269 Centerline is valid? [True, True] Translation: X:363.83, Y:38.47, Z:-2.03 [[ 9.99898217e-01 -1.36804107e-02 4.05003641e-03 3.63832424e+02] [ 1.36791462e-02 9.99906378e-01 3.39772710e-04 3.84739374e+01] [-4.05430547e-03 -2.84337087e-04 9.99991741e-01 -2.02997223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.171400513 meters 0.07837264799671746 Centerline is valid? [True, True] Translation: X:363.86, Y:38.48, Z:-2.03 [[ 9.99900458e-01 -1.32181039e-02 4.93522824e-03 3.63863088e+02] [ 1.32162204e-02 9.99912576e-01 4.14067894e-04 3.84815292e+01] [-4.94026998e-03 -3.48801612e-04 9.99987736e-01 -2.02884315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.201400513 meters 0.07536108663048072 Centerline is valid? [True, True] Translation: X:363.90, Y:38.48, Z:-2.03 [[ 9.99898010e-01 -1.32744437e-02 5.26858666e-03 3.63896180e+02] [ 1.32722988e-02 9.99911822e-01 4.41849858e-04 3.84767594e+01] [-5.27398739e-03 -3.71878538e-04 9.99986023e-01 -2.02841085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.231400513 meters 0.0718911913896221 Centerline is valid? [True, True] Translation: X:363.93, Y:38.47, Z:-2.03 [[ 9.99893990e-01 -1.35773284e-02 5.25976884e-03 3.63928652e+02] [ 1.35751962e-02 9.99907756e-01 4.40873868e-04 3.84717193e+01] [-5.26526955e-03 -3.69424737e-04 9.99986070e-01 -2.02872459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.261400513 meters 0.07353546574613284 Centerline is valid? [True, True] Translation: X:363.96, Y:38.47, Z:-2.03 [[ 9.99887082e-01 -1.41276130e-02 5.12184206e-03 3.63959879e+02] [ 1.41255996e-02 9.99900137e-01 4.29072538e-04 3.84697113e+01] [-5.12739235e-03 -3.56674998e-04 9.99986791e-01 -2.03009720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.291400513 meters 0.07223820065871549 Centerline is valid? [True, True] Translation: X:363.99, Y:38.47, Z:-2.03 [[ 9.99893923e-01 -1.36203177e-02 5.16042124e-03 3.63992647e+02] [ 1.36182680e-02 9.99907174e-01 4.32138160e-04 3.84676300e+01] [-5.16582808e-03 -3.61816321e-04 9.99986592e-01 -2.03055482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.321400513 meters 0.07798935066606476 Centerline is valid? [True, True] Translation: X:364.02, Y:38.47, Z:-2.03 [[ 9.99909476e-01 -1.24987343e-02 4.98214060e-03 3.64022301e+02] [ 1.24968112e-02 9.99921825e-01 4.16933133e-04 3.84739605e+01] [-4.98696226e-03 -3.54634520e-04 9.99987502e-01 -2.03104675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.351400513 meters 0.0819754755985215 Centerline is valid? [True, True] Translation: X:364.05, Y:38.48, Z:-2.03 [[ 9.99952451e-01 -8.93003515e-03 3.91783576e-03 3.64052830e+02] [ 8.92881866e-03 9.99960084e-01 3.27883912e-04 3.84764820e+01] [-3.92060738e-03 -2.92886676e-04 9.99992271e-01 -2.03256372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.381400513 meters 0.07715473636480817 Centerline is valid? [True, True] Translation: X:364.08, Y:38.47, Z:-2.03 [[ 9.99973697e-01 -6.50470569e-03 3.20838862e-03 3.64083982e+02] [ 6.50387756e-03 9.99978814e-01 2.68477713e-04 3.84717589e+01] [-3.21006701e-03 -2.47603684e-04 9.99994817e-01 -2.03373480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.411400513 meters 0.08449410069906918 Centerline is valid? [True, True] Translation: X:364.11, Y:38.48, Z:-2.04 [[ 9.99990234e-01 -3.65554810e-03 2.48354472e-03 3.64112841e+02] [ 3.65504324e-03 9.99993299e-01 2.07789679e-04 3.84826802e+01] [-2.48428766e-03 -1.98710187e-04 9.99996894e-01 -2.03528881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.441400513 meters 0.08825446979955096 Centerline is valid? [True, True] Translation: X:364.14, Y:38.49, Z:-2.04 [[ 9.99997515e-01 -6.45997689e-04 2.13356190e-03 3.64142568e+02] [ 6.45618159e-04 9.99999776e-01 1.78569357e-04 3.84896135e+01] [-2.13367678e-03 -1.77191447e-04 9.99997708e-01 -2.03636984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.471400513 meters 0.08968317018299797 Centerline is valid? [True, True] Translation: X:364.17, Y:38.49, Z:-2.04 [[ 9.99995558e-01 1.78126798e-03 2.38979928e-03 3.64172930e+02] [-1.78175092e-03 9.99998393e-01 1.99972338e-04 3.84945350e+01] [-2.38943924e-03 -2.04229477e-04 9.99997124e-01 -2.03680251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.501400513 meters 0.09196368174105246 Centerline is valid? [True, True] Translation: X:364.20, Y:38.50, Z:-2.04 [[ 9.99986799e-01 3.75381127e-03 3.50860306e-03 3.64203311e+02] [-3.75486427e-03 9.99992907e-01 2.93579229e-04 3.85003333e+01] [-3.50747614e-03 -3.06749682e-04 9.99993802e-01 -2.03619508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.531400513 meters 0.07993613145915247 Centerline is valid? [True, True] Translation: X:364.24, Y:38.49, Z:-2.03 [[ 9.99983471e-01 3.48283391e-03 4.57463442e-03 3.64236598e+02] [-3.48462233e-03 9.99993855e-01 3.83030537e-04 3.84879753e+01] [-4.57327228e-03 -3.98965080e-04 9.99989463e-01 -2.03482587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.561400513 meters 0.08995165313224118 Centerline is valid? [True, True] Translation: X:364.27, Y:38.50, Z:-2.03 [[ 9.99983814e-01 2.55129446e-03 5.08546026e-03 3.64265952e+02] [-2.55348692e-03 9.99996650e-01 4.24677051e-04 3.85023068e+01] [-5.08435974e-03 -4.37655833e-04 9.99986979e-01 -2.03434386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.591400513 meters 0.08368684668300935 Centerline is valid? [True, True] Translation: X:364.30, Y:38.50, Z:-2.03 [[ 9.99988494e-01 7.60576209e-04 4.73647256e-03 3.64297829e+02] [-7.62457891e-04 9.99999631e-01 3.95481935e-04 3.84968354e+01] [-4.73617001e-03 -3.99088745e-04 9.99988705e-01 -2.03488695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.621400513 meters 0.08748944277767602 Centerline is valid? [True, True] Translation: X:364.33, Y:38.50, Z:-2.04 [[ 9.99991489e-01 -1.14772214e-03 3.96288155e-03 3.64326643e+02] [ 1.14642007e-03 9.99999288e-01 3.30822263e-04 3.85040719e+01] [-3.96325842e-03 -3.26276321e-04 9.99992093e-01 -2.03655389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.651400513 meters 0.08591192855965095 Centerline is valid? [True, True] Translation: X:364.36, Y:38.51, Z:-2.04 [[ 9.99980928e-01 -5.11515500e-03 3.46107582e-03 3.64355851e+02] [ 5.11418550e-03 9.99986881e-01 2.88907307e-04 3.85053868e+01] [-3.46250822e-03 -2.71201213e-04 9.99993969e-01 -2.03771448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.681400513 meters 0.08193417590504676 Centerline is valid? [True, True] Translation: X:364.39, Y:38.50, Z:-2.04 [[ 9.99973375e-01 -6.29217551e-03 3.69562911e-03 3.64387736e+02] [ 6.29107741e-03 9.99980163e-01 3.08684041e-04 3.85029056e+01] [-3.69749810e-03 -2.85426333e-04 9.99993123e-01 -2.03721997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.711400513 meters 0.07241363059182804 Centerline is valid? [True, True] Translation: X:364.42, Y:38.49, Z:-2.04 [[ 9.99964559e-01 -7.41399762e-03 3.98908128e-03 3.64420128e+02] [ 7.41272777e-03 9.99972470e-01 3.33022076e-04 3.84930419e+01] [-3.99144048e-03 -3.03440300e-04 9.99991988e-01 -2.03666341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74140051300003 meters 0.07878582708768558 Centerline is valid? [True, True] Translation: X:364.45, Y:38.50, Z:-2.04 [[ 9.99962235e-01 -8.09919220e-03 3.15145311e-03 3.64450163e+02] [ 8.09840329e-03 9.99967173e-01 2.63014315e-04 3.85017441e+01] [-3.15347986e-03 -2.37482644e-04 9.99995000e-01 -2.03715262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.771400513 meters 0.0799381679544869 Centerline is valid? [True, True] Translation: X:364.48, Y:38.51, Z:-2.04 [[ 9.99962778e-01 -8.17023394e-03 2.77320201e-03 3.64481097e+02] [ 8.16962316e-03 9.99966601e-01 2.31498637e-04 3.85057931e+01] [-2.77500079e-03 -2.08834004e-04 9.99996128e-01 -2.03810659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80140051300003 meters 0.07874015172618865 Centerline is valid? [True, True] Translation: X:364.51, Y:38.51, Z:-2.04 [[ 9.99967017e-01 -7.77169743e-03 2.35920440e-03 3.64511926e+02] [ 7.77125445e-03 9.99969784e-01 1.96877923e-04 3.85068789e+01] [-2.36066319e-03 -1.78537452e-04 9.99997198e-01 -2.03913347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.831400513 meters 0.08752015070037833 Centerline is valid? [True, True] Translation: X:364.54, Y:38.52, Z:-2.04 [[ 9.99967515e-01 -7.73581377e-03 2.26390210e-03 3.64541897e+02] [ 7.73540548e-03 9.99970063e-01 1.89044406e-04 3.85192735e+01] [-2.26529674e-03 -1.71526064e-04 9.99997420e-01 -2.04054058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86140051300004 meters 0.08100955251744948 Centerline is valid? [True, True] Translation: X:364.57, Y:38.51, Z:-2.04 [[ 9.99972588e-01 -6.74029653e-03 3.06446486e-03 3.64574500e+02] [ 6.73954554e-03 9.99977256e-01 2.55325145e-04 3.85084228e+01] [-3.06611613e-03 -2.34665046e-04 9.99995272e-01 -2.03873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.891400513 meters 0.07540371545814845 Centerline is valid? [True, True] Translation: X:364.61, Y:38.51, Z:-2.04 [[ 9.99978125e-01 -5.62682475e-03 3.47676138e-03 3.64605662e+02] [ 5.62585184e-03 9.99984133e-01 2.89548207e-04 3.85090156e+01] [-3.47833545e-03 -2.69982128e-04 9.99993914e-01 -2.03741459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.921400513 meters 0.08309745692205281 Centerline is valid? [True, True] Translation: X:364.64, Y:38.52, Z:-2.04 [[ 9.99984835e-01 -4.06977266e-03 3.71037520e-03 3.64635094e+02] [ 4.06865414e-03 9.99991675e-01 3.08955670e-04 3.85221938e+01] [-3.71160170e-03 -2.93854751e-04 9.99993069e-01 -2.03735787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.951400513 meters 0.08157069381699429 Centerline is valid? [True, True] Translation: X:364.67, Y:38.52, Z:-2.04 [[ 9.99990295e-01 -2.19470892e-03 3.82017819e-03 3.64666276e+02] [ 2.19350975e-03 9.99997544e-01 3.18067931e-04 3.85239553e+01] [-3.82086687e-03 -3.09685246e-04 9.99992653e-01 -2.03707746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.981400513 meters 0.08526701937099249 Centerline is valid? [True, True] Translation: X:364.70, Y:38.53, Z:-2.04 [[ 9.99990215e-01 -5.71175627e-04 4.38667442e-03 3.64695379e+02] [ 5.69579471e-04 9.99999771e-01 3.65105354e-04 3.85317375e+01] [-4.38688195e-03 -3.62603222e-04 9.99990312e-01 -2.03699775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.011400513 meters 0.08855245397698532 Centerline is valid? [True, True] Translation: X:364.73, Y:38.54, Z:-2.04 [[ 9.99982091e-01 2.12628360e-03 5.59433129e-03 3.64725909e+02] [-2.12892156e-03 9.99997625e-01 4.65629681e-04 3.85401261e+01] [-5.59332794e-03 -4.77531235e-04 9.99984243e-01 -2.03601257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.041400513 meters 0.08855245397698532 Centerline is valid? [True, True] Translation: X:364.76, Y:38.54, Z:-2.04 [[ 9.99981696e-01 2.30451447e-03 5.59433073e-03 3.64758436e+02] [-2.30715524e-03 9.99997230e-01 4.65636506e-04 3.85426848e+01] [-5.59324217e-03 -4.78534973e-04 9.99984243e-01 -2.03621599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.071400513 meters 0.08744229307882 Centerline is valid? [True, True] Translation: X:364.79, Y:38.54, Z:-2.04 [[ 9.99976110e-01 3.03929790e-03 6.20830209e-03 3.64790663e+02] [-3.04255651e-03 9.99995239e-01 5.15502370e-04 3.85447974e+01] [-6.20670576e-03 -5.34379165e-04 9.99980595e-01 -2.03570458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.101400513 meters 0.09228512923495677 Centerline is valid? [True, True] Translation: X:364.82, Y:38.55, Z:-2.04 [[ 9.99972118e-01 3.51057530e-03 6.59078859e-03 3.64821121e+02] [-3.51425564e-03 9.99993675e-01 5.46907381e-04 3.85534533e+01] [-6.58882695e-03 -5.70053849e-04 9.99978131e-01 -2.03567578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.131400513 meters 0.09197988955589584 Centerline is valid? [True, True] Translation: X:364.85, Y:38.56, Z:-2.04 [[ 9.99973898e-01 3.78443892e-03 6.15476204e-03 3.64852788e+02] [-3.78764836e-03 9.99992697e-01 5.09883863e-04 3.85551053e+01] [-6.15278747e-03 -5.33182628e-04 9.99980929e-01 -2.03606915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.161400513 meters 0.09094594679240552 Centerline is valid? [True, True] Translation: X:364.88, Y:38.56, Z:-2.04 [[ 9.99977054e-01 3.43226938e-03 5.84039038e-03 3.64884896e+02] [-3.43514876e-03 9.99993983e-01 4.83050413e-04 3.85557990e+01] [-5.83869728e-03 -5.03101939e-04 9.99982828e-01 -2.03699593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.191400513 meters 0.0925675183722997 Centerline is valid? [True, True] Translation: X:364.92, Y:38.56, Z:-2.04 [[ 9.99981836e-01 3.05862098e-03 5.19356186e-03 3.64915883e+02] [-3.06088918e-03 9.99995224e-01 4.28840626e-04 3.85608531e+01] [-5.19222540e-03 -4.44729754e-04 9.99986421e-01 -2.03798066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.221400513 meters 0.08285946798169329 Centerline is valid? [True, True] Translation: X:364.95, Y:38.55, Z:-2.04 [[ 9.99981586e-01 3.46841822e-03 4.97965743e-03 3.64948566e+02] [-3.47050520e-03 9.99993894e-01 4.10520540e-04 3.85530491e+01] [-4.97820317e-03 -4.27794908e-04 9.99987517e-01 -2.03855290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.251400513 meters 0.09017968618614981 Centerline is valid? [True, True] Translation: X:364.98, Y:38.57, Z:-2.04 [[ 9.99979332e-01 4.52712906e-03 4.56522124e-03 3.64978148e+02] [-4.52888996e-03 9.99989674e-01 3.75455716e-04 3.85664830e+01] [-4.56347437e-03 -3.96123341e-04 9.99989509e-01 -2.03973291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.281400513 meters 0.09356827066663227 Centerline is valid? [True, True] Translation: X:365.01, Y:38.57, Z:-2.04 [[ 9.99977755e-01 5.08321834e-03 4.31859662e-03 3.65008446e+02] [-5.08480016e-03 9.99987009e-01 3.55379024e-04 3.85739916e+01] [-4.31673405e-03 -3.77330320e-04 9.99990612e-01 -2.04102999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.311400513 meters 0.08625900636029778 Centerline is valid? [True, True] Translation: X:365.04, Y:38.57, Z:-2.04 [[ 9.99978205e-01 5.25208468e-03 4.00060555e-03 3.65041557e+02] [-5.25344176e-03 9.99986147e-01 3.28784607e-04 3.85686145e+01] [-3.99882332e-03 -3.49794389e-04 9.99991943e-01 -2.04150565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.341400513 meters 0.08582074876012039 Centerline is valid? [True, True] Translation: X:365.07, Y:38.57, Z:-2.04 [[ 9.99980050e-01 5.06789231e-03 3.77037975e-03 3.65073540e+02] [-5.06909383e-03 9.99987104e-01 3.09184464e-04 3.85723048e+01] [-3.76876422e-03 -3.28290705e-04 9.99992844e-01 -2.04221483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.371400513 meters 0.08901014392045123 Centerline is valid? [True, True] Translation: X:365.10, Y:38.58, Z:-2.04 [[ 9.99983372e-01 4.66635834e-03 3.38821752e-03 3.65104491e+02] [-4.66732473e-03 9.99989070e-01 2.77370411e-04 3.85800548e+01] [-3.38688618e-03 -2.93179710e-04 9.99994222e-01 -2.04321208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.401400513 meters 0.08089024713427188 Centerline is valid? [True, True] Translation: X:365.14, Y:38.57, Z:-2.04 [[ 9.99988900e-01 3.93051594e-03 2.59836936e-03 3.65136766e+02] [-3.93108022e-03 9.99992251e-01 2.12092771e-04 3.85733162e+01] [-2.59751560e-03 -2.22304815e-04 9.99996602e-01 -2.04421651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.431400513 meters 0.0948381665463926 Centerline is valid? [True, True] Translation: X:365.16, Y:38.59, Z:-2.05 [[ 9.99996767e-01 2.54218943e-03 5.72117167e-05 3.65164618e+02] [-2.54218970e-03 9.99996769e-01 4.66672710e-06 3.85924985e+01] [-5.71996682e-05 -4.81215505e-06 9.99999998e-01 -2.04945538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.461400513 meters 0.08598535854481226 Centerline is valid? [True, True] Translation: X:365.20, Y:38.58, Z:-2.05 [[ 9.99996746e-01 2.49936327e-03 -5.10343724e-04 3.65196234e+02] [-2.49938484e-03 9.99996876e-01 -4.16284460e-05 3.85848157e+01] [ 5.10238085e-04 4.29038559e-05 9.99999869e-01 -2.04982444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49140051300003 meters 0.08280703842423229 Centerline is valid? [True, True] Translation: X:365.23, Y:38.58, Z:-2.05 [[ 9.99995735e-01 2.85989809e-03 -5.92665509e-04 3.65226915e+02] [-2.85992725e-03 9.99995909e-01 -4.83433870e-05 3.85842700e+01] [ 5.92524827e-04 5.00381610e-05 9.99999823e-01 -2.04915121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.521400513 meters 0.09096525874840797 Centerline is valid? [True, True] Translation: X:365.26, Y:38.60, Z:-2.05 [[ 9.99993971e-01 3.47227080e-03 2.63365791e-05 3.65255410e+02] [-3.47227086e-03 9.99993972e-01 2.16760096e-06 3.85974308e+01] [-2.63288938e-05 -2.25903563e-06 1.00000000e+00 -2.04940030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55140051300003 meters 0.08758893377791258 Centerline is valid? [True, True] Translation: X:365.29, Y:38.59, Z:-2.05 [[ 9.99990647e-01 4.09349040e-03 1.39601502e-03 3.65286647e+02] [-4.09365360e-03 9.99991614e-01 1.14071039e-04 3.85948146e+01] [-1.39553637e-03 -1.19784774e-04 9.99999019e-01 -2.04640544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.581400513 meters 0.08314804547747551 Centerline is valid? [True, True] Translation: X:365.32, Y:38.59, Z:-2.04 [[ 9.99988537e-01 4.12035575e-03 2.43888072e-03 3.65317980e+02] [-4.12085305e-03 9.99991489e-01 1.98914622e-04 3.85910421e+01] [-2.43804036e-03 -2.08962611e-04 9.99997006e-01 -2.04432850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61140051300004 meters 0.08249320334776176 Centerline is valid? [True, True] Translation: X:365.35, Y:38.59, Z:-2.04 [[ 9.99984312e-01 3.96625502e-03 3.95534954e-03 3.65350661e+02] [-3.96756142e-03 9.99992077e-01 3.22495933e-04 3.85923499e+01] [-3.95403910e-03 -3.38183966e-04 9.99992126e-01 -2.04222076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.641400513 meters 0.09241710182185676 Centerline is valid? [True, True] Translation: X:365.38, Y:38.61, Z:-2.04 [[ 9.99979328e-01 3.56413990e-03 5.35174975e-03 3.65380402e+02] [-3.56652394e-03 9.99993545e-01 4.35992464e-04 3.86067710e+01] [-5.35016127e-03 -4.55070594e-04 9.99985584e-01 -2.04091645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.671400513 meters 0.0868980437591904 Centerline is valid? [True, True] Translation: X:365.41, Y:38.60, Z:-2.04 [[ 9.99973550e-01 1.46974313e-03 7.12311362e-03 3.65411893e+02] [-1.47390500e-03 9.99998746e-01 5.79061854e-04 3.86008897e+01] [-7.12225361e-03 -5.89545331e-04 9.99974463e-01 -2.03858515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.701400513 meters 0.0875477594530261 Centerline is valid? [True, True] Translation: X:365.44, Y:38.60, Z:-2.04 [[ 9.99971227e-01 4.43312370e-04 7.57290869e-03 3.65442791e+02] [-4.47986923e-04 9.99999710e-01 6.15588012e-04 3.86027277e+01] [-7.57263360e-03 -6.18962864e-04 9.99971136e-01 -2.03790009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.731400513 meters 0.07980703923882491 Centerline is valid? [True, True] Translation: X:365.48, Y:38.59, Z:-2.04 [[ 9.99969409e-01 -7.80186777e-04 7.78280551e-03 3.65475230e+02] [ 7.75287840e-04 9.99999499e-01 6.32453527e-04 3.85941530e+01] [-7.78329505e-03 -6.26400265e-04 9.99969514e-01 -2.03759942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.761400513 meters 0.07820517481510021 Centerline is valid? [True, True] Translation: X:365.51, Y:38.59, Z:-2.04 [[ 9.99966052e-01 -1.79903004e-03 8.04103870e-03 3.65507222e+02] [ 1.79383585e-03 9.99998178e-01 6.53126194e-04 3.85912664e+01] [-8.04219904e-03 -6.38679718e-04 9.99967457e-01 -2.03759137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.791400513 meters 0.07779231388690629 Centerline is valid? [True, True] Translation: X:365.54, Y:38.59, Z:-2.04 [[ 9.99961318e-01 -3.85394738e-03 7.90627409e-03 3.65536532e+02] [ 3.84899203e-03 9.99992387e-01 6.41882413e-04 3.85919869e+01] [-7.90868768e-03 -6.11426398e-04 9.99968539e-01 -2.03813409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.821400513 meters 0.08094368364311742 Centerline is valid? [True, True] Translation: X:365.57, Y:38.60, Z:-2.04 [[ 9.99965589e-01 -3.77304541e-03 7.38812631e-03 3.65568582e+02] [ 3.76871637e-03 9.99992718e-01 5.99779449e-04 3.85954294e+01] [-7.39033551e-03 -5.71915057e-04 9.99972528e-01 -2.03894456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.851400513 meters 0.07257475806940962 Centerline is valid? [True, True] Translation: X:365.60, Y:38.58, Z:-2.04 [[ 9.99973389e-01 -3.32291847e-03 6.49457073e-03 3.65601839e+02] [ 3.31956596e-03 9.99994351e-01 5.26913680e-04 3.85842727e+01] [-6.49628494e-03 -5.05340503e-04 9.99978771e-01 -2.03998716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.881400513 meters 0.0822551656803644 Centerline is valid? [True, True] Translation: X:365.63, Y:38.60, Z:-2.04 [[ 9.99977068e-01 -1.92249495e-03 6.49371549e-03 3.65631208e+02] [ 1.91911590e-03 9.99998020e-01 5.26547293e-04 3.85959886e+01] [-6.49471492e-03 -5.14073026e-04 9.99978777e-01 -2.04016855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.911400513 meters 0.07431495926640876 Centerline is valid? [True, True] Translation: X:365.66, Y:38.59, Z:-2.04 [[ 9.99980368e-01 -2.25037248e-04 6.26208876e-03 3.65663534e+02] [ 2.21862344e-04 9.99999847e-01 5.07693984e-04 3.85872568e+01] [-6.26220205e-03 -5.06294695e-04 9.99980264e-01 -2.04006108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.941400513 meters 0.08998732525751406 Centerline is valid? [True, True] Translation: X:365.69, Y:38.61, Z:-2.04 [[ 9.99971561e-01 3.82486601e-03 6.49980638e-03 3.65691900e+02] [-3.82837049e-03 9.99992533e-01 5.26809761e-04 3.86070156e+01] [-6.49774287e-03 -5.51678446e-04 9.99978737e-01 -2.04088311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.971400513 meters 0.08801399100072252 Centerline is valid? [True, True] Translation: X:365.72, Y:38.61, Z:-2.04 [[ 9.99967962e-01 5.00221906e-03 6.24921873e-03 3.65722809e+02] [-5.00548075e-03 9.99987344e-01 5.06404777e-04 3.86052767e+01] [-6.24660649e-03 -5.37668897e-04 9.99980345e-01 -2.04216366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.001400513 meters 0.08322897107567308 Centerline is valid? [True, True] Translation: X:365.76, Y:38.60, Z:-2.04 [[ 9.99971534e-01 5.59280635e-03 5.06483673e-03 3.65755154e+02] [-5.59495696e-03 9.99984264e-01 4.10546214e-04 3.85974651e+01] [-5.06246092e-03 -4.38872071e-04 9.99987089e-01 -2.04443644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.031400513 meters 0.08562167711642418 Centerline is valid? [True, True] Translation: X:365.78, Y:38.60, Z:-2.05 [[ 9.99994621e-01 3.01193577e-03 1.29821906e-03 3.65784952e+02] [-3.01207459e-03 9.99995458e-01 1.04988886e-04 3.86011641e+01] [-1.29789694e-03 -1.08898654e-04 9.99999152e-01 -2.05007560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.061400513 meters 0.08817853211663841 Centerline is valid? [True, True] Translation: X:365.81, Y:38.60, Z:-2.05 [[ 9.99998890e-01 1.42034830e-03 4.49148586e-04 3.65814304e+02] [-1.42036473e-03 9.99998991e-01 3.62584044e-05 3.86045330e+01] [-4.49096633e-04 -3.68963190e-05 9.99999898e-01 -2.05250928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.091400513 meters 0.07582439724951986 Centerline is valid? [True, True] Translation: X:365.85, Y:38.59, Z:-2.05 [[ 9.99999982e-01 -3.28761458e-05 1.89295838e-04 3.65846036e+02] [ 3.28732481e-05 9.99999999e-01 1.53108459e-05 3.85894809e+01] [-1.89296341e-04 -1.53046229e-05 9.99999982e-01 -2.05209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.121400513 meters 0.08235375078889373 Centerline is valid? [True, True] Translation: X:365.87, Y:38.60, Z:-2.05 [[ 9.99999113e-01 -1.14892135e-03 6.73200500e-04 3.65874935e+02] [ 1.14888500e-03 9.99999339e-01 5.43862112e-05 3.85973727e+01] [-6.73262541e-04 -5.36127331e-05 9.99999772e-01 -2.05273818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.151400513 meters 0.07771244694869667 Centerline is valid? [True, True] Translation: X:365.91, Y:38.59, Z:-2.05 [[ 9.99997498e-01 -1.66955404e-03 1.48898099e-03 3.65906287e+02] [ 1.66937645e-03 9.99998599e-01 1.20505312e-04 3.85929187e+01] [-1.48918009e-03 -1.18019341e-04 9.99998884e-01 -2.05203329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.181400513 meters 0.07810993236242472 Centerline is valid? [True, True] Translation: X:365.94, Y:38.60, Z:-2.05 [[ 9.99997820e-01 -1.34997967e-03 1.59308142e-03 3.65937225e+02] [ 1.34977592e-03 9.99999081e-01 1.28959744e-04 3.85978701e+01] [-1.59325405e-03 -1.26809160e-04 9.99998723e-01 -2.05241573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.211400513 meters 0.07816120489150193 Centerline is valid? [True, True] Translation: X:365.97, Y:38.60, Z:-2.05 [[ 9.99998652e-01 -8.18212079e-04 1.42381520e-03 3.65968645e+02] [ 8.18048821e-04 9.99999659e-01 1.15240740e-04 3.86007226e+01] [-1.42390900e-03 -1.14075834e-04 9.99998980e-01 -2.05274727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24140051300003 meters 0.07797689177466734 Centerline is valid? [True, True] Translation: X:366.00, Y:38.60, Z:-2.05 [[ 9.99998966e-01 -3.79264954e-04 1.38692179e-03 3.65999644e+02] [ 3.79109666e-04 9.99999922e-01 1.12227024e-04 3.86027116e+01] [-1.38696424e-03 -1.11701112e-04 9.99999032e-01 -2.05296346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.271400513 meters 0.07662775258186826 Centerline is valid? [True, True] Translation: X:366.03, Y:38.60, Z:-2.05 [[ 9.99998933e-01 -3.32708919e-05 1.46076299e-03 3.66031127e+02] [ 3.30983218e-05 9.99999992e-01 1.18160929e-04 3.86031861e+01] [-1.46076691e-03 -1.18112454e-04 9.99998926e-01 -2.05271123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30140051300003 meters 0.08146591951339809 Centerline is valid? [True, True] Translation: X:366.06, Y:38.61, Z:-2.05 [[ 9.99998412e-01 -1.57631346e-03 8.31561067e-04 3.66060277e+02] [ 1.57625813e-03 9.99998755e-01 6.71823087e-05 3.86112267e+01] [-8.31665933e-04 -6.58714471e-05 9.99999652e-01 -2.05435811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.331400513 meters 0.09248621637734876 Centerline is valid? [True, True] Translation: X:366.09, Y:38.63, Z:-2.06 [[ 9.99993477e-01 -3.58130963e-03 4.69044505e-04 3.66088897e+02] [ 3.58129226e-03 9.99993586e-01 3.78719404e-05 3.86267208e+01] [-4.69177128e-04 -3.61919079e-05 9.99999889e-01 -2.05633710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36140051300004 meters 0.08237980231479865 Centerline is valid? [True, True] Translation: X:366.12, Y:38.62, Z:-2.06 [[ 9.99981572e-01 -6.03824591e-03 6.28387712e-04 3.66120666e+02] [ 6.03821519e-03 9.99981769e-01 5.07726018e-05 3.86169587e+01] [-6.28682833e-04 -4.69773259e-05 9.99999801e-01 -2.05574905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.391400513 meters 0.07773749705940265 Centerline is valid? [True, True] Translation: X:366.15, Y:38.61, Z:-2.05 [[ 9.99964447e-01 -8.30232039e-03 1.47512719e-03 3.66151114e+02] [ 8.30215356e-03 9.99965529e-01 1.19179644e-04 3.86141649e+01] [-1.47606581e-03 -1.06928674e-04 9.99998905e-01 -2.05420105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.421400513 meters 0.06689737975126178 Centerline is valid? [True, True] Translation: X:366.18, Y:38.60, Z:-2.05 [[ 9.99920898e-01 -1.20865657e-02 3.48042910e-03 3.66182930e+02] [ 1.20856597e-02 9.99926926e-01 2.81227270e-04 3.86032606e+01] [-3.48357384e-03 -2.39141742e-04 9.99993904e-01 -2.05006840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.451400513 meters 0.06824328083882343 Centerline is valid? [True, True] Translation: X:366.21, Y:38.61, Z:-2.05 [[ 9.99901222e-01 -1.33734867e-02 4.32399846e-03 3.66213830e+02] [ 1.33721004e-02 9.99910528e-01 3.49355519e-04 3.86059755e+01] [-4.32828368e-03 -2.91500069e-04 9.99990590e-01 -2.04932745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.481400513 meters 0.07575951467255954 Centerline is valid? [True, True] Translation: X:366.24, Y:38.62, Z:-2.05 [[ 9.99888793e-01 -1.43470051e-02 4.06992934e-03 3.66243272e+02] [ 1.43457850e-02 9.99897040e-01 3.28814498e-04 3.86150078e+01] [-4.07422780e-03 -2.70391600e-04 9.99991664e-01 -2.05009950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.511400513 meters 0.07166256705787973 Centerline is valid? [True, True] Translation: X:366.28, Y:38.60, Z:-2.05 [[ 9.99881695e-01 -1.47529944e-02 4.35261384e-03 3.66276120e+02] [ 1.47516041e-02 9.99891127e-01 3.51333178e-04 3.86046447e+01] [-4.35732318e-03 -2.87083577e-04 9.99990466e-01 -2.05014367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.541400513 meters 0.07321971990720055 Centerline is valid? [True, True] Translation: X:366.31, Y:38.61, Z:-2.05 [[ 9.99878918e-01 -1.45129740e-02 5.61457422e-03 3.66307207e+02] [ 1.45106584e-02 9.99894612e-01 4.52944588e-04 3.86087635e+01] [-5.62055608e-03 -3.71418576e-04 9.99984136e-01 -2.04788352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.571400513 meters 0.07049096240871391 Centerline is valid? [True, True] Translation: X:366.34, Y:38.60, Z:-2.05 [[ 9.99885660e-01 -1.34098478e-02 6.98878114e-03 3.66338690e+02] [ 1.34062350e-02 9.99909974e-01 5.63535045e-04 3.86045636e+01] [-6.99570888e-03 -4.69777368e-04 9.99975419e-01 -2.04610383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.601400513 meters 0.0773448232118751 Centerline is valid? [True, True] Translation: X:366.37, Y:38.61, Z:-2.05 [[ 9.99903679e-01 -1.18810182e-02 7.17455713e-03 3.66368453e+02] [ 1.18771722e-02 9.99929297e-01 5.78432312e-04 3.86125742e+01] [-7.18092223e-03 -4.93163146e-04 9.99974095e-01 -2.04595700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.631400513 meters 0.07673419503165688 Centerline is valid? [True, True] Translation: X:366.40, Y:38.61, Z:-2.05 [[ 9.99930968e-01 -9.69625535e-03 6.63647549e-03 3.66398792e+02] [ 9.69291717e-03 9.99952879e-01 5.34985164e-04 3.86117540e+01] [-6.64135013e-03 -4.70621426e-04 9.99977835e-01 -2.04702456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.661400513 meters 0.08218971405281013 Centerline is valid? [True, True] Translation: X:366.43, Y:38.62, Z:-2.05 [[ 9.99973997e-01 -4.16809454e-03 5.88492523e-03 3.66428322e+02] [ 4.16537450e-03 9.99991212e-01 4.74385087e-04 3.86192538e+01] [-5.88685080e-03 -4.49859834e-04 9.99982571e-01 -2.04956755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.691400513 meters 0.07700326133186595 Centerline is valid? [True, True] Translation: X:366.46, Y:38.62, Z:-2.05 [[ 9.99982632e-01 -1.44471774e-03 5.71382945e-03 3.66459409e+02] [ 1.44210936e-03 9.99998854e-01 4.60596513e-04 3.86153407e+01] [-5.71448834e-03 -4.52348546e-04 9.99983570e-01 -2.04989253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.721400513 meters 0.08800042335334986 Centerline is valid? [True, True] Translation: X:366.49, Y:38.63, Z:-2.05 [[ 9.99981604e-01 1.17268992e-03 5.95116413e-03 3.66487627e+02] [-1.17556547e-03 9.99999194e-01 4.79716440e-04 3.86313856e+01] [-5.95059678e-03 -4.86703598e-04 9.99982177e-01 -2.04973987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.751400513 meters 0.08749090061040209 Centerline is valid? [True, True] Translation: X:366.52, Y:38.63, Z:-2.05 [[ 9.99975705e-01 3.27245997e-03 6.15465602e-03 3.66518333e+02] [-3.27557489e-03 9.99994512e-01 4.96094806e-04 3.86331175e+01] [-6.15299880e-03 -5.16242790e-04 9.99980937e-01 -2.04955226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.781400513 meters 0.08805454797080274 Centerline is valid? [True, True] Translation: X:366.55, Y:38.64, Z:-2.05 [[ 9.99971109e-01 4.65905717e-03 6.00618125e-03 3.66549000e+02] [-4.66204838e-03 9.99989015e-01 4.84117196e-04 3.86357241e+01] [-6.00385974e-03 -5.12104317e-04 9.99981846e-01 -2.04969845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.811400513 meters 0.08179472088863944 Centerline is valid? [True, True] Translation: X:366.58, Y:38.63, Z:-2.05 [[ 9.99976951e-01 4.00290495e-03 5.48402477e-03 3.66581088e+02] [-4.00538872e-03 9.99991881e-01 4.42001176e-04 3.86317730e+01] [-5.48221096e-03 -4.63956639e-04 9.99984865e-01 -2.05072643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.841400513 meters 0.09000524483000776 Centerline is valid? [True, True] Translation: X:366.61, Y:38.64, Z:-2.05 [[ 9.99983557e-01 2.66127284e-03 5.07968103e-03 3.66609413e+02] [-2.66338521e-03 9.99996369e-01 4.09126270e-04 3.86448896e+01] [-5.07857380e-03 -4.22648691e-04 9.99987015e-01 -2.05175974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.871400513 meters 0.0787225950732842 Centerline is valid? [True, True] Translation: X:366.64, Y:38.63, Z:-2.05 [[ 9.99988520e-01 1.08449083e-03 4.66721369e-03 3.66641058e+02] [-1.08625740e-03 9.99999339e-01 3.75988197e-04 3.86345697e+01] [-4.66680285e-03 -3.81053676e-04 9.99989038e-01 -2.05254552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.901400513 meters 0.0838766878130475 Centerline is valid? [True, True] Translation: X:366.67, Y:38.65, Z:-2.05 [[ 9.99985346e-01 -2.38138741e-03 4.86171782e-03 3.66669925e+02] [ 2.37951154e-03 9.99997092e-01 3.91593202e-04 3.86474550e+01] [-4.86263622e-03 -3.80018950e-04 9.99988105e-01 -2.05307183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.931400513 meters 0.06442910240763021 Centerline is valid? [True, True] Translation: X:366.70, Y:38.62, Z:-2.05 [[ 9.99973916e-01 -3.10294548e-03 6.52223846e-03 3.66701115e+02] [ 3.04560082e-03 9.99956784e-01 8.78379384e-03 3.86198967e+01] [-6.54921222e-03 -8.76370059e-03 9.99940151e-01 -2.05175368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.961400513 meters 0.06442910240763021 Centerline is valid? [True, True] Translation: X:366.73, Y:38.63, Z:-2.05 [[ 9.99969759e-01 -2.80775932e-03 7.25238340e-03 3.66732989e+02] [ 2.80250916e-03 9.99995804e-01 7.33982400e-04 3.86291901e+01] [-7.25441382e-03 -7.13635333e-04 9.99973432e-01 -2.05298756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99140051300003 meters 0.07835073715413388 Centerline is valid? [True, True] Translation: X:366.76, Y:38.66, Z:-2.06 [[ 9.99965580e-01 -6.71555915e-03 4.87229263e-03 3.66763536e+02] [ 6.75375883e-03 9.99946251e-01 -7.86656019e-03 3.86578009e+01] [-4.81920239e-03 7.89919571e-03 9.99957188e-01 -2.05545539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.021400513 meters 0.07855166232936411 Centerline is valid? [True, True] Translation: X:366.79, Y:38.65, Z:-2.06 [[ 9.99949839e-01 -9.55192012e-03 3.01323891e-03 3.66793202e+02] [ 9.55123474e-03 9.99954357e-01 2.41761981e-04 3.86530093e+01] [-3.01541066e-03 -2.12969702e-04 9.99995431e-01 -2.05634326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05140051300003 meters 0.06605785131341585 Centerline is valid? [True, True] Translation: X:366.83, Y:38.64, Z:-2.06 [[ 9.99923956e-01 -1.21988056e-02 1.80859855e-03 3.66825446e+02] [ 1.21985629e-02 9.99925584e-01 1.45159681e-04 3.86392469e+01] [-1.81023473e-03 -1.23086339e-04 9.99998354e-01 -2.05728247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.081400513 meters 0.06832343640499504 Centerline is valid? [True, True] Translation: X:366.85, Y:38.64, Z:-2.06 [[ 9.99876203e-01 -1.56143191e-02 1.94215377e-03 3.66854660e+02] [ 1.56140458e-02 9.99878081e-01 1.55813551e-04 3.86431203e+01] [-1.94434991e-03 -1.25469383e-04 9.99998102e-01 -2.05765553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11140051300004 meters 0.06313388303579641 Centerline is valid? [True, True] Translation: X:366.89, Y:38.64, Z:-2.06 [[ 9.99862772e-01 -1.63823518e-02 2.46081199e-03 3.66885371e+02] [ 1.63819155e-02 9.99865788e-01 1.97351814e-04 3.86385185e+01] [-2.46371480e-03 -1.57011918e-04 9.99996953e-01 -2.05655052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.141400513 meters 0.0655320683904804 Centerline is valid? [True, True] Translation: X:366.92, Y:38.64, Z:-2.06 [[ 9.99862964e-01 -1.62701499e-02 3.05547309e-03 3.66915326e+02] [ 1.62694756e-02 9.99867613e-01 2.45426129e-04 3.86430505e+01] [-3.05906170e-03 -1.95681552e-04 9.99995302e-01 -2.05590652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.171400513 meters 0.07105634064160546 Centerline is valid? [True, True] Translation: X:366.95, Y:38.65, Z:-2.06 [[ 9.99865560e-01 -1.60401680e-02 3.40219502e-03 3.66945324e+02] [ 1.60393308e-02 9.99871324e-01 2.73227942e-04 3.86510710e+01] [-3.40613986e-03 -2.18622278e-04 9.99994175e-01 -2.05576453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.201400513 meters 0.06161493360523132 Centerline is valid? [True, True] Translation: X:366.98, Y:38.64, Z:-2.05 [[ 9.99874348e-01 -1.53883443e-02 3.80619411e-03 3.66977592e+02] [ 1.53872918e-02 9.99881562e-01 3.05651460e-04 3.86402293e+01] [-3.81044678e-03 -2.47046035e-04 9.99992710e-01 -2.05454424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.231400513 meters 0.06929161827016261 Centerline is valid? [True, True] Translation: X:367.01, Y:38.65, Z:-2.05 [[ 9.99895290e-01 -1.38282562e-02 4.26488465e-03 3.67007668e+02] [ 1.38269212e-02 9.99904345e-01 3.42343346e-04 3.86461013e+01] [-4.26921070e-03 -2.83337275e-04 9.99990847e-01 -2.05448581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.261400513 meters 0.07720785848190939 Centerline is valid? [True, True] Translation: X:367.04, Y:38.65, Z:-2.06 [[ 9.99903244e-01 -1.32707401e-02 4.17019572e-03 3.67038531e+02] [ 1.32694589e-02 9.99911901e-01 3.34742530e-04 3.86549972e+01] [-4.17427061e-03 -2.79373900e-04 9.99991249e-01 -2.05542554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.291400513 meters 0.07580882689008141 Centerline is valid? [True, True] Translation: X:367.07, Y:38.65, Z:-2.06 [[ 9.99909715e-01 -1.28904636e-02 3.79452426e-03 3.67069961e+02] [ 1.28894007e-02 9.99916882e-01 3.04448210e-04 3.86524180e+01] [-3.79813334e-03 -2.55511579e-04 9.99992754e-01 -2.05612676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.321400513 meters 0.07803276959739218 Centerline is valid? [True, True] Translation: X:367.10, Y:38.65, Z:-2.06 [[ 9.99916467e-01 -1.23031009e-02 3.96139195e-03 3.67099921e+02] [ 1.23019383e-02 9.99924278e-01 3.17718416e-04 3.86543494e+01] [-3.96500091e-03 -2.68959077e-04 9.99992103e-01 -2.05637684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.351400513 meters 0.07479210795929055 Centerline is valid? [True, True] Translation: X:367.13, Y:38.65, Z:-2.06 [[ 9.99935460e-01 -1.04235320e-02 4.51943596e-03 3.67131774e+02] [ 1.04219999e-02 9.99945624e-01 3.62428618e-04 3.86471814e+01] [-4.52296800e-03 -3.15303666e-04 9.99989722e-01 -2.05542445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.381400513 meters 0.07192551522205583 Centerline is valid? [True, True] Translation: X:367.16, Y:38.64, Z:-2.06 [[ 9.99956072e-01 -8.30431935e-03 4.34658675e-03 3.67163874e+02] [ 8.30288252e-03 9.99965470e-01 3.48504856e-04 3.86385445e+01] [-4.34933076e-03 -3.12400348e-04 9.99990493e-01 -2.05558862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.411400513 meters 0.08619753064781768 Centerline is valid? [True, True] Translation: X:367.19, Y:38.66, Z:-2.06 [[ 9.99969946e-01 -5.99847916e-03 4.91168726e-03 3.67191914e+02] [ 5.99661762e-03 9.99981943e-01 3.93642017e-04 3.86608554e+01] [-4.91395982e-03 -3.64176676e-04 9.99987860e-01 -2.05584256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.441400513 meters 0.09134778082338839 Centerline is valid? [True, True] Translation: X:367.22, Y:38.66, Z:-2.06 [[ 9.99986676e-01 -1.35025277e-04 5.16034961e-03 3.67222345e+02] [ 1.32892550e-04 9.99999906e-01 4.13631682e-04 3.86648144e+01] [-5.16040497e-03 -4.12940399e-04 9.99986600e-01 -2.05647054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.471400513 meters 0.08189277773527393 Centerline is valid? [True, True] Translation: X:367.25, Y:38.65, Z:-2.06 [[ 9.99985071e-01 2.67932279e-03 4.76216157e-03 3.67254622e+02] [-2.68117091e-03 9.99996333e-01 3.81742665e-04 3.86542029e+01] [-4.76112130e-03 -3.94505135e-04 9.99988588e-01 -2.05720167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.501400513 meters 0.09402964341702451 Centerline is valid? [True, True] Translation: X:367.28, Y:38.67, Z:-2.06 [[ 9.99976602e-01 5.28430672e-03 4.34410300e-03 3.67282418e+02] [-5.28586841e-03 9.99985969e-01 3.48091886e-04 3.86704006e+01] [-4.34220262e-03 -3.71046098e-04 9.99990504e-01 -2.05840238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.531400513 meters 0.08217433426075638 Centerline is valid? [True, True] Translation: X:367.31, Y:38.66, Z:-2.06 [[ 9.99955839e-01 8.68624535e-03 3.58726982e-03 3.67314478e+02] [-8.68733246e-03 9.99962223e-01 2.87577227e-04 3.86570746e+01] [-3.58463634e-03 -3.18728333e-04 9.99993524e-01 -2.05929557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.561400513 meters 0.09393620068471518 Centerline is valid? [True, True] Translation: X:367.34, Y:38.67, Z:-2.06 [[ 9.99950029e-01 9.34471074e-03 3.55174864e-03 3.67343830e+02] [-9.34578115e-03 9.99956287e-01 2.84897195e-04 3.86732777e+01] [-3.54893109e-03 -3.18076824e-04 9.99993652e-01 -2.06023317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.591400513 meters 0.09386935093035488 Centerline is valid? [True, True] Translation: X:367.38, Y:38.68, Z:-2.06 [[ 9.99954185e-01 9.00599088e-03 3.24360243e-03 3.67376548e+02] [-9.00688122e-03 9.99959403e-01 2.59987879e-04 3.86751435e+01] [-3.24112931e-03 -2.89190710e-04 9.99994706e-01 -2.06060069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.621400513 meters 0.089448992699539 Centerline is valid? [True, True] Translation: X:367.41, Y:38.67, Z:-2.06 [[ 9.99961814e-01 8.13321341e-03 3.19713198e-03 3.67407959e+02] [-8.13407246e-03 9.99966885e-01 2.55783368e-04 3.86725984e+01] [-3.19494577e-03 -2.81779303e-04 9.99994856e-01 -2.06050465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.651400513 meters 0.08677684747075526 Centerline is valid? [True, True] Translation: X:367.44, Y:38.67, Z:-2.06 [[ 9.99967439e-01 7.29922236e-03 3.44132757e-03 3.67439523e+02] [-7.30021246e-03 9.99973315e-01 2.75232988e-04 3.86728713e+01] [-3.43922675e-03 -3.00346448e-04 9.99994041e-01 -2.06035273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.681400513 meters 0.09265709280978998 Centerline is valid? [True, True] Translation: X:367.47, Y:38.68, Z:-2.06 [[ 9.99976223e-01 6.23128382e-03 2.95388744e-03 3.67468812e+02] [-6.23200842e-03 9.99980553e-01 2.36164202e-04 3.86848776e+01] [-2.95235839e-03 -2.54567238e-04 9.99995609e-01 -2.06179277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.711400513 meters 0.08722879083133199 Centerline is valid? [True, True] Translation: X:367.50, Y:38.68, Z:-2.06 [[ 9.99982831e-01 5.35246119e-03 2.38521350e-03 3.67500878e+02] [-5.35293135e-03 9.99985655e-01 1.90771814e-04 3.86818542e+01] [-2.38415818e-03 -2.03536423e-04 9.99997137e-01 -2.06259251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74140051300003 meters 0.08126513009124099 Centerline is valid? [True, True] Translation: X:367.53, Y:38.68, Z:-2.06 [[ 9.99990231e-01 3.83070263e-03 2.20546908e-03 3.67532126e+02] [-3.83110059e-03 9.99992646e-01 1.76248099e-04 3.86785998e+01] [-2.20477771e-03 -1.84695751e-04 9.99997552e-01 -2.06294948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.771400513 meters 0.07671426364059723 Centerline is valid? [True, True] Translation: X:367.56, Y:38.68, Z:-2.06 [[ 9.99994052e-01 2.17099034e-03 2.68006799e-03 3.67562888e+02] [-2.17157198e-03 9.99997619e-01 2.14130257e-04 3.86773889e+01] [-2.67959673e-03 -2.19948944e-04 9.99996386e-01 -2.06235452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80140051300003 meters 0.08875134838155355 Centerline is valid? [True, True] Translation: X:367.59, Y:38.70, Z:-2.06 [[ 9.99995151e-01 1.46414817e-04 3.11057122e-03 3.67591343e+02] [-1.47188247e-04 9.99999958e-01 2.48418158e-04 3.86964986e+01] [-3.11053472e-03 -2.48874793e-04 9.99995131e-01 -2.06267958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.831400513 meters 0.07884004841502201 Centerline is valid? [True, True] Translation: X:367.62, Y:38.69, Z:-2.06 [[ 9.99987951e-01 -4.47445409e-03 2.01929716e-03 3.67622795e+02] [ 4.47413743e-03 9.99989978e-01 1.61309284e-04 3.86892437e+01] [-2.01999869e-03 -1.52272727e-04 9.99997948e-01 -2.06488937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86140051300004 meters 0.07515952874436224 Centerline is valid? [True, True] Translation: X:367.65, Y:38.69, Z:-2.07 [[ 9.99974792e-01 -6.98233504e-03 1.28962752e-03 3.67653589e+02] [ 6.98220796e-03 9.99975619e-01 1.03012055e-04 3.86879315e+01] [-1.29031534e-03 -9.40050108e-05 9.99999163e-01 -2.06687857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.891400513 meters 0.07331900084066413 Centerline is valid? [True, True] Translation: X:367.68, Y:38.69, Z:-2.07 [[ 9.99950853e-01 -9.86174164e-03 1.01847295e-03 3.67684085e+02] [ 9.86166387e-03 9.99951369e-01 8.13483310e-05 3.86883762e+01] [-1.01922565e-03 -7.13004951e-05 9.99999478e-01 -2.06802040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.921400513 meters 0.06797940194000535 Centerline is valid? [True, True] Translation: X:367.71, Y:38.68, Z:-2.07 [[ 9.99921715e-01 -1.23883788e-02 1.75863451e-03 3.67714615e+02] [ 1.23881509e-02 9.99923254e-01 1.40454643e-04 3.86833132e+01] [-1.76023955e-03 -1.18657418e-04 9.99998444e-01 -2.06680105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.951400513 meters 0.0703535291654673 Centerline is valid? [True, True] Translation: X:367.74, Y:38.69, Z:-2.06 [[ 9.99873387e-01 -1.56429963e-02 2.91665226e-03 3.67744021e+02] [ 1.56423831e-02 9.99877623e-01 2.32932307e-04 3.86863161e+01] [-2.91993909e-03 -1.87279423e-04 9.99995719e-01 -2.06377458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.981400513 meters 0.0756270262017263 Centerline is valid? [True, True] Translation: X:367.77, Y:38.69, Z:-2.06 [[ 9.99872863e-01 -1.57522771e-02 2.47460930e-03 3.67773510e+02] [ 1.57518358e-02 9.99875913e-01 1.97738774e-04 3.86943226e+01] [-2.47741706e-03 -1.58733995e-04 9.99996919e-01 -2.06457144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.011400513 meters 0.07038051951268426 Centerline is valid? [True, True] Translation: X:367.80, Y:38.69, Z:-2.07 [[ 9.99910690e-01 -1.32599008e-02 1.66973642e-03 3.67804697e+02] [ 1.32596965e-02 9.99912077e-01 1.33363569e-04 3.86890727e+01] [-1.67135800e-03 -1.11211460e-04 9.99998597e-01 -2.06559822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.041400513 meters 0.07180399525326196 Centerline is valid? [True, True] Translation: X:367.83, Y:38.69, Z:-2.07 [[ 9.99942248e-01 -1.05725920e-02 1.92919692e-03 3.67834730e+02] [ 1.05723142e-02 9.99944100e-01 1.54103144e-04 3.86928723e+01] [-1.93071835e-03 -1.33698168e-04 9.99998127e-01 -2.06592444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.071400513 meters 0.07793715015166638 Centerline is valid? [True, True] Translation: X:367.86, Y:38.70, Z:-2.07 [[ 9.99968532e-01 -7.61226028e-03 2.23337867e-03 3.67863508e+02] [ 7.61188079e-03 9.99971013e-01 1.78366663e-04 3.87025920e+01] [-2.23467171e-03 -1.61360838e-04 9.99997490e-01 -2.06576661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.101400513 meters 0.07813261492533928 Centerline is valid? [True, True] Translation: X:367.89, Y:38.70, Z:-2.07 [[ 9.99984939e-01 -4.68990847e-03 2.85079388e-03 3.67893509e+02] [ 4.68927810e-03 9.99988979e-01 2.27767958e-04 3.87049835e+01] [-2.85183067e-03 -2.14396363e-04 9.99995911e-01 -2.06509853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.131400513 meters 0.08154527764741812 Centerline is valid? [True, True] Translation: X:367.92, Y:38.71, Z:-2.06 [[ 9.99991968e-01 -2.26544716e-03 3.30634097e-03 3.67924085e+02] [ 2.26458609e-03 9.99997401e-01 2.64151929e-04 3.87112186e+01] [-3.30693080e-03 -2.56662313e-04 9.99994499e-01 -2.06388088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.161400513 meters 0.08389319161876949 Centerline is valid? [True, True] Translation: X:367.95, Y:38.71, Z:-2.06 [[ 9.99990143e-01 5.99267291e-04 4.39932141e-03 3.67954888e+02] [-6.00819380e-04 9.99999758e-01 3.51488743e-04 3.87142848e+01] [-4.39910970e-03 -3.54128476e-04 9.99990261e-01 -2.06153696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.191400513 meters 0.08200862234211694 Centerline is valid? [True, True] Translation: X:367.99, Y:38.72, Z:-2.06 [[ 9.99987135e-01 1.39487672e-03 4.87680319e-03 3.67986554e+02] [-1.39679308e-03 9.99998949e-01 3.89570321e-04 3.87154446e+01] [-4.87625466e-03 -3.96377194e-04 9.99988032e-01 -2.06088929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.221400513 meters 0.08809669625682653 Centerline is valid? [True, True] Translation: X:368.02, Y:38.73, Z:-2.06 [[ 9.99986642e-01 1.70860428e-03 4.87821618e-03 3.68016689e+02] [-1.71052542e-03 9.99998461e-01 3.89676548e-04 3.87260450e+01] [-4.87754287e-03 -3.98015656e-04 9.99988026e-01 -2.06155398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.251400513 meters 0.08221706195347883 Centerline is valid? [True, True] Translation: X:368.05, Y:38.72, Z:-2.06 [[ 9.99987284e-01 1.92550930e-03 4.66103353e-03 3.68049814e+02] [-1.92726284e-03 9.99998074e-01 3.71751350e-04 3.87224011e+01] [-4.66030874e-03 -3.80729660e-04 9.99989068e-01 -2.06220668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.281400513 meters 0.08120357597570886 Centerline is valid? [True, True] Translation: X:368.08, Y:38.72, Z:-2.06 [[ 9.99987603e-01 2.19026001e-03 4.47170656e-03 3.68081587e+02] [-2.19187304e-03 9.99997535e-01 3.55849132e-04 3.87242196e+01] [-4.47091614e-03 -3.65646133e-04 9.99989939e-01 -2.06248172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.311400513 meters 0.08004161630988496 Centerline is valid? [True, True] Translation: X:368.11, Y:38.73, Z:-2.06 [[ 9.99989779e-01 2.14177722e-03 3.98169873e-03 3.68113773e+02] [-2.14305365e-03 9.99997654e-01 3.16334736e-04 3.87267865e+01] [-3.98101187e-03 -3.24864497e-04 9.99992023e-01 -2.06177133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.341400513 meters 0.08726191443478458 Centerline is valid? [True, True] Translation: X:368.14, Y:38.74, Z:-2.06 [[ 9.99992373e-01 1.88700459e-03 3.41953550e-03 3.68144263e+02] [-1.88794306e-03 9.99998181e-01 2.71235186e-04 3.87392585e+01] [-3.41901745e-03 -2.77689006e-04 9.99994117e-01 -2.06260822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.371400513 meters 0.08318324991648493 Centerline is valid? [True, True] Translation: X:368.18, Y:38.74, Z:-2.06 [[ 9.99991624e-01 2.04848178e-03 3.54328890e-03 3.68177211e+02] [-2.04948876e-03 9.99997860e-01 2.80586495e-04 3.87387639e+01] [-3.54270654e-03 -2.87846075e-04 9.99993683e-01 -2.06302981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.401400513 meters 0.08544814845267763 Centerline is valid? [True, True] Translation: X:368.21, Y:38.75, Z:-2.06 [[ 9.99991410e-01 2.00763650e-03 3.62623671e-03 3.68207708e+02] [-2.00868814e-03 9.99997942e-01 2.86389958e-04 3.87451017e+01] [-3.62565428e-03 -2.93671476e-04 9.99993384e-01 -2.06338407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.431400513 meters 0.08437384817416299 Centerline is valid? [True, True] Translation: X:368.24, Y:38.75, Z:-2.06 [[ 9.99989081e-01 1.93974338e-03 4.25153446e-03 3.68239886e+02] [-1.94118519e-03 9.99998060e-01 3.35027474e-04 3.87476138e+01] [-4.25087635e-03 -3.43276832e-04 9.99990906e-01 -2.06334482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.461400513 meters 0.0855704538749916 Centerline is valid? [True, True] Translation: X:368.27, Y:38.75, Z:-2.06 [[ 9.99990604e-01 1.74773126e-03 3.96710296e-03 3.68270944e+02] [-1.74898232e-03 9.99998422e-01 3.11911074e-04 3.87531566e+01] [-3.96655156e-03 -3.18846536e-04 9.99992082e-01 -2.06406978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49140051300003 meters 0.08435761893562145 Centerline is valid? [True, True] Translation: X:368.30, Y:38.76, Z:-2.07 [[ 9.99994101e-01 8.83006440e-04 3.31925274e-03 3.68302195e+02] [-8.83876194e-04 9.99999575e-01 2.60575359e-04 3.87568097e+01] [-3.31902124e-03 -2.63507630e-04 9.99994457e-01 -2.06545945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.521400513 meters 0.08310068686267753 Centerline is valid? [True, True] Translation: X:368.33, Y:38.76, Z:-2.07 [[ 9.99994607e-01 5.09465689e-04 3.24434000e-03 3.68334520e+02] [-5.10295773e-04 9.99999837e-01 2.55033411e-04 3.87604079e+01] [-3.24420954e-03 -2.56687609e-04 9.99994705e-01 -2.06620821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55140051300003 meters 0.08662861406867067 Centerline is valid? [True, True] Translation: X:368.37, Y:38.77, Z:-2.07 [[ 9.99994367e-01 7.77115278e-04 3.26528132e-03 3.68366584e+02] [-7.77954747e-04 9.99999665e-01 2.55826971e-04 3.87666440e+01] [-3.26508142e-03 -2.58365771e-04 9.99994636e-01 -2.06588252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.581400513 meters 0.07470386786998501 Centerline is valid? [True, True] Translation: X:368.40, Y:38.76, Z:-2.06 [[ 9.99992268e-01 1.23425855e-03 3.73374057e-03 3.68399515e+02] [-1.23535858e-03 9.99999194e-01 2.92328650e-04 3.87598464e+01] [-3.73337675e-03 -2.96938899e-04 9.99992987e-01 -2.06432616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61140051300004 meters 0.0825724053527994 Centerline is valid? [True, True] Translation: X:368.43, Y:38.77, Z:-2.06 [[ 9.99989228e-01 1.67695700e-03 4.32803559e-03 3.68429418e+02] [-1.67843848e-03 9.99998534e-01 3.38686965e-04 3.87739388e+01] [-4.32746128e-03 -3.45947658e-04 9.99990577e-01 -2.06386023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.641400513 meters 0.08198091164651287 Centerline is valid? [True, True] Translation: X:368.46, Y:38.78, Z:-2.07 [[ 9.99991376e-01 1.42937178e-03 3.89928474e-03 3.68461640e+02] [-1.43057196e-03 9.99998930e-01 3.05024358e-04 3.87795341e+01] [-3.89884458e-03 -3.10599935e-04 9.99992351e-01 -2.06502382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.671400513 meters 0.08372079085203443 Centerline is valid? [True, True] Translation: X:368.49, Y:38.78, Z:-2.07 [[ 9.99992972e-01 1.44957303e-03 3.45744233e-03 3.68492136e+02] [-1.45051514e-03 9.99998912e-01 2.69996204e-04 3.87844866e+01] [-3.45704719e-03 -2.75009379e-04 9.99993987e-01 -2.06660950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.701400513 meters 0.07691929894324992 Centerline is valid? [True, True] Translation: X:368.53, Y:38.78, Z:-2.07 [[ 9.99994414e-01 1.51770357e-03 2.97785737e-03 3.68525055e+02] [-1.51840200e-03 9.99998820e-01 2.32293779e-04 3.87788871e+01] [-2.97750131e-03 -2.36814066e-04 9.99995539e-01 -2.06705954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.731400513 meters 0.08305179538819163 Centerline is valid? [True, True] Translation: X:368.56, Y:38.79, Z:-2.07 [[ 9.99994854e-01 1.68491183e-03 2.73016759e-03 3.68556477e+02] [-1.68549865e-03 9.99998557e-01 2.12654060e-04 3.87900429e+01] [-2.72980534e-03 -2.17254659e-04 9.99996250e-01 -2.06772619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.761400513 meters 0.07672742224398485 Centerline is valid? [True, True] Translation: X:368.59, Y:38.79, Z:-2.07 [[ 9.99992239e-01 2.71403774e-03 2.85575327e-03 3.68587840e+02] [-2.71468096e-03 9.99996291e-01 2.21383536e-04 3.87911043e+01] [-2.85514183e-03 -2.29134277e-04 9.99995898e-01 -2.06671852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.791400513 meters 0.08491885952225584 Centerline is valid? [True, True] Translation: X:368.62, Y:38.81, Z:-2.07 [[ 9.99988574e-01 3.67911335e-03 3.05230623e-03 3.68616664e+02] [-3.67985214e-03 9.99993201e-01 2.36464441e-04 3.88068404e+01] [-3.05141550e-03 -2.47693775e-04 9.99995314e-01 -2.06656956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.821400513 meters 0.08360664396340282 Centerline is valid? [True, True] Translation: X:368.65, Y:38.81, Z:-2.07 [[ 9.99982086e-01 4.88286112e-03 3.46193238e-03 3.68647164e+02] [-4.88381897e-03 9.99988038e-01 2.68283303e-04 3.88103230e+01] [-3.46058098e-03 -2.85185948e-04 9.99993972e-01 -2.06589503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.851400513 meters 0.08360664396340282 Centerline is valid? [True, True] Translation: X:368.68, Y:38.81, Z:-2.07 [[ 9.99981194e-01 5.06224334e-03 3.46190750e-03 3.68679690e+02] [-5.06320337e-03 9.99987146e-01 2.68605127e-04 3.88126977e+01] [-3.46050326e-03 -2.86128418e-04 9.99993972e-01 -2.06610110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.881400513 meters 0.08756452242056852 Centerline is valid? [True, True] Translation: X:368.71, Y:38.82, Z:-2.07 [[ 9.99972685e-01 6.60921155e-03 3.30879987e-03 3.68709428e+02] [-6.61009347e-03 9.99978120e-01 2.55672703e-04 3.88222351e+01] [-3.30703768e-03 -2.77537195e-04 9.99994493e-01 -2.06672313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.911400513 meters 0.08941780485638158 Centerline is valid? [True, True] Translation: X:368.74, Y:38.83, Z:-2.07 [[ 9.99963995e-01 8.11359216e-03 2.48576307e-03 3.68740305e+02] [-8.11409450e-03 9.99967062e-01 1.92065855e-04 3.88272862e+01] [-2.48412285e-03 -2.12228656e-04 9.99996892e-01 -2.06821845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.941400513 meters 0.08883123337747512 Centerline is valid? [True, True] Translation: X:368.77, Y:38.84, Z:-2.07 [[ 9.99957056e-01 9.08932701e-03 1.80831517e-03 3.68771397e+02] [-9.08959551e-03 9.99958679e-01 1.40322075e-04 3.88382752e+01] [-1.80696502e-03 -1.56752902e-04 9.99998355e-01 -2.07004199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.971400513 meters 0.09049970159773814 Centerline is valid? [True, True] Translation: X:368.80, Y:38.85, Z:-2.07 [[ 9.99963193e-01 8.38644430e-03 1.81114754e-03 3.68801230e+02] [-8.38671094e-03 9.99964821e-01 1.39676515e-04 3.88454967e+01] [-1.80991244e-03 -1.54860945e-04 9.99998350e-01 -2.06994211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.001400513 meters 0.08687276416492438 Centerline is valid? [True, True] Translation: X:368.83, Y:38.85, Z:-2.07 [[ 9.99972217e-01 7.22173253e-03 1.84702261e-03 3.68832478e+02] [-7.22200792e-03 9.99973911e-01 1.42468495e-04 3.88464408e+01] [-1.84594556e-03 -1.55803749e-04 9.99998284e-01 -2.06917818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.031400513 meters 0.08809198488774013 Centerline is valid? [True, True] Translation: X:368.86, Y:38.85, Z:-2.07 [[ 9.99981307e-01 5.71068158e-03 2.18497486e-03 3.68861921e+02] [-5.71106302e-03 9.99983678e-01 1.68374390e-04 3.88530930e+01] [-2.18397766e-03 -1.80849772e-04 9.99997599e-01 -2.06884403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.061400513 meters 0.07839298585040219 Centerline is valid? [True, True] Translation: X:368.89, Y:38.85, Z:-2.07 [[ 9.99994373e-01 1.67883172e-03 2.90444422e-03 3.68893071e+02] [-1.67948888e-03 9.99998565e-01 2.23833751e-04 3.88471009e+01] [-2.90406427e-03 -2.28710473e-04 9.99995757e-01 -2.06761796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.091400513 meters 0.07239141472573381 Centerline is valid? [True, True] Translation: X:368.92, Y:38.84, Z:-2.07 [[ 9.99997167e-01 -6.67146093e-04 2.28504791e-03 3.68923635e+02] [ 6.66745467e-04 9.99999762e-01 1.76082120e-04 3.88428200e+01] [-2.28516484e-03 -1.74558076e-04 9.99997374e-01 -2.06830969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.121400513 meters 0.0750778487683421 Centerline is valid? [True, True] Translation: X:368.95, Y:38.85, Z:-2.07 [[ 9.99992478e-01 -3.13298898e-03 2.28650048e-03 3.68952507e+02] [ 3.13259437e-03 9.99995078e-01 1.76140287e-04 3.88489727e+01] [-2.28704108e-03 -1.68976284e-04 9.99997370e-01 -2.06984318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.151400513 meters 0.07333240928803027 Centerline is valid? [True, True] Translation: X:368.98, Y:38.85, Z:-2.07 [[ 9.99971375e-01 -7.30561590e-03 1.96927617e-03 3.68982661e+02] [ 7.30533106e-03 9.99973304e-01 1.51796289e-04 3.88504631e+01] [-1.97033256e-03 -1.37405730e-04 9.99998049e-01 -2.07038989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.181400513 meters 0.07087378271581765 Centerline is valid? [True, True] Translation: X:369.01, Y:38.85, Z:-2.07 [[ 9.99960247e-01 -8.71997308e-03 1.86208999e-03 3.69013654e+02] [ 8.71972085e-03 9.99961972e-01 1.43534032e-04 3.88492975e+01] [-1.86327079e-03 -1.27291421e-04 9.99998256e-01 -2.07035368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.211400513 meters 0.07359394051500824 Centerline is valid? [True, True] Translation: X:369.04, Y:38.85, Z:-2.07 [[ 9.99951554e-01 -9.73252597e-03 1.47195165e-03 3.69044403e+02] [ 9.73236937e-03 9.99952633e-01 1.13514083e-04 3.88512847e+01] [-1.47298670e-03 -9.91830063e-05 9.99998910e-01 -2.07139761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24140051300003 meters 0.07157920568832372 Centerline is valid? [True, True] Translation: X:369.07, Y:38.85, Z:-2.07 [[ 9.99944945e-01 -1.04387759e-02 1.06763371e-03 3.69074971e+02] [ 1.04386940e-02 9.99945512e-01 8.22305325e-05 3.88516208e+01] [-1.06843393e-03 -7.10813037e-05 9.99999427e-01 -2.07168836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.271400513 meters 0.06481931370141412 Centerline is valid? [True, True] Translation: X:369.11, Y:38.84, Z:-2.07 [[ 9.99945643e-01 -1.03962891e-02 7.92001337e-04 3.69106174e+02] [ 1.03962441e-02 9.99945956e-01 6.10009696e-05 3.88442146e+01] [-7.92592718e-04 -5.27638146e-05 9.99999685e-01 -2.07143572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30140051300003 meters 0.06668531522046697 Centerline is valid? [True, True] Translation: X:369.14, Y:38.85, Z:-2.07 [[ 9.99964548e-01 -8.41705397e-03 2.38368175e-04 3.69136768e+02] [ 8.41704983e-03 9.99964576e-01 1.83594258e-05 3.88462692e+01] [-2.38514263e-04 -1.63524181e-05 9.99999971e-01 -2.07369233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.331400513 meters 0.07464536181137364 Centerline is valid? [True, True] Translation: X:369.17, Y:38.86, Z:-2.08 [[ 9.99972712e-01 -7.38654904e-03 -1.20773829e-04 3.69165212e+02] [ 7.38654795e-03 9.99972719e-01 -9.45212035e-06 3.88566361e+01] [ 1.20840353e-04 8.55976074e-06 9.99999993e-01 -2.07566431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36140051300004 meters 0.07454129830098075 Centerline is valid? [True, True] Translation: X:369.20, Y:38.85, Z:-2.07 [[ 9.99978106e-01 -6.53357423e-03 1.04851292e-03 3.69195515e+02] [ 6.53349323e-03 9.99978653e-01 8.06643694e-05 3.88539278e+01] [-1.04901757e-03 -7.38121513e-05 9.99999447e-01 -2.07385565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.391400513 meters 0.06885112201920264 Centerline is valid? [True, True] Translation: X:369.23, Y:38.85, Z:-2.07 [[ 9.99976983e-01 -6.58504250e-03 1.63428598e-03 3.69226466e+02] [ 6.58484541e-03 9.99978312e-01 1.25949707e-04 3.88466137e+01] [-1.63507992e-03 -1.15185288e-04 9.99998657e-01 -2.07199092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.421400513 meters 0.0734807124981886 Centerline is valid? [True, True] Translation: X:369.26, Y:38.85, Z:-2.07 [[ 9.99975393e-01 -6.67447803e-03 2.15998253e-03 3.69256240e+02] [ 6.67413385e-03 9.99977714e-01 1.66511303e-04 3.88506407e+01] [-2.16104576e-03 -1.52091193e-04 9.99997653e-01 -2.07219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.451400513 meters 0.07275740468339133 Centerline is valid? [True, True] Translation: X:369.29, Y:38.85, Z:-2.07 [[ 9.99972184e-01 -7.21169792e-03 1.90337309e-03 3.69287587e+02] [ 7.21143156e-03 9.99973987e-01 1.46764887e-04 3.88505296e+01] [-1.90438200e-03 -1.33034759e-04 9.99998178e-01 -2.07305332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.481400513 meters 0.07381971859774543 Centerline is valid? [True, True] Translation: X:369.32, Y:38.85, Z:-2.07 [[ 9.99977324e-01 -6.32428867e-03 2.31402823e-03 3.69319376e+02] [ 6.32389281e-03 9.99979988e-01 1.78346674e-04 3.88485345e+01] [-2.31510984e-03 -1.63708964e-04 9.99997307e-01 -2.07433683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.511400513 meters 0.07443380369038088 Centerline is valid? [True, True] Translation: X:369.35, Y:38.85, Z:-2.07 [[ 9.99985842e-01 -4.57357050e-03 2.71981774e-03 3.69350193e+02] [ 4.57301753e-03 9.99989522e-01 2.09494874e-04 3.88484571e+01] [-2.72074738e-03 -1.97054134e-04 9.99996279e-01 -2.07417042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.541400513 meters 0.0767842008258759 Centerline is valid? [True, True] Translation: X:369.38, Y:38.85, Z:-2.07 [[ 9.99993542e-01 -2.28027572e-03 2.77769627e-03 3.69380773e+02] [ 2.27969035e-03 9.99997379e-01 2.13887401e-04 3.88506644e+01] [-2.77817672e-03 -2.07553733e-04 9.99996119e-01 -2.07418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.571400513 meters 0.0818077175720306 Centerline is valid? [True, True] Translation: X:369.41, Y:38.86, Z:-2.08 [[ 9.99997740e-01 3.55044717e-04 2.09593551e-03 3.69410190e+02] [-3.55383779e-04 9.99999924e-01 1.61400800e-04 3.88566036e+01] [-2.09587805e-03 -1.62145297e-04 9.99997790e-01 -2.07563720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.601400513 meters 0.08673181736197105 Centerline is valid? [True, True] Translation: X:369.44, Y:38.86, Z:-2.08 [[ 9.99982229e-01 5.86475805e-03 1.07069230e-03 3.69440272e+02] [-5.86484962e-03 9.99982798e-01 8.24014687e-05 3.88623611e+01] [-1.07019062e-03 -8.86794537e-05 9.99999423e-01 -2.07721180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.631400513 meters 0.08863588039120152 Centerline is valid? [True, True] Translation: X:369.47, Y:38.87, Z:-2.08 [[ 9.99960816e-01 8.79584400e-03 9.99740547e-04 3.69470677e+02] [-8.79592536e-03 9.99961312e-01 7.70160840e-05 3.88662436e+01] [-9.99024448e-04 -8.58067095e-05 9.99999497e-01 -2.07728996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.661400513 meters 0.08415680840318858 Centerline is valid? [True, True] Translation: X:369.50, Y:38.86, Z:-2.08 [[ 9.99929499e-01 1.18002436e-02 1.32357700e-03 3.69501772e+02] [-1.18003888e-02 9.99930368e-01 1.01941499e-04 3.88622027e+01] [-1.32228190e-03 -1.17553036e-04 9.99999119e-01 -2.07651482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.691400513 meters 0.09487610222104269 Centerline is valid? [True, True] Translation: X:369.53, Y:38.88, Z:-2.08 [[ 9.99890708e-01 1.46935951e-02 1.63438915e-03 3.69530211e+02] [-1.46938202e-02 9.99892032e-01 1.25803655e-04 3.88770608e+01] [-1.63236418e-03 -1.49805326e-04 9.99998656e-01 -2.07680901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.721400513 meters 0.10067972513340555 Centerline is valid? [True, False] Translation: X:369.53, Y:38.87, Z:-2.08 [[ 9.99936187e-01 1.12590368e-02 -9.24876593e-04 3.69531933e+02] [-1.12417020e-02 9.99792433e-01 1.69916241e-02 3.88688164e+01] [ 1.11599394e-03 -1.69801426e-02 9.99855204e-01 -2.07574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.751400513 meters 0.1007717933786721 Centerline is valid? [False, False] Translation: X:369.53, Y:38.88, Z:-2.08 [[ 9.99998257e-01 1.62025316e-03 -9.27257277e-04 3.69532967e+02] [-1.61567492e-03 9.99986606e-01 4.91704104e-03 3.88824522e+01] [ 9.35211709e-04 -4.91553433e-03 9.99987481e-01 -2.07915419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.781400513 meters 0.09909642111646069 Centerline is valid? [False, True] Translation: X:369.53, Y:38.89, Z:-2.07 [[ 9.99999333e-01 -1.14932280e-03 1.13072646e-04 3.69526432e+02] [ 1.14913788e-03 9.99998024e-01 1.62216752e-03 3.88863284e+01] [-1.14936817e-04 -1.62203651e-03 9.99998678e-01 -2.07477647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.811400513 meters 0.1072958131652419 Centerline is valid? [True, False] Translation: X:369.53, Y:38.89, Z:-2.07 [[ 9.99999237e-01 -1.23084845e-03 1.03447791e-04 3.69526507e+02] [ 1.23070108e-03 9.99998245e-01 1.41277452e-03 3.88872759e+01] [-1.05186521e-04 -1.41264612e-03 9.99998997e-01 -2.07488603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.841400513 meters 0.09033736852660532 Centerline is valid? [False, True] Translation: X:369.53, Y:38.89, Z:-2.08 [[ 9.99982185e-01 -5.96377592e-03 2.51286576e-04 3.69526153e+02] [ 5.96473401e-03 9.99974202e-01 -4.00212926e-03 3.88921425e+01] [-2.27412291e-04 4.00355682e-03 9.99991960e-01 -2.07505312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.871400513 meters 0.0928672188702779 Centerline is valid? [True, True] Translation: X:369.55, Y:38.90, Z:-2.08 [[ 9.99952191e-01 -9.77508814e-03 -2.53476984e-04 3.69554907e+02] [ 9.77508193e-03 9.99952222e-01 -2.57325536e-05 3.88958863e+01] [ 2.53716412e-04 2.32535651e-05 9.99999968e-01 -2.07523211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.901400513 meters 0.08553539009523242 Centerline is valid? [True, True] Translation: X:369.59, Y:38.89, Z:-2.08 [[ 9.99900829e-01 -1.40698028e-02 -6.10251225e-04 3.69586064e+02] [ 1.40697676e-02 9.99901014e-01 -6.19158145e-05 3.88906694e+01] [ 6.11061962e-04 5.33235813e-05 9.99999812e-01 -2.07589104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.931400513 meters 0.08611376007760434 Centerline is valid? [True, True] Translation: X:369.62, Y:38.89, Z:-2.08 [[ 9.99829239e-01 -1.84748769e-02 -4.13403050e-04 3.69615039e+02] [ 1.84748611e-02 9.99829324e-01 -4.20536582e-05 3.88936654e+01] [ 4.14109429e-04 3.44089132e-05 9.99999914e-01 -2.07642207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.961400513 meters 0.07054242917776478 Centerline is valid? [True, True] Translation: X:369.65, Y:38.87, Z:-2.07 [[ 9.99651534e-01 -2.63562768e-02 1.46898831e-03 3.69647652e+02] [ 2.63560861e-02 9.99652607e-01 1.49016128e-04 3.88747488e+01] [-1.47240550e-03 -1.10247418e-04 9.99998910e-01 -2.07287030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99140051300003 meters 0.06923753909905132 Centerline is valid? [True, True] Translation: X:369.68, Y:38.88, Z:-2.07 [[ 9.99566405e-01 -2.93642224e-02 2.17795977e-03 3.69677191e+02] [ 2.93638104e-02 9.99568766e-01 2.20906108e-04 3.88750111e+01] [-2.18350730e-03 -1.56857126e-04 9.99997604e-01 -2.07191175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.021400513 meters 0.07072077483448606 Centerline is valid? [True, True] Translation: X:369.71, Y:38.88, Z:-2.07 [[ 9.99501441e-01 -3.14840895e-02 2.37090004e-03 3.69706097e+02] [ 3.14836072e-02 9.99504239e-01 2.40477113e-04 3.88786132e+01] [-2.37729584e-03 -1.65712736e-04 9.99997160e-01 -2.07218406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05140051300003 meters 0.06454837127166602 Centerline is valid? [True, True] Translation: X:369.74, Y:38.87, Z:-2.07 [[ 9.99456512e-01 -3.28974869e-02 2.10632288e-03 3.69736463e+02] [ 3.28971093e-02 9.99458721e-01 2.13654527e-04 3.88731100e+01] [-2.11221146e-03 -1.44246474e-04 9.99997759e-01 -2.07158859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.081400513 meters 0.06914176598499513 Centerline is valid? [True, True] Translation: X:369.76, Y:38.88, Z:-2.07 [[ 9.99439971e-01 -3.33283258e-02 2.99448358e-03 3.69763614e+02] [ 3.33275647e-02 9.99444436e-01 3.03727262e-04 3.88807634e+01] [-3.00294267e-03 -2.03758321e-04 9.99995470e-01 -2.07126480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11140051300004 meters 0.07449638219991069 Centerline is valid? [True, True] Translation: X:369.79, Y:38.89, Z:-2.07 [[ 9.99465335e-01 -3.24431119e-02 4.06057582e-03 3.69791108e+02] [ 3.24417032e-02 9.99473544e-01 4.12313761e-04 3.88905258e+01] [-4.07181485e-03 -2.80361316e-04 9.99991671e-01 -2.07011465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.141400513 meters 0.07149869174667625 Centerline is valid? [True, True] Translation: X:369.82, Y:38.89, Z:-2.07 [[ 9.99498954e-01 -3.11969082e-02 5.34726001e-03 3.69820392e+02] [ 3.11944457e-02 9.99513187e-01 5.43333969e-04 3.88908105e+01] [-5.36160724e-03 -3.76256922e-04 9.99985556e-01 -2.06810503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.171400513 meters 0.06896473674710282 Centerline is valid? [True, True] Translation: X:369.85, Y:38.89, Z:-2.07 [[ 9.99536507e-01 -2.97814620e-02 6.31159044e-03 3.69850863e+02] [ 2.97780011e-02 9.99556331e-01 6.41631313e-04 3.88914556e+01] [-6.32789891e-03 -4.53387374e-04 9.99979876e-01 -2.06686610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.201400513 meters 0.07018624300939501 Centerline is valid? [True, True] Translation: X:369.88, Y:38.90, Z:-2.07 [[ 9.99567652e-01 -2.88509758e-02 5.66836599e-03 3.69882005e+02] [ 2.88481692e-02 9.99583639e-01 5.76288494e-04 3.88951772e+01] [-5.68263239e-03 -4.12517356e-04 9.99983769e-01 -2.06843271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.231400513 meters 0.08248681850789244 Centerline is valid? [True, True] Translation: X:369.91, Y:38.91, Z:-2.07 [[ 9.99549154e-01 -2.96583052e-02 4.67697408e-03 3.69910588e+02] [ 2.96564039e-02 9.99560039e-01 4.75383223e-04 3.89116797e+01] [-4.68901546e-03 -3.36466666e-04 9.99988950e-01 -2.07093517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.261400513 meters 0.07439142916815111 Centerline is valid? [True, True] Translation: X:369.94, Y:38.90, Z:-2.07 [[ 9.99501653e-01 -3.12802582e-02 4.24153569e-03 3.69941695e+02] [ 3.12787097e-02 9.99510609e-01 4.30938911e-04 3.89032381e+01] [-4.25293980e-03 -2.98054391e-04 9.99990912e-01 -2.07177498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.291400513 meters 0.057405040432964835 Centerline is valid? [True, True] Translation: X:369.97, Y:38.88, Z:-2.07 [[ 9.99387090e-01 -3.47154157e-02 4.50385449e-03 3.69974857e+02] [ 3.47137034e-02 9.99397193e-01 4.57830815e-04 3.88810752e+01] [-4.51703332e-03 -3.01204737e-04 9.99989753e-01 -2.07037525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.321400513 meters 0.06217019143361283 Centerline is valid? [True, True] Translation: X:370.00, Y:38.89, Z:-2.07 [[ 9.99343938e-01 -3.58734383e-02 4.97890300e-03 3.70002675e+02] [ 3.58713606e-02 9.99356288e-01 5.06005525e-04 3.88867199e+01] [-4.99385018e-03 -3.27073528e-04 9.99987477e-01 -2.07053516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.351400513 meters 0.06264488887594705 Centerline is valid? [True, True] Translation: X:370.03, Y:38.89, Z:-2.07 [[ 9.99306461e-01 -3.68481023e-02 5.36786290e-03 3.70031143e+02] [ 3.68456996e-02 9.99320818e-01 5.45858780e-04 3.88873868e+01] [-5.38433101e-03 -3.47697542e-04 9.99985444e-01 -2.07046236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.381400513 meters 0.06203685109526456 Centerline is valid? [True, True] Translation: X:370.06, Y:38.89, Z:-2.07 [[ 9.99296905e-01 -3.71442857e-02 5.09878162e-03 3.70061012e+02] [ 3.71421206e-02 9.99309859e-01 5.18692987e-04 3.88866178e+01] [-5.11452922e-03 -3.28948735e-04 9.99986867e-01 -2.07159044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.411400513 meters 0.06316581408066563 Centerline is valid? [True, True] Translation: X:370.09, Y:38.88, Z:-2.08 [[ 9.99352913e-01 -3.57956841e-02 3.52486962e-03 3.70090594e+02] [ 3.57946411e-02 9.99359102e-01 3.58558742e-04 3.88838290e+01] [-3.53544539e-03 -2.32155280e-04 9.99993723e-01 -2.07507680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.441400513 meters 0.07009078309896585 Centerline is valid? [True, True] Translation: X:370.12, Y:38.89, Z:-2.08 [[ 9.99409458e-01 -3.42370995e-02 2.92517483e-03 3.70119212e+02] [ 3.42363740e-02 9.99413719e-01 2.97762326e-04 3.88914916e+01] [-2.93365438e-03 -1.97439105e-04 9.99995677e-01 -2.07682990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.471400513 meters 0.06862391437498977 Centerline is valid? [True, True] Translation: X:370.15, Y:38.89, Z:-2.08 [[ 9.99466946e-01 -3.25333429e-02 2.72112921e-03 3.70149497e+02] [ 3.25327089e-02 9.99470633e-01 2.76964380e-04 3.88894834e+01] [-2.72869931e-03 -1.88291039e-04 9.99996259e-01 -2.07706808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.501400513 meters 0.07782593562320746 Centerline is valid? [True, True] Translation: X:370.18, Y:38.90, Z:-2.08 [[ 9.99525709e-01 -3.06876490e-02 2.57406633e-03 3.70177858e+02] [ 3.06870754e-02 9.99529006e-01 2.62026578e-04 3.88968128e+01] [-2.58089494e-03 -1.82911733e-04 9.99996653e-01 -2.07771391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.531400513 meters 0.07491159176432653 Centerline is valid? [True, True] Translation: X:370.21, Y:38.89, Z:-2.08 [[ 9.99635801e-01 -2.69700862e-02 9.37493563e-04 3.70208638e+02] [ 2.69700085e-02 9.99636239e-01 9.53920834e-05 3.88941685e+01] [-9.39725272e-04 -7.00731323e-05 9.99999556e-01 -2.07957232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.561400513 meters 0.08088220118371196 Centerline is valid? [True, True] Translation: X:370.24, Y:38.90, Z:-2.08 [[ 9.99692878e-01 -2.47775195e-02 4.73161405e-04 3.70237751e+02] [ 2.47774995e-02 9.99692989e-01 4.80863182e-05 3.89014962e+01] [-4.74207599e-04 -3.63477933e-05 9.99999887e-01 -2.08108447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.591400513 meters 0.0853977505673919 Centerline is valid? [True, True] Translation: X:370.27, Y:38.91, Z:-2.08 [[ 9.99769215e-01 -2.14105866e-02 1.76150913e-03 3.70267631e+02] [ 2.14103036e-02 9.99770757e-01 1.79364210e-04 3.89050144e+01] [-1.76494561e-03 -1.41608371e-04 9.99998432e-01 -2.08017081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.621400513 meters 0.08358969301499287 Centerline is valid? [True, True] Translation: X:370.30, Y:38.90, Z:-2.08 [[ 9.99787165e-01 -2.05499499e-02 1.82329148e-03 3.70297571e+02] [ 2.05496454e-02 9.99788817e-01 1.85585597e-04 3.89049844e+01] [-1.82672020e-03 -1.48078105e-04 9.99998321e-01 -2.08016537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.651400513 meters 0.07953840321731641 Centerline is valid? [True, True] Translation: X:370.33, Y:38.90, Z:-2.08 [[ 9.99800641e-01 -1.99436610e-02 9.63936460e-04 3.70327796e+02] [ 1.99435757e-02 9.99801102e-01 9.80531835e-05 3.89010634e+01] [-9.65700275e-04 -7.88092959e-05 9.99999531e-01 -2.08088047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.681400513 meters 0.07623364326906262 Centerline is valid? [True, True] Translation: X:370.36, Y:38.90, Z:-2.08 [[ 9.99799819e-01 -2.00077006e-02 1.18673376e-04 3.70357544e+02] [ 2.00076995e-02 9.99799826e-01 1.08666072e-05 3.88978277e+01] [-1.18867036e-04 -8.49005072e-06 9.99999993e-01 -2.08191518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.711400513 meters 0.08176024426410042 Centerline is valid? [True, True] Translation: X:370.39, Y:38.91, Z:-2.08 [[ 9.99798668e-01 -2.00622670e-02 -3.59765437e-04 3.70385176e+02] [ 2.00622549e-02 9.99798732e-01 -3.71837105e-05 3.89051866e+01] [ 3.60439018e-04 2.99585183e-05 9.99999935e-01 -2.08385616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74140051300003 meters 0.08434471871650913 Centerline is valid? [True, True] Translation: X:370.41, Y:38.91, Z:-2.08 [[ 9.99808949e-01 -1.94882984e-02 1.50736066e-03 3.70412456e+02] [ 1.94880890e-02 9.99810077e-01 1.53521246e-04 3.89082279e+01] [-1.51006625e-03 -1.24116337e-04 9.99998852e-01 -2.08240915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.771400513 meters 0.08434471871650913 Centerline is valid? [True, True] Translation: X:370.44, Y:38.91, Z:-2.08 [[ 9.99805940e-01 -1.96420583e-02 1.50740554e-03 3.70440737e+02] [ 1.96418496e-02 9.99807069e-01 1.53082737e-04 3.89112198e+01] [-1.51012158e-03 -1.23444797e-04 9.99998852e-01 -2.08262850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80140051300003 meters 0.08574576586467174 Centerline is valid? [True, True] Translation: X:370.47, Y:38.92, Z:-2.08 [[ 9.99824009e-01 -1.85211681e-02 2.98618478e-03 3.70469529e+02] [ 1.85203378e-02 9.99828437e-01 3.05465154e-04 3.89151381e+01] [-2.99133004e-03 -2.50106244e-04 9.99995495e-01 -2.08004344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.831400513 meters 0.09677102414043741 Centerline is valid? [True, True] Translation: X:370.50, Y:38.93, Z:-2.08 [[ 9.99850831e-01 -1.67677573e-02 4.14223556e-03 3.70496857e+02] [ 1.67661436e-02 9.99859348e-01 4.24004479e-04 3.89317781e+01] [-4.14876255e-03 -3.54491915e-04 9.99991331e-01 -2.07862183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86140051300004 meters 0.09256883715611348 Centerline is valid? [True, True] Translation: X:370.53, Y:38.93, Z:-2.08 [[ 9.99917619e-01 -1.24731105e-02 3.02942234e-03 3.70526858e+02] [ 1.24722275e-02 9.99922171e-01 3.10169651e-04 3.89337500e+01] [-3.03305535e-03 -2.72360454e-04 9.99995363e-01 -2.07913383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.891400513 meters 0.09432388425268218 Centerline is valid? [True, True] Translation: X:370.56, Y:38.94, Z:-2.08 [[ 9.99945353e-01 -1.02167619e-02 2.21575495e-03 3.70556757e+02] [ 1.02162839e-02 9.99947787e-01 2.26916267e-04 3.89419584e+01] [-2.21795761e-03 -2.04267085e-04 9.99997519e-01 -2.08049113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.921400513 meters 0.08501569841965748 Centerline is valid? [True, True] Translation: X:370.59, Y:38.94, Z:-2.08 [[ 9.99957282e-01 -8.94403696e-03 2.33210769e-03 3.70587939e+02] [ 8.94350409e-03 9.99959978e-01 2.38820448e-04 3.89363955e+01] [-2.33415037e-03 -2.17953032e-04 9.99997252e-01 -2.07968824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.951400513 meters 0.09792092996118804 Centerline is valid? [True, True] Translation: X:370.62, Y:38.96, Z:-2.08 [[ 9.99954596e-01 -8.77309155e-03 3.71994541e-03 3.70616397e+02] [ 8.77173441e-03 9.99961455e-01 3.80987978e-04 3.89573439e+01] [-3.72314446e-03 -3.48340306e-04 9.99993008e-01 -2.07869405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.981400513 meters 0.08758269903001122 Centerline is valid? [True, True] Translation: X:370.65, Y:38.95, Z:-2.08 [[ 9.99906101e-01 -1.26260802e-02 5.32638124e-03 3.70648292e+02] [ 1.26233525e-02 9.99920174e-01 5.45417321e-04 3.89508382e+01] [-5.33284254e-03 -4.78129319e-04 9.99985666e-01 -2.07554851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.011400513 meters 0.09052982337225707 Centerline is valid? [True, True] Translation: X:370.68, Y:38.96, Z:-2.07 [[ 9.99852971e-01 -1.59755477e-02 6.23042148e-03 3.70677213e+02] [ 1.59718807e-02 9.99872238e-01 6.37880631e-04 3.89586083e+01] [-6.23981596e-03 -5.38275296e-04 9.99980387e-01 -2.07496990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.041400513 meters 0.08852596926338804 Centerline is valid? [True, True] Translation: X:370.71, Y:38.96, Z:-2.07 [[ 9.99778081e-01 -1.98983174e-02 6.91700814e-03 3.70706413e+02] [ 1.98938908e-02 9.99801846e-01 7.08178156e-04 3.89596467e+01] [-6.92972906e-03 -5.70414793e-04 9.99975826e-01 -2.07422842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.071400513 meters 0.07395930340806743 Centerline is valid? [True, True] Translation: X:370.74, Y:38.95, Z:-2.07 [[ 9.99688875e-01 -2.37607066e-02 7.58826866e-03 3.70738681e+02] [ 2.37554891e-02 9.99717497e-01 7.76981579e-04 3.89453904e+01] [-7.60458658e-03 -5.96476807e-04 9.99970907e-01 -2.07379726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.101400513 meters 0.07029316025612618 Centerline is valid? [True, True] Translation: X:370.77, Y:38.95, Z:-2.07 [[ 9.99527651e-01 -2.97698572e-02 7.63089874e-03 3.70769797e+02] [ 2.97647558e-02 9.99556626e-01 7.81252438e-04 3.89459589e+01] [-7.65077317e-03 -5.53751577e-04 9.99970579e-01 -2.07412723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.131400513 meters 0.06634850241399708 Centerline is valid? [True, True] Translation: X:370.80, Y:38.95, Z:-2.08 [[ 9.99475007e-01 -3.16654556e-02 6.85626034e-03 3.70800350e+02] [ 3.16613814e-02 9.99498406e-01 7.01983444e-04 3.89458724e+01] [-6.87504991e-03 -4.84536234e-04 9.99976249e-01 -2.07513627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.161400513 meters 0.07275161417104381 Centerline is valid? [True, True] Translation: X:370.83, Y:38.96, Z:-2.08 [[ 9.99456941e-01 -3.23908350e-02 6.05455458e-03 3.70829329e+02] [ 3.23876712e-02 9.99475190e-01 6.19900188e-04 3.89574375e+01] [-6.07145617e-03 -4.23470622e-04 9.99981479e-01 -2.07656405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.191400513 meters 0.08093065104827141 Centerline is valid? [True, True] Translation: X:370.86, Y:38.97, Z:-2.08 [[ 9.99512573e-01 -3.09083574e-02 4.39192520e-03 3.70857227e+02] [ 3.09066787e-02 9.99522173e-01 4.49597700e-04 3.89691179e+01] [-4.40372295e-03 -3.13638733e-04 9.99990254e-01 -2.07841188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.221400513 meters 0.07554616815759284 Centerline is valid? [True, True] Translation: X:370.89, Y:38.96, Z:-2.08 [[ 9.99564063e-01 -2.91897885e-02 4.43173481e-03 3.70888351e+02] [ 2.91880616e-02 9.99573835e-01 4.53844947e-04 3.89647521e+01] [-4.44309379e-03 -3.24293351e-04 9.99990077e-01 -2.07775329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.251400513 meters 0.07760032920173805 Centerline is valid? [True, True] Translation: X:370.92, Y:38.97, Z:-2.08 [[ 9.99610593e-01 -2.74628981e-02 4.94487701e-03 3.70918393e+02] [ 2.74607273e-02 9.99622755e-01 5.06364231e-04 3.89696870e+01] [-4.95691781e-03 -3.70377130e-04 9.99987646e-01 -2.07739485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.281400513 meters 0.07716972774399286 Centerline is valid? [True, True] Translation: X:370.95, Y:38.97, Z:-2.08 [[ 9.99656782e-01 -2.56957413e-02 5.10363370e-03 3.70948444e+02] [ 2.56934057e-02 9.99669733e-01 5.22680754e-04 3.89715529e+01] [-5.11537881e-03 -3.91371629e-04 9.99986840e-01 -2.07656355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.311400513 meters 0.08133043459535734 Centerline is valid? [True, True] Translation: X:370.98, Y:38.98, Z:-2.08 [[ 9.99746261e-01 -2.21354783e-02 4.17551658e-03 3.70978419e+02] [ 2.21338838e-02 9.99754924e-01 4.27704326e-04 3.89805753e+01] [-4.18396070e-03 -3.35175403e-04 9.99991191e-01 -2.07788628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.341400513 meters 0.08042433802485312 Centerline is valid? [True, True] Translation: X:371.01, Y:38.98, Z:-2.08 [[ 9.99783553e-01 -2.04640049e-02 3.75121868e-03 3.71008529e+02] [ 2.04627066e-02 9.99790543e-01 3.84159284e-04 3.89843831e+01] [-3.75829440e-03 -3.07316047e-04 9.99992890e-01 -2.07887758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.371400513 meters 0.08607587982550116 Centerline is valid? [True, True] Translation: X:371.04, Y:39.00, Z:-2.08 [[ 9.99817856e-01 -1.86571555e-02 4.02056019e-03 3.71036872e+02] [ 1.86556491e-02 9.99825883e-01 4.11855107e-04 3.89967225e+01] [-4.02754418e-03 -3.36773931e-04 9.99991833e-01 -2.07935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.401400513 meters 0.0843449482102776 Centerline is valid? [True, True] Translation: X:371.07, Y:39.00, Z:-2.08 [[ 9.99845314e-01 -1.70304066e-02 4.39471832e-03 3.71067167e+02] [ 1.70285907e-02 9.99854902e-01 4.50287995e-04 3.89988749e+01] [-4.40174924e-03 -3.75382482e-04 9.99990242e-01 -2.07920993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.431400513 meters 0.08305027342136591 Centerline is valid? [True, True] Translation: X:371.10, Y:39.00, Z:-2.08 [[ 9.99894117e-01 -1.41843109e-02 3.24950361e-03 3.71097832e+02] [ 1.41833033e-02 9.99899356e-01 3.32929041e-04 3.90002070e+01] [-3.25389893e-03 -2.86805094e-04 9.99994665e-01 -2.08027754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.461400513 meters 0.09039527334033687 Centerline is valid? [True, True] Translation: X:371.13, Y:39.01, Z:-2.08 [[ 9.99911177e-01 -1.31898142e-02 1.91467490e-03 3.71126319e+02] [ 1.31894626e-02 9.99912996e-01 1.96185715e-04 3.90132272e+01] [-1.91709597e-03 -1.70914756e-04 9.99998148e-01 -2.08256003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49140051300003 meters 0.08594279105583531 Centerline is valid? [True, True] Translation: X:371.16, Y:39.01, Z:-2.08 [[ 9.99923779e-01 -1.23223493e-02 7.71404612e-04 3.71157005e+02] [ 1.23222920e-02 9.99924075e-01 7.90413899e-05 3.90127924e+01] [-7.72320018e-04 -6.95298924e-05 9.99999699e-01 -2.08449370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.521400513 meters 0.09158648321672509 Centerline is valid? [True, True] Translation: X:371.19, Y:39.02, Z:-2.09 [[ 9.99930469e-01 -1.17889048e-02 2.80021654e-04 3.71185148e+02] [ 1.17888972e-02 9.99930508e-01 2.87946636e-05 3.90240787e+01] [-2.80341652e-04 -2.54915150e-05 9.99999960e-01 -2.08614607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55140051300003 meters 0.09960366939462358 Centerline is valid? [True, True] Translation: X:371.21, Y:39.04, Z:-2.08 [[ 9.99922309e-01 -1.23305810e-02 1.82564879e-03 3.71212905e+02] [ 1.23302603e-02 9.99923962e-01 1.86843153e-04 3.90368371e+01] [-1.82781386e-03 -1.64317912e-04 9.99998316e-01 -2.08407512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.581400513 meters 0.09929199273784521 Centerline is valid? [True, True] Translation: X:371.24, Y:39.04, Z:-2.08 [[ 9.99912161e-01 -1.29082204e-02 3.00797662e-03 3.71243656e+02] [ 1.29073508e-02 9.99916649e-01 3.08318746e-04 3.90409619e+01] [-3.01170575e-03 -2.69466654e-04 9.99995428e-01 -2.08215424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61140051300004 meters 0.10029386314771656 Centerline is valid? [True, False] Translation: X:371.24, Y:39.04, Z:-2.08 [[ 9.99909011e-01 -1.31382681e-02 3.05863585e-03 3.71243621e+02] [ 1.31392085e-02 9.99913636e-01 -2.87546011e-04 3.90436518e+01] [-3.05459383e-03 3.27707902e-04 9.99995281e-01 -2.08249137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.641400513 meters 0.08787356525505385 Centerline is valid? [False, True] Translation: X:371.25, Y:39.05, Z:-2.09 [[ 9.99981049e-01 -4.19610655e-03 4.50481967e-03 3.71245594e+02] [ 4.24853127e-03 9.99922624e-01 -1.16916733e-02 3.90529086e+01] [-4.45541160e-03 1.17105906e-02 9.99921503e-01 -2.08551114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.671400513 meters 0.08430469287369742 Centerline is valid? [True, True] Translation: X:371.28, Y:39.04, Z:-2.09 [[ 9.99984481e-01 -4.58176085e-03 3.16957084e-03 3.71278030e+02] [ 4.58085174e-03 9.99989465e-01 2.94023527e-04 3.90446080e+01] [-3.17088459e-03 -2.79499630e-04 9.99994934e-01 -2.08538410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.701400513 meters 0.07840256151579947 Centerline is valid? [True, True] Translation: X:371.31, Y:39.04, Z:-2.08 [[ 9.99981695e-01 -4.39839306e-03 4.15494529e-03 3.71310800e+02] [ 4.39682946e-03 9.99990260e-01 3.85382122e-04 3.90416214e+01] [-4.15659988e-03 -3.67106481e-04 9.99991294e-01 -2.08328774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.731400513 meters 0.08933561387806084 Centerline is valid? [True, True] Translation: X:371.34, Y:39.06, Z:-2.08 [[ 9.99975762e-01 -4.26883358e-03 5.50019657e-03 3.71339943e+02] [ 4.26609396e-03 9.99990770e-01 5.09731645e-04 3.90601357e+01] [-5.50232176e-03 -4.86254935e-04 9.99984744e-01 -2.08159584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.761400513 meters 0.09160393593815888 Centerline is valid? [True, True] Translation: X:371.37, Y:39.07, Z:-2.08 [[ 9.99957534e-01 -5.77245809e-03 7.18388184e-03 3.71369059e+02] [ 5.76782564e-03 9.99983145e-01 6.65390069e-04 3.90709437e+01] [-7.18760169e-03 -6.23926435e-04 9.99973974e-01 -2.07937996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.791400513 meters 0.08779746012257075 Centerline is valid? [True, True] Translation: X:371.40, Y:39.07, Z:-2.08 [[ 9.99945609e-01 -7.02732658e-03 7.70692293e-03 3.71400401e+02] [ 7.02203269e-03 9.99975091e-01 7.13744853e-04 3.90707886e+01] [-7.71174668e-03 -6.59587767e-04 9.99970047e-01 -2.07910692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.821400513 meters 0.08770840924450288 Centerline is valid? [True, True] Translation: X:371.43, Y:39.07, Z:-2.08 [[ 9.99932883e-01 -8.63503420e-03 7.72430476e-03 3.71431559e+02] [ 8.62976482e-03 9.99962507e-01 7.15252060e-04 3.90742977e+01] [-7.73019137e-03 -6.48545121e-04 9.99969911e-01 -2.07868624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.851400513 meters 0.08429372423310776 Centerline is valid? [True, True] Translation: X:371.46, Y:39.07, Z:-2.08 [[ 9.99915276e-01 -1.04027306e-02 7.82453911e-03 3.71462970e+02] [ 1.03973780e-02 9.99945683e-01 7.24445401e-04 3.90741792e+01] [-7.83165032e-03 -6.43029332e-04 9.99969125e-01 -2.07897084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.881400513 meters 0.0750741999258085 Centerline is valid? [True, True] Translation: X:371.49, Y:39.07, Z:-2.08 [[ 9.99873918e-01 -1.43925236e-02 6.70838207e-03 3.71494098e+02] [ 1.43886787e-02 9.99896285e-01 6.21062788e-04 3.90704233e+01] [-6.71662497e-03 -5.24459730e-04 9.99977306e-01 -2.08044994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.911400513 meters 0.0793329336248447 Centerline is valid? [True, True] Translation: X:371.52, Y:39.08, Z:-2.08 [[ 9.99849250e-01 -1.60485230e-02 6.62744576e-03 3.71523247e+02] [ 1.60448077e-02 9.99871086e-01 6.13389297e-04 3.90805720e+01] [-6.63643538e-03 -5.06960735e-04 9.99977850e-01 -2.08107103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.941400513 meters 0.06972192291148253 Centerline is valid? [True, True] Translation: X:371.56, Y:39.07, Z:-2.08 [[ 9.99832004e-01 -1.71755421e-02 6.40038796e-03 3.71555220e+02] [ 1.71720996e-02 9.99852373e-01 5.92423796e-04 3.90733965e+01] [-6.40961829e-03 -4.82416171e-04 9.99979342e-01 -2.08111895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.971400513 meters 0.06933026495140673 Centerline is valid? [True, True] Translation: X:371.59, Y:39.08, Z:-2.08 [[ 9.99817905e-01 -1.80265841e-02 6.26092589e-03 3.71586553e+02] [ 1.80233075e-02 9.99837399e-01 5.79370486e-04 3.90774607e+01] [-6.27035193e-03 -4.66422393e-04 9.99980232e-01 -2.08137665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.001400513 meters 0.07690981977689272 Centerline is valid? [True, True] Translation: X:371.61, Y:39.09, Z:-2.08 [[ 9.99777104e-01 -2.00409834e-02 6.64080603e-03 3.71614798e+02] [ 2.00373428e-02 9.99799044e-01 6.14310999e-04 3.90931874e+01] [-6.65178291e-03 -4.81109965e-04 9.99977761e-01 -2.08101867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.031400513 meters 0.06749814710199732 Centerline is valid? [True, True] Translation: X:371.65, Y:39.09, Z:-2.08 [[ 9.99753474e-01 -2.11556365e-02 6.74018105e-03 3.71646810e+02] [ 2.11519110e-02 9.99776079e-01 6.23544724e-04 3.90859199e+01] [-6.75186326e-03 -4.80823295e-04 9.99977090e-01 -2.08055847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.061400513 meters 0.07612156778660631 Centerline is valid? [True, True] Translation: X:371.68, Y:39.10, Z:-2.08 [[ 9.99721904e-01 -2.25260383e-02 6.97799812e-03 3.71675762e+02] [ 2.25220798e-02 9.99746137e-01 6.45356212e-04 3.91003681e+01] [-6.99076399e-03 -4.88017711e-04 9.99975445e-01 -2.08080555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.091400513 meters 0.06822898170658585 Centerline is valid? [True, True] Translation: X:371.71, Y:39.09, Z:-2.08 [[ 9.99636803e-01 -2.64090960e-02 5.36860088e-03 3.71707011e+02] [ 2.64068091e-02 9.99651156e-01 4.96432206e-04 3.90945911e+01] [-5.37983840e-03 -3.54484285e-04 9.99985466e-01 -2.08307439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.121400513 meters 0.0709436047066286 Centerline is valid? [True, True] Translation: X:371.74, Y:39.10, Z:-2.08 [[ 9.99570349e-01 -2.89076558e-02 4.84401345e-03 3.71735832e+02] [ 2.89058233e-02 9.99582039e-01 4.47907729e-04 3.91019729e+01] [-4.85493680e-03 -3.07695089e-04 9.99988167e-01 -2.08498521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.151400513 meters 0.060180339317198205 Centerline is valid? [True, True] Translation: X:371.77, Y:39.09, Z:-2.09 [[ 9.99498139e-01 -3.13433496e-02 4.58961223e-03 3.71767144e+02] [ 3.13417300e-02 9.99508637e-01 4.24416247e-04 3.90931722e+01] [-4.60065969e-03 -2.80356862e-04 9.99989378e-01 -2.08512822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.181400513 meters 0.06461184287919615 Centerline is valid? [True, True] Translation: X:371.80, Y:39.10, Z:-2.09 [[ 9.99442282e-01 -3.30374102e-02 4.86360681e-03 3.71795772e+02] [ 3.30356115e-02 9.99454074e-01 4.49712259e-04 3.91004381e+01] [-4.87580897e-03 -2.88789221e-04 9.99988071e-01 -2.08527009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.211400513 meters 0.05991785697000872 Centerline is valid? [True, True] Translation: X:371.83, Y:39.10, Z:-2.08 [[ 9.99348560e-01 -3.54831738e-02 6.58791972e-03 3.71826143e+02] [ 3.54799250e-02 9.99370203e-01 6.09397255e-04 3.91025587e+01] [-6.60539402e-03 -3.75261372e-04 9.99978114e-01 -2.08301358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24140051300003 meters 0.05348944565015239 Centerline is valid? [True, True] Translation: X:371.86, Y:39.10, Z:-2.08 [[ 9.99323570e-01 -3.62286223e-02 6.31583058e-03 3.71857097e+02] [ 3.62256506e-02 9.99343465e-01 5.84316028e-04 3.90988707e+01] [-6.33285298e-03 -3.55125707e-04 9.99979884e-01 -2.08297311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.271400513 meters 0.05333970391611092 Centerline is valid? [True, True] Translation: X:371.89, Y:39.10, Z:-2.08 [[ 9.99299041e-01 -3.70387812e-02 5.43657031e-03 3.71885918e+02] [ 3.70365911e-02 9.99313784e-01 5.03003794e-04 3.91032092e+01] [-5.45147029e-03 -3.01299177e-04 9.99985095e-01 -2.08442114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30140051300003 meters 0.055107420810786754 Centerline is valid? [True, True] Translation: X:371.91, Y:39.11, Z:-2.09 [[ 9.99263574e-01 -3.81322236e-02 4.27131794e-03 3.71914089e+02] [ 3.81308826e-02 9.99272675e-01 3.94969375e-04 3.91096249e+01] [-4.28327237e-03 -2.31809386e-04 9.99990800e-01 -2.08659471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.331400513 meters 0.05380463974245054 Centerline is valid? [True, True] Translation: X:371.94, Y:39.11, Z:-2.09 [[ 9.99054427e-01 -4.32084334e-02 4.82516977e-03 3.71942534e+02] [ 4.32067800e-02 9.99066051e-01 4.46410533e-04 3.91122955e+01] [-4.83995201e-03 -2.37508371e-04 9.99988259e-01 -2.08668680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36140051300004 meters 0.05112349829164912 Centerline is valid? [True, True] Translation: X:371.97, Y:39.11, Z:-2.09 [[ 9.98861243e-01 -4.74144976e-02 5.29921587e-03 3.71973387e+02] [ 4.74125610e-02 9.98875272e-01 4.90550543e-04 3.91100352e+01] [-5.31651490e-03 -2.38742530e-04 9.99985839e-01 -2.08537977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.391400513 meters 0.034411004874885104 Centerline is valid? [True, True] Translation: X:372.01, Y:39.09, Z:-2.09 [[ 9.98310363e-01 -5.78515431e-02 5.44220495e-03 3.72005848e+02] [ 5.78496559e-02 9.98325179e-01 5.03692604e-04 3.90942726e+01] [-5.46222963e-03 -1.88011863e-04 9.99985064e-01 -2.08520695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.421400513 meters 0.035379024617371954 Centerline is valid? [True, True] Translation: X:372.04, Y:39.09, Z:-2.09 [[ 9.98024208e-01 -6.26480856e-02 4.78512429e-03 3.72035118e+02] [ 6.26466807e-02 9.98035669e-01 4.43065196e-04 3.90906046e+01] [-4.80348191e-03 -1.42417637e-04 9.99988453e-01 -2.08615870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.451400513 meters 0.026938100227057143 Centerline is valid? [True, True] Translation: X:372.07, Y:39.09, Z:-2.09 [[ 9.97755601e-01 -6.67437985e-02 5.38752679e-03 3.72065929e+02] [ 6.67420763e-02 9.97770137e-01 4.99034249e-04 3.90877154e+01] [-5.40882079e-03 -1.38339493e-04 9.99985363e-01 -2.08607249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.481400513 meters 0.03410658434844 Centerline is valid? [True, True] Translation: X:372.09, Y:39.09, Z:-2.09 [[ 9.97562199e-01 -6.95524975e-02 5.66650202e-03 3.72093642e+02] [ 6.95506379e-02 9.97578284e-01 5.24813963e-04 3.90869159e+01] [-5.68928148e-03 -1.29425740e-04 9.99983808e-01 -2.08548274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.511400513 meters 0.022270206523460935 Centerline is valid? [True, True] Translation: X:372.12, Y:39.08, Z:-2.08 [[ 9.97404983e-01 -7.17069274e-02 6.43554076e-03 3.72123216e+02] [ 7.17045720e-02 9.97425736e-01 5.96293868e-04 3.90844320e+01] [-6.46173238e-03 -1.33288779e-04 9.99979114e-01 -2.08427489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.541400513 meters 0.022214888091484915 Centerline is valid? [True, True] Translation: X:372.15, Y:39.08, Z:-2.08 [[ 9.97372777e-01 -7.21536231e-02 6.43411184e-03 3.72151364e+02] [ 7.21512701e-02 9.97393522e-01 5.97378152e-04 3.90841890e+01] [-6.46044447e-03 -1.31579365e-04 9.99979122e-01 -2.08483917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.571400513 meters 0.03161194264416902 Centerline is valid? [True, True] Translation: X:372.18, Y:39.08, Z:-2.09 [[ 9.97457251e-01 -7.10377811e-02 5.71549709e-03 3.72180677e+02] [ 7.10359062e-02 9.97473618e-01 5.30636064e-04 3.90839648e+01] [-5.73875277e-03 -1.23281274e-04 9.99983526e-01 -2.08526553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.601400513 meters 0.024844411620703086 Centerline is valid? [True, True] Translation: X:372.21, Y:39.09, Z:-2.09 [[ 9.97559457e-01 -6.95830041e-02 5.77370342e-03 3.72208487e+02] [ 6.95810588e-02 9.97576156e-01 5.37357990e-04 3.90874722e+01] [-5.79709985e-03 -1.34306147e-04 9.99983188e-01 -2.08582706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.631400513 meters 0.030469410966147213 Centerline is valid? [True, True] Translation: X:372.24, Y:39.09, Z:-2.09 [[ 9.97785044e-01 -6.63601609e-02 4.61899128e-03 3.72236930e+02] [ 6.63588801e-02 9.97795728e-01 4.30167160e-04 3.90921535e+01] [-4.63735572e-03 -1.22703270e-04 9.99989240e-01 -2.08820076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.661400513 meters 0.030469410966147213 Centerline is valid? [True, True] Translation: X:372.26, Y:39.09, Z:-2.09 [[ 9.97772958e-01 -6.65416279e-02 4.61902868e-03 3.72264316e+02] [ 6.65403509e-02 9.97783642e-01 4.29766503e-04 3.90948731e+01] [-4.63738862e-03 -1.21457606e-04 9.99989240e-01 -2.08843502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.691400513 meters 0.032078681175018296 Centerline is valid? [True, True] Translation: X:372.29, Y:39.10, Z:-2.09 [[ 9.97847710e-01 -6.54483663e-02 4.05700797e-03 3.72293142e+02] [ 6.54473695e-02 9.97855951e-01 3.78133863e-04 3.90976921e+01] [-4.07305779e-03 -1.11799509e-04 9.99991699e-01 -2.08964840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.721400513 meters 0.029865155546707246 Centerline is valid? [True, True] Translation: X:372.32, Y:39.10, Z:-2.09 [[ 9.97905215e-01 -6.45632382e-02 4.09524214e-03 3.72321768e+02] [ 6.45622104e-02 9.97913611e-01 3.82802698e-04 3.90954993e+01] [-4.11141285e-03 -1.17602924e-04 9.99991541e-01 -2.08966145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.751400513 meters 0.030532607811740758 Centerline is valid? [True, True] Translation: X:372.35, Y:39.10, Z:-2.09 [[ 9.97937371e-01 -6.40218069e-02 4.71302479e-03 3.72350907e+02] [ 6.40204399e-02 9.97948490e-01 4.40503389e-04 3.90970737e+01] [-4.73155780e-03 -1.37864873e-04 9.99988797e-01 -2.08903050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.781400513 meters 0.0315067703889884 Centerline is valid? [True, True] Translation: X:372.38, Y:39.10, Z:-2.09 [[ 9.97896911e-01 -6.45396268e-02 6.03261166e-03 3.72379323e+02] [ 6.45373869e-02 9.97915130e-01 5.65443333e-04 3.90971021e+01] [-6.05652795e-03 -1.74925163e-04 9.99981644e-01 -2.08793673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.811400513 meters 0.029212876119081892 Centerline is valid? [True, True] Translation: X:372.41, Y:39.09, Z:-2.09 [[ 9.97824252e-01 -6.56656297e-02 5.89810593e-03 3.72409059e+02] [ 6.56635062e-02 9.97841670e-01 5.53173228e-04 3.90949032e+01] [-5.92170034e-03 -1.64679347e-04 9.99982453e-01 -2.08803505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.841400513 meters 0.027813225976504225 Centerline is valid? [True, True] Translation: X:372.44, Y:39.09, Z:-2.09 [[ 9.97741082e-01 -6.69421929e-02 5.61027849e-03 3.72438337e+02] [ 6.69402874e-02 9.97756844e-01 5.26950657e-04 3.90934578e+01] [-5.63296899e-03 -1.50206665e-04 9.99984123e-01 -2.08850622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.871400513 meters 0.026595659150868464 Centerline is valid? [True, True] Translation: X:372.47, Y:39.09, Z:-2.09 [[ 9.97624775e-01 -6.86790651e-02 5.29090593e-03 3.72467032e+02] [ 6.86773905e-02 9.97638796e-01 4.97767260e-04 3.90925958e+01] [-5.31259922e-03 -1.33219339e-04 9.99985879e-01 -2.08922006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.901400513 meters 0.02490802020415204 Centerline is valid? [True, True] Translation: X:372.50, Y:39.09, Z:-2.09 [[ 9.97500650e-01 -7.04462624e-02 5.45678400e-03 3.72496301e+02] [ 7.04445022e-02 9.97515568e-01 5.14332594e-04 3.90914908e+01] [-5.47945980e-03 -1.28646664e-04 9.99984979e-01 -2.08970274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.931400513 meters 0.021464788219181408 Centerline is valid? [True, True] Translation: X:372.53, Y:39.09, Z:-2.09 [[ 9.97201260e-01 -7.44357536e-02 6.99755642e-03 3.72526840e+02] [ 7.44329446e-02 9.97225802e-01 6.61363196e-04 3.90859087e+01] [-7.02737288e-03 -1.38663484e-04 9.99975298e-01 -2.08796300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.961400513 meters 0.019993054530367305 Centerline is valid? [True, True] Translation: X:372.55, Y:39.08, Z:-2.09 [[ 9.97049077e-01 -7.63538461e-02 7.95165312e-03 3.72554845e+02] [ 7.63502782e-02 9.97080774e-01 7.51738457e-04 3.90843821e+01] [-7.98583857e-03 -1.42409207e-04 9.99968103e-01 -2.08636042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99140051300003 meters 0.01974576806334761 Centerline is valid? [True, True] Translation: X:372.58, Y:39.09, Z:-2.09 [[ 9.96939846e-01 -7.77220507e-02 8.38005652e-03 3.72582739e+02] [ 7.77181319e-02 9.96975057e-01 7.92769177e-04 3.90850177e+01] [-8.41632297e-03 -1.39060844e-04 9.99964572e-01 -2.08574190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.021400513 meters 0.019078655001525655 Centerline is valid? [True, True] Translation: X:372.61, Y:39.09, Z:-2.09 [[ 9.96872600e-01 -7.85929604e-02 8.25625492e-03 3.72610542e+02] [ 7.85891823e-02 9.96906781e-01 7.81540372e-04 3.90859392e+01] [-8.29214009e-03 -1.30243860e-04 9.99965611e-01 -2.08545776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05140051300003 meters 0.018946927853232872 Centerline is valid? [True, True] Translation: X:372.64, Y:39.09, Z:-2.09 [[ 9.96837055e-01 -7.90440463e-02 8.24169015e-03 3.72638301e+02] [ 7.90402932e-02 9.96871116e-01 7.80611310e-04 3.90889439e+01] [-8.27760553e-03 -1.26716673e-04 9.99965732e-01 -2.08597336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.081400513 meters 0.01881078725064151 Centerline is valid? [True, True] Translation: X:372.67, Y:39.09, Z:-2.09 [[ 9.96897000e-01 -7.82596963e-02 8.47296817e-03 3.72666950e+02] [ 7.82556877e-02 9.96932997e-01 8.04127655e-04 3.90917642e+01] [-8.50991233e-03 -1.38574497e-04 9.99963780e-01 -2.08592099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11140051300004 meters 0.019407921015489396 Centerline is valid? [True, True] Translation: X:372.70, Y:39.10, Z:-2.09 [[ 9.96961394e-01 -7.73759607e-02 8.99664120e-03 3.72695357e+02] [ 7.73713909e-02 9.97001974e-01 8.55416499e-04 3.90952019e+01] [-9.03585771e-03 -1.56734582e-04 9.99959164e-01 -2.08595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.141400513 meters 0.022591460086376136 Centerline is valid? [True, True] Translation: X:372.72, Y:39.10, Z:-2.09 [[ 9.97076359e-01 -7.58273629e-02 9.43108715e-03 3.72722637e+02] [ 7.58222571e-02 9.97120945e-01 8.98278446e-04 3.91031871e+01] [-9.47204861e-03 -1.80565888e-04 9.99955123e-01 -2.08635603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.171400513 meters 0.021828019631575404 Centerline is valid? [True, True] Translation: X:372.75, Y:39.11, Z:-2.09 [[ 9.97103697e-01 -7.55377152e-02 8.84708911e-03 3.72750867e+02] [ 7.55332060e-02 9.97142930e-01 8.43191610e-04 3.91063419e+01] [-8.88550513e-03 -1.72500468e-04 9.99960508e-01 -2.08805018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.201400513 meters 0.02650752261206215 Centerline is valid? [True, True] Translation: X:372.78, Y:39.11, Z:-2.09 [[ 9.97164851e-01 -7.49039965e-02 7.18682315e-03 3.72778154e+02] [ 7.49009968e-02 9.97190739e-01 6.86022704e-04 3.91116870e+01] [-7.21801933e-03 -1.45777511e-04 9.99973939e-01 -2.09035638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.231400513 meters 0.02319482343765124 Centerline is valid? [True, True] Translation: X:372.81, Y:39.12, Z:-2.09 [[ 9.97191378e-01 -7.46766955e-02 5.72251976e-03 3.72806367e+02] [ 7.46747902e-02 9.97207790e-01 5.46190122e-04 3.91155896e+01] [-5.74732896e-03 -1.17328117e-04 9.99983477e-01 -2.09328623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.261400513 meters 0.023187105333660474 Centerline is valid? [True, True] Translation: X:372.84, Y:39.12, Z:-2.10 [[ 9.97232073e-01 -7.42633280e-02 3.62628917e-03 3.72835138e+02] [ 7.42625599e-02 9.97238664e-01 3.46188311e-04 3.91205437e+01] [-3.64198486e-03 -7.59325699e-05 9.99993365e-01 -2.09631874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.291400513 meters 0.022153456645121625 Centerline is valid? [True, True] Translation: X:372.86, Y:39.12, Z:-2.10 [[ 9.97199386e-01 -7.46898686e-02 3.84822398e-03 3.72862509e+02] [ 7.46890045e-02 9.97206808e-01 3.67977897e-04 3.91241589e+01] [-3.86495938e-03 -7.95273150e-05 9.99992528e-01 -2.09650664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.321400513 meters 0.022019517646118744 Centerline is valid? [True, True] Translation: X:372.89, Y:39.13, Z:-2.10 [[ 9.97157201e-01 -7.52116099e-02 4.55302277e-03 3.72890782e+02] [ 7.52103998e-02 9.97167591e-01 4.36656046e-04 3.91291317e+01] [-4.57296835e-03 -9.29800576e-05 9.99989540e-01 -2.09582822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.351400513 meters 0.023984695989771432 Centerline is valid? [True, True] Translation: X:372.92, Y:39.14, Z:-2.09 [[ 9.97148241e-01 -7.52716997e-02 5.43657628e-03 3.72917540e+02] [ 7.52699673e-02 9.97163055e-01 5.22853203e-04 3.91361053e+01] [-5.46050906e-03 -1.12151232e-04 9.99985085e-01 -2.09499545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.381400513 meters 0.03153886566753651 Centerline is valid? [True, True] Translation: X:372.95, Y:39.14, Z:-2.09 [[ 9.97249269e-01 -7.39413006e-02 5.15560367e-03 3.72946110e+02] [ 7.39397242e-02 9.97262589e-01 4.95954030e-04 3.91414271e+01] [-5.17816215e-03 -1.13385880e-04 9.99986587e-01 -2.09398509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.411400513 meters 0.03319010314747049 Centerline is valid? [True, True] Translation: X:372.97, Y:39.15, Z:-2.10 [[ 9.97280462e-01 -7.35866835e-02 4.08411893e-03 3.72974533e+02] [ 7.35856897e-02 9.97288821e-01 3.93267818e-04 3.91478241e+01] [-4.10198543e-03 -9.16656028e-05 9.99991583e-01 -2.09615468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.441400513 meters 0.024600857693974524 Centerline is valid? [True, True] Translation: X:373.00, Y:39.16, Z:-2.10 [[ 9.97292880e-01 -7.34508691e-02 3.44701024e-03 3.73003249e+02] [ 7.34501592e-02 9.97298834e-01 3.32273135e-04 3.91552155e+01] [-3.46210504e-03 -7.81901811e-05 9.99994004e-01 -2.09836874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.471400513 meters 0.026311968843495126 Centerline is valid? [True, True] Translation: X:373.03, Y:39.17, Z:-2.10 [[ 9.97307170e-01 -7.32734341e-02 3.06814517e-03 3.73029749e+02] [ 7.32728679e-02 9.97311886e-01 2.96703609e-04 3.91655069e+01] [-3.08163814e-03 -7.10928410e-05 9.99995249e-01 -2.10085513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.501400513 meters 0.030326191341664657 Centerline is valid? [True, True] Translation: X:373.06, Y:39.17, Z:-2.10 [[ 9.97302906e-01 -7.33368857e-02 2.93521176e-03 3.73057751e+02] [ 7.33363694e-02 9.97307223e-01 2.83287373e-04 3.91687943e+01] [-2.94808330e-03 -6.72655469e-05 9.99995652e-01 -2.10062193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.531400513 meters 0.023861172397202392 Centerline is valid? [True, True] Translation: X:373.09, Y:39.17, Z:-2.10 [[ 9.97294369e-01 -7.34498215e-02 3.01101472e-03 3.73085705e+02] [ 7.34492770e-02 9.97298912e-01 2.91163466e-04 3.91699098e+01] [-3.02426761e-03 -6.92188305e-05 9.99995424e-01 -2.09954957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.561400513 meters 0.025456487275533544 Centerline is valid? [True, True] Translation: X:373.11, Y:39.18, Z:-2.10 [[ 9.97305963e-01 -7.32848790e-02 3.18483139e-03 3.73113451e+02] [ 7.32842643e-02 9.97311045e-01 3.09424183e-04 3.91764795e+01] [-3.19894364e-03 -7.51925573e-05 9.99994881e-01 -2.09895518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.591400513 meters 0.030282972235131878 Centerline is valid? [True, True] Translation: X:373.14, Y:39.18, Z:-2.10 [[ 9.97350420e-01 -7.26510557e-02 3.73686908e-03 3.73142491e+02] [ 7.26502057e-02 9.97357416e-01 3.62868571e-04 3.91800235e+01] [-3.75335687e-03 -9.04228148e-05 9.99992952e-01 -2.09821685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.621400513 meters 0.02663884548936492 Centerline is valid? [True, True] Translation: X:373.17, Y:39.18, Z:-2.10 [[ 9.97410107e-01 -7.17503398e-02 4.99675662e-03 3.73171127e+02] [ 7.17488022e-02 9.97422615e-01 4.86533592e-04 3.91843808e+01] [-5.01878700e-03 -1.26762220e-04 9.99987398e-01 -2.09647955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.651400513 meters 0.02856957313288367 Centerline is valid? [True, True] Translation: X:373.20, Y:39.19, Z:-2.09 [[ 9.97523459e-01 -7.00452125e-02 6.37320586e-03 3.73199590e+02] [ 7.00426668e-02 9.97543802e-01 6.22037159e-04 3.91903843e+01] [-6.40112273e-03 -1.74100324e-04 9.99979497e-01 -2.09488904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.681400513 meters 0.032676501444215134 Centerline is valid? [True, True] Translation: X:373.23, Y:39.20, Z:-2.09 [[ 9.97889407e-01 -6.45146462e-02 7.38857548e-03 3.73229285e+02] [ 6.45110610e-02 9.97916730e-01 7.22787939e-04 3.92005418e+01] [-7.41981349e-03 -2.44617584e-04 9.99972443e-01 -2.09312111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.711400513 meters 0.03512101770676642 Centerline is valid? [True, True] Translation: X:373.26, Y:39.21, Z:-2.09 [[ 9.98104512e-01 -6.11735731e-02 6.72145036e-03 3.73258844e+02] [ 6.11705301e-02 9.98127113e-01 6.57580655e-04 3.92068508e+01] [-6.74908840e-03 -2.45179538e-04 9.99977195e-01 -2.09422927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74140051300003 meters 0.039369469704350284 Centerline is valid? [True, True] Translation: X:373.29, Y:39.21, Z:-2.10 [[ 9.98312459e-01 -5.77882208e-02 5.72331496e-03 3.73287783e+02] [ 5.77859585e-02 9.98328838e-01 5.59992494e-04 3.92144648e+01] [-5.74611134e-03 -2.28320243e-04 9.99983465e-01 -2.09571165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.771400513 meters 0.04746425515879806 Centerline is valid? [True, True] Translation: X:373.32, Y:39.23, Z:-2.10 [[ 9.98501315e-01 -5.44845234e-02 5.15374410e-03 3.73315494e+02] [ 5.44826450e-02 9.98514590e-01 5.04276847e-04 3.92264529e+01] [-5.17356396e-03 -2.22731485e-04 9.99986592e-01 -2.09749748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80140051300003 meters 0.053371416064429286 Centerline is valid? [True, True] Translation: X:373.34, Y:39.23, Z:-2.10 [[ 9.98740976e-01 -4.98461201e-02 5.64153929e-03 3.73344749e+02] [ 4.98437944e-02 9.98756873e-01 5.52196444e-04 3.92344920e+01] [-5.66205099e-03 -2.70305491e-04 9.99983934e-01 -2.09760013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.831400513 meters 0.05181928600173457 Centerline is valid? [True, True] Translation: X:373.37, Y:39.23, Z:-2.10 [[ 9.98777800e-01 -4.90088616e-02 6.40612275e-03 3.73373897e+02] [ 4.90058470e-02 9.98798295e-01 6.26809135e-04 3.92344646e+01] [-6.42914368e-03 -3.12105577e-04 9.99979284e-01 -2.09663882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86140051300004 meters 0.05038360636959608 Centerline is valid? [True, True] Translation: X:373.40, Y:39.23, Z:-2.10 [[ 9.98780273e-01 -4.89066960e-02 6.78973966e-03 3.73403131e+02] [ 4.89032991e-02 9.98803296e-01 6.65514713e-04 3.92341247e+01] [-6.81416248e-03 -3.32662297e-04 9.99976728e-01 -2.09594442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.891400513 meters 0.04970024462177555 Centerline is valid? [True, True] Translation: X:373.43, Y:39.23, Z:-2.10 [[ 9.98792876e-01 -4.85989913e-02 7.13648816e-03 3.73432036e+02] [ 4.85952220e-02 9.98818308e-01 7.00734707e-04 3.92327871e+01] [-7.16211004e-03 -3.53089607e-04 9.99974289e-01 -2.09570825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.921400513 meters 0.04867006723486503 Centerline is valid? [True, True] Translation: X:373.46, Y:39.23, Z:-2.10 [[ 9.98819037e-01 -4.81203268e-02 6.70563387e-03 3.73460951e+02] [ 4.81169813e-02 9.98841490e-01 6.59448606e-04 3.92326083e+01] [-6.72959820e-03 -3.36014962e-04 9.99977300e-01 -2.09692065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.951400513 meters 0.05857414814937884 Centerline is valid? [True, True] Translation: X:373.49, Y:39.25, Z:-2.10 [[ 9.98875209e-01 -4.70720378e-02 5.70448011e-03 3.73488514e+02] [ 4.70695935e-02 9.98891454e-01 5.62063984e-04 3.92460233e+01] [-5.72461393e-03 -2.92924220e-04 9.99983571e-01 -2.09934623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.981400513 meters 0.05194033664028966 Centerline is valid? [True, True] Translation: X:373.52, Y:39.24, Z:-2.10 [[ 9.98958399e-01 -4.54002608e-02 4.57529682e-03 3.73518642e+02] [ 4.53986703e-02 9.98968847e-01 4.50931407e-04 3.92402812e+01] [-4.59105139e-03 -2.42749325e-04 9.99989432e-01 -2.10077724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.011400513 meters 0.05434509398676375 Centerline is valid? [True, True] Translation: X:373.55, Y:39.25, Z:-2.10 [[ 9.99159992e-01 -4.08306218e-02 3.48869504e-03 3.73548235e+02] [ 4.08296682e-02 9.99166062e-01 3.44155905e-04 3.92459581e+01] [-3.49983779e-03 -2.01424550e-04 9.99993855e-01 -2.10359614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.041400513 meters 0.06272885979516114 Centerline is valid? [True, True] Translation: X:373.58, Y:39.26, Z:-2.10 [[ 9.99249913e-01 -3.86053824e-02 3.03894443e-03 3.73576196e+02] [ 3.86046488e-02 9.99254518e-01 2.99705599e-04 3.92586988e+01] [-3.04824920e-03 -1.82163412e-04 9.99995337e-01 -2.10497032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.071400513 meters 0.0604571485264477 Centerline is valid? [True, True] Translation: X:373.61, Y:39.26, Z:-2.10 [[ 9.99312451e-01 -3.69599996e-02 2.92989005e-03 3.73606175e+02] [ 3.69593104e-02 9.99316729e-01 2.89015816e-04 3.92585599e+01] [-2.93857017e-03 -1.80530387e-04 9.99995666e-01 -2.10466801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.101400513 meters 0.06261273966423388 Centerline is valid? [True, True] Translation: X:373.63, Y:39.26, Z:-2.10 [[ 9.99337895e-01 -3.62505565e-02 3.10938423e-03 3.73633516e+02] [ 3.62497772e-02 9.99342714e-01 3.06621175e-04 3.92637345e+01] [-3.11845566e-03 -1.93703674e-04 9.99995119e-01 -2.10411270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.131400513 meters 0.06880912158957633 Centerline is valid? [True, True] Translation: X:373.66, Y:39.28, Z:-2.10 [[ 9.99318824e-01 -3.66025928e-02 4.70504420e-03 3.73660049e+02] [ 3.66008100e-02 9.99329858e-01 4.64498092e-04 3.92753434e+01] [-4.71889298e-03 -2.91973259e-04 9.99988823e-01 -2.10212480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.161400513 meters 0.0654432092171706 Centerline is valid? [True, True] Translation: X:373.69, Y:39.28, Z:-2.10 [[ 9.99282776e-01 -3.74927372e-02 5.31308895e-03 3.73689596e+02] [ 3.74904758e-02 9.99296847e-01 5.24617420e-04 3.92758150e+01] [-5.32902238e-03 -3.25050919e-04 9.99985748e-01 -2.10167634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.191400513 meters 0.05975316087226559 Centerline is valid? [True, True] Translation: X:373.72, Y:39.27, Z:-2.10 [[ 9.99241249e-01 -3.85732123e-02 5.38834939e-03 3.73719465e+02] [ 3.85708978e-02 9.99255724e-01 5.32836923e-04 3.92730767e+01] [-5.40489220e-03 -3.24599159e-04 9.99985341e-01 -2.10180336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.221400513 meters 0.06429547903042178 Centerline is valid? [True, True] Translation: X:373.75, Y:39.28, Z:-2.10 [[ 9.99196786e-01 -3.98394799e-02 4.31256628e-03 3.73747356e+02] [ 3.98380053e-02 9.99206060e-01 4.27340754e-04 3.92819584e+01] [-4.32616740e-03 -2.55193469e-04 9.99990610e-01 -2.10342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.251400513 meters 0.06475705718325753 Centerline is valid? [True, True] Translation: X:373.78, Y:39.29, Z:-2.10 [[ 9.99192388e-01 -4.00248323e-02 3.54761181e-03 3.73776000e+02] [ 4.00238374e-02 9.99198664e-01 3.51010606e-04 3.92857398e+01] [-3.55881812e-03 -2.08738087e-04 9.99993646e-01 -2.10388530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.281400513 meters 0.058389636734634875 Centerline is valid? [True, True] Translation: X:373.80, Y:39.28, Z:-2.10 [[ 9.99215585e-01 -3.94933514e-02 2.91362628e-03 3.73804868e+02] [ 3.94926758e-02 9.99219818e-01 2.89046585e-04 3.92816590e+01] [-2.92276854e-03 -1.73752954e-04 9.99995714e-01 -2.10375417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.311400513 meters 0.06666777285954453 Centerline is valid? [True, True] Translation: X:373.83, Y:39.30, Z:-2.10 [[ 9.99324116e-01 -3.66461136e-02 2.89363492e-03 3.73833159e+02] [ 3.66454342e-02 9.99328289e-01 2.87478309e-04 3.92959795e+01] [-2.90222620e-03 -1.81245499e-04 9.99995772e-01 -2.10477638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.341400513 meters 0.06410557719017627 Centerline is valid? [True, True] Translation: X:373.86, Y:39.30, Z:-2.10 [[ 9.99391898e-01 -3.47275451e-02 3.13563228e-03 3.73863381e+02] [ 3.47267377e-02 9.99396796e-01 3.11592241e-04 3.92961238e+01] [-3.14456169e-03 -2.02512482e-04 9.99995035e-01 -2.10419009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.371400513 meters 0.06515432395629205 Centerline is valid? [True, True] Translation: X:373.89, Y:39.30, Z:-2.10 [[ 9.99453052e-01 -3.28607362e-02 3.71059005e-03 3.73893781e+02] [ 3.28595923e-02 9.99459910e-01 3.68843778e-04 3.93009309e+01] [-3.72070647e-03 -2.46713564e-04 9.99993048e-01 -2.10345303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.401400513 meters 0.07338605786956925 Centerline is valid? [True, True] Translation: X:373.92, Y:39.31, Z:-2.10 [[ 9.99495432e-01 -3.14778410e-02 4.24592702e-03 3.73920616e+02] [ 3.14763316e-02 9.99504408e-01 4.21862386e-04 3.93141646e+01] [-4.25710209e-03 -2.88003321e-04 9.99990897e-01 -2.10330524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.431400513 meters 0.07325617797073453 Centerline is valid? [True, True] Translation: X:373.95, Y:39.32, Z:-2.10 [[ 9.99528857e-01 -3.02175173e-02 5.38192636e-03 3.73949717e+02] [ 3.02150719e-02 9.99543277e-01 5.35123926e-04 3.93156627e+01] [-5.39563843e-03 -3.72256514e-04 9.99985374e-01 -2.10185500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.461400513 meters 0.0758960082420695 Centerline is valid? [True, True] Translation: X:373.98, Y:39.32, Z:-2.10 [[ 9.99534256e-01 -2.99756948e-02 5.72094385e-03 3.73979107e+02] [ 2.99729261e-02 9.99550549e-01 5.69106492e-04 3.93200756e+01] [-5.73543193e-03 -3.97368007e-04 9.99983473e-01 -2.10127301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49140051300003 meters 0.07102640562002 Centerline is valid? [True, True] Translation: X:374.01, Y:39.32, Z:-2.10 [[ 9.99546978e-01 -2.94150444e-02 6.37138470e-03 3.74010559e+02] [ 2.94115981e-02 9.99567184e-01 6.33940771e-04 3.93159116e+01] [-6.38727446e-03 -4.46260976e-04 9.99979502e-01 -2.10015047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.521400513 meters 0.07669502232806621 Centerline is valid? [True, True] Translation: X:374.04, Y:39.33, Z:-2.10 [[ 9.99576142e-01 -2.82757683e-02 6.92945215e-03 3.74040040e+02] [ 2.82716652e-02 9.99600039e-01 6.89379516e-04 3.93251628e+01] [-6.94617337e-03 -4.93180165e-04 9.99975753e-01 -2.09998868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55140051300003 meters 0.07251096363829501 Centerline is valid? [True, True] Translation: X:374.07, Y:39.32, Z:-2.10 [[ 9.99670438e-01 -2.46648791e-02 7.11752126e-03 3.74071150e+02] [ 2.46604600e-02 9.99695634e-01 7.07992741e-04 3.93224031e+01] [-7.13281748e-03 -5.32238066e-04 9.99974419e-01 -2.10010185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.581400513 meters 0.07251096363829501 Centerline is valid? [True, True] Translation: X:374.10, Y:39.33, Z:-2.10 [[ 9.99671576e-01 -2.46187206e-02 7.11751654e-03 3.74102754e+02] [ 2.46143000e-02 9.99696771e-01 7.08040176e-04 3.93254698e+01] [-7.13278935e-03 -5.32614952e-04 9.99974419e-01 -2.10037221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61140051300004 meters 0.0782566512801498 Centerline is valid? [True, True] Translation: X:374.13, Y:39.33, Z:-2.10 [[ 9.99725259e-01 -2.23862369e-02 6.94718002e-03 3.74131646e+02] [ 2.23819745e-02 9.99749254e-01 6.90695153e-04 3.93349466e+01] [-6.96090010e-03 -5.35013785e-04 9.99975630e-01 -2.10122097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.641400513 meters 0.0939605762310792 Centerline is valid? [True, True] Translation: X:374.16, Y:39.36, Z:-2.10 [[ 9.99778142e-01 -2.01777664e-02 6.04360690e-03 3.74158762e+02] [ 2.01745000e-02 9.99796293e-01 6.00958177e-04 3.93564398e+01] [-6.05450177e-03 -4.78898102e-04 9.99981557e-01 -2.10360323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.671400513 meters 0.08360231878990526 Centerline is valid? [True, True] Translation: X:374.19, Y:39.35, Z:-2.11 [[ 9.99825151e-01 -1.80136097e-02 5.01760213e-03 3.74190082e+02] [ 1.80113315e-02 9.99837658e-01 4.98865119e-04 3.93465134e+01] [-5.02577392e-03 -4.08404198e-04 9.99987287e-01 -2.10501898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.701400513 meters 0.08968955931226981 Centerline is valid? [True, True] Translation: X:374.22, Y:39.36, Z:-2.11 [[ 9.99878829e-01 -1.49068207e-02 4.48492080e-03 3.74219515e+02] [ 1.49049692e-02 9.99888815e-01 4.45961166e-04 3.93560743e+01] [-4.49107001e-03 -3.79059522e-04 9.99989843e-01 -2.10655952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.731400513 meters 0.08654317645706615 Centerline is valid? [True, True] Translation: X:374.25, Y:39.35, Z:-2.11 [[ 9.99886310e-01 -1.45480796e-02 3.96487868e-03 3.74250861e+02] [ 1.45466299e-02 9.99894114e-01 3.94216073e-04 3.93545718e+01] [-3.97019395e-03 -3.36495631e-04 9.99992062e-01 -2.10688867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.761400513 meters 0.08735096256024291 Centerline is valid? [True, True] Translation: X:374.28, Y:39.36, Z:-2.11 [[ 9.99879621e-01 -1.50210670e-02 3.88740196e-03 3.74281646e+02] [ 1.50196773e-02 9.99887124e-01 3.86429026e-04 3.93578354e+01] [-3.89276774e-03 -3.27994985e-04 9.99992369e-01 -2.10776661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.791400513 meters 0.08675261637549786 Centerline is valid? [True, True] Translation: X:374.31, Y:39.36, Z:-2.11 [[ 9.99864845e-01 -1.59387064e-02 4.03099848e-03 3.74311967e+02] [ 1.59372193e-02 9.99872914e-01 4.00791783e-04 3.93595685e+01] [-4.03687430e-03 -3.36494708e-04 9.99991795e-01 -2.10808439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.821400513 meters 0.08673100101224071 Centerline is valid? [True, True] Translation: X:374.34, Y:39.36, Z:-2.11 [[ 9.99829322e-01 -1.81755192e-02 3.31315393e-03 3.74341626e+02] [ 1.81745284e-02 9.99834776e-01 3.28916566e-04 3.93600319e+01] [-3.31858474e-03 -2.68645417e-04 9.99994457e-01 -2.10977812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.851400513 meters 0.0852982832606554 Centerline is valid? [True, True] Translation: X:374.37, Y:39.36, Z:-2.11 [[ 9.99820482e-01 -1.87261270e-02 2.88721081e-03 3.74372046e+02] [ 1.87253766e-02 9.99824624e-01 2.86707082e-04 3.93595257e+01] [-2.89207338e-03 -2.32591504e-04 9.99995791e-01 -2.11098131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.881400513 meters 0.08612706382883563 Centerline is valid? [True, True] Translation: X:374.40, Y:39.36, Z:-2.11 [[ 9.99809210e-01 -1.94010287e-02 2.26817225e-03 3.74402324e+02] [ 1.94005674e-02 9.99811766e-01 2.25235042e-04 3.93626919e+01] [-2.27211510e-03 -1.81188241e-04 9.99997402e-01 -2.11239184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.911400513 meters 0.08391827727337957 Centerline is valid? [True, True] Translation: X:374.43, Y:39.36, Z:-2.12 [[ 9.99808727e-01 -1.95507492e-02 5.27776376e-04 3.74433247e+02] [ 1.95507243e-02 9.99808865e-01 5.24094827e-05 3.93638709e+01] [-5.28700144e-04 -4.20810477e-05 9.99999859e-01 -2.11544337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.941400513 meters 0.08681523257532626 Centerline is valid? [True, True] Translation: X:374.46, Y:39.37, Z:-2.12 [[ 9.99817381e-01 -1.91092084e-02 -2.07429591e-04 3.74461767e+02] [ 1.91092045e-02 9.99817402e-01 -2.08882231e-05 3.93704462e+01] [ 2.07790872e-04 1.69205940e-05 9.99999978e-01 -2.11718788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.971400513 meters 0.08164497797410579 Centerline is valid? [True, True] Translation: X:374.49, Y:39.37, Z:-2.12 [[ 9.99833256e-01 -1.82506373e-02 -6.12493136e-04 3.74492143e+02] [ 1.82506033e-02 9.99833442e-01 -6.10488263e-05 3.93667702e+01] [ 6.13505301e-04 4.98602775e-05 9.99999811e-01 -2.11654119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.001400513 meters 0.08516608989303442 Centerline is valid? [True, True] Translation: X:374.52, Y:39.37, Z:-2.12 [[ 9.99851200e-01 -1.72504218e-02 -2.60042317e-05 3.74519823e+02] [ 1.72504217e-02 9.99851200e-01 -2.96808984e-06 3.93742492e+01] [ 2.60515631e-05 2.51906423e-06 1.00000000e+00 -2.11554836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.031400513 meters 0.08714717631943761 Centerline is valid? [True, True] Translation: X:374.55, Y:39.38, Z:-2.11 [[ 9.99888092e-01 -1.49520860e-02 4.89160288e-04 3.74549751e+02] [ 1.49520640e-02 9.99888210e-01 4.86008519e-05 3.93833302e+01] [-4.89832289e-04 -4.12814572e-05 9.99999879e-01 -2.11395538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.061400513 meters 0.0868727265581862 Centerline is valid? [True, True] Translation: X:374.58, Y:39.39, Z:-2.11 [[ 9.99906704e-01 -1.36515634e-02 4.67276481e-04 3.74579738e+02] [ 1.36515432e-02 9.99906812e-01 4.63602779e-05 3.93877949e+01] [-4.67865826e-04 -3.99769076e-05 9.99999890e-01 -2.11410068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.091400513 meters 0.08687613562720273 Centerline is valid? [True, True] Translation: X:374.61, Y:39.39, Z:-2.11 [[ 9.99922523e-01 -1.24477284e-02 4.35949877e-05 3.74609425e+02] [ 1.24477282e-02 9.99922524e-01 4.23879741e-06 3.93916685e+01] [-4.36443735e-05 -3.69581044e-06 9.99999999e-01 -2.11434709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.121400513 meters 0.09348818757996981 Centerline is valid? [True, True] Translation: X:374.64, Y:39.40, Z:-2.11 [[ 9.99934552e-01 -1.14089359e-02 8.53326558e-04 3.74637383e+02] [ 1.14088677e-02 9.99934913e-01 8.46736218e-05 3.94043575e+01] [-8.54237053e-04 -7.49325903e-05 9.99999632e-01 -2.11412816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.151400513 meters 0.0955522097299218 Centerline is valid? [True, True] Translation: X:374.67, Y:39.42, Z:-2.11 [[ 9.99932667e-01 -1.08968362e-02 3.99012944e-03 3.74666501e+02] [ 1.08953390e-02 9.99940565e-01 3.96776534e-04 3.94150471e+01] [-3.99421589e-03 -3.53276004e-04 9.99991961e-01 -2.11135927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.181400513 meters 0.09230929054251433 Centerline is valid? [True, True] Translation: X:374.70, Y:39.42, Z:-2.11 [[ 9.99925120e-01 -1.14373607e-02 4.35208335e-03 3.74697979e+02] [ 1.14355836e-02 9.99934518e-01 4.33008694e-04 3.94191353e+01] [-4.35675084e-03 -3.83207657e-04 9.99990436e-01 -2.11052841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.211400513 meters 0.09253533520033304 Centerline is valid? [True, True] Translation: X:374.73, Y:39.42, Z:-2.11 [[ 9.99911801e-01 -1.26607029e-02 4.01219843e-03 3.74727762e+02] [ 1.26592033e-02 9.99919789e-01 3.98930711e-04 3.94236190e+01] [-4.01692735e-03 -3.48104290e-04 9.99991872e-01 -2.11109426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24140051300003 meters 0.08806390668707408 Centerline is valid? [True, True] Translation: X:374.76, Y:39.42, Z:-2.11 [[ 9.99890091e-01 -1.43695871e-02 3.64967102e-03 3.74759053e+02] [ 1.43683573e-02 9.99896704e-01 3.62955013e-04 3.94222356e+01] [-3.65450954e-03 -3.10475343e-04 9.99993274e-01 -2.11101228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.271400513 meters 0.09063727635297818 Centerline is valid? [True, True] Translation: X:374.79, Y:39.43, Z:-2.11 [[ 9.99835192e-01 -1.77637396e-02 3.74686919e-03 3.74788149e+02] [ 1.77624675e-02 9.99842166e-01 3.72532662e-04 3.94313378e+01] [-3.75289538e-03 -3.05917623e-04 9.99992911e-01 -2.11020378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30140051300003 meters 0.07517918796015988 Centerline is valid? [True, True] Translation: X:374.82, Y:39.42, Z:-2.11 [[ 9.99807313e-01 -1.92298550e-02 3.94320399e-03 3.74820474e+02] [ 1.92284574e-02 9.99815039e-01 3.92034455e-04 3.94176089e+01] [-3.95001342e-03 -3.16137186e-04 9.99992149e-01 -2.10888818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.331400513 meters 0.08533562178429492 Centerline is valid? [True, True] Translation: X:374.85, Y:39.44, Z:-2.11 [[ 9.99785201e-01 -2.00592335e-02 5.21340729e-03 3.74849088e+02] [ 2.00568022e-02 9.99798708e-01 5.18225712e-04 3.94353126e+01] [-5.22275308e-03 -4.13550119e-04 9.99986276e-01 -2.10820437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36140051300004 meters 0.09128622861002171 Centerline is valid? [True, True] Translation: X:374.88, Y:39.45, Z:-2.11 [[ 9.99771453e-01 -2.02494165e-02 6.85585719e-03 3.74877698e+02] [ 2.02452172e-02 9.99794812e-01 6.81376176e-04 3.94499900e+01] [-6.86824792e-03 -5.42422132e-04 9.99976266e-01 -2.10644827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.391400513 meters 0.07888375787632443 Centerline is valid? [True, True] Translation: X:374.91, Y:39.44, Z:-2.11 [[ 9.99779627e-01 -1.98187828e-02 6.92193999e-03 3.74910477e+02] [ 1.98144921e-02 9.99803437e-01 6.87903287e-04 3.94410941e+01] [-6.93421280e-03 -5.50596967e-04 9.99975806e-01 -2.10665563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.421400513 meters 0.0837360578959466 Centerline is valid? [True, True] Translation: X:374.94, Y:39.45, Z:-2.11 [[ 9.99791978e-01 -1.93900182e-02 6.32678849e-03 3.74940198e+02] [ 1.93864265e-02 9.99811868e-01 6.28538576e-04 3.94529894e+01] [-6.33778559e-03 -5.05754006e-04 9.99979788e-01 -2.10829316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.451400513 meters 0.0867524607764304 Centerline is valid? [True, True] Translation: X:374.97, Y:39.46, Z:-2.11 [[ 9.99800859e-01 -1.92390095e-02 5.30119302e-03 3.74970987e+02] [ 1.92364861e-02 9.99814823e-01 5.26593060e-04 3.94616560e+01] [-5.31034249e-03 -4.24511868e-04 9.99985810e-01 -2.11030655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.481400513 meters 0.08291486251700418 Centerline is valid? [True, True] Translation: X:375.00, Y:39.46, Z:-2.11 [[ 9.99788902e-01 -2.01004610e-02 4.25713610e-03 3.75002317e+02] [ 2.00988420e-02 9.99797908e-01 4.22749346e-04 3.94620223e+01] [-4.26477323e-03 -3.37096598e-04 9.99990849e-01 -2.11225246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.511400513 meters 0.08312031416877524 Centerline is valid? [True, True] Translation: X:375.03, Y:39.47, Z:-2.11 [[ 9.99772365e-01 -2.10067045e-02 3.73327834e-03 3.75033942e+02] [ 2.10054657e-02 9.99779292e-01 3.70719939e-04 3.94662726e+01] [-3.74024198e-03 -2.92216299e-04 9.99992963e-01 -2.11311118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.541400513 meters 0.08402417540161844 Centerline is valid? [True, True] Translation: X:375.06, Y:39.47, Z:-2.11 [[ 9.99754191e-01 -2.19662234e-02 3.00694797e-03 3.75064247e+02] [ 2.19654244e-02 9.99758686e-01 2.98486968e-04 3.94716070e+01] [-3.01277899e-03 -2.32364709e-04 9.99995435e-01 -2.11472307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.571400513 meters 0.08202266910306702 Centerline is valid? [True, True] Translation: X:375.10, Y:39.47, Z:-2.12 [[ 9.99741469e-01 -2.25984750e-02 2.51088796e-03 3.75095152e+02] [ 2.25979201e-02 9.99744603e-01 2.49153085e-04 3.94735339e+01] [-2.51587717e-03 -1.92347826e-04 9.99996817e-01 -2.11606763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.601400513 meters 0.0812565596257417 Centerline is valid? [True, True] Translation: X:375.13, Y:39.48, Z:-2.11 [[ 9.99727702e-01 -2.29949517e-02 3.96915148e-03 3.75125670e+02] [ 2.29935688e-02 9.99735535e-01 3.93705340e-04 3.94775825e+01] [-3.97715502e-03 -3.02333177e-04 9.99992045e-01 -2.11436779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.631400513 meters 0.0781482911317195 Centerline is valid? [True, True] Translation: X:375.16, Y:39.48, Z:-2.11 [[ 9.99734259e-01 -2.25015439e-02 5.00926437e-03 3.75156708e+02] [ 2.24993348e-02 9.99746734e-01 4.96915252e-04 3.94780236e+01] [-5.01917705e-03 -3.84078084e-04 9.99987330e-01 -2.11282664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.661400513 meters 0.08405901626949575 Centerline is valid? [True, True] Translation: X:375.19, Y:39.49, Z:-2.11 [[ 9.99752024e-01 -2.16214121e-02 5.32968243e-03 3.75185894e+02] [ 2.16188994e-02 9.99766145e-01 5.28632846e-04 3.94896603e+01] [-5.33986585e-03 -4.13279890e-04 9.99985657e-01 -2.11253548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.691400513 meters 0.08176976151405053 Centerline is valid? [True, True] Translation: X:375.22, Y:39.49, Z:-2.11 [[ 9.99800617e-01 -1.95923727e-02 3.85553232e-03 3.75216285e+02] [ 1.95910429e-02 9.99808004e-01 3.82369782e-04 3.94939361e+01] [-3.86228361e-03 -3.06759645e-04 9.99992494e-01 -2.11425013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.721400513 meters 0.07677579406294381 Centerline is valid? [True, True] Translation: X:375.25, Y:39.49, Z:-2.12 [[ 9.99816491e-01 -1.89388570e-02 2.88157501e-03 3.75247363e+02] [ 1.89381114e-02 9.99820617e-01 2.85812773e-04 3.94934098e+01] [-2.88647107e-03 -2.31188735e-04 9.99995807e-01 -2.11586097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.751400513 meters 0.08472660562752649 Centerline is valid? [True, True] Translation: X:375.28, Y:39.51, Z:-2.12 [[ 9.99829565e-01 -1.83543976e-02 1.98921795e-03 3.75276363e+02] [ 1.83540411e-02 9.99831531e-01 1.97310362e-04 3.95082379e+01] [-1.99250434e-03 -1.60766546e-04 9.99998002e-01 -2.11821944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.781400513 meters 0.08530670414803905 Centerline is valid? [True, True] Translation: X:375.31, Y:39.51, Z:-2.12 [[ 9.99838104e-01 -1.79643018e-02 1.02477567e-03 3.75306587e+02] [ 1.79642071e-02 9.99838625e-01 1.01596320e-04 3.95135984e+01] [-1.02643541e-03 -8.31705898e-05 9.99999470e-01 -2.11998345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.811400513 meters 0.08142165149499846 Centerline is valid? [True, True] Translation: X:375.34, Y:39.52, Z:-2.12 [[ 9.99837417e-01 -1.80028420e-02 1.01884335e-03 3.75336755e+02] [ 1.80027483e-02 9.99837932e-01 1.01008190e-04 3.95151044e+01] [-1.02049667e-03 -8.26497871e-05 9.99999476e-01 -2.11973963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.841400513 meters 0.08282441722755125 Centerline is valid? [True, True] Translation: X:375.37, Y:39.52, Z:-2.12 [[ 9.99840621e-01 -1.78016994e-02 1.35328740e-03 3.75366511e+02] [ 1.78015340e-02 9.99841531e-01 1.34164993e-04 3.95221572e+01] [-1.35546132e-03 -1.10053018e-04 9.99999075e-01 -2.11939069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.871400513 meters 0.08994572932894788 Centerline is valid? [True, True] Translation: X:375.39, Y:39.54, Z:-2.12 [[ 9.99850128e-01 -1.72536540e-02 1.42611641e-03 3.75394471e+02] [ 1.72534698e-02 9.99851138e-01 1.41347509e-04 3.95361689e+01] [-1.42834287e-03 -1.16720868e-04 9.99998973e-01 -2.11980384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.901400513 meters 0.09053371824952586 Centerline is valid? [True, True] Translation: X:375.42, Y:39.54, Z:-2.12 [[ 9.99865073e-01 -1.63657810e-02 1.41349210e-03 3.75424995e+02] [ 1.63655992e-02 9.99866065e-01 1.40141264e-04 3.95404461e+01] [-1.41559630e-03 -1.16989710e-04 9.99998991e-01 -2.11995024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.931400513 meters 0.08397551787048788 Centerline is valid? [True, True] Translation: X:375.46, Y:39.54, Z:-2.12 [[ 9.99908209e-01 -1.35248162e-02 8.07701055e-04 3.75455815e+02] [ 1.35247559e-02 9.99908533e-01 8.00877909e-05 3.95405283e+01] [-8.08710350e-04 -6.91564800e-05 9.99999671e-01 -2.11922801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.961400513 meters 0.08785029110920278 Centerline is valid? [True, True] Translation: X:375.48, Y:39.55, Z:-2.12 [[ 9.99925708e-01 -1.21774841e-02 5.36319177e-04 3.75484471e+02] [ 1.21774573e-02 9.99925851e-01 5.30821911e-05 3.95502741e+01] [-5.36925817e-04 -4.65472436e-05 9.99999855e-01 -2.12053195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99140051300003 meters 0.08563914764747614 Centerline is valid? [True, True] Translation: X:375.52, Y:39.55, Z:-2.12 [[ 9.99938463e-01 -1.10771827e-02 6.05572764e-04 3.75515000e+02] [ 1.10771484e-02 9.99938645e-01 6.00460696e-05 3.95525608e+01] [-6.06200750e-04 -5.33343551e-05 9.99999815e-01 -2.12042808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.021400513 meters 0.09593849637786177 Centerline is valid? [True, True] Translation: X:375.54, Y:39.57, Z:-2.12 [[ 9.99956271e-01 -9.10158432e-03 2.14884344e-03 3.75542897e+02] [ 9.10114718e-03 9.99958561e-01 2.13121806e-04 3.95703725e+01] [-2.15069414e-03 -1.93555546e-04 9.99997669e-01 -2.11915922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05140051300003 meters 0.09226133646114257 Centerline is valid? [True, True] Translation: X:375.57, Y:39.57, Z:-2.12 [[ 9.99961799e-01 -8.36754077e-03 2.52690958e-03 3.75574485e+02] [ 8.36693381e-03 9.99964965e-01 2.50671815e-04 3.95701612e+01] [-2.52891856e-03 -2.29519753e-04 9.99996776e-01 -2.11784578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.081400513 meters 0.0888143030512244 Centerline is valid? [True, True] Translation: X:375.61, Y:39.57, Z:-2.12 [[ 9.99967081e-01 -7.43000834e-03 3.26054106e-03 3.75606114e+02] [ 7.42899327e-03 9.99972352e-01 3.23321580e-04 3.95715300e+01] [-3.26285320e-03 -2.99088399e-04 9.99994632e-01 -2.11682541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11140051300004 meters 0.09167343104425209 Centerline is valid? [True, True] Translation: X:375.64, Y:39.59, Z:-2.12 [[ 9.99983476e-01 -4.96039582e-03 2.90551347e-03 3.75635415e+02] [ 4.95957985e-03 9.99987660e-01 2.87973748e-04 3.95852245e+01] [-2.90690608e-03 -2.73558863e-04 9.99995738e-01 -2.11809664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.141400513 meters 0.09903281909639834 Centerline is valid? [True, True] Translation: X:375.66, Y:39.60, Z:-2.12 [[ 9.99989673e-01 -3.68399227e-03 2.66115295e-03 3.75664275e+02] [ 3.68330276e-03 9.99993182e-01 2.63955096e-04 3.96003365e+01] [-2.66210721e-03 -2.54150538e-04 9.99996424e-01 -2.11943986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.171400513 meters 0.09369497596564379 Centerline is valid? [True, True] Translation: X:375.70, Y:39.60, Z:-2.12 [[ 9.99993125e-01 -2.96643645e-03 2.22509456e-03 3.75696173e+02] [ 2.96595298e-03 9.99995577e-01 2.20548459e-04 3.95992290e+01] [-2.22573896e-03 -2.13947417e-04 9.99997500e-01 -2.11962504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.201400513 meters 0.10445086292493931 Centerline is valid? [True, False] Translation: X:375.70, Y:39.60, Z:-2.12 [[ 9.99992380e-01 -3.17906874e-03 2.26574009e-03 3.75696056e+02] [ 3.17986002e-03 9.99994884e-01 -3.45719215e-04 3.96017862e+01] [-2.26462943e-03 3.52921317e-04 9.99997373e-01 -2.11969418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.231400513 meters 0.1010327639218125 Centerline is valid? [False, False] Translation: X:375.70, Y:39.61, Z:-2.12 [[ 9.99998885e-01 -8.82745615e-04 1.20457760e-03 3.75702674e+02] [ 8.80873401e-04 9.99998405e-01 1.55389580e-03 3.96058389e+01] [-1.20594737e-03 -1.55283299e-03 9.99998067e-01 -2.12419592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.261400513 meters 0.09973961595139308 Centerline is valid? [False, True] Translation: X:375.68, Y:39.61, Z:-2.12 [[ 9.99999305e-01 3.97909965e-04 -1.10978982e-03 3.75680672e+02] [-4.06892861e-04 9.99967065e-01 -8.10578547e-03 3.96118039e+01] [ 1.10652789e-03 8.10623140e-03 9.99966532e-01 -2.12174769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.291400513 meters 0.0900864942655419 Centerline is valid? [True, True] Translation: X:375.71, Y:39.60, Z:-2.12 [[ 9.99997429e-01 -1.90089304e-03 -1.23663805e-03 3.75712563e+02] [ 1.90075206e-03 9.99998187e-01 -1.15171949e-04 3.95990125e+01] [ 1.23685473e-03 1.12821110e-04 9.99999229e-01 -2.12052117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.321400513 meters 0.09422301291444181 Centerline is valid? [True, True] Translation: X:375.74, Y:39.61, Z:-2.12 [[ 9.99990457e-01 -4.34285296e-03 -4.74025007e-04 3.75741047e+02] [ 4.34283248e-03 9.99990569e-01 -4.42144340e-05 3.96094697e+01] [ 4.74212553e-04 4.21554009e-05 9.99999887e-01 -2.12031718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.351400513 meters 0.08719830904161914 Centerline is valid? [True, True] Translation: X:375.77, Y:39.61, Z:-2.12 [[ 9.99961737e-01 -8.72576306e-03 -6.20778953e-04 3.75772106e+02] [ 8.72572882e-03 9.99961928e-01 -5.78448293e-05 3.96081753e+01] [ 6.21260059e-04 5.24258672e-05 9.99999806e-01 -2.12018228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.381400513 meters 0.0848775480332954 Centerline is valid? [True, True] Translation: X:375.80, Y:39.61, Z:-2.12 [[ 9.99943399e-01 -1.05317004e-02 -1.51052475e-03 3.75802385e+02] [ 1.05314996e-02 9.99944532e-01 -1.40768204e-04 3.96099797e+01] [ 1.51192349e-03 1.24852146e-04 9.99998849e-01 -2.12153008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.411400513 meters 0.08091763949056345 Centerline is valid? [True, True] Translation: X:375.83, Y:39.61, Z:-2.12 [[ 9.99930191e-01 -1.14644183e-02 -2.86027281e-03 3.75831450e+02] [ 1.14636998e-02 9.99934254e-01 -2.67459499e-04 3.96124127e+01] [ 2.86315102e-03 2.34651519e-04 9.99995874e-01 -2.12238580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.441400513 meters 0.0925101136220844 Centerline is valid? [True, True] Translation: X:375.86, Y:39.63, Z:-2.12 [[ 9.99943217e-01 -1.01762596e-02 -3.16342828e-03 3.75858844e+02] [ 1.01753758e-02 9.99948186e-01 -2.95362527e-04 3.96328164e+01] [ 3.16627005e-03 2.63156684e-04 9.99994953e-01 -2.12304596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.471400513 meters 0.0925101136220844 Centerline is valid? [True, True] Translation: X:375.89, Y:39.64, Z:-2.12 [[ 9.99941644e-01 -1.03296758e-02 -3.16333936e-03 3.75887121e+02] [ 1.03287897e-02 9.99946613e-01 -2.96314270e-04 3.96355774e+01] [ 3.16623131e-03 2.63623511e-04 9.99994953e-01 -2.12314812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.501400513 meters 0.09023717514447256 Centerline is valid? [True, True] Translation: X:375.92, Y:39.64, Z:-2.12 [[ 9.99958210e-01 -8.64218249e-03 -2.98171360e-03 3.75917280e+02] [ 8.64138914e-03 9.99962624e-01 -2.78852932e-04 3.96392804e+01] [ 2.98401205e-03 2.53075131e-04 9.99995516e-01 -2.12273108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.531400513 meters 0.0875418947966827 Centerline is valid? [True, True] Translation: X:375.95, Y:39.64, Z:-2.12 [[ 9.99972278e-01 -6.97369207e-03 -2.60967731e-03 3.75947716e+02] [ 6.97307879e-03 9.99975658e-01 -2.44024380e-04 3.96419282e+01] [ 2.61131554e-03 2.25820129e-04 9.99996565e-01 -2.12178149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.561400513 meters 0.09086218542615007 Centerline is valid? [True, True] Translation: X:375.98, Y:39.65, Z:-2.12 [[ 9.99979876e-01 -5.91258094e-03 -2.29990544e-03 3.75975826e+02] [ 5.91210137e-03 9.99982500e-01 -2.15259330e-04 3.96516102e+01] [ 2.30113793e-03 2.01657724e-04 9.99997332e-01 -2.12157658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.591400513 meters 0.0891790111647827 Centerline is valid? [True, True] Translation: X:376.00, Y:39.66, Z:-2.12 [[ 9.99976366e-01 -6.36076809e-03 -2.60926007e-03 3.76004367e+02] [ 6.36015012e-03 9.99979744e-01 -2.45067607e-04 3.96571207e+01] [ 2.61076604e-03 2.28466529e-04 9.99996566e-01 -2.12230587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.621400513 meters 0.0867602141579762 Centerline is valid? [True, True] Translation: X:376.03, Y:39.66, Z:-2.12 [[ 9.99965254e-01 -7.68044319e-03 -3.24076377e-03 3.76034027e+02] [ 7.67949857e-03 9.99970466e-01 -3.03824438e-04 3.96592730e+01] [ 3.24300156e-03 2.78926441e-04 9.99994703e-01 -2.12308611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.651400513 meters 0.08312095058058497 Centerline is valid? [True, True] Translation: X:376.06, Y:39.66, Z:-2.12 [[ 9.99948181e-01 -9.59942933e-03 -3.38899496e-03 3.76064717e+02] [ 9.59840750e-03 9.99953884e-01 -3.17652704e-04 3.96599055e+01] [ 3.39188796e-03 2.85107289e-04 9.99994207e-01 -2.12323868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.681400513 meters 0.07732284127114007 Centerline is valid? [True, True] Translation: X:376.09, Y:39.66, Z:-2.12 [[ 9.99896721e-01 -1.40406271e-02 -3.06715816e-03 3.76094819e+02] [ 1.40398109e-02 9.99901396e-01 -2.87500928e-04 3.96606138e+01] [ 3.07089241e-03 2.44408915e-04 9.99995255e-01 -2.12210436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.711400513 meters 0.08698619334667614 Centerline is valid? [True, True] Translation: X:376.12, Y:39.68, Z:-2.12 [[ 9.99866129e-01 -1.60731954e-02 -3.06219259e-03 3.76122546e+02] [ 1.60723910e-02 9.99870790e-01 -2.87123433e-04 3.96783303e+01] [ 3.06641192e-03 2.37868238e-04 9.99995270e-01 -2.12309613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74140051300003 meters 0.08126671680960963 Centerline is valid? [True, True] Translation: X:376.15, Y:39.67, Z:-2.12 [[ 9.99828300e-01 -1.80785553e-02 -4.06641371e-03 3.76153343e+02] [ 1.80771532e-02 9.99836522e-01 -3.81296548e-04 3.96735754e+01] [ 4.07264223e-03 3.07721896e-04 9.99991659e-01 -2.12435393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.771400513 meters 0.08007969670253473 Centerline is valid? [True, True] Translation: X:376.18, Y:39.68, Z:-2.13 [[ 9.99762651e-01 -2.11332133e-02 -5.29427658e-03 3.76182200e+02] [ 2.11308789e-02 9.99776595e-01 -4.96496230e-04 3.96800678e+01] [ 5.30358637e-03 3.84505670e-04 9.99985862e-01 -2.12787953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80140051300003 meters 0.07340142391655816 Centerline is valid? [True, True] Translation: X:376.21, Y:39.67, Z:-2.13 [[ 9.99727089e-01 -2.28802141e-02 -4.71636341e-03 3.76212326e+02] [ 2.28783801e-02 9.99738158e-01 -4.42450601e-04 3.96746957e+01] [ 4.72525184e-03 3.34427096e-04 9.99988780e-01 -2.12679301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.831400513 meters 0.07036558244616488 Centerline is valid? [True, True] Translation: X:376.24, Y:39.67, Z:-2.13 [[ 9.99685077e-01 -2.47685056e-02 -4.03332649e-03 3.76242364e+02] [ 2.47671796e-02 9.99693175e-01 -3.78391740e-04 3.96735995e+01] [ 4.04146116e-03 2.78378454e-04 9.99991795e-01 -2.12573456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86140051300004 meters 0.06999456668588232 Centerline is valid? [True, True] Translation: X:376.27, Y:39.68, Z:-2.12 [[ 9.99635944e-01 -2.67395191e-02 -3.60245118e-03 3.76271229e+02] [ 2.67384736e-02 9.99642406e-01 -3.38098593e-04 3.96760357e+01] [ 3.61020356e-03 2.41651461e-04 9.99993454e-01 -2.12417893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.891400513 meters 0.06807859259558006 Centerline is valid? [True, True] Translation: X:376.30, Y:39.68, Z:-2.12 [[ 9.99593512e-01 -2.83549804e-02 -2.96740731e-03 3.76301484e+02] [ 2.83542780e-02 9.99597898e-01 -2.78505652e-04 3.96769513e+01] [ 2.97411114e-03 1.94253750e-04 9.99995558e-01 -2.12282042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.921400513 meters 0.07270308726648757 Centerline is valid? [True, True] Translation: X:376.33, Y:39.69, Z:-2.12 [[ 9.99544795e-01 -3.00389297e-02 -2.80457661e-03 3.76329596e+02] [ 3.00383085e-02 9.99548714e-01 -2.63336193e-04 3.96850397e+01] [ 2.81122128e-03 1.78971583e-04 9.99996032e-01 -2.12375313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.951400513 meters 0.06750224853872508 Centerline is valid? [True, True] Translation: X:376.36, Y:39.68, Z:-2.12 [[ 9.99550867e-01 -2.98369651e-02 -2.79653129e-03 3.76359248e+02] [ 2.98363463e-02 9.99554763e-01 -2.62718690e-04 3.96808734e+01] [ 2.80312490e-03 1.79162418e-04 9.99996055e-01 -2.12396386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.981400513 meters 0.06655262233980276 Centerline is valid? [True, True] Translation: X:376.39, Y:39.68, Z:-2.12 [[ 9.99557215e-01 -2.96387516e-02 -2.63030740e-03 3.76387927e+02] [ 2.96382011e-02 9.99560661e-01 -2.48006529e-04 3.96820542e+01] [ 2.63650241e-03 1.69939136e-04 9.99996510e-01 -2.12456258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.011400513 meters 0.0710637193614177 Centerline is valid? [True, True] Translation: X:376.42, Y:39.69, Z:-2.13 [[ 9.99608549e-01 -2.77806680e-02 -3.31417923e-03 3.76416952e+02] [ 2.77797860e-02 9.99614019e-01 -3.11851387e-04 3.96887616e+01] [ 3.32156346e-03 2.19662122e-04 9.99994459e-01 -2.12614139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.041400513 meters 0.07435118461839646 Centerline is valid? [True, True] Translation: X:376.45, Y:39.69, Z:-2.13 [[ 9.99644459e-01 -2.64512088e-02 -3.35997909e-03 3.76445048e+02] [ 2.64502937e-02 9.99650080e-01 -3.16485345e-04 3.96943325e+01] [ 3.36717479e-03 2.27500387e-04 9.99994305e-01 -2.12614755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.071400513 meters 0.07427503644188706 Centerline is valid? [True, True] Translation: X:376.48, Y:39.69, Z:-2.12 [[ 9.99710187e-01 -2.39376144e-02 -2.55592473e-03 3.76475310e+02] [ 2.39370771e-02 9.99713438e-01 -2.40619240e-04 3.96948608e+01] [ 2.56095215e-03 1.79368139e-04 9.99996705e-01 -2.12346310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.101400513 meters 0.07327789437671381 Centerline is valid? [True, True] Translation: X:376.50, Y:39.70, Z:-2.12 [[ 9.99719557e-01 -2.35905387e-02 -2.07231273e-03 3.76504000e+02] [ 2.35901829e-02 9.99721694e-01 -1.95997206e-04 3.96958008e+01] [ 2.07635967e-03 1.47056004e-04 9.99997834e-01 -2.12302870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.131400513 meters 0.07731759951518836 Centerline is valid? [True, True] Translation: X:376.53, Y:39.70, Z:-2.12 [[ 9.99721584e-01 -2.35211981e-02 -1.87313202e-03 3.76532416e+02] [ 2.35209078e-02 9.99723330e-01 -1.76875850e-04 3.97024792e+01] [ 1.87677411e-03 1.32768839e-04 9.99998230e-01 -2.12351818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.161400513 meters 0.07401567021028464 Centerline is valid? [True, True] Translation: X:376.56, Y:39.70, Z:-2.12 [[ 9.99713390e-01 -2.38830128e-02 -1.65533184e-03 3.76562656e+02] [ 2.38827866e-02 9.99714753e-01 -1.56290285e-04 3.96968357e+01] [ 1.65859235e-03 1.16711554e-04 9.99998618e-01 -2.12344492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.191400513 meters 0.07435096003646144 Centerline is valid? [True, True] Translation: X:376.59, Y:39.70, Z:-2.12 [[ 9.99699781e-01 -2.44534634e-02 -1.54139466e-03 3.76591655e+02] [ 2.44532678e-02 9.99700964e-01 -1.45632012e-04 3.96967556e+01] [ 1.54449493e-03 1.07896154e-04 9.99998801e-01 -2.12372526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.221400513 meters 0.07746370682170382 Centerline is valid? [True, True] Translation: X:376.62, Y:39.70, Z:-2.12 [[ 9.99676135e-01 -2.54069015e-02 -1.45443772e-03 3.76620726e+02] [ 2.54067283e-02 9.99677188e-01 -1.37414454e-04 3.96996917e+01] [ 1.45745949e-03 1.00417446e-04 9.99998933e-01 -2.12350045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.251400513 meters 0.07068938842631801 Centerline is valid? [True, True] Translation: X:376.65, Y:39.69, Z:-2.12 [[ 9.99607635e-01 -2.79928784e-02 -9.86888193e-04 3.76652805e+02] [ 2.79928000e-02 9.99608120e-01 -9.32013221e-05 3.96883715e+01] [ 9.89110425e-04 6.55389894e-05 9.99999509e-01 -2.12195187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.281400513 meters 0.07195724281805818 Centerline is valid? [True, True] Translation: X:376.68, Y:39.69, Z:-2.12 [[ 9.99573133e-01 -2.91855052e-02 -1.32617494e-03 3.76681584e+02] [ 2.91853644e-02 9.99574009e-01 -1.25394012e-04 3.96905507e+01] [ 1.32926969e-03 8.66355870e-05 9.99999113e-01 -2.12251477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.311400513 meters 0.0732079218432316 Centerline is valid? [True, True] Translation: X:376.71, Y:39.69, Z:-2.12 [[ 9.99550670e-01 -2.99055610e-02 -2.02869803e-03 3.76709887e+02] [ 2.99052330e-02 9.99552720e-01 -1.91822235e-04 3.96921990e+01] [ 2.03352719e-03 1.31067356e-04 9.99997924e-01 -2.12371359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.341400513 meters 0.06742992815954106 Centerline is valid? [True, True] Translation: X:376.74, Y:39.68, Z:-2.12 [[ 9.99531812e-01 -3.05077369e-02 -2.33145609e-03 3.76739766e+02] [ 3.05073034e-02 9.99534519e-01 -2.21265559e-04 3.96849231e+01] [ 2.33712116e-03 1.50035527e-04 9.99997258e-01 -2.12386736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.371400513 meters 0.07164714808547616 Centerline is valid? [True, True] Translation: X:376.77, Y:39.69, Z:-2.12 [[ 9.99534654e-01 -3.04701409e-02 -1.43060156e-03 3.76768097e+02] [ 3.04699776e-02 9.99535673e-01 -1.35836150e-04 3.96861072e+01] [ 1.43407624e-03 9.21825418e-05 9.99998967e-01 -2.12290081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.401400513 meters 0.06596908461247372 Centerline is valid? [True, True] Translation: X:376.80, Y:39.68, Z:-2.12 [[ 9.99550988e-01 -2.99533011e-02 -7.88331604e-04 3.76797286e+02] [ 2.99532513e-02 9.99551298e-01 -7.49426381e-05 3.96791010e+01] [ 7.90222657e-04 5.12958934e-05 9.99999686e-01 -2.12106391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.431400513 meters 0.07370638045499599 Centerline is valid? [True, True] Translation: X:376.82, Y:39.69, Z:-2.12 [[ 9.99579563e-01 -2.89910639e-02 -4.64086838e-04 3.76824784e+02] [ 2.89910465e-02 9.99579670e-01 -4.41836159e-05 3.96891438e+01] [ 4.65172699e-04 3.07106764e-05 9.99999891e-01 -2.12125805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.461400513 meters 0.08540518978882547 Centerline is valid? [True, True] Translation: X:376.85, Y:39.70, Z:-2.12 [[ 9.99664873e-01 -2.58068682e-02 -2.03654431e-03 3.76853452e+02] [ 2.58065279e-02 9.99666937e-01 -1.93179340e-04 3.97026457e+01] [ 2.04085137e-03 1.40558463e-04 9.99997908e-01 -2.12481174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49140051300003 meters 0.07450023530880737 Centerline is valid? [True, True] Translation: X:376.88, Y:39.69, Z:-2.13 [[ 9.99697656e-01 -2.44433117e-02 -2.66861849e-03 3.76884053e+02] [ 2.44427217e-02 9.99701200e-01 -2.53455096e-04 3.96903971e+01] [ 2.67401639e-03 1.88150166e-04 9.99996407e-01 -2.12503116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.521400513 meters 0.07837201510308381 Centerline is valid? [True, True] Translation: X:376.91, Y:39.70, Z:-2.13 [[ 9.99724757e-01 -2.32760818e-02 -2.93834303e-03 3.76912036e+02] [ 2.32753614e-02 9.99729053e-01 -2.79155997e-04 3.96957258e+01] [ 2.94404455e-03 2.10688166e-04 9.99995644e-01 -2.12596256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55140051300003 meters 0.07829798539030963 Centerline is valid? [True, True] Translation: X:376.94, Y:39.70, Z:-2.13 [[ 9.99744853e-01 -2.24407463e-02 -2.57714374e-03 3.76941503e+02] [ 2.24401891e-02 9.99748157e-01 -2.44905480e-04 3.96956593e+01] [ 2.58199057e-03 1.87011400e-04 9.99996649e-01 -2.12572935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.581400513 meters 0.07788270848746692 Centerline is valid? [True, True] Translation: X:376.97, Y:39.69, Z:-2.12 [[ 9.99747688e-01 -2.24038280e-02 -1.62121511e-03 3.76971176e+02] [ 2.24036062e-02 9.99748996e-01 -1.54808146e-04 3.96921316e+01] [ 1.62427647e-03 1.18448021e-04 9.99998674e-01 -2.12361155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61140051300004 meters 0.08021385704320617 Centerline is valid? [True, True] Translation: X:377.00, Y:39.70, Z:-2.12 [[ 9.99742106e-01 -2.26780018e-02 -1.19537725e-03 3.76998706e+02] [ 2.26778811e-02 9.99742817e-01 -1.14478732e-04 3.96950995e+01] [ 1.19766597e-03 8.73405851e-05 9.99999279e-01 -2.12338352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.641400513 meters 0.07504596969763079 Centerline is valid? [True, True] Translation: X:377.03, Y:39.69, Z:-2.12 [[ 9.99733505e-01 -2.30620127e-02 -1.03050343e-03 3.77027843e+02] [ 2.30619229e-02 9.99734034e-01 -9.89480437e-05 3.96897844e+01] [ 1.03251130e-03 7.51562838e-05 9.99999464e-01 -2.12275994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.671400513 meters 0.07248795292913884 Centerline is valid? [True, True] Translation: X:377.06, Y:39.69, Z:-2.12 [[ 9.99732436e-01 -2.31147713e-02 -8.74398067e-04 3.77056865e+02] [ 2.31147064e-02 9.99732816e-01 -8.41954481e-05 3.96881984e+01] [ 8.76110600e-04 6.39614658e-05 9.99999614e-01 -2.12216265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.701400513 meters 0.07506708175833803 Centerline is valid? [True, True] Translation: X:377.09, Y:39.69, Z:-2.12 [[ 9.99764669e-01 -2.15930888e-02 -2.08472932e-03 3.77086357e+02] [ 2.15927196e-02 9.99766830e-01 -1.99411680e-04 3.96908211e+01] [ 2.08854914e-03 1.54349776e-04 9.99997807e-01 -2.12419112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.731400513 meters 0.08037873300065979 Centerline is valid? [True, True] Translation: X:377.11, Y:39.70, Z:-2.13 [[ 9.99784503e-01 -2.05315634e-02 -3.06633770e-03 3.77114700e+02] [ 2.05307594e-02 9.99789179e-01 -2.93473732e-04 3.96981852e+01] [ 3.07171673e-03 2.30456247e-04 9.99995256e-01 -2.12627536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.761400513 meters 0.0769951320556668 Centerline is valid? [True, True] Translation: X:377.15, Y:39.70, Z:-2.13 [[ 9.99809734e-01 -1.91507179e-02 -3.70743950e-03 3.77145773e+02] [ 1.91495336e-02 9.99816568e-01 -3.54683520e-04 3.96958735e+01] [ 3.71355188e-03 2.83620298e-04 9.99993065e-01 -2.12708408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.791400513 meters 0.08289672250713934 Centerline is valid? [True, True] Translation: X:377.17, Y:39.71, Z:-2.13 [[ 9.99850412e-01 -1.67860455e-02 -4.16927222e-03 3.77174178e+02] [ 1.67845273e-02 9.99859050e-01 -3.98859619e-04 3.97058384e+01] [ 4.17537984e-03 3.28820691e-04 9.99991229e-01 -2.12804480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.821400513 meters 0.08538600283065488 Centerline is valid? [True, True] Translation: X:377.20, Y:39.71, Z:-2.13 [[ 9.99851049e-01 -1.67792019e-02 -4.04193400e-03 3.77201121e+02] [ 1.67777732e-02 9.99859168e-01 -3.87109607e-04 3.97122728e+01] [ 4.04786016e-03 3.19237295e-04 9.99991756e-01 -2.12820301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.851400513 meters 0.0772201178185556 Centerline is valid? [True, True] Translation: X:377.23, Y:39.71, Z:-2.13 [[ 9.99839337e-01 -1.75268594e-02 -3.75619657e-03 3.77230413e+02] [ 1.75256303e-02 9.99846350e-01 -3.59897352e-04 3.97054664e+01] [ 3.76192729e-03 2.94009818e-04 9.99992881e-01 -2.12660048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.881400513 meters 0.07914204744732234 Centerline is valid? [True, True] Translation: X:377.26, Y:39.71, Z:-2.13 [[ 9.99791437e-01 -2.01207934e-02 -3.49796437e-03 3.77259348e+02] [ 2.01197435e-02 9.99797521e-01 -3.35096781e-04 3.97110677e+01] [ 3.50399852e-03 2.64648746e-04 9.99993826e-01 -2.12652927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.911400513 meters 0.07472205121130389 Centerline is valid? [True, True] Translation: X:377.29, Y:39.71, Z:-2.13 [[ 9.99761524e-01 -2.14422436e-02 -4.13818811e-03 3.77289641e+02] [ 2.14407853e-02 9.99770041e-01 -3.96460032e-04 3.97086140e+01] [ 4.14573749e-03 3.07639483e-04 9.99991359e-01 -2.12721940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.941400513 meters 0.07950711015560978 Centerline is valid? [True, True] Translation: X:377.32, Y:39.72, Z:-2.13 [[ 9.99729246e-01 -2.28103512e-02 -4.59587632e-03 3.77317467e+02] [ 2.28085657e-02 9.99739754e-01 -4.40545102e-04 3.97168424e+01] [ 4.60472925e-03 3.35600475e-04 9.99989342e-01 -2.12872824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.971400513 meters 0.07157696904009055 Centerline is valid? [True, True] Translation: X:377.35, Y:39.71, Z:-2.13 [[ 9.99688768e-01 -2.44820056e-02 -4.79568313e-03 3.77348257e+02] [ 2.44800808e-02 9.99700212e-01 -4.59666421e-04 3.97096109e+01] [ 4.80549900e-03 3.42124647e-04 9.99988395e-01 -2.12847004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.001400513 meters 0.07642338507403587 Centerline is valid? [True, True] Translation: X:377.38, Y:39.72, Z:-2.13 [[ 9.99580546e-01 -2.86639717e-02 -4.13626272e-03 3.77376608e+02] [ 2.86625750e-02 9.99589065e-01 -3.96587855e-04 3.97178135e+01] [ 4.14593077e-03 2.77865564e-04 9.99991367e-01 -2.12917249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.031400513 meters 0.06730775558492742 Centerline is valid? [True, True] Translation: X:377.41, Y:39.71, Z:-2.13 [[ 9.99507633e-01 -3.10839679e-02 -4.27523922e-03 3.77407822e+02] [ 3.10824979e-02 9.99516738e-01 -4.09856510e-04 3.97088811e+01] [ 4.28591313e-03 2.76769596e-04 9.99990777e-01 -2.12838946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.061400513 meters 0.06656440295225369 Centerline is valid? [True, True] Translation: X:377.44, Y:39.71, Z:-2.13 [[ 9.99432417e-01 -3.33556091e-02 -4.71678198e-03 3.77436649e+02] [ 3.33538442e-02 9.99443503e-01 -4.52365130e-04 3.97094703e+01] [ 4.72924602e-03 2.94785563e-04 9.99988774e-01 -2.12964074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.091400513 meters 0.0652836581526604 Centerline is valid? [True, True] Translation: X:377.47, Y:39.71, Z:-2.13 [[ 9.99359969e-01 -3.54071246e-02 -5.09773892e-03 3.77466250e+02] [ 3.54050891e-02 9.99372924e-01 -4.89009832e-04 3.97095532e+01] [ 5.11185668e-03 3.08210950e-04 9.99986887e-01 -2.13031084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.121400513 meters 0.05874791658492642 Centerline is valid? [True, True] Translation: X:377.50, Y:39.70, Z:-2.13 [[ 9.99254306e-01 -3.83134018e-02 -4.78697576e-03 3.77497350e+02] [ 3.83116404e-02 9.99265734e-01 -4.59143360e-04 3.97031827e+01] [ 4.80105219e-03 2.75404086e-04 9.99988437e-01 -2.12873165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.151400513 meters 0.05845101927210635 Centerline is valid? [True, True] Translation: X:377.53, Y:39.71, Z:-2.13 [[ 9.99225000e-01 -3.91547773e-02 -4.03775178e-03 3.77526184e+02] [ 3.91535296e-02 9.99233131e-01 -3.87628909e-04 3.97052748e+01] [ 4.04983288e-03 2.29236263e-04 9.99991773e-01 -2.12789727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.181400513 meters 0.05349422034716851 Centerline is valid? [True, True] Translation: X:377.56, Y:39.70, Z:-2.13 [[ 9.99193885e-01 -4.00258316e-02 -3.08430103e-03 3.77555739e+02] [ 4.00251071e-02 9.99198630e-01 -2.96290554e-04 3.97009991e+01] [ 3.09368864e-03 1.72602231e-04 9.99995200e-01 -2.12520479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.211400513 meters 0.061432473867726045 Centerline is valid? [True, True] Translation: X:377.58, Y:39.71, Z:-2.13 [[ 9.99194028e-01 -4.00409585e-02 -2.83115667e-03 3.77581740e+02] [ 4.00403471e-02 9.99198027e-01 -2.72352195e-04 3.97121131e+01] [ 2.83979140e-03 1.58772191e-04 9.99995955e-01 -2.12639547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24140051300003 meters 0.06159197864732918 Centerline is valid? [True, True] Translation: X:377.61, Y:39.71, Z:-2.13 [[ 9.99191487e-01 -4.00695727e-02 -3.28655268e-03 3.77610595e+02] [ 4.00687464e-02 9.99196875e-01 -3.16902901e-04 3.97132667e+01] [ 3.29661133e-03 1.84958635e-04 9.99994549e-01 -2.12735581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.271400513 meters 0.06486320966788263 Centerline is valid? [True, True] Translation: X:377.64, Y:39.72, Z:-2.13 [[ 9.99210526e-01 -3.95421904e-02 -3.83938830e-03 3.77638624e+02] [ 3.95410598e-02 9.99217878e-01 -3.69964889e-04 3.97165437e+01] [ 3.85101465e-03 2.17859329e-04 9.99992561e-01 -2.12860254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30140051300003 meters 0.057813938884688644 Centerline is valid? [True, True] Translation: X:377.67, Y:39.71, Z:-2.13 [[ 9.99219427e-01 -3.93564295e-02 -3.40700420e-03 3.77668453e+02] [ 3.93555349e-02 9.99225217e-01 -3.29267862e-04 3.97100290e+01] [ 3.41732331e-03 1.94926372e-04 9.99994142e-01 -2.12652771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.331400513 meters 0.05992502544701111 Centerline is valid? [True, True] Translation: X:377.70, Y:39.71, Z:-2.13 [[ 9.99234937e-01 -3.90269327e-02 -2.53762419e-03 3.77695451e+02] [ 3.90264353e-02 9.99238148e-01 -2.45237238e-04 3.97144007e+01] [ 2.54526176e-03 1.46015189e-04 9.99996750e-01 -2.12556786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36140051300004 meters 0.06733598953331578 Centerline is valid? [True, True] Translation: X:377.72, Y:39.72, Z:-2.13 [[ 9.99266633e-01 -3.82310504e-02 -2.14077166e-03 3.77722934e+02] [ 3.82306939e-02 9.99268918e-01 -2.07204352e-04 3.97224689e+01] [ 2.14712823e-03 1.25209209e-04 9.99997687e-01 -2.12595568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.391400513 meters 0.06733598953331578 Centerline is valid? [True, True] Translation: X:377.75, Y:39.73, Z:-2.13 [[ 9.99259915e-01 -3.84062474e-02 -2.14070644e-03 3.77750330e+02] [ 3.84058899e-02 9.99262200e-01 -2.07878349e-04 3.97252861e+01] [ 2.14711086e-03 1.25508765e-04 9.99997687e-01 -2.12605468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.421400513 meters 0.060408404384757024 Centerline is valid? [True, True] Translation: X:377.78, Y:39.72, Z:-2.12 [[ 9.99283185e-01 -3.78061641e-02 -1.95186596e-03 3.77780309e+02] [ 3.78058651e-02 9.99285085e-01 -1.89867153e-04 3.97177618e+01] [ 1.95764869e-03 1.15939073e-04 9.99998077e-01 -2.12456326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.451400513 meters 0.06818457610005532 Centerline is valid? [True, True] Translation: X:377.81, Y:39.73, Z:-2.12 [[ 9.99333314e-01 -3.64742255e-02 -1.59963620e-03 3.77807558e+02] [ 3.64740233e-02 9.99334589e-01 -1.55364740e-04 3.97283864e+01] [ 1.60423860e-03 9.69159920e-05 9.99998709e-01 -2.12450798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.481400513 meters 0.06555885952055784 Centerline is valid? [True, True] Translation: X:377.84, Y:39.73, Z:-2.12 [[ 9.99384865e-01 -3.50478884e-02 -1.23949691e-03 3.77837798e+02] [ 3.50477659e-02 9.99385631e-01 -1.20367751e-04 3.97265260e+01] [ 1.24295404e-03 7.68521112e-05 9.99999225e-01 -2.12329800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.511400513 meters 0.07175995053749078 Centerline is valid? [True, True] Translation: X:377.87, Y:39.73, Z:-2.12 [[ 9.99470674e-01 -3.25276872e-02 -5.66070577e-04 3.77866853e+02] [ 3.25276613e-02 9.99470834e-01 -5.50103624e-05 3.97332777e+01] [ 5.67560392e-04 3.65682920e-05 9.99999838e-01 -2.12200558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.541400513 meters 0.06895074126093935 Centerline is valid? [True, True] Translation: X:377.90, Y:39.73, Z:-2.12 [[ 9.99512752e-01 -3.12118571e-02 2.81259307e-04 3.77896453e+02] [ 3.12118507e-02 9.99512791e-01 2.71866199e-05 3.97310019e+01] [-2.81970819e-04 -1.83947498e-05 9.99999960e-01 -2.12060681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.571400513 meters 0.07221953849804352 Centerline is valid? [True, True] Translation: X:377.92, Y:39.74, Z:-2.12 [[ 9.99555560e-01 -2.98036598e-02 6.51103715e-04 3.77924529e+02] [ 2.98036250e-02 9.99555771e-01 6.30872088e-05 3.97362315e+01] [-6.52694705e-04 -4.36539194e-05 9.99999786e-01 -2.12028838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.601400513 meters 0.07764552426693239 Centerline is valid? [True, True] Translation: X:377.95, Y:39.74, Z:-2.12 [[ 9.99656385e-01 -2.62053112e-02 -6.27988073e-04 3.77952897e+02] [ 2.62052780e-02 9.99656581e-01 -6.10944783e-05 3.97437305e+01] [ 6.29373410e-04 4.46168833e-05 9.99999801e-01 -2.12332703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.631400513 meters 0.07648640794350998 Centerline is valid? [True, True] Translation: X:377.98, Y:39.74, Z:-2.13 [[ 9.99714859e-01 -2.37825745e-02 -2.14236452e-03 3.77982949e+02] [ 2.37821826e-02 9.99717142e-01 -2.08231385e-04 3.97444074e+01] [ 2.14671081e-03 1.57221906e-04 9.99997683e-01 -2.12586147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.661400513 meters 0.08189246650573005 Centerline is valid? [True, True] Translation: X:378.01, Y:39.75, Z:-2.13 [[ 9.99768314e-01 -2.12168977e-02 -3.62784760e-03 3.78011510e+02] [ 2.12157573e-02 9.99774858e-01 -3.52548021e-04 3.97527903e+01] [ 3.63451080e-03 2.75498806e-04 9.99993357e-01 -2.12846329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.691400513 meters 0.08239653852029094 Centerline is valid? [True, True] Translation: X:378.04, Y:39.76, Z:-2.13 [[ 9.99814387e-01 -1.87488262e-02 -4.43551680e-03 3.78041962e+02] [ 1.87470972e-02 9.99824165e-01 -4.31058779e-04 3.97557203e+01] [ 4.44281872e-03 3.47825704e-04 9.99990070e-01 -2.12876110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.721400513 meters 0.08568591483029857 Centerline is valid? [True, True] Translation: X:378.07, Y:39.76, Z:-2.13 [[ 9.99886283e-01 -1.44753018e-02 -4.22921884e-03 3.78071822e+02] [ 1.44736919e-02 9.99895166e-01 -4.11015320e-04 3.97623906e+01] [ 4.23472505e-03 3.49756170e-04 9.99990972e-01 -2.12757696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.751400513 meters 0.08600997647608032 Centerline is valid? [True, True] Translation: X:378.10, Y:39.77, Z:-2.13 [[ 9.99906733e-01 -1.31030310e-02 -3.85186280e-03 3.78101829e+02] [ 1.31016852e-02 9.99914099e-01 -3.74419102e-04 3.97659481e+01] [ 3.85643795e-03 3.23918287e-04 9.99992511e-01 -2.12752425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.781400513 meters 0.09150110883625033 Centerline is valid? [True, True] Translation: X:378.13, Y:39.78, Z:-2.13 [[ 9.99921534e-01 -1.22051151e-02 -2.82153269e-03 3.78130002e+02] [ 1.22043886e-02 9.99925486e-01 -2.74551476e-04 3.97755162e+01] [ 2.82467338e-03 2.40094852e-04 9.99995982e-01 -2.12707531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.811400513 meters 0.09110599139760145 Centerline is valid? [True, True] Translation: X:378.16, Y:39.78, Z:-2.13 [[ 9.99944302e-01 -1.04357518e-02 -1.57718762e-03 3.78160374e+02] [ 1.04355227e-02 9.99945537e-01 -1.53428465e-04 3.97751585e+01] [ 1.57870286e-03 1.36961142e-04 9.99998744e-01 -2.12616891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.841400513 meters 0.09240991926559596 Centerline is valid? [True, True] Translation: X:378.19, Y:39.78, Z:-2.13 [[ 9.99950711e-01 -9.69403119e-03 -2.14526241e-03 3.78189339e+02] [ 9.69360531e-03 9.99952994e-01 -2.08827271e-04 3.97774624e+01] [ 2.14718595e-03 1.88021651e-04 9.99997677e-01 -2.12701222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.871400513 meters 0.09024007270589152 Centerline is valid? [True, True] Translation: X:378.22, Y:39.78, Z:-2.13 [[ 9.99952619e-01 -9.25504504e-03 -3.01723745e-03 3.78217800e+02] [ 9.25420000e-03 9.99957136e-01 -2.93912229e-04 3.97767098e+01] [ 3.01982829e-03 2.65976184e-04 9.99995405e-01 -2.12792726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.901400513 meters 0.09342853278472045 Centerline is valid? [True, True] Translation: X:378.25, Y:39.78, Z:-2.13 [[ 9.99972138e-01 -6.47144351e-03 -3.72059143e-03 3.78247878e+02] [ 6.47014040e-03 9.99979003e-01 -3.62171584e-04 3.97849637e+01] [ 3.72285708e-03 3.38088745e-04 9.99993013e-01 -2.12880925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.931400513 meters 0.09752183708318114 Centerline is valid? [True, True] Translation: X:378.28, Y:39.79, Z:-2.13 [[ 9.99985857e-01 -4.01707000e-03 -3.48554910e-03 3.78276806e+02] [ 4.01591145e-03 9.99991879e-01 -3.39321861e-04 3.97932997e+01] [ 3.48688387e-03 3.25319405e-04 9.99993868e-01 -2.12859819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.961400513 meters 0.09653985389897564 Centerline is valid? [True, True] Translation: X:378.31, Y:39.80, Z:-2.13 [[ 9.99993725e-01 -1.72522221e-03 -3.09417784e-03 3.78307583e+02] [ 1.72429831e-03 9.99998468e-01 -3.01234185e-04 3.97953058e+01] [ 3.09469279e-03 2.95897009e-04 9.99995168e-01 -2.12771646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99140051300003 meters 0.10360143360357128 Centerline is valid? [True, False] Translation: X:378.31, Y:39.80, Z:-2.13 [[ 9.99993692e-01 -1.97677408e-03 -2.95106858e-03 3.78307183e+02] [ 1.97366288e-03 9.99997494e-01 -1.05680541e-03 3.97986603e+01] [ 2.95315025e-03 1.05097433e-03 9.99995087e-01 -2.12792768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.021400513 meters 0.10120055732001186 Centerline is valid? [False, False] Translation: X:378.31, Y:39.80, Z:-2.13 [[ 9.99993456e-01 -2.12547127e-03 -2.92761394e-03 3.78307117e+02] [ 2.12126406e-03 9.99996714e-01 -1.43943212e-03 3.98003891e+01] [ 2.93066380e-03 1.43321246e-03 9.99994679e-01 -2.12798349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05140051300003 meters 0.10237270210798492 Centerline is valid? [False, False] Translation: X:378.31, Y:39.80, Z:-2.13 [[ 9.99993200e-01 -2.20768624e-03 -2.95393193e-03 3.78307271e+02] [ 2.20281848e-03 9.99996212e-01 -1.65013224e-03 3.98013284e+01] [ 2.95756372e-03 1.64361404e-03 9.99994276e-01 -2.12815374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.081400513 meters 0.09244993874071719 Centerline is valid? [False, True] Translation: X:378.31, Y:39.80, Z:-2.13 [[ 9.99993044e-01 -2.23203788e-03 -2.98831000e-03 3.78307373e+02] [ 2.22692704e-03 9.99996054e-01 -1.71251511e-03 3.98016087e+01] [ 2.99212061e-03 1.70584845e-03 9.99994069e-01 -2.12813353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11140051300004 meters 0.09619608139553873 Centerline is valid? [True, True] Translation: X:378.34, Y:39.81, Z:-2.13 [[ 9.99984832e-01 -4.76699303e-03 -2.75887853e-03 3.78335480e+02] [ 4.76626686e-03 9.99988605e-01 -2.69729999e-04 3.98101996e+01] [ 2.76013289e-03 2.56576357e-04 9.99996158e-01 -2.12792840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.141400513 meters 0.08858319837420786 Centerline is valid? [True, True] Translation: X:378.37, Y:39.81, Z:-2.13 [[ 9.99967202e-01 -7.79858341e-03 -2.18542504e-03 3.78366868e+02] [ 7.79813518e-03 9.99969571e-01 -2.13549501e-04 3.98067509e+01] [ 2.18702392e-03 1.96500258e-04 9.99997589e-01 -2.12686247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.171400513 meters 0.08589855086314385 Centerline is valid? [True, True] Translation: X:378.40, Y:39.81, Z:-2.13 [[ 9.99881824e-01 -1.52994710e-02 -1.50453626e-03 3.78396562e+02] [ 1.52992669e-02 9.99882949e-01 -1.47053237e-04 3.98099432e+01] [ 1.50660999e-03 1.24017557e-04 9.99998857e-01 -2.12622265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.201400513 meters 0.07551133322359611 Centerline is valid? [True, True] Translation: X:378.43, Y:39.80, Z:-2.13 [[ 9.99808968e-01 -1.95099215e-02 -1.17950851e-03 3.78428062e+02] [ 1.95097990e-02 9.99809659e-01 -1.15276027e-04 3.97997800e+01] [ 1.18153303e-03 9.22420314e-05 9.99999298e-01 -2.12520268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.231400513 meters 0.07733112678432348 Centerline is valid? [True, True] Translation: X:378.46, Y:39.80, Z:-2.12 [[ 9.99710345e-01 -2.40623990e-02 -4.76051265e-04 3.78456692e+02] [ 2.40623795e-02 9.99710458e-01 -4.65911358e-05 3.98043692e+01] [ 4.77034523e-04 3.51227142e-05 9.99999886e-01 -2.12479003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.261400513 meters 0.07183976313691227 Centerline is valid? [True, True] Translation: X:378.49, Y:39.80, Z:-2.12 [[ 9.99591346e-01 -2.85838308e-02 3.23481493e-04 3.78487626e+02] [ 2.85838220e-02 9.99591399e-01 3.16110308e-05 3.98006562e+01] [-3.24252883e-04 -2.23517754e-05 9.99999947e-01 -2.12279853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.291400513 meters 0.07049559827736433 Centerline is valid? [True, True] Translation: X:378.52, Y:39.80, Z:-2.12 [[ 9.99335218e-01 -3.64437800e-02 9.86598833e-04 3.78516705e+02] [ 3.64437025e-02 9.99335703e-01 9.64090675e-05 3.98014495e+01] [-9.89456949e-04 -6.03896621e-05 9.99999509e-01 -2.12134563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.321400513 meters 0.06296222111103758 Centerline is valid? [True, True] Translation: X:378.55, Y:39.79, Z:-2.12 [[ 9.99214196e-01 -3.96177151e-02 1.19454053e-03 3.78548382e+02] [ 3.96176037e-02 9.99214908e-01 1.16757128e-04 3.97934270e+01] [-1.19822836e-03 -6.93405459e-05 9.99999280e-01 -2.12106817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.351400513 meters 0.05701613145440745 Centerline is valid? [True, True] Translation: X:378.58, Y:39.79, Z:-2.12 [[ 9.99111157e-01 -4.21306071e-02 1.38151104e-03 3.78579282e+02] [ 4.21304606e-02 9.99112109e-01 1.35006539e-04 3.97868019e+01] [-1.38597232e-03 -7.66828434e-05 9.99999037e-01 -2.12145536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.381400513 meters 0.058136470737726195 Centerline is valid? [True, True] Translation: X:378.61, Y:39.79, Z:-2.12 [[ 9.98995137e-01 -4.47879668e-02 1.65935900e-03 3.78608727e+02] [ 4.47877591e-02 9.98996512e-01 1.62156526e-04 3.97861873e+01] [-1.66495652e-03 -8.76746097e-05 9.99998610e-01 -2.12172388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.411400513 meters 0.05694113392288828 Centerline is valid? [True, True] Translation: X:378.64, Y:39.78, Z:-2.12 [[ 9.98983331e-01 -4.50525092e-02 1.60507004e-03 3.78637439e+02] [ 4.50523158e-02 9.98984617e-01 1.56426470e-04 3.97848979e+01] [-1.61048768e-03 -8.39553138e-05 9.99998700e-01 -2.12192563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.441400513 meters 0.05542152319674233 Centerline is valid? [True, True] Translation: X:378.67, Y:39.78, Z:-2.12 [[ 9.98996336e-01 -4.47790850e-02 1.07405175e-03 3.78666804e+02] [ 4.47789982e-02 9.98996912e-01 1.04671431e-04 3.97822164e+01] [-1.07766147e-03 -5.64714149e-05 9.99999418e-01 -2.12250704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.471400513 meters 0.0635479281997265 Centerline is valid? [True, True] Translation: X:378.69, Y:39.79, Z:-2.12 [[ 9.99072190e-01 -4.30573423e-02 9.07601270e-04 3.78694861e+02] [ 4.30572793e-02 9.99072601e-01 8.88751074e-05 3.97861901e+01] [-9.10586287e-04 -4.97138069e-05 9.99999584e-01 -2.12401526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.501400513 meters 0.06062552356060972 Centerline is valid? [True, True] Translation: X:378.73, Y:39.78, Z:-2.12 [[ 9.99127547e-01 -4.17378240e-02 1.44896841e-03 3.78725065e+02] [ 4.17376615e-02 9.99128594e-01 1.42194696e-04 3.97816813e+01] [-1.45364066e-03 -8.15940852e-05 9.99998940e-01 -2.12335914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.531400513 meters 0.06075156135109473 Centerline is valid? [True, True] Translation: X:378.75, Y:39.78, Z:-2.12 [[ 9.99181926e-01 -4.03768305e-02 2.27807946e-03 3.78754396e+02] [ 4.03764252e-02 9.99184515e-01 2.23643667e-04 3.97806428e+01] [-2.28525175e-03 -1.31480005e-04 9.99997380e-01 -2.12267541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.561400513 meters 0.06875118395608937 Centerline is valid? [True, True] Translation: X:378.78, Y:39.79, Z:-2.12 [[ 9.99240552e-01 -3.88721604e-02 2.69698809e-03 3.78782697e+02] [ 3.88715865e-02 9.99244179e-01 2.64890048e-04 3.97884148e+01] [-2.70524650e-03 -1.59852672e-04 9.99996328e-01 -2.12258085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.591400513 meters 0.05947664509857987 Centerline is valid? [True, True] Translation: X:378.81, Y:39.77, Z:-2.13 [[ 9.99360366e-01 -3.57609170e-02 1.28964065e-04 3.78814695e+02] [ 3.57609157e-02 9.99360374e-01 1.26191495e-05 3.97693370e+01] [-1.29332849e-04 -7.99920479e-06 9.99999992e-01 -2.12533773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.621400513 meters 0.0730069805157295 Centerline is valid? [True, True] Translation: X:378.84, Y:39.78, Z:-2.13 [[ 9.99428330e-01 -3.37854299e-02 -1.24803780e-03 3.78842841e+02] [ 3.37853029e-02 9.99429106e-01 -1.22732230e-04 3.97839008e+01] [ 1.25147186e-03 8.04967324e-05 9.99999214e-01 -2.12861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.651400513 meters 0.07982195844180068 Centerline is valid? [True, True] Translation: X:378.87, Y:39.79, Z:-2.13 [[ 9.99575818e-01 -2.90942986e-02 -1.30574094e-03 3.78872253e+02] [ 2.90941557e-02 9.99576667e-01 -1.28347213e-04 3.97857116e+01] [ 1.30892235e-03 9.03033403e-05 9.99999139e-01 -2.12893572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.681400513 meters 0.07254707514061262 Centerline is valid? [True, True] Translation: X:378.90, Y:39.78, Z:-2.13 [[ 9.99663822e-01 -2.59242135e-02 -4.20893850e-04 3.78904131e+02] [ 2.59241984e-02 9.99663911e-01 -4.13699870e-05 3.97751226e+01] [ 4.21824876e-04 3.04447437e-05 9.99999911e-01 -2.12653678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.711400513 meters 0.0778467238372681 Centerline is valid? [True, True] Translation: X:378.93, Y:39.78, Z:-2.13 [[ 9.99752158e-01 -2.22618205e-02 -1.85529418e-04 3.78932696e+02] [ 2.22618175e-02 9.99752175e-01 -1.82199888e-05 3.97802600e+01] [ 1.85889049e-04 1.40852511e-05 9.99999983e-01 -2.12583236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74140051300003 meters 0.08572516724788212 Centerline is valid? [True, True] Translation: X:378.96, Y:39.79, Z:-2.13 [[ 9.99904074e-01 -1.37312306e-02 -1.81534096e-03 3.78962275e+02] [ 1.37309291e-02 9.99905710e-01 -1.78458952e-04 3.97871581e+01] [ 1.81762025e-03 1.53515515e-04 9.99998336e-01 -2.12750741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.771400513 meters 0.09275667829523133 Centerline is valid? [True, True] Translation: X:378.99, Y:39.80, Z:-2.13 [[ 9.99953938e-01 -9.18408889e-03 -2.78834330e-03 3.78991260e+02] [ 9.18335996e-03 9.99957794e-01 -2.74112949e-04 3.97971619e+01] [ 2.79074309e-03 2.48493963e-04 9.99996075e-01 -2.12947126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80140051300003 meters 0.09579260573871194 Centerline is valid? [True, True] Translation: X:379.02, Y:39.80, Z:-2.13 [[ 9.99983688e-01 -4.82768762e-03 -3.05248411e-03 3.79021780e+02] [ 4.82679398e-03 9.99988306e-01 -3.00054225e-04 3.98022929e+01] [ 3.05389699e-03 2.85315618e-04 9.99995296e-01 -2.12956123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.831400513 meters 0.09848578709536403 Centerline is valid? [True, True] Translation: X:379.05, Y:39.81, Z:-2.13 [[ 9.99995658e-01 -1.32804308e-03 -2.63052840e-03 3.79051919e+02] [ 1.32736737e-03 9.99999086e-01 -2.58600733e-04 3.98077877e+01] [ 2.63086942e-03 2.55107933e-04 9.99996507e-01 -2.12868190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86140051300004 meters 0.10402002394896091 Centerline is valid? [True, False] Translation: X:379.05, Y:39.81, Z:-2.13 [[ 9.99995975e-01 -1.46288755e-03 -2.43089516e-03 3.79051265e+02] [ 1.46121910e-03 9.99998696e-01 -6.87985647e-04 3.98097052e+01] [ 2.43189843e-03 6.84430807e-04 9.99996809e-01 -2.12859890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.891400513 meters 0.10230106297083441 Centerline is valid? [False, False] Translation: X:379.05, Y:39.81, Z:-2.13 [[ 9.99996068e-01 -1.52668802e-03 -2.35230485e-03 3.79051042e+02] [ 1.52466740e-03 9.99998467e-01 -8.60551212e-04 3.98104825e+01] [ 2.35361504e-03 8.56961346e-04 9.99996863e-01 -2.12868330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.921400513 meters 0.10519384751957646 Centerline is valid? [False, False] Translation: X:379.05, Y:39.81, Z:-2.13 [[ 9.99996217e-01 -1.51380156e-03 -2.29640629e-03 3.79050782e+02] [ 1.51189206e-03 9.99998510e-01 -8.33022957e-04 3.98103791e+01] [ 2.29766390e-03 8.29547888e-04 9.99997016e-01 -2.12851461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.951400513 meters 0.0924782751491527 Centerline is valid? [False, True] Translation: X:379.05, Y:39.81, Z:-2.13 [[ 9.99996272e-01 -1.45103271e-03 -2.31296334e-03 3.79050546e+02] [ 1.44951946e-03 9.99998734e-01 -6.55788416e-04 3.98096848e+01] [ 2.31391199e-03 6.52433286e-04 9.99997110e-01 -2.12776260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.981400513 meters 0.09313718690722585 Centerline is valid? [True, True] Translation: X:379.08, Y:39.81, Z:-2.13 [[ 9.99988508e-01 -4.10416140e-03 -2.47801686e-03 3.79079023e+02] [ 4.10355941e-03 9.99991550e-01 -2.47968172e-04 3.98134670e+01] [ 2.47901362e-03 2.37796633e-04 9.99996899e-01 -2.12771770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.011400513 meters 0.08880105533127872 Centerline is valid? [True, True] Translation: X:379.11, Y:39.81, Z:-2.13 [[ 9.99925809e-01 -1.09813388e-02 -5.27138192e-03 3.79109390e+02] [ 1.09787093e-02 9.99939593e-01 -5.27505502e-04 3.98100476e+01] [ 5.27685621e-03 4.69593396e-04 9.99985967e-01 -2.13161948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.041400513 meters 0.08632035072332281 Centerline is valid? [True, True] Translation: X:379.14, Y:39.81, Z:-2.13 [[ 9.99869902e-01 -1.47588663e-02 -6.50800518e-03 3.79140093e+02] [ 1.47549372e-02 9.99890928e-01 -6.51350565e-04 3.98081740e+01] [ 6.51690853e-03 5.55240619e-04 9.99978611e-01 -2.13385343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.071400513 meters 0.08656137892472984 Centerline is valid? [True, True] Translation: X:379.17, Y:39.81, Z:-2.13 [[ 9.99815204e-01 -1.81427442e-02 -6.35603371e-03 3.79169485e+02] [ 1.81390639e-02 9.99835271e-01 -6.36206601e-04 3.98096973e+01] [ 6.36652922e-03 5.20796531e-04 9.99979598e-01 -2.13431981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.101400513 meters 0.08479336113416212 Centerline is valid? [True, True] Translation: X:379.20, Y:39.81, Z:-2.13 [[ 9.99712189e-01 -2.36037558e-02 -4.28981124e-03 3.79200743e+02] [ 2.36021294e-02 9.99721339e-01 -4.29375289e-04 3.98053164e+01] [ 4.29875070e-03 3.28003030e-04 9.99990707e-01 -2.13212422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.131400513 meters 0.07704453339495677 Centerline is valid? [True, True] Translation: X:379.23, Y:39.80, Z:-2.13 [[ 9.99683702e-01 -2.48609821e-02 -3.79838029e-03 3.79231038e+02] [ 2.48597156e-02 9.99690877e-01 -3.80274807e-04 3.98003665e+01] [ 3.80666013e-03 2.85727873e-04 9.99992714e-01 -2.13036103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.161400513 meters 0.08472390889392313 Centerline is valid? [True, True] Translation: X:379.26, Y:39.81, Z:-2.13 [[ 9.99670646e-01 -2.53379641e-02 -4.07277647e-03 3.79258165e+02] [ 2.53365111e-02 9.99678896e-01 -4.07977269e-04 3.98110328e+01] [ 4.08180600e-03 3.04652953e-04 9.99991623e-01 -2.13138026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.191400513 meters 0.07672476494253741 Centerline is valid? [True, True] Translation: X:379.29, Y:39.80, Z:-2.13 [[ 9.99723011e-01 -2.30669314e-02 -4.67088436e-03 3.79289427e+02] [ 2.30649956e-02 9.99733858e-01 -4.67893801e-04 3.98026987e+01] [ 4.68043411e-03 3.60030273e-04 9.99988982e-01 -2.13129874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.221400513 meters 0.07532495782046292 Centerline is valid? [True, True] Translation: X:379.32, Y:39.80, Z:-2.13 [[ 9.99780572e-01 -2.05365750e-02 -4.12998631e-03 3.79320344e+02] [ 2.05350401e-02 9.99789048e-01 -4.13723450e-04 3.98037133e+01] [ 4.13761154e-03 3.28823233e-04 9.99991386e-01 -2.13027800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.251400513 meters 0.09111272620375849 Centerline is valid? [True, True] Translation: X:379.35, Y:39.83, Z:-2.13 [[ 9.99837024e-01 -1.76793317e-02 -3.65609917e-03 3.79348058e+02] [ 1.76781098e-02 9.99843663e-01 -3.66265077e-04 3.98255442e+01] [ 3.66200291e-03 3.01572462e-04 9.99993249e-01 -2.12963447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.281400513 meters 0.09111272620375849 Centerline is valid? [True, True] Translation: X:379.38, Y:39.83, Z:-2.13 [[ 9.99833981e-01 -1.78506148e-02 -3.65603503e-03 3.79375502e+02] [ 1.78493916e-02 9.99840620e-01 -3.66904827e-04 3.98284473e+01] [ 3.66200180e-03 3.01585912e-04 9.99993249e-01 -2.12963669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.311400513 meters 0.10643034034940753 Centerline is valid? [True, False] Translation: X:379.38, Y:39.83, Z:-2.14 [[ 9.99939552e-01 -1.03849996e-02 3.61177605e-03 3.79378488e+02] [ 1.04210358e-02 9.99894630e-01 -1.01059527e-02 3.98349123e+01] [-3.50644516e-03 1.01429803e-02 9.99942411e-01 -2.13601647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.341400513 meters 0.09284782536180183 Centerline is valid? [False, True] Translation: X:379.34, Y:39.83, Z:-2.14 [[ 9.99984944e-01 -5.27113122e-03 1.52532975e-03 3.79339094e+02] [ 5.27419776e-03 9.99984064e-01 -2.01342267e-03 3.98260312e+01] [-1.51469242e-03 2.02143725e-03 9.99996810e-01 -2.13668754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.371400513 meters 0.08986797034733102 Centerline is valid? [True, True] Translation: X:379.37, Y:39.82, Z:-2.14 [[ 9.99986304e-01 -5.13196205e-03 1.02698668e-03 3.79369666e+02] [ 5.13186631e-03 9.99986827e-01 9.58323915e-05 3.98241965e+01] [-1.02746496e-03 -9.05607207e-05 9.99999468e-01 -2.13727257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.401400513 meters 0.09756711513509697 Centerline is valid? [True, True] Translation: X:379.40, Y:39.84, Z:-2.14 [[ 9.99980545e-01 -6.12011676e-03 1.20607147e-03 3.79399189e+02] [ 6.11998538e-03 9.99981266e-01 1.12594683e-04 3.98362875e+01] [-1.20673797e-03 -1.05211353e-04 9.99999266e-01 -2.13791647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.431400513 meters 0.084895657430192 Centerline is valid? [True, True] Translation: X:379.43, Y:39.82, Z:-2.14 [[ 9.99937211e-01 -1.11289351e-02 1.31183831e-03 3.79431452e+02] [ 1.11287840e-02 9.99938066e-01 1.22438157e-04 3.98233416e+01] [-1.31311967e-03 -1.07831304e-04 9.99999132e-01 -2.13668948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.461400513 meters 0.08221010297903998 Centerline is valid? [True, True] Translation: X:379.46, Y:39.82, Z:-2.14 [[ 9.99896315e-01 -1.43003177e-02 1.69091320e-03 3.79461727e+02] [ 1.43000713e-02 9.99897736e-01 1.57745325e-04 3.98239491e+01] [-1.69299609e-03 -1.33548790e-04 9.99998558e-01 -2.13596938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49140051300003 meters 0.08353167976170342 Centerline is valid? [True, True] Translation: X:379.49, Y:39.83, Z:-2.14 [[ 9.99850289e-01 -1.70976979e-02 2.65845963e-03 3.79491145e+02] [ 1.70970986e-02 9.99853803e-01 2.48017819e-04 3.98298295e+01] [-2.66231151e-03 -2.02528742e-04 9.99996436e-01 -2.13508233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.521400513 meters 0.07485823004518767 Centerline is valid? [True, True] Translation: X:379.52, Y:39.82, Z:-2.13 [[ 9.99796000e-01 -1.98677946e-02 3.63714598e-03 3.79522274e+02] [ 1.98666910e-02 9.99802580e-01 3.39330939e-04 3.98238344e+01] [-3.64316969e-03 -2.67003661e-04 9.99993328e-01 -2.13324656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55140051300003 meters 0.08161301825535455 Centerline is valid? [True, True] Translation: X:379.55, Y:39.84, Z:-2.13 [[ 9.99788088e-01 -2.02896795e-02 3.47972112e-03 3.79550620e+02] [ 2.02886719e-02 9.99794111e-01 3.24634287e-04 3.98350508e+01] [-3.48559141e-03 -2.53966573e-04 9.99993893e-01 -2.13396515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.581400513 meters 0.07645622363549916 Centerline is valid? [True, True] Translation: X:379.58, Y:39.83, Z:-2.13 [[ 9.99778759e-01 -2.07717576e-02 3.31161883e-03 3.79581060e+02] [ 2.07708475e-02 9.99784215e-01 3.08986210e-04 3.98323802e+01] [-3.31732242e-03 -2.40132720e-04 9.99994469e-01 -2.13407317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61140051300004 meters 0.07824534346197684 Centerline is valid? [True, True] Translation: X:379.61, Y:39.84, Z:-2.13 [[ 9.99741904e-01 -2.24004870e-02 3.78733524e-03 3.79610531e+02] [ 2.23993080e-02 9.99749042e-01 3.53446430e-04 3.98412415e+01] [-3.79430215e-03 -2.68521518e-04 9.99992766e-01 -2.13381380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.641400513 meters 0.07164085955392956 Centerline is valid? [True, True] Translation: X:379.64, Y:39.84, Z:-2.13 [[ 9.99715732e-01 -2.35835389e-02 3.50303467e-03 3.79641045e+02] [ 2.35825376e-02 9.99721840e-01 3.26888548e-04 3.98370333e+01] [-3.50976946e-03 -2.44185178e-04 9.99993811e-01 -2.13439612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.671400513 meters 0.06623940407397087 Centerline is valid? [True, True] Translation: X:379.67, Y:39.83, Z:-2.14 [[ 9.99687104e-01 -2.48816208e-02 2.56876716e-03 3.79671509e+02] [ 2.48810867e-02 9.99690389e-01 2.39643602e-04 3.98333865e+01] [-2.57393456e-03 -1.75654900e-04 9.99996672e-01 -2.13611384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.701400513 meters 0.06891155938475196 Centerline is valid? [True, True] Translation: X:379.70, Y:39.84, Z:-2.14 [[ 9.99629875e-01 -2.71571782e-02 1.61291529e-03 3.79700231e+02] [ 2.71569705e-02 9.99631170e-01 1.50500877e-04 3.98392741e+01] [-1.61640758e-03 -1.06643280e-04 9.99998688e-01 -2.13805113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.731400513 meters 0.0686024537158704 Centerline is valid? [True, True] Translation: X:379.73, Y:39.84, Z:-2.14 [[ 9.99608384e-01 -2.78713280e-02 2.50359518e-03 3.79728846e+02] [ 2.78708307e-02 9.99611506e-01 2.33290842e-04 3.98431706e+01] [-2.50912467e-03 -1.63422204e-04 9.99996839e-01 -2.13712901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.761400513 meters 0.06782717524386073 Centerline is valid? [True, True] Translation: X:379.76, Y:39.85, Z:-2.14 [[ 9.99602118e-01 -2.80307244e-02 3.14391005e-03 3.79757921e+02] [ 2.80299388e-02 9.99607041e-01 2.93688924e-04 3.98470976e+01] [-3.15090694e-03 -2.05448464e-04 9.99995015e-01 -2.13615775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.791400513 meters 0.0705630535957907 Centerline is valid? [True, True] Translation: X:379.79, Y:39.85, Z:-2.14 [[ 9.99613325e-01 -2.76515055e-02 2.93165512e-03 3.79785591e+02] [ 2.76508186e-02 9.99617605e-01 2.74593118e-04 3.98544867e+01] [-2.93812698e-03 -1.93424276e-04 9.99995665e-01 -2.13661016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.821400513 meters 0.07039087561821024 Centerline is valid? [True, True] Translation: X:379.81, Y:39.86, Z:-2.14 [[ 9.99640424e-01 -2.67448956e-02 1.93209478e-03 3.79814902e+02] [ 2.67445954e-02 9.99642283e-01 1.81055550e-04 3.98576475e+01] [-1.93624595e-03 -1.29317354e-04 9.99998117e-01 -2.13794107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.851400513 meters 0.06423540772110461 Centerline is valid? [True, True] Translation: X:379.84, Y:39.85, Z:-2.14 [[ 9.99637986e-01 -2.68377114e-02 1.90635099e-03 3.79844275e+02] [ 2.68374203e-02 9.99639796e-01 1.78132292e-04 3.98533157e+01] [-1.91044498e-03 -1.26906262e-04 9.99998167e-01 -2.13791612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.881400513 meters 0.07120262021505971 Centerline is valid? [True, True] Translation: X:379.87, Y:39.86, Z:-2.14 [[ 9.99613216e-01 -2.77200271e-02 2.24026380e-03 3.79872021e+02] [ 2.77196251e-02 9.99615715e-01 2.10286238e-04 3.98609428e+01] [-2.24523204e-03 -1.48105630e-04 9.99997468e-01 -2.13876730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.911400513 meters 0.06311747105399529 Centerline is valid? [True, True] Translation: X:379.90, Y:39.85, Z:-2.14 [[ 9.99549850e-01 -2.99651832e-02 1.47789149e-03 3.79903008e+02] [ 2.99650105e-02 9.99550939e-01 1.38853830e-04 3.98542846e+01] [-1.48138861e-03 -9.45062912e-05 9.99998898e-01 -2.13954723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.941400513 meters 0.06035841359005768 Centerline is valid? [True, True] Translation: X:379.93, Y:39.85, Z:-2.14 [[ 9.99499903e-01 -3.16016455e-02 1.13120150e-03 3.79933723e+02] [ 3.16015454e-02 9.99500541e-01 1.06277291e-04 3.98501029e+01] [-1.13399504e-03 -7.04764268e-05 9.99999355e-01 -2.14027517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.971400513 meters 0.06942673232219954 Centerline is valid? [True, True] Translation: X:379.96, Y:39.86, Z:-2.14 [[ 9.99455245e-01 -3.29849168e-02 1.09960992e-03 3.79961562e+02] [ 3.29848232e-02 9.99455847e-01 1.03210602e-04 3.98594653e+01] [-1.10241596e-03 -6.68839389e-05 9.99999390e-01 -2.14124915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.001400513 meters 0.06293260683264125 Centerline is valid? [True, True] Translation: X:379.99, Y:39.85, Z:-2.14 [[ 9.99453843e-01 -3.29577054e-02 2.40961337e-03 3.79991896e+02] [ 3.29572557e-02 9.99456737e-01 2.26072142e-04 3.98468793e+01] [-2.41575513e-03 -1.46534427e-04 9.99997071e-01 -2.13818667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.031400513 meters 0.06518468674698986 Centerline is valid? [True, True] Translation: X:380.02, Y:39.85, Z:-2.14 [[ 9.99520368e-01 -3.08290525e-02 2.93333620e-03 3.80021899e+02] [ 3.08283739e-02 9.99524655e-01 2.76293439e-04 3.98496514e+01] [-2.94045972e-03 -1.85730935e-04 9.99995660e-01 -2.13722412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.061400513 meters 0.06818403763696536 Centerline is valid? [True, True] Translation: X:380.05, Y:39.85, Z:-2.14 [[ 9.99605039e-01 -2.79271629e-02 3.13689906e-03 3.80052369e+02] [ 2.79263723e-02 9.99609939e-01 2.95557182e-04 3.98541249e+01] [-3.14392956e-03 -2.07838237e-04 9.99995036e-01 -2.13691109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.091400513 meters 0.07427965075776351 Centerline is valid? [True, True] Translation: X:380.08, Y:39.86, Z:-2.14 [[ 9.99702604e-01 -2.41485629e-02 3.39863537e-03 3.80081377e+02] [ 2.41476132e-02 9.99708353e-01 3.20198092e-04 3.98629558e+01] [-3.40537649e-03 -2.38033934e-04 9.99994173e-01 -2.13753874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.121400513 meters 0.077118101845364 Centerline is valid? [True, True] Translation: X:380.11, Y:39.87, Z:-2.14 [[ 9.99866879e-01 -1.57732552e-02 4.17470137e-03 3.80111109e+02] [ 1.57717494e-02 9.99875541e-01 3.93372036e-04 3.98674043e+01] [-4.18038655e-03 -3.27477326e-04 9.99991209e-01 -2.13792865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.151400513 meters 0.08439238531386871 Centerline is valid? [True, True] Translation: X:380.14, Y:39.88, Z:-2.14 [[ 9.99917105e-01 -1.18886032e-02 4.94403310e-03 3.80139978e+02] [ 1.18864438e-02 9.99929245e-01 4.65919709e-04 3.98779460e+01] [-4.94922242e-03 -4.07114115e-04 9.99987670e-01 -2.13714989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.181400513 meters 0.09002621972888265 Centerline is valid? [True, True] Translation: X:380.17, Y:39.89, Z:-2.14 [[ 9.99948807e-01 -8.73433913e-03 5.10837165e-03 3.80169282e+02] [ 8.73199246e-03 9.99961760e-01 4.81500292e-04 3.98860374e+01] [-5.11238189e-03 -4.36869380e-04 9.99986836e-01 -2.13654877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.211400513 meters 0.09092775248061692 Centerline is valid? [True, True] Translation: X:380.20, Y:39.89, Z:-2.14 [[ 9.99974636e-01 -5.52952112e-03 4.48898638e-03 3.80199554e+02] [ 5.52767791e-03 9.99984633e-01 4.22909610e-04 3.98885008e+01] [-4.49125589e-03 -3.98085213e-04 9.99989835e-01 -2.13723945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24140051300003 meters 0.09102921019737124 Centerline is valid? [True, True] Translation: X:380.23, Y:39.89, Z:-2.14 [[ 9.99971672e-01 -5.65188484e-03 4.97098464e-03 3.80231383e+02] [ 5.64962570e-03 9.99983931e-01 4.68389416e-04 3.98905198e+01] [-4.97355205e-03 -4.40291945e-04 9.99987535e-01 -2.13768058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.271400513 meters 0.093257109793144 Centerline is valid? [True, True] Translation: X:380.26, Y:39.90, Z:-2.14 [[ 9.99968242e-01 -5.82617873e-03 5.43780633e-03 3.80261594e+02] [ 5.82347939e-03 9.99982912e-01 5.12104769e-04 3.98996844e+01] [-5.44069703e-03 -4.80421553e-04 9.99985084e-01 -2.13753425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30140051300003 meters 0.0856712143465921 Centerline is valid? [True, True] Translation: X:380.29, Y:39.89, Z:-2.14 [[ 9.99962861e-01 -7.38774582e-03 4.43821770e-03 3.80292863e+02] [ 7.38596356e-03 9.99972636e-01 4.17825775e-04 3.98949143e+01] [-4.44118305e-03 -3.85029743e-04 9.99990064e-01 -2.13904434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.331400513 meters 0.08730476628700232 Centerline is valid? [True, True] Translation: X:380.32, Y:39.90, Z:-2.14 [[ 9.99958760e-01 -8.55646711e-03 3.04380119e-03 3.80323139e+02] [ 8.55563417e-03 9.99963359e-01 2.86567972e-04 3.98998057e+01] [-3.04614167e-03 -2.60514505e-04 9.99995327e-01 -2.14151665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36140051300004 meters 0.08528152503347428 Centerline is valid? [True, True] Translation: X:380.35, Y:39.90, Z:-2.14 [[ 9.99927329e-01 -1.17126178e-02 2.85511308e-03 3.80354263e+02] [ 1.17118980e-02 9.99931377e-01 2.68712375e-04 3.99008744e+01] [-2.85806448e-03 -2.35254054e-04 9.99995888e-01 -2.14249680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.391400513 meters 0.08187703552716175 Centerline is valid? [True, True] Translation: X:380.39, Y:39.90, Z:-2.14 [[ 9.99902942e-01 -1.33397442e-02 4.01978076e-03 3.80385777e+02] [ 1.33383306e-02 9.99910969e-01 3.78265516e-04 3.98996362e+01] [-4.02446884e-03 -3.24611637e-04 9.99991849e-01 -2.14077794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.421400513 meters 0.08046451002915522 Centerline is valid? [True, True] Translation: X:380.42, Y:39.90, Z:-2.14 [[ 9.99879764e-01 -1.47770737e-02 4.70057731e-03 3.80416452e+02] [ 1.47751569e-02 9.99890744e-01 4.42253464e-04 3.99001515e+01] [-4.70659896e-03 -3.72748522e-04 9.99988854e-01 -2.13973005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.451400513 meters 0.07542261170803506 Centerline is valid? [True, True] Translation: X:380.45, Y:39.90, Z:-2.14 [[ 9.99862734e-01 -1.60358749e-02 4.16693383e-03 3.80447721e+02] [ 1.60343795e-02 9.99871364e-01 3.92050950e-04 3.98963472e+01] [-4.17268469e-03 -3.25182936e-04 9.99991241e-01 -2.14070533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.481400513 meters 0.07867263258718692 Centerline is valid? [True, True] Translation: X:380.48, Y:39.90, Z:-2.15 [[ 9.99851582e-01 -1.71929617e-02 1.10246596e-03 3.80477198e+02] [ 1.71928577e-02 9.99852187e-01 1.03721869e-04 3.99040646e+01] [-1.10408629e-03 -8.47519347e-05 9.99999387e-01 -2.14568018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.511400513 meters 0.08319839368735968 Centerline is valid? [True, True] Translation: X:380.50, Y:39.91, Z:-2.15 [[ 9.99856038e-01 -1.69577076e-02 5.82573425e-04 3.80504764e+02] [ 1.69576786e-02 9.99856207e-01 5.46348415e-05 3.99133253e+01] [-5.83416136e-04 -4.47478833e-05 9.99999829e-01 -2.14745311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.541400513 meters 0.08679972671926772 Centerline is valid? [True, True] Translation: X:380.53, Y:39.92, Z:-2.15 [[ 9.99855723e-01 -1.69263554e-02 1.42536063e-03 3.80532729e+02] [ 1.69261815e-02 9.99856733e-01 1.34004469e-04 3.99207866e+01] [-1.42742463e-03 -1.09859223e-04 9.99998975e-01 -2.14718739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.571400513 meters 0.07842715660483901 Centerline is valid? [True, True] Translation: X:380.56, Y:39.91, Z:-2.14 [[ 9.99846780e-01 -1.73395555e-02 2.39911216e-03 3.80562917e+02] [ 1.73390633e-02 9.99849642e-01 2.25795067e-04 3.99127499e+01] [-2.40266662e-03 -1.84162113e-04 9.99997097e-01 -2.14495137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.601400513 meters 0.07614616119337561 Centerline is valid? [True, True] Translation: X:380.59, Y:39.91, Z:-2.14 [[ 9.99801358e-01 -1.95790707e-02 3.72885725e-03 3.80593180e+02] [ 1.95778965e-02 9.99808273e-01 3.51143359e-04 3.99127829e+01] [-3.73501739e-03 -2.78070426e-04 9.99992986e-01 -2.14311441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.631400513 meters 0.06924274755770753 Centerline is valid? [True, True] Translation: X:380.62, Y:39.91, Z:-2.14 [[ 9.99771808e-01 -2.10758056e-02 3.48471008e-03 3.80623884e+02] [ 2.10747892e-02 9.99777848e-01 3.28135934e-04 3.99079487e+01] [-3.49085167e-03 -2.54621526e-04 9.99993875e-01 -2.14361813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.661400513 meters 0.06904945731351428 Centerline is valid? [True, True] Translation: X:380.65, Y:39.91, Z:-2.15 [[ 9.99729339e-01 -2.32326730e-02 1.22126177e-03 3.80653014e+02] [ 2.32325499e-02 9.99730081e-01 1.14927590e-04 3.99088829e+01] [-1.22360220e-03 -8.65234584e-05 9.99999248e-01 -2.14720430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.691400513 meters 0.07391232510466494 Centerline is valid? [True, True] Translation: X:380.68, Y:39.92, Z:-2.15 [[ 9.99710043e-01 -2.40785422e-02 2.30181917e-04 3.80680051e+02] [ 2.40785379e-02 9.99710070e-01 2.14288315e-05 3.99160006e+01] [-2.30631155e-04 -1.58801741e-05 9.99999973e-01 -2.14912278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.721400513 meters 0.08017619674835687 Centerline is valid? [True, True] Translation: X:380.71, Y:39.92, Z:-2.15 [[ 9.99704402e-01 -2.43083089e-02 -4.64037207e-04 3.80707354e+02] [ 2.43063123e-02 9.99696915e-01 -3.90915661e-03 3.99249478e+01] [ 5.58921551e-04 3.89672204e-03 9.99992252e-01 -2.15152888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.751400513 meters 0.07415596537008476 Centerline is valid? [True, True] Translation: X:380.74, Y:39.92, Z:-2.15 [[ 9.99737201e-01 -2.29189484e-02 5.00543946e-04 3.80738328e+02] [ 2.29169105e-02 9.99730321e-01 3.75519257e-03 3.99200963e+01] [-5.86474025e-04 -3.74273479e-03 9.99992824e-01 -2.14789239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.781400513 meters 0.07217110710100104 Centerline is valid? [True, True] Translation: X:380.77, Y:39.92, Z:-2.15 [[ 9.99761966e-01 -2.17265854e-02 1.99160402e-03 3.80767209e+02] [ 2.17262542e-02 9.99763939e-01 1.87790404e-04 3.99232101e+01] [-1.99521392e-03 -1.44475609e-04 9.99997999e-01 -2.14622157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.811400513 meters 0.07590595885945595 Centerline is valid? [True, True] Translation: X:380.79, Y:39.93, Z:-2.15 [[ 9.99780740e-01 -2.07080804e-02 3.10586485e-03 3.80794729e+02] [ 2.07072695e-02 9.99785539e-01 2.93022046e-04 3.99296536e+01] [-3.11126669e-03 -2.28643818e-04 9.99995134e-01 -2.14501999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.841400513 meters 0.07563087318939068 Centerline is valid? [True, True] Translation: X:380.82, Y:39.93, Z:-2.14 [[ 9.99815358e-01 -1.87670017e-02 4.12899148e-03 3.80824649e+02] [ 1.87655505e-02 9.99823836e-01 3.89937613e-04 3.99324274e+01] [-4.13558205e-03 -3.12382816e-04 9.99991400e-01 -2.14337730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.871400513 meters 0.07972464644525136 Centerline is valid? [True, True] Translation: X:380.86, Y:39.94, Z:-2.14 [[ 9.99824847e-01 -1.81516322e-02 4.56003769e-03 3.80855129e+02] [ 1.81498554e-02 9.99835185e-01 4.30717299e-04 3.99376954e+01] [-4.56710435e-03 -3.47877833e-04 9.99989510e-01 -2.14365279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.901400513 meters 0.07986052434280347 Centerline is valid? [True, True] Translation: X:380.88, Y:39.94, Z:-2.14 [[ 9.99844564e-01 -1.69546041e-02 4.83631214e-03 3.80884483e+02] [ 1.69525916e-02 9.99856190e-01 4.56812737e-04 3.99441662e+01] [-4.84336171e-03 -3.74753707e-04 9.99988201e-01 -2.14332615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.931400513 meters 0.08001605248366507 Centerline is valid? [True, True] Translation: X:380.92, Y:39.95, Z:-2.14 [[ 9.99866693e-01 -1.52018847e-02 5.95815854e-03 3.80915527e+02] [ 1.51987994e-02 9.99884333e-01 5.62773797e-04 3.99473239e+01] [-5.96602460e-03 -4.72141919e-04 9.99982092e-01 -2.14113794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.961400513 meters 0.07363663656204424 Centerline is valid? [True, True] Translation: X:380.95, Y:39.94, Z:-2.14 [[ 9.99869921e-01 -1.46550829e-02 6.73571676e-03 3.80947664e+02] [ 1.46511285e-02 9.99892464e-01 6.36058012e-04 3.99434179e+01] [-6.74431391e-03 -5.37289423e-04 9.99977113e-01 -2.14012255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99140051300003 meters 0.08342060961462212 Centerline is valid? [True, True] Translation: X:380.98, Y:39.96, Z:-2.14 [[ 9.99873487e-01 -1.41846990e-02 7.19754347e-03 3.80977660e+02] [ 1.41801747e-02 9.99899226e-01 6.79230316e-04 3.99592235e+01] [-7.20645282e-03 -5.77081961e-04 9.99973867e-01 -2.13950637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.021400513 meters 0.08282858627176252 Centerline is valid? [True, True] Translation: X:381.01, Y:39.96, Z:-2.14 [[ 9.99874525e-01 -1.39350666e-02 7.53319694e-03 3.81010034e+02] [ 1.39301057e-02 9.99902719e-01 7.10617634e-04 3.99623668e+01] [-7.54236660e-03 -6.05590239e-04 9.99971373e-01 -2.13948620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05140051300003 meters 0.08443043761048903 Centerline is valid? [True, True] Translation: X:381.04, Y:39.97, Z:-2.14 [[ 9.99882629e-01 -1.37407667e-02 6.77636063e-03 3.81040412e+02] [ 1.37367499e-02 9.99905442e-01 6.38959393e-04 3.99688587e+01] [-6.78449967e-03 -5.45799227e-04 9.99976836e-01 -2.14028564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.081400513 meters 0.0871588036560612 Centerline is valid? [True, True] Translation: X:381.07, Y:39.98, Z:-2.14 [[ 9.99895428e-01 -1.32038857e-02 5.89836784e-03 3.81070977e+02] [ 1.32008341e-02 9.99912711e-01 5.56000073e-04 3.99762444e+01] [-5.90519434e-03 -4.78078555e-04 9.99982450e-01 -2.14170432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11140051300004 meters 0.084562962759914 Centerline is valid? [True, True] Translation: X:381.10, Y:39.98, Z:-2.14 [[ 9.99906330e-01 -1.27760774e-02 4.90958647e-03 3.81102982e+02] [ 1.27739586e-02 9.99918303e-01 4.62674091e-04 3.99773153e+01] [-4.91509653e-03 -3.99915898e-04 9.99987841e-01 -2.14330489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.141400513 meters 0.08103842487745068 Centerline is valid? [True, True] Translation: X:381.13, Y:39.98, Z:-2.14 [[ 9.99928319e-01 -1.12901332e-02 3.98630663e-03 3.81134028e+02] [ 1.12887254e-02 9.99936210e-01 3.75477337e-04 3.99792902e+01] [-3.99029154e-03 -3.30450101e-04 9.99991984e-01 -2.14499006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.171400513 meters 0.08103842487745068 Centerline is valid? [True, True] Translation: X:381.17, Y:39.98, Z:-2.15 [[ 9.99928828e-01 -1.12448804e-02 3.98630512e-03 3.81165668e+02] [ 1.12434722e-02 9.99936720e-01 3.75493433e-04 3.99821936e+01] [-3.99027524e-03 -3.30646798e-04 9.99991984e-01 -2.14517460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.201400513 meters 0.08268453156606063 Centerline is valid? [True, True] Translation: X:381.20, Y:39.99, Z:-2.15 [[ 9.99936099e-01 -1.07647228e-02 3.45245332e-03 3.81195233e+02] [ 1.07636644e-02 9.99942017e-01 3.25004571e-04 3.99892921e+01] [-3.45575172e-03 -2.87822754e-04 9.99993987e-01 -2.14635101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.231400513 meters 0.07693209309240301 Centerline is valid? [True, True] Translation: X:381.23, Y:39.99, Z:-2.15 [[ 9.99936414e-01 -1.08384724e-02 3.11365667e-03 3.81227062e+02] [ 1.08376119e-02 9.99941228e-01 2.93113948e-04 3.99876065e+01] [-3.11665058e-03 -2.59350707e-04 9.99995110e-01 -2.14703002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.261400513 meters 0.08146492011317429 Centerline is valid? [True, True] Translation: X:381.26, Y:40.00, Z:-2.15 [[ 9.99917511e-01 -1.26750909e-02 2.07683839e-03 3.81256354e+02] [ 1.26747121e-02 9.99919654e-01 1.95420322e-04 4.00001689e+01] [-2.07914849e-03 -1.69080873e-04 9.99997824e-01 -2.14895879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.291400513 meters 0.07882731513610294 Centerline is valid? [True, True] Translation: X:381.29, Y:40.00, Z:-2.15 [[ 9.99893271e-01 -1.45260488e-02 1.56197396e-03 3.81286549e+02] [ 1.45258368e-02 9.99894484e-01 1.46969351e-04 4.00013431e+01] [-1.56394403e-03 -1.24264686e-04 9.99998769e-01 -2.14996133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.321400513 meters 0.08183596917442165 Centerline is valid? [True, True] Translation: X:381.32, Y:40.01, Z:-2.15 [[ 9.99853837e-01 -1.70482845e-02 1.28895344e-03 3.81315509e+02] [ 1.70481423e-02 9.99854663e-01 1.21225909e-04 4.00090024e+01] [-1.29083280e-03 -9.92339283e-05 9.99999162e-01 -2.15149895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.351400513 meters 0.08101527581913946 Centerline is valid? [True, True] Translation: X:381.34, Y:40.01, Z:-2.15 [[ 9.99701227e-01 -2.43647229e-02 1.95391379e-03 3.81344554e+02] [ 2.43644099e-02 9.99703127e-01 1.83860786e-04 4.00113010e+01] [-1.95781344e-03 -1.36199897e-04 9.99998074e-01 -2.15240767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.381400513 meters 0.07271954028886089 Centerline is valid? [True, True] Translation: X:381.38, Y:40.00, Z:-2.15 [[ 9.99608270e-01 -2.79017539e-02 2.19072761e-03 3.81375143e+02] [ 2.79013689e-02 9.99610660e-01 2.06116007e-04 4.00035324e+01] [-2.19562567e-03 -1.44910966e-04 9.99997579e-01 -2.15190284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.411400513 meters 0.06037209687798947 Centerline is valid? [True, True] Translation: X:381.41, Y:39.99, Z:-2.15 [[ 9.99461695e-01 -3.26980833e-02 2.67500448e-03 3.81406692e+02] [ 3.26975261e-02 9.99465261e-01 2.51777450e-04 3.99904355e+01] [-2.68180669e-03 -1.64175888e-04 9.99996390e-01 -2.14986325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.441400513 meters 0.07229666681889467 Centerline is valid? [True, True] Translation: X:381.43, Y:40.01, Z:-2.15 [[ 9.99416677e-01 -3.39739283e-02 3.47540716e-03 3.81433944e+02] [ 3.39729955e-02 9.99422698e-01 3.27102562e-04 4.00076395e+01] [-3.48451376e-03 -2.08841764e-04 9.99993907e-01 -2.14918637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.471400513 meters 0.05886280763746881 Centerline is valid? [True, True] Translation: X:381.46, Y:39.99, Z:-2.15 [[ 9.99384855e-01 -3.47618552e-02 4.63946398e-03 3.81464612e+02] [ 3.47602006e-02 9.99395586e-01 4.36833588e-04 3.99948564e+01] [-4.65184497e-03 -2.75296173e-04 9.99989142e-01 -2.14650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.501400513 meters 0.06082411785455925 Centerline is valid? [True, True] Translation: X:381.49, Y:40.00, Z:-2.14 [[ 9.99381315e-01 -3.46690174e-02 5.91996270e-03 3.81492768e+02] [ 3.46663180e-02 9.99398787e-01 5.58028837e-04 4.00012306e+01] [-5.93574985e-03 -3.52460284e-04 9.99982321e-01 -2.14477865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.531400513 meters 0.06704144502792567 Centerline is valid? [True, True] Translation: X:381.52, Y:40.00, Z:-2.14 [[ 9.99438746e-01 -3.28708228e-02 6.45769260e-03 3.81521653e+02] [ 3.28294921e-02 9.99440442e-01 6.40527441e-03 4.00016579e+01] [-6.66462578e-03 -6.18967666e-03 9.99958634e-01 -2.14407754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.561400513 meters 0.06211522145176292 Centerline is valid? [True, True] Translation: X:381.55, Y:40.01, Z:-2.15 [[ 9.99515000e-01 -3.05139959e-02 6.21784994e-03 3.81551903e+02] [ 3.05456452e-02 9.99520564e-01 -5.06029262e-03 4.00147984e+01] [-6.06045913e-03 5.24776662e-03 9.99967865e-01 -2.14616193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.591400513 meters 0.06832172727803468 Centerline is valid? [True, True] Translation: X:381.58, Y:40.02, Z:-2.15 [[ 9.99559553e-01 -2.92535971e-02 4.99262744e-03 3.81580786e+02] [ 2.92516096e-02 9.99571969e-01 4.70675260e-04 4.00207425e+01] [-5.00425939e-03 -3.24425564e-04 9.99987426e-01 -2.14686306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.621400513 meters 0.06231637778567628 Centerline is valid? [True, True] Translation: X:381.61, Y:40.02, Z:-2.15 [[ 9.99582068e-01 -2.85551870e-02 4.50451100e-03 3.81611792e+02] [ 2.85535617e-02 9.99592174e-01 4.24719589e-04 4.00171573e+01] [-4.51480189e-03 -2.95922252e-04 9.99989764e-01 -2.14757766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.651400513 meters 0.06834266036689152 Centerline is valid? [True, True] Translation: X:381.64, Y:40.03, Z:-2.15 [[ 9.99579448e-01 -2.87152598e-02 4.04490617e-03 3.81640770e+02] [ 2.87139506e-02 9.99587597e-01 3.81363412e-04 4.00280428e+01] [-4.05418899e-03 -2.65057793e-04 9.99991747e-01 -2.14852128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.681400513 meters 0.059457174831881114 Centerline is valid? [True, True] Translation: X:381.67, Y:40.01, Z:-2.15 [[ 9.99591429e-01 -2.82539291e-02 4.32314393e-03 3.81670546e+02] [ 2.82002748e-02 9.99530194e-01 1.20056646e-02 4.00088720e+01] [-4.66032009e-03 -1.18788456e-02 9.99918584e-01 -2.14711490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.711400513 meters 0.0716108929331463 Centerline is valid? [True, True] Translation: X:381.70, Y:40.04, Z:-2.15 [[ 9.99535824e-01 -2.97872597e-02 6.39191201e-03 3.81699446e+02] [ 2.98560853e-02 9.99494153e-01 -1.09567971e-02 4.00429976e+01] [-6.06230572e-03 1.11425487e-02 9.99919543e-01 -2.14975111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74140051300003 meters 0.061610786321377925 Centerline is valid? [True, True] Translation: X:381.73, Y:40.03, Z:-2.15 [[ 9.99520963e-01 -3.04880916e-02 5.32163987e-03 3.81731309e+02] [ 3.04858478e-02 9.99535072e-01 5.02260443e-04 4.00273839e+01] [-5.33447866e-03 -3.39785138e-04 9.99985714e-01 -2.14820012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.771400513 meters 0.06261111210656532 Centerline is valid? [True, True] Translation: X:381.76, Y:40.03, Z:-2.15 [[ 9.99491395e-01 -3.14860685e-02 5.05757603e-03 3.81759501e+02] [ 3.14840544e-02 9.99504140e-01 4.77375174e-04 4.00310174e+01] [-5.07009885e-03 -3.17899379e-04 9.99987096e-01 -2.14899783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80140051300003 meters 0.0657304833628531 Centerline is valid? [True, True] Translation: X:381.79, Y:40.04, Z:-2.15 [[ 9.99444646e-01 -3.28714011e-02 5.46536394e-03 3.81787617e+02] [ 3.28690686e-02 9.99459533e-01 5.16076197e-04 4.00374371e+01] [-5.47937424e-03 -3.36148170e-04 9.99984932e-01 -2.14884833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.831400513 meters 0.05613191502259746 Centerline is valid? [True, True] Translation: X:381.82, Y:40.02, Z:-2.15 [[ 9.99429586e-01 -3.29987815e-02 7.18209716e-03 3.81817173e+02] [ 3.29051476e-02 9.99376682e-01 1.27866249e-02 4.00173242e+01] [-7.59956347e-03 -1.25430033e-02 9.99892454e-01 -2.14569594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86140051300004 meters 0.07254829420676717 Centerline is valid? [True, True] Translation: X:381.85, Y:40.06, Z:-2.15 [[ 9.99376076e-01 -3.40940309e-02 9.22259347e-03 3.81845074e+02] [ 3.41964843e-02 9.99352491e-01 -1.11892154e-02 4.00609263e+01] [-8.83513631e-03 1.14976145e-02 9.99894867e-01 -2.14668429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.891400513 meters 0.05901112488345599 Centerline is valid? [True, True] Translation: X:381.88, Y:40.04, Z:-2.15 [[ 9.99381644e-01 -3.41662679e-02 8.30633175e-03 3.81877644e+02] [ 3.41609218e-02 9.99416037e-01 7.84687226e-04 4.00365583e+01] [-8.32829099e-03 -5.00450060e-04 9.99965194e-01 -2.14566559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.921400513 meters 0.07041772642638865 Centerline is valid? [True, True] Translation: X:381.91, Y:40.05, Z:-2.15 [[ 9.99399405e-01 -3.39837085e-02 6.77770253e-03 3.81906566e+02] [ 3.39801450e-02 9.99422303e-01 6.40269042e-04 4.00531826e+01] [-6.79554579e-03 -4.09577185e-04 9.99976826e-01 -2.14782735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.951400513 meters 0.06004557961540468 Centerline is valid? [True, True] Translation: X:381.94, Y:40.04, Z:-2.15 [[ 9.99412319e-01 -3.37898253e-02 5.76751102e-03 3.81936999e+02] [ 3.37872420e-02 9.99428900e-01 5.44778998e-04 4.00434315e+01] [-5.78262518e-03 -3.49590551e-04 9.99983219e-01 -2.14971623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.981400513 meters 0.06633570902835549 Centerline is valid? [True, True] Translation: X:381.96, Y:40.05, Z:-2.15 [[ 9.99417995e-01 -3.37417484e-02 5.01647801e-03 3.81964428e+02] [ 3.37397930e-02 9.99430539e-01 4.73937889e-04 4.00541079e+01] [-5.02961282e-03 -3.04407126e-04 9.99987305e-01 -2.15064102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.011400513 meters 0.06589660593937569 Centerline is valid? [True, True] Translation: X:381.99, Y:40.06, Z:-2.15 [[ 9.99426997e-01 -3.34728567e-02 5.02439439e-03 3.81994165e+02] [ 3.34708912e-02 9.99439580e-01 4.74802252e-04 4.00561567e+01] [-5.03747161e-03 -3.06359231e-04 9.99987265e-01 -2.15072611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.041400513 meters 0.0748642195080982 Centerline is valid? [True, True] Translation: X:382.02, Y:40.07, Z:-2.15 [[ 9.99475708e-01 -3.19479231e-02 5.25738711e-03 3.82021908e+02] [ 3.19457493e-02 9.99489481e-01 4.96944386e-04 4.00692829e+01] [-5.27057946e-03 -3.28732671e-04 9.99986056e-01 -2.15008873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.071400513 meters 0.06519042459633584 Centerline is valid? [True, True] Translation: X:382.05, Y:40.06, Z:-2.15 [[ 9.99515044e-01 -3.07321144e-02 5.02128601e-03 3.82052621e+02] [ 3.07301157e-02 9.99527606e-01 4.74733295e-04 4.00606790e+01] [-5.03350355e-03 -3.20198371e-04 9.99987281e-01 -2.15008587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.101400513 meters 0.06478409085468083 Centerline is valid? [True, True] Translation: X:382.08, Y:40.06, Z:-2.15 [[ 9.99590083e-01 -2.81731508e-02 5.09308419e-03 3.82082441e+02] [ 2.81710608e-02 9.99603001e-01 4.81653602e-04 4.00641533e+01] [-5.10463194e-03 -3.37978580e-04 9.99986914e-01 -2.14941829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.131400513 meters 0.06472788024499476 Centerline is valid? [True, True] Translation: X:382.11, Y:40.07, Z:-2.15 [[ 9.99613123e-01 -2.73453313e-02 5.08301978e-03 3.82112158e+02] [ 2.73432388e-02 9.99625988e-01 4.80718882e-04 4.00672484e+01] [-5.09426409e-03 -3.41546680e-04 9.99986966e-01 -2.14889993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.161400513 meters 0.07177168834757311 Centerline is valid? [True, True] Translation: X:382.14, Y:40.08, Z:-2.15 [[ 9.99631758e-01 -2.66130224e-02 5.30052075e-03 3.82141015e+02] [ 2.66107364e-02 9.99645746e-01 5.01353717e-04 4.00790852e+01] [-5.31198555e-03 -3.60118337e-04 9.99985826e-01 -2.14869391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.191400513 meters 0.07067423451690025 Centerline is valid? [True, True] Translation: X:382.17, Y:40.08, Z:-2.15 [[ 9.99640795e-01 -2.62657555e-02 5.32835723e-03 3.82170932e+02] [ 2.62634402e-02 9.99654929e-01 5.04049091e-04 4.00812151e+01] [-5.33975780e-03 -3.63927042e-04 9.99985677e-01 -2.14818949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.221400513 meters 0.07154958249110878 Centerline is valid? [True, True] Translation: X:382.20, Y:40.09, Z:-2.15 [[ 9.99620954e-01 -2.66867908e-02 6.76481528e-03 3.82199956e+02] [ 2.66830677e-02 9.99643739e-01 6.40029090e-04 4.00869813e+01] [-6.77948556e-03 -4.59280466e-04 9.99976914e-01 -2.14547525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.251400513 meters 0.0734152797626539 Centerline is valid? [True, True] Translation: X:382.23, Y:40.09, Z:-2.14 [[ 9.99583872e-01 -2.77225241e-02 7.97146794e-03 3.82230071e+02] [ 2.77173874e-02 9.99615515e-01 7.54151490e-04 4.00928054e+01] [-7.98931001e-03 -5.32889402e-04 9.99967943e-01 -2.14416563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.281400513 meters 0.0691687107047973 Centerline is valid? [True, True] Translation: X:382.26, Y:40.09, Z:-2.14 [[ 9.99524822e-01 -2.95411119e-02 8.80074201e-03 3.82261386e+02] [ 2.95349246e-02 9.99563403e-01 8.32209864e-04 4.00909354e+01] [-8.82148403e-03 -5.71885164e-04 9.99960926e-01 -2.14348653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.311400513 meters 0.06411936158258992 Centerline is valid? [True, True] Translation: X:382.29, Y:40.09, Z:-2.14 [[ 9.99444094e-01 -3.21108427e-02 8.96644416e-03 3.82292127e+02] [ 3.21045240e-02 9.99484157e-01 8.47792537e-04 4.00874588e+01] [-8.98904222e-03 -5.59457822e-04 9.99959441e-01 -2.14369957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.341400513 meters 0.056131609812394116 Centerline is valid? [True, True] Translation: X:382.32, Y:40.08, Z:-2.15 [[ 9.99153389e-01 -4.04220262e-02 7.65271559e-03 3.82323948e+02] [ 4.04176667e-02 9.99182610e-01 7.23532158e-04 4.00784154e+01] [-7.67570697e-03 -4.13614700e-04 9.99970456e-01 -2.14545644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.371400513 meters 0.0517788015543176 Centerline is valid? [True, True] Translation: X:382.35, Y:40.07, Z:-2.15 [[ 9.98932040e-01 -4.56483451e-02 7.14195964e-03 3.82353477e+02] [ 4.56446814e-02 9.98957510e-01 6.75225767e-04 4.00741220e+01] [-7.16533716e-03 -3.48512181e-04 9.99974268e-01 -2.14600787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.401400513 meters 0.04714340971843528 Centerline is valid? [True, True] Translation: X:382.38, Y:40.07, Z:-2.15 [[ 9.98685630e-01 -5.07135112e-02 7.42648463e-03 3.82384057e+02] [ 5.07096884e-02 9.98713189e-01 7.02275979e-04 4.00692730e+01] [-7.45254303e-03 -3.24758207e-04 9.99972177e-01 -2.14603115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.431400513 meters 0.03478898701930472 Centerline is valid? [True, True] Translation: X:382.42, Y:40.05, Z:-2.15 [[ 9.98214673e-01 -5.91682780e-02 8.15979924e-03 3.82416623e+02] [ 5.91639434e-02 9.98247981e-01 7.71793859e-04 4.00521599e+01] [-8.19116883e-03 -2.87650053e-04 9.99966410e-01 -2.14588959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.461400513 meters 0.03607655653325513 Centerline is valid? [True, True] Translation: X:382.45, Y:40.05, Z:-2.14 [[ 9.98038993e-01 -6.19425763e-02 9.01588019e-03 3.82445750e+02] [ 6.19373957e-02 9.98079672e-01 8.52954423e-04 4.00539247e+01] [-9.05140093e-03 -2.92861634e-04 9.99958992e-01 -2.14461173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49140051300003 meters 0.03065279119120155 Centerline is valid? [True, True] Translation: X:382.48, Y:40.05, Z:-2.14 [[ 9.97912969e-01 -6.39081490e-02 9.24415796e-03 3.82475656e+02] [ 6.39027842e-02 9.97955745e-01 8.74857689e-04 4.00469183e+01] [-9.28117108e-03 -2.82304403e-04 9.99956889e-01 -2.14442192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.521400513 meters 0.0317566578442023 Centerline is valid? [True, True] Translation: X:382.50, Y:40.05, Z:-2.14 [[ 9.97824573e-01 -6.53201883e-02 8.91037268e-03 3.82504343e+02] [ 6.53152531e-02 9.97864322e-01 8.44050510e-04 4.00453801e+01] [-8.94647653e-03 -2.60231092e-04 9.99959946e-01 -2.14404722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55140051300003 meters 0.030014379520025645 Centerline is valid? [True, True] Translation: X:382.53, Y:40.04, Z:-2.15 [[ 9.97838763e-01 -6.51944854e-02 8.21473435e-03 3.82533115e+02] [ 6.51902758e-02 9.97872547e-01 7.79453006e-04 4.00436917e+01] [-8.24807393e-03 -2.42247625e-04 9.99965955e-01 -2.14530292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.581400513 meters 0.038948615849721 Centerline is valid? [True, True] Translation: X:382.56, Y:40.05, Z:-2.15 [[ 9.97866434e-01 -6.48364615e-02 7.66896612e-03 3.82560799e+02] [ 6.48327738e-02 9.97895877e-01 7.28753506e-04 4.00459592e+01] [-7.70007946e-03 -2.29998317e-04 9.99970327e-01 -2.14662591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61140051300004 meters 0.03190559455303902 Centerline is valid? [True, True] Translation: X:382.59, Y:40.05, Z:-2.15 [[ 9.97886472e-01 -6.45893941e-02 7.12738456e-03 3.82590062e+02] [ 6.45861975e-02 9.97911902e-01 6.78005654e-04 4.00476652e+01] [-7.15629386e-03 -2.16242003e-04 9.99974370e-01 -2.14768262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.641400513 meters 0.03347205137605127 Centerline is valid? [True, True] Translation: X:382.62, Y:40.05, Z:-2.15 [[ 9.97887171e-01 -6.47720467e-02 5.07708570e-03 3.82617461e+02] [ 6.47704237e-02 9.97900074e-01 4.83609138e-04 4.00497755e+01] [-5.09774855e-03 -1.53742363e-04 9.99986995e-01 -2.15037030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.671400513 meters 0.03113316293355745 Centerline is valid? [True, True] Translation: X:382.65, Y:40.05, Z:-2.15 [[ 9.97868920e-01 -6.51495905e-02 3.62617678e-03 3.82645562e+02] [ 6.51487658e-02 9.97875503e-01 3.45227892e-04 4.00491896e+01] [-3.64096443e-03 -1.08251242e-04 9.99993366e-01 -2.15178839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.701400513 meters 0.030950062310857857 Centerline is valid? [True, True] Translation: X:382.67, Y:40.05, Z:-2.16 [[ 9.97822039e-01 -6.59607797e-02 5.94387889e-04 3.82672828e+02] [ 6.59607578e-02 9.97822216e-01 5.64597278e-05 4.00529053e+01] [-5.96817568e-04 -1.71304852e-05 9.99999822e-01 -2.15681668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.731400513 meters 0.032123553296858884 Centerline is valid? [True, True] Translation: X:382.70, Y:40.05, Z:-2.16 [[ 9.97709970e-01 -6.76370725e-02 -2.04635844e-04 3.82701895e+02] [ 6.76370697e-02 9.97709991e-01 -2.05603532e-05 4.00544630e+01] [ 2.05557868e-04 6.67230056e-06 9.99999979e-01 -2.15855378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.761400513 meters 0.02872868712762236 Centerline is valid? [True, True] Translation: X:382.73, Y:40.06, Z:-2.16 [[ 9.97536061e-01 -7.01553771e-02 1.75635363e-04 3.82730286e+02] [ 7.01553752e-02 9.97536076e-01 1.65472612e-05 4.00569032e+01] [-1.76363491e-04 -4.18472494e-06 9.99999984e-01 -2.15872788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.791400513 meters 0.028946192608868437 Centerline is valid? [True, True] Translation: X:382.76, Y:40.05, Z:-2.16 [[ 9.97305914e-01 -7.33415566e-02 1.38941889e-03 3.82759976e+02] [ 7.33414433e-02 9.97306881e-01 1.32377964e-04 4.00523614e+01] [-1.39538583e-03 -3.01193394e-05 9.99999026e-01 -2.15632958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.821400513 meters 0.02440493136728994 Centerline is valid? [True, True] Translation: X:382.79, Y:40.05, Z:-2.15 [[ 9.96784907e-01 -8.00825941e-02 2.57449434e-03 3.82789710e+02] [ 8.00822234e-02 9.96788231e-01 2.46915835e-04 4.00465251e+01] [-2.58599932e-03 -3.99507466e-05 9.99996656e-01 -2.15411536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.851400513 meters 0.014509818748700606 Centerline is valid? [True, True] Translation: X:382.82, Y:40.04, Z:-2.15 [[ 9.96444381e-01 -8.41917766e-02 3.21566594e-03 3.82819100e+02] [ 8.41912195e-02 9.96449569e-01 3.08462470e-04 4.00433660e+01] [-3.23021895e-03 -3.66348576e-05 9.99994782e-01 -2.15314559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.881400513 meters 0.010795238655399718 Centerline is valid? [True, True] Translation: X:382.85, Y:40.04, Z:-2.15 [[ 9.96049431e-01 -8.86948852e-02 4.33005075e-03 3.82847659e+02] [ 8.86939164e-02 9.96058842e-01 4.15638297e-04 4.00402274e+01] [-4.34985032e-03 -2.99471306e-05 9.99990539e-01 -2.15224081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.911400513 meters 0.007955603909359243 Centerline is valid? [True, True] Translation: X:382.88, Y:40.04, Z:-2.15 [[ 9.95626758e-01 -9.32512864e-02 5.61747736e-03 3.82876730e+02] [ 9.32497261e-02 9.95642605e-01 5.39618417e-04 4.00368935e+01] [-5.64331990e-03 -1.34303100e-05 9.99984076e-01 -2.15126851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.941400513 meters 0.012144154315310934 Centerline is valid? [True, True] Translation: X:382.90, Y:40.03, Z:-2.15 [[ 9.95134296e-01 -9.83124221e-02 6.51156484e-03 3.82904563e+02] [ 9.83104255e-02 9.95155600e-01 6.26777081e-04 4.00324887e+01] [-6.54164018e-03 1.64273407e-05 9.99978603e-01 -2.15012840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.971400513 meters 0.007712586498698861 Centerline is valid? [True, True] Translation: X:382.93, Y:40.04, Z:-2.15 [[ 9.95148526e-01 -9.81707847e-02 6.47373406e-03 3.82932547e+02] [ 9.81688001e-02 9.95169582e-01 6.24375244e-04 4.00356369e+01] [-6.50375862e-03 1.41726013e-05 9.99978850e-01 -2.14991111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.001400513 meters 0.0221356452552255 Centerline is valid? [True, True] Translation: X:382.96, Y:40.04, Z:-2.15 [[ 9.95263950e-01 -9.70236693e-02 6.00637667e-03 3.82959460e+02] [ 9.70219337e-02 9.95282074e-01 5.80364119e-04 4.00402923e+01] [-6.03434809e-03 5.13479379e-06 9.99981793e-01 -2.15068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.031400513 meters 0.02419153628766538 Centerline is valid? [True, True] Translation: X:382.99, Y:40.05, Z:-2.15 [[ 9.95447765e-01 -9.51000308e-02 6.30332445e-03 3.82986714e+02] [ 9.50980769e-02 9.95467721e-01 6.09659958e-04 4.00470792e+01] [-6.33273471e-03 -7.45060877e-06 9.99979948e-01 -2.15043966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.061400513 meters 0.0074879696340657284 Centerline is valid? [True, True] Translation: X:383.01, Y:40.05, Z:-2.15 [[ 9.95406168e-01 -9.54963597e-02 6.85611896e-03 3.83014928e+02] [ 9.54940476e-02 9.95429779e-01 6.64556171e-04 4.00494791e+01] [-6.88824768e-03 -6.78476046e-06 9.99976276e-01 -2.14962218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.091400513 meters 0.0074879696340657284 Centerline is valid? [True, True] Translation: X:383.04, Y:40.05, Z:-2.15 [[ 9.95387509e-01 -9.56906572e-02 6.85598890e-03 3.83042314e+02] [ 9.56883404e-02 9.95411120e-01 6.65895468e-04 4.00522946e+01] [-6.88824757e-03 -6.78583135e-06 9.99976276e-01 -2.14978383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.121400513 meters 0.007511748654309175 Centerline is valid? [True, True] Translation: X:383.07, Y:40.05, Z:-2.15 [[ 9.95281344e-01 -9.67456397e-02 7.43827614e-03 3.83069369e+02] [ 9.67429318e-02 9.95309139e-01 7.23837898e-04 4.00528294e+01] [-7.47341237e-03 -8.21715111e-07 9.99972074e-01 -2.14983099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.151400513 meters 0.008797038623958503 Centerline is valid? [True, True] Translation: X:383.10, Y:40.05, Z:-2.15 [[ 9.94817951e-01 -1.01364732e-01 7.90165658e-03 3.83098791e+02] [ 1.01361815e-01 9.94849330e-01 7.69802504e-04 4.00456087e+01] [-7.93898858e-03 3.51129022e-05 9.99968485e-01 -2.15000119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.181400513 meters 0.01044610294557179 Centerline is valid? [True, True] Translation: X:383.13, Y:40.04, Z:-2.15 [[ 9.94566097e-01 -1.03832504e-01 7.55572267e-03 3.83126637e+02] [ 1.03829900e-01 9.94594796e-01 7.37128450e-04 4.00428315e+01] [-7.59142035e-03 5.13869652e-05 9.99971183e-01 -2.15049215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.211400513 meters 0.012101319976052047 Centerline is valid? [True, True] Translation: X:383.16, Y:40.04, Z:-2.15 [[ 9.94331286e-01 -1.06111547e-01 6.75518189e-03 3.83155996e+02] [ 1.06109516e-01 9.94354231e-01 6.59485729e-04 4.00413738e+01] [-6.78702275e-03 6.10417847e-05 9.99976966e-01 -2.15197183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24140051300003 meters 0.013854280859256442 Centerline is valid? [True, True] Translation: X:383.18, Y:40.04, Z:-2.15 [[ 9.94142999e-01 -1.07936485e-01 5.42329125e-03 3.83183612e+02] [ 1.07935199e-01 9.94157790e-01 5.30190039e-04 4.00404209e+01] [-5.44883409e-03 5.82793041e-05 9.99985153e-01 -2.15399628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.271400513 meters 0.01458038422109114 Centerline is valid? [True, True] Translation: X:383.21, Y:40.04, Z:-2.16 [[ 9.94093720e-01 -1.08468493e-01 3.50163108e-03 3.83212050e+02] [ 1.08467959e-01 9.94099887e-01 3.42577305e-04 4.00401107e+01] [-3.51812990e-03 3.92608293e-05 9.99993811e-01 -2.15664176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30140051300003 meters 0.013214808985794305 Centerline is valid? [True, True] Translation: X:383.24, Y:40.04, Z:-2.16 [[ 9.94143743e-01 -1.08009444e-01 3.48986377e-03 3.83239411e+02] [ 1.08008911e-01 9.94149867e-01 3.41309548e-04 4.00435980e+01] [-3.50631226e-03 3.76256339e-05 9.99993852e-01 -2.15670532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.331400513 meters 0.01183035802250246 Centerline is valid? [True, True] Translation: X:383.27, Y:40.05, Z:-2.16 [[ 9.94227018e-01 -1.07220410e-01 4.05209205e-03 3.83267803e+02] [ 1.07219682e-01 9.94235275e-01 3.97298281e-04 4.00479760e+01] [-4.07133134e-03 3.94593343e-05 9.99991711e-01 -2.15534427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36140051300004 meters 0.010913089835093412 Centerline is valid? [True, True] Translation: X:383.30, Y:40.05, Z:-2.15 [[ 9.94385086e-01 -1.05683841e-01 5.40623675e-03 3.83295677e+02] [ 1.05682513e-01 9.94399781e-01 5.31408753e-04 4.00526323e+01] [-5.43212196e-03 4.29197498e-05 9.99985245e-01 -2.15341022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.391400513 meters 0.01049421675428997 Centerline is valid? [True, True] Translation: X:383.32, Y:40.06, Z:-2.15 [[ 9.94409217e-01 -1.05444366e-01 5.63865682e-03 3.83323334e+02] [ 1.05442916e-01 9.94425203e-01 5.54591184e-04 4.00553523e+01] [-5.66570096e-03 4.30658336e-05 9.99983949e-01 -2.15313909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.421400513 meters 0.011267162300889763 Centerline is valid? [True, True] Translation: X:383.35, Y:40.06, Z:-2.15 [[ 9.94382393e-01 -1.05692950e-01 5.71465117e-03 3.83350357e+02] [ 1.05691458e-01 9.94398813e-01 5.63212288e-04 4.00552341e+01] [-5.74216991e-03 4.39414343e-05 9.99983513e-01 -2.15298032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.451400513 meters 0.0113886696435855 Centerline is valid? [True, True] Translation: X:383.38, Y:40.06, Z:-2.15 [[ 9.94270303e-01 -1.06739035e-01 5.77441148e-03 3.83379515e+02] [ 1.06737527e-01 9.94287069e-01 5.69588867e-04 4.00564674e+01] [-5.80222003e-03 5.00211080e-05 9.99983166e-01 -2.15297890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.481400513 meters 0.01817584836444326 Centerline is valid? [True, True] Translation: X:383.41, Y:40.06, Z:-2.15 [[ 9.93985208e-01 -1.09368153e-01 5.65810970e-03 3.83408479e+02] [ 1.09366743e-01 9.94001309e-01 5.59062004e-04 4.00554382e+01] [-5.68531203e-03 6.31096650e-05 9.99983836e-01 -2.15384151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.511400513 meters 0.01557157482468471 Centerline is valid? [True, True] Translation: X:383.44, Y:40.05, Z:-2.16 [[ 9.93919135e-01 -1.09997938e-01 5.02065859e-03 3.83436434e+02] [ 1.09996832e-01 9.93931814e-01 4.96911313e-04 4.00549820e+01] [-5.04485152e-03 5.83668744e-05 9.99987273e-01 -2.15516551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.541400513 meters 0.013241198862199587 Centerline is valid? [True, True] Translation: X:383.46, Y:40.06, Z:-2.16 [[ 9.93918869e-01 -1.10052527e-01 3.70457389e-03 3.83463835e+02] [ 1.10051925e-01 9.93925772e-01 3.66644851e-04 4.00594191e+01] [-3.72242165e-03 4.32802515e-05 9.99993071e-01 -2.15660100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.571400513 meters 0.014104921844220436 Centerline is valid? [True, True] Translation: X:383.49, Y:40.06, Z:-2.16 [[ 9.94066131e-01 -1.08717679e-01 3.60474372e-03 3.83492749e+02] [ 1.08717099e-01 9.94072666e-01 3.57084596e-04 4.00555957e+01] [-3.62219861e-03 3.69315765e-05 9.99993439e-01 -2.15728619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.601400513 meters 0.011449716433308896 Centerline is valid? [True, True] Translation: X:383.52, Y:40.06, Z:-2.16 [[ 9.94204335e-01 -1.07416017e-01 4.42036800e-03 3.83521631e+02] [ 1.07415127e-01 9.94214161e-01 4.38902992e-04 4.00603745e+01] [-4.44193768e-03 3.84551331e-05 9.99990134e-01 -2.15501958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.631400513 meters 0.022748777143579625 Centerline is valid? [True, True] Translation: X:383.55, Y:40.07, Z:-2.15 [[ 9.94446642e-01 -1.05124234e-01 4.97709569e-03 3.83550008e+02] [ 1.05123072e-01 9.94459096e-01 4.95148191e-04 4.00651532e+01] [-5.00157015e-03 3.08091323e-05 9.99987492e-01 -2.15480288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.661400513 meters 0.007681434263322384 Centerline is valid? [True, True] Translation: X:383.58, Y:40.07, Z:-2.15 [[ 9.94817454e-01 -1.01539731e-01 5.28361385e-03 3.83578004e+02] [ 1.01538366e-01 9.94831485e-01 5.26605832e-04 4.00720534e+01] [-5.30977682e-03 1.26128437e-05 9.99985903e-01 -2.15449566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.691400513 meters 0.025371044065258502 Centerline is valid? [True, True] Translation: X:383.60, Y:40.09, Z:-2.16 [[ 9.95753233e-01 -9.19264831e-02 5.00205341e-03 3.83604482e+02] [ 9.19251340e-02 9.95765796e-01 4.99448503e-04 4.00852362e+01] [-5.02678624e-03 -3.75130317e-05 9.99987365e-01 -2.15519012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.721400513 meters 0.01486623529686217 Centerline is valid? [True, True] Translation: X:383.63, Y:40.09, Z:-2.15 [[ 9.96157424e-01 -8.74085442e-02 5.48926386e-03 3.83632472e+02] [ 8.74068490e-02 9.96172546e-01 5.48428872e-04 4.00933234e+01] [-5.51619133e-03 -6.65222348e-05 9.99984783e-01 -2.15398620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.751400513 meters 0.017139517452352513 Centerline is valid? [True, True] Translation: X:383.66, Y:40.10, Z:-2.15 [[ 9.96490252e-01 -8.35250008e-02 5.54539546e-03 3.83660461e+02] [ 8.35232053e-02 9.96505678e-01 5.54988870e-04 4.00986096e+01] [-5.57237350e-03 -8.98717956e-05 9.99984470e-01 -2.15352255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.781400513 meters 0.025322788605174198 Centerline is valid? [True, True] Translation: X:383.69, Y:40.11, Z:-2.15 [[ 9.97020135e-01 -7.69732826e-02 5.09548475e-03 3.83688621e+02] [ 7.69716795e-02 9.97033149e-01 5.10279736e-04 4.01104036e+01] [-5.11964511e-03 -1.16551153e-04 9.99986888e-01 -2.15437309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.811400513 meters 0.025401941915707466 Centerline is valid? [True, True] Translation: X:383.72, Y:40.11, Z:-2.16 [[ 9.97176491e-01 -7.49649945e-02 4.39273819e-03 3.83716856e+02] [ 7.49637837e-02 9.97186160e-01 4.39865724e-04 4.01119799e+01] [-4.41335226e-03 -1.09327484e-04 9.99990255e-01 -2.15562895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.841400513 meters 0.025838545020469127 Centerline is valid? [True, True] Translation: X:383.75, Y:40.11, Z:-2.16 [[ 9.97250617e-01 -7.39898550e-02 4.08766084e-03 3.83746031e+02] [ 7.39887982e-02 9.97258989e-01 4.09344446e-04 4.01138720e+01] [-4.10674385e-03 -1.05777888e-04 9.99991562e-01 -2.15647493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.871400513 meters 0.026897012961504638 Centerline is valid? [True, True] Translation: X:383.77, Y:40.11, Z:-2.15 [[ 9.97295184e-01 -7.32771140e-02 5.72543729e-03 3.83773980e+02] [ 7.32750211e-02 9.97311607e-01 5.74738118e-04 4.01132153e+01] [-5.75216021e-03 -1.53652019e-04 9.99983444e-01 -2.15438794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.901400513 meters 0.026907755492914097 Centerline is valid? [True, True] Translation: X:383.80, Y:40.11, Z:-2.15 [[ 9.97272442e-01 -7.35094329e-02 6.63624941e-03 3.83802545e+02] [ 7.35066226e-02 9.97294506e-01 6.66729224e-04 4.01128153e+01] [-6.66730596e-03 -1.77102400e-04 9.99977758e-01 -2.15310444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.931400513 meters 0.02740776934486376 Centerline is valid? [True, True] Translation: X:383.83, Y:40.11, Z:-2.15 [[ 9.97237221e-01 -7.39773012e-02 6.72938273e-03 3.83831107e+02] [ 7.39744132e-02 9.97259910e-01 6.77401837e-04 4.01101381e+01] [-6.76105597e-03 -1.77728187e-04 9.99977128e-01 -2.15387849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.961400513 meters 0.03046698588490203 Centerline is valid? [True, True] Translation: X:383.86, Y:40.11, Z:-2.16 [[ 9.97323209e-01 -7.28329919e-02 6.46315289e-03 3.83859288e+02] [ 7.28302963e-02 9.97344135e-01 6.51767855e-04 4.01122464e+01] [-6.49345783e-03 -1.79309869e-04 9.99978901e-01 -2.15563324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99140051300003 meters 0.030071951321557478 Centerline is valid? [True, True] Translation: X:383.89, Y:40.11, Z:-2.16 [[ 9.97445860e-01 -7.10977719e-02 6.84560600e-03 3.83888229e+02] [ 7.10947019e-02 9.97469331e-01 6.91069831e-04 4.01109655e+01] [-6.87741556e-03 -2.02618425e-04 9.99976330e-01 -2.15572724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.021400513 meters 0.03452792630195022 Centerline is valid? [True, True] Translation: X:383.92, Y:40.12, Z:-2.15 [[ 9.97594929e-01 -6.88974998e-02 7.58238404e-03 3.83915996e+02] [ 6.88936611e-02 9.97623715e-01 7.66604879e-04 4.01156694e+01] [-7.61718329e-03 -2.42382943e-04 9.99970959e-01 -2.15468558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05140051300003 meters 0.03610837317403891 Centerline is valid? [True, True] Translation: X:383.95, Y:40.12, Z:-2.15 [[ 9.97744076e-01 -6.66553084e-02 7.98924232e-03 3.83945606e+02] [ 6.66509722e-02 9.97776024e-01 8.08077935e-04 4.01171662e+01] [-8.02533712e-03 -2.73764205e-04 9.99967759e-01 -2.15394336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.081400513 meters 0.039283163168285715 Centerline is valid? [True, True] Translation: X:383.98, Y:40.12, Z:-2.16 [[ 9.98059523e-01 -6.19313579e-02 6.45723810e-03 3.83975772e+02] [ 6.19284258e-02 9.98080379e-01 6.53232893e-04 4.01172833e+01] [-6.48529826e-03 -2.52078719e-04 9.99978938e-01 -2.15710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.111400513 meters 0.04172330434128127 Centerline is valid? [True, True] Translation: X:384.00, Y:40.12, Z:-2.16 [[ 9.98221647e-01 -5.94124873e-02 4.86827070e-03 3.84004892e+02] [ 5.94107909e-02 9.98233497e-01 4.92469185e-04 4.01197812e+01] [-4.88892970e-03 -2.02365588e-04 9.99988029e-01 -2.16042462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.141400513 meters 0.04323567262621275 Centerline is valid? [True, True] Translation: X:384.04, Y:40.12, Z:-2.16 [[ 9.98375970e-01 -5.68709153e-02 3.33479024e-03 3.84035239e+02] [ 5.68701048e-02 9.98381529e-01 3.37453316e-04 4.01211497e+01] [-3.34858426e-03 -1.47255411e-04 9.99994383e-01 -2.16321423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.171400513 meters 0.04628407391550773 Centerline is valid? [True, True] Translation: X:384.06, Y:40.12, Z:-2.17 [[ 9.98508891e-01 -5.45229984e-02 2.69021288e-03 3.84064045e+02] [ 5.45224624e-02 9.98512507e-01 2.72209245e-04 4.01244037e+01] [-2.70105287e-03 -1.25126321e-04 9.99996344e-01 -2.16528441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.201400513 meters 0.05323623348309088 Centerline is valid? [True, True] Translation: X:384.09, Y:40.13, Z:-2.17 [[ 9.98719797e-01 -5.05372377e-02 2.18047140e-03 3.84094464e+02] [ 5.05368759e-02 9.98722171e-01 2.20739361e-04 4.01258997e+01] [-2.18884069e-03 -1.10262557e-04 9.99997598e-01 -2.16609958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.231400513 meters 0.054290561155637705 Centerline is valid? [True, True] Translation: X:384.12, Y:40.13, Z:-2.17 [[ 9.98825050e-01 -4.83723422e-02 2.93876916e-03 3.84123573e+02] [ 4.83716757e-02 9.98829361e-01 2.97475887e-04 4.01318661e+01] [-2.94971853e-03 -1.54973179e-04 9.99995638e-01 -2.16555808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.261400513 meters 0.05353500718404842 Centerline is valid? [True, True] Translation: X:384.15, Y:40.13, Z:-2.17 [[ 9.98943702e-01 -4.58628279e-02 2.84270827e-03 3.84154420e+02] [ 4.58621941e-02 9.98947735e-01 2.87781794e-04 4.01293215e+01] [-2.85291547e-03 -1.57104973e-04 9.99995918e-01 -2.16515532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.291400513 meters 0.06097951264506507 Centerline is valid? [True, True] Translation: X:384.18, Y:40.14, Z:-2.17 [[ 9.99173152e-01 -4.05618327e-02 2.78378005e-03 3.84182619e+02] [ 4.05612043e-02 9.99177016e-01 2.81815757e-04 4.01388640e+01] [-2.79292000e-03 -1.68669267e-04 9.99996086e-01 -2.16609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.321400513 meters 0.06367234946328121 Centerline is valid? [True, True] Translation: X:384.21, Y:40.14, Z:-2.17 [[ 9.99248671e-01 -3.87303223e-02 1.43369972e-03 3.84213084e+02] [ 3.87301536e-02 9.99249696e-01 1.45206623e-04 4.01416923e+01] [-1.43824791e-03 -8.95701149e-05 9.99998962e-01 -2.16836419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.351400513 meters 0.060129105970567163 Centerline is valid? [True, True] Translation: X:384.24, Y:40.14, Z:-2.17 [[ 9.99304072e-01 -3.72859626e-02 1.06246139e-03 3.84242559e+02] [ 3.72858693e-02 9.99304634e-01 1.07440255e-04 4.01401933e+01] [-1.06572860e-03 -6.77506881e-05 9.99999430e-01 -2.16885553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.381400513 meters 0.07190464105600643 Centerline is valid? [True, True] Translation: X:384.27, Y:40.16, Z:-2.17 [[ 9.99340242e-01 -3.62773314e-02 1.74247639e-03 3.84269771e+02] [ 3.62770788e-02 9.99341755e-01 1.76398387e-04 4.01552029e+01] [-1.74772868e-03 -1.13070053e-04 9.99998466e-01 -2.16916746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.411400513 meters 0.06330819810588323 Centerline is valid? [True, True] Translation: X:384.30, Y:40.14, Z:-2.17 [[ 9.99320829e-01 -3.66516709e-02 3.81258437e-03 3.84300319e+02] [ 3.66504636e-02 9.99328071e-01 3.86070221e-04 4.01358583e+01] [-3.82417271e-03 -2.46075029e-04 9.99992658e-01 -2.16546268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.441400513 meters 0.05616771128138332 Centerline is valid? [True, True] Translation: X:384.33, Y:40.14, Z:-2.16 [[ 9.99264926e-01 -3.80783403e-02 4.43261576e-03 3.84330552e+02] [ 3.80767176e-02 9.99274718e-01 4.49934315e-04 4.01358094e+01] [-4.44653362e-03 -2.80824121e-04 9.99990075e-01 -2.16451741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.471400513 meters 0.056969308912032876 Centerline is valid? [True, True] Translation: X:384.36, Y:40.14, Z:-2.17 [[ 9.99171702e-01 -4.04509783e-02 4.43040997e-03 3.84359155e+02] [ 4.04493797e-02 9.99181488e-01 4.49869082e-04 4.01374012e+01] [-4.44498127e-03 -2.70289121e-04 9.99990084e-01 -2.16525363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.501400513 meters 0.05624119128635117 Centerline is valid? [True, True] Translation: X:384.39, Y:40.13, Z:-2.17 [[ 9.98937654e-01 -4.59083688e-02 3.99814185e-03 3.84389223e+02] [ 4.59071102e-02 9.98945630e-01 4.06054179e-04 4.01291653e+01] [-4.01256762e-03 -2.22079671e-04 9.99991925e-01 -2.16670107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.531400513 meters 0.05883915434731896 Centerline is valid? [True, True] Translation: X:384.42, Y:40.13, Z:-2.17 [[ 9.98849807e-01 -4.77556924e-02 4.29607476e-03 3.84417989e+02] [ 4.77542558e-02 9.98859019e-01 4.36409537e-04 4.01278025e+01] [-4.31201406e-03 -2.30751729e-04 9.99990677e-01 -2.16608195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.561400513 meters 0.05538720181186715 Centerline is valid? [True, True] Translation: X:384.45, Y:40.13, Z:-2.17 [[ 9.98809400e-01 -4.85302446e-02 4.95960697e-03 3.84446387e+02] [ 4.85283386e-02 9.98821679e-01 5.03996040e-04 4.01270866e+01] [-4.97822201e-03 -2.62714496e-04 9.99987574e-01 -2.16520908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.591400513 meters 0.05353850548401047 Centerline is valid? [True, True] Translation: X:384.48, Y:40.12, Z:-2.16 [[ 9.98968163e-01 -4.51189976e-02 5.18511129e-03 3.84477868e+02] [ 4.51168667e-02 9.98981577e-01 5.27254541e-04 4.01223063e+01] [-5.20361985e-03 -2.92774525e-04 9.99986418e-01 -2.16415681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.621400513 meters 0.056747464221224626 Centerline is valid? [True, True] Translation: X:384.51, Y:40.13, Z:-2.16 [[ 9.99147452e-01 -4.09565865e-02 5.18921542e-03 3.84507723e+02] [ 4.09543962e-02 9.99160877e-01 5.27678221e-04 4.01285377e+01] [-5.20647293e-03 -3.14707166e-04 9.99986397e-01 -2.16433902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.651400513 meters 0.07164189331640755 Centerline is valid? [True, True] Translation: X:384.53, Y:40.15, Z:-2.16 [[ 9.99335200e-01 -3.60715672e-02 5.29150984e-03 3.84534733e+02] [ 3.60692216e-02 9.99349149e-01 5.38063475e-04 4.01484864e+01] [-5.30747464e-03 -3.46845130e-04 9.99985855e-01 -2.16449873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.681400513 meters 0.0697138938551655 Centerline is valid? [True, True] Translation: X:384.57, Y:40.15, Z:-2.16 [[ 9.99504998e-01 -3.09321501e-02 5.74116276e-03 3.84565119e+02] [ 3.09293037e-02 9.99521404e-01 5.83923850e-04 4.01490770e+01] [-5.75647709e-03 -4.06064640e-04 9.99983349e-01 -2.16397790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.711400513 meters 0.06884055872843521 Centerline is valid? [True, True] Translation: X:384.60, Y:40.15, Z:-2.16 [[ 9.99725648e-01 -2.24886842e-02 6.54886768e-03 3.84595281e+02] [ 2.24848003e-02 9.99746963e-01 6.66101294e-04 4.01530980e+01] [-6.56219032e-03 -5.18668566e-04 9.99978334e-01 -2.16314816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74140051300003 meters 0.08208207698691036 Centerline is valid? [True, True] Translation: X:384.62, Y:40.17, Z:-2.16 [[ 9.99777370e-01 -2.00393837e-02 6.60560587e-03 3.84622623e+02] [ 2.00353787e-02 9.99799046e-01 6.71923384e-04 4.01737588e+01] [-6.61774338e-03 -5.39427979e-04 9.99977957e-01 -2.16371685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.771400513 meters 0.07847189492660175 Centerline is valid? [True, True] Translation: X:384.65, Y:40.17, Z:-2.17 [[ 9.99795553e-01 -1.95079105e-02 5.31921238e-03 3.84653172e+02] [ 1.95053058e-02 9.99809607e-01 5.41126937e-04 4.01742923e+01] [-5.32875590e-03 -4.37263441e-04 9.99985706e-01 -2.16650815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80140051300003 meters 0.07764923379040406 Centerline is valid? [True, True] Translation: X:384.68, Y:40.18, Z:-2.17 [[ 9.99765672e-01 -2.11160996e-02 4.76571300e-03 3.84683249e+02] [ 2.11140269e-02 9.99776957e-01 4.84806978e-04 4.01771414e+01] [-4.77488727e-03 -3.84069981e-04 9.99988526e-01 -2.16747302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.831400513 meters 0.07336287001269506 Centerline is valid? [True, True] Translation: X:384.71, Y:40.18, Z:-2.17 [[ 9.99707712e-01 -2.37884694e-02 4.31263165e-03 3.84713824e+02] [ 2.37867966e-02 9.99716958e-01 4.38771872e-04 4.01762230e+01] [-4.32184871e-03 -3.36059933e-04 9.99990604e-01 -2.16817863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.861400513 meters 0.07259474638086227 Centerline is valid? [True, True] Translation: X:384.74, Y:40.18, Z:-2.17 [[ 9.99616647e-01 -2.74052564e-02 3.93831589e-03 3.84743161e+02] [ 2.74038893e-02 9.99624363e-01 4.00696360e-04 4.01798110e+01] [-3.94781769e-03 -2.92617579e-04 9.99992165e-01 -2.16880150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.891400513 meters 0.06479116143547885 Centerline is valid? [True, True] Translation: X:384.77, Y:40.18, Z:-2.17 [[ 9.99360855e-01 -3.55730885e-02 3.52645711e-03 3.84774155e+02] [ 3.55720429e-02 9.99367050e-01 3.58792149e-04 4.01754666e+01] [-3.53698838e-03 -2.33119545e-04 9.99993718e-01 -2.16993129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.921400513 meters 0.05885354571856097 Centerline is valid? [True, True] Translation: X:384.81, Y:40.17, Z:-2.17 [[ 9.99207578e-01 -3.96516006e-02 3.45917577e-03 3.84805179e+02] [ 3.96506188e-02 9.99213543e-01 3.51948043e-04 4.01710048e+01] [-3.47041058e-03 -2.14510692e-04 9.99993955e-01 -2.17023458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.951400513 meters 0.0550861179137926 Centerline is valid? [True, True] Translation: X:384.84, Y:40.17, Z:-2.17 [[ 9.99047616e-01 -4.34854257e-02 3.58874557e-03 3.84835969e+02] [ 4.34843936e-02 9.99054040e-01 3.65163868e-04 4.01683070e+01] [-3.60123007e-03 -2.08761667e-04 9.99993494e-01 -2.17026128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.981400513 meters 0.0550861179137926 Centerline is valid? [True, True] Translation: X:384.86, Y:40.17, Z:-2.17 [[ 9.99039670e-01 -4.36675975e-02 3.58878412e-03 3.84863399e+02] [ 4.36665680e-02 9.99046094e-01 3.64785426e-04 4.01712293e+01] [-3.60129006e-03 -2.07725226e-04 9.99993494e-01 -2.17042353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.011400513 meters 0.05350158854951757 Centerline is valid? [True, True] Translation: X:384.89, Y:40.17, Z:-2.17 [[ 9.98785915e-01 -4.91423250e-02 3.42458990e-03 3.84893830e+02] [ 4.91414161e-02 9.98791770e-01 3.49105223e-04 4.01667785e+01] [-3.43760805e-03 -1.80392183e-04 9.99994075e-01 -2.17132608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.041400513 meters 0.04845328525526352 Centerline is valid? [True, True] Translation: X:384.92, Y:40.16, Z:-2.17 [[ 9.98700368e-01 -5.08369975e-02 3.62975560e-03 3.84923644e+02] [ 5.08359886e-02 9.98706947e-01 3.69735371e-04 4.01635743e+01] [-3.64385837e-03 -1.84732637e-04 9.99993344e-01 -2.17143129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.071400513 meters 0.04785508478747469 Centerline is valid? [True, True] Translation: X:384.95, Y:40.16, Z:-2.17 [[ 9.98646674e-01 -5.19192538e-02 3.03514718e-03 3.84952938e+02] [ 5.19185516e-02 9.98651274e-01 3.09769040e-04 4.01602866e+01] [-3.04713658e-03 -1.51769376e-04 9.99995346e-01 -2.17198734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.101400513 meters 0.050581080173505225 Centerline is valid? [True, True] Translation: X:384.98, Y:40.17, Z:-2.17 [[ 9.98632374e-01 -5.21774923e-02 3.30000929e-03 3.84980131e+02] [ 5.21766633e-02 9.98637813e-01 3.36876985e-04 4.01688386e+01] [-3.31309145e-03 -1.64232790e-04 9.99994498e-01 -2.17167075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.131400513 meters 0.05447201070438735 Centerline is valid? [True, True] Translation: X:385.01, Y:40.18, Z:-2.17 [[ 9.98774635e-01 -4.93055638e-02 4.26487432e-03 3.85008743e+02] [ 4.93041503e-02 9.98783716e-01 4.36007867e-04 4.01772025e+01] [-4.28118464e-03 -2.25197594e-04 9.99990810e-01 -2.17078753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.161400513 meters 0.05599978092117147 Centerline is valid? [True, True] Translation: X:385.04, Y:40.18, Z:-2.17 [[ 9.98874882e-01 -4.72596391e-02 3.93662664e-03 3.85038683e+02] [ 4.72584185e-02 9.98882616e-01 4.02550930e-04 4.01821980e+01] [-3.95125233e-03 -2.16059263e-04 9.99992170e-01 -2.17175458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.191400513 meters 0.056920784354361174 Centerline is valid? [True, True] Translation: X:385.07, Y:40.18, Z:-2.17 [[ 9.98969714e-01 -4.52999004e-02 2.72567634e-03 3.85069174e+02] [ 4.52993079e-02 9.98973421e-01 2.78767180e-04 4.01826184e+01] [-2.73550634e-03 -1.55008718e-04 9.99996246e-01 -2.17383559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.221400513 meters 0.05804863924214677 Centerline is valid? [True, True] Translation: X:385.10, Y:40.19, Z:-2.18 [[ 9.99058281e-01 -4.33678032e-02 1.33618100e-03 3.85098197e+02] [ 4.33676591e-02 9.99059171e-01 1.36605631e-04 4.01891430e+01] [-1.34084817e-03 -7.85299446e-05 9.99999098e-01 -2.17725387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.251400513 meters 0.056244919336130704 Centerline is valid? [True, True] Translation: X:385.13, Y:40.19, Z:-2.18 [[ 9.99049415e-01 -4.35671528e-02 1.47264772e-03 3.85126355e+02] [ 4.35669791e-02 9.99050497e-01 1.49827113e-04 4.01902169e+01] [-1.47777698e-03 -8.55258774e-05 9.99998904e-01 -2.17785139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.281400513 meters 0.056525290125392154 Centerline is valid? [True, True] Translation: X:385.15, Y:40.19, Z:-2.18 [[ 9.98993627e-01 -4.47978999e-02 2.20945275e-03 3.85154325e+02] [ 4.47975088e-02 9.98996062e-01 2.26236054e-04 4.01930749e+01] [-2.21736950e-03 -1.27030397e-04 9.99997534e-01 -2.17724892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.311400513 meters 0.055527581333928114 Centerline is valid? [True, True] Translation: X:385.18, Y:40.19, Z:-2.18 [[ 9.98915978e-01 -4.64198793e-02 3.47322461e-03 3.85184516e+02] [ 4.64189211e-02 9.98921997e-01 3.56030753e-04 4.01930354e+01] [-3.48600737e-03 -1.94421469e-04 9.99993905e-01 -2.17536403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.341400513 meters 0.04768161178804777 Centerline is valid? [True, True] Translation: X:385.22, Y:40.18, Z:-2.17 [[ 9.98707040e-01 -5.06807390e-02 3.96360382e-03 3.85215643e+02] [ 5.06795244e-02 9.98714885e-01 4.06341594e-04 4.01817243e+01] [-3.97910382e-03 -2.04942654e-04 9.99992062e-01 -2.17297665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.371400513 meters 0.049380552633859105 Centerline is valid? [True, True] Translation: X:385.24, Y:40.18, Z:-2.17 [[ 9.98611349e-01 -5.25597248e-02 3.58451108e-03 3.85243951e+02] [ 5.25587435e-02 9.98617766e-01 3.67488799e-04 4.01849416e+01] [-3.59887156e-03 -1.78581087e-04 9.99993508e-01 -2.17389280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.401400513 meters 0.0491909671391866 Centerline is valid? [True, True] Translation: X:385.27, Y:40.19, Z:-2.18 [[ 9.98533621e-01 -5.40320780e-02 3.33796097e-03 3.85272375e+02] [ 5.40312350e-02 9.98539187e-01 3.42288377e-04 4.01860203e+01] [-3.35157939e-03 -1.61432299e-04 9.99994370e-01 -2.17514122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.431400513 meters 0.04700135893630364 Centerline is valid? [True, True] Translation: X:385.30, Y:40.18, Z:-2.17 [[ 9.98463974e-01 -5.52264795e-02 4.44173861e-03 3.85302137e+02] [ 5.52249973e-02 9.98473831e-01 4.55763399e-04 4.01813526e+01] [-4.46012998e-03 -2.09768332e-04 9.99990032e-01 -2.17417378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.461400513 meters 0.047985539118941954 Centerline is valid? [True, True] Translation: X:385.33, Y:40.18, Z:-2.17 [[ 9.98440314e-01 -5.56427277e-02 4.56362328e-03 3.85330523e+02] [ 5.56411670e-02 9.98450720e-01 4.68340030e-04 4.01826355e+01] [-4.58261267e-03 -2.13684242e-04 9.99989477e-01 -2.17392027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49140051300003 meters 0.05727523548013712 Centerline is valid? [True, True] Translation: X:385.36, Y:40.19, Z:-2.17 [[ 9.98455163e-01 -5.53981668e-02 4.28139577e-03 3.85357389e+02] [ 5.53967875e-02 9.98464322e-01 4.40160875e-04 4.01940967e+01] [-4.29920503e-03 -2.02305326e-04 9.99990738e-01 -2.17476798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.521400513 meters 0.04662514427698505 Centerline is valid? [True, True] Translation: X:385.39, Y:40.18, Z:-2.17 [[ 9.98585986e-01 -5.30539497e-02 3.36255217e-03 3.85389500e+02] [ 5.30530849e-02 9.98591634e-01 3.45925114e-04 4.01783881e+01] [-3.37616916e-03 -1.67042205e-04 9.99994287e-01 -2.17468674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55140051300003 meters 0.049892850587545334 Centerline is valid? [True, True] Translation: X:385.42, Y:40.18, Z:-2.17 [[ 9.98686414e-01 -5.10957981e-02 3.82960810e-03 3.85417774e+02] [ 5.10946622e-02 9.98693737e-01 3.93939250e-04 4.01817500e+01] [-3.84473426e-03 -1.97749245e-04 9.99992589e-01 -2.17365467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.581400513 meters 0.0503387696998979 Centerline is valid? [True, True] Translation: X:385.45, Y:40.18, Z:-2.17 [[ 9.98776653e-01 -4.91910737e-02 5.04337382e-03 3.85447408e+02] [ 4.91890773e-02 9.98789350e-01 5.19194821e-04 4.01818010e+01] [-5.06280781e-03 -2.70480761e-04 9.99987147e-01 -2.17156399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.611400513 meters 0.051074703132420136 Centerline is valid? [True, True] Translation: X:385.48, Y:40.18, Z:-2.17 [[ 9.98835104e-01 -4.78280783e-02 6.39608567e-03 3.85477363e+02] [ 4.78248378e-02 9.98855521e-01 6.58721033e-04 4.01830431e+01] [-6.42027084e-03 -3.52061932e-04 9.99979328e-01 -2.17025145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.641400513 meters 0.05428890445814595 Centerline is valid? [True, True] Translation: X:385.51, Y:40.19, Z:-2.17 [[ 9.98896796e-01 -4.63564279e-02 7.50144326e-03 3.85505728e+02] [ 4.63519275e-02 9.98924873e-01 7.72775770e-04 4.01880310e+01] [-7.52920138e-03 -4.24216887e-04 9.99971565e-01 -2.16940622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.671400513 meters 0.06001325441227412 Centerline is valid? [True, True] Translation: X:385.53, Y:40.19, Z:-2.17 [[ 9.99069917e-01 -4.24056728e-02 7.81406142e-03 3.85534903e+02] [ 4.24006673e-02 9.99100363e-01 8.05212326e-04 4.01940975e+01] [-7.84117717e-03 -4.73141994e-04 9.99969146e-01 -2.16928775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.701400513 meters 0.0664634119737158 Centerline is valid? [True, True] Translation: X:385.56, Y:40.20, Z:-2.17 [[ 9.99168565e-01 -4.00377906e-02 7.69112185e-03 3.85563358e+02] [ 4.00328706e-02 9.99198049e-01 7.92646562e-04 4.02034443e+01] [-7.71668976e-03 -4.84089843e-04 9.99970109e-01 -2.16932096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.731400513 meters 0.06959082494219308 Centerline is valid? [True, True] Translation: X:385.59, Y:40.21, Z:-2.17 [[ 9.99247817e-01 -3.79543609e-02 7.95402608e-03 3.85591828e+02] [ 3.79490318e-02 9.99279340e-01 8.19898473e-04 4.02094473e+01] [-7.97941265e-03 -5.17434171e-04 9.99968030e-01 -2.16864086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.761400513 meters 0.0676681607860534 Centerline is valid? [True, True] Translation: X:385.62, Y:40.21, Z:-2.17 [[ 9.99399542e-01 -3.36014204e-02 8.45574614e-03 3.85622417e+02] [ 3.35952422e-02 9.99435140e-01 8.71679604e-04 4.02100257e+01] [-8.48025950e-03 -5.87083358e-04 9.99963870e-01 -2.16872258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.791400513 meters 0.07739352012281578 Centerline is valid? [True, True] Translation: X:385.65, Y:40.23, Z:-2.17 [[ 9.99463577e-01 -3.17896961e-02 7.87235333e-03 3.85649825e+02] [ 3.17842850e-02 9.99494423e-01 8.11552442e-04 4.02253848e+01] [-7.89417225e-03 -5.60899984e-04 9.99968683e-01 -2.17027577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.821400513 meters 0.07130728267006585 Centerline is valid? [True, True] Translation: X:385.68, Y:40.22, Z:-2.17 [[ 9.99510964e-01 -3.05610427e-02 6.62227988e-03 3.85679670e+02] [ 3.05571864e-02 9.99532787e-01 6.82758140e-04 4.02209391e+01] [-6.64005167e-03 -4.80066006e-04 9.99977839e-01 -2.17296486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.851400513 meters 0.07917171877750498 Centerline is valid? [True, True] Translation: X:385.71, Y:40.23, Z:-2.18 [[ 9.99535767e-01 -3.00276633e-02 5.15649998e-03 3.85705716e+02] [ 3.00253176e-02 9.99548997e-01 5.31741905e-04 4.02345533e+01] [-5.17014135e-03 -3.76669504e-04 9.99986564e-01 -2.17601777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.881400513 meters 0.06685968368451858 Centerline is valid? [True, True] Translation: X:385.74, Y:40.22, Z:-2.18 [[ 9.99507678e-01 -3.09369422e-02 5.22562214e-03 3.85736379e+02] [ 3.09345439e-02 9.99521267e-01 5.39173024e-04 4.02226531e+01] [-5.23980083e-03 -3.77255340e-04 9.99986201e-01 -2.17565316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.911400513 meters 0.07043897901942206 Centerline is valid? [True, True] Translation: X:385.77, Y:40.23, Z:-2.17 [[ 9.99466033e-01 -3.21812479e-02 5.65835479e-03 3.85765020e+02] [ 3.21784505e-02 9.99481969e-01 5.84755816e-04 4.02298193e+01] [-5.67424175e-03 -4.02366486e-04 9.99983820e-01 -2.17460688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.941400513 meters 0.06828086725367988 Centerline is valid? [True, True] Translation: X:385.80, Y:40.23, Z:-2.17 [[ 9.99417963e-01 -3.36017119e-02 5.88731168e-03 3.85795116e+02] [ 3.35987073e-02 9.99435219e-01 6.08556150e-04 4.02298954e+01] [-5.90443516e-03 -4.10395886e-04 9.99982484e-01 -2.17374790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.971400513 meters 0.0807286255692036 Centerline is valid? [True, True] Translation: X:385.82, Y:40.25, Z:-2.17 [[ 9.99371090e-01 -3.49469204e-02 6.01138116e-03 3.85822481e+02] [ 3.49438109e-02 9.99389085e-01 6.21557016e-04 4.02483365e+01] [-6.02943022e-03 -4.11105546e-04 9.99981738e-01 -2.17396381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.001400513 meters 0.06211056988227446 Centerline is valid? [True, True] Translation: X:385.85, Y:40.23, Z:-2.18 [[ 9.99280415e-01 -3.76476322e-02 4.61610237e-03 3.85854792e+02] [ 3.76458269e-02 9.99291031e-01 4.77387494e-04 4.02296659e+01] [-4.63080220e-03 -3.03266982e-04 9.99989232e-01 -2.17745788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.031400513 meters 0.061639874910327005 Centerline is valid? [True, True] Translation: X:385.88, Y:40.23, Z:-2.18 [[ 9.99230271e-01 -3.90330889e-02 3.90944011e-03 3.85884397e+02] [ 3.90318047e-02 9.99237887e-01 4.04271210e-04 4.02317665e+01] [-3.92224063e-03 -2.51367528e-04 9.99992276e-01 -2.17933093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.061400513 meters 0.06565373052036097 Centerline is valid? [True, True] Translation: X:385.91, Y:40.24, Z:-2.18 [[ 9.99111806e-01 -4.19600211e-02 3.86729592e-03 3.85913177e+02] [ 4.19587859e-02 9.99119262e-01 4.00017890e-04 4.02352625e+01] [-3.88067461e-03 -2.37395554e-04 9.99992442e-01 -2.17972818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.091400513 meters 0.06045839759946751 Centerline is valid? [True, True] Translation: X:385.94, Y:40.23, Z:-2.18 [[ 9.99054849e-01 -4.32515637e-02 4.32551623e-03 3.85943732e+02] [ 4.32500303e-02 9.99064179e-01 4.47467945e-04 4.02305411e+01] [-4.34082201e-03 -2.59966313e-04 9.99990545e-01 -2.17909548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.121400513 meters 0.057184617453948566 Centerline is valid? [True, True] Translation: X:385.97, Y:40.23, Z:-2.18 [[ 9.98976896e-01 -4.50154471e-02 4.33248439e-03 3.85974138e+02] [ 4.50139248e-02 9.98986259e-01 4.48285402e-04 4.02263220e+01] [-4.34827214e-03 -2.52804633e-04 9.99990514e-01 -2.17898079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.151400513 meters 0.054047226455122575 Centerline is valid? [True, True] Translation: X:386.00, Y:40.22, Z:-2.18 [[ 9.98880234e-01 -4.71145106e-02 4.30137965e-03 3.86004348e+02] [ 4.71130291e-02 9.98889466e-01 4.45162603e-04 4.02217250e+01] [-4.31757644e-03 -2.42013100e-04 9.99990650e-01 -2.17933126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.181400513 meters 0.051550357983839064 Centerline is valid? [True, True] Translation: X:386.03, Y:40.21, Z:-2.18 [[ 9.98698340e-01 -5.08241496e-02 4.30491510e-03 3.86034726e+02] [ 5.08226996e-02 9.98707592e-01 4.45639869e-04 4.02123257e+01] [-4.32200066e-03 -2.26272390e-04 9.99990635e-01 -2.18020461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.211400513 meters 0.049439452217852155 Centerline is valid? [True, True] Translation: X:386.06, Y:40.21, Z:-2.18 [[ 9.98650943e-01 -5.17440042e-02 4.34178689e-03 3.86064820e+02] [ 5.17425385e-02 9.98660357e-01 4.49314116e-04 4.02078467e+01] [-4.35921975e-03 -2.24052891e-04 9.99990473e-01 -2.17996460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24140051300003 meters 0.050678334162104106 Centerline is valid? [True, True] Translation: X:386.09, Y:40.21, Z:-2.18 [[ 9.98664880e-01 -5.14593792e-02 4.51548941e-03 3.86092438e+02] [ 5.14577875e-02 9.98675061e-01 4.68062531e-04 4.02072033e+01] [-4.53359287e-03 -2.35080517e-04 9.99989696e-01 -2.17967325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.271400513 meters 0.0505046399693402 Centerline is valid? [True, True] Translation: X:386.12, Y:40.21, Z:-2.18 [[ 9.98734683e-01 -5.00870845e-02 4.50752910e-03 3.86122575e+02] [ 5.00854819e-02 9.98744825e-01 4.67790433e-04 4.02056273e+01] [-4.52530162e-03 -2.41436763e-04 9.99989732e-01 -2.17899915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30140051300003 meters 0.06368881564112287 Centerline is valid? [True, True] Translation: X:386.15, Y:40.22, Z:-2.18 [[ 9.99069888e-01 -4.28540942e-02 4.78398186e-03 3.86150232e+02] [ 4.28522056e-02 9.99081299e-01 4.96638574e-04 4.02190338e+01] [-4.80086981e-03 -2.91172470e-04 9.99988433e-01 -2.17811342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.331400513 meters 0.06399629998243707 Centerline is valid? [True, True] Translation: X:386.18, Y:40.22, Z:-2.18 [[ 9.99289827e-01 -3.73885616e-02 4.68361028e-03 3.86180543e+02] [ 3.73866920e-02 9.99300755e-01 4.86129957e-04 4.02217595e+01] [-4.69851099e-03 -3.10680025e-04 9.99988914e-01 -2.17822873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.361400513 meters 0.0685447532679381 Centerline is valid? [True, True] Translation: X:386.21, Y:40.23, Z:-2.18 [[ 9.99500510e-01 -3.12116065e-02 4.95640594e-03 3.86210595e+02] [ 3.12094371e-02 9.99512734e-01 5.14462355e-04 4.02304598e+01] [-4.97004805e-03 -3.59518747e-04 9.99987585e-01 -2.17832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.391400513 meters 0.07827619696799482 Centerline is valid? [True, True] Translation: X:386.24, Y:40.25, Z:-2.18 [[ 9.99800859e-01 -1.92501141e-02 5.26070835e-03 3.86239665e+02] [ 1.92475054e-02 9.99814600e-01 5.46079829e-04 4.02461342e+01] [-5.27024511e-03 -4.44715570e-04 9.99986013e-01 -2.17880514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.421400513 meters 0.09044428044178553 Centerline is valid? [True, True] Translation: X:386.27, Y:40.26, Z:-2.18 [[ 9.99871005e-01 -1.51459236e-02 5.34549067e-03 3.86267518e+02] [ 1.51431717e-02 9.99885182e-01 5.54906840e-04 4.02643441e+01] [-5.35328149e-03 -4.73887576e-04 9.99985559e-01 -2.17919775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.451400513 meters 0.09280312444374172 Centerline is valid? [True, True] Translation: X:386.30, Y:40.27, Z:-2.18 [[ 9.99899338e-01 -1.31842005e-02 5.24306927e-03 3.86297580e+02] [ 1.31815263e-02 9.99912972e-01 5.44270662e-04 4.02708604e+01] [-5.24978874e-03 -4.75104219e-04 9.99986107e-01 -2.17969414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.481400513 meters 0.08850622125695799 Centerline is valid? [True, True] Translation: X:386.33, Y:40.27, Z:-2.18 [[ 9.99884129e-01 -1.45890868e-02 4.34587199e-03 3.86327737e+02] [ 1.45872627e-02 9.99893498e-01 4.51133433e-04 4.02704867e+01] [-4.35199077e-03 -3.87686783e-04 9.99990455e-01 -2.18180994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.511400513 meters 0.07969000763528257 Centerline is valid? [True, True] Translation: X:386.36, Y:40.26, Z:-2.18 [[ 9.99837287e-01 -1.73539914e-02 4.92317877e-03 3.86358462e+02] [ 1.73516835e-02 9.99849318e-01 5.11116609e-04 4.02632502e+01] [-4.93130684e-03 -4.25608005e-04 9.99987750e-01 -2.18168292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.541400513 meters 0.08563395415270421 Centerline is valid? [True, True] Translation: X:386.39, Y:40.27, Z:-2.18 [[ 9.99772525e-01 -2.05012698e-02 5.88186609e-03 3.86387336e+02] [ 2.04980289e-02 9.99789707e-01 6.10772159e-04 4.02736838e+01] [-5.89315078e-03 -4.90066562e-04 9.99982515e-01 -2.18069498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.571400513 meters 0.07431354527547486 Centerline is valid? [True, True] Translation: X:386.42, Y:40.27, Z:-2.18 [[ 9.99671457e-01 -2.46285588e-02 7.10020258e-03 3.86418690e+02] [ 2.46239394e-02 9.99696513e-01 7.37311946e-04 4.02652311e+01] [-7.11620669e-03 -5.62234749e-04 9.99974521e-01 -2.17891633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.601400513 meters 0.080020818492979 Centerline is valid? [True, True] Translation: X:386.45, Y:40.28, Z:-2.18 [[ 9.99667169e-01 -2.48958966e-02 6.76354680e-03 3.86445787e+02] [ 2.48917104e-02 9.99689907e-01 7.02423475e-04 4.02773915e+01] [-6.77893693e-03 -5.33833439e-04 9.99976880e-01 -2.17947738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.631400513 meters 0.08406665646577863 Centerline is valid? [True, True] Translation: X:386.47, Y:40.29, Z:-2.18 [[ 9.99742531e-01 -2.21603068e-02 4.87782457e-03 3.86474139e+02] [ 2.21580960e-02 9.99754351e-01 5.06805884e-04 4.02903637e+01] [-4.88785731e-03 -3.98592092e-04 9.99987975e-01 -2.18238304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.661400513 meters 0.07763726919845976 Centerline is valid? [True, True] Translation: X:386.51, Y:40.29, Z:-2.18 [[ 9.99786471e-01 -2.02437805e-02 4.14753724e-03 3.86505304e+02] [ 2.02421656e-02 9.99795013e-01 4.30972665e-04 4.02882077e+01] [-4.15541157e-03 -3.46925504e-04 9.99991306e-01 -2.18320979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.691400513 meters 0.0881704371643729 Centerline is valid? [True, True] Translation: X:386.53, Y:40.31, Z:-2.18 [[ 9.99815455e-01 -1.88016151e-02 3.94404815e-03 3.86532922e+02] [ 1.88001436e-02 9.99823178e-01 4.09830253e-04 4.03071897e+01] [-3.95105623e-03 -3.35605949e-04 9.99992138e-01 -2.18437525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.721400513 meters 0.08776750065699625 Centerline is valid? [True, True] Translation: X:386.56, Y:40.31, Z:-2.19 [[ 9.99834454e-01 -1.78645714e-02 3.45272684e-03 3.86562175e+02] [ 1.78634381e-02 9.99840372e-01 3.58782155e-04 4.03133178e+01] [-3.45858517e-03 -2.97045188e-04 9.99993975e-01 -2.18521177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.751400513 meters 0.08417660370331723 Centerline is valid? [True, True] Translation: X:386.59, Y:40.32, Z:-2.19 [[ 9.99839493e-01 -1.78575480e-02 1.44787153e-03 3.86590504e+02] [ 1.78573496e-02 9.99840534e-01 1.49874197e-04 4.03159377e+01] [-1.45031703e-03 -1.23994993e-04 9.99998941e-01 -2.18867984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.781400513 meters 0.08480458526765505 Centerline is valid? [True, True] Translation: X:386.62, Y:40.32, Z:-2.19 [[ 9.99819545e-01 -1.89696136e-02 1.01528634e-03 3.86618420e+02] [ 1.89695161e-02 9.99820057e-01 1.05523657e-04 4.03235705e+01] [-1.01710539e-03 -8.62451244e-05 9.99999479e-01 -2.18970096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.811400513 meters 0.07592573427801574 Centerline is valid? [True, True] Translation: X:386.65, Y:40.32, Z:-2.19 [[ 9.99792059e-01 -2.03684840e-02 9.81915233e-04 3.86648937e+02] [ 2.03683934e-02 9.99792538e-01 1.02187346e-04 4.03182239e+01] [-9.83792923e-04 -8.21660618e-05 9.99999513e-01 -2.18916307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.841400513 meters 0.07814694220638047 Centerline is valid? [True, True] Translation: X:386.68, Y:40.33, Z:-2.19 [[ 9.99758137e-01 -2.18780148e-02 2.24042153e-03 3.86677258e+02] [ 2.18775467e-02 9.99760631e-01 2.33228402e-04 4.03263160e+01] [-2.24498782e-03 -1.84157066e-04 9.99997463e-01 -2.18853090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.871400513 meters 0.08066111948732543 Centerline is valid? [True, True] Translation: X:386.71, Y:40.33, Z:-2.19 [[ 9.99709176e-01 -2.37880574e-02 3.96120099e-03 3.86707750e+02] [ 2.37866081e-02 9.99716973e-01 4.12585130e-04 4.03309194e+01] [-3.96989446e-03 -3.18241605e-04 9.99992069e-01 -2.18634885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.901400513 meters 0.08066111948732543 Centerline is valid? [True, True] Translation: X:386.74, Y:40.33, Z:-2.19 [[ 9.99704975e-01 -2.39639464e-02 3.96123266e-03 3.86735219e+02] [ 2.39624997e-02 9.99712773e-01 4.12281363e-04 4.03339081e+01] [-3.96997478e-03 -3.17238694e-04 9.99992069e-01 -2.18651136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.931400513 meters 0.07553768299381736 Centerline is valid? [True, True] Translation: X:386.76, Y:40.33, Z:-2.19 [[ 9.99695208e-01 -2.43715318e-02 3.93947768e-03 3.86764099e+02] [ 2.43701012e-02 9.99702921e-01 4.10752863e-04 4.03349360e+01] [-3.94831802e-03 -3.14622199e-04 9.99992156e-01 -2.18605128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.961400513 meters 0.07675161218947545 Centerline is valid? [True, True] Translation: X:386.79, Y:40.34, Z:-2.19 [[ 9.99700327e-01 -2.42966782e-02 2.98793135e-03 3.86791913e+02] [ 2.42958533e-02 9.99704763e-01 3.12074967e-04 4.03410928e+01] [-2.99463159e-03 -2.39387105e-04 9.99995487e-01 -2.18739085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99140051300003 meters 0.08376051846660834 Centerline is valid? [True, True] Translation: X:386.82, Y:40.36, Z:-2.19 [[ 9.99740592e-01 -2.27724826e-02 -4.04474858e-04 3.86819327e+02] [ 2.27724673e-02 9.99740673e-01 -4.23629845e-05 4.03584729e+01] [ 4.05334677e-04 3.31411047e-05 9.99999917e-01 -2.19293573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.021400513 meters 0.0872895997289275 Centerline is valid? [True, True] Translation: X:386.85, Y:40.37, Z:-2.19 [[ 9.99759808e-01 -2.19136203e-02 -3.45059641e-04 3.86847336e+02] [ 2.19136091e-02 9.99759867e-01 -3.62806035e-05 4.03683806e+01] [ 3.45771820e-04 2.87103872e-05 9.99999940e-01 -2.19401795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05140051300003 meters 0.08781051266154188 Centerline is valid? [True, True] Translation: X:386.88, Y:40.37, Z:-2.19 [[ 9.99768085e-01 -2.15230391e-02 7.30761686e-04 3.86875272e+02] [ 2.15229891e-02 9.99768351e-01 7.61623501e-05 4.03734935e+01] [-7.32231651e-04 -6.04165111e-05 9.99999730e-01 -2.19242176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.081400513 meters 0.08991682077232045 Centerline is valid? [True, True] Translation: X:386.90, Y:40.38, Z:-2.19 [[ 9.99761774e-01 -2.16723295e-02 2.58928355e-03 3.86902412e+02] [ 2.16717004e-02 9.99765104e-01 2.70797301e-04 4.03802286e+01] [-2.59454415e-03 -2.14618613e-04 9.99996611e-01 -2.18954762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.111400513 meters 0.06858424421860523 Centerline is valid? [True, True] Translation: X:386.94, Y:40.36, Z:-2.18 [[ 9.99705143e-01 -2.37550531e-02 5.03227971e-03 3.86935087e+02] [ 2.37526998e-02 9.99717726e-01 5.26900006e-04 4.03599214e+01] [-5.04337576e-03 -4.07214417e-04 9.99987199e-01 -2.18434763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.141400513 meters 0.08234903095694529 Centerline is valid? [True, True] Translation: X:386.96, Y:40.38, Z:-2.18 [[ 9.99661772e-01 -2.54765859e-02 5.22352623e-03 3.86961926e+02] [ 2.54740737e-02 9.99675334e-01 5.46924153e-04 4.03809160e+01] [-5.23576409e-03 -4.13674676e-04 9.99986208e-01 -2.18444177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.171400513 meters 0.07942593922035619 Centerline is valid? [True, True] Translation: X:386.99, Y:40.38, Z:-2.19 [[ 9.99623224e-01 -2.70926690e-02 4.40420290e-03 3.86991765e+02] [ 2.70908983e-02 9.99632868e-01 4.61219510e-04 4.03813686e+01] [-4.41508164e-03 -3.41731921e-04 9.99990195e-01 -2.18618365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.201400513 meters 0.07551893398754507 Centerline is valid? [True, True] Translation: X:387.02, Y:40.38, Z:-2.19 [[ 9.99589552e-01 -2.83677646e-02 3.99976877e-03 3.87022235e+02] [ 2.83663139e-02 9.99597507e-01 4.18965498e-04 4.03805985e+01] [-4.01004401e-03 -3.05334837e-04 9.99991913e-01 -2.18708014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.231400513 meters 0.07291574849656443 Centerline is valid? [True, True] Translation: X:387.05, Y:40.38, Z:-2.19 [[ 9.99529515e-01 -3.03372521e-02 4.51655928e-03 3.87052176e+02] [ 3.03354221e-02 9.99539663e-01 4.73151025e-04 4.03819341e+01] [-4.52883424e-03 -3.35916682e-04 9.99989688e-01 -2.18623716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.261400513 meters 0.07910036478029255 Centerline is valid? [True, True] Translation: X:387.08, Y:40.39, Z:-2.19 [[ 9.99513861e-01 -3.07976667e-02 4.85229994e-03 3.87079404e+02] [ 3.07955602e-02 9.99525575e-01 5.08262311e-04 4.03938671e+01] [-4.86565119e-03 -3.58585931e-04 9.99988098e-01 -2.18587143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.291400513 meters 0.07415959480074173 Centerline is valid? [True, True] Translation: X:387.11, Y:40.39, Z:-2.19 [[ 9.99567391e-01 -2.90675897e-02 4.48393341e-03 3.87109829e+02] [ 2.90657699e-02 9.99577391e-01 4.70498175e-04 4.03917605e+01] [-4.49571470e-03 -3.39965656e-04 9.99989836e-01 -2.18630439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.321400513 meters 0.07866265161536312 Centerline is valid? [True, True] Translation: X:387.14, Y:40.40, Z:-2.19 [[ 9.99621625e-01 -2.70238165e-02 5.13033131e-03 3.87137645e+02] [ 2.70214071e-02 9.99634710e-01 5.38387823e-04 4.04033863e+01] [-5.14300655e-03 -3.99555340e-04 9.99986695e-01 -2.18545857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.351400513 meters 0.07980823209689378 Centerline is valid? [True, True] Translation: X:387.17, Y:40.41, Z:-2.18 [[ 9.99678276e-01 -2.47957722e-02 5.33983667e-03 3.87167960e+02] [ 2.47931299e-02 9.99692446e-01 5.60469890e-04 4.04100130e+01] [-5.35209166e-03 -4.27898310e-04 9.99985586e-01 -2.18491925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.381400513 meters 0.07458332698477463 Centerline is valid? [True, True] Translation: X:387.20, Y:40.41, Z:-2.19 [[ 9.99739357e-01 -2.23776311e-02 4.52323723e-03 3.87198818e+02] [ 2.23757105e-02 9.99749520e-01 4.74774850e-04 4.04096997e+01] [-4.53272859e-03 -3.73440456e-04 9.99989657e-01 -2.18602930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.411400513 meters 0.08556183049059832 Centerline is valid? [True, True] Translation: X:387.23, Y:40.43, Z:-2.19 [[ 9.99799016e-01 -1.98231811e-02 2.99476866e-03 3.87225928e+02] [ 1.98223276e-02 9.99803469e-01 3.14402990e-04 4.04296831e+01] [-3.00041256e-03 -2.54976515e-04 9.99995466e-01 -2.18898668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.441400513 meters 0.08622655940559479 Centerline is valid? [True, True] Translation: X:387.26, Y:40.44, Z:-2.19 [[ 9.99865863e-01 -1.63541624e-02 -8.92731065e-04 3.87255420e+02] [ 1.63540852e-02 9.99866259e-01 -9.37226499e-05 4.04385666e+01] [ 8.94144426e-04 7.91102784e-05 9.99999597e-01 -2.19424033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.471400513 meters 0.08561265777677354 Centerline is valid? [True, True] Translation: X:387.28, Y:40.44, Z:-2.19 [[ 9.99870993e-01 -1.60314268e-02 -9.95306507e-04 3.87283808e+02] [ 1.60313297e-02 9.99871484e-01 -1.05528335e-04 4.04429464e+01] [ 9.96870365e-04 8.95586342e-05 9.99999499e-01 -2.19414281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.501400513 meters 0.09440117403473731 Centerline is valid? [True, True] Translation: X:387.31, Y:40.46, Z:-2.19 [[ 9.99866994e-01 -1.62789189e-02 9.95429322e-04 3.87310385e+02] [ 1.62788235e-02 9.99867486e-01 1.03864536e-04 4.04608483e+01] [-9.96988216e-04 -8.76463033e-05 9.99999499e-01 -2.19268149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.531400513 meters 0.08583928435734957 Centerline is valid? [True, True] Translation: X:387.34, Y:40.46, Z:-2.19 [[ 9.99842712e-01 -1.71066851e-02 4.68104231e-03 3.87340861e+02] [ 1.71045643e-02 9.99853585e-01 4.92718262e-04 4.04588238e+01] [-4.68878571e-03 -4.12573574e-04 9.99988922e-01 -2.18754119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.561400513 meters 0.09169039161321645 Centerline is valid? [True, True] Translation: X:387.37, Y:40.47, Z:-2.19 [[ 9.99837557e-01 -1.72240035e-02 5.30972529e-03 3.87369292e+02] [ 1.72212761e-02 9.99851547e-01 5.58959705e-04 4.04695048e+01] [-5.31856457e-03 -4.67428661e-04 9.99985747e-01 -2.18741600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.591400513 meters 0.09456234535421033 Centerline is valid? [True, True] Translation: X:387.40, Y:40.48, Z:-2.19 [[ 9.99850790e-01 -1.65094930e-02 5.08281255e-03 3.87397115e+02] [ 1.65069843e-02 9.99863607e-01 5.35117339e-04 4.04807717e+01] [-5.09095381e-03 -4.51135587e-04 9.99986939e-01 -2.18788932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.621400513 meters 0.09377458386100233 Centerline is valid? [True, True] Translation: X:387.43, Y:40.49, Z:-2.19 [[ 9.99891947e-01 -1.40689639e-02 4.26138807e-03 3.87426280e+02] [ 1.40671782e-02 9.99900952e-01 4.48728299e-04 4.04893197e+01] [-4.26727913e-03 -3.88734107e-04 9.99990820e-01 -2.18902706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.651400513 meters 0.10130021058117149 Centerline is valid? [True, False] Translation: X:387.44, Y:40.49, Z:-2.18 [[ 9.99989528e-01 -4.57600657e-03 -6.89994209e-05 3.87441184e+02] [ 4.57601135e-03 9.99989528e-01 6.92520679e-05 4.04917151e+01] [ 6.86818004e-05 -6.95670848e-05 9.99999995e-01 -2.17844970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.681400513 meters 0.09388341522286965 Centerline is valid? [False, True] Translation: X:387.45, Y:40.49, Z:-2.18 [[ 9.99997471e-01 -1.96828096e-03 -1.08827071e-03 3.87447957e+02] [ 1.97101815e-03 9.99994883e-01 2.51984468e-03 4.04926748e+01] [ 1.08330538e-03 -2.52198331e-03 9.99996233e-01 -2.18311770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.711400513 meters 0.10062477260805856 Centerline is valid? [True, False] Translation: X:387.45, Y:40.50, Z:-2.18 [[ 9.99996995e-01 -2.20761171e-03 -1.06610072e-03 3.87448092e+02] [ 2.20962031e-03 9.99995779e-01 1.88657908e-03 4.04954851e+01] [ 1.06193139e-03 -1.88892909e-03 9.99997652e-01 -2.18364674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74140051300003 meters 0.0915321295138054 Centerline is valid? [False, True] Translation: X:387.45, Y:40.50, Z:-2.18 [[ 9.99996426e-01 -2.45892309e-03 -1.04955017e-03 3.87448314e+02] [ 2.46020600e-03 9.99996226e-01 1.22280991e-03 4.04984164e+01] [ 1.04653941e-03 -1.22538765e-03 9.99998702e-01 -2.18433533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.771400513 meters 0.09901337697515021 Centerline is valid? [True, True] Translation: X:387.48, Y:40.52, Z:-2.19 [[ 9.99991660e-01 -3.95588675e-03 -1.01547419e-03 3.87475743e+02] [ 3.95578899e-03 9.99992171e-01 -9.82533874e-05 4.05172112e+01] [ 1.01585492e-03 9.42355664e-05 9.99999480e-01 -2.18589662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80140051300003 meters 0.09490023755841208 Centerline is valid? [True, True] Translation: X:387.51, Y:40.52, Z:-2.18 [[ 9.99984458e-01 -5.57464286e-03 8.10439497e-05 3.87506029e+02] [ 5.57464224e-03 9.99984462e-01 7.83123123e-06 4.05190759e+01] [-8.10863467e-05 -7.37931849e-06 9.99999997e-01 -2.18348996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.831400513 meters 0.0923500713100079 Centerline is valid? [True, True] Translation: X:387.54, Y:40.52, Z:-2.18 [[ 9.99944773e-01 -1.04873720e-02 6.82108838e-04 3.87535470e+02] [ 1.04873294e-02 9.99945004e-01 6.59569067e-05 4.05238754e+01] [-6.82763039e-04 -5.87997641e-05 9.99999765e-01 -2.18218504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.861400513 meters 0.09018190636316825 Centerline is valid? [True, True] Translation: X:387.56, Y:40.53, Z:-2.18 [[ 9.99902804e-01 -1.39397300e-02 2.58714933e-04 3.87564999e+02] [ 1.39397240e-02 9.99902837e-01 2.50048230e-05 4.05260169e+01] [-2.59038356e-04 -2.13959779e-05 9.99999966e-01 -2.18304173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.891400513 meters 0.0852457137830766 Centerline is valid? [True, True] Translation: X:387.60, Y:40.52, Z:-2.18 [[ 9.99841923e-01 -1.77741068e-02 4.58229678e-04 3.87595667e+02] [ 1.77740884e-02 9.99842027e-01 4.43117979e-05 4.05241115e+01] [-4.58944893e-04 -3.61601785e-05 9.99999894e-01 -2.18279320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.921400513 meters 0.08195694686176902 Centerline is valid? [True, True] Translation: X:387.63, Y:40.52, Z:-2.18 [[ 9.99769194e-01 -2.14496672e-02 1.21275005e-03 3.87626147e+02] [ 2.14495406e-02 9.99769925e-01 1.17289610e-04 4.05233998e+01] [-1.21498685e-03 -9.12496073e-05 9.99999258e-01 -2.18164535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.951400513 meters 0.06808990010024055 Centerline is valid? [True, True] Translation: X:387.66, Y:40.51, Z:-2.18 [[ 9.99612992e-01 -2.77152512e-02 2.39381276e-03 3.87657609e+02] [ 2.77147759e-02 9.99615845e-01 2.31503844e-04 4.05103038e+01] [-2.39930935e-03 -1.65070266e-04 9.99997108e-01 -2.17899201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.981400513 meters 0.06626822163117213 Centerline is valid? [True, True] Translation: X:387.69, Y:40.51, Z:-2.18 [[ 9.99539590e-01 -3.02712661e-02 2.06361405e-03 3.87687561e+02] [ 3.02709183e-02 9.99541711e-01 1.99584609e-04 4.05118599e+01] [-2.06871000e-03 -1.37025226e-04 9.99997851e-01 -2.17950235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.011400513 meters 0.070092998940854 Centerline is valid? [True, True] Translation: X:387.72, Y:40.52, Z:-2.18 [[ 9.99491448e-01 -3.18578246e-02 1.38687558e-03 3.87715964e+02] [ 3.18576691e-02 9.99492407e-01 1.34110563e-04 4.05203138e+01] [-1.39044408e-03 -8.98597372e-05 9.99999029e-01 -2.18086388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.041400513 meters 0.06373344922469155 Centerline is valid? [True, True] Translation: X:387.75, Y:40.52, Z:-2.18 [[ 9.99471274e-01 -3.25068422e-02 6.90762786e-04 3.87745784e+02] [ 3.25068040e-02 9.99471512e-01 6.65332791e-05 4.05162204e+01] [-6.92560513e-04 -4.40436108e-05 9.99999759e-01 -2.18222785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.071400513 meters 0.0649349851765447 Centerline is valid? [True, True] Translation: X:387.77, Y:40.52, Z:-2.18 [[ 9.99515999e-01 -3.10951375e-02 -9.27072409e-04 3.87774938e+02] [ 3.10950674e-02 9.99516427e-01 -8.99050126e-05 4.05224597e+01] [ 9.29419711e-04 6.10341195e-05 9.99999566e-01 -2.18406086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.101400513 meters 0.06307374303830625 Centerline is valid? [True, True] Translation: X:387.80, Y:40.52, Z:-2.18 [[ 9.99553917e-01 -2.98410622e-02 -1.21569137e-03 3.87804329e+02] [ 2.98409408e-02 9.99554653e-01 -1.17904772e-04 4.05246708e+01] [ 1.21866836e-03 8.15748031e-05 9.99999254e-01 -2.18413844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.131400513 meters 0.06490470223401748 Centerline is valid? [True, True] Translation: X:387.83, Y:40.53, Z:-2.18 [[ 9.99577695e-01 -2.90147266e-02 -1.60548904e-03 3.87831985e+02] [ 2.90145136e-02 9.99578978e-01 -1.55824353e-04 4.05313136e+01] [ 1.60933430e-03 1.09176064e-04 9.99998699e-01 -2.18440543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.161400513 meters 0.06780656628365327 Centerline is valid? [True, True] Translation: X:387.86, Y:40.54, Z:-2.18 [[ 9.99555955e-01 -2.97830877e-02 -9.27619018e-04 3.87859109e+02] [ 2.97830168e-02 9.99556383e-01 -9.02445635e-05 4.05422458e+01] [ 9.29895273e-04 6.25771981e-05 9.99999566e-01 -2.18421343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.191400513 meters 0.06326770604638277 Centerline is valid? [True, True] Translation: X:387.89, Y:40.54, Z:-2.18 [[ 9.99515057e-01 -3.11267086e-02 -8.82949394e-04 3.87889125e+02] [ 3.11266449e-02 9.99515445e-01 -8.57794021e-05 4.05419653e+01] [ 8.85191587e-04 5.82545516e-05 9.99999607e-01 -2.18438348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.221400513 meters 0.06509428079422763 Centerline is valid? [True, True] Translation: X:387.92, Y:40.55, Z:-2.18 [[ 9.99463068e-01 -3.27610820e-02 -5.35279461e-04 3.87917069e+02] [ 3.27610588e-02 9.99463211e-01 -5.20754663e-05 4.05489967e+01] [ 5.36698178e-04 3.45111835e-05 9.99999855e-01 -2.18453764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.251400513 meters 0.061928592838489484 Centerline is valid? [True, True] Translation: X:387.95, Y:40.55, Z:-2.18 [[ 9.99404853e-01 -3.44948007e-02 -2.20574241e-04 3.87947035e+02] [ 3.44947968e-02 9.99404877e-01 -2.14541215e-05 4.05492854e+01] [ 2.21183028e-04 1.38326895e-05 9.99999975e-01 -2.18398740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.281400513 meters 0.05531872640899909 Centerline is valid? [True, True] Translation: X:387.98, Y:40.55, Z:-2.18 [[ 9.99245968e-01 -3.88182082e-02 8.01785530e-04 3.87977249e+02] [ 3.88181582e-02 9.99246288e-01 7.78358263e-05 4.05468603e+01] [-8.04202662e-04 -4.66532980e-05 9.99999676e-01 -2.18159394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.311400513 meters 0.06270781471558312 Centerline is valid? [True, True] Translation: X:388.01, Y:40.56, Z:-2.18 [[ 9.99138076e-01 -4.15060432e-02 5.94135882e-04 3.88005707e+02] [ 4.15060162e-02 9.99138252e-01 5.76837832e-05 4.05611496e+01] [-5.96018112e-04 -3.29738506e-05 9.99999822e-01 -2.18200184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.341400513 meters 0.05488261594045831 Centerline is valid? [True, True] Translation: X:388.04, Y:40.56, Z:-2.18 [[ 9.99022289e-01 -4.42082288e-02 3.14377300e-04 3.88036471e+02] [ 4.42082214e-02 9.99022338e-01 3.05327149e-05 4.05573159e+01] [-3.15419742e-04 -1.66048014e-05 9.99999950e-01 -2.18224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.371400513 meters 0.05654311617265265 Centerline is valid? [True, True] Translation: X:388.07, Y:40.57, Z:-2.18 [[ 9.98908895e-01 -4.67013476e-02 -6.73980377e-05 3.88065278e+02] [ 4.67013473e-02 9.98908897e-01 -6.61091742e-06 4.05656021e+01] [ 6.76332383e-05 3.45612504e-06 9.99999998e-01 -2.18327598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.401400513 meters 0.05447085135152951 Centerline is valid? [True, True] Translation: X:388.09, Y:40.57, Z:-2.18 [[ 9.98760699e-01 -4.97697430e-02 1.97476955e-04 3.88093959e+02] [ 4.97697402e-02 9.98760718e-01 1.91586894e-05 4.05722921e+01] [-1.98185748e-04 -9.30656933e-06 9.99999980e-01 -2.18251861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.431400513 meters 0.04467309463362876 Centerline is valid? [True, True] Translation: X:388.12, Y:40.57, Z:-2.18 [[ 9.98698824e-01 -5.09926304e-02 6.41500192e-04 3.88123446e+02] [ 5.09926009e-02 9.98699029e-01 6.22616124e-05 4.05659490e+01] [-6.43840503e-04 -2.94688358e-05 9.99999792e-01 -2.18129376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.461400513 meters 0.04218518560954762 Centerline is valid? [True, True] Translation: X:388.15, Y:40.57, Z:-2.18 [[ 9.98608527e-01 -5.27167940e-02 1.39608489e-03 3.88152744e+02] [ 5.27166556e-02 9.98609501e-01 1.35741804e-04 4.05682873e+01] [-1.40129951e-03 -6.19559971e-05 9.99999016e-01 -2.18003716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49140051300003 meters 0.040163690393036515 Centerline is valid? [True, True] Translation: X:388.18, Y:40.57, Z:-2.18 [[ 9.98277313e-01 -5.85865953e-02 3.16497793e-03 3.88181765e+02] [ 5.85859131e-02 9.98282323e-01 3.07885170e-04 4.05722184e+01] [-3.17757947e-03 -1.21931658e-04 9.99994944e-01 -2.17686029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.521400513 meters 0.040469075865686786 Centerline is valid? [True, True] Translation: X:388.21, Y:40.58, Z:-2.18 [[ 9.98053581e-01 -6.22448372e-02 3.82494987e-03 3.88210603e+02] [ 6.22438674e-02 9.98060901e-01 3.72171280e-04 4.05768645e+01] [-3.84069865e-03 -1.33367207e-04 9.99992616e-01 -2.17572400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55140051300003 meters 0.03365232533843492 Centerline is valid? [True, True] Translation: X:388.24, Y:40.57, Z:-2.18 [[ 9.97810576e-01 -6.60076457e-02 4.12849067e-03 3.88241412e+02] [ 6.60065477e-02 9.97819109e-01 4.01807271e-04 4.05726770e+01] [-4.14600924e-03 -1.28420128e-04 9.99991397e-01 -2.17549986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.581400513 meters 0.025613590870043872 Centerline is valid? [True, True] Translation: X:388.27, Y:40.57, Z:-2.17 [[ 9.97339439e-01 -7.27157421e-02 5.14441327e-03 3.88272324e+02] [ 7.27141257e-02 9.97352698e-01 5.00791084e-04 4.05677025e+01] [-5.16720985e-03 -1.25387186e-04 9.99986642e-01 -2.17442695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.611400513 meters 0.022350165727769513 Centerline is valid? [True, True] Translation: X:388.30, Y:40.57, Z:-2.17 [[ 9.97125700e-01 -7.55621766e-02 5.54043370e-03 3.88301197e+02] [ 7.55603448e-02 9.97141085e-01 5.39508835e-04 4.05673350e+01] [-5.56536053e-03 -1.19321044e-04 9.99984506e-01 -2.17388050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.641400513 meters 0.021450897018046148 Centerline is valid? [True, True] Translation: X:388.33, Y:40.57, Z:-2.17 [[ 9.96941385e-01 -7.79609990e-02 5.47340176e-03 3.88329361e+02] [ 7.79592441e-02 9.96956404e-01 5.33566269e-04 4.05698420e+01] [-5.49834030e-03 -1.05232031e-04 9.99984878e-01 -2.17342669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.671400513 meters 0.018012216730938724 Centerline is valid? [True, True] Translation: X:388.36, Y:40.57, Z:-2.17 [[ 9.96784224e-01 -7.99996072e-02 4.61226470e-03 3.88358489e+02] [ 7.99983797e-02 9.96794892e-01 4.50317991e-04 4.05689508e+01] [-4.63350716e-03 -7.98961660e-05 9.99989262e-01 -2.17495149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.701400513 meters 0.01674528705209552 Centerline is valid? [True, True] Translation: X:388.39, Y:40.57, Z:-2.18 [[ 9.96539897e-01 -8.31014437e-02 1.54403234e-03 3.88386441e+02] [ 8.31013098e-02 9.96541093e-01 1.50802376e-04 4.05711485e+01] [-1.55122358e-03 -2.19694745e-05 9.99998797e-01 -2.17931160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.731400513 meters 0.015839384326506 Centerline is valid? [True, True] Translation: X:388.41, Y:40.57, Z:-2.18 [[ 9.96453919e-01 -8.41369819e-02 7.45223786e-04 3.88414826e+02] [ 8.41369511e-02 9.96454198e-01 7.25824810e-05 4.05738265e+01] [-7.48688241e-04 -9.62424039e-06 9.99999720e-01 -2.18078749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.761400513 meters 0.021554703763326022 Centerline is valid? [True, True] Translation: X:388.44, Y:40.58, Z:-2.18 [[ 9.96371973e-01 -8.51031508e-02 5.86908103e-04 3.88443384e+02] [ 8.51031319e-02 9.96372146e-01 5.71525410e-05 4.05756225e+01] [-5.89642748e-04 -6.99747227e-06 9.99999826e-01 -2.18110674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.791400513 meters 0.021554703763326022 Centerline is valid? [True, True] Translation: X:388.47, Y:40.58, Z:-2.18 [[ 9.96355752e-01 -8.52928558e-02 5.86903457e-04 3.88470774e+02] [ 8.52928369e-02 9.96355925e-01 5.72002707e-05 4.05784649e+01] [-5.89643511e-04 -6.93315791e-06 9.99999826e-01 -2.18118122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.821400513 meters 0.017305007969137448 Centerline is valid? [True, True] Translation: X:388.50, Y:40.58, Z:-2.18 [[ 9.96300807e-01 -8.59239848e-02 1.33104844e-03 3.88498529e+02] [ 8.59238867e-02 9.96301696e-01 1.30819565e-04 4.05825171e+01] [-1.33736635e-03 -1.59667827e-05 9.99999106e-01 -2.18028909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.851400513 meters 0.014587211601942067 Centerline is valid? [True, True] Translation: X:388.53, Y:40.59, Z:-2.18 [[ 9.96239022e-01 -8.65847490e-02 3.30032193e-03 3.88525642e+02] [ 8.65841478e-02 9.96244488e-01 3.24876407e-04 4.05881394e+01] [-3.31605688e-03 -3.78989917e-05 9.99994501e-01 -2.17764262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.881400513 meters 0.02649021585204831 Centerline is valid? [True, True] Translation: X:388.55, Y:40.59, Z:-2.18 [[ 9.96245910e-01 -8.65155897e-02 3.02315372e-03 3.88553379e+02] [ 8.65150834e-02 9.96250496e-01 2.98112043e-04 4.05925569e+01] [-3.03760974e-03 -3.54445075e-05 9.99995386e-01 -2.17803437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.911400513 meters 0.01582071484077542 Centerline is valid? [True, True] Translation: X:388.58, Y:40.61, Z:-2.18 [[ 9.96373135e-01 -8.50711225e-02 1.86543904e-03 3.88580073e+02] [ 8.50709266e-02 9.96374881e-01 1.84223418e-04 4.06051431e+01] [-1.87434869e-03 -2.48606371e-05 9.99998243e-01 -2.18017626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.941400513 meters 0.018111627791600974 Centerline is valid? [True, True] Translation: X:388.61, Y:40.61, Z:-2.18 [[ 9.96396171e-01 -8.48163254e-02 9.28234759e-04 3.88608640e+02] [ 8.48162770e-02 9.96396603e-01 9.14547233e-05 4.06105992e+01] [-9.32646815e-04 -1.23957196e-05 9.99999565e-01 -2.18161678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.971400513 meters 0.017174129602546176 Centerline is valid? [True, True] Translation: X:388.64, Y:40.62, Z:-2.18 [[ 9.96438837e-01 -8.43163074e-02 6.35341538e-04 3.88635351e+02] [ 8.43162845e-02 9.96439040e-01 6.27587276e-05 4.06185827e+01] [-6.38370696e-04 -8.96559572e-06 9.99999796e-01 -2.18212928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.001400513 meters 0.01661533447004509 Centerline is valid? [True, True] Translation: X:388.66, Y:40.62, Z:-2.18 [[ 9.96469477e-01 -8.39535690e-02 6.15457454e-04 3.88663727e+02] [ 8.39535475e-02 9.96469667e-01 6.06353420e-05 4.06242854e+01] [-6.18375237e-04 -8.75143095e-06 9.99999809e-01 -2.18214549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.031400513 meters 0.01854624790584635 Centerline is valid? [True, True] Translation: X:388.69, Y:40.63, Z:-2.18 [[ 9.96464096e-01 -8.40182815e-02 4.83773064e-04 3.88690849e+02] [ 8.40182683e-02 9.96464213e-01 4.75815742e-05 4.06304390e+01] [-4.86060268e-04 -6.76755528e-06 9.99999882e-01 -2.18218270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.061400513 meters 0.02516076437381245 Centerline is valid? [True, True] Translation: X:388.72, Y:40.64, Z:-2.18 [[ 9.96414112e-01 -8.46080772e-02 -6.24385645e-04 3.88717597e+02] [ 8.46080548e-02 9.96414308e-01 -6.22914950e-05 4.06404953e+01] [ 6.27417154e-04 9.24006977e-06 9.99999803e-01 -2.18432469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.091400513 meters 0.015491169433748904 Centerline is valid? [True, True] Translation: X:388.75, Y:40.64, Z:-2.19 [[ 9.96334442e-01 -8.55349769e-02 -1.20343977e-03 3.88746375e+02] [ 8.55348939e-02 9.96335168e-01 -1.20396628e-04 4.06437797e+01] [ 1.20932749e-03 1.70192136e-05 9.99999269e-01 -2.18538867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.121400513 meters 0.01503150040261614 Centerline is valid? [True, True] Translation: X:388.77, Y:40.65, Z:-2.19 [[ 9.96198173e-01 -8.71060177e-02 -1.32013893e-03 3.88774221e+02] [ 8.71059195e-02 9.96199047e-01 -1.31815768e-04 4.06480900e+01] [ 1.32660309e-03 1.63227112e-05 9.99999120e-01 -2.18598581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.151400513 meters 0.025696017879874966 Centerline is valid? [True, True] Translation: X:388.80, Y:40.65, Z:-2.18 [[ 9.95956280e-01 -8.98391600e-02 -1.15849963e-04 3.88803073e+02] [ 8.98391592e-02 9.95956287e-01 -1.20338050e-05 4.06511951e+01] [ 1.16462606e-04 1.57728039e-06 9.99999993e-01 -2.18305500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.181400513 meters 0.011765817210274004 Centerline is valid? [True, True] Translation: X:388.83, Y:40.66, Z:-2.18 [[ 9.95947985e-01 -8.99271085e-02 8.51912128e-04 3.88830100e+02] [ 8.99270687e-02 9.95948350e-01 8.49488098e-05 4.06567549e+01] [-8.56099679e-04 -7.99463544e-06 9.99999634e-01 -2.18239450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.211400513 meters 0.013098123856040944 Centerline is valid? [True, True] Translation: X:388.86, Y:40.66, Z:-2.18 [[ 9.95976982e-01 -8.95991423e-02 1.35799825e-03 3.88857745e+02] [ 8.95990406e-02 9.95977908e-01 1.35699283e-04 4.06637771e+01] [-1.36469480e-03 -1.34780225e-05 9.99999069e-01 -2.18209356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24140051300003 meters 0.012617267075236685 Centerline is valid? [True, True] Translation: X:388.89, Y:40.67, Z:-2.18 [[ 9.95981362e-01 -8.95458629e-02 1.63225689e-03 3.88885258e+02] [ 8.95457158e-02 9.95982700e-01 1.63096597e-04 4.06683268e+01] [-1.64030425e-03 -1.62795588e-05 9.99998655e-01 -2.18188086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.271400513 meters 0.016480874288345593 Centerline is valid? [True, True] Translation: X:388.91, Y:40.67, Z:-2.18 [[ 9.95870795e-01 -9.07677658e-02 1.60415319e-03 3.88913937e+02] [ 9.07676248e-02 9.95872086e-01 1.60608011e-04 4.06736675e+01] [-1.61210942e-03 -1.43396526e-05 9.99998700e-01 -2.18253289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30140051300003 meters 0.011206613025223966 Centerline is valid? [True, True] Translation: X:388.94, Y:40.68, Z:-2.18 [[ 9.95787047e-01 -9.16842228e-02 1.47002575e-03 3.88941824e+02] [ 9.16841050e-02 9.95788132e-01 1.47484076e-04 4.06766121e+01] [-1.47735616e-03 -1.20847377e-05 9.99998909e-01 -2.18291084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.331400513 meters 0.010027940496074689 Centerline is valid? [True, True] Translation: X:388.97, Y:40.68, Z:-2.18 [[ 9.95676150e-01 -9.28884931e-02 8.55450650e-04 3.88970148e+02] [ 9.28884538e-02 9.95676518e-01 8.56109632e-05 4.06772143e+01] [-8.59704397e-04 -5.77930606e-06 9.99999630e-01 -2.18331009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.361400513 meters 0.007719769312929161 Centerline is valid? [True, True] Translation: X:389.00, Y:40.67, Z:-2.18 [[ 9.95320538e-01 -9.66232981e-02 9.82243347e-04 3.88999131e+02] [ 9.66232478e-02 9.95321023e-01 9.86074180e-05 4.06737921e+01] [-9.87175227e-04 -3.23844602e-06 9.99999513e-01 -2.18271720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.391400513 meters 0.006876550952865497 Centerline is valid? [True, True] Translation: X:389.03, Y:40.67, Z:-2.18 [[ 9.95031436e-01 -9.95466698e-02 1.70327256e-03 3.89026776e+02] [ 9.95465217e-02 9.95032894e-01 1.71726044e-04 4.06727064e+01] [-1.71190698e-03 -1.31795376e-06 9.99998535e-01 -2.18142812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.421400513 meters 0.007283897419435243 Centerline is valid? [True, True] Translation: X:389.06, Y:40.67, Z:-2.18 [[ 9.94667858e-01 -1.03100383e-01 2.48242143e-03 3.89055422e+02] [ 1.03100079e-01 9.94670956e-01 2.50476060e-04 4.06712818e+01] [-2.49501667e-03 6.79735807e-06 9.99996887e-01 -2.18064028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.451400513 meters 0.010979113338238398 Centerline is valid? [True, True] Translation: X:389.08, Y:40.67, Z:-2.18 [[ 9.94034874e-01 -1.09032148e-01 2.58062286e-03 3.89084461e+02] [ 1.09031838e-01 9.94038224e-01 2.60920394e-04 4.06666456e+01] [-2.59368647e-03 2.20060837e-05 9.99996636e-01 -2.18047911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.481400513 meters 0.01322026067983709 Centerline is valid? [True, True] Translation: X:389.11, Y:40.67, Z:-2.18 [[ 9.93784974e-01 -1.11294151e-01 2.24430027e-03 3.89112171e+02] [ 1.11293922e-01 9.93787508e-01 2.27052377e-04 4.06667289e+01] [-2.25562718e-03 2.41357377e-05 9.99997456e-01 -2.18116867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.511400513 meters 0.022719801946930955 Centerline is valid? [True, True] Translation: X:389.14, Y:40.67, Z:-2.18 [[ 9.93600473e-01 -1.12940440e-01 1.59908085e-03 3.89140265e+02] [ 1.12940325e-01 9.93601760e-01 1.62035913e-04 4.06680587e+01] [-1.60714996e-03 1.96017511e-05 9.99998708e-01 -2.18249400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.541400513 meters 0.01680371550678453 Centerline is valid? [True, True] Translation: X:389.17, Y:40.67, Z:-2.18 [[ 9.93507867e-01 -1.13748605e-01 1.83648059e-03 3.89167956e+02] [ 1.13748455e-01 9.93509564e-01 1.86225732e-04 4.06693930e+01] [-1.84574395e-03 2.38801012e-05 9.99998296e-01 -2.18225073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.571400513 meters 0.015658746738693653 Centerline is valid? [True, True] Translation: X:389.20, Y:40.68, Z:-2.18 [[ 9.93398271e-01 -1.14700904e-01 1.89140134e-03 3.89195782e+02] [ 1.14700747e-01 9.93400071e-01 1.91821248e-04 4.06764553e+01] [-1.90092030e-03 2.63902506e-05 9.99998193e-01 -2.18093082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.601400513 meters 0.016559839403290325 Centerline is valid? [True, True] Translation: X:389.22, Y:40.68, Z:-2.18 [[ 9.93381713e-01 -1.14847722e-01 1.66507973e-03 3.89222749e+02] [ 1.14847600e-01 9.93383108e-01 1.69185646e-04 4.06794727e+01] [-1.67349266e-03 2.31644836e-05 9.99998599e-01 -2.18109582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.631400513 meters 0.017644005191219597 Centerline is valid? [True, True] Translation: X:389.25, Y:40.69, Z:-2.18 [[ 9.93305282e-01 -1.15512640e-01 1.20286321e-03 3.89251096e+02] [ 1.15512577e-01 9.93306010e-01 1.22131433e-04 4.06854545e+01] [-1.20891898e-03 1.76320321e-05 9.99999269e-01 -2.18157326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.661400513 meters 0.01693840660543419 Centerline is valid? [True, True] Translation: X:389.28, Y:40.70, Z:-2.18 [[ 9.93213778e-01 -1.16268391e-01 2.83763587e-03 3.89279560e+02] [ 1.16268039e-01 9.93217831e-01 2.89226013e-04 4.06954248e+01] [-2.85201839e-03 4.26630985e-05 9.99995932e-01 -2.17926787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.691400513 meters 0.018522979932170773 Centerline is valid? [True, True] Translation: X:389.31, Y:40.70, Z:-2.18 [[ 9.93166270e-01 -1.16655584e-01 3.49772335e-03 3.89307058e+02] [ 1.16655049e-01 9.93172428e-01 3.57121779e-04 4.07012843e+01] [-3.51550264e-03 5.33457846e-05 9.99993819e-01 -2.17817247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.721400513 meters 0.01694956348500657 Centerline is valid? [True, True] Translation: X:389.33, Y:40.71, Z:-2.18 [[ 9.93115951e-01 -1.17088964e-01 3.29898737e-03 3.89334614e+02] [ 1.17088490e-01 9.93121429e-01 3.37105310e-04 4.07110040e+01] [-3.31576636e-03 5.14887900e-05 9.99994502e-01 -2.17871897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.751400513 meters 0.02041905123575739 Centerline is valid? [True, True] Translation: X:389.36, Y:40.72, Z:-2.18 [[ 9.92983235e-01 -1.18231288e-01 2.37864815e-03 3.89362214e+02] [ 1.18231044e-01 9.92986083e-01 2.43419185e-04 4.07178740e+01] [-2.39074427e-03 3.95188844e-05 9.99997141e-01 -2.18009718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.781400513 meters 0.01945006871014101 Centerline is valid? [True, True] Translation: X:389.39, Y:40.73, Z:-2.18 [[ 9.92926333e-01 -1.18698883e-01 2.80587952e-03 3.89389273e+02] [ 1.18698544e-01 9.92930296e-01 2.87456126e-04 4.07269195e+01] [-2.82016351e-03 4.76310569e-05 9.99996022e-01 -2.17961031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.811400513 meters 0.019733068641564724 Centerline is valid? [True, True] Translation: X:389.42, Y:40.73, Z:-2.18 [[ 9.92926352e-01 -1.18676507e-01 3.62568637e-03 3.89415756e+02] [ 1.18675939e-01 9.92932970e-01 3.72189847e-04 4.07347569e+01] [-3.64423373e-03 6.07246294e-05 9.99993358e-01 -2.17856240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.841400513 meters 0.02710003505113409 Centerline is valid? [True, True] Translation: X:389.44, Y:40.74, Z:-2.18 [[ 9.93268349e-01 -1.15765590e-01 4.03908551e-03 3.89439478e+02] [ 1.15721254e-01 9.93232604e-01 9.87851154e-03 4.07407869e+01] [-5.15534314e-03 -9.34460481e-03 9.99943049e-01 -2.17911456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.871400513 meters 0.016516798860329227 Centerline is valid? [True, True] Translation: X:389.47, Y:40.77, Z:-2.19 [[ 9.93213246e-01 -1.16295587e-01 1.66896962e-03 3.89469556e+02] [ 1.16305817e-01 9.93174684e-01 -8.77515668e-03 4.07655725e+01] [-6.37066381e-04 8.90971272e-03 9.99960105e-01 -2.18563065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.901400513 meters 0.016586515677357347 Centerline is valid? [True, True] Translation: X:389.50, Y:40.77, Z:-2.19 [[ 9.93325115e-01 -1.15339584e-01 -1.41290477e-03 3.89497880e+02] [ 1.15339493e-01 9.93326120e-01 -1.45577535e-04 4.07660620e+01] [ 1.42026607e-03 -1.83578986e-05 9.99998991e-01 -2.18822515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.931400513 meters 0.01485749175589836 Centerline is valid? [True, True] Translation: X:389.53, Y:40.78, Z:-2.19 [[ 9.93476662e-01 -1.14006273e-01 -2.58675620e-03 3.89525905e+02] [ 1.14005964e-01 9.93480029e-01 -2.66962375e-04 4.07769225e+01] [ 2.60032602e-03 -2.96847467e-05 9.99996619e-01 -2.19028590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.961400513 meters 0.009888499128397501 Centerline is valid? [True, True] Translation: X:389.55, Y:40.80, Z:-2.19 [[ 9.94017332e-01 -1.09216476e-01 -1.14264769e-03 3.89553199e+02] [ 1.09216412e-01 9.94017988e-01 -1.18389810e-04 4.07953071e+01] [ 1.14874247e-03 -7.11435801e-06 9.99999340e-01 -2.18731523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99140051300003 meters 0.008131276848291165 Centerline is valid? [True, True] Translation: X:389.58, Y:40.80, Z:-2.19 [[ 9.94302888e-01 -1.06591050e-01 -3.39065930e-04 3.89580768e+02] [ 1.06591044e-01 9.94302946e-01 -3.55400606e-05 4.08043920e+01] [ 3.40922506e-04 -8.03806558e-07 9.99999942e-01 -2.18619704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.021400513 meters 0.007209901419145749 Centerline is valid? [True, True] Translation: X:389.61, Y:40.81, Z:-2.19 [[ 9.94553516e-01 -1.04227120e-01 -1.09228557e-04 3.89607685e+02] [ 1.04227119e-01 9.94553522e-01 -1.15626800e-05 4.08132606e+01] [ 1.09838791e-04 1.15126191e-07 9.99999994e-01 -2.18634590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05140051300003 meters 0.007654424670285795 Centerline is valid? [True, True] Translation: X:389.63, Y:40.83, Z:-2.19 [[ 9.94958348e-01 -1.00288765e-01 -2.20984513e-04 3.89634012e+02] [ 1.00288762e-01 9.94958373e-01 -2.34443830e-05 4.08291508e+01] [ 2.22221600e-04 1.16392126e-06 9.99999975e-01 -2.18752450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.081400513 meters 0.008970789646863608 Centerline is valid? [True, True] Translation: X:389.66, Y:40.84, Z:-2.19 [[ 9.95159891e-01 -9.82671512e-02 -5.98037087e-04 3.89660561e+02] [ 9.82671315e-02 9.95160071e-01 -6.22226676e-05 4.08379594e+01] [ 6.01257074e-04 3.15411407e-06 9.99999819e-01 -2.18842517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.111400513 meters 0.010153806826177718 Centerline is valid? [True, True] Translation: X:389.69, Y:40.85, Z:-2.19 [[ 9.95342492e-01 -9.63983403e-02 -8.27136715e-04 3.89688716e+02] [ 9.63983018e-02 9.95342835e-01 -8.64049599e-05 4.08454954e+01] [ 8.31613898e-04 6.26795348e-06 9.99999654e-01 -2.18869381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.141400513 meters 0.011981437707428984 Centerline is valid? [True, True] Translation: X:389.72, Y:40.85, Z:-2.19 [[ 9.95546337e-01 -9.42719914e-02 -5.31820712e-04 3.89716848e+02] [ 9.42719750e-02 9.95546479e-01 -5.58186685e-05 4.08534094e+01] [ 5.34714374e-04 5.43428205e-06 9.99999857e-01 -2.18784895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.171400513 meters 0.017142173736376273 Centerline is valid? [True, True] Translation: X:389.74, Y:40.87, Z:-2.18 [[ 9.95960704e-01 -8.97846250e-02 9.98228811e-04 3.89743235e+02] [ 8.97845661e-02 9.95961205e-01 1.03749046e-04 4.08688098e+01] [-1.00351224e-03 -1.37044327e-05 9.99999496e-01 -2.18457232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.201400513 meters 0.018582441390618834 Centerline is valid? [True, True] Translation: X:389.77, Y:40.88, Z:-2.18 [[ 9.96130713e-01 -8.78709904e-02 1.51396671e-03 3.89771834e+02] [ 8.78708526e-02 9.96131863e-01 1.57387911e-04 4.08765671e+01] [-1.52194032e-03 -2.37453855e-05 9.99998842e-01 -2.18418829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.231400513 meters 0.020072842991772716 Centerline is valid? [True, True] Translation: X:389.80, Y:40.88, Z:-2.18 [[ 9.96303058e-01 -8.58935044e-02 1.58796596e-03 3.89800376e+02] [ 8.58933499e-02 9.96304324e-01 1.65362620e-04 4.08836290e+01] [-1.59630093e-03 -2.83555685e-05 9.99998726e-01 -2.18445875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.261400513 meters 0.022483793606541614 Centerline is valid? [True, True] Translation: X:389.83, Y:40.89, Z:-2.19 [[ 9.96445236e-01 -8.42323389e-02 1.34318576e-03 3.89827332e+02] [ 8.42322264e-02 9.96446141e-01 1.40190036e-04 4.08916257e+01] [-1.35022080e-03 -2.65521668e-05 9.99999088e-01 -2.18544313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.291400513 meters 0.024830247236861745 Centerline is valid? [True, True] Translation: X:389.86, Y:40.90, Z:-2.19 [[ 9.96728357e-01 -8.08153439e-02 1.20901277e-03 3.89856167e+02] [ 8.08152501e-02 9.96729090e-01 1.26300183e-04 4.09032255e+01] [-1.21526519e-03 -2.81803044e-05 9.99999261e-01 -2.18540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.321400513 meters 0.029418108649350655 Centerline is valid? [True, True] Translation: X:389.88, Y:40.92, Z:-2.19 [[ 9.96863431e-01 -7.91287166e-02 1.39498926e-03 3.89883151e+02] [ 7.91285901e-02 9.96864407e-01 1.45719869e-04 4.09155751e+01] [-1.40214577e-03 -3.48792754e-05 9.99999016e-01 -2.18540478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.351400513 meters 0.03126489808730934 Centerline is valid? [True, True] Translation: X:389.91, Y:40.93, Z:-2.19 [[ 9.97117757e-01 -7.58505701e-02 1.69404540e-03 3.89911328e+02] [ 7.58503786e-02 9.97119195e-01 1.77106593e-04 4.09261574e+01] [-1.70259882e-03 -4.81021440e-05 9.99998549e-01 -2.18517534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.381400513 meters 0.0313486126777107 Centerline is valid? [True, True] Translation: X:389.94, Y:40.93, Z:-2.18 [[ 9.97216986e-01 -7.45212135e-02 2.20719583e-03 3.89939125e+02] [ 7.45208848e-02 9.97219426e-01 2.30907460e-04 4.09326114e+01] [-2.21826606e-03 -6.57826550e-05 9.99997537e-01 -2.18448096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.411400513 meters 0.03157405467273085 Centerline is valid? [True, True] Translation: X:389.97, Y:40.94, Z:-2.18 [[ 9.97279252e-01 -7.36740245e-02 2.49650642e-03 3.89967243e+02] [ 7.36736010e-02 9.97282373e-01 2.61304546e-04 4.09389557e+01] [-2.50897321e-03 -7.66669843e-05 9.99996850e-01 -2.18395455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.441400513 meters 0.031787888634932905 Centerline is valid? [True, True] Translation: X:390.00, Y:40.95, Z:-2.18 [[ 9.97316233e-01 -7.31795648e-02 2.25430628e-03 3.89995807e+02] [ 7.31792174e-02 9.97318779e-01 2.36288008e-04 4.09452432e+01] [-2.26555344e-03 -7.06854964e-05 9.99997431e-01 -2.18447661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.471400513 meters 0.039655933996195616 Centerline is valid? [True, True] Translation: X:390.02, Y:40.96, Z:-2.19 [[ 9.97346804e-01 -7.27922414e-02 8.01243450e-04 3.90021845e+02] [ 7.27921973e-02 9.97347126e-01 8.40320008e-05 4.09612310e+01] [-8.05234729e-04 -2.54847762e-05 9.99999675e-01 -2.18799845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.501400513 meters 0.03536201589298954 Centerline is valid? [True, True] Translation: X:390.05, Y:40.96, Z:-2.19 [[ 9.97311249e-01 -7.32782779e-02 7.53133213e-04 3.90051502e+02] [ 7.32782392e-02 9.97311533e-01 7.88292045e-05 4.09593272e+01] [-7.56884907e-04 -2.34289766e-05 9.99999713e-01 -2.18804884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.531400513 meters 0.033041562593885736 Centerline is valid? [True, True] Translation: X:390.08, Y:40.96, Z:-2.19 [[ 9.97247572e-01 -7.41362314e-02 1.04830814e-03 3.90080213e+02] [ 7.41361567e-02 9.97248123e-01 1.10026035e-04 4.09599161e+01] [-1.05358024e-03 -3.20056604e-05 9.99999444e-01 -2.18783786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.561400513 meters 0.034342329176411626 Centerline is valid? [True, True] Translation: X:390.11, Y:40.97, Z:-2.19 [[ 9.97213718e-01 -7.45879647e-02 1.19875548e-03 3.90107513e+02] [ 7.45878669e-02 9.97214437e-01 1.26217914e-04 4.09651255e+01] [-1.20483060e-03 -3.64536219e-05 9.99999274e-01 -2.18756074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.591400513 meters 0.0335462496448902 Centerline is valid? [True, True] Translation: X:390.14, Y:40.97, Z:-2.19 [[ 9.97207741e-01 -7.46620458e-02 1.51665959e-03 3.90135665e+02] [ 7.46618891e-02 9.97208893e-01 1.59744512e-04 4.09693587e+01] [-1.52435328e-03 -4.60617938e-05 9.99998837e-01 -2.18660743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.621400513 meters 0.03626581287483812 Centerline is valid? [True, True] Translation: X:390.16, Y:40.98, Z:-2.19 [[ 9.97268865e-01 -7.38332121e-02 1.86193791e-03 3.90162815e+02] [ 7.38329734e-02 9.97270602e-01 1.96715527e-04 4.09767854e+01] [-1.87138008e-03 -5.87058581e-05 9.99998247e-01 -2.18623996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.651400513 meters 0.0347992795082086 Centerline is valid? [True, True] Translation: X:390.19, Y:40.98, Z:-2.19 [[ 9.97350356e-01 -7.27120037e-02 2.28726541e-03 3.90191243e+02] [ 7.27116403e-02 9.97352976e-01 2.41760850e-04 4.09792855e+01] [-2.29878987e-03 -7.48094506e-05 9.99997355e-01 -2.18533095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.681400513 meters 0.04289339935705356 Centerline is valid? [True, True] Translation: X:390.22, Y:41.00, Z:-2.19 [[ 9.97666974e-01 -6.82096282e-02 2.83838016e-03 3.90218483e+02] [ 6.82090487e-02 9.97671006e-01 3.00607105e-04 4.09955327e+01] [-2.85227389e-03 -1.06302570e-04 9.99995927e-01 -2.18532847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.711400513 meters 0.04289339935705356 Centerline is valid? [True, True] Translation: X:390.25, Y:41.00, Z:-2.19 [[ 9.97654706e-01 -6.83888272e-02 2.83837682e-03 3.90245821e+02] [ 6.83882482e-02 9.97658738e-01 3.00638703e-04 4.09986011e+01] [-2.85229176e-03 -1.05821999e-04 9.99995927e-01 -2.18540791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74140051300003 meters 0.046143105205613086 Centerline is valid? [True, True] Translation: X:390.27, Y:41.01, Z:-2.19 [[ 9.97826734e-01 -6.58494411e-02 2.37907364e-03 3.90274263e+02] [ 6.58490262e-02 9.97829566e-01 2.52410239e-04 4.10067557e+01] [-2.39053109e-03 -9.52020017e-05 9.99997138e-01 -2.18648272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.771400513 meters 0.04517043122014981 Centerline is valid? [True, True] Translation: X:390.30, Y:41.01, Z:-2.19 [[ 9.97973420e-01 -6.36243285e-02 9.98631582e-04 3.90303829e+02] [ 6.36242543e-02 9.97973919e-01 1.05947660e-04 4.10090868e+01] [-1.00334912e-03 -4.21957591e-05 9.99999496e-01 -2.18832031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80140051300003 meters 0.04520146247052363 Centerline is valid? [True, True] Translation: X:390.33, Y:41.01, Z:-2.19 [[ 9.98113441e-01 -6.13719603e-02 -1.74417307e-03 3.90332606e+02] [ 6.13717299e-02 9.98114962e-01 -1.85324587e-04 4.10134303e+01] [ 1.75225897e-03 7.79320422e-05 9.99998462e-01 -2.19216528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.831400513 meters 0.04681607622733713 Centerline is valid? [True, True] Translation: X:390.36, Y:41.02, Z:-2.19 [[ 9.98118042e-01 -6.13041960e-02 -1.47270747e-03 3.90360389e+02] [ 6.13040315e-02 9.98119127e-01 -1.56652237e-04 4.10194788e+01] [ 1.47954093e-03 6.60745191e-05 9.99998903e-01 -2.19205244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.861400513 meters 0.046003592823375336 Centerline is valid? [True, True] Translation: X:390.39, Y:41.02, Z:-2.19 [[ 9.98084533e-01 -6.18648738e-02 4.37246512e-05 3.90389214e+02] [ 6.18648737e-02 9.98084534e-01 4.17750742e-06 4.10220624e+01] [-4.38993391e-05 -1.46448552e-06 9.99999999e-01 -2.19027534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.891400513 meters 0.044594769707531304 Centerline is valid? [True, True] Translation: X:390.42, Y:41.02, Z:-2.19 [[ 9.98018975e-01 -6.28845117e-02 1.91414912e-03 3.90417779e+02] [ 6.28842368e-02 9.98020807e-01 2.03544505e-04 4.10227915e+01] [-1.92316045e-03 -8.27714718e-05 9.99998147e-01 -2.18720612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.921400513 meters 0.04598000495613983 Centerline is valid? [True, True] Translation: X:390.45, Y:41.02, Z:-2.19 [[ 9.97891067e-01 -6.48570277e-02 2.64289169e-03 3.90446755e+02] [ 6.48565087e-02 9.97894561e-01 2.81693562e-04 4.10238890e+01] [-2.65559705e-03 -1.09690761e-04 9.99996468e-01 -2.18553928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.951400513 meters 0.044686310238064936 Centerline is valid? [True, True] Translation: X:390.48, Y:41.02, Z:-2.19 [[ 9.97807371e-01 -6.61704050e-02 1.38815063e-03 3.90476344e+02] [ 6.61702633e-02 9.97808336e-01 1.47771064e-04 4.10236187e+01] [-1.39488634e-03 -5.55927641e-05 9.99999026e-01 -2.18769513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.981400513 meters 0.040620006020820755 Centerline is valid? [True, True] Translation: X:390.51, Y:41.02, Z:-2.19 [[ 9.97723737e-01 -6.74339451e-02 8.49947873e-05 3.90505566e+02] [ 6.74339446e-02 9.97723741e-01 8.61043793e-06 4.10198031e+01] [-8.53819530e-05 -2.85930453e-06 9.99999996e-01 -2.18971962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.011400513 meters 0.04089847171056414 Centerline is valid? [True, True] Translation: X:390.53, Y:41.02, Z:-2.19 [[ 9.97668997e-01 -6.82386364e-02 -2.47853327e-04 3.90533497e+02] [ 6.82386318e-02 9.97669027e-01 -2.67778480e-05 4.10208399e+01] [ 2.49102872e-04 9.80225685e-06 9.99999969e-01 -2.19107113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.041400513 meters 0.04071508649970609 Centerline is valid? [True, True] Translation: X:390.56, Y:41.02, Z:-2.19 [[ 9.97704852e-01 -6.77120544e-02 3.24991077e-04 3.90562517e+02] [ 6.77120468e-02 9.97704905e-01 3.43549274e-05 4.10183144e+01] [-3.26571434e-04 -1.22702667e-05 9.99999947e-01 -2.19103280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.071400513 meters 0.05135446141501102 Centerline is valid? [True, True] Translation: X:390.59, Y:41.03, Z:-2.19 [[ 9.97821125e-01 -6.59764451e-02 3.34766770e-04 3.90589967e+02] [ 6.59764368e-02 9.97821181e-01 3.57584337e-05 4.10322476e+01] [-3.36396588e-04 -1.35938019e-05 9.99999943e-01 -2.19178834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.101400513 meters 0.04539555338156924 Centerline is valid? [True, True] Translation: X:390.62, Y:41.03, Z:-2.19 [[ 9.98004373e-01 -6.31416264e-02 -6.38135165e-04 3.90620845e+02] [ 6.31415955e-02 9.98004576e-01 -6.84686105e-05 4.10264716e+01] [ 6.41185034e-04 2.80391002e-05 9.99999794e-01 -2.19201768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.131400513 meters 0.061043000513046265 Centerline is valid? [True, True] Translation: X:390.65, Y:41.05, Z:-2.19 [[ 9.98436721e-01 -5.58773713e-02 -1.35424493e-03 3.90648198e+02] [ 5.58772255e-02 9.98437637e-01 -1.45295543e-04 4.10474988e+01] [ 1.36024784e-03 6.93969557e-05 9.99999072e-01 -2.19423924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.161400513 meters 0.06674930226691712 Centerline is valid? [True, True] Translation: X:390.68, Y:41.06, Z:-2.19 [[ 9.98638135e-01 -5.21667482e-02 -7.11587423e-04 3.90676556e+02] [ 5.21667069e-02 9.98638387e-01 -7.63619585e-05 4.10573839e+01] [ 7.14602072e-04 3.91367912e-05 9.99999744e-01 -2.19353835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.191400513 meters 0.06045823022851936 Centerline is valid? [True, True] Translation: X:390.71, Y:41.05, Z:-2.19 [[ 9.98812246e-01 -4.87244786e-02 1.47502794e-04 3.90707623e+02] [ 4.87244768e-02 9.98812257e-01 1.58138652e-05 4.10523768e+01] [-1.48098121e-04 -8.60808575e-06 9.99999989e-01 -2.19145307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.221400513 meters 0.06913560514955207 Centerline is valid? [True, True] Translation: X:390.74, Y:41.07, Z:-2.19 [[ 9.99051839e-01 -4.34507611e-02 2.73019568e-03 3.90735276e+02] [ 4.34501224e-02 9.99055555e-01 2.92869688e-04 4.10663050e+01] [-2.74034257e-03 -1.73964664e-04 9.99996230e-01 -2.18837191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.251400513 meters 0.0670695431494593 Centerline is valid? [True, True] Translation: X:390.77, Y:41.07, Z:-2.19 [[ 9.99121992e-01 -4.17588269e-02 3.38310469e-03 3.90765056e+02] [ 4.17578363e-02 9.99127695e-01 3.62937206e-04 4.10677135e+01] [-3.39530942e-03 -2.21347412e-04 9.99994211e-01 -2.18791194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.281400513 meters 0.0735008115787745 Centerline is valid? [True, True] Translation: X:390.79, Y:41.08, Z:-2.19 [[ 9.99156247e-01 -4.09400197e-02 3.27244958e-03 3.90793491e+02] [ 4.09390884e-02 9.99161582e-01 3.51102958e-04 4.10798679e+01] [-3.28408006e-03 -2.16835611e-04 9.99994584e-01 -2.18809148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.311400513 meters 0.07339826011189933 Centerline is valid? [True, True] Translation: X:390.82, Y:41.08, Z:-2.19 [[ 9.99149344e-01 -4.11456456e-02 2.76118726e-03 3.90824034e+02] [ 4.11449833e-02 9.99153143e-01 2.96277225e-04 4.10842147e+01] [-2.77103944e-03 -1.82416192e-04 9.99996144e-01 -2.18903483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.341400513 meters 0.06860636432891422 Centerline is valid? [True, True] Translation: X:390.85, Y:41.08, Z:-2.19 [[ 9.99118886e-01 -4.18896824e-02 2.58969306e-03 3.90853903e+02] [ 4.18891022e-02 9.99122228e-01 2.77869347e-04 4.10823942e+01] [-2.59905975e-03 -1.69144595e-04 9.99996608e-01 -2.18930725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.371400513 meters 0.06570330456623504 Centerline is valid? [True, True] Translation: X:390.88, Y:41.08, Z:-2.19 [[ 9.99080066e-01 -4.28029505e-02 2.63216102e-03 3.90884088e+02] [ 4.28023542e-02 9.99083519e-01 2.82490034e-04 4.10826843e+01] [-2.64184010e-03 -1.69567474e-04 9.99996496e-01 -2.18890777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.401400513 meters 0.07029909373369513 Centerline is valid? [True, True] Translation: X:390.91, Y:41.09, Z:-2.19 [[ 9.99035160e-01 -4.38447522e-02 2.52716032e-03 3.90912466e+02] [ 4.38442057e-02 9.99038344e-01 2.71249079e-04 4.10919403e+01] [-2.53662291e-03 -1.60186030e-04 9.99996770e-01 -2.18863471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.431400513 meters 0.06067028924912309 Centerline is valid? [True, True] Translation: X:390.94, Y:41.08, Z:-2.19 [[ 9.98967800e-01 -4.53655448e-02 2.30259092e-03 3.90943012e+02] [ 4.53650951e-02 9.98970444e-01 2.47162003e-04 4.10842295e+01] [-2.31143292e-03 -1.42449626e-04 9.99997318e-01 -2.18835138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.461400513 meters 0.061368222218277965 Centerline is valid? [True, True] Translation: X:390.97, Y:41.09, Z:-2.19 [[ 9.98952645e-01 -4.57052147e-02 2.15568548e-03 3.90971703e+02] [ 4.57048213e-02 9.98954962e-01 2.31431399e-04 4.10886157e+01] [-2.16401033e-03 -1.32663789e-04 9.99997650e-01 -2.18921098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49140051300003 meters 0.06175125147513386 Centerline is valid? [True, True] Translation: X:391.00, Y:41.09, Z:-2.19 [[ 9.98922554e-01 -4.63562935e-02 2.19641830e-03 3.90999734e+02] [ 4.63558867e-02 9.98924960e-01 2.35796812e-04 4.10922680e+01] [-2.20498773e-03 -1.33725835e-04 9.99997560e-01 -2.18966244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.521400513 meters 0.06225420872673694 Centerline is valid? [True, True] Translation: X:391.03, Y:41.10, Z:-2.19 [[ 9.98901896e-01 -4.68289259e-02 1.43322346e-03 3.91028571e+02] [ 4.68287530e-02 9.98902920e-01 1.53936513e-04 4.10954445e+01] [-1.43885978e-03 -8.66514071e-05 9.99998961e-01 -2.19064760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55140051300003 meters 0.06526613755647417 Centerline is valid? [True, True] Translation: X:391.06, Y:41.10, Z:-2.19 [[ 9.98904807e-01 -4.67872403e-02 3.75495120e-04 3.91055785e+02] [ 4.67872285e-02 9.98904877e-01 4.03080478e-05 4.11020666e+01] [-3.76969809e-04 -2.26955268e-05 9.99999929e-01 -2.19198460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.581400513 meters 0.06016283266008709 Centerline is valid? [True, True] Translation: X:391.09, Y:41.10, Z:-2.19 [[ 9.98904695e-01 -4.67907001e-02 -2.03541513e-04 3.91085232e+02] [ 4.67906965e-02 9.98904715e-01 -2.24502908e-05 4.10992303e+01] [ 2.04369042e-04 1.29018517e-05 9.99999979e-01 -2.19230913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.611400513 meters 0.06746360825330619 Centerline is valid? [True, True] Translation: X:391.11, Y:41.11, Z:-2.19 [[ 9.98911893e-01 -4.66365423e-02 2.50195963e-04 3.91112204e+02] [ 4.66365370e-02 9.98911924e-01 2.68556777e-05 4.11115072e+01] [-2.51176187e-04 -1.51581825e-05 9.99999968e-01 -2.19220466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.641400513 meters 0.06378584248045513 Centerline is valid? [True, True] Translation: X:391.14, Y:41.11, Z:-2.19 [[ 9.98928345e-01 -4.62521407e-02 1.70318918e-03 3.91141538e+02] [ 4.62518943e-02 9.98929792e-01 1.83783599e-04 4.11105785e+01] [-1.70986680e-03 -1.04810921e-04 9.99998533e-01 -2.18970603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.671400513 meters 0.06138861089981831 Centerline is valid? [True, True] Translation: X:391.17, Y:41.11, Z:-2.19 [[ 9.98938365e-01 -4.60207594e-02 2.05714408e-03 3.91170533e+02] [ 4.60203986e-02 9.98940475e-01 2.22403924e-04 4.11105951e+01] [-2.06519968e-03 -1.27497222e-04 9.99997859e-01 -2.18897453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.701400513 meters 0.06855422031706508 Centerline is valid? [True, True] Translation: X:391.20, Y:41.12, Z:-2.19 [[ 9.98974619e-01 -4.52104165e-02 2.39333911e-03 3.91198244e+02] [ 4.52099246e-02 9.98977475e-01 2.59285768e-04 4.11223960e+01] [-2.40261428e-03 -1.50817221e-04 9.99997102e-01 -2.18857456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.731400513 meters 0.07029016189246101 Centerline is valid? [True, True] Translation: X:391.23, Y:41.13, Z:-2.19 [[ 9.99111021e-01 -4.21062868e-02 2.05626094e-03 3.91227934e+02] [ 4.21059170e-02 9.99113128e-01 2.22854974e-04 4.11285160e+01] [-2.06382090e-03 -1.36076108e-04 9.99997861e-01 -2.18938323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.761400513 meters 0.07466814612828934 Centerline is valid? [True, True] Translation: X:391.26, Y:41.14, Z:-2.19 [[ 9.99199972e-01 -3.99535331e-02 1.76975311e-03 3.91256148e+02] [ 3.99532558e-02 9.99201532e-01 1.91785803e-04 4.11374158e+01] [-1.77600253e-03 -1.20924970e-04 9.99998416e-01 -2.19030355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.791400513 meters 0.07205130142101428 Centerline is valid? [True, True] Translation: X:391.29, Y:41.14, Z:-2.19 [[ 9.99287180e-01 -3.77093987e-02 1.77026355e-03 3.91286620e+02] [ 3.77091177e-02 9.99288740e-01 1.91872636e-04 4.11380508e+01] [-1.77623984e-03 -1.24980789e-04 9.99998415e-01 -2.19051146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.821400513 meters 0.07885490771184123 Centerline is valid? [True, True] Translation: X:391.31, Y:41.15, Z:-2.19 [[ 9.99367078e-01 -3.55323178e-02 1.70241129e-03 3.91314886e+02] [ 3.55320547e-02 9.99368520e-01 1.84531933e-04 4.11508055e+01] [-1.70789310e-03 -1.23924967e-04 9.99998534e-01 -2.19104019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.851400513 meters 0.08137611236638985 Centerline is valid? [True, True] Translation: X:391.34, Y:41.16, Z:-2.19 [[ 9.99497354e-01 -3.16984741e-02 -4.95632308e-04 3.91344496e+02] [ 3.16984513e-02 9.99497476e-01 -5.37924502e-05 4.11592785e+01] [ 4.97088380e-04 3.80546350e-05 9.99999876e-01 -2.19400541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.881400513 meters 0.08330758483788712 Centerline is valid? [True, True] Translation: X:391.37, Y:41.16, Z:-2.20 [[ 9.99534868e-01 -3.04495532e-02 -1.69476948e-03 3.91373144e+02] [ 3.04492851e-02 9.99536296e-01 -1.83800112e-04 4.11649230e+01] [ 1.69958024e-03 1.32110101e-04 9.99998547e-01 -2.19588665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.911400513 meters 0.08564238381897406 Centerline is valid? [True, True] Translation: X:391.40, Y:41.17, Z:-2.20 [[ 9.99558820e-01 -2.96354284e-02 -1.97656012e-03 3.91400901e+02] [ 2.96350617e-02 9.99560762e-01 -2.14566760e-04 4.11710114e+01] [ 1.98205072e-03 1.55896616e-04 9.99998024e-01 -2.19641938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.941400513 meters 0.0841070186783063 Centerline is valid? [True, True] Translation: X:391.43, Y:41.18, Z:-2.19 [[ 9.99588255e-01 -2.86930093e-02 -1.76491716e-04 3.91430230e+02] [ 2.86930064e-02 9.99588271e-01 -1.92166507e-05 4.11750151e+01] [ 1.76970433e-04 1.41446604e-05 9.99999984e-01 -2.19400104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.971400513 meters 0.0742701574230701 Centerline is valid? [True, True] Translation: X:391.46, Y:41.17, Z:-2.19 [[ 9.99601776e-01 -2.81773177e-02 1.52578377e-03 3.91461051e+02] [ 2.81770977e-02 9.99602933e-01 1.65535819e-04 4.11678976e+01] [-1.52984229e-03 -1.22477740e-04 9.99998822e-01 -2.19170790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.001400513 meters 0.07877155514535654 Centerline is valid? [True, True] Translation: X:391.49, Y:41.18, Z:-2.19 [[ 9.99620743e-01 -2.73779623e-02 2.96945474e-03 3.91489951e+02] [ 2.73771249e-02 9.99625124e-01 3.22297982e-04 4.11779601e+01] [-2.97716542e-03 -2.40880615e-04 9.99995539e-01 -2.19025437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.031400513 meters 0.08194919905625665 Centerline is valid? [True, True] Translation: X:391.52, Y:41.19, Z:-2.19 [[ 9.99647300e-01 -2.63448023e-02 3.35055376e-03 3.91519498e+02] [ 2.63437303e-02 9.99652878e-01 3.63694486e-04 4.11862450e+01] [-3.35897216e-03 -2.75300127e-04 9.99994321e-01 -2.18938295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.061400513 meters 0.09202769555800196 Centerline is valid? [True, True] Translation: X:391.55, Y:41.21, Z:-2.19 [[ 9.99702016e-01 -2.43226029e-02 2.07116238e-03 3.91547337e+02] [ 2.43221890e-02 9.99704147e-01 2.24791673e-04 4.12056169e+01] [-2.07601714e-03 -1.74349486e-04 9.99997830e-01 -2.19116446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.091400513 meters 0.09187848971403367 Centerline is valid? [True, True] Translation: X:391.58, Y:41.21, Z:-2.19 [[ 9.99720253e-01 -2.36242118e-02 1.14592931e-03 3.91578313e+02] [ 2.36240846e-02 9.99720905e-01 1.24425277e-04 4.12112178e+01] [-1.14854894e-03 -9.73189380e-05 9.99999336e-01 -2.19293772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.121400513 meters 0.08592885084798808 Centerline is valid? [True, True] Translation: X:391.61, Y:41.21, Z:-2.19 [[ 9.99733582e-01 -2.30700427e-02 7.33992326e-04 3.91609476e+02] [ 2.30699904e-02 9.99733849e-01 7.96562842e-05 4.12091142e+01] [-7.35634648e-04 -6.27018664e-05 9.99999727e-01 -2.19404433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.151400513 meters 0.08716803155323784 Centerline is valid? [True, True] Translation: X:391.64, Y:41.22, Z:-2.20 [[ 9.99742480e-01 -2.26901995e-02 -3.57497822e-04 3.91638540e+02] [ 2.26901870e-02 9.99742544e-01 -3.88344473e-05 4.12155441e+01] [ 3.58286944e-04 3.07127542e-05 9.99999935e-01 -2.19620142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.181400513 meters 0.09226779543916683 Centerline is valid? [True, True] Translation: X:391.67, Y:41.23, Z:-2.20 [[ 9.99745242e-01 -2.25307429e-02 -1.34821740e-03 3.91667450e+02] [ 2.25305659e-02 9.99746144e-01 -1.46342912e-04 4.12263313e+01] [ 1.35117236e-03 1.15929530e-04 9.99999080e-01 -2.19795551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.211400513 meters 0.08569874478185102 Centerline is valid? [True, True] Translation: X:391.70, Y:41.22, Z:-2.20 [[ 9.99744518e-01 -2.25058770e-02 -2.09406266e-03 3.91697396e+02] [ 2.25054497e-02 9.99746694e-01 -2.27401731e-04 4.12238388e+01] [ 2.09865009e-03 1.80215812e-04 9.99997782e-01 -2.19867404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24140051300003 meters 0.08407419780076117 Centerline is valid? [True, True] Translation: X:391.73, Y:41.23, Z:-2.20 [[ 9.99746577e-01 -2.24177132e-02 -2.05636617e-03 3.91725917e+02] [ 2.24172994e-02 9.99748676e-01 -2.24046294e-04 4.12278055e+01] [ 2.06087197e-03 1.77891339e-04 9.99997861e-01 -2.19889633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.271400513 meters 0.08764214319117461 Centerline is valid? [True, True] Translation: X:391.75, Y:41.24, Z:-2.20 [[ 9.99758698e-01 -2.19641436e-02 -3.49726449e-04 3.91753553e+02] [ 2.19641315e-02 9.99758759e-01 -3.81360982e-05 4.12397336e+01] [ 3.50479708e-04 3.04454581e-05 9.99999938e-01 -2.19727835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30140051300003 meters 0.08864248785707178 Centerline is valid? [True, True] Translation: X:391.78, Y:41.25, Z:-2.20 [[ 9.99754585e-01 -2.21530863e-02 1.00516642e-04 3.91783876e+02] [ 2.21530853e-02 9.99754590e-01 1.09321746e-05 4.12456685e+01] [-1.00734155e-04 -8.70273797e-06 9.99999995e-01 -2.19703409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.331400513 meters 0.0904476119097551 Centerline is valid? [True, True] Translation: X:391.81, Y:41.25, Z:-2.20 [[ 9.99746016e-01 -2.25312135e-02 -4.97303409e-04 3.91812833e+02] [ 2.25311894e-02 9.99746139e-01 -5.41249412e-05 4.12531002e+01] [ 4.98396664e-04 4.29063570e-05 9.99999875e-01 -2.19785343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.361400513 meters 0.08356834936989223 Centerline is valid? [True, True] Translation: X:391.84, Y:41.25, Z:-2.20 [[ 9.99706451e-01 -2.41702434e-02 -1.67673579e-03 3.91843352e+02] [ 2.41699712e-02 9.99707847e-01 -1.82380594e-04 4.12532128e+01] [ 1.68065411e-03 1.41800401e-04 9.99998578e-01 -2.19972179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.391400513 meters 0.08924322013704926 Centerline is valid? [True, True] Translation: X:391.87, Y:41.26, Z:-2.20 [[ 9.99676693e-01 -2.53893078e-02 -1.37552498e-03 3.91871384e+02] [ 2.53891257e-02 9.99677633e-01 -1.49715299e-04 4.12648736e+01] [ 1.37888273e-03 1.14743519e-04 9.99999043e-01 -2.20013095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.421400513 meters 0.08420214997330434 Centerline is valid? [True, True] Translation: X:391.90, Y:41.26, Z:-2.20 [[ 9.99636232e-01 -2.69476399e-02 -1.10843978e-03 3.91901594e+02] [ 2.69475225e-02 9.99636842e-01 -1.20700706e-04 4.12626088e+01] [ 1.11128984e-03 9.07870924e-05 9.99999378e-01 -2.19949682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.451400513 meters 0.0823879935120932 Centerline is valid? [True, True] Translation: X:391.93, Y:41.26, Z:-2.20 [[ 9.99582760e-01 -2.88638959e-02 -1.08699110e-03 3.91932373e+02] [ 2.88637842e-02 9.99583347e-01 -1.18301057e-04 4.12621460e+01] [ 1.08995283e-03 8.68770209e-05 9.99999402e-01 -2.19993178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.481400513 meters 0.07390568439714888 Centerline is valid? [True, True] Translation: X:391.96, Y:41.26, Z:-2.20 [[ 9.99481702e-01 -3.21267222e-02 -2.04948509e-03 3.91963349e+02] [ 3.21263317e-02 9.99483791e-01 -2.23186609e-04 4.12592026e+01] [ 2.05559738e-03 1.57228494e-04 9.99997875e-01 -2.20011584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.511400513 meters 0.07352809881563242 Centerline is valid? [True, True] Translation: X:391.99, Y:41.26, Z:-2.20 [[ 9.99436725e-01 -3.34740137e-02 -2.39217500e-03 3.91991742e+02] [ 3.34734853e-02 9.99439572e-01 -2.60588618e-04 4.12626391e+01] [ 2.39955730e-03 1.80367401e-04 9.99997105e-01 -2.20071224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.541400513 meters 0.07636309704343847 Centerline is valid? [True, True] Translation: X:392.02, Y:41.27, Z:-2.20 [[ 9.99402003e-01 -3.44846733e-02 -2.53858278e-03 3.92019697e+02] [ 3.44840813e-02 9.99405209e-01 -2.76619013e-04 4.12690996e+01] [ 2.54661197e-03 1.88912900e-04 9.99996740e-01 -2.20116320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.571400513 meters 0.08140940232316583 Centerline is valid? [True, True] Translation: X:392.05, Y:41.28, Z:-2.20 [[ 9.99374353e-01 -3.53390299e-02 -1.43353237e-03 3.92047337e+02] [ 3.53388419e-02 9.99375376e-01 -1.56297975e-04 4.12796644e+01] [ 1.43816037e-03 1.05540814e-04 9.99998960e-01 -2.19970388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.601400513 meters 0.08140940232316583 Centerline is valid? [True, True] Translation: X:392.08, Y:41.28, Z:-2.20 [[ 9.99368857e-01 -3.54941333e-02 -1.43347021e-03 3.92075545e+02] [ 3.54939446e-02 9.99369879e-01 -1.56868008e-04 4.12828612e+01] [ 1.43813484e-03 1.05889489e-04 9.99998960e-01 -2.19978586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.631400513 meters 0.0783044694704209 Centerline is valid? [True, True] Translation: X:392.10, Y:41.28, Z:-2.20 [[ 9.99381932e-01 -3.51483354e-02 -5.89711573e-04 3.92104786e+02] [ 3.51483035e-02 9.99382105e-01 -6.44663090e-05 4.12841797e+01] [ 5.91613077e-04 4.36991031e-05 9.99999824e-01 -2.19831592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.661400513 meters 0.0747182961063619 Centerline is valid? [True, True] Translation: X:392.13, Y:41.28, Z:-2.20 [[ 9.99401510e-01 -3.45920922e-02 -9.19225202e-05 3.92134467e+02] [ 3.45920914e-02 9.99401514e-01 -1.01026487e-05 4.12840037e+01] [ 9.22169776e-05 6.91681011e-06 9.99999996e-01 -2.19789154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.691400513 meters 0.08074565454540057 Centerline is valid? [True, True] Translation: X:392.16, Y:41.29, Z:-2.20 [[ 9.99433914e-01 -3.36426954e-02 1.42523768e-04 3.92162971e+02] [ 3.36426935e-02 9.99433924e-01 1.55300353e-05 4.12945408e+01] [-1.42965561e-04 -1.07263605e-05 9.99999990e-01 -2.19796328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.721400513 meters 0.08426737890007743 Centerline is valid? [True, True] Translation: X:392.19, Y:41.30, Z:-2.20 [[ 9.99489261e-01 -3.19564977e-02 -1.40170597e-06 3.92192005e+02] [ 3.19564977e-02 9.99489261e-01 -1.85474718e-07 4.13014229e+01] [ 1.40691718e-06 1.40586376e-07 1.00000000e+00 -2.19820059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.751400513 meters 0.07886917942554565 Centerline is valid? [True, True] Translation: X:392.22, Y:41.30, Z:-2.20 [[ 9.99516917e-01 -3.10791591e-02 1.33466495e-04 3.92222691e+02] [ 3.10791574e-02 9.99516926e-01 1.45425011e-05 4.12987279e+01] [-1.33853989e-04 -1.03874497e-05 9.99999991e-01 -2.19764266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.781400513 meters 0.0855621263194237 Centerline is valid? [True, True] Translation: X:392.25, Y:41.31, Z:-2.20 [[ 9.99539688e-01 -3.03349597e-02 4.50402749e-04 3.92251613e+02] [ 3.03349406e-02 9.99539789e-01 4.92161357e-05 4.13110517e+01] [-4.51688438e-04 -3.55305403e-05 9.99999897e-01 -2.19693882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.811400513 meters 0.07662091775538571 Centerline is valid? [True, True] Translation: X:392.28, Y:41.30, Z:-2.20 [[ 9.99543556e-01 -3.01997255e-02 8.10406496e-04 3.92283314e+02] [ 3.01996637e-02 9.99543882e-01 8.84945052e-05 4.13037241e+01] [-8.12709364e-04 -6.39801088e-05 9.99999668e-01 -2.19570019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.841400513 meters 0.09193215879433489 Centerline is valid? [True, True] Translation: X:392.31, Y:41.33, Z:-2.20 [[ 9.99520924e-01 -3.09406061e-02 7.75933201e-04 3.92311617e+02] [ 3.09405495e-02 9.99521223e-01 8.47546931e-05 4.13252815e+01] [-7.78184064e-04 -6.07062895e-05 9.99999695e-01 -2.19655513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.871400513 meters 0.07559012906746117 Centerline is valid? [True, True] Translation: X:392.34, Y:41.31, Z:-2.20 [[ 9.99472486e-01 -3.24729815e-02 5.05485164e-04 3.92344005e+02] [ 3.24729578e-02 9.99472613e-01 5.51918704e-05 4.13085269e+01] [-5.07010822e-04 -3.87481575e-05 9.99999871e-01 -2.19691572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.901400513 meters 0.07551310566674221 Centerline is valid? [True, True] Translation: X:392.37, Y:41.31, Z:-2.20 [[ 9.99388346e-01 -3.49678294e-02 4.30258868e-04 3.92373801e+02] [ 3.49678124e-02 9.99388438e-01 4.69520928e-05 4.13119264e+01] [-4.31637551e-04 -3.18781629e-05 9.99999906e-01 -2.19737319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.931400513 meters 0.0691121442903634 Centerline is valid? [True, True] Translation: X:392.41, Y:41.31, Z:-2.20 [[ 9.99145731e-01 -4.12902827e-02 1.70900979e-03 3.92405705e+02] [ 4.12900236e-02 9.99147186e-01 1.86622154e-04 4.13059081e+01] [-1.71525800e-03 -1.15897674e-04 9.99998522e-01 -2.19604313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.961400513 meters 0.06273667903831713 Centerline is valid? [True, True] Translation: X:392.44, Y:41.30, Z:-2.19 [[ 9.99003714e-01 -4.45419635e-02 2.75535671e-03 3.92436607e+02] [ 4.45413024e-02 9.99007498e-01 3.00865900e-04 4.12994598e+01] [-2.76602318e-03 -1.77838975e-04 9.99996159e-01 -2.19493638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99140051300003 meters 0.06413724735110973 Centerline is valid? [True, True] Translation: X:392.47, Y:41.30, Z:-2.19 [[ 9.98863496e-01 -4.75412696e-02 3.39752048e-03 3.92465821e+02] [ 4.75402817e-02 9.98869253e-01 3.70998856e-04 4.13019815e+01] [-3.41131650e-03 -2.09058134e-04 9.99994160e-01 -2.19409322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.021400513 meters 0.06416906571994734 Centerline is valid? [True, True] Translation: X:392.50, Y:41.30, Z:-2.19 [[ 9.98729499e-01 -5.02913996e-02 3.18787247e-03 3.92495297e+02] [ 5.02905437e-02 9.98734569e-01 3.48136960e-04 4.13027387e+01] [-3.20134673e-03 -1.87374812e-04 9.99994858e-01 -2.19453157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05140051300003 meters 0.05884145025277527 Centerline is valid? [True, True] Translation: X:392.53, Y:41.29, Z:-2.20 [[ 9.98503349e-01 -5.46535860e-02 2.01186467e-03 3.92527185e+02] [ 5.46532539e-02 9.98505370e-01 2.19720598e-04 4.12919035e+01] [-2.02086620e-03 -1.09436803e-04 9.99997952e-01 -2.19666502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.081400513 meters 0.05517584981789153 Centerline is valid? [True, True] Translation: X:392.56, Y:41.29, Z:-2.20 [[ 9.98445174e-01 -5.56890791e-02 2.44156575e-03 3.92556957e+02] [ 5.56885932e-02 9.98448151e-01 2.66590192e-04 4.12899887e+01] [-2.45262297e-03 -1.30208329e-04 9.99996984e-01 -2.19563988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.111400513 meters 0.05537105511386125 Centerline is valid? [True, True] Translation: X:392.59, Y:41.29, Z:-2.20 [[ 9.98428112e-01 -5.59941350e-02 2.44152443e-03 3.92586399e+02] [ 5.59936491e-02 9.98431089e-01 2.66959724e-04 4.12902283e+01] [-2.45264208e-03 -1.29830231e-04 9.99996984e-01 -2.19545041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.141400513 meters 0.06092567186420785 Centerline is valid? [True, True] Translation: X:392.61, Y:41.29, Z:-2.20 [[ 9.98448053e-01 -5.56896970e-02 3.78306150e-04 3.92614723e+02] [ 5.56896853e-02 9.98448124e-01 4.13453327e-05 4.12942085e+01] [-3.80021575e-04 -2.02134165e-05 9.99999928e-01 -2.19935201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.171400513 meters 0.056441009655032695 Centerline is valid? [True, True] Translation: X:392.64, Y:41.29, Z:-2.20 [[ 9.98490280e-01 -5.49216017e-02 -8.82595283e-04 3.92644072e+02] [ 5.49215371e-02 9.98490669e-01 -9.73096715e-05 4.12894262e+01] [ 8.86607557e-04 4.86892716e-05 9.99999606e-01 -2.20141800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.201400513 meters 0.05886000965636047 Centerline is valid? [True, True] Translation: X:392.67, Y:41.29, Z:-2.20 [[ 9.98570985e-01 -5.34138095e-02 -1.71816098e-03 3.92673761e+02] [ 5.34135637e-02 9.98572459e-01 -1.88622960e-04 4.12934067e+01] [ 1.72578330e-03 9.65803141e-05 9.99998506e-01 -2.20334167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.231400513 meters 0.06463901227846226 Centerline is valid? [True, True] Translation: X:392.70, Y:41.30, Z:-2.20 [[ 9.98695243e-01 -5.10240923e-02 -2.08647068e-03 3.92701935e+02] [ 5.10237248e-02 9.98697415e-01 -2.29031795e-04 4.13011852e+01] [ 2.09543901e-03 1.22273459e-04 9.99997797e-01 -2.20421187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.261400513 meters 0.0659635697343852 Centerline is valid? [True, True] Translation: X:392.73, Y:41.30, Z:-2.20 [[ 9.98977836e-01 -4.51649686e-02 -1.84606144e-03 3.92731978e+02] [ 4.51646710e-02 9.98979535e-01 -2.02620899e-04 4.13023304e+01] [ 1.85332897e-03 1.19037030e-04 9.99998275e-01 -2.20331647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.291400513 meters 0.0724896621143194 Centerline is valid? [True, True] Translation: X:392.76, Y:41.31, Z:-2.20 [[ 9.99089505e-01 -4.26403271e-02 -1.40147635e-03 3.92759899e+02] [ 4.26401531e-02 9.99090483e-01 -1.53822778e-04 4.13125791e+01] [ 1.40676074e-03 9.39235570e-05 9.99999006e-01 -2.20363801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.321400513 meters 0.0704436731063904 Centerline is valid? [True, True] Translation: X:392.79, Y:41.31, Z:-2.20 [[ 9.99161340e-01 -4.09356870e-02 -9.41222234e-04 3.92789963e+02] [ 4.09356077e-02 9.99161781e-01 -1.03349400e-04 4.13124564e+01] [ 9.44663963e-04 6.47332211e-05 9.99999552e-01 -2.20332988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.351400513 meters 0.07667085495000345 Centerline is valid? [True, True] Translation: X:392.82, Y:41.32, Z:-2.21 [[ 9.99228129e-01 -3.92445023e-02 -1.73664869e-03 3.92818481e+02] [ 3.92442298e-02 9.99229630e-01 -1.90734584e-04 4.13200429e+01] [ 1.74279611e-03 1.22433921e-04 9.99998474e-01 -2.20557398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.381400513 meters 0.07665315200376484 Centerline is valid? [True, True] Translation: X:392.85, Y:41.32, Z:-2.21 [[ 9.99225715e-01 -3.92654881e-02 -2.48852490e-03 3.92847200e+02] [ 3.92649267e-02 9.99228798e-01 -2.74061080e-04 4.13220997e+01] [ 2.49736689e-03 1.76137131e-04 9.99996866e-01 -2.20653495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.411400513 meters 0.07721140823857724 Centerline is valid? [True, True] Translation: X:392.87, Y:41.33, Z:-2.21 [[ 9.99204271e-01 -3.97857035e-02 -2.81458200e-03 3.92874810e+02] [ 3.97849879e-02 9.99208216e-01 -3.09776394e-04 4.13251724e+01] [ 2.82467813e-03 1.97551785e-04 9.99995991e-01 -2.20742084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.441400513 meters 0.06740023494331665 Centerline is valid? [True, True] Translation: X:392.91, Y:41.31, Z:-2.21 [[ 9.99087364e-01 -4.26693369e-02 -1.94088113e-03 3.92907364e+02] [ 4.26690023e-02 9.99089241e-01 -2.13511823e-04 4.13107536e+01] [ 1.94822386e-03 1.30501503e-04 9.99998094e-01 -2.20564499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.471400513 meters 0.06457781529463924 Centerline is valid? [True, True] Translation: X:392.94, Y:41.31, Z:-2.20 [[ 9.98996313e-01 -4.47755650e-02 -1.23069556e-03 3.92936292e+02] [ 4.47754320e-02 9.98997068e-01 -1.35441842e-04 4.13092262e+01] [ 1.23552574e-03 8.02009758e-05 9.99999234e-01 -2.20479366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.501400513 meters 0.06776647757238574 Centerline is valid? [True, True] Translation: X:392.96, Y:41.31, Z:-2.20 [[ 9.98906835e-01 -4.67376637e-02 -8.51559697e-04 3.92964851e+02] [ 4.67376007e-02 9.98907197e-01 -9.37752749e-05 4.13133306e+01] [ 8.55011947e-04 5.38729059e-05 9.99999633e-01 -2.20412951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.531400513 meters 0.05665915146885513 Centerline is valid? [True, True] Translation: X:393.00, Y:41.30, Z:-2.20 [[ 9.98833678e-01 -4.82731404e-02 -9.93659921e-04 3.92996455e+02] [ 4.82730553e-02 9.98834171e-01 -1.09392570e-04 4.13009031e+01] [ 9.97782205e-04 6.12979826e-05 9.99999500e-01 -2.20302872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.561400513 meters 0.06831683695497148 Centerline is valid? [True, True] Translation: X:393.02, Y:41.31, Z:-2.20 [[ 9.98767006e-01 -4.96403405e-02 -5.50813258e-04 3.93024432e+02] [ 4.96403146e-02 9.98767158e-01 -6.07030633e-05 4.13144019e+01] [ 5.53147513e-04 3.32856734e-05 9.99999846e-01 -2.20334870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.591400513 meters 0.06745205817179507 Centerline is valid? [True, True] Translation: X:393.05, Y:41.31, Z:-2.20 [[ 9.98752219e-01 -4.99395621e-02 -2.10575242e-04 3.93053434e+02] [ 4.99395582e-02 9.98752242e-01 -2.36629306e-05 4.13134317e+01] [ 2.11494212e-04 1.31173698e-05 9.99999978e-01 -2.20287457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.621400513 meters 0.06262158976169609 Centerline is valid? [True, True] Translation: X:393.08, Y:41.31, Z:-2.20 [[ 9.98725520e-01 -5.04639661e-02 8.50966479e-04 3.93082980e+02] [ 5.04639047e-02 9.98725881e-01 9.34805696e-05 4.13071418e+01] [-8.54599647e-04 -5.04183392e-05 9.99999634e-01 -2.20123354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.651400513 meters 0.05968761416179295 Centerline is valid? [True, True] Translation: X:393.11, Y:41.30, Z:-2.20 [[ 9.98703002e-01 -5.08690469e-02 2.15711455e-03 3.93112665e+02] [ 5.08686510e-02 9.98705324e-01 2.38024109e-04 4.13032678e+01] [-2.16642984e-03 -1.27985886e-04 9.99997645e-01 -2.19879003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.681400513 meters 0.062371055710436746 Centerline is valid? [True, True] Translation: X:393.14, Y:41.30, Z:-2.20 [[ 9.98677141e-01 -5.13480389e-02 2.71049613e-03 3.93140737e+02] [ 5.13474140e-02 9.98680807e-01 2.99667093e-04 4.13036267e+01] [-2.72230778e-03 -1.60093708e-04 9.99996282e-01 -2.19749774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.711400513 meters 0.06306487111425177 Centerline is valid? [True, True] Translation: X:393.17, Y:41.30, Z:-2.20 [[ 9.98667467e-01 -5.15794762e-02 1.68742476e-03 3.93168467e+02] [ 5.15792342e-02 9.98668888e-01 1.86649559e-04 4.13045167e+01] [-1.69480590e-03 -9.93647658e-05 9.99998559e-01 -2.19932158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74140051300003 meters 0.06529739874685422 Centerline is valid? [True, True] Translation: X:393.20, Y:41.30, Z:-2.20 [[ 9.98632510e-01 -5.22683731e-02 1.06142455e-03 3.93196603e+02] [ 5.22682777e-02 9.98633072e-01 1.17407386e-04 4.13023714e+01] [-1.06611035e-03 -6.17679999e-05 9.99999430e-01 -2.20081826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.771400513 meters 0.06445026772439695 Centerline is valid? [True, True] Translation: X:393.23, Y:41.30, Z:-2.20 [[ 9.98615319e-01 -5.25653041e-02 2.08169273e-03 3.93226125e+02] [ 5.25649375e-02 9.98617481e-01 2.30456063e-04 4.13008286e+01] [-2.09092874e-03 -1.20712907e-04 9.99997807e-01 -2.19929972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80140051300003 meters 0.05658679923129401 Centerline is valid? [True, True] Translation: X:393.26, Y:41.29, Z:-2.20 [[ 9.98601172e-01 -5.27946201e-02 2.90316308e-03 3.93255217e+02] [ 5.27939062e-02 9.98605377e-01 3.22032275e-04 4.12911154e+01] [-2.91611583e-03 -1.68312488e-04 9.99995734e-01 -2.19808651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.831400513 meters 0.06280537301301985 Centerline is valid? [True, True] Translation: X:393.28, Y:41.30, Z:-2.20 [[ 9.98621608e-01 -5.24117442e-02 2.80929691e-03 3.93282492e+02] [ 5.24110728e-02 9.98625546e-01 3.12144267e-04 4.12991391e+01] [-2.82179569e-03 -1.64475745e-04 9.99996005e-01 -2.19840164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.861400513 meters 0.06546172474449899 Centerline is valid? [True, True] Translation: X:393.31, Y:41.30, Z:-2.20 [[ 9.98799713e-01 -4.89806948e-02 -1.59939332e-04 3.93313275e+02] [ 4.89806926e-02 9.98799725e-01 -1.77800843e-05 4.13008989e+01] [ 1.60618242e-04 9.92480388e-06 9.99999987e-01 -2.20237108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.891400513 meters 0.06895985124512176 Centerline is valid? [True, True] Translation: X:393.34, Y:41.31, Z:-2.20 [[ 9.98906463e-01 -4.67368787e-02 -1.24221556e-03 3.93342084e+02] [ 4.67367429e-02 9.98907232e-01 -1.38150254e-04 4.13065748e+01] [ 1.24731482e-03 7.99420726e-05 9.99999219e-01 -2.20410907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.921400513 meters 0.0644788219675022 Centerline is valid? [True, True] Translation: X:393.37, Y:41.30, Z:-2.20 [[ 9.99008280e-01 -4.45079050e-02 -1.22566506e-03 3.93372305e+02] [ 4.45077711e-02 9.99009029e-01 -1.36339601e-04 4.13038553e+01] [ 1.23051865e-03 8.16527706e-05 9.99999240e-01 -2.20319612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.951400513 meters 0.074924839861529 Centerline is valid? [True, True] Translation: X:393.40, Y:41.32, Z:-2.20 [[ 9.99118692e-01 -4.19686310e-02 -6.87471356e-04 3.93400413e+02] [ 4.19685883e-02 9.99118928e-01 -7.64442094e-05 4.13199344e+01] [ 6.90073903e-04 4.75246362e-05 9.99999761e-01 -2.20300561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.981400513 meters 0.08699123064719869 Centerline is valid? [True, True] Translation: X:393.43, Y:41.34, Z:-2.20 [[ 9.99329542e-01 -3.66121258e-02 1.35046559e-04 3.93428061e+02] [ 3.66121241e-02 9.99329551e-01 1.50106881e-05 4.13367739e+01] [-1.35505590e-04 -1.00562827e-05 9.99999991e-01 -2.20158834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.011400513 meters 0.08272944497427166 Centerline is valid? [True, True] Translation: X:393.46, Y:41.33, Z:-2.20 [[ 9.99401401e-01 -3.45948249e-02 1.91831036e-04 3.93458495e+02] [ 3.45948215e-02 9.99401420e-01 2.13124578e-05 4.13338530e+01] [-1.92453511e-04 -1.46633398e-05 9.99999981e-01 -2.20140739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.041400513 meters 0.07903582097966465 Centerline is valid? [True, True] Translation: X:393.49, Y:41.33, Z:-2.20 [[ 9.99445219e-01 -3.33042874e-02 2.81513467e-04 3.93487791e+02] [ 3.33042800e-02 9.99445258e-01 3.12191841e-05 4.13324824e+01] [-2.82397033e-04 -2.18262609e-05 9.99999960e-01 -2.20072689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.071400513 meters 0.0791177664273216 Centerline is valid? [True, True] Translation: X:393.52, Y:41.34, Z:-2.20 [[ 9.99497186e-01 -3.16924480e-02 9.81307900e-04 3.93517636e+02] [ 3.16923560e-02 9.99497665e-01 1.09141449e-04 4.13382353e+01] [-9.84273915e-04 -7.79866122e-05 9.99999513e-01 -2.20035461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.101400513 meters 0.080891237866739 Centerline is valid? [True, True] Translation: X:393.55, Y:41.34, Z:-2.20 [[ 9.99517253e-01 -3.10572056e-02 8.43650269e-04 3.93545785e+02] [ 3.10571374e-02 9.99517606e-01 9.37902781e-05 4.13439987e+01] [-8.46156161e-04 -6.75436388e-05 9.99999640e-01 -2.20126530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.131400513 meters 0.0811537383834837 Centerline is valid? [True, True] Translation: X:393.57, Y:41.35, Z:-2.20 [[ 9.99527641e-01 -3.07325958e-02 -4.96656215e-05 3.93574655e+02] [ 3.07325956e-02 9.99527642e-01 -5.99137944e-06 4.13475795e+01] [ 4.98262922e-05 4.46219589e-06 9.99999999e-01 -2.20272447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.161400513 meters 0.0862894741862271 Centerline is valid? [True, True] Translation: X:393.60, Y:41.36, Z:-2.21 [[ 9.99523485e-01 -3.08229763e-02 -1.65758407e-03 3.93601785e+02] [ 3.08227114e-02 9.99524850e-01 -1.85107494e-04 4.13574939e+01] [ 1.66250203e-03 1.33928052e-04 9.99998609e-01 -2.20539467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.191400513 meters 0.0825183533523257 Centerline is valid? [True, True] Translation: X:393.63, Y:41.36, Z:-2.21 [[ 9.99480991e-01 -3.20428532e-02 -3.31740690e-03 3.93631313e+02] [ 3.20418001e-02 9.99486461e-01 -3.70128845e-04 4.13595449e+01] [ 3.32756327e-03 2.63641056e-04 9.99994429e-01 -2.20717629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.221400513 meters 0.08184861119750315 Centerline is valid? [True, True] Translation: X:393.66, Y:41.36, Z:-2.21 [[ 9.99450967e-01 -3.29464745e-02 -3.50623674e-03 3.93659723e+02] [ 3.29453028e-02 9.99457080e-01 -3.91416178e-04 4.13635777e+01] [ 3.51722892e-03 2.75687246e-04 9.99993777e-01 -2.20671008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.251400513 meters 0.07585441187264305 Centerline is valid? [True, True] Translation: X:393.69, Y:41.36, Z:-2.21 [[ 9.99428019e-01 -3.36599859e-02 -3.26198628e-03 3.93689366e+02] [ 3.36589727e-02 9.99433310e-01 -3.65028710e-04 4.13605273e+01] [ 3.27242461e-03 2.55024813e-04 9.99994613e-01 -2.20542220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.281400513 meters 0.07703524619285339 Centerline is valid? [True, True] Translation: X:393.72, Y:41.37, Z:-2.21 [[ 9.99415307e-01 -3.40572858e-02 -3.02427446e-03 3.93717073e+02] [ 3.40564169e-02 9.99419855e-01 -3.38334676e-04 4.13664821e+01] [ 3.03404271e-03 2.35140902e-04 9.99995370e-01 -2.20523355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.311400513 meters 0.08148071955574013 Centerline is valid? [True, True] Translation: X:393.74, Y:41.38, Z:-2.20 [[ 9.99427656e-01 -3.37432374e-02 -2.39862896e-03 3.93743817e+02] [ 3.37426895e-02 9.99430517e-01 -2.68511339e-04 4.13806770e+01] [ 2.40632342e-03 1.87421466e-04 9.99997087e-01 -2.20463204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.341400513 meters 0.07545883108668329 Centerline is valid? [True, True] Translation: X:393.77, Y:41.38, Z:-2.20 [[ 9.99447163e-01 -3.31877954e-02 -1.98466334e-03 3.93772445e+02] [ 3.31874189e-02 9.99449121e-01 -2.22318651e-04 4.13800229e+01] [ 1.99094830e-03 1.56329891e-04 9.99998006e-01 -2.20389478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.371400513 meters 0.08249556870312921 Centerline is valid? [True, True] Translation: X:393.80, Y:41.40, Z:-2.20 [[ 9.99487471e-01 -3.19613049e-02 -1.80853875e-03 3.93799654e+02] [ 3.19609903e-02 9.99489097e-01 -2.02599724e-04 4.13950168e+01] [ 1.81409012e-03 1.44693196e-04 9.99998344e-01 -2.20348764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.401400513 meters 0.0860003515737485 Centerline is valid? [True, True] Translation: X:393.83, Y:41.41, Z:-2.20 [[ 9.99534395e-01 -3.04771861e-02 -1.46098602e-03 3.93827472e+02] [ 3.04769792e-02 9.99535456e-01 -1.63615586e-04 4.14054390e+01] [ 1.46529387e-03 1.19012966e-04 9.99998919e-01 -2.20272440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.431400513 meters 0.08727162644600234 Centerline is valid? [True, True] Translation: X:393.86, Y:41.42, Z:-2.20 [[ 9.99620988e-01 -2.75206116e-02 -7.03994137e-04 3.93856990e+02] [ 2.75205628e-02 9.99621234e-01 -7.88502196e-05 4.14186921e+01] [ 7.05897494e-04 5.94460196e-05 9.99999749e-01 -2.20060691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.461400513 meters 0.08175402054409953 Centerline is valid? [True, True] Translation: X:393.89, Y:41.42, Z:-2.20 [[ 9.99645237e-01 -2.66313287e-02 -4.15387466e-04 3.93886390e+02] [ 2.66313116e-02 9.99645323e-01 -4.66858502e-05 4.14192301e+01] [ 4.16483443e-04 3.56069748e-05 9.99999913e-01 -2.19980221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49140051300003 meters 0.08637884963439829 Centerline is valid? [True, True] Translation: X:393.91, Y:41.43, Z:-2.20 [[ 9.99644967e-01 -2.66382787e-02 -5.84317897e-04 3.93914339e+02] [ 2.66382449e-02 9.99645137e-01 -6.56153575e-05 4.14314382e+01] [ 5.85858425e-04 5.00268587e-05 9.99999827e-01 -2.20009841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.521400513 meters 0.08637884963439829 Centerline is valid? [True, True] Translation: X:393.94, Y:41.43, Z:-2.20 [[ 9.99644368e-01 -2.66607457e-02 -5.84323208e-04 3.93943423e+02] [ 2.66607119e-02 9.99644538e-01 -6.55679660e-05 4.14347372e+01] [ 5.85863594e-04 4.99661752e-05 9.99999827e-01 -2.20018294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55140051300003 meters 0.09193817280826944 Centerline is valid? [True, True] Translation: X:393.97, Y:41.45, Z:-2.20 [[ 9.99614890e-01 -2.77296214e-02 -1.06791422e-03 3.93970898e+02] [ 2.77295091e-02 9.99615456e-01 -1.19847003e-04 4.14471139e+01] [ 1.07082687e-03 9.01881115e-05 9.99999423e-01 -2.20114056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.581400513 meters 0.08092711485863271 Centerline is valid? [True, True] Translation: X:394.00, Y:41.44, Z:-2.20 [[ 9.99547812e-01 -3.00117120e-02 -1.86254577e-03 3.94002363e+02] [ 3.00113746e-02 9.99549535e-01 -2.08863830e-04 4.14395912e+01] [ 1.86797512e-03 1.52871826e-04 9.99998244e-01 -2.20238142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.611400513 meters 0.0821399218225633 Centerline is valid? [True, True] Translation: X:394.03, Y:41.45, Z:-2.20 [[ 9.99326167e-01 -3.66026197e-02 -2.73115790e-03 3.94030488e+02] [ 3.66019185e-02 9.99329878e-01 -3.06283862e-04 4.14506684e+01] [ 2.74053848e-03 2.06111859e-04 9.99996223e-01 -2.20460713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.641400513 meters 0.07918768476161749 Centerline is valid? [True, True] Translation: X:394.06, Y:41.45, Z:-2.20 [[ 9.99172738e-01 -4.06289277e-02 -1.76896640e-03 3.94060074e+02] [ 4.06286397e-02 9.99174296e-01 -1.98421498e-04 4.14535386e+01] [ 1.77556741e-03 1.26386653e-04 9.99998416e-01 -2.20331397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.671400513 meters 0.06977112252159295 Centerline is valid? [True, True] Translation: X:394.09, Y:41.44, Z:-2.20 [[ 9.98998343e-01 -4.47441451e-02 -5.21175633e-04 3.94092070e+02] [ 4.47441207e-02 9.98998479e-01 -5.84396526e-05 4.14443964e+01] [ 5.23268497e-04 3.50615707e-05 9.99999862e-01 -2.20140108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.701400513 meters 0.06687876792304306 Centerline is valid? [True, True] Translation: X:394.12, Y:41.45, Z:-2.20 [[ 9.98671531e-01 -5.14826630e-02 2.16970712e-03 3.94122040e+02] [ 5.14822554e-02 9.98673880e-01 2.43325322e-04 4.14469164e+01] [-2.17935687e-03 -1.31300656e-04 9.99997617e-01 -2.19638734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.731400513 meters 0.060895491765198755 Centerline is valid? [True, True] Translation: X:394.15, Y:41.44, Z:-2.20 [[ 9.98558135e-01 -5.36108970e-02 2.74284340e-03 3.94152463e+02] [ 5.36102536e-02 9.98561889e-01 3.07610119e-04 4.14435678e+01] [-2.75539014e-03 -1.60122056e-04 9.99996191e-01 -2.19519471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.761400513 meters 0.058628686355520446 Centerline is valid? [True, True] Translation: X:394.18, Y:41.45, Z:-2.20 [[ 9.98490369e-01 -5.48892433e-02 2.03832155e-03 3.94181369e+02] [ 5.48888906e-02 9.98492442e-01 2.28583627e-04 4.14454738e+01] [-2.04779544e-03 -1.16357342e-04 9.99997896e-01 -2.19560481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.791400513 meters 0.0623964369110077 Centerline is valid? [True, True] Translation: X:394.21, Y:41.45, Z:-2.20 [[ 9.98474149e-01 -5.52093976e-02 1.13841701e-03 3.94208056e+02] [ 5.52092878e-02 9.98474796e-01 1.27639443e-04 4.14546569e+01] [-1.14372759e-03 -6.45934923e-05 9.99999344e-01 -2.19770327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.821400513 meters 0.06334430078270945 Centerline is valid? [True, True] Translation: X:394.23, Y:41.46, Z:-2.20 [[ 9.98466946e-01 -5.53511825e-02 6.13507783e-05 3.94234364e+02] [ 5.53511822e-02 9.98466948e-01 6.53618710e-06 4.14600337e+01] [-6.16185100e-05 -3.13032867e-06 9.99999998e-01 -2.19970881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.851400513 meters 0.05831948085979118 Centerline is valid? [True, True] Translation: X:394.26, Y:41.46, Z:-2.20 [[ 9.98455109e-01 -5.55565090e-02 9.32542060e-04 3.94262429e+02] [ 5.55564356e-02 9.98455543e-01 1.04447706e-04 4.14572802e+01] [-9.36904539e-04 -5.24776331e-05 9.99999560e-01 -2.19825245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.881400513 meters 0.06211620172721473 Centerline is valid? [True, True] Translation: X:394.29, Y:41.47, Z:-2.20 [[ 9.98447706e-01 -5.56732956e-02 1.63199844e-03 3.94288403e+02] [ 5.56730696e-02 9.98449035e-01 1.83629867e-04 4.14657214e+01] [-1.63969054e-03 -9.24864567e-05 9.99998651e-01 -2.19706258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.911400513 meters 0.0632919106671637 Centerline is valid? [True, True] Translation: X:394.32, Y:41.47, Z:-2.20 [[ 9.98434997e-01 -5.59084122e-02 1.34398404e-03 3.94316236e+02] [ 5.59082592e-02 9.98435899e-01 1.51139909e-04 4.14709969e+01] [-1.35033191e-03 -7.57635661e-05 9.99999085e-01 -2.19669251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.941400513 meters 0.061026897923083585 Centerline is valid? [True, True] Translation: X:394.35, Y:41.47, Z:-2.20 [[ 9.98433623e-01 -5.59465657e-02 5.31316006e-04 3.94345644e+02] [ 5.59465419e-02 9.98433764e-01 5.95704085e-05 4.14689362e+01] [-5.33816599e-04 -2.97518055e-05 9.99999857e-01 -2.19829154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.971400513 meters 0.05902050869051909 Centerline is valid? [True, True] Translation: X:394.37, Y:41.47, Z:-2.20 [[ 9.98460364e-01 -5.54698091e-02 -4.67633805e-05 3.94373866e+02] [ 5.54698089e-02 9.98460365e-01 -5.76287517e-06 4.14739758e+01] [ 4.70110476e-05 3.16004666e-06 9.99999999e-01 -2.19901914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.001400513 meters 0.0632167446846507 Centerline is valid? [True, True] Translation: X:394.40, Y:41.48, Z:-2.20 [[ 9.98515690e-01 -5.44648051e-02 -3.56288872e-05 3.94401776e+02] [ 5.44648050e-02 9.98515691e-01 -4.13392596e-06 4.14830007e+01] [ 3.58011564e-05 2.18726954e-06 9.99999999e-01 -2.20028146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.031400513 meters 0.0722739622783544 Centerline is valid? [True, True] Translation: X:394.43, Y:41.50, Z:-2.20 [[ 9.98578756e-01 -5.32939287e-02 4.73975127e-04 3.94428540e+02] [ 5.32939093e-02 9.98578868e-01 5.35375643e-05 4.14972632e+01] [-4.76154773e-04 -2.82014869e-05 9.99999886e-01 -2.20084674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.061400513 meters 0.07152675929083933 Centerline is valid? [True, True] Translation: X:394.46, Y:41.50, Z:-2.20 [[ 9.98769451e-01 -4.95940013e-02 -1.40162454e-04 3.94458704e+02] [ 4.95939996e-02 9.98769460e-01 -1.59053323e-05 4.14973988e+01] [ 1.40778788e-04 8.93454330e-06 9.99999990e-01 -2.20100211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.091400513 meters 0.06793979737736039 Centerline is valid? [True, True] Translation: X:394.49, Y:41.50, Z:-2.20 [[ 9.98906954e-01 -4.67341775e-02 -9.02406808e-04 3.94489569e+02] [ 4.67341041e-02 9.98907360e-01 -1.02223909e-04 4.14956347e+01] [ 9.06198152e-04 5.99389997e-05 9.99999588e-01 -2.20105288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.121400513 meters 0.0745490940413595 Centerline is valid? [True, True] Translation: X:394.52, Y:41.51, Z:-2.20 [[ 9.99065016e-01 -4.32098517e-02 -1.41507018e-03 3.94517884e+02] [ 4.32096678e-02 9.99066013e-01 -1.60307005e-04 4.15072214e+01] [ 1.42067537e-03 9.90124085e-05 9.99998986e-01 -2.20130287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.151400513 meters 0.07312265692938352 Centerline is valid? [True, True] Translation: X:394.55, Y:41.51, Z:-2.20 [[ 9.99203253e-01 -3.98722118e-02 -1.75109891e-03 3.94548421e+02] [ 3.98719251e-02 9.99204779e-01 -1.98351160e-04 4.15098605e+01] [ 1.75761510e-03 1.28373439e-04 9.99998447e-01 -2.20095633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.181400513 meters 0.08208101108741465 Centerline is valid? [True, True] Translation: X:394.58, Y:41.53, Z:-2.20 [[ 9.99321328e-01 -3.68235125e-02 -9.54860628e-04 3.94576016e+02] [ 3.68234258e-02 9.99321782e-01 -1.08247835e-04 4.15250833e+01] [ 9.58199090e-04 7.30131303e-05 9.99999538e-01 -2.20074055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.211400513 meters 0.09417061045059684 Centerline is valid? [True, True] Translation: X:394.60, Y:41.54, Z:-2.20 [[ 9.99457142e-01 -3.28786829e-02 2.10086821e-03 3.94603573e+02] [ 3.28782548e-02 9.99459336e-01 2.38010850e-04 4.15441872e+01] [-2.10755782e-03 -1.68808764e-04 9.99997765e-01 -2.19686019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24140051300003 meters 0.08376056072973535 Centerline is valid? [True, True] Translation: X:394.64, Y:41.53, Z:-2.20 [[ 9.99493686e-01 -3.16997805e-02 2.73776869e-03 3.94635423e+02] [ 3.16990489e-02 9.99497411e-01 3.10215649e-04 4.15349489e+01] [-2.74622648e-03 -2.23273919e-04 9.99996204e-01 -2.19572778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.271400513 meters 0.09024087085227578 Centerline is valid? [True, True] Translation: X:394.66, Y:41.55, Z:-2.20 [[ 9.99510293e-01 -3.12428339e-02 1.74909982e-03 3.94664830e+02] [ 3.12425346e-02 9.99511813e-01 1.98202581e-04 4.15462954e+01] [-1.75443834e-03 -1.43459209e-04 9.99998451e-01 -2.19658870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30140051300003 meters 0.08351013753535201 Centerline is valid? [True, True] Translation: X:394.70, Y:41.54, Z:-2.20 [[ 9.99525086e-01 -3.08120596e-02 -4.69328949e-04 3.94695896e+02] [ 3.08120380e-02 9.99525195e-01 -5.31741974e-05 4.15414189e+01] [ 4.70744515e-04 3.86879628e-05 9.99999888e-01 -2.19936310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.331400513 meters 0.0897144075298243 Centerline is valid? [True, True] Translation: X:394.72, Y:41.55, Z:-2.21 [[ 9.99552447e-01 -2.94184042e-02 -5.42800857e-03 3.94723609e+02] [ 2.94154946e-02 9.99567081e-01 -6.15118919e-04 4.15511412e+01] [ 5.44375450e-03 4.55176064e-04 9.99985079e-01 -2.20807404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.361400513 meters 0.08519228305209456 Centerline is valid? [True, True] Translation: X:394.75, Y:41.55, Z:-2.21 [[ 9.99564313e-01 -2.87952825e-02 -6.48203419e-03 3.94753487e+02] [ 2.87911191e-02 9.99585180e-01 -7.34724581e-04 4.15485960e+01] [ 6.50050191e-03 5.47779453e-04 9.99978721e-01 -2.20919521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.391400513 meters 0.0868997206138335 Centerline is valid? [True, True] Translation: X:394.78, Y:41.55, Z:-2.21 [[ 9.99595843e-01 -2.78310761e-02 -5.79499404e-03 3.94782021e+02] [ 2.78277310e-02 9.99612518e-01 -6.57088362e-04 4.15542927e+01] [ 5.81103606e-03 4.95561260e-04 9.99982993e-01 -2.20811837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.421400513 meters 0.0894057567517105 Centerline is valid? [True, True] Translation: X:394.81, Y:41.56, Z:-2.20 [[ 9.99676643e-01 -2.52526563e-02 -2.98540213e-03 3.94811662e+02] [ 2.52517572e-02 9.99681066e-01 -3.38461188e-04 4.15635203e+01] [ 2.99299703e-03 2.62965094e-04 9.99995486e-01 -2.20381988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.451400513 meters 0.08939247250646853 Centerline is valid? [True, True] Translation: X:394.84, Y:41.57, Z:-2.20 [[ 9.99717929e-01 -2.36437114e-02 -2.24423111e-03 3.94841160e+02] [ 2.36431992e-02 9.99720428e-01 -2.54491655e-04 4.15681070e+01] [ 2.24962081e-03 2.01359067e-04 9.99997449e-01 -2.20343827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.481400513 meters 0.09175071431077139 Centerline is valid? [True, True] Translation: X:394.87, Y:41.57, Z:-2.20 [[ 9.99761275e-01 -2.17886059e-02 -1.62773242e-03 3.94870762e+02] [ 2.17883341e-02 9.99762589e-01 -1.84574627e-04 4.15747349e+01] [ 1.63136760e-03 1.49064987e-04 9.99998658e-01 -2.20417756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.511400513 meters 0.09608545213374928 Centerline is valid? [True, True] Translation: X:394.90, Y:41.58, Z:-2.20 [[ 9.99788558e-01 -2.04959975e-02 -1.65936570e-03 3.94899423e+02] [ 2.04957131e-02 9.99789923e-01 -1.88205246e-04 4.15825427e+01] [ 1.66287456e-03 1.54155568e-04 9.99998606e-01 -2.20483193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.541400513 meters 0.0946754289115484 Centerline is valid? [True, True] Translation: X:394.93, Y:41.58, Z:-2.20 [[ 9.99773561e-01 -2.12698368e-02 -6.49201984e-04 3.94928806e+02] [ 2.12697931e-02 9.99773770e-01 -7.41346686e-05 4.15840538e+01] [ 6.50631947e-04 6.03094897e-05 9.99999787e-01 -2.20328437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.571400513 meters 0.09505925668496115 Centerline is valid? [True, True] Translation: X:394.96, Y:41.59, Z:-2.20 [[ 9.99741875e-01 -2.27195301e-02 -7.74079977e-05 3.94957907e+02] [ 2.27195295e-02 9.99741878e-01 -8.82233477e-06 4.15891310e+01] [ 7.75884563e-05 7.06138423e-06 9.99999997e-01 -2.20168721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.601400513 meters 0.08897763712627804 Centerline is valid? [True, True] Translation: X:394.99, Y:41.59, Z:-2.20 [[ 9.99704575e-01 -2.43012879e-02 4.59444630e-04 3.94988428e+02] [ 2.43012665e-02 9.99704679e-01 5.21136950e-05 4.15860167e+01] [-4.60575376e-04 -4.09332129e-05 9.99999893e-01 -2.20040610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.631400513 meters 0.08801788668827676 Centerline is valid? [True, True] Translation: X:395.02, Y:41.59, Z:-2.20 [[ 9.99623800e-01 -2.74114863e-02 9.32439455e-04 3.95018660e+02] [ 2.74113993e-02 9.99624231e-01 1.05904106e-04 4.15858338e+01] [-9.34992062e-04 -8.03047949e-05 9.99999560e-01 -2.19966458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.661400513 meters 0.08129576705589195 Centerline is valid? [True, True] Translation: X:395.05, Y:41.58, Z:-2.20 [[ 9.99586427e-01 -2.87548981e-02 3.61142618e-04 3.95050031e+02] [ 2.87548851e-02 9.99586492e-01 4.10198917e-05 4.15791941e+01] [-3.62172806e-04 -3.06183125e-05 9.99999934e-01 -2.20044663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.691400513 meters 0.08939215722748929 Centerline is valid? [True, True] Translation: X:395.08, Y:41.59, Z:-2.20 [[ 9.99539755e-01 -3.03307447e-02 -5.69994738e-04 3.95077907e+02] [ 3.03307127e-02 9.99539916e-01 -6.48047144e-05 4.15917139e+01] [ 5.71698068e-04 4.74865417e-05 9.99999835e-01 -2.20304121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.721400513 meters 0.07973056010350045 Centerline is valid? [True, True] Translation: X:395.11, Y:41.58, Z:-2.20 [[ 9.99421762e-01 -3.39856651e-02 -1.05671283e-03 3.95109720e+02] [ 3.39855571e-02 9.99422317e-01 -1.20040306e-04 4.15833587e+01] [ 1.06018203e-03 8.40579197e-05 9.99999434e-01 -2.20466429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.751400513 meters 0.08095466067851502 Centerline is valid? [True, True] Translation: X:395.14, Y:41.59, Z:-2.20 [[ 9.99359077e-01 -3.57957868e-02 3.11748357e-04 3.95138947e+02] [ 3.57957775e-02 9.99359125e-01 3.53573104e-05 4.15875259e+01] [-3.12814208e-04 -2.41753743e-05 9.99999951e-01 -2.20270639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.781400513 meters 0.07857328584087343 Centerline is valid? [True, True] Translation: X:395.17, Y:41.59, Z:-2.20 [[ 9.99311492e-01 -3.70746611e-02 1.41813695e-03 3.95169180e+02] [ 3.70744696e-02 9.99312493e-01 1.61116799e-04 4.15864007e+01] [-1.42313532e-03 -1.08429194e-04 9.99998981e-01 -2.20025393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.811400513 meters 0.0792453248899481 Centerline is valid? [True, True] Translation: X:395.20, Y:41.59, Z:-2.20 [[ 9.99287867e-01 -3.77083517e-02 1.35595472e-03 3.95198694e+02] [ 3.77081771e-02 9.99288782e-01 1.54101973e-04 4.15889498e+01] [-1.36080127e-03 -1.02861651e-04 9.99999069e-01 -2.19995793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.841400513 meters 0.07890953316857906 Centerline is valid? [True, True] Translation: X:395.23, Y:41.59, Z:-2.20 [[ 9.99284979e-01 -3.77981830e-02 9.09619568e-04 3.95228458e+02] [ 3.77981045e-02 9.99285391e-01 1.03308778e-04 4.15910314e+01] [-9.12874430e-04 -6.88530149e-05 9.99999581e-01 -2.20009622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.871400513 meters 0.07737053603284247 Centerline is valid? [True, True] Translation: X:395.26, Y:41.59, Z:-2.20 [[ 9.99301460e-01 -3.73645546e-02 6.94704363e-04 3.95258511e+02] [ 3.73645087e-02 9.99301700e-01 7.88997821e-05 4.15922405e+01] [-6.97167306e-04 -5.28873803e-05 9.99999756e-01 -2.20065103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.901400513 meters 0.08337867277215366 Centerline is valid? [True, True] Translation: X:395.29, Y:41.60, Z:-2.20 [[ 9.99322418e-01 -3.67670601e-02 1.69953412e-03 3.95285970e+02] [ 3.67667845e-02 9.99323855e-01 1.93142710e-04 4.16019876e+01] [-1.70548628e-03 -1.30525436e-04 9.99998537e-01 -2.19958365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.931400513 meters 0.07680291684945038 Centerline is valid? [True, True] Translation: X:395.32, Y:41.60, Z:-2.20 [[ 9.99298208e-01 -3.73664556e-02 2.61508993e-03 3.95316684e+02] [ 3.73658047e-02 9.99301610e-01 2.97336411e-04 4.15964396e+01] [-2.62437399e-03 -1.99412804e-04 9.99996536e-01 -2.19799063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.961400513 meters 0.0828413260334681 Centerline is valid? [True, True] Translation: X:395.35, Y:41.61, Z:-2.20 [[ 9.99232912e-01 -3.89931654e-02 3.62220618e-03 3.95345642e+02] [ 3.89919269e-02 9.99239441e-01 4.11937503e-04 4.16063019e+01] [-3.63551402e-03 -2.70384712e-04 9.99993355e-01 -2.19664478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99140051300003 meters 0.07693126665310766 Centerline is valid? [True, True] Translation: X:395.38, Y:41.60, Z:-2.20 [[ 9.99110965e-01 -4.19934603e-02 3.71860978e-03 3.95377115e+02] [ 4.19921757e-02 9.99117850e-01 4.22902262e-04 4.16013306e+01] [-3.73308854e-03 -2.66373772e-04 9.99992997e-01 -2.19665721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.021400513 meters 0.06484528542316693 Centerline is valid? [True, True] Translation: X:395.41, Y:41.59, Z:-2.20 [[ 9.98682541e-01 -5.12672422e-02 2.20260472e-03 3.95409157e+02] [ 5.12668139e-02 9.98684961e-01 2.50492427e-04 4.15858825e+01] [-2.21255027e-03 -1.37241887e-04 9.99997543e-01 -2.19928549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05140051300003 meters 0.06267603734034571 Centerline is valid? [True, True] Translation: X:395.44, Y:41.58, Z:-2.20 [[ 9.98397013e-01 -5.65730639e-02 1.70074270e-03 3.95438794e+02] [ 5.65728163e-02 9.98398457e-01 1.93422499e-04 4.15839120e+01] [-1.70896139e-03 -9.68966413e-05 9.99998535e-01 -2.20033318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.081400513 meters 0.05497206980826935 Centerline is valid? [True, True] Translation: X:395.47, Y:41.58, Z:-2.20 [[ 9.98092221e-01 -6.17098737e-02 1.95212726e-03 3.95469916e+02] [ 6.17095572e-02 9.98094124e-01 2.22020870e-04 4.15760583e+01] [-1.96210763e-03 -1.01132394e-04 9.99998070e-01 -2.19952073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.111400513 meters 0.04890774345407297 Centerline is valid? [True, True] Translation: X:395.50, Y:41.57, Z:-2.20 [[ 9.97787013e-01 -6.64447611e-02 2.48383533e-03 3.95500987e+02] [ 6.64442632e-02 9.97790098e-01 2.82523598e-04 4.15710261e+01] [-2.49711851e-03 -1.16861768e-04 9.99996875e-01 -2.19813563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.141400513 meters 0.04608863231197142 Centerline is valid? [True, True] Translation: X:395.53, Y:41.57, Z:-2.20 [[ 9.97398015e-01 -7.20454640e-02 2.57879993e-03 3.95530007e+02] [ 7.20449459e-02 9.97401343e-01 2.93333582e-04 4.15684471e+01] [-2.59323187e-03 -1.06780831e-04 9.99996632e-01 -2.19747537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.171400513 meters 0.04314097558072497 Centerline is valid? [True, True] Translation: X:395.56, Y:41.56, Z:-2.20 [[ 9.97298718e-01 -7.34272318e-02 1.92574956e-03 3.95560042e+02] [ 7.34269456e-02 9.97300574e-01 2.19037002e-04 4.15647511e+01] [-1.93663442e-03 -7.70434128e-05 9.99998122e-01 -2.19841719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.201400513 meters 0.04292025026908946 Centerline is valid? [True, True] Translation: X:395.59, Y:41.57, Z:-2.20 [[ 9.97277841e-01 -7.37084386e-02 1.99353302e-03 3.95587859e+02] [ 7.37081320e-02 9.97279830e-01 2.26941051e-04 4.15683935e+01] [-2.00483775e-03 -7.93836862e-05 9.99997987e-01 -2.19848818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.231400513 meters 0.041173946112757834 Centerline is valid? [True, True] Translation: X:395.62, Y:41.57, Z:-2.20 [[ 9.97269889e-01 -7.38150536e-02 2.02645557e-03 3.95616350e+02] [ 7.38147370e-02 9.97271945e-01 2.30701394e-04 4.15693510e+01] [-2.03795653e-03 -8.04892687e-05 9.99997920e-01 -2.19865490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.261400513 meters 0.04264265284887143 Centerline is valid? [True, True] Translation: X:395.64, Y:41.57, Z:-2.20 [[ 9.97297105e-01 -7.34467667e-02 2.01426311e-03 3.95643279e+02] [ 7.34464521e-02 9.97299136e-01 2.29796538e-04 4.15748561e+01] [-2.02570067e-03 -8.12349430e-05 9.99997945e-01 -2.19919828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.291400513 meters 0.04138799888124925 Centerline is valid? [True, True] Translation: X:395.67, Y:41.58, Z:-2.20 [[ 9.97307417e-01 -7.33040507e-02 2.10516317e-03 3.95671750e+02] [ 7.33037066e-02 9.97309635e-01 2.40251376e-04 4.15775616e+01] [-2.11711092e-03 -8.52882155e-05 9.99997755e-01 -2.19923555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.321400513 meters 0.041665261374139596 Centerline is valid? [True, True] Translation: X:395.70, Y:41.58, Z:-2.20 [[ 9.97250167e-01 -7.40843055e-02 1.90250861e-03 3.95699433e+02] [ 7.40840252e-02 9.97251979e-01 2.17499700e-04 4.15813891e+01] [-1.91339379e-03 -7.59561159e-05 9.99998167e-01 -2.19983758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.351400513 meters 0.04259174931739172 Centerline is valid? [True, True] Translation: X:395.73, Y:41.59, Z:-2.20 [[ 9.97146462e-01 -7.54790611e-02 1.35834058e-03 3.95727013e+02] [ 7.54789195e-02 9.97147386e-01 1.55321925e-04 4.15865344e+01] [-1.36618931e-03 -5.23526282e-05 9.99999065e-01 -2.20070066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.381400513 meters 0.042184499428912836 Centerline is valid? [True, True] Translation: X:395.75, Y:41.59, Z:-2.20 [[ 9.97000407e-01 -7.73905360e-02 9.45645719e-04 3.95754349e+02] [ 7.73904682e-02 9.97000854e-01 1.08138731e-04 4.15907010e+01] [-9.51178504e-04 -3.46303935e-05 9.99999547e-01 -2.20158634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.411400513 meters 0.042184499428912836 Centerline is valid? [True, True] Translation: X:395.78, Y:41.59, Z:-2.20 [[ 9.96986460e-01 -7.75699918e-02 9.45666797e-04 3.95781664e+02] [ 7.75699243e-02 9.96986908e-01 1.07954962e-04 4.15940032e+01] [-9.51191482e-04 -3.42743336e-05 9.99999547e-01 -2.20166578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.441400513 meters 0.037261668870157104 Centerline is valid? [True, True] Translation: X:395.81, Y:41.60, Z:-2.20 [[ 9.96702345e-01 -8.11402135e-02 8.37606896e-04 3.95811596e+02] [ 8.11401614e-02 9.96702696e-01 9.60591351e-05 4.15952149e+01] [-8.42639311e-04 -2.77788064e-05 9.99999645e-01 -2.20201397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.471400513 meters 0.0363732432861494 Centerline is valid? [True, True] Translation: X:395.84, Y:41.60, Z:-2.20 [[ 9.96550735e-01 -8.29805399e-02 9.28749390e-04 3.95839521e+02] [ 8.29804766e-02 9.96551167e-01 1.06459418e-04 4.15986894e+01] [-9.34380349e-04 -2.90241442e-05 9.99999563e-01 -2.20229890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.501400513 meters 0.03322901080245422 Centerline is valid? [True, True] Translation: X:395.87, Y:41.60, Z:-2.20 [[ 9.96374945e-01 -8.50556014e-02 1.58557617e-03 3.95868937e+02] [ 8.50554197e-02 9.96376205e-01 1.81780216e-04 4.15989396e+01] [-1.59529179e-03 -4.62594058e-05 9.99998726e-01 -2.20160209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.531400513 meters 0.029768321190005106 Centerline is valid? [True, True] Translation: X:395.90, Y:41.60, Z:-2.20 [[ 9.96032997e-01 -8.89425195e-02 2.73815602e-03 3.95898463e+02] [ 8.89419903e-02 9.96036758e-01 3.14662165e-04 4.15995641e+01] [-2.75529089e-03 -6.98768528e-05 9.99996202e-01 -2.19973902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.561400513 meters 0.02544524580297191 Centerline is valid? [True, True] Translation: X:395.93, Y:41.60, Z:-2.20 [[ 9.95874249e-01 -9.07084945e-02 2.53959501e-03 3.95927795e+02] [ 9.07080450e-02 9.95877485e-01 2.91849586e-04 4.15993020e+01] [-2.55559873e-03 -6.02837889e-05 9.99996733e-01 -2.20066846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.591400513 meters 0.024257259129987763 Centerline is valid? [True, True] Translation: X:395.96, Y:41.60, Z:-2.20 [[ 9.95772541e-01 -9.18430668e-02 1.37786189e-03 3.95956220e+02] [ 9.18429355e-02 9.95773493e-01 1.58352824e-04 4.16028354e+01] [-1.38658195e-03 -3.11365138e-05 9.99999038e-01 -2.20295360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.621400513 meters 0.024810816773773475 Centerline is valid? [True, True] Translation: X:395.98, Y:41.61, Z:-2.21 [[ 9.95713893e-01 -9.24860239e-02 4.22756395e-04 3.95984091e+02] [ 9.24860116e-02 9.95713983e-01 4.85877539e-05 4.16076127e+01] [-4.25438142e-04 -9.28044873e-06 9.99999909e-01 -2.20556025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.651400513 meters 0.03199599336317275 Centerline is valid? [True, True] Translation: X:396.01, Y:41.61, Z:-2.21 [[ 9.95673566e-01 -9.29176153e-02 -6.83286839e-04 3.96012263e+02] [ 9.29175826e-02 9.95673800e-01 -7.94929656e-05 4.16104195e+01] [ 6.87717100e-04 1.56596832e-05 9.99999763e-01 -2.20712967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.681400513 meters 0.024074395492914052 Centerline is valid? [True, True] Translation: X:396.04, Y:41.61, Z:-2.21 [[ 9.95646780e-01 -9.32032829e-02 -7.98121602e-04 3.96039830e+02] [ 9.32032383e-02 9.95647100e-01 -9.29159740e-05 4.16134159e+01] [ 8.03307532e-04 1.81239725e-05 9.99999677e-01 -2.20731081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.711400513 meters 0.025099297499676616 Centerline is valid? [True, True] Translation: X:396.07, Y:41.62, Z:-2.21 [[ 9.95684529e-01 -9.28017044e-02 -4.03110833e-04 3.96067638e+02] [ 9.28016930e-02 9.95684610e-01 -4.69455035e-05 4.16193913e+01] [ 4.05727875e-04 9.33354383e-06 9.99999918e-01 -2.20652296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74140051300003 meters 0.02503509926447694 Centerline is valid? [True, True] Translation: X:396.10, Y:41.62, Z:-2.20 [[ 9.95713787e-01 -9.24869834e-02 4.59815195e-04 3.96096019e+02] [ 9.24869688e-02 9.95713894e-01 5.28497231e-05 4.16235516e+01] [-4.62732289e-04 -1.00962844e-05 9.99999893e-01 -2.20479586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.771400513 meters 0.024503577662317248 Centerline is valid? [True, True] Translation: X:396.13, Y:41.63, Z:-2.20 [[ 9.95756585e-01 -9.20109758e-02 1.67450797e-03 3.96125094e+02] [ 9.20107796e-02 9.95757992e-01 1.94010981e-04 4.16267210e+01] [-1.68525583e-03 -3.91149282e-05 9.99998579e-01 -2.20300843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80140051300003 meters 0.02677845329927618 Centerline is valid? [True, True] Translation: X:396.15, Y:41.63, Z:-2.20 [[ 9.95769364e-01 -9.18486434e-02 2.68322563e-03 3.96152256e+02] [ 9.18481369e-02 9.95772977e-01 3.11660131e-04 4.16332539e+01] [-2.70050914e-03 -6.38923357e-05 9.99996352e-01 -2.20179651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.831400513 meters 0.030548454021387818 Centerline is valid? [True, True] Translation: X:396.18, Y:41.63, Z:-2.20 [[ 9.95613252e-01 -9.35165649e-02 2.98414000e-03 3.96181760e+02] [ 9.35159452e-02 9.95617722e-01 3.46824322e-04 4.16340081e+01] [-3.00349649e-03 -6.62382188e-05 9.99995487e-01 -2.20251320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.861400513 meters 0.022467257884896556 Centerline is valid? [True, True] Translation: X:396.21, Y:41.64, Z:-2.20 [[ 9.95418628e-01 -9.55670477e-02 2.94861773e-03 3.96210649e+02] [ 9.55664503e-02 9.95422993e-01 3.43152020e-04 4.16357070e+01] [-2.96791591e-03 -5.97909833e-05 9.99995594e-01 -2.20272715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.891400513 meters 0.019547194596330315 Centerline is valid? [True, True] Translation: X:396.24, Y:41.64, Z:-2.20 [[ 9.95184263e-01 -9.79843563e-02 2.71067464e-03 3.96239749e+02] [ 9.79838594e-02 9.95187954e-01 3.15846086e-04 4.16350349e+01] [-2.72857872e-03 -4.87226922e-05 9.99996276e-01 -2.20229536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.921400513 meters 0.023266691966271395 Centerline is valid? [True, True] Translation: X:396.27, Y:41.63, Z:-2.20 [[ 9.94717779e-01 -1.02620856e-01 2.34516422e-03 3.96269052e+02] [ 1.02620496e-01 9.94720543e-01 2.73599523e-04 4.16319774e+01] [-2.36086005e-03 -3.14923931e-05 9.99997213e-01 -2.20234610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.951400513 meters 0.01448650279810921 Centerline is valid? [True, True] Translation: X:396.30, Y:41.63, Z:-2.20 [[ 9.94490642e-01 -1.04798104e-01 2.39185204e-03 3.96297109e+02] [ 1.04797735e-01 9.94493518e-01 2.79487200e-04 4.16340691e+01] [-2.40797108e-03 -2.72867281e-05 9.99997100e-01 -2.20176296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.981400513 meters 0.01190490569935968 Centerline is valid? [True, True] Translation: X:396.33, Y:41.63, Z:-2.20 [[ 9.94242510e-01 -1.07115295e-01 2.85401577e-03 3.96326445e+02] [ 1.07114779e-01 9.94246606e-01 3.33699941e-04 4.16339642e+01] [-2.87333986e-03 -2.60713994e-05 9.99995872e-01 -2.20135285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.011400513 meters 0.010856446719356552 Centerline is valid? [True, True] Translation: X:396.35, Y:41.64, Z:-2.20 [[ 9.94019071e-01 -1.09155505e-01 3.34108156e-03 3.96354165e+02] [ 1.09154806e-01 9.94024685e-01 3.91263630e-04 4.16358523e+01] [-3.36382612e-03 -2.42284002e-05 9.99994342e-01 -2.20049526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.041400513 meters 0.008191703653257422 Centerline is valid? [True, True] Translation: X:396.38, Y:41.63, Z:-2.20 [[ 9.93626542e-01 -1.12677618e-01 3.17021987e-03 3.96383686e+02] [ 1.12677006e-01 9.93631599e-01 3.71549633e-04 4.16348063e+01] [-3.19189596e-03 -1.19706948e-05 9.99994906e-01 -2.20030310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.071400513 meters 0.0073907130953107456 Centerline is valid? [True, True] Translation: X:396.41, Y:41.64, Z:-2.20 [[ 9.93436665e-01 -1.14349680e-01 2.78261576e-03 3.96411302e+02] [ 1.14349214e-01 9.93440562e-01 3.26518083e-04 4.16359164e+01] [-2.80170060e-03 -6.18511002e-06 9.99996075e-01 -2.20102612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.101400513 meters 0.0070134163283302915 Centerline is valid? [True, True] Translation: X:396.44, Y:41.64, Z:-2.20 [[ 9.93265119e-01 -1.15848008e-01 1.90876104e-03 3.96439170e+02] [ 1.15847791e-01 9.93266953e-01 2.24173231e-04 4.16384454e+01] [-1.92187928e-03 -1.53770138e-06 9.99998153e-01 -2.20219026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.131400513 meters 0.007000119185924578 Centerline is valid? [True, True] Translation: X:396.47, Y:41.64, Z:-2.20 [[ 9.93064258e-01 -1.17566535e-01 1.22008843e-03 3.96465557e+02] [ 1.17566447e-01 9.93065008e-01 1.43511077e-04 4.16422492e+01] [-1.22849923e-03 9.25741443e-07 9.99999245e-01 -2.20444441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.161400513 meters 0.007015406838279577 Centerline is valid? [True, True] Translation: X:396.49, Y:41.65, Z:-2.20 [[ 9.92975048e-01 -1.18314069e-01 1.52815175e-03 3.96492932e+02] [ 1.18313933e-01 9.92976224e-01 1.79793109e-04 4.16463978e+01] [-1.53869041e-03 2.27157209e-06 9.99998816e-01 -2.20418387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.191400513 meters 0.007183233366176598 Centerline is valid? [True, True] Translation: X:396.52, Y:41.65, Z:-2.20 [[ 9.92863126e-01 -1.19248609e-01 1.60674219e-03 3.96520678e+02] [ 1.19248458e-01 9.92864426e-01 1.89369388e-04 4.16506550e+01] [-1.61785920e-03 3.58364699e-06 9.99998691e-01 -2.20377287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.221400513 meters 0.007587456351521958 Centerline is valid? [True, True] Translation: X:396.55, Y:41.65, Z:-2.20 [[ 9.92748492e-01 -1.20195998e-01 1.83114157e-03 3.96547134e+02] [ 1.20195804e-01 9.92750181e-01 2.16383840e-04 4.16548957e+01] [-1.84387459e-03 5.28080180e-06 9.99998300e-01 -2.20387709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.251400513 meters 0.00794258962625957 Centerline is valid? [True, True] Translation: X:396.57, Y:41.66, Z:-2.20 [[ 9.92645165e-01 -1.21042410e-01 2.07614638e-03 3.96574117e+02] [ 1.21042162e-01 9.92647337e-01 2.45551374e-04 4.16593628e+01] [-2.09060331e-03 7.55586140e-06 9.99997815e-01 -2.20370852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.281400513 meters 0.008878554665901024 Centerline is valid? [True, True] Translation: X:396.60, Y:41.67, Z:-2.20 [[ 9.92416749e-01 -1.22893984e-01 2.46287054e-03 3.96602275e+02] [ 1.22893639e-01 9.92419805e-01 2.91511549e-04 4.16657561e+01] [-2.48002651e-03 1.33701780e-05 9.99996925e-01 -2.20264774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.311400513 meters 0.009720291988188658 Centerline is valid? [True, True] Translation: X:396.63, Y:41.67, Z:-2.20 [[ 9.92318317e-01 -1.23685246e-01 2.51336506e-03 3.96629506e+02] [ 1.23684888e-01 9.92321500e-01 2.97971909e-04 4.16694619e+01] [-2.53092092e-03 1.51822934e-05 9.99996797e-01 -2.20291998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.341400513 meters 0.010366694087122907 Centerline is valid? [True, True] Translation: X:396.66, Y:41.67, Z:-2.20 [[ 9.92141370e-01 -1.25102242e-01 2.22036558e-03 3.96658382e+02] [ 1.25101966e-01 9.92143855e-01 2.63279349e-04 4.16739910e+01] [-2.23585891e-03 1.65617653e-05 9.99997500e-01 -2.20354551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.371400513 meters 0.012138190349358008 Centerline is valid? [True, True] Translation: X:396.69, Y:41.68, Z:-2.20 [[ 9.91979132e-01 -1.26392572e-01 1.52278552e-03 3.96685687e+02] [ 1.26392444e-01 9.91980301e-01 1.80820551e-04 4.16774026e+01] [-1.53342761e-03 1.30983701e-05 9.99998824e-01 -2.20467322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.401400513 meters 0.012656736823323217 Centerline is valid? [True, True] Translation: X:396.71, Y:41.69, Z:-2.20 [[ 9.91783465e-01 -1.27920114e-01 1.41517596e-03 3.96713794e+02] [ 1.27920005e-01 9.91784475e-01 1.67957337e-04 4.16877510e+01] [-1.42503467e-03 1.44520065e-05 9.99998985e-01 -2.20451873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.431400513 meters 0.025304870243221367 Centerline is valid? [True, True] Translation: X:396.74, Y:41.69, Z:-2.20 [[ 9.91946320e-01 -1.26639968e-01 2.19450029e-03 3.96740006e+02] [ 1.26632272e-01 9.91944076e-01 3.34926087e-03 4.16909633e+01] [-2.60097186e-03 -3.04439244e-03 9.99991983e-01 -2.20494846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.461400513 meters 0.017775645887693977 Centerline is valid? [True, True] Translation: X:396.77, Y:41.70, Z:-2.21 [[ 9.91621411e-01 -1.29172818e-01 1.16642254e-03 3.96768452e+02] [ 1.29175738e-01 9.91617396e-01 -2.92731370e-03 4.17018908e+01] [-7.78515525e-04 3.05346043e-03 9.99995035e-01 -2.20611377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49140051300003 meters 0.014168389279947758 Centerline is valid? [True, True] Translation: X:396.80, Y:41.71, Z:-2.21 [[ 9.91523996e-01 -1.29923209e-01 -3.53149318e-04 3.96797014e+02] [ 1.29923202e-01 9.91524059e-01 -4.26694996e-05 4.17050283e+01] [ 3.55699803e-04 -3.57445733e-06 9.99999937e-01 -2.20799713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.521400513 meters 0.01524820589280779 Centerline is valid? [True, True] Translation: X:396.83, Y:41.71, Z:-2.21 [[ 9.91287930e-01 -1.31707793e-01 -1.13905801e-03 3.96825088e+02] [ 1.31707723e-01 9.91288584e-01 -1.36747969e-04 4.17129329e+01] [ 1.14714598e-03 -1.44661258e-05 9.99999342e-01 -2.20972661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55140051300003 meters 0.016597914313179484 Centerline is valid? [True, True] Translation: X:396.85, Y:41.72, Z:-2.21 [[ 9.91125598e-01 -1.32925696e-01 -8.99478230e-04 3.96852459e+02] [ 1.32925653e-01 9.91126006e-01 -1.07824043e-04 4.17172593e+01] [ 9.05828851e-04 -1.26965621e-05 9.99999590e-01 -2.20935817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.581400513 meters 0.017313749628608762 Centerline is valid? [True, True] Translation: X:396.88, Y:41.72, Z:-2.21 [[ 9.90971843e-01 -1.34069174e-01 -5.12757320e-04 3.96881087e+02] [ 1.34069160e-01 9.90971976e-01 -6.19502285e-05 4.17220498e+01] [ 5.16433750e-04 -7.35401079e-06 9.99999867e-01 -2.20837379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.611400513 meters 0.018904697190606373 Centerline is valid? [True, True] Translation: X:396.91, Y:41.73, Z:-2.21 [[ 9.90816162e-01 -1.35213018e-01 -8.78556747e-04 3.96908193e+02] [ 1.35212978e-01 9.90816552e-01 -1.05524597e-04 4.17281680e+01] [ 8.84756866e-04 -1.42367973e-05 9.99999609e-01 -2.20884211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.641400513 meters 0.018821420574947047 Centerline is valid? [True, True] Translation: X:396.94, Y:41.73, Z:-2.21 [[ 9.90785867e-01 -1.35428290e-01 -1.59506521e-03 3.96935482e+02] [ 1.35428156e-01 9.90787150e-01 -1.92137454e-04 4.17346680e+01] [ 1.60639096e-03 -2.56496663e-05 9.99998709e-01 -2.21020159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.671400513 meters 0.019120908786986343 Centerline is valid? [True, True] Translation: X:396.96, Y:41.74, Z:-2.21 [[ 9.90800609e-01 -1.35316417e-01 -1.90274529e-03 3.96961812e+02] [ 1.35316227e-01 9.90802436e-01 -2.28936441e-04 4.17406815e+01] [ 1.91622353e-03 -3.06419485e-05 9.99998164e-01 -2.21097610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.701400513 meters 0.018684392069903986 Centerline is valid? [True, True] Translation: X:396.99, Y:41.75, Z:-2.21 [[ 9.90750914e-01 -1.35684982e-01 -1.48753284e-03 3.96989583e+02] [ 1.35684865e-01 9.90752030e-01 -1.79643064e-04 4.17474687e+01] [ 1.49815104e-03 -2.38541619e-05 9.99998877e-01 -2.21042745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.731400513 meters 0.0194591170436389 Centerline is valid? [True, True] Translation: X:397.02, Y:41.75, Z:-2.21 [[ 9.90668802e-01 -1.36287072e-01 -1.07638984e-03 3.97016933e+02] [ 1.36287012e-01 9.90669387e-01 -1.29823982e-04 4.17517555e+01] [ 1.08403979e-03 -1.80853851e-05 9.99999412e-01 -2.20987509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.761400513 meters 0.028885116698461995 Centerline is valid? [True, True] Translation: X:397.04, Y:41.75, Z:-2.21 [[ 9.90273576e-01 -1.39127579e-01 -1.32712163e-03 3.97044277e+02] [ 1.39127489e-01 9.90274465e-01 -1.60294136e-04 4.17528929e+01] [ 1.33651599e-03 -2.59040525e-05 9.99999107e-01 -2.21053111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.791400513 meters 0.023755413139266327 Centerline is valid? [True, True] Translation: X:397.07, Y:41.76, Z:-2.21 [[ 9.90062166e-01 -1.40625015e-01 -1.22990553e-03 3.97072803e+02] [ 1.40624939e-01 9.90062930e-01 -1.48912897e-04 4.17579264e+01] [ 1.23862475e-03 -2.55223638e-05 9.99999233e-01 -2.21012561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.821400513 meters 0.02484700515545429 Centerline is valid? [True, True] Translation: X:397.10, Y:41.76, Z:-2.21 [[ 9.89916272e-01 -1.41644135e-01 -1.64743022e-03 3.97100102e+02] [ 1.41643999e-01 9.89917642e-01 -1.99135538e-04 4.17611481e+01] [ 1.65902662e-03 -3.62210955e-05 9.99998623e-01 -2.21067049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.851400513 meters 0.02509962721740128 Centerline is valid? [True, True] Translation: X:397.13, Y:41.77, Z:-2.21 [[ 9.89801485e-01 -1.42446413e-01 -1.42810971e-03 3.97128506e+02] [ 1.42446311e-01 9.89802515e-01 -1.73198748e-04 4.17651369e+01] [ 1.43821812e-03 -3.19965815e-05 9.99998965e-01 -2.21013138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.881400513 meters 0.02555636232129016 Centerline is valid? [True, True] Translation: X:397.16, Y:41.77, Z:-2.21 [[ 9.89763608e-01 -1.42712937e-01 -1.00867456e-03 3.97155987e+02] [ 1.42712886e-01 9.89764122e-01 -1.22731189e-04 4.17686495e+01] [ 1.01586522e-03 -2.24759930e-05 9.99999484e-01 -2.20919650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.911400513 meters 0.02643151330398394 Centerline is valid? [True, True] Translation: X:397.18, Y:41.77, Z:-2.21 [[ 9.89770087e-01 -1.42671218e-01 -3.12884030e-04 3.97183304e+02] [ 1.42671213e-01 9.89770137e-01 -3.80897672e-05 4.17719049e+01] [ 3.15117582e-04 -6.93943173e-06 9.99999950e-01 -2.20825184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.941400513 meters 0.024904488758123337 Centerline is valid? [True, True] Translation: X:397.21, Y:41.78, Z:-2.21 [[ 9.89755181e-01 -1.42774886e-01 -1.16008563e-04 3.97210710e+02] [ 1.42774885e-01 9.89755188e-01 -1.46325887e-05 4.17788147e+01] [ 1.16909243e-04 -2.08042877e-06 9.99999993e-01 -2.20749664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.971400513 meters 0.026918073270056544 Centerline is valid? [True, True] Translation: X:397.24, Y:41.78, Z:-2.21 [[ 9.89754219e-01 -1.42781583e-01 -7.47105861e-05 3.97238154e+02] [ 1.42781583e-01 9.89754222e-01 -9.63143175e-06 4.17806030e+01] [ 7.53203091e-05 -1.13454554e-06 9.99999997e-01 -2.20824038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.001400513 meters 0.026021425327929927 Centerline is valid? [True, True] Translation: X:397.27, Y:41.79, Z:-2.21 [[ 9.89593830e-01 -1.43888494e-01 3.90780966e-04 3.97266213e+02] [ 1.43888486e-01 9.89593907e-01 4.70911413e-05 4.17851469e+01] [-3.93490337e-04 9.62777888e-06 9.99999923e-01 -2.20830075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.031400513 meters 0.029419136687297683 Centerline is valid? [True, True] Translation: X:397.29, Y:41.78, Z:-2.21 [[ 9.89424558e-01 -1.45042731e-01 1.28447404e-03 3.97294024e+02] [ 1.45042650e-01 9.89425391e-01 1.56282558e-04 4.17839502e+01] [-1.29355888e-03 3.16737192e-05 9.99999163e-01 -2.20709942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.061400513 meters 0.02864720395846252 Centerline is valid? [True, True] Translation: X:397.32, Y:41.79, Z:-2.21 [[ 9.89170262e-01 -1.46758997e-01 1.99715126e-03 3.97322526e+02] [ 1.46758805e-01 9.89172277e-01 2.43115568e-04 4.17888909e+01] [-2.01120605e-03 5.26168417e-05 9.99997976e-01 -2.20577830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.091400513 meters 0.029616850770836235 Centerline is valid? [True, True] Translation: X:397.35, Y:41.79, Z:-2.21 [[ 9.88931132e-01 -1.48360959e-01 2.05981842e-03 3.97350726e+02] [ 1.48360758e-01 9.88933275e-01 2.51165128e-04 4.17921273e+01] [-2.07428607e-03 5.72112068e-05 9.99997847e-01 -2.20550006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.121400513 meters 0.03151925541269175 Centerline is valid? [True, True] Translation: X:397.38, Y:41.79, Z:-2.21 [[ 9.88308534e-01 -1.52466620e-01 4.14728564e-04 3.97380650e+02] [ 1.52466612e-01 9.88308621e-01 5.05919226e-05 4.17947505e+01] [-4.17593394e-04 1.32318304e-05 9.99999913e-01 -2.20906501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.151400513 meters 0.034988000965220235 Centerline is valid? [True, True] Translation: X:397.41, Y:41.79, Z:-2.21 [[ 9.87877108e-01 -1.55237727e-01 -2.59810344e-04 3.97409762e+02] [ 1.55237724e-01 9.87877142e-01 -3.18325044e-05 4.17932762e+01] [ 2.61602306e-04 -8.88576419e-06 9.99999966e-01 -2.21075355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.181400513 meters 0.0375801771333703 Centerline is valid? [True, True] Translation: X:397.44, Y:41.79, Z:-2.21 [[ 9.87328077e-01 -1.58691586e-01 -4.99406670e-04 3.97439928e+02] [ 1.58691575e-01 9.87328203e-01 -6.10305767e-05 4.17926246e+01] [ 5.02763329e-04 -1.89944292e-05 9.99999873e-01 -2.21129371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.211400513 meters 0.04529596902832349 Centerline is valid? [True, True] Translation: X:397.47, Y:41.79, Z:-2.21 [[ 9.86726782e-01 -1.62385079e-01 -1.15953509e-03 3.97469913e+02] [ 1.62385025e-01 9.86727462e-01 -1.41707195e-04 4.17859084e+01] [ 1.16715626e-03 -4.84648506e-05 9.99999318e-01 -2.21256144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24140051300003 meters 0.04947817391096587 Centerline is valid? [True, True] Translation: X:397.50, Y:41.78, Z:-2.22 [[ 9.85675778e-01 -1.68615173e-01 -3.49062987e-03 3.97500206e+02] [ 1.68614718e-01 9.85681944e-01 -4.26449141e-04 4.17836128e+01] [ 3.51255663e-03 -1.68230982e-04 9.99993817e-01 -2.21524052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.271400513 meters 0.05029299133822369 Centerline is valid? [True, True] Translation: X:397.53, Y:41.79, Z:-2.22 [[ 9.85383391e-01 -1.70297636e-01 -4.27636351e-03 3.97530167e+02] [ 1.70296968e-01 9.85392648e-01 -5.22576344e-04 4.17853751e+01] [ 4.30289067e-03 -2.13313687e-04 9.99990720e-01 -2.21617924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30140051300003 meters 0.04897958589451307 Centerline is valid? [True, True] Translation: X:397.56, Y:41.79, Z:-2.22 [[ 9.85240914e-01 -1.71109257e-01 -4.68643526e-03 3.97558780e+02] [ 1.71108458e-01 9.85252032e-01 -5.73919900e-04 4.17911565e+01] [ 4.71552287e-03 -2.36439343e-04 9.99988854e-01 -2.21587382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.331400513 meters 0.04897958589451307 Centerline is valid? [True, True] Translation: X:397.59, Y:41.79, Z:-2.22 [[ 9.85207540e-01 -1.71301319e-01 -4.68631482e-03 3.97586093e+02] [ 1.71300517e-01 9.85218657e-01 -5.74903003e-04 4.17946484e+01] [ 4.71552644e-03 -2.36369381e-04 9.99988854e-01 -2.21595325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.361400513 meters 0.05047580340284813 Centerline is valid? [True, True] Translation: X:397.61, Y:41.80, Z:-2.21 [[ 9.85598639e-01 -1.69066517e-01 -3.44041416e-03 3.97614980e+02] [ 1.69066072e-01 9.85604629e-01 -4.21875849e-04 4.17952296e+01] [ 3.46221321e-03 -1.65857048e-04 9.99993993e-01 -2.21487291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.391400513 meters 0.04883517543357472 Centerline is valid? [True, True] Translation: X:397.64, Y:41.80, Z:-2.21 [[ 9.85905407e-01 -1.67270924e-01 -3.31164281e-03 3.97643885e+02] [ 1.67270501e-01 9.85910957e-01 -4.06192313e-04 4.18018173e+01] [ 3.33292909e-03 -1.53472954e-04 9.99994434e-01 -2.21422018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.421400513 meters 0.048062014991049125 Centerline is valid? [True, True] Translation: X:397.67, Y:41.81, Z:-2.21 [[ 9.86226298e-01 -1.65370023e-01 -3.23184877e-03 3.97671832e+02] [ 1.65369610e-01 9.86231583e-01 -3.96476796e-04 4.18071406e+01] [ 3.25291670e-03 -1.43433726e-04 9.99994699e-01 -2.21458090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.451400513 meters 0.04309573890212098 Centerline is valid? [True, True] Translation: X:397.70, Y:41.82, Z:-2.21 [[ 9.86560212e-01 -1.63362324e-01 -3.42028861e-03 3.97700381e+02] [ 1.63361849e-01 9.86566131e-01 -4.19662856e-04 4.18171589e+01] [ 3.44289800e-03 -1.44721996e-04 9.99994063e-01 -2.21462330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.481400513 meters 0.04117413406790513 Centerline is valid? [True, True] Translation: X:397.73, Y:41.83, Z:-2.21 [[ 9.86995695e-01 -1.60713469e-01 -3.26795687e-03 3.97728911e+02] [ 1.60713021e-01 9.87001096e-01 -4.01057725e-04 4.18273368e+01] [ 3.28993239e-03 -1.29360973e-04 9.99994580e-01 -2.21412934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.511400513 meters 0.04127469928380171 Centerline is valid? [True, True] Translation: X:397.76, Y:41.83, Z:-2.21 [[ 9.87077101e-01 -1.60224954e-01 -2.60018794e-03 3.97756373e+02] [ 1.60224668e-01 9.87080520e-01 -3.19386267e-04 4.18284453e+01] [ 2.61776851e-03 -1.01355379e-04 9.99996569e-01 -2.21433172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.541400513 meters 0.0404943740003883 Centerline is valid? [True, True] Translation: X:397.78, Y:41.84, Z:-2.21 [[ 9.87057986e-01 -1.60343860e-01 -2.52543394e-03 3.97783555e+02] [ 1.60343588e-01 9.87061212e-01 -3.11074592e-04 4.18350879e+01] [ 2.54263679e-03 -9.78884802e-05 9.99996763e-01 -2.21308620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.571400513 meters 0.040088690558426066 Centerline is valid? [True, True] Translation: X:397.81, Y:41.84, Z:-2.21 [[ 9.86979744e-01 -1.60820722e-01 -2.77148950e-03 3.97811141e+02] [ 1.60820396e-01 9.86983629e-01 -3.41758479e-04 4.18434560e+01] [ 2.79037661e-03 -1.08403343e-04 9.99996101e-01 -2.21296078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.601400513 meters 0.04800175838904445 Centerline is valid? [True, True] Translation: X:397.84, Y:41.84, Z:-2.21 [[ 9.86751079e-01 -1.62216930e-01 -2.82413354e-03 3.97839492e+02] [ 1.62216597e-01 9.86755114e-01 -3.48093142e-04 4.18419948e+01] [ 2.84319481e-03 -1.14640048e-04 9.99995952e-01 -2.21434625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.631400513 meters 0.04689599369729854 Centerline is valid? [True, True] Translation: X:397.87, Y:41.84, Z:-2.21 [[ 9.86522422e-01 -1.63618068e-01 -1.62474048e-03 3.97867995e+02] [ 1.63617959e-01 9.86523757e-01 -2.00423338e-04 4.18413233e+01] [ 1.63563796e-03 -6.81146051e-05 9.99998660e-01 -2.21339399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.661400513 meters 0.04422866509869575 Centerline is valid? [True, True] Translation: X:397.90, Y:41.85, Z:-2.21 [[ 9.86234622e-01 -1.65350903e-01 -5.91453539e-04 3.97897027e+02] [ 1.65350889e-01 9.86234799e-01 -7.29816932e-05 4.18491156e+01] [ 5.95379650e-04 -2.58202956e-05 9.99999822e-01 -2.21166560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.691400513 meters 0.04748883590678807 Centerline is valid? [True, True] Translation: X:397.93, Y:41.85, Z:-2.21 [[ 9.85918096e-01 -1.67228359e-01 -4.29029281e-04 3.97925256e+02] [ 1.67228352e-01 9.85918189e-01 -5.30476832e-05 4.18494875e+01] [ 4.31858849e-04 -1.94451888e-05 9.99999907e-01 -2.21175253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.721400513 meters 0.052772280307123526 Centerline is valid? [True, True] Translation: X:397.95, Y:41.85, Z:-2.21 [[ 9.85268802e-01 -1.71008293e-01 -1.24594447e-03 3.97954569e+02] [ 1.71008235e-01 9.85269587e-01 -1.53681203e-04 4.18480807e+01] [ 1.25387195e-03 -6.16494694e-05 9.99999212e-01 -2.21358101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.751400513 meters 0.05626764607549122 Centerline is valid? [True, True] Translation: X:397.98, Y:41.85, Z:-2.21 [[ 9.85077036e-01 -1.72111492e-01 -9.31162802e-04 3.97982142e+02] [ 1.72111460e-01 9.85077475e-01 -1.15107539e-04 4.18478386e+01] [ 9.37078833e-04 -4.68739958e-05 9.99999560e-01 -2.21364740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.781400513 meters 0.05171482909874711 Centerline is valid? [True, True] Translation: X:398.01, Y:41.86, Z:-2.21 [[ 9.84932477e-01 -1.72938799e-01 -4.33721294e-04 3.98010322e+02] [ 1.72938792e-01 9.84932572e-01 -5.40790508e-05 4.18567074e+01] [ 4.36538596e-04 -2.17430231e-05 9.99999904e-01 -2.21225767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.811400513 meters 0.052117754345681964 Centerline is valid? [True, True] Translation: X:398.04, Y:41.86, Z:-2.21 [[ 9.84902953e-01 -1.73107260e-01 2.24876595e-04 3.98037783e+02] [ 1.73107258e-01 9.84902978e-01 2.76301531e-05 4.18602716e+01] [-2.26264609e-04 1.17147516e-05 9.99999974e-01 -2.21173839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.841400513 meters 0.054884425474034874 Centerline is valid? [True, True] Translation: X:398.07, Y:41.87, Z:-2.21 [[ 9.85054888e-01 -1.72235850e-01 -1.29559092e-03 3.98065125e+02] [ 1.72235788e-01 9.85055738e-01 -1.60419699e-04 4.18667666e+01] [ 1.30385929e-03 -6.51249132e-05 9.99999148e-01 -2.21363122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.871400513 meters 0.0504546655857899 Centerline is valid? [True, True] Translation: X:398.09, Y:41.88, Z:-2.21 [[ 9.85179405e-01 -1.71511092e-01 -2.34202701e-03 3.98092811e+02] [ 1.71510885e-01 9.85182182e-01 -2.90583791e-04 4.18786845e+01] [ 2.35716162e-03 -1.15405958e-04 9.99997215e-01 -2.21369433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.901400513 meters 0.0543447481192091 Centerline is valid? [True, True] Translation: X:398.12, Y:41.88, Z:-2.21 [[ 9.85300867e-01 -1.70817488e-01 -1.89417725e-03 3.98120911e+02] [ 1.70817351e-01 9.85302683e-01 -2.35045944e-04 4.18792920e+01] [ 1.90648788e-03 -9.19673667e-05 9.99998178e-01 -2.21405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.931400513 meters 0.04987801618945449 Centerline is valid? [True, True] Translation: X:398.15, Y:41.89, Z:-2.21 [[ 9.85328733e-01 -1.70664281e-01 -9.95660521e-04 3.98149409e+02] [ 1.70664242e-01 9.85329235e-01 -1.24056872e-04 4.18851775e+01] [ 1.00222550e-03 -4.76868484e-05 9.99999497e-01 -2.21340118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.961400513 meters 0.04961458355256076 Centerline is valid? [True, True] Translation: X:398.18, Y:41.89, Z:-2.21 [[ 9.85236808e-01 -1.71192884e-01 -1.19530811e-03 3.98177559e+02] [ 1.71192829e-01 9.85237531e-01 -1.49040414e-04 4.18933278e+01] [ 1.20317707e-03 -5.77880750e-05 9.99999275e-01 -2.21419854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99140051300003 meters 0.04502186723765564 Centerline is valid? [True, True] Translation: X:398.21, Y:41.90, Z:-2.22 [[ 9.85085767e-01 -1.72048030e-01 -2.34652888e-03 3.98205470e+02] [ 1.72047820e-01 9.85088555e-01 -2.92557992e-04 4.19043767e+01] [ 2.36187277e-03 -1.15520464e-04 9.99997204e-01 -2.21529764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.021400513 meters 0.0515154193508094 Centerline is valid? [True, True] Translation: X:398.23, Y:41.90, Z:-2.22 [[ 9.84911299e-01 -1.73034262e-01 -2.97936776e-03 3.98234301e+02] [ 1.73033928e-01 9.84915794e-01 -3.71366896e-04 4.19009652e+01] [ 2.99868556e-03 -1.49768255e-04 9.99995493e-01 -2.21697051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05140051300003 meters 0.056421395887047025 Centerline is valid? [True, True] Translation: X:398.26, Y:41.91, Z:-2.22 [[ 9.84659246e-01 -1.74447199e-01 -3.78737588e-03 3.98263155e+02] [ 1.74446671e-01 9.84666510e-01 -4.71980078e-04 4.19059232e+01] [ 3.81163780e-03 -1.95955566e-04 9.99992716e-01 -2.21694043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.081400513 meters 0.05548843737671591 Centerline is valid? [True, True] Translation: X:398.29, Y:41.91, Z:-2.22 [[ 9.84318830e-01 -1.76378747e-01 -2.64158487e-03 3.98291822e+02] [ 1.76378496e-01 9.84322365e-01 -3.29317600e-04 4.19094148e+01] [ 2.65825569e-03 -1.41765252e-04 9.99996457e-01 -2.21535233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.111400513 meters 0.05401971393963456 Centerline is valid? [True, True] Translation: X:398.32, Y:41.92, Z:-2.21 [[ 9.84312723e-01 -1.76423929e-01 -1.74968709e-03 3.98319666e+02] [ 1.76423818e-01 9.84314273e-01 -2.18830105e-04 4.19166367e+01] [ 1.76084885e-03 -9.32892213e-05 9.99998445e-01 -2.21428682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.141400513 meters 0.05376213614509789 Centerline is valid? [True, True] Translation: X:398.35, Y:41.92, Z:-2.21 [[ 9.84314815e-01 -1.76415961e-01 -1.32458319e-03 3.98348013e+02] [ 1.76415897e-01 9.84315703e-01 -1.65999899e-04 4.19213701e+01] [ 1.33309307e-03 -7.02813713e-05 9.99999109e-01 -2.21395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.171400513 meters 0.05636944178175019 Centerline is valid? [True, True] Translation: X:398.38, Y:41.92, Z:-2.21 [[ 9.84256801e-01 -1.76739688e-01 -1.27778434e-03 3.98375929e+02] [ 1.76739628e-01 9.84257628e-01 -1.59918748e-04 4.19218552e+01] [ 1.28593298e-03 -6.84340148e-05 9.99999171e-01 -2.21459593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.201400513 meters 0.05694717641990439 Centerline is valid? [True, True] Translation: X:398.41, Y:41.93, Z:-2.22 [[ 9.83917730e-01 -1.78606431e-01 -2.37564468e-03 3.98405625e+02] [ 1.78606233e-01 9.83920589e-01 -2.97071905e-04 4.19281849e+01] [ 2.39050467e-03 -1.32010632e-04 9.99997134e-01 -2.21599836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.231400513 meters 0.05506618047481678 Centerline is valid? [True, True] Translation: X:398.43, Y:41.94, Z:-2.22 [[ 9.83746520e-01 -1.79546912e-01 -2.38563638e-03 3.98433174e+02] [ 1.79546714e-01 9.83749403e-01 -2.98599754e-04 4.19370566e+01] [ 2.40048103e-03 -1.34586704e-04 9.99997110e-01 -2.21551059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.261400513 meters 0.05447531759777727 Centerline is valid? [True, True] Translation: X:398.46, Y:41.94, Z:-2.21 [[ 9.83472623e-01 -1.81054766e-01 -8.78914764e-04 3.98461684e+02] [ 1.81054739e-01 9.83473014e-01 -1.10140938e-04 4.19446388e+01] [ 8.84330494e-04 -5.08110860e-05 9.99999608e-01 -2.21312018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.291400513 meters 0.05819437369207084 Centerline is valid? [True, True] Translation: X:398.49, Y:41.94, Z:-2.21 [[ 9.83365083e-01 -1.81636348e-01 -1.16189227e-03 3.98489679e+02] [ 1.81636302e-01 9.83365767e-01 -1.45770285e-04 4.19445133e+01] [ 1.16904226e-03 -6.76964070e-05 9.99999314e-01 -2.21375031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.321400513 meters 0.05408117595966459 Centerline is valid? [True, True] Translation: X:398.52, Y:41.96, Z:-2.21 [[ 9.83297876e-01 -1.81990988e-01 -2.13712045e-03 3.98517591e+02] [ 1.81990832e-01 9.83300191e-01 -2.68506169e-04 4.19553108e+01] [ 2.15029665e-03 -1.24914784e-04 9.99997680e-01 -2.21440751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.351400513 meters 0.05908951291181194 Centerline is valid? [True, True] Translation: X:398.54, Y:41.96, Z:-2.22 [[ 9.83298379e-01 -1.81976188e-01 -2.99418518e-03 3.98544733e+02] [ 1.81975884e-01 9.83302922e-01 -3.75995889e-04 4.19562769e+01] [ 3.01261334e-03 -1.75153347e-04 9.99995447e-01 -2.21661128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.381400513 meters 0.06031869117057209 Centerline is valid? [True, True] Translation: X:398.57, Y:41.96, Z:-2.22 [[ 9.83361336e-01 -1.81633131e-01 -3.14472055e-03 3.98572430e+02] [ 1.81632793e-01 9.83366347e-01 -3.95163917e-04 4.19618028e+01] [ 3.16418722e-03 -1.82595461e-04 9.99994977e-01 -2.21731820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.411400513 meters 0.0551830266099051 Centerline is valid? [True, True] Translation: X:398.60, Y:41.98, Z:-2.21 [[ 9.83502471e-01 -1.80885932e-01 -1.78002308e-03 3.98599506e+02] [ 1.80885822e-01 9.83504077e-01 -2.23760425e-04 4.19754951e+01] [ 1.79113507e-03 -1.01912007e-04 9.99998391e-01 -2.21431443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.441400513 meters 0.06039868999842263 Centerline is valid? [True, True] Translation: X:398.63, Y:41.98, Z:-2.21 [[ 9.83478047e-01 -1.81022374e-01 -1.35333367e-03 3.98626157e+02] [ 1.81022310e-01 9.83478975e-01 -1.70371021e-04 4.19773276e+01] [ 1.36181618e-03 -7.74274282e-05 9.99999070e-01 -2.21362867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.471400513 meters 0.05706200386240709 Centerline is valid? [True, True] Translation: X:398.65, Y:41.98, Z:-2.21 [[ 9.83400813e-01 -1.81442145e-01 -1.26021142e-03 3.98654573e+02] [ 1.81442090e-01 9.83401618e-01 -1.59107550e-04 4.19841551e+01] [ 1.26816277e-03 -7.21889004e-05 9.99999193e-01 -2.21319188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.501400513 meters 0.05991318196826185 Centerline is valid? [True, True] Translation: X:398.68, Y:41.99, Z:-2.21 [[ 9.83262166e-01 -1.82188344e-01 -1.70881873e-03 3.98682107e+02] [ 1.82188244e-01 9.83263646e-01 -2.15371681e-04 4.19862756e+01] [ 1.71945755e-03 -9.95598580e-05 9.99998517e-01 -2.21459048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.531400513 meters 0.06373276932849702 Centerline is valid? [True, True] Translation: X:398.71, Y:41.99, Z:-2.22 [[ 9.83016006e-01 -1.83511647e-01 -1.73440392e-03 3.98710959e+02] [ 1.83511546e-01 9.83017530e-01 -2.18585055e-04 4.19861624e+01] [ 1.74506236e-03 -1.03410538e-04 9.99998472e-01 -2.21522658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.561400513 meters 0.0615693841149833 Centerline is valid? [True, True] Translation: X:398.74, Y:41.99, Z:-2.22 [[ 9.82660027e-01 -1.85407054e-01 -1.86984827e-03 3.98740379e+02] [ 1.85406940e-01 9.82661799e-01 -2.35603597e-04 4.19925341e+01] [ 1.88111104e-03 -1.15164610e-04 9.99998224e-01 -2.21504334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.591400513 meters 0.06914689454216058 Centerline is valid? [True, True] Translation: X:398.77, Y:41.99, Z:-2.22 [[ 9.81823804e-01 -1.89787988e-01 -1.59290741e-03 3.98770728e+02] [ 1.89787911e-01 9.81825091e-01 -2.00674885e-04 4.19855502e+01] [ 1.60204215e-03 -1.05287191e-04 9.99998711e-01 -2.21576544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.621400513 meters 0.07005063419826577 Centerline is valid? [True, True] Translation: X:398.80, Y:41.99, Z:-2.22 [[ 9.81479047e-01 -1.91556196e-01 -2.25922806e-03 3.98800125e+02] [ 1.91556045e-01 9.81481635e-01 -2.84691570e-04 4.19910880e+01] [ 2.27192529e-03 -1.53349982e-04 9.99997407e-01 -2.21621448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.651400513 meters 0.06176027418773785 Centerline is valid? [True, True] Translation: X:398.83, Y:42.00, Z:-2.22 [[ 9.81275850e-01 -1.92595427e-01 -2.16988062e-03 3.98828489e+02] [ 1.92595291e-01 9.81278237e-01 -2.73518490e-04 4.20019404e+01] [ 2.18193504e-03 -1.49511700e-04 9.99997608e-01 -2.21554438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.681400513 meters 0.06855426078482146 Centerline is valid? [True, True] Translation: X:398.86, Y:42.00, Z:-2.22 [[ 9.81262242e-01 -1.92664251e-01 -2.21326914e-03 3.98856404e+02] [ 1.92664108e-01 9.81264726e-01 -2.79347230e-04 4.19963786e+01] [ 2.22562316e-03 -1.52304637e-04 9.99997512e-01 -2.21596236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.711400513 meters 0.06641890284033897 Centerline is valid? [True, True] Translation: X:398.88, Y:42.00, Z:-2.22 [[ 9.81357801e-01 -1.92176344e-01 -2.26245430e-03 3.98884544e+02] [ 1.92176192e-01 9.81360397e-01 -2.86154584e-04 4.20025495e+01] [ 2.27527520e-03 -1.53969820e-04 9.99997400e-01 -2.21523647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74140051300003 meters 0.07223187696846087 Centerline is valid? [True, True] Translation: X:398.91, Y:42.00, Z:-2.22 [[ 9.81602496e-01 -1.90921901e-01 -2.31689260e-03 3.98913815e+02] [ 1.90921740e-01 9.81605218e-01 -2.92676890e-04 4.20016512e+01] [ 2.33015230e-03 -1.55052801e-04 9.99997273e-01 -2.21548698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.771400513 meters 0.06592192345007035 Centerline is valid? [True, True] Translation: X:398.94, Y:42.01, Z:-2.21 [[ 9.81780623e-01 -1.90008779e-01 -1.86328205e-03 3.98942276e+02] [ 1.90008672e-01 9.81782384e-01 -2.36040541e-04 4.20111197e+01] [ 1.87418727e-03 -1.22299718e-04 9.99998236e-01 -2.21473243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80140051300003 meters 0.07295294643937919 Centerline is valid? [True, True] Translation: X:398.97, Y:42.01, Z:-2.22 [[ 9.81969808e-01 -1.89032606e-01 -1.40379560e-03 3.98970810e+02] [ 1.89032545e-01 9.81970807e-01 -1.77856178e-04 4.20074462e+01] [ 1.41210691e-03 -9.07136567e-05 9.99998999e-01 -2.21512532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.831400513 meters 0.06590720649821438 Centerline is valid? [True, True] Translation: X:399.00, Y:42.02, Z:-2.21 [[ 9.81972594e-01 -1.89019747e-01 -1.16635263e-03 3.98998205e+02] [ 1.89019704e-01 9.81973284e-01 -1.48245941e-04 4.20214390e+01] [ 1.17334853e-03 -7.48901765e-05 9.99999309e-01 -2.21415483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.861400513 meters 0.0625604600210707 Centerline is valid? [True, True] Translation: X:399.03, Y:42.03, Z:-2.21 [[ 9.81945159e-01 -1.89165317e-01 -4.32005698e-04 3.99025654e+02] [ 1.89165311e-01 9.81945254e-01 -5.53592408e-05 4.20264676e+01] [ 4.34677993e-04 -2.73607537e-05 9.99999905e-01 -2.21365465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.891400513 meters 0.06461745396375154 Centerline is valid? [True, True] Translation: X:399.05, Y:42.03, Z:-2.21 [[ 9.81910166e-01 -1.89347241e-01 -2.20707806e-04 3.99053426e+02] [ 1.89347240e-01 9.81910190e-01 -2.82784456e-05 4.20282378e+01] [ 2.22069689e-04 -1.40235206e-05 9.99999975e-01 -2.21304472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.921400513 meters 0.06254822206286542 Centerline is valid? [True, True] Translation: X:399.08, Y:42.03, Z:-2.21 [[ 9.81854967e-01 -1.89633082e-01 3.43602006e-04 3.99080474e+02] [ 1.89633078e-01 9.81855027e-01 4.31511090e-05 4.20347478e+01] [-3.45550234e-04 2.27901755e-05 9.99999940e-01 -2.21171541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.951400513 meters 0.06616848187497502 Centerline is valid? [True, True] Translation: X:399.11, Y:42.03, Z:-2.21 [[ 9.81922992e-01 -1.89280835e-01 -5.31692476e-05 3.99108833e+02] [ 1.89280835e-01 9.81922994e-01 -6.93248717e-06 4.20343405e+01] [ 5.35202937e-05 -3.25675103e-06 9.99999999e-01 -2.21210228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.981400513 meters 0.06344698201920011 Centerline is valid? [True, True] Translation: X:399.14, Y:42.05, Z:-2.21 [[ 9.82280467e-01 -1.87413245e-01 -1.16570632e-03 3.99137702e+02] [ 1.87413201e-01 9.82281156e-01 -1.48350010e-04 4.20455946e+01] [ 1.17285411e-03 -7.27474343e-05 9.99999310e-01 -2.21316902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.011400513 meters 0.05580793690659437 Centerline is valid? [True, True] Translation: X:399.17, Y:42.06, Z:-2.21 [[ 9.82597094e-01 -1.85745502e-01 -1.24894828e-03 3.99166092e+02] [ 1.85745450e-01 9.82597885e-01 -1.59035870e-04 4.20609055e+01] [ 1.25675413e-03 -7.57182752e-05 9.99999207e-01 -2.21290960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.041400513 meters 0.06427864286666252 Centerline is valid? [True, True] Translation: X:399.20, Y:42.06, Z:-2.21 [[ 9.82988803e-01 -1.83656964e-01 -1.77019364e-03 3.99195761e+02] [ 1.83656855e-01 9.82990391e-01 -2.25394953e-04 4.20555902e+01] [ 1.78147869e-03 -1.03547481e-04 9.99998408e-01 -2.21489823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.071400513 meters 0.06248284064512978 Centerline is valid? [True, True] Translation: X:399.23, Y:42.06, Z:-2.22 [[ 9.83386385e-01 -1.81503054e-01 -2.80343010e-03 3.99225474e+02] [ 1.81502772e-01 9.83390368e-01 -3.56908615e-04 4.20625543e+01] [ 2.82164617e-03 -1.57851262e-04 9.99996007e-01 -2.21680645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.101400513 meters 0.05527668167635898 Centerline is valid? [True, True] Translation: X:399.25, Y:42.08, Z:-2.22 [[ 9.84049763e-01 -1.77840582e-01 -4.33496471e-03 3.99254381e+02] [ 1.77839871e-01 9.84059285e-01 -5.51955767e-04 4.20787768e+01] [ 4.36402240e-03 -2.27777622e-04 9.99990452e-01 -2.21860642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.131400513 meters 0.05758178254730233 Centerline is valid? [True, True] Translation: X:399.28, Y:42.08, Z:-2.22 [[ 9.84311201e-01 -1.76387114e-01 -4.36410179e-03 3.99283052e+02] [ 1.76386379e-01 9.84320850e-01 -5.55786524e-04 4.20825999e+01] [ 4.39370997e-03 -2.22701213e-04 9.99990323e-01 -2.21930680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.161400513 meters 0.04859467480851869 Centerline is valid? [True, True] Translation: X:399.31, Y:42.10, Z:-2.22 [[ 9.84509256e-01 -1.75281851e-01 -4.21864656e-03 3.99310190e+02] [ 1.75281149e-01 9.84518272e-01 -5.38304366e-04 4.21000363e+01] [ 4.24768961e-03 -2.09483588e-04 9.99990957e-01 -2.21798439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.191400513 meters 0.050750762091922884 Centerline is valid? [True, True] Translation: X:399.34, Y:42.10, Z:-2.22 [[ 9.84670433e-01 -1.74387412e-01 -3.62902059e-03 3.99338329e+02] [ 1.74386887e-01 9.84677104e-01 -4.62992661e-04 4.21031116e+01] [ 3.65415358e-03 -1.76958419e-04 9.99993308e-01 -2.21780961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.221400513 meters 0.050750762091922884 Centerline is valid? [True, True] Translation: X:399.37, Y:42.11, Z:-2.22 [[ 9.84638361e-01 -1.74568410e-01 -3.62888543e-03 3.99365604e+02] [ 1.74567882e-01 9.84645032e-01 -4.64051490e-04 4.21067474e+01] [ 3.65417274e-03 -1.76563946e-04 9.99993308e-01 -2.21788903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.251400513 meters 0.047418232402144427 Centerline is valid? [True, True] Translation: X:399.39, Y:42.12, Z:-2.21 [[ 9.84964558e-01 -1.72751726e-01 -1.28886396e-03 3.99394520e+02] [ 1.72751658e-01 9.84965399e-01 -1.64675420e-04 4.21184803e+01] [ 1.29793437e-03 -6.04539349e-05 9.99999156e-01 -2.21361398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.281400513 meters 0.05180410554120786 Centerline is valid? [True, True] Translation: X:399.42, Y:42.13, Z:-2.21 [[ 9.85202272e-01 -1.71394939e-01 -5.08550850e-04 3.99422355e+02] [ 1.71394929e-01 9.85202403e-01 -6.51225094e-05 4.21264313e+01] [ 5.12187188e-04 -2.30041925e-05 9.99999869e-01 -2.21140568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.311400513 meters 0.045143672492564 Centerline is valid? [True, True] Translation: X:399.45, Y:42.14, Z:-2.21 [[ 9.85523941e-01 -1.69535344e-01 5.73491037e-04 3.99451641e+02] [ 1.69535330e-01 9.85524107e-01 7.32587440e-05 4.21353958e+01] [-5.77609188e-04 2.50287462e-05 9.99999833e-01 -2.21002954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.341400513 meters 0.04124917172112167 Centerline is valid? [True, True] Translation: X:399.48, Y:42.15, Z:-2.21 [[ 9.86317617e-01 -1.64845437e-01 1.88138109e-03 3.99479469e+02] [ 1.64845278e-01 9.86319409e-01 2.40426655e-04 4.21478778e+01] [-1.89527592e-03 7.29997431e-05 9.99998201e-01 -2.20917603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.371400513 meters 0.040146127469459544 Centerline is valid? [True, True] Translation: X:399.51, Y:42.16, Z:-2.21 [[ 9.86675420e-01 -1.62685957e-01 2.21227484e-03 3.99507535e+02] [ 1.62685731e-01 9.86677897e-01 2.82741737e-04 4.21551352e+01] [-2.22880080e-03 8.09312289e-05 9.99997513e-01 -2.20876851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.401400513 meters 0.03643117231081932 Centerline is valid? [True, True] Translation: X:399.54, Y:42.17, Z:-2.21 [[ 9.86958771e-01 -1.60962366e-01 1.87084707e-03 3.99535521e+02] [ 1.60962202e-01 9.86960542e-01 2.39034574e-04 4.21676642e+01] [-1.88492781e-03 6.52183939e-05 9.99998221e-01 -2.20889919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.431400513 meters 0.03307360562599848 Centerline is valid? [True, True] Translation: X:399.56, Y:42.18, Z:-2.21 [[ 9.87570416e-01 -1.57168033e-01 1.69805904e-03 3.99563201e+02] [ 1.57167891e-01 9.87571874e-01 2.17335595e-04 4.21786449e+01] [-1.71111356e-03 5.22461547e-05 9.99998535e-01 -2.20854421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.461400513 meters 0.033167002547860175 Centerline is valid? [True, True] Translation: X:399.59, Y:42.18, Z:-2.21 [[ 9.87865207e-01 -1.55305748e-01 1.56795010e-03 3.99590688e+02] [ 1.55305625e-01 9.87866450e-01 2.00640667e-04 4.21836025e+01] [-1.58008595e-03 4.53055352e-05 9.99998751e-01 -2.20892406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49140051300003 meters 0.03381922761587613 Centerline is valid? [True, True] Translation: X:399.62, Y:42.19, Z:-2.21 [[ 9.88072134e-01 -1.53988142e-01 1.05388395e-03 3.99618037e+02] [ 1.53988086e-01 9.88072695e-01 1.34710303e-04 4.21949985e+01] [-1.06205774e-03 2.91820750e-05 9.99999436e-01 -2.20930550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.521400513 meters 0.026559342101142188 Centerline is valid? [True, True] Translation: X:399.65, Y:42.20, Z:-2.21 [[ 9.88298151e-01 -1.52532426e-01 7.90089206e-04 3.99646432e+02] [ 1.52532394e-01 9.88298466e-01 1.01004734e-04 4.22019064e+01] [-7.96250448e-04 2.06914061e-05 9.99999683e-01 -2.21003130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55140051300003 meters 0.024293785703389383 Centerline is valid? [True, True] Translation: X:399.67, Y:42.21, Z:-2.21 [[ 9.88760851e-01 -1.49505675e-01 1.81941739e-04 3.99673907e+02] [ 1.49505674e-01 9.88760867e-01 2.32424166e-05 4.22107791e+01] [-1.83371745e-04 4.22013068e-06 9.99999983e-01 -2.21101958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.581400513 meters 0.021670839119849274 Centerline is valid? [True, True] Translation: X:399.70, Y:42.22, Z:-2.21 [[ 9.89043516e-01 -1.47623572e-01 4.52655113e-04 3.99701673e+02] [ 1.47623561e-01 9.89043619e-01 5.77568135e-05 4.22190039e+01] [-4.56221918e-04 9.69855761e-06 9.99999896e-01 -2.21012997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.611400513 meters 0.021445676398056564 Centerline is valid? [True, True] Translation: X:399.73, Y:42.22, Z:-2.21 [[ 9.89466363e-01 -1.44760691e-01 8.11593210e-04 3.99729186e+02] [ 1.44760654e-01 9.89466696e-01 1.04243417e-04 4.22242286e+01] [-8.18134801e-04 1.43414088e-05 9.99999665e-01 -2.20986877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.641400513 meters 0.023983690770704377 Centerline is valid? [True, True] Translation: X:399.76, Y:42.24, Z:-2.21 [[ 9.89974810e-01 -1.41242154e-01 7.28052588e-04 3.99757027e+02] [ 1.41242123e-01 9.89975077e-01 9.34016697e-05 4.22375493e+01] [-7.33946171e-04 1.03663932e-05 9.99999731e-01 -2.20944551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.671400513 meters 0.015288596842450751 Centerline is valid? [True, True] Translation: X:399.78, Y:42.25, Z:-2.21 [[ 9.91244737e-01 -1.32037312e-01 1.43340783e-04 3.99783891e+02] [ 1.32037311e-01 9.91244747e-01 1.84125334e-05 4.22546478e+01] [-1.44516939e-04 6.75004649e-07 9.99999990e-01 -2.21058604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.701400513 meters 0.011626694931565332 Centerline is valid? [True, True] Translation: X:399.81, Y:42.27, Z:-2.21 [[ 9.91830846e-01 -1.27560015e-01 -1.23068733e-04 3.99811646e+02] [ 1.27560014e-01 9.91830854e-01 -1.63701583e-05 4.22658470e+01] [ 1.24151544e-04 5.37778694e-07 9.99999992e-01 -2.21152946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.731400513 meters 0.008923385643220984 Centerline is valid? [True, True] Translation: X:399.84, Y:42.28, Z:-2.21 [[ 9.92337062e-01 -1.23560121e-01 -2.26202985e-04 3.99838539e+02] [ 1.23560118e-01 9.92337088e-01 -2.93884854e-05 4.22771460e+01] [ 2.28100856e-04 1.21361579e-06 9.99999974e-01 -2.21199145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.761400513 meters 0.019182437961053206 Centerline is valid? [True, True] Translation: X:399.86, Y:42.29, Z:-2.21 [[ 9.93049747e-01 -1.17694988e-01 -2.97964406e-04 3.99864339e+02] [ 1.17694982e-01 9.93049792e-01 -3.86734059e-05 4.22936643e+01] [ 3.00445158e-04 3.33570065e-06 9.99999955e-01 -2.21224396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.791400513 meters 0.017283673893240557 Centerline is valid? [True, True] Translation: X:399.89, Y:42.30, Z:-2.21 [[ 9.93297238e-01 -1.15584721e-01 8.77366947e-04 3.99890877e+02] [ 1.15584666e-01 9.93297625e-01 1.13239130e-04 4.23019116e+01] [-8.84575218e-04 -1.10699502e-05 9.99999609e-01 -2.21088506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.821400513 meters 0.017156986977213583 Centerline is valid? [True, True] Translation: X:399.92, Y:42.31, Z:-2.21 [[ 9.93464096e-01 -1.14126316e-01 2.06714466e-03 3.99920841e+02] [ 1.14126007e-01 9.93466247e-01 2.67266794e-04 4.23057761e+01] [-2.08414063e-03 -2.96049972e-05 9.99997828e-01 -2.20895505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.851400513 meters 0.018860515029468193 Centerline is valid? [True, True] Translation: X:399.95, Y:42.31, Z:-2.21 [[ 9.93595213e-01 -1.12960388e-01 2.91594599e-03 3.99950244e+02] [ 1.12959768e-01 9.93599491e-01 3.77011284e-04 4.23113990e+01] [-2.93986980e-03 -4.52120245e-05 9.99995678e-01 -2.20856338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.881400513 meters 0.02098952044356726 Centerline is valid? [True, True] Translation: X:399.98, Y:42.31, Z:-2.21 [[ 9.93666347e-01 -1.12329189e-01 3.05680393e-03 3.99980180e+02] [ 1.12328505e-01 9.93671048e-01 3.95259198e-04 4.23146835e+01] [-3.08185671e-03 -4.93895486e-05 9.99995250e-01 -2.20902993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.911400513 meters 0.023052279867623645 Centerline is valid? [True, True] Translation: X:400.01, Y:42.32, Z:-2.21 [[ 9.93576885e-01 -1.13132041e-01 2.47273476e-03 4.00011687e+02] [ 1.13131596e-01 9.93579961e-01 3.19745815e-04 4.23154201e+01] [-2.49303321e-03 -3.79476217e-05 9.99996892e-01 -2.21085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.941400513 meters 0.016403049740509167 Centerline is valid? [True, True] Translation: X:400.04, Y:42.32, Z:-2.21 [[ 9.93515865e-01 -1.13679893e-01 1.76281116e-03 4.00042060e+02] [ 1.13679667e-01 9.93517429e-01 2.27896734e-04 4.23160035e+01] [-1.77729089e-03 -2.60232338e-05 9.99998420e-01 -2.21194080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.971400513 meters 0.02278543925055286 Centerline is valid? [True, True] Translation: X:400.07, Y:42.32, Z:-2.21 [[ 9.93514607e-01 -1.13703062e-01 5.83077372e-04 4.00071092e+02] [ 1.13703037e-01 9.93514778e-01 7.53520546e-05 4.23179889e+01] [-5.87863745e-04 -8.56569870e-06 9.99999827e-01 -2.21337569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.001400513 meters 0.021970511698748574 Centerline is valid? [True, True] Translation: X:400.10, Y:42.32, Z:-2.21 [[ 9.93571723e-01 -1.13204376e-01 -8.92729026e-07 4.00099342e+02] [ 1.13204376e-01 9.93571723e-01 -2.19144921e-07 4.23194982e+01] [ 9.11798475e-07 1.16675364e-07 1.00000000e+00 -2.21392014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.031400513 meters 0.020538682473015768 Centerline is valid? [True, True] Translation: X:400.13, Y:42.32, Z:-2.21 [[ 9.93851708e-01 -1.10718422e-01 4.63048275e-04 4.00128496e+02] [ 1.10718406e-01 9.93851815e-01 5.98273077e-05 4.23227888e+01] [-4.66825354e-04 -8.19150481e-06 9.99999891e-01 -2.21266812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.061400513 meters 0.023274137705862834 Centerline is valid? [True, True] Translation: X:400.16, Y:42.33, Z:-2.21 [[ 9.94112599e-01 -1.08350173e-01 6.16524559e-04 4.00157299e+02] [ 1.08350145e-01 9.94112790e-01 7.97222319e-05 4.23294764e+01] [-6.21532868e-04 -1.24523500e-05 9.99999807e-01 -2.21218741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.091400513 meters 0.033705108335161875 Centerline is valid? [True, True] Translation: X:400.19, Y:42.34, Z:-2.21 [[ 9.94416622e-01 -1.05525240e-01 7.70793540e-05 4.00187299e+02] [ 1.05525239e-01 9.94416625e-01 9.97139709e-06 4.23368020e+01] [-7.77012251e-05 -1.78190574e-06 9.99999997e-01 -2.21326484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.121400513 meters 0.030089431255858622 Centerline is valid? [True, True] Translation: X:400.22, Y:42.34, Z:-2.22 [[ 9.94765407e-01 -1.02183448e-01 -5.71844418e-04 4.00216932e+02] [ 1.02183422e-01 9.94765572e-01 -7.40183557e-05 4.23431646e+01] [ 5.76414590e-04 1.51978801e-05 9.99999834e-01 -2.21506635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.151400513 meters 0.03565258459551402 Centerline is valid? [True, True] Translation: X:400.25, Y:42.35, Z:-2.22 [[ 9.95271532e-01 -9.71017823e-02 -2.41264239e-03 4.00246269e+02] [ 9.71013105e-02 9.95274454e-01 -3.12205346e-04 4.23497272e+01] [ 2.43155703e-03 7.64583556e-05 9.99997041e-01 -2.21877698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.181400513 meters 0.03671919115276439 Centerline is valid? [True, True] Translation: X:400.28, Y:42.35, Z:-2.22 [[ 9.95446931e-01 -9.52578778e-02 -3.36802614e-03 4.00275167e+02] [ 9.52569472e-02 9.95452623e-01 -4.36016099e-04 4.23531437e+01] [ 3.39424442e-03 1.13202999e-04 9.99994233e-01 -2.22004709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.211400513 meters 0.03905669320122539 Centerline is valid? [True, True] Translation: X:400.30, Y:42.36, Z:-2.22 [[ 9.95560673e-01 -9.40354888e-02 -4.03410100e-03 4.00303560e+02] [ 9.40341432e-02 9.95568836e-01 -5.22369412e-04 4.23581230e+01] [ 4.06534650e-03 1.40707212e-04 9.99991727e-01 -2.22108108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24140051300003 meters 0.04104006240315188 Centerline is valid? [True, True] Translation: X:400.33, Y:42.36, Z:-2.22 [[ 9.95616899e-01 -9.34056754e-02 -4.72981815e-03 4.00332661e+02] [ 9.34038128e-02 9.95628119e-01 -6.13644010e-04 4.23587953e+01] [ 4.76645778e-03 1.69171297e-04 9.99988626e-01 -2.22165936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.271400513 meters 0.036840589586453726 Centerline is valid? [True, True] Translation: X:400.36, Y:42.35, Z:-2.22 [[ 9.95673960e-01 -9.28253809e-02 -4.10054583e-03 4.00362461e+02] [ 9.28239728e-02 9.95682392e-01 -5.32806643e-04 4.23549418e+01] [ 4.13229926e-03 1.49872746e-04 9.99991451e-01 -2.22004804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30140051300003 meters 0.04300951587722202 Centerline is valid? [True, True] Translation: X:400.39, Y:42.36, Z:-2.22 [[ 9.95702274e-01 -9.25474251e-02 -3.45767483e-03 4.00389874e+02] [ 9.25464223e-02 9.95708269e-01 -4.49244169e-04 4.23599998e+01] [ 3.48441181e-03 1.27318006e-04 9.99993921e-01 -2.21939651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.331400513 meters 0.04144421682754235 Centerline is valid? [True, True] Translation: X:400.42, Y:42.37, Z:-2.22 [[ 9.95777771e-01 -9.17673424e-02 -2.32082273e-03 4.00417715e+02] [ 9.17668882e-02 9.95780471e-01 -3.01665555e-04 4.23655783e+01] [ 2.33871300e-03 8.74171742e-05 9.99997261e-01 -2.21830488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.361400513 meters 0.04133466418061375 Centerline is valid? [True, True] Translation: X:400.45, Y:42.37, Z:-2.22 [[ 9.95863082e-01 -9.08497325e-02 -1.74560083e-03 4.00446813e+02] [ 9.08494742e-02 9.95864610e-01 -2.26905636e-04 4.23692343e+01] [ 1.75899640e-03 6.73800289e-05 9.99998451e-01 -2.21713810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.391400513 meters 0.043353469174854914 Centerline is valid? [True, True] Translation: X:400.48, Y:42.38, Z:-2.22 [[ 9.96006478e-01 -8.92764364e-02 -9.01646701e-04 4.00475584e+02] [ 8.92763668e-02 9.96006886e-01 -1.17212031e-04 4.23753260e+01] [ 9.08510595e-04 3.62482001e-05 9.99999587e-01 -2.21616549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.421400513 meters 0.04590328457752122 Centerline is valid? [True, True] Translation: X:400.50, Y:42.38, Z:-2.22 [[ 9.95983791e-01 -8.95317381e-02 -5.96183320e-04 4.00504335e+02] [ 8.95317077e-02 9.95983969e-01 -7.75211368e-05 4.23823491e+01] [ 6.00729631e-04 2.38324850e-05 9.99999819e-01 -2.21583379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.451400513 meters 0.04184939929795173 Centerline is valid? [True, True] Translation: X:400.54, Y:42.38, Z:-2.21 [[ 9.95847064e-01 -9.10400566e-02 -5.76762097e-04 4.00535590e+02] [ 9.10400284e-02 9.95847231e-01 -7.49212397e-05 4.23817374e+01] [ 5.81187771e-04 2.21016589e-05 9.99999831e-01 -2.21473575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.481400513 meters 0.03449555519673443 Centerline is valid? [True, True] Translation: X:400.57, Y:42.38, Z:-2.21 [[ 9.95266084e-01 -9.71872188e-02 -2.58083506e-04 4.00566623e+02] [ 9.71872134e-02 9.95266117e-01 -3.35470542e-05 4.23768922e+01] [ 2.60122114e-04 8.30582849e-06 9.99999966e-01 -2.21381552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.511400513 meters 0.030844665103021522 Centerline is valid? [True, True] Translation: X:400.60, Y:42.38, Z:-2.21 [[ 9.94790763e-01 -1.01937298e-01 -3.54639272e-04 4.00596221e+02] [ 1.01937288e-01 9.94790826e-01 -4.61799641e-05 4.23753058e+01] [ 3.57499355e-04 9.78843600e-06 9.99999936e-01 -2.21433500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.541400513 meters 0.023483316513910155 Centerline is valid? [True, True] Translation: X:400.63, Y:42.37, Z:-2.21 [[ 9.94208206e-01 -1.07470860e-01 -2.40165793e-04 4.00627184e+02] [ 1.07470855e-01 9.94208235e-01 -3.12580010e-05 4.23687870e+01] [ 2.42134134e-04 5.26613786e-06 9.99999971e-01 -2.21393874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.571400513 meters 0.022180436084271764 Centerline is valid? [True, True] Translation: X:400.66, Y:42.36, Z:-2.21 [[ 9.93545485e-01 -1.13432723e-01 6.21487354e-04 4.00656876e+02] [ 1.13432695e-01 9.93545679e-01 8.07386807e-05 4.23645193e+01] [-6.26634483e-04 -9.72056641e-06 9.99999804e-01 -2.21313928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.601400513 meters 0.02550092781191354 Centerline is valid? [True, True] Translation: X:400.69, Y:42.35, Z:-2.21 [[ 9.92252903e-01 -1.24216631e-01 2.09903113e-03 4.00689270e+02] [ 1.24216332e-01 9.92255123e-01 2.72921575e-04 4.23492718e+01] [-2.11667579e-03 -1.00732782e-05 9.99997760e-01 -2.21051886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.631400513 meters 0.006998726157489541 Centerline is valid? [True, True] Translation: X:400.72, Y:42.34, Z:-2.21 [[ 9.91731542e-01 -1.28307723e-01 2.38263276e-03 4.00718400e+02] [ 1.28307349e-01 9.91734404e-01 3.09807187e-04 4.23438347e+01] [-2.40268954e-03 -1.53626654e-06 9.99997114e-01 -2.21024026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.661400513 meters 0.017653415558917657 Centerline is valid? [True, True] Translation: X:400.75, Y:42.34, Z:-2.21 [[ 9.91271132e-01 -1.31833485e-01 1.21435822e-03 4.00747236e+02] [ 1.31833391e-01 9.91271876e-01 1.57652634e-04 4.23391988e+01] [-1.22454305e-03 3.81645697e-06 9.99999250e-01 -2.21129155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.691400513 meters 0.015671016903824966 Centerline is valid? [True, True] Translation: X:400.78, Y:42.33, Z:-2.21 [[ 9.90926725e-01 -1.34399290e-01 -1.02763063e-03 4.00775842e+02] [ 1.34399223e-01 9.90927258e-01 -1.34152151e-04 4.23335860e+01] [ 1.03633715e-03 -5.17780594e-06 9.99999463e-01 -2.21402942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.721400513 meters 0.028675259274711703 Centerline is valid? [True, True] Translation: X:400.80, Y:42.34, Z:-2.21 [[ 9.91141629e-01 -1.32809115e-01 -1.03592551e-04 4.00803463e+02] [ 1.32806984e-01 9.91129583e-01 -4.94520453e-03 4.23404613e+01] [ 7.59441881e-04 4.88764026e-03 9.99987767e-01 -2.21384847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.751400513 meters 0.01178820817384457 Centerline is valid? [True, True] Translation: X:400.83, Y:42.34, Z:-2.21 [[ 9.91239368e-01 -1.32075961e-01 -6.75351719e-04 4.00832642e+02] [ 1.32077684e-01 9.91227578e-01 4.83475356e-03 4.23365536e+01] [ 3.08725256e-05 -4.88159696e-03 9.99988084e-01 -2.21256149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.781400513 meters 0.01297839501008581 Centerline is valid? [True, True] Translation: X:400.86, Y:42.34, Z:-2.21 [[ 9.91831141e-01 -1.27555204e-01 8.11620269e-04 4.00860351e+02] [ 1.27555160e-01 9.91831473e-01 1.05515606e-04 4.23441248e+01] [-8.18449591e-04 -1.12731083e-06 9.99999665e-01 -2.21143517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.811400513 meters 0.015549274485190624 Centerline is valid? [True, True] Translation: X:400.89, Y:42.35, Z:-2.21 [[ 9.92146796e-01 -1.25077506e-01 5.94337289e-04 4.00888650e+02] [ 1.25077482e-01 9.92146974e-01 7.72898309e-05 4.23484473e+01] [-5.99337162e-04 -2.34464620e-06 9.99999820e-01 -2.21203301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.841400513 meters 0.010409236874317575 Centerline is valid? [True, True] Translation: X:400.92, Y:42.35, Z:-2.21 [[ 9.92432894e-01 -1.22787933e-01 2.71858967e-04 4.00916146e+02] [ 1.22787928e-01 9.92432931e-01 3.53308764e-05 4.23539790e+01] [-2.74139997e-04 -1.68252462e-06 9.99999962e-01 -2.21289964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.871400513 meters 0.015781430239463365 Centerline is valid? [True, True] Translation: X:400.94, Y:42.36, Z:-2.21 [[ 9.92711599e-01 -1.20513632e-01 -3.81712982e-04 4.00943334e+02] [ 1.20513621e-01 9.92711672e-01 -5.01885037e-05 4.23602563e+01] [ 3.84979332e-04 3.82109591e-06 9.99999926e-01 -2.21387952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.901400513 meters 0.02504478363663906 Centerline is valid? [True, True] Translation: X:400.97, Y:42.36, Z:-2.21 [[ 9.93127884e-01 -1.17028120e-01 -1.19416607e-03 4.00971647e+02] [ 1.17028015e-01 9.93128601e-01 -1.57208867e-04 4.23632304e+01] [ 1.20435833e-03 1.63776250e-05 9.99999275e-01 -2.21449716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.931400513 meters 0.024059788459614696 Centerline is valid? [True, True] Translation: X:401.00, Y:42.37, Z:-2.21 [[ 9.93222381e-01 -1.16223361e-01 -1.19695465e-03 4.00999190e+02] [ 1.16223256e-01 9.93223102e-01 -1.57315386e-04 4.23672775e+01] [ 1.20712674e-03 1.71351956e-05 9.99999271e-01 -2.21459345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.961400513 meters 0.017515439095595293 Centerline is valid? [True, True] Translation: X:401.03, Y:42.37, Z:-2.21 [[ 9.93283474e-01 -1.15702614e-01 -9.19842959e-04 4.01027023e+02] [ 1.15702551e-01 9.93283899e-01 -1.20990971e-04 4.23712720e+01] [ 9.27664172e-04 1.37501553e-05 9.99999570e-01 -2.21496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99140051300003 meters 0.02352333252150636 Centerline is valid? [True, True] Translation: X:401.06, Y:42.37, Z:-2.22 [[ 9.93293850e-01 -1.15610831e-01 -1.20971715e-03 4.01055135e+02] [ 1.15610722e-01 9.93294586e-01 -1.59688443e-04 4.23734677e+01] [ 1.22006721e-03 1.87612750e-05 9.99999256e-01 -2.21505991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.021400513 meters 0.0268026436836242 Centerline is valid? [True, True] Translation: X:401.08, Y:42.37, Z:-2.22 [[ 9.93342370e-01 -1.15193391e-01 -1.19096954e-03 4.01084590e+02] [ 1.15193285e-01 9.93343084e-01 -1.57362929e-04 4.23737965e+01] [ 1.20116853e-03 1.91235703e-05 9.99999278e-01 -2.21545795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05140051300003 meters 0.025370401710363893 Centerline is valid? [True, True] Translation: X:401.11, Y:42.38, Z:-2.22 [[ 9.93341345e-01 -1.15203963e-01 -1.00925453e-03 4.01110797e+02] [ 1.15203887e-01 9.93341858e-01 -1.33263979e-04 4.23780110e+01] [ 1.01788731e-03 1.61065750e-05 9.99999482e-01 -2.21621449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.081400513 meters 0.018183538068748943 Centerline is valid? [True, True] Translation: X:401.14, Y:42.38, Z:-2.21 [[ 9.93292418e-01 -1.15629095e-01 -2.90792574e-04 4.01139168e+02] [ 1.15629089e-01 9.93292461e-01 -3.89408686e-05 4.23769362e+01] [ 2.93344769e-04 5.05558922e-06 9.99999957e-01 -2.21497168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.111400513 meters 0.018183538068748943 Centerline is valid? [True, True] Translation: X:401.17, Y:42.38, Z:-2.22 [[ 9.93270186e-01 -1.15819916e-01 -2.90785019e-04 4.01166388e+02] [ 1.15819910e-01 9.93270229e-01 -3.89976544e-05 4.23807094e+01] [ 2.93344808e-04 5.05651265e-06 9.99999957e-01 -2.21505104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.141400513 meters 0.0203554602262205 Centerline is valid? [True, True] Translation: X:401.19, Y:42.38, Z:-2.22 [[ 9.93209173e-01 -1.16342313e-01 -6.91875525e-05 4.01193847e+02] [ 1.16342313e-01 9.93209175e-01 -9.32361817e-06 4.23817393e+01] [ 6.98024432e-05 1.21086321e-06 9.99999998e-01 -2.21509948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.171400513 meters 0.022751248551378698 Centerline is valid? [True, True] Translation: X:401.22, Y:42.38, Z:-2.21 [[ 9.93163495e-01 -1.16731619e-01 2.32647892e-05 4.01223138e+02] [ 1.16731619e-01 9.93163496e-01 2.49862361e-06 4.23764579e+01] [-2.33974077e-05 2.34194753e-07 1.00000000e+00 -2.21429362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.201400513 meters 0.025076629803851346 Centerline is valid? [True, True] Translation: X:401.25, Y:42.38, Z:-2.22 [[ 9.93220656e-01 -1.16243432e-01 -4.38260024e-04 4.01250957e+02] [ 1.16243418e-01 9.93220753e-01 -5.83750246e-05 4.23808916e+01] [ 4.42074664e-04 7.03443729e-06 9.99999902e-01 -2.21593246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.231400513 meters 0.02230770831924062 Centerline is valid? [True, True] Translation: X:401.28, Y:42.38, Z:-2.22 [[ 9.93495088e-01 -1.13865479e-01 -1.47048470e-03 4.01280245e+02] [ 1.13865315e-01 9.93496176e-01 -1.95622346e-04 4.23807242e+01] [ 1.48319556e-03 2.69126366e-05 9.99998900e-01 -2.21871153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.261400513 meters 0.02264309329150448 Centerline is valid? [True, True] Translation: X:401.31, Y:42.38, Z:-2.22 [[ 9.93679668e-01 -1.12231356e-01 -2.20022280e-03 4.01309300e+02] [ 1.12230983e-01 9.93682102e-01 -2.92858884e-04 4.23812358e+01] [ 2.21918997e-03 4.40747506e-05 9.99997537e-01 -2.21942219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.291400513 meters 0.03362703661036725 Centerline is valid? [True, True] Translation: X:401.34, Y:42.38, Z:-2.22 [[ 9.93941253e-01 -1.09880357e-01 -2.66325887e-03 4.01337320e+02] [ 1.09879802e-01 9.93944819e-01 -3.54236720e-04 4.23845935e+01] [ 2.68605601e-03 5.94521319e-05 9.99996391e-01 -2.22019511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.321400513 meters 0.030943158110333494 Centerline is valid? [True, True] Translation: X:401.37, Y:42.39, Z:-2.22 [[ 9.94228350e-01 -1.07253019e-01 -2.60338033e-03 4.01366361e+02] [ 1.07252480e-01 9.94231757e-01 -3.46370505e-04 4.23878558e+01] [ 2.62551268e-03 6.51523796e-05 9.99996551e-01 -2.22010581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.351400513 meters 0.030670384302879203 Centerline is valid? [True, True] Translation: X:401.40, Y:42.39, Z:-2.22 [[ 9.94555054e-01 -1.04193356e-01 -1.99726527e-03 4.01395597e+02] [ 1.04193033e-01 9.94557058e-01 -2.65798704e-04 4.23909723e+01] [ 2.01408873e-03 5.62503190e-05 9.99997970e-01 -2.21912271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.381400513 meters 0.03902665644409327 Centerline is valid? [True, True] Translation: X:401.43, Y:42.40, Z:-2.22 [[ 9.95289689e-01 -9.69142751e-02 -2.46144841e-03 4.01425412e+02] [ 9.69137613e-02 9.95292729e-01 -3.27440999e-04 4.23970587e+01] [ 2.48159541e-03 8.73504262e-05 9.99996917e-01 -2.22033609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.411400513 meters 0.04555370062296399 Centerline is valid? [True, True] Translation: X:401.45, Y:42.41, Z:-2.22 [[ 9.95635783e-01 -9.32841708e-02 -2.72981096e-03 4.01453624e+02] [ 9.32835249e-02 9.95639519e-01 -3.63276708e-04 4.24071327e+01] [ 2.75179564e-03 1.07044900e-04 9.99996208e-01 -2.22227943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.441400513 meters 0.04572054615494908 Centerline is valid? [True, True] Translation: X:401.48, Y:42.41, Z:-2.22 [[ 9.95912242e-01 -9.02757364e-02 -3.01626158e-03 4.01484238e+02] [ 9.02749340e-02 9.95916801e-01 -4.01393235e-04 4.24051339e+01] [ 3.04018165e-03 1.27459622e-04 9.99995371e-01 -2.22176352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.471400513 meters 0.04688867736361117 Centerline is valid? [True, True] Translation: X:401.51, Y:42.41, Z:-2.22 [[ 9.96134699e-01 -8.78044421e-02 -2.45786964e-03 4.01511652e+02] [ 8.78039010e-02 9.96137725e-01 -3.27382411e-04 4.24107801e+01] [ 2.47712230e-03 1.10306437e-04 9.99996926e-01 -2.22133344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.501400513 meters 0.05109709957643793 Centerline is valid? [True, True] Translation: X:401.54, Y:42.42, Z:-2.22 [[ 9.96417117e-01 -8.45551973e-02 -1.82943173e-03 4.01540338e+02] [ 8.45548921e-02 9.96418793e-01 -2.43656987e-04 4.24151251e+01] [ 1.84348262e-03 8.80965897e-05 9.99998297e-01 -2.22040865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.531400513 meters 0.049884931988018064 Centerline is valid? [True, True] Translation: X:401.57, Y:42.42, Z:-2.22 [[ 9.96477501e-01 -8.38414401e-02 -1.78990590e-03 4.01569727e+02] [ 8.38411455e-02 9.96479104e-01 -2.39109026e-04 4.24154713e+01] [ 1.80365108e-03 8.81990028e-05 9.99998370e-01 -2.21985203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.561400513 meters 0.04967661327679787 Centerline is valid? [True, True] Translation: X:401.60, Y:42.42, Z:-2.22 [[ 9.96486800e-01 -8.37379383e-02 -1.41955094e-03 4.01598335e+02] [ 8.37377524e-02 9.96487809e-01 -1.89974981e-04 4.24170453e+01] [ 1.43047331e-03 7.04375558e-05 9.99998974e-01 -2.21934880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.591400513 meters 0.053283490760949924 Centerline is valid? [True, True] Translation: X:401.63, Y:42.42, Z:-2.22 [[ 9.96464997e-01 -8.40047779e-02 -8.40332743e-04 4.01626181e+02] [ 8.40047129e-02 9.96465351e-01 -1.12395316e-04 4.24195546e+01] [ 8.46804205e-04 4.14060873e-05 9.99999641e-01 -2.21798429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.621400513 meters 0.05284185345685088 Centerline is valid? [True, True] Translation: X:401.65, Y:42.42, Z:-2.22 [[ 9.96448974e-01 -8.41925496e-02 -1.02772386e-03 4.01654612e+02] [ 8.41924519e-02 9.96449503e-01 -1.37996214e-04 4.24201578e+01] [ 1.03569318e-03 5.09795939e-05 9.99999462e-01 -2.21796253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.651400513 meters 0.05419806052215336 Centerline is valid? [True, True] Translation: X:401.68, Y:42.43, Z:-2.22 [[ 9.96429932e-01 -8.44186594e-02 -9.37979683e-04 4.01681736e+02] [ 8.44185784e-02 9.96430373e-01 -1.25670688e-04 4.24263474e+01] [ 9.45240396e-04 4.60391241e-05 9.99999552e-01 -2.21908551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.681400513 meters 0.0501330515392313 Centerline is valid? [True, True] Translation: X:401.71, Y:42.42, Z:-2.22 [[ 9.96378175e-01 -8.50246889e-02 -1.15490462e-03 4.01711021e+02] [ 8.50245660e-02 9.96378843e-01 -1.55197299e-04 4.24230741e+01] [ 1.16391814e-03 5.64399371e-05 9.99999321e-01 -2.21940162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.711400513 meters 0.05029681044061568 Centerline is valid? [True, True] Translation: X:401.74, Y:42.42, Z:-2.22 [[ 9.96348537e-01 -8.53765185e-02 -6.64841866e-04 4.01739057e+02] [ 8.53764779e-02 9.96348759e-01 -8.92758094e-05 4.24241312e+01] [ 6.70036426e-04 3.21879653e-05 9.99999775e-01 -2.21917002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74140051300003 meters 0.052796962698372196 Centerline is valid? [True, True] Translation: X:401.77, Y:42.43, Z:-2.22 [[ 9.96253670e-01 -8.64780283e-02 -4.20037260e-04 4.01766699e+02] [ 8.64780121e-02 9.96253758e-01 -5.65656990e-05 4.24251206e+01] [ 4.23355389e-04 2.00297980e-05 9.99999910e-01 -2.21957907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.771400513 meters 0.04680689335195896 Centerline is valid? [True, True] Translation: X:401.80, Y:42.42, Z:-2.22 [[ 9.96188037e-01 -8.72253135e-02 -1.06750261e-03 4.01797118e+02] [ 8.72252094e-02 9.96188608e-01 -1.43778007e-04 4.24189555e+01] [ 1.07597502e-03 5.01167919e-05 9.99999420e-01 -2.22002247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80140051300003 meters 0.0523537244980631 Centerline is valid? [True, True] Translation: X:401.82, Y:42.43, Z:-2.22 [[ 9.96151074e-01 -8.76303021e-02 -1.99175653e-03 4.01823894e+02] [ 8.76299413e-02 9.96153061e-01 -2.67857172e-04 4.24263398e+01] [ 2.00756677e-03 9.22887017e-05 9.99997981e-01 -2.22210029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.831400513 meters 0.052528834706888884 Centerline is valid? [True, True] Translation: X:401.85, Y:42.42, Z:-2.22 [[ 9.96232721e-01 -8.66810871e-02 -2.59915266e-03 4.01853596e+02] [ 8.66804681e-02 9.96236103e-01 -3.50086396e-04 4.24232708e+01] [ 2.61971559e-03 1.23471754e-04 9.99996561e-01 -2.22233646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.861400513 meters 0.05031885021343704 Centerline is valid? [True, True] Translation: X:401.88, Y:42.42, Z:-2.22 [[ 9.96356342e-01 -8.52685625e-02 -1.81968270e-03 4.01883285e+02] [ 8.52682570e-02 9.96358000e-01 -2.44941547e-04 4.24203660e+01] [ 1.83394123e-03 8.88878920e-05 9.99998314e-01 -2.22056898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.891400513 meters 0.05628756858031949 Centerline is valid? [True, True] Translation: X:401.91, Y:42.43, Z:-2.22 [[ 9.96521348e-01 -8.33316694e-02 -1.01759210e-03 4.01911466e+02] [ 8.33315728e-02 9.96521866e-01 -1.37054632e-04 4.24274501e+01] [ 1.02547377e-03 5.17803168e-05 9.99999473e-01 -2.21937666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.921400513 meters 0.056013521127864535 Centerline is valid? [True, True] Translation: X:401.94, Y:42.42, Z:-2.22 [[ 9.96868167e-01 -7.90785767e-02 6.60224263e-04 4.01938642e+02] [ 7.90767870e-02 9.96865640e-01 2.39962348e-03 4.24230927e+01] [-8.47913691e-04 -2.33989984e-03 9.99996903e-01 -2.21821490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.951400513 meters 0.06270566480990594 Centerline is valid? [True, True] Translation: X:401.97, Y:42.43, Z:-2.22 [[ 9.97036965e-01 -7.69233619e-02 -2.95519896e-04 4.01968836e+02] [ 7.69224651e-02 9.97034332e-01 -2.34011817e-03 4.24349059e+01] [ 4.74653239e-04 2.31045220e-03 9.99997218e-01 -2.21920003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.981400513 meters 0.06590387834608429 Centerline is valid? [True, True] Translation: X:402.00, Y:42.44, Z:-2.22 [[ 9.97208644e-01 -7.46557821e-02 -1.19807078e-03 4.01997357e+02] [ 7.46556417e-02 9.97209361e-01 -1.61552358e-04 4.24383559e+01] [ 1.20678822e-03 7.16586643e-05 9.99999269e-01 -2.22057768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.011400513 meters 0.0679271251632648 Centerline is valid? [True, True] Translation: X:402.03, Y:42.44, Z:-2.22 [[ 9.97356866e-01 -7.26110114e-02 -2.63099110e-03 4.02027529e+02] [ 7.26103276e-02 9.97360323e-01 -3.54629361e-04 4.24426522e+01] [ 2.64979613e-03 1.62654902e-04 9.99996476e-01 -2.22269024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.041400513 meters 0.0705149713819804 Centerline is valid? [True, True] Translation: X:402.06, Y:42.45, Z:-2.23 [[ 9.97555245e-01 -6.97483156e-02 -4.32501958e-03 4.02057716e+02] [ 6.97464409e-02 9.97564581e-01 -5.82968880e-04 4.24462746e+01] [ 4.35514744e-03 2.79888942e-04 9.99990477e-01 -2.22532258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.071400513 meters 0.06610790774987618 Centerline is valid? [True, True] Translation: X:402.09, Y:42.44, Z:-2.22 [[ 9.97585684e-01 -6.93405482e-02 -3.83290218e-03 4.02087007e+02] [ 6.93390686e-02 9.97593016e-01 -5.17736896e-04 4.24436138e+01] [ 3.85957661e-03 2.50717049e-04 9.99992520e-01 -2.22439541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.101400513 meters 0.06851939849102948 Centerline is valid? [True, True] Translation: X:402.11, Y:42.45, Z:-2.22 [[ 9.97596035e-01 -6.92336996e-02 -2.97405392e-03 4.02114555e+02] [ 6.92328084e-02 9.97600450e-01 -4.01701174e-04 4.24490908e+01] [ 2.99472878e-03 1.94833393e-04 9.99995497e-01 -2.22375747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.131400513 meters 0.07203273234614187 Centerline is valid? [True, True] Translation: X:402.14, Y:42.45, Z:-2.22 [[ 9.97563522e-01 -6.97038120e-02 -2.89779626e-03 4.02141476e+02] [ 6.97029674e-02 9.97567713e-01 -3.91570325e-04 4.24547159e+01] [ 2.91804194e-03 1.88631274e-04 9.99995725e-01 -2.22421975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.161400513 meters 0.06936908288256814 Centerline is valid? [True, True] Translation: X:402.17, Y:42.45, Z:-2.23 [[ 9.97511140e-01 -7.03984163e-02 -3.94814095e-03 4.02170890e+02] [ 7.03968504e-02 9.97518921e-01 -5.34365479e-04 4.24546932e+01] [ 3.97596379e-03 2.55098830e-04 9.99992063e-01 -2.22597588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.191400513 meters 0.06968327380380603 Centerline is valid? [True, True] Translation: X:402.20, Y:42.46, Z:-2.23 [[ 9.97469945e-01 -7.09497907e-02 -4.45379735e-03 4.02198117e+02] [ 7.09478029e-02 9.97479847e-01 -6.02925630e-04 4.24578592e+01] [ 4.48535055e-03 2.85413058e-04 9.99989900e-01 -2.22723616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.221400513 meters 0.0655697716329997 Centerline is valid? [True, True] Translation: X:402.23, Y:42.46, Z:-2.23 [[ 9.97436430e-01 -7.14264250e-02 -4.33978530e-03 4.02227465e+02] [ 7.14245382e-02 9.97445833e-01 -5.88418872e-04 4.24555635e+01] [ 4.37072942e-03 2.76943258e-04 9.99990410e-01 -2.22638737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.251400513 meters 0.06415451659950545 Centerline is valid? [True, True] Translation: X:402.26, Y:42.46, Z:-2.22 [[ 9.97437992e-01 -7.14823140e-02 -2.78031055e-03 4.02255288e+02] [ 7.14815376e-02 9.97441851e-01 -3.77739345e-04 4.24557575e+01] [ 2.80019979e-03 1.78030701e-04 9.99996064e-01 -2.22364826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.281400513 meters 0.06706162033150971 Centerline is valid? [True, True] Translation: X:402.28, Y:42.46, Z:-2.22 [[ 9.97493428e-01 -7.07255490e-02 -2.18138556e-03 4.02282482e+02] [ 7.07250696e-02 9.97495803e-01 -2.96240928e-04 4.24639736e+01] [ 2.19687474e-03 1.41219733e-04 9.99997577e-01 -2.22334441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.311400513 meters 0.0713771888297216 Centerline is valid? [True, True] Translation: X:402.31, Y:42.47, Z:-2.22 [[ 9.97578715e-01 -6.95082776e-02 -2.30375521e-03 4.02310127e+02] [ 6.95077396e-02 9.97581363e-01 -3.12860297e-04 4.24740121e+01] [ 2.31992964e-03 1.51973956e-04 9.99997297e-01 -2.22423591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.341400513 meters 0.0758287244853373 Centerline is valid? [True, True] Translation: X:402.34, Y:42.48, Z:-2.23 [[ 9.97754454e-01 -6.68853609e-02 -3.52103302e-03 4.02338126e+02] [ 6.68840882e-02 9.97760638e-01 -4.78098020e-04 4.24845182e+01] [ 3.54512591e-03 2.41523346e-04 9.99993687e-01 -2.22608084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.371400513 meters 0.0748658592274482 Centerline is valid? [True, True] Translation: X:402.37, Y:42.49, Z:-2.23 [[ 9.97796243e-01 -6.62517848e-02 -3.65485027e-03 4.02366761e+02] [ 6.62504057e-02 9.97802905e-01 -4.97260424e-04 4.24877341e+01] [ 3.67976461e-03 2.54029269e-04 9.99993197e-01 -2.22532248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.401400513 meters 0.07526649408762126 Centerline is valid? [True, True] Translation: X:402.40, Y:42.49, Z:-2.22 [[ 9.97782327e-01 -6.64953852e-02 -2.96510141e-03 4.02395274e+02] [ 6.64944769e-02 9.97786711e-01 -4.03970116e-04 4.24928336e+01] [ 2.98540093e-03 2.05911376e-04 9.99995522e-01 -2.22425423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.431400513 meters 0.07206396003979812 Centerline is valid? [True, True] Translation: X:402.43, Y:42.49, Z:-2.22 [[ 9.97639583e-01 -6.86644787e-02 -6.71940021e-04 4.02425765e+02] [ 6.86644326e-02 9.97639808e-01 -9.14528387e-05 4.24933473e+01] [ 6.76633675e-04 4.50985916e-05 9.99999770e-01 -2.22060961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.461400513 meters 0.0682459443431753 Centerline is valid? [True, True] Translation: X:402.46, Y:42.49, Z:-2.22 [[ 9.97512731e-01 -7.04864848e-02 8.62757743e-05 4.02456839e+02] [ 7.04864841e-02 9.97512734e-01 1.17095108e-05 4.24908657e+01] [-8.68865458e-05 -5.59911012e-06 9.99999996e-01 -2.21942391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49140051300003 meters 0.06364302906662592 Centerline is valid? [True, True] Translation: X:402.49, Y:42.49, Z:-2.22 [[ 9.97382919e-01 -7.22990356e-02 4.02235383e-04 4.02487732e+02] [ 7.22990194e-02 9.97383000e-01 5.47166690e-05 4.24862900e+01] [-4.05138695e-04 -2.54922473e-05 9.99999918e-01 -2.21866745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.521400513 meters 0.06348635005484972 Centerline is valid? [True, True] Translation: X:402.52, Y:42.49, Z:-2.22 [[ 9.97267796e-01 -7.38632144e-02 1.08127395e-03 4.02516897e+02] [ 7.38630981e-02 9.97268380e-01 1.47135990e-04 4.24868413e+01] [-1.08918825e-03 -6.68677414e-05 9.99999405e-01 -2.21828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55140051300003 meters 0.06598960713829118 Centerline is valid? [True, True] Translation: X:402.55, Y:42.49, Z:-2.22 [[ 9.97123822e-01 -7.57501607e-02 2.44891797e-03 4.02545473e+02] [ 7.57495696e-02 9.97126818e-01 3.33377705e-04 4.24882378e+01] [-2.46713520e-03 -1.46914369e-04 9.99996946e-01 -2.21662817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.581400513 meters 0.07092735946686371 Centerline is valid? [True, True] Translation: X:402.57, Y:42.50, Z:-2.22 [[ 9.97151977e-01 -7.53832284e-02 2.30283258e-03 4.02572432e+02] [ 7.53827046e-02 9.97154627e-01 3.13553155e-04 4.24952871e+01] [-2.31991681e-03 -1.39066400e-04 9.99997299e-01 -2.21735548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.611400513 meters 0.06693821282394792 Centerline is valid? [True, True] Translation: X:402.60, Y:42.49, Z:-2.22 [[ 9.97285074e-01 -7.36233802e-02 1.44171719e-03 4.02602956e+02] [ 7.36231729e-02 9.97286112e-01 1.96388404e-04 4.24915361e+01] [-1.45226331e-03 -8.97114305e-05 9.99998941e-01 -2.21864509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.641400513 meters 0.07466603778916539 Centerline is valid? [True, True] Translation: X:402.63, Y:42.50, Z:-2.22 [[ 9.97717914e-01 -6.75085569e-02 -1.24878380e-03 4.02630968e+02] [ 6.75083966e-02 9.97718692e-01 -1.70074555e-04 4.25008617e+01] [ 1.25741642e-03 8.53830380e-05 9.99999206e-01 -2.22312954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.671400513 meters 0.0791900536598939 Centerline is valid? [True, True] Translation: X:402.66, Y:42.51, Z:-2.23 [[ 9.97954368e-01 -6.38858694e-02 -2.38209280e-03 4.02660351e+02] [ 6.38852758e-02 9.97957197e-01 -3.24556134e-04 4.25093262e+01] [ 2.39796120e-03 1.71711557e-04 9.99997110e-01 -2.22509512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.701400513 meters 0.08175509270716344 Centerline is valid? [True, True] Translation: X:402.69, Y:42.52, Z:-2.23 [[ 9.98171753e-01 -6.03692170e-02 -2.95106890e-03 4.02690472e+02] [ 6.03682907e-02 9.98176091e-01 -4.02036059e-04 4.25151168e+01] [ 2.96995702e-03 2.23150053e-04 9.99995565e-01 -2.22578443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.731400513 meters 0.07587184973003695 Centerline is valid? [True, True] Translation: X:402.72, Y:42.51, Z:-2.22 [[ 9.98362465e-01 -5.71321746e-02 -2.88146790e-03 4.02722099e+02] [ 5.71312781e-02 9.98366597e-01 -3.92551949e-04 4.25103524e+01] [ 2.89918865e-03 2.27287188e-04 9.99995772e-01 -2.22479176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.761400513 meters 0.08358595355283469 Centerline is valid? [True, True] Translation: X:402.75, Y:42.52, Z:-2.22 [[ 9.98572721e-01 -5.33615752e-02 -2.25007741e-03 4.02750584e+02] [ 5.33610189e-02 9.98575239e-01 -3.06590900e-04 4.25213309e+01] [ 2.26323176e-03 1.86086886e-04 9.99997422e-01 -2.22449853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.791400513 meters 0.08529739865556799 Centerline is valid? [True, True] Translation: X:402.78, Y:42.53, Z:-2.22 [[ 9.98574940e-01 -5.33282682e-02 -2.04578978e-03 4.02777444e+02] [ 5.33278077e-02 9.98577021e-01 -2.79006987e-04 4.25275205e+01] [ 2.05775762e-03 1.69511902e-04 9.99997868e-01 -2.22459041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.821400513 meters 0.08086722546881561 Centerline is valid? [True, True] Translation: X:402.81, Y:42.53, Z:-2.23 [[ 9.98513845e-01 -5.44542620e-02 -2.19868725e-03 4.02806905e+02] [ 5.44537316e-02 9.98516250e-01 -3.00443231e-04 4.25273248e+01] [ 2.21178536e-03 1.80270001e-04 9.99997538e-01 -2.22533914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.851400513 meters 0.091026338768453 Centerline is valid? [True, True] Translation: X:402.83, Y:42.55, Z:-2.23 [[ 9.98331292e-01 -5.76156892e-02 -3.88127850e-03 4.02833850e+02] [ 5.76140625e-02 9.98338790e-01 -5.29730725e-04 4.25452036e+01] [ 3.90535168e-03 3.05230537e-04 9.99992328e-01 -2.22961250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.881400513 meters 0.08264032895736062 Centerline is valid? [True, True] Translation: X:402.87, Y:42.54, Z:-2.23 [[ 9.98188957e-01 -6.00030825e-02 -4.29381019e-03 4.02865774e+02] [ 6.00011137e-02 9.98198138e-01 -5.85989249e-04 4.25394364e+01] [ 4.32123450e-03 3.27294603e-04 9.99990610e-01 -2.22973004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.911400513 meters 0.07429031239839057 Centerline is valid? [True, True] Translation: X:402.90, Y:42.53, Z:-2.23 [[ 9.98000784e-01 -6.30418239e-02 -4.49037212e-03 4.02896738e+02] [ 6.30397006e-02 9.98010832e-01 -6.12960109e-04 4.25337962e+01] [ 4.52008214e-03 3.28662955e-04 9.99989730e-01 -2.22876953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.941400513 meters 0.07357745574851969 Centerline is valid? [True, True] Translation: X:402.93, Y:42.54, Z:-2.23 [[ 9.97772971e-01 -6.65355102e-02 -4.70372989e-03 4.02925745e+02] [ 6.65332185e-02 9.97784004e-01 -6.42178542e-04 4.25371854e+01] [ 4.73603412e-03 3.27794103e-04 9.99988731e-01 -2.22903289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.971400513 meters 0.06182654658888914 Centerline is valid? [True, True] Translation: X:402.96, Y:42.53, Z:-2.23 [[ 9.97211909e-01 -7.44207590e-02 -5.47342285e-03 4.02958237e+02] [ 7.44177739e-02 9.97226873e-01 -7.47315385e-04 4.25252633e+01] [ 5.51386013e-03 3.37911858e-04 9.99984741e-01 -2.22928588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.001400513 meters 0.06175201053534143 Centerline is valid? [True, True] Translation: X:402.99, Y:42.53, Z:-2.23 [[ 9.96978115e-01 -7.75250302e-02 -4.95060408e-03 4.02987682e+02] [ 7.75226259e-02 9.96990364e-01 -6.76002348e-04 4.25272097e+01] [ 4.98811167e-03 2.90175718e-04 9.99987517e-01 -2.22912820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.031400513 meters 0.06175201053534143 Centerline is valid? [True, True] Translation: X:403.01, Y:42.53, Z:-2.23 [[ 9.96964058e-01 -7.77055985e-02 -4.95041610e-03 4.03014950e+02] [ 7.77031897e-02 9.96976306e-01 -6.77378169e-04 4.25310910e+01] [ 4.98808363e-03 2.90658568e-04 9.99987517e-01 -2.22920772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.061400513 meters 0.06308094418961992 Centerline is valid? [True, True] Translation: X:403.04, Y:42.53, Z:-2.23 [[ 9.96730252e-01 -8.07098304e-02 -3.83762448e-03 4.03044526e+02] [ 8.07084062e-02 9.96737617e-01 -5.24794003e-04 4.25346388e+01] [ 3.86746072e-03 2.13349503e-04 9.99992499e-01 -2.22811164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.091400513 meters 0.05337081000198221 Centerline is valid? [True, True] Translation: X:403.08, Y:42.52, Z:-2.23 [[ 9.96501421e-01 -8.35327417e-02 -2.68309951e-03 4.03076706e+02] [ 8.35320557e-02 9.96505023e-01 -3.66910670e-04 4.25244458e+01] [ 2.70437120e-03 1.41502186e-04 9.99996333e-01 -2.22545981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.121400513 meters 0.04569192443684847 Centerline is valid? [True, True] Translation: X:403.11, Y:42.51, Z:-2.22 [[ 9.96071362e-01 -8.85463884e-02 -1.17458100e-03 4.03108382e+02] [ 8.85462604e-02 9.96072053e-01 -1.60694900e-04 4.25125626e+01] [ 1.18419626e-03 5.60588326e-05 9.99999297e-01 -2.22256966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.151400513 meters 0.04797517350531179 Centerline is valid? [True, True] Translation: X:403.14, Y:42.51, Z:-2.22 [[ 9.95890427e-01 -9.05661315e-02 -1.80767993e-04 4.03136924e+02] [ 9.05661284e-02 9.95890444e-01 -2.48004555e-05 4.25143343e+01] [ 1.82271198e-04 8.32707900e-06 9.99999983e-01 -2.22098963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.181400513 meters 0.04767402773063371 Centerline is valid? [True, True] Translation: X:403.17, Y:42.51, Z:-2.22 [[ 9.95724535e-01 -9.23693686e-02 7.41071039e-04 4.03166572e+02] [ 9.23693187e-02 9.95724811e-01 1.01320967e-04 4.25129638e+01] [-7.47261774e-04 -3.24355456e-05 9.99999720e-01 -2.21931911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.211400513 meters 0.04597065743573092 Centerline is valid? [True, True] Translation: X:403.20, Y:42.51, Z:-2.22 [[ 9.95531315e-01 -9.44304927e-02 5.31695490e-04 4.03196586e+02] [ 9.44304674e-02 9.95531457e-01 7.26817335e-05 4.25051866e+01] [-5.36182957e-04 -2.21486881e-05 9.99999856e-01 -2.21934640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24140051300003 meters 0.046170518262033514 Centerline is valid? [True, True] Translation: X:403.23, Y:42.50, Z:-2.22 [[ 9.95538339e-01 -9.43576583e-02 -2.20703312e-04 4.03225302e+02] [ 9.43576539e-02 9.95538363e-01 -3.03767189e-05 4.25042446e+01] [ 2.22584890e-04 9.41614148e-06 9.99999975e-01 -2.22095123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.271400513 meters 0.04235253352074089 Centerline is valid? [True, True] Translation: X:403.26, Y:42.50, Z:-2.22 [[ 9.95606386e-01 -9.36351463e-02 -6.19008726e-04 4.03255551e+02] [ 9.36351113e-02 9.95606578e-01 -8.53249986e-05 4.24985682e+01] [ 6.24278578e-04 2.69891626e-05 9.99999805e-01 -2.22088709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30140051300003 meters 0.043669922245138534 Centerline is valid? [True, True] Translation: X:403.28, Y:42.50, Z:-2.22 [[ 9.95743281e-01 -9.21693730e-02 -3.54341000e-04 4.03284936e+02] [ 9.21693615e-02 9.95743344e-01 -4.86830723e-05 4.24998265e+01] [ 3.57319780e-04 1.58164584e-05 9.99999936e-01 -2.21995534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.331400513 meters 0.0477207537544716 Centerline is valid? [True, True] Translation: X:403.32, Y:42.50, Z:-2.22 [[ 9.96124997e-01 -8.79480334e-02 -3.66607583e-04 4.03315142e+02] [ 8.79480208e-02 9.96125064e-01 -5.02657549e-05 4.25017161e+01] [ 3.69607776e-04 1.78285636e-05 9.99999932e-01 -2.21970122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.361400513 meters 0.05506714930989057 Centerline is valid? [True, True] Translation: X:403.34, Y:42.51, Z:-2.22 [[ 9.96278166e-01 -8.61841458e-02 -1.45227875e-03 4.03342936e+02] [ 8.61839466e-02 9.96279222e-01 -1.99329766e-04 4.25087406e+01] [ 1.46405421e-03 7.34247797e-05 9.99998926e-01 -2.22123306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.391400513 meters 0.05052627656433045 Centerline is valid? [True, True] Translation: X:403.37, Y:42.51, Z:-2.22 [[ 9.96414983e-01 -8.45684113e-02 -2.31636659e-03 4.03373399e+02] [ 8.45679003e-02 9.96417668e-01 -3.17818387e-04 4.25051436e+01] [ 2.33494600e-03 1.20788743e-04 9.99997267e-01 -2.22191095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.421400513 meters 0.058017151704636956 Centerline is valid? [True, True] Translation: X:403.40, Y:42.51, Z:-2.22 [[ 9.96512677e-01 -8.33955282e-02 -2.76956051e-03 4.03401085e+02] [ 8.33947929e-02 9.96516515e-01 -3.80117323e-04 4.25141892e+01] [ 2.79161287e-03 1.47824807e-04 9.99996093e-01 -2.22308449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.451400513 meters 0.05824391623400066 Centerline is valid? [True, True] Translation: X:403.43, Y:42.51, Z:-2.22 [[ 9.96696476e-01 -8.11922807e-02 -1.98688248e-03 4.03431872e+02] [ 8.11918979e-02 9.96698451e-01 -2.72679162e-04 4.25115503e+01] [ 2.00246213e-03 1.10459600e-04 9.99997989e-01 -2.22130917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.481400513 meters 0.05490566646232279 Centerline is valid? [True, True] Translation: X:403.46, Y:42.51, Z:-2.22 [[ 9.96752771e-01 -8.05143585e-02 -1.16239561e-03 4.03461378e+02] [ 8.05142263e-02 9.96753447e-01 -1.60174757e-04 4.25089034e+01] [ 1.17151820e-03 6.60652498e-05 9.99999312e-01 -2.21979921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.511400513 meters 0.061096936466949074 Centerline is valid? [True, True] Translation: X:403.49, Y:42.52, Z:-2.22 [[ 9.96786972e-01 -8.00979916e-02 -2.08055729e-04 4.03487807e+02] [ 8.00979873e-02 9.96786994e-01 -2.87652047e-05 4.25179898e+01] [ 2.09691280e-04 1.20079362e-05 9.99999978e-01 -2.21961078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.541400513 meters 0.060941622361376686 Centerline is valid? [True, True] Translation: X:403.52, Y:42.52, Z:-2.22 [[ 9.96767817e-01 -8.03356276e-02 -3.26873900e-04 4.03516347e+02] [ 8.03356170e-02 9.96767870e-01 -4.55049229e-05 4.25194287e+01] [ 3.29473068e-04 1.90982262e-05 9.99999946e-01 -2.21983449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.571400513 meters 0.059062689496706795 Centerline is valid? [True, True] Translation: X:403.55, Y:42.52, Z:-2.22 [[ 9.96562233e-01 -8.28464579e-02 -4.23535198e-04 4.03545905e+02] [ 8.28464405e-02 9.96562323e-01 -5.83642599e-05 4.25170523e+01] [ 4.26914493e-04 2.30752336e-05 9.99999909e-01 -2.22101249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.601400513 meters 0.056775062623117094 Centerline is valid? [True, True] Translation: X:403.58, Y:42.52, Z:-2.22 [[ 9.96385452e-01 -8.49468097e-02 -2.64556969e-04 4.03576632e+02] [ 8.49468030e-02 9.96385487e-01 -3.64518030e-05 4.25160278e+01] [ 2.66697189e-04 1.38467775e-05 9.99999964e-01 -2.22146925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.631400513 meters 0.05393055262052178 Centerline is valid? [True, True] Translation: X:403.61, Y:42.51, Z:-2.22 [[ 9.96175734e-01 -8.73721749e-02 -1.01929800e-04 4.03606892e+02] [ 8.73721740e-02 9.96175739e-01 -1.40990968e-05 4.25142217e+01] [ 1.02771862e-04 5.13934991e-06 9.99999995e-01 -2.22110194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.661400513 meters 0.04241271280507016 Centerline is valid? [True, True] Translation: X:403.64, Y:42.50, Z:-2.22 [[ 9.95711616e-01 -9.24947376e-02 -1.76124018e-03 4.03639411e+02] [ 9.24944530e-02 9.95713170e-01 -2.42521371e-04 4.25008872e+01] [ 1.77612200e-03 7.85763983e-05 9.99998420e-01 -2.22267188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.691400513 meters 0.04093672920552337 Centerline is valid? [True, True] Translation: X:403.67, Y:42.50, Z:-2.22 [[ 9.95512704e-01 -9.45853015e-02 -2.84182539e-03 4.03669086e+02] [ 9.45845688e-02 9.95516753e-01 -3.91429717e-04 4.25020203e+01] [ 2.86610828e-03 1.20880427e-04 9.99995885e-01 -2.22461249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.721400513 meters 0.04312441509113837 Centerline is valid? [True, True] Translation: X:403.70, Y:42.51, Z:-2.23 [[ 9.95327932e-01 -9.65028646e-02 -3.08315636e-03 4.03696221e+02] [ 9.65020100e-02 9.95332699e-01 -4.25096748e-04 4.25075337e+01] [ 3.10978939e-03 1.25579881e-04 9.99995157e-01 -2.22641201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.751400513 meters 0.04193733446900451 Centerline is valid? [True, True] Translation: X:403.72, Y:42.51, Z:-2.23 [[ 9.95187594e-01 -9.79467445e-02 -2.84387823e-03 4.03724827e+02] [ 9.79460232e-02 9.95191651e-01 -3.92146792e-04 4.25089109e+01] [ 2.86861337e-03 1.11713059e-04 9.99995879e-01 -2.22612960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.781400513 meters 0.04001420475897415 Centerline is valid? [True, True] Translation: X:403.75, Y:42.51, Z:-2.22 [[ 9.95018909e-01 -9.96717844e-02 -1.70466341e-03 4.03754304e+02] [ 9.96715273e-02 9.95020367e-01 -2.35326153e-04 4.25090880e+01] [ 1.71963019e-03 6.42475660e-05 9.99998519e-01 -2.22404893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.811400513 meters 0.03566364602013767 Centerline is valid? [True, True] Translation: X:403.78, Y:42.51, Z:-2.22 [[ 9.94904523e-01 -1.00809325e-01 -1.57191552e-03 4.03783870e+02] [ 1.00809107e-01 9.94905763e-01 -2.17548185e-04 4.25069366e+01] [ 1.58583870e-03 5.79762728e-05 9.99998741e-01 -2.22321286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.841400513 meters 0.03855232178937761 Centerline is valid? [True, True] Translation: X:403.81, Y:42.51, Z:-2.22 [[ 9.94821185e-01 -1.01627039e-01 -1.65978097e-03 4.03811461e+02] [ 1.01626798e-01 9.94822568e-01 -2.29470227e-04 4.25132765e+01] [ 1.67450794e-03 5.96036194e-05 9.99998596e-01 -2.22413143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.871400513 meters 0.033600889643735664 Centerline is valid? [True, True] Translation: X:403.84, Y:42.51, Z:-2.23 [[ 9.94633779e-01 -1.03412374e-01 -3.08654501e-03 4.03841024e+02] [ 1.03411547e-01 9.94638562e-01 -4.26691446e-04 4.25078808e+01] [ 3.11412186e-03 1.05217330e-04 9.99995146e-01 -2.22612824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.901400513 meters 0.032150921304095165 Centerline is valid? [True, True] Translation: X:403.87, Y:42.51, Z:-2.23 [[ 9.94584295e-01 -1.03872196e-01 -3.55634975e-03 4.03868910e+02] [ 1.03871098e-01 9.94590646e-01 -4.92737028e-04 4.25092624e+01] [ 3.58829387e-03 1.20666557e-04 9.99993555e-01 -2.22694923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.931400513 meters 0.03743090042976324 Centerline is valid? [True, True] Translation: X:403.90, Y:42.52, Z:-2.23 [[ 9.94657291e-01 -1.03174338e-01 -3.45403871e-03 4.03895797e+02] [ 1.03173298e-01 9.94663281e-01 -4.78402452e-04 4.25198295e+01] [ 3.48496433e-03 1.19481922e-04 9.99993920e-01 -2.22836692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.961400513 meters 0.04013445302928842 Centerline is valid? [True, True] Translation: X:403.92, Y:42.53, Z:-2.23 [[ 9.95086250e-01 -9.89522843e-02 -3.43517053e-03 4.03924769e+02] [ 9.89512309e-02 9.95092170e-01 -4.75687486e-04 4.25272307e+01] [ 3.46538167e-03 1.33435724e-04 9.99993987e-01 -2.22750355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99140051300003 meters 0.04866525876940701 Centerline is valid? [True, True] Translation: X:403.95, Y:42.54, Z:-2.23 [[ 9.95366403e-01 -9.60808871e-02 -3.76667537e-03 4.03952657e+02] [ 9.60795998e-02 9.95373517e-01 -5.21645707e-04 4.25411710e+01] [ 3.79936910e-03 1.57327949e-04 9.99992770e-01 -2.22878138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.021400513 meters 0.05184828406895824 Centerline is valid? [True, True] Translation: X:403.98, Y:42.55, Z:-2.23 [[ 9.95622571e-01 -9.33404438e-02 -4.82263284e-03 4.03982155e+02] [ 9.33383013e-02 9.95634228e-01 -6.67920793e-04 4.25496086e+01] [ 4.86392235e-03 2.14860660e-04 9.99988148e-01 -2.23026317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05140051300003 meters 0.052720015716822305 Centerline is valid? [True, True] Translation: X:404.01, Y:42.56, Z:-2.23 [[ 9.96115637e-01 -8.79290099e-02 -4.70382283e-03 4.04011655e+02] [ 8.79269116e-02 9.96126716e-01 -6.51428708e-04 4.25576127e+01] [ 4.74288307e-03 2.35305709e-04 9.99988725e-01 -2.22959895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.081400513 meters 0.060394371003771756 Centerline is valid? [True, True] Translation: X:404.04, Y:42.57, Z:-2.23 [[ 9.96286124e-01 -8.60271848e-02 -3.64440474e-03 4.04038736e+02] [ 8.60259118e-02 9.96292772e-01 -5.04936693e-04 4.25724106e+01] [ 3.67433238e-03 1.89548180e-04 9.99993232e-01 -2.22926696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.111400513 meters 0.05516322135224134 Centerline is valid? [True, True] Translation: X:404.07, Y:42.57, Z:-2.23 [[ 9.96368014e-01 -8.51016576e-02 -2.91338794e-03 4.04067851e+02] [ 8.51008376e-02 9.96372262e-01 -4.04502724e-04 4.25708721e+01] [ 2.93724278e-03 1.55101822e-04 9.99995674e-01 -2.22770820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.141400513 meters 0.05655314438343439 Centerline is valid? [True, True] Translation: X:404.09, Y:42.58, Z:-2.23 [[ 9.96350622e-01 -8.53180039e-02 -2.50505691e-03 4.04094882e+02] [ 8.53173985e-02 9.96353763e-01 -3.47718880e-04 4.25770281e+01] [ 2.52558956e-03 1.32724983e-04 9.99996802e-01 -2.22765749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.171400513 meters 0.05127768267779445 Centerline is valid? [True, True] Translation: X:404.12, Y:42.58, Z:-2.23 [[ 9.96129103e-01 -8.78612163e-02 -2.68624468e-03 4.04124966e+02] [ 8.78605296e-02 9.96132716e-01 -3.72823565e-04 4.25761284e+01] [ 2.70861294e-03 1.35365524e-04 9.99996323e-01 -2.22771368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.201400513 meters 0.051418964984258894 Centerline is valid? [True, True] Translation: X:404.15, Y:42.58, Z:-2.23 [[ 9.96029324e-01 -8.89825488e-02 -2.77347025e-03 4.04152509e+02] [ 8.89818203e-02 9.96033176e-01 -3.85187327e-04 4.25808061e+01] [ 2.79674333e-03 1.36869441e-04 9.99996080e-01 -2.22816846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.231400513 meters 0.055947711048761596 Centerline is valid? [True, True] Translation: X:404.18, Y:42.59, Z:-2.23 [[ 9.95925549e-01 -9.00992163e-02 -3.79907919e-03 4.04179033e+02] [ 9.00978571e-02 9.95932778e-01 -5.27780711e-04 4.25900660e+01] [ 3.83118012e-03 1.83341400e-04 9.99992644e-01 -2.23032151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.261400513 meters 0.05459071613870417 Centerline is valid? [True, True] Translation: X:404.21, Y:42.59, Z:-2.23 [[ 9.95894377e-01 -9.04260940e-02 -4.18458780e-03 4.04207383e+02] [ 9.04244430e-02 9.95903148e-01 -5.82453263e-04 4.25884855e+01] [ 4.22011314e-03 2.01672909e-04 9.99991075e-01 -2.22971732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.291400513 meters 0.04962164519242675 Centerline is valid? [True, True] Translation: X:404.24, Y:42.59, Z:-2.23 [[ 9.95893225e-01 -9.04560741e-02 -3.79252712e-03 4.04235301e+02] [ 9.04547153e-02 9.95900429e-01 -5.28645777e-04 4.25916087e+01] [ 3.82479861e-03 1.83422787e-04 9.99992669e-01 -2.22934478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.321400513 meters 0.04943912236958578 Centerline is valid? [True, True] Translation: X:404.26, Y:42.60, Z:-2.23 [[ 9.95913392e-01 -9.02526390e-02 -3.31304679e-03 4.04263580e+02] [ 9.02515991e-02 9.95918890e-01 -4.62352953e-04 4.25965855e+01] [ 3.34125446e-03 1.61455727e-04 9.99994405e-01 -2.22898445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.351400513 meters 0.05131470818389865 Centerline is valid? [True, True] Translation: X:404.29, Y:42.60, Z:-2.23 [[ 9.95983321e-01 -8.94992004e-02 -2.66792742e-03 4.04290856e+02] [ 8.94985236e-02 9.95986885e-01 -3.72267068e-04 4.26033567e+01] [ 2.69053833e-03 1.31996226e-04 9.99996372e-01 -2.22835999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.381400513 meters 0.05436418415850672 Centerline is valid? [True, True] Translation: X:404.32, Y:42.61, Z:-2.23 [[ 9.96228233e-01 -8.67416859e-02 -2.27754100e-03 4.04318913e+02] [ 8.67411855e-02 9.96230830e-01 -3.17771960e-04 4.26118044e+01] [ 2.29652063e-03 1.19016792e-04 9.99997356e-01 -2.22782554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.411400513 meters 0.05433313606436692 Centerline is valid? [True, True] Translation: X:404.35, Y:42.62, Z:-2.23 [[ 9.96374914e-01 -8.50118707e-02 -3.16416042e-03 4.04348227e+02] [ 8.50108960e-02 9.96379924e-01 -4.41525300e-04 4.26171250e+01] [ 3.19024081e-03 1.70936621e-04 9.99994897e-01 -2.22885867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.441400513 meters 0.05777216083669388 Centerline is valid? [True, True] Translation: X:404.38, Y:42.63, Z:-2.23 [[ 9.96518292e-01 -8.32593429e-02 -4.37889077e-03 4.04376574e+02] [ 8.32574593e-02 9.96527883e-01 -6.11019883e-04 4.26269385e+01] [ 4.41455986e-03 2.44317170e-04 9.99990226e-01 -2.23092928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.471400513 meters 0.06137968351452754 Centerline is valid? [True, True] Translation: X:404.40, Y:42.64, Z:-2.23 [[ 9.96691105e-01 -8.11049465e-02 -5.36931403e-03 4.04404070e+02] [ 8.11020825e-02 9.96705519e-01 -7.49368137e-04 4.26377975e+01] [ 5.41240239e-03 3.11426007e-04 9.99985304e-01 -2.23247837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.501400513 meters 0.06124193172693573 Centerline is valid? [True, True] Translation: X:404.43, Y:42.64, Z:-2.23 [[ 9.96753855e-01 -8.03758690e-02 -4.63389323e-03 4.04432038e+02] [ 8.03737262e-02 9.96764589e-01 -6.47102028e-04 4.26431352e+01] [ 4.67091207e-03 2.72558175e-04 9.99989054e-01 -2.23118236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.531400513 meters 0.060671030507127036 Centerline is valid? [True, True] Translation: X:404.46, Y:42.65, Z:-2.23 [[ 9.96753533e-01 -8.04216988e-02 -3.83996748e-03 4.04459866e+02] [ 8.04202235e-02 9.96760904e-01 -5.37332482e-04 4.26480551e+01] [ 3.87074264e-03 2.26777007e-04 9.99992483e-01 -2.22960566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.561400513 meters 0.06243014147701268 Centerline is valid? [True, True] Translation: X:404.49, Y:42.66, Z:-2.23 [[ 9.96738920e-01 -8.06425782e-02 -2.88111320e-03 4.04486646e+02] [ 8.06417488e-02 9.96743069e-01 -4.03091786e-04 4.26556709e+01] [ 2.90423598e-03 1.69439264e-04 9.99995768e-01 -2.22857391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.591400513 meters 0.06039128411456653 Centerline is valid? [True, True] Translation: X:404.52, Y:42.66, Z:-2.23 [[ 9.96657492e-01 -8.16518399e-02 -2.61174722e-03 4.04515503e+02] [ 8.16511615e-02 9.96660902e-01 -3.65507217e-04 4.26584565e+01] [ 2.63287068e-03 1.51033312e-04 9.99996523e-01 -2.22767067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.621400513 meters 0.06143655075238053 Centerline is valid? [True, True] Translation: X:404.54, Y:42.66, Z:-2.23 [[ 9.96612826e-01 -8.21969296e-02 -2.55742120e-03 4.04542463e+02] [ 8.21962800e-02 9.96616096e-01 -3.58232872e-04 4.26637429e+01] [ 2.57821278e-03 1.46808965e-04 9.99996666e-01 -2.22743230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.651400513 meters 0.0554228098378921 Centerline is valid? [True, True] Translation: X:404.57, Y:42.66, Z:-2.23 [[ 9.96590863e-01 -8.24582528e-02 -2.69954679e-03 4.04570692e+02] [ 8.24575278e-02 9.96594508e-01 -3.78941865e-04 4.26612323e+01] [ 2.72160039e-03 1.55052045e-04 9.99996284e-01 -2.22645906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.681400513 meters 0.05947479829783188 Centerline is valid? [True, True] Translation: X:404.60, Y:42.67, Z:-2.23 [[ 9.96649404e-01 -8.17528442e-02 -2.53746035e-03 4.04597650e+02] [ 8.17522015e-02 9.96652623e-01 -3.56157081e-04 4.26716057e+01] [ 2.55808337e-03 1.47520773e-04 9.99996717e-01 -2.22648831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.711400513 meters 0.0660263125604 Centerline is valid? [True, True] Translation: X:404.63, Y:42.69, Z:-2.23 [[ 9.96880930e-01 -7.88877388e-02 -2.26643366e-03 4.04625394e+02] [ 7.88872191e-02 9.96883496e-01 -3.17966817e-04 4.26870101e+01] [ 2.28445399e-03 1.38182407e-04 9.99997381e-01 -2.22653459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74140051300003 meters 0.06807780719571695 Centerline is valid? [True, True] Translation: X:404.65, Y:42.69, Z:-2.23 [[ 9.96993250e-01 -7.74445303e-02 -2.60830410e-03 4.04654386e+02] [ 7.74438364e-02 9.96996649e-01 -3.66151217e-04 4.26922140e+01] [ 2.62882685e-03 1.63053217e-04 9.99996531e-01 -2.22665247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.771400513 meters 0.06848237566366612 Centerline is valid? [True, True] Translation: X:404.68, Y:42.70, Z:-2.23 [[ 9.97128725e-01 -7.56766975e-02 -2.70970975e-03 4.04682941e+02] [ 7.56759423e-02 9.97132392e-01 -3.80302056e-04 4.27017332e+01] [ 2.73071937e-03 1.74150266e-04 9.99996256e-01 -2.22675930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80140051300003 meters 0.06792495335417288 Centerline is valid? [True, True] Translation: X:404.71, Y:42.71, Z:-2.23 [[ 9.97222320e-01 -7.44368663e-02 -2.60732155e-03 4.04712195e+02] [ 7.44361626e-02 9.97225714e-01 -3.66026289e-04 4.27081507e+01] [ 2.62733394e-03 1.70930574e-04 9.99996534e-01 -2.22677519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.831400513 meters 0.06990493066732904 Centerline is valid? [True, True] Translation: X:404.74, Y:42.72, Z:-2.22 [[ 9.97317640e-01 -7.31922025e-02 -6.52885734e-04 4.04739328e+02] [ 7.31921580e-02 9.97317853e-01 -9.17582235e-05 4.27196892e+01] [ 6.57850585e-04 4.37259791e-05 9.99999783e-01 -2.22494422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.861400513 meters 0.07059237682001696 Centerline is valid? [True, True] Translation: X:404.77, Y:42.73, Z:-2.22 [[ 9.97318218e-01 -7.31872281e-02 3.60049398e-05 4.04767900e+02] [ 7.31872279e-02 9.97318219e-01 4.60776233e-06 4.27263950e+01] [-3.62456118e-05 -1.96030358e-06 9.99999999e-01 -2.22363986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.891400513 meters 0.06830842951113833 Centerline is valid? [True, True] Translation: X:404.80, Y:42.73, Z:-2.22 [[ 9.97308766e-01 -7.33153375e-02 2.95617421e-04 4.04795739e+02] [ 7.33153285e-02 9.97308809e-01 4.10778246e-05 4.27293653e+01] [-2.97833493e-04 -1.92939862e-05 9.99999955e-01 -2.22249352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.921400513 meters 0.06830842951113833 Centerline is valid? [True, True] Translation: X:404.82, Y:42.73, Z:-2.22 [[ 9.97295484e-01 -7.34957803e-02 2.95610154e-04 4.04823015e+02] [ 7.34957713e-02 9.97295528e-01 4.11297667e-05 4.27333531e+01] [-2.97833548e-04 -1.92924344e-05 9.99999955e-01 -2.22257305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.951400513 meters 0.06809820185558098 Centerline is valid? [True, True] Translation: X:404.85, Y:42.74, Z:-2.22 [[ 9.97280823e-01 -7.36934564e-02 4.84959628e-04 4.04850092e+02] [ 7.36934321e-02 9.97280940e-01 6.79030968e-05 4.27420334e+01] [-4.88645007e-04 -3.19801168e-05 9.99999880e-01 -2.22170673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.981400513 meters 0.06901353845991733 Centerline is valid? [True, True] Translation: X:404.88, Y:42.75, Z:-2.22 [[ 9.97292894e-01 -7.35275853e-02 7.59933196e-04 4.04877655e+02] [ 7.35275251e-02 9.97293182e-01 1.06892286e-04 4.27502362e+01] [-7.65735727e-04 -5.07269100e-05 9.99999706e-01 -2.22165791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.011400513 meters 0.06440744453126532 Centerline is valid? [True, True] Translation: X:404.91, Y:42.75, Z:-2.22 [[ 9.97320046e-01 -7.31530177e-02 1.16738390e-03 4.04906611e+02] [ 7.31528749e-02 9.97320726e-01 1.64628283e-04 4.27511671e+01] [-1.17629922e-03 -7.87895976e-05 9.99999305e-01 -2.22140310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.041400513 meters 0.07603955789832346 Centerline is valid? [True, True] Translation: X:404.93, Y:42.77, Z:-2.22 [[ 9.97361657e-01 -7.25794291e-02 1.39665706e-03 4.04931492e+02] [ 7.25792235e-02 9.97362631e-01 1.97375146e-04 4.27710174e+01] [-1.40729894e-03 -9.54861174e-05 9.99999005e-01 -2.22168212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.071400513 meters 0.07351199080226822 Centerline is valid? [True, True] Translation: X:404.96, Y:42.78, Z:-2.22 [[ 9.97423207e-01 -7.17416940e-02 -2.73588225e-04 4.04960483e+02] [ 7.17416860e-02 9.97423245e-01 -3.87938478e-05 4.27760997e+01] [ 2.75666392e-04 1.90662035e-05 9.99999962e-01 -2.22400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.101400513 meters 0.07146917753674194 Centerline is valid? [True, True] Translation: X:404.99, Y:42.78, Z:-2.23 [[ 9.97419223e-01 -7.17823875e-02 -1.47712251e-03 4.04989338e+02] [ 7.17821551e-02 9.97420312e-01 -2.09799478e-04 4.27812143e+01] [ 1.48837190e-03 1.03226995e-04 9.99998887e-01 -2.22600437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.131400513 meters 0.06578222112685056 Centerline is valid? [True, True] Translation: X:405.02, Y:42.78, Z:-2.23 [[ 9.97435681e-01 -7.15209691e-02 -2.61024513e-03 4.05017831e+02] [ 7.15202439e-02 9.97439080e-01 -3.70252758e-04 4.27819426e+01] [ 2.63004134e-03 1.82617943e-04 9.99996525e-01 -2.22718762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.161400513 meters 0.07612602231661358 Centerline is valid? [True, True] Translation: X:405.04, Y:42.80, Z:-2.23 [[ 9.97583188e-01 -6.94205569e-02 -2.92724949e-03 4.05044356e+02] [ 6.94196362e-02 9.97587461e-01 -4.15103387e-04 4.28030015e+01] [ 2.94900410e-03 2.10891566e-04 9.99995629e-01 -2.22828612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.191400513 meters 0.07807322278136249 Centerline is valid? [True, True] Translation: X:405.07, Y:42.81, Z:-2.23 [[ 9.97701216e-01 -6.77098291e-02 -2.76815755e-03 4.05073837e+02] [ 6.77089991e-02 9.97705035e-01 -3.92571649e-04 4.28114627e+01] [ 2.78838568e-03 2.04240035e-04 9.99996092e-01 -2.22734717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.221400513 meters 0.07928397903589267 Centerline is valid? [True, True] Translation: X:405.10, Y:42.82, Z:-2.23 [[ 9.97819850e-01 -6.59466122e-02 -2.56718335e-03 4.05103353e+02] [ 6.59458926e-02 9.97823134e-01 -3.64040070e-04 4.28202457e+01] [ 2.58560214e-03 1.93951211e-04 9.99996639e-01 -2.22668733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.251400513 meters 0.08031651191774208 Centerline is valid? [True, True] Translation: X:405.13, Y:42.83, Z:-2.23 [[ 9.98057413e-01 -6.22506952e-02 -2.50045578e-03 4.05131522e+02] [ 6.22500009e-02 9.98060525e-01 -3.54632757e-04 4.28339733e+01] [ 2.51768234e-03 1.98290478e-04 9.99996811e-01 -2.22634794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.281400513 meters 0.07700584666415958 Centerline is valid? [True, True] Translation: X:405.16, Y:42.84, Z:-2.23 [[ 9.98174746e-01 -6.03421974e-02 -2.44871439e-03 4.05161232e+02] [ 6.03415257e-02 9.98177729e-01 -3.47327404e-04 4.28381144e+01] [ 2.46521067e-03 1.98934281e-04 9.99996942e-01 -2.22620984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.311400513 meters 0.08479427377399051 Centerline is valid? [True, True] Translation: X:405.19, Y:42.86, Z:-2.23 [[ 9.98274579e-01 -5.86761320e-02 -2.23084232e-03 4.05188421e+02] [ 5.86755702e-02 9.98277054e-01 -3.16513097e-04 4.28553985e+01] [ 2.24557047e-03 1.85071034e-04 9.99997462e-01 -2.22639304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.341400513 meters 0.090718951164029 Centerline is valid? [True, True] Translation: X:405.22, Y:42.87, Z:-2.23 [[ 9.98360622e-01 -5.71961814e-02 -2.15975075e-03 4.05215492e+02] [ 5.71956513e-02 9.98362942e-01 -3.06475739e-04 4.28705312e+01] [ 2.17374435e-03 1.82444958e-04 9.99997621e-01 -2.22660269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.371400513 meters 0.09381062987050162 Centerline is valid? [True, True] Translation: X:405.24, Y:42.89, Z:-2.23 [[ 9.98429889e-01 -5.59757938e-02 -2.11354619e-03 4.05243198e+02] [ 5.59752834e-02 9.98432110e-01 -2.99910902e-04 4.28861979e+01] [ 2.12702013e-03 1.81133662e-04 9.99997721e-01 -2.22662324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.401400513 meters 0.08985968561482648 Centerline is valid? [True, True] Translation: X:405.27, Y:42.89, Z:-2.23 [[ 9.98414893e-01 -5.62392160e-02 -2.20285922e-03 4.05271792e+02] [ 5.62386605e-02 9.98417305e-01 -3.13348378e-04 4.28888286e+01] [ 2.21699524e-03 1.88965835e-04 9.99997525e-01 -2.22659153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.431400513 meters 0.08482860813983936 Centerline is valid? [True, True] Translation: X:405.30, Y:42.89, Z:-2.23 [[ 9.98378549e-01 -5.68702869e-02 -2.45821351e-03 4.05300641e+02] [ 5.68695962e-02 9.98381554e-01 -3.50030721e-04 4.28887838e+01] [ 2.47414137e-03 2.09665554e-04 9.99996917e-01 -2.22670577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.461400513 meters 0.08376504786647149 Centerline is valid? [True, True] Translation: X:405.33, Y:42.90, Z:-2.23 [[ 9.98348630e-01 -5.73989543e-02 -2.31788905e-03 4.05328913e+02] [ 5.73983407e-02 9.98351302e-01 -3.30451175e-04 4.28962150e+01] [ 2.33303510e-03 1.96862493e-04 9.99997259e-01 -2.22661199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49140051300003 meters 0.08014802730442136 Centerline is valid? [True, True] Translation: X:405.36, Y:42.90, Z:-2.23 [[ 9.98296200e-01 -5.83201499e-02 -1.85918998e-03 4.05357813e+02] [ 5.83197560e-02 9.98297919e-01 -2.65406256e-04 4.29021786e+01] [ 1.87150402e-03 1.56526551e-04 9.99998236e-01 -2.22517026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.521400513 meters 0.08568152773572048 Centerline is valid? [True, True] Translation: X:405.38, Y:42.92, Z:-2.23 [[ 9.98279223e-01 -5.86155956e-02 -1.67490620e-03 4.05384138e+02] [ 5.86152766e-02 9.98280618e-01 -2.38970588e-04 4.29151589e+01] [ 1.68603380e-03 1.40384282e-04 9.99998569e-01 -2.22540875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55140051300003 meters 0.08253545625223059 Centerline is valid? [True, True] Translation: X:405.41, Y:42.92, Z:-2.23 [[ 9.98214102e-01 -5.97016007e-02 -2.07999046e-03 4.05414057e+02] [ 5.97011114e-02 9.98216254e-01 -2.96615968e-04 4.29194395e+01] [ 2.09398874e-03 1.71908500e-04 9.99997793e-01 -2.22615216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.581400513 meters 0.08847464968348764 Centerline is valid? [True, True] Translation: X:405.44, Y:42.93, Z:-2.23 [[ 9.98172608e-01 -6.03760024e-02 -2.48663627e-03 4.05440728e+02] [ 6.03753045e-02 9.98175684e-01 -3.54810915e-04 4.29322150e+01] [ 2.50352193e-03 2.04031114e-04 9.99996845e-01 -2.22750805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.611400513 meters 0.08201932341423172 Centerline is valid? [True, True] Translation: X:405.47, Y:42.93, Z:-2.23 [[ 9.98132148e-01 -6.10414555e-02 -2.48120978e-03 4.05470363e+02] [ 6.10407625e-02 9.98135211e-01 -3.54152353e-04 4.29304895e+01] [ 2.49820083e-03 2.02035912e-04 9.99996859e-01 -2.22732518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.641400513 meters 0.07760428093073847 Centerline is valid? [True, True] Translation: X:405.50, Y:42.93, Z:-2.23 [[ 9.98095911e-01 -6.16132687e-02 -2.89090855e-03 4.05499442e+02] [ 6.16123280e-02 9.98100070e-01 -4.13425624e-04 4.29302682e+01] [ 2.91088853e-03 2.34522819e-04 9.99995736e-01 -2.22798264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.671400513 meters 0.08593299444562129 Centerline is valid? [True, True] Translation: X:405.53, Y:42.94, Z:-2.23 [[ 9.98084251e-01 -6.17786028e-02 -3.35150515e-03 4.05525162e+02] [ 6.17773400e-02 9.98089841e-01 -4.79110825e-04 4.29444963e+01] [ 3.37470203e-03 2.71145896e-04 9.99994269e-01 -2.22875172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.701400513 meters 0.0933315140291229 Centerline is valid? [True, True] Translation: X:405.55, Y:42.96, Z:-2.23 [[ 9.98096402e-01 -6.15871872e-02 -3.25420802e-03 4.05551138e+02] [ 6.15859950e-02 9.98101672e-01 -4.65382876e-04 4.29578326e+01] [ 3.27669209e-03 2.64083335e-04 9.99994597e-01 -2.22903111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.731400513 meters 0.08495230704229988 Centerline is valid? [True, True] Translation: X:405.58, Y:42.95, Z:-2.23 [[ 9.98109757e-01 -6.13800713e-02 -3.06600496e-03 4.05580949e+02] [ 6.13790096e-02 9.98114434e-01 -4.39264731e-04 4.29531972e+01] [ 3.08718591e-03 2.50246066e-04 9.99995203e-01 -2.22760619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.761400513 meters 0.08702361053414959 Centerline is valid? [True, True] Translation: X:405.61, Y:42.96, Z:-2.23 [[ 9.98139127e-01 -6.09010085e-02 -3.05776410e-03 4.05607845e+02] [ 6.08999507e-02 9.98143779e-01 -4.37963746e-04 4.29609970e+01] [ 3.07876065e-03 2.50931068e-04 9.99995229e-01 -2.22803510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.791400513 meters 0.08625586701842011 Centerline is valid? [True, True] Translation: X:405.64, Y:42.97, Z:-2.23 [[ 9.98211687e-01 -5.97000656e-02 -3.05451052e-03 4.05637296e+02] [ 5.96990045e-02 9.98216328e-01 -4.37468547e-04 4.29656853e+01] [ 3.07517918e-03 2.54334979e-04 9.99995239e-01 -2.22841264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.821400513 meters 0.09193210579719424 Centerline is valid? [True, True] Translation: X:405.66, Y:42.98, Z:-2.23 [[ 9.98255271e-01 -5.89472648e-02 -3.41095747e-03 4.05664424e+02] [ 5.89459364e-02 9.98261057e-01 -4.88759224e-04 4.29782644e+01] [ 3.43383703e-03 2.86844389e-04 9.99994063e-01 -2.22938165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.851400513 meters 0.08520695723044054 Centerline is valid? [True, True] Translation: X:405.69, Y:42.98, Z:-2.23 [[ 9.98304716e-01 -5.80645748e-02 -4.02492058e-03 4.05694586e+02] [ 5.80627181e-02 9.98312771e-01 -5.76725685e-04 4.29769461e+01] [ 4.05161695e-03 3.42050142e-04 9.99991734e-01 -2.22973878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.881400513 meters 0.08308870609453455 Centerline is valid? [True, True] Translation: X:405.72, Y:42.98, Z:-2.23 [[ 9.98333345e-01 -5.74640781e-02 -5.33029670e-03 4.05723935e+02] [ 5.74608127e-02 9.98347470e-01 -7.63875003e-04 4.29823428e+01] [ 5.36538360e-03 4.56318706e-04 9.99985502e-01 -2.23201732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.911400513 meters 0.0878836779012369 Centerline is valid? [True, True] Translation: X:405.75, Y:42.99, Z:-2.23 [[ 9.98291088e-01 -5.81638779e-02 -5.64503148e-03 4.05750352e+02] [ 5.81602231e-02 9.98306933e-01 -8.09595950e-04 4.29926410e+01] [ 5.68256330e-03 4.79896132e-04 9.99983739e-01 -2.23363638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.941400513 meters 0.08909511721780677 Centerline is valid? [True, True] Translation: X:405.78, Y:43.00, Z:-2.23 [[ 9.98210368e-01 -5.95262949e-02 -5.71680899e-03 4.05778331e+02] [ 5.95225683e-02 9.98226623e-01 -8.19947360e-04 4.29987065e+01] [ 5.75547936e-03 4.78200802e-04 9.99983323e-01 -2.23415461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.971400513 meters 0.07672949418650339 Centerline is valid? [True, True] Translation: X:405.81, Y:42.99, Z:-2.23 [[ 9.98117444e-01 -6.11191989e-02 -5.10012173e-03 4.05809946e+02] [ 6.11162536e-02 9.98130386e-01 -7.31505783e-04 4.29890950e+01] [ 5.13529552e-03 4.18428349e-04 9.99986727e-01 -2.23185279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.001400513 meters 0.07757922460145131 Centerline is valid? [True, True] Translation: X:405.84, Y:43.00, Z:-2.23 [[ 9.97917594e-01 -6.44175358e-02 -3.29487831e-03 4.05838267e+02] [ 6.44163241e-02 9.97923000e-01 -4.72684748e-04 4.29967166e+01] [ 3.31848403e-03 2.59456478e-04 9.99994460e-01 -2.22996830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.031400513 meters 0.07869448308463031 Centerline is valid? [True, True] Translation: X:405.87, Y:43.00, Z:-2.23 [[ 9.97829483e-01 -6.58072780e-02 -2.39253304e-03 4.05866397e+02] [ 6.58066430e-02 9.97832335e-01 -3.43283400e-04 4.30028674e+01] [ 2.40993738e-03 1.85093730e-04 9.99997079e-01 -2.22878596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.061400513 meters 0.07804806993725445 Centerline is valid? [True, True] Translation: X:405.90, Y:43.01, Z:-2.23 [[ 9.97766568e-01 -6.67722521e-02 -1.82838255e-03 4.05896040e+02] [ 6.67718827e-02 9.97768233e-01 -2.62408389e-04 4.30063283e+01] [ 1.84182362e-03 1.39737773e-04 9.99998294e-01 -2.22769974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.091400513 meters 0.07446006708469964 Centerline is valid? [True, True] Translation: X:405.93, Y:43.01, Z:-2.23 [[ 9.97726207e-01 -6.73719676e-02 -1.85327578e-03 4.05925508e+02] [ 6.73715879e-02 9.97727918e-01 -2.66635841e-04 4.30070108e+01] [ 1.86702877e-03 1.41171434e-04 9.99998247e-01 -2.22718805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.121400513 meters 0.07538507782027881 Centerline is valid? [True, True] Translation: X:405.95, Y:43.01, Z:-2.23 [[ 9.97764473e-01 -6.67843129e-02 -2.43128418e-03 4.05953175e+02] [ 6.67836583e-02 9.97767418e-01 -3.49533180e-04 4.30131026e+01] [ 2.44919947e-03 1.86381738e-04 9.99996983e-01 -2.22780054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.151400513 meters 0.07869553124597836 Centerline is valid? [True, True] Translation: X:405.98, Y:43.02, Z:-2.23 [[ 9.97829265e-01 -6.58057664e-02 -2.52153692e-03 4.05980361e+02] [ 6.58050590e-02 9.97832432e-01 -3.62601875e-04 4.30219111e+01] [ 2.53993261e-03 1.95884877e-04 9.99996755e-01 -2.22803417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.181400513 meters 0.0839300136857617 Centerline is valid? [True, True] Translation: X:406.01, Y:43.03, Z:-2.23 [[ 9.97903723e-01 -6.46654367e-02 -2.55766107e-03 4.06007751e+02] [ 6.46647048e-02 9.97906980e-01 -3.67929815e-04 4.30318037e+01] [ 2.57610017e-03 2.01768134e-04 9.99996661e-01 -2.22806377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.211400513 meters 0.07999461151304237 Centerline is valid? [True, True] Translation: X:406.04, Y:43.03, Z:-2.23 [[ 9.98017308e-01 -6.28884246e-02 -2.54941727e-03 4.06038230e+02] [ 6.28876918e-02 9.98020543e-01 -3.66683042e-04 4.30303205e+01] [ 2.56743093e-03 2.05629055e-04 9.99996683e-01 -2.22649622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24140051300003 meters 0.08908594598508456 Centerline is valid? [True, True] Translation: X:406.07, Y:43.05, Z:-2.23 [[ 9.98073490e-01 -6.20050902e-02 -2.16279467e-03 4.06065196e+02] [ 6.20045605e-02 9.98075818e-01 -3.11212048e-04 4.30459885e+01] [ 2.17792979e-03 1.76509361e-04 9.99997613e-01 -2.22651193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.271400513 meters 0.08761476361712557 Centerline is valid? [True, True] Translation: X:406.09, Y:43.05, Z:-2.23 [[ 9.98133618e-01 -6.10438420e-02 -1.71166646e-03 4.06094497e+02] [ 6.10435087e-02 9.98135076e-01 -2.46321880e-04 4.30494295e+01] [ 1.72351077e-03 1.41376022e-04 9.99998505e-01 -2.22571325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30140051300003 meters 0.08883559355386733 Centerline is valid? [True, True] Translation: X:406.12, Y:43.06, Z:-2.23 [[ 9.98214707e-01 -5.97182164e-02 -1.06459901e-03 4.06124184e+02] [ 5.97180867e-02 9.98215271e-01 -1.53211218e-04 4.30562014e+01] [ 1.07184849e-03 8.93618746e-05 9.99999422e-01 -2.22515389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.331400513 meters 0.09112284883393042 Centerline is valid? [True, True] Translation: X:406.15, Y:43.06, Z:-2.22 [[ 9.98390446e-01 -5.67136991e-02 -2.73211186e-04 4.06153691e+02] [ 5.67136904e-02 9.98390483e-01 -3.93076145e-05 4.30643263e+01] [ 2.75000728e-04 2.37495321e-05 9.99999962e-01 -2.22369791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.361400513 meters 0.09013362246535325 Centerline is valid? [True, True] Translation: X:406.18, Y:43.07, Z:-2.22 [[ 9.98464486e-01 -5.53944678e-02 -3.51607081e-04 4.06183564e+02] [ 5.53944534e-02 9.98464547e-01 -5.06263829e-05 4.30686734e+01] [ 3.53871627e-04 3.10715632e-05 9.99999937e-01 -2.22379159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.391400513 meters 0.0852062200654824 Centerline is valid? [True, True] Translation: X:406.21, Y:43.07, Z:-2.22 [[ 9.98530126e-01 -5.41958446e-02 -6.30511599e-04 4.06214495e+02] [ 5.41957980e-02 9.98530324e-01 -9.07259877e-05 4.30688685e+01] [ 6.34501923e-04 5.64215526e-05 9.99999797e-01 -2.22379969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.421400513 meters 0.09028415059236164 Centerline is valid? [True, True] Translation: X:406.24, Y:43.08, Z:-2.22 [[ 9.98620322e-01 -5.25108242e-02 -2.58457757e-04 4.06242053e+02] [ 5.25108163e-02 9.98620355e-01 -3.72629150e-05 4.30828338e+01] [ 2.60057883e-04 2.36396763e-05 9.99999966e-01 -2.22308834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.451400513 meters 0.09497850915138036 Centerline is valid? [True, True] Translation: X:406.27, Y:43.09, Z:-2.22 [[ 9.98639915e-01 -5.21375034e-02 3.16990996e-05 4.06269614e+02] [ 5.21375033e-02 9.98639915e-01 4.42976369e-06 4.30941640e+01] [-3.18869430e-05 -2.77102692e-06 9.99999999e-01 -2.22308383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.481400513 meters 0.08665104144251841 Centerline is valid? [True, True] Translation: X:406.30, Y:43.09, Z:-2.22 [[ 9.98638066e-01 -5.21728723e-02 -6.07782730e-05 4.06299646e+02] [ 5.21728719e-02 9.98638068e-01 -9.23206736e-06 4.30897200e+01] [ 6.11771606e-05 6.04851685e-06 9.99999998e-01 -2.22294243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.511400513 meters 0.08970608178873747 Centerline is valid? [True, True] Translation: X:406.33, Y:43.10, Z:-2.22 [[ 9.98627149e-01 -5.23794984e-02 -4.52675357e-04 4.06327203e+02] [ 5.23794741e-02 9.98627251e-01 -6.53862525e-05 4.30994268e+01] [ 4.55478846e-04 4.15855898e-05 9.99999895e-01 -2.22400068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.541400513 meters 0.0964702687219892 Centerline is valid? [True, True] Translation: X:406.35, Y:43.12, Z:-2.23 [[ 9.98635848e-01 -5.22060539e-02 -9.85437968e-04 4.06354259e+02] [ 5.22059389e-02 9.98636330e-01 -1.42116135e-04 4.31174598e+01] [ 9.91513479e-04 9.04765522e-05 9.99999504e-01 -2.22592423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.571400513 meters 0.0944487012941156 Centerline is valid? [True, True] Translation: X:406.38, Y:43.12, Z:-2.23 [[ 9.98654884e-01 -5.18419591e-02 -9.13275544e-04 4.06383866e+02] [ 5.18418601e-02 9.98655298e-01 -1.31764741e-04 4.31222629e+01] [ 9.18878402e-04 8.42415989e-05 9.99999574e-01 -2.22612485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.601400513 meters 0.10027103995593739 Centerline is valid? [True, False] Translation: X:406.38, Y:43.13, Z:-2.23 [[ 9.99084266e-01 -4.27481874e-02 1.79501749e-03 4.06384376e+02] [ 4.27654510e-02 9.99024132e-01 -1.10407977e-02 4.31296822e+01] [-1.32129170e-03 1.11074520e-02 9.99937437e-01 -2.22752155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.631400513 meters 0.09919436108943301 Centerline is valid? [False, True] Translation: X:406.38, Y:43.14, Z:-2.23 [[ 9.99461615e-01 -3.24130927e-02 5.08650498e-03 4.06382358e+02] [ 3.25106820e-02 9.99262234e-01 -2.04461172e-02 4.31379092e+01] [-4.42003044e-03 2.06004750e-02 9.99778017e-01 -2.22724316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.661400513 meters 0.09653023386703044 Centerline is valid? [True, True] Translation: X:406.42, Y:43.12, Z:-2.23 [[ 9.99457631e-01 -3.28580673e-02 2.18895150e-03 4.06415249e+02] [ 3.28575463e-02 9.99460008e-01 2.73587068e-04 4.31242817e+01] [-2.19675902e-03 -2.01515107e-04 9.99997567e-01 -2.22918874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.691400513 meters 0.09735304210491877 Centerline is valid? [True, True] Translation: X:406.45, Y:43.13, Z:-2.23 [[ 9.99434153e-01 -3.35969963e-02 1.61758609e-03 4.06445684e+02] [ 3.35967127e-02 9.99435451e-01 2.02172233e-04 4.31324594e+01] [-1.62346526e-03 -1.47712259e-04 9.99998671e-01 -2.23070358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.721400513 meters 0.08900631637538657 Centerline is valid? [True, True] Translation: X:406.48, Y:43.13, Z:-2.23 [[ 9.99403286e-01 -3.45364595e-02 5.52904646e-04 4.06477475e+02] [ 3.45364265e-02 9.99403437e-01 6.91204316e-05 4.31287273e+01] [-5.54961978e-04 -4.99838358e-05 9.99999845e-01 -2.23251789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.751400513 meters 0.09405108539178413 Centerline is valid? [True, True] Translation: X:406.51, Y:43.14, Z:-2.24 [[ 9.99289617e-01 -3.76779589e-02 -7.95029811e-04 4.06506052e+02] [ 3.76778917e-02 9.99289931e-01 -9.92993292e-05 4.31401082e+01] [ 7.98206681e-04 6.92737416e-05 9.99999679e-01 -2.23550137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.781400513 meters 0.08028946651986789 Centerline is valid? [True, True] Translation: X:406.54, Y:43.13, Z:-2.23 [[ 9.99206889e-01 -3.98050342e-02 -1.07297399e-03 4.06538559e+02] [ 3.98049131e-02 9.99207461e-01 -1.34034478e-04 4.31276591e+01] [ 1.07745887e-03 9.12185375e-05 9.99999415e-01 -2.23477805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.811400513 meters 0.07881229634096254 Centerline is valid? [True, True] Translation: X:406.57, Y:43.13, Z:-2.23 [[ 9.99130074e-01 -4.16797599e-02 -1.37606915e-03 4.06568183e+02] [ 4.16795623e-02 9.99131015e-01 -1.72004892e-04 4.31308101e+01] [ 1.38204249e-03 1.14501301e-04 9.99999038e-01 -2.23481936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.841400513 meters 0.07881229634096254 Centerline is valid? [True, True] Translation: X:406.60, Y:43.13, Z:-2.23 [[ 9.99129095e-01 -4.17032015e-02 -1.37606191e-03 4.06597216e+02] [ 4.17030038e-02 9.99130037e-01 -1.72062834e-04 4.31344758e+01] [ 1.38204036e-03 1.14527068e-04 9.99999038e-01 -2.23498907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.871400513 meters 0.0780413714313695 Centerline is valid? [True, True] Translation: X:406.63, Y:43.14, Z:-2.24 [[ 9.99013326e-01 -4.43430014e-02 -2.46427838e-03 4.06626332e+02] [ 4.43423757e-02 9.99016346e-01 -3.08003941e-04 4.31400676e+01] [ 2.47551220e-03 1.98428084e-04 9.99996916e-01 -2.23702607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.901400513 meters 0.0795955206147416 Centerline is valid? [True, True] Translation: X:406.65, Y:43.15, Z:-2.24 [[ 9.98968097e-01 -4.53512887e-02 -2.44999829e-03 4.06654131e+02] [ 4.53506727e-02 9.98971082e-01 -3.06429434e-04 4.31461163e+01] [ 2.46137442e-03 1.95004157e-04 9.99996952e-01 -2.23798642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.931400513 meters 0.07688972367579712 Centerline is valid? [True, True] Translation: X:406.68, Y:43.15, Z:-2.24 [[ 9.98909248e-01 -4.66428618e-02 -2.18101194e-03 4.06684528e+02] [ 4.66423768e-02 9.98911615e-01 -2.72698602e-04 4.31468412e+01] [ 2.19135761e-03 1.70673575e-04 9.99997584e-01 -2.23740803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.961400513 meters 0.07254942572057226 Centerline is valid? [True, True] Translation: X:406.72, Y:43.15, Z:-2.24 [[ 9.98835608e-01 -4.82268548e-02 -1.26463124e-03 4.06715207e+02] [ 4.82266928e-02 9.98836404e-01 -1.58279839e-04 4.31456585e+01] [ 1.27079306e-03 9.71065571e-05 9.99999188e-01 -2.23614855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99140051300003 meters 0.07247316159319904 Centerline is valid? [True, True] Translation: X:406.74, Y:43.15, Z:-2.23 [[ 9.98640010e-01 -5.21331173e-02 5.19001087e-04 4.06744794e+02] [ 5.21330906e-02 9.98640144e-01 6.48589600e-05 4.31483161e+01] [-5.21676620e-04 -3.77136218e-05 9.99999863e-01 -2.23397188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.021400513 meters 0.07749277121652756 Centerline is valid? [True, True] Translation: X:406.77, Y:43.16, Z:-2.23 [[ 9.98550194e-01 -5.38218483e-02 8.48312145e-04 4.06772836e+02] [ 5.38217777e-02 9.98550552e-01 1.05954371e-04 4.31567561e+01] [-8.52785221e-04 -6.01430902e-05 9.99999635e-01 -2.23378712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05140051300003 meters 0.06438427926018898 Centerline is valid? [True, True] Translation: X:406.80, Y:43.14, Z:-2.23 [[ 9.98454336e-01 -5.55753605e-02 5.64755482e-04 4.06804946e+02] [ 5.55753295e-02 9.98454495e-01 7.04657613e-05 4.31424154e+01] [-5.67798809e-04 -3.89703729e-05 9.99999838e-01 -2.23287801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.081400513 meters 0.07161692687071504 Centerline is valid? [True, True] Translation: X:406.83, Y:43.15, Z:-2.23 [[ 9.98383645e-01 -5.68324471e-02 4.12106564e-04 4.06833236e+02] [ 5.68324307e-02 9.98383730e-01 5.14862620e-05 4.31514684e+01] [-4.14366579e-04 -2.79820242e-05 9.99999914e-01 -2.23362561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.111400513 meters 0.07064430468443869 Centerline is valid? [True, True] Translation: X:406.86, Y:43.16, Z:-2.23 [[ 9.98392981e-01 -5.66533233e-02 1.36278632e-03 4.06862148e+02] [ 5.66531433e-02 9.98393906e-01 1.70335643e-04 4.31552435e+01] [-1.37024764e-03 -9.28557816e-05 9.99999057e-01 -2.23234323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.141400513 meters 0.06723747415019576 Centerline is valid? [True, True] Translation: X:406.89, Y:43.15, Z:-2.23 [[ 9.98414064e-01 -5.62374205e-02 2.59039524e-03 4.06892835e+02] [ 5.62367678e-02 9.98417408e-01 3.24156787e-04 4.31544617e+01] [-2.60452544e-03 -1.77967239e-04 9.99996592e-01 -2.23043402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.171400513 meters 0.07073308443792538 Centerline is valid? [True, True] Translation: X:406.92, Y:43.16, Z:-2.23 [[ 9.98507903e-01 -5.45048656e-02 3.34473590e-03 4.06920752e+02] [ 5.45037679e-02 9.98513477e-01 4.18525581e-04 4.31630830e+01] [-3.36257555e-03 -2.35600391e-04 9.99994319e-01 -2.22962277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.201400513 meters 0.07834049534405592 Centerline is valid? [True, True] Translation: X:406.95, Y:43.18, Z:-2.23 [[ 9.98578666e-01 -5.32497980e-02 2.25963744e-03 4.06948838e+02] [ 5.32492937e-02 9.98581210e-01 2.82792554e-04 4.31771499e+01] [-2.27149013e-03 -1.62066514e-04 9.99997407e-01 -2.23180374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.231400513 meters 0.07503009956774921 Centerline is valid? [True, True] Translation: X:406.98, Y:43.18, Z:-2.23 [[ 9.98660104e-01 -5.17331802e-02 1.29385133e-03 4.06978835e+02] [ 5.17330136e-02 9.98660938e-01 1.61873168e-04 4.31782326e+01] [-1.30049300e-03 -9.47214462e-05 9.99999150e-01 -2.23383506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.261400513 meters 0.07166922959894052 Centerline is valid? [True, True] Translation: X:407.01, Y:43.18, Z:-2.23 [[ 9.98729661e-01 -5.03825197e-02 8.15950337e-04 4.07009622e+02] [ 5.03824530e-02 9.98729993e-01 1.02125257e-04 4.31796189e+01] [-8.20059401e-04 -6.08859443e-05 9.99999662e-01 -2.23464585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.291400513 meters 0.08468637813023899 Centerline is valid? [True, True] Translation: X:407.04, Y:43.20, Z:-2.24 [[ 9.98826525e-01 -4.84230703e-02 8.83153715e-04 4.07036790e+02] [ 4.84229914e-02 9.98826913e-01 1.10490184e-04 4.32035661e+01] [-8.87467973e-04 -6.75955819e-05 9.99999604e-01 -2.23512763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.321400513 meters 0.07722385264030199 Centerline is valid? [True, True] Translation: X:407.07, Y:43.20, Z:-2.23 [[ 9.98825668e-01 -4.84392185e-02 9.62877762e-04 4.07067507e+02] [ 4.84391247e-02 9.98826129e-01 1.20524015e-04 4.32015782e+01] [-9.67585558e-04 -7.37415240e-05 9.99999529e-01 -2.23410414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.351400513 meters 0.08168013022898475 Centerline is valid? [True, True] Translation: X:407.10, Y:43.21, Z:-2.23 [[ 9.98802803e-01 -4.89105056e-02 8.50683068e-04 4.07096189e+02] [ 4.89104323e-02 9.98803163e-01 1.06729129e-04 4.32146093e+01] [-8.54885114e-04 -6.49940770e-05 9.99999632e-01 -2.23464794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.381400513 meters 0.07471443733982636 Centerline is valid? [True, True] Translation: X:407.13, Y:43.21, Z:-2.23 [[ 9.98754461e-01 -4.98901153e-02 7.08973767e-04 4.07126852e+02] [ 4.98900648e-02 9.98754711e-01 8.87067506e-05 4.32132157e+01] [-7.12516480e-04 -5.32255157e-05 9.99999745e-01 -2.23423832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.411400513 meters 0.07326726674282544 Centerline is valid? [True, True] Translation: X:407.16, Y:43.22, Z:-2.23 [[ 9.98629900e-01 -5.23080357e-02 1.48052335e-03 4.07156007e+02] [ 5.23078183e-02 9.98630992e-01 1.85239815e-04 4.32215971e+01] [-1.48818603e-03 -1.07543071e-04 9.99998887e-01 -2.23339505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.441400513 meters 0.07168619328579341 Centerline is valid? [True, True] Translation: X:407.19, Y:43.23, Z:-2.23 [[ 9.98559865e-01 -5.36244652e-02 1.61668198e-03 4.07185896e+02] [ 5.36242076e-02 9.98561167e-01 2.02280340e-04 4.32269297e+01] [-1.62520302e-03 -1.15295739e-04 9.99998673e-01 -2.23349187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.471400513 meters 0.07068454469087121 Centerline is valid? [True, True] Translation: X:407.22, Y:43.23, Z:-2.23 [[ 9.98467102e-01 -5.53294061e-02 1.44990277e-03 4.07215676e+02] [ 5.53292007e-02 9.98468150e-01 1.81412813e-04 4.32333924e+01] [-1.45771920e-03 -1.00912764e-04 9.99998932e-01 -2.23389020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.501400513 meters 0.06719537457420445 Centerline is valid? [True, True] Translation: X:407.24, Y:43.24, Z:-2.24 [[ 9.98170436e-01 -6.04626681e-02 2.16530005e-04 4.07244762e+02] [ 6.04626636e-02 9.98170459e-01 2.71092209e-05 4.32389790e+01] [-2.17772950e-04 -1.39676420e-05 9.99999976e-01 -2.23587153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.531400513 meters 0.062411413888768065 Centerline is valid? [True, True] Translation: X:407.28, Y:43.24, Z:-2.24 [[ 9.97981201e-01 -6.35081753e-02 -4.84101499e-04 4.07275315e+02] [ 6.35081534e-02 9.97981318e-01 -6.05847218e-05 4.32392441e+01] [ 4.86971877e-04 2.97180212e-05 9.99999881e-01 -2.23592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.561400513 meters 0.057007456793872806 Centerline is valid? [True, True] Translation: X:407.31, Y:43.24, Z:-2.24 [[ 9.97799942e-01 -6.62955880e-02 -4.14271917e-04 4.07305269e+02] [ 6.62955721e-02 9.97800027e-01 -5.19300760e-05 4.32402989e+01] [ 4.16803265e-04 2.43514331e-05 9.99999913e-01 -2.23545106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.591400513 meters 0.05917607608624185 Centerline is valid? [True, True] Translation: X:407.33, Y:43.25, Z:-2.24 [[ 9.97602828e-01 -6.91988057e-02 3.50538412e-04 4.07333924e+02] [ 6.91987946e-02 9.97602889e-01 4.37824132e-05 4.32494086e+01] [-3.52727824e-04 -1.94206237e-05 9.99999938e-01 -2.23526046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.621400513 meters 0.05721622976742131 Centerline is valid? [True, True] Translation: X:407.36, Y:43.25, Z:-2.23 [[ 9.97135076e-01 -7.56208608e-02 1.76768250e-03 4.07362946e+02] [ 7.56205872e-02 9.97136640e-01 2.21171870e-04 4.32532468e+01] [-1.77934620e-03 -8.68650411e-05 9.99998413e-01 -2.23428315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.651400513 meters 0.05006046613989509 Centerline is valid? [True, True] Translation: X:407.39, Y:43.25, Z:-2.23 [[ 9.96845326e-01 -7.93439959e-02 1.98171203e-03 4.07394589e+02] [ 7.93436592e-02 9.96847291e-01 2.48077378e-04 4.32482687e+01] [-1.99514772e-03 -9.00584905e-05 9.99998006e-01 -2.23381552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.681400513 meters 0.04385844647313853 Centerline is valid? [True, True] Translation: X:407.43, Y:43.24, Z:-2.23 [[ 9.96551912e-01 -8.29445708e-02 2.11771194e-03 4.07426118e+02] [ 8.29441946e-02 9.96554158e-01 2.65024684e-04 4.32433017e+01] [-2.13239700e-03 -8.84589441e-05 9.99997723e-01 -2.23365527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.711400513 meters 0.04336634077802149 Centerline is valid? [True, True] Translation: X:407.46, Y:43.24, Z:-2.23 [[ 9.96261078e-01 -8.63754915e-02 1.77182549e-03 4.07456473e+02] [ 8.63752337e-02 9.96262651e-01 2.21663136e-04 4.32385371e+01] [-1.78434983e-03 -6.77925137e-05 9.99998406e-01 -2.23365245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74140051300003 meters 0.04001019385583285 Centerline is valid? [True, True] Translation: X:407.49, Y:43.24, Z:-2.23 [[ 9.95818494e-01 -9.13056755e-02 2.96655332e-03 4.07486283e+02] [ 9.13049740e-02 9.95822908e-01 3.71324747e-04 4.32390805e+01] [-2.98806581e-03 -9.89109772e-05 9.99995531e-01 -2.23300455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.771400513 meters 0.03420339049118915 Centerline is valid? [True, True] Translation: X:407.52, Y:43.23, Z:-2.23 [[ 9.95643160e-01 -9.31631217e-02 3.91542179e-03 4.07516293e+02] [ 9.31619139e-02 9.95650851e-01 4.90121035e-04 4.32337417e+01] [-3.94405424e-03 -1.23217469e-04 9.99992215e-01 -2.23118370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80140051300003 meters 0.03122299951285868 Centerline is valid? [True, True] Translation: X:407.55, Y:43.23, Z:-2.23 [[ 9.95535082e-01 -9.42835669e-02 4.52864712e-03 4.07545422e+02] [ 9.42819623e-02 9.95545373e-01 5.66989270e-04 4.32320205e+01] [-4.56193146e-03 -1.37487972e-04 9.99989585e-01 -2.23045067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.831400513 meters 0.03358129957755623 Centerline is valid? [True, True] Translation: X:407.57, Y:43.23, Z:-2.23 [[ 9.95583150e-01 -9.37901925e-02 4.19414295e-03 4.07573689e+02] [ 9.37888083e-02 9.95591976e-01 5.25936658e-04 4.32338487e+01] [-4.22498277e-03 -1.30250006e-04 9.99991066e-01 -2.23169959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.861400513 meters 0.03429207536271441 Centerline is valid? [True, True] Translation: X:407.60, Y:43.24, Z:-2.23 [[ 9.95635593e-01 -9.32384047e-02 4.04546529e-03 4.07602266e+02] [ 9.32371121e-02 9.95643804e-01 5.07347335e-04 4.32361028e+01] [-4.07514670e-03 -1.27945564e-04 9.99991688e-01 -2.23254589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.891400513 meters 0.032902553803791174 Centerline is valid? [True, True] Translation: X:407.63, Y:43.24, Z:-2.23 [[ 9.95715464e-01 -9.23910131e-02 3.82304367e-03 4.07630969e+02] [ 9.23898503e-02 9.95722795e-01 4.80031775e-04 4.32356347e+01] [-3.85104236e-03 -1.24764629e-04 9.99992577e-01 -2.23343046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.921400513 meters 0.033961700569006575 Centerline is valid? [True, True] Translation: X:407.66, Y:43.24, Z:-2.23 [[ 9.95778271e-01 -9.17175208e-02 3.67853186e-03 4.07659636e+02] [ 9.17164374e-02 9.95785058e-01 4.62491771e-04 4.32390090e+01] [-3.70544566e-03 -1.23157419e-04 9.99993127e-01 -2.23412223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.951400513 meters 0.03522897245579516 Centerline is valid? [True, True] Translation: X:407.69, Y:43.24, Z:-2.24 [[ 9.95832595e-01 -9.11357529e-02 3.42293475e-03 4.07686798e+02] [ 9.11348091e-02 9.95838471e-01 4.31037349e-04 4.32417983e+01] [-3.44797302e-03 -1.17292538e-04 9.99994049e-01 -2.23564774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.981400513 meters 0.03785448840511986 Centerline is valid? [True, True] Translation: X:407.71, Y:43.25, Z:-2.24 [[ 9.95800411e-01 -9.14911408e-02 3.30334818e-03 4.07714283e+02] [ 9.14902625e-02 9.95805884e-01 4.16349646e-04 4.32480645e+01] [-3.32758586e-03 -1.12376957e-04 9.99994457e-01 -2.23669683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.011400513 meters 0.037564178013651084 Centerline is valid? [True, True] Translation: X:407.74, Y:43.25, Z:-2.24 [[ 9.95724241e-01 -9.23304140e-02 2.88632073e-03 4.07743434e+02] [ 9.23297470e-02 9.95728420e-01 3.63766115e-04 4.32492763e+01] [-2.90757826e-03 -9.57174760e-05 9.99995768e-01 -2.23734541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.041400513 meters 0.03226302527903206 Centerline is valid? [True, True] Translation: X:407.77, Y:43.25, Z:-2.24 [[ 9.95642008e-01 -9.32125799e-02 2.89944184e-03 4.07772500e+02] [ 9.32119092e-02 9.95646225e-01 3.65885614e-04 4.32468587e+01] [-2.92092347e-03 -9.40285777e-05 9.99995730e-01 -2.23766729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.071400513 meters 0.036139544738653155 Centerline is valid? [True, True] Translation: X:407.80, Y:43.25, Z:-2.24 [[ 9.95552164e-01 -9.41813128e-02 2.40189870e-03 4.07799835e+02] [ 9.41808538e-02 9.95555059e-01 3.03727111e-04 4.32520104e+01] [-2.41982782e-03 -7.61633128e-05 9.99997069e-01 -2.23836963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.101400513 meters 0.03265024190377213 Centerline is valid? [True, True] Translation: X:407.83, Y:43.25, Z:-2.24 [[ 9.95398006e-01 -9.58259760e-02 4.38473177e-04 4.07828978e+02] [ 9.58259612e-02 9.95398102e-01 5.46775512e-05 4.32546764e+01] [-4.41694898e-04 -1.24088118e-05 9.99999902e-01 -2.24137186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.131400513 meters 0.03648940179889567 Centerline is valid? [True, True] Translation: X:407.86, Y:43.26, Z:-2.24 [[ 9.95330254e-01 -9.65232701e-02 -9.71803632e-04 4.07855537e+02] [ 9.65231953e-02 9.95330728e-01 -1.23589746e-04 4.32632455e+01] [ 9.79195303e-04 2.92110214e-05 9.99999520e-01 -2.24499108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.161400513 meters 0.03448277459619607 Centerline is valid? [True, True] Translation: X:407.89, Y:43.26, Z:-2.25 [[ 9.95226633e-01 -9.75619411e-02 -2.36993711e-03 4.07885069e+02] [ 9.75614985e-02 9.95229452e-01 -3.01919488e-04 4.32611441e+01] [ 2.38808706e-03 6.92637002e-05 9.99997146e-01 -2.24565338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.191400513 meters 0.030557187905087647 Centerline is valid? [True, True] Translation: X:407.91, Y:43.26, Z:-2.25 [[ 9.95058198e-01 -9.92677564e-02 -2.25714505e-03 4.07913899e+02] [ 9.92673583e-02 9.95060756e-01 -2.87977234e-04 4.32620680e+01] [ 2.27458331e-03 6.24932820e-05 9.99997411e-01 -2.24577723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.221400513 meters 0.024302206763022235 Centerline is valid? [True, True] Translation: X:407.95, Y:43.26, Z:-2.24 [[ 9.94576523e-01 -1.03993839e-01 -1.67977125e-03 4.07945115e+02] [ 1.03993627e-01 9.94577941e-01 -2.13683763e-04 4.32556602e+01] [ 1.69288522e-03 3.78393508e-05 9.99998566e-01 -2.24460138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.251400513 meters 0.023577777429616 Centerline is valid? [True, True] Translation: X:407.97, Y:43.26, Z:-2.25 [[ 9.94302967e-01 -1.06573180e-01 -1.94115332e-03 4.07972847e+02] [ 1.06572900e-01 9.94304861e-01 -2.47322572e-04 4.32571608e+01] [ 1.95645614e-03 3.90392275e-05 9.99998085e-01 -2.24605270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.281400513 meters 0.01905314280845321 Centerline is valid? [True, True] Translation: X:408.00, Y:43.25, Z:-2.25 [[ 9.94034404e-01 -1.09043697e-01 -2.25281422e-03 4.08002034e+02] [ 1.09043324e-01 9.94036956e-01 -2.88044020e-04 4.32537837e+01] [ 2.27078998e-03 4.06713144e-05 9.99997421e-01 -2.24530378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.311400513 meters 0.018471582645058094 Centerline is valid? [True, True] Translation: X:408.03, Y:43.26, Z:-2.25 [[ 9.93809422e-01 -1.11078247e-01 -2.11105797e-03 4.08029847e+02] [ 1.11077925e-01 9.93811663e-01 -2.69459159e-04 4.32554535e+01] [ 2.12792508e-03 3.32991124e-05 9.99997735e-01 -2.24568898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.341400513 meters 0.016549587087737128 Centerline is valid? [True, True] Translation: X:408.06, Y:43.26, Z:-2.24 [[ 9.93440176e-01 -1.14349386e-01 -9.13968831e-04 4.08058372e+02] [ 1.14349327e-01 9.93440596e-01 -1.16826508e-04 4.32560820e+01] [ 9.21332779e-04 1.15484255e-05 9.99999576e-01 -2.24354215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.371400513 meters 0.02224506786163752 Centerline is valid? [True, True] Translation: X:408.09, Y:43.26, Z:-2.24 [[ 9.93233592e-01 -1.16133657e-01 -6.67366417e-05 4.08087073e+02] [ 1.16133657e-01 9.93233595e-01 -9.51482442e-06 4.32556658e+01] [ 6.73900659e-05 1.70007298e-06 9.99999998e-01 -2.24095993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.401400513 meters 0.020104463004827072 Centerline is valid? [True, True] Translation: X:408.12, Y:43.26, Z:-2.24 [[ 9.93079142e-01 -1.17445865e-01 5.34701084e-04 4.08115829e+02] [ 1.17445845e-01 9.93079286e-01 6.73670882e-05 4.32574803e+01] [-5.38912557e-04 -4.10242934e-06 9.99999855e-01 -2.23999805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.431400513 meters 0.011258483318898477 Centerline is valid? [True, True] Translation: X:408.14, Y:43.26, Z:-2.24 [[ 9.92937455e-01 -1.18623058e-01 1.94449249e-03 4.08143680e+02] [ 1.18622799e-01 9.92939359e-01 2.48396708e-04 4.32593550e+01] [-1.96022871e-03 -1.59812534e-05 9.99998079e-01 -2.23873101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.461400513 meters 0.009352427386053009 Centerline is valid? [True, True] Translation: X:408.17, Y:43.26, Z:-2.24 [[ 9.92634661e-01 -1.21079867e-01 4.01195132e-03 4.08171646e+02] [ 1.21078782e-01 9.92642768e-01 5.13078922e-04 4.32591202e+01] [-4.04455799e-03 -2.35377434e-05 9.99991820e-01 -2.23634154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49140051300003 meters 0.024323466645760246 Centerline is valid? [True, True] Translation: X:408.20, Y:43.26, Z:-2.24 [[ 9.92393407e-01 -1.23032850e-01 4.27121970e-03 4.08199183e+02] [ 1.23031637e-01 9.92402598e-01 5.46701878e-04 4.32606384e+01] [-4.30603182e-03 -1.70481882e-05 9.99990729e-01 -2.23587763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.521400513 meters 0.007125910673668045 Centerline is valid? [True, True] Translation: X:408.23, Y:43.26, Z:-2.24 [[ 9.92125106e-01 -1.25162085e-01 4.71453380e-03 4.08226763e+02] [ 1.25160629e-01 9.92136307e-01 6.03622331e-04 4.32620643e+01] [-4.75301078e-03 -8.79485094e-06 9.99988704e-01 -2.23540352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55140051300003 meters 0.017578984982347227 Centerline is valid? [True, True] Translation: X:408.25, Y:43.26, Z:-2.24 [[ 9.91885811e-01 -1.27061531e-01 4.23152610e-03 4.08253312e+02] [ 1.27060372e-01 9.91894837e-01 5.42684665e-04 4.32645060e+01] [-4.26618323e-03 -6.21939943e-07 9.99990900e-01 -2.23566540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.581400513 meters 0.007310694944535354 Centerline is valid? [True, True] Translation: X:408.28, Y:43.27, Z:-2.24 [[ 9.91582068e-01 -1.29435886e-01 3.36941589e-03 4.08281311e+02] [ 1.29435164e-01 9.91587793e-01 4.32373914e-04 4.32663141e+01] [-3.39703637e-03 7.38668023e-06 9.99994230e-01 -2.23752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.611400513 meters 0.017984835692433337 Centerline is valid? [True, True] Translation: X:408.31, Y:43.27, Z:-2.24 [[ 9.91440256e-01 -1.30529329e-01 2.88321843e-03 4.08308725e+02] [ 1.30528806e-01 9.91444448e-01 3.69724748e-04 4.32693410e+01] [-2.90681083e-03 9.78305937e-06 9.99995775e-01 -2.23769550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.641400513 meters 0.02245525498745652 Centerline is valid? [True, True] Translation: X:408.34, Y:43.27, Z:-2.24 [[ 9.91367057e-01 -1.31071883e-01 3.39414590e-03 4.08336458e+02] [ 1.31071158e-01 9.91372867e-01 4.36081389e-04 4.32737033e+01] [-3.42202217e-03 1.25579123e-05 9.99994145e-01 -2.23630199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.671400513 meters 0.015338428464438576 Centerline is valid? [True, True] Translation: X:408.36, Y:43.28, Z:-2.24 [[ 9.91357506e-01 -1.31120461e-01 4.20951976e-03 4.08363235e+02] [ 1.31119341e-01 9.91366443e-01 5.42087268e-04 4.32785190e+01] [-4.24425537e-03 1.45471753e-05 9.99990993e-01 -2.23516149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.701400513 meters 0.007362240569891035 Centerline is valid? [True, True] Translation: X:408.39, Y:43.28, Z:-2.23 [[ 9.91413990e-01 -1.30663205e-01 5.04247638e-03 4.08389941e+02] [ 1.30661587e-01 9.91426814e-01 6.50251420e-04 4.32847038e+01] [-5.08421023e-03 1.41896139e-05 9.99987075e-01 -2.23397413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.731400513 meters 0.007362240569891035 Centerline is valid? [True, True] Translation: X:408.42, Y:43.29, Z:-2.23 [[ 9.91388912e-01 -1.30853349e-01 5.04243156e-03 4.08417182e+02] [ 1.30851733e-01 9.91401735e-01 6.50598888e-04 4.32883979e+01] [-5.08420844e-03 1.48143822e-05 9.99987075e-01 -2.23413354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.761400513 meters 0.006750438125925038 Centerline is valid? [True, True] Translation: X:408.44, Y:43.30, Z:-2.23 [[ 9.91642313e-01 -1.28925140e-01 4.88173064e-03 4.08442757e+02] [ 1.28923597e-01 9.91654329e-01 6.30876550e-04 4.32988174e+01] [-4.92232517e-03 3.76639227e-06 9.99987885e-01 -2.23453805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.791400513 meters 0.011554879286687681 Centerline is valid? [True, True] Translation: X:408.47, Y:43.31, Z:-2.24 [[ 9.91817431e-01 -1.27600099e-01 4.04936873e-03 4.08470112e+02] [ 1.27599025e-01 9.91825698e-01 5.23383155e-04 4.33070345e+01] [-4.08305171e-03 -2.40503354e-06 9.99991664e-01 -2.23620876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.821400513 meters 0.007447694024923007 Centerline is valid? [True, True] Translation: X:408.50, Y:43.32, Z:-2.24 [[ 9.92039907e-01 -1.25880948e-01 3.28773381e-03 4.08497592e+02] [ 1.25880230e-01 9.92045355e-01 4.25351069e-04 4.33156797e+01] [-3.31512465e-03 -8.10454768e-06 9.99994505e-01 -2.23766784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.851400513 meters 0.010075946659940533 Centerline is valid? [True, True] Translation: X:408.52, Y:43.33, Z:-2.24 [[ 9.92423472e-01 -1.22857500e-01 1.29846714e-03 4.08523626e+02] [ 1.22857385e-01 9.92424322e-01 1.68168472e-04 4.33300673e+01] [-1.30929113e-03 -7.36806103e-06 9.99999143e-01 -2.24224446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.881400513 meters 0.01385153890123659 Centerline is valid? [True, True] Translation: X:408.55, Y:43.34, Z:-2.24 [[ 9.92478239e-01 -1.22417633e-01 9.31789871e-04 4.08551972e+02] [ 1.22417575e-01 9.92478676e-01 1.20119431e-04 4.33368846e+01] [-9.39486315e-04 -5.14846529e-06 9.99999559e-01 -2.24287764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.911400513 meters 0.02096126055292986 Centerline is valid? [True, True] Translation: X:408.58, Y:43.34, Z:-2.24 [[ 9.92464563e-01 -1.22526536e-01 1.15697450e-03 4.08579743e+02] [ 1.22526445e-01 9.92465238e-01 1.49451972e-04 4.33427409e+01] [-1.16656880e-03 -6.56581422e-06 9.99999320e-01 -2.24264781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.941400513 meters 0.024648091435998977 Centerline is valid? [True, True] Translation: X:408.61, Y:43.35, Z:-2.24 [[ 9.92373390e-01 -1.23260813e-01 1.35161186e-03 4.08607393e+02] [ 1.23260688e-01 9.92374310e-01 1.75651568e-04 4.33474848e+01] [-1.36295585e-03 -7.71133352e-06 9.99999071e-01 -2.24286862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.971400513 meters 0.008391627638737222 Centerline is valid? [True, True] Translation: X:408.64, Y:43.35, Z:-2.24 [[ 9.92131096e-01 -1.25199664e-01 9.65295581e-04 4.08635051e+02] [ 1.25199602e-01 9.92131566e-01 1.24729274e-04 4.33506171e+01] [-9.73316280e-04 -2.89316907e-06 9.99999526e-01 -2.24308645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.001400513 meters 0.022066744428483533 Centerline is valid? [True, True] Translation: X:408.66, Y:43.36, Z:-2.25 [[ 9.92039301e-01 -1.25928648e-01 1.05923492e-05 4.08662938e+02] [ 1.25928648e-01 9.92039301e-01 1.02139045e-06 4.33553655e+01] [-1.06366490e-05 3.20620739e-07 1.00000000e+00 -2.24533357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.031400513 meters 0.008607966850875224 Centerline is valid? [True, True] Translation: X:408.69, Y:43.36, Z:-2.25 [[ 9.92011542e-01 -1.26145107e-01 -7.15221348e-04 4.08690222e+02] [ 1.26145072e-01 9.92011800e-01 -9.45816363e-05 4.33604663e+01] [ 7.21439028e-04 3.60442670e-06 9.99999740e-01 -2.24649847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.061400513 meters 0.008965612490774922 Centerline is valid? [True, True] Translation: X:408.72, Y:43.37, Z:-2.25 [[ 9.92049362e-01 -1.25845759e-01 -9.52660297e-04 4.08717827e+02] [ 1.25845696e-01 9.92049820e-01 -1.25793399e-04 4.33670315e+01] [ 9.60917041e-04 4.90506365e-06 9.99999538e-01 -2.24659583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.091400513 meters 0.015648062956968533 Centerline is valid? [True, True] Translation: X:408.75, Y:43.37, Z:-2.25 [[ 9.92104613e-01 -1.25410108e-01 -8.61564212e-04 4.08745210e+02] [ 1.25410056e-01 9.92104987e-01 -1.14108179e-04 4.33736550e+01] [ 8.69072470e-04 5.15843433e-06 9.99999622e-01 -2.24518058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.121400513 meters 0.01895586269733512 Centerline is valid? [True, True] Translation: X:408.77, Y:43.39, Z:-2.24 [[ 9.92397373e-01 -1.23073159e-01 -6.72178284e-04 4.08772258e+02] [ 1.23073127e-01 9.92397601e-01 -8.92538946e-05 4.33861264e+01] [ 6.78052875e-04 5.84824727e-06 9.99999770e-01 -2.24457768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.151400513 meters 0.01158551316299476 Centerline is valid? [True, True] Translation: X:408.80, Y:43.39, Z:-2.25 [[ 9.92501564e-01 -1.22230716e-01 -5.44855202e-04 4.08799403e+02] [ 1.22230695e-01 9.92501714e-01 -7.19142126e-05 4.33942214e+01] [ 5.49559847e-04 4.77693867e-06 9.99999849e-01 -2.24567614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.181400513 meters 0.02143663485286864 Centerline is valid? [True, True] Translation: X:408.83, Y:43.40, Z:-2.25 [[ 9.92475438e-01 -1.22439525e-01 -1.03343710e-03 4.08826937e+02] [ 1.22439449e-01 9.92475976e-01 -1.37079273e-04 4.33999977e+01] [ 1.04244542e-03 9.51434208e-06 9.99999457e-01 -2.24580717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.211400513 meters 0.0213447349611043 Centerline is valid? [True, True] Translation: X:408.85, Y:43.41, Z:-2.25 [[ 9.92359102e-01 -1.23378076e-01 -1.12367526e-03 4.08853471e+02] [ 1.23377987e-01 9.92359738e-01 -1.48744640e-04 4.34052364e+01] [ 1.13344191e-03 8.97130716e-06 9.99999358e-01 -2.24669970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24140051300003 meters 0.008468219992061488 Centerline is valid? [True, True] Translation: X:408.88, Y:43.41, Z:-2.25 [[ 9.91851918e-01 -1.27394335e-01 -6.75778347e-04 4.08882530e+02] [ 1.27394303e-01 9.91852148e-01 -9.00783054e-05 4.34084478e+01] [ 6.81747671e-04 3.25402849e-06 9.99999768e-01 -2.24545028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.271400513 meters 0.007637744721198165 Centerline is valid? [True, True] Translation: X:408.91, Y:43.41, Z:-2.25 [[ 9.91465581e-01 -1.30367867e-01 -4.70069787e-04 4.08910129e+02] [ 1.30367851e-01 9.91465692e-01 -6.31968351e-05 4.34106738e+01] [ 4.74296904e-04 1.37549864e-06 9.99999888e-01 -2.24510707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30140051300003 meters 0.01213138936968112 Centerline is valid? [True, True] Translation: X:408.94, Y:43.41, Z:-2.24 [[ 9.91031485e-01 -1.33627396e-01 -5.60635393e-04 4.08938148e+02] [ 1.33627375e-01 9.91031644e-01 -7.52681974e-05 4.34126735e+01] [ 5.65665309e-04 -3.23082404e-07 9.99999840e-01 -2.24495426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.331400513 meters 0.024356553065762704 Centerline is valid? [True, True] Translation: X:408.97, Y:43.41, Z:-2.24 [[ 9.90583228e-01 -1.36911637e-01 -2.69075966e-04 4.08966983e+02] [ 1.36911632e-01 9.90583264e-01 -3.66158024e-05 4.34149833e+01] [ 2.71555278e-04 -5.68629985e-07 9.99999963e-01 -2.24453561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.361400513 meters 0.025185171857707144 Centerline is valid? [True, True] Translation: X:409.00, Y:43.42, Z:-2.24 [[ 9.90147994e-01 -1.40024535e-01 2.81906627e-04 4.08995224e+02] [ 1.40024531e-01 9.90148034e-01 3.63747071e-05 4.34184579e+01] [-2.84222644e-04 3.45749983e-06 9.99999960e-01 -2.24330738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.391400513 meters 0.013892880343263258 Centerline is valid? [True, True] Translation: X:409.02, Y:43.42, Z:-2.24 [[ 9.89758131e-01 -1.42747031e-01 1.45839393e-03 4.09022346e+02] [ 1.42746902e-01 9.89759205e-01 1.93026739e-04 4.34215861e+01] [-1.47101281e-03 1.71314303e-05 9.99998918e-01 -2.24252453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.421400513 meters 0.02473296880842519 Centerline is valid? [True, True] Translation: X:409.05, Y:43.42, Z:-2.24 [[ 9.88994057e-01 -1.47929099e-01 2.78159958e-03 4.09051341e+02] [ 1.47928647e-01 9.88997967e-01 3.68860940e-04 4.34229344e+01] [-2.80556160e-03 4.66769834e-05 9.99996063e-01 -2.24103072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.451400513 meters 0.021457044374551357 Centerline is valid? [True, True] Translation: X:409.08, Y:43.42, Z:-2.24 [[ 9.88644193e-01 -1.50233315e-01 3.55102705e-03 4.09079141e+02] [ 1.50232592e-01 9.88650568e-01 4.71028494e-04 4.34236279e+01] [-3.58148908e-03 6.78004117e-05 9.99993584e-01 -2.24041915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.481400513 meters 0.025210411790927 Centerline is valid? [True, True] Translation: X:409.11, Y:43.42, Z:-2.24 [[ 9.88278492e-01 -1.52615935e-01 3.74145659e-03 4.09106777e+02] [ 1.52615148e-01 9.88285571e-01 4.96509860e-04 4.34237524e+01] [-3.77340288e-03 8.03129354e-05 9.99992877e-01 -2.24041196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.511400513 meters 0.02853329645827811 Centerline is valid? [True, True] Translation: X:409.14, Y:43.43, Z:-2.24 [[ 9.87647329e-01 -1.56662372e-01 3.10728639e-03 4.09135551e+02] [ 1.56661849e-01 9.87652214e-01 4.12598256e-04 4.34294414e+01] [-3.13355690e-03 7.92916649e-05 9.99995087e-01 -2.24127455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.541400513 meters 0.02898764014784496 Centerline is valid? [True, True] Translation: X:409.16, Y:43.43, Z:-2.24 [[ 9.87314687e-01 -1.58752914e-01 2.68704761e-03 4.09164398e+02] [ 1.58752532e-01 9.87318341e-01 3.56459220e-04 4.34321735e+01] [-2.70956033e-03 7.46381876e-05 9.99996326e-01 -2.24287046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.571400513 meters 0.03434658564934197 Centerline is valid? [True, True] Translation: X:409.19, Y:43.44, Z:-2.24 [[ 9.87002757e-01 -1.60694870e-01 1.64810832e-03 4.09192734e+02] [ 1.60694728e-01 9.87004132e-01 2.18535578e-04 4.34352748e+01] [-1.66180727e-03 4.91471010e-05 9.99998618e-01 -2.24428169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.601400513 meters 0.03382670677032819 Centerline is valid? [True, True] Translation: X:409.22, Y:43.44, Z:-2.25 [[ 9.86763909e-01 -1.62159956e-01 1.06569305e-03 4.09221392e+02] [ 1.62159898e-01 9.86764484e-01 1.41142329e-04 4.34388515e+01] [-1.07447568e-03 3.35385196e-05 9.99999422e-01 -2.24533010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.631400513 meters 0.03346677964497851 Centerline is valid? [True, True] Translation: X:409.25, Y:43.44, Z:-2.25 [[ 9.86643389e-01 -1.62889653e-01 1.33587350e-03 4.09249583e+02] [ 1.62889561e-01 9.86644292e-01 1.77886696e-04 4.34408296e+01] [-1.34700787e-03 4.20891160e-05 9.99999092e-01 -2.24550370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.661400513 meters 0.03559820941536977 Centerline is valid? [True, True] Translation: X:409.28, Y:43.45, Z:-2.24 [[ 9.86527864e-01 -1.63583742e-01 1.77017072e-03 4.09278259e+02] [ 1.63583582e-01 9.86529450e-01 2.35520530e-04 4.34469773e+01] [-1.78485287e-03 5.72233015e-05 9.99998406e-01 -2.24377902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.691400513 meters 0.03246078007334558 Centerline is valid? [True, True] Translation: X:409.31, Y:43.45, Z:-2.24 [[ 9.86490952e-01 -1.63800799e-01 2.21373748e-03 4.09305490e+02] [ 1.63800549e-01 9.86493433e-01 2.95039514e-04 4.34541853e+01] [-2.23216519e-03 7.15576040e-05 9.99997506e-01 -2.24391008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.721400513 meters 0.03416870868894729 Centerline is valid? [True, True] Translation: X:409.33, Y:43.46, Z:-2.25 [[ 9.86427038e-01 -1.64188467e-01 1.96127838e-03 4.09333270e+02] [ 1.64188270e-01 9.86428985e-01 2.62153067e-04 4.34567797e+01] [-1.97770435e-03 6.34240317e-05 9.99998042e-01 -2.24523158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.751400513 meters 0.03334446933705657 Centerline is valid? [True, True] Translation: X:409.36, Y:43.46, Z:-2.25 [[ 9.86292730e-01 -1.65001195e-01 1.12125697e-03 4.09361866e+02] [ 1.65001132e-01 9.86293366e-01 1.49280337e-04 4.34628643e+01] [-1.13051975e-03 3.77745591e-05 9.99999360e-01 -2.24653706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.781400513 meters 0.03613097523162361 Centerline is valid? [True, True] Translation: X:409.39, Y:43.47, Z:-2.25 [[ 9.85943722e-01 -1.67077144e-01 -4.52270475e-04 4.09390126e+02] [ 1.67077134e-01 9.85943826e-01 -6.09095183e-05 4.34657499e+01] [ 4.56089870e-04 -1.55106974e-05 9.99999896e-01 -2.24909371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.811400513 meters 0.03786208535295294 Centerline is valid? [True, True] Translation: X:409.42, Y:43.47, Z:-2.25 [[ 9.85690498e-01 -1.68562385e-01 -9.81886219e-04 4.09417595e+02] [ 1.68562337e-01 9.85690987e-01 -1.32238251e-04 4.34680157e+01] [ 9.90126791e-04 -3.51630486e-05 9.99999509e-01 -2.24999933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.841400513 meters 0.0452111527494443 Centerline is valid? [True, True] Translation: X:409.45, Y:43.47, Z:-2.25 [[ 9.85391606e-01 -1.70293869e-01 -1.83895738e-03 4.09447254e+02] [ 1.70293704e-01 9.85393319e-01 -2.46877266e-04 4.34708079e+01] [ 1.85413800e-03 -6.98920779e-05 9.99998279e-01 -2.25057115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.871400513 meters 0.037648459686094614 Centerline is valid? [True, True] Translation: X:409.48, Y:43.48, Z:-2.25 [[ 9.85106545e-01 -1.71932159e-01 -2.10430390e-03 4.09476309e+02] [ 1.71931947e-01 9.85108789e-01 -2.82537291e-04 4.34762711e+01] [ 2.12154551e-03 -8.34677328e-05 9.99997746e-01 -2.25095134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.901400513 meters 0.04192082489980918 Centerline is valid? [True, True] Translation: X:409.51, Y:43.47, Z:-2.25 [[ 9.84803311e-01 -1.73654604e-01 -2.55277128e-03 4.09505225e+02] [ 1.73654298e-01 9.84806614e-01 -3.42885759e-04 4.34746199e+01] [ 2.57352973e-03 -1.05624673e-04 9.99996683e-01 -2.25228438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.931400513 meters 0.04041698349619056 Centerline is valid? [True, True] Translation: X:409.53, Y:43.48, Z:-2.25 [[ 9.84536092e-01 -1.75159137e-01 -2.82133815e-03 4.09534250e+02] [ 1.75158769e-01 9.84540127e-01 -3.78936904e-04 4.34798715e+01] [ 2.84409488e-03 -1.21105058e-04 9.99995948e-01 -2.25232090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.961400513 meters 0.047788368103818986 Centerline is valid? [True, True] Translation: X:409.56, Y:43.47, Z:-2.25 [[ 9.84014071e-01 -1.78075163e-01 -2.35467614e-03 4.09564845e+02] [ 1.78074915e-01 9.84016882e-01 -3.16239684e-04 4.34731485e+01] [ 2.37335551e-03 -1.08124454e-04 9.99997178e-01 -2.25277580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99140051300003 meters 0.051713877763742 Centerline is valid? [True, True] Translation: X:409.59, Y:43.48, Z:-2.25 [[ 9.83781399e-01 -1.79359962e-01 -2.04045181e-03 4.09592844e+02] [ 1.79359777e-01 9.83783510e-01 -2.74688011e-04 4.34778035e+01] [ 2.05663088e-03 -9.57420277e-05 9.99997881e-01 -2.25126773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.021400513 meters 0.0487093977010764 Centerline is valid? [True, True] Translation: X:409.62, Y:43.48, Z:-2.25 [[ 9.83636571e-01 -1.80162435e-01 -7.69788380e-04 4.09621660e+02] [ 1.80162409e-01 9.83636872e-01 -1.04532831e-04 4.34799284e+01] [ 7.76025124e-04 -3.58646136e-05 9.99999698e-01 -2.24984378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05140051300003 meters 0.05050211333043829 Centerline is valid? [True, True] Translation: X:409.65, Y:43.48, Z:-2.25 [[ 9.83558606e-01 -1.80589187e-01 1.20826760e-04 4.09650219e+02] [ 1.80589186e-01 9.83558613e-01 1.59171395e-05 4.34791212e+01] [-1.21714664e-04 6.16456679e-06 9.99999993e-01 -2.24905338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.081400513 meters 0.054042913433198336 Centerline is valid? [True, True] Translation: X:409.68, Y:43.48, Z:-2.25 [[ 9.83331735e-01 -1.81820377e-01 2.24835847e-04 4.09679479e+02] [ 1.81820375e-01 9.83331760e-01 2.93507448e-05 4.34777402e+01] [-2.26424792e-04 1.20182191e-05 9.99999974e-01 -2.24924195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.111400513 meters 0.05317206303217183 Centerline is valid? [True, True] Translation: X:409.71, Y:43.48, Z:-2.25 [[ 9.83184705e-01 -1.82613845e-01 -1.40318564e-04 4.09707740e+02] [ 1.82613844e-01 9.83184715e-01 -1.92577434e-05 4.34798963e+01] [ 1.41475798e-04 -6.69019357e-06 9.99999990e-01 -2.25018769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.141400513 meters 0.05371892915880699 Centerline is valid? [True, True] Translation: X:409.74, Y:43.48, Z:-2.25 [[ 9.82992040e-01 -1.83648150e-01 -7.98524518e-05 4.09736820e+02] [ 1.83648150e-01 9.82992043e-01 -1.17327475e-05 4.34814950e+01] [ 8.06490221e-05 -3.13155757e-06 9.99999997e-01 -2.25027451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.171400513 meters 0.05583019780031228 Centerline is valid? [True, True] Translation: X:409.77, Y:43.48, Z:-2.25 [[ 9.82753773e-01 -1.84918069e-01 5.74147539e-04 4.09765490e+02] [ 1.84918056e-01 9.82753940e-01 7.66376625e-05 4.34830802e+01] [-5.78417445e-04 3.08542949e-05 9.99999832e-01 -2.24911893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.201400513 meters 0.05627711125063056 Centerline is valid? [True, True] Translation: X:409.79, Y:43.48, Z:-2.25 [[ 9.82486020e-01 -1.86327648e-01 1.79653467e-03 4.09794753e+02] [ 1.86327515e-01 9.82487658e-01 2.42660774e-04 4.34836767e+01] [-1.81028755e-03 9.63330213e-05 9.99998357e-01 -2.24730805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.231400513 meters 0.05939075624266687 Centerline is valid? [True, True] Translation: X:409.82, Y:43.48, Z:-2.25 [[ 9.82165753e-01 -1.87982785e-01 3.59250724e-03 4.09824055e+02] [ 1.87982262e-01 9.82172303e-01 4.85553162e-04 4.34791076e+01] [-3.61973675e-03 1.98433952e-04 9.99993429e-01 -2.24576619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.261400513 meters 0.05963518721774843 Centerline is valid? [True, True] Translation: X:409.85, Y:43.48, Z:-2.24 [[ 9.81523508e-01 -1.91278999e-01 4.89369606e-03 4.09854641e+02] [ 1.91278069e-01 9.81535665e-01 6.61783707e-04 4.34782434e+01] [-4.92992255e-03 2.86500468e-04 9.99987807e-01 -2.24431669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.291400513 meters 0.06367476377749642 Centerline is valid? [True, True] Translation: X:409.88, Y:43.48, Z:-2.25 [[ 9.81220956e-01 -1.92845174e-01 4.02164813e-03 4.09883147e+02] [ 1.92844559e-01 9.81229168e-01 5.43794579e-04 4.34774432e+01] [-4.05102661e-03 2.41970321e-04 9.99991765e-01 -2.24616234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.321400513 meters 0.06755233859678947 Centerline is valid? [True, True] Translation: X:409.91, Y:43.47, Z:-2.25 [[ 9.81064165e-01 -1.93667438e-01 2.45529265e-03 4.09911467e+02] [ 1.93667212e-01 9.81067226e-01 3.31825333e-04 4.34719530e+01] [-2.47307091e-03 1.49967737e-04 9.99996931e-01 -2.24906323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.351400513 meters 0.06438034231838378 Centerline is valid? [True, True] Translation: X:409.94, Y:43.48, Z:-2.25 [[ 9.80968614e-01 -1.94164882e-01 7.59278994e-04 4.09939240e+02] [ 1.94164861e-01 9.80968907e-01 1.01962447e-04 4.34837616e+01] [-7.64626611e-04 4.74033403e-05 9.99999707e-01 -2.25060205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.381400513 meters 0.059777941605091034 Centerline is valid? [True, True] Translation: X:409.97, Y:43.49, Z:-2.25 [[ 9.81070784e-01 -1.93648870e-01 4.82031912e-04 4.09968487e+02] [ 1.93648861e-01 9.81070902e-01 6.48849607e-05 4.34867449e+01] [-4.85472382e-04 2.96881916e-05 9.99999882e-01 -2.25131086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.411400513 meters 0.0672219766561544 Centerline is valid? [True, True] Translation: X:410.00, Y:43.49, Z:-2.25 [[ 9.81200258e-01 -1.92986880e-01 1.45508649e-03 4.09995896e+02] [ 1.92990505e-01 9.81196017e-01 -3.00695591e-03 4.34911349e+01] [-8.47422030e-04 3.23124379e-03 9.99994420e-01 -2.25140973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.441400513 meters 0.05975147587076657 Centerline is valid? [True, True] Translation: X:410.03, Y:43.49, Z:-2.25 [[ 9.81428611e-01 -1.91827390e-01 3.65217295e-04 4.10025395e+02] [ 1.91825228e-01 9.81423734e-01 3.24600700e-03 4.34853654e+01] [-9.81105972e-04 -3.11566625e-03 9.99994665e-01 -2.25164090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.471400513 meters 0.057180713056729296 Centerline is valid? [True, True] Translation: X:410.05, Y:43.49, Z:-2.25 [[ 9.81656801e-01 -1.90655336e-01 6.83501190e-04 4.10053655e+02] [ 1.90655318e-01 9.81657039e-01 9.26236275e-05 4.34923773e+01] [-6.88622943e-04 3.93885226e-05 9.99999762e-01 -2.25213975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.501400513 meters 0.05712183482998428 Centerline is valid? [True, True] Translation: X:410.08, Y:43.49, Z:-2.25 [[ 9.81867358e-01 -1.89569198e-01 9.97134692e-05 4.10081505e+02] [ 1.89569198e-01 9.81867363e-01 1.32175810e-05 4.34940057e+01] [-1.00411047e-04 5.92469107e-06 9.99999995e-01 -2.25345224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.531400513 meters 0.05563087485380381 Centerline is valid? [True, True] Translation: X:410.11, Y:43.50, Z:-2.25 [[ 9.82081251e-01 -1.88457369e-01 -4.86288147e-04 4.10109837e+02] [ 1.88457359e-01 9.82081371e-01 -6.64228390e-05 4.34997435e+01] [ 4.90092403e-04 -2.64119553e-05 9.99999880e-01 -2.25395435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.561400513 meters 0.0618143175444834 Centerline is valid? [True, True] Translation: X:410.14, Y:43.49, Z:-2.26 [[ 9.82397502e-01 -1.86800053e-01 -9.42256349e-04 4.10139589e+02] [ 1.86800015e-01 9.82397953e-01 -1.28408978e-04 4.34945829e+01] [ 9.49657512e-04 -4.98648408e-05 9.99999548e-01 -2.25516633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.591400513 meters 0.057938385038873275 Centerline is valid? [True, True] Translation: X:410.17, Y:43.50, Z:-2.26 [[ 9.82540524e-01 -1.86041718e-01 -1.61177858e-03 4.10167857e+02] [ 1.86041605e-01 9.82541843e-01 -2.20520264e-04 4.35031029e+01] [ 1.62466587e-03 -8.31877789e-05 9.99998677e-01 -2.25560267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.621400513 meters 0.05434408219225856 Centerline is valid? [True, True] Translation: X:410.20, Y:43.51, Z:-2.26 [[ 9.82740971e-01 -1.84979390e-01 -1.67613657e-03 4.10196575e+02] [ 1.84979269e-01 9.82742397e-01 -2.28686442e-04 4.35073652e+01] [ 1.68951275e-03 -8.53109803e-05 9.99998569e-01 -2.25658296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.651400513 meters 0.05434408219225856 Centerline is valid? [True, True] Translation: X:410.22, Y:43.51, Z:-2.26 [[ 9.82706220e-01 -1.85163918e-01 -1.67598318e-03 4.10223832e+02] [ 1.85163795e-01 9.82707645e-01 -2.29811045e-04 4.35112399e+01] [ 1.68955420e-03 -8.44946638e-05 9.99998569e-01 -2.25674264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.681400513 meters 0.05048085669737278 Centerline is valid? [True, True] Translation: X:410.25, Y:43.52, Z:-2.26 [[ 9.82958482e-01 -1.83824517e-01 -1.08180723e-03 4.10252326e+02] [ 1.83824465e-01 9.82959076e-01 -1.47954119e-04 4.35154626e+01] [ 1.09056983e-03 -5.34298796e-05 9.99999404e-01 -2.25571939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.711400513 meters 0.052308529337158176 Centerline is valid? [True, True] Translation: X:410.28, Y:43.52, Z:-2.25 [[ 9.83066514e-01 -1.83248675e-01 -3.89244259e-04 4.10281157e+02] [ 1.83248668e-01 9.83066591e-01 -5.41010405e-05 4.35207123e+01] [ 3.92566970e-04 -1.81435706e-05 9.99999923e-01 -2.25414858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74140051300003 meters 0.05295538997833547 Centerline is valid? [True, True] Translation: X:410.31, Y:43.52, Z:-2.25 [[ 9.83049106e-01 -1.83341553e-01 5.75190017e-04 4.10308930e+02] [ 1.83341539e-01 9.83049273e-01 7.82999104e-05 4.35215863e+01] [-5.79795755e-04 2.84835659e-05 9.99999832e-01 -2.25222671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.771400513 meters 0.05067376611990103 Centerline is valid? [True, True] Translation: X:410.34, Y:43.53, Z:-2.25 [[ 9.82916350e-01 -1.84052838e-01 3.27141192e-05 4.10337344e+02] [ 1.84052838e-01 9.82916351e-01 3.50394322e-06 4.35276615e+01] [-3.28001534e-05 2.57704338e-06 9.99999999e-01 -2.25264823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80140051300003 meters 0.050078198992311904 Centerline is valid? [True, True] Translation: X:410.37, Y:43.53, Z:-2.25 [[ 9.82842717e-01 -1.84444264e-01 -7.12389117e-04 4.10365188e+02] [ 1.84444242e-01 9.82842974e-01 -9.79149536e-05 4.35299655e+01] [ 7.18226490e-04 -3.51610714e-05 9.99999741e-01 -2.25428756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.831400513 meters 0.04730140905035539 Centerline is valid? [True, True] Translation: X:410.39, Y:43.54, Z:-2.26 [[ 9.82763827e-01 -1.84860990e-01 -1.29398129e-03 4.10393031e+02] [ 1.84860915e-01 9.82764677e-01 -1.78443803e-04 4.35373274e+01] [ 1.30466640e-03 -6.38384502e-05 9.99999147e-01 -2.25525692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.861400513 meters 0.057266915922529055 Centerline is valid? [True, True] Translation: X:410.42, Y:43.53, Z:-2.26 [[ 9.82756605e-01 -1.84899605e-01 -1.26122625e-03 4.10421649e+02] [ 1.84899534e-01 9.82757413e-01 -1.73557813e-04 4.35289752e+01] [ 1.27157022e-03 -6.26350593e-05 9.99999190e-01 -2.25736626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.891400513 meters 0.05168683763376496 Centerline is valid? [True, True] Translation: X:410.45, Y:43.54, Z:-2.25 [[ 9.82604235e-01 -1.85711497e-01 3.95443685e-04 4.10448337e+02] [ 1.85711491e-01 9.82604315e-01 5.33362757e-05 4.35441990e+01] [-3.98469830e-04 2.10299859e-05 9.99999920e-01 -2.25327593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.921400513 meters 0.05171042609160263 Centerline is valid? [True, True] Translation: X:410.48, Y:43.54, Z:-2.25 [[ 9.82488277e-01 -1.86319328e-01 1.37630133e-03 4.10476365e+02] [ 1.86319246e-01 9.82489238e-01 1.88690212e-04 4.35438899e+01] [-1.38735788e-03 7.10455049e-05 9.99999035e-01 -2.25240026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.951400513 meters 0.05751702044633903 Centerline is valid? [True, True] Translation: X:410.50, Y:43.55, Z:-2.25 [[ 9.82397694e-01 -1.86799162e-01 9.19040507e-04 4.10504769e+02] [ 1.86799126e-01 9.82398122e-01 1.25545082e-04 4.35485960e+01] [-9.26315385e-04 4.83407648e-05 9.99999570e-01 -2.25242181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.981400513 meters 0.052390780704873526 Centerline is valid? [True, True] Translation: X:410.53, Y:43.56, Z:-2.25 [[ 9.82458075e-01 -1.86483254e-01 -3.55910677e-04 4.10532909e+02] [ 1.86483248e-01 9.82458139e-01 -5.00237013e-05 4.35555416e+01] [ 3.58995924e-04 -1.72251897e-05 9.99999935e-01 -2.25395287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.011400513 meters 0.04989257572901471 Centerline is valid? [True, True] Translation: X:410.56, Y:43.57, Z:-2.26 [[ 9.82614806e-01 -1.85640853e-01 -2.36984275e-03 4.10560201e+02] [ 1.85640601e-01 9.82617657e-01 -3.28036350e-04 4.35692524e+01] [ 2.38954628e-03 -1.17605657e-04 9.99997138e-01 -2.25734829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.041400513 meters 0.054489245178542395 Centerline is valid? [True, True] Translation: X:410.59, Y:43.57, Z:-2.26 [[ 9.82620800e-01 -1.85611734e-01 -2.15586736e-03 4.10587729e+02] [ 1.85611526e-01 9.82623159e-01 -2.97992910e-04 4.35697892e+01] [ 2.17371618e-03 -1.07339800e-04 9.99997632e-01 -2.25818838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.071400513 meters 0.05390677044950862 Centerline is valid? [True, True] Translation: X:410.62, Y:43.57, Z:-2.26 [[ 9.82638529e-01 -1.85525188e-01 -1.38760129e-03 4.10615046e+02] [ 1.85525101e-01 9.82639507e-01 -1.91990074e-04 4.35749016e+01] [ 1.39913085e-03 -6.87780270e-05 9.99999019e-01 -2.25712804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.101400513 meters 0.05502326344050136 Centerline is valid? [True, True] Translation: X:410.64, Y:43.59, Z:-2.26 [[ 9.82732230e-01 -1.85031277e-01 -8.88750750e-04 4.10642370e+02] [ 1.85031240e-01 9.82732631e-01 -1.23874327e-04 4.35874500e+01] [ 8.96324988e-04 -4.27113601e-05 9.99999597e-01 -2.25554036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.131400513 meters 0.045152967749741854 Centerline is valid? [True, True] Translation: X:410.67, Y:43.60, Z:-2.25 [[ 9.82866877e-01 -1.84315117e-01 -7.99796218e-04 4.10670204e+02] [ 1.84315087e-01 9.82867202e-01 -1.11655923e-04 4.36001857e+01] [ 8.06673345e-04 -3.76716012e-05 9.99999674e-01 -2.25454248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.161400513 meters 0.05256650881456343 Centerline is valid? [True, True] Translation: X:410.70, Y:43.60, Z:-2.26 [[ 9.82872276e-01 -1.84284504e-01 -1.14518067e-03 4.10696819e+02] [ 1.84284443e-01 9.82872941e-01 -1.59140129e-04 4.36034830e+01] [ 1.15489415e-03 -5.46245613e-05 9.99999332e-01 -2.25556472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.191400513 meters 0.05129828550965601 Centerline is valid? [True, True] Translation: X:410.72, Y:43.62, Z:-2.26 [[ 9.82646833e-01 -1.85477999e-01 -1.76431196e-03 4.10724295e+02] [ 1.85477858e-01 9.82648413e-01 -2.44600099e-04 4.36201035e+01] [ 1.77906629e-03 -8.68852911e-05 9.99998414e-01 -2.25687526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.221400513 meters 0.048270749910719536 Centerline is valid? [True, True] Translation: X:410.75, Y:43.63, Z:-2.26 [[ 9.82399400e-01 -1.86783216e-01 -1.85704110e-03 4.10752241e+02] [ 1.86783060e-01 9.82401151e-01 -2.58607045e-04 4.36275923e+01] [ 1.87266277e-03 -9.28084123e-05 9.99998242e-01 -2.25794755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.251400513 meters 0.059068873533323 Centerline is valid? [True, True] Translation: X:410.78, Y:43.63, Z:-2.26 [[ 9.82007033e-01 -1.88834078e-01 -1.96946908e-03 4.10780811e+02] [ 1.88833908e-01 9.82009002e-01 -2.73597150e-04 4.36285776e+01] [ 1.98570084e-03 -1.03228219e-04 9.99998023e-01 -2.25949114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.281400513 meters 0.05625922546325544 Centerline is valid? [True, True] Translation: X:410.81, Y:43.64, Z:-2.26 [[ 9.81536125e-01 -1.91272333e-01 -1.31526730e-03 4.10810568e+02] [ 1.91272260e-01 9.81537003e-01 -1.82529392e-04 4.36358750e+01] [ 1.32589634e-03 -7.24149559e-05 9.99999118e-01 -2.25843081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.311400513 meters 0.06274667577528158 Centerline is valid? [True, True] Translation: X:410.84, Y:43.64, Z:-2.26 [[ 9.80441576e-01 -1.96809277e-01 6.51350873e-04 4.10840509e+02] [ 1.96809260e-01 9.80441792e-01 9.03388631e-05 4.36362444e+01] [-6.56391143e-04 3.96199059e-05 9.99999784e-01 -2.25598744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.341400513 meters 0.06289139558240268 Centerline is valid? [True, True] Translation: X:410.87, Y:43.64, Z:-2.26 [[ 9.79854789e-01 -1.99711093e-01 2.66614171e-04 4.10869549e+02] [ 1.99711090e-01 9.79854825e-01 3.69736351e-05 4.36440467e+01] [-2.68627227e-04 1.70170133e-05 9.99999964e-01 -2.25607404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.371400513 meters 0.0651892001104801 Centerline is valid? [True, True] Translation: X:410.90, Y:43.65, Z:-2.26 [[ 9.79308462e-01 -2.02373203e-01 -1.53155376e-04 4.10899192e+02] [ 2.02373202e-01 9.79308474e-01 -2.12942956e-05 4.36502720e+01] [ 1.54295752e-04 -1.01408600e-05 9.99999988e-01 -2.25702992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.401400513 meters 0.06522740379758488 Centerline is valid? [True, True] Translation: X:410.93, Y:43.65, Z:-2.26 [[ 9.78784223e-01 -2.04893669e-01 1.72880679e-04 4.10929403e+02] [ 2.04893668e-01 9.78784238e-01 2.39324631e-05 4.36522759e+01] [-1.74116494e-04 1.19974392e-05 9.99999985e-01 -2.25797832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.431400513 meters 0.07139636151383996 Centerline is valid? [True, True] Translation: X:410.96, Y:43.65, Z:-2.26 [[ 9.78241389e-01 -2.07468447e-01 7.92540074e-04 4.10959451e+02] [ 2.07468425e-01 9.78241709e-01 1.09924603e-04 4.36500015e+01] [-7.98101643e-04 5.68942446e-05 9.99999680e-01 -2.25789766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.461400513 meters 0.07743923126173255 Centerline is valid? [True, True] Translation: X:410.99, Y:43.65, Z:-2.26 [[ 9.77789919e-01 -2.09582730e-01 1.39795595e-03 4.10988997e+02] [ 2.09582666e-01 9.77790913e-01 1.93975828e-04 4.36475248e+01] [-1.40756261e-03 1.03319725e-04 9.99999004e-01 -2.25710883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49140051300003 meters 0.08091257715983394 Centerline is valid? [True, True] Translation: X:411.02, Y:43.65, Z:-2.26 [[ 9.77363098e-01 -2.11568775e-01 -1.65609840e-04 4.11018689e+02] [ 2.11568774e-01 9.77363112e-01 -2.30454936e-05 4.36499465e+01] [ 1.66736655e-04 -1.25140557e-05 9.99999986e-01 -2.25869382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.521400513 meters 0.08251452182048362 Centerline is valid? [True, True] Translation: X:411.05, Y:43.65, Z:-2.26 [[ 9.77390775e-01 -2.11435866e-01 -1.46514521e-03 4.11047110e+02] [ 2.11435795e-01 9.77391867e-01 -2.04594298e-04 4.36537614e+01] [ 1.47527959e-03 -1.09815564e-04 9.99998906e-01 -2.26041001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55140051300003 meters 0.08189638353000692 Centerline is valid? [True, True] Translation: X:411.08, Y:43.66, Z:-2.26 [[ 9.77584354e-01 -2.10525749e-01 -2.78205207e-03 4.11076128e+02] [ 2.10525493e-01 9.77588291e-01 -3.88012480e-04 4.36583050e+01] [ 2.80138815e-03 -2.06377954e-04 9.99996055e-01 -2.26266252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.581400513 meters 0.07371741682788277 Centerline is valid? [True, True] Translation: X:411.10, Y:43.67, Z:-2.26 [[ 9.77875293e-01 -2.09163447e-01 -3.25031939e-03 4.11104375e+02] [ 2.09163092e-01 9.77880666e-01 -4.52543226e-04 4.36691197e+01] [ 3.27307999e-03 -2.37316015e-04 9.99994615e-01 -2.26274381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.611400513 meters 0.0700304366076617 Centerline is valid? [True, True] Translation: X:411.13, Y:43.68, Z:-2.26 [[ 9.78640027e-01 -2.05568340e-01 -2.31419268e-03 4.11133568e+02] [ 2.05568150e-01 9.78642750e-01 -3.22496428e-04 4.36774676e+01] [ 2.33106295e-03 -1.60116395e-04 9.99997270e-01 -2.26094410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.641400513 meters 0.062077106031474386 Centerline is valid? [True, True] Translation: X:411.16, Y:43.69, Z:-2.26 [[ 9.79127163e-01 -2.03243793e-01 -1.40007558e-03 4.11162061e+02] [ 2.03243721e-01 9.79128159e-01 -1.94997214e-04 4.36926821e+01] [ 1.41048540e-03 -9.36295013e-05 9.99999001e-01 -2.25844965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.671400513 meters 0.06554940259406869 Centerline is valid? [True, True] Translation: X:411.19, Y:43.69, Z:-2.26 [[ 9.79687581e-01 -2.00529702e-01 -2.88614916e-04 4.11192080e+02] [ 2.00529698e-01 9.79687623e-01 -4.02964267e-05 4.36911472e+01] [ 2.90833091e-04 -1.83979532e-05 9.99999958e-01 -2.25767931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.701400513 meters 0.0632462142075366 Centerline is valid? [True, True] Translation: X:411.22, Y:43.70, Z:-2.26 [[ 9.80249029e-01 -1.97766930e-01 2.87570208e-04 4.11222039e+02] [ 1.97766927e-01 9.80249071e-01 4.00142183e-05 4.36978144e+01] [-2.89803918e-04 1.76479777e-05 9.99999958e-01 -2.25650641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.731400513 meters 0.05627266678285213 Centerline is valid? [True, True] Translation: X:411.25, Y:43.71, Z:-2.26 [[ 9.80807946e-01 -1.94976125e-01 2.88067746e-04 4.11251043e+02] [ 1.94976122e-01 9.80807989e-01 4.00584286e-05 4.37107079e+01] [-2.90349583e-04 1.68767067e-05 9.99999958e-01 -2.25583026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.761400513 meters 0.05206081249774446 Centerline is valid? [True, True] Translation: X:411.28, Y:43.72, Z:-2.26 [[ 9.81672419e-01 -1.90575553e-01 4.69653293e-04 4.11279761e+02] [ 1.90575544e-01 9.81672531e-01 6.53133866e-05 4.37208535e+01] [-4.73492871e-04 2.53880813e-05 9.99999888e-01 -2.25580336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.791400513 meters 0.05762572946669225 Centerline is valid? [True, True] Translation: X:411.31, Y:43.72, Z:-2.26 [[ 9.81949387e-01 -1.89143198e-01 5.01451887e-04 4.11309481e+02] [ 1.89143187e-01 9.81949515e-01 6.97260638e-05 4.37188915e+01] [-5.05588648e-04 2.63787425e-05 9.99999872e-01 -2.25678244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.821400513 meters 0.051717873883750175 Centerline is valid? [True, True] Translation: X:411.34, Y:43.73, Z:-2.26 [[ 9.82049901e-01 -1.88621173e-01 2.14753310e-04 4.11337275e+02] [ 1.88621171e-01 9.82049924e-01 2.94344979e-05 4.37318335e+01] [-2.16450441e-04 1.16008749e-05 9.99999977e-01 -2.25661538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.851400513 meters 0.05094243965084387 Centerline is valid? [True, True] Translation: X:411.36, Y:43.74, Z:-2.26 [[ 9.82000675e-01 -1.88877393e-01 7.47974281e-05 4.11364601e+02] [ 1.88877393e-01 9.82000677e-01 9.33738189e-06 4.37388972e+01] [-7.52147454e-05 4.95822791e-06 9.99999997e-01 -2.25699528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.881400513 meters 0.0522870136336431 Centerline is valid? [True, True] Translation: X:411.39, Y:43.74, Z:-2.26 [[ 9.81808378e-01 -1.89874457e-01 -2.28074895e-05 4.11391953e+02] [ 1.89874457e-01 9.81808378e-01 -3.52945168e-06 4.37434410e+01] [ 2.30627370e-05 -8.65314456e-07 1.00000000e+00 -2.25744299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.911400513 meters 0.05512456840038153 Centerline is valid? [True, True] Translation: X:411.42, Y:43.75, Z:-2.26 [[ 9.81448401e-01 -1.91726460e-01 -3.10080178e-05 4.11420073e+02] [ 1.91726460e-01 9.81448401e-01 -4.65764284e-06 4.37464888e+01] [ 3.13257629e-05 -1.37382138e-06 1.00000000e+00 -2.25778992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.941400513 meters 0.058653323028919735 Centerline is valid? [True, True] Translation: X:411.45, Y:43.75, Z:-2.26 [[ 9.80729866e-01 -1.95368685e-01 -8.18843511e-05 4.11449899e+02] [ 1.95368685e-01 9.80729869e-01 -1.14516121e-05 4.37512701e+01] [ 8.25437154e-05 -4.76670003e-06 9.99999997e-01 -2.25803008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.971400513 meters 0.0594054080673193 Centerline is valid? [True, True] Translation: X:411.48, Y:43.76, Z:-2.26 [[ 9.80410761e-01 -1.96963128e-01 -5.16181907e-04 4.11478992e+02] [ 1.96963118e-01 9.80410896e-01 -7.22694624e-05 4.37576115e+01] [ 5.20304785e-04 -3.08150391e-05 9.99999864e-01 -2.25850845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.001400513 meters 0.061733748092864124 Centerline is valid? [True, True] Translation: X:411.51, Y:43.76, Z:-2.26 [[ 9.80131495e-01 -1.98346462e-01 -9.65781762e-04 4.11508167e+02] [ 1.98346425e-01 9.80131969e-01 -1.35120654e-04 4.37624656e+01] [ 9.73394284e-04 -5.91233510e-05 9.99999525e-01 -2.25975807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.031400513 meters 0.06271256870678 Centerline is valid? [True, True] Translation: X:411.54, Y:43.77, Z:-2.26 [[ 9.79408602e-01 -2.01883226e-01 -1.39772313e-03 4.11537200e+02] [ 2.01883152e-01 9.79409595e-01 -1.95397556e-04 4.37728964e+01] [ 1.40839093e-03 -9.08027031e-05 9.99999004e-01 -2.26079859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.061400513 meters 0.06591156905343348 Centerline is valid? [True, True] Translation: X:411.57, Y:43.78, Z:-2.26 [[ 9.78993080e-01 -2.03885903e-01 -1.75722610e-03 4.11565666e+02] [ 2.03885788e-01 9.78994650e-01 -2.45792091e-04 4.37763759e+01] [ 1.77042849e-03 -1.17644672e-04 9.99998426e-01 -2.26179775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.091400513 meters 0.07377672292421006 Centerline is valid? [True, True] Translation: X:411.60, Y:43.77, Z:-2.26 [[ 9.78533547e-01 -2.06075293e-01 -2.25202373e-03 4.11596084e+02] [ 2.06075112e-01 9.78536126e-01 -3.14927838e-04 4.37717336e+01] [ 2.26858542e-03 -1.55918587e-04 9.99997415e-01 -2.26427757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.121400513 meters 0.0704510900438899 Centerline is valid? [True, True] Translation: X:411.63, Y:43.78, Z:-2.26 [[ 9.78029213e-01 -2.08445723e-01 -3.03966808e-03 4.11625794e+02] [ 2.08445404e-01 9.78033912e-01 -4.25059057e-04 4.37814305e+01] [ 3.06150020e-03 -2.17884666e-04 9.99995290e-01 -2.26484666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.151400513 meters 0.0693031699437675 Centerline is valid? [True, True] Translation: X:411.66, Y:43.79, Z:-2.27 [[ 9.77514229e-01 -2.10829628e-01 -4.09885939e-03 4.11655678e+02] [ 2.10829068e-01 9.77522775e-01 -5.73144878e-04 4.37889791e+01] [ 4.12756432e-03 -3.03901431e-04 9.99991435e-01 -2.26565466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.181400513 meters 0.07883130448437772 Centerline is valid? [True, True] Translation: X:411.69, Y:43.79, Z:-2.27 [[ 9.77070815e-01 -2.12857672e-01 -4.92281304e-03 4.11685723e+02] [ 2.12856889e-01 9.77083144e-01 -6.88551488e-04 4.37864889e+01] [ 4.95656111e-03 -3.75091106e-04 9.99987646e-01 -2.26804224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.211400513 meters 0.08209153850981794 Centerline is valid? [True, True] Translation: X:411.71, Y:43.79, Z:-2.27 [[ 9.76506509e-01 -2.15446700e-01 -4.21388364e-03 4.11714898e+02] [ 2.15446149e-01 9.76515545e-01 -5.89563580e-04 4.37865045e+01] [ 4.24194241e-03 -3.32152329e-04 9.99990948e-01 -2.26782244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24140051300003 meters 0.08491815370924817 Centerline is valid? [True, True] Translation: X:411.74, Y:43.79, Z:-2.27 [[ 9.76323465e-01 -2.16292211e-01 -3.18919981e-03 4.11743884e+02] [ 2.16291899e-01 9.76328641e-01 -4.46382387e-04 4.37883165e+01] [ 3.21025615e-03 -2.53984485e-04 9.99994815e-01 -2.26669398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.271400513 meters 0.07718143464598413 Centerline is valid? [True, True] Translation: X:411.77, Y:43.80, Z:-2.26 [[ 9.76248946e-01 -2.16636421e-01 -2.58002393e-03 4.11770748e+02] [ 2.16636215e-01 9.76252334e-01 -3.62320395e-04 4.38032360e+01] [ 2.59724618e-03 -2.05211716e-04 9.99996606e-01 -2.26485978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30140051300003 meters 0.07895818700152067 Centerline is valid? [True, True] Translation: X:411.80, Y:43.81, Z:-2.26 [[ 9.76364568e-01 -2.16120422e-01 -2.04766558e-03 4.11799096e+02] [ 2.16120293e-01 9.76366702e-01 -2.87176955e-04 4.38057373e+01] [ 2.06133729e-03 -1.62152680e-04 9.99997862e-01 -2.26463209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.331400513 meters 0.0757972315203712 Centerline is valid? [True, True] Translation: X:411.83, Y:43.81, Z:-2.26 [[ 9.76524071e-01 -2.15396873e-01 -2.21958287e-03 4.11827099e+02] [ 2.15396718e-01 9.76526578e-01 -3.11369239e-04 4.38143429e+01] [ 2.23454963e-03 -1.74031309e-04 9.99997488e-01 -2.26482382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.361400513 meters 0.07996801768411509 Centerline is valid? [True, True] Translation: X:411.86, Y:43.81, Z:-2.27 [[ 9.76744521e-01 -2.14395820e-01 -2.13845988e-03 4.11855917e+02] [ 2.14395674e-01 9.76746848e-01 -3.00005085e-04 4.38144405e+01] [ 2.15305379e-03 -1.65448225e-04 9.99997668e-01 -2.26517261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.391400513 meters 0.07543955816625626 Centerline is valid? [True, True] Translation: X:411.88, Y:43.83, Z:-2.26 [[ 9.76698286e-01 -2.14607476e-01 -2.02219256e-03 4.11882301e+02] [ 2.14607343e-01 9.76700367e-01 -2.84950489e-04 4.38252036e+01] [ 2.03622872e-03 -1.55666718e-04 9.99997915e-01 -2.26396590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.421400513 meters 0.07803297273389294 Centerline is valid? [True, True] Translation: X:411.91, Y:43.83, Z:-2.26 [[ 9.76627330e-01 -2.14935256e-01 -1.37585642e-03 4.11909746e+02] [ 2.14935196e-01 9.76628294e-01 -1.93640979e-04 4.38261275e+01] [ 1.38532058e-03 -1.06604898e-04 9.99999035e-01 -2.26326171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.451400513 meters 0.07317626803659394 Centerline is valid? [True, True] Translation: X:411.94, Y:43.84, Z:-2.26 [[ 9.76360825e-01 -2.16145984e-01 -6.72743275e-04 4.11937649e+02] [ 2.16145970e-01 9.76361055e-01 -9.47185029e-05 4.38377671e+01] [ 6.77313358e-04 -5.29313122e-05 9.99999769e-01 -2.26176889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.481400513 meters 0.08692099721242673 Centerline is valid? [True, True] Translation: X:411.97, Y:43.83, Z:-2.26 [[ 9.76085855e-01 -2.17385223e-01 -2.61658141e-04 4.11967983e+02] [ 2.17385221e-01 9.76085890e-01 -3.70443479e-05 4.38250826e+01] [ 2.63453713e-04 -2.07221488e-05 9.99999965e-01 -2.26233601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.511400513 meters 0.07854779837448254 Centerline is valid? [True, True] Translation: X:412.00, Y:43.83, Z:-2.26 [[ 9.75909934e-01 -2.18172943e-01 -6.06308083e-04 4.11996215e+02] [ 2.18172932e-01 9.75910121e-01 -8.55035744e-05 4.38348890e+01] [ 6.10356761e-04 -4.88362243e-05 9.99999813e-01 -2.26190854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.541400513 meters 0.07854779837448254 Centerline is valid? [True, True] Translation: X:412.02, Y:43.84, Z:-2.26 [[ 9.75870179e-01 -2.18350697e-01 -6.06182225e-04 4.12023497e+02] [ 2.18350685e-01 9.75870366e-01 -8.63980717e-05 4.38388660e+01] [ 6.10420349e-04 -4.80470027e-05 9.99999813e-01 -2.26206847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.571400513 meters 0.07543017075329976 Centerline is valid? [True, True] Translation: X:412.05, Y:43.85, Z:-2.26 [[ 9.75983219e-01 -2.17842465e-01 -1.19000402e-03 4.12050750e+02] [ 2.17842420e-01 9.75983940e-01 -1.68633696e-04 4.38492752e+01] [ 1.19816039e-03 -9.46496983e-05 9.99999278e-01 -2.26259360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.601400513 meters 0.07261006342313524 Centerline is valid? [True, True] Translation: X:412.08, Y:43.85, Z:-2.26 [[ 9.76436196e-01 -2.15800180e-01 -1.62398656e-03 4.12079473e+02] [ 2.15800096e-01 9.76437538e-01 -2.29004622e-04 4.38542731e+01] [ 1.63514068e-03 -1.26848054e-04 9.99998655e-01 -2.26313623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.631400513 meters 0.07570247707278226 Centerline is valid? [True, True] Translation: X:412.11, Y:43.86, Z:-2.26 [[ 9.76889782e-01 -2.13736877e-01 -1.70319539e-03 4.12109260e+02] [ 2.13736781e-01 9.76891258e-01 -2.40237350e-04 4.38586970e+01] [ 1.71518427e-03 -1.29350088e-04 9.99998521e-01 -2.26394545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.661400513 meters 0.06303927751301334 Centerline is valid? [True, True] Translation: X:412.14, Y:43.88, Z:-2.26 [[ 9.78302985e-01 -2.07175403e-01 -1.27388663e-03 4.12136972e+02] [ 2.07175343e-01 9.78303810e-01 -1.79689836e-04 4.38772026e+01] [ 1.28347546e-03 -8.81267984e-05 9.99999172e-01 -2.26198767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.691400513 meters 0.06371475123855773 Centerline is valid? [True, True] Translation: X:412.17, Y:43.88, Z:-2.26 [[ 9.79061625e-01 -2.03563588e-01 -4.47865918e-04 4.12165337e+02] [ 2.03563580e-01 9.79061727e-01 -6.33368332e-05 4.38840911e+01] [ 4.51381452e-04 -2.91585270e-05 9.99999898e-01 -2.26131629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.721400513 meters 0.06016824845143002 Centerline is valid? [True, True] Translation: X:412.19, Y:43.90, Z:-2.26 [[ 9.79763129e-01 -2.00159703e-01 5.51462520e-04 4.12194574e+02] [ 2.00159691e-01 9.79763284e-01 7.77606736e-05 4.38957197e+01] [-5.55867283e-04 3.41935269e-05 9.99999845e-01 -2.26013226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.751400513 meters 0.060961339435835475 Centerline is valid? [True, True] Translation: X:412.22, Y:43.91, Z:-2.26 [[ 9.80280439e-01 -1.97609519e-01 8.59173606e-04 4.12223499e+02] [ 1.97609488e-01 9.80280815e-01 1.21130485e-04 4.39052065e+01] [-8.66167939e-04 5.10390118e-05 9.99999624e-01 -2.26008205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.781400513 meters 0.054895411167118296 Centerline is valid? [True, True] Translation: X:412.25, Y:43.92, Z:-2.26 [[ 9.80727419e-01 -1.95380971e-01 7.64517443e-05 4.12252513e+02] [ 1.95380971e-01 9.80727422e-01 1.07140821e-05 4.39155647e+01] [-7.70716498e-05 4.42962196e-06 9.99999997e-01 -2.26049650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.811400513 meters 0.05483904586589647 Centerline is valid? [True, True] Translation: X:412.28, Y:43.93, Z:-2.26 [[ 9.80803614e-01 -1.94992177e-01 -1.52368530e-03 4.12278591e+02] [ 1.94992077e-01 9.80804794e-01 -2.15329165e-04 4.39267934e+01] [ 1.53642535e-03 -8.59109375e-05 9.99998816e-01 -2.26253412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.841400513 meters 0.06188846119776696 Centerline is valid? [True, True] Translation: X:412.31, Y:43.93, Z:-2.26 [[ 9.80524645e-01 -1.96391594e-01 -1.32778634e-03 4.12307843e+02] [ 1.96391520e-01 9.80525541e-01 -1.87596978e-04 4.39254675e+01] [ 1.33877089e-03 -7.68225169e-05 9.99999101e-01 -2.26321654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.871400513 meters 0.05917682729905146 Centerline is valid? [True, True] Translation: X:412.34, Y:43.94, Z:-2.26 [[ 9.80096547e-01 -1.98518538e-01 -1.07208262e-03 4.12336908e+02] [ 1.98518491e-01 9.80097131e-01 -1.51407641e-04 4.39350429e+01] [ 1.08080232e-03 -6.44341168e-05 9.99999414e-01 -2.26246411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.901400513 meters 0.06743261156862043 Centerline is valid? [True, True] Translation: X:412.37, Y:43.93, Z:-2.26 [[ 9.79529519e-01 -2.01297241e-01 -1.15804284e-03 4.12367110e+02] [ 2.01297188e-01 9.79530201e-01 -1.63471321e-04 4.39309718e+01] [ 1.16724426e-03 -7.29857827e-05 9.99999316e-01 -2.26412445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.931400513 meters 0.07890733437513266 Centerline is valid? [True, True] Translation: X:412.40, Y:43.93, Z:-2.27 [[ 9.78288419e-01 -2.07226663e-01 -2.97998828e-03 4.12397093e+02] [ 2.07226339e-01 9.78292936e-01 -4.20535907e-04 4.39266630e+01] [ 3.00244773e-03 -2.06126652e-04 9.99995471e-01 -2.26791792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.961400513 meters 0.06892276295262541 Centerline is valid? [True, True] Translation: X:412.43, Y:43.94, Z:-2.27 [[ 9.77770566e-01 -2.09635212e-01 -4.21885351e-03 4.12426135e+02] [ 2.09634584e-01 9.77779621e-01 -5.95479294e-04 4.39404047e+01] [ 4.24994241e-03 -3.02175472e-04 9.99990923e-01 -2.26806428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99140051300003 meters 0.07872002747423458 Centerline is valid? [True, True] Translation: X:412.46, Y:43.94, Z:-2.27 [[ 9.77277228e-01 -2.11926209e-01 -4.06224904e-03 4.12456163e+02] [ 2.11925646e-01 9.77285624e-01 -5.73404872e-04 4.39351261e+01] [ 4.09149711e-03 -3.00519229e-04 9.99991585e-01 -2.26970780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.021400513 meters 0.07341639052408129 Centerline is valid? [True, True] Translation: X:412.49, Y:43.94, Z:-2.27 [[ 9.76932913e-01 -2.13519669e-01 -3.38145694e-03 4.12485504e+02] [ 2.13519289e-01 9.76938732e-01 -4.77408189e-04 4.39431026e+01] [ 3.40541230e-03 -2.55610508e-04 9.99994169e-01 -2.26720476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05140051300003 meters 0.07510947825108315 Centerline is valid? [True, True] Translation: X:412.51, Y:43.94, Z:-2.27 [[ 9.76676311e-01 -2.14706101e-01 -2.16174244e-03 4.12514832e+02] [ 2.14705948e-01 9.76678690e-01 -3.05546916e-04 4.39439532e+01] [ 2.17693056e-03 -1.65718524e-04 9.99997617e-01 -2.26583984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.081400513 meters 0.0814817846424781 Centerline is valid? [True, True] Translation: X:412.54, Y:43.94, Z:-2.27 [[ 9.76419211e-01 -2.15878130e-01 -1.46908248e-03 4.12544479e+02] [ 2.15878060e-01 9.76420309e-01 -2.07700151e-04 4.39394724e+01] [ 1.47927989e-03 -1.14340258e-04 9.99998899e-01 -2.26537259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.111400513 meters 0.07773497201223656 Centerline is valid? [True, True] Translation: X:412.57, Y:43.95, Z:-2.27 [[ 9.76304495e-01 -2.16396931e-01 -1.37859615e-03 4.12571968e+02] [ 2.16396869e-01 9.76305463e-01 -1.95880215e-04 4.39514143e+01] [ 1.38831883e-03 -1.07085155e-04 9.99999031e-01 -2.26548592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.141400513 meters 0.07299301929972556 Centerline is valid? [True, True] Translation: X:412.60, Y:43.96, Z:-2.27 [[ 9.76345658e-01 -2.16211474e-01 -1.32439826e-03 4.12600284e+02] [ 2.16211416e-01 9.76346551e-01 -1.88443343e-04 4.39564448e+01] [ 1.33381528e-03 -1.02364183e-04 9.99999105e-01 -2.26531013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.171400513 meters 0.0809277360960354 Centerline is valid? [True, True] Translation: X:412.63, Y:43.95, Z:-2.27 [[ 9.76412832e-01 -2.15907651e-01 -1.36635329e-03 4.12629425e+02] [ 2.15907590e-01 9.76413783e-01 -1.93853922e-04 4.39487078e+01] [ 1.37598073e-03 -1.05724589e-04 9.99999048e-01 -2.26692302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.201400513 meters 0.07820124506834815 Centerline is valid? [True, True] Translation: X:412.66, Y:43.95, Z:-2.27 [[ 9.76407793e-01 -2.15924117e-01 -2.14398796e-03 4.12657608e+02] [ 2.15923965e-01 9.76410133e-01 -3.04556775e-04 4.39527955e+01] [ 2.15917272e-03 -1.65566774e-04 9.99997655e-01 -2.26697584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.231400513 meters 0.06814800119825809 Centerline is valid? [True, True] Translation: X:412.68, Y:43.97, Z:-2.27 [[ 9.76462685e-01 -2.15672652e-01 -2.43573107e-03 4.12684068e+02] [ 2.15672455e-01 9.76465705e-01 -3.46637881e-04 4.39684962e+01] [ 2.45316817e-03 -1.86841144e-04 9.99996974e-01 -2.26601034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.261400513 meters 0.07193945380611537 Centerline is valid? [True, True] Translation: X:412.71, Y:43.97, Z:-2.27 [[ 9.76522526e-01 -2.15406114e-01 -1.99040753e-03 4.12712801e+02] [ 2.15405980e-01 9.76524543e-01 -2.83766591e-04 4.39671629e+01] [ 2.00480686e-03 -1.51641216e-04 9.99997979e-01 -2.26637285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.291400513 meters 0.08255131286219397 Centerline is valid? [True, True] Translation: X:412.74, Y:43.96, Z:-2.27 [[ 9.76480774e-01 -2.15600343e-01 -1.33765628e-03 4.12741814e+02] [ 2.15600283e-01 9.76481685e-01 -1.90475432e-04 4.39586225e+01] [ 1.34726343e-03 -1.02403476e-04 9.99999087e-01 -2.26814190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.321400513 meters 0.07257971667744433 Centerline is valid? [True, True] Translation: X:412.77, Y:43.97, Z:-2.27 [[ 9.76434109e-01 -2.15813420e-01 -9.99492966e-04 4.12768248e+02] [ 2.15813385e-01 9.76434617e-01 -1.43345406e-04 4.39712491e+01] [ 1.00687539e-03 -7.57366169e-05 9.99999490e-01 -2.26671285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.351400513 meters 0.07776397280995485 Centerline is valid? [True, True] Translation: X:412.80, Y:43.97, Z:-2.27 [[ 9.76261392e-01 -2.16594616e-01 -6.83976678e-04 4.12797465e+02] [ 2.16594600e-01 9.76261630e-01 -9.75772207e-05 4.39674075e+01] [ 6.88874887e-04 -5.28847820e-05 9.99999761e-01 -2.26717053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.381400513 meters 0.08518554505426794 Centerline is valid? [True, True] Translation: X:412.83, Y:43.96, Z:-2.27 [[ 9.75723628e-01 -2.19004154e-01 -7.62843889e-04 4.12827962e+02] [ 2.19004135e-01 9.75723925e-01 -1.08696381e-04 4.39594178e+01] [ 7.68129992e-04 -6.10083384e-05 9.99999703e-01 -2.26711270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.411400513 meters 0.07942793304605734 Centerline is valid? [True, True] Translation: X:412.86, Y:43.97, Z:-2.27 [[ 9.75383226e-01 -2.20511961e-01 -1.42766572e-03 4.12857129e+02] [ 2.20511898e-01 9.75384263e-01 -2.03354162e-04 4.39685060e+01] [ 1.43736471e-03 -1.16469041e-04 9.99998960e-01 -2.26739416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.441400513 meters 0.08961308617923779 Centerline is valid? [True, True] Translation: X:412.89, Y:43.96, Z:-2.27 [[ 9.74970143e-01 -2.22323682e-01 -2.32395323e-03 4.12887397e+02] [ 2.22323520e-01 9.74972893e-01 -3.30973485e-04 4.39601415e+01] [ 2.33937464e-03 -1.93980195e-04 9.99997245e-01 -2.27019034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.471400513 meters 0.0820523988853298 Centerline is valid? [True, True] Translation: X:412.92, Y:43.97, Z:-2.27 [[ 9.74663705e-01 -2.23657914e-01 -2.79290271e-03 4.12916628e+02] [ 2.23657686e-01 9.74667677e-01 -3.97822348e-04 4.39698011e+01] [ 2.81112811e-03 -2.36911154e-04 9.99996021e-01 -2.26991457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.501400513 meters 0.08547385351329803 Centerline is valid? [True, True] Translation: X:412.95, Y:43.97, Z:-2.27 [[ 9.74115167e-01 -2.26040925e-01 -2.26748705e-03 4.12946281e+02] [ 2.26040781e-01 9.74117786e-01 -3.23040701e-04 4.39676951e+01] [ 2.28181988e-03 -1.97865695e-04 9.99997377e-01 -2.26994691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.531400513 meters 0.09911585865009145 Centerline is valid? [True, True] Translation: X:412.98, Y:43.95, Z:-2.27 [[ 9.74063136e-01 -2.26267530e-01 -2.00321751e-03 4.12976056e+02] [ 2.26267417e-01 9.74065180e-01 -2.85757540e-04 4.39537810e+01] [ 2.01592207e-03 -1.74916965e-04 9.99997953e-01 -2.27087496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.561400513 meters 0.09140768186588623 Centerline is valid? [True, True] Translation: X:413.00, Y:43.97, Z:-2.27 [[ 9.74121455e-01 -2.26017660e-01 -1.84635362e-03 4.13003819e+02] [ 2.26017562e-01 9.74123191e-01 -2.64266036e-04 4.39657789e+01] [ 1.85830467e-03 -1.59881128e-04 9.99998261e-01 -2.27002644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.591400513 meters 0.08995345501012371 Centerline is valid? [True, True] Translation: X:413.03, Y:43.97, Z:-2.27 [[ 9.74369003e-01 -2.24948536e-01 -1.78958972e-03 4.13033647e+02] [ 2.24948444e-01 9.74370634e-01 -2.55354529e-04 4.39703379e+01] [ 1.80116530e-03 -1.53755886e-04 9.99998366e-01 -2.27010496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.621400513 meters 0.0798509980551231 Centerline is valid? [True, True] Translation: X:413.06, Y:43.99, Z:-2.27 [[ 9.74686698e-01 -2.23564378e-01 -2.19330407e-03 4.13061278e+02] [ 2.23564235e-01 9.74689148e-01 -3.13067162e-04 4.39861145e+01] [ 2.20778034e-03 -1.85201949e-04 9.99997546e-01 -2.26919305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.651400513 meters 0.07877672695696157 Centerline is valid? [True, True] Translation: X:413.09, Y:43.99, Z:-2.27 [[ 9.75605109e-01 -2.19513334e-01 -2.92709460e-03 4.13090045e+02] [ 2.19513062e-01 9.75609472e-01 -4.17739189e-04 4.39915515e+01] [ 2.94740053e-03 -2.34987010e-04 9.99995629e-01 -2.27018540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.681400513 meters 0.0753835221711135 Centerline is valid? [True, True] Translation: X:413.12, Y:44.00, Z:-2.27 [[ 9.76164394e-01 -2.17013738e-01 -2.84833460e-03 4.13119345e+02] [ 2.17013470e-01 9.76168525e-01 -4.06540981e-04 4.40003751e+01] [ 2.86867957e-03 -2.21276144e-04 9.99995861e-01 -2.26995784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.711400513 meters 0.07854405474618703 Centerline is valid? [True, True] Translation: X:413.15, Y:44.00, Z:-2.27 [[ 9.76748625e-01 -2.14381887e-01 -1.59094514e-03 4.13148673e+02] [ 2.14381799e-01 9.76749913e-01 -2.27224555e-04 4.40004671e+01] [ 1.60266836e-03 -1.19128411e-04 9.99998709e-01 -2.26928068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74140051300003 meters 0.07320531140844486 Centerline is valid? [True, True] Translation: X:413.18, Y:44.01, Z:-2.26 [[ 9.77685937e-01 -2.10060654e-01 2.17498434e-03 4.13177617e+02] [ 2.10060480e-01 9.77688344e-01 3.10398268e-04 4.40106416e+01] [-2.19165930e-03 1.53406233e-04 9.99997587e-01 -2.26390639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.771400513 meters 0.06891271296126614 Centerline is valid? [True, True] Translation: X:413.21, Y:44.02, Z:-2.26 [[ 9.77853249e-01 -2.09260726e-01 3.60165491e-03 4.13205248e+02] [ 2.09260246e-01 9.77859850e-01 5.13995373e-04 4.40200982e+01] [-3.62947277e-03 2.51071145e-04 9.99993382e-01 -2.26174301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80140051300003 meters 0.07023136269680114 Centerline is valid? [True, True] Translation: X:413.23, Y:44.02, Z:-2.26 [[ 9.77790687e-01 -2.09545626e-01 4.00030303e-03 4.13234060e+02] [ 2.09545036e-01 9.77798830e-01 5.70901733e-04 4.40230190e+01] [-4.03112158e-03 2.80021242e-04 9.99991836e-01 -2.26151224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.831400513 meters 0.07442419052227325 Centerline is valid? [True, True] Translation: X:413.26, Y:44.02, Z:-2.26 [[ 9.77615764e-01 -2.10362318e-01 3.88764282e-03 4.13262675e+02] [ 2.10361764e-01 9.77623455e-01 5.55646137e-04 4.40223729e+01] [-3.91753782e-03 2.74602978e-04 9.99992289e-01 -2.26156905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.861400513 meters 0.07260110798052123 Centerline is valid? [True, True] Translation: X:413.29, Y:44.03, Z:-2.26 [[ 9.77362451e-01 -2.11545743e-01 3.32234637e-03 4.13291010e+02] [ 2.11545344e-01 9.77368069e-01 4.75008166e-04 4.40326419e+01] [-3.34764121e-03 2.38571761e-04 9.99994368e-01 -2.26237374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.891400513 meters 0.07778522621519281 Centerline is valid? [True, True] Translation: X:413.32, Y:44.03, Z:-2.26 [[ 9.77108887e-01 -2.12721140e-01 2.81774105e-03 4.13320601e+02] [ 2.12720858e-01 9.77112928e-01 4.02817176e-04 4.40259920e+01] [-2.83893894e-03 2.05796051e-04 9.99995949e-01 -2.26367339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.921400513 meters 0.07152967875321517 Centerline is valid? [True, True] Translation: X:413.35, Y:44.04, Z:-2.27 [[ 9.76563790e-01 -2.15227788e-01 4.04527095e-04 4.13349318e+02] [ 2.15227782e-01 9.76563873e-01 5.78638959e-05 4.40369715e+01] [-4.07500465e-04 3.05576840e-05 9.99999917e-01 -2.26690313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.951400513 meters 0.07488254111165593 Centerline is valid? [True, True] Translation: X:413.38, Y:44.04, Z:-2.27 [[ 9.76227794e-01 -2.16746869e-01 -2.97928727e-04 4.13379052e+02] [ 2.16746866e-01 9.76227839e-01 -4.26966011e-05 4.40397520e+01] [ 3.00100672e-04 -2.28935091e-05 9.99999955e-01 -2.26920252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.981400513 meters 0.07485977820367358 Centerline is valid? [True, True] Translation: X:413.41, Y:44.04, Z:-2.27 [[ 9.75940871e-01 -2.18035342e-01 -7.72619471e-05 4.13407339e+02] [ 2.18035342e-01 9.75940874e-01 -1.13300110e-05 4.40398737e+01] [ 7.78734350e-05 -5.78841426e-06 9.99999997e-01 -2.26921767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.011400513 meters 0.07827588766362098 Centerline is valid? [True, True] Translation: X:413.44, Y:44.04, Z:-2.27 [[ 9.75416902e-01 -2.20367513e-01 1.65148206e-04 4.13437462e+02] [ 2.20367512e-01 9.75416916e-01 2.36149352e-05 4.40413284e+01] [-1.66292318e-04 1.33588923e-05 9.99999986e-01 -2.26963910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.041400513 meters 0.07961041764283186 Centerline is valid? [True, True] Translation: X:413.47, Y:44.04, Z:-2.27 [[ 9.74817181e-01 -2.23004889e-01 5.32034471e-04 4.13468764e+02] [ 2.23004881e-01 9.74817325e-01 7.61429669e-05 4.40394022e+01] [-5.35616674e-04 4.44208115e-05 9.99999856e-01 -2.26856202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.071400513 meters 0.08388994807087267 Centerline is valid? [True, True] Translation: X:413.50, Y:44.04, Z:-2.27 [[ 9.74715852e-01 -2.23447771e-01 3.20332878e-04 4.13497099e+02] [ 2.23447768e-01 9.74715904e-01 4.55367108e-05 4.40366574e+01] [-3.22408627e-04 2.71923126e-05 9.99999948e-01 -2.26934159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.101400513 meters 0.08099621401847157 Centerline is valid? [True, True] Translation: X:413.52, Y:44.04, Z:-2.27 [[ 9.74689559e-01 -2.23562630e-01 1.14067702e-04 4.13524561e+02] [ 2.23562630e-01 9.74689566e-01 1.52832291e-05 4.40423914e+01] [-1.14597358e-04 1.06048715e-05 9.99999993e-01 -2.26959417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.131400513 meters 0.08208863547323714 Centerline is valid? [True, True] Translation: X:413.55, Y:44.04, Z:-2.27 [[ 9.74754672e-01 -2.23278343e-01 3.32980529e-04 4.13552456e+02] [ 2.23278340e-01 9.74754728e-01 4.72815514e-05 4.40435885e+01] [-3.35131291e-04 2.82594266e-05 9.99999943e-01 -2.26976767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.161400513 meters 0.08594810950081337 Centerline is valid? [True, True] Translation: X:413.58, Y:44.04, Z:-2.27 [[ 9.74973009e-01 -2.22321756e-01 8.17935112e-04 4.13581867e+02] [ 2.22321735e-01 9.74973350e-01 1.17232821e-04 4.40422911e+01] [-8.23528342e-04 6.75459170e-05 9.99999659e-01 -2.26945099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.191400513 meters 0.08159061917739927 Centerline is valid? [True, True] Translation: X:413.61, Y:44.05, Z:-2.27 [[ 9.75831455e-01 -2.18520330e-01 1.35544773e-03 4.13611134e+02] [ 2.18520270e-01 9.75832390e-01 1.94433229e-04 4.40516371e+01] [-1.36517741e-03 1.06458741e-04 9.99999062e-01 -2.26884617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.221400513 meters 0.07207260786110259 Centerline is valid? [True, True] Translation: X:413.64, Y:44.07, Z:-2.27 [[ 9.76385577e-01 -2.16028903e-01 1.64879298e-03 4.13639366e+02] [ 2.16028810e-01 9.76386961e-01 2.36569333e-04 4.40674258e+01] [-1.66096578e-03 1.25203900e-04 9.99998613e-01 -2.26804011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.251400513 meters 0.07931848424351297 Centerline is valid? [True, True] Translation: X:413.67, Y:44.06, Z:-2.27 [[ 9.76900939e-01 -2.13685764e-01 1.71766910e-03 4.13669388e+02] [ 2.13685659e-01 9.76902441e-01 2.46434275e-04 4.40632564e+01] [-1.73065464e-03 1.26299379e-04 9.99998494e-01 -2.26906871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.281400513 meters 0.07418975475712387 Centerline is valid? [True, True] Translation: X:413.70, Y:44.07, Z:-2.27 [[ 9.77346418e-01 -2.11642143e-01 1.25824619e-03 4.13698143e+02] [ 2.11642085e-01 9.77347223e-01 1.80529524e-04 4.40746209e+01] [-1.26795108e-03 8.98579648e-05 9.99999192e-01 -2.26965862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.311400513 meters 0.07376218450093135 Centerline is valid? [True, True] Translation: X:413.73, Y:44.08, Z:-2.27 [[ 9.77857168e-01 -2.09271243e-01 9.52084847e-04 4.13726806e+02] [ 2.09271208e-01 9.77857629e-01 1.36583981e-04 4.40799468e+01] [-9.59586531e-04 6.56843215e-05 9.99999537e-01 -2.27103557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.341400513 meters 0.07283445294522696 Centerline is valid? [True, True] Translation: X:413.76, Y:44.08, Z:-2.27 [[ 9.77890897e-01 -2.09114230e-01 7.95339673e-04 4.13755177e+02] [ 2.09114207e-01 9.77891219e-01 1.13396560e-04 4.40846915e+01] [-8.01468516e-04 5.54273608e-05 9.99999677e-01 -2.27147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.371400513 meters 0.06681964530725154 Centerline is valid? [True, True] Translation: X:413.78, Y:44.10, Z:-2.27 [[ 9.77808611e-01 -2.09498648e-01 7.98478990e-04 4.13782983e+02] [ 2.09498624e-01 9.77808935e-01 1.13941821e-04 4.40953440e+01] [-8.04630548e-04 5.58669566e-05 9.99999675e-01 -2.27092639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.401400513 meters 0.06683844624685273 Centerline is valid? [True, True] Translation: X:413.81, Y:44.10, Z:-2.27 [[ 9.77752641e-01 -2.09759077e-01 9.49660600e-04 4.13811627e+02] [ 2.09759044e-01 9.77753100e-01 1.35850243e-04 4.40988222e+01] [-9.57029417e-04 6.63719657e-05 9.99999540e-01 -2.27050362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.431400513 meters 0.06675057051698317 Centerline is valid? [True, True] Translation: X:413.84, Y:44.10, Z:-2.27 [[ 9.77855840e-01 -2.09275652e-01 1.28759482e-03 4.13840289e+02] [ 2.09275589e-01 9.77856684e-01 1.84742464e-04 4.41039748e+01] [-1.29774530e-03 8.88106678e-05 9.99999154e-01 -2.27010741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.461400513 meters 0.06675057051698317 Centerline is valid? [True, True] Translation: X:413.87, Y:44.11, Z:-2.27 [[ 9.77817138e-01 -2.09456408e-01 1.28757993e-03 4.13867530e+02] [ 2.09456346e-01 9.77817982e-01 1.84846223e-04 4.41080488e+01] [-1.29773604e-03 8.89459831e-05 9.99999154e-01 -2.27026720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49140051300003 meters 0.06865397443954827 Centerline is valid? [True, True] Translation: X:413.90, Y:44.11, Z:-2.27 [[ 9.77959008e-01 -2.08792709e-01 1.33506791e-03 4.13895118e+02] [ 2.08792640e-01 9.77959916e-01 1.92528799e-04 4.41108390e+01] [-1.34584151e-03 9.04670813e-05 9.99999090e-01 -2.27020400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.521400513 meters 0.06398128956098069 Centerline is valid? [True, True] Translation: X:413.92, Y:44.12, Z:-2.27 [[ 9.78126425e-01 -2.08006117e-01 1.46708863e-03 4.13923254e+02] [ 2.08006033e-01 9.78127520e-01 2.11278940e-04 4.41219168e+01] [-1.47894708e-03 9.85057720e-05 9.99998902e-01 -2.27011626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55140051300003 meters 0.0672302976891653 Centerline is valid? [True, True] Translation: X:413.95, Y:44.12, Z:-2.27 [[ 9.78316942e-01 -2.07107330e-01 1.58554813e-03 4.13951073e+02] [ 2.07107230e-01 9.78318222e-01 2.29049053e-04 4.41231698e+01] [-1.59860836e-03 1.04295912e-04 9.99998717e-01 -2.27032197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.581400513 meters 0.06314506792002143 Centerline is valid? [True, True] Translation: X:413.98, Y:44.13, Z:-2.27 [[ 9.78518000e-01 -2.06155801e-01 1.51947185e-03 4.13978437e+02] [ 2.06155707e-01 9.78519175e-01 2.19629193e-04 4.41333527e+01] [-1.53211018e-03 9.83366750e-05 9.99998821e-01 -2.26988909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.611400513 meters 0.061420457557996126 Centerline is valid? [True, True] Translation: X:414.01, Y:44.14, Z:-2.27 [[ 9.78610177e-01 -2.05715786e-01 1.77116800e-03 4.14006088e+02] [ 2.05715659e-01 9.78611773e-01 2.55663725e-04 4.41411530e+01] [-1.78587992e-03 1.14161869e-04 9.99998399e-01 -2.26929577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.641400513 meters 0.0527724754024365 Centerline is valid? [True, True] Translation: X:414.03, Y:44.16, Z:-2.27 [[ 9.78938467e-01 -2.04135576e-01 2.85381113e-03 4.14033381e+02] [ 2.04135235e-01 9.78942611e-01 4.13445890e-04 4.41611327e+01] [-2.87811633e-03 1.77825319e-04 9.99995842e-01 -2.26724903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.671400513 meters 0.06329549393054537 Centerline is valid? [True, True] Translation: X:414.06, Y:44.16, Z:-2.27 [[ 9.78972871e-01 -2.03968864e-01 2.96986367e-03 4.14062260e+02] [ 2.03968495e-01 9.78977358e-01 4.29850099e-04 4.41591635e+01] [-2.99510533e-03 1.84947039e-04 9.99995498e-01 -2.26886094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.701400513 meters 0.05841725239034917 Centerline is valid? [True, True] Translation: X:414.09, Y:44.17, Z:-2.27 [[ 9.79105095e-01 -2.03335998e-01 2.77209331e-03 4.14090590e+02] [ 2.03335673e-01 9.79109005e-01 4.01702837e-04 4.41677252e+01] [-2.79586217e-03 1.70356164e-04 9.99996077e-01 -2.26910526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.731400513 meters 0.0628916652055684 Centerline is valid? [True, True] Translation: X:414.12, Y:44.17, Z:-2.27 [[ 9.79073203e-01 -2.03503546e-01 1.40371266e-03 4.14117726e+02] [ 2.03503462e-01 9.79074205e-01 2.03603892e-04 4.41734088e+01] [-1.41577297e-03 8.63172719e-05 9.99998994e-01 -2.27207546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.761400513 meters 0.06012606288127871 Centerline is valid? [True, True] Translation: X:414.14, Y:44.19, Z:-2.27 [[ 9.78908872e-01 -2.04294463e-01 1.09178684e-03 4.14144688e+02] [ 2.04294414e-01 9.78909479e-01 1.57853538e-04 4.41857800e+01] [-1.10100909e-03 6.85217236e-05 9.99999392e-01 -2.27217076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.791400513 meters 0.06442038170942224 Centerline is valid? [True, True] Translation: X:414.17, Y:44.19, Z:-2.27 [[ 9.78765806e-01 -2.04979181e-01 1.01585191e-03 4.14172666e+02] [ 2.04979138e-01 9.78766331e-01 1.47481323e-04 4.41889945e+01] [-1.02451225e-03 6.38787727e-05 9.99999473e-01 -2.27274666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.821400513 meters 0.06356508317690507 Centerline is valid? [True, True] Translation: X:414.20, Y:44.20, Z:-2.27 [[ 9.78599054e-01 -2.05772007e-01 1.33162094e-03 4.14200143e+02] [ 2.05771934e-01 9.78599956e-01 1.93382702e-04 4.41975907e+01] [-1.34291694e-03 8.47660857e-05 9.99999095e-01 -2.27276448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.851400513 meters 0.06815178442284907 Centerline is valid? [True, True] Translation: X:414.23, Y:44.20, Z:-2.27 [[ 9.78422033e-01 -2.06609618e-01 1.67076033e-03 4.14227458e+02] [ 2.06609503e-01 9.78423454e-01 2.42981224e-04 4.41989953e+01] [-1.68491335e-03 1.07456778e-04 9.99998575e-01 -2.27277257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.881400513 meters 0.06109787757795704 Centerline is valid? [True, True] Translation: X:414.25, Y:44.22, Z:-2.27 [[ 9.78092919e-01 -2.08154585e-01 2.43108564e-03 4.14253947e+02] [ 2.08154346e-01 9.78095927e-01 3.53963448e-04 4.42197128e+01] [-2.45151408e-03 1.59831899e-04 9.99996982e-01 -2.27101583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.911400513 meters 0.06583191641978486 Centerline is valid? [True, True] Translation: X:414.28, Y:44.22, Z:-2.27 [[ 9.77945282e-01 -2.08845097e-01 2.59810725e-03 4.14281889e+02] [ 2.08844825e-01 9.77948718e-01 3.78412168e-04 4.42233301e+01] [-2.61984518e-03 1.72534861e-04 9.99996553e-01 -2.27068674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.941400513 meters 0.07016768488623883 Centerline is valid? [True, True] Translation: X:414.31, Y:44.23, Z:-2.27 [[ 9.77814039e-01 -2.09462481e-01 2.27462112e-03 4.14309680e+02] [ 2.09462274e-01 9.77816673e-01 3.31394856e-04 4.42282597e+01] [-2.29357724e-03 1.52404768e-04 9.99997358e-01 -2.27142845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.971400513 meters 0.07162542664373532 Centerline is valid? [True, True] Translation: X:414.34, Y:44.23, Z:-2.27 [[ 9.77726821e-01 -2.09874173e-01 1.75922253e-03 4.14337120e+02] [ 2.09874050e-01 9.77728397e-01 2.56336966e-04 4.42337387e+01] [-1.77384034e-03 1.18587631e-04 9.99998420e-01 -2.27259675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.001400513 meters 0.06423703488231572 Centerline is valid? [True, True] Translation: X:414.36, Y:44.25, Z:-2.27 [[ 9.77568495e-01 -2.10616380e-01 7.60618781e-04 4.14363617e+02] [ 2.10616358e-01 9.77568789e-01 1.10150443e-04 4.42509002e+01] [-7.66756668e-04 5.25191547e-05 9.99999705e-01 -2.27389220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.031400513 meters 0.06773567188758971 Centerline is valid? [True, True] Translation: X:414.39, Y:44.26, Z:-2.28 [[ 9.77110717e-01 -2.12731129e-01 -3.36412400e-04 4.14392150e+02] [ 2.12731125e-01 9.77110775e-01 -4.92067567e-05 4.42601426e+01] [ 3.39179990e-04 -2.34849389e-05 9.99999942e-01 -2.27695227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.061400513 meters 0.07376895798314509 Centerline is valid? [True, True] Translation: X:414.42, Y:44.26, Z:-2.28 [[ 9.76897318e-01 -2.13709163e-01 1.53851851e-04 4.14421157e+02] [ 2.13709162e-01 9.76897330e-01 2.22783429e-05 4.42595478e+01] [-1.55058549e-04 1.11158969e-05 9.99999988e-01 -2.27705130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.091400513 meters 0.06811038241274751 Centerline is valid? [True, True] Translation: X:414.45, Y:44.27, Z:-2.28 [[ 9.76621974e-01 -2.14963520e-01 4.51607467e-04 4.14448912e+02] [ 2.14963513e-01 9.76622078e-01 6.57966600e-05 4.42730736e+01] [-4.55193705e-04 3.28206635e-05 9.99999896e-01 -2.27635515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.121400513 meters 0.07412028884316944 Centerline is valid? [True, True] Translation: X:414.48, Y:44.28, Z:-2.28 [[ 9.75951164e-01 -2.17988524e-01 5.73915163e-04 4.14478880e+02] [ 2.17988512e-01 9.75951332e-01 8.38471591e-05 4.42784632e+01] [-5.78390986e-04 4.32761796e-05 9.99999832e-01 -2.27653175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.151400513 meters 0.07080418171356534 Centerline is valid? [True, True] Translation: X:414.51, Y:44.29, Z:-2.28 [[ 9.75769405e-01 -2.18799792e-01 8.47719286e-04 4.14507193e+02] [ 2.18799767e-01 9.75769771e-01 1.23716541e-04 4.42867449e+01] [-8.54248007e-04 6.47619657e-05 9.99999633e-01 -2.27613404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.181400513 meters 0.07137741360148142 Centerline is valid? [True, True] Translation: X:414.54, Y:44.30, Z:-2.28 [[ 9.75588329e-01 -2.19606182e-01 7.32485911e-04 4.14536014e+02] [ 2.19606164e-01 9.75588603e-01 1.06955797e-04 4.42952874e+01] [-7.38093060e-04 5.65135940e-05 9.99999726e-01 -2.27635725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.211400513 meters 0.07435798579330895 Centerline is valid? [True, True] Translation: X:414.56, Y:44.30, Z:-2.28 [[ 9.75587875e-01 -2.19607323e-01 9.60208577e-04 4.14564419e+02] [ 2.19607291e-01 9.75588345e-01 1.40104158e-04 4.42957692e+01] [-9.67536195e-04 7.41848862e-05 9.99999529e-01 -2.27691151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24140051300003 meters 0.07248375213856376 Centerline is valid? [True, True] Translation: X:414.59, Y:44.30, Z:-2.28 [[ 9.75628291e-01 -2.19428150e-01 8.51823597e-04 4.14592353e+02] [ 2.19428125e-01 9.75628660e-01 1.23790915e-04 4.43035730e+01] [-8.58226726e-04 6.61401360e-05 9.99999630e-01 -2.27765410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.271400513 meters 0.0744323629233813 Centerline is valid? [True, True] Translation: X:414.62, Y:44.31, Z:-2.28 [[ 9.75939640e-01 -2.18034884e-01 1.61529603e-03 4.14620782e+02] [ 2.18034790e-01 9.75940969e-01 2.36376812e-04 4.43068977e+01] [-1.62797196e-03 1.21501229e-04 9.99998667e-01 -2.27779077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30140051300003 meters 0.06895472985261589 Centerline is valid? [True, True] Translation: X:414.65, Y:44.32, Z:-2.28 [[ 9.76204316e-01 -2.16838780e-01 2.46526610e-03 4.14649533e+02] [ 2.16838556e-01 9.76207412e-01 3.61025715e-04 4.43202059e+01] [-2.48489542e-03 1.82129881e-04 9.99996896e-01 -2.27613098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.331400513 meters 0.06556225258030203 Centerline is valid? [True, True] Translation: X:414.68, Y:44.33, Z:-2.27 [[ 9.76582092e-01 -2.15121441e-01 3.19124848e-03 4.14678435e+02] [ 2.15121056e-01 9.76587279e-01 4.67398723e-04 4.43314460e+01] [-3.21708015e-03 2.30051520e-04 9.99994799e-01 -2.27421012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.361400513 meters 0.07599965246662746 Centerline is valid? [True, True] Translation: X:414.71, Y:44.33, Z:-2.27 [[ 9.77040144e-01 -2.13027076e-01 3.46728498e-03 4.14708723e+02] [ 2.13026608e-01 9.77046266e-01 5.07863264e-04 4.43260697e+01] [-3.49588647e-03 2.42421163e-04 9.99993860e-01 -2.27384831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.391400513 meters 0.059979542277021874 Centerline is valid? [True, True] Translation: X:414.74, Y:44.36, Z:-2.28 [[ 9.77965236e-01 -2.08761727e-01 1.59322934e-03 4.14735435e+02] [ 2.08761623e-01 9.77966528e-01 2.33460772e-04 4.43562949e+01] [-1.60686264e-03 1.04288624e-04 9.99998704e-01 -2.27558338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.421400513 meters 0.062492117611603344 Centerline is valid? [True, True] Translation: X:414.76, Y:44.36, Z:-2.28 [[ 9.78262244e-01 -2.07369165e-01 1.00552489e-03 4.14764110e+02] [ 2.07369122e-01 9.78262759e-01 1.47185806e-04 4.43614789e+01] [-1.01418935e-03 6.45284972e-05 9.99999484e-01 -2.27773101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.451400513 meters 0.06637107020368602 Centerline is valid? [True, True] Translation: X:414.79, Y:44.37, Z:-2.28 [[ 9.78449284e-01 -2.06485567e-01 8.41861964e-04 4.14791258e+02] [ 2.06485537e-01 9.78449645e-01 1.23060349e-04 4.43666862e+01] [-8.49129726e-04 5.34240096e-05 9.99999638e-01 -2.27954951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.481400513 meters 0.05583788812093582 Centerline is valid? [True, True] Translation: X:414.82, Y:44.38, Z:-2.28 [[ 9.78496853e-01 -2.06253953e-01 1.79298280e-03 4.14817834e+02] [ 2.06253817e-01 9.78498490e-01 2.62134690e-04 4.43834984e+01] [-1.80849727e-03 1.13311577e-04 9.99998358e-01 -2.27801447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.511400513 meters 0.05969603393734202 Centerline is valid? [True, True] Translation: X:414.85, Y:44.38, Z:-2.28 [[ 9.78351679e-01 -2.06932654e-01 2.62084532e-03 4.14845462e+02] [ 2.06932364e-01 9.78355175e-01 3.84389982e-04 4.43843381e+01] [-2.64366042e-03 1.66269132e-04 9.99996492e-01 -2.27775364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.541400513 meters 0.06151496479735711 Centerline is valid? [True, True] Translation: X:414.88, Y:44.39, Z:-2.28 [[ 9.77712918e-01 -2.09937146e-01 1.96098110e-03 4.14875785e+02] [ 2.09936989e-01 9.77714875e-01 2.87853356e-04 4.43897070e+01] [-1.97771150e-03 1.30244523e-04 9.99998036e-01 -2.27856629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.571400513 meters 0.06268274315889882 Centerline is valid? [True, True] Translation: X:414.91, Y:44.40, Z:-2.28 [[ 9.77232508e-01 -2.12170117e-01 6.82702740e-04 4.14905624e+02] [ 2.12170098e-01 9.77232746e-01 1.00153439e-04 4.43950647e+01] [-6.88409040e-04 4.69759108e-05 9.99999762e-01 -2.28051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.601400513 meters 0.06471014256098495 Centerline is valid? [True, True] Translation: X:414.94, Y:44.40, Z:-2.28 [[ 9.76778272e-01 -2.14252552e-01 -2.26250255e-04 4.14935157e+02] [ 2.14252550e-01 9.76778298e-01 -3.32866016e-05 4.43990660e+01] [ 2.28128078e-04 -1.59610649e-05 9.99999974e-01 -2.28195272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.631400513 meters 0.0722846945155517 Centerline is valid? [True, True] Translation: X:414.97, Y:44.40, Z:-2.28 [[ 9.76389386e-01 -2.16017978e-01 1.13960939e-05 4.14965405e+02] [ 2.16017978e-01 9.76389386e-01 1.58756800e-06 4.43956575e+01] [-1.14699683e-05 9.11676607e-07 1.00000000e+00 -2.28263964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.661400513 meters 0.0744354986612835 Centerline is valid? [True, True] Translation: X:415.00, Y:44.40, Z:-2.28 [[ 9.76028892e-01 -2.17636475e-01 1.40257821e-03 4.14995396e+02] [ 2.17636402e-01 9.76029894e-01 2.05904903e-04 4.43991345e+01] [-1.41377068e-03 1.04282942e-04 9.99998995e-01 -2.28073042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.691400513 meters 0.07536479650466084 Centerline is valid? [True, True] Translation: X:415.02, Y:44.41, Z:-2.28 [[ 9.75656330e-01 -2.19266788e-01 4.09903661e-03 4.15024600e+02] [ 2.19266183e-01 9.75664890e-01 6.01928486e-04 4.44052480e+01] [-4.13126903e-03 3.11504776e-04 9.99991418e-01 -2.27611726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.721400513 meters 0.07035931998751467 Centerline is valid? [True, True] Translation: X:415.05, Y:44.42, Z:-2.28 [[ 9.75507021e-01 -2.19929389e-01 4.13700608e-03 4.15051939e+02] [ 2.19928780e-01 9.75515742e-01 6.07309024e-04 4.44159552e+01] [-4.16927966e-03 3.17412483e-04 9.99991258e-01 -2.27637377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.751400513 meters 0.07946479840125532 Centerline is valid? [True, True] Translation: X:415.08, Y:44.41, Z:-2.28 [[ 9.75324653e-01 -2.20741261e-01 3.88812261e-03 4.15081736e+02] [ 2.20740726e-01 9.75332356e-01 5.71586951e-04 4.44095330e+01] [-3.91838461e-03 3.00784161e-04 9.99992278e-01 -2.27725296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.781400513 meters 0.08163933249512738 Centerline is valid? [True, True] Translation: X:415.11, Y:44.41, Z:-2.28 [[ 9.74766185e-01 -2.23179290e-01 4.67850790e-03 4.15112350e+02] [ 2.23178542e-01 9.74777341e-01 6.88019975e-04 4.44127318e+01] [-4.71405530e-03 3.73483966e-04 9.99988819e-01 -2.27587714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.811400513 meters 0.07600881504858645 Centerline is valid? [True, True] Translation: X:415.14, Y:44.42, Z:-2.28 [[ 9.74548756e-01 -2.24129948e-01 4.52650647e-03 4.15140363e+02] [ 2.24129259e-01 9.74559199e-01 6.65624752e-04 4.44239158e+01] [-4.56053497e-03 3.65838766e-04 9.99989534e-01 -2.27589813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.841400513 meters 0.07404818816687933 Centerline is valid? [True, True] Translation: X:415.17, Y:44.43, Z:-2.28 [[ 9.74508983e-01 -2.24312366e-01 4.02555053e-03 4.15167387e+02] [ 2.24311823e-01 9.74517242e-01 5.91816174e-04 4.44298790e+01] [-4.05572009e-03 3.26248400e-04 9.99991722e-01 -2.27675570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.871400513 meters 0.07831758277722455 Centerline is valid? [True, True] Translation: X:415.20, Y:44.43, Z:-2.28 [[ 9.74780053e-01 -2.23146185e-01 3.10298739e-03 4.15196528e+02] [ 2.23145854e-01 9.74784960e-01 4.56915193e-04 4.44274693e+01] [-3.12670432e-03 2.47026955e-04 9.99995081e-01 -2.27833627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.901400513 meters 0.06779278547596572 Centerline is valid? [True, True] Translation: X:415.22, Y:44.44, Z:-2.28 [[ 9.76065200e-01 -2.17466205e-01 2.27499675e-03 4.15224808e+02] [ 2.17466011e-01 9.76067837e-01 3.35121154e-04 4.44444534e+01] [-2.29342869e-03 1.67634373e-04 9.99997356e-01 -2.27924391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.931400513 meters 0.06934850084885133 Centerline is valid? [True, True] Translation: X:415.25, Y:44.45, Z:-2.28 [[ 9.76955174e-01 -2.13427209e-01 2.72292847e-03 4.15253633e+02] [ 2.13426916e-01 9.76958950e-01 4.01070097e-04 4.44479385e+01] [-2.74578861e-03 1.89318719e-04 9.99996212e-01 -2.27881892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.961400513 meters 0.06381213180834032 Centerline is valid? [True, True] Translation: X:415.28, Y:44.46, Z:-2.28 [[ 9.77970748e-01 -2.08714500e-01 3.38738347e-03 4.15282460e+02] [ 2.08714018e-01 9.77976589e-01 4.99093443e-04 4.44605837e+01] [-3.41694977e-03 2.18895628e-04 9.99994138e-01 -2.27748111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99140051300003 meters 0.05913342764670579 Centerline is valid? [True, True] Translation: X:415.31, Y:44.47, Z:-2.28 [[ 9.79056905e-01 -2.03557041e-01 3.47971128e-03 4.15311414e+02] [ 2.03556500e-01 9.79063067e-01 5.12723512e-04 4.44719701e+01] [-3.51122528e-03 2.06332354e-04 9.99993814e-01 -2.27692985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.021400513 meters 0.05668513522533751 Centerline is valid? [True, True] Translation: X:415.34, Y:44.48, Z:-2.28 [[ 9.80080152e-01 -1.98571642e-01 3.49270742e-03 4.15340144e+02] [ 1.98571065e-01 9.80086357e-01 5.14627627e-04 4.44802566e+01] [-3.52534535e-03 1.89174309e-04 9.99993768e-01 -2.27778003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05140051300003 meters 0.05250012905362832 Centerline is valid? [True, True] Translation: X:415.37, Y:44.50, Z:-2.28 [[ 9.81373102e-01 -1.92087633e-01 3.02909956e-03 4.15368657e+02] [ 1.92087168e-01 9.81377766e-01 4.46349032e-04 4.44956453e+01] [-3.05842909e-03 1.43816222e-04 9.99995313e-01 -2.28061286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.081400513 meters 0.0429249371459449 Centerline is valid? [True, True] Translation: X:415.40, Y:44.51, Z:-2.28 [[ 9.81717633e-01 -1.90320631e-01 2.92328691e-03 4.15398496e+02] [ 1.90320190e-01 9.81721977e-01 4.30848846e-04 4.45087417e+01] [-2.95185443e-03 1.33388612e-04 9.99995634e-01 -2.27996916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.111400513 meters 0.044589334281089986 Centerline is valid? [True, True] Translation: X:415.43, Y:44.51, Z:-2.28 [[ 9.81894481e-01 -1.89404851e-01 3.00505620e-03 4.15428868e+02] [ 1.89404381e-01 9.81899070e-01 4.42824367e-04 4.45148360e+01] [-3.03453497e-03 1.34364006e-04 9.99995387e-01 -2.28147608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.141400513 meters 0.040284187115494 Centerline is valid? [True, True] Translation: X:415.46, Y:44.52, Z:-2.28 [[ 9.82106039e-01 -1.88301927e-01 3.17997051e-03 4.15460211e+02] [ 1.88301395e-01 9.82111178e-01 4.68547508e-04 4.45210670e+01] [-3.21131298e-03 1.38629547e-04 9.99994834e-01 -2.28020511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.171400513 meters 0.039631194981360154 Centerline is valid? [True, True] Translation: X:415.49, Y:44.53, Z:-2.28 [[ 9.82617709e-01 -1.85590325e-01 4.32079316e-03 4.15490026e+02] [ 1.85589318e-01 9.82627193e-01 6.36357895e-04 4.45258061e+01] [-4.36383072e-03 1.76596520e-04 9.99990463e-01 -2.27931192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.201400513 meters 0.036490123721166605 Centerline is valid? [True, True] Translation: X:415.52, Y:44.54, Z:-2.28 [[ 9.83068938e-01 -1.83179236e-01 4.56403710e-03 4.15520881e+02] [ 1.83178086e-01 9.83079517e-01 6.72224777e-04 4.45351941e+01] [-4.60994901e-03 1.75188284e-04 9.99989359e-01 -2.27906787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.231400513 meters 0.0367387667687054 Centerline is valid? [True, True] Translation: X:415.55, Y:44.54, Z:-2.28 [[ 9.83672182e-01 -1.79901781e-01 4.93830673e-03 4.15550065e+02] [ 1.79900395e-01 9.83684563e-01 7.27125873e-04 4.45402966e+01] [-4.98854733e-03 1.73149834e-04 9.99987542e-01 -2.27837449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.261400513 meters 0.030168307551916136 Centerline is valid? [True, True] Translation: X:415.58, Y:44.55, Z:-2.28 [[ 9.84348092e-01 -1.76133391e-01 5.98848082e-03 4.15579021e+02] [ 1.76131283e-01 9.84366290e-01 8.81755546e-04 4.45533158e+01] [-6.05016525e-03 1.86804420e-04 9.99981680e-01 -2.27716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.291400513 meters 0.026071598455140458 Centerline is valid? [True, True] Translation: X:415.61, Y:44.56, Z:-2.27 [[ 9.85517145e-01 -1.69363276e-01 8.48750575e-03 4.15607976e+02] [ 1.69358790e-01 9.85553671e-01 1.24974638e-03 4.45623963e+01] [-8.57655359e-03 2.05787222e-04 9.99963200e-01 -2.27398262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.321400513 meters 0.023281587156083153 Centerline is valid? [True, True] Translation: X:415.64, Y:44.57, Z:-2.27 [[ 9.85935273e-01 -1.66895861e-01 8.79820813e-03 4.15638251e+02] [ 1.66890942e-01 9.85974510e-01 1.29548797e-03 4.45710979e+01] [-8.89102053e-03 1.91073964e-04 9.99960456e-01 -2.27399122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.351400513 meters 0.023281587156083153 Centerline is valid? [True, True] Translation: X:415.67, Y:44.58, Z:-2.27 [[ 9.85946804e-01 -1.66827729e-01 8.79825867e-03 4.15670450e+02] [ 1.66822811e-01 9.85986041e-01 1.29514460e-03 4.45757185e+01] [-8.89102627e-03 1.90806570e-04 9.99960456e-01 -2.27417988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.381400513 meters 0.024837947651702625 Centerline is valid? [True, True] Translation: X:415.70, Y:44.59, Z:-2.28 [[ 9.86307941e-01 -1.64723177e-01 7.93225102e-03 4.15701296e+02] [ 1.64719115e-01 9.86339825e-01 1.16719194e-03 4.45854905e+01] [-8.01615865e-03 1.55382685e-04 9.99967858e-01 -2.27684637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.411400513 meters 0.020345976414245796 Centerline is valid? [True, True] Translation: X:415.73, Y:44.59, Z:-2.28 [[ 9.86652793e-01 -1.62688982e-01 6.96864802e-03 4.15732322e+02] [ 1.62685799e-01 9.86677394e-01 1.02509674e-03 4.45918669e+01] [-7.04257942e-03 1.22285506e-04 9.99975193e-01 -2.27881535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.441400513 meters 0.01565181688467841 Centerline is valid? [True, True] Translation: X:415.76, Y:44.60, Z:-2.28 [[ 9.87208819e-01 -1.59333688e-01 5.61453367e-03 4.15764135e+02] [ 1.59331568e-01 9.87224782e-01 8.25690933e-04 4.45998472e+01] [-5.67436715e-03 7.94430825e-05 9.99983897e-01 -2.28042206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.471400513 meters 0.014731371650150992 Centerline is valid? [True, True] Translation: X:415.80, Y:44.61, Z:-2.28 [[ 9.87478593e-01 -1.57655761e-01 5.53980639e-03 4.15795057e+02] [ 1.57653674e-01 9.87494130e-01 8.14222493e-04 4.46059736e+01] [-5.59889315e-03 6.93435465e-05 9.99984324e-01 -2.28041122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.501400513 meters 0.012720100874474446 Centerline is valid? [True, True] Translation: X:415.83, Y:44.61, Z:-2.28 [[ 9.87735318e-01 -1.56030733e-01 5.77510552e-03 4.15826461e+02] [ 1.56028438e-01 9.87752199e-01 8.48588162e-04 4.46136611e+01] [-5.83677901e-03 6.29001955e-05 9.99982964e-01 -2.27990010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.531400513 meters 0.011533853276258367 Centerline is valid? [True, True] Translation: X:415.86, Y:44.62, Z:-2.28 [[ 9.88014389e-01 -1.54240235e-01 6.12504289e-03 4.15857667e+02] [ 1.54237621e-01 9.88033373e-01 8.99690859e-04 4.46194439e+01] [-6.19051532e-03 5.58045306e-05 9.99980837e-01 -2.27942704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.561400513 meters 0.009899268597270684 Centerline is valid? [True, True] Translation: X:415.89, Y:44.63, Z:-2.28 [[ 9.88347081e-01 -1.52098435e-01 6.00938875e-03 4.15889775e+02] [ 1.52095881e-01 9.88365350e-01 8.82404651e-04 4.46257736e+01] [-6.07368398e-03 4.18812163e-05 9.99981554e-01 -2.28020486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.591400513 meters 0.014037993751318515 Centerline is valid? [True, True] Translation: X:415.92, Y:44.64, Z:-2.28 [[ 9.89148762e-01 -1.46836618e-01 4.87167312e-03 4.15920216e+02] [ 1.46834878e-01 9.89160759e-01 7.14958805e-04 4.46351843e+01] [-4.92385001e-03 8.13091111e-06 9.99987878e-01 -2.28393509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.621400513 meters 0.007388751172016429 Centerline is valid? [True, True] Translation: X:415.95, Y:44.64, Z:-2.28 [[ 9.89559258e-01 -1.44046063e-01 4.81722036e-03 4.15952010e+02] [ 1.44044329e-01 9.89570984e-01 7.06826532e-04 4.46429539e+01] [-4.86879707e-03 -5.55346224e-06 9.99988147e-01 -2.28362921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.651400513 meters 0.01160931481281259 Centerline is valid? [True, True] Translation: X:415.98, Y:44.65, Z:-2.28 [[ 9.89957694e-01 -1.41285679e-01 4.70318360e-03 4.15983390e+02] [ 1.41283997e-01 9.89968866e-01 6.89732832e-04 4.46506358e+01] [-4.75345471e-03 -1.83217460e-05 9.99988702e-01 -2.28409734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.681400513 meters 0.022448980689144284 Centerline is valid? [True, True] Translation: X:416.01, Y:44.66, Z:-2.28 [[ 9.90254855e-01 -1.39191306e-01 4.59384307e-03 4.16014885e+02] [ 1.39189679e-01 9.90265510e-01 6.73524271e-04 4.46573002e+01] [-4.64287307e-03 -2.75451347e-05 9.99989221e-01 -2.28450374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.711400513 meters 0.010495437065288039 Centerline is valid? [True, True] Translation: X:416.05, Y:44.66, Z:-2.28 [[ 9.90615117e-01 -1.36618049e-01 4.14703148e-03 4.16046712e+02] [ 1.36616702e-01 9.90623797e-01 6.07636471e-04 4.46609205e+01] [-4.19116218e-03 -3.53801090e-05 9.99991216e-01 -2.28479340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74140051300003 meters 0.011409638597451121 Centerline is valid? [True, True] Translation: X:416.08, Y:44.66, Z:-2.29 [[ 9.90654018e-01 -1.36347041e-01 3.75522934e-03 4.16078682e+02] [ 1.36345934e-01 9.90661134e-01 5.50342614e-04 4.46639956e+01] [-3.79519734e-03 -3.31888692e-05 9.99992798e-01 -2.28646343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.771400513 meters 0.010670980593942801 Centerline is valid? [True, True] Translation: X:416.11, Y:44.66, Z:-2.29 [[ 9.90546402e-01 -1.37136792e-01 3.36528600e-03 4.16111441e+02] [ 1.37135911e-01 9.90552119e-01 4.92317282e-04 4.46641528e+01] [-3.40100599e-03 -2.61615525e-05 9.99994216e-01 -2.28775281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80140051300003 meters 0.012311249134348392 Centerline is valid? [True, True] Translation: X:416.14, Y:44.66, Z:-2.29 [[ 9.90087316e-01 -1.40434598e-01 2.28713021e-03 4.16143547e+02] [ 1.40434199e-01 9.90089957e-01 3.34566964e-04 4.46573962e+01] [-2.31144943e-03 -1.00592073e-05 9.99997329e-01 -2.29057193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.831400513 meters 0.007764230056898976 Centerline is valid? [True, True] Translation: X:416.18, Y:44.66, Z:-2.29 [[ 9.89808188e-01 -1.42387624e-01 2.34863627e-03 4.16176730e+02] [ 1.42387210e-01 9.89810974e-01 3.43453732e-04 4.46550726e+01] [-2.37360952e-03 -5.53754871e-06 9.99997183e-01 -2.28917464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.861400513 meters 0.007499138349044678 Centerline is valid? [True, True] Translation: X:416.21, Y:44.65, Z:-2.29 [[ 9.89601808e-01 -1.43811430e-01 2.55622306e-03 4.16209785e+02] [ 1.43810944e-01 9.89605109e-01 3.73649498e-04 4.46539563e+01] [-2.58338647e-03 -2.15136645e-06 9.99996663e-01 -2.28876305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.891400513 meters 0.0074619703656761 Centerline is valid? [True, True] Translation: X:416.24, Y:44.65, Z:-2.29 [[ 9.89490567e-01 -1.44570035e-01 2.81487911e-03 4.16242052e+02] [ 1.44569450e-01 9.89494570e-01 4.11320305e-04 4.46531601e+01] [-2.84477218e-03 -5.20369665e-08 9.99995954e-01 -2.28845341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.921400513 meters 0.011265818252376884 Centerline is valid? [True, True] Translation: X:416.27, Y:44.65, Z:-2.29 [[ 9.89521532e-01 -1.44350616e-01 3.16812128e-03 4.16274432e+02] [ 1.44349874e-01 9.89526604e-01 4.62650786e-04 4.46538229e+01] [-3.20172422e-03 -4.85005390e-07 9.99994874e-01 -2.28855485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.951400513 meters 0.02219316770654409 Centerline is valid? [True, True] Translation: X:416.31, Y:44.66, Z:-2.29 [[ 9.89746911e-01 -1.42785191e-01 3.66629356e-03 4.16305598e+02] [ 1.42784188e-01 9.89753701e-01 5.35149158e-04 4.46557542e+01] [-3.70513899e-03 -6.17347534e-06 9.99993136e-01 -2.28853828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.981400513 meters 0.010835774291572148 Centerline is valid? [True, True] Translation: X:416.34, Y:44.66, Z:-2.29 [[ 9.90532117e-01 -1.37167133e-01 5.59482046e-03 4.16337883e+02] [ 1.37164710e-01 9.90547917e-01 8.16330965e-04 4.46583393e+01] [-5.65391153e-03 -4.11901131e-05 9.99984016e-01 -2.28571138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.011400513 meters 0.022943332103904764 Centerline is valid? [True, True] Translation: X:416.37, Y:44.66, Z:-2.29 [[ 9.90973440e-01 -1.33905184e-01 6.40649409e-03 4.16369935e+02] [ 1.33901942e-01 9.90994146e-01 9.34338552e-04 4.46611543e+01] [-6.47391091e-03 -6.80626890e-05 9.99979042e-01 -2.28544890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.041400513 meters 0.015689767133931335 Centerline is valid? [True, True] Translation: X:416.40, Y:44.67, Z:-2.28 [[ 9.91364117e-01 -1.30958743e-01 6.85530772e-03 4.16400934e+02] [ 1.30954963e-01 9.91387815e-01 9.99446896e-04 4.46657671e+01] [-6.92715485e-03 -9.30792221e-05 9.99976003e-01 -2.28393558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.071400513 meters 0.024621863645402513 Centerline is valid? [True, True] Translation: X:416.43, Y:44.67, Z:-2.29 [[ 9.91680757e-01 -1.28556972e-01 6.51013468e-03 4.16432548e+02] [ 1.28553512e-01 9.91702120e-01 9.48882336e-04 4.46695766e+01] [-6.57809980e-03 -1.04087677e-04 9.99978359e-01 -2.28525100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.101400513 meters 0.02137279958796718 Centerline is valid? [True, True] Translation: X:416.46, Y:44.67, Z:-2.29 [[ 9.92155896e-01 -1.24880503e-01 5.61593959e-03 4.16464961e+02] [ 1.24877871e-01 9.92171783e-01 8.18312100e-04 4.46706731e+01] [-5.67416803e-03 -1.10586596e-04 9.99983896e-01 -2.28582651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.131400513 meters 0.028463106845450278 Centerline is valid? [True, True] Translation: X:416.50, Y:44.67, Z:-2.29 [[ 9.92274148e-01 -1.23929223e-01 5.79340393e-03 4.16496110e+02] [ 1.23926407e-01 9.92291053e-01 8.43876505e-04 4.46731439e+01] [-5.85332384e-03 -1.19401108e-04 9.99982862e-01 -2.28666483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.161400513 meters 0.023654109971599408 Centerline is valid? [True, True] Translation: X:416.53, Y:44.67, Z:-2.28 [[ 9.92259570e-01 -1.24007338e-01 6.56706720e-03 4.16527435e+02] [ 1.24003724e-01 9.92281292e-01 9.56298714e-04 4.46740795e+01] [-6.63496599e-03 -1.34555764e-04 9.99977979e-01 -2.28466948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.191400513 meters 0.021797939041532637 Centerline is valid? [True, True] Translation: X:416.56, Y:44.67, Z:-2.28 [[ 9.92174254e-01 -1.24640892e-01 7.40930458e-03 4.16560456e+02] [ 1.24636311e-01 9.92201908e-01 1.07862927e-03 4.46728597e+01] [-7.48596746e-03 -1.46719795e-04 9.99971969e-01 -2.28344392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.221400513 meters 0.02071352672489882 Centerline is valid? [True, True] Translation: X:416.59, Y:44.67, Z:-2.28 [[ 9.91947125e-01 -1.26432468e-01 7.46538909e-03 4.16592544e+02] [ 1.26427871e-01 9.91975208e-01 1.08634546e-03 4.46684542e+01] [-7.54283024e-03 -1.33764005e-04 9.99971544e-01 -2.28345245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.251400513 meters 0.02465759929179892 Centerline is valid? [True, True] Translation: X:416.63, Y:44.67, Z:-2.29 [[ 9.91819474e-01 -1.27480493e-01 6.54638313e-03 4.16625297e+02] [ 1.27476985e-01 9.91841072e-01 9.52099488e-04 4.46666797e+01] [-6.61434577e-03 -1.09797632e-04 9.99978119e-01 -2.28631482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.281400513 meters 0.02100291744988167 Centerline is valid? [True, True] Translation: X:416.66, Y:44.66, Z:-2.29 [[ 9.91633157e-01 -1.28963700e-01 5.66095942e-03 4.16658851e+02] [ 1.28961102e-01 9.91649311e-01 8.23090616e-04 4.46622801e+01] [-5.71983533e-03 -8.61603805e-05 9.99983638e-01 -2.28871414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.311400513 meters 0.02390011045559542 Centerline is valid? [True, True] Translation: X:416.69, Y:44.66, Z:-2.29 [[ 9.91499866e-01 -1.30011925e-01 4.99155416e-03 4.16690293e+02] [ 1.30009919e-01 9.91512428e-01 7.25536170e-04 4.46604066e+01] [-5.04351634e-03 -7.04174623e-05 9.99987279e-01 -2.29028254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.341400513 meters 0.015451959319171127 Centerline is valid? [True, True] Translation: X:416.72, Y:44.66, Z:-2.29 [[ 9.91357922e-01 -1.31093022e-01 4.90807399e-03 4.16722896e+02] [ 1.31091097e-01 9.91370070e-01 7.13221978e-04 4.46576756e+01] [-4.95921608e-03 -6.36534543e-05 9.99987701e-01 -2.28995108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.371400513 meters 0.015889463427926534 Centerline is valid? [True, True] Translation: X:416.75, Y:44.65, Z:-2.29 [[ 9.91381097e-01 -1.30915330e-01 4.96963367e-03 4.16754179e+02] [ 1.30913355e-01 9.91393551e-01 7.21963917e-04 4.46516478e+01] [-5.02137891e-03 -6.51499635e-05 9.99987391e-01 -2.28888303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.401400513 meters 0.018978275425012944 Centerline is valid? [True, True] Translation: X:416.79, Y:44.65, Z:-2.29 [[ 9.91590512e-01 -1.29334450e-01 4.56696805e-03 4.16785263e+02] [ 1.29332766e-01 9.91601026e-01 6.63416949e-04 4.46524474e+01] [-4.61441288e-03 -6.71793426e-05 9.99989351e-01 -2.28948777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.431400513 meters 0.019555433664214607 Centerline is valid? [True, True] Translation: X:416.82, Y:44.66, Z:-2.29 [[ 9.91936334e-01 -1.26669661e-01 4.13609667e-03 4.16816390e+02] [ 1.26668257e-01 9.91944954e-01 6.00802289e-04 4.46563471e+01] [-4.17888365e-03 -7.20454649e-05 9.99991266e-01 -2.29019632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.461400513 meters 0.024195850737926277 Centerline is valid? [True, True] Translation: X:416.85, Y:44.66, Z:-2.29 [[ 9.92359315e-01 -1.23318977e-01 3.92668457e-03 4.16846113e+02] [ 1.23317686e-01 9.92367081e-01 5.70303631e-04 4.46627755e+01] [-3.96704176e-03 -8.17164672e-05 9.99992128e-01 -2.29129675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49140051300003 meters 0.029208461065544863 Centerline is valid? [True, True] Translation: X:416.88, Y:44.67, Z:-2.29 [[ 9.93219257e-01 -1.16211166e-01 3.23617699e-03 4.16876465e+02] [ 1.16210252e-01 9.93224525e-01 4.69879559e-04 4.46654482e+01] [-3.26885560e-03 -9.06164835e-05 9.99994653e-01 -2.29251608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.521400513 meters 0.03479459566966135 Centerline is valid? [True, True] Translation: X:416.91, Y:44.67, Z:-2.29 [[ 9.93599403e-01 -1.12928481e-01 2.71744576e-03 4.16905981e+02] [ 1.12927824e-01 9.93603115e-01 3.94547162e-04 4.46712986e+01] [-2.74461819e-03 -8.51465880e-05 9.99996230e-01 -2.29392421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55140051300003 meters 0.037493394504706214 Centerline is valid? [True, True] Translation: X:416.94, Y:44.68, Z:-2.29 [[ 9.93923139e-01 -1.10047985e-01 2.49675732e-03 4.16935253e+02] [ 1.10047421e-01 9.93926272e-01 3.62505308e-04 4.46761105e+01] [-2.52148567e-03 -8.55407098e-05 9.99996817e-01 -2.29416353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.581400513 meters 0.0386333221648545 Centerline is valid? [True, True] Translation: X:416.97, Y:44.67, Z:-2.29 [[ 9.94287616e-01 -1.06695990e-01 2.84651903e-03 4.16966795e+02] [ 1.06695243e-01 9.94291685e-01 4.13324231e-04 4.46735492e+01] [-2.87437024e-03 -1.07253125e-04 9.99995863e-01 -2.29363862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.611400513 meters 0.04494779629351789 Centerline is valid? [True, True] Translation: X:417.00, Y:44.68, Z:-2.29 [[ 9.94396945e-01 -1.05640168e-01 3.85636127e-03 4.16996687e+02] [ 1.05638790e-01 9.94404411e-01 5.59918881e-04 4.46787849e+01] [-3.89393259e-03 -1.49400286e-04 9.99992407e-01 -2.29327790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.641400513 meters 0.04196823943994949 Centerline is valid? [True, True] Translation: X:417.03, Y:44.68, Z:-2.29 [[ 9.94458708e-01 -1.05042830e-01 4.22866586e-03 4.17027302e+02] [ 1.05041168e-01 9.94467685e-01 6.13789239e-04 4.46813282e+01] [-4.26974570e-03 -1.66204054e-04 9.99990871e-01 -2.29195386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.671400513 meters 0.045461217399957864 Centerline is valid? [True, True] Translation: X:417.06, Y:44.68, Z:-2.29 [[ 9.94419018e-01 -1.05386012e-01 4.96035373e-03 4.17057979e+02] [ 1.05383730e-01 9.94431371e-01 7.19920324e-04 4.46837988e+01] [-5.00860089e-03 -1.93161884e-04 9.99987438e-01 -2.29262462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.701400513 meters 0.04113580917677861 Centerline is valid? [True, True] Translation: X:417.09, Y:44.68, Z:-2.29 [[ 9.94200343e-01 -1.07431865e-01 4.90630859e-03 4.17089815e+02] [ 1.07429658e-01 9.94212433e-01 7.12007385e-04 4.46769892e+01] [-4.95440528e-03 -1.80794934e-04 9.99987711e-01 -2.29298605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.731400513 meters 0.03484883706355127 Centerline is valid? [True, True] Translation: X:417.12, Y:44.67, Z:-2.29 [[ 9.94061339e-01 -1.08731644e-01 4.41396734e-03 4.17123009e+02] [ 1.08729870e-01 9.94071127e-01 6.40609526e-04 4.46690118e+01] [-4.45745202e-03 -1.56875067e-04 9.99990053e-01 -2.29355662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.761400513 meters 0.04165358270797896 Centerline is valid? [True, True] Translation: X:417.15, Y:44.67, Z:-2.29 [[ 9.93935372e-01 -1.09896878e-01 3.89264047e-03 4.17152849e+02] [ 1.09895508e-01 9.93942986e-01 5.64776714e-04 4.46719356e+01] [-3.93112989e-03 -1.33567853e-04 9.99992264e-01 -2.29491837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.791400513 meters 0.034621536926684404 Centerline is valid? [True, True] Translation: X:417.18, Y:44.67, Z:-2.30 [[ 9.93818944e-01 -1.10965992e-01 3.23345545e-03 4.17184434e+02] [ 1.10965052e-01 9.93824198e-01 4.69075860e-04 4.46683095e+01] [-3.26553774e-03 -1.07375924e-04 9.99994662e-01 -2.29571803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.821400513 meters 0.036164673870226975 Centerline is valid? [True, True] Translation: X:417.21, Y:44.67, Z:-2.30 [[ 9.93763345e-01 -1.11483799e-01 2.40346468e-03 4.17214167e+02] [ 1.11483281e-01 9.93766248e-01 3.48627350e-04 4.46706615e+01] [-2.42734838e-03 -7.85069527e-05 9.99997051e-01 -2.29717325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.851400513 meters 0.03509763548658019 Centerline is valid? [True, True] Translation: X:417.24, Y:44.67, Z:-2.30 [[ 9.93659067e-01 -1.12401879e-01 2.73408923e-03 4.17242994e+02] [ 1.12401213e-01 9.93662825e-01 3.96482849e-04 4.46675106e+01] [-2.76132825e-03 -8.66538320e-05 9.99996184e-01 -2.29647802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.881400513 meters 0.04003374365455509 Centerline is valid? [True, True] Translation: X:417.27, Y:44.67, Z:-2.30 [[ 9.93619352e-01 -1.12728671e-01 3.58187609e-03 4.17271680e+02] [ 1.12727530e-01 9.93625802e-01 5.19513523e-04 4.46675629e+01] [-3.61760857e-03 -1.12422647e-04 9.99993450e-01 -2.29622390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.911400513 meters 0.034417900244882296 Centerline is valid? [True, True] Translation: X:417.30, Y:44.67, Z:-2.29 [[ 9.93668594e-01 -1.12276981e-01 4.07480265e-03 4.17300689e+02] [ 1.12275497e-01 9.93676941e-01 5.91847446e-04 4.46695733e+01] [-4.11548827e-03 -1.30599726e-04 9.99991523e-01 -2.29499505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.941400513 meters 0.03550355608112256 Centerline is valid? [True, True] Translation: X:417.33, Y:44.67, Z:-2.30 [[ 9.93738134e-01 -1.11657524e-01 4.13749815e-03 4.17329793e+02] [ 1.11655986e-01 9.93746738e-01 6.01685598e-04 4.46722032e+01] [-4.17880802e-03 -1.35941490e-04 9.99991260e-01 -2.29541252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.971400513 meters 0.035304424647141064 Centerline is valid? [True, True] Translation: X:417.36, Y:44.67, Z:-2.30 [[ 9.93812222e-01 -1.10989096e-01 4.32302476e-03 4.17359422e+02] [ 1.10987407e-01 9.93821613e-01 6.29448716e-04 4.46698710e+01] [-4.36617738e-03 -1.45752518e-04 9.99990458e-01 -2.29529010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.001400513 meters 0.03444029839554181 Centerline is valid? [True, True] Translation: X:417.39, Y:44.67, Z:-2.30 [[ 9.93742208e-01 -1.11615919e-01 4.27905456e-03 4.17389029e+02] [ 1.11614267e-01 9.93751411e-01 6.23777213e-04 4.46687238e+01] [-4.32193997e-03 -1.42270209e-04 9.99990650e-01 -2.29600884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.031400513 meters 0.035917641694269586 Centerline is valid? [True, True] Translation: X:417.42, Y:44.67, Z:-2.30 [[ 9.93629199e-01 -1.12642659e-01 3.55603562e-03 4.17416685e+02] [ 1.12641522e-01 9.93635556e-01 5.19088721e-04 4.46732503e+01] [-3.59187496e-03 -1.15224445e-04 9.99993543e-01 -2.29671180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.061400513 meters 0.037029420715969354 Centerline is valid? [True, True] Translation: X:417.45, Y:44.67, Z:-2.30 [[ 9.93214821e-01 -1.16255398e-01 3.00020510e-03 4.17446823e+02] [ 1.16254604e-01 9.93219349e-01 4.38190664e-04 4.46670220e+01] [-3.03080379e-03 -8.64298059e-05 9.99995403e-01 -2.29976581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.091400513 meters 0.035648397585105546 Centerline is valid? [True, True] Translation: X:417.48, Y:44.66, Z:-2.30 [[ 9.92911893e-01 -1.18813482e-01 3.05432406e-03 4.17477178e+02] [ 1.18812672e-01 9.92916588e-01 4.45803728e-04 4.46628949e+01] [-3.08565652e-03 -7.97514194e-05 9.99995236e-01 -2.30008216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.121400513 meters 0.024190321620714092 Centerline is valid? [True, True] Translation: X:417.51, Y:44.66, Z:-2.30 [[ 9.92615863e-01 -1.21254674e-01 3.32456045e-03 4.17507322e+02] [ 1.21253727e-01 9.92621427e-01 4.85847098e-04 4.46586031e+01] [-3.35894117e-03 -7.91441927e-05 9.99994356e-01 -2.29890677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.151400513 meters 0.03029762493847449 Centerline is valid? [True, True] Translation: X:417.54, Y:44.66, Z:-2.30 [[ 9.92368275e-01 -1.23250709e-01 3.80388595e-03 4.17535532e+02] [ 1.23249479e-01 9.92375562e-01 5.56868628e-04 4.46597793e+01] [-3.84351791e-03 -8.37917968e-05 9.99992610e-01 -2.29894737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.181400513 meters 0.02314443463323657 Centerline is valid? [True, True] Translation: X:417.57, Y:44.65, Z:-2.30 [[ 9.91992529e-01 -1.26184450e-01 5.32039136e-03 4.17565493e+02] [ 1.26182084e-01 9.92006791e-01 7.79370041e-04 4.46536561e+01] [-5.37620874e-03 -1.01791187e-04 9.99985543e-01 -2.29615326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.211400513 meters 0.022308574574566045 Centerline is valid? [True, True] Translation: X:417.59, Y:44.65, Z:-2.30 [[ 9.91826502e-01 -1.27470940e-01 5.59903941e-03 4.17593451e+02] [ 1.27468339e-01 9.91842301e-01 8.20478817e-04 4.46528743e+01] [-5.65795134e-03 -1.00072382e-04 9.99983989e-01 -2.29600019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24140051300003 meters 0.028122548406969695 Centerline is valid? [True, True] Translation: X:417.62, Y:44.65, Z:-2.30 [[ 9.91685585e-01 -1.28563853e-01 5.57100878e-03 4.17621884e+02] [ 1.28561293e-01 9.91701229e-01 8.16711519e-04 4.46529744e+01] [-5.62977583e-03 -9.37049489e-05 9.99984148e-01 -2.29652913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.271400513 meters 0.028122548406969695 Centerline is valid? [True, True] Translation: X:417.65, Y:44.66, Z:-2.30 [[ 9.91661057e-01 -1.28752915e-01 5.57096327e-03 4.17649052e+02] [ 1.28750357e-01 9.91676700e-01 8.17021795e-04 4.46571371e+01] [-5.62978842e-03 -9.29451890e-05 9.99984148e-01 -2.29668857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30140051300003 meters 0.02059119037847046 Centerline is valid? [True, True] Translation: X:417.68, Y:44.66, Z:-2.30 [[ 9.91592303e-01 -1.29300866e-01 5.09818213e-03 4.17677012e+02] [ 1.29298725e-01 9.91605405e-01 7.48669218e-04 4.46598315e+01] [-5.15218853e-03 -8.31861837e-05 9.99986724e-01 -2.29719174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.331400513 meters 0.02570364345833297 Centerline is valid? [True, True] Translation: X:417.71, Y:44.66, Z:-2.30 [[ 9.91477224e-01 -1.30174339e-01 5.24941292e-03 4.17706948e+02] [ 1.30172080e-01 9.91491117e-01 7.71150263e-04 4.46555326e+01] [-5.30513025e-03 -8.12509233e-05 9.99985924e-01 -2.29720928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.361400513 meters 0.026931760344589842 Centerline is valid? [True, True] Translation: X:417.74, Y:44.66, Z:-2.30 [[ 9.91432453e-01 -1.30488197e-01 5.87545310e-03 4.17735329e+02] [ 1.30485366e-01 9.91449859e-01 8.64251959e-04 4.46574387e+01] [-5.93799183e-03 -9.01867934e-05 9.99982366e-01 -2.29608822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.391400513 meters 0.028434628484615813 Centerline is valid? [True, True] Translation: X:417.76, Y:44.66, Z:-2.29 [[ 9.91370030e-01 -1.30924652e-01 6.64826672e-03 4.17761643e+02] [ 1.30921028e-01 9.91392317e-01 9.79352603e-04 4.46608071e+01] [-6.71926194e-03 -1.00502908e-04 9.99977420e-01 -2.29482452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.421400513 meters 0.023360239119418428 Centerline is valid? [True, True] Translation: X:417.79, Y:44.66, Z:-2.30 [[ 9.91279344e-01 -1.31609714e-01 6.64416069e-03 4.17789383e+02] [ 1.31606104e-01 9.91301606e-01 9.79638555e-04 4.46646855e+01] [-6.71529711e-03 -9.66833642e-05 9.99977447e-01 -2.29505715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.451400513 meters 0.018623794903536967 Centerline is valid? [True, True] Translation: X:417.82, Y:44.67, Z:-2.30 [[ 9.91144643e-01 -1.32638602e-01 6.26883930e-03 4.17818067e+02] [ 1.32635404e-01 9.91164464e-01 9.24899333e-04 4.46671631e+01] [-6.33612810e-03 -8.52389846e-05 9.99979923e-01 -2.29568563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.481400513 meters 0.018590177681407895 Centerline is valid? [True, True] Translation: X:417.85, Y:44.66, Z:-2.29 [[ 9.90668377e-01 -1.36100228e-01 7.27291338e-03 4.17846200e+02] [ 1.36096008e-01 9.90695070e-01 1.07432829e-03 4.46645920e+01] [-7.35145576e-03 -7.44885883e-05 9.99972975e-01 -2.29464695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.511400513 meters 0.01441220216342608 Centerline is valid? [True, True] Translation: X:417.87, Y:44.66, Z:-2.29 [[ 9.90267708e-01 -1.38958152e-01 7.77804289e-03 4.17873922e+02] [ 1.38953409e-01 9.90298252e-01 1.14962309e-03 4.46646430e+01] [-7.86233178e-03 -5.76490534e-05 9.99969090e-01 -2.29306489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.541400513 meters 0.024231920289020697 Centerline is valid? [True, True] Translation: X:417.90, Y:44.66, Z:-2.29 [[ 9.89791437e-01 -1.42336824e-01 7.28970405e-03 4.17903381e+02] [ 1.42332744e-01 9.89818280e-01 1.07804591e-03 4.46648960e+01] [-7.36892796e-03 -2.94770261e-05 9.99972849e-01 -2.29372709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.571400513 meters 0.014919970391313805 Centerline is valid? [True, True] Translation: X:417.93, Y:44.67, Z:-2.30 [[ 9.89207687e-01 -1.46388097e-01 6.21910865e-03 4.17932909e+02] [ 1.46385201e-01 9.89227236e-01 9.20669614e-04 4.46652720e+01] [-6.28688673e-03 -3.47987442e-07 9.99980237e-01 -2.29602150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.601400513 meters 0.010539347032917814 Centerline is valid? [True, True] Translation: X:417.96, Y:44.66, Z:-2.30 [[ 9.87999212e-01 -1.54388448e-01 4.66520963e-03 4.17962959e+02] [ 1.54386905e-01 9.88010226e-01 6.91204311e-04 4.46579269e+01] [-4.71598878e-03 3.73379609e-05 9.99988879e-01 -2.29923474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.631400513 meters 0.017415768922603016 Centerline is valid? [True, True] Translation: X:417.99, Y:44.65, Z:-2.30 [[ 9.87327623e-01 -1.58642680e-01 4.08217618e-03 4.17991138e+02] [ 1.58641532e-01 9.87336061e-01 6.05538623e-04 4.46545710e+01] [-4.12654403e-03 4.97376759e-05 9.99991485e-01 -2.30044717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.661400513 meters 0.017379122573751064 Centerline is valid? [True, True] Translation: X:418.02, Y:44.65, Z:-2.30 [[ 9.86710747e-01 -1.62459029e-01 2.99415375e-03 4.18019867e+02] [ 1.62458428e-01 9.86715289e-01 4.44442145e-04 4.46549543e+01] [-3.02658092e-03 4.78896704e-05 9.99995419e-01 -2.30107453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.691400513 meters 0.034413845016607575 Centerline is valid? [True, True] Translation: X:418.05, Y:44.65, Z:-2.30 [[ 9.86037887e-01 -1.66511645e-01 1.77684526e-03 4.18049167e+02] [ 1.66511440e-01 9.86039487e-01 2.63815148e-04 4.46543568e+01] [-1.79596789e-03 3.57333328e-05 9.99998387e-01 -2.30323339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.721400513 meters 0.035185013364690605 Centerline is valid? [True, True] Translation: X:418.08, Y:44.65, Z:-2.30 [[ 9.84820634e-01 -1.73558881e-01 2.37336799e-03 4.18079059e+02] [ 1.73558534e-01 9.84823492e-01 3.52642836e-04 4.46492747e+01] [-2.39855284e-03 6.46283276e-05 9.99997121e-01 -2.30288209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.751400513 meters 0.03516935445942254 Centerline is valid? [True, True] Translation: X:418.11, Y:44.65, Z:-2.30 [[ 9.84382610e-01 -1.75999342e-01 3.88705190e-03 4.18108370e+02] [ 1.75998433e-01 9.84390277e-01 5.77564983e-04 4.46456396e+01] [-3.92802716e-03 1.15570118e-04 9.99992279e-01 -2.30063004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.781400513 meters 0.03505010238337705 Centerline is valid? [True, True] Translation: X:418.14, Y:44.65, Z:-2.30 [[ 9.83953564e-01 -1.78372215e-01 4.32868901e-03 4.18137625e+02] [ 1.78371109e-01 9.83963075e-01 6.43384260e-04 4.46525851e+01] [-4.37403203e-03 1.39052823e-04 9.99990424e-01 -2.29996324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.811400513 meters 0.034895811533203584 Centerline is valid? [True, True] Translation: X:418.17, Y:44.66, Z:-2.30 [[ 9.83693978e-01 -1.79807513e-01 3.92638496e-03 4.18165823e+02] [ 1.79806615e-01 9.83701805e-01 5.83406799e-04 4.46569002e+01] [-3.96729290e-03 1.32096233e-04 9.99992122e-01 -2.30080294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.841400513 meters 0.03639689803797686 Centerline is valid? [True, True] Translation: X:418.19, Y:44.66, Z:-2.30 [[ 9.83504569e-01 -1.80865955e-01 2.50379230e-03 4.18192836e+02] [ 1.80865592e-01 9.83507752e-01 3.72309184e-04 4.46609500e+01] [-2.52983719e-03 8.66820932e-05 9.99996796e-01 -2.30384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.871400513 meters 0.04315693945815239 Centerline is valid? [True, True] Translation: X:418.22, Y:44.67, Z:-2.31 [[ 9.83161089e-01 -1.82740097e-01 -5.74288540e-04 4.18222403e+02] [ 1.82740078e-01 9.83161257e-01 -8.56886320e-05 4.46651865e+01] [ 5.80276992e-04 -2.06998037e-05 9.99999831e-01 -2.30876001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.901400513 meters 0.03728205424250814 Centerline is valid? [True, True] Translation: X:418.25, Y:44.67, Z:-2.31 [[ 9.83064030e-01 -1.83260592e-01 -8.17322755e-04 4.18250764e+02] [ 1.83260553e-01 9.83064370e-01 -1.22876291e-04 4.46698453e+01] [ 8.25999260e-04 -2.89877580e-05 9.99999658e-01 -2.30892888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.931400513 meters 0.0390200340867509 Centerline is valid? [True, True] Translation: X:418.28, Y:44.67, Z:-2.31 [[ 9.82947973e-01 -1.83879700e-01 -1.23996202e-03 4.18278719e+02] [ 1.83879612e-01 9.82948754e-01 -1.85348513e-04 4.46726939e+01] [ 1.25290095e-03 -4.58157898e-05 9.99999214e-01 -2.30919448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.961400513 meters 0.03950242282385403 Centerline is valid? [True, True] Translation: X:418.31, Y:44.68, Z:-2.31 [[ 9.82897938e-01 -1.84144844e-01 -1.52313991e-03 4.18306952e+02] [ 1.84144710e-01 9.82899117e-01 -2.28472906e-04 4.46777334e+01] [ 1.53916498e-03 -5.59126091e-05 9.99998814e-01 -2.30959132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99140051300003 meters 0.0421346492059217 Centerline is valid? [True, True] Translation: X:418.33, Y:44.68, Z:-2.31 [[ 9.83040133e-01 -1.83389222e-01 -7.00778149e-04 4.18334559e+02] [ 1.83389194e-01 9.83040382e-01 -1.05059307e-04 4.46805364e+01] [ 7.08159963e-04 -2.52376250e-05 9.99999749e-01 -2.30882037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.021400513 meters 0.03932050992393199 Centerline is valid? [True, True] Translation: X:418.36, Y:44.69, Z:-2.31 [[ 9.83038813e-01 -1.83393898e-01 1.17021677e-03 4.18362092e+02] [ 1.83393821e-01 9.83039509e-01 1.74100361e-04 4.46886548e+01] [-1.18229826e-03 4.34631123e-05 9.99999300e-01 -2.30541422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05140051300003 meters 0.04194160471485899 Centerline is valid? [True, True] Translation: X:418.39, Y:44.69, Z:-2.30 [[ 9.82941492e-01 -1.83888041e-01 3.34828549e-03 4.18389280e+02] [ 1.83887402e-01 9.82947187e-01 5.00420140e-04 4.46948586e+01] [-3.38320908e-03 1.23823801e-04 9.99994269e-01 -2.30210477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.081400513 meters 0.039227584434466785 Centerline is valid? [True, True] Translation: X:418.42, Y:44.70, Z:-2.30 [[ 9.82816302e-01 -1.84493689e-01 5.84762605e-03 4.18417152e+02] [ 1.84491739e-01 9.82833674e-01 8.75909010e-04 4.47009170e+01] [-5.90884348e-03 2.17981045e-04 9.99982519e-01 -2.29858718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.111400513 meters 0.06494360531388639 Centerline is valid? [True, True] Translation: X:418.45, Y:44.69, Z:-2.30 [[ 9.82845886e-01 -1.84364924e-01 4.85181812e-03 4.18449208e+02] [ 1.84373545e-01 9.82855261e-01 -1.39015246e-03 4.46853550e+01] [-4.51233961e-03 2.26085252e-03 9.99987264e-01 -2.30080101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.141400513 meters 0.040817939776079455 Centerline is valid? [True, True] Translation: X:418.47, Y:44.71, Z:-2.30 [[ 9.82472339e-01 -1.86350339e-01 4.65344294e-03 4.18473923e+02] [ 1.86338801e-01 9.82481544e-01 2.80471089e-03 4.47065541e+01] [-5.09458063e-03 -1.88843389e-03 9.99985239e-01 -2.30114982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.171400513 meters 0.04482330563111824 Centerline is valid? [True, True] Translation: X:418.50, Y:44.71, Z:-2.30 [[ 9.82178086e-01 -1.87893039e-01 4.73420241e-03 4.18502155e+02] [ 1.87891791e-01 9.82189477e-01 7.10847156e-04 4.47116305e+01] [-4.78344702e-03 1.91339272e-04 9.99988541e-01 -2.30194989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.201400513 meters 0.04957590238488468 Centerline is valid? [True, True] Translation: X:418.53, Y:44.71, Z:-2.30 [[ 9.81894234e-01 -1.89367768e-01 4.85404302e-03 4.18530969e+02] [ 1.89366470e-01 9.81906211e-01 7.29802343e-04 4.47140797e+01] [-4.90441603e-03 2.02604279e-04 9.99987953e-01 -2.30129975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.231400513 meters 0.045072447748973725 Centerline is valid? [True, True] Translation: X:418.56, Y:44.72, Z:-2.30 [[ 9.81344550e-01 -1.92206665e-01 4.41272892e-03 4.18559943e+02] [ 1.92205621e-01 9.81354451e-01 6.63619490e-04 4.47212967e+01] [-4.45800325e-03 1.96911930e-04 9.99990044e-01 -2.30132273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.261400513 meters 0.05033096833454503 Centerline is valid? [True, True] Translation: X:418.59, Y:44.72, Z:-2.30 [[ 9.80988484e-01 -1.94019135e-01 4.26250954e-03 4.18589246e+02] [ 1.94018177e-01 9.80997725e-01 6.41053076e-04 4.47186745e+01] [-4.30588873e-03 1.98138646e-04 9.99990710e-01 -2.30191314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.291400513 meters 0.053381663307785494 Centerline is valid? [True, True] Translation: X:418.62, Y:44.72, Z:-2.30 [[ 9.80569690e-01 -1.96123598e-01 4.31485561e-03 4.18618955e+02] [ 1.96122636e-01 9.80579161e-01 6.49105510e-04 4.47198417e+01] [-4.35836240e-03 2.09747667e-04 9.99990480e-01 -2.30205209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.321400513 meters 0.054315948079123245 Centerline is valid? [True, True] Translation: X:418.65, Y:44.72, Z:-2.30 [[ 9.80077189e-01 -1.98565878e-01 4.50502426e-03 4.18649210e+02] [ 1.98564854e-01 9.80087516e-01 6.77855703e-04 4.47248300e+01] [-4.54991705e-03 2.30188573e-04 9.99989623e-01 -2.30184095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.351400513 meters 0.05524236333600885 Centerline is valid? [True, True] Translation: X:418.68, Y:44.72, Z:-2.30 [[ 9.79673498e-01 -2.00548908e-01 4.46910008e-03 4.18678253e+02] [ 2.00547922e-01 9.79683663e-01 6.72376773e-04 4.47228402e+01] [-4.51314876e-03 2.37559029e-04 9.99989787e-01 -2.30115597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.381400513 meters 0.06571992983110905 Centerline is valid? [True, True] Translation: X:418.71, Y:44.72, Z:-2.30 [[ 9.78999807e-01 -2.03820897e-01 4.05223830e-03 4.18708504e+02] [ 2.03820113e-01 9.79008166e-01 6.09944315e-04 4.47179523e+01] [-4.09149378e-03 2.28792302e-04 9.99991604e-01 -2.30315183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.411400513 meters 0.05832417046136095 Centerline is valid? [True, True] Translation: X:418.74, Y:44.73, Z:-2.30 [[ 9.78915286e-01 -2.04237943e-01 3.42423604e-03 4.18735786e+02] [ 2.04237387e-01 9.78921256e-01 5.15083238e-04 4.47278804e+01] [-3.45725699e-03 1.95134166e-04 9.99994005e-01 -2.30328772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.441400513 meters 0.062442046781161116 Centerline is valid? [True, True] Translation: X:418.76, Y:44.73, Z:-2.30 [[ 9.78898991e-01 -2.04326128e-01 2.75665761e-03 4.18763982e+02] [ 2.04325766e-01 9.78902860e-01 4.15254443e-04 4.47277133e+01] [-2.78334735e-03 1.56764023e-04 9.99996114e-01 -2.30452217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.471400513 meters 0.06108503081916483 Centerline is valid? [True, True] Translation: X:418.79, Y:44.74, Z:-2.31 [[ 9.78821305e-01 -2.04707628e-01 1.90794649e-03 4.18791575e+02] [ 2.04707457e-01 9.78823158e-01 2.87005560e-04 4.47369565e+01] [-1.92629443e-03 1.09643716e-04 9.99998139e-01 -2.30613250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.501400513 meters 0.05582665530609659 Centerline is valid? [True, True] Translation: X:418.82, Y:44.74, Z:-2.31 [[ 9.78617956e-01 -2.05683805e-01 1.03348552e-03 4.18820056e+02] [ 2.05683755e-01 9.78618500e-01 1.55756453e-04 4.47437952e+01] [-1.04342463e-03 6.01451205e-05 9.99999454e-01 -2.30714351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.531400513 meters 0.06001719888401247 Centerline is valid? [True, True] Translation: X:418.85, Y:44.74, Z:-2.31 [[ 9.78294962e-01 -2.07214169e-01 1.12073772e-03 4.18849353e+02] [ 2.07214111e-01 9.78295601e-01 1.69033091e-04 4.47415917e+01] [-1.13143883e-03 6.68684486e-05 9.99999358e-01 -2.30774918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.561400513 meters 0.06029255355384825 Centerline is valid? [True, True] Translation: X:418.88, Y:44.74, Z:-2.31 [[ 9.77745421e-01 -2.09794673e-01 2.93765404e-04 4.18879475e+02] [ 2.09794669e-01 9.77745465e-01 4.43019820e-05 4.47446427e+01] [-2.96522111e-04 1.83143555e-05 9.99999956e-01 -2.30800490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.591400513 meters 0.0646023011602541 Centerline is valid? [True, True] Translation: X:418.91, Y:44.74, Z:-2.31 [[ 9.77680919e-01 -2.10095228e-01 -1.22930155e-04 4.18907549e+02] [ 2.10095228e-01 9.77680927e-01 -1.90914512e-05 4.47433749e+01] [ 1.24197491e-04 -7.16169132e-06 9.99999992e-01 -2.30935607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.621400513 meters 0.07160805242621365 Centerline is valid? [True, True] Translation: X:418.94, Y:44.74, Z:-2.31 [[ 9.77756163e-01 -2.09744522e-01 -3.47681728e-04 4.18935731e+02] [ 2.09744516e-01 9.77756225e-01 -5.28939562e-05 4.47430394e+01] [ 3.51042191e-04 -2.12069441e-05 9.99999938e-01 -2.31071580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.651400513 meters 0.05855565492841736 Centerline is valid? [True, True] Translation: X:418.96, Y:44.77, Z:-2.31 [[ 9.78065120e-01 -2.08299343e-01 -6.42007077e-05 4.18962516e+02] [ 2.08299343e-01 9.78065122e-01 -9.85019470e-06 4.47652097e+01] [ 6.48442621e-05 -3.73883335e-06 9.99999998e-01 -2.30873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.681400513 meters 0.059102761716945326 Centerline is valid? [True, True] Translation: X:418.99, Y:44.77, Z:-2.31 [[ 9.78627073e-01 -2.05641978e-01 6.54910879e-04 4.18991813e+02] [ 2.05641957e-01 9.78627291e-01 9.89081083e-05 4.47652701e+01] [-6.61253319e-04 3.78830025e-05 9.99999781e-01 -2.30877486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.711400513 meters 0.048504981771635744 Centerline is valid? [True, True] Translation: X:419.02, Y:44.79, Z:-2.31 [[ 9.79772348e-01 -2.00114656e-01 5.20400425e-04 4.19018670e+02] [ 2.00114643e-01 9.79772486e-01 7.85863615e-05 4.47861453e+01] [-5.25600301e-04 2.71430012e-05 9.99999862e-01 -2.30813046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74140051300003 meters 0.053931374006907284 Centerline is valid? [True, True] Translation: X:419.05, Y:44.79, Z:-2.31 [[ 9.80240730e-01 -1.97805997e-01 9.47918393e-04 4.19047487e+02] [ 1.97805951e-01 9.80241187e-01 1.43239347e-04 4.47885251e+01] [-9.57522253e-04 4.70948574e-05 9.99999540e-01 -2.30890238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.771400513 meters 0.04985962082620482 Centerline is valid? [True, True] Translation: X:419.08, Y:44.80, Z:-2.31 [[ 9.80685544e-01 -1.95582712e-01 1.80750350e-03 4.19075227e+02] [ 1.95582539e-01 9.80687206e-01 2.73261176e-04 4.47957248e+01] [-1.82604072e-03 8.55328394e-05 9.99998329e-01 -2.30773111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80140051300003 meters 0.04658788074010171 Centerline is valid? [True, True] Translation: X:419.10, Y:44.81, Z:-2.31 [[ 9.80917791e-01 -1.94406349e-01 2.54159396e-03 4.19103134e+02] [ 1.94406004e-01 9.80921076e-01 3.84376300e-04 4.48057192e+01] [-2.56782828e-03 1.17059575e-04 9.99996696e-01 -2.30648507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.831400513 meters 0.047408219581192845 Centerline is valid? [True, True] Translation: X:419.13, Y:44.81, Z:-2.31 [[ 9.81013366e-01 -1.93928536e-01 2.12105783e-03 4.19130021e+02] [ 1.93928295e-01 9.81015654e-01 3.20686925e-04 4.48122967e+01] [-2.14298128e-03 9.67349686e-05 9.99997699e-01 -2.30794492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.861400513 meters 0.04836490827495846 Centerline is valid? [True, True] Translation: X:419.16, Y:44.82, Z:-2.31 [[ 9.80772794e-01 -1.95148868e-01 1.28307079e-03 4.19158309e+02] [ 1.95148781e-01 9.80773631e-01 1.93556244e-04 4.48171103e+01] [-1.29617428e-03 6.05550019e-05 9.99999158e-01 -2.30959305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.891400513 meters 0.04628395106418892 Centerline is valid? [True, True] Translation: X:419.19, Y:44.82, Z:-2.31 [[ 9.80428681e-01 -1.96872378e-01 9.32181268e-04 4.19186580e+02] [ 1.96872333e-01 9.80429123e-01 1.41140044e-04 4.48246512e+01] [-9.41724239e-04 4.51429531e-05 9.99999556e-01 -2.30963972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.921400513 meters 0.049879093798021454 Centerline is valid? [True, True] Translation: X:419.22, Y:44.82, Z:-2.31 [[ 9.79994522e-01 -1.99022553e-01 8.72474768e-04 4.19215433e+02] [ 1.99022514e-01 9.79994909e-01 1.32119219e-04 4.48248391e+01] [-8.81315535e-04 4.41660110e-05 9.99999611e-01 -2.30982823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.951400513 meters 0.053062366937754894 Centerline is valid? [True, True] Translation: X:419.24, Y:44.83, Z:-2.31 [[ 9.79583737e-01 -2.01034657e-01 8.77216584e-04 4.19244872e+02] [ 2.01034619e-01 9.79584128e-01 1.32931035e-04 4.48291493e+01] [-8.86031187e-04 4.61338218e-05 9.99999606e-01 -2.30965758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.981400513 meters 0.057118675190713626 Centerline is valid? [True, True] Translation: X:419.27, Y:44.83, Z:-2.31 [[ 9.79146685e-01 -2.03149268e-01 1.46452727e-03 4.19273025e+02] [ 2.03149163e-01 9.79147777e-01 2.21959704e-04 4.48301980e+01] [-1.47907957e-03 8.01863814e-05 9.99998903e-01 -2.30955566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.011400513 meters 0.057602302242247036 Centerline is valid? [True, True] Translation: X:419.30, Y:44.84, Z:-2.31 [[ 9.79005059e-01 -2.03827741e-01 1.82947029e-03 4.19300780e+02] [ 2.03827577e-01 9.79006763e-01 2.77381295e-04 4.48357882e+01] [-1.84760179e-03 1.01338805e-04 9.99998288e-01 -2.30968039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.041400513 meters 0.060625542525338645 Centerline is valid? [True, True] Translation: X:419.33, Y:44.84, Z:-2.31 [[ 9.78864968e-01 -2.04496319e-01 2.15158244e-03 4.19328939e+02] [ 2.04496094e-01 9.78867326e-01 3.26027009e-04 4.48412088e+01] [-2.17278507e-03 1.20853788e-04 9.99997632e-01 -2.30966480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.071400513 meters 0.06271871495039053 Centerline is valid? [True, True] Translation: X:419.36, Y:44.85, Z:-2.31 [[ 9.78637141e-01 -2.05584048e-01 2.13196782e-03 4.19356771e+02] [ 2.05583829e-01 9.78639456e-01 3.23402187e-04 4.48479900e+01] [-2.15291416e-03 1.21804718e-04 9.99997675e-01 -2.30988480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.101400513 meters 0.059198800048164704 Centerline is valid? [True, True] Translation: X:419.39, Y:44.85, Z:-2.31 [[ 9.78398824e-01 -2.06716364e-01 2.02133659e-03 4.19385001e+02] [ 2.06716169e-01 9.78400905e-01 3.06896689e-04 4.48549441e+01] [-2.04111812e-03 1.17575598e-04 9.99997910e-01 -2.30979424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.131400513 meters 0.06392271966828339 Centerline is valid? [True, True] Translation: X:419.41, Y:44.86, Z:-2.31 [[ 9.78127536e-01 -2.07998196e-01 1.80948910e-03 4.19413525e+02] [ 2.07998041e-01 9.78129204e-01 2.75451060e-04 4.48565974e+01] [-1.82720745e-03 1.06943922e-04 9.99998325e-01 -2.31068183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.161400513 meters 0.06392271966828339 Centerline is valid? [True, True] Translation: X:419.44, Y:44.86, Z:-2.31 [[ 9.78089233e-01 -2.08178233e-01 1.80956874e-03 4.19440728e+02] [ 2.08178080e-01 9.78090901e-01 2.74928700e-04 4.48609008e+01] [-1.82715689e-03 1.07807744e-04 9.99998325e-01 -2.31084162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.191400513 meters 0.06926812181419827 Centerline is valid? [True, True] Translation: X:419.47, Y:44.86, Z:-2.31 [[ 9.77758543e-01 -2.09726387e-01 1.75329074e-03 4.19469697e+02] [ 2.09726244e-01 9.77760109e-01 2.67223628e-04 4.48612093e+01] [-1.77034159e-03 1.06430896e-04 9.99998427e-01 -2.31167129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.221400513 meters 0.06866216031418285 Centerline is valid? [True, True] Translation: X:419.50, Y:44.87, Z:-2.31 [[ 9.77224488e-01 -2.12196860e-01 2.18922615e-03 4.19498334e+02] [ 2.12196642e-01 9.77226930e-01 3.33969059e-04 4.48722289e+01] [-2.21023793e-03 1.38183694e-04 9.99997548e-01 -2.31173972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.251400513 meters 0.05848030453557467 Centerline is valid? [True, True] Translation: X:419.53, Y:44.89, Z:-2.31 [[ 9.77037229e-01 -2.13056827e-01 2.24523882e-03 4.19525474e+02] [ 2.13056602e-01 9.77039798e-01 3.42008787e-04 4.48854485e+01] [-2.26655499e-03 1.44207634e-04 9.99997421e-01 -2.31140388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.281400513 meters 0.06900964147870792 Centerline is valid? [True, True] Translation: X:419.56, Y:44.88, Z:-2.31 [[ 9.76755602e-01 -2.14345703e-01 2.10097717e-03 4.19555132e+02] [ 2.14345507e-01 9.76757852e-01 3.20827063e-04 4.48830867e+01] [-2.12091385e-03 1.36965384e-04 9.99997741e-01 -2.31313236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.311400513 meters 0.07279227997878018 Centerline is valid? [True, True] Translation: X:419.58, Y:44.89, Z:-2.31 [[ 9.76518499e-01 -2.15428539e-01 1.47194409e-03 4.19583841e+02] [ 2.15428444e-01 9.76519603e-01 2.24705669e-04 4.48884363e+01] [-1.48579027e-03 9.76693832e-05 9.99998891e-01 -2.31412678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.341400513 meters 0.0676557722734746 Centerline is valid? [True, True] Translation: X:419.61, Y:44.89, Z:-2.31 [[ 9.76348961e-01 -2.16199134e-01 8.00697703e-04 4.19611490e+02] [ 2.16199106e-01 9.76349288e-01 1.22095466e-04 4.48945164e+01] [-8.08157566e-04 5.39023457e-05 9.99999672e-01 -2.31455411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.371400513 meters 0.07164959281045533 Centerline is valid? [True, True] Translation: X:419.64, Y:44.89, Z:-2.32 [[ 9.76074685e-01 -2.17435468e-01 1.64935604e-04 4.19640715e+02] [ 2.17435467e-01 9.76074698e-01 2.50219575e-05 4.48944719e+01] [-1.66430131e-04 1.14395508e-05 9.99999986e-01 -2.31578560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.401400513 meters 0.07027209427274027 Centerline is valid? [True, True] Translation: X:419.67, Y:44.90, Z:-2.32 [[ 9.75869359e-01 -2.18355100e-01 -2.09836330e-04 4.19668331e+02] [ 2.18355098e-01 9.75869382e-01 -3.30847658e-05 4.49024750e+01] [ 2.11997077e-04 -1.35324234e-05 9.99999977e-01 -2.31598470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.431400513 meters 0.06954978784659814 Centerline is valid? [True, True] Translation: X:419.70, Y:44.91, Z:-2.32 [[ 9.75688982e-01 -2.19157340e-01 -1.03466651e-03 4.19696615e+02] [ 2.19157294e-01 9.75689528e-01 -1.59556755e-04 4.49084901e+01] [ 1.04448131e-03 -7.10769435e-05 9.99999452e-01 -2.31737588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.461400513 meters 0.06429161057758065 Centerline is valid? [True, True] Translation: X:419.72, Y:44.92, Z:-2.32 [[ 9.75667529e-01 -2.19244884e-01 -2.13397260e-03 4.19723966e+02] [ 2.19244687e-01 9.75669852e-01 -3.28641857e-04 4.49173216e+01] [ 2.15410578e-03 -1.47216967e-04 9.99997669e-01 -2.31882683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49140051300003 meters 0.0637547246416823 Centerline is valid? [True, True] Translation: X:419.75, Y:44.92, Z:-2.32 [[ 9.75841149e-01 -2.18452003e-01 -3.57397414e-03 4.19752753e+02] [ 2.18451447e-01 9.75847664e-01 -5.50003956e-04 4.49222820e+01] [ 3.60780378e-03 -2.44023330e-04 9.99993462e-01 -2.32138338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.521400513 meters 0.073769568711175 Centerline is valid? [True, True] Translation: X:419.78, Y:44.92, Z:-2.32 [[ 9.75947199e-01 -2.17990818e-01 -2.65848021e-03 4.19780791e+02] [ 2.17990509e-01 9.75950803e-01 -4.08949400e-04 4.49211881e+01] [ 2.68369311e-03 -1.80410434e-04 9.99996383e-01 -2.32108905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55140051300003 meters 0.06686458270796641 Centerline is valid? [True, True] Translation: X:419.81, Y:44.93, Z:-2.32 [[ 9.76196173e-01 -2.16883423e-01 -1.61620621e-03 4.19809212e+02] [ 2.16883307e-01 9.76197505e-01 -2.48583812e-04 4.49326497e+01] [ 1.63165018e-03 -1.07861581e-04 9.99998663e-01 -2.31874833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.581400513 meters 0.06859441079369927 Centerline is valid? [True, True] Translation: X:419.84, Y:44.94, Z:-2.32 [[ 9.76502768e-01 -2.15503301e-01 -8.18877855e-04 4.19837875e+02] [ 2.15503271e-01 9.76503110e-01 -1.26035597e-04 4.49374821e+01] [ 8.26797859e-04 -5.33967467e-05 9.99999657e-01 -2.31774000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.611400513 meters 0.06572853915541096 Centerline is valid? [True, True] Translation: X:419.87, Y:44.95, Z:-2.32 [[ 9.77160022e-01 -2.12504802e-01 2.84310622e-05 4.19866442e+02] [ 2.12504802e-01 9.77160022e-01 4.30381467e-06 4.49478344e+01] [-2.86962787e-05 1.83622161e-06 1.00000000e+00 -2.31693946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.641400513 meters 0.0695999071147183 Centerline is valid? [True, True] Translation: X:419.89, Y:44.95, Z:-2.32 [[ 9.77316924e-01 -2.11781896e-01 2.43056315e-04 4.19894064e+02] [ 2.11781894e-01 9.77316954e-01 3.69329826e-05 4.49515604e+01] [-2.45364794e-04 1.53796976e-05 9.99999970e-01 -2.31727303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.671400513 meters 0.0616076202600899 Centerline is valid? [True, True] Translation: X:419.92, Y:44.96, Z:-2.32 [[ 9.77277802e-01 -2.11962086e-01 4.13887831e-04 4.19920914e+02] [ 2.11962078e-01 9.77277890e-01 6.26541260e-05 4.49638890e+01] [-4.17763726e-04 2.64980383e-05 9.99999912e-01 -2.31678270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.701400513 meters 0.06554658886955772 Centerline is valid? [True, True] Translation: X:419.95, Y:44.97, Z:-2.32 [[ 9.76735781e-01 -2.14444850e-01 7.87960160e-04 4.19949902e+02] [ 2.14444822e-01 9.76736097e-01 1.21252068e-04 4.49684392e+01] [-7.95631013e-04 5.05427427e-05 9.99999682e-01 -2.31655592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.731400513 meters 0.07026564743795324 Centerline is valid? [True, True] Translation: X:419.98, Y:44.97, Z:-2.32 [[ 9.76239661e-01 -2.16691646e-01 9.24693065e-04 4.19980108e+02] [ 2.16691608e-01 9.76240097e-01 1.42394268e-04 4.49701903e+01] [-9.33578096e-04 6.13622955e-05 9.99999562e-01 -2.31648379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.761400513 meters 0.06926901926314812 Centerline is valid? [True, True] Translation: X:420.01, Y:44.97, Z:-2.32 [[ 9.75665127e-01 -2.19265314e-01 5.31437910e-04 4.20010164e+02] [ 2.19265302e-01 9.75665271e-01 8.18367881e-05 4.49749972e+01] [-5.36449481e-04 3.66805937e-05 9.99999855e-01 -2.31698990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.791400513 meters 0.06457159182623178 Centerline is valid? [True, True] Translation: X:420.04, Y:44.98, Z:-2.32 [[ 9.74984150e-01 -2.22273970e-01 4.36047201e-04 4.20040043e+02] [ 2.22273962e-01 9.74984247e-01 6.71620448e-05 4.49811630e+01] [-4.40067526e-04 3.14400101e-05 9.99999903e-01 -2.31716454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.821400513 meters 0.07582469671453414 Centerline is valid? [True, True] Translation: X:420.07, Y:44.97, Z:-2.32 [[ 9.73608788e-01 -2.28223416e-01 -1.23084920e-05 4.20070604e+02] [ 2.28223416e-01 9.73608788e-01 -1.88726684e-06 4.49718667e+01] [ 1.24143745e-05 -9.71626513e-07 1.00000000e+00 -2.31883251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.851400513 meters 0.08013075892875599 Centerline is valid? [True, True] Translation: X:420.10, Y:44.97, Z:-2.32 [[ 9.73081396e-01 -2.30460424e-01 -7.67737639e-04 4.20100400e+02] [ 2.30460402e-01 9.73081697e-01 -1.18337041e-04 4.49740338e+01] [ 7.74343449e-04 -6.17815517e-05 9.99999698e-01 -2.31992847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.881400513 meters 0.08562788539545438 Centerline is valid? [True, True] Translation: X:420.13, Y:44.97, Z:-2.32 [[ 9.72812078e-01 -2.31594871e-01 -6.90487184e-04 4.20130576e+02] [ 2.31594853e-01 9.72812321e-01 -1.06617597e-04 4.49673454e+01] [ 6.96406529e-04 -5.61943920e-05 9.99999756e-01 -2.32101923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.911400513 meters 0.08410902786951224 Centerline is valid? [True, True] Translation: X:420.16, Y:44.98, Z:-2.32 [[ 9.72573768e-01 -2.32592624e-01 -9.68381516e-04 4.20159074e+02] [ 2.32592590e-01 9.72574246e-01 -1.49400967e-04 4.49776664e+01] [ 9.76572487e-04 -7.99349032e-05 9.99999520e-01 -2.32065209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.941400513 meters 0.08298253533320334 Centerline is valid? [True, True] Translation: X:420.19, Y:44.98, Z:-2.32 [[ 9.72890616e-01 -2.31265504e-01 -3.39462647e-04 4.20187863e+02] [ 2.31265500e-01 9.72890675e-01 -5.24670903e-05 4.49815572e+01] [ 3.42393872e-04 -2.74612590e-05 9.99999941e-01 -2.32038711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.971400513 meters 0.0781275331090833 Centerline is valid? [True, True] Translation: X:420.22, Y:44.99, Z:-2.32 [[ 9.73363987e-01 -2.29265222e-01 -7.83036395e-05 4.20216771e+02] [ 2.29265221e-01 9.73363991e-01 -1.21609879e-05 4.49903812e+01] [ 7.90060346e-05 -6.11523359e-06 9.99999997e-01 -2.32009979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.001400513 meters 0.0742009926239032 Centerline is valid? [True, True] Translation: X:420.25, Y:45.00, Z:-2.32 [[ 9.73889465e-01 -2.27022277e-01 4.42654103e-04 4.20245826e+02] [ 2.27022270e-01 9.73889565e-01 6.82025074e-05 4.50004973e+01] [-4.46579700e-04 3.40706357e-05 9.99999900e-01 -2.31956564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.031400513 meters 0.07348049442132157 Centerline is valid? [True, True] Translation: X:420.27, Y:45.00, Z:-2.32 [[ 9.74544228e-01 -2.24193800e-01 8.28707920e-04 4.20274890e+02] [ 2.24193772e-01 9.74544579e-01 1.27755786e-04 4.50047022e+01] [-8.36254866e-04 6.12874910e-05 9.99999648e-01 -2.31928550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.061400513 meters 0.07675309689913841 Centerline is valid? [True, True] Translation: X:420.30, Y:45.01, Z:-2.32 [[ 9.75621684e-01 -2.19459164e-01 -7.00894077e-05 4.20303203e+02] [ 2.19459164e-01 9.75621687e-01 -1.09196794e-05 4.50097371e+01] [ 7.07771698e-05 -4.72828678e-06 9.99999997e-01 -2.32093426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.091400513 meters 0.07187963713600248 Centerline is valid? [True, True] Translation: X:420.33, Y:45.02, Z:-2.32 [[ 9.75975474e-01 -2.17879930e-01 -4.58628582e-04 4.20331754e+02] [ 2.17879921e-01 9.75975581e-01 -7.08677795e-05 4.50178982e+01] [ 4.63050964e-04 -3.07607443e-05 9.99999892e-01 -2.32219326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.121400513 meters 0.07670322867465215 Centerline is valid? [True, True] Translation: X:420.36, Y:45.02, Z:-2.32 [[ 9.76170374e-01 -2.17003801e-01 -8.66845214e-04 4.20359889e+02] [ 2.17003767e-01 9.76170757e-01 -1.33998722e-04 4.50208758e+01] [ 8.75267181e-04 -5.73030943e-05 9.99999615e-01 -2.32337882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.151400513 meters 0.05944486160935456 Centerline is valid? [True, True] Translation: X:420.39, Y:45.04, Z:-2.32 [[ 9.76341280e-01 -2.16233653e-01 -8.43929739e-04 4.20385759e+02] [ 2.16233621e-01 9.76341643e-01 -1.30524747e-04 4.50425482e+01] [ 8.52187591e-04 -5.50492844e-05 9.99999635e-01 -2.32206743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.181400513 meters 0.0696894550599975 Centerline is valid? [True, True] Translation: X:420.41, Y:45.04, Z:-2.32 [[ 9.76544444e-01 -2.15315870e-01 -1.59231666e-04 4.20414358e+02] [ 2.15315869e-01 9.76544457e-01 -2.50823141e-05 4.50398761e+01] [ 1.60897421e-04 -9.79111011e-06 9.99999987e-01 -2.32153516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.211400513 meters 0.06546731579888423 Centerline is valid? [True, True] Translation: X:420.44, Y:45.05, Z:-2.32 [[ 9.76543489e-01 -2.15320189e-01 -1.74166912e-04 4.20442462e+02] [ 2.15320188e-01 9.76543504e-01 -2.78801885e-05 4.50482100e+01] [ 1.76084734e-04 -1.02754358e-05 9.99999984e-01 -2.32088226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24140051300003 meters 0.06894406496950685 Centerline is valid? [True, True] Translation: X:420.47, Y:45.05, Z:-2.32 [[ 9.76533682e-01 -2.15364442e-01 -3.53857292e-04 4.20469645e+02] [ 2.15364436e-01 9.76533746e-01 -5.52038627e-05 4.50490995e+01] [ 3.57442536e-04 -2.22998451e-05 9.99999936e-01 -2.32163209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.271400513 meters 0.06875462125045896 Centerline is valid? [True, True] Translation: X:420.50, Y:45.06, Z:-2.32 [[ 9.76502897e-01 -2.15504042e-01 -3.18084152e-04 4.20497422e+02] [ 2.15504037e-01 9.76502948e-01 -5.03363232e-05 4.50556939e+01] [ 3.21457793e-04 -1.93948533e-05 9.99999948e-01 -2.32159776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30140051300003 meters 0.07488944085181005 Centerline is valid? [True, True] Translation: X:420.53, Y:45.06, Z:-2.32 [[ 9.76723599e-01 -2.14501631e-01 -2.50007022e-04 4.20525847e+02] [ 2.14501628e-01 9.76723630e-01 -3.89945876e-05 4.50563403e+01] [ 2.52552169e-04 -1.55399793e-05 9.99999968e-01 -2.32294303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.331400513 meters 0.06508973055116826 Centerline is valid? [True, True] Translation: X:420.55, Y:45.07, Z:-2.32 [[ 9.76829248e-01 -2.14018888e-01 -7.32032806e-04 4.20551880e+02] [ 2.14018862e-01 9.76829521e-01 -1.14476503e-04 4.50744203e+01] [ 7.39571389e-04 -4.48448321e-05 9.99999726e-01 -2.32274968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.361400513 meters 0.06160234080995644 Centerline is valid? [True, True] Translation: X:420.58, Y:45.08, Z:-2.32 [[ 9.76940060e-01 -2.13512583e-01 -7.05041744e-04 4.20580083e+02] [ 2.13512559e-01 9.76940313e-01 -1.10406644e-04 4.50814240e+01] [ 7.12356910e-04 -4.26745932e-05 9.99999745e-01 -2.32266692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.391400513 meters 0.06045981520947847 Centerline is valid? [True, True] Translation: X:420.61, Y:45.09, Z:-2.32 [[ 9.77324910e-01 -2.11745175e-01 -3.22100143e-05 4.20609040e+02] [ 2.11745175e-01 9.77324911e-01 -5.06958151e-06 4.50928491e+01] [ 3.25531088e-05 -1.86568684e-06 9.99999999e-01 -2.32071930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.421400513 meters 0.0589815593879203 Centerline is valid? [True, True] Translation: X:420.64, Y:45.10, Z:-2.32 [[ 9.77674348e-01 -2.10125331e-01 4.63296441e-04 4.20637172e+02] [ 2.10125321e-01 9.77674457e-01 7.17963259e-05 4.50974986e+01] [-4.68039323e-04 2.71568872e-05 9.99999890e-01 -2.32026637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.451400513 meters 0.06358127702228084 Centerline is valid? [True, True] Translation: X:420.67, Y:45.10, Z:-2.32 [[ 9.77955599e-01 -2.08812789e-01 -2.56878595e-04 4.20665705e+02] [ 2.08812786e-01 9.77955632e-01 -4.03348589e-05 4.51048919e+01] [ 2.59638303e-04 -1.41938338e-05 9.99999966e-01 -2.32205379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.481400513 meters 0.05289427297199641 Centerline is valid? [True, True] Translation: X:420.69, Y:45.12, Z:-2.32 [[ 9.78222221e-01 -2.07557525e-01 -1.07679101e-03 4.20692096e+02] [ 2.07557466e-01 9.78222812e-01 -1.67613676e-04 4.51216173e+01] [ 1.08813101e-03 -5.95325912e-05 9.99999406e-01 -2.32226957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.511400513 meters 0.05284266655493793 Centerline is valid? [True, True] Translation: X:420.72, Y:45.13, Z:-2.32 [[ 9.78731367e-01 -2.05145424e-01 -5.16283533e-04 4.20720093e+02] [ 2.05145410e-01 9.78731503e-01 -8.03105933e-05 4.51284736e+01] [ 5.21778309e-04 -2.73107004e-05 9.99999864e-01 -2.32217750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.541400513 meters 0.05561483116704523 Centerline is valid? [True, True] Translation: X:420.75, Y:45.13, Z:-2.32 [[ 9.78966721e-01 -2.04018712e-01 7.24215470e-04 4.20747184e+02] [ 2.04018684e-01 9.78966988e-01 1.12251337e-04 4.51335688e+01] [-7.31884410e-04 3.78631643e-05 9.99999731e-01 -2.32038350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.571400513 meters 0.05417263472496998 Centerline is valid? [True, True] Translation: X:420.78, Y:45.14, Z:-2.32 [[ 9.79284710e-01 -2.02477232e-01 2.10407435e-03 4.20776266e+02] [ 2.02476995e-01 9.79286965e-01 3.27075107e-04 4.51424446e+01] [-2.12671785e-03 1.05727002e-04 9.99997733e-01 -2.31754813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.601400513 meters 0.046542155811616436 Centerline is valid? [True, True] Translation: X:420.80, Y:45.16, Z:-2.31 [[ 9.79776729e-01 -2.00060951e-01 3.62998503e-03 4.20804975e+02] [ 2.00060230e-01 9.79783438e-01 5.64366918e-04 4.51560428e+01] [-3.66950700e-03 1.73262065e-04 9.99993252e-01 -2.31497852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.631400513 meters 0.042875315665880084 Centerline is valid? [True, True] Translation: X:420.83, Y:45.17, Z:-2.32 [[ 9.80791752e-01 -1.95029035e-01 3.34881074e-03 4.20832059e+02] [ 1.95028392e-01 9.80797459e-01 5.20674840e-04 4.51731489e+01] [-3.38605177e-03 1.42439585e-04 9.99994257e-01 -2.31584857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.661400513 meters 0.03975882102067905 Centerline is valid? [True, True] Translation: X:420.86, Y:45.19, Z:-2.32 [[ 9.81347007e-01 -1.92224294e-01 2.80599759e-03 4.20860542e+02] [ 1.92223831e-01 9.81351012e-01 4.36325136e-04 4.51862767e+01] [-2.83754086e-03 1.11193239e-04 9.99995968e-01 -2.31710260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.691400513 meters 0.03643386477007383 Centerline is valid? [True, True] Translation: X:420.89, Y:45.20, Z:-2.32 [[ 9.81853653e-01 -1.89617721e-01 2.91942825e-03 4.20888554e+02] [ 1.89617208e-01 9.81857988e-01 4.53966835e-04 4.51990192e+01] [-2.95254410e-03 1.07844837e-04 9.99995635e-01 -2.31740262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.721400513 meters 0.03535644038915637 Centerline is valid? [True, True] Translation: X:420.92, Y:45.21, Z:-2.32 [[ 9.82636754e-01 -1.85519065e-01 2.77223226e-03 4.20916345e+02] [ 1.85518586e-01 9.82640661e-01 4.31138530e-04 4.52106943e+01] [-2.80409255e-03 9.06480424e-05 9.99996064e-01 -2.31756969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.751400513 meters 0.03492319506720843 Centerline is valid? [True, True] Translation: X:420.94, Y:45.22, Z:-2.32 [[ 9.82783523e-01 -1.84747187e-01 2.24141022e-03 4.20943915e+02] [ 1.84746873e-01 9.82786076e-01 3.48131618e-04 4.52181391e+01] [-2.26714309e-03 7.19555114e-05 9.99997427e-01 -2.31871177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.781400513 meters 0.03240054530632686 Centerline is valid? [True, True] Translation: X:420.97, Y:45.23, Z:-2.32 [[ 9.82739132e-01 -1.84979020e-01 2.56126237e-03 4.20970597e+02] [ 1.84978610e-01 9.82742466e-01 3.98261079e-04 4.52280962e+01] [-2.59073125e-03 8.23920059e-05 9.99996641e-01 -2.31816439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.811400513 meters 0.034209425961352354 Centerline is valid? [True, True] Translation: X:421.00, Y:45.23, Z:-2.32 [[ 9.82601159e-01 -1.85697807e-01 3.35954892e-03 4.20997930e+02] [ 1.85697101e-01 9.82606896e-01 5.23693394e-04 4.52319671e+01] [-3.39836465e-03 1.09276760e-04 9.99994220e-01 -2.31725343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.841400513 meters 0.0383845964955494 Centerline is valid? [True, True] Translation: X:421.03, Y:45.23, Z:-2.32 [[ 9.82254720e-01 -1.87485967e-01 4.96760315e-03 4.21025542e+02] [ 1.87484444e-01 9.82267267e-01 7.74786994e-04 4.52332531e+01] [-5.02477566e-03 1.70310133e-04 9.99987361e-01 -2.31602917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.871400513 meters 0.034663640751896214 Centerline is valid? [True, True] Translation: X:421.05, Y:45.24, Z:-2.32 [[ 9.82254761e-01 -1.87489426e-01 4.82700172e-03 4.21051851e+02] [ 1.87487985e-01 9.82266607e-01 7.53256657e-04 4.52434959e+01] [-4.88263027e-03 1.65114890e-04 9.99988066e-01 -2.31663719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.901400513 meters 0.038143228589565314 Centerline is valid? [True, True] Translation: X:421.08, Y:45.25, Z:-2.32 [[ 9.82378064e-01 -1.86852342e-01 4.42049345e-03 4.21080156e+02] [ 1.86851124e-01 9.82387999e-01 6.90612253e-04 4.52454694e+01] [-4.47168223e-03 1.47531841e-04 9.99989991e-01 -2.31767736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.931400513 meters 0.03054071991472105 Centerline is valid? [True, True] Translation: X:421.11, Y:45.26, Z:-2.32 [[ 9.82626482e-01 -1.85551419e-01 3.98354629e-03 4.21107100e+02] [ 1.85550417e-01 9.82634548e-01 6.22914044e-04 4.52610275e+01] [-4.02995279e-03 1.27056840e-04 9.99991872e-01 -2.31800979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.961400513 meters 0.02702952735729734 Centerline is valid? [True, True] Translation: X:421.13, Y:45.27, Z:-2.32 [[ 9.83581786e-01 -1.80439576e-01 2.90343883e-03 4.21134552e+02] [ 1.80439020e-01 9.83586068e-01 4.54667583e-04 4.52725865e+01] [-2.93782201e-03 7.66909033e-05 9.99995682e-01 -2.31951665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99140051300003 meters 0.022900528878930442 Centerline is valid? [True, True] Translation: X:421.16, Y:45.28, Z:-2.32 [[ 9.84197468e-01 -1.77061235e-01 2.15933141e-03 4.21163022e+02] [ 1.77060919e-01 9.84199836e-01 3.38156741e-04 4.52834489e+01] [-2.18508807e-03 4.95201957e-05 9.99997611e-01 -2.32080042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.021400513 meters 0.020673801962403603 Centerline is valid? [True, True] Translation: X:421.19, Y:45.29, Z:-2.32 [[ 9.84767127e-01 -1.73872136e-01 1.47864212e-03 4.21189935e+02] [ 1.73871984e-01 9.84768236e-01 2.31393415e-04 4.52916804e+01] [-1.49635266e-03 2.92258110e-05 9.99998880e-01 -2.32230938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05140051300003 meters 0.018396784588067403 Centerline is valid? [True, True] Translation: X:421.22, Y:45.30, Z:-2.32 [[ 9.85250685e-01 -1.71110710e-01 1.48771942e-03 4.21216782e+02] [ 1.71110554e-01 9.85251807e-01 2.32786581e-04 4.53004218e+01] [-1.50561052e-03 2.52113553e-05 9.99998866e-01 -2.32291266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.081400513 meters 0.018396784588067403 Centerline is valid? [True, True] Translation: X:421.24, Y:45.30, Z:-2.32 [[ 9.85218450e-01 -1.71296210e-01 1.48776556e-03 4.21243893e+02] [ 1.71296054e-01 9.85219573e-01 2.32492855e-04 4.53048369e+01] [-1.50560089e-03 2.57921199e-05 9.99998866e-01 -2.32307209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.111400513 meters 0.024464209164916102 Centerline is valid? [True, True] Translation: X:421.27, Y:45.31, Z:-2.32 [[ 9.85480760e-01 -1.69777434e-01 1.81528769e-03 4.21271196e+02] [ 1.69777198e-01 9.85482431e-01 2.84347086e-04 4.53141014e+01] [-1.83720985e-03 2.79758754e-05 9.99998312e-01 -2.32291333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.141400513 meters 0.015951312772704156 Centerline is valid? [True, True] Translation: X:421.30, Y:45.32, Z:-2.32 [[ 9.85761072e-01 -1.68127375e-01 2.88006177e-03 4.21298537e+02] [ 1.68126771e-01 9.85765278e-01 4.52444036e-04 4.53197523e+01] [-2.91513312e-03 3.82137674e-05 9.99995750e-01 -2.32136469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.171400513 meters 0.015191683299707168 Centerline is valid? [True, True] Translation: X:421.33, Y:45.32, Z:-2.32 [[ 9.85731448e-01 -1.68301720e-01 2.83600050e-03 4.21326301e+02] [ 1.68301135e-01 9.85735527e-01 4.45482882e-04 4.53247675e+01] [-2.87052198e-03 3.81756161e-05 9.99995879e-01 -2.32163789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.201400513 meters 0.020524611124058952 Centerline is valid? [True, True] Translation: X:421.35, Y:45.33, Z:-2.32 [[ 9.85721944e-01 -1.68370631e-01 1.89180254e-03 4.21353909e+02] [ 1.68370370e-01 9.85723759e-01 2.97672823e-04 4.53273386e+01] [-1.91491407e-03 2.51008594e-05 9.99998166e-01 -2.32357536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.231400513 meters 0.014206169435786321 Centerline is valid? [True, True] Translation: X:421.38, Y:45.33, Z:-2.32 [[ 9.85772332e-01 -1.68082621e-01 1.06829260e-03 4.21381286e+02] [ 1.68082538e-01 9.85772911e-01 1.67369504e-04 4.53330249e+01] [-1.08122581e-03 1.45731057e-05 9.99999415e-01 -2.32377669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.261400513 meters 0.012152936963925307 Centerline is valid? [True, True] Translation: X:421.41, Y:45.34, Z:-2.32 [[ 9.86177906e-01 -1.65680730e-01 1.74141429e-03 4.21410115e+02] [ 1.65680504e-01 9.86179444e-01 2.74301798e-04 4.53382965e+01] [-1.76279349e-03 1.80080238e-05 9.99998446e-01 -2.32260922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.291400513 meters 0.010109879440370952 Centerline is valid? [True, True] Translation: X:421.44, Y:45.34, Z:-2.32 [[ 9.86567303e-01 -1.63321648e-01 3.31605327e-03 4.21438041e+02] [ 1.63320813e-01 9.86572875e-01 5.22914594e-04 4.53444173e+01] [-3.35693149e-03 2.56900771e-05 9.99994365e-01 -2.32058825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.321400513 meters 0.00798018141486977 Centerline is valid? [True, True] Translation: X:421.47, Y:45.35, Z:-2.32 [[ 9.87067881e-01 -1.60235417e-01 4.64861286e-03 4.21465125e+02] [ 1.60233735e-01 9.87078827e-01 7.34363341e-04 4.53514867e+01] [-4.70621835e-03 1.99981344e-05 9.99988925e-01 -2.31862551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.351400513 meters 0.0076853441429517435 Centerline is valid? [True, True] Translation: X:421.49, Y:45.36, Z:-2.32 [[ 9.88267240e-01 -1.52648621e-01 5.12445704e-03 4.21492593e+02] [ 1.52646474e-01 9.88280526e-01 8.09816311e-04 4.53638788e+01] [-5.18801844e-03 -1.80846316e-05 9.99986542e-01 -2.31799398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.381400513 meters 0.01721282356769535 Centerline is valid? [True, True] Translation: X:421.52, Y:45.37, Z:-2.32 [[ 9.88816059e-01 -1.49067016e-01 4.67176016e-03 4.21519717e+02] [ 1.49065188e-01 9.88827095e-01 7.39154450e-04 4.53741798e+01] [-4.72974657e-03 -3.44909864e-05 9.99988814e-01 -2.31943587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.411400513 meters 0.013635678740403757 Centerline is valid? [True, True] Translation: X:421.55, Y:45.38, Z:-2.32 [[ 9.89343454e-01 -1.45512507e-01 5.06353108e-03 4.21549131e+02] [ 1.45510312e-01 9.89356411e-01 8.01276228e-04 4.53789693e+01] [-5.12623264e-03 -5.59414059e-05 9.99986859e-01 -2.31886580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.441400513 meters 0.015549935891862947 Centerline is valid? [True, True] Translation: X:421.58, Y:45.38, Z:-2.32 [[ 9.89795456e-01 -1.42387017e-01 5.55820459e-03 4.21578979e+02] [ 1.42384322e-01 9.89811058e-01 8.79708788e-04 4.53833652e+01] [-5.62683147e-03 -7.93305718e-05 9.99984166e-01 -2.31821417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.471400513 meters 0.020552605222869377 Centerline is valid? [True, True] Translation: X:421.61, Y:45.39, Z:-2.32 [[ 9.90576976e-01 -1.36825655e-01 5.99952455e-03 4.21609484e+02] [ 1.36822413e-01 9.90595137e-01 9.49553991e-04 4.53886098e+01] [-6.07302319e-03 -1.19736896e-04 9.99981552e-01 -2.31787137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.501400513 meters 0.025340649761410504 Centerline is valid? [True, True] Translation: X:421.64, Y:45.40, Z:-2.32 [[ 9.90893528e-01 -1.34517715e-01 5.91615832e-03 4.21639126e+02] [ 1.34514521e-01 9.90911180e-01 9.36280810e-04 4.53966547e+01] [-5.98833378e-03 -1.31945392e-04 9.99982061e-01 -2.31866988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.531400513 meters 0.033430111879917686 Centerline is valid? [True, True] Translation: X:421.67, Y:45.40, Z:-2.32 [[ 9.91254801e-01 -1.31738848e-01 7.66778909e-03 4.21668222e+02] [ 1.31746889e-01 9.91283236e-01 -5.50892280e-04 4.54021978e+01] [-7.52837686e-03 1.55628197e-03 9.99970450e-01 -2.31804242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.561400513 meters 0.03292130155376148 Centerline is valid? [True, True] Translation: X:421.70, Y:45.40, Z:-2.32 [[ 9.91362506e-01 -1.30992208e-01 6.43607845e-03 4.21700060e+02] [ 1.30976533e-01 9.91381511e-01 2.80116787e-03 4.54043497e+01] [-6.74754035e-03 -1.93399755e-03 9.99975365e-01 -2.31882434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.591400513 meters 0.033498920382234135 Centerline is valid? [True, True] Translation: X:421.73, Y:45.41, Z:-2.32 [[ 9.91736721e-01 -1.28083262e-01 7.27703572e-03 4.21731141e+02] [ 1.28078260e-01 9.91763396e-01 1.15121074e-03 4.54064136e+01] [-7.36454848e-03 -2.09667896e-04 9.99972859e-01 -2.31825241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.621400513 meters 0.03437442951446165 Centerline is valid? [True, True] Translation: X:421.76, Y:45.41, Z:-2.32 [[ 9.91916292e-01 -1.26715253e-01 6.73159341e-03 4.21763012e+02] [ 1.26710942e-01 9.91939113e-01 1.06480451e-03 4.54088461e+01] [-6.81225777e-03 -2.03230393e-04 9.99976776e-01 -2.31959546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.651400513 meters 0.03223724260195826 Centerline is valid? [True, True] Translation: X:421.79, Y:45.41, Z:-2.32 [[ 9.92130232e-01 -1.25097347e-01 5.31574758e-03 4.21794176e+02] [ 1.25094637e-01 9.92144458e-01 8.40642170e-04 4.54135062e+01] [-5.37915160e-03 -1.69054998e-04 9.99985518e-01 -2.32111826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.681400513 meters 0.038101544199118716 Centerline is valid? [True, True] Translation: X:421.82, Y:45.42, Z:-2.33 [[ 9.92409947e-01 -1.22941438e-01 2.81082167e-03 4.21823662e+02] [ 1.22940672e-01 9.92413923e-01 4.44291642e-04 4.54187498e+01] [-2.84412041e-03 -9.53551394e-05 9.99995951e-01 -2.32561221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.711400513 meters 0.044553164229716107 Centerline is valid? [True, True] Translation: X:421.85, Y:45.42, Z:-2.33 [[ 9.92469118e-01 -1.22480425e-01 1.89599949e-03 4.21852728e+02] [ 1.22480076e-01 9.92470927e-01 2.99643836e-04 4.54224596e+01] [-1.91842488e-03 -6.51650914e-05 9.99998158e-01 -2.32708980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74140051300003 meters 0.03764843333562478 Centerline is valid? [True, True] Translation: X:421.88, Y:45.42, Z:-2.33 [[ 9.92468184e-01 -1.22487885e-01 1.90287141e-03 4.21882875e+02] [ 1.22487533e-01 9.92470007e-01 3.00706278e-04 4.54241631e+01] [-1.92537568e-03 -6.53633892e-05 9.99998144e-01 -2.32722816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.771400513 meters 0.033183655956016876 Centerline is valid? [True, True] Translation: X:421.91, Y:45.42, Z:-2.33 [[ 9.92369229e-01 -1.23288945e-01 1.77439664e-03 4.21914607e+02] [ 1.23288640e-01 9.92370814e-01 2.80534493e-04 4.54209324e+01] [-1.79544624e-03 -5.96308498e-05 9.99998386e-01 -2.32726470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80140051300003 meters 0.04136157109388649 Centerline is valid? [True, True] Translation: X:421.94, Y:45.42, Z:-2.33 [[ 9.92161989e-01 -1.24931815e-01 2.57481343e-03 4.21943115e+02] [ 1.24931179e-01 9.92165326e-01 4.06965584e-04 4.54220188e+01] [-2.60548355e-03 -8.21013052e-05 9.99996602e-01 -2.32700587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.831400513 meters 0.03813302012269548 Centerline is valid? [True, True] Translation: X:421.97, Y:45.43, Z:-2.33 [[ 9.92229296e-01 -1.24384136e-01 3.10011132e-03 4.21970898e+02] [ 1.24383211e-01 9.92234134e-01 4.90149087e-04 4.54279340e+01] [-3.13700304e-03 -1.00738484e-04 9.99995075e-01 -2.32653533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.861400513 meters 0.03646012384302116 Centerline is valid? [True, True] Translation: X:422.00, Y:45.43, Z:-2.33 [[ 9.92391422e-01 -1.23097634e-01 2.49764451e-03 4.22000590e+02] [ 1.23097029e-01 9.92394561e-01 3.94984555e-04 4.54278779e+01] [-2.52727050e-03 -8.45266647e-05 9.99996803e-01 -2.32642427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.891400513 meters 0.03971790900137095 Centerline is valid? [True, True] Translation: X:422.03, Y:45.43, Z:-2.33 [[ 9.92660398e-01 -1.20927013e-01 1.41121224e-03 4.22028058e+02] [ 1.20926818e-01 9.92661400e-01 2.23004606e-04 4.54340776e+01] [-1.42782320e-03 -5.07144361e-05 9.99998979e-01 -2.32790641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.921400513 meters 0.04854811233933383 Centerline is valid? [True, True] Translation: X:422.06, Y:45.45, Z:-2.33 [[ 9.93225560e-01 -1.16195561e-01 -1.25644228e-03 4.22055451e+02] [ 1.16195403e-01 9.93226353e-01 -1.98930130e-04 4.54476359e+01] [ 1.27104639e-03 5.15896730e-05 9.99999191e-01 -2.33374192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.951400513 meters 0.04811526042915898 Centerline is valid? [True, True] Translation: X:422.08, Y:45.45, Z:-2.33 [[ 9.93480316e-01 -1.13995874e-01 -1.34235656e-03 4.22084820e+02] [ 1.13995691e-01 9.93481221e-01 -2.12623948e-04 4.54514103e+01] [ 1.35784429e-03 5.82148438e-05 9.99999076e-01 -2.33404009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.981400513 meters 0.045952237386738225 Centerline is valid? [True, True] Translation: X:422.11, Y:45.45, Z:-2.33 [[ 9.93694886e-01 -1.12116331e-01 -6.34192594e-04 4.22114569e+02] [ 1.12116290e-01 9.93695088e-01 -1.00547790e-04 4.54529890e+01] [ 6.41467115e-04 2.88105036e-05 9.99999794e-01 -2.33232068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.011400513 meters 0.0508672341270797 Centerline is valid? [True, True] Translation: X:422.14, Y:45.46, Z:-2.33 [[ 9.93881359e-01 -1.10451358e-01 5.85313657e-04 4.22143054e+02] [ 1.10451322e-01 9.93881531e-01 9.26022745e-05 4.54624174e+01] [-5.91960480e-04 -2.73870069e-05 9.99999824e-01 -2.33109984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.041400513 meters 0.051363030606301235 Centerline is valid? [True, True] Translation: X:422.17, Y:45.46, Z:-2.33 [[ 9.94006650e-01 -1.09319151e-01 3.19801780e-04 4.22173641e+02] [ 1.09319140e-01 9.94006702e-01 5.06345665e-05 4.54622967e+01] [-3.23420441e-04 -1.53706402e-05 9.99999948e-01 -2.33041555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.071400513 meters 0.0499017788471327 Centerline is valid? [True, True] Translation: X:422.20, Y:45.46, Z:-2.33 [[ 9.93950733e-01 -1.09825885e-01 -4.64326642e-04 4.22203762e+02] [ 1.09825862e-01 9.93950841e-01 -7.36691023e-05 4.54630672e+01] [ 4.69608631e-04 2.22283844e-05 9.99999889e-01 -2.33148165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.101400513 meters 0.05065606244333591 Centerline is valid? [True, True] Translation: X:422.23, Y:45.47, Z:-2.33 [[ 9.93881617e-01 -1.10448657e-01 -6.53011008e-04 4.22232035e+02] [ 1.10448613e-01 9.93881831e-01 -1.03640747e-04 4.54673523e+01] [ 6.60462758e-04 3.08824732e-05 9.99999781e-01 -2.33257483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.131400513 meters 0.050765360669631214 Centerline is valid? [True, True] Translation: X:422.26, Y:45.47, Z:-2.33 [[ 9.93844095e-01 -1.10787639e-01 1.15683918e-04 4.22260071e+02] [ 1.10787638e-01 9.93844102e-01 1.73763801e-05 4.54724247e+01] [-1.16896868e-04 -4.45306474e-06 9.99999993e-01 -2.33241302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.161400513 meters 0.049430389819502395 Centerline is valid? [True, True] Translation: X:422.29, Y:45.48, Z:-2.33 [[ 9.93895471e-01 -1.10294669e-01 2.62261292e-03 4.22289827e+02] [ 1.10293955e-01 9.93898924e-01 4.15767330e-04 4.54755788e+01] [-2.65246908e-03 -1.23970915e-04 9.99996475e-01 -2.32860702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.191400513 meters 0.051383951464318595 Centerline is valid? [True, True] Translation: X:422.32, Y:45.48, Z:-2.33 [[ 9.93902766e-01 -1.10225259e-01 2.77207878e-03 4.22319082e+02] [ 1.10224460e-01 9.93906623e-01 4.39574870e-04 4.54813915e+01] [-2.80363971e-03 -1.31343792e-04 9.99996061e-01 -2.32774383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.221400513 meters 0.050983042186664856 Centerline is valid? [True, True] Translation: X:422.35, Y:45.48, Z:-2.33 [[ 9.93926647e-01 -1.10021890e-01 2.23722105e-03 4.22349853e+02] [ 1.10021369e-01 9.93929159e-01 3.54817344e-04 4.54835767e+01] [-2.26267691e-03 -1.06520291e-04 9.99997434e-01 -2.32801487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.251400513 meters 0.04977302530182174 Centerline is valid? [True, True] Translation: X:422.38, Y:45.48, Z:-2.33 [[ 9.93900333e-01 -1.10277370e-01 1.01451974e-03 4.22380911e+02] [ 1.10277264e-01 9.93900850e-01 1.60900148e-04 4.54849511e+01] [-1.02607567e-03 -4.80402506e-05 9.99999472e-01 -2.32931369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.281400513 meters 0.05145486631672807 Centerline is valid? [True, True] Translation: X:422.41, Y:45.49, Z:-2.33 [[ 9.93999435e-01 -1.09373097e-01 1.62779482e-03 4.22409591e+02] [ 1.09372820e-01 9.94000764e-01 2.58244918e-04 4.54889428e+01] [-1.64627434e-03 -7.86587918e-05 9.99998642e-01 -2.32814692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.311400513 meters 0.05336861948629092 Centerline is valid? [True, True] Translation: X:422.44, Y:45.50, Z:-2.33 [[ 9.94175602e-01 -1.07724692e-01 3.20362089e-03 4.22438936e+02] [ 1.07723613e-01 9.94180751e-01 5.07992048e-04 4.54955344e+01] [-3.23970151e-03 -1.59927682e-04 9.99994739e-01 -2.32557800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.341400513 meters 0.05073568318872256 Centerline is valid? [True, True] Translation: X:422.47, Y:45.50, Z:-2.32 [[ 9.94463768e-01 -1.04994816e-01 4.23112407e-03 4.22470055e+02] [ 1.04992909e-01 9.94472744e-01 6.71022994e-04 4.54962893e+01] [-4.27819150e-03 -2.23070030e-04 9.99990824e-01 -2.32330911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.371400513 meters 0.059892575966989485 Centerline is valid? [True, True] Translation: X:422.50, Y:45.51, Z:-2.33 [[ 9.95127425e-01 -9.85326335e-02 3.56751826e-03 4.22497605e+02] [ 9.85312363e-02 9.95133798e-01 5.65724024e-04 4.55113161e+01] [-3.60590027e-03 -2.11455507e-04 9.99993476e-01 -2.32512565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.401400513 meters 0.07227359398878969 Centerline is valid? [True, True] Translation: X:422.52, Y:45.53, Z:-2.33 [[ 9.95427730e-01 -9.54902683e-02 2.28968558e-03 4.22524310e+02] [ 9.54896846e-02 9.95430353e-01 3.63166606e-04 4.55309033e+01] [-2.31390140e-03 -1.42864756e-04 9.99997313e-01 -2.32873785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.431400513 meters 0.06590831387529927 Centerline is valid? [True, True] Translation: X:422.56, Y:45.53, Z:-2.33 [[ 9.95674984e-01 -9.29014408e-02 8.05347339e-04 4.22556139e+02] [ 9.29013678e-02 9.95675308e-01 1.27743521e-04 4.55278248e+01] [-8.13732017e-04 -5.23731593e-05 9.99999668e-01 -2.33101560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.461400513 meters 0.07528704428886536 Centerline is valid? [True, True] Translation: X:422.58, Y:45.54, Z:-2.33 [[ 9.95889806e-01 -9.05726267e-02 3.06811329e-04 4.22583940e+02] [ 9.05726160e-02 9.95889853e-01 4.88001714e-05 4.55433960e+01] [-3.09970249e-04 -2.08108886e-05 9.99999952e-01 -2.33345326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49140051300003 meters 0.07244000144723341 Centerline is valid? [True, True] Translation: X:422.61, Y:45.54, Z:-2.33 [[ 9.96240410e-01 -8.66315374e-02 1.51067795e-04 4.22614364e+02] [ 8.66315348e-02 9.96240421e-01 2.39237572e-05 4.55431479e+01] [-1.52572395e-04 -1.07465787e-05 9.99999988e-01 -2.33325339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.521400513 meters 0.07566760409011578 Centerline is valid? [True, True] Translation: X:422.64, Y:45.55, Z:-2.33 [[ 9.96379027e-01 -8.50195637e-02 7.12509678e-04 4.22643918e+02] [ 8.50195045e-02 9.96379281e-01 1.13031405e-04 4.55509295e+01] [-7.19539761e-04 -5.20449017e-05 9.99999740e-01 -2.33281273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55140051300003 meters 0.07440187057356959 Centerline is valid? [True, True] Translation: X:422.67, Y:45.55, Z:-2.33 [[ 9.96506904e-01 -8.35025960e-02 1.14329851e-03 4.22674488e+02] [ 8.35024426e-02 9.96507556e-01 1.81317204e-04 4.55537637e+01] [-1.15444606e-03 -8.52156272e-05 9.99999330e-01 -2.33230661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.581400513 meters 0.08519234717360893 Centerline is valid? [True, True] Translation: X:422.70, Y:45.57, Z:-2.33 [[ 9.96629353e-01 -8.20198352e-02 1.63689367e-03 4.22701846e+02] [ 8.20195187e-02 9.96630689e-01 2.59665445e-04 4.55716061e+01] [-1.65267619e-03 -1.24532973e-04 9.99998627e-01 -2.33285552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.611400513 meters 0.07897631615606451 Centerline is valid? [True, True] Translation: X:422.73, Y:45.57, Z:-2.33 [[ 9.96788712e-01 -8.00639926e-02 1.42121371e-03 4.22734025e+02] [ 8.00637521e-02 9.96789719e-01 2.25347439e-04 4.55685461e+01] [-1.43469343e-03 -1.10836082e-04 9.99998965e-01 -2.33308309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.641400513 meters 0.0799197962795171 Centerline is valid? [True, True] Translation: X:422.76, Y:45.57, Z:-2.33 [[ 9.96826513e-01 -7.95983171e-02 1.00513509e-03 4.22764909e+02] [ 7.95981966e-02 9.96827017e-01 1.59392961e-04 4.55731388e+01] [-1.01463322e-03 -7.88801897e-05 9.99999482e-01 -2.33428281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.671400513 meters 0.08743940269109574 Centerline is valid? [True, True] Translation: X:422.79, Y:45.59, Z:-2.34 [[ 9.96822420e-01 -7.96535029e-02 6.18764981e-04 4.22794668e+02] [ 7.96534572e-02 9.96822611e-01 9.82218728e-05 4.55851541e+01] [-6.24622640e-04 -4.86229950e-05 9.99999804e-01 -2.33576783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.701400513 meters 0.07825844092861285 Centerline is valid? [True, True] Translation: X:422.83, Y:45.58, Z:-2.34 [[ 9.96775494e-01 -8.02397694e-02 4.40161495e-04 4.22828097e+02] [ 8.02397463e-02 9.96775591e-01 6.99154745e-05 4.55770121e+01] [-4.44352236e-04 -3.43715849e-05 9.99999901e-01 -2.33547154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.731400513 meters 0.07698965171863789 Centerline is valid? [True, True] Translation: X:422.86, Y:45.58, Z:-2.34 [[ 9.96506809e-01 -8.35102784e-02 4.61272089e-04 4.22858067e+02] [ 8.35102535e-02 9.96506915e-01 7.29843631e-05 4.55754918e+01] [-4.65755771e-04 -3.42084657e-05 9.99999891e-01 -2.33627457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.761400513 meters 0.07177489166925842 Centerline is valid? [True, True] Translation: X:422.89, Y:45.57, Z:-2.34 [[ 9.96351379e-01 -8.53431101e-02 6.95105343e-04 4.22889581e+02] [ 8.53430539e-02 9.96351620e-01 1.10093571e-04 4.55705443e+01] [-7.01965063e-04 -5.03694689e-05 9.99999752e-01 -2.33638284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.791400513 meters 0.07292790758343268 Centerline is valid? [True, True] Translation: X:422.92, Y:45.57, Z:-2.34 [[ 9.96115583e-01 -8.80523947e-02 7.22034752e-04 4.22919728e+02] [ 8.80523349e-02 9.96115843e-01 1.14302929e-04 4.55691576e+01] [-7.29294902e-04 -5.02820825e-05 9.99999733e-01 -2.33666262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.821400513 meters 0.0726258639780479 Centerline is valid? [True, True] Translation: X:422.95, Y:45.57, Z:-2.34 [[ 9.96085178e-01 -8.83986246e-02 2.99606488e-05 4.22950308e+02] [ 8.83986245e-02 9.96085179e-01 4.74562175e-06 4.55708759e+01] [-3.02628647e-05 -2.07856335e-06 1.00000000e+00 -2.33741289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.851400513 meters 0.070477994515173 Centerline is valid? [True, True] Translation: X:422.98, Y:45.57, Z:-2.34 [[ 9.96149385e-01 -8.76688591e-02 -7.57369024e-04 4.22980121e+02] [ 8.76687930e-02 9.96149672e-01 -1.20120180e-04 4.55703110e+01] [ 7.64983704e-04 5.32600156e-05 9.99999706e-01 -2.33833418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.881400513 meters 0.07536254194864651 Centerline is valid? [True, True] Translation: X:423.01, Y:45.58, Z:-2.34 [[ 9.96278531e-01 -8.61847907e-02 -1.12684927e-03 4.23008547e+02] [ 8.61846435e-02 9.96279165e-01 -1.78679006e-04 4.55779272e+01] [ 1.13805586e-03 8.08969553e-05 9.99999349e-01 -2.33943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.911400513 meters 0.07939000607909533 Centerline is valid? [True, True] Translation: X:423.04, Y:45.58, Z:-2.34 [[ 9.96599402e-01 -8.23988558e-02 2.46417311e-04 4.23039166e+02] [ 8.23988486e-02 9.96599432e-01 3.90493064e-05 4.55810171e+01] [-2.48796971e-04 -1.86120127e-05 9.99999969e-01 -2.33797086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.941400513 meters 0.0832947746300447 Centerline is valid? [True, True] Translation: X:423.07, Y:45.59, Z:-2.34 [[ 9.96779556e-01 -8.01851823e-02 9.23693226e-04 4.23068158e+02] [ 8.01850810e-02 9.96779981e-01 1.46278399e-04 4.55873323e+01] [-9.32448277e-04 -7.17409016e-05 9.99999563e-01 -2.33714151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.971400513 meters 0.0832947746300447 Centerline is valid? [True, True] Translation: X:423.10, Y:45.59, Z:-2.34 [[ 9.96779556e-01 -8.01851828e-02 9.23679675e-04 4.23097876e+02] [ 8.01850814e-02 9.96779981e-01 1.46363916e-04 4.55920413e+01] [-9.32441627e-04 -7.18272292e-05 9.99999563e-01 -2.33731609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.001400513 meters 0.08601610780707741 Centerline is valid? [True, True] Translation: X:423.13, Y:45.60, Z:-2.34 [[ 9.96961360e-01 -7.78900124e-02 1.09231296e-03 4.23127435e+02] [ 7.78898693e-02 9.96961954e-01 1.73079428e-04 4.55980079e+01] [-1.10247562e-03 -8.74733884e-05 9.99999388e-01 -2.33752671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.031400513 meters 0.08377331010482962 Centerline is valid? [True, True] Translation: X:423.16, Y:45.60, Z:-2.34 [[ 9.97119519e-01 -7.58422338e-02 7.88141093e-04 4.23158185e+02] [ 7.58421586e-02 9.97119828e-01 1.24880859e-04 4.55985707e+01] [-7.95342355e-04 -6.47468206e-05 9.99999682e-01 -2.33816786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.061400513 meters 0.09257363100538464 Centerline is valid? [True, True] Translation: X:423.19, Y:45.61, Z:-2.34 [[ 9.97281569e-01 -7.36816556e-02 6.96377080e-04 4.23186248e+02] [ 7.36815964e-02 9.97281811e-01 1.10299903e-04 4.56094556e+01] [-7.02611275e-04 -5.86898851e-05 9.99999751e-01 -2.34057820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.091400513 meters 0.09200958914620588 Centerline is valid? [True, True] Translation: X:423.22, Y:45.61, Z:-2.34 [[ 9.97299762e-01 -7.34334539e-02 8.44172826e-04 4.23216965e+02] [ 7.34333668e-02 9.97300117e-01 1.33775741e-04 4.56107074e+01] [-8.51717273e-04 -7.14240622e-05 9.99999635e-01 -2.34055582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.121400513 meters 0.09381104618233303 Centerline is valid? [True, True] Translation: X:423.25, Y:45.62, Z:-2.34 [[ 9.97288771e-01 -7.35832855e-02 7.79077102e-04 4.23246330e+02] [ 7.35832113e-02 9.97289073e-01 1.23404253e-04 4.56152654e+01] [-7.86045571e-04 -6.57426807e-05 9.99999689e-01 -2.34117481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.151400513 meters 0.08357227022275131 Centerline is valid? [True, True] Translation: X:423.28, Y:45.60, Z:-2.34 [[ 9.97222112e-01 -7.44851718e-02 -1.36654197e-04 4.23278386e+02] [ 7.44851695e-02 9.97222121e-01 -2.17263954e-05 4.56045124e+01] [ 1.37892882e-04 1.14873309e-05 9.99999990e-01 -2.34221211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.181400513 meters 0.08701228284606623 Centerline is valid? [True, True] Translation: X:423.31, Y:45.61, Z:-2.34 [[ 9.97181200e-01 -7.50295674e-02 4.68289585e-04 4.23306958e+02] [ 7.50295407e-02 9.97181309e-01 7.42861985e-05 4.56115515e+01] [-4.72543283e-04 -3.89412481e-05 9.99999888e-01 -2.34208136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.211400513 meters 0.08765686856747917 Centerline is valid? [True, True] Translation: X:423.34, Y:45.61, Z:-2.34 [[ 9.97131010e-01 -7.56888476e-02 9.72912323e-04 4.23336647e+02] [ 7.56887329e-02 9.97131482e-01 1.54256517e-04 4.56145053e+01] [-9.81797005e-04 -8.01754555e-05 9.99999515e-01 -2.34113958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24140051300003 meters 0.08109012034272779 Centerline is valid? [True, True] Translation: X:423.37, Y:45.61, Z:-2.34 [[ 9.97097983e-01 -7.61083991e-02 1.76732970e-03 4.23368077e+02] [ 7.61080215e-02 9.97099539e-01 2.80014107e-04 4.56094125e+01] [-1.78351506e-03 -1.44693534e-04 9.99998399e-01 -2.33958407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.271400513 meters 0.09024842637862024 Centerline is valid? [True, True] Translation: X:423.40, Y:45.62, Z:-2.34 [[ 9.97106334e-01 -7.60034325e-02 1.56121332e-03 4.23396272e+02] [ 7.60031376e-02 9.97107548e-01 2.47466554e-04 4.56246364e+01] [-1.57550589e-03 -1.28093358e-04 9.99998751e-01 -2.33954912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30140051300003 meters 0.09006450878201155 Centerline is valid? [True, True] Translation: X:423.43, Y:45.63, Z:-2.34 [[ 9.97167317e-01 -7.52115675e-02 7.49035102e-04 4.23426304e+02] [ 7.52114994e-02 9.97167597e-01 1.18696362e-04 4.56296539e+01] [-7.55840872e-04 -6.20240802e-05 9.99999712e-01 -2.34089850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.331400513 meters 0.08324921356836977 Centerline is valid? [True, True] Translation: X:423.46, Y:45.63, Z:-2.34 [[ 9.97248338e-01 -7.41329601e-02 2.37613497e-04 4.23457399e+02] [ 7.41329532e-02 9.97248366e-01 3.75884815e-05 4.56262949e+01] [-2.39746217e-04 -1.98700605e-05 9.99999971e-01 -2.34140999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.361400513 meters 0.08453126089006391 Centerline is valid? [True, True] Translation: X:423.49, Y:45.63, Z:-2.34 [[ 9.97327827e-01 -7.30560425e-02 1.40603980e-04 4.23486304e+02] [ 7.30560401e-02 9.97327837e-01 2.21503494e-05 4.56327998e+01] [-1.41846480e-04 -1.18191898e-05 9.99999990e-01 -2.34135553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.391400513 meters 0.092686910242305 Centerline is valid? [True, True] Translation: X:423.51, Y:45.65, Z:-2.34 [[ 9.97469304e-01 -7.10920767e-02 9.51369030e-04 4.23513537e+02] [ 7.10919650e-02 9.97469754e-01 1.50781653e-04 4.56491016e+01] [-9.59681213e-04 -8.27653765e-05 9.99999536e-01 -2.34092069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.421400513 meters 0.08426526782444749 Centerline is valid? [True, True] Translation: X:423.55, Y:45.65, Z:-2.34 [[ 9.97491438e-01 -7.07729632e-02 1.42096226e-03 4.23545043e+02] [ 7.07727136e-02 9.97492442e-01 2.25227630e-04 4.56461848e+01] [-1.43333914e-03 -1.24097278e-04 9.99998965e-01 -2.33955450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.451400513 meters 0.09371118797620091 Centerline is valid? [True, True] Translation: X:423.57, Y:45.67, Z:-2.34 [[ 9.97487993e-01 -7.08142370e-02 1.74547054e-03 4.23572971e+02] [ 7.08138604e-02 9.97489509e-01 2.76710571e-04 4.56652582e+01] [-1.76068360e-03 -1.52411965e-04 9.99998438e-01 -2.33989563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.481400513 meters 0.08500056972427084 Centerline is valid? [True, True] Translation: X:423.60, Y:45.66, Z:-2.34 [[ 9.97324271e-01 -7.30888803e-02 1.52092032e-03 4.23603922e+02] [ 7.30885971e-02 9.97325423e-01 2.41064150e-04 4.56627887e+01] [-1.53447160e-03 -1.29257195e-04 9.99998814e-01 -2.34000645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.511400513 meters 0.08273706356559443 Centerline is valid? [True, True] Translation: X:423.63, Y:45.66, Z:-2.34 [[ 9.97164564e-01 -7.52390308e-02 1.38583064e-03 4.23634364e+02] [ 7.52387978e-02 9.97165520e-01 2.19636125e-04 4.56648135e+01] [-1.39842774e-03 -1.14745130e-04 9.99999016e-01 -2.34021990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.541400513 meters 0.08044833470098801 Centerline is valid? [True, True] Translation: X:423.67, Y:45.67, Z:-2.34 [[ 9.96967751e-01 -7.77968796e-02 1.71721512e-03 4.23665349e+02] [ 7.77965255e-02 9.96969220e-01 2.72126094e-04 4.56668297e+01] [-1.73318118e-03 -1.37707570e-04 9.99998489e-01 -2.33944763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.571400513 meters 0.07721589106552953 Centerline is valid? [True, True] Translation: X:423.70, Y:45.67, Z:-2.34 [[ 9.96750741e-01 -8.05232235e-02 1.99268330e-03 4.23696228e+02] [ 8.05227521e-02 9.96752721e-01 3.15830567e-04 4.56675514e+01] [-2.01164419e-03 -1.54348009e-04 9.99997965e-01 -2.33866681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.601400513 meters 0.07322447969805689 Centerline is valid? [True, True] Translation: X:423.73, Y:45.67, Z:-2.34 [[ 9.96320896e-01 -8.56700994e-02 2.30345442e-03 4.23726567e+02] [ 8.56694831e-02 9.96323545e-01 3.65089748e-04 4.56677664e+01] [-2.32626315e-03 -1.66410795e-04 9.99997280e-01 -2.33771920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.631400513 meters 0.07587656327358762 Centerline is valid? [True, True] Translation: X:423.75, Y:45.68, Z:-2.34 [[ 9.96164262e-01 -8.74482154e-02 3.09411903e-03 4.23754635e+02] [ 8.74471121e-02 9.96169043e-01 4.90365104e-04 4.56751472e+01] [-3.12514715e-03 -2.17912418e-04 9.99995093e-01 -2.33683683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.661400513 meters 0.07899192503214704 Centerline is valid? [True, True] Translation: X:423.78, Y:45.68, Z:-2.34 [[ 9.96065648e-01 -8.85275314e-02 4.01263969e-03 4.23783378e+02] [ 8.85256838e-02 9.96073691e-01 6.36090923e-04 4.56822169e+01] [-4.05319639e-03 -2.78366645e-04 9.99991747e-01 -2.33603643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.691400513 meters 0.07107822714161396 Centerline is valid? [True, True] Translation: X:423.82, Y:45.67, Z:-2.34 [[ 9.96014611e-01 -8.90893914e-02 4.23967193e-03 4.23815235e+02] [ 8.90873336e-02 9.96023592e-01 6.72150399e-04 4.56737783e+01] [-4.28269473e-03 -2.91770550e-04 9.99990787e-01 -2.33534353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.721400513 meters 0.06916045717771717 Centerline is valid? [True, True] Translation: X:423.85, Y:45.68, Z:-2.34 [[ 9.96029461e-01 -8.89343520e-02 3.99922617e-03 4.23846150e+02] [ 8.89325198e-02 9.96037452e-01 6.34030536e-04 4.56756404e+01] [-4.03976614e-03 -2.75851832e-04 9.99991802e-01 -2.33581226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.751400513 meters 0.07131633944547651 Centerline is valid? [True, True] Translation: X:423.88, Y:45.68, Z:-2.34 [[ 9.96071645e-01 -8.84930180e-02 3.20362418e-03 4.23875494e+02] [ 8.84918400e-02 9.96076772e-01 5.07897144e-04 4.56814333e+01] [-3.23600098e-03 -2.22407346e-04 9.99994739e-01 -2.33689542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.781400513 meters 0.07973082273386832 Centerline is valid? [True, True] Translation: X:423.90, Y:45.69, Z:-2.34 [[ 9.96108764e-01 -8.81040021e-02 2.23931499e-03 4.23903821e+02] [ 8.81034256e-02 9.96111269e-01 3.54976041e-04 4.56924124e+01] [-2.26188171e-03 -1.56303424e-04 9.99997430e-01 -2.33874977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.811400513 meters 0.08014288547983393 Centerline is valid? [True, True] Translation: X:423.93, Y:45.69, Z:-2.34 [[ 9.96180433e-01 -8.72971339e-02 1.93784986e-03 4.23932186e+02] [ 8.72967009e-02 9.96182308e-01 3.07076760e-04 4.56939130e+01] [-1.95725867e-03 -1.36735960e-04 9.99998075e-01 -2.33978251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.841400513 meters 0.0783903263465068 Centerline is valid? [True, True] Translation: X:423.96, Y:45.69, Z:-2.34 [[ 9.96191467e-01 -8.71712573e-02 1.93184562e-03 4.23960847e+02] [ 8.71708267e-02 9.96193331e-01 3.06163903e-04 4.56939918e+01] [-1.95118042e-03 -1.36597288e-04 9.99998087e-01 -2.33964204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.871400513 meters 0.0708912931974494 Centerline is valid? [True, True] Translation: X:423.99, Y:45.69, Z:-2.34 [[ 9.96194234e-01 -8.71347563e-02 2.14066201e-03 4.23990636e+02] [ 8.71342280e-02 9.96196522e-01 3.39021506e-04 4.56880516e+01] [-2.16206060e-03 -1.51206338e-04 9.99997651e-01 -2.33919908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.901400513 meters 0.07265400276074 Centerline is valid? [True, True] Translation: X:424.02, Y:45.69, Z:-2.34 [[ 9.96302299e-01 -8.58804735e-02 2.50454228e-03 4.24019823e+02] [ 8.58797437e-02 9.96305431e-01 3.97691099e-04 4.56933838e+01] [-2.52944298e-03 -1.81131107e-04 9.99996785e-01 -2.33875349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.931400513 meters 0.07892323072259531 Centerline is valid? [True, True] Translation: X:424.05, Y:45.70, Z:-2.34 [[ 9.96315282e-01 -8.57392325e-02 2.15474423e-03 4.24046594e+02] [ 8.57386920e-02 9.96317600e-01 3.42137180e-04 4.57047002e+01] [-2.17614418e-03 -1.56131549e-04 9.99997620e-01 -2.34017222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.961400513 meters 0.07187655751786622 Centerline is valid? [True, True] Translation: X:424.08, Y:45.70, Z:-2.34 [[ 9.96277351e-01 -8.61947010e-02 1.38332663e-03 4.24076166e+02] [ 8.61944795e-02 9.96278306e-01 2.19054438e-04 4.56999759e+01] [-1.39705964e-03 -9.90038565e-05 9.99999019e-01 -2.34114213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99140051300003 meters 0.07726052120391058 Centerline is valid? [True, True] Translation: X:424.10, Y:45.71, Z:-2.34 [[ 9.96209408e-01 -8.69809105e-02 1.06639776e-03 4.24102375e+02] [ 8.69807789e-02 9.96209976e-01 1.69329079e-04 4.57098518e+01] [-1.07708449e-03 -7.59311134e-05 9.99999417e-01 -2.34269088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.021400513 meters 0.07536378486756871 Centerline is valid? [True, True] Translation: X:424.13, Y:45.71, Z:-2.34 [[ 9.95973252e-01 -8.96441204e-02 1.10173398e-03 4.24133132e+02] [ 8.96439811e-02 9.95973858e-01 1.75282073e-04 4.57093353e+01] [-1.11301125e-03 -7.58124353e-05 9.99999378e-01 -2.34231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05140051300003 meters 0.07036343416089799 Centerline is valid? [True, True] Translation: X:424.16, Y:45.71, Z:-2.34 [[ 9.95867995e-01 -9.08047790e-02 1.19565610e-03 4.24163613e+02] [ 9.08046159e-02 9.95868709e-01 1.90129714e-04 4.57067102e+01] [-1.20798118e-03 -8.07730037e-05 9.99999267e-01 -2.34169747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.081400513 meters 0.08261477865147347 Centerline is valid? [True, True] Translation: X:424.19, Y:45.72, Z:-2.34 [[ 9.95796803e-01 -9.15743585e-02 1.69242047e-03 4.24188662e+02] [ 9.15740328e-02 9.95798235e-01 2.69078595e-04 4.57249584e+01] [-1.70995002e-03 -1.12965836e-04 9.99998532e-01 -2.34205214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.111400513 meters 0.06340405075516517 Centerline is valid? [True, True] Translation: X:424.22, Y:45.70, Z:-2.34 [[ 9.95774054e-01 -9.17960153e-02 2.74325529e-03 4.24220531e+02] [ 9.17951607e-02 9.95777816e-01 4.36098898e-04 4.57020585e+01] [-2.77170490e-03 -1.82438407e-04 9.99996142e-01 -2.33886445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.141400513 meters 0.07263493987886581 Centerline is valid? [True, True] Translation: X:424.25, Y:45.72, Z:-2.34 [[ 9.95830940e-01 -9.11460938e-02 3.62324597e-03 4.24245558e+02] [ 9.11445936e-02 9.95837502e-01 5.77369580e-04 4.57198801e+01] [-3.66078920e-03 -2.44723210e-04 9.99993269e-01 -2.33817618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.171400513 meters 0.07143359675155483 Centerline is valid? [True, True] Translation: X:424.27, Y:45.72, Z:-2.34 [[ 9.95874366e-01 -9.06777716e-02 3.43347170e-03 4.24274570e+02] [ 9.06764218e-02 9.95880257e-01 5.47085575e-04 4.57229530e+01] [-3.46893518e-03 -2.33493572e-04 9.99993956e-01 -2.33800492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.201400513 meters 0.0735009448009614 Centerline is valid? [True, True] Translation: X:424.30, Y:45.73, Z:-2.34 [[ 9.95960323e-01 -8.97460925e-02 2.94507575e-03 4.24302202e+02] [ 8.97450934e-02 9.95964657e-01 4.69942555e-04 4.57296559e+01] [-2.97536687e-03 -2.03738041e-04 9.99995553e-01 -2.33866696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.231400513 meters 0.06959072398366038 Centerline is valid? [True, True] Translation: X:424.33, Y:45.73, Z:-2.34 [[ 9.96071409e-01 -8.85469966e-02 1.08481502e-03 4.24332352e+02] [ 8.85468605e-02 9.96071997e-01 1.72957998e-04 4.57274142e+01] [-1.09586877e-03 -7.62215533e-05 9.99999397e-01 -2.34040337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.261400513 meters 0.0677780551553116 Centerline is valid? [True, True] Translation: X:424.36, Y:45.73, Z:-2.34 [[ 9.96092747e-01 -8.83115559e-02 5.56113902e-04 4.24361123e+02] [ 8.83115205e-02 9.96092901e-01 8.79388826e-05 4.57287293e+01] [-5.61707130e-04 -3.84840189e-05 9.99999842e-01 -2.34107389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.291400513 meters 0.07065850227242594 Centerline is valid? [True, True] Translation: X:424.39, Y:45.74, Z:-2.34 [[ 9.96107627e-01 -8.81398861e-02 9.77598863e-04 4.24388550e+02] [ 8.81397752e-02 9.96108104e-01 1.56015505e-04 4.57356779e+01] [-9.87545339e-04 -6.92428902e-05 9.99999510e-01 -2.34129796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.321400513 meters 0.07075482445580994 Centerline is valid? [True, True] Translation: X:424.42, Y:45.74, Z:-2.34 [[ 9.96097638e-01 -8.82410108e-02 1.73742934e-03 4.24416328e+02] [ 8.82406610e-02 9.96099146e-01 2.77124460e-04 4.57393549e+01] [-1.75510563e-03 -1.22731107e-04 9.99998452e-01 -2.34054794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.351400513 meters 0.07116903979924781 Centerline is valid? [True, True] Translation: X:424.45, Y:45.74, Z:-2.34 [[ 9.96120160e-01 -8.79528580e-02 2.98691182e-03 4.24445038e+02] [ 8.79518186e-02 9.96124615e-01 4.77847602e-04 4.57400484e+01] [-3.01736445e-03 -2.13289303e-04 9.99995425e-01 -2.33860998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.381400513 meters 0.07810992041073554 Centerline is valid? [True, True] Translation: X:424.47, Y:45.75, Z:-2.34 [[ 9.96149455e-01 -8.76161579e-02 3.11010725e-03 4.24471563e+02] [ 8.76150269e-02 9.96154285e-01 4.98318894e-04 4.57497513e+01] [-3.14180745e-03 -2.23907964e-04 9.99995039e-01 -2.33881906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.411400513 meters 0.06710984493236029 Centerline is valid? [True, True] Translation: X:424.50, Y:45.74, Z:-2.34 [[ 9.96164008e-01 -8.74592391e-02 2.85493454e-03 4.24502810e+02] [ 8.74582855e-02 9.96168078e-01 4.57413079e-04 4.57383814e+01] [-2.88399965e-03 -2.05970766e-04 9.99995820e-01 -2.33807780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.441400513 meters 0.07474634498163334 Centerline is valid? [True, True] Translation: X:424.53, Y:45.75, Z:-2.34 [[ 9.96277965e-01 -8.61613882e-02 2.53606901e-03 4.24529754e+02] [ 8.61606297e-02 9.96281175e-01 4.07046702e-04 4.57482037e+01] [-2.56170952e-03 -1.87022357e-04 9.99996701e-01 -2.34047207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.471400513 meters 0.08293539316326075 Centerline is valid? [True, True] Translation: X:424.56, Y:45.76, Z:-2.34 [[ 9.96385346e-01 -8.49044212e-02 2.73517739e-03 4.24556012e+02] [ 8.49035338e-02 9.96389079e-01 4.39135349e-04 4.57608822e+01] [-2.76258542e-03 -2.05321800e-04 9.99996163e-01 -2.34185915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.501400513 meters 0.07467961579938709 Centerline is valid? [True, True] Translation: X:424.59, Y:45.75, Z:-2.34 [[ 9.96507771e-01 -8.34498775e-02 2.89474854e-03 4.24587421e+02] [ 8.34488766e-02 9.96511951e-01 4.65060985e-04 4.57534006e+01] [-2.92346079e-03 -2.21873372e-04 9.99995702e-01 -2.34156763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.531400513 meters 0.08473780238203314 Centerline is valid? [True, True] Translation: X:424.61, Y:45.77, Z:-2.34 [[ 9.96599706e-01 -8.23395239e-02 3.03797341e-03 4.24614350e+02] [ 8.23384164e-02 9.96604308e-01 4.88057220e-04 4.57679119e+01] [-3.06784378e-03 -2.36255763e-04 9.99995266e-01 -2.34211751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.561400513 meters 0.0778528408142374 Centerline is valid? [True, True] Translation: X:424.64, Y:45.76, Z:-2.34 [[ 9.96573191e-01 -8.27102865e-02 9.40164031e-04 4.24644903e+02] [ 8.27101813e-02 9.96573632e-01 1.50314150e-04 4.57599329e+01] [-9.49375209e-04 -7.20379148e-05 9.99999547e-01 -2.34444903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.591400513 meters 0.07593863278639734 Centerline is valid? [True, True] Translation: X:424.68, Y:45.76, Z:-2.35 [[ 9.96459215e-01 -8.40772470e-02 -2.21615347e-04 4.24675478e+02] [ 8.40772411e-02 9.96459240e-01 -3.57245860e-05 4.57595431e+01] [ 2.23834285e-04 1.69652859e-05 9.99999975e-01 -2.34679858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.621400513 meters 0.07657412815032702 Centerline is valid? [True, True] Translation: X:424.70, Y:45.76, Z:-2.35 [[ 9.96278299e-01 -8.61908251e-02 -8.32620007e-04 4.24704636e+02] [ 8.61907430e-02 9.96278645e-01 -1.34070635e-04 4.57610789e+01] [ 8.41077190e-04 6.18075275e-05 9.99999644e-01 -2.34847614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.651400513 meters 0.0723334649667306 Centerline is valid? [True, True] Translation: X:424.74, Y:45.76, Z:-2.35 [[ 9.96059486e-01 -8.86875240e-02 -1.54166558e-04 4.24736270e+02] [ 8.86875212e-02 9.96059498e-01 -2.48217920e-05 4.57567081e+01] [ 1.55760447e-04 1.10513315e-05 9.99999988e-01 -2.34760110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.681400513 meters 0.06670807808925366 Centerline is valid? [True, True] Translation: X:424.77, Y:45.75, Z:-2.34 [[ 9.95576758e-01 -9.39337839e-02 1.83365410e-03 4.24768803e+02] [ 9.39333991e-02 9.95578440e-01 2.95051754e-04 4.57471170e+01] [-1.85326181e-03 -1.21505307e-04 9.99998275e-01 -2.34472340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.711400513 meters 0.061595711184078784 Centerline is valid? [True, True] Translation: X:424.80, Y:45.74, Z:-2.35 [[ 9.95330952e-01 -9.65071014e-02 1.63591475e-03 4.24800605e+02] [ 9.65067986e-02 9.95332291e-01 2.63235515e-04 4.57419185e+01] [-1.65368287e-03 -1.04129560e-04 9.99998627e-01 -2.34506119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74140051300003 meters 0.06295797059300812 Centerline is valid? [True, True] Translation: X:424.83, Y:45.74, Z:-2.35 [[ 9.95124266e-01 -9.86231948e-02 1.07761827e-03 4.24829483e+02] [ 9.86230647e-02 9.95124847e-01 1.73297720e-04 4.57437257e+01] [-1.08945589e-03 -6.61747504e-05 9.99999404e-01 -2.34680564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.771400513 meters 0.06257485020938125 Centerline is valid? [True, True] Translation: X:424.86, Y:45.74, Z:-2.35 [[ 9.94928794e-01 -1.00580159e-01 5.71744483e-04 4.24860072e+02] [ 1.00580123e-01 9.94928957e-01 9.18968714e-05 4.57375991e+01] [-5.78088144e-04 -3.39247129e-05 9.99999832e-01 -2.34746794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80140051300003 meters 0.07299018337601346 Centerline is valid? [True, True] Translation: X:424.89, Y:45.75, Z:-2.35 [[ 9.94935234e-01 -1.00516127e-01 6.23928358e-04 4.24885766e+02] [ 1.00516084e-01 9.94935428e-01 9.99844092e-05 4.57503366e+01] [-6.30818473e-04 -3.67631763e-05 9.99999800e-01 -2.34795785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.831400513 meters 0.05906530980171601 Centerline is valid? [True, True] Translation: X:424.92, Y:45.74, Z:-2.35 [[ 9.94990798e-01 -9.99663070e-02 2.23270885e-04 4.24917616e+02] [ 9.99663016e-02 9.94990823e-01 3.50313853e-05 4.57352589e+01] [-2.25654440e-04 -1.25363413e-05 9.99999974e-01 -2.34670990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.861400513 meters 0.0674736059461166 Centerline is valid? [True, True] Translation: X:424.95, Y:45.74, Z:-2.35 [[ 9.95253430e-01 -9.73165388e-02 3.17188906e-04 4.24945993e+02] [ 9.73165274e-02 9.95253481e-01 5.10357160e-05 4.57446230e+01] [-3.20649982e-04 -1.99257485e-05 9.99999948e-01 -2.34831021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.891400513 meters 0.0674736059461166 Centerline is valid? [True, True] Translation: X:424.97, Y:45.75, Z:-2.35 [[ 9.95236009e-01 -9.74945379e-02 3.17327974e-04 4.24973163e+02] [ 9.74945269e-02 9.95236060e-01 5.01737885e-05 4.57491638e+01] [-3.20707913e-04 -1.89970204e-05 9.99999948e-01 -2.34847002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.921400513 meters 0.06514341561996637 Centerline is valid? [True, True] Translation: X:425.00, Y:45.75, Z:-2.35 [[ 9.95426083e-01 -9.55340095e-02 4.08187181e-04 4.25003943e+02] [ 9.55339905e-02 9.95426166e-01 6.58118750e-05 4.57465221e+01] [-4.12607473e-04 -2.65151067e-05 9.99999915e-01 -2.34768060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.951400513 meters 0.06314384142683208 Centerline is valid? [True, True] Translation: X:425.03, Y:45.75, Z:-2.35 [[ 9.95671128e-01 -9.29334848e-02 1.54010280e-03 4.25034737e+02] [ 9.29332109e-02 9.95672314e-01 2.48607309e-04 4.57479248e+01] [-1.55654167e-03 -1.04404422e-04 9.99998783e-01 -2.34629986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.981400513 meters 0.07550473061768946 Centerline is valid? [True, True] Translation: X:425.06, Y:45.77, Z:-2.35 [[ 9.95942886e-01 -8.99583767e-02 2.29320612e-03 4.25061248e+02] [ 8.99577616e-02 9.95945513e-01 3.70189291e-04 4.57662334e+01] [-2.31720997e-03 -1.62395702e-04 9.99997302e-01 -2.34586950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.011400513 meters 0.07230927682079681 Centerline is valid? [True, True] Translation: X:425.09, Y:45.77, Z:-2.35 [[ 9.96442797e-01 -8.42687082e-02 7.33120256e-04 4.25091913e+02] [ 8.42686438e-02 9.96443065e-01 1.18375762e-04 4.57665119e+01] [-7.40487968e-04 -5.61756256e-05 9.99999724e-01 -2.34760438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.041400513 meters 0.08497811742819895 Centerline is valid? [True, True] Translation: X:425.12, Y:45.79, Z:-2.35 [[ 9.96662806e-01 -8.16287394e-02 7.20846570e-07 4.25118885e+02] [ 8.16287394e-02 9.96662806e-01 4.84904765e-08 4.57853263e+01] [-7.22399201e-07 1.05131412e-08 1.00000000e+00 -2.34988617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.071400513 meters 0.07879088692832155 Centerline is valid? [True, True] Translation: X:425.15, Y:45.78, Z:-2.35 [[ 9.96828880e-01 -7.95750112e-02 -4.62485837e-05 4.25150012e+02] [ 7.95750110e-02 9.96828881e-01 -7.50579878e-06 4.57816664e+01] [ 4.66991979e-05 3.80176543e-06 9.99999999e-01 -2.34949264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.101400513 meters 0.08957525876877388 Centerline is valid? [True, True] Translation: X:425.18, Y:45.80, Z:-2.35 [[ 9.96969643e-01 -7.77905821e-02 3.94444950e-04 4.25176601e+02] [ 7.77905630e-02 9.96969721e-01 6.35690340e-05 4.57985267e+01] [-3.98194744e-04 -3.26923024e-05 9.99999920e-01 -2.34942913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.131400513 meters 0.08260646174299506 Centerline is valid? [True, True] Translation: X:425.21, Y:45.80, Z:-2.35 [[ 9.97125575e-01 -7.57639127e-02 6.45427205e-04 4.25207863e+02] [ 7.57638610e-02 9.97125783e-01 1.04219526e-04 4.57954247e+01] [-6.51468186e-04 -5.50198977e-05 9.99999786e-01 -2.34781451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.161400513 meters 0.0873528321394478 Centerline is valid? [True, True] Translation: X:425.23, Y:45.81, Z:-2.35 [[ 9.97143026e-01 -7.55358817e-02 3.40581269e-04 4.25234393e+02] [ 7.55358674e-02 9.97143084e-01 5.45284950e-05 4.58056754e+01] [-3.43727114e-04 -2.86466070e-05 9.99999941e-01 -2.34850456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.191400513 meters 0.0884028661240848 Centerline is valid? [True, True] Translation: X:425.26, Y:45.81, Z:-2.35 [[ 9.97146581e-01 -7.54886756e-02 -3.95532118e-04 4.25263047e+02] [ 7.54886558e-02 9.97146659e-01 -6.48929158e-05 4.58109453e+01] [ 3.99302210e-04 3.48495612e-05 9.99999920e-01 -2.34957999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.221400513 meters 0.0906494663428219 Centerline is valid? [True, True] Translation: X:425.29, Y:45.82, Z:-2.35 [[ 9.97059246e-01 -7.66205841e-02 -1.46523235e-03 4.25291463e+02] [ 7.66203177e-02 9.97060314e-01 -2.37167666e-04 4.58180905e+01] [ 1.47909696e-03 1.24203646e-04 9.99998898e-01 -2.35209748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.251400513 meters 0.08793151844762705 Centerline is valid? [True, True] Translation: X:425.32, Y:45.82, Z:-2.35 [[ 9.96973681e-01 -7.77304715e-02 -1.20554965e-03 4.25321738e+02] [ 7.77302920e-02 9.96974405e-01 -1.95106062e-04 4.58200447e+01] [ 1.21706783e-03 1.00807883e-04 9.99999254e-01 -2.35195593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.281400513 meters 0.08716466757989833 Centerline is valid? [True, True] Translation: X:425.35, Y:45.82, Z:-2.35 [[ 9.96840627e-01 -7.94265018e-02 -4.41038380e-04 4.25351704e+02] [ 7.94264780e-02 9.96840724e-01 -7.13839578e-05 4.58236967e+01] [ 4.45314796e-04 3.61283041e-05 9.99999900e-01 -2.35095522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.311400513 meters 0.08520782989442342 Centerline is valid? [True, True] Translation: X:425.38, Y:45.82, Z:-2.35 [[ 9.96656285e-01 -8.17075736e-02 3.49542224e-04 4.25381934e+02] [ 8.17075588e-02 9.96656346e-01 5.65441147e-05 4.58247307e+01] [-3.52993558e-04 -2.77948055e-05 9.99999937e-01 -2.35000221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.341400513 meters 0.07779315152617235 Centerline is valid? [True, True] Translation: X:425.41, Y:45.82, Z:-2.35 [[ 9.96403368e-01 -8.47315148e-02 9.48315576e-04 4.25413419e+02] [ 8.47314069e-02 9.96403816e-01 1.53398785e-04 4.58188005e+01] [-9.57902971e-04 -7.24949527e-05 9.99999539e-01 -2.34886955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.371400513 meters 0.06904931387973404 Centerline is valid? [True, True] Translation: X:425.45, Y:45.81, Z:-2.35 [[ 9.95877689e-01 -9.07022558e-02 8.53552291e-04 4.25445548e+02] [ 9.07021706e-02 9.95878053e-01 1.38074222e-04 4.58094935e+01] [-8.62557637e-04 -6.00859916e-05 9.99999626e-01 -2.34939079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.401400513 meters 0.06690676426611097 Centerline is valid? [True, True] Translation: X:425.48, Y:45.81, Z:-2.35 [[ 9.95636748e-01 -9.33133225e-02 3.00131082e-04 4.25476451e+02] [ 9.33133121e-02 9.95636793e-01 4.85515938e-05 4.58103452e+01] [-3.03352058e-04 -2.03335257e-05 9.99999954e-01 -2.35068831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.431400513 meters 0.06472268783897471 Centerline is valid? [True, True] Translation: X:425.51, Y:45.81, Z:-2.35 [[ 9.95458027e-01 -9.52013850e-02 -1.14956678e-04 4.25506574e+02] [ 9.52013835e-02 9.95458033e-01 -1.86700136e-05 4.58109019e+01] [ 1.16211960e-04 7.64118011e-06 9.99999993e-01 -2.35182616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.461400513 meters 0.06629392461535179 Centerline is valid? [True, True] Translation: X:425.53, Y:45.82, Z:-2.35 [[ 9.95345231e-01 -9.63734546e-02 -1.69928978e-04 4.25534488e+02] [ 9.63734513e-02 9.95345245e-01 -2.77758374e-05 4.58151313e+01] [ 1.71814853e-04 1.12699053e-05 9.99999985e-01 -2.35243957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49140051300003 meters 0.0684531783700287 Centerline is valid? [True, True] Translation: X:425.56, Y:45.82, Z:-2.35 [[ 9.95300714e-01 -9.68164448e-02 1.75081573e-03 4.25562258e+02] [ 9.68160959e-02 9.95302247e-01 2.83166872e-04 4.58185403e+01] [-1.77000604e-03 -1.12329047e-04 9.99998427e-01 -2.34851378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.521400513 meters 0.06442753400591121 Centerline is valid? [True, True] Translation: X:425.59, Y:45.82, Z:-2.35 [[ 9.95362174e-01 -9.61463184e-02 3.16674079e-03 4.25591238e+02] [ 9.61451721e-02 9.95367190e-01 5.12622544e-04 4.58172146e+01] [-3.20135665e-03 -2.05778251e-04 9.99994854e-01 -2.34541372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55140051300003 meters 0.06028143741132131 Centerline is valid? [True, True] Translation: X:425.62, Y:45.82, Z:-2.34 [[ 9.95499353e-01 -9.46923919e-02 3.79317305e-03 4.25620852e+02] [ 9.46907353e-02 9.95506548e-01 6.14361358e-04 4.58166354e+01] [-3.83430395e-03 -2.52417990e-04 9.99992617e-01 -2.34413000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.581400513 meters 0.07725356984439895 Centerline is valid? [True, True] Translation: X:425.65, Y:45.84, Z:-2.35 [[ 9.95669745e-01 -9.29047198e-02 3.23612881e-03 4.25646520e+02] [ 9.29035043e-02 9.95674979e-01 5.24258419e-04 4.58418006e+01] [-3.27083857e-03 -2.21340539e-04 9.99994626e-01 -2.34621304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.611400513 meters 0.06889951938244503 Centerline is valid? [True, True] Translation: X:425.68, Y:45.83, Z:-2.35 [[ 9.95879814e-01 -9.06797692e-02 7.59078195e-04 4.25678435e+02] [ 9.06797017e-02 9.95880102e-01 1.22977252e-04 4.58344934e+01] [-7.67102419e-04 -5.36375789e-05 9.99999704e-01 -2.35099425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.641400513 meters 0.07612963962989483 Centerline is valid? [True, True] Translation: X:425.70, Y:45.85, Z:-2.35 [[ 9.95907877e-01 -9.03742054e-02 -6.61922339e-05 4.25704513e+02] [ 9.03742049e-02 9.95907879e-01 -1.10666044e-05 4.58465015e+01] [ 6.69215028e-05 5.03924794e-06 9.99999998e-01 -2.35289762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.671400513 meters 0.07590608578972631 Centerline is valid? [True, True] Translation: X:425.73, Y:45.85, Z:-2.35 [[ 9.95883115e-01 -9.06463288e-02 -2.52308630e-04 4.25732078e+02] [ 9.06463211e-02 9.95883147e-01 -4.19888708e-05 4.58501526e+01] [ 2.55076050e-04 1.89451584e-05 9.99999967e-01 -2.35262065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.701400513 meters 0.06898490221908483 Centerline is valid? [True, True] Translation: X:425.76, Y:45.85, Z:-2.35 [[ 9.95805983e-01 -9.14867076e-02 7.91550515e-04 4.25762014e+02] [ 9.14866344e-02 9.95806296e-01 1.28228133e-04 4.58462972e+01] [-7.99962156e-04 -5.52740495e-05 9.99999679e-01 -2.34978623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.731400513 meters 0.06663600981553758 Centerline is valid? [True, True] Translation: X:425.79, Y:45.85, Z:-2.35 [[ 9.95751820e-01 -9.20738584e-02 8.47506953e-04 4.25791210e+02] [ 9.20737752e-02 9.95752179e-01 1.36764532e-04 4.58471154e+01] [-8.56499333e-04 -5.81503674e-05 9.99999632e-01 -2.34950839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.761400513 meters 0.07275041563603848 Centerline is valid? [True, True] Translation: X:425.82, Y:45.86, Z:-2.35 [[ 9.95740986e-01 -9.21945379e-02 2.37944912e-04 4.25816473e+02] [ 9.21945314e-02 9.95741014e-01 3.82110551e-05 4.58569528e+01] [-2.40454359e-04 -1.61110940e-05 9.99999971e-01 -2.35108297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.791400513 meters 0.07404583479815334 Centerline is valid? [True, True] Translation: X:425.84, Y:45.86, Z:-2.35 [[ 9.95717041e-01 -9.24514165e-02 -5.57499763e-04 4.25844082e+02] [ 9.24513796e-02 9.95717196e-01 -9.17894102e-05 4.58609897e+01] [ 5.63598161e-04 3.98546577e-05 9.99999840e-01 -2.35256951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.821400513 meters 0.0667291192811651 Centerline is valid? [True, True] Translation: X:425.87, Y:45.85, Z:-2.35 [[ 9.95675906e-01 -9.28950346e-02 5.20257157e-05 4.25874947e+02] [ 9.28950343e-02 9.95675907e-01 7.58814075e-06 4.58537258e+01] [-5.25056523e-05 -2.72239827e-06 9.99999999e-01 -2.35175359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.851400513 meters 0.07080780381250565 Centerline is valid? [True, True] Translation: X:425.90, Y:45.86, Z:-2.35 [[ 9.95652172e-01 -9.31365105e-02 1.53057908e-03 4.25901716e+02] [ 9.31362371e-02 9.95653343e-01 2.49123607e-04 4.58609601e+01] [-1.54712868e-03 -1.05488085e-04 9.99998798e-01 -2.35032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.881400513 meters 0.0659204771923156 Centerline is valid? [True, True] Translation: X:425.93, Y:45.86, Z:-2.35 [[ 9.95636806e-01 -9.32657756e-02 2.97403402e-03 4.25930615e+02] [ 9.32647434e-02 9.95641227e-01 4.84200245e-04 4.58566793e+01] [-3.00623019e-03 -2.04715066e-04 9.99995460e-01 -2.34785912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.911400513 meters 0.0723812274694753 Centerline is valid? [True, True] Translation: X:425.96, Y:45.87, Z:-2.35 [[ 9.95689263e-01 -9.26692134e-02 3.91254782e-03 4.25957015e+02] [ 9.26674171e-02 9.95696913e-01 6.38307420e-04 4.58652105e+01] [-3.95486324e-03 -2.72990144e-04 9.99992142e-01 -2.34650852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.941400513 meters 0.07484128564719791 Centerline is valid? [True, True] Translation: X:425.99, Y:45.87, Z:-2.35 [[ 9.95828345e-01 -9.12020487e-02 2.84506978e-03 4.25986273e+02] [ 9.12010922e-02 9.95832388e-01 4.64384970e-04 4.58667503e+01] [-2.87556550e-03 -2.02974244e-04 9.99995845e-01 -2.34822397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.971400513 meters 0.06859427314385648 Centerline is valid? [True, True] Translation: X:426.02, Y:45.86, Z:-2.35 [[ 9.95862296e-01 -9.08465513e-02 2.27854341e-03 4.26016046e+02] [ 9.08459380e-02 9.95864889e-01 3.71444417e-04 4.58620468e+01] [-2.30286582e-03 -1.62911076e-04 9.99997335e-01 -2.34933929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.001400513 meters 0.06953705170718773 Centerline is valid? [True, True] Translation: X:426.04, Y:45.87, Z:-2.35 [[ 9.95908104e-01 -9.03504389e-02 1.96138858e-03 4.26044097e+02] [ 9.03499823e-02 9.95910025e-01 3.20339487e-04 4.58659583e+01] [-1.98230936e-03 -1.41817268e-04 9.99998025e-01 -2.35060888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.031400513 meters 0.06842565601000117 Centerline is valid? [True, True] Translation: X:426.07, Y:45.87, Z:-2.35 [[ 9.95994270e-01 -8.94018236e-02 1.65187012e-03 4.26073923e+02] [ 8.94014982e-02 9.95995632e-01 2.69977128e-04 4.58666654e+01] [-1.66939188e-03 -1.21216008e-04 9.99998599e-01 -2.35100277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.061400513 meters 0.07933533213311149 Centerline is valid? [True, True] Translation: X:426.10, Y:45.88, Z:-2.35 [[ 9.96264876e-01 -8.63385179e-02 1.39864464e-03 4.26101634e+02] [ 8.63382814e-02 9.96265853e-01 2.28657372e-04 4.58793664e+01] [-1.41316383e-03 -1.07046733e-04 9.99998996e-01 -2.35138921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.091400513 meters 0.08689150277246115 Centerline is valid? [True, True] Translation: X:426.13, Y:45.89, Z:-2.35 [[ 9.96414758e-01 -8.45929709e-02 1.28791582e-03 4.26128871e+02] [ 8.45927690e-02 9.96415586e-01 2.10515166e-04 4.58919379e+01] [-1.30110750e-03 -1.00812053e-04 9.99999148e-01 -2.35175528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.121400513 meters 0.08464261611950928 Centerline is valid? [True, True] Translation: X:426.16, Y:45.89, Z:-2.35 [[ 9.96554667e-01 -8.29368010e-02 5.31446345e-04 4.26158882e+02] [ 8.29367664e-02 9.96554808e-01 8.68419107e-05 4.58931307e+01] [-5.36817801e-04 -4.24662700e-05 9.99999855e-01 -2.35291095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.151400513 meters 0.08554350854604886 Centerline is valid? [True, True] Translation: X:426.19, Y:45.89, Z:-2.35 [[ 9.96714247e-01 -8.09974002e-02 -3.61968806e-04 4.26189587e+02] [ 8.09973840e-02 9.96714312e-01 -5.92323096e-05 4.58948023e+01] [ 3.65577152e-04 2.97191605e-05 9.99999933e-01 -2.35499376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.181400513 meters 0.07522970019822116 Centerline is valid? [True, True] Translation: X:426.22, Y:45.89, Z:-2.35 [[ 9.96713841e-01 -8.10029184e-02 2.14087599e-04 4.26220263e+02] [ 8.10029129e-02 9.96713864e-01 3.41002112e-05 4.58870509e+01] [-2.16146294e-04 -1.66464334e-05 9.99999977e-01 -2.35353080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.211400513 meters 0.08167398289823402 Centerline is valid? [True, True] Translation: X:426.25, Y:45.90, Z:-2.35 [[ 9.96668946e-01 -8.15516109e-02 5.89412975e-04 4.26246486e+02] [ 8.15515682e-02 9.96669119e-01 9.62070991e-05 4.58974060e+01] [-5.95295554e-04 -4.78190756e-05 9.99999822e-01 -2.35336454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24140051300003 meters 0.08189572755561814 Centerline is valid? [True, True] Translation: X:426.28, Y:45.90, Z:-2.35 [[ 9.96597881e-01 -8.24155969e-02 5.77511497e-04 4.26275713e+02] [ 8.24155563e-02 9.96598047e-01 9.38307635e-05 4.59010256e+01] [-5.83279948e-04 -4.59156088e-05 9.99999829e-01 -2.35358281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.271400513 meters 0.0859361600498693 Centerline is valid? [True, True] Translation: X:426.30, Y:45.91, Z:-2.36 [[ 9.96504018e-01 -8.35448044e-02 -8.42903193e-05 4.26303261e+02] [ 8.35448035e-02 9.96504022e-01 -1.40175042e-05 4.59095208e+01] [ 8.51667318e-05 6.92648110e-06 9.99999996e-01 -2.35549031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30140051300003 meters 0.07230863826704716 Centerline is valid? [True, True] Translation: X:426.34, Y:45.89, Z:-2.36 [[ 9.96251050e-01 -8.65067375e-02 -6.55133884e-04 4.26335962e+02] [ 8.65066853e-02 9.96251264e-01 -1.07539694e-04 4.58948971e+01] [ 6.61980868e-04 5.04630724e-05 9.99999780e-01 -2.35629053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.331400513 meters 0.07291630472343495 Centerline is valid? [True, True] Translation: X:426.36, Y:45.90, Z:-2.36 [[ 9.96130493e-01 -8.78861755e-02 2.46247571e-04 4.26364514e+02] [ 8.78861683e-02 9.96130523e-01 4.01904943e-05 4.58981083e+01] [-2.48826911e-04 -1.83932214e-05 9.99999969e-01 -2.35566420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.361400513 meters 0.07715438105439155 Centerline is valid? [True, True] Translation: X:426.39, Y:45.91, Z:-2.35 [[ 9.96019816e-01 -8.91173474e-02 1.62027037e-03 4.26392545e+02] [ 8.91170325e-02 9.96021126e-01 2.65685180e-04 4.59060743e+01] [-1.63750068e-03 -1.20234017e-04 9.99998652e-01 -2.35417204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.391400513 meters 0.06816778184353453 Centerline is valid? [True, True] Translation: X:426.43, Y:45.90, Z:-2.35 [[ 9.95856969e-01 -9.08726800e-02 3.32464656e-03 4.26425159e+02] [ 9.08713630e-02 9.95862489e-01 5.45407696e-04 4.58953712e+01] [-3.36045346e-03 -2.41032891e-04 9.99994325e-01 -2.35023231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.421400513 meters 0.07031997753699772 Centerline is valid? [True, True] Translation: X:426.45, Y:45.90, Z:-2.35 [[ 9.95804414e-01 -9.14297768e-02 3.76368608e-03 4.26451958e+02] [ 9.14280932e-02 9.95811490e-01 6.17337724e-04 4.59019892e+01] [-3.80436489e-03 -2.70640989e-04 9.99992727e-01 -2.35003228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.451400513 meters 0.07528839100393779 Centerline is valid? [True, True] Translation: X:426.48, Y:45.91, Z:-2.35 [[ 9.95781667e-01 -9.16904133e-02 3.42638345e-03 4.26478771e+02] [ 9.16890186e-02 9.95787531e-01 5.62268753e-04 4.59107976e+01] [-3.46350457e-03 -2.45735181e-04 9.99993972e-01 -2.35116765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.481400513 meters 0.07391576913639603 Centerline is valid? [True, True] Translation: X:426.51, Y:45.91, Z:-2.35 [[ 9.95805977e-01 -9.14502182e-02 2.70446369e-03 4.26507447e+02] [ 9.14493487e-02 9.95809630e-01 4.43709918e-04 4.59128595e+01] [-2.73370835e-03 -1.94527546e-04 9.99996244e-01 -2.35207866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.511400513 meters 0.08528834575541856 Centerline is valid? [True, True] Translation: X:426.53, Y:45.93, Z:-2.35 [[ 9.96057057e-01 -8.86907293e-02 2.07199697e-03 4.26534632e+02] [ 8.86902115e-02 9.96059200e-01 3.40642058e-04 4.59305938e+01] [-2.09404344e-03 -1.55533077e-04 9.99997795e-01 -2.35382134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.541400513 meters 0.08063488878771384 Centerline is valid? [True, True] Translation: X:426.57, Y:45.93, Z:-2.35 [[ 9.96224378e-01 -8.67959635e-02 1.85752009e-03 4.26565688e+02] [ 8.67955442e-02 9.96226099e-01 3.05323189e-04 4.59295747e+01] [-1.87701082e-03 -1.42945936e-04 9.99998228e-01 -2.35385607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.571400513 meters 0.07995190721459197 Centerline is valid? [True, True] Translation: X:426.59, Y:45.93, Z:-2.35 [[ 9.96317191e-01 -8.57288062e-02 1.62068079e-03 4.26594592e+02] [ 8.57284858e-02 9.96318501e-01 2.66273758e-04 4.59328936e+01] [-1.63754159e-03 -1.26354613e-04 9.99998651e-01 -2.35419247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.601400513 meters 0.07797256575096677 Centerline is valid? [True, True] Translation: X:426.62, Y:45.93, Z:-2.35 [[ 9.96335442e-01 -8.55158286e-02 1.65227514e-03 4.26623121e+02] [ 8.55154959e-02 9.96336804e-01 2.71095598e-04 4.59346614e+01] [-1.66940550e-03 -1.28807024e-04 9.99998598e-01 -2.35419330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.631400513 meters 0.08793011189049688 Centerline is valid? [True, True] Translation: X:426.65, Y:45.95, Z:-2.35 [[ 9.96255568e-01 -8.64313812e-02 2.11188813e-03 4.26649500e+02] [ 8.64308375e-02 9.96257793e-01 3.47520617e-04 4.59484770e+01] [-2.13402170e-03 -1.63687089e-04 9.99997710e-01 -2.35474034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.661400513 meters 0.08389503248401826 Centerline is valid? [True, True] Translation: X:426.68, Y:45.95, Z:-2.35 [[ 9.96156651e-01 -8.75605586e-02 2.25305012e-03 4.26680509e+02] [ 8.75599422e-02 9.96159184e-01 3.70990680e-04 4.59469489e+01] [-2.27688071e-03 -1.72287895e-04 9.99997393e-01 -2.35494861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.691400513 meters 0.07768801663042676 Centerline is valid? [True, True] Translation: X:426.71, Y:45.94, Z:-2.36 [[ 9.96044920e-01 -8.88242626e-02 2.18340521e-03 4.26711209e+02] [ 8.88236867e-02 9.96047300e-01 3.59503787e-04 4.59426129e+01] [-2.20670752e-03 -1.64143821e-04 9.99997552e-01 -2.35537216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.721400513 meters 0.07454614041634336 Centerline is valid? [True, True] Translation: X:426.74, Y:45.94, Z:-2.36 [[ 9.95854909e-01 -9.09427736e-02 1.55309036e-03 4.26741719e+02] [ 9.09424847e-02 9.95856114e-01 2.55793010e-04 4.59418566e+01] [-1.56991706e-03 -1.13490828e-04 9.99998761e-01 -2.35632929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.751400513 meters 0.07130460326228506 Centerline is valid? [True, True] Translation: X:426.77, Y:45.94, Z:-2.36 [[ 9.95799532e-01 -9.15561735e-02 8.71223205e-04 4.26771232e+02] [ 9.15560835e-02 9.95799911e-01 1.42716242e-04 4.59422498e+01] [-8.80630543e-04 -6.23509825e-05 9.99999610e-01 -2.35690176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.781400513 meters 0.07130460326228506 Centerline is valid? [True, True] Translation: X:426.80, Y:45.95, Z:-2.36 [[ 9.95782957e-01 -9.17362746e-02 8.71218638e-04 4.26798423e+02] [ 9.17361846e-02 9.95783336e-01 1.42744435e-04 4.59468744e+01] [-8.80639844e-04 -6.22202021e-05 9.99999610e-01 -2.35706165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.811400513 meters 0.07259790010906483 Centerline is valid? [True, True] Translation: X:426.83, Y:45.95, Z:-2.36 [[ 9.95789453e-01 -9.16691429e-02 3.65054499e-04 4.26826113e+02] [ 9.16691271e-02 9.95789520e-01 5.99485748e-05 4.59527674e+01] [-3.69012879e-04 -2.62319313e-05 9.99999932e-01 -2.35830298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.841400513 meters 0.07723972480390459 Centerline is valid? [True, True] Translation: X:426.85, Y:45.96, Z:-2.36 [[ 9.95826696e-01 -9.12643843e-02 -5.47290154e-05 4.26852804e+02] [ 9.12643839e-02 9.95826698e-01 -9.36937680e-06 4.59619271e+01] [ 5.53557051e-05 4.33546567e-06 9.99999998e-01 -2.35971999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.871400513 meters 0.07541258706411881 Centerline is valid? [True, True] Translation: X:426.88, Y:45.96, Z:-2.36 [[ 9.95882985e-01 -9.06314711e-02 1.73680647e-03 4.26882325e+02] [ 9.06311090e-02 9.95884491e-01 2.86247744e-04 4.59621026e+01] [-1.75560168e-03 -1.27660561e-04 9.99998451e-01 -2.35703146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.901400513 meters 0.0765078724990709 Centerline is valid? [True, True] Translation: X:426.91, Y:45.97, Z:-2.35 [[ 9.95876307e-01 -9.06666060e-02 3.15413782e-03 4.26909099e+02] [ 9.06654072e-02 9.95881274e-01 5.21302519e-04 4.59670686e+01] [-3.18841152e-03 -2.33181637e-04 9.99994890e-01 -2.35464324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.931400513 meters 0.07595749820788963 Centerline is valid? [True, True] Translation: X:426.94, Y:45.97, Z:-2.35 [[ 9.95841626e-01 -9.10179711e-02 3.89687375e-03 4.26937385e+02] [ 9.10161428e-02 9.95849209e-01 6.44331408e-04 4.59707013e+01] [-3.93934438e-03 -2.86973620e-04 9.99992200e-01 -2.35344683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.961400513 meters 0.0755089755210969 Centerline is valid? [True, True] Translation: X:426.97, Y:45.97, Z:-2.35 [[ 9.95786058e-01 -9.16448482e-02 3.36881991e-03 4.26965893e+02] [ 9.16434841e-02 9.95791726e-01 5.57432008e-04 4.59745690e+01] [-3.40572877e-03 -2.46352628e-04 9.99994170e-01 -2.35431884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99140051300003 meters 0.07061913017126602 Centerline is valid? [True, True] Translation: X:427.00, Y:45.97, Z:-2.36 [[ 9.95670826e-01 -9.29407080e-02 1.27677161e-03 4.26996651e+02] [ 9.29405127e-02 9.95671641e-01 2.11560068e-04 4.59729561e+01] [-1.29090782e-03 -9.19803799e-05 9.99999163e-01 -2.35687605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.021400513 meters 0.0712229393007983 Centerline is valid? [True, True] Translation: X:427.02, Y:45.98, Z:-2.36 [[ 9.95621002e-01 -9.34750862e-02 1.10819731e-03 4.27024108e+02] [ 9.34749396e-02 9.95621616e-01 1.83418919e-04 4.59787244e+01] [-1.12049030e-03 -7.90270509e-05 9.99999369e-01 -2.35697976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05140051300003 meters 0.06013265118286928 Centerline is valid? [True, True] Translation: X:427.05, Y:45.97, Z:-2.36 [[ 9.95570418e-01 -9.40043361e-02 1.65150193e-03 4.27054675e+02] [ 9.40040117e-02 9.95571781e-01 2.73126154e-04 4.59705767e+01] [-1.66986376e-03 -1.16668512e-04 9.99998599e-01 -2.35578445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.081400513 meters 0.07234706255582886 Centerline is valid? [True, True] Translation: X:427.08, Y:45.99, Z:-2.36 [[ 9.95543181e-01 -9.42721233e-02 2.55772505e-03 4.27079746e+02] [ 9.42713427e-02 9.95546450e-01 4.24342371e-04 4.59909763e+01] [-2.58633775e-03 -1.81330980e-04 9.99996639e-01 -2.35568092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.111400513 meters 0.06836674016784325 Centerline is valid? [True, True] Translation: X:427.11, Y:45.99, Z:-2.35 [[ 9.95467432e-01 -9.50584468e-02 2.91265344e-03 4.27108868e+02] [ 9.50574380e-02 9.95471672e-01 4.83168650e-04 4.59914736e+01] [-2.94539325e-03 -2.04109281e-04 9.99995641e-01 -2.35446039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.141400513 meters 0.06769095629135671 Centerline is valid? [True, True] Translation: X:427.14, Y:46.00, Z:-2.35 [[ 9.95409664e-01 -9.56693417e-02 2.64166605e-03 4.27137053e+02] [ 9.56685130e-02 9.95413152e-01 4.38563259e-04 4.59962541e+01] [-2.67150619e-03 -1.83825843e-04 9.99996415e-01 -2.35488401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.171400513 meters 0.06771048768123132 Centerline is valid? [True, True] Translation: X:427.17, Y:46.00, Z:-2.36 [[ 9.95372718e-01 -9.60656493e-02 2.13144262e-03 4.27165585e+02] [ 9.60651104e-02 9.95374989e-01 3.54028866e-04 4.60021331e+01] [-2.15559469e-03 -1.47633404e-04 9.99997666e-01 -2.35565398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.201400513 meters 0.07166888262645375 Centerline is valid? [True, True] Translation: X:427.19, Y:46.01, Z:-2.36 [[ 9.95352705e-01 -9.62796871e-02 1.79270158e-03 4.27191629e+02] [ 9.62793061e-02 9.95354312e-01 2.97820384e-04 4.60127978e+01] [-1.81304730e-03 -1.23836261e-04 9.99998349e-01 -2.35668093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.231400513 meters 0.06652238776617535 Centerline is valid? [True, True] Translation: X:427.22, Y:46.01, Z:-2.36 [[ 9.95326646e-01 -9.65508566e-02 1.67347911e-03 4.27220417e+02] [ 9.65505246e-02 9.95328046e-01 2.78240100e-04 4.60122349e+01] [-1.69252502e-03 -1.15364499e-04 9.99998561e-01 -2.35670042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.261400513 meters 0.06517329664319237 Centerline is valid? [True, True] Translation: X:427.25, Y:46.02, Z:-2.36 [[ 9.95245137e-01 -9.73930984e-02 1.30429542e-03 4.27248747e+02] [ 9.73928972e-02 9.95245988e-01 2.17018900e-04 4.60177055e+01] [-1.31923093e-03 -8.89578953e-05 9.99999126e-01 -2.35741901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.291400513 meters 0.06400769604296189 Centerline is valid? [True, True] Translation: X:427.28, Y:46.02, Z:-2.36 [[ 9.95168260e-01 -9.81685715e-02 1.75078152e-03 4.27277154e+02] [ 9.81682085e-02 9.95169793e-01 2.92306261e-04 4.60236478e+01] [-1.77102017e-03 -1.19022828e-04 9.99998425e-01 -2.35726460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.321400513 meters 0.06692701107211521 Centerline is valid? [True, True] Translation: X:427.30, Y:46.03, Z:-2.36 [[ 9.95057802e-01 -9.92701717e-02 2.32451440e-03 4.27303496e+02] [ 9.92695344e-02 9.95060505e-01 3.88257018e-04 4.60343192e+01] [-2.35157481e-03 -1.55584713e-04 9.99997223e-01 -2.35652363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.351400513 meters 0.060927339046868846 Centerline is valid? [True, True] Translation: X:427.33, Y:46.03, Z:-2.36 [[ 9.94777685e-01 -1.02038665e-01 2.33830638e-03 4.27334078e+02] [ 1.02038026e-01 9.94780422e-01 3.90890179e-04 4.60335328e+01] [-2.36598731e-03 -1.50252660e-04 9.99997190e-01 -2.35591559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.381400513 meters 0.06321805309532988 Centerline is valid? [True, True] Translation: X:427.36, Y:46.04, Z:-2.36 [[ 9.94666587e-01 -1.03124727e-01 1.91594836e-03 4.27360742e+02] [ 1.03124301e-01 9.94668425e-01 3.20074039e-04 4.60406910e+01] [-1.93874089e-03 -1.20786116e-04 9.99998113e-01 -2.35664460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.411400513 meters 0.06479333297367956 Centerline is valid? [True, True] Translation: X:427.39, Y:46.05, Z:-2.36 [[ 9.94610466e-01 -1.03663504e-01 1.97436088e-03 4.27387590e+02] [ 1.03663052e-01 9.94612418e-01 3.29965077e-04 4.60480750e+01] [-1.99792919e-03 -1.23518444e-04 9.99997997e-01 -2.35699225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.441400513 meters 0.061442614460509366 Centerline is valid? [True, True] Translation: X:427.42, Y:46.05, Z:-2.36 [[ 9.94615138e-01 -1.03614617e-01 2.17668688e-03 4.27416902e+02] [ 1.03614069e-01 9.94617511e-01 3.63554388e-04 4.60488986e+01] [-2.20264044e-03 -1.36061313e-04 9.99997565e-01 -2.35666860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.471400513 meters 0.06636042857708126 Centerline is valid? [True, True] Translation: X:427.44, Y:46.06, Z:-2.36 [[ 9.94697457e-01 -1.02823010e-01 2.09724196e-03 4.27442712e+02] [ 1.02822497e-01 9.94699659e-01 3.50992035e-04 4.60634764e+01] [-2.12221592e-03 -1.33487228e-04 9.99997739e-01 -2.35726411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.501400513 meters 0.06427885185406165 Centerline is valid? [True, True] Translation: X:427.47, Y:46.07, Z:-2.36 [[ 9.94747369e-01 -1.02351408e-01 1.36400154e-03 4.27471477e+02] [ 1.02351191e-01 9.94748301e-01 2.27783409e-04 4.60660517e+01] [-1.38015217e-03 -8.69797649e-05 9.99999044e-01 -2.35764984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.531400513 meters 0.06880688309502742 Centerline is valid? [True, True] Translation: X:427.50, Y:46.08, Z:-2.36 [[ 9.94794716e-01 -1.01893873e-01 1.05414291e-03 4.27497996e+02] [ 1.01893743e-01 9.94795272e-01 1.76490115e-04 4.60765071e+01] [-1.06663964e-03 -6.81608677e-05 9.99999429e-01 -2.35851053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.561400513 meters 0.07387009546216035 Centerline is valid? [True, True] Translation: X:427.52, Y:46.09, Z:-2.36 [[ 9.94770289e-01 -1.02129494e-01 1.28021729e-03 4.27524167e+02] [ 1.02129302e-01 9.94771109e-01 2.14493477e-04 4.60881490e+01] [-1.29542929e-03 -8.26240398e-05 9.99999158e-01 -2.35858040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.591400513 meters 0.06964267507331676 Centerline is valid? [True, True] Translation: X:427.55, Y:46.09, Z:-2.36 [[ 9.94621625e-01 -1.03538975e-01 2.73915630e-03 4.27554041e+02] [ 1.03538101e-01 9.94625382e-01 4.59558347e-04 4.60886476e+01] [-2.77201659e-03 -1.73479629e-04 9.99996143e-01 -2.35703472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.621400513 meters 0.0632890325414518 Centerline is valid? [True, True] Translation: X:427.59, Y:46.08, Z:-2.36 [[ 9.94476445e-01 -1.04919259e-01 2.92386362e-03 4.27585033e+02] [ 1.04918268e-01 9.94480727e-01 4.90652138e-04 4.60846280e+01] [-2.95920488e-03 -1.81175287e-04 9.99995605e-01 -2.35660002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.651400513 meters 0.06347700050541064 Centerline is valid? [True, True] Translation: X:427.61, Y:46.09, Z:-2.36 [[ 9.94329377e-01 -1.06308309e-01 2.76298574e-03 4.27613818e+02] [ 1.06307429e-01 9.94333201e-01 4.63649724e-04 4.60879123e+01] [-2.79661827e-03 -1.67294630e-04 9.99996075e-01 -2.35674624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.681400513 meters 0.11134632727754167 Centerline is valid? [True, False] Translation: X:427.57, Y:46.08, Z:-2.35 [[ 9.95241175e-01 -9.74005246e-02 -2.85339507e-03 4.27572984e+02] [ 9.73754469e-02 9.95216365e-01 -7.89999936e-03 4.60817429e+01] [ 3.60920955e-03 7.58455403e-03 9.99964723e-01 -2.35255157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.711400513 meters 0.05657198546816637 Centerline is valid? [False, True] Translation: X:427.57, Y:46.08, Z:-2.35 [[ 9.96398119e-01 -8.47893095e-02 -1.24929905e-03 4.27574882e+02] [ 8.47634601e-02 9.96301710e-01 -1.40733120e-02 4.60799685e+01] [ 2.43794519e-03 1.39167267e-02 9.99900186e-01 -2.35464733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74140051300003 meters 0.057911788977226465 Centerline is valid? [True, True] Translation: X:427.61, Y:46.07, Z:-2.35 [[ 9.96510156e-01 -8.34106556e-02 -3.18941207e-03 4.27605806e+02] [ 8.34095966e-02 9.96515240e-01 -4.63849635e-04 4.60729097e+01] [ 3.21698774e-03 1.96203298e-04 9.99994806e-01 -2.35244657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.771400513 meters 0.06513258048320938 Centerline is valid? [True, True] Translation: X:427.63, Y:46.08, Z:-2.35 [[ 9.96667302e-01 -8.15312773e-02 -2.63435089e-03 4.27633426e+02] [ 8.15305481e-02 9.96670770e-01 -3.83193661e-04 4.60845912e+01] [ 2.65682280e-03 1.67136520e-04 9.99996457e-01 -2.35194254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80140051300003 meters 0.06697041297946599 Centerline is valid? [True, True] Translation: X:427.66, Y:46.09, Z:-2.35 [[ 9.96861137e-01 -7.91425951e-02 -2.07939164e-03 4.27662834e+02] [ 7.91421356e-02 9.96863296e-01 -3.02479732e-04 4.60902799e+01] [ 2.09680824e-03 1.36962794e-04 9.99997792e-01 -2.35105904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.831400513 meters 0.07952490809605943 Centerline is valid? [True, True] Translation: X:427.69, Y:46.11, Z:-2.35 [[ 9.97067946e-01 -7.65037583e-02 -1.63904954e-03 4.27690233e+02] [ 7.65034692e-02 9.97069287e-01 -2.38454326e-04 4.61088983e+01] [ 1.65248861e-03 1.12362189e-04 9.99998628e-01 -2.35106456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.861400513 meters 0.0721671478608425 Centerline is valid? [True, True] Translation: X:427.72, Y:46.10, Z:-2.35 [[ 9.97436577e-01 -7.15509892e-02 -8.54563714e-04 4.27722138e+02] [ 7.15509088e-02 9.97436941e-01 -1.24319730e-04 4.61019164e+01] [ 8.61268617e-04 6.28562356e-05 9.99999627e-01 -2.34896207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.891400513 meters 0.0800037309899259 Centerline is valid? [True, True] Translation: X:427.75, Y:46.11, Z:-2.35 [[ 9.97575435e-01 -6.95929094e-02 -2.81773243e-04 4.27749882e+02] [ 6.95929006e-02 9.97575474e-01 -4.10342608e-05 4.61140345e+01] [ 2.83945770e-04 2.13253533e-05 9.99999959e-01 -2.34863948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.921400513 meters 0.07919448420984665 Centerline is valid? [True, True] Translation: X:427.78, Y:46.12, Z:-2.35 [[ 9.97698708e-01 -6.78032825e-02 -4.82683560e-05 4.27779651e+02] [ 6.78032823e-02 9.97698709e-01 -7.04860144e-06 4.61158924e+01] [ 4.86351948e-05 3.75962759e-06 9.99999999e-01 -2.34864921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.951400513 meters 0.08059510788900774 Centerline is valid? [True, True] Translation: X:427.81, Y:46.12, Z:-2.35 [[ 9.97790194e-01 -6.64421003e-02 -4.19117379e-04 4.27809631e+02] [ 6.64420805e-02 9.97790282e-01 -6.09860695e-05 4.61208340e+01] [ 4.22243291e-04 3.30042714e-05 9.99999910e-01 -2.34933230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.981400513 meters 0.0744410877307866 Centerline is valid? [True, True] Translation: X:427.84, Y:46.12, Z:-2.35 [[ 9.97928795e-01 -6.43191186e-02 -1.08235528e-03 4.27841358e+02] [ 6.43189854e-02 9.97929378e-01 -1.57503559e-04 4.61151707e+01] [ 1.09024462e-03 8.75613431e-05 9.99999402e-01 -2.35044841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.011400513 meters 0.08941800519754191 Centerline is valid? [True, True] Translation: X:427.87, Y:46.14, Z:-2.35 [[ 9.97950875e-01 -6.39778869e-02 -9.38680523e-04 4.27866057e+02] [ 6.39777864e-02 9.97951314e-01 -1.36742202e-04 4.61364811e+01] [ 9.45505938e-04 7.64072980e-05 9.99999550e-01 -2.35080139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.041400513 meters 0.0822513985871875 Centerline is valid? [True, True] Translation: X:427.90, Y:46.13, Z:-2.35 [[ 9.97968959e-01 -6.36996297e-02 -5.59733040e-04 4.27896301e+02] [ 6.36995938e-02 9.97969115e-01 -8.18294892e-05 4.61312880e+01] [ 5.63808795e-04 4.60085229e-05 9.99999840e-01 -2.34982519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.071400513 meters 0.0847201998083251 Centerline is valid? [True, True] Translation: X:427.92, Y:46.14, Z:-2.35 [[ 9.97995303e-01 -6.32879139e-02 1.26757853e-04 4.27923925e+02] [ 6.32879120e-02 9.97995311e-01 1.83875207e-05 4.61374471e+01] [-1.27667451e-04 -1.03284194e-05 9.99999992e-01 -2.34863250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.101400513 meters 0.08076317979424548 Centerline is valid? [True, True] Translation: X:427.95, Y:46.14, Z:-2.35 [[ 9.97992601e-01 -6.33297298e-02 3.37652226e-04 4.27953560e+02] [ 6.33297168e-02 9.97992658e-01 4.90174655e-05 4.61359984e+01] [-3.40078705e-04 -2.75356480e-05 9.99999942e-01 -2.34786753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.131400513 meters 0.08290282985068782 Centerline is valid? [True, True] Translation: X:427.98, Y:46.14, Z:-2.35 [[ 9.98007635e-01 -6.30928668e-02 -2.25782780e-04 4.27980290e+02] [ 6.30928609e-02 9.98007660e-01 -3.31369059e-05 4.61421955e+01] [ 2.27423647e-04 1.88256035e-05 9.99999974e-01 -2.34881093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.161400513 meters 0.08676091472267826 Centerline is valid? [True, True] Translation: X:428.01, Y:46.15, Z:-2.35 [[ 9.98095644e-01 -6.16143363e-02 -2.95962703e-03 4.28008551e+02] [ 6.16133233e-02 9.98100001e-01 -4.32309065e-04 4.61539199e+01] [ 2.98064018e-03 2.49133337e-04 9.99995527e-01 -2.35365952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.191400513 meters 0.08512864063918593 Centerline is valid? [True, True] Translation: X:428.04, Y:46.16, Z:-2.36 [[ 9.98145489e-01 -6.07280642e-02 -4.20542536e-03 4.28037539e+02] [ 6.07260105e-02 9.98154284e-01 -6.14445320e-04 4.61584932e+01] [ 4.23497741e-03 3.57927120e-04 9.99990968e-01 -2.35546701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.221400513 meters 0.09519225190937881 Centerline is valid? [True, True] Translation: X:428.06, Y:46.18, Z:-2.36 [[ 9.98163477e-01 -6.03747474e-02 -4.95619040e-03 4.28062877e+02] [ 6.03718891e-02 9.98175691e-01 -7.24445271e-04 4.61782349e+01] [ 4.99088698e-03 4.23900233e-04 9.99987456e-01 -2.35694796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.251400513 meters 0.08440880707289979 Centerline is valid? [True, True] Translation: X:428.09, Y:46.17, Z:-2.36 [[ 9.98111250e-01 -6.12267772e-02 -5.02146984e-03 4.28093145e+02] [ 6.12238528e-02 9.98123790e-01 -7.34195018e-04 4.61707316e+01] [ 5.05700090e-03 4.25374577e-04 9.99987123e-01 -2.35595945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.281400513 meters 0.08635408027459324 Centerline is valid? [True, True] Translation: X:428.12, Y:46.18, Z:-2.36 [[ 9.97998563e-01 -6.30991463e-02 -4.16727353e-03 4.28121200e+02] [ 6.30971480e-02 9.98007204e-01 -6.09388073e-04 4.61784887e+01] [ 4.19742087e-03 3.45225346e-04 9.99991131e-01 -2.35561487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.311400513 meters 0.07368871893315822 Centerline is valid? [True, True] Translation: X:428.15, Y:46.17, Z:-2.35 [[ 9.97855389e-01 -6.53811698e-02 -3.15041289e-03 4.28153921e+02] [ 6.53800391e-02 9.97860330e-01 -4.60670791e-04 4.61679588e+01] [ 3.17379125e-03 2.53708713e-04 9.99994931e-01 -2.35331763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.341400513 meters 0.08654822846384728 Centerline is valid? [True, True] Translation: X:428.18, Y:46.19, Z:-2.35 [[ 9.97690475e-01 -6.78961534e-02 -1.95682998e-03 4.28180959e+02] [ 6.78957219e-02 9.97692382e-01 -2.86186469e-04 4.61879086e+01] [ 1.97174533e-03 1.52665130e-04 9.99998044e-01 -2.35285762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.371400513 meters 0.07821971441704084 Centerline is valid? [True, True] Translation: X:428.21, Y:46.18, Z:-2.35 [[ 9.97540446e-01 -7.00692064e-02 -1.83430952e-03 4.28212688e+02] [ 7.00688309e-02 9.97542123e-01 -2.68255116e-04 4.61791664e+01] [ 1.84859743e-03 1.39067405e-04 9.99998282e-01 -2.35197852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.401400513 meters 0.06840316130478802 Centerline is valid? [True, True] Translation: X:428.24, Y:46.17, Z:-2.35 [[ 9.97388614e-01 -7.21854668e-02 -2.28276354e-03 4.28243555e+02] [ 7.21848906e-02 9.97391212e-01 -3.33900756e-04 4.61742523e+01] [ 2.30091108e-03 1.68247775e-04 9.99997339e-01 -2.35193851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.431400513 meters 0.06834491162621566 Centerline is valid? [True, True] Translation: X:428.27, Y:46.18, Z:-2.36 [[ 9.97235262e-01 -7.41696095e-02 -4.54977031e-03 4.28272264e+02] [ 7.41673408e-02 9.97245588e-01 -6.65586257e-04 4.61807227e+01] [ 4.58660464e-03 3.26301720e-04 9.99989428e-01 -2.35529350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.461400513 meters 0.07246748690882546 Centerline is valid? [True, True] Translation: X:428.30, Y:46.19, Z:-2.36 [[ 9.97214856e-01 -7.43991475e-02 -5.22465211e-03 4.28298090e+02] [ 7.43961546e-02 9.97228473e-01 -7.65153700e-04 4.61907989e+01] [ 5.26709863e-03 3.74328611e-04 9.99986059e-01 -2.35703504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49140051300003 meters 0.07369042206916765 Centerline is valid? [True, True] Translation: X:428.33, Y:46.20, Z:-2.36 [[ 9.97215783e-01 -7.43632863e-02 -5.54836511e-03 4.28325527e+02] [ 7.43599094e-02 9.97231138e-01 -8.12746682e-04 4.61961452e+01] [ 5.59344097e-03 3.97907892e-04 9.99984277e-01 -2.35744830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.521400513 meters 0.07274383938437044 Centerline is valid? [True, True] Translation: X:428.35, Y:46.20, Z:-2.36 [[ 9.97193726e-01 -7.46827740e-02 -5.21110072e-03 4.28354508e+02] [ 7.46797942e-02 9.97207272e-01 -7.64354145e-04 4.61986915e+01] [ 5.25363162e-03 3.73045229e-04 9.99986130e-01 -2.35632976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55140051300003 meters 0.06911604842051296 Centerline is valid? [True, True] Translation: X:428.38, Y:46.20, Z:-2.35 [[ 9.97143974e-01 -7.54003776e-02 -4.32174257e-03 4.28384205e+02] [ 7.53983319e-02 9.97153293e-01 -6.34591578e-04 4.61979032e+01] [ 4.35728828e-03 3.06926988e-04 9.99990460e-01 -2.35436771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.581400513 meters 0.07405576862470344 Centerline is valid? [True, True] Translation: X:428.41, Y:46.21, Z:-2.35 [[ 9.97070557e-01 -7.64141954e-02 -3.34285294e-03 4.28412338e+02] [ 7.64129774e-02 9.97076134e-01 -4.90777152e-04 4.62074452e+01] [ 3.37058123e-03 2.33902102e-04 9.99994292e-01 -2.35360159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.611400513 meters 0.06828717554145464 Centerline is valid? [True, True] Translation: X:428.44, Y:46.20, Z:-2.35 [[ 9.96869129e-01 -7.90586259e-02 -1.29324247e-03 4.28443963e+02] [ 7.90584458e-02 9.96869964e-01 -1.89860527e-04 4.62026873e+01] [ 1.30420469e-03 8.70243577e-05 9.99999146e-01 -2.35041503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.641400513 meters 0.06099347256219619 Centerline is valid? [True, True] Translation: X:428.47, Y:46.20, Z:-2.35 [[ 9.96740469e-01 -8.06727181e-02 -5.91146108e-04 4.28474608e+02] [ 8.06726808e-02 9.96740644e-01 -8.68369060e-05 4.61968833e+01] [ 5.96224722e-04 3.88645172e-05 9.99999822e-01 -2.34920339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.671400513 meters 0.06034135566724344 Centerline is valid? [True, True] Translation: X:428.50, Y:46.20, Z:-2.35 [[ 9.96625554e-01 -8.20813523e-02 -3.96765273e-04 4.28503705e+02] [ 8.20813356e-02 9.96625632e-01 -5.83054044e-05 4.61987149e+01] [ 4.00212227e-04 2.55416325e-05 9.99999920e-01 -2.34900351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.701400513 meters 0.06034135566724344 Centerline is valid? [True, True] Translation: X:428.53, Y:46.20, Z:-2.35 [[ 9.96610301e-01 -8.22663343e-02 -3.96715354e-04 4.28530963e+02] [ 8.22663175e-02 9.96610380e-01 -5.86450853e-05 4.62028543e+01] [ 4.00195156e-04 2.58099849e-05 9.99999920e-01 -2.34904919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.731400513 meters 0.05831670024822211 Centerline is valid? [True, True] Translation: X:428.56, Y:46.20, Z:-2.35 [[ 9.96397203e-01 -8.47990048e-02 -1.32001280e-03 4.28562082e+02] [ 8.47988218e-02 9.96398074e-01 -1.94079268e-04 4.62014528e+01] [ 1.33171594e-03 8.14445092e-05 9.99999110e-01 -2.35018019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.761400513 meters 0.06449900764665736 Centerline is valid? [True, True] Translation: X:428.59, Y:46.21, Z:-2.35 [[ 9.96381858e-01 -8.49626102e-02 -2.13271275e-03 4.28589283e+02] [ 8.49621324e-02 9.96384132e-01 -3.13811053e-04 4.62087139e+01] [ 2.15166335e-03 1.31475817e-04 9.99997677e-01 -2.35200674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.791400513 meters 0.06522330354017133 Centerline is valid? [True, True] Translation: X:428.62, Y:46.22, Z:-2.35 [[ 9.96390455e-01 -8.48481252e-02 -2.61850097e-03 4.28616443e+02] [ 8.48474042e-02 9.96393883e-01 -3.85415202e-04 4.62159353e+01] [ 2.64176011e-03 1.61851018e-04 9.99996497e-01 -2.35288285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.821400513 meters 0.06296566991130009 Centerline is valid? [True, True] Translation: X:428.65, Y:46.22, Z:-2.35 [[ 9.96434076e-01 -8.43333874e-02 -2.64805965e-03 4.28645265e+02] [ 8.43326466e-02 9.96437581e-01 -3.90365970e-04 4.62164733e+01] [ 2.67154704e-03 1.65656075e-04 9.99996418e-01 -2.35302197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.851400513 meters 0.06241628227669175 Centerline is valid? [True, True] Translation: X:428.68, Y:46.22, Z:-2.35 [[ 9.96529919e-01 -8.32045064e-02 -2.26507072e-03 4.28675454e+02] [ 8.32039618e-02 9.96532483e-01 -3.33773122e-04 4.62159004e+01] [ 2.28498798e-03 1.44152044e-04 9.99997379e-01 -2.35269547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.881400513 meters 0.07057793288871234 Centerline is valid? [True, True] Translation: X:428.70, Y:46.23, Z:-2.35 [[ 9.96809975e-01 -7.97694850e-02 -2.58889166e-03 4.28702916e+02] [ 7.97687618e-02 9.96813322e-01 -3.81545021e-04 4.62280306e+01] [ 2.61107735e-03 1.73815201e-04 9.99996576e-01 -2.35222400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.911400513 meters 0.07706990848821767 Centerline is valid? [True, True] Translation: X:428.73, Y:46.24, Z:-2.35 [[ 9.96941850e-01 -7.80939294e-02 -2.87855022e-03 4.28730421e+02] [ 7.80930284e-02 9.96945986e-01 -4.24250782e-04 4.62442107e+01] [ 2.90289049e-03 1.98158656e-04 9.99995767e-01 -2.35362163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.941400513 meters 0.07226487170419267 Centerline is valid? [True, True] Translation: X:428.76, Y:46.24, Z:-2.36 [[ 9.97043522e-01 -7.67337393e-02 -4.01854044e-03 4.28759869e+02] [ 7.67319717e-02 9.97051580e-01 -5.92426409e-04 4.62429536e+01] [ 4.05215119e-03 2.82324382e-04 9.99991750e-01 -2.35522971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.971400513 meters 0.07242422663507994 Centerline is valid? [True, True] Translation: X:428.79, Y:46.25, Z:-2.36 [[ 9.97118288e-01 -7.57125997e-02 -4.76678330e-03 4.28788802e+02] [ 7.57101002e-02 9.97129624e-01 -7.02888565e-04 4.62476389e+01] [ 4.80631836e-03 3.39969402e-04 9.99988392e-01 -2.35671086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.001400513 meters 0.07406870098590115 Centerline is valid? [True, True] Translation: X:428.82, Y:46.25, Z:-2.36 [[ 9.97177748e-01 -7.49384661e-02 -4.55679315e-03 4.28818096e+02] [ 7.49361736e-02 9.97188106e-01 -6.72011013e-04 4.62547659e+01] [ 4.59433941e-03 3.28645786e-04 9.99989392e-01 -2.35589542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.031400513 meters 0.06700383635267373 Centerline is valid? [True, True] Translation: X:428.85, Y:46.25, Z:-2.35 [[ 9.97153115e-01 -7.52868621e-02 -4.18977312e-03 4.28847952e+02] [ 7.52849231e-02 9.97161871e-01 -6.18816308e-04 4.62503720e+01] [ 4.22447074e-03 3.01627862e-04 9.99991031e-01 -2.35402760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.061400513 meters 0.07925119097991555 Centerline is valid? [True, True] Translation: X:428.87, Y:46.27, Z:-2.36 [[ 9.97133306e-01 -7.55660978e-02 -3.86460865e-03 4.28873426e+02] [ 7.55644499e-02 9.97140756e-01 -5.70863969e-04 4.62683190e+01] [ 3.89669675e-03 2.77200450e-04 9.99992369e-01 -2.35514389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.091400513 meters 0.07266387601136273 Centerline is valid? [True, True] Translation: X:428.90, Y:46.26, Z:-2.36 [[ 9.97070590e-01 -7.63716305e-02 -4.19669308e-03 4.28903085e+02] [ 7.63696909e-02 9.97079377e-01 -6.20739650e-04 4.62627199e+01] [ 4.23184302e-03 2.98421096e-04 9.99991001e-01 -2.35514275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.121400513 meters 0.06858423611083637 Centerline is valid? [True, True] Translation: X:428.93, Y:46.26, Z:-2.36 [[ 9.96981557e-01 -7.75033108e-02 -4.58394392e-03 4.28933481e+02] [ 7.75010092e-02 9.96992043e-01 -6.77878099e-04 4.62605271e+01] [ 4.62269341e-03 3.20571683e-04 9.99989264e-01 -2.35555217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.151400513 meters 0.06537930240553905 Centerline is valid? [True, True] Translation: X:428.96, Y:46.26, Z:-2.35 [[ 9.96880963e-01 -7.88108118e-02 -4.14750999e-03 4.28964038e+02] [ 7.88089382e-02 9.96889550e-01 -6.13490290e-04 4.62595150e+01] [ 4.18295904e-03 2.84715932e-04 9.99991211e-01 -2.35492541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.181400513 meters 0.06140797156033553 Centerline is valid? [True, True] Translation: X:428.99, Y:46.26, Z:-2.35 [[ 9.96737210e-01 -8.06934771e-02 -1.87008079e-03 4.28994728e+02] [ 8.06930995e-02 9.96738956e-01 -2.76636066e-04 4.62595454e+01] [ 1.88630510e-03 1.24830846e-04 9.99998213e-01 -2.35097195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.211400513 meters 0.06161591216865296 Centerline is valid? [True, True] Translation: X:429.02, Y:46.26, Z:-2.35 [[ 9.96642164e-01 -8.18702167e-02 -1.29023358e-03 4.29024119e+02] [ 8.18700374e-02 9.96642995e-01 -1.91299275e-04 4.62623440e+01] [ 1.30156397e-03 8.50254519e-05 9.99999149e-01 -2.35000808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24140051300003 meters 0.05999228562342245 Centerline is valid? [True, True] Translation: X:429.05, Y:46.26, Z:-2.35 [[ 9.96557712e-01 -8.28897393e-02 -1.42036290e-03 4.29053803e+02] [ 8.28895230e-02 9.96558720e-01 -2.10558457e-04 4.62618882e+01] [ 1.43292817e-03 9.21004510e-05 9.99998969e-01 -2.34997832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.271400513 meters 0.06511125639185544 Centerline is valid? [True, True] Translation: X:429.08, Y:46.27, Z:-2.35 [[ 9.96483063e-01 -8.37693618e-02 -2.04918795e-03 4.29081128e+02] [ 8.37689135e-02 9.96485161e-01 -3.03806832e-04 4.62693354e+01] [ 2.06743508e-03 1.31080115e-04 9.99997854e-01 -2.35145546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30140051300003 meters 0.06608611645134424 Centerline is valid? [True, True] Translation: X:429.11, Y:46.27, Z:-2.35 [[ 9.96401964e-01 -8.47091994e-02 -2.73440906e-03 4.29109475e+02] [ 8.47084042e-02 9.96405701e-01 -4.05515324e-04 4.62697790e+01] [ 2.75893166e-03 1.72428838e-04 9.99996179e-01 -2.35338608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.331400513 meters 0.061565873569064254 Centerline is valid? [True, True] Translation: X:429.14, Y:46.26, Z:-2.35 [[ 9.96369331e-01 -8.50772265e-02 -3.16582460e-03 4.29139506e+02] [ 8.50761603e-02 9.96374340e-01 -4.70188307e-04 4.62614116e+01] [ 3.19434872e-03 1.99145007e-04 9.99994878e-01 -2.35302301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.361400513 meters 0.0660379589797447 Centerline is valid? [True, True] Translation: X:429.16, Y:46.27, Z:-2.35 [[ 9.96368686e-01 -8.51100011e-02 -2.39346987e-03 4.29164863e+02] [ 8.51093914e-02 9.96371550e-01 -3.55605411e-04 4.62721839e+01] [ 2.41505087e-03 1.50607332e-04 9.99997072e-01 -2.35248063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.391400513 meters 0.06379992360162264 Centerline is valid? [True, True] Translation: X:429.19, Y:46.27, Z:-2.35 [[ 9.96375340e-01 -8.50420036e-02 -2.00975507e-03 4.29194470e+02] [ 8.50415726e-02 9.96377359e-01 -2.99067276e-04 4.62708929e+01] [ 2.02790773e-03 1.27070527e-04 9.99997936e-01 -2.35148716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.421400513 meters 0.059517855581583366 Centerline is valid? [True, True] Translation: X:429.22, Y:46.27, Z:-2.35 [[ 9.96362600e-01 -8.51939357e-02 -1.88741426e-03 4.29223320e+02] [ 8.51935551e-02 9.96364381e-01 -2.81280568e-04 4.62679200e+01] [ 1.90451574e-03 1.19461908e-04 9.99998179e-01 -2.35113578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.451400513 meters 0.06307193244542474 Centerline is valid? [True, True] Translation: X:429.25, Y:46.27, Z:-2.35 [[ 9.96373288e-01 -8.50719550e-02 -1.74141003e-03 4.29250869e+02] [ 8.50716309e-02 9.96374804e-01 -2.59434724e-04 4.62749850e+01] [ 1.75716769e-03 1.10349238e-04 9.99998450e-01 -2.35160898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.481400513 meters 0.06564112768213519 Centerline is valid? [True, True] Translation: X:429.28, Y:46.28, Z:-2.35 [[ 9.96419107e-01 -8.45377119e-02 -1.52933696e-03 4.29278639e+02] [ 8.45374612e-02 9.96420276e-01 -2.27936350e-04 4.62785909e+01] [ 1.54313157e-03 9.78338707e-05 9.99998805e-01 -2.35247250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.511400513 meters 0.06462330910429263 Centerline is valid? [True, True] Translation: X:429.31, Y:46.28, Z:-2.35 [[ 9.96396529e-01 -8.47922256e-02 -2.05797673e-03 4.29307197e+02] [ 8.47917711e-02 9.96398646e-01 -3.07276269e-04 4.62783136e+01] [ 2.07661986e-03 1.31669516e-04 9.99997835e-01 -2.35341598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.541400513 meters 0.062309848423326895 Centerline is valid? [True, True] Translation: X:429.34, Y:46.28, Z:-2.35 [[ 9.96358986e-01 -8.52255504e-02 -2.31879973e-03 4.29336819e+02] [ 8.52249738e-02 9.96361673e-01 -3.46524350e-04 4.62761104e+01] [ 2.33989591e-03 1.47643004e-04 9.99997252e-01 -2.35418333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.571400513 meters 0.06553569271052688 Centerline is valid? [True, True] Translation: X:429.36, Y:46.28, Z:-2.36 [[ 9.96309801e-01 -8.57959390e-02 -2.41616456e-03 4.29364508e+02] [ 8.57953148e-02 9.96312719e-01 -3.61030819e-04 4.62787797e+01] [ 2.43823046e-03 1.52402945e-04 9.99997016e-01 -2.35521006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.601400513 meters 0.06221322540649042 Centerline is valid? [True, True] Translation: X:429.39, Y:46.28, Z:-2.35 [[ 9.96250599e-01 -8.64834791e-02 -2.31358421e-03 4.29393641e+02] [ 8.64829073e-02 9.96253274e-01 -3.46248588e-04 4.62765906e+01] [ 2.33486063e-03 1.44864874e-04 9.99997264e-01 -2.35474145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.631400513 meters 0.058822334834571416 Centerline is valid? [True, True] Translation: X:429.42, Y:46.27, Z:-2.35 [[ 9.96183242e-01 -8.72312270e-02 -3.10826249e-03 4.29424253e+02] [ 8.72301972e-02 9.96188073e-01 -4.65613706e-04 4.62670640e+01] [ 3.13703008e-03 1.92702221e-04 9.99995061e-01 -2.35477603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.661400513 meters 0.058008646245544415 Centerline is valid? [True, True] Translation: X:429.45, Y:46.27, Z:-2.35 [[ 9.96214932e-01 -8.68515465e-02 -3.55211807e-03 4.29452640e+02] [ 8.68501992e-02 9.96221240e-01 -5.32098131e-04 4.62685514e+01] [ 3.58490901e-03 2.21581941e-04 9.99993550e-01 -2.35482391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.691400513 meters 0.06343443453887847 Centerline is valid? [True, True] Translation: X:429.48, Y:46.28, Z:-2.36 [[ 9.96310606e-01 -8.57023477e-02 -4.50376555e-03 4.29480015e+02] [ 8.57001694e-02 9.96320744e-01 -6.74818353e-04 4.62762722e+01] [ 4.54502857e-03 2.86355212e-04 9.99989630e-01 -2.35655604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.721400513 meters 0.06616832603612613 Centerline is valid? [True, True] Translation: X:429.51, Y:46.28, Z:-2.36 [[ 9.96472808e-01 -8.37472878e-02 -5.32307560e-03 4.29508530e+02] [ 8.37442166e-02 9.96486964e-01 -7.97646639e-04 4.62812272e+01] [ 5.37117619e-03 3.49056390e-04 9.99985514e-01 -2.35793821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.751400513 meters 0.06886806886368266 Centerline is valid? [True, True] Translation: X:429.54, Y:46.28, Z:-2.36 [[ 9.96925602e-01 -7.81044506e-02 -6.24818340e-03 4.29538560e+02] [ 7.81001089e-02 9.96945082e-01 -9.36258949e-04 4.62832248e+01] [ 6.30222170e-03 4.45396712e-04 9.99980042e-01 -2.35963090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.781400513 meters 0.07110349233597178 Centerline is valid? [True, True] Translation: X:429.57, Y:46.28, Z:-2.36 [[ 9.97140563e-01 -7.52933392e-02 -6.45064662e-03 4.29569557e+02] [ 7.52886529e-02 9.97161313e-01 -9.66598463e-04 4.62848222e+01] [ 6.50511368e-03 4.78174041e-04 9.99978727e-01 -2.36013440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.811400513 meters 0.07586350835180826 Centerline is valid? [True, True] Translation: X:429.60, Y:46.29, Z:-2.36 [[ 9.97319869e-01 -7.29431711e-02 -5.68973040e-03 4.29597622e+02] [ 7.29394866e-02 9.97336004e-01 -8.52695506e-04 4.62937244e+01] [ 5.73677130e-03 4.35404156e-04 9.99983450e-01 -2.35936052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.841400513 meters 0.093363674243301 Centerline is valid? [True, True] Translation: X:429.62, Y:46.32, Z:-2.36 [[ 9.97455457e-01 -7.11377935e-02 -4.69314042e-03 4.29623245e+02] [ 7.11352662e-02 9.97466430e-01 -7.03461497e-04 4.63163137e+01] [ 4.73129271e-03 3.67823717e-04 9.99988740e-01 -2.35911062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.871400513 meters 0.08154557937107654 Centerline is valid? [True, True] Translation: X:429.65, Y:46.30, Z:-2.36 [[ 9.97546408e-01 -6.98953936e-02 -3.97474797e-03 4.29654613e+02] [ 6.98935704e-02 9.97554276e-01 -5.95936844e-04 4.63043589e+01] [ 4.00668007e-03 3.16665332e-04 9.99991923e-01 -2.35636927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.901400513 meters 0.08073352465513918 Centerline is valid? [True, True] Translation: X:429.68, Y:46.31, Z:-2.36 [[ 9.97616220e-01 -6.89196014e-02 -3.45929947e-03 4.29683799e+02] [ 6.89182141e-02 9.97622178e-01 -5.18779124e-04 4.63063227e+01] [ 3.48682792e-03 2.79133726e-04 9.99993882e-01 -2.35565775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.931400513 meters 0.07970669753879435 Centerline is valid? [True, True] Translation: X:429.71, Y:46.31, Z:-2.36 [[ 9.97659553e-01 -6.82411030e-02 -4.30917049e-03 4.29713052e+02] [ 6.82389435e-02 9.97668797e-01 -6.46364023e-04 4.63084815e+01] [ 4.34323354e-03 3.50798000e-04 9.99990507e-01 -2.35671855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.961400513 meters 0.0814097311699259 Centerline is valid? [True, True] Translation: X:429.74, Y:46.32, Z:-2.36 [[ 9.97668460e-01 -6.81159545e-02 -4.22618729e-03 4.29740041e+02] [ 6.81138751e-02 9.97677352e-01 -6.34191035e-04 4.63155199e+01] [ 4.25956987e-03 3.44850400e-04 9.99990869e-01 -2.35703605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99140051300003 meters 0.07660649412718305 Centerline is valid? [True, True] Translation: X:429.77, Y:46.32, Z:-2.36 [[ 9.97674409e-01 -6.80508486e-02 -3.85428888e-03 4.29769541e+02] [ 6.80491154e-02 9.97681804e-01 -5.79182194e-04 4.63154607e+01] [ 3.88476772e-03 3.15554305e-04 9.99992404e-01 -2.35611620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.021400513 meters 0.07918666706793509 Centerline is valid? [True, True] Translation: X:429.80, Y:46.33, Z:-2.36 [[ 9.97644686e-01 -6.85042251e-02 -3.50010035e-03 4.29796441e+02] [ 6.85027984e-02 9.97650786e-01 -5.26012700e-04 4.63262595e+01] [ 3.52791196e-03 2.85007107e-04 9.99993736e-01 -2.35593516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05140051300003 meters 0.07927141449178472 Centerline is valid? [True, True] Translation: X:429.82, Y:46.33, Z:-2.36 [[ 9.97586898e-01 -6.93085180e-02 -4.08777958e-03 4.29824798e+02] [ 6.93065781e-02 9.97595219e-01 -6.14481734e-04 4.63323000e+01] [ 4.12053819e-03 3.29688912e-04 9.99991456e-01 -2.35653204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.081400513 meters 0.07043855547270736 Centerline is valid? [True, True] Translation: X:429.85, Y:46.33, Z:-2.36 [[ 9.97513577e-01 -7.02969992e-02 -4.99948415e-03 4.29854406e+02] [ 7.02941088e-02 9.97526026e-01 -7.51753437e-04 4.63272408e+01] [ 5.03996157e-03 3.98449977e-04 9.99987220e-01 -2.35674841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.111400513 meters 0.07098338491124753 Centerline is valid? [True, True] Translation: X:429.88, Y:46.33, Z:-2.36 [[ 9.97409066e-01 -7.17335592e-02 -5.42701913e-03 4.29883110e+02] [ 7.17301740e-02 9.97423739e-01 -8.16122314e-04 4.63336625e+01] [ 5.47158107e-03 4.24726768e-04 9.99984941e-01 -2.35756477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.141400513 meters 0.06769764645761525 Centerline is valid? [True, True] Translation: X:429.91, Y:46.34, Z:-2.36 [[ 9.97273980e-01 -7.36256603e-02 -4.88571527e-03 4.29913543e+02] [ 7.36229391e-02 9.97285878e-01 -7.34759526e-04 4.63353058e+01] [ 4.92655199e-03 3.73055839e-04 9.99987795e-01 -2.35647566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.171400513 meters 0.08051259266907675 Centerline is valid? [True, True] Translation: X:429.94, Y:46.36, Z:-2.36 [[ 9.97118597e-01 -7.57581506e-02 -3.89956137e-03 4.29940335e+02] [ 7.57564329e-02 9.97126180e-01 -5.86528556e-04 4.63563549e+01] [ 3.93278906e-03 2.89421671e-04 9.99992225e-01 -2.35629948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.201400513 meters 0.06622224059443131 Centerline is valid? [True, True] Translation: X:429.97, Y:46.35, Z:-2.35 [[ 9.96725933e-01 -8.08248179e-02 -2.18271273e-03 4.29972806e+02] [ 8.08242918e-02 9.96728311e-01 -3.28302424e-04 4.63461820e+01] [ 2.20210655e-03 1.50811329e-04 9.99997564e-01 -2.35252222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.231400513 meters 0.07407081712936693 Centerline is valid? [True, True] Translation: X:430.00, Y:46.36, Z:-2.35 [[ 9.96547549e-01 -8.30061291e-02 -1.72172679e-03 4.29999944e+02] [ 8.30058049e-02 9.96549030e-01 -2.59020420e-04 4.63614433e+01] [ 1.73728544e-03 1.15212847e-04 9.99998484e-01 -2.35281524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.261400513 meters 0.06622028058260764 Centerline is valid? [True, True] Translation: X:430.03, Y:46.36, Z:-2.35 [[ 9.96388837e-01 -8.48823062e-02 -2.06861160e-03 4.30031179e+02] [ 8.48818424e-02 9.96390975e-01 -3.11170714e-04 4.63559873e+01] [ 2.08755882e-03 1.34459462e-04 9.99997812e-01 -2.35282880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.291400513 meters 0.062378580553333465 Centerline is valid? [True, True] Translation: X:430.06, Y:46.36, Z:-2.35 [[ 9.96229162e-01 -8.67280297e-02 -2.38882909e-03 4.30060996e+02] [ 8.67274162e-02 9.96232014e-01 -3.59432093e-04 4.63564929e+01] [ 2.41100086e-03 1.50899758e-04 9.99997082e-01 -2.35304400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.321400513 meters 0.059078419509041843 Centerline is valid? [True, True] Translation: X:430.09, Y:46.36, Z:-2.35 [[ 9.95999497e-01 -8.92829629e-02 -3.68151344e-03 4.30091846e+02] [ 8.92815232e-02 9.96006276e-01 -5.53914292e-04 4.63562557e+01] [ 3.71626560e-03 2.23007229e-04 9.99993070e-01 -2.35471559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.351400513 meters 0.05795567107237767 Centerline is valid? [True, True] Translation: X:430.12, Y:46.36, Z:-2.35 [[ 9.95960607e-01 -8.97098109e-02 -3.82348952e-03 4.30120310e+02] [ 8.97082577e-02 9.95967919e-01 -5.76153711e-04 4.63596863e+01] [ 3.85975954e-03 2.30827817e-04 9.99992524e-01 -2.35485612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.381400513 meters 0.05928695218303629 Centerline is valid? [True, True] Translation: X:430.15, Y:46.37, Z:-2.35 [[ 9.95982216e-01 -8.94814955e-02 -3.53381216e-03 4.30147406e+02] [ 8.94801672e-02 9.95988462e-01 -5.32555473e-04 4.63656174e+01] [ 3.56729000e-03 2.14209678e-04 9.99993614e-01 -2.35447781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.411400513 meters 0.05735919237289853 Centerline is valid? [True, True] Translation: X:430.18, Y:46.37, Z:-2.35 [[ 9.96092798e-01 -8.82571198e-02 -3.13349737e-03 4.30176967e+02] [ 8.82560690e-02 9.96097708e-01 -4.72313119e-04 4.63656120e+01] [ 3.16295454e-03 1.93917536e-04 9.99994979e-01 -2.35397144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.441400513 meters 0.06092408742399632 Centerline is valid? [True, True] Translation: X:430.20, Y:46.37, Z:-2.35 [[ 9.96175758e-01 -8.73210656e-02 -2.98159824e-03 4.30204965e+02] [ 8.73201095e-02 9.96180203e-01 -4.49584598e-04 4.63743917e+01] [ 3.00946734e-03 1.87511793e-04 9.99995454e-01 -2.35406992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.471400513 meters 0.06307908361155837 Centerline is valid? [True, True] Translation: X:430.23, Y:46.38, Z:-2.35 [[ 9.96232930e-01 -8.66746221e-02 -2.73108162e-03 4.30232276e+02] [ 8.66738171e-02 9.96236658e-01 -4.11989863e-04 4.63817674e+01] [ 2.75651270e-03 1.73724600e-04 9.99996186e-01 -2.35443239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.501400513 meters 0.06127370623526442 Centerline is valid? [True, True] Translation: X:430.26, Y:46.38, Z:-2.35 [[ 9.96243612e-01 -8.65534224e-02 -2.67773150e-03 4.30261531e+02] [ 8.65526464e-02 9.96247196e-01 -4.04559661e-04 4.63826458e+01] [ 2.70269853e-03 1.71275230e-04 9.99996333e-01 -2.35470428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.531400513 meters 0.06283473306323478 Centerline is valid? [True, True] Translation: X:430.29, Y:46.39, Z:-2.35 [[ 9.96230220e-01 -8.67225569e-02 -2.13223910e-03 4.30288848e+02] [ 8.67220653e-02 9.96232493e-01 -3.22150711e-04 4.63901982e+01] [ 2.15214361e-03 1.36024095e-04 9.99997675e-01 -2.35479163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.561400513 meters 0.05983847130064687 Centerline is valid? [True, True] Translation: X:430.32, Y:46.39, Z:-2.35 [[ 9.96154842e-01 -8.75829998e-02 -2.17922182e-03 4.30318493e+02] [ 8.75824881e-02 9.96157216e-01 -3.29329245e-04 4.63888506e+01] [ 2.19969118e-03 1.37201253e-04 9.99997571e-01 -2.35432973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.591400513 meters 0.05983847130064687 Centerline is valid? [True, True] Translation: X:430.35, Y:46.39, Z:-2.35 [[ 9.96138878e-01 -8.77643876e-02 -2.17912801e-03 4.30345746e+02] [ 8.77638750e-02 9.96141252e-01 -3.29949689e-04 4.63931032e+01] [ 2.19967714e-03 1.37426994e-04 9.99997571e-01 -2.35437541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.621400513 meters 0.06320928347565839 Centerline is valid? [True, True] Translation: X:430.38, Y:46.39, Z:-2.35 [[ 9.95953396e-01 -8.98385416e-02 -2.42258983e-03 4.30376074e+02] [ 8.98379148e-02 9.95956332e-01 -3.66567945e-04 4.63909524e+01] [ 2.44572561e-03 1.47444171e-04 9.99996998e-01 -2.35324943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.651400513 meters 0.06092387621729389 Centerline is valid? [True, True] Translation: X:430.40, Y:46.40, Z:-2.35 [[ 9.95924992e-01 -9.01556723e-02 -2.31642310e-03 4.30403336e+02] [ 9.01550993e-02 9.95927676e-01 -3.50807897e-04 4.63965472e+01] [ 2.33861719e-03 1.40540998e-04 9.99997256e-01 -2.35290956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.681400513 meters 0.06433892928623515 Centerline is valid? [True, True] Translation: X:430.43, Y:46.40, Z:-2.35 [[ 9.95947551e-01 -8.98970092e-02 -2.64650603e-03 4.30432210e+02] [ 8.98962589e-02 9.95951054e-01 -4.01329390e-04 4.63995521e+01] [ 2.67186878e-03 1.61792031e-04 9.99996417e-01 -2.35435916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.711400513 meters 0.06203326582268407 Centerline is valid? [True, True] Translation: X:430.46, Y:46.41, Z:-2.36 [[ 9.96011908e-01 -8.91775074e-02 -2.76623431e-03 4.30459347e+02] [ 8.91766850e-02 9.96015734e-01 -4.19461468e-04 4.64062633e+01] [ 2.79261942e-03 1.71105012e-04 9.99996086e-01 -2.35526534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74140051300003 meters 0.06126891452769948 Centerline is valid? [True, True] Translation: X:430.49, Y:46.41, Z:-2.35 [[ 9.96111492e-01 -8.80756903e-02 -2.13739200e-03 4.30489579e+02] [ 8.80751968e-02 9.96113776e-01 -3.24120705e-04 4.64070109e+01] [ 2.15763277e-03 1.34609138e-04 9.99997663e-01 -2.35470544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.771400513 meters 0.06289535444862138 Centerline is valid? [True, True] Translation: X:430.52, Y:46.41, Z:-2.35 [[ 9.96119683e-01 -8.79858710e-02 -2.01601852e-03 4.30516686e+02] [ 8.79854311e-02 9.96121715e-01 -3.06048305e-04 4.64106814e+01] [ 2.03512776e-03 1.27480482e-04 9.99997921e-01 -2.35399154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80140051300003 meters 0.06149120863111268 Centerline is valid? [True, True] Translation: X:430.55, Y:46.41, Z:-2.35 [[ 9.96083816e-01 -8.83897317e-02 -2.07032482e-03 4.30546047e+02] [ 8.83892678e-02 9.96085959e-01 -3.14721825e-04 4.64109555e+01] [ 2.09003966e-03 1.30494822e-04 9.99997807e-01 -2.35350689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.831400513 meters 0.05538305313307875 Centerline is valid? [True, True] Translation: X:430.58, Y:46.41, Z:-2.35 [[ 9.96017165e-01 -8.91453330e-02 -1.70771957e-03 4.30576366e+02] [ 8.91450179e-02 9.96018623e-01 -2.59903786e-04 4.64060284e+01] [ 1.72408970e-03 1.06633941e-04 9.99998508e-01 -2.35274233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.861400513 meters 0.062113258765327035 Centerline is valid? [True, True] Translation: X:430.60, Y:46.42, Z:-2.35 [[ 9.95904425e-01 -9.04051639e-02 -1.13247283e-03 4.30603450e+02] [ 9.04050262e-02 9.95905067e-01 -1.72316883e-04 4.64171013e+01] [ 1.14341377e-03 6.92299099e-05 9.99999344e-01 -2.35233236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.891400513 meters 0.05864280274482853 Centerline is valid? [True, True] Translation: X:430.63, Y:46.41, Z:-2.35 [[ 9.95665389e-01 -9.30073919e-02 2.41132925e-04 4.30634388e+02] [ 9.30073857e-02 9.95665418e-01 3.66651763e-05 4.64133313e+01] [-2.43497847e-04 -1.40791040e-05 9.99999970e-01 -2.35063741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.921400513 meters 0.05237884202103438 Centerline is valid? [True, True] Translation: X:430.66, Y:46.41, Z:-2.35 [[ 9.95568079e-01 -9.40435346e-02 1.13205486e-04 4.30664631e+02] [ 9.40435333e-02 9.95568086e-01 1.71451936e-05 4.64067693e+01] [-1.14316164e-04 -6.42296349e-06 9.99999993e-01 -2.35101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.951400513 meters 0.057092763837107194 Centerline is valid? [True, True] Translation: X:430.69, Y:46.41, Z:-2.35 [[ 9.95528690e-01 -9.44575270e-02 -6.34702843e-04 4.30691930e+02] [ 9.44574844e-02 9.95528892e-01 -9.67684668e-05 4.64134843e+01] [ 6.41005528e-04 3.63833511e-05 9.99999794e-01 -2.35257618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.981400513 meters 0.05676418322726784 Centerline is valid? [True, True] Translation: X:430.72, Y:46.42, Z:-2.35 [[ 9.95547076e-01 -9.42521595e-02 -1.59686175e-03 4.30718713e+02] [ 9.42518900e-02 9.95548352e-01 -2.43322311e-04 4.64191360e+01] [ 1.61268674e-03 9.17315771e-05 9.99998695e-01 -2.35445785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.011400513 meters 0.05617814180650137 Centerline is valid? [True, True] Translation: X:430.75, Y:46.42, Z:-2.35 [[ 9.95753775e-01 -9.20175434e-02 -2.68160005e-03 4.30748913e+02] [ 9.20167758e-02 9.95757373e-01 -4.08484515e-04 4.64200141e+01] [ 2.70781077e-03 1.59997807e-04 9.99996321e-01 -2.35464998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.041400513 meters 0.0544332477392795 Centerline is valid? [True, True] Translation: X:430.78, Y:46.42, Z:-2.35 [[ 9.95899388e-01 -9.04463881e-02 -1.96449572e-03 4.30779006e+02] [ 9.04459730e-02 9.95901319e-01 -2.99316700e-04 4.64210571e+01] [ 1.98351599e-03 1.20408591e-04 9.99998026e-01 -2.35280740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.071400513 meters 0.06488833660964495 Centerline is valid? [True, True] Translation: X:430.81, Y:46.43, Z:-2.35 [[ 9.96028112e-01 -8.90271930e-02 -1.46968870e-03 4.30805704e+02] [ 8.90269589e-02 9.96029192e-01 -2.24070911e-04 4.64340217e+01] [ 1.48380126e-03 9.23390099e-05 9.99998895e-01 -2.35221695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.101400513 meters 0.06300479983040926 Centerline is valid? [True, True] Translation: X:430.84, Y:46.44, Z:-2.35 [[ 9.96143539e-01 -8.77364883e-02 -5.98700673e-04 4.30835026e+02] [ 8.77364492e-02 9.96143718e-01 -9.12929511e-05 4.64388150e+01] [ 6.04401638e-04 3.84130122e-05 9.99999817e-01 -2.35148445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.131400513 meters 0.05905330620218569 Centerline is valid? [True, True] Translation: X:430.86, Y:46.44, Z:-2.35 [[ 9.96282040e-01 -8.61513598e-02 -2.01121986e-04 4.30864290e+02] [ 8.61513553e-02 9.96282060e-01 -3.07502709e-05 4.64394766e+01] [ 2.03023404e-04 1.33090109e-05 9.99999979e-01 -2.35118243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.161400513 meters 0.06417492854031714 Centerline is valid? [True, True] Translation: X:430.89, Y:46.45, Z:-2.35 [[ 9.96435352e-01 -8.43593835e-02 -2.90198329e-04 4.30892638e+02] [ 8.43593742e-02 9.96435394e-01 -4.42702853e-05 4.64498329e+01] [ 2.92898501e-04 1.96315279e-05 9.99999957e-01 -2.35208334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.191400513 meters 0.06496063275978993 Centerline is valid? [True, True] Translation: X:430.92, Y:46.45, Z:-2.35 [[ 9.96786904e-01 -8.00843507e-02 -1.53786372e-03 4.30922460e+02] [ 8.00840837e-02 9.96788084e-01 -2.34535024e-04 4.64547116e+01] [ 1.55170681e-03 1.10623034e-04 9.99998790e-01 -2.35279377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.221400513 meters 0.07162678102315448 Centerline is valid? [True, True] Translation: X:430.95, Y:46.47, Z:-2.35 [[ 9.96962414e-01 -7.78512127e-02 -2.26568559e-03 4.30949975e+02] [ 7.78506273e-02 9.96964975e-01 -3.45575411e-04 4.64655247e+01] [ 2.28571264e-03 1.68140652e-04 9.99997374e-01 -2.35371623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.251400513 meters 0.0745572996928397 Centerline is valid? [True, True] Translation: X:430.98, Y:46.48, Z:-2.35 [[ 9.97126486e-01 -7.57237869e-02 -2.16296273e-03 4.30978012e+02] [ 7.57232483e-02 9.97128819e-01 -3.29948755e-04 4.64769873e+01] [ 2.18173744e-03 1.65214079e-04 9.99997606e-01 -2.35365966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.281400513 meters 0.07810322722108447 Centerline is valid? [True, True] Translation: X:431.01, Y:46.49, Z:-2.35 [[ 9.97326641e-01 -7.30546983e-02 -1.60669045e-03 4.31006088e+02] [ 7.30543976e-02 9.97327927e-01 -2.45077971e-04 4.64877585e+01] [ 1.62030135e-03 1.27046987e-04 9.99998679e-01 -2.35364131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.311400513 meters 0.0850086736871135 Centerline is valid? [True, True] Translation: X:431.03, Y:46.50, Z:-2.35 [[ 9.97340890e-01 -7.28707590e-02 -1.00073111e-03 4.31032511e+02] [ 7.28706421e-02 9.97341389e-01 -1.52792916e-04 4.65011498e+01] [ 1.00920469e-03 7.94627044e-05 9.99999488e-01 -2.35357446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.341400513 meters 0.08477345132913984 Centerline is valid? [True, True] Translation: X:431.06, Y:46.51, Z:-2.35 [[ 9.97283767e-01 -7.36518368e-02 -7.03315116e-04 4.31061015e+02] [ 7.36517793e-02 9.97284014e-01 -1.07420057e-04 4.65056549e+01] [ 7.09316606e-04 5.53278690e-05 9.99999747e-01 -2.35332132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.371400513 meters 0.07097458037049453 Centerline is valid? [True, True] Translation: X:431.09, Y:46.49, Z:-2.35 [[ 9.97153173e-01 -7.53999748e-02 -6.27700156e-04 4.31093178e+02] [ 7.53999293e-02 9.97153369e-01 -9.58613544e-05 4.64935795e+01] [ 6.33141269e-04 4.82599062e-05 9.99999798e-01 -2.35278985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.401400513 meters 0.06655090455041636 Centerline is valid? [True, True] Translation: X:431.12, Y:46.49, Z:-2.35 [[ 9.96991542e-01 -7.75067833e-02 -7.51464111e-04 4.31123435e+02] [ 7.75067187e-02 9.96991823e-01 -1.14757881e-04 4.64925958e+01] [ 7.58098088e-04 5.61691188e-05 9.99999711e-01 -2.35309315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.431400513 meters 0.06603528278355482 Centerline is valid? [True, True] Translation: X:431.15, Y:46.49, Z:-2.35 [[ 9.96691217e-01 -8.12637301e-02 -1.68051312e-03 4.31152872e+02] [ 8.12634124e-02 9.96692627e-01 -2.56637501e-04 4.64947169e+01] [ 1.69581036e-03 1.19224112e-04 9.99998555e-01 -2.35383419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.461400513 meters 0.0649470428373985 Centerline is valid? [True, True] Translation: X:431.18, Y:46.50, Z:-2.35 [[ 9.96617016e-01 -8.21780558e-02 -1.13631049e-03 4.31182095e+02] [ 8.21779106e-02 9.96617660e-01 -1.73928186e-04 4.64978474e+01] [ 1.14676018e-03 7.99601673e-05 9.99999339e-01 -2.35291362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49140051300003 meters 0.07000671082808213 Centerline is valid? [True, True] Translation: X:431.21, Y:46.50, Z:-2.35 [[ 9.96632106e-01 -8.20019950e-02 -3.43192379e-04 4.31211201e+02] [ 8.20019817e-02 9.96632165e-01 -5.27858970e-05 4.64998158e+01] [ 3.46365113e-04 2.44656646e-05 9.99999940e-01 -2.35159421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.521400513 meters 0.07140072407200475 Centerline is valid? [True, True] Translation: X:431.24, Y:46.52, Z:-2.35 [[ 9.96716727e-01 -8.09646393e-02 7.01657566e-04 4.31238001e+02] [ 8.09645837e-02 9.96716973e-01 1.07328967e-04 4.65161890e+01] [-7.08043857e-04 -5.01671636e-05 9.99999748e-01 -2.35053742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55140051300003 meters 0.07229011169316853 Centerline is valid? [True, True] Translation: X:431.27, Y:46.52, Z:-2.35 [[ 9.97079446e-01 -7.63712812e-02 -6.99542058e-05 4.31267629e+02] [ 7.63712806e-02 9.97079449e-01 -1.07178476e-05 4.65249179e+01] [ 7.05684367e-05 5.34405323e-06 9.99999997e-01 -2.35170961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.581400513 meters 0.07652980834741371 Centerline is valid? [True, True] Translation: X:431.30, Y:46.54, Z:-2.35 [[ 9.97297993e-01 -7.34487430e-02 -1.41268653e-03 4.31295480e+02] [ 7.34485099e-02 9.97298987e-01 -2.16251687e-04 4.65372820e+01] [ 1.42475426e-03 1.11907653e-04 9.99998979e-01 -2.35426909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.611400513 meters 0.0878437910761536 Centerline is valid? [True, True] Translation: X:431.32, Y:46.56, Z:-2.36 [[ 9.97495565e-01 -7.06801437e-02 -2.62966851e-03 4.31321851e+02] [ 7.06793264e-02 9.97499008e-01 -4.02557392e-04 4.65591752e+01] [ 2.65154454e-03 2.15686014e-04 9.99996461e-01 -2.35659795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.641400513 meters 0.08279486612847184 Centerline is valid? [True, True] Translation: X:431.35, Y:46.56, Z:-2.36 [[ 9.97667343e-01 -6.81943016e-02 -3.06769567e-03 4.31352501e+02] [ 6.81931778e-02 9.97672025e-01 -4.69590307e-04 4.65615184e+01] [ 3.09257754e-03 2.59298997e-04 9.99995184e-01 -2.35648732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.671400513 meters 0.0845177630545047 Centerline is valid? [True, True] Translation: X:431.38, Y:46.57, Z:-2.36 [[ 9.97793387e-01 -6.63483534e-02 -2.50072834e-03 4.31381726e+02] [ 6.63476008e-02 9.97796497e-01 -3.82838441e-04 4.65718164e+01] [ 2.52061868e-03 2.16076339e-04 9.99996800e-01 -2.35601953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.701400513 meters 0.08375704768644823 Centerline is valid? [True, True] Translation: X:431.41, Y:46.58, Z:-2.35 [[ 9.97848628e-01 -6.55410567e-02 -1.57631074e-03 4.31410266e+02] [ 6.55407565e-02 9.97849864e-01 -2.41418943e-04 4.65785351e+01] [ 1.58874431e-03 1.37586963e-04 9.99998728e-01 -2.35476687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.731400513 meters 0.08454681804480853 Centerline is valid? [True, True] Translation: X:431.44, Y:46.59, Z:-2.35 [[ 9.97740636e-01 -6.71835099e-02 1.14975410e-05 4.31438294e+02] [ 6.71835099e-02 9.97740636e-01 1.72602909e-06 4.65901886e+01] [-1.15875246e-05 -9.49684198e-07 1.00000000e+00 -2.35322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.761400513 meters 0.08322358872336401 Centerline is valid? [True, True] Translation: X:431.47, Y:46.60, Z:-2.35 [[ 9.97611722e-01 -6.90709433e-02 -2.40220765e-04 4.31467995e+02] [ 6.90709364e-02 9.97611750e-01 -3.67941572e-05 4.65951055e+01] [ 2.42188465e-04 2.01140093e-05 9.99999970e-01 -2.35407767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.791400513 meters 0.08064416313809795 Centerline is valid? [True, True] Translation: X:431.50, Y:46.60, Z:-2.36 [[ 9.97472195e-01 -7.10500662e-02 -1.05251405e-03 4.31498359e+02] [ 7.10499354e-02 9.97472747e-01 -1.61203158e-04 4.65989121e+01] [ 1.06130758e-03 8.60146120e-05 9.99999433e-01 -2.35511425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.821400513 meters 0.09727858771090288 Centerline is valid? [True, True] Translation: X:431.52, Y:46.63, Z:-2.36 [[ 9.97343006e-01 -7.28253857e-02 -1.84135988e-03 4.31523648e+02] [ 7.28249882e-02 9.97344695e-01 -2.82082099e-04 4.66254408e+01] [ 1.85701324e-03 1.47235598e-04 9.99998265e-01 -2.35683231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.851400513 meters 0.07478313257079303 Centerline is valid? [True, True] Translation: X:431.56, Y:46.61, Z:-2.36 [[ 9.97130139e-01 -7.56853496e-02 -1.79290000e-03 4.31556369e+02] [ 7.56849774e-02 9.97131741e-01 -2.74640613e-04 4.66106301e+01] [ 1.80854377e-03 1.38156836e-04 9.99998355e-01 -2.35525153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.881400513 meters 0.07691486473499119 Centerline is valid? [True, True] Translation: X:431.58, Y:46.62, Z:-2.35 [[ 9.97089497e-01 -7.62309717e-02 -1.17227742e-03 4.31582656e+02] [ 7.62308128e-02 9.97090182e-01 -1.79727761e-04 4.66226135e+01] [ 1.18256713e-03 8.98410022e-05 9.99999297e-01 -2.35497426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.911400513 meters 0.07629228550967897 Centerline is valid? [True, True] Translation: X:431.61, Y:46.63, Z:-2.36 [[ 9.97059447e-01 -7.66201861e-02 -1.34385497e-03 4.31610985e+02] [ 7.66199771e-02 9.97060347e-01 -2.06397055e-04 4.66302919e+01] [ 1.35571869e-03 1.02823996e-04 9.99999076e-01 -2.35518327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.941400513 meters 0.07643424081495898 Centerline is valid? [True, True] Translation: X:431.64, Y:46.64, Z:-2.36 [[ 9.97042227e-01 -7.68295491e-02 -2.00453453e-03 4.31638695e+02] [ 7.68290841e-02 9.97044230e-01 -3.08102038e-04 4.66374317e+01] [ 2.02228092e-03 1.53184190e-04 9.99997943e-01 -2.35628883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.971400513 meters 0.07655692468999938 Centerline is valid? [True, True] Translation: X:431.67, Y:46.64, Z:-2.36 [[ 9.97021535e-01 -7.70737846e-02 -2.77317202e-03 4.31666083e+02] [ 7.70728943e-02 9.97025369e-01 -4.26660042e-04 4.66442739e+01] [ 2.79780716e-03 2.11652856e-04 9.99996064e-01 -2.35712955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.001400513 meters 0.07528173881956905 Centerline is valid? [True, True] Translation: X:431.69, Y:46.65, Z:-2.36 [[ 9.97010121e-01 -7.72138349e-02 -2.97367430e-03 4.31693834e+02] [ 7.72128103e-02 9.97014530e-01 -4.58030398e-04 4.66501757e+01] [ 3.00016277e-03 2.27055192e-04 9.99995474e-01 -2.35734804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.031400513 meters 0.08402676326953448 Centerline is valid? [True, True] Translation: X:431.72, Y:46.67, Z:-2.36 [[ 9.96990692e-01 -7.75113083e-02 -1.24764954e-03 4.31718579e+02] [ 7.75111281e-02 9.96991468e-01 -1.92211438e-04 4.66722684e+01] [ 1.25879451e-03 9.49262913e-05 9.99999203e-01 -2.35510837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.061400513 meters 0.06971439780516528 Centerline is valid? [True, True] Translation: X:431.75, Y:46.66, Z:-2.35 [[ 9.96934593e-01 -7.82347773e-02 -8.57986276e-04 4.31749946e+02] [ 7.82346921e-02 9.96934960e-01 -1.32497390e-04 4.66619552e+01] [ 8.65722418e-04 6.49669399e-05 9.99999623e-01 -2.35372770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.091400513 meters 0.0732991190330412 Centerline is valid? [True, True] Translation: X:431.78, Y:46.67, Z:-2.35 [[ 9.96851042e-01 -7.92888205e-02 -1.13297446e-03 4.31777657e+02] [ 7.92886729e-02 9.96851682e-01 -1.74698248e-04 4.66726749e+01] [ 1.14325912e-03 8.43160891e-05 9.99999343e-01 -2.35429993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.121400513 meters 0.07117603076934871 Centerline is valid? [True, True] Translation: X:431.81, Y:46.68, Z:-2.36 [[ 9.96730321e-01 -8.07840149e-02 -1.61580639e-03 4.31807655e+02] [ 8.07837166e-02 9.96731623e-01 -2.49130860e-04 4.66777748e+01] [ 1.63065111e-03 1.17785436e-04 9.99998664e-01 -2.35515465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.151400513 meters 0.06499978560930719 Centerline is valid? [True, True] Translation: X:431.84, Y:46.68, Z:-2.36 [[ 9.96513623e-01 -8.34134103e-02 -1.67416137e-03 4.31838058e+02] [ 8.34130938e-02 9.96515022e-01 -2.58118776e-04 4.66815534e+01] [ 1.68985752e-03 1.17571897e-04 9.99998565e-01 -2.35621418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.181400513 meters 0.06495018661883296 Centerline is valid? [True, True] Translation: X:431.87, Y:46.69, Z:-2.36 [[ 9.96444292e-01 -8.42347234e-02 -1.81206368e-03 4.31866361e+02] [ 8.42343537e-02 9.96445932e-01 -2.79538967e-04 4.66862559e+01] [ 1.82917037e-03 1.25906995e-04 9.99998319e-01 -2.35614711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.211400513 meters 0.06230572831960068 Centerline is valid? [True, True] Translation: X:431.90, Y:46.69, Z:-2.36 [[ 9.96372796e-01 -8.50716001e-02 -2.01838929e-03 4.31895072e+02] [ 8.50711420e-02 9.96374831e-01 -3.11891998e-04 4.66911057e+01] [ 2.03760544e-03 1.39054021e-04 9.99997914e-01 -2.35574282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24140051300003 meters 0.07005799899592248 Centerline is valid? [True, True] Translation: X:431.92, Y:46.71, Z:-2.36 [[ 9.96333984e-01 -8.55217020e-02 -2.15172997e-03 4.31920585e+02] [ 8.55211824e-02 9.96336297e-01 -3.32537289e-04 4.67065503e+01] [ 2.17228582e-03 1.47299711e-04 9.99997630e-01 -2.35572199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.271400513 meters 0.06342820108261485 Centerline is valid? [True, True] Translation: X:431.95, Y:46.70, Z:-2.35 [[ 9.96304349e-01 -8.58716264e-02 -1.92552261e-03 4.31950289e+02] [ 8.58712100e-02 9.96306201e-01 -2.98041098e-04 4.67049919e+01] [ 1.94400339e-03 1.31592686e-04 9.99998102e-01 -2.35491662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30140051300003 meters 0.06873325328037123 Centerline is valid? [True, True] Translation: X:431.98, Y:46.72, Z:-2.35 [[ 9.96302820e-01 -8.59109368e-02 3.38554309e-05 4.31975058e+02] [ 8.59109366e-02 9.96302821e-01 5.10269058e-06 4.67190882e+01] [-3.41686382e-05 -2.17527324e-06 9.99999999e-01 -2.35228393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.331400513 meters 0.06847616171215096 Centerline is valid? [True, True] Translation: X:432.00, Y:46.72, Z:-2.35 [[ 9.96329096e-01 -8.56040836e-02 5.23404879e-04 4.32003356e+02] [ 8.56040529e-02 9.96329233e-01 8.08051130e-05 4.67244369e+01] [-5.28400829e-04 -3.57029061e-05 9.99999860e-01 -2.35114371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.361400513 meters 0.06696165920455095 Centerline is valid? [True, True] Translation: X:432.03, Y:46.73, Z:-2.35 [[ 9.96381970e-01 -8.49873038e-02 3.57015995e-04 4.32031997e+02] [ 8.49872895e-02 9.96382034e-01 5.50870497e-05 4.67287406e+01] [-3.60406023e-04 -2.45459214e-05 9.99999935e-01 -2.35120593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.391400513 meters 0.06939681670003821 Centerline is valid? [True, True] Translation: X:432.06, Y:46.74, Z:-2.35 [[ 9.96468275e-01 -8.39678269e-02 -6.16481465e-04 4.32059710e+02] [ 8.39677837e-02 9.96468465e-01 -9.56652250e-05 4.67387368e+01] [ 6.22337141e-04 4.35627794e-05 9.99999805e-01 -2.35300645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.421400513 meters 0.07512897638164677 Centerline is valid? [True, True] Translation: X:432.09, Y:46.75, Z:-2.36 [[ 9.96551661e-01 -8.29543326e-02 -1.83470730e-03 4.32086521e+02] [ 8.29539484e-02 9.96553341e-01 -2.84657946e-04 4.67533555e+01] [ 1.85199729e-03 1.31480135e-04 9.99998276e-01 -2.35578512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.451400513 meters 0.06981503272969355 Centerline is valid? [True, True] Translation: X:432.12, Y:46.75, Z:-2.36 [[ 9.96639448e-01 -8.18803180e-02 -2.32888461e-03 4.32115873e+02] [ 8.18796959e-02 9.96642155e-01 -3.61397476e-04 4.67536561e+01] [ 2.35065592e-03 1.69494617e-04 9.99997223e-01 -2.35672472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.481400513 meters 0.0737598969304413 Centerline is valid? [True, True] Translation: X:432.14, Y:46.76, Z:-2.35 [[ 9.96853308e-01 -7.92655525e-02 -6.74497628e-04 4.32144112e+02] [ 7.92654997e-02 9.96853535e-01 -1.04682030e-04 4.67649527e+01] [ 6.80673023e-04 5.08882368e-05 9.99999767e-01 -2.35397721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.511400513 meters 0.07633940052694893 Centerline is valid? [True, True] Translation: X:432.17, Y:46.77, Z:-2.35 [[ 9.96986126e-01 -7.75800081e-02 -8.33455951e-05 4.32172079e+02] [ 7.75800073e-02 9.96986129e-01 -1.29493913e-05 4.67732440e+01] [ 8.40990162e-05 6.44441158e-06 9.99999996e-01 -2.35273941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.541400513 meters 0.07633940052694893 Centerline is valid? [True, True] Translation: X:432.20, Y:46.78, Z:-2.35 [[ 9.96972182e-01 -7.77589998e-02 -8.33000446e-05 4.32199322e+02] [ 7.77589989e-02 9.96972185e-01 -1.32427444e-05 4.67776129e+01] [ 8.40775701e-05 6.72531969e-06 9.99999996e-01 -2.35278513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.571400513 meters 0.07186454754490966 Centerline is valid? [True, True] Translation: X:432.23, Y:46.78, Z:-2.35 [[ 9.97130590e-01 -7.56999830e-02 -3.15284581e-04 4.32230174e+02] [ 7.56999712e-02 9.97130639e-01 -4.90033438e-05 4.67784362e+01] [ 3.18089468e-04 2.49956995e-05 9.99999949e-01 -2.35307892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.601400513 meters 0.08176350347084435 Centerline is valid? [True, True] Translation: X:432.26, Y:46.80, Z:-2.35 [[ 9.97290890e-01 -7.35537345e-02 -8.53909795e-04 4.32257293e+02] [ 7.35536477e-02 9.97291253e-01 -1.32710594e-04 4.67975450e+01] [ 8.61358130e-04 6.95428860e-05 9.99999627e-01 -2.35440081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.631400513 meters 0.0873376245138888 Centerline is valid? [True, True] Translation: X:432.28, Y:46.82, Z:-2.36 [[ 9.97572973e-01 -6.96126299e-02 -1.49868932e-03 4.32283896e+02] [ 6.96123579e-02 9.97574090e-01 -2.32921998e-04 4.68152063e+01] [ 1.51126795e-03 1.28029392e-04 9.99998850e-01 -2.35723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.661400513 meters 0.08302251717462414 Centerline is valid? [True, True] Translation: X:432.31, Y:46.81, Z:-2.36 [[ 9.97698706e-01 -6.77920218e-02 -1.23856989e-03 4.32314918e+02] [ 6.77918347e-02 9.97699469e-01 -1.92506592e-04 4.68138344e+01] [ 1.24877093e-03 1.08098652e-04 9.99999214e-01 -2.35676972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.691400513 meters 0.08954662660183993 Centerline is valid? [True, True] Translation: X:432.34, Y:46.83, Z:-2.36 [[ 9.97828302e-01 -6.58671473e-02 -4.46289380e-04 4.32341716e+02] [ 6.58671228e-02 9.97828401e-01 -6.93585192e-05 4.68330269e+01] [ 4.49888666e-04 3.98120960e-05 9.99999898e-01 -2.35526678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.721400513 meters 0.09882667325654595 Centerline is valid? [True, True] Translation: X:432.37, Y:46.85, Z:-2.36 [[ 9.97952047e-01 -6.39650031e-02 -4.36934581e-04 4.32368818e+02] [ 6.39649794e-02 9.97952142e-01 -6.79316930e-05 4.68523489e+01] [ 4.40385052e-04 3.98440606e-05 9.99999902e-01 -2.35550050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.751400513 meters 0.1128187147608685 Centerline is valid? [True, False] Translation: X:432.37, Y:46.86, Z:-2.36 [[ 9.98539248e-01 -5.38663959e-02 4.21671195e-03 4.32369328e+02] [ 5.39031229e-02 9.98504306e-01 -9.14353199e-03 4.68611996e+01] [-3.71787592e-03 9.35746950e-03 9.99949306e-01 -2.35941126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.781400513 meters 0.08632071402854417 Centerline is valid? [False, True] Translation: X:432.33, Y:46.87, Z:-2.36 [[ 9.99036108e-01 -4.37186265e-02 -3.94171118e-03 4.32330971e+02] [ 4.36450613e-02 9.98900112e-01 -1.71369315e-02 4.68670725e+01] [ 4.68657885e-03 1.69483771e-02 9.99845382e-01 -2.35664880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.811400513 meters 0.09780020423866281 Centerline is valid? [True, True] Translation: X:432.36, Y:46.88, Z:-2.36 [[ 9.99024218e-01 -4.37525269e-02 -6.02734297e-03 4.32357925e+02] [ 4.37482743e-02 9.99042236e-01 -8.35648501e-04 4.68756073e+01] [ 6.05813193e-03 5.71147236e-04 9.99981486e-01 -2.35577226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.841400513 meters 0.10637549548860456 Centerline is valid? [True, False] Translation: X:432.36, Y:46.89, Z:-2.36 [[ 9.99363031e-01 -3.53820249e-02 -4.65241492e-03 4.32356454e+02] [ 3.53195470e-02 9.99292968e-01 -1.28877393e-02 4.68852395e+01] [ 5.10511983e-03 1.27152090e-02 9.99906126e-01 -2.35551637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.871400513 meters 0.08343656784567173 Centerline is valid? [False, True] Translation: X:432.36, Y:46.88, Z:-2.35 [[ 9.99642596e-01 -2.62204856e-02 -5.21218368e-03 4.32356748e+02] [ 2.62070338e-02 9.99653070e-01 -2.63261238e-03 4.68787668e+01] [ 5.27940379e-03 2.49507560e-03 9.99982951e-01 -2.35347261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.901400513 meters 0.0917175474280103 Centerline is valid? [True, True] Translation: X:432.38, Y:46.90, Z:-2.35 [[ 9.99497178e-01 -3.14413224e-02 -4.10302752e-03 4.32383943e+02] [ 3.14395896e-02 9.99505536e-01 -4.86141488e-04 4.68961989e+01] [ 4.11628365e-03 3.56899544e-04 9.99991464e-01 -2.35162608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.931400513 meters 0.08052767625569465 Centerline is valid? [True, True] Translation: X:432.42, Y:46.89, Z:-2.35 [[ 9.99369409e-01 -3.51451996e-02 -5.05948105e-03 4.32415667e+02] [ 3.51426120e-02 9.99382128e-01 -5.99470576e-04 4.68878592e+01] [ 5.07742345e-03 4.21289177e-04 9.99987021e-01 -2.35278406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.961400513 meters 0.08013830124428722 Centerline is valid? [True, True] Translation: X:432.44, Y:46.89, Z:-2.36 [[ 9.99214519e-01 -3.91370583e-02 -6.21576561e-03 4.32444274e+02] [ 3.91332287e-02 9.99233730e-01 -7.36590969e-04 4.68919430e+01] [ 6.23983066e-03 4.92769414e-04 9.99980411e-01 -2.35519386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99140051300003 meters 0.07890619590427614 Centerline is valid? [True, True] Translation: X:432.47, Y:46.90, Z:-2.36 [[ 9.99035804e-01 -4.33427731e-02 -6.99048087e-03 4.32473598e+02] [ 4.33380312e-02 9.99060123e-01 -8.28471033e-04 4.68954703e+01] [ 7.01981890e-03 5.24718546e-04 9.99975223e-01 -2.35680428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.021400513 meters 0.07521641756057135 Centerline is valid? [True, True] Translation: X:432.50, Y:46.90, Z:-2.36 [[ 9.98874224e-01 -4.69321678e-02 -6.90335663e-03 4.32503923e+02] [ 4.69276282e-02 9.98897957e-01 -8.18196985e-04 4.68960392e+01] [ 6.93414859e-03 4.93317725e-04 9.99975837e-01 -2.35647333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05140051300003 meters 0.07087338079535425 Centerline is valid? [True, True] Translation: X:432.53, Y:46.90, Z:-2.35 [[ 9.98650238e-01 -5.15341846e-02 -6.47528568e-03 4.32534843e+02] [ 5.15302867e-02 9.98671137e-01 -7.67478925e-04 4.68963270e+01] [ 6.50623231e-03 4.32769684e-04 9.99978741e-01 -2.35430584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.081400513 meters 0.07158577235780558 Centerline is valid? [True, True] Translation: X:432.56, Y:46.90, Z:-2.35 [[ 9.98610420e-01 -5.23380118e-02 -6.16128949e-03 4.32562219e+02] [ 5.23344963e-02 9.98629344e-01 -7.30534389e-04 4.69009831e+01] [ 6.19107920e-03 4.07071271e-04 9.99980752e-01 -2.35319222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.111400513 meters 0.07092985678510491 Centerline is valid? [True, True] Translation: X:432.59, Y:46.90, Z:-2.35 [[ 9.98619834e-01 -5.21719306e-02 -6.04283089e-03 4.32591204e+02] [ 5.21685410e-02 9.98638037e-01 -7.17303940e-04 4.69047385e+01] [ 6.07202391e-03 4.01068271e-04 9.99981485e-01 -2.35204909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.141400513 meters 0.06673869410715703 Centerline is valid? [True, True] Translation: X:432.62, Y:46.90, Z:-2.35 [[ 9.98682640e-01 -5.09993098e-02 -5.66164947e-03 4.32621089e+02] [ 5.09963139e-02 9.98698615e-01 -6.72357193e-04 4.69046799e+01] [ 5.68857124e-03 3.82748203e-04 9.99983747e-01 -2.35106135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.171400513 meters 0.06690179799999454 Centerline is valid? [True, True] Translation: X:432.65, Y:46.91, Z:-2.35 [[ 9.98783353e-01 -4.90915715e-02 -4.67248335e-03 4.32650381e+02] [ 4.90895099e-02 9.98794229e-01 -5.54952452e-04 4.69104268e+01] [ 4.69409290e-03 3.24907352e-04 9.99988930e-01 -2.34978601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.201400513 meters 0.07882023824533592 Centerline is valid? [True, True] Translation: X:432.68, Y:46.93, Z:-2.35 [[ 9.99033212e-01 -4.39147721e-02 -2.03304776e-03 4.32677867e+02] [ 4.39143711e-02 9.99035269e-01 -2.41472331e-04 4.69325311e+01] [ 2.04169062e-03 1.51958865e-04 9.99997904e-01 -2.34580848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.231400513 meters 0.07987395084375835 Centerline is valid? [True, True] Translation: X:432.71, Y:46.94, Z:-2.35 [[ 9.99132820e-01 -4.15933632e-02 -1.89750508e-03 4.32707983e+02] [ 4.15930098e-02 9.99134611e-01 -2.25374400e-04 4.69395471e+01] [ 1.90523708e-03 1.46256013e-04 9.99998174e-01 -2.34569188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.261400513 meters 0.08758086206362393 Centerline is valid? [True, True] Translation: X:432.74, Y:46.96, Z:-2.35 [[ 9.99196916e-01 -3.99733051e-02 -2.76724965e-03 4.32735408e+02] [ 3.99725471e-02 9.99200724e-01 -3.28697405e-04 4.69550032e+01] [ 2.77817697e-03 2.17819417e-04 9.99996117e-01 -2.34684433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.291400513 meters 0.0894079750308946 Centerline is valid? [True, True] Translation: X:432.76, Y:46.96, Z:-2.35 [[ 9.99238336e-01 -3.88177438e-02 -3.99122896e-03 4.32762997e+02] [ 3.88161573e-02 9.99246256e-01 -4.74217343e-04 4.69635250e+01] [ 4.00662865e-03 3.18931978e-04 9.99991923e-01 -2.34878326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.321400513 meters 0.07083634846571198 Centerline is valid? [True, True] Translation: X:432.80, Y:46.95, Z:-2.35 [[ 9.99262477e-01 -3.80681158e-02 -5.03192223e-03 4.32795128e+02] [ 3.80655839e-02 9.99275064e-01 -5.98030359e-04 4.69471518e+01] [ 5.05104030e-03 4.06046240e-04 9.99987161e-01 -2.34973762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.351400513 meters 0.08612036156779858 Centerline is valid? [True, True] Translation: X:432.82, Y:46.97, Z:-2.35 [[ 9.99272421e-01 -3.77667418e-02 -5.31995238e-03 4.32819658e+02] [ 3.77639057e-02 9.99286489e-01 -6.32583349e-04 4.69717252e+01] [ 5.34004715e-03 4.31220914e-04 9.99985649e-01 -2.35146055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.381400513 meters 0.08078693000665838 Centerline is valid? [True, True] Translation: X:432.85, Y:46.97, Z:-2.35 [[ 9.99204822e-01 -3.95229786e-02 -5.25907425e-03 4.32849791e+02] [ 3.95202305e-02 9.99218575e-01 -6.25484942e-04 4.69715507e+01] [ 5.27968571e-03 4.17147744e-04 9.99985975e-01 -2.35202569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.411400513 meters 0.08022962996585838 Centerline is valid? [True, True] Translation: X:432.88, Y:46.97, Z:-2.35 [[ 9.99106422e-01 -4.18940839e-02 -5.58964958e-03 4.32879355e+02] [ 4.18910159e-02 9.99121965e-01 -6.64875345e-04 4.69748160e+01] [ 5.61259602e-03 4.30125127e-04 9.99984157e-01 -2.35261691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.441400513 meters 0.07813695290265532 Centerline is valid? [True, True] Translation: X:432.91, Y:46.98, Z:-2.35 [[ 9.98824626e-01 -4.81632287e-02 -5.44709273e-03 4.32908300e+02] [ 4.81604073e-02 9.98839404e-01 -6.48023707e-04 4.69763965e+01] [ 5.47198177e-03 3.84927832e-04 9.99984955e-01 -2.35259275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.471400513 meters 0.06637586021930657 Centerline is valid? [True, True] Translation: X:432.94, Y:46.97, Z:-2.35 [[ 9.98680914e-01 -5.10972933e-02 -5.04953347e-03 4.32940250e+02] [ 5.10949059e-02 9.98693622e-01 -6.00761326e-04 4.69655226e+01] [ 5.07363415e-03 3.41963433e-04 9.99987071e-01 -2.35066074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.501400513 meters 0.06696021302033017 Centerline is valid? [True, True] Translation: X:432.97, Y:46.97, Z:-2.35 [[ 9.98570593e-01 -5.32771316e-02 -4.27997072e-03 4.32968781e+02] [ 5.32754366e-02 9.98579726e-01 -5.09144365e-04 4.69689539e+01] [ 4.30101774e-03 2.80399281e-04 9.99990711e-01 -2.34973002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.531400513 meters 0.06283547623410524 Centerline is valid? [True, True] Translation: X:433.00, Y:46.97, Z:-2.35 [[ 9.98483293e-01 -5.49445060e-02 -3.49504807e-03 4.32998941e+02] [ 5.49433858e-02 9.98489385e-01 -4.15797146e-04 4.69657363e+01] [ 3.51261417e-03 2.23136729e-04 9.99993806e-01 -2.34819799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.561400513 meters 0.06193932187344455 Centerline is valid? [True, True] Translation: X:433.03, Y:46.97, Z:-2.35 [[ 9.98426472e-01 -5.60026489e-02 -2.87797034e-03 4.33028403e+02] [ 5.60018930e-02 9.98430604e-01 -3.42644089e-04 4.69665104e+01] [ 2.89264264e-03 1.80933142e-04 9.99995800e-01 -2.34737434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.591400513 meters 0.06473012392197426 Centerline is valid? [True, True] Translation: X:433.06, Y:46.97, Z:-2.35 [[ 9.98450200e-01 -5.56062624e-02 -2.26742372e-03 4.33055824e+02] [ 5.56057916e-02 9.98452765e-01 -2.70170382e-04 4.69709172e+01] [ 2.27893865e-03 1.43669781e-04 9.99997393e-01 -2.34696015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.621400513 meters 0.06976122891888015 Centerline is valid? [True, True] Translation: X:433.08, Y:46.98, Z:-2.35 [[ 9.98494319e-01 -5.47652309e-02 -3.14070270e-03 4.33083382e+02] [ 5.47643230e-02 9.98499238e-01 -3.74415651e-04 4.69792425e+01] [ 3.15649422e-03 2.01853443e-04 9.99994998e-01 -2.34792276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.651400513 meters 0.06869088286295069 Centerline is valid? [True, True] Translation: X:433.11, Y:46.98, Z:-2.35 [[ 9.98571236e-01 -5.32774808e-02 -4.12265370e-03 4.33113076e+02] [ 5.32759032e-02 9.98579710e-01 -4.91621170e-04 4.69806101e+01] [ 4.14299067e-03 2.71280660e-04 9.99991381e-01 -2.34931084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.681400513 meters 0.06586952251453473 Centerline is valid? [True, True] Translation: X:433.14, Y:46.98, Z:-2.35 [[ 9.98683683e-01 -5.10340110e-02 -5.14117967e-03 4.33143853e+02] [ 5.10315278e-02 9.98696855e-01 -6.13116517e-04 4.69807484e+01] [ 5.16576976e-03 3.49947208e-04 9.99986596e-01 -2.35022229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.711400513 meters 0.0784395138974549 Centerline is valid? [True, True] Translation: X:433.17, Y:47.00, Z:-2.35 [[ 9.98821324e-01 -4.82148370e-02 -5.59387313e-03 4.33170944e+02] [ 4.82118533e-02 9.98836910e-01 -6.67099527e-04 4.70003314e+01] [ 5.61953105e-03 3.96622242e-04 9.99984132e-01 -2.35152595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74140051300003 meters 0.07661978243143058 Centerline is valid? [True, True] Translation: X:433.20, Y:47.00, Z:-2.35 [[ 9.99053604e-01 -4.31298435e-02 -5.63140828e-03 4.33201303e+02] [ 4.31267392e-02 9.99069384e-01 -6.71589765e-04 4.70018893e+01] [ 5.65513316e-03 4.28089899e-04 9.99983918e-01 -2.35113965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.771400513 meters 0.08332956188405131 Centerline is valid? [True, True] Translation: X:433.23, Y:47.02, Z:-2.35 [[ 9.99119739e-01 -4.16560136e-02 -4.95205010e-03 4.33228900e+02] [ 4.16535946e-02 9.99131938e-01 -5.90658352e-04 4.70160145e+01] [ 4.97235588e-03 3.83867731e-04 9.99987564e-01 -2.35082490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80140051300003 meters 0.07798056605077826 Centerline is valid? [True, True] Translation: X:433.26, Y:47.01, Z:-2.35 [[ 9.99112922e-01 -4.18503792e-02 -4.68143693e-03 4.33257080e+02] [ 4.18482165e-02 9.99123823e-01 -5.59019638e-04 4.70135975e+01] [ 4.70073035e-03 3.62613957e-04 9.99988886e-01 -2.35021405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.831400513 meters 0.07963659908275005 Centerline is valid? [True, True] Translation: X:433.29, Y:47.02, Z:-2.35 [[ 9.99073329e-01 -4.28579503e-02 -3.95961193e-03 4.33285518e+02] [ 4.28564100e-02 9.99081130e-01 -4.73094100e-04 4.70197042e+01] [ 3.97624941e-03 3.02960945e-04 9.99992049e-01 -2.34881819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.861400513 meters 0.0797390351525594 Centerline is valid? [True, True] Translation: X:433.31, Y:47.02, Z:-2.35 [[ 9.98973439e-01 -4.51773537e-02 -3.32788458e-03 4.33314495e+02] [ 4.51762782e-02 9.98978952e-01 -3.97668064e-04 4.70249522e+01] [ 3.34245224e-03 2.46918394e-04 9.99994384e-01 -2.34730534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.891400513 meters 0.0794768925937749 Centerline is valid? [True, True] Translation: X:433.34, Y:47.03, Z:-2.35 [[ 9.98921879e-01 -4.62856142e-02 -3.56680685e-03 4.33343643e+02] [ 4.62843846e-02 9.98928213e-01 -4.26558355e-04 4.70288528e+01] [ 3.58272750e-03 2.61011014e-04 9.99993548e-01 -2.34798834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.921400513 meters 0.07515541686107308 Centerline is valid? [True, True] Translation: X:433.37, Y:47.03, Z:-2.35 [[ 9.98848282e-01 -4.77896591e-02 -4.27300098e-03 4.33373765e+02] [ 4.77879067e-02 9.98857374e-01 -5.11314442e-04 4.70261759e+01] [ 4.29255408e-03 3.06527779e-04 9.99990740e-01 -2.34938563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.951400513 meters 0.076644758403396 Centerline is valid? [True, True] Translation: X:433.40, Y:47.03, Z:-2.35 [[ 9.98763119e-01 -4.94924768e-02 -4.76736348e-03 4.33401812e+02] [ 4.94903143e-02 9.98774441e-01 -5.70582755e-04 4.70349771e+01] [ 4.78976035e-03 3.33938695e-04 9.99988473e-01 -2.34996283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.981400513 meters 0.0682294526598974 Centerline is valid? [True, True] Translation: X:433.43, Y:47.03, Z:-2.35 [[ 9.98672152e-01 -5.12402479e-02 -5.32626426e-03 4.33432328e+02] [ 5.12375727e-02 9.98686289e-01 -6.37601567e-04 4.70296777e+01] [ 5.35193795e-03 3.63850077e-04 9.99985612e-01 -2.35072492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.011400513 meters 0.063505963574564 Centerline is valid? [True, True] Translation: X:433.46, Y:47.03, Z:-2.35 [[ 9.98461360e-01 -5.51650943e-02 -5.63255837e-03 4.33462554e+02] [ 5.51621641e-02 9.98477181e-01 -6.74383097e-04 4.70289836e+01] [ 5.66118341e-03 3.62641355e-04 9.99983910e-01 -2.35092925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.041400513 meters 0.06806376754963898 Centerline is valid? [True, True] Translation: X:433.49, Y:47.04, Z:-2.35 [[ 9.98359081e-01 -5.70472119e-02 -4.97604630e-03 4.33490454e+02] [ 5.70449475e-02 9.98371433e-01 -5.95929219e-04 4.70378073e+01] [ 5.00193858e-03 3.11093048e-04 9.99987442e-01 -2.35028255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.071400513 meters 0.0658320656859824 Centerline is valid? [True, True] Translation: X:433.52, Y:47.04, Z:-2.35 [[ 9.98272204e-01 -5.86260900e-02 -3.94815487e-03 4.33520979e+02] [ 5.86246765e-02 9.98279983e-01 -4.72896240e-04 4.70382650e+01] [ 3.96908803e-03 2.40619870e-04 9.99992094e-01 -2.34858061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.101400513 meters 0.059371218218868066 Centerline is valid? [True, True] Translation: X:433.55, Y:47.03, Z:-2.35 [[ 9.98206534e-01 -5.97572349e-02 -3.57618175e-03 4.33550961e+02] [ 5.97560812e-02 9.98212917e-01 -4.28695931e-04 4.70330722e+01] [ 3.59540850e-03 2.14228472e-04 9.99993514e-01 -2.34755176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.131400513 meters 0.07243037157111448 Centerline is valid? [True, True] Translation: X:433.58, Y:47.05, Z:-2.35 [[ 9.98200654e-01 -5.98739515e-02 -3.25016471e-03 4.33576769e+02] [ 5.98729981e-02 9.98205927e-01 -3.89913467e-04 4.70512998e+01] [ 3.26767934e-03 1.94614772e-04 9.99994642e-01 -2.34854190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.161400513 meters 0.06470340958519939 Centerline is valid? [True, True] Translation: X:433.61, Y:47.05, Z:-2.35 [[ 9.98245269e-01 -5.91154130e-02 -3.42796885e-03 4.33606776e+02] [ 5.91143467e-02 9.98251133e-01 -4.11657779e-04 4.70451745e+01] [ 3.44630911e-03 2.08293291e-04 9.99994040e-01 -2.34876659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.191400513 meters 0.06801294566231454 Centerline is valid? [True, True] Translation: X:433.63, Y:47.05, Z:-2.35 [[ 9.98327570e-01 -5.77272186e-02 -3.10357289e-03 4.33634617e+02] [ 5.77263369e-02 9.98332375e-01 -3.72982944e-04 4.70525589e+01] [ 3.11992857e-03 1.93201262e-04 9.99995114e-01 -2.34871687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.221400513 meters 0.06797692179306755 Centerline is valid? [True, True] Translation: X:433.66, Y:47.06, Z:-2.35 [[ 9.98440855e-01 -5.57386041e-02 -3.01104309e-03 4.33664479e+02] [ 5.57377650e-02 9.98445377e-01 -3.61951594e-04 4.70551937e+01] [ 3.02653673e-03 1.93558447e-04 9.99995401e-01 -2.34865863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.251400513 meters 0.06544713727823041 Centerline is valid? [True, True] Translation: X:433.70, Y:47.05, Z:-2.35 [[ 9.98554167e-01 -5.36596300e-02 -3.19670899e-03 4.33695036e+02] [ 5.36586735e-02 9.98559262e-01 -3.84312415e-04 4.70541469e+01] [ 3.21272543e-03 2.12225600e-04 9.99994817e-01 -2.34909734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.281400513 meters 0.06749250803971583 Centerline is valid? [True, True] Translation: X:433.73, Y:47.06, Z:-2.35 [[ 9.98725774e-01 -5.01869786e-02 -5.30053975e-03 4.33725531e+02] [ 5.01842998e-02 9.98739771e-01 -6.37260585e-04 4.70572129e+01] [ 5.32584203e-03 3.70444695e-04 9.99985749e-01 -2.35138139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.311400513 meters 0.07604827129388926 Centerline is valid? [True, True] Translation: X:433.75, Y:47.07, Z:-2.35 [[ 9.98792494e-01 -4.87378864e-02 -6.17842754e-03 4.33753638e+02] [ 4.87342189e-02 9.98811506e-01 -7.42860207e-04 4.70706812e+01] [ 6.20728995e-03 4.40862358e-04 9.99980637e-01 -2.35313825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.341400513 meters 0.07033199045496057 Centerline is valid? [True, True] Translation: X:433.78, Y:47.07, Z:-2.35 [[ 9.98835457e-01 -4.77889844e-02 -6.62898661e-03 4.33783555e+02] [ 4.77847403e-02 9.98857339e-01 -7.97234715e-04 4.70668323e+01] [ 6.65951096e-03 4.79541897e-04 9.99977710e-01 -2.35350192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.371400513 meters 0.0696602144639453 Centerline is valid? [True, True] Translation: X:433.81, Y:47.07, Z:-2.35 [[ 9.98838369e-01 -4.77413614e-02 -6.53267296e-03 4.33812796e+02] [ 4.77372328e-02 9.98859619e-01 -7.86548073e-04 4.70680470e+01] [ 6.56277410e-03 4.73782663e-04 9.99978353e-01 -2.35349513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.401400513 meters 0.0696602144639453 Centerline is valid? [True, True] Translation: X:433.84, Y:47.07, Z:-2.35 [[ 9.98829514e-01 -4.79262673e-02 -6.53253104e-03 4.33840152e+02] [ 4.79221350e-02 9.98850764e-01 -7.87725722e-04 4.70714832e+01] [ 6.56277638e-03 4.73750865e-04 9.99978353e-01 -2.35345757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.431400513 meters 0.07620220502470909 Centerline is valid? [True, True] Translation: X:433.87, Y:47.08, Z:-2.35 [[ 9.98790201e-01 -4.88218620e-02 -5.87874491e-03 4.33866854e+02] [ 4.88185280e-02 9.98807413e-01 -7.09381482e-04 4.70804746e+01] [ 5.90636732e-03 4.21531600e-04 9.99982468e-01 -2.35278415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.461400513 meters 0.07304800059940873 Centerline is valid? [True, True] Translation: X:433.90, Y:47.08, Z:-2.35 [[ 9.98544212e-01 -5.37450121e-02 -4.57502454e-03 4.33896991e+02] [ 5.37430439e-02 9.98554646e-01 -5.52143806e-04 4.70751973e+01] [ 4.59808698e-03 3.05464257e-04 9.99989382e-01 -2.35069915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49140051300003 meters 0.0653287300601731 Centerline is valid? [True, True] Translation: X:433.93, Y:47.07, Z:-2.35 [[ 9.98379916e-01 -5.67624990e-02 -3.94482267e-03 4.33928381e+02] [ 5.67610591e-02 9.98387678e-01 -4.76099401e-04 4.70665781e+01] [ 3.96548694e-03 2.51415767e-04 9.99992106e-01 -2.34975596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.521400513 meters 0.06371620706976353 Centerline is valid? [True, True] Translation: X:433.96, Y:47.06, Z:-2.35 [[ 9.98101681e-01 -6.15066725e-02 -3.15655945e-03 4.33958730e+02] [ 6.15057741e-02 9.98106655e-01 -3.80989966e-04 4.70607815e+01] [ 3.17401642e-03 1.86120093e-04 9.99994945e-01 -2.34868570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55140051300003 meters 0.05636325495169562 Centerline is valid? [True, True] Translation: X:433.99, Y:47.05, Z:-2.35 [[ 9.98028353e-01 -6.26842717e-02 -3.17631325e-03 4.33989423e+02] [ 6.26833671e-02 9.98033390e-01 -3.83671821e-04 4.70520851e+01] [ 3.19411688e-03 1.83813346e-04 9.99994882e-01 -2.34826880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.581400513 meters 0.06085018753614587 Centerline is valid? [True, True] Translation: X:434.02, Y:47.06, Z:-2.35 [[ 9.98006263e-01 -6.30261769e-02 -3.34665808e-03 4.34017108e+02] [ 6.30251734e-02 9.98011856e-01 -4.04583641e-04 4.70579327e+01] [ 3.36550380e-03 1.92853302e-04 9.99994318e-01 -2.34885008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.611400513 meters 0.060593120253782023 Centerline is valid? [True, True] Translation: X:434.05, Y:47.06, Z:-2.35 [[ 9.98005097e-01 -6.30452660e-02 -3.33490999e-03 4.34045882e+02] [ 6.30442683e-02 9.98010650e-01 -4.03560248e-04 4.70581975e+01] [ 3.35371825e-03 1.92508224e-04 9.99994358e-01 -2.34869205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.641400513 meters 0.06507457273625333 Centerline is valid? [True, True] Translation: X:434.07, Y:47.06, Z:-2.35 [[ 9.98030770e-01 -6.26347341e-02 -3.38700161e-03 4.34073522e+02] [ 6.26337015e-02 9.98036498e-01 -4.10200131e-04 4.70639643e+01] [ 3.40604400e-03 1.97251905e-04 9.99994180e-01 -2.34854143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.671400513 meters 0.06117036740288944 Centerline is valid? [True, True] Translation: X:434.10, Y:47.06, Z:-2.35 [[ 9.98070602e-01 -6.19550728e-02 -4.07949366e-03 4.34103322e+02] [ 6.19535669e-02 9.98078910e-01 -4.94600075e-04 4.70595261e+01] [ 4.10229957e-03 2.40906611e-04 9.99991557e-01 -2.34879741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.701400513 meters 0.06645210662341139 Centerline is valid? [True, True] Translation: X:434.13, Y:47.06, Z:-2.35 [[ 9.98252521e-01 -5.88871173e-02 -4.92058139e-03 4.34132382e+02] [ 5.88848877e-02 9.98264601e-01 -5.96880439e-04 4.70631767e+01] [ 4.94719079e-03 3.06089520e-04 9.99987716e-01 -2.34963399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.731400513 meters 0.06459520275023345 Centerline is valid? [True, True] Translation: X:434.16, Y:47.06, Z:-2.35 [[ 9.98416520e-01 -5.61338247e-02 -3.66702577e-03 4.34163395e+02] [ 5.61325679e-02 9.98423225e-01 -4.44840176e-04 4.70619739e+01] [ 3.68621428e-03 2.38296208e-04 9.99993177e-01 -2.34737820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.761400513 meters 0.07804998274404816 Centerline is valid? [True, True] Translation: X:434.19, Y:47.08, Z:-2.35 [[ 9.98609542e-01 -5.26689916e-02 -2.22690425e-03 4.34190835e+02] [ 5.26685195e-02 9.98612014e-01 -2.70153903e-04 4.70798643e+01] [ 2.23804207e-03 1.52490516e-04 9.99997484e-01 -2.34505442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.791400513 meters 0.07499551426045564 Centerline is valid? [True, True] Translation: X:434.22, Y:47.08, Z:-2.34 [[ 9.98810740e-01 -4.87440459e-02 -1.06038430e-03 4.34221060e+02] [ 4.87439366e-02 9.98811300e-01 -1.28643433e-04 4.70788663e+01] [ 1.06539442e-03 7.68031375e-05 9.99999430e-01 -2.34305988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.821400513 meters 0.0790229343639577 Centerline is valid? [True, True] Translation: X:434.25, Y:47.09, Z:-2.34 [[ 9.99142622e-01 -4.13869850e-02 -1.06695630e-03 4.34250925e+02] [ 4.13868703e-02 9.99143188e-01 -1.29453704e-04 4.70889597e+01] [ 1.07139982e-03 8.51847311e-05 9.99999422e-01 -2.34373952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.851400513 meters 0.07736995683643716 Centerline is valid? [True, True] Translation: X:434.28, Y:47.09, Z:-2.35 [[ 9.99258586e-01 -3.84489115e-02 -1.98978384e-03 4.34280927e+02] [ 3.84485064e-02 9.99260554e-01 -2.41422141e-04 4.70922205e+01] [ 1.99759492e-03 1.64738930e-04 9.99997991e-01 -2.34563481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.881400513 meters 0.0802533541857551 Centerline is valid? [True, True] Translation: X:434.31, Y:47.10, Z:-2.35 [[ 9.99325099e-01 -3.65861995e-02 -3.28573450e-03 4.34309757e+02] [ 3.65850849e-02 9.99330462e-01 -3.98706984e-04 4.71005576e+01] [ 3.29812175e-03 2.78229021e-04 9.99994522e-01 -2.34758135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.911400513 meters 0.08992406045875317 Centerline is valid? [True, True] Translation: X:434.34, Y:47.12, Z:-2.35 [[ 9.99352170e-01 -3.57647199e-02 -4.01552647e-03 4.34336007e+02] [ 3.57630480e-02 9.99360179e-01 -4.87417026e-04 4.71166167e+01] [ 4.03038958e-03 3.43493796e-04 9.99991819e-01 -2.34867000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.941400513 meters 0.08647258257236416 Centerline is valid? [True, True] Translation: X:434.36, Y:47.12, Z:-2.35 [[ 9.99327582e-01 -3.64226556e-02 -4.21593200e-03 4.34364968e+02] [ 3.64208163e-02 9.99336411e-01 -5.12258383e-04 4.71165933e+01] [ 4.23179216e-03 3.58366246e-04 9.99990982e-01 -2.34847311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.971400513 meters 0.0824644842952659 Centerline is valid? [True, True] Translation: X:434.40, Y:47.12, Z:-2.35 [[ 9.99162458e-01 -4.07302268e-02 -3.92830092e-03 4.34395893e+02] [ 4.07286622e-02 9.99170130e-01 -4.77514257e-04 4.71177663e+01] [ 3.94449020e-03 3.17119878e-04 9.99992170e-01 -2.34806987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.001400513 meters 0.07818592231351353 Centerline is valid? [True, True] Translation: X:434.43, Y:47.12, Z:-2.35 [[ 9.99032501e-01 -4.38256292e-02 -3.65742420e-03 4.34425769e+02] [ 4.38242934e-02 9.99039155e-01 -4.44632431e-04 4.71177125e+01] [ 3.67339628e-03 2.83918219e-04 9.99993213e-01 -2.34796643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.031400513 meters 0.0768640833933949 Centerline is valid? [True, True] Translation: X:434.45, Y:47.12, Z:-2.35 [[ 9.98879441e-01 -4.72110304e-02 -3.31381141e-03 4.34454700e+02] [ 4.72099521e-02 9.98884907e-01 -4.02919200e-04 4.71202561e+01] [ 3.32913843e-03 2.46022827e-04 9.99994428e-01 -2.34811707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.061400513 meters 0.06760173034991881 Centerline is valid? [True, True] Translation: X:434.49, Y:47.11, Z:-2.35 [[ 9.98713815e-01 -5.05972419e-02 -3.26100530e-03 4.34486328e+02] [ 5.05962155e-02 9.98719113e-01 -3.96536875e-04 4.71126126e+01] [ 3.27689199e-03 2.31032329e-04 9.99994604e-01 -2.34800062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.091400513 meters 0.06990521979284817 Centerline is valid? [True, True] Translation: X:434.52, Y:47.12, Z:-2.35 [[ 9.98527752e-01 -5.41415907e-02 -3.31912371e-03 4.34515266e+02] [ 5.41405467e-02 9.98533243e-01 -4.03649537e-04 4.71188791e+01] [ 3.33610959e-03 2.23356093e-04 9.99994410e-01 -2.34817935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.121400513 meters 0.0650900665351298 Centerline is valid? [True, True] Translation: X:434.54, Y:47.12, Z:-2.35 [[ 9.98114120e-01 -6.13080096e-02 -3.08740291e-03 4.34544859e+02] [ 6.13071402e-02 9.98118877e-01 -3.75530037e-04 4.71153944e+01] [ 3.10461813e-03 1.85541989e-04 9.99995163e-01 -2.34780258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.151400513 meters 0.06814548374104794 Centerline is valid? [True, True] Translation: X:434.57, Y:47.12, Z:-2.35 [[ 9.97905848e-01 -6.45995425e-02 -3.28899898e-03 4.34574206e+02] [ 6.45985736e-02 9.97911251e-01 -4.00085960e-04 4.71215745e+01] [ 3.30797446e-03 1.86783476e-04 9.99994511e-01 -2.34849963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.181400513 meters 0.05323359805129734 Centerline is valid? [True, True] Translation: X:434.61, Y:47.11, Z:-2.35 [[ 9.97719690e-01 -6.73905165e-02 -3.73339162e-03 4.34607120e+02] [ 6.73892874e-02 9.97726655e-01 -4.54161218e-04 4.71053976e+01] [ 3.75551049e-03 2.01534988e-04 9.99992928e-01 -2.34839990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.211400513 meters 0.06057690799524687 Centerline is valid? [True, True] Translation: X:434.64, Y:47.12, Z:-2.35 [[ 9.97575967e-01 -6.94524600e-02 -4.30653250e-03 4.34635162e+02] [ 6.94508435e-02 9.97585237e-01 -5.23961797e-04 4.71158457e+01] [ 4.33252368e-03 2.23599382e-04 9.99990590e-01 -2.34988623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24140051300003 meters 0.05176494781467779 Centerline is valid? [True, True] Translation: X:434.67, Y:47.10, Z:-2.35 [[ 9.97473268e-01 -7.09595849e-02 -3.43745541e-03 4.34666105e+02] [ 7.09585633e-02 9.97479176e-01 -4.18404557e-04 4.71035601e+01] [ 3.45848000e-03 1.73430464e-04 9.99994004e-01 -2.34768217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.271400513 meters 0.05295347894182859 Centerline is valid? [True, True] Translation: X:434.69, Y:47.11, Z:-2.35 [[ 9.97489624e-01 -7.07789474e-02 -2.18876179e-03 4.34693728e+02] [ 7.07785325e-02 9.97492019e-01 -2.66526854e-04 4.71050722e+01] [ 2.20213691e-03 1.10940423e-04 9.99997569e-01 -2.34562129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30140051300003 meters 0.048684362933582165 Centerline is valid? [True, True] Translation: X:434.72, Y:47.10, Z:-2.34 [[ 9.97529958e-01 -7.02329094e-02 -1.14955567e-03 4.34723144e+02] [ 7.02327946e-02 9.97530619e-01 -1.39988789e-04 4.71004726e+01] [ 1.15654880e-03 5.89065040e-05 9.99999329e-01 -2.34383458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.331400513 meters 0.055486582778488384 Centerline is valid? [True, True] Translation: X:434.75, Y:47.11, Z:-2.34 [[ 9.97628055e-01 -6.88337997e-02 -4.15624642e-04 4.34751026e+02] [ 6.88337846e-02 9.97628141e-01 -5.06478125e-05 4.71101243e+01] [ 4.18125121e-04 2.19186616e-05 9.99999912e-01 -2.34245013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.361400513 meters 0.06023060040754492 Centerline is valid? [True, True] Translation: X:434.78, Y:47.12, Z:-2.34 [[ 9.97939148e-01 -6.41671505e-02 -1.85791746e-04 4.34780465e+02] [ 6.41671474e-02 9.97939165e-01 -2.26592937e-05 4.71170431e+01] [ 1.86862842e-04 1.06908698e-05 9.99999982e-01 -2.34212614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.391400513 meters 0.06444663121868992 Centerline is valid? [True, True] Translation: X:434.81, Y:47.12, Z:-2.34 [[ 9.98122438e-01 -6.12489153e-02 -4.12069063e-04 4.34808738e+02] [ 6.12488998e-02 9.98122522e-01 -5.02885138e-05 4.71244034e+01] [ 4.14375530e-04 2.49553173e-05 9.99999914e-01 -2.34300137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.421400513 meters 0.0705265465935697 Centerline is valid? [True, True] Translation: X:434.84, Y:47.13, Z:-2.34 [[ 9.98288004e-01 -5.84791860e-02 -1.11633181e-03 4.34837512e+02] [ 5.84790701e-02 9.98288626e-01 -1.36228649e-04 4.71341459e+01] [ 1.12238789e-03 7.07133803e-05 9.99999368e-01 -2.34399271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.451400513 meters 0.06940807371577722 Centerline is valid? [True, True] Translation: X:434.87, Y:47.14, Z:-2.34 [[ 9.98433446e-01 -5.59174796e-02 -1.97208397e-03 4.34867899e+02] [ 5.59171128e-02 9.98435385e-01 -2.40691995e-04 4.71355070e+01] [ 1.98245731e-03 1.30041696e-04 9.99998026e-01 -2.34495951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.481400513 meters 0.07393976753695054 Centerline is valid? [True, True] Translation: X:434.90, Y:47.15, Z:-2.35 [[ 9.98636459e-01 -5.21281624e-02 -2.80680557e-03 4.34896327e+02] [ 5.21274044e-02 9.98640384e-01 -3.42593215e-04 4.71456398e+01] [ 2.82084814e-03 1.95814586e-04 9.99996002e-01 -2.34688523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.511400513 meters 0.06898501230690973 Centerline is valid? [True, True] Translation: X:434.93, Y:47.14, Z:-2.35 [[ 9.98706141e-01 -5.07897007e-02 -2.53991944e-03 4.34925937e+02] [ 5.07890756e-02 9.98709354e-01 -3.10071304e-04 4.71437688e+01] [ 2.55238973e-03 1.80669955e-04 9.99996726e-01 -2.34680699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.541400513 meters 0.06966134418186572 Centerline is valid? [True, True] Translation: X:434.96, Y:47.15, Z:-2.35 [[ 9.98748457e-01 -4.99547926e-02 -2.45727842e-03 4.34955361e+02] [ 4.99542048e-02 9.98751464e-01 -3.00053337e-04 4.71480858e+01] [ 2.46919953e-03 1.76926418e-04 9.99996936e-01 -2.34647352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.571400513 meters 0.07262847387711623 Centerline is valid? [True, True] Translation: X:434.98, Y:47.15, Z:-2.35 [[ 9.98752715e-01 -4.98608047e-02 -2.62965108e-03 4.34982844e+02] [ 4.98601309e-02 9.98756159e-01 -3.21208126e-04 4.71547747e+01] [ 2.64239591e-03 1.89692741e-04 9.99996491e-01 -2.34678226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.601400513 meters 0.0717661936066086 Centerline is valid? [True, True] Translation: X:435.01, Y:47.16, Z:-2.35 [[ 9.98714510e-01 -5.05938867e-02 -3.09626994e-03 4.35011792e+02] [ 5.05929556e-02 9.98719285e-01 -3.78375762e-04 4.71574492e+01] [ 3.11144800e-03 2.21239917e-04 9.99995135e-01 -2.34766671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.631400513 meters 0.077767159206992 Centerline is valid? [True, True] Translation: X:435.04, Y:47.16, Z:-2.35 [[ 9.98569714e-01 -5.32939588e-02 -4.27557695e-03 4.35041590e+02] [ 5.33225766e-02 9.98553607e-01 6.88451497e-03 4.71586242e+01] [ 3.90248973e-03 -7.10265292e-03 9.99967161e-01 -2.34922240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.661400513 meters 0.06939047542874201 Centerline is valid? [True, True] Translation: X:435.07, Y:47.17, Z:-2.35 [[ 9.98493708e-01 -5.47939307e-02 -2.81791902e-03 4.35069457e+02] [ 5.47712284e-02 9.98470116e-01 -7.58552901e-03 4.71666881e+01] [ 3.22924888e-03 7.41976211e-03 9.99967259e-01 -2.35066789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.691400513 meters 0.06793041848710511 Centerline is valid? [True, True] Translation: X:435.10, Y:47.16, Z:-2.35 [[ 9.98379245e-01 -5.67832472e-02 -3.81384889e-03 4.35099852e+02] [ 5.67818764e-02 9.98386499e-01 -4.66848526e-04 4.71596559e+01] [ 3.83420441e-03 2.49534383e-04 9.99992618e-01 -2.35000221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.721400513 meters 0.06888729849370179 Centerline is valid? [True, True] Translation: X:435.13, Y:47.16, Z:-2.35 [[ 9.98231870e-01 -5.93116949e-02 -3.90607949e-03 4.35129577e+02] [ 5.93102760e-02 9.98239482e-01 -4.78204988e-04 4.71606068e+01] [ 3.92756592e-03 2.45688806e-04 9.99992257e-01 -2.35035818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.751400513 meters 0.06792243166292748 Centerline is valid? [True, True] Translation: X:435.16, Y:47.16, Z:-2.35 [[ 9.97964167e-01 -6.36337227e-02 -4.27453020e-03 4.35159114e+02] [ 6.36320625e-02 9.97973290e-01 -5.23420895e-04 4.71574310e+01] [ 4.29917418e-03 2.50358125e-04 9.99990727e-01 -2.35111893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.781400513 meters 0.060919847018002446 Centerline is valid? [True, True] Translation: X:435.19, Y:47.15, Z:-2.35 [[ 9.97877742e-01 -6.49681498e-02 -4.37630009e-03 4.35188757e+02] [ 6.49664202e-02 9.97887307e-01 -5.36374144e-04 4.71499643e+01] [ 4.40190154e-03 2.50923269e-04 9.99990280e-01 -2.35078568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.811400513 meters 0.06299210582982512 Centerline is valid? [True, True] Translation: X:435.22, Y:47.15, Z:-2.35 [[ 9.97829460e-01 -6.57258999e-02 -4.05883421e-03 4.35216889e+02] [ 6.57244159e-02 9.97837689e-01 -4.98079236e-04 4.71532569e+01] [ 4.08279445e-03 2.30233627e-04 9.99991639e-01 -2.35068995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.841400513 meters 0.05700455590958691 Centerline is valid? [True, True] Translation: X:435.25, Y:47.15, Z:-2.35 [[ 9.97831840e-01 -6.57039406e-02 -3.82249043e-03 4.35246821e+02] [ 6.57026219e-02 9.97839138e-01 -4.69678491e-04 4.71456850e+01] [ 3.84509028e-03 2.17512509e-04 9.99992584e-01 -2.34979036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.871400513 meters 0.06324330096262426 Centerline is valid? [True, True] Translation: X:435.28, Y:47.15, Z:-2.35 [[ 9.97930928e-01 -6.41443447e-02 -4.40062332e-03 4.35275217e+02] [ 6.41425803e-02 9.97940598e-01 -5.41065264e-04 4.71507520e+01] [ 4.42626695e-03 2.57678427e-04 9.99990171e-01 -2.35031802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.901400513 meters 0.06045310517777518 Centerline is valid? [True, True] Translation: X:435.31, Y:47.15, Z:-2.35 [[ 9.98014223e-01 -6.28122320e-02 -4.71540526e-03 4.35305337e+02] [ 6.28101907e-02 9.98025322e-01 -5.79894567e-04 4.71490850e+01] [ 4.74251833e-03 2.82567522e-04 9.99988714e-01 -2.35100567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.931400513 meters 0.06252887063432354 Centerline is valid? [True, True] Translation: X:435.33, Y:47.15, Z:-2.35 [[ 9.98061411e-01 -6.20704221e-02 -4.54781711e-03 4.35332775e+02] [ 6.20685147e-02 9.98071734e-01 -5.59497906e-04 4.71535041e+01] [ 4.57377598e-03 2.76137017e-04 9.99989502e-01 -2.35185244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.961400513 meters 0.05935544164366209 Centerline is valid? [True, True] Translation: X:435.36, Y:47.15, Z:-2.35 [[ 9.98065025e-01 -6.20349067e-02 -4.22795286e-03 4.35362138e+02] [ 6.20332556e-02 9.98073947e-01 -5.20689549e-04 4.71505577e+01] [ 4.25211053e-03 2.57408347e-04 9.99990927e-01 -2.35136953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99140051300003 meters 0.05990751193580452 Centerline is valid? [True, True] Translation: X:435.39, Y:47.15, Z:-2.35 [[ 9.97961047e-01 -6.36492817e-02 -4.74528247e-03 4.35391386e+02] [ 6.36472182e-02 9.97972289e-01 -5.84758138e-04 4.71473160e+01] [ 4.77287984e-03 2.81541815e-04 9.99988570e-01 -2.35111155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.021400513 meters 0.06317720110077454 Centerline is valid? [True, True] Translation: X:435.42, Y:47.15, Z:-2.35 [[ 9.97868822e-01 -6.50376020e-02 -5.28426940e-03 4.35419911e+02] [ 6.50350615e-02 9.97882767e-01 -6.51363801e-04 4.71512389e+01] [ 5.31544451e-03 3.06312844e-04 9.99985826e-01 -2.35218924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05140051300003 meters 0.05502064203600522 Centerline is valid? [True, True] Translation: X:435.45, Y:47.14, Z:-2.35 [[ 9.97773752e-01 -6.65008501e-02 -5.01758068e-03 4.35450918e+02] [ 6.64985774e-02 9.97786328e-01 -6.18619308e-04 4.71416338e+01] [ 5.04761212e-03 2.83580130e-04 9.99987221e-01 -2.35134523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.081400513 meters 0.053296418880796885 Centerline is valid? [True, True] Translation: X:435.48, Y:47.14, Z:-2.35 [[ 9.97712676e-01 -6.75085951e-02 -3.46500919e-03 4.35479986e+02] [ 6.75075169e-02 9.97718674e-01 -4.27324351e-04 4.71396450e+01] [ 3.48595244e-03 1.92432756e-04 9.99993906e-01 -2.34934169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.111400513 meters 0.05771492816663762 Centerline is valid? [True, True] Translation: X:435.51, Y:47.14, Z:-2.34 [[ 9.97696221e-01 -6.78390573e-02 3.35034215e-04 4.35507721e+02] [ 6.78390472e-02 9.97696277e-01 4.14201322e-05 4.71406019e+01] [-3.37072291e-04 -1.85963075e-05 9.99999943e-01 -2.34329970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.141400513 meters 0.05545093002180347 Centerline is valid? [True, True] Translation: X:435.54, Y:47.14, Z:-2.34 [[ 9.97739240e-01 -6.71991217e-02 8.29386896e-04 4.35537177e+02] [ 6.71990595e-02 9.97739583e-01 1.02693876e-04 4.71373608e+01] [-8.34413074e-04 -4.67276904e-05 9.99999651e-01 -2.34217745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.171400513 meters 0.06180087907895318 Centerline is valid? [True, True] Translation: X:435.56, Y:47.15, Z:-2.34 [[ 9.97814473e-01 -6.60765083e-02 4.14594278e-04 4.35564754e+02] [ 6.60764926e-02 9.97814559e-01 5.13086249e-05 4.71451790e+01] [-4.17078502e-04 -2.38015527e-05 9.99999913e-01 -2.34227892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.201400513 meters 0.062127430101223804 Centerline is valid? [True, True] Translation: X:435.59, Y:47.15, Z:-2.34 [[ 9.97913765e-01 -6.45583439e-02 -5.81154276e-04 4.35594119e+02] [ 6.45583130e-02 9.97913934e-01 -7.18013569e-05 4.71459606e+01] [ 5.84577326e-04 3.41332228e-05 9.99999829e-01 -2.34362134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.231400513 meters 0.06255112887554637 Centerline is valid? [True, True] Translation: X:435.62, Y:47.15, Z:-2.34 [[ 9.98030990e-01 -6.27132180e-02 -1.09369425e-03 4.35624081e+02] [ 6.27131073e-02 9.98031587e-01 -1.35241801e-04 4.71471350e+01] [ 1.10002286e-03 6.63865439e-05 9.99999393e-01 -2.34487580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.261400513 meters 0.06368597380010602 Centerline is valid? [True, True] Translation: X:435.66, Y:47.15, Z:-2.34 [[ 9.98267544e-01 -5.88289234e-02 -1.03395792e-03 4.35655062e+02] [ 5.88288224e-02 9.98268077e-01 -1.27869215e-04 4.71462092e+01] [ 1.03968959e-03 6.68211602e-05 9.99999457e-01 -2.34499667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.291400513 meters 0.07220318959831876 Centerline is valid? [True, True] Translation: X:435.68, Y:47.16, Z:-2.34 [[ 9.98350503e-01 -5.74085600e-02 -7.28282110e-04 4.35682808e+02] [ 5.74085095e-02 9.98350767e-01 -9.00368640e-05 4.71571264e+01] [ 7.32249891e-04 4.80787580e-05 9.99999731e-01 -2.34446070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.321400513 meters 0.07341382811787447 Centerline is valid? [True, True] Translation: X:435.71, Y:47.16, Z:-2.34 [[ 9.98419892e-01 -5.61894754e-02 -6.79313546e-04 4.35711975e+02] [ 5.61894312e-02 9.98420122e-01 -8.40226717e-05 4.71599002e+01] [ 6.82961503e-04 4.57196652e-05 9.99999766e-01 -2.34417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.351400513 meters 0.07341382811787447 Centerline is valid? [True, True] Translation: X:435.74, Y:47.16, Z:-2.34 [[ 9.98410224e-01 -5.63610121e-02 -6.79321718e-04 4.35739331e+02] [ 5.63609680e-02 9.98410454e-01 -8.39567087e-05 4.71634363e+01] [ 6.82973790e-04 4.55360068e-05 9.99999766e-01 -2.34413442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.381400513 meters 0.06383068319275098 Centerline is valid? [True, True] Translation: X:435.77, Y:47.15, Z:-2.34 [[ 9.98483667e-01 -5.50255793e-02 -1.59770385e-03 4.35769948e+02] [ 5.50253326e-02 9.98484939e-01 -1.98005594e-04 4.71534343e+01] [ 1.60617860e-03 1.09791166e-04 9.99998704e-01 -2.34492692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.411400513 meters 0.07122102674150156 Centerline is valid? [True, True] Translation: X:435.80, Y:47.16, Z:-2.35 [[ 9.98566299e-01 -5.34631470e-02 -2.65311089e-03 4.35798290e+02] [ 5.34624609e-02 9.98569806e-01 -3.28894912e-04 4.71648409e+01] [ 2.66690018e-03 1.86581538e-04 9.99996426e-01 -2.34618150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.441400513 meters 0.07716779821808047 Centerline is valid? [True, True] Translation: X:435.83, Y:47.17, Z:-2.35 [[ 9.98657282e-01 -5.16922291e-02 -3.39808383e-03 4.35826350e+02] [ 5.16910932e-02 9.98663033e-01 -4.21312187e-04 4.71749943e+01] [ 3.41531927e-03 2.45095816e-04 9.99994138e-01 -2.34743271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.471400513 meters 0.07605295388320961 Centerline is valid? [True, True] Translation: X:435.86, Y:47.18, Z:-2.35 [[ 9.98823564e-01 -4.83412354e-02 -3.82272560e-03 4.35856123e+02] [ 4.83397732e-02 9.98830837e-01 -4.74020478e-04 4.71785575e+01] [ 3.84117095e-03 2.88673134e-04 9.99992581e-01 -2.34862308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.501400513 meters 0.07958014974116683 Centerline is valid? [True, True] Translation: X:435.88, Y:47.19, Z:-2.35 [[ 9.98886300e-01 -4.70108670e-02 -4.01720539e-03 4.35884637e+02] [ 4.70092414e-02 9.98894330e-01 -4.98180579e-04 4.71877837e+01] [ 4.03618359e-03 3.08779977e-04 9.99991807e-01 -2.34957822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.531400513 meters 0.07522134282953635 Centerline is valid? [True, True] Translation: X:435.91, Y:47.19, Z:-2.35 [[ 9.98926149e-01 -4.60844192e-02 -4.77242609e-03 4.35914149e+02] [ 4.60821136e-02 9.98937480e-01 -5.92022354e-04 4.71869900e+01] [ 4.79463830e-03 3.71463129e-04 9.99988437e-01 -2.35083948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.561400513 meters 0.08282352582057662 Centerline is valid? [True, True] Translation: X:435.94, Y:47.20, Z:-2.35 [[ 9.98937249e-01 -4.57158443e-02 -5.86811425e-03 4.35940320e+02] [ 4.57123493e-02 9.98954379e-01 -7.28408405e-04 4.71999891e+01] [ 5.89527823e-03 4.59388999e-04 9.99982517e-01 -2.35316035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.591400513 meters 0.08462531796188212 Centerline is valid? [True, True] Translation: X:435.97, Y:47.21, Z:-2.36 [[ 9.98865971e-01 -4.69054791e-02 -8.16383370e-03 4.35968606e+02] [ 4.68987521e-02 9.98899134e-01 -1.01360442e-03 4.72069954e+01] [ 8.20239002e-03 6.29581348e-04 9.99966162e-01 -2.35658802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.621400513 meters 0.08264590890433432 Centerline is valid? [True, True] Translation: X:436.00, Y:47.21, Z:-2.36 [[ 9.98800656e-01 -4.83824823e-02 -7.50894158e-03 4.35998803e+02] [ 4.83768322e-02 9.98828720e-01 -9.32374334e-04 4.72094357e+01] [ 7.54525709e-03 5.67997291e-04 9.99971373e-01 -2.35555132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.651400513 meters 0.07242844000525776 Centerline is valid? [True, True] Translation: X:436.03, Y:47.20, Z:-2.35 [[ 9.98723238e-01 -5.01670955e-02 -5.92934454e-03 4.36029670e+02] [ 5.01636031e-02 9.98740742e-01 -7.36353038e-04 4.72015598e+01] [ 5.95881866e-03 4.37975604e-04 9.99982150e-01 -2.35200471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.681400513 meters 0.07424268819626705 Centerline is valid? [True, True] Translation: X:436.06, Y:47.21, Z:-2.35 [[ 9.98646501e-01 -5.18440162e-02 -4.16705822e-03 4.36058344e+02] [ 5.18423055e-02 9.98655149e-01 -5.17583608e-04 4.72074235e+01] [ 4.18828776e-03 3.00853154e-04 9.99991184e-01 -2.34922142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.711400513 meters 0.07433637835115985 Centerline is valid? [True, True] Translation: X:436.09, Y:47.21, Z:-2.35 [[ 9.98569007e-01 -5.33960711e-02 -2.96609522e-03 4.36087133e+02] [ 5.33952110e-02 9.98573390e-01 -3.68471628e-04 4.72105917e+01] [ 2.98153869e-03 2.09569068e-04 9.99995533e-01 -2.34724442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74140051300003 meters 0.06826180094044361 Centerline is valid? [True, True] Translation: X:436.12, Y:47.21, Z:-2.35 [[ 9.98470986e-01 -5.52050908e-02 -2.84410029e-03 4.36117906e+02] [ 5.52043072e-02 9.98475017e-01 -3.53361537e-04 4.72070020e+01] [ 2.85927044e-03 1.95814656e-04 9.99995893e-01 -2.34677815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.771400513 meters 0.07541307021613178 Centerline is valid? [True, True] Translation: X:436.15, Y:47.22, Z:-2.35 [[ 9.98197387e-01 -5.99485950e-02 -2.85337061e-03 4.36146012e+02] [ 5.99478254e-02 9.98201449e-01 -3.54549121e-04 4.72178339e+01] [ 2.86949340e-03 1.82856643e-04 9.99995866e-01 -2.34826082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80140051300003 meters 0.06279927911636109 Centerline is valid? [True, True] Translation: X:436.18, Y:47.21, Z:-2.35 [[ 9.98081972e-01 -6.18701535e-02 -2.11232842e-03 4.36177380e+02] [ 6.18697360e-02 9.98084198e-01 -2.62492248e-04 4.72082096e+01] [ 2.12452206e-03 1.31299579e-04 9.99997735e-01 -2.34622066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.831400513 meters 0.06645049771061212 Centerline is valid? [True, True] Translation: X:436.21, Y:47.21, Z:-2.35 [[ 9.97968757e-01 -6.36782823e-02 -1.85396034e-03 4.36205993e+02] [ 6.36779638e-02 9.97970472e-01 -2.30410950e-04 4.72143120e+01] [ 1.86486985e-03 1.11886510e-04 9.99998255e-01 -2.34523708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.861400513 meters 0.06195112735193291 Centerline is valid? [True, True] Translation: X:436.24, Y:47.21, Z:-2.35 [[ 9.97765935e-01 -6.66412038e-02 -4.69981334e-03 4.36237232e+02] [ 6.66391890e-02 9.97776968e-01 -5.84179035e-04 4.72089628e+01] [ 4.72829590e-03 2.69682191e-04 9.99988785e-01 -2.34839984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.891400513 meters 0.05731592447342494 Centerline is valid? [True, True] Translation: X:436.27, Y:47.21, Z:-2.35 [[ 9.97677449e-01 -6.77966067e-02 -6.58238896e-03 4.36266887e+02] [ 6.77926779e-02 9.97699094e-01 -8.18423603e-04 4.72062959e+01] [ 6.62272985e-03 3.70284998e-04 9.99978001e-01 -2.35097116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.921400513 meters 0.055633406140610304 Centerline is valid? [True, True] Translation: X:436.30, Y:47.21, Z:-2.35 [[ 9.97626394e-01 -6.85132473e-02 -6.89297357e-03 4.36296040e+02] [ 6.85089498e-02 9.97650133e-01 -8.57936342e-04 4.72073684e+01] [ 6.93555600e-03 3.83669559e-04 9.99975875e-01 -2.35145616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.951400513 meters 0.05627915359268052 Centerline is valid? [True, True] Translation: X:436.32, Y:47.21, Z:-2.35 [[ 9.97623826e-01 -6.86725681e-02 -5.54799529e-03 4.36323729e+02] [ 6.86697843e-02 9.97639205e-01 -6.90933906e-04 4.72106117e+01] [ 5.58234581e-03 3.08312487e-04 9.99984371e-01 -2.34896209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.981400513 meters 0.06289836807778143 Centerline is valid? [True, True] Translation: X:436.35, Y:47.22, Z:-2.35 [[ 9.97658063e-01 -6.82984649e-02 -3.70245901e-03 4.36350667e+02] [ 6.82972216e-02 9.97664912e-01 -4.61348264e-04 4.72205747e+01] [ 3.72532282e-03 2.07400152e-04 9.99993039e-01 -2.34581203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.011400513 meters 0.05815568972729951 Centerline is valid? [True, True] Translation: X:436.38, Y:47.21, Z:-2.34 [[ 9.97822640e-01 -6.59227880e-02 -2.04104078e-03 4.36381340e+02] [ 6.59224051e-02 9.97824720e-01 -2.54395282e-04 4.72146904e+01] [ 2.05337140e-03 1.19291054e-04 9.99997885e-01 -2.34290775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.041400513 meters 0.06149195494038831 Centerline is valid? [True, True] Translation: X:436.41, Y:47.22, Z:-2.34 [[ 9.97942280e-01 -6.40903196e-02 -1.90676710e-03 4.36409998e+02] [ 6.40899820e-02 9.97944095e-01 -2.37680813e-04 4.72245509e+01] [ 1.91808001e-03 1.14987064e-04 9.99998154e-01 -2.34218530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.071400513 meters 0.06113684007104069 Centerline is valid? [True, True] Translation: X:436.44, Y:47.23, Z:-2.34 [[ 9.98043593e-01 -6.25094511e-02 -1.24717991e-03 4.36439323e+02] [ 6.25093054e-02 9.98044369e-01 -1.55471562e-04 4.72289833e+01] [ 1.25445932e-03 7.72070462e-05 9.99999210e-01 -2.34191187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.101400513 meters 0.06288495951077396 Centerline is valid? [True, True] Translation: X:436.47, Y:47.24, Z:-2.34 [[ 9.98122019e-01 -6.12562860e-02 -3.21584597e-04 4.36468131e+02] [ 6.12562762e-02 9.98122070e-01 -4.00476149e-05 4.72353553e+01] [ 3.23433852e-04 2.02733313e-05 9.99999947e-01 -2.34058465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.131400513 meters 0.06749413116229667 Centerline is valid? [True, True] Translation: X:436.50, Y:47.24, Z:-2.34 [[ 9.98288396e-01 -5.84648408e-02 1.46332967e-03 4.36496658e+02] [ 5.84646358e-02 9.98289464e-01 1.82520346e-04 4.72426904e+01] [-1.47149762e-03 -9.66549066e-05 9.99998913e-01 -2.33716140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.161400513 meters 0.06830163219995367 Centerline is valid? [True, True] Translation: X:436.53, Y:47.25, Z:-2.34 [[ 9.98366481e-01 -5.71246184e-02 1.07080046e-03 4.36525639e+02] [ 5.71245078e-02 9.98367053e-01 1.33676903e-04 4.72463975e+01] [-1.07668815e-03 -7.22895902e-05 9.99999418e-01 -2.33751316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.191400513 meters 0.06894788064815953 Centerline is valid? [True, True] Translation: X:436.55, Y:47.25, Z:-2.34 [[ 9.98435897e-01 -5.59083621e-02 -1.24927439e-04 4.36554486e+02] [ 5.59083606e-02 9.98435904e-01 -1.55484604e-05 4.72512995e+01] [ 1.25601329e-04 8.53965274e-06 9.99999992e-01 -2.33954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.221400513 meters 0.07196925140773644 Centerline is valid? [True, True] Translation: X:436.58, Y:47.26, Z:-2.34 [[ 9.98500569e-01 -5.47184115e-02 -1.58402690e-03 4.36582008e+02] [ 5.47181663e-02 9.98501819e-01 -1.97718898e-04 4.72600546e+01] [ 1.59247261e-03 1.10747384e-04 9.99998726e-01 -2.34226865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.251400513 meters 0.07136926324018278 Centerline is valid? [True, True] Translation: X:436.61, Y:47.26, Z:-2.34 [[ 9.98570494e-01 -5.33849325e-02 -2.64886728e-03 4.36611436e+02] [ 5.33842420e-02 9.98573990e-01 -3.30760567e-04 4.72644690e+01] [ 2.66274760e-03 1.88879971e-04 9.99996437e-01 -2.34477437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.281400513 meters 0.07605542232838629 Centerline is valid? [True, True] Translation: X:436.64, Y:47.27, Z:-2.35 [[ 9.98636615e-01 -5.21081300e-02 -3.10715992e-03 4.36638690e+02] [ 5.21071733e-02 9.98641423e-01 -3.88117673e-04 4.72746754e+01] [ 3.12316269e-03 2.25683199e-04 9.99995097e-01 -2.34593939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.311400513 meters 0.08344429630518783 Centerline is valid? [True, True] Translation: X:436.67, Y:47.29, Z:-2.34 [[ 9.98791869e-01 -4.90865245e-02 -2.30562360e-03 4.36666409e+02] [ 4.90859896e-02 9.98794515e-01 -2.88033163e-04 4.72882216e+01] [ 2.31698275e-03 1.74511365e-04 9.99997301e-01 -2.34422402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.341400513 meters 0.0863038071056748 Centerline is valid? [True, True] Translation: X:436.70, Y:47.30, Z:-2.34 [[ 9.98873454e-01 -4.73991340e-02 -2.26827726e-03 4.36695460e+02] [ 4.73986120e-02 9.98876014e-01 -2.83360432e-04 4.72962770e+01] [ 2.27915879e-03 1.75528019e-04 9.99997387e-01 -2.34393201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.371400513 meters 0.07792263946774916 Centerline is valid? [True, True] Translation: X:436.73, Y:47.29, Z:-2.34 [[ 9.98921102e-01 -4.63619512e-02 -2.68360499e-03 4.36725657e+02] [ 4.63612166e-02 9.98924684e-01 -3.35332717e-04 4.72908327e+01] [ 2.69626595e-03 2.10555735e-04 9.99996343e-01 -2.34454357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.401400513 meters 0.08174138247485294 Centerline is valid? [True, True] Translation: X:436.75, Y:47.30, Z:-2.35 [[ 9.98939164e-01 -4.59103793e-02 -3.57530760e-03 4.36752768e+02] [ 4.59090718e-02 9.98945523e-01 -4.46966730e-04 4.73001015e+01] [ 3.59205793e-03 2.82353519e-04 9.99993509e-01 -2.34594752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.431400513 meters 0.08175631065012468 Centerline is valid? [True, True] Translation: X:436.78, Y:47.30, Z:-2.35 [[ 9.98937957e-01 -4.58493958e-02 -4.55980934e-03 4.36780945e+02] [ 4.58472657e-02 9.98948298e-01 -5.70640433e-04 4.73047780e+01] [ 4.58117730e-03 3.60979598e-04 9.99989441e-01 -2.34770580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.461400513 meters 0.07805648547859519 Centerline is valid? [True, True] Translation: X:436.81, Y:47.31, Z:-2.35 [[ 9.98882781e-01 -4.69662641e-02 -5.23067158e-03 4.36811065e+02] [ 4.69634744e-02 9.98896393e-01 -6.54953806e-04 4.73070857e+01] [ 5.25565971e-03 4.08571568e-04 9.99986105e-01 -2.35009516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49140051300003 meters 0.07909311482729386 Centerline is valid? [True, True] Translation: X:436.84, Y:47.31, Z:-2.35 [[ 9.98841929e-01 -4.78770732e-02 -4.75252603e-03 4.36838084e+02] [ 4.78747794e-02 9.98853168e-01 -5.95312510e-04 4.73136739e+01] [ 4.77557750e-03 3.67096961e-04 9.99988529e-01 -2.35016629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.521400513 meters 0.07826552254403595 Centerline is valid? [True, True] Translation: X:436.87, Y:47.32, Z:-2.35 [[ 9.98781012e-01 -4.91363596e-02 -4.70187176e-03 4.36867729e+02] [ 4.91341275e-02 9.98792016e-01 -5.89135838e-04 4.73176455e+01] [ 4.72513996e-03 3.57395322e-04 9.99988773e-01 -2.34985209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55140051300003 meters 0.0758377072317242 Centerline is valid? [True, True] Translation: X:436.90, Y:47.32, Z:-2.35 [[ 9.98704211e-01 -5.06226582e-02 -5.21966899e-03 4.36897456e+02] [ 5.06199269e-02 9.98717775e-01 -6.54143421e-04 4.73195857e+01] [ 5.24609068e-03 3.89076527e-04 9.99986163e-01 -2.35005770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.581400513 meters 0.07293632227650376 Centerline is valid? [True, True] Translation: X:436.93, Y:47.32, Z:-2.35 [[ 9.98628600e-01 -5.19936499e-02 -6.13021158e-03 4.36927554e+02] [ 5.19899077e-02 9.98647315e-01 -7.68343760e-04 4.73210312e+01] [ 6.16186833e-03 4.48580919e-04 9.99980915e-01 -2.35055162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.611400513 meters 0.08237385793333846 Centerline is valid? [True, True] Translation: X:436.96, Y:47.34, Z:-2.35 [[ 9.98514343e-01 -5.42180724e-02 -5.43208616e-03 4.36955111e+02] [ 5.42151664e-02 9.98529044e-01 -6.80913864e-04 4.73394692e+01] [ 5.46101364e-03 3.85400804e-04 9.99985014e-01 -2.35072769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.641400513 meters 0.06955386526031648 Centerline is valid? [True, True] Translation: X:436.99, Y:47.33, Z:-2.35 [[ 9.98463286e-01 -5.52435961e-02 -4.38321729e-03 4.36985617e+02] [ 5.52417131e-02 9.98472859e-01 -5.49590645e-04 4.73285260e+01] [ 4.40688486e-03 3.06609649e-04 9.99990243e-01 -2.34799940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.671400513 meters 0.07826353327019589 Centerline is valid? [True, True] Translation: X:437.01, Y:47.34, Z:-2.35 [[ 9.98425289e-01 -5.60159879e-02 -3.02497754e-03 4.37012325e+02] [ 5.60150937e-02 9.98429850e-01 -3.79596746e-04 4.73435666e+01] [ 3.04149136e-03 2.09554591e-04 9.99995353e-01 -2.34621075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.701400513 meters 0.06511370630633796 Centerline is valid? [True, True] Translation: X:437.04, Y:47.33, Z:-2.34 [[ 9.98375465e-01 -5.69403466e-02 -2.05621718e-03 4.37042892e+02] [ 5.69399350e-02 9.98377572e-01 -2.58203234e-04 4.73324363e+01] [ 2.06758330e-03 1.40702900e-04 9.99997853e-01 -2.34423345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.731400513 meters 0.06950510005838706 Centerline is valid? [True, True] Translation: X:437.07, Y:47.34, Z:-2.34 [[ 9.98311869e-01 -5.80633254e-02 -1.43634998e-03 4.37069741e+02] [ 5.80631257e-02 9.98312897e-01 -1.80414835e-04 4.73426173e+01] [ 1.44440220e-03 9.67113012e-05 9.99998952e-01 -2.34345309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.761400513 meters 0.0719251524901725 Centerline is valid? [True, True] Translation: X:437.10, Y:47.35, Z:-2.34 [[ 9.98127540e-01 -6.11517978e-02 -1.36769082e-03 4.37098717e+02] [ 6.11516194e-02 9.98128474e-01 -1.71863066e-04 4.73506321e+01] [ 1.37564089e-03 8.79047509e-05 9.99999050e-01 -2.34329007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.791400513 meters 0.06351863027552064 Centerline is valid? [True, True] Translation: X:437.13, Y:47.34, Z:-2.34 [[ 9.98011203e-01 -6.30024292e-02 -2.08136126e-03 4.37130253e+02] [ 6.30020201e-02 9.98013365e-01 -2.61579311e-04 4.73434881e+01] [ 2.09370649e-03 1.29929118e-04 9.99997800e-01 -2.34332125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.821400513 meters 0.06401936010853827 Centerline is valid? [True, True] Translation: X:437.16, Y:47.35, Z:-2.34 [[ 9.97885685e-01 -6.49467489e-02 -2.46547496e-03 4.37158871e+02] [ 6.49461807e-02 9.97888720e-01 -3.09897005e-04 4.73472751e+01] [ 2.48039645e-03 1.49118603e-04 9.99996913e-01 -2.34326168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.851400513 meters 0.06396503642974403 Centerline is valid? [True, True] Translation: X:437.19, Y:47.35, Z:-2.34 [[ 9.97767833e-01 -6.67388180e-02 -2.29835112e-03 4.37187083e+02] [ 6.67383289e-02 9.97770471e-01 -2.88938503e-04 4.73511801e+01] [ 2.31251029e-03 1.34905431e-04 9.99997317e-01 -2.34279462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.881400513 meters 0.05744692174772282 Centerline is valid? [True, True] Translation: X:437.22, Y:47.35, Z:-2.34 [[ 9.97513878e-01 -7.04585819e-02 -1.28492442e-03 4.37218180e+02] [ 7.04584321e-02 9.97514703e-01 -1.61550175e-04 4.73488406e+01] [ 1.29311360e-03 7.06147813e-05 9.99999161e-01 -2.34178767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.911400513 meters 0.053585458507730103 Centerline is valid? [True, True] Translation: X:437.25, Y:47.35, Z:-2.34 [[ 9.97364976e-01 -7.25433079e-02 -7.57032710e-04 4.37248434e+02] [ 7.25432564e-02 9.97365263e-01 -9.51783674e-05 4.73483712e+01] [ 7.61942681e-04 4.00099521e-05 9.99999709e-01 -2.34147961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.941400513 meters 0.05089928722291125 Centerline is valid? [True, True] Translation: X:437.28, Y:47.35, Z:-2.34 [[ 9.97193194e-01 -7.48685302e-02 -6.61832724e-04 4.37278835e+02] [ 7.48684914e-02 9.97193413e-01 -8.32149419e-05 4.73489367e+01] [ 6.66205413e-04 3.34309561e-05 9.99999778e-01 -2.34129828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.971400513 meters 0.05259793374744396 Centerline is valid? [True, True] Translation: X:437.31, Y:47.35, Z:-2.34 [[ 9.97001391e-01 -7.73735502e-02 -1.24904243e-03 4.37306876e+02] [ 7.73734140e-02 9.97002172e-01 -1.57073465e-04 4.73548104e+01] [ 1.25745134e-03 5.99597868e-05 9.99999208e-01 -2.34217528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.001400513 meters 0.04668372287575319 Centerline is valid? [True, True] Translation: X:437.34, Y:47.35, Z:-2.34 [[ 9.96780602e-01 -8.01404232e-02 -2.43808213e-03 4.37337648e+02] [ 8.01399122e-02 9.96783578e-01 -3.06701437e-04 4.73516390e+01] [ 2.45481941e-03 1.10326355e-04 9.99996981e-01 -2.34379718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.031400513 meters 0.04913327078422233 Centerline is valid? [True, True] Translation: X:437.37, Y:47.36, Z:-2.35 [[ 9.96556347e-01 -8.28672981e-02 -2.90821869e-03 4.37365803e+02] [ 8.28665825e-02 9.96560583e-01 -3.65897314e-04 4.73584916e+01] [ 2.92853703e-03 1.23643147e-04 9.99995704e-01 -2.34524749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.061400513 meters 0.03967322656930214 Centerline is valid? [True, True] Translation: X:437.40, Y:47.35, Z:-2.34 [[ 9.96137506e-01 -8.77719656e-02 -2.48014777e-03 4.37397437e+02] [ 8.77714602e-02 9.96140589e-01 -3.12070896e-04 4.73512195e+01] [ 2.49796694e-03 9.31793325e-05 9.99996876e-01 -2.34420499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.091400513 meters 0.03653449844436697 Centerline is valid? [True, True] Translation: X:437.43, Y:47.35, Z:-2.34 [[ 9.95944472e-01 -8.99414266e-02 -2.26899651e-03 4.37427550e+02] [ 8.99410092e-02 9.95947053e-01 -2.85540860e-04 4.73515484e+01] [ 2.28548234e-03 8.03070053e-05 9.99997385e-01 -2.34379059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.121400513 meters 0.034196794716345943 Centerline is valid? [True, True] Translation: X:437.46, Y:47.35, Z:-2.34 [[ 9.95655772e-01 -9.30726210e-02 -2.65921566e-03 4.37456536e+02] [ 9.30720586e-02 9.95659319e-01 -3.34731242e-04 4.73533229e+01] [ 2.67882717e-03 8.57784168e-05 9.99996408e-01 -2.34492246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.151400513 meters 0.03404669617019799 Centerline is valid? [True, True] Translation: X:437.48, Y:47.36, Z:-2.35 [[ 9.95541974e-01 -9.42714380e-02 -3.01231260e-03 4.37484173e+02] [ 9.42707214e-02 9.95546527e-01 -3.79309052e-04 4.73565931e+01] [ 3.03465535e-03 9.36452003e-05 9.99995391e-01 -2.34542738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.181400513 meters 0.0353897139667001 Centerline is valid? [True, True] Translation: X:437.51, Y:47.36, Z:-2.35 [[ 9.95422971e-01 -9.55118455e-02 -3.25517713e-03 4.37511586e+02] [ 9.55110145e-02 9.95428289e-01 -4.10132878e-04 4.73617316e+01] [ 3.27946795e-03 9.73504180e-05 9.99994618e-01 -2.34572811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.211400513 meters 0.0353897139667001 Centerline is valid? [True, True] Translation: X:437.54, Y:47.37, Z:-2.35 [[ 9.95406402e-01 -9.56843726e-02 -3.25512108e-03 4.37538888e+02] [ 9.56835411e-02 9.95411720e-01 -4.10577369e-04 4.73653433e+01] [ 3.27947151e-03 9.72298300e-05 9.99994618e-01 -2.34569183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24140051300003 meters 0.03078892117087167 Centerline is valid? [True, True] Translation: X:437.57, Y:47.36, Z:-2.35 [[ 9.95281941e-01 -9.69700600e-02 -3.26564165e-03 4.37568357e+02] [ 9.69692282e-02 9.95287295e-01 -4.12451636e-04 4.73640419e+01] [ 3.29024711e-03 9.38389140e-05 9.99994583e-01 -2.34551777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.271400513 meters 0.027731292136059557 Centerline is valid? [True, True] Translation: X:437.60, Y:47.37, Z:-2.35 [[ 9.95153265e-01 -9.82787386e-02 -3.35679441e-03 4.37597592e+02] [ 9.82778653e-02 9.95158922e-01 -4.24524039e-04 4.73657475e+01] [ 3.38226560e-03 9.25678947e-05 9.99994276e-01 -2.34539214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30140051300003 meters 0.0280281820659371 Centerline is valid? [True, True] Translation: X:437.63, Y:47.37, Z:-2.35 [[ 9.95022735e-01 -9.95954801e-02 -3.23996048e-03 4.37625351e+02] [ 9.95946718e-02 9.95028006e-01 -4.10282386e-04 4.73718279e+01] [ 3.26471369e-03 8.55575006e-05 9.99994667e-01 -2.34552010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.331400513 meters 0.027529510155007316 Centerline is valid? [True, True] Translation: X:437.65, Y:47.38, Z:-2.35 [[ 9.94818639e-01 -1.01613082e-01 -3.26457189e-03 4.37652786e+02] [ 1.01612271e-01 9.94823992e-01 -4.13931890e-04 4.73765535e+01] [ 3.28973533e-03 8.00665972e-05 9.99994586e-01 -2.34611198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.361400513 meters 0.020292175486383072 Centerline is valid? [True, True] Translation: X:437.68, Y:47.37, Z:-2.35 [[ 9.94240342e-01 -1.07118720e-01 -3.42389344e-03 4.37683404e+02] [ 1.07117859e-01 9.94246235e-01 -4.34377408e-04 4.73740189e+01] [ 3.45072312e-03 6.51154079e-05 9.99994044e-01 -2.34563220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.391400513 meters 0.018799557955247292 Centerline is valid? [True, True] Translation: X:437.71, Y:47.38, Z:-2.34 [[ 9.93958908e-01 -1.09720570e-01 -2.66191232e-03 4.37710893e+02] [ 1.09720059e-01 9.93962471e-01 -3.37799756e-04 4.73774533e+01] [ 2.68290453e-03 4.36939007e-05 9.99996400e-01 -2.34430408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.421400513 meters 0.01682721481999615 Centerline is valid? [True, True] Translation: X:437.74, Y:47.38, Z:-2.34 [[ 9.93687359e-01 -1.12169098e-01 -1.87758182e-03 4.37739143e+02] [ 1.12168847e-01 9.93689133e-01 -2.38413867e-04 4.73801901e+01] [ 1.89247532e-03 2.63026572e-05 9.99998209e-01 -2.34277609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.451400513 meters 0.013822518754051926 Centerline is valid? [True, True] Translation: X:437.77, Y:47.38, Z:-2.34 [[ 9.93388868e-01 -1.14787786e-01 -1.52356389e-03 4.37768532e+02] [ 1.14787624e-01 9.93390036e-01 -1.93665249e-04 4.73812026e+01] [ 1.53572359e-03 1.74986234e-05 9.99998821e-01 -2.34177833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.481400513 meters 0.009096533876374172 Centerline is valid? [True, True] Translation: X:437.80, Y:47.38, Z:-2.34 [[ 9.92676945e-01 -1.20755381e-01 -3.25898540e-03 4.37796515e+02] [ 1.20754669e-01 9.92682294e-01 -4.15003157e-04 4.73795441e+01] [ 3.28525097e-03 1.84263614e-05 9.99994603e-01 -2.34360944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.511400513 meters 0.01554498185125703 Centerline is valid? [True, True] Translation: X:437.83, Y:47.38, Z:-2.34 [[ 9.92259453e-01 -1.24109270e-01 -4.25049292e-03 4.37825390e+02] [ 1.24108087e-01 9.92268557e-01 -5.42028243e-04 4.73806892e+01] [ 4.28490120e-03 1.03121036e-05 9.99990820e-01 -2.34496058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.541400513 meters 0.006772330693887152 Centerline is valid? [True, True] Translation: X:437.85, Y:47.38, Z:-2.34 [[ 9.91951492e-01 -1.26558338e-01 -3.90187554e-03 4.37853592e+02] [ 1.26557358e-01 9.91959166e-01 -4.97925680e-04 4.73828339e+01] [ 3.93351786e-03 1.07061304e-07 9.99992264e-01 -2.34481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.571400513 meters 0.006966259919884714 Centerline is valid? [True, True] Translation: X:437.88, Y:47.39, Z:-2.34 [[ 9.91680395e-01 -1.28695858e-01 -2.71468276e-03 4.37881669e+02] [ 1.28695391e-01 9.91684111e-01 -3.46743914e-04 4.73852628e+01] [ 2.73673227e-03 -5.50801791e-06 9.99996255e-01 -2.34257808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.601400513 meters 0.007840986593189197 Centerline is valid? [True, True] Translation: X:437.91, Y:47.39, Z:-2.34 [[ 9.91399929e-01 -1.30866786e-01 2.53882316e-04 4.37910548e+02] [ 1.30866782e-01 9.91399962e-01 3.27095512e-05 4.73877217e+01] [-2.55979512e-04 7.96514840e-07 9.99999967e-01 -2.33724827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.631400513 meters 0.008251076824305606 Centerline is valid? [True, True] Translation: X:437.94, Y:47.39, Z:-2.34 [[ 9.91315755e-01 -1.31501273e-01 6.99774713e-04 4.37938021e+02] [ 1.31501243e-01 9.91316002e-01 8.96789784e-05 4.73908449e+01] [-7.05490770e-04 3.12106030e-06 9.99999751e-01 -2.33585077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.661400513 meters 0.008355767118885095 Centerline is valid? [True, True] Translation: X:437.97, Y:47.40, Z:-2.34 [[ 9.91234853e-01 -1.32110076e-01 6.27041629e-04 4.37966116e+02] [ 1.32110051e-01 9.91235052e-01 8.06636125e-05 4.73952181e+01] [-6.32202118e-04 2.88191780e-06 9.99999800e-01 -2.33564629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.691400513 meters 0.008391531316475825 Centerline is valid? [True, True] Translation: X:437.99, Y:47.40, Z:-2.34 [[ 9.91179508e-01 -1.32524073e-01 7.44217431e-04 4.37993281e+02] [ 1.32524038e-01 9.91179787e-01 9.58410946e-05 4.74003127e+01] [-7.50354527e-04 3.63097029e-06 9.99999718e-01 -2.33552022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.721400513 meters 0.008703872073699374 Centerline is valid? [True, True] Translation: X:438.02, Y:47.41, Z:-2.34 [[ 9.91083663e-01 -1.33237059e-01 1.02934438e-03 4.38021305e+02] [ 1.33236993e-01 9.91084197e-01 1.32665539e-04 4.74054907e+01] [-1.03784291e-03 5.66410181e-06 9.99999461e-01 -2.33541933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.751400513 meters 0.009419398519340497 Centerline is valid? [True, True] Translation: X:438.05, Y:47.41, Z:-2.34 [[ 9.90917666e-01 -1.34468669e-01 5.96037905e-04 4.38049439e+02] [ 1.34468647e-01 9.90917846e-01 7.69973771e-05 4.74110213e+01] [-6.00978331e-04 3.85034956e-06 9.99999819e-01 -2.33630065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.781400513 meters 0.010621791047518349 Centerline is valid? [True, True] Translation: X:438.08, Y:47.41, Z:-2.34 [[ 9.90786431e-01 -1.35432865e-01 4.33551147e-04 4.38077519e+02] [ 1.35432853e-01 9.90786526e-01 5.60040279e-05 4.74141433e+01] [-4.37141421e-04 3.22903793e-06 9.99999904e-01 -2.33677368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.811400513 meters 0.012823381977565631 Centerline is valid? [True, True] Translation: X:438.10, Y:47.42, Z:-2.34 [[ 9.90553094e-01 -1.37129703e-01 1.09958008e-04 4.38104851e+02] [ 1.37129702e-01 9.90553100e-01 1.43201596e-05 4.74160265e+01] [-1.10882965e-04 8.93630507e-07 9.99999994e-01 -2.33731647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.841400513 meters 0.01414019582546883 Centerline is valid? [True, True] Translation: X:438.13, Y:47.42, Z:-2.34 [[ 9.90222349e-01 -1.39497337e-01 -4.38871956e-04 4.38133457e+02] [ 1.39497326e-01 9.90222446e-01 -5.64701999e-05 4.74197568e+01] [ 4.42458304e-04 -5.30341027e-06 9.99999902e-01 -2.33822015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.871400513 meters 0.0172038406732764 Centerline is valid? [True, True] Translation: X:438.16, Y:47.42, Z:-2.34 [[ 9.89634696e-01 -1.43593254e-01 -2.03603470e-03 4.38161569e+02] [ 1.43593017e-01 9.89636790e-01 -2.63032628e-04 4.74225021e+01] [ 2.05270456e-03 -3.20541510e-05 9.99997893e-01 -2.34014302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.901400513 meters 0.018277512039962397 Centerline is valid? [True, True] Translation: X:438.19, Y:47.43, Z:-2.34 [[ 9.89430641e-01 -1.44979915e-01 -2.79838620e-03 4.38189926e+02] [ 1.44979472e-01 9.89434597e-01 -3.61890208e-04 4.74263243e+01] [ 2.82128693e-03 -4.76432915e-05 9.99996019e-01 -2.34107299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.931400513 meters 0.01838121838856641 Centerline is valid? [True, True] Translation: X:438.22, Y:47.43, Z:-2.34 [[ 9.89310845e-01 -1.45787804e-01 -3.15717888e-03 4.38218603e+02] [ 1.45787241e-01 9.89315881e-01 -4.08874853e-04 4.74317475e+01] [ 3.18305618e-03 -5.57720730e-05 9.99994933e-01 -2.34162322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.961400513 meters 0.020850259742529326 Centerline is valid? [True, True] Translation: X:438.25, Y:47.43, Z:-2.34 [[ 9.89243772e-01 -1.46236048e-01 -3.43201488e-03 4.38246162e+02] [ 1.46235385e-01 9.89249723e-01 -4.44853334e-04 4.74342697e+01] [ 3.46017336e-03 -6.18136266e-05 9.99994012e-01 -2.34245724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99140051300003 meters 0.019612529338612 Centerline is valid? [True, True] Translation: X:438.27, Y:47.44, Z:-2.34 [[ 9.89186139e-01 -1.46631282e-01 -3.17009024e-03 4.38273142e+02] [ 1.46630717e-01 9.89191217e-01 -4.11348407e-04 4.74415158e+01] [ 3.19614197e-03 -5.79324614e-05 9.99994891e-01 -2.34207317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.021400513 meters 0.020248336827502243 Centerline is valid? [True, True] Translation: X:438.30, Y:47.45, Z:-2.34 [[ 9.89082088e-01 -1.47333051e-01 -3.09766360e-03 4.38301803e+02] [ 1.47332513e-01 9.89086937e-01 -4.02513454e-04 4.74474544e+01] [ 3.12316213e-03 -5.82677149e-05 9.99995121e-01 -2.34087531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05140051300003 meters 0.02165017283949561 Centerline is valid? [True, True] Translation: X:438.33, Y:47.45, Z:-2.34 [[ 9.89022115e-01 -1.47721813e-01 -3.67711764e-03 4.38329123e+02] [ 1.47721056e-01 9.89028948e-01 -4.78222480e-04 4.74504954e+01] [ 3.70741968e-03 -7.02150919e-05 9.99993125e-01 -2.34148048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.081400513 meters 0.02139755529603741 Centerline is valid? [True, True] Translation: X:438.36, Y:47.46, Z:-2.34 [[ 9.88900346e-01 -1.48506947e-01 -4.66828347e-03 4.38357583e+02] [ 1.48505732e-01 9.88911360e-01 -6.07810634e-04 4.74566694e+01] [ 4.70678266e-03 -9.22027098e-05 9.99988919e-01 -2.34256560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.111400513 meters 0.023613512716081118 Centerline is valid? [True, True] Translation: X:438.39, Y:47.46, Z:-2.34 [[ 9.88837244e-01 -1.48913597e-01 -5.06421384e-03 4.38385408e+02] [ 1.48912169e-01 9.88850206e-01 -6.59953390e-04 4.74598969e+01] [ 5.10602493e-03 -1.01536577e-04 9.99986959e-01 -2.34408850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.141400513 meters 0.021944259918029452 Centerline is valid? [True, True] Translation: X:438.41, Y:47.47, Z:-2.34 [[ 9.88777720e-01 -1.49308123e-01 -5.07001419e-03 4.38412156e+02] [ 1.49306693e-01 9.88790713e-01 -6.61578451e-04 4.74697859e+01] [ 5.11196198e-03 -1.02833020e-04 9.99986929e-01 -2.34384503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.171400513 meters 0.021329489938001194 Centerline is valid? [True, True] Translation: X:438.44, Y:47.48, Z:-2.34 [[ 9.88787266e-01 -1.49249408e-01 -4.93528594e-03 4.38439609e+02] [ 1.49248048e-01 9.88799577e-01 -6.44980637e-04 4.74759565e+01] [ 4.97627163e-03 -9.88331502e-05 9.99987613e-01 -2.34332556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.201400513 meters 0.021816578851659423 Centerline is valid? [True, True] Translation: X:438.47, Y:47.48, Z:-2.34 [[ 9.88831496e-01 -1.48935741e-01 -5.51519712e-03 4.38466685e+02] [ 1.48934030e-01 9.88846871e-01 -7.21903603e-04 4.74813581e+01] [ 5.56120267e-03 -1.07559515e-04 9.99984531e-01 -2.34383392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.231400513 meters 0.021785266142860086 Centerline is valid? [True, True] Translation: X:438.49, Y:47.49, Z:-2.35 [[ 9.88914513e-01 -1.48356554e-01 -6.19827140e-03 4.38494391e+02] [ 1.48354375e-01 9.88933931e-01 -8.12440614e-04 4.74883020e+01] [ 6.25021179e-03 -1.16106366e-04 9.99980460e-01 -2.34504336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.261400513 meters 0.021512826180135062 Centerline is valid? [True, True] Translation: X:438.52, Y:47.50, Z:-2.35 [[ 9.88978938e-01 -1.47895797e-01 -6.89148451e-03 4.38521077e+02] [ 1.47893088e-01 9.89002941e-01 -9.03885124e-04 4.74960455e+01] [ 6.94937926e-03 -1.25279574e-04 9.99975845e-01 -2.34655585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.291400513 meters 0.020993385425771303 Centerline is valid? [True, True] Translation: X:438.55, Y:47.50, Z:-2.35 [[ 9.88961233e-01 -1.48016515e-01 -6.84035888e-03 4.38548647e+02] [ 1.48013841e-01 9.88984882e-01 -8.98331272e-04 4.75037921e+01] [ 6.89797938e-03 -1.24052985e-04 9.99976201e-01 -2.34651206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.321400513 meters 0.020759261346634562 Centerline is valid? [True, True] Translation: X:438.58, Y:47.51, Z:-2.34 [[ 9.88829495e-01 -1.48954877e-01 -5.35477537e-03 4.38577041e+02] [ 1.48953247e-01 9.88843989e-01 -7.04134478e-04 4.75122477e+01] [ 5.39992170e-03 -1.01342238e-04 9.99985415e-01 -2.34308700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.351400513 meters 0.022715859576839647 Centerline is valid? [True, True] Translation: X:438.60, Y:47.52, Z:-2.34 [[ 9.88727482e-01 -1.49663573e-01 -4.33377921e-03 4.38604341e+02] [ 1.49662511e-01 9.88736976e-01 -5.70246976e-04 4.75165986e+01] [ 4.37031295e-03 -8.47854205e-05 9.99990447e-01 -2.34138742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.381400513 meters 0.021711476038027956 Centerline is valid? [True, True] Translation: X:438.63, Y:47.53, Z:-2.34 [[ 9.88607808e-01 -1.50482739e-01 -3.08983582e-03 4.38631776e+02] [ 1.50482202e-01 9.88612635e-01 -4.06934165e-04 4.75262080e+01] [ 3.11588730e-03 -6.26670054e-05 9.99995144e-01 -2.33930136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.411400513 meters 0.024492235491252203 Centerline is valid? [True, True] Translation: X:438.66, Y:47.53, Z:-2.34 [[ 9.88509087e-01 -1.51144165e-01 -2.28609087e-03 4.38659267e+02] [ 1.51143872e-01 9.88511729e-01 -3.01309154e-04 4.75317072e+01] [ 2.30536876e-03 -4.76817885e-05 9.99997341e-01 -2.33912630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.441400513 meters 0.025191881452550264 Centerline is valid? [True, True] Translation: X:438.69, Y:47.54, Z:-2.34 [[ 9.88357103e-01 -1.52132042e-01 -2.46560960e-03 4.38686807e+02] [ 1.52131704e-01 9.88360177e-01 -3.25126396e-04 4.75396162e+01] [ 2.48637248e-03 -5.37564074e-05 9.99996908e-01 -2.33958367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.471400513 meters 0.028684374032168048 Centerline is valid? [True, True] Translation: X:438.71, Y:47.55, Z:-2.34 [[ 9.87990221e-01 -1.54470605e-01 -3.76240239e-03 4.38713335e+02] [ 1.54469834e-01 9.87997381e-01 -4.96420634e-04 4.75473513e+01] [ 3.79392610e-03 -9.07189400e-05 9.99992799e-01 -2.34175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.501400513 meters 0.027919958697904406 Centerline is valid? [True, True] Translation: X:438.74, Y:47.56, Z:-2.34 [[ 9.87710579e-01 -1.56239133e-01 -4.14064356e-03 4.38741271e+02] [ 1.56238212e-01 9.87719253e-01 -5.46920756e-04 4.75556422e+01] [ 4.17524379e-03 -1.06727330e-04 9.99991278e-01 -2.34158718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.531400513 meters 0.03062021149158731 Centerline is valid? [True, True] Translation: X:438.77, Y:47.56, Z:-2.34 [[ 9.87387801e-01 -1.58264694e-01 -4.19716274e-03 4.38769055e+02] [ 1.58263765e-01 9.87396715e-01 -5.54794444e-04 4.75589508e+01] [ 4.23206908e-03 -1.16461511e-04 9.99991038e-01 -2.34095947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.561400513 meters 0.035286196869226585 Centerline is valid? [True, True] Translation: X:438.80, Y:47.56, Z:-2.34 [[ 9.87067226e-01 -1.60260537e-01 -3.85383535e-03 4.38797012e+02] [ 1.60259768e-01 9.87074742e-01 -5.09641617e-04 4.75597696e+01] [ 3.88569898e-03 -1.14564221e-04 9.99992444e-01 -2.34033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.591400513 meters 0.03686437567094763 Centerline is valid? [True, True] Translation: X:438.83, Y:47.56, Z:-2.34 [[ 9.86746471e-01 -1.62241080e-01 -3.03885108e-03 4.38825723e+02] [ 1.62240611e-01 9.86751145e-01 -4.02013535e-04 4.75643130e+01] [ 3.06381290e-03 -9.63396185e-05 9.99995302e-01 -2.33866426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.621400513 meters 0.03764134243762643 Centerline is valid? [True, True] Translation: X:438.85, Y:47.57, Z:-2.34 [[ 9.86197128e-01 -1.65559914e-01 -2.26718275e-03 4.38853909e+02] [ 1.65559661e-01 9.86199731e-01 -3.00011296e-04 4.75720587e+01] [ 2.28556486e-03 -7.94837279e-05 9.99997385e-01 -2.33731522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.651400513 meters 0.04035104530542539 Centerline is valid? [True, True] Translation: X:438.88, Y:47.57, Z:-2.34 [[ 9.86001280e-01 -1.66716259e-01 -2.67686355e-03 4.38881567e+02] [ 1.66715910e-01 9.86004909e-01 -3.54363159e-04 4.75743548e+01] [ 2.69847870e-03 -9.68732149e-05 9.99996354e-01 -2.33820880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.681400513 meters 0.03896874545636204 Centerline is valid? [True, True] Translation: X:438.91, Y:47.58, Z:-2.34 [[ 9.85851377e-01 -1.67582952e-01 -3.60786348e-03 4.38909686e+02] [ 1.67582323e-01 9.85857970e-01 -4.78113864e-04 4.75816940e+01] [ 3.63696470e-03 -1.33264931e-04 9.99993377e-01 -2.33939616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.711400513 meters 0.04114115519034755 Centerline is valid? [True, True] Translation: X:438.94, Y:47.58, Z:-2.34 [[ 9.85799978e-01 -1.67869884e-01 -4.25502622e-03 4.38937704e+02] [ 1.67869010e-01 9.85809148e-01 -5.64323590e-04 4.75842394e+01] [ 4.28937671e-03 -1.57976857e-04 9.99990788e-01 -2.34063717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74140051300003 meters 0.041238342938832405 Centerline is valid? [True, True] Translation: X:438.96, Y:47.59, Z:-2.34 [[ 9.85745894e-01 -1.68184671e-01 -4.35304448e-03 4.38964978e+02] [ 1.68183756e-01 9.85755492e-01 -5.77991965e-04 4.75891844e+01] [ 4.38824689e-03 -1.62358164e-04 9.99990358e-01 -2.34139861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.771400513 meters 0.04170886876390771 Centerline is valid? [True, True] Translation: X:438.99, Y:47.59, Z:-2.34 [[ 9.85852979e-01 -1.67563779e-01 -4.03542885e-03 4.38992460e+02] [ 1.67562986e-01 9.85861227e-01 -5.36215350e-04 4.75939062e+01] [ 4.06822311e-03 -1.47559008e-04 9.99991714e-01 -2.34169247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80140051300003 meters 0.04410042384661304 Centerline is valid? [True, True] Translation: X:439.02, Y:47.60, Z:-2.34 [[ 9.85940344e-01 -1.67046348e-01 -4.14185698e-03 4.39020341e+02] [ 1.67045507e-01 9.85949033e-01 -5.50603989e-04 4.75951122e+01] [ 4.17563627e-03 -1.49015913e-04 9.99991271e-01 -2.34274527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.831400513 meters 0.040401219945271266 Centerline is valid? [True, True] Translation: X:439.05, Y:47.60, Z:-2.34 [[ 9.86081360e-01 -1.66192594e-01 -4.85521002e-03 4.39048341e+02] [ 1.66191425e-01 9.86093298e-01 -6.46112001e-04 4.76035829e+01] [ 4.89506909e-03 -1.69775269e-04 9.99988005e-01 -2.34374241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.861400513 meters 0.034678710973419104 Centerline is valid? [True, True] Translation: X:439.08, Y:47.62, Z:-2.35 [[ 9.86555885e-01 -1.63300037e-01 -6.37046494e-03 4.39076715e+02] [ 1.63297961e-01 9.86576432e-01 -8.48163869e-04 4.76150925e+01] [ 6.42345577e-03 -2.03522881e-04 9.99979349e-01 -2.34560334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.891400513 meters 0.034752195223536224 Centerline is valid? [True, True] Translation: X:439.10, Y:47.62, Z:-2.35 [[ 9.86847518e-01 -1.61524920e-01 -6.45580370e-03 4.39103863e+02] [ 1.61522748e-01 9.86868615e-01 -8.59871583e-04 4.76205371e+01] [ 6.50992074e-03 -1.94197015e-04 9.99978791e-01 -2.34602622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.921400513 meters 0.032081473649903054 Centerline is valid? [True, True] Translation: X:439.13, Y:47.63, Z:-2.35 [[ 9.87136028e-01 -1.59755477e-01 -6.37573968e-03 4.39132136e+02] [ 1.59753316e-01 9.87156601e-01 -8.50081877e-04 4.76303837e+01] [ 6.42965875e-03 -1.79399107e-04 9.99979313e-01 -2.34558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.951400513 meters 0.03319097082149587 Centerline is valid? [True, True] Translation: X:439.16, Y:47.64, Z:-2.35 [[ 9.87396271e-01 -1.58155658e-01 -5.94905565e-03 4.39159427e+02] [ 1.58153745e-01 9.87414180e-01 -7.93661637e-04 4.76356741e+01] [ 5.99970398e-03 -1.57206890e-04 9.99981989e-01 -2.34565604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.981400513 meters 0.03569013964728454 Centerline is valid? [True, True] Translation: X:439.18, Y:47.65, Z:-2.35 [[ 9.87636936e-01 -1.56656251e-01 -5.66589627e-03 4.39184994e+02] [ 1.56649288e-01 9.87652905e-01 -1.65537750e-03 4.76478290e+01] [ 5.85526415e-03 7.47353348e-04 9.99982579e-01 -2.34542131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.011400513 meters 0.026894399374719456 Centerline is valid? [True, True] Translation: X:439.21, Y:47.66, Z:-2.35 [[ 9.87796427e-01 -1.55625791e-01 -6.23155836e-03 4.39214724e+02] [ 1.55629086e-01 9.87815563e-01 4.44615822e-05 4.76551239e+01] [ 6.14871096e-03 -1.01373072e-03 9.99980583e-01 -2.34553165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.041400513 meters 0.025420677173217877 Centerline is valid? [True, True] Translation: X:439.24, Y:47.66, Z:-2.35 [[ 9.88007343e-01 -1.54250307e-01 -6.95226406e-03 4.39242175e+02] [ 1.54247583e-01 9.88031791e-01 -9.29561957e-04 4.76643970e+01] [ 7.01244313e-03 -1.53955887e-04 9.99975401e-01 -2.34663232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.071400513 meters 0.025347474240103605 Centerline is valid? [True, True] Translation: X:439.27, Y:47.67, Z:-2.35 [[ 9.88083395e-01 -1.53782735e-01 -6.48650499e-03 4.39269849e+02] [ 1.53780350e-01 9.88104676e-01 -8.67810651e-04 4.76694390e+01] [ 6.54280020e-03 -1.40027712e-04 9.99978586e-01 -2.34605330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.101400513 meters 0.025336491566773853 Centerline is valid? [True, True] Translation: X:439.30, Y:47.67, Z:-2.35 [[ 9.88137142e-01 -1.53461907e-01 -5.86782637e-03 4.39297701e+02] [ 1.53459947e-01 9.88154557e-01 -7.85382990e-04 4.76741862e+01] [ 5.91884574e-03 -1.24410222e-04 9.99982476e-01 -2.34503921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.131400513 meters 0.024683959390795485 Centerline is valid? [True, True] Translation: X:439.32, Y:47.68, Z:-2.34 [[ 9.88136905e-01 -1.53483222e-01 -5.32509709e-03 4.39324946e+02] [ 1.53481604e-01 9.88151247e-01 -7.13583729e-04 4.76800068e+01] [ 5.37152446e-03 -1.12186027e-04 9.99985567e-01 -2.34367105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.161400513 meters 0.024683959390795485 Centerline is valid? [True, True] Translation: X:439.35, Y:47.68, Z:-2.34 [[ 9.88107759e-01 -1.53670755e-01 -5.32496164e-03 4.39352201e+02] [ 1.53669134e-01 9.88122101e-01 -7.14593592e-04 4.76838479e+01] [ 5.37152442e-03 -1.12186773e-04 9.99985567e-01 -2.34363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.191400513 meters 0.02407250539011712 Centerline is valid? [True, True] Translation: X:439.38, Y:47.69, Z:-2.34 [[ 9.88169758e-01 -1.53293544e-01 -4.64954039e-03 4.39379800e+02] [ 1.53292300e-01 9.88180692e-01 -6.24738392e-04 4.76917007e+01] [ 4.69035440e-03 -9.53911546e-05 9.99988996e-01 -2.34215723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.221400513 meters 0.021824842055983108 Centerline is valid? [True, True] Translation: X:439.41, Y:47.70, Z:-2.34 [[ 9.88316541e-01 -1.52338064e-01 -4.85072100e-03 4.39407738e+02] [ 1.52336696e-01 9.88328440e-01 -6.52611850e-04 4.77008897e+01] [ 4.89352315e-03 -9.39557221e-05 9.99988022e-01 -2.34159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.251400513 meters 0.020737613242525557 Centerline is valid? [True, True] Translation: X:439.44, Y:47.71, Z:-2.34 [[ 9.88615865e-01 -1.50400166e-01 -4.29672282e-03 4.39435023e+02] [ 1.50399072e-01 9.88625199e-01 -5.78546430e-04 4.77077635e+01] [ 4.33486194e-03 -7.42629448e-05 9.99990602e-01 -2.34077340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.281400513 meters 0.01751726566270585 Centerline is valid? [True, True] Translation: X:439.46, Y:47.72, Z:-2.34 [[ 9.89052071e-01 -1.47525454e-01 -3.49864016e-03 4.39463315e+02] [ 1.47524709e-01 9.89058258e-01 -4.71365586e-04 4.77169864e+01] [ 3.52989736e-03 -4.99307621e-05 9.99993769e-01 -2.33928035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.311400513 meters 0.013303120162800147 Centerline is valid? [True, True] Translation: X:439.49, Y:47.73, Z:-2.34 [[ 9.89601241e-01 -1.43821026e-01 -2.21256371e-03 4.39491332e+02] [ 1.43820719e-01 9.89603715e-01 -2.98312739e-04 4.77271639e+01] [ 2.23246491e-03 -2.30018459e-05 9.99997508e-01 -2.33726958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.341400513 meters 0.009587920352637402 Centerline is valid? [True, True] Translation: X:439.52, Y:47.74, Z:-2.34 [[ 9.90197484e-01 -1.39668690e-01 -1.26489774e-03 4.39517893e+02] [ 1.39668586e-01 9.90198292e-01 -1.70663832e-04 4.77366385e+01] [ 1.27633598e-03 -7.67558160e-06 9.99999185e-01 -2.33624127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.371400513 meters 0.006931259056129754 Centerline is valid? [True, True] Translation: X:439.55, Y:47.75, Z:-2.34 [[ 9.90793227e-01 -1.35381411e-01 -8.09599961e-04 4.39545509e+02] [ 1.35381367e-01 9.90793557e-01 -1.09198362e-04 4.77477148e+01] [ 8.16929854e-04 -1.41175199e-06 9.99999666e-01 -2.33551342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.401400513 meters 0.010608616521054095 Centerline is valid? [True, True] Translation: X:439.57, Y:47.77, Z:-2.34 [[ 9.91977818e-01 -1.26410760e-01 -5.73344484e-04 4.39572332e+02] [ 1.26410736e-01 9.91977984e-01 -7.73612978e-05 4.77672616e+01] [ 5.78524406e-04 4.26379299e-06 9.99999833e-01 -2.33553506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.431400513 meters 0.014968067594397495 Centerline is valid? [True, True] Translation: X:439.60, Y:47.78, Z:-2.34 [[ 9.92469332e-01 -1.22486153e-01 -1.32921946e-03 4.39598830e+02] [ 1.22486022e-01 9.92470222e-01 -1.79875829e-04 4.77790423e+01] [ 1.34124303e-03 1.57104395e-05 9.99999100e-01 -2.33669421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.461400513 meters 0.021107809983145567 Centerline is valid? [True, True] Translation: X:439.63, Y:47.79, Z:-2.34 [[ 9.93286749e-01 -1.15627360e-01 -3.42738193e-03 4.39626972e+02] [ 1.15626447e-01 9.93292661e-01 -4.64088470e-04 4.77913806e+01] [ 3.45805464e-03 6.46769331e-05 9.99994019e-01 -2.33943072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49140051300003 meters 0.02390618210182966 Centerline is valid? [True, True] Translation: X:439.66, Y:47.80, Z:-2.34 [[ 9.93595640e-01 -1.12918179e-01 -4.14583724e-03 4.39655255e+02] [ 1.12916819e-01 9.93604286e-01 -5.61529644e-04 4.77992771e+01] [ 4.18272856e-03 8.97986527e-05 9.99991248e-01 -2.33991166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.521400513 meters 0.024978596537454326 Centerline is valid? [True, True] Translation: X:439.68, Y:47.81, Z:-2.34 [[ 9.93824617e-01 -1.10866806e-01 -4.60243277e-03 4.39683209e+02] [ 1.10865104e-01 9.93835268e-01 -6.23987071e-04 4.78053228e+01] [ 4.64323946e-03 1.09884522e-04 9.99989214e-01 -2.34059355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55140051300003 meters 0.026571769255628302 Centerline is valid? [True, True] Translation: X:439.71, Y:47.81, Z:-2.34 [[ 9.94008484e-01 -1.09210903e-01 -4.48477580e-03 4.39710948e+02] [ 1.09209268e-01 9.94018594e-01 -6.08545526e-04 4.78114794e+01] [ 4.52441034e-03 1.15120332e-04 9.99989758e-01 -2.34122168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.581400513 meters 0.03305025919349691 Centerline is valid? [True, True] Translation: X:439.74, Y:47.82, Z:-2.34 [[ 9.94132135e-01 -1.08088547e-01 -4.26192864e-03 4.39737863e+02] [ 1.08087059e-01 9.94141264e-01 -5.78599850e-04 4.78223973e+01] [ 4.29949914e-03 1.14545373e-04 9.99990751e-01 -2.34191124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.611400513 meters 0.03178674049601412 Centerline is valid? [True, True] Translation: X:439.77, Y:47.82, Z:-2.34 [[ 9.94181429e-01 -1.07634523e-01 -4.25398784e-03 4.39766819e+02] [ 1.07633034e-01 9.94190523e-01 -5.78072688e-04 4.78232289e+01] [ 4.29149497e-03 1.16839512e-04 9.99990785e-01 -2.34182872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.641400513 meters 0.031136007257229186 Centerline is valid? [True, True] Translation: X:439.80, Y:47.82, Z:-2.34 [[ 9.94206308e-01 -1.07356605e-01 -5.32702624e-03 4.39796193e+02] [ 1.07354261e-01 9.94220568e-01 -7.24807885e-04 4.78243887e+01] [ 5.37405197e-03 1.48729606e-04 9.99985549e-01 -2.34340861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.671400513 meters 0.031426466926121784 Centerline is valid? [True, True] Translation: X:439.82, Y:47.83, Z:-2.34 [[ 9.94186719e-01 -1.07527544e-01 -5.53124202e-03 4.39824044e+02] [ 1.07525014e-01 9.94202094e-01 -7.53604593e-04 4.78281567e+01] [ 5.58020565e-03 1.54476800e-04 9.99984419e-01 -2.34419642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.701400513 meters 0.03135935916722913 Centerline is valid? [True, True] Translation: X:439.85, Y:47.83, Z:-2.34 [[ 9.94174561e-01 -1.07660193e-01 -5.12107388e-03 4.39851565e+02] [ 1.07658022e-01 9.94187740e-01 -6.98661519e-04 4.78307183e+01] [ 5.16652690e-03 1.43266827e-04 9.99986643e-01 -2.34410458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.731400513 meters 0.02964765600202655 Centerline is valid? [True, True] Translation: X:439.88, Y:47.83, Z:-2.34 [[ 9.94184442e-01 -1.07609689e-01 -4.17742616e-03 4.39879554e+02] [ 1.07608240e-01 9.94193211e-01 -5.70673240e-04 4.78301604e+01] [ 4.21457870e-03 1.17828979e-04 9.99991112e-01 -2.34270272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.761400513 meters 0.03259431803708063 Centerline is valid? [True, True] Translation: X:439.91, Y:47.83, Z:-2.34 [[ 9.94208496e-01 -1.07420580e-01 -3.20721418e-03 4.39907179e+02] [ 1.07419724e-01 9.94213664e-01 -4.38499117e-04 4.78335472e+01] [ 3.23575999e-03 9.14414845e-05 9.99994761e-01 -2.34128123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.791400513 meters 0.0326620263233508 Centerline is valid? [True, True] Translation: X:439.94, Y:47.84, Z:-2.34 [[ 9.94215155e-01 -1.07344893e-01 -3.64687938e-03 4.39936253e+02] [ 1.07343783e-01 9.94221838e-01 -4.99122484e-04 4.78367628e+01] [ 3.67938537e-03 1.04765307e-04 9.99993226e-01 -2.34209587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.821400513 meters 0.03068341622250396 Centerline is valid? [True, True] Translation: X:439.97, Y:47.84, Z:-2.34 [[ 9.94254206e-01 -1.06954013e-01 -4.40611892e-03 4.39965343e+02] [ 1.06952386e-01 9.94263960e-01 -6.03809619e-04 4.78377302e+01] [ 4.44542510e-03 1.29095322e-04 9.99990111e-01 -2.34282906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.851400513 meters 0.03291179616345492 Centerline is valid? [True, True] Translation: X:439.99, Y:47.84, Z:-2.34 [[ 9.94376892e-01 -1.05783483e-01 -4.94491349e-03 4.39992173e+02] [ 1.05781418e-01 9.94389175e-01 -6.78109653e-04 4.78433624e+01] [ 4.98890125e-03 1.51216609e-04 9.99987544e-01 -2.34360123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.881400513 meters 0.033900948944519796 Centerline is valid? [True, True] Translation: X:440.02, Y:47.85, Z:-2.34 [[ 9.94677654e-01 -1.02972804e-01 -3.60086795e-03 4.40021117e+02] [ 1.02971690e-01 9.94684164e-01 -4.93937401e-04 4.78456257e+01] [ 3.63258845e-03 1.20521036e-04 9.99993395e-01 -2.34097204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.911400513 meters 0.038130551614812914 Centerline is valid? [True, True] Translation: X:440.05, Y:47.85, Z:-2.34 [[ 9.94852451e-01 -1.01302388e-01 -2.53494599e-03 4.40048408e+02] [ 1.01301831e-01 9.94855677e-01 -3.47814438e-04 4.78541588e+01] [ 2.55713985e-03 8.92293770e-05 9.99996727e-01 -2.33892746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.941400513 meters 0.040322318402088705 Centerline is valid? [True, True] Translation: X:440.08, Y:47.86, Z:-2.34 [[ 9.95071276e-01 -9.91442713e-02 -1.88940864e-03 4.40076914e+02] [ 9.91439574e-02 9.95073067e-01 -2.59308165e-04 4.78611490e+01] [ 1.90580857e-03 7.07066574e-05 9.99998181e-01 -2.33807128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.971400513 meters 0.0445862453629674 Centerline is valid? [True, True] Translation: X:440.10, Y:47.87, Z:-2.34 [[ 9.95314388e-01 -9.66626448e-02 -2.36677657e-03 4.40103901e+02] [ 9.66621450e-02 9.95317198e-01 -3.24939503e-04 4.78713736e+01] [ 2.38710293e-03 9.46392628e-05 9.99997146e-01 -2.33893101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.001400513 meters 0.0468289826473742 Centerline is valid? [True, True] Translation: X:440.13, Y:47.88, Z:-2.34 [[ 9.95572311e-01 -9.39222712e-02 -3.79218537e-03 4.40133234e+02] [ 9.39209677e-02 9.95579520e-01 -5.20782579e-04 4.78795537e+01] [ 3.82433517e-03 1.62310996e-04 9.99992674e-01 -2.34125206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.031400513 meters 0.05650269408574562 Centerline is valid? [True, True] Translation: X:440.16, Y:47.90, Z:-2.34 [[ 9.95931373e-01 -8.99325414e-02 -5.73050719e-03 4.40160729e+02] [ 8.99294985e-02 9.95947823e-01 -7.86994759e-04 4.78972809e+01] [ 5.77806260e-03 2.68451133e-04 9.99983271e-01 -2.34458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.061400513 meters 0.052973014309432735 Centerline is valid? [True, True] Translation: X:440.19, Y:47.90, Z:-2.34 [[ 9.96001042e-01 -8.91200641e-02 -6.28800393e-03 4.40190051e+02] [ 8.91163792e-02 9.96020845e-01 -8.64351679e-04 4.78981717e+01] [ 6.34001406e-03 3.00531030e-04 9.99979857e-01 -2.34443091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.091400513 meters 0.05259485546937543 Centerline is valid? [True, True] Translation: X:440.22, Y:47.90, Z:-2.34 [[ 9.96011768e-01 -8.89611852e-02 -6.81650927e-03 4.40218545e+02] [ 8.89568435e-02 9.96035040e-01 -9.38110903e-04 4.79033088e+01] [ 6.87293754e-03 3.27994351e-04 9.99976327e-01 -2.34486391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.121400513 meters 0.048730636442795926 Centerline is valid? [True, True] Translation: X:440.25, Y:47.90, Z:-2.35 [[ 9.95987172e-01 -8.91790419e-02 -7.52675974e-03 4.40246637e+02] [ 8.91737437e-02 9.96015546e-01 -1.03727390e-03 4.79034850e+01] [ 7.58927280e-03 3.61922155e-04 9.99971136e-01 -2.34507045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.151400513 meters 0.05223991793160583 Centerline is valid? [True, True] Translation: X:440.27, Y:47.91, Z:-2.35 [[ 9.95874877e-01 -9.04406489e-02 -7.32924403e-03 4.40273682e+02] [ 9.04356537e-02 9.95901788e-01 -1.01079452e-03 4.79129499e+01] [ 7.39062415e-03 3.43799891e-04 9.99972630e-01 -2.34563035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.181400513 meters 0.04852779516210393 Centerline is valid? [True, True] Translation: X:440.30, Y:47.91, Z:-2.34 [[ 9.95798933e-01 -9.13248270e-02 -6.65282303e-03 4.40302865e+02] [ 9.13207245e-02 9.95821109e-01 -9.18483339e-04 4.79125214e+01] [ 6.70890195e-03 3.07084111e-04 9.99977448e-01 -2.34436381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.211400513 meters 0.049924593256318706 Centerline is valid? [True, True] Translation: X:440.33, Y:47.92, Z:-2.34 [[ 9.95747567e-01 -9.19371016e-02 -5.86101422e-03 4.40330434e+02] [ 9.19339254e-02 9.95764780e-01 -8.09623584e-04 4.79181127e+01] [ 5.91062598e-03 2.67354670e-04 9.99982496e-01 -2.34296386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24140051300003 meters 0.045861975695299914 Centerline is valid? [True, True] Translation: X:440.36, Y:47.92, Z:-2.34 [[ 9.95679068e-01 -9.27273734e-02 -4.98276575e-03 4.40359688e+02] [ 9.27250843e-02 9.95691510e-01 -6.88980561e-04 4.79174765e+01] [ 5.02518491e-03 2.23976149e-04 9.99987349e-01 -2.34063899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.271400513 meters 0.0518790170774642 Centerline is valid? [True, True] Translation: X:440.39, Y:47.93, Z:-2.34 [[ 9.95628839e-01 -9.33024942e-02 -4.22602036e-03 4.40386135e+02] [ 9.33008512e-02 9.95637790e-01 -5.84702455e-04 4.79295282e+01] [ 4.26213977e-03 1.87855329e-04 9.99990899e-01 -2.33948283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30140051300003 meters 0.053549236462493446 Centerline is valid? [True, True] Translation: X:440.41, Y:47.94, Z:-2.34 [[ 9.95586659e-01 -9.37839037e-02 -3.43278557e-03 4.40413194e+02] [ 9.37828219e-02 9.95592566e-01 -4.75133520e-04 4.79359795e+01] [ 3.46221567e-03 1.51100276e-04 9.99993995e-01 -2.33841030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.331400513 meters 0.041972339007999966 Centerline is valid? [True, True] Translation: X:440.44, Y:47.92, Z:-2.34 [[ 9.95369205e-01 -9.60493910e-02 -3.82889818e-03 4.40444846e+02] [ 9.60480612e-02 9.95376556e-01 -5.30101922e-04 4.79249023e+01] [ 3.86211145e-03 1.59888881e-04 9.99992529e-01 -2.33884978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.361400513 meters 0.04406265488910788 Centerline is valid? [True, True] Translation: X:440.47, Y:47.93, Z:-2.34 [[ 9.95146556e-01 -9.83218424e-02 -4.01829850e-03 4.40473413e+02] [ 9.83203959e-02 9.95154656e-01 -5.56421746e-04 4.79296427e+01] [ 4.05353688e-03 1.58640485e-04 9.99991772e-01 -2.33943984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.391400513 meters 0.039194714303333586 Centerline is valid? [True, True] Translation: X:440.50, Y:47.93, Z:-2.34 [[ 9.94844162e-01 -1.01353691e-01 -3.53864362e-03 4.40503814e+02] [ 1.01352588e-01 9.94850447e-01 -4.90082456e-04 4.79259949e+01] [ 3.57009285e-03 1.28904981e-04 9.99993619e-01 -2.33868237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.421400513 meters 0.03620832327663529 Centerline is valid? [True, True] Translation: X:440.53, Y:47.92, Z:-2.34 [[ 9.94466446e-01 -1.05022713e-01 -2.59190567e-03 4.40533245e+02] [ 1.05022133e-01 9.94469820e-01 -3.59016570e-04 4.79249603e+01] [ 2.61527686e-03 8.48224700e-05 9.99996577e-01 -2.33708281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.451400513 meters 0.030367908845973637 Centerline is valid? [True, True] Translation: X:440.56, Y:47.92, Z:-2.34 [[ 9.94028758e-01 -1.09106703e-01 -1.59853581e-03 4.40563811e+02] [ 1.09106488e-01 9.94030042e-01 -2.21447091e-04 4.79203254e+01] [ 1.61315399e-03 4.57141492e-05 9.99998698e-01 -2.33535343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.481400513 meters 0.0218183176635213 Centerline is valid? [True, True] Translation: X:440.60, Y:47.91, Z:-2.33 [[ 9.93076759e-01 -1.17464769e-01 -7.60179712e-04 4.40596236e+02] [ 1.17464723e-01 9.93077050e-01 -1.05323766e-04 4.79095428e+01] [ 7.67288857e-04 1.53002851e-05 9.99999706e-01 -2.33440234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.511400513 meters 0.01953461293786401 Centerline is valid? [True, True] Translation: X:440.63, Y:47.91, Z:-2.34 [[ 9.92614790e-01 -1.21304927e-01 -9.96619166e-04 4.40625076e+02] [ 1.21304850e-01 9.92615290e-01 -1.38074550e-04 4.79080196e+01] [ 1.00600855e-03 1.61601024e-05 9.99999494e-01 -2.33525228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.541400513 meters 0.014956182400215295 Centerline is valid? [True, True] Translation: X:440.66, Y:47.90, Z:-2.34 [[ 9.92190475e-01 -1.24724679e-01 -1.34742800e-03 4.40655051e+02] [ 1.24724541e-01 9.92191390e-01 -1.86766691e-04 4.79032828e+01] [ 1.36020088e-03 1.72507932e-05 9.99999075e-01 -2.33592058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.571400513 meters 0.011728372868332566 Centerline is valid? [True, True] Translation: X:440.68, Y:47.90, Z:-2.34 [[ 9.91643112e-01 -1.29007500e-01 -1.00136951e-03 4.40683915e+02] [ 1.29007425e-01 9.91643618e-01 -1.38946090e-04 4.78971288e+01] [ 1.01092677e-03 8.60083090e-06 9.99999489e-01 -2.33509912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.601400513 meters 0.010142934009798025 Centerline is valid? [True, True] Translation: X:440.71, Y:47.90, Z:-2.33 [[ 9.91456214e-01 -1.30436962e-01 -8.80424826e-04 4.40712745e+02] [ 1.30436904e-01 9.91456605e-01 -1.22159518e-04 4.78965197e+01] [ 8.88837125e-04 6.27592428e-06 9.99999605e-01 -2.33475722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.631400513 meters 0.009544298850422378 Centerline is valid? [True, True] Translation: X:440.74, Y:47.90, Z:-2.33 [[ 9.91341903e-01 -1.31299432e-01 -1.29989615e-03 4.40741156e+02] [ 1.31299308e-01 9.91342756e-01 -1.80686781e-04 4.78980421e+01] [ 1.31236670e-03 8.44691287e-06 9.99999139e-01 -2.33479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.661400513 meters 0.009424066556548148 Centerline is valid? [True, True] Translation: X:440.77, Y:47.90, Z:-2.34 [[ 9.91276704e-01 -1.31776606e-01 -2.32852591e-03 4.40769245e+02] [ 1.31776208e-01 9.91279439e-01 -3.24295593e-04 4.79001729e+01] [ 2.35095443e-03 1.46223535e-05 9.99997236e-01 -2.33617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.691400513 meters 0.009957976020234311 Centerline is valid? [True, True] Translation: X:440.80, Y:47.90, Z:-2.34 [[ 9.91298888e-01 -1.31583198e-01 -3.51812608e-03 4.40797067e+02] [ 1.31582286e-01 9.91305130e-01 -4.90494026e-04 4.79032123e+01] [ 3.55207721e-03 2.33031109e-05 9.99993691e-01 -2.33804150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.721400513 meters 0.00999071567688262 Centerline is valid? [True, True] Translation: X:440.83, Y:47.90, Z:-2.34 [[ 9.91363915e-01 -1.31056591e-01 -4.66452808e-03 4.40825831e+02] [ 1.31054978e-01 9.91374888e-01 -6.51009714e-04 4.79033884e+01] [ 4.70961512e-03 3.40779117e-05 9.99988909e-01 -2.33897699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.751400513 meters 0.010249400873116855 Centerline is valid? [True, True] Translation: X:440.85, Y:47.91, Z:-2.34 [[ 9.91367070e-01 -1.31049287e-01 -4.17332171e-03 4.40852854e+02] [ 1.31047994e-01 9.91375854e-01 -5.82904538e-04 4.79061389e+01] [ 4.21371960e-03 3.09669250e-05 9.99991122e-01 -2.33843461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.781400513 meters 0.010010151838206032 Centerline is valid? [True, True] Translation: X:440.88, Y:47.91, Z:-2.34 [[ 9.91319138e-01 -1.31428904e-01 -3.57913543e-03 4.40880741e+02] [ 1.31427953e-01 9.91325599e-01 -5.00451495e-04 4.79083795e+01] [ 3.61386236e-03 2.57087012e-05 9.99993470e-01 -2.33736150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.811400513 meters 0.010002647293941387 Centerline is valid? [True, True] Translation: X:440.91, Y:47.91, Z:-2.34 [[ 9.91256094e-01 -1.31905673e-01 -3.49991851e-03 4.40907580e+02] [ 1.31904765e-01 9.91262273e-01 -4.89812788e-04 4.79109685e+01] [ 3.53394626e-03 2.38739816e-05 9.99993755e-01 -2.33739475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.841400513 meters 0.009546292834205359 Centerline is valid? [True, True] Translation: X:440.94, Y:47.91, Z:-2.34 [[ 9.91145746e-01 -1.32714519e-01 -4.11900229e-03 4.40935880e+02] [ 1.32713266e-01 9.91154305e-01 -5.77117428e-04 4.79138222e+01] [ 4.15915872e-03 2.53612365e-05 9.99991350e-01 -2.33819131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.871400513 meters 0.009149443914963487 Centerline is valid? [True, True] Translation: X:440.96, Y:47.92, Z:-2.34 [[ 9.91020050e-01 -1.33618715e-01 -5.02983786e-03 4.40962749e+02] [ 1.33616856e-01 9.91032814e-01 -7.05348435e-04 4.79170314e+01] [ 5.07898212e-03 2.69433223e-05 9.99987102e-01 -2.33988337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.901400513 meters 0.007883050595947703 Centerline is valid? [True, True] Translation: X:440.99, Y:47.92, Z:-2.34 [[ 9.90687274e-01 -1.36029401e-01 -5.89290290e-03 4.40990509e+02] [ 1.36026886e-01 9.90704801e-01 -8.27383704e-04 4.79192199e+01] [ 5.95067570e-03 1.80852764e-05 9.99982294e-01 -2.34145026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.931400513 meters 0.007349981868746495 Centerline is valid? [True, True] Translation: X:441.02, Y:47.92, Z:-2.34 [[ 9.90452331e-01 -1.37755872e-01 -5.24400173e-03 4.41018112e+02] [ 1.37753902e-01 9.90466213e-01 -7.36735401e-04 4.79215257e+01] [ 5.29549616e-03 7.31959576e-06 9.99985979e-01 -2.34070093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.961400513 meters 0.00708929472879431 Centerline is valid? [True, True] Translation: X:441.05, Y:47.92, Z:-2.34 [[ 9.90081397e-01 -1.40434068e-01 -4.13526076e-03 4.41046325e+02] [ 1.40432864e-01 9.90090033e-01 -5.81564544e-04 4.79222374e+01] [ 4.17595193e-03 -4.93027462e-06 9.99991281e-01 -2.33805547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99140051300003 meters 0.011122871509636688 Centerline is valid? [True, True] Translation: X:441.08, Y:47.92, Z:-2.34 [[ 9.89112404e-01 -1.47136450e-01 -2.74179289e-03 4.41075780e+02] [ 1.47135946e-01 9.89116204e-01 -3.85885987e-04 4.79161693e+01] [ 2.76872967e-03 -2.17316734e-05 9.99996167e-01 -2.33606144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.021400513 meters 0.011122871509636688 Centerline is valid? [True, True] Translation: X:441.10, Y:47.92, Z:-2.34 [[ 9.89084991e-01 -1.47320617e-01 -2.74173944e-03 4.41103006e+02] [ 1.47320112e-01 9.89088790e-01 -3.86265510e-04 4.79201829e+01] [ 2.76872862e-03 -2.18639426e-05 9.99996167e-01 -2.33602477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05140051300003 meters 0.016288618074816852 Centerline is valid? [True, True] Translation: X:441.13, Y:47.92, Z:-2.34 [[ 9.88510392e-01 -1.51116126e-01 -3.33476610e-03 4.41131391e+02] [ 1.51115399e-01 9.88516017e-01 -4.70296627e-04 4.79162636e+01] [ 3.36753910e-03 -3.90414054e-05 9.99994329e-01 -2.33786447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.081400513 meters 0.019029973727152736 Centerline is valid? [True, True] Translation: X:441.16, Y:47.92, Z:-2.34 [[ 9.87868920e-01 -1.55225867e-01 -4.46405558e-03 4.41160866e+02] [ 1.55224604e-01 9.87879003e-01 -6.30241099e-04 4.79161927e+01] [ 4.50777650e-03 -7.03356654e-05 9.99989837e-01 -2.34009097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.111400513 meters 0.023601898974709348 Centerline is valid? [True, True] Translation: X:441.19, Y:47.91, Z:-2.34 [[ 9.87230665e-01 -1.59214948e-01 -5.12008984e-03 4.41189850e+02] [ 1.59213337e-01 9.87243936e-01 -7.23295432e-04 4.79129380e+01] [ 5.16993709e-03 -1.01127160e-04 9.99986631e-01 -2.34213818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.141400513 meters 0.026762861804210735 Centerline is valid? [True, True] Translation: X:441.22, Y:47.91, Z:-2.34 [[ 9.86633266e-01 -1.62868150e-01 -5.36318081e-03 4.41220169e+02] [ 1.62866435e-01 9.86647835e-01 -7.57800121e-04 4.79112105e+01] [ 5.41499224e-03 -1.25811333e-04 9.99985331e-01 -2.34249407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.171400513 meters 0.03279604102058083 Centerline is valid? [True, True] Translation: X:441.25, Y:47.90, Z:-2.34 [[ 9.85837718e-01 -1.67637142e-01 -4.66724852e-03 4.41250780e+02] [ 1.67635897e-01 9.85848757e-01 -6.59576107e-04 4.79040529e+01] [ 4.71177061e-03 -1.32163389e-04 9.99988891e-01 -2.34143190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.201400513 meters 0.03341218967139531 Centerline is valid? [True, True] Translation: X:441.28, Y:47.91, Z:-2.34 [[ 9.85681437e-01 -1.68551657e-01 -4.73756820e-03 4.41279205e+02] [ 1.68550381e-01 9.85692812e-01 -6.70121337e-04 4.79061803e+01] [ 4.78273699e-03 -1.37992764e-04 9.99988553e-01 -2.34078646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.231400513 meters 0.0329035025389211 Centerline is valid? [True, True] Translation: X:441.31, Y:47.91, Z:-2.34 [[ 9.85652367e-01 -1.68712730e-01 -5.04238808e-03 4.41307241e+02] [ 1.68711282e-01 9.85665254e-01 -7.14196363e-04 4.79097924e+01] [ 5.09060075e-03 -1.46758423e-04 9.99987032e-01 -2.34051186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.261400513 meters 0.030895944833982305 Centerline is valid? [True, True] Translation: X:441.34, Y:47.92, Z:-2.34 [[ 9.85736703e-01 -1.68200795e-01 -5.62529983e-03 4.41335922e+02] [ 1.68198979e-01 9.85752741e-01 -7.97791742e-04 4.79154973e+01] [ 5.67934393e-03 -1.59757084e-04 9.99983860e-01 -2.34090888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.291400513 meters 0.030859007036568284 Centerline is valid? [True, True] Translation: X:441.36, Y:47.92, Z:-2.34 [[ 9.86059855e-01 -1.66322136e-01 -4.78641715e-03 4.41363943e+02] [ 1.66320797e-01 9.86071463e-01 -6.79184750e-04 4.79199521e+01] [ 4.83271282e-03 -1.26363900e-04 9.99988314e-01 -2.33979005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.321400513 meters 0.030119379257235998 Centerline is valid? [True, True] Translation: X:441.39, Y:47.93, Z:-2.34 [[ 9.86207114e-01 -1.65480642e-01 -3.41847621e-03 4.41391612e+02] [ 1.65479953e-01 9.86213035e-01 -4.85471952e-04 4.79263902e+01] [ 3.45168200e-03 -8.69133900e-05 9.99994039e-01 -2.33721266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.351400513 meters 0.02673740484073238 Centerline is valid? [True, True] Translation: X:441.42, Y:47.94, Z:-2.34 [[ 9.86310738e-01 -1.64881629e-01 -2.27520126e-03 4.41419328e+02] [ 1.64881321e-01 9.86313361e-01 -3.23423326e-04 4.79364986e+01] [ 2.29738796e-03 -5.61422897e-05 9.99997359e-01 -2.33504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.381400513 meters 0.02849331745984261 Centerline is valid? [True, True] Translation: X:441.45, Y:47.94, Z:-2.33 [[ 9.86349698e-01 -1.64654605e-01 -1.77060799e-03 4.41446667e+02] [ 1.64654417e-01 9.86351286e-01 -2.51901224e-04 4.79398296e+01] [ 1.78791816e-03 -4.30757305e-05 9.99998401e-01 -2.33454709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.411400513 meters 0.028752123720654593 Centerline is valid? [True, True] Translation: X:441.47, Y:47.95, Z:-2.34 [[ 9.86311108e-01 -1.64881928e-01 -2.08513280e-03 4.41474666e+02] [ 1.64881669e-01 9.86313311e-01 -2.96889401e-04 4.79451713e+01] [ 2.10554593e-03 -5.09748608e-05 9.99997782e-01 -2.33520044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.441400513 meters 0.02960880780058772 Centerline is valid? [True, True] Translation: X:441.50, Y:47.95, Z:-2.34 [[ 9.86063724e-01 -1.66325934e-01 -3.74369329e-03 4.41502896e+02] [ 1.66325104e-01 9.86070826e-01 -5.33900566e-04 4.79515065e+01] [ 3.78034825e-03 -9.62101969e-05 9.99992850e-01 -2.33746447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.471400513 meters 0.03168521814956051 Centerline is valid? [True, True] Translation: X:441.53, Y:47.96, Z:-2.34 [[ 9.85836586e-01 -1.67651209e-01 -4.39297847e-03 4.41530936e+02] [ 1.67650079e-01 9.85846366e-01 -6.26943246e-04 4.79564026e+01] [ 4.43590966e-03 -1.18419597e-04 9.99990154e-01 -2.33821645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.501400513 meters 0.03309432835377296 Centerline is valid? [True, True] Translation: X:441.56, Y:47.96, Z:-2.34 [[ 9.85599518e-01 -1.69039755e-01 -4.37620220e-03 4.41558726e+02] [ 1.69038646e-01 9.85609226e-01 -6.24810804e-04 4.79603143e+01] [ 4.41884312e-03 -1.23934065e-04 9.99990229e-01 -2.33803142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.531400513 meters 0.03523472471090522 Centerline is valid? [True, True] Translation: X:441.59, Y:47.96, Z:-2.34 [[ 9.85249498e-01 -1.71075134e-01 -4.08965452e-03 4.41587592e+02] [ 1.71074180e-01 9.85257978e-01 -5.84433339e-04 4.79646060e+01] [ 4.12934676e-03 -1.23821641e-04 9.99991467e-01 -2.33790725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.561400513 meters 0.0379256632916425 Centerline is valid? [True, True] Translation: X:441.62, Y:47.97, Z:-2.34 [[ 9.84577922e-01 -1.74906666e-01 -3.73818804e-03 4.41616947e+02] [ 1.74905896e-01 9.84585010e-01 -5.34436765e-04 4.79696762e+01] [ 3.77404047e-03 -1.27636490e-04 9.99992870e-01 -2.33730882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.591400513 meters 0.04097082046210619 Centerline is valid? [True, True] Translation: X:441.64, Y:47.97, Z:-2.34 [[ 9.84319053e-01 -1.76358779e-01 -3.68539031e-03 4.41644193e+02] [ 1.76358040e-01 9.84325944e-01 -5.27075033e-04 4.79726826e+01] [ 3.72057961e-03 -1.31138215e-04 9.99993070e-01 -2.33719551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.621400513 meters 0.04055858663970163 Centerline is valid? [True, True] Translation: X:441.67, Y:47.98, Z:-2.34 [[ 9.84177674e-01 -1.77156611e-01 -3.13700690e-03 4.41671811e+02] [ 1.77156079e-01 9.84182667e-01 -4.49032732e-04 4.79804743e+01] [ 3.16693693e-03 -1.13811851e-04 9.99994979e-01 -2.33623892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.651400513 meters 0.04247301576233419 Centerline is valid? [True, True] Translation: X:441.70, Y:47.99, Z:-2.34 [[ 9.84220639e-01 -1.76925814e-01 -2.64381892e-03 4.41698829e+02] [ 1.76925434e-01 9.84224186e-01 -3.78703093e-04 4.79850478e+01] [ 2.66911287e-03 -9.50314093e-05 9.99996433e-01 -2.33573802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.681400513 meters 0.040936204866024166 Centerline is valid? [True, True] Translation: X:441.73, Y:48.00, Z:-2.34 [[ 9.84525505e-01 -1.75210973e-01 -3.26271603e-03 4.41725317e+02] [ 1.75210385e-01 9.84530905e-01 -4.67544211e-04 4.80015679e+01] [ 3.29416364e-03 -1.11352531e-04 9.99994568e-01 -2.33719120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.711400513 meters 0.03805739116458502 Centerline is valid? [True, True] Translation: X:441.75, Y:48.01, Z:-2.34 [[ 9.84753068e-01 -1.73912899e-01 -3.96217940e-03 4.41752097e+02] [ 1.73912020e-01 9.84761030e-01 -5.68010138e-04 4.80105910e+01] [ 4.00058416e-03 -1.29720898e-04 9.99991989e-01 -2.33850778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74140051300003 meters 0.03439562083921143 Centerline is valid? [True, True] Translation: X:441.78, Y:48.02, Z:-2.34 [[ 9.85044937e-01 -1.72243045e-01 -4.33643440e-03 4.41779537e+02] [ 1.72241975e-01 9.85054473e-01 -6.21894192e-04 4.80238210e+01] [ 4.37874105e-03 -1.34322301e-04 9.99990404e-01 -2.33886086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.771400513 meters 0.03666947849898492 Centerline is valid? [True, True] Translation: X:441.81, Y:48.04, Z:-2.34 [[ 9.85294209e-01 -1.70804226e-01 -4.60845981e-03 4.41806726e+02] [ 1.70802999e-01 9.85304977e-01 -6.61537605e-04 4.80355002e+01] [ 4.65373180e-03 -1.35329583e-04 9.99989162e-01 -2.33833601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.801400513 meters 0.02941928029200508 Centerline is valid? [True, True] Translation: X:441.83, Y:48.05, Z:-2.34 [[ 9.85511649e-01 -1.69549380e-01 -4.44940726e-03 4.41834544e+02] [ 1.69548219e-01 9.85521685e-01 -6.39470495e-04 4.80465517e+01] [ 4.49340916e-03 -1.24183456e-04 9.99989897e-01 -2.33783226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.831400513 meters 0.03250955145319603 Centerline is valid? [True, True] Translation: X:441.86, Y:48.06, Z:-2.34 [[ 9.85595451e-01 -1.69054802e-01 -4.69906532e-03 4.41862674e+02] [ 1.69053498e-01 9.85606644e-01 -6.76188400e-04 4.80554096e+01] [ 4.74574290e-03 -1.27945220e-04 9.99988731e-01 -2.33784551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.861400513 meters 0.033421215221537924 Centerline is valid? [True, True] Translation: X:441.89, Y:48.06, Z:-2.34 [[ 9.85506165e-01 -1.69565029e-01 -5.02982153e-03 4.41890215e+02] [ 1.69563539e-01 9.85518991e-01 -7.24262799e-04 4.80585446e+01] [ 5.07979428e-03 -1.39108885e-04 9.99987088e-01 -2.33902719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.891400513 meters 0.03430079385836085 Centerline is valid? [True, True] Translation: X:441.92, Y:48.06, Z:-2.34 [[ 9.85310401e-01 -1.70666221e-01 -6.03774756e-03 4.41918267e+02] [ 1.70664090e-01 9.85328885e-01 -8.70267397e-04 4.80642963e+01] [ 6.09769232e-03 -1.72943176e-04 9.99981394e-01 -2.34035726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.921400513 meters 0.03311813428649472 Centerline is valid? [True, True] Translation: X:441.95, Y:48.07, Z:-2.34 [[ 9.85159731e-01 -1.71489613e-01 -7.18444435e-03 4.41945860e+02] [ 1.71486608e-01 9.85185905e-01 -1.03679165e-03 4.80725012e+01] [ 7.25581231e-03 -2.10630607e-04 9.99973654e-01 -2.34152999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.951400513 meters 0.03476391469521883 Centerline is valid? [True, True] Translation: X:441.97, Y:48.08, Z:-2.34 [[ 9.85117670e-01 -1.71717472e-01 -7.50242160e-03 4.41972796e+02] [ 1.71714197e-01 9.85146213e-01 -1.08327892e-03 4.80794741e+01] [ 7.57700015e-03 -2.21115096e-04 9.99971270e-01 -2.34247372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.981400513 meters 0.03444240193278154 Centerline is valid? [True, True] Translation: X:442.00, Y:48.09, Z:-2.34 [[ 9.85228047e-01 -1.71126388e-01 -6.43851052e-03 4.42000516e+02] [ 1.71123958e-01 9.85249068e-01 -9.30567390e-04 4.80854419e+01] [ 6.50278112e-03 -1.84962311e-04 9.99978840e-01 -2.34060530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.011400513 meters 0.031466729814868734 Centerline is valid? [True, True] Translation: X:442.03, Y:48.09, Z:-2.34 [[ 9.85453145e-01 -1.69869613e-01 -5.13942933e-03 4.42028976e+02] [ 1.69868043e-01 9.85466537e-01 -7.43571585e-04 4.80942093e+01] [ 5.19104584e-03 -1.40269848e-04 9.99986517e-01 -2.33806047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.041400513 meters 0.0279010759847383 Centerline is valid? [True, True] Translation: X:442.06, Y:48.10, Z:-2.34 [[ 9.85836347e-01 -1.67648437e-01 -4.54953709e-03 4.42056895e+02] [ 1.67647182e-01 9.85846838e-01 -6.58563296e-04 4.81031319e+01] [ 4.59555386e-03 -1.13481438e-04 9.99989434e-01 -2.33632340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.071400513 meters 0.024665210223336547 Centerline is valid? [True, True] Translation: X:442.08, Y:48.11, Z:-2.34 [[ 9.86335560e-01 -1.64674004e-01 -4.96346127e-03 4.42084922e+02] [ 1.64672471e-01 9.86348042e-01 -7.18727877e-04 4.81115623e+01] [ 5.01405611e-03 -1.08438572e-04 9.99987424e-01 -2.33611890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.101400513 meters 0.017639277858715025 Centerline is valid? [True, True] Translation: X:442.11, Y:48.13, Z:-2.34 [[ 9.87597821e-01 -1.56903396e-01 -5.64525156e-03 4.42112479e+02] [ 1.56901285e-01 9.87613952e-01 -8.17579197e-04 4.81261617e+01] [ 5.70361016e-03 -7.83077915e-05 9.99983731e-01 -2.33702862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.131400513 meters 0.012779159734860369 Centerline is valid? [True, True] Translation: X:442.14, Y:48.14, Z:-2.34 [[ 9.88307175e-01 -1.52401827e-01 -4.75499689e-03 4.42140434e+02] [ 1.52400275e-01 9.88318613e-01 -6.89192562e-04 4.81381804e+01] [ 4.80448614e-03 -4.35288810e-05 9.99988457e-01 -2.33549087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.161400513 meters 0.008517871542636184 Centerline is valid? [True, True] Translation: X:442.17, Y:48.15, Z:-2.33 [[ 9.89055971e-01 -1.47507264e-01 -3.14546798e-03 4.42166381e+02] [ 1.47506560e-01 9.89060972e-01 -4.56149047e-04 4.81504436e+01] [ 3.17834492e-03 -1.28202217e-05 9.99994949e-01 -2.33300397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.191400513 meters 0.007106205952184676 Centerline is valid? [True, True] Translation: X:442.19, Y:48.16, Z:-2.33 [[ 9.89831134e-01 -1.42241440e-01 -1.30369722e-03 4.42193822e+02] [ 1.42241314e-01 9.89831992e-01 -1.89089053e-04 4.81636671e+01] [ 1.31733752e-03 1.72662539e-06 9.99999132e-01 -2.32962115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.221400513 meters 0.010137309487346471 Centerline is valid? [True, True] Translation: X:442.22, Y:48.18, Z:-2.33 [[ 9.90563704e-01 -1.37053020e-01 -1.30540210e-04 4.42220972e+02] [ 1.37053019e-01 9.90563713e-01 -1.87521205e-05 4.81757613e+01] [ 1.31878430e-04 6.84240043e-07 9.99999991e-01 -2.32768387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.251400513 meters 0.022347190308959933 Centerline is valid? [True, True] Translation: X:442.25, Y:48.20, Z:-2.33 [[ 9.91922227e-01 -1.26847324e-01 2.27182851e-04 4.42247323e+02] [ 1.26847320e-01 9.91922253e-01 3.30374224e-05 4.81986288e+01] [-2.29538434e-04 -3.95301774e-06 9.99999974e-01 -2.32766320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.281400513 meters 0.025070551400418317 Centerline is valid? [True, True] Translation: X:442.28, Y:48.21, Z:-2.33 [[ 9.92438405e-01 -1.22743208e-01 -3.41988415e-04 4.42275279e+02] [ 1.22743198e-01 9.92438464e-01 -4.96851086e-05 4.82081366e+01] [ 3.45500967e-04 7.33265817e-06 9.99999940e-01 -2.32971999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.311400513 meters 0.026596888004790268 Centerline is valid? [True, True] Translation: X:442.30, Y:48.22, Z:-2.33 [[ 9.92792287e-01 -1.19844384e-01 -8.93272675e-04 4.42303545e+02] [ 1.19844316e-01 9.92792689e-01 -1.29882696e-04 4.82159576e+01] [ 9.02400292e-04 2.18928863e-05 9.99999593e-01 -2.33109351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.341400513 meters 0.03000723547102376 Centerline is valid? [True, True] Translation: X:442.33, Y:48.23, Z:-2.33 [[ 9.92989532e-01 -1.18193356e-01 -1.45588926e-03 4.42330346e+02] [ 1.18193172e-01 9.92990599e-01 -2.11777271e-04 4.82257312e+01] [ 1.47071502e-03 3.82164433e-05 9.99998918e-01 -2.33211079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.371400513 meters 0.032116145612069144 Centerline is valid? [True, True] Translation: X:442.36, Y:48.23, Z:-2.33 [[ 9.93151782e-01 -1.16793297e-01 -2.97714751e-03 4.42358168e+02] [ 1.16792522e-01 9.93156241e-01 -4.33574924e-04 4.82330974e+01] [ 3.00741127e-03 8.28971431e-05 9.99995474e-01 -2.33443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.401400513 meters 0.03294814549725967 Centerline is valid? [True, True] Translation: X:442.38, Y:48.24, Z:-2.34 [[ 9.93130017e-01 -1.16949854e-01 -3.93701423e-03 4.42384534e+02] [ 1.16948498e-01 9.93137815e-01 -5.73860115e-04 4.82375812e+01] [ 3.97711056e-03 1.09489808e-04 9.99992085e-01 -2.33671939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.431400513 meters 0.029683547149196465 Centerline is valid? [True, True] Translation: X:442.41, Y:48.24, Z:-2.34 [[ 9.93053122e-01 -1.17578968e-01 -4.54797158e-03 4.42413512e+02] [ 1.17577161e-01 9.93063528e-01 -6.63578855e-04 4.82369334e+01] [ 4.59444762e-03 1.24231466e-04 9.99989438e-01 -2.33730953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.461400513 meters 0.030066233529019448 Centerline is valid? [True, True] Translation: X:442.44, Y:48.24, Z:-2.34 [[ 9.92987817e-01 -1.18130242e-01 -4.52122744e-03 4.42440699e+02] [ 1.18128460e-01 9.92998102e-01 -6.60087950e-04 4.82404626e+01] [ 4.56754662e-03 1.21373658e-04 9.99989561e-01 -2.33730662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49140051300003 meters 0.030183463899529098 Centerline is valid? [True, True] Translation: X:442.47, Y:48.24, Z:-2.34 [[ 9.92960863e-01 -1.18363713e-01 -4.33075860e-03 4.42468470e+02] [ 1.18362078e-01 9.92970301e-01 -6.32922868e-04 4.82440763e+01] [ 4.37522977e-03 1.15870052e-04 9.99990422e-01 -2.33685088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.521400513 meters 0.029607877436005417 Centerline is valid? [True, True] Translation: X:442.50, Y:48.25, Z:-2.34 [[ 9.93165027e-01 -1.16616937e-01 -4.87026874e-03 4.42496820e+02] [ 1.16614843e-01 9.93176958e-01 -7.12659491e-04 4.82481058e+01] [ 4.92014686e-03 1.39842857e-04 9.99987886e-01 -2.33753875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.551400513 meters 0.036330254020220845 Centerline is valid? [True, True] Translation: X:442.52, Y:48.26, Z:-2.34 [[ 9.93416866e-01 -1.14411281e-01 -5.74356758e-03 4.42523318e+02] [ 1.14408329e-01 9.93433454e-01 -8.40930712e-04 4.82613797e+01] [ 5.80206414e-03 1.78282782e-04 9.99983152e-01 -2.33982390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.581400513 meters 0.03742200558333604 Centerline is valid? [True, True] Translation: X:442.55, Y:48.27, Z:-2.34 [[ 9.93733923e-01 -1.11578319e-01 -6.57034917e-03 4.42551768e+02] [ 1.11574393e-01 9.93755618e-01 -9.62241564e-04 4.82679519e+01] [ 6.63668670e-03 2.23129364e-04 9.99977952e-01 -2.34067831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.611400513 meters 0.04313068002394311 Centerline is valid? [True, True] Translation: X:442.58, Y:48.28, Z:-2.34 [[ 9.94332681e-01 -1.06049635e-01 -7.48287596e-03 4.42581060e+02] [ 1.06044386e-01 9.94360793e-01 -1.09593919e-03 4.82810596e+01] [ 7.55690243e-03 2.96211165e-04 9.99971402e-01 -2.34143682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.641400513 meters 0.05262402990352441 Centerline is valid? [True, True] Translation: X:442.61, Y:48.30, Z:-2.34 [[ 9.94571144e-01 -1.03814036e-01 -7.13334012e-03 4.42607687e+02] [ 1.03809207e-01 9.94596680e-01 -1.04494996e-03 4.82969873e+01] [ 7.20327688e-03 2.98770701e-04 9.99974011e-01 -2.34174559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.671400513 meters 0.044841782296998166 Centerline is valid? [True, True] Translation: X:442.64, Y:48.29, Z:-2.34 [[ 9.94723899e-01 -1.02377486e-01 -6.57378183e-03 4.42638591e+02] [ 1.02373353e-01 9.94745580e-01 -9.63149306e-04 4.82915166e+01] [ 6.63784523e-03 2.85087548e-04 9.99977929e-01 -2.33867604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.701400513 meters 0.045244298505986706 Centerline is valid? [True, True] Translation: X:442.67, Y:48.30, Z:-2.34 [[ 9.94777782e-01 -1.01909479e-01 -5.62332046e-03 4.42666817e+02] [ 1.01906443e-01 9.94793645e-01 -8.24641576e-04 4.82957095e+01] [ 5.67808225e-03 2.47282535e-04 9.99983849e-01 -2.33719762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.731400513 meters 0.05072926124857073 Centerline is valid? [True, True] Translation: X:442.69, Y:48.30, Z:-2.34 [[ 9.94790274e-01 -1.01852553e-01 -4.28587201e-03 4.42693447e+02] [ 1.01850787e-01 9.94799488e-01 -6.28924208e-04 4.83025268e+01] [ 4.32764082e-03 1.89128248e-04 9.99990618e-01 -2.33567468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.761400513 meters 0.04726529571899574 Centerline is valid? [True, True] Translation: X:442.72, Y:48.30, Z:-2.33 [[ 9.94856904e-01 -1.01274962e-01 -1.76697004e-03 4.42721833e+02] [ 1.01274661e-01 9.94858470e-01 -2.59362981e-04 4.83038912e+01] [ 1.78415209e-03 7.90797613e-05 9.99998405e-01 -2.33256439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.791400513 meters 0.05003858183280378 Centerline is valid? [True, True] Translation: X:442.75, Y:48.31, Z:-2.33 [[ 9.94978894e-01 -1.00077051e-01 -1.25896259e-03 4.42749748e+02] [ 1.00076897e-01 9.94979689e-01 -1.84847778e-04 4.83106497e+01] [ 1.27114123e-03 5.79265683e-05 9.99999190e-01 -2.33214134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.821400513 meters 0.05137608997151113 Centerline is valid? [True, True] Translation: X:442.78, Y:48.32, Z:-2.33 [[ 9.95177991e-01 -9.80737976e-02 -1.51533104e-03 4.42778609e+02] [ 9.80735721e-02 9.95179142e-01 -2.22572865e-04 4.83158559e+01] [ 1.52985441e-03 7.28856889e-05 9.99998827e-01 -2.33209983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.851400513 meters 0.05093141079593299 Centerline is valid? [True, True] Translation: X:442.81, Y:48.32, Z:-2.33 [[ 9.95430910e-01 -9.54655963e-02 -1.90362477e-03 4.42808935e+02] [ 9.54652356e-02 9.95432725e-01 -2.79663767e-04 4.83187351e+01] [ 1.92162866e-03 9.66559707e-05 9.99998149e-01 -2.33236380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.881400513 meters 0.05960977078022665 Centerline is valid? [True, True] Translation: X:442.84, Y:48.33, Z:-2.33 [[ 9.95704891e-01 -9.25543438e-02 -2.33734755e-03 4.42835978e+02] [ 9.25537920e-02 9.95707627e-01 -3.43395797e-04 4.83326982e+01] [ 2.35909756e-03 1.25590496e-04 9.99997209e-01 -2.33324755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.911400513 meters 0.05823196457018797 Centerline is valid? [True, True] Translation: X:442.87, Y:48.33, Z:-2.34 [[ 9.96224240e-01 -8.66936934e-02 -4.63323195e-03 4.42866192e+02] [ 8.66914616e-02 9.96234976e-01 -6.80755437e-04 4.83344728e+01] [ 4.67480492e-03 2.76523418e-04 9.99989035e-01 -2.33614640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.941400513 meters 0.06429470596154935 Centerline is valid? [True, True] Translation: X:442.89, Y:48.35, Z:-2.34 [[ 9.96464300e-01 -8.38788633e-02 -4.82028436e-03 4.42894282e+02] [ 8.38764145e-02 9.96475913e-01 -7.08302071e-04 4.83462107e+01] [ 4.86270883e-03 3.01489558e-04 9.99988132e-01 -2.33711334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.971400513 meters 0.06429470596154935 Centerline is valid? [True, True] Translation: X:442.92, Y:48.35, Z:-2.34 [[ 9.96448962e-01 -8.40608841e-02 -4.82018737e-03 4.42921509e+02] [ 8.40584343e-02 9.96460575e-01 -7.08961692e-04 4.83503667e+01] [ 4.86272263e-03 3.01266738e-04 9.99988132e-01 -2.33707663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.001400513 meters 0.07032533899908142 Centerline is valid? [True, True] Translation: X:442.95, Y:48.36, Z:-2.34 [[ 9.96672021e-01 -8.13787245e-02 -4.73128919e-03 4.42950855e+02] [ 8.13763329e-02 9.96683203e-01 -6.96137289e-04 4.83593145e+01] [ 4.77224723e-03 3.08805594e-04 9.99988565e-01 -2.33682279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.031400513 meters 0.07511660965187054 Centerline is valid? [True, True] Translation: X:442.98, Y:48.37, Z:-2.33 [[ 9.97082323e-01 -7.62747225e-02 -3.00118035e-03 4.42978888e+02] [ 7.62737372e-02 9.97086818e-01 -4.41578022e-04 4.83721622e+01] [ 3.02611860e-03 2.11378399e-04 9.99995399e-01 -2.33390599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.061400513 meters 0.07050491644688431 Centerline is valid? [True, True] Translation: X:443.01, Y:48.37, Z:-2.33 [[ 9.97241014e-01 -7.42049474e-02 -1.99623658e-03 4.43009501e+02] [ 7.42045073e-02 9.97243002e-01 -2.93722680e-04 4.83709275e+01] [ 2.01252864e-03 1.44782551e-04 9.99997964e-01 -2.33237270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.091400513 meters 0.08009111288410743 Centerline is valid? [True, True] Translation: X:443.04, Y:48.39, Z:-2.33 [[ 9.97365291e-01 -7.25217267e-02 -1.75353886e-03 4.43036495e+02] [ 7.25213845e-02 9.97366824e-01 -2.58036613e-04 4.83871135e+01] [ 1.76763474e-03 1.30187696e-04 9.99998429e-01 -2.33180085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.121400513 meters 0.07721903029634414 Centerline is valid? [True, True] Translation: X:443.07, Y:48.39, Z:-2.33 [[ 9.97438211e-01 -7.14980421e-02 -2.24624805e-03 4.43066043e+02] [ 7.14974778e-02 9.97440726e-01 -3.30601117e-04 4.83889412e+01] [ 2.26413662e-03 1.69153116e-04 9.99997423e-01 -2.33258041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.151400513 meters 0.07384038978922122 Centerline is valid? [True, True] Translation: X:443.09, Y:48.39, Z:-2.34 [[ 9.97437491e-01 -7.14368417e-02 -3.90241474e-03 4.43094890e+02] [ 7.14351364e-02 9.97445082e-01 -5.74834878e-04 4.83906400e+01] [ 3.93350877e-03 2.94592330e-04 9.99992220e-01 -2.33544222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.181400513 meters 0.07187803042910468 Centerline is valid? [True, True] Translation: X:443.12, Y:48.39, Z:-2.34 [[ 9.97377529e-01 -7.22189034e-02 -4.74279367e-03 4.43123564e+02] [ 7.22163893e-02 9.97388743e-01 -6.99461368e-04 4.83926105e+01] [ 4.78092335e-03 3.55119617e-04 9.99988508e-01 -2.33686177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.211400513 meters 0.0737597690821411 Centerline is valid? [True, True] Translation: X:443.15, Y:48.40, Z:-2.34 [[ 9.97284360e-01 -7.34444474e-02 -5.46068931e-03 4.43151496e+02] [ 7.34411305e-02 9.97299228e-01 -8.05737084e-04 4.83989441e+01] [ 5.50511815e-03 4.02509795e-04 9.99984766e-01 -2.33804209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24140051300003 meters 0.07370781210513751 Centerline is valid? [True, True] Translation: X:443.18, Y:48.40, Z:-2.34 [[ 9.97175156e-01 -7.48710150e-02 -6.00324700e-03 4.43181148e+02] [ 7.48670313e-02 9.97193132e-01 -8.85898967e-04 4.84029464e+01] [ 6.05272483e-03 4.33951159e-04 9.99981588e-01 -2.33873339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.271400513 meters 0.07365039989028915 Centerline is valid? [True, True] Translation: X:443.21, Y:48.41, Z:-2.34 [[ 9.97055023e-01 -7.64611099e-02 -5.91436466e-03 4.43210017e+02] [ 7.64572704e-02 9.97072477e-01 -8.72904475e-04 4.84064421e+01] [ 5.96379346e-03 4.18137614e-04 9.99982129e-01 -2.33862944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.301400513 meters 0.07209542760517129 Centerline is valid? [True, True] Translation: X:443.24, Y:48.41, Z:-2.34 [[ 9.96806522e-01 -7.97598135e-02 -3.88974638e-03 4.43239599e+02] [ 7.97581775e-02 9.96814077e-01 -5.74155786e-04 4.84068846e+01] [ 3.92314850e-03 2.62083150e-04 9.99992270e-01 -2.33556616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.331400513 meters 0.06257106717608253 Centerline is valid? [True, True] Translation: X:443.27, Y:48.40, Z:-2.33 [[ 9.96701902e-01 -8.10921126e-02 -3.06410797e-03 4.43271100e+02] [ 8.10911035e-02 9.96706591e-01 -4.52324871e-04 4.83981084e+01] [ 3.09069658e-03 2.02361163e-04 9.99995203e-01 -2.33371228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.361400513 meters 0.06772211581426765 Centerline is valid? [True, True] Translation: X:443.30, Y:48.41, Z:-2.33 [[ 9.96629053e-01 -8.19977165e-02 -2.62796072e-03 4.43297714e+02] [ 8.19969772e-02 9.96632503e-01 -3.88032874e-04 4.84072157e+01] [ 2.65092888e-03 1.71240000e-04 9.99996472e-01 -2.33291272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.391400513 meters 0.06521136308232024 Centerline is valid? [True, True] Translation: X:443.33, Y:48.41, Z:-2.33 [[ 9.96615176e-01 -8.21710686e-02 -2.47116550e-03 4.43326397e+02] [ 8.21704147e-02 9.96618227e-01 -3.65173983e-04 4.84072898e+01] [ 2.49281531e-03 1.60881240e-04 9.99996880e-01 -2.33230586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.421400513 meters 0.0672697677354867 Centerline is valid? [True, True] Translation: X:443.36, Y:48.41, Z:-2.33 [[ 9.96819182e-01 -7.96699760e-02 -2.05284261e-03 4.43356471e+02] [ 7.96695190e-02 9.96821286e-01 -3.03568108e-04 4.84128932e+01] [ 2.07050248e-03 1.39053529e-04 9.99997847e-01 -2.33193781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.451400513 meters 0.07470692474734827 Centerline is valid? [True, True] Translation: X:443.38, Y:48.43, Z:-2.33 [[ 9.96984211e-01 -7.75919571e-02 -1.40404373e-03 4.43384561e+02] [ 7.75917413e-02 9.96985195e-01 -2.07631715e-04 4.84250713e+01] [ 1.41592137e-03 9.80633435e-05 9.99998993e-01 -2.33115211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.481400513 meters 0.07825985016925659 Centerline is valid? [True, True] Translation: X:443.41, Y:48.43, Z:-2.33 [[ 9.97187080e-01 -7.49450411e-02 -1.08107104e-03 4.43413243e+02] [ 7.49449116e-02 9.97187663e-01 -1.59886516e-04 4.84325716e+01] [ 1.09001341e-03 7.84159946e-05 9.99999403e-01 -2.33034413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.511400513 meters 0.07962375543365473 Centerline is valid? [True, True] Translation: X:443.44, Y:48.44, Z:-2.33 [[ 9.97404798e-01 -7.19869760e-02 -1.24230843e-03 4.43443384e+02] [ 7.19868027e-02 9.97405568e-01 -1.83731309e-04 4.84382449e+01] [ 1.25231161e-03 9.38246769e-05 9.99999211e-01 -2.33020478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.541400513 meters 0.08530089947099732 Centerline is valid? [True, True] Translation: X:443.47, Y:48.45, Z:-2.33 [[ 9.97821014e-01 -6.59263871e-02 -2.63370774e-03 4.43471991e+02] [ 6.59255871e-02 9.97824466e-01 -3.89523433e-04 4.84525079e+01] [ 2.65365789e-03 2.15045937e-04 9.99996456e-01 -2.33197331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.571400513 meters 0.07796762835474559 Centerline is valid? [True, True] Translation: X:443.50, Y:48.45, Z:-2.33 [[ 9.97991223e-01 -6.32700333e-02 -3.22830106e-03 4.43502905e+02] [ 6.32688174e-02 9.97996407e-01 -4.77477743e-04 4.84497837e+01] [ 3.25204289e-03 2.72267806e-04 9.99994675e-01 -2.33246844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.601400513 meters 0.0860936040862841 Centerline is valid? [True, True] Translation: X:443.53, Y:48.47, Z:-2.33 [[ 9.98137952e-01 -6.09090144e-02 -3.27412437e-03 4.43530655e+02] [ 6.09077512e-02 9.98143282e-01 -4.84253205e-04 4.84657559e+01] [ 3.29754063e-03 2.83931950e-04 9.99994523e-01 -2.33268852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.631400513 meters 0.09178366275969038 Centerline is valid? [True, True] Translation: X:443.56, Y:48.48, Z:-2.33 [[ 9.98234139e-01 -5.93459305e-02 -2.58147602e-03 4.43558524e+02] [ 5.93451400e-02 9.98237451e-01 -3.81821612e-04 4.84780932e+01] [ 2.59958560e-03 2.27949312e-04 9.99996595e-01 -2.33192683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.661400513 meters 0.08977809583296868 Centerline is valid? [True, True] Translation: X:443.59, Y:48.48, Z:-2.33 [[ 9.98281525e-01 -5.85478167e-02 -2.47988511e-03 4.43588311e+02] [ 5.85470847e-02 9.98284581e-01 -3.66836270e-04 4.84803484e+01] [ 2.49710853e-03 2.21015827e-04 9.99996858e-01 -2.33165397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.691400513 meters 0.08608269529855196 Centerline is valid? [True, True] Translation: X:443.62, Y:48.48, Z:-2.33 [[ 9.98254316e-01 -5.90007364e-02 -2.68967526e-03 4.43617676e+02] [ 5.89998762e-02 9.98257911e-01 -3.98126739e-04 4.84802149e+01] [ 2.70847937e-03 2.38741228e-04 9.99996304e-01 -2.33236556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.721400513 meters 0.09246153686378523 Centerline is valid? [True, True] Translation: X:443.64, Y:48.49, Z:-2.33 [[ 9.98214123e-01 -5.96485144e-02 -3.25868465e-03 4.43643920e+02] [ 5.96472539e-02 9.98219401e-01 -4.82725683e-04 4.84922597e+01] [ 3.28167611e-03 2.87492004e-04 9.99994574e-01 -2.33370695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.751400513 meters 0.0902471797162205 Centerline is valid? [True, True] Translation: X:443.67, Y:48.49, Z:-2.33 [[ 9.98165088e-01 -6.04130321e-02 -4.08936463e-03 4.43672750e+02] [ 6.04110525e-02 9.98173401e-01 -6.06000417e-04 4.84941865e+01] [ 4.11850532e-03 3.57845638e-04 9.99991455e-01 -2.33479804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.781400513 meters 0.09383236835951274 Centerline is valid? [True, True] Translation: X:443.70, Y:48.50, Z:-2.34 [[ 9.98114186e-01 -6.12294632e-02 -4.36179441e-03 4.43700096e+02] [ 6.12272179e-02 9.98123645e-01 -6.46573381e-04 4.85035856e+01] [ 4.39319948e-03 3.78293527e-04 9.99990278e-01 -2.33545630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.811400513 meters 0.09206101354145622 Centerline is valid? [True, True] Translation: X:443.73, Y:48.51, Z:-2.33 [[ 9.98060926e-01 -6.21572481e-02 -3.29620250e-03 4.43730015e+02] [ 6.21559706e-02 9.98066329e-01 -4.88681983e-04 4.85064021e+01] [ 3.32020386e-03 2.82855726e-04 9.99994448e-01 -2.33360741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.841400513 meters 0.0987858104148407 Centerline is valid? [True, True] Translation: X:443.76, Y:48.52, Z:-2.33 [[ 9.98037017e-01 -6.25717029e-02 -2.62569721e-03 4.43756630e+02] [ 6.25708935e-02 9.98040446e-01 -3.89360191e-04 4.85183993e+01] [ 2.64491494e-03 2.24303663e-04 9.99996477e-01 -2.33280176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.871400513 meters 0.0853351680395366 Centerline is valid? [True, True] Translation: X:443.79, Y:48.50, Z:-2.33 [[ 9.97980355e-01 -6.34836799e-02 -2.24374171e-03 4.43788398e+02] [ 6.34830907e-02 9.97982859e-01 -3.32923546e-04 4.85030373e+01] [ 2.26035098e-03 1.89811500e-04 9.99997427e-01 -2.33169097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.901400513 meters 0.0883110959997662 Centerline is valid? [True, True] Translation: X:443.82, Y:48.51, Z:-2.33 [[ 9.97895908e-01 -6.48192216e-02 -1.49177095e-03 4.43816348e+02] [ 6.48189624e-02 9.97897015e-01 -2.21483828e-04 4.85128075e+01] [ 1.50299019e-03 1.24322760e-04 9.99998863e-01 -2.33068127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.931400513 meters 0.08001565351998809 Centerline is valid? [True, True] Translation: X:443.85, Y:48.50, Z:-2.33 [[ 9.97669839e-01 -6.82251975e-02 -4.63032772e-04 4.43848802e+02] [ 6.82251729e-02 9.97669946e-01 -6.87571297e-05 4.85037098e+01] [ 4.66644850e-04 3.70064235e-05 9.99999890e-01 -2.33003083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.961400513 meters 0.07643757569701176 Centerline is valid? [True, True] Translation: X:443.88, Y:48.50, Z:-2.33 [[ 9.97578442e-01 -6.95338546e-02 -1.51465946e-03 4.43878867e+02] [ 6.95335928e-02 9.97579585e-01 -2.24916137e-04 4.85016271e+01] [ 1.52663264e-03 1.19051775e-04 9.99998828e-01 -2.33230419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99140051300003 meters 0.07646678879572359 Centerline is valid? [True, True] Translation: X:443.91, Y:48.50, Z:-2.34 [[ 9.97491897e-01 -7.07022797e-02 -3.33202469e-03 4.43907902e+02] [ 7.07010186e-02 9.97497429e-01 -4.94897688e-04 4.85043180e+01] [ 3.35867646e-03 2.58078894e-04 9.99994326e-01 -2.33585955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.021400513 meters 0.08350638671691234 Centerline is valid? [True, True] Translation: X:443.94, Y:48.52, Z:-2.34 [[ 9.97398776e-01 -7.18851138e-02 -5.31156260e-03 4.43935765e+02] [ 7.18819252e-02 9.97412836e-01 -7.89055845e-04 4.85155150e+01] [ 5.35454208e-03 4.05197989e-04 9.99985582e-01 -2.33930885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.051400513 meters 0.07513949412267482 Centerline is valid? [True, True] Translation: X:443.97, Y:48.51, Z:-2.34 [[ 9.97269763e-01 -7.35499526e-02 -6.58973851e-03 4.43967026e+02] [ 7.35450797e-02 9.97291413e-01 -9.79095141e-04 4.85056348e+01] [ 6.64390204e-03 4.91779135e-04 9.99977808e-01 -2.34005487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.081400513 meters 0.07160970026461887 Centerline is valid? [True, True] Translation: X:444.00, Y:48.50, Z:-2.34 [[ 9.97198918e-01 -7.45234971e-02 -6.36918612e-03 4.43996858e+02] [ 7.45189630e-02 9.97219147e-01 -9.46593718e-04 4.85024010e+01] [ 6.42201783e-03 4.69317086e-04 9.99979269e-01 -2.33900758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.111400513 meters 0.07094271737704283 Centerline is valid? [True, True] Translation: X:444.03, Y:48.50, Z:-2.34 [[ 9.97110011e-01 -7.57033015e-02 -6.37471692e-03 4.44027414e+02] [ 7.56987826e-02 9.97130281e-01 -9.47537654e-04 4.85015494e+01] [ 6.42815500e-03 4.62240970e-04 9.99979232e-01 -2.33886186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.141400513 meters 0.08215180432287966 Centerline is valid? [True, True] Translation: X:444.05, Y:48.51, Z:-2.34 [[ 9.97028093e-01 -7.67464407e-02 -6.70568004e-03 4.44053980e+02] [ 7.67414621e-02 9.97050527e-01 -9.97002035e-04 4.85149521e+01] [ 6.76241818e-03 4.79435347e-04 9.99977020e-01 -2.34032506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.171400513 meters 0.08478950885073915 Centerline is valid? [True, True] Translation: X:444.08, Y:48.52, Z:-2.34 [[ 9.96981971e-01 -7.73117861e-02 -7.05955724e-03 4.44081729e+02] [ 7.73062795e-02 9.97006839e-01 -1.04999483e-03 4.85186914e+01] [ 7.11960382e-03 5.01077809e-04 9.99974530e-01 -2.34145169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.201400513 meters 0.06990569841179128 Centerline is valid? [True, True] Translation: X:444.11, Y:48.50, Z:-2.34 [[ 9.97072751e-01 -7.61895775e-02 -6.40914005e-03 4.44113782e+02] [ 7.61850142e-02 9.97093243e-01 -9.53502003e-04 4.85008483e+01] [ 6.46315715e-03 4.62430439e-04 9.99979007e-01 -2.33982699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.231400513 meters 0.08155172817392388 Centerline is valid? [True, True] Translation: X:444.14, Y:48.52, Z:-2.34 [[ 9.97211970e-01 -7.44265529e-02 -5.38286761e-03 4.44140692e+02] [ 7.44233077e-02 9.97226418e-01 -8.00956345e-04 4.85176525e+01] [ 5.42755021e-03 3.98112442e-04 9.99985191e-01 -2.33859578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.261400513 meters 0.08198786593346392 Centerline is valid? [True, True] Translation: X:444.17, Y:48.52, Z:-2.34 [[ 9.97413789e-01 -7.17140076e-02 -4.77865976e-03 4.44170873e+02] [ 7.17114190e-02 9.97425168e-01 -7.11079285e-04 4.85207957e+01] [ 4.81734987e-03 3.66555811e-04 9.99988329e-01 -2.33676229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.291400513 meters 0.08266825122508903 Centerline is valid? [True, True] Translation: X:444.20, Y:48.52, Z:-2.34 [[ 9.97788554e-01 -6.62316513e-02 -5.60087012e-03 4.44201218e+02] [ 6.62280093e-02 9.97804167e-01 -8.33452667e-04 4.85242563e+01] [ 5.64377250e-03 4.60675053e-04 9.99983968e-01 -2.33644170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.321400513 meters 0.08652230868826043 Centerline is valid? [True, True] Translation: X:444.23, Y:48.53, Z:-2.34 [[ 9.97915912e-01 -6.42795447e-02 -5.65448488e-03 4.44229753e+02] [ 6.42758010e-02 9.97931818e-01 -8.41506232e-04 4.85327649e+01] [ 5.69688201e-03 4.76305914e-04 9.99983659e-01 -2.33641769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.351400513 meters 0.08283391347906195 Centerline is valid? [True, True] Translation: X:444.26, Y:48.53, Z:-2.33 [[ 9.98006354e-01 -6.29433179e-02 -4.63205066e-03 4.44260378e+02] [ 6.29407912e-02 9.98017025e-01 -6.89401911e-04 4.85314950e+01] [ 4.66625866e-03 3.96482555e-04 9.99989034e-01 -2.33471643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.381400513 meters 0.08155845218798831 Centerline is valid? [True, True] Translation: X:444.29, Y:48.53, Z:-2.33 [[ 9.98053761e-01 -6.22854216e-02 -3.03580807e-03 4.44289603e+02] [ 6.22843331e-02 9.98058344e-01 -4.51899096e-04 4.85325285e+01] [ 3.05806030e-03 2.61936312e-04 9.99995290e-01 -2.33220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.411400513 meters 0.086355811462287 Centerline is valid? [True, True] Translation: X:444.32, Y:48.54, Z:-2.33 [[ 9.98012356e-01 -6.30114845e-02 -9.43563229e-04 4.44316414e+02] [ 6.30113797e-02 9.98012799e-01 -1.40447811e-04 4.85390063e+01] [ 9.50538004e-04 8.07134295e-05 9.99999545e-01 -2.32906704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.441400513 meters 0.08674191468025313 Centerline is valid? [True, True] Translation: X:444.35, Y:48.54, Z:-2.33 [[ 9.97955259e-01 -6.39144527e-02 -4.93535615e-04 4.44345639e+02] [ 6.39144241e-02 9.97955380e-01 -7.33800128e-05 4.85427071e+01] [ 4.97216565e-04 4.16859251e-05 9.99999876e-01 -2.32856391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.471400513 meters 0.08151634329270918 Centerline is valid? [True, True] Translation: X:444.38, Y:48.54, Z:-2.33 [[ 9.97903329e-01 -6.47207343e-02 -4.15566951e-04 4.44375108e+02] [ 6.47207141e-02 9.97903415e-01 -6.19098943e-05 4.85392674e+01] [ 4.18702534e-04 3.48842998e-05 9.99999912e-01 -2.32874628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.501400513 meters 0.0866066755532195 Centerline is valid? [True, True] Translation: X:444.40, Y:48.55, Z:-2.33 [[ 9.97846730e-01 -6.55852992e-02 -6.87321455e-04 4.44402037e+02] [ 6.55852440e-02 9.97846965e-01 -1.02460330e-04 4.85482294e+01] [ 6.92561519e-04 5.71615597e-05 9.99999759e-01 -2.32934885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.531400513 meters 0.08695952977480355 Centerline is valid? [True, True] Translation: X:444.43, Y:48.55, Z:-2.33 [[ 9.97728571e-01 -6.73126674e-02 -2.58913754e-03 4.44431169e+02] [ 6.73118901e-02 9.97731908e-01 -3.86284137e-04 4.85495929e+01] [ 2.60926695e-03 2.11126978e-04 9.99996574e-01 -2.33272402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.561400513 meters 0.08512196468543744 Centerline is valid? [True, True] Translation: X:444.46, Y:48.55, Z:-2.33 [[ 9.97681027e-01 -6.79769745e-02 -3.42037341e-03 4.44460338e+02] [ 6.79756214e-02 9.97686852e-01 -5.10433024e-04 4.85503289e+01] [ 3.44715927e-03 2.76747336e-04 9.99994020e-01 -2.33420096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.591400513 meters 0.08367839489829094 Centerline is valid? [True, True] Translation: X:444.49, Y:48.55, Z:-2.33 [[ 9.97626667e-01 -6.87288472e-02 -4.16881552e-03 4.44489023e+02] [ 6.87268428e-02 9.97635321e-01 -6.22327076e-04 4.85515438e+01] [ 4.20172944e-03 3.34340558e-04 9.99991117e-01 -2.33487617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.621400513 meters 0.08904083372233604 Centerline is valid? [True, True] Translation: X:444.52, Y:48.56, Z:-2.34 [[ 9.97567294e-01 -6.95540411e-02 -4.66153396e-03 4.44515811e+02] [ 6.95515427e-02 9.97578116e-01 -6.96135736e-04 4.85616164e+01] [ 4.69866332e-03 3.70225364e-04 9.99988893e-01 -2.33559973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.651400513 meters 0.0821863208060032 Centerline is valid? [True, True] Translation: X:444.55, Y:48.56, Z:-2.34 [[ 9.97440765e-01 -7.13172516e-02 -5.07632015e-03 4.44546710e+02] [ 7.13143106e-02 9.97453605e-01 -7.58242652e-04 4.85562897e+01] [ 5.11746961e-03 3.94287860e-04 9.99986828e-01 -2.33609975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.681400513 meters 0.07716227584591509 Centerline is valid? [True, True] Translation: X:444.58, Y:48.55, Z:-2.34 [[ 9.97340767e-01 -7.27157903e-02 -4.87937711e-03 4.44577125e+02] [ 7.27130892e-02 9.97352633e-01 -7.28935496e-04 4.85539349e+01] [ 4.91946473e-03 3.72202504e-04 9.99987830e-01 -2.33583093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.711400513 meters 0.08524049135062226 Centerline is valid? [True, True] Translation: X:444.60, Y:48.57, Z:-2.34 [[ 9.97211751e-01 -7.44857041e-02 -4.53901103e-03 4.44604497e+02] [ 7.44833845e-02 9.97222024e-01 -6.78189870e-04 4.85670998e+01] [ 4.57691721e-03 3.38218004e-04 9.99989469e-01 -2.33582356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74140051300003 meters 0.0700534843130155 Centerline is valid? [True, True] Translation: X:444.64, Y:48.55, Z:-2.33 [[ 9.97037643e-01 -7.68000550e-02 -4.20583134e-03 4.44637841e+02] [ 7.67980837e-02 9.97046468e-01 -6.28444026e-04 4.85517865e+01] [ 4.24167382e-03 3.03582563e-04 9.99990958e-01 -2.33455298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.771400513 meters 0.07859237727342126 Centerline is valid? [True, True] Translation: X:444.67, Y:48.56, Z:-2.33 [[ 9.96808016e-01 -7.97337583e-02 -4.03818498e-03 4.44665411e+02] [ 7.97319648e-02 9.96816156e-01 -6.03435930e-04 4.85642765e+01] [ 4.07344225e-03 2.79537349e-04 9.99991664e-01 -2.33431536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.801400513 meters 0.06369402950652708 Centerline is valid? [True, True] Translation: X:444.70, Y:48.55, Z:-2.33 [[ 9.96303857e-01 -8.57669438e-02 -4.75990423e-03 4.44698801e+02] [ 8.57645203e-02 9.96315182e-01 -7.11313723e-04 4.85460752e+01] [ 4.80337205e-03 3.00453702e-04 9.99988419e-01 -2.33447974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.831400513 meters 0.06369402950652708 Centerline is valid? [True, True] Translation: X:444.73, Y:48.55, Z:-2.33 [[ 9.96288174e-01 -8.59489352e-02 -4.75980981e-03 4.44726032e+02] [ 8.59465108e-02 9.96299498e-01 -7.11945131e-04 4.85502948e+01] [ 4.80338706e-03 3.00213469e-04 9.99988419e-01 -2.33444301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.861400513 meters 0.06251041202576114 Centerline is valid? [True, True] Translation: X:444.76, Y:48.55, Z:-2.34 [[ 9.96035359e-01 -8.88182641e-02 -4.98795327e-03 4.44755202e+02] [ 8.88156360e-02 9.96047803e-01 -7.46380680e-04 4.85512716e+01] [ 5.03453213e-03 3.00413307e-04 9.99987282e-01 -2.33503883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.891400513 meters 0.06235313558225554 Centerline is valid? [True, True] Translation: X:444.78, Y:48.55, Z:-2.34 [[ 9.95782098e-01 -9.16109054e-02 -5.04532704e-03 4.44784427e+02] [ 9.16082518e-02 9.95794837e-01 -7.55042081e-04 4.85540746e+01] [ 5.09328070e-03 2.89663797e-04 9.99986987e-01 -2.33561639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.921400513 meters 0.055051513732053484 Centerline is valid? [True, True] Translation: X:444.82, Y:48.55, Z:-2.34 [[ 9.95336163e-01 -9.63083991e-02 -5.53301861e-03 4.44816189e+02] [ 9.63052793e-02 9.95351499e-01 -8.28152556e-04 4.85463590e+01] [ 5.58705642e-03 2.91431285e-04 9.99984350e-01 -2.33578754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.951400513 meters 0.05432469807185459 Centerline is valid? [True, True] Translation: X:444.84, Y:48.55, Z:-2.34 [[ 9.95110652e-01 -9.86184756e-02 -5.40241612e-03 4.44844779e+02] [ 9.86155344e-02 9.95125280e-01 -8.08777929e-04 4.85475581e+01] [ 5.45584130e-03 2.72061380e-04 9.99985080e-01 -2.33542488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.981400513 meters 0.05294910408353347 Centerline is valid? [True, True] Translation: X:444.88, Y:48.55, Z:-2.33 [[ 9.94886374e-01 -1.00872721e-01 -5.07906934e-03 4.44875266e+02] [ 1.00870150e-01 9.94899309e-01 -7.60456392e-04 4.85479777e+01] [ 5.12987188e-03 2.44241217e-04 9.99986812e-01 -2.33442828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.011400513 meters 0.047991654723576936 Centerline is valid? [True, True] Translation: X:444.91, Y:48.54, Z:-2.33 [[ 9.94682696e-01 -1.02885404e-01 -4.57462259e-03 4.44906293e+02] [ 1.02883340e-01 9.94693194e-01 -6.84980361e-04 4.85440713e+01] [ 4.62082044e-03 2.10685663e-04 9.99989302e-01 -2.33314643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.041400513 meters 0.046244844901550695 Centerline is valid? [True, True] Translation: X:444.94, Y:48.54, Z:-2.33 [[ 9.94344768e-01 -1.06146928e-01 -3.36334179e-03 4.44936062e+02] [ 1.06145831e-01 9.94350446e-01 -5.03667232e-04 4.85406650e+01] [ 3.39780313e-03 1.43814170e-04 9.99994217e-01 -2.33192989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.071400513 meters 0.04137977407238227 Centerline is valid? [True, True] Translation: X:444.97, Y:48.54, Z:-2.33 [[ 9.94188573e-01 -1.07612411e-01 -2.94111692e-03 4.44966168e+02] [ 1.07611577e-01 9.94192916e-01 -4.40541818e-04 4.85357260e+01] [ 2.97144537e-03 1.21483411e-04 9.99995578e-01 -2.33118840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.101400513 meters 0.043706753746129576 Centerline is valid? [True, True] Translation: X:444.99, Y:48.54, Z:-2.33 [[ 9.94019470e-01 -1.09184387e-01 -2.01552964e-03 4.44994329e+02] [ 1.09183998e-01 9.94021510e-01 -3.01976847e-04 4.85398505e+01] [ 2.03645097e-03 8.01072803e-05 9.99997923e-01 -2.33051836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.131400513 meters 0.04205193677820799 Centerline is valid? [True, True] Translation: X:445.02, Y:48.54, Z:-2.33 [[ 9.93900533e-01 -1.10277006e-01 -8.43821687e-04 4.45024132e+02] [ 1.10276938e-01 9.93900891e-01 -1.26380583e-04 4.85389748e+01] [ 8.52611999e-04 3.25556566e-05 9.99999636e-01 -2.32868893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.161400513 meters 0.04196492887841514 Centerline is valid? [True, True] Translation: X:445.05, Y:48.54, Z:-2.33 [[ 9.93856002e-01 -1.10678903e-01 6.54644830e-04 4.45053394e+02] [ 1.10678862e-01 9.93856217e-01 9.85194304e-05 4.85370213e+01] [-6.61526857e-04 -2.54587823e-05 9.99999781e-01 -2.32592429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.191400513 meters 0.039670755206944096 Centerline is valid? [True, True] Translation: X:445.08, Y:48.54, Z:-2.33 [[ 9.93931992e-01 -1.09996257e-01 1.40036723e-04 4.45083022e+02] [ 1.09996255e-01 9.93932001e-01 2.12727045e-05 4.85361766e+01] [-1.41526898e-04 -5.74010644e-06 9.99999990e-01 -2.32690724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.221400513 meters 0.04342181330966492 Centerline is valid? [True, True] Translation: X:445.11, Y:48.54, Z:-2.33 [[ 9.94083400e-01 -1.08617293e-01 -6.90844676e-04 4.45111069e+02] [ 1.08617247e-01 9.94083640e-01 -1.03835746e-04 4.85435516e+01] [ 6.98035747e-04 2.81837447e-05 9.99999756e-01 -2.32821672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.251400513 meters 0.04827292972769186 Centerline is valid? [True, True] Translation: X:445.14, Y:48.55, Z:-2.33 [[ 9.94272404e-01 -1.06865026e-01 -1.50088574e-03 4.45138629e+02] [ 1.06864807e-01 9.94273535e-01 -2.25695047e-04 4.85530258e+01] [ 1.51640987e-03 6.40104929e-05 9.99998848e-01 -2.33000610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.281400513 meters 0.04657860334019348 Centerline is valid? [True, True] Translation: X:445.17, Y:48.55, Z:-2.33 [[ 9.94527473e-01 -1.04459505e-01 -1.82152039e-03 4.45169047e+02] [ 1.04459178e-01 9.94529137e-01 -2.73971827e-04 4.85548043e+01] [ 1.84017406e-03 8.21979869e-05 9.99998304e-01 -2.33079342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.311400513 meters 0.049551767033585 Centerline is valid? [True, True] Translation: X:445.20, Y:48.56, Z:-2.33 [[ 9.95031519e-01 -9.95464045e-02 -1.67013273e-03 4.45199353e+02] [ 9.95461227e-02 9.95032917e-01 -2.51215886e-04 4.85596034e+01] [ 1.68684468e-03 8.37124877e-05 9.99998574e-01 -2.33010382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.341400513 meters 0.05453360663943961 Centerline is valid? [True, True] Translation: X:445.23, Y:48.57, Z:-2.33 [[ 9.95165620e-01 -9.81969067e-02 -1.66006172e-03 4.45226947e+02] [ 9.81966264e-02 9.95167001e-01 -2.49712675e-04 4.85686946e+01] [ 1.67655965e-03 8.54930090e-05 9.99998591e-01 -2.32984987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.371400513 meters 0.058314521210127986 Centerline is valid? [True, True] Translation: X:445.25, Y:48.58, Z:-2.33 [[ 9.95249234e-01 -9.73417813e-02 -1.88143850e-03 4.45253409e+02] [ 9.73414195e-02 9.95251007e-01 -2.83098047e-04 4.85776390e+01] [ 1.90006083e-03 9.86112197e-05 9.99998190e-01 -2.33010294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.401400513 meters 0.05480047047598495 Centerline is valid? [True, True] Translation: X:445.28, Y:48.58, Z:-2.33 [[ 9.95292713e-01 -9.68900012e-02 -2.17772934e-03 4.45282002e+02] [ 9.68895152e-02 9.95295089e-01 -3.27817309e-04 4.85782707e+01] [ 2.19924553e-03 1.15275040e-04 9.99997575e-01 -2.33120150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.431400513 meters 0.05706102876735394 Centerline is valid? [True, True] Translation: X:445.31, Y:48.58, Z:-2.33 [[ 9.95289876e-01 -9.68752096e-02 -3.64093833e-03 4.45308908e+02] [ 9.68738501e-02 9.95296517e-01 -5.48338041e-04 4.85848691e+01] [ 3.67693360e-03 1.93043586e-04 9.99993221e-01 -2.33456182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.461400513 meters 0.0537198671377071 Centerline is valid? [True, True] Translation: X:445.34, Y:48.58, Z:-2.34 [[ 9.95293798e-01 -9.67998434e-02 -4.47728850e-03 4.45338050e+02] [ 9.67977840e-02 9.95303840e-01 -6.74907827e-04 4.85839185e+01] [ 4.52159341e-03 2.38339970e-04 9.99989749e-01 -2.33505797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49140051300003 meters 0.057294144703928684 Centerline is valid? [True, True] Translation: X:445.37, Y:48.59, Z:-2.33 [[ 9.95299804e-01 -9.67395796e-02 -4.44457596e-03 4.45365240e+02] [ 9.67375478e-02 9.95309699e-01 -6.70374301e-04 4.85917738e+01] [ 4.48858129e-03 2.37266030e-04 9.99989898e-01 -2.33466688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.521400513 meters 0.05162268553354136 Centerline is valid? [True, True] Translation: X:445.39, Y:48.59, Z:-2.33 [[ 9.95323730e-01 -9.65286797e-02 -3.58973112e-03 4.45394523e+02] [ 9.65273513e-02 9.95330185e-01 -5.41881716e-04 4.85892279e+01] [ 3.62527486e-03 1.92840494e-04 9.99993410e-01 -2.33233387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.551400513 meters 0.057318597974993106 Centerline is valid? [True, True] Translation: X:445.42, Y:48.60, Z:-2.33 [[ 9.95344251e-01 -9.63536218e-02 -2.40872963e-03 4.45421323e+02] [ 9.63530227e-02 9.95347157e-01 -3.63819256e-04 4.85987576e+01] [ 2.43257749e-03 1.30037024e-04 9.99997033e-01 -2.33038356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.581400513 meters 0.059437352702217665 Centerline is valid? [True, True] Translation: X:445.45, Y:48.60, Z:-2.33 [[ 9.95292517e-01 -9.68669505e-02 -3.09819895e-03 4.45448336e+02] [ 9.68659612e-02 9.95297326e-01 -4.68160478e-04 4.86035564e+01] [ 3.12897841e-03 1.65846601e-04 9.99995091e-01 -2.33149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.611400513 meters 0.05677549362383605 Centerline is valid? [True, True] Translation: X:445.48, Y:48.60, Z:-2.33 [[ 9.95231068e-01 -9.74611670e-02 -4.05490392e-03 4.45478003e+02] [ 9.74594750e-02 9.95239305e-01 -6.13259697e-04 4.86027537e+01] [ 4.09536877e-03 2.15146296e-04 9.99991591e-01 -2.33298865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.641400513 meters 0.06002427563588027 Centerline is valid? [True, True] Translation: X:445.51, Y:48.61, Z:-2.33 [[ 9.95245256e-01 -9.72881801e-02 -4.67873348e-03 4.45505735e+02] [ 9.72859235e-02 9.95256222e-01 -7.08039474e-04 4.86071820e+01] [ 4.72542248e-03 2.49498020e-04 9.99988804e-01 -2.33409486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.671400513 meters 0.0538227060937801 Centerline is valid? [True, True] Translation: X:445.54, Y:48.60, Z:-2.33 [[ 9.95329710e-01 -9.64395270e-02 -4.26441705e-03 4.45535784e+02] [ 9.64376422e-02 9.95338819e-01 -6.45894460e-04 4.86018357e+01] [ 4.30682959e-03 2.31627620e-04 9.99990699e-01 -2.33285563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.701400513 meters 0.05834031033559177 Centerline is valid? [True, True] Translation: X:445.56, Y:48.61, Z:-2.33 [[ 9.95467450e-01 -9.50281734e-02 -3.76860016e-03 4.45563922e+02] [ 9.50266903e-02 9.95474561e-01 -5.71075501e-04 4.86091724e+01] [ 3.80581385e-03 2.10369472e-04 9.99992736e-01 -2.33213388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.731400513 meters 0.0610055545439497 Centerline is valid? [True, True] Translation: X:445.59, Y:48.61, Z:-2.33 [[ 9.95605221e-01 -9.35709013e-02 -3.83797913e-03 4.45592401e+02] [ 9.35693518e-02 9.95612594e-01 -5.81722443e-04 4.86139217e+01] [ 3.87557265e-03 2.20048683e-04 9.99992466e-01 -2.33211395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.761400513 meters 0.06283049773877536 Centerline is valid? [True, True] Translation: X:445.62, Y:48.62, Z:-2.33 [[ 9.95869989e-01 -9.06989115e-02 -4.08311666e-03 4.45622763e+02] [ 9.06971334e-02 9.95878329e-01 -6.18938025e-04 4.86154618e+01] [ 4.12242440e-03 2.46054828e-04 9.99991473e-01 -2.33321423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.791400513 meters 0.0630354364354968 Centerline is valid? [True, True] Translation: X:445.65, Y:48.62, Z:-2.33 [[ 9.96017858e-01 -8.90822267e-02 -3.57545043e-03 4.45652610e+02] [ 8.90808527e-02 9.96024251e-01 -5.42040669e-04 4.86177003e+01] [ 3.60952153e-03 2.21378013e-04 9.99993461e-01 -2.33277762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.821400513 meters 0.069448522930611 Centerline is valid? [True, True] Translation: X:445.68, Y:48.63, Z:-2.33 [[ 9.96198067e-01 -8.70690059e-02 -2.89820354e-03 4.45680927e+02] [ 8.70680944e-02 9.96202266e-01 -4.39430584e-04 4.86272036e+01] [ 2.92545772e-03 1.85418839e-04 9.99995704e-01 -2.33228810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.851400513 meters 0.06576281978271137 Centerline is valid? [True, True] Translation: X:445.71, Y:48.62, Z:-2.33 [[ 9.96398491e-01 -8.47476473e-02 -2.80784681e-03 4.45711743e+02] [ 8.47467824e-02 9.96402430e-01 -4.25777048e-04 4.86244464e+01] [ 2.83382898e-03 1.86287626e-04 9.99995967e-01 -2.33185876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.881400513 meters 0.07799125093287099 Centerline is valid? [True, True] Translation: X:445.74, Y:48.64, Z:-2.33 [[ 9.96609624e-01 -8.22188467e-02 -3.05259592e-03 4.45739230e+02] [ 8.22178127e-02 9.96614277e-01 -4.62908000e-04 4.86410620e+01] [ 3.08032043e-03 2.10360809e-04 9.99995234e-01 -2.33228775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.911400513 meters 0.08280071610783049 Centerline is valid? [True, True] Translation: X:445.77, Y:48.65, Z:-2.33 [[ 9.97049630e-01 -7.66386407e-02 -4.30749149e-03 4.45769118e+02] [ 7.66365299e-02 9.97058883e-01 -6.53202649e-04 4.86483310e+01] [ 4.34488322e-03 3.21164259e-04 9.99990509e-01 -2.33424127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.941400513 meters 0.08545004141272435 Centerline is valid? [True, True] Translation: X:445.80, Y:48.65, Z:-2.34 [[ 9.97251276e-01 -7.39485414e-02 -4.63739168e-03 4.45798430e+02] [ 7.39460659e-02 9.97261994e-01 -7.03262630e-04 4.86548941e+01] [ 4.67669972e-03 3.58412684e-04 9.99989000e-01 -2.33513930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.971400513 meters 0.08061160710417974 Centerline is valid? [True, True] Translation: X:445.83, Y:48.65, Z:-2.33 [[ 9.97427821e-01 -7.15500616e-02 -4.28147797e-03 4.45829888e+02] [ 7.15479294e-02 9.97436951e-01 -6.49303787e-04 4.86525389e+01] [ 4.31696206e-03 3.41302778e-04 9.99990624e-01 -2.33425170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.001400513 meters 0.08271323143496893 Centerline is valid? [True, True] Translation: X:445.86, Y:48.66, Z:-2.33 [[ 9.97532041e-01 -7.01571640e-02 -2.79258577e-03 4.45859190e+02] [ 7.01562515e-02 9.97535925e-01 -4.23524528e-04 4.86583164e+01] [ 2.81541791e-03 2.26561937e-04 9.99996011e-01 -2.33214355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.031400513 meters 0.08638561825378657 Centerline is valid? [True, True] Translation: X:445.89, Y:48.66, Z:-2.33 [[ 9.97525277e-01 -7.03082499e-02 2.66607004e-04 4.45886413e+02] [ 7.03082416e-02 9.97525313e-01 4.05234636e-05 4.86640326e+01] [-2.68796369e-04 -2.16785096e-05 9.99999964e-01 -2.32757326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.061400513 meters 0.0798042517261198 Centerline is valid? [True, True] Translation: X:445.92, Y:48.66, Z:-2.33 [[ 9.97429761e-01 -7.16492828e-02 5.02257636e-04 4.45917172e+02] [ 7.16492534e-02 9.97429887e-01 7.62441994e-05 4.86595688e+01] [-5.06429619e-04 -4.00618489e-05 9.99999871e-01 -2.32735725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.091400513 meters 0.08658286984590348 Centerline is valid? [True, True] Translation: X:445.95, Y:48.67, Z:-2.33 [[ 9.97324473e-01 -7.31019464e-02 1.00661262e-05 4.45945109e+02] [ 7.31019464e-02 9.97324473e-01 1.55725145e-06 4.86716896e+01] [-1.01530321e-05 -8.17231567e-07 1.00000000e+00 -2.32854174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.121400513 meters 0.07957726798662751 Centerline is valid? [True, True] Translation: X:445.98, Y:48.67, Z:-2.33 [[ 9.97192400e-01 -7.48774139e-02 -8.30728192e-04 4.45976194e+02] [ 7.48773347e-02 9.97192744e-01 -1.26071234e-04 4.86671423e+01] [ 8.37836014e-04 6.35145640e-05 9.99999647e-01 -2.32996708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.151400513 meters 0.08157615602138171 Centerline is valid? [True, True] Translation: X:446.01, Y:48.67, Z:-2.33 [[ 9.96949474e-01 -7.80231909e-02 -2.03169865e-03 4.46005058e+02] [ 7.80227236e-02 9.96951533e-01 -3.08378253e-04 4.86716308e+01] [ 2.04956574e-03 1.48918874e-04 9.99997889e-01 -2.33172842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.181400513 meters 0.08095846203410008 Centerline is valid? [True, True] Translation: X:446.04, Y:48.67, Z:-2.33 [[ 9.96821654e-01 -7.96185323e-02 -2.73469056e-03 4.46035381e+02] [ 7.96176915e-02 9.96825386e-01 -4.15145547e-04 4.86744469e+01] [ 2.75906225e-03 1.96096322e-04 9.99996175e-01 -2.33248769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.211400513 meters 0.0777737437913437 Centerline is valid? [True, True] Translation: X:446.07, Y:48.67, Z:-2.33 [[ 9.96717713e-01 -8.08631094e-02 -3.86767231e-03 4.46065428e+02] [ 8.08614364e-02 9.96725179e-01 -5.87239853e-04 4.86744861e+01] [ 3.90249242e-03 2.72566824e-04 9.99992348e-01 -2.33392012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24140051300003 meters 0.0691855650289788 Centerline is valid? [True, True] Translation: X:446.10, Y:48.67, Z:-2.34 [[ 9.96644773e-01 -8.16931972e-02 -5.04156565e-03 4.46095539e+02] [ 8.16903641e-02 9.96657463e-01 -7.65684021e-04 4.86680404e+01] [ 5.08726520e-03 3.51267644e-04 9.99986998e-01 -2.33531500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.271400513 meters 0.08032547357589263 Centerline is valid? [True, True] Translation: X:446.12, Y:48.69, Z:-2.34 [[ 9.96588194e-01 -8.23520856e-02 -5.48689374e-03 4.46121594e+02] [ 8.23487357e-02 9.96603226e-01 -8.34052709e-04 4.86852129e+01] [ 5.53694199e-03 3.79368320e-04 9.99984599e-01 -2.33749424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.301400513 meters 0.07029007137719692 Centerline is valid? [True, True] Translation: X:446.15, Y:48.68, Z:-2.34 [[ 9.96555623e-01 -8.27348052e-02 -5.64286139e-03 4.46151900e+02] [ 8.27312632e-02 9.96571523e-01 -8.58666981e-04 4.86761238e+01] [ 5.69455661e-03 3.88868358e-04 9.99983710e-01 -2.33664630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.331400513 meters 0.07452262343673008 Centerline is valid? [True, True] Translation: X:446.18, Y:48.68, Z:-2.33 [[ 9.96558888e-01 -8.27934811e-02 -3.95247683e-03 4.46177876e+02] [ 8.27917419e-02 9.96566689e-01 -6.01916627e-04 4.86818185e+01] [ 3.98874152e-03 2.72612923e-04 9.99992008e-01 -2.33378921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.361400513 meters 0.07111265169907612 Centerline is valid? [True, True] Translation: X:446.21, Y:48.68, Z:-2.33 [[ 9.96566749e-01 -8.27184162e-02 -3.51840162e-03 4.46207393e+02] [ 8.27170358e-02 9.96572930e-01 -5.36305776e-04 4.86805083e+01] [ 3.55070618e-03 2.43432750e-04 9.99993667e-01 -2.33258276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.391400513 meters 0.07046665080441405 Centerline is valid? [True, True] Translation: X:446.24, Y:48.68, Z:-2.33 [[ 9.96568981e-01 -8.26908564e-02 -3.53389459e-03 4.46236338e+02] [ 8.26894616e-02 9.96575217e-01 -5.39229005e-04 4.86830388e+01] [ 3.56638107e-03 2.45163059e-04 9.99993610e-01 -2.33244605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.421400513 meters 0.07848466463287716 Centerline is valid? [True, True] Translation: X:446.26, Y:48.69, Z:-2.33 [[ 9.96660853e-01 -8.15187661e-02 -4.67288393e-03 4.46263628e+02] [ 8.15163128e-02 9.96671752e-01 -7.13415140e-04 4.86948032e+01] [ 4.71548814e-03 3.30116674e-04 9.99988828e-01 -2.33461457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.451400513 meters 0.07073282367452628 Centerline is valid? [True, True] Translation: X:446.29, Y:48.69, Z:-2.34 [[ 9.96730086e-01 -8.06213357e-02 -5.41628566e-03 4.46294744e+02] [ 8.06180256e-02 9.96744727e-01 -8.27056725e-04 4.86883613e+01] [ 5.46533258e-03 3.87702064e-04 9.99984990e-01 -2.33500755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.481400513 meters 0.07119949739029313 Centerline is valid? [True, True] Translation: X:446.32, Y:48.69, Z:-2.34 [[ 9.96799572e-01 -7.97341920e-02 -5.75079659e-03 4.46324208e+02] [ 7.97304450e-02 9.96816074e-01 -8.78269439e-04 4.86921925e+01] [ 5.80251458e-03 4.16945031e-04 9.99983078e-01 -2.33540642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.511400513 meters 0.07325083598555927 Centerline is valid? [True, True] Translation: X:446.35, Y:48.70, Z:-2.34 [[ 9.96865033e-01 -7.89275327e-02 -5.52729641e-03 4.46352436e+02] [ 7.89240580e-02 9.96880274e-01 -8.44308887e-04 4.86986927e+01] [ 5.57669198e-03 4.05425344e-04 9.99984368e-01 -2.33504244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.541400513 meters 0.07674035912550431 Centerline is valid? [True, True] Translation: X:446.38, Y:48.70, Z:-2.33 [[ 9.96944087e-01 -7.79573732e-02 -5.01361377e-03 4.46381748e+02] [ 7.79545015e-02 9.96956623e-01 -7.65967901e-04 4.87030018e+01] [ 5.05806830e-03 3.72793407e-04 9.99987138e-01 -2.33483299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.571400513 meters 0.08222668487654541 Centerline is valid? [True, True] Translation: X:446.41, Y:48.72, Z:-2.33 [[ 9.97095289e-01 -7.60539648e-02 -4.09622663e-03 4.46409490e+02] [ 7.60520315e-02 9.97103654e-01 -6.25899528e-04 4.87162228e+01] [ 4.13196468e-03 3.12555114e-04 9.99991415e-01 -2.33397723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.601400513 meters 0.07716129626353685 Centerline is valid? [True, True] Translation: X:446.44, Y:48.71, Z:-2.33 [[ 9.97124124e-01 -7.56522397e-02 -4.49671709e-03 4.46438688e+02] [ 7.56499049e-02 9.97134203e-01 -6.87306299e-04 4.87126422e+01] [ 4.53582668e-03 3.45153470e-04 9.99989654e-01 -2.33410272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.631400513 meters 0.08591744426130532 Centerline is valid? [True, True] Translation: X:446.46, Y:48.73, Z:-2.33 [[ 9.97145064e-01 -7.53729291e-02 -4.54348210e-03 4.46464473e+02] [ 7.53705410e-02 9.97155353e-01 -6.94800824e-04 4.87264662e+01] [ 4.58292667e-03 3.50372508e-04 9.99989437e-01 -2.33485977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.661400513 meters 0.08222094816467501 Centerline is valid? [True, True] Translation: X:446.49, Y:48.73, Z:-2.33 [[ 9.97172045e-01 -7.50341247e-02 -4.21803981e-03 4.46493489e+02] [ 7.50320611e-02 9.97180913e-01 -6.45584801e-04 4.87255018e+01] [ 4.25458968e-03 3.27270896e-04 9.99990896e-01 -2.33413923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.691400513 meters 0.08161505900398572 Centerline is valid? [True, True] Translation: X:446.52, Y:48.73, Z:-2.33 [[ 9.97196500e-01 -7.47536727e-02 -3.32101158e-03 4.46522278e+02] [ 7.47523904e-02 9.97201996e-01 -5.08763036e-04 4.87287759e+01] [ 3.34975128e-03 2.59083165e-04 9.99994356e-01 -2.33268001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.721400513 meters 0.0868495931505877 Centerline is valid? [True, True] Translation: X:446.55, Y:48.74, Z:-2.33 [[ 9.97235760e-01 -7.42813974e-02 -1.76412708e-03 4.46549036e+02] [ 7.42810346e-02 9.97237311e-01 -2.70389064e-04 4.87379701e+01] [ 1.77933822e-03 1.38600459e-04 9.99998407e-01 -2.33024199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.751400513 meters 0.08557019377673658 Centerline is valid? [True, True] Translation: X:446.58, Y:48.74, Z:-2.33 [[ 9.97215646e-01 -7.45504665e-02 -1.78438987e-03 4.46577578e+02] [ 7.45500954e-02 9.97217232e-01 -2.73639409e-04 4.87406657e+01] [ 1.79982427e-03 1.39851065e-04 9.99998371e-01 -2.33047552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.781400513 meters 0.08557019377673658 Centerline is valid? [True, True] Translation: X:446.60, Y:48.75, Z:-2.33 [[ 9.97202925e-01 -7.47204277e-02 -1.78434753e-03 4.46604835e+02] [ 7.47200565e-02 9.97204512e-01 -2.73915249e-04 4.87450000e+01] [ 1.79982647e-03 1.39822539e-04 9.99998371e-01 -2.33043877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.811400513 meters 0.08563838300346213 Centerline is valid? [True, True] Translation: X:446.63, Y:48.75, Z:-2.33 [[ 9.97164179e-01 -7.52341313e-02 -1.85074187e-03 4.46633624e+02] [ 7.52337322e-02 9.97165886e-01 -2.84427107e-04 4.87493813e+01] [ 1.86689528e-03 1.44382305e-04 9.99998247e-01 -2.33049201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.841400513 meters 0.07804499748994508 Centerline is valid? [True, True] Translation: X:446.66, Y:48.74, Z:-2.33 [[ 9.97113849e-01 -7.58952425e-02 -1.97103074e-03 4.46663123e+02] [ 7.58947905e-02 9.97115785e-01 -3.03230470e-04 4.87446934e+01] [ 1.98835961e-03 1.52764336e-04 9.99998012e-01 -2.33053729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.871400513 meters 0.07240374678785372 Centerline is valid? [True, True] Translation: X:446.69, Y:48.74, Z:-2.33 [[ 9.97049432e-01 -7.67281940e-02 -2.28357597e-03 4.46692921e+02] [ 7.67275887e-02 9.97052031e-01 -3.51599575e-04 4.87412081e+01] [ 2.30382166e-03 1.75348878e-04 9.99997331e-01 -2.33100039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.901400513 meters 0.08244159991148033 Centerline is valid? [True, True] Translation: X:446.72, Y:48.76, Z:-2.33 [[ 9.96994404e-01 -7.74440270e-02 -2.14031228e-03 4.46718464e+02] [ 7.74434967e-02 9.96996688e-01 -3.29646533e-04 4.87571175e+01] [ 2.15941341e-03 1.62902482e-04 9.99997655e-01 -2.33090296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.931400513 meters 0.07742036621255054 Centerline is valid? [True, True] Translation: X:446.75, Y:48.76, Z:-2.33 [[ 9.96935606e-01 -7.82038329e-02 -1.88623942e-03 4.46747627e+02] [ 7.82034222e-02 9.96937380e-01 -2.90607537e-04 4.87554650e+01] [ 1.90318921e-03 1.42206623e-04 9.99998179e-01 -2.33029557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.961400513 meters 0.0802838070974922 Centerline is valid? [True, True] Translation: X:446.78, Y:48.76, Z:-2.33 [[ 9.96865509e-01 -7.90909270e-02 -1.94469388e-03 4.46775079e+02] [ 7.90904920e-02 9.96867396e-01 -2.99702018e-04 4.87638489e+01] [ 1.96230563e-03 1.44955809e-04 9.99998064e-01 -2.33045066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99140051300003 meters 0.07543729542627667 Centerline is valid? [True, True] Translation: X:446.80, Y:48.76, Z:-2.33 [[ 9.96807703e-01 -7.98072256e-02 -2.28232477e-03 4.46804323e+02] [ 7.98066281e-02 9.96810302e-01 -3.51847233e-04 4.87634895e+01] [ 2.30312479e-03 1.68579389e-04 9.99997334e-01 -2.33107765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.021400513 meters 0.07367464855853179 Centerline is valid? [True, True] Translation: X:446.83, Y:48.77, Z:-2.33 [[ 9.96728284e-01 -8.07410582e-02 -3.68916649e-03 4.46833133e+02] [ 8.07395026e-02 9.96735075e-01 -5.68931142e-04 4.87667547e+01] [ 3.72305774e-03 2.69208293e-04 9.99993033e-01 -2.33352767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.051400513 meters 0.08074815634244398 Centerline is valid? [True, True] Translation: X:446.86, Y:48.78, Z:-2.33 [[ 9.96726220e-01 -8.07565993e-02 -3.90055328e-03 4.46858846e+02] [ 8.07548595e-02 9.96733811e-01 -6.01738649e-04 4.87798070e+01] [ 3.93640770e-03 2.84780057e-04 9.99992212e-01 -2.33407408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.081400513 meters 0.07319890136516084 Centerline is valid? [True, True] Translation: X:446.89, Y:48.78, Z:-2.33 [[ 9.96739860e-01 -8.06021340e-02 -3.59820578e-03 4.46888313e+02] [ 8.06006509e-02 9.96746320e-01 -5.55525695e-04 4.87754689e+01] [ 3.63127492e-03 2.63696876e-04 9.99993372e-01 -2.33277067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.111400513 meters 0.07607410854278923 Centerline is valid? [True, True] Translation: X:446.91, Y:48.79, Z:-2.33 [[ 9.96807369e-01 -7.97798533e-02 -3.20052072e-03 4.46914952e+02] [ 7.97786749e-02 9.96812479e-01 -4.94398162e-04 4.87865753e+01] [ 3.22976200e-03 2.37486430e-04 9.99994756e-01 -2.33185643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.141400513 meters 0.0826423548345655 Centerline is valid? [True, True] Translation: X:446.94, Y:48.80, Z:-2.33 [[ 9.96857487e-01 -7.91118688e-02 -4.05751247e-03 4.46941762e+02] [ 7.91099685e-02 9.96865698e-01 -6.26948949e-04 4.88009511e+01] [ 4.09439410e-03 3.03989070e-04 9.99991572e-01 -2.33359687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.171400513 meters 0.08575150337303296 Centerline is valid? [True, True] Translation: X:446.97, Y:48.81, Z:-2.34 [[ 9.96913542e-01 -7.83589311e-02 -4.82370072e-03 4.46969009e+02] [ 7.83562356e-02 9.96925145e-01 -7.45551822e-04 4.88108672e+01] [ 4.86728918e-03 3.65283677e-04 9.99988088e-01 -2.33529882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.201400513 meters 0.07548489848380247 Centerline is valid? [True, True] Translation: X:447.00, Y:48.80, Z:-2.34 [[ 9.96981297e-01 -7.74742214e-02 -5.10281586e-03 4.46999731e+02] [ 7.74711927e-02 9.96994279e-01 -7.88842508e-04 4.88047372e+01] [ 5.14859318e-03 3.91139995e-04 9.99986669e-01 -2.33501598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.231400513 meters 0.08038026440808342 Centerline is valid? [True, True] Translation: X:447.03, Y:48.82, Z:-2.33 [[ 9.97044676e-01 -7.66765528e-02 -4.75599748e-03 4.47026328e+02] [ 7.66739119e-02 9.97055951e-01 -7.35411826e-04 4.88168596e+01] [ 4.79838443e-03 3.68577515e-04 9.99988420e-01 -2.33443071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.261400513 meters 0.07865255265529505 Centerline is valid? [True, True] Translation: X:447.06, Y:48.82, Z:-2.33 [[ 9.97140702e-01 -7.54745217e-02 -3.74395897e-03 4.47055265e+02] [ 7.54728764e-02 9.97147687e-01 -5.79024026e-04 4.88228370e+01] [ 3.77698159e-03 2.94801071e-04 9.99992824e-01 -2.33239152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.291400513 meters 0.0806658721037073 Centerline is valid? [True, True] Translation: X:447.08, Y:48.83, Z:-2.33 [[ 9.97136143e-01 -7.55034289e-02 -4.32951621e-03 4.47082437e+02] [ 7.55012277e-02 9.97145484e-01 -6.69873070e-04 4.88317056e+01] [ 4.36773525e-03 3.41070861e-04 9.99990403e-01 -2.33350242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.321400513 meters 0.07388255128830205 Centerline is valid? [True, True] Translation: X:447.11, Y:48.83, Z:-2.33 [[ 9.97097473e-01 -7.59734191e-02 -4.96677594e-03 4.47112881e+02] [ 7.59705245e-02 9.97109767e-01 -7.69158210e-04 4.88265039e+01] [ 5.01085638e-03 3.89597134e-04 9.99987370e-01 -2.33454586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.351400513 meters 0.07875268553165134 Centerline is valid? [True, True] Translation: X:447.14, Y:48.84, Z:-2.34 [[ 9.97072881e-01 -7.63001411e-02 -4.89467790e-03 4.47139030e+02] [ 7.62973318e-02 9.97084822e-01 -7.58400977e-04 4.88417235e+01] [ 4.93827515e-03 3.82730183e-04 9.99987733e-01 -2.33503955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.381400513 meters 0.0727684741822421 Centerline is valid? [True, True] Translation: X:447.17, Y:48.84, Z:-2.33 [[ 9.97008435e-01 -7.71536686e-02 -4.63584489e-03 4.47168705e+02] [ 7.71511550e-02 9.97019149e-01 -7.18873115e-04 4.88399602e+01] [ 4.67748982e-03 3.59061772e-04 9.99988996e-01 -2.33430492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.411400513 meters 0.08274988874557156 Centerline is valid? [True, True] Translation: X:447.20, Y:48.86, Z:-2.33 [[ 9.96832962e-01 -7.94597716e-02 -3.19238591e-03 4.47195770e+02] [ 7.94585908e-02 9.96838045e-01 -4.95203555e-04 4.88583975e+01] [ 3.22164049e-03 2.39972741e-04 9.99994782e-01 -2.33290465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.441400513 meters 0.08086937699986124 Centerline is valid? [True, True] Translation: X:447.23, Y:48.86, Z:-2.33 [[ 9.96682740e-01 -8.13210726e-02 -3.22462073e-03 4.47225437e+02] [ 8.13198775e-02 9.96687929e-01 -5.00243475e-04 4.88612515e+01] [ 3.25462090e-03 2.36358275e-04 9.99994676e-01 -2.33284295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.471400513 meters 0.07329177659783373 Centerline is valid? [True, True] Translation: X:447.26, Y:48.86, Z:-2.33 [[ 9.96530179e-01 -8.31679150e-02 -3.27121571e-03 4.47256089e+02] [ 8.31666948e-02 9.96535520e-01 -5.07530004e-04 4.88565997e+01] [ 3.30209286e-03 2.33712767e-04 9.99994521e-01 -2.33321482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.501400513 meters 0.06887823459039838 Centerline is valid? [True, True] Translation: X:447.29, Y:48.85, Z:-2.33 [[ 9.96309138e-01 -8.57689064e-02 -3.43463081e-03 4.47287665e+02] [ 8.57675764e-02 9.96315030e-01 -5.32922230e-04 4.88528685e+01] [ 3.46768245e-03 2.36375327e-04 9.99993960e-01 -2.33278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.531400513 meters 0.07516278124961402 Centerline is valid? [True, True] Translation: X:447.31, Y:48.86, Z:-2.33 [[ 9.96301726e-01 -8.58763822e-02 -2.84923968e-03 4.47313513e+02] [ 8.58754670e-02 9.96305781e-01 -4.42217586e-04 4.88632659e+01] [ 2.87669001e-03 1.95902356e-04 9.99995843e-01 -2.33179155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.561400513 meters 0.07178857930636927 Centerline is valid? [True, True] Translation: X:447.34, Y:48.86, Z:-2.33 [[ 9.96354765e-01 -8.52726764e-02 -2.39870295e-03 4.47342252e+02] [ 8.52720256e-02 9.96357638e-01 -3.72471980e-04 4.88629903e+01] [ 2.42172769e-03 1.66571972e-04 9.99997054e-01 -2.33062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.591400513 meters 0.06933670702848135 Centerline is valid? [True, True] Translation: X:447.37, Y:48.86, Z:-2.33 [[ 9.96455958e-01 -8.40791481e-02 -2.49410498e-03 4.47372199e+02] [ 8.40784404e-02 9.96459064e-01 -3.87429723e-04 4.88647849e+01] [ 2.51784828e-03 1.76356198e-04 9.99996815e-01 -2.33077014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.621400513 meters 0.07796366932345479 Centerline is valid? [True, True] Translation: X:447.40, Y:48.88, Z:-2.33 [[ 9.96583922e-01 -8.25451243e-02 -2.60564584e-03 4.47399151e+02] [ 8.25443466e-02 9.96587310e-01 -4.04797106e-04 4.88795965e+01] [ 2.63016761e-03 1.88332953e-04 9.99996523e-01 -2.33121164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.651400513 meters 0.07352679294464283 Centerline is valid? [True, True] Translation: X:447.43, Y:48.88, Z:-2.33 [[ 9.96712399e-01 -8.09825333e-02 -2.49443754e-03 4.47430190e+02] [ 8.09818157e-02 9.96715504e-01 -3.87529346e-04 4.88784169e+01] [ 2.51762768e-03 1.84251223e-04 9.99996814e-01 -2.33071891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.681400513 meters 0.07782361553728538 Centerline is valid? [True, True] Translation: X:447.46, Y:48.89, Z:-2.33 [[ 9.96903647e-01 -7.86117802e-02 -1.81837552e-03 4.47458593e+02] [ 7.86113949e-02 9.96905296e-01 -2.82498138e-04 4.88871070e+01] [ 1.83495586e-03 1.38678388e-04 9.99998307e-01 -2.33007077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.711400513 meters 0.08648729777331896 Centerline is valid? [True, True] Translation: X:447.48, Y:48.90, Z:-2.33 [[ 9.96971992e-01 -7.77386490e-02 -1.88404096e-03 4.47484701e+02] [ 7.77382338e-02 9.96973762e-01 -2.92725364e-04 4.89017133e+01] [ 1.90109547e-03 1.45376972e-04 9.99998182e-01 -2.33049304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74140051300003 meters 0.07971331476162845 Centerline is valid? [True, True] Translation: X:447.51, Y:48.90, Z:-2.33 [[ 9.96996839e-01 -7.74094014e-02 -2.25574344e-03 4.47514706e+02] [ 7.74088049e-02 9.96999375e-01 -3.50695885e-04 4.88977454e+01] [ 2.27612196e-03 1.75028285e-04 9.99997394e-01 -2.33106345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.771400513 meters 0.08362712657514688 Centerline is valid? [True, True] Translation: X:447.54, Y:48.91, Z:-2.33 [[ 9.96981873e-01 -7.75911593e-02 -2.59930217e-03 4.47541609e+02] [ 7.75903671e-02 9.96985241e-01 -4.04418927e-04 4.89059834e+01] [ 2.62284524e-03 2.01517530e-04 9.99996540e-01 -2.33170347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.801400513 meters 0.0856862636012321 Centerline is valid? [True, True] Translation: X:447.57, Y:48.91, Z:-2.33 [[ 9.96904045e-01 -7.85872393e-02 -2.52391274e-03 4.47569978e+02] [ 7.85864952e-02 9.96907222e-01 -3.92787198e-04 4.89118322e+01] [ 2.54697489e-03 1.93225690e-04 9.99996738e-01 -2.33096955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.831400513 meters 0.077732372294388 Centerline is valid? [True, True] Translation: X:447.60, Y:48.91, Z:-2.33 [[ 9.96847734e-01 -7.92798306e-02 -3.05035167e-03 4.47599801e+02] [ 7.92787461e-02 9.96852374e-01 -4.75022857e-04 4.89064801e+01] [ 3.07841004e-03 2.31697403e-04 9.99995235e-01 -2.33189241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.861400513 meters 0.07116462647752399 Centerline is valid? [True, True] Translation: X:447.63, Y:48.90, Z:-2.33 [[ 9.96808889e-01 -7.97225330e-02 -4.04432582e-03 4.47630252e+02] [ 7.97206271e-02 9.96817046e-01 -6.30540146e-04 4.88986729e+01] [ 4.08172117e-03 3.06111832e-04 9.99991623e-01 -2.33344491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.891400513 meters 0.0775265678182208 Centerline is valid? [True, True] Translation: X:447.66, Y:48.91, Z:-2.33 [[ 9.96792169e-01 -7.99155292e-02 -4.34517679e-03 4.47656560e+02] [ 7.99133288e-02 9.96801585e-01 -6.77949497e-04 4.89133659e+01] [ 4.38545780e-03 3.28537208e-04 9.99990330e-01 -2.33408329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.921400513 meters 0.07635439009240792 Centerline is valid? [True, True] Translation: X:447.69, Y:48.91, Z:-2.34 [[ 9.96806313e-01 -7.96722515e-02 -5.43196133e-03 4.47685283e+02] [ 7.96688049e-02 9.96821028e-01 -8.48313363e-04 4.89148709e+01] [ 5.48228031e-03 4.12846249e-04 9.99984887e-01 -2.33517970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.951400513 meters 0.07715115410534798 Centerline is valid? [True, True] Translation: X:447.71, Y:48.92, Z:-2.34 [[ 9.96862065e-01 -7.89667155e-02 -5.50280769e-03 4.47714052e+02] [ 7.89631654e-02 9.96877164e-01 -8.59782179e-04 4.89207478e+01] [ 5.55351750e-03 4.22565124e-04 9.99984490e-01 -2.33537182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.981400513 meters 0.07967838779391496 Centerline is valid? [True, True] Translation: X:447.74, Y:48.93, Z:-2.34 [[ 9.96966968e-01 -7.76302247e-02 -5.51474702e-03 4.47742279e+02] [ 7.76266380e-02 9.96982127e-01 -8.61802822e-04 4.89289407e+01] [ 5.56500617e-03 4.31097676e-04 9.99984422e-01 -2.33550370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.011400513 meters 0.08043989708238354 Centerline is valid? [True, True] Translation: X:447.77, Y:48.94, Z:-2.33 [[ 9.97087723e-01 -7.61004656e-02 -4.97920459e-03 4.47771639e+02] [ 7.60975224e-02 9.97100076e-01 -7.78180299e-04 4.89355163e+01] [ 5.02398516e-03 3.97008890e-04 9.99987301e-01 -2.33437737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.041400513 meters 0.08154039981231946 Centerline is valid? [True, True] Translation: X:447.80, Y:48.94, Z:-2.33 [[ 9.97215197e-01 -7.44394978e-02 -4.54001332e-03 4.47801319e+02] [ 7.44370336e-02 9.97225463e-01 -7.09590701e-04 4.89423049e+01] [ 4.58023846e-03 3.69669507e-04 9.99989442e-01 -2.33385453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.071400513 meters 0.09441849692888389 Centerline is valid? [True, True] Translation: X:447.83, Y:48.96, Z:-2.33 [[ 9.97450697e-01 -7.12175677e-02 -4.49057105e-03 4.47827245e+02] [ 7.12151241e-02 9.97460733e-01 -7.01946021e-04 4.89648342e+01] [ 4.52915918e-03 3.80359973e-04 9.99989671e-01 -2.33376171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.101400513 meters 0.09175417700432997 Centerline is valid? [True, True] Translation: X:447.86, Y:48.97, Z:-2.33 [[ 9.97545805e-01 -6.98700602e-02 -4.53233590e-03 4.47857821e+02] [ 6.98675570e-02 9.97556025e-01 -7.08503129e-04 4.89679052e+01] [ 4.57076213e-03 3.90101088e-04 9.99989478e-01 -2.33342620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.131400513 meters 0.08558304800929752 Centerline is valid? [True, True] Translation: X:447.89, Y:48.97, Z:-2.33 [[ 9.97617274e-01 -6.88659229e-02 -4.15449795e-03 4.47887629e+02] [ 6.88638104e-02 9.97625859e-01 -6.49577850e-04 4.89665338e+01] [ 4.18936836e-03 3.61935525e-04 9.99991159e-01 -2.33268404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.161400513 meters 0.09072338082597226 Centerline is valid? [True, True] Translation: X:447.91, Y:48.98, Z:-2.33 [[ 9.97673711e-01 -6.80912477e-02 -3.27861054e-03 4.47914932e+02] [ 6.80899275e-02 9.97679056e-01 -5.12745292e-04 4.89785478e+01] [ 3.30591454e-03 2.88312144e-04 9.99994494e-01 -2.33136931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.191400513 meters 0.09728311371699581 Centerline is valid? [True, True] Translation: X:447.94, Y:48.99, Z:-2.33 [[ 9.97672753e-01 -6.81672173e-02 -1.51963731e-03 4.47940393e+02] [ 6.81669337e-02 9.97673901e-01 -2.37689404e-04 4.89944058e+01] [ 1.53230511e-03 1.33547226e-04 9.99998817e-01 -2.32828805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.221400513 meters 0.09401138542603786 Centerline is valid? [True, True] Translation: X:447.97, Y:49.00, Z:-2.33 [[ 9.97599112e-01 -6.92473226e-02 -9.05874529e-04 4.47970614e+02] [ 6.92472223e-02 9.97599520e-01 -1.41728393e-04 4.89971258e+01] [ 9.13514307e-04 7.86588240e-05 9.99999580e-01 -2.32747825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.251400513 meters 0.08533529888858211 Centerline is valid? [True, True] Translation: X:448.00, Y:48.99, Z:-2.33 [[ 9.97494811e-01 -7.07352822e-02 -7.88814342e-04 4.48001118e+02] [ 7.07352066e-02 9.97495120e-01 -1.23414383e-04 4.89929457e+01] [ 7.95568208e-04 6.73082609e-05 9.99999681e-01 -2.32736814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.281400513 meters 0.08508085892612709 Centerline is valid? [True, True] Translation: X:448.03, Y:49.00, Z:-2.33 [[ 9.97376695e-01 -7.23753413e-02 -1.23991213e-03 4.48030465e+02] [ 7.23751557e-02 9.97377461e-01 -1.94036839e-04 4.89990037e+01] [ 1.25070389e-03 1.03788988e-04 9.99999212e-01 -2.32826879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.311400513 meters 0.08184271794576015 Centerline is valid? [True, True] Translation: X:448.06, Y:49.00, Z:-2.33 [[ 9.97164565e-01 -7.51873386e-02 -3.11354865e-03 4.48060809e+02] [ 7.51861811e-02 9.97169394e-01 -4.87328452e-04 4.90014198e+01] [ 3.14137635e-03 2.51850831e-04 9.99995034e-01 -2.33127036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.341400513 meters 0.08131739419466745 Centerline is valid? [True, True] Translation: X:448.09, Y:49.01, Z:-2.33 [[ 9.97087889e-01 -7.61908272e-02 -3.27098081e-03 4.48090203e+02] [ 7.61895548e-02 9.97093220e-01 -5.12026524e-04 4.90062628e+01] [ 3.30048452e-03 2.61320874e-04 9.99994519e-01 -2.33158386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.371400513 meters 0.0882069788314345 Centerline is valid? [True, True] Translation: X:448.12, Y:49.02, Z:-2.33 [[ 9.97060303e-01 -7.65721729e-02 -2.73030810e-03 4.48116263e+02] [ 7.65712875e-02 9.97064018e-01 -4.27483892e-04 4.90200226e+01] [ 2.75502534e-03 2.17164012e-04 9.99996181e-01 -2.33117150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.401400513 meters 0.07972614756382154 Centerline is valid? [True, True] Translation: X:448.15, Y:49.02, Z:-2.33 [[ 9.97078529e-01 -7.63413537e-02 -2.53077387e-03 4.48146089e+02] [ 7.63405916e-02 9.97081720e-01 -3.96504625e-04 4.90155607e+01] [ 2.55365806e-03 2.02145474e-04 9.99996719e-01 -2.33053020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.431400513 meters 0.0803378119958252 Centerline is valid? [True, True] Translation: X:448.17, Y:49.02, Z:-2.33 [[ 9.97186990e-01 -7.48886780e-02 -3.12941025e-03 4.48174978e+02] [ 7.48875048e-02 9.97191868e-01 -4.90574315e-04 4.90236077e+01] [ 3.15736091e-03 2.54840600e-04 9.99994983e-01 -2.33190996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.461400513 meters 0.09199868084148216 Centerline is valid? [True, True] Translation: X:448.20, Y:49.04, Z:-2.33 [[ 9.97225602e-01 -7.43447615e-02 -3.73558436e-03 4.48200240e+02] [ 7.43430854e-02 9.97232552e-01 -5.85753701e-04 4.90432039e+01] [ 3.76879404e-03 3.06413721e-04 9.99992851e-01 -2.33325638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49140051300003 meters 0.07529874631699467 Centerline is valid? [True, True] Translation: X:448.23, Y:49.03, Z:-2.33 [[ 9.97225392e-01 -7.43094833e-02 -4.42913926e-03 4.48231811e+02] [ 7.43071240e-02 9.97235162e-01 -6.95106266e-04 4.90289255e+01] [ 4.46854640e-03 3.64061019e-04 9.99989950e-01 -2.33364415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.521400513 meters 0.089402630516466 Centerline is valid? [True, True] Translation: X:448.26, Y:49.05, Z:-2.33 [[ 9.97222463e-01 -7.43330057e-02 -4.68659258e-03 4.48255977e+02] [ 7.43303624e-02 9.97233401e-01 -7.35937885e-04 4.90516946e+01] [ 4.72833113e-03 3.85537665e-04 9.99988747e-01 -2.33485399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.551400513 meters 0.09042088255183851 Centerline is valid? [True, True] Translation: X:448.28, Y:49.06, Z:-2.34 [[ 9.97095495e-01 -7.60261171e-02 -4.53901831e-03 4.48283795e+02] [ 7.60236542e-02 9.97105760e-01 -7.12943653e-04 4.90589829e+01] [ 4.58008364e-03 3.65800146e-04 9.99989444e-01 -2.33555211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.581400513 meters 0.08232052531395244 Centerline is valid? [True, True] Translation: X:448.31, Y:49.05, Z:-2.33 [[ 9.97005998e-01 -7.72012941e-02 -4.35886438e-03 4.48314606e+02] [ 7.71990335e-02 9.97015466e-01 -6.84756099e-04 4.90540527e+01] [ 4.39871926e-03 3.46205821e-04 9.99990266e-01 -2.33486001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.611400513 meters 0.07674663146337912 Centerline is valid? [True, True] Translation: X:448.35, Y:49.05, Z:-2.33 [[ 9.96913975e-01 -7.83808953e-02 -4.35459543e-03 4.48345018e+02] [ 7.83786499e-02 9.96923427e-01 -6.84184700e-04 4.90527128e+01] [ 4.39482521e-03 3.40765978e-04 9.99990285e-01 -2.33463847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.641400513 meters 0.07674663146337912 Centerline is valid? [True, True] Translation: X:448.37, Y:49.06, Z:-2.33 [[ 9.96899916e-01 -7.85595007e-02 -4.35450524e-03 4.48372257e+02] [ 7.85572545e-02 9.96909368e-01 -6.84758415e-04 4.90571320e+01] [ 4.39484135e-03 3.40557631e-04 9.99990285e-01 -2.33460169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.671400513 meters 0.07590202290710855 Centerline is valid? [True, True] Translation: X:448.40, Y:49.06, Z:-2.33 [[ 9.96844954e-01 -7.92598514e-02 -4.24424655e-03 4.48400503e+02] [ 7.92577222e-02 9.96853935e-01 -6.67789919e-04 4.90616509e+01] [ 4.28382281e-03 3.29293697e-04 9.99990770e-01 -2.33468280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.701400513 meters 0.0878409602451104 Centerline is valid? [True, True] Translation: X:448.43, Y:49.08, Z:-2.34 [[ 9.96916797e-01 -7.83408457e-02 -4.42848859e-03 4.48425456e+02] [ 7.83385178e-02 9.96926572e-01 -6.96983700e-04 4.90846086e+01] [ 4.46948025e-03 3.47913525e-04 9.99989951e-01 -2.33577620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.731400513 meters 0.08177703021131207 Centerline is valid? [True, True] Translation: X:448.46, Y:49.08, Z:-2.33 [[ 9.97038093e-01 -7.67872563e-02 -4.33108430e-03 4.48455992e+02] [ 7.67850146e-02 9.97047440e-01 -6.81755821e-04 4.90845054e+01] [ 4.37064667e-03 3.47174152e-04 9.99990388e-01 -2.33485840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.761400513 meters 0.09077224380636718 Centerline is valid? [True, True] Translation: X:448.48, Y:49.10, Z:-2.34 [[ 9.97180547e-01 -7.49205824e-02 -4.22648454e-03 4.48482389e+02] [ 7.49184307e-02 9.97189443e-01 -6.65362971e-04 4.91023001e+01] [ 4.26445515e-03 3.46845423e-04 9.99990847e-01 -2.33536881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.791400513 meters 0.08678236489545024 Centerline is valid? [True, True] Translation: X:448.51, Y:49.11, Z:-2.33 [[ 9.97402497e-01 -7.19310148e-02 -3.76676678e-03 4.48512337e+02] [ 7.19292844e-02 9.97409558e-01 -5.93037932e-04 4.91069169e+01] [ 3.79966700e-03 3.20556676e-04 9.99992730e-01 -2.33497356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.821400513 meters 0.09409863724684224 Centerline is valid? [True, True] Translation: X:448.54, Y:49.12, Z:-2.34 [[ 9.97428087e-01 -7.15823654e-02 -3.63003553e-03 4.48537741e+02] [ 7.15807555e-02 9.97434644e-01 -5.71653675e-04 4.91228788e+01] [ 3.66164352e-03 3.10342745e-04 9.99993248e-01 -2.33517681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.851400513 meters 0.08528043136813437 Centerline is valid? [True, True] Translation: X:448.57, Y:49.12, Z:-2.34 [[ 9.97365777e-01 -7.24261948e-02 -3.99415637e-03 4.48567808e+02] [ 7.24242506e-02 9.97373717e-01 -6.29470228e-04 4.91194563e+01] [ 4.02925671e-03 3.38538281e-04 9.99991825e-01 -2.33591617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.881400513 meters 0.09167335140619813 Centerline is valid? [True, True] Translation: X:448.59, Y:49.13, Z:-2.34 [[ 9.97276684e-01 -7.35933484e-02 -4.82018848e-03 4.48594397e+02] [ 7.35905288e-02 9.97288251e-01 -7.59965631e-04 4.91335453e+01] [ 4.86304576e-03 4.03175786e-04 9.99988094e-01 -2.33758715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.911400513 meters 0.0815482707211419 Centerline is valid? [True, True] Translation: X:448.63, Y:49.13, Z:-2.34 [[ 9.97065766e-01 -7.62924414e-02 -6.27062056e-03 4.48625437e+02] [ 7.62877222e-02 9.97085355e-01 -9.88715643e-04 4.91292794e+01] [ 6.32777546e-03 5.07443161e-04 9.99979851e-01 -2.33860415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.941400513 meters 0.0802815695467626 Centerline is valid? [True, True] Translation: X:448.65, Y:49.13, Z:-2.34 [[ 9.97002952e-01 -7.71327572e-02 -5.97089283e-03 4.48654338e+02] [ 7.71284891e-02 9.97020716e-01 -9.42156183e-04 4.91341318e+01] [ 6.02577495e-03 4.78806553e-04 9.99981730e-01 -2.33728414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.971400513 meters 0.07703067497896493 Centerline is valid? [True, True] Translation: X:448.68, Y:49.14, Z:-2.34 [[ 9.96980140e-01 -7.74752204e-02 -5.30952369e-03 4.48682938e+02] [ 7.74718459e-02 9.96994187e-01 -8.38624213e-04 4.91372104e+01] [ 5.35853685e-03 4.24753084e-04 9.99985553e-01 -2.33588751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.001400513 meters 0.0804800859789705 Centerline is valid? [True, True] Translation: X:448.71, Y:49.15, Z:-2.34 [[ 9.96998114e-01 -7.72779964e-02 -4.78246683e-03 4.48709543e+02] [ 7.72752544e-02 9.97009510e-01 -7.55772606e-04 4.91485263e+01] [ 4.82656951e-03 3.83937521e-04 9.99988278e-01 -2.33532965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.031400513 meters 0.08435755748480887 Centerline is valid? [True, True] Translation: X:448.74, Y:49.16, Z:-2.34 [[ 9.97021394e-01 -7.69930706e-02 -4.51741940e-03 4.48736096e+02] [ 7.69906201e-02 9.97031561e-01 -7.14141903e-04 4.91603855e+01] [ 4.55899370e-03 3.64215835e-04 9.99989541e-01 -2.33509131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.061400513 meters 0.07693768133755999 Centerline is valid? [True, True] Translation: X:448.77, Y:49.16, Z:-2.33 [[ 9.97052528e-01 -7.66475037e-02 -3.37887106e-03 4.48765505e+02] [ 7.66461295e-02 9.97058216e-01 -5.34547425e-04 4.91611559e+01] [ 3.40990288e-03 2.73994472e-04 9.99994149e-01 -2.33385015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.091400513 meters 0.08346875765909263 Centerline is valid? [True, True] Translation: X:448.79, Y:49.17, Z:-2.33 [[ 9.97042249e-01 -7.68016751e-02 -2.87323777e-03 4.48791752e+02] [ 7.68006811e-02 9.97046362e-01 -4.54875243e-04 4.91748951e+01] [ 2.89968645e-03 2.32863218e-04 9.99995769e-01 -2.33309130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.121400513 meters 0.08219504079715736 Centerline is valid? [True, True] Translation: X:448.82, Y:49.18, Z:-2.33 [[ 9.96989268e-01 -7.74855538e-02 -2.89617307e-03 4.48820700e+02] [ 7.74845456e-02 9.96993448e-01 -4.58877678e-04 4.91770665e+01] [ 2.92302197e-03 2.33087466e-04 9.99995701e-01 -2.33321922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.151400513 meters 0.08359707040245422 Centerline is valid? [True, True] Translation: X:448.85, Y:49.19, Z:-2.33 [[ 9.96946145e-01 -7.80371705e-02 -2.93000209e-03 4.48847455e+02] [ 7.80361399e-02 9.96950423e-01 -4.64588591e-04 4.91854898e+01] [ 2.95732200e-03 2.34523751e-04 9.99995600e-01 -2.33270934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.181400513 meters 0.08030298322326915 Centerline is valid? [True, True] Translation: X:448.88, Y:49.19, Z:-2.33 [[ 9.96799357e-01 -7.99078975e-02 -2.40218519e-03 4.48877236e+02] [ 7.99072100e-02 9.96802233e-01 -3.80999657e-04 4.91888819e+01] [ 2.42494844e-03 1.87828297e-04 9.99997042e-01 -2.33278077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.211400513 meters 0.07820884093654484 Centerline is valid? [True, True] Translation: X:448.91, Y:49.19, Z:-2.33 [[ 9.96715855e-01 -8.09697259e-02 -1.18658411e-03 4.48906641e+02] [ 8.09695589e-02 9.96716557e-01 -1.88202922e-04 4.91923215e+01] [ 1.19792677e-03 9.15076436e-05 9.99999278e-01 -2.33136450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24140051300003 meters 0.07932047637987961 Centerline is valid? [True, True] Translation: X:448.93, Y:49.20, Z:-2.33 [[ 9.96659496e-01 -8.16681054e-02 4.12956674e-04 4.48934328e+02] [ 8.16680851e-02 9.96659581e-01 6.57859067e-05 4.91985328e+01] [-4.16949836e-04 -3.18407678e-05 9.99999913e-01 -2.32861558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.271400513 meters 0.07546559492085209 Centerline is valid? [True, True] Translation: X:448.96, Y:49.20, Z:-2.33 [[ 9.96679028e-01 -8.14172908e-02 1.46286789e-03 4.48963757e+02] [ 8.14170364e-02 9.96680095e-01 2.32749918e-04 4.91985551e+01] [-1.47696118e-03 -1.12874593e-04 9.99998903e-01 -2.32680876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.301400513 meters 0.08541403822507694 Centerline is valid? [True, True] Translation: X:448.99, Y:49.22, Z:-2.33 [[ 9.96946599e-01 -7.80861489e-02 1.78749160e-04 4.48990829e+02] [ 7.80861450e-02 9.96946615e-01 2.84294461e-05 4.92170020e+01] [-1.80423316e-04 -1.43848067e-05 9.99999984e-01 -2.32821132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.331400513 meters 0.0789018833475415 Centerline is valid? [True, True] Translation: X:449.02, Y:49.22, Z:-2.33 [[ 9.97138565e-01 -7.55947258e-02 -3.45345328e-04 4.49022189e+02] [ 7.55947113e-02 9.97138625e-01 -5.48987947e-05 4.92159919e+01] [ 3.48507224e-04 2.86354250e-05 9.99999939e-01 -2.32946760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.361400513 meters 0.08772310019958401 Centerline is valid? [True, True] Translation: X:449.05, Y:49.23, Z:-2.33 [[ 9.97329289e-01 -7.30357723e-02 -2.57234153e-04 4.49049285e+02] [ 7.30357642e-02 9.97329321e-01 -4.08801969e-05 4.92333991e+01] [ 2.59532880e-04 2.19837248e-05 9.99999966e-01 -2.32936677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.391400513 meters 0.09034221208798152 Centerline is valid? [True, True] Translation: X:449.08, Y:49.24, Z:-2.33 [[ 9.97586146e-01 -6.94394479e-02 2.11277821e-04 4.49078571e+02] [ 6.94394423e-02 9.97586168e-01 3.35825747e-05 4.92449800e+01] [-2.13099788e-04 -1.88304972e-05 9.99999977e-01 -2.32881063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.421400513 meters 0.10222886162711575 Centerline is valid? [True, False] Translation: X:449.08, Y:49.25, Z:-2.33 [[ 9.98202370e-01 -5.98230427e-02 3.63755443e-03 4.49079167e+02] [ 5.98560047e-02 9.98159382e-01 -9.75228715e-03 4.92515471e+01] [-3.04744759e-03 9.95248562e-03 9.99945829e-01 -2.33154677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.451400513 meters 0.09212884719018077 Centerline is valid? [False, True] Translation: X:449.08, Y:49.26, Z:-2.33 [[ 9.98831488e-01 -4.78748037e-02 6.60770320e-03 4.49079572e+02] [ 4.79811781e-02 9.98703435e-01 -1.70075108e-02 4.92555495e+01] [-5.78490463e-03 1.73046827e-02 9.99833528e-01 -2.33364417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.481400513 meters 0.0930925531955102 Centerline is valid? [True, True] Translation: X:449.11, Y:49.25, Z:-2.33 [[ 9.98812220e-01 -4.86151555e-02 3.27361968e-03 4.49108705e+02] [ 4.86139386e-02 9.98817542e-01 4.50325628e-04 4.92482669e+01] [-3.29164141e-03 -2.90647194e-04 9.99994540e-01 -2.33445766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.511400513 meters 0.09500119037980928 Centerline is valid? [True, True] Translation: X:449.14, Y:49.26, Z:-2.34 [[ 9.98767687e-01 -4.95543344e-02 2.73404284e-03 4.49137095e+02] [ 4.95534887e-02 9.98771400e-01 3.76270779e-04 4.92567705e+01] [-2.74932965e-03 -2.40325735e-04 9.99996192e-01 -2.33560203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.541400513 meters 0.08549485290863597 Centerline is valid? [True, True] Translation: X:449.17, Y:49.25, Z:-2.34 [[ 9.98634651e-01 -5.21978362e-02 2.05428283e-03 4.49168245e+02] [ 5.21973641e-02 9.98636748e-01 2.82780576e-04 4.92529346e+01] [-2.06624286e-03 -1.75166333e-04 9.99997850e-01 -2.33602707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.571400513 meters 0.08032711627382658 Centerline is valid? [True, True] Translation: X:449.20, Y:49.25, Z:-2.34 [[ 9.98556364e-01 -5.36833665e-02 1.81235376e-03 4.49198706e+02] [ 5.36830015e-02 9.98557997e-01 2.49469071e-04 4.92529549e+01] [-1.82313268e-03 -1.51816339e-04 9.99998327e-01 -2.33561435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.601400513 meters 0.08007457859370017 Centerline is valid? [True, True] Translation: X:449.23, Y:49.26, Z:-2.34 [[ 9.98476977e-01 -5.51433920e-02 1.71223581e-03 4.49228726e+02] [ 5.51430683e-02 9.98478436e-01 2.35704839e-04 4.92575720e+01] [-1.72262810e-03 -1.40927919e-04 9.99998506e-01 -2.33589214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.631400513 meters 0.0749340831795283 Centerline is valid? [True, True] Translation: X:449.26, Y:49.26, Z:-2.33 [[ 9.98436182e-01 -5.58609435e-02 2.17823759e-03 4.49257438e+02] [ 5.58604215e-02 9.98438543e-01 2.99811136e-04 4.92599748e+01] [-2.19158410e-03 -1.77665016e-04 9.99997583e-01 -2.33437166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.661400513 meters 0.08189791432673929 Centerline is valid? [True, True] Translation: X:449.28, Y:49.27, Z:-2.33 [[ 9.98390543e-01 -5.66554969e-02 2.54529726e-03 4.49283888e+02] [ 5.66547863e-02 9.98393766e-01 3.50490554e-04 4.92741651e+01] [-2.56106613e-03 -2.05723182e-04 9.99996699e-01 -2.33406712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.691400513 meters 0.08228943361498284 Centerline is valid? [True, True] Translation: X:449.31, Y:49.28, Z:-2.33 [[ 9.98296656e-01 -5.82683969e-02 2.92940326e-03 4.49311866e+02] [ 5.82674619e-02 9.98300927e-01 4.03591780e-04 4.92824993e+01] [-2.94794264e-03 -2.32215432e-04 9.99995628e-01 -2.33377387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.721400513 meters 0.07729226442854892 Centerline is valid? [True, True] Translation: X:449.34, Y:49.28, Z:-2.33 [[ 9.98229605e-01 -5.93931704e-02 3.17918587e-03 4.49341500e+02] [ 5.93920751e-02 9.98234637e-01 4.37917945e-04 4.92835720e+01] [-3.19958279e-03 -2.48324211e-04 9.99994850e-01 -2.33389879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.751400513 meters 0.08110538838728702 Centerline is valid? [True, True] Translation: X:449.37, Y:49.29, Z:-2.33 [[ 9.98159256e-01 -6.05160194e-02 3.98883517e-03 4.49369104e+02] [ 6.05143007e-02 9.98167179e-01 5.50280207e-04 4.92948207e+01] [-4.01482511e-03 -3.07885711e-04 9.99991893e-01 -2.33352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.781400513 meters 0.07021713309883991 Centerline is valid? [True, True] Translation: X:449.40, Y:49.29, Z:-2.33 [[ 9.98002740e-01 -6.29908502e-02 4.76276753e-03 4.49401047e+02] [ 6.29884273e-02 9.98014041e-01 6.57172424e-04 4.92871699e+01] [-4.79470472e-03 -3.55860644e-04 9.99988442e-01 -2.33300087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.811400513 meters 0.06902329673591291 Centerline is valid? [True, True] Translation: X:449.43, Y:49.29, Z:-2.33 [[ 9.97930667e-01 -6.41472706e-02 4.41710319e-03 4.49430912e+02] [ 6.41451978e-02 9.97940390e-01 6.09485012e-04 4.92901970e+01] [-4.44710248e-03 -3.24887827e-04 9.99990059e-01 -2.33337622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.841400513 meters 0.07160330832005028 Centerline is valid? [True, True] Translation: X:449.46, Y:49.30, Z:-2.34 [[ 9.97887605e-01 -6.48724303e-02 3.44898625e-03 4.49457649e+02] [ 6.48711710e-02 9.97893534e-01 4.75881112e-04 4.92986259e+01] [-3.47259264e-03 -2.51136087e-04 9.99993939e-01 -2.33506921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.871400513 meters 0.07825310846889103 Centerline is valid? [True, True] Translation: X:449.48, Y:49.31, Z:-2.34 [[ 9.97897039e-01 -6.47667970e-02 2.60035732e-03 4.49483909e+02] [ 6.47660805e-02 9.97900409e-01 3.58879766e-04 4.93126126e+01] [-2.61814112e-03 -1.89710104e-04 9.99996555e-01 -2.33660141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.901400513 meters 0.07160056507849608 Centerline is valid? [True, True] Translation: X:449.51, Y:49.31, Z:-2.34 [[ 9.98139941e-01 -6.09039446e-02 2.71421067e-03 4.49514716e+02] [ 6.09031491e-02 9.98143610e-01 3.74852596e-04 4.93117270e+01] [-2.73200203e-03 -2.08851371e-04 9.99996246e-01 -2.33617721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.931400513 meters 0.08468850639337201 Centerline is valid? [True, True] Translation: X:449.54, Y:49.33, Z:-2.34 [[ 9.98327829e-01 -5.77279820e-02 3.00438103e-03 4.49541748e+02] [ 5.77269929e-02 9.98332320e-01 4.14951082e-04 4.93329736e+01] [-3.02332498e-03 -2.40823330e-04 9.99995401e-01 -2.33590557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.961400513 meters 0.08055418232271658 Centerline is valid? [True, True] Translation: X:449.57, Y:49.33, Z:-2.34 [[ 9.98489089e-01 -5.48529450e-02 3.26995144e-03 4.49572317e+02] [ 5.48517578e-02 9.98494407e-01 4.51685360e-04 4.93346311e+01] [-3.28980450e-03 -2.71640319e-04 9.99994552e-01 -2.33602700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99140051300003 meters 0.08976194753710182 Centerline is valid? [True, True] Translation: X:449.60, Y:49.35, Z:-2.34 [[ 9.98607985e-01 -5.26022854e-02 3.88494446e-03 4.49599598e+02] [ 5.26005928e-02 9.98615486e-01 5.36632494e-04 4.93530855e+01] [-3.90779380e-03 -3.31535112e-04 9.99992310e-01 -2.33599836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.021400513 meters 0.09188168616573149 Centerline is valid? [True, True] Translation: X:449.63, Y:49.37, Z:-2.33 [[ 9.98719358e-01 -5.03179538e-02 5.26766467e-03 4.49628219e+02] [ 5.03148105e-02 9.98733143e-01 7.27622946e-04 4.93654355e+01] [-5.29760379e-03 -4.61649572e-04 9.99985861e-01 -2.33476800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.051400513 meters 0.08909323387121602 Centerline is valid? [True, True] Translation: X:449.66, Y:49.37, Z:-2.33 [[ 9.98747917e-01 -4.97121594e-02 5.59466229e-03 4.49659007e+02] [ 4.97086043e-02 9.98763464e-01 7.72790826e-04 4.93675490e+01] [-5.62616139e-03 -4.93720373e-04 9.99984051e-01 -2.33406617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.081400513 meters 0.09282563251199119 Centerline is valid? [True, True] Translation: X:449.69, Y:49.38, Z:-2.33 [[ 9.98758647e-01 -4.95425185e-02 5.16749587e-03 4.49687423e+02] [ 4.95394833e-02 9.98771911e-01 7.13793953e-04 4.93768756e+01] [-5.19651287e-03 -4.56912808e-04 9.99986394e-01 -2.33426261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.111400513 meters 0.09266405538172175 Centerline is valid? [True, True] Translation: X:449.72, Y:49.38, Z:-2.34 [[ 9.98750295e-01 -4.98113826e-02 4.08351275e-03 4.49717303e+02] [ 4.98094893e-02 9.98758578e-01 5.64102063e-04 4.93823362e+01] [-4.10654209e-03 -3.59999417e-04 9.99991503e-01 -2.33585745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.141400513 meters 0.09144917879144061 Centerline is valid? [True, True] Translation: X:449.75, Y:49.39, Z:-2.34 [[ 9.98716529e-01 -5.05952034e-02 2.32824638e-03 4.49746665e+02] [ 5.05945902e-02 9.98719222e-01 3.21547223e-04 4.93903924e+01] [-2.34153316e-03 -2.03337855e-04 9.99997238e-01 -2.33872690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.171400513 meters 0.0819660767975055 Centerline is valid? [True, True] Translation: X:449.78, Y:49.39, Z:-2.34 [[ 9.98711161e-01 -5.07284576e-02 1.62500016e-03 4.49776532e+02] [ 5.07281597e-02 9.98712473e-01 2.24065149e-04 4.93861761e+01] [-1.63427441e-03 -1.41343097e-04 9.99998655e-01 -2.33939985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.201400513 meters 0.08791667972865005 Centerline is valid? [True, True] Translation: X:449.80, Y:49.40, Z:-2.34 [[ 9.98742046e-01 -5.01250278e-02 1.34458663e-03 4.49803476e+02] [ 5.01248226e-02 9.98742944e-01 1.85904015e-04 4.94002847e+01] [-1.35221485e-03 -1.18272990e-04 9.99999079e-01 -2.34035066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.231400513 meters 0.0949779015076179 Centerline is valid? [True, True] Translation: X:449.83, Y:49.42, Z:-2.34 [[ 9.98768645e-01 -4.95891577e-02 1.45206337e-03 4.49830483e+02] [ 4.95889177e-02 9.98769693e-01 2.00829893e-04 4.94155565e+01] [-1.46023587e-03 -1.28576349e-04 9.99998926e-01 -2.34066169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.261400513 meters 0.08359555168352042 Centerline is valid? [True, True] Translation: X:449.86, Y:49.41, Z:-2.34 [[ 9.98755173e-01 -4.98617678e-02 1.38130817e-03 4.49860524e+02] [ 4.98615515e-02 9.98756121e-01 1.90678901e-04 4.94100135e+01] [-1.38909758e-03 -1.21567370e-04 9.99999028e-01 -2.34016009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.291400513 meters 0.08868173912634951 Centerline is valid? [True, True] Translation: X:449.89, Y:49.42, Z:-2.34 [[ 9.98691365e-01 -5.11374412e-02 7.20536137e-04 4.49887869e+02] [ 5.11373824e-02 9.98691623e-01 9.97678314e-05 4.94220471e+01] [-7.24695276e-04 -6.27909398e-05 9.99999735e-01 -2.34129003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.321400513 meters 0.08103974367710298 Centerline is valid? [True, True] Translation: X:449.92, Y:49.42, Z:-2.34 [[ 9.98606578e-01 -5.27714744e-02 2.70085880e-04 4.49918177e+02] [ 5.27714662e-02 9.98606615e-01 3.73339815e-05 4.94181699e+01] [-2.71679716e-04 -2.30291316e-05 9.99999963e-01 -2.34125141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.351400513 meters 0.08333378894753683 Centerline is valid? [True, True] Translation: X:449.95, Y:49.43, Z:-2.34 [[ 9.98485088e-01 -5.50228705e-02 -1.12811039e-04 4.49946863e+02] [ 5.50228690e-02 9.98485094e-01 -1.57034131e-05 4.94262465e+01] [ 1.13504188e-04 9.47243678e-06 9.99999994e-01 -2.34190226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.381400513 meters 0.0757228104034992 Centerline is valid? [True, True] Translation: X:449.98, Y:49.42, Z:-2.34 [[ 9.98193650e-01 -6.00784080e-02 -1.51444907e-04 4.49977835e+02] [ 6.00784055e-02 9.98193661e-01 -2.09953935e-05 4.94237473e+01] [ 1.52432716e-04 1.18588999e-05 9.99999988e-01 -2.34161228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.411400513 meters 0.07678136451777527 Centerline is valid? [True, True] Translation: X:450.01, Y:49.43, Z:-2.34 [[ 9.98080341e-01 -6.19292720e-02 6.30318271e-04 4.50006601e+02] [ 6.19292292e-02 9.98080539e-01 8.72956130e-05 4.94309669e+01] [-6.34514554e-04 -4.80929106e-05 9.99999798e-01 -2.34061281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.441400513 meters 0.08049638277703842 Centerline is valid? [True, True] Translation: X:450.03, Y:49.44, Z:-2.34 [[ 9.98014845e-01 -6.29641936e-02 1.37115806e-03 4.50034655e+02] [ 6.29639916e-02 9.98015781e-01 1.90053459e-04 4.94420668e+01] [-1.38040395e-03 -1.03342589e-04 9.99999042e-01 -2.34007354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.471400513 meters 0.07307322456820142 Centerline is valid? [True, True] Translation: X:450.06, Y:49.44, Z:-2.34 [[ 9.97969354e-01 -6.36539142e-02 2.31247115e-03 4.50063571e+02] [ 6.36533418e-02 9.97972018e-01 3.20343208e-04 4.94418938e+01] [-2.32817260e-03 -1.72496187e-04 9.99997275e-01 -2.33763550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.501400513 meters 0.07381445808545097 Centerline is valid? [True, True] Translation: X:450.09, Y:49.45, Z:-2.34 [[ 9.97976995e-01 -6.35307038e-02 2.40165339e-03 4.50091574e+02] [ 6.35300851e-02 9.97979868e-01 3.33122640e-04 4.94481707e+01] [-2.41796525e-03 -1.79871487e-04 9.99997061e-01 -2.33721287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.531400513 meters 0.0727929632986131 Centerline is valid? [True, True] Translation: X:450.12, Y:49.45, Z:-2.34 [[ 9.97996644e-01 -6.32278788e-02 2.22125052e-03 4.50120231e+02] [ 6.32273481e-02 9.97999102e-01 3.08405957e-04 4.94521350e+01] [-2.23630588e-03 -1.67344331e-04 9.99997485e-01 -2.33733869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.561400513 meters 0.08046347393192882 Centerline is valid? [True, True] Translation: X:450.15, Y:49.47, Z:-2.34 [[ 9.98035082e-01 -6.26234061e-02 2.06999662e-03 4.50146677e+02] [ 6.26229427e-02 9.98037216e-01 2.87987354e-04 4.94665533e+01] [-2.08396841e-03 -1.57792202e-04 9.99997816e-01 -2.33757134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.591400513 meters 0.08046347393192882 Centerline is valid? [True, True] Translation: X:450.17, Y:49.47, Z:-2.34 [[ 9.98025256e-01 -6.27798021e-02 2.07002057e-03 4.50174790e+02] [ 6.27793394e-02 9.98027390e-01 2.87815567e-04 4.94705831e+01] [-2.08400623e-03 -1.57292681e-04 9.99997816e-01 -2.33770021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.621400513 meters 0.07788302668792942 Centerline is valid? [True, True] Translation: X:450.20, Y:49.47, Z:-2.34 [[ 9.98116218e-01 -6.13028393e-02 2.44498856e-03 4.50204600e+02] [ 6.13021874e-02 9.98119194e-01 3.40775149e-04 4.94746901e+01] [-2.46128049e-03 -1.90250056e-04 9.99996953e-01 -2.33655414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.651400513 meters 0.08636399534188666 Centerline is valid? [True, True] Translation: X:450.23, Y:49.49, Z:-2.34 [[ 9.98189503e-01 -6.00981254e-02 2.43559492e-03 4.50231343e+02] [ 6.00974750e-02 9.98192456e-01 3.39446300e-04 4.94907748e+01] [-2.45159256e-03 -1.92458629e-04 9.99996976e-01 -2.33691370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.681400513 meters 0.08078080272513655 Centerline is valid? [True, True] Translation: X:450.26, Y:49.49, Z:-2.34 [[ 9.98264232e-01 -5.88626979e-02 1.92497266e-03 4.50260807e+02] [ 5.88622892e-02 9.98266076e-01 2.68316512e-04 4.94900278e+01] [-1.93742874e-03 -1.54542480e-04 9.99998111e-01 -2.33715237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.711400513 meters 0.0841064614982363 Centerline is valid? [True, True] Translation: X:450.29, Y:49.50, Z:-2.34 [[ 9.98324591e-01 -5.78400322e-02 1.59427471e-03 4.50287436e+02] [ 5.78397507e-02 9.98325856e-01 2.22190020e-04 4.95018911e+01] [-1.60445714e-03 -1.29605309e-04 9.99998704e-01 -2.33804383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74140051300003 meters 0.07985818493842677 Centerline is valid? [True, True] Translation: X:450.32, Y:49.50, Z:-2.34 [[ 9.98335064e-01 -5.76319729e-02 2.37830374e-03 4.50317570e+02] [ 5.76313450e-02 9.98337878e-01 3.31779242e-04 4.95023825e+01] [-2.39347181e-03 -1.94162007e-04 9.99997117e-01 -2.33671837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.771400513 meters 0.08161420110522416 Centerline is valid? [True, True] Translation: X:450.35, Y:49.51, Z:-2.34 [[ 9.98355754e-01 -5.72227297e-02 3.36854800e-03 4.50346876e+02] [ 5.72214672e-02 9.98361399e-01 4.70056757e-04 4.95100323e+01] [-3.38992622e-03 -2.76530609e-04 9.99994216e-01 -2.33536901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.801400513 meters 0.08638396482517573 Centerline is valid? [True, True] Translation: X:450.38, Y:49.52, Z:-2.33 [[ 9.98402526e-01 -5.63227934e-02 4.48758141e-03 4.50375032e+02] [ 5.63205434e-02 9.98412542e-01 6.26279654e-04 4.95217499e+01] [-4.51573139e-03 -3.72536165e-04 9.99989735e-01 -2.33353252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.831400513 meters 0.09140433550928873 Centerline is valid? [True, True] Translation: X:450.40, Y:49.54, Z:-2.33 [[ 9.98570986e-01 -5.32347633e-02 4.69533652e-03 4.50402573e+02] [ 5.32322661e-02 9.98581943e-01 6.55329025e-04 4.95377888e+01] [-4.72356455e-03 -4.04449147e-04 9.99988762e-01 -2.33281713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.861400513 meters 0.08722057316541304 Centerline is valid? [True, True] Translation: X:450.43, Y:49.54, Z:-2.33 [[ 9.98659446e-01 -5.15928219e-02 4.18225283e-03 4.50433068e+02] [ 5.15908262e-02 9.98668136e-01 5.83735250e-04 4.95405685e+01] [-4.20679919e-03 -3.67186842e-04 9.99991084e-01 -2.33410169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.891400513 meters 0.09734730333761261 Centerline is valid? [True, True] Translation: X:450.46, Y:49.56, Z:-2.34 [[ 9.98735398e-01 -5.01188629e-02 3.96297555e-03 4.50461078e+02] [ 5.01170596e-02 9.98743197e-01 5.53095046e-04 4.95604837e+01] [-3.98571536e-03 -3.53782919e-04 9.99991994e-01 -2.33530208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.921400513 meters 0.09022647458017731 Centerline is valid? [True, True] Translation: X:450.49, Y:49.56, Z:-2.34 [[ 9.98838394e-01 -4.80261478e-02 3.91808832e-03 4.50491776e+02] [ 4.80243696e-02 9.98846015e-01 5.46729224e-04 4.95616419e+01] [-3.93982420e-03 -3.57930418e-04 9.99992175e-01 -2.33615590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.951400513 meters 0.09899489165442264 Centerline is valid? [True, True] Translation: X:450.52, Y:49.58, Z:-2.34 [[ 9.98859327e-01 -4.76323601e-02 3.34701087e-03 4.50519964e+02] [ 4.76310603e-02 9.98864888e-01 4.67046030e-04 4.95796505e+01] [-3.36545815e-03 -3.07091607e-04 9.99994290e-01 -2.33760863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.981400513 meters 0.09708394128640972 Centerline is valid? [True, True] Translation: X:450.55, Y:49.58, Z:-2.34 [[ 9.98881376e-01 -4.72459409e-02 1.95409949e-03 4.50550796e+02] [ 4.72454970e-02 9.98883271e-01 2.72704593e-04 4.95848005e+01] [-1.96480147e-03 -1.80077137e-04 9.99998054e-01 -2.33974440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.011400513 meters 0.09877794476465639 Centerline is valid? [True, True] Translation: X:450.58, Y:49.60, Z:-2.34 [[ 9.98933166e-01 -4.61792956e-02 -4.00485661e-05 4.50579991e+02] [ 4.61792954e-02 9.98933167e-01 -5.53579827e-06 4.95974575e+01] [ 4.02614803e-05 3.68047793e-06 9.99999999e-01 -2.34295769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.041400513 meters 0.10770568553532338 Centerline is valid? [True, False] Translation: X:450.54, Y:49.60, Z:-2.34 [[ 9.99190625e-01 -3.98833509e-02 -5.23583665e-03 4.50538967e+02] [ 3.98090293e-02 9.99114683e-01 -1.36048240e-02 4.96031180e+01] [ 5.77380725e-03 1.33853791e-02 9.99893742e-01 -2.34004590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.071400513 meters 0.09906680067735738 Centerline is valid? [False, True] Translation: X:450.54, Y:49.61, Z:-2.34 [[ 9.99578074e-01 -2.90168218e-02 -1.30282126e-03 4.50536596e+02] [ 2.89807688e-02 9.99333234e-01 -2.22081680e-02 4.96101771e+01] [ 1.94636304e-03 2.21610410e-02 9.99752519e-01 -2.34009192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.101400513 meters 0.10137363950953787 Centerline is valid? [True, False] Translation: X:450.54, Y:49.60, Z:-2.34 [[ 9.99874024e-01 -1.57264549e-02 -2.14821273e-03 4.50538260e+02] [ 1.57106181e-02 9.99850656e-01 -7.20010943e-03 4.96011209e+01] [ 2.26112411e-03 7.16545264e-03 9.99971771e-01 -2.33961483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.131400513 meters 0.09291318628574918 Centerline is valid? [False, True] Translation: X:450.54, Y:49.60, Z:-2.34 [[ 9.99929220e-01 -1.16920003e-02 -2.20282968e-03 4.50538076e+02] [ 1.16838888e-02 9.99925043e-01 -3.65986817e-03 4.96047100e+01] [ 2.24545575e-03 3.63387151e-03 9.99990876e-01 -2.33933854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.161400513 meters 0.10472241447498891 Centerline is valid? [True, False] Translation: X:450.56, Y:49.61, Z:-2.34 [[ 9.99962880e-01 -8.03736073e-03 3.10466538e-03 4.50558719e+02] [ 8.07081137e-03 9.99907843e-01 -1.09163966e-02 4.96146786e+01] [-3.01664024e-03 1.09410486e-02 9.99935595e-01 -2.34418673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.191400513 meters 0.11373941831201956 Centerline is valid? [False, False] Translation: X:450.56, Y:49.61, Z:-2.34 [[ 9.99988854e-01 -3.67276819e-03 2.96680644e-03 4.50559137e+02] [ 3.69186098e-03 9.99972346e-01 -6.45583147e-03 4.96141317e+01] [-2.94301362e-03 6.46671255e-03 9.99974760e-01 -2.34435289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.221400513 meters 0.10463121276230648 Centerline is valid? [False, False] Translation: X:450.56, Y:49.61, Z:-2.34 [[ 9.99995716e-01 6.51950446e-04 2.85374188e-03 4.50559381e+02] [-6.45907020e-04 9.99997548e-01 -2.11812936e-03 4.96141349e+01] [-2.85511580e-03 2.11627703e-03 9.99993685e-01 -2.34412258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.251400513 meters 0.09210108781700908 Centerline is valid? [False, True] Translation: X:450.54, Y:49.62, Z:-2.34 [[ 9.99998099e-01 -1.80186880e-03 7.45029352e-04 4.50537304e+02] [ 1.79748308e-03 9.99981297e-01 5.84599550e-03 4.96169350e+01] [-7.55549134e-04 -5.84464521e-03 9.99982634e-01 -2.34198952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.281400513 meters 0.10196783777590553 Centerline is valid? [True, False] Translation: X:450.56, Y:49.63, Z:-2.34 [[ 9.99995297e-01 -2.09300767e-04 3.05983032e-03 4.50555897e+02] [ 2.24109489e-04 9.99988261e-01 -4.84017846e-03 4.96292574e+01] [-3.05878135e-03 4.84084144e-03 9.99983605e-01 -2.34079241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.311400513 meters 0.10088482169339945 Centerline is valid? [False, False] Translation: X:450.56, Y:49.63, Z:-2.34 [[ 9.99995219e-01 -4.59114953e-04 3.05793749e-03 4.50555878e+02] [ 4.75829313e-04 9.99984940e-01 -5.46741018e-03 4.96320958e+01] [-3.05538127e-03 5.46883909e-03 9.99980378e-01 -2.34077717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.341400513 meters 0.09647277451927032 Centerline is valid? [False, True] Translation: X:450.54, Y:49.63, Z:-2.34 [[ 9.99991971e-01 -3.88799785e-03 -9.70289206e-04 4.50536950e+02] [ 3.88982673e-03 9.99990648e-01 1.89017091e-03 4.96300837e+01] [ 9.62931152e-04 -1.89392999e-03 9.99997743e-01 -2.33930862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.371400513 meters 0.09160036609503093 Centerline is valid? [True, True] Translation: X:450.57, Y:49.63, Z:-2.34 [[ 9.99978115e-01 -6.59164368e-03 -5.65805400e-04 4.50567950e+02] [ 6.59161565e-03 9.99978274e-01 -5.13971068e-05 4.96308654e+01] [ 5.66131899e-04 4.76664102e-05 9.99999839e-01 -2.33893305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.401400513 meters 0.08323527981857515 Centerline is valid? [True, True] Translation: X:450.60, Y:49.63, Z:-2.34 [[ 9.99955210e-01 -9.43892034e-03 -6.96442477e-04 4.50599344e+02] [ 9.43887852e-03 9.99955451e-01 -6.33091980e-05 4.96256962e+01] [ 6.97009022e-04 5.67327264e-05 9.99999755e-01 -2.33906206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.431400513 meters 0.08150736991184504 Centerline is valid? [True, True] Translation: X:450.63, Y:49.63, Z:-2.34 [[ 9.99926651e-01 -1.20704681e-02 -9.98589209e-04 4.50628431e+02] [ 1.20703833e-02 9.99927146e-01 -9.08202582e-05 4.96280296e+01] [ 9.99612701e-04 7.87602420e-05 9.99999497e-01 -2.33938196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.461400513 meters 0.07614134734208637 Centerline is valid? [True, True] Translation: X:450.66, Y:49.63, Z:-2.34 [[ 9.99852904e-01 -1.71414275e-02 -5.84968983e-04 4.50659405e+02] [ 1.71413993e-02 9.99853074e-01 -5.31675681e-05 4.96260498e+01] [ 5.85794403e-04 4.31325604e-05 9.99999827e-01 -2.33895120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49140051300003 meters 0.07959457281099616 Centerline is valid? [True, True] Translation: X:450.69, Y:49.63, Z:-2.34 [[ 9.99803716e-01 -1.98122625e-02 6.12417196e-05 4.50688874e+02] [ 1.98122622e-02 9.99803718e-01 5.56866521e-06 4.96338873e+01] [-6.13400268e-05 -4.35423516e-06 9.99999998e-01 -2.33857431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.521400513 meters 0.07173358254057897 Centerline is valid? [True, True] Translation: X:450.72, Y:49.63, Z:-2.34 [[ 9.99744814e-01 -2.25809404e-02 6.38204415e-04 4.50720427e+02] [ 2.25809079e-02 9.99745017e-01 5.80180529e-05 4.96278020e+01] [-6.39351786e-04 -4.35920124e-05 9.99999795e-01 -2.33761091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.551400513 meters 0.06943544160416588 Centerline is valid? [True, True] Translation: X:450.75, Y:49.63, Z:-2.34 [[ 9.99685627e-01 -2.50443160e-02 1.19585944e-03 4.50751040e+02] [ 2.50442038e-02 9.99686339e-01 1.08724110e-04 4.96279524e+01] [-1.19820726e-03 -7.87405823e-05 9.99999279e-01 -2.33696254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.581400513 meters 0.06702500755802215 Centerline is valid? [True, True] Translation: X:450.78, Y:49.62, Z:-2.34 [[ 9.99604149e-01 -2.80985835e-02 1.41982034e-03 4.50781819e+02] [ 2.80984284e-02 9.99605153e-01 1.29060760e-04 4.96229129e+01] [-1.42288615e-03 -8.91149510e-05 9.99998984e-01 -2.33714055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.611400513 meters 0.06773740076509895 Centerline is valid? [True, True] Translation: X:450.81, Y:49.63, Z:-2.34 [[ 9.99607714e-01 -2.79948489e-02 8.40961911e-04 4.50812791e+02] [ 2.79947944e-02 9.99608066e-01 7.65330013e-05 4.96271793e+01] [-8.42774839e-04 -5.29604227e-05 9.99999643e-01 -2.33769268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.641400513 meters 0.06523192736644395 Centerline is valid? [True, True] Translation: X:450.84, Y:49.63, Z:-2.34 [[ 9.99622013e-01 -2.74867954e-02 5.54152330e-04 4.50844703e+02] [ 2.74867716e-02 9.99622166e-01 5.04194451e-05 4.96257760e+01] [-5.55328821e-04 -3.51685287e-05 9.99999845e-01 -2.33786523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.671400513 meters 0.07331743458005036 Centerline is valid? [True, True] Translation: X:450.87, Y:49.64, Z:-2.34 [[ 9.99642664e-01 -2.67016811e-02 1.25101062e-03 4.50873819e+02] [ 2.67015596e-02 9.99643443e-01 1.13665837e-04 4.96376445e+01] [-1.25359963e-03 -8.02212852e-05 9.99999211e-01 -2.33774254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.701400513 meters 0.06784199728685109 Centerline is valid? [True, True] Translation: X:450.91, Y:49.63, Z:-2.34 [[ 9.99666614e-01 -2.57913635e-02 1.21121582e-03 4.50905734e+02] [ 2.57912490e-02 9.99667344e-01 1.10062702e-04 4.96319582e+01] [-1.21365157e-03 -7.87872397e-05 9.99999260e-01 -2.33685284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.731400513 meters 0.07425873507158387 Centerline is valid? [True, True] Translation: X:450.94, Y:49.64, Z:-2.34 [[ 9.99667159e-01 -2.57928066e-02 5.50056214e-04 4.50936024e+02] [ 2.57927830e-02 9.99667310e-01 5.00478597e-05 4.96404178e+01] [-5.51164090e-04 -3.58437212e-05 9.99999847e-01 -2.33904607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.761400513 meters 0.06520295059465625 Centerline is valid? [True, True] Translation: X:450.97, Y:49.63, Z:-2.34 [[ 9.99655767e-01 -2.62284980e-02 -6.42203415e-04 4.50968281e+02] [ 2.62284660e-02 9.99655973e-01 -5.81951598e-05 4.96292674e+01] [ 6.43508851e-04 4.13311167e-05 9.99999792e-01 -2.34084893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.791400513 meters 0.06194699300797273 Centerline is valid? [True, True] Translation: X:451.00, Y:49.62, Z:-2.34 [[ 9.99620755e-01 -2.74737336e-02 -1.88149499e-03 4.50999277e+02] [ 2.74734607e-02 9.99622519e-01 -1.70734959e-04 4.96229942e+01] [ 1.88547549e-03 1.18979030e-04 9.99998215e-01 -2.34301548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.821400513 meters 0.07037050816863226 Centerline is valid? [True, True] Translation: X:451.03, Y:49.63, Z:-2.34 [[ 9.99613860e-01 -2.77354674e-02 -1.69552747e-03 4.51027822e+02] [ 2.77352463e-02 9.99615292e-01 -1.53829402e-04 4.96339920e+01] [ 1.69914172e-03 1.06744131e-04 9.99998551e-01 -2.34316765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.851400513 meters 0.06497449057840014 Centerline is valid? [True, True] Translation: X:451.06, Y:49.63, Z:-2.34 [[ 9.99599879e-01 -2.82345718e-02 -1.70016615e-03 4.51058521e+02] [ 2.82343499e-02 9.99601319e-01 -1.54390333e-04 4.96278932e+01] [ 1.70384747e-03 1.06325472e-04 9.99998543e-01 -2.34264105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.881400513 meters 0.07027959087066517 Centerline is valid? [True, True] Translation: X:451.09, Y:49.64, Z:-2.34 [[ 9.99607724e-01 -2.79538463e-02 -1.72665233e-03 4.51087563e+02] [ 2.79536170e-02 9.99609209e-01 -1.56773979e-04 4.96353131e+01] [ 1.73036000e-03 1.08446303e-04 9.99998497e-01 -2.34307116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.911400513 meters 0.06836008566760239 Centerline is valid? [True, True] Translation: X:451.12, Y:49.63, Z:-2.34 [[ 9.99647005e-01 -2.64952117e-02 -1.96720989e-03 4.51117706e+02] [ 2.64949111e-02 9.99648932e-01 -1.78696029e-04 4.96316419e+01] [ 1.97125385e-03 1.26511899e-04 9.99998049e-01 -2.34415102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.941400513 meters 0.07243429223832644 Centerline is valid? [True, True] Translation: X:451.15, Y:49.64, Z:-2.34 [[ 9.99669959e-01 -2.56106352e-02 -2.01722793e-03 4.51146934e+02] [ 2.56103174e-02 9.99671985e-01 -1.83220964e-04 4.96367168e+01] [ 2.02125866e-03 1.31498645e-04 9.99997949e-01 -2.34466337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.971400513 meters 0.07001300536717465 Centerline is valid? [True, True] Translation: X:451.18, Y:49.63, Z:-2.34 [[ 9.99689124e-01 -2.48612382e-02 -1.89040706e-03 4.51178110e+02] [ 2.48609579e-02 9.99690904e-01 -1.71664980e-04 4.96339207e+01] [ 1.89409055e-03 1.24614284e-04 9.99998198e-01 -2.34455225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.001400513 meters 0.07508674826591209 Centerline is valid? [True, True] Translation: X:451.21, Y:49.64, Z:-2.34 [[ 9.99703309e-01 -2.42981259e-02 -1.70171475e-03 4.51206878e+02] [ 2.42978977e-02 9.99704751e-01 -1.54647603e-04 4.96374831e+01] [ 1.70496996e-03 1.13253629e-04 9.99998540e-01 -2.34452009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.031400513 meters 0.06865294978299669 Centerline is valid? [True, True] Translation: X:451.24, Y:49.63, Z:-2.34 [[ 9.99692570e-01 -2.47586806e-02 -1.33130501e-03 4.51237802e+02] [ 2.47585414e-02 9.99693453e-01 -1.20924382e-04 4.96296505e+01] [ 1.33389083e-03 8.79260363e-05 9.99999107e-01 -2.34325111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.061400513 meters 0.06885361932841476 Centerline is valid? [True, True] Translation: X:451.27, Y:49.63, Z:-2.34 [[ 9.99680484e-01 -2.52691004e-02 -6.34311068e-04 4.51267931e+02] [ 2.52690690e-02 9.99680684e-01 -5.76154026e-05 4.96293891e+01] [ 6.35564412e-04 4.15685434e-05 9.99999797e-01 -2.34258546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.091400513 meters 0.06825808995117795 Centerline is valid? [True, True] Translation: X:451.30, Y:49.63, Z:-2.34 [[ 9.99667828e-01 -2.57687411e-02 -4.54511636e-04 4.51298469e+02] [ 2.57687250e-02 9.99667930e-01 -4.12839570e-05 4.96277321e+01] [ 4.55424542e-04 2.95580583e-05 9.99999896e-01 -2.34267321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.121400513 meters 0.07204024074552079 Centerline is valid? [True, True] Translation: X:451.33, Y:49.63, Z:-2.34 [[ 9.99686217e-01 -2.50357246e-02 -8.24458914e-04 4.51328393e+02] [ 2.50356713e-02 9.99686556e-01 -7.49356839e-05 4.96281753e+01] [ 8.26076561e-04 5.42712880e-05 9.99999657e-01 -2.34469422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.151400513 meters 0.06939219022363281 Centerline is valid? [True, True] Translation: X:451.36, Y:49.62, Z:-2.34 [[ 9.99718868e-01 -2.36960767e-02 -8.25137477e-04 4.51359138e+02] [ 2.36960229e-02 9.99719207e-01 -7.50081399e-05 4.96217491e+01] [ 8.26683183e-04 5.54345763e-05 9.99999657e-01 -2.34453779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.181400513 meters 0.07964717966877669 Centerline is valid? [True, True] Translation: X:451.39, Y:49.64, Z:-2.34 [[ 9.99773707e-01 -2.12686623e-02 4.23711534e-04 4.51387507e+02] [ 2.12686479e-02 9.99773796e-01 3.84782919e-05 4.96372070e+01] [-4.24434071e-04 -2.94578131e-05 9.99999909e-01 -2.34322248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.211400513 meters 0.07385075414627335 Centerline is valid? [True, True] Translation: X:451.42, Y:49.63, Z:-2.34 [[ 9.99854727e-01 -1.69833335e-02 1.44637624e-03 4.51418611e+02] [ 1.69831611e-02 9.99855767e-01 1.31403171e-04 4.96301765e+01] [-1.44839928e-03 -1.06820041e-04 9.99998945e-01 -2.34072768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24140051300003 meters 0.08515617614796148 Centerline is valid? [True, True] Translation: X:451.45, Y:49.65, Z:-2.34 [[ 9.99883297e-01 -1.51946748e-02 1.58544025e-03 4.51447763e+02] [ 1.51944653e-02 9.99884547e-01 1.44088558e-04 4.96452660e+01] [-1.58744658e-03 -1.19981826e-04 9.99998733e-01 -2.34167964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.271400513 meters 0.08486356048547365 Centerline is valid? [True, True] Translation: X:451.48, Y:49.65, Z:-2.34 [[ 9.99906515e-01 -1.36050393e-02 1.36562880e-03 4.51479130e+02] [ 1.36048824e-02 9.99907442e-01 1.24122964e-04 4.96458416e+01] [-1.36719109e-03 -1.05532141e-04 9.99999060e-01 -2.34222302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.301400513 meters 0.07942606213479574 Centerline is valid? [True, True] Translation: X:451.51, Y:49.64, Z:-2.34 [[ 9.99931665e-01 -1.16411335e-02 1.07207449e-03 4.51510897e+02] [ 1.16410357e-02 9.99932236e-01 9.74048038e-05 4.96382486e+01] [-1.07313575e-03 -8.49180902e-05 9.99999421e-01 -2.34272688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.331400513 meters 0.08442973617273761 Centerline is valid? [True, True] Translation: X:451.54, Y:49.65, Z:-2.34 [[ 9.99939052e-01 -1.09581987e-02 1.34519414e-03 4.51540494e+02] [ 1.09580441e-02 9.99939951e-01 1.22238853e-04 4.96459305e+01] [-1.34645288e-03 -1.07490706e-04 9.99999088e-01 -2.34248184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.361400513 meters 0.07868517673122812 Centerline is valid? [True, True] Translation: X:451.57, Y:49.64, Z:-2.34 [[ 9.99942191e-01 -1.05571016e-02 2.04028701e-03 4.51572611e+02] [ 1.05567454e-02 9.99944259e-01 1.85280462e-04 4.96418261e+01] [-2.04212931e-03 -1.63730961e-04 9.99997901e-01 -2.34107291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.391400513 meters 0.08720472519118734 Centerline is valid? [True, True] Translation: X:451.60, Y:49.66, Z:-2.34 [[ 9.99960026e-01 -8.39575344e-03 3.07550335e-03 4.51601158e+02] [ 8.39493427e-03 9.99964723e-01 2.79166294e-04 4.96557616e+01] [-3.07773867e-03 -2.53336486e-04 9.99995232e-01 -2.33993546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.421400513 meters 0.08473203620423192 Centerline is valid? [True, True] Translation: X:451.63, Y:49.66, Z:-2.34 [[ 9.99970902e-01 -6.93621269e-03 3.17539419e-03 4.51631919e+02] [ 6.93533202e-03 9.99975909e-01 2.88270417e-04 4.96555524e+01] [-3.17731720e-03 -2.66239616e-04 9.99994917e-01 -2.33990671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.451400513 meters 0.08473203620423192 Centerline is valid? [True, True] Translation: X:451.66, Y:49.66, Z:-2.34 [[ 9.99971220e-01 -6.89029840e-03 3.17539676e-03 4.51663580e+02] [ 6.88941758e-03 9.99976226e-01 2.88242077e-04 4.96583464e+01] [-3.17730734e-03 -2.66357147e-04 9.99994917e-01 -2.34001550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.481400513 meters 0.08628781240979069 Centerline is valid? [True, True] Translation: X:451.69, Y:49.66, Z:-2.34 [[ 9.99981758e-01 -5.55132770e-03 2.38024780e-03 4.51692965e+02] [ 5.55082919e-03 9.99984571e-01 2.15992342e-04 4.96620277e+01] [-2.38141012e-03 -2.02776053e-04 9.99997144e-01 -2.34102243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.511400513 meters 0.08608346889211496 Centerline is valid? [True, True] Translation: X:451.72, Y:49.66, Z:-2.34 [[ 9.99991295e-01 -4.16768504e-03 2.02005453e-04 4.51724168e+02] [ 4.16768141e-03 9.99991315e-01 1.83912391e-05 4.96647180e+01] [-2.02080348e-04 -1.75491846e-05 9.99999979e-01 -2.34339278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.541400513 meters 0.09348846916745873 Centerline is valid? [True, True] Translation: X:451.75, Y:49.68, Z:-2.34 [[ 9.99992243e-01 -3.93467704e-03 -1.79845787e-04 4.51753328e+02] [ 3.93467419e-03 9.99992259e-01 -1.61753605e-05 4.96776173e+01] [ 1.79908040e-04 1.54676005e-05 9.99999984e-01 -2.34438676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.571400513 meters 0.08987065929532093 Centerline is valid? [True, True] Translation: X:451.78, Y:49.68, Z:-2.34 [[ 9.99992525e-01 -3.86491670e-03 1.12976203e-04 4.51783953e+02] [ 3.86491557e-03 9.99992531e-01 1.02378221e-05 4.96772793e+01] [-1.13014927e-04 -9.80110210e-06 9.99999994e-01 -2.34420897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.601400513 meters 0.09099114801974195 Centerline is valid? [True, True] Translation: X:451.81, Y:49.68, Z:-2.34 [[ 9.99994082e-01 -3.38619974e-03 6.07863756e-04 4.51814056e+02] [ 3.38616686e-03 9.99994265e-01 5.51160052e-05 4.96823758e+01] [-6.08046904e-04 -5.30573510e-05 9.99999814e-01 -2.34416086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.631400513 meters 0.09787054352439065 Centerline is valid? [True, True] Translation: X:451.84, Y:49.70, Z:-2.35 [[ 9.99998415e-01 -1.64766178e-03 -6.75271621e-04 4.51842481e+02] [ 1.64762081e-03 9.99998641e-01 -6.12222173e-05 4.96951989e+01] [ 6.75371577e-04 6.01095287e-05 9.99999770e-01 -2.34693755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.661400513 meters 0.09605940042403094 Centerline is valid? [True, True] Translation: X:451.87, Y:49.70, Z:-2.35 [[ 9.99996478e-01 -7.99423951e-04 -2.53070631e-03 4.51872697e+02] [ 7.98845965e-04 9.99999655e-01 -2.29391989e-04 4.96954524e+01] [ 2.53088882e-03 2.27369537e-04 9.99996771e-01 -2.34980911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.691400513 meters 0.09037197853976707 Centerline is valid? [True, True] Translation: X:451.90, Y:49.70, Z:-2.35 [[ 9.99993094e-01 -1.86570860e-04 -3.71165114e-03 4.51902660e+02] [ 1.85322990e-04 9.99999926e-01 -3.36544593e-04 4.96962364e+01] [ 3.71171365e-03 3.35854414e-04 9.99993055e-01 -2.35080367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.721400513 meters 0.0982507338881821 Centerline is valid? [True, True] Translation: X:451.93, Y:49.71, Z:-2.35 [[ 9.99993880e-01 2.91481799e-04 -3.48647317e-03 4.51929468e+02] [-2.92586854e-04 9.99999907e-01 -3.16449014e-04 4.97113850e+01] [ 3.48638061e-03 3.17467174e-04 9.99993872e-01 -2.35108018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.751400513 meters 0.09231129157415546 Centerline is valid? [True, True] Translation: X:451.96, Y:49.71, Z:-2.35 [[ 9.99998973e-01 -6.13539158e-04 -1.29522509e-03 4.51959929e+02] [ 6.13387426e-04 9.99999805e-01 -1.17541856e-04 4.97109291e+01] [ 1.29529696e-03 1.16747261e-04 9.99999154e-01 -2.34742176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.781400513 meters 0.0941153013989941 Centerline is valid? [True, True] Translation: X:451.99, Y:49.72, Z:-2.35 [[ 9.99998317e-01 -1.80956763e-03 -3.00827004e-04 4.51988821e+02] [ 1.80955949e-03 9.99998362e-01 -2.73332932e-05 4.97172671e+01] [ 3.00875973e-04 2.67888828e-05 9.99999954e-01 -2.34638242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.811400513 meters 0.09615542583855527 Centerline is valid? [True, True] Translation: X:452.02, Y:49.73, Z:-2.35 [[ 9.99985861e-01 -5.30298437e-03 3.94700097e-04 4.52018167e+02] [ 5.30297063e-03 9.99985939e-01 3.58397965e-05 4.97259759e+01] [-3.94884605e-04 -3.37462067e-05 9.99999921e-01 -2.34599465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.841400513 meters 0.08911014232765216 Centerline is valid? [True, True] Translation: X:452.05, Y:49.72, Z:-2.35 [[ 9.99978227e-01 -6.59772052e-03 1.23997906e-04 4.52049329e+02] [ 6.59771917e-03 9.99978235e-01 1.12864500e-05 4.97217595e+01] [-1.24069672e-04 -1.04681009e-05 9.99999992e-01 -2.34596377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.871400513 meters 0.0823271641961207 Centerline is valid? [True, True] Translation: X:452.08, Y:49.72, Z:-2.34 [[ 9.99970491e-01 -7.66732346e-03 4.77941609e-04 4.52080827e+02] [ 7.66730361e-03 9.99970605e-01 4.33604584e-05 4.97176172e+01] [-4.78260019e-04 -3.96946554e-05 9.99999885e-01 -2.34453390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.901400513 meters 0.08519537900087061 Centerline is valid? [True, True] Translation: X:452.11, Y:49.73, Z:-2.34 [[ 9.99963241e-01 -8.47228230e-03 1.31761005e-03 4.52110876e+02] [ 8.47213205e-03 9.99964104e-01 1.19567785e-04 4.97257881e+01] [-1.31857576e-03 -1.08400424e-04 9.99999125e-01 -2.34268904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.931400513 meters 0.08226962025393966 Centerline is valid? [True, True] Translation: X:452.14, Y:49.73, Z:-2.34 [[ 9.99962859e-01 -8.29486174e-03 2.33997854e-03 4.52142842e+02] [ 8.29438761e-03 9.99965578e-01 2.12251831e-04 4.97306020e+01] [-2.34165859e-03 -1.92835259e-04 9.99997240e-01 -2.34061599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.961400513 meters 0.09230332908415023 Centerline is valid? [True, True] Translation: X:452.17, Y:49.75, Z:-2.34 [[ 9.99974817e-01 -6.92337089e-03 1.55945442e-03 4.52171590e+02] [ 6.92315882e-03 9.99976025e-01 1.41347311e-04 4.97475521e+01] [-1.56039563e-03 -1.30547401e-04 9.99998774e-01 -2.34269752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99140051300003 meters 0.08804687122149185 Centerline is valid? [True, True] Translation: X:452.20, Y:49.75, Z:-2.35 [[ 9.99985790e-01 -5.32625129e-03 2.25030943e-04 4.52202549e+02] [ 5.32624683e-03 9.99985815e-01 2.04331704e-05 4.97465936e+01] [-2.25136583e-04 -1.92343098e-05 9.99999974e-01 -2.34512918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.021400513 meters 0.08689636063105154 Centerline is valid? [True, True] Translation: X:452.23, Y:49.75, Z:-2.35 [[ 9.99992956e-01 -3.63959679e-03 -9.17602773e-04 4.52233371e+02] [ 3.63952203e-03 9.99993373e-01 -8.31353956e-05 4.97501624e+01] [ 9.17899272e-04 7.97951745e-05 9.99999576e-01 -2.34757086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.051400513 meters 0.09602451807638022 Centerline is valid? [True, True] Translation: X:452.26, Y:49.77, Z:-2.35 [[ 9.99997617e-01 -6.96289272e-04 -2.06908446e-03 4.52260681e+02] [ 6.95902545e-04 9.99999740e-01 -1.87621332e-04 4.97693849e+01] [ 2.06921456e-03 1.86181004e-04 9.99997842e-01 -2.34943197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.081400513 meters 0.09163408206880892 Centerline is valid? [True, True] Translation: X:452.29, Y:49.77, Z:-2.35 [[ 9.99997841e-01 -4.89716097e-04 -2.01936602e-03 4.52289340e+02] [ 4.89345675e-04 9.99999863e-01 -1.83924506e-04 4.97684938e+01] [ 2.01945582e-03 1.82935941e-04 9.99997944e-01 -2.34884452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.111400513 meters 0.0904321471323759 Centerline is valid? [True, True] Translation: X:452.32, Y:49.77, Z:-2.35 [[ 9.99998917e-01 -5.94679086e-04 -1.34594340e-03 4.52317994e+02] [ 5.94514822e-04 9.99999816e-01 -1.22440651e-04 4.97721343e+01] [ 1.34601596e-03 1.21640335e-04 9.99999087e-01 -2.34731684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.141400513 meters 0.0926390000832011 Centerline is valid? [True, True] Translation: X:452.35, Y:49.78, Z:-2.34 [[ 9.99991361e-01 -3.27190723e-03 2.56351236e-03 4.52346470e+02] [ 3.27132087e-03 9.99994622e-01 2.32889609e-04 4.97829975e+01] [-2.56426057e-03 -2.24501526e-04 9.99996687e-01 -2.34186557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.171400513 meters 0.08667228675904759 Centerline is valid? [True, True] Translation: X:452.38, Y:49.78, Z:-2.34 [[ 9.99977100e-01 -5.19853541e-03 4.33294101e-03 4.52377824e+02] [ 5.19687788e-03 9.99986419e-01 3.93712652e-04 4.97806188e+01] [-4.33492889e-03 -3.71185871e-04 9.99990535e-01 -2.33949005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.201400513 meters 0.0874629838805726 Centerline is valid? [True, True] Translation: X:452.41, Y:49.78, Z:-2.34 [[ 9.99960132e-01 -7.35016410e-03 5.07040553e-03 4.52406772e+02] [ 7.34792179e-03 9.99972898e-01 4.60722815e-04 4.97847987e+01] [-5.07365450e-03 -4.23447504e-04 9.99987039e-01 -2.33902075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.231400513 meters 0.08255310553354327 Centerline is valid? [True, True] Translation: X:452.44, Y:49.78, Z:-2.34 [[ 9.99943647e-01 -9.61235830e-03 4.50625961e-03 4.52437751e+02] [ 9.61060989e-03 9.99953733e-01 4.09490650e-04 4.97803013e+01] [-4.50998729e-03 -3.66159671e-04 9.99989763e-01 -2.34031143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.261400513 meters 0.0811407801215607 Centerline is valid? [True, True] Translation: X:452.47, Y:49.78, Z:-2.34 [[ 9.99887848e-01 -1.46372608e-02 3.16899859e-03 4.52467843e+02] [ 1.46364212e-02 9.99892840e-01 2.87965810e-04 4.97777251e+01] [-3.17287403e-03 -2.41550716e-04 9.99994937e-01 -2.34302340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.291400513 meters 0.07567536100592434 Centerline is valid? [True, True] Translation: X:452.50, Y:49.77, Z:-2.34 [[ 9.99846100e-01 -1.72826430e-02 3.01439956e-03 4.52499136e+02] [ 1.72818952e-02 9.99850619e-01 2.73957152e-04 4.97718937e+01] [-3.01868397e-03 -2.21820452e-04 9.99995419e-01 -2.34314386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.321400513 meters 0.07495731776808125 Centerline is valid? [True, True] Translation: X:452.53, Y:49.77, Z:-2.34 [[ 9.99790996e-01 -2.01615980e-02 3.38727091e-03 4.52529065e+02] [ 2.01606701e-02 9.99796706e-01 3.07843117e-04 4.97714850e+01] [-3.39278890e-03 -2.39489126e-04 9.99994216e-01 -2.34262254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.351400513 meters 0.07148540901419338 Centerline is valid? [True, True] Translation: X:452.56, Y:49.76, Z:-2.34 [[ 9.99710756e-01 -2.37638299e-02 3.69934747e-03 4.52560314e+02] [ 2.37627476e-02 9.99717569e-01 3.36249037e-04 4.97634763e+01] [-3.70629322e-03 -2.48245118e-04 9.99993101e-01 -2.34215876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.381400513 meters 0.06750477546835798 Centerline is valid? [True, True] Translation: X:452.59, Y:49.76, Z:-2.34 [[ 9.99698602e-01 -2.44053615e-02 2.66136563e-03 4.52592080e+02] [ 2.44048035e-02 9.99702129e-01 2.41921891e-04 4.97573958e+01] [-2.66647708e-03 -1.76898871e-04 9.99996429e-01 -2.34377066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.411400513 meters 0.07023077743412773 Centerline is valid? [True, True] Translation: X:452.62, Y:49.76, Z:-2.35 [[ 9.99702001e-01 -2.43796520e-02 1.24153359e-03 4.52623057e+02] [ 2.43795305e-02 9.99702769e-01 1.12895811e-04 4.97597929e+01] [-1.24391692e-03 -8.25941618e-05 9.99999223e-01 -2.34635789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.441400513 meters 0.06983182655370639 Centerline is valid? [True, True] Translation: X:452.65, Y:49.76, Z:-2.35 [[ 9.99724730e-01 -2.34592157e-02 -3.59823184e-04 4.52654687e+02] [ 2.34592055e-02 9.99724794e-01 -3.25969876e-05 4.97587868e+01] [ 3.60488858e-04 2.41468486e-05 9.99999935e-01 -2.34896377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.471400513 meters 0.07032479414119348 Centerline is valid? [True, True] Translation: X:452.69, Y:49.76, Z:-2.35 [[ 9.99797082e-01 -2.00646958e-02 -1.78955191e-03 4.52685806e+02] [ 2.00644369e-02 9.99798676e-01 -1.62510252e-04 4.97573326e+01] [ 1.79245234e-03 1.26570924e-04 9.99998386e-01 -2.35222911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.501400513 meters 0.07945946129331118 Centerline is valid? [True, True] Translation: X:452.71, Y:49.77, Z:-2.35 [[ 9.99829231e-01 -1.84190725e-02 -1.49906799e-03 4.52714169e+02] [ 1.84188889e-02 9.99830349e-01 -1.36187636e-04 4.97689466e+01] [ 1.50132212e-03 1.08553212e-04 9.99998867e-01 -2.35289696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.531400513 meters 0.07811113695326129 Centerline is valid? [True, True] Translation: X:452.74, Y:49.77, Z:-2.35 [[ 9.99849508e-01 -1.73074091e-02 -1.18949841e-03 4.52744737e+02] [ 1.73072927e-02 9.99850212e-01 -1.08033885e-04 4.97672316e+01] [ 1.19119002e-03 8.74306299e-05 9.99999287e-01 -2.35258250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.561400513 meters 0.07508289522574861 Centerline is valid? [True, True] Translation: X:452.78, Y:49.76, Z:-2.35 [[ 9.99838411e-01 -1.78425222e-02 -2.19007721e-03 4.52775602e+02] [ 1.78421289e-02 9.99840797e-01 -1.98974310e-04 4.97605594e+01] [ 2.19327875e-03 1.59866518e-04 9.99997582e-01 -2.35375228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.591400513 meters 0.08016478896832738 Centerline is valid? [True, True] Translation: X:452.80, Y:49.77, Z:-2.36 [[ 9.99815387e-01 -1.89581716e-02 -3.12717169e-03 4.52804090e+02] [ 1.89573749e-02 9.99820252e-01 -2.84205871e-04 4.97666822e+01] [ 3.13199761e-03 2.24870437e-04 9.99995070e-01 -2.35608435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.621400513 meters 0.06979929975882744 Centerline is valid? [True, True] Translation: X:452.83, Y:49.75, Z:-2.36 [[ 9.99782367e-01 -2.05980719e-02 -3.30737364e-03 4.52834852e+02] [ 2.05971894e-02 9.99787810e-01 -3.00658657e-04 4.97541710e+01] [ 3.31286484e-03 2.32470623e-04 9.99994485e-01 -2.35583406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.651400513 meters 0.0708143373370864 Centerline is valid? [True, True] Translation: X:452.86, Y:49.76, Z:-2.36 [[ 9.99750288e-01 -2.21522272e-02 -2.93949302e-03 4.52864267e+02] [ 2.21515366e-02 9.99754589e-01 -2.67293697e-04 4.97552729e+01] [ 2.94469278e-03 2.02112664e-04 9.99995644e-01 -2.35589516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.681400513 meters 0.06948480338014117 Centerline is valid? [True, True] Translation: X:452.89, Y:49.75, Z:-2.35 [[ 9.99718437e-01 -2.36992057e-02 -1.18081134e-03 4.52894797e+02] [ 2.36990953e-02 9.99719131e-01 -1.07394666e-04 4.97509199e+01] [ 1.18302486e-03 7.93802675e-05 9.99999297e-01 -2.35328323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.711400513 meters 0.07042254859763719 Centerline is valid? [True, True] Translation: X:452.92, Y:49.75, Z:-2.35 [[ 9.99715818e-01 -2.38342399e-02 -4.61497771e-04 4.52924811e+02] [ 2.38342230e-02 9.99715924e-01 -4.20471183e-05 4.97523891e+01] [ 4.62368832e-04 3.10357285e-05 9.99999893e-01 -2.35207922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74140051300003 meters 0.0744958829483377 Centerline is valid? [True, True] Translation: X:452.95, Y:49.76, Z:-2.35 [[ 9.99719276e-01 -2.36889390e-02 -4.50948607e-04 4.52954216e+02] [ 2.36889229e-02 9.99719377e-01 -4.10534584e-05 4.97577324e+01] [ 4.51794573e-04 3.03594470e-05 9.99999897e-01 -2.35186914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.771400513 meters 0.07469888107644979 Centerline is valid? [True, True] Translation: X:452.98, Y:49.76, Z:-2.35 [[ 9.99721479e-01 -2.35618722e-02 -1.34235638e-03 4.52984454e+02] [ 2.35617293e-02 9.99722376e-01 -1.22141995e-04 4.97561361e+01] [ 1.34486160e-03 9.04797386e-05 9.99999092e-01 -2.35237113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.801400513 meters 0.06866024194599846 Centerline is valid? [True, True] Translation: X:453.01, Y:49.75, Z:-2.35 [[ 9.99720782e-01 -2.35922425e-02 -1.32810801e-03 4.53014403e+02] [ 2.35921026e-02 9.99721660e-01 -1.20918538e-04 4.97488940e+01] [ 1.33059109e-03 8.95519150e-05 9.99999111e-01 -2.35183628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.831400513 meters 0.07050797176908379 Centerline is valid? [True, True] Translation: X:453.04, Y:49.75, Z:-2.35 [[ 9.99731538e-01 -2.31673262e-02 -3.56148349e-04 4.53043298e+02] [ 2.31673161e-02 9.99731601e-01 -3.24919952e-05 4.97513999e+01] [ 3.56805512e-04 2.42322709e-05 9.99999936e-01 -2.35050411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.861400513 meters 0.07496691268402451 Centerline is valid? [True, True] Translation: X:453.07, Y:49.76, Z:-2.35 [[ 9.99767972e-01 -2.13736159e-02 2.67773346e-03 4.53072616e+02] [ 2.13730395e-02 9.99771541e-01 2.43684123e-04 4.97554940e+01] [-2.68233012e-03 -1.86396278e-04 9.99996385e-01 -2.34534557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.891400513 meters 0.07747555614112651 Centerline is valid? [True, True] Translation: X:453.10, Y:49.76, Z:-2.34 [[ 9.99794638e-01 -1.98314592e-02 4.17065973e-03 4.53102294e+02] [ 1.98300473e-02 9.99803293e-01 3.79617676e-04 4.97606558e+01] [-4.17736771e-03 -2.96835337e-04 9.99991231e-01 -2.34326496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.921400513 meters 0.07901848071738922 Centerline is valid? [True, True] Translation: X:453.13, Y:49.76, Z:-2.34 [[ 9.99828948e-01 -1.78763009e-02 4.74465912e-03 4.53133287e+02] [ 1.78744524e-02 9.99840146e-01 4.31716850e-04 4.97644861e+01] [-4.75161817e-03 -3.46834821e-04 9.99988651e-01 -2.34283657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.951400513 meters 0.0783497218427382 Centerline is valid? [True, True] Translation: X:453.16, Y:49.76, Z:-2.34 [[ 9.99889998e-01 -1.41583255e-02 4.41980289e-03 4.53164308e+02] [ 1.41566855e-02 9.99899708e-01 4.02119103e-04 4.97631821e+01] [-4.42505295e-03 -3.39505110e-04 9.99990152e-01 -2.34481900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.981400513 meters 0.07970891818548441 Centerline is valid? [True, True] Translation: X:453.20, Y:49.77, Z:-2.35 [[ 9.99919369e-01 -1.20869499e-02 3.89376704e-03 4.53195178e+02] [ 1.20856615e-02 9.99926903e-01 3.54244437e-04 4.97658622e+01] [-3.89776415e-03 -3.07157123e-04 9.99992357e-01 -2.34554717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.011400513 meters 0.0870588792272267 Centerline is valid? [True, True] Translation: X:453.22, Y:49.78, Z:-2.35 [[ 9.99944775e-01 -9.99186788e-03 3.25724853e-03 4.53223557e+02] [ 9.99095530e-03 9.99950045e-01 2.96320478e-04 4.97769552e+01] [-3.26004661e-03 -2.63761089e-04 9.99994651e-01 -2.34637556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.041400513 meters 0.08053220643958969 Centerline is valid? [True, True] Translation: X:453.25, Y:49.77, Z:-2.35 [[ 9.99978970e-01 -6.46130224e-03 5.57088105e-04 4.53254260e+02] [ 6.46127501e-03 9.99979124e-01 5.06533495e-05 4.97726217e+01] [-5.57403762e-04 -4.70527849e-05 9.99999844e-01 -2.34957568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.071400513 meters 0.08392326118029933 Centerline is valid? [True, True] Translation: X:453.28, Y:49.78, Z:-2.35 [[ 9.99985043e-01 -5.42509440e-03 -6.93862558e-04 4.53284042e+02] [ 5.42505194e-03 9.99985282e-01 -6.30691011e-05 4.97793542e+01] [ 6.94194502e-04 5.93039174e-05 9.99999757e-01 -2.35173652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.101400513 meters 0.08286555813455715 Centerline is valid? [True, True] Translation: X:453.31, Y:49.78, Z:-2.35 [[ 9.99986890e-01 -4.94260615e-03 -1.33844906e-03 4.53314692e+02] [ 4.94244760e-03 9.99987779e-01 -1.21735867e-04 4.97799425e+01] [ 1.33903439e-03 1.15119057e-04 9.99999097e-01 -2.35326636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.131400513 meters 0.086541088195294 Centerline is valid? [True, True] Translation: X:453.34, Y:49.79, Z:-2.35 [[ 9.99987292e-01 -4.86946517e-03 -1.30539978e-03 4.53342829e+02] [ 4.86931403e-03 9.99988138e-01 -1.18940713e-04 4.97860854e+01] [ 1.30596347e-03 1.12582800e-04 9.99999141e-01 -2.35388728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.161400513 meters 0.0925553688540102 Centerline is valid? [True, True] Translation: X:453.37, Y:49.80, Z:-2.35 [[ 9.99985215e-01 -5.43346461e-03 -2.18014457e-04 4.53371319e+02] [ 5.43346039e-03 9.99985238e-01 -1.99216685e-05 4.97955761e+01] [ 2.18119483e-04 1.87368010e-05 9.99999976e-01 -2.35239890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.191400513 meters 0.09218769616197765 Centerline is valid? [True, True] Translation: X:453.40, Y:49.80, Z:-2.35 [[ 9.99981978e-01 -6.00147038e-03 1.59763463e-04 4.53401311e+02] [ 6.00146814e-03 9.99981991e-01 1.45056880e-05 4.97976324e+01] [-1.59847641e-04 -1.35466112e-05 9.99999987e-01 -2.35183368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.221400513 meters 0.08612865758540314 Centerline is valid? [True, True] Translation: X:453.43, Y:49.79, Z:-2.35 [[ 9.99977544e-01 -6.68849829e-03 4.19965524e-04 4.53432862e+02] [ 6.68848281e-03 9.99977631e-01 3.82642094e-05 4.97923839e+01] [-4.20212060e-04 -3.54544180e-05 9.99999911e-01 -2.35132779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.251400513 meters 0.09255534018897776 Centerline is valid? [True, True] Translation: X:453.46, Y:49.80, Z:-2.35 [[ 9.99967551e-01 -8.02728706e-03 6.77818060e-04 4.53462368e+02] [ 8.02724707e-03 9.99967779e-01 6.16951304e-05 4.98010812e+01] [-6.78291465e-04 -5.62521155e-05 9.99999768e-01 -2.35181923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.281400513 meters 0.07967070479533703 Centerline is valid? [True, True] Translation: X:453.49, Y:49.79, Z:-2.35 [[ 9.99959930e-01 -8.95192668e-03 3.98789652e-05 4.53494619e+02] [ 8.95192654e-03 9.99959931e-01 3.66900553e-06 4.97875881e+01] [-3.99102119e-05 -3.31186495e-06 9.99999999e-01 -2.35163099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.311400513 meters 0.0967116273834721 Centerline is valid? [True, True] Translation: X:453.52, Y:49.81, Z:-2.35 [[ 9.99951082e-01 -9.88519117e-03 -3.42462318e-04 4.53523107e+02] [ 9.88518108e-03 9.99951140e-01 -3.11229936e-05 4.98109017e+01] [ 3.42753242e-04 2.77361691e-05 9.99999941e-01 -2.35312428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.341400513 meters 0.09491688058136542 Centerline is valid? [True, True] Translation: X:453.55, Y:49.81, Z:-2.35 [[ 9.99937175e-01 -1.11678537e-02 -9.61532483e-04 4.53553610e+02] [ 1.11677746e-02 9.99937635e-01 -8.75430119e-05 4.98113243e+01] [ 9.62450185e-04 7.67993340e-05 9.99999534e-01 -2.35412830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.371400513 meters 0.07694511478688505 Centerline is valid? [True, True] Translation: X:453.59, Y:49.79, Z:-2.35 [[ 9.99895225e-01 -1.43143094e-02 -2.15387055e-03 4.53585765e+02] [ 1.43139201e-02 9.99897531e-01 -1.96054692e-04 4.97913936e+01] [ 2.15645623e-03 1.65203820e-04 9.99997661e-01 -2.35425125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.401400513 meters 0.07694511478688505 Centerline is valid? [True, True] Translation: X:453.61, Y:49.79, Z:-2.35 [[ 9.99892908e-01 -1.44752643e-02 -2.15379099e-03 4.53614038e+02] [ 1.44748735e-02 9.99895214e-01 -1.96927994e-04 4.97940769e+01] [ 2.15641589e-03 1.65731052e-04 9.99997661e-01 -2.35434845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.431400513 meters 0.0827318903395969 Centerline is valid? [True, True] Translation: X:453.64, Y:49.80, Z:-2.35 [[ 9.99869054e-01 -1.60358870e-02 -2.17395048e-03 4.53641881e+02] [ 1.60354934e-02 9.99871404e-01 -1.98335087e-04 4.98032517e+01] [ 2.17685140e-03 1.63448747e-04 9.99997617e-01 -2.35498819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.461400513 meters 0.07447244701985924 Centerline is valid? [True, True] Translation: X:453.67, Y:49.80, Z:-2.35 [[ 9.99838107e-01 -1.78939356e-02 -1.88847887e-03 4.53672673e+02] [ 1.78936417e-02 9.99839881e-01 -1.72366831e-04 4.97956312e+01] [ 1.89126081e-03 1.38547162e-04 9.99998202e-01 -2.35405885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49140051300003 meters 0.07369645685471521 Centerline is valid? [True, True] Translation: X:453.70, Y:49.80, Z:-2.35 [[ 9.99801505e-01 -1.98671660e-02 -1.49889443e-03 4.53702067e+02] [ 1.98669830e-02 9.99802623e-01 -1.36848851e-04 4.97976238e+01] [ 1.50131738e-03 1.07043177e-04 9.99998867e-01 -2.35303728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.521400513 meters 0.0728596896526457 Centerline is valid? [True, True] Translation: X:453.73, Y:49.80, Z:-2.35 [[ 9.99733273e-01 -2.30949856e-02 7.35201910e-05 4.53730732e+02] [ 2.30949852e-02 9.99733275e-01 6.61295075e-06 4.98007088e+01] [-7.36533074e-05 -4.91323918e-06 9.99999997e-01 -2.35173076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.551400513 meters 0.07159421625818835 Centerline is valid? [True, True] Translation: X:453.76, Y:49.80, Z:-2.35 [[ 9.99701644e-01 -2.44247733e-02 2.29885024e-04 4.53761338e+02] [ 2.44247691e-02 9.99701671e-01 2.09830806e-05 4.98028306e+01] [-2.30328950e-04 -1.53619315e-05 9.99999973e-01 -2.35180648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.581400513 meters 0.07092437392996209 Centerline is valid? [True, True] Translation: X:453.79, Y:49.81, Z:-2.35 [[ 9.99618315e-01 -2.76168969e-02 -7.28824300e-04 4.53790432e+02] [ 2.76168556e-02 9.99618580e-01 -6.65795840e-05 4.98055309e+01] [ 7.30385033e-04 4.64263361e-05 9.99999732e-01 -2.35323575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.611400513 meters 0.06045210802388628 Centerline is valid? [True, True] Translation: X:453.82, Y:49.80, Z:-2.35 [[ 9.99563808e-01 -2.95178964e-02 -9.42309704e-04 4.53820966e+02] [ 2.95178283e-02 9.99564250e-01 -8.61269687e-05 4.97955530e+01] [ 9.44441379e-04 5.82744648e-05 9.99999552e-01 -2.35271191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.641400513 meters 0.06615790944202754 Centerline is valid? [True, True] Translation: X:453.85, Y:49.81, Z:-2.35 [[ 9.99494137e-01 -3.17936320e-02 -7.97505428e-04 4.53848798e+02] [ 3.17935839e-02 9.99494454e-01 -7.28757504e-05 4.98052919e+01] [ 7.99419237e-04 4.74833295e-05 9.99999679e-01 -2.35310984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.671400513 meters 0.06516333169613897 Centerline is valid? [True, True] Translation: X:453.88, Y:49.81, Z:-2.35 [[ 9.99408231e-01 -3.43961011e-02 -3.09596027e-04 4.53878316e+02] [ 3.43960940e-02 9.99408279e-01 -2.83278401e-05 4.98068520e+01] [ 3.10387200e-04 1.76621825e-05 9.99999952e-01 -2.35266676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.701400513 meters 0.059731015568633875 Centerline is valid? [True, True] Translation: X:453.91, Y:49.80, Z:-2.35 [[ 9.99175499e-01 -4.05695122e-02 1.56096612e-03 4.53908080e+02] [ 4.05693389e-02 9.99176715e-01 1.42554679e-04 4.98034617e+01] [-1.56546437e-03 -7.91097788e-05 9.99998772e-01 -2.35027750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.731400513 meters 0.05276590596289621 Centerline is valid? [True, True] Translation: X:453.94, Y:49.80, Z:-2.35 [[ 9.99017870e-01 -4.42650503e-02 1.97516573e-03 4.53939369e+02] [ 4.42647799e-02 9.99019818e-01 1.80436223e-04 4.97980486e+01] [-1.98121673e-03 -9.28287348e-05 9.99998033e-01 -2.34937429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.761400513 meters 0.04661147826819951 Centerline is valid? [True, True] Translation: X:453.97, Y:49.79, Z:-2.35 [[ 9.98831291e-01 -4.82766619e-02 2.32709241e-03 4.53970635e+02] [ 4.82762974e-02 9.98833997e-01 2.12591661e-04 4.97933091e+01] [-2.33464223e-03 -9.99997981e-05 9.99997270e-01 -2.34869143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.791400513 meters 0.04679220415416835 Centerline is valid? [True, True] Translation: X:454.00, Y:49.80, Z:-2.35 [[ 9.98619406e-01 -5.24699175e-02 2.48790416e-03 4.53999908e+02] [ 5.24695139e-02 9.98622500e-01 2.27277293e-04 4.97958225e+01] [-2.49640229e-03 -9.64243930e-05 9.99996879e-01 -2.34793833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.821400513 meters 0.029636706624869277 Centerline is valid? [True, True] Translation: X:454.03, Y:49.78, Z:-2.35 [[ 9.98141549e-01 -6.08878645e-02 2.47295411e-03 4.54031937e+02] [ 6.08874915e-02 9.98144610e-01 2.25911354e-04 4.97756013e+01] [-2.48212108e-03 -7.49195367e-05 9.99996917e-01 -2.34760417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.851400513 meters 0.02913527378268564 Centerline is valid? [True, True] Translation: X:454.06, Y:49.78, Z:-2.35 [[ 9.97886799e-01 -6.49125142e-02 2.88120770e-03 4.54061178e+02] [ 6.49120241e-02 9.97890956e-01 2.63398432e-04 4.97762770e+01] [-2.89222896e-03 -7.58167947e-05 9.99995815e-01 -2.34815044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.881400513 meters 0.024543089807947196 Centerline is valid? [True, True] Translation: X:454.09, Y:49.77, Z:-2.35 [[ 9.97631837e-01 -6.87012372e-02 3.29516605e-03 4.54091560e+02] [ 6.87006164e-02 9.97637276e-01 3.01335727e-04 4.97717560e+01] [-3.30808262e-03 -7.42421760e-05 9.99994526e-01 -2.34798975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.911400513 meters 0.020203255921342984 Centerline is valid? [True, True] Translation: X:454.12, Y:49.77, Z:-2.35 [[ 9.97377646e-01 -7.22915564e-02 3.42967793e-03 4.54121178e+02] [ 7.22909048e-02 9.97383540e-01 3.13721776e-04 4.97675716e+01] [-3.44338375e-03 -6.49645661e-05 9.99994069e-01 -2.34785501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.941400513 meters 0.024767283782170125 Centerline is valid? [True, True] Translation: X:454.15, Y:49.76, Z:-2.35 [[ 9.97010123e-01 -7.71889902e-02 3.56000955e-03 4.54148422e+02] [ 7.71701279e-02 9.97004575e-01 5.16223809e-03 4.97564976e+01] [-3.94781375e-03 -4.87207725e-03 9.99980339e-01 -2.34923964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.971400513 meters 0.01324556113794283 Centerline is valid? [True, True] Translation: X:454.18, Y:49.76, Z:-2.35 [[ 9.96720510e-01 -8.08964537e-02 1.99731224e-03 4.54179100e+02] [ 8.09053626e-02 9.96709854e-01 -4.87737930e-03 4.97625827e+01] [-1.59617810e-03 5.02297726e-03 9.99986111e-01 -2.35017883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.001400513 meters 0.012945687118592316 Centerline is valid? [True, True] Translation: X:454.21, Y:49.76, Z:-2.35 [[ 9.96692051e-01 -8.12629407e-02 1.13585713e-03 4.54207992e+02] [ 8.12628751e-02 9.96692698e-01 1.03872502e-04 4.97564759e+01] [-1.14054149e-03 -1.12258808e-05 9.99999350e-01 -2.35039161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.031400513 meters 0.014353506878109783 Centerline is valid? [True, True] Translation: X:454.24, Y:49.76, Z:-2.35 [[ 9.96804164e-01 -7.98671405e-02 1.64276671e-03 4.54236995e+02] [ 7.98670003e-02 9.96805517e-01 1.50866878e-04 4.97595354e+01] [-1.64956823e-03 -1.91818823e-05 9.99998639e-01 -2.35005978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.061400513 meters 0.015986656042178936 Centerline is valid? [True, True] Translation: X:454.27, Y:49.76, Z:-2.35 [[ 9.96946310e-01 -7.80672673e-02 1.88571871e-03 4.54265311e+02] [ 7.80670786e-02 9.96948093e-01 1.73579045e-04 4.97628907e+01] [-1.89351452e-03 -2.58364372e-05 9.99998207e-01 -2.34942883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.091400513 meters 0.02588985020741737 Centerline is valid? [True, True] Translation: X:454.29, Y:49.77, Z:-2.35 [[ 9.97085775e-01 -7.62741346e-02 1.48786825e-03 4.54293000e+02] [ 7.62740147e-02 9.97086885e-01 1.37290408e-04 4.97671231e+01] [-1.49400562e-03 -2.34046285e-05 9.99998884e-01 -2.35019479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.121400513 meters 0.021226935111647433 Centerline is valid? [True, True] Translation: X:454.32, Y:49.77, Z:-2.35 [[ 9.97345227e-01 -7.28144340e-02 -7.45731305e-04 4.54322524e+02] [ 7.28144027e-02 9.97345506e-01 -6.90074458e-05 4.97712757e+01] [ 7.48776504e-04 1.45242671e-05 9.99999720e-01 -2.35349178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.151400513 meters 0.023285297333827514 Centerline is valid? [True, True] Translation: X:454.35, Y:49.77, Z:-2.35 [[ 9.97441665e-01 -7.14793686e-02 -9.08363783e-04 4.54350436e+02] [ 7.14793215e-02 9.97442078e-01 -8.42121735e-05 4.97742975e+01] [ 9.12059693e-04 1.90675036e-05 9.99999584e-01 -2.35439546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.181400513 meters 0.026280350551585722 Centerline is valid? [True, True] Translation: X:454.38, Y:49.78, Z:-2.35 [[ 9.97537726e-01 -7.01308982e-02 -3.76523724e-04 4.54377637e+02] [ 7.01308900e-02 9.97537797e-01 -3.50400518e-05 4.97783693e+01] [ 3.78054036e-04 8.54782973e-06 9.99999929e-01 -2.35345326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.211400513 meters 0.02529724376205475 Centerline is valid? [True, True] Translation: X:454.41, Y:49.78, Z:-2.35 [[ 9.97756283e-01 -6.69402399e-02 1.18453499e-03 4.54407888e+02] [ 6.69401570e-02 9.97756986e-01 1.09575580e-04 4.97755358e+01] [-1.18921308e-03 -3.00367646e-05 9.99999292e-01 -2.35018641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24140051300003 meters 0.03462633401314561 Centerline is valid? [True, True] Translation: X:454.44, Y:49.78, Z:-2.35 [[ 9.97884595e-01 -6.50052979e-02 8.04205431e-04 4.54435264e+02] [ 6.50052592e-02 9.97884919e-01 7.42137196e-05 4.97796301e+01] [-8.07328756e-04 -2.17791450e-05 9.99999674e-01 -2.35105108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.271400513 meters 0.03147427018595106 Centerline is valid? [True, True] Translation: X:454.46, Y:49.79, Z:-2.35 [[ 9.98034697e-01 -6.26619984e-02 4.66840550e-04 4.54463791e+02] [ 6.26619851e-02 9.98034806e-01 4.31222726e-05 4.97851149e+01] [-4.68625246e-04 -1.37843687e-05 9.99999890e-01 -2.35252462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.301400513 meters 0.040431672615919186 Centerline is valid? [True, True] Translation: X:454.49, Y:49.80, Z:-2.36 [[ 9.98330072e-01 -5.77650479e-02 -5.15788748e-04 4.54492359e+02] [ 5.77650308e-02 9.98330205e-01 -4.78588915e-05 4.97954669e+01] [ 5.17692058e-04 1.79844177e-05 9.99999866e-01 -2.35530433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.331400513 meters 0.03863443388081362 Centerline is valid? [True, True] Translation: X:454.52, Y:49.79, Z:-2.36 [[ 9.98468115e-01 -5.53207166e-02 -1.02109432e-03 4.54522278e+02] [ 5.53206486e-02 9.98468636e-01 -9.47859147e-05 4.97943454e+01] [ 1.02477428e-03 3.81531133e-05 9.99999474e-01 -2.35573252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.361400513 meters 0.0388064318979549 Centerline is valid? [True, True] Translation: X:454.55, Y:49.80, Z:-2.36 [[ 9.98579850e-01 -5.32616680e-02 -1.21603508e-03 4.54551806e+02] [ 5.32615699e-02 9.98580589e-01 -1.12897668e-04 4.97957221e+01] [ 1.22032215e-03 4.79693985e-05 9.99999254e-01 -2.35601249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.391400513 meters 0.047492246523172243 Centerline is valid? [True, True] Translation: X:454.58, Y:49.81, Z:-2.36 [[ 9.98710178e-01 -5.07690535e-02 -6.95375793e-04 4.54579314e+02] [ 5.07690208e-02 9.98710420e-01 -6.47048098e-05 4.98051340e+01] [ 6.97764052e-04 2.93178040e-05 9.99999756e-01 -2.35550986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.421400513 meters 0.04667805212822574 Centerline is valid? [True, True] Translation: X:454.61, Y:49.81, Z:-2.36 [[ 9.98755214e-01 -4.98787049e-02 -3.71453499e-04 4.54608515e+02] [ 4.98786953e-02 9.98755283e-01 -3.50694053e-05 4.98050949e+01] [ 3.72740360e-04 1.64981355e-05 9.99999930e-01 -2.35500148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.451400513 meters 0.04543951566082883 Centerline is valid? [True, True] Translation: X:454.64, Y:49.80, Z:-2.35 [[ 9.98799833e-01 -4.89735735e-02 -6.94226989e-04 4.54637637e+02] [ 4.89735399e-02 9.98800074e-01 -6.52104877e-05 4.98047236e+01] [ 6.96587559e-04 3.11334711e-05 9.99999757e-01 -2.35474034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.481400513 meters 0.050364574423754256 Centerline is valid? [True, True] Translation: X:454.67, Y:49.81, Z:-2.36 [[ 9.98956818e-01 -4.56298621e-02 -1.78660101e-03 4.54665893e+02] [ 4.56296372e-02 9.98958412e-01 -1.66483830e-04 4.98110003e+01] [ 1.79233674e-03 8.47882013e-05 9.99998390e-01 -2.35697979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.511400513 meters 0.04818566053335263 Centerline is valid? [True, True] Translation: X:454.70, Y:49.81, Z:-2.36 [[ 9.99064230e-01 -4.31718893e-02 -2.61756248e-03 4.54695938e+02] [ 4.31713980e-02 9.99067651e-01 -2.43929523e-04 4.98104031e+01] [ 2.62565289e-03 1.30697430e-04 9.99996544e-01 -2.35789411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.541400513 meters 0.059573671949483056 Centerline is valid? [True, True] Translation: X:454.72, Y:49.83, Z:-2.36 [[ 9.99181729e-01 -4.03473054e-02 -2.82249885e-03 4.54723393e+02] [ 4.03467226e-02 9.99185705e-01 -2.63131370e-04 4.98271724e+01] [ 2.83081714e-03 1.49037480e-04 9.99995982e-01 -2.35963743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.571400513 meters 0.05389281505379921 Centerline is valid? [True, True] Translation: X:454.75, Y:49.82, Z:-2.36 [[ 9.99284523e-01 -3.77011071e-02 -3.01155316e-03 4.54753963e+02] [ 3.77004317e-02 9.99289047e-01 -2.80747103e-04 4.98232707e+01] [ 3.01999656e-03 1.67009380e-04 9.99995426e-01 -2.35889636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.601400513 meters 0.06614947555235083 Centerline is valid? [True, True] Translation: X:454.78, Y:49.84, Z:-2.36 [[ 9.99451789e-01 -3.30735568e-02 -1.50353603e-03 4.54782000e+02] [ 3.30733832e-02 9.99452916e-01 -1.40175529e-04 4.98417294e+01] [ 1.50734957e-03 9.03716601e-05 9.99998860e-01 -2.35747205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.631400513 meters 0.06557108454140582 Centerline is valid? [True, True] Translation: X:454.81, Y:49.84, Z:-2.36 [[ 9.99492927e-01 -3.18253228e-02 -1.01847723e-03 4.54811124e+02] [ 3.18252423e-02 9.99493444e-01 -9.51531394e-05 4.98443025e+01] [ 1.02098959e-03 6.26916054e-05 9.99999477e-01 -2.35624577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.661400513 meters 0.06783364575938171 Centerline is valid? [True, True] Translation: X:454.84, Y:49.85, Z:-2.36 [[ 9.99504178e-01 -3.14751834e-02 -8.43114524e-04 4.54838450e+02] [ 3.14751280e-02 9.99504532e-01 -7.88671930e-05 4.98506941e+01] [ 8.45179147e-04 5.22909514e-05 9.99999641e-01 -2.35666640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.691400513 meters 0.06799952813925106 Centerline is valid? [True, True] Translation: X:454.87, Y:49.86, Z:-2.36 [[ 9.99466577e-01 -3.26575638e-02 -2.13338707e-04 4.54866344e+02] [ 3.26575603e-02 9.99466599e-01 -2.00637369e-05 4.98552414e+01] [ 2.13880144e-04 1.30859128e-05 9.99999977e-01 -2.35683962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.721400513 meters 0.06065862733873763 Centerline is valid? [True, True] Translation: X:454.90, Y:49.85, Z:-2.36 [[ 9.99438590e-01 -3.35036524e-02 -9.96052647e-05 4.54895631e+02] [ 3.35036515e-02 9.99438595e-01 -9.85407933e-06 4.98489856e+01] [ 9.98794935e-05 6.51140707e-06 9.99999995e-01 -2.35620035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.751400513 meters 0.06078563124827861 Centerline is valid? [True, True] Translation: X:454.92, Y:49.85, Z:-2.36 [[ 9.99419838e-01 -3.40564710e-02 3.79602468e-04 4.54923310e+02] [ 3.40564600e-02 9.99419910e-01 3.52636543e-05 4.98515723e+01] [-3.80583220e-04 -2.23152794e-05 9.99999927e-01 -2.35572987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.781400513 meters 0.0653225995344517 Centerline is valid? [True, True] Translation: X:454.95, Y:49.86, Z:-2.35 [[ 9.99418338e-01 -3.40859563e-02 1.06453152e-03 4.54952086e+02] [ 3.40858698e-02 9.99418903e-01 9.92934613e-05 4.98555012e+01] [-1.06729744e-03 -6.29502232e-05 9.99999428e-01 -2.35448499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.811400513 meters 0.07133973888335142 Centerline is valid? [True, True] Translation: X:454.98, Y:49.87, Z:-2.35 [[ 9.99444368e-01 -3.32764639e-02 1.90587790e-03 4.54979357e+02] [ 3.32761835e-02 9.99446178e-01 1.78678481e-04 4.98726171e+01] [-1.91076817e-03 -1.15158859e-04 9.99998168e-01 -2.35348384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.841400513 meters 0.07584819444693028 Centerline is valid? [True, True] Translation: X:455.01, Y:49.89, Z:-2.35 [[ 9.99535346e-01 -3.03249537e-02 3.08056975e-03 4.55007694e+02] [ 3.03242064e-02 9.99540074e-01 2.88989412e-04 4.98858789e+01] [-3.08791650e-03 -1.95439299e-04 9.99995213e-01 -2.35186651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.871400513 meters 0.06497740313601451 Centerline is valid? [True, True] Translation: X:455.04, Y:49.88, Z:-2.35 [[ 9.99590703e-01 -2.84657456e-02 2.85080819e-03 4.55038887e+02] [ 2.84650981e-02 9.99594751e-01 2.67464389e-04 4.98772700e+01] [-2.85726648e-03 -1.86206382e-04 9.99995901e-01 -2.35248406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.901400513 meters 0.06668628704752277 Centerline is valid? [True, True] Translation: X:455.07, Y:49.88, Z:-2.35 [[ 9.99640272e-01 -2.67639978e-02 1.73658238e-03 4.55068932e+02] [ 2.67637548e-02 9.99641773e-01 1.62968618e-04 4.98828902e+01] [-1.74032198e-03 -1.16432529e-04 9.99998479e-01 -2.35361269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.931400513 meters 0.06657305018248176 Centerline is valid? [True, True] Translation: X:455.10, Y:49.89, Z:-2.35 [[ 9.99668612e-01 -2.57248378e-02 9.48012501e-04 4.55098964e+02] [ 2.57247650e-02 9.99669060e-01 8.89446497e-05 4.98877698e+01] [-9.49986852e-04 -6.45277758e-05 9.99999547e-01 -2.35486298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.961400513 meters 0.07062542376385089 Centerline is valid? [True, True] Translation: X:455.13, Y:49.90, Z:-2.36 [[ 9.99678508e-01 -2.53550556e-02 -4.44343438e-05 4.55127865e+02] [ 2.53550555e-02 9.99678509e-01 -4.18374475e-06 4.98970301e+01] [ 4.45261376e-05 3.05576446e-06 9.99999999e-01 -2.35625003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99140051300003 meters 0.07142414176004723 Centerline is valid? [True, True] Translation: X:455.16, Y:49.90, Z:-2.36 [[ 9.99663030e-01 -2.59125798e-02 -1.53773865e-03 4.55155814e+02] [ 2.59123881e-02 9.99664207e-01 -1.44446346e-04 4.99022298e+01] [ 1.54096526e-03 1.04551191e-04 9.99998807e-01 -2.35843533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.021400513 meters 0.07455191690101477 Centerline is valid? [True, True] Translation: X:455.18, Y:49.91, Z:-2.36 [[ 9.99646461e-01 -2.65712832e-02 -9.58751395e-04 4.55183671e+02] [ 2.65712084e-02 9.99646919e-01 -9.06641025e-05 4.99094217e+01] [ 9.60821940e-04 6.51568661e-05 9.99999536e-01 -2.35821019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.051400513 meters 0.07361340598146589 Centerline is valid? [True, True] Translation: X:455.21, Y:49.91, Z:-2.36 [[ 9.99642914e-01 -2.67212436e-02 -1.37166934e-04 4.55212710e+02] [ 2.67212420e-02 9.99642924e-01 -1.34330096e-05 4.99120737e+01] [ 1.37476901e-04 9.76294200e-06 9.99999991e-01 -2.35700730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.081400513 meters 0.06934712404123988 Centerline is valid? [True, True] Translation: X:455.24, Y:49.91, Z:-2.36 [[ 9.99660660e-01 -2.60351880e-02 8.56131038e-04 4.55242349e+02] [ 2.60351285e-02 9.99661025e-01 8.05716197e-05 4.99109344e+01] [-8.57938529e-04 -5.82547970e-05 9.99999630e-01 -2.35546934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.111400513 meters 0.07898332881850784 Centerline is valid? [True, True] Translation: X:455.27, Y:49.93, Z:-2.36 [[ 9.99720515e-01 -2.36350994e-02 5.23994818e-04 4.55270328e+02] [ 2.36350768e-02 9.99720651e-01 4.93604528e-05 4.99276116e+01] [-5.25015080e-04 -3.69619995e-05 9.99999861e-01 -2.35626625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.141400513 meters 0.0782897020956618 Centerline is valid? [True, True] Translation: X:455.30, Y:49.93, Z:-2.36 [[ 9.99755627e-01 -2.20965551e-02 -6.54481141e-04 4.55300064e+02] [ 2.20965194e-02 9.99755840e-01 -6.16961437e-05 4.99304687e+01] [ 6.55684615e-04 4.72193116e-05 9.99999784e-01 -2.35813514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.171400513 meters 0.0800673002243672 Centerline is valid? [True, True] Translation: X:455.33, Y:49.94, Z:-2.36 [[ 9.99790238e-01 -2.03990905e-02 -1.83235722e-03 4.55329569e+02] [ 2.03988081e-02 9.99791908e-01 -1.72685489e-04 4.99361242e+01] [ 1.83549854e-03 1.35271363e-04 9.99998306e-01 -2.36086732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.201400513 meters 0.0766313907666375 Centerline is valid? [True, True] Translation: X:455.36, Y:49.94, Z:-2.36 [[ 9.99818799e-01 -1.88952149e-02 -2.31071105e-03 4.55359837e+02] [ 1.88947618e-02 9.99821454e-01 -2.17784711e-04 4.99351188e+01] [ 2.31441357e-03 1.74084914e-04 9.99997307e-01 -2.36136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.231400513 meters 0.08280986863814943 Centerline is valid? [True, True] Translation: X:455.39, Y:49.95, Z:-2.36 [[ 9.99843013e-01 -1.76354417e-02 -1.71459628e-03 4.55387200e+02] [ 1.76351900e-02 9.99844475e-01 -1.61851368e-04 4.99462371e+01] [ 1.71718394e-03 1.31588728e-04 9.99998517e-01 -2.36076742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.261400513 meters 0.07647311349433174 Centerline is valid? [True, True] Translation: X:455.42, Y:49.94, Z:-2.36 [[ 9.99860106e-01 -1.67005781e-02 -9.27172660e-04 4.55416775e+02] [ 1.67005041e-02 9.99860533e-01 -8.75696450e-05 4.99420874e+01] [ 9.28505814e-04 7.20731437e-05 9.99999566e-01 -2.35934583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.291400513 meters 0.07647311349433174 Centerline is valid? [True, True] Translation: X:455.45, Y:49.94, Z:-2.36 [[ 9.99859721e-01 -1.67236160e-02 -9.27174227e-04 4.55445895e+02] [ 1.67235419e-02 9.99860148e-01 -8.75530265e-05 4.99448733e+01] [ 9.28508763e-04 7.20351076e-05 9.99999566e-01 -2.35944233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.321400513 meters 0.08049515033041908 Centerline is valid? [True, True] Translation: X:455.47, Y:49.95, Z:-2.36 [[ 9.99877435e-01 -1.55400061e-02 -1.90330651e-03 4.55474191e+02] [ 1.55396923e-02 9.99879236e-01 -1.79596645e-04 4.99539001e+01] [ 1.90586759e-03 1.49997835e-04 9.99998173e-01 -2.36000032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.351400513 meters 0.08393707492097013 Centerline is valid? [True, True] Translation: X:455.50, Y:49.96, Z:-2.36 [[ 9.99876162e-01 -1.54606274e-02 -2.93763419e-03 4.55502550e+02] [ 1.54598786e-02 9.99880450e-01 -2.77434170e-04 4.99617069e+01] [ 2.94157231e-03 2.31984345e-04 9.99995647e-01 -2.36213779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.381400513 meters 0.08188993793850197 Centerline is valid? [True, True] Translation: X:455.53, Y:49.96, Z:-2.36 [[ 9.99873060e-01 -1.54775226e-02 -3.78298346e-03 4.55530888e+02] [ 1.54762793e-02 9.99880171e-01 -3.57699469e-04 4.99630672e+01] [ 3.78806646e-03 2.99107554e-04 9.99992781e-01 -2.36384435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.411400513 meters 0.08063740868563447 Centerline is valid? [True, True] Translation: X:455.56, Y:49.97, Z:-2.36 [[ 9.99865157e-01 -1.61684018e-02 -2.87232989e-03 4.55559470e+02] [ 1.61676877e-02 9.99869257e-01 -2.71659951e-04 4.99661228e+01] [ 2.87634666e-03 2.25184387e-04 9.99995838e-01 -2.36310939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.441400513 meters 0.07443889829176809 Centerline is valid? [True, True] Translation: X:455.59, Y:49.96, Z:-2.36 [[ 9.99853353e-01 -1.70643147e-02 -1.44300244e-03 4.55588871e+02] [ 1.70641352e-02 9.99854388e-01 -1.36623382e-04 4.99623176e+01] [ 1.44512370e-03 1.11979758e-04 9.99998950e-01 -2.36036791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.471400513 meters 0.08151311031980214 Centerline is valid? [True, True] Translation: X:455.62, Y:49.97, Z:-2.36 [[ 9.99844691e-01 -1.76164014e-02 -5.05886851e-04 4.55616883e+02] [ 1.76163794e-02 9.99844818e-01 -4.79319117e-05 4.99748707e+01] [ 5.06652735e-04 3.90125727e-05 9.99999871e-01 -2.35928478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.501400513 meters 0.07187707289109116 Centerline is valid? [True, True] Translation: X:455.65, Y:49.97, Z:-2.36 [[ 9.99839029e-01 -1.79062305e-02 -1.13244934e-03 4.55647238e+02] [ 1.79061204e-02 9.99839667e-01 -1.07230662e-04 4.99675174e+01] [ 1.13418787e-03 8.69356268e-05 9.99999353e-01 -2.36041708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.531400513 meters 0.08212603738996768 Centerline is valid? [True, True] Translation: X:455.67, Y:49.98, Z:-2.36 [[ 9.99843363e-01 -1.76472058e-02 -1.35139502e-03 4.55674848e+02] [ 1.76470488e-02 9.99844271e-01 -1.28033477e-04 4.99827340e+01] [ 1.35344400e-03 1.04165289e-04 9.99999079e-01 -2.36150077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.561400513 meters 0.08245249213200707 Centerline is valid? [True, True] Translation: X:455.70, Y:49.99, Z:-2.36 [[ 9.99845634e-01 -1.75184311e-02 -1.34603608e-03 4.55704332e+02] [ 1.75182752e-02 9.99846535e-01 -1.27513809e-04 4.99854470e+01] [ 1.34806335e-03 1.03913895e-04 9.99999086e-01 -2.36117869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.591400513 meters 0.07747940416462834 Centerline is valid? [True, True] Translation: X:455.73, Y:49.98, Z:-2.36 [[ 9.99844410e-01 -1.76124599e-02 -9.78480738e-04 4.55734562e+02] [ 1.76123775e-02 9.99844886e-01 -9.27388805e-05 4.99819285e+01] [ 9.79962321e-04 7.54910790e-05 9.99999517e-01 -2.36052834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.621400513 meters 0.08100959236181449 Centerline is valid? [True, True] Translation: X:455.76, Y:49.99, Z:-2.36 [[ 9.99840024e-01 -1.78766485e-02 -5.92576440e-04 4.55762964e+02] [ 1.78766183e-02 9.99840199e-01 -5.62708578e-05 4.99885778e+01] [ 5.93487680e-04 4.56685930e-05 9.99999823e-01 -2.36056134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.651400513 meters 0.07736576562311356 Centerline is valid? [True, True] Translation: X:455.79, Y:49.99, Z:-2.36 [[ 9.99837365e-01 -1.80344848e-02 -8.70255930e-06 4.55792598e+02] [ 1.80344848e-02 9.99837365e-01 -9.00503480e-07 4.99862404e+01] [ 8.71738407e-06 7.43410853e-07 1.00000000e+00 -2.35986786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.681400513 meters 0.08074970972818629 Centerline is valid? [True, True] Translation: X:455.82, Y:49.99, Z:-2.36 [[ 9.99835519e-01 -1.81133835e-02 9.17212385e-04 4.55821719e+02] [ 1.81133113e-02 9.99835937e-01 8.68912372e-05 4.99899807e+01] [-9.18635799e-04 -7.02631917e-05 9.99999576e-01 -2.35954235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.711400513 meters 0.08121350440951842 Centerline is valid? [True, True] Translation: X:455.85, Y:49.99, Z:-2.36 [[ 9.99831919e-01 -1.83257778e-02 5.47775810e-04 4.55852659e+02] [ 1.83257521e-02 9.99832068e-01 5.19155593e-05 4.99912918e+01] [-5.48635214e-04 -4.18684296e-05 9.99999849e-01 -2.36022974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74140051300003 meters 0.07276409063078257 Centerline is valid? [True, True] Translation: X:455.88, Y:49.98, Z:-2.36 [[ 9.99824777e-01 -1.87184943e-02 1.80031681e-04 4.55884182e+02] [ 1.87184915e-02 9.99824794e-01 1.70625377e-05 4.99817852e+01] [-1.80319523e-04 -1.36896264e-05 9.99999984e-01 -2.36044585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.771400513 meters 0.0821181969980719 Centerline is valid? [True, True] Translation: X:455.91, Y:49.99, Z:-2.36 [[ 9.99815780e-01 -1.91905524e-02 3.58468113e-04 4.55912407e+02] [ 1.91905415e-02 9.99815844e-01 3.39396220e-05 4.99943645e+01] [-3.59053419e-04 -2.70541724e-05 9.99999935e-01 -2.36034004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.801400513 meters 0.07881523952569368 Centerline is valid? [True, True] Translation: X:455.94, Y:49.99, Z:-2.36 [[ 9.99802957e-01 -1.98087500e-02 1.28830843e-03 4.55943734e+02] [ 1.98086090e-02 9.99803783e-01 1.22114770e-04 4.99897628e+01] [-1.29047458e-03 -9.65711104e-05 9.99999163e-01 -2.35884699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.831400513 meters 0.0755913169869354 Centerline is valid? [True, True] Translation: X:455.97, Y:49.99, Z:-2.36 [[ 9.99804736e-01 -1.97249145e-02 1.19074660e-03 4.55974416e+02] [ 1.97247940e-02 9.99805441e-01 1.12867186e-04 4.99867538e+01] [-1.19274123e-03 -8.93579161e-05 9.99999285e-01 -2.35913221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.861400513 meters 0.07700622430645433 Centerline is valid? [True, True] Translation: X:456.00, Y:49.99, Z:-2.36 [[ 9.99812721e-01 -1.93496125e-02 3.39100560e-04 4.56004088e+02] [ 1.93496027e-02 9.99812778e-01 3.21305362e-05 4.99903905e+01] [-3.39658786e-04 -2.55630577e-05 9.99999942e-01 -2.36058572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.891400513 meters 0.08049479540434011 Centerline is valid? [True, True] Translation: X:456.03, Y:50.00, Z:-2.36 [[ 9.99816493e-01 -1.91312847e-02 -9.87345979e-04 4.56033224e+02] [ 1.91312015e-02 9.99816977e-01 -9.36402929e-05 4.99971654e+01] [ 9.88956732e-04 7.47339943e-05 9.99999508e-01 -2.36287838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.921400513 meters 0.08076618908345781 Centerline is valid? [True, True] Translation: X:456.06, Y:50.00, Z:-2.36 [[ 9.99822840e-01 -1.87968031e-02 -9.84105114e-04 4.56062625e+02] [ 1.87967202e-02 9.99823322e-01 -9.33915690e-05 5.00005522e+01] [ 9.85686706e-04 7.48770753e-05 9.99999511e-01 -2.36294530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.951400513 meters 0.08061208315413233 Centerline is valid? [True, True] Translation: X:456.09, Y:50.00, Z:-2.36 [[ 9.99818597e-01 -1.90395542e-02 -5.17636699e-04 4.56092495e+02] [ 1.90395313e-02 9.99818730e-01 -4.91702776e-05 5.00025499e+01] [ 5.18479047e-04 3.93057979e-05 9.99999865e-01 -2.36247734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.981400513 meters 0.07916927323590459 Centerline is valid? [True, True] Translation: X:456.12, Y:50.00, Z:-2.36 [[ 9.99823628e-01 -1.87161332e-02 -1.55548423e-03 4.56121130e+02] [ 1.87046854e-02 9.99800024e-01 -7.07434493e-03 5.00030873e+01] [ 1.68757755e-03 7.04400237e-03 9.99973767e-01 -2.36255942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.011400513 meters 0.07234100756039472 Centerline is valid? [True, True] Translation: X:456.15, Y:49.99, Z:-2.36 [[ 9.99774461e-01 -2.11701847e-02 -1.68811503e-03 4.56154244e+02] [ 2.11810992e-02 9.99752981e-01 6.73340206e-03 4.99901158e+01] [ 1.54515067e-03 -6.76763955e-03 9.99975905e-01 -2.36296383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.041400513 meters 0.07676804606029146 Centerline is valid? [True, True] Translation: X:456.18, Y:50.00, Z:-2.37 [[ 9.99702576e-01 -2.42756138e-02 -2.33544074e-03 4.56182818e+02] [ 2.42751613e-02 9.99705290e-01 -2.21905676e-04 5.00039967e+01] [ 2.34013936e-03 1.65146475e-04 9.99997248e-01 -2.36543275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.071400513 meters 0.06727615777060744 Centerline is valid? [True, True] Translation: X:456.21, Y:50.00, Z:-2.36 [[ 9.99673816e-01 -2.54196618e-02 -2.47046334e-03 4.56212318e+02] [ 2.54191584e-02 9.99676853e-01 -2.34957199e-04 4.99952227e+01] [ 2.47563755e-03 1.72083460e-04 9.99996921e-01 -2.36477709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.101400513 meters 0.0736781631950461 Centerline is valid? [True, True] Translation: X:456.24, Y:50.00, Z:-2.37 [[ 9.99662297e-01 -2.58679619e-02 -2.47787025e-03 4.56239516e+02] [ 2.58674564e-02 9.99665354e-01 -2.35845032e-04 5.00013662e+01] [ 2.48314187e-03 1.71669186e-04 9.99996902e-01 -2.36523374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.131400513 meters 0.07596859471003119 Centerline is valid? [True, True] Translation: X:456.27, Y:50.01, Z:-2.37 [[ 9.99662313e-01 -2.59065137e-02 -2.02798248e-03 4.56265922e+02] [ 2.59061746e-02 9.99664360e-01 -1.93296083e-04 5.00109925e+01] [ 2.03230943e-03 1.40693541e-04 9.99997925e-01 -2.36531897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.161400513 meters 0.06687416625487332 Centerline is valid? [True, True] Translation: X:456.30, Y:50.00, Z:-2.36 [[ 9.99645660e-01 -2.65781873e-02 -1.46770447e-03 4.56295383e+02] [ 2.65780095e-02 9.99646732e-01 -1.40482830e-04 5.00042684e+01] [ 1.47091975e-03 1.01424389e-04 9.99998913e-01 -2.36445679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.191400513 meters 0.07566167235413779 Centerline is valid? [True, True] Translation: X:456.32, Y:50.02, Z:-2.37 [[ 9.99628050e-01 -2.72003570e-02 -1.97522624e-03 4.56322050e+02] [ 2.72000360e-02 9.99629993e-01 -1.89194815e-04 5.00191352e+01] [ 1.97964156e-03 1.35398220e-04 9.99998031e-01 -2.36581625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.221400513 meters 0.07016267725881438 Centerline is valid? [True, True] Translation: X:456.35, Y:50.02, Z:-2.37 [[ 9.99607024e-01 -2.78446347e-02 -3.23629106e-03 4.56351380e+02] [ 2.78437758e-02 9.99612239e-01 -3.10157005e-04 5.00154477e+01] [ 3.24367236e-03 2.19924559e-04 9.99994715e-01 -2.36711582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.251400513 meters 0.07312833461713406 Centerline is valid? [True, True] Translation: X:456.38, Y:50.02, Z:-2.37 [[ 9.99587694e-01 -2.83678699e-02 -4.43923695e-03 4.56378660e+02] [ 2.83662603e-02 9.99597506e-01 -4.25157488e-04 5.00210046e+01] [ 4.44951100e-03 2.99057642e-04 9.99990056e-01 -2.36896528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.281400513 meters 0.06741653248129245 Centerline is valid? [True, True] Translation: X:456.41, Y:50.02, Z:-2.37 [[ 9.99559791e-01 -2.92484174e-02 -4.97538007e-03 4.56407751e+02] [ 2.92464054e-02 9.99572119e-01 -4.76679262e-04 5.00159527e+01] [ 4.98719331e-03 3.30957441e-04 9.99987509e-01 -2.36895890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.311400513 meters 0.06302536428053605 Centerline is valid? [True, True] Translation: X:456.44, Y:50.01, Z:-2.37 [[ 9.99499820e-01 -3.14462815e-02 -3.35271928e-03 4.56437818e+02] [ 3.14453801e-02 9.99505420e-01 -3.21233736e-04 5.00139151e+01] [ 3.36116270e-03 2.15645529e-04 9.99994328e-01 -2.36583343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.341400513 meters 0.064684070213796 Centerline is valid? [True, True] Translation: X:456.47, Y:50.02, Z:-2.36 [[ 9.99477754e-01 -3.22493031e-02 -2.04972225e-03 4.56465662e+02] [ 3.22489675e-02 9.99479847e-01 -1.96605141e-04 5.00203995e+01] [ 2.05499646e-03 1.30401038e-04 9.99997880e-01 -2.36456102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.371400513 meters 0.06504726871633096 Centerline is valid? [True, True] Translation: X:456.49, Y:50.02, Z:-2.36 [[ 9.99464582e-01 -3.26604947e-02 -1.95971230e-03 4.56493120e+02] [ 3.26601884e-02 9.99466496e-01 -1.88127817e-04 5.00231058e+01] [ 1.96481114e-03 1.24022517e-04 9.99998062e-01 -2.36439756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.401400513 meters 0.07077976647718782 Centerline is valid? [True, True] Translation: X:456.52, Y:50.03, Z:-2.37 [[ 9.99455451e-01 -3.29088220e-02 -2.41045750e-03 4.56519236e+02] [ 3.29083581e-02 9.99458346e-01 -2.31891457e-04 5.00319637e+01] [ 2.41678314e-03 1.52440982e-04 9.99997068e-01 -2.36529238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.431400513 meters 0.06296387587261565 Centerline is valid? [True, True] Translation: X:456.55, Y:50.02, Z:-2.37 [[ 9.99445298e-01 -3.31814334e-02 -2.84404203e-03 4.56547602e+02] [ 3.31807868e-02 9.99449328e-01 -2.74261201e-04 5.00245457e+01] [ 2.85157628e-03 1.79741515e-04 9.99995918e-01 -2.36517485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.461400513 meters 0.06224982622596997 Centerline is valid? [True, True] Translation: X:456.58, Y:50.03, Z:-2.36 [[ 9.99456052e-01 -3.28393922e-02 -3.02899174e-03 4.56576110e+02] [ 3.28386559e-02 9.99460623e-01 -2.92486579e-04 5.00269545e+01] [ 3.03696306e-03 1.92859463e-04 9.99995370e-01 -2.36481497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49140051300003 meters 0.061778162521043574 Centerline is valid? [True, True] Translation: X:456.61, Y:50.03, Z:-2.36 [[ 9.99489182e-01 -3.18426698e-02 -2.72402700e-03 4.56605063e+02] [ 3.18420714e-02 9.99492878e-01 -2.62764060e-04 5.00292712e+01] [ 2.73101270e-03 1.75891173e-04 9.99996255e-01 -2.36438117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.521400513 meters 0.06495164783646123 Centerline is valid? [True, True] Translation: X:456.63, Y:50.04, Z:-2.36 [[ 9.99526782e-01 -3.06834690e-02 -2.17629223e-03 4.56633398e+02] [ 3.06830841e-02 9.99529141e-01 -2.10029587e-04 5.00359793e+01] [ 2.18171194e-03 1.43154840e-04 9.99997610e-01 -2.36403849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.551400513 meters 0.07011247664269425 Centerline is valid? [True, True] Translation: X:456.66, Y:50.05, Z:-2.36 [[ 9.99634017e-01 -2.70455101e-02 -6.10731127e-04 4.56661946e+02] [ 2.70454792e-02 9.99634202e-01 -5.89226982e-05 5.00474045e+01] [ 6.12101318e-04 4.23836175e-05 9.99999812e-01 -2.36121883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.581400513 meters 0.07514515316736493 Centerline is valid? [True, True] Translation: X:456.69, Y:50.06, Z:-2.36 [[ 9.99693406e-01 -2.47605924e-02 7.99502956e-05 4.56690664e+02] [ 2.47605919e-02 9.99693410e-01 7.65229625e-06 5.00583632e+01] [-8.01152590e-05 -5.67033346e-06 9.99999997e-01 -2.36037036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.611400513 meters 0.08025569908956928 Centerline is valid? [True, True] Translation: X:456.72, Y:50.07, Z:-2.36 [[ 9.99749301e-01 -2.23900225e-02 1.49693020e-04 4.56719588e+02] [ 2.23900206e-02 9.99749312e-01 1.43999064e-05 5.00682009e+01] [-1.49977908e-04 -1.10446665e-05 9.99999989e-01 -2.36062394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.641400513 meters 0.08287368798137139 Centerline is valid? [True, True] Translation: X:456.75, Y:50.07, Z:-2.36 [[ 9.99789936e-01 -2.04952833e-02 -1.62733120e-04 4.56749208e+02] [ 2.04952810e-02 9.99789950e-01 -1.57404333e-05 5.00736952e+01] [ 1.63021543e-04 1.24018658e-05 9.99999987e-01 -2.36128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.671400513 meters 0.08351403935554158 Centerline is valid? [True, True] Translation: X:456.78, Y:50.08, Z:-2.36 [[ 9.99806559e-01 -1.96671447e-02 -2.20296064e-04 4.56778795e+02] [ 1.96671405e-02 9.99806583e-01 -2.13369357e-05 5.00764180e+01] [ 2.20673091e-04 1.70002146e-05 9.99999976e-01 -2.36196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.701400513 meters 0.08155527966418145 Centerline is valid? [True, True] Translation: X:456.81, Y:50.08, Z:-2.36 [[ 9.99803069e-01 -1.98429236e-02 -2.84753837e-04 4.56808499e+02] [ 1.98429166e-02 9.99803110e-01 -2.75653892e-05 5.00760923e+01] [ 2.85244750e-04 2.19096141e-05 9.99999959e-01 -2.36232635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.731400513 meters 0.07243721356660522 Centerline is valid? [True, True] Translation: X:456.84, Y:50.07, Z:-2.36 [[ 9.99760485e-01 -2.18852356e-02 9.89449276e-05 4.56839601e+02] [ 2.18852348e-02 9.99760490e-01 9.47850963e-06 5.00663111e+01] [-9.91286687e-05 -7.31080641e-06 9.99999995e-01 -2.36156482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.761400513 meters 0.07634851321833616 Centerline is valid? [True, True] Translation: X:456.87, Y:50.07, Z:-2.36 [[ 9.99732558e-01 -2.31197914e-02 5.35774890e-04 4.56868438e+02] [ 2.31197670e-02 9.99732701e-01 5.17072703e-05 5.00720044e+01] [-5.36827139e-04 -3.93064510e-05 9.99999855e-01 -2.36138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.791400513 meters 0.07200673125721058 Centerline is valid? [True, True] Translation: X:456.90, Y:50.07, Z:-2.36 [[ 9.99702096e-01 -2.43996992e-02 6.11618184e-04 4.56898723e+02] [ 2.43996676e-02 9.99702282e-01 5.90087725e-05 5.00671757e+01] [-6.12875890e-04 -4.40679131e-05 9.99999811e-01 -2.36113884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.821400513 meters 0.07326216506745545 Centerline is valid? [True, True] Translation: X:456.93, Y:50.07, Z:-2.36 [[ 9.99671511e-01 -2.56238183e-02 5.37972866e-04 4.56927879e+02] [ 2.56237940e-02 9.99671655e-01 5.19071746e-05 5.00697108e+01] [-5.39126285e-04 -3.81052178e-05 9.99999854e-01 -2.36163070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.851400513 meters 0.07660405427109516 Centerline is valid? [True, True] Translation: X:456.96, Y:50.07, Z:-2.36 [[ 9.99637443e-01 -2.69254990e-02 -2.46855024e-05 4.56956405e+02] [ 2.69254990e-02 9.99637443e-01 -2.49829530e-06 5.00736501e+01] [ 2.47438203e-05 1.83272006e-06 1.00000000e+00 -2.36318917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.881400513 meters 0.06845992510226019 Centerline is valid? [True, True] Translation: X:456.99, Y:50.06, Z:-2.36 [[ 9.99644185e-01 -2.66577059e-02 -9.32783863e-04 4.56986184e+02] [ 2.66576327e-02 9.99644618e-01 -9.08652304e-05 5.00633143e+01] [ 9.34874627e-04 6.59670896e-05 9.99999561e-01 -2.36367679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.911400513 meters 0.07539721756520484 Centerline is valid? [True, True] Translation: X:457.01, Y:50.07, Z:-2.36 [[ 9.99672042e-01 -2.55593683e-02 -1.58980766e-03 4.57013781e+02] [ 2.55591552e-02 9.99673300e-01 -1.54167500e-04 5.00724893e+01] [ 1.59322869e-03 1.13482799e-04 9.99998724e-01 -2.36497130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.941400513 meters 0.07162633031277572 Centerline is valid? [True, True] Translation: X:457.05, Y:50.07, Z:-2.37 [[ 9.99706534e-01 -2.41042470e-02 -2.41467666e-03 4.57045006e+02] [ 2.41037519e-02 9.99709435e-01 -2.33921844e-04 5.00688255e+01] [ 2.41961355e-03 1.75650429e-04 9.99997057e-01 -2.36515454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.971400513 meters 0.07267395282018554 Centerline is valid? [True, True] Translation: X:457.07, Y:50.07, Z:-2.37 [[ 9.99745398e-01 -2.24175043e-02 -2.56802025e-03 4.57074945e+02] [ 2.24169387e-02 9.99748678e-01 -2.48845582e-04 5.00717161e+01] [ 2.57295335e-03 1.91215073e-04 9.99996672e-01 -2.36602178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.001400513 meters 0.08382924725720638 Centerline is valid? [True, True] Translation: X:457.10, Y:50.09, Z:-2.37 [[ 9.99828167e-01 -1.84573038e-02 -1.72145772e-03 4.57103217e+02] [ 1.84570437e-02 9.99829640e-01 -1.66843298e-04 5.00861823e+01] [ 1.72424393e-03 1.35041608e-04 9.99998504e-01 -2.36611384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.031400513 meters 0.07731337978151404 Centerline is valid? [True, True] Translation: X:457.13, Y:50.08, Z:-2.36 [[ 9.99859722e-01 -1.67096846e-02 -1.15013140e-03 4.57134066e+02] [ 1.67095674e-02 9.99860379e-01 -1.11497160e-04 5.00793242e+01] [ 1.15183390e-03 9.22633209e-05 9.99999332e-01 -2.36470347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.061400513 meters 0.08609240600922598 Centerline is valid? [True, True] Translation: X:457.16, Y:50.09, Z:-2.36 [[ 9.99884788e-01 -1.51230619e-02 -1.30503803e-03 4.57162218e+02] [ 1.51229095e-02 9.99885634e-01 -1.26577191e-04 5.00912547e+01] [ 1.30680302e-03 1.06826635e-04 9.99999140e-01 -2.36480594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.091400513 meters 0.08706432147151479 Centerline is valid? [True, True] Translation: X:457.19, Y:50.09, Z:-2.37 [[ 9.99899884e-01 -1.39949997e-02 -2.08848277e-03 4.57191425e+02] [ 1.39946068e-02 9.99902050e-01 -2.02621371e-04 5.00945651e+01] [ 2.09111389e-03 1.73373591e-04 9.99997799e-01 -2.36581232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.121400513 meters 0.08594470354574439 Centerline is valid? [True, True] Translation: X:457.22, Y:50.10, Z:-2.37 [[ 9.99922342e-01 -1.19279190e-02 -3.61045759e-03 4.57221429e+02] [ 1.19267321e-02 9.99928813e-01 -3.50098530e-04 5.00967066e+01] [ 3.61437652e-03 3.07010381e-04 9.99993421e-01 -2.36719974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.151400513 meters 0.09173772377464748 Centerline is valid? [True, True] Translation: X:457.25, Y:50.11, Z:-2.37 [[ 9.99941690e-01 -1.02821144e-02 -3.30067798e-03 4.57249454e+02] [ 1.02811133e-02 9.99947097e-01 -3.20137282e-04 5.01073405e+01] [ 3.30379505e-03 2.86183970e-04 9.99994502e-01 -2.36771263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.181400513 meters 0.0816503107735377 Centerline is valid? [True, True] Translation: X:457.28, Y:50.10, Z:-2.37 [[ 9.99956057e-01 -8.91932594e-03 -2.88604578e-03 4.57280966e+02] [ 8.91855500e-03 9.99960190e-01 -2.79886623e-04 5.00988401e+01] [ 2.88842729e-03 2.54134966e-04 9.99995796e-01 -2.36585465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.211400513 meters 0.0816503107735377 Centerline is valid? [True, True] Translation: X:457.31, Y:50.10, Z:-2.37 [[ 9.99954393e-01 -9.10407853e-03 -2.88593520e-03 4.57308420e+02] [ 9.10330510e-03 9.99958525e-01 -2.81025857e-04 5.01016358e+01] [ 2.88837398e-03 2.54741491e-04 9.99995796e-01 -2.36594559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24140051300003 meters 0.10205966012872701 Centerline is valid? [True, False] Translation: X:457.32, Y:50.11, Z:-2.36 [[ 9.99969789e-01 -4.52545619e-03 -6.31995821e-03 4.57323470e+02] [ 4.49362406e-03 9.99977193e-01 -5.04191191e-03 5.01075836e+01] [ 6.34263102e-03 5.01336007e-03 9.99967318e-01 -2.35622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.271400513 meters 0.0871141299197277 Centerline is valid? [False, True] Translation: X:457.32, Y:50.11, Z:-2.36 [[ 9.99979450e-01 -2.27889955e-04 -6.40678245e-03 4.57323836e+02] [ 2.22248646e-04 9.99999587e-01 -8.81219537e-04 5.01083658e+01] [ 6.40698062e-03 8.79777529e-04 9.99979088e-01 -2.35651006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.301400513 meters 0.08996099545155753 Centerline is valid? [True, True] Translation: X:457.35, Y:50.12, Z:-2.36 [[ 9.99976256e-01 -4.25915107e-04 -6.87795740e-03 4.57351103e+02] [ 4.21620452e-04 9.99999715e-01 -6.25846451e-04 5.01172505e+01] [ 6.87822200e-03 6.22931703e-04 9.99976151e-01 -2.35780378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.331400513 meters 0.09523001752380605 Centerline is valid? [True, True] Translation: X:457.38, Y:50.13, Z:-2.36 [[ 9.99977823e-01 -1.24157667e-03 -6.54309549e-03 4.57378375e+02] [ 1.23770543e-03 9.99999057e-01 -5.95668834e-04 5.01286194e+01] [ 6.54382888e-03 5.87557199e-04 9.99978416e-01 -2.35757760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.361400513 meters 0.0873212197915293 Centerline is valid? [True, True] Translation: X:457.41, Y:50.12, Z:-2.35 [[ 9.99982553e-01 -2.28251573e-03 -5.44835421e-03 4.57409277e+02] [ 2.27984659e-03 9.99997278e-01 -4.96059459e-04 5.01234453e+01] [ 5.44947164e-03 4.83629392e-04 9.99985035e-01 -2.35474708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.391400513 meters 0.08982149198569782 Centerline is valid? [True, True] Translation: X:457.44, Y:50.13, Z:-2.35 [[ 9.99983389e-01 -5.35683189e-03 -2.12744069e-03 4.57438225e+02] [ 5.35643179e-03 9.99985635e-01 -1.93715625e-04 5.01338995e+01] [ 2.12844783e-03 1.82316916e-04 9.99997718e-01 -2.34912332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.421400513 meters 0.08812634870368763 Centerline is valid? [True, True] Translation: X:457.47, Y:50.14, Z:-2.35 [[ 9.99973693e-01 -7.10987186e-03 -1.43649191e-03 4.57468327e+02] [ 7.10969122e-03 9.99974717e-01 -1.30813697e-04 5.01381840e+01] [ 1.43738566e-03 1.20597241e-04 9.99998960e-01 -2.34826326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.451400513 meters 0.08553312689967489 Centerline is valid? [True, True] Translation: X:457.50, Y:50.14, Z:-2.35 [[ 9.99962648e-01 -8.45778115e-03 -1.78009322e-03 4.57497866e+02] [ 8.45750581e-03 9.99964222e-01 -1.62147972e-04 5.01418473e+01] [ 1.78140094e-03 1.47086767e-04 9.99998402e-01 -2.34894882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.481400513 meters 0.08824763318051312 Centerline is valid? [True, True] Translation: X:457.53, Y:50.15, Z:-2.35 [[ 9.99948303e-01 -9.68568806e-03 -3.09500847e-03 4.57526098e+02] [ 9.68486135e-03 9.99953061e-01 -2.81986608e-04 5.01515698e+01] [ 3.09759443e-03 2.51997302e-04 9.99995171e-01 -2.35149290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.511400513 meters 0.0826627016508998 Centerline is valid? [True, True] Translation: X:457.56, Y:50.15, Z:-2.35 [[ 9.99937373e-01 -1.03863906e-02 -4.16809168e-03 4.57555387e+02] [ 1.03848965e-02 9.99946003e-01 -3.79950686e-04 5.01506491e+01] [ 4.17181293e-03 3.36641691e-04 9.99991241e-01 -2.35286654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.541400513 meters 0.07813216676026324 Centerline is valid? [True, True] Translation: X:457.58, Y:50.15, Z:-2.35 [[ 9.99926963e-01 -1.07578923e-02 -5.50791463e-03 4.57584077e+02] [ 1.07552837e-02 9.99942034e-01 -5.03020620e-04 5.01529399e+01] [ 5.51300680e-03 4.43744696e-04 9.99984705e-01 -2.35386177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.571400513 meters 0.08048124854567971 Centerline is valid? [True, True] Translation: X:457.61, Y:50.16, Z:-2.35 [[ 9.99923588e-01 -1.06598322e-02 -6.25981026e-03 4.57612571e+02] [ 1.06564544e-02 9.99943054e-01 -5.72706386e-04 5.01587710e+01] [ 6.26555874e-03 5.05955242e-04 9.99980243e-01 -2.35481626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.601400513 meters 0.0810262056842137 Centerline is valid? [True, True] Translation: X:457.64, Y:50.17, Z:-2.36 [[ 9.99924468e-01 -1.02430893e-02 -6.79247050e-03 4.57639226e+02] [ 1.02390997e-02 9.99947386e-01 -6.21876671e-04 5.01679227e+01] [ 6.79848306e-03 5.52280917e-04 9.99976738e-01 -2.35535871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.631400513 meters 0.0801032458234149 Centerline is valid? [True, True] Translation: X:457.67, Y:50.17, Z:-2.36 [[ 9.99925804e-01 -9.82195060e-03 -7.20522317e-03 4.57667555e+02] [ 9.81744179e-03 9.99951589e-01 -6.60873023e-04 5.01727988e+01] [ 7.21136543e-03 5.90087130e-04 9.99973824e-01 -2.35576092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.661400513 meters 0.088893476042155 Centerline is valid? [True, True] Translation: X:457.70, Y:50.19, Z:-2.36 [[ 9.99945657e-01 -8.32604971e-03 -6.27371652e-03 4.57695171e+02] [ 8.32260148e-03 9.99965201e-01 -5.75538418e-04 5.01932570e+01] [ 6.27829016e-03 5.23293499e-04 9.99980154e-01 -2.35524610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.691400513 meters 0.08882307074504607 Centerline is valid? [True, True] Translation: X:457.72, Y:50.20, Z:-2.35 [[ 9.99952768e-01 -7.97533222e-03 -5.55489338e-03 4.57723819e+02] [ 7.97261840e-03 9.99968088e-01 -5.10517394e-04 5.01991850e+01] [ 5.55878765e-03 4.66206236e-04 9.99984441e-01 -2.35402301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.721400513 meters 0.08899626994715541 Centerline is valid? [True, True] Translation: X:457.75, Y:50.21, Z:-2.35 [[ 9.99955360e-01 -7.88199732e-03 -5.21073129e-03 4.57752246e+02] [ 7.87960381e-03 9.99968840e-01 -4.79713615e-04 5.02051419e+01] [ 5.21435002e-03 4.38633703e-04 9.99986309e-01 -2.35351515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.751400513 meters 0.08960082661512656 Centerline is valid? [True, True] Translation: X:457.78, Y:50.21, Z:-2.35 [[ 9.99954678e-01 -8.05510932e-03 -5.07510490e-03 4.57780249e+02] [ 8.05283630e-03 9.99967466e-01 -4.68152918e-04 5.02113472e+01] [ 5.07871080e-03 4.27262712e-04 9.99987012e-01 -2.35341457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.781400513 meters 0.08160661612658726 Centerline is valid? [True, True] Translation: X:457.81, Y:50.21, Z:-2.35 [[ 9.99944828e-01 -9.07048550e-03 -5.29781246e-03 4.57810414e+02] [ 9.06802241e-03 9.99958765e-01 -4.88763115e-04 5.02094106e+01] [ 5.30202732e-03 4.40695467e-04 9.99985847e-01 -2.35279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.811400513 meters 0.08171320304445005 Centerline is valid? [True, True] Translation: X:457.84, Y:50.21, Z:-2.35 [[ 9.99936222e-01 -9.83748423e-03 -5.54766327e-03 4.57839054e+02] [ 9.83478988e-03 9.99951506e-01 -5.12745093e-04 5.02148359e+01] [ 5.55243836e-03 4.58152288e-04 9.99984480e-01 -2.35324859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.841400513 meters 0.08996769408362627 Centerline is valid? [True, True] Translation: X:457.87, Y:50.23, Z:-2.35 [[ 9.99930823e-01 -1.02570439e-02 -5.75695455e-03 4.57866107e+02] [ 1.02541439e-02 9.99947283e-01 -5.33025393e-04 5.02300648e+01] [ 5.76211832e-03 4.73955879e-04 9.99983287e-01 -2.35434024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.871400513 meters 0.08187567585699083 Centerline is valid? [True, True] Translation: X:457.90, Y:50.23, Z:-2.35 [[ 9.99923783e-01 -1.06760920e-02 -6.20081444e-03 4.57895288e+02] [ 1.06727294e-02 9.99942879e-01 -5.75124693e-04 5.02254100e+01] [ 6.20660033e-03 5.08901244e-04 9.99980609e-01 -2.35420437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.901400513 meters 0.08580671876369328 Centerline is valid? [True, True] Translation: X:457.92, Y:50.24, Z:-2.36 [[ 9.99921558e-01 -1.07967784e-02 -6.34887044e-03 4.57922127e+02] [ 1.07932536e-02 9.99941578e-01 -5.89184750e-04 5.02352664e+01] [ 6.35486082e-03 5.20613564e-04 9.99979672e-01 -2.35529144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.931400513 meters 0.09129661106981211 Centerline is valid? [True, True] Translation: X:457.95, Y:50.25, Z:-2.36 [[ 9.99922953e-01 -1.07149303e-02 -6.26724916e-03 4.57948810e+02] [ 1.07114917e-02 9.99942461e-01 -5.81963300e-04 5.02505477e+01] [ 6.27312425e-03 5.14786873e-04 9.99980191e-01 -2.35545919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.961400513 meters 0.08821357087401083 Centerline is valid? [True, True] Translation: X:457.98, Y:50.25, Z:-2.35 [[ 9.99924306e-01 -1.08700864e-02 -5.76403978e-03 4.57976557e+02] [ 1.08671742e-02 9.99940807e-01 -5.36322635e-04 5.02526667e+01] [ 5.76952846e-03 4.73643214e-04 9.99983244e-01 -2.35381056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99140051300003 meters 0.08114575585225753 Centerline is valid? [True, True] Translation: X:458.01, Y:50.25, Z:-2.35 [[ 9.99924485e-01 -1.11327260e-02 -5.20447035e-03 4.58005889e+02] [ 1.11303508e-02 9.99937938e-01 -4.85106564e-04 5.02499740e+01] [ 5.20954791e-03 4.27142351e-04 9.99986339e-01 -2.35209261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.021400513 meters 0.0896543168530066 Centerline is valid? [True, True] Translation: X:458.03, Y:50.27, Z:-2.35 [[ 9.99922727e-01 -1.06934689e-02 -6.33959042e-03 4.58031577e+02] [ 1.06899334e-02 9.99942686e-01 -5.91305930e-04 5.02682385e+01] [ 6.34555019e-03 5.23490438e-04 9.99979730e-01 -2.35398296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.051400513 meters 0.08381518705586459 Centerline is valid? [True, True] Translation: X:458.06, Y:50.27, Z:-2.35 [[ 9.99923750e-01 -1.00815588e-02 -7.13139327e-03 4.58061515e+02] [ 1.00770685e-02 9.99949004e-01 -6.65305022e-04 5.02671792e+01] [ 7.13773690e-03 5.93390753e-04 9.99974350e-01 -2.35488717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.081400513 meters 0.09001335576598217 Centerline is valid? [True, True] Translation: X:458.09, Y:50.28, Z:-2.36 [[ 9.99930975e-01 -9.20147005e-03 -7.30598577e-03 4.58088894e+02] [ 9.19673199e-03 9.99957477e-01 -6.81849438e-04 5.02811593e+01] [ 7.31194911e-03 6.14611180e-04 9.99973078e-01 -2.35608006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.111400513 meters 0.08401755252416146 Centerline is valid? [True, True] Translation: X:458.12, Y:50.28, Z:-2.35 [[ 9.99942423e-01 -8.14087611e-03 -6.99123309e-03 4.58118691e+02] [ 8.13651066e-03 9.99966685e-01 -6.52634049e-04 5.02808994e+01] [ 6.99631319e-03 5.95712229e-04 9.99975348e-01 -2.35479421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.141400513 meters 0.09621094855032603 Centerline is valid? [True, True] Translation: X:458.15, Y:50.30, Z:-2.36 [[ 9.99952833e-01 -6.95792795e-03 -6.77640565e-03 4.58145628e+02] [ 6.95379809e-03 9.99975622e-01 -6.32818506e-04 5.03027024e+01] [ 6.78064356e-03 5.85666901e-04 9.99976840e-01 -2.35537890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.171400513 meters 0.0867677257036308 Centerline is valid? [True, True] Translation: X:458.18, Y:50.30, Z:-2.35 [[ 9.99961247e-01 -5.89119330e-03 -6.54201256e-03 4.58175871e+02] [ 5.88732057e-03 9.99982483e-01 -6.11078641e-04 5.02983430e+01] [ 6.54549794e-03 5.72540035e-04 9.99978414e-01 -2.35381396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.201400513 meters 0.08677624686345746 Centerline is valid? [True, True] Translation: X:458.20, Y:50.31, Z:-2.35 [[ 9.99964872e-01 -5.22129202e-03 -6.55696679e-03 4.58204307e+02] [ 5.21738574e-03 9.99986202e-01 -6.12709990e-04 5.03080400e+01] [ 6.56007545e-03 5.78478241e-04 9.99978315e-01 -2.35286403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.231400513 meters 0.08953606782226786 Centerline is valid? [True, True] Translation: X:458.23, Y:50.32, Z:-2.35 [[ 9.99963458e-01 -5.95352117e-03 -6.13503807e-03 4.58231216e+02] [ 5.95011287e-03 9.99982133e-01 -5.73650347e-04 5.03173101e+01] [ 6.13834369e-03 5.37125215e-04 9.99981016e-01 -2.35191106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.261400513 meters 0.087138036430361 Centerline is valid? [True, True] Translation: X:458.26, Y:50.32, Z:-2.35 [[ 9.99957992e-01 -7.28994544e-03 -5.55609611e-03 4.58261199e+02] [ 7.28717025e-03 9.99973313e-01 -5.19567007e-04 5.03204275e+01] [ 5.55973546e-03 4.79056963e-04 9.99984430e-01 -2.35035679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.291400513 meters 0.08539236036347649 Centerline is valid? [True, True] Translation: X:458.29, Y:50.32, Z:-2.35 [[ 9.99947601e-01 -9.01750929e-03 -4.84559926e-03 4.58291067e+02] [ 9.01541814e-03 9.99959258e-01 -4.53226504e-04 5.03241304e+01] [ 4.84948881e-03 4.09517652e-04 9.99988157e-01 -2.34935281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.321400513 meters 0.08339584900228258 Centerline is valid? [True, True] Translation: X:458.32, Y:50.33, Z:-2.35 [[ 9.99909331e-01 -1.27142199e-02 -4.43600969e-03 4.58320697e+02] [ 1.27125033e-02 9.99919107e-01 -4.14955418e-04 5.03285696e+01] [ 4.44092668e-03 3.58525006e-04 9.99990075e-01 -2.34872007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.351400513 meters 0.0901752083116005 Centerline is valid? [True, True] Translation: X:458.35, Y:50.34, Z:-2.35 [[ 9.99880474e-01 -1.47626536e-02 -4.59366872e-03 4.58349370e+02] [ 1.47608339e-02 9.99890961e-01 -4.29771320e-04 5.03404538e+01] [ 4.59951239e-03 3.61913570e-04 9.99989357e-01 -2.34902182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.381400513 meters 0.0839571839980078 Centerline is valid? [True, True] Translation: X:458.38, Y:50.34, Z:-2.35 [[ 9.99848973e-01 -1.68584200e-02 -4.22194941e-03 4.58380255e+02] [ 1.68569015e-02 9.99857834e-01 -3.95000342e-04 5.03368657e+01] [ 4.22800828e-03 3.23771701e-04 9.99991010e-01 -2.34796414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.411400513 meters 0.0764151824657653 Centerline is valid? [True, True] Translation: X:458.41, Y:50.33, Z:-2.35 [[ 9.99817412e-01 -1.86766799e-02 -4.04038677e-03 4.58410721e+02] [ 1.86753038e-02 9.99825530e-01 -3.78064361e-04 5.03312845e+01] [ 4.04674283e-03 3.02539880e-04 9.99991766e-01 -2.34654062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.441400513 meters 0.07450043023577564 Centerline is valid? [True, True] Translation: X:458.44, Y:50.33, Z:-2.34 [[ 9.99789224e-01 -2.03434138e-02 -2.76626835e-03 4.58440762e+02] [ 2.03427749e-02 9.99793031e-01 -2.58934305e-04 5.03336159e+01] [ 2.77096343e-03 2.02606154e-04 9.99996140e-01 -2.34440755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.471400513 meters 0.07332804710633455 Centerline is valid? [True, True] Translation: X:458.47, Y:50.34, Z:-2.34 [[ 9.99801416e-01 -1.97545979e-02 -2.62379133e-03 4.58470633e+02] [ 1.97540208e-02 9.99804840e-01 -2.45658733e-04 5.03355354e+01] [ 2.62813216e-03 1.93779520e-04 9.99996528e-01 -2.34412186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.501400513 meters 0.07949904676780886 Centerline is valid? [True, True] Translation: X:458.50, Y:50.35, Z:-2.34 [[ 9.99824161e-01 -1.85995947e-02 -2.38785241e-03 4.58499316e+02] [ 1.85991134e-02 9.99826997e-01 -2.23593294e-04 5.03464878e+01] [ 2.39159804e-03 1.79142040e-04 9.99997124e-01 -2.34411621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.531400513 meters 0.07895469663784889 Centerline is valid? [True, True] Translation: X:458.53, Y:50.35, Z:-2.34 [[ 9.99848174e-01 -1.73297511e-02 -1.81898555e-03 4.58529118e+02] [ 1.73294697e-02 9.99849819e-01 -1.70347878e-04 5.03491625e+01] [ 1.82166446e-03 1.38799960e-04 9.99998331e-01 -2.34313494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.561400513 meters 0.07800498188061818 Centerline is valid? [True, True] Translation: X:458.56, Y:50.35, Z:-2.34 [[ 9.99865281e-01 -1.63656781e-02 -1.25861732e-03 4.58558976e+02] [ 1.63655426e-02 9.99866069e-01 -1.17885528e-04 5.03511714e+01] [ 1.26037803e-03 9.72716912e-05 9.99999201e-01 -2.34217523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.591400513 meters 0.0957770589522353 Centerline is valid? [True, True] Translation: X:458.59, Y:50.38, Z:-2.34 [[ 9.99872052e-01 -1.58972585e-02 -1.77675375e-03 4.58586564e+02] [ 1.58969879e-02 9.99873621e-01 -1.66285363e-04 5.03776292e+01] [ 1.77917269e-03 1.38019054e-04 9.99998408e-01 -2.34334211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.621400513 meters 0.07745876468366991 Centerline is valid? [True, True] Translation: X:458.62, Y:50.36, Z:-2.34 [[ 9.99871463e-01 -1.57653708e-02 -2.91742289e-03 4.58618630e+02] [ 1.57646407e-02 9.99875693e-01 -2.73073203e-04 5.03596475e+01] [ 2.92136533e-03 2.27045980e-04 9.99995707e-01 -2.34473365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.651400513 meters 0.07854026111769406 Centerline is valid? [True, True] Translation: X:458.65, Y:50.36, Z:-2.35 [[ 9.99870879e-01 -1.55162160e-02 -4.17991885e-03 4.58647780e+02] [ 1.55147148e-02 9.99879563e-01 -3.91350556e-04 5.03644617e+01] [ 4.18548772e-03 3.26449776e-04 9.99991188e-01 -2.34701003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.681400513 meters 0.08128667886131556 Centerline is valid? [True, True] Translation: X:458.68, Y:50.37, Z:-2.35 [[ 9.99865948e-01 -1.55676169e-02 -5.07292188e-03 4.58676263e+02] [ 1.55654054e-02 9.99878739e-01 -4.75139949e-04 5.03693323e+01] [ 5.07970353e-03 3.96114170e-04 9.99987020e-01 -2.34845793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.711400513 meters 0.08487352238310295 Centerline is valid? [True, True] Translation: X:458.70, Y:50.38, Z:-2.35 [[ 9.99863986e-01 -1.57097446e-02 -5.02125789e-03 4.58703563e+02] [ 1.57075781e-02 9.99876518e-01 -4.70602511e-04 5.03789026e+01] [ 5.02803090e-03 3.91666701e-04 9.99987283e-01 -2.34877810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74140051300003 meters 0.07865534085822497 Centerline is valid? [True, True] Translation: X:458.73, Y:50.38, Z:-2.35 [[ 9.99859609e-01 -1.60041918e-02 -4.96264514e-03 4.58733314e+02] [ 1.60020753e-02 9.99871850e-01 -4.65904893e-04 5.03756092e+01] [ 4.96946561e-03 3.86426863e-04 9.99987577e-01 -2.34789869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.771400513 meters 0.08552357762775965 Centerline is valid? [True, True] Translation: X:458.76, Y:50.39, Z:-2.35 [[ 9.99861679e-01 -1.59170140e-02 -4.82400866e-03 4.58760052e+02] [ 1.59150118e-02 9.99873245e-01 -4.53141947e-04 5.03886154e+01] [ 4.83060987e-03 3.76305113e-04 9.99988262e-01 -2.34812842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.801400513 meters 0.07790818037288107 Centerline is valid? [True, True] Translation: X:458.79, Y:50.39, Z:-2.35 [[ 9.99874613e-01 -1.51111629e-02 -4.73407418e-03 4.58790095e+02] [ 1.51092253e-02 9.99885750e-01 -4.44795126e-04 5.03874652e+01] [ 4.74025469e-03 3.73211161e-04 9.99988695e-01 -2.34680970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.831400513 meters 0.08169543572573094 Centerline is valid? [True, True] Translation: X:458.82, Y:50.40, Z:-2.35 [[ 9.99877862e-01 -1.47651655e-02 -5.12361488e-03 4.58817245e+02] [ 1.47628898e-02 9.99890907e-01 -4.81708221e-04 5.03980431e+01] [ 5.13016843e-03 4.06010025e-04 9.99986758e-01 -2.34754472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.861400513 meters 0.08361554286575099 Centerline is valid? [True, True] Translation: X:458.84, Y:50.41, Z:-2.35 [[ 9.99870274e-01 -1.50617889e-02 -5.70765470e-03 4.58844495e+02] [ 1.50589676e-02 9.99886463e-01 -5.36946743e-04 5.04054084e+01] [ 5.71509405e-03 4.50925700e-04 9.99983567e-01 -2.34847374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.891400513 meters 0.08152888417224677 Centerline is valid? [True, True] Translation: X:458.87, Y:50.41, Z:-2.35 [[ 9.99854345e-01 -1.61614740e-02 -5.48600087e-03 4.58874211e+02] [ 1.61588835e-02 9.99869303e-01 -5.16211304e-04 5.04073947e+01] [ 5.49362661e-03 4.27488466e-04 9.99984819e-01 -2.34778895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.921400513 meters 0.07944961830948533 Centerline is valid? [True, True] Translation: X:458.90, Y:50.41, Z:-2.35 [[ 9.99825387e-01 -1.80807429e-02 -4.72031718e-03 4.58904231e+02] [ 1.80788459e-02 9.99836466e-01 -4.44228855e-04 5.04091232e+01] [ 4.72757723e-03 3.58813400e-04 9.99988761e-01 -2.34673535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.951400513 meters 0.0739728002352506 Centerline is valid? [True, True] Translation: X:458.94, Y:50.41, Z:-2.34 [[ 9.99782927e-01 -2.04475720e-02 -3.99955712e-03 4.58935434e+02] [ 2.04462290e-02 9.99790883e-01 -3.76403981e-04 5.04062650e+01] [ 4.00641730e-03 2.94546413e-04 9.99991931e-01 -2.34481367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.981400513 meters 0.07163501603111823 Centerline is valid? [True, True] Translation: X:458.97, Y:50.41, Z:-2.34 [[ 9.99664936e-01 -2.57634931e-02 -2.50170477e-03 4.58965143e+02] [ 2.57629842e-02 9.99668052e-01 -2.35445455e-04 5.04084290e+01] [ 2.50694023e-03 1.70915185e-04 9.99996843e-01 -2.34246522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.011400513 meters 0.0695721355981522 Centerline is valid? [True, True] Translation: X:459.00, Y:50.41, Z:-2.34 [[ 9.99601539e-01 -2.81177398e-02 -2.48094961e-03 4.58995742e+02] [ 2.81172464e-02 9.99604605e-01 -2.33511901e-04 5.04092955e+01] [ 2.48653448e-03 1.63661384e-04 9.99996895e-01 -2.34250836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.041400513 meters 0.06731467739507516 Centerline is valid? [True, True] Translation: X:459.03, Y:50.41, Z:-2.34 [[ 9.99547321e-01 -2.99979376e-02 -2.29734363e-03 4.59026428e+02] [ 2.99975195e-02 9.99549950e-01 -2.16228206e-04 5.04093970e+01] [ 2.30279611e-03 1.47215714e-04 9.99997338e-01 -2.34248576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.071400513 meters 0.07036847000438029 Centerline is valid? [True, True] Translation: X:459.06, Y:50.42, Z:-2.34 [[ 9.99509076e-01 -3.12567327e-02 -2.15042312e-03 4.59056056e+02] [ 3.12563693e-02 9.99511380e-01 -2.02399906e-04 5.04157576e+01] [ 2.15569874e-03 1.35086124e-04 9.99997667e-01 -2.34229252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.101400513 meters 0.07036847000438029 Centerline is valid? [True, True] Translation: X:459.09, Y:50.42, Z:-2.34 [[ 9.99509076e-01 -3.12567327e-02 -2.15042312e-03 4.59085983e+02] [ 3.12563693e-02 9.99511380e-01 -2.02399906e-04 5.04185743e+01] [ 2.15569874e-03 1.35086124e-04 9.99997667e-01 -2.34230294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.131400513 meters 0.06420161581071893 Centerline is valid? [True, True] Translation: X:459.12, Y:50.41, Z:-2.34 [[ 9.99496259e-01 -3.16955798e-02 -1.61837907e-03 4.59117462e+02] [ 3.16953745e-02 9.99497564e-01 -1.52323405e-04 5.04139344e+01] [ 1.62239392e-03 1.00951543e-04 9.99998679e-01 -2.34139438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.161400513 meters 0.06685158702736642 Centerline is valid? [True, True] Translation: X:459.15, Y:50.42, Z:-2.34 [[ 9.99515883e-01 -3.10564744e-02 -1.86950537e-03 4.59146966e+02] [ 3.10561994e-02 9.99517624e-01 -1.75959655e-04 5.04201827e+01] [ 1.87406825e-03 1.17814739e-04 9.99998237e-01 -2.34132333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.191400513 meters 0.0693549613089839 Centerline is valid? [True, True] Translation: X:459.18, Y:50.43, Z:-2.35 [[ 9.99583251e-01 -2.83994892e-02 -5.17617768e-03 4.59176741e+02] [ 2.83973454e-02 9.99596595e-01 -4.87209366e-04 5.04269296e+01] [ 5.18792608e-03 3.40016617e-04 9.99986485e-01 -2.34627208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.221400513 meters 0.07225001200935127 Centerline is valid? [True, True] Translation: X:459.21, Y:50.43, Z:-2.35 [[ 9.99611009e-01 -2.69440172e-02 -7.20072107e-03 4.59206265e+02] [ 2.69398300e-02 9.99636827e-01 -6.77867653e-04 5.04315814e+01] [ 7.21637044e-03 4.83617767e-04 9.99973845e-01 -2.34956753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.251400513 meters 0.07190310117257173 Centerline is valid? [True, True] Translation: X:459.24, Y:50.44, Z:-2.35 [[ 9.99662348e-01 -2.48379779e-02 -7.63312786e-03 4.59236133e+02] [ 2.48332110e-02 9.99691350e-01 -7.18663538e-04 5.04362046e+01] [ 7.64862204e-03 5.28865805e-04 9.99970609e-01 -2.35023545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.281400513 meters 0.0794965925356574 Centerline is valid? [True, True] Translation: X:459.26, Y:50.45, Z:-2.35 [[ 9.99717779e-01 -2.28398896e-02 -6.53469901e-03 4.59264309e+02] [ 2.28363530e-02 9.99739027e-01 -6.15316975e-04 5.04484628e+01] [ 6.54704740e-03 4.65914626e-04 9.99978459e-01 -2.34960232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.311400513 meters 0.08656278298091276 Centerline is valid? [True, True] Translation: X:459.29, Y:50.46, Z:-2.35 [[ 9.99804458e-01 -1.94028926e-02 -3.81758247e-03 4.59292846e+02] [ 1.94016606e-02 9.99811705e-01 -3.59485974e-04 5.04594953e+01] [ 3.82383871e-03 2.85348239e-04 9.99992648e-01 -2.34576089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.341400513 meters 0.07747346246077973 Centerline is valid? [True, True] Translation: X:459.32, Y:50.45, Z:-2.34 [[ 9.99826259e-01 -1.83203767e-02 -3.43746061e-03 4.59323925e+02] [ 1.83193713e-02 9.99832134e-01 -3.23734814e-04 5.04519679e+01] [ 3.44281452e-03 2.60706451e-04 9.99994040e-01 -2.34417320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.371400513 meters 0.07818193057682939 Centerline is valid? [True, True] Translation: X:459.35, Y:50.46, Z:-2.35 [[ 9.99837363e-01 -1.75991268e-02 -3.93930787e-03 4.59353567e+02] [ 1.75978005e-02 9.99845078e-01 -3.71094280e-04 5.04569668e+01] [ 3.94522852e-03 3.01710773e-04 9.99992172e-01 -2.34505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.401400513 meters 0.07904033884711338 Centerline is valid? [True, True] Translation: X:459.38, Y:50.46, Z:-2.35 [[ 9.99846748e-01 -1.68312459e-02 -4.81547571e-03 4.59382761e+02] [ 1.68292546e-02 9.99858275e-01 -4.53743544e-04 5.04619260e+01] [ 4.82243031e-03 3.72633140e-04 9.99988303e-01 -2.34689292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.431400513 meters 0.08882375114741374 Centerline is valid? [True, True] Translation: X:459.41, Y:50.47, Z:-2.35 [[ 9.99838937e-01 -1.70222806e-02 -5.68694688e-03 4.59410525e+02] [ 1.70195053e-02 9.99855014e-01 -5.36062444e-04 5.04747981e+01] [ 5.69524735e-03 4.39187082e-04 9.99983686e-01 -2.34973395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.461400513 meters 0.08544701026832488 Centerline is valid? [True, True] Translation: X:459.44, Y:50.48, Z:-2.35 [[ 9.99829057e-01 -1.77050825e-02 -5.32796934e-03 4.59439219e+02] [ 1.77026548e-02 9.99843169e-01 -5.02469813e-04 5.04753164e+01] [ 5.33603002e-03 4.08064717e-04 9.99985680e-01 -2.34925947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49140051300003 meters 0.07835308982235875 Centerline is valid? [True, True] Translation: X:459.47, Y:50.47, Z:-2.35 [[ 9.99808536e-01 -1.89630948e-02 -4.82619240e-03 4.59469667e+02] [ 1.89611167e-02 9.99820118e-01 -4.55298692e-04 5.04703259e+01] [ 4.83395813e-03 3.63701521e-04 9.99988250e-01 -2.34815755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.521400513 meters 0.07827035001070866 Centerline is valid? [True, True] Translation: X:459.50, Y:50.47, Z:-2.35 [[ 9.99777356e-01 -2.05675008e-02 -4.71337668e-03 4.59498003e+02] [ 2.05656310e-02 9.99788406e-01 -4.44821953e-04 5.04736448e+01] [ 4.72152824e-03 3.47789351e-04 9.99988793e-01 -2.34804551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.551400513 meters 0.0703428343874657 Centerline is valid? [True, True] Translation: X:459.53, Y:50.47, Z:-2.35 [[ 9.99690823e-01 -2.41683380e-02 -5.84376099e-03 4.59529171e+02] [ 2.41655249e-02 9.99707819e-01 -5.51529763e-04 5.04660541e+01] [ 5.85538311e-03 4.10141691e-04 9.99982773e-01 -2.34970659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.581400513 meters 0.07185836518584682 Centerline is valid? [True, True] Translation: X:459.56, Y:50.47, Z:-2.35 [[ 9.99645524e-01 -2.58279484e-02 -6.46096905e-03 4.59558235e+02] [ 2.58245431e-02 9.99666305e-01 -6.09940313e-04 5.04696433e+01] [ 6.47456656e-03 4.42872530e-04 9.99978942e-01 -2.35066241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.611400513 meters 0.07283959220167002 Centerline is valid? [True, True] Translation: X:459.59, Y:50.47, Z:-2.35 [[ 9.99603819e-01 -2.73337797e-02 -6.71339371e-03 4.59587218e+02] [ 2.73301359e-02 9.99626261e-01 -6.33926915e-04 5.04727584e+01] [ 6.72821227e-03 4.50197803e-04 9.99977264e-01 -2.35098169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.641400513 meters 0.0703591630946868 Centerline is valid? [True, True] Translation: X:459.62, Y:50.47, Z:-2.35 [[ 9.99570582e-01 -2.85327977e-02 -6.67315748e-03 4.59616148e+02] [ 2.85292219e-02 9.99592760e-01 -6.30446107e-04 5.04723753e+01] [ 6.68842830e-03 4.39795392e-04 9.99977536e-01 -2.35033636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.671400513 meters 0.07077766438152638 Centerline is valid? [True, True] Translation: X:459.65, Y:50.47, Z:-2.35 [[ 9.99508335e-01 -3.07526217e-02 -6.11270779e-03 4.59645422e+02] [ 3.07496619e-02 9.99526950e-01 -5.77632009e-04 5.04747934e+01] [ 6.12757987e-03 3.89384310e-04 9.99981150e-01 -2.35064764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.701400513 meters 0.0671149389852054 Centerline is valid? [True, True] Translation: X:459.68, Y:50.47, Z:-2.35 [[ 9.99460705e-01 -3.21909584e-02 -6.48400069e-03 4.59675852e+02] [ 3.21876577e-02 9.99481655e-01 -6.12789259e-04 5.04723003e+01] [ 6.50036602e-03 4.03753990e-04 9.99978791e-01 -2.35069839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.731400513 meters 0.06562706939267184 Centerline is valid? [True, True] Translation: X:459.71, Y:50.47, Z:-2.35 [[ 9.99409219e-01 -3.38050374e-02 -6.19930876e-03 4.59705696e+02] [ 3.38020502e-02 9.99428376e-01 -5.86032950e-04 5.04726637e+01] [ 6.21557595e-03 3.76137388e-04 9.99980612e-01 -2.35053422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.761400513 meters 0.06187154094638652 Centerline is valid? [True, True] Translation: X:459.74, Y:50.47, Z:-2.35 [[ 9.99369978e-01 -3.50575383e-02 -5.53317774e-03 4.59735018e+02] [ 3.50551762e-02 9.99385241e-01 -5.23335396e-04 5.04704595e+01] [ 5.54812302e-03 3.29039162e-04 9.99984555e-01 -2.34852733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.791400513 meters 0.0637007126219901 Centerline is valid? [True, True] Translation: X:459.76, Y:50.47, Z:-2.35 [[ 9.99371200e-01 -3.52580964e-02 -3.75107044e-03 4.59762251e+02] [ 3.52570114e-02 9.99378215e-01 -3.55014981e-04 5.04746848e+01] [ 3.76125523e-03 2.22540214e-04 9.99992902e-01 -2.34545855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.821400513 meters 0.06309228557519739 Centerline is valid? [True, True] Translation: X:459.79, Y:50.48, Z:-2.35 [[ 9.99402093e-01 -3.43640796e-02 -3.81660189e-03 4.59792299e+02] [ 3.43629498e-02 9.99409354e-01 -3.61235982e-04 5.04757084e+01] [ 3.82676117e-03 2.29870298e-04 9.99992652e-01 -2.34543907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.851400513 meters 0.06444430908817195 Centerline is valid? [True, True] Translation: X:459.82, Y:50.48, Z:-2.35 [[ 9.99440670e-01 -3.31190698e-02 -4.63396272e-03 4.59821807e+02] [ 3.31173903e-02 9.99451373e-01 -4.38711917e-04 5.04792939e+01] [ 4.64595013e-03 2.85001781e-04 9.99989167e-01 -2.34659400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.881400513 meters 0.06664225136302271 Centerline is valid? [True, True] Translation: X:459.85, Y:50.48, Z:-2.35 [[ 9.99493488e-01 -3.14472673e-02 -4.88230215e-03 4.59850287e+02] [ 3.14453826e-02 9.99505365e-01 -4.62337543e-04 5.04847342e+01] [ 4.89442644e-03 3.08577505e-04 9.99987975e-01 -2.34727094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.911400513 meters 0.07452366052152617 Centerline is valid? [True, True] Translation: X:459.88, Y:50.50, Z:-2.35 [[ 9.99540699e-01 -2.99615721e-02 -4.54916650e-03 4.59877213e+02] [ 2.99599194e-02 9.99551008e-01 -4.31012218e-04 5.04977994e+01] [ 4.56003777e-03 2.94521592e-04 9.99989560e-01 -2.34692792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.941400513 meters 0.0700544860065754 Centerline is valid? [True, True] Translation: X:459.91, Y:50.50, Z:-2.34 [[ 9.99648423e-01 -2.63792011e-02 -2.67735001e-03 4.59908313e+02] [ 2.63786159e-02 9.99651992e-01 -2.53655830e-04 5.04957915e+01] [ 2.68310950e-03 1.82941863e-04 9.99996384e-01 -2.34237630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.971400513 meters 0.07251549715694369 Centerline is valid? [True, True] Translation: X:459.94, Y:50.50, Z:-2.34 [[ 9.99692773e-01 -2.47027700e-02 -2.03285900e-03 4.59937350e+02] [ 2.47024292e-02 9.99694830e-01 -1.92617776e-04 5.05009933e+01] [ 2.03699683e-03 1.42342043e-04 9.99997915e-01 -2.34146223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.001400513 meters 0.07426261589175079 Centerline is valid? [True, True] Translation: X:459.97, Y:50.51, Z:-2.34 [[ 9.99722132e-01 -2.34479232e-02 -2.41962899e-03 4.59967435e+02] [ 2.34474366e-02 9.99725045e-01 -2.29261294e-04 5.05050593e+01] [ 2.42433940e-03 1.72463492e-04 9.99997046e-01 -2.34182511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.031400513 meters 0.08134487865260769 Centerline is valid? [True, True] Translation: X:460.00, Y:50.52, Z:-2.34 [[ 9.99737412e-01 -2.26999884e-02 -3.13324101e-03 4.59996314e+02] [ 2.26991688e-02 9.99742297e-01 -2.96917090e-04 5.05158793e+01] [ 3.13917358e-03 2.25717157e-04 9.99995047e-01 -2.34329046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.061400513 meters 0.07579750098870201 Centerline is valid? [True, True] Translation: X:460.03, Y:50.51, Z:-2.34 [[ 9.99746755e-01 -2.21688126e-02 -3.86893700e-03 4.60026811e+02] [ 2.21675587e-02 9.99754202e-01 -3.66678463e-04 5.05118364e+01] [ 3.87611485e-03 2.80820716e-04 9.99992448e-01 -2.34432050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.091400513 meters 0.08288033532115263 Centerline is valid? [True, True] Translation: X:460.05, Y:50.52, Z:-2.34 [[ 9.99776912e-01 -2.07504193e-02 -3.94292909e-03 4.60054699e+02] [ 2.07491056e-02 9.99784644e-01 -3.73786830e-04 5.05235288e+01] [ 3.94983619e-03 2.91891191e-04 9.99992157e-01 -2.34493672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.121400513 meters 0.07944091108434029 Centerline is valid? [True, True] Translation: X:460.08, Y:50.52, Z:-2.34 [[ 9.99794823e-01 -1.99725319e-02 -3.37790043e-03 4.60084174e+02] [ 1.99715629e-02 9.99800497e-01 -3.20344723e-04 5.05221361e+01] [ 3.38362463e-03 2.52817044e-04 9.99994244e-01 -2.34391481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.151400513 meters 0.07963455926104158 Centerline is valid? [True, True] Translation: X:460.11, Y:50.53, Z:-2.34 [[ 9.99825674e-01 -1.84638180e-02 -2.77655532e-03 4.60114382e+02] [ 1.84631576e-02 9.99829507e-01 -2.63306043e-04 5.05263079e+01] [ 2.78094357e-03 2.11996164e-04 9.99996111e-01 -2.34349668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.181400513 meters 0.08099291589927997 Centerline is valid? [True, True] Translation: X:460.14, Y:50.53, Z:-2.34 [[ 9.99835622e-01 -1.78614257e-02 -3.11417475e-03 4.60143480e+02] [ 1.78605919e-02 9.99840443e-01 -2.95363287e-04 5.05317532e+01] [ 3.11895347e-03 2.39693731e-04 9.99995107e-01 -2.34436948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.211400513 meters 0.077889474934238 Centerline is valid? [True, True] Translation: X:460.17, Y:50.53, Z:-2.35 [[ 9.99839199e-01 -1.75084805e-02 -3.87683327e-03 4.60173604e+02] [ 1.75071852e-02 9.99846670e-01 -3.67792033e-04 5.05317366e+01] [ 3.88267832e-03 2.99860453e-04 9.99992417e-01 -2.34590281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24140051300003 meters 0.08608876309209654 Centerline is valid? [True, True] Translation: X:460.20, Y:50.55, Z:-2.35 [[ 9.99841590e-01 -1.73110978e-02 -4.13778778e-03 4.60201046e+02] [ 1.73096200e-02 9.99850100e-01 -3.92697534e-04 5.05451267e+01] [ 4.14396555e-03 3.21011793e-04 9.99991362e-01 -2.34707775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.271400513 meters 0.08111709447182142 Centerline is valid? [True, True] Translation: X:460.23, Y:50.54, Z:-2.35 [[ 9.99827931e-01 -1.80821886e-02 -4.14045289e-03 4.60230774e+02] [ 1.80807127e-02 9.99836453e-01 -3.93612755e-04 5.05420829e+01] [ 4.14689311e-03 3.18682688e-04 9.99991351e-01 -2.34679086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.301400513 meters 0.08530233994815649 Centerline is valid? [True, True] Translation: X:460.26, Y:50.55, Z:-2.35 [[ 9.99808225e-01 -1.91822239e-02 -3.94415623e-03 4.60259303e+02] [ 1.91808930e-02 9.99815959e-01 -3.75000955e-04 5.05501113e+01] [ 3.95062369e-03 2.99276601e-04 9.99992151e-01 -2.34664384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.331400513 meters 0.07547149929074012 Centerline is valid? [True, True] Translation: X:460.29, Y:50.54, Z:-2.35 [[ 9.99738521e-01 -2.23707041e-02 -4.73724755e-03 4.60290637e+02] [ 2.23688191e-02 9.99749685e-01 -4.50534564e-04 5.05418158e+01] [ 4.74614053e-03 3.44450125e-04 9.99988678e-01 -2.34699612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.361400513 meters 0.0733447361926607 Centerline is valid? [True, True] Translation: X:460.32, Y:50.54, Z:-2.35 [[ 9.99703736e-01 -2.38479136e-02 -4.87001855e-03 4.60320358e+02] [ 2.38459383e-02 9.99715538e-01 -4.63274919e-04 5.05425784e+01] [ 4.87968135e-03 3.47007506e-04 9.99988034e-01 -2.34773655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.391400513 meters 0.07442010692682804 Centerline is valid? [True, True] Translation: X:460.35, Y:50.55, Z:-2.35 [[ 9.99680742e-01 -2.47795944e-02 -4.93817804e-03 4.60349115e+02] [ 2.47775741e-02 9.99692878e-01 -4.69874550e-04 5.05472437e+01] [ 4.94830472e-03 3.47368466e-04 9.99987697e-01 -2.34757651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.421400513 meters 0.07525039336799037 Centerline is valid? [True, True] Translation: X:460.38, Y:50.55, Z:-2.35 [[ 9.99676071e-01 -2.49544264e-02 -5.00292019e-03 4.60377646e+02] [ 2.49523541e-02 9.99688528e-01 -4.76213234e-04 5.05515627e+01] [ 5.01324555e-03 3.51224338e-04 9.99987372e-01 -2.34717630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.451400513 meters 0.07475432291488601 Centerline is valid? [True, True] Translation: X:460.41, Y:50.55, Z:-2.35 [[ 9.99740761e-01 -2.19288555e-02 -6.12660356e-03 4.60408018e+02] [ 2.19256914e-02 9.99759433e-01 -5.83155288e-04 5.05548721e+01] [ 6.13791763e-03 4.48674093e-04 9.99981062e-01 -2.34798614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.481400513 meters 0.08076271533717312 Centerline is valid? [True, True] Translation: X:460.44, Y:50.57, Z:-2.35 [[ 9.99789982e-01 -1.93353874e-02 -6.79223369e-03 4.60436382e+02] [ 1.93314383e-02 9.99812921e-01 -6.46600445e-04 5.05655339e+01] [ 6.80346528e-03 5.15161001e-04 9.99976723e-01 -2.34894720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.511400513 meters 0.08080114859050627 Centerline is valid? [True, True] Translation: X:460.47, Y:50.57, Z:-2.35 [[ 9.99836916e-01 -1.66956752e-02 -6.88445883e-03 4.60466906e+02] [ 1.66915559e-02 9.99860471e-01 -6.55376692e-04 5.05698496e+01] [ 6.89444020e-03 5.40357482e-04 9.99976087e-01 -2.34871809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.541400513 meters 0.08129718042264206 Centerline is valid? [True, True] Translation: X:460.50, Y:50.58, Z:-2.35 [[ 9.99880912e-01 -1.39630929e-02 -6.57222568e-03 4.60497299e+02] [ 1.39592801e-02 9.99902369e-01 -6.25652036e-04 5.05754165e+01] [ 6.58032007e-03 5.33833989e-04 9.99978207e-01 -2.34779007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.571400513 meters 0.08434810883577 Centerline is valid? [True, True] Translation: X:460.53, Y:50.58, Z:-2.35 [[ 9.99916595e-01 -1.17182950e-02 -5.42989920e-03 4.60526025e+02] [ 1.17156596e-02 9.99931236e-01 -5.16901315e-04 5.05841529e+01] [ 5.43558302e-03 4.53243353e-04 9.99985124e-01 -2.34604608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.601400513 meters 0.08674708938956399 Centerline is valid? [True, True] Translation: X:460.56, Y:50.59, Z:-2.34 [[ 9.99942607e-01 -9.83490979e-03 -4.24944229e-03 4.60555792e+02] [ 9.83327861e-03 9.99951570e-01 -4.04580890e-04 5.05913473e+01] [ 4.25321551e-03 3.62771720e-04 9.99990889e-01 -2.34440036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.631400513 meters 0.08718191436739128 Centerline is valid? [True, True] Translation: X:460.59, Y:50.60, Z:-2.34 [[ 9.99966844e-01 -7.36703199e-03 -3.46955255e-03 4.60586168e+02] [ 7.36592987e-03 9.99972817e-01 -3.30326207e-04 5.05960932e+01] [ 3.47189176e-03 3.04758774e-04 9.99993927e-01 -2.34277828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.661400513 meters 0.09362626414054842 Centerline is valid? [True, True] Translation: X:460.61, Y:50.61, Z:-2.34 [[ 9.99967385e-01 -7.28362335e-03 -3.48962841e-03 4.60613873e+02] [ 7.28250735e-03 9.99973427e-01 -3.32406166e-04 5.06077609e+01] [ 3.49195680e-03 3.06982080e-04 9.99993856e-01 -2.34288845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.691400513 meters 0.09555928982240458 Centerline is valid? [True, True] Translation: X:460.64, Y:50.61, Z:-2.34 [[ 9.99962992e-01 -7.98386114e-03 -3.20503764e-03 4.60641965e+02] [ 7.98292296e-03 9.99968089e-01 -3.05404731e-04 5.06140050e+01] [ 3.20737367e-03 2.79807860e-04 9.99994817e-01 -2.34272558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.721400513 meters 0.0879650610076417 Centerline is valid? [True, True] Translation: X:460.67, Y:50.61, Z:-2.34 [[ 9.99954965e-01 -9.02973283e-03 -2.92104812e-03 4.60672528e+02] [ 9.02895779e-03 9.99959199e-01 -2.78409254e-04 5.06079615e+01] [ 2.92344290e-03 2.52022695e-04 9.99995695e-01 -2.34168257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.751400513 meters 0.08779363710839218 Centerline is valid? [True, True] Translation: X:460.70, Y:50.61, Z:-2.34 [[ 9.99937368e-01 -1.09467294e-02 -2.33007119e-03 4.60701710e+02] [ 1.09462413e-02 9.99940063e-01 -2.22114397e-04 5.06098128e+01] [ 2.33236296e-03 1.96594964e-04 9.99997261e-01 -2.33996696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.781400513 meters 0.08841531871189566 Centerline is valid? [True, True] Translation: X:460.73, Y:50.61, Z:-2.34 [[ 9.99929216e-01 -1.16899428e-02 -2.21534820e-03 4.60732000e+02] [ 1.16895034e-02 9.99931653e-01 -2.11173694e-04 5.06141050e+01] [ 2.21766540e-03 1.85262425e-04 9.99997524e-01 -2.33953452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.811400513 meters 0.09338006937102315 Centerline is valid? [True, True] Translation: X:460.76, Y:50.62, Z:-2.34 [[ 9.99924582e-01 -1.20579910e-02 -2.33123031e-03 4.60760620e+02] [ 1.20575054e-02 9.99927281e-01 -2.22250614e-04 5.06245351e+01] [ 2.33374068e-03 1.94125030e-04 9.99997258e-01 -2.33992733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.841400513 meters 0.09424501742678142 Centerline is valid? [True, True] Translation: X:460.79, Y:50.63, Z:-2.34 [[ 9.99909955e-01 -1.31677117e-02 -2.58729779e-03 4.60789457e+02] [ 1.31671172e-02 9.99913279e-01 -2.46691540e-04 5.06316872e+01] [ 2.59032178e-03 2.12602073e-04 9.99996623e-01 -2.34153670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.871400513 meters 0.09029180889216926 Centerline is valid? [True, True] Translation: X:460.82, Y:50.63, Z:-2.34 [[ 9.99899162e-01 -1.38863055e-02 -2.97270024e-03 4.60820460e+02] [ 1.38855238e-02 9.99903551e-01 -2.83434135e-04 5.06306056e+01] [ 2.97634938e-03 2.42128054e-04 9.99995541e-01 -2.34234666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.901400513 meters 0.0816918809605189 Centerline is valid? [True, True] Translation: X:460.85, Y:50.62, Z:-2.34 [[ 9.99882356e-01 -1.48718762e-02 -3.75507972e-03 4.60850643e+02] [ 1.48706354e-02 9.99889362e-01 -3.58126745e-04 5.06235863e+01] [ 3.75999028e-03 3.02244192e-04 9.99992886e-01 -2.34291463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.931400513 meters 0.08286516787029626 Centerline is valid? [True, True] Translation: X:460.88, Y:50.63, Z:-2.35 [[ 9.99856746e-01 -1.61526118e-02 -5.05764016e-03 4.60880211e+02] [ 1.61503767e-02 9.99869458e-01 -4.82468734e-04 5.06276673e+01] [ 5.06477306e-03 4.00716825e-04 9.99987094e-01 -2.34510528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.961400513 meters 0.07981335695151218 Centerline is valid? [True, True] Translation: X:460.91, Y:50.63, Z:-2.35 [[ 9.99826929e-01 -1.76715614e-02 -5.81623526e-03 4.60910408e+02] [ 1.76686299e-02 9.99843744e-01 -5.55023375e-04 5.06284670e+01] [ 5.82513456e-03 4.52162408e-04 9.99982932e-01 -2.34640922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99140051300003 meters 0.07387456392132631 Centerline is valid? [True, True] Translation: X:460.94, Y:50.63, Z:-2.34 [[ 9.99771572e-01 -2.08966836e-02 -4.48695209e-03 4.60940758e+02] [ 2.08949708e-02 9.99781585e-01 -4.28256543e-04 5.06250939e+01] [ 4.49492122e-03 3.34403984e-04 9.99989842e-01 -2.34482287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.021400513 meters 0.07387456392132631 Centerline is valid? [True, True] Translation: X:460.97, Y:50.63, Z:-2.34 [[ 9.99771075e-01 -2.09204515e-02 -4.48694174e-03 4.60969864e+02] [ 2.09187386e-02 9.99781087e-01 -4.28365000e-04 5.06279124e+01] [ 4.49492108e-03 3.34405775e-04 9.99989842e-01 -2.34483301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.051400513 meters 0.07928684949570378 Centerline is valid? [True, True] Translation: X:461.00, Y:50.64, Z:-2.34 [[ 9.99767568e-01 -2.13923240e-02 -2.67913279e-03 4.60998197e+02] [ 2.13917148e-02 9.99771138e-01 -2.55842037e-04 5.06381141e+01] [ 2.68399270e-03 1.98471327e-04 9.99996378e-01 -2.34258658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.081400513 meters 0.07717626913339032 Centerline is valid? [True, True] Translation: X:461.03, Y:50.64, Z:-2.34 [[ 9.99776835e-01 -2.10736181e-02 -1.47762897e-03 4.61028448e+02] [ 2.10734325e-02 9.99777921e-01 -1.41100670e-04 5.06391698e+01] [ 1.48027432e-03 1.09930467e-04 9.99998898e-01 -2.34053352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.111400513 meters 0.08604025361786112 Centerline is valid? [True, True] Translation: X:461.06, Y:50.65, Z:-2.34 [[ 9.99799924e-01 -1.99554783e-02 -1.37492895e-03 4.61057172e+02] [ 1.99553165e-02 9.99800864e-01 -1.31293714e-04 5.06530140e+01] [ 1.37727518e-03 1.03830303e-04 9.99999046e-01 -2.34079661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.141400513 meters 0.07906709463970492 Centerline is valid? [True, True] Translation: X:461.09, Y:50.65, Z:-2.34 [[ 9.99822074e-01 -1.87101163e-02 -2.39818172e-03 4.61088843e+02] [ 1.87096206e-02 9.99824934e-01 -2.28973159e-04 5.06471073e+01] [ 2.40204600e-03 1.84063349e-04 9.99997098e-01 -2.34239158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.171400513 meters 0.08202399327401808 Centerline is valid? [True, True] Translation: X:461.12, Y:50.65, Z:-2.35 [[ 9.99847628e-01 -1.64763558e-02 -5.76632448e-03 4.61119056e+02] [ 1.64734528e-02 9.99864152e-01 -5.50569713e-04 5.06536152e+01] [ 5.77461252e-03 4.55494547e-04 9.99983223e-01 -2.34772309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.201400513 meters 0.08906751878828587 Centerline is valid? [True, True] Translation: X:461.15, Y:50.67, Z:-2.35 [[ 9.99859313e-01 -1.54945026e-02 -6.42447180e-03 4.61146576e+02] [ 1.54908775e-02 9.99879821e-01 -6.13646111e-04 5.06650157e+01] [ 6.43320786e-03 5.14039074e-04 9.99979175e-01 -2.34923301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.231400513 meters 0.08354173139980131 Centerline is valid? [True, True] Translation: X:461.18, Y:50.66, Z:-2.35 [[ 9.99871528e-01 -1.45807978e-02 -6.65787362e-03 4.61176282e+02] [ 1.45768828e-02 9.99893549e-01 -6.36173298e-04 5.06611717e+01] [ 6.66644080e-03 5.39040524e-04 9.99977634e-01 -2.34836995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.261400513 meters 0.08841515711517117 Centerline is valid? [True, True] Translation: X:461.21, Y:50.67, Z:-2.35 [[ 9.99895735e-01 -1.30367853e-02 -6.20983880e-03 4.61205220e+02] [ 1.30333494e-02 9.99914886e-01 -5.93449099e-04 5.06693996e+01] [ 6.21704693e-03 5.12452224e-04 9.99980543e-01 -2.34719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.291400513 meters 0.09040205594629172 Centerline is valid? [True, True] Translation: X:461.23, Y:50.67, Z:-2.35 [[ 9.99898608e-01 -1.26613408e-02 -6.51642802e-03 4.61232475e+02] [ 1.26575468e-02 9.99919696e-01 -6.23134524e-04 5.06742573e+01] [ 6.52379445e-03 5.40589351e-04 9.99978574e-01 -2.34741398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.321400513 meters 0.0868507817649 Centerline is valid? [True, True] Translation: X:461.26, Y:50.67, Z:-2.35 [[ 9.99899604e-01 -1.24504319e-02 -6.76526665e-03 4.61261633e+02] [ 1.24463301e-02 9.99922331e-01 -6.48065931e-04 5.06729641e+01] [ 6.77280990e-03 5.63798126e-04 9.99976905e-01 -2.34760203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.351400513 meters 0.08516296852542737 Centerline is valid? [True, True] Translation: X:461.29, Y:50.67, Z:-2.35 [[ 9.99900237e-01 -1.21905670e-02 -7.13481291e-03 4.61289950e+02] [ 1.21859956e-02 9.99925514e-01 -6.83845549e-04 5.06736518e+01] [ 7.14261793e-03 5.96832528e-04 9.99974313e-01 -2.34811504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.381400513 meters 0.08488801795378129 Centerline is valid? [True, True] Translation: X:461.32, Y:50.68, Z:-2.35 [[ 9.99897917e-01 -1.24999324e-02 -6.92156264e-03 4.61318464e+02] [ 1.24956294e-02 9.99921706e-01 -6.64582228e-04 5.06759485e+01] [ 6.92932795e-03 5.78025104e-04 9.99975825e-01 -2.34811408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.411400513 meters 0.08768413400832491 Centerline is valid? [True, True] Translation: X:461.35, Y:50.68, Z:-2.35 [[ 9.99886558e-01 -1.36083922e-02 -6.45619887e-03 4.61347424e+02] [ 1.36046706e-02 9.99907260e-01 -6.20005821e-04 5.06811791e+01] [ 6.46403741e-03 5.32101027e-04 9.99978966e-01 -2.34743490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.441400513 meters 0.07487163685841804 Centerline is valid? [True, True] Translation: X:461.38, Y:50.67, Z:-2.34 [[ 9.99811349e-01 -1.87157746e-02 -5.19481918e-03 4.61379688e+02] [ 1.87134337e-02 9.99824764e-01 -4.98866090e-04 5.06656420e+01] [ 5.20324553e-03 4.01559074e-04 9.99986382e-01 -2.34432383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.471400513 meters 0.08415531761349675 Centerline is valid? [True, True] Translation: X:461.41, Y:50.68, Z:-2.35 [[ 9.99753958e-01 -2.15793661e-02 -5.13374225e-03 4.61408154e+02] [ 2.15771171e-02 9.99767065e-01 -4.93078262e-04 5.06787929e+01] [ 5.14318674e-03 3.82185586e-04 9.99986701e-01 -2.34537486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.501400513 meters 0.07593068197155693 Centerline is valid? [True, True] Translation: X:461.44, Y:50.67, Z:-2.35 [[ 9.99699516e-01 -2.39452333e-02 -5.24441426e-03 4.61439917e+02] [ 2.39429186e-02 9.99713200e-01 -5.03715602e-04 5.06699039e+01] [ 5.25497175e-03 3.77997660e-04 9.99986121e-01 -2.34528735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.531400513 meters 0.07063357034116387 Centerline is valid? [True, True] Translation: X:461.47, Y:50.66, Z:-2.35 [[ 9.99613917e-01 -2.73840595e-02 -4.70435943e-03 4.61470959e+02] [ 2.73822344e-02 9.99624934e-01 -4.51935720e-04 5.06617356e+01] [ 4.71497082e-03 3.22945362e-04 9.99988832e-01 -2.34502457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.561400513 meters 0.07799601080917076 Centerline is valid? [True, True] Translation: X:461.50, Y:50.67, Z:-2.34 [[ 9.99585549e-01 -2.85542442e-02 -3.65862994e-03 4.61499386e+02] [ 2.85531478e-02 9.99592214e-01 -3.51564471e-04 5.06713508e+01] [ 3.66717666e-03 2.46953363e-04 9.99993245e-01 -2.34427400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.591400513 meters 0.07330660665322299 Centerline is valid? [True, True] Translation: X:461.53, Y:50.67, Z:-2.34 [[ 9.99558562e-01 -2.96361651e-02 -2.09253768e-03 4.61529710e+02] [ 2.96358087e-02 9.99560743e-01 -2.01127228e-04 5.06668897e+01] [ 2.09757915e-03 1.39024396e-04 9.99997790e-01 -2.34126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.621400513 meters 0.0695242737004609 Centerline is valid? [True, True] Translation: X:461.56, Y:50.66, Z:-2.34 [[ 9.99534053e-01 -3.05147133e-02 -7.27208330e-04 4.61561049e+02] [ 3.05146705e-02 9.99534317e-01 -6.98813476e-05 5.06636770e+01] [ 7.29002091e-04 4.76582640e-05 9.99999733e-01 -2.33859903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.651400513 meters 0.06912094301237662 Centerline is valid? [True, True] Translation: X:461.59, Y:50.66, Z:-2.34 [[ 9.99512252e-01 -3.12269146e-02 -3.71888391e-04 4.61592967e+02] [ 3.12269035e-02 9.99512321e-01 -3.57136503e-05 5.06642307e+01] [ 3.72822255e-04 2.40833081e-05 9.99999930e-01 -2.33790216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.681400513 meters 0.07158748525957621 Centerline is valid? [True, True] Translation: X:461.62, Y:50.67, Z:-2.34 [[ 9.99498072e-01 -3.16532077e-02 -1.29529727e-03 4.61623491e+02] [ 3.16530730e-02 9.99498908e-01 -1.24414760e-04 5.06673407e+01] [ 1.29858633e-03 8.33521741e-05 9.99999153e-01 -2.33951978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.711400513 meters 0.0672021464026834 Centerline is valid? [True, True] Translation: X:461.66, Y:50.66, Z:-2.34 [[ 9.99478726e-01 -3.21100954e-02 -3.34938084e-03 4.61655854e+02] [ 3.21091971e-02 9.99484315e-01 -3.21635378e-04 5.06594640e+01] [ 3.35798135e-03 2.13921788e-04 9.99994339e-01 -2.34251385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74140051300003 meters 0.06869753616155314 Centerline is valid? [True, True] Translation: X:461.68, Y:50.66, Z:-2.34 [[ 9.99487508e-01 -3.18861674e-02 -2.82729535e-03 4.61684924e+02] [ 3.18855263e-02 9.99491490e-01 -2.71544358e-04 5.06625314e+01] [ 2.83451615e-03 1.81255393e-04 9.99995966e-01 -2.34224467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.771400513 meters 0.06697050451075645 Centerline is valid? [True, True] Translation: X:461.72, Y:50.66, Z:-2.34 [[ 9.99497982e-01 -3.16164978e-02 -2.04489302e-03 4.61715741e+02] [ 3.16161619e-02 9.99500065e-01 -1.96396496e-04 5.06612993e+01] [ 2.05008007e-03 1.31646233e-04 9.99997890e-01 -2.34090785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.801400513 meters 0.06746644268074954 Centerline is valid? [True, True] Translation: X:461.75, Y:50.66, Z:-2.34 [[ 9.99517088e-01 -3.10441932e-02 -1.35974027e-03 4.61745947e+02] [ 3.10440441e-02 9.99518009e-01 -1.30592761e-04 5.06625799e+01] [ 1.36313904e-03 8.83178591e-05 9.99999067e-01 -2.34024674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.831400513 meters 0.07546072692076175 Centerline is valid? [True, True] Translation: X:461.77, Y:50.67, Z:-2.34 [[ 9.99557520e-01 -2.96418731e-02 -2.47465881e-03 4.61774817e+02] [ 2.96413750e-02 9.99560570e-01 -2.37705319e-04 5.06696867e+01] [ 2.48061740e-03 1.64247849e-04 9.99996910e-01 -2.34277924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.861400513 meters 0.07504112675001542 Centerline is valid? [True, True] Translation: X:461.81, Y:50.67, Z:-2.34 [[ 9.99561238e-01 -2.94045173e-02 -3.56444268e-03 4.61805322e+02] [ 2.94034825e-02 9.99567565e-01 -3.42379541e-04 5.06692467e+01] [ 3.57296879e-03 2.37422290e-04 9.99993589e-01 -2.34449550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.891400513 meters 0.06919834587644691 Centerline is valid? [True, True] Translation: X:461.84, Y:50.66, Z:-2.34 [[ 9.99560172e-01 -2.93851172e-02 -3.99728299e-03 4.61836076e+02] [ 2.93838152e-02 9.99568129e-01 -3.84057620e-04 5.06621076e+01] [ 4.00684225e-03 2.66433276e-04 9.99991937e-01 -2.34496093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.921400513 meters 0.07405771389596634 Centerline is valid? [True, True] Translation: X:461.86, Y:50.67, Z:-2.35 [[ 9.99557220e-01 -2.94482406e-02 -4.26197064e-03 4.61863872e+02] [ 2.94467605e-02 9.99566266e-01 -4.09641642e-04 5.06673963e+01] [ 4.27218531e-03 2.83959033e-04 9.99990834e-01 -2.34566659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.951400513 meters 0.0678582207723564 Centerline is valid? [True, True] Translation: X:461.89, Y:50.66, Z:-2.35 [[ 9.99562591e-01 -2.92314050e-02 -4.48901161e-03 4.61894248e+02] [ 2.92297572e-02 9.99572626e-01 -4.32256497e-04 5.06551790e+01] [ 4.49972859e-03 3.00854705e-04 9.99989831e-01 -2.34527303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.981400513 meters 0.07034168970871113 Centerline is valid? [True, True] Translation: X:461.92, Y:50.66, Z:-2.35 [[ 9.99585057e-01 -2.83468721e-02 -5.11559547e-03 4.61923003e+02] [ 2.83447200e-02 9.99598086e-01 -4.92720061e-04 5.06578146e+01] [ 5.12750651e-03 3.47515489e-04 9.99986794e-01 -2.34652095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.011400513 meters 0.07795793077280339 Centerline is valid? [True, True] Translation: X:461.95, Y:50.67, Z:-2.35 [[ 9.99621474e-01 -2.68257390e-02 -6.10645734e-03 4.61951445e+02] [ 2.68226434e-02 9.99640035e-01 -5.88292279e-04 5.06669345e+01] [ 6.12004061e-03 4.24278268e-04 9.99981182e-01 -2.34867723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.041400513 meters 0.08030856860107627 Centerline is valid? [True, True] Translation: X:461.98, Y:50.67, Z:-2.35 [[ 9.99663456e-01 -2.50367424e-02 -6.79235274e-03 4.61981553e+02] [ 2.50328707e-02 9.99686414e-01 -6.54442660e-04 5.06701168e+01] [ 6.80660787e-03 4.84190323e-04 9.99976718e-01 -2.35047910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.071400513 meters 0.07672333674195321 Centerline is valid? [True, True] Translation: X:462.01, Y:50.67, Z:-2.35 [[ 9.99712967e-01 -2.28970318e-02 -7.05054837e-03 4.62011891e+02] [ 2.28928067e-02 9.99737695e-01 -6.79398668e-04 5.06655877e+01] [ 7.06425519e-03 5.17796817e-04 9.99974914e-01 -2.35039311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.101400513 meters 0.07822490481610665 Centerline is valid? [True, True] Translation: X:462.04, Y:50.67, Z:-2.35 [[ 9.99766320e-01 -2.05340872e-02 -6.75695987e-03 4.62041809e+02] [ 2.05301529e-02 9.99789022e-01 -6.51123214e-04 5.06674792e+01] [ 6.76890452e-03 5.12249641e-04 9.99976960e-01 -2.34997465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.131400513 meters 0.08264723056291867 Centerline is valid? [True, True] Translation: X:462.07, Y:50.67, Z:-2.35 [[ 9.99858908e-01 -1.54503081e-02 -6.59178742e-03 4.62071592e+02] [ 1.54464540e-02 9.99880495e-01 -6.35202757e-04 5.06728809e+01] [ 6.60081374e-03 5.33293394e-04 9.99978072e-01 -2.34937806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.161400513 meters 0.0842161104564608 Centerline is valid? [True, True] Translation: X:462.10, Y:50.68, Z:-2.35 [[ 9.99892438e-01 -1.29520916e-02 -6.88152271e-03 4.62101738e+02] [ 1.29478323e-02 9.99915953e-01 -6.63149115e-04 5.06774325e+01] [ 6.88953351e-03 5.73976984e-04 9.99976102e-01 -2.35015357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.191400513 meters 0.09171982623074638 Centerline is valid? [True, True] Translation: X:462.13, Y:50.69, Z:-2.35 [[ 9.99914471e-01 -1.10491783e-02 -6.99757813e-03 4.62130243e+02] [ 1.10447274e-02 9.99938778e-01 -6.74382930e-04 5.06891577e+01] [ 7.00460110e-03 5.97038908e-04 9.99975289e-01 -2.35112037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.221400513 meters 0.09128446108882839 Centerline is valid? [True, True] Translation: X:462.16, Y:50.69, Z:-2.35 [[ 9.99937087e-01 -9.50662351e-03 -5.95371123e-03 4.62160615e+02] [ 9.50337399e-03 9.99954677e-01 -5.73851292e-04 5.06911745e+01] [ 5.95889678e-03 5.17234845e-04 9.99982112e-01 -2.34975578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.251400513 meters 0.08879326554463432 Centerline is valid? [True, True] Translation: X:462.19, Y:50.69, Z:-2.35 [[ 9.99936734e-01 -9.72359097e-03 -5.65509068e-03 4.62189024e+02] [ 9.72065646e-03 9.99952604e-01 -5.46170527e-04 5.06917907e+01] [ 5.66013339e-03 4.91164779e-04 9.99983861e-01 -2.34925867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.281400513 meters 0.08788867133231335 Centerline is valid? [True, True] Translation: X:462.22, Y:50.70, Z:-2.35 [[ 9.99937111e-01 -9.88192581e-03 -5.30297095e-03 4.62216775e+02] [ 9.87934233e-03 9.99951066e-01 -5.13150563e-04 5.06952667e+01] [ 5.30778238e-03 4.60728426e-04 9.99985807e-01 -2.34929380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.311400513 meters 0.09187283696118466 Centerline is valid? [True, True] Translation: X:462.24, Y:50.70, Z:-2.35 [[ 9.99936253e-01 -9.89839471e-03 -5.43239800e-03 4.62243384e+02] [ 9.89568237e-03 9.99950898e-01 -5.25942309e-04 5.07047592e+01] [ 5.43733724e-03 4.72151497e-04 9.99985106e-01 -2.35013087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.341400513 meters 0.0879747433071078 Centerline is valid? [True, True] Translation: X:462.27, Y:50.70, Z:-2.35 [[ 9.99934614e-01 -1.02365518e-02 -5.09715678e-03 4.62272504e+02] [ 1.02341638e-02 9.99947507e-01 -4.94354127e-04 5.07047908e+01] [ 5.10194970e-03 4.42156665e-04 9.99986887e-01 -2.34931836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.371400513 meters 0.08574267122330431 Centerline is valid? [True, True] Translation: X:462.30, Y:50.71, Z:-2.35 [[ 9.99918549e-01 -1.22390299e-02 -3.61962833e-03 4.62302857e+02] [ 1.22378389e-02 9.99925053e-01 -3.51028181e-04 5.07075813e+01] [ 3.62365330e-03 3.06703162e-04 9.99993388e-01 -2.34641716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.401400513 meters 0.0907347816239721 Centerline is valid? [True, True] Translation: X:462.33, Y:50.72, Z:-2.35 [[ 9.99893318e-01 -1.41437785e-02 -3.64769707e-03 4.62331431e+02] [ 1.41425813e-02 9.99899926e-01 -3.53808454e-04 5.07177549e+01] [ 3.65233622e-03 3.02182857e-04 9.99993285e-01 -2.34662184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.431400513 meters 0.08945990895672386 Centerline is valid? [True, True] Translation: X:462.36, Y:50.72, Z:-2.35 [[ 9.99857454e-01 -1.64407532e-02 -3.84362961e-03 4.62361520e+02] [ 1.64394407e-02 9.99864794e-01 -3.72816219e-04 5.07199871e+01] [ 3.84923931e-03 3.09575955e-04 9.99992544e-01 -2.34725507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.461400513 meters 0.0863091356100709 Centerline is valid? [True, True] Translation: X:462.39, Y:50.72, Z:-2.35 [[ 9.99823059e-01 -1.84390595e-02 -3.72188622e-03 4.62392178e+02] [ 1.84378425e-02 9.99829943e-01 -3.61028532e-04 5.07192343e+01] [ 3.72791031e-03 2.92341099e-04 9.99993009e-01 -2.34743668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49140051300003 meters 0.08345551928514064 Centerline is valid? [True, True] Translation: X:462.42, Y:50.72, Z:-2.35 [[ 9.99787077e-01 -2.03396331e-02 -3.47845257e-03 4.62422933e+02] [ 2.03385815e-02 9.99793093e-01 -3.37430773e-04 5.07183243e+01] [ 3.48459607e-03 2.66612136e-04 9.99993893e-01 -2.34742739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.521400513 meters 0.08141964276346207 Centerline is valid? [True, True] Translation: X:462.45, Y:50.72, Z:-2.35 [[ 9.99719104e-01 -2.34730948e-02 -3.27515760e-03 4.62453175e+02] [ 2.34721790e-02 9.99724440e-01 -3.17789718e-04 5.07183139e+01] [ 3.28171461e-03 2.40825366e-04 9.99994586e-01 -2.34708675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.551400513 meters 0.07790139606714476 Centerline is valid? [True, True] Translation: X:462.48, Y:50.72, Z:-2.35 [[ 9.99697272e-01 -2.43380769e-02 -3.60872918e-03 4.62482603e+02] [ 2.43369685e-02 9.99703751e-01 -3.50740997e-04 5.07175777e+01] [ 3.61619646e-03 2.62809289e-04 9.99993427e-01 -2.34703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.581400513 meters 0.07517836745369205 Centerline is valid? [True, True] Translation: X:462.51, Y:50.72, Z:-2.35 [[ 9.99694211e-01 -2.44616036e-02 -3.62144571e-03 4.62512594e+02] [ 2.44604880e-02 9.99700736e-01 -3.52017880e-04 5.07176074e+01] [ 3.62897286e-03 2.63327907e-04 9.99993381e-01 -2.34665807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.611400513 meters 0.0733859539797226 Centerline is valid? [True, True] Translation: X:462.54, Y:50.72, Z:-2.35 [[ 9.99700175e-01 -2.41857456e-02 -3.82228931e-03 4.62542771e+02] [ 2.41845006e-02 9.99707443e-01 -3.71630635e-04 5.07173131e+01] [ 3.83015924e-03 2.79079053e-04 9.99992626e-01 -2.34679949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.641400513 meters 0.07433622616474213 Centerline is valid? [True, True] Translation: X:462.57, Y:50.72, Z:-2.35 [[ 9.99702824e-01 -2.40112088e-02 -4.21018787e-03 4.62571141e+02] [ 2.40096935e-02 9.99711642e-01 -4.10088536e-04 5.07200293e+01] [ 4.21882055e-03 3.08881347e-04 9.99991053e-01 -2.34746830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.671400513 meters 0.08134392627180459 Centerline is valid? [True, True] Translation: X:462.60, Y:50.73, Z:-2.35 [[ 9.99708325e-01 -2.36696058e-02 -4.79745251e-03 4.62599059e+02] [ 2.36676338e-02 9.99719773e-01 -4.67406953e-04 5.07299252e+01] [ 4.80717147e-03 3.53726273e-04 9.99988383e-01 -2.34882429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.701400513 meters 0.0830679866164501 Centerline is valid? [True, True] Translation: X:462.63, Y:50.73, Z:-2.35 [[ 9.99723905e-01 -2.28941187e-02 -5.28892286e-03 4.62627401e+02] [ 2.28917103e-02 9.99737818e-01 -5.15467011e-04 5.07328906e+01] [ 5.29933736e-03 3.94252203e-04 9.99985881e-01 -2.35003732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.731400513 meters 0.08469894390690678 Centerline is valid? [True, True] Translation: X:462.65, Y:50.74, Z:-2.35 [[ 9.99736802e-01 -2.23006996e-02 -5.38569131e-03 4.62654854e+02] [ 2.22981920e-02 9.99751226e-01 -5.25206936e-04 5.07361057e+01] [ 5.39606398e-03 4.04977524e-04 9.99985359e-01 -2.35046757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.761400513 meters 0.0780553165719296 Centerline is valid? [True, True] Translation: X:462.68, Y:50.73, Z:-2.35 [[ 9.99747195e-01 -2.19650257e-02 -4.80452919e-03 4.62684430e+02] [ 2.19630223e-02 9.99758674e-01 -4.69354225e-04 5.07299086e+01] [ 4.81367911e-03 3.63713588e-04 9.99988348e-01 -2.34935230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.791400513 meters 0.07318230061581943 Centerline is valid? [True, True] Translation: X:462.71, Y:50.73, Z:-2.35 [[ 9.99748615e-01 -2.18679053e-02 -4.94995761e-03 4.62713452e+02] [ 2.18657734e-02 9.99760798e-01 -4.84391277e-04 5.07261657e+01] [ 4.95936619e-03 3.76034856e-04 9.99987632e-01 -2.34960925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.821400513 meters 0.07828360001028666 Centerline is valid? [True, True] Translation: X:462.74, Y:50.73, Z:-2.35 [[ 9.99746363e-01 -2.19523764e-02 -5.03020268e-03 4.62740353e+02] [ 2.19501746e-02 9.99758945e-01 -4.92505267e-04 5.07338875e+01] [ 5.03980178e-03 3.81966522e-04 9.99987227e-01 -2.35066355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.851400513 meters 0.08540224751736794 Centerline is valid? [True, True] Translation: X:462.77, Y:50.74, Z:-2.35 [[ 9.99735376e-01 -2.24779734e-02 -4.89076200e-03 4.62767565e+02] [ 2.24758969e-02 9.99747270e-01 -4.79134912e-04 5.07435840e+01] [ 4.90029594e-03 3.69083859e-04 9.99987925e-01 -2.35139204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.881400513 meters 0.07303567026577515 Centerline is valid? [True, True] Translation: X:462.80, Y:50.73, Z:-2.35 [[ 9.99689494e-01 -2.45210550e-02 -4.43098133e-03 4.62799722e+02] [ 2.45193705e-02 9.99699261e-01 -4.34097532e-04 5.07283464e+01] [ 4.44029329e-03 3.25317869e-04 9.99990089e-01 -2.34998402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.911400513 meters 0.07303567026577515 Centerline is valid? [True, True] Translation: X:462.83, Y:50.73, Z:-2.35 [[ 9.99685465e-01 -2.46847836e-02 -4.43090480e-03 4.62827959e+02] [ 2.46830973e-02 9.99695231e-01 -4.34878037e-04 5.07312253e+01] [ 4.44028927e-03 3.25372798e-04 9.99990089e-01 -2.34999386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.941400513 meters 0.07415815116042633 Centerline is valid? [True, True] Translation: X:462.86, Y:50.73, Z:-2.35 [[ 9.99659118e-01 -2.57291951e-02 -4.43361256e-03 4.62856090e+02] [ 2.57275161e-02 9.99668898e-01 -4.35311007e-04 5.07344227e+01] [ 4.44334478e-03 3.21096778e-04 9.99990077e-01 -2.34972129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.971400513 meters 0.08074719217318521 Centerline is valid? [True, True] Translation: X:462.88, Y:50.74, Z:-2.35 [[ 9.99637015e-01 -2.65893257e-02 -4.34119679e-03 4.62883434e+02] [ 2.65877230e-02 9.99646393e-01 -4.26493862e-04 5.07436505e+01] [ 4.35100190e-03 3.10916514e-04 9.99990486e-01 -2.35032574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.001400513 meters 0.07247135646266469 Centerline is valid? [True, True] Translation: X:462.91, Y:50.73, Z:-2.35 [[ 9.99610382e-01 -2.74837117e-02 -4.87131187e-03 4.62913328e+02] [ 2.74817032e-02 9.99622192e-01 -4.78795373e-04 5.07340121e+01] [ 4.88263053e-03 3.44736879e-04 9.99988020e-01 -2.35081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.031400513 meters 0.07942404926101104 Centerline is valid? [True, True] Translation: X:462.94, Y:50.74, Z:-2.35 [[ 9.99577363e-01 -2.86230550e-02 -5.08092710e-03 4.62941320e+02] [ 2.86208837e-02 9.99590214e-01 -4.99571299e-04 5.07430607e+01] [ 5.09314426e-03 3.53939538e-04 9.99986967e-01 -2.35190729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.061400513 meters 0.07646834041789173 Centerline is valid? [True, True] Translation: X:462.97, Y:50.74, Z:-2.35 [[ 9.99507306e-01 -3.12180199e-02 -3.25287245e-03 4.62971911e+02] [ 3.12171436e-02 9.99512575e-01 -3.19830948e-04 5.07412421e+01] [ 3.26127141e-03 2.18127983e-04 9.99994658e-01 -2.34868225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.091400513 meters 0.0754503095417256 Centerline is valid? [True, True] Translation: X:463.00, Y:50.74, Z:-2.35 [[ 9.99481482e-01 -3.21057193e-02 -2.44746967e-03 4.63001193e+02] [ 3.21052249e-02 9.99484465e-01 -2.41047363e-04 5.07419580e+01] [ 2.45394692e-03 1.62345811e-04 9.99996976e-01 -2.34660450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.121400513 meters 0.06960559215675963 Centerline is valid? [True, True] Translation: X:463.03, Y:50.74, Z:-2.35 [[ 9.99463816e-01 -3.26285272e-02 -2.73115944e-03 4.63031673e+02] [ 3.26279134e-02 9.99467532e-01 -2.69002798e-04 5.07357018e+01] [ 2.73848235e-03 1.79746529e-04 9.99996234e-01 -2.34632297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.151400513 meters 0.0681111817316122 Centerline is valid? [True, True] Translation: X:463.06, Y:50.73, Z:-2.35 [[ 9.99455423e-01 -3.27966910e-02 -3.63803980e-03 4.63061895e+02] [ 3.27956027e-02 9.99462015e-01 -3.58407545e-04 5.07338978e+01] [ 3.64783717e-03 2.38900656e-04 9.99993318e-01 -2.34683548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.181400513 meters 0.07052049339795342 Centerline is valid? [True, True] Translation: X:463.09, Y:50.74, Z:-2.35 [[ 9.99451569e-01 -3.26838892e-02 -5.32208085e-03 4.63089339e+02] [ 3.26815569e-02 9.99465678e-01 -5.24630928e-04 5.07380332e+01] [ 5.33638412e-03 3.50409316e-04 9.99985700e-01 -2.35035926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.211400513 meters 0.06744194134144921 Centerline is valid? [True, True] Translation: X:463.12, Y:50.74, Z:-2.35 [[ 9.99450691e-01 -3.26191933e-02 -5.85692861e-03 4.63118834e+02] [ 3.26163616e-02 9.99467778e-01 -5.78358751e-04 5.07370199e+01] [ 5.87267702e-03 3.87009352e-04 9.99982681e-01 -2.35101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24140051300003 meters 0.06742093641004694 Centerline is valid? [True, True] Translation: X:463.15, Y:50.74, Z:-2.35 [[ 9.99462479e-01 -3.22727168e-02 -5.76413177e-03 4.63147242e+02] [ 3.22699656e-02 9.99479027e-01 -5.69688788e-04 5.07376610e+01] [ 5.77951421e-03 3.83374235e-04 9.99983225e-01 -2.35122898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.271400513 meters 0.07398225599587316 Centerline is valid? [True, True] Translation: X:463.17, Y:50.75, Z:-2.35 [[ 9.99468968e-01 -3.21359334e-02 -5.39114650e-03 4.63174527e+02] [ 3.21335231e-02 9.99483443e-01 -5.33133088e-04 5.07451992e+01] [ 5.40549440e-03 3.59613446e-04 9.99985326e-01 -2.35070195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.301400513 meters 0.06872859537104538 Centerline is valid? [True, True] Translation: X:463.20, Y:50.74, Z:-2.35 [[ 9.99479981e-01 -3.19898012e-02 -4.05217378e-03 4.63204588e+02] [ 3.19884354e-02 9.99488158e-01 -4.01426575e-04 5.07384659e+01] [ 4.06294126e-03 2.71595127e-04 9.99991709e-01 -2.34680883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.331400513 meters 0.06712335876059329 Centerline is valid? [True, True] Translation: X:463.23, Y:50.74, Z:-2.35 [[ 9.99500548e-01 -3.13871898e-02 -3.67398373e-03 4.63233145e+02] [ 3.13860607e-02 9.99507270e-01 -3.64576704e-04 5.07394538e+01] [ 3.68361649e-03 2.49082739e-04 9.99993184e-01 -2.34625971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.361400513 meters 0.06656610977858002 Centerline is valid? [True, True] Translation: X:463.26, Y:50.74, Z:-2.35 [[ 9.99541371e-01 -3.00973263e-02 -3.34656655e-03 4.63262636e+02] [ 3.00963822e-02 9.99546946e-01 -3.32122663e-04 5.07418582e+01] [ 3.35504638e-03 2.31250796e-04 9.99994345e-01 -2.34615743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.391400513 meters 0.07878101193180416 Centerline is valid? [True, True] Translation: X:463.29, Y:50.76, Z:-2.35 [[ 9.99595589e-01 -2.82599339e-02 -3.16767176e-03 4.63290660e+02] [ 2.82590787e-02 9.99600583e-01 -3.14402663e-04 5.07588777e+01] [ 3.17529154e-03 2.24760030e-04 9.99994933e-01 -2.34720168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.421400513 meters 0.07084074282137241 Centerline is valid? [True, True] Translation: X:463.32, Y:50.75, Z:-2.35 [[ 9.99669713e-01 -2.54958235e-02 -3.22913320e-03 4.63322057e+02] [ 2.54949204e-02 9.99674900e-01 -3.20509953e-04 5.07497241e+01] [ 3.23625508e-03 2.38077598e-04 9.99994735e-01 -2.34700238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.451400513 meters 0.07460831174801517 Centerline is valid? [True, True] Translation: X:463.35, Y:50.76, Z:-2.35 [[ 9.99684306e-01 -2.48908896e-02 -3.42515401e-03 4.63349680e+02] [ 2.48898695e-02 9.99690141e-01 -3.40144572e-04 5.07569184e+01] [ 3.43255920e-03 2.54785554e-04 9.99994076e-01 -2.34702439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.481400513 meters 0.07549398552587949 Centerline is valid? [True, True] Translation: X:463.38, Y:50.76, Z:-2.35 [[ 9.99689435e-01 -2.46609485e-02 -3.58754811e-03 4.63377901e+02] [ 2.46598256e-02 9.99695837e-01 -3.56897532e-04 5.07610663e+01] [ 3.59525834e-03 2.68318382e-04 9.99993501e-01 -2.34713607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.511400513 meters 0.07780490664895336 Centerline is valid? [True, True] Translation: X:463.41, Y:50.76, Z:-2.35 [[ 9.99693402e-01 -2.44828973e-02 -3.69996854e-03 4.63407019e+02] [ 2.44816995e-02 9.99700210e-01 -3.68687671e-04 5.07632015e+01] [ 3.70788587e-03 2.77993114e-04 9.99993087e-01 -2.34675286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.541400513 meters 0.07570546942564842 Centerline is valid? [True, True] Translation: X:463.43, Y:50.77, Z:-2.35 [[ 9.99691099e-01 -2.45592931e-02 -3.81426792e-03 4.63434254e+02] [ 2.45580200e-02 9.99698334e-01 -3.80261207e-04 5.07665334e+01] [ 3.82245623e-03 2.86472876e-04 9.99992653e-01 -2.34693913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.571400513 meters 0.07948807710887563 Centerline is valid? [True, True] Translation: X:463.46, Y:50.77, Z:-2.35 [[ 9.99723404e-01 -2.32177803e-02 -3.74837124e-03 4.63462303e+02] [ 2.32165410e-02 9.99730390e-01 -3.73812686e-04 5.07738813e+01] [ 3.75603974e-03 2.86685077e-04 9.99992905e-01 -2.34717830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.601400513 meters 0.07822672808829623 Centerline is valid? [True, True] Translation: X:463.49, Y:50.78, Z:-2.35 [[ 9.99761131e-01 -2.15475838e-02 -3.65835425e-03 4.63492798e+02] [ 2.15463922e-02 9.99767783e-01 -3.64824002e-04 5.07764450e+01] [ 3.66536579e-03 2.85912521e-04 9.99993242e-01 -2.34649126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.631400513 meters 0.08085137141128673 Centerline is valid? [True, True] Translation: X:463.52, Y:50.78, Z:-2.35 [[ 9.99806504e-01 -1.94014162e-02 -3.24653034e-03 4.63522687e+02] [ 1.94004665e-02 9.99811741e-01 -3.23775783e-04 5.07842567e+01] [ 3.25220086e-03 2.60728931e-04 9.99994678e-01 -2.34560686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.661400513 meters 0.08340129050501559 Centerline is valid? [True, True] Translation: X:463.55, Y:50.79, Z:-2.34 [[ 9.99851538e-01 -1.70052060e-02 -2.77948611e-03 4.63552226e+02] [ 1.70045006e-02 9.99855375e-01 -2.77197559e-04 5.07915436e+01] [ 2.78379793e-03 2.29892633e-04 9.99996099e-01 -2.34464429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.691400513 meters 0.08742071307912791 Centerline is valid? [True, True] Translation: X:463.58, Y:50.80, Z:-2.34 [[ 9.99903521e-01 -1.35558320e-02 -3.03106187e-03 4.63581352e+02] [ 1.35549774e-02 9.99908081e-01 -3.02321732e-04 5.08013376e+01] [ 3.03488149e-03 2.61206589e-04 9.99995361e-01 -2.34403108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.721400513 meters 0.08813196522360467 Centerline is valid? [True, True] Translation: X:463.61, Y:50.81, Z:-2.34 [[ 9.99907871e-01 -1.31740110e-02 -3.27028681e-03 4.63609576e+02] [ 1.31730123e-02 9.99913179e-01 -3.26760052e-04 5.08058646e+01] [ 3.27430762e-03 2.83650419e-04 9.99994599e-01 -2.34446817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.751400513 meters 0.09097044108843083 Centerline is valid? [True, True] Translation: X:463.64, Y:50.81, Z:-2.34 [[ 9.99907037e-01 -1.32788684e-02 -3.09663930e-03 4.63638164e+02] [ 1.32779730e-02 9.99911796e-01 -3.09508219e-04 5.08126392e+01] [ 3.10047608e-03 2.68362354e-04 9.99995158e-01 -2.34489023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.781400513 meters 0.08356751586357372 Centerline is valid? [True, True] Translation: X:463.67, Y:50.81, Z:-2.34 [[ 9.99898706e-01 -1.39534785e-02 -2.80663236e-03 4.63667862e+02] [ 1.39527453e-02 9.99902616e-01 -2.80655927e-04 5.08063268e+01] [ 2.81027516e-03 2.41467272e-04 9.99996022e-01 -2.34432778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.811400513 meters 0.07546398242198618 Centerline is valid? [True, True] Translation: X:463.70, Y:50.80, Z:-2.34 [[ 9.99886535e-01 -1.49114272e-02 -2.13707512e-03 4.63698506e+02] [ 1.49110041e-02 9.99888802e-01 -2.13750104e-04 5.07985149e+01] [ 2.14002481e-03 1.81859915e-04 9.99997694e-01 -2.34321130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.841400513 meters 0.09382491751696471 Centerline is valid? [True, True] Translation: X:463.73, Y:50.82, Z:-2.34 [[ 9.99880407e-01 -1.53372659e-02 -1.98516981e-03 4.63725739e+02] [ 1.53369016e-02 9.99882363e-01 -1.98576945e-04 5.08234154e+01] [ 1.98798191e-03 1.68106842e-04 9.99998010e-01 -2.34376604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.871400513 meters 0.08506680597839283 Centerline is valid? [True, True] Translation: X:463.76, Y:50.82, Z:-2.34 [[ 9.99875975e-01 -1.56355628e-02 -1.88758694e-03 4.63756081e+02] [ 1.56352339e-02 9.99877744e-01 -1.88863413e-04 5.08150427e+01] [ 1.89030916e-03 1.59327126e-04 9.99998201e-01 -2.34364205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.901400513 meters 0.09106432827462801 Centerline is valid? [True, True] Translation: X:463.79, Y:50.82, Z:-2.34 [[ 9.99879302e-01 -1.54602672e-02 -1.53658277e-03 4.63785269e+02] [ 1.54600490e-02 9.99880474e-01 -1.53737099e-04 5.08229782e+01] [ 1.53877593e-03 1.29962898e-04 9.99998808e-01 -2.34389659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.931400513 meters 0.08784444277566954 Centerline is valid? [True, True] Translation: X:463.82, Y:50.82, Z:-2.34 [[ 9.99890740e-01 -1.46972877e-02 -1.58018239e-03 4.63815314e+02] [ 1.46970560e-02 9.99891980e-01 -1.58143240e-04 5.08235742e+01] [ 1.58233597e-03 1.34901932e-04 9.99998739e-01 -2.34369904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.961400513 meters 0.09438015446234223 Centerline is valid? [True, True] Translation: X:463.84, Y:50.83, Z:-2.34 [[ 9.99911600e-01 -1.30881164e-02 -2.34360918e-03 4.63843285e+02] [ 1.30876022e-02 9.99914326e-01 -2.34595660e-04 5.08338909e+01] [ 2.34647881e-03 2.03902698e-04 9.99997226e-01 -2.34455439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99140051300003 meters 0.09147522719983776 Centerline is valid? [True, True] Translation: X:463.87, Y:50.83, Z:-2.35 [[ 9.99949084e-01 -8.86023541e-03 -4.82975602e-03 4.63873674e+02] [ 8.85800279e-03 9.99960650e-01 -4.83460623e-04 5.08347297e+01] [ 4.83384955e-03 4.40654014e-04 9.99988220e-01 -2.34698348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.021400513 meters 0.08911018964725698 Centerline is valid? [True, True] Translation: X:463.90, Y:50.84, Z:-2.35 [[ 9.99961784e-01 -6.94527711e-03 -5.30982222e-03 4.63903697e+02] [ 6.94255176e-03 9.99975759e-01 -5.31524859e-04 5.08365507e+01] [ 5.31338509e-03 4.94640830e-04 9.99985762e-01 -2.34685491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.051400513 meters 0.09110329079766402 Centerline is valid? [True, True] Translation: X:463.93, Y:50.84, Z:-2.34 [[ 9.99982579e-01 -4.52022236e-03 -3.79583675e-03 4.63933506e+02] [ 4.51881230e-03 9.99989718e-01 -3.79969038e-04 5.08426266e+01] [ 3.79751527e-03 3.62809745e-04 9.99992724e-01 -2.34470842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.081400513 meters 0.10420038415734567 Centerline is valid? [True, False] Translation: X:463.98, Y:50.84, Z:-2.34 [[ 9.99993639e-01 -2.86185562e-03 -2.12896465e-03 4.63975045e+02] [ 2.86378056e-03 9.99995493e-01 9.01669399e-04 5.08447273e+01] [ 2.12637461e-03 -9.07760551e-04 9.99997327e-01 -2.34437665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.111400513 meters 0.1035214519595165 Centerline is valid? [False, False] Translation: X:463.98, Y:50.84, Z:-2.34 [[ 9.99993736e-01 -2.83454229e-03 -2.11994736e-03 4.63975145e+02] [ 2.83660485e-03 9.99995506e-01 9.70559492e-04 5.08444042e+01] [ 2.11718674e-03 -9.76566865e-04 9.99997282e-01 -2.34465682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.141400513 meters 0.0915956329204426 Centerline is valid? [False, True] Translation: X:463.98, Y:50.85, Z:-2.35 [[ 9.99993481e-01 -2.90703444e-03 -2.14196691e-03 4.63975370e+02] [ 2.90871667e-03 9.99995463e-01 7.82668209e-04 5.08452372e+01] [ 2.13968195e-03 -7.88893481e-04 9.99997400e-01 -2.34501821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.171400513 meters 0.10146510997843204 Centerline is valid? [True, False] Translation: X:463.98, Y:50.85, Z:-2.35 [[ 9.99993065e-01 -2.98873131e-03 -2.22187628e-03 4.63975821e+02] [ 2.99002373e-03 9.99995362e-01 5.78588371e-04 5.08461502e+01] [ 2.22013673e-03 -5.85227821e-04 9.99997364e-01 -2.34545464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.201400513 meters 0.09199176248286067 Centerline is valid? [False, True] Translation: X:463.98, Y:50.85, Z:-2.35 [[ 9.99968284e-01 -7.68151758e-03 -2.10350023e-03 4.63975524e+02] [ 7.67124001e-03 9.99958808e-01 -4.85117709e-03 5.08509299e+01] [ 2.14067798e-03 4.83488678e-03 9.99986021e-01 -2.34558189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.231400513 meters 0.0886705374035489 Centerline is valid? [True, True] Translation: X:464.01, Y:50.85, Z:-2.34 [[ 9.99963747e-01 -8.18572095e-03 -2.34481142e-03 4.64005196e+02] [ 8.18518914e-03 9.99966473e-01 -2.36307816e-04 5.08481302e+01] [ 2.34666716e-03 2.17106525e-04 9.99997223e-01 -2.34495434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.261400513 meters 0.09820051750929783 Centerline is valid? [True, True] Translation: X:464.03, Y:50.86, Z:-2.35 [[ 9.99966289e-01 -7.90249110e-03 -2.22985396e-03 4.64032145e+02] [ 7.90200974e-03 9.99968753e-01 -2.24597134e-04 5.08638329e+01] [ 2.23155916e-03 2.06969235e-04 9.99997489e-01 -2.34543223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.291400513 meters 0.09406232119638178 Centerline is valid? [True, True] Translation: X:464.06, Y:50.86, Z:-2.35 [[ 9.99967352e-01 -7.42625704e-03 -3.18527767e-03 4.64061882e+02] [ 7.42527256e-03 9.99972381e-01 -3.20786236e-04 5.08642872e+01] [ 3.18757194e-03 2.97124208e-04 9.99994876e-01 -2.34647217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.321400513 meters 0.09045422043732844 Centerline is valid? [True, True] Translation: X:464.09, Y:50.87, Z:-2.35 [[ 9.99966260e-01 -7.21243707e-03 -3.93198674e-03 4.64090749e+02] [ 7.21093042e-03 9.99973922e-01 -3.97219717e-04 5.08659175e+01] [ 3.93474912e-03 3.68853032e-04 9.99992191e-01 -2.34733847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.351400513 meters 0.10227090228843669 Centerline is valid? [True, False] Translation: X:464.10, Y:50.87, Z:-2.35 [[ 9.99975433e-01 -4.94444728e-03 -4.96855522e-03 4.64097483e+02] [ 4.95367041e-03 9.99986027e-01 1.84571095e-03 5.08661950e+01] [ 4.95935978e-03 -1.87027819e-03 9.99985953e-01 -2.35195052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.381400513 meters 0.091779778204854 Centerline is valid? [False, True] Translation: X:464.10, Y:50.87, Z:-2.35 [[ 9.99975954e-01 -4.92805840e-03 -4.87909625e-03 4.64097042e+02] [ 4.93729289e-03 9.99986040e-01 1.88243057e-03 5.08660449e+01] [ 4.86975141e-03 -1.90647483e-03 9.99986325e-01 -2.35159904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.411400513 meters 0.09162904508610031 Centerline is valid? [True, True] Translation: X:464.13, Y:50.87, Z:-2.35 [[ 9.99974751e-01 -6.26491275e-03 -3.35375269e-03 4.64126127e+02] [ 6.26385047e-03 9.99980328e-01 -3.27153575e-04 5.08722599e+01] [ 3.35573630e-03 3.06137910e-04 9.99994323e-01 -2.34964764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.441400513 meters 0.09148403227227828 Centerline is valid? [True, True] Translation: X:464.16, Y:50.88, Z:-2.35 [[ 9.99962776e-01 -8.11270097e-03 -2.93795466e-03 4.64155469e+02] [ 8.11189359e-03 9.99967057e-01 -2.86622855e-04 5.08771107e+01] [ 2.94018316e-03 2.62779810e-04 9.99995643e-01 -2.34982287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.471400513 meters 0.0846096719020531 Centerline is valid? [True, True] Translation: X:464.19, Y:50.87, Z:-2.35 [[ 9.99912010e-01 -1.27242008e-02 -3.75047831e-03 4.64186097e+02] [ 1.27229173e-02 9.99918993e-01 -3.65863754e-04 5.08724801e+01] [ 3.75482982e-03 3.18114536e-04 9.99992900e-01 -2.35200362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.501400513 meters 0.08445411288348598 Centerline is valid? [True, True] Translation: X:464.22, Y:50.87, Z:-2.35 [[ 9.99882841e-01 -1.48262412e-02 -3.80607900e-03 4.64215006e+02] [ 1.48249343e-02 9.99890036e-01 -3.71364704e-04 5.08747235e+01] [ 3.81116641e-03 3.14896324e-04 9.99992688e-01 -2.35219255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.531400513 meters 0.0912085751236986 Centerline is valid? [True, True] Translation: X:464.24, Y:50.89, Z:-2.35 [[ 9.99852620e-01 -1.67820397e-02 -3.61948595e-03 4.64243853e+02] [ 1.67808703e-02 9.99859129e-01 -3.53213992e-04 5.08857806e+01] [ 3.62490372e-03 2.92423811e-04 9.99993387e-01 -2.35192047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.561400513 meters 0.081395794656191 Centerline is valid? [True, True] Translation: X:464.27, Y:50.88, Z:-2.35 [[ 9.99830097e-01 -1.81883699e-02 -2.99349490e-03 4.64274449e+02] [ 1.81875761e-02 9.99834550e-01 -2.92214039e-04 5.08769560e+01] [ 2.99831453e-03 2.37719975e-04 9.99995477e-01 -2.34955383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.591400513 meters 0.07731965096042702 Centerline is valid? [True, True] Translation: X:464.30, Y:50.88, Z:-2.35 [[ 9.99799421e-01 -1.99589872e-02 -1.66030377e-03 4.64304702e+02] [ 1.99587454e-02 9.99800791e-01 -1.62090196e-04 5.08770877e+01] [ 1.66320818e-03 1.28920104e-04 9.99998609e-01 -2.34720687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.621400513 meters 0.07728340664638995 Centerline is valid? [True, True] Translation: X:464.34, Y:50.88, Z:-2.35 [[ 9.99795485e-01 -2.01490883e-02 -1.73278831e-03 4.64335221e+02] [ 2.01488252e-02 9.99796978e-01 -1.69145176e-04 5.08802345e+01] [ 1.73584464e-03 1.34196935e-04 9.99998484e-01 -2.34724575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.651400513 meters 0.07756287516162638 Centerline is valid? [True, True] Translation: X:464.37, Y:50.88, Z:-2.35 [[ 9.99794193e-01 -2.01994495e-02 -1.88543837e-03 4.64365738e+02] [ 2.01991382e-02 9.99795960e-01 -1.84046027e-04 5.08836370e+01] [ 1.88877129e-03 1.45923919e-04 9.99998206e-01 -2.34832661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.681400513 meters 0.08036956041134677 Centerline is valid? [True, True] Translation: X:464.39, Y:50.89, Z:-2.35 [[ 9.99794396e-01 -2.00941470e-02 -2.71849294e-03 4.64394937e+02] [ 2.00934991e-02 9.99798070e-01 -2.65416183e-04 5.08887425e+01] [ 2.72327731e-03 2.10737577e-04 9.99996270e-01 -2.35045866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.711400513 meters 0.07821037822818039 Centerline is valid? [True, True] Translation: X:464.42, Y:50.89, Z:-2.35 [[ 9.99787758e-01 -2.03899637e-02 -2.94755575e-03 4.64424379e+02] [ 2.03892031e-02 9.99792077e-01 -2.87868006e-04 5.08884364e+01] [ 2.95281251e-03 2.27708596e-04 9.99995615e-01 -2.35024288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74140051300003 meters 0.07855293596840346 Centerline is valid? [True, True] Translation: X:464.45, Y:50.89, Z:-2.35 [[ 9.99780299e-01 -2.07096112e-02 -3.23492480e-03 4.64453410e+02] [ 2.07086965e-02 9.99785502e-01 -3.16004632e-04 5.08917287e+01] [ 3.24077525e-03 2.48944130e-04 9.99994718e-01 -2.35069539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.771400513 meters 0.08429892476841806 Centerline is valid? [True, True] Translation: X:464.48, Y:50.90, Z:-2.35 [[ 9.99775019e-01 -2.07524700e-02 -4.38698998e-03 4.64481283e+02] [ 2.07507875e-02 9.99784587e-01 -4.28702353e-04 5.09013844e+01] [ 4.39494160e-03 3.37572407e-04 9.99990285e-01 -2.35246105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.801400513 meters 0.08429892476841806 Centerline is valid? [True, True] Translation: X:464.51, Y:50.90, Z:-2.35 [[ 9.99771765e-01 -2.09086958e-02 -4.38690198e-03 4.64509526e+02] [ 2.09070108e-02 9.99781332e-01 -4.29602255e-04 5.09042671e+01] [ 4.39492512e-03 3.37787198e-04 9.99990285e-01 -2.35251124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.831400513 meters 0.08106707636451309 Centerline is valid? [True, True] Translation: X:464.54, Y:50.90, Z:-2.35 [[ 9.99769762e-01 -2.07083226e-02 -5.62042241e-03 4.64538525e+02] [ 2.07055490e-02 9.99785465e-01 -5.51232060e-04 5.09030806e+01] [ 5.63063173e-03 4.34731214e-04 9.99984053e-01 -2.35421397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.861400513 meters 0.07908122879380944 Centerline is valid? [True, True] Translation: X:464.57, Y:50.90, Z:-2.36 [[ 9.99798230e-01 -1.90897337e-02 -6.25158571e-03 4.64568579e+02] [ 1.90862721e-02 9.99817653e-01 -6.12913354e-04 5.09021847e+01] [ 6.26214610e-03 4.93470220e-04 9.99980271e-01 -2.35500559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.891400513 meters 0.08108652759842923 Centerline is valid? [True, True] Translation: X:464.60, Y:50.91, Z:-2.35 [[ 9.99816720e-01 -1.82821618e-02 -5.68225274e-03 4.64597038e+02] [ 1.82792877e-02 9.99832765e-01 -5.57337424e-04 5.09060978e+01] [ 5.69149180e-03 4.53367743e-04 9.99983701e-01 -2.35401338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.921400513 meters 0.08538296854298459 Centerline is valid? [True, True] Translation: X:464.62, Y:50.91, Z:-2.35 [[ 9.99832006e-01 -1.76546232e-02 -4.92693430e-03 4.64624475e+02] [ 1.76524532e-02 9.99844066e-01 -4.83588364e-04 5.09100641e+01] [ 4.93470359e-03 3.96534647e-04 9.99987746e-01 -2.35286748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.951400513 meters 0.08001199960746849 Centerline is valid? [True, True] Translation: X:464.65, Y:50.91, Z:-2.35 [[ 9.99830767e-01 -1.78607598e-02 -4.40798725e-03 4.64652927e+02] [ 1.78590201e-02 9.99840421e-01 -4.33722183e-04 5.09061805e+01] [ 4.41503044e-03 3.54926450e-04 9.99990191e-01 -2.35171499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.981400513 meters 0.07951522648362558 Centerline is valid? [True, True] Translation: X:464.68, Y:50.90, Z:-2.35 [[ 9.99792146e-01 -2.00304151e-02 -3.80092478e-03 4.64682836e+02] [ 2.00291379e-02 9.99799327e-01 -3.73783023e-04 5.09047398e+01] [ 3.80764906e-03 2.97576084e-04 9.99992707e-01 -2.35176401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.011400513 meters 0.08487174911953135 Centerline is valid? [True, True] Translation: X:464.71, Y:50.91, Z:-2.35 [[ 9.99758090e-01 -2.17446164e-02 -3.30654105e-03 4.64711078e+02] [ 2.17436589e-02 9.99763526e-01 -3.25260820e-04 5.09126657e+01] [ 3.31283181e-03 2.53285836e-04 9.99994480e-01 -2.35189474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.041400513 meters 0.07885006473007432 Centerline is valid? [True, True] Translation: X:464.74, Y:50.91, Z:-2.35 [[ 9.99713548e-01 -2.36701494e-02 -3.54192508e-03 4.64742327e+02] [ 2.36690624e-02 9.99719788e-01 -3.48497416e-04 5.09064699e+01] [ 3.54918157e-03 2.64563543e-04 9.99993667e-01 -2.35203985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.071400513 meters 0.07448025264378912 Centerline is valid? [True, True] Translation: X:464.77, Y:50.90, Z:-2.35 [[ 9.99669050e-01 -2.54662239e-02 -3.64157087e-03 4.64772896e+02] [ 2.54650867e-02 9.99675648e-01 -3.58321757e-04 5.09011312e+01] [ 3.64951482e-03 2.65470252e-04 9.99993305e-01 -2.35168714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.101400513 meters 0.07162510640865052 Centerline is valid? [True, True] Translation: X:464.80, Y:50.89, Z:-2.35 [[ 9.99598256e-01 -2.81719999e-02 -3.10897309e-03 4.64804064e+02] [ 2.81711841e-02 9.99603067e-01 -3.05907499e-04 5.08948409e+01] [ 3.11635706e-03 2.18201149e-04 9.99995120e-01 -2.34959586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.131400513 meters 0.06914052302508022 Centerline is valid? [True, True] Translation: X:464.83, Y:50.89, Z:-2.35 [[ 9.99577074e-01 -2.89671871e-02 -2.56424289e-03 4.64832855e+02] [ 2.89666342e-02 9.99580347e-01 -2.52510255e-04 5.08930580e+01] [ 2.57048131e-03 1.78125976e-04 9.99996680e-01 -2.34837179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.161400513 meters 0.06975895039063686 Centerline is valid? [True, True] Translation: X:464.86, Y:50.90, Z:-2.35 [[ 9.99567719e-01 -2.93264305e-02 -2.08234438e-03 4.64861209e+02] [ 2.93260665e-02 9.99569877e-01 -2.05123828e-04 5.08951320e+01] [ 2.08746426e-03 1.43968188e-04 9.99997811e-01 -2.34779510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.191400513 meters 0.06943468885784351 Centerline is valid? [True, True] Translation: X:464.89, Y:50.89, Z:-2.35 [[ 9.99584337e-01 -2.87236252e-02 -2.47103284e-03 4.64891455e+02] [ 2.87231107e-02 9.99587377e-01 -2.43438452e-04 5.08934835e+01] [ 2.47700567e-03 1.72361514e-04 9.99996917e-01 -2.34813196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.221400513 meters 0.06822758283953144 Centerline is valid? [True, True] Translation: X:464.92, Y:50.89, Z:-2.35 [[ 9.99606129e-01 -2.78760939e-02 -3.24197963e-03 4.64920922e+02] [ 2.78752032e-02 9.99611360e-01 -3.19598911e-04 5.08933694e+01] [ 3.24962884e-03 2.29102189e-04 9.99994694e-01 -2.34881007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.251400513 meters 0.07410770877019345 Centerline is valid? [True, True] Translation: X:464.95, Y:50.90, Z:-2.35 [[ 9.99625538e-01 -2.70524183e-02 -4.11698905e-03 4.64948401e+02] [ 2.70509744e-02 9.99633973e-01 -4.06019947e-04 5.09029436e+01] [ 4.12646594e-03 2.94499343e-04 9.99991443e-01 -2.35051849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.281400513 meters 0.07461433413399826 Centerline is valid? [True, True] Translation: X:464.98, Y:50.91, Z:-2.35 [[ 9.99631310e-01 -2.67061402e-02 -4.90162853e-03 4.64977093e+02] [ 2.67040844e-02 9.99643265e-01 -4.84383590e-04 5.09066995e+01] [ 4.91281596e-03 3.53311501e-04 9.99987870e-01 -2.35171780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.311400513 meters 0.07608392919520322 Centerline is valid? [True, True] Translation: X:465.00, Y:50.91, Z:-2.35 [[ 9.99635223e-01 -2.65975963e-02 -4.68926075e-03 4.65004113e+02] [ 2.65957123e-02 9.99646164e-01 -4.63689231e-04 5.09117691e+01] [ 4.69993454e-03 3.38805858e-04 9.99988898e-01 -2.35099003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.341400513 meters 0.07263892296713383 Centerline is valid? [True, True] Translation: X:465.03, Y:50.91, Z:-2.35 [[ 9.99597831e-01 -2.81822432e-02 -3.15225622e-03 4.65034144e+02] [ 2.81813998e-02 9.99602777e-01 -3.11658610e-04 5.09109358e+01] [ 3.15978731e-03 2.22698277e-04 9.99994983e-01 -2.34758562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.371400513 meters 0.07748504082231289 Centerline is valid? [True, True] Translation: X:465.06, Y:50.92, Z:-2.35 [[ 9.99548831e-01 -2.98933248e-02 -2.91968326e-03 4.65061941e+02] [ 2.98926081e-02 9.99553074e-01 -2.88807401e-04 5.09193315e+01] [ 2.92701179e-03 2.01400152e-04 9.99995696e-01 -2.34796977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.401400513 meters 0.06833535765744973 Centerline is valid? [True, True] Translation: X:465.09, Y:50.91, Z:-2.35 [[ 9.99474638e-01 -3.22485579e-02 -3.23715410e-03 4.65092830e+02] [ 3.22476892e-02 9.99479857e-01 -3.20220080e-04 5.09109182e+01] [ 3.24579695e-03 2.15661109e-04 9.99994709e-01 -2.34779134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.431400513 meters 0.07142884437394482 Centerline is valid? [True, True] Translation: X:465.12, Y:50.92, Z:-2.35 [[ 9.99394496e-01 -3.46756714e-02 -2.87033658e-03 4.65121711e+02] [ 3.46749982e-02 9.99398601e-01 -2.83978921e-04 5.09179197e+01] [ 2.87845753e-03 1.84278054e-04 9.99995840e-01 -2.34851869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.461400513 meters 0.06706703209157439 Centerline is valid? [True, True] Translation: X:465.15, Y:50.92, Z:-2.35 [[ 9.99298349e-01 -3.73869096e-02 -2.24262749e-03 4.65152268e+02] [ 3.73865054e-02 9.99300856e-01 -2.21863619e-04 5.09159384e+01] [ 2.24935436e-03 1.37863944e-04 9.99997461e-01 -2.34797879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49140051300003 meters 0.06344861775867161 Centerline is valid? [True, True] Translation: X:465.18, Y:50.91, Z:-2.35 [[ 9.99058865e-01 -4.33550401e-02 -1.31341010e-03 4.65182313e+02] [ 4.33549066e-02 9.99059726e-01 -1.29976197e-04 5.09128231e+01] [ 1.31781026e-03 7.29110994e-05 9.99999129e-01 -2.34702499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.521400513 meters 0.05552715486795525 Centerline is valid? [True, True] Translation: X:465.21, Y:50.90, Z:-2.35 [[ 9.98950013e-01 -4.57497396e-02 -2.41498359e-03 4.65212948e+02] [ 4.57492951e-02 9.98952924e-01 -2.39042791e-04 5.09046941e+01] [ 2.42339106e-03 1.28308002e-04 9.99997055e-01 -2.34834049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.551400513 meters 0.05495415819566051 Centerline is valid? [True, True] Translation: X:465.24, Y:50.90, Z:-2.35 [[ 9.98879109e-01 -4.71571129e-02 -4.09056952e-03 4.65241784e+02] [ 4.71558483e-02 9.98887462e-01 -4.05103880e-04 5.09046979e+01] [ 4.10512214e-03 2.11755526e-04 9.99991552e-01 -2.35050595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.581400513 meters 0.05272393415357831 Centerline is valid? [True, True] Translation: X:465.27, Y:50.90, Z:-2.35 [[ 9.98831496e-01 -4.82040128e-02 -3.46650698e-03 4.65270717e+02] [ 4.82031081e-02 9.98837495e-01 -3.44086059e-04 5.09037401e+01] [ 3.47906348e-03 1.76587582e-04 9.99993932e-01 -2.35024321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.611400513 meters 0.05065396090040639 Centerline is valid? [True, True] Translation: X:465.30, Y:50.90, Z:-2.35 [[ 9.98826334e-01 -4.83579114e-02 -2.73270290e-03 4.65299009e+02] [ 4.83573480e-02 9.98830062e-01 -2.71885723e-04 5.09025583e+01] [ 2.74265363e-03 1.39420354e-04 9.99996229e-01 -2.34842203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.641400513 meters 0.05553130205214703 Centerline is valid? [True, True] Translation: X:465.33, Y:50.91, Z:-2.35 [[ 9.98826058e-01 -4.84092760e-02 -1.74569309e-03 4.65325523e+02] [ 4.84090460e-02 9.98827580e-01 -1.73761192e-04 5.09103713e+01] [ 1.75205806e-03 8.90498690e-05 9.99998461e-01 -2.34711880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.671400513 meters 0.05649700787791243 Centerline is valid? [True, True] Translation: X:465.35, Y:50.91, Z:-2.35 [[ 9.98811388e-01 -4.87128102e-02 -1.69524504e-03 4.65353908e+02] [ 4.87125931e-02 9.98812823e-01 -1.69150102e-04 5.09129861e+01] [ 1.70147226e-03 8.63692669e-05 9.99998549e-01 -2.34677259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.701400513 meters 0.047413990068761534 Centerline is valid? [True, True] Translation: X:465.38, Y:50.90, Z:-2.35 [[ 9.98691490e-01 -5.10942246e-02 -2.16512949e-03 4.65384861e+02] [ 5.10938766e-02 9.98693832e-01 -2.15770336e-04 5.09007940e+01] [ 2.17332609e-03 1.04863139e-04 9.99997633e-01 -2.34780150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.731400513 meters 0.04839421313030198 Centerline is valid? [True, True] Translation: X:465.41, Y:50.90, Z:-2.35 [[ 9.98563768e-01 -5.35330689e-02 -2.14744564e-03 4.65413631e+02] [ 5.35327322e-02 9.98566072e-01 -2.14046598e-04 5.09022555e+01] [ 2.15582493e-03 9.87805453e-05 9.99997671e-01 -2.34840341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.761400513 meters 0.04518377389564188 Centerline is valid? [True, True] Translation: X:465.44, Y:50.90, Z:-2.35 [[ 9.98382309e-01 -5.68179328e-02 -2.11822531e-03 4.65444610e+02] [ 5.68176124e-02 9.98384552e-01 -2.11143135e-04 5.08987359e+01] [ 2.12680014e-03 9.04490660e-05 9.99997734e-01 -2.34840559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.791400513 meters 0.043455729727825 Centerline is valid? [True, True] Translation: X:465.47, Y:50.90, Z:-2.35 [[ 9.98160459e-01 -6.05978556e-02 -1.89684226e-03 4.65473783e+02] [ 6.05976055e-02 9.98162259e-01 -1.89119410e-04 5.08974260e+01] [ 1.90481658e-03 7.38274182e-05 9.99998183e-01 -2.34813841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.821400513 meters 0.036058966754245886 Centerline is valid? [True, True] Translation: X:465.51, Y:50.88, Z:-2.35 [[ 9.97654774e-01 -6.83785993e-02 -3.05279291e-03 4.65505165e+02] [ 6.83779876e-02 9.97659440e-01 -3.04450611e-04 5.08823405e+01] [ 3.06646557e-03 9.49927693e-05 9.99995294e-01 -2.34827561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.851400513 meters 0.032142800637013566 Centerline is valid? [True, True] Translation: X:465.53, Y:50.88, Z:-2.35 [[ 9.97389949e-01 -7.21255034e-02 -3.34676392e-03 4.65534405e+02] [ 7.21247888e-02 9.97395560e-01 -3.33902608e-04 5.08791494e+01] [ 3.36213037e-03 9.16464640e-05 9.99994344e-01 -2.34845840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.881400513 meters 0.026407775205601287 Centerline is valid? [True, True] Translation: X:465.56, Y:50.88, Z:-2.35 [[ 9.97138049e-01 -7.55586179e-02 -2.57040703e-03 4.65564048e+02] [ 7.55582076e-02 9.97141360e-01 -2.56501702e-04 5.08762050e+01] [ 2.58244008e-03 6.15522586e-05 9.99996664e-01 -2.34788392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.911400513 meters 0.02930385729582502 Centerline is valid? [True, True] Translation: X:465.59, Y:50.88, Z:-2.35 [[ 9.96939809e-01 -7.81443594e-02 -2.11559436e-03 4.65591860e+02] [ 7.81440867e-02 9.96942053e-01 -2.11406482e-04 5.08763232e+01] [ 2.12564521e-03 4.54383492e-05 9.99997740e-01 -2.34742591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.941400513 meters 0.021646714386128918 Centerline is valid? [True, True] Translation: X:465.62, Y:50.87, Z:-2.35 [[ 9.96764655e-01 -8.03685914e-02 -1.05478514e-03 4.65621117e+02] [ 8.03685244e-02 9.96765213e-01 -1.05805054e-04 5.08712791e+01] [ 1.05987654e-03 2.06912124e-05 9.99999438e-01 -2.34575604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.971400513 meters 0.027581443243812544 Centerline is valid? [True, True] Translation: X:465.65, Y:50.87, Z:-2.35 [[ 9.96645525e-01 -8.18343208e-02 -9.17596015e-04 4.65650689e+02] [ 8.18342706e-02 9.96645947e-01 -9.22396905e-05 5.08666583e+01] [ 9.22066721e-04 1.68394742e-05 9.99999575e-01 -2.34566247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.001400513 meters 0.029293084925776588 Centerline is valid? [True, True] Translation: X:465.68, Y:50.87, Z:-2.35 [[ 9.96678512e-01 -8.14286788e-02 -1.14595034e-03 4.65678099e+02] [ 8.14286004e-02 9.96679171e-01 -1.14996509e-04 5.08690494e+01] [ 1.15150885e-03 2.13014168e-05 9.99999337e-01 -2.34671729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.031400513 meters 0.020893973228906997 Centerline is valid? [True, True] Translation: X:465.71, Y:50.87, Z:-2.35 [[ 9.96709913e-01 -8.10340926e-02 -1.68103227e-03 4.65707373e+02] [ 8.10339226e-02 9.96711330e-01 -1.69122932e-04 5.08657426e+01] [ 1.68920863e-03 3.23458640e-05 9.99998573e-01 -2.34756039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.061400513 meters 0.020941132226928776 Centerline is valid? [True, True] Translation: X:465.74, Y:50.86, Z:-2.35 [[ 9.96817162e-01 -7.96784834e-02 -2.62389458e-03 4.65736100e+02] [ 7.96780636e-02 9.96820614e-01 -2.64285987e-04 5.08649524e+01] [ 2.63661011e-03 5.43779684e-05 9.99996523e-01 -2.34863761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.091400513 meters 0.036538909443453116 Centerline is valid? [True, True] Translation: X:465.76, Y:50.87, Z:-2.35 [[ 9.97348034e-01 -7.27213865e-02 -2.91542490e-03 4.65764814e+02] [ 7.27208395e-02 9.97352292e-01 -2.93353820e-04 5.08749471e+01] [ 2.92903880e-03 8.05637093e-05 9.99995707e-01 -2.34905086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.121400513 meters 0.03358860495857031 Centerline is valid? [True, True] Translation: X:465.79, Y:50.88, Z:-2.35 [[ 9.97671349e-01 -6.81641056e-02 -2.35229624e-03 4.65794116e+02] [ 6.81637367e-02 9.97674120e-01 -2.36725867e-04 5.08817149e+01] [ 2.36296129e-03 7.58333134e-05 9.99997205e-01 -2.34786176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.151400513 meters 0.04010043458944828 Centerline is valid? [True, True] Translation: X:465.82, Y:50.89, Z:-2.35 [[ 9.98013640e-01 -6.29401437e-02 -2.70420994e-03 4.65823319e+02] [ 6.29396370e-02 9.98017298e-01 -2.72135229e-04 5.08904493e+01] [ 2.71597653e-03 1.01392678e-04 9.99996307e-01 -2.34848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.181400513 meters 0.04500300000162709 Centerline is valid? [True, True] Translation: X:465.85, Y:50.90, Z:-2.35 [[ 9.98481725e-01 -5.49105711e-02 -4.36736336e-03 4.65852740e+02] [ 5.49091728e-02 9.98491257e-01 -4.39534900e-04 5.09027987e+01] [ 4.38490924e-03 1.99059256e-04 9.99990366e-01 -2.35077587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.211400513 meters 0.049001409423516704 Centerline is valid? [True, True] Translation: X:465.88, Y:50.91, Z:-2.35 [[ 9.98612750e-01 -5.24695589e-02 -4.41817343e-03 4.65881055e+02] [ 5.24681034e-02 9.98622501e-01 -4.44785251e-04 5.09115335e+01] [ 4.43542509e-03 2.12355042e-04 9.99990141e-01 -2.35124468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24140051300003 meters 0.05185309887819063 Centerline is valid? [True, True] Translation: X:465.91, Y:50.92, Z:-2.35 [[ 9.98647302e-01 -5.18520090e-02 -3.86455980e-03 4.65908572e+02] [ 5.18508896e-02 9.98654762e-01 -3.89348800e-04 5.09191439e+01] [ 3.87954957e-03 1.88441264e-04 9.99992457e-01 -2.35085115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.271400513 meters 0.049346939700411305 Centerline is valid? [True, True] Translation: X:465.94, Y:50.92, Z:-2.35 [[ 9.98598443e-01 -5.27932994e-02 -3.74385741e-03 4.65937248e+02] [ 5.27922524e-02 9.98605445e-01 -3.78000946e-04 5.09197767e+01] [ 3.75859231e-03 1.79824491e-04 9.99992920e-01 -2.35074743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.301400513 meters 0.0488049917017021 Centerline is valid? [True, True] Translation: X:465.97, Y:50.92, Z:-2.35 [[ 9.98273070e-01 -5.86153864e-02 -3.88778470e-03 4.65965794e+02] [ 5.86143019e-02 9.98280627e-01 -3.92405704e-04 5.09228457e+01] [ 3.90410116e-03 1.63848261e-04 9.99992366e-01 -2.35273467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.331400513 meters 0.04808856506096779 Centerline is valid? [True, True] Translation: X:466.00, Y:50.92, Z:-2.35 [[ 9.98019449e-01 -6.27880991e-02 -3.85151856e-03 4.65996638e+02] [ 6.27870659e-02 9.98026870e-01 -3.88703258e-04 5.09185966e+01] [ 3.86832495e-03 1.46107862e-04 9.99992507e-01 -2.35259016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.361400513 meters 0.03465323087133296 Centerline is valid? [True, True] Translation: X:466.03, Y:50.91, Z:-2.35 [[ 9.97752469e-01 -6.69690769e-02 -2.26990500e-03 4.66027860e+02] [ 6.69687288e-02 9.97755049e-01 -2.29102403e-04 5.09127002e+01] [ 2.28015195e-03 7.65748361e-05 9.99997398e-01 -2.34954277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.391400513 meters 0.02960554133210843 Centerline is valid? [True, True] Translation: X:466.06, Y:50.91, Z:-2.35 [[ 9.97543248e-01 -7.00431516e-02 -1.19400920e-03 4.66058608e+02] [ 7.00430575e-02 9.97543962e-01 -1.20543943e-04 5.09099116e+01] [ 1.19951995e-03 3.66157410e-05 9.99999280e-01 -2.34721360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.421400513 meters 0.031005707017156554 Centerline is valid? [True, True] Translation: X:466.09, Y:50.91, Z:-2.35 [[ 9.97387156e-01 -7.22405309e-02 -4.09283574e-04 4.66085941e+02] [ 7.22405200e-02 9.97387240e-01 -4.14482164e-05 5.09139149e+01] [ 4.11208456e-04 1.17730605e-05 9.99999915e-01 -2.34517397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.451400513 meters 0.03124420752923555 Centerline is valid? [True, True] Translation: X:466.11, Y:50.92, Z:-2.35 [[ 9.97407999e-01 -7.19448463e-02 -1.10600347e-03 4.66114700e+02] [ 7.19447661e-02 9.97408611e-01 -1.12185424e-04 5.09170806e+01] [ 1.11120854e-03 3.23234784e-05 9.99999382e-01 -2.34601816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.481400513 meters 0.0312733240833857 Centerline is valid? [True, True] Translation: X:466.14, Y:50.92, Z:-2.35 [[ 9.97470171e-01 -7.10581551e-02 -1.99922699e-03 4.66143669e+02] [ 7.10578911e-02 9.97472173e-01 -2.02893862e-04 5.09210601e+01] [ 2.00859055e-03 6.03197218e-05 9.99997981e-01 -2.34742152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.511400513 meters 0.030365562312768768 Centerline is valid? [True, True] Translation: X:466.17, Y:50.92, Z:-2.35 [[ 9.97553674e-01 -6.98486773e-02 -2.79817035e-03 4.66172665e+02] [ 6.98481542e-02 9.97557595e-01 -2.84360284e-04 5.09238493e+01] [ 2.81119827e-03 8.82176123e-05 9.99996045e-01 -2.34856177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.541400513 meters 0.03194548457878266 Centerline is valid? [True, True] Translation: X:466.20, Y:50.93, Z:-2.35 [[ 9.97660789e-01 -6.83106674e-02 -2.56941069e-03 4.66200513e+02] [ 6.83102212e-02 9.97664095e-01 -2.61099836e-04 5.09291889e+01] [ 2.58124469e-03 8.49720559e-05 9.99996665e-01 -2.34900300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.571400513 meters 0.039793218511622784 Centerline is valid? [True, True] Translation: X:466.23, Y:50.94, Z:-2.35 [[ 9.97906084e-01 -6.46785586e-02 -3.63983338e-04 4.66228753e+02] [ 6.46785494e-02 9.97906150e-01 -3.69819127e-05 5.09397871e+01] [ 3.65613148e-04 1.33625614e-05 9.99999933e-01 -2.34637590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.601400513 meters 0.03911083192303125 Centerline is valid? [True, True] Translation: X:466.26, Y:50.94, Z:-2.34 [[ 9.97986900e-01 -6.34181768e-02 5.30606914e-04 4.66257462e+02] [ 6.34181572e-02 9.97987041e-01 5.36931741e-05 5.09403197e+01] [-5.32943948e-04 -1.99349717e-05 9.99999858e-01 -2.34471443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.631400513 meters 0.044839370468282416 Centerline is valid? [True, True] Translation: X:466.28, Y:50.95, Z:-2.34 [[ 9.98053171e-01 -6.23629739e-02 8.53119402e-04 4.66284146e+02] [ 6.23629226e-02 9.98053535e-01 8.67105142e-05 5.09493570e+01] [-8.56866361e-04 -3.33386844e-05 9.99999632e-01 -2.34473119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.661400513 meters 0.04463517086708341 Centerline is valid? [True, True] Translation: X:466.31, Y:50.95, Z:-2.35 [[ 9.98090522e-01 -6.17606385e-02 -9.66211648e-04 4.66313143e+02] [ 6.17605717e-02 9.98090989e-01 -9.88467908e-05 5.09493554e+01] [ 9.70471980e-04 3.89842614e-05 9.99999528e-01 -2.34823302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.691400513 meters 0.04189659137294276 Centerline is valid? [True, True] Translation: X:466.34, Y:50.95, Z:-2.35 [[ 9.98130887e-01 -6.11052526e-02 -9.38674322e-04 4.66342282e+02] [ 6.11051891e-02 9.98131327e-01 -9.62062705e-05 5.09458865e+01] [ 9.42798955e-04 3.86685782e-05 9.99999555e-01 -2.34781515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.721400513 meters 0.04189659137294276 Centerline is valid? [True, True] Translation: X:466.37, Y:50.95, Z:-2.35 [[ 9.98119324e-01 -6.12938267e-02 -9.38651926e-04 4.66369642e+02] [ 6.12937631e-02 9.98119765e-01 -9.64249803e-05 5.09488390e+01] [ 9.42797296e-04 3.87101274e-05 9.99999555e-01 -2.34786378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.751400513 meters 0.05152095372602106 Centerline is valid? [True, True] Translation: X:466.40, Y:50.96, Z:-2.35 [[ 9.98205495e-01 -5.98807513e-02 -2.93049832e-04 4.66397090e+02] [ 5.98807451e-02 9.98205538e-01 -3.00722868e-05 5.09596318e+01] [ 2.94324717e-04 1.24702796e-05 9.99999957e-01 -2.34742304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.781400513 meters 0.04955703450864206 Centerline is valid? [True, True] Translation: X:466.43, Y:50.96, Z:-2.35 [[ 9.98292610e-01 -5.84107708e-02 2.16168907e-04 4.66426961e+02] [ 5.84107674e-02 9.98292633e-01 2.21017279e-05 5.09565176e+01] [-2.17090807e-04 -9.43739984e-06 9.99999976e-01 -2.34627721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.811400513 meters 0.051487983845557264 Centerline is valid? [True, True] Translation: X:466.46, Y:50.96, Z:-2.35 [[ 9.98466438e-01 -5.53576196e-02 -5.52774938e-04 4.66457203e+02] [ 5.53575967e-02 9.98466591e-01 -5.66460087e-05 5.09570141e+01] [ 5.55063096e-04 2.59588464e-05 9.99999846e-01 -2.34794710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.841400513 meters 0.05030981716949335 Centerline is valid? [True, True] Translation: X:466.49, Y:50.96, Z:-2.35 [[ 9.98567829e-01 -5.34908392e-02 -1.01025030e-03 4.66487155e+02] [ 5.34907618e-02 9.98568339e-01 -1.03554426e-04 5.09565543e+01] [ 1.01434318e-03 4.93670597e-05 9.99999484e-01 -2.34910434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.871400513 meters 0.0567021427400484 Centerline is valid? [True, True] Translation: X:466.52, Y:50.97, Z:-2.35 [[ 9.98692872e-01 -5.11110211e-02 -4.59844421e-04 4.66515967e+02] [ 5.11110048e-02 9.98692977e-01 -4.71460627e-05 5.09654449e+01] [ 4.61653077e-04 2.35813264e-05 9.99999893e-01 -2.34876413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.901400513 meters 0.05851805418525321 Centerline is valid? [True, True] Translation: X:466.55, Y:50.97, Z:-2.35 [[ 9.98830240e-01 -4.83542582e-02 -1.32765352e-04 4.66546227e+02] [ 4.83542569e-02 9.98830249e-01 -1.36267718e-05 5.09687471e+01] [ 1.33268962e-04 7.19106176e-06 9.99999991e-01 -2.34785345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.931400513 meters 0.05830052350820062 Centerline is valid? [True, True] Translation: X:466.58, Y:50.97, Z:-2.35 [[ 9.98994521e-01 -4.48323340e-02 -9.80874896e-05 4.66577129e+02] [ 4.48323332e-02 9.98994525e-01 -1.00537528e-05 5.09705688e+01] [ 9.84395983e-05 5.64615291e-06 9.99999995e-01 -2.34733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.961400513 meters 0.069113228544545 Centerline is valid? [True, True] Translation: X:466.61, Y:50.98, Z:-2.35 [[ 9.99283880e-01 -3.77732915e-02 -2.21486749e-03 4.66605320e+02] [ 3.77728807e-02 9.99286324e-01 -2.27023763e-04 5.09849674e+01] [ 2.22186223e-03 1.43199262e-04 9.99997521e-01 -2.35126228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99140051300003 meters 0.07027631574171707 Centerline is valid? [True, True] Translation: X:466.64, Y:50.98, Z:-2.35 [[ 9.99387517e-01 -3.47789054e-02 -3.87534546e-03 4.66635683e+02] [ 3.47776254e-02 9.99394996e-01 -3.97202941e-04 5.09847845e+01] [ 3.88681514e-03 2.62184348e-04 9.99992412e-01 -2.35451280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.021400513 meters 0.07854460248800064 Centerline is valid? [True, True] Translation: X:466.66, Y:51.00, Z:-2.36 [[ 9.99412858e-01 -3.39199752e-02 -4.83465403e-03 4.66662687e+02] [ 3.39179717e-02 9.99424497e-01 -4.95831252e-04 5.09984715e+01] [ 4.84869026e-03 3.31558471e-04 9.99988190e-01 -2.35687904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.051400513 meters 0.06691158508127656 Centerline is valid? [True, True] Translation: X:466.69, Y:50.99, Z:-2.36 [[ 9.99404984e-01 -3.41814099e-02 -4.61615015e-03 4.66692435e+02] [ 3.41795809e-02 9.99415595e-01 -4.74544923e-04 5.09850680e+01] [ 4.62967306e-03 3.16484484e-04 9.99989233e-01 -2.35543476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.081400513 meters 0.07206680852518543 Centerline is valid? [True, True] Translation: X:466.72, Y:50.99, Z:-2.35 [[ 9.99347394e-01 -3.59908187e-02 -3.07376958e-03 4.66720793e+02] [ 3.59900168e-02 9.99352100e-01 -3.15833372e-04 5.09883416e+01] [ 3.08314519e-03 2.05002238e-04 9.99995226e-01 -2.35324882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.111400513 meters 0.07056002063888304 Centerline is valid? [True, True] Translation: X:466.75, Y:50.99, Z:-2.35 [[ 9.99297361e-01 -3.73258667e-02 -3.40059182e-03 4.66750282e+02] [ 3.73248904e-02 9.99303122e-01 -3.50143005e-04 5.09860854e+01] [ 3.41129141e-03 2.22970264e-04 9.99994157e-01 -2.35312852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.141400513 meters 0.06913409575326279 Centerline is valid? [True, True] Translation: X:466.78, Y:50.98, Z:-2.35 [[ 9.99271792e-01 -3.79405821e-02 -4.04931961e-03 4.66779515e+02] [ 3.79392002e-02 9.99279962e-01 -4.17556200e-04 5.09842826e+01] [ 4.06224627e-03 2.63624185e-04 9.99991714e-01 -2.35427053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.171400513 meters 0.07074571976605767 Centerline is valid? [True, True] Translation: X:466.81, Y:50.99, Z:-2.36 [[ 9.99275679e-01 -3.77329186e-02 -4.93392992e-03 4.66806641e+02] [ 3.77308640e-02 9.99287808e-01 -5.08886531e-04 5.09870721e+01] [ 4.94961779e-03 3.22356495e-04 9.99987699e-01 -2.35614306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.201400513 meters 0.07303093555926175 Centerline is valid? [True, True] Translation: X:466.84, Y:50.99, Z:-2.36 [[ 9.99401100e-01 -3.41249084e-02 -5.73866213e-03 4.66836746e+02] [ 3.41220705e-02 9.99417497e-01 -5.91742317e-04 5.09907565e+01] [ 5.75551250e-03 3.95572889e-04 9.99983359e-01 -2.35731861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.231400513 meters 0.07579313162048819 Centerline is valid? [True, True] Translation: X:466.87, Y:51.00, Z:-2.36 [[ 9.99490500e-01 -3.14952756e-02 -5.17579028e-03 4.66865845e+02] [ 3.14929316e-02 9.99503832e-01 -5.33790465e-04 5.09970331e+01] [ 5.19003409e-03 3.70517689e-04 9.99986463e-01 -2.35648741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.261400513 meters 0.07569246446677212 Centerline is valid? [True, True] Translation: X:466.90, Y:51.00, Z:-2.35 [[ 9.99567975e-01 -2.91100185e-02 -4.05823170e-03 4.66896613e+02] [ 2.91085581e-02 9.99576169e-01 -4.18470452e-04 5.09998722e+01] [ 4.06869338e-03 3.00160389e-04 9.99991678e-01 -2.35396068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.291400513 meters 0.07940382393775954 Centerline is valid? [True, True] Translation: X:466.93, Y:51.01, Z:-2.35 [[ 9.99621209e-01 -2.73622752e-02 -2.95696496e-03 4.66925163e+02] [ 2.73614919e-02 9.99625558e-01 -3.05029991e-04 5.10077069e+01] [ 2.96420406e-03 2.24007475e-04 9.99995582e-01 -2.35205165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.321400513 meters 0.07404892905733836 Centerline is valid? [True, True] Translation: X:466.95, Y:51.01, Z:-2.35 [[ 9.99629703e-01 -2.71053153e-02 -2.39968409e-03 4.66954636e+02] [ 2.71047971e-02 9.99632567e-01 -2.48187438e-04 5.10052819e+01] [ 2.40552956e-03 1.83052585e-04 9.99997090e-01 -2.35097052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.351400513 meters 0.082987766354716 Centerline is valid? [True, True] Translation: X:466.98, Y:51.02, Z:-2.35 [[ 9.99596633e-01 -2.82672498e-02 -2.74468617e-03 4.66982366e+02] [ 2.82665769e-02 9.99600380e-01 -2.83645647e-04 5.10195416e+01] [ 2.75160722e-03 2.05948351e-04 9.99996193e-01 -2.35294712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.381400513 meters 0.0896346385214001 Centerline is valid? [True, True] Translation: X:467.01, Y:51.03, Z:-2.36 [[ 9.99543386e-01 -3.00374315e-02 -3.28203083e-03 4.67010319e+02] [ 3.00364786e-02 9.99548746e-01 -3.39238923e-04 5.10315667e+01] [ 3.29073967e-03 2.40503373e-04 9.99994557e-01 -2.35508820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.411400513 meters 0.07128478713411253 Centerline is valid? [True, True] Translation: X:467.04, Y:51.01, Z:-2.35 [[ 9.99481951e-01 -3.20318775e-02 -3.12877428e-03 4.67042752e+02] [ 3.20310213e-02 9.99486823e-01 -3.23416452e-04 5.10138263e+01] [ 3.13752831e-03 2.23031070e-04 9.99995053e-01 -2.35392609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.441400513 meters 0.0751048369272227 Centerline is valid? [True, True] Translation: X:467.07, Y:51.02, Z:-2.35 [[ 9.99414961e-01 -3.41236050e-02 -2.30541310e-03 4.67070859e+02] [ 3.41231460e-02 9.99417608e-01 -2.38160048e-04 5.10229420e+01] [ 2.31219732e-03 1.59352768e-04 9.99997314e-01 -2.35326706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.471400513 meters 0.0739881781368328 Centerline is valid? [True, True] Translation: X:467.10, Y:51.03, Z:-2.35 [[ 9.99303151e-01 -3.73231002e-02 4.46066740e-04 4.67099972e+02] [ 3.73230834e-02 9.99303250e-01 4.60661911e-05 5.10274594e+01] [-4.47475276e-04 -2.93855038e-05 9.99999899e-01 -2.34842409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.501400513 meters 0.06931892866095496 Centerline is valid? [True, True] Translation: X:467.13, Y:51.03, Z:-2.35 [[ 9.99272768e-01 -3.81084000e-02 1.29772984e-03 4.67129207e+02] [ 3.81082579e-02 9.99273608e-01 1.34098307e-04 5.10253624e+01] [-1.30189745e-03 -8.45465630e-05 9.99999149e-01 -2.34656444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.531400513 meters 0.07028689227626059 Centerline is valid? [True, True] Translation: X:467.16, Y:51.03, Z:-2.35 [[ 9.99250598e-01 -3.86910010e-02 1.11725678e-03 4.67157071e+02] [ 3.86908959e-02 9.99251220e-01 1.15482072e-04 5.10299614e+01] [-1.12088831e-03 -7.21678635e-05 9.99999369e-01 -2.34660878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.561400513 meters 0.06398773515631259 Centerline is valid? [True, True] Translation: X:467.19, Y:51.03, Z:-2.35 [[ 9.99238611e-01 -3.90136144e-02 3.68840637e-04 4.67186528e+02] [ 3.90136031e-02 9.99238679e-01 3.79289781e-05 5.10257258e+01] [-3.70039578e-04 -2.35102972e-05 9.99999931e-01 -2.34809445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.591400513 meters 0.07016429999857268 Centerline is valid? [True, True] Translation: X:467.21, Y:51.04, Z:-2.35 [[ 9.99263090e-01 -3.83768953e-02 -7.01056086e-04 4.67213011e+02] [ 3.83768536e-02 9.99263335e-01 -7.28594807e-05 5.10381976e+01] [ 7.03335763e-04 4.59014630e-05 9.99999752e-01 -2.35062909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.621400513 meters 0.06383949333308465 Centerline is valid? [True, True] Translation: X:467.24, Y:51.03, Z:-2.35 [[ 9.99269147e-01 -3.82070292e-02 -1.18086000e-03 4.67242201e+02] [ 3.82069105e-02 9.99269842e-01 -1.22944830e-04 5.10338496e+01] [ 1.18469514e-03 7.77379626e-05 9.99999295e-01 -2.35147838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.651400513 meters 0.07051309904801545 Centerline is valid? [True, True] Translation: X:467.27, Y:51.04, Z:-2.35 [[ 9.99263081e-01 -3.83537597e-02 -1.51149524e-03 4.67268048e+02] [ 3.83535655e-02 9.99264219e-01 -1.57266030e-04 5.10447825e+01] [ 1.51641485e-03 9.91789059e-05 9.99998845e-01 -2.35261471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.681400513 meters 0.061769616880308506 Centerline is valid? [True, True] Translation: X:467.30, Y:51.04, Z:-2.35 [[ 9.99215710e-01 -3.94590360e-02 -3.30905300e-03 4.67298069e+02] [ 3.94581115e-02 9.99221166e-01 -3.44220519e-04 5.10365231e+01] [ 3.32005841e-03 2.13381568e-04 9.99994466e-01 -2.35486516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.711400513 meters 0.07159884113138588 Centerline is valid? [True, True] Translation: X:467.32, Y:51.05, Z:-2.36 [[ 9.99186857e-01 -4.01184471e-02 -4.01688558e-03 4.67324204e+02] [ 4.01170891e-02 9.99194898e-01 -4.18092767e-04 5.10514673e+01] [ 4.03042481e-03 2.56607040e-04 9.99991845e-01 -2.35722152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74140051300003 meters 0.06734015324813086 Centerline is valid? [True, True] Translation: X:467.35, Y:51.05, Z:-2.36 [[ 9.99139879e-01 -4.12017788e-02 -4.68138936e-03 4.67353467e+02] [ 4.11999454e-02 9.99150803e-01 -4.87427142e-04 5.10485788e+01] [ 4.69749680e-03 2.94134909e-04 9.99988923e-01 -2.35790283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.771400513 meters 0.06684150800681227 Centerline is valid? [True, True] Translation: X:467.38, Y:51.05, Z:-2.36 [[ 9.99084896e-01 -4.25238813e-02 -4.59237218e-03 4.67381913e+02] [ 4.25221303e-02 9.99095411e-01 -4.78295793e-04 5.10495486e+01] [ 4.60855697e-03 2.82580654e-04 9.99989341e-01 -2.35784193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.801400513 meters 0.05959327632806885 Centerline is valid? [True, True] Translation: X:467.41, Y:51.04, Z:-2.36 [[ 9.99009765e-01 -4.42521831e-02 -4.60808700e-03 4.67412641e+02] [ 4.42504380e-02 9.99020354e-01 -4.80022295e-04 5.10412650e+01] [ 4.62481474e-03 2.75637092e-04 9.99989267e-01 -2.35689302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.831400513 meters 0.0614315343169981 Centerline is valid? [True, True] Translation: X:467.44, Y:51.04, Z:-2.36 [[ 9.98870587e-01 -4.71827193e-02 -5.59840360e-03 4.67441883e+02] [ 4.71801890e-02 9.98886225e-01 -5.83241900e-04 5.10415319e+01] [ 5.61968717e-03 3.18449439e-04 9.99984159e-01 -2.35849688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.861400513 meters 0.059456793490267286 Centerline is valid? [True, True] Translation: X:467.47, Y:51.04, Z:-2.36 [[ 9.98826210e-01 -4.80467936e-02 -6.14065646e-03 4.67471300e+02] [ 4.80437580e-02 9.98845026e-01 -6.40973847e-04 5.10403715e+01] [ 6.16436090e-03 3.45201265e-04 9.99980941e-01 -2.35928889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.891400513 meters 0.05899836811320523 Centerline is valid? [True, True] Translation: X:467.50, Y:51.04, Z:-2.36 [[ 9.98811287e-01 -4.82957478e-02 -6.59798083e-03 4.67499043e+02] [ 4.82922406e-02 9.98833011e-01 -6.89947697e-04 5.10406283e+01] [ 6.62360259e-03 3.70496270e-04 9.99977995e-01 -2.36051160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.921400513 meters 0.061126833383823985 Centerline is valid? [True, True] Translation: X:467.53, Y:51.04, Z:-2.36 [[ 9.98819637e-01 -4.81079100e-02 -6.70535380e-03 4.67526204e+02] [ 4.81042799e-02 9.98842073e-01 -7.01698385e-04 5.10435869e+01] [ 6.73134673e-03 3.78313910e-04 9.99977273e-01 -2.36169742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.951400513 meters 0.06430172883741875 Centerline is valid? [True, True] Translation: X:467.55, Y:51.05, Z:-2.36 [[ 9.98838059e-01 -4.77714079e-02 -6.35809381e-03 4.67553527e+02] [ 4.77681354e-02 9.98858229e-01 -6.65649967e-04 5.10479165e+01] [ 6.38263336e-03 3.61162235e-04 9.99979566e-01 -2.36185246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.981400513 meters 0.061337551681812014 Centerline is valid? [True, True] Translation: X:467.58, Y:51.04, Z:-2.36 [[ 9.98863488e-01 -4.74216375e-02 -4.78754087e-03 4.67583065e+02] [ 4.74197734e-02 9.98874924e-01 -5.02196684e-04 5.10415248e+01] [ 4.80596951e-03 2.74601829e-04 9.99988414e-01 -2.35879693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.011400513 meters 0.060489549666732444 Centerline is valid? [True, True] Translation: X:467.61, Y:51.04, Z:-2.36 [[ 9.98880153e-01 -4.71379887e-02 -4.05584027e-03 4.67612539e+02] [ 4.71366457e-02 9.98888360e-01 -4.26141359e-04 5.10394845e+01] [ 4.07141908e-03 2.34485440e-04 9.99991684e-01 -2.35694715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.041400513 meters 0.05915327558075977 Centerline is valid? [True, True] Translation: X:467.64, Y:51.04, Z:-2.36 [[ 9.98911171e-01 -4.65081395e-02 -3.66964163e-03 4.67641423e+02] [ 4.65070356e-02 9.98917888e-01 -3.85623872e-04 5.10360420e+01] [ 3.68360531e-03 2.14539840e-04 9.99993192e-01 -2.35564999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.071400513 meters 0.0561198309693248 Centerline is valid? [True, True] Translation: X:467.67, Y:51.03, Z:-2.35 [[ 9.98947513e-01 -4.57209622e-02 -3.66881821e-03 4.67670388e+02] [ 4.57198527e-02 9.98954226e-01 -3.85760379e-04 5.10304770e+01] [ 3.68261879e-03 2.17616543e-04 9.99993195e-01 -2.35488164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.101400513 meters 0.06622729092897504 Centerline is valid? [True, True] Translation: X:467.70, Y:51.04, Z:-2.35 [[ 9.99083709e-01 -4.27740379e-02 -1.45712568e-03 4.67699444e+02] [ 4.27738597e-02 9.99084768e-01 -1.53222958e-04 5.10389383e+01] [ 1.46234604e-03 9.07556719e-05 9.99998927e-01 -2.35330034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.131400513 meters 0.06792246708396475 Centerline is valid? [True, True] Translation: X:467.73, Y:51.04, Z:-2.35 [[ 9.99164445e-01 -4.08701328e-02 -2.10774303e-04 4.67730069e+02] [ 4.08701290e-02 9.99164467e-01 -2.21595151e-05 5.10410385e+01] [ 2.11503856e-04 1.35266266e-05 9.99999978e-01 -2.35180442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.161400513 meters 0.07223552560799289 Centerline is valid? [True, True] Translation: X:467.76, Y:51.04, Z:-2.35 [[ 9.99328729e-01 -3.66151638e-02 1.19240165e-03 4.67759706e+02] [ 3.66150402e-02 9.99329437e-01 1.25356039e-04 5.10427312e+01] [-1.19619201e-03 -8.16120566e-05 9.99999281e-01 -2.35029808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.191400513 meters 0.08148463854320954 Centerline is valid? [True, True] Translation: X:467.79, Y:51.05, Z:-2.35 [[ 9.99404969e-01 -3.44741100e-02 1.11493121e-03 4.67788241e+02] [ 3.44740006e-02 9.99405588e-01 1.17214299e-04 5.10533674e+01] [-1.11830934e-03 -7.87084141e-05 9.99999372e-01 -2.35038243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.221400513 meters 0.07301112206329356 Centerline is valid? [True, True] Translation: X:467.82, Y:51.04, Z:-2.35 [[ 9.99473587e-01 -3.24424660e-02 1.88016347e-04 4.67820150e+02] [ 3.24424629e-02 9.99473605e-01 1.97728981e-05 5.10424868e+01] [-1.88558858e-04 -1.36627760e-05 9.99999982e-01 -2.35098390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.251400513 meters 0.07703315138447345 Centerline is valid? [True, True] Translation: X:467.85, Y:51.05, Z:-2.35 [[ 9.99539433e-01 -3.03325304e-02 -9.27583680e-04 4.67849472e+02] [ 3.03324528e-02 9.99539861e-01 -9.75970110e-05 5.10466579e+01] [ 9.30117226e-04 6.94161728e-05 9.99999565e-01 -2.35266446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.281400513 meters 0.0868765147618227 Centerline is valid? [True, True] Translation: X:467.88, Y:51.06, Z:-2.35 [[ 9.99600620e-01 -2.81709716e-02 -2.23556215e-03 4.67878059e+02] [ 2.81705156e-02 9.99603105e-01 -2.35198264e-04 5.10581179e+01] [ 2.24130063e-03 1.72127391e-04 9.99997473e-01 -2.35464407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.311400513 meters 0.09175723882585529 Centerline is valid? [True, True] Translation: X:467.91, Y:51.06, Z:-2.36 [[ 9.99666138e-01 -2.57336941e-02 -2.32132615e-03 4.67907784e+02] [ 2.57331959e-02 9.99668817e-01 -2.44240271e-04 5.10613872e+01] [ 2.32684257e-03 1.84423588e-04 9.99997276e-01 -2.35529455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.341400513 meters 0.08296608216796483 Centerline is valid? [True, True] Translation: X:467.94, Y:51.05, Z:-2.35 [[ 9.99669482e-01 -2.56603939e-02 -1.57184744e-03 4.67937530e+02] [ 2.56601646e-02 9.99670710e-01 -1.65893036e-04 5.10515182e+01] [ 1.57558673e-03 1.25504341e-04 9.99998751e-01 -2.35403800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.371400513 meters 0.0877480646696842 Centerline is valid? [True, True] Translation: X:467.96, Y:51.06, Z:-2.35 [[ 9.99661730e-01 -2.59812970e-02 -1.18267723e-03 4.67964822e+02] [ 2.59811674e-02 9.99662425e-01 -1.24775600e-04 5.10583180e+01] [ 1.18551982e-03 9.40060574e-05 9.99999293e-01 -2.35409351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.401400513 meters 0.08462405021036638 Centerline is valid? [True, True] Translation: X:467.99, Y:51.06, Z:-2.35 [[ 9.99652871e-01 -2.63148016e-02 -1.29210975e-03 4.67994581e+02] [ 2.63146468e-02 9.99653700e-01 -1.36684613e-04 5.10550469e+01] [ 1.29525912e-03 1.02635754e-04 9.99999156e-01 -2.35462712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.431400513 meters 0.08274925801391736 Centerline is valid? [True, True] Translation: X:468.02, Y:51.05, Z:-2.36 [[ 9.99650771e-01 -2.63442771e-02 -2.07705695e-03 4.68024561e+02] [ 2.63438767e-02 9.99652916e-01 -2.19888857e-04 5.10494196e+01] [ 2.08212885e-03 1.65094334e-04 9.99997819e-01 -2.35657417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.461400513 meters 0.081301762635207 Centerline is valid? [True, True] Translation: X:468.05, Y:51.05, Z:-2.36 [[ 9.99617995e-01 -2.74956969e-02 -2.80205149e-03 4.68053321e+02] [ 2.74949734e-02 9.99621898e-01 -2.96419667e-04 5.10515782e+01] [ 2.80914229e-03 2.19264102e-04 9.99996030e-01 -2.35707625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49140051300003 meters 0.07789925054227591 Centerline is valid? [True, True] Translation: X:468.08, Y:51.04, Z:-2.36 [[ 9.99578671e-01 -2.86673557e-02 -4.54577943e-03 4.68083768e+02] [ 2.86654596e-02 9.99588945e-01 -4.81734474e-04 5.10406986e+01] [ 4.55772092e-03 3.51224649e-04 9.99989552e-01 -2.35998674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.521400513 meters 0.07808961505932402 Centerline is valid? [True, True] Translation: X:468.11, Y:51.05, Z:-2.36 [[ 9.99536514e-01 -3.01109984e-02 -4.48172537e-03 4.68112611e+02] [ 3.01091703e-02 9.99546503e-01 -4.74829820e-04 5.10475207e+01] [ 4.49399052e-03 3.39668710e-04 9.99989844e-01 -2.35971081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.551400513 meters 0.09112599594734003 Centerline is valid? [True, True] Translation: X:468.14, Y:51.06, Z:-2.36 [[ 9.99515834e-01 -3.08038446e-02 -4.38420515e-03 4.68138861e+02] [ 3.08021005e-02 9.99525395e-01 -4.64802576e-04 5.10648059e+01] [ 4.39644209e-03 3.29534807e-04 9.99990281e-01 -2.36132996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.581400513 meters 0.07155939308037633 Centerline is valid? [True, True] Translation: X:468.17, Y:51.04, Z:-2.36 [[ 9.99531833e-01 -3.03200833e-02 -4.09980001e-03 4.68170407e+02] [ 3.03185505e-02 9.99540192e-01 -4.35509198e-04 5.10410832e+01] [ 4.11111957e-03 3.11005313e-04 9.99991501e-01 -2.35884725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.611400513 meters 0.07155939308037633 Centerline is valid? [True, True] Translation: X:468.20, Y:51.04, Z:-2.36 [[ 9.99526251e-01 -3.05035238e-02 -4.09971574e-03 4.68197830e+02] [ 3.05019894e-02 9.99534611e-01 -4.36302080e-04 5.10441280e+01] [ 4.11111653e-03 3.11045896e-04 9.99991501e-01 -2.35889598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.641400513 meters 0.07284681202804048 Centerline is valid? [True, True] Translation: X:468.23, Y:51.05, Z:-2.36 [[ 9.99551072e-01 -2.97220896e-02 -3.77528990e-03 4.68227221e+02] [ 2.97207835e-02 9.99558159e-01 -4.01603357e-04 5.10480753e+01] [ 3.78555831e-03 2.89218492e-04 9.99992793e-01 -2.35837869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.671400513 meters 0.07712615367667536 Centerline is valid? [True, True] Translation: X:468.26, Y:51.06, Z:-2.36 [[ 9.99578928e-01 -2.88188529e-02 -3.38223494e-03 4.68255109e+02] [ 2.88177990e-02 9.99584616e-01 -3.59932395e-04 5.10553823e+01] [ 3.39120285e-03 2.62312270e-04 9.99994215e-01 -2.35871570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.701400513 meters 0.078617792399979 Centerline is valid? [True, True] Translation: X:468.28, Y:51.06, Z:-2.36 [[ 9.99601453e-01 -2.80091020e-02 -3.52486841e-03 4.68283290e+02] [ 2.80079519e-02 9.99607630e-01 -3.75226798e-04 5.10589004e+01] [ 3.53399512e-03 2.76352907e-04 9.99993717e-01 -2.35902782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.731400513 meters 0.0791135811850763 Centerline is valid? [True, True] Translation: X:468.31, Y:51.06, Z:-2.36 [[ 9.99612282e-01 -2.75759455e-02 -3.85404181e-03 4.68311483e+02] [ 2.75745664e-02 9.99619665e-01 -4.10518797e-04 5.10615786e+01] [ 3.86389643e-03 3.04086099e-04 9.99992489e-01 -2.36022507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.761400513 meters 0.07763364004108124 Centerline is valid? [True, True] Translation: X:468.34, Y:51.06, Z:-2.36 [[ 9.99615036e-01 -2.73966792e-02 -4.38207993e-03 4.68340636e+02] [ 2.73948908e-02 9.99624580e-01 -4.67631009e-04 5.10618064e+01] [ 4.39324634e-03 3.47404386e-04 9.99990289e-01 -2.36131019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.791400513 meters 0.08183566119661138 Centerline is valid? [True, True] Translation: X:468.37, Y:51.07, Z:-2.36 [[ 9.99648686e-01 -2.63140997e-02 -3.17374340e-03 4.68368568e+02] [ 2.63131560e-02 9.99653692e-01 -3.38746280e-04 5.10675201e+01] [ 3.18155811e-03 2.55116069e-04 9.99994906e-01 -2.35943632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.821400513 meters 0.08474635574919925 Centerline is valid? [True, True] Translation: X:468.40, Y:51.07, Z:-2.36 [[ 9.99669402e-01 -2.55656748e-02 -2.73562751e-03 4.68396869e+02] [ 2.55649707e-02 9.99673120e-01 -2.92052763e-04 5.10735898e+01] [ 2.74219982e-03 2.22019974e-04 9.99996216e-01 -2.35842924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.851400513 meters 0.08194287799210943 Centerline is valid? [True, True] Translation: X:468.43, Y:51.07, Z:-2.36 [[ 9.99693000e-01 -2.46504262e-02 -2.50233125e-03 4.68426300e+02] [ 2.46498338e-02 9.99696111e-01 -2.67302521e-04 5.10737559e+01] [ 2.50815994e-03 2.05538410e-04 9.99996833e-01 -2.35818827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.881400513 meters 0.08704036067364374 Centerline is valid? [True, True] Translation: X:468.45, Y:51.09, Z:-2.36 [[ 9.99745961e-01 -2.23812700e-02 -2.66308148e-03 4.68454601e+02] [ 2.23805913e-02 9.99749483e-01 -2.84379355e-04 5.10860387e+01] [ 2.66877910e-03 2.24705773e-04 9.99996414e-01 -2.35888070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.911400513 meters 0.08660638854965409 Centerline is valid? [True, True] Translation: X:468.48, Y:51.09, Z:-2.36 [[ 9.99769974e-01 -2.12529409e-02 -2.88291758e-03 4.68484199e+02] [ 2.12521406e-02 9.99774100e-01 -3.07957312e-04 5.10895801e+01] [ 2.88881133e-03 2.46618305e-04 9.99995797e-01 -2.35926574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.941400513 meters 0.08702397763896914 Centerline is valid? [True, True] Translation: X:468.51, Y:51.09, Z:-2.36 [[ 9.99780594e-01 -2.06921890e-02 -3.25545481e-03 4.68513219e+02] [ 2.06911652e-02 9.99785854e-01 -3.47876399e-04 5.10936600e+01] [ 3.26195600e-03 2.80440920e-04 9.99994640e-01 -2.35927163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.971400513 meters 0.0799015780095797 Centerline is valid? [True, True] Translation: X:468.54, Y:51.09, Z:-2.36 [[ 9.99777302e-01 -2.08009652e-02 -3.55902202e-03 4.68543032e+02] [ 2.07997393e-02 9.99783589e-01 -3.81109819e-04 5.10884306e+01] [ 3.56617926e-03 3.06998217e-04 9.99993594e-01 -2.35893340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.001400513 meters 0.08911644713535276 Centerline is valid? [True, True] Translation: X:468.57, Y:51.11, Z:-2.36 [[ 9.99728896e-01 -2.30983215e-02 -2.93281689e-03 4.68570470e+02] [ 2.30974993e-02 9.99733168e-01 -3.13883718e-04 5.11055353e+01] [ 2.93928450e-03 2.46057887e-04 9.99995650e-01 -2.35898101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.031400513 meters 0.09034773188341513 Centerline is valid? [True, True] Translation: X:468.60, Y:51.11, Z:-2.36 [[ 9.99679338e-01 -2.51971961e-02 -2.51455690e-03 4.68599495e+02] [ 2.51965983e-02 9.99682479e-01 -2.69154821e-04 5.11113613e+01] [ 2.52054042e-03 2.05710233e-04 9.99996802e-01 -2.35887050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.061400513 meters 0.08943526200271192 Centerline is valid? [True, True] Translation: X:468.63, Y:51.11, Z:-2.36 [[ 9.99619336e-01 -2.75013455e-02 -2.20412261e-03 4.68628632e+02] [ 2.75008917e-02 9.99621751e-01 -2.35956698e-04 5.11135973e+01] [ 2.20977803e-03 1.75251540e-04 9.99997543e-01 -2.35875782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.091400513 meters 0.08706749400084383 Centerline is valid? [True, True] Translation: X:468.66, Y:51.11, Z:-2.36 [[ 9.99540868e-01 -3.02426344e-02 -1.85377550e-03 4.68658809e+02] [ 3.02423179e-02 9.99542577e-01 -1.98490008e-04 5.11139629e+01] [ 1.85893040e-03 1.42336407e-04 9.99998262e-01 -2.35858291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.121400513 meters 0.07637150583846056 Centerline is valid? [True, True] Translation: X:468.69, Y:51.10, Z:-2.36 [[ 9.99464215e-01 -3.26671991e-02 -2.03404841e-03 4.68690707e+02] [ 3.26668232e-02 9.99466273e-01 -2.17768933e-04 5.11042111e+01] [ 2.04007669e-03 1.51206356e-04 9.99997908e-01 -2.35852142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.151400513 meters 0.07363857062723883 Centerline is valid? [True, True] Translation: X:468.72, Y:51.10, Z:-2.36 [[ 9.99400227e-01 -3.45409465e-02 -2.47158807e-03 4.68721174e+02] [ 3.45403971e-02 9.99403267e-01 -2.64656298e-04 5.11045821e+01] [ 2.47925467e-03 1.79127931e-04 9.99996911e-01 -2.35850483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.181400513 meters 0.07768771408025486 Centerline is valid? [True, True] Translation: X:468.75, Y:51.11, Z:-2.36 [[ 9.99334474e-01 -3.63513363e-02 -3.03128896e-03 4.68749529e+02] [ 3.63505179e-02 9.99339049e-01 -3.24672192e-04 5.11142616e+01] [ 3.04108769e-03 2.14267191e-04 9.99995353e-01 -2.35923921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.211400513 meters 0.07111974651044238 Centerline is valid? [True, True] Translation: X:468.78, Y:51.11, Z:-2.36 [[ 9.99331225e-01 -3.64388037e-02 -3.05218472e-03 4.68777720e+02] [ 3.64379726e-02 9.99335863e-01 -3.27476558e-04 5.11093743e+01] [ 3.06209050e-03 2.16042127e-04 9.99995288e-01 -2.35881737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24140051300003 meters 0.08100443028443881 Centerline is valid? [True, True] Translation: X:468.80, Y:51.13, Z:-2.36 [[ 9.99348678e-01 -3.60076878e-02 -2.38035856e-03 4.68803688e+02] [ 3.60071809e-02 9.99351499e-01 -2.55456037e-04 5.11252068e+01] [ 2.38801328e-03 1.69579652e-04 9.99997134e-01 -2.35883298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.271400513 meters 0.07342204644028776 Centerline is valid? [True, True] Translation: X:468.83, Y:51.12, Z:-2.36 [[ 9.99417930e-01 -3.41018426e-02 -9.29842549e-04 4.68834223e+02] [ 3.41017644e-02 9.99418361e-01 -9.97903262e-05 5.11207981e+01] [ 9.32704750e-04 6.80229697e-05 9.99999563e-01 -2.35692427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.301400513 meters 0.08592687713920405 Centerline is valid? [True, True] Translation: X:468.86, Y:51.14, Z:-2.36 [[ 9.99450010e-01 -3.31404441e-02 -1.17798692e-03 4.68861213e+02] [ 3.31403179e-02 9.99450701e-01 -1.26530053e-04 5.11388935e+01] [ 1.18153312e-03 8.74216019e-05 9.99999298e-01 -2.35806124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.331400513 meters 0.07754050699116247 Centerline is valid? [True, True] Translation: X:468.89, Y:51.13, Z:-2.36 [[ 9.99478705e-01 -3.21973715e-02 -2.37628339e-03 4.68891419e+02] [ 3.21968552e-02 9.99481514e-01 -2.55209045e-04 5.11317836e+01] [ 2.38326839e-03 1.78567154e-04 9.99997144e-01 -2.35924532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.361400513 meters 0.07935270399287254 Centerline is valid? [True, True] Translation: X:468.92, Y:51.14, Z:-2.36 [[ 9.99490286e-01 -3.16786098e-02 -3.95391251e-03 4.68918464e+02] [ 3.16771752e-02 9.99498062e-01 -4.24925969e-04 5.11369804e+01] [ 3.96538895e-03 2.99460599e-04 9.99992093e-01 -2.36173661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.391400513 meters 0.07613503374779097 Centerline is valid? [True, True] Translation: X:468.95, Y:51.14, Z:-2.36 [[ 9.99476551e-01 -3.19559790e-02 -5.04374685e-03 4.68946492e+02] [ 3.19536427e-02 9.99489204e-01 -5.43130069e-04 5.11366431e+01] [ 5.05852678e-03 3.81679684e-04 9.99987133e-01 -2.36349431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.421400513 meters 0.084856827085977 Centerline is valid? [True, True] Translation: X:468.97, Y:51.15, Z:-2.36 [[ 9.99452439e-01 -3.26573614e-02 -5.32146616e-03 4.68973377e+02] [ 3.26547670e-02 9.99466526e-01 -5.73733491e-04 5.11508228e+01] [ 5.33736392e-03 3.99648100e-04 9.99985676e-01 -2.36482170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.451400513 meters 0.0748731039228255 Centerline is valid? [True, True] Translation: X:469.00, Y:51.14, Z:-2.36 [[ 9.99411844e-01 -3.41561955e-02 -3.05288896e-03 4.69004303e+02] [ 3.41553488e-02 9.99416482e-01 -3.29054234e-04 5.11417769e+01] [ 3.06234678e-03 2.24588212e-04 9.99995286e-01 -2.36068479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.481400513 meters 0.06989800195357122 Centerline is valid? [True, True] Translation: X:469.03, Y:51.14, Z:-2.36 [[ 9.99389605e-01 -3.48700910e-02 -2.12012306e-03 4.69033928e+02] [ 3.48696830e-02 9.99391841e-01 -2.29135087e-04 5.11369233e+01] [ 2.12682365e-03 1.55067205e-04 9.99997726e-01 -2.35953156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.511400513 meters 0.07577732429308259 Centerline is valid? [True, True] Translation: X:469.06, Y:51.15, Z:-2.36 [[ 9.99364333e-01 -3.56344541e-02 -1.05610499e-03 4.69061277e+02] [ 3.56343533e-02 9.99364888e-01 -1.14127684e-04 5.11484656e+01] [ 1.05950112e-03 7.64215189e-05 9.99999436e-01 -2.35823109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.541400513 meters 0.07449505793481329 Centerline is valid? [True, True] Translation: X:469.09, Y:51.15, Z:-2.36 [[ 9.99343426e-01 -3.62145867e-02 -1.10518803e-03 4.69090113e+02] [ 3.62144762e-02 9.99344034e-01 -1.19795224e-04 5.11500939e+01] [ 1.10880140e-03 7.96927640e-05 9.99999382e-01 -2.35872339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.571400513 meters 0.07448777180059564 Centerline is valid? [True, True] Translation: X:469.12, Y:51.15, Z:-2.36 [[ 9.99335289e-01 -3.64217904e-02 -1.55995893e-03 4.69118024e+02] [ 3.64215703e-02 9.99336500e-01 -1.69294517e-04 5.11537973e+01] [ 1.56508991e-03 1.12365831e-04 9.99998769e-01 -2.35962332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.601400513 meters 0.08140117329549666 Centerline is valid? [True, True] Translation: X:469.14, Y:51.17, Z:-2.36 [[ 9.99346320e-01 -3.60911809e-02 -2.08767991e-03 4.69144411e+02] [ 3.60907863e-02 9.99348490e-01 -2.26358183e-04 5.11657855e+01] [ 2.09448930e-03 1.50864208e-04 9.99997795e-01 -2.36113213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.631400513 meters 0.07420129520653379 Centerline is valid? [True, True] Translation: X:469.17, Y:51.16, Z:-2.36 [[ 9.99395418e-01 -3.47448333e-02 -1.26307702e-03 4.69174213e+02] [ 3.47446876e-02 9.99396212e-01 -1.37044682e-04 5.11620061e+01] [ 1.26707598e-03 9.30766112e-05 9.99999193e-01 -2.35920751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.661400513 meters 0.07746891297635343 Centerline is valid? [True, True] Translation: X:469.20, Y:51.17, Z:-2.36 [[ 9.99407370e-01 -3.44222116e-02 1.42771584e-04 4.69201094e+02] [ 3.44222097e-02 9.99407380e-01 1.53897855e-05 5.11698597e+01] [-1.43216725e-04 -1.04661516e-05 9.99999990e-01 -2.35710910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.691400513 meters 0.0780564751552021 Centerline is valid? [True, True] Translation: X:469.23, Y:51.17, Z:-2.36 [[ 9.99402954e-01 -3.45333540e-02 1.08748289e-03 4.69228382e+02] [ 3.45332461e-02 9.99403543e-01 1.17857868e-04 5.11744270e+01] [-1.09090428e-03 -8.02331872e-05 9.99999402e-01 -2.35539135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.721400513 meters 0.07461993598231653 Centerline is valid? [True, True] Translation: X:469.26, Y:51.17, Z:-2.36 [[ 9.99377649e-01 -3.52572704e-02 1.11356877e-03 4.69257713e+02] [ 3.52571574e-02 9.99378266e-01 1.20902792e-04 5.11738424e+01] [-1.11713913e-03 -8.15662784e-05 9.99999373e-01 -2.35531779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.751400513 meters 0.07491739095693095 Centerline is valid? [True, True] Translation: X:469.29, Y:51.18, Z:-2.36 [[ 9.99337204e-01 -3.63979890e-02 5.82859218e-04 4.69286591e+02] [ 3.63979582e-02 9.99337373e-01 6.34013726e-05 5.11778287e+01] [-5.84780682e-04 -4.21444650e-05 9.99999828e-01 -2.35571903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.781400513 meters 0.07583558145794143 Centerline is valid? [True, True] Translation: X:469.32, Y:51.18, Z:-2.36 [[ 9.99273619e-01 -3.81056222e-02 4.42400954e-04 4.69315227e+02] [ 3.81056046e-02 9.99273717e-01 4.81235367e-05 5.11821251e+01] [-4.43913423e-04 -3.12306248e-05 9.99999901e-01 -2.35644335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.811400513 meters 0.06754048011816506 Centerline is valid? [True, True] Translation: X:469.35, Y:51.17, Z:-2.35 [[ 9.99081445e-01 -4.28357212e-02 1.16922363e-03 4.69346433e+02] [ 4.28356014e-02 9.99082126e-01 1.27285872e-04 5.11729361e+01] [-1.17360282e-03 -7.70845555e-05 9.99999308e-01 -2.35496198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.841400513 meters 0.06778098111874196 Centerline is valid? [True, True] Translation: X:469.38, Y:51.17, Z:-2.35 [[ 9.98960414e-01 -4.55556452e-02 1.66539199e-03 4.69376250e+02] [ 4.55554060e-02 9.98961797e-01 1.81312064e-04 5.11746825e+01] [-1.67192277e-03 -1.05255966e-04 9.99998597e-01 -2.35412957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.871400513 meters 0.06303634195768174 Centerline is valid? [True, True] Translation: X:469.41, Y:51.17, Z:-2.35 [[ 9.98837212e-01 -4.81854789e-02 1.54407110e-03 4.69407334e+02] [ 4.81852764e-02 9.98838401e-01 1.68124389e-04 5.11706254e+01] [-1.55037866e-03 -9.35274035e-05 9.99998794e-01 -2.35478943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.901400513 meters 0.05900709272070206 Centerline is valid? [True, True] Translation: X:469.44, Y:51.16, Z:-2.36 [[ 9.98660443e-01 -5.17307762e-02 1.11621765e-03 4.69438491e+02] [ 5.17306725e-02 9.98661065e-01 1.21543730e-04 5.11647149e+01] [-1.12101066e-03 -6.36382252e-05 9.99999370e-01 -2.35632619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.931400513 meters 0.057091126591776495 Centerline is valid? [True, True] Translation: X:469.47, Y:51.16, Z:-2.36 [[ 9.98619365e-01 -5.25161926e-02 1.18857716e-03 4.69468282e+02] [ 5.25160758e-02 9.98620070e-01 1.29341749e-04 5.11622856e+01] [-1.19372954e-03 -6.67437672e-05 9.99999285e-01 -2.35693087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.961400513 meters 0.05650432771490827 Centerline is valid? [True, True] Translation: X:469.50, Y:51.16, Z:-2.36 [[ 9.98628532e-01 -5.23441794e-02 1.06874927e-03 4.69497834e+02] [ 5.23440846e-02 9.98629102e-01 1.16426984e-04 5.11603996e+01] [-1.07337840e-03 -6.03246059e-05 9.99999422e-01 -2.35712329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99140051300003 meters 0.059567450286265956 Centerline is valid? [True, True] Translation: X:469.53, Y:51.16, Z:-2.36 [[ 9.98677264e-01 -5.14125570e-02 6.86726539e-04 4.69526794e+02] [ 5.14125175e-02 9.98677499e-01 7.49560467e-05 5.11623443e+01] [-6.89672024e-04 -3.95505594e-05 9.99999761e-01 -2.35713821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.021400513 meters 0.06195526215266654 Centerline is valid? [True, True] Translation: X:469.56, Y:51.16, Z:-2.36 [[ 9.98748936e-01 -5.00053121e-02 1.79402865e-04 4.69555581e+02] [ 5.00053094e-02 9.98748952e-01 1.95439976e-05 5.11641907e+01] [-1.80155727e-04 -1.05484510e-05 9.99999984e-01 -2.35757666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.051400513 meters 0.06585509980270318 Centerline is valid? [True, True] Translation: X:469.59, Y:51.17, Z:-2.36 [[ 9.98960435e-01 -4.55692793e-02 -1.22088692e-03 4.69585599e+02] [ 4.55691501e-02 9.98961178e-01 -1.33438666e-04 5.11663055e+01] [ 1.22569934e-03 7.76651683e-05 9.99999246e-01 -2.36027343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.081400513 meters 0.07449251196014854 Centerline is valid? [True, True] Translation: X:469.61, Y:51.18, Z:-2.36 [[ 9.99087333e-01 -4.26879539e-02 -1.49668823e-03 4.69614002e+02] [ 4.26877565e-02 9.99088449e-01 -1.63598647e-04 5.11772903e+01] [ 1.50230762e-03 9.95590734e-05 9.99998867e-01 -2.36144508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.111400513 meters 0.07086089711975611 Centerline is valid? [True, True] Translation: X:469.65, Y:51.17, Z:-2.36 [[ 9.99213064e-01 -3.96325522e-02 -1.58532791e-03 4.69645307e+02] [ 3.96323270e-02 9.99214316e-01 -1.73278099e-04 5.11732586e+01] [ 1.59094980e-03 1.10311506e-04 9.99998728e-01 -2.36142165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.141400513 meters 0.08024505037961625 Centerline is valid? [True, True] Translation: X:469.67, Y:51.19, Z:-2.36 [[ 9.99328712e-01 -3.65833710e-02 -1.94507842e-03 4.69673889e+02] [ 3.65830260e-02 9.99330594e-01 -2.12630889e-04 5.11853041e+01] [ 1.95155513e-03 1.41331297e-04 9.99998086e-01 -2.36212241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.171400513 meters 0.07714539136122486 Centerline is valid? [True, True] Translation: X:469.71, Y:51.18, Z:-2.36 [[ 9.99436470e-01 -3.34673512e-02 -2.58438183e-03 4.69705045e+02] [ 3.34667319e-02 9.99439792e-01 -2.82490211e-04 5.11811920e+01] [ 2.59238823e-03 1.95840205e-04 9.99996621e-01 -2.36267354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.201400513 meters 0.08322091720568318 Centerline is valid? [True, True] Translation: X:469.73, Y:51.19, Z:-2.36 [[ 9.99587890e-01 -2.85240530e-02 -3.22923005e-03 4.69733236e+02] [ 2.85230609e-02 9.99593072e-01 -3.52871016e-04 5.11908032e+01] [ 3.23798130e-03 2.60618069e-04 9.99994724e-01 -2.36389775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.231400513 meters 0.08277030815733355 Centerline is valid? [True, True] Translation: X:469.76, Y:51.19, Z:-2.36 [[ 9.99641587e-01 -2.66321914e-02 -2.72474111e-03 4.69763637e+02] [ 2.66314779e-02 9.99645275e-01 -2.97811149e-04 5.11920572e+01] [ 2.73170594e-03 2.25140527e-04 9.99996244e-01 -2.36362163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.261400513 meters 0.08556636687279383 Centerline is valid? [True, True] Translation: X:469.79, Y:51.20, Z:-2.36 [[ 9.99682056e-01 -2.51519761e-02 -1.77882347e-03 4.69792520e+02] [ 2.51516696e-02 9.99683628e-01 -1.94446035e-04 5.11970876e+01] [ 1.78315140e-03 1.49643832e-04 9.99998399e-01 -2.36239862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.291400513 meters 0.07928464741146811 Centerline is valid? [True, True] Translation: X:469.82, Y:51.19, Z:-2.36 [[ 9.99714033e-01 -2.39101712e-02 -3.96073849e-04 4.69823311e+02] [ 2.39101559e-02 9.99714110e-01 -4.33404667e-05 5.11896358e+01] [ 3.96996893e-04 3.38578853e-05 9.99999921e-01 -2.36060646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.321400513 meters 0.08959554653738483 Centerline is valid? [True, True] Translation: X:469.85, Y:51.20, Z:-2.36 [[ 9.99741406e-01 -2.27353883e-02 4.71938488e-04 4.69850880e+02] [ 2.27353665e-02 9.99741517e-01 5.15508774e-05 5.12031277e+01] [-4.72988529e-04 -4.08078522e-05 9.99999887e-01 -2.35935268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.351400513 meters 0.0958895294426164 Centerline is valid? [True, True] Translation: X:469.88, Y:51.22, Z:-2.36 [[ 9.99786504e-01 -2.06619556e-02 -1.74460267e-04 4.69878629e+02] [ 2.06619526e-02 9.99786519e-01 -1.91016269e-05 5.12167321e+01] [ 1.74817700e-04 1.54928590e-05 9.99999985e-01 -2.35945127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.381400513 meters 0.09667407479794544 Centerline is valid? [True, True] Translation: X:469.91, Y:51.22, Z:-2.36 [[ 9.99811862e-01 -1.93746826e-02 -9.28106687e-04 4.69908517e+02] [ 1.93745967e-02 9.99812290e-01 -1.01545223e-04 5.12215625e+01] [ 9.29899879e-04 8.35444254e-05 9.99999564e-01 -2.36079248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.411400513 meters 0.09105689171654992 Centerline is valid? [True, True] Translation: X:469.94, Y:51.22, Z:-2.36 [[ 9.99835838e-01 -1.80385791e-02 -1.70493358e-03 4.69939369e+02] [ 1.80382870e-02 9.99837279e-01 -1.86532524e-04 5.12184061e+01] [ 1.70802094e-03 1.55747821e-04 9.99998529e-01 -2.36173212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.441400513 meters 0.0995388254394294 Centerline is valid? [True, True] Translation: X:469.97, Y:51.23, Z:-2.36 [[ 9.99853824e-01 -1.70084177e-02 -1.74498384e-03 4.69966751e+02] [ 1.70081100e-02 9.99855333e-01 -1.91009114e-04 5.12327979e+01] [ 1.74798016e-03 1.61302316e-04 9.99998459e-01 -2.36237035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.471400513 meters 0.09326649849607133 Centerline is valid? [True, True] Translation: X:470.00, Y:51.23, Z:-2.36 [[ 9.99872052e-01 -1.59900394e-02 -4.46289494e-04 4.69997047e+02] [ 1.59900192e-02 9.99872150e-01 -4.88858109e-05 5.12309360e+01] [ 4.47014122e-04 4.17433784e-05 9.99999899e-01 -2.35984415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.501400513 meters 0.0919215488350746 Centerline is valid? [True, True] Translation: X:470.03, Y:51.23, Z:-2.36 [[ 9.99861377e-01 -1.66480846e-02 2.62629821e-04 4.70026152e+02] [ 1.66480777e-02 9.99861411e-01 2.85285842e-05 5.12332921e+01] [-2.63068370e-04 -2.41523478e-05 9.99999965e-01 -2.35900225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.531400513 meters 0.0919215488350746 Centerline is valid? [True, True] Translation: X:470.05, Y:51.24, Z:-2.36 [[ 9.99858428e-01 -1.68242316e-02 2.62631133e-04 4.70053605e+02] [ 1.68242247e-02 9.99858462e-01 2.85168312e-05 5.12364353e+01] [-2.63073734e-04 -2.40942289e-05 9.99999965e-01 -2.35905105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.561400513 meters 0.09063349325601625 Centerline is valid? [True, True] Translation: X:470.08, Y:51.24, Z:-2.36 [[ 9.99842027e-01 -1.77574078e-02 7.71592027e-04 4.70083807e+02] [ 1.77573477e-02 9.99842322e-01 8.46691060e-05 5.12384551e+01] [-7.72973868e-04 -7.09543027e-05 9.99999699e-01 -2.35811042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.591400513 meters 0.090449020367482 Centerline is valid? [True, True] Translation: X:470.11, Y:51.24, Z:-2.36 [[ 9.99814609e-01 -1.92251534e-02 1.06839815e-03 4.70112959e+02] [ 1.92250390e-02 9.99815175e-01 1.17301708e-04 5.12420333e+01] [-1.07045583e-03 -9.67399651e-05 9.99999422e-01 -2.35739982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.621400513 meters 0.09553910708175847 Centerline is valid? [True, True] Translation: X:470.14, Y:51.25, Z:-2.36 [[ 9.99773547e-01 -2.12629047e-02 8.61901497e-04 4.70141656e+02] [ 2.12628310e-02 9.99773916e-01 9.46498517e-05 5.12524448e+01] [-8.63719165e-04 -7.63019522e-05 9.99999624e-01 -2.35739217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.651400513 meters 0.08800764091532122 Centerline is valid? [True, True] Translation: X:470.17, Y:51.25, Z:-2.36 [[ 9.99725716e-01 -2.34152051e-02 4.69978897e-04 4.70172962e+02] [ 2.34151834e-02 9.99725826e-01 5.16206875e-05 5.12479677e+01] [-4.71058750e-04 -4.06018867e-05 9.99999888e-01 -2.35760594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.681400513 meters 0.0807524076769795 Centerline is valid? [True, True] Translation: X:470.20, Y:51.25, Z:-2.36 [[ 9.99641355e-01 -2.67793240e-02 1.68998691e-04 4.70204270e+02] [ 2.67793213e-02 9.99641369e-01 1.85676482e-05 5.12454691e+01] [-1.69435312e-04 -1.40353187e-05 9.99999986e-01 -2.35726421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.711400513 meters 0.09126570975987633 Centerline is valid? [True, True] Translation: X:470.23, Y:51.26, Z:-2.36 [[ 9.99618150e-01 -2.76316786e-02 2.12026482e-04 4.70230388e+02] [ 2.76316743e-02 9.99618172e-01 2.32024340e-05 5.12628084e+01] [-2.12586646e-04 -1.73349275e-05 9.99999977e-01 -2.35733039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74140051300003 meters 0.0819154287872917 Centerline is valid? [True, True] Translation: X:470.26, Y:51.26, Z:-2.36 [[ 9.99611353e-01 -2.78766602e-02 1.84594677e-04 4.70259094e+02] [ 2.78766570e-02 9.99611370e-01 2.00044749e-05 5.12562814e+01] [-1.85080596e-04 -1.48508177e-05 9.99999983e-01 -2.35717693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.771400513 meters 0.08360672024614668 Centerline is valid? [True, True] Translation: X:470.29, Y:51.26, Z:-2.36 [[ 9.99618299e-01 -2.76267147e-02 1.41875238e-04 4.70285802e+02] [ 2.76267128e-02 9.99618309e-01 1.54565566e-05 5.12635241e+01] [-1.42248099e-04 -1.15311104e-05 9.99999990e-01 -2.35793242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.801400513 meters 0.08646919826451488 Centerline is valid? [True, True] Translation: X:470.31, Y:51.27, Z:-2.36 [[ 9.99624675e-01 -2.73953739e-02 4.54528362e-05 4.70314472e+02] [ 2.73953737e-02 9.99624676e-01 4.74088182e-06 5.12697126e+01] [-4.55656549e-05 -3.49390502e-06 9.99999999e-01 -2.35809162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.831400513 meters 0.09535223892766971 Centerline is valid? [True, True] Translation: X:470.34, Y:51.29, Z:-2.36 [[ 9.99655324e-01 -2.62524216e-02 2.08981254e-04 4.70340985e+02] [ 2.62524174e-02 9.99655346e-01 2.29783729e-05 5.12929201e+01] [-2.09512466e-04 -1.74841897e-05 9.99999978e-01 -2.35719217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.861400513 meters 0.08569320436347758 Centerline is valid? [True, True] Translation: X:470.37, Y:51.29, Z:-2.36 [[ 9.99648792e-01 -2.64985105e-02 3.49528104e-04 4.70371015e+02] [ 2.64984987e-02 9.99648852e-01 3.84598893e-05 5.12883423e+01] [-3.50424497e-04 -2.91844118e-05 9.99999938e-01 -2.35694864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.891400513 meters 0.08101183188033755 Centerline is valid? [True, True] Translation: X:470.40, Y:51.29, Z:-2.36 [[ 9.99621474e-01 -2.75084776e-02 4.38816912e-04 4.70400698e+02] [ 2.75084589e-02 9.99621570e-01 4.84457898e-05 5.12898797e+01] [-4.39983521e-04 -3.63562748e-05 9.99999903e-01 -2.35698548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.921400513 meters 0.08456168342540143 Centerline is valid? [True, True] Translation: X:470.43, Y:51.30, Z:-2.36 [[ 9.99578768e-01 -2.90188855e-02 4.37354713e-04 4.70428205e+02] [ 2.90188672e-02 9.99578863e-01 4.82794594e-05 5.13008202e+01] [-4.38571543e-04 -3.55675842e-05 9.99999903e-01 -2.35763206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.951400513 meters 0.08141716990041102 Centerline is valid? [True, True] Translation: X:470.46, Y:51.30, Z:-2.36 [[ 9.99524269e-01 -3.08334703e-02 7.29998389e-04 4.70458568e+02] [ 3.08334195e-02 9.99524534e-01 8.06793079e-05 5.13030438e+01] [-7.32138923e-04 -5.81325797e-05 9.99999730e-01 -2.35724422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.981400513 meters 0.08145637766775543 Centerline is valid? [True, True] Translation: X:470.49, Y:51.31, Z:-2.36 [[ 9.99455835e-01 -3.29733331e-02 8.91069344e-04 4.70487232e+02] [ 3.29732583e-02 9.99456229e-01 9.84778996e-05 5.13086479e+01] [-8.93831951e-04 -6.90428517e-05 9.99999598e-01 -2.35671401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.011400513 meters 0.07201518819386048 Centerline is valid? [True, True] Translation: X:470.52, Y:51.30, Z:-2.36 [[ 9.99306127e-01 -3.72257589e-02 1.22807757e-03 4.70517850e+02] [ 3.72256200e-02 9.99306877e-01 1.35748848e-04 5.13040256e+01] [-1.23227972e-03 -8.99387065e-05 9.99999237e-01 -2.35558357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.041400513 meters 0.07262753722826228 Centerline is valid? [True, True] Translation: X:470.55, Y:51.31, Z:-2.35 [[ 9.99246370e-01 -3.87877175e-02 1.48479719e-03 4.70546122e+02] [ 3.87875162e-02 9.99247468e-01 1.64143333e-04 5.13095242e+01] [-1.49004658e-03 -1.06428035e-04 9.99998884e-01 -2.35465821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.071400513 meters 0.07197710253295386 Centerline is valid? [True, True] Translation: X:470.58, Y:51.31, Z:-2.35 [[ 9.99199897e-01 -3.99526895e-02 1.83004611e-03 4.70576149e+02] [ 3.99523855e-02 9.99201564e-01 2.02385065e-04 5.13138058e+01] [-1.83667077e-03 -1.29108428e-04 9.99998305e-01 -2.35427045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.101400513 meters 0.0699775531065302 Centerline is valid? [True, True] Translation: X:470.61, Y:51.32, Z:-2.35 [[ 9.99163221e-01 -4.08519086e-02 1.99459255e-03 4.70605440e+02] [ 4.08515492e-02 9.99165203e-01 2.20638719e-04 5.13158130e+01] [-2.00194098e-03 -1.38971897e-04 9.99997986e-01 -2.35423744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.131400513 meters 0.07023723390306025 Centerline is valid? [True, True] Translation: X:470.63, Y:51.32, Z:-2.35 [[ 9.99136092e-01 -4.15164432e-02 1.85851341e-03 4.70634551e+02] [ 4.15161318e-02 9.99137813e-01 2.05841879e-04 5.13202675e+01] [-1.86545685e-03 -1.28505763e-04 9.99998252e-01 -2.35430495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.161400513 meters 0.07288715024252936 Centerline is valid? [True, True] Translation: X:470.66, Y:51.32, Z:-2.35 [[ 9.99111420e-01 -4.21245847e-02 1.37459189e-03 4.70663338e+02] [ 4.21244148e-02 9.99112361e-01 1.52374883e-04 5.13239179e+01] [-1.37979048e-03 -9.43356071e-05 9.99999044e-01 -2.35472938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.191400513 meters 0.06555407607108768 Centerline is valid? [True, True] Translation: X:470.69, Y:51.32, Z:-2.36 [[ 9.99121408e-01 -4.19088634e-02 -2.43232361e-04 4.70692108e+02] [ 4.19088580e-02 9.99121438e-01 -2.73440874e-05 5.13238703e+01] [ 2.44164626e-04 1.71264726e-05 9.99999970e-01 -2.35690811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.221400513 meters 0.07395039201207518 Centerline is valid? [True, True] Translation: X:470.72, Y:51.34, Z:-2.36 [[ 9.99159578e-01 -4.09691194e-02 -1.29166278e-03 4.70718499e+02] [ 4.09689676e-02 9.99160409e-01 -1.43767244e-04 5.13418546e+01] [ 1.29646833e-03 9.07283281e-05 9.99999155e-01 -2.35917117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.251400513 meters 0.07448759678889101 Centerline is valid? [True, True] Translation: X:470.75, Y:51.35, Z:-2.36 [[ 9.99196631e-01 -3.99964394e-02 -2.52553526e-03 4.70747427e+02] [ 3.99958560e-02 9.99199806e-01 -2.81125121e-04 5.13473044e+01] [ 2.53475835e-03 1.79888329e-04 9.99996771e-01 -2.36105834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.281400513 meters 0.07555068734924718 Centerline is valid? [True, True] Translation: X:470.78, Y:51.35, Z:-2.36 [[ 9.99248432e-01 -3.86488334e-02 -2.97317558e-03 4.70776124e+02] [ 3.86480186e-02 9.99252831e-01 -3.31040348e-04 5.13533312e+01] [ 2.98374844e-03 2.15884203e-04 9.99995525e-01 -2.36137894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.311400513 meters 0.0718753296899832 Centerline is valid? [True, True] Translation: X:470.81, Y:51.36, Z:-2.36 [[ 9.99350679e-01 -3.60303933e-02 -1.75563947e-04 4.70806035e+02] [ 3.60303904e-02 9.99350694e-01 -1.95466438e-05 5.13559268e+01] [ 1.76154226e-04 1.32083142e-05 9.99999984e-01 -2.35671693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.341400513 meters 0.07799719650006107 Centerline is valid? [True, True] Translation: X:470.83, Y:51.37, Z:-2.35 [[ 9.99393204e-01 -3.47801843e-02 1.88772725e-03 4.70833064e+02] [ 3.47798491e-02 9.99394976e-01 2.10156766e-04 5.13687010e+01] [-1.89389442e-03 -1.44374375e-04 9.99998196e-01 -2.35401938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.371400513 meters 0.07295111438754551 Centerline is valid? [True, True] Translation: X:470.86, Y:51.37, Z:-2.35 [[ 9.99439794e-01 -3.33282142e-02 3.05435545e-03 4.70863168e+02] [ 3.33273291e-02 9.99444432e-01 3.40211811e-04 5.13677658e+01] [-3.06399720e-03 -2.38227713e-04 9.99995278e-01 -2.35274169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.401400513 meters 0.08455412963676336 Centerline is valid? [True, True] Translation: X:470.89, Y:51.39, Z:-2.35 [[ 9.99489950e-01 -3.17677113e-02 3.26370887e-03 4.70889955e+02] [ 3.17666923e-02 9.99495245e-01 3.63587746e-04 5.13868299e+01] [-3.27361184e-03 -2.59725063e-04 9.99994608e-01 -2.35267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.431400513 meters 0.08787194708220658 Centerline is valid? [True, True] Translation: X:470.92, Y:51.39, Z:-2.35 [[ 9.99539997e-01 -3.02272270e-02 2.47163476e-03 4.70920085e+02] [ 3.02266379e-02 9.99543033e-01 2.75379061e-04 5.13934062e+01] [-2.47882925e-03 -2.00543177e-04 9.99996908e-01 -2.35401675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.461400513 meters 0.09436395296838937 Centerline is valid? [True, True] Translation: X:470.95, Y:51.41, Z:-2.36 [[ 9.99655052e-01 -2.62407862e-02 1.09457933e-03 4.70947774e+02] [ 2.62406683e-02 9.99655647e-01 1.21953989e-04 5.14126709e+01] [-1.09740257e-03 -9.31894279e-05 9.99999394e-01 -2.35650188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49140051300003 meters 0.08692970138067381 Centerline is valid? [True, True] Translation: X:470.98, Y:51.41, Z:-2.36 [[ 9.99689240e-01 -2.49045259e-02 1.09011288e-03 4.70978594e+02] [ 2.49044082e-02 9.99689830e-01 1.21445971e-04 5.14089705e+01] [-1.09279931e-03 -9.42596142e-05 9.99999398e-01 -2.35570991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.521400513 meters 0.09116057571461221 Centerline is valid? [True, True] Translation: X:471.01, Y:51.42, Z:-2.35 [[ 9.99706288e-01 -2.41629306e-02 1.86833669e-03 4.71005813e+02] [ 2.41625834e-02 9.99708020e-01 2.08190836e-04 5.14186766e+01] [-1.87282168e-03 -1.62985847e-04 9.99998233e-01 -2.35468844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.551400513 meters 0.0799821343808167 Centerline is valid? [True, True] Translation: X:471.04, Y:51.41, Z:-2.35 [[ 9.99713280e-01 -2.38352033e-02 2.28912117e-03 4.71035695e+02] [ 2.38346807e-02 9.99715881e-01 2.55277566e-04 5.14086883e+01] [-2.29455538e-03 -2.00643900e-04 9.99997347e-01 -2.35419411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.581400513 meters 0.08858185420519342 Centerline is valid? [True, True] Translation: X:471.06, Y:51.42, Z:-2.36 [[ 9.99731965e-01 -2.31215908e-02 1.17942174e-03 4.71062678e+02] [ 2.31214514e-02 9.99732655e-01 1.31661231e-04 5.14234903e+01] [-1.18215064e-03 -1.04355998e-04 9.99999296e-01 -2.35641374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.611400513 meters 0.08988592763421133 Centerline is valid? [True, True] Translation: X:471.09, Y:51.43, Z:-2.36 [[ 9.99729368e-01 -2.32588222e-02 4.66696839e-04 4.71090952e+02] [ 2.32588004e-02 9.99729476e-01 5.20707032e-05 5.14296101e+01] [-4.67781690e-04 -4.12018026e-05 9.99999890e-01 -2.35820729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.641400513 meters 0.0901227602331501 Centerline is valid? [True, True] Translation: X:471.12, Y:51.43, Z:-2.36 [[ 9.99724495e-01 -2.34719328e-02 -5.63967662e-05 4.71119248e+02] [ 2.34719325e-02 9.99724496e-01 -6.58371273e-06 5.14342852e+01] [ 5.65357612e-05 5.25815780e-06 9.99999998e-01 -2.35912211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.671400513 meters 0.09487621882088766 Centerline is valid? [True, True] Translation: X:471.15, Y:51.44, Z:-2.36 [[ 9.99722286e-01 -2.35658420e-02 -4.91140599e-05 4.71145800e+02] [ 2.35658417e-02 9.99722287e-01 -5.59469229e-06 5.14438153e+01] [ 4.92322639e-05 4.43572440e-06 9.99999999e-01 -2.35993409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.701400513 meters 0.08426233158098996 Centerline is valid? [True, True] Translation: X:471.17, Y:51.43, Z:-2.36 [[ 9.99716119e-01 -2.38260560e-02 -3.33619939e-05 4.71174773e+02] [ 2.38260559e-02 9.99716119e-01 -4.06244339e-06 5.14338850e+01] [ 3.34493151e-05 3.26640541e-06 9.99999999e-01 -2.35964585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.731400513 meters 0.0980493799470198 Centerline is valid? [True, True] Translation: X:471.20, Y:51.45, Z:-2.36 [[ 9.99711290e-01 -2.40274582e-02 1.37160017e-04 4.71200590e+02] [ 2.40274563e-02 9.99711299e-01 1.52826988e-05 5.14535004e+01] [-1.37487623e-04 -1.19826802e-05 9.99999990e-01 -2.35979050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.761400513 meters 0.0890541355137593 Centerline is valid? [True, True] Translation: X:471.23, Y:51.45, Z:-2.36 [[ 9.99699780e-01 -2.45012594e-02 1.96184714e-04 4.71230784e+02] [ 2.45012555e-02 9.99699799e-01 2.17758159e-05 5.14475184e+01] [-1.96659354e-04 -1.69625065e-05 9.99999981e-01 -2.36001947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.791400513 meters 0.09458222284065135 Centerline is valid? [True, True] Translation: X:471.26, Y:51.46, Z:-2.36 [[ 9.99696101e-01 -2.46513269e-02 -1.30012101e-04 4.71257736e+02] [ 2.46513252e-02 9.99696110e-01 -1.48945712e-05 5.14587493e+01] [ 1.30339762e-04 1.16850742e-05 9.99999991e-01 -2.36054612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.821400513 meters 0.09405429328485375 Centerline is valid? [True, True] Translation: X:471.29, Y:51.46, Z:-2.36 [[ 9.99689689e-01 -2.48989240e-02 -7.55007218e-04 4.71285349e+02] [ 2.48988666e-02 9.99689972e-01 -8.53472615e-05 5.14610586e+01] [ 7.56898199e-04 6.65219533e-05 9.99999711e-01 -2.36085219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.851400513 meters 0.09136549841554129 Centerline is valid? [True, True] Translation: X:471.31, Y:51.46, Z:-2.36 [[ 9.99688985e-01 -2.49272807e-02 -7.51384435e-04 4.71314284e+02] [ 2.49272238e-02 9.99689265e-01 -8.50172521e-05 5.14618964e+01] [ 7.53270203e-04 6.62608824e-05 9.99999714e-01 -2.36039560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.881400513 meters 0.08929276622911402 Centerline is valid? [True, True] Translation: X:471.34, Y:51.46, Z:-2.36 [[ 9.99677875e-01 -2.53747805e-02 -5.17209133e-04 4.71343312e+02] [ 2.53747535e-02 9.99678007e-01 -5.86893121e-05 5.14624501e+01] [ 5.18531824e-04 4.55463526e-05 9.99999865e-01 -2.35975959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.911400513 meters 0.08889721577938245 Centerline is valid? [True, True] Translation: X:471.37, Y:51.47, Z:-2.36 [[ 9.99660767e-01 -2.60451783e-02 1.73802090e-05 4.71372375e+02] [ 2.60451783e-02 9.99660767e-01 1.70975705e-06 5.14656039e+01] [-1.74188440e-05 -1.25650640e-06 1.00000000e+00 -2.35857370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.941400513 meters 0.0878248816905681 Centerline is valid? [True, True] Translation: X:471.40, Y:51.47, Z:-2.36 [[ 9.99645011e-01 -2.66421488e-02 2.17694202e-04 4.71400854e+02] [ 2.66421441e-02 9.99645035e-01 2.45491805e-05 5.14692214e+01] [-2.18270971e-04 -1.87406255e-05 9.99999976e-01 -2.35870590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.971400513 meters 0.08104956925880316 Centerline is valid? [True, True] Translation: X:471.43, Y:51.47, Z:-2.36 [[ 9.99637596e-01 -2.69087003e-02 -7.73688108e-04 4.71429851e+02] [ 2.69086402e-02 9.99637893e-01 -8.80023444e-05 5.14653874e+01] [ 7.75775979e-04 6.71515571e-05 9.99999697e-01 -2.36007881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.001400513 meters 0.09229988590869108 Centerline is valid? [True, True] Translation: X:471.46, Y:51.48, Z:-2.36 [[ 9.99636491e-01 -2.69144894e-02 -1.57959868e-03 4.71455289e+02] [ 2.69142394e-02 9.99637730e-01 -1.79333203e-04 5.14837650e+01] [ 1.58385310e-03 1.36754317e-04 9.99998736e-01 -2.36200643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.031400513 meters 0.08531372635005098 Centerline is valid? [True, True] Translation: X:471.48, Y:51.48, Z:-2.36 [[ 9.99625505e-01 -2.72921299e-02 -1.99719808e-03 4.71484775e+02] [ 2.72917302e-02 9.99627486e-01 -2.27122443e-04 5.14804680e+01] [ 2.00265275e-03 1.72530396e-04 9.99997980e-01 -2.36197427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.061400513 meters 0.08165857639413661 Centerline is valid? [True, True] Translation: X:471.51, Y:51.48, Z:-2.36 [[ 9.99606911e-01 -2.80002642e-02 -1.41753875e-03 4.71514279e+02] [ 2.80000635e-02 9.99607908e-01 -1.61266174e-04 5.14813028e+01] [ 1.42149844e-03 1.21511607e-04 9.99998982e-01 -2.36077125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.091400513 meters 0.07887876961086424 Centerline is valid? [True, True] Translation: X:471.54, Y:51.48, Z:-2.36 [[ 9.99529735e-01 -3.06573900e-02 6.58652192e-04 4.71543891e+02] [ 3.06573473e-02 9.99529950e-01 7.48455075e-05 5.14827877e+01] [-6.60637161e-04 -5.46177812e-05 9.99999780e-01 -2.35686109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.121400513 meters 0.08537240191449562 Centerline is valid? [True, True] Translation: X:471.57, Y:51.49, Z:-2.36 [[ 9.99478036e-01 -3.22810058e-02 1.26173937e-03 4.71571871e+02] [ 3.22808503e-02 9.99478827e-01 1.43422296e-04 5.14940625e+01] [-1.26571161e-03 -1.02617415e-04 9.99999194e-01 -2.35597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.151400513 meters 0.0843760638023984 Centerline is valid? [True, True] Translation: X:471.60, Y:51.50, Z:-2.36 [[ 9.99432872e-01 -3.36415843e-02 1.47612199e-03 4.71600758e+02] [ 3.36413729e-02 9.99433955e-01 1.67832567e-04 5.14965381e+01] [-1.48093259e-03 -1.18078614e-04 9.99998896e-01 -2.35563812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.181400513 meters 0.08271465032524228 Centerline is valid? [True, True] Translation: X:471.63, Y:51.50, Z:-2.35 [[ 9.99402702e-01 -3.45123969e-02 1.77002007e-03 4.71629398e+02] [ 3.45120942e-02 9.99404260e-01 2.01295936e-04 5.14990965e+01] [-1.77591280e-03 -1.40088603e-04 9.99998413e-01 -2.35496116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.211400513 meters 0.08412148867255184 Centerline is valid? [True, True] Translation: X:471.66, Y:51.51, Z:-2.35 [[ 9.99402578e-01 -3.45083060e-02 1.91432366e-03 4.71656424e+02] [ 3.45079517e-02 9.99404400e-01 2.17800553e-04 5.15058968e+01] [-1.92069942e-03 -1.51611046e-04 9.99998144e-01 -2.35465258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24140051300003 meters 0.08470228197551684 Centerline is valid? [True, True] Translation: X:471.69, Y:51.51, Z:-2.35 [[ 9.99430387e-01 -3.37038581e-02 1.71813710e-03 4.71685734e+02] [ 3.37035714e-02 9.99431854e-01 1.95566264e-04 5.15120329e+01] [-1.72375228e-03 -1.37547510e-04 9.99998505e-01 -2.35470710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.271400513 meters 0.0875737118461312 Centerline is valid? [True, True] Translation: X:471.72, Y:51.52, Z:-2.36 [[ 9.99527438e-01 -3.07325798e-02 6.39670033e-04 4.71715143e+02] [ 3.07325394e-02 9.99527641e-01 7.28258339e-05 5.15233191e+01] [-6.41606005e-04 -5.31327346e-05 9.99999793e-01 -2.35591449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.301400513 meters 0.08866512675890242 Centerline is valid? [True, True] Translation: X:471.74, Y:51.53, Z:-2.36 [[ 9.99577741e-01 -2.90543203e-02 4.30804566e-04 4.71744411e+02] [ 2.90543019e-02 9.99577833e-01 4.90244383e-05 5.15309358e+01] [-4.32047066e-04 -3.64870114e-05 9.99999906e-01 -2.35678632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.331400513 meters 0.0929352151739426 Centerline is valid? [True, True] Translation: X:471.77, Y:51.54, Z:-2.36 [[ 9.99605662e-01 -2.80805981e-02 9.32231048e-06 4.71772164e+02] [ 2.80805981e-02 9.99605662e-01 1.00326208e-06 5.15410152e+01] [-9.34680654e-06 -7.41090399e-07 1.00000000e+00 -2.35758964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.361400513 meters 0.08078857015535412 Centerline is valid? [True, True] Translation: X:471.80, Y:51.53, Z:-2.36 [[ 9.99616520e-01 -2.76883766e-02 4.07933607e-04 4.71801975e+02] [ 2.76883600e-02 9.99616603e-01 4.62412403e-05 5.15326011e+01] [-4.09057551e-04 -3.49284951e-05 9.99999916e-01 -2.35765696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.391400513 meters 0.08762430948637365 Centerline is valid? [True, True] Translation: X:471.83, Y:51.55, Z:-2.36 [[ 9.99607340e-01 -2.80071641e-02 8.73977909e-04 4.71828805e+02] [ 2.80070877e-02 9.99607720e-01 9.96342214e-05 5.15454715e+01] [-8.76425537e-04 -7.51175231e-05 9.99999613e-01 -2.35750675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.421400513 meters 0.08762430948637365 Centerline is valid? [True, True] Translation: X:471.86, Y:51.55, Z:-2.36 [[ 9.99602958e-01 -2.81631404e-02 8.73982185e-04 4.71857043e+02] [ 2.81630640e-02 9.99603337e-01 9.95968451e-05 5.15488002e+01] [-8.76440469e-04 -7.49432847e-05 9.99999613e-01 -2.35755700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.451400513 meters 0.08679195917325938 Centerline is valid? [True, True] Translation: X:471.89, Y:51.55, Z:-2.36 [[ 9.99579630e-01 -2.89875922e-02 5.31008243e-04 4.71886007e+02] [ 2.89875641e-02 9.99579770e-01 6.05836178e-05 5.15528091e+01] [-5.32541271e-04 -4.51655148e-05 9.99999857e-01 -2.35838357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.481400513 meters 0.08497110851277109 Centerline is valid? [True, True] Translation: X:471.91, Y:51.56, Z:-2.36 [[ 9.99543901e-01 -3.01897484e-02 -7.53721123e-04 4.71914931e+02] [ 3.01896919e-02 9.99544184e-01 -8.62485215e-05 5.15603050e+01] [ 7.55981386e-04 6.34545752e-05 9.99999712e-01 -2.36009882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.511400513 meters 0.09183014155561504 Centerline is valid? [True, True] Translation: X:471.94, Y:51.58, Z:-2.36 [[ 9.99537004e-01 -3.04032699e-02 -1.19113495e-03 4.71941346e+02] [ 3.04031288e-02 9.99537709e-01 -1.36405598e-04 5.15756452e+01] [ 1.19473147e-03 1.00128213e-04 9.99999281e-01 -2.36100398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.541400513 meters 0.08653441414910215 Centerline is valid? [True, True] Translation: X:471.97, Y:51.58, Z:-2.36 [[ 9.99532008e-01 -3.05676771e-02 -1.17573806e-03 4.71969559e+02] [ 3.05675392e-02 9.99532694e-01 -1.35073355e-04 5.15761132e+01] [ 1.17931750e-03 9.90707231e-05 9.99999300e-01 -2.36099489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.571400513 meters 0.08688940220953642 Centerline is valid? [True, True] Translation: X:472.00, Y:51.58, Z:-2.36 [[ 9.99527135e-01 -3.07314553e-02 -1.04141844e-03 4.71996987e+02] [ 3.07313470e-02 9.99527673e-01 -1.19867171e-04 5.15837361e+01] [ 1.04461024e-03 8.78062987e-05 9.99999451e-01 -2.36027000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.601400513 meters 0.08927135201679513 Centerline is valid? [True, True] Translation: X:472.02, Y:51.60, Z:-2.36 [[ 9.99502505e-01 -3.15319173e-02 -6.93961673e-04 4.72023641e+02] [ 3.15318695e-02 9.99502744e-01 -7.97733948e-05 5.15993252e+01] [ 6.96132004e-04 5.78517990e-05 9.99999756e-01 -2.35910656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.631400513 meters 0.0895764374703188 Centerline is valid? [True, True] Translation: X:472.05, Y:51.61, Z:-2.36 [[ 9.99467677e-01 -3.26191648e-02 -5.93930161e-04 4.72051845e+02] [ 3.26191299e-02 9.99467852e-01 -6.82588279e-05 5.16073793e+01] [ 5.95840649e-04 4.88490071e-05 9.99999821e-01 -2.35963066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.661400513 meters 0.07771252226015335 Centerline is valid? [True, True] Translation: X:472.08, Y:51.60, Z:-2.36 [[ 9.99408980e-01 -3.43612832e-02 -9.96208567e-04 4.72083125e+02] [ 3.43611861e-02 9.99409474e-01 -1.14458605e-04 5.15991743e+01] [ 9.99553224e-04 8.01600495e-05 9.99999497e-01 -2.35969883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.691400513 meters 0.08460247562783944 Centerline is valid? [True, True] Translation: X:472.11, Y:51.61, Z:-2.36 [[ 9.99334369e-01 -3.64673865e-02 -9.74112381e-04 4.72110837e+02] [ 3.64672946e-02 9.99334841e-01 -1.11938411e-04 5.16127453e+01] [ 9.77546542e-04 7.63406581e-05 9.99999519e-01 -2.36005683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.721400513 meters 0.0810174572479462 Centerline is valid? [True, True] Translation: X:472.14, Y:51.61, Z:-2.36 [[ 9.99230012e-01 -3.92247081e-02 -8.97672353e-04 4.72141348e+02] [ 3.92246312e-02 9.99230413e-01 -1.03136427e-04 5.16129702e+01] [ 9.01027012e-04 6.78461461e-05 9.99999592e-01 -2.35945266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.751400513 meters 0.07828996694104634 Centerline is valid? [True, True] Translation: X:472.17, Y:51.61, Z:-2.36 [[ 9.99089330e-01 -4.26647684e-02 -4.76972560e-04 4.72171691e+02] [ 4.26647471e-02 9.99089444e-01 -5.48163535e-05 5.16142288e+01] [ 4.78876977e-04 3.44165203e-05 9.99999885e-01 -2.35856116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.781400513 meters 0.07574714085862135 Centerline is valid? [True, True] Translation: X:472.20, Y:51.61, Z:-2.36 [[ 9.98929601e-01 -4.62561890e-02 -1.33977001e-04 4.72200669e+02] [ 4.62561873e-02 9.98929610e-01 -1.54499601e-05 5.16149017e+01] [ 1.34548250e-04 9.23615722e-06 9.99999991e-01 -2.35776628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.811400513 meters 0.06666346559146709 Centerline is valid? [True, True] Translation: X:472.23, Y:51.61, Z:-2.36 [[ 9.98558232e-01 -5.36768846e-02 4.99495124e-04 4.72232657e+02] [ 5.36768626e-02 9.98558356e-01 5.74050377e-05 5.16065640e+01] [-5.01856353e-04 -3.05109418e-05 9.99999874e-01 -2.35626885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.841400513 meters 0.06097140009513929 Centerline is valid? [True, True] Translation: X:472.26, Y:51.60, Z:-2.35 [[ 9.98399220e-01 -5.65449475e-02 1.29113279e-03 4.72264220e+02] [ 5.65448027e-02 9.98400052e-01 1.48385733e-04 5.16020052e+01] [-1.29745750e-03 -7.51413510e-05 9.99999155e-01 -2.35488654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.871400513 meters 0.06151776483456035 Centerline is valid? [True, True] Translation: X:472.29, Y:51.60, Z:-2.35 [[ 9.98286491e-01 -5.84618435e-02 2.50911780e-03 4.72293391e+02] [ 5.84613027e-02 9.98289634e-01 2.88389327e-04 5.16045749e+01] [-2.52168606e-03 -1.41208874e-04 9.99996811e-01 -2.35277376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.901400513 meters 0.06123742528887023 Centerline is valid? [True, True] Translation: X:472.32, Y:51.61, Z:-2.35 [[ 9.98225669e-01 -5.94613969e-02 3.13952539e-03 4.72321850e+02] [ 5.94605549e-02 9.98230591e-01 3.60959278e-04 5.16059661e+01] [-3.15543343e-03 -1.73640895e-04 9.99995007e-01 -2.35151140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.931400513 meters 0.06521219338413135 Centerline is valid? [True, True] Translation: X:472.35, Y:51.61, Z:-2.35 [[ 9.98209046e-01 -5.97168919e-02 3.54864771e-03 4.72349054e+02] [ 5.97158170e-02 9.98215335e-01 4.08186727e-04 5.16126557e+01] [-3.56669020e-03 -1.95545286e-04 9.99993620e-01 -2.35045117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.961400513 meters 0.058020757919358255 Centerline is valid? [True, True] Translation: X:472.38, Y:51.61, Z:-2.35 [[ 9.98243560e-01 -5.91308819e-02 3.65149999e-03 4.72378847e+02] [ 5.91297384e-02 9.98250218e-01 4.20425801e-04 5.16058012e+01] [-3.66997081e-03 -2.03775110e-04 9.99993245e-01 -2.35025198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99140051300003 meters 0.06601941955815177 Centerline is valid? [True, True] Translation: X:472.41, Y:51.62, Z:-2.35 [[ 9.98478792e-01 -5.49887736e-02 4.04183329e-03 4.72407241e+02] [ 5.49873373e-02 9.98486943e-01 4.65708126e-04 5.16158791e+01] [-4.06132648e-03 -2.42750037e-04 9.99991723e-01 -2.34979149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.021400513 meters 0.06178731725510644 Centerline is valid? [True, True] Translation: X:472.44, Y:51.61, Z:-2.35 [[ 9.98623976e-01 -5.22829901e-02 4.07954063e-03 4.72438235e+02] [ 5.22815043e-02 9.98632276e-01 4.70083876e-04 5.16129281e+01] [-4.09853833e-03 -2.56152509e-04 9.99991568e-01 -2.35056755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.051400513 meters 0.07103648556611251 Centerline is valid? [True, True] Translation: X:472.47, Y:51.63, Z:-2.35 [[ 9.98758222e-01 -4.96487046e-02 4.12555759e-03 4.72465892e+02] [ 4.96471625e-02 9.98766706e-01 4.75432624e-04 5.16263258e+01] [-4.14407418e-03 -2.70020014e-04 9.99991377e-01 -2.35095734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.081400513 meters 0.07334163574216493 Centerline is valid? [True, True] Translation: X:472.49, Y:51.63, Z:-2.35 [[ 9.98851429e-01 -4.77542222e-02 3.91888078e-03 4.72494940e+02] [ 4.77528159e-02 9.98859081e-01 4.51689805e-04 5.16308895e+01] [-3.93597975e-03 -2.64033415e-04 9.99992219e-01 -2.35145216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.111400513 meters 0.07313931458884537 Centerline is valid? [True, True] Translation: X:472.52, Y:51.63, Z:-2.35 [[ 9.98918242e-01 -4.63597862e-02 3.62165283e-03 4.72524333e+02] [ 4.63585756e-02 9.98924776e-01 4.17531008e-04 5.16326245e+01] [-3.63711539e-03 -2.49184673e-04 9.99993355e-01 -2.35237968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.141400513 meters 0.07181151801969168 Centerline is valid? [True, True] Translation: X:472.55, Y:51.63, Z:-2.35 [[ 9.98946999e-01 -4.57716686e-02 3.13821626e-03 4.72553472e+02] [ 4.57707559e-02 9.98951904e-01 3.62069460e-04 5.16330837e+01] [-3.15149963e-03 -2.18049670e-04 9.99995010e-01 -2.35298118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.171400513 meters 0.07473764331441382 Centerline is valid? [True, True] Translation: X:472.58, Y:51.64, Z:-2.35 [[ 9.99042977e-01 -4.36689313e-02 2.48099737e-03 4.72583292e+02] [ 4.36683539e-02 9.99046041e-01 2.86473479e-04 5.16381149e+01] [-2.49114059e-03 -1.77858247e-04 9.99996881e-01 -2.35478560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.201400513 meters 0.07485284524474548 Centerline is valid? [True, True] Translation: X:472.61, Y:51.64, Z:-2.35 [[ 9.99094299e-01 -4.24363268e-02 3.12088890e-03 4.72612398e+02] [ 4.24354068e-02 9.99099147e-01 3.60431425e-04 5.16409249e+01] [-3.13337282e-03 -2.27668792e-04 9.99995065e-01 -2.35461347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.231400513 meters 0.07270203973427052 Centerline is valid? [True, True] Translation: X:472.64, Y:51.64, Z:-2.35 [[ 9.99142681e-01 -4.12259555e-02 3.78460135e-03 4.72642383e+02] [ 4.12245935e-02 9.99149809e-01 4.37203636e-04 5.16411979e+01] [-3.79940785e-03 -2.80810161e-04 9.99992743e-01 -2.35428089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.261400513 meters 0.07937766347565563 Centerline is valid? [True, True] Translation: X:472.67, Y:51.65, Z:-2.35 [[ 9.99204572e-01 -3.97055059e-02 3.70071693e-03 4.72670088e+02] [ 3.97041930e-02 9.99211386e-01 4.27598106e-04 5.16527067e+01] [-3.71477649e-03 -2.80324003e-04 9.99993061e-01 -2.35483082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.291400513 meters 0.07551217836417065 Centerline is valid? [True, True] Translation: X:472.70, Y:51.65, Z:-2.36 [[ 9.99284077e-01 -3.77433043e-02 2.60307297e-03 4.72700444e+02] [ 3.77426480e-02 9.99287447e-01 3.00809624e-04 5.16520216e+01] [-2.61257170e-03 -2.02347401e-04 9.99996567e-01 -2.35689853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.321400513 meters 0.0872782862995175 Centerline is valid? [True, True] Translation: X:472.73, Y:51.67, Z:-2.36 [[ 9.99442991e-01 -3.33719966e-02 -1.35910830e-04 4.72727650e+02] [ 3.33719947e-02 9.99443000e-01 -1.57049030e-05 5.16721280e+01] [ 1.36359232e-04 1.11605397e-05 9.99999991e-01 -2.36145612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.351400513 meters 0.07966154084879157 Centerline is valid? [True, True] Translation: X:472.76, Y:51.67, Z:-2.36 [[ 9.99487968e-01 -3.19647976e-02 -1.43285520e-03 4.72758801e+02] [ 3.19645928e-02 9.99488988e-01 -1.65589681e-04 5.16680133e+01] [ 1.43741603e-03 1.19704261e-04 9.99998960e-01 -2.36320681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.381400513 meters 0.08778226350668446 Centerline is valid? [True, True] Translation: X:472.79, Y:51.68, Z:-2.36 [[ 9.99511181e-01 -3.11949852e-02 -2.06703171e-03 4.72786209e+02] [ 3.11945571e-02 9.99513303e-01 -2.39074214e-04 5.16829082e+01] [ 2.07348361e-03 1.74477211e-04 9.99997835e-01 -2.36454131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.411400513 meters 0.08803780768866687 Centerline is valid? [True, True] Translation: X:472.81, Y:51.69, Z:-2.36 [[ 9.99520756e-01 -3.08924416e-02 -1.97861139e-03 4.72814130e+02] [ 3.08920484e-02 9.99522701e-01 -2.28972030e-04 5.16887600e+01] [ 1.98474051e-03 1.67738938e-04 9.99998016e-01 -2.36478709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.441400513 meters 0.08907246230336426 Centerline is valid? [True, True] Translation: X:472.84, Y:51.70, Z:-2.36 [[ 9.99520864e-01 -3.09119918e-02 -1.57809883e-03 4.72842529e+02] [ 3.09117410e-02 9.99522101e-01 -1.83068842e-04 5.16952360e+01] [ 1.58300368e-03 1.34199345e-04 9.99998738e-01 -2.36442066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.471400513 meters 0.08947891667977212 Centerline is valid? [True, True] Translation: X:472.87, Y:51.70, Z:-2.37 [[ 9.99490663e-01 -3.18735865e-02 -1.57788316e-03 4.72870904e+02] [ 3.18733372e-02 9.99491899e-01 -1.82879559e-04 5.17012449e+01] [ 1.58291046e-03 1.32494010e-04 9.99998738e-01 -2.36526265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.501400513 meters 0.08823876106497779 Centerline is valid? [True, True] Translation: X:472.90, Y:51.70, Z:-2.37 [[ 9.99455736e-01 -3.29384571e-02 -1.81366490e-03 4.72900276e+02] [ 3.29381287e-02 9.99457370e-01 -2.10655415e-04 5.17041934e+01] [ 1.81961942e-03 1.50802035e-04 9.99998333e-01 -2.36568039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.531400513 meters 0.08565155829756174 Centerline is valid? [True, True] Translation: X:472.93, Y:51.71, Z:-2.37 [[ 9.99409794e-01 -3.43016002e-02 -1.86137796e-03 4.72929911e+02] [ 3.43012570e-02 9.99411515e-01 -2.16017975e-04 5.17056566e+01] [ 1.86769233e-03 1.52042876e-04 9.99998244e-01 -2.36613789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.561400513 meters 0.08546201899014545 Centerline is valid? [True, True] Translation: X:472.96, Y:51.71, Z:-2.37 [[ 9.99357540e-01 -3.57853465e-02 -1.97894740e-03 4.72959152e+02] [ 3.57849614e-02 9.99359487e-01 -2.29703826e-04 5.17099079e+01] [ 1.98589989e-03 1.58739694e-04 9.99998015e-01 -2.36676654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.591400513 meters 0.08211802773757547 Centerline is valid? [True, True] Translation: X:472.99, Y:51.71, Z:-2.37 [[ 9.99299543e-01 -3.73390116e-02 -2.49425076e-03 4.72989414e+02] [ 3.73384045e-02 9.99302637e-01 -2.89515506e-04 5.17100874e+01] [ 2.50332158e-03 1.96181369e-04 9.99996847e-01 -2.36762248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.621400513 meters 0.07604190474502558 Centerline is valid? [True, True] Translation: X:473.02, Y:51.71, Z:-2.37 [[ 9.99239818e-01 -3.88981166e-02 -2.59277495e-03 4.73019883e+02] [ 3.88974658e-02 9.99243162e-01 -3.00981170e-04 5.17062296e+01] [ 2.60252024e-03 1.99899995e-04 9.99996593e-01 -2.36793950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.651400513 meters 0.07116164690351576 Centerline is valid? [True, True] Translation: X:473.05, Y:51.70, Z:-2.37 [[ 9.99092406e-01 -4.25768630e-02 -1.25538098e-03 4.73050088e+02] [ 4.25767132e-02 9.99093190e-01 -1.45781473e-04 5.17032780e+01] [ 1.26044950e-03 9.21991669e-05 9.99999201e-01 -2.36621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.681400513 meters 0.07597812825546191 Centerline is valid? [True, True] Translation: X:473.08, Y:51.71, Z:-2.36 [[ 9.99018193e-01 -4.43008710e-02 2.87383357e-04 4.73078559e+02] [ 4.43008632e-02 9.99018234e-01 3.33299972e-05 5.17122264e+01] [-2.88577761e-04 -2.05659428e-05 9.99999958e-01 -2.36419676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.711400513 meters 0.08068564889535426 Centerline is valid? [True, True] Translation: X:473.11, Y:51.72, Z:-2.36 [[ 9.98953788e-01 -4.56867315e-02 2.01311829e-03 4.73106329e+02] [ 4.56863527e-02 9.98955806e-01 2.33772747e-04 5.17206981e+01] [-2.02169652e-03 -1.41556139e-04 9.99997946e-01 -2.36126766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74140051300003 meters 0.06587053606830694 Centerline is valid? [True, True] Translation: X:473.14, Y:51.71, Z:-2.36 [[ 9.98891337e-01 -4.69908495e-02 2.82084610e-03 4.73138286e+02] [ 4.69901106e-02 9.98895301e-01 3.27665845e-04 5.17055661e+01] [-2.83312721e-03 -1.94750704e-04 9.99995968e-01 -2.35956275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.771400513 meters 0.07317395890637088 Centerline is valid? [True, True] Translation: X:473.16, Y:51.72, Z:-2.36 [[ 9.98859434e-01 -4.76140871e-02 3.56779934e-03 4.73164634e+02] [ 4.76129085e-02 9.98865776e-01 4.14615605e-04 5.17175109e+01] [-3.58349420e-03 -2.44269405e-04 9.99993549e-01 -2.35830074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.801400513 meters 0.07207024156690012 Centerline is valid? [True, True] Translation: X:473.19, Y:51.72, Z:-2.36 [[ 9.98845843e-01 -4.79224920e-02 3.22745964e-03 4.73193188e+02] [ 4.79215279e-02 9.98851033e-01 3.75437281e-04 5.17197006e+01] [-3.24174328e-03 -2.20339171e-04 9.99994721e-01 -2.35888653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.831400513 meters 0.07371745208226908 Centerline is valid? [True, True] Translation: X:473.22, Y:51.72, Z:-2.36 [[ 9.98860749e-01 -4.76589399e-02 2.41428921e-03 4.73222080e+02] [ 4.76583989e-02 9.98863653e-01 2.81158380e-04 5.17237162e+01] [-2.42494545e-03 -1.65776912e-04 9.99997046e-01 -2.36115864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.861400513 meters 0.07325968542231995 Centerline is valid? [True, True] Translation: X:473.25, Y:51.73, Z:-2.36 [[ 9.98876168e-01 -4.73149491e-02 2.77421946e-03 4.73250229e+02] [ 4.73142321e-02 9.98880002e-01 3.23558326e-04 5.17302261e+01] [-2.78642148e-03 -1.91934638e-04 9.99996100e-01 -2.36061932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.891400513 meters 0.07673548009436844 Centerline is valid? [True, True] Translation: X:473.28, Y:51.74, Z:-2.36 [[ 9.98887323e-01 -4.70507003e-02 3.21690899e-03 4.73277639e+02] [ 4.70497336e-02 9.98892477e-01 3.75579006e-04 5.17387592e+01] [-3.23101745e-03 -2.23806397e-04 9.99994755e-01 -2.35993758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.921400513 meters 0.07634198161217101 Centerline is valid? [True, True] Translation: X:473.31, Y:51.74, Z:-2.36 [[ 9.98869789e-01 -4.73845398e-02 3.72169150e-03 4.73305818e+02] [ 4.73832467e-02 9.98876688e-01 4.34912109e-04 5.17425954e+01] [-3.73811899e-03 -2.58074740e-04 9.99992980e-01 -2.35928391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.951400513 meters 0.07578371968895586 Centerline is valid? [True, True] Translation: X:473.34, Y:51.75, Z:-2.36 [[ 9.98806693e-01 -4.86920203e-02 3.77855126e-03 4.73335201e+02] [ 4.86906954e-02 9.98813807e-01 4.41879964e-04 5.17458653e+01] [-3.79558520e-03 -2.57372376e-04 9.99992764e-01 -2.35937510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.981400513 meters 0.07149153470771641 Centerline is valid? [True, True] Translation: X:473.37, Y:51.74, Z:-2.36 [[ 9.98701854e-01 -5.08154639e-02 3.52075630e-03 4.73365401e+02] [ 5.08143266e-02 9.98708033e-01 4.11787768e-04 5.17438216e+01] [-3.53713279e-03 -2.32348347e-04 9.99993717e-01 -2.35971442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.011400513 meters 0.058592862978442885 Centerline is valid? [True, True] Translation: X:473.40, Y:51.73, Z:-2.36 [[ 9.98421585e-01 -5.60662775e-02 3.30330576e-03 4.73397288e+02] [ 5.60653048e-02 9.98427029e-01 3.86383048e-04 5.17287521e+01] [-3.31977282e-03 -2.00572331e-04 9.99994469e-01 -2.36044688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.041400513 meters 0.05796544008077781 Centerline is valid? [True, True] Translation: X:473.43, Y:51.73, Z:-2.36 [[ 9.98284012e-01 -5.84006435e-02 4.28900788e-03 4.73426549e+02] [ 5.83990249e-02 9.98293194e-01 5.01754449e-04 5.17285507e+01] [-4.31099016e-03 -2.50419567e-04 9.99990676e-01 -2.35933104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.071400513 meters 0.05953555412367266 Centerline is valid? [True, True] Translation: X:473.46, Y:51.73, Z:-2.36 [[ 9.98187708e-01 -5.99498560e-02 5.22629125e-03 4.73455324e+02] [ 5.99474732e-02 9.98201346e-01 6.11535617e-04 5.17316350e+01] [-5.25355243e-03 -2.97124381e-04 9.99986156e-01 -2.35807311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.101400513 meters 0.05561019566308228 Centerline is valid? [True, True] Translation: X:473.49, Y:51.73, Z:-2.36 [[ 9.98164797e-01 -6.03584047e-02 4.88884815e-03 4.73485012e+02] [ 6.03563218e-02 9.98176731e-01 5.72609673e-04 5.17278474e+01] [-4.91449627e-03 -2.76485925e-04 9.99987886e-01 -2.35860521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.131400513 meters 0.06366935294353339 Centerline is valid? [True, True] Translation: X:473.51, Y:51.74, Z:-2.36 [[ 9.98246099e-01 -5.90681505e-02 3.95961669e-03 4.73512926e+02] [ 5.90667728e-02 9.98253926e-01 4.64087100e-04 5.17383636e+01] [-3.98011567e-03 -2.29391358e-04 9.99992053e-01 -2.35989916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.161400513 meters 0.06759663094921392 Centerline is valid? [True, True] Translation: X:473.54, Y:51.74, Z:-2.36 [[ 9.98576053e-01 -5.33053140e-02 2.10013616e-03 4.73543219e+02] [ 5.33049137e-02 9.98578252e-01 2.46180199e-04 5.17407152e+01] [-2.11027301e-03 -1.33882074e-04 9.99997764e-01 -2.36283523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.191400513 meters 0.07073010206236648 Centerline is valid? [True, True] Translation: X:473.57, Y:51.75, Z:-2.36 [[ 9.98759336e-01 -4.97676394e-02 1.72334243e-03 4.73572707e+02] [ 4.97673646e-02 9.98760817e-01 2.02014091e-04 5.17457868e+01] [-1.73126066e-03 -1.15997248e-04 9.99998495e-01 -2.36286259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.221400513 meters 0.0704067480613603 Centerline is valid? [True, True] Translation: X:473.60, Y:51.75, Z:-2.36 [[ 9.98940537e-01 -4.59775487e-02 1.96678361e-03 4.73602639e+02] [ 4.59771834e-02 9.98942464e-01 2.30573897e-04 5.17478947e+01] [-1.97530489e-03 -1.39902441e-04 9.99998039e-01 -2.36279154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.251400513 meters 0.07459343399857625 Centerline is valid? [True, True] Translation: X:473.63, Y:51.76, Z:-2.36 [[ 9.99094814e-01 -4.25083606e-02 1.60971218e-03 4.73630918e+02] [ 4.25081114e-02 9.99096104e-01 1.88719848e-04 5.17556294e+01] [-1.61627934e-03 -1.20123197e-04 9.99998687e-01 -2.36328411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.281400513 meters 0.08230099449338431 Centerline is valid? [True, True] Translation: X:473.66, Y:51.77, Z:-2.36 [[ 9.99229987e-01 -3.92081273e-02 1.46814749e-03 4.73659050e+02] [ 3.92079164e-02 9.99231059e-01 1.72156986e-04 5.17676783e+01] [-1.47376853e-03 -1.14461419e-04 9.99998907e-01 -2.36393742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.311400513 meters 0.08616862611675236 Centerline is valid? [True, True] Translation: X:473.69, Y:51.78, Z:-2.36 [[ 9.99333587e-01 -3.64829646e-02 1.17268136e-03 4.73688675e+02] [ 3.64828281e-02 9.99334271e-01 1.37519483e-04 5.17750571e+01] [-1.17691779e-03 -9.46451052e-05 9.99999303e-01 -2.36462067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.341400513 meters 0.08616862611675236 Centerline is valid? [True, True] Translation: X:473.72, Y:51.78, Z:-2.36 [[ 9.99327953e-01 -3.66369749e-02 1.17269198e-03 4.73716887e+02] [ 3.66368387e-02 9.99328636e-01 1.37429028e-04 5.17784791e+01] [-1.17693966e-03 -9.43729424e-05 9.99999303e-01 -2.36467090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.371400513 meters 0.08879110710106121 Centerline is valid? [True, True] Translation: X:473.75, Y:51.79, Z:-2.36 [[ 9.99461734e-01 -3.27653240e-02 1.63578655e-03 4.73746685e+02] [ 3.27650532e-02 9.99463063e-01 1.92081444e-04 5.17852231e+01] [-1.64120184e-03 -1.38381420e-04 9.99998644e-01 -2.36420654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.401400513 meters 0.0891347326790364 Centerline is valid? [True, True] Translation: X:473.78, Y:51.79, Z:-2.36 [[ 9.99496941e-01 -3.16674926e-02 1.74203274e-03 4.73775428e+02] [ 3.16671838e-02 9.99498448e-01 2.04568540e-04 5.17901077e+01] [-1.74763720e-03 -1.49300359e-04 9.99998462e-01 -2.36437945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.431400513 meters 0.08982671938514936 Centerline is valid? [True, True] Translation: X:473.80, Y:51.80, Z:-2.37 [[ 9.99517871e-01 -3.10048616e-02 1.65022686e-03 4.73804491e+02] [ 3.10045835e-02 9.99519224e-01 1.93841129e-04 5.17961022e+01] [-1.65544349e-03 -1.42583076e-04 9.99998620e-01 -2.36511386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.461400513 meters 0.0903776113242968 Centerline is valid? [True, True] Translation: X:473.83, Y:51.80, Z:-2.37 [[ 9.99538764e-01 -3.03402191e-02 1.31581398e-03 4.73833338e+02] [ 3.03400417e-02 9.99539623e-01 1.54576463e-04 5.18020027e+01] [-1.31989809e-03 -1.14583316e-04 9.99999122e-01 -2.36562356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49140051300003 meters 0.0879856835626721 Centerline is valid? [True, True] Translation: X:473.86, Y:51.80, Z:-2.37 [[ 9.99547074e-01 -3.00757069e-02 1.04811899e-03 4.73863201e+02] [ 3.00755941e-02 9.99547619e-01 1.23159814e-04 5.18046172e+01] [-1.05134896e-03 -9.15812307e-05 9.99999443e-01 -2.36611040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.521400513 meters 0.08350184959879017 Centerline is valid? [True, True] Translation: X:473.89, Y:51.80, Z:-2.37 [[ 9.99548270e-01 -3.00470120e-02 6.58142257e-04 4.73893408e+02] [ 3.00469676e-02 9.99548485e-01 7.73349012e-05 5.18044648e+01] [-6.60168778e-04 -5.75247876e-05 9.99999780e-01 -2.36684880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.551400513 meters 0.08968078079509349 Centerline is valid? [True, True] Translation: X:473.92, Y:51.82, Z:-2.37 [[ 9.99521752e-01 -3.09222254e-02 -2.88465417e-04 4.73920724e+02] [ 3.09222169e-02 9.99521793e-01 -3.39848162e-05 5.18181354e+01] [ 2.89378357e-04 2.50485729e-05 9.99999958e-01 -2.36855019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.581400513 meters 0.0922314982708985 Centerline is valid? [True, True] Translation: X:473.95, Y:51.83, Z:-2.37 [[ 9.99481128e-01 -3.21993208e-02 -8.24015473e-04 4.73948957e+02] [ 3.21992517e-02 9.99481465e-01 -9.69628979e-05 5.18261640e+01] [ 8.26710331e-04 7.03799049e-05 9.99999656e-01 -2.36948825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.611400513 meters 0.0788743501658479 Centerline is valid? [True, True] Translation: X:473.98, Y:51.81, Z:-2.37 [[ 9.99428430e-01 -3.37823996e-02 -1.25031402e-03 4.73980930e+02] [ 3.37822418e-02 9.99429206e-01 -1.47101995e-04 5.18143993e+01] [ 1.25456980e-03 1.04779506e-04 9.99999208e-01 -2.36945820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.641400513 meters 0.08556922077339252 Centerline is valid? [True, True] Translation: X:474.01, Y:51.83, Z:-2.37 [[ 9.99384088e-01 -3.50686622e-02 -1.27778622e-03 4.74007885e+02] [ 3.50684984e-02 9.99384900e-01 -1.50385088e-04 5.18293318e+01] [ 1.28227406e-03 1.05482420e-04 9.99999172e-01 -2.36967497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.671400513 meters 0.07860413520539122 Centerline is valid? [True, True] Translation: X:474.04, Y:51.83, Z:-2.37 [[ 9.99332062e-01 -3.65324912e-02 -8.98158601e-04 4.74038746e+02] [ 3.65324108e-02 9.99332463e-01 -1.05747583e-04 5.18272035e+01] [ 9.01422269e-04 7.28650514e-05 9.99999591e-01 -2.36946561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.701400513 meters 0.08494018090175146 Centerline is valid? [True, True] Translation: X:474.07, Y:51.84, Z:-2.37 [[ 9.99301918e-01 -3.73577890e-02 2.70237694e-04 4.74065253e+02] [ 3.73577818e-02 9.99301954e-01 3.17169416e-05 5.18409242e+01] [-2.71233931e-04 -2.15993197e-05 9.99999963e-01 -2.36836193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.731400513 meters 0.08425712598317797 Centerline is valid? [True, True] Translation: X:474.09, Y:51.85, Z:-2.36 [[ 9.99306423e-01 -3.71300640e-02 2.83380352e-03 4.74093692e+02] [ 3.71292656e-02 9.99310415e-01 3.33834384e-04 5.18475238e+01] [-2.84424467e-03 -2.28385801e-04 9.99995929e-01 -2.36437787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.761400513 meters 0.08038975379866531 Centerline is valid? [True, True] Translation: X:474.12, Y:51.85, Z:-2.36 [[ 9.99349047e-01 -3.59526894e-02 2.98098310e-03 4.74123455e+02] [ 3.59517998e-02 9.99353463e-01 3.51493865e-04 5.18487714e+01] [-2.99169293e-03 -2.44093352e-04 9.99995495e-01 -2.36420743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.791400513 meters 0.08798926096950384 Centerline is valid? [True, True] Translation: X:474.15, Y:51.86, Z:-2.36 [[ 9.99389465e-01 -3.48376496e-02 2.65251240e-03 4.74150910e+02] [ 3.48369412e-02 9.99392961e-01 3.12800414e-04 5.18627812e+01] [-2.66179945e-03 -2.20204020e-04 9.99996433e-01 -2.36495319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.821400513 meters 0.08778895517359579 Centerline is valid? [True, True] Translation: X:474.18, Y:51.87, Z:-2.37 [[ 9.99435949e-01 -3.35125588e-02 2.16621487e-03 4.74180128e+02] [ 3.35120833e-02 9.99438280e-01 2.55459433e-04 5.18707677e+01] [-2.17355916e-03 -1.82720967e-04 9.99997621e-01 -2.36564386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.851400513 meters 0.08881649160431539 Centerline is valid? [True, True] Translation: X:474.21, Y:51.88, Z:-2.37 [[ 9.99468132e-01 -3.25576766e-02 1.85747699e-03 4.74209351e+02] [ 3.25573253e-02 9.99469846e-01 2.19068434e-04 5.18790760e+01] [-1.86362460e-03 -1.58477436e-04 9.99998251e-01 -2.36646472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.881400513 meters 0.09166282480761463 Centerline is valid? [True, True] Translation: X:474.24, Y:51.89, Z:-2.37 [[ 9.99500403e-01 -3.15717053e-02 1.47396869e-03 4.74237294e+02] [ 3.15714830e-02 9.99501481e-01 1.73853094e-04 5.18892071e+01] [-1.47872272e-03 -1.27230861e-04 9.99998899e-01 -2.36682929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.911400513 meters 0.09386054259776361 Centerline is valid? [True, True] Translation: X:474.27, Y:51.90, Z:-2.37 [[ 9.99547813e-01 -3.00265490e-02 1.60471308e-03 4.74265929e+02] [ 3.00262835e-02 9.99549092e-01 1.89276229e-04 5.19022323e+01] [-1.60967281e-03 -1.41007071e-04 9.99998695e-01 -2.36713477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.941400513 meters 0.09391019666845171 Centerline is valid? [True, True] Translation: X:474.30, Y:51.91, Z:-2.37 [[ 9.99551238e-01 -2.99116901e-02 1.61668636e-03 4.74295424e+02] [ 2.99114204e-02 9.99552535e-01 1.90708143e-04 5.19095574e+01] [-1.62166735e-03 -1.42265175e-04 9.99998675e-01 -2.36657993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.971400513 meters 0.09401676154017469 Centerline is valid? [True, True] Translation: X:474.32, Y:51.92, Z:-2.37 [[ 9.99548119e-01 -3.00104194e-02 1.71252673e-03 4.74324985e+02] [ 3.00101170e-02 9.99549575e-01 2.02013699e-04 5.19167248e+01] [-1.71781788e-03 -1.50529285e-04 9.99998513e-01 -2.36705115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.001400513 meters 0.09118651324908449 Centerline is valid? [True, True] Translation: X:474.36, Y:51.92, Z:-2.37 [[ 9.99506765e-01 -3.13788862e-02 1.26195573e-03 4.74355371e+02] [ 3.13787230e-02 9.99507556e-01 1.48868792e-04 5.19233659e+01] [-1.26600562e-03 -1.09196806e-04 9.99999193e-01 -2.36785723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.031400513 meters 0.0921023360957568 Centerline is valid? [True, True] Translation: X:474.38, Y:51.93, Z:-2.37 [[ 9.99484914e-01 -3.20693300e-02 1.21032758e-03 4.74384605e+02] [ 3.20691805e-02 9.99485641e-01 1.42759581e-04 5.19308843e+01] [-1.21428324e-03 -1.03871834e-04 9.99999257e-01 -2.36851187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.061400513 meters 0.08878855861486297 Centerline is valid? [True, True] Translation: X:474.41, Y:51.93, Z:-2.37 [[ 9.99454415e-01 -3.30088447e-02 1.13498518e-03 4.74414447e+02] [ 3.30087139e-02 9.99455055e-01 1.33837918e-04 5.19340307e+01] [-1.13878451e-03 -9.63004975e-05 9.99999347e-01 -2.36866629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.091400513 meters 0.08349454585206041 Centerline is valid? [True, True] Translation: X:474.44, Y:51.94, Z:-2.37 [[ 9.99426114e-01 -3.38618329e-02 9.05062856e-04 4.74444776e+02] [ 3.38617500e-02 9.99426521e-01 1.06804200e-04 5.19352774e+01] [-9.08160407e-04 -7.60958947e-05 9.99999585e-01 -2.36890362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.121400513 meters 0.08182784347317895 Centerline is valid? [True, True] Translation: X:474.47, Y:51.94, Z:-2.37 [[ 9.99395581e-01 -3.47627831e-02 1.47526817e-04 4.74474963e+02] [ 3.47627809e-02 9.99395592e-01 1.74092701e-05 5.19409493e+01] [-1.48042845e-04 -1.22703052e-05 9.99999989e-01 -2.36983409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.151400513 meters 0.08547527368089256 Centerline is valid? [True, True] Translation: X:474.50, Y:51.95, Z:-2.37 [[ 9.99362273e-01 -3.57078008e-02 2.37419084e-06 4.74503013e+02] [ 3.57078008e-02 9.99362273e-01 2.59960025e-07 5.19527512e+01] [-2.38195936e-06 -1.75017107e-07 1.00000000e+00 -2.37046372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.181400513 meters 0.0848752418594173 Centerline is valid? [True, True] Translation: X:474.53, Y:51.96, Z:-2.37 [[ 9.99250146e-01 -3.87166568e-02 4.07365677e-04 4.74531743e+02] [ 3.87166404e-02 9.99250229e-01 4.80589080e-05 5.19614871e+01] [-4.08920926e-04 -3.22510404e-05 9.99999916e-01 -2.36901942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.211400513 meters 0.08485932480961056 Centerline is valid? [True, True] Translation: X:474.56, Y:51.97, Z:-2.37 [[ 9.99193299e-01 -4.01578756e-02 3.11658472e-04 4.74560677e+02] [ 4.01578661e-02 9.99193347e-01 3.67695495e-05 5.19684095e+01] [-3.12883658e-04 -2.42243483e-05 9.99999951e-01 -2.36880974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24140051300003 meters 0.08401278799175772 Centerline is valid? [True, True] Translation: X:474.59, Y:51.97, Z:-2.37 [[ 9.99137651e-01 -4.15204942e-02 5.81067715e-05 4.74590128e+02] [ 4.15204939e-02 9.99137652e-01 6.84015024e-06 5.19746714e+01] [-5.83406697e-05 -4.42162979e-06 9.99999998e-01 -2.36933335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.271400513 meters 0.08463639515520624 Centerline is valid? [True, True] Translation: X:474.62, Y:51.98, Z:-2.37 [[ 9.99089467e-01 -4.26636729e-02 2.17288704e-04 4.74618651e+02] [ 4.26636683e-02 9.99089491e-01 2.56348588e-05 5.19824380e+01] [-2.18184538e-04 -1.63411842e-05 9.99999976e-01 -2.36899398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.301400513 meters 0.07670306554576672 Centerline is valid? [True, True] Translation: X:474.65, Y:51.98, Z:-2.37 [[ 9.99058539e-01 -4.33808265e-02 3.72516267e-04 4.74648942e+02] [ 4.33808131e-02 9.99058608e-01 4.39494965e-05 5.19795617e+01] [-3.74072149e-04 -2.77480613e-05 9.99999930e-01 -2.36895799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.331400513 meters 0.07510389346934172 Centerline is valid? [True, True] Translation: X:474.68, Y:51.99, Z:-2.37 [[ 9.98984063e-01 -4.50647313e-02 -1.05012390e-04 4.74677986e+02] [ 4.50647302e-02 9.98984069e-01 -1.24439634e-05 5.19863399e+01] [ 1.05466489e-04 7.69896609e-06 9.99999994e-01 -2.37053965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.361400513 meters 0.06915985100209382 Centerline is valid? [True, True] Translation: X:474.71, Y:51.98, Z:-2.37 [[ 9.98915739e-01 -4.65528941e-02 -4.17626254e-04 4.74708473e+02] [ 4.65528775e-02 9.98915826e-01 -4.93526342e-05 5.19847151e+01] [ 4.19470982e-04 2.98574192e-05 9.99999912e-01 -2.37128027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.391400513 meters 0.07256767090605074 Centerline is valid? [True, True] Translation: X:474.74, Y:51.99, Z:-2.37 [[ 9.98835481e-01 -4.82445976e-02 -3.75284589e-04 4.74736773e+02] [ 4.82445843e-02 9.98835551e-01 -4.43805305e-05 5.19943103e+01] [ 3.76988710e-04 2.62233995e-05 9.99999929e-01 -2.37160397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.421400513 meters 0.06896649435369263 Centerline is valid? [True, True] Translation: X:474.77, Y:51.99, Z:-2.37 [[ 9.98744256e-01 -5.00988749e-02 -1.13462169e-04 4.74766909e+02] [ 5.00988737e-02 9.98744263e-01 -1.34272155e-05 5.19943446e+01] [ 1.13992379e-04 7.72602753e-06 9.99999993e-01 -2.37093122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.451400513 meters 0.06807740119179172 Centerline is valid? [True, True] Translation: X:474.80, Y:52.00, Z:-2.37 [[ 9.98631846e-01 -5.22918364e-02 8.28611096e-06 4.74795440e+02] [ 5.22918364e-02 9.98631846e-01 9.18151731e-07 5.19970020e+01] [-8.32278612e-06 -4.83599598e-07 1.00000000e+00 -2.37101894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.481400513 meters 0.06785112923423695 Centerline is valid? [True, True] Translation: X:474.82, Y:52.00, Z:-2.37 [[ 9.98519602e-01 -5.43919225e-02 -3.49803946e-04 4.74824635e+02] [ 5.43919113e-02 9.98519663e-01 -4.13935731e-05 5.19992587e+01] [ 3.51537594e-04 2.23057889e-05 9.99999938e-01 -2.37136652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.511400513 meters 0.06299394518220322 Centerline is valid? [True, True] Translation: X:474.86, Y:51.99, Z:-2.37 [[ 9.98374533e-01 -5.69816544e-02 -1.17618177e-03 4.74855247e+02] [ 5.69815299e-02 9.98375223e-01 -1.39089917e-04 5.19947575e+01] [ 1.18219631e-03 7.18431943e-05 9.99999299e-01 -2.37303847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.541400513 meters 0.0664774753407884 Centerline is valid? [True, True] Translation: X:474.88, Y:52.00, Z:-2.37 [[ 9.98390458e-01 -5.67079837e-02 -8.34884413e-04 4.74882570e+02] [ 5.67079207e-02 9.98390806e-01 -9.89335489e-05 5.20019146e+01] [ 8.39151245e-04 5.14297522e-05 9.99999647e-01 -2.37302720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.571400513 meters 0.06898423507249352 Centerline is valid? [True, True] Translation: X:474.91, Y:52.01, Z:-2.37 [[ 9.98482663e-01 -5.50665655e-02 -2.13485951e-04 4.74911535e+02] [ 5.50665613e-02 9.98482685e-01 -2.53254222e-05 5.20083956e+01] [ 2.14556610e-04 1.35310578e-05 9.99999977e-01 -2.37237277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.601400513 meters 0.06648902530340106 Centerline is valid? [True, True] Translation: X:474.94, Y:52.01, Z:-2.37 [[ 9.98638896e-01 -5.21552301e-02 4.32992216e-04 4.74941892e+02] [ 5.21552127e-02 9.98638989e-01 5.12437848e-05 5.20089245e+01] [-4.35075540e-04 -2.85912356e-05 9.99999905e-01 -2.37110451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.631400513 meters 0.07167838592838527 Centerline is valid? [True, True] Translation: X:474.97, Y:52.02, Z:-2.37 [[ 9.98822957e-01 -4.84990437e-02 7.36572373e-04 4.74970036e+02] [ 4.84989926e-02 9.98823228e-01 8.71816376e-05 5.20186096e+01] [-7.39933821e-04 -5.13560030e-05 9.99999725e-01 -2.37060037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.661400513 meters 0.076051215496555 Centerline is valid? [True, True] Translation: X:475.00, Y:52.03, Z:-2.37 [[ 9.98994342e-01 -4.48361347e-02 1.60855402e-04 4.74999587e+02] [ 4.48361322e-02 9.98994355e-01 1.90383619e-05 5.20274305e+01] [-1.61547245e-04 -1.18070817e-05 9.99999987e-01 -2.37150876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.691400513 meters 0.07856287579841534 Centerline is valid? [True, True] Translation: X:475.03, Y:52.04, Z:-2.37 [[ 9.99229848e-01 -3.92253617e-02 -1.04040235e-03 4.75029288e+02] [ 3.92252546e-02 9.99230386e-01 -1.23143782e-04 5.20350808e+01] [ 1.04443200e-03 8.22388958e-05 9.99999451e-01 -2.37293560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.721400513 meters 0.08027244579973868 Centerline is valid? [True, True] Translation: X:475.06, Y:52.04, Z:-2.37 [[ 9.99313487e-01 -3.70309686e-02 -1.12359723e-03 4.75059405e+02] [ 3.70308423e-02 9.99314114e-01 -1.32987983e-04 5.20415518e+01] [ 1.12775124e-03 9.12889337e-05 9.99999360e-01 -2.37322313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.751400513 meters 0.08380155345067587 Centerline is valid? [True, True] Translation: X:475.09, Y:52.05, Z:-2.37 [[ 9.99374543e-01 -3.53481621e-02 -1.01524332e-03 4.75087476e+02] [ 3.53480581e-02 9.99375055e-01 -1.20208318e-04 5.20503255e+01] [ 1.01885799e-03 8.42462529e-05 9.99999477e-01 -2.37309688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.781400513 meters 0.09099942650425376 Centerline is valid? [True, True] Translation: X:475.12, Y:52.06, Z:-2.37 [[ 9.99396824e-01 -3.47129399e-02 -9.99853811e-04 4.75115327e+02] [ 3.47128388e-02 9.99397321e-01 -1.18317961e-04 5.20622882e+01] [ 1.00335838e-03 8.35388303e-05 9.99999493e-01 -2.37340323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.811400513 meters 0.0887795134636755 Centerline is valid? [True, True] Translation: X:475.15, Y:52.06, Z:-2.37 [[ 9.99374590e-01 -3.53536891e-02 -7.38148013e-04 4.75145093e+02] [ 3.53536341e-02 9.99374861e-01 -8.74227996e-05 5.20622322e+01] [ 7.40777286e-04 6.12719098e-05 9.99999724e-01 -2.37346760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.841400513 meters 0.08279095063329488 Centerline is valid? [True, True] Translation: X:475.18, Y:52.06, Z:-2.37 [[ 9.99321819e-01 -3.68175830e-02 -6.07042028e-04 4.75175978e+02] [ 3.68175461e-02 9.99322002e-01 -7.18900087e-05 5.20573385e+01] [ 6.09277271e-04 4.94914563e-05 9.99999813e-01 -2.37317269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.871400513 meters 0.07927673332571863 Centerline is valid? [True, True] Translation: X:475.21, Y:52.05, Z:-2.37 [[ 9.99162660e-01 -4.09032637e-02 -9.49899743e-04 4.75206969e+02] [ 4.09031751e-02 9.99163109e-01 -1.12475874e-04 5.20538494e+01] [ 9.53705411e-04 7.35277782e-05 9.99999543e-01 -2.37455397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.901400513 meters 0.0786411991306918 Centerline is valid? [True, True] Translation: X:475.24, Y:52.05, Z:-2.38 [[ 9.99071732e-01 -4.30539120e-02 -1.42685171e-03 4.75236002e+02] [ 4.30537144e-02 9.99072745e-01 -1.68983232e-04 5.20548608e+01] [ 1.43280405e-03 1.07395104e-04 9.99998968e-01 -2.37596400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.931400513 meters 0.07431100472644021 Centerline is valid? [True, True] Translation: X:475.27, Y:52.05, Z:-2.38 [[ 9.98988842e-01 -4.49271742e-02 -1.68581287e-03 4.75266367e+02] [ 4.49269008e-02 9.98990257e-01 -1.99702631e-04 5.20509043e+01] [ 1.69308271e-03 1.23762352e-04 9.99998559e-01 -2.37665712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.961400513 meters 0.07587456520316584 Centerline is valid? [True, True] Translation: X:475.30, Y:52.05, Z:-2.38 [[ 9.98922622e-01 -4.63731602e-02 -1.76784160e-03 4.75295155e+02] [ 4.63728618e-02 9.98924178e-01 -2.09458733e-04 5.20539054e+01] [ 1.77565298e-03 1.27253193e-04 9.99998415e-01 -2.37689491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99140051300003 meters 0.07797609168024651 Centerline is valid? [True, True] Translation: X:475.32, Y:52.06, Z:-2.38 [[ 9.98873467e-01 -4.74293646e-02 -1.50107692e-03 4.75323341e+02] [ 4.74291505e-02 9.98874589e-01 -1.77903293e-04 5.20576896e+01] [ 1.50782543e-03 1.06508076e-04 9.99998858e-01 -2.37647796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.021400513 meters 0.07282824195828658 Centerline is valid? [True, True] Translation: X:475.35, Y:52.05, Z:-2.38 [[ 9.98842766e-01 -4.80471711e-02 -2.14432587e-03 4.75353152e+02] [ 4.80467345e-02 9.98845056e-01 -2.54704191e-04 5.20525518e+01] [ 2.15408711e-03 1.51381582e-04 9.99997668e-01 -2.37698635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.051400513 meters 0.07171847924839074 Centerline is valid? [True, True] Translation: X:475.38, Y:52.05, Z:-2.38 [[ 9.98850549e-01 -4.76771315e-02 -4.94698742e-03 4.75381830e+02] [ 4.76748044e-02 9.98862737e-01 -5.87342038e-04 5.20513512e+01] [ 4.96936418e-03 3.50820260e-04 9.99987591e-01 -2.38053339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.081400513 meters 0.07806779727029038 Centerline is valid? [True, True] Translation: X:475.41, Y:52.06, Z:-2.38 [[ 9.98867456e-01 -4.71931429e-02 -6.05077045e-03 4.75408384e+02] [ 4.71896501e-02 9.98885689e-01 -7.18811130e-04 5.20605548e+01] [ 6.07795097e-03 4.32463305e-04 9.99981436e-01 -2.38311352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.111400513 meters 0.07686417373613291 Centerline is valid? [True, True] Translation: X:475.44, Y:52.06, Z:-2.38 [[ 9.98907618e-01 -4.62771200e-02 -6.48060412e-03 4.75437960e+02] [ 4.62730922e-02 9.98928530e-01 -7.70157619e-04 5.20604651e+01] [ 6.50930102e-03 4.69438721e-04 9.99978704e-01 -2.38364744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.141400513 meters 0.0749097394985308 Centerline is valid? [True, True] Translation: X:475.47, Y:52.06, Z:-2.38 [[ 9.98972100e-01 -4.49239309e-02 -6.04838321e-03 4.75467843e+02] [ 4.49203972e-02 9.98990311e-01 -7.18892846e-04 5.20598513e+01] [ 6.07457172e-03 4.46458120e-04 9.99981450e-01 -2.38258553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.171400513 meters 0.08376275738929619 Centerline is valid? [True, True] Translation: X:475.50, Y:52.07, Z:-2.38 [[ 9.99048336e-01 -4.33559250e-02 -4.76308510e-03 4.75495969e+02] [ 4.33537156e-02 9.99059625e-01 -5.66169527e-04 5.20729822e+01] [ 4.78315281e-03 3.59133287e-04 9.99988496e-01 -2.38138211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.201400513 meters 0.08160008825199276 Centerline is valid? [True, True] Translation: X:475.53, Y:52.07, Z:-2.38 [[ 9.99124476e-01 -4.17014517e-02 -3.35725796e-03 4.75526297e+02] [ 4.17003446e-02 9.99130083e-01 -3.99108045e-04 5.20729997e+01] [ 3.37098080e-03 2.58759802e-04 9.99994285e-01 -2.37896062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.231400513 meters 0.08160008825199276 Centerline is valid? [True, True] Translation: X:475.55, Y:52.08, Z:-2.38 [[ 9.99116995e-01 -4.18802999e-02 -3.35715142e-03 4.75553647e+02] [ 4.18791909e-02 9.99122602e-01 -4.00003522e-04 5.20764082e+01] [ 3.37095813e-03 2.59055532e-04 9.99994285e-01 -2.37900934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.261400513 meters 0.0848235131949782 Centerline is valid? [True, True] Translation: X:475.58, Y:52.08, Z:-2.38 [[ 9.99267523e-01 -3.81339130e-02 -3.19708957e-03 4.75583920e+02] [ 3.81328890e-02 9.99272604e-01 -3.80669994e-04 5.20804948e+01] [ 3.20928046e-03 2.58476900e-04 9.99994817e-01 -2.37878122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.291400513 meters 0.08654444757100442 Centerline is valid? [True, True] Translation: X:475.61, Y:52.08, Z:-2.38 [[ 9.99328892e-01 -3.64304836e-02 -3.81918173e-03 4.75613800e+02] [ 3.64290096e-02 9.99336140e-01 -4.54813711e-04 5.20835960e+01] [ 3.83321541e-03 3.15379474e-04 9.99992603e-01 -2.37970219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.321400513 meters 0.0856976647841767 Centerline is valid? [True, True] Translation: X:475.64, Y:52.08, Z:-2.38 [[ 9.99380616e-01 -3.49727183e-02 -3.91074556e-03 4.75643875e+02] [ 3.49711616e-02 9.99388213e-01 -4.65753449e-04 5.20840915e+01] [ 3.92464169e-03 3.28701653e-04 9.99992245e-01 -2.37985018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.351400513 meters 0.08193624052022501 Centerline is valid? [True, True] Translation: X:475.68, Y:52.08, Z:-2.38 [[ 9.99460289e-01 -3.26935012e-02 -3.20401520e-03 4.75675466e+02] [ 3.26924447e-02 9.99465386e-01 -3.81582815e-04 5.20786263e+01] [ 3.21477757e-03 2.76629781e-04 9.99994794e-01 -2.37842602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.381400513 meters 0.08554778210052943 Centerline is valid? [True, True] Translation: X:475.70, Y:52.09, Z:-2.38 [[ 9.99498236e-01 -3.15363578e-02 -2.95539432e-03 4.75702980e+02] [ 3.15354534e-02 9.99502572e-01 -3.52136195e-04 5.20886278e+01] [ 2.96502932e-03 2.58759806e-04 9.99995571e-01 -2.37787144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.411400513 meters 0.08381187878258621 Centerline is valid? [True, True] Translation: X:475.73, Y:52.09, Z:-2.38 [[ 9.99542199e-01 -3.01300048e-02 -2.75233028e-03 4.75733087e+02] [ 3.01292152e-02 9.99545958e-01 -3.27936058e-04 5.20903072e+01] [ 2.76096132e-03 2.44860377e-04 9.99996159e-01 -2.37766209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.441400513 meters 0.08911016976239555 Centerline is valid? [True, True] Translation: X:475.76, Y:52.10, Z:-2.38 [[ 9.99592513e-01 -2.84331176e-02 -2.52291541e-03 4.75761051e+02] [ 2.84324486e-02 9.99595671e-01 -3.00644492e-04 5.21008774e+01] [ 2.53044358e-03 2.28789321e-04 9.99996772e-01 -2.37762396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.471400513 meters 0.09536354983783994 Centerline is valid? [True, True] Translation: X:475.79, Y:52.11, Z:-2.38 [[ 9.99642213e-01 -2.66416588e-02 -2.38071634e-03 4.75789181e+02] [ 2.66410580e-02 9.99645024e-01 -2.83741677e-04 5.21127310e+01] [ 2.38743059e-03 2.20215356e-04 9.99997126e-01 -2.37785339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.501400513 meters 0.10067566696649226 Centerline is valid? [True, False] Translation: X:475.79, Y:52.12, Z:-2.38 [[ 9.99827789e-01 -1.83001425e-02 3.08182465e-03 4.75790460e+02] [ 1.83340719e-02 9.99767302e-01 -1.13667776e-02 5.21224090e+01] [-2.87309386e-03 1.14213225e-02 9.99930647e-01 -2.38266249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.531400513 meters 0.0987934955292551 Centerline is valid? [False, True] Translation: X:475.79, Y:52.11, Z:-2.38 [[ 9.99954444e-01 -9.19084339e-03 2.57648669e-03 4.75791453e+02] [ 9.19316968e-03 9.99957344e-01 -8.92506348e-04 5.21148128e+01] [-2.56817390e-03 9.16151769e-04 9.99996283e-01 -2.38201544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.561400513 meters 0.10435266660130686 Centerline is valid? [True, False] Translation: X:475.79, Y:52.11, Z:-2.38 [[ 9.99986119e-01 -4.69208157e-03 2.39705222e-03 4.75791851e+02] [ 4.68255597e-03 9.99981179e-01 3.96415820e-03 5.21125275e+01] [-2.41560726e-03 -3.95287884e-03 9.99989270e-01 -2.38178139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.591400513 meters 0.10750504536024978 Centerline is valid? [False, False] Translation: X:475.79, Y:52.12, Z:-2.38 [[ 9.99984696e-01 -4.96655948e-03 2.43725797e-03 4.75791757e+02] [ 4.95872203e-03 9.99982549e-01 3.21125581e-03 5.21158887e+01] [-2.45316433e-03 -3.19912098e-03 9.99991874e-01 -2.38193670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.621400513 meters 0.10211158276601105 Centerline is valid? [False, False] Translation: X:475.77, Y:52.12, Z:-2.38 [[ 9.99999464e-01 -1.03550577e-03 1.59475345e-05 4.75773710e+02] [ 1.03556104e-03 9.99991541e-01 -3.98058081e-03 5.21205440e+01] [-1.18254853e-05 3.98059519e-03 9.99992077e-01 -2.38268154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.651400513 meters 0.1022286918150185 Centerline is valid? [False, False] Translation: X:475.77, Y:52.12, Z:-2.38 [[ 9.99999431e-01 6.97281199e-04 8.07763299e-04 4.75767430e+02] [-6.95495082e-04 9.99997317e-01 -2.20936352e-03 5.21210231e+01] [-8.09301680e-04 2.20880047e-03 9.99997233e-01 -2.37761783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.681400513 meters 0.10235458055790737 Centerline is valid? [False, False] Translation: X:475.77, Y:52.12, Z:-2.38 [[ 9.99988267e-01 4.78575041e-03 7.49724662e-04 4.75767650e+02] [-4.78683447e-03 9.99987490e-01 1.45088898e-03 5.21240226e+01] [-7.42771691e-04 -1.45446076e-03 9.99998666e-01 -2.37769739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.711400513 meters 0.10634942568352955 Centerline is valid? [False, False] Translation: X:475.79, Y:52.12, Z:-2.37 [[ 9.99985706e-01 4.22635546e-03 -3.27516182e-03 4.75785285e+02] [-4.19816461e-03 9.99954489e-01 8.56706261e-03 5.21232908e+01] [ 3.31122022e-03 -8.55319048e-03 9.99957938e-01 -2.37003799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74140051300003 meters 0.10560499573900989 Centerline is valid? [False, False] Translation: X:475.78, Y:52.13, Z:-2.37 [[ 9.99995243e-01 -7.14384452e-04 -3.00061465e-03 4.75784438e+02] [ 7.20553870e-04 9.99997628e-01 2.05547358e-03 5.21325753e+01] [ 2.99913914e-03 -2.05762590e-03 9.99993386e-01 -2.37024605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.771400513 meters 0.10605787761149012 Centerline is valid? [False, False] Translation: X:475.78, Y:52.14, Z:-2.37 [[ 9.99995071e-01 -1.01387942e-03 -2.97159973e-03 4.75784281e+02] [ 1.01769468e-03 9.99998660e-01 1.28267921e-03 5.21360556e+01] [ 2.97029527e-03 -1.28569707e-03 9.99994762e-01 -2.37015570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.801400513 meters 0.09305527499639452 Centerline is valid? [False, True] Translation: X:475.74, Y:52.14, Z:-2.37 [[ 9.99987212e-01 -1.93422233e-03 -4.67284701e-03 4.75742584e+02] [ 1.93520863e-03 9.99998106e-01 2.06556552e-04 5.21388963e+01] [ 4.67243863e-03 -2.15596845e-04 9.99989061e-01 -2.37020350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.831400513 meters 0.09965809190816725 Centerline is valid? [True, True] Translation: X:475.77, Y:52.15, Z:-2.37 [[ 9.99978882e-01 -3.65040663e-03 -5.37675370e-03 4.75770282e+02] [ 3.64764852e-03 9.99993211e-01 -5.22686415e-04 5.21538740e+01] [ 5.37862521e-03 5.03062870e-04 9.99985409e-01 -2.37251108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.861400513 meters 0.09850941890752023 Centerline is valid? [True, True] Translation: X:475.80, Y:52.16, Z:-2.37 [[ 9.99969132e-01 -5.51491039e-03 -5.59656331e-03 4.75800774e+02] [ 5.51195118e-03 9.99984661e-01 -5.44040695e-04 5.21591133e+01] [ 5.59947780e-03 5.13175917e-04 9.99984191e-01 -2.37337548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.891400513 meters 0.09819643690129705 Centerline is valid? [True, True] Translation: X:475.83, Y:52.16, Z:-2.37 [[ 9.99961123e-01 -7.23698140e-03 -5.03780908e-03 4.75830753e+02] [ 7.23460560e-03 9.99973710e-01 -4.89657525e-04 5.21647342e+01] [ 5.04122028e-03 4.53191927e-04 9.99987190e-01 -2.37299478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.921400513 meters 0.09425341327299945 Centerline is valid? [True, True] Translation: X:475.86, Y:52.17, Z:-2.37 [[ 9.99953601e-01 -8.59453694e-03 -4.35078294e-03 4.75860706e+02] [ 8.59277733e-03 9.99962992e-01 -4.22966272e-04 5.21651804e+01] [ 4.35425712e-03 3.85561338e-04 9.99990446e-01 -2.37190073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.951400513 meters 0.08618547953433404 Centerline is valid? [True, True] Translation: X:475.89, Y:52.16, Z:-2.37 [[ 9.99942805e-01 -9.74234468e-03 -4.41283199e-03 4.75891606e+02] [ 9.74054486e-03 9.99952468e-01 -4.29169859e-04 5.21602134e+01] [ 4.41680336e-03 3.86161925e-04 9.99990171e-01 -2.37129365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.981400513 meters 0.08771082008224232 Centerline is valid? [True, True] Translation: X:475.92, Y:52.17, Z:-2.37 [[ 9.99917316e-01 -1.13298992e-02 -6.08232317e-03 4.75919806e+02] [ 1.13265084e-02 9.99935678e-01 -5.91642135e-04 5.21695243e+01] [ 6.08863519e-03 5.22701731e-04 9.99981327e-01 -2.37357601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.011400513 meters 0.08376510377510205 Centerline is valid? [True, True] Translation: X:475.95, Y:52.17, Z:-2.37 [[ 9.99909342e-01 -1.17837201e-02 -6.51553871e-03 4.75948796e+02] [ 1.17798299e-02 9.99930414e-01 -6.35118537e-04 5.21702838e+01] [ 6.52256938e-03 5.58309020e-04 9.99978572e-01 -2.37343770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.041400513 meters 0.09495588801990264 Centerline is valid? [True, True] Translation: X:475.98, Y:52.19, Z:-2.37 [[ 9.99911234e-01 -1.19494607e-02 -5.89364635e-03 4.75975279e+02] [ 1.19462796e-02 9.99928476e-01 -5.74671509e-04 5.21888252e+01] [ 5.90009182e-03 5.04213351e-04 9.99982467e-01 -2.37388351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.071400513 meters 0.08914215446771907 Centerline is valid? [True, True] Translation: X:476.00, Y:52.19, Z:-2.37 [[ 9.99912233e-01 -1.23041131e-02 -4.91283841e-03 4.76004624e+02] [ 1.23019020e-02 9.99924214e-01 -4.80038532e-04 5.21864423e+01] [ 4.91837253e-03 4.19559143e-04 9.99987817e-01 -2.37180024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.101400513 meters 0.08725544509306672 Centerline is valid? [True, True] Translation: X:476.03, Y:52.19, Z:-2.37 [[ 9.99911625e-01 -1.26872238e-02 -3.97204722e-03 4.76032988e+02] [ 1.26857786e-02 9.99919457e-01 -3.88815847e-04 5.21882572e+01] [ 3.97666029e-03 3.38392974e-04 9.99992036e-01 -2.37016941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.131400513 meters 0.09252043848536017 Centerline is valid? [True, True] Translation: X:476.06, Y:52.20, Z:-2.37 [[ 9.99900063e-01 -1.37491094e-02 -3.29041834e-03 4.76060385e+02] [ 1.37481237e-02 9.99905438e-01 -3.22017147e-04 5.22004812e+01] [ 3.29453464e-03 2.76747887e-04 9.99994535e-01 -2.36927435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.161400513 meters 0.09074732450616119 Centerline is valid? [True, True] Translation: X:476.09, Y:52.20, Z:-2.37 [[ 9.99880047e-01 -1.51618001e-02 -3.16413062e-03 4.76089755e+02] [ 1.51608954e-02 9.99885019e-01 -3.09709122e-04 5.22027952e+01] [ 3.16846255e-03 2.61700919e-04 9.99994946e-01 -2.36908235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.191400513 meters 0.09035296050242081 Centerline is valid? [True, True] Translation: X:476.12, Y:52.21, Z:-2.37 [[ 9.99843528e-01 -1.74505840e-02 -2.89766966e-03 4.76119536e+02] [ 1.74498349e-02 9.99847700e-01 -2.83597722e-04 5.22061593e+01] [ 2.90217729e-03 2.32989489e-04 9.99995762e-01 -2.36882031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.221400513 meters 0.08416572313747869 Centerline is valid? [True, True] Translation: X:476.15, Y:52.20, Z:-2.37 [[ 9.99783633e-01 -2.07061529e-02 -1.98555423e-03 4.76150296e+02] [ 2.07058074e-02 9.99785593e-01 -1.94427164e-04 5.22011488e+01] [ 1.98915435e-03 1.53272593e-04 9.99998010e-01 -2.36730423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.251400513 meters 0.08109091586201195 Centerline is valid? [True, True] Translation: X:476.18, Y:52.20, Z:-2.37 [[ 9.99692853e-01 -2.47577031e-02 -1.12094289e-03 4.76181328e+02] [ 2.47575955e-02 9.99693478e-01 -1.09748689e-04 5.21989425e+01] [ 1.12331642e-03 8.19631290e-05 9.99999366e-01 -2.36589932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.281400513 meters 0.07172570229556859 Centerline is valid? [True, True] Translation: X:476.21, Y:52.19, Z:-2.37 [[ 9.99576683e-01 -2.90908185e-02 -4.23901113e-04 4.76212881e+02] [ 2.90908035e-02 9.99576772e-01 -4.15058801e-05 5.21884909e+01] [ 4.24929147e-04 2.91566860e-05 9.99999909e-01 -2.36502482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.311400513 meters 0.0720455535438715 Centerline is valid? [True, True] Translation: X:476.24, Y:52.19, Z:-2.37 [[ 9.99433300e-01 -3.36593237e-02 -3.57724781e-04 4.76242708e+02] [ 3.36593133e-02 9.99433364e-01 -3.50256164e-05 5.21894015e+01] [ 3.58701020e-04 2.29649969e-05 9.99999935e-01 -2.36529584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.341400513 meters 0.05952440688524121 Centerline is valid? [True, True] Translation: X:476.27, Y:52.17, Z:-2.37 [[ 9.99130541e-01 -4.16417104e-02 -2.03209723e-03 4.76274785e+02] [ 4.16413915e-02 9.99132601e-01 -1.99015225e-04 5.21730630e+01] [ 2.03862193e-03 1.14222833e-04 9.99997915e-01 -2.36740490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.371400513 meters 0.05853047867713838 Centerline is valid? [True, True] Translation: X:476.30, Y:52.17, Z:-2.37 [[ 9.99002117e-01 -4.45900075e-02 -2.54995233e-03 4.76304535e+02] [ 4.45895148e-02 9.99005362e-01 -2.49760617e-04 5.21725750e+01] [ 2.55855288e-03 1.35810247e-04 9.99996718e-01 -2.36851158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.401400513 meters 0.05476453522752022 Centerline is valid? [True, True] Translation: X:476.34, Y:52.17, Z:-2.37 [[ 9.98889314e-01 -4.70578894e-02 -2.38612020e-03 4.76335233e+02] [ 4.70574650e-02 9.98892157e-01 -2.33736996e-04 5.21680468e+01] [ 2.39447592e-03 1.21192620e-04 9.99997126e-01 -2.36834849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.431400513 meters 0.05519287121127365 Centerline is valid? [True, True] Translation: X:476.36, Y:52.17, Z:-2.37 [[ 9.98789917e-01 -4.91513931e-02 -1.68595565e-03 4.76364515e+02] [ 4.91511840e-02 9.98791336e-01 -1.65218989e-04 5.21680567e+01] [ 1.69203864e-03 8.21523441e-05 9.99998565e-01 -2.36736631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.461400513 meters 0.05310120021296653 Centerline is valid? [True, True] Translation: X:476.39, Y:52.16, Z:-2.37 [[ 9.98640906e-01 -5.21050807e-02 -1.18356045e-03 4.76394117e+02] [ 5.21049797e-02 9.98641606e-01 -1.16024049e-04 5.21621323e+01] [ 1.18799815e-03 5.41969685e-05 9.99999293e-01 -2.36663019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49140051300003 meters 0.04859769309385541 Centerline is valid? [True, True] Translation: X:476.42, Y:52.16, Z:-2.37 [[ 9.98578442e-01 -5.32840425e-02 -1.38036971e-03 4.76423557e+02] [ 5.32839061e-02 9.98579394e-01 -1.35420708e-04 5.21563707e+01] [ 1.38562451e-03 6.16767098e-05 9.99999038e-01 -2.36709702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.521400513 meters 0.0460936798959577 Centerline is valid? [True, True] Translation: X:476.45, Y:52.15, Z:-2.37 [[ 9.98516420e-01 -5.44127588e-02 -2.05204488e-03 4.76453387e+02] [ 5.44124587e-02 9.98518524e-01 -2.01794052e-04 5.21526884e+01] [ 2.05998500e-03 8.98378666e-05 9.99997874e-01 -2.36801935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.551400513 meters 0.0502555960687279 Centerline is valid? [True, True] Translation: X:476.48, Y:52.16, Z:-2.37 [[ 9.98440481e-01 -5.57775438e-02 -2.33932272e-03 4.76481409e+02] [ 5.57771568e-02 9.98443216e-01 -2.30388341e-04 5.21572276e+01] [ 2.34853140e-03 9.95482756e-05 9.99997237e-01 -2.36982270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.581400513 meters 0.04706783691082499 Centerline is valid? [True, True] Translation: X:476.51, Y:52.15, Z:-2.37 [[ 9.98348235e-01 -5.73872006e-02 -2.74052573e-03 4.76510495e+02] [ 5.73866759e-02 9.98351990e-01 -2.69757876e-04 5.21529680e+01] [ 2.75148997e-03 1.12042637e-04 9.99996208e-01 -2.36981759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.611400513 meters 0.0444801725668248 Centerline is valid? [True, True] Translation: X:476.54, Y:52.15, Z:-2.37 [[ 9.98177157e-01 -6.03211161e-02 -1.93026763e-03 4.76539809e+02] [ 6.03208611e-02 9.98179021e-01 -1.90071380e-04 5.21466896e+01] [ 1.93821797e-03 7.32895045e-05 9.99998119e-01 -2.36882240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.641400513 meters 0.03988362638712743 Centerline is valid? [True, True] Translation: X:476.57, Y:52.14, Z:-2.37 [[ 9.98081607e-01 -6.18858282e-02 -1.80293481e-03 4.76569181e+02] [ 6.18856082e-02 9.98083233e-01 -1.77647529e-04 5.21400466e+01] [ 1.81047287e-03 6.57310145e-05 9.99998359e-01 -2.36841529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.671400513 meters 0.03949388192998168 Centerline is valid? [True, True] Translation: X:476.60, Y:52.14, Z:-2.37 [[ 9.97963609e-01 -6.37537808e-02 -2.02233933e-03 4.76597341e+02] [ 6.37535075e-02 9.97965656e-01 -1.99396908e-04 5.21380938e+01] [ 2.03093750e-03 7.00596327e-05 9.99997935e-01 -2.36877332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.701400513 meters 0.03577062454351816 Centerline is valid? [True, True] Translation: X:476.63, Y:52.13, Z:-2.37 [[ 9.97836438e-01 -6.57064753e-02 -2.25894928e-03 4.76627135e+02] [ 6.57061391e-02 9.97838992e-01 -2.22797279e-04 5.21324296e+01] [ 2.26870690e-03 7.38884079e-05 9.99997424e-01 -2.36934879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.731400513 meters 0.03523867091358563 Centerline is valid? [True, True] Translation: X:476.66, Y:52.13, Z:-2.37 [[ 9.97701198e-01 -6.77077068e-02 -2.82577462e-03 4.76655528e+02] [ 6.77071884e-02 9.97705196e-01 -2.78813132e-04 5.21316756e+01] [ 2.83816782e-03 8.68469410e-05 9.99995969e-01 -2.37025812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.761400513 meters 0.030614838298971846 Centerline is valid? [True, True] Translation: X:476.69, Y:52.13, Z:-2.37 [[ 9.97567826e-01 -6.96263044e-02 -3.25745741e-03 4.76685468e+02] [ 6.96256235e-02 9.97573140e-01 -3.22109477e-04 5.21269618e+01] [ 3.27197931e-03 9.45235471e-05 9.99994643e-01 -2.37043703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.791400513 meters 0.028586634496267516 Centerline is valid? [True, True] Translation: X:476.71, Y:52.12, Z:-2.37 [[ 9.97345695e-01 -7.27061376e-02 -3.92201849e-03 4.76714508e+02] [ 7.27051750e-02 9.97353401e-01 -3.87644288e-04 5.21231342e+01] [ 3.93982260e-03 1.01464321e-04 9.99992234e-01 -2.37106591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.821400513 meters 0.026399425004814417 Centerline is valid? [True, True] Translation: X:476.74, Y:52.12, Z:-2.37 [[ 9.97212609e-01 -7.44905435e-02 -4.26288459e-03 4.76744072e+02] [ 7.44894205e-02 9.97221715e-01 -4.21805091e-04 5.21210065e+01] [ 4.28246157e-03 1.03089552e-04 9.99990825e-01 -2.37127774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.851400513 meters 0.023779928350431866 Centerline is valid? [True, True] Translation: X:476.77, Y:52.12, Z:-2.37 [[ 9.97077043e-01 -7.62844942e-02 -4.24819834e-03 4.76773776e+02] [ 7.62833918e-02 9.97086088e-01 -4.21172126e-04 5.21187085e+01] [ 4.26794837e-03 9.58740795e-05 9.99990888e-01 -2.37067539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.881400513 meters 0.022538864297478898 Centerline is valid? [True, True] Translation: X:476.80, Y:52.12, Z:-2.37 [[ 9.96955731e-01 -7.78755532e-02 -3.83006135e-03 4.76801959e+02] [ 7.78746686e-02 9.96963084e-01 -3.79794798e-04 5.21187890e+01] [ 3.84800651e-03 8.03738423e-05 9.99992593e-01 -2.37023289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.911400513 meters 0.022614659759122205 Centerline is valid? [True, True] Translation: X:476.83, Y:52.12, Z:-2.37 [[ 9.96823368e-01 -7.95721130e-02 -3.38414738e-03 4.76829950e+02] [ 7.95714314e-02 9.96829110e-01 -3.35796238e-04 5.21207862e+01] [ 3.40013664e-03 6.54480856e-05 9.99994217e-01 -2.37024609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.941400513 meters 0.02099446780482963 Centerline is valid? [True, True] Translation: X:476.86, Y:52.12, Z:-2.37 [[ 9.96668588e-01 -8.15125291e-02 -2.72638008e-03 4.76858649e+02] [ 8.15120922e-02 9.96672316e-01 -2.71188832e-04 5.21206539e+01] [ 2.73941284e-03 4.80524455e-05 9.99996247e-01 -2.36904166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.971400513 meters 0.01716242422896923 Centerline is valid? [True, True] Translation: X:476.89, Y:52.12, Z:-2.37 [[ 9.96355232e-01 -8.52698101e-02 -2.30479930e-03 4.76888529e+02] [ 8.52695070e-02 9.96357897e-01 -2.29632322e-04 5.21158069e+01] [ 2.31598568e-03 3.22662657e-05 9.99997318e-01 -2.36849515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.001400513 meters 0.014466215248575965 Centerline is valid? [True, True] Translation: X:476.92, Y:52.11, Z:-2.37 [[ 9.96179112e-01 -8.72957695e-02 -2.57404108e-03 4.76918051e+02] [ 8.72953971e-02 9.96182437e-01 -2.56892015e-04 5.21141772e+01] [ 2.58664010e-03 3.12085215e-05 9.99996654e-01 -2.36853334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.031400513 meters 0.012715524837001276 Centerline is valid? [True, True] Translation: X:476.95, Y:52.11, Z:-2.37 [[ 9.95994885e-01 -8.93574946e-02 -3.07048646e-03 4.76947155e+02] [ 8.93569730e-02 9.95999617e-01 -3.06901684e-04 5.21144348e+01] [ 3.08562730e-03 3.13031313e-05 9.99995239e-01 -2.36927911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.061400513 meters 0.010834585165592842 Centerline is valid? [True, True] Translation: X:476.98, Y:52.11, Z:-2.37 [[ 9.95682049e-01 -9.27527096e-02 -3.76731866e-03 4.76975712e+02] [ 9.27519466e-02 9.95689175e-01 -3.77117608e-04 5.21137985e+01] [ 3.78605709e-03 2.60630937e-05 9.99992833e-01 -2.37143819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.091400513 meters 0.009165877896639306 Centerline is valid? [True, True] Translation: X:477.00, Y:52.11, Z:-2.37 [[ 9.95565095e-01 -9.40017444e-02 -3.71660532e-03 4.77004325e+02] [ 9.40010075e-02 9.95572032e-01 -3.72852725e-04 5.21134738e+01] [ 3.73519711e-03 2.18345144e-05 9.99993024e-01 -2.37013423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.121400513 meters 0.016099391268534796 Centerline is valid? [True, True] Translation: X:477.03, Y:52.12, Z:-2.37 [[ 9.95495553e-01 -9.47443426e-02 -3.48057887e-03 4.77032160e+02] [ 9.47437009e-02 9.95501637e-01 -3.49152651e-04 5.21163314e+01] [ 3.49800221e-03 1.78169878e-05 9.99993882e-01 -2.37050560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.151400513 meters 0.016099391268534796 Centerline is valid? [True, True] Translation: X:477.06, Y:52.12, Z:-2.37 [[ 9.95478099e-01 -9.49275517e-02 -3.48049134e-03 4.77059502e+02] [ 9.49269081e-02 9.95484184e-01 -3.50024644e-04 5.21192607e+01] [ 3.49800106e-03 1.80495864e-05 9.99993882e-01 -2.37055788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.181400513 meters 0.008504629267645093 Centerline is valid? [True, True] Translation: X:477.09, Y:52.12, Z:-2.37 [[ 9.95414638e-01 -9.56159752e-02 -2.69867857e-03 4.77087544e+02] [ 9.56155891e-02 9.95418297e-01 -2.72024181e-04 5.21212080e+01] [ 2.71232388e-03 1.27411105e-05 9.99996322e-01 -2.36882385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.211400513 meters 0.008221426371620873 Centerline is valid? [True, True] Translation: X:477.12, Y:52.12, Z:-2.37 [[ 9.95355135e-01 -9.62441736e-02 -2.28333711e-03 4.77115349e+02] [ 9.62438990e-02 9.95357754e-01 -2.30099206e-04 5.21242395e+01] [ 2.29488300e-03 9.27316016e-06 9.99997367e-01 -2.36849693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24140051300003 meters 0.007697335482774836 Centerline is valid? [True, True] Translation: X:477.14, Y:52.13, Z:-2.37 [[ 9.95246894e-01 -9.73527464e-02 -2.46215583e-03 4.77143037e+02] [ 9.73524287e-02 9.95249940e-01 -2.48856698e-04 5.21261126e+01] [ 2.47468733e-03 7.97700529e-06 9.99996938e-01 -2.36854718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.271400513 meters 0.007235786818060038 Centerline is valid? [True, True] Translation: X:477.17, Y:52.12, Z:-2.37 [[ 9.94898605e-01 -1.00840076e-01 -2.83640469e-03 4.77169991e+02] [ 1.00839668e-01 9.94902648e-01 -2.86889596e-04 5.21244759e+01] [ 2.85087651e-03 -5.96049425e-07 9.99995936e-01 -2.36939616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.301400513 meters 0.007723217040944648 Centerline is valid? [True, True] Translation: X:477.20, Y:52.12, Z:-2.37 [[ 9.94676095e-01 -1.03024115e-01 -2.34482143e-03 4.77196762e+02] [ 1.03023841e-01 9.94678859e-01 -2.37308594e-04 5.21245238e+01] [ 2.35679281e-03 -5.52732561e-06 9.99997223e-01 -2.36876155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.331400513 meters 0.024481914597193143 Centerline is valid? [True, True] Translation: X:477.23, Y:52.13, Z:-2.37 [[ 9.94440854e-01 -1.05274320e-01 -2.16916886e-03 4.77225176e+02] [ 1.05274091e-01 9.94443220e-01 -2.19631561e-04 5.21250438e+01] [ 2.18023683e-03 -9.94668386e-06 9.99997623e-01 -2.36758328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.361400513 meters 0.010240321484189019 Centerline is valid? [True, True] Translation: X:477.25, Y:52.13, Z:-2.37 [[ 9.94208587e-01 -1.07453239e-01 -1.75718171e-03 4.77254475e+02] [ 1.07453092e-01 9.94210139e-01 -1.78439976e-04 5.21254157e+01] [ 1.76618182e-03 -1.14080506e-05 9.99998440e-01 -2.36757880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.391400513 meters 0.011830420199297406 Centerline is valid? [True, True] Translation: X:477.28, Y:52.13, Z:-2.37 [[ 9.93950405e-01 -1.09812875e-01 -1.93010906e-03 4.77283324e+02] [ 1.09812701e-01 9.93952279e-01 -1.96307172e-04 5.21260336e+01] [ 1.93999335e-03 -1.68308967e-05 9.99998118e-01 -2.36822459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.421400513 meters 0.015366274871506819 Centerline is valid? [True, True] Translation: X:477.31, Y:52.12, Z:-2.37 [[ 9.93510051e-01 -1.13723805e-01 -2.16197316e-03 4.77311987e+02] [ 1.13723596e-01 9.93512403e-01 -2.19774391e-04 5.21249891e+01] [ 2.17294073e-03 -2.75192957e-05 9.99997639e-01 -2.36872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.451400513 meters 0.017242192651124522 Centerline is valid? [True, True] Translation: X:477.34, Y:52.13, Z:-2.37 [[ 9.93302390e-01 -1.15521862e-01 -2.24996959e-03 4.77339913e+02] [ 1.15521640e-01 9.93304937e-01 -2.28851201e-04 5.21256603e+01] [ 2.26134322e-03 -3.26017325e-05 9.99997443e-01 -2.36928404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.481400513 meters 0.01829648349223537 Centerline is valid? [True, True] Translation: X:477.37, Y:52.13, Z:-2.37 [[ 9.93119627e-01 -1.17069979e-01 -2.83298898e-03 4.77368702e+02] [ 1.17069631e-01 9.93123667e-01 -2.88819696e-04 5.21268273e+01] [ 2.84732053e-03 -4.48244667e-05 9.99995945e-01 -2.36981873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.511400513 meters 0.01945381674790648 Centerline is valid? [True, True] Translation: X:477.40, Y:52.13, Z:-2.37 [[ 9.92979822e-01 -1.18223754e-01 -3.77046456e-03 4.77397347e+02] [ 1.18223145e-01 9.92986979e-01 -3.84928560e-04 5.21277968e+01] [ 3.78952992e-03 -6.35298851e-05 9.99992818e-01 -2.37093788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.541400513 meters 0.021644077874804723 Centerline is valid? [True, True] Translation: X:477.43, Y:52.13, Z:-2.37 [[ 9.92849953e-01 -1.19205874e-01 -6.23949027e-03 4.77425195e+02] [ 1.19204225e-01 9.92869552e-01 -6.36951149e-04 5.21292226e+01] [ 6.27092822e-03 -1.11376681e-04 9.99980331e-01 -2.37498215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.571400513 meters 0.020646106470431833 Centerline is valid? [True, True] Translation: X:477.45, Y:52.14, Z:-2.38 [[ 9.92831404e-01 -1.19332326e-01 -6.75273342e-03 4.77452964e+02] [ 1.19330386e-01 9.92854361e-01 -6.90916835e-04 5.21353982e+01] [ 6.78692954e-03 -1.19842358e-04 9.99976961e-01 -2.37504412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.601400513 meters 0.02097502345652017 Centerline is valid? [True, True] Translation: X:477.48, Y:52.14, Z:-2.37 [[ 9.92850715e-01 -1.19207007e-01 -6.09481282e-03 4.77480969e+02] [ 1.19205418e-01 9.92869416e-01 -6.24628547e-04 5.21397975e+01] [ 6.12581335e-03 -1.06371809e-04 9.99981231e-01 -2.37494828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.631400513 meters 0.01995225148723647 Centerline is valid? [True, True] Translation: X:477.51, Y:52.15, Z:-2.37 [[ 9.92876334e-01 -1.19041252e-01 -5.07601130e-03 4.77509699e+02] [ 1.19040143e-01 9.92889305e-01 -5.21135547e-04 5.21456818e+01] [ 5.10195397e-03 -8.68259613e-05 9.99986981e-01 -2.37291100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.661400513 meters 0.01991697290883728 Centerline is valid? [True, True] Translation: X:477.54, Y:52.15, Z:-2.37 [[ 9.92915389e-01 -1.18746104e-01 -4.28877237e-03 4.77536875e+02] [ 1.18745309e-01 9.92924648e-01 -4.40414263e-04 5.21498178e+01] [ 4.31072528e-03 -7.19775027e-05 9.99990706e-01 -2.37151482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.691400513 meters 0.019601293041081314 Centerline is valid? [True, True] Translation: X:477.56, Y:52.16, Z:-2.37 [[ 9.92905805e-01 -1.18833600e-01 -4.07893957e-03 4.77564962e+02] [ 1.18832877e-01 9.92914181e-01 -4.19914797e-04 5.21551018e+01] [ 4.09993693e-03 -6.77762843e-05 9.99991593e-01 -2.37094877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.721400513 meters 0.019346402668784787 Centerline is valid? [True, True] Translation: X:477.59, Y:52.16, Z:-2.37 [[ 9.92890265e-01 -1.18919609e-01 -5.20075652e-03 4.77593182e+02] [ 1.18918432e-01 9.92903882e-01 -5.36145938e-04 5.21617609e+01] [ 5.22760961e-03 -8.61317270e-05 9.99986332e-01 -2.37320233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.751400513 meters 0.019303464143819345 Centerline is valid? [True, True] Translation: X:477.62, Y:52.17, Z:-2.37 [[ 9.92825871e-01 -1.19459939e-01 -5.11006381e-03 4.77621256e+02] [ 1.19458804e-01 9.92839018e-01 -5.27858523e-04 5.21656675e+01] [ 5.13652868e-03 -8.63705121e-05 9.99986804e-01 -2.37375353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.781400513 meters 0.020036686474229497 Centerline is valid? [True, True] Translation: X:477.65, Y:52.17, Z:-2.37 [[ 9.92708201e-01 -1.20433066e-01 -5.12881304e-03 4.77650399e+02] [ 1.20431931e-01 9.92721446e-01 -5.30630305e-04 5.21684200e+01] [ 5.15538813e-03 -9.09118047e-05 9.99986707e-01 -2.37398134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.811400513 meters 0.032371793731527605 Centerline is valid? [True, True] Translation: X:477.68, Y:52.17, Z:-2.37 [[ 9.92616012e-01 -1.21178722e-01 -5.40088691e-03 4.77677845e+02] [ 1.21177473e-01 9.92630700e-01 -5.59103277e-04 5.21710491e+01] [ 5.42883757e-03 -9.94909594e-05 9.99985259e-01 -2.37423006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.841400513 meters 0.022017056835778506 Centerline is valid? [True, True] Translation: X:477.70, Y:52.17, Z:-2.37 [[ 9.92584010e-01 -1.21455244e-01 -5.06026334e-03 4.77704656e+02] [ 1.21454149e-01 9.92596904e-01 -5.24271646e-04 5.21741530e+01] [ 5.08647726e-03 -9.42063258e-05 9.99987059e-01 -2.37438255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.871400513 meters 0.022025579174076854 Centerline is valid? [True, True] Translation: X:477.73, Y:52.18, Z:-2.37 [[ 9.92593979e-01 -1.21382687e-01 -4.84118781e-03 4.77732546e+02] [ 1.21381678e-01 9.92605781e-01 -5.02699021e-04 5.21792311e+01] [ 4.86640996e-03 -8.86554782e-05 9.99988155e-01 -2.37386471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.901400513 meters 0.019845183409057856 Centerline is valid? [True, True] Translation: X:477.76, Y:52.19, Z:-2.37 [[ 9.92805655e-01 -1.19637054e-01 -4.88954662e-03 4.77760338e+02] [ 1.19636000e-01 9.92817692e-01 -5.08492842e-04 5.21909249e+01] [ 4.91526297e-03 -8.01312311e-05 9.99987917e-01 -2.37335421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.931400513 meters 0.018483194476518736 Centerline is valid? [True, True] Translation: X:477.79, Y:52.20, Z:-2.37 [[ 9.92922821e-01 -1.18652196e-01 -5.09203070e-03 4.77788904e+02] [ 1.18651036e-01 9.92935874e-01 -5.30396135e-04 5.21990858e+01] [ 5.11899262e-03 -7.75322907e-05 9.99986895e-01 -2.37384383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.961400513 meters 0.01776420548832902 Centerline is valid? [True, True] Translation: X:477.82, Y:52.21, Z:-2.37 [[ 9.93044361e-01 -1.17628234e-01 -5.14743304e-03 4.77815984e+02] [ 1.17627035e-01 9.93057699e-01 -5.36266487e-04 5.22066178e+01] [ 5.17477809e-03 -7.29408744e-05 9.99986608e-01 -2.37404266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99140051300003 meters 0.01633596781532676 Centerline is valid? [True, True] Translation: X:477.84, Y:52.22, Z:-2.37 [[ 9.93107099e-01 -1.17127882e-01 -4.39878575e-03 4.77844029e+02] [ 1.17126996e-01 9.93116839e-01 -4.59247676e-04 5.22151538e+01] [ 4.42229890e-03 -5.91344354e-05 9.99990220e-01 -2.37262883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.021400513 meters 0.01598303359561075 Centerline is valid? [True, True] Translation: X:477.87, Y:52.22, Z:-2.37 [[ 9.93073660e-01 -1.17453515e-01 -3.06241754e-03 4.77871676e+02] [ 1.17453085e-01 9.93078381e-01 -3.20477126e-04 5.22220458e+01] [ 3.07886182e-03 -4.14329955e-05 9.99995259e-01 -2.37027985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.051400513 meters 0.018194407820222174 Centerline is valid? [True, True] Translation: X:477.90, Y:52.23, Z:-2.37 [[ 9.92777500e-01 -1.19952436e-01 -2.06127125e-03 4.77900269e+02] [ 1.19952245e-01 9.92779639e-01 -2.16135140e-04 5.22273730e+01] [ 2.07231407e-03 -3.26800108e-05 9.99997852e-01 -2.36854394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.081400513 meters 0.019339645282443987 Centerline is valid? [True, True] Translation: X:477.93, Y:52.23, Z:-2.37 [[ 9.92529613e-01 -1.21963296e-01 -3.14994343e-03 4.77928592e+02] [ 1.21962861e-01 9.92534610e-01 -3.30670408e-04 5.22318127e+01] [ 3.16675752e-03 -5.59759391e-05 9.99994984e-01 -2.36968615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.111400513 meters 0.022479639843615635 Centerline is valid? [True, True] Translation: X:477.96, Y:52.23, Z:-2.37 [[ 9.92263178e-01 -1.24066992e-01 -4.60070893e-03 4.77956215e+02] [ 1.24066087e-01 9.92273840e-01 -4.82886703e-04 5.22339256e+01] [ 4.62507342e-03 -9.16412581e-05 9.99989300e-01 -2.37202728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.141400513 meters 0.02348693665052368 Centerline is valid? [True, True] Translation: X:477.98, Y:52.24, Z:-2.37 [[ 9.91937549e-01 -1.26612956e-01 -5.39051826e-03 4.77984616e+02] [ 1.26611743e-01 9.91952189e-01 -5.66914418e-04 5.22384640e+01] [ 5.41891510e-03 -1.20159217e-04 9.99985310e-01 -2.37255079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.171400513 meters 0.03076214685552183 Centerline is valid? [True, True] Translation: X:478.01, Y:52.24, Z:-2.37 [[ 9.91251063e-01 -1.31902615e-01 -4.79895614e-03 4.78014391e+02] [ 1.31901717e-01 9.91262671e-01 -5.04489933e-04 5.22368530e+01] [ 4.82356962e-03 -1.32914373e-04 9.99988358e-01 -2.37107386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.201400513 meters 0.0366081286401118 Centerline is valid? [True, True] Translation: X:478.04, Y:52.24, Z:-2.37 [[ 9.90985469e-01 -1.33872283e-01 -5.10017044e-03 4.78042934e+02] [ 1.33871290e-01 9.90998582e-01 -5.37292543e-04 5.22395319e+01] [ 5.12619026e-03 -1.50317292e-04 9.99986850e-01 -2.37146532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.231400513 meters 0.03394291054808807 Centerline is valid? [True, True] Translation: X:478.07, Y:52.24, Z:-2.37 [[ 9.90817306e-01 -1.35086292e-01 -5.72355468e-03 4.78071355e+02] [ 1.35085056e-01 9.90833822e-01 -6.03881282e-04 5.22433637e+01] [ 5.75266764e-03 -1.74830678e-04 9.99983438e-01 -2.37281087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.261400513 meters 0.03618434103279509 Centerline is valid? [True, True] Translation: X:478.10, Y:52.25, Z:-2.37 [[ 9.90728363e-01 -1.35710671e-01 -6.31852791e-03 4.78099002e+02] [ 1.35709176e-01 9.90748492e-01 -6.66793395e-04 5.22456932e+01] [ 6.35056298e-03 -1.96871084e-04 9.99979816e-01 -2.37472807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.291400513 meters 0.03666779434486795 Centerline is valid? [True, True] Translation: X:478.13, Y:52.26, Z:-2.37 [[ 9.90658519e-01 -1.36197370e-01 -6.78049693e-03 4.78127377e+02] [ 1.36195650e-01 9.90681700e-01 -7.16902076e-04 5.22553679e+01] [ 6.81495441e-03 -2.13269041e-04 9.99976755e-01 -2.37430230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.321400513 meters 0.03338445701284193 Centerline is valid? [True, True] Translation: X:478.16, Y:52.26, Z:-2.37 [[ 9.90644690e-01 -1.36344913e-01 -5.75878176e-03 4.78155432e+02] [ 1.36343669e-01 9.90661411e-01 -6.09899345e-04 5.22602381e+01] [ 5.78815954e-03 -1.80979886e-04 9.99983232e-01 -2.37306462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.351400513 meters 0.03915526433473346 Centerline is valid? [True, True] Translation: X:478.18, Y:52.27, Z:-2.37 [[ 9.90599410e-01 -1.36732636e-01 -4.12244077e-03 4.78182391e+02] [ 1.36731998e-01 9.90607980e-01 -4.37541950e-04 5.22687315e+01] [ 4.14354898e-03 -1.30240765e-04 9.99991407e-01 -2.36905233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.381400513 meters 0.03442589612181464 Centerline is valid? [True, True] Translation: X:478.21, Y:52.27, Z:-2.37 [[ 9.90567993e-01 -1.36979754e-01 -3.40553020e-03 4.78208706e+02] [ 1.36979319e-01 9.90573841e-01 -3.61593796e-04 5.22723532e+01] [ 3.42296016e-03 -1.08303968e-04 9.99994136e-01 -2.36850298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.411400513 meters 0.03894229217771462 Centerline is valid? [True, True] Translation: X:478.24, Y:52.28, Z:-2.37 [[ 9.90464249e-01 -1.37725771e-01 -3.49038692e-03 4.78237083e+02] [ 1.37725316e-01 9.90470393e-01 -3.71380611e-04 5.22815570e+01] [ 3.50827359e-03 -1.12875424e-04 9.99993840e-01 -2.36783124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.441400513 meters 0.03515419584140412 Centerline is valid? [True, True] Translation: X:478.27, Y:52.28, Z:-2.37 [[ 9.90327129e-01 -1.38720913e-01 -2.94702019e-03 4.78265230e+02] [ 1.38720593e-01 9.90331509e-01 -3.13736567e-04 5.22818397e+01] [ 2.96204878e-03 -9.81105549e-05 9.99995608e-01 -2.36805056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.471400513 meters 0.04254702607387066 Centerline is valid? [True, True] Translation: X:478.29, Y:52.28, Z:-2.37 [[ 9.89823627e-01 -1.42280696e-01 -2.32186262e-03 4.78294540e+02] [ 1.42280507e-01 9.89826346e-01 -2.47145532e-04 5.22792093e+01] [ 2.33340483e-03 -8.57253042e-05 9.99997274e-01 -2.36825697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.501400513 meters 0.04193028224247823 Centerline is valid? [True, True] Translation: X:478.32, Y:52.29, Z:-2.37 [[ 9.89514329e-01 -1.44411717e-01 -2.57863013e-03 4.78323324e+02] [ 1.44411491e-01 9.89517683e-01 -2.74653343e-04 5.22864173e+01] [ 2.59126327e-03 -1.00610403e-04 9.99996638e-01 -2.36749989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.531400513 meters 0.04323788147723502 Centerline is valid? [True, True] Translation: X:478.35, Y:52.29, Z:-2.37 [[ 9.89194361e-01 -1.46580013e-01 -2.96923269e-03 4.78352915e+02] [ 1.46579723e-01 9.89198809e-01 -3.16261307e-04 5.22886116e+01] [ 2.98351903e-03 -1.22385404e-04 9.99995542e-01 -2.36817144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.561400513 meters 0.048766562807265525 Centerline is valid? [True, True] Translation: X:478.38, Y:52.29, Z:-2.37 [[ 9.88596095e-01 -1.50489771e-01 -5.53084047e-03 4.78382683e+02] [ 1.50488826e-01 9.88611535e-01 -5.89051430e-04 5.22929367e+01] [ 5.55649890e-03 -2.49995746e-04 9.99984531e-01 -2.37129712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.591400513 meters 0.04759623196266943 Centerline is valid? [True, True] Translation: X:478.41, Y:52.29, Z:-2.37 [[ 9.88402844e-01 -1.51709200e-01 -6.64361174e-03 4.78410857e+02] [ 1.51707861e-01 9.88425123e-01 -7.07965785e-04 5.22939545e+01] [ 6.67411768e-03 -3.08132732e-04 9.99977680e-01 -2.37315462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.621400513 meters 0.04852454633314051 Centerline is valid? [True, True] Translation: X:478.44, Y:52.30, Z:-2.37 [[ 9.88263778e-01 -1.52603993e-01 -6.83572499e-03 4.78439687e+02] [ 1.52602588e-01 9.88287366e-01 -7.29806180e-04 5.22967645e+01] [ 6.86703198e-03 -3.21908311e-04 9.99976370e-01 -2.37351590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.651400513 meters 0.04930813594097306 Centerline is valid? [True, True] Translation: X:478.47, Y:52.30, Z:-2.37 [[ 9.88225156e-01 -1.52882219e-01 -6.16998780e-03 4.78467743e+02] [ 1.52881078e-01 9.88244374e-01 -6.58924092e-04 5.22997968e+01] [ 6.19819350e-03 -2.92109021e-04 9.99980748e-01 -2.37240274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.681400513 meters 0.04991641918290475 Centerline is valid? [True, True] Translation: X:478.50, Y:52.30, Z:-2.37 [[ 9.88275195e-01 -1.52602282e-01 -4.96814322e-03 4.78495821e+02] [ 1.52601534e-01 9.88287655e-01 -5.31609293e-04 5.23030566e+01] [ 4.99107940e-03 -2.32769997e-04 9.99987517e-01 -2.37038103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.711400513 meters 0.04534005640594709 Centerline is valid? [True, True] Translation: X:478.53, Y:52.31, Z:-2.37 [[ 9.88537768e-01 -1.50936820e-01 -3.34036308e-03 4.78525024e+02] [ 1.50936473e-01 9.88543400e-01 -3.57284809e-04 5.23138336e+01] [ 3.35602131e-03 -1.50993094e-04 9.99994357e-01 -2.36753720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74140051300003 meters 0.04296107815075994 Centerline is valid? [True, True] Translation: X:478.55, Y:52.32, Z:-2.37 [[ 9.88572244e-01 -1.50705009e-01 -3.59414271e-03 4.78553165e+02] [ 1.50704602e-01 9.88578765e-01 -3.85345475e-04 5.23212451e+01] [ 3.61116665e-03 -1.60712006e-04 9.99993467e-01 -2.36774801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.771400513 meters 0.045669612453391475 Centerline is valid? [True, True] Translation: X:478.58, Y:52.32, Z:-2.37 [[ 9.88565076e-01 -1.50737825e-01 -4.14711232e-03 4.78580443e+02] [ 1.50737283e-01 9.88573757e-01 -4.44772887e-04 5.23221454e+01] [ 4.16677050e-03 -1.85437500e-04 9.99991302e-01 -2.36907350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.801400513 meters 0.05275348454270372 Centerline is valid? [True, True] Translation: X:478.61, Y:52.32, Z:-2.37 [[ 9.88494397e-01 -1.51181797e-01 -4.78452176e-03 4.78608553e+02] [ 1.51181076e-01 9.88505952e-01 -5.14055041e-04 5.23171600e+01] [ 4.80724400e-03 -2.15188621e-04 9.99988422e-01 -2.37184624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.831400513 meters 0.04824890982379077 Centerline is valid? [True, True] Translation: X:478.64, Y:52.33, Z:-2.37 [[ 9.88417840e-01 -1.51664658e-01 -5.29189600e-03 4.78636368e+02] [ 1.51663779e-01 9.88431977e-01 -5.69407090e-04 5.23258393e+01] [ 5.31703816e-03 -2.39776819e-04 9.99985836e-01 -2.37152444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.861400513 meters 0.045389120971873705 Centerline is valid? [True, True] Translation: X:478.66, Y:52.33, Z:-2.37 [[ 9.88350037e-01 -1.52093091e-01 -5.64773842e-03 4.78664704e+02] [ 1.52092091e-01 9.88366139e-01 -6.08640187e-04 5.23329060e+01] [ 5.67460339e-03 -2.57426793e-04 9.99983866e-01 -2.37158114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.891400513 meters 0.05383512219880967 Centerline is valid? [True, True] Translation: X:478.69, Y:52.33, Z:-2.37 [[ 9.88295625e-01 -1.52386329e-01 -7.08268784e-03 4.78692656e+02] [ 1.52384763e-01 9.88320951e-01 -7.63417370e-04 5.23343742e+01] [ 7.11630315e-03 -3.24811659e-04 9.99974626e-01 -2.37398669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.921400513 meters 0.05031767661042008 Centerline is valid? [True, True] Translation: X:478.72, Y:52.34, Z:-2.37 [[ 9.88261928e-01 -1.52594229e-01 -7.30499515e-03 4.78719967e+02] [ 1.52592557e-01 9.88288869e-01 -7.89004373e-04 5.23384080e+01] [ 7.33984291e-03 -3.34944904e-04 9.99973007e-01 -2.37479689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.951400513 meters 0.04711697090782478 Centerline is valid? [True, True] Translation: X:478.75, Y:52.34, Z:-2.37 [[ 9.88171019e-01 -1.53210527e-01 -6.67621206e-03 4.78748701e+02] [ 1.53209137e-01 9.88193523e-01 -7.22198070e-04 5.23427186e+01] [ 6.70803786e-03 -3.09201484e-04 9.99977453e-01 -2.37402934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.981400513 meters 0.051543638046289864 Centerline is valid? [True, True] Translation: X:478.78, Y:52.35, Z:-2.37 [[ 9.88086928e-01 -1.53765314e-01 -6.36002804e-03 4.78776867e+02] [ 1.53764057e-01 9.88107352e-01 -6.89090236e-04 5.23474874e+01] [ 6.39034865e-03 -2.97062659e-04 9.99979537e-01 -2.37235795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.011400513 meters 0.0573882242497686 Centerline is valid? [True, True] Translation: X:478.81, Y:52.34, Z:-2.37 [[ 9.88016625e-01 -1.54238976e-01 -5.78684448e-03 4.78805060e+02] [ 1.54237941e-01 9.88033534e-01 -6.27385261e-04 5.23431270e+01] [ 5.81436366e-03 -2.72683907e-04 9.99983059e-01 -2.37222595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.041400513 meters 0.0573882242497686 Centerline is valid? [True, True] Translation: X:478.83, Y:52.35, Z:-2.37 [[ 9.87988818e-01 -1.54416997e-01 -5.78671260e-03 4.78832403e+02] [ 1.54415958e-01 9.88005727e-01 -6.28600853e-04 5.23462635e+01] [ 5.81437184e-03 -2.72510158e-04 9.99983059e-01 -2.37227827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.071400513 meters 0.05341484937855935 Centerline is valid? [True, True] Translation: X:478.86, Y:52.35, Z:-2.37 [[ 9.87993851e-01 -1.54392386e-01 -5.58041067e-03 4.78861171e+02] [ 1.54391415e-01 9.88009576e-01 -6.07051832e-04 5.23523524e+01] [ 5.60722337e-03 -2.61804022e-04 9.99984245e-01 -2.37120052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.101400513 meters 0.05050696503185651 Centerline is valid? [True, True] Translation: X:478.89, Y:52.36, Z:-2.37 [[ 9.88022674e-01 -1.54212737e-01 -5.44309914e-03 4.78888542e+02] [ 1.54211805e-01 9.88037635e-01 -5.93046383e-04 5.23644035e+01] [ 5.46944210e-03 -2.53446871e-04 9.99985010e-01 -2.36964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.131400513 meters 0.04815315268734717 Centerline is valid? [True, True] Translation: X:478.92, Y:52.37, Z:-2.37 [[ 9.88212597e-01 -1.53030673e-01 -4.18047391e-03 4.78915852e+02] [ 1.53030112e-01 9.88221421e-01 -4.55524554e-04 5.23697287e+01] [ 4.20094310e-03 -1.89583288e-04 9.99991158e-01 -2.36854745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.161400513 meters 0.0467386855890845 Centerline is valid? [True, True] Translation: X:478.94, Y:52.38, Z:-2.37 [[ 9.88321263e-01 -1.52346504e-01 -3.40945796e-03 4.78943283e+02] [ 1.52346126e-01 9.88327132e-01 -3.71751990e-04 5.23756180e+01] [ 3.42629492e-03 -1.52007314e-04 9.99994119e-01 -2.36749883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.191400513 meters 0.04559597313671325 Centerline is valid? [True, True] Translation: X:478.97, Y:52.38, Z:-2.37 [[ 9.88385675e-01 -1.51936808e-01 -2.99407870e-03 4.78971979e+02] [ 1.51936513e-01 9.88390201e-01 -3.27111567e-04 5.23829176e+01] [ 3.00901833e-03 -1.31597489e-04 9.99995464e-01 -2.36631625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.221400513 meters 0.04317711285872174 Centerline is valid? [True, True] Translation: X:479.00, Y:52.39, Z:-2.37 [[ 9.88384074e-01 -1.51954485e-01 -2.59933921e-03 4.78999925e+02] [ 1.51954261e-01 9.88387486e-01 -2.84493853e-04 5.23912844e+01] [ 2.61238446e-03 -1.13791475e-04 9.99996581e-01 -2.36511719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.251400513 meters 0.04878269912195908 Centerline is valid? [True, True] Translation: X:479.03, Y:52.39, Z:-2.37 [[ 9.88255347e-01 -1.52791248e-01 -2.49060427e-03 4.79027343e+02] [ 1.52791045e-01 9.88258479e-01 -2.72748217e-04 5.23918434e+01] [ 2.50303432e-03 -1.10997144e-04 9.99996861e-01 -2.36527214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.281400513 meters 0.04697578540250166 Centerline is valid? [True, True] Translation: X:479.06, Y:52.40, Z:-2.37 [[ 9.87644854e-01 -1.56677949e-01 -3.10864133e-03 4.79057330e+02] [ 1.56677652e-01 9.87649734e-01 -3.40203064e-04 5.23976180e+01] [ 3.12355110e-03 -1.51054820e-04 9.99995110e-01 -2.36587732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.311400513 meters 0.056053194437287256 Centerline is valid? [True, True] Translation: X:479.09, Y:52.39, Z:-2.37 [[ 9.87182403e-01 -1.59539961e-01 -4.23134550e-03 4.79087519e+02] [ 1.59539437e-01 9.87191447e-01 -4.63208563e-04 5.23908304e+01] [ 4.25104836e-03 -2.17795136e-04 9.99990941e-01 -2.36820599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.341400513 meters 0.05616861095227001 Centerline is valid? [True, True] Translation: X:479.12, Y:52.39, Z:-2.37 [[ 9.86690561e-01 -1.62518994e-01 -5.41413557e-03 4.79117632e+02] [ 1.62518182e-01 9.86705371e-01 -5.92704418e-04 5.23932777e+01] [ 5.43848237e-03 -2.95079613e-04 9.99985168e-01 -2.36980333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.371400513 meters 0.063767811224431 Centerline is valid? [True, True] Translation: X:479.15, Y:52.39, Z:-2.37 [[ 9.86174961e-01 -1.65574449e-01 -6.63686543e-03 4.79148636e+02] [ 1.65573296e-01 9.86197219e-01 -7.26574927e-04 5.23924218e+01] [ 6.66556047e-03 -3.82357683e-04 9.99977712e-01 -2.37171996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.401400513 meters 0.06800717349542584 Centerline is valid? [True, True] Translation: X:479.18, Y:52.39, Z:-2.37 [[ 9.85424289e-01 -1.69973868e-01 -6.91769507e-03 4.79178933e+02] [ 1.69972723e-01 9.85448476e-01 -7.57384480e-04 5.23873714e+01] [ 6.94576764e-03 -4.29474408e-04 9.99975786e-01 -2.37214959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.431400513 meters 0.06450626538784096 Centerline is valid? [True, True] Translation: X:479.21, Y:52.39, Z:-2.37 [[ 9.85241354e-01 -1.71059303e-01 -6.17975980e-03 4.79207749e+02] [ 1.71058402e-01 9.85260658e-01 -6.77899918e-04 5.23924752e+01] [ 6.20463529e-03 -3.89204806e-04 9.99980675e-01 -2.37084307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.461400513 meters 0.06152699359883905 Centerline is valid? [True, True] Translation: X:479.24, Y:52.40, Z:-2.37 [[ 9.85234009e-01 -1.71142393e-01 -4.92231265e-03 4.79236550e+02] [ 1.71141818e-01 9.85246256e-01 -5.40764759e-04 5.23986323e+01] [ 4.94223789e-03 -3.09633707e-04 9.99987739e-01 -2.36913960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49140051300003 meters 0.06522942872807663 Centerline is valid? [True, True] Translation: X:479.26, Y:52.40, Z:-2.37 [[ 9.85310251e-01 -1.70723114e-01 -4.16252760e-03 4.79264968e+02] [ 1.70722699e-01 9.85319010e-01 -4.57571914e-04 5.23972007e+01] [ 4.17953567e-03 -2.59787647e-04 9.99991232e-01 -2.36848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.521400513 meters 0.061730127961432214 Centerline is valid? [True, True] Translation: X:479.29, Y:52.40, Z:-2.37 [[ 9.85490779e-01 -1.69694301e-01 -3.43059119e-03 4.79293673e+02] [ 1.69694010e-01 9.85496728e-01 -3.77789111e-04 5.24038059e+01] [ 3.44494505e-03 -2.09843093e-04 9.99994044e-01 -2.36705842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.551400513 meters 0.05471063147422793 Centerline is valid? [True, True] Translation: X:479.32, Y:52.41, Z:-2.36 [[ 9.86091137e-01 -1.66183446e-01 -2.70772321e-03 4.79323228e+02] [ 1.66183252e-01 9.86094842e-01 -2.97991809e-04 5.24149675e+01] [ 2.71959319e-03 -1.56131167e-04 9.99996290e-01 -2.36486078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.581400513 meters 0.06258654254536468 Centerline is valid? [True, True] Translation: X:479.35, Y:52.41, Z:-2.37 [[ 9.86407486e-01 -1.64298345e-01 -2.51512230e-03 4.79353524e+02] [ 1.64298172e-01 9.86410682e-01 -2.76888987e-04 5.24081828e+01] [ 2.52643591e-03 -1.40104626e-04 9.99996799e-01 -2.36541951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.611400513 meters 0.05513078096357178 Centerline is valid? [True, True] Translation: X:479.38, Y:52.42, Z:-2.37 [[ 9.86749465e-01 -1.62221741e-01 -3.09845265e-03 4.79381810e+02] [ 1.62221467e-01 9.86754315e-01 -3.41168101e-04 5.24225524e+01] [ 3.11275641e-03 -1.65988096e-04 9.99995142e-01 -2.36584560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.641400513 meters 0.05329748875673718 Centerline is valid? [True, True] Translation: X:479.41, Y:52.43, Z:-2.37 [[ 9.87154558e-01 -1.59727396e-01 -3.61076329e-03 4.79409737e+02] [ 1.59727007e-01 9.87161144e-01 -3.97719265e-04 5.24305348e+01] [ 3.62793188e-03 -1.84126029e-04 9.99993402e-01 -2.36679503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.671400513 meters 0.05068713850299973 Centerline is valid? [True, True] Translation: X:479.44, Y:52.44, Z:-2.37 [[ 9.87819735e-01 -1.55568311e-01 -3.26672919e-03 4.79438667e+02] [ 1.55567970e-01 9.87825125e-01 -3.59798626e-04 5.24441250e+01] [ 3.28293044e-03 -1.52782245e-04 9.99994599e-01 -2.36679310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.701400513 meters 0.04795180564751732 Centerline is valid? [True, True] Translation: X:479.47, Y:52.45, Z:-2.37 [[ 9.87977087e-01 -1.54588998e-01 -1.87525233e-03 4.79466767e+02] [ 1.54588883e-01 9.87978863e-01 -2.06710154e-04 5.24507924e+01] [ 1.88466478e-03 -8.56682675e-05 9.99998220e-01 -2.36504930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.731400513 meters 0.04782855500532164 Centerline is valid? [True, True] Translation: X:479.49, Y:52.46, Z:-2.36 [[ 9.87913568e-01 -1.55001544e-01 -1.14133043e-03 4.79494819e+02] [ 1.55001501e-01 9.87914226e-01 -1.26252815e-04 5.24569176e+01] [ 1.14710595e-03 -5.21810613e-05 9.99999341e-01 -2.36413377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.761400513 meters 0.050743211927483475 Centerline is valid? [True, True] Translation: X:479.52, Y:52.46, Z:-2.36 [[ 9.87347172e-01 -1.58565979e-01 -1.54694996e-03 4.79524575e+02] [ 1.58565905e-01 9.87348381e-01 -1.70719093e-04 5.24623130e+01] [ 1.55444878e-03 -7.67345066e-05 9.99998789e-01 -2.36481177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.791400513 meters 0.05229009789492996 Centerline is valid? [True, True] Translation: X:479.55, Y:52.46, Z:-2.37 [[ 9.86925547e-01 -1.61167810e-01 -1.70341590e-03 4.79554307e+02] [ 1.61167725e-01 9.86927013e-01 -1.88018537e-04 5.24641703e+01] [ 1.71144970e-03 -8.89753672e-05 9.99998532e-01 -2.36552730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.821400513 meters 0.05509094449009105 Centerline is valid? [True, True] Translation: X:479.58, Y:52.47, Z:-2.37 [[ 9.86456143e-01 -1.64014621e-01 -1.86626641e-03 4.79584507e+02] [ 1.64014524e-01 9.86457903e-01 -2.06013052e-04 5.24660133e+01] [ 1.87478240e-03 -1.02871956e-04 9.99998237e-01 -2.36550107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.851400513 meters 0.05850084997575976 Centerline is valid? [True, True] Translation: X:479.61, Y:52.47, Z:-2.37 [[ 9.85943095e-01 -1.67062761e-01 -2.49956322e-03 4.79614701e+02] [ 1.67062596e-01 9.85946253e-01 -2.75911912e-04 5.24695829e+01] [ 2.51052959e-03 -1.45550075e-04 9.99996838e-01 -2.36596788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.881400513 meters 0.05777597046129374 Centerline is valid? [True, True] Translation: X:479.65, Y:52.47, Z:-2.37 [[ 9.85423376e-01 -1.70101291e-01 -2.51429134e-03 4.79645001e+02] [ 1.70101134e-01 9.85426571e-01 -2.77546363e-04 5.24741181e+01] [ 2.52486049e-03 -1.54183136e-04 9.99996801e-01 -2.36584704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.911400513 meters 0.06632466196669967 Centerline is valid? [True, True] Translation: X:479.67, Y:52.47, Z:-2.37 [[ 9.84532031e-01 -1.75179657e-01 -2.96106628e-03 4.79674859e+02] [ 1.75179463e-01 9.84536464e-01 -3.26880311e-04 5.24705535e+01] [ 2.97254050e-03 -1.96893864e-04 9.99995563e-01 -2.36686789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.941400513 meters 0.07502789904373458 Centerline is valid? [True, True] Translation: X:479.71, Y:52.46, Z:-2.37 [[ 9.84152185e-01 -1.77297318e-01 -3.18405660e-03 4.79705146e+02] [ 1.77297104e-01 9.84157311e-01 -3.51604017e-04 5.24645579e+01] [ 3.19595103e-03 -2.18492154e-04 9.99994869e-01 -2.36836254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.971400513 meters 0.07258283788654298 Centerline is valid? [True, True] Translation: X:479.73, Y:52.48, Z:-2.37 [[ 9.83748643e-01 -1.79511367e-01 -3.77830870e-03 4.79734493e+02] [ 1.79511082e-01 9.83755863e-01 -4.17247015e-04 5.24755480e+01] [ 3.79183392e-03 -2.67782098e-04 9.99992775e-01 -2.36852314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.001400513 meters 0.07127262471959588 Centerline is valid? [True, True] Translation: X:479.77, Y:52.48, Z:-2.37 [[ 9.83392111e-01 -1.81453846e-01 -3.80232992e-03 4.79765044e+02] [ 1.81453572e-01 9.83399423e-01 -4.19874982e-04 5.24771860e+01] [ 3.81539698e-03 -2.77044602e-04 9.99992683e-01 -2.36853550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.031400513 meters 0.0720276132293169 Centerline is valid? [True, True] Translation: X:479.79, Y:52.48, Z:-2.37 [[ 9.83055603e-01 -1.83265715e-01 -3.91897836e-03 4.79794955e+02] [ 1.83265437e-01 9.83063371e-01 -4.32824192e-04 5.24797578e+01] [ 3.93192592e-03 -2.92723036e-04 9.99992227e-01 -2.36865779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.061400513 meters 0.07921923959869757 Centerline is valid? [True, True] Translation: X:479.83, Y:52.47, Z:-2.37 [[ 9.82556306e-01 -1.85926550e-01 -3.79786440e-03 4.79825776e+02] [ 1.85926309e-01 9.82563602e-01 -4.19507177e-04 5.24721735e+01] [ 3.80964085e-03 -2.93933486e-04 9.99992700e-01 -2.36911151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.091400513 meters 0.08062621106914616 Centerline is valid? [True, True] Translation: X:479.85, Y:52.47, Z:-2.37 [[ 9.82407044e-01 -1.86708966e-01 -4.02018341e-03 4.79854780e+02] [ 1.86708701e-01 9.82415219e-01 -4.44239242e-04 5.24742756e+01] [ 4.03243281e-03 -3.14179463e-04 9.99991820e-01 -2.36944554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.121400513 meters 0.07723221978076922 Centerline is valid? [True, True] Translation: X:479.88, Y:52.48, Z:-2.37 [[ 9.82350297e-01 -1.87008123e-01 -3.98182744e-03 4.79882716e+02] [ 1.87007863e-01 9.82358318e-01 -4.40904940e-04 5.24823871e+01] [ 3.99403411e-03 -3.11509943e-04 9.99991975e-01 -2.36899586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.151400513 meters 0.07626241495591689 Centerline is valid? [True, True] Translation: X:479.91, Y:52.48, Z:-2.37 [[ 9.82495510e-01 -1.86194755e-01 -5.83840079e-03 4.79911060e+02] [ 1.86194181e-01 9.82512753e-01 -6.46476736e-04 5.24806212e+01] [ 5.85667381e-03 -4.51915765e-04 9.99982747e-01 -2.37237345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.181400513 meters 0.07878581538382194 Centerline is valid? [True, True] Translation: X:479.94, Y:52.48, Z:-2.37 [[ 9.82591549e-01 -1.85653962e-01 -6.81579134e-03 4.79939136e+02] [ 1.85653165e-01 9.82615048e-01 -7.55075005e-04 5.24783924e+01] [ 6.83748180e-03 -5.23442915e-04 9.99976487e-01 -2.37437973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.211400513 meters 0.07319422621929157 Centerline is valid? [True, True] Translation: X:479.97, Y:52.49, Z:-2.37 [[ 9.82649774e-01 -1.85324168e-01 -7.37387123e-03 4.79967203e+02] [ 1.85323214e-01 9.82677280e-01 -8.18316215e-04 5.24869046e+01] [ 7.39778949e-03 -5.62431276e-04 9.99972478e-01 -2.37433132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24140051300003 meters 0.08213118836737895 Centerline is valid? [True, True] Translation: X:480.00, Y:52.48, Z:-2.37 [[ 9.82775984e-01 -1.84693840e-01 -6.28897712e-03 4.79996675e+02] [ 1.84693132e-01 9.82795991e-01 -6.98131813e-04 5.24759683e+01] [ 6.30972215e-03 -4.75423705e-04 9.99979980e-01 -2.37479246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.271400513 meters 0.07636904019452856 Centerline is valid? [True, True] Translation: X:480.03, Y:52.48, Z:-2.37 [[ 9.83059972e-01 -1.83248849e-01 -3.59862440e-03 4.80026293e+02] [ 1.83248608e-01 9.83066523e-01 -3.99478357e-04 5.24830058e+01] [ 3.61089113e-03 -2.66731730e-04 9.99993445e-01 -2.37008986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.301400513 meters 0.07593514913125252 Centerline is valid? [True, True] Translation: X:480.06, Y:52.48, Z:-2.37 [[ 9.83212561e-01 -1.82436868e-01 -3.13823231e-03 4.80055413e+02] [ 1.82436678e-01 9.83217543e-01 -3.49097664e-04 5.24849799e+01] [ 3.14925335e-03 -2.29291469e-04 9.99995015e-01 -2.36938043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.331400513 meters 0.07629173684157883 Centerline is valid? [True, True] Translation: X:480.08, Y:52.49, Z:-2.37 [[ 9.83355307e-01 -1.81648768e-01 -4.00814391e-03 4.80084739e+02] [ 1.81648450e-01 9.83363433e-01 -4.46381901e-04 5.24862976e+01] [ 4.02254688e-03 -2.89121116e-04 9.99991868e-01 -2.37087091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.361400513 meters 0.07498751266748589 Centerline is valid? [True, True] Translation: X:480.11, Y:52.49, Z:-2.37 [[ 9.83436871e-01 -1.81165963e-01 -5.55115223e-03 4.80113375e+02] [ 1.81165340e-01 9.83452458e-01 -6.19042420e-04 5.24921086e+01] [ 5.57144372e-03 -3.96887242e-04 9.99984401e-01 -2.37297509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.391400513 meters 0.07304857576308707 Centerline is valid? [True, True] Translation: X:480.14, Y:52.49, Z:-2.38 [[ 9.83458393e-01 -1.81013172e-01 -6.61969774e-03 4.80142215e+02] [ 1.81012276e-01 9.83480559e-01 -7.39215754e-04 5.24945650e+01] [ 6.64415182e-03 -4.71258616e-04 9.99977816e-01 -2.37550877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.421400513 meters 0.07583128325607631 Centerline is valid? [True, True] Translation: X:480.17, Y:52.50, Z:-2.38 [[ 9.83186370e-01 -1.82442134e-01 -7.70909217e-03 4.80172184e+02] [ 1.82440965e-01 9.83216433e-01 -8.60623443e-04 5.24960701e+01] [ 7.73672008e-03 -5.60300976e-04 9.99969914e-01 -2.37777674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.451400513 meters 0.07204945746608647 Centerline is valid? [True, True] Translation: X:480.20, Y:52.50, Z:-2.38 [[ 9.82973776e-01 -1.83614420e-01 -6.94982949e-03 4.80201223e+02] [ 1.83613496e-01 9.82998210e-01 -7.76155187e-04 5.24973072e+01] [ 6.97418324e-03 -5.13142296e-04 9.99975548e-01 -2.37652941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.481400513 meters 0.07625833818048502 Centerline is valid? [True, True] Translation: X:480.23, Y:52.49, Z:-2.38 [[ 9.82685852e-01 -1.85174516e-01 -6.23818065e-03 4.80231064e+02] [ 1.85173803e-01 9.82705539e-01 -6.96656824e-04 5.24926085e+01] [ 6.25929777e-03 -4.70552831e-04 9.99980300e-01 -2.37569027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.511400513 meters 0.07740901153462267 Centerline is valid? [True, True] Translation: X:480.26, Y:52.49, Z:-2.37 [[ 9.82388703e-01 -1.86759686e-01 -5.76677729e-03 4.80261506e+02] [ 1.86759104e-01 9.82405528e-01 -6.44105879e-04 5.24919074e+01] [ 5.78560690e-03 -4.44235820e-04 9.99983165e-01 -2.37449208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.541400513 meters 0.07988021955340716 Centerline is valid? [True, True] Translation: X:480.29, Y:52.49, Z:-2.37 [[ 9.81832418e-01 -1.89688170e-01 -4.84772485e-03 4.80292022e+02] [ 1.89687794e-01 9.81844309e-01 -5.41523895e-04 5.24876262e+01] [ 4.86243173e-03 -3.87868515e-04 9.99988103e-01 -2.37338212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.571400513 meters 0.08100309067436699 Centerline is valid? [True, True] Translation: X:480.32, Y:52.49, Z:-2.37 [[ 9.81624841e-01 -1.90763191e-01 -4.69862853e-03 4.80321476e+02] [ 1.90762849e-01 9.81636012e-01 -5.25072978e-04 5.24873341e+01] [ 4.71250757e-03 -3.80899084e-04 9.99988824e-01 -2.37339402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.601400513 meters 0.08327045129376302 Centerline is valid? [True, True] Translation: X:480.35, Y:52.49, Z:-2.37 [[ 9.81438912e-01 -1.91716846e-01 -4.72357230e-03 4.80350159e+02] [ 1.91716510e-01 9.81450203e-01 -5.28099055e-04 5.24860866e+01] [ 4.73719647e-03 -3.87289833e-04 9.99988704e-01 -2.37319661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.631400513 meters 0.08162678572655103 Centerline is valid? [True, True] Translation: X:480.38, Y:52.49, Z:-2.37 [[ 9.81320282e-01 -1.92315345e-01 -5.03122977e-03 4.80378635e+02] [ 1.92314966e-01 9.81333091e-01 -5.63527278e-04 5.24906113e+01] [ 5.04568720e-03 -4.14580034e-04 9.99987185e-01 -2.37289227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.661400513 meters 0.08131008100272206 Centerline is valid? [True, True] Translation: X:480.41, Y:52.49, Z:-2.37 [[ 9.81319577e-01 -1.92315137e-01 -5.17461216e-03 4.80407716e+02] [ 1.92314732e-01 9.81333127e-01 -5.80422068e-04 5.24940361e+01] [ 5.18964229e-03 -4.25574614e-04 9.99986443e-01 -2.37265921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.691400513 meters 0.07828744357940177 Centerline is valid? [True, True] Translation: X:480.44, Y:52.50, Z:-2.37 [[ 9.81384449e-01 -1.91986236e-01 -5.08406269e-03 4.80435417e+02] [ 1.91985836e-01 9.81397530e-01 -5.71125129e-04 5.25038579e+01] [ 5.09913473e-03 -4.15574705e-04 9.99986913e-01 -2.37184703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.721400513 meters 0.07417883508572781 Centerline is valid? [True, True] Translation: X:480.46, Y:52.51, Z:-2.37 [[ 9.81797960e-01 -1.89860958e-01 -5.05797031e-03 4.80464972e+02] [ 1.89860536e-01 9.81810906e-01 -5.67932360e-04 5.25110082e+01] [ 5.07379859e-03 -4.02714120e-04 9.99987047e-01 -2.37137565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.751400513 meters 0.07491890670209578 Centerline is valid? [True, True] Translation: X:480.49, Y:52.51, Z:-2.37 [[ 9.82027399e-01 -1.88687226e-01 -4.39538032e-03 4.80494380e+02] [ 1.88686895e-01 9.82037174e-01 -4.93672139e-04 5.25106866e+01] [ 4.40957649e-03 -3.44551097e-04 9.99990218e-01 -2.37123237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.781400513 meters 0.07442978788739683 Centerline is valid? [True, True] Translation: X:480.52, Y:52.52, Z:-2.37 [[ 9.82263322e-01 -1.87453732e-01 -4.45703004e-03 4.80524301e+02] [ 1.87453379e-01 9.82273373e-01 -5.00625350e-04 5.25159815e+01] [ 4.47186603e-03 -3.43739421e-04 9.99989942e-01 -2.37102631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.811400513 meters 0.07057473901343488 Centerline is valid? [True, True] Translation: X:480.55, Y:52.53, Z:-2.37 [[ 9.82553104e-01 -1.85925366e-01 -4.59956554e-03 4.80552994e+02] [ 1.85924972e-01 9.82563808e-01 -5.16691307e-04 5.25278384e+01] [ 4.61543266e-03 -3.47497449e-04 9.99989288e-01 -2.37020630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.841400513 meters 0.07323929238946646 Centerline is valid? [True, True] Translation: X:480.58, Y:52.53, Z:-2.37 [[ 9.83112584e-01 -1.82963797e-01 -3.72773844e-03 4.80582736e+02] [ 1.82963517e-01 9.83119614e-01 -4.18842060e-04 5.25257768e+01] [ 3.74144571e-03 -2.70271237e-04 9.99992964e-01 -2.36935326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.871400513 meters 0.07077641418850807 Centerline is valid? [True, True] Translation: X:480.61, Y:52.54, Z:-2.37 [[ 9.83373348e-01 -1.81561066e-01 -3.52665947e-03 4.80612164e+02] [ 1.81560806e-01 9.83379640e-01 -3.96279515e-04 5.25358526e+01] [ 3.53999405e-03 -2.50612423e-04 9.99993703e-01 -2.36830924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.901400513 meters 0.06831097733784758 Centerline is valid? [True, True] Translation: X:480.64, Y:52.54, Z:-2.37 [[ 9.83672007e-01 -1.79952126e-01 -2.57181546e-03 4.80640880e+02] [ 1.79951982e-01 9.83675353e-01 -2.89075489e-04 5.25412464e+01] [ 2.58185123e-03 -1.78447823e-04 9.99996651e-01 -2.36752733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.931400513 meters 0.06682797090610577 Centerline is valid? [True, True] Translation: X:480.67, Y:52.55, Z:-2.37 [[ 9.83953413e-01 -1.78407788e-01 -2.51855730e-03 4.80669711e+02] [ 1.78407645e-01 9.83956621e-01 -2.83149335e-04 5.25486262e+01] [ 2.52866717e-03 -1.70724120e-04 9.99996788e-01 -2.36756676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.961400513 meters 0.06682797090610577 Centerline is valid? [True, True] Translation: X:480.70, Y:52.55, Z:-2.37 [[ 9.83920069e-01 -1.78591587e-01 -2.51846959e-03 4.80697077e+02] [ 1.78591442e-01 9.83923278e-01 -2.83928878e-04 5.25518521e+01] [ 2.52868816e-03 -1.70413795e-04 9.99996788e-01 -2.36761916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99140051300003 meters 0.06797486575718874 Centerline is valid? [True, True] Translation: X:480.73, Y:52.56, Z:-2.37 [[ 9.84192184e-01 -1.77081123e-01 -2.83215255e-03 4.80725639e+02] [ 1.77080935e-01 9.84196241e-01 -3.19001990e-04 5.25559558e+01] [ 2.84388312e-03 -1.87560956e-04 9.99995939e-01 -2.36887765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.021400513 meters 0.06888419584445221 Centerline is valid? [True, True] Translation: X:480.75, Y:52.56, Z:-2.37 [[ 9.84516213e-01 -1.75231022e-01 -4.68140015e-03 4.80754264e+02] [ 1.75230487e-01 9.84527297e-01 -5.27371941e-04 5.25639075e+01] [ 4.70137816e-03 -3.01117802e-04 9.99988903e-01 -2.37217777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.051400513 meters 0.06687143958639122 Centerline is valid? [True, True] Translation: X:480.78, Y:52.57, Z:-2.37 [[ 9.84583574e-01 -1.74830143e-01 -5.44131195e-03 4.80782490e+02] [ 1.74829408e-01 9.84598548e-01 -6.14128338e-04 5.25719627e+01] [ 5.46487599e-03 -3.46640672e-04 9.99985007e-01 -2.37295910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.081400513 meters 0.05793436948132677 Centerline is valid? [True, True] Translation: X:480.81, Y:52.59, Z:-2.37 [[ 9.84646334e-01 -1.74467271e-01 -5.72431910e-03 4.80809918e+02] [ 1.74466446e-01 9.84662907e-01 -6.47050054e-04 5.25859406e+01] [ 5.74941374e-03 -3.61586146e-04 9.99983407e-01 -2.37256718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.111400513 meters 0.06221601947132572 Centerline is valid? [True, True] Translation: X:480.84, Y:52.59, Z:-2.37 [[ 9.84771709e-01 -1.73760236e-01 -5.66231107e-03 4.80837731e+02] [ 1.73759416e-01 9.84787924e-01 -6.40180661e-04 5.25861555e+01] [ 5.68741351e-03 -3.53448065e-04 9.99983764e-01 -2.37342409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.141400513 meters 0.05674730587005365 Centerline is valid? [True, True] Translation: X:480.87, Y:52.60, Z:-2.37 [[ 9.84961001e-01 -1.72690143e-01 -5.47178617e-03 4.80865893e+02] [ 1.72689355e-01 9.84976143e-01 -6.19691800e-04 5.25980228e+01] [ 5.49659350e-03 -3.34546969e-04 9.99984838e-01 -2.37262671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.171400513 meters 0.06051652302510854 Centerline is valid? [True, True] Translation: X:480.90, Y:52.60, Z:-2.37 [[ 9.85457026e-01 -1.69876050e-01 -4.07163929e-03 4.80895177e+02] [ 1.69875590e-01 9.85465409e-01 -4.61002450e-04 5.26019915e+01] [ 4.09077295e-03 -2.37374024e-04 9.99991605e-01 -2.37086221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.201400513 meters 0.053873731990515886 Centerline is valid? [True, True] Translation: X:480.92, Y:52.62, Z:-2.37 [[ 9.85703698e-01 -1.68439857e-01 -4.02925047e-03 4.80923573e+02] [ 1.68439394e-01 9.85711906e-01 -4.56313859e-04 5.26165628e+01] [ 4.04854160e-03 -2.28894249e-04 9.99991778e-01 -2.36955549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.231400513 meters 0.058990501629674195 Centerline is valid? [True, True] Translation: X:480.95, Y:52.62, Z:-2.37 [[ 9.85970511e-01 -1.66857450e-01 -4.55433853e-03 4.80952735e+02] [ 1.66856842e-01 9.85980998e-01 -5.15883073e-04 5.26195095e+01] [ 4.57657018e-03 -2.51277046e-04 9.99989496e-01 -2.37064084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.261400513 meters 0.05504571029485512 Centerline is valid? [True, True] Translation: X:480.98, Y:52.63, Z:-2.37 [[ 9.86154400e-01 -1.65761035e-01 -4.77262964e-03 4.80980321e+02] [ 1.65760353e-01 9.86165915e-01 -5.40876379e-04 5.26291562e+01] [ 4.79626090e-03 -2.57725152e-04 9.99988465e-01 -2.37100100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.291400513 meters 0.05761067078747612 Centerline is valid? [True, True] Translation: X:481.01, Y:52.63, Z:-2.37 [[ 9.86258742e-01 -1.65183117e-01 -2.86924486e-03 4.81007879e+02] [ 1.65182867e-01 9.86262903e-01 -3.25393954e-04 5.26345084e+01] [ 2.88357936e-03 -1.53027462e-04 9.99995831e-01 -2.36973187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.321400513 meters 0.059504512911828254 Centerline is valid? [True, True] Translation: X:481.04, Y:52.64, Z:-2.37 [[ 9.86139214e-01 -1.65907299e-01 -2.05403738e-03 4.81035467e+02] [ 1.65907173e-01 9.86141347e-01 -2.33087643e-04 5.26388951e+01] [ 2.06424213e-03 -1.10922668e-04 9.99997863e-01 -2.36850822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.351400513 meters 0.06043455231836245 Centerline is valid? [True, True] Translation: X:481.06, Y:52.65, Z:-2.37 [[ 9.85959772e-01 -1.66964313e-01 -2.49932222e-03 4.81064781e+02] [ 1.66964129e-01 9.85962930e-01 -2.83587163e-04 5.26465708e+01] [ 2.51158799e-03 -1.37691623e-04 9.99996836e-01 -2.36814473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.381400513 meters 0.05911353746913283 Centerline is valid? [True, True] Translation: X:481.09, Y:52.66, Z:-2.37 [[ 9.85683731e-01 -1.68559281e-01 -3.91812595e-03 4.81092833e+02] [ 1.68558840e-01 9.85691493e-01 -4.44712436e-04 5.26584164e+01] [ 3.93702382e-03 -2.22088952e-04 9.99992225e-01 -2.36916419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.411400513 meters 0.06348246360039057 Centerline is valid? [True, True] Translation: X:481.12, Y:52.67, Z:-2.37 [[ 9.85211546e-01 -1.71181156e-01 -7.43111176e-03 4.81122057e+02] [ 1.71179647e-01 9.85239472e-01 -8.43353928e-04 5.26687125e+01] [ 7.46579093e-03 -4.41173060e-04 9.99972033e-01 -2.37316718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.441400513 meters 0.06295501483012823 Centerline is valid? [True, True] Translation: X:481.15, Y:52.67, Z:-2.37 [[ 9.84972891e-01 -1.72566424e-01 -7.01660965e-03 4.81150843e+02] [ 1.72565111e-01 9.84997791e-01 -7.96762285e-04 5.26693477e+01] [ 7.04883943e-03 -4.26032772e-04 9.99975066e-01 -2.37322276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.471400513 meters 0.06830800956443048 Centerline is valid? [True, True] Translation: X:481.18, Y:52.67, Z:-2.37 [[ 9.84736488e-01 -1.73941024e-01 -6.21037616e-03 4.81179889e+02] [ 1.73940021e-01 9.84755996e-01 -7.05409466e-04 5.26733825e+01] [ 6.23840480e-03 -3.85590520e-04 9.99980467e-01 -2.37276185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.501400513 meters 0.06255647749186946 Centerline is valid? [True, True] Translation: X:481.21, Y:52.69, Z:-2.37 [[ 9.84489080e-01 -1.75369785e-01 -5.16624239e-03 4.81207804e+02] [ 1.75369109e-01 9.84502580e-01 -5.87122013e-04 5.26854839e+01] [ 5.18914243e-03 -3.27984113e-04 9.99986483e-01 -2.37060509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.531400513 meters 0.06250964073108255 Centerline is valid? [True, True] Translation: X:481.24, Y:52.69, Z:-2.37 [[ 9.84286471e-01 -1.76531148e-01 -4.11051951e-03 4.81236168e+02] [ 1.76530729e-01 9.84295018e-01 -4.67282324e-04 5.26872118e+01] [ 4.12845376e-03 -2.65693338e-04 9.99991443e-01 -2.36982754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.561400513 meters 0.06413612076297158 Centerline is valid? [True, True] Translation: X:481.26, Y:52.70, Z:-2.37 [[ 9.84013532e-01 -1.78056690e-01 -3.63100329e-03 4.81264460e+02] [ 1.78056374e-01 9.84020202e-01 -4.12909462e-04 5.26956232e+01] [ 3.64650188e-03 -2.40214780e-04 9.99993323e-01 -2.36946471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.591400513 meters 0.06947856176346405 Centerline is valid? [True, True] Translation: X:481.29, Y:52.70, Z:-2.37 [[ 9.83367510e-01 -1.81577182e-01 -4.25048224e-03 4.81293535e+02] [ 1.81576781e-01 9.83376652e-01 -4.83305794e-04 5.26990003e+01] [ 4.26758230e-03 -2.96521666e-04 9.99990850e-01 -2.37029631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.621400513 meters 0.07160366138538735 Centerline is valid? [True, True] Translation: X:481.32, Y:52.70, Z:-2.37 [[ 9.82951454e-01 -1.83813429e-01 -4.36609702e-03 4.81323133e+02] [ 1.83813027e-01 9.82961100e-01 -4.96576343e-04 5.26955809e+01] [ 4.38298093e-03 -3.14435069e-04 9.99990345e-01 -2.37160789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.651400513 meters 0.0713822688508509 Centerline is valid? [True, True] Translation: X:481.35, Y:52.70, Z:-2.37 [[ 9.82491882e-01 -1.86254682e-01 -4.34690028e-03 4.81352635e+02] [ 1.86254307e-01 9.82501445e-01 -4.94448988e-04 5.27005289e+01] [ 4.36292924e-03 -3.23836782e-04 9.99990430e-01 -2.37166376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.681400513 meters 0.07948544893329919 Centerline is valid? [True, True] Translation: X:481.38, Y:52.70, Z:-2.37 [[ 9.82095587e-01 -1.88327695e-01 -4.57575684e-03 4.81382961e+02] [ 1.88327302e-01 9.82106184e-01 -5.20490864e-04 5.26953405e+01] [ 4.59190193e-03 -3.50568159e-04 9.99989396e-01 -2.37237118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.711400513 meters 0.0785144169524568 Centerline is valid? [True, True] Translation: X:481.41, Y:52.70, Z:-2.37 [[ 9.81648258e-01 -1.90645949e-01 -4.56279411e-03 4.81412802e+02] [ 1.90645583e-01 9.81658796e-01 -5.19047730e-04 5.27034910e+01] [ 4.57806132e-03 -3.60354242e-04 9.99989456e-01 -2.37231740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74140051300003 meters 0.0821570745143706 Centerline is valid? [True, True] Translation: X:481.44, Y:52.70, Z:-2.37 [[ 9.81625519e-01 -1.90760568e-01 -4.66321729e-03 4.81440519e+02] [ 1.90760186e-01 9.81636526e-01 -5.30835657e-04 5.27045396e+01] [ 4.67884693e-03 -3.68474368e-04 9.99988986e-01 -2.37268663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.771400513 meters 0.07766191777366538 Centerline is valid? [True, True] Translation: X:481.47, Y:52.72, Z:-2.37 [[ 9.81782792e-01 -1.89946748e-01 -4.77313580e-03 4.81468050e+02] [ 1.89946336e-01 9.81794324e-01 -5.43543079e-04 5.27159936e+01] [ 4.78948188e-03 -3.72998416e-04 9.99988461e-01 -2.37211736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.801400513 meters 0.0719561989001365 Centerline is valid? [True, True] Translation: X:481.50, Y:52.73, Z:-2.37 [[ 9.82046386e-01 -1.88575097e-01 -4.93240387e-03 4.81496191e+02] [ 1.88574640e-01 9.82058700e-01 -5.61750537e-04 5.27296078e+01] [ 4.94984229e-03 -3.78461197e-04 9.99987678e-01 -2.37141939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.831400513 meters 0.06987845852046741 Centerline is valid? [True, True] Translation: X:481.52, Y:52.75, Z:-2.37 [[ 9.82867503e-01 -1.84241713e-01 -5.14414722e-03 4.81524950e+02] [ 1.84241157e-01 9.82880895e-01 -5.85846409e-04 5.27461704e+01] [ 5.16402136e-03 -3.71954237e-04 9.99986597e-01 -2.37125983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.861400513 meters 0.07084547245341329 Centerline is valid? [True, True] Translation: X:481.55, Y:52.75, Z:-2.37 [[ 9.83335069e-01 -1.81732718e-01 -5.03602158e-03 4.81554506e+02] [ 1.81732152e-01 9.83347902e-01 -5.73630481e-04 5.27490116e+01] [ 5.05640868e-03 -3.51136070e-04 9.99987155e-01 -2.37202996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.891400513 meters 0.06248103513089027 Centerline is valid? [True, True] Translation: X:481.58, Y:52.77, Z:-2.37 [[ 9.83729429e-01 -1.79604734e-01 -4.30696413e-03 4.81582860e+02] [ 1.79604299e-01 9.83738814e-01 -4.90607058e-04 5.27662247e+01] [ 4.32504313e-03 -2.90924673e-04 9.99990605e-01 -2.37085418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.921400513 meters 0.06522436230799461 Centerline is valid? [True, True] Translation: X:481.61, Y:52.77, Z:-2.37 [[ 9.84055394e-01 -1.77837273e-01 -2.98081213e-03 4.81611824e+02] [ 1.77837056e-01 9.84059889e-01 -3.39651252e-04 5.27699250e+01] [ 2.99370031e-03 -1.95863207e-04 9.99995500e-01 -2.36954599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.951400513 meters 0.06171541338316061 Centerline is valid? [True, True] Translation: X:481.64, Y:52.79, Z:-2.37 [[ 9.84349726e-01 -1.76211782e-01 -2.24168203e-03 4.81640023e+02] [ 1.76211655e-01 9.84352268e-01 -2.55445458e-04 5.27882334e+01] [ 2.25161729e-03 -1.43562834e-04 9.99997455e-01 -2.36845012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.981400513 meters 0.06728924133799379 Centerline is valid? [True, True] Translation: X:481.67, Y:52.79, Z:-2.37 [[ 9.84304859e-01 -1.76442829e-01 -3.44573022e-03 4.81667289e+02] [ 1.76442530e-01 9.84310865e-01 -3.93086708e-04 5.27917027e+01] [ 3.46102702e-03 -2.21056200e-04 9.99993986e-01 -2.37051379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.011400513 meters 0.06690655853142477 Centerline is valid? [True, True] Translation: X:481.70, Y:52.79, Z:-2.37 [[ 9.84135660e-01 -1.77346884e-01 -5.00863813e-03 4.81696220e+02] [ 1.77346263e-01 9.84148351e-01 -5.71379400e-04 5.27937505e+01] [ 5.03057532e-03 -3.25948412e-04 9.99987293e-01 -2.37236860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.041400513 meters 0.07140342052317204 Centerline is valid? [True, True] Translation: X:481.73, Y:52.80, Z:-2.37 [[ 9.83847477e-01 -1.78908683e-01 -5.98535099e-03 4.81725127e+02] [ 1.78907824e-01 9.83865603e-01 -6.82902928e-04 5.27955251e+01] [ 6.01095822e-03 -3.98953799e-04 9.99981854e-01 -2.37474805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.071400513 meters 0.07631203284264489 Centerline is valid? [True, True] Translation: X:481.76, Y:52.80, Z:-2.37 [[ 9.82781029e-01 -1.84700928e-01 -5.19768466e-03 4.81755569e+02] [ 1.84700361e-01 9.82794701e-01 -5.93067469e-04 5.27955627e+01] [ 5.21779706e-03 -3.77158778e-04 9.99986316e-01 -2.37304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.101400513 meters 0.06989438156845795 Centerline is valid? [True, True] Translation: X:481.78, Y:52.81, Z:-2.37 [[ 9.82077325e-01 -1.88410784e-01 -5.05009800e-03 4.81784595e+02] [ 1.88410298e-01 9.82090234e-01 -5.76201038e-04 5.28110348e+01] [ 5.06821442e-03 -3.85616494e-04 9.99987082e-01 -2.37175849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.131400513 meters 0.07858574818574561 Centerline is valid? [True, True] Translation: X:481.81, Y:52.80, Z:-2.37 [[ 9.81406523e-01 -1.91874066e-01 -5.05760528e-03 4.81814385e+02] [ 1.91873623e-01 9.81419472e-01 -5.77216917e-04 5.28043879e+01] [ 5.07438526e-03 -4.03936599e-04 9.99987044e-01 -2.37324404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.161400513 meters 0.07568124284938255 Centerline is valid? [True, True] Translation: X:481.84, Y:52.81, Z:-2.37 [[ 9.80853278e-01 -1.94668497e-01 -5.56981244e-03 4.81844473e+02] [ 1.94668005e-01 9.80868984e-01 -6.35622551e-04 5.28075755e+01] [ 5.58699195e-03 -4.60811811e-04 9.99984286e-01 -2.37330330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.191400513 meters 0.07847167508921118 Centerline is valid? [True, True] Translation: X:481.88, Y:52.81, Z:-2.37 [[ 9.80459439e-01 -1.96626187e-01 -6.11808249e-03 4.81875215e+02] [ 1.96625631e-01 9.80478390e-01 -6.98227423e-04 5.28071568e+01] [ 6.13593747e-03 -5.18388163e-04 9.99981041e-01 -2.37400650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.221400513 meters 0.080881181414407 Centerline is valid? [True, True] Translation: X:481.91, Y:52.81, Z:-2.38 [[ 9.80208964e-01 -1.97838302e-01 -7.09882719e-03 4.81905197e+02] [ 1.97837584e-01 9.80234479e-01 -8.10270127e-04 5.28105017e+01] [ 7.11881764e-03 -6.10180777e-04 9.99974475e-01 -2.37541141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.251400513 meters 0.08029713070241593 Centerline is valid? [True, True] Translation: X:481.93, Y:52.81, Z:-2.38 [[ 9.80221728e-01 -1.97753896e-01 -7.66552091e-03 4.81932443e+02] [ 1.97753050e-01 9.80251480e-01 -8.75755656e-04 5.28134924e+01] [ 7.68732231e-03 -6.57445418e-04 9.99970236e-01 -2.37513746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.281400513 meters 0.08517087193766174 Centerline is valid? [True, True] Translation: X:481.96, Y:52.81, Z:-2.37 [[ 9.80481140e-01 -1.96499813e-01 -6.67509270e-03 4.81961742e+02] [ 1.96499142e-01 9.80503700e-01 -7.62655669e-04 5.28118660e+01] [ 6.69481479e-03 -5.63880490e-04 9.99977430e-01 -2.37484576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.311400513 meters 0.08098739210052436 Centerline is valid? [True, True] Translation: X:481.99, Y:52.82, Z:-2.37 [[ 9.80805263e-01 -1.94904040e-01 -5.78369331e-03 4.81990981e+02] [ 1.94903509e-01 9.80822199e-01 -6.60857027e-04 5.28238294e+01] [ 5.80157849e-03 -4.79090068e-04 9.99983056e-01 -2.37402060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.341400513 meters 0.07664615463631864 Centerline is valid? [True, True] Translation: X:482.02, Y:52.83, Z:-2.37 [[ 9.81151328e-01 -1.93169493e-01 -5.25535747e-03 4.82020970e+02] [ 1.93169029e-01 9.81165310e-01 -6.00521969e-04 5.28315554e+01] [ 5.27237697e-03 -4.25969375e-04 9.99986010e-01 -2.37281194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.371400513 meters 0.07499049076528504 Centerline is valid? [True, True] Translation: X:482.05, Y:52.84, Z:-2.37 [[ 9.81464149e-01 -1.91582924e-01 -4.91000515e-03 4.82049881e+02] [ 1.91582499e-01 9.81476353e-01 -5.61125659e-04 5.28433001e+01] [ 4.92655605e-03 -3.89946339e-04 9.99987788e-01 -2.37226229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.401400513 meters 0.06533477589741071 Centerline is valid? [True, True] Translation: X:482.08, Y:52.86, Z:-2.37 [[ 9.81346418e-01 -1.92191392e-01 -4.65578207e-03 4.82076986e+02] [ 1.92191012e-01 9.81357392e-01 -5.33182827e-04 5.28606880e+01] [ 4.67145930e-03 -3.71562408e-04 9.99989020e-01 -2.37067336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.431400513 meters 0.06985196385361912 Centerline is valid? [True, True] Translation: X:482.11, Y:52.86, Z:-2.37 [[ 9.81166462e-01 -1.93127306e-01 -3.77047459e-03 4.82105622e+02] [ 1.93127064e-01 9.81173660e-01 -4.31819752e-04 5.28574629e+01] [ 3.78288653e-03 -3.04493627e-04 9.99992799e-01 -2.37006642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.461400513 meters 0.08750165710424551 Centerline is valid? [True, True] Translation: X:482.14, Y:52.84, Z:-2.37 [[ 9.80851732e-01 -1.94724147e-01 -3.51942971e-03 4.82136910e+02] [ 1.94723946e-01 9.80858003e-01 -4.03108597e-04 5.28424112e+01] [ 3.53055578e-03 -2.89927475e-04 9.99993726e-01 -2.37248276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49140051300003 meters 0.08056559114110247 Centerline is valid? [True, True] Translation: X:482.17, Y:52.85, Z:-2.37 [[ 9.80577545e-01 -1.96101106e-01 -3.46909742e-03 4.82166536e+02] [ 1.96100919e-01 9.80583638e-01 -3.97298985e-04 5.28530127e+01] [ 3.47965094e-03 -2.90710730e-04 9.99993904e-01 -2.37178273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.521400513 meters 0.08090468962435315 Centerline is valid? [True, True] Translation: X:482.20, Y:52.86, Z:-2.37 [[ 9.79942491e-01 -1.99256957e-01 -3.06262906e-03 4.82196125e+02] [ 1.99256826e-01 9.79947241e-01 -3.50801191e-04 5.28592722e+01] [ 3.07111447e-03 -2.66484752e-04 9.99995249e-01 -2.37122623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.551400513 meters 0.0839710671850612 Centerline is valid? [True, True] Translation: X:482.22, Y:52.86, Z:-2.37 [[ 9.79877517e-01 -1.99594057e-01 -1.50480912e-03 4.82223887e+02] [ 1.99596566e-01 9.79876585e-01 1.75736538e-03 5.28620407e+01] [ 1.12376754e-03 -2.02235756e-03 9.99997324e-01 -2.36932325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.581400513 meters 0.08204916050831094 Centerline is valid? [True, True] Translation: X:482.25, Y:52.87, Z:-2.37 [[ 9.79425130e-01 -2.01795736e-01 -2.21264655e-03 4.82253355e+02] [ 2.01791019e-01 9.79426169e-01 -2.18273612e-03 5.28679350e+01] [ 2.60759078e-03 1.69133441e-03 9.99995170e-01 -2.36887963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.611400513 meters 0.08319193528376086 Centerline is valid? [True, True] Translation: X:482.28, Y:52.87, Z:-2.37 [[ 9.79260572e-01 -2.02594767e-01 -2.02279788e-03 4.82282386e+02] [ 2.02594716e-01 9.79262645e-01 -2.32183407e-04 5.28671073e+01] [ 2.02788955e-03 -1.82440107e-04 9.99997927e-01 -2.36893795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.641400513 meters 0.0940046508403288 Centerline is valid? [True, True] Translation: X:482.31, Y:52.85, Z:-2.37 [[ 9.78932401e-01 -2.04168776e-01 -2.54272961e-03 4.82312856e+02] [ 2.04168701e-01 9.78935675e-01 -2.91835004e-04 5.28544216e+01] [ 2.54875233e-03 -2.33459061e-04 9.99996725e-01 -2.37044802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.671400513 meters 0.08706226454115025 Centerline is valid? [True, True] Translation: X:482.34, Y:52.87, Z:-2.37 [[ 9.78771751e-01 -2.04928732e-01 -3.17409700e-03 4.82341390e+02] [ 2.04928619e-01 9.78776853e-01 -3.64385324e-04 5.28657259e+01] [ 3.18140569e-03 -2.93813252e-04 9.99994896e-01 -2.37136103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.701400513 meters 0.09360917516227099 Centerline is valid? [True, True] Translation: X:482.37, Y:52.86, Z:-2.37 [[ 9.78546072e-01 -2.05985731e-01 -4.17883918e-03 4.82370001e+02] [ 2.05985543e-01 9.78554917e-01 -4.80004639e-04 5.28623735e+01] [ 4.18809774e-03 -3.91073804e-04 9.99991153e-01 -2.37353376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.731400513 meters 0.08472170913295952 Centerline is valid? [True, True] Translation: X:482.40, Y:52.87, Z:-2.37 [[ 9.78404431e-01 -2.06637295e-01 -5.07916724e-03 4.82397895e+02] [ 2.06637026e-01 9.78417497e-01 -5.83539631e-04 5.28738418e+01] [ 5.09012715e-03 -4.78606251e-04 9.99986931e-01 -2.37385493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.761400513 meters 0.09795989930143847 Centerline is valid? [True, True] Translation: X:482.43, Y:52.86, Z:-2.38 [[ 9.78394859e-01 -2.06669610e-01 -5.58319696e-03 4.82427075e+02] [ 2.06669281e-01 9.78410648e-01 -6.41983316e-04 5.28589690e+01] [ 5.59533780e-03 -5.25762128e-04 9.99984208e-01 -2.37570027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.791400513 meters 0.08626010159300705 Centerline is valid? [True, True] Translation: X:482.45, Y:52.87, Z:-2.37 [[ 9.78524266e-01 -2.06056500e-01 -5.56599706e-03 4.82454444e+02] [ 2.06056162e-01 9.78539957e-01 -6.40196564e-04 5.28732424e+01] [ 5.57846719e-03 -5.20460122e-04 9.99984305e-01 -2.37413136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.821400513 meters 0.09175948294139612 Centerline is valid? [True, True] Translation: X:482.49, Y:52.87, Z:-2.37 [[ 9.79208724e-01 -2.02778414e-01 -5.58475468e-03 4.82485029e+02] [ 2.02778022e-01 9.79224520e-01 -6.42386874e-04 5.28663436e+01] [ 5.59899091e-03 -5.03434674e-04 9.99984199e-01 -2.37473234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.851400513 meters 0.09175948294139612 Centerline is valid? [True, True] Translation: X:482.51, Y:52.87, Z:-2.37 [[ 9.79173152e-01 -2.02950121e-01 -5.58460729e-03 4.82512417e+02] [ 2.02949724e-01 9.79188948e-01 -6.43667298e-04 5.28696338e+01] [ 5.59901809e-03 -5.03132768e-04 9.99984199e-01 -2.37478478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.881400513 meters 0.08093113554924682 Centerline is valid? [True, True] Translation: X:482.54, Y:52.89, Z:-2.37 [[ 9.79710769e-01 -2.00337708e-01 -5.62254067e-03 4.82540902e+02] [ 2.00337264e-01 9.79726779e-01 -6.47836040e-04 5.28855847e+01] [ 5.63833964e-03 -4.91712468e-04 9.99983984e-01 -2.37436213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.911400513 meters 0.07789577516404811 Centerline is valid? [True, True] Translation: X:482.57, Y:52.89, Z:-2.37 [[ 9.80451393e-01 -1.96685367e-01 -5.47103114e-03 4.82569733e+02] [ 1.96684889e-01 9.80466551e-01 -6.30459127e-04 5.28886411e+01] [ 5.48816511e-03 -4.57934625e-04 9.99984835e-01 -2.37392254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.941400513 meters 0.07806736775469857 Centerline is valid? [True, True] Translation: X:482.60, Y:52.89, Z:-2.37 [[ 9.81818941e-01 -1.89762968e-01 -4.64574640e-03 4.82598190e+02] [ 1.89758878e-01 9.81829849e-01 -1.30994810e-03 5.28925855e+01] [ 4.80991213e-03 4.04560234e-04 9.99988350e-01 -2.37462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.971400513 meters 0.07891455216718782 Centerline is valid? [True, True] Translation: X:482.63, Y:52.89, Z:-2.38 [[ 9.82033325e-01 -1.88612868e-01 -5.97779791e-03 4.82628555e+02] [ 1.88616621e-01 9.82050796e-01 6.53127368e-05 5.28894711e+01] [ 5.85818238e-03 -1.19165133e-03 9.99982131e-01 -2.37616436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.001400513 meters 0.07826147991636292 Centerline is valid? [True, True] Translation: X:482.66, Y:52.89, Z:-2.38 [[ 9.82423208e-01 -1.86581188e-01 -5.66582209e-03 4.82657109e+02] [ 1.86580504e-01 9.82439458e-01 -6.53696822e-04 5.28934570e+01] [ 5.68829471e-03 -4.14925010e-04 9.99983735e-01 -2.37620877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.031400513 meters 0.06763630172426487 Centerline is valid? [True, True] Translation: X:482.69, Y:52.91, Z:-2.37 [[ 9.82771752e-01 -1.84756112e-01 -4.98625435e-03 4.82685300e+02] [ 1.84755559e-01 9.82784337e-01 -5.75326397e-04 5.29088938e+01] [ 5.00670774e-03 -3.55823678e-04 9.99987403e-01 -2.37428502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.061400513 meters 0.06112252965790149 Centerline is valid? [True, True] Translation: X:482.72, Y:52.92, Z:-2.37 [[ 9.83274837e-01 -1.82097662e-01 -3.32202244e-03 4.82715277e+02] [ 1.82097402e-01 9.83280423e-01 -3.83301428e-04 5.29178206e+01] [ 3.33627792e-03 -2.28041006e-04 9.99994409e-01 -2.37217466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.091400513 meters 0.062220706736694276 Centerline is valid? [True, True] Translation: X:482.74, Y:52.92, Z:-2.37 [[ 9.83510577e-01 -1.80819663e-01 -3.34582133e-03 4.82743859e+02] [ 1.80819390e-01 9.83516242e-01 -3.86230070e-04 5.29186028e+01] [ 3.36050761e-03 -2.25128014e-04 9.99994328e-01 -2.37212336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.121400513 meters 0.0669142773699898 Centerline is valid? [True, True] Translation: X:482.77, Y:52.91, Z:-2.37 [[ 9.83833714e-01 -1.79050925e-01 -3.46258565e-03 4.82773327e+02] [ 1.79050622e-01 9.83839781e-01 -3.99765058e-04 5.29147429e+01] [ 3.47820782e-03 -2.26675772e-04 9.99993925e-01 -2.37308241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.151400513 meters 0.06697436994989026 Centerline is valid? [True, True] Translation: X:482.80, Y:52.92, Z:-2.37 [[ 9.84176766e-01 -1.77147423e-01 -3.85783833e-03 4.82802302e+02] [ 1.77147033e-01 9.84184297e-01 -4.45478757e-04 5.29170089e+01] [ 3.87573932e-03 -2.44974770e-04 9.99992459e-01 -2.37359965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.181400513 meters 0.054705573129150496 Centerline is valid? [True, True] Translation: X:482.83, Y:52.93, Z:-2.37 [[ 9.84763534e-01 -1.73893244e-01 -1.38656703e-03 4.82829178e+02] [ 1.73898760e-01 9.84735149e-01 7.47718995e-03 5.29273954e+01] [ 6.51684801e-05 -7.60438628e-03 9.99971084e-01 -2.37301003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.211400513 meters 0.0576307737127752 Centerline is valid? [True, True] Translation: X:482.86, Y:52.94, Z:-2.37 [[ 9.85015090e-01 -1.72437348e-01 -3.26082280e-03 4.82858300e+02] [ 1.72407006e-01 9.84993233e-01 -8.00965511e-03 5.29407465e+01] [ 4.59305207e-03 7.32744246e-03 9.99962606e-01 -2.37209423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24140051300003 meters 0.05809148596677315 Centerline is valid? [True, True] Translation: X:482.89, Y:52.94, Z:-2.37 [[ 9.85466143e-01 -1.69823047e-01 -4.07598272e-03 4.82888723e+02] [ 1.69822546e-01 9.85474546e-01 -4.71346755e-04 5.29418728e+01] [ 4.09682276e-03 -2.27697493e-04 9.99991582e-01 -2.37311325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.271400513 meters 0.04589357471425675 Centerline is valid? [True, True] Translation: X:482.92, Y:52.95, Z:-2.37 [[ 9.86751397e-01 -1.62211522e-01 -3.01715145e-03 4.82917935e+02] [ 1.62211211e-01 9.86755999e-01 -3.48899516e-04 5.29548732e+01] [ 3.03378782e-03 -1.45138708e-04 9.99995388e-01 -2.37093994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.301400513 meters 0.04405006409670815 Centerline is valid? [True, True] Translation: X:482.95, Y:52.96, Z:-2.37 [[ 9.87388884e-01 -1.58292056e-01 -2.61088979e-03 4.82946898e+02] [ 1.58291810e-01 9.87392329e-01 -3.01982911e-04 5.29598013e+01] [ 2.62577405e-03 -1.15107901e-04 9.99996546e-01 -2.37070388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.331400513 meters 0.03723822103079971 Centerline is valid? [True, True] Translation: X:482.98, Y:52.97, Z:-2.37 [[ 9.88429536e-01 -1.51655782e-01 -2.75251280e-03 4.82975362e+02] [ 1.51655482e-01 9.88433363e-01 -3.18428826e-04 5.29720255e+01] [ 2.76896705e-03 -1.02689199e-04 9.99996161e-01 -2.37122539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.361400513 meters 0.03983487371788996 Centerline is valid? [True, True] Translation: X:483.00, Y:52.97, Z:-2.37 [[ 9.88757182e-01 -1.49494537e-01 -3.25866345e-03 4.83003291e+02] [ 1.49494104e-01 9.88762545e-01 -3.77242231e-04 5.29726154e+01] [ 3.27844002e-03 -1.14150009e-04 9.99994619e-01 -2.37269738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.391400513 meters 0.03319960112873789 Centerline is valid? [True, True] Translation: X:483.03, Y:52.98, Z:-2.37 [[ 9.88989299e-01 -1.47932207e-01 -4.02848104e-03 4.83031334e+02] [ 1.47931530e-01 9.88997495e-01 -4.67151709e-04 5.29842487e+01] [ 4.05326444e-03 -1.33931322e-04 9.99991777e-01 -2.37237802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.421400513 meters 0.031418882799204656 Centerline is valid? [True, True] Translation: X:483.06, Y:52.99, Z:-2.37 [[ 9.89223427e-01 -1.46362606e-01 -3.87293480e-03 4.83059791e+02] [ 1.46361968e-01 9.89231001e-01 -4.49105724e-04 5.29891748e+01] [ 3.89695945e-03 -1.22584457e-04 9.99992399e-01 -2.37225756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.451400513 meters 0.035138650040295955 Centerline is valid? [True, True] Translation: X:483.09, Y:52.99, Z:-2.37 [[ 9.89516433e-01 -1.44391947e-01 -2.86248240e-03 4.83088077e+02] [ 1.44391589e-01 9.89520570e-01 -3.32152655e-04 5.29860626e+01] [ 2.88044538e-03 -8.46478719e-05 9.99995848e-01 -2.37245300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.481400513 meters 0.028239905047594653 Centerline is valid? [True, True] Translation: X:483.12, Y:53.00, Z:-2.37 [[ 9.89826169e-01 -1.42266073e-01 -2.12590886e-03 4.83115875e+02] [ 1.42265871e-01 9.89828450e-01 -2.46790643e-04 5.29969182e+01] [ 2.13939501e-03 -5.81644386e-05 9.99997710e-01 -2.37033567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.511400513 meters 0.024190426977562976 Centerline is valid? [True, True] Translation: X:483.15, Y:53.00, Z:-2.37 [[ 9.90441236e-01 -1.37930607e-01 -1.14224906e-03 4.83145560e+02] [ 1.37930546e-01 9.90441895e-01 -1.32639269e-04 5.30048641e+01] [ 1.14962634e-03 -2.61796350e-05 9.99999339e-01 -2.36928602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.541400513 meters 0.022945555504581817 Centerline is valid? [True, True] Translation: X:483.17, Y:53.01, Z:-2.37 [[ 9.90696979e-01 -1.36083082e-01 -9.43653503e-04 4.83173149e+02] [ 1.36083039e-01 9.90697428e-01 -1.09772763e-04 5.30097647e+01] [ 9.49813314e-04 -1.96636917e-05 9.99999549e-01 -2.36905180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.571400513 meters 0.02149694596329337 Centerline is valid? [True, True] Translation: X:483.20, Y:53.01, Z:-2.37 [[ 9.90938140e-01 -1.34311291e-01 -1.44208054e-03 4.83200534e+02] [ 1.34311189e-01 9.90939189e-01 -1.67706065e-04 5.30148447e+01] [ 1.45153893e-03 -2.75012158e-05 9.99998946e-01 -2.36955551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.601400513 meters 0.019785714216962843 Centerline is valid? [True, True] Translation: X:483.23, Y:53.02, Z:-2.37 [[ 9.91190169e-01 -1.32429701e-01 -2.10324159e-03 4.83228917e+02] [ 1.32429479e-01 9.91192400e-01 -2.45089507e-04 5.30204061e+01] [ 2.11717421e-03 -3.56008802e-05 9.99997758e-01 -2.37078108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.631400513 meters 0.015020923674992888 Centerline is valid? [True, True] Translation: X:483.26, Y:53.03, Z:-2.37 [[ 9.91690362e-01 -1.28622661e-01 -2.53693018e-03 4.83257117e+02] [ 1.28622325e-01 9.91693607e-01 -2.95959122e-04 5.30303983e+01] [ 2.55392449e-03 -3.28060480e-05 9.99996738e-01 -2.37162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.661400513 meters 0.013611728451195933 Centerline is valid? [True, True] Translation: X:483.29, Y:53.04, Z:-2.37 [[ 9.91937625e-01 -1.26706872e-01 -2.26220808e-03 4.83285178e+02] [ 1.26706600e-01 9.91940204e-01 -2.63822043e-04 5.30359562e+01] [ 2.27740321e-03 -2.49416827e-05 9.99997406e-01 -2.37184321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.691400513 meters 0.012275868764105888 Centerline is valid? [True, True] Translation: X:483.31, Y:53.04, Z:-2.37 [[ 9.92182196e-01 -1.24779156e-01 -2.15670925e-03 4.83313524e+02] [ 1.24778904e-01 9.92184540e-01 -2.51584790e-04 5.30413228e+01] [ 2.17124611e-03 -1.94938662e-05 9.99997643e-01 -2.37183613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.721400513 meters 0.01093504157795491 Centerline is valid? [True, True] Translation: X:483.34, Y:53.05, Z:-2.37 [[ 9.92405461e-01 -1.22990365e-01 -2.18449900e-03 4.83342999e+02] [ 1.22990102e-01 9.92407865e-01 -2.54854983e-04 5.30466568e+01] [ 2.19925870e-03 -1.57522779e-05 9.99997582e-01 -2.37165140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.751400513 meters 0.009836233808491517 Centerline is valid? [True, True] Translation: X:483.37, Y:53.05, Z:-2.37 [[ 9.92622921e-01 -1.21223253e-01 -2.15864821e-03 4.83372137e+02] [ 1.21222992e-01 9.92625268e-01 -2.51891052e-04 5.30516855e+01] [ 2.17326381e-03 -1.16449627e-05 9.99997638e-01 -2.37104374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.781400513 meters 0.008439501338089142 Centerline is valid? [True, True] Translation: X:483.40, Y:53.06, Z:-2.37 [[ 9.92965923e-01 -1.18380778e-01 -2.16057649e-03 4.83401681e+02] [ 1.18380509e-01 9.92968273e-01 -2.52289878e-04 5.30587387e+01] [ 2.17525017e-03 -5.25489303e-06 9.99997634e-01 -2.37057954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.811400513 meters 0.008092943679279084 Centerline is valid? [True, True] Translation: X:483.43, Y:53.06, Z:-2.37 [[ 9.93097593e-01 -1.17282567e-01 -1.40340026e-03 4.83430520e+02] [ 1.17282452e-01 9.93098585e-01 -1.63847551e-04 5.30645178e+01] [ 1.41293127e-03 -1.87761429e-06 9.99999002e-01 -2.36979004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.841400513 meters 0.013647683945935744 Centerline is valid? [True, True] Translation: X:483.46, Y:53.07, Z:-2.37 [[ 9.93139691e-01 -1.16928726e-01 -1.10777025e-03 4.83460873e+02] [ 1.16928654e-01 9.93140309e-01 -1.29314474e-04 5.30701334e+01] [ 1.11529187e-03 -1.10274839e-06 9.99999378e-01 -2.37008942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.871400513 meters 0.008019158575157637 Centerline is valid? [True, True] Translation: X:483.49, Y:53.08, Z:-2.37 [[ 9.93277935e-01 -1.15744858e-01 -1.43910318e-03 4.83490368e+02] [ 1.15744737e-01 9.93278978e-01 -1.67983588e-04 5.30754420e+01] [ 1.44887417e-03 2.85772370e-07 9.99998950e-01 -2.37013408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.901400513 meters 0.019501789678577602 Centerline is valid? [True, True] Translation: X:483.52, Y:53.08, Z:-2.37 [[ 9.93446811e-01 -1.14242280e-01 -3.48353029e-03 4.83520758e+02] [ 1.14241557e-01 9.93452919e-01 -4.06504550e-04 5.30836170e+01] [ 3.50716334e-03 5.87672551e-06 9.99993850e-01 -2.37317309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.931400513 meters 0.009384364860285417 Centerline is valid? [True, True] Translation: X:483.55, Y:53.09, Z:-2.37 [[ 9.93644637e-01 -1.12491631e-01 -3.99596111e-03 4.83550695e+02] [ 1.12490666e-01 9.93652672e-01 -4.66283392e-04 5.30922595e+01] [ 4.02305042e-03 1.38116665e-05 9.99991907e-01 -2.37366029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.961400513 meters 0.009939616580147055 Centerline is valid? [True, True] Translation: X:483.58, Y:53.10, Z:-2.37 [[ 9.93828351e-01 -1.10849998e-01 -4.18169441e-03 4.83580210e+02] [ 1.10848926e-01 9.93837148e-01 -4.87980890e-04 5.31005683e+01] [ 4.21001593e-03 2.14329094e-05 9.99991138e-01 -2.37326330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99140051300003 meters 0.011361872740574952 Centerline is valid? [True, True] Translation: X:483.61, Y:53.11, Z:-2.37 [[ 9.94024580e-01 -1.09074675e-01 -4.22489822e-03 4.83609837e+02] [ 1.09073566e-01 9.94033558e-01 -4.92779195e-04 5.31095239e+01] [ 4.25344034e-03 2.90099187e-05 9.99990954e-01 -2.37427975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.021400513 meters 0.012064793285916286 Centerline is valid? [True, True] Translation: X:483.64, Y:53.12, Z:-2.37 [[ 9.94187574e-01 -1.07576498e-01 -4.28532261e-03 4.83640125e+02] [ 1.07575343e-01 9.94196809e-01 -4.99751555e-04 5.31164539e+01] [ 4.31421559e-03 3.58517370e-05 9.99990693e-01 -2.37422862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.051400513 meters 0.012935109486911235 Centerline is valid? [True, True] Translation: X:483.67, Y:53.12, Z:-2.37 [[ 9.94321650e-01 -1.06347973e-01 -3.81644384e-03 4.83670623e+02] [ 1.06347049e-01 9.94328973e-01 -4.44972144e-04 5.31232351e+01] [ 3.84212257e-03 3.65778972e-05 9.99992618e-01 -2.37446268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.081400513 meters 0.013610539823761113 Centerline is valid? [True, True] Translation: X:483.70, Y:53.13, Z:-2.37 [[ 9.94454890e-01 -1.05154023e-01 -1.45047278e-03 4.83702384e+02] [ 1.05153889e-01 9.94455947e-01 -1.68967875e-04 5.31327370e+01] [ 1.46019893e-03 1.55080766e-05 9.99998934e-01 -2.37077373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.111400513 meters 0.017605581208481894 Centerline is valid? [True, True] Translation: X:483.73, Y:53.14, Z:-2.37 [[ 9.94405815e-01 -1.05627053e-01 1.13346100e-05 4.83733493e+02] [ 1.05627053e-01 9.94405815e-01 1.48141931e-06 5.31390930e+01] [-1.14276801e-05 -2.75890518e-07 1.00000000e+00 -2.37033022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.141400513 meters 0.01265458155884104 Centerline is valid? [True, True] Translation: X:483.77, Y:53.14, Z:-2.37 [[ 9.94395430e-01 -1.05723686e-01 4.79799237e-04 4.83765169e+02] [ 1.05723671e-01 9.94395546e-01 5.59544417e-05 5.31419540e+01] [-4.83025935e-04 -4.91470444e-06 9.99999883e-01 -2.36790683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.171400513 meters 0.014169930354902148 Centerline is valid? [True, True] Translation: X:483.80, Y:53.15, Z:-2.37 [[ 9.94366440e-01 -1.05994013e-01 8.07960206e-04 4.83795919e+02] [ 1.05993971e-01 9.94366768e-01 9.41057325e-05 5.31482513e+01] [-8.13383423e-04 -7.93667108e-06 9.99999669e-01 -2.36832433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.201400513 meters 0.01299967706847455 Centerline is valid? [True, True] Translation: X:483.83, Y:53.15, Z:-2.37 [[ 9.94419702e-01 -1.05495904e-01 2.65527975e-04 4.83828104e+02] [ 1.05495900e-01 9.94419737e-01 3.09841883e-05 5.31501903e+01] [-2.67314964e-04 -2.79917465e-06 9.99999964e-01 -2.36921708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.231400513 meters 0.01589851205663738 Centerline is valid? [True, True] Translation: X:483.86, Y:53.16, Z:-2.37 [[ 9.94778874e-01 -1.02049850e-01 -9.05355191e-04 4.83859711e+02] [ 1.02049796e-01 9.94779286e-01 -1.05186386e-04 5.31589142e+01] [ 9.11362846e-04 1.22458820e-05 9.99999585e-01 -2.37128830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.261400513 meters 0.01980105076372064 Centerline is valid? [True, True] Translation: X:483.89, Y:53.17, Z:-2.37 [[ 9.95046961e-01 -9.94005765e-02 -1.03489369e-03 4.83890175e+02] [ 9.94005051e-02 9.95047499e-01 -1.20235169e-04 5.31686040e+01] [ 1.04171982e-03 1.67706841e-05 9.99999457e-01 -2.37188910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.291400513 meters 0.022742408967568014 Centerline is valid? [True, True] Translation: X:483.92, Y:53.18, Z:-2.37 [[ 9.95313006e-01 -9.67038440e-02 -6.22311917e-04 4.83921581e+02] [ 9.67038178e-02 9.95313200e-01 -7.22247395e-05 5.31764329e+01] [ 6.26379675e-04 1.17062844e-05 9.99999804e-01 -2.37137409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.321400513 meters 0.024944782374014273 Centerline is valid? [True, True] Translation: X:483.95, Y:53.18, Z:-2.37 [[ 9.95574705e-01 -9.39732734e-02 1.74866670e-04 4.83953107e+02] [ 9.39732712e-02 9.95574720e-01 2.04030058e-05 5.31826706e+01] [-1.76010173e-04 -3.87992348e-06 9.99999985e-01 -2.37039733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.351400513 meters 0.025443879557935607 Centerline is valid? [True, True] Translation: X:483.98, Y:53.19, Z:-2.37 [[ 9.95788200e-01 -9.16815406e-02 5.95967131e-04 4.83984765e+02] [ 9.16815155e-02 9.95788379e-01 6.92902481e-05 5.31867065e+01] [-5.99809779e-04 -1.43592417e-05 9.99999820e-01 -2.36967559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.381400513 meters 0.02992514142980065 Centerline is valid? [True, True] Translation: X:484.01, Y:53.20, Z:-2.37 [[ 9.96089296e-01 -8.83514528e-02 -3.68018179e-04 4.84014223e+02] [ 8.83514430e-02 9.96089364e-01 -4.27005235e-05 5.31955717e+01] [ 3.70351647e-04 1.00185972e-05 9.99999931e-01 -2.37232421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.411400513 meters 0.03140348575980164 Centerline is valid? [True, True] Translation: X:484.05, Y:53.20, Z:-2.37 [[ 9.96148987e-01 -8.76558425e-02 -1.90999090e-03 4.84045403e+02] [ 8.76555786e-02 9.96150817e-01 -2.21596331e-04 5.31995816e+01] [ 1.92206321e-03 5.33216029e-05 9.99998151e-01 -2.37494177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.441400513 meters 0.030303073104506837 Centerline is valid? [True, True] Translation: X:484.08, Y:53.20, Z:-2.38 [[ 9.96086766e-01 -8.83144090e-02 -3.42329820e-03 4.84077939e+02] [ 8.83135657e-02 9.96092645e-01 -3.97034474e-04 5.31971994e+01] [ 3.44498602e-03 9.31571150e-05 9.99994062e-01 -2.37787113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.471400513 meters 0.02828518175978904 Centerline is valid? [True, True] Translation: X:484.11, Y:53.20, Z:-2.38 [[ 9.96057892e-01 -8.86489285e-02 -3.16917659e-03 4.84110674e+02] [ 8.86482079e-02 9.96062930e-01 -3.67392395e-04 5.31966788e+01] [ 3.18926826e-03 8.50022693e-05 9.99994911e-01 -2.37698983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.501400513 meters 0.030023401717332476 Centerline is valid? [True, True] Translation: X:484.14, Y:53.20, Z:-2.38 [[ 9.96029838e-01 -8.89883513e-02 -2.37374130e-03 4.84141742e+02] [ 8.89879487e-02 9.96032665e-01 -2.74876794e-04 5.32012467e+01] [ 2.38878470e-03 6.25511200e-05 9.99997145e-01 -2.37613834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.531400513 meters 0.03098984996030879 Centerline is valid? [True, True] Translation: X:484.17, Y:53.20, Z:-2.38 [[ 9.96009135e-01 -8.92283691e-02 -2.02511678e-03 4.84173108e+02] [ 8.92280766e-02 9.96011192e-01 -2.34507502e-04 5.32047419e+01] [ 2.03796371e-03 5.28743383e-05 9.99997922e-01 -2.37584837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.561400513 meters 0.030226520566767636 Centerline is valid? [True, True] Translation: X:484.21, Y:53.21, Z:-2.37 [[ 9.96011460e-01 -8.92133168e-02 -1.46820272e-03 4.84205549e+02] [ 8.92131632e-02 9.96012541e-01 -1.69905506e-04 5.32058004e+01] [ 1.47750616e-03 3.82448221e-05 9.99998908e-01 -2.37496330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.591400513 meters 0.031130384406288552 Centerline is valid? [True, True] Translation: X:484.24, Y:53.21, Z:-2.37 [[ 9.96034983e-01 -8.89553117e-02 -1.12504848e-03 4.84236989e+02] [ 8.89552215e-02 9.96035618e-01 -1.30025006e-04 5.32085063e+01] [ 1.13215477e-03 2.94305175e-05 9.99999359e-01 -2.37429990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.621400513 meters 0.027852065919780285 Centerline is valid? [True, True] Translation: X:484.27, Y:53.20, Z:-2.37 [[ 9.96071337e-01 -8.85527355e-02 -5.52015096e-04 4.84269911e+02] [ 8.85527138e-02 9.96071490e-01 -6.37479046e-05 5.32046873e+01] [ 5.55491551e-04 1.46150257e-05 9.99999846e-01 -2.37244336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.651400513 meters 0.033305558677126534 Centerline is valid? [True, True] Translation: X:484.30, Y:53.21, Z:-2.37 [[ 9.96072467e-01 -8.85363478e-02 -9.77901078e-04 4.84299805e+02] [ 8.85362795e-02 9.96072946e-01 -1.12991856e-04 5.32133929e+01] [ 9.84064694e-04 2.59683536e-05 9.99999515e-01 -2.37379287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.681400513 meters 0.031121381348968316 Centerline is valid? [True, True] Translation: X:484.33, Y:53.21, Z:-2.37 [[ 9.96076223e-01 -8.84816219e-02 -1.77752938e-03 4.84332244e+02] [ 8.84813963e-02 9.96077808e-01 -2.05340689e-04 5.32121318e+01] [ 1.78872644e-03 4.72566973e-05 9.99998399e-01 -2.37482583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.711400513 meters 0.03069746370658863 Centerline is valid? [True, True] Translation: X:484.36, Y:53.21, Z:-2.38 [[ 9.96076699e-01 -8.84660659e-02 -2.22822950e-03 4.84364691e+02] [ 8.84657114e-02 9.96079189e-01 -2.57320746e-04 5.32127597e+01] [ 2.24225719e-03 5.91892912e-05 9.99997484e-01 -2.37560000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74140051300003 meters 0.029559349120321012 Centerline is valid? [True, True] Translation: X:484.40, Y:53.21, Z:-2.38 [[ 9.96089716e-01 -8.83214055e-02 -2.14651683e-03 4.84396638e+02] [ 8.83210765e-02 9.96092027e-01 -2.47773383e-04 5.32126123e+01] [ 2.16001200e-03 5.72218411e-05 9.99997666e-01 -2.37517811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.771400513 meters 0.029559349120321012 Centerline is valid? [True, True] Translation: X:484.43, Y:53.22, Z:-2.38 [[ 9.96093998e-01 -8.82730980e-02 -2.14652885e-03 4.84428130e+02] [ 8.82727691e-02 9.96096309e-01 -2.47669284e-04 5.32161625e+01] [ 2.16001200e-03 5.72218412e-05 9.99997666e-01 -2.37523910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.801400513 meters 0.030281435169583842 Centerline is valid? [True, True] Translation: X:484.46, Y:53.22, Z:-2.37 [[ 9.96116381e-01 -8.80347482e-02 -1.42812580e-03 4.84459232e+02] [ 8.80346025e-02 9.96117404e-01 -1.64718939e-04 5.32172261e+01] [ 1.43708196e-03 3.83547459e-05 9.99998967e-01 -2.37405198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.831400513 meters 0.030228192277562356 Centerline is valid? [True, True] Translation: X:484.49, Y:53.22, Z:-2.37 [[ 9.96159129e-01 -8.75552361e-02 -1.03459408e-03 4.84491346e+02] [ 8.75551594e-02 9.96159666e-01 -1.19235660e-04 5.32194187e+01] [ 1.04106060e-03 2.81936411e-05 9.99999458e-01 -2.37320239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.861400513 meters 0.031960575888470545 Centerline is valid? [True, True] Translation: X:484.52, Y:53.22, Z:-2.37 [[ 9.96221169e-01 -8.68495311e-02 -7.36335676e-04 4.84522353e+02] [ 8.68494921e-02 9.96221441e-01 -8.48315976e-05 5.32233863e+01] [ 7.40920972e-04 2.05606538e-05 9.99999725e-01 -2.37300822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.891400513 meters 0.03138418159412942 Centerline is valid? [True, True] Translation: X:484.55, Y:53.22, Z:-2.37 [[ 9.96313124e-01 -8.57878367e-02 -7.78877097e-04 4.84554996e+02] [ 8.57877928e-02 9.96313428e-01 -8.96727756e-05 5.32241880e+01] [ 7.83698544e-04 2.25240161e-05 9.99999693e-01 -2.37313196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.921400513 meters 0.03273747693365699 Centerline is valid? [True, True] Translation: X:484.59, Y:53.23, Z:-2.37 [[ 9.96392728e-01 -8.48529518e-02 -1.22794196e-03 4.84586256e+02] [ 8.48528419e-02 9.96393484e-01 -1.41407006e-04 5.32273007e+01] [ 1.23551217e-03 3.67025474e-05 9.99999236e-01 -2.37444188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.951400513 meters 0.03372004718213844 Centerline is valid? [True, True] Translation: X:484.62, Y:53.23, Z:-2.38 [[ 9.96466851e-01 -8.39667129e-02 -1.84526553e-03 4.84618248e+02] [ 8.39664634e-02 9.96468558e-01 -2.12417637e-04 5.32302382e+01] [ 1.85658509e-03 5.67267133e-05 9.99998275e-01 -2.37551004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.981400513 meters 0.03953056871024284 Centerline is valid? [True, True] Translation: X:484.65, Y:53.24, Z:-2.38 [[ 9.96709370e-01 -8.10427726e-02 -1.58159992e-03 4.84647206e+02] [ 8.10425858e-02 9.96710623e-01 -1.81977470e-04 5.32380472e+01] [ 1.59114540e-03 5.32017028e-05 9.99998733e-01 -2.37530527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.011400513 meters 0.04006614959038386 Centerline is valid? [True, True] Translation: X:484.68, Y:53.24, Z:-2.37 [[ 9.96888059e-01 -7.88181216e-02 -1.37867573e-03 4.84678217e+02] [ 7.88179775e-02 9.96889012e-01 -1.58630085e-04 5.32411391e+01] [ 1.38688961e-03 4.94720046e-05 9.99999037e-01 -2.37462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.041400513 meters 0.0420096127095414 Centerline is valid? [True, True] Translation: X:484.71, Y:53.24, Z:-2.37 [[ 9.97214703e-01 -7.45839683e-02 -2.59728425e-04 4.84709099e+02] [ 7.45839630e-02 9.97214737e-01 -2.98433735e-05 5.32449182e+01] [ 2.61230850e-04 1.03886756e-05 9.99999966e-01 -2.37316424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.071400513 meters 0.04751561581908093 Centerline is valid? [True, True] Translation: X:484.74, Y:53.25, Z:-2.37 [[ 9.97369116e-01 -7.24884762e-02 5.16626051e-04 4.84738709e+02] [ 7.24884551e-02 9.97369250e-01 5.94989415e-05 5.32541470e+01] [-5.19579924e-04 -2.18929825e-05 9.99999865e-01 -2.37219661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.101400513 meters 0.048880063316969896 Centerline is valid? [True, True] Translation: X:484.77, Y:53.26, Z:-2.37 [[ 9.97499426e-01 -7.06583237e-02 1.51512768e-03 4.84770078e+02] [ 7.06581403e-02 9.97500575e-01 1.74301443e-04 5.32582930e+01] [-1.52365658e-03 -6.68094849e-05 9.99998837e-01 -2.37103548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.131400513 meters 0.04462809826322397 Centerline is valid? [True, True] Translation: X:484.80, Y:53.26, Z:-2.37 [[ 9.97579044e-01 -6.95150195e-02 1.92711351e-03 4.84803004e+02] [ 6.95147208e-02 9.97580901e-01 2.21637214e-04 5.32551759e+01] [-1.93785875e-03 -8.71378820e-05 9.99998119e-01 -2.37027001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.161400513 meters 0.04944833777675771 Centerline is valid? [True, True] Translation: X:484.83, Y:53.26, Z:-2.37 [[ 9.97607719e-01 -6.91088313e-02 1.67596807e-03 4.84833747e+02] [ 6.91086050e-02 9.97609124e-01 1.92677545e-04 5.32622714e+01] [-1.68527676e-03 -7.63927909e-05 9.99998577e-01 -2.37104983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.191400513 meters 0.04923006583441364 Centerline is valid? [True, True] Translation: X:484.87, Y:53.26, Z:-2.37 [[ 9.97583232e-01 -6.94792746e-02 5.71467361e-04 4.84866219e+02] [ 6.94792483e-02 9.97583395e-01 6.57389031e-05 5.32622494e+01] [-5.74653841e-04 -2.58749048e-05 9.99999835e-01 -2.37275850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.221400513 meters 0.04579265118649864 Centerline is valid? [True, True] Translation: X:484.90, Y:53.25, Z:-2.38 [[ 9.97375927e-01 -7.23819909e-02 -1.45207446e-03 4.84898211e+02] [ 7.23818247e-02 9.97376982e-01 -1.66763616e-04 5.32529632e+01] [ 1.46033633e-03 6.12222167e-05 9.99998932e-01 -2.37598066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.251400513 meters 0.0426202440604875 Centerline is valid? [True, True] Translation: X:484.93, Y:53.25, Z:-2.38 [[ 9.97226690e-01 -7.44123984e-02 -1.31285224e-03 4.84930706e+02] [ 7.44122644e-02 9.97227553e-01 -1.50676112e-04 5.32488981e+01] [ 1.32042460e-03 5.25659321e-05 9.99999127e-01 -2.37557542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.281400513 meters 0.04168020877677148 Centerline is valid? [True, True] Translation: X:484.96, Y:53.24, Z:-2.38 [[ 9.97076354e-01 -7.64100855e-02 -4.93108204e-04 4.84962872e+02] [ 7.64100669e-02 9.97076476e-01 -5.65603328e-05 5.32449699e+01] [ 4.95988370e-04 1.87165396e-05 9.99999877e-01 -2.37530350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.311400513 meters 0.03639937067609825 Centerline is valid? [True, True] Translation: X:484.99, Y:53.24, Z:-2.37 [[ 9.97005873e-01 -7.73218730e-02 7.85271669e-04 4.84994871e+02] [ 7.73218260e-02 9.97006182e-01 9.01773895e-05 5.32395508e+01] [-7.89893394e-04 -2.91887476e-05 9.99999688e-01 -2.37238143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.341400513 meters 0.045132491235083096 Centerline is valid? [True, True] Translation: X:485.03, Y:53.25, Z:-2.37 [[ 9.96960094e-01 -7.78919962e-02 1.84604541e-03 4.85025697e+02] [ 7.78917373e-02 9.96961801e-01 2.11879956e-04 5.32484061e+01] [-1.85694051e-03 -6.74441771e-05 9.99998274e-01 -2.37107196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.371400513 meters 0.04076730270233216 Centerline is valid? [True, True] Translation: X:485.06, Y:53.24, Z:-2.37 [[ 9.96955545e-01 -7.79492030e-02 1.88754855e-03 4.85059426e+02] [ 7.79489326e-02 9.96957330e-01 2.16544162e-04 5.32405421e+01] [-1.89868481e-03 -6.87525081e-05 9.99998195e-01 -2.37078280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.401400513 meters 0.04294267081736739 Centerline is valid? [True, True] Translation: X:485.09, Y:53.24, Z:-2.37 [[ 9.97101042e-01 -7.60887851e-02 -9.60581793e-05 4.85091267e+02] [ 7.60887844e-02 9.97101046e-01 -1.09675304e-05 5.32355589e+01] [ 9.66142172e-05 3.62678585e-06 9.99999995e-01 -2.37372664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.431400513 meters 0.04393354940974301 Centerline is valid? [True, True] Translation: X:485.12, Y:53.23, Z:-2.38 [[ 9.97264147e-01 -7.39115344e-02 -1.14290244e-03 4.85122828e+02] [ 7.39114328e-02 9.97264801e-01 -1.30959984e-04 5.32349777e+01] [ 1.14945583e-03 4.61281401e-05 9.99999338e-01 -2.37526294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.461400513 meters 0.046992335892052546 Centerline is valid? [True, True] Translation: X:485.15, Y:53.24, Z:-2.38 [[ 9.97456831e-01 -7.12525727e-02 -1.71498465e-03 4.85152561e+02] [ 7.12523401e-02 9.97458303e-01 -1.96436678e-04 5.32361027e+01] [ 1.72462229e-03 7.37404373e-05 9.99998510e-01 -2.37626716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49140051300003 meters 0.050167319150185755 Centerline is valid? [True, True] Translation: X:485.18, Y:53.24, Z:-2.38 [[ 9.97651421e-01 -6.84660701e-02 -2.00996327e-03 4.85183058e+02] [ 6.84657447e-02 9.97653441e-01 -2.30313448e-04 5.32371076e+01] [ 2.02101543e-03 9.21589060e-05 9.99997954e-01 -2.37731189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.521400513 meters 0.052499204800187646 Centerline is valid? [True, True] Translation: X:485.21, Y:53.24, Z:-2.38 [[ 9.97823694e-01 -6.59053391e-02 -2.08856683e-03 4.85213921e+02] [ 6.59049822e-02 9.97825875e-01 -2.39320307e-04 5.32373343e+01] [ 2.09979851e-03 1.01152513e-04 9.99997790e-01 -2.37752421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.551400513 meters 0.06054057772286461 Centerline is valid? [True, True] Translation: X:485.24, Y:53.25, Z:-2.38 [[ 9.97989531e-01 -6.33514191e-02 -1.86924719e-03 4.85242422e+02] [ 6.33511285e-02 9.97991277e-01 -2.14278894e-04 5.32451560e+01] [ 1.87906726e-03 9.54291739e-05 9.99998230e-01 -2.37750046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.581400513 meters 0.05786610637600919 Centerline is valid? [True, True] Translation: X:485.27, Y:53.23, Z:-2.38 [[ 9.98362686e-01 -5.71965223e-02 -7.10406187e-04 4.85273213e+02] [ 5.71956794e-02 9.98362319e-01 -1.15497804e-03 5.32348679e+01] [ 7.75303496e-04 1.11245481e-03 9.99999081e-01 -2.37570260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.611400513 meters 0.0613989335928488 Centerline is valid? [True, True] Translation: X:485.30, Y:53.24, Z:-2.38 [[ 9.98385567e-01 -5.67918255e-02 -9.73459733e-04 4.85303139e+02] [ 5.67927611e-02 9.98385525e-01 9.61965641e-04 5.32377710e+01] [ 9.17256322e-04 -1.01569808e-03 9.99999063e-01 -2.37628777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.641400513 meters 0.06348558877262743 Centerline is valid? [True, True] Translation: X:485.33, Y:53.24, Z:-2.38 [[ 9.98520383e-01 -5.43601950e-02 -1.41895614e-03 4.85333809e+02] [ 5.43600187e-02 9.98521388e-01 -1.62550208e-04 5.32390164e+01] [ 1.42569432e-03 8.51752138e-05 9.99998980e-01 -2.37809230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.671400513 meters 0.07585769955672274 Centerline is valid? [True, True] Translation: X:485.36, Y:53.25, Z:-2.38 [[ 9.98832742e-01 -4.82424863e-02 -2.41152363e-03 4.85361967e+02] [ 4.82419592e-02 9.98835641e-01 -2.76275004e-04 5.32517528e+01] [ 2.42204395e-03 1.59615895e-04 9.99997054e-01 -2.37948407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.701400513 meters 0.06945853623509657 Centerline is valid? [True, True] Translation: X:485.39, Y:53.24, Z:-2.38 [[ 9.98921364e-01 -4.63542060e-02 -2.71969969e-03 4.85393128e+02] [ 4.63535286e-02 9.98925049e-01 -3.11635733e-04 5.32449128e+01] [ 2.73122178e-03 1.85231914e-04 9.99996253e-01 -2.37925896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.731400513 meters 0.07309131312005018 Centerline is valid? [True, True] Translation: X:485.42, Y:53.25, Z:-2.38 [[ 9.98966484e-01 -4.53786565e-02 -2.59651199e-03 4.85422269e+02] [ 4.53780356e-02 9.98969842e-01 -2.97540374e-04 5.32504434e+01] [ 2.60733916e-03 1.79408247e-04 9.99996585e-01 -2.37918617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.761400513 meters 0.06867966540873549 Centerline is valid? [True, True] Translation: X:485.45, Y:53.25, Z:-2.38 [[ 9.98970460e-01 -4.53177302e-02 -2.07912065e-03 4.85453250e+02] [ 4.53173321e-02 9.98972614e-01 -2.38237084e-04 5.32458745e+01] [ 2.08778095e-03 1.43771609e-04 9.99997810e-01 -2.37790227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.791400513 meters 0.07228433092907299 Centerline is valid? [True, True] Translation: X:485.48, Y:53.25, Z:-2.38 [[ 9.98930925e-01 -4.62156937e-02 -1.05721308e-03 4.85482559e+02] [ 4.62155913e-02 9.98931481e-01 -1.21096429e-04 5.32510495e+01] [ 1.06167999e-03 7.21072397e-05 9.99999434e-01 -2.37690776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.821400513 meters 0.07008358968433508 Centerline is valid? [True, True] Translation: X:485.51, Y:53.25, Z:-2.38 [[ 9.98847867e-01 -4.79889509e-02 5.42394281e-06 4.85513622e+02] [ 4.79889509e-02 9.98847867e-01 6.43799387e-07 5.32497152e+01] [-5.44858896e-06 -3.82768319e-07 1.00000000e+00 -2.37567550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.851400513 meters 0.06550028315914098 Centerline is valid? [True, True] Translation: X:485.54, Y:53.24, Z:-2.38 [[ 9.98649434e-01 -5.19541086e-02 2.81446692e-04 4.85544658e+02] [ 5.19541016e-02 9.98649473e-01 3.22406796e-05 5.32445337e+01] [-2.82741627e-04 -1.75748264e-05 9.99999960e-01 -2.37561204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.881400513 meters 0.068680738480434 Centerline is valid? [True, True] Translation: X:485.57, Y:53.25, Z:-2.38 [[ 9.98551469e-01 -5.38045363e-02 1.88201994e-04 4.85573951e+02] [ 5.38045332e-02 9.98551487e-01 2.15804819e-05 5.32498366e+01] [-1.89090509e-04 -1.14231014e-05 9.99999982e-01 -2.37623674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.911400513 meters 0.061625395559089705 Centerline is valid? [True, True] Translation: X:485.61, Y:53.24, Z:-2.38 [[ 9.98450382e-01 -5.56492094e-02 -1.55850756e-05 4.85605404e+02] [ 5.56492094e-02 9.98450382e-01 -1.78523688e-06 5.32414924e+01] [ 1.56602717e-05 9.15173308e-07 1.00000000e+00 -2.37607921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.941400513 meters 0.0568759415714933 Centerline is valid? [True, True] Translation: X:485.64, Y:53.24, Z:-2.38 [[ 9.98356084e-01 -5.73157488e-02 -1.84418179e-04 4.85636549e+02] [ 5.73157459e-02 9.98356101e-01 -2.11501103e-05 5.32359617e+01] [ 1.85327249e-04 1.05452758e-05 9.99999983e-01 -2.37568853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.971400513 meters 0.06128906028136778 Centerline is valid? [True, True] Translation: X:485.67, Y:53.24, Z:-2.38 [[ 9.98303920e-01 -5.82163031e-02 -3.81478895e-04 4.85666001e+02] [ 5.82162906e-02 9.98303993e-01 -4.37022122e-05 5.32427225e+01] [ 3.83376086e-04 2.14198035e-05 9.99999926e-01 -2.37590677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.001400513 meters 0.05971222884657933 Centerline is valid? [True, True] Translation: X:485.70, Y:53.24, Z:-2.38 [[ 9.98305499e-01 -5.81861145e-02 -7.12253310e-04 4.85695773e+02] [ 5.81860710e-02 9.98305752e-01 -8.16577118e-05 5.32420297e+01] [ 7.15797922e-04 4.00761210e-05 9.99999743e-01 -2.37569561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.031400513 meters 0.059980221917124675 Centerline is valid? [True, True] Translation: X:485.73, Y:53.24, Z:-2.38 [[ 9.98366706e-01 -5.71207500e-02 -1.06751040e-03 4.85725541e+02] [ 5.71206517e-02 9.98367275e-01 -1.22389882e-04 5.32437533e+01] [ 1.07275845e-03 6.12130932e-05 9.99999423e-01 -2.37628480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.061400513 meters 0.06248537164364513 Centerline is valid? [True, True] Translation: X:485.75, Y:53.25, Z:-2.38 [[ 9.98463711e-01 -5.53988405e-02 -1.08940138e-03 4.85754573e+02] [ 5.53987371e-02 9.98464303e-01 -1.24924245e-04 5.32476944e+01] [ 1.09464905e-03 6.43808644e-05 9.99999399e-01 -2.37664072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.091400513 meters 0.0640474500910815 Centerline is valid? [True, True] Translation: X:485.78, Y:53.25, Z:-2.38 [[ 9.98575577e-01 -5.33456053e-02 -1.03076315e-03 4.85784249e+02] [ 5.33455116e-02 9.98576107e-01 -1.18192037e-04 5.32507562e+01] [ 1.03560048e-03 6.30370944e-05 9.99999462e-01 -2.37681229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.121400513 meters 0.06253070362434249 Centerline is valid? [True, True] Translation: X:485.81, Y:53.25, Z:-2.38 [[ 9.98712531e-01 -5.07156429e-02 -1.09690626e-03 4.85814477e+02] [ 5.07155352e-02 9.98713131e-01 -1.25780078e-04 5.32508125e+01] [ 1.10187370e-03 6.99879525e-05 9.99999390e-01 -2.37658207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.151400513 meters 0.07300382338472215 Centerline is valid? [True, True] Translation: X:485.84, Y:53.27, Z:-2.38 [[ 9.99015799e-01 -4.42857023e-02 -2.49209871e-03 4.85842220e+02] [ 4.42851267e-02 9.99018892e-01 -2.85690529e-04 5.32653844e+01] [ 2.50230570e-03 1.75046445e-04 9.99996854e-01 -2.37928140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.181400513 meters 0.08303743027992526 Centerline is valid? [True, True] Translation: X:485.87, Y:53.28, Z:-2.38 [[ 9.99156617e-01 -4.08958788e-02 -3.68537865e-03 4.85870113e+02] [ 4.08945969e-02 9.99163377e-01 -4.22568934e-04 5.32798180e+01] [ 3.69957670e-03 2.71500472e-04 9.99993120e-01 -2.38153392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.211400513 meters 0.08099966154497 Centerline is valid? [True, True] Translation: X:485.90, Y:53.28, Z:-2.38 [[ 9.99265345e-01 -3.80162899e-02 -4.85096392e-03 4.85900739e+02] [ 3.80140352e-02 9.99277051e-01 -5.56186096e-04 5.32793801e+01] [ 4.86860105e-03 3.71372778e-04 9.99988079e-01 -2.38266590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24140051300003 meters 0.0821690511863386 Centerline is valid? [True, True] Translation: X:485.93, Y:53.28, Z:-2.38 [[ 9.99356288e-01 -3.54814516e-02 -5.29879389e-03 4.85930443e+02] [ 3.54787260e-02 9.99370247e-01 -6.07530007e-04 5.32836729e+01] [ 5.31701301e-03 4.19144476e-04 9.99985777e-01 -2.38338479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.271400513 meters 0.0828986586648986 Centerline is valid? [True, True] Translation: X:485.96, Y:53.29, Z:-2.38 [[ 9.99431133e-01 -3.32456774e-02 -5.66888947e-03 4.85960852e+02] [ 3.32425220e-02 9.99447103e-01 -6.49974039e-04 5.32886940e+01] [ 5.68736398e-03 4.61156107e-04 9.99983720e-01 -2.38428751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.301400513 meters 0.07918578158764714 Centerline is valid? [True, True] Translation: X:485.99, Y:53.29, Z:-2.38 [[ 9.99490900e-01 -3.13178492e-02 -6.09361966e-03 4.85991222e+02] [ 3.13141669e-02 9.99509347e-01 -6.98777008e-04 5.32884868e+01] [ 6.11251400e-03 5.07604638e-04 9.99981190e-01 -2.38465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.331400513 meters 0.08699512258612119 Centerline is valid? [True, True] Translation: X:486.02, Y:53.30, Z:-2.38 [[ 9.99587630e-01 -2.82702563e-02 -5.03611610e-03 4.86018976e+02] [ 2.82677034e-02 9.99600222e-01 -5.77388381e-04 5.33026358e+01] [ 5.05042569e-03 4.34790847e-04 9.99987152e-01 -2.38462071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.361400513 meters 0.08508935412109819 Centerline is valid? [True, True] Translation: X:486.05, Y:53.30, Z:-2.38 [[ 9.99601969e-01 -2.79705365e-02 -3.68128096e-03 4.86048222e+02] [ 2.79691669e-02 9.99608697e-01 -4.23002745e-04 5.33036369e+01] [ 3.69167208e-03 3.19872016e-04 9.99993135e-01 -2.38245358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.391400513 meters 0.09794177343931167 Centerline is valid? [True, True] Translation: X:486.07, Y:53.31, Z:-2.38 [[ 9.99697424e-01 -2.45171357e-02 -1.99248158e-03 4.86071749e+02] [ 2.45267028e-02 9.99687029e-01 4.92803895e-03 5.33145169e+01] [ 1.87103659e-03 -4.97541685e-03 9.99985872e-01 -2.38194174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.421400513 meters 0.09192053322271831 Centerline is valid? [True, True] Translation: X:486.11, Y:53.33, Z:-2.38 [[ 9.99516975e-01 -3.10468373e-02 -1.38234413e-03 4.86105560e+02] [ 3.10383099e-02 9.99501289e-01 -5.81352678e-03 5.33250077e+01] [ 1.56214636e-03 5.76781308e-03 9.99982146e-01 -2.37934936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.451400513 meters 0.08902349122493784 Centerline is valid? [True, True] Translation: X:486.13, Y:53.31, Z:-2.38 [[ 9.99578538e-01 -2.89821842e-02 -1.66740304e-03 4.86133002e+02] [ 2.89921677e-02 9.99559708e-01 6.31221835e-03 5.33123384e+01] [ 1.48372702e-03 -6.35789962e-03 9.99978688e-01 -2.38116390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.481400513 meters 0.08101993392690551 Centerline is valid? [True, True] Translation: X:486.17, Y:53.32, Z:-2.38 [[ 9.99425134e-01 -3.38859611e-02 -1.06955258e-03 4.86167250e+02] [ 3.38786064e-02 9.99406259e-01 -6.27450141e-03 5.33190430e+01] [ 1.28153505e-03 6.23465946e-03 9.99979743e-01 -2.37987834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.511400513 meters 0.08046937569808908 Centerline is valid? [True, True] Translation: X:486.20, Y:53.32, Z:-2.38 [[ 9.99376604e-01 -3.52823883e-02 -1.24793595e-03 4.86197582e+02] [ 3.52822364e-02 9.99377378e-01 -1.43535957e-04 5.33152610e+01] [ 1.25222325e-03 9.94165058e-05 9.99999211e-01 -2.37974146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.541400513 meters 0.08209058030003517 Centerline is valid? [True, True] Translation: X:486.23, Y:53.32, Z:-2.38 [[ 9.99328041e-01 -3.66523402e-02 -2.67508309e-04 4.86226871e+02] [ 3.66523332e-02 9.99328077e-01 -3.07838784e-05 5.33193088e+01] [ 2.68456865e-04 2.09583892e-05 9.99999964e-01 -2.37826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.571400513 meters 0.08719607184707669 Centerline is valid? [True, True] Translation: X:486.26, Y:53.33, Z:-2.38 [[ 9.99285231e-01 -3.78014461e-02 2.79159984e-04 4.86255549e+02] [ 3.78014386e-02 9.99285270e-01 3.20840590e-05 5.33284397e+01] [-2.80173284e-04 -2.15084773e-05 9.99999961e-01 -2.37690734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.601400513 meters 0.07977609156145152 Centerline is valid? [True, True] Translation: X:486.29, Y:53.32, Z:-2.38 [[ 9.99228194e-01 -3.92795413e-02 3.66849008e-04 4.86286826e+02] [ 3.92795285e-02 9.99228261e-01 4.21901943e-05 5.33233821e+01] [-3.68223107e-04 -2.77479756e-05 9.99999932e-01 -2.37641688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.631400513 meters 0.07404011965011821 Centerline is valid? [True, True] Translation: X:486.32, Y:53.32, Z:-2.38 [[ 9.99220496e-01 -3.94757810e-02 2.52318017e-04 4.86319062e+02] [ 3.94757750e-02 9.99220527e-01 2.90563833e-05 5.33197024e+01] [-2.53268365e-04 -1.90732845e-05 9.99999968e-01 -2.37621655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.661400513 meters 0.07404011965011821 Centerline is valid? [True, True] Translation: X:486.35, Y:53.32, Z:-2.38 [[ 9.99221422e-01 -3.94523301e-02 2.52318694e-04 4.86349788e+02] [ 3.94523240e-02 9.99221454e-01 2.90504976e-05 5.33231956e+01] [-2.53268362e-04 -1.90733206e-05 9.99999968e-01 -2.37627425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.691400513 meters 0.07783063395650584 Centerline is valid? [True, True] Translation: X:486.38, Y:53.33, Z:-2.38 [[ 9.99227263e-01 -3.93042580e-02 2.27017920e-04 4.86379096e+02] [ 3.93042530e-02 9.99227289e-01 2.61592626e-05 5.33304318e+01] [-2.27870671e-04 -1.72162786e-05 9.99999974e-01 -2.37671089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.721400513 meters 0.07763121144562701 Centerline is valid? [True, True] Translation: X:486.41, Y:53.33, Z:-2.38 [[ 9.99239567e-01 -3.89888657e-02 3.93985743e-04 4.86410277e+02] [ 3.89888509e-02 9.99239645e-01 4.53117197e-05 5.33335671e+01] [-3.95452826e-04 -2.99162118e-05 9.99999921e-01 -2.37644304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.751400513 meters 0.07766515142063883 Centerline is valid? [True, True] Translation: X:486.44, Y:53.34, Z:-2.38 [[ 9.99260400e-01 -3.84499562e-02 5.04186252e-04 4.86441460e+02] [ 3.84499318e-02 9.99260526e-01 5.79616289e-05 5.33374367e+01] [-5.06042041e-04 -3.85328334e-05 9.99999871e-01 -2.37617529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.781400513 meters 0.0868425528676797 Centerline is valid? [True, True] Translation: X:486.47, Y:53.35, Z:-2.38 [[ 9.99280577e-01 -3.79235243e-02 3.67141025e-04 4.86470098e+02] [ 3.79235114e-02 9.99280644e-01 4.21925204e-05 5.33527176e+01] [-3.68477009e-04 -2.82388894e-05 9.99999932e-01 -2.37645598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.811400513 meters 0.07778161613216886 Centerline is valid? [True, True] Translation: X:486.50, Y:53.34, Z:-2.38 [[ 9.99436897e-01 -3.35468596e-02 -7.05325255e-04 4.86498681e+02] [ 3.35453530e-02 9.99435096e-01 -2.04916977e-03 5.33427624e+01] [ 7.73670024e-04 2.02435549e-03 9.99997652e-01 -2.37626301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.841400513 meters 0.08133440053100127 Centerline is valid? [True, True] Translation: X:486.53, Y:53.35, Z:-2.38 [[ 9.99329954e-01 -3.66004354e-02 -2.27145427e-04 4.86531008e+02] [ 3.66008060e-02 9.99328105e-01 1.92849496e-03 5.33499701e+01] [ 1.56409055e-04 -1.93551648e-03 9.99998115e-01 -2.37698064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.871400513 meters 0.07778490509381067 Centerline is valid? [True, True] Translation: X:486.56, Y:53.35, Z:-2.38 [[ 9.99340423e-01 -3.63139214e-02 -1.35652145e-04 4.86562074e+02] [ 3.63139196e-02 9.99340432e-01 -1.55506130e-05 5.33509816e+01] [ 1.36127376e-04 1.06142951e-05 9.99999991e-01 -2.37723055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.901400513 meters 0.08804410575440871 Centerline is valid? [True, True] Translation: X:486.59, Y:53.37, Z:-2.38 [[ 9.99336076e-01 -3.64163895e-02 -1.11930765e-03 4.86590398e+02] [ 3.64162681e-02 9.99336699e-01 -1.28640911e-04 5.33693311e+01] [ 1.12324985e-03 8.77944955e-05 9.99999365e-01 -2.38031534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.931400513 meters 0.08302167567979023 Centerline is valid? [True, True] Translation: X:486.62, Y:53.37, Z:-2.38 [[ 9.99302397e-01 -3.73018176e-02 -1.81486235e-03 4.86621935e+02] [ 3.73014999e-02 9.99304035e-01 -2.08615580e-04 5.33672606e+01] [ 1.82138101e-03 1.40772961e-04 9.99998331e-01 -2.38113436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.961400513 meters 0.077874267546846 Centerline is valid? [True, True] Translation: X:486.65, Y:53.36, Z:-2.38 [[ 9.99232406e-01 -3.91138915e-02 -2.16850718e-03 4.86652276e+02] [ 3.91134420e-02 9.99234745e-01 -2.49336965e-04 5.33642469e+01] [ 2.17660026e-03 1.64327796e-04 9.99997618e-01 -2.38088053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99140051300003 meters 0.07610387274627668 Centerline is valid? [True, True] Translation: X:486.68, Y:53.36, Z:-2.38 [[ 9.99147029e-01 -4.12120904e-02 -2.60353498e-03 4.86682868e+02] [ 4.12114497e-02 9.99150403e-01 -2.99280669e-04 5.33644656e+01] [ 2.61365700e-03 1.91729940e-04 9.99996566e-01 -2.38072309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.021400513 meters 0.07304852049886089 Centerline is valid? [True, True] Translation: X:486.71, Y:53.36, Z:-2.38 [[ 9.99040913e-01 -4.36799009e-02 -3.05284533e-03 4.86713627e+02] [ 4.36790313e-02 9.99045554e-01 -3.50969302e-04 5.33628108e+01] [ 3.06526186e-03 2.17287366e-04 9.99995278e-01 -2.38071340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.051400513 meters 0.06945148566779032 Centerline is valid? [True, True] Translation: X:486.74, Y:53.36, Z:-2.38 [[ 9.98926952e-01 -4.61567756e-02 -3.80743341e-03 4.86744426e+02] [ 4.61554409e-02 9.98934174e-01 -4.37723728e-04 5.33599311e+01] [ 3.82357926e-03 2.61520261e-04 9.99992656e-01 -2.38121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.081400513 meters 0.06626656371412604 Centerline is valid? [True, True] Translation: X:486.78, Y:53.36, Z:-2.38 [[ 9.98742077e-01 -5.00231871e-02 -3.45620266e-03 4.86775053e+02] [ 5.00221100e-02 9.98748032e-01 -3.97443002e-04 5.33552131e+01] [ 3.47175697e-03 2.24056500e-04 9.99993948e-01 -2.38109446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.111400513 meters 0.06763135706070446 Centerline is valid? [True, True] Translation: X:486.80, Y:53.36, Z:-2.38 [[ 9.98697881e-01 -5.09565684e-02 -2.44361760e-03 4.86802328e+02] [ 5.09560322e-02 9.98700858e-01 -2.81229436e-04 5.33584441e+01] [ 2.45477348e-03 1.56346184e-04 9.99996975e-01 -2.38013657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.141400513 meters 0.06716539080825432 Centerline is valid? [True, True] Translation: X:486.83, Y:53.36, Z:-2.38 [[ 9.98675795e-01 -5.14279291e-02 -1.35085956e-03 4.86831471e+02] [ 5.14277651e-02 9.98676705e-01 -1.55934676e-04 5.33597157e+01] [ 1.35709137e-03 8.62564988e-05 9.99999075e-01 -2.37862648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.171400513 meters 0.061846920522501764 Centerline is valid? [True, True] Translation: X:486.86, Y:53.35, Z:-2.38 [[ 9.98684684e-01 -5.12670095e-02 -7.72107383e-04 4.86862004e+02] [ 5.12669559e-02 9.98684981e-01 -8.90169018e-05 5.33547284e+01] [ 7.75655678e-04 4.93162212e-05 9.99999698e-01 -2.37767269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.201400513 meters 0.07155095909517667 Centerline is valid? [True, True] Translation: X:486.89, Y:53.36, Z:-2.38 [[ 9.98720495e-01 -5.05566428e-02 -1.18248242e-03 4.86890358e+02] [ 5.05565167e-02 9.98721192e-01 -1.36296848e-04 5.33633762e+01] [ 1.18786097e-03 7.63402634e-05 9.99999292e-01 -2.37906046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.231400513 meters 0.06801435394019091 Centerline is valid? [True, True] Translation: X:486.92, Y:53.36, Z:-2.38 [[ 9.98773000e-01 -4.94993058e-02 -1.52099262e-03 4.86919540e+02] [ 4.94990958e-02 9.98774153e-01 -1.75404637e-04 5.33639965e+01] [ 1.52781052e-03 9.99016561e-05 9.99998828e-01 -2.37900072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.261400513 meters 0.06750388077374746 Centerline is valid? [True, True] Translation: X:486.95, Y:53.36, Z:-2.38 [[ 9.98830820e-01 -4.82999638e-02 -2.02653601e-03 4.86949162e+02] [ 4.82995885e-02 9.98832866e-01 -2.33756355e-04 5.33617240e+01] [ 2.03546120e-03 1.35602196e-04 9.99997919e-01 -2.37938314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.291400513 meters 0.07071006462498264 Centerline is valid? [True, True] Translation: X:486.98, Y:53.37, Z:-2.38 [[ 9.98851685e-01 -4.78524050e-02 -2.33655926e-03 4.86976372e+02] [ 4.78519044e-02 9.98854405e-01 -2.69687924e-04 5.33660886e+01] [ 2.34678772e-03 1.57569427e-04 9.99997234e-01 -2.38053796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.321400513 meters 0.07153899166789913 Centerline is valid? [True, True] Translation: X:487.00, Y:53.37, Z:-2.38 [[ 9.98870660e-01 -4.74471035e-02 -2.48533309e-03 4.87004977e+02] [ 4.74465344e-02 9.98873738e-01 -2.87446594e-04 5.33672939e+01] [ 2.49617246e-03 1.69201527e-04 9.99996870e-01 -2.38087869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.351400513 meters 0.07434063755946133 Centerline is valid? [True, True] Translation: X:487.03, Y:53.37, Z:-2.38 [[ 9.98885171e-01 -4.71718537e-02 -1.79769016e-03 4.87032921e+02] [ 4.71715556e-02 9.98886781e-01 -2.07907938e-04 5.33706489e+01] [ 1.80549634e-03 1.22876314e-04 9.99998363e-01 -2.38052896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.381400513 meters 0.07499710466345023 Centerline is valid? [True, True] Translation: X:487.06, Y:53.37, Z:-2.38 [[ 9.98887692e-01 -4.71513676e-02 -3.55943007e-04 4.87061319e+02] [ 4.71513558e-02 9.98887755e-01 -4.13338897e-05 5.33716959e+01] [ 3.57496061e-04 2.45047184e-05 9.99999936e-01 -2.37882810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.411400513 meters 0.07102220338765211 Centerline is valid? [True, True] Translation: X:487.09, Y:53.37, Z:-2.38 [[ 9.98887696e-01 -4.71439793e-02 9.02959311e-04 4.87091664e+02] [ 4.71439041e-02 9.98888103e-01 1.04431523e-04 5.33677830e+01] [-9.06878630e-04 -6.17463365e-05 9.99999587e-01 -2.37686230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.441400513 meters 0.07058949660737858 Centerline is valid? [True, True] Translation: X:487.12, Y:53.37, Z:-2.38 [[ 9.98940632e-01 -4.60123409e-02 6.92080119e-04 4.87122383e+02] [ 4.60122964e-02 9.98940870e-01 8.00754541e-05 5.33674594e+01] [-6.95031575e-04 -4.81464291e-05 9.99999757e-01 -2.37831668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.471400513 meters 0.07213951429084395 Centerline is valid? [True, True] Translation: X:487.15, Y:53.37, Z:-2.38 [[ 9.98980251e-01 -4.51383808e-02 -9.91882391e-04 4.87152386e+02] [ 4.51382890e-02 9.98980741e-01 -1.14788889e-04 5.33700944e+01] [ 9.96052791e-04 6.98999592e-05 9.99999501e-01 -2.38116762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.501400513 meters 0.06492226192368004 Centerline is valid? [True, True] Translation: X:487.18, Y:53.36, Z:-2.38 [[ 9.99023296e-01 -4.41093757e-02 -2.61080272e-03 4.87182600e+02] [ 4.41087354e-02 9.99026690e-01 -3.02337664e-04 5.33618556e+01] [ 2.62159753e-03 1.86883163e-04 9.99996546e-01 -2.38256439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.531400513 meters 0.07380621093069901 Centerline is valid? [True, True] Translation: X:487.21, Y:53.37, Z:-2.38 [[ 9.99105271e-01 -4.21867768e-02 -2.98886131e-03 4.87210551e+02] [ 4.21859293e-02 9.99109718e-01 -3.46068733e-04 5.33743940e+01] [ 3.00079991e-03 2.19671203e-04 9.99995473e-01 -2.38280643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.561400513 meters 0.08347955643079707 Centerline is valid? [True, True] Translation: X:487.24, Y:53.39, Z:-2.38 [[ 9.99201217e-01 -3.98897030e-02 -2.39590918e-03 4.87238561e+02] [ 3.98891517e-02 9.99204073e-01 -2.77458807e-04 5.33898814e+01] [ 2.40506995e-03 1.81666393e-04 9.99997091e-01 -2.38144055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.591400513 meters 0.08296379291509166 Centerline is valid? [True, True] Translation: X:487.27, Y:53.40, Z:-2.38 [[ 9.99395076e-01 -3.47715333e-02 -6.50218360e-04 4.87268705e+02] [ 3.47714916e-02 9.99395286e-01 -7.53000571e-05 5.33953136e+01] [ 6.52443463e-04 5.26454440e-05 9.99999786e-01 -2.37857139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.621400513 meters 0.08822539830673051 Centerline is valid? [True, True] Translation: X:487.30, Y:53.40, Z:-2.38 [[ 9.99472517e-01 -3.24759583e-02 3.09965164e-06 4.87297200e+02] [ 3.24759583e-02 9.99472517e-01 3.36044815e-07 5.34048338e+01] [-3.10893000e-06 -2.35203399e-07 1.00000000e+00 -2.37849896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.651400513 meters 0.09082385063798777 Centerline is valid? [True, True] Translation: X:487.33, Y:53.41, Z:-2.38 [[ 9.99511818e-01 -3.12398563e-02 -4.44907512e-04 4.87327248e+02] [ 3.12398364e-02 9.99511916e-01 -5.15244473e-05 5.34100079e+01] [ 4.46299976e-04 3.76004560e-05 9.99999900e-01 -2.37967519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.681400513 meters 0.08930626363581419 Centerline is valid? [True, True] Translation: X:487.36, Y:53.41, Z:-2.38 [[ 9.99520270e-01 -3.09185980e-02 -1.80829807e-03 4.87357475e+02] [ 3.09182692e-02 9.99521894e-01 -2.09500854e-04 5.34096047e+01] [ 1.81391098e-03 1.53490903e-04 9.99998343e-01 -2.38183559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.711400513 meters 0.08998685409937424 Centerline is valid? [True, True] Translation: X:487.39, Y:53.41, Z:-2.39 [[ 9.99443037e-01 -3.29971550e-02 -4.98040109e-03 4.87387378e+02] [ 3.29946867e-02 9.99455361e-01 -5.76987093e-04 5.34095828e+01] [ 4.99672750e-03 4.12338959e-04 9.99987431e-01 -2.38685652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74140051300003 meters 0.0865523757134022 Centerline is valid? [True, True] Translation: X:487.42, Y:53.41, Z:-2.39 [[ 9.99373767e-01 -3.50522391e-02 -4.83885844e-03 4.87418720e+02] [ 3.50499330e-02 9.99385405e-01 -5.60576890e-04 5.34063960e+01] [ 4.85553398e-03 3.90624174e-04 9.99988136e-01 -2.38633689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.771400513 meters 0.08674223450878285 Centerline is valid? [True, True] Translation: X:487.45, Y:53.41, Z:-2.38 [[ 9.99301074e-01 -3.72226299e-02 -3.44093349e-03 4.87448747e+02] [ 3.72214766e-02 9.99306961e-01 -3.98635865e-04 5.34072624e+01] [ 3.45338707e-03 2.70280622e-04 9.99994001e-01 -2.38453389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.801400513 meters 0.07864852572597104 Centerline is valid? [True, True] Translation: X:487.48, Y:53.40, Z:-2.38 [[ 9.99237838e-01 -3.89867215e-02 -1.94377921e-03 4.87480348e+02] [ 3.89863567e-02 9.99239718e-01 -2.25229886e-04 5.33985186e+01] [ 1.95108237e-03 1.49277355e-04 9.99998085e-01 -2.38144521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.831400513 meters 0.07566777935179103 Centerline is valid? [True, True] Translation: X:487.51, Y:53.40, Z:-2.38 [[ 9.99198058e-01 -4.00349095e-02 -6.69106763e-04 4.87510684e+02] [ 4.00348665e-02 9.99198280e-01 -7.75825522e-05 5.33962697e+01] [ 6.71676337e-04 5.07327356e-05 9.99999773e-01 -2.37971858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.861400513 meters 0.08131380304116298 Centerline is valid? [True, True] Translation: X:487.54, Y:53.40, Z:-2.38 [[ 9.99184696e-01 -4.03662912e-02 -7.11176472e-04 4.87538520e+02] [ 4.03662426e-02 9.99184948e-01 -8.25041201e-05 5.34046567e+01] [ 7.13927212e-04 5.37293321e-05 9.99999744e-01 -2.38027506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.891400513 meters 0.07772997315781012 Centerline is valid? [True, True] Translation: X:487.57, Y:53.40, Z:-2.38 [[ 9.99263583e-01 -3.82862658e-02 -2.54023698e-03 4.87569196e+02] [ 3.82856401e-02 9.99266793e-01 -2.94491264e-04 5.34006795e+01] [ 2.54964943e-03 1.97019797e-04 9.99996730e-01 -2.38306388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.921400513 meters 0.08801304792291949 Centerline is valid? [True, True] Translation: X:487.60, Y:53.42, Z:-2.38 [[ 9.99335035e-01 -3.63628154e-02 -2.68938560e-03 4.87597165e+02] [ 3.63621071e-02 9.99338631e-01 -3.11820962e-04 5.34157698e+01] [ 2.69894561e-03 2.13821885e-04 9.99996335e-01 -2.38384530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.951400513 meters 0.07806334219491654 Centerline is valid? [True, True] Translation: X:487.63, Y:53.41, Z:-2.38 [[ 9.99415097e-01 -3.41224757e-02 -2.26290538e-03 4.87629212e+02] [ 3.41219686e-02 9.99417642e-01 -2.62365034e-04 5.34070631e+01] [ 2.27054010e-03 1.84996790e-04 9.99997405e-01 -2.38189570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.981400513 meters 0.09465207488891397 Centerline is valid? [True, True] Translation: X:487.66, Y:53.43, Z:-2.38 [[ 9.99502730e-01 -3.15023963e-02 -1.37554599e-03 4.87656046e+02] [ 3.15022064e-02 9.99503670e-01 -1.59518167e-04 5.34311134e+01] [ 1.37988847e-03 1.16106110e-04 9.99999041e-01 -2.38157382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.011400513 meters 0.087331733693509 Centerline is valid? [True, True] Translation: X:487.69, Y:53.43, Z:-2.38 [[ 9.99576221e-01 -2.90942519e-02 -9.49992791e-04 4.87687620e+02] [ 2.90941602e-02 9.99576669e-01 -1.10153111e-04 5.34259009e+01] [ 9.52795452e-04 8.24671881e-05 9.99999543e-01 -2.38069990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.041400513 meters 0.09271590705998593 Centerline is valid? [True, True] Translation: X:487.72, Y:53.44, Z:-2.38 [[ 9.99617377e-01 -2.76511293e-02 -7.17074612e-04 4.87715715e+02] [ 2.76510767e-02 9.99617632e-01 -8.32047670e-05 5.34359463e+01] [ 7.19101132e-04 6.33450459e-05 9.99999739e-01 -2.38040767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.071400513 meters 0.09386609298993062 Centerline is valid? [True, True] Translation: X:487.74, Y:53.44, Z:-2.38 [[ 9.99632240e-01 -2.70861398e-02 -1.31402086e-03 4.87744564e+02] [ 2.70859626e-02 9.99633096e-01 -1.52499248e-04 5.34407825e+01] [ 1.31766936e-03 1.16851645e-04 9.99999125e-01 -2.38153302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.101400513 meters 0.09641584938191096 Centerline is valid? [True, True] Translation: X:487.77, Y:53.45, Z:-2.38 [[ 9.99609274e-01 -2.79206496e-02 -1.31785107e-03 4.87772986e+02] [ 2.79204720e-02 9.99610136e-01 -1.52952171e-04 5.34478487e+01] [ 1.32160781e-03 1.16097384e-04 9.99999120e-01 -2.38205622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.131400513 meters 0.10203596904013183 Centerline is valid? [True, False] Translation: X:487.77, Y:53.46, Z:-2.38 [[ 9.99758204e-01 -2.17810689e-02 3.01980129e-03 4.87770793e+02] [ 2.18206573e-02 9.99667162e-01 -1.37631089e-02 5.34557228e+01] [-2.71902097e-03 1.38256750e-02 9.99900724e-01 -2.38315592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.161400513 meters 0.08946125052238608 Centerline is valid? [False, True] Translation: X:487.77, Y:53.45, Z:-2.38 [[ 9.99916868e-01 -1.26233317e-02 2.62847590e-03 4.87771403e+02] [ 1.26303085e-02 9.99916710e-01 -2.65485988e-03 5.34454285e+01] [-2.59474379e-03 2.68783764e-03 9.99993021e-01 -2.38215401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.191400513 meters 0.08867695120287547 Centerline is valid? [True, True] Translation: X:487.80, Y:53.44, Z:-2.38 [[ 9.99883327e-01 -1.50003365e-02 2.88467453e-03 4.87802387e+02] [ 1.49995932e-02 9.99887461e-01 2.79145468e-04 5.34429161e+01] [-2.88853716e-03 -2.35843955e-04 9.99995800e-01 -2.38250601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.221400513 meters 0.08041251003488553 Centerline is valid? [True, True] Translation: X:487.83, Y:53.43, Z:-2.38 [[ 9.99836092e-01 -1.79621867e-02 2.26928391e-03 4.87834259e+02] [ 1.79617343e-02 9.99838651e-01 2.19604670e-04 5.34335749e+01] [-2.27286234e-03 -1.78808401e-04 9.99997401e-01 -2.38193268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.251400513 meters 0.07982456494363466 Centerline is valid? [True, True] Translation: X:487.87, Y:53.43, Z:-2.38 [[ 9.99822169e-01 -1.87662652e-02 1.85955802e-03 4.87865091e+02] [ 1.87659627e-02 9.99823888e-01 1.79970175e-04 5.34349353e+01] [-1.86260790e-03 -1.45041774e-04 9.99998255e-01 -2.38235152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.281400513 meters 0.07608023382415427 Centerline is valid? [True, True] Translation: X:487.90, Y:53.43, Z:-2.38 [[ 9.99813896e-01 -1.92133073e-02 1.73869125e-03 4.87896359e+02] [ 1.92130437e-02 9.99815398e-01 1.68204718e-04 5.34330113e+01] [-1.74160205e-03 -1.34767864e-04 9.99998474e-01 -2.38282769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.311400513 meters 0.07550396910323427 Centerline is valid? [True, True] Translation: X:487.93, Y:53.43, Z:-2.38 [[ 9.99815705e-01 -1.90468311e-02 2.40286652e-03 4.87928130e+02] [ 1.90463268e-02 9.99818575e-01 2.32551316e-04 5.34344697e+01] [-2.40685995e-03 -1.86742677e-04 9.99997086e-01 -2.38284796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.341400513 meters 0.08653591909632452 Centerline is valid? [True, True] Translation: X:487.96, Y:53.45, Z:-2.38 [[ 9.99819369e-01 -1.87554362e-02 3.07625340e-03 4.87958439e+02] [ 1.87546087e-02 9.99824073e-01 2.97637502e-04 5.34494696e+01] [-3.08129452e-03 -2.39889811e-04 9.99995224e-01 -2.38295562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.371400513 meters 0.07681738292543623 Centerline is valid? [True, True] Translation: X:487.99, Y:53.44, Z:-2.38 [[ 9.99825944e-01 -1.81969532e-02 4.11728074e-03 4.87991068e+02] [ 1.81954669e-02 9.99834370e-01 3.98153658e-04 5.34386413e+01] [-4.12384398e-03 -3.23168512e-04 9.99991445e-01 -2.38187254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.401400513 meters 0.09222341586260954 Centerline is valid? [True, True] Translation: X:488.02, Y:53.46, Z:-2.38 [[ 9.99854591e-01 -1.64807505e-02 4.37960279e-03 4.88019463e+02] [ 1.64790530e-02 9.99864122e-01 4.23415611e-04 5.34576208e+01] [-4.38598591e-03 -3.51182337e-04 9.99990320e-01 -2.38151562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.431400513 meters 0.082812434139972 Centerline is valid? [True, True] Translation: X:488.05, Y:53.45, Z:-2.38 [[ 9.99869332e-01 -1.58240534e-02 3.30423789e-03 4.88052152e+02] [ 1.58230837e-02 9.99874756e-01 3.19395953e-04 5.34491049e+01] [-3.30887819e-03 -2.67070986e-04 9.99994490e-01 -2.38309002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.461400513 meters 0.08019321157233446 Centerline is valid? [True, True] Translation: X:488.08, Y:53.45, Z:-2.38 [[ 9.99879668e-01 -1.53415337e-02 2.29941962e-03 4.88083990e+02] [ 1.53410632e-02 9.99882294e-01 2.22127888e-04 5.34494999e+01] [-2.30255675e-03 -1.86825617e-04 9.99997332e-01 -2.38426547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49140051300003 meters 0.0906116107011479 Centerline is valid? [True, True] Translation: X:488.11, Y:53.47, Z:-2.39 [[ 9.99892038e-01 -1.46044138e-02 1.61949823e-03 4.88113006e+02] [ 1.46041795e-02 9.99893341e-01 1.56405454e-04 5.34655227e+01] [-1.62160971e-03 -1.32737125e-04 9.99998676e-01 -2.38591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.521400513 meters 0.09031268928495674 Centerline is valid? [True, True] Translation: X:488.14, Y:53.47, Z:-2.39 [[ 9.99896263e-01 -1.43674035e-02 1.02072771e-03 4.88144749e+02] [ 1.43673102e-02 9.99896780e-01 9.86245686e-05 5.34671954e+01] [-1.02203933e-03 -8.39492259e-05 9.99999474e-01 -2.38731786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.551400513 meters 0.09031268928495674 Centerline is valid? [True, True] Translation: X:488.18, Y:53.47, Z:-2.39 [[ 9.99896577e-01 -1.43454688e-02 1.02072992e-03 4.88175549e+02] [ 1.43453756e-02 9.99897095e-01 9.86017510e-05 5.34701276e+01] [-1.02203937e-03 -8.39487993e-05 9.99999474e-01 -2.38746130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.581400513 meters 0.08707058947537559 Centerline is valid? [True, True] Translation: X:488.21, Y:53.47, Z:-2.39 [[ 9.99904335e-01 -1.38271743e-02 3.61994893e-04 4.88207189e+02] [ 1.38271626e-02 9.99904400e-01 3.50278534e-05 5.34691388e+01] [-3.62444622e-04 -3.00191403e-05 9.99999934e-01 -2.38754329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.611400513 meters 0.08888231891216059 Centerline is valid? [True, True] Translation: X:488.24, Y:53.47, Z:-2.39 [[ 9.99904018e-01 -1.38532261e-02 -2.04741473e-04 4.88237597e+02] [ 1.38532223e-02 9.99904039e-01 -1.96988276e-05 5.34744851e+01] [ 2.04994718e-04 1.68606077e-05 9.99999979e-01 -2.38846641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.641400513 meters 0.08555807994856977 Centerline is valid? [True, True] Translation: X:488.27, Y:53.47, Z:-2.39 [[ 9.99903010e-01 -1.39136803e-02 -6.15733182e-04 4.88268548e+02] [ 1.39136463e-02 9.99903199e-01 -5.93969913e-05 5.34742151e+01] [ 6.16500009e-04 5.08241367e-05 9.99999809e-01 -2.38875473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.671400513 meters 0.07842640749109935 Centerline is valid? [True, True] Translation: X:488.30, Y:53.47, Z:-2.39 [[ 9.99900157e-01 -1.41187072e-02 -5.81388073e-04 4.88298606e+02] [ 1.41186769e-02 9.99900325e-01 -5.62060430e-05 5.34694113e+01] [ 5.82123680e-04 4.79920009e-05 9.99999829e-01 -2.38857717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.701400513 meters 0.08313995708196492 Centerline is valid? [True, True] Translation: X:488.33, Y:53.48, Z:-2.39 [[ 9.99899050e-01 -1.42041002e-02 -3.64124429e-04 4.88326889e+02] [ 1.42040883e-02 9.99899116e-01 -3.51922186e-05 5.34787568e+01] [ 3.64587568e-04 3.00166104e-05 9.99999933e-01 -2.38885858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.731400513 meters 0.08297908099576841 Centerline is valid? [True, True] Translation: X:488.36, Y:53.48, Z:-2.39 [[ 9.99894651e-01 -1.45121448e-02 -2.91516402e-04 4.88356939e+02] [ 1.45121372e-02 9.99894693e-01 -2.81315301e-05 5.34817168e+01] [ 2.91893952e-04 2.38980404e-05 9.99999957e-01 -2.38846075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.761400513 meters 0.09726435679089131 Centerline is valid? [True, True] Translation: X:488.38, Y:53.50, Z:-2.39 [[ 9.99888590e-01 -1.49124548e-02 6.52345491e-04 4.88384663e+02] [ 1.49124169e-02 9.99888802e-01 6.29903025e-05 5.35025461e+01] [-6.53212292e-04 -5.32552369e-05 9.99999785e-01 -2.38804193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.791400513 meters 0.08145450474250733 Centerline is valid? [True, True] Translation: X:488.42, Y:53.49, Z:-2.39 [[ 9.99872873e-01 -1.58903298e-02 1.31762675e-03 4.88417448e+02] [ 1.58901759e-02 9.99873735e-01 1.27176916e-04 5.34866938e+01] [-1.31948126e-03 -1.06223427e-04 9.99999124e-01 -2.38581172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.821400513 meters 0.0815799499374769 Centerline is valid? [True, True] Translation: X:488.45, Y:53.49, Z:-2.38 [[ 9.99854089e-01 -1.69716002e-02 1.94042714e-03 4.88447203e+02] [ 1.69712687e-02 9.99855960e-01 1.87211391e-04 5.34897146e+01] [-1.94332492e-03 -1.54252564e-04 9.99998100e-01 -2.38465766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.851400513 meters 0.08236360062031205 Centerline is valid? [True, True] Translation: X:488.48, Y:53.49, Z:-2.38 [[ 9.99831582e-01 -1.81711245e-02 2.57256899e-03 4.88476716e+02] [ 1.81705457e-02 9.99834871e-01 2.48200104e-04 5.34933081e+01] [-2.57665426e-03 -2.01413321e-04 9.99996660e-01 -2.38432237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.881400513 meters 0.07669934776409669 Centerline is valid? [True, True] Translation: X:488.51, Y:53.49, Z:-2.38 [[ 9.99795453e-01 -1.99664781e-02 3.22355499e-03 4.88508215e+02] [ 1.99655785e-02 9.99800620e-01 3.11017498e-04 5.34883499e+01] [-3.22912220e-03 -2.46593740e-04 9.99994756e-01 -2.38396152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.911400513 meters 0.0810109861025201 Centerline is valid? [True, True] Translation: X:488.54, Y:53.50, Z:-2.38 [[ 9.99792634e-01 -1.99875517e-02 3.89703235e-03 4.88539275e+02] [ 1.99862371e-02 9.99800185e-01 3.75978839e-04 5.34958203e+01] [-3.90376856e-03 -2.98013861e-04 9.99992336e-01 -2.38340732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.941400513 meters 0.07840686169976846 Centerline is valid? [True, True] Translation: X:488.57, Y:53.50, Z:-2.38 [[ 9.99828176e-01 -1.79644909e-02 4.57121133e-03 4.88568749e+02] [ 1.79846973e-02 9.99828500e-01 -4.41831387e-03 5.34981593e+01] [-4.49105460e-03 4.49976654e-03 9.99979791e-01 -2.38089024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.971400513 meters 0.08170366411291474 Centerline is valid? [True, True] Translation: X:488.60, Y:53.50, Z:-2.38 [[ 9.99831947e-01 -1.72314123e-02 6.25755810e-03 4.88601047e+02] [ 1.71972173e-02 9.99837111e-01 5.47789545e-03 5.34984393e+01] [-6.35093068e-03 -5.36936228e-03 9.99965417e-01 -2.37845482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.001400513 meters 0.08907247415322257 Centerline is valid? [True, True] Translation: X:488.63, Y:53.52, Z:-2.38 [[ 9.99867084e-01 -1.43424162e-02 7.75301623e-03 4.88629474e+02] [ 1.43370500e-02 9.99896940e-01 7.47284505e-04 5.35151890e+01] [-7.76293507e-03 -6.36029798e-04 9.99969666e-01 -2.37664687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.031400513 meters 0.093561628931355 Centerline is valid? [True, True] Translation: X:488.66, Y:53.53, Z:-2.38 [[ 9.99946333e-01 -6.84007254e-03 7.78097927e-03 4.88659246e+02] [ 6.83444240e-03 9.99976364e-01 7.49937514e-04 5.35266631e+01] [-7.78592498e-03 -6.96718613e-04 9.99969447e-01 -2.37728048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.061400513 meters 0.09158051689080567 Centerline is valid? [True, True] Translation: X:488.69, Y:53.53, Z:-2.38 [[ 9.99973922e-01 -2.72379446e-03 6.68854704e-03 4.88689733e+02] [ 2.71954313e-03 9.99996094e-01 6.44625842e-04 5.35281973e+01] [-6.69027675e-03 -6.26419240e-04 9.99977424e-01 -2.37935073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.091400513 meters 0.09931438275153177 Centerline is valid? [True, True] Translation: X:488.72, Y:53.54, Z:-2.38 [[ 9.99984475e-01 1.03159852e-03 5.47589433e-03 4.88718474e+02] [-1.03450380e-03 9.99999326e-01 5.27751098e-04 5.35419464e+01] [-5.47534621e-03 -5.33407738e-04 9.99984868e-01 -2.38125509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.121400513 meters 0.09782011678787389 Centerline is valid? [True, True] Translation: X:488.75, Y:53.55, Z:-2.38 [[ 9.99980230e-01 4.38710672e-03 4.50467875e-03 4.88748803e+02] [-4.38910668e-03 9.99990274e-01 4.34183867e-04 5.35450477e+01] [-4.50273013e-03 -4.53946799e-04 9.99989760e-01 -2.38238044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.151400513 meters 0.10881822328308571 Centerline is valid? [True, False] Translation: X:488.75, Y:53.55, Z:-2.38 [[ 9.99980928e-01 4.16562793e-03 4.55966939e-03 4.88748729e+02] [-4.16455644e-03 9.99991298e-01 -2.44462316e-04 5.35480315e+01] [-4.56064805e-03 2.25468653e-04 9.99989575e-01 -2.38271872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.181400513 meters 0.09931019497502727 Centerline is valid? [False, True] Translation: X:488.73, Y:53.54, Z:-2.38 [[ 9.99993087e-01 3.63796386e-03 -7.68596405e-04 4.88730032e+02] [-3.62998533e-03 9.99942012e-01 1.01388233e-02 5.35423059e+01] [ 8.05436508e-04 -1.01359632e-02 9.99948305e-01 -2.37940548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.211400513 meters 0.10396953279702799 Centerline is valid? [True, False] Translation: X:488.73, Y:53.55, Z:-2.38 [[ 9.99998887e-01 -1.44772394e-03 -3.60723063e-04 4.88729272e+02] [ 1.44880651e-03 9.99994393e-01 3.01914724e-03 5.35537594e+01] [ 3.56350149e-04 -3.01966650e-03 9.99995377e-01 -2.38104893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24140051300003 meters 0.10937719488128106 Centerline is valid? [False, False] Translation: X:488.73, Y:53.56, Z:-2.38 [[ 9.99998513e-01 -1.69988208e-03 -2.91409128e-04 4.88729108e+02] [ 1.70055196e-03 9.99995876e-01 2.31413753e-03 5.35568995e+01] [ 2.87474165e-04 -2.31462965e-03 9.99997280e-01 -2.38125628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.271400513 meters 0.1123275615023756 Centerline is valid? [False, False] Translation: X:488.77, Y:53.57, Z:-2.38 [[ 9.99998427e-01 -1.43912656e-03 1.03703225e-03 4.88771031e+02] [ 1.43846386e-03 9.99998761e-01 6.39502564e-04 5.35659469e+01] [-1.03795129e-03 -6.38009824e-04 9.99999258e-01 -2.38142977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.301400513 meters 0.10958368865610164 Centerline is valid? [False, False] Translation: X:488.77, Y:53.57, Z:-2.38 [[ 9.99998584e-01 -3.33299268e-05 1.68237910e-03 4.88765748e+02] [ 2.97456728e-05 9.99997730e-01 2.13044755e-03 5.35650521e+01] [-1.68244629e-03 -2.13039449e-03 9.99996315e-01 -2.37707110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.331400513 meters 0.11185172573524375 Centerline is valid? [False, False] Translation: X:488.77, Y:53.57, Z:-2.38 [[ 9.99998443e-01 -2.66171580e-04 1.74429382e-03 4.88765472e+02] [ 2.63549563e-04 9.99998835e-01 1.50325438e-03 5.35678783e+01] [-1.74469191e-03 -1.50279233e-03 9.99997349e-01 -2.37692776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.361400513 meters 0.10586110831092822 Centerline is valid? [False, False] Translation: X:488.77, Y:53.57, Z:-2.38 [[ 9.99998345e-01 -4.54312408e-04 1.76177894e-03 4.88765348e+02] [ 4.52531931e-04 9.99999387e-01 1.01088008e-03 5.35701016e+01] [-1.76223712e-03 -1.01008115e-03 9.99997937e-01 -2.37680730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.391400513 meters 0.1142208450747918 Centerline is valid? [False, False] Translation: X:488.76, Y:53.57, Z:-2.37 [[ 9.99991869e-01 -2.86196325e-03 2.84107781e-03 4.88758508e+02] [ 2.86739356e-03 9.99994067e-01 -1.90912421e-03 5.35741384e+01] [-2.83559710e-03 1.91725517e-03 9.99994142e-01 -2.37190955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.421400513 meters 0.1256173590605315 Centerline is valid? [False, False] Translation: X:488.76, Y:53.58, Z:-2.37 [[ 9.99991751e-01 -2.98089924e-03 2.75899896e-03 4.88758875e+02] [ 2.98703826e-03 9.99993066e-01 -2.22364830e-03 5.35755408e+01] [-2.75235136e-03 2.23187120e-03 9.99993722e-01 -2.37217563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.451400513 meters 0.10217194619998808 Centerline is valid? [False, False] Translation: X:488.76, Y:53.58, Z:-2.37 [[ 9.99991702e-01 -3.03407799e-03 2.71864276e-03 4.88759097e+02] [ 3.04052561e-03 9.99992568e-01 -2.37064678e-03 5.35761918e+01] [-2.71142983e-03 2.37889321e-03 9.99993494e-01 -2.37241190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.481400513 meters 0.09995109897979901 Centerline is valid? [False, True] Translation: X:488.76, Y:53.58, Z:-2.37 [[ 9.99991850e-01 -3.10382451e-03 2.58178448e-03 4.88759236e+02] [ 3.11051971e-03 9.99991800e-01 -2.59328472e-03 5.35771789e+01] [-2.57371421e-03 2.60129428e-03 9.99993305e-01 -2.37169487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.511400513 meters 0.09424308680254322 Centerline is valid? [True, True] Translation: X:488.79, Y:53.57, Z:-2.37 [[ 9.99975351e-01 -6.23540839e-03 3.22752442e-03 4.88790917e+02] [ 6.23439869e-03 9.99980514e-01 3.22806071e-04 5.35721560e+01] [-3.22947436e-03 -3.02676440e-04 9.99994739e-01 -2.37003291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.541400513 meters 0.08745198421976844 Centerline is valid? [True, True] Translation: X:488.82, Y:53.57, Z:-2.37 [[ 9.99955959e-01 -8.68216613e-03 3.56379428e-03 4.88821910e+02] [ 8.68095075e-03 9.99962256e-01 3.56362573e-04 5.35679068e+01] [-3.56675376e-03 -3.25409756e-04 9.99993586e-01 -2.36870167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.571400513 meters 0.09498215888884516 Centerline is valid? [True, True] Translation: X:488.85, Y:53.58, Z:-2.37 [[ 9.99943534e-01 -1.00421544e-02 3.47619666e-03 4.88850164e+02] [ 1.00410063e-02 9.99949527e-01 3.47570496e-04 5.35815329e+01] [-3.47951156e-03 -3.12646358e-04 9.99993898e-01 -2.36893131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.601400513 meters 0.09575993011621947 Centerline is valid? [True, True] Translation: X:488.88, Y:53.59, Z:-2.37 [[ 9.99938815e-01 -1.06611070e-02 2.95066505e-03 4.88879785e+02] [ 1.06602822e-02 9.99943134e-01 2.95130916e-04 5.35868540e+01] [-2.95364368e-03 -2.63657936e-04 9.99995603e-01 -2.36994889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.631400513 meters 0.09537086742080926 Centerline is valid? [True, True] Translation: X:488.91, Y:53.59, Z:-2.37 [[ 9.99938515e-01 -1.09076527e-02 1.99741346e-03 4.88911373e+02] [ 1.09072749e-02 9.99940494e-01 1.99941230e-04 5.35911612e+01] [-1.99947549e-03 -1.78142599e-04 9.99997985e-01 -2.37159289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.661400513 meters 0.09511037289624767 Centerline is valid? [True, True] Translation: X:488.94, Y:53.60, Z:-2.37 [[ 9.99923023e-01 -1.23268075e-02 1.41353255e-03 4.88940505e+02] [ 1.23266201e-02 9.99924014e-01 1.41227197e-04 5.35967059e+01] [-1.41516602e-03 -1.23792247e-04 9.99998991e-01 -2.37288480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.691400513 meters 0.09134062740428518 Centerline is valid? [True, True] Translation: X:488.97, Y:53.60, Z:-2.37 [[ 9.99902404e-01 -1.37683624e-02 2.36966650e-03 4.88971799e+02] [ 1.37678393e-02 9.99905191e-01 2.36926444e-04 5.35961867e+01] [-2.37270392e-03 -2.04278133e-04 9.99997164e-01 -2.37137755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.721400513 meters 0.09272770112374877 Centerline is valid? [True, True] Translation: X:489.00, Y:53.60, Z:-2.37 [[ 9.99851111e-01 -1.64252703e-02 5.28837038e-03 4.89000301e+02] [ 1.64168465e-02 9.99863902e-01 1.63239502e-03 5.35998150e+01] [-5.31446317e-03 -1.54533360e-03 9.99984684e-01 -2.36798130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.751400513 meters 0.08356004072993456 Centerline is valid? [True, True] Translation: X:489.03, Y:53.60, Z:-2.37 [[ 9.99792167e-01 -1.95234165e-02 5.87025807e-03 4.89032088e+02] [ 1.95269306e-02 9.99809184e-01 -5.41910574e-04 5.35951038e+01] [-5.85855799e-03 6.56426069e-04 9.99982623e-01 -2.36650994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.781400513 meters 0.08758514044005668 Centerline is valid? [True, True] Translation: X:489.06, Y:53.60, Z:-2.37 [[ 9.99749454e-01 -2.15837944e-02 5.93041736e-03 4.89061566e+02] [ 2.15806567e-02 9.99766935e-01 5.92561681e-04 5.36028569e+01] [-5.94182492e-03 -4.64430915e-04 9.99982239e-01 -2.36643540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.811400513 meters 0.0791005828706259 Centerline is valid? [True, True] Translation: X:489.09, Y:53.60, Z:-2.37 [[ 9.99715583e-01 -2.31395735e-02 5.77175631e-03 4.89093305e+02] [ 2.31366270e-02 9.99732146e-01 5.76765255e-04 5.35964099e+01] [-5.78355642e-03 -4.43062240e-04 9.99983177e-01 -2.36681480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.841400513 meters 0.07753529771752622 Centerline is valid? [True, True] Translation: X:489.12, Y:53.60, Z:-2.37 [[ 9.99700251e-01 -2.39024483e-02 5.29907263e-03 4.89124580e+02] [ 2.38999755e-02 9.99714215e-01 5.29491162e-04 5.35981579e+01] [-5.31021437e-03 -4.02684742e-04 9.99985820e-01 -2.36784401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.871400513 meters 0.07811465315536419 Centerline is valid? [True, True] Translation: X:489.16, Y:53.60, Z:-2.37 [[ 9.99703267e-01 -2.38372409e-02 5.01634237e-03 4.89156602e+02] [ 2.38350245e-02 9.99715780e-01 5.01168508e-04 5.36021152e+01] [-5.02686310e-03 -3.81455151e-04 9.99987292e-01 -2.36841409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.901400513 meters 0.0774697026232013 Centerline is valid? [True, True] Translation: X:489.19, Y:53.60, Z:-2.37 [[ 9.99704794e-01 -2.34296139e-02 6.43251670e-03 4.89189106e+02] [ 2.34259635e-02 9.99725368e-01 6.42269739e-04 5.36042308e+01] [-6.44579826e-03 -4.91392236e-04 9.99979105e-01 -2.36552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.931400513 meters 0.07798605656823368 Centerline is valid? [True, True] Translation: X:489.22, Y:53.61, Z:-2.36 [[ 9.99698414e-01 -2.35916686e-02 6.82007170e-03 4.89219799e+02] [ 2.35875711e-02 9.99721543e-01 6.80630879e-04 5.36071523e+01] [-6.83422982e-03 -5.19556685e-04 9.99976511e-01 -2.36470617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.961400513 meters 0.08395104543266539 Centerline is valid? [True, True] Translation: X:489.25, Y:53.62, Z:-2.37 [[ 9.99693881e-01 -2.39354822e-02 6.26392384e-03 4.89250525e+02] [ 2.39320336e-02 9.99713393e-01 6.24927981e-04 5.36164783e+01] [-6.27708651e-03 -4.74828243e-04 9.99980186e-01 -2.36631856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99140051300003 meters 0.08266593671651608 Centerline is valid? [True, True] Translation: X:489.28, Y:53.62, Z:-2.37 [[ 9.99694870e-01 -2.42693270e-02 4.60067959e-03 4.89283268e+02] [ 2.42674703e-02 9.99705396e-01 4.58957473e-04 5.36166382e+01] [-4.61046280e-03 -3.47170576e-04 9.99989311e-01 -2.36972406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.021400513 meters 0.0757068520383058 Centerline is valid? [True, True] Translation: X:489.32, Y:53.61, Z:-2.37 [[ 9.99696093e-01 -2.44737859e-02 2.95880092e-03 4.89316227e+02] [ 2.44730192e-02 9.99700447e-01 2.95054865e-04 5.36094725e+01] [-2.96513571e-03 -2.22554404e-04 9.99995579e-01 -2.37260884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.051400513 meters 0.07794180654583109 Centerline is valid? [True, True] Translation: X:489.35, Y:53.61, Z:-2.37 [[ 9.99698606e-01 -2.44463661e-02 2.25214804e-03 4.89347474e+02] [ 2.44459220e-02 9.99701129e-01 2.24503998e-04 5.36128939e+01] [-2.25696324e-03 -1.69380499e-04 9.99997439e-01 -2.37378498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.081400513 meters 0.08015802351434792 Centerline is valid? [True, True] Translation: X:489.38, Y:53.61, Z:-2.37 [[ 9.99717751e-01 -2.35996561e-02 2.73397596e-03 4.89378313e+02] [ 2.35989990e-02 9.99721468e-01 2.72343508e-04 5.36123361e+01] [-2.73964167e-03 -2.07747544e-04 9.99996226e-01 -2.37327585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.111400513 meters 0.07984650402199733 Centerline is valid? [True, True] Translation: X:489.41, Y:53.61, Z:-2.37 [[ 9.99734650e-01 -2.28332494e-02 3.04513551e-03 4.89409814e+02] [ 2.28324310e-02 9.99739260e-01 3.03251133e-04 5.36127577e+01] [-3.05126573e-03 -2.33642818e-04 9.99995318e-01 -2.37294109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.141400513 meters 0.08553243588615426 Centerline is valid? [True, True] Translation: X:489.44, Y:53.62, Z:-2.37 [[ 9.99754460e-01 -2.20225960e-02 2.45465189e-03 4.89440364e+02] [ 2.20220617e-02 9.99757455e-01 2.44468018e-04 5.36214695e+01] [-2.45944035e-03 -1.90351496e-04 9.99996957e-01 -2.37456616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.171400513 meters 0.08028971763234387 Centerline is valid? [True, True] Translation: X:489.47, Y:53.62, Z:-2.38 [[ 9.99787398e-01 -2.05525696e-02 1.65825387e-03 4.89472395e+02] [ 2.05523239e-02 9.99788765e-01 1.65112394e-04 5.36175541e+01] [-1.66129707e-03 -1.30996321e-04 9.99998611e-01 -2.37629915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.201400513 meters 0.09045537999550217 Centerline is valid? [True, True] Translation: X:489.50, Y:53.63, Z:-2.38 [[ 9.99834555e-01 -1.81861912e-02 3.53636638e-04 4.89500727e+02] [ 1.81861799e-02 9.99834617e-01 3.52199934e-05 5.36312933e+01] [-3.54218670e-04 -2.87828669e-05 9.99999937e-01 -2.37886641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.231400513 meters 0.08982467275631222 Centerline is valid? [True, True] Translation: X:489.53, Y:53.63, Z:-2.38 [[ 9.99887455e-01 -1.50018951e-02 -1.46245183e-04 4.89531199e+02] [ 1.50018932e-02 9.99887465e-01 -1.45383370e-05 5.36322483e+01] [ 1.46446827e-04 1.23427462e-05 9.99999989e-01 -2.37957444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.261400513 meters 0.0890492351683041 Centerline is valid? [True, True] Translation: X:489.56, Y:53.63, Z:-2.38 [[ 9.99931926e-01 -1.16604287e-02 -4.22305895e-04 4.89562063e+02] [ 1.16604120e-02 9.99932014e-01 -4.19976509e-05 5.36321343e+01] [ 4.22766895e-04 3.70705312e-05 9.99999910e-01 -2.38005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.291400513 meters 0.08966898200127778 Centerline is valid? [True, True] Translation: X:489.59, Y:53.64, Z:-2.38 [[ 9.99969860e-01 -7.71590905e-03 -8.62838775e-04 4.89592363e+02] [ 7.71583783e-03 9.99970229e-01 -8.58370003e-05 5.36386770e+01] [ 8.63475398e-04 7.91768891e-05 9.99999624e-01 -2.37952810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.321400513 meters 0.10170718357579928 Centerline is valid? [True, False] Translation: X:489.59, Y:53.64, Z:-2.38 [[ 9.99993702e-01 -3.45005959e-03 -8.32187245e-04 4.89592109e+02] [ 3.45340201e-03 9.99985840e-01 4.04900260e-03 5.36396040e+01] [ 8.18206161e-04 -4.05185098e-03 9.99991456e-01 -2.37936121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.351400513 meters 0.10499482823205306 Centerline is valid? [False, False] Translation: X:489.61, Y:53.65, Z:-2.37 [[ 9.99998795e-01 1.27751327e-03 8.81909600e-04 4.89607453e+02] [-1.27493587e-03 9.99994933e-01 -2.91691693e-03 5.36459646e+01] [-8.85631532e-04 2.91578903e-03 9.99995357e-01 -2.37476168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.381400513 meters 0.09990274402871865 Centerline is valid? [False, True] Translation: X:489.61, Y:53.65, Z:-2.37 [[ 9.99998855e-01 1.19116490e-03 9.32934166e-04 4.89607220e+02] [-1.18822220e-03 9.99994338e-01 -3.14847159e-03 5.36470124e+01] [-9.36679232e-04 3.14735945e-03 9.99994608e-01 -2.37461526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.411400513 meters 0.10002926889792069 Centerline is valid? [True, False] Translation: X:489.59, Y:53.64, Z:-2.38 [[ 9.99995630e-01 -2.90120680e-03 5.68269451e-04 4.89588822e+02] [ 2.89889596e-03 9.99987694e-01 4.02591782e-03 5.36436989e+01] [-5.79942479e-04 -4.02425287e-03 9.99991734e-01 -2.37850223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.441400513 meters 0.10661052574669475 Centerline is valid? [False, False] Translation: X:489.59, Y:53.65, Z:-2.38 [[ 9.99995132e-01 -3.07016826e-03 5.56916440e-04 4.89588878e+02] [ 3.06815192e-03 9.99988864e-01 3.58596717e-03 5.36456770e+01] [-5.67919761e-04 -3.58424101e-03 9.99993415e-01 -2.37858376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.471400513 meters 0.10661052574669475 Centerline is valid? [False, False] Translation: X:489.59, Y:53.65, Z:-2.38 [[ 9.99995132e-01 -3.07016826e-03 5.56916440e-04 4.89588878e+02] [ 3.06815192e-03 9.99988864e-01 3.58596717e-03 5.36456770e+01] [-5.67919761e-04 -3.58424101e-03 9.99993415e-01 -2.37858376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.501400513 meters 0.09180705142109355 Centerline is valid? [False, True] Translation: X:489.57, Y:53.65, Z:-2.38 [[ 9.99996785e-01 -1.62408475e-03 -1.94736984e-03 4.89567361e+02] [ 1.61229356e-03 9.99980451e-01 -6.04128828e-03 5.36513289e+01] [ 1.95714334e-03 6.03812912e-03 9.99979855e-01 -2.37622172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.531400513 meters 0.09173729566252056 Centerline is valid? [True, True] Translation: X:489.60, Y:53.66, Z:-2.38 [[ 9.99984828e-01 -4.95071583e-03 -2.41545489e-03 4.89596626e+02] [ 4.95015822e-03 9.99987720e-01 -2.36775358e-04 5.36582791e+01] [ 2.41659744e-03 2.24814882e-04 9.99997055e-01 -2.37566434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.561400513 meters 0.09335366580521948 Centerline is valid? [True, True] Translation: X:489.62, Y:53.67, Z:-2.37 [[ 9.99980091e-01 -6.18248599e-03 -1.26245466e-03 4.89624770e+02] [ 6.18233453e-03 9.99980882e-01 -1.23839240e-04 5.36665834e+01] [ 1.26319616e-03 1.16031858e-04 9.99999195e-01 -2.37428459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.591400513 meters 0.09810685216990103 Centerline is valid? [True, True] Translation: X:489.65, Y:53.68, Z:-2.37 [[ 9.99977757e-01 -6.66974611e-03 2.00511510e-05 4.89652898e+02] [ 6.66974607e-03 9.99977757e-01 1.89126830e-06 5.36787752e+01] [-2.00633193e-05 -1.75749015e-06 1.00000000e+00 -2.37251507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.621400513 meters 0.09380498132593909 Centerline is valid? [True, True] Translation: X:489.68, Y:53.68, Z:-2.37 [[ 9.99978891e-01 -6.40941260e-03 1.06607731e-03 4.89684099e+02] [ 6.40930471e-03 9.99979455e-01 1.04586681e-04 5.36812796e+01] [-1.06672574e-03 -9.77516587e-05 9.99999426e-01 -2.37049227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.651400513 meters 0.09232076939622691 Centerline is valid? [True, True] Translation: X:489.71, Y:53.69, Z:-2.37 [[ 9.99983254e-01 -5.44345981e-03 1.96477519e-03 4.89714959e+02] [ 5.44309172e-03 9.99985168e-01 1.92645009e-04 5.36879416e+01] [-1.96579470e-03 -1.81947331e-04 9.99998051e-01 -2.36944222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.681400513 meters 0.09271031723450804 Centerline is valid? [True, True] Translation: X:489.75, Y:53.70, Z:-2.37 [[ 9.99988702e-01 -4.29264596e-03 2.04164325e-03 4.89745435e+02] [ 4.29224623e-03 9.99990768e-01 2.00131978e-04 5.36973005e+01] [-2.04248350e-03 -1.91366481e-04 9.99997896e-01 -2.36946832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.711400513 meters 0.09690530998990048 Centerline is valid? [True, True] Translation: X:489.77, Y:53.72, Z:-2.37 [[ 9.99995572e-01 -2.51695495e-03 1.58802181e-03 4.89772839e+02] [ 2.51671101e-03 9.99996821e-01 1.55590783e-04 5.37163975e+01] [-1.58840838e-03 -1.51593502e-04 9.99998727e-01 -2.37106940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74140051300003 meters 0.09450127439985659 Centerline is valid? [True, True] Translation: X:489.80, Y:53.72, Z:-2.37 [[ 9.99996550e-01 -2.20416227e-03 1.42890262e-03 4.89804236e+02] [ 2.20396429e-03 9.99997561e-01 1.40114346e-04 5.37217839e+01] [-1.42920797e-03 -1.36964612e-04 9.99998969e-01 -2.37089848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.771400513 meters 0.10231081577118885 Centerline is valid? [True, False] Translation: X:489.81, Y:53.73, Z:-2.38 [[ 9.99999934e-01 -4.73177185e-05 3.59991362e-04 4.89810928e+02] [ 4.66452806e-05 9.99998255e-01 1.86770703e-03 5.37260970e+01] [-3.60079110e-04 -1.86769011e-03 9.99998191e-01 -2.37549754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.801400513 meters 0.09111948144725082 Centerline is valid? [False, True] Translation: X:489.79, Y:53.74, Z:-2.37 [[ 9.99993224e-01 6.04905526e-04 -3.63121152e-03 4.89788857e+02] [-6.36624204e-04 9.99961601e-01 -8.74022147e-03 5.37353989e+01] [ 3.62578507e-03 8.74247397e-03 9.99955210e-01 -2.37043170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.831400513 meters 0.10140281380354382 Centerline is valid? [True, False] Translation: X:489.81, Y:53.74, Z:-2.37 [[ 9.99989576e-01 -1.70866564e-03 -4.23429132e-03 4.89812901e+02] [ 1.70642952e-03 9.99998403e-01 -5.31653842e-04 5.37364005e+01] [ 4.23519297e-03 5.24422781e-04 9.99990894e-01 -2.37092201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.861400513 meters 0.09477221525919766 Centerline is valid? [False, True] Translation: X:489.81, Y:53.74, Z:-2.37 [[ 9.99988896e-01 -1.87675171e-03 -4.32280718e-03 4.89813195e+02] [ 1.87256150e-03 9.99997773e-01 -9.73170467e-04 5.37383689e+01] [ 4.32462395e-03 9.65064938e-04 9.99990183e-01 -2.37098822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.891400513 meters 0.09008538139319108 Centerline is valid? [True, True] Translation: X:489.84, Y:53.74, Z:-2.37 [[ 9.99952630e-01 -8.60587480e-03 -4.54724256e-03 4.89842614e+02] [ 8.60411209e-03 9.99962901e-01 -4.07064840e-04 5.37400074e+01] [ 4.55057701e-03 3.67920573e-04 9.99989578e-01 -2.37152151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.921400513 meters 0.0880436039431187 Centerline is valid? [True, True] Translation: X:489.87, Y:53.74, Z:-2.37 [[ 9.99924567e-01 -1.17424882e-02 -3.60189876e-03 4.89871573e+02] [ 1.17414023e-02 9.99931015e-01 -3.22496706e-04 5.37436762e+01] [ 3.60543720e-03 2.80181037e-04 9.99993461e-01 -2.37014808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.951400513 meters 0.07769616060161653 Centerline is valid? [True, True] Translation: X:489.90, Y:53.74, Z:-2.37 [[ 9.99881493e-01 -1.50318273e-02 -3.32320054e-03 4.89901983e+02] [ 1.50309207e-02 9.99886985e-01 -2.97604318e-04 5.37365953e+01] [ 3.32729851e-03 2.47618286e-04 9.99994434e-01 -2.36884637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.981400513 meters 0.07164743584398554 Centerline is valid? [True, True] Translation: X:489.93, Y:53.73, Z:-2.37 [[ 9.99827150e-01 -1.82952214e-02 -3.30990947e-03 4.89932462e+02] [ 1.82943396e-02 9.99832601e-01 -2.96472819e-04 5.37333931e+01] [ 3.31477943e-03 2.35868966e-04 9.99994478e-01 -2.36911418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.011400513 meters 0.07028109570511111 Centerline is valid? [True, True] Translation: X:489.96, Y:53.73, Z:-2.37 [[ 9.99759161e-01 -2.16352870e-02 -3.67897706e-03 4.89961803e+02] [ 2.16342200e-02 9.99765899e-01 -3.29584731e-04 5.37341852e+01] [ 3.68524646e-03 2.49913556e-04 9.99993178e-01 -2.37015231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.041400513 meters 0.07594134031898815 Centerline is valid? [True, True] Translation: X:489.99, Y:53.74, Z:-2.37 [[ 9.99683444e-01 -2.48378248e-02 -4.01180794e-03 4.89990407e+02] [ 2.48365814e-02 9.99691460e-01 -3.59457483e-04 5.37421632e+01] [ 4.01949828e-03 2.59704099e-04 9.99991888e-01 -2.37196032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.071400513 meters 0.06327804968888731 Centerline is valid? [True, True] Translation: X:490.02, Y:53.73, Z:-2.37 [[ 9.99497574e-01 -3.12609922e-02 -5.22971565e-03 4.90022138e+02] [ 3.12589667e-02 9.99511209e-01 -4.68618663e-04 5.37253886e+01] [ 5.24180889e-03 3.04907710e-04 9.99986215e-01 -2.37351001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.101400513 meters 0.06018608336264678 Centerline is valid? [True, True] Translation: X:490.05, Y:53.72, Z:-2.37 [[ 9.99418352e-01 -3.36189702e-02 -5.72035218e-03 4.90052210e+02] [ 3.36165846e-02 9.99434671e-01 -5.12707899e-04 5.37220942e+01] [ 5.73435501e-03 3.20110980e-04 9.99983507e-01 -2.37380838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.131400513 meters 0.06011954095549443 Centerline is valid? [True, True] Translation: X:490.08, Y:53.72, Z:-2.37 [[ 9.99369802e-01 -3.49535405e-02 -6.18452179e-03 4.90081423e+02] [ 3.49507757e-02 9.99388881e-01 -5.54587756e-04 5.37213277e+01] [ 6.20012712e-03 3.38084422e-04 9.99980722e-01 -2.37466077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.161400513 meters 0.06273353333140687 Centerline is valid? [True, True] Translation: X:490.11, Y:53.72, Z:-2.37 [[ 9.99374648e-01 -3.48208725e-02 -6.14985483e-03 4.90109176e+02] [ 3.48181340e-02 9.99393513e-01 -5.51830509e-04 5.37234881e+01] [ 6.16534024e-03 3.37358951e-04 9.99980937e-01 -2.37453416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.191400513 meters 0.06234438154603082 Centerline is valid? [True, True] Translation: X:490.14, Y:53.72, Z:-2.37 [[ 9.99405020e-01 -3.39218207e-02 -6.23828454e-03 4.90137928e+02] [ 3.39189831e-02 9.99424429e-01 -5.60130735e-04 5.37189453e+01] [ 6.25369462e-03 3.48201200e-04 9.99980385e-01 -2.37431701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.221400513 meters 0.0653685045511213 Centerline is valid? [True, True] Translation: X:490.17, Y:53.72, Z:-2.37 [[ 9.99556473e-01 -2.92260884e-02 -5.71783427e-03 4.90167474e+02] [ 2.92236275e-02 9.99572767e-01 -5.13484811e-04 5.37232198e+01] [ 5.73039858e-03 3.46161207e-04 9.99983521e-01 -2.37367886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.251400513 meters 0.07141451758273722 Centerline is valid? [True, True] Translation: X:490.20, Y:53.73, Z:-2.37 [[ 9.99628959e-01 -2.66110487e-02 -5.81342780e-03 4.90195797e+02] [ 2.66084602e-02 9.99645796e-01 -5.22167674e-04 5.37319420e+01] [ 5.82526409e-03 3.67287566e-04 9.99982966e-01 -2.37459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.281400513 meters 0.06897881984443133 Centerline is valid? [True, True] Translation: X:490.23, Y:53.73, Z:-2.37 [[ 9.99695892e-01 -2.39783722e-02 -5.75852757e-03 4.90226220e+02] [ 2.39757886e-02 9.99712406e-01 -5.17268015e-04 5.37293888e+01] [ 5.76927470e-03 3.79045470e-04 9.99983286e-01 -2.37454514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.311400513 meters 0.0666505991761531 Centerline is valid? [True, True] Translation: X:490.26, Y:53.73, Z:-2.37 [[ 9.99748150e-01 -2.17460860e-02 -5.54479187e-03 4.90256835e+02] [ 2.17436562e-02 9.99763455e-01 -4.98131301e-04 5.37266207e+01] [ 5.55431269e-03 3.77441798e-04 9.99984503e-01 -2.37400342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.341400513 meters 0.07557686347726293 Centerline is valid? [True, True] Translation: X:490.29, Y:53.74, Z:-2.37 [[ 9.99816232e-01 -1.85866026e-02 -4.69483033e-03 4.90285020e+02] [ 1.85848265e-02 9.99827198e-01 -4.21653715e-04 5.37362813e+01] [ 4.70185617e-03 3.34323621e-04 9.99988890e-01 -2.37318660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.371400513 meters 0.07414896768004205 Centerline is valid? [True, True] Translation: X:490.31, Y:53.74, Z:-2.37 [[ 9.99834218e-01 -1.76817979e-02 -4.34632903e-03 4.90314690e+02] [ 1.76802669e-02 9.99843616e-01 -3.90427280e-04 5.37362811e+01] [ 4.35255279e-03 3.13518297e-04 9.99990478e-01 -2.37204904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.401400513 meters 0.08218251306176057 Centerline is valid? [True, True] Translation: X:490.34, Y:53.75, Z:-2.37 [[ 9.99853104e-01 -1.66571941e-02 -4.03847206e-03 4.90342175e+02] [ 1.66558634e-02 9.99861216e-01 -3.62907069e-04 5.37485010e+01] [ 4.04395660e-03 2.95589520e-04 9.99991779e-01 -2.37231463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.431400513 meters 0.07683185454292481 Centerline is valid? [True, True] Translation: X:490.37, Y:53.74, Z:-2.37 [[ 9.99868595e-01 -1.56075219e-02 -4.38163047e-03 4.90372146e+02] [ 1.56059450e-02 9.99878142e-01 -3.93854618e-04 5.37444120e+01] [ 4.38724362e-03 3.25423379e-04 9.99990323e-01 -2.37217340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4614005130001 meters 0.0852486557210371 Centerline is valid? [True, True] Translation: X:490.40, Y:53.76, Z:-2.37 [[ 9.99887711e-01 -1.43383540e-02 -4.35625198e-03 4.90398982e+02] [ 1.43367825e-02 9.99897146e-01 -3.91762786e-04 5.37579174e+01] [ 4.36142116e-03 3.29264159e-04 9.99990435e-01 -2.37292701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.491400513 meters 0.08127336588802886 Centerline is valid? [True, True] Translation: X:490.43, Y:53.76, Z:-2.37 [[ 9.99928616e-01 -1.15947243e-02 -2.88526628e-03 4.90429737e+02] [ 1.15940235e-02 9.99932753e-01 -2.59492668e-04 5.37576467e+01] [ 2.88808100e-03 2.26022300e-04 9.99995804e-01 -2.37042436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.521400513 meters 0.07977162789628689 Centerline is valid? [True, True] Translation: X:490.46, Y:53.76, Z:-2.37 [[ 9.99941916e-01 -1.05018152e-02 -2.42404105e-03 4.90459603e+02] [ 1.05013172e-02 9.99944836e-01 -2.18055209e-04 5.37590369e+01] [ 2.42619731e-03 1.92586919e-04 9.99997038e-01 -2.36919946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.551400513 meters 0.09046682528186241 Centerline is valid? [True, True] Translation: X:490.49, Y:53.77, Z:-2.37 [[ 9.99947268e-01 -9.90517534e-03 -2.71100812e-03 4.90487666e+02] [ 9.90455024e-03 9.99950919e-01 -2.43909323e-04 5.37744775e+01] [ 2.71329102e-03 2.17045145e-04 9.99996295e-01 -2.36984493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.581400513 meters 0.07919062391402762 Centerline is valid? [True, True] Translation: X:490.52, Y:53.76, Z:-2.37 [[ 9.99946305e-01 -9.77782171e-03 -3.43224916e-03 4.90518182e+02] [ 9.77681875e-03 9.99952158e-01 -3.08875345e-04 5.37621251e+01] [ 3.43510508e-03 2.75302282e-04 9.99994062e-01 -2.37021011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.611400513 meters 0.08000279377760026 Centerline is valid? [True, True] Translation: X:490.55, Y:53.76, Z:-2.37 [[ 9.99942041e-01 -1.00906797e-02 -3.75400254e-03 4.90546881e+02] [ 1.00894815e-02 9.99949043e-01 -3.37981252e-04 5.37647076e+01] [ 3.75722170e-03 3.00085724e-04 9.99992897e-01 -2.37033825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.641400513 meters 0.08267404731376268 Centerline is valid? [True, True] Translation: X:490.57, Y:53.77, Z:-2.37 [[ 9.99937170e-01 -1.06899992e-02 -3.37344785e-03 4.90574890e+02] [ 1.06890334e-02 9.99942824e-01 -3.04198918e-04 5.37698747e+01] [ 3.37650686e-03 2.68120908e-04 9.99994264e-01 -2.37032734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.671400513 meters 0.08424660174756113 Centerline is valid? [True, True] Translation: X:490.60, Y:53.77, Z:-2.37 [[ 9.99930425e-01 -1.16413506e-02 -1.90365130e-03 4.90603727e+02] [ 1.16410446e-02 9.99932226e-01 -1.71743337e-04 5.37740329e+01] [ 1.90552161e-03 1.49570898e-04 9.99998173e-01 -2.36868720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.701400513 meters 0.0795281690299302 Centerline is valid? [True, True] Translation: X:490.63, Y:53.77, Z:-2.37 [[ 9.99930782e-01 -1.15849435e-02 -2.05442085e-03 4.90633604e+02] [ 1.15845869e-02 9.99932879e-01 -1.85394662e-04 5.37695054e+01] [ 2.05643074e-03 1.61582213e-04 9.99997872e-01 -2.36901216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.731400513 meters 0.08309375980638527 Centerline is valid? [True, True] Translation: X:490.66, Y:53.78, Z:-2.37 [[ 9.99938669e-01 -1.07717680e-02 -2.57436754e-03 4.90662701e+02] [ 1.07712053e-02 9.99941962e-01 -2.32355993e-04 5.37764584e+01] [ 2.57672102e-03 2.04612701e-04 9.99996659e-01 -2.36980005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.761400513 meters 0.08269174413594309 Centerline is valid? [True, True] Translation: X:490.69, Y:53.78, Z:-2.37 [[ 9.99941009e-01 -1.01501739e-02 -3.86685057e-03 4.90692671e+02] [ 1.01488993e-02 9.99948438e-01 -3.49098980e-04 5.37775508e+01] [ 3.87019461e-03 3.09834109e-04 9.99992463e-01 -2.37157596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.791400513 meters 0.08710274246374478 Centerline is valid? [True, True] Translation: X:490.72, Y:53.78, Z:-2.37 [[ 9.99941884e-01 -9.60309994e-03 -4.89998764e-03 4.90719958e+02] [ 9.60104545e-03 9.99953811e-01 -4.42636187e-04 5.37839934e+01] [ 4.90401199e-03 3.95565459e-04 9.99987897e-01 -2.37348387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.821400513 meters 0.0913233822300278 Centerline is valid? [True, True] Translation: X:490.75, Y:53.79, Z:-2.37 [[ 9.99942472e-01 -9.19756499e-03 -5.51877592e-03 4.90746853e+02] [ 9.19495064e-03 9.99957601e-01 -4.98905011e-04 5.37896049e+01] [ 5.52313064e-03 4.48131438e-04 9.99984647e-01 -2.37412714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.851400513 meters 0.08280379321417196 Centerline is valid? [True, True] Translation: X:490.78, Y:53.78, Z:-2.37 [[ 9.99959617e-01 -7.82433982e-03 -4.42076966e-03 4.90778517e+02] [ 7.82264883e-03 9.99969323e-01 -3.99674185e-04 5.37783027e+01] [ 4.42376123e-03 3.65075917e-04 9.99990148e-01 -2.37093430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.881400513 meters 0.08533264558486547 Centerline is valid? [True, True] Translation: X:490.81, Y:53.78, Z:-2.37 [[ 9.99968254e-01 -6.79698438e-03 -4.15842831e-03 4.90806300e+02] [ 6.79547847e-03 9.99976840e-01 -3.76157167e-04 5.37831573e+01] [ 4.16088874e-03 3.47886715e-04 9.99991283e-01 -2.37003854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.911400513 meters 0.09246199522666637 Centerline is valid? [True, True] Translation: X:490.83, Y:53.79, Z:-2.37 [[ 9.99976405e-01 -5.65577096e-03 -3.89887508e-03 4.90833555e+02] [ 5.65443771e-03 9.99983951e-01 -3.52895942e-04 5.37939898e+01] [ 3.90080841e-03 3.30841669e-04 9.99992337e-01 -2.37041001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.941400513 meters 0.0929943295261697 Centerline is valid? [True, True] Translation: X:490.86, Y:53.80, Z:-2.37 [[ 9.99981696e-01 -4.36766503e-03 -4.18707796e-03 4.90863172e+02] [ 4.36611586e-03 9.99990397e-01 -3.79056446e-04 5.37971143e+01] [ 4.18869334e-03 3.60768241e-04 9.99991162e-01 -2.37096128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.971400513 meters 0.08782505270202136 Centerline is valid? [True, True] Translation: X:490.89, Y:53.79, Z:-2.37 [[ 9.99985022e-01 -3.01235744e-03 -4.56969351e-03 4.90893707e+02] [ 3.01049789e-03 9.99995383e-01 -4.13755276e-04 5.37932868e+01] [ 4.57091879e-03 3.99992026e-04 9.99989473e-01 -2.37108039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.001400513 meters 0.09431775038916106 Centerline is valid? [True, True] Translation: X:490.92, Y:53.80, Z:-2.37 [[ 9.99987738e-01 -1.69041564e-03 -4.65480747e-03 4.90921995e+02] [ 1.68847179e-03 9.99998486e-01 -4.21498304e-04 5.38044501e+01] [ 4.65551293e-03 4.13633625e-04 9.99989077e-01 -2.37163473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.031400513 meters 0.09078156065679975 Centerline is valid? [True, True] Translation: X:490.95, Y:53.81, Z:-2.37 [[ 9.99988929e-01 3.81327817e-04 -4.69013036e-03 4.90952310e+02] [-3.83323923e-04 9.99999836e-01 -4.24705631e-04 5.38051008e+01] [ 4.68996764e-03 4.26498768e-04 9.99988911e-01 -2.37053602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.061400513 meters 0.08892246204918462 Centerline is valid? [True, True] Translation: X:490.98, Y:53.81, Z:-2.37 [[ 9.99987696e-01 4.48723163e-04 -4.94035202e-03 4.90980762e+02] [-4.50939768e-04 9.99999798e-01 -4.47568814e-04 5.38057077e+01] [ 4.94015019e-03 4.49791108e-04 9.99987696e-01 -2.37073817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.091400513 meters 0.0879578510504759 Centerline is valid? [True, True] Translation: X:491.01, Y:53.81, Z:-2.37 [[ 9.99984333e-01 -8.52806718e-04 -5.53229519e-03 4.91010602e+02] [ 8.50045269e-04 9.99999513e-01 -5.01482961e-04 5.38071107e+01] [ 5.53272017e-03 4.96772403e-04 9.99984571e-01 -2.37150050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.121400513 meters 0.08486319398697725 Centerline is valid? [True, True] Translation: X:491.04, Y:53.81, Z:-2.37 [[ 9.99978065e-01 -3.22260213e-03 -5.78663915e-03 4.91041334e+02] [ 3.21962005e-03 9.99994679e-01 -5.24580360e-04 5.38060728e+01] [ 5.78829887e-03 5.05938074e-04 9.99983120e-01 -2.37204303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.151400513 meters 0.08306603752892024 Centerline is valid? [True, True] Translation: X:491.07, Y:53.81, Z:-2.37 [[ 9.99963090e-01 -6.74910843e-03 -5.31681199e-03 4.91071908e+02] [ 6.74664035e-03 9.99977125e-01 -4.82001869e-04 5.38070710e+01] [ 5.31994345e-03 4.46113460e-04 9.99985749e-01 -2.37168658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.181400513 meters 0.07874891897332034 Centerline is valid? [True, True] Translation: X:491.10, Y:53.80, Z:-2.37 [[ 9.99929884e-01 -1.11260762e-02 -4.05439483e-03 4.91102692e+02] [ 1.11246767e-02 9.99938051e-01 -3.67565901e-04 5.38040195e+01] [ 4.05823323e-03 3.22436297e-04 9.99991713e-01 -2.37013124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2114005130001 meters 0.07968134265034167 Centerline is valid? [True, True] Translation: X:491.13, Y:53.80, Z:-2.37 [[ 9.99805892e-01 -1.96167038e-02 -1.83377560e-03 4.91132567e+02] [ 1.96164317e-02 9.99807565e-01 -1.66249158e-04 5.38044408e+01] [ 1.83668398e-03 1.30244754e-04 9.99998305e-01 -2.36644454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.241400513 meters 0.06886354528391478 Centerline is valid? [True, True] Translation: X:491.16, Y:53.79, Z:-2.36 [[ 9.99738211e-01 -2.28399789e-02 -1.35795572e-03 4.91164779e+02] [ 2.28398326e-02 9.99739129e-01 -1.23114300e-04 5.37923228e+01] [ 1.36041340e-03 9.20665888e-05 9.99999070e-01 -2.36492105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.271400513 meters 0.06940262654660873 Centerline is valid? [True, True] Translation: X:491.19, Y:53.80, Z:-2.36 [[ 9.99682133e-01 -2.51953898e-02 -9.08433518e-04 4.91193885e+02] [ 2.51953253e-02 9.99682544e-01 -8.23469393e-05 5.37954243e+01] [ 9.10219894e-04 5.94324859e-05 9.99999584e-01 -2.36422541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.301400513 meters 0.06858923821603868 Centerline is valid? [True, True] Translation: X:491.22, Y:53.80, Z:-2.36 [[ 9.99645458e-01 -2.66135605e-02 -8.22258262e-04 4.91224371e+02] [ 2.66135082e-02 9.99645795e-01 -7.45145001e-05 5.37973656e+01] [ 8.23950110e-04 5.26049046e-05 9.99999659e-01 -2.36455034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.331400513 meters 0.0681532307334138 Centerline is valid? [True, True] Translation: X:491.25, Y:53.80, Z:-2.37 [[ 9.99635055e-01 -2.69935218e-02 -1.05150118e-03 4.91254774e+02] [ 2.69934365e-02 9.99635606e-01 -9.52888993e-05 5.37985346e+01] [ 1.05369020e-03 6.68704939e-05 9.99999443e-01 -2.36514027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.361400513 meters 0.0681532307334138 Centerline is valid? [True, True] Translation: X:491.28, Y:53.80, Z:-2.37 [[ 9.99634434e-01 -2.70165215e-02 -1.05150016e-03 4.91283872e+02] [ 2.70164361e-02 9.99634985e-01 -9.53001357e-05 5.38012132e+01] [ 1.05369103e-03 6.68575102e-05 9.99999443e-01 -2.36512375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.391400513 meters 0.06769579200652563 Centerline is valid? [True, True] Translation: X:491.31, Y:53.80, Z:-2.37 [[ 9.99637822e-01 -2.68660255e-02 -1.56265901e-03 4.91314891e+02] [ 2.68658368e-02 9.99639038e-01 -1.41647177e-04 5.37979031e+01] [ 1.56590045e-03 9.96137331e-05 9.99998769e-01 -2.36633297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.421400513 meters 0.07392933918207903 Centerline is valid? [True, True] Translation: X:491.34, Y:53.81, Z:-2.37 [[ 9.99703596e-01 -2.42385552e-02 -2.28290482e-03 4.91343090e+02] [ 2.42381455e-02 9.99706192e-01 -2.06959940e-04 5.38069155e+01] [ 2.28725050e-03 1.51565217e-04 9.99997373e-01 -2.36726757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.451400513 meters 0.07113441585818235 Centerline is valid? [True, True] Translation: X:491.37, Y:53.80, Z:-2.37 [[ 9.99721228e-01 -2.34030191e-02 -3.12474237e-03 4.91373095e+02] [ 2.34022473e-02 9.99726090e-01 -2.83350218e-04 5.38031121e+01] [ 3.13051772e-03 2.10145235e-04 9.99995078e-01 -2.36919050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.481400513 meters 0.0766508081409354 Centerline is valid? [True, True] Translation: X:491.40, Y:53.81, Z:-2.37 [[ 9.99734269e-01 -2.28297429e-02 -3.19281674e-03 4.91400881e+02] [ 2.28289337e-02 9.99739344e-01 -2.89663285e-04 5.38135251e+01] [ 3.19859745e-03 2.16697711e-04 9.99994861e-01 -2.36982104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.511400513 meters 0.07424332811388384 Centerline is valid? [True, True] Translation: X:491.43, Y:53.81, Z:-2.37 [[ 9.99717736e-01 -2.35807807e-02 -2.89750275e-03 4.91430483e+02] [ 2.35801163e-02 9.99721916e-01 -2.63239842e-04 5.38107423e+01] [ 2.90290440e-03 1.94842087e-04 9.99995768e-01 -2.36899029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.541400513 meters 0.0666434688620265 Centerline is valid? [True, True] Translation: X:491.46, Y:53.80, Z:-2.37 [[ 9.99683023e-01 -2.51104197e-02 -1.82214360e-03 4.91461913e+02] [ 2.51101593e-02 9.99684677e-01 -1.65636526e-04 5.38002159e+01] [ 1.82572824e-03 1.19829707e-04 9.99998326e-01 -2.36619304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.571400513 meters 0.06718168280826642 Centerline is valid? [True, True] Translation: X:491.49, Y:53.80, Z:-2.36 [[ 9.99646664e-01 -2.65667371e-02 -8.69183295e-04 4.91490686e+02] [ 2.65666784e-02 9.99647040e-01 -7.90301964e-05 5.37998455e+01] [ 8.70976083e-04 5.59109591e-05 9.99999619e-01 -2.36401087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.601400513 meters 0.06629282209091544 Centerline is valid? [True, True] Translation: X:491.52, Y:53.80, Z:-2.36 [[ 9.99637692e-01 -2.68856256e-02 -1.28375129e-03 4.91522141e+02] [ 2.68854977e-02 9.99638513e-01 -1.16754059e-04 5.37951181e+01] [ 1.28642624e-03 8.21974656e-05 9.99999169e-01 -2.36453803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.631400513 meters 0.06940733123629637 Centerline is valid? [True, True] Translation: X:491.55, Y:53.80, Z:-2.37 [[ 9.99668642e-01 -2.56962330e-02 -1.51982938e-03 4.91550573e+02] [ 2.56960523e-02 9.99669792e-01 -1.38274586e-04 5.37977975e+01] [ 1.52288066e-03 9.91751528e-05 9.99998835e-01 -2.36614397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.661400513 meters 0.06606079915544452 Centerline is valid? [True, True] Translation: X:491.58, Y:53.79, Z:-2.37 [[ 9.99708271e-01 -2.40524288e-02 -2.20286603e-03 4.91581339e+02] [ 2.40520452e-02 9.99710688e-01 -2.00479417e-04 5.37920160e+01] [ 2.20705073e-03 1.47437498e-04 9.99997554e-01 -2.36733800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.691400513 meters 0.06923163521401647 Centerline is valid? [True, True] Translation: X:491.61, Y:53.79, Z:-2.37 [[ 9.99752977e-01 -2.20574483e-02 -2.73008820e-03 4.91611155e+02] [ 2.20568515e-02 9.99756687e-01 -2.48506244e-04 5.37939051e+01] [ 2.73490535e-03 1.88227708e-04 9.99996242e-01 -2.36801633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.721400513 meters 0.07582497364768312 Centerline is valid? [True, True] Translation: X:491.64, Y:53.80, Z:-2.37 [[ 9.99797200e-01 -1.99105486e-02 -3.02146560e-03 4.91640121e+02] [ 1.99098077e-02 9.99801742e-01 -2.75077646e-04 5.38007129e+01] [ 3.02634351e-03 2.14865061e-04 9.99995398e-01 -2.36769153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.751400513 meters 0.07478761202686987 Centerline is valid? [True, True] Translation: X:491.67, Y:53.80, Z:-2.37 [[ 9.99835185e-01 -1.78932489e-02 -3.07140889e-03 4.91670602e+02] [ 1.78924737e-02 9.99839878e-01 -2.79662491e-04 5.37983393e+01] [ 3.07592116e-03 2.24661295e-04 9.99995244e-01 -2.36723313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.781400513 meters 0.07795197855344448 Centerline is valid? [True, True] Translation: X:491.70, Y:53.80, Z:-2.37 [[ 9.99882698e-01 -1.49334266e-02 -3.40352834e-03 4.91701854e+02] [ 1.49324577e-02 9.99888457e-01 -3.09909541e-04 5.37955563e+01] [ 3.40777671e-03 2.59050145e-04 9.99994160e-01 -2.36823687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.811400513 meters 0.08496261018124815 Centerline is valid? [True, True] Translation: X:491.73, Y:53.80, Z:-2.37 [[ 9.99891454e-01 -1.42607970e-02 -3.70277146e-03 4.91729564e+02] [ 1.42596451e-02 9.99898269e-01 -3.37310434e-04 5.38018797e+01] [ 3.70720509e-03 2.84473613e-04 9.99993088e-01 -2.36980468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.841400513 meters 0.07713158730608748 Centerline is valid? [True, True] Translation: X:491.76, Y:53.79, Z:-2.37 [[ 9.99898811e-01 -1.37582843e-02 -3.61621934e-03 4.91759429e+02] [ 1.37571816e-02 9.99905311e-01 -3.29629818e-04 5.37854931e+01] [ 3.62041206e-03 2.79847478e-04 9.99993407e-01 -2.37035073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.871400513 meters 0.08223235020205455 Centerline is valid? [True, True] Translation: X:491.79, Y:53.79, Z:-2.37 [[ 9.99904165e-01 -1.35669648e-02 -2.75636020e-03 4.91786740e+02] [ 1.35663231e-02 9.99907942e-01 -2.51402315e-04 5.37898304e+01] [ 2.75951722e-03 2.13984549e-04 9.99996170e-01 -2.36904190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.901400513 meters 0.07936219260825551 Centerline is valid? [True, True] Translation: X:491.82, Y:53.78, Z:-2.37 [[ 9.99909425e-01 -1.33089082e-02 -2.00363536e-03 4.91815703e+02] [ 1.33085682e-02 9.99911420e-01 -1.82894325e-04 5.37838751e+01] [ 2.00589200e-03 1.56212241e-04 9.99997976e-01 -2.36766297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.931400513 meters 0.07977368662335955 Centerline is valid? [True, True] Translation: X:491.84, Y:53.78, Z:-2.37 [[ 9.99913747e-01 -1.30117718e-02 -1.78683433e-03 4.91844601e+02] [ 1.30115006e-02 9.99915334e-01 -1.63344036e-04 5.37822657e+01] [ 1.78880844e-03 1.40080551e-04 9.99998390e-01 -2.36726977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9614005130001 meters 0.07844395970468886 Centerline is valid? [True, True] Translation: X:491.87, Y:53.78, Z:-2.37 [[ 9.99923122e-01 -1.21590152e-02 -2.43069088e-03 4.91874165e+02] [ 1.21585103e-02 9.99926058e-01 -2.22390670e-04 5.37795788e+01] [ 2.43321520e-03 1.92819993e-04 9.99997021e-01 -2.36816117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.991400513 meters 0.08588060869026885 Centerline is valid? [True, True] Translation: X:491.90, Y:53.79, Z:-2.37 [[ 9.99939066e-01 -1.04706457e-02 -3.49718383e-03 4.91902211e+02] [ 1.04695899e-02 9.99945141e-01 -3.20063356e-04 5.37889263e+01] [ 3.50034324e-03 2.83429773e-04 9.99993834e-01 -2.37038922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.021400513 meters 0.0858371978251311 Centerline is valid? [True, True] Translation: X:491.93, Y:53.79, Z:-2.37 [[ 9.99973123e-01 -5.18303509e-03 -5.18558710e-03 4.91932834e+02] [ 5.18064294e-03 9.99986468e-01 -4.74634238e-04 5.37880738e+01] [ 5.18797697e-03 4.47756806e-04 9.99986442e-01 -2.37383138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.051400513 meters 0.10269985836925094 Centerline is valid? [True, False] Translation: X:491.93, Y:53.79, Z:-2.37 [[ 9.99973786e-01 -5.10134547e-03 -5.13838407e-03 4.91932727e+02] [ 5.10010883e-03 9.99986962e-01 -2.53741263e-04 5.37870863e+01] [ 5.13961150e-03 2.27528294e-04 9.99986766e-01 -2.37391915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.081400513 meters 0.0874182362910402 Centerline is valid? [False, True] Translation: X:491.93, Y:53.79, Z:-2.37 [[ 9.99974611e-01 -4.99231907e-03 -5.08474448e-03 4.91932497e+02] [ 4.99253915e-03 9.99987537e-01 3.05910983e-05 5.37858196e+01] [ 5.08452839e-03 -5.59761075e-05 9.99987072e-01 -2.37377142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.111400513 meters 0.09401692104405229 Centerline is valid? [True, True] Translation: X:491.96, Y:53.80, Z:-2.37 [[ 9.99976358e-01 -4.78965081e-03 -4.93381213e-03 4.91959041e+02] [ 4.78738707e-03 9.99988430e-01 -4.70527985e-04 5.37952966e+01] [ 4.93600871e-03 4.46896793e-04 9.99987718e-01 -2.37411884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.141400513 meters 0.08590610854232295 Centerline is valid? [True, True] Translation: X:491.99, Y:53.79, Z:-2.37 [[ 9.99968491e-01 -5.81058345e-03 -5.40870025e-03 4.91989746e+02] [ 5.80787679e-03 9.99983001e-01 -5.15997718e-04 5.37865772e+01] [ 5.41160655e-03 4.84568394e-04 9.99985240e-01 -2.37434591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.171400513 meters 0.08925196301637975 Centerline is valid? [True, True] Translation: X:492.02, Y:53.79, Z:-2.38 [[ 9.99954097e-01 -7.49761461e-03 -5.96565013e-03 4.92018765e+02] [ 7.49435078e-03 9.99971755e-01 -5.69270043e-04 5.37919045e+01] [ 5.96974979e-03 5.24535237e-04 9.99982043e-01 -2.37569231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.201400513 meters 0.08279685929008128 Centerline is valid? [True, True] Translation: X:492.05, Y:53.78, Z:-2.38 [[ 9.99919917e-01 -1.09759604e-02 -6.29983028e-03 4.92050651e+02] [ 1.09723891e-02 9.99939621e-01 -6.01173184e-04 5.37828814e+01] [ 6.30604835e-03 5.32000851e-04 9.99979975e-01 -2.37585751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.231400513 meters 0.08573153985975078 Centerline is valid? [True, True] Translation: X:492.08, Y:53.79, Z:-2.38 [[ 9.99905841e-01 -1.21665989e-02 -6.34683814e-03 4.92078889e+02] [ 1.21629967e-02 9.99925844e-01 -6.05838476e-04 5.37877655e+01] [ 6.35373848e-03 5.28584860e-04 9.99979675e-01 -2.37572747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.261400513 meters 0.08232380501070645 Centerline is valid? [True, True] Translation: X:492.11, Y:53.79, Z:-2.37 [[ 9.99898150e-01 -1.30103004e-02 -5.86694682e-03 4.92108551e+02] [ 1.30072324e-02 9.99915245e-01 -5.60784039e-04 5.37857993e+01] [ 5.87374554e-03 4.84414183e-04 9.99982632e-01 -2.37495823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.291400513 meters 0.0824760270381136 Centerline is valid? [True, True] Translation: X:492.14, Y:53.79, Z:-2.37 [[ 9.99897320e-01 -1.31587988e-02 -5.67406171e-03 4.92137768e+02] [ 1.31559284e-02 9.99913310e-01 -5.42910432e-04 5.37883038e+01] [ 5.68071388e-03 4.68207136e-04 9.99983755e-01 -2.37472054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.321400513 meters 0.08465932970311883 Centerline is valid? [True, True] Translation: X:492.17, Y:53.79, Z:-2.38 [[ 9.99904046e-01 -1.25250979e-02 -5.91788656e-03 4.92166277e+02] [ 1.25219629e-02 9.99921437e-01 -5.66505022e-04 5.37938356e+01] [ 5.92451716e-03 4.92347107e-04 9.99982329e-01 -2.37549386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.351400513 meters 0.08663523052397658 Centerline is valid? [True, True] Translation: X:492.19, Y:53.80, Z:-2.38 [[ 9.99900340e-01 -1.26258336e-02 -6.31651220e-03 4.92193042e+02] [ 1.26222612e-02 9.99920153e-01 -6.05119528e-04 5.37991867e+01] [ 6.32364799e-03 5.25330555e-04 9.99979868e-01 -2.37592899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.381400513 meters 0.09861737320700906 Centerline is valid? [True, True] Translation: X:492.22, Y:53.82, Z:-2.38 [[ 9.99891047e-01 -1.32817910e-02 -6.44113987e-03 4.92219587e+02] [ 1.32780864e-02 9.99911652e-01 -6.17583920e-04 5.38173488e+01] [ 6.44877342e-03 5.31990621e-04 9.99979065e-01 -2.37714074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.411400513 meters 0.08045793785109367 Centerline is valid? [True, True] Translation: X:492.25, Y:53.80, Z:-2.37 [[ 9.99880203e-01 -1.42085099e-02 -6.13988029e-03 4.92251381e+02] [ 1.42051598e-02 9.99898928e-01 -5.88898651e-04 5.37988653e+01] [ 6.14762709e-03 5.01610122e-04 9.99980977e-01 -2.37497189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.441400513 meters 0.09385901644380427 Centerline is valid? [True, True] Translation: X:492.28, Y:53.82, Z:-2.37 [[ 9.99863026e-01 -1.56943440e-02 -5.25508573e-03 4.92278272e+02] [ 1.56919094e-02 9.99876747e-01 -5.04201503e-04 5.38185915e+01] [ 5.26235114e-03 4.21670112e-04 9.99986065e-01 -2.37471252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.471400513 meters 0.08501768367729932 Centerline is valid? [True, True] Translation: X:492.31, Y:53.81, Z:-2.37 [[ 9.99840606e-01 -1.73721556e-02 -4.11962120e-03 4.92309551e+02] [ 1.73706732e-02 9.99849040e-01 -3.95355825e-04 5.38107263e+01] [ 4.12586749e-03 3.23732214e-04 9.99991436e-01 -2.37200725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.501400513 meters 0.08040968990373497 Centerline is valid? [True, True] Translation: X:492.34, Y:53.81, Z:-2.37 [[ 9.99798233e-01 -1.99696622e-02 -2.16930670e-03 4.92340612e+02] [ 1.99692572e-02 9.99800573e-01 -2.08200755e-04 5.38078495e+01] [ 2.17303178e-03 1.64839304e-04 9.99997625e-01 -2.36871477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.531400513 meters 0.08535818638942963 Centerline is valid? [True, True] Translation: X:492.37, Y:53.82, Z:-2.37 [[ 9.99792893e-01 -2.01858582e-02 -2.58889191e-03 4.92367693e+02] [ 2.01852819e-02 9.99796226e-01 -2.48559514e-04 5.38165802e+01] [ 2.59338175e-03 1.96250523e-04 9.99996618e-01 -2.36914377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.561400513 meters 0.07467958876517752 Centerline is valid? [True, True] Translation: X:492.40, Y:53.81, Z:-2.37 [[ 9.99793913e-01 -2.00064264e-02 -3.44600551e-03 4.92397862e+02] [ 2.00054026e-02 9.99799817e-01 -3.31319521e-04 5.38060956e+01] [ 3.45194420e-03 2.62312513e-04 9.99994008e-01 -2.36993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.591400513 meters 0.07917976004722761 Centerline is valid? [True, True] Translation: X:492.43, Y:53.81, Z:-2.37 [[ 9.99814518e-01 -1.88496890e-02 -3.95201411e-03 4.92425709e+02] [ 1.88483321e-02 9.99822282e-01 -3.80300420e-04 5.38135485e+01] [ 3.95848031e-03 3.05741007e-04 9.99992118e-01 -2.37069687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.621400513 meters 0.09152166957992344 Centerline is valid? [True, True] Translation: X:492.45, Y:53.83, Z:-2.37 [[ 9.99833548e-01 -1.77707115e-02 -4.13256107e-03 4.92452948e+02] [ 1.77692178e-02 9.99842036e-01 -3.97889350e-04 5.38303534e+01] [ 4.13897905e-03 3.24390743e-04 9.99991382e-01 -2.37173436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.651400513 meters 0.08185556616165142 Centerline is valid? [True, True] Translation: X:492.48, Y:53.82, Z:-2.37 [[ 9.99860541e-01 -1.62405742e-02 -3.89129495e-03 4.92483978e+02] [ 1.62392380e-02 9.99868065e-01 -3.74744962e-04 5.38205688e+01] [ 3.89686762e-03 3.11501035e-04 9.99992359e-01 -2.37111863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.681400513 meters 0.08503873158034791 Centerline is valid? [True, True] Translation: X:492.51, Y:53.83, Z:-2.37 [[ 9.99906183e-01 -1.30803639e-02 -4.06550603e-03 4.92514016e+02] [ 1.30788794e-02 9.99914391e-01 -3.91531422e-04 5.38265861e+01] [ 4.07027936e-03 3.38322427e-04 9.99991659e-01 -2.37181356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7114005130001 meters 0.08131408203619588 Centerline is valid? [True, True] Translation: X:492.55, Y:53.82, Z:-2.37 [[ 9.99922857e-01 -1.17290665e-02 -4.08774544e-03 4.92545010e+02] [ 1.17275545e-02 9.99931152e-01 -3.93672096e-04 5.38247368e+01] [ 4.09208142e-03 3.45702470e-04 9.99991568e-01 -2.37160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.741400513 meters 0.08450432502078005 Centerline is valid? [True, True] Translation: X:492.57, Y:53.83, Z:-2.37 [[ 9.99935156e-01 -1.06355638e-02 -4.07046018e-03 4.92573281e+02] [ 1.06340551e-02 9.99943380e-01 -3.92111658e-04 5.38313258e+01] [ 4.07440004e-03 3.48800734e-04 9.99991639e-01 -2.37187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.771400513 meters 0.0859406976947329 Centerline is valid? [True, True] Translation: X:492.60, Y:53.84, Z:-2.37 [[ 9.99943847e-01 -9.71630549e-03 -4.23049762e-03 4.92602060e+02] [ 9.71466703e-03 9.99952728e-01 -4.07674842e-04 5.38364541e+01] [ 4.23425873e-03 3.66554073e-04 9.99990968e-01 -2.37214154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.801400513 meters 0.098506265549892 Centerline is valid? [True, True] Translation: X:492.63, Y:53.86, Z:-2.37 [[ 9.99951357e-01 -8.82601956e-03 -4.40292446e-03 4.92629258e+02] [ 8.82423558e-03 9.99960976e-01 -4.24442592e-04 5.38556704e+01] [ 4.40649878e-03 3.85569503e-04 9.99990217e-01 -2.37286349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.831400513 meters 0.09229893045902539 Centerline is valid? [True, True] Translation: X:492.66, Y:53.85, Z:-2.37 [[ 9.99961379e-01 -7.47505597e-03 -4.62217232e-03 4.92659951e+02] [ 7.47307517e-03 9.99971977e-01 -4.45666595e-04 5.38523362e+01] [ 4.62537417e-03 4.11107542e-04 9.99989218e-01 -2.37327286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.861400513 meters 0.09021811164004276 Centerline is valid? [True, True] Translation: X:492.69, Y:53.85, Z:-2.37 [[ 9.99964317e-01 -6.73367043e-03 -5.10121203e-03 4.92689246e+02] [ 6.73124741e-03 9.99977224e-01 -4.92009400e-04 5.38526525e+01] [ 5.10440887e-03 4.57654324e-04 9.99986868e-01 -2.37403015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.891400513 meters 0.09164405089031624 Centerline is valid? [True, True] Translation: X:492.72, Y:53.86, Z:-2.37 [[ 9.99966180e-01 -6.00783200e-03 -5.61642809e-03 4.92718650e+02] [ 6.00488266e-03 9.99981824e-01 -5.41844409e-04 5.38575808e+01] [ 5.61958131e-03 5.08100092e-04 9.99984081e-01 -2.37467373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.921400513 meters 0.09769869250827506 Centerline is valid? [True, True] Translation: X:492.75, Y:53.87, Z:-2.38 [[ 9.99966082e-01 -5.45295169e-03 -6.17247823e-03 4.92746423e+02] [ 5.44937771e-03 9.99984975e-01 -5.95688619e-04 5.38689768e+01] [ 6.17563375e-03 5.62032249e-04 9.99980773e-01 -2.37610051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.951400513 meters 0.09432234732356713 Centerline is valid? [True, True] Translation: X:492.78, Y:53.87, Z:-2.38 [[ 9.99963997e-01 -4.76401247e-03 -7.02202217e-03 4.92776203e+02] [ 4.75936888e-03 9.99988444e-01 -6.77851112e-04 5.38674851e+01] [ 7.02517032e-03 6.44406313e-04 9.99975116e-01 -2.37627425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.981400513 meters 0.09684420525155213 Centerline is valid? [True, True] Translation: X:492.80, Y:53.88, Z:-2.38 [[ 9.99967744e-01 -3.78263012e-03 -7.08535242e-03 4.92803543e+02] [ 3.77787588e-03 9.99992630e-01 -6.84259622e-04 5.38770800e+01] [ 7.08788850e-03 6.57469969e-04 9.99974664e-01 -2.37632534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.011400513 meters 0.0994236061276827 Centerline is valid? [True, True] Translation: X:492.83, Y:53.89, Z:-2.38 [[ 9.99975055e-01 -1.09433715e-03 -6.97792079e-03 4.92833253e+02] [ 1.08966083e-03 9.99999179e-01 -6.73925653e-04 5.38865623e+01] [ 6.97865256e-03 6.66305275e-04 9.99975427e-01 -2.37585119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.041400513 meters 0.09181816440066404 Centerline is valid? [True, True] Translation: X:492.86, Y:53.88, Z:-2.37 [[ 9.99977358e-01 -4.67553934e-04 -6.71309921e-03 4.92863581e+02] [ 4.63210970e-04 9.99999682e-01 -6.48479052e-04 5.38823657e+01] [ 6.71340028e-03 6.45354788e-04 9.99977257e-01 -2.37458135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.071400513 meters 0.10266331251078978 Centerline is valid? [True, False] Translation: X:492.88, Y:53.89, Z:-2.38 [[ 9.99998537e-01 1.03199397e-03 -1.36427941e-03 4.92883455e+02] [-1.04622011e-03 9.99944658e-01 -1.04683258e-02 5.38933024e+01] [ 1.35340065e-03 1.04697379e-02 9.99944275e-01 -2.37893827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.101400513 meters 0.11325606941557842 Centerline is valid? [False, False] Translation: X:492.86, Y:53.89, Z:-2.38 [[ 9.99989227e-01 -9.80671390e-04 -4.53708495e-03 4.92863005e+02] [ 9.76942152e-04 9.99999183e-01 -8.24089053e-04 5.38869357e+01] [ 4.53788941e-03 8.19647705e-04 9.99989368e-01 -2.37685715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.131400513 meters 0.09630998949217383 Centerline is valid? [False, True] Translation: X:492.88, Y:53.89, Z:-2.38 [[ 9.99974486e-01 -5.96558805e-03 -3.92934125e-03 4.92883131e+02] [ 5.98328626e-03 9.99971939e-01 4.50786688e-03 5.38869834e+01] [ 3.90233891e-03 -4.53126224e-03 9.99982120e-01 -2.37512589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.161400513 meters 0.08759736971656111 Centerline is valid? [True, True] Translation: X:492.91, Y:53.88, Z:-2.37 [[ 9.99959054e-01 -8.52437821e-03 -3.03734952e-03 4.92913533e+02] [ 8.52351604e-03 9.99963630e-01 -2.96686354e-04 5.38832834e+01] [ 3.03976812e-03 2.70785308e-04 9.99995343e-01 -2.37380945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.191400513 meters 0.08507184385840724 Centerline is valid? [True, True] Translation: X:492.94, Y:53.88, Z:-2.37 [[ 9.99937050e-01 -1.08638309e-02 -2.80599366e-03 4.92944313e+02] [ 1.08631042e-02 9.99940957e-01 -2.74087451e-04 5.38841118e+01] [ 2.80880563e-03 2.43588395e-04 9.99996026e-01 -2.37337158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.221400513 meters 0.09114707728366184 Centerline is valid? [True, True] Translation: X:492.97, Y:53.90, Z:-2.37 [[ 9.99914973e-01 -1.26415389e-02 -3.19957599e-03 4.92972406e+02] [ 1.26406029e-02 9.99920056e-01 -3.12591741e-04 5.38959611e+01] [ 3.20327184e-03 2.72120593e-04 9.99994832e-01 -2.37393018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.251400513 meters 0.09238532870937827 Centerline is valid? [True, True] Translation: X:493.00, Y:53.90, Z:-2.37 [[ 9.99902328e-01 -1.33999314e-02 -3.97205821e-03 4.92999778e+02] [ 1.33984939e-02 9.99910161e-01 -3.88295650e-04 5.39020495e+01] [ 3.97690449e-03 3.35038127e-04 9.99992036e-01 -2.37489288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.281400513 meters 0.09238532870937827 Centerline is valid? [True, True] Translation: X:493.03, Y:53.90, Z:-2.37 [[ 9.99899964e-01 -1.35751484e-02 -3.97198522e-03 4.93027211e+02] [ 1.35737093e-02 9.99907797e-01 -3.89041575e-04 5.39048904e+01] [ 3.97690029e-03 3.35088084e-04 9.99992036e-01 -2.37490436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.311400513 meters 0.08484244196383292 Centerline is valid? [True, True] Translation: X:493.06, Y:53.90, Z:-2.38 [[ 9.99901707e-01 -1.31894880e-02 -4.75533639e-03 4.93056684e+02] [ 1.31874175e-02 9.99912933e-01 -4.66511395e-04 5.38997835e+01] [ 4.76107540e-03 4.03754934e-04 9.99988585e-01 -2.37557484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.341400513 meters 0.09222776920314366 Centerline is valid? [True, True] Translation: X:493.08, Y:53.91, Z:-2.38 [[ 9.99929774e-01 -1.06391724e-02 -5.22067606e-03 4.93084676e+02] [ 1.06366424e-02 9.99943298e-01 -5.12151538e-04 5.39139930e+01] [ 5.22582890e-03 4.56585107e-04 9.99986241e-01 -2.37650734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.371400513 meters 0.10336932132372185 Centerline is valid? [True, False] Translation: X:493.08, Y:53.92, Z:-2.38 [[ 9.99928126e-01 -1.08381679e-02 -5.12613801e-03 4.93084416e+02] [ 1.08328640e-02 9.99940760e-01 -1.06131123e-03 5.39164376e+01] [ 5.13733701e-03 1.00570419e-03 9.99986298e-01 -2.37667205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.401400513 meters 0.0984146999397959 Centerline is valid? [False, True] Translation: X:493.08, Y:53.92, Z:-2.38 [[ 9.99926132e-01 -1.10565039e-02 -5.04816331e-03 4.93084149e+02] [ 1.10482086e-02 9.99937575e-01 -1.66816041e-03 5.39191469e+01] [ 5.06629220e-03 1.61226403e-03 9.99985867e-01 -2.37668304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.431400513 meters 0.10009076294182791 Centerline is valid? [True, False] Translation: X:493.08, Y:53.92, Z:-2.38 [[ 9.99965139e-01 -6.51675394e-03 -5.22041311e-03 4.93084479e+02] [ 6.53358936e-03 9.99973490e-01 3.21438307e-03 5.39167563e+01] [ 5.19932737e-03 -3.24837905e-03 9.99981207e-01 -2.37635918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4614005130001 meters 0.09312996942133261 Centerline is valid? [False, True] Translation: X:493.08, Y:53.92, Z:-2.38 [[ 9.99964202e-01 -6.70798280e-03 -5.15735570e-03 4.93084116e+02] [ 6.72209962e-03 9.99973694e-01 2.72477668e-03 5.39189884e+01] [ 5.13894228e-03 -2.75934739e-03 9.99982988e-01 -2.37606791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.491400513 meters 0.09703122642101057 Centerline is valid? [True, True] Translation: X:493.11, Y:53.93, Z:-2.38 [[ 9.99956989e-01 -7.90871175e-03 -4.84476958e-03 4.93112056e+02] [ 7.90650443e-03 9.99968630e-01 -4.74592684e-04 5.39302309e+01] [ 4.84837102e-03 4.36267079e-04 9.99988151e-01 -2.37596000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.521400513 meters 0.09532025868520093 Centerline is valid? [True, True] Translation: X:493.14, Y:53.93, Z:-2.38 [[ 9.99946747e-01 -9.34445216e-03 -4.38003176e-03 4.93141962e+02] [ 9.34266142e-03 9.99956264e-01 -4.29124841e-04 5.39321324e+01] [ 4.38385013e-03 3.88180835e-04 9.99990316e-01 -2.37530380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.551400513 meters 0.09065321895637146 Centerline is valid? [True, True] Translation: X:493.17, Y:53.93, Z:-2.37 [[ 9.99936454e-01 -1.06587420e-02 -3.67147349e-03 4.93172138e+02] [ 1.06574924e-02 9.99943143e-01 -3.59744426e-04 5.39305876e+01] [ 3.67509916e-03 3.20592864e-04 9.99993195e-01 -2.37404182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.581400513 meters 0.08518435326107343 Centerline is valid? [True, True] Translation: X:493.20, Y:53.93, Z:-2.37 [[ 9.99919066e-01 -1.23785148e-02 -2.93832500e-03 4.93202661e+02] [ 1.23777216e-02 9.99923352e-01 -2.87983891e-04 5.39303635e+01] [ 2.94166460e-03 2.51590815e-04 9.99995642e-01 -2.37285775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.611400513 meters 0.09038960844609296 Centerline is valid? [True, True] Translation: X:493.23, Y:53.94, Z:-2.37 [[ 9.99908430e-01 -1.30452736e-02 -3.59885920e-03 4.93229418e+02] [ 1.30440870e-02 9.99914860e-01 -3.52984407e-04 5.39418015e+01] [ 3.60315758e-03 3.06008252e-04 9.99993462e-01 -2.37443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.641400513 meters 0.08502064884842069 Centerline is valid? [True, True] Translation: X:493.26, Y:53.94, Z:-2.38 [[ 9.99894929e-01 -1.37880449e-02 -4.47439312e-03 4.93258401e+02] [ 1.37862170e-02 9.99904869e-01 -4.39123911e-04 5.39384418e+01] [ 4.48002213e-03 3.77392818e-04 9.99989893e-01 -2.37526196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.671400513 meters 0.08540896733866232 Centerline is valid? [True, True] Translation: X:493.29, Y:53.95, Z:-2.38 [[ 9.99889999e-01 -1.42454342e-02 -4.12997586e-03 4.93285624e+02] [ 1.42438798e-02 9.99898469e-01 -4.05545308e-04 5.39458860e+01] [ 4.13533371e-03 3.46673818e-04 9.99991389e-01 -2.37502041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.701400513 meters 0.0870183519040036 Centerline is valid? [True, True] Translation: X:493.31, Y:53.95, Z:-2.37 [[ 9.99887371e-01 -1.46962964e-02 -3.04383589e-03 4.93313227e+02] [ 1.46954535e-02 9.99891971e-01 -2.99101630e-04 5.39528352e+01] [ 3.04790275e-03 2.54337394e-04 9.99995323e-01 -2.37355206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.731400513 meters 0.08734790881141809 Centerline is valid? [True, True] Translation: X:493.34, Y:53.96, Z:-2.37 [[ 9.99881180e-01 -1.53049482e-02 -1.83949166e-03 4.93342225e+02] [ 1.53046412e-02 9.99882861e-01 -1.80875644e-04 5.39579607e+01] [ 1.84204448e-03 1.52701392e-04 9.99998292e-01 -2.37142447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.761400513 meters 0.08152530709951271 Centerline is valid? [True, True] Translation: X:493.37, Y:53.96, Z:-2.37 [[ 9.99873068e-01 -1.58821032e-02 -1.26747856e-03 4.93372038e+02] [ 1.58819578e-02 9.99873866e-01 -1.24692378e-04 5.39558576e+01] [ 1.26929906e-03 1.04546509e-04 9.99999189e-01 -2.37055610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.791400513 meters 0.07735950955805689 Centerline is valid? [True, True] Translation: X:493.40, Y:53.96, Z:-2.37 [[ 9.99857707e-01 -1.64556425e-02 -3.71169684e-03 4.93402115e+02] [ 1.64543993e-02 9.99864550e-01 -3.65250163e-04 5.39576452e+01] [ 3.71720452e-03 3.04124449e-04 9.99993045e-01 -2.37386313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.821400513 meters 0.07914721591503948 Centerline is valid? [True, True] Translation: X:493.43, Y:53.96, Z:-2.38 [[ 9.99855728e-01 -1.63068430e-02 -4.75490813e-03 4.93429233e+02] [ 1.63047998e-02 9.99866958e-01 -4.68144882e-04 5.39641721e+01] [ 4.76190949e-03 3.90549517e-04 9.99988586e-01 -2.37547787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.851400513 meters 0.08022074670514602 Centerline is valid? [True, True] Translation: X:493.46, Y:53.97, Z:-2.38 [[ 9.99858663e-01 -1.61765925e-02 -4.57955186e-03 4.93457944e+02] [ 1.61746930e-02 9.99869079e-01 -4.51524610e-04 5.39702085e+01] [ 4.58625643e-03 3.77387947e-04 9.99989412e-01 -2.37515959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.881400513 meters 0.0900927684125393 Centerline is valid? [True, True] Translation: X:493.48, Y:53.99, Z:-2.37 [[ 9.99879802e-01 -1.50722963e-02 -3.63429466e-03 4.93484887e+02] [ 1.50710919e-02 9.99886360e-01 -3.58547469e-04 5.39898779e+01] [ 3.63928579e-03 3.03731583e-04 9.99993332e-01 -2.37362613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.911400513 meters 0.09010421782183044 Centerline is valid? [True, True] Translation: X:493.51, Y:54.00, Z:-2.37 [[ 9.99886673e-01 -1.46008363e-02 -3.66847197e-03 4.93513413e+02] [ 1.45996044e-02 9.99893354e-01 -3.62374959e-04 5.39952926e+01] [ 3.67337172e-03 3.08775652e-04 9.99993205e-01 -2.37333159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.941400513 meters 0.08433510315953134 Centerline is valid? [True, True] Translation: X:493.54, Y:53.99, Z:-2.37 [[ 9.99896154e-01 -1.37262291e-02 -4.38995546e-03 4.93543269e+02] [ 1.37244554e-02 9.99905721e-01 -4.33908958e-04 5.39928762e+01] [ 4.39549751e-03 3.73614150e-04 9.99990270e-01 -2.37368815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.971400513 meters 0.0837834149096566 Centerline is valid? [True, True] Translation: X:493.57, Y:54.00, Z:-2.38 [[ 9.99898558e-01 -1.33230079e-02 -5.03692753e-03 4.93571880e+02] [ 1.33206644e-02 9.99911152e-01 -4.98545992e-04 5.39964627e+01] [ 5.04312214e-03 4.31400198e-04 9.99987190e-01 -2.37504449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.001400513 meters 0.08802315841263054 Centerline is valid? [True, True] Translation: X:493.60, Y:54.01, Z:-2.38 [[ 9.99896898e-01 -1.30330760e-02 -6.02765420e-03 4.93598752e+02] [ 1.30297116e-02 9.99914931e-01 -5.97093533e-04 5.40057035e+01] [ 6.03492340e-03 5.18493375e-04 9.99981655e-01 -2.37636536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.031400513 meters 0.08632416953042339 Centerline is valid? [True, True] Translation: X:493.63, Y:54.01, Z:-2.38 [[ 9.99895180e-01 -1.29638909e-02 -6.44713541e-03 4.93627643e+02] [ 1.29600344e-02 9.99915811e-01 -6.39590698e-04 5.40082218e+01] [ 6.45488421e-03 5.55968560e-04 9.99979012e-01 -2.37680099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.061400513 meters 0.09279317675625397 Centerline is valid? [True, True] Translation: X:493.65, Y:54.02, Z:-2.38 [[ 9.99891959e-01 -1.27724791e-02 -7.27553707e-03 4.93653851e+02] [ 1.27675583e-02 9.99918230e-01 -7.22387091e-04 5.40216010e+01] [ 7.28416883e-03 6.29418200e-04 9.99973272e-01 -2.37881518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.091400513 meters 0.08472921741778199 Centerline is valid? [True, True] Translation: X:493.68, Y:54.02, Z:-2.38 [[ 9.99878967e-01 -1.35348414e-02 -7.67198921e-03 4.93683013e+02] [ 1.35293834e-02 9.99908183e-01 -7.62877517e-04 5.40158621e+01] [ 7.68161021e-03 6.58987900e-04 9.99970279e-01 -2.37838465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.121400513 meters 0.09215643724824052 Centerline is valid? [True, True] Translation: X:493.71, Y:54.03, Z:-2.38 [[ 9.99867822e-01 -1.45994558e-02 -7.15504193e-03 4.93710378e+02] [ 1.45947331e-02 9.99893238e-01 -7.11834022e-04 5.40297626e+01] [ 7.16467043e-03 6.07314006e-04 9.99974149e-01 -2.37855898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.151400513 meters 0.09226627972735736 Centerline is valid? [True, True] Translation: X:493.74, Y:54.03, Z:-2.38 [[ 9.99854167e-01 -1.59612871e-02 -6.07300238e-03 4.93738891e+02] [ 1.59579088e-02 9.99872482e-01 -6.04327626e-04 5.40346927e+01] [ 6.08187381e-03 5.07327077e-04 9.99981377e-01 -2.37672606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.181400513 meters 0.09451040022561757 Centerline is valid? [True, True] Translation: X:493.77, Y:54.04, Z:-2.37 [[ 9.99844508e-01 -1.70603442e-02 -4.46151119e-03 4.93766839e+02] [ 1.70585314e-02 9.99854394e-01 -4.44061388e-04 5.40416256e+01] [ 4.46843741e-03 3.67885511e-04 9.99989949e-01 -2.37426885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2114005130001 meters 0.08146380672994882 Centerline is valid? [True, True] Translation: X:493.80, Y:54.03, Z:-2.37 [[ 9.99827246e-01 -1.82285899e-02 -3.63263451e-03 4.93798111e+02] [ 1.82273956e-02 9.99833802e-01 -3.61610753e-04 5.40292677e+01] [ 3.63862243e-03 2.95334817e-04 9.99993337e-01 -2.37241496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.241400513 meters 0.08211197026602876 Centerline is valid? [True, True] Translation: X:493.83, Y:54.03, Z:-2.37 [[ 9.99778542e-01 -2.06873166e-02 -3.86038796e-03 4.93827834e+02] [ 2.06859860e-02 9.99785948e-01 -3.84300388e-04 5.40330492e+01] [ 3.86751178e-03 3.04359351e-04 9.99992475e-01 -2.37273075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.271400513 meters 0.08052150755066541 Centerline is valid? [True, True] Translation: X:493.86, Y:54.04, Z:-2.37 [[ 9.99751407e-01 -2.18690216e-02 -4.34387081e-03 4.93857217e+02] [ 2.18673476e-02 9.99760787e-01 -4.32510092e-04 5.40351096e+01] [ 4.35229027e-03 3.37413641e-04 9.99990472e-01 -2.37337563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.301400513 meters 0.08110229806048093 Centerline is valid? [True, True] Translation: X:493.89, Y:54.04, Z:-2.37 [[ 9.99724013e-01 -2.30727851e-02 -4.42099889e-03 4.93886031e+02] [ 2.30710623e-02 9.99733731e-01 -4.40291217e-04 5.40402842e+01] [ 4.42998045e-03 3.38172562e-04 9.99990130e-01 -2.37336047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.331400513 meters 0.0724771050260377 Centerline is valid? [True, True] Translation: X:493.92, Y:54.03, Z:-2.37 [[ 9.99696629e-01 -2.42895501e-02 -4.08259022e-03 4.93916173e+02] [ 2.42880890e-02 9.99704918e-01 -4.07087522e-04 5.40332037e+01] [ 4.09127350e-03 3.07805709e-04 9.99991583e-01 -2.37260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.361400513 meters 0.07604085645328582 Centerline is valid? [True, True] Translation: X:493.94, Y:54.04, Z:-2.37 [[ 9.99678017e-01 -2.51742559e-02 -3.18107659e-03 4.93943693e+02] [ 2.51733725e-02 9.99683050e-01 -3.17444241e-04 5.40401651e+01] [ 3.18805977e-03 2.37263604e-04 9.99994890e-01 -2.37174010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.391400513 meters 0.07992806484231794 Centerline is valid? [True, True] Translation: X:493.97, Y:54.05, Z:-2.37 [[ 9.99662453e-01 -2.58641870e-02 -2.45424390e-03 4.93971957e+02] [ 2.58636630e-02 9.99665449e-01 -2.45008653e-04 5.40481552e+01] [ 2.45975979e-03 1.81450214e-04 9.99996958e-01 -2.37137352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.421400513 meters 0.07933920972651559 Centerline is valid? [True, True] Translation: X:494.00, Y:54.05, Z:-2.37 [[ 9.99630550e-01 -2.69738326e-02 -3.34288742e-03 4.94001165e+02] [ 2.69728663e-02 9.99636110e-01 -3.33822365e-04 5.40521536e+01] [ 3.35067545e-03 2.43531779e-04 9.99994357e-01 -2.37246526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.451400513 meters 0.07933927981877234 Centerline is valid? [True, True] Translation: X:494.03, Y:54.06, Z:-2.37 [[ 9.99612718e-01 -2.75057586e-02 -4.22453714e-03 4.94030106e+02] [ 2.75042178e-02 9.99621598e-01 -4.22403823e-04 5.40554515e+01] [ 4.23455711e-03 3.06047644e-04 9.99990987e-01 -2.37346541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.481400513 meters 0.0788789754375277 Centerline is valid? [True, True] Translation: X:494.06, Y:54.06, Z:-2.37 [[ 9.99607781e-01 -2.75877117e-02 -4.81691101e-03 4.94058895e+02] [ 2.75857056e-02 9.99619326e-01 -4.82418573e-04 5.40573597e+01] [ 4.82838616e-03 3.49351471e-04 9.99988282e-01 -2.37393877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.511400513 meters 0.07471123398989987 Centerline is valid? [True, True] Translation: X:494.09, Y:54.05, Z:-2.37 [[ 9.99623148e-01 -2.70786621e-02 -4.50638522e-03 4.94087842e+02] [ 2.70768979e-02 9.99633251e-01 -4.52038124e-04 5.40548423e+01] [ 4.51697310e-03 3.29848840e-04 9.99989744e-01 -2.37278355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.541400513 meters 0.07747175176707347 Centerline is valid? [True, True] Translation: X:494.12, Y:54.06, Z:-2.37 [[ 9.99647785e-01 -2.62443216e-02 -3.94237414e-03 4.94115784e+02] [ 2.62429640e-02 9.99655516e-01 -3.95705341e-04 5.40616540e+01] [ 3.95140107e-03 2.92106385e-04 9.99992151e-01 -2.37225872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.571400513 meters 0.07694100488683682 Centerline is valid? [True, True] Translation: X:494.15, Y:54.07, Z:-2.37 [[ 9.99709514e-01 -2.37449287e-02 -4.13107728e-03 4.94146194e+02] [ 2.37434166e-02 9.99717999e-01 -4.14684535e-04 5.40666261e+01] [ 4.13975897e-03 3.16478186e-04 9.99991381e-01 -2.37234491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.601400513 meters 0.09514117658894906 Centerline is valid? [True, True] Translation: X:494.17, Y:54.09, Z:-2.37 [[ 9.99745682e-01 -2.20087644e-02 -4.91791515e-03 4.94172531e+02] [ 2.20066002e-02 9.99757704e-01 -4.93761109e-04 5.40934920e+01] [ 4.92759063e-03 3.85408944e-04 9.99987785e-01 -2.37462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.631400513 meters 0.08700468487114218 Centerline is valid? [True, True] Translation: X:494.20, Y:54.09, Z:-2.38 [[ 9.99782362e-01 -1.99367485e-02 -6.14451826e-03 4.94204005e+02] [ 1.99333309e-02 9.99801121e-01 -6.16952976e-04 5.40884790e+01] [ 6.15559628e-03 4.94337988e-04 9.99980932e-01 -2.37611031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.661400513 meters 0.08052353205287169 Centerline is valid? [True, True] Translation: X:494.23, Y:54.09, Z:-2.38 [[ 9.99807686e-01 -1.83312597e-02 -6.96816497e-03 4.94234778e+02] [ 1.83268252e-02 9.99831805e-01 -6.99725847e-04 5.40857414e+01] [ 6.97981981e-03 5.71886939e-04 9.99975477e-01 -2.37628915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.691400513 meters 0.08957871010819235 Centerline is valid? [True, True] Translation: X:494.26, Y:54.10, Z:-2.38 [[ 9.99832898e-01 -1.68831946e-02 -7.00960340e-03 4.94262353e+02] [ 1.68786708e-02 9.99857297e-01 -7.04039525e-04 5.41022988e+01] [ 7.02048955e-03 5.85609090e-04 9.99975185e-01 -2.37681595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.721400513 meters 0.10168514825456916 Centerline is valid? [True, False] Translation: X:494.26, Y:54.10, Z:-2.38 [[ 9.99895640e-01 -1.25909247e-02 -7.08365275e-03 4.94262169e+02] [ 1.26153745e-02 9.99914583e-01 3.41755299e-03 5.41032706e+01] [ 7.04001753e-03 -3.50655926e-03 9.99969071e-01 -2.37633842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.751400513 meters 0.0829885733596286 Centerline is valid? [False, True] Translation: X:494.26, Y:54.11, Z:-2.38 [[ 9.99893722e-01 -1.27574576e-02 -7.05640174e-03 4.94261986e+02] [ 1.27788321e-02 9.99913870e-01 2.99234662e-03 5.41051926e+01] [ 7.01761923e-03 -3.08220117e-03 9.99970626e-01 -2.37617664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.781400513 meters 0.08467138043905198 Centerline is valid? [True, True] Translation: X:494.29, Y:54.12, Z:-2.38 [[ 9.99881021e-01 -1.38896089e-02 -6.70994009e-03 4.94289854e+02] [ 1.38855927e-02 9.99903383e-01 -6.44762633e-04 5.41152550e+01] [ 6.71824730e-03 5.51514424e-04 9.99977280e-01 -2.37596475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.811400513 meters 0.08983759051204483 Centerline is valid? [True, True] Translation: X:494.32, Y:54.13, Z:-2.38 [[ 9.99857765e-01 -1.52633738e-02 -7.17485741e-03 4.94317988e+02] [ 1.52588154e-02 9.99883340e-01 -6.89633600e-04 5.41264071e+01] [ 7.18454652e-03 5.80055685e-04 9.99974023e-01 -2.37697303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.841400513 meters 0.07980185048230745 Centerline is valid? [True, True] Translation: X:494.35, Y:54.12, Z:-2.38 [[ 9.99830137e-01 -1.64073011e-02 -8.39632767e-03 4.94348348e+02] [ 1.64010969e-02 9.99865167e-01 -8.07244241e-04 5.41189207e+01] [ 8.40844027e-03 6.69398136e-04 9.99964424e-01 -2.37808179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.871400513 meters 0.08067217549379004 Centerline is valid? [True, True] Translation: X:494.38, Y:54.13, Z:-2.38 [[ 9.99804609e-01 -1.72870056e-02 -9.58658990e-03 4.94375676e+02] [ 1.72789530e-02 9.99850282e-01 -9.22172413e-04 5.41251294e+01] [ 9.60109622e-03 7.56345993e-04 9.99953622e-01 -2.37964287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.901400513 meters 0.07999336310040721 Centerline is valid? [True, True] Translation: X:494.41, Y:54.13, Z:-2.38 [[ 9.99783859e-01 -1.88521124e-02 -8.76549231e-03 4.94405490e+02] [ 1.88454384e-02 9.99822053e-01 -8.43384513e-04 5.41298826e+01] [ 8.77983210e-03 6.78012678e-04 9.99961227e-01 -2.37785738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.931400513 meters 0.08382771620964564 Centerline is valid? [True, True] Translation: X:494.43, Y:54.14, Z:-2.38 [[ 9.99782460e-01 -1.97107559e-02 -6.82052818e-03 4.94431997e+02] [ 1.97067323e-02 9.99805588e-01 -6.56636573e-04 5.41424116e+01] [ 6.83214499e-03 5.22083405e-04 9.99976524e-01 -2.37525686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9614005130001 meters 0.07628432376244881 Centerline is valid? [True, True] Translation: X:494.46, Y:54.14, Z:-2.37 [[ 9.99775129e-01 -2.05310380e-02 -5.30736310e-03 4.94461218e+02] [ 2.05286116e-02 9.99789135e-01 -5.11243467e-04 5.41382294e+01] [ 5.31674033e-03 4.02175707e-04 9.99985785e-01 -2.37222467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.991400513 meters 0.07668479503858854 Centerline is valid? [True, True] Translation: X:494.49, Y:54.14, Z:-2.37 [[ 9.99764053e-01 -2.12643960e-02 -4.43438998e-03 4.94490233e+02] [ 2.12627075e-02 9.99773832e-01 -4.27577999e-04 5.41424661e+01] [ 4.44247925e-03 3.33189976e-04 9.99990077e-01 -2.37121374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.021400513 meters 0.08212440579813898 Centerline is valid? [True, True] Translation: X:494.52, Y:54.16, Z:-2.37 [[ 9.99769150e-01 -2.10954290e-02 -4.07790691e-03 4.94517620e+02] [ 2.10939980e-02 9.99777419e-01 -3.93602987e-04 5.41551547e+01] [ 4.08530247e-03 3.07492764e-04 9.99991608e-01 -2.37108890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.051400513 meters 0.07780446573063587 Centerline is valid? [True, True] Translation: X:494.55, Y:54.15, Z:-2.37 [[ 9.99776507e-01 -2.07572086e-02 -4.00938276e-03 4.94546838e+02] [ 2.07558210e-02 9.99784500e-01 -3.87382354e-04 5.41548519e+01] [ 4.01655972e-03 3.04077745e-04 9.99991887e-01 -2.37073742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.081400513 meters 0.07922052279299847 Centerline is valid? [True, True] Translation: X:494.57, Y:54.16, Z:-2.37 [[ 9.99796918e-01 -1.98154741e-02 -3.67000850e-03 4.94574709e+02] [ 1.98143037e-02 9.99803614e-01 -3.54978975e-04 5.41649813e+01] [ 3.67632184e-03 2.82188222e-04 9.99993202e-01 -2.36993035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.111400513 meters 0.0867917806830891 Centerline is valid? [True, True] Translation: X:494.60, Y:54.18, Z:-2.37 [[ 9.99812277e-01 -1.89728980e-02 -3.92947067e-03 4.94602273e+02] [ 1.89715494e-02 9.99819952e-01 -3.80198483e-04 5.41801359e+01] [ 3.93597664e-03 3.05578964e-04 9.99992207e-01 -2.37039875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.141400513 meters 0.08152154378127366 Centerline is valid? [True, True] Translation: X:494.63, Y:54.18, Z:-2.37 [[ 9.99827899e-01 -1.80237391e-02 -4.39524824e-03 4.94631702e+02] [ 1.80220421e-02 9.99837499e-01 -4.25398981e-04 5.41781758e+01] [ 4.40220129e-03 3.46114420e-04 9.99990250e-01 -2.37087581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.171400513 meters 0.08152154378127366 Centerline is valid? [True, True] Translation: X:494.66, Y:54.18, Z:-2.37 [[ 9.99824955e-01 -1.81863277e-02 -4.39520660e-03 4.94659946e+02] [ 1.81846304e-02 9.99834555e-01 -4.25828841e-04 5.41810273e+01] [ 4.40222370e-03 3.45829093e-04 9.99990250e-01 -2.37081225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.201400513 meters 0.08524160646044748 Centerline is valid? [True, True] Translation: X:494.69, Y:54.19, Z:-2.37 [[ 9.99839080e-01 -1.73137462e-02 -4.69559605e-03 4.94687953e+02] [ 1.73117972e-02 9.99850036e-01 -4.55409057e-04 5.41910411e+01] [ 4.70277672e-03 3.74046566e-04 9.99988872e-01 -2.37139296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.231400513 meters 0.0827512694723757 Centerline is valid? [True, True] Translation: X:494.72, Y:54.20, Z:-2.37 [[ 9.99854378e-01 -1.64777373e-02 -4.43921876e-03 4.94717349e+02] [ 1.64759865e-02 9.99864169e-01 -4.30669046e-04 5.41952458e+01] [ 4.44571222e-03 3.57465823e-04 9.99990054e-01 -2.37066202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.261400513 meters 0.09059783955700398 Centerline is valid? [True, True] Translation: X:494.74, Y:54.22, Z:-2.37 [[ 9.99882312e-01 -1.47377659e-02 -4.26140133e-03 4.94744411e+02] [ 1.47361365e-02 9.99891332e-01 -4.13514994e-04 5.42155861e+01] [ 4.26703254e-03 3.50669737e-04 9.99990835e-01 -2.37043052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.291400513 meters 0.09471046437441447 Centerline is valid? [True, True] Translation: X:494.77, Y:54.23, Z:-2.37 [[ 9.99892564e-01 -1.39323280e-02 -4.55519365e-03 4.94772029e+02] [ 1.39304573e-02 9.99902869e-01 -4.42157747e-04 5.42267517e+01] [ 4.56091149e-03 3.78654313e-04 9.99989527e-01 -2.37082412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.321400513 meters 0.08581000792534847 Centerline is valid? [True, True] Translation: X:494.80, Y:54.22, Z:-2.37 [[ 9.99890818e-01 -1.38276228e-02 -5.21055017e-03 4.94801858e+02] [ 1.38251706e-02 9.99904300e-01 -5.06344249e-04 5.42213135e+01] [ 5.21705305e-03 4.34252220e-04 9.99986297e-01 -2.37091251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.351400513 meters 0.08475694649706152 Centerline is valid? [True, True] Translation: X:494.83, Y:54.23, Z:-2.37 [[ 9.99887878e-01 -1.39725458e-02 -5.38508410e-03 4.94830737e+02] [ 1.39699239e-02 9.99902278e-01 -5.24199225e-04 5.42255445e+01] [ 5.39188226e-03 4.48911236e-04 9.99985363e-01 -2.37132344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.381400513 meters 0.08037386366116904 Centerline is valid? [True, True] Translation: X:494.86, Y:54.23, Z:-2.37 [[ 9.99883088e-01 -1.41770380e-02 -5.72904762e-03 4.94859005e+02] [ 1.41740676e-02 9.99899387e-01 -5.58744634e-04 5.42259100e+01] [ 5.73639255e-03 4.77475401e-04 9.99983433e-01 -2.37106099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.411400513 meters 0.08778332804651745 Centerline is valid? [True, True] Translation: X:494.89, Y:54.24, Z:-2.37 [[ 9.99885702e-01 -1.40899062e-02 -5.48241232e-03 4.94885333e+02] [ 1.40871815e-02 9.99900627e-01 -5.35295651e-04 5.42413654e+01] [ 5.48940978e-03 4.58002731e-04 9.99984828e-01 -2.37148799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.441400513 meters 0.0898099307748017 Centerline is valid? [True, True] Translation: X:494.91, Y:54.25, Z:-2.37 [[ 9.99891403e-01 -1.40165534e-02 -4.55184668e-03 4.94911952e+02] [ 1.40146733e-02 9.99901691e-01 -4.44680058e-04 5.42548492e+01] [ 4.55763208e-03 3.80839123e-04 9.99989541e-01 -2.37027173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.471400513 meters 0.0915459764415558 Centerline is valid? [True, True] Translation: X:494.94, Y:54.26, Z:-2.37 [[ 9.99894070e-01 -1.36448689e-02 -5.06628605e-03 4.94939891e+02] [ 1.36425339e-02 9.99906814e-01 -4.95175502e-04 5.42638502e+01] [ 5.07257055e-03 4.26006068e-04 9.99987044e-01 -2.37090117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.501400513 meters 0.09496800134716049 Centerline is valid? [True, True] Translation: X:494.97, Y:54.28, Z:-2.37 [[ 9.99898442e-01 -1.30425109e-02 -5.74452116e-03 4.94967798e+02] [ 1.30394977e-02 9.99914824e-01 -5.61670698e-04 5.42750760e+01] [ 5.75135746e-03 4.86707986e-04 9.99983342e-01 -2.37210844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.531400513 meters 0.08988689733272139 Centerline is valid? [True, True] Translation: X:495.00, Y:54.28, Z:-2.37 [[ 9.99898142e-01 -1.24572537e-02 -6.96583220e-03 4.94996983e+02] [ 1.24528072e-02 9.99922229e-01 -6.81339694e-04 5.42759389e+01] [ 6.97377808e-03 5.94526128e-04 9.99975506e-01 -2.37360635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.561400513 meters 0.08918288598670004 Centerline is valid? [True, True] Translation: X:495.02, Y:54.28, Z:-2.38 [[ 9.99887791e-01 -1.27358950e-02 -7.88682262e-03 4.95024670e+02] [ 1.27301946e-02 9.99918669e-01 -7.72561510e-04 5.42821017e+01] [ 7.89602045e-03 6.72074035e-04 9.99968600e-01 -2.37504733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.591400513 meters 0.08657291428212877 Centerline is valid? [True, True] Translation: X:495.05, Y:54.29, Z:-2.38 [[ 9.99874793e-01 -1.35400726e-02 -8.18926117e-03 4.95053777e+02] [ 1.35339424e-02 9.99908089e-01 -8.03525452e-04 5.42851276e+01] [ 8.19938828e-03 6.92591856e-04 9.99966145e-01 -2.37541748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.621400513 meters 0.09451928257919744 Centerline is valid? [True, True] Translation: X:495.08, Y:54.30, Z:-2.38 [[ 9.99844655e-01 -1.59336866e-02 -7.53554204e-03 4.95081372e+02] [ 1.59285606e-02 9.99872859e-01 -7.39767856e-04 5.43009129e+01] [ 7.54637119e-03 6.19622598e-04 9.99971334e-01 -2.37520621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.651400513 meters 0.08476470885701477 Centerline is valid? [True, True] Translation: X:495.11, Y:54.29, Z:-2.37 [[ 9.99826746e-01 -1.71080774e-02 -7.33425775e-03 4.95112103e+02] [ 1.71032519e-02 9.99853469e-01 -7.20156130e-04 5.42931577e+01] [ 7.34550354e-03 5.94591702e-04 9.99972845e-01 -2.37365232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.681400513 meters 0.08406137871757606 Centerline is valid? [True, True] Translation: X:495.14, Y:54.30, Z:-2.37 [[ 9.99814156e-01 -1.80935645e-02 -6.65404785e-03 4.95141743e+02] [ 1.80896136e-02 9.99836156e-01 -6.53464366e-04 5.42973352e+01] [ 6.66478113e-03 5.32973769e-04 9.99977648e-01 -2.37269124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7114005130001 meters 0.08556429248652196 Centerline is valid? [True, True] Translation: X:495.17, Y:54.30, Z:-2.37 [[ 9.99807491e-01 -1.87185957e-02 -5.88172955e-03 4.95168888e+02] [ 1.87155182e-02 9.99824682e-01 -5.77853100e-04 5.43044129e+01] [ 5.89151498e-03 4.67662241e-04 9.99982536e-01 -2.37153641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.741400513 meters 0.08513165146038137 Centerline is valid? [True, True] Translation: X:495.20, Y:54.31, Z:-2.37 [[ 9.99809249e-01 -1.88679422e-02 -5.04649600e-03 4.95197753e+02] [ 1.88656757e-02 9.99821904e-01 -4.96362814e-04 5.43089464e+01] [ 5.05496258e-03 4.01062575e-04 9.99987143e-01 -2.37103974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.771400513 meters 0.07716016462202802 Centerline is valid? [True, True] Translation: X:495.23, Y:54.30, Z:-2.37 [[ 9.99837841e-01 -1.71175978e-02 -5.59284708e-03 4.95228512e+02] [ 1.71147843e-02 9.99853380e-01 -5.50542091e-04 5.43044389e+01] [ 5.60145101e-03 4.54732444e-04 9.99984208e-01 -2.37163407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.801400513 meters 0.08425269320835865 Centerline is valid? [True, True] Translation: X:495.26, Y:54.32, Z:-2.37 [[ 9.99861374e-01 -1.53778384e-02 -6.38388708e-03 4.95256323e+02] [ 1.53741366e-02 9.99881613e-01 -6.28541978e-04 5.43174056e+01] [ 6.39279693e-03 5.30308095e-04 9.99979425e-01 -2.37263050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.831400513 meters 0.08815180612922728 Centerline is valid? [True, True] Translation: X:495.28, Y:54.33, Z:-2.37 [[ 9.99882779e-01 -1.34666792e-02 -7.28544705e-03 4.95284816e+02] [ 1.34618065e-02 9.99909128e-01 -7.17455474e-04 5.43266797e+01] [ 7.29444675e-03 6.19296094e-04 9.99973203e-01 -2.37384487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.861400513 meters 0.09882305648236797 Centerline is valid? [True, True] Translation: X:495.31, Y:54.34, Z:-2.38 [[ 9.99898868e-01 -1.17834850e-02 -7.96255332e-03 4.95312539e+02] [ 1.17776105e-02 9.99930334e-01 -7.84253979e-04 5.43443063e+01] [ 7.97123985e-03 6.90394814e-04 9.99967991e-01 -2.37500997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.891400513 meters 0.09193205147816107 Centerline is valid? [True, True] Translation: X:495.34, Y:54.34, Z:-2.37 [[ 9.99909642e-01 -1.07649045e-02 -8.05142880e-03 4.95342128e+02] [ 1.07588626e-02 9.99941807e-01 -7.93348998e-04 5.43396563e+01] [ 8.05950059e-03 7.06653095e-04 9.99967272e-01 -2.37485068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.921400513 meters 0.09158608497543183 Centerline is valid? [True, True] Translation: X:495.37, Y:54.34, Z:-2.37 [[ 9.99912724e-01 -1.05519721e-02 -7.94989623e-03 4.95370662e+02] [ 1.05460666e-02 9.99944081e-01 -7.84395183e-04 5.43426535e+01] [ 7.95772860e-03 7.00486588e-04 9.99968091e-01 -2.37476590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.951400513 meters 0.09100391274277653 Centerline is valid? [True, True] Translation: X:495.40, Y:54.35, Z:-2.37 [[ 9.99914760e-01 -1.15815395e-02 -6.02834425e-03 4.95400545e+02] [ 1.15781600e-02 9.99932794e-01 -5.95195875e-04 5.43474423e+01] [ 6.03483239e-03 5.25348006e-04 9.99981652e-01 -2.37201303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.981400513 meters 0.09034372472871449 Centerline is valid? [True, True] Translation: X:495.43, Y:54.35, Z:-2.37 [[ 9.99912396e-01 -1.24141988e-02 -4.59211046e-03 4.95429417e+02] [ 1.24122454e-02 9.99922862e-01 -4.53638310e-04 5.43508985e+01] [ 4.59738780e-03 3.96600167e-04 9.99989353e-01 -2.36920255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.011400513 meters 0.08763486989657586 Centerline is valid? [True, True] Translation: X:495.46, Y:54.35, Z:-2.37 [[ 9.99906396e-01 -1.32701475e-02 -3.33209239e-03 4.95458775e+02] [ 1.32691228e-02 9.99911907e-01 -3.29465646e-04 5.43515100e+01] [ 3.33617092e-03 2.85220864e-04 9.99994394e-01 -2.36742933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.041400513 meters 0.08942639217272198 Centerline is valid? [True, True] Translation: X:495.49, Y:54.36, Z:-2.37 [[ 9.99896786e-01 -1.40362979e-02 -3.06596044e-03 4.95487593e+02] [ 1.40354329e-02 9.99901452e-01 -3.03473874e-04 5.43564523e+01] [ 3.06991794e-03 2.60410469e-04 9.99995254e-01 -2.36712018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.071400513 meters 0.08555669233406286 Centerline is valid? [True, True] Translation: X:495.52, Y:54.35, Z:-2.37 [[ 9.99882653e-01 -1.49843880e-02 -3.18569440e-03 4.95518334e+02] [ 1.49834588e-02 9.99887692e-01 -3.15352344e-04 5.43547881e+01] [ 3.19006198e-03 2.67582618e-04 9.99994876e-01 -2.36758332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.101400513 meters 0.0863340364113824 Centerline is valid? [True, True] Translation: X:495.55, Y:54.36, Z:-2.37 [[ 9.99865078e-01 -1.59419019e-02 -3.96011508e-03 4.95548167e+02] [ 1.59404735e-02 9.99872866e-01 -3.92012359e-04 5.43591175e+01] [ 3.96586103e-03 3.28833358e-04 9.99992082e-01 -2.36808315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.131400513 meters 0.08896905931675306 Centerline is valid? [True, True] Translation: X:495.58, Y:54.37, Z:-2.37 [[ 9.99823388e-01 -1.80486844e-02 -5.23813873e-03 4.95577570e+02] [ 1.80462137e-02 9.99837019e-01 -5.18561776e-04 5.43659195e+01] [ 5.24664438e-03 4.23941620e-04 9.99986146e-01 -2.37044330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.161400513 meters 0.08918667877964222 Centerline is valid? [True, True] Translation: X:495.61, Y:54.37, Z:-2.37 [[ 9.99795527e-01 -1.92201249e-02 -6.28418183e-03 4.95606083e+02] [ 1.92165908e-02 9.99815151e-01 -6.22289036e-04 5.43688207e+01] [ 6.29498067e-03 5.01401244e-04 9.99980061e-01 -2.37209197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.191400513 meters 0.08277677902449132 Centerline is valid? [True, True] Translation: X:495.64, Y:54.36, Z:-2.37 [[ 9.99768268e-01 -2.03393198e-02 -7.05141893e-03 4.95637050e+02] [ 2.03348967e-02 9.99792981e-01 -6.98406000e-04 5.43641739e+01] [ 7.06416426e-03 5.54854282e-04 9.99974895e-01 -2.37284808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.221400513 meters 0.08352184905948508 Centerline is valid? [True, True] Translation: X:495.66, Y:54.37, Z:-2.37 [[ 9.99751729e-01 -2.11402646e-02 -7.04050573e-03 4.95664567e+02] [ 2.11358727e-02 9.99776369e-01 -6.97631771e-04 5.43682613e+01] [ 7.05367937e-03 5.48651336e-04 9.99974972e-01 -2.37256926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.251400513 meters 0.08338328988258956 Centerline is valid? [True, True] Translation: X:495.69, Y:54.37, Z:-2.37 [[ 9.99743754e-01 -2.16562047e-02 -6.59048061e-03 4.95693711e+02] [ 2.16523623e-02 9.99765346e-01 -6.53821098e-04 5.43713433e+01] [ 6.60309342e-03 5.10954085e-04 9.99978069e-01 -2.37166139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.281400513 meters 0.08316728170935367 Centerline is valid? [True, True] Translation: X:495.72, Y:54.37, Z:-2.37 [[ 9.99748187e-01 -2.15633938e-02 -6.21147762e-03 4.95722947e+02] [ 2.15599763e-02 9.99767367e-01 -6.16631821e-04 5.43737433e+01] [ 6.22332929e-03 4.82557235e-04 9.99980518e-01 -2.37047192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.311400513 meters 0.08603344263336954 Centerline is valid? [True, True] Translation: X:495.75, Y:54.38, Z:-2.37 [[ 9.99789537e-01 -1.96416520e-02 -5.92346702e-03 4.95752223e+02] [ 1.96385100e-02 9.99806973e-01 -5.88132424e-04 5.43798181e+01] [ 5.93387552e-03 4.71680577e-04 9.99982283e-01 -2.36967766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.341400513 meters 0.08203009469300498 Centerline is valid? [True, True] Translation: X:495.78, Y:54.38, Z:-2.37 [[ 9.99810020e-01 -1.85721729e-02 -5.91601711e-03 4.95781956e+02] [ 1.85690196e-02 9.99827408e-01 -5.87506130e-04 5.43784431e+01] [ 5.92590732e-03 4.77539878e-04 9.99982328e-01 -2.36993462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.371400513 meters 0.09545314586593612 Centerline is valid? [True, True] Translation: X:495.81, Y:54.40, Z:-2.37 [[ 9.99829398e-01 -1.73199238e-02 -6.41836793e-03 4.95809255e+02] [ 1.73161856e-02 9.99849860e-01 -6.37549580e-04 5.43981758e+01] [ 6.42844659e-03 5.26299163e-04 9.99979199e-01 -2.37204352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.401400513 meters 0.08866421339060059 Centerline is valid? [True, True] Translation: X:495.84, Y:54.39, Z:-2.37 [[ 9.99845377e-01 -1.59308838e-02 -7.44502867e-03 4.95840351e+02] [ 1.59258153e-02 9.99872903e-01 -7.39590753e-04 5.43928642e+01] [ 7.45586476e-03 6.20908244e-04 9.99972012e-01 -2.37368119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.431400513 meters 0.09178440636011642 Centerline is valid? [True, True] Translation: X:495.87, Y:54.40, Z:-2.37 [[ 9.99855261e-01 -1.47044813e-02 -8.55781506e-03 4.95869380e+02] [ 1.46977390e-02 9.99891621e-01 -8.50216847e-04 5.43995099e+01] [ 8.56938957e-03 7.24313255e-04 9.99963020e-01 -2.37497442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4614005130001 meters 0.08868742420380063 Centerline is valid? [True, True] Translation: X:495.90, Y:54.40, Z:-2.38 [[ 9.99856254e-01 -1.39544655e-02 -9.63040915e-03 4.95898979e+02] [ 1.39458906e-02 9.99902293e-01 -9.56984474e-04 5.43996084e+01] [ 9.64282241e-03 8.22542279e-04 9.99953169e-01 -2.37517306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.491400513 meters 0.08824996829835124 Centerline is valid? [True, True] Translation: X:495.93, Y:54.40, Z:-2.38 [[ 9.99853648e-01 -1.35627563e-02 -1.04276039e-02 4.95927882e+02] [ 1.35526670e-02 9.99907620e-01 -1.03760868e-03 5.44033715e+01] [ 1.04407134e-02 8.96134982e-04 9.99945093e-01 -2.37537506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.521400513 meters 0.09043863598568203 Centerline is valid? [True, True] Translation: X:495.95, Y:54.41, Z:-2.37 [[ 9.99867511e-01 -1.35624559e-02 -9.00108349e-03 4.95954784e+02] [ 1.35549320e-02 9.99907726e-01 -8.96374200e-04 5.44117093e+01] [ 9.01240996e-03 7.74246366e-04 9.99959088e-01 -2.37292848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.551400513 meters 0.08376401063996813 Centerline is valid? [True, True] Translation: X:495.98, Y:54.41, Z:-2.37 [[ 9.99865902e-01 -1.46464130e-02 -7.32532834e-03 4.95984896e+02] [ 1.46414571e-02 9.99892542e-01 -7.29722275e-04 5.44067024e+01] [ 7.33522899e-03 6.22370940e-04 9.99972903e-01 -2.37035216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.581400513 meters 0.08621592266234636 Centerline is valid? [True, True] Translation: X:496.01, Y:54.41, Z:-2.37 [[ 9.99848416e-01 -1.63005131e-02 -6.11872856e-03 4.96013951e+02] [ 1.62970853e-02 9.99867008e-01 -6.09662451e-04 5.44124571e+01] [ 6.12785263e-03 5.09852594e-04 9.99981095e-01 -2.36914265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.611400513 meters 0.0844569950807362 Centerline is valid? [True, True] Translation: X:496.04, Y:54.41, Z:-2.37 [[ 9.99812066e-01 -1.84827867e-02 -5.84972294e-03 4.96044819e+02] [ 1.84796905e-02 9.99829066e-01 -5.82917251e-04 5.44132838e+01] [ 5.85949695e-03 4.74706631e-04 9.99982720e-01 -2.36904355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.641400513 meters 0.08545123421299479 Centerline is valid? [True, True] Translation: X:496.07, Y:54.42, Z:-2.37 [[ 9.99757010e-01 -2.11846610e-02 -6.09354948e-03 4.96073750e+02] [ 2.11813507e-02 9.99775466e-01 -6.07271551e-04 5.44175828e+01] [ 6.10504611e-03 4.78054382e-04 9.99981250e-01 -2.36936620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.671400513 meters 0.08588168393841422 Centerline is valid? [True, True] Translation: X:496.10, Y:54.42, Z:-2.37 [[ 9.99691315e-01 -2.40393349e-02 -6.27577148e-03 4.96103529e+02] [ 2.40358793e-02 9.99710901e-01 -6.25470536e-04 5.44213308e+01] [ 6.28899306e-03 4.74433776e-04 9.99980112e-01 -2.37013531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.701400513 meters 0.08317501572479227 Centerline is valid? [True, True] Translation: X:496.13, Y:54.42, Z:-2.37 [[ 9.99536939e-01 -2.96727413e-02 -6.74063629e-03 4.96133808e+02] [ 2.96688823e-02 9.99559556e-01 -6.71801143e-04 5.44185761e+01] [ 6.75760160e-03 4.71502914e-04 9.99977056e-01 -2.37162150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.731400513 meters 0.07218810326691748 Centerline is valid? [True, True] Translation: X:496.17, Y:54.41, Z:-2.37 [[ 9.99446250e-01 -3.26495819e-02 -6.41857663e-03 4.96165335e+02] [ 3.26461438e-02 9.99466768e-01 -6.39709343e-04 5.44055004e+01] [ 6.43604028e-03 4.29813328e-04 9.99979196e-01 -2.37058351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.761400513 meters 0.07147736769468455 Centerline is valid? [True, True] Translation: X:496.20, Y:54.41, Z:-2.37 [[ 9.99349753e-01 -3.56291357e-02 -5.53487940e-03 4.96195285e+02] [ 3.56266244e-02 9.99365018e-01 -5.51684462e-04 5.44053604e+01] [ 5.55102089e-03 3.54136662e-04 9.99984530e-01 -2.36909437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.791400513 meters 0.06663299959904881 Centerline is valid? [True, True] Translation: X:496.23, Y:54.40, Z:-2.37 [[ 9.99262953e-01 -3.80308289e-02 -5.21606292e-03 4.96226053e+02] [ 3.80286309e-02 9.99276515e-01 -5.19960016e-04 5.44005200e+01] [ 5.23206369e-03 3.21217049e-04 9.99986261e-01 -2.36800256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.821400513 meters 0.06167710999437838 Centerline is valid? [True, True] Translation: X:496.26, Y:54.40, Z:-2.37 [[ 9.99200823e-01 -3.96058702e-02 -5.39346015e-03 4.96257756e+02] [ 3.96035432e-02 9.99215327e-01 -5.37624613e-04 5.43954349e+01] [ 5.41052114e-03 3.23594824e-04 9.99985311e-01 -2.36771786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.851400513 meters 0.06370185058822708 Centerline is valid? [True, True] Translation: X:496.29, Y:54.40, Z:-2.37 [[ 9.99155090e-01 -4.07283226e-02 -5.50547790e-03 4.96287402e+02] [ 4.07259147e-02 9.99170205e-01 -5.48802571e-04 5.43981840e+01] [ 5.52326129e-03 3.24123259e-04 9.99984694e-01 -2.36782813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.881400513 meters 0.06051261053934575 Centerline is valid? [True, True] Translation: X:496.32, Y:54.39, Z:-2.37 [[ 9.99104603e-01 -4.19610066e-02 -5.40979268e-03 4.96318585e+02] [ 4.19586996e-02 9.99119200e-01 -5.39290615e-04 5.43918805e+01] [ 5.42765692e-03 3.11819870e-04 9.99985222e-01 -2.36760656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.911400513 meters 0.05930460496919661 Centerline is valid? [True, True] Translation: X:496.35, Y:54.39, Z:-2.37 [[ 9.99093008e-01 -4.22041686e-02 -5.65421206e-03 4.96349410e+02] [ 4.22016523e-02 9.99108954e-01 -5.63656258e-04 5.43916599e+01] [ 5.67296254e-03 3.24527934e-04 9.99983856e-01 -2.36829517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.941400513 meters 0.06208043388715351 Centerline is valid? [True, True] Translation: X:496.38, Y:54.40, Z:-2.37 [[ 9.99096518e-01 -4.20879276e-02 -5.89520770e-03 4.96378313e+02] [ 4.20851900e-02 9.99113853e-01 -5.87724625e-04 5.43965289e+01] [ 5.91471979e-03 3.39092691e-04 9.99982450e-01 -2.36913903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.971400513 meters 0.06175548758229958 Centerline is valid? [True, True] Translation: X:496.41, Y:54.40, Z:-2.37 [[ 9.99105257e-01 -4.17728931e-02 -6.61138360e-03 4.96408305e+02] [ 4.17694421e-02 9.99127059e-01 -6.59258126e-04 5.43970888e+01] [ 6.63315136e-03 3.82514456e-04 9.99977927e-01 -2.37002998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.001400513 meters 0.06652004713159945 Centerline is valid? [True, True] Translation: X:496.44, Y:54.40, Z:-2.37 [[ 9.99114302e-01 -4.14182164e-02 -7.42583726e-03 4.96436823e+02] [ 4.14138517e-02 9.99141804e-01 -7.40654435e-04 5.44038540e+01] [ 7.45014102e-03 4.32465916e-04 9.99972154e-01 -2.37201321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.031400513 meters 0.06449020188603596 Centerline is valid? [True, True] Translation: X:496.47, Y:54.40, Z:-2.37 [[ 9.99118572e-01 -4.11341345e-02 -8.37031254e-03 4.96465750e+02] [ 4.11285699e-02 9.99153513e-01 -8.35923406e-04 5.44026811e+01] [ 8.39761216e-03 4.90927615e-04 9.99964619e-01 -2.37284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.061400513 meters 0.06370580774849617 Centerline is valid? [True, True] Translation: X:496.49, Y:54.40, Z:-2.37 [[ 9.99111134e-01 -4.11030685e-02 -9.35306650e-03 4.96494275e+02] [ 4.10961114e-02 9.99154761e-01 -9.34898204e-04 5.44023242e+01] [ 9.38358811e-03 5.49692543e-04 9.99955822e-01 -2.37350101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.091400513 meters 0.06151023719025904 Centerline is valid? [True, True] Translation: X:496.52, Y:54.40, Z:-2.37 [[ 9.99074459e-01 -4.19853290e-02 -9.35187715e-03 4.96523900e+02] [ 4.19784005e-02 9.99118080e-01 -9.36015239e-04 5.44008143e+01] [ 9.38292845e-03 5.42572074e-04 9.99955832e-01 -2.37365217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.121400513 meters 0.06151023719025904 Centerline is valid? [True, True] Translation: X:496.55, Y:54.40, Z:-2.37 [[ 9.99066528e-01 -4.21736738e-02 -9.35170833e-03 4.96551248e+02] [ 4.21667378e-02 9.99110148e-01 -9.37700082e-04 5.44037221e+01] [ 9.38293295e-03 5.42493731e-04 9.99955832e-01 -2.37359054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.151400513 meters 0.06469604960207645 Centerline is valid? [True, True] Translation: X:496.58, Y:54.41, Z:-2.37 [[ 9.99020731e-01 -4.34088436e-02 -8.55874184e-03 4.96579053e+02] [ 4.34030734e-02 9.99057273e-01 -8.58876275e-04 5.44078737e+01] [ 8.58795611e-03 4.86559504e-04 9.99963004e-01 -2.37331017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.181400513 meters 0.06098743239256627 Centerline is valid? [True, True] Translation: X:496.61, Y:54.40, Z:-2.37 [[ 9.98966896e-01 -4.48420413e-02 -7.37105152e-03 4.96609594e+02] [ 4.48377992e-02 9.98994006e-01 -7.39841518e-04 5.44032280e+01] [ 7.39681230e-03 4.08575457e-04 9.99972560e-01 -2.37149300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2114005130001 meters 0.05813032441162553 Centerline is valid? [True, True] Translation: X:496.64, Y:54.40, Z:-2.37 [[ 9.98901447e-01 -4.63510579e-02 -6.89045892e-03 4.96639342e+02] [ 4.63473816e-02 9.98925143e-01 -6.92347130e-04 5.43996724e+01] [ 6.91514369e-03 3.72231821e-04 9.99976021e-01 -2.37098324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.241400513 meters 0.05491569515974534 Centerline is valid? [True, True] Translation: X:496.67, Y:54.40, Z:-2.37 [[ 9.98837716e-01 -4.76068334e-02 -7.53700200e-03 4.96668908e+02] [ 4.76024656e-02 9.98866072e-01 -7.57942984e-04 5.43959567e+01] [ 7.56453885e-03 3.98282161e-04 9.99971309e-01 -2.37196372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.271400513 meters 0.05303608606138317 Centerline is valid? [True, True] Translation: X:496.70, Y:54.39, Z:-2.37 [[ 9.98742040e-01 -4.95380391e-02 -7.76666551e-03 4.96700010e+02] [ 4.95334580e-02 9.98772159e-01 -7.81216191e-04 5.43899754e+01] [ 7.79582920e-03 3.95523653e-04 9.99969534e-01 -2.37298624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.301400513 meters 0.05355705462824363 Centerline is valid? [True, True] Translation: X:496.73, Y:54.39, Z:-2.37 [[ 9.98707179e-01 -5.03631297e-02 -6.89396573e-03 4.96728422e+02] [ 5.03595342e-02 9.98730912e-01 -6.94244427e-04 5.43897416e+01] [ 6.92018100e-03 3.46169990e-04 9.99975995e-01 -2.37135183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.331400513 meters 0.05705231447960343 Centerline is valid? [True, True] Translation: X:496.76, Y:54.39, Z:-2.37 [[ 9.98690789e-01 -5.07919909e-02 -6.07310134e-03 4.96757854e+02] [ 5.07892045e-02 9.98709208e-01 -6.12256207e-04 5.43894396e+01] [ 6.09635994e-03 3.03006648e-04 9.99981371e-01 -2.36920558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.361400513 meters 0.05766219399380039 Centerline is valid? [True, True] Translation: X:496.79, Y:54.39, Z:-2.37 [[ 9.98694945e-01 -5.08342922e-02 -4.92766442e-03 4.96785217e+02] [ 5.08324563e-02 9.98707071e-01 -4.97186476e-04 5.43935997e+01] [ 4.94656743e-03 2.46052334e-04 9.99987735e-01 -2.36726224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.391400513 meters 0.05630445018691146 Centerline is valid? [True, True] Translation: X:496.82, Y:54.39, Z:-2.37 [[ 9.98721445e-01 -5.03201221e-02 -4.83335330e-03 4.96815633e+02] [ 5.03183485e-02 9.98733110e-01 -4.87930447e-04 5.43895710e+01] [ 4.85178269e-03 2.44100245e-04 9.99988200e-01 -2.36611132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.421400513 meters 0.0538713783327628 Centerline is valid? [True, True] Translation: X:496.85, Y:54.39, Z:-2.37 [[ 9.98779876e-01 -4.91034225e-02 -5.25480611e-03 4.96845370e+02] [ 4.91013086e-02 9.98793662e-01 -5.30606584e-04 5.43886437e+01] [ 5.27452164e-03 2.71941321e-04 9.99986053e-01 -2.36597339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.451400513 meters 0.057629226013596706 Centerline is valid? [True, True] Translation: X:496.87, Y:54.39, Z:-2.37 [[ 9.98856020e-01 -4.74403321e-02 -6.00549974e-03 4.96873958e+02] [ 4.74375399e-02 9.98874022e-01 -6.06604919e-04 5.43925741e+01] [ 6.02751522e-03 3.21024841e-04 9.99981783e-01 -2.36762563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.481400513 meters 0.06658718448641598 Centerline is valid? [True, True] Translation: X:496.90, Y:54.40, Z:-2.37 [[ 9.98966770e-01 -4.48359660e-02 -7.42479857e-03 4.96901235e+02] [ 4.48110768e-02 9.98989399e-01 -3.48536075e-03 5.44014329e+01] [ 7.57356458e-03 3.14904636e-03 9.99966362e-01 -2.36885502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.511400513 meters 0.062022645246093626 Centerline is valid? [True, True] Translation: X:496.93, Y:54.39, Z:-2.37 [[ 9.99127737e-01 -4.12206434e-02 -6.68009968e-03 4.96932644e+02] [ 4.12346176e-02 9.99147554e-01 1.96780842e-03 5.43910707e+01] [ 6.59329093e-03 -2.24154333e-03 9.99975752e-01 -2.36873594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.541400513 meters 0.06487407386618037 Centerline is valid? [True, True] Translation: X:496.96, Y:54.40, Z:-2.37 [[ 9.99209841e-01 -3.92987381e-02 -5.94159812e-03 4.96961623e+02] [ 3.92958600e-02 9.99227439e-01 -6.00398701e-04 5.43964537e+01] [ 5.96060278e-03 3.66444083e-04 9.99982168e-01 -2.36755605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.571400513 meters 0.06194967188484938 Centerline is valid? [True, True] Translation: X:496.99, Y:54.39, Z:-2.37 [[ 9.99283696e-01 -3.74602106e-02 -5.36917287e-03 4.96992585e+02] [ 3.74578339e-02 9.99298062e-01 -5.42579530e-04 5.43930101e+01] [ 5.38572919e-03 3.41073293e-04 9.99985439e-01 -2.36581343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.601400513 meters 0.06711747134287192 Centerline is valid? [True, True] Translation: X:497.02, Y:54.40, Z:-2.36 [[ 9.99360196e-01 -3.54428429e-02 -4.79626257e-03 4.97020808e+02] [ 3.54409231e-02 9.99371656e-01 -4.84707904e-04 5.43998700e+01] [ 4.81042829e-03 3.14413813e-04 9.99988380e-01 -2.36483996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.631400513 meters 0.07729778399649778 Centerline is valid? [True, True] Translation: X:497.05, Y:54.41, Z:-2.36 [[ 9.99438096e-01 -3.32209147e-02 -4.45690773e-03 4.97048891e+02] [ 3.32192346e-02 9.99447987e-01 -4.50484172e-04 5.44136147e+01] [ 4.46941296e-03 3.02175980e-04 9.99989966e-01 -2.36493456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.661400513 meters 0.08725104256202379 Centerline is valid? [True, True] Translation: X:497.08, Y:54.43, Z:-2.37 [[ 9.99515714e-01 -3.07576925e-02 -4.72255529e-03 4.97076845e+02] [ 3.07557784e-02 9.99526815e-01 -4.77424194e-04 5.44272445e+01] [ 4.73500512e-03 3.31947120e-04 9.99988735e-01 -2.36607593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.691400513 meters 0.07834663704371427 Centerline is valid? [True, True] Translation: X:497.11, Y:54.42, Z:-2.37 [[ 9.99642674e-01 -2.61271591e-02 -5.64771073e-03 4.97108646e+02] [ 2.61243477e-02 9.99658538e-01 -5.71002782e-04 5.44173264e+01] [ 5.66070093e-03 4.23255989e-04 9.99983889e-01 -2.36714075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.721400513 meters 0.07662508014532343 Centerline is valid? [True, True] Translation: X:497.14, Y:54.42, Z:-2.37 [[ 9.99685711e-01 -2.43946965e-02 -5.77743882e-03 4.97138543e+02] [ 2.43917254e-02 9.99702307e-01 -5.84170170e-04 5.44169259e+01] [ 5.78996957e-03 4.43064870e-04 9.99983140e-01 -2.36679860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.751400513 meters 0.082624596809604 Centerline is valid? [True, True] Translation: X:497.17, Y:54.43, Z:-2.37 [[ 9.99715009e-01 -2.32219842e-02 -5.53535160e-03 4.97166275e+02] [ 2.32192383e-02 9.99730240e-01 -5.59833713e-04 5.44258435e+01] [ 5.54685884e-03 4.31147518e-04 9.99984523e-01 -2.36651201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.781400513 meters 0.07984750004231432 Centerline is valid? [True, True] Translation: X:497.20, Y:54.42, Z:-2.37 [[ 9.99719381e-01 -2.30793267e-02 -5.33888198e-03 4.97195351e+02] [ 2.30767671e-02 9.99733550e-01 -5.40543145e-04 5.44242309e+01] [ 5.34993480e-03 4.17187322e-04 9.99985602e-01 -2.36574707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.811400513 meters 0.07840504124124606 Centerline is valid? [True, True] Translation: X:497.22, Y:54.42, Z:-2.37 [[ 9.99722656e-01 -2.30148168e-02 -4.99295281e-03 4.97223820e+02] [ 2.30125748e-02 9.99735048e-01 -5.06031144e-04 5.44240682e+01] [ 5.00327613e-03 3.90990099e-04 9.99987407e-01 -2.36532327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.841400513 meters 0.08504148913856532 Centerline is valid? [True, True] Translation: X:497.25, Y:54.43, Z:-2.37 [[ 9.99720378e-01 -2.30594935e-02 -5.23694814e-03 4.97251041e+02] [ 2.30570255e-02 9.99734010e-01 -5.31164883e-04 5.44339552e+01] [ 5.24780356e-03 4.10267910e-04 9.99986146e-01 -2.36623860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.871400513 meters 0.0807979328160483 Centerline is valid? [True, True] Translation: X:497.28, Y:54.43, Z:-2.37 [[ 9.99714746e-01 -2.26811514e-02 -7.48278228e-03 4.97280254e+02] [ 2.26760935e-02 9.99742575e-01 -7.60094962e-04 5.44296731e+01] [ 7.49809585e-03 5.90197872e-04 9.99971715e-01 -2.36965844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.901400513 meters 0.0807979328160483 Centerline is valid? [True, True] Translation: X:497.31, Y:54.43, Z:-2.37 [[ 9.99710508e-01 -2.28672082e-02 -7.48264618e-03 4.97307647e+02] [ 2.28621455e-02 9.99738337e-01 -7.61433211e-04 5.44326162e+01] [ 7.49810010e-03 5.90143437e-04 9.99971715e-01 -2.36959508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.931400513 meters 0.08073347418156092 Centerline is valid? [True, True] Translation: X:497.34, Y:54.43, Z:-2.37 [[ 9.99728231e-01 -2.14254587e-02 -9.18773029e-03 4.97338204e+02] [ 2.14177604e-02 9.99770176e-01 -9.35470350e-04 5.44345200e+01] [ 9.20566161e-03 7.38435512e-04 9.99957354e-01 -2.37214693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9614005130001 meters 0.08144962860960889 Centerline is valid? [True, True] Translation: X:497.37, Y:54.44, Z:-2.37 [[ 9.99749726e-01 -2.02232949e-02 -9.56576737e-03 4.97367279e+02] [ 2.02148929e-02 9.99795184e-01 -9.74220227e-04 5.44381535e+01] [ 9.58351008e-03 7.80605442e-04 9.99953772e-01 -2.37242148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.991400513 meters 0.09089305093748967 Centerline is valid? [True, True] Translation: X:497.39, Y:54.45, Z:-2.37 [[ 9.99780877e-01 -1.84504935e-02 -9.88825400e-03 4.97394755e+02] [ 1.84414275e-02 9.99829435e-01 -1.00725012e-03 5.44521734e+01] [ 9.90515167e-03 8.24675886e-04 9.99950603e-01 -2.37335482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.021400513 meters 0.08650991976612972 Centerline is valid? [True, True] Translation: X:497.43, Y:54.45, Z:-2.37 [[ 9.99815352e-01 -1.62467539e-02 -1.02617818e-02 4.97425639e+02] [ 1.62368742e-02 9.99867627e-01 -1.04535404e-03 5.44500013e+01] [ 1.02774070e-02 8.78541756e-04 9.99946800e-01 -2.37281851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.051400513 meters 0.0828210827984675 Centerline is valid? [True, True] Translation: X:497.46, Y:54.45, Z:-2.37 [[ 9.99841726e-01 -1.40035075e-02 -1.09738215e-02 4.97456164e+02] [ 1.39920748e-02 9.99901481e-01 -1.11790048e-03 5.44491065e+01] [ 1.09883949e-02 9.64177019e-04 9.99939161e-01 -2.37281904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.081400513 meters 0.08805801809082733 Centerline is valid? [True, True] Translation: X:497.48, Y:54.46, Z:-2.37 [[ 9.99863986e-01 -1.20379518e-02 -1.12737107e-02 4.97484864e+02] [ 1.20257602e-02 9.99927028e-01 -1.14858332e-03 5.44598068e+01] [ 1.12867146e-02 1.01285216e-03 9.99935790e-01 -2.37415659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.111400513 meters 0.09341046144561183 Centerline is valid? [True, True] Translation: X:497.51, Y:54.47, Z:-2.37 [[ 9.99920884e-01 -9.32541282e-03 -8.44172370e-03 4.97513108e+02] [ 9.31848056e-03 9.99956212e-01 -8.60151672e-04 5.44726643e+01] [ 8.44937533e-03 7.81419582e-04 9.99963998e-01 -2.37137332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.141400513 meters 0.09465463391678298 Centerline is valid? [True, True] Translation: X:497.54, Y:54.48, Z:-2.37 [[ 9.99941004e-01 -8.80828983e-03 -6.35625318e-03 4.97541547e+02] [ 8.80434502e-03 9.99961031e-01 -6.48333457e-04 5.44782921e+01] [ 6.36171619e-03 5.92332562e-04 9.99979589e-01 -2.36879047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.171400513 meters 0.09434962927572939 Centerline is valid? [True, True] Translation: X:497.57, Y:54.48, Z:-2.37 [[ 9.99945455e-01 -9.00351971e-03 -5.29372588e-03 4.97568805e+02] [ 9.00078168e-03 9.99959346e-01 -5.40818919e-04 5.44821414e+01] [ 5.29837994e-03 4.93141750e-04 9.99985842e-01 -2.36683614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.201400513 meters 0.09159301962164333 Centerline is valid? [True, True] Translation: X:497.60, Y:54.48, Z:-2.37 [[ 9.99940014e-01 -9.52000725e-03 -5.41640479e-03 4.97597900e+02] [ 9.51714323e-03 9.99954557e-01 -5.54296284e-04 5.44832796e+01] [ 5.42143556e-03 5.02714334e-04 9.99985178e-01 -2.36698544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.231400513 meters 0.08919037966766133 Centerline is valid? [True, True] Translation: X:497.63, Y:54.48, Z:-2.37 [[ 9.99928039e-01 -1.01744290e-02 -6.35600253e-03 4.97626551e+02] [ 1.01704943e-02 9.99948067e-01 -6.51082475e-04 5.44845476e+01] [ 6.36229684e-03 5.86391935e-04 9.99979588e-01 -2.36852876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.261400513 meters 0.08829952889866875 Centerline is valid? [True, True] Translation: X:497.66, Y:54.49, Z:-2.37 [[ 9.99905568e-01 -1.13796155e-02 -7.70448965e-03 4.97655838e+02] [ 1.13738674e-02 9.99935004e-01 -7.89474025e-04 5.44872769e+01] [ 7.71297279e-03 7.01769630e-04 9.99970008e-01 -2.37025840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.291400513 meters 0.08956602900335044 Centerline is valid? [True, True] Translation: X:497.69, Y:54.49, Z:-2.37 [[ 9.99848928e-01 -1.53924727e-02 -8.07418068e-03 4.97685021e+02] [ 1.53862885e-02 9.99881282e-01 -8.27493764e-04 5.44906900e+01] [ 8.08595930e-03 7.03137080e-04 9.99967061e-01 -2.37118605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.321400513 meters 0.08787689659904452 Centerline is valid? [True, True] Translation: X:497.72, Y:54.49, Z:-2.37 [[ 9.99812287e-01 -1.80149432e-02 -7.13107748e-03 4.97715224e+02] [ 1.80101844e-02 9.99837536e-01 -7.30992084e-04 5.44905670e+01] [ 7.14308772e-03 6.02422847e-04 9.99974306e-01 -2.36953297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.351400513 meters 0.08440626987015366 Centerline is valid? [True, True] Translation: X:497.75, Y:54.49, Z:-2.37 [[ 9.99769521e-01 -2.05961089e-02 -6.05851766e-03 4.97746396e+02] [ 2.05927206e-02 9.99787755e-01 -6.21106033e-04 5.44885432e+01] [ 6.07002414e-03 4.96201519e-04 9.99981454e-01 -2.36750580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.381400513 meters 0.08120420311027339 Centerline is valid? [True, True] Translation: X:497.78, Y:54.49, Z:-2.37 [[ 9.99726972e-01 -2.28331636e-02 -4.96266909e-03 4.97777398e+02] [ 2.28309176e-02 9.99739211e-01 -5.08775521e-04 5.44865597e+01] [ 4.97299184e-03 3.95334322e-04 9.99987556e-01 -2.36570628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.411400513 meters 0.07906912328020876 Centerline is valid? [True, True] Translation: X:497.81, Y:54.49, Z:-2.37 [[ 9.99683595e-01 -2.47459579e-02 -4.51084457e-03 4.97808240e+02] [ 2.47441215e-02 9.99693710e-01 -4.62477972e-04 5.44854227e+01] [ 4.52090741e-03 3.50714755e-04 9.99989719e-01 -2.36500807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.441400513 meters 0.08024462762345473 Centerline is valid? [True, True] Translation: X:497.84, Y:54.49, Z:-2.37 [[ 9.99640530e-01 -2.64039886e-02 -4.65200648e-03 4.97837155e+02] [ 2.64020530e-02 9.99651291e-01 -4.77024232e-04 5.44873137e+01] [ 4.66297962e-03 3.54030235e-04 9.99989066e-01 -2.36512927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.471400513 meters 0.08408293231014277 Centerline is valid? [True, True] Translation: X:497.87, Y:54.49, Z:-2.37 [[ 9.99575398e-01 -2.84853943e-02 -6.13243927e-03 4.97866253e+02] [ 2.84820686e-02 9.99594106e-01 -6.28968589e-04 5.44893688e+01] [ 6.14786657e-03 4.54036971e-04 9.99980999e-01 -2.36681205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.501400513 meters 0.08065445862242678 Centerline is valid? [True, True] Translation: X:497.90, Y:54.49, Z:-2.37 [[ 9.99556069e-01 -2.90344337e-02 -6.68329350e-03 4.97895455e+02] [ 2.90304910e-02 9.99578291e-01 -6.86216747e-04 5.44858947e+01] [ 6.70039901e-03 4.91892822e-04 9.99977431e-01 -2.36700027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.531400513 meters 0.07482535845561675 Centerline is valid? [True, True] Translation: X:497.93, Y:54.48, Z:-2.37 [[ 9.99561309e-01 -2.88099347e-02 -6.86854210e-03 4.97925120e+02] [ 2.88057572e-02 9.99584778e-01 -7.06373571e-04 5.44802388e+01] [ 6.88604071e-03 5.08210135e-04 9.99976162e-01 -2.36656171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.561400513 meters 0.08603595091517588 Centerline is valid? [True, True] Translation: X:497.95, Y:54.50, Z:-2.37 [[ 9.99584175e-01 -2.80701771e-02 -6.59862774e-03 4.97952211e+02] [ 2.80663017e-02 9.99605833e-01 -6.79181232e-04 5.44955647e+01] [ 6.61509151e-03 4.93699735e-04 9.99977998e-01 -2.36713766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.591400513 meters 0.07980333944883608 Centerline is valid? [True, True] Translation: X:497.98, Y:54.49, Z:-2.37 [[ 9.99608315e-01 -2.71969502e-02 -6.59867815e-03 4.97982200e+02] [ 2.71930542e-02 9.99629970e-01 -6.79444017e-04 5.44876498e+01] [ 6.61471524e-03 4.99739677e-04 9.99977998e-01 -2.36656501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.621400513 meters 0.07840682506153877 Centerline is valid? [True, True] Translation: X:498.01, Y:54.49, Z:-2.37 [[ 9.99618760e-01 -2.68244989e-02 -6.54072891e-03 4.98010884e+02] [ 2.68206581e-02 9.99640034e-01 -6.74246405e-04 5.44876890e+01] [ 6.55646079e-03 4.98562702e-04 9.99978382e-01 -2.36644370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.651400513 meters 0.07857519605371298 Centerline is valid? [True, True] Translation: X:498.04, Y:54.49, Z:-2.37 [[ 9.99611092e-01 -2.70179037e-02 -6.90631045e-03 4.98038705e+02] [ 2.70136174e-02 9.99634811e-01 -7.13181777e-04 5.44886496e+01] [ 6.92305702e-03 5.26339986e-04 9.99975897e-01 -2.36678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.681400513 meters 0.08086326784220008 Centerline is valid? [True, True] Translation: X:498.07, Y:54.49, Z:-2.37 [[ 9.99597569e-01 -2.74642788e-02 -7.10021099e-03 4.98066632e+02] [ 2.74597546e-02 9.99622640e-01 -7.33919724e-04 5.44925645e+01] [ 7.11768823e-03 5.38654321e-04 9.99974524e-01 -2.36678787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7114005130001 meters 0.08090209980059923 Centerline is valid? [True, True] Translation: X:498.10, Y:54.49, Z:-2.37 [[ 9.99542179e-01 -2.94204081e-02 -7.06198692e-03 4.98095971e+02] [ 2.94159793e-02 9.99566990e-01 -7.30208068e-04 5.44910337e+01] [ 7.08041203e-03 5.22138502e-04 9.99974797e-01 -2.36681396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.741400513 meters 0.07779362241148849 Centerline is valid? [True, True] Translation: X:498.13, Y:54.49, Z:-2.37 [[ 9.99493617e-01 -3.11256670e-02 -6.61083405e-03 4.98126022e+02] [ 3.11218221e-02 9.99515365e-01 -6.83706130e-04 5.44870572e+01] [ 6.62891102e-03 4.77618711e-04 9.99977914e-01 -2.36582473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.771400513 meters 0.07528817582869955 Centerline is valid? [True, True] Translation: X:498.16, Y:54.48, Z:-2.36 [[ 9.99433397e-01 -3.31423933e-02 -5.87088286e-03 4.98156923e+02] [ 3.31393951e-02 9.99450555e-01 -6.07264751e-04 5.44837278e+01] [ 5.88778334e-03 4.12363166e-04 9.99982582e-01 -2.36449227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.801400513 meters 0.07053594115582099 Centerline is valid? [True, True] Translation: X:498.19, Y:54.48, Z:-2.36 [[ 9.99354709e-01 -3.54556139e-02 -5.75016079e-03 4.98187655e+02] [ 3.54527756e-02 9.99371176e-01 -5.94811676e-04 5.44783048e+01] [ 5.76763436e-03 3.90568689e-04 9.99983291e-01 -2.36366456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.831400513 meters 0.07187924245292795 Centerline is valid? [True, True] Translation: X:498.22, Y:54.48, Z:-2.36 [[ 9.99278177e-01 -3.75329559e-02 -5.86534186e-03 4.98216525e+02] [ 3.75300379e-02 9.99295316e-01 -6.06815669e-04 5.44811410e+01] [ 5.88398424e-03 3.86251153e-04 9.99982615e-01 -2.36388569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.861400513 meters 0.06692780768421079 Centerline is valid? [True, True] Translation: X:498.25, Y:54.48, Z:-2.36 [[ 9.99211861e-01 -3.91891260e-02 -6.31414675e-03 4.98246998e+02] [ 3.91857755e-02 9.99231729e-01 -6.53528650e-04 5.44767844e+01] [ 6.33490699e-03 4.05588842e-04 9.99979852e-01 -2.36409872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.891400513 meters 0.06402612419341286 Centerline is valid? [True, True] Translation: X:498.28, Y:54.47, Z:-2.37 [[ 9.99123655e-01 -4.12814640e-02 -6.91101970e-03 4.98277288e+02] [ 4.12774986e-02 9.99147465e-01 -7.15499931e-04 5.44739112e+01] [ 6.93466470e-03 4.29603301e-04 9.99975863e-01 -2.36574787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.921400513 meters 0.06823942233003892 Centerline is valid? [True, True] Translation: X:498.30, Y:54.48, Z:-2.37 [[ 9.99078626e-01 -4.24140545e-02 -6.55344364e-03 4.98304912e+02] [ 4.24105116e-02 9.99100039e-01 -6.78705733e-04 5.44805971e+01] [ 6.57633246e-03 4.00145494e-04 9.99978296e-01 -2.36564395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.951400513 meters 0.061996951187291593 Centerline is valid? [True, True] Translation: X:498.34, Y:54.47, Z:-2.36 [[ 9.99022779e-01 -4.38453213e-02 -5.57450605e-03 4.98335766e+02] [ 4.38427789e-02 9.99038276e-01 -5.77522737e-04 5.44743360e+01] [ 5.59446659e-03 3.32556534e-04 9.99984296e-01 -2.36318552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.981400513 meters 0.06349286888923442 Centerline is valid? [True, True] Translation: X:498.36, Y:54.48, Z:-2.36 [[ 9.98927913e-01 -4.60147810e-02 -5.06595687e-03 4.98364770e+02] [ 4.60127085e-02 9.98940716e-01 -5.24970516e-04 5.44774856e+01] [ 5.08474698e-03 2.91309305e-04 9.99987030e-01 -2.36215148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.011400513 meters 0.06349286888923442 Centerline is valid? [True, True] Translation: X:498.39, Y:54.48, Z:-2.36 [[ 9.98919583e-01 -4.61952638e-02 -5.06589931e-03 4.98392129e+02] [ 4.61931908e-02 9.98932387e-01 -5.25525457e-04 5.44804891e+01] [ 5.08476767e-03 2.90947617e-04 9.99987030e-01 -2.36208822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.041400513 meters 0.05673575050760617 Centerline is valid? [True, True] Translation: X:498.42, Y:54.47, Z:-2.36 [[ 9.98780538e-01 -4.90763550e-02 -5.38041690e-03 4.98423428e+02] [ 4.90740560e-02 9.98794986e-01 -5.58568717e-04 5.44737905e+01] [ 5.40134594e-03 2.93848683e-04 9.99985369e-01 -2.36184096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.071400513 meters 0.05018954241602389 Centerline is valid? [True, True] Translation: X:498.46, Y:54.47, Z:-2.36 [[ 9.98427128e-01 -5.57781037e-02 -5.66339099e-03 4.98455265e+02] [ 5.57756639e-02 9.98443153e-01 -5.87941633e-04 5.44661068e+01] [ 5.68736823e-03 2.71137483e-04 9.99983790e-01 -2.36271997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.101400513 meters 0.050769704796675745 Centerline is valid? [True, True] Translation: X:498.48, Y:54.47, Z:-2.36 [[ 9.98263977e-01 -5.86505208e-02 -5.39887555e-03 4.98484598e+02] [ 5.86483451e-02 9.98278547e-01 -5.60566299e-04 5.44683119e+01] [ 5.42245915e-03 2.42958027e-04 9.99985269e-01 -2.36255348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.131400513 meters 0.044701161038539994 Centerline is valid? [True, True] Translation: X:498.52, Y:54.46, Z:-2.36 [[ 9.98115526e-01 -6.11267177e-02 -5.37791123e-03 4.98515270e+02] [ 6.11245942e-02 9.98129988e-01 -5.58480511e-04 5.44623036e+01] [ 5.40199255e-03 2.28705427e-04 9.99985383e-01 -2.36239026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.161400513 meters 0.04235897295056844 Centerline is valid? [True, True] Translation: X:498.55, Y:54.46, Z:-2.36 [[ 9.97961809e-01 -6.35478303e-02 -5.82243080e-03 4.98545864e+02] [ 6.35453820e-02 9.97978767e-01 -6.04714295e-04 5.44613908e+01] [ 5.84909059e-03 2.33493183e-04 9.99982867e-01 -2.36287908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.191400513 meters 0.04293337785982097 Centerline is valid? [True, True] Translation: X:498.57, Y:54.46, Z:-2.36 [[ 9.97813002e-01 -6.58106062e-02 -6.17878281e-03 4.98574928e+02] [ 6.58078917e-02 9.97832105e-01 -6.41846399e-04 5.44639342e+01] [ 6.20762816e-03 2.33830012e-04 9.99980705e-01 -2.36355833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.221400513 meters 0.03885607032422021 Centerline is valid? [True, True] Translation: X:498.61, Y:54.46, Z:-2.36 [[ 9.97633783e-01 -6.84888065e-02 -6.00993552e-03 4.98605250e+02] [ 6.84862862e-02 9.97651862e-01 -6.24403291e-04 5.44606291e+01] [ 6.03858800e-03 2.11327653e-04 9.99981745e-01 -2.36309741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.251400513 meters 0.034274250929551706 Centerline is valid? [True, True] Translation: X:498.64, Y:54.46, Z:-2.36 [[ 9.97423385e-01 -7.15135410e-02 -5.69251723e-03 4.98635585e+02] [ 7.15113284e-02 9.97439612e-01 -5.91532082e-04 5.44565333e+01] [ 5.72024473e-03 1.82928462e-04 9.99983623e-01 -2.36229116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.281400513 meters 0.03226250698814278 Centerline is valid? [True, True] Translation: X:498.66, Y:54.46, Z:-2.36 [[ 9.97192037e-01 -7.46738971e-02 -5.64356935e-03 4.98664774e+02] [ 7.46717723e-02 9.97207994e-01 -5.86579782e-04 5.44550989e+01] [ 5.67161466e-03 1.63517363e-04 9.99983903e-01 -2.36191538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.311400513 meters 0.024659461511810397 Centerline is valid? [True, True] Translation: X:498.70, Y:54.44, Z:-2.36 [[ 9.96696675e-01 -8.10533533e-02 -5.10803285e-03 4.98696702e+02] [ 8.10516960e-02 9.96709757e-01 -5.30976298e-04 5.44444940e+01] [ 5.13426359e-03 1.15207585e-04 9.99986813e-01 -2.35983479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.341400513 meters 0.020266084436940515 Centerline is valid? [True, True] Translation: X:498.73, Y:54.44, Z:-2.36 [[ 9.96445389e-01 -8.40473728e-02 -5.71183067e-03 4.98726433e+02] [ 8.40453486e-02 9.96461754e-01 -5.93920488e-04 5.44403012e+01] [ 5.74153826e-03 1.11756532e-04 9.99983511e-01 -2.35958186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.371400513 meters 0.019881770812902058 Centerline is valid? [True, True] Translation: X:498.75, Y:54.44, Z:-2.36 [[ 9.96213044e-01 -8.66789018e-02 -6.80724670e-03 4.98754248e+02] [ 8.66760818e-02 9.96236295e-01 -7.08745825e-04 5.44412032e+01] [ 6.84305954e-03 1.16036364e-04 9.99976579e-01 -2.36153290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.401400513 meters 0.021415188079732295 Centerline is valid? [True, True] Translation: X:498.78, Y:54.44, Z:-2.36 [[ 9.96013098e-01 -8.88668053e-02 -7.78452819e-03 4.98782591e+02] [ 8.88631782e-02 9.96043512e-01 -8.11280631e-04 5.44413222e+01] [ 7.82582472e-03 1.16288219e-04 9.99969371e-01 -2.36395964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.431400513 meters 0.015488594029200544 Centerline is valid? [True, True] Translation: X:498.81, Y:54.44, Z:-2.36 [[ 9.95824520e-01 -9.09123122e-02 -8.27510468e-03 4.98812653e+02] [ 9.09082749e-02 9.95858896e-01 -8.63507214e-04 5.44359431e+01] [ 8.31934004e-03 1.07626166e-04 9.99965388e-01 -2.36306846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4614005130001 meters 0.014508770342614372 Centerline is valid? [True, True] Translation: X:498.84, Y:54.43, Z:-2.36 [[ 9.95653228e-01 -9.28472988e-02 -7.35040991e-03 4.98840631e+02] [ 9.28441614e-02 9.95680357e-01 -7.67647420e-04 5.44340641e+01] [ 7.38993275e-03 8.18679871e-05 9.99972691e-01 -2.36181453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.491400513 meters 0.010529774140550188 Centerline is valid? [True, True] Translation: X:498.87, Y:54.43, Z:-2.36 [[ 9.95305067e-01 -9.66461545e-02 -5.22926449e-03 4.98870127e+02] [ 9.66446159e-02 9.95318803e-01 -5.46720381e-04 5.44266061e+01] [ 5.25762370e-03 3.87733071e-05 9.99986178e-01 -2.35713624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.521400513 meters 0.009442739806176508 Centerline is valid? [True, True] Translation: X:498.90, Y:54.43, Z:-2.36 [[ 9.95159980e-01 -9.81723197e-02 -4.33697953e-03 4.98898125e+02] [ 9.81712736e-02 9.95169430e-01 -4.53936872e-04 5.44254971e+01] [ 4.36059348e-03 2.59730039e-05 9.99990492e-01 -2.35619812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.551400513 meters 0.008828580764045297 Centerline is valid? [True, True] Translation: X:498.93, Y:54.42, Z:-2.36 [[ 9.95056555e-01 -9.92178757e-02 -4.27384222e-03 4.98925371e+02] [ 9.92168676e-02 9.95065733e-01 -4.47791318e-04 5.44247598e+01] [ 4.29718284e-03 2.15404490e-05 9.99990767e-01 -2.35649544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.581400513 meters 0.008219466048536163 Centerline is valid? [True, True] Translation: X:498.95, Y:54.42, Z:-2.36 [[ 9.94953335e-01 -1.00212160e-01 -5.03824406e-03 4.98953252e+02] [ 1.00210767e-01 9.94966091e-01 -5.28769452e-04 5.44234508e+01] [ 5.06587113e-03 2.12146255e-05 9.99987168e-01 -2.35808106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.611400513 meters 0.008037539957280184 Centerline is valid? [True, True] Translation: X:498.98, Y:54.42, Z:-2.36 [[ 9.94912357e-01 -1.00581132e-01 -5.73036007e-03 4.98981404e+02] [ 1.00579329e-01 9.94928859e-01 -6.02601152e-04 5.44233276e+01] [ 5.76191092e-03 2.31795612e-05 9.99983400e-01 -2.35872781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.641400513 meters 0.02286149447988966 Centerline is valid? [True, True] Translation: X:499.01, Y:54.42, Z:-2.36 [[ 9.95052341e-01 -9.92611936e-02 -4.24893842e-03 4.99008150e+02] [ 9.92758662e-02 9.95054162e-01 3.39361684e-03 5.44214702e+01] [ 3.89106941e-03 -3.79864343e-03 9.99985215e-01 -2.35946856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.671400513 meters 0.00840685530579473 Centerline is valid? [True, True] Translation: X:499.04, Y:54.43, Z:-2.36 [[ 9.94931103e-01 -1.00398684e-01 -5.67485335e-03 4.99036335e+02] [ 1.00375040e-01 9.94940343e-01 -4.30876656e-03 5.44293043e+01] [ 6.07873503e-03 3.71731224e-03 9.99974615e-01 -2.35924868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.701400513 meters 0.008919699073641481 Centerline is valid? [True, True] Translation: X:499.06, Y:54.43, Z:-2.36 [[ 9.94983337e-01 -9.98618847e-02 -5.98016540e-03 4.99063116e+02] [ 9.98598893e-02 9.95001308e-01 -6.32079903e-04 5.44281119e+01] [ 6.01339309e-03 3.17303162e-05 9.99981919e-01 -2.35837877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.731400513 meters 0.010786546159240514 Centerline is valid? [True, True] Translation: X:499.09, Y:54.43, Z:-2.36 [[ 9.95208415e-01 -9.76570966e-02 -4.82729633e-03 4.99090421e+02] [ 9.76557683e-02 9.95220121e-01 -5.10667741e-04 5.44305996e+01] [ 4.85409277e-03 3.68075012e-05 9.99988218e-01 -2.35672805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.761400513 meters 0.011561495430200597 Centerline is valid? [True, True] Translation: X:499.12, Y:54.43, Z:-2.36 [[ 9.95317633e-01 -9.65595009e-02 -4.36715967e-03 4.99118645e+02] [ 9.65584010e-02 9.95327213e-01 -4.62481524e-04 5.44342590e+01] [ 4.39140985e-03 3.86300602e-05 9.99990357e-01 -2.35583071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.791400513 meters 0.013715919772021619 Centerline is valid? [True, True] Translation: X:499.15, Y:54.44, Z:-2.35 [[ 9.95475203e-01 -9.49571988e-02 -3.50021511e-03 4.99145406e+02] [ 9.49564810e-02 9.95481355e-01 -3.71070142e-04 5.44408886e+01] [ 3.51963466e-03 3.70230159e-05 9.99993805e-01 -2.35475195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.821400513 meters 0.015739314356633404 Centerline is valid? [True, True] Translation: X:499.17, Y:54.45, Z:-2.35 [[ 9.95651786e-01 -9.31131574e-02 -2.73149966e-03 4.99173841e+02] [ 9.31127128e-02 9.95655532e-01 -2.89786008e-04 5.44473907e+01] [ 2.74661564e-03 3.41886130e-05 9.99996227e-01 -2.35360325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.851400513 meters 0.016553925827495184 Centerline is valid? [True, True] Translation: X:499.20, Y:54.45, Z:-2.35 [[ 9.95815181e-01 -9.13559141e-02 -2.49448027e-03 4.99202310e+02] [ 9.13555368e-02 9.95818305e-01 -2.65019108e-04 5.44520946e+01] [ 2.50826018e-03 3.60254669e-05 9.99996854e-01 -2.35325204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.881400513 meters 0.017877103526402392 Centerline is valid? [True, True] Translation: X:499.23, Y:54.46, Z:-2.35 [[ 9.95932291e-01 -9.00502788e-02 -3.13351420e-03 4.99230473e+02] [ 9.00496749e-02 9.95937219e-01 -3.33540873e-04 5.44569569e+01] [ 3.15081886e-03 5.00121909e-05 9.99995035e-01 -2.35408651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.911400513 meters 0.020103597301589983 Centerline is valid? [True, True] Translation: X:499.26, Y:54.46, Z:-2.36 [[ 9.95974515e-01 -8.94257276e-02 -6.14859714e-03 4.99257991e+02] [ 8.94233841e-02 9.95993488e-01 -6.55571514e-04 5.44637691e+01] [ 6.18258767e-03 1.03104157e-04 9.99980882e-01 -2.35878288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.941400513 meters 0.018188446645441857 Centerline is valid? [True, True] Translation: X:499.29, Y:54.47, Z:-2.36 [[ 9.95926839e-01 -8.99202934e-02 -6.63864416e-03 4.99285787e+02] [ 8.99175651e-02 9.95948959e-01 -7.08909738e-04 5.44651302e+01] [ 6.67549611e-03 1.09091516e-04 9.99977713e-01 -2.35894320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.971400513 meters 0.01966441898553662 Centerline is valid? [True, True] Translation: X:499.31, Y:54.47, Z:-2.36 [[ 9.95887422e-01 -9.03613267e-02 -6.56297553e-03 4.99313383e+02] [ 9.03586652e-02 9.95909042e-01 -7.01529252e-04 5.44701502e+01] [ 6.59951779e-03 1.05622449e-04 9.99978217e-01 -2.35908623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.001400513 meters 0.019217470191820744 Centerline is valid? [True, True] Translation: X:499.34, Y:54.47, Z:-2.36 [[ 9.95840120e-01 -9.09091279e-02 -6.16324650e-03 4.99342637e+02] [ 9.09067868e-02 9.95859187e-01 -6.59524881e-04 5.44723130e+01] [ 6.19768248e-03 9.65004022e-05 9.99980790e-01 -2.35785322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.031400513 meters 0.019318038631348677 Centerline is valid? [True, True] Translation: X:499.37, Y:54.47, Z:-2.36 [[ 9.95828805e-01 -9.10802350e-02 -5.42050742e-03 4.99370746e+02] [ 9.10784219e-02 9.95843554e-01 -5.80932161e-04 5.44748793e+01] [ 5.45088881e-03 8.48177182e-05 9.99985140e-01 -2.35674086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.061400513 meters 0.017628980490980776 Centerline is valid? [True, True] Translation: X:499.40, Y:54.48, Z:-2.36 [[ 9.95838613e-01 -9.09912393e-02 -5.10402354e-03 4.99398925e+02] [ 9.09896256e-02 9.95851690e-01 -5.47967514e-04 5.44756285e+01] [ 5.13271071e-03 8.12740175e-05 9.99986824e-01 -2.35559187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.091400513 meters 0.02095233448059252 Centerline is valid? [True, True] Translation: X:499.43, Y:54.48, Z:-2.36 [[ 9.96046864e-01 -8.87019331e-02 -4.75510546e-03 4.99426343e+02] [ 8.87005033e-02 9.96058211e-01 -5.11147131e-04 5.44832567e+01] [ 4.78170158e-03 8.73462498e-05 9.99988564e-01 -2.35545736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.121400513 meters 0.022765754212370853 Centerline is valid? [True, True] Translation: X:499.45, Y:54.49, Z:-2.36 [[ 9.96223700e-01 -8.66921757e-02 -4.77555106e-03 4.99454219e+02] [ 8.66907089e-02 9.96235141e-01 -5.13702284e-04 5.44885702e+01] [ 4.80210576e-03 9.77664837e-05 9.99988465e-01 -2.35531548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.151400513 meters 0.024348616446591146 Centerline is valid? [True, True] Translation: X:499.48, Y:54.49, Z:-2.36 [[ 9.96413840e-01 -8.44562487e-02 -5.15761762e-03 4.99482120e+02] [ 8.44545056e-02 9.96427182e-01 -5.55214356e-04 5.44930419e+01] [ 5.18608171e-03 1.17639223e-04 9.99986545e-01 -2.35544961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.181400513 meters 0.027600505106479184 Centerline is valid? [True, True] Translation: X:499.51, Y:54.50, Z:-2.36 [[ 9.96621315e-01 -8.19618036e-02 -5.31204538e-03 4.99509701e+02] [ 8.19599172e-02 9.96635462e-01 -5.72197924e-04 5.44993671e+01] [ 5.34107118e-03 1.34889847e-04 9.99985727e-01 -2.35561913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2114005130001 meters 0.028641668351712286 Centerline is valid? [True, True] Translation: X:499.54, Y:54.50, Z:-2.36 [[ 9.96808414e-01 -7.96355373e-02 -5.58281428e-03 4.99538943e+02] [ 7.96334162e-02 9.96824035e-01 -6.01558810e-04 5.45033163e+01] [ 5.61298892e-03 1.55060310e-04 9.99984235e-01 -2.35563492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.241400513 meters 0.03220389340585536 Centerline is valid? [True, True] Translation: X:499.57, Y:54.51, Z:-2.36 [[ 9.97159293e-01 -7.50654224e-02 -6.20696191e-03 4.99568542e+02] [ 7.50627112e-02 9.97178591e-01 -6.68935729e-04 5.45094646e+01] [ 6.23966348e-03 2.01124089e-04 9.99980513e-01 -2.35629835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.271400513 meters 0.03220389340585536 Centerline is valid? [True, True] Translation: X:499.60, Y:54.51, Z:-2.36 [[ 9.97144644e-01 -7.52597770e-02 -6.20687433e-03 4.99595877e+02] [ 7.52570645e-02 9.97163941e-01 -6.69747618e-04 5.45125672e+01] [ 6.23967633e-03 2.00724108e-04 9.99980513e-01 -2.35623688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.301400513 meters 0.0365650742138728 Centerline is valid? [True, True] Translation: X:499.62, Y:54.52, Z:-2.36 [[ 9.97322951e-01 -7.28407506e-02 -6.41539565e-03 4.99623302e+02] [ 7.28377985e-02 9.97343559e-01 -6.92906022e-04 5.45196798e+01] [ 6.44882532e-03 2.23767782e-04 9.99979181e-01 -2.35670446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.331400513 meters 0.044641982352842474 Centerline is valid? [True, True] Translation: X:499.65, Y:54.53, Z:-2.36 [[ 9.97630986e-01 -6.85367588e-02 -5.92684892e-03 4.99651043e+02] [ 6.85341622e-02 9.97648565e-01 -6.40326694e-04 5.45305071e+01] [ 5.95679823e-03 2.32618126e-04 9.99982231e-01 -2.35685517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.361400513 meters 0.04253232952654161 Centerline is valid? [True, True] Translation: X:499.68, Y:54.53, Z:-2.36 [[ 9.97786221e-01 -6.62855751e-02 -5.37403782e-03 4.99680241e+02] [ 6.62834069e-02 9.97800668e-01 -5.80761785e-04 5.45302925e+01] [ 5.40071466e-03 2.23266570e-04 9.99985391e-01 -2.35526220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.391400513 meters 0.04696458283653655 Centerline is valid? [True, True] Translation: X:499.71, Y:54.54, Z:-2.35 [[ 9.97930706e-01 -6.41235770e-02 -4.74058168e-03 4.99708082e+02] [ 6.41218647e-02 9.97941944e-01 -5.12465292e-04 5.45381713e+01] [ 4.76368641e-03 2.07429914e-04 9.99988632e-01 -2.35454226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.421400513 meters 0.04966703575181298 Centerline is valid? [True, True] Translation: X:499.74, Y:54.54, Z:-2.35 [[ 9.98023294e-01 -6.26429022e-02 -5.03697790e-03 4.99737439e+02] [ 6.26409491e-02 9.98035979e-01 -5.44733720e-04 5.45397020e+01] [ 5.06120887e-03 2.28135865e-04 9.99987166e-01 -2.35447137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.451400513 meters 0.05173439202121362 Centerline is valid? [True, True] Translation: X:499.76, Y:54.55, Z:-2.36 [[ 9.98087525e-01 -6.16034849e-02 -5.12857869e-03 4.99764081e+02] [ 6.16014448e-02 9.98100673e-01 -5.54961480e-04 5.45475213e+01] [ 5.15302540e-03 2.37972273e-04 9.99986695e-01 -2.35521233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.481400513 meters 0.05114139831160445 Centerline is valid? [True, True] Translation: X:499.79, Y:54.55, Z:-2.36 [[ 9.98124151e-01 -6.09423451e-02 -5.84895915e-03 4.99793012e+02] [ 6.09396758e-02 9.98141250e-01 -6.33679452e-04 5.45488844e+01] [ 5.87670530e-03 2.76057091e-04 9.99982694e-01 -2.35625497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.511400513 meters 0.049890054428251666 Centerline is valid? [True, True] Translation: X:499.82, Y:54.55, Z:-2.36 [[ 9.98199848e-01 -5.96268541e-02 -6.45762194e-03 4.99822853e+02] [ 5.96235697e-02 9.98220687e-01 -7.00118547e-04 5.45485358e+01] [ 6.48787768e-03 3.13831756e-04 9.99978904e-01 -2.35771728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.541400513 meters 0.05376430977876994 Centerline is valid? [True, True] Translation: X:499.85, Y:54.55, Z:-2.36 [[ 9.98187580e-01 -5.97451660e-02 -7.21591294e-03 4.99849723e+02] [ 5.97410646e-02 9.98213601e-01 -7.82798557e-04 5.45544554e+01] [ 7.24979086e-03 3.50293477e-04 9.99973659e-01 -2.35940687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.571400513 meters 0.049613697532337755 Centerline is valid? [True, True] Translation: X:499.88, Y:54.55, Z:-2.36 [[ 9.98121908e-01 -6.07184027e-02 -8.11988193e-03 4.99878783e+02] [ 6.07132318e-02 9.98154860e-01 -8.82039626e-04 5.45503231e+01] [ 8.15845565e-03 3.87398801e-04 9.99966644e-01 -2.35989159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.601400513 meters 0.05012485941179677 Centerline is valid? [True, True] Translation: X:499.91, Y:54.55, Z:-2.36 [[ 9.98048423e-01 -6.18696820e-02 -8.45500792e-03 4.99906974e+02] [ 6.18641047e-02 9.98084158e-01 -9.19843728e-04 5.45520770e+01] [ 8.49571990e-03 3.94987086e-04 9.99963833e-01 -2.35994332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.631400513 meters 0.050207096200758965 Centerline is valid? [True, True] Translation: X:499.93, Y:54.55, Z:-2.36 [[ 9.97973360e-01 -6.30771629e-02 -8.39316663e-03 4.99934468e+02] [ 6.30717035e-02 9.98008580e-01 -9.13831470e-04 5.45537734e+01] [ 8.43409420e-03 3.82608145e-04 9.99964359e-01 -2.35983314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.661400513 meters 0.045966044015203024 Centerline is valid? [True, True] Translation: X:499.96, Y:54.55, Z:-2.36 [[ 9.97892640e-01 -6.43471501e-02 -8.35006837e-03 4.99963600e+02] [ 6.43417816e-02 9.97927506e-01 -9.10247908e-04 5.45501848e+01] [ 8.39133476e-03 3.71071412e-04 9.99964723e-01 -2.35970798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.691400513 meters 0.04724306189957482 Centerline is valid? [True, True] Translation: X:499.99, Y:54.55, Z:-2.36 [[ 9.97765022e-01 -6.62929658e-02 -8.37875764e-03 4.99992748e+02] [ 6.62876247e-02 9.97800138e-01 -9.13876349e-04 5.45496008e+01] [ 8.42090911e-03 3.56425913e-04 9.99964480e-01 -2.36104849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.721400513 meters 0.045370702686084126 Centerline is valid? [True, True] Translation: X:500.02, Y:54.55, Z:-2.36 [[ 9.97687150e-01 -6.75039710e-02 -7.97272077e-03 5.00022080e+02] [ 6.74991658e-02 9.97718951e-01 -8.70563367e-04 5.45479543e+01] [ 8.01330108e-03 3.30397884e-04 9.99967838e-01 -2.36007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.751400513 meters 0.04524176714571698 Centerline is valid? [True, True] Translation: X:500.05, Y:54.55, Z:-2.36 [[ 9.97620406e-01 -6.85597333e-02 -7.28613980e-03 5.00049719e+02] [ 6.85557427e-02 9.97646970e-01 -7.96343436e-04 5.45488825e+01] [ 7.32359239e-03 2.94941736e-04 9.99973139e-01 -2.35847513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.781400513 meters 0.043814481850681486 Centerline is valid? [True, True] Translation: X:500.08, Y:54.55, Z:-2.36 [[ 9.97553225e-01 -6.96458057e-02 -6.08488757e-03 5.00078998e+02] [ 6.96430379e-02 9.97571754e-01 -6.65827770e-04 5.45484248e+01] [ 6.11648407e-03 2.40428583e-04 9.99981265e-01 -2.35629221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.811400513 meters 0.042094413540137064 Centerline is valid? [True, True] Translation: X:500.11, Y:54.55, Z:-2.35 [[ 9.97488675e-01 -7.06489250e-02 -5.00727161e-03 5.00108677e+02] [ 7.06470598e-02 9.97501224e-01 -5.48625928e-04 5.45472940e+01] [ 5.03351939e-03 1.93499134e-04 9.99987313e-01 -2.35464326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.841400513 meters 0.04314362083210308 Centerline is valid? [True, True] Translation: X:500.14, Y:54.55, Z:-2.35 [[ 9.97428405e-01 -7.15338361e-02 -4.41448213e-03 5.00136329e+02] [ 7.15323932e-02 9.97438160e-01 -4.84098826e-04 5.45489213e+01] [ 4.43780238e-03 1.67075449e-04 9.99990139e-01 -2.35397343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.871400513 meters 0.04078752131247561 Centerline is valid? [True, True] Translation: X:500.17, Y:54.54, Z:-2.35 [[ 9.97344229e-01 -7.26475333e-02 -5.17929152e-03 5.00166084e+02] [ 7.26455588e-02 9.97357659e-01 -5.68596237e-04 5.45445058e+01] [ 5.20691318e-03 1.90833649e-04 9.99986426e-01 -2.35455182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.901400513 meters 0.04078752131247561 Centerline is valid? [True, True] Translation: X:500.19, Y:54.55, Z:-2.35 [[ 9.97330986e-01 -7.28291115e-02 -5.17919346e-03 5.00193420e+02] [ 7.28271348e-02 9.97344416e-01 -5.69488403e-04 5.45476767e+01] [ 5.20691501e-03 1.90782610e-04 9.99986426e-01 -2.35449037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.931400513 meters 0.04156371423342567 Centerline is valid? [True, True] Translation: X:500.22, Y:54.55, Z:-2.35 [[ 9.97351247e-01 -7.25478277e-02 -5.22513681e-03 5.00222017e+02] [ 7.25458073e-02 9.97364916e-01 -5.75434902e-04 5.45497037e+01] [ 5.25311469e-03 1.94848949e-04 9.99986183e-01 -2.35431255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9614005130001 meters 0.040015876396492844 Centerline is valid? [True, True] Translation: X:500.25, Y:54.55, Z:-2.35 [[ 9.97402167e-01 -7.18743347e-02 -4.79558848e-03 5.00251599e+02] [ 7.18726214e-02 9.97413679e-01 -5.28880602e-04 5.45481952e+01] [ 4.82119849e-03 1.82835144e-04 9.99988361e-01 -2.35346738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.991400513 meters 0.042375200676590126 Centerline is valid? [True, True] Translation: X:500.28, Y:54.55, Z:-2.35 [[ 9.97483513e-01 -7.07966789e-02 -3.80406661e-03 5.00278827e+02] [ 7.07955915e-02 9.97490756e-01 -4.19931988e-04 5.45505461e+01] [ 3.82425107e-03 1.49564089e-04 9.99992676e-01 -2.35258116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.021400513 meters 0.05008036068915025 Centerline is valid? [True, True] Translation: X:500.31, Y:54.56, Z:-2.35 [[ 9.97559854e-01 -6.97424475e-02 -3.21393198e-03 5.00305721e+02] [ 6.97416652e-02 9.97565023e-01 -3.54987290e-04 5.45560207e+01] [ 3.23086381e-03 1.29976101e-04 9.99994772e-01 -2.35195339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.051400513 meters 0.04404231198231367 Centerline is valid? [True, True] Translation: X:500.33, Y:54.55, Z:-2.35 [[ 9.97639871e-01 -6.85849988e-02 -3.28401823e-03 5.00334858e+02] [ 6.85841750e-02 9.97645267e-01 -3.62949462e-04 5.45493412e+01] [ 3.30117814e-03 1.36861174e-04 9.99994542e-01 -2.35174321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.081400513 meters 0.051256904719147726 Centerline is valid? [True, True] Translation: X:500.36, Y:54.56, Z:-2.35 [[ 9.97705558e-01 -6.75850665e-02 -3.98470052e-03 5.00361620e+02] [ 6.75838443e-02 9.97713501e-01 -4.40733105e-04 5.45552652e+01] [ 4.00537648e-03 1.70420489e-04 9.99991964e-01 -2.35352245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.111400513 meters 0.050207076545839203 Centerline is valid? [True, True] Translation: X:500.39, Y:54.56, Z:-2.36 [[ 9.97822691e-01 -6.56578234e-02 -6.23925826e-03 5.00390490e+02] [ 6.56547861e-02 9.97842158e-01 -6.90600914e-04 5.45567379e+01] [ 6.27113828e-03 2.79460095e-04 9.99980297e-01 -2.35705932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.141400513 meters 0.05549706729750424 Centerline is valid? [True, True] Translation: X:500.42, Y:54.56, Z:-2.36 [[ 9.97931361e-01 -6.39242676e-02 -6.83270382e-03 5.00418309e+02] [ 6.39205826e-02 9.97954702e-01 -7.56578577e-04 5.45622000e+01] [ 6.86709264e-03 3.18263080e-04 9.99976371e-01 -2.35783594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.171400513 meters 0.05322269653877746 Centerline is valid? [True, True] Translation: X:500.45, Y:54.56, Z:-2.36 [[ 9.98078493e-01 -6.16136837e-02 -6.56316376e-03 5.00449121e+02] [ 6.16102328e-02 9.98100020e-01 -7.26878366e-04 5.45585073e+01] [ 6.59547954e-03 3.21123617e-04 9.99978198e-01 -2.35686594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.201400513 meters 0.054099362750712296 Centerline is valid? [True, True] Translation: X:500.48, Y:54.56, Z:-2.36 [[ 9.98242652e-01 -5.89478488e-02 -6.06296359e-03 5.00479467e+02] [ 5.89448543e-02 9.98261015e-01 -6.71561407e-04 5.45592590e+01] [ 6.09200729e-03 3.13000733e-04 9.99981395e-01 -2.35536218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.231400513 meters 0.05939859432733114 Centerline is valid? [True, True] Translation: X:500.51, Y:54.57, Z:-2.35 [[ 9.98403370e-01 -5.62455674e-02 -5.21036195e-03 5.00508003e+02] [ 5.62433189e-02 9.98416925e-01 -5.77185752e-04 5.45661039e+01] [ 5.23457770e-03 2.83216150e-04 9.99986259e-01 -2.35410337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.261400513 meters 0.06171942780276067 Centerline is valid? [True, True] Translation: X:500.54, Y:54.57, Z:-2.35 [[ 9.98554375e-01 -5.35844690e-02 -4.22663858e-03 5.00538374e+02] [ 5.35829656e-02 9.98563291e-01 -4.68232712e-04 5.45698516e+01] [ 4.24565613e-03 2.41079994e-04 9.99990958e-01 -2.35200346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.291400513 meters 0.07548154116367439 Centerline is valid? [True, True] Translation: X:500.57, Y:54.59, Z:-2.35 [[ 9.98710895e-01 -5.06493438e-02 -3.34559778e-03 5.00565530e+02] [ 5.06483854e-02 9.98716478e-01 -3.70628596e-04 5.45873070e+01] [ 3.36007573e-03 2.00701691e-04 9.99994335e-01 -2.35128179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.321400513 meters 0.07601664201250946 Centerline is valid? [True, True] Translation: X:500.60, Y:54.59, Z:-2.35 [[ 9.98954998e-01 -4.55610115e-02 -3.62027801e-03 5.00596603e+02] [ 4.55598560e-02 9.98961530e-01 -4.01059519e-04 5.45850894e+01] [ 3.63479114e-03 2.35701066e-04 9.99993366e-01 -2.35256751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.351400513 meters 0.07131955890894898 Centerline is valid? [True, True] Translation: X:500.63, Y:54.58, Z:-2.35 [[ 9.99050934e-01 -4.33515853e-02 -4.22755332e-03 5.00627843e+02] [ 4.33499898e-02 9.99059838e-01 -4.68364471e-04 5.45800570e+01] [ 4.24388308e-03 2.84655569e-04 9.99990954e-01 -2.35367167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.381400513 meters 0.07644351681330233 Centerline is valid? [True, True] Translation: X:500.66, Y:54.59, Z:-2.36 [[ 9.99133181e-01 -4.13412409e-02 -4.87740507e-03 5.00655829e+02] [ 4.13390930e-02 9.99145028e-01 -5.40422112e-04 5.45877190e+01] [ 4.89557675e-03 3.38326162e-04 9.99987959e-01 -2.35528298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.411400513 meters 0.07447645857613094 Centerline is valid? [True, True] Translation: X:500.69, Y:54.59, Z:-2.36 [[ 9.99196904e-01 -3.96159054e-02 -6.01059290e-03 5.00685861e+02] [ 3.96126119e-02 9.99214890e-01 -6.66057342e-04 5.45875171e+01] [ 6.03226039e-03 4.27427150e-04 9.99981714e-01 -2.35734535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.441400513 meters 0.08023407321255598 Centerline is valid? [True, True] Translation: X:500.71, Y:54.60, Z:-2.36 [[ 9.99251267e-01 -3.80477335e-02 -7.01962401e-03 5.00714481e+02] [ 3.80432023e-02 9.99275793e-01 -7.77955074e-04 5.45966094e+01] [ 7.04413977e-03 5.10323617e-04 9.99975060e-01 -2.35974644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.471400513 meters 0.07158767467352235 Centerline is valid? [True, True] Translation: X:500.75, Y:54.59, Z:-2.36 [[ 9.99293627e-01 -3.68529392e-02 -7.35575074e-03 5.00745375e+02] [ 3.68479303e-02 9.99320552e-01 -8.15352643e-04 5.45877598e+01] [ 7.38080103e-03 5.43732510e-04 9.99972614e-01 -2.35958544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.501400513 meters 0.07621996623376823 Centerline is valid? [True, True] Translation: X:500.77, Y:54.59, Z:-2.36 [[ 9.99289367e-01 -3.69754920e-02 -7.31945085e-03 5.00772742e+02] [ 3.69705332e-02 9.99316027e-01 -8.11676624e-04 5.45917092e+01] [ 7.34445668e-03 5.40495819e-04 9.99972883e-01 -2.36009226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.531400513 meters 0.07636902310795948 Centerline is valid? [True, True] Translation: X:500.80, Y:54.59, Z:-2.36 [[ 9.99239179e-01 -3.81400405e-02 -8.14861876e-03 5.00801085e+02] [ 3.81339307e-02 9.99272228e-01 -9.03917208e-04 5.45937314e+01] [ 8.17716387e-03 5.92490625e-04 9.99966391e-01 -2.36186596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.561400513 meters 0.0807960823938174 Centerline is valid? [True, True] Translation: X:500.83, Y:54.60, Z:-2.36 [[ 9.99195102e-01 -3.90140891e-02 -9.33005811e-03 5.00828789e+02] [ 3.90061134e-02 9.99238436e-01 -1.03535521e-03 5.45998472e+01] [ 9.36334611e-03 6.70592551e-04 9.99955938e-01 -2.36448609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.591400513 meters 0.0696200183331292 Centerline is valid? [True, True] Translation: X:500.86, Y:54.59, Z:-2.36 [[ 9.99165890e-01 -3.96221737e-02 -9.87969534e-03 5.00858506e+02] [ 3.96132527e-02 9.99214485e-01 -1.09710668e-03 5.45907031e+01] [ 9.91540444e-03 7.04824703e-04 9.99950593e-01 -2.36445216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.621400513 meters 0.08021547897265592 Centerline is valid? [True, True] Translation: X:500.88, Y:54.61, Z:-2.37 [[ 9.99164924e-01 -3.96990386e-02 -9.66650896e-03 5.00883792e+02] [ 3.96904908e-02 9.99211444e-01 -1.07457931e-03 5.46057379e+01] [ 9.70154614e-03 6.90013474e-04 9.99952701e-01 -2.36576419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.651400513 meters 0.07732436571124097 Centerline is valid? [True, True] Translation: X:500.91, Y:54.60, Z:-2.36 [[ 9.99166636e-01 -3.98018544e-02 -9.04687265e-03 5.00912246e+02] [ 3.97943581e-02 9.99207383e-01 -1.00718539e-03 5.46044306e+01] [ 9.07978979e-03 6.46331551e-04 9.99958569e-01 -2.36416087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.681400513 meters 0.07455686546012652 Centerline is valid? [True, True] Translation: X:500.94, Y:54.60, Z:-2.36 [[ 9.99195239e-01 -3.92726224e-02 -8.15692503e-03 5.00941462e+02] [ 3.92665002e-02 9.99228360e-01 -9.09409690e-04 5.46020465e+01] [ 8.18634572e-03 5.88383935e-04 9.99966318e-01 -2.36192723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7114005130001 meters 0.08012096661018686 Centerline is valid? [True, True] Translation: X:500.97, Y:54.61, Z:-2.36 [[ 9.99217633e-01 -3.86188300e-02 -8.52684661e-03 5.00969000e+02] [ 3.86121107e-02 9.99253822e-01 -9.51305187e-04 5.46118238e+01] [ 8.55722236e-03 6.21321372e-04 9.99963193e-01 -2.36291712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.741400513 meters 0.077208723197148 Centerline is valid? [True, True] Translation: X:501.00, Y:54.61, Z:-2.36 [[ 9.99244916e-01 -3.78023704e-02 -8.97655494e-03 5.00999054e+02] [ 3.77948885e-02 9.99285016e-01 -1.00173480e-03 5.46119864e+01] [ 9.00800480e-03 6.61710510e-04 9.99959208e-01 -2.36318390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.771400513 meters 0.07302374467669842 Centerline is valid? [True, True] Translation: X:501.03, Y:54.61, Z:-2.36 [[ 9.99274517e-01 -3.68933054e-02 -9.45108339e-03 5.01028798e+02] [ 3.68849682e-02 9.99318961e-01 -1.05499405e-03 5.46102464e+01] [ 9.48356905e-03 7.05625760e-04 9.99954781e-01 -2.36353867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.801400513 meters 0.07750644994686706 Centerline is valid? [True, True] Translation: X:501.06, Y:54.62, Z:-2.36 [[ 9.99287134e-01 -3.64773824e-02 -9.72750140e-03 5.01055927e+02] [ 3.64685258e-02 9.99334212e-01 -1.08636407e-03 5.46181726e+01] [ 9.76065266e-03 7.30842005e-04 9.99952097e-01 -2.36416329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.831400513 meters 0.07717807586159703 Centerline is valid? [True, True] Translation: X:501.09, Y:54.62, Z:-2.36 [[ 9.99256563e-01 -3.77514347e-02 -7.81988202e-03 5.01085273e+02] [ 3.77457482e-02 9.99286994e-01 -8.73551002e-04 5.46180506e+01] [ 7.84728419e-03 5.77734274e-04 9.99969043e-01 -2.36128818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.861400513 meters 0.0689876067930692 Centerline is valid? [True, True] Translation: X:501.12, Y:54.61, Z:-2.36 [[ 9.99219845e-01 -3.90227060e-02 -6.07696844e-03 5.01116301e+02] [ 3.90192948e-02 9.99238227e-01 -6.78935682e-04 5.46097748e+01] [ 6.09883307e-03 4.41286984e-04 9.99981305e-01 -2.35802960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.891400513 meters 0.07437363026810463 Centerline is valid? [True, True] Translation: X:501.14, Y:54.62, Z:-2.36 [[ 9.99171960e-01 -4.03824693e-02 -4.96484465e-03 5.01144309e+02] [ 4.03802085e-02 9.99184233e-01 -5.54802624e-04 5.46176283e+01] [ 4.98319879e-03 3.53861764e-04 9.99987521e-01 -2.35671411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.921400513 meters 0.08031421808738474 Centerline is valid? [True, True] Translation: X:501.17, Y:54.63, Z:-2.36 [[ 9.99101138e-01 -4.20461182e-02 -5.38889368e-03 5.01172493e+02] [ 4.20434780e-02 9.99115600e-01 -6.02342596e-04 5.46255378e+01] [ 5.40945391e-03 3.75233340e-04 9.99985298e-01 -2.35738931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.951400513 meters 0.07149561287473577 Centerline is valid? [True, True] Translation: X:501.20, Y:54.62, Z:-2.36 [[ 9.99030429e-01 -4.36054090e-02 -6.06388188e-03 5.01203865e+02] [ 4.36020939e-02 9.99048746e-01 -6.77887988e-04 5.46154907e+01] [ 6.08767318e-03 4.12832780e-04 9.99981385e-01 -2.35811073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.981400513 meters 0.0709324215095495 Centerline is valid? [True, True] Translation: X:501.23, Y:54.62, Z:-2.36 [[ 9.98968036e-01 -4.49974496e-02 -6.17195322e-03 5.01233150e+02] [ 4.49940410e-02 9.98987017e-01 -6.90083530e-04 5.46157050e+01] [ 6.19675314e-03 4.11670272e-04 9.99980715e-01 -2.35863981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.011400513 meters 0.06469981411154528 Centerline is valid? [True, True] Translation: X:501.26, Y:54.61, Z:-2.36 [[ 9.98896157e-01 -4.67579694e-02 -4.48988447e-03 5.01264503e+02] [ 4.67561830e-02 9.98906205e-01 -5.02074558e-04 5.46073256e+01] [ 4.50844944e-03 2.91590487e-04 9.99989794e-01 -2.35592372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.041400513 meters 0.06011423889936452 Centerline is valid? [True, True] Translation: X:501.29, Y:54.60, Z:-2.35 [[ 9.98873188e-01 -4.73080156e-02 -3.78220603e-03 5.01293758e+02] [ 4.73067508e-02 9.98880319e-01 -4.23221989e-04 5.46025618e+01] [ 3.79799296e-03 2.43821220e-04 9.99992758e-01 -2.35435589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.071400513 meters 0.07405106232879398 Centerline is valid? [True, True] Translation: X:501.32, Y:54.62, Z:-2.35 [[ 9.98873576e-01 -4.73566984e-02 -2.98705020e-03 5.01319136e+02] [ 4.73559087e-02 9.98878024e-01 -3.34602156e-04 5.46204263e+01] [ 2.99954446e-03 1.92770775e-04 9.99995483e-01 -2.35360959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.101400513 meters 0.0672454386331563 Centerline is valid? [True, True] Translation: X:501.35, Y:54.61, Z:-2.35 [[ 9.98874835e-01 -4.73377015e-02 -2.86478414e-03 5.01349085e+02] [ 4.73369743e-02 9.98878925e-01 -3.21185058e-04 5.46133976e+01] [ 2.87677666e-03 1.85213459e-04 9.99995845e-01 -2.35249255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.131400513 meters 0.0744835966396481 Centerline is valid? [True, True] Translation: X:501.38, Y:54.62, Z:-2.35 [[ 9.98883789e-01 -4.71614199e-02 -2.64132836e-03 5.01376270e+02] [ 4.71608001e-02 9.98887266e-01 -2.96479941e-04 5.46238635e+01] [ 2.65237168e-03 1.71581848e-04 9.99996468e-01 -2.35171182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.161400513 meters 0.06963379338871939 Centerline is valid? [True, True] Translation: X:501.41, Y:54.62, Z:-2.35 [[ 9.98901296e-01 -4.67978479e-02 -2.48241965e-03 5.01405174e+02] [ 4.67972990e-02 9.98904367e-01 -2.78774754e-04 5.46198584e+01] [ 2.49274589e-03 1.62297928e-04 9.99996880e-01 -2.35113714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.191400513 meters 0.06988097758125744 Centerline is valid? [True, True] Translation: X:501.43, Y:54.62, Z:-2.35 [[ 9.98919617e-01 -4.63860644e-02 -2.81634685e-03 5.01434101e+02] [ 4.63853556e-02 9.98923570e-01 -3.16507336e-04 5.46232574e+01] [ 2.82799678e-03 1.85528137e-04 9.99995984e-01 -2.35242574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.221400513 meters 0.06948073110144234 Centerline is valid? [True, True] Translation: X:501.46, Y:54.63, Z:-2.36 [[ 9.98896217e-01 -4.68116474e-02 -3.87513614e-03 5.01463175e+02] [ 4.68103058e-02 9.98903702e-01 -4.36232490e-04 5.46266905e+01] [ 3.89130860e-03 2.54354676e-04 9.99992396e-01 -2.35509141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.251400513 meters 0.07397739300759143 Centerline is valid? [True, True] Translation: X:501.49, Y:54.64, Z:-2.36 [[ 9.98839183e-01 -4.78906485e-02 -5.17414848e-03 5.01490678e+02] [ 4.78882680e-02 9.98852529e-01 -5.83061999e-04 5.46355012e+01] [ 5.19613451e-03 3.34604161e-04 9.99986444e-01 -2.35832471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.281400513 meters 0.06516339282360153 Centerline is valid? [True, True] Translation: X:501.52, Y:54.63, Z:-2.36 [[ 9.98737532e-01 -4.97416989e-02 -7.00758582e-03 5.01521316e+02] [ 4.97373761e-02 9.98762018e-01 -7.89909657e-04 5.46275552e+01] [ 7.03820200e-03 4.40373489e-04 9.99975135e-01 -2.36068234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.311400513 meters 0.05748267981540599 Centerline is valid? [True, True] Translation: X:501.55, Y:54.62, Z:-2.36 [[ 9.98595212e-01 -5.22424631e-02 -8.85033584e-03 5.01552417e+02] [ 5.22356626e-02 9.98634287e-01 -9.97968232e-04 5.46200416e+01] [ 8.89038514e-03 5.34263141e-04 9.99960337e-01 -2.36246876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.341400513 meters 0.058225444872119086 Centerline is valid? [True, True] Translation: X:501.58, Y:54.62, Z:-2.37 [[ 9.98307390e-01 -5.71146338e-02 -1.09669150e-02 5.01581826e+02] [ 5.71044812e-02 9.98367442e-01 -1.23691999e-03 5.46206243e+01] [ 1.10196571e-02 6.08566381e-04 9.99939097e-01 -2.36619853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.371400513 meters 0.05699959413955304 Centerline is valid? [True, True] Translation: X:501.61, Y:54.62, Z:-2.37 [[ 9.98224137e-01 -5.85964256e-02 -1.07252372e-02 5.01611326e+02] [ 5.85867983e-02 9.98281585e-01 -1.20989839e-03 5.46217781e+01] [ 1.07777025e-02 5.79392470e-04 9.99941751e-01 -2.36585790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.401400513 meters 0.05842188087543018 Centerline is valid? [True, True] Translation: X:501.64, Y:54.63, Z:-2.36 [[ 9.98234338e-01 -5.85437518e-02 -1.00417382e-02 5.01637815e+02] [ 5.85353031e-02 9.98284696e-01 -1.13346463e-03 5.46270618e+01] [ 1.00908709e-02 5.43667122e-04 9.99948938e-01 -2.36449252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.431400513 meters 0.06141876384805496 Centerline is valid? [True, True] Translation: X:501.67, Y:54.63, Z:-2.36 [[ 9.98309689e-01 -5.73852519e-02 -9.20317573e-03 5.01665993e+02] [ 5.73781026e-02 9.98351979e-01 -1.03920861e-03 5.46348920e+01] [ 9.24764395e-03 5.09391266e-04 9.99957110e-01 -2.36307029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4614005130001 meters 0.059692746007286517 Centerline is valid? [True, True] Translation: X:501.70, Y:54.64, Z:-2.36 [[ 9.98407891e-01 -5.57227214e-02 -8.75569321e-03 5.01695625e+02] [ 5.57161848e-02 9.98446157e-01 -9.88900096e-04 5.46372105e+01] [ 8.79719244e-03 4.99491838e-04 9.99961179e-01 -2.36136632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.491400513 meters 0.0674741452514994 Centerline is valid? [True, True] Translation: X:501.72, Y:54.65, Z:-2.36 [[ 9.98521566e-01 -5.36743777e-02 -8.58738286e-03 5.01723734e+02] [ 5.36680128e-02 9.98558363e-01 -9.70084791e-04 5.46490063e+01] [ 8.62707166e-03 5.07782811e-04 9.99962657e-01 -2.36131186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.521400513 meters 0.07227027254978523 Centerline is valid? [True, True] Translation: X:501.75, Y:54.66, Z:-2.36 [[ 9.98732260e-01 -4.97948621e-02 -7.37185078e-03 5.01751754e+02] [ 4.97900665e-02 9.98759358e-01 -8.32738766e-04 5.46602580e+01] [ 7.40417106e-03 4.64638129e-04 9.99972481e-01 -2.35992770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.551400513 meters 0.06692950228358995 Centerline is valid? [True, True] Translation: X:501.78, Y:54.66, Z:-2.36 [[ 9.98819146e-01 -4.81577683e-02 -6.41428733e-03 5.01781967e+02] [ 4.81541037e-02 9.98839655e-01 -7.24634045e-04 5.46571020e+01] [ 6.44174130e-03 4.14904100e-04 9.99979166e-01 -2.35776914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.581400513 meters 0.06954661036814025 Centerline is valid? [True, True] Translation: X:501.81, Y:54.66, Z:-2.36 [[ 9.98874842e-01 -4.70509653e-02 -5.93776762e-03 5.01809503e+02] [ 4.70478042e-02 9.98892414e-01 -6.71013226e-04 5.46640787e+01] [ 5.96276285e-03 3.90899301e-04 9.99982146e-01 -2.35663383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.611400513 meters 0.07151548997564139 Centerline is valid? [True, True] Translation: X:501.84, Y:54.67, Z:-2.36 [[ 9.98914115e-01 -4.61404248e-02 -6.45382011e-03 5.01836956e+02] [ 4.61366695e-02 9.98934870e-01 -7.29631853e-04 5.46714394e+01] [ 6.48061148e-03 4.31081792e-04 9.99978908e-01 -2.35735979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.641400513 meters 0.07160175401745317 Centerline is valid? [True, True] Translation: X:501.87, Y:54.68, Z:-2.36 [[ 9.98947312e-01 -4.52284406e-02 -7.65867933e-03 5.01865764e+02] [ 4.52231232e-02 9.98976536e-01 -8.66148707e-04 5.46769819e+01] [ 7.69001550e-03 5.18887524e-04 9.99970297e-01 -2.35877217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.671400513 meters 0.07157026908825484 Centerline is valid? [True, True] Translation: X:501.89, Y:54.68, Z:-2.36 [[ 9.98956560e-01 -4.48506528e-02 -8.61451785e-03 5.01893611e+02] [ 4.48439058e-02 9.98993530e-01 -9.74872376e-04 5.46821925e+01] [ 8.64957126e-03 5.87546528e-04 9.99962419e-01 -2.36019422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.701400513 meters 0.07002210761012401 Centerline is valid? [True, True] Translation: X:501.92, Y:54.68, Z:-2.36 [[ 9.98924903e-01 -4.53652210e-02 -9.54123599e-03 5.01922213e+02] [ 4.53569545e-02 9.98970259e-01 -1.08111715e-03 5.46845917e+01] [ 9.58045610e-03 6.47193438e-04 9.99953897e-01 -2.36064125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.731400513 meters 0.07555738606803312 Centerline is valid? [True, True] Translation: X:501.95, Y:54.69, Z:-2.36 [[ 9.98869885e-01 -4.66288295e-02 -9.20351574e-03 5.01949658e+02] [ 4.66211864e-02 9.98912096e-01 -1.04337144e-03 5.46945892e+01] [ 9.24215439e-03 6.13113490e-04 9.99957102e-01 -2.36021992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.761400513 meters 0.06637677221614847 Centerline is valid? [True, True] Translation: X:501.98, Y:54.69, Z:-2.36 [[ 9.98790372e-01 -4.85113683e-02 -8.02746388e-03 5.01981077e+02] [ 4.85056134e-02 9.98822495e-01 -9.10162647e-04 5.46867424e+01] [ 8.06216474e-03 5.19684629e-04 9.99967365e-01 -2.35695128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.791400513 meters 0.06637677221614847 Centerline is valid? [True, True] Translation: X:502.01, Y:54.69, Z:-2.36 [[ 9.98781619e-01 -4.86912658e-02 -8.02734236e-03 5.02008454e+02] [ 4.86855081e-02 9.98813742e-01 -9.11233557e-04 5.46899954e+01] [ 8.06218897e-03 5.19308086e-04 9.99967365e-01 -2.35688968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.821400513 meters 0.06903534590204473 Centerline is valid? [True, True] Translation: X:502.04, Y:54.69, Z:-2.36 [[ 9.98681381e-01 -5.08679437e-02 -6.92472012e-03 5.02037228e+02] [ 5.08637081e-02 9.98705294e-01 -7.86522439e-04 5.46934784e+01] [ 6.95576342e-03 4.33268373e-04 9.99975715e-01 -2.35518038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.851400513 meters 0.05923453696339979 Centerline is valid? [True, True] Translation: X:502.07, Y:54.69, Z:-2.35 [[ 9.98575778e-01 -5.30508802e-02 -5.65854300e-03 5.02067855e+02] [ 5.30480864e-02 9.98591752e-01 -6.42788459e-04 5.46886996e+01] [ 5.68467486e-03 3.41698108e-04 9.99983784e-01 -2.35253364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.881400513 meters 0.062100374093065604 Centerline is valid? [True, True] Translation: X:502.10, Y:54.70, Z:-2.35 [[ 9.98485559e-01 -5.48312410e-02 -4.48601578e-03 5.02096111e+02] [ 5.48295026e-02 9.98495601e-01 -5.09680942e-04 5.46975854e+01] [ 4.50721347e-03 2.62943046e-04 9.99989808e-01 -2.35102757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.911400513 meters 0.06311857893329292 Centerline is valid? [True, True] Translation: X:502.13, Y:54.70, Z:-2.35 [[ 9.98317169e-01 -5.79612126e-02 -1.82438314e-03 5.02125511e+02] [ 5.79609303e-02 9.98318831e-01 -2.07299369e-04 5.47012864e+01] [ 1.83333137e-03 1.01207575e-04 9.99998314e-01 -2.34820247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.941400513 meters 0.055499045098872934 Centerline is valid? [True, True] Translation: X:502.16, Y:54.70, Z:-2.35 [[ 9.98245639e-01 -5.91894898e-02 -1.49927586e-03 5.02155146e+02] [ 5.91893006e-02 9.98246762e-01 -1.70349608e-04 5.46973530e+01] [ 1.50673018e-03 8.13096633e-05 9.99998862e-01 -2.34727366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.971400513 meters 0.055995084292592125 Centerline is valid? [True, True] Translation: X:502.18, Y:54.70, Z:-2.35 [[ 9.98176555e-01 -6.03394044e-02 -1.64971361e-03 5.02183363e+02] [ 6.03391767e-02 9.98177914e-01 -1.87528912e-04 5.47005776e+01] [ 1.65802307e-03 8.76446024e-05 9.99998622e-01 -2.34722928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.001400513 meters 0.059044570236659696 Centerline is valid? [True, True] Translation: X:502.21, Y:54.70, Z:-2.35 [[ 9.98125367e-01 -6.11490243e-02 -2.55891966e-03 5.02210684e+02] [ 6.11484785e-02 9.98128638e-01 -2.91058802e-04 5.47047039e+01] [ 2.57192896e-03 1.34039130e-04 9.99996684e-01 -2.34817691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.031400513 meters 0.05478492504765954 Centerline is valid? [True, True] Translation: X:502.24, Y:54.70, Z:-2.35 [[ 9.98099826e-01 -6.15083923e-02 -3.66797730e-03 5.02239262e+02] [ 6.15072717e-02 9.98106548e-01 -4.17618476e-04 5.47046193e+01] [ 3.68671920e-03 1.91217651e-04 9.99993186e-01 -2.34974878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.061400513 meters 0.055598550703350874 Centerline is valid? [True, True] Translation: X:502.27, Y:54.71, Z:-2.35 [[ 9.98118125e-01 -6.11614391e-02 -4.41439696e-03 5.02267218e+02] [ 6.11598103e-02 9.98127860e-01 -5.03155292e-04 5.47087588e+01] [ 4.43690629e-03 2.32224736e-04 9.99990130e-01 -2.35104790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.091400513 meters 0.06388206846123244 Centerline is valid? [True, True] Translation: X:502.30, Y:54.72, Z:-2.35 [[ 9.98289864e-01 -5.83144270e-02 -4.09561388e-03 5.02295577e+02] [ 5.83130005e-02 9.98298240e-01 -4.66953097e-04 5.47218625e+01] [ 4.11587423e-03 2.27327009e-04 9.99991504e-01 -2.35076117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.121400513 meters 0.06022266858351776 Centerline is valid? [True, True] Translation: X:502.33, Y:54.72, Z:-2.35 [[ 9.98429464e-01 -5.58978160e-02 -3.74681495e-03 5.02325854e+02] [ 5.58966051e-02 9.98436471e-01 -4.27219899e-04 5.47205817e+01] [ 3.76483735e-03 2.17114699e-04 9.99992889e-01 -2.34978823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.151400513 meters 0.06685221881469064 Centerline is valid? [True, True] Translation: X:502.35, Y:54.73, Z:-2.35 [[ 9.98600352e-01 -5.27638315e-02 -3.64906380e-03 5.02354595e+02] [ 5.27626619e-02 9.98606994e-01 -4.16115781e-04 5.47321400e+01] [ 3.66593650e-03 2.22999045e-04 9.99993256e-01 -2.34949043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.181400513 meters 0.06787459854353078 Centerline is valid? [True, True] Translation: X:502.38, Y:54.74, Z:-2.35 [[ 9.98772491e-01 -4.93217470e-02 -4.56902562e-03 5.02384274e+02] [ 4.93198772e-02 9.98782898e-01 -5.21080882e-04 5.47370180e+01] [ 4.58916528e-03 2.95097468e-04 9.99989426e-01 -2.35030461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2114005130001 meters 0.06937053280154573 Centerline is valid? [True, True] Translation: X:502.41, Y:54.74, Z:-2.35 [[ 9.98920040e-01 -4.61149755e-02 -5.67113571e-03 5.02414382e+02] [ 4.61120432e-02 9.98936065e-01 -6.46801028e-04 5.47430877e+01] [ 5.69492920e-03 3.84594854e-04 9.99983710e-01 -2.35177142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.241400513 meters 0.08067888641879169 Centerline is valid? [True, True] Translation: X:502.44, Y:54.76, Z:-2.35 [[ 9.99035848e-01 -4.34198691e-02 -6.48768561e-03 5.02442009e+02] [ 4.34159747e-02 9.99056808e-01 -7.39979030e-04 5.47612523e+01] [ 6.51369627e-03 4.57596383e-04 9.99978681e-01 -2.35388370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.271400513 meters 0.08770027639881042 Centerline is valid? [True, True] Translation: X:502.47, Y:54.77, Z:-2.36 [[ 9.99176923e-01 -4.00179978e-02 -6.63602299e-03 5.02469773e+02] [ 4.00138485e-02 9.99198839e-01 -7.56903385e-04 5.47738419e+01] [ 6.66099622e-03 4.90747576e-04 9.99977695e-01 -2.35543261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.301400513 meters 0.07628007932794773 Centerline is valid? [True, True] Translation: X:502.50, Y:54.76, Z:-2.35 [[ 9.99196888e-01 -3.95232861e-02 -6.59458799e-03 5.02499487e+02] [ 3.95191763e-02 9.99218529e-01 -7.52413585e-04 5.47624956e+01] [ 6.61917237e-03 4.91196627e-04 9.99977972e-01 -2.35458177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.331400513 meters 0.0746038915781558 Centerline is valid? [True, True] Translation: X:502.53, Y:54.76, Z:-2.36 [[ 9.99178148e-01 -3.99285189e-02 -6.98148333e-03 5.02528847e+02] [ 3.99239161e-02 9.99202404e-01 -7.97463012e-04 5.47585955e+01] [ 7.00775644e-03 5.18079461e-04 9.99975311e-01 -2.35548628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.361400513 meters 0.0792346693979761 Centerline is valid? [True, True] Translation: X:502.56, Y:54.77, Z:-2.36 [[ 9.99152698e-01 -4.02545073e-02 -8.57094551e-03 5.02555203e+02] [ 4.02475751e-02 9.99189258e-01 -9.79828635e-04 5.47703648e+01] [ 8.60343920e-03 6.34038651e-04 9.99962789e-01 -2.35775322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.391400513 meters 0.08427105056133029 Centerline is valid? [True, True] Translation: X:502.58, Y:54.78, Z:-2.36 [[ 9.99114957e-01 -4.07453582e-02 -1.04459861e-02 5.02582193e+02] [ 4.07350812e-02 9.99169268e-01 -1.19478994e-03 5.47792742e+01] [ 1.04859904e-02 7.68214406e-04 9.99944725e-01 -2.36100868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.421400513 meters 0.08091129318114189 Centerline is valid? [True, True] Translation: X:502.61, Y:54.78, Z:-2.36 [[ 9.99075193e-01 -4.13702573e-02 -1.17158095e-02 5.02611384e+02] [ 4.13573538e-02 9.99143518e-01 -1.34161915e-03 5.47782587e+01] [ 1.17612782e-02 8.55843535e-04 9.99930468e-01 -2.36291422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.451400513 meters 0.07971750508376317 Centerline is valid? [True, True] Translation: X:502.64, Y:54.78, Z:-2.36 [[ 9.99082844e-01 -4.14815915e-02 -1.06182939e-02 5.02640371e+02] [ 4.14709817e-02 9.99138967e-01 -1.21753832e-03 5.47785967e+01] [ 1.06596566e-02 7.76070578e-04 9.99942883e-01 -2.36098125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.481400513 meters 0.07390370103623803 Centerline is valid? [True, True] Translation: X:502.67, Y:54.77, Z:-2.36 [[ 9.99116072e-01 -4.11618114e-02 -8.53108694e-03 5.02669551e+02] [ 4.11549403e-02 9.99152296e-01 -9.79487598e-04 5.47736369e+01] [ 8.56417259e-03 6.27525428e-04 9.99963130e-01 -2.35685733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.511400513 meters 0.07658332179901393 Centerline is valid? [True, True] Translation: X:502.70, Y:54.78, Z:-2.35 [[ 9.99155335e-01 -4.04236355e-02 -7.38547985e-03 5.02696666e+02] [ 4.04184614e-02 9.99182480e-01 -8.48551028e-04 5.47791216e+01] [ 7.41374359e-03 5.49324555e-04 9.99972367e-01 -2.35468202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.541400513 meters 0.07692936265583036 Centerline is valid? [True, True] Translation: X:502.73, Y:54.78, Z:-2.35 [[ 9.99187838e-01 -3.96218428e-02 -7.33304786e-03 5.02725634e+02] [ 3.96167183e-02 9.99214594e-01 -8.42822734e-04 5.47823437e+01] [ 7.36068263e-03 5.51626935e-04 9.99972758e-01 -2.35461574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.571400513 meters 0.07984824039797987 Centerline is valid? [True, True] Translation: X:502.75, Y:54.79, Z:-2.36 [[ 9.99196897e-01 -3.91754930e-02 -8.41680803e-03 5.02753080e+02] [ 3.91687224e-02 9.99232142e-01 -9.67815780e-04 5.47890387e+01] [ 8.44825978e-03 6.37362907e-04 9.99964110e-01 -2.35634031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.601400513 meters 0.08152809200567197 Centerline is valid? [True, True] Translation: X:502.78, Y:54.79, Z:-2.36 [[ 9.99194553e-01 -3.89868798e-02 -9.50096728e-03 5.02780372e+02] [ 3.89782389e-02 9.99239462e-01 -1.09302247e-03 5.47943527e+01] [ 9.53635497e-03 7.21811127e-04 9.99954267e-01 -2.35789531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.631400513 meters 0.07742688494229628 Centerline is valid? [True, True] Translation: X:502.81, Y:54.79, Z:-2.36 [[ 9.99201695e-01 -3.88414788e-02 -9.34408893e-03 5.02809628e+02] [ 3.88331030e-02 9.99245131e-01 -1.07622089e-03 5.47941002e+01] [ 9.37883738e-03 7.12501774e-04 9.99955764e-01 -2.35690709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.661400513 meters 0.08000593644926429 Centerline is valid? [True, True] Translation: X:502.84, Y:54.80, Z:-2.36 [[ 9.99175691e-01 -3.96260059e-02 -8.81580621e-03 5.02837147e+02] [ 3.96185746e-02 9.99214359e-01 -1.01607553e-03 5.47983109e+01] [ 8.84914317e-03 6.65968295e-04 9.99960624e-01 -2.35717345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.691400513 meters 0.08200770474344087 Centerline is valid? [True, True] Translation: X:502.87, Y:54.81, Z:-2.36 [[ 9.99114758e-01 -4.10697036e-02 -9.10934560e-03 5.02865470e+02] [ 4.10618261e-02 9.99156056e-01 -1.05018965e-03 5.48070531e+01] [ 9.14478880e-03 6.75213613e-04 9.99957958e-01 -2.35762622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.721400513 meters 0.06885140112821357 Centerline is valid? [True, True] Translation: X:502.90, Y:54.79, Z:-2.36 [[ 9.99024831e-01 -4.30781443e-02 -9.67787242e-03 5.02897193e+02] [ 4.30693452e-02 9.99071462e-01 -1.11587220e-03 5.47946942e+01] [ 9.71695585e-03 6.97964407e-04 9.99952546e-01 -2.35692229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.751400513 meters 0.07103953702818831 Centerline is valid? [True, True] Translation: X:502.93, Y:54.80, Z:-2.36 [[ 9.98929397e-01 -4.52917704e-02 -9.41888455e-03 5.02926084e+02] [ 4.52835326e-02 9.98973584e-01 -1.08614750e-03 5.48016341e+01] [ 9.45841040e-03 6.58464296e-04 9.99955051e-01 -2.35704229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.781400513 meters 0.06903959453129671 Centerline is valid? [True, True] Translation: X:502.96, Y:54.81, Z:-2.35 [[ 9.98764971e-01 -4.91273510e-02 -7.41862453e-03 5.02955364e+02] [ 4.91223452e-02 9.98792402e-01 -8.55586953e-04 5.48056374e+01] [ 7.45169854e-03 4.90110043e-04 9.99972116e-01 -2.35432156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.811400513 meters 0.07079304994711981 Centerline is valid? [True, True] Translation: X:502.98, Y:54.81, Z:-2.35 [[ 9.98691982e-01 -5.06398893e-02 -7.06588864e-03 5.02984754e+02] [ 5.06353853e-02 9.98716874e-01 -8.14990898e-04 5.48082812e+01] [ 7.09809326e-03 4.56140882e-04 9.99974704e-01 -2.35381164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.841400513 meters 0.06599798712456716 Centerline is valid? [True, True] Translation: X:503.01, Y:54.81, Z:-2.35 [[ 9.98642543e-01 -5.16417208e-02 -6.79731461e-03 5.03013326e+02] [ 5.16375742e-02 9.98665583e-01 -7.84245502e-04 5.48101952e+01] [ 6.82874394e-03 4.32184086e-04 9.99976590e-01 -2.35228513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.871400513 meters 0.0628405773898767 Centerline is valid? [True, True] Translation: X:503.04, Y:54.81, Z:-2.35 [[ 9.98602142e-01 -5.24798961e-02 -6.29457324e-03 5.03042596e+02] [ 5.24763550e-02 9.98621903e-01 -7.26522544e-04 5.48103406e+01] [ 6.32402653e-03 3.95190709e-04 9.99979925e-01 -2.35081673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.901400513 meters 0.07308622189598239 Centerline is valid? [True, True] Translation: X:503.07, Y:54.83, Z:-2.35 [[ 9.98570836e-01 -5.31347450e-02 -5.74317074e-03 5.03068759e+02] [ 5.31318057e-02 9.98587288e-01 -6.63268289e-04 5.48264433e+01] [ 5.77029989e-03 3.57175338e-04 9.99983288e-01 -2.35073457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.931400513 meters 0.06376969144394966 Centerline is valid? [True, True] Translation: X:503.10, Y:54.82, Z:-2.35 [[ 9.98522236e-01 -5.40985587e-02 -5.16631788e-03 5.03099106e+02] [ 5.40961900e-02 9.98535550e-01 -5.97251643e-04 5.48193212e+01] [ 5.19106252e-03 3.16890932e-04 9.99986476e-01 -2.34903914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9614005130001 meters 0.06264679620913446 Centerline is valid? [True, True] Translation: X:503.13, Y:54.82, Z:-2.35 [[ 9.98463975e-01 -5.52082488e-02 -4.66260814e-03 5.03128100e+02] [ 5.52063295e-02 9.98474822e-01 -5.39427585e-04 5.48217321e+01] [ 4.68527768e-03 2.81193530e-04 9.99988984e-01 -2.34809197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.991400513 meters 0.06877441455092292 Centerline is valid? [True, True] Translation: X:503.16, Y:54.83, Z:-2.35 [[ 9.98384372e-01 -5.66688996e-02 -4.15706096e-03 5.03155788e+02] [ 5.66673860e-02 9.98392997e-01 -4.81095826e-04 5.48331274e+01] [ 4.17764372e-03 2.44748777e-04 9.99991244e-01 -2.34764086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.021400513 meters 0.0585679339207949 Centerline is valid? [True, True] Translation: X:503.19, Y:54.83, Z:-2.35 [[ 9.98210263e-01 -5.96323037e-02 -4.50111861e-03 5.03187543e+02] [ 5.96305588e-02 9.98220379e-01 -5.21001081e-04 5.48254487e+01] [ 4.52417681e-03 2.51664408e-04 9.99989734e-01 -2.34705824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.051400513 meters 0.06212524158814942 Centerline is valid? [True, True] Translation: X:503.22, Y:54.83, Z:-2.35 [[ 9.98101900e-01 -6.13681191e-02 -5.15278228e-03 5.03216096e+02] [ 6.13658550e-02 9.98115162e-01 -5.96503286e-04 5.48336774e+01] [ 5.17967640e-03 2.79166173e-04 9.99986546e-01 -2.34813238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.081400513 meters 0.05557224634519005 Centerline is valid? [True, True] Translation: X:503.25, Y:54.83, Z:-2.35 [[ 9.97959120e-01 -6.36340971e-02 -5.31951391e-03 5.03247020e+02] [ 6.36317155e-02 9.97973259e-01 -6.15938657e-04 5.48290509e+01] [ 5.34792733e-03 2.76191804e-04 9.99985662e-01 -2.34828576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.111400513 meters 0.05383285296379892 Centerline is valid? [True, True] Translation: X:503.28, Y:54.82, Z:-2.35 [[ 9.97790110e-01 -6.61784563e-02 -5.94211908e-03 5.03277408e+02] [ 6.61755289e-02 9.97807760e-01 -6.88138653e-04 5.48239275e+01] [ 5.97463249e-03 2.93395069e-04 9.99982109e-01 -2.34862977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.141400513 meters 0.052912878966942925 Centerline is valid? [True, True] Translation: X:503.31, Y:54.83, Z:-2.35 [[ 9.97603476e-01 -6.89990328e-02 -5.14181611e-03 5.03305376e+02] [ 6.89968776e-02 9.97616698e-01 -5.95583825e-04 5.48308844e+01] [ 5.17065632e-03 2.39387237e-04 9.99986603e-01 -2.34809437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.171400513 meters 0.04246895563823384 Centerline is valid? [True, True] Translation: X:503.34, Y:54.82, Z:-2.35 [[ 9.97087644e-01 -7.60991574e-02 -5.01475609e-03 5.03337491e+02] [ 7.60971965e-02 9.97100235e-01 -5.80951682e-04 5.48180936e+01] [ 5.04442441e-03 1.97650865e-04 9.99987257e-01 -2.34743186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.201400513 meters 0.04350588153272548 Centerline is valid? [True, True] Translation: X:503.37, Y:54.82, Z:-2.35 [[ 9.96864170e-01 -7.89357086e-02 -5.56606979e-03 5.03366754e+02] [ 7.89333365e-02 9.96879688e-01 -6.44904368e-04 5.48199375e+01] [ 5.59960790e-03 2.03533598e-04 9.99984301e-01 -2.34856942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.231400513 meters 0.039236865325641045 Centerline is valid? [True, True] Translation: X:503.40, Y:54.81, Z:-2.35 [[ 9.96683965e-01 -8.11229902e-02 -6.33519220e-03 5.03396548e+02] [ 8.11199599e-02 9.96704075e-01 -7.34262898e-04 5.48133186e+01] [ 6.37387749e-03 2.17917519e-04 9.99979663e-01 -2.34903978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.261400513 meters 0.03530409139885893 Centerline is valid? [True, True] Translation: X:503.43, Y:54.81, Z:-2.35 [[ 9.96564709e-01 -8.25649522e-02 -6.46597400e-03 5.03425758e+02] [ 8.25618206e-02 9.96585663e-01 -7.50216230e-04 5.48124120e+01] [ 6.50583855e-03 2.13796434e-04 9.99978814e-01 -2.34886532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.291400513 meters 0.03586188262327744 Centerline is valid? [True, True] Translation: X:503.45, Y:54.82, Z:-2.35 [[ 9.96510417e-01 -8.32462030e-02 -6.08761000e-03 5.03453701e+02] [ 8.32434364e-02 9.96528991e-01 -7.06880685e-04 5.48150208e+01] [ 6.12532499e-03 1.97660390e-04 9.99981220e-01 -2.34848847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.321400513 meters 0.03897557766067951 Centerline is valid? [True, True] Translation: X:503.48, Y:54.82, Z:-2.35 [[ 9.96503825e-01 -8.33792966e-02 -5.29333514e-03 5.03480511e+02] [ 8.33772052e-02 9.96517869e-01 -6.14937470e-04 5.48212402e+01] [ 5.32617611e-03 1.71444051e-04 9.99985801e-01 -2.34729855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.351400513 meters 0.03989768621721378 Centerline is valid? [True, True] Translation: X:503.51, Y:54.82, Z:-2.34 [[ 9.96549504e-01 -8.29346790e-02 -3.30516395e-03 5.03509238e+02] [ 8.29338604e-02 9.96554980e-01 -3.84212904e-04 5.48237490e+01] [ 3.32564216e-03 1.08777174e-04 9.99994464e-01 -2.34320694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.381400513 meters 0.03404495311851401 Centerline is valid? [True, True] Translation: X:503.54, Y:54.82, Z:-2.34 [[ 9.96561475e-01 -8.28182041e-02 -2.52422733e-03 5.03538961e+02] [ 8.28177254e-02 9.96564668e-01 -2.93742412e-04 5.48189928e+01] [ 2.53988300e-03 8.36816046e-05 9.99996771e-01 -2.34119448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.411400513 meters 0.0349078111916733 Centerline is valid? [True, True] Translation: X:503.57, Y:54.82, Z:-2.34 [[ 9.96601199e-01 -8.23448499e-02 -2.31847973e-03 5.03567278e+02] [ 8.23444439e-02 9.96603893e-01 -2.70153499e-04 5.48231320e+01] [ 2.33285167e-03 7.83213771e-05 9.99997276e-01 -2.34103189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.441400513 meters 0.041418176265870306 Centerline is valid? [True, True] Translation: X:503.59, Y:54.83, Z:-2.34 [[ 9.96654626e-01 -8.16807135e-02 -2.79602379e-03 5.03594189e+02] [ 8.16801193e-02 9.96658543e-01 -3.26271380e-04 5.48349876e+01] [ 2.81333107e-03 9.68003239e-05 9.99996038e-01 -2.34242738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.471400513 meters 0.03647592665276934 Centerline is valid? [True, True] Translation: X:503.62, Y:54.83, Z:-2.34 [[ 9.96705707e-01 -8.10185399e-02 -3.70532755e-03 5.03623062e+02] [ 8.10174905e-02 9.96712586e-01 -4.32681843e-04 5.48322667e+01] [ 3.72820186e-03 1.31060123e-04 9.99993042e-01 -2.34395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.501400513 meters 0.038507480694643 Centerline is valid? [True, True] Translation: X:503.65, Y:54.84, Z:-2.35 [[ 9.96734300e-01 -8.06353643e-02 -4.32136417e-03 5.03650087e+02] [ 8.06339319e-02 9.96743655e-01 -5.04970072e-04 5.48373149e+01] [ 4.34801077e-03 1.54872407e-04 9.99990535e-01 -2.34528034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.531400513 meters 0.039939693499750156 Centerline is valid? [True, True] Translation: X:503.68, Y:54.84, Z:-2.35 [[ 9.96668569e-01 -8.13407430e-02 -5.95370168e-03 5.03678756e+02] [ 8.13380319e-02 9.96686330e-01 -6.96497248e-04 5.48404874e+01] [ 5.99062667e-03 2.09914539e-04 9.99982034e-01 -2.34711644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.561400513 meters 0.037317498295694154 Centerline is valid? [True, True] Translation: X:503.71, Y:54.84, Z:-2.35 [[ 9.96637300e-01 -8.16961369e-02 -6.31130586e-03 5.03706351e+02] [ 8.16930902e-02 9.96657259e-01 -7.39472582e-04 5.48444756e+01] [ 6.35062085e-03 2.21395879e-04 9.99979810e-01 -2.34742166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.591400513 meters 0.03755778683590687 Centerline is valid? [True, True] Translation: X:503.73, Y:54.85, Z:-2.35 [[ 9.96616356e-01 -8.19179439e-02 -6.72967016e-03 5.03733638e+02] [ 8.19144763e-02 9.96639049e-01 -7.89764113e-04 5.48492221e+01] [ 6.77174793e-03 2.35834425e-04 9.99977044e-01 -2.34844962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.621400513 meters 0.042262276033282684 Centerline is valid? [True, True] Translation: X:503.76, Y:54.86, Z:-2.35 [[ 9.96593985e-01 -8.21382725e-02 -7.33024869e-03 5.03759462e+02] [ 8.21341562e-02 9.96620910e-01 -8.61334342e-04 5.48580394e+01] [ 7.37622764e-03 2.56336833e-04 9.99972762e-01 -2.35003338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.651400513 meters 0.033900293992109996 Centerline is valid? [True, True] Translation: X:503.79, Y:54.85, Z:-2.35 [[ 9.96571148e-01 -8.23910285e-02 -7.59376436e-03 5.03788797e+02] [ 8.23866082e-02 9.96600044e-01 -8.93630191e-04 5.48506910e+01] [ 7.64157301e-03 2.64941576e-04 9.99970768e-01 -2.34850677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.681400513 meters 0.03841974003706412 Centerline is valid? [True, True] Translation: X:503.82, Y:54.86, Z:-2.35 [[ 9.96639117e-01 -8.16600459e-02 -6.48898374e-03 5.03815405e+02] [ 8.16567978e-02 9.96660214e-01 -7.64373695e-04 5.48596524e+01] [ 6.52973072e-03 2.31935092e-04 9.99978654e-01 -2.34706194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7114005130001 meters 0.04340109451224512 Centerline is valid? [True, True] Translation: X:503.84, Y:54.86, Z:-2.35 [[ 9.96656906e-01 -8.14428494e-02 -6.48642648e-03 5.03843675e+02] [ 8.14395934e-02 9.96677986e-01 -7.64958067e-04 5.48644879e+01] [ 6.52717884e-03 2.34148805e-04 9.99978670e-01 -2.34712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.741400513 meters 0.04340109451224512 Centerline is valid? [True, True] Translation: X:503.87, Y:54.87, Z:-2.35 [[ 9.96642155e-01 -8.16231775e-02 -6.48629385e-03 5.03871004e+02] [ 8.16199181e-02 9.96663234e-01 -7.66081600e-04 5.48678727e+01] [ 6.52718062e-03 2.34098445e-04 9.99978670e-01 -2.34706465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.771400513 meters 0.040258738113243216 Centerline is valid? [True, True] Translation: X:503.90, Y:54.87, Z:-2.35 [[ 9.96706245e-01 -8.08493953e-02 -6.32740028e-03 5.03899235e+02] [ 8.08462713e-02 9.96726302e-01 -7.48372019e-04 5.48728559e+01] [ 6.36719170e-03 2.34360345e-04 9.99979702e-01 -2.34694159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.801400513 meters 0.041859876713250574 Centerline is valid? [True, True] Translation: X:503.93, Y:54.88, Z:-2.35 [[ 9.96798288e-01 -7.97296742e-02 -6.02923550e-03 5.03926281e+02] [ 7.97268129e-02 9.96816496e-01 -7.13829219e-04 5.48780909e+01] [ 6.06695477e-03 2.30852013e-04 9.99981569e-01 -2.34678527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.831400513 meters 0.04334308357883054 Centerline is valid? [True, True] Translation: X:503.96, Y:54.88, Z:-2.35 [[ 9.96922487e-01 -7.82067808e-02 -5.40872097e-03 5.03955051e+02] [ 7.82044540e-02 9.96937136e-01 -6.40672990e-04 5.48829478e+01] [ 5.44225976e-03 2.15715241e-04 9.99985168e-01 -2.34651637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.861400513 meters 0.040783411575664986 Centerline is valid? [True, True] Translation: X:503.98, Y:54.88, Z:-2.35 [[ 9.97022604e-01 -7.69608571e-02 -4.79092666e-03 5.03984210e+02] [ 7.69590147e-02 9.97034095e-01 -5.67991854e-04 5.48824118e+01] [ 4.82043037e-03 1.97595722e-04 9.99988362e-01 -2.34523851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.891400513 meters 0.04473063135902424 Centerline is valid? [True, True] Translation: X:504.01, Y:54.89, Z:-2.34 [[ 9.97201614e-01 -7.46624080e-02 -3.80346190e-03 5.04012063e+02] [ 7.46612287e-02 9.97208853e-01 -4.51292455e-04 5.48880984e+01] [ 3.82654046e-03 1.66058426e-04 9.99992665e-01 -2.34387770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.921400513 meters 0.04678563771731768 Centerline is valid? [True, True] Translation: X:504.04, Y:54.89, Z:-2.34 [[ 9.97268857e-01 -7.37318916e-02 -4.29359263e-03 5.04039819e+02] [ 7.37303792e-02 9.97278081e-01 -5.09687113e-04 5.48920104e+01] [ 4.31948602e-03 1.91726871e-04 9.99990653e-01 -2.34418274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.951400513 meters 0.04436158924513954 Centerline is valid? [True, True] Translation: X:504.07, Y:54.89, Z:-2.35 [[ 9.97313985e-01 -7.30668859e-02 -5.10338464e-03 5.04069449e+02] [ 7.30647373e-02 9.97327016e-01 -6.06449689e-04 5.48904142e+01] [ 5.13405476e-03 2.31943299e-04 9.99986794e-01 -2.34547101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.981400513 meters 0.04507327025306845 Centerline is valid? [True, True] Translation: X:504.10, Y:54.89, Z:-2.35 [[ 9.97360890e-01 -7.23715024e-02 -5.79838924e-03 5.04098413e+02] [ 7.23687111e-02 9.97377709e-01 -6.90057310e-04 5.48925454e+01] [ 5.83312466e-03 2.68614217e-04 9.99982951e-01 -2.34663154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.011400513 meters 0.04980428459068592 Centerline is valid? [True, True] Translation: X:504.13, Y:54.90, Z:-2.35 [[ 9.97409180e-01 -7.16959307e-02 -5.88404591e-03 5.04126052e+02] [ 7.16930410e-02 9.97426497e-01 -7.00844521e-04 5.48992691e+01] [ 5.91915100e-03 2.77183614e-04 9.99982443e-01 -2.34722289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.041400513 meters 0.05266143936642394 Centerline is valid? [True, True] Translation: X:504.15, Y:54.90, Z:-2.35 [[ 9.97464514e-01 -7.09615280e-02 -5.38569156e-03 5.04153471e+02] [ 7.09590948e-02 9.97479020e-01 -6.41786978e-04 5.49036307e+01] [ 5.41765653e-03 2.57995937e-04 9.99985291e-01 -2.34686047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.071400513 meters 0.046370324486156765 Centerline is valid? [True, True] Translation: X:504.18, Y:54.90, Z:-2.34 [[ 9.97526240e-01 -7.01439806e-02 -4.60678825e-03 5.04182908e+02] [ 7.01421904e-02 9.97536852e-01 -5.49219329e-04 5.48967354e+01] [ 4.63396548e-03 2.24730474e-04 9.99989238e-01 -2.34483112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.101400513 meters 0.05319504360731511 Centerline is valid? [True, True] Translation: X:504.21, Y:54.90, Z:-2.34 [[ 9.97705110e-01 -6.76000616e-02 -3.83993151e-03 5.04211001e+02] [ 6.75987984e-02 9.97712480e-01 -4.57943510e-04 5.49037338e+01] [ 3.86210460e-03 1.97317824e-04 9.99992523e-01 -2.34449172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.131400513 meters 0.05479831924544233 Centerline is valid? [True, True] Translation: X:504.24, Y:54.91, Z:-2.35 [[ 9.97799079e-01 -6.61575074e-02 -4.49238226e-03 5.04240482e+02] [ 6.61557635e-02 9.97809164e-01 -5.35867167e-04 5.49072599e+01] [ 4.51799183e-03 2.37490788e-04 9.99989766e-01 -2.34542658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.161400513 meters 0.057409056553499586 Centerline is valid? [True, True] Translation: X:504.27, Y:54.91, Z:-2.35 [[ 9.97891451e-01 -6.46676241e-02 -5.54531936e-03 5.04268185e+02] [ 6.46649426e-02 9.97906813e-01 -6.61679884e-04 5.49120789e+01] [ 5.57650124e-03 3.01696941e-04 9.99984406e-01 -2.34732801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.191400513 meters 0.05319012742581614 Centerline is valid? [True, True] Translation: X:504.30, Y:54.91, Z:-2.35 [[ 9.97983379e-01 -6.30973823e-02 -6.92062287e-03 5.04298126e+02] [ 6.30931661e-02 9.98007300e-01 -8.26076817e-04 5.49088165e+01] [ 6.95895543e-03 3.87766925e-04 9.99975711e-01 -2.34884243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.221400513 meters 0.05737442697750175 Centerline is valid? [True, True] Translation: X:504.33, Y:54.92, Z:-2.35 [[ 9.98061816e-01 -6.17444094e-02 -7.76137342e-03 5.04326457e+02] [ 6.17390636e-02 9.98091894e-01 -9.26715467e-04 5.49159310e+01] [ 7.80378339e-03 4.45739395e-04 9.99969451e-01 -2.35039722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.251400513 meters 0.060277130163897866 Centerline is valid? [True, True] Translation: X:504.35, Y:54.92, Z:-2.35 [[ 9.98134063e-01 -6.05572763e-02 -7.82361973e-03 5.04354924e+02] [ 6.05518053e-02 9.98164618e-01 -9.34502219e-04 5.49217579e+01] [ 7.86585131e-03 4.59024198e-04 9.99968958e-01 -2.35047484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.281400513 meters 0.06674780898984348 Centerline is valid? [True, True] Translation: X:504.38, Y:54.93, Z:-2.35 [[ 9.98257387e-01 -5.87464134e-02 -5.57211894e-03 5.04381969e+02] [ 5.87436089e-02 9.98272881e-01 -6.65798138e-04 5.49323771e+01] [ 5.60160848e-03 3.37311533e-04 9.99984254e-01 -2.34733668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.311400513 meters 0.0666250403770363 Centerline is valid? [True, True] Translation: X:504.41, Y:54.94, Z:-2.35 [[ 9.98315423e-01 -5.77743578e-02 -5.33283059e-03 5.04411708e+02] [ 5.77717742e-02 9.98329613e-01 -6.37370808e-04 5.49359246e+01] [ 5.36074639e-03 3.28210023e-04 9.99985577e-01 -2.34681130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.341400513 meters 0.07699989284309088 Centerline is valid? [True, True] Translation: X:504.44, Y:54.95, Z:-2.35 [[ 9.98352405e-01 -5.71093803e-02 -5.56732052e-03 5.04438126e+02] [ 5.71065530e-02 9.98367867e-01 -6.65631576e-04 5.49521621e+01] [ 5.59624772e-03 3.46604400e-04 9.99984281e-01 -2.34786255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.371400513 meters 0.06480845231507532 Centerline is valid? [True, True] Translation: X:504.47, Y:54.94, Z:-2.35 [[ 9.98366357e-01 -5.68170811e-02 -6.03624637e-03 5.04467992e+02] [ 5.68137492e-02 9.98384533e-01 -7.22150444e-04 5.49414461e+01] [ 6.06752550e-03 3.78028921e-04 9.99981521e-01 -2.34755710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.401400513 meters 0.057632257937561986 Centerline is valid? [True, True] Translation: X:504.50, Y:54.94, Z:-2.35 [[ 9.98369258e-01 -5.67340961e-02 -6.32978739e-03 5.04497434e+02] [ 5.67304251e-02 9.98389245e-01 -7.58149974e-04 5.49367710e+01] [ 6.36260460e-03 3.97822098e-04 9.99979679e-01 -2.34796452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.431400513 meters 0.0648781489234512 Centerline is valid? [True, True] Translation: X:504.52, Y:54.95, Z:-2.35 [[ 9.98388350e-01 -5.63981841e-02 -6.32047534e-03 5.04523845e+02] [ 5.63945133e-02 9.98408276e-01 -7.57646866e-04 5.49506763e+01] [ 6.35314479e-03 3.99985673e-04 9.99979739e-01 -2.34838120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4614005130001 meters 0.06438274464596976 Centerline is valid? [True, True] Translation: X:504.55, Y:54.96, Z:-2.35 [[ 9.98414748e-01 -5.59003012e-02 -6.56858861e-03 5.04552237e+02] [ 5.58963203e-02 9.98436267e-01 -7.88220170e-04 5.49557151e+01] [ 6.60237884e-03 4.19810710e-04 9.99978116e-01 -2.34831192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.491400513 meters 0.06636679530898083 Centerline is valid? [True, True] Translation: X:504.58, Y:54.96, Z:-2.35 [[ 9.98392562e-01 -5.62679070e-02 -6.79819167e-03 5.04579257e+02] [ 5.62636463e-02 9.98415613e-01 -8.16525238e-04 5.49632780e+01] [ 6.83336487e-03 4.32721673e-04 9.99976559e-01 -2.34819888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.521400513 meters 0.06408144404955729 Centerline is valid? [True, True] Translation: X:504.61, Y:54.97, Z:-2.35 [[ 9.98345429e-01 -5.70814658e-02 -6.93620566e-03 5.04608570e+02] [ 5.70770437e-02 9.98369428e-01 -8.33989478e-04 5.49658005e+01] [ 6.97250103e-03 4.36711469e-04 9.99975596e-01 -2.34824662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.551400513 meters 0.06331792540229345 Centerline is valid? [True, True] Translation: X:504.64, Y:54.97, Z:-2.35 [[ 9.98278772e-01 -5.82315474e-02 -6.96994262e-03 5.04636557e+02] [ 5.82271063e-02 9.98303011e-01 -8.38590167e-04 5.49696718e+01] [ 7.00694711e-03 4.31307172e-04 9.99975358e-01 -2.34867440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.581400513 meters 0.06745145890417922 Centerline is valid? [True, True] Translation: X:504.66, Y:54.98, Z:-2.35 [[ 9.98180838e-01 -5.99493482e-02 -6.41013536e-03 5.04664133e+02] [ 5.99456256e-02 9.98201346e-01 -7.71470107e-04 5.49785032e+01] [ 6.44485488e-03 3.85807103e-04 9.99979157e-01 -2.34867617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.611400513 meters 0.05706174771669759 Centerline is valid? [True, True] Translation: X:504.70, Y:54.97, Z:-2.35 [[ 9.97874662e-01 -6.50045986e-02 -4.53432783e-03 5.04696019e+02] [ 6.50027876e-02 9.97884933e-01 -5.45791071e-04 5.49665200e+01] [ 4.56021635e-03 2.49887132e-04 9.99989571e-01 -2.34553386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.641400513 meters 0.05325771423358371 Centerline is valid? [True, True] Translation: X:504.73, Y:54.96, Z:-2.34 [[ 9.97664962e-01 -6.81759035e-02 -4.08280263e-03 5.04727365e+02] [ 6.81744616e-02 9.97673294e-01 -4.91468742e-04 5.49632104e+01] [ 4.10680947e-03 2.11978273e-04 9.99991545e-01 -2.34458535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.671400513 meters 0.05204210717755253 Centerline is valid? [True, True] Translation: X:504.76, Y:54.96, Z:-2.34 [[ 9.97459504e-01 -7.11343564e-02 -3.80007352e-03 5.04756834e+02] [ 7.11331286e-02 9.97466726e-01 -4.57469443e-04 5.49624508e+01] [ 3.82298869e-03 1.85996125e-04 9.99992675e-01 -2.34430904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.701400513 meters 0.044681076443816185 Centerline is valid? [True, True] Translation: X:504.79, Y:54.95, Z:-2.34 [[ 9.97298056e-01 -7.33666442e-02 -3.73125583e-03 5.04787516e+02] [ 7.33654757e-02 9.97305021e-01 -4.49258975e-04 5.49538072e+01] [ 3.75416080e-03 1.74299743e-04 9.99992938e-01 -2.34347631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.731400513 meters 0.047963541740513864 Centerline is valid? [True, True] Translation: X:504.82, Y:54.95, Z:-2.34 [[ 9.97180725e-01 -7.49491940e-02 -3.63582983e-03 5.04816999e+02] [ 7.49480940e-02 9.97187340e-01 -4.38038652e-04 5.49529261e+01] [ 3.65843413e-03 1.64305184e-04 9.99993294e-01 -2.34316617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.761400513 meters 0.046332880280293406 Centerline is valid? [True, True] Translation: X:504.84, Y:54.96, Z:-2.34 [[ 9.97149386e-01 -7.53811140e-02 -3.28476211e-03 5.04844598e+02] [ 7.53802173e-02 9.97154785e-01 -3.96113877e-04 5.49567260e+01] [ 3.30527576e-03 1.47378627e-04 9.99994527e-01 -2.34185662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.791400513 meters 0.04919726212380948 Centerline is valid? [True, True] Translation: X:504.87, Y:54.96, Z:-2.34 [[ 9.97294298e-01 -7.34571796e-02 -2.85055741e-03 5.04872486e+02] [ 7.34564960e-02 9.97298363e-01 -3.43900385e-04 5.49596655e+01] [ 2.86811819e-03 1.33577933e-04 9.99995878e-01 -2.34096521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.821400513 meters 0.051058142371594985 Centerline is valid? [True, True] Translation: X:504.90, Y:54.96, Z:-2.34 [[ 9.97424075e-01 -7.16939361e-02 -2.27915553e-03 5.04901306e+02] [ 7.16934943e-02 9.97426673e-01 -2.75063266e-04 5.49644174e+01] [ 2.29301088e-03 1.10954100e-04 9.99997365e-01 -2.34082381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.851400513 meters 0.05354936844657375 Centerline is valid? [True, True] Translation: X:504.93, Y:54.97, Z:-2.34 [[ 9.97565574e-01 -6.97165531e-02 -1.58965212e-03 5.04930388e+02] [ 6.97163356e-02 9.97566838e-01 -1.91881200e-04 5.49694264e+01] [ 1.59916153e-03 8.05893587e-05 9.99998718e-01 -2.33966526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.881400513 meters 0.05486115337054501 Centerline is valid? [True, True] Translation: X:504.96, Y:54.97, Z:-2.34 [[ 9.97695141e-01 -6.78525633e-02 -6.59989729e-04 5.04959628e+02] [ 6.78525254e-02 9.97695359e-01 -7.96430031e-05 5.49725677e+01] [ 6.63872672e-04 3.46774673e-05 9.99999779e-01 -2.33811648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.911400513 meters 0.056960114852921906 Centerline is valid? [True, True] Translation: X:504.99, Y:54.98, Z:-2.34 [[ 9.97835443e-01 -6.57597766e-02 -2.83312538e-04 5.04989134e+02] [ 6.57597695e-02 9.97835483e-01 -3.41987844e-05 5.49768317e+01] [ 2.84948208e-04 1.54941919e-05 9.99999959e-01 -2.33708310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.941400513 meters 0.060210062527191396 Centerline is valid? [True, True] Translation: X:505.02, Y:54.98, Z:-2.34 [[ 9.97985267e-01 -6.34430812e-02 -6.18608045e-04 5.05017572e+02] [ 6.34430470e-02 9.97985458e-01 -7.47113553e-05 5.49826977e+01] [ 6.22101752e-04 3.53144526e-05 9.99999806e-01 -2.33712021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.971400513 meters 0.06070704422022331 Centerline is valid? [True, True] Translation: X:505.05, Y:54.98, Z:-2.34 [[ 9.98181135e-01 -6.02589977e-02 -1.80967399e-03 5.05047921e+02] [ 6.02587000e-02 9.98182769e-01 -2.18624726e-04 5.49849622e+01] [ 1.81955951e-03 1.09178475e-04 9.99998339e-01 -2.33932055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.001400513 meters 0.06369377382757462 Centerline is valid? [True, True] Translation: X:505.08, Y:54.99, Z:-2.34 [[ 9.98229305e-01 -5.94644401e-02 -1.49513362e-03 5.05075369e+02] [ 5.94642361e-02 9.98230420e-01 -1.80586494e-04 5.49911327e+01] [ 1.50322634e-03 9.13597515e-05 9.99998866e-01 -2.33939752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.031400513 meters 0.06846523715189297 Centerline is valid? [True, True] Translation: X:505.10, Y:55.00, Z:-2.34 [[ 9.98252802e-01 -5.90806749e-02 -9.04242357e-04 5.05102798e+02] [ 5.90806001e-02 9.98253210e-01 -1.09218870e-04 5.49993872e+01] [ 9.09115560e-04 5.56048618e-05 9.99999585e-01 -2.33865984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.061400513 meters 0.06002592995759961 Centerline is valid? [True, True] Translation: X:505.13, Y:54.99, Z:-2.34 [[ 9.98289791e-01 -5.84593234e-02 -1.76595567e-05 5.05133232e+02] [ 5.84593234e-02 9.98289791e-01 -1.77646024e-06 5.49908059e+01] [ 1.77332058e-05 7.41056381e-07 1.00000000e+00 -2.33743064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.091400513 meters 0.06251300962921476 Centerline is valid? [True, True] Translation: X:505.16, Y:55.00, Z:-2.34 [[ 9.98309659e-01 -5.81089571e-02 -1.08376104e-03 5.05160517e+02] [ 5.81088488e-02 9.98310245e-01 -1.31161793e-04 5.49969763e+01] [ 1.08955143e-03 6.79639787e-05 9.99999404e-01 -2.33874198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.121400513 meters 0.05909367784479039 Centerline is valid? [True, True] Translation: X:505.19, Y:55.00, Z:-2.34 [[ 9.98331570e-01 -5.76788037e-02 -2.68933982e-03 5.05189852e+02] [ 5.76781343e-02 9.98335177e-01 -3.25873572e-04 5.49962696e+01] [ 2.70365854e-03 1.70213772e-04 9.99996331e-01 -2.34152489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.151400513 meters 0.07681780527031266 Centerline is valid? [True, True] Translation: X:505.22, Y:55.02, Z:-2.35 [[ 9.98354291e-01 -5.71806889e-02 -4.36786888e-03 5.05215155e+02] [ 5.71789152e-02 9.98363807e-01 -5.29981347e-04 5.50212140e+01] [ 4.39102690e-03 2.79359148e-04 9.99990320e-01 -2.34515611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.181400513 meters 0.06719125720336663 Centerline is valid? [True, True] Translation: X:505.24, Y:55.01, Z:-2.35 [[ 9.98368894e-01 -5.68417182e-02 -5.34507123e-03 5.05244784e+02] [ 5.68390550e-02 9.98383143e-01 -6.48971449e-04 5.50119792e+01] [ 5.37331767e-03 3.44104110e-04 9.99985504e-01 -2.34667225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2114005130001 meters 0.06624785024947441 Centerline is valid? [True, True] Translation: X:505.27, Y:55.01, Z:-2.35 [[ 9.98372267e-01 -5.67831536e-02 -5.33757632e-03 5.05273361e+02] [ 5.67804934e-02 9.98386476e-01 -6.48738676e-04 5.50133411e+01] [ 5.36580144e-03 3.44612486e-04 9.99985545e-01 -2.34678327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.241400513 meters 0.07161644087372136 Centerline is valid? [True, True] Translation: X:505.30, Y:55.02, Z:-2.34 [[ 9.98392643e-01 -5.65528830e-02 -3.72858998e-03 5.05300209e+02] [ 5.65515820e-02 9.98399576e-01 -4.53508636e-04 5.50227566e+01] [ 3.74826987e-03 2.41922023e-04 9.99992946e-01 -2.34482954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.271400513 meters 0.0659560258461819 Centerline is valid? [True, True] Translation: X:505.33, Y:55.02, Z:-2.34 [[ 9.98400503e-01 -5.64568152e-02 -3.01049397e-03 5.05329246e+02] [ 5.64559660e-02 9.98405023e-01 -3.66392126e-04 5.50196595e+01] [ 3.02637764e-03 1.95845737e-04 9.99995401e-01 -2.34328738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.301400513 meters 0.06796170489707572 Centerline is valid? [True, True] Translation: X:505.36, Y:55.03, Z:-2.34 [[ 9.98404930e-01 -5.63884376e-02 -2.81777553e-03 5.05356051e+02] [ 5.63876923e-02 9.98408889e-01 -3.43305415e-04 5.50255417e+01] [ 2.83265059e-03 1.83869959e-04 9.99995971e-01 -2.34286534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.331400513 meters 0.07172843732074673 Centerline is valid? [True, True] Translation: X:505.38, Y:55.03, Z:-2.34 [[ 9.98397337e-01 -5.65070250e-02 -3.11663697e-03 5.05382349e+02] [ 5.65061130e-02 9.98402181e-01 -3.79952007e-04 5.50338861e+01] [ 3.13312711e-03 2.03234031e-04 9.99995071e-01 -2.34307664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.361400513 meters 0.06105057217082623 Centerline is valid? [True, True] Translation: X:505.41, Y:55.03, Z:-2.34 [[ 9.98383051e-01 -5.67230765e-02 -3.71174157e-03 5.05411148e+02] [ 5.67217827e-02 9.98389921e-01 -4.52985471e-04 5.50259269e+01] [ 3.73146010e-03 2.41716418e-04 9.99993009e-01 -2.34332913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.391400513 meters 0.06575950661579973 Centerline is valid? [True, True] Translation: X:505.44, Y:55.04, Z:-2.34 [[ 9.98393465e-01 -5.65288750e-02 -3.86991232e-03 5.05437393e+02] [ 5.65274651e-02 9.98400933e-01 -4.72816250e-04 5.50377129e+01] [ 3.89045184e-03 2.53300320e-04 9.99992400e-01 -2.34341481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.421400513 meters 0.06818305785208521 Centerline is valid? [True, True] Translation: X:505.47, Y:55.04, Z:-2.34 [[ 9.98377868e-01 -5.68135722e-02 -3.72168075e-03 5.05466126e+02] [ 5.68122688e-02 9.98384775e-01 -4.55070174e-04 5.50426741e+01] [ 3.74152356e-03 2.42894863e-04 9.99992971e-01 -2.34363643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.451400513 meters 0.05935217365274137 Centerline is valid? [True, True] Translation: X:505.49, Y:55.04, Z:-2.34 [[ 9.98365190e-01 -5.70385692e-02 -3.68095474e-03 5.05494296e+02] [ 5.70372935e-02 9.98371947e-01 -4.50719339e-04 5.50416004e+01] [ 3.70067034e-03 2.40030802e-04 9.99993124e-01 -2.34307277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.481400513 meters 0.06313736829177136 Centerline is valid? [True, True] Translation: X:505.52, Y:55.05, Z:-2.34 [[ 9.98266804e-01 -5.87186455e-02 -3.93817460e-03 5.05522535e+02] [ 5.87171963e-02 9.98274540e-01 -4.82705492e-04 5.50517756e+01] [ 3.95972325e-03 2.50630298e-04 9.99992129e-01 -2.34274157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.511400513 meters 0.05604048804244289 Centerline is valid? [True, True] Translation: X:505.55, Y:55.05, Z:-2.34 [[ 9.98184186e-01 -6.01091591e-02 -3.90121554e-03 5.05552656e+02] [ 6.01077471e-02 9.98191780e-01 -4.78267555e-04 5.50489464e+01] [ 3.92290955e-03 2.42905833e-04 9.99992276e-01 -2.34198106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.541400513 meters 0.06966004809919794 Centerline is valid? [True, True] Translation: X:505.58, Y:55.07, Z:-2.34 [[ 9.98123542e-01 -6.11114948e-02 -3.84455144e-03 5.05578350e+02] [ 6.11101305e-02 9.98130918e-01 -4.71450721e-04 5.50716919e+01] [ 3.86617672e-03 2.35625023e-04 9.99992499e-01 -2.34190230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.571400513 meters 0.06285002813152331 Centerline is valid? [True, True] Translation: X:505.61, Y:55.07, Z:-2.34 [[ 9.98092696e-01 -6.16014703e-02 -4.02864831e-03 5.05607972e+02] [ 6.15999746e-02 9.98100796e-01 -4.94422920e-04 5.50692732e+01] [ 4.05145426e-03 2.45315272e-04 9.99991763e-01 -2.34189497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.601400513 meters 0.05943750246394068 Centerline is valid? [True, True] Translation: X:505.64, Y:55.07, Z:-2.34 [[ 9.98112013e-01 -6.12928227e-02 -3.94950399e-03 5.05636620e+02] [ 6.12913803e-02 9.98119798e-01 -4.85334844e-04 5.50696956e+01] [ 3.97182567e-03 2.42347987e-04 9.99992083e-01 -2.34165182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.631400513 meters 0.05943750246394068 Centerline is valid? [True, True] Translation: X:505.66, Y:55.07, Z:-2.34 [[ 9.98100754e-01 -6.14759006e-02 -3.94942120e-03 5.05663971e+02] [ 6.14744570e-02 9.98108539e-01 -4.86007867e-04 5.50731981e+01] [ 3.97182879e-03 2.42296295e-04 9.99992083e-01 -2.34159029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.661400513 meters 0.06496338528913151 Centerline is valid? [True, True] Translation: X:505.69, Y:55.08, Z:-2.34 [[ 9.98150588e-01 -6.06995440e-02 -3.31201712e-03 5.05690217e+02] [ 6.06985229e-02 9.98156061e-01 -4.08027876e-04 5.50834152e+01] [ 3.33067707e-03 2.06238717e-04 9.99994432e-01 -2.34022254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.691400513 meters 0.06544853733778538 Centerline is valid? [True, True] Translation: X:505.72, Y:55.09, Z:-2.34 [[ 9.98301112e-01 -5.82628543e-02 -5.74320748e-04 5.05719897e+02] [ 5.82628232e-02 9.98301276e-01 -7.07800172e-05 5.50878206e+01] [ 5.77468982e-04 3.71982217e-05 9.99999833e-01 -2.33626242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.721400513 meters 0.06729389739194852 Centerline is valid? [True, True] Translation: X:505.75, Y:55.09, Z:-2.33 [[ 9.98368558e-01 -5.70944794e-02 6.64910157e-04 5.05747741e+02] [ 5.70944373e-02 9.98368779e-01 8.20958242e-05 5.50933620e+01] [-6.68512759e-04 -4.39992184e-05 9.99999776e-01 -2.33428198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.751400513 meters 0.07057974903079087 Centerline is valid? [True, True] Translation: X:505.78, Y:55.10, Z:-2.33 [[ 9.98434213e-01 -5.59280060e-02 1.08611810e-03 5.05776214e+02] [ 5.59278931e-02 9.98434801e-01 1.34048469e-04 5.50990797e+01] [-1.09191517e-03 -7.30942806e-05 9.99999401e-01 -2.33361670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.781400513 meters 0.07852247064547965 Centerline is valid? [True, True] Translation: X:505.80, Y:55.11, Z:-2.34 [[ 9.98571728e-01 -5.34255212e-02 -4.67338702e-04 5.05804783e+02] [ 5.34255001e-02 9.98571836e-01 -5.76238671e-05 5.51061214e+01] [ 4.69749851e-04 3.25737607e-05 9.99999889e-01 -2.33581248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.811400513 meters 0.0718438099510648 Centerline is valid? [True, True] Translation: X:505.84, Y:55.10, Z:-2.34 [[ 9.98635989e-01 -5.22059165e-02 -8.38602171e-04 5.05835009e+02] [ 5.22058480e-02 9.98636340e-01 -1.03407060e-04 5.50988594e+01] [ 8.42857062e-04 5.94860740e-05 9.99999643e-01 -2.33703319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.841400513 meters 0.07193949986649914 Centerline is valid? [True, True] Translation: X:505.86, Y:55.10, Z:-2.34 [[ 9.98701919e-01 -5.09339621e-02 -4.57083399e-04 5.05864893e+02] [ 5.09339417e-02 9.98702023e-01 -5.63635768e-05 5.51005756e+01] [ 4.59360936e-04 3.30093531e-05 9.99999894e-01 -2.33688519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.871400513 meters 0.07310539805067348 Centerline is valid? [True, True] Translation: X:505.89, Y:55.10, Z:-2.34 [[ 9.98776446e-01 -4.94531152e-02 8.18450009e-06 5.05894879e+02] [ 4.94531152e-02 9.98776446e-01 1.03529236e-06 5.51036575e+01] [-8.22568435e-06 -6.29276601e-07 1.00000000e+00 -2.33631307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.901400513 meters 0.07636397716860728 Centerline is valid? [True, True] Translation: X:505.92, Y:55.11, Z:-2.34 [[ 9.98871165e-01 -4.75013754e-02 -1.24673689e-04 5.05923236e+02] [ 4.75013738e-02 9.98871172e-01 -1.53612306e-05 5.51087079e+01] [ 1.25262633e-04 9.42171885e-06 9.99999992e-01 -2.33594886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.931400513 meters 0.08344861083466433 Centerline is valid? [True, True] Translation: X:505.95, Y:55.12, Z:-2.34 [[ 9.98986105e-01 -4.50089914e-02 -9.76013747e-04 5.05951302e+02] [ 4.50088950e-02 9.98986579e-01 -1.20525321e-04 5.51183096e+01] [ 9.80449357e-04 7.64738204e-05 9.99999516e-01 -2.33675967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9614005130001 meters 0.08095997557132883 Centerline is valid? [True, True] Translation: X:505.98, Y:55.12, Z:-2.34 [[ 9.99227594e-01 -3.91571692e-02 -3.30637749e-03 5.05981787e+02] [ 3.91560318e-02 9.99233025e-01 -4.08058489e-04 5.51168093e+01] [ 3.31982000e-03 2.78278680e-04 9.99994451e-01 -2.33993360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.991400513 meters 0.07887524099525452 Centerline is valid? [True, True] Translation: X:506.01, Y:55.12, Z:-2.34 [[ 9.99352455e-01 -3.57693135e-02 -3.90208873e-03 5.06012370e+02] [ 3.57677036e-02 9.99360015e-01 -4.81619352e-04 5.51183160e+01] [ 3.91681865e-03 3.41738729e-04 9.99992271e-01 -2.34074974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.021400513 meters 0.08935912866616519 Centerline is valid? [True, True] Translation: X:506.04, Y:55.14, Z:-2.34 [[ 9.99473188e-01 -3.22462242e-02 -3.67806581e-03 5.06039192e+02] [ 3.22447700e-02 9.99479899e-01 -4.53995758e-04 5.51355544e+01] [ 3.69079249e-03 3.35158202e-04 9.99993133e-01 -2.34134165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.051400513 meters 0.10265664384851465 Centerline is valid? [True, False] Translation: X:506.04, Y:55.14, Z:-2.34 [[ 9.99819664e-01 -1.85536134e-02 -4.05016523e-03 5.06041097e+02] [ 1.85272250e-02 9.99807496e-01 -6.45848743e-03 5.51372191e+01] [ 4.16921384e-03 6.38228441e-03 9.99970942e-01 -2.34219494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.081400513 meters 0.10231155408600198 Centerline is valid? [False, False] Translation: X:506.04, Y:55.14, Z:-2.35 [[ 9.99952355e-01 -9.76138223e-03 -5.27041105e-05 5.06042169e+02] [ 9.75903462e-03 9.99804664e-01 -1.71870405e-02 5.51436836e+01] [ 2.20463087e-04 1.71857073e-02 9.99852291e-01 -2.34637800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.111400513 meters 0.09482710651188242 Centerline is valid? [False, True] Translation: X:506.04, Y:55.14, Z:-2.34 [[ 9.99999622e-01 -6.90905271e-04 -5.28364770e-04 5.06042891e+02] [ 6.87125825e-04 9.99974415e-01 -7.12013759e-03 5.51378685e+01] [ 5.33270593e-04 7.11977185e-03 9.99974512e-01 -2.34487306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.141400513 meters 0.09256750123421045 Centerline is valid? [True, True] Translation: X:506.07, Y:55.14, Z:-2.34 [[ 9.99996016e-01 -2.34903823e-03 -1.56540534e-03 5.06073198e+02] [ 2.34880619e-03 9.99997230e-01 -1.50055746e-04 5.51353775e+01] [ 1.56575349e-03 1.46378315e-04 9.99998763e-01 -2.34401746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.171400513 meters 0.09707944501020882 Centerline is valid? [True, True] Translation: X:506.10, Y:55.15, Z:-2.34 [[ 9.99987473e-01 -4.76761685e-03 -1.52412794e-03 5.06100797e+02] [ 4.76739958e-03 9.99988625e-01 -1.46154813e-04 5.51465557e+01] [ 1.52480741e-03 1.38886856e-04 9.99998828e-01 -2.34373080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.201400513 meters 0.08642658501537338 Centerline is valid? [True, True] Translation: X:506.13, Y:55.14, Z:-2.34 [[ 9.99972979e-01 -7.27198555e-03 -1.07646912e-03 5.06131432e+02] [ 7.27187859e-03 9.99973554e-01 -1.03242577e-04 5.51388910e+01] [ 1.07719143e-03 9.54118343e-05 9.99999415e-01 -2.34245454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.231400513 meters 0.08092050738291633 Centerline is valid? [True, True] Translation: X:506.16, Y:55.14, Z:-2.34 [[ 9.99955979e-01 -9.34050685e-03 -8.91820317e-04 5.06162541e+02] [ 9.34043426e-03 9.99956374e-01 -8.55229176e-05 5.51379766e+01] [ 8.92580238e-04 7.71891637e-05 9.99999599e-01 -2.34182220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.261400513 meters 0.09235532531414722 Centerline is valid? [True, True] Translation: X:506.19, Y:55.16, Z:-2.34 [[ 9.99910947e-01 -1.32287037e-02 -1.76056691e-03 5.06189625e+02] [ 1.32284268e-02 9.99912486e-01 -1.68847173e-04 5.51606091e+01] [ 1.76264647e-03 1.45542606e-04 9.99998436e-01 -2.34339795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.291400513 meters 0.08171317657787222 Centerline is valid? [True, True] Translation: X:506.22, Y:55.15, Z:-2.34 [[ 9.99885212e-01 -1.49705339e-02 -2.33384991e-03 5.06219981e+02] [ 1.49700518e-02 9.99887917e-01 -2.23892460e-04 5.51534369e+01] [ 2.33694012e-03 1.88928905e-04 9.99997252e-01 -2.34405084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.321400513 meters 0.0806710685865461 Centerline is valid? [True, True] Translation: X:506.25, Y:55.16, Z:-2.34 [[ 9.99856904e-01 -1.67039903e-02 -2.67372182e-03 5.06249361e+02] [ 1.67033636e-02 9.99860456e-01 -2.56552581e-04 5.51581747e+01] [ 2.67763417e-03 2.11855722e-04 9.99996393e-01 -2.34438867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.351400513 meters 0.08690466735800831 Centerline is valid? [True, True] Translation: X:506.28, Y:55.17, Z:-2.34 [[ 9.99830230e-01 -1.82839111e-02 -2.28270755e-03 5.06277658e+02] [ 1.82834582e-02 9.99832820e-01 -2.19087267e-04 5.51714844e+01] [ 2.28633169e-03 1.77314284e-04 9.99997371e-01 -2.34412739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.381400513 meters 0.07127181479092812 Centerline is valid? [True, True] Translation: X:506.31, Y:55.16, Z:-2.34 [[ 9.99787425e-01 -2.05429242e-02 -1.75886970e-03 5.06309693e+02] [ 2.05426588e-02 9.99788963e-01 -1.68800225e-04 5.51576933e+01] [ 1.76196617e-03 1.32632482e-04 9.99998439e-01 -2.34209598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.411400513 meters 0.07149668583368599 Centerline is valid? [True, True] Translation: X:506.34, Y:55.16, Z:-2.34 [[ 9.99641330e-01 -2.67791559e-02 2.96472836e-04 5.06338657e+02] [ 2.67791487e-02 9.99641374e-01 2.84399247e-05 5.51627983e+01] [-2.97128110e-04 -2.04904340e-05 9.99999956e-01 -2.33936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.441400513 meters 0.06986087048899965 Centerline is valid? [True, True] Translation: X:506.37, Y:55.16, Z:-2.34 [[ 9.99530210e-01 -3.06248461e-02 1.21552823e-03 5.06367178e+02] [ 3.06247267e-02 9.99530946e-01 1.16681564e-04 5.51640357e+01] [-1.21853144e-03 -7.94015285e-05 9.99999254e-01 -2.33891294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.471400513 meters 0.06338561022686905 Centerline is valid? [True, True] Translation: X:506.40, Y:55.16, Z:-2.34 [[ 9.99406462e-01 -3.44243211e-02 1.30012364e-03 5.06397778e+02] [ 3.44241877e-02 9.99407304e-01 1.24839641e-04 5.51588518e+01] [-1.30365058e-03 -8.00098434e-05 9.99999147e-01 -2.33868492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.501400513 meters 0.06623426867430718 Centerline is valid? [True, True] Translation: X:506.43, Y:55.16, Z:-2.34 [[ 9.99299020e-01 -3.74266749e-02 8.43875907e-04 5.06426880e+02] [ 3.74266198e-02 9.99299375e-01 8.10396276e-05 5.51646752e+01] [-8.46317711e-04 -4.93993977e-05 9.99999641e-01 -2.33972932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.531400513 meters 0.050364031529856135 Centerline is valid? [True, True] Translation: X:506.46, Y:55.15, Z:-2.34 [[ 9.99154287e-01 -4.11160512e-02 -4.25716031e-04 5.06459620e+02] [ 4.11160375e-02 9.99154377e-01 -4.08750934e-05 5.51466972e+01] [ 4.27036658e-04 2.33367685e-05 9.99999909e-01 -2.34147467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.561400513 meters 0.05726801977434273 Centerline is valid? [True, True] Translation: X:506.49, Y:55.16, Z:-2.34 [[ 9.99122980e-01 -4.18719713e-02 9.57093478e-05 5.06486549e+02] [ 4.18719707e-02 9.99122984e-01 9.13814294e-06 5.51573495e+01] [-9.60080412e-05 -5.12258960e-06 9.99999995e-01 -2.34097965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.591400513 meters 0.05115177136373573 Centerline is valid? [True, True] Translation: X:506.52, Y:55.15, Z:-2.34 [[ 9.99111678e-01 -4.21351513e-02 6.95608454e-04 5.06515396e+02] [ 4.21351150e-02 9.99111919e-01 6.67885544e-05 5.51519812e+01] [-6.97804843e-04 -3.74196825e-05 9.99999756e-01 -2.33994120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.621400513 meters 0.050709698007914625 Centerline is valid? [True, True] Translation: X:506.54, Y:55.15, Z:-2.34 [[ 9.99131289e-01 -4.16603210e-02 1.04143520e-03 5.06544608e+02] [ 4.16602390e-02 9.99131830e-01 1.00282546e-04 5.51532338e+01] [-1.04470886e-03 -5.68089903e-05 9.99999453e-01 -2.33931185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.651400513 meters 0.06260164995853158 Centerline is valid? [True, True] Translation: X:506.57, Y:55.17, Z:-2.34 [[ 9.99165636e-01 -4.08276963e-02 1.06376345e-03 5.06570888e+02] [ 4.08276101e-02 9.99166200e-01 1.02608238e-04 5.51684184e+01] [-1.06706574e-03 -5.90917058e-05 9.99999429e-01 -2.33951096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.681400513 meters 0.058191403357709406 Centerline is valid? [True, True] Translation: X:506.60, Y:55.16, Z:-2.34 [[ 9.99208896e-01 -3.97636101e-02 6.60955947e-04 5.06601194e+02] [ 3.97635766e-02 9.99209114e-01 6.38024032e-05 5.51633624e+01] [-6.62970221e-04 -3.74699565e-05 9.99999780e-01 -2.33980218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7114005130001 meters 0.060867978798789454 Centerline is valid? [True, True] Translation: X:506.63, Y:55.16, Z:-2.34 [[ 9.99322458e-01 -3.68002480e-02 -6.06125549e-04 5.06631451e+02] [ 3.68002193e-02 9.99322641e-01 -5.85330126e-05 5.51644000e+01] [ 6.07869014e-04 3.61878009e-05 9.99999815e-01 -2.34172027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.741400513 meters 0.061371273580267276 Centerline is valid? [True, True] Translation: X:506.66, Y:55.17, Z:-2.34 [[ 9.99386172e-01 -3.50162885e-02 -1.06698523e-03 5.06661355e+02] [ 3.50161983e-02 9.99386740e-01 -1.03058484e-04 5.51650217e+01] [ 1.06993962e-03 6.56334569e-05 9.99999425e-01 -2.34234585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.771400513 meters 0.058569135639011144 Centerline is valid? [True, True] Translation: X:506.69, Y:55.16, Z:-2.34 [[ 9.99455800e-01 -3.29765550e-02 -8.06183929e-04 5.06692508e+02] [ 3.29765029e-02 9.99456124e-01 -7.78594641e-05 5.51618393e+01] [ 8.08313002e-04 5.12319663e-05 9.99999672e-01 -2.34186930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.801400513 meters 0.0678404320082113 Centerline is valid? [True, True] Translation: X:506.72, Y:55.17, Z:-2.34 [[ 9.99537085e-01 -3.04232886e-02 1.99304882e-04 5.06721254e+02] [ 3.04232854e-02 9.99537105e-01 1.92440016e-05 5.51744256e+01] [-1.99798090e-04 -1.31715839e-05 9.99999980e-01 -2.34124293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.831400513 meters 0.07378112371237441 Centerline is valid? [True, True] Translation: X:506.75, Y:55.18, Z:-2.34 [[ 9.99614496e-01 -2.77381884e-02 1.20515056e-03 5.06749669e+02] [ 2.77380681e-02 9.99615219e-01 1.16397147e-04 5.51840179e+01] [-1.20791548e-03 -8.29237274e-05 9.99999267e-01 -2.34028142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.861400513 meters 0.07244162166548516 Centerline is valid? [True, True] Translation: X:506.78, Y:55.19, Z:-2.34 [[ 9.99688430e-01 -2.49216347e-02 1.39855196e-03 5.06780601e+02] [ 2.49214700e-02 9.99689403e-01 1.35074939e-04 5.51852770e+01] [-1.40148387e-03 -1.00178883e-04 9.99999013e-01 -2.33969350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.891400513 meters 0.07811280245470333 Centerline is valid? [True, True] Translation: X:506.81, Y:55.20, Z:-2.34 [[ 9.99807033e-01 -1.96413012e-02 3.40477047e-04 5.06810488e+02] [ 1.96412912e-02 9.99807091e-01 3.28810635e-05 5.51952826e+01] [-3.41057193e-04 -2.61873097e-05 9.99999941e-01 -2.34155862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.921400513 meters 0.07893702840949751 Centerline is valid? [True, True] Translation: X:506.84, Y:55.20, Z:-2.34 [[ 9.99850088e-01 -1.73061749e-02 -5.46523666e-04 5.06840611e+02] [ 1.73061486e-02 9.99850236e-01 -5.27881614e-05 5.51991861e+01] [ 5.47355378e-04 4.33220280e-05 9.99999849e-01 -2.34261141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.951400513 meters 0.08685934584237451 Centerline is valid? [True, True] Translation: X:506.87, Y:55.21, Z:-2.34 [[ 9.99880401e-01 -1.54462494e-02 -7.72505137e-04 5.06868503e+02] [ 1.54461963e-02 9.99880698e-01 -7.46306770e-05 5.52121449e+01] [ 7.73565739e-04 6.26894853e-05 9.99999699e-01 -2.34331126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.981400513 meters 0.09882431012085921 Centerline is valid? [True, True] Translation: X:506.90, Y:55.23, Z:-2.34 [[ 9.99894334e-01 -1.44913690e-02 -1.14902282e-03 5.06895356e+02] [ 1.44912509e-02 9.99894990e-01 -1.11061469e-04 5.52302526e+01] [ 1.15051159e-03 9.43989553e-05 9.99999334e-01 -2.34464093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.011400513 meters 0.08050722198448419 Centerline is valid? [True, True] Translation: X:506.93, Y:55.21, Z:-2.34 [[ 9.99894418e-01 -1.44551034e-02 -1.48400227e-03 5.06925956e+02] [ 1.44549058e-02 9.99895512e-01 -1.43788400e-04 5.52108617e+01] [ 1.48592569e-03 1.22322105e-04 9.99998889e-01 -2.34468606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.041400513 meters 0.07661555094071978 Centerline is valid? [True, True] Translation: X:506.96, Y:55.21, Z:-2.34 [[ 9.99872871e-01 -1.57913200e-02 -2.20802713e-03 5.06956248e+02] [ 1.57908863e-02 9.99875293e-01 -2.13743093e-04 5.52073128e+01] [ 2.21112706e-03 1.78849214e-04 9.99997539e-01 -2.34450121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.071400513 meters 0.08111391549305186 Centerline is valid? [True, True] Translation: X:506.99, Y:55.21, Z:-2.34 [[ 9.99853372e-01 -1.69891353e-02 -2.14559837e-03 5.06985089e+02] [ 1.69887283e-02 9.99855660e-01 -2.07759950e-04 5.52141849e+01] [ 2.14881833e-03 1.71278499e-04 9.99997677e-01 -2.34384134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.101400513 meters 0.07911120379680064 Centerline is valid? [True, True] Translation: X:507.02, Y:55.21, Z:-2.34 [[ 9.99824584e-01 -1.86222714e-02 -2.00306425e-03 5.07015367e+02] [ 1.86219199e-02 9.99826578e-01 -1.93970547e-04 5.52131518e+01] [ 2.00632905e-03 1.56635619e-04 9.99997975e-01 -2.34323648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.131400513 meters 0.07317791735761488 Centerline is valid? [True, True] Translation: X:507.05, Y:55.21, Z:-2.34 [[ 9.99782003e-01 -2.08105424e-02 -1.69354565e-03 5.07046290e+02] [ 2.08102942e-02 9.99783429e-01 -1.64000510e-04 5.52069705e+01] [ 1.69659182e-03 1.28721575e-04 9.99998553e-01 -2.34313252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.161400513 meters 0.07333909647949108 Centerline is valid? [True, True] Translation: X:507.08, Y:55.21, Z:-2.34 [[ 9.99730250e-01 -2.31921004e-02 -1.24654272e-03 5.07075541e+02] [ 2.31919678e-02 9.99731023e-01 -1.20740480e-04 5.52074580e+01] [ 1.24900765e-03 9.17981320e-05 9.99999216e-01 -2.34299483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.191400513 meters 0.0717861659906457 Centerline is valid? [True, True] Translation: X:507.10, Y:55.21, Z:-2.34 [[ 9.99666038e-01 -2.58010808e-02 -1.45475139e-03 5.07104913e+02] [ 2.58009029e-02 9.99667091e-01 -1.40924143e-04 5.52056096e+01] [ 1.45790309e-03 1.03343181e-04 9.99998932e-01 -2.34328409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.221400513 meters 0.07839246825055757 Centerline is valid? [True, True] Translation: X:507.13, Y:55.21, Z:-2.34 [[ 9.99604017e-01 -2.80789600e-02 -1.83877228e-03 5.07134117e+02] [ 2.80786795e-02 9.99605700e-01 -1.78147584e-04 5.52106219e+01] [ 1.84304945e-03 1.26446743e-04 9.99998294e-01 -2.34314871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.251400513 meters 0.07101571897651349 Centerline is valid? [True, True] Translation: X:507.16, Y:55.20, Z:-2.34 [[ 9.99633160e-01 -2.70249294e-02 -1.78869306e-03 5.07164130e+02] [ 2.70246622e-02 9.99634752e-01 -1.73375791e-04 5.52024861e+01] [ 1.79272522e-03 1.24973364e-04 9.99998385e-01 -2.34176767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.281400513 meters 0.0747662014319106 Centerline is valid? [True, True] Translation: X:507.19, Y:55.21, Z:-2.34 [[ 9.99695124e-01 -2.46506605e-02 -1.41567435e-03 5.07193217e+02] [ 2.46504908e-02 9.99696121e-01 -1.37225282e-04 5.52095981e+01] [ 1.41862685e-03 1.02286378e-04 9.99998989e-01 -2.34129955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.311400513 meters 0.06841414793366982 Centerline is valid? [True, True] Translation: X:507.22, Y:55.21, Z:-2.34 [[ 9.99763516e-01 -2.17271059e-02 -9.19043260e-04 5.07224419e+02] [ 2.17270331e-02 9.99763936e-01 -8.90763768e-05 5.52050502e+01] [ 9.20761679e-04 6.90872283e-05 9.99999574e-01 -2.34045035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.341400513 meters 0.08213274569121841 Centerline is valid? [True, True] Translation: X:507.25, Y:55.23, Z:-2.34 [[ 9.99869875e-01 -1.61312573e-02 -1.26301413e-04 5.07251670e+02] [ 1.61312559e-02 9.99869883e-01 -1.22306291e-05 5.52258886e+01] [ 1.26482274e-04 1.01916372e-05 9.99999992e-01 -2.34032322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.371400513 meters 0.07922306796728905 Centerline is valid? [True, True] Translation: X:507.28, Y:55.23, Z:-2.34 [[ 9.99901730e-01 -1.40048069e-02 -6.28983733e-04 5.07282417e+02] [ 1.40047713e-02 9.99901927e-01 -6.09594599e-05 5.52255895e+01] [ 6.29775771e-04 5.21446961e-05 9.99999800e-01 -2.34109775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.401400513 meters 0.08439656764038182 Centerline is valid? [True, True] Translation: X:507.31, Y:55.23, Z:-2.34 [[ 9.99912046e-01 -1.31921280e-02 -1.36655981e-03 5.07310240e+02] [ 1.31919591e-02 9.99912974e-01 -1.32556674e-04 5.52346581e+01] [ 1.36818959e-03 1.14517414e-04 9.99999057e-01 -2.34203721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.431400513 meters 0.08410865012726948 Centerline is valid? [True, True] Translation: X:507.34, Y:55.24, Z:-2.34 [[ 9.99907021e-01 -1.35750735e-02 -1.29082275e-03 5.07339163e+02] [ 1.35749227e-02 9.99907849e-01 -1.25519059e-04 5.52369120e+01] [ 1.29240773e-03 1.07984569e-04 9.99999159e-01 -2.34204704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4614005130001 meters 0.07711248656730119 Centerline is valid? [True, True] Translation: X:507.37, Y:55.23, Z:-2.34 [[ 9.99884742e-01 -1.51772571e-02 -3.91614682e-04 5.07369556e+02] [ 1.51772433e-02 9.99884818e-01 -3.80650288e-05 5.52306914e+01] [ 3.92147298e-04 3.21170102e-05 9.99999923e-01 -2.34077581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.491400513 meters 0.07146182992735269 Centerline is valid? [True, True] Translation: X:507.40, Y:55.23, Z:-2.34 [[ 9.99838821e-01 -1.79508468e-02 3.15625370e-04 5.07400596e+02] [ 1.79508380e-02 9.99838870e-01 3.06591687e-05 5.52258473e+01] [-3.16124872e-04 -2.49884872e-05 9.99999950e-01 -2.33946063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.521400513 meters 0.07146182992735269 Centerline is valid? [True, True] Translation: X:507.43, Y:55.23, Z:-2.34 [[ 9.99835500e-01 -1.81348851e-02 3.15637460e-04 5.07428065e+02] [ 1.81348763e-02 9.99835549e-01 3.05348340e-05 5.52286392e+01] [-3.16139299e-04 -2.48057647e-05 9.99999950e-01 -2.33948841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.551400513 meters 0.07279523519025026 Centerline is valid? [True, True] Translation: X:507.46, Y:55.23, Z:-2.34 [[ 9.99696313e-01 -2.45975625e-02 1.49698555e-03 5.07456944e+02] [ 2.45973718e-02 9.99697428e-01 1.45712777e-04 5.52315437e+01] [-1.50011679e-03 -1.08846616e-04 9.99998869e-01 -2.33845102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.581400513 meters 0.07172721577015463 Centerline is valid? [True, True] Translation: X:507.49, Y:55.23, Z:-2.34 [[ 9.99620673e-01 -2.74794384e-02 1.84108228e-03 5.07486892e+02] [ 2.74791547e-02 9.99622361e-01 1.79236504e-04 5.52321195e+01] [-1.84531233e-03 -1.28577130e-04 9.99998289e-01 -2.33822966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.611400513 meters 0.06805552903999922 Centerline is valid? [True, True] Translation: X:507.52, Y:55.23, Z:-2.34 [[ 9.99560791e-01 -2.95927409e-02 1.57932820e-03 5.07517009e+02] [ 2.95925347e-02 9.99562033e-01 1.53767133e-04 5.52286885e+01] [-1.58318690e-03 -1.06963273e-04 9.99998741e-01 -2.33911830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.641400513 meters 0.06589739514855157 Centerline is valid? [True, True] Translation: X:507.55, Y:55.23, Z:-2.34 [[ 9.99523113e-01 -3.08734073e-02 6.15806196e-04 5.07547287e+02] [ 3.08733762e-02 9.99523302e-01 5.99643432e-05 5.52261780e+01] [-6.17363946e-04 -4.09237306e-05 9.99999809e-01 -2.34015287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.671400513 meters 0.06419933443775687 Centerline is valid? [True, True] Translation: X:507.58, Y:55.22, Z:-2.34 [[ 9.99502932e-01 -3.15203525e-02 -5.96938872e-04 5.07576630e+02] [ 3.15203232e-02 9.99503109e-01 -5.83827546e-05 5.52243626e+01] [ 5.98482504e-04 3.95380282e-05 9.99999820e-01 -2.34165932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.701400513 meters 0.06295618025306825 Centerline is valid? [True, True] Translation: X:507.61, Y:55.22, Z:-2.34 [[ 9.99553950e-01 -2.97631306e-02 -2.46102872e-03 5.07606971e+02] [ 2.97626293e-02 9.99556966e-01 -2.40087957e-04 5.52235972e+01] [ 2.46708417e-03 1.66734180e-04 9.99996943e-01 -2.34390908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.731400513 meters 0.07171461136510726 Centerline is valid? [True, True] Translation: X:507.63, Y:55.24, Z:-2.34 [[ 9.99606375e-01 -2.79374055e-02 -2.56820124e-03 5.07634651e+02] [ 2.79368534e-02 9.99609659e-01 -2.50610380e-04 5.52377235e+01] [ 2.57420017e-03 1.78764272e-04 9.99996671e-01 -2.34498391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.761400513 meters 0.07518915497707454 Centerline is valid? [True, True] Translation: X:507.66, Y:55.25, Z:-2.35 [[ 9.99655457e-01 -2.61030248e-02 -2.75669445e-03 5.07663213e+02] [ 2.61023815e-02 9.99659239e-01 -2.69061822e-04 5.52453393e+01] [ 2.76277840e-03 1.97012829e-04 9.99996164e-01 -2.34622324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.791400513 meters 0.07342308867343757 Centerline is valid? [True, True] Translation: X:507.69, Y:55.25, Z:-2.35 [[ 9.99693422e-01 -2.46126528e-02 -2.69786352e-03 5.07693770e+02] [ 2.46120314e-02 9.99697043e-01 -2.63298173e-04 5.52461839e+01] [ 2.70352665e-03 1.96817550e-04 9.99996326e-01 -2.34652178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.821400513 meters 0.07328869389730194 Centerline is valid? [True, True] Translation: X:507.72, Y:55.25, Z:-2.35 [[ 9.99700265e-01 -2.44113525e-02 -1.86169680e-03 5.07722289e+02] [ 2.44110554e-02 9.99701989e-01 -1.82141404e-04 5.52477358e+01] [ 1.86558831e-03 1.36640826e-04 9.99998250e-01 -2.34558997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.851400513 meters 0.0714717186025294 Centerline is valid? [True, True] Translation: X:507.75, Y:55.25, Z:-2.35 [[ 9.99671998e-01 -2.55761688e-02 -1.32498775e-03 5.07752601e+02] [ 2.55760195e-02 9.99672872e-01 -1.29546158e-04 5.52478593e+01] [ 1.32786760e-03 9.56157546e-05 9.99999114e-01 -2.34509126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.881400513 meters 0.07461375852048602 Centerline is valid? [True, True] Translation: X:507.78, Y:55.25, Z:-2.35 [[ 9.99632120e-01 -2.70888683e-02 -1.34797610e-03 5.07781470e+02] [ 2.70887151e-02 9.99633025e-01 -1.31834943e-04 5.52532337e+01] [ 1.35105269e-03 9.52715030e-05 9.99999083e-01 -2.34536633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.911400513 meters 0.07046222823736463 Centerline is valid? [True, True] Translation: X:507.81, Y:55.25, Z:-2.35 [[ 9.99598406e-01 -2.82917181e-02 -1.61427824e-03 5.07812027e+02] [ 2.82914999e-02 9.99599703e-01 -1.57882231e-04 5.52494426e+01] [ 1.61809881e-03 1.12148474e-04 9.99998685e-01 -2.34567959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.941400513 meters 0.07063054041992434 Centerline is valid? [True, True] Translation: X:507.84, Y:55.25, Z:-2.35 [[ 9.99571655e-01 -2.92142688e-02 -1.74135376e-03 5.07839526e+02] [ 2.92140159e-02 9.99573165e-01 -1.70450929e-04 5.52507402e+01] [ 1.74559008e-03 1.19505981e-04 9.99998469e-01 -2.34621061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.971400513 meters 0.06914538942882109 Centerline is valid? [True, True] Translation: X:507.87, Y:55.25, Z:-2.35 [[ 9.99556091e-01 -2.97307291e-02 -1.92453657e-03 5.07868757e+02] [ 2.97304205e-02 9.99557936e-01 -1.88777395e-04 5.52506293e+01] [ 1.92929829e-03 1.31476314e-04 9.99998130e-01 -2.34651217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.001400513 meters 0.07077974666955726 Centerline is valid? [True, True] Translation: X:507.90, Y:55.25, Z:-2.35 [[ 9.99584139e-01 -2.87725610e-02 -1.92067953e-03 5.07898148e+02] [ 2.87722520e-02 9.99585975e-01 -1.88307776e-04 5.52548161e+01] [ 1.92530242e-03 1.32967191e-04 9.99998138e-01 -2.34673769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.031400513 meters 0.07387617650062173 Centerline is valid? [True, True] Translation: X:507.93, Y:55.26, Z:-2.35 [[ 9.99628307e-01 -2.72048617e-02 -1.77280345e-03 5.07926416e+02] [ 2.72045960e-02 9.99629871e-01 -1.73850530e-04 5.52609999e+01] [ 1.77687686e-03 1.25557510e-04 9.99998413e-01 -2.34645458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.061400513 meters 0.07278867343447447 Centerline is valid? [True, True] Translation: X:507.96, Y:55.26, Z:-2.35 [[ 9.99679295e-01 -2.52671535e-02 -1.69620237e-03 5.07956522e+02] [ 2.52669075e-02 9.99680727e-01 -1.66347552e-04 5.52618540e+01] [ 1.69986395e-03 1.23436415e-04 9.99998548e-01 -2.34579251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.091400513 meters 0.08279083175200115 Centerline is valid? [True, True] Translation: X:507.98, Y:55.28, Z:-2.35 [[ 9.99733306e-01 -2.30572339e-02 -1.29635865e-03 5.07984471e+02] [ 2.30570883e-02 9.99734142e-01 -1.27125191e-04 5.52762740e+01] [ 1.29894516e-03 9.72010315e-05 9.99999152e-01 -2.34549419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.121400513 meters 0.07735686711627497 Centerline is valid? [True, True] Translation: X:508.02, Y:55.27, Z:-2.35 [[ 9.99770867e-01 -2.13746163e-02 -1.15734312e-03 5.08015511e+02] [ 2.13744992e-02 9.99771533e-01 -1.13493223e-04 5.52720576e+01] [ 1.15950458e-03 8.87295889e-05 9.99999324e-01 -2.34504990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.151400513 meters 0.07844124567248399 Centerline is valid? [True, True] Translation: X:508.05, Y:55.28, Z:-2.34 [[ 9.99827199e-01 -1.85531304e-02 -1.16337065e-03 5.08046226e+02] [ 1.85530101e-02 9.99827872e-01 -1.14083008e-04 5.52752848e+01] [ 1.16528700e-03 9.24792669e-05 9.99999317e-01 -2.34492180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.181400513 meters 0.07959913752833848 Centerline is valid? [True, True] Translation: X:508.08, Y:55.28, Z:-2.35 [[ 9.99844499e-01 -1.76017878e-02 -1.07456946e-03 5.08075020e+02] [ 1.76016846e-02 9.99845073e-01 -1.05421780e-04 5.52792448e+01] [ 1.07625859e-03 8.64911543e-05 9.99999417e-01 -2.34534390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2114005130001 meters 0.08028781786157158 Centerline is valid? [True, True] Translation: X:508.10, Y:55.28, Z:-2.35 [[ 9.99850162e-01 -1.72734257e-02 -1.13250089e-03 5.08102532e+02] [ 1.72733107e-02 9.99850799e-01 -1.11200653e-04 5.52827409e+01] [ 1.13425274e-03 9.16219512e-05 9.99999353e-01 -2.34563530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.241400513 meters 0.08010644747170223 Centerline is valid? [True, True] Translation: X:508.13, Y:55.29, Z:-2.35 [[ 9.99846494e-01 -1.74977174e-02 -9.04085291e-04 5.08130186e+02] [ 1.74976440e-02 9.99846901e-01 -8.90667488e-05 5.52859119e+01] [ 9.05505341e-04 7.32337140e-05 9.99999587e-01 -2.34583940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.271400513 meters 0.08170151680660467 Centerline is valid? [True, True] Translation: X:508.16, Y:55.29, Z:-2.35 [[ 9.99837464e-01 -1.79802976e-02 -1.32455632e-03 5.08157995e+02] [ 1.79801406e-02 9.99838336e-01 -1.30357476e-04 5.52911765e+01] [ 1.32668605e-03 1.06520579e-04 9.99999114e-01 -2.34620577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.301400513 meters 0.08605591707867893 Centerline is valid? [True, True] Translation: X:508.18, Y:55.30, Z:-2.35 [[ 9.99823829e-01 -1.86793445e-02 -1.84212139e-03 5.08184744e+02] [ 1.86790417e-02 9.99825515e-01 -1.81434212e-04 5.53005781e+01] [ 1.84518904e-03 1.46993187e-04 9.99998287e-01 -2.34728394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.331400513 meters 0.08368349919277704 Centerline is valid? [True, True] Translation: X:508.21, Y:55.30, Z:-2.35 [[ 9.99815184e-01 -1.91423431e-02 -1.78031555e-03 5.08213681e+02] [ 1.91420604e-02 9.99816759e-01 -1.75695679e-04 5.53012650e+01] [ 1.78335255e-03 1.41584299e-04 9.99998400e-01 -2.34710223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.361400513 meters 0.09703633952791967 Centerline is valid? [True, True] Translation: X:508.24, Y:55.32, Z:-2.35 [[ 9.99814629e-01 -1.92412853e-02 -6.93724643e-04 5.08240027e+02] [ 1.92412424e-02 9.99814868e-01 -6.84944468e-05 5.53208796e+01] [ 6.94914133e-04 5.51336258e-05 9.99999757e-01 -2.34589184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.391400513 meters 0.0850232519892786 Centerline is valid? [True, True] Translation: X:508.27, Y:55.31, Z:-2.34 [[ 9.99808103e-01 -1.95893926e-02 1.10987522e-04 5.08269659e+02] [ 1.95893915e-02 9.99808109e-01 1.08152280e-05 5.53098245e+01] [-1.11178088e-04 -8.63897458e-06 9.99999994e-01 -2.34464578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.421400513 meters 0.08714186130012934 Centerline is valid? [True, True] Translation: X:508.30, Y:55.32, Z:-2.34 [[ 9.99798134e-01 -2.00815642e-02 6.50041669e-04 5.08297557e+02] [ 2.00815267e-02 9.99798344e-01 6.41764053e-05 5.53158052e+01] [-6.51199347e-04 -5.11096211e-05 9.99999787e-01 -2.34323414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.451400513 meters 0.08293231890507201 Centerline is valid? [True, True] Translation: X:508.33, Y:55.31, Z:-2.34 [[ 9.99796796e-01 -2.01481359e-02 -6.47551518e-04 5.08327102e+02] [ 2.01480984e-02 9.99797004e-01 -6.43302313e-05 5.53147523e+01] [ 6.48716202e-04 5.12702274e-05 9.99999788e-01 -2.34477734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.481400513 meters 0.07669104842077838 Centerline is valid? [True, True] Translation: X:508.36, Y:55.31, Z:-2.35 [[ 9.99804108e-01 -1.96917803e-02 -1.99490650e-03 5.08356452e+02] [ 1.96914238e-02 9.99806085e-01 -1.98184162e-04 5.53105649e+01] [ 1.99842226e-03 1.58862790e-04 9.99997991e-01 -2.34622705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.511400513 meters 0.08131766162524827 Centerline is valid? [True, True] Translation: X:508.38, Y:55.32, Z:-2.35 [[ 9.99829175e-01 -1.83254305e-02 -2.40810394e-03 5.08384374e+02] [ 1.83249074e-02 9.99832056e-01 -2.39119551e-04 5.53203596e+01] [ 2.41208149e-03 1.94950422e-04 9.99997072e-01 -2.34683961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.541400513 meters 0.08155890228813456 Centerline is valid? [True, True] Translation: X:508.41, Y:55.33, Z:-2.35 [[ 9.99861144e-01 -1.64267855e-02 -2.80223294e-03 5.08414119e+02] [ 1.64260698e-02 9.99865044e-01 -2.78248785e-04 5.53254891e+01] [ 2.80642550e-03 2.32180475e-04 9.99996035e-01 -2.34729316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.571400513 meters 0.08280495673810477 Centerline is valid? [True, True] Translation: X:508.44, Y:55.33, Z:-2.35 [[ 9.99894160e-01 -1.43122016e-02 -2.61351566e-03 5.08444033e+02] [ 1.43115719e-02 9.99897551e-01 -2.59509460e-04 5.53326357e+01] [ 2.61696206e-03 2.22078476e-04 9.99996551e-01 -2.34754568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.601400513 meters 0.09070958509221963 Centerline is valid? [True, True] Translation: X:508.47, Y:55.35, Z:-2.35 [[ 9.99922877e-01 -1.23229534e-02 -1.54432828e-03 5.08472492e+02] [ 1.23227311e-02 9.99924061e-01 -1.53377099e-04 5.53482814e+01] [ 1.54610107e-03 1.34334928e-04 9.99998796e-01 -2.34720871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.631400513 meters 0.09564392664674302 Centerline is valid? [True, True] Translation: X:508.50, Y:55.36, Z:-2.35 [[ 9.99961453e-01 -8.77274437e-03 3.63903330e-04 5.08501032e+02] [ 8.77273179e-03 9.99961518e-01 3.61387411e-05 5.53619690e+01] [-3.64206363e-04 -3.29449218e-05 9.99999933e-01 -2.34500785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.661400513 meters 0.08921844574967491 Centerline is valid? [True, True] Translation: X:508.53, Y:55.36, Z:-2.35 [[ 9.99969764e-01 -7.76086502e-03 -4.89897440e-04 5.08531176e+02] [ 7.76084209e-03 9.99969883e-01 -4.86835675e-05 5.53589797e+01] [ 4.90260513e-04 4.48800788e-05 9.99999879e-01 -2.34602185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.691400513 meters 0.08874622236840052 Centerline is valid? [True, True] Translation: X:508.56, Y:55.36, Z:-2.35 [[ 9.99969965e-01 -7.42310518e-03 -2.22839150e-03 5.08560097e+02] [ 7.42262995e-03 9.99972427e-01 -2.21453475e-04 5.53633542e+01] [ 2.22997393e-03 2.04906298e-04 9.99997493e-01 -2.34832127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.721400513 meters 0.08917884303915957 Centerline is valid? [True, True] Translation: X:508.59, Y:55.37, Z:-2.35 [[ 9.99962297e-01 -7.81616938e-03 -3.78313371e-03 5.08588347e+02] [ 7.81479987e-03 9.99969393e-01 -3.76652705e-04 5.53690449e+01] [ 3.78596190e-03 3.47074071e-04 9.99992773e-01 -2.35038356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.751400513 meters 0.09976448748738664 Centerline is valid? [True, True] Translation: X:508.61, Y:55.39, Z:-2.35 [[ 9.99959113e-01 -8.30404315e-03 -3.57994092e-03 5.08614907e+02] [ 8.30281952e-03 9.99965467e-01 -3.56529999e-04 5.53867882e+01] [ 3.58277794e-03 3.26791818e-04 9.99993528e-01 -2.35128025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.781400513 meters 0.08764042829462025 Centerline is valid? [True, True] Translation: X:508.65, Y:55.38, Z:-2.35 [[ 9.99954545e-01 -9.20232838e-03 -2.49513131e-03 5.08645725e+02] [ 9.20173664e-03 9.99957632e-01 -2.48532102e-04 5.53766652e+01] [ 2.49731268e-03 2.25561264e-04 9.99996856e-01 -2.34904806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.811400513 meters 0.08518458213779385 Centerline is valid? [True, True] Translation: X:508.68, Y:55.38, Z:-2.35 [[ 9.99942451e-01 -1.07254929e-02 -2.41312310e-04 5.08675692e+02] [ 1.07254874e-02 9.99942480e-01 -2.40478304e-05 5.53798156e+01] [ 2.41556354e-04 2.14582543e-05 9.99999971e-01 -2.34639113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.841400513 meters 0.07904018961766293 Centerline is valid? [True, True] Translation: X:508.70, Y:55.38, Z:-2.35 [[ 9.99934075e-01 -1.14780809e-02 -3.14457799e-04 5.08704927e+02] [ 1.14780716e-02 9.99934124e-01 -3.13836137e-05 5.53765428e+01] [ 3.14797308e-04 2.77721756e-05 9.99999950e-01 -2.34652216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.871400513 meters 0.09490486264257739 Centerline is valid? [True, True] Translation: X:508.73, Y:55.40, Z:-2.35 [[ 9.99921935e-01 -1.24705535e-02 -7.81077066e-04 5.08731805e+02] [ 1.24704964e-02 9.99922237e-01 -7.78791469e-05 5.54001388e+01] [ 7.81987524e-04 6.81326484e-05 9.99999692e-01 -2.34791184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.901400513 meters 0.08584336190205288 Centerline is valid? [True, True] Translation: X:508.76, Y:55.39, Z:-2.35 [[ 9.99906565e-01 -1.35722720e-02 -1.62911485e-03 5.08762889e+02] [ 1.35720252e-02 9.99907883e-01 -1.62416054e-04 5.53931312e+01] [ 1.63116913e-03 1.40290491e-04 9.99998660e-01 -2.34889716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.931400513 meters 0.08421044801395271 Centerline is valid? [True, True] Translation: X:508.79, Y:55.39, Z:-2.35 [[ 9.99891303e-01 -1.44903494e-02 -2.72254436e-03 5.08792310e+02] [ 1.44896635e-02 9.99894982e-01 -2.71491166e-04 5.53948201e+01] [ 2.72619245e-03 2.32012904e-04 9.99996257e-01 -2.35048052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9614005130001 meters 0.08335495267124286 Centerline is valid? [True, True] Translation: X:508.82, Y:55.40, Z:-2.35 [[ 9.99873855e-01 -1.53603714e-02 -4.04133090e-03 5.08820958e+02] [ 1.53588664e-02 9.99881964e-01 -4.03192621e-04 5.53970892e+01] [ 4.04704707e-03 3.41071499e-04 9.99991753e-01 -2.35297858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.991400513 meters 0.08360475641622261 Centerline is valid? [True, True] Translation: X:508.85, Y:55.40, Z:-2.35 [[ 9.99874695e-01 -1.52131436e-02 -4.37665644e-03 5.08849497e+02] [ 1.52113735e-02 9.99884205e-01 -4.37441091e-04 5.54003266e+01] [ 4.38280450e-03 3.70811321e-04 9.99990327e-01 -2.35330388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.021400513 meters 0.08360475641622261 Centerline is valid? [True, True] Translation: X:508.88, Y:55.40, Z:-2.35 [[ 9.99871980e-01 -1.53905831e-02 -4.37657652e-03 5.08876964e+02] [ 1.53888112e-02 9.99881489e-01 -4.38240141e-04 5.54032066e+01] [ 4.38280262e-03 3.70833728e-04 9.99990327e-01 -2.35333164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.051400513 meters 0.08332558711743687 Centerline is valid? [True, True] Translation: X:508.91, Y:55.41, Z:-2.35 [[ 9.99885404e-01 -1.43398154e-02 -4.85274892e-03 5.08906356e+02] [ 1.43376251e-02 9.99897093e-01 -4.85853383e-04 5.54064108e+01] [ 4.85921659e-03 4.16220811e-04 9.99988107e-01 -2.35340498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.081400513 meters 0.09707169726372457 Centerline is valid? [True, True] Translation: X:508.93, Y:55.43, Z:-2.35 [[ 9.99933328e-01 -1.04987963e-02 -4.80778756e-03 5.08933367e+02] [ 1.04966024e-02 9.99944793e-01 -4.81321284e-04 5.54295137e+01] [ 4.81257543e-03 4.30823759e-04 9.99988327e-01 -2.35441992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.111400513 meters 0.10284526777611258 Centerline is valid? [True, False] Translation: X:508.95, Y:55.44, Z:-2.36 [[ 9.99985537e-01 -5.37712218e-03 1.08142650e-04 5.08952957e+02] [ 5.37774334e-03 9.99961445e-01 -6.94179735e-03 5.54360696e+01] [-7.08115884e-05 6.94227852e-03 9.99975900e-01 -2.35864825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.141400513 meters 0.09632328700764832 Centerline is valid? [False, True] Translation: X:508.91, Y:55.43, Z:-2.36 [[ 9.99996820e-01 -1.87886155e-03 -1.68220670e-03 5.08913175e+02] [ 1.87887378e-03 9.99998235e-01 5.69573952e-06 5.54271030e+01] [ 1.68219303e-03 -8.85637547e-06 9.99998585e-01 -2.35878294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.171400513 meters 0.09787350558180345 Centerline is valid? [True, True] Translation: X:508.94, Y:55.43, Z:-2.36 [[ 9.99998309e-01 -6.38884604e-04 -1.72433281e-03 5.08943701e+02] [ 6.38603392e-04 9.99999783e-01 -1.63630269e-04 5.54301866e+01] [ 1.72443698e-03 1.62528827e-04 9.99998500e-01 -2.35937285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.201400513 meters 0.10576292412479005 Centerline is valid? [True, False] Translation: X:508.97, Y:55.43, Z:-2.36 [[ 9.99998102e-01 -1.28554332e-03 -1.46424880e-03 5.08965028e+02] [ 1.29879974e-03 9.99957853e-01 9.08871472e-03 5.54279281e+01] [ 1.45250315e-03 -9.09059923e-03 9.99957625e-01 -2.35807242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.231400513 meters 0.09136715837953273 Centerline is valid? [False, True] Translation: X:508.94, Y:55.44, Z:-2.35 [[ 9.99983651e-01 -1.47488328e-04 -5.71637591e-03 5.08943679e+02] [ 1.47337804e-04 9.99999989e-01 -2.67532041e-05 5.54358350e+01] [ 5.71637979e-03 2.59105285e-05 9.99983661e-01 -2.35495695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.261400513 meters 0.09484055111734548 Centerline is valid? [True, True] Translation: X:508.97, Y:55.45, Z:-2.35 [[ 9.99986872e-01 -8.02751888e-04 -5.06071120e-03 5.08970979e+02] [ 8.00320405e-04 9.99999563e-01 -4.82469593e-04 5.54465900e+01] [ 5.06109629e-03 4.78413069e-04 9.99987078e-01 -2.35475442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.291400513 meters 0.09261532868230883 Centerline is valid? [True, True] Translation: X:509.00, Y:55.45, Z:-2.35 [[ 9.99987921e-01 -1.62289347e-03 -4.63930970e-03 5.09000716e+02] [ 1.62085842e-03 9.99998589e-01 -4.42379273e-04 5.54495901e+01] [ 4.64002109e-03 4.34854265e-04 9.99989140e-01 -2.35352164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.321400513 meters 0.09630999109926679 Centerline is valid? [True, True] Translation: X:509.03, Y:55.46, Z:-2.35 [[ 9.99990650e-01 -2.48113481e-03 -3.54176024e-03 5.09028542e+02] [ 2.47995362e-03 9.99996868e-01 -3.37855919e-04 5.54590609e+01] [ 3.54258741e-03 3.29069358e-04 9.99993671e-01 -2.35194923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.351400513 meters 0.08806271739631408 Centerline is valid? [True, True] Translation: X:509.06, Y:55.45, Z:-2.35 [[ 9.99991686e-01 -3.28580123e-03 -2.41499918e-03 5.09058576e+02] [ 3.28525424e-03 9.99994577e-01 -2.30425910e-04 5.54534530e+01] [ 2.41574322e-03 2.22490108e-04 9.99997057e-01 -2.34953768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.381400513 meters 0.09238308588907919 Centerline is valid? [True, True] Translation: X:509.09, Y:55.46, Z:-2.35 [[ 9.99990444e-01 -4.02498171e-03 -1.70649565e-03 5.09085629e+02] [ 4.02470943e-03 9.99991888e-01 -1.62958967e-04 5.54633058e+01] [ 1.70713772e-03 1.56089260e-04 9.99998531e-01 -2.34814431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.411400513 meters 0.09238308588907919 Centerline is valid? [True, True] Translation: X:509.11, Y:55.47, Z:-2.35 [[ 9.99989815e-01 -4.17821323e-03 -1.70646149e-03 5.09113951e+02] [ 4.17794057e-03 9.99991259e-01 -1.63316491e-04 5.54661093e+01] [ 1.70712895e-03 1.56185333e-04 9.99998531e-01 -2.34817235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.441400513 meters 0.10035505901684695 Centerline is valid? [True, False] Translation: X:509.11, Y:55.47, Z:-2.35 [[ 9.99988012e-01 -4.61593501e-03 -1.63373160e-03 5.09114009e+02] [ 4.61390662e-03 9.99988583e-01 -1.24316869e-03 5.54709739e+01] [ 1.63945133e-03 1.23561590e-03 9.99997893e-01 -2.34887179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.471400513 meters 0.08088259726708895 Centerline is valid? [False, True] Translation: X:509.09, Y:55.48, Z:-2.35 [[ 9.99985543e-01 -3.32362091e-03 -4.22705550e-03 5.09093526e+02] [ 3.27919239e-03 9.99939765e-01 -1.04743687e-02 5.54775320e+01] [ 4.26161372e-03 1.04603560e-02 9.99936208e-01 -2.34841429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.501400513 meters 0.08185942205922625 Centerline is valid? [True, True] Translation: X:509.12, Y:55.48, Z:-2.35 [[ 9.99978449e-01 -3.60199482e-03 -5.48876152e-03 5.09122423e+02] [ 3.59924190e-03 9.99993392e-01 -5.11351859e-04 5.54758403e+01] [ 5.49056714e-03 4.91585458e-04 9.99984806e-01 -2.34781274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.531400513 meters 0.09822687646819969 Centerline is valid? [True, True] Translation: X:509.15, Y:55.50, Z:-2.35 [[ 9.99978080e-01 -3.62824965e-03 -5.53848196e-03 5.09147993e+02] [ 3.62544417e-03 9.99993295e-01 -5.16498780e-04 5.55001889e+01] [ 5.54031881e-03 4.96408002e-04 9.99984529e-01 -2.34806402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.561400513 meters 0.08768204148993859 Centerline is valid? [True, True] Translation: X:509.18, Y:55.49, Z:-2.35 [[ 9.99982788e-01 -3.83989783e-03 -4.43618700e-03 5.09176938e+02] [ 3.83809760e-03 9.99992549e-01 -4.14248857e-04 5.54918493e+01] [ 4.43774462e-03 3.97215209e-04 9.99990074e-01 -2.34543127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.591400513 meters 0.09371916104258854 Centerline is valid? [True, True] Translation: X:509.20, Y:55.50, Z:-2.34 [[ 9.99987829e-01 -4.02787711e-03 -2.84927805e-03 5.09204101e+02] [ 4.02713446e-03 9.99991856e-01 -2.66335680e-04 5.55015324e+01] [ 2.85032761e-03 2.54858013e-04 9.99995905e-01 -2.34314549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.621400513 meters 0.0906681225468671 Centerline is valid? [True, True] Translation: X:509.23, Y:55.51, Z:-2.34 [[ 9.99979360e-01 -6.38694294e-03 -6.97478116e-04 5.09233947e+02] [ 6.38689899e-03 9.99979601e-01 -6.52201672e-05 5.55075533e+01] [ 6.97880446e-04 6.07640988e-05 9.99999755e-01 -2.33963588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.651400513 meters 0.08725807581219495 Centerline is valid? [True, True] Translation: X:509.26, Y:55.51, Z:-2.34 [[ 9.99968992e-01 -7.81219217e-03 -9.92129425e-04 5.09264004e+02] [ 7.81210397e-03 9.99969481e-01 -9.27527043e-05 5.55082582e+01] [ 9.92823747e-04 8.49992101e-05 9.99999504e-01 -2.34057800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.681400513 meters 0.08623644890128027 Centerline is valid? [True, True] Translation: X:509.29, Y:55.51, Z:-2.34 [[ 9.99955933e-01 -9.25264133e-03 -1.58769879e-03 5.09293737e+02] [ 9.25241711e-03 9.99957184e-01 -1.48507801e-04 5.55117071e+01] [ 1.58900490e-03 1.33811205e-04 9.99998729e-01 -2.34168846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7114005130001 meters 0.08401935748119432 Centerline is valid? [True, True] Translation: X:509.32, Y:55.51, Z:-2.34 [[ 9.99944704e-01 -1.02743288e-02 -2.24218012e-03 5.09323911e+02] [ 1.02738840e-02 9.99947200e-01 -2.09801523e-04 5.55141327e+01] [ 2.24421730e-03 1.86754023e-04 9.99997464e-01 -2.34239302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.741400513 meters 0.0845476397252346 Centerline is valid? [True, True] Translation: X:509.35, Y:55.52, Z:-2.34 [[ 9.99934358e-01 -1.11316408e-02 -2.71390525e-03 5.09351655e+02] [ 1.11309922e-02 9.99938016e-01 -2.54003488e-04 5.55202948e+01] [ 2.71656451e-03 2.23778357e-04 9.99996285e-01 -2.34283281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.771400513 meters 0.08691800845705656 Centerline is valid? [True, True] Translation: X:509.38, Y:55.53, Z:-2.34 [[ 9.99912159e-01 -1.28544779e-02 -3.23057568e-03 5.09379797e+02] [ 1.28535673e-02 9.99917344e-01 -3.02489711e-04 5.55320415e+01] [ 3.23419700e-03 2.60938718e-04 9.99994736e-01 -2.34307716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.801400513 meters 0.08582636542571724 Centerline is valid? [True, True] Translation: X:509.41, Y:55.54, Z:-2.34 [[ 9.99892895e-01 -1.41926623e-02 -3.57302399e-03 5.09409113e+02] [ 1.41915566e-02 9.99899239e-01 -3.34636744e-04 5.55351871e+01] [ 3.57741335e-03 2.83894131e-04 9.99993561e-01 -2.34375628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.831400513 meters 0.07559592151245673 Centerline is valid? [True, True] Translation: X:509.44, Y:55.53, Z:-2.34 [[ 9.99868481e-01 -1.56099805e-02 -4.39873562e-03 5.09440339e+02] [ 1.56083179e-02 9.99878098e-01 -4.12049194e-04 5.55258185e+01] [ 4.40463149e-03 3.43338138e-04 9.99990241e-01 -2.34449713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.861400513 meters 0.07788909912040476 Centerline is valid? [True, True] Translation: X:509.47, Y:55.53, Z:-2.35 [[ 9.99842427e-01 -1.69713304e-02 -5.20535270e-03 5.09468375e+02] [ 1.69690198e-02 9.99855897e-01 -4.87747552e-04 5.55315138e+01] [ 5.21288032e-03 3.99340963e-04 9.99986333e-01 -2.34595849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.891400513 meters 0.07737058176434515 Centerline is valid? [True, True] Translation: X:509.50, Y:55.53, Z:-2.35 [[ 9.99818983e-01 -1.80738816e-02 -5.94443442e-03 5.09498204e+02] [ 1.80708869e-02 9.99836553e-01 -5.57119133e-04 5.55347695e+01] [ 5.95353213e-03 4.49597083e-04 9.99982177e-01 -2.34730267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.921400513 meters 0.08367355384193097 Centerline is valid? [True, True] Translation: X:509.52, Y:55.55, Z:-2.35 [[ 9.99808591e-01 -1.85645906e-02 -6.17556380e-03 5.09524978e+02] [ 1.85613655e-02 9.99827555e-01 -5.79140736e-04 5.55468455e+01] [ 6.18525036e-03 4.64402987e-04 9.99980763e-01 -2.34807012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.951400513 meters 0.0793136326719464 Centerline is valid? [True, True] Translation: X:509.55, Y:55.55, Z:-2.35 [[ 9.99812561e-01 -1.84668879e-02 -5.81527801e-03 5.09554128e+02] [ 1.84640222e-02 9.99829376e-01 -5.46103935e-04 5.55461804e+01] [ 5.82437063e-03 4.38628151e-04 9.99982942e-01 -2.34712089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.981400513 meters 0.08108758465414485 Centerline is valid? [True, True] Translation: X:509.58, Y:55.55, Z:-2.35 [[ 9.99826168e-01 -1.78420663e-02 -5.41245402e-03 5.09581641e+02] [ 1.78395722e-02 9.99840733e-01 -5.08742201e-04 5.55523330e+01] [ 5.42066900e-03 4.12097901e-04 9.99985223e-01 -2.34635495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.011400513 meters 0.08133711215646615 Centerline is valid? [True, True] Translation: X:509.61, Y:55.56, Z:-2.35 [[ 9.99843905e-01 -1.67208635e-02 -5.70772429e-03 5.09610332e+02] [ 1.67180703e-02 9.99860099e-01 -5.36732704e-04 5.55578116e+01] [ 5.71590041e-03 4.41226786e-04 9.99983567e-01 -2.34570568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.041400513 meters 0.07942068955850631 Centerline is valid? [True, True] Translation: X:509.64, Y:55.56, Z:-2.35 [[ 9.99845932e-01 -1.64342054e-02 -6.16673316e-03 5.09639144e+02] [ 1.64309349e-02 9.99864834e-01 -5.80637801e-04 5.55605624e+01] [ 6.17544195e-03 4.79223153e-04 9.99980817e-01 -2.34636821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.071400513 meters 0.08228605537172896 Centerline is valid? [True, True] Translation: X:509.67, Y:55.57, Z:-2.35 [[ 9.99854728e-01 -1.60255906e-02 -5.80541918e-03 5.09666047e+02] [ 1.60226824e-02 9.99871479e-01 -5.47115850e-04 5.55695095e+01] [ 5.81344091e-03 4.54017982e-04 9.99982999e-01 -2.34672120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.101400513 meters 0.08029328920748671 Centerline is valid? [True, True] Translation: X:509.69, Y:55.57, Z:-2.35 [[ 9.99857285e-01 -1.60806068e-02 -5.17907614e-03 5.09694640e+02] [ 1.60782898e-02 9.99870617e-01 -4.88701356e-04 5.55718633e+01] [ 5.18626467e-03 4.05360924e-04 9.99986469e-01 -2.34628909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.131400513 meters 0.07165903896158662 Centerline is valid? [True, True] Translation: X:509.72, Y:55.56, Z:-2.34 [[ 9.99852940e-01 -1.65325640e-02 -4.55762999e-03 5.09723971e+02] [ 1.65307712e-02 9.99863265e-01 -4.30763926e-04 5.55649017e+01] [ 4.56412843e-03 3.55359440e-04 9.99989521e-01 -2.34472252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.161400513 meters 0.0728286658609636 Centerline is valid? [True, True] Translation: X:509.75, Y:55.57, Z:-2.34 [[ 9.99821444e-01 -1.83737590e-02 -4.41413866e-03 5.09752816e+02] [ 1.83720935e-02 9.99831132e-01 -4.17561781e-04 5.55715647e+01] [ 4.42106544e-03 3.36390254e-04 9.99990170e-01 -2.34413789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.191400513 meters 0.07620907910915761 Centerline is valid? [True, True] Translation: X:509.78, Y:55.58, Z:-2.34 [[ 9.99797424e-01 -1.96789076e-02 -4.22502097e-03 5.09780789e+02] [ 1.96773930e-02 9.99806301e-01 -3.99767991e-04 5.55804041e+01] [ 4.23206959e-03 3.16549610e-04 9.99990995e-01 -2.34409580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.221400513 meters 0.07443304023796145 Centerline is valid? [True, True] Translation: X:509.81, Y:55.58, Z:-2.34 [[ 9.99773726e-01 -2.08672519e-02 -4.12966902e-03 5.09810295e+02] [ 2.08658145e-02 9.99782209e-01 -3.90839568e-04 5.55825531e+01] [ 4.13692536e-03 3.04582224e-04 9.99991397e-01 -2.34416084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.251400513 meters 0.07443304023796145 Centerline is valid? [True, True] Translation: X:509.84, Y:55.59, Z:-2.34 [[ 9.99769936e-01 -2.10480719e-02 -4.12962646e-03 5.09837738e+02] [ 2.10466342e-02 9.99778418e-01 -3.91288869e-04 5.55852956e+01] [ 4.13694728e-03 3.04284110e-04 9.99991397e-01 -2.34410875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.281400513 meters 0.07468764940462523 Centerline is valid? [True, True] Translation: X:509.87, Y:55.59, Z:-2.34 [[ 9.99740188e-01 -2.23919726e-02 -4.26109488e-03 5.09866347e+02] [ 2.23904523e-02 9.99749221e-01 -4.04180795e-04 5.55890124e+01] [ 4.26907669e-03 3.08667942e-04 9.99990840e-01 -2.34473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.311400513 meters 0.07360582073277272 Centerline is valid? [True, True] Translation: X:509.89, Y:55.59, Z:-2.35 [[ 9.99730989e-01 -2.26310709e-02 -5.07774093e-03 5.09894766e+02] [ 2.26289116e-02 9.99743817e-01 -4.82302879e-04 5.55906125e+01] [ 5.08735513e-03 3.67269383e-04 9.99986992e-01 -2.34519318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.341400513 meters 0.07553148231245516 Centerline is valid? [True, True] Translation: X:509.92, Y:55.60, Z:-2.35 [[ 9.99732522e-01 -2.25498931e-02 -5.13671315e-03 5.09921744e+02] [ 2.25476791e-02 9.99745649e-01 -4.88532218e-04 5.55975447e+01] [ 5.14642297e-03 3.72580587e-04 9.99986688e-01 -2.34524784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.371400513 meters 0.06996473672682545 Centerline is valid? [True, True] Translation: X:509.95, Y:55.60, Z:-2.34 [[ 9.99743208e-01 -2.20869867e-02 -5.06790771e-03 5.09951015e+02] [ 2.20848222e-02 9.99755984e-01 -4.82670753e-04 5.55963940e+01] [ 5.07733180e-03 3.70622966e-04 9.99987042e-01 -2.34438956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.401400513 meters 0.07692687266049873 Centerline is valid? [True, True] Translation: X:509.98, Y:55.61, Z:-2.34 [[ 9.99752905e-01 -2.17553012e-02 -4.56462579e-03 5.09977496e+02] [ 2.17535398e-02 9.99763269e-01 -4.35171460e-04 5.56106831e+01] [ 4.57301249e-03 3.35767163e-04 9.99989487e-01 -2.34405628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.431400513 meters 0.07834615832830447 Centerline is valid? [True, True] Translation: X:510.01, Y:55.62, Z:-2.34 [[ 9.99756763e-01 -2.15637288e-02 -4.62826274e-03 5.10005947e+02] [ 2.15619134e-02 9.99767417e-01 -4.41779772e-04 5.56189776e+01] [ 4.63671270e-03 3.41878114e-04 9.99989192e-01 -2.34419214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4614005130001 meters 0.0691357533768236 Centerline is valid? [True, True] Translation: X:510.04, Y:55.61, Z:-2.35 [[ 9.99742249e-01 -2.19617116e-02 -5.75484139e-03 5.10035276e+02] [ 2.19589056e-02 9.99758723e-01 -5.50321121e-04 5.56127423e+01] [ 5.76553887e-03 4.23809256e-04 9.99983289e-01 -2.34517721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.491400513 meters 0.08132868753015572 Centerline is valid? [True, True] Translation: X:510.06, Y:55.63, Z:-2.35 [[ 9.99727765e-01 -2.24363647e-02 -6.40353162e-03 5.10060872e+02] [ 2.24328962e-02 9.99748163e-01 -6.12964122e-04 5.56331927e+01] [ 6.41567166e-03 4.69147492e-04 9.99979309e-01 -2.34773286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.521400513 meters 0.0673200592527256 Centerline is valid? [True, True] Translation: X:510.09, Y:55.62, Z:-2.35 [[ 9.99702703e-01 -2.32631943e-02 -7.30264437e-03 5.10091139e+02] [ 2.32586980e-02 9.99729235e-01 -7.00055055e-04 5.56214849e+01] [ 7.31695258e-03 5.29996931e-04 9.99973090e-01 -2.34748293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.551400513 meters 0.06975169580164746 Centerline is valid? [True, True] Translation: X:510.12, Y:55.63, Z:-2.35 [[ 9.99681177e-01 -2.42052339e-02 -7.18688455e-03 5.10118017e+02] [ 2.42008976e-02 9.99706877e-01 -6.89721074e-04 5.56297367e+01] [ 7.20147277e-03 5.15572117e-04 9.99973936e-01 -2.34782181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.581400513 meters 0.0756081098947045 Centerline is valid? [True, True] Translation: X:510.15, Y:55.64, Z:-2.35 [[ 9.99664808e-01 -2.49669065e-02 -6.85020012e-03 5.10145035e+02] [ 2.49629810e-02 9.99688160e-01 -6.57976280e-04 5.56420663e+01] [ 6.86449158e-03 4.86754316e-04 9.99976321e-01 -2.34686671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.611400513 meters 0.06659171587175357 Centerline is valid? [True, True] Translation: X:510.17, Y:55.64, Z:-2.35 [[ 9.99643070e-01 -2.58540677e-02 -6.73045510e-03 5.10174920e+02] [ 2.58502922e-02 9.99665616e-01 -6.47370826e-04 5.56362879e+01] [ 6.74494171e-03 4.73155529e-04 9.99977141e-01 -2.34530150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.641400513 meters 0.07158658323098634 Centerline is valid? [True, True] Translation: X:510.20, Y:55.65, Z:-2.34 [[ 9.99618038e-01 -2.68630318e-02 -6.49272328e-03 5.10202290e+02] [ 2.68595362e-02 9.99639022e-01 -6.24998639e-04 5.56480083e+01] [ 6.50716890e-03 4.50368377e-04 9.99978727e-01 -2.34495561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.671400513 meters 0.0799619220399407 Centerline is valid? [True, True] Translation: X:510.23, Y:55.66, Z:-2.35 [[ 9.99593727e-01 -2.77731229e-02 -6.40575965e-03 5.10228712e+02] [ 2.77697371e-02 9.99614156e-01 -6.16918457e-04 5.56640874e+01] [ 6.42042177e-03 4.38781559e-04 9.99979293e-01 -2.34539114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.701400513 meters 0.07349272195056779 Centerline is valid? [True, True] Translation: X:510.26, Y:55.66, Z:-2.34 [[ 9.99559754e-01 -2.92545802e-02 -4.94654864e-03 5.10258307e+02] [ 2.92525786e-02 9.99571938e-01 -4.76520203e-04 5.56644905e+01] [ 4.95837161e-03 3.31611114e-04 9.99987652e-01 -2.34327220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.731400513 meters 0.06816618312739336 Centerline is valid? [True, True] Translation: X:510.29, Y:55.66, Z:-2.34 [[ 9.99544958e-01 -2.97766504e-02 -4.81945991e-03 5.10287243e+02] [ 2.97747539e-02 9.99556526e-01 -4.64790495e-04 5.56630452e+01] [ 4.83116251e-03 3.21080763e-04 9.99988278e-01 -2.34287638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.761400513 meters 0.07224910253908932 Centerline is valid? [True, True] Translation: X:510.31, Y:55.67, Z:-2.34 [[ 9.99532455e-01 -3.01304777e-02 -5.19859719e-03 5.10314358e+02] [ 3.01282732e-02 9.99545915e-01 -5.01870238e-04 5.56726471e+01] [ 5.21135817e-03 3.45010835e-04 9.99986361e-01 -2.34393701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.791400513 meters 0.06705269790574865 Centerline is valid? [True, True] Translation: X:510.34, Y:55.67, Z:-2.35 [[ 9.99510659e-01 -3.05773592e-02 -6.59293978e-03 5.10343083e+02] [ 3.05738173e-02 9.99532308e-01 -6.37374679e-04 5.56706782e+01] [ 6.60934555e-03 4.35491450e-04 9.99978063e-01 -2.34515064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.821400513 meters 0.06852724102747683 Centerline is valid? [True, True] Translation: X:510.37, Y:55.68, Z:-2.35 [[ 9.99483712e-01 -3.12356284e-02 -7.52626974e-03 5.10370424e+02] [ 3.12310251e-02 9.99511927e-01 -7.28406840e-04 5.56768712e+01] [ 7.54534862e-03 4.92977653e-04 9.99971412e-01 -2.34671564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.851400513 meters 0.06946835601683124 Centerline is valid? [True, True] Translation: X:510.40, Y:55.68, Z:-2.35 [[ 9.99456867e-01 -3.19812322e-02 -7.94801651e-03 5.10398233e+02] [ 3.19761131e-02 9.99488336e-01 -7.70344192e-04 5.56825250e+01] [ 7.96858636e-03 5.15779119e-04 9.99968117e-01 -2.34750662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.881400513 meters 0.06691363085914441 Centerline is valid? [True, True] Translation: X:510.43, Y:55.68, Z:-2.35 [[ 9.99443038e-01 -3.24830258e-02 -7.64629655e-03 5.10427378e+02] [ 3.24782934e-02 9.99472165e-01 -7.42309643e-04 5.56842391e+01] [ 7.66637303e-03 4.93557542e-04 9.99970491e-01 -2.34686400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.911400513 meters 0.07096805525550512 Centerline is valid? [True, True] Translation: X:510.45, Y:55.69, Z:-2.35 [[ 9.99441375e-01 -3.26522692e-02 -7.12513810e-03 5.10454496e+02] [ 3.26481601e-02 9.99466667e-01 -6.92292982e-04 5.56940502e+01] [ 7.14394296e-03 4.59283600e-04 9.99974376e-01 -2.34655201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.941400513 meters 0.07129231480839374 Centerline is valid? [True, True] Translation: X:510.48, Y:55.70, Z:-2.35 [[ 9.99490520e-01 -3.12559910e-02 -6.46252643e-03 5.10483163e+02] [ 3.12525794e-02 9.99511321e-01 -6.28233134e-04 5.56999675e+01] [ 6.47900438e-03 4.25942441e-04 9.99978920e-01 -2.34565513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.971400513 meters 0.07216056550208355 Centerline is valid? [True, True] Translation: X:510.51, Y:55.71, Z:-2.35 [[ 9.99518566e-01 -3.03808519e-02 -6.29596900e-03 5.10511859e+02] [ 3.03775952e-02 9.99538307e-01 -6.12280117e-04 5.57053324e+01] [ 6.31166379e-03 4.20728947e-04 9.99979993e-01 -2.34515045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.001400513 meters 0.0734971899591967 Centerline is valid? [True, True] Translation: X:510.54, Y:55.71, Z:-2.34 [[ 9.99557340e-01 -2.91338715e-02 -6.02834422e-03 5.10541201e+02] [ 2.91308623e-02 9.99575434e-01 -5.86407301e-04 5.57122173e+01] [ 6.04286911e-03 4.10536857e-04 9.99981657e-01 -2.34435970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.031400513 meters 0.0733854682300809 Centerline is valid? [True, True] Translation: X:510.57, Y:55.72, Z:-2.34 [[ 9.99601339e-01 -2.76175326e-02 -5.86812537e-03 5.10570635e+02] [ 2.76146547e-02 9.99618480e-01 -5.70908167e-04 5.57185167e+01] [ 5.88165364e-03 4.08634313e-04 9.99982619e-01 -2.34369471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.061400513 meters 0.07751377610046327 Centerline is valid? [True, True] Translation: X:510.60, Y:55.73, Z:-2.34 [[ 9.99650018e-01 -2.58175398e-02 -5.77029799e-03 5.10598828e+02] [ 2.58147269e-02 9.99666587e-01 -5.61445062e-04 5.57300536e+01] [ 5.78286922e-03 4.12289900e-04 9.99983194e-01 -2.34348591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.091400513 meters 0.07554159592694203 Centerline is valid? [True, True] Translation: X:510.63, Y:55.74, Z:-2.34 [[ 9.99713735e-01 -2.30565965e-02 -6.39076950e-03 5.10628510e+02] [ 2.30530898e-02 9.99734049e-01 -6.21834825e-04 5.57361274e+01] [ 6.40340726e-03 4.74329832e-04 9.99979385e-01 -2.34378319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.121400513 meters 0.07885641512573446 Centerline is valid? [True, True] Translation: X:510.66, Y:55.74, Z:-2.34 [[ 9.99735176e-01 -2.22054402e-02 -6.04124330e-03 5.10656142e+02] [ 2.22022900e-02 9.99753326e-01 -5.88023781e-04 5.57447392e+01] [ 6.05281041e-03 4.53738622e-04 9.99981579e-01 -2.34332192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.151400513 meters 0.07991363241496349 Centerline is valid? [True, True] Translation: X:510.68, Y:55.75, Z:-2.34 [[ 9.99749378e-01 -2.18458242e-02 -4.89304068e-03 5.10684835e+02] [ 2.18437508e-02 9.99761283e-01 -4.76809973e-04 5.57513399e+01] [ 4.90228893e-03 3.69808113e-04 9.99987915e-01 -2.34172994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.181400513 meters 0.08394686891837003 Centerline is valid? [True, True] Translation: X:510.71, Y:55.76, Z:-2.34 [[ 9.99759599e-01 -2.16542124e-02 -3.44087577e-03 5.10712002e+02] [ 2.16531847e-02 9.99765486e-01 -3.35638874e-04 5.57615374e+01] [ 3.44733683e-03 2.61052268e-04 9.99994024e-01 -2.33957908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2114005130001 meters 0.07708892744631456 Centerline is valid? [True, True] Translation: X:510.74, Y:55.76, Z:-2.34 [[ 9.99763868e-01 -2.15764645e-02 -2.58144737e-03 5.10741232e+02] [ 2.15758852e-02 9.99767182e-01 -2.52035782e-04 5.57585953e+01] [ 2.58628440e-03 1.96279256e-04 9.99996636e-01 -2.33748874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.241400513 meters 0.08237349438917071 Centerline is valid? [True, True] Translation: X:510.77, Y:55.77, Z:-2.34 [[ 9.99769426e-01 -2.13167240e-02 -2.58687426e-03 5.10767576e+02] [ 2.13161404e-02 9.99772753e-01 -2.52937880e-04 5.57701407e+01] [ 2.59167821e-03 1.97737384e-04 9.99996622e-01 -2.33743417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.271400513 meters 0.0775512331139991 Centerline is valid? [True, True] Translation: X:510.80, Y:55.77, Z:-2.34 [[ 9.99775141e-01 -2.09349127e-02 -3.37580019e-03 5.10796157e+02] [ 2.09339157e-02 9.99780807e-01 -3.30406169e-04 5.57685298e+01] [ 3.38197727e-03 2.59663157e-04 9.99994247e-01 -2.33895313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.301400513 meters 0.07558160860123178 Centerline is valid? [True, True] Translation: X:510.82, Y:55.77, Z:-2.34 [[ 9.99779437e-01 -2.05122127e-02 -4.50845607e-03 5.10824745e+02] [ 2.05104276e-02 9.99789541e-01 -4.41838589e-04 5.57724224e+01] [ 4.51657031e-03 3.49270774e-04 9.99989739e-01 -2.34002132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.331400513 meters 0.07558160860123178 Centerline is valid? [True, True] Translation: X:510.85, Y:55.78, Z:-2.34 [[ 9.99775631e-01 -2.06969349e-02 -4.50837859e-03 5.10852171e+02] [ 2.06951480e-02 9.99785735e-01 -4.42628133e-04 5.57752562e+01] [ 4.51657365e-03 3.49227258e-04 9.99989739e-01 -2.33996924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.361400513 meters 0.0844916203972114 Centerline is valid? [True, True] Translation: X:510.88, Y:55.79, Z:-2.34 [[ 9.99794296e-01 -1.93333333e-02 -6.13086310e-03 5.10879294e+02] [ 1.93299999e-02 9.99812977e-01 -6.02497482e-04 5.57944235e+01] [ 6.14136477e-03 4.83863963e-04 9.99981025e-01 -2.34223172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.391400513 meters 0.08642318032156303 Centerline is valid? [True, True] Translation: X:510.91, Y:55.80, Z:-2.34 [[ 9.99808060e-01 -1.83394249e-02 -6.89264116e-03 5.10907265e+02] [ 1.83351867e-02 9.99831667e-01 -6.77575989e-04 5.58015672e+01] [ 6.90390725e-03 5.51068073e-04 9.99976016e-01 -2.34294475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.421400513 meters 0.08723637450812809 Centerline is valid? [True, True] Translation: X:510.94, Y:55.81, Z:-2.34 [[ 9.99824900e-01 -1.73295429e-02 -7.06092818e-03 5.10935831e+02] [ 1.73250685e-02 9.99849669e-01 -6.94356825e-04 5.58073103e+01] [ 7.07189959e-03 5.71904179e-04 9.99974830e-01 -2.34338987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.451400513 meters 0.08161295531438119 Centerline is valid? [True, True] Translation: X:510.97, Y:55.80, Z:-2.34 [[ 9.99843934e-01 -1.62425237e-02 -6.94898827e-03 5.10965373e+02] [ 1.62381624e-02 9.99867919e-01 -6.83586193e-04 5.58047335e+01] [ 6.95917360e-03 5.70640708e-04 9.99975622e-01 -2.34251311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.481400513 meters 0.08632985456182882 Centerline is valid? [True, True] Translation: X:510.99, Y:55.81, Z:-2.34 [[ 9.99858066e-01 -1.56776529e-02 -6.16928264e-03 5.10992643e+02] [ 1.56742029e-02 9.99876968e-01 -6.07188401e-04 5.58149085e+01] [ 6.17804291e-03 5.10403632e-04 9.99980785e-01 -2.34197731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.511400513 meters 0.08186746960395712 Centerline is valid? [True, True] Translation: X:511.02, Y:55.81, Z:-2.34 [[ 9.99861790e-01 -1.57888581e-02 -5.20706963e-03 5.11021063e+02] [ 1.57863981e-02 9.99875255e-01 -5.13190832e-04 5.58138079e+01] [ 5.21452278e-03 4.30919029e-04 9.99986311e-01 -2.34067959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.541400513 meters 0.08193945557856254 Centerline is valid? [True, True] Translation: X:511.05, Y:55.82, Z:-2.34 [[ 9.99863745e-01 -1.58109098e-02 -4.74406243e-03 5.11049966e+02] [ 1.58088646e-02 9.99874922e-01 -4.68304576e-04 5.58181343e+01] [ 4.75087337e-03 3.93242526e-04 9.99988637e-01 -2.34046664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.571400513 meters 0.08456420310819059 Centerline is valid? [True, True] Translation: X:511.08, Y:55.83, Z:-2.34 [[ 9.99859044e-01 -1.59743360e-02 -5.16849412e-03 5.11076699e+02] [ 1.59719080e-02 9.99872311e-01 -5.10699334e-04 5.58270443e+01] [ 5.17599224e-03 4.28076635e-04 9.99986513e-01 -2.34083772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.601400513 meters 0.08892085766127199 Centerline is valid? [True, True] Translation: X:511.10, Y:55.84, Z:-2.34 [[ 9.99845021e-01 -1.64948459e-02 -6.15257033e-03 5.11103874e+02] [ 1.64914128e-02 9.99863822e-01 -6.08307470e-04 5.58367854e+01] [ 6.16176643e-03 5.06748618e-04 9.99980888e-01 -2.34216687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.631400513 meters 0.08630482265106634 Centerline is valid? [True, True] Translation: X:511.13, Y:55.84, Z:-2.34 [[ 9.99823126e-01 -1.72055577e-02 -7.59510216e-03 5.11132860e+02] [ 1.72003386e-02 9.99851780e-01 -7.51961592e-04 5.58379379e+01] [ 7.60691434e-03 6.21190261e-04 9.99970874e-01 -2.34391394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.661400513 meters 0.08470721930622005 Centerline is valid? [True, True] Translation: X:511.16, Y:55.84, Z:-2.35 [[ 9.99797345e-01 -1.80483134e-02 -8.91776280e-03 5.11161904e+02] [ 1.80411386e-02 9.99836854e-01 -8.84352674e-04 5.58395168e+01] [ 8.93226898e-03 7.23286861e-04 9.99959845e-01 -2.34569514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.691400513 meters 0.08320090504050592 Centerline is valid? [True, True] Translation: X:511.19, Y:55.84, Z:-2.35 [[ 9.99778548e-01 -1.87492049e-02 -9.55625842e-03 5.11190699e+02] [ 1.87409828e-02 9.99823922e-01 -9.49217028e-04 5.58390228e+01] [ 9.57237284e-03 7.69913147e-04 9.99953887e-01 -2.34644262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.721400513 meters 0.07915416576245826 Centerline is valid? [True, True] Translation: X:511.22, Y:55.84, Z:-2.34 [[ 9.99769037e-01 -1.94466289e-02 -9.14882725e-03 5.11220016e+02] [ 1.94391086e-02 9.99810628e-01 -9.10217874e-04 5.58382473e+01] [ 9.16479539e-03 7.32162601e-04 9.99957734e-01 -2.34465693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.751400513 meters 0.08404541865130027 Centerline is valid? [True, True] Translation: X:511.25, Y:55.85, Z:-2.34 [[ 9.99759968e-01 -2.02251271e-02 -8.42325514e-03 5.11247339e+02] [ 2.02187728e-02 9.99795228e-01 -8.38862215e-04 5.58468935e+01] [ 8.43849639e-03 6.68352979e-04 9.99964172e-01 -2.34358882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.781400513 meters 0.07923805176085749 Centerline is valid? [True, True] Translation: X:511.28, Y:55.84, Z:-2.34 [[ 9.99745840e-01 -2.16216715e-02 -6.38419540e-03 5.11277588e+02] [ 2.16180481e-02 9.99766100e-01 -6.36019842e-04 5.58412736e+01] [ 6.39645395e-03 4.97844348e-04 9.99979419e-01 -2.33983428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.811400513 meters 0.07546949879969804 Centerline is valid? [True, True] Translation: X:511.31, Y:55.84, Z:-2.34 [[ 9.99735658e-01 -2.23230312e-02 -5.50414194e-03 5.11306647e+02] [ 2.23203450e-02 9.99750719e-01 -5.48978008e-04 5.58436450e+01] [ 5.51502471e-03 4.25978543e-04 9.99984701e-01 -2.33890407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.841400513 meters 0.07992725394839728 Centerline is valid? [True, True] Translation: X:511.33, Y:55.85, Z:-2.34 [[ 9.99716177e-01 -2.33327928e-02 -4.81103554e-03 5.11333640e+02] [ 2.33307501e-02 9.99727686e-01 -4.80286734e-04 5.58516732e+01] [ 4.82093185e-03 3.67905350e-04 9.99988312e-01 -2.33875492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.871400513 meters 0.07839542647913325 Centerline is valid? [True, True] Translation: X:511.36, Y:55.85, Z:-2.34 [[ 9.99689223e-01 -2.45076713e-02 -4.56421140e-03 5.11363323e+02] [ 2.45058442e-02 9.99699583e-01 -4.55809876e-04 5.58520323e+01] [ 4.57401107e-03 3.43818367e-04 9.99989480e-01 -2.33867414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.901400513 meters 0.07621517883497761 Centerline is valid? [True, True] Translation: X:511.39, Y:55.85, Z:-2.34 [[ 9.99650381e-01 -2.60559094e-02 -4.49504461e-03 5.11393680e+02] [ 2.60541525e-02 9.99660432e-01 -4.48974335e-04 5.58519552e+01] [ 4.50521667e-03 3.31702787e-04 9.99989796e-01 -2.33888406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.931400513 meters 0.0692355296085585 Centerline is valid? [True, True] Translation: X:511.42, Y:55.85, Z:-2.34 [[ 9.99601644e-01 -2.78536270e-02 -4.55285850e-03 5.11423901e+02] [ 2.78518428e-02 9.99611959e-01 -4.54833894e-04 5.58462960e+01] [ 4.56376057e-03 3.27847209e-04 9.99989532e-01 -2.33857151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9614005130001 meters 0.06937193698722899 Centerline is valid? [True, True] Translation: X:511.45, Y:55.85, Z:-2.34 [[ 9.99506804e-01 -3.11163606e-02 -4.23340865e-03 5.11452835e+02] [ 3.11148466e-02 9.99515726e-01 -4.23030128e-04 5.58498497e+01] [ 4.24452168e-03 2.91099630e-04 9.99990950e-01 -2.33836929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.991400513 meters 0.07337025174012543 Centerline is valid? [True, True] Translation: X:511.48, Y:55.86, Z:-2.34 [[ 9.99467228e-01 -3.24415454e-02 -3.57860857e-03 5.11481375e+02] [ 3.24404717e-02 9.99473605e-01 -3.57683756e-04 5.58573474e+01] [ 3.58832862e-03 2.41401442e-04 9.99993533e-01 -2.33811745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.021400513 meters 0.07397552918570506 Centerline is valid? [True, True] Translation: X:511.51, Y:55.86, Z:-2.34 [[ 9.99444878e-01 -3.32137291e-02 -2.60453477e-03 5.11508746e+02] [ 3.32131628e-02 9.99448257e-01 -2.60396833e-04 5.58608945e+01] [ 2.61174648e-03 1.73747444e-04 9.99996574e-01 -2.33667743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.051400513 meters 0.07283357795065395 Centerline is valid? [True, True] Translation: X:511.54, Y:55.86, Z:-2.34 [[ 9.99432195e-01 -3.36550397e-02 -1.62068737e-03 5.11537102e+02] [ 3.36548209e-02 9.99433503e-01 -1.62057966e-04 5.58627542e+01] [ 1.62522332e-03 1.07422005e-04 9.99998674e-01 -2.33579557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.081400513 meters 0.064749714779326 Centerline is valid? [True, True] Translation: X:511.57, Y:55.86, Z:-2.34 [[ 9.99421980e-01 -3.39346210e-02 -2.03646907e-03 5.11566114e+02] [ 3.39342754e-02 9.99424046e-01 -2.04034340e-04 5.58557219e+01] [ 2.04221999e-03 1.34810301e-04 9.99997906e-01 -2.33591182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.111400513 meters 0.06741820809933505 Centerline is valid? [True, True] Translation: X:511.59, Y:55.86, Z:-2.34 [[ 9.99420635e-01 -3.38913281e-02 -3.12607484e-03 5.11593743e+02] [ 3.38905114e-02 9.99425502e-01 -3.13861280e-04 5.58613344e+01] [ 3.13491609e-03 2.07735165e-04 9.99995065e-01 -2.33744276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.141400513 meters 0.07208845912590796 Centerline is valid? [True, True] Translation: X:511.62, Y:55.87, Z:-2.34 [[ 9.99420119e-01 -3.36838149e-02 -4.98250768e-03 5.11620569e+02] [ 3.36817354e-02 9.99432484e-01 -5.00695256e-04 5.58692816e+01] [ 4.99654535e-03 3.32585408e-04 9.99987462e-01 -2.33981976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.171400513 meters 0.06571037938146931 Centerline is valid? [True, True] Translation: X:511.65, Y:55.86, Z:-2.34 [[ 9.99424045e-01 -3.33673670e-02 -6.18043869e-03 5.11650215e+02] [ 3.33641561e-02 9.99443068e-01 -6.21922611e-04 5.58642383e+01] [ 6.19774852e-03 4.15359290e-04 9.99980708e-01 -2.34125525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.201400513 meters 0.0648859133828667 Centerline is valid? [True, True] Translation: X:511.68, Y:55.87, Z:-2.34 [[ 9.99456824e-01 -3.20418815e-02 -7.70544277e-03 5.11678986e+02] [ 3.20368460e-02 9.99486387e-01 -7.76072753e-04 5.58673621e+01] [ 7.72635199e-03 5.28793125e-04 9.99970011e-01 -2.34400401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.231400513 meters 0.07010289790775621 Centerline is valid? [True, True] Translation: X:511.71, Y:55.88, Z:-2.35 [[ 9.99463137e-01 -3.16311115e-02 -8.53873087e-03 5.11705516e+02] [ 3.16249062e-02 9.99499437e-01 -8.60797377e-04 5.58760437e+01] [ 8.56168468e-03 5.90298685e-04 9.99963174e-01 -2.34637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.261400513 meters 0.06569435360927427 Centerline is valid? [True, True] Translation: X:511.73, Y:55.87, Z:-2.35 [[ 9.99451180e-01 -3.18257484e-02 -9.19021460e-03 5.11734402e+02] [ 3.18185534e-02 9.99493231e-01 -9.28086228e-04 5.58718195e+01] [ 9.21509432e-03 6.35157542e-04 9.99957338e-01 -2.34695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.291400513 meters 0.07251823632212415 Centerline is valid? [True, True] Translation: X:511.76, Y:55.88, Z:-2.35 [[ 9.99450471e-01 -3.19221973e-02 -8.92916364e-03 5.11761678e+02] [ 3.19154022e-02 9.99490166e-01 -9.02493961e-04 5.58809990e+01] [ 8.95342084e-03 6.17020165e-04 9.99959727e-01 -2.34722503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.321400513 meters 0.07344980972252003 Centerline is valid? [True, True] Translation: X:511.79, Y:55.88, Z:-2.34 [[ 9.99441794e-01 -3.24075378e-02 -8.11487512e-03 5.11789381e+02] [ 3.24019366e-02 9.99474582e-01 -8.20793078e-04 5.58836066e+01] [ 8.13721131e-03 5.57397238e-04 9.99966737e-01 -2.34488242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.351400513 meters 0.06924799243827537 Centerline is valid? [True, True] Translation: X:511.82, Y:55.88, Z:-2.34 [[ 9.99441981e-01 -3.26595231e-02 -7.00582941e-03 5.11818728e+02] [ 3.26553477e-02 9.99466420e-01 -7.09582250e-04 5.58808347e+01] [ 7.02526586e-03 4.80408494e-04 9.99975207e-01 -2.34198025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.381400513 meters 0.06801116123224493 Centerline is valid? [True, True] Translation: X:511.85, Y:55.88, Z:-2.34 [[ 9.99480194e-01 -3.17071207e-02 -5.83101906e-03 5.11848110e+02] [ 3.17042098e-02 9.99497120e-01 -5.90986739e-04 5.58811572e+01] [ 5.84682525e-03 4.05811688e-04 9.99982825e-01 -2.33991020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.411400513 meters 0.07025889095098879 Centerline is valid? [True, True] Translation: X:511.88, Y:55.89, Z:-2.34 [[ 9.99504786e-01 -3.09112222e-02 -5.88894032e-03 5.11875887e+02] [ 3.09082380e-02 9.99522048e-01 -5.97104176e-04 5.58855950e+01] [ 5.90458290e-03 4.14791713e-04 9.99982482e-01 -2.34064449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.441400513 meters 0.0697408258071447 Centerline is valid? [True, True] Translation: X:511.91, Y:55.89, Z:-2.34 [[ 9.99535732e-01 -2.98353644e-02 -6.17826507e-03 5.11905800e+02] [ 2.98320581e-02 9.99554729e-01 -6.26629931e-04 5.58874428e+01] [ 6.19420980e-03 4.42028644e-04 9.99980718e-01 -2.34133159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.471400513 meters 0.07269499616364952 Centerline is valid? [True, True] Translation: X:511.93, Y:55.89, Z:-2.34 [[ 9.99579103e-01 -2.83037163e-02 -6.36532631e-03 5.11934082e+02] [ 2.83001755e-02 9.99599261e-01 -6.45669565e-04 5.58939965e+01] [ 6.38105033e-03 4.65257953e-04 9.99979533e-01 -2.34206587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.501400513 meters 0.07636731051189526 Centerline is valid? [True, True] Translation: X:511.96, Y:55.90, Z:-2.34 [[ 9.99622119e-01 -2.66144962e-02 -6.87659825e-03 5.11962470e+02] [ 2.66103231e-02 9.99645639e-01 -6.97655895e-04 5.59017526e+01] [ 6.89272922e-03 5.14403763e-04 9.99976113e-01 -2.34244877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.531400513 meters 0.07447953376537413 Centerline is valid? [True, True] Translation: X:511.99, Y:55.90, Z:-2.34 [[ 9.99659225e-01 -2.51411506e-02 -7.02536872e-03 5.11992967e+02] [ 2.51367585e-02 9.99683768e-01 -7.12793626e-04 5.59028302e+01] [ 7.04106752e-03 5.35955727e-04 9.99975068e-01 -2.34217037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.561400513 meters 0.08184839631911034 Centerline is valid? [True, True] Translation: X:512.02, Y:55.91, Z:-2.34 [[ 9.99692114e-01 -2.40108040e-02 -6.25770455e-03 5.12020799e+02] [ 2.40072963e-02 9.99711582e-01 -6.35059655e-04 5.59144704e+01] [ 6.27114800e-03 4.84633562e-04 9.99980219e-01 -2.34055581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.591400513 meters 0.07737462894945943 Centerline is valid? [True, True] Translation: X:512.05, Y:55.91, Z:-2.34 [[ 9.99685509e-01 -2.43520044e-02 -5.98859251e-03 5.12049743e+02] [ 2.43487937e-02 9.99703339e-01 -6.08474661e-04 5.59114961e+01] [ 6.00163350e-03 4.62468297e-04 9.99981883e-01 -2.33964279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.621400513 meters 0.08427030195552267 Centerline is valid? [True, True] Translation: X:512.08, Y:55.92, Z:-2.34 [[ 9.99674967e-01 -2.48072865e-02 -5.87860329e-03 5.12076205e+02] [ 2.48041974e-02 9.99692150e-01 -5.97825242e-04 5.59221201e+01] [ 5.89162398e-03 4.51816893e-04 9.99982542e-01 -2.33976683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.651400513 meters 0.07330584745607041 Centerline is valid? [True, True] Translation: X:512.11, Y:55.91, Z:-2.34 [[ 9.99676156e-01 -2.49038841e-02 -5.23263120e-03 5.12105410e+02] [ 2.49014340e-02 9.99689769e-01 -5.32863411e-04 5.59109902e+01] [ 5.24427825e-03 4.02390825e-04 9.99986168e-01 -2.33880219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.681400513 meters 0.08479441937848302 Centerline is valid? [True, True] Translation: X:512.13, Y:55.93, Z:-2.34 [[ 9.99693601e-01 -2.43799467e-02 -4.28043109e-03 5.12131197e+02] [ 2.43783005e-02 9.99702710e-01 -4.36356849e-04 5.59274899e+01] [ 4.28979692e-03 3.31873514e-04 9.99990744e-01 -2.33844349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7114005130001 meters 0.0777695807993002 Centerline is valid? [True, True] Translation: X:512.16, Y:55.92, Z:-2.34 [[ 9.99724409e-01 -2.32604147e-02 -3.17151981e-03 5.12161820e+02] [ 2.32595050e-02 9.99729409e-01 -3.23440068e-04 5.59217114e+01] [ 3.17818498e-03 2.49582950e-04 9.99994918e-01 -2.33705286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.741400513 meters 0.08707411399640387 Centerline is valid? [True, True] Translation: X:512.19, Y:55.94, Z:-2.34 [[ 9.99786878e-01 -2.04759612e-02 -2.63310048e-03 5.12189975e+02] [ 2.04753244e-02 9.99790322e-01 -2.68568950e-04 5.59360805e+01] [ 2.63804759e-03 2.14598125e-04 9.99996497e-01 -2.33641145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.771400513 meters 0.08860962050898007 Centerline is valid? [True, True] Translation: X:512.22, Y:55.94, Z:-2.34 [[ 9.99822517e-01 -1.86672572e-02 -2.54307789e-03 5.12219366e+02] [ 1.86666573e-02 9.99825729e-01 -2.59399390e-04 5.59421466e+01] [ 2.54747698e-03 2.11882587e-04 9.99996733e-01 -2.33609356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.801400513 meters 0.09034514538146449 Centerline is valid? [True, True] Translation: X:512.25, Y:55.95, Z:-2.34 [[ 9.99860647e-01 -1.64821664e-02 -2.65026565e-03 5.12249122e+02] [ 1.64815073e-02 9.99864134e-01 -2.70354416e-04 5.59483621e+01] [ 2.65436160e-03 2.26636369e-04 9.99996451e-01 -2.33658086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.831400513 meters 0.08749838625915493 Centerline is valid? [True, True] Translation: X:512.28, Y:55.95, Z:-2.34 [[ 9.99893295e-01 -1.43036301e-02 -2.96741700e-03 5.12279623e+02] [ 1.43027943e-02 9.99897664e-01 -3.02709284e-04 5.59486553e+01] [ 2.97144317e-03 2.60234629e-04 9.99995551e-01 -2.33656822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.861400513 meters 0.09128525603419206 Centerline is valid? [True, True] Translation: X:512.31, Y:55.96, Z:-2.34 [[ 9.99916623e-01 -1.24366690e-02 -3.47523892e-03 5.12308004e+02] [ 1.24355113e-02 9.99922613e-01 -3.54537071e-04 5.59559885e+01] [ 3.47937924e-03 3.11291137e-04 9.99993898e-01 -2.33694623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.891400513 meters 0.09215154531736862 Centerline is valid? [True, True] Translation: X:512.34, Y:55.96, Z:-2.34 [[ 9.99934928e-01 -1.08678959e-02 -3.46816677e-03 5.12338320e+02] [ 1.08667334e-02 9.99940893e-01 -3.53842598e-04 5.59604962e+01] [ 3.47180730e-03 3.16131929e-04 9.99993923e-01 -2.33701024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.921400513 meters 0.09332728088331298 Centerline is valid? [True, True] Translation: X:512.37, Y:55.97, Z:-2.34 [[ 9.99958376e-01 -8.45563014e-03 -3.42763494e-03 5.12368034e+02] [ 8.45448066e-03 9.99964199e-01 -3.49706467e-04 5.59685584e+01] [ 3.43046922e-03 3.20713038e-04 9.99994064e-01 -2.33662299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.951400513 meters 0.09914630322083523 Centerline is valid? [True, True] Translation: X:512.39, Y:55.98, Z:-2.34 [[ 9.99959886e-01 -8.00905078e-03 -4.01017214e-03 5.12394222e+02] [ 8.00747298e-03 9.99967856e-01 -4.09351245e-04 5.59812059e+01] [ 4.01332175e-03 3.77223479e-04 9.99991875e-01 -2.33809906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.981400513 meters 0.09735328600881006 Centerline is valid? [True, True] Translation: X:512.42, Y:55.98, Z:-2.34 [[ 9.99954127e-01 -8.28146895e-03 -4.81268072e-03 5.12422146e+02] [ 8.27919597e-03 9.99965606e-01 -4.92022889e-04 5.59823044e+01] [ 4.81658986e-03 4.52155192e-04 9.99988298e-01 -2.33951939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.011400513 meters 0.09309515307474846 Centerline is valid? [True, True] Translation: X:512.45, Y:55.98, Z:-2.34 [[ 9.99952015e-01 -8.51525997e-03 -4.84339728e-03 5.12450064e+02] [ 8.51295632e-03 9.99963641e-01 -4.96043291e-04 5.59846508e+01] [ 4.84744511e-03 4.54787858e-04 9.99988148e-01 -2.33995984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.041400513 meters 0.09695547352519036 Centerline is valid? [True, True] Translation: X:512.48, Y:55.99, Z:-2.34 [[ 9.99946790e-01 -9.14323524e-03 -4.77694553e-03 5.12477613e+02] [ 9.14099924e-03 9.99958100e-01 -4.89706056e-04 5.59944945e+01] [ 4.78122288e-03 4.46013943e-04 9.99988470e-01 -2.33983198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.071400513 meters 0.09318076504357596 Centerline is valid? [True, True] Translation: X:512.51, Y:56.00, Z:-2.34 [[ 9.99911757e-01 -1.21394192e-02 -5.39557197e-03 5.12507237e+02] [ 1.21366089e-02 9.99926196e-01 -5.53290225e-04 5.59956308e+01] [ 5.40189038e-03 4.87757454e-04 9.99985291e-01 -2.33986514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.101400513 meters 0.09318076504357596 Centerline is valid? [True, True] Translation: X:512.53, Y:56.00, Z:-2.34 [[ 9.99909567e-01 -1.23185355e-02 -5.39550353e-03 5.12534669e+02] [ 1.23157242e-02 9.99924005e-01 -5.53957072e-04 5.59985950e+01] [ 5.40191744e-03 4.87457442e-04 9.99985291e-01 -2.33981302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.131400513 meters 0.08989465584491355 Centerline is valid? [True, True] Translation: X:512.57, Y:56.00, Z:-2.34 [[ 9.99882479e-01 -1.41683108e-02 -5.85549074e-03 5.12565317e+02] [ 1.41650289e-02 9.99899490e-01 -6.01574346e-04 5.59986906e+01] [ 5.86342549e-03 5.18560453e-04 9.99982676e-01 -2.34037997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.161400513 meters 0.08746007061954258 Centerline is valid? [True, True] Translation: X:512.60, Y:56.00, Z:-2.34 [[ 9.99863720e-01 -1.55061791e-02 -5.66558702e-03 5.12595462e+02] [ 1.55031277e-02 9.99879650e-01 -5.82117255e-04 5.60015570e+01] [ 5.67393158e-03 4.94203605e-04 9.99983781e-01 -2.34032585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.191400513 meters 0.09473067781631002 Centerline is valid? [True, True] Translation: X:512.62, Y:56.02, Z:-2.34 [[ 9.99880001e-01 -1.45973723e-02 -5.18650019e-03 5.12622274e+02] [ 1.45948021e-02 9.99893348e-01 -5.33063679e-04 5.60152206e+01] [ 5.19372837e-03 4.57303768e-04 9.99986408e-01 -2.33999342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.221400513 meters 0.08993884761109154 Centerline is valid? [True, True] Translation: X:512.65, Y:56.01, Z:-2.34 [[ 9.99898302e-01 -1.31853066e-02 -5.43443071e-03 5.12653020e+02] [ 1.31824636e-02 9.99912952e-01 -5.58635686e-04 5.60146767e+01] [ 5.44132343e-03 4.86939689e-04 9.99985077e-01 -2.33980274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.251400513 meters 0.08993884761109154 Centerline is valid? [True, True] Translation: X:512.68, Y:56.02, Z:-2.34 [[ 9.99895895e-01 -1.33666200e-02 -5.43436438e-03 5.12680450e+02] [ 1.33637762e-02 9.99910544e-01 -5.59280345e-04 5.60176438e+01] [ 5.44135393e-03 4.86598492e-04 9.99985077e-01 -2.33975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.281400513 meters 0.09478324717032581 Centerline is valid? [True, True] Translation: X:512.71, Y:56.03, Z:-2.34 [[ 9.99913537e-01 -1.16945492e-02 -6.01292919e-03 5.12708736e+02] [ 1.16910351e-02 9.99931466e-01 -6.19243679e-04 5.60292117e+01] [ 6.01975887e-03 5.48892771e-04 9.99981730e-01 -2.34037582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.311400513 meters 0.09526574913722896 Centerline is valid? [True, True] Translation: X:512.74, Y:56.04, Z:-2.34 [[ 9.99926458e-01 -9.97107554e-03 -6.90340015e-03 5.12738160e+02] [ 9.96640250e-03 9.99950081e-01 -7.10989503e-04 5.60353988e+01] [ 6.91014487e-03 6.42135150e-04 9.99975918e-01 -2.34120082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.341400513 meters 0.09263545412935478 Centerline is valid? [True, True] Translation: X:512.77, Y:56.04, Z:-2.34 [[ 9.99931402e-01 -8.85968828e-03 -7.66142345e-03 5.12767995e+02] [ 8.85389972e-03 9.99960492e-01 -7.89134216e-04 5.60378087e+01] [ 7.66811224e-03 7.21246608e-04 9.99970339e-01 -2.34192898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.371400513 meters 0.09644015567161547 Centerline is valid? [True, True] Translation: X:512.79, Y:56.05, Z:-2.34 [[ 9.99937359e-01 -9.25499050e-03 -6.29476923e-03 5.12794960e+02] [ 9.25108898e-03 9.99956997e-01 -6.48638863e-04 5.60503871e+01] [ 6.30050169e-03 5.90364761e-04 9.99979977e-01 -2.34027225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.401400513 meters 0.09131187658231683 Centerline is valid? [True, True] Translation: X:512.83, Y:56.05, Z:-2.34 [[ 9.99931944e-01 -1.06224514e-02 -4.82396468e-03 5.12825302e+02] [ 1.06201753e-02 9.99943481e-01 -4.97197839e-04 5.60496283e+01] [ 4.82897349e-03 4.45932652e-04 9.99988241e-01 -2.33780228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.431400513 meters 0.09136519926749115 Centerline is valid? [True, True] Translation: X:512.86, Y:56.05, Z:-2.34 [[ 9.99914021e-01 -1.24837132e-02 -4.01339114e-03 5.12856123e+02] [ 1.24821525e-02 9.99922009e-01 -4.13680336e-04 5.60520085e+01] [ 4.01824240e-03 3.63549008e-04 9.99991861e-01 -2.33698902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4614005130001 meters 0.08680568549656546 Centerline is valid? [True, True] Translation: X:512.89, Y:56.05, Z:-2.34 [[ 9.99889781e-01 -1.41543557e-02 -4.48101840e-03 5.12885725e+02] [ 1.41524264e-02 9.99899743e-01 -4.61949551e-04 5.60537948e+01] [ 4.48710775e-03 3.98481352e-04 9.99989853e-01 -2.33698370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.491400513 meters 0.08773817718107615 Centerline is valid? [True, True] Translation: X:512.91, Y:56.06, Z:-2.34 [[ 9.99853984e-01 -1.60191829e-02 -5.94950363e-03 5.12914547e+02] [ 1.60158141e-02 9.99871550e-01 -6.13454988e-04 5.60598288e+01] [ 5.95856646e-03 5.18079270e-04 9.99982113e-01 -2.33907156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.521400513 meters 0.08897635234756475 Centerline is valid? [True, True] Translation: X:512.94, Y:56.07, Z:-2.34 [[ 9.99807206e-01 -1.82517793e-02 -7.24041196e-03 5.12943534e+02] [ 1.82468472e-02 9.99833234e-01 -7.46668932e-04 5.60667369e+01] [ 7.25283254e-03 6.14410288e-04 9.99973509e-01 -2.34109873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.551400513 meters 0.08209648785034149 Centerline is valid? [True, True] Translation: X:512.97, Y:56.07, Z:-2.34 [[ 9.99720909e-01 -2.28178590e-02 -6.11961270e-03 5.12974520e+02] [ 2.28144205e-02 9.99739518e-01 -6.31112194e-04 5.60658752e+01] [ 6.13241928e-03 4.91320639e-04 9.99981076e-01 -2.33912534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.581400513 meters 0.08361395919970398 Centerline is valid? [True, True] Translation: X:513.00, Y:56.07, Z:-2.34 [[ 9.99679617e-01 -2.48897049e-02 -4.60060623e-03 5.13003341e+02] [ 2.48877831e-02 9.99690139e-01 -4.74497013e-04 5.60712240e+01] [ 4.61099077e-03 3.59846102e-04 9.99989305e-01 -2.33676116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.611400513 meters 0.08118895177767739 Centerline is valid? [True, True] Translation: X:513.03, Y:56.07, Z:-2.34 [[ 9.99637256e-01 -2.66668976e-02 -3.77257879e-03 5.13033107e+02] [ 2.66656177e-02 9.99644333e-01 -3.89160374e-04 5.60707531e+01] [ 3.78161471e-03 2.88421064e-04 9.99992808e-01 -2.33515684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.641400513 meters 0.08192970170823044 Centerline is valid? [True, True] Translation: X:513.06, Y:56.07, Z:-2.33 [[ 9.99609187e-01 -2.76943151e-02 -3.80753228e-03 5.13062234e+02] [ 2.76930185e-02 9.99616398e-01 -3.92852716e-04 5.60741917e+01] [ 3.81695149e-03 2.87257123e-04 9.99992674e-01 -2.33495222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.671400513 meters 0.07493820640946647 Centerline is valid? [True, True] Translation: X:513.09, Y:56.07, Z:-2.34 [[ 9.99594725e-01 -2.80865406e-02 -4.64022759e-03 5.13091696e+02] [ 2.80846167e-02 9.99605434e-01 -4.79273191e-04 5.60688405e+01] [ 4.65185785e-03 3.48759940e-04 9.99989119e-01 -2.33536956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.701400513 meters 0.07734544983902344 Centerline is valid? [True, True] Translation: X:513.12, Y:56.08, Z:-2.34 [[ 9.99595469e-01 -2.79962833e-02 -5.01056223e-03 5.13118527e+02] [ 2.79940363e-02 9.99607956e-01 -5.18039323e-04 5.60758194e+01] [ 5.02310105e-03 3.77563899e-04 9.99987313e-01 -2.33592741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.731400513 meters 0.07788053586428767 Centerline is valid? [True, True] Translation: X:513.15, Y:56.08, Z:-2.34 [[ 9.99616325e-01 -2.72391566e-02 -5.02315046e-03 5.13147393e+02] [ 2.72368876e-02 9.99628872e-01 -5.19560140e-04 5.60809307e+01] [ 5.03543861e-03 3.82545813e-04 9.99987249e-01 -2.33589929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.761400513 meters 0.08070681639593344 Centerline is valid? [True, True] Translation: X:513.18, Y:56.09, Z:-2.33 [[ 9.99684304e-01 -2.47800061e-02 -4.15247162e-03 5.13177282e+02] [ 2.47784343e-02 9.99692875e-01 -4.29559483e-04 5.60886738e+01] [ 4.16184078e-03 3.26532128e-04 9.99991286e-01 -2.33498665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.791400513 meters 0.07918960309303044 Centerline is valid? [True, True] Translation: X:513.21, Y:56.09, Z:-2.33 [[ 9.99709573e-01 -2.37874025e-02 -3.86393235e-03 5.13206923e+02] [ 2.37860340e-02 9.99716992e-01 -3.99759147e-04 5.60905576e+01] [ 3.87234806e-03 3.07735420e-04 9.99992455e-01 -2.33443975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.821400513 meters 0.08521426837065435 Centerline is valid? [True, True] Translation: X:513.23, Y:56.10, Z:-2.34 [[ 9.99724759e-01 -2.30679353e-02 -4.27503305e-03 5.13234230e+02] [ 2.30662528e-02 9.99733841e-01 -4.42448961e-04 5.61017172e+01] [ 4.28410159e-03 3.43718188e-04 9.99990764e-01 -2.33511428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.851400513 meters 0.08224636545748708 Centerline is valid? [True, True] Translation: X:513.26, Y:56.10, Z:-2.34 [[ 9.99731837e-01 -2.26002653e-02 -5.04797693e-03 5.13262710e+02] [ 2.25979120e-02 9.99744498e-01 -5.22729938e-04 5.61019640e+01] [ 5.05850099e-03 4.08516023e-04 9.99987122e-01 -2.33611399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.881400513 meters 0.08086028528237825 Centerline is valid? [True, True] Translation: X:513.29, Y:56.10, Z:-2.34 [[ 9.99736200e-01 -2.22651337e-02 -5.63856381e-03 5.13291884e+02] [ 2.22621881e-02 9.99751996e-01 -5.84624190e-04 5.61037140e+01] [ 5.65018216e-03 4.58943198e-04 9.99983932e-01 -2.33694865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.911400513 meters 0.08189468305075727 Centerline is valid? [True, True] Translation: X:513.32, Y:56.11, Z:-2.34 [[ 9.99738597e-01 -2.21473731e-02 -5.67731862e-03 5.13319667e+02] [ 2.21443820e-02 9.99754610e-01 -5.89173288e-04 5.61075858e+01] [ 5.68897410e-03 4.63298563e-04 9.99983710e-01 -2.33698085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.941400513 meters 0.08410958168892053 Centerline is valid? [True, True] Translation: X:513.35, Y:56.11, Z:-2.33 [[ 9.99742573e-01 -2.23204127e-02 -4.07261755e-03 5.13346906e+02] [ 2.23188742e-02 9.99750813e-01 -4.22847111e-04 5.61118516e+01] [ 4.08104083e-03 3.31842020e-04 9.99991617e-01 -2.33435982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.971400513 meters 0.08817213803317488 Centerline is valid? [True, True] Translation: X:513.37, Y:56.12, Z:-2.33 [[ 9.99756344e-01 -2.19284874e-02 -2.52863312e-03 5.13374098e+02] [ 2.19278927e-02 9.99759520e-01 -2.62664981e-04 5.61185912e+01] [ 2.53378488e-03 2.07153386e-04 9.99996769e-01 -2.33232825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.001400513 meters 0.09218217050266726 Centerline is valid? [True, True] Translation: X:513.40, Y:56.12, Z:-2.33 [[ 9.99766020e-01 -2.15621005e-02 -1.72661416e-03 5.13402615e+02] [ 2.15618225e-02 9.99767501e-01 -1.79463513e-04 5.61221811e+01] [ 1.73008233e-03 1.42192575e-04 9.99998493e-01 -2.33106081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.031400513 meters 0.0862888900069533 Centerline is valid? [True, True] Translation: X:513.43, Y:56.12, Z:-2.33 [[ 9.99769448e-01 -2.14376953e-02 -1.21495447e-03 5.13432853e+02] [ 2.14375575e-02 9.99770181e-01 -1.26310948e-04 5.61178746e+01] [ 1.21738307e-03 1.00236170e-04 9.99999254e-01 -2.33038112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.061400513 meters 0.080328666019061 Centerline is valid? [True, True] Translation: X:513.46, Y:56.11, Z:-2.33 [[ 9.99739112e-01 -2.27116428e-02 -2.42674610e-03 5.13464193e+02] [ 2.27110966e-02 9.99742038e-01 -2.52384763e-04 5.61080108e+01] [ 2.43185216e-03 1.97204853e-04 9.99997024e-01 -2.33235568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.091400513 meters 0.08314107068596867 Centerline is valid? [True, True] Translation: X:513.49, Y:56.11, Z:-2.33 [[ 9.99716823e-01 -2.36024936e-02 -3.03239138e-03 5.13492420e+02] [ 2.36016446e-02 9.99721393e-01 -3.15453466e-04 5.61102011e+01] [ 3.03899202e-03 2.43794713e-04 9.99995353e-01 -2.33375329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.121400513 meters 0.07894757506030202 Centerline is valid? [True, True] Translation: X:513.52, Y:56.11, Z:-2.33 [[ 9.99690452e-01 -2.46520055e-02 -3.35833780e-03 5.13522064e+02] [ 2.46509691e-02 9.99696058e-01 -3.49681266e-04 5.61077492e+01] [ 3.36593740e-03 2.66786742e-04 9.99994300e-01 -2.33399265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.151400513 meters 0.0762728979233551 Centerline is valid? [True, True] Translation: X:513.55, Y:56.10, Z:-2.33 [[ 9.99663839e-01 -2.56596512e-02 -3.71366551e-03 5.13551840e+02] [ 2.56583885e-02 9.99670694e-01 -3.87273496e-04 5.61045483e+01] [ 3.72237988e-03 2.91856637e-04 9.99993029e-01 -2.33479674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.181400513 meters 0.08485490877284603 Centerline is valid? [True, True] Translation: X:513.58, Y:56.11, Z:-2.34 [[ 9.99640842e-01 -2.64266907e-02 -4.45152439e-03 5.13579421e+02] [ 2.64248819e-02 9.99650694e-01 -4.64683803e-04 5.61139686e+01] [ 4.46224950e-03 3.46885902e-04 9.99989984e-01 -2.33601047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2114005130001 meters 0.07240370651435284 Centerline is valid? [True, True] Translation: X:513.61, Y:56.10, Z:-2.34 [[ 9.99625909e-01 -2.68912235e-02 -4.99040060e-03 5.13610317e+02] [ 2.68889528e-02 9.99638291e-01 -5.21555830e-04 5.60977236e+01] [ 5.00262080e-03 3.87174075e-04 9.99987412e-01 -2.33556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.241400513 meters 0.07509400473686494 Centerline is valid? [True, True] Translation: X:513.64, Y:56.10, Z:-2.33 [[ 9.99640880e-01 -2.64034066e-02 -4.57947153e-03 5.13637857e+02] [ 2.64014872e-02 9.99651305e-01 -4.79090092e-04 5.60963071e+01] [ 4.59052430e-03 3.58013182e-04 9.99989399e-01 -2.33499680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.271400513 meters 0.08518373058738159 Centerline is valid? [True, True] Translation: X:513.66, Y:56.11, Z:-2.34 [[ 9.99667309e-01 -2.54360908e-02 -4.27510812e-03 5.13664635e+02] [ 2.54344082e-02 9.99676393e-01 -4.47486048e-04 5.61104024e+01] [ 4.28510696e-03 3.38602329e-04 9.99990762e-01 -2.33505862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.301400513 meters 0.0841486719461357 Centerline is valid? [True, True] Translation: X:513.70, Y:56.11, Z:-2.34 [[ 9.99701084e-01 -2.39800960e-02 -4.76424387e-03 5.13695099e+02] [ 2.39779894e-02 9.99712362e-01 -4.98816319e-04 5.61099305e+01] [ 4.77483516e-03 3.84430226e-04 9.99988527e-01 -2.33573353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.331400513 meters 0.08822563731543204 Centerline is valid? [True, True] Translation: X:513.72, Y:56.12, Z:-2.34 [[ 9.99744109e-01 -2.19873606e-02 -5.31712218e-03 5.13724053e+02] [ 2.19847083e-02 9.99758152e-01 -5.56776897e-04 5.61158645e+01] [ 5.32807830e-03 4.39739043e-04 9.99985709e-01 -2.33705968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.361400513 meters 0.0832914285578286 Centerline is valid? [True, True] Translation: X:513.76, Y:56.11, Z:-2.34 [[ 9.99779510e-01 -2.00001577e-02 -6.39730836e-03 5.13755364e+02] [ 1.99962774e-02 9.99799830e-01 -6.69944613e-04 5.61075778e+01] [ 6.40942681e-03 5.41874544e-04 9.99979313e-01 -2.33842595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.391400513 meters 0.08705579344265804 Centerline is valid? [True, True] Translation: X:513.78, Y:56.12, Z:-2.34 [[ 9.99854067e-01 -1.57308456e-02 -6.66222626e-03 5.13783402e+02] [ 1.57265442e-02 9.99876087e-01 -6.97533755e-04 5.61180151e+01] [ 6.67237352e-03 5.92658166e-04 9.99977564e-01 -2.33939382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.421400513 meters 0.08776238591151941 Centerline is valid? [True, True] Translation: X:513.81, Y:56.12, Z:-2.34 [[ 9.99878939e-01 -1.43768318e-02 -5.95095718e-03 5.13813044e+02] [ 1.43733761e-02 9.99896504e-01 -6.23060802e-04 5.61227888e+01] [ 5.95929892e-03 5.37450028e-04 9.99982099e-01 -2.33792030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.451400513 meters 0.09542121082370818 Centerline is valid? [True, True] Translation: X:513.84, Y:56.14, Z:-2.34 [[ 9.99890627e-01 -1.38975000e-02 -5.05897110e-03 5.13839351e+02] [ 1.38949955e-02 9.99903319e-01 -5.29874231e-04 5.61371403e+01] [ 5.06584592e-03 4.59521897e-04 9.99987063e-01 -2.33685955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.481400513 meters 0.08967929512300062 Centerline is valid? [True, True] Translation: X:513.87, Y:56.14, Z:-2.34 [[ 9.99893668e-01 -1.38709428e-02 -4.49988213e-03 5.13868926e+02] [ 1.38689586e-02 9.99903710e-01 -4.71834506e-04 5.61351071e+01] [ 4.50599363e-03 4.09375656e-04 9.99989764e-01 -2.33613796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.511400513 meters 0.09529025459661929 Centerline is valid? [True, True] Translation: X:513.90, Y:56.15, Z:-2.34 [[ 9.99888997e-01 -1.42454784e-02 -4.36570337e-03 5.13895705e+02] [ 1.42436125e-02 9.99898450e-01 -4.58201702e-04 5.61466133e+01] [ 4.37178733e-03 3.95967453e-04 9.99990365e-01 -2.33645289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.541400513 meters 0.08801160315014825 Centerline is valid? [True, True] Translation: X:513.93, Y:56.14, Z:-2.34 [[ 9.99871301e-01 -1.53754151e-02 -4.58010296e-03 5.13925879e+02] [ 1.53733724e-02 9.99881707e-01 -4.80878944e-04 5.61419803e+01] [ 4.58695488e-03 4.10405427e-04 9.99989396e-01 -2.33644137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.571400513 meters 0.08449558883827032 Centerline is valid? [True, True] Translation: X:513.96, Y:56.14, Z:-2.34 [[ 9.99787432e-01 -1.97659651e-02 -5.86493559e-03 5.13956080e+02] [ 1.97626901e-02 9.99804509e-01 -6.15839008e-04 5.61428742e+01] [ 5.87596170e-03 4.99801196e-04 9.99982611e-01 -2.33794843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.601400513 meters 0.08921629730206057 Centerline is valid? [True, True] Translation: X:513.98, Y:56.15, Z:-2.34 [[ 9.99710409e-01 -2.32690394e-02 -6.13587977e-03 5.13984630e+02] [ 2.32655201e-02 9.99729114e-01 -6.44330333e-04 5.61524387e+01] [ 6.14921059e-03 5.01389308e-04 9.99980968e-01 -2.33834536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.631400513 meters 0.07832039910285232 Centerline is valid? [True, True] Translation: X:514.02, Y:56.14, Z:-2.34 [[ 9.99622371e-01 -2.68597793e-02 -5.80236493e-03 5.14016521e+02] [ 2.68566920e-02 9.99639108e-01 -6.09343803e-04 5.61420758e+01] [ 5.81663774e-03 4.53281369e-04 9.99982980e-01 -2.33707533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.661400513 meters 0.08108205651219516 Centerline is valid? [True, True] Translation: X:514.05, Y:56.15, Z:-2.34 [[ 9.99522771e-01 -3.04560381e-02 -5.16327401e-03 5.14045328e+02] [ 3.04536407e-02 9.99536033e-01 -5.42312016e-04 5.61475930e+01] [ 5.17739510e-03 3.84812718e-04 9.99986523e-01 -2.33653782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.691400513 meters 0.07594103344217479 Centerline is valid? [True, True] Translation: X:514.08, Y:56.14, Z:-2.34 [[ 9.99414314e-01 -3.39410879e-02 -4.36260553e-03 5.14076279e+02] [ 3.39394090e-02 9.99423787e-01 -4.58312167e-04 5.61431312e+01] [ 4.37564735e-03 3.09979487e-04 9.99990379e-01 -2.33525257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.721400513 meters 0.06730369847954375 Centerline is valid? [True, True] Translation: X:514.11, Y:56.13, Z:-2.33 [[ 9.99313961e-01 -3.68080353e-02 -4.09571808e-03 5.14107913e+02] [ 3.68065793e-02 9.99322316e-01 -4.30321956e-04 5.61341758e+01] [ 4.10878179e-03 2.79277366e-04 9.99991520e-01 -2.33472465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.751400513 meters 0.06299491522185238 Centerline is valid? [True, True] Translation: X:514.14, Y:56.13, Z:-2.34 [[ 9.99164568e-01 -4.06452335e-02 -4.25806964e-03 5.14138307e+02] [ 4.06436942e-02 9.99173603e-01 -4.47428982e-04 5.61283809e+01] [ 4.27273664e-03 2.73991505e-04 9.99990834e-01 -2.33502972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.781400513 meters 0.06749379457703418 Centerline is valid? [True, True] Translation: X:514.17, Y:56.13, Z:-2.34 [[ 9.99129568e-01 -4.14679009e-02 -4.52983118e-03 5.14165492e+02] [ 4.14661664e-02 9.99139795e-01 -4.76179765e-04 5.61347477e+01] [ 4.54568078e-03 2.87930549e-04 9.99989627e-01 -2.33515624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.811400513 meters 0.07225224617274649 Centerline is valid? [True, True] Translation: X:514.19, Y:56.14, Z:-2.34 [[ 9.99134715e-01 -4.13130642e-02 -4.80115723e-03 5.14192673e+02] [ 4.13111127e-02 9.99146204e-01 -5.04985917e-04 5.61409691e+01] [ 4.81792054e-03 3.06207813e-04 9.99988347e-01 -2.33555016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.841400513 meters 0.06800133092512817 Centerline is valid? [True, True] Translation: X:514.22, Y:56.14, Z:-2.34 [[ 9.99181428e-01 -4.01840986e-02 -4.65956283e-03 5.14223251e+02] [ 4.01822475e-02 9.99192247e-01 -4.90260728e-04 5.61360835e+01] [ 4.67549974e-03 3.02627708e-04 9.99989024e-01 -2.33509273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.871400513 meters 0.06718358643913822 Centerline is valid? [True, True] Translation: X:514.25, Y:56.14, Z:-2.33 [[ 9.99251297e-01 -3.84297763e-02 -4.47183211e-03 5.14253358e+02] [ 3.84280534e-02 9.99261259e-01 -4.70580184e-04 5.61355871e+01] [ 4.48661287e-03 2.98384056e-04 9.99989891e-01 -2.33491772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.901400513 meters 0.07519896079121595 Centerline is valid? [True, True] Translation: X:514.28, Y:56.15, Z:-2.34 [[ 9.99311537e-01 -3.68209072e-02 -4.54667012e-03 5.14281354e+02] [ 3.68191093e-02 9.99321832e-01 -4.78539975e-04 5.61462995e+01] [ 4.56120699e-03 3.10806174e-04 9.99989549e-01 -2.33615291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.931400513 meters 0.07388736295307043 Centerline is valid? [True, True] Translation: X:514.31, Y:56.15, Z:-2.34 [[ 9.99363064e-01 -3.53378891e-02 -4.96984572e-03 5.14312322e+02] [ 3.53357224e-02 9.99375361e-01 -5.23127283e-04 5.61457195e+01] [ 4.98522757e-03 3.47180995e-04 9.99987513e-01 -2.33696741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9614005130001 meters 0.07921658909643783 Centerline is valid? [True, True] Translation: X:514.34, Y:56.15, Z:-2.34 [[ 9.99456256e-01 -3.26470067e-02 -4.62220657e-03 5.14341242e+02] [ 3.26451037e-02 9.99466888e-01 -4.86567095e-04 5.61513712e+01] [ 4.63562737e-03 3.35410114e-04 9.99989199e-01 -2.33604086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.991400513 meters 0.07544699842647466 Centerline is valid? [True, True] Translation: X:514.37, Y:56.15, Z:-2.33 [[ 9.99487858e-01 -3.17226469e-02 -4.20670591e-03 5.14371309e+02] [ 3.17210623e-02 9.99496662e-01 -4.42902042e-04 5.61480804e+01] [ 4.21863854e-03 3.09234033e-04 9.99991054e-01 -2.33452223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.021400513 meters 0.08049031810859994 Centerline is valid? [True, True] Translation: X:514.40, Y:56.16, Z:-2.33 [[ 9.99518886e-01 -3.07863029e-02 -3.76832626e-03 5.14399424e+02] [ 3.07850243e-02 9.99525950e-01 -3.96850382e-04 5.61560546e+01] [ 3.77875744e-03 2.80651436e-04 9.99992821e-01 -2.33375315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.051400513 meters 0.07326943549822795 Centerline is valid? [True, True] Translation: X:514.43, Y:56.15, Z:-2.33 [[ 9.99535461e-01 -3.02279376e-02 -3.89026522e-03 5.14428823e+02] [ 3.02265691e-02 9.99542989e-01 -4.10087027e-04 5.61493682e+01] [ 3.90088341e-03 2.92307155e-04 9.99992349e-01 -2.33376787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.081400513 meters 0.07282884545594512 Centerline is valid? [True, True] Translation: X:514.46, Y:56.15, Z:-2.33 [[ 9.99538820e-01 -3.00963659e-02 -4.04416857e-03 5.14457508e+02] [ 3.00948832e-02 9.99546955e-01 -4.26986839e-04 5.61503699e+01] [ 4.05518713e-03 3.05081140e-04 9.99991731e-01 -2.33431202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.111400513 meters 0.0748937511939962 Centerline is valid? [True, True] Translation: X:514.48, Y:56.15, Z:-2.33 [[ 9.99546447e-01 -2.98117244e-02 -4.26169427e-03 5.14484832e+02] [ 2.98100734e-02 9.99555480e-01 -4.50419547e-04 5.61532749e+01] [ 4.27322764e-03 3.23173839e-04 9.99990818e-01 -2.33422701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.141400513 meters 0.0748937511939962 Centerline is valid? [True, True] Translation: X:514.51, Y:56.16, Z:-2.33 [[ 9.99540932e-01 -2.99960775e-02 -4.26163625e-03 5.14512232e+02] [ 2.99944258e-02 9.99549964e-01 -4.50968018e-04 5.61563180e+01] [ 4.27324563e-03 3.22935660e-04 9.99990818e-01 -2.33417493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.171400513 meters 0.07827683565353125 Centerline is valid? [True, True] Translation: X:514.54, Y:56.16, Z:-2.33 [[ 9.99536568e-01 -3.01119143e-02 -4.46345266e-03 5.14539981e+02] [ 3.01101014e-02 9.99546476e-01 -4.72840936e-04 5.61570511e+01] [ 4.47566652e-03 3.38226795e-04 9.99989927e-01 -2.33464711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.201400513 meters 0.07557850580627971 Centerline is valid? [True, True] Translation: X:514.57, Y:56.15, Z:-2.33 [[ 9.99520191e-01 -3.06840729e-02 -4.22785175e-03 5.14569707e+02] [ 3.06824495e-02 9.99529082e-01 -4.48338069e-04 5.61543871e+01] [ 4.23961762e-03 3.18402104e-04 9.99990962e-01 -2.33426851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.231400513 meters 0.07557850580627971 Centerline is valid? [True, True] Translation: X:514.60, Y:56.16, Z:-2.33 [[ 9.99514552e-01 -3.08672493e-02 -4.22777643e-03 5.14597106e+02] [ 3.08656245e-02 9.99523442e-01 -4.49047537e-04 5.61574432e+01] [ 4.23962252e-03 3.18336588e-04 9.99990962e-01 -2.33421644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.261400513 meters 0.08049909358755686 Centerline is valid? [True, True] Translation: X:514.62, Y:56.16, Z:-2.33 [[ 9.99503517e-01 -3.12471593e-02 -4.04151604e-03 5.14624606e+02] [ 3.12456755e-02 9.99511642e-01 -4.29782938e-04 5.61608336e+01] [ 4.05297183e-03 3.03289659e-04 9.99991741e-01 -2.33416725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.291400513 meters 0.07991838087761742 Centerline is valid? [True, True] Translation: X:514.65, Y:56.16, Z:-2.33 [[ 9.99529753e-01 -3.04332759e-02 -3.75342069e-03 5.14653969e+02] [ 3.04319896e-02 9.99536760e-01 -3.99359758e-04 5.61593757e+01] [ 3.76383578e-03 2.84947901e-04 9.99992876e-01 -2.33372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.321400513 meters 0.07491138971209121 Centerline is valid? [True, True] Translation: X:514.68, Y:56.15, Z:-2.33 [[ 9.99566614e-01 -2.92078910e-02 -3.67197691e-03 5.14684760e+02] [ 2.92066513e-02 9.99573318e-01 -3.90798183e-04 5.61525277e+01] [ 3.68182453e-03 2.83382667e-04 9.99993182e-01 -2.33347880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.351400513 meters 0.08157668298074934 Centerline is valid? [True, True] Translation: X:514.71, Y:56.16, Z:-2.33 [[ 9.99606331e-01 -2.78212958e-02 -3.62752808e-03 5.14713686e+02] [ 2.78200766e-02 9.99612872e-01 -3.86131052e-04 5.61604623e+01] [ 3.63686642e-03 2.85060935e-04 9.99993346e-01 -2.33352165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.381400513 meters 0.08204104336308936 Centerline is valid? [True, True] Translation: X:514.74, Y:56.16, Z:-2.33 [[ 9.99649392e-01 -2.62482104e-02 -3.48209512e-03 5.14744067e+02] [ 2.62470773e-02 9.99655417e-01 -3.70689530e-04 5.61616023e+01] [ 3.49062519e-03 2.79164743e-04 9.99993869e-01 -2.33331270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.411400513 meters 0.08717507603087117 Centerline is valid? [True, True] Translation: X:514.77, Y:56.17, Z:-2.33 [[ 9.99690486e-01 -2.46198616e-02 -3.57699615e-03 5.14772648e+02] [ 2.46186555e-02 9.99696842e-01 -3.80832353e-04 5.61681546e+01] [ 3.58528780e-03 2.92653644e-04 9.99993530e-01 -2.33351194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.441400513 meters 0.08075438607481113 Centerline is valid? [True, True] Translation: X:514.80, Y:56.16, Z:-2.33 [[ 9.99716610e-01 -2.34811706e-02 -3.91594388e-03 5.14803067e+02] [ 2.34797160e-02 9.99724226e-01 -4.17011863e-04 5.61601748e+01] [ 3.92465589e-03 3.24948436e-04 9.99992246e-01 -2.33370364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.471400513 meters 0.08577439628829144 Centerline is valid? [True, True] Translation: X:514.83, Y:56.17, Z:-2.33 [[ 9.99734685e-01 -2.26974341e-02 -3.92262269e-03 5.14830976e+02] [ 2.26959680e-02 9.99742326e-01 -4.17882709e-04 5.61653989e+01] [ 3.93109679e-03 3.28744120e-04 9.99992219e-01 -2.33410814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.501400513 meters 0.08880983661085773 Centerline is valid? [True, True] Translation: X:514.86, Y:56.17, Z:-2.33 [[ 9.99742707e-01 -2.23586590e-02 -3.82221082e-03 5.14859012e+02] [ 2.23572637e-02 9.99749962e-01 -4.07379414e-04 5.61678507e+01] [ 3.83036358e-03 3.21820423e-04 9.99992612e-01 -2.33440614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.531400513 meters 0.09497519317680421 Centerline is valid? [True, True] Translation: X:514.89, Y:56.17, Z:-2.34 [[ 9.99744431e-01 -2.22701042e-02 -3.88772812e-03 5.14886823e+02] [ 2.22686589e-02 9.99751937e-01 -4.14634598e-04 5.61687826e+01] [ 3.89599768e-03 3.27954139e-04 9.99992357e-01 -2.33518716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.561400513 meters 0.08993207030458594 Centerline is valid? [True, True] Translation: X:514.92, Y:56.16, Z:-2.34 [[ 9.99758792e-01 -2.15580219e-02 -4.19645518e-03 5.14916654e+02] [ 2.15563308e-02 9.99767535e-01 -4.47804372e-04 5.61630356e+01] [ 4.20513343e-03 3.57236181e-04 9.99991095e-01 -2.33548859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.591400513 meters 0.08934408915641841 Centerline is valid? [True, True] Translation: X:514.95, Y:56.16, Z:-2.34 [[ 9.99780597e-01 -2.04500506e-02 -4.53358311e-03 5.14946439e+02] [ 2.04480649e-02 9.99790799e-01 -4.83935386e-04 5.61608340e+01] [ 4.54253119e-03 3.91126208e-04 9.99989606e-01 -2.33616185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.621400513 meters 0.09854287272391896 Centerline is valid? [True, True] Translation: X:514.98, Y:56.17, Z:-2.34 [[ 9.99800847e-01 -1.91595763e-02 -5.58354807e-03 5.14975041e+02] [ 1.91565436e-02 9.99816319e-01 -5.96131782e-04 5.61711613e+01] [ 5.59394411e-03 4.89051579e-04 9.99984234e-01 -2.33778960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.651400513 meters 0.0923839250449288 Centerline is valid? [True, True] Translation: X:515.01, Y:56.16, Z:-2.34 [[ 9.99823833e-01 -1.76448420e-02 -6.40017171e-03 5.15005711e+02] [ 1.76408260e-02 9.99844155e-01 -6.83393490e-04 5.61638985e+01] [ 6.41123264e-03 5.70368783e-04 9.99979285e-01 -2.33805516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.681400513 meters 0.08865005292225064 Centerline is valid? [True, True] Translation: X:515.04, Y:56.16, Z:-2.34 [[ 9.99883078e-01 -1.39473667e-02 -6.26907384e-03 5.15036347e+02] [ 1.39434413e-02 9.99902561e-01 -6.69432561e-04 5.61604030e+01] [ 6.27779981e-03 5.81941826e-04 9.99980125e-01 -2.33767704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7114005130001 meters 0.0978943359863993 Centerline is valid? [True, True] Translation: X:515.06, Y:56.17, Z:-2.34 [[ 9.99910614e-01 -1.20137086e-02 -5.86805063e-03 5.15064060e+02] [ 1.20102360e-02 9.99927678e-01 -6.26668514e-04 5.61739283e+01] [ 5.87515486e-03 5.56135826e-04 9.99982586e-01 -2.33734422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.741400513 meters 0.09460169843844991 Centerline is valid? [True, True] Translation: X:515.10, Y:56.17, Z:-2.34 [[ 9.99932468e-01 -1.03587653e-02 -5.26831285e-03 5.15095225e+02] [ 1.03559434e-02 9.99946217e-01 -5.62628618e-04 5.61718112e+01] [ 5.27385764e-03 5.08032273e-04 9.99985964e-01 -2.33633743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.771400513 meters 0.10777508096989823 Centerline is valid? [True, False] Translation: X:515.12, Y:56.18, Z:-2.34 [[ 9.99967626e-01 -8.04650029e-03 1.33714182e-05 5.15115016e+02] [ 8.04626479e-03 9.99922588e-01 -9.49082208e-03 5.61793086e+01] [ 6.29975195e-05 9.49062241e-03 9.99954961e-01 -2.34077022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.801400513 meters 0.10887801213438687 Centerline is valid? [False, False] Translation: X:515.12, Y:56.17, Z:-2.34 [[ 9.99994219e-01 -3.39423232e-03 -2.05012787e-04 5.15115488e+02] [ 3.39336956e-03 9.99985954e-01 -4.07149377e-03 5.61746245e+01] [ 2.18829503e-04 4.07077454e-03 9.99991690e-01 -2.34034401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.831400513 meters 0.09732274813010146 Centerline is valid? [False, True] Translation: X:515.12, Y:56.18, Z:-2.34 [[ 9.99994060e-01 -3.44090986e-03 -2.02081836e-04 5.15115591e+02] [ 3.44003237e-03 9.99985293e-01 -4.19294377e-03 5.61751535e+01] [ 2.16506406e-04 4.19222369e-03 9.99991189e-01 -2.34060383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.861400513 meters 0.09046606669587126 Centerline is valid? [True, True] Translation: X:515.15, Y:56.17, Z:-2.34 [[ 9.99962539e-01 -8.51660051e-03 -1.54532213e-03 5.15147177e+02] [ 8.51637344e-03 9.99963723e-01 -1.53458870e-04 5.61677031e+01] [ 1.54657302e-03 1.40292581e-04 9.99998794e-01 -2.34271803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.891400513 meters 0.086511536717763 Centerline is valid? [True, True] Translation: X:515.18, Y:56.16, Z:-2.34 [[ 9.99927950e-01 -1.18131669e-02 -2.13177526e-03 5.15177761e+02] [ 1.18127423e-02 9.99930205e-01 -2.11674568e-04 5.61647957e+01] [ 2.13412702e-03 1.86477205e-04 9.99997705e-01 -2.34314325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.921400513 meters 0.08650149682309155 Centerline is valid? [True, True] Translation: X:515.21, Y:56.17, Z:-2.34 [[ 9.99879196e-01 -1.53859008e-02 -2.20614180e-03 5.15207301e+02] [ 1.53854545e-02 9.99881613e-01 -2.19123710e-04 5.61662099e+01] [ 2.20925204e-03 1.85154744e-04 9.99997542e-01 -2.34253559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.951400513 meters 0.08226795603401443 Centerline is valid? [True, True] Translation: X:515.24, Y:56.16, Z:-2.34 [[ 9.99811339e-01 -1.93218899e-02 -1.98792524e-03 5.15238122e+02] [ 1.93215353e-02 9.99813302e-01 -1.97431668e-04 5.61632110e+01] [ 1.99136886e-03 1.58984652e-04 9.99998005e-01 -2.34164321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.981400513 meters 0.08079833987520155 Centerline is valid? [True, True] Translation: X:515.27, Y:56.16, Z:-2.34 [[ 9.99726142e-01 -2.33484077e-02 -1.57913506e-03 5.15267559e+02] [ 2.33481888e-02 9.99727382e-01 -1.56882557e-04 5.61639363e+01] [ 1.58236752e-03 1.19969650e-04 9.99998741e-01 -2.34098452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.011400513 meters 0.07333877100091216 Centerline is valid? [True, True] Translation: X:515.30, Y:56.15, Z:-2.34 [[ 9.99632039e-01 -2.71076468e-02 -9.80942187e-04 5.15299354e+02] [ 2.71075641e-02 9.99632518e-01 -9.74203231e-05 5.61548025e+01] [ 9.83222544e-04 7.07935230e-05 9.99999514e-01 -2.34026546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.041400513 meters 0.07053404623455894 Centerline is valid? [True, True] Translation: X:515.33, Y:56.15, Z:-2.34 [[ 9.99441226e-01 -3.34234302e-02 3.32646477e-04 5.15329804e+02] [ 3.34234211e-02 9.99441281e-01 3.30323703e-05 5.61506080e+01] [-3.33564676e-04 -2.18957294e-05 9.99999944e-01 -2.33939277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.071400513 meters 0.06993936601722614 Centerline is valid? [True, True] Translation: X:515.36, Y:56.15, Z:-2.34 [[ 9.99375601e-01 -3.53327176e-02 -8.03808777e-05 5.15358762e+02] [ 3.53327171e-02 9.99375605e-01 -8.07397274e-06 5.61494305e+01] [ 8.06159636e-05 5.22885655e-06 9.99999997e-01 -2.34017880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.101400513 meters 0.06523502545130071 Centerline is valid? [True, True] Translation: X:515.39, Y:56.14, Z:-2.34 [[ 9.99343576e-01 -3.62150516e-02 -9.42318696e-04 5.15388438e+02] [ 3.62149788e-02 9.99344018e-01 -9.41966992e-05 5.61447285e+01] [ 9.45111891e-04 6.00088145e-05 9.99999552e-01 -2.34134165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.131400513 meters 0.06568364525225369 Centerline is valid? [True, True] Translation: X:515.42, Y:56.15, Z:-2.34 [[ 9.99365452e-01 -3.55585024e-02 -2.07041097e-03 5.15416629e+02] [ 3.55581509e-02 9.99367588e-01 -2.06312856e-04 5.61472572e+01] [ 2.07643779e-03 1.32561955e-04 9.99997835e-01 -2.34300678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.161400513 meters 0.07009337632604953 Centerline is valid? [True, True] Translation: X:515.45, Y:56.15, Z:-2.34 [[ 9.99422972e-01 -3.38615050e-02 -2.66863590e-03 5.15445173e+02] [ 3.38609156e-02 9.99426519e-01 -2.65766238e-04 5.61547834e+01] [ 2.67610473e-03 1.75250428e-04 9.99996404e-01 -2.34436786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.191400513 meters 0.07824492281804984 Centerline is valid? [True, True] Translation: X:515.47, Y:56.17, Z:-2.34 [[ 9.99482512e-01 -3.20845703e-02 -2.29963049e-03 5.15473395e+02] [ 3.20841276e-02 9.99485146e-01 -2.29112660e-04 5.61664273e+01] [ 2.30579749e-03 1.55212459e-04 9.99997330e-01 -2.34415479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.221400513 meters 0.07284771096330239 Centerline is valid? [True, True] Translation: X:515.50, Y:56.16, Z:-2.34 [[ 9.99547005e-01 -3.00862784e-02 -7.74429092e-04 5.15503927e+02] [ 3.00862276e-02 9.99547304e-01 -7.71749894e-05 5.61597547e+01] [ 7.76400419e-04 5.38403796e-05 9.99999697e-01 -2.34126024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.251400513 meters 0.07214032298569269 Centerline is valid? [True, True] Translation: X:515.53, Y:56.16, Z:-2.34 [[ 9.99550236e-01 -2.99887656e-02 1.18637054e-05 5.15532500e+02] [ 2.99887656e-02 9.99550236e-01 7.69568352e-07 5.61610377e+01] [-1.18814479e-05 -4.13444346e-07 1.00000000e+00 -2.34051004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.281400513 meters 0.07604679286270735 Centerline is valid? [True, True] Translation: X:515.56, Y:56.17, Z:-2.34 [[ 9.99556037e-01 -2.97898353e-02 -5.42572973e-04 5.15560146e+02] [ 2.97898101e-02 9.99556184e-01 -5.44055718e-05 5.61673003e+01] [ 5.43952903e-04 3.82182719e-05 9.99999851e-01 -2.34196739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.311400513 meters 0.0668584520974333 Centerline is valid? [True, True] Translation: X:515.59, Y:56.16, Z:-2.34 [[ 9.99559520e-01 -2.96403616e-02 -1.48795255e-03 5.15590111e+02] [ 2.96401721e-02 9.99560622e-01 -1.49259374e-04 5.61571618e+01] [ 1.49172288e-03 1.05090458e-04 9.99998882e-01 -2.34339195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.341400513 meters 0.07239789956639758 Centerline is valid? [True, True] Translation: X:515.62, Y:56.16, Z:-2.34 [[ 9.99564938e-01 -2.94321674e-02 -1.91872350e-03 5.15616798e+02] [ 2.94318524e-02 9.99566771e-01 -1.92233935e-04 5.61647009e+01] [ 1.92355012e-03 1.35678714e-04 9.99998141e-01 -2.34487079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.371400513 meters 0.07280151746734566 Centerline is valid? [True, True] Translation: X:515.65, Y:56.17, Z:-2.34 [[ 9.99570817e-01 -2.92656491e-02 -1.30493846e-03 5.15646025e+02] [ 2.92655026e-02 9.99571665e-01 -1.31237841e-04 5.61665893e+01] [ 1.30822027e-03 9.29918358e-05 9.99999140e-01 -2.34345745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.401400513 meters 0.07482847069002545 Centerline is valid? [True, True] Translation: X:515.67, Y:56.17, Z:-2.34 [[ 9.99576728e-01 -2.90654060e-02 -1.25214123e-03 5.15673719e+02] [ 2.90652712e-02 9.99577508e-01 -1.25748372e-04 5.61726348e+01] [ 1.25526714e-03 8.93013222e-05 9.99999208e-01 -2.34349796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.431400513 meters 0.07472066084984635 Centerline is valid? [True, True] Translation: X:515.70, Y:56.18, Z:-2.34 [[ 9.99581788e-01 -2.88693416e-02 -1.67638710e-03 5.15702456e+02] [ 2.88690988e-02 9.99583186e-01 -1.68833276e-04 5.61757530e+01] [ 1.68056246e-03 1.20366883e-04 9.99998581e-01 -2.34430443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4614005130001 meters 0.0744909626886877 Centerline is valid? [True, True] Translation: X:515.73, Y:56.18, Z:-2.34 [[ 9.99581024e-01 -2.88798317e-02 -1.93198062e-03 5.15731583e+02] [ 2.88795088e-02 9.99582881e-01 -1.94814539e-04 5.61780230e+01] [ 1.93680096e-03 1.38938265e-04 9.99998115e-01 -2.34485751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.491400513 meters 0.07707114190608248 Centerline is valid? [True, True] Translation: X:515.76, Y:56.18, Z:-2.34 [[ 9.99561652e-01 -2.95699030e-02 -1.45756950e-03 5.15759434e+02] [ 2.95697195e-02 9.99562709e-01 -1.47302907e-04 5.61837470e+01] [ 1.46128785e-03 1.04138416e-04 9.99998927e-01 -2.34406538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.521400513 meters 0.07210107381729265 Centerline is valid? [True, True] Translation: X:515.79, Y:56.18, Z:-2.34 [[ 9.99522539e-01 -3.08980207e-02 -7.92441316e-05 5.15790089e+02] [ 3.08980201e-02 9.99522542e-01 -8.01667055e-06 5.61806612e+01] [ 7.94539951e-05 5.56435613e-06 9.99999997e-01 -2.34197666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.551400513 meters 0.07272129831141773 Centerline is valid? [True, True] Translation: X:515.82, Y:56.18, Z:-2.34 [[ 9.99446382e-01 -3.32446623e-02 1.31239518e-03 5.15820829e+02] [ 3.32445171e-02 9.99447240e-01 1.32275333e-04 5.61803991e+01] [-1.31606719e-03 -8.85721591e-05 9.99999130e-01 -2.34074706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.581400513 meters 0.06613820193485408 Centerline is valid? [True, True] Translation: X:515.85, Y:56.18, Z:-2.34 [[ 9.99356568e-01 -3.57913238e-02 2.33057135e-03 5.15852228e+02] [ 3.57908729e-02 9.99359274e-01 2.34906735e-04 5.61770734e+01] [-2.33748572e-03 -1.51342405e-04 9.99997257e-01 -2.33893058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.611400513 meters 0.0682694059803766 Centerline is valid? [True, True] Translation: X:515.88, Y:56.17, Z:-2.34 [[ 9.99130114e-01 -4.15614268e-02 3.41514228e-03 5.15882173e+02] [ 4.15604921e-02 9.99135930e-01 3.44251108e-04 5.61748425e+01] [-3.42649892e-03 -2.02016655e-04 9.99994109e-01 -2.33622658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.641400513 meters 0.06492075924832956 Centerline is valid? [True, True] Translation: X:515.91, Y:56.17, Z:-2.34 [[ 9.99037123e-01 -4.37450251e-02 3.34663145e-03 5.15912381e+02] [ 4.37441395e-02 9.99042710e-01 3.37396480e-04 5.61701924e+01] [-3.35818717e-03 -1.90676096e-04 9.99994343e-01 -2.33617732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.671400513 meters 0.058420893284410504 Centerline is valid? [True, True] Translation: X:515.94, Y:56.16, Z:-2.34 [[ 9.98981372e-01 -4.50061511e-02 3.26582782e-03 5.15941966e+02] [ 4.50053142e-02 9.98986693e-01 3.29335497e-04 5.61625381e+01] [-3.27734066e-03 -1.82020420e-04 9.99994613e-01 -2.33628603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.701400513 meters 0.05888538236069171 Centerline is valid? [True, True] Translation: X:515.97, Y:56.16, Z:-2.34 [[ 9.98977106e-01 -4.50795256e-02 3.54645413e-03 5.15969157e+02] [ 4.50785385e-02 9.98983382e-01 3.57838117e-04 5.61636504e+01] [-3.55897992e-03 -1.97603118e-04 9.99993647e-01 -2.33640420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.731400513 meters 0.061742000071851676 Centerline is valid? [True, True] Translation: X:516.00, Y:56.17, Z:-2.34 [[ 9.99004805e-01 -4.44233553e-02 3.99573478e-03 5.15998036e+02] [ 4.44220951e-02 9.99012770e-01 4.03624072e-04 5.61652433e+01] [-4.00972041e-03 -2.25723477e-04 9.99991936e-01 -2.33605793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.761400513 meters 0.06763286466636098 Centerline is valid? [True, True] Translation: X:516.03, Y:56.17, Z:-2.34 [[ 9.99193994e-01 -4.00157177e-02 3.17875512e-03 5.16026915e+02] [ 4.00148968e-02 9.99199032e-01 3.21432997e-04 5.61724251e+01] [-3.18907141e-03 -1.93976362e-04 9.99994896e-01 -2.33642234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.791400513 meters 0.06611115469214035 Centerline is valid? [True, True] Translation: X:516.06, Y:56.17, Z:-2.34 [[ 9.99310470e-01 -3.70809308e-02 1.89446496e-03 5.16057179e+02] [ 3.70806340e-02 9.99312258e-01 1.91573888e-04 5.61713597e+01] [-1.90026579e-03 -1.21193831e-04 9.99998187e-01 -2.33814592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.821400513 meters 0.07766735484438772 Centerline is valid? [True, True] Translation: X:516.08, Y:56.19, Z:-2.34 [[ 9.99425745e-01 -3.38674146e-02 1.08521359e-03 5.16084741e+02] [ 3.38673152e-02 9.99426332e-01 1.09794788e-04 5.61868088e+01] [-1.08830950e-03 -7.29784671e-05 9.99999405e-01 -2.34021144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.851400513 meters 0.0727324650934372 Centerline is valid? [True, True] Translation: X:516.12, Y:56.18, Z:-2.34 [[ 9.99530861e-01 -3.06273612e-02 1.53060779e-04 5.16116159e+02] [ 3.06273592e-02 9.99530872e-01 1.54780648e-05 5.61820123e+01] [-1.53463026e-04 -1.07829560e-05 9.99999988e-01 -2.34232796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.881400513 meters 0.07590210096050581 Centerline is valid? [True, True] Translation: X:516.15, Y:56.19, Z:-2.34 [[ 9.99626242e-01 -2.73352993e-02 -3.97781751e-04 5.16145232e+02] [ 2.73352854e-02 9.99626320e-01 -4.02534404e-05 5.61866963e+01] [ 3.98733448e-04 2.93649176e-05 9.99999920e-01 -2.34354133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.911400513 meters 0.0802105647722261 Centerline is valid? [True, True] Translation: X:516.18, Y:56.19, Z:-2.34 [[ 9.99706505e-01 -2.42198702e-02 -5.48962071e-04 5.16175425e+02] [ 2.42198434e-02 9.99706655e-01 -5.55308297e-05 5.61923563e+01] [ 5.50145985e-04 4.22187564e-05 9.99999848e-01 -2.34414554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.941400513 meters 0.0821287971294719 Centerline is valid? [True, True] Translation: X:516.21, Y:56.20, Z:-2.34 [[ 9.99764972e-01 -2.16733801e-02 -5.16030605e-04 5.16205164e+02] [ 2.16733560e-02 9.99765104e-01 -5.21887623e-05 5.61956958e+01] [ 5.17040498e-04 4.09923814e-05 9.99999865e-01 -2.34411263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.971400513 meters 0.08607971372280186 Centerline is valid? [True, True] Translation: X:516.23, Y:56.20, Z:-2.34 [[ 9.99813256e-01 -1.93203134e-02 -4.23663947e-04 5.16233967e+02] [ 1.93202969e-02 9.99813345e-01 -4.28800872e-05 5.62021924e+01] [ 4.24413324e-04 3.46867663e-05 9.99999909e-01 -2.34414733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.001400513 meters 0.09230129847400875 Centerline is valid? [True, True] Translation: X:516.26, Y:56.21, Z:-2.34 [[ 9.99856299e-01 -1.69521394e-02 -7.63821518e-05 5.16262095e+02] [ 1.69521389e-02 9.99856302e-01 -7.78520324e-06 5.62120347e+01] [ 7.65031517e-05 6.48924365e-06 9.99999997e-01 -2.34375258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.031400513 meters 0.09230129847400875 Centerline is valid? [True, True] Translation: X:516.29, Y:56.21, Z:-2.34 [[ 9.99853392e-01 -1.71227265e-02 -7.63415137e-05 5.16289546e+02] [ 1.71227259e-02 9.99853395e-01 -8.18651279e-06 5.62149627e+01] [ 7.64704971e-05 6.87813777e-06 9.99999997e-01 -2.34382505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.061400513 meters 0.0904994962498524 Centerline is valid? [True, True] Translation: X:516.32, Y:56.21, Z:-2.34 [[ 9.99917526e-01 -1.28225029e-02 7.24744120e-04 5.16320313e+02] [ 1.28224530e-02 9.99917786e-01 7.34368994e-05 5.62140769e+01] [-7.25626181e-04 -6.41378454e-05 9.99999735e-01 -2.34286211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.091400513 meters 0.09262864209329004 Centerline is valid? [True, True] Translation: X:516.35, Y:56.22, Z:-2.34 [[ 9.99941435e-01 -1.08216671e-02 -1.34562060e-04 5.16350382e+02] [ 1.08216654e-02 9.99941444e-01 -1.36450483e-05 5.62189444e+01] [ 1.34701842e-04 1.21880636e-05 9.99999991e-01 -2.34398219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.121400513 meters 0.10207218945294858 Centerline is valid? [True, False] Translation: X:516.37, Y:56.22, Z:-2.34 [[ 9.99976393e-01 -4.23070617e-03 -5.41433209e-03 5.16371366e+02] [ 4.21671759e-03 9.99987749e-01 -2.59243388e-03 5.62204849e+01] [ 5.42523359e-03 2.56954197e-03 9.99981982e-01 -2.33810610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.151400513 meters 0.09647672745422249 Centerline is valid? [False, True] Translation: X:516.37, Y:56.22, Z:-2.34 [[ 9.99976051e-01 -4.30485835e-03 -5.41900261e-03 5.16371524e+02] [ 4.28980226e-03 9.99986915e-01 -2.78695160e-03 5.62213259e+01] [ 5.43092914e-03 2.76363840e-03 9.99981433e-01 -2.33844836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.181400513 meters 0.09634709025076545 Centerline is valid? [True, True] Translation: X:516.40, Y:56.22, Z:-2.34 [[ 9.99976876e-01 -2.86981636e-03 -6.16541932e-03 5.16401128e+02] [ 2.86614105e-03 9.99995710e-01 -6.04870488e-04 5.62242627e+01] [ 6.16712874e-03 5.87185539e-04 9.99980811e-01 -2.33801518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2114005130001 meters 0.0955079138048312 Centerline is valid? [True, True] Translation: X:516.43, Y:56.23, Z:-2.34 [[ 9.99977876e-01 -2.19196721e-03 -6.28029028e-03 5.16430870e+02] [ 2.18813959e-03 9.99997416e-01 -6.16271200e-04 5.62259646e+01] [ 6.28162490e-03 6.02515414e-04 9.99980089e-01 -2.33805545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.241400513 meters 0.10306355723963607 Centerline is valid? [True, False] Translation: X:516.43, Y:56.22, Z:-2.34 [[ 9.99978457e-01 -2.07369036e-03 -6.22780689e-03 5.16430605e+02] [ 2.07175871e-03 9.99997804e-01 -3.16600916e-04 5.62246335e+01] [ 6.22844974e-03 3.03691582e-04 9.99980557e-01 -2.33783200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.271400513 meters 0.09483914225853127 Centerline is valid? [False, True] Translation: X:516.43, Y:56.22, Z:-2.34 [[ 9.99979065e-01 -2.02743588e-03 -6.14482186e-03 5.16430346e+02] [ 2.02621023e-03 9.99997926e-01 -2.05680662e-04 5.62241331e+01] [ 6.14522612e-03 1.93225655e-04 9.99981099e-01 -2.33785723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.301400513 meters 0.0904765204223035 Centerline is valid? [True, True] Translation: X:516.46, Y:56.22, Z:-2.34 [[ 9.99982184e-01 -2.80790967e-03 -5.26764838e-03 5.16460115e+02] [ 2.80527311e-03 9.99995936e-01 -5.07841032e-04 5.62223808e+01] [ 5.26905295e-03 4.93054792e-04 9.99985997e-01 -2.33729218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.331400513 meters 0.08722115711917901 Centerline is valid? [True, True] Translation: X:516.49, Y:56.22, Z:-2.34 [[ 9.99978052e-01 -3.75365224e-03 -5.45940989e-03 5.16489766e+02] [ 3.75083337e-03 9.99992827e-01 -5.26479480e-04 5.62214961e+01] [ 5.46134695e-03 5.05990588e-04 9.99984959e-01 -2.33735453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.361400513 meters 0.098848196487377 Centerline is valid? [True, True] Translation: X:516.52, Y:56.24, Z:-2.34 [[ 9.99972034e-01 -4.53405939e-03 -5.94750632e-03 5.16515746e+02] [ 4.53072608e-03 9.99989572e-01 -5.73808586e-04 5.62385945e+01] [ 5.95004597e-03 5.46846017e-04 9.99982149e-01 -2.33807788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.391400513 meters 0.09162238532751851 Centerline is valid? [True, True] Translation: X:516.55, Y:56.23, Z:-2.34 [[ 9.99962584e-01 -5.50818026e-03 -6.67005085e-03 5.16545964e+02] [ 5.50400768e-03 9.99984646e-01 -6.43764270e-04 5.62327654e+01] [ 6.67349440e-03 6.07028172e-04 9.99977548e-01 -2.33836174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.421400513 meters 0.09225471468368406 Centerline is valid? [True, True] Translation: X:516.57, Y:56.24, Z:-2.34 [[ 9.99948330e-01 -7.34463969e-03 -7.02806176e-03 5.16574828e+02] [ 7.34005131e-03 9.99972831e-01 -6.78436045e-04 5.62377838e+01] [ 7.03285369e-03 6.26814656e-04 9.99975073e-01 -2.33856695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.451400513 meters 0.09777209878393751 Centerline is valid? [True, True] Translation: X:516.60, Y:56.25, Z:-2.34 [[ 9.99942824e-01 -8.22501579e-03 -6.83355220e-03 5.16602394e+02] [ 8.22069706e-03 9.99965992e-01 -6.59836738e-04 5.62479663e+01] [ 6.83874697e-03 6.03622448e-04 9.99976433e-01 -2.33921355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.481400513 meters 0.09124328232313 Centerline is valid? [True, True] Translation: X:516.63, Y:56.24, Z:-2.34 [[ 9.99937412e-01 -9.02668717e-03 -6.60994988e-03 5.16632094e+02] [ 9.02266211e-03 9.99959091e-01 -6.38507604e-04 5.62429083e+01] [ 6.61544308e-03 5.78828297e-04 9.99977950e-01 -2.33868684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.511400513 meters 0.08824908594693039 Centerline is valid? [True, True] Translation: X:516.66, Y:56.24, Z:-2.34 [[ 9.99930759e-01 -1.01489045e-02 -5.95628927e-03 5.16662383e+02] [ 1.01456551e-02 9.99948366e-01 -5.75499455e-04 5.62419778e+01] [ 5.96182242e-03 5.15029150e-04 9.99982096e-01 -2.33766367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.541400513 meters 0.08626008795054224 Centerline is valid? [True, True] Translation: X:516.69, Y:56.24, Z:-2.34 [[ 9.99916432e-01 -1.17496791e-02 -5.39208197e-03 5.16692604e+02] [ 1.17470389e-02 9.99930865e-01 -5.21041902e-04 5.62423772e+01] [ 5.39783126e-03 4.57657363e-04 9.99985327e-01 -2.33646279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.571400513 meters 0.08283609647622643 Centerline is valid? [True, True] Translation: X:516.72, Y:56.24, Z:-2.34 [[ 9.99852279e-01 -1.62286577e-02 -5.66140113e-03 5.16723118e+02] [ 1.62258183e-02 9.99868203e-01 -5.47097930e-04 5.62404267e+01] [ 5.66953364e-03 4.55156246e-04 9.99983824e-01 -2.33625331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.601400513 meters 0.07832217203868795 Centerline is valid? [True, True] Translation: X:516.75, Y:56.24, Z:-2.34 [[ 9.99805611e-01 -1.88693571e-02 -5.71721851e-03 5.16753774e+02] [ 1.88665043e-02 9.99821859e-01 -5.52500957e-04 5.62365124e+01] [ 5.72662538e-03 4.44529629e-04 9.99983504e-01 -2.33616615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.631400513 meters 0.08586900889746032 Centerline is valid? [True, True] Translation: X:516.78, Y:56.25, Z:-2.34 [[ 9.99753464e-01 -2.15489177e-02 -5.35305216e-03 5.16782483e+02] [ 2.15464548e-02 9.99767714e-01 -5.17351532e-04 5.62461024e+01] [ 5.36295709e-03 4.01884690e-04 9.99985538e-01 -2.33575325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.661400513 meters 0.07486644667448811 Centerline is valid? [True, True] Translation: X:516.81, Y:56.23, Z:-2.33 [[ 9.99702652e-01 -2.38781191e-02 -4.94393269e-03 5.16814378e+02] [ 2.38760464e-02 9.99714812e-01 -4.77849454e-04 5.62329311e+01] [ 4.95393288e-03 3.59665801e-04 9.99987665e-01 -2.33419993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.691400513 meters 0.08009015752257112 Centerline is valid? [True, True] Translation: X:516.84, Y:56.24, Z:-2.33 [[ 9.99634699e-01 -2.66044243e-02 -4.76169775e-03 5.16843571e+02] [ 2.66025322e-02 9.99645984e-01 -4.60274918e-04 5.62369406e+01] [ 4.77225738e-03 3.33433561e-04 9.99988557e-01 -2.33455155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.721400513 meters 0.07235837588691343 Centerline is valid? [True, True] Translation: X:516.87, Y:56.23, Z:-2.33 [[ 9.99627209e-01 -2.68495250e-02 -4.95438268e-03 5.16872439e+02] [ 2.68474772e-02 9.99639427e-01 -4.79392369e-04 5.62303816e+01] [ 4.96546772e-03 3.46200980e-04 9.99987612e-01 -2.33413007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.751400513 meters 0.07057771677699921 Centerline is valid? [True, True] Translation: X:516.90, Y:56.23, Z:-2.33 [[ 9.99624617e-01 -2.69133923e-02 -5.12774420e-03 5.16901814e+02] [ 2.69111950e-02 9.99637705e-01 -4.97040694e-04 5.62286725e+01] [ 5.13926349e-03 3.58860390e-04 9.99986730e-01 -2.33456834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.781400513 meters 0.07126643160117005 Centerline is valid? [True, True] Translation: X:516.93, Y:56.23, Z:-2.34 [[ 9.99613193e-01 -2.72784660e-02 -5.41758324e-03 5.16930865e+02] [ 2.72760138e-02 9.99627802e-01 -5.26006625e-04 5.62301445e+01] [ 5.42991548e-03 3.78033087e-04 9.99985186e-01 -2.33500488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.811400513 meters 0.0711053622085847 Centerline is valid? [True, True] Translation: X:516.96, Y:56.23, Z:-2.34 [[ 9.99590063e-01 -2.80319810e-02 -5.82348715e-03 5.16960294e+02] [ 2.80291551e-02 9.99606946e-01 -5.66318624e-04 5.62309783e+01] [ 5.83707324e-03 4.02859045e-04 9.99982883e-01 -2.33600245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.841400513 meters 0.07918027401625406 Centerline is valid? [True, True] Translation: X:516.99, Y:56.24, Z:-2.34 [[ 9.99564584e-01 -2.89824631e-02 -5.53701477e-03 5.16987700e+02] [ 2.89799201e-02 9.99579849e-01 -5.38966085e-04 5.62387393e+01] [ 5.55030895e-03 3.78269165e-04 9.99984525e-01 -2.33710472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.871400513 meters 0.06814077730004665 Centerline is valid? [True, True] Translation: X:517.02, Y:56.23, Z:-2.34 [[ 9.99522844e-01 -3.05297042e-02 -4.69261562e-03 5.17018935e+02] [ 3.05278939e-02 9.99533811e-01 -4.56937966e-04 5.62252964e+01] [ 4.70437816e-03 3.13464263e-04 9.99988885e-01 -2.33569357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.901400513 meters 0.07341158637217175 Centerline is valid? [True, True] Translation: X:517.05, Y:56.23, Z:-2.33 [[ 9.99514568e-01 -3.09185376e-02 -3.83043629e-03 5.17046222e+02] [ 3.09173338e-02 9.99521875e-01 -3.73108618e-04 5.62304032e+01] [ 3.84014083e-03 2.54500622e-04 9.99992594e-01 -2.33476073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.931400513 meters 0.07524307763483848 Centerline is valid? [True, True] Translation: X:517.07, Y:56.23, Z:-2.33 [[ 9.99512094e-01 -3.10377111e-02 -3.49787458e-03 5.17074007e+02] [ 3.10367073e-02 9.99518187e-01 -3.40896715e-04 5.62318009e+01] [ 3.50676991e-03 2.32167880e-04 9.99993824e-01 -2.33390984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9614005130001 meters 0.07296471298635565 Centerline is valid? [True, True] Translation: X:517.10, Y:56.23, Z:-2.33 [[ 9.99512357e-01 -3.09995568e-02 -3.75188835e-03 5.17102781e+02] [ 3.09984004e-02 9.99519367e-01 -3.65998174e-04 5.62293223e+01] [ 3.76143085e-03 2.49517160e-04 9.99992895e-01 -2.33419742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.991400513 meters 0.06994047534029003 Centerline is valid? [True, True] Translation: X:517.13, Y:56.23, Z:-2.34 [[ 9.99524451e-01 -3.05151737e-02 -4.43805266e-03 5.17131477e+02] [ 3.05135484e-02 9.99534259e-01 -4.33476670e-04 5.62267959e+01] [ 4.44921330e-03 2.97849796e-04 9.99990058e-01 -2.33531824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.021400513 meters 0.08492870111990707 Centerline is valid? [True, True] Translation: X:517.16, Y:56.25, Z:-2.34 [[ 9.99557590e-01 -2.93412873e-02 -4.86960431e-03 5.17158155e+02] [ 2.93393154e-02 9.99569396e-01 -4.75903419e-04 5.62462269e+01] [ 4.88147106e-03 3.32822018e-04 9.99988030e-01 -2.33681177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.051400513 meters 0.06504914334634729 Centerline is valid? [True, True] Translation: X:517.19, Y:56.22, Z:-2.34 [[ 9.99621495e-01 -2.70702015e-02 -4.90618571e-03 5.17190301e+02] [ 2.70681718e-02 9.99633475e-01 -4.79637897e-04 5.62228811e+01] [ 4.91737136e-03 3.46654874e-04 9.99987850e-01 -2.33554820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.081400513 meters 0.07262385950553324 Centerline is valid? [True, True] Translation: X:517.22, Y:56.23, Z:-2.34 [[ 9.99704440e-01 -2.38919469e-02 -4.49522445e-03 5.17218918e+02] [ 2.38902109e-02 9.99714492e-01 -4.39497297e-04 5.62330773e+01] [ 4.50444148e-03 3.31975539e-04 9.99989800e-01 -2.33514442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.111400513 meters 0.0758258409836644 Centerline is valid? [True, True] Translation: X:517.25, Y:56.24, Z:-2.33 [[ 9.99786735e-01 -2.01809891e-02 -4.38324447e-03 5.17248441e+02] [ 2.01793029e-02 9.99796285e-01 -4.28577204e-04 5.62380447e+01] [ 4.39100065e-03 3.40034986e-04 9.99990302e-01 -2.33495141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.141400513 meters 0.08356658456189107 Centerline is valid? [True, True] Translation: X:517.28, Y:56.25, Z:-2.34 [[ 9.99905820e-01 -1.26782751e-02 -5.25467098e-03 5.17276768e+02] [ 1.26757488e-02 9.99919527e-01 -5.13798463e-04 5.62474324e+01] [ 5.26076220e-03 4.47143184e-04 9.99986062e-01 -2.33687013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.171400513 meters 0.08889259848816426 Centerline is valid? [True, True] Translation: X:517.31, Y:56.26, Z:-2.34 [[ 9.99936768e-01 -9.46556565e-03 -6.07145258e-03 5.17305736e+02] [ 9.46213400e-03 9.99955057e-01 -5.93687468e-04 5.62561582e+01] [ 6.07679930e-03 5.36201030e-04 9.99981392e-01 -2.33846816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.201400513 meters 0.08890799080671963 Centerline is valid? [True, True] Translation: X:517.34, Y:56.26, Z:-2.34 [[ 9.99951774e-01 -7.01853926e-03 -6.86951143e-03 5.17335565e+02] [ 7.01408836e-03 9.99975175e-01 -6.71798567e-04 5.62588328e+01] [ 6.87405594e-03 6.23582809e-04 9.99976179e-01 -2.33949859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.231400513 meters 0.0985399807979999 Centerline is valid? [True, True] Translation: X:517.36, Y:56.27, Z:-2.34 [[ 9.99963281e-01 -4.84780514e-03 -7.06648240e-03 5.17363340e+02] [ 4.84304137e-03 9.99988034e-01 -6.91092482e-04 5.62740521e+01] [ 7.06974812e-03 6.56843839e-04 9.99974793e-01 -2.34053051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.261400513 meters 0.09625943017590681 Centerline is valid? [True, True] Translation: X:517.39, Y:56.28, Z:-2.34 [[ 9.99971783e-01 -2.96551419e-03 -6.90206227e-03 5.17394276e+02] [ 2.96092497e-03 9.99995389e-01 -6.75029423e-04 5.62750938e+01] [ 6.90403226e-03 6.54573888e-04 9.99975953e-01 -2.33996802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.291400513 meters 0.08933913162233453 Centerline is valid? [True, True] Translation: X:517.42, Y:56.27, Z:-2.34 [[ 9.99978458e-01 -1.50471847e-03 -6.38903098e-03 5.17424512e+02] [ 1.50075626e-03 9.99998679e-01 -6.24906660e-04 5.62707552e+01] [ 6.38996285e-03 6.15304819e-04 9.99979395e-01 -2.33876042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.321400513 meters 0.0887880216498357 Centerline is valid? [True, True] Translation: X:517.45, Y:56.28, Z:-2.34 [[ 9.99982689e-01 -1.95888011e-04 -5.88082204e-03 5.17453816e+02] [ 1.92508283e-04 9.99999816e-01 -5.75263820e-04 5.62763279e+01] [ 5.88093365e-03 5.74121754e-04 9.99982542e-01 -2.33828226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.351400513 meters 0.10523141702738874 Centerline is valid? [True, False] Translation: X:517.46, Y:56.28, Z:-2.34 [[ 9.99973337e-01 2.46761819e-03 -6.87288722e-03 5.17460406e+02] [-2.45311157e-03 9.99994747e-01 2.11833306e-03 5.62761621e+01] [ 6.87807835e-03 -2.10141662e-03 9.99974138e-01 -2.34280818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.381400513 meters 0.10603067436742156 Centerline is valid? [False, False] Translation: X:517.46, Y:56.28, Z:-2.34 [[ 9.99973499e-01 2.42743689e-03 -6.86361590e-03 5.17460264e+02] [-2.41366629e-03 9.99995059e-01 2.01389194e-03 5.62766696e+01] [ 6.86847058e-03 -1.99727209e-03 9.99974417e-01 -2.34256915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.411400513 meters 0.0995698666634592 Centerline is valid? [False, True] Translation: X:517.46, Y:56.28, Z:-2.34 [[ 9.99973310e-01 2.45259546e-03 -6.88221795e-03 5.17460125e+02] [-2.43831783e-03 9.99994860e-01 2.08219207e-03 5.62764261e+01] [ 6.88728935e-03 -2.06535546e-03 9.99974149e-01 -2.34209718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.441400513 meters 0.09091671604375068 Centerline is valid? [True, True] Translation: X:517.49, Y:56.27, Z:-2.34 [[ 9.99981780e-01 7.35530948e-05 -6.03607959e-03 5.17490501e+02] [-7.68829837e-05 9.99999845e-01 -5.51433994e-04 5.62707184e+01] [ 6.03603809e-03 5.51888019e-04 9.99981631e-01 -2.34089435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.471400513 meters 0.08456697408241806 Centerline is valid? [True, True] Translation: X:517.52, Y:56.27, Z:-2.34 [[ 9.99971187e-01 -5.69428944e-03 -5.02002201e-03 5.17521623e+02] [ 5.69205806e-03 9.99983695e-01 -4.58671517e-04 5.62650079e+01] [ 5.02255197e-03 4.30084044e-04 9.99987294e-01 -2.33877553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.501400513 meters 0.08304332493869634 Centerline is valid? [True, True] Translation: X:517.55, Y:56.27, Z:-2.34 [[ 9.99949134e-01 -8.80397063e-03 -4.92142658e-03 5.17551109e+02] [ 8.80186331e-03 9.99961162e-01 -4.49690131e-04 5.62653447e+01] [ 4.92519449e-03 4.06349533e-04 9.99987789e-01 -2.33857982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.531400513 meters 0.07203013846056279 Centerline is valid? [True, True] Translation: X:517.58, Y:56.25, Z:-2.34 [[ 9.99913810e-01 -1.20648999e-02 -5.17782953e-03 5.17582685e+02] [ 1.20626103e-02 9.99927132e-01 -4.73210842e-04 5.62537935e+01] [ 5.18316147e-03 4.10711917e-04 9.99986483e-01 -2.33901696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.561400513 meters 0.07670778355697254 Centerline is valid? [True, True] Translation: X:517.61, Y:56.26, Z:-2.34 [[ 9.99871983e-01 -1.50930466e-02 -5.31199310e-03 5.17611342e+02] [ 1.50906789e-02 9.99886011e-01 -4.85537157e-04 5.62607446e+01] [ 5.31871583e-03 4.05313418e-04 9.99985773e-01 -2.33950882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.591400513 meters 0.0766126449702764 Centerline is valid? [True, True] Translation: X:517.64, Y:56.26, Z:-2.34 [[ 9.99828530e-01 -1.77161918e-02 -5.38946573e-03 5.17640641e+02] [ 1.77137917e-02 9.99842977e-01 -4.92758736e-04 5.62615023e+01] [ 5.39734927e-03 3.97206370e-04 9.99985355e-01 -2.33969096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.621400513 meters 0.07305190344432058 Centerline is valid? [True, True] Translation: X:517.67, Y:56.26, Z:-2.34 [[ 9.99799207e-01 -1.94478725e-02 -4.82974483e-03 5.17670575e+02] [ 1.94459648e-02 9.99810812e-01 -4.41645171e-04 5.62580233e+01] [ 4.83742016e-03 3.47637444e-04 9.99988239e-01 -2.33877478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.651400513 meters 0.07303133022427523 Centerline is valid? [True, True] Translation: X:517.70, Y:56.26, Z:-2.34 [[ 9.99781392e-01 -2.06159200e-02 -3.48597553e-03 5.17699665e+02] [ 2.06149330e-02 9.99787439e-01 -3.18818322e-04 5.62583896e+01] [ 3.49180728e-03 2.46885473e-04 9.99993873e-01 -2.33727398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.681400513 meters 0.0759487485237758 Centerline is valid? [True, True] Translation: X:517.73, Y:56.26, Z:-2.34 [[ 9.99780785e-01 -2.06838363e-02 -3.24986951e-03 5.17725852e+02] [ 2.06829788e-02 9.99786040e-01 -2.97234324e-04 5.62637426e+01] [ 3.25532212e-03 2.29952183e-04 9.99994675e-01 -2.33681127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7114005130001 meters 0.07715849063794455 Centerline is valid? [True, True] Translation: X:517.75, Y:56.27, Z:-2.34 [[ 9.99774731e-01 -2.09576768e-02 -3.35592052e-03 5.17753932e+02] [ 2.09567630e-02 9.99780336e-01 -3.07223122e-04 5.62670676e+01] [ 3.36162203e-03 2.36824684e-04 9.99994322e-01 -2.33696125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.741400513 meters 0.07582950906928247 Centerline is valid? [True, True] Translation: X:517.78, Y:56.27, Z:-2.34 [[ 9.99768618e-01 -2.12493610e-02 -3.34296391e-03 5.17783250e+02] [ 2.12484556e-02 9.99774179e-01 -3.06125696e-04 5.62674570e+01] [ 3.34871398e-03 2.35022044e-04 9.99994365e-01 -2.33662855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.771400513 meters 0.0707992755935638 Centerline is valid? [True, True] Translation: X:517.81, Y:56.26, Z:-2.34 [[ 9.99766184e-01 -2.13576333e-02 -3.38071532e-03 5.17811688e+02] [ 2.13567062e-02 9.99771871e-01 -3.10079625e-04 5.62632007e+01] [ 3.38656665e-03 2.37806179e-04 9.99994237e-01 -2.33641792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.801400513 meters 0.08634338230561539 Centerline is valid? [True, True] Translation: X:517.84, Y:56.28, Z:-2.34 [[ 9.99785991e-01 -2.04284429e-02 -3.26356362e-03 5.17838803e+02] [ 2.04275718e-02 9.99791290e-01 -3.00039380e-04 5.62847860e+01] [ 3.26901182e-03 2.33308488e-04 9.99994630e-01 -2.33582179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.831400513 meters 0.08590164817695935 Centerline is valid? [True, True] Translation: X:517.87, Y:56.29, Z:-2.34 [[ 9.99849941e-01 -1.69554798e-02 -3.55065567e-03 5.17869351e+02] [ 1.69544264e-02 9.99856210e-01 -3.26583565e-04 5.62887791e+01] [ 3.55568250e-03 2.66335228e-04 9.99993643e-01 -2.33650508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.861400513 meters 0.0854494773732538 Centerline is valid? [True, True] Translation: X:517.90, Y:56.29, Z:-2.34 [[ 9.99881282e-01 -1.48214676e-02 -4.21270014e-03 5.17899695e+02] [ 1.48199657e-02 9.99890103e-01 -3.87510773e-04 5.62924129e+01] [ 4.21798066e-03 3.25032696e-04 9.99991051e-01 -2.33796753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.891400513 meters 0.0859260989412601 Centerline is valid? [True, True] Translation: X:517.93, Y:56.30, Z:-2.34 [[ 9.99905234e-01 -1.28199572e-02 -5.01722584e-03 5.17929669e+02] [ 1.28178018e-02 9.99917742e-01 -4.61537140e-04 5.62972481e+01] [ 5.02273002e-03 3.97183596e-04 9.99987307e-01 -2.33949717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.921400513 meters 0.07889095090640073 Centerline is valid? [True, True] Translation: X:517.96, Y:56.29, Z:-2.34 [[ 9.99926725e-01 -1.07867637e-02 -5.49457215e-03 5.17960371e+02] [ 1.07841479e-02 9.99941722e-01 -5.05465760e-04 5.62920939e+01] [ 5.49970427e-03 4.46174443e-04 9.99984777e-01 -2.34006930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.951400513 meters 0.07889095090640073 Centerline is valid? [True, True] Translation: X:517.99, Y:56.29, Z:-2.34 [[ 9.99924783e-01 -1.09653265e-02 -5.49455083e-03 5.17987855e+02] [ 1.09627122e-02 9.99939780e-01 -5.05697283e-04 5.62947550e+01] [ 5.49976508e-03 4.45424067e-04 9.99984777e-01 -2.33995080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.981400513 meters 0.08143186949739004 Centerline is valid? [True, True] Translation: X:518.02, Y:56.30, Z:-2.34 [[ 9.99936533e-01 -9.85864541e-03 -5.45324793e-03 5.18016057e+02] [ 9.85604940e-03 9.99951302e-01 -5.02717749e-04 5.63010743e+01] [ 5.45793848e-03 4.48938362e-04 9.99985005e-01 -2.33942464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.011400513 meters 0.08268241995245822 Centerline is valid? [True, True] Translation: X:518.04, Y:56.31, Z:-2.34 [[ 9.99939944e-01 -9.80480687e-03 -4.89640710e-03 5.18044009e+02] [ 9.80271193e-03 9.99951850e-01 -4.51669507e-04 5.63074463e+01] [ 4.90059987e-03 4.03644313e-04 9.99987911e-01 -2.33880344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.041400513 meters 0.08022561425556128 Centerline is valid? [True, True] Translation: X:518.07, Y:56.31, Z:-2.34 [[ 9.99928837e-01 -1.08311317e-02 -5.00075337e-03 5.18073458e+02] [ 1.08289558e-02 9.99941258e-01 -4.61988520e-04 5.63086695e+01] [ 5.00546347e-03 4.07802707e-04 9.99987389e-01 -2.33906186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.071400513 meters 0.06826835296184876 Centerline is valid? [True, True] Translation: X:518.10, Y:56.30, Z:-2.34 [[ 9.99921219e-01 -1.09230811e-02 -6.18400293e-03 5.18098617e+02] [ 1.08809168e-02 9.99917602e-01 -6.81135215e-03 5.63020644e+01] [ 6.25789433e-03 6.74352793e-03 9.99957681e-01 -2.34216874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.101400513 meters 0.07869750726751347 Centerline is valid? [True, True] Translation: X:518.13, Y:56.31, Z:-2.34 [[ 9.99874267e-01 -1.37853509e-02 -7.83677674e-03 5.18130737e+02] [ 1.38282659e-02 9.99889540e-01 5.44855158e-03 5.63102373e+01] [ 7.76080090e-03 -5.55623554e-03 9.99954448e-01 -2.34134326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.131400513 meters 0.07596150744773456 Centerline is valid? [True, True] Translation: X:518.16, Y:56.32, Z:-2.34 [[ 9.99826523e-01 -1.64966512e-02 -8.64777277e-03 5.18160960e+02] [ 1.64903378e-02 9.99863704e-01 -8.00861538e-04 5.63178034e+01] [ 8.65980565e-03 6.58117913e-04 9.99962287e-01 -2.34412368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.161400513 meters 0.08032221033879604 Centerline is valid? [True, True] Translation: X:518.19, Y:56.33, Z:-2.34 [[ 9.99815584e-01 -1.75010964e-02 -7.90628270e-03 5.18188698e+02] [ 1.74958495e-02 9.99846668e-01 -7.32321914e-04 5.63277901e+01] [ 7.91788684e-03 5.93859730e-04 9.99968477e-01 -2.34303165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.191400513 meters 0.08363820556427067 Centerline is valid? [True, True] Translation: X:518.22, Y:56.34, Z:-2.34 [[ 9.99811879e-01 -1.81910499e-02 -6.72998793e-03 5.18215593e+02] [ 1.81872619e-02 9.99834404e-01 -6.23620337e-04 5.63361957e+01] [ 6.74021778e-03 5.01102968e-04 9.99977159e-01 -2.34131502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.221400513 meters 0.07651896313150769 Centerline is valid? [True, True] Translation: X:518.24, Y:56.33, Z:-2.34 [[ 9.99804320e-01 -1.89456695e-02 -5.69058047e-03 5.18244748e+02] [ 1.89429712e-02 9.99820427e-01 -5.27710565e-04 5.63316132e+01] [ 5.69955643e-03 4.19810801e-04 9.99983669e-01 -2.33906676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.251400513 meters 0.06929288099962601 Centerline is valid? [True, True] Translation: X:518.27, Y:56.33, Z:-2.34 [[ 9.99790827e-01 -1.97345034e-02 -5.37145064e-03 5.18274567e+02] [ 1.97321064e-02 9.99805179e-01 -4.98883700e-04 5.63267260e+01] [ 5.38024939e-03 3.92789311e-04 9.99985449e-01 -2.33791765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.281400513 meters 0.07471501121151188 Centerline is valid? [True, True] Translation: X:518.30, Y:56.34, Z:-2.34 [[ 9.99773834e-01 -2.04914106e-02 -5.69065300e-03 5.18302022e+02] [ 2.04887282e-02 9.99789944e-01 -5.29272600e-04 5.63380623e+01] [ 5.70030318e-03 4.12558654e-04 9.99983668e-01 -2.33800568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.311400513 meters 0.0781488288192574 Centerline is valid? [True, True] Translation: X:518.33, Y:56.35, Z:-2.34 [[ 9.99798332e-01 -1.94644824e-02 -4.94260333e-03 5.18325507e+02] [ 1.94603357e-02 9.99810237e-01 -8.85680492e-04 5.63490281e+01] [ 4.95890473e-03 7.89317158e-04 9.99987393e-01 -2.33750686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.341400513 meters 0.07331842787529158 Centerline is valid? [True, True] Translation: X:518.36, Y:56.35, Z:-2.34 [[ 9.99753526e-01 -2.16349390e-02 -4.98167581e-03 5.18359676e+02] [ 2.16348471e-02 9.99765937e-01 -7.23442830e-05 5.63492832e+01] [ 4.98207495e-03 -3.54513425e-05 9.99987589e-01 -2.33679633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.371400513 meters 0.08010826571686802 Centerline is valid? [True, True] Translation: X:518.39, Y:56.36, Z:-2.34 [[ 9.99751640e-01 -2.18208479e-02 -4.52875441e-03 5.18386364e+02] [ 2.18191600e-02 9.99761845e-01 -4.21801236e-04 5.63616758e+01] [ 4.53687993e-03 3.22882860e-04 9.99989656e-01 -2.33601906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.401400513 meters 0.08107581270664647 Centerline is valid? [True, True] Translation: X:518.41, Y:56.37, Z:-2.34 [[ 9.99744242e-01 -2.22524106e-02 -4.03482568e-03 5.18414786e+02] [ 2.22510735e-02 9.99752344e-01 -3.75971049e-04 5.63661078e+01] [ 4.04219269e-03 2.86095689e-04 9.99991789e-01 -2.33512897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.431400513 meters 0.07061866191307661 Centerline is valid? [True, True] Translation: X:518.44, Y:56.36, Z:-2.33 [[ 9.99736463e-01 -2.26193888e-02 -3.92007655e-03 5.18444740e+02] [ 2.26181273e-02 9.99744110e-01 -3.65841920e-04 5.63568165e+01] [ 3.92734856e-03 2.77080717e-04 9.99992250e-01 -2.33461577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4614005130001 meters 0.07120683540661259 Centerline is valid? [True, True] Translation: X:518.47, Y:56.36, Z:-2.33 [[ 9.99730760e-01 -2.28938356e-02 -3.77890006e-03 5.18473521e+02] [ 2.28926631e-02 9.99737866e-01 -3.53241493e-04 5.63616399e+01] [ 3.78599654e-03 2.66637300e-04 9.99992798e-01 -2.33421238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.491400513 meters 0.08160641004306331 Centerline is valid? [True, True] Translation: X:518.50, Y:56.38, Z:-2.33 [[ 9.99763603e-01 -2.15279491e-02 -3.04714503e-03 5.18500369e+02] [ 2.15271790e-02 9.99768223e-01 -2.85319472e-04 5.63796364e+01] [ 3.05258112e-03 2.19655587e-04 9.99995317e-01 -2.33330976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.521400513 meters 0.08059140585787494 Centerline is valid? [True, True] Translation: X:518.53, Y:56.38, Z:-2.33 [[ 9.99791391e-01 -2.01645804e-02 -3.25024588e-03 5.18530281e+02] [ 2.01636963e-02 9.99796646e-01 -3.04562438e-04 5.63817726e+01] [ 3.25572630e-03 2.38961933e-04 9.99994672e-01 -2.33326479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.551400513 meters 0.08375534062337932 Centerline is valid? [True, True] Translation: X:518.56, Y:56.39, Z:-2.33 [[ 9.99823515e-01 -1.85293631e-02 -3.09872796e-03 5.18560425e+02] [ 1.85285515e-02 9.99828289e-01 -2.90408675e-04 5.63885427e+01] [ 3.10357697e-03 2.32942482e-04 9.99995157e-01 -2.33348570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.581400513 meters 0.08588401590294341 Centerline is valid? [True, True] Translation: X:518.59, Y:56.39, Z:-2.33 [[ 9.99855413e-01 -1.67616950e-02 -2.86336195e-03 5.18589601e+02] [ 1.67609948e-02 9.99859489e-01 -2.68335192e-04 5.63946230e+01] [ 2.86745737e-03 2.20303599e-04 9.99995865e-01 -2.33334861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.611400513 meters 0.08012812038167628 Centerline is valid? [True, True] Translation: X:518.62, Y:56.39, Z:-2.33 [[ 9.99887887e-01 -1.47512562e-02 -2.57166442e-03 5.18620465e+02] [ 1.47506848e-02 9.99891174e-01 -2.41032420e-04 5.63914586e+01] [ 2.57494008e-03 2.03071586e-04 9.99996664e-01 -2.33354219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.641400513 meters 0.0833136266476796 Centerline is valid? [True, True] Translation: X:518.65, Y:56.40, Z:-2.33 [[ 9.99938874e-01 -1.08645344e-02 -2.05200731e-03 5.18650576e+02] [ 1.08641624e-02 9.99940965e-01 -1.92354888e-04 5.64001813e+01] [ 2.05397601e-03 1.70049789e-04 9.99997876e-01 -2.33335155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.671400513 meters 0.09243149221231227 Centerline is valid? [True, True] Translation: X:518.68, Y:56.41, Z:-2.33 [[ 9.99953985e-01 -9.29422249e-03 -2.37596109e-03 5.18678131e+02] [ 9.29371950e-03 9.99956788e-01 -2.22654245e-04 5.64143580e+01] [ 2.37792782e-03 2.00562484e-04 9.99997153e-01 -2.33299870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.701400513 meters 0.08789176624189621 Centerline is valid? [True, True] Translation: X:518.71, Y:56.41, Z:-2.33 [[ 9.99957474e-01 -8.60375500e-03 -3.32038964e-03 5.18708312e+02] [ 8.60276852e-03 9.99962947e-01 -3.11268141e-04 5.64105023e+01] [ 3.32294469e-03 2.82690361e-04 9.99994439e-01 -2.33438128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.731400513 meters 0.08469687494639828 Centerline is valid? [True, True] Translation: X:518.74, Y:56.41, Z:-2.33 [[ 9.99962923e-01 -7.90249669e-03 -3.42084621e-03 5.18738177e+02] [ 7.90144526e-03 9.99968732e-01 -3.20763989e-04 5.64125872e+01] [ 3.42327408e-03 2.93722468e-04 9.99994097e-01 -2.33467401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.761400513 meters 0.08425269816174044 Centerline is valid? [True, True] Translation: X:518.77, Y:56.42, Z:-2.34 [[ 9.99960396e-01 -8.30123125e-03 -3.20878734e-03 5.18766931e+02] [ 8.30030843e-03 9.99965507e-01 -3.00800850e-04 5.64168897e+01] [ 3.21117368e-03 2.74155013e-04 9.99994807e-01 -2.33511296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.791400513 meters 0.09663646977066186 Centerline is valid? [True, True] Translation: X:518.79, Y:56.44, Z:-2.33 [[ 9.99956572e-01 -8.97025381e-03 -2.52745876e-03 5.18793360e+02] [ 8.96968226e-03 9.99959743e-01 -2.37381535e-04 5.64365862e+01] [ 2.52948639e-03 2.14700724e-04 9.99996778e-01 -2.33453257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.821400513 meters 0.09227649390797943 Centerline is valid? [True, True] Translation: X:518.82, Y:56.44, Z:-2.34 [[ 9.99935871e-01 -1.09799258e-02 -2.77391110e-03 5.18823620e+02] [ 1.09792445e-02 9.99939692e-01 -2.60733724e-04 5.64369013e+01] [ 2.77660665e-03 2.30261555e-04 9.99996119e-01 -2.33587497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.851400513 meters 0.0901895112876995 Centerline is valid? [True, True] Translation: X:518.85, Y:56.44, Z:-2.34 [[ 9.99921620e-01 -1.20557669e-02 -3.37835123e-03 5.18853621e+02] [ 1.20547624e-02 9.99927288e-01 -3.17552825e-04 5.64381605e+01] [ 3.38193393e-03 2.76802714e-04 9.99994243e-01 -2.33662495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.881400513 meters 0.0814892381140183 Centerline is valid? [True, True] Translation: X:518.88, Y:56.43, Z:-2.34 [[ 9.99909161e-01 -1.29115115e-02 -3.86815151e-03 5.18883851e+02] [ 1.29102010e-02 9.99916594e-01 -3.63583943e-04 5.64312525e+01] [ 3.87252330e-03 3.13612302e-04 9.99992453e-01 -2.33738333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.911400513 meters 0.08319022710815902 Centerline is valid? [True, True] Translation: X:518.91, Y:56.44, Z:-2.34 [[ 9.99894898e-01 -1.38364325e-02 -4.32972439e-03 5.18911454e+02] [ 1.38347961e-02 9.99904212e-01 -4.07667362e-04 5.64368825e+01] [ 4.33495032e-03 3.47723661e-04 9.99990544e-01 -2.33778326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.941400513 meters 0.08930889733313808 Centerline is valid? [True, True] Translation: X:518.94, Y:56.45, Z:-2.34 [[ 9.99878819e-01 -1.47747433e-02 -4.90445671e-03 5.18939865e+02] [ 1.47726534e-02 9.99890772e-01 -4.62064082e-04 5.64476752e+01] [ 4.91074788e-03 3.89556249e-04 9.99987866e-01 -2.33830781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.971400513 meters 0.07918827683469787 Centerline is valid? [True, True] Translation: X:518.97, Y:56.44, Z:-2.34 [[ 9.99852975e-01 -1.60851275e-02 -5.94109656e-03 5.18971195e+02] [ 1.60820829e-02 9.99870518e-01 -5.59891649e-04 5.64359840e+01] [ 5.94933323e-03 4.64264124e-04 9.99982195e-01 -2.33907067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.001400513 meters 0.08205741551595268 Centerline is valid? [True, True] Translation: X:519.00, Y:56.45, Z:-2.34 [[ 9.99819320e-01 -1.79874281e-02 -6.14660283e-03 5.18999143e+02] [ 1.79842039e-02 9.99838103e-01 -5.79427286e-04 5.64458470e+01] [ 6.15603012e-03 4.68780836e-04 9.99980942e-01 -2.33909746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.031400513 meters 0.0865137987046943 Centerline is valid? [True, True] Translation: X:519.03, Y:56.46, Z:-2.34 [[ 9.99806524e-01 -1.88730440e-02 -5.54289978e-03 5.19026530e+02] [ 1.88704348e-02 9.99821801e-01 -5.22653421e-04 5.64558004e+01] [ 5.55177610e-03 4.17955371e-04 9.99984501e-01 -2.33850311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.061400513 meters 0.0791991052262716 Centerline is valid? [True, True] Translation: X:519.06, Y:56.45, Z:-2.34 [[ 9.99804298e-01 -1.91939868e-02 -4.79124824e-03 5.19056001e+02] [ 1.91920398e-02 9.99815714e-01 -4.52016715e-04 5.64523060e+01] [ 4.79904128e-03 3.59974428e-04 9.99988420e-01 -2.33728834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.091400513 meters 0.08750062595457478 Centerline is valid? [True, True] Translation: X:519.08, Y:56.47, Z:-2.34 [[ 9.99811518e-01 -1.89784900e-02 -4.09222963e-03 5.19082558e+02] [ 1.89770656e-02 9.99819845e-01 -3.86619438e-04 5.64676810e+01] [ 4.09882985e-03 3.08888057e-04 9.99991552e-01 -2.33629851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.121400513 meters 0.07844395980306419 Centerline is valid? [True, True] Translation: X:519.11, Y:56.46, Z:-2.34 [[ 9.99819363e-01 -1.86216944e-02 -3.80444770e-03 5.19112312e+02] [ 1.86204598e-02 9.99826560e-01 -3.59684562e-04 5.64613367e+01] [ 3.81048579e-03 2.88779024e-04 9.99992698e-01 -2.33597345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.151400513 meters 0.08676861855904236 Centerline is valid? [True, True] Translation: X:519.14, Y:56.48, Z:-2.34 [[ 9.99822138e-01 -1.80372801e-02 -5.50896151e-03 5.19138733e+02] [ 1.80346768e-02 9.99837226e-01 -5.21869299e-04 5.64782657e+01] [ 5.51747790e-03 4.22424138e-04 9.99984689e-01 -2.33847849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.181400513 meters 0.0778670808118889 Centerline is valid? [True, True] Translation: X:519.17, Y:56.47, Z:-2.34 [[ 9.99814489e-01 -1.82489684e-02 -6.16135420e-03 5.19166854e+02] [ 1.82457123e-02 9.99833362e-01 -5.84272911e-04 5.64734093e+01] [ 6.17098987e-03 4.71746226e-04 9.99980848e-01 -2.33966351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2114005130001 meters 0.08749270298203037 Centerline is valid? [True, True] Translation: X:519.19, Y:56.49, Z:-2.34 [[ 9.99807585e-01 -1.87451837e-02 -5.78029358e-03 5.19192743e+02] [ 1.87423213e-02 9.99824197e-01 -5.48977418e-04 5.64915152e+01] [ 5.78956806e-03 4.40535667e-04 9.99983143e-01 -2.33957698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.241400513 meters 0.07707980852030062 Centerline is valid? [True, True] Translation: X:519.22, Y:56.48, Z:-2.34 [[ 9.99789962e-01 -2.00078606e-02 -4.44052570e-03 5.19223880e+02] [ 2.00061825e-02 9.99799767e-01 -4.21994816e-04 5.64848301e+01] [ 4.44807977e-03 3.33068213e-04 9.99990052e-01 -2.33709424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.271400513 meters 0.07233133755351723 Centerline is valid? [True, True] Translation: X:519.25, Y:56.49, Z:-2.33 [[ 9.99673201e-01 -2.55382020e-02 -1.13632493e-03 5.19254663e+02] [ 2.55380957e-02 9.99673844e-01 -1.07994684e-04 5.64854097e+01] [ 1.13871230e-03 7.89398161e-05 9.99999349e-01 -2.33196248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.301400513 meters 0.07021034785776308 Centerline is valid? [True, True] Translation: X:519.28, Y:56.49, Z:-2.33 [[ 9.99567925e-01 -2.93873767e-02 -5.88189595e-04 5.19283397e+02] [ 2.93873489e-02 9.99568097e-01 -5.57933185e-05 5.64866205e+01] [ 5.89575173e-04 3.84838787e-05 9.99999825e-01 -2.33114510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.331400513 meters 0.06474546341090467 Centerline is valid? [True, True] Translation: X:519.31, Y:56.48, Z:-2.33 [[ 9.99436725e-01 -3.35488831e-02 -8.40261767e-04 5.19314050e+02] [ 3.35488278e-02 9.99437076e-01 -7.98614261e-05 5.64829662e+01] [ 8.42468025e-04 5.16266449e-05 9.99999644e-01 -2.33180116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.361400513 meters 0.06083169898892284 Centerline is valid? [True, True] Translation: X:519.34, Y:56.48, Z:-2.33 [[ 9.99290852e-01 -3.76207418e-02 -1.57226801e-03 5.19344138e+02] [ 3.76205531e-02 9.99292085e-01 -1.49446911e-04 5.64803093e+01] [ 1.57677728e-03 9.01913385e-05 9.99998753e-01 -2.33344064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.391400513 meters 0.06352391636553155 Centerline is valid? [True, True] Translation: X:519.37, Y:56.48, Z:-2.33 [[ 9.99137436e-01 -4.14651839e-02 -2.24097464e-03 5.19373256e+02] [ 4.14648099e-02 9.99139942e-01 -2.13092103e-04 5.64846069e+01] [ 2.24788317e-03 1.19986710e-04 9.99997466e-01 -2.33414283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.421400513 meters 0.05251492415420592 Centerline is valid? [True, True] Translation: X:519.41, Y:56.47, Z:-2.33 [[ 9.98987635e-01 -4.49192968e-02 -2.44189024e-03 5.19405304e+02] [ 4.49188630e-02 9.98990611e-01 -2.32254923e-04 5.64715971e+01] [ 2.44985815e-03 1.22332863e-04 9.99996992e-01 -2.33447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.451400513 meters 0.04763956165534709 Centerline is valid? [True, True] Translation: X:519.44, Y:56.46, Z:-2.33 [[ 9.98792507e-01 -4.90929941e-02 -1.84559554e-03 5.19436717e+02] [ 4.90927533e-02 9.98794208e-01 -1.75541202e-04 5.64645636e+01] [ 1.85198798e-03 8.47238706e-05 9.99998281e-01 -2.33257361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.481400513 meters 0.04645840900310284 Centerline is valid? [True, True] Translation: X:519.47, Y:56.46, Z:-2.33 [[ 9.98775470e-01 -4.94060318e-02 -2.56973869e-03 5.19465781e+02] [ 4.94055668e-02 9.98778769e-01 -2.44142557e-04 5.64614996e+01] [ 2.57866256e-03 1.16884201e-04 9.99996668e-01 -2.33360237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.511400513 meters 0.053606312245871424 Centerline is valid? [True, True] Translation: X:519.49, Y:56.47, Z:-2.33 [[ 9.98860072e-01 -4.76371858e-02 -3.04213207e-03 5.19493683e+02] [ 4.76365236e-02 9.98864694e-01 -2.89827322e-04 5.64740285e+01] [ 3.05248488e-03 1.44580344e-04 9.99995331e-01 -2.33377347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.541400513 meters 0.05293602339461913 Centerline is valid? [True, True] Translation: X:519.52, Y:56.47, Z:-2.34 [[ 9.98988652e-01 -4.47869707e-02 -3.97491168e-03 5.19524414e+02] [ 4.47858167e-02 9.98996540e-01 -3.78893824e-04 5.64741299e+01] [ 3.98789252e-03 2.00490964e-04 9.99992028e-01 -2.33516708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.571400513 meters 0.060855041075282064 Centerline is valid? [True, True] Translation: X:519.55, Y:56.48, Z:-2.34 [[ 9.99277231e-01 -3.76925161e-02 -4.92857303e-03 5.19552955e+02] [ 3.76906559e-02 9.99289344e-01 -4.69798633e-04 5.64840406e+01] [ 4.94277840e-03 2.83697927e-04 9.99987744e-01 -2.33692703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.601400513 meters 0.0627009696416503 Centerline is valid? [True, True] Translation: X:519.58, Y:56.49, Z:-2.34 [[ 9.99377978e-01 -3.49423646e-02 -4.76328531e-03 5.19583057e+02] [ 3.49405959e-02 9.99389288e-01 -4.54048813e-04 5.64879921e+01] [ 4.77624186e-03 2.87334357e-04 9.99988552e-01 -2.33689315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.631400513 meters 0.06417783028275878 Centerline is valid? [True, True] Translation: X:519.61, Y:56.49, Z:-2.34 [[ 9.99450827e-01 -3.28412041e-02 -4.41595591e-03 5.19613402e+02] [ 3.28396634e-02 9.99460544e-01 -4.20957775e-04 5.64911094e+01] [ 4.42739846e-03 2.75708091e-04 9.99990161e-01 -2.33619411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.661400513 meters 0.059287061482283784 Centerline is valid? [True, True] Translation: X:519.64, Y:56.48, Z:-2.34 [[ 9.99485343e-01 -3.16866840e-02 -5.00037808e-03 5.19643420e+02] [ 3.16846941e-02 9.99497800e-01 -4.76694539e-04 5.64829664e+01] [ 5.01297176e-03 3.18013755e-04 9.99987384e-01 -2.33646583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.691400513 meters 0.06849160408763795 Centerline is valid? [True, True] Translation: X:519.67, Y:56.50, Z:-2.34 [[ 9.99518246e-01 -3.06261298e-02 -5.03154994e-03 5.19671092e+02] [ 3.06241007e-02 9.99530857e-01 -4.79849120e-04 5.64972865e+01] [ 5.04388535e-03 3.25531258e-04 9.99987227e-01 -2.33676768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.721400513 meters 0.06980084229274325 Centerline is valid? [True, True] Translation: X:519.70, Y:56.50, Z:-2.34 [[ 9.99530598e-01 -3.01734369e-02 -5.30545823e-03 5.19698392e+02] [ 3.01711731e-02 9.99544618e-01 -5.06232220e-04 5.64993086e+01] [ 5.31831699e-03 3.45922695e-04 9.99985798e-01 -2.33740979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.751400513 meters 0.06800296429639341 Centerline is valid? [True, True] Translation: X:519.73, Y:56.50, Z:-2.34 [[ 9.99551967e-01 -2.93258094e-02 -5.98852076e-03 5.19728545e+02] [ 2.93229070e-02 9.99569827e-01 -5.71917237e-04 5.64961547e+01] [ 6.00271659e-03 3.96060162e-04 9.99981905e-01 -2.33900750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.781400513 meters 0.06510376135492135 Centerline is valid? [True, True] Translation: X:519.76, Y:56.49, Z:-2.34 [[ 9.99574691e-01 -2.84478749e-02 -6.41527478e-03 5.19758387e+02] [ 2.84445250e-02 9.99595185e-01 -6.12825680e-04 5.64929893e+01] [ 6.43011137e-03 4.30085595e-04 9.99979234e-01 -2.33922796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.811400513 meters 0.0715529093846083 Centerline is valid? [True, True] Translation: X:519.79, Y:56.50, Z:-2.34 [[ 9.99605478e-01 -2.72308180e-02 -6.88260059e-03 5.19786015e+02] [ 2.72269321e-02 9.99629062e-01 -6.57692435e-04 5.65014341e+01] [ 6.89795707e-03 4.70040863e-04 9.99976098e-01 -2.34008016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.841400513 meters 0.07644855075525812 Centerline is valid? [True, True] Translation: X:519.81, Y:56.51, Z:-2.34 [[ 9.99645356e-01 -2.55250033e-02 -7.59183214e-03 5.19814212e+02] [ 2.55202240e-02 9.99674043e-01 -7.25755400e-04 5.65086555e+01] [ 7.60788244e-03 5.31752759e-04 9.99970918e-01 -2.34114389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.871400513 meters 0.07644855075525812 Centerline is valid? [True, True] Translation: X:519.84, Y:56.51, Z:-2.34 [[ 9.99640915e-01 -2.56983834e-02 -7.59176833e-03 5.19841653e+02] [ 2.56936040e-02 9.99669601e-01 -7.26422322e-04 5.65114318e+01] [ 7.60792790e-03 5.31101585e-04 9.99970918e-01 -2.34102511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.901400513 meters 0.07810935923830463 Centerline is valid? [True, True] Translation: X:519.87, Y:56.52, Z:-2.34 [[ 9.99692822e-01 -2.34261404e-02 -8.09183358e-03 5.19871835e+02] [ 2.34206301e-02 9.99725399e-01 -7.75079962e-04 5.65160488e+01] [ 8.10776869e-03 5.85326034e-04 9.99966960e-01 -2.34199970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.931400513 meters 0.07377490936572989 Centerline is valid? [True, True] Translation: X:519.90, Y:56.51, Z:-2.34 [[ 9.99806883e-01 -1.75278191e-02 -8.88658973e-03 5.19902685e+02] [ 1.75209410e-02 9.99846134e-01 -8.51246113e-04 5.65132875e+01] [ 8.90014288e-03 6.95380309e-04 9.99960151e-01 -2.34285429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9614005130001 meters 0.08459357784812431 Centerline is valid? [True, True] Translation: X:519.93, Y:56.53, Z:-2.34 [[ 9.99853699e-01 -1.47149950e-02 -8.72062429e-03 5.19930783e+02] [ 1.47082648e-02 9.99891479e-01 -8.35387309e-04 5.65301137e+01] [ 8.73197063e-03 7.06999840e-04 9.99961626e-01 -2.34257219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.991400513 meters 0.08593870602273232 Centerline is valid? [True, True] Translation: X:519.96, Y:56.54, Z:-2.34 [[ 9.99883353e-01 -1.27647623e-02 -8.38702195e-03 5.19961161e+02] [ 1.27584692e-02 9.99918285e-01 -8.03412680e-04 5.65363512e+01] [ 8.39659198e-03 6.96313403e-04 9.99964506e-01 -2.34143875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.021400513 meters 0.09111308285722854 Centerline is valid? [True, True] Translation: X:519.99, Y:56.55, Z:-2.34 [[ 9.99897503e-01 -1.17445433e-02 -8.18838272e-03 5.19989015e+02] [ 1.17385100e-02 9.99930794e-01 -7.84483879e-04 5.65472263e+01] [ 8.19702944e-03 6.88284058e-04 9.99966167e-01 -2.34132331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.051400513 meters 0.08327244811674885 Centerline is valid? [True, True] Translation: X:520.02, Y:56.54, Z:-2.34 [[ 9.99897413e-01 -1.17355407e-02 -8.21222288e-03 5.20018446e+02] [ 1.17294657e-02 9.99930897e-01 -7.87526597e-04 5.65420233e+01] [ 8.22089744e-03 6.91120821e-04 9.99965969e-01 -2.34088461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.081400513 meters 0.0908184297491318 Centerline is valid? [True, True] Translation: X:520.04, Y:56.55, Z:-2.34 [[ 9.99891897e-01 -1.25654290e-02 -7.63576503e-03 5.20044992e+02] [ 1.25601947e-02 9.99920849e-01 -7.33059432e-04 5.65546527e+01] [ 7.64437186e-03 6.37073490e-04 9.99970578e-01 -2.34056847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.111400513 meters 0.08073942979729308 Centerline is valid? [True, True] Translation: X:520.08, Y:56.55, Z:-2.34 [[ 9.99855037e-01 -1.58047022e-02 -6.33368551e-03 5.20076095e+02] [ 1.58011640e-02 9.99874969e-01 -6.08275859e-04 5.65453989e+01] [ 6.34250722e-03 5.08108078e-04 9.99979757e-01 -2.33778784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.141400513 meters 0.0785718486351809 Centerline is valid? [True, True] Translation: X:520.11, Y:56.55, Z:-2.34 [[ 9.99819035e-01 -1.78802936e-02 -6.49561618e-03 5.20106867e+02] [ 1.78766154e-02 9.99840006e-01 -6.23879504e-04 5.65456457e+01] [ 6.50573207e-03 5.07646971e-04 9.99978709e-01 -2.33769314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.171400513 meters 0.08638882376255076 Centerline is valid? [True, True] Translation: X:520.13, Y:56.56, Z:-2.34 [[ 9.99776728e-01 -1.99413964e-02 -6.98825030e-03 5.20134755e+02] [ 1.99371888e-02 9.99801009e-01 -6.71243445e-04 5.65580503e+01] [ 7.00024523e-03 5.31767509e-04 9.99975357e-01 -2.33862918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.201400513 meters 0.06824343784521006 Centerline is valid? [True, True] Translation: X:520.17, Y:56.54, Z:-2.34 [[ 9.99731771e-01 -2.18581024e-02 -7.65569537e-03 5.20166513e+02] [ 2.18531078e-02 9.99760922e-01 -7.35458990e-04 5.65384694e+01] [ 7.66994080e-03 5.67960982e-04 9.99970424e-01 -2.33876633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.231400513 meters 0.06856184875360935 Centerline is valid? [True, True] Translation: X:520.19, Y:56.54, Z:-2.34 [[ 9.99699791e-01 -2.30958326e-02 -8.17991067e-03 5.20194931e+02] [ 2.30901702e-02 9.99733077e-01 -7.86007943e-04 5.65414307e+01] [ 8.19588078e-03 5.96896447e-04 9.99966235e-01 -2.33947974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.261400513 meters 0.07302899685027532 Centerline is valid? [True, True] Translation: X:520.22, Y:56.55, Z:-2.34 [[ 9.99681504e-01 -2.37980435e-02 -8.39899579e-03 5.20221753e+02] [ 2.37920951e-02 9.99716602e-01 -8.07450731e-04 5.65492301e+01] [ 8.41583128e-03 6.07363855e-04 9.99964402e-01 -2.33977200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.291400513 meters 0.06681852217610477 Centerline is valid? [True, True] Translation: X:520.25, Y:56.54, Z:-2.34 [[ 9.99686258e-01 -2.41899943e-02 -6.49844239e-03 5.20251219e+02] [ 2.41864380e-02 9.99707270e-01 -6.25291236e-04 5.65437690e+01] [ 6.51166589e-03 4.67920882e-04 9.99978689e-01 -2.33644049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.321400513 meters 0.07568958585115482 Centerline is valid? [True, True] Translation: X:520.28, Y:56.56, Z:-2.34 [[ 9.99693989e-01 -2.41210105e-02 -5.48682997e-03 5.20278278e+02] [ 2.41184706e-02 9.99708968e-01 -5.28614031e-04 5.65568773e+01] [ 5.49798383e-03 3.96118322e-04 9.99984808e-01 -2.33548883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.351400513 meters 0.07477598134938472 Centerline is valid? [True, True] Translation: X:520.31, Y:56.56, Z:-2.33 [[ 9.99689394e-01 -2.43943330e-02 -5.10212008e-03 5.20307064e+02] [ 2.43921385e-02 9.99702347e-01 -4.91908699e-04 5.65572536e+01] [ 5.11260120e-03 3.67304289e-04 9.99986863e-01 -2.33482922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.381400513 meters 0.07416572553835536 Centerline is valid? [True, True] Translation: X:520.34, Y:56.56, Z:-2.34 [[ 9.99679941e-01 -2.47349661e-02 -5.31014448e-03 5.20335904e+02] [ 2.47325893e-02 9.99693971e-01 -5.12819191e-04 5.65574611e+01] [ 5.32120399e-03 3.81321436e-04 9.99985770e-01 -2.33561824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.411400513 meters 0.0718524339924569 Centerline is valid? [True, True] Translation: X:520.36, Y:56.55, Z:-2.34 [[ 9.99659880e-01 -2.54241696e-02 -5.80830696e-03 5.20364911e+02] [ 2.54213318e-02 9.99676668e-01 -5.61901999e-04 5.65533395e+01] [ 5.82071484e-03 4.14055987e-04 9.99982974e-01 -2.33601869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.441400513 meters 0.08032204451223439 Centerline is valid? [True, True] Translation: X:520.39, Y:56.55, Z:-2.33 [[ 9.99746652e-01 -2.20561935e-02 -4.48948880e-03 5.20388509e+02] [ 2.20885672e-02 9.99729411e-01 7.29386704e-03 5.65547592e+01] [ 4.32739905e-03 -7.39118553e-03 9.99963321e-01 -2.33487242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.471400513 meters 0.07169142614083916 Centerline is valid? [True, True] Translation: X:520.42, Y:56.56, Z:-2.34 [[ 9.99645844e-01 -2.59490506e-02 -5.90200243e-03 5.20422718e+02] [ 2.59005411e-02 9.99631284e-01 -8.15222603e-03 5.65614901e+01] [ 6.11136879e-03 7.99647381e-03 9.99949353e-01 -2.33768527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.501400513 meters 0.07786761239962307 Centerline is valid? [True, True] Translation: X:520.45, Y:56.56, Z:-2.34 [[ 9.99632311e-01 -2.62382070e-02 -6.84102097e-03 5.20450487e+02] [ 2.62342780e-02 9.99655602e-01 -6.63457675e-04 5.65596066e+01] [ 6.85607287e-03 4.83744483e-04 9.99976380e-01 -2.33762879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.531400513 meters 0.07166124278016531 Centerline is valid? [True, True] Translation: X:520.48, Y:56.56, Z:-2.34 [[ 9.99633399e-01 -2.61475088e-02 -7.02669921e-03 5.20479985e+02] [ 2.61433556e-02 9.99657971e-01 -6.82270482e-04 5.65583212e+01] [ 7.04213555e-03 4.98318865e-04 9.99975080e-01 -2.33660354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.561400513 meters 0.07490326680491051 Centerline is valid? [True, True] Translation: X:520.50, Y:56.55, Z:-2.34 [[ 9.99788979e-01 -1.99540812e-02 -4.88180800e-03 5.20502316e+02] [ 1.99887769e-02 9.99774533e-01 7.16467362e-03 5.65532308e+01] [ 4.73774284e-03 -7.26074309e-03 9.99962417e-01 -2.33509779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.591400513 meters 0.07958735851875759 Centerline is valid? [True, True] Translation: X:520.53, Y:56.56, Z:-2.34 [[ 9.99829817e-01 -1.80656600e-02 -3.73760303e-03 5.20530882e+02] [ 1.80766324e-02 9.99832332e-01 2.92302735e-03 5.65640106e+01] [ 3.68416993e-03 -2.99009318e-03 9.99988743e-01 -2.33694751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.621400513 meters 0.08068388450384871 Centerline is valid? [True, True] Translation: X:520.57, Y:56.58, Z:-2.34 [[ 9.99764180e-01 -2.05644055e-02 -6.97773759e-03 5.20565705e+02] [ 2.04783610e-02 9.99716023e-01 -1.21864582e-02 5.65836836e+01] [ 7.22636334e-03 1.20406918e-02 9.99901396e-01 -2.34061276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.651400513 meters 0.08876144648748191 Centerline is valid? [True, True] Translation: X:520.59, Y:56.59, Z:-2.34 [[ 9.99783459e-01 -1.89727648e-02 -8.54811480e-03 5.20594323e+02] [ 1.89663282e-02 9.99819776e-01 -8.33428847e-04 5.65869163e+01] [ 8.56238667e-03 6.71122024e-04 9.99963117e-01 -2.33962191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.681400513 meters 0.08693441240026052 Centerline is valid? [True, True] Translation: X:520.62, Y:56.59, Z:-2.34 [[ 9.99782717e-01 -1.93247655e-02 -7.81482461e-03 5.20623162e+02] [ 1.93193922e-02 9.99813072e-01 -7.62487661e-04 5.65871582e+01] [ 7.82809869e-03 6.11344324e-04 9.99969173e-01 -2.33834320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7114005130001 meters 0.08111653904555365 Centerline is valid? [True, True] Translation: X:520.65, Y:56.58, Z:-2.34 [[ 9.99770677e-01 -2.02560515e-02 -6.94883821e-03 5.20652638e+02] [ 2.02518206e-02 9.99794680e-01 -6.78689145e-04 5.65817455e+01] [ 6.96115904e-03 5.37806881e-04 9.99975626e-01 -2.33639394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.741400513 meters 0.08124101693354294 Centerline is valid? [True, True] Translation: X:520.68, Y:56.58, Z:-2.34 [[ 9.99742623e-01 -2.18342367e-02 -6.16072763e-03 5.20683182e+02] [ 2.18309397e-02 9.99761495e-01 -6.01902502e-04 5.65795726e+01] [ 6.17240035e-03 4.67253113e-04 9.99980841e-01 -2.33609884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.771400513 meters 0.07721826721220452 Centerline is valid? [True, True] Translation: X:520.71, Y:56.58, Z:-2.33 [[ 9.99701354e-01 -2.36351391e-02 -6.21150907e-03 5.20712596e+02] [ 2.36318216e-02 9.99720545e-01 -6.06953345e-04 5.65801543e+01] [ 6.22411867e-03 4.59982807e-04 9.99980524e-01 -2.33473864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.801400513 meters 0.07809500871133727 Centerline is valid? [True, True] Translation: X:520.74, Y:56.58, Z:-2.33 [[ 9.99655236e-01 -2.53989535e-02 -6.65593856e-03 5.20741194e+02] [ 2.53951821e-02 9.99677279e-01 -6.50534178e-04 5.65834364e+01] [ 6.67031343e-03 4.81281126e-04 9.99977637e-01 -2.33488656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.831400513 meters 0.06557082276419257 Centerline is valid? [True, True] Translation: X:520.77, Y:56.57, Z:-2.33 [[ 9.99611262e-01 -2.70188265e-02 -6.87802841e-03 5.20773009e+02] [ 2.70148365e-02 9.99634807e-01 -6.72369156e-04 5.65708125e+01] [ 6.89368323e-03 4.86298968e-04 9.99976120e-01 -2.33476781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.861400513 meters 0.07250032116420835 Centerline is valid? [True, True] Translation: X:520.80, Y:56.58, Z:-2.34 [[ 9.99594195e-01 -2.76483504e-02 -6.85674349e-03 5.20800232e+02] [ 2.76443985e-02 9.99617596e-01 -6.70482697e-04 5.65817403e+01] [ 6.87265918e-03 4.80660062e-04 9.99976267e-01 -2.33505009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.891400513 meters 0.07318341856947148 Centerline is valid? [True, True] Translation: X:520.83, Y:56.59, Z:-2.34 [[ 9.99598234e-01 -2.73429846e-02 -7.46536292e-03 5.20828752e+02] [ 2.73382859e-02 9.99625972e-01 -7.30752270e-04 5.65857165e+01] [ 7.48255162e-03 5.26368453e-04 9.99971867e-01 -2.33579929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.921400513 meters 0.07287388216407654 Centerline is valid? [True, True] Translation: X:520.86, Y:56.59, Z:-2.34 [[ 9.99613527e-01 -2.66538632e-02 -7.89734128e-03 5.20857853e+02] [ 2.66485769e-02 9.99644564e-01 -7.73874432e-04 5.65886456e+01] [ 7.91516102e-03 5.63122445e-04 9.99968516e-01 -2.33635472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.951400513 meters 0.07531444018644676 Centerline is valid? [True, True] Translation: X:520.89, Y:56.60, Z:-2.34 [[ 9.99625923e-01 -2.61673739e-02 -7.95497672e-03 5.20885577e+02] [ 2.61619921e-02 9.99657412e-01 -7.79870058e-04 5.65951483e+01] [ 7.97265859e-03 5.71460290e-04 9.99968055e-01 -2.33638635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.981400513 meters 0.08357873123219535 Centerline is valid? [True, True] Translation: X:520.91, Y:56.61, Z:-2.34 [[ 9.99624299e-01 -2.63240323e-02 -7.63585569e-03 5.20911780e+02] [ 2.63190750e-02 9.99653313e-01 -7.48998896e-04 5.66099414e+01] [ 7.65292510e-03 5.47748838e-04 9.99970566e-01 -2.33608174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.011400513 meters 0.07555171434480597 Centerline is valid? [True, True] Translation: X:520.94, Y:56.60, Z:-2.34 [[ 9.99592975e-01 -2.72799296e-02 -8.34802326e-03 5.20941749e+02] [ 2.72740339e-02 9.99627659e-01 -8.19296328e-04 5.66019019e+01] [ 8.36726529e-03 5.91278585e-04 9.99964819e-01 -2.33707751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.041400513 meters 0.0707936447363417 Centerline is valid? [True, True] Translation: X:520.97, Y:56.60, Z:-2.34 [[ 9.99566715e-01 -2.80964739e-02 -8.77332752e-03 5.20970759e+02] [ 2.80899854e-02 9.99605027e-01 -8.61938196e-04 5.66024455e+01] [ 8.79407971e-03 6.15122088e-04 9.99961142e-01 -2.33709880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.071400513 meters 0.07265528427304808 Centerline is valid? [True, True] Translation: X:521.00, Y:56.61, Z:-2.34 [[ 9.99550077e-01 -2.86368782e-02 -8.92031084e-03 5.20997772e+02] [ 2.86301834e-02 9.99589687e-01 -8.77336501e-04 5.66084909e+01] [ 8.94177490e-03 6.21551632e-04 9.99959828e-01 -2.33752153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.101400513 meters 0.06912260538485121 Centerline is valid? [True, True] Translation: X:521.03, Y:56.61, Z:-2.34 [[ 9.99539873e-01 -2.89893956e-02 -8.92512796e-03 5.21026961e+02] [ 2.89826989e-02 9.99579527e-01 -8.78778969e-04 5.66081260e+01] [ 8.94685045e-03 6.19700323e-04 9.99959784e-01 -2.33695653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.131400513 meters 0.06928333953856479 Centerline is valid? [True, True] Translation: X:521.06, Y:56.61, Z:-2.34 [[ 9.99545457e-01 -2.88057031e-02 -8.89440799e-03 5.21055991e+02] [ 2.87990325e-02 9.99584837e-01 -8.77166161e-04 5.66121015e+01] [ 8.91598275e-03 6.20617106e-04 9.99960059e-01 -2.33680399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.161400513 meters 0.06969856197583617 Centerline is valid? [True, True] Translation: X:521.08, Y:56.62, Z:-2.34 [[ 9.99566895e-01 -2.83299065e-02 -7.96485584e-03 5.21084584e+02] [ 2.83245328e-02 9.99598470e-01 -7.86688592e-04 5.66177919e+01] [ 7.98394453e-03 5.60747053e-04 9.99967971e-01 -2.33594384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.191400513 meters 0.07412332555849371 Centerline is valid? [True, True] Translation: X:521.11, Y:56.63, Z:-2.34 [[ 9.99563999e-01 -2.86080201e-02 -7.30711137e-03 5.21111426e+02] [ 2.86034982e-02 9.99590575e-01 -7.22609124e-04 5.66273457e+01] [ 7.32479208e-03 5.13285119e-04 9.99973042e-01 -2.33526944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.221400513 meters 0.07072824480141206 Centerline is valid? [True, True] Translation: X:521.14, Y:56.63, Z:-2.33 [[ 9.99544810e-01 -2.93250600e-02 -7.08613291e-03 5.21140889e+02] [ 2.93208201e-02 9.99569806e-01 -7.01510052e-04 5.66273891e+01] [ 7.10365633e-03 4.93419504e-04 9.99974647e-01 -2.33433614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.251400513 meters 0.07805170914490817 Centerline is valid? [True, True] Translation: X:521.17, Y:56.64, Z:-2.34 [[ 9.99511870e-01 -3.03367646e-02 -7.46339104e-03 5.21168066e+02] [ 3.03320824e-02 9.99539603e-01 -7.39777277e-04 5.66379788e+01] [ 7.48239736e-03 5.13035977e-04 9.99971875e-01 -2.33593658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.281400513 meters 0.06991601271457841 Centerline is valid? [True, True] Translation: X:521.20, Y:56.63, Z:-2.34 [[ 9.99473068e-01 -3.13706797e-02 -8.33467694e-03 5.21197936e+02] [ 3.13648682e-02 9.99507659e-01 -8.27102363e-04 5.66327012e+01] [ 8.35652020e-03 5.65250493e-04 9.99964924e-01 -2.33566532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.311400513 meters 0.06846822200908961 Centerline is valid? [True, True] Translation: X:521.23, Y:56.63, Z:-2.33 [[ 9.99402796e-01 -3.35393121e-02 -8.31659280e-03 5.21228177e+02] [ 3.35335950e-02 9.99437250e-01 -8.25962761e-04 5.66333068e+01] [ 8.33961485e-03 5.46584238e-04 9.99965075e-01 -2.33465889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.341400513 meters 0.0631890992543681 Centerline is valid? [True, True] Translation: X:521.26, Y:56.63, Z:-2.33 [[ 9.99376169e-01 -3.44701923e-02 -7.68626289e-03 5.21257537e+02] [ 3.44653351e-02 9.99405602e-01 -7.63538293e-04 5.66274928e+01] [ 7.70801350e-03 4.98152348e-04 9.99970169e-01 -2.33400349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.371400513 meters 0.06175759577975 Centerline is valid? [True, True] Translation: X:521.29, Y:56.63, Z:-2.33 [[ 9.99388634e-01 -3.41656433e-02 -7.42072321e-03 5.21286475e+02] [ 3.41611024e-02 9.99416067e-01 -7.37855212e-04 5.66307857e+01] [ 7.44159931e-03 4.83904027e-04 9.99972194e-01 -2.33263034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.401400513 meters 0.06776449811248515 Centerline is valid? [True, True] Translation: X:521.31, Y:56.64, Z:-2.33 [[ 9.99433156e-01 -3.29148572e-02 -7.06963801e-03 5.21314610e+02] [ 3.29106991e-02 9.99458048e-01 -7.03721131e-04 5.66405402e+01] [ 7.08896949e-03 4.70655501e-04 9.99974762e-01 -2.33309123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.431400513 meters 0.07043642436480393 Centerline is valid? [True, True] Translation: X:521.34, Y:56.65, Z:-2.33 [[ 9.99472171e-01 -3.17123107e-02 -7.05038139e-03 5.21342757e+02] [ 3.17081437e-02 9.99496924e-01 -7.02046252e-04 5.66466482e+01] [ 7.06909802e-03 4.78121186e-04 9.99974899e-01 -2.33312249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4614005130001 meters 0.07252326255632413 Centerline is valid? [True, True] Translation: X:521.37, Y:56.65, Z:-2.33 [[ 9.99509604e-01 -3.04956866e-02 -7.11086048e-03 5.21371472e+02] [ 3.04914155e-02 9.99534778e-01 -7.08308035e-04 5.66525227e+01] [ 7.12915269e-03 4.91140483e-04 9.99974467e-01 -2.33295231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.491400513 meters 0.07313847668762961 Centerline is valid? [True, True] Translation: X:521.40, Y:56.65, Z:-2.33 [[ 9.99533866e-01 -2.97060710e-02 -7.04271586e-03 5.21401121e+02] [ 2.97018604e-02 9.99558556e-01 -7.01725270e-04 5.66523476e+01] [ 7.06045240e-03 4.92216409e-04 9.99974954e-01 -2.33318866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.521400513 meters 0.07238239926505706 Centerline is valid? [True, True] Translation: X:521.43, Y:56.66, Z:-2.33 [[ 9.99559372e-01 -2.88061866e-02 -7.15992158e-03 5.21428994e+02] [ 2.88018101e-02 9.99584887e-01 -7.13630118e-04 5.66572275e+01] [ 7.17750636e-03 5.07096972e-04 9.99974113e-01 -2.33196810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.551400513 meters 0.07121112729350439 Centerline is valid? [True, True] Translation: X:521.46, Y:56.66, Z:-2.33 [[ 9.99548366e-01 -2.92331431e-02 -6.96330313e-03 5.21458405e+02] [ 2.92290100e-02 9.99572500e-01 -6.94603213e-04 5.66579156e+01] [ 6.98063175e-03 4.90759050e-04 9.99975515e-01 -2.33085903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.581400513 meters 0.06797607274439353 Centerline is valid? [True, True] Translation: X:521.49, Y:56.66, Z:-2.33 [[ 9.99512655e-01 -3.08685456e-02 -4.64601180e-03 5.21488522e+02] [ 3.08667213e-02 9.99523402e-01 -4.63878086e-04 5.66565087e+01] [ 4.65811676e-03 3.20244866e-04 9.99989100e-01 -2.32727609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.611400513 meters 0.06918090610640858 Centerline is valid? [True, True] Translation: X:521.52, Y:56.66, Z:-2.33 [[ 9.99500634e-01 -3.13976099e-02 -3.55996989e-03 5.21516431e+02] [ 3.13965422e-02 9.99506944e-01 -3.55412646e-04 5.66607621e+01] [ 3.56937373e-03 2.43464419e-04 9.99993600e-01 -2.32616741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.641400513 meters 0.07039693733612663 Centerline is valid? [True, True] Translation: X:521.55, Y:56.66, Z:-2.33 [[ 9.99504436e-01 -3.12898167e-02 -3.43956396e-03 5.21545080e+02] [ 3.12888187e-02 9.99510326e-01 -3.43600379e-04 5.66643745e+01] [ 3.44863089e-03 2.35810210e-04 9.99994026e-01 -2.32602638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.671400513 meters 0.07033548615990394 Centerline is valid? [True, True] Translation: X:521.57, Y:56.67, Z:-2.33 [[ 9.99511846e-01 -3.09798155e-02 -4.03999056e-03 5.21574105e+02] [ 3.09784330e-02 9.99519971e-01 -4.04334757e-04 5.66659789e+01] [ 4.05057747e-03 2.78984802e-04 9.99991757e-01 -2.32617455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.701400513 meters 0.07298485728550763 Centerline is valid? [True, True] Translation: X:521.60, Y:56.67, Z:-2.33 [[ 9.99530168e-01 -3.02913344e-02 -4.67739221e-03 5.21601518e+02] [ 3.02894700e-02 9.99541059e-01 -4.68945900e-04 5.66712985e+01] [ 4.68945056e-03 3.27049843e-04 9.99988951e-01 -2.32674290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.731400513 meters 0.07272860841483672 Centerline is valid? [True, True] Translation: X:521.63, Y:56.67, Z:-2.33 [[ 9.99559964e-01 -2.92191591e-02 -5.11066457e-03 5.21630762e+02] [ 2.92169178e-02 9.99572963e-01 -5.12677167e-04 5.66742613e+01] [ 5.12346212e-03 3.63133704e-04 9.99986809e-01 -2.32667176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.761400513 meters 0.07272860841483672 Centerline is valid? [True, True] Translation: X:521.66, Y:56.68, Z:-2.33 [[ 9.99554784e-01 -2.93958484e-02 -5.11063693e-03 5.21658197e+02] [ 2.93936080e-02 9.99567783e-01 -5.12952448e-04 5.66771562e+01] [ 5.12350670e-03 3.62504014e-04 9.99986809e-01 -2.32655054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.791400513 meters 0.07398187967663428 Centerline is valid? [True, True] Translation: X:521.69, Y:56.69, Z:-2.33 [[ 9.99632331e-01 -2.65985027e-02 -5.26530767e-03 5.21688047e+02] [ 2.65960818e-02 9.99646122e-01 -5.29281211e-04 5.66856333e+01] [ 5.27752248e-03 3.89050057e-04 9.99985998e-01 -2.32639910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.821400513 meters 0.07614982484560998 Centerline is valid? [True, True] Translation: X:521.72, Y:56.69, Z:-2.33 [[ 9.99671089e-01 -2.50525699e-02 -5.48471783e-03 5.21718151e+02] [ 2.50499199e-02 9.99686049e-01 -5.51336962e-04 5.66930831e+01] [ 5.49680830e-03 4.13763878e-04 9.99984807e-01 -2.32601545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.851400513 meters 0.08366921648290081 Centerline is valid? [True, True] Translation: X:521.75, Y:56.71, Z:-2.33 [[ 9.99699063e-01 -2.38463951e-02 -5.75603358e-03 5.21745483e+02] [ 2.38434563e-02 9.99715537e-01 -5.78656604e-04 5.67060784e+01] [ 5.76819507e-03 4.41238730e-04 9.99983266e-01 -2.32653860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.881400513 meters 0.08727539488188188 Centerline is valid? [True, True] Translation: X:521.77, Y:56.72, Z:-2.33 [[ 9.99669437e-01 -2.45780090e-02 -7.54580259e-03 5.21772781e+02] [ 2.45729758e-02 9.99697751e-01 -7.59027858e-04 5.67150856e+01] [ 7.56217727e-03 5.73354127e-04 9.99971242e-01 -2.32973789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.911400513 meters 0.07719704762123243 Centerline is valid? [True, True] Translation: X:521.80, Y:56.70, Z:-2.33 [[ 9.99666228e-01 -2.42195754e-02 -8.99141665e-03 5.21800052e+02] [ 2.42219647e-02 9.99706593e-01 1.56922361e-04 5.67043035e+01] [ 8.98497791e-03 -3.74659762e-04 9.99959564e-01 -2.33051593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.941400513 meters 0.07507020226895632 Centerline is valid? [True, True] Translation: X:521.83, Y:56.71, Z:-2.33 [[ 9.99584700e-01 -2.76964032e-02 -7.95842249e-03 5.21830444e+02] [ 2.76821455e-02 9.99614978e-01 -1.89615594e-03 5.67090089e+01] [ 8.00787501e-03 1.67506225e-03 9.99966533e-01 -2.33028771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.971400513 meters 0.07352864563803893 Centerline is valid? [True, True] Translation: X:521.86, Y:56.71, Z:-2.33 [[ 9.99540426e-01 -2.93844284e-02 -7.44936678e-03 5.21860619e+02] [ 2.93796418e-02 9.99568043e-01 -7.51203973e-04 5.67092508e+01] [ 7.46822267e-03 5.31999012e-04 9.99971971e-01 -2.32873508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.001400513 meters 0.07796909326998971 Centerline is valid? [True, True] Translation: X:521.89, Y:56.72, Z:-2.33 [[ 9.99491326e-01 -3.10935460e-02 -7.09088468e-03 5.21889198e+02] [ 3.10892510e-02 9.99516357e-01 -7.15160957e-04 5.67165422e+01] [ 7.10969211e-03 4.94346880e-04 9.99974604e-01 -2.32778908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.031400513 meters 0.07748747793755296 Centerline is valid? [True, True] Translation: X:521.92, Y:56.72, Z:-2.33 [[ 9.99445320e-01 -3.25659558e-02 -6.96493651e-03 5.21918277e+02] [ 3.25618466e-02 9.99469476e-01 -7.02609125e-04 5.67175940e+01] [ 6.98412258e-03 4.75428208e-04 9.99975498e-01 -2.32662088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.061400513 meters 0.06971512119430827 Centerline is valid? [True, True] Translation: X:521.95, Y:56.71, Z:-2.33 [[ 9.99401891e-01 -3.34676737e-02 -8.70493439e-03 5.21948380e+02] [ 3.34612818e-02 9.99439628e-01 -8.78932155e-04 5.67099104e+01] [ 8.72947220e-03 5.87128195e-04 9.99961725e-01 -2.32901570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.091400513 meters 0.06410073994827081 Centerline is valid? [True, True] Translation: X:521.98, Y:56.71, Z:-2.33 [[ 9.99404278e-01 -3.30959512e-02 -9.78501114e-03 5.21977312e+02] [ 3.30878463e-02 9.99451958e-01 -9.89071023e-04 5.67051005e+01] [ 9.81238278e-03 6.64716868e-04 9.99951636e-01 -2.33004145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.121400513 meters 0.07149096510675046 Centerline is valid? [True, True] Translation: X:522.01, Y:56.72, Z:-2.33 [[ 9.99432956e-01 -3.22069703e-02 -9.82225152e-03 5.22005058e+02] [ 3.21987564e-02 9.99480992e-01 -9.93279993e-04 5.67155625e+01] [ 9.84914423e-03 6.76452475e-04 9.99951267e-01 -2.33060299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.151400513 meters 0.07009867822320237 Centerline is valid? [True, True] Translation: X:522.03, Y:56.72, Z:-2.33 [[ 9.99463481e-01 -3.13092331e-02 -9.61680252e-03 5.22034335e+02] [ 3.13013148e-02 9.99509520e-01 -9.72830672e-04 5.67156849e+01] [ 9.64254425e-03 6.71290167e-04 9.99953284e-01 -2.32945160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.181400513 meters 0.07158381269589285 Centerline is valid? [True, True] Translation: X:522.06, Y:56.72, Z:-2.33 [[ 9.99505368e-01 -3.00965167e-02 -9.12249569e-03 5.22063112e+02] [ 3.00893385e-02 9.99546787e-01 -9.23128292e-04 5.67197723e+01] [ 9.14614420e-03 6.48181822e-04 9.99957963e-01 -2.32872233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2114005130001 meters 0.07869257411771645 Centerline is valid? [True, True] Translation: X:522.09, Y:56.73, Z:-2.33 [[ 9.99515993e-01 -2.98391490e-02 -8.79802967e-03 5.22089679e+02] [ 2.98324590e-02 9.99554516e-01 -8.90685509e-04 5.67297640e+01] [ 8.82068759e-03 6.27787551e-04 9.99960900e-01 -2.32896611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.241400513 meters 0.06980875021124772 Centerline is valid? [True, True] Translation: X:522.12, Y:56.72, Z:-2.33 [[ 9.99469258e-01 -3.13406218e-02 -8.88635677e-03 5.22120594e+02] [ 3.13338532e-02 9.99508569e-01 -8.99925982e-04 5.67205224e+01] [ 8.91019398e-03 6.21004556e-04 9.99960111e-01 -2.32822777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.271400513 meters 0.06846597774463757 Centerline is valid? [True, True] Translation: X:522.15, Y:56.72, Z:-2.33 [[ 9.99383599e-01 -3.39435788e-02 -8.95855997e-03 5.22150356e+02] [ 3.39368028e-02 9.99423569e-01 -9.07349454e-04 5.67205109e+01] [ 8.98419466e-03 6.02765280e-04 9.99959460e-01 -2.32816202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.301400513 meters 0.06803098678436104 Centerline is valid? [True, True] Translation: X:522.18, Y:56.72, Z:-2.33 [[ 9.99255131e-01 -3.75431521e-02 -8.92717656e-03 5.22179761e+02] [ 3.75365653e-02 9.99294846e-01 -9.04309613e-04 5.67219178e+01] [ 8.95483216e-03 5.68540476e-04 9.99959743e-01 -2.32777883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.331400513 meters 0.06586236856875932 Centerline is valid? [True, True] Translation: X:522.21, Y:56.72, Z:-2.33 [[ 9.99104302e-01 -4.15063014e-02 -8.23531964e-03 5.22208906e+02] [ 4.15008286e-02 9.99138121e-01 -8.34409147e-04 5.67214475e+01] [ 8.26285503e-03 4.91889180e-04 9.99965741e-01 -2.32641959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.361400513 meters 0.055743710082596806 Centerline is valid? [True, True] Translation: X:522.24, Y:56.71, Z:-2.32 [[ 9.98732858e-01 -4.98636001e-02 -6.80435895e-03 5.22240542e+02] [ 4.98600562e-02 9.98755976e-01 -6.89574421e-04 5.67098614e+01] [ 6.83027883e-03 3.49434912e-04 9.99976612e-01 -2.32356532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.391400513 meters 0.04973238715313931 Centerline is valid? [True, True] Translation: X:522.27, Y:56.70, Z:-2.32 [[ 9.98535015e-01 -5.37229375e-02 -6.45526061e-03 5.22271913e+02] [ 5.37198279e-02 9.98555833e-01 -6.54279727e-04 5.67041871e+01] [ 6.48108797e-03 3.06545728e-04 9.99978951e-01 -2.32221044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.421400513 meters 0.04844156414324612 Centerline is valid? [True, True] Translation: X:522.30, Y:56.71, Z:-2.32 [[ 9.98354132e-01 -5.70038845e-02 -6.29155868e-03 5.22301053e+02] [ 5.70009953e-02 9.98373918e-01 -6.37731644e-04 5.67050274e+01] [ 6.31768127e-03 2.78056915e-04 9.99980005e-01 -2.32132255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.451400513 meters 0.04564426581746904 Centerline is valid? [True, True] Translation: X:522.33, Y:56.70, Z:-2.32 [[ 9.98181902e-01 -5.99579502e-02 -6.15905700e-03 5.22331155e+02] [ 5.99552370e-02 9.98200871e-01 -6.24394308e-04 5.67045378e+01] [ 6.18541347e-03 2.53991376e-04 9.99980838e-01 -2.32090791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.481400513 meters 0.04203464434576614 Centerline is valid? [True, True] Translation: X:522.36, Y:56.70, Z:-2.32 [[ 9.97867318e-01 -6.49406021e-02 -6.59804832e-03 5.22360943e+02] [ 6.49375966e-02 9.97889103e-01 -6.68958401e-04 5.67030755e+01] [ 6.62756308e-03 2.39070326e-04 9.99978009e-01 -2.32147440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.511400513 meters 0.03444671830372079 Centerline is valid? [True, True] Translation: X:522.39, Y:56.70, Z:-2.32 [[ 9.97740018e-01 -6.68493568e-02 -6.78383065e-03 5.22390853e+02] [ 6.68462228e-02 9.97763053e-01 -6.87923906e-04 5.66964098e+01] [ 6.81464285e-03 2.32895756e-04 9.99976753e-01 -2.32028674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.541400513 meters 0.0371765540706018 Centerline is valid? [True, True] Translation: X:522.42, Y:56.70, Z:-2.32 [[ 9.97661760e-01 -6.80847064e-02 -5.95695571e-03 5.22418419e+02] [ 6.80823102e-02 9.97679525e-01 -6.04348188e-04 5.67024295e+01] [ 5.98427961e-03 1.97371770e-04 9.99982075e-01 -2.31896082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.571400513 meters 0.03371111547289035 Centerline is valid? [True, True] Translation: X:522.45, Y:56.70, Z:-2.32 [[ 9.97569492e-01 -6.94731812e-02 -5.34655849e-03 5.22447496e+02] [ 6.94712687e-02 9.97583805e-01 -5.42811886e-04 5.67014593e+01] [ 5.37135103e-03 1.70060375e-04 9.99985560e-01 -2.31725809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.601400513 meters 0.03378522954209965 Centerline is valid? [True, True] Translation: X:522.48, Y:56.71, Z:-2.32 [[ 9.97482031e-01 -7.07414813e-02 -5.02395937e-03 5.22475556e+02] [ 7.07398048e-02 9.97494671e-01 -5.10838598e-04 5.67054825e+01] [ 5.04751018e-03 1.54158418e-04 9.99987249e-01 -2.31654550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.631400513 meters 0.03163231374045433 Centerline is valid? [True, True] Translation: X:522.50, Y:56.71, Z:-2.32 [[ 9.97302697e-01 -7.32044693e-02 -5.33265586e-03 5.22504766e+02] [ 7.32026108e-02 9.97316942e-01 -5.43125760e-04 5.67089168e+01] [ 5.35810727e-03 1.51296454e-04 9.99985634e-01 -2.31704028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.661400513 meters 0.027854707104684854 Centerline is valid? [True, True] Translation: X:522.53, Y:56.71, Z:-2.32 [[ 9.97188683e-01 -7.47533969e-02 -5.16332592e-03 5.22533665e+02] [ 7.47516713e-02 9.97202041e-01 -5.26638421e-04 5.67082166e+01] [ 5.18824715e-03 1.39190631e-04 9.99986531e-01 -2.31695179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.691400513 meters 0.02756230730118005 Centerline is valid? [True, True] Translation: X:522.56, Y:56.71, Z:-2.32 [[ 9.97075084e-01 -7.62779696e-02 -4.79043766e-03 5.22560993e+02] [ 7.62764985e-02 9.97086584e-01 -4.89305221e-04 5.67117586e+01] [ 4.81380433e-03 1.22476234e-04 9.99988406e-01 -2.31638032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.721400513 meters 0.025435620929719984 Centerline is valid? [True, True] Translation: X:522.59, Y:56.71, Z:-2.32 [[ 9.96917011e-01 -7.83016867e-02 -5.03182370e-03 5.22589481e+02] [ 7.83000874e-02 9.96929703e-01 -5.14340585e-04 5.67133975e+01] [ 5.05664824e-03 1.18762643e-04 9.99987208e-01 -2.31627935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.751400513 meters 0.02464846986724385 Centerline is valid? [True, True] Translation: X:522.62, Y:56.72, Z:-2.32 [[ 9.96726779e-01 -8.06372198e-02 -5.77639188e-03 5.22617641e+02] [ 8.06351454e-02 9.96743509e-01 -5.91496737e-04 5.67169506e+01] [ 5.80527777e-03 1.23780438e-04 9.99983142e-01 -2.31745182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.781400513 meters 0.020104222056776613 Centerline is valid? [True, True] Translation: X:522.65, Y:56.72, Z:-2.32 [[ 9.96479932e-01 -8.35827302e-02 -6.45542704e-03 5.22646770e+02] [ 8.35801954e-02 9.96500834e-01 -6.61911728e-04 5.67156505e+01] [ 6.48816282e-03 1.20035900e-04 9.99978944e-01 -2.31810321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.811400513 meters 0.017583085834198667 Centerline is valid? [True, True] Translation: X:522.68, Y:56.71, Z:-2.32 [[ 9.95947819e-01 -8.96188076e-02 -7.51070731e-03 5.22675522e+02] [ 8.96279900e-02 9.95974911e-01 8.94361171e-04 5.67120891e+01] [ 7.40032446e-03 -1.56390666e-03 9.99971394e-01 -2.31808078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.841400513 meters 0.01128209525590494 Centerline is valid? [True, True] Translation: X:522.71, Y:56.72, Z:-2.32 [[ 9.95543545e-01 -9.40944614e-02 -6.26763589e-03 5.22705416e+02] [ 9.40817271e-02 9.95561827e-01 -2.29717727e-03 5.67151788e+01] [ 6.45597069e-03 1.69726999e-03 9.99977720e-01 -2.31777851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.871400513 meters 0.009426019859563872 Centerline is valid? [True, True] Translation: X:522.73, Y:56.71, Z:-2.32 [[ 9.95184158e-01 -9.77750828e-02 -6.96597913e-03 5.22733696e+02] [ 9.77724672e-02 9.95208537e-01 -7.15863968e-04 5.67148056e+01] [ 7.00259555e-03 3.13355150e-05 9.99975481e-01 -2.31814129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.901400513 meters 0.015314128302481694 Centerline is valid? [True, True] Translation: X:522.76, Y:56.71, Z:-2.32 [[ 9.94749762e-01 -1.01981685e-01 -8.52328966e-03 5.22761566e+02] [ 1.01977914e-01 9.94786277e-01 -8.77014199e-04 5.67140887e+01] [ 8.56829097e-03 3.22236651e-06 9.99963292e-01 -2.31925111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.931400513 meters 0.010047513916230329 Centerline is valid? [True, True] Translation: X:522.79, Y:56.71, Z:-2.32 [[ 9.94098332e-01 -1.08082513e-01 -9.31004305e-03 5.22790633e+02] [ 1.08078265e-01 9.94141925e-01 -9.59717745e-04 5.67128904e+01] [ 9.35923282e-03 -5.21594911e-05 9.99956200e-01 -2.31981566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9614005130001 meters 0.012295744511927586 Centerline is valid? [True, True] Translation: X:522.82, Y:56.71, Z:-2.32 [[ 9.93828869e-01 -1.10575575e-01 -8.78762390e-03 5.22818756e+02] [ 1.10571879e-01 9.93867716e-01 -9.06838488e-04 5.67140458e+01] [ 8.83400988e-03 -7.04218143e-05 9.99960977e-01 -2.31933608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.991400513 meters 0.01897653623221926 Centerline is valid? [True, True] Translation: X:522.85, Y:56.72, Z:-2.32 [[ 9.93544593e-01 -1.13138182e-01 -8.30022456e-03 5.22847760e+02] [ 1.13134966e-01 9.93579259e-01 -8.57446346e-04 5.67171283e+01] [ 8.34394089e-03 -8.71344438e-05 9.99965185e-01 -2.31774325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.021400513 meters 0.01534090954690436 Centerline is valid? [True, True] Translation: X:522.88, Y:56.72, Z:-2.32 [[ 9.93366685e-01 -1.14763510e-01 -7.20876542e-03 5.22876595e+02] [ 1.14761119e-01 9.93392837e-01 -7.45795897e-04 5.67206341e+01] [ 7.24672609e-03 -8.64371900e-05 9.99973738e-01 -2.31680194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.051400513 meters 0.01612492549270291 Centerline is valid? [True, True] Translation: X:522.91, Y:56.72, Z:-2.32 [[ 9.93138007e-01 -1.16751246e-01 -6.78570396e-03 5.22905482e+02] [ 1.16749167e-01 9.93161184e-01 -7.03125851e-04 5.67245394e+01] [ 6.82138860e-03 -9.39242768e-05 9.99976730e-01 -2.31594551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.081400513 meters 0.027135190068696916 Centerline is valid? [True, True] Translation: X:522.94, Y:56.72, Z:-2.32 [[ 9.92570328e-01 -1.21445095e-01 -7.43185996e-03 5.22935484e+02] [ 1.21442726e-01 9.92598141e-01 -7.70974857e-04 5.67243723e+01] [ 7.47048150e-03 -1.37298563e-04 9.99972086e-01 -2.31571983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.111400513 meters 0.02211522378862133 Centerline is valid? [True, True] Translation: X:522.96, Y:56.73, Z:-2.32 [[ 9.92352355e-01 -1.23224428e-01 -7.24871061e-03 5.22963989e+02] [ 1.23222216e-01 9.92378818e-01 -7.52577233e-04 5.67258891e+01] [ 7.28620276e-03 -1.46380397e-04 9.99973445e-01 -2.31533191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.141400513 meters 0.023384532100554523 Centerline is valid? [True, True] Translation: X:522.99, Y:56.73, Z:-2.31 [[ 9.92201366e-01 -1.24429904e-01 -7.32447785e-03 5.22992111e+02] [ 1.24427672e-01 9.92228388e-01 -7.61384234e-04 5.67290920e+01] [ 7.36229382e-03 -1.55921251e-04 9.99972886e-01 -2.31472172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.171400513 meters 0.02357642074194338 Centerline is valid? [True, True] Translation: X:523.02, Y:56.73, Z:-2.32 [[ 9.92165322e-01 -1.24696201e-01 -7.67019520e-03 5.23019434e+02] [ 1.24693755e-01 9.92194956e-01 -7.98254004e-04 5.67347638e+01] [ 7.70986823e-03 -1.64425498e-04 9.99970265e-01 -2.31504022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.201400513 meters 0.022596669980042252 Centerline is valid? [True, True] Translation: X:523.05, Y:56.75, Z:-2.32 [[ 9.92431154e-01 -1.22538202e-01 -8.04941089e-03 5.23046908e+02] [ 1.22535424e-01 9.92463785e-01 -8.39250670e-04 5.67454502e+01] [ 8.09158907e-03 -1.53439466e-04 9.99967251e-01 -2.31660372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.231400513 meters 0.02476293030259244 Centerline is valid? [True, True] Translation: X:523.08, Y:56.75, Z:-2.32 [[ 9.92547316e-01 -1.21616685e-01 -7.69464611e-03 5.23075333e+02] [ 1.21614109e-01 9.92577132e-01 -8.03547783e-04 5.67548998e+01] [ 7.73525459e-03 -1.38218333e-04 9.99970073e-01 -2.31560333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.261400513 meters 0.020444068397387116 Centerline is valid? [True, True] Translation: X:523.10, Y:56.76, Z:-2.32 [[ 9.92700629e-01 -1.20391482e-01 -7.16600601e-03 5.23102767e+02] [ 1.20389209e-01 9.92726487e-01 -7.49210540e-04 5.67594810e+01] [ 7.20408253e-03 -1.18968022e-04 9.99974043e-01 -2.31555247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.291400513 meters 0.018345510672651225 Centerline is valid? [True, True] Translation: X:523.13, Y:56.77, Z:-2.32 [[ 9.92719987e-01 -1.20228768e-01 -7.21603060e-03 5.23130160e+02] [ 1.20226453e-01 9.92746206e-01 -7.55272374e-04 5.67674551e+01] [ 7.25449247e-03 -1.17783785e-04 9.99973679e-01 -2.31513983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.321400513 meters 0.01882842992445012 Centerline is valid? [True, True] Translation: X:523.16, Y:56.77, Z:-2.32 [[ 9.92714916e-01 -1.20238971e-01 -7.72558931e-03 5.23156480e+02] [ 1.20236309e-01 9.92744969e-01 -8.09818377e-04 5.67718733e+01] [ 7.76691165e-03 -1.24977561e-04 9.99969829e-01 -2.31592165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.351400513 meters 0.021351591932723697 Centerline is valid? [True, True] Translation: X:523.18, Y:56.77, Z:-2.32 [[ 9.92555794e-01 -1.21474506e-01 -8.77149898e-03 5.23183828e+02] [ 1.21471116e-01 9.92594540e-01 -9.20146655e-04 5.67748080e+01] [ 8.81831636e-03 -1.52186880e-04 9.99961106e-01 -2.31809637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.381400513 meters 0.022641181571327534 Centerline is valid? [True, True] Translation: X:523.21, Y:56.78, Z:-2.32 [[ 9.92441870e-01 -1.22390507e-01 -8.92742088e-03 5.23211364e+02] [ 1.22387027e-01 9.92482009e-01 -9.37171121e-04 5.67770024e+01] [ 8.97500545e-03 -1.62512636e-04 9.99959711e-01 -2.31858486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.411400513 meters 0.02222642330555352 Centerline is valid? [True, True] Translation: X:523.24, Y:56.78, Z:-2.32 [[ 9.92259219e-01 -1.23842836e-01 -9.19747756e-03 5.23239599e+02] [ 1.23839193e-01 9.92301829e-01 -9.66740905e-04 5.67812394e+01] [ 9.24639774e-03 -1.79750622e-04 9.99957235e-01 -2.31798898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.441400513 meters 0.023587280263577995 Centerline is valid? [True, True] Translation: X:523.27, Y:56.78, Z:-2.32 [[ 9.92039338e-01 -1.25602826e-01 -9.04891719e-03 5.23268519e+02] [ 1.25599359e-01 9.92080588e-01 -9.52666694e-04 5.67833750e+01] [ 9.09691272e-03 -1.91455362e-04 9.99958604e-01 -2.31747876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.471400513 meters 0.02688146869319566 Centerline is valid? [True, True] Translation: X:523.30, Y:56.78, Z:-2.32 [[ 9.91850648e-01 -1.27060047e-01 -9.38282382e-03 5.23296674e+02] [ 1.27056374e-01 9.91895004e-01 -9.88905441e-04 5.67834625e+01] [ 9.43242644e-03 -2.11301075e-04 9.99955491e-01 -2.31788965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.501400513 meters 0.02598988213990582 Centerline is valid? [True, True] Translation: X:523.32, Y:56.79, Z:-2.32 [[ 9.91696500e-01 -1.28220088e-01 -9.88235292e-03 5.23324751e+02] [ 1.28216059e-01 9.91745711e-01 -1.04278934e-03 5.67890104e+01] [ 9.93448766e-03 -2.32945808e-04 9.99950625e-01 -2.31778137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.531400513 meters 0.029663712881330375 Centerline is valid? [True, True] Translation: X:523.35, Y:56.79, Z:-2.32 [[ 9.91557194e-01 -1.29278158e-01 -1.00741402e-02 5.23353064e+02] [ 1.29274015e-01 9.91608338e-01 -1.06414631e-03 5.67879321e+01] [ 1.01271723e-02 -2.47162616e-04 9.99948688e-01 -2.31937516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.561400513 meters 0.03510418066628896 Centerline is valid? [True, True] Translation: X:523.38, Y:56.79, Z:-2.32 [[ 9.91464946e-01 -1.29984282e-01 -1.00671767e-02 5.23381555e+02] [ 1.29980168e-01 9.91516022e-01 -1.06465941e-03 5.67933699e+01] [ 1.01201560e-02 -2.52960835e-04 9.99948758e-01 -2.31845131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.591400513 meters 0.027081124178200883 Centerline is valid? [True, True] Translation: X:523.41, Y:56.80, Z:-2.32 [[ 9.91431865e-01 -1.30253209e-01 -9.84672750e-03 5.23409155e+02] [ 1.30249268e-01 9.91480731e-01 -1.04317462e-03 5.67977458e+01] [ 9.89871742e-03 -2.48292488e-04 9.99950976e-01 -2.31838077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.621400513 meters 0.029855347025261242 Centerline is valid? [True, True] Translation: X:523.44, Y:56.80, Z:-2.32 [[ 9.91410878e-01 -1.30416471e-01 -9.79877498e-03 5.23435766e+02] [ 1.30412562e-01 9.91459269e-01 -1.03950193e-03 5.67982905e+01] [ 9.85065445e-03 -2.47309832e-04 9.99951451e-01 -2.31868666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.651400513 meters 0.029855347025261242 Centerline is valid? [True, True] Translation: X:523.46, Y:56.80, Z:-2.32 [[ 9.91386293e-01 -1.30603233e-01 -9.79862061e-03 5.23463134e+02] [ 1.30599319e-01 9.91434685e-01 -1.04095552e-03 5.68013824e+01] [ 9.85064449e-03 -2.47704147e-04 9.99951451e-01 -2.31856609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.681400513 meters 0.031883397665921825 Centerline is valid? [True, True] Translation: X:523.49, Y:56.81, Z:-2.32 [[ 9.91339639e-01 -1.30931303e-01 -1.01348309e-02 5.23491431e+02] [ 1.30927115e-01 9.91391410e-01 -1.07853904e-03 5.68091043e+01] [ 1.01887988e-02 -2.57725666e-04 9.99948060e-01 -2.31782688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7114005130001 meters 0.028771426964617066 Centerline is valid? [True, True] Translation: X:523.52, Y:56.81, Z:-2.32 [[ 9.91418599e-01 -1.30279259e-01 -1.07924071e-02 5.23519609e+02] [ 1.30274457e-01 9.91477304e-01 -1.14972537e-03 5.68105761e+01] [ 1.08502121e-02 -2.66115861e-04 9.99941099e-01 -2.31927138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.741400513 meters 0.03112892655372134 Centerline is valid? [True, True] Translation: X:523.55, Y:56.81, Z:-2.32 [[ 9.91489699e-01 -1.29646672e-01 -1.18286498e-02 5.23547842e+02] [ 1.29640850e-01 9.91560215e-01 -1.26085982e-03 5.68121152e+01] [ 1.18922849e-02 -2.83346701e-04 9.99929244e-01 -2.32073315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.771400513 meters 0.028894791142229523 Centerline is valid? [True, True] Translation: X:523.58, Y:56.82, Z:-2.32 [[ 9.91525081e-01 -1.29440411e-01 -1.10992381e-02 5.23575710e+02] [ 1.29435257e-01 9.91587168e-01 -1.18446234e-03 5.68200217e+01] [ 1.11591794e-02 -2.62208627e-04 9.99937700e-01 -2.31897472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.801400513 meters 0.028126231783709096 Centerline is valid? [True, True] Translation: X:523.60, Y:56.83, Z:-2.32 [[ 9.91584141e-01 -1.29116770e-01 -9.47366501e-03 5.23604334e+02] [ 1.29112987e-01 9.91629372e-01 -1.01244087e-03 5.68267330e+01] [ 9.52508758e-03 -2.19252873e-04 9.99954611e-01 -2.31666911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.831400513 meters 0.027206750332188376 Centerline is valid? [True, True] Translation: X:523.63, Y:56.83, Z:-2.31 [[ 9.91600473e-01 -1.29069249e-01 -8.34447632e-03 5.23632276e+02] [ 1.29066301e-01 9.91635564e-01 -8.93060077e-04 5.68339950e+01] [ 8.38994608e-03 -1.91431901e-04 9.99964785e-01 -2.31441216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.861400513 meters 0.024650363158033328 Centerline is valid? [True, True] Translation: X:523.66, Y:56.84, Z:-2.31 [[ 9.91588527e-01 -1.29200125e-01 -7.71492200e-03 5.23659245e+02] [ 1.29197598e-01 9.91618524e-01 -8.27023876e-04 5.68435823e+01] [ 7.75711116e-03 -1.76682008e-04 9.99969898e-01 -2.31253778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.891400513 meters 0.02772766753045864 Centerline is valid? [True, True] Translation: X:523.69, Y:56.85, Z:-2.31 [[ 9.91589393e-01 -1.29222058e-01 -7.22053663e-03 5.23685706e+02] [ 1.29219838e-01 9.91615668e-01 -7.75089495e-04 5.68461864e+01] [ 7.26015592e-03 -1.64466056e-04 9.99973631e-01 -2.31226483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.921400513 meters 0.028248335859606056 Centerline is valid? [True, True] Translation: X:523.71, Y:56.86, Z:-2.31 [[ 9.91500893e-01 -1.29872758e-01 -7.68417204e-03 5.23713298e+02] [ 1.29870256e-01 9.91530652e-01 -8.25807380e-04 5.68566008e+01] [ 7.72634200e-03 -1.79156639e-04 9.99970135e-01 -2.31166650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.951400513 meters 0.028890816913307853 Centerline is valid? [True, True] Translation: X:523.74, Y:56.86, Z:-2.31 [[ 9.91352798e-01 -1.30963303e-01 -8.26092909e-03 5.23742018e+02] [ 1.30960437e-01 9.91387196e-01 -8.89209306e-04 5.68626500e+01] [ 8.30623312e-03 -2.00334754e-04 9.99965483e-01 -2.31234977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.981400513 meters 0.02929694731543489 Centerline is valid? [True, True] Translation: X:523.77, Y:56.87, Z:-2.31 [[ 9.91129397e-01 -1.32616715e-01 -8.67900333e-03 5.23769890e+02] [ 1.32613606e-01 9.91167371e-01 -9.35234018e-04 5.68688026e+01] [ 8.72637258e-03 -2.24016000e-04 9.99961899e-01 -2.31301312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.011400513 meters 0.034333993324633584 Centerline is valid? [True, True] Translation: X:523.80, Y:56.87, Z:-2.31 [[ 9.90925680e-01 -1.34110259e-01 -8.98528045e-03 5.23798248e+02] [ 1.34106983e-01 9.90966386e-01 -9.68793505e-04 5.68690042e+01] [ 9.03403604e-03 -2.44986491e-04 9.99959162e-01 -2.31396510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.041400513 meters 0.033543725892913025 Centerline is valid? [True, True] Translation: X:523.83, Y:56.88, Z:-2.31 [[ 9.90696121e-01 -1.35755152e-01 -9.57778382e-03 5.23826325e+02] [ 1.35751495e-01 9.90742380e-01 -1.03383380e-03 5.68775339e+01] [ 9.62946460e-03 -2.75983341e-04 9.99953598e-01 -2.31401873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.071400513 meters 0.034213213580462094 Centerline is valid? [True, True] Translation: X:523.85, Y:56.88, Z:-2.31 [[ 9.90531629e-01 -1.36913101e-01 -1.00942592e-02 5.23854998e+02] [ 1.36909082e-01 9.90583016e-01 -1.09131710e-03 5.68841135e+01] [ 1.01486173e-02 -3.01011653e-04 9.99948456e-01 -2.31418731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.101400513 meters 0.034886616059033065 Centerline is valid? [True, True] Translation: X:523.88, Y:56.90, Z:-2.31 [[ 9.90349277e-01 -1.38223518e-01 -1.01275919e-02 5.23882828e+02] [ 1.38219524e-01 9.90401010e-01 -1.09663339e-03 5.68952652e+01] [ 1.01819577e-02 -3.13780837e-04 9.99948113e-01 -2.31284524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.131400513 meters 0.033050551613203145 Centerline is valid? [True, True] Translation: X:523.91, Y:56.91, Z:-2.31 [[ 9.90306868e-01 -1.38582189e-01 -9.34257743e-03 5.23910391e+02] [ 1.38578790e-01 9.90350893e-01 -1.01330468e-03 5.69054450e+01] [ 9.39285589e-03 -2.91200490e-04 9.99955844e-01 -2.31097216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.161400513 meters 0.03286015012211796 Centerline is valid? [True, True] Translation: X:523.94, Y:56.91, Z:-2.31 [[ 9.90251647e-01 -1.39007875e-01 -8.85926859e-03 5.23938952e+02] [ 1.39004822e-01 9.90291237e-01 -9.62496867e-04 5.69137531e+01] [ 8.90705069e-03 -2.78366942e-04 9.99960293e-01 -2.30974538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.191400513 meters 0.03363776130401748 Centerline is valid? [True, True] Translation: X:523.96, Y:56.92, Z:-2.31 [[ 9.90218632e-01 -1.39257707e-01 -8.62277621e-03 5.23964998e+02] [ 1.39254812e-01 9.90256137e-01 -9.38127986e-04 5.69210050e+01] [ 8.66939861e-03 -2.71811268e-04 9.99962383e-01 -2.30960557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.221400513 meters 0.0359413252160502 Centerline is valid? [True, True] Translation: X:523.99, Y:56.93, Z:-2.31 [[ 9.90160716e-01 -1.39638348e-01 -9.10428931e-03 5.23992191e+02] [ 1.39635129e-01 9.90202529e-01 -9.91432752e-04 5.69265461e+01] [ 9.15353233e-03 -2.89600848e-04 9.99958064e-01 -2.31091135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.251400513 meters 0.03729087032298558 Centerline is valid? [True, True] Translation: X:524.02, Y:56.94, Z:-2.31 [[ 9.90001617e-01 -1.40679614e-01 -1.02977995e-02 5.24019230e+02] [ 1.40675545e-01 9.90055116e-01 -1.12208856e-03 5.69405449e+01] [ 1.03532440e-02 -3.37779064e-04 9.99946347e-01 -2.31132829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.281400513 meters 0.03499277811917427 Centerline is valid? [True, True] Translation: X:524.05, Y:56.94, Z:-2.31 [[ 9.89885398e-01 -1.41440563e-01 -1.10211973e-02 5.24046520e+02] [ 1.41435940e-01 9.89946681e-01 -1.20164207e-03 5.69440161e+01] [ 1.10803586e-02 -3.69305466e-04 9.99938543e-01 -2.31341010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.311400513 meters 0.036222295177899495 Centerline is valid? [True, True] Translation: X:524.08, Y:56.95, Z:-2.31 [[ 9.89666693e-01 -1.42893059e-01 -1.18916526e-02 5.24075054e+02] [ 1.42887763e-01 9.89738047e-01 -1.29816025e-03 5.69500789e+01] [ 1.19551191e-02 -4.14425672e-04 9.99928449e-01 -2.31420909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.341400513 meters 0.0444884106178096 Centerline is valid? [True, True] Translation: X:524.10, Y:56.95, Z:-2.32 [[ 9.89218093e-01 -1.45930036e-01 -1.23283589e-02 5.24103972e+02] [ 1.45924567e-01 9.89294803e-01 -1.34681567e-03 5.69512091e+01] [ 1.23929222e-02 -4.66716013e-04 9.99923096e-01 -2.31612009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.371400513 meters 0.04059021907632675 Centerline is valid? [True, True] Translation: X:524.13, Y:56.96, Z:-2.31 [[ 9.88930635e-01 -1.47849902e-01 -1.25142346e-02 5.24132896e+02] [ 1.47844417e-01 9.89009686e-01 -1.36743392e-03 5.69620585e+01] [ 1.25788742e-02 -4.97862426e-04 9.99920759e-01 -2.31444373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.401400513 meters 0.04653465417590474 Centerline is valid? [True, True] Translation: X:524.16, Y:56.96, Z:-2.32 [[ 9.88572028e-01 -1.50256625e-01 -1.21775035e-02 5.24161947e+02] [ 1.50251608e-01 9.88646895e-01 -1.33103399e-03 5.69600896e+01] [ 1.22392477e-02 -5.13866510e-04 9.99924966e-01 -2.31523539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.431400513 meters 0.04684410319970793 Centerline is valid? [True, True] Translation: X:524.19, Y:56.96, Z:-2.31 [[ 9.88144118e-01 -1.53077031e-01 -1.17738654e-02 5.24192075e+02] [ 1.53072539e-01 9.88214117e-01 -1.28707101e-03 5.69648625e+01] [ 1.18321210e-02 -5.30443821e-04 9.99929857e-01 -2.31429363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4614005130001 meters 0.052778821367375287 Centerline is valid? [True, True] Translation: X:524.22, Y:56.97, Z:-2.31 [[ 9.87607692e-01 -1.56503508e-01 -1.17345343e-02 5.24221416e+02] [ 1.56499286e-01 9.87677239e-01 -1.28286493e-03 5.69713753e+01] [ 1.17907053e-02 -5.69478967e-04 9.99930325e-01 -2.31323167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.491400513 meters 0.06099809853539021 Centerline is valid? [True, True] Translation: X:524.25, Y:56.96, Z:-2.32 [[ 9.87094720e-01 -1.59720967e-01 -1.15423384e-02 5.24251592e+02] [ 1.59717100e-01 9.87162021e-01 -1.26200509e-03 5.69597535e+01] [ 1.15957267e-02 -5.97790252e-04 9.99932589e-01 -2.31552306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.521400513 meters 0.06052652648862111 Centerline is valid? [True, True] Translation: X:524.28, Y:56.97, Z:-2.32 [[ 9.86230108e-01 -1.64882676e-01 -1.28014413e-02 5.24281539e+02] [ 1.64878350e-01 9.86312917e-01 -1.39985190e-03 5.69651102e+01] [ 1.28570382e-02 -7.30104416e-04 9.99917078e-01 -2.31611735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.551400513 meters 0.0617451372406574 Centerline is valid? [True, True] Translation: X:524.31, Y:56.97, Z:-2.32 [[ 9.85916987e-01 -1.66696436e-01 -1.34161548e-02 5.24310452e+02] [ 1.66691845e-01 9.86007949e-01 -1.46760363e-03 5.69678067e+01] [ 1.34730796e-02 -7.89428249e-04 9.99908922e-01 -2.31649516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.581400513 meters 0.06395400901903761 Centerline is valid? [True, True] Translation: X:524.34, Y:56.97, Z:-2.32 [[ 9.85719771e-01 -1.67843822e-01 -1.36009216e-02 5.24338584e+02] [ 1.67839203e-01 9.85813261e-01 -1.48849148e-03 5.69686337e+01] [ 1.36578030e-02 -8.15532369e-04 9.99906395e-01 -2.31666155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.611400513 meters 0.06285106677841935 Centerline is valid? [True, True] Translation: X:524.37, Y:56.97, Z:-2.32 [[ 9.85613083e-01 -1.68468409e-01 -1.36104789e-02 5.24366566e+02] [ 1.68463832e-01 9.85706709e-01 -1.49030251e-03 5.69736907e+01] [ 1.36670093e-02 -8.24011784e-04 9.99906263e-01 -2.31589019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.641400513 meters 0.06392220974997988 Centerline is valid? [True, True] Translation: X:524.39, Y:56.98, Z:-2.32 [[ 9.85628292e-01 -1.68430721e-01 -1.29600193e-02 5.24394259e+02] [ 1.68426558e-01 9.85713183e-01 -1.41983992e-03 5.69757700e+01] [ 1.30140065e-02 -7.83377040e-04 9.99915007e-01 -2.31544326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.671400513 meters 0.05968932207542214 Centerline is valid? [True, True] Translation: X:524.42, Y:56.98, Z:-2.31 [[ 9.85776566e-01 -1.67614317e-01 -1.22475840e-02 5.24422225e+02] [ 1.67610528e-01 9.85852377e-01 -1.34241884e-03 5.69840623e+01] [ 1.22993184e-02 -7.29498998e-04 9.99924094e-01 -2.31366295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.701400513 meters 0.05556376513500774 Centerline is valid? [True, True] Translation: X:524.45, Y:56.99, Z:-2.31 [[ 9.85967182e-01 -1.66515699e-01 -1.18843143e-02 5.24450210e+02] [ 1.66512046e-01 9.86038559e-01 -1.30318369e-03 5.69923437e+01] [ 1.19353927e-02 -6.93985136e-04 9.99928530e-01 -2.31302673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.731400513 meters 0.05958470706570452 Centerline is valid? [True, True] Translation: X:524.48, Y:56.99, Z:-2.31 [[ 9.86187736e-01 -1.65229366e-01 -1.15328308e-02 5.24478885e+02] [ 1.65225831e-01 9.86254949e-01 -1.26520340e-03 5.69906422e+01] [ 1.15833602e-02 -6.57793478e-04 9.99932694e-01 -2.31322750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.761400513 meters 0.06505508020455598 Centerline is valid? [True, True] Translation: X:524.51, Y:56.99, Z:-2.31 [[ 9.86498484e-01 -1.63426704e-01 -1.06043941e-02 5.24508819e+02] [ 1.63423608e-01 9.86555305e-01 -1.16369374e-03 5.69864245e+01] [ 1.06519999e-02 -5.85026239e-04 9.99943095e-01 -2.31181096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.791400513 meters 0.05841191482589096 Centerline is valid? [True, True] Translation: X:524.54, Y:57.00, Z:-2.31 [[ 9.86595169e-01 -1.62863462e-01 -1.02696361e-02 5.24536558e+02] [ 1.62860517e-01 9.86648458e-01 -1.12799552e-03 5.70021927e+01] [ 1.03162299e-02 -5.59643313e-04 9.99946630e-01 -2.30883492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.821400513 meters 0.05727913885950688 Centerline is valid? [True, True] Translation: X:524.56, Y:57.01, Z:-2.31 [[ 9.86794093e-01 -1.61722957e-01 -9.11606180e-03 5.24564915e+02] [ 1.61720581e-01 9.86836080e-01 -1.00213288e-03 5.70059801e+01] [ 9.15812659e-03 -4.85355999e-04 9.99957946e-01 -2.30743993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.851400513 meters 0.05362031892374052 Centerline is valid? [True, True] Translation: X:524.59, Y:57.01, Z:-2.31 [[ 9.87006466e-01 -1.60475617e-01 -8.11248865e-03 5.24592355e+02] [ 1.60473690e-01 9.87039715e-01 -8.92225229e-04 5.70098506e+01] [ 8.15052888e-03 -4.21208918e-04 9.99966695e-01 -2.30650219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.881400513 meters 0.05036663076886274 Centerline is valid? [True, True] Translation: X:524.62, Y:57.02, Z:-2.31 [[ 9.87122287e-01 -1.59784694e-01 -7.64476456e-03 5.24620807e+02] [ 1.59782955e-01 9.87151811e-01 -8.41601669e-04 5.70169226e+01] [ 7.68101825e-03 -3.90739310e-04 9.99970424e-01 -2.30571936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.911400513 meters 0.05682954672982242 Centerline is valid? [True, True] Translation: X:524.65, Y:57.01, Z:-2.31 [[ 9.87217887e-01 -1.59205644e-01 -7.37610923e-03 5.24649588e+02] [ 1.59204002e-01 9.87245372e-01 -8.12938440e-04 5.70117933e+01] [ 7.41145409e-03 -3.71758740e-04 9.99972466e-01 -2.30579423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.941400513 meters 0.051056311220494754 Centerline is valid? [True, True] Translation: X:524.68, Y:57.02, Z:-2.30 [[ 9.87277518e-01 -1.58835989e-01 -7.36419459e-03 5.24677639e+02] [ 1.58834337e-01 9.87304914e-01 -8.12403076e-04 5.70225202e+01] [ 7.39974436e-03 -3.67619676e-04 9.99972554e-01 -2.30486894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.971400513 meters 0.05198424479633046 Centerline is valid? [True, True] Translation: X:524.71, Y:57.03, Z:-2.31 [[ 9.87484107e-01 -1.57490399e-01 -8.48008733e-03 5.24705781e+02] [ 1.57488146e-01 9.87520433e-01 -9.37000201e-04 5.70263944e+01] [ 8.52182805e-03 -4.10240428e-04 9.99963604e-01 -2.30675100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.001400513 meters 0.047972731280977884 Centerline is valid? [True, True] Translation: X:524.73, Y:57.04, Z:-2.31 [[ 9.87542766e-01 -1.57058089e-01 -9.59381588e-03 5.24733424e+02] [ 1.57055168e-01 9.87589260e-01 -1.06173056e-03 5.70351720e+01] [ 9.64150290e-03 -4.58254033e-04 9.99953415e-01 -2.30738871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.031400513 meters 0.05102931956810852 Centerline is valid? [True, True] Translation: X:524.76, Y:57.04, Z:-2.31 [[ 9.87578831e-01 -1.56799645e-01 -1.00957300e-02 5.24761403e+02] [ 1.56796386e-01 9.87630317e-01 -1.11841428e-03 5.70353479e+01] [ 1.01462160e-02 -4.78451714e-04 9.99948411e-01 -2.30776490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.061400513 meters 0.049024002012814295 Centerline is valid? [True, True] Translation: X:524.79, Y:57.04, Z:-2.31 [[ 9.87577190e-01 -1.56814858e-01 -1.00196528e-02 5.24789814e+02] [ 1.56811637e-01 9.87627903e-01 -1.11121184e-03 5.70424027e+01] [ 1.00699432e-02 -4.73790694e-04 9.99949185e-01 -2.30655401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.091400513 meters 0.049759863085439456 Centerline is valid? [True, True] Translation: X:524.82, Y:57.05, Z:-2.31 [[ 9.87526511e-01 -1.57168508e-01 -9.45785212e-03 5.24817899e+02] [ 1.57165639e-01 9.87571698e-01 -1.05047000e-03 5.70474477e+01] [ 9.50540788e-03 -4.49082400e-04 9.99954722e-01 -2.30509866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.121400513 meters 0.05428679477208346 Centerline is valid? [True, True] Translation: X:524.85, Y:57.05, Z:-2.30 [[ 9.87480971e-01 -1.57489559e-01 -8.85271570e-03 5.24845805e+02] [ 1.57487050e-01 9.87520562e-01 -9.84220314e-04 5.70482078e+01] [ 8.89724320e-03 -4.22289248e-04 9.99960330e-01 -2.30443944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.151400513 meters 0.059713458176321524 Centerline is valid? [True, True] Translation: X:524.87, Y:57.05, Z:-2.31 [[ 9.87398371e-01 -1.57974451e-01 -9.40903356e-03 5.24873026e+02] [ 1.57971631e-01 9.87443096e-01 -1.04685515e-03 5.70514874e+01] [ 9.45626159e-03 -4.52697303e-04 9.99955186e-01 -2.30607700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.181400513 meters 0.052022083855709986 Centerline is valid? [True, True] Translation: X:524.90, Y:57.07, Z:-2.31 [[ 9.87367035e-01 -1.58106853e-01 -1.04192860e-02 5.24899613e+02] [ 1.58103393e-01 9.87421881e-01 -1.16010118e-03 5.70687032e+01] [ 1.04716509e-02 -5.01878812e-04 9.99945045e-01 -2.30659328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2114005130001 meters 0.05180782596409371 Centerline is valid? [True, True] Translation: X:524.93, Y:57.08, Z:-2.31 [[ 9.87296358e-01 -1.58453551e-01 -1.17632525e-02 5.24927909e+02] [ 1.58449148e-01 9.87366269e-01 -1.31127819e-03 5.70766274e+01] [ 1.18224154e-02 -5.69257147e-04 9.99929951e-01 -2.30779498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.241400513 meters 0.054641934969832696 Centerline is valid? [True, True] Translation: X:524.96, Y:57.08, Z:-2.31 [[ 9.87209064e-01 -1.58985755e-01 -1.19077144e-02 5.24956091e+02] [ 1.58981257e-01 9.87280706e-01 -1.32939776e-03 5.70849815e+01] [ 1.19676119e-02 -5.80709880e-04 9.99928217e-01 -2.30742664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.271400513 meters 0.05813363519917934 Centerline is valid? [True, True] Translation: X:524.98, Y:57.08, Z:-2.31 [[ 9.87098563e-01 -1.59748677e-01 -1.08067840e-02 5.24983867e+02] [ 1.59745007e-01 9.87157573e-01 -1.20754085e-03 5.70836007e+01] [ 1.08609018e-02 -5.34367950e-04 9.99940876e-01 -2.30669391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.301400513 meters 0.050124859778306476 Centerline is valid? [True, True] Translation: X:525.01, Y:57.10, Z:-2.30 [[ 9.86885183e-01 -1.61060248e-01 -1.08274004e-02 5.25011868e+02] [ 1.61056638e-01 9.86944423e-01 -1.21026420e-03 5.71015555e+01] [ 1.08809679e-02 -5.49432897e-04 9.99940650e-01 -2.30439034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.331400513 meters 0.0550949800483935 Centerline is valid? [True, True] Translation: X:525.04, Y:57.10, Z:-2.31 [[ 9.86587027e-01 -1.62842823e-01 -1.13249206e-02 5.25040281e+02] [ 1.62838987e-01 9.86651844e-01 -1.26624347e-03 5.71040420e+01] [ 1.13799525e-02 -5.94879211e-04 9.99935069e-01 -2.30571326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.361400513 meters 0.05766075604644585 Centerline is valid? [True, True] Translation: X:525.07, Y:57.11, Z:-2.31 [[ 9.86174350e-01 -1.65249857e-01 -1.23545929e-02 5.25070002e+02] [ 1.65245476e-01 9.86251501e-01 -1.38164087e-03 5.71070395e+01] [ 1.24130517e-02 -6.79001795e-04 9.99922725e-01 -2.30725951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.391400513 meters 0.06181862740943549 Centerline is valid? [True, True] Translation: X:525.10, Y:57.11, Z:-2.31 [[ 9.85651049e-01 -1.68289715e-01 -1.30606928e-02 5.25099333e+02] [ 1.68285082e-01 9.85737286e-01 -1.46083798e-03 5.71086376e+01] [ 1.31202559e-02 -7.58043267e-04 9.99913638e-01 -2.30844293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.421400513 meters 0.06868022487453071 Centerline is valid? [True, True] Translation: X:525.13, Y:57.11, Z:-2.31 [[ 9.84393166e-01 -1.75520362e-01 -1.27553209e-02 5.25129345e+02] [ 1.75516544e-01 9.84475448e-01 -1.42688049e-03 5.71094705e+01] [ 1.28077468e-02 -8.34158428e-04 9.99917630e-01 -2.30809059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.451400513 meters 0.06951774124081385 Centerline is valid? [True, True] Translation: X:525.16, Y:57.11, Z:-2.31 [[ 9.83747287e-01 -1.79130374e-01 -1.23929214e-02 5.25158886e+02] [ 1.79127053e-01 9.83824973e-01 -1.38652301e-03 5.71139820e+01] [ 1.24408340e-02 -8.55919239e-04 9.99922244e-01 -2.30688975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.481400513 meters 0.07810832697742741 Centerline is valid? [True, True] Translation: X:525.19, Y:57.11, Z:-2.31 [[ 9.83256763e-01 -1.81828849e-01 -1.20169880e-02 5.25188801e+02] [ 1.81825924e-01 9.83329815e-01 -1.34464407e-03 5.71090572e+01] [ 1.20611577e-02 -8.62869588e-04 9.99926889e-01 -2.30669015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.511400513 meters 0.07236070388771686 Centerline is valid? [True, True] Translation: X:525.22, Y:57.12, Z:-2.31 [[ 9.82976680e-01 -1.83319288e-01 -1.22835785e-02 5.25217693e+02] [ 1.83316346e-01 9.83053014e-01 -1.37463441e-03 5.71221139e+01] [ 1.23274058e-02 -9.00547145e-04 9.99923609e-01 -2.30570743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.541400513 meters 0.07168764719177498 Centerline is valid? [True, True] Translation: X:525.25, Y:57.13, Z:-2.31 [[ 9.82956659e-01 -1.83412963e-01 -1.24856371e-02 5.25245392e+02] [ 1.83409911e-01 9.83035527e-01 -1.39884643e-03 5.71288722e+01] [ 1.25303914e-02 -9.14984178e-04 9.99921073e-01 -2.30627332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.571400513 meters 0.07168764719177498 Centerline is valid? [True, True] Translation: X:525.27, Y:57.13, Z:-2.31 [[ 9.82922191e-01 -1.83597610e-01 -1.24853740e-02 5.25272785e+02] [ 1.83594543e-01 9.83001058e-01 -1.40119226e-03 5.71320950e+01] [ 1.25303914e-02 -9.14983571e-04 9.99921073e-01 -2.30615257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.601400513 meters 0.07426054731160686 Centerline is valid? [True, True] Translation: X:525.30, Y:57.14, Z:-2.31 [[ 9.83385133e-01 -1.81174311e-01 -1.13819914e-02 5.25301099e+02] [ 1.81171590e-01 9.83450670e-01 -1.27827207e-03 5.71381168e+01] [ 1.14252171e-02 -8.05059735e-04 9.99934406e-01 -2.30583958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.631400513 meters 0.07397187371024 Centerline is valid? [True, True] Translation: X:525.33, Y:57.15, Z:-2.30 [[ 9.83663121e-01 -1.79741834e-01 -9.98684717e-03 5.25329605e+02] [ 1.79739664e-01 9.83713574e-01 -1.12180200e-03 5.71450005e+01] [ 1.00258319e-02 -6.91557301e-04 9.99949501e-01 -2.30383863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.661400513 meters 0.07024970759612609 Centerline is valid? [True, True] Translation: X:525.36, Y:57.16, Z:-2.30 [[ 9.83898017e-01 -1.78493534e-01 -9.20603250e-03 5.25358713e+02] [ 1.78491634e-01 9.83940886e-01 -1.03424373e-03 5.71569118e+01] [ 9.24279759e-03 -6.25609436e-04 9.99957089e-01 -2.30225358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.691400513 meters 0.06694274457201645 Centerline is valid? [True, True] Translation: X:525.39, Y:57.17, Z:-2.30 [[ 9.84034123e-01 -1.77743461e-01 -9.17100027e-03 5.25386940e+02] [ 1.77741539e-01 9.84076665e-01 -1.03074084e-03 5.71681993e+01] [ 9.20817480e-03 -6.15783550e-04 9.99957414e-01 -2.30152127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.721400513 meters 0.06861293862475082 Centerline is valid? [True, True] Translation: X:525.41, Y:57.17, Z:-2.30 [[ 9.84061107e-01 -1.77593072e-01 -9.18902624e-03 5.25414990e+02] [ 1.77591125e-01 9.84103817e-01 -1.03391376e-03 5.71725103e+01] [ 9.22657172e-03 -6.14455185e-04 9.99957245e-01 -2.30196625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.751400513 meters 0.0701650474076393 Centerline is valid? [True, True] Translation: X:525.44, Y:57.18, Z:-2.30 [[ 9.83922187e-01 -1.78328305e-01 -9.80535190e-03 5.25443575e+02] [ 1.78326108e-01 9.83970822e-01 -1.10492820e-03 5.71793866e+01] [ 9.84522014e-03 -6.61386874e-04 9.99951316e-01 -2.30303322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.781400513 meters 0.0745996808437646 Centerline is valid? [True, True] Translation: X:525.47, Y:57.18, Z:-2.30 [[ 9.83640298e-01 -1.79848295e-01 -1.03128308e-02 5.25472346e+02] [ 1.79845939e-01 9.83694102e-01 -1.16298459e-03 5.71793492e+01] [ 1.03538316e-02 -7.10762230e-04 9.99946145e-01 -2.30475528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.811400513 meters 0.07311545684820753 Centerline is valid? [True, True] Translation: X:525.50, Y:57.19, Z:-2.31 [[ 9.83428484e-01 -1.80933397e-01 -1.14683093e-02 5.25501469e+02] [ 1.80930555e-01 9.83495023e-01 -1.29354699e-03 5.71874189e+01] [ 1.15130709e-02 -8.02856599e-04 9.99933400e-01 -2.30575748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.841400513 meters 0.06827895339802889 Centerline is valid? [True, True] Translation: X:525.53, Y:57.20, Z:-2.31 [[ 9.83244440e-01 -1.81858768e-01 -1.25602743e-02 5.25529565e+02] [ 1.81855428e-01 9.83324257e-01 -1.41711709e-03 5.71987305e+01] [ 1.26085375e-02 -8.90781550e-04 9.99920112e-01 -2.30658420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.871400513 meters 0.07419012525622462 Centerline is valid? [True, True] Translation: X:525.56, Y:57.20, Z:-2.31 [[ 9.83096345e-01 -1.82571155e-01 -1.37604377e-02 5.25558148e+02] [ 1.82567192e-01 9.83192150e-01 -1.55425596e-03 5.71963780e+01] [ 1.38129167e-02 -9.84221117e-04 9.99904113e-01 -2.30929342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.901400513 meters 0.0694851703377291 Centerline is valid? [True, True] Translation: X:525.59, Y:57.21, Z:-2.31 [[ 9.82960205e-01 -1.83261165e-01 -1.43031848e-02 5.25585660e+02] [ 1.83256922e-01 9.83063723e-01 -1.61798053e-03 5.72073170e+01] [ 1.43574551e-02 -1.03074714e-03 9.99896395e-01 -2.30886541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.931400513 meters 0.07584820178790053 Centerline is valid? [True, True] Translation: X:525.61, Y:57.21, Z:-2.31 [[ 9.82934277e-01 -1.83414385e-01 -1.41198593e-02 5.25613952e+02] [ 1.83410247e-01 9.83035160e-01 -1.59854488e-03 5.72053403e+01] [ 1.41735143e-02 -1.01846233e-03 9.99899032e-01 -2.30888589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9614005130001 meters 0.07487621329174449 Centerline is valid? [True, True] Translation: X:525.64, Y:57.22, Z:-2.31 [[ 9.82812943e-01 -1.84196256e-01 -1.22661295e-02 5.25641698e+02] [ 1.84193174e-01 9.82889079e-01 -1.39018642e-03 5.72150021e+01] [ 1.23123119e-02 -8.93044123e-04 9.99923802e-01 -2.30575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.991400513 meters 0.0728988519803867 Centerline is valid? [True, True] Translation: X:525.67, Y:57.22, Z:-2.30 [[ 9.82635388e-01 -1.85185937e-01 -1.15699611e-02 5.25670014e+02] [ 1.85183242e-01 9.82703130e-01 -1.31313854e-03 5.72223057e+01] [ 1.16130118e-02 -8.52226516e-04 9.99932204e-01 -2.30497005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.021400513 meters 0.07710484895287477 Centerline is valid? [True, True] Translation: X:525.70, Y:57.22, Z:-2.31 [[ 9.82283762e-01 -1.87045644e-01 -1.15125270e-02 5.25700614e+02] [ 1.87043095e-01 9.82350839e-01 -1.30733272e-03 5.72243148e+01] [ 1.15538715e-02 -8.69166972e-04 9.99932874e-01 -2.30569809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.051400513 meters 0.07797706081331307 Centerline is valid? [True, True] Translation: X:525.73, Y:57.22, Z:-2.31 [[ 9.81997374e-01 -1.88560220e-01 -1.12338959e-02 5.25730484e+02] [ 1.88557890e-01 9.82061248e-01 -1.27577221e-03 5.72245668e+01] [ 1.12729337e-02 -8.65434759e-04 9.99936084e-01 -2.30517035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.081400513 meters 0.07769412171767723 Centerline is valid? [True, True] Translation: X:525.76, Y:57.23, Z:-2.30 [[ 9.81717238e-01 -1.90006010e-01 -1.13569722e-02 5.25760761e+02] [ 1.90003724e-01 9.81782522e-01 -1.28980056e-03 5.72302398e+01] [ 1.13951467e-02 -8.91647584e-04 9.99934676e-01 -2.30458532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.111400513 meters 0.071593906359727 Centerline is valid? [True, True] Translation: X:525.79, Y:57.24, Z:-2.30 [[ 9.81574124e-01 -1.90689150e-01 -1.22428728e-02 5.25788603e+02] [ 1.90686544e-01 9.81649993e-01 -1.39069799e-03 5.72431749e+01] [ 1.22834070e-02 -9.69477927e-04 9.99924086e-01 -2.30428403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.141400513 meters 0.08754555987197042 Centerline is valid? [True, True] Translation: X:525.82, Y:57.23, Z:-2.31 [[ 9.81527282e-01 -1.90866822e-01 -1.31928638e-02 5.25818065e+02] [ 1.90863802e-01 9.81615384e-01 -1.49931127e-03 5.72287763e+01] [ 1.32364868e-02 -1.04642522e-03 9.99911846e-01 -2.30717239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.171400513 meters 0.07809248573534781 Centerline is valid? [True, True] Translation: X:525.85, Y:57.25, Z:-2.31 [[ 9.81472220e-01 -1.91143206e-01 -1.32874232e-02 5.25845507e+02] [ 1.91140144e-01 9.81561593e-01 -1.51179518e-03 5.72454376e+01] [ 1.33313937e-02 -1.05597501e-03 9.99910575e-01 -2.30560258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.201400513 meters 0.07817978921168169 Centerline is valid? [True, True] Translation: X:525.87, Y:57.25, Z:-2.30 [[ 9.81516863e-01 -1.90989438e-01 -1.21524650e-02 5.25873125e+02] [ 1.90986851e-01 9.81591620e-01 -1.38377925e-03 5.72499022e+01] [ 1.21930450e-02 -9.62758364e-04 9.99925199e-01 -2.30398460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.231400513 meters 0.07873786740252417 Centerline is valid? [True, True] Translation: X:525.90, Y:57.26, Z:-2.30 [[ 9.81500068e-01 -1.91253871e-01 -8.92034481e-03 5.25901420e+02] [ 1.91252479e-01 9.81540348e-01 -1.01667576e-03 5.72563205e+01] [ 8.95012153e-03 -7.08170731e-04 9.99959696e-01 -2.29864224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.261400513 meters 0.07428543499115331 Centerline is valid? [True, True] Translation: X:525.93, Y:57.27, Z:-2.30 [[ 9.81385294e-01 -1.91865089e-01 -8.40783401e-03 5.25928687e+02] [ 1.91863868e-01 9.81421080e-01 -9.59174658e-04 5.72672706e+01] [ 8.43565767e-03 -6.71839651e-04 9.99964194e-01 -2.29708074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.291400513 meters 0.08085676827926151 Centerline is valid? [True, True] Translation: X:525.96, Y:57.26, Z:-2.30 [[ 9.81205149e-01 -1.92770393e-01 -8.71955717e-03 5.25957316e+02] [ 1.92769111e-01 9.81243639e-01 -9.95213559e-04 5.72644790e+01] [ 8.74785772e-03 -7.04352617e-04 9.99961489e-01 -2.29731453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.321400513 meters 0.08713468588628352 Centerline is valid? [True, True] Translation: X:525.99, Y:57.26, Z:-2.30 [[ 9.80945958e-01 -1.94066488e-01 -9.12284802e-03 5.25986948e+02] [ 1.94065138e-01 9.80988092e-01 -1.04156922e-03 5.72613256e+01] [ 9.15153896e-03 -7.48703636e-04 9.99957844e-01 -2.29814901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.351400513 meters 0.08287295349664474 Centerline is valid? [True, True] Translation: X:526.02, Y:57.27, Z:-2.30 [[ 9.80613221e-01 -1.95716929e-01 -9.62263864e-03 5.26015999e+02] [ 1.95715504e-01 9.80660101e-01 -1.09879731e-03 5.72709496e+01] [ 9.65159102e-03 -8.05804399e-04 9.99953098e-01 -2.29828847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.381400513 meters 0.08513139120089123 Centerline is valid? [True, True] Translation: X:526.05, Y:57.27, Z:-2.30 [[ 9.79956003e-01 -1.99016729e-01 -8.86420634e-03 5.26046422e+02] [ 1.99015653e-01 9.79995788e-01 -1.01223908e-03 5.72737088e+01] [ 8.88833739e-03 -7.72166050e-04 9.99960200e-01 -2.29715452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.411400513 meters 0.08906777851305103 Centerline is valid? [True, True] Translation: X:526.08, Y:57.27, Z:-2.30 [[ 9.79770719e-01 -1.99953553e-01 -8.24105454e-03 5.26075130e+02] [ 1.99952655e-01 9.79805108e-01 -9.41212995e-04 5.72738761e+01] [ 8.26282622e-03 -7.25647801e-04 9.99965599e-01 -2.29628360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.441400513 meters 0.08614830397789029 Centerline is valid? [True, True] Translation: X:526.10, Y:57.28, Z:-2.30 [[ 9.79725099e-01 -2.00184755e-01 -8.04951804e-03 5.26102817e+02] [ 2.00183900e-01 9.79757909e-01 -9.20084399e-04 5.72820493e+01] [ 8.07076583e-03 -7.09954136e-04 9.99967179e-01 -2.29600014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.471400513 meters 0.08609951857721158 Centerline is valid? [True, True] Translation: X:526.13, Y:57.29, Z:-2.30 [[ 9.79788599e-01 -1.99864055e-01 -8.28622334e-03 5.26131831e+02] [ 1.99863126e-01 9.79823367e-01 -9.48457121e-04 5.72863353e+01] [ 8.30859774e-03 -7.26823031e-04 9.99965219e-01 -2.29631471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.501400513 meters 0.09478714552468238 Centerline is valid? [True, True] Translation: X:526.16, Y:57.28, Z:-2.30 [[ 9.79934688e-01 -1.99114663e-01 -9.01987838e-03 5.26160899e+02] [ 1.99113522e-01 9.79975886e-01 -1.03340943e-03 5.72794167e+01] [ 9.04503028e-03 -7.83306003e-04 9.99958786e-01 -2.29786069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.531400513 meters 0.09412663870213286 Centerline is valid? [True, True] Translation: X:526.19, Y:57.29, Z:-2.30 [[ 9.80116663e-01 -1.98162796e-01 -1.01406895e-02 5.26190445e+02] [ 1.98161298e-01 9.80168735e-01 -1.16228579e-03 5.72850618e+01] [ 1.01699086e-02 -8.70316529e-04 9.99947906e-01 -2.29902747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.561400513 meters 0.08850943229405371 Centerline is valid? [True, True] Translation: X:526.22, Y:57.30, Z:-2.30 [[ 9.80479119e-01 -1.96309643e-01 -1.11004940e-02 5.26218944e+02] [ 1.96307729e-01 9.80541512e-01 -1.27250851e-03 5.72983476e+01] [ 1.11343008e-02 -9.31444736e-04 9.99937578e-01 -2.30048372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.591400513 meters 0.08984571001588325 Centerline is valid? [True, True] Translation: X:526.25, Y:57.30, Z:-2.30 [[ 9.80673450e-01 -1.95339351e-01 -1.10509122e-02 5.26248157e+02] [ 1.95337390e-01 9.80735285e-01 -1.26701446e-03 5.73011359e+01] [ 1.10855173e-02 -9.16128902e-04 9.99938134e-01 -2.30075187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.621400513 meters 0.08570985087942369 Centerline is valid? [True, True] Translation: X:526.28, Y:57.31, Z:-2.30 [[ 9.80889849e-01 -1.94267813e-01 -1.07294065e-02 5.26277303e+02] [ 1.94265899e-01 9.80948137e-01 -1.23031970e-03 5.73105161e+01] [ 1.07640028e-02 -8.77549694e-04 9.99941681e-01 -2.29951774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.651400513 meters 0.08651869414134238 Centerline is valid? [True, True] Translation: X:526.31, Y:57.31, Z:-2.30 [[ 9.81064006e-01 -1.93378172e-01 -1.08765467e-02 5.26305579e+02] [ 1.93376148e-01 9.81123901e-01 -1.24746181e-03 5.73147354e+01] [ 1.09124718e-02 -8.79424820e-04 9.99940070e-01 -2.29911399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.681400513 meters 0.07982279497151429 Centerline is valid? [True, True] Translation: X:526.33, Y:57.33, Z:-2.30 [[ 9.81134315e-01 -1.93007470e-01 -1.11163496e-02 5.26333090e+02] [ 1.93005318e-01 9.81196881e-01 -1.27621078e-03 5.73287661e+01] [ 1.11536457e-02 -8.93380395e-04 9.99937397e-01 -2.29860299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7114005130001 meters 0.07956027753536848 Centerline is valid? [True, True] Translation: X:526.36, Y:57.34, Z:-2.30 [[ 9.81129849e-01 -1.93007472e-01 -1.15037067e-02 5.26361866e+02] [ 1.93005147e-01 9.81196853e-01 -1.32248735e-03 5.73352701e+01] [ 1.15426507e-02 -9.22742786e-04 9.99932956e-01 -2.29913723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.741400513 meters 0.0767184180691771 Centerline is valid? [True, True] Translation: X:526.39, Y:57.34, Z:-2.30 [[ 9.81038917e-01 -1.93420244e-01 -1.22984517e-02 5.26389384e+02] [ 1.93417605e-01 9.81115502e-01 -1.41502169e-03 5.73443119e+01] [ 1.23398954e-02 -9.90545724e-04 9.99923370e-01 -2.29996586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.771400513 meters 0.08286124115694773 Centerline is valid? [True, True] Translation: X:526.42, Y:57.34, Z:-2.30 [[ 9.80701569e-01 -1.95123031e-01 -1.23059256e-02 5.26418708e+02] [ 1.95120517e-01 9.80778251e-01 -1.41622679e-03 5.73443379e+01] [ 1.23457226e-02 -1.01224273e-03 9.99923276e-01 -2.30107001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.801400513 meters 0.08347978171658052 Centerline is valid? [True, True] Translation: X:526.45, Y:57.35, Z:-2.30 [[ 9.80527881e-01 -1.96023315e-01 -1.18294221e-02 5.26447582e+02] [ 1.96021054e-01 9.80598742e-01 -1.36169219e-03 5.73490274e+01] [ 1.18668398e-02 -9.83638628e-04 9.99929103e-01 -2.30014905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.831400513 meters 0.08349890156406702 Centerline is valid? [True, True] Translation: X:526.48, Y:57.36, Z:-2.30 [[ 9.80326390e-01 -1.97028409e-01 -1.18311291e-02 5.26476320e+02] [ 1.97026216e-01 9.80397274e-01 -1.36221323e-03 5.73568148e+01] [ 1.18676014e-02 -9.95629017e-04 9.99929082e-01 -2.29993734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.861400513 meters 0.08297691117015189 Centerline is valid? [True, True] Translation: X:526.51, Y:57.36, Z:-2.30 [[ 9.80185732e-01 -1.97698684e-01 -1.22947262e-02 5.26505055e+02] [ 1.97696363e-01 9.80262283e-01 -1.41597427e-03 5.73588699e+01] [ 1.23319926e-02 -1.04270487e-03 9.99923414e-01 -2.29996478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.891400513 meters 0.0927434522395532 Centerline is valid? [True, True] Translation: X:526.53, Y:57.35, Z:-2.30 [[ 9.80094110e-01 -1.98077103e-01 -1.34535264e-02 5.26533659e+02] [ 1.98074350e-01 9.80185773e-01 -1.55012479e-03 5.73513950e+01] [ 1.34939994e-02 -1.14553033e-03 9.99908296e-01 -2.30274238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.921400513 meters 0.08455005274680236 Centerline is valid? [True, True] Translation: X:526.56, Y:57.37, Z:-2.30 [[ 9.80115162e-01 -1.97884222e-01 -1.47005118e-02 5.26561518e+02] [ 1.97880886e-01 9.80224607e-01 -1.69563102e-03 5.73661248e+01] [ 1.47453420e-02 -1.24703663e-03 9.99890504e-01 -2.30283346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.951400513 meters 0.0899047715107977 Centerline is valid? [True, True] Translation: X:526.59, Y:57.36, Z:-2.30 [[ 9.80265985e-01 -1.97209970e-01 -1.36684324e-02 5.26589833e+02] [ 1.97207006e-01 9.80360601e-01 -1.57772515e-03 5.73646916e+01] [ 1.37111357e-02 -1.14892033e-03 9.99905338e-01 -2.30136000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.981400513 meters 0.08118701831802556 Centerline is valid? [True, True] Translation: X:526.62, Y:57.38, Z:-2.30 [[ 9.80459109e-01 -1.96375887e-01 -1.16809945e-02 5.26617675e+02] [ 1.96373659e-01 9.80528208e-01 -1.34870124e-03 5.73800211e+01] [ 1.17183971e-02 -9.71493223e-04 9.99930865e-01 -2.29649368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.011400513 meters 0.07891318330293116 Centerline is valid? [True, True] Translation: X:526.65, Y:57.39, Z:-2.29 [[ 9.80719418e-01 -1.95162611e-01 -1.00487595e-02 5.26646578e+02] [ 1.95160897e-01 9.80770553e-01 -1.16046164e-03 5.73880081e+01] [ 1.00820062e-02 -8.23037656e-04 9.99948837e-01 -2.29338132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.041400513 meters 0.08923316212274655 Centerline is valid? [True, True] Translation: X:526.68, Y:57.38, Z:-2.29 [[ 9.81013458e-01 -1.93726737e-01 -9.08548390e-03 5.26676120e+02] [ 1.93725272e-01 9.81055257e-01 -1.04947607e-03 5.73806958e+01] [ 9.11667332e-03 -7.30537689e-04 9.99958175e-01 -2.29296889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.071400513 meters 0.0805391528407089 Centerline is valid? [True, True] Translation: X:526.70, Y:57.40, Z:-2.29 [[ 9.81248554e-01 -1.92503708e-01 -9.67458825e-03 5.26703661e+02] [ 1.92501985e-01 9.81295947e-01 -1.11780904e-03 5.74004486e+01] [ 9.70881663e-03 -7.65528930e-04 9.99952575e-01 -2.29248556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.101400513 meters 0.08480281217160915 Centerline is valid? [True, True] Translation: X:526.73, Y:57.40, Z:-2.29 [[ 9.81502684e-01 -1.91198535e-01 -9.77760205e-03 5.26732696e+02] [ 1.91196708e-01 9.81551090e-01 -1.13000222e-03 5.73978638e+01] [ 9.81327072e-03 -7.60345111e-04 9.99951560e-01 -2.29362797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.131400513 meters 0.08088201829532056 Centerline is valid? [True, True] Translation: X:526.76, Y:57.41, Z:-2.30 [[ 9.81824321e-01 -1.89463531e-01 -1.11612538e-02 5.26760880e+02] [ 1.89461035e-01 9.81887392e-01 -1.29023678e-03 5.74116795e+01] [ 1.12035472e-02 -8.47836839e-04 9.99936879e-01 -2.29557624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.161400513 meters 0.07455651359219458 Centerline is valid? [True, True] Translation: X:526.79, Y:57.43, Z:-2.30 [[ 9.81842666e-01 -1.89345176e-01 -1.15491669e-02 5.26787778e+02] [ 1.89342481e-01 9.81910199e-01 -1.33635162e-03 5.74259553e+01] [ 1.15932765e-02 -8.74660873e-04 9.99932413e-01 -2.29528288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.191400513 meters 0.06904772949573901 Centerline is valid? [True, True] Translation: X:526.81, Y:57.44, Z:-2.29 [[ 9.81820528e-01 -1.89459526e-01 -1.15558933e-02 5.26814289e+02] [ 1.89456811e-01 9.81888142e-01 -1.33923589e-03 5.74410833e+01] [ 1.16003256e-02 -8.74453395e-04 9.99932332e-01 -2.29408159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.221400513 meters 0.07157331285537327 Centerline is valid? [True, True] Translation: X:526.84, Y:57.44, Z:-2.29 [[ 9.81822691e-01 -1.89516641e-01 -1.03752625e-02 5.26842032e+02] [ 1.89514443e-01 9.81877196e-01 -1.20353073e-03 5.74433772e+01] [ 1.04153228e-02 -7.84608319e-04 9.99945451e-01 -2.29289713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.251400513 meters 0.07441617733614796 Centerline is valid? [True, True] Translation: X:526.87, Y:57.45, Z:-2.29 [[ 9.81808600e-01 -1.89647672e-01 -9.25384748e-03 5.26868630e+02] [ 1.89645924e-01 9.81851959e-01 -1.07408150e-03 5.74468321e+01] [ 9.28960534e-03 -7.00412007e-04 9.99956605e-01 -2.29146984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.281400513 meters 0.07700291596636455 Centerline is valid? [True, True] Translation: X:526.90, Y:57.45, Z:-2.29 [[ 9.81771790e-01 -1.89881583e-01 -8.31485739e-03 5.26896281e+02] [ 1.89880175e-01 9.81806797e-01 -9.65641752e-04 5.74506898e+01] [ 8.34694109e-03 -6.30786749e-04 9.99964965e-01 -2.29027405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.311400513 meters 0.07417544643953355 Centerline is valid? [True, True] Translation: X:526.92, Y:57.46, Z:-2.29 [[ 9.81701797e-01 -1.90223202e-01 -8.75869093e-03 5.26923872e+02] [ 1.90221645e-01 9.81740643e-01 -1.01816940e-03 5.74616477e+01] [ 8.79244230e-03 -6.66553861e-04 9.99961124e-01 -2.29070806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.341400513 meters 0.08400192093208063 Centerline is valid? [True, True] Translation: X:526.95, Y:57.46, Z:-2.29 [[ 9.81447153e-01 -1.91426046e-01 -1.08422212e-02 5.26952312e+02] [ 1.91423720e-01 9.81506682e-01 -1.26155505e-03 5.74598875e+01] [ 1.08832071e-02 -8.37308703e-04 9.99940426e-01 -2.29473378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.371400513 meters 0.07507801980515678 Centerline is valid? [True, True] Translation: X:526.98, Y:57.48, Z:-2.29 [[ 9.81297217e-01 -1.92183725e-01 -1.10085558e-02 5.26980333e+02] [ 1.92181371e-01 9.81358588e-01 -1.28126880e-03 5.74772905e+01] [ 1.10495798e-02 -8.58333838e-04 9.99938583e-01 -2.29358435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.401400513 meters 0.08569027953402042 Centerline is valid? [True, True] Translation: X:527.01, Y:57.47, Z:-2.29 [[ 9.81163212e-01 -1.92892040e-01 -1.05551964e-02 5.27009053e+02] [ 1.92889911e-01 9.81219635e-01 -1.22895793e-03 5.74703658e+01] [ 1.05940221e-02 -8.30182584e-04 9.99943537e-01 -2.29389756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.431400513 meters 0.078508312503599 Centerline is valid? [True, True] Translation: X:527.04, Y:57.49, Z:-2.29 [[ 9.81087649e-01 -1.93283505e-01 -1.04168679e-02 5.27036008e+02] [ 1.93281441e-01 9.81142605e-01 -1.21407868e-03 5.74850935e+01] [ 1.04550943e-02 -8.22269636e-04 9.99945006e-01 -2.29214220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4614005130001 meters 0.07743395911780451 Centerline is valid? [True, True] Translation: X:527.06, Y:57.49, Z:-2.29 [[ 9.81155892e-01 -1.92926098e-01 -1.06129924e-02 5.27064167e+02] [ 1.92923916e-01 9.81212937e-01 -1.23866681e-03 5.74919603e+01] [ 1.06525766e-02 -8.32174817e-04 9.99942913e-01 -2.29221354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.491400513 meters 0.07743395911780451 Centerline is valid? [True, True] Translation: X:527.09, Y:57.50, Z:-2.29 [[ 9.81120705e-01 -1.93104976e-01 -1.06127778e-02 5.27091529e+02] [ 1.93102785e-01 9.81177749e-01 -1.24050388e-03 5.74953012e+01] [ 1.06525689e-02 -8.32272915e-04 9.99942913e-01 -2.29209274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.521400513 meters 0.0762458132435369 Centerline is valid? [True, True] Translation: X:527.12, Y:57.50, Z:-2.29 [[ 9.81329442e-01 -1.92033510e-01 -1.07544523e-02 5.27121216e+02] [ 1.92031187e-01 9.81388018e-01 -1.25795265e-03 5.75020613e+01] [ 1.07958597e-02 -8.30724272e-04 9.99941378e-01 -2.29197189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.551400513 meters 0.07933805927551307 Centerline is valid? [True, True] Translation: X:527.15, Y:57.51, Z:-2.29 [[ 9.81981015e-01 -1.88685572e-01 -1.05375789e-02 5.27149529e+02] [ 1.88683147e-01 9.82037245e-01 -1.23282520e-03 5.75059595e+01] [ 1.05809112e-02 -7.77652603e-04 9.99943718e-01 -2.29139478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.581400513 meters 0.07302462354387426 Centerline is valid? [True, True] Translation: X:527.18, Y:57.52, Z:-2.29 [[ 9.82313139e-01 -1.86952483e-01 -1.04721834e-02 5.27178597e+02] [ 1.86949988e-01 9.82368668e-01 -1.22537780e-03 5.75196827e+01] [ 1.05166323e-02 -7.54069837e-04 9.99944414e-01 -2.29095361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.611400513 meters 0.07141896971079684 Centerline is valid? [True, True] Translation: X:527.21, Y:57.53, Z:-2.29 [[ 9.82542710e-01 -1.85763494e-01 -1.00869526e-02 5.27207592e+02] [ 1.85761114e-01 9.82594227e-01 -1.18047973e-03 5.75272048e+01] [ 1.01306714e-02 -7.13891800e-04 9.99948429e-01 -2.29078791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.641400513 meters 0.06697528121669592 Centerline is valid? [True, True] Translation: X:527.23, Y:57.54, Z:-2.29 [[ 9.82518585e-01 -1.85918046e-01 -9.57652668e-03 5.27234812e+02] [ 1.85915898e-01 9.82565021e-01 -1.12182549e-03 5.75382228e+01] [ 9.61812774e-03 -6.78214166e-04 9.99953515e-01 -2.28978521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.671400513 meters 0.0791843498501141 Centerline is valid? [True, True] Translation: X:527.26, Y:57.53, Z:-2.29 [[ 9.82321684e-01 -1.86996185e-01 -8.74852050e-03 5.27264993e+02] [ 1.86994427e-01 9.82360439e-01 -1.02573593e-03 5.75285512e+01] [ 8.78600914e-03 -6.28321931e-04 9.99961205e-01 -2.28969074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.701400513 meters 0.07703048445636691 Centerline is valid? [True, True] Translation: X:527.29, Y:57.54, Z:-2.29 [[ 9.81535541e-01 -1.91064486e-01 -9.07436318e-03 5.27293948e+02] [ 1.91062766e-01 9.81577245e-01 -1.06415626e-03 5.75405822e+01] [ 9.11051088e-03 -6.89265739e-04 9.99958261e-01 -2.29035951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.731400513 meters 0.07905560825583277 Centerline is valid? [True, True] Translation: X:527.32, Y:57.54, Z:-2.29 [[ 9.81017958e-01 -1.93689744e-01 -9.38349976e-03 5.27323370e+02] [ 1.93688022e-01 9.81062556e-01 -1.10052728e-03 5.75419253e+01] [ 9.41896110e-03 -7.37834483e-04 9.99955368e-01 -2.29070837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.761400513 meters 0.07887778529563755 Centerline is valid? [True, True] Translation: X:527.35, Y:57.55, Z:-2.29 [[ 9.80519689e-01 -1.96194142e-01 -9.43382753e-03 5.27353747e+02] [ 1.96192517e-01 9.80564772e-01 -1.10649459e-03 5.75474497e+01] [ 9.46756670e-03 -7.65906634e-04 9.99954888e-01 -2.29044964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.791400513 meters 0.07781860395991742 Centerline is valid? [True, True] Translation: X:527.38, Y:57.55, Z:-2.29 [[ 9.80172865e-01 -1.97927268e-01 -9.27102135e-03 5.27383580e+02] [ 1.97925775e-01 9.80216407e-01 -1.08748417e-03 5.75543365e+01] [ 9.30285001e-03 -7.69051608e-04 9.99956432e-01 -2.28942289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.821400513 meters 0.08334630261488842 Centerline is valid? [True, True] Translation: X:527.41, Y:57.55, Z:-2.29 [[ 9.80041571e-01 -1.98591666e-01 -8.93699053e-03 5.27411151e+02] [ 1.98590301e-01 9.80082034e-01 -1.04883488e-03 5.75530630e+01] [ 8.96727372e-03 -7.46897857e-04 9.99959514e-01 -2.28878786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.851400513 meters 0.08658103514759981 Centerline is valid? [True, True] Translation: X:527.44, Y:57.55, Z:-2.29 [[ 9.80084995e-01 -1.98402282e-01 -8.36288923e-03 5.27438983e+02] [ 1.98401074e-01 9.80120426e-01 -9.82098690e-04 5.75544867e+01] [ 8.39148917e-03 -6.96666017e-04 9.99964548e-01 -2.28769832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.881400513 meters 0.08616180854225582 Centerline is valid? [True, True] Translation: X:527.47, Y:57.56, Z:-2.29 [[ 9.80353715e-01 -1.97118429e-01 -7.13567438e-03 5.27468127e+02] [ 1.97117514e-01 9.80379510e-01 -8.38219811e-04 5.75632085e+01] [ 7.16089752e-03 -5.84814488e-04 9.99974189e-01 -2.28586169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.911400513 meters 0.08068711633049264 Centerline is valid? [True, True] Translation: X:527.50, Y:57.58, Z:-2.29 [[ 9.80499087e-01 -1.96392934e-01 -7.16634847e-03 5.27496147e+02] [ 1.96391989e-01 9.80525103e-01 -8.42286037e-04 5.75761073e+01] [ 7.19220360e-03 -5.81552736e-04 9.99973967e-01 -2.28585209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.941400513 meters 0.08515622790009865 Centerline is valid? [True, True] Translation: X:527.52, Y:57.58, Z:-2.29 [[ 9.80630498e-01 -1.95704536e-01 -7.97254192e-03 5.27523893e+02] [ 1.95703337e-01 9.80662696e-01 -9.37958165e-04 5.75764619e+01] [ 8.00193713e-03 -6.40462673e-04 9.99967779e-01 -2.28769211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.971400513 meters 0.08380546499370324 Centerline is valid? [True, True] Translation: X:527.55, Y:57.58, Z:-2.29 [[ 9.80692788e-01 -1.95297569e-01 -1.00256795e-02 5.27552165e+02] [ 1.95295639e-01 9.80743707e-01 -1.18069134e-03 5.75835439e+01] [ 1.00632083e-02 -8.00076008e-04 9.99949045e-01 -2.29081702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.001400513 meters 0.07352693634815836 Centerline is valid? [True, True] Translation: X:527.58, Y:57.60, Z:-2.29 [[ 9.80737228e-01 -1.94966231e-01 -1.19439399e-02 5.27579332e+02] [ 1.94963443e-01 9.80809498e-01 -1.40863819e-03 5.76013560e+01] [ 1.19893666e-02 -9.47127732e-04 9.99927676e-01 -2.29229378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.031400513 meters 0.0736936566794359 Centerline is valid? [True, True] Translation: X:527.61, Y:57.61, Z:-2.29 [[ 9.80764652e-01 -1.94725866e-01 -1.35105636e-02 5.27607728e+02] [ 1.94722244e-01 9.80857126e-01 -1.59571152e-03 5.76082322e+01] [ 1.35626589e-02 -1.06578981e-03 9.99907455e-01 -2.29390878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.061400513 meters 0.0808513358008767 Centerline is valid? [True, True] Translation: X:527.64, Y:57.61, Z:-2.29 [[ 9.80816016e-01 -1.94460318e-01 -1.36061356e-02 5.27635920e+02] [ 1.94456602e-01 9.80909804e-01 -1.60826043e-03 5.76069291e+01] [ 1.36591347e-02 -1.06839532e-03 9.99906139e-01 -2.29381093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.091400513 meters 0.0813353386877921 Centerline is valid? [True, True] Translation: X:527.66, Y:57.61, Z:-2.29 [[ 9.80896137e-01 -1.94082493e-01 -1.32194690e-02 5.27663948e+02] [ 1.94078931e-01 9.80984670e-01 -1.56417099e-03 5.76131196e+01] [ 1.32716746e-02 -1.03133112e-03 9.99911396e-01 -2.29259662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.121400513 meters 0.07379789958603956 Centerline is valid? [True, True] Translation: X:527.69, Y:57.63, Z:-2.29 [[ 9.81057766e-01 -1.93309135e-01 -1.25394522e-02 5.27691366e+02] [ 1.93305842e-01 9.81137424e-01 -1.48557399e-03 5.76293153e+01] [ 1.25901009e-02 -9.66515472e-04 9.99920274e-01 -2.29104873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.151400513 meters 0.07261366688519078 Centerline is valid? [True, True] Translation: X:527.72, Y:57.64, Z:-2.29 [[ 9.81368329e-01 -1.91749619e-01 -1.21772536e-02 5.27720328e+02] [ 1.91746387e-01 9.81443447e-01 -1.44338843e-03 5.76405564e+01] [ 1.22280549e-02 -9.18448676e-04 9.99924813e-01 -2.29018230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.181400513 meters 0.06769289280892449 Centerline is valid? [True, True] Translation: X:527.75, Y:57.65, Z:-2.29 [[ 9.81700714e-01 -1.90100032e-01 -1.12109671e-02 5.27749383e+02] [ 1.90097182e-01 9.81764379e-01 -1.32906580e-03 5.76508855e+01] [ 1.12591836e-02 -8.26428409e-04 9.99936272e-01 -2.28877434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2114005130001 meters 0.06962402862791521 Centerline is valid? [True, True] Translation: X:527.78, Y:57.66, Z:-2.29 [[ 9.82323119e-01 -1.86921768e-01 -1.00768407e-02 5.27778034e+02] [ 1.86919297e-01 9.82374546e-01 -1.19481395e-03 5.76577678e+01] [ 1.01225686e-02 -7.09862621e-04 9.99948514e-01 -2.28766350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.241400513 meters 0.06380967788179116 Centerline is valid? [True, True] Translation: X:527.81, Y:57.67, Z:-2.29 [[ 9.82553043e-01 -1.85722112e-01 -9.83943282e-03 5.27807003e+02] [ 1.85719695e-01 9.82602073e-01 -1.16680664e-03 5.76711699e+01] [ 9.88494888e-03 -6.80927047e-04 9.99950911e-01 -2.28658494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.271400513 meters 0.06485471993344785 Centerline is valid? [True, True] Translation: X:527.84, Y:57.68, Z:-2.29 [[ 9.82818920e-01 -1.84298120e-01 -1.00585169e-02 5.27835901e+02] [ 1.84295518e-01 9.82870154e-01 -1.19297265e-03 5.76761101e+01] [ 1.01060786e-02 -6.81263486e-04 9.99948700e-01 -2.28650328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.301400513 meters 0.06333376004781108 Centerline is valid? [True, True] Translation: X:527.87, Y:57.68, Z:-2.29 [[ 9.83129948e-01 -1.82612289e-01 -1.04046233e-02 5.27865282e+02] [ 1.82609410e-01 9.83184764e-01 -1.23419736e-03 5.76846866e+01] [ 1.04550467e-02 -6.86605730e-04 9.99945109e-01 -2.28652022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.331400513 meters 0.06413274468521385 Centerline is valid? [True, True] Translation: X:527.89, Y:57.69, Z:-2.29 [[ 9.83593001e-01 -1.80063149e-01 -1.10485948e-02 5.27893839e+02] [ 1.80059739e-01 9.83654803e-01 -1.31073789e-03 5.76907916e+01] [ 1.11040189e-02 -7.00174478e-04 9.99938103e-01 -2.28719234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.361400513 meters 0.06044857138595211 Centerline is valid? [True, True] Translation: X:527.92, Y:57.70, Z:-2.29 [[ 9.84169579e-01 -1.76850878e-01 -1.15761278e-02 5.27922854e+02] [ 1.76846913e-01 9.84237412e-01 -1.37340855e-03 5.77023943e+01] [ 1.16365466e-02 -6.95535554e-04 9.99932051e-01 -2.28778878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.391400513 meters 0.057671029301059114 Centerline is valid? [True, True] Translation: X:527.95, Y:57.71, Z:-2.29 [[ 9.84887366e-01 -1.72787189e-01 -1.18938019e-02 5.27950447e+02] [ 1.72782705e-01 9.84958956e-01 -1.41133136e-03 5.77131428e+01] [ 1.19587667e-02 -6.65040851e-04 9.99928270e-01 -2.28828167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.421400513 meters 0.04862469583235944 Centerline is valid? [True, True] Translation: X:527.98, Y:57.73, Z:-2.29 [[ 9.85646579e-01 -1.68416303e-01 -1.16949167e-02 5.27978747e+02] [ 1.68411657e-01 9.85715774e-01 -1.38805263e-03 5.77323338e+01] [ 1.17616346e-02 -6.01430980e-04 9.99930649e-01 -2.28678973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.451400513 meters 0.04456440407556348 Centerline is valid? [True, True] Translation: X:528.01, Y:57.75, Z:-2.28 [[ 9.86390706e-01 -1.64076706e-01 -1.05928811e-02 5.28008040e+02] [ 1.64072643e-01 9.86447458e-01 -1.25737320e-03 5.77456438e+01] [ 1.06556263e-02 -4.97740758e-04 9.99943103e-01 -2.28485144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.481400513 meters 0.040607202148402875 Centerline is valid? [True, True] Translation: X:528.04, Y:57.77, Z:-2.28 [[ 9.87529172e-01 -1.57245156e-01 -7.75214925e-03 5.28036139e+02] [ 1.57242770e-01 9.87559550e-01 -9.20200870e-04 5.77657944e+01] [ 7.80040616e-03 -3.10244217e-04 9.99969528e-01 -2.28082546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.511400513 meters 0.044908579735319185 Centerline is valid? [True, True] Translation: X:528.06, Y:57.77, Z:-2.28 [[ 9.87808921e-01 -1.55519493e-01 -6.87191260e-03 5.28064942e+02] [ 1.55517575e-01 9.87832789e-01 -8.15809739e-04 5.77681453e+01] [ 6.91517490e-03 -2.62839044e-04 9.99976055e-01 -2.27973340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.541400513 meters 0.039935712729407415 Centerline is valid? [True, True] Translation: X:528.09, Y:57.78, Z:-2.28 [[ 9.87918212e-01 -1.54842430e-01 -6.43648975e-03 5.28093431e+02] [ 1.54840732e-01 9.87939150e-01 -7.64293741e-04 5.77789914e+01] [ 6.47720531e-03 -2.41571079e-04 9.99978994e-01 -2.27961795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.571400513 meters 0.03981432835139356 Centerline is valid? [True, True] Translation: X:528.12, Y:57.79, Z:-2.28 [[ 9.87940284e-01 -1.54693029e-01 -6.63795807e-03 5.28122865e+02] [ 1.54691219e-01 9.87962553e-01 -7.88321546e-04 5.77873710e+01] [ 6.68000185e-03 -2.48019212e-04 9.99977658e-01 -2.28010631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.601400513 meters 0.03945644049066684 Centerline is valid? [True, True] Translation: X:528.15, Y:57.79, Z:-2.28 [[ 9.87909218e-01 -1.54901984e-01 -6.38381060e-03 5.28151781e+02] [ 1.54900315e-01 9.87929814e-01 -7.58067477e-04 5.77897657e+01] [ 6.42418297e-03 -2.39952423e-04 9.99979336e-01 -2.28100051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.631400513 meters 0.03520801167232316 Centerline is valid? [True, True] Translation: X:528.18, Y:57.80, Z:-2.28 [[ 9.87929572e-01 -1.54788386e-01 -5.97636906e-03 5.28182410e+02] [ 1.54786922e-01 9.87947623e-01 -7.09502005e-04 5.78002134e+01] [ 6.01416227e-03 -2.24125760e-04 9.99981890e-01 -2.27993038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.661400513 meters 0.04128280435636323 Centerline is valid? [True, True] Translation: X:528.21, Y:57.80, Z:-2.28 [[ 9.88199193e-01 -1.53075577e-01 -5.49757776e-03 5.28211930e+02] [ 1.53074312e-01 9.88214465e-01 -6.52578685e-04 5.78041294e+01] [ 5.53267972e-03 -1.96660206e-04 9.99984675e-01 -2.27870030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.691400513 meters 0.043624172859062844 Centerline is valid? [True, True] Translation: X:528.24, Y:57.81, Z:-2.28 [[ 9.88492406e-01 -1.51157228e-01 -5.85289243e-03 5.28242014e+02] [ 1.51155761e-01 9.88509713e-01 -6.94810731e-04 5.78055020e+01] [ 5.89066668e-03 -1.97883279e-04 9.99982630e-01 -2.27900086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.721400513 meters 0.03064541712287269 Centerline is valid? [True, True] Translation: X:528.27, Y:57.82, Z:-2.28 [[ 9.88868980e-01 -1.48666555e-01 -6.03298638e-03 5.28271252e+02] [ 1.48664949e-01 9.88887365e-01 -7.16190111e-04 5.78161378e+01] [ 6.07241752e-03 -1.88675430e-04 9.99981545e-01 -2.27907343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.751400513 meters 0.028145278597941983 Centerline is valid? [True, True] Translation: X:528.30, Y:57.82, Z:-2.28 [[ 9.89280650e-01 -1.45903359e-01 -6.00051855e-03 5.28301991e+02] [ 1.45901720e-01 9.89298833e-01 -7.12296354e-04 5.78230475e+01] [ 6.04023243e-03 -1.70824979e-04 9.99981743e-01 -2.27890175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.781400513 meters 0.025772621018441896 Centerline is valid? [True, True] Translation: X:528.33, Y:57.83, Z:-2.28 [[ 9.89663555e-01 -1.43300075e-01 -5.57991769e-03 5.28333329e+02] [ 1.43298617e-01 9.89679275e-01 -6.62227797e-04 5.78298509e+01] [ 5.61722619e-03 -1.44211775e-04 9.99984213e-01 -2.27786038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.811400513 meters 0.02742778641211501 Centerline is valid? [True, True] Translation: X:528.36, Y:57.83, Z:-2.28 [[ 9.90062309e-01 -1.40547991e-01 -4.78401241e-03 5.28363696e+02] [ 1.40546889e-01 9.90073861e-01 -5.67611650e-04 5.78310491e+01] [ 4.81630231e-03 -1.10407158e-04 9.99988395e-01 -2.27649890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.841400513 meters 0.018030142221126106 Centerline is valid? [True, True] Translation: X:528.39, Y:57.84, Z:-2.28 [[ 9.90856811e-01 -1.34800479e-01 -5.62236431e-03 5.28392828e+02] [ 1.34798865e-01 9.90872757e-01 -6.66783110e-04 5.78435377e+01] [ 5.66093031e-03 -9.72017437e-05 9.99983972e-01 -2.27751199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.871400513 meters 0.01675378888309399 Centerline is valid? [True, True] Translation: X:528.42, Y:57.85, Z:-2.28 [[ 9.91198270e-01 -1.32205521e-01 -6.90576743e-03 5.28423480e+02] [ 1.32203024e-01 9.91222321e-01 -8.18862018e-04 5.78465008e+01] [ 6.95340890e-03 -1.01308721e-04 9.99975820e-01 -2.27950359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.901400513 meters 0.014016402673230498 Centerline is valid? [True, True] Translation: X:528.45, Y:57.85, Z:-2.28 [[ 9.91488413e-01 -1.29964109e-01 -7.74964222e-03 5.28454242e+02] [ 1.29960897e-01 9.91518694e-01 -9.18725860e-04 5.78515325e+01] [ 7.80331653e-03 -9.62444110e-05 9.99969549e-01 -2.28102777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.931400513 meters 0.012491030475600157 Centerline is valid? [True, True] Translation: X:528.48, Y:57.85, Z:-2.28 [[ 9.91873947e-01 -1.26991781e-01 -7.69167035e-03 5.28484915e+02] [ 1.26988529e-01 9.91903767e-01 -9.11708550e-04 5.78533220e+01] [ 7.74517629e-03 -7.24539454e-05 9.99970003e-01 -2.28098701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9614005130001 meters 0.011254127640079123 Centerline is valid? [True, True] Translation: X:528.52, Y:57.86, Z:-2.28 [[ 9.92007317e-01 -1.25930444e-01 -7.93768579e-03 5.28516227e+02] [ 1.25926948e-01 9.92039071e-01 -9.40730164e-04 5.78567954e+01] [ 7.99296100e-03 -6.63573390e-05 9.99968054e-01 -2.28068721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.991400513 meters 0.010672003740973128 Centerline is valid? [True, True] Translation: X:528.55, Y:57.86, Z:-2.28 [[ 9.92121200e-01 -1.25003283e-01 -8.34890277e-03 5.28546845e+02] [ 1.24999384e-01 9.92156326e-01 -9.89193756e-04 5.78587885e+01] [ 8.40706917e-03 -6.22076085e-05 9.99964658e-01 -2.28141607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.021400513 meters 0.021878853681942284 Centerline is valid? [True, True] Translation: X:528.58, Y:57.86, Z:-2.28 [[ 9.92229185e-01 -1.24118554e-01 -8.70802682e-03 5.28577053e+02] [ 1.24114280e-01 9.92267394e-01 -1.03150743e-03 5.78599634e+01] [ 8.76872029e-03 -5.72987090e-05 9.99961552e-01 -2.28213482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.051400513 meters 0.009814891762423748 Centerline is valid? [True, True] Translation: X:528.61, Y:57.86, Z:-2.28 [[ 9.92311857e-01 -1.23506193e-01 -7.96230622e-03 5.28607060e+02] [ 1.23502601e-01 9.92343800e-01 -9.43168699e-04 5.78606966e+01] [ 8.01783239e-03 -4.74480415e-05 9.99967856e-01 -2.28098822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.081400513 meters 0.009113250315821617 Centerline is valid? [True, True] Translation: X:528.64, Y:57.86, Z:-2.28 [[ 9.92362928e-01 -1.23145993e-01 -7.13321565e-03 5.28637531e+02] [ 1.23143100e-01 9.92388564e-01 -8.45004603e-04 5.78618656e+01] [ 7.18298057e-03 -3.98550482e-05 9.99974201e-01 -2.27886452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.111400513 meters 0.008968226500892731 Centerline is valid? [True, True] Translation: X:528.67, Y:57.86, Z:-2.28 [[ 9.92376288e-01 -1.23114313e-01 -5.67177396e-03 5.28668969e+02] [ 1.23112484e-01 9.92392495e-01 -6.71881426e-04 5.78576158e+01] [ 5.71134413e-03 -3.15069830e-05 9.99983690e-01 -2.27629163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.141400513 meters 0.009295302366441206 Centerline is valid? [True, True] Translation: X:528.70, Y:57.86, Z:-2.28 [[ 9.92322650e-01 -1.23549848e-01 -5.58515639e-03 5.28699390e+02] [ 1.23548081e-01 9.92338367e-01 -6.61620662e-04 5.78564518e+01] [ 5.62410810e-03 -3.34941883e-05 9.99984184e-01 -2.27615465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.171400513 meters 0.00987234572958873 Centerline is valid? [True, True] Translation: X:528.73, Y:57.85, Z:-2.28 [[ 9.92277508e-01 -1.23907945e-01 -5.67170623e-03 5.28728946e+02] [ 1.23906129e-01 9.92293717e-01 -6.71889248e-04 5.78544678e+01] [ 5.71125087e-03 -3.60585734e-05 9.99983690e-01 -2.27652385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.201400513 meters 0.009575691024153012 Centerline is valid? [True, True] Translation: X:528.76, Y:57.85, Z:-2.28 [[ 9.92273856e-01 -1.23940750e-01 -5.59330674e-03 5.28759204e+02] [ 1.23938984e-01 9.92289620e-01 -6.62653279e-04 5.78541720e+01] [ 5.63230996e-03 -3.56952280e-05 9.99984138e-01 -2.27663955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.231400513 meters 0.0095739487040416 Centerline is valid? [True, True] Translation: X:528.79, Y:57.85, Z:-2.28 [[ 9.92362331e-01 -1.23228633e-01 -5.63101391e-03 5.28789286e+02] [ 1.23226831e-01 9.92378306e-01 -6.67136053e-04 5.78532571e+01] [ 5.67030631e-03 -3.18513095e-05 9.99983923e-01 -2.27678950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.261400513 meters 0.008487049142403658 Centerline is valid? [True, True] Translation: X:528.82, Y:57.86, Z:-2.28 [[ 9.92546060e-01 -1.21721938e-01 -6.00743736e-03 5.28818979e+02] [ 1.21719859e-01 9.92564239e-01 -7.11827974e-04 5.78550754e+01] [ 6.04941258e-03 -2.47023787e-05 9.99981702e-01 -2.27712072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.291400513 meters 0.007634768099408273 Centerline is valid? [True, True] Translation: X:528.85, Y:57.86, Z:-2.28 [[ 9.93198279e-01 -1.16204064e-01 -7.33446850e-03 5.28848236e+02] [ 1.16200813e-01 9.93225360e-01 -8.69264026e-04 5.78598183e+01] [ 7.38579213e-03 1.10803317e-05 9.99972725e-01 -2.27812915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.321400513 meters 0.009172794490260833 Centerline is valid? [True, True] Translation: X:528.88, Y:57.87, Z:-2.28 [[ 9.93648765e-01 -1.12260578e-01 -7.72622580e-03 5.28877847e+02] [ 1.12256850e-01 9.93678802e-01 -9.15802145e-04 5.78661994e+01] [ 7.78019528e-03 4.26638978e-05 9.99969733e-01 -2.27738984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.351400513 meters 0.013395873768147914 Centerline is valid? [True, True] Translation: X:528.91, Y:57.88, Z:-2.28 [[ 9.94173894e-01 -1.07537246e-01 -7.34914715e-03 5.28906451e+02] [ 1.07533744e-01 9.94201054e-01 -8.71143723e-04 5.78754198e+01] [ 7.40021024e-03 7.57870381e-05 9.99972615e-01 -2.27713308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.381400513 meters 0.013395873768147914 Centerline is valid? [True, True] Translation: X:528.94, Y:57.88, Z:-2.28 [[ 9.94173894e-01 -1.07537246e-01 -7.34914082e-03 5.28936243e+02] [ 1.07533744e-01 9.94201054e-01 -8.71197152e-04 5.78789516e+01] [ 7.40020969e-03 7.58408373e-05 9.99972615e-01 -2.27700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.411400513 meters 0.01722353645947266 Centerline is valid? [True, True] Translation: X:528.97, Y:57.89, Z:-2.28 [[ 9.94673766e-01 -1.02851244e-01 -6.76174925e-03 5.28965392e+02] [ 1.02848171e-01 9.94696743e-01 -8.01594816e-04 5.78867629e+01] [ 6.80833498e-03 1.01891794e-04 9.99976818e-01 -2.27611776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.441400513 meters 0.023799818322213416 Centerline is valid? [True, True] Translation: X:528.99, Y:57.90, Z:-2.28 [[ 9.95116861e-01 -9.85013632e-02 -6.31773518e-03 5.28994810e+02] [ 9.84985924e-02 9.95136908e-01 -7.48983405e-04 5.78978763e+01] [ 6.36078734e-03 1.23037992e-04 9.99979762e-01 -2.27578364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.471400513 meters 0.027679699237813927 Centerline is valid? [True, True] Translation: X:529.02, Y:57.91, Z:-2.28 [[ 9.95490525e-01 -9.46573734e-02 -6.21265847e-03 5.29024195e+02] [ 9.46546194e-02 9.95509900e-01 -7.36496047e-04 5.79054762e+01] [ 6.25447780e-03 1.45118013e-04 9.99980430e-01 -2.27572282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.501400513 meters 0.030862451309280656 Centerline is valid? [True, True] Translation: X:529.06, Y:57.91, Z:-2.28 [[ 9.95987015e-01 -8.92362938e-02 -6.83742256e-03 5.29055113e+02] [ 8.92328303e-02 9.96010464e-01 -8.10555011e-04 5.79119921e+01] [ 6.88247534e-03 1.97179699e-04 9.99976296e-01 -2.27649187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.531400513 meters 0.03583249865290087 Centerline is valid? [True, True] Translation: X:529.08, Y:57.92, Z:-2.28 [[ 9.96119548e-01 -8.77119484e-02 -7.24289601e-03 5.29084791e+02] [ 8.77080228e-02 9.96145856e-01 -8.58472908e-04 5.79214611e+01] [ 7.29027917e-03 2.19881557e-04 9.99973401e-01 -2.27758364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.561400513 meters 0.036437024345412884 Centerline is valid? [True, True] Translation: X:529.12, Y:57.93, Z:-2.28 [[ 9.96156003e-01 -8.72744944e-02 -7.50873937e-03 5.29115320e+02] [ 8.72702637e-02 9.96184275e-01 -8.89889551e-04 5.79256613e+01] [ 7.55775274e-03 2.31179153e-04 9.99971413e-01 -2.27775255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.591400513 meters 0.034637052575633626 Centerline is valid? [True, True] Translation: X:529.15, Y:57.93, Z:-2.28 [[ 9.96148630e-01 -8.74077693e-02 -6.91299119e-03 5.29145739e+02] [ 8.74041868e-02 9.96172594e-01 -8.19238153e-04 5.79268386e+01] [ 6.95814014e-03 2.11858590e-04 9.99975769e-01 -2.27650464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.621400513 meters 0.037015452056853124 Centerline is valid? [True, True] Translation: X:529.18, Y:57.93, Z:-2.27 [[ 9.96128644e-01 -8.76987234e-02 -6.05462799e-03 5.29175357e+02] [ 8.76959809e-02 9.96147027e-01 -7.17495716e-04 5.79331974e+01] [ 6.09422313e-03 1.83751494e-04 9.99981413e-01 -2.27435596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.651400513 meters 0.03450505316788788 Centerline is valid? [True, True] Translation: X:529.21, Y:57.93, Z:-2.27 [[ 9.96063224e-01 -8.84747357e-02 -5.50224384e-03 5.29206711e+02] [ 8.84724829e-02 9.96078408e-01 -6.51975307e-04 5.79320556e+01] [ 5.53834963e-03 1.62611452e-04 9.99984650e-01 -2.27326518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.681400513 meters 0.033549780147217725 Centerline is valid? [True, True] Translation: X:529.24, Y:57.93, Z:-2.27 [[ 9.96007078e-01 -8.90557982e-02 -6.24225516e-03 5.29238333e+02] [ 8.90529107e-02 9.96026622e-01 -7.39557992e-04 5.79328554e+01] [ 6.28331425e-03 1.80714003e-04 9.99980243e-01 -2.27465325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.711400513 meters 0.03130053377832256 Centerline is valid? [True, True] Translation: X:529.27, Y:57.93, Z:-2.28 [[ 9.95957336e-01 -8.95402743e-02 -7.17801372e-03 5.29269563e+02] [ 8.95364701e-02 9.95983181e-01 -8.50235477e-04 5.79317246e+01] [ 7.22531126e-03 2.04104249e-04 9.99973876e-01 -2.27604842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.741400513 meters 0.032010091938017966 Centerline is valid? [True, True] Translation: X:529.30, Y:57.93, Z:-2.28 [[ 9.95915434e-01 -8.99717864e-02 -7.58456454e-03 5.29298804e+02] [ 8.99675521e-02 9.95944292e-01 -8.98318584e-04 5.79341854e+01] [ 7.63462709e-03 2.12284636e-04 9.99970833e-01 -2.27734954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.771400513 meters 0.028956836195477197 Centerline is valid? [True, True] Translation: X:529.33, Y:57.93, Z:-2.28 [[ 9.95874262e-01 -9.03996595e-02 -7.89661492e-03 5.29330661e+02] [ 9.03950833e-02 9.95905545e-01 -9.35244276e-04 5.79318102e+01] [ 7.94882834e-03 2.17570540e-04 9.99968384e-01 -2.27728284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.801400513 meters 0.030743723570327956 Centerline is valid? [True, True] Translation: X:529.36, Y:57.93, Z:-2.28 [[ 9.95808151e-01 -9.11532639e-02 -7.56369453e-03 5.29359658e+02] [ 9.11490881e-02 9.95836855e-01 -8.95693273e-04 5.79344078e+01] [ 7.61385114e-03 2.02514802e-04 9.99970994e-01 -2.27731211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.831400513 meters 0.028410185415404944 Centerline is valid? [True, True] Translation: X:529.39, Y:57.93, Z:-2.28 [[ 9.95619472e-01 -9.31513642e-02 -8.04301312e-03 5.29390634e+02] [ 9.31467070e-02 9.95651939e-01 -9.52518405e-04 5.79264857e+01] [ 8.09677000e-03 1.99165685e-04 9.99967201e-01 -2.27809521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.861400513 meters 0.028263659312274928 Centerline is valid? [True, True] Translation: X:529.42, Y:57.93, Z:-2.28 [[ 9.95587502e-01 -9.33654339e-02 -9.40332874e-03 5.29420622e+02] [ 9.33590754e-02 9.95631881e-01 -1.11386219e-03 5.79253940e+01] [ 9.46625011e-03 2.31061195e-04 9.99955167e-01 -2.27997090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.891400513 meters 0.029405217324957066 Centerline is valid? [True, True] Translation: X:529.45, Y:57.93, Z:-2.28 [[ 9.95620719e-01 -9.28694369e-02 -1.07075779e-02 5.29448318e+02] [ 9.28611580e-02 9.95678259e-01 -1.26885759e-03 5.79259354e+01] [ 1.07791406e-02 2.68982821e-04 9.99941867e-01 -2.28234082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.921400513 meters 0.031984311714693604 Centerline is valid? [True, True] Translation: X:529.48, Y:57.93, Z:-2.28 [[ 9.95683864e-01 -9.20811946e-02 -1.16058681e-02 5.29475992e+02] [ 9.20714064e-02 9.95751456e-01 -1.37602040e-03 5.79281305e+01] [ 1.16832657e-02 3.01512714e-04 9.99931703e-01 -2.28437838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.951400513 meters 0.030797587670369022 Centerline is valid? [True, True] Translation: X:529.51, Y:57.92, Z:-2.28 [[ 9.95804987e-01 -9.08266133e-02 -1.10884323e-02 5.29505946e+02] [ 9.08175846e-02 9.95866675e-01 -1.31611943e-03 5.79231708e+01] [ 1.11621389e-02 3.03573658e-04 9.99937655e-01 -2.28212534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.981400513 meters 0.03343001193871577 Centerline is valid? [True, True] Translation: X:529.53, Y:57.93, Z:-2.28 [[ 9.95962726e-01 -8.92381288e-02 -9.73681357e-03 5.29533309e+02] [ 8.92310813e-02 9.96010279e-01 -1.15671200e-03 5.79286712e+01] [ 9.80118921e-03 2.83215635e-04 9.99951927e-01 -2.28048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.011400513 meters 0.038787155759239716 Centerline is valid? [True, True] Translation: X:529.56, Y:57.93, Z:-2.28 [[ 9.96353387e-01 -8.48120892e-02 -9.31863895e-03 5.29562962e+02] [ 8.48054374e-02 9.96396915e-01 -1.10737405e-03 5.79297695e+01] [ 9.37898180e-03 3.13064633e-04 9.99955967e-01 -2.27915965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.041400513 meters 0.03893985507563016 Centerline is valid? [True, True] Translation: X:529.59, Y:57.93, Z:-2.28 [[ 9.96557680e-01 -8.23040706e-02 -9.94131278e-03 5.29592412e+02] [ 8.22963726e-02 9.96607200e-01 -1.18164942e-03 5.79293391e+01] [ 1.00048385e-02 3.59447828e-04 9.99949886e-01 -2.27981904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.071400513 meters 0.042756004674367576 Centerline is valid? [True, True] Translation: X:529.62, Y:57.93, Z:-2.28 [[ 9.96735936e-01 -8.00425692e-02 -1.05195130e-02 5.29620793e+02] [ 8.00338186e-02 9.96791364e-01 -1.25087836e-03 5.79336797e+01] [ 1.05858832e-02 4.04878624e-04 9.99943886e-01 -2.28111243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.101400513 meters 0.04614220456906295 Centerline is valid? [True, True] Translation: X:529.65, Y:57.94, Z:-2.28 [[ 9.96904474e-01 -7.79473233e-02 -1.02802565e-02 5.29649026e+02] [ 7.79388503e-02 9.96957391e-01 -1.22287204e-03 5.79378326e+01] [ 1.03442973e-02 4.17855239e-04 9.99946409e-01 -2.28107775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.131400513 meters 0.05039982260553201 Centerline is valid? [True, True] Translation: X:529.68, Y:57.94, Z:-2.28 [[ 9.97038934e-01 -7.62643964e-02 -9.85419723e-03 5.29677320e+02] [ 7.62565248e-02 9.97087542e-01 -1.17262915e-03 5.79432205e+01] [ 9.91492716e-03 4.17710085e-04 9.99950759e-01 -2.28040638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.161400513 meters 0.04864375018972644 Centerline is valid? [True, True] Translation: X:529.71, Y:57.94, Z:-2.28 [[ 9.97270031e-01 -7.31972527e-02 -9.72872252e-03 5.29707817e+02] [ 7.31894318e-02 9.97317385e-01 -1.15798721e-03 5.79384184e+01] [ 9.78738559e-03 4.42786263e-04 9.99952004e-01 -2.27878988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.191400513 meters 0.04999926429618503 Centerline is valid? [True, True] Translation: X:529.74, Y:57.94, Z:-2.28 [[ 9.97348939e-01 -7.19904149e-02 -1.06053862e-02 5.29737457e+02] [ 7.19810506e-02 9.97405201e-01 -1.26254350e-03 5.79411194e+01] [ 1.06687584e-02 4.95809583e-04 9.99942964e-01 -2.27947687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.221400513 meters 0.05206618384973645 Centerline is valid? [True, True] Translation: X:529.77, Y:57.94, Z:-2.28 [[ 9.97392808e-01 -7.12296583e-02 -1.15725203e-02 5.29765263e+02] [ 7.12184506e-02 9.97459790e-01 -1.37822916e-03 5.79449769e+01] [ 1.16412944e-02 5.50458885e-04 9.99932086e-01 -2.28144064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.251400513 meters 0.05176530211583602 Centerline is valid? [True, True] Translation: X:529.79, Y:57.95, Z:-2.28 [[ 9.97436312e-01 -7.05811944e-02 -1.17940154e-02 5.29793575e+02] [ 7.05694998e-02 9.97505875e-01 -1.40532800e-03 5.79468340e+01] [ 1.18637893e-02 5.69427417e-04 9.99929461e-01 -2.28172171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.281400513 meters 0.056349145419012266 Centerline is valid? [True, True] Translation: X:529.82, Y:57.95, Z:-2.28 [[ 9.97481547e-01 -7.00319428e-02 -1.12289652e-02 5.29820978e+02] [ 7.00212997e-02 9.97544598e-01 -1.33866724e-03 5.79546721e+01] [ 1.12951430e-02 5.49029133e-04 9.99936057e-01 -2.28159741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.311400513 meters 0.0523666741122053 Centerline is valid? [True, True] Translation: X:529.85, Y:57.95, Z:-2.28 [[ 9.97504739e-01 -6.99348163e-02 -9.66520573e-03 5.29849755e+02] [ 6.99269145e-02 9.97551450e-01 -1.15349684e-03 5.79524880e+01] [ 9.72220958e-03 4.74760547e-04 9.99952625e-01 -2.27835367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.341400513 meters 0.0540164170596035 Centerline is valid? [True, True] Translation: X:529.88, Y:57.95, Z:-2.27 [[ 9.97575078e-01 -6.92550690e-02 -6.90652437e-03 5.29877627e+02] [ 6.92510128e-02 9.97598926e-01 -8.25015243e-04 5.79546992e+01] [ 6.94707778e-03 3.44730837e-04 9.99975809e-01 -2.27377024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.371400513 meters 0.0547840519392118 Centerline is valid? [True, True] Translation: X:529.91, Y:57.96, Z:-2.27 [[ 9.97596129e-01 -6.89516504e-02 -6.90166992e-03 5.29907037e+02] [ 6.89475904e-02 9.97619942e-01 -8.24756516e-04 5.79572813e+01] [ 6.94211187e-03 3.46920397e-04 9.99975843e-01 -2.27381940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.401400513 meters 0.05930510526469888 Centerline is valid? [True, True] Translation: X:529.93, Y:57.96, Z:-2.27 [[ 9.97599273e-01 -6.88800328e-02 -7.15763371e-03 5.29934818e+02] [ 6.88756625e-02 9.97624885e-01 -8.55584650e-04 5.79648328e+01] [ 7.19956620e-03 3.60543862e-04 9.99974018e-01 -2.27498585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.431400513 meters 0.054823729343011454 Centerline is valid? [True, True] Translation: X:529.96, Y:57.96, Z:-2.28 [[ 9.97607450e-01 -6.87121985e-02 -7.61643050e-03 5.29964101e+02] [ 6.87072392e-02 9.97636449e-01 -9.11193189e-04 5.79617898e+01] [ 7.66103877e-03 3.85709201e-04 9.99970579e-01 -2.27574963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.461400513 meters 0.05530657248206558 Centerline is valid? [True, True] Translation: X:529.99, Y:57.97, Z:-2.28 [[ 9.97623645e-01 -6.84594125e-02 -7.76989240e-03 5.29993004e+02] [ 6.84542334e-02 9.97653823e-01 -9.30867091e-04 5.79653809e+01] [ 7.81538947e-03 3.96772992e-04 9.99969381e-01 -2.27634037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.491400513 meters 0.05776505364880865 Centerline is valid? [True, True] Translation: X:530.02, Y:57.97, Z:-2.28 [[ 9.97647970e-01 -6.80994187e-02 -7.81002537e-03 5.30021013e+02] [ 6.80941677e-02 9.97678459e-01 -9.36609727e-04 5.79691029e+01] [ 7.85567665e-03 4.02589616e-04 9.99969063e-01 -2.27655687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.521400513 meters 0.05561109795057707 Centerline is valid? [True, True] Translation: X:530.05, Y:57.97, Z:-2.28 [[ 9.97657414e-01 -6.80140304e-02 -7.33325774e-03 5.30050246e+02] [ 6.80093931e-02 9.97684293e-01 -8.80175532e-04 5.79679638e+01] [ 7.37614035e-03 3.79383236e-04 9.99972724e-01 -2.27542377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.551400513 meters 0.05747731118163607 Centerline is valid? [True, True] Translation: X:530.08, Y:57.97, Z:-2.27 [[ 9.97659634e-01 -6.79573368e-02 -7.55346718e-03 5.30077363e+02] [ 6.79524074e-02 9.97688151e-01 -9.07639758e-04 5.79717359e+01] [ 7.59768548e-03 3.92239270e-04 9.99971060e-01 -2.27497821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.581400513 meters 0.05575179704147483 Centerline is valid? [True, True] Translation: X:530.11, Y:57.97, Z:-2.28 [[ 9.97665184e-01 -6.77910590e-02 -8.27971098e-03 5.30106382e+02] [ 6.77851214e-02 9.97699446e-01 -9.95988291e-04 5.79720430e+01] [ 8.32818216e-03 4.32421628e-04 9.99965227e-01 -2.27556835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.611400513 meters 0.058229332396765254 Centerline is valid? [True, True] Translation: X:530.14, Y:57.98, Z:-2.28 [[ 9.97678639e-01 -6.75325874e-02 -8.75687646e-03 5.30135018e+02] [ 6.75259223e-02 9.97716962e-01 -1.05490106e-03 5.79754510e+01] [ 8.80812438e-03 4.61136099e-04 9.99961101e-01 -2.27667087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.641400513 meters 0.05833965954073776 Centerline is valid? [True, True] Translation: X:530.16, Y:57.98, Z:-2.28 [[ 9.97740330e-01 -6.66253130e-02 -8.67767278e-03 5.30162453e+02] [ 6.66187252e-02 9.97777957e-01 -1.04634015e-03 5.79796576e+01] [ 8.72810335e-03 4.65880269e-04 9.99961801e-01 -2.27737601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.671400513 meters 0.059455899633528146 Centerline is valid? [True, True] Translation: X:530.19, Y:57.98, Z:-2.28 [[ 9.97787864e-01 -6.59710120e-02 -8.19783335e-03 5.30191415e+02] [ 6.59651033e-02 9.97821440e-01 -9.89365177e-04 5.79826811e+01] [ 8.24524330e-03 4.46405642e-04 9.99965908e-01 -2.27669159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.701400513 meters 0.05768189008520555 Centerline is valid? [True, True] Translation: X:530.22, Y:57.98, Z:-2.28 [[ 9.97834033e-01 -6.53270902e-02 -7.72103028e-03 5.30220588e+02] [ 6.53218200e-02 9.97863813e-01 -9.33074206e-04 5.79822024e+01] [ 7.76549174e-03 4.26701448e-04 9.99969757e-01 -2.27560302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.731400513 meters 0.061176006115401145 Centerline is valid? [True, True] Translation: X:530.25, Y:57.99, Z:-2.27 [[ 9.97860565e-01 -6.49715098e-02 -7.27975228e-03 5.30247678e+02] [ 6.49668089e-02 9.97887037e-01 -8.80619333e-04 5.79884560e+01] [ 7.32158560e-03 4.05793030e-04 9.99973114e-01 -2.27483396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.761400513 meters 0.06294410991858192 Centerline is valid? [True, True] Translation: X:530.27, Y:57.99, Z:-2.27 [[ 9.97855470e-01 -6.50751397e-02 -7.04888269e-03 5.30274654e+02] [ 6.50707319e-02 9.97880289e-01 -8.53103074e-04 5.79929613e+01] [ 7.08945690e-03 3.92597613e-04 9.99974792e-01 -2.27377380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.791400513 meters 0.062149087847396506 Centerline is valid? [True, True] Translation: X:530.30, Y:57.99, Z:-2.27 [[ 9.97792871e-01 -6.60277642e-02 -7.05130547e-03 5.30303656e+02] [ 6.60233722e-02 9.97817711e-01 -8.54089212e-04 5.79919659e+01] [ 7.09231108e-03 3.86653161e-04 9.99974774e-01 -2.27331867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.821400513 meters 0.05972678004119413 Centerline is valid? [True, True] Translation: X:530.33, Y:57.99, Z:-2.27 [[ 9.97745048e-01 -6.67098987e-02 -7.38982603e-03 5.30333212e+02] [ 6.67050843e-02 9.97772333e-01 -8.96335075e-04 5.79907719e+01] [ 7.43315838e-03 4.01374913e-04 9.99972293e-01 -2.27327808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.851400513 meters 0.056913679121435266 Centerline is valid? [True, True] Translation: X:530.36, Y:57.99, Z:-2.27 [[ 9.97709947e-01 -6.72082380e-02 -7.61013241e-03 5.30362115e+02] [ 6.72031368e-02 9.97738886e-01 -9.24345277e-04 5.79893812e+01] [ 7.65504865e-03 4.10803707e-04 9.99970615e-01 -2.27350951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.881400513 meters 0.06233040503943197 Centerline is valid? [True, True] Translation: X:530.39, Y:58.00, Z:-2.27 [[ 9.97672009e-01 -6.76802535e-02 -8.36340009e-03 5.30389472e+02] [ 6.76741002e-02 9.97706962e-01 -1.01688356e-03 5.79979407e+01] [ 8.41304543e-03 4.48530692e-04 9.99964509e-01 -2.27497121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.911400513 meters 0.05702997391220363 Centerline is valid? [True, True] Translation: X:530.42, Y:57.99, Z:-2.28 [[ 9.97603868e-01 -6.85683582e-02 -9.21424507e-03 5.30419538e+02] [ 6.85609174e-02 9.97646302e-01 -1.12137202e-03 5.79930787e+01] [ 9.26944815e-03 4.86947974e-04 9.99956919e-01 -2.27578418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.941400513 meters 0.06146132781198736 Centerline is valid? [True, True] Translation: X:530.45, Y:58.00, Z:-2.28 [[ 9.97526402e-01 -6.96422949e-02 -9.54082556e-03 5.30446834e+02] [ 6.96343566e-02 9.97571905e-01 -1.16211733e-03 5.79997943e+01] [ 9.59859205e-03 4.94873471e-04 9.99953810e-01 -2.27684253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.971400513 meters 0.052315478598266865 Centerline is valid? [True, True] Translation: X:530.48, Y:57.99, Z:-2.28 [[ 9.97339518e-01 -7.23475564e-02 -8.92846358e-03 5.30478941e+02] [ 7.23407094e-02 9.97379385e-01 -1.08788283e-03 5.79868345e+01] [ 8.98377118e-03 4.39097147e-04 9.99959549e-01 -2.27506693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.001400513 meters 0.05242434044456186 Centerline is valid? [True, True] Translation: X:530.51, Y:57.99, Z:-2.27 [[ 9.97270695e-01 -7.33855424e-02 -8.10699206e-03 5.30507489e+02] [ 7.33799293e-02 9.97303569e-01 -9.88069645e-04 5.79872962e+01] [ 8.15764215e-03 3.90482397e-04 9.99966650e-01 -2.27422311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.031400513 meters 0.05048659535162543 Centerline is valid? [True, True] Translation: X:530.54, Y:57.98, Z:-2.27 [[ 9.97230051e-01 -7.39280941e-02 -8.17696424e-03 5.30537367e+02] [ 7.39223973e-02 9.97263498e-01 -9.97156433e-04 5.79846864e+01] [ 8.22830583e-03 3.89933561e-04 9.99966071e-01 -2.27411630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.061400513 meters 0.055416106931798666 Centerline is valid? [True, True] Translation: X:530.57, Y:57.99, Z:-2.27 [[ 9.97235759e-01 -7.38398876e-02 -8.27716815e-03 5.30565105e+02] [ 7.38340421e-02 9.97270031e-01 -1.01001129e-03 5.79905485e+01] [ 8.32915085e-03 3.96082590e-04 9.99965234e-01 -2.27465571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.091400513 meters 0.0534292797005772 Centerline is valid? [True, True] Translation: X:530.59, Y:57.99, Z:-2.28 [[ 9.97283725e-01 -7.31366630e-02 -8.72929681e-03 5.30594727e+02] [ 7.31301257e-02 9.97321838e-01 -1.06617889e-03 5.79885623e+01] [ 8.78389510e-03 4.24908285e-04 9.99961331e-01 -2.27514771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.121400513 meters 0.056756288345001155 Centerline is valid? [True, True] Translation: X:530.62, Y:57.99, Z:-2.27 [[ 9.97419353e-01 -7.11998202e-02 -9.23144154e-03 5.30623916e+02] [ 7.11924177e-02 9.97461962e-01 -1.12844451e-03 5.79891447e+01] [ 9.28835684e-03 4.68323752e-04 9.99956753e-01 -2.27496010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.151400513 meters 0.05925651269459543 Centerline is valid? [True, True] Translation: X:530.65, Y:58.00, Z:-2.27 [[ 9.97863007e-01 -6.48956810e-02 -7.61381967e-03 5.30653687e+02] [ 6.48904613e-02 9.97891959e-01 -9.30862184e-04 5.79967867e+01] [ 7.65817836e-03 4.34808667e-04 9.99970581e-01 -2.27181164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.181400513 meters 0.06804897122617633 Centerline is valid? [True, True] Translation: X:530.68, Y:58.01, Z:-2.27 [[ 9.98131134e-01 -6.06375261e-02 -7.57158883e-03 5.30682074e+02] [ 6.06322415e-02 9.98159744e-01 -9.25769245e-04 5.80104080e+01] [ 7.61379153e-03 4.64956705e-04 9.99970907e-01 -2.27146807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.211400513 meters 0.07126121364603952 Centerline is valid? [True, True] Translation: X:530.71, Y:58.02, Z:-2.27 [[ 9.98373541e-01 -5.64006203e-02 -8.32124428e-03 5.30711539e+02] [ 5.63940900e-02 9.98408069e-01 -1.01751549e-03 5.80183941e+01] [ 8.36538594e-03 5.46591548e-04 9.99964860e-01 -2.27238441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.241400513 meters 0.07970445774363345 Centerline is valid? [True, True] Translation: X:530.74, Y:58.03, Z:-2.27 [[ 9.98589148e-01 -5.23235926e-02 -9.05285511e-03 5.30739158e+02] [ 5.23156965e-02 9.98629983e-01 -1.10701193e-03 5.80334563e+01] [ 9.09837538e-03 6.31843680e-04 9.99958409e-01 -2.27350569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.271400513 meters 0.07970445774363345 Centerline is valid? [True, True] Translation: X:530.77, Y:58.04, Z:-2.27 [[ 9.98579775e-01 -5.25021971e-02 -9.05275263e-03 5.30766462e+02] [ 5.24943007e-02 9.98620609e-01 -1.10784930e-03 5.80369714e+01] [ 9.09842987e-03 6.31057986e-04 9.99958409e-01 -2.27338506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.301400513 meters 0.08271694558232359 Centerline is valid? [True, True] Translation: X:530.80, Y:58.05, Z:-2.27 [[ 9.98767785e-01 -4.87602199e-02 -9.23860642e-03 5.30795608e+02] [ 4.87518287e-02 9.98810282e-01 -1.13144993e-03 5.80460713e+01] [ 9.28278483e-03 6.79656780e-04 9.99956683e-01 -2.27342196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.331400513 meters 0.08523871816065819 Centerline is valid? [True, True] Translation: X:530.83, Y:58.05, Z:-2.27 [[ 9.98917528e-01 -4.56546337e-02 -8.91218029e-03 5.30825087e+02] [ 4.56467015e-02 9.98957050e-01 -1.09153795e-03 5.80544123e+01] [ 8.95271910e-03 6.83544753e-04 9.99959690e-01 -2.27237424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.361400513 meters 0.08115062639390233 Centerline is valid? [True, True] Translation: X:530.86, Y:58.05, Z:-2.27 [[ 9.99078707e-01 -4.22244086e-02 -7.67052636e-03 5.30855182e+02] [ 4.22184319e-02 9.99107963e-01 -9.39505428e-04 5.80547987e+01] [ 7.70335403e-03 6.14802274e-04 9.99970140e-01 -2.26947334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.391400513 meters 0.08367213814168001 Centerline is valid? [True, True] Translation: X:530.88, Y:58.06, Z:-2.27 [[ 9.99080806e-01 -4.21189806e-02 -7.97085417e-03 5.30882601e+02] [ 4.21125214e-02 9.99112397e-01 -9.76535260e-04 5.80623823e+01] [ 8.00490988e-03 6.39964868e-04 9.99967755e-01 -2.26928460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.421400513 meters 0.08273990070198105 Centerline is valid? [True, True] Translation: X:530.91, Y:58.07, Z:-2.27 [[ 9.99034243e-01 -4.31187884e-02 -8.44701763e-03 5.30911018e+02] [ 4.31115660e-02 9.99069728e-01 -1.03533325e-03 5.80677673e+01] [ 8.48380192e-03 6.70169215e-04 9.99963787e-01 -2.27001950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.451400513 meters 0.08388548582826501 Centerline is valid? [True, True] Translation: X:530.94, Y:58.08, Z:-2.27 [[ 9.98973757e-01 -4.43475449e-02 -9.20481965e-03 5.30939084e+02] [ 4.43390167e-02 9.99015905e-01 -1.12860567e-03 5.80755487e+01] [ 9.24581212e-03 7.19314793e-04 9.99956998e-01 -2.27169163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.481400513 meters 0.08808748771987296 Centerline is valid? [True, True] Translation: X:530.97, Y:58.09, Z:-2.27 [[ 9.98902704e-01 -4.58402377e-02 -9.59478848e-03 5.30966710e+02] [ 4.58310373e-02 9.98948513e-01 -1.17669866e-03 5.80870415e+01] [ 9.63863983e-03 7.35668367e-04 9.99953277e-01 -2.27321568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.511400513 meters 0.08393963104206234 Centerline is valid? [True, True] Translation: X:531.00, Y:58.09, Z:-2.27 [[ 9.98780064e-01 -4.87749590e-02 -7.70633421e-03 5.30996378e+02] [ 4.87691098e-02 9.98809632e-01 -9.45237580e-04 5.80889241e+01] [ 7.74326476e-03 5.68253391e-04 9.99969859e-01 -2.27039172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.541400513 meters 0.0731803055653769 Centerline is valid? [True, True] Translation: X:531.03, Y:58.08, Z:-2.27 [[ 9.98706795e-01 -5.03897922e-02 -6.75324422e-03 5.31027623e+02] [ 5.03853361e-02 9.98729509e-01 -8.28468194e-04 5.80806060e+01] [ 6.78641063e-03 4.87132335e-04 9.99976853e-01 -2.26761811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.571400513 meters 0.07318581526753817 Centerline is valid? [True, True] Translation: X:531.06, Y:58.09, Z:-2.27 [[ 9.98613562e-01 -5.22766396e-02 -6.17309297e-03 5.31056239e+02] [ 5.22729512e-02 9.98632547e-01 -7.57454050e-04 5.80855955e+01] [ 6.20424871e-03 4.33718100e-04 9.99980659e-01 -2.26637602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.601400513 meters 0.0740556654053388 Centerline is valid? [True, True] Translation: X:531.08, Y:58.09, Z:-2.27 [[ 9.98538725e-01 -5.37049359e-02 -6.01626333e-03 5.31084932e+02] [ 5.37014575e-02 9.98556763e-01 -7.38350112e-04 5.80906269e+01] [ 6.04723348e-03 4.14189070e-04 9.99981630e-01 -2.26624126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.631400513 meters 0.07384060490977698 Centerline is valid? [True, True] Translation: X:531.11, Y:58.09, Z:-2.27 [[ 9.98473066e-01 -5.48314495e-02 -6.71178695e-03 5.31114182e+02] [ 5.48271424e-02 9.98495521e-01 -8.24178586e-04 5.80934940e+01] [ 6.74688011e-03 4.54932022e-04 9.99977136e-01 -2.26756638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.661400513 meters 0.0692204420296736 Centerline is valid? [True, True] Translation: X:531.15, Y:58.09, Z:-2.27 [[ 9.98348753e-01 -5.68082979e-02 -8.51961939e-03 5.31145297e+02] [ 5.68014221e-02 9.98384947e-01 -1.04705510e-03 5.80876064e+01] [ 8.56534118e-03 5.61399657e-04 9.99963159e-01 -2.27068883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.691400513 meters 0.06851049874524147 Centerline is valid? [True, True] Translation: X:531.17, Y:58.09, Z:-2.27 [[ 9.98276092e-01 -5.81071062e-02 -8.27091282e-03 5.31174361e+02] [ 5.81006692e-02 9.98310212e-01 -1.01663191e-03 5.80907557e+01] [ 8.31601026e-03 5.34333761e-04 9.99965279e-01 -2.27053037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.721400513 meters 0.07166840533194967 Centerline is valid? [True, True] Translation: X:531.20, Y:58.10, Z:-2.27 [[ 9.98241908e-01 -5.87665400e-02 -7.71927147e-03 5.31201296e+02] [ 5.87609498e-02 9.98271631e-01 -9.49205240e-04 5.80966614e+01] [ 7.76171123e-03 4.93944727e-04 9.99969755e-01 -2.26974625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.751400513 meters 0.07162722697826877 Centerline is valid? [True, True] Translation: X:531.23, Y:58.10, Z:-2.27 [[ 9.98231825e-01 -5.89789371e-02 -7.39654469e-03 5.31229545e+02] [ 5.89738035e-02 9.98259115e-01 -9.10431567e-04 5.80973797e+01] [ 7.43736444e-03 4.72619392e-04 9.99972231e-01 -2.26954963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.781400513 meters 0.07332473394434166 Centerline is valid? [True, True] Translation: X:531.26, Y:58.10, Z:-2.27 [[ 9.98256130e-01 -5.85441493e-02 -7.56846775e-03 5.31257274e+02] [ 5.85387542e-02 9.98284701e-01 -9.32595419e-04 5.80989322e+01] [ 7.61008357e-03 4.87920420e-04 9.99970924e-01 -2.26950648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.811400513 meters 0.06757198625247388 Centerline is valid? [True, True] Translation: X:531.29, Y:58.09, Z:-2.27 [[ 9.98299574e-01 -5.76809127e-02 -8.41861700e-03 5.31288124e+02] [ 5.76742038e-02 9.98334918e-01 -1.03772511e-03 5.80910701e+01] [ 8.46445625e-03 5.50423500e-04 9.99964024e-01 -2.27034749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.841400513 meters 0.07759195178713021 Centerline is valid? [True, True] Translation: X:531.32, Y:58.10, Z:-2.27 [[ 9.98464313e-01 -5.44513825e-02 -1.02010619e-02 5.31316394e+02] [ 5.44413625e-02 9.98516177e-01 -1.25758072e-03 5.81012106e+01] [ 1.02544024e-02 7.00289761e-04 9.99947177e-01 -2.27421056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.871400513 meters 0.07576133304245719 Centerline is valid? [True, True] Translation: X:531.35, Y:58.10, Z:-2.27 [[ 9.98591296e-01 -5.19875565e-02 -1.06168563e-02 5.31347099e+02] [ 5.19765641e-02 9.98647447e-01 -1.30886713e-03 5.81003687e+01] [ 1.06705412e-02 7.55195609e-04 9.99942783e-01 -2.27452374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.901400513 meters 0.08368310591709562 Centerline is valid? [True, True] Translation: X:531.38, Y:58.11, Z:-2.27 [[ 9.98769033e-01 -4.85770754e-02 -1.00342766e-02 5.31375246e+02] [ 4.85670857e-02 9.98819157e-01 -1.23698605e-03 5.81109873e+01] [ 1.00825168e-02 7.48127793e-04 9.99948890e-01 -2.27373930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.931400513 meters 0.08618260473195558 Centerline is valid? [True, True] Translation: X:531.41, Y:58.11, Z:-2.27 [[ 9.99126488e-01 -4.03304026e-02 -1.09416207e-02 5.31405239e+02] [ 4.03180328e-02 9.99185987e-01 -1.34884416e-03 5.81128518e+01] [ 1.09871135e-02 9.06521309e-04 9.99939229e-01 -2.27335545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.961400513 meters 0.09933402929349773 Centerline is valid? [True, True] Translation: X:531.43, Y:58.13, Z:-2.28 [[ 9.99273340e-01 -3.60089451e-02 -1.24959381e-02 5.31432746e+02] [ 3.59924751e-02 9.99350874e-01 -1.54050239e-03 5.81325216e+01] [ 1.25432986e-02 1.08962322e-03 9.99920736e-01 -2.27629721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.991400513 meters 0.09250534295047146 Centerline is valid? [True, True] Translation: X:531.46, Y:58.13, Z:-2.28 [[ 9.99384334e-01 -3.22639335e-02 -1.37837301e-02 5.31463937e+02] [ 3.22435397e-02 9.99478597e-01 -1.69929159e-03 5.81297803e+01] [ 1.38313691e-02 1.25380915e-03 9.99903556e-01 -2.27706015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.021400513 meters 0.10199335382451762 Centerline is valid? [True, False] Translation: X:531.48, Y:58.15, Z:-2.28 [[ 9.99649904e-01 -2.39369964e-02 -1.12733930e-02 5.31483499e+02] [ 2.36833679e-02 9.99474801e-01 -2.21183014e-02 5.81475125e+01] [ 1.17969179e-02 2.18435659e-02 9.99691798e-01 -2.27641500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.051400513 meters 0.10143127839299922 Centerline is valid? [False, False] Translation: X:531.48, Y:58.14, Z:-2.28 [[ 9.99822532e-01 -1.46906110e-02 -1.17936199e-02 5.31484601e+02] [ 1.45521693e-02 9.99825189e-01 -1.17399229e-02 5.81402708e+01] [ 1.19640248e-02 1.15662167e-02 9.99861533e-01 -2.27633398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.081400513 meters 0.10509608627031373 Centerline is valid? [False, False] Translation: X:531.49, Y:58.13, Z:-2.28 [[ 9.99911892e-01 -5.52815262e-03 -1.20684686e-02 5.31485009e+02] [ 5.51048073e-03 9.99983697e-01 -1.49706444e-03 5.81336252e+01] [ 1.20765478e-02 1.43042947e-03 9.99926053e-01 -2.27534230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.111400513 meters 0.09270294100569537 Centerline is valid? [False, True] Translation: X:531.48, Y:58.13, Z:-2.27 [[ 9.99912062e-01 -5.57269297e-03 -1.20338155e-02 5.31484648e+02] [ 5.55370139e-03 9.99983280e-01 -1.61102562e-03 5.81341631e+01] [ 1.20425921e-02 1.54405173e-03 9.99926293e-01 -2.27482040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.141400513 meters 0.09085955951846823 Centerline is valid? [True, True] Translation: X:531.51, Y:58.14, Z:-2.27 [[ 9.99907664e-01 -7.81796692e-03 -1.11149519e-02 5.31514860e+02] [ 7.80620645e-03 9.99968925e-01 -1.10106800e-03 5.81358557e+01] [ 1.11232146e-02 1.01420072e-03 9.99937621e-01 -2.27284848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.171400513 meters 0.09641155640732241 Centerline is valid? [True, True] Translation: X:531.54, Y:58.15, Z:-2.27 [[ 9.99891250e-01 -1.03145126e-02 -1.05403420e-02 5.31542535e+02] [ 1.03040732e-02 9.99946366e-01 -1.04424781e-03 5.81467662e+01] [ 1.05505476e-02 9.35525790e-04 9.99943904e-01 -2.27159150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.201400513 meters 0.09564784160697859 Centerline is valid? [True, True] Translation: X:531.57, Y:58.15, Z:-2.27 [[ 9.99847999e-01 -1.37972998e-02 -1.06589655e-02 5.31572002e+02] [ 1.37868183e-02 9.99904399e-01 -1.05620115e-03 5.81506507e+01] [ 1.06725192e-02 9.09087382e-04 9.99942634e-01 -2.27172677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.231400513 meters 0.08812123843722612 Centerline is valid? [True, True] Translation: X:531.60, Y:58.15, Z:-2.27 [[ 9.99835002e-01 -1.43598499e-02 -1.11249366e-02 5.31601273e+02] [ 1.43484592e-02 9.99896447e-01 -1.10303899e-03 5.81455391e+01] [ 1.11396241e-02 9.43231292e-04 9.99937508e-01 -2.27189333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.261400513 meters 0.09152942086026869 Centerline is valid? [True, True] Translation: X:531.63, Y:58.15, Z:-2.27 [[ 9.99832290e-01 -1.42574260e-02 -1.14942768e-02 5.31628365e+02] [ 1.42452430e-02 9.99897880e-01 -1.14109977e-03 5.81539433e+01] [ 1.15093721e-02 9.77169632e-04 9.99933288e-01 -2.27209951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.291400513 meters 0.08640395014950672 Centerline is valid? [True, True] Translation: X:531.66, Y:58.15, Z:-2.27 [[ 9.99841694e-01 -1.34818696e-02 -1.16114386e-02 5.31657989e+02] [ 1.34693784e-02 9.99908619e-01 -1.15330240e-03 5.81522417e+01] [ 1.16259262e-02 9.96720963e-04 9.99931920e-01 -2.27118384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.321400513 meters 0.09060113286549969 Centerline is valid? [True, True] Translation: X:531.69, Y:58.16, Z:-2.27 [[ 9.99872654e-01 -1.08833564e-02 -1.16717244e-02 5.31685835e+02] [ 1.08705577e-02 9.99940242e-01 -1.15943951e-03 5.81643454e+01] [ 1.16836456e-02 1.03241370e-03 9.99931211e-01 -2.27103169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.351400513 meters 0.09054705158211973 Centerline is valid? [True, True] Translation: X:531.71, Y:58.17, Z:-2.27 [[ 9.99885732e-01 -1.02027788e-02 -1.11546509e-02 5.31714559e+02] [ 1.01910470e-02 9.99947456e-01 -1.10807464e-03 5.81697038e+01] [ 1.11653702e-02 9.94270448e-04 9.99937171e-01 -2.27066873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.381400513 meters 0.10079226063018501 Centerline is valid? [True, False] Translation: X:531.73, Y:58.18, Z:-2.27 [[ 9.99948924e-01 -7.89399937e-03 -6.31140924e-03 5.31732122e+02] [ 7.83154438e-03 9.99920723e-01 -9.85979035e-03 5.81791182e+01] [ 6.38874207e-03 9.80985867e-03 9.99931473e-01 -2.27172373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.411400513 meters 0.0918225801738579 Centerline is valid? [False, True] Translation: X:531.73, Y:58.18, Z:-2.27 [[ 9.99973655e-01 -3.36796426e-03 -6.43006241e-03 5.31732430e+02] [ 3.33567489e-03 9.99981807e-01 -5.02576382e-03 5.81769392e+01] [ 6.44687202e-03 5.00418282e-03 9.99966697e-01 -2.27171041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.441400513 meters 0.09601086678454752 Centerline is valid? [True, True] Translation: X:531.76, Y:58.18, Z:-2.27 [[ 9.99973013e-01 -3.74267204e-03 -6.32185327e-03 5.31760221e+02] [ 3.73904391e-03 9.99992838e-01 -5.85624384e-04 5.81837025e+01] [ 6.32399979e-03 5.61970893e-04 9.99979845e-01 -2.27199145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.471400513 meters 0.10116238762691053 Centerline is valid? [True, False] Translation: X:531.72, Y:58.18, Z:-2.27 [[ 9.99963964e-01 -3.27106149e-03 -7.83391582e-03 5.31717342e+02] [ 3.27027287e-03 9.99994646e-01 -1.13475213e-04 5.81808160e+01] [ 7.83424506e-03 8.78520816e-05 9.99969308e-01 -2.27130210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.501400513 meters 0.08890801843157933 Centerline is valid? [False, True] Translation: X:531.74, Y:58.19, Z:-2.28 [[ 9.99992955e-01 -2.69134737e-03 -2.61676996e-03 5.31737889e+02] [ 2.66392743e-03 9.99942098e-01 -1.04261642e-02 5.81924211e+01] [ 2.64467887e-03 1.04191198e-02 9.99942222e-01 -2.27562640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.531400513 meters 0.08900252585811948 Centerline is valid? [True, True] Translation: X:531.77, Y:58.19, Z:-2.28 [[ 9.99983755e-01 -3.80684112e-03 -4.24233379e-03 5.31768136e+02] [ 3.80525125e-03 9.99992687e-01 -3.82770973e-04 5.81892516e+01] [ 4.24375991e-03 3.66621609e-04 9.99990928e-01 -2.27780313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.561400513 meters 0.09659818868326378 Centerline is valid? [True, True] Translation: X:531.80, Y:58.20, Z:-2.28 [[ 9.99978665e-01 -4.88620148e-03 -4.33534112e-03 5.31795496e+02] [ 4.88455067e-03 9.99987994e-01 -3.91286304e-04 5.82036213e+01] [ 4.33720098e-03 3.70101763e-04 9.99990526e-01 -2.27870735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.591400513 meters 0.08807637856542333 Centerline is valid? [True, True] Translation: X:531.83, Y:58.20, Z:-2.28 [[ 9.99975430e-01 -5.60263188e-03 -4.21307621e-03 5.31825007e+02] [ 5.60107840e-03 9.99984241e-01 -3.80435517e-04 5.81973189e+01] [ 4.21514126e-03 3.56828399e-04 9.99991053e-01 -2.27877618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.621400513 meters 0.09272753058438778 Centerline is valid? [True, True] Translation: X:531.85, Y:58.21, Z:-2.28 [[ 9.99968612e-01 -6.75403767e-03 -4.14213426e-03 5.31852808e+02] [ 6.75254542e-03 9.99977131e-01 -3.74140511e-04 5.82052676e+01] [ 4.14456649e-03 3.46158818e-04 9.99991351e-01 -2.27931748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.651400513 meters 0.08430658049116813 Centerline is valid? [True, True] Translation: X:531.88, Y:58.19, Z:-2.28 [[ 9.99929260e-01 -1.12629728e-02 -3.82357591e-03 5.31884404e+02] [ 1.12617339e-02 9.99936525e-01 -3.45388365e-04 5.81935296e+01] [ 3.82722331e-03 3.02303837e-04 9.99992630e-01 -2.27832996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.681400513 meters 0.07877578565826664 Centerline is valid? [True, True] Translation: X:531.92, Y:58.19, Z:-2.28 [[ 9.99897376e-01 -1.37346612e-02 -4.07381409e-03 5.31915365e+02] [ 1.37332752e-02 9.99905626e-01 -3.68001002e-04 5.81871188e+01] [ 4.07848400e-03 3.12016426e-04 9.99991634e-01 -2.27826328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.711400513 meters 0.08350098228583529 Centerline is valid? [True, True] Translation: X:531.94, Y:58.19, Z:-2.28 [[ 9.99861953e-01 -1.60466425e-02 -4.31052457e-03 5.31944440e+02] [ 1.60451119e-02 9.99871193e-01 -3.89437264e-04 5.81931798e+01] [ 4.31621851e-03 3.20220654e-04 9.99990634e-01 -2.27905042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.741400513 meters 0.07521179118480022 Centerline is valid? [True, True] Translation: X:531.98, Y:58.18, Z:-2.28 [[ 9.99824826e-01 -1.79966506e-02 -5.14177408e-03 5.31975404e+02] [ 1.79944980e-02 9.99837978e-01 -4.64600827e-04 5.81830139e+01] [ 5.14930226e-03 3.71995797e-04 9.99986673e-01 -2.27973826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.771400513 meters 0.07518250707725535 Centerline is valid? [True, True] Translation: X:532.00, Y:58.18, Z:-2.28 [[ 9.99794832e-01 -1.94124150e-02 -5.78385526e-03 5.32004308e+02] [ 1.94097138e-02 9.99811477e-01 -5.22806581e-04 5.81804194e+01] [ 5.79291381e-03 4.10436343e-04 9.99983137e-01 -2.28093057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.801400513 meters 0.07485303829934911 Centerline is valid? [True, True] Translation: X:532.03, Y:58.18, Z:-2.28 [[ 9.99808866e-01 -1.87239655e-02 -5.62526887e-03 5.32032613e+02] [ 1.87213978e-02 9.99824610e-01 -5.08785763e-04 5.81813455e+01] [ 5.63380874e-03 4.03375621e-04 9.99984049e-01 -2.28056318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.831400513 meters 0.0763085867778511 Centerline is valid? [True, True] Translation: X:532.06, Y:58.18, Z:-2.28 [[ 9.99831835e-01 -1.73886102e-02 -5.82566060e-03 5.32062090e+02] [ 1.73858328e-02 9.99848716e-01 -5.27071343e-04 5.81849497e+01] [ 5.83394431e-03 4.25698747e-04 9.99982892e-01 -2.28060654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.861400513 meters 0.08523436421784601 Centerline is valid? [True, True] Translation: X:532.09, Y:58.20, Z:-2.28 [[ 9.99857883e-01 -1.56530231e-02 -6.26075227e-03 5.32089932e+02] [ 1.56497805e-02 9.99877374e-01 -5.66583042e-04 5.81977022e+01] [ 6.26885328e-03 4.68523122e-04 9.99980241e-01 -2.28178446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.891400513 meters 0.08792443444699541 Centerline is valid? [True, True] Translation: X:532.12, Y:58.20, Z:-2.28 [[ 9.99881177e-01 -1.36666256e-02 -7.13129335e-03 5.32119427e+02] [ 1.36623679e-02 9.99906457e-01 -6.45421503e-04 5.82028966e+01] [ 7.13944700e-03 5.47914458e-04 9.99974364e-01 -2.28268370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.921400513 meters 0.08136580343660492 Centerline is valid? [True, True] Translation: X:532.15, Y:58.20, Z:-2.28 [[ 9.99899931e-01 -1.17865587e-02 -7.82342173e-03 5.32150454e+02] [ 1.17813765e-02 9.99930346e-01 -7.08151349e-04 5.81962826e+01] [ 7.83122347e-03 6.15909807e-04 9.99969146e-01 -2.28293590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.951400513 meters 0.08863631886430401 Centerline is valid? [True, True] Translation: X:532.18, Y:58.21, Z:-2.28 [[ 9.99924835e-01 -9.55836550e-03 -7.67861977e-03 5.32179363e+02] [ 9.55330811e-03 9.99954125e-01 -6.95043239e-04 5.82050491e+01] [ 7.68491099e-03 6.21634776e-04 9.99970277e-01 -2.28335573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.981400513 meters 0.08911428895730047 Centerline is valid? [True, True] Translation: X:532.21, Y:58.21, Z:-2.28 [[ 9.99937989e-01 -9.20512563e-03 -6.26771571e-03 5.32207888e+02] [ 9.20174356e-03 9.99957502e-01 -5.68226610e-04 5.82078740e+01] [ 6.27267994e-03 5.10517461e-04 9.99980196e-01 -2.28146399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.011400513 meters 0.09027619638573324 Centerline is valid? [True, True] Translation: X:532.24, Y:58.21, Z:-2.28 [[ 9.99947006e-01 -9.07710904e-03 -4.85706760e-03 5.32235748e+02] [ 9.07507499e-03 9.99958724e-01 -4.40656538e-04 5.82116621e+01] [ 4.86086700e-03 3.96554933e-04 9.99988107e-01 -2.27960266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.041400513 meters 0.08543526373895992 Centerline is valid? [True, True] Translation: X:532.26, Y:58.21, Z:-2.28 [[ 9.99947887e-01 -9.22875081e-03 -4.36513375e-03 5.32264337e+02] [ 9.22710621e-03 9.99957351e-01 -3.96746754e-04 5.82079706e+01] [ 4.36860905e-03 3.56448525e-04 9.99990394e-01 -2.27820872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.071400513 meters 0.09101732142492636 Centerline is valid? [True, True] Translation: X:532.29, Y:58.22, Z:-2.28 [[ 9.99947213e-01 -8.80456439e-03 -5.29635829e-03 5.32291826e+02] [ 8.80213543e-03 9.99961144e-01 -4.81746172e-04 5.82165712e+01] [ 5.30039406e-03 4.35101479e-04 9.99985858e-01 -2.27951515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.101400513 meters 0.08517998638044608 Centerline is valid? [True, True] Translation: X:532.32, Y:58.21, Z:-2.28 [[ 9.99949892e-01 -6.79722992e-03 -7.34928686e-03 5.32322347e+02] [ 6.79249872e-03 9.99976707e-01 -6.68532204e-04 5.82117117e+01] [ 7.35365984e-03 6.18578684e-04 9.99972770e-01 -2.28209723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.131400513 meters 0.08740785108306584 Centerline is valid? [True, True] Translation: X:532.35, Y:58.22, Z:-2.28 [[ 9.99955070e-01 -5.71358930e-03 -7.56389508e-03 5.32350001e+02] [ 5.70854451e-03 9.99983469e-01 -6.88378909e-04 5.82178013e+01] [ 7.56770316e-03 6.45169148e-04 9.99971156e-01 -2.28250814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.161400513 meters 0.09139410154323759 Centerline is valid? [True, True] Translation: X:532.38, Y:58.23, Z:-2.28 [[ 9.99959144e-01 -4.97710151e-03 -7.54575975e-03 5.32377734e+02] [ 4.97205802e-03 9.99987403e-01 -6.86999137e-04 5.82268728e+01] [ 7.54908396e-03 6.49453114e-04 9.99971294e-01 -2.28272144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.191400513 meters 0.09139410154323759 Centerline is valid? [True, True] Translation: X:532.41, Y:58.23, Z:-2.28 [[ 9.99958220e-01 -5.15956374e-03 -7.54564307e-03 5.32405167e+02] [ 5.15451582e-03 9.99986479e-01 -6.88279429e-04 5.82295338e+01] [ 7.54909226e-03 6.49356536e-04 9.99971294e-01 -2.28270338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.221400513 meters 0.08995421984346415 Centerline is valid? [True, True] Translation: X:532.43, Y:58.23, Z:-2.28 [[ 9.99962808e-01 -4.96750660e-03 -7.05025909e-03 5.32433846e+02] [ 4.96308689e-03 9.99987476e-01 -6.44242909e-04 5.82327181e+01] [ 7.05337108e-03 6.09227900e-04 9.99974939e-01 -2.28162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.251400513 meters 0.08695194070097904 Centerline is valid? [True, True] Translation: X:532.46, Y:58.23, Z:-2.28 [[ 9.99963061e-01 -5.34878456e-03 -6.72809062e-03 5.32463000e+02] [ 5.34476072e-03 9.99985527e-01 -6.15903392e-04 5.82320666e+01] [ 6.73128758e-03 5.79920606e-04 9.99977176e-01 -2.28014308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.281400513 meters 0.10331509973102797 Centerline is valid? [True, False] Translation: X:532.48, Y:58.24, Z:-2.28 [[ 9.99990300e-01 -4.17665210e-03 -1.39838990e-03 5.32482167e+02] [ 4.16227586e-03 9.99940024e-01 -1.01303062e-02 5.82404592e+01] [ 1.44061679e-03 1.01243874e-02 9.99947709e-01 -2.28307181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.311400513 meters 0.09686920015864033 Centerline is valid? [False, True] Translation: X:532.48, Y:58.24, Z:-2.28 [[ 9.99998610e-01 4.74130376e-04 -1.59831602e-03 5.32482725e+02] [-4.81647570e-04 9.99988810e-01 -4.70609678e-03 5.82357535e+01] [ 1.59606683e-03 4.70686007e-03 9.99987649e-01 -2.28283750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.341400513 meters 0.0856479279730045 Centerline is valid? [True, True] Translation: X:532.51, Y:58.22, Z:-2.28 [[ 9.99998936e-01 -9.96879695e-04 -1.06541688e-03 5.32513562e+02] [ 9.96784577e-04 9.99999499e-01 -8.98052735e-05 5.82211812e+01] [ 1.06550588e-03 8.87431868e-05 9.99999428e-01 -2.28161506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.371400513 meters 0.08892809880677602 Centerline is valid? [True, True] Translation: X:532.54, Y:58.23, Z:-2.28 [[ 9.99993553e-01 -3.52598288e-03 6.79357862e-04 5.32542699e+02] [ 3.52594482e-03 9.99993782e-01 5.72104217e-05 5.82281161e+01] [-6.79555361e-04 -5.48146745e-05 9.99999768e-01 -2.27941924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.401400513 meters 0.0834523667077825 Centerline is valid? [True, True] Translation: X:532.57, Y:58.22, Z:-2.28 [[ 9.99990449e-01 -4.22453964e-03 1.12061761e-03 5.32574446e+02] [ 4.22443644e-03 9.99991073e-01 9.44432990e-05 5.82245159e+01] [-1.12100658e-03 -8.97084191e-05 9.99999368e-01 -2.27830337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.431400513 meters 0.08128868113612218 Centerline is valid? [True, True] Translation: X:532.61, Y:58.23, Z:-2.28 [[ 9.99989142e-01 -4.54302307e-03 1.03792086e-03 5.32605767e+02] [ 4.54293473e-03 9.99989677e-01 8.74537467e-05 5.82259888e+01] [-1.03830745e-03 -8.27375903e-05 9.99999458e-01 -2.27815497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.461400513 meters 0.08189451296793586 Centerline is valid? [True, True] Translation: X:532.64, Y:58.23, Z:-2.28 [[ 9.99990792e-01 -4.28495624e-03 2.34763293e-04 5.32637200e+02] [ 4.28495170e-03 9.99990819e-01 1.98161888e-05 5.82308216e+01] [-2.34846049e-04 -1.88100569e-05 9.99999972e-01 -2.27904411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.491400513 meters 0.08465031012615834 Centerline is valid? [True, True] Translation: X:532.67, Y:58.24, Z:-2.28 [[ 9.99993343e-01 -3.64781596e-03 -8.42961738e-05 5.32667056e+02] [ 3.64781537e-03 9.99993347e-01 -7.06914668e-06 5.82379233e+01] [ 8.43213999e-05 6.76160274e-06 9.99999996e-01 -2.27989592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.521400513 meters 0.08493211237470948 Centerline is valid? [True, True] Translation: X:532.70, Y:58.24, Z:-2.28 [[ 9.99993933e-01 -3.46207523e-03 -3.84099447e-04 5.32697236e+02] [ 3.46206306e-03 9.99994007e-01 -3.23307092e-05 5.82407666e+01] [ 3.84209076e-04 3.10007365e-05 9.99999926e-01 -2.28041353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.551400513 meters 0.08440745982299722 Centerline is valid? [True, True] Translation: X:532.73, Y:58.24, Z:-2.28 [[ 9.99989708e-01 -4.52159793e-03 -3.72052462e-04 5.32726675e+02] [ 4.52158661e-03 9.99989777e-01 -3.12608968e-05 5.82412987e+01] [ 3.72190008e-04 2.95783077e-05 9.99999930e-01 -2.28015239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.581400513 meters 0.0796391659128214 Centerline is valid? [True, True] Translation: X:532.76, Y:58.24, Z:-2.28 [[ 9.99984466e-01 -5.43848887e-03 -1.22085106e-03 5.32757519e+02] [ 5.43836747e-03 9.99985207e-01 -1.02736502e-04 5.82372496e+01] [ 1.22139173e-03 9.60954695e-05 9.99999249e-01 -2.28141369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.611400513 meters 0.08253509550081521 Centerline is valid? [True, True] Translation: X:532.79, Y:58.24, Z:-2.28 [[ 9.99976408e-01 -6.50753502e-03 -2.19883880e-03 5.32786494e+02] [ 6.50714367e-03 9.99978811e-01 -1.85088146e-04 5.82422099e+01] [ 2.19999668e-03 1.70775619e-04 9.99997565e-01 -2.28345534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.641400513 meters 0.07618303903606366 Centerline is valid? [True, True] Translation: X:532.82, Y:58.23, Z:-2.28 [[ 9.99958545e-01 -8.90053186e-03 -1.92061985e-03 5.32817987e+02] [ 8.90023768e-03 9.99960379e-01 -1.61660539e-04 5.82329574e+01] [ 1.92198262e-03 1.44559864e-04 9.99998143e-01 -2.28399214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.671400513 meters 0.07354996334188289 Centerline is valid? [True, True] Translation: X:532.85, Y:58.23, Z:-2.28 [[ 9.99948033e-01 -1.01420498e-02 -1.03459441e-03 5.32848224e+02] [ 1.01419651e-02 9.99948565e-01 -8.71179091e-05 5.82299020e+01] [ 1.03542475e-03 7.66205615e-05 9.99999461e-01 -2.28309937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.701400513 meters 0.07737007908445866 Centerline is valid? [True, True] Translation: X:532.88, Y:58.23, Z:-2.28 [[ 9.99938305e-01 -1.10828917e-02 -7.45833993e-04 5.32878393e+02] [ 1.10828480e-02 9.99938581e-01 -6.27472255e-05 5.82346979e+01] [ 7.46483606e-04 5.44773895e-05 9.99999720e-01 -2.28273316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.731400513 meters 0.08374603017155836 Centerline is valid? [True, True] Translation: X:532.91, Y:58.24, Z:-2.28 [[ 9.99931201e-01 -1.16868589e-02 -1.00543137e-03 5.32908680e+02] [ 1.16867798e-02 9.99931704e-01 -8.45486123e-05 5.82424241e+01] [ 1.00635081e-03 7.27925405e-05 9.99999491e-01 -2.28374021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.761400513 meters 0.07577350241815109 Centerline is valid? [True, True] Translation: X:532.94, Y:58.23, Z:-2.28 [[ 9.99928618e-01 -1.17307257e-02 -2.26926178e-03 5.32940641e+02] [ 1.17303224e-02 9.99931179e-01 -1.90944056e-04 5.82319709e+01] [ 2.27134552e-03 1.64311254e-04 9.99997407e-01 -2.28492552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.791400513 meters 0.07608061124768735 Centerline is valid? [True, True] Translation: X:532.97, Y:58.23, Z:-2.29 [[ 9.99927102e-01 -1.14141424e-02 -3.93794791e-03 5.32970415e+02] [ 1.14129249e-02 9.99934816e-01 -3.31498078e-04 5.82316914e+01] [ 3.94147498e-03 2.86530409e-04 9.99992191e-01 -2.28732524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.821400513 meters 0.08247723351086433 Centerline is valid? [True, True] Translation: X:533.00, Y:58.24, Z:-2.29 [[ 9.99939431e-01 -9.90219898e-03 -4.80423752e-03 5.32999032e+02] [ 9.90036961e-03 9.99950908e-01 -4.04417365e-04 5.82368113e+01] [ 4.80800629e-03 3.56829143e-04 9.99988378e-01 -2.28911616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.851400513 meters 0.07627288055329484 Centerline is valid? [True, True] Translation: X:533.03, Y:58.23, Z:-2.29 [[ 9.99946747e-01 -9.40337725e-03 -4.25197369e-03 5.33028979e+02] [ 9.40193530e-03 9.99955736e-01 -3.58988263e-04 5.82290700e+01] [ 4.25516119e-03 3.18992364e-04 9.99990896e-01 -2.28686904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.881400513 meters 0.07744617165474492 Centerline is valid? [True, True] Translation: X:533.06, Y:58.23, Z:-2.29 [[ 9.99955622e-01 -8.66907613e-03 -3.68790902e-03 5.33058212e+02] [ 8.66798659e-03 9.99962384e-01 -3.11318740e-04 5.82303497e+01] [ 3.69046914e-03 2.79338178e-04 9.99993151e-01 -2.28595958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.911400513 meters 0.07824702220469633 Centerline is valid? [True, True] Translation: X:533.09, Y:58.23, Z:-2.29 [[ 9.99959275e-01 -8.21494521e-03 -3.73670818e-03 5.33087393e+02] [ 8.21382021e-03 9.99966216e-01 -3.16315292e-04 5.82308675e+01] [ 3.73918045e-03 2.85609761e-04 9.99992968e-01 -2.28603627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.941400513 meters 0.07943030317097179 Centerline is valid? [True, True] Translation: X:533.12, Y:58.23, Z:-2.29 [[ 9.99959634e-01 -8.27169897e-03 -3.50835516e-03 5.33116806e+02] [ 8.27070552e-03 9.99965753e-01 -2.97578953e-04 5.82278361e+01] [ 3.51069649e-03 2.68550368e-04 9.99993801e-01 -2.28688559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.971400513 meters 0.07962059380959671 Centerline is valid? [True, True] Translation: X:533.14, Y:58.23, Z:-2.29 [[ 9.99954873e-01 -9.05369914e-03 -2.87801486e-03 5.33144899e+02] [ 9.05303384e-03 9.99958991e-01 -2.44109436e-04 5.82267336e+01] [ 2.88010693e-03 2.18043654e-04 9.99995829e-01 -2.28655080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.001400513 meters 0.07811645522126774 Centerline is valid? [True, True] Translation: X:533.17, Y:58.22, Z:-2.29 [[ 9.99947047e-01 -1.00809114e-02 -2.06831391e-03 5.33174782e+02] [ 1.00805699e-02 9.99949174e-01 -1.75437754e-04 5.82238790e+01] [ 2.06997736e-03 1.54578681e-04 9.99997846e-01 -2.28531164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.031400513 meters 0.08451804065397629 Centerline is valid? [True, True] Translation: X:533.20, Y:58.23, Z:-2.29 [[ 9.99944360e-01 -1.04702053e-02 -1.28546105e-03 5.33203726e+02] [ 1.04700737e-02 9.99945181e-01 -1.09043236e-04 5.82291530e+01] [ 1.28653228e-03 9.55782971e-05 9.99999168e-01 -2.28501040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.061400513 meters 0.07652521896221652 Centerline is valid? [True, True] Translation: X:533.23, Y:58.22, Z:-2.28 [[ 9.99943830e-01 -1.05146355e-02 -1.33422405e-03 5.33234937e+02] [ 1.05144938e-02 9.99944715e-01 -1.13152660e-04 5.82166781e+01] [ 1.33534005e-03 9.91176135e-05 9.99999104e-01 -2.28446658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.091400513 meters 0.07696007198058057 Centerline is valid? [True, True] Translation: X:533.26, Y:58.21, Z:-2.28 [[ 9.99951415e-01 -9.71569904e-03 -1.66545006e-03 5.33264766e+02] [ 9.71547711e-03 9.99952794e-01 -1.41289138e-04 5.82149285e+01] [ 1.66674417e-03 1.25101631e-04 9.99998603e-01 -2.28491733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.121400513 meters 0.07766278123055585 Centerline is valid? [True, True] Translation: X:533.30, Y:58.21, Z:-2.28 [[ 9.99958012e-01 -9.09023230e-03 -1.15843010e-03 5.33295063e+02] [ 9.09012450e-03 9.99958679e-01 -9.82804321e-05 5.82144454e+01] [ 1.15927562e-03 8.77460317e-05 9.99999324e-01 -2.28416770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.151400513 meters 0.07934453974272253 Centerline is valid? [True, True] Translation: X:533.33, Y:58.22, Z:-2.28 [[ 9.99962638e-01 -8.61190713e-03 -7.46669296e-04 5.33325017e+02] [ 8.61186221e-03 9.99962915e-01 -6.33534665e-05 5.82152061e+01] [ 7.47187200e-04 5.69208864e-05 9.99999719e-01 -2.28387124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.181400513 meters 0.08249521163163404 Centerline is valid? [True, True] Translation: X:533.35, Y:58.22, Z:-2.28 [[ 9.99968126e-01 -7.98416902e-03 -1.68018837e-05 5.33354122e+02] [ 7.98416900e-03 9.99968126e-01 -1.44090393e-06 5.82178760e+01] [ 1.68128526e-05 1.30670893e-06 1.00000000e+00 -2.28298282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.211400513 meters 0.08515059324210583 Centerline is valid? [True, True] Translation: X:533.38, Y:58.22, Z:-2.28 [[ 9.99973174e-01 -7.32072086e-03 2.41738545e-04 5.33384717e+02] [ 7.32071611e-03 9.99973203e-01 2.05314914e-05 5.82200584e+01] [-2.41882372e-04 -1.87612414e-05 9.99999971e-01 -2.28287182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.241400513 meters 0.08642460822268129 Centerline is valid? [True, True] Translation: X:533.42, Y:58.22, Z:-2.28 [[ 9.99980832e-01 -6.17852962e-03 4.00975993e-04 5.33415302e+02] [ 6.17851647e-03 9.99980912e-01 3.40136879e-05 5.82212940e+01] [-4.01178494e-04 -3.15355992e-05 9.99999919e-01 -2.28260925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.271400513 meters 0.09740085842070778 Centerline is valid? [True, True] Translation: X:533.44, Y:58.23, Z:-2.28 [[ 9.99997585e-01 -2.03171601e-03 -8.38213281e-04 5.33444010e+02] [ 2.03165709e-03 9.99997934e-01 -7.11321519e-05 5.82331266e+01] [ 8.38356070e-04 6.94290181e-05 9.99999646e-01 -2.28463280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.301400513 meters 0.08681601300690223 Centerline is valid? [True, True] Translation: X:533.48, Y:58.22, Z:-2.29 [[ 9.99997899e-01 5.16073675e-04 -1.98401730e-03 5.33475462e+02] [-5.16408625e-04 9.99999852e-01 -1.68315455e-04 5.82211421e+01] [ 1.98393014e-03 1.69339665e-04 9.99998018e-01 -2.28523001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.331400513 meters 0.08793211904492539 Centerline is valid? [True, True] Translation: X:533.51, Y:58.22, Z:-2.29 [[ 9.99991954e-01 3.09946931e-03 -2.54663434e-03 5.33505866e+02] [-3.10002947e-03 9.99995172e-01 -2.16044587e-04 5.82240134e+01] [ 2.54595242e-03 2.23937491e-04 9.99996734e-01 -2.28610576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.361400513 meters 0.09076170471620179 Centerline is valid? [True, True] Translation: X:533.54, Y:58.23, Z:-2.29 [[ 9.99982180e-01 5.33165852e-03 -2.68582688e-03 5.33535953e+02] [-5.33228958e-03 9.99985757e-01 -2.27854465e-04 5.82298369e+01] [ 2.68457378e-03 2.42172011e-04 9.99996367e-01 -2.28612579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.391400513 meters 0.08764289580518893 Centerline is valid? [True, True] Translation: X:533.57, Y:58.23, Z:-2.29 [[ 9.99973087e-01 6.72897618e-03 -2.92324336e-03 5.33566420e+02] [-6.72972984e-03 9.99977324e-01 -2.48056438e-04 5.82292706e+01] [ 2.92150791e-03 2.67722400e-04 9.99995697e-01 -2.28608836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.421400513 meters 0.09139164030506337 Centerline is valid? [True, True] Translation: X:533.59, Y:58.24, Z:-2.29 [[ 9.99968083e-01 7.31103839e-03 -3.22203590e-03 5.33593885e+02] [-7.31195772e-03 9.99973230e-01 -2.73638088e-04 5.82373206e+01] [ 3.21994907e-03 2.97188745e-04 9.99994772e-01 -2.28755450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.451400513 meters 0.09081870317476647 Centerline is valid? [True, True] Translation: X:533.62, Y:58.24, Z:-2.29 [[ 9.99975267e-01 5.64677476e-03 -4.19275454e-03 5.33623628e+02] [-5.64831670e-03 9.99983985e-01 -3.56012697e-04 5.82379493e+01] [ 4.19067707e-03 3.79685897e-04 9.99991147e-01 -2.28914042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.481400513 meters 0.08624966654559976 Centerline is valid? [True, True] Translation: X:533.65, Y:58.23, Z:-2.29 [[ 9.99985994e-01 3.20203617e-03 -4.21405493e-03 5.33654806e+02] [-3.20357222e-03 9.99994805e-01 -3.57808078e-04 5.82332384e+01] [ 4.21288732e-03 3.71303096e-04 9.99991057e-01 -2.28878514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.511400513 meters 0.0932530059599638 Centerline is valid? [True, True] Translation: X:533.68, Y:58.24, Z:-2.29 [[ 9.99993923e-01 1.82862554e-04 -3.48141859e-03 5.33683368e+02] [-1.83893150e-04 9.99999939e-01 -2.95709967e-04 5.82426482e+01] [ 3.48136431e-03 2.96348379e-04 9.99993896e-01 -2.28825476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.541400513 meters 0.08406381347969345 Centerline is valid? [True, True] Translation: X:533.71, Y:58.23, Z:-2.29 [[ 9.99990625e-01 -3.23899366e-03 -2.87386253e-03 5.33714582e+02] [ 3.23830544e-03 9.99994727e-01 -2.44096384e-04 5.82324429e+01] [ 2.87463800e-03 2.34787651e-04 9.99995841e-01 -2.28707964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.571400513 meters 0.07495119661581974 Centerline is valid? [True, True] Translation: X:533.75, Y:58.22, Z:-2.29 [[ 9.99943102e-01 -1.03457562e-02 -2.59982453e-03 5.33746375e+02] [ 1.03452169e-02 9.99946462e-01 -2.20822203e-04 5.82201977e+01] [ 2.60196992e-03 1.93913890e-04 9.99996596e-01 -2.28756835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.601400513 meters 0.07806517349157563 Centerline is valid? [True, True] Translation: X:533.78, Y:58.22, Z:-2.29 [[ 9.99907528e-01 -1.33889642e-02 -2.38140188e-03 5.33775650e+02] [ 1.33885201e-02 9.99910349e-01 -2.02327290e-04 5.82229724e+01] [ 2.38389733e-03 1.70425134e-04 9.99997144e-01 -2.28824129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.631400513 meters 0.07548432642387272 Centerline is valid? [True, True] Translation: X:533.81, Y:58.22, Z:-2.29 [[ 9.99866320e-01 -1.60972720e-02 -2.86699849e-03 5.33807061e+02] [ 1.60966397e-02 9.99870411e-01 -2.43498701e-04 5.82183154e+01] [ 2.87054662e-03 1.97317108e-04 9.99995861e-01 -2.28856633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.661400513 meters 0.07236706037959502 Centerline is valid? [True, True] Translation: X:533.84, Y:58.21, Z:-2.29 [[ 9.99826846e-01 -1.83237827e-02 -3.24309954e-03 5.33838319e+02] [ 1.83229850e-02 9.99832082e-01 -2.75492242e-04 5.82134336e+01] [ 3.24760302e-03 2.16021275e-04 9.99994703e-01 -2.28884585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.691400513 meters 0.07371434186640216 Centerline is valid? [True, True] Translation: X:533.87, Y:58.21, Z:-2.29 [[ 9.99798367e-01 -1.96979726e-02 -3.90068225e-03 5.33867615e+02] [ 1.96968286e-02 9.99805944e-01 -3.31478669e-04 5.82145390e+01] [ 3.90645476e-03 2.54580763e-04 9.99992337e-01 -2.29004588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.721400513 meters 0.0726828662996313 Centerline is valid? [True, True] Translation: X:533.90, Y:58.21, Z:-2.29 [[ 9.99815194e-01 -1.86213809e-02 -4.77724554e-03 5.33897711e+02] [ 1.86196523e-02 9.99826557e-01 -4.06064823e-04 5.82103664e+01] [ 4.78397844e-03 3.17039129e-04 9.99988506e-01 -2.29054374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.751400513 meters 0.07426687069193136 Centerline is valid? [True, True] Translation: X:533.93, Y:58.21, Z:-2.29 [[ 9.99848211e-01 -1.67048854e-02 -4.94989842e-03 5.33927873e+02] [ 1.67030061e-02 9.99860407e-01 -4.20768825e-04 5.82123544e+01] [ 4.95623634e-03 3.38026773e-04 9.99987661e-01 -2.29033691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.781400513 meters 0.07517261465192872 Centerline is valid? [True, True] Translation: X:533.96, Y:58.21, Z:-2.29 [[ 9.99895171e-01 -1.38175607e-02 -4.32682390e-03 5.33958534e+02] [ 1.38160979e-02 9.99904486e-01 -3.67801673e-04 5.82142436e+01] [ 4.33149275e-03 3.07983295e-04 9.99990572e-01 -2.28935383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.811400513 meters 0.08030663227641398 Centerline is valid? [True, True] Translation: X:533.99, Y:58.22, Z:-2.29 [[ 9.99940677e-01 -1.04090481e-02 -3.20835158e-03 5.33987682e+02] [ 1.04082262e-02 9.99945796e-01 -2.72779375e-04 5.82225273e+01] [ 3.21101705e-03 2.39369944e-04 9.99994816e-01 -2.28826923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.841400513 meters 0.08390480662666053 Centerline is valid? [True, True] Translation: X:534.02, Y:58.23, Z:-2.29 [[ 9.99974577e-01 -6.78812740e-03 -2.18312992e-03 5.34017699e+02] [ 6.78773829e-03 9.99976946e-01 -1.85591994e-04 5.82298214e+01] [ 2.18433941e-03 1.70768762e-04 9.99997600e-01 -2.28692310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.871400513 meters 0.08875897459491582 Centerline is valid? [True, True] Translation: X:534.05, Y:58.24, Z:-2.29 [[ 9.99991026e-01 -3.99653353e-03 -1.40545258e-03 5.34046183e+02] [ 3.99636941e-03 9.99992007e-01 -1.19562072e-04 5.82385397e+01] [ 1.40591918e-03 1.13944292e-04 9.99999005e-01 -2.28623607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.901400513 meters 0.0902646390472098 Centerline is valid? [True, True] Translation: X:534.08, Y:58.24, Z:-2.29 [[ 9.99997234e-01 -1.85185668e-03 -1.44994131e-03 5.34076436e+02] [ 1.85167983e-03 9.99998278e-01 -1.23299564e-04 5.82419539e+01] [ 1.45016715e-03 1.20614396e-04 9.99998941e-01 -2.28681113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.931400513 meters 0.08470038598895557 Centerline is valid? [True, True] Translation: X:534.11, Y:58.24, Z:-2.29 [[ 9.99993487e-01 -2.67520846e-03 -2.42281375e-03 5.34106664e+02] [ 2.67471683e-03 9.99996402e-01 -2.06133002e-04 5.82367430e+01] [ 2.42335648e-03 1.99651319e-04 9.99997044e-01 -2.28829254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.961400513 meters 0.08200650742337721 Centerline is valid? [True, True] Translation: X:534.14, Y:58.24, Z:-2.29 [[ 9.99985430e-01 -4.25884381e-03 -3.31687272e-03 5.34137213e+02] [ 4.25793107e-03 9.99990895e-01 -2.82193095e-04 5.82354333e+01] [ 3.31804433e-03 2.68065968e-04 9.99994459e-01 -2.28908010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.991400513 meters 0.07866796629953621 Centerline is valid? [True, True] Translation: X:534.17, Y:58.23, Z:-2.29 [[ 9.99976427e-01 -5.84187714e-03 -3.60794108e-03 5.34167647e+02] [ 5.84080728e-03 9.99982895e-01 -3.06996481e-04 5.82334815e+01] [ 3.60967280e-03 2.85915956e-04 9.99993444e-01 -2.28940477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.021400513 meters 0.08544471574360049 Centerline is valid? [True, True] Translation: X:534.20, Y:58.24, Z:-2.29 [[ 9.99966643e-01 -7.56375892e-03 -3.08257058e-03 5.34195618e+02] [ 7.56298558e-03 9.99971366e-01 -2.62455960e-04 5.82429146e+01] [ 3.08446747e-03 2.39133768e-04 9.99995214e-01 -2.28908052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.051400513 meters 0.0763572046440881 Centerline is valid? [True, True] Translation: X:534.22, Y:58.23, Z:-2.29 [[ 9.99964241e-01 -7.82944422e-03 -3.19625641e-03 5.34224648e+02] [ 7.82861113e-03 9.99969319e-01 -2.73073289e-04 5.82332570e+01] [ 3.19829635e-03 2.48041275e-04 9.99994855e-01 -2.28801012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.081400513 meters 0.0763572046440881 Centerline is valid? [True, True] Translation: X:534.25, Y:58.24, Z:-2.29 [[ 9.99962773e-01 -8.01478055e-03 -3.19620581e-03 5.34252102e+02] [ 8.01394652e-03 9.99967850e-01 -2.73665318e-04 5.82357453e+01] [ 3.19829642e-03 2.48040907e-04 9.99994855e-01 -2.28807257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.111400513 meters 0.08354479369857583 Centerline is valid? [True, True] Translation: X:534.28, Y:58.25, Z:-2.29 [[ 9.99967901e-01 -7.53754755e-03 -2.71716833e-03 5.34278588e+02] [ 7.53694264e-03 9.99971570e-01 -2.32795596e-04 5.82462108e+01] [ 2.71884579e-03 2.12308982e-04 9.99996281e-01 -2.28856077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.141400513 meters 0.08003489666694417 Centerline is valid? [True, True] Translation: X:534.31, Y:58.24, Z:-2.29 [[ 9.99971579e-01 -7.04711613e-03 -2.67925815e-03 5.34307656e+02] [ 7.04652471e-03 9.99975146e-01 -2.30114976e-04 5.82435672e+01] [ 2.68081321e-03 2.11228977e-04 9.99996384e-01 -2.28862291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.171400513 meters 0.08716769761375313 Centerline is valid? [True, True] Translation: X:534.34, Y:58.25, Z:-2.29 [[ 9.99975103e-01 -6.36454545e-03 -3.04740591e-03 5.34335561e+02] [ 6.36377767e-03 9.99979717e-01 -2.61577206e-04 5.82538002e+01] [ 3.04900892e-03 2.42177680e-04 9.99995322e-01 -2.28998079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.201400513 meters 0.0884947385390698 Centerline is valid? [True, True] Translation: X:534.36, Y:58.26, Z:-2.29 [[ 9.99974663e-01 -6.25599502e-03 -3.39635024e-03 5.34363179e+02] [ 6.25504007e-03 9.99980394e-01 -2.91719955e-04 5.82567410e+01] [ 3.39810865e-03 2.70468257e-04 9.99994190e-01 -2.29092775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.231400513 meters 0.0838037010883501 Centerline is valid? [True, True] Translation: X:534.39, Y:58.25, Z:-2.29 [[ 9.99966325e-01 -7.06942565e-03 -4.16807119e-03 5.34392859e+02] [ 7.06799097e-03 9.99974957e-01 -3.58835865e-04 5.82502819e+01] [ 4.17050357e-03 3.29363891e-04 9.99991249e-01 -2.29134058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.261400513 meters 0.08275515010394627 Centerline is valid? [True, True] Translation: X:534.42, Y:58.25, Z:-2.29 [[ 9.99965066e-01 -7.58265119e-03 -3.51724803e-03 5.34422004e+02] [ 7.58163054e-03 9.99971213e-01 -3.03426426e-04 5.82497633e+01] [ 3.51944755e-03 2.76749351e-04 9.99993768e-01 -2.28969440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.291400513 meters 0.09074730129416535 Centerline is valid? [True, True] Translation: X:534.45, Y:58.26, Z:-2.29 [[ 9.99965757e-01 -7.89009225e-03 -2.49635514e-03 5.34449410e+02] [ 7.88957903e-03 9.99968854e-01 -2.15369423e-04 5.82602132e+01] [ 2.49797667e-03 1.95666857e-04 9.99996861e-01 -2.28898532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.321400513 meters 0.0825127360258218 Centerline is valid? [True, True] Translation: X:534.48, Y:58.25, Z:-2.29 [[ 9.99971238e-01 -7.46140285e-03 -1.36044036e-03 5.34479382e+02] [ 7.46124934e-03 9.99972158e-01 -1.17874352e-04 5.82481368e+01] [ 1.36128199e-03 1.07720377e-04 9.99999068e-01 -2.28762720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.351400513 meters 0.09427142145536878 Centerline is valid? [True, True] Translation: X:534.51, Y:58.26, Z:-2.29 [[ 9.99974591e-01 -6.86736349e-03 -1.91249949e-03 5.34506844e+02] [ 6.86705974e-03 9.99976408e-01 -1.65344919e-04 5.82613464e+01] [ 1.91358985e-03 1.52207470e-04 9.99998158e-01 -2.28998054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.381400513 meters 0.08631558389028293 Centerline is valid? [True, True] Translation: X:534.54, Y:58.25, Z:-2.29 [[ 9.99975726e-01 -6.51034037e-03 -2.48253085e-03 5.34536891e+02] [ 6.50982732e-03 9.99978788e-01 -2.14686787e-04 5.82531629e+01] [ 2.48387587e-03 1.98520728e-04 9.99996895e-01 -2.29047988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.411400513 meters 0.08624273774845752 Centerline is valid? [True, True] Translation: X:534.57, Y:58.25, Z:-2.29 [[ 9.99974208e-01 -6.10820107e-03 -3.77788503e-03 5.34565584e+02] [ 6.10700694e-03 9.99981298e-01 -3.27539677e-04 5.82535407e+01] [ 3.77981505e-03 3.04459659e-04 9.99992810e-01 -2.29207132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.441400513 meters 0.08693181567946426 Centerline is valid? [True, True] Translation: X:534.59, Y:58.26, Z:-2.29 [[ 9.99973110e-01 -5.63089136e-03 -4.69812510e-03 5.34593808e+02] [ 5.62903866e-03 9.99984074e-01 -4.07478906e-04 5.82550683e+01] [ 4.70034475e-03 3.81022021e-04 9.99988881e-01 -2.29324008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.471400513 meters 0.08246894563856369 Centerline is valid? [True, True] Translation: X:534.62, Y:58.25, Z:-2.29 [[ 9.99973817e-01 -5.17119372e-03 -5.06203354e-03 5.34623119e+02] [ 5.16903215e-03 9.99986544e-01 -4.40006898e-04 5.82500487e+01] [ 5.06424079e-03 4.13829563e-04 9.99987091e-01 -2.29294340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.501400513 meters 0.08338730997520291 Centerline is valid? [True, True] Translation: X:534.65, Y:58.25, Z:-2.29 [[ 9.99982446e-01 -3.98915768e-03 -4.38120459e-03 5.34652172e+02] [ 3.98752757e-03 9.99991977e-01 -3.80741412e-04 5.82511762e+01] [ 4.38268828e-03 3.63264554e-04 9.99990330e-01 -2.29205760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.531400513 meters 0.08873917327473474 Centerline is valid? [True, True] Translation: X:534.68, Y:58.26, Z:-2.29 [[ 9.99986289e-01 -3.16631869e-03 -4.17076990e-03 5.34680410e+02] [ 3.16483370e-03 9.99994926e-01 -3.62598973e-04 5.82598188e+01] [ 4.17189684e-03 3.49394209e-04 9.99991237e-01 -2.29286151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.561400513 meters 0.08961692500640708 Centerline is valid? [True, True] Translation: X:534.71, Y:58.26, Z:-2.29 [[ 9.99988891e-01 -2.51549725e-03 -3.98625332e-03 5.34709687e+02] [ 2.51413535e-03 9.99996779e-01 -3.46623722e-04 5.82637583e+01] [ 3.98711241e-03 3.36597891e-04 9.99991995e-01 -2.29332220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.591400513 meters 0.09344882002078822 Centerline is valid? [True, True] Translation: X:534.74, Y:58.27, Z:-2.29 [[ 9.99990494e-01 -1.98321978e-03 -3.88307987e-03 5.34736830e+02] [ 1.98192234e-03 9.99997979e-01 -3.37944307e-04 5.82711905e+01] [ 3.88374224e-03 3.30245132e-04 9.99992404e-01 -2.29398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.621400513 meters 0.09222138854995648 Centerline is valid? [True, True] Translation: X:534.77, Y:58.27, Z:-2.29 [[ 9.99993781e-01 -1.66345014e-03 -3.10969985e-03 5.34765220e+02] [ 1.66261590e-03 9.99998581e-01 -2.70834521e-04 5.82717626e+01] [ 3.11014596e-03 2.65662600e-04 9.99995128e-01 -2.29316180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.651400513 meters 0.0910772837536803 Centerline is valid? [True, True] Translation: X:534.79, Y:58.27, Z:-2.29 [[ 9.99993259e-01 -2.27264293e-03 -2.88408353e-03 5.34794288e+02] [ 2.27192755e-03 9.99997388e-01 -2.51296964e-04 5.82729934e+01] [ 2.88464710e-03 2.44742841e-04 9.99995809e-01 -2.29227241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.681400513 meters 0.09330033692390546 Centerline is valid? [True, True] Translation: X:534.82, Y:58.28, Z:-2.29 [[ 9.99992152e-01 -3.21126642e-03 -2.32028654e-03 5.34822316e+02] [ 3.21080574e-03 9.99994825e-01 -2.02243289e-04 5.82786410e+01] [ 2.32092399e-03 1.94791712e-04 9.99997288e-01 -2.29102069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.711400513 meters 0.08534693832286101 Centerline is valid? [True, True] Translation: X:534.85, Y:58.27, Z:-2.29 [[ 9.99988666e-01 -4.23719542e-03 -2.17119269e-03 5.34852941e+02] [ 4.23679449e-03 9.99991007e-01 -1.89227926e-04 5.82723827e+01] [ 2.17197496e-03 1.80026884e-04 9.99997625e-01 -2.28952679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.741400513 meters 0.0834766901825586 Centerline is valid? [True, True] Translation: X:534.88, Y:58.27, Z:-2.29 [[ 9.99985685e-01 -4.89962274e-03 -2.15041502e-03 5.34882045e+02] [ 4.89922950e-03 9.99987981e-01 -1.88097016e-04 5.82741471e+01] [ 2.15131077e-03 1.77558947e-04 9.99997670e-01 -2.28930497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.771400513 meters 0.08491115518764542 Centerline is valid? [True, True] Translation: X:534.91, Y:58.28, Z:-2.29 [[ 9.99987321e-01 -3.41654238e-03 -3.69941261e-03 5.34911638e+02] [ 3.41537054e-03 9.99994115e-01 -3.23034600e-04 5.82826771e+01] [ 3.70049450e-03 3.10395639e-04 9.99993105e-01 -2.29181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.801400513 meters 0.09780941438405137 Centerline is valid? [True, True] Translation: X:534.94, Y:58.30, Z:-2.29 [[ 9.99988738e-01 -2.08905457e-03 -4.26145008e-03 5.34938711e+02] [ 2.08748714e-03 9.99997752e-01 -3.72230250e-04 5.83043551e+01] [ 4.26221811e-03 3.63330335e-04 9.99990851e-01 -2.29427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.831400513 meters 0.09410372762674654 Centerline is valid? [True, True] Translation: X:534.97, Y:58.31, Z:-2.29 [[ 9.99988698e-01 -8.02964634e-04 -4.68610168e-03 5.34969253e+02] [ 8.01055499e-04 9.99999595e-01 -4.09266504e-04 5.83066512e+01] [ 4.68642841e-03 4.05508051e-04 9.99988936e-01 -2.29419651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.861400513 meters 0.10229857738686675 Centerline is valid? [True, False] Translation: X:534.98, Y:58.31, Z:-2.30 [[ 9.99982897e-01 1.52436474e-03 -5.64643401e-03 5.34975909e+02] [-1.51607270e-03 9.99997767e-01 1.47253350e-03 5.83099732e+01] [ 5.64866608e-03 -1.46394791e-03 9.99982975e-01 -2.29908368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.891400513 meters 0.09594997879253435 Centerline is valid? [False, True] Translation: X:534.98, Y:58.31, Z:-2.30 [[ 9.99983855e-01 1.18870456e-03 -5.55668476e-03 5.34975603e+02] [-1.18560649e-03 9.99999140e-01 5.60799281e-04 5.83140613e+01] [ 5.55734660e-03 -5.54202185e-04 9.99984404e-01 -2.29908019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.921400513 meters 0.09129089960611207 Centerline is valid? [True, True] Translation: X:535.00, Y:58.32, Z:-2.30 [[ 9.99988488e-01 7.09853477e-04 -4.74552843e-03 5.35004510e+02] [-7.11827770e-04 9.99999661e-01 -4.14356227e-04 5.83157518e+01] [ 4.74523269e-03 4.17729456e-04 9.99988654e-01 -2.29781279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.951400513 meters 0.08557794899774261 Centerline is valid? [True, True] Translation: X:535.03, Y:58.32, Z:-2.30 [[ 9.99986800e-01 -3.24274818e-03 -3.98563420e-03 5.35034548e+02] [ 3.24138681e-03 9.99994686e-01 -3.47982924e-04 5.83188597e+01] [ 3.98674144e-03 3.35059349e-04 9.99991997e-01 -2.29636559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.981400513 meters 0.08951061485554361 Centerline is valid? [True, True] Translation: X:535.06, Y:58.33, Z:-2.30 [[ 9.99974419e-01 -6.01229322e-03 -3.87462853e-03 5.35062845e+02] [ 6.01102674e-03 9.99981876e-01 -3.38425695e-04 5.83295833e+01] [ 3.87659302e-03 3.15126542e-04 9.99992436e-01 -2.29667537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.011400513 meters 0.0889087845630005 Centerline is valid? [True, True] Translation: X:535.09, Y:58.33, Z:-2.30 [[ 9.99958339e-01 -8.27765254e-03 -3.84708333e-03 5.35091950e+02] [ 8.27642052e-03 9.99965693e-01 -3.36057221e-04 5.83341361e+01] [ 3.84973311e-03 3.04203142e-04 9.99992543e-01 -2.29698388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.041400513 meters 0.08614459041220013 Centerline is valid? [True, True] Translation: X:535.12, Y:58.34, Z:-2.30 [[ 9.99947023e-01 -9.63699383e-03 -3.61660726e-03 5.35121695e+02] [ 9.63591352e-03 9.99953524e-01 -3.16013305e-04 5.83359466e+01] [ 3.61948459e-03 2.81147249e-04 9.99993410e-01 -2.29643011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.071400513 meters 0.07966851078471016 Centerline is valid? [True, True] Translation: X:535.15, Y:58.33, Z:-2.30 [[ 9.99938762e-01 -1.02976166e-02 -4.05364760e-03 5.35151158e+02] [ 1.02962617e-02 9.99946929e-01 -3.54973779e-04 5.83331887e+01] [ 4.05708786e-03 3.13214624e-04 9.99991721e-01 -2.29609515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.101400513 meters 0.07825643223406127 Centerline is valid? [True, True] Translation: X:535.18, Y:58.34, Z:-2.30 [[ 9.99935119e-01 -1.04621572e-02 -4.50577064e-03 5.35178981e+02] [ 1.04604811e-02 9.99945209e-01 -3.95407290e-04 5.83371928e+01] [ 4.50966058e-03 3.48249107e-04 9.99989771e-01 -2.29641928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.131400513 meters 0.09514290183819721 Centerline is valid? [True, True] Translation: X:535.21, Y:58.37, Z:-2.30 [[ 9.99944795e-01 -9.15507576e-03 -5.15672709e-03 5.35205890e+02] [ 9.15286330e-03 9.99958009e-01 -4.52480578e-04 5.83662218e+01] [ 5.16065305e-03 4.05256780e-04 9.99986602e-01 -2.29886947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.161400513 meters 0.08507565904517082 Centerline is valid? [True, True] Translation: X:535.24, Y:58.36, Z:-2.30 [[ 9.99949973e-01 -8.78735415e-03 -4.77855477e-03 5.35235810e+02] [ 8.78544592e-03 9.99961319e-01 -4.20176575e-04 5.83582450e+01] [ 4.78206217e-03 3.78173821e-04 9.99988494e-01 -2.29724428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.191400513 meters 0.08735181142519156 Centerline is valid? [True, True] Translation: X:535.26, Y:58.36, Z:-2.30 [[ 9.99951471e-01 -8.47123211e-03 -5.02920530e-03 5.35263525e+02] [ 8.46911355e-03 9.99964039e-01 -4.42398759e-04 5.83639264e+01] [ 5.03277211e-03 3.99784379e-04 9.99987256e-01 -2.29716634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.221400513 meters 0.08197904838142599 Centerline is valid? [True, True] Translation: X:535.29, Y:58.36, Z:-2.30 [[ 9.99943924e-01 -8.98041500e-03 -5.61264349e-03 5.35292808e+02] [ 8.97777880e-03 9.99959577e-01 -4.94709281e-04 5.83598607e+01] [ 5.61685930e-03 4.44292468e-04 9.99984127e-01 -2.29782598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.251400513 meters 0.07898611241716542 Centerline is valid? [True, True] Translation: X:535.32, Y:58.36, Z:-2.30 [[ 9.99926101e-01 -1.04911744e-02 -6.14228139e-03 5.35323058e+02] [ 1.04880465e-02 9.99944852e-01 -5.41234303e-04 5.83564845e+01] [ 6.14762084e-03 4.76773774e-04 9.99980990e-01 -2.29860738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.281400513 meters 0.08291344606909379 Centerline is valid? [True, True] Translation: X:535.35, Y:58.37, Z:-2.30 [[ 9.99922550e-01 -1.16221280e-02 -4.45194210e-03 5.35350888e+02] [ 1.16204951e-02 9.99932403e-01 -3.92476415e-04 5.83663251e+01] [ 4.45620257e-03 3.40712246e-04 9.99990013e-01 -2.29750201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.311400513 meters 0.0766322143789208 Centerline is valid? [True, True] Translation: X:535.38, Y:58.36, Z:-2.29 [[ 9.99918345e-01 -1.24582567e-02 -2.84521807e-03 5.35380230e+02] [ 1.24575927e-02 9.99922370e-01 -2.50984450e-04 5.83603710e+01] [ 2.84812402e-03 2.15519388e-04 9.99995921e-01 -2.29446249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.341400513 meters 0.07958641835819946 Centerline is valid? [True, True] Translation: X:535.41, Y:58.37, Z:-2.29 [[ 9.99910334e-01 -1.32737424e-02 -1.76970188e-03 5.35407787e+02] [ 1.32734865e-02 9.99911891e-01 -1.56312275e-04 5.83651805e+01] [ 1.77162080e-03 1.32808145e-04 9.99998422e-01 -2.29263670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.371400513 meters 0.08415074006945385 Centerline is valid? [True, True] Translation: X:535.44, Y:58.37, Z:-2.29 [[ 9.99910239e-01 -1.33295376e-02 -1.35521006e-03 5.35436178e+02] [ 1.33293875e-02 9.99911153e-01 -1.19719211e-04 5.83716818e+01] [ 1.35668546e-03 1.01644344e-04 9.99999075e-01 -2.29185493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.401400513 meters 0.08818996086685496 Centerline is valid? [True, True] Translation: X:535.47, Y:58.38, Z:-2.29 [[ 9.99917200e-01 -1.27379459e-02 -1.82719286e-03 5.35465127e+02] [ 1.27376721e-02 9.99918860e-01 -1.61402988e-04 5.83781186e+01] [ 1.82910055e-03 1.38115441e-04 9.99998318e-01 -2.29250175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.431400513 meters 0.08624681364613612 Centerline is valid? [True, True] Translation: X:535.50, Y:58.38, Z:-2.30 [[ 9.99945704e-01 -9.35888333e-03 -4.58262774e-03 5.35495701e+02] [ 9.35712599e-03 9.99956139e-01 -4.04770215e-04 5.83778280e+01] [ 4.58621494e-03 3.61868012e-04 9.99989418e-01 -2.29669104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.461400513 meters 0.08752874323486359 Centerline is valid? [True, True] Translation: X:535.53, Y:58.38, Z:-2.30 [[ 9.99956505e-01 -7.32965014e-03 -5.76748906e-03 5.35526145e+02] [ 7.32683293e-03 9.99973029e-01 -5.09441462e-04 5.83820887e+01] [ 5.77106753e-03 4.67161875e-04 9.99983238e-01 -2.29905042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.491400513 meters 0.08948351764396685 Centerline is valid? [True, True] Translation: X:535.56, Y:58.39, Z:-2.30 [[ 9.99964284e-01 -5.53289237e-03 -6.38885270e-03 5.35555777e+02] [ 5.52939861e-03 9.99984553e-01 -5.64386724e-04 5.83869303e+01] [ 6.39187670e-03 5.29040053e-04 9.99979432e-01 -2.30025867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.521400513 meters 0.08299206239068921 Centerline is valid? [True, True] Translation: X:535.59, Y:58.38, Z:-2.30 [[ 9.99970594e-01 -4.67456032e-03 -6.07946602e-03 5.35586335e+02] [ 4.67138006e-03 9.99988945e-01 -5.37210211e-04 5.83817479e+01] [ 6.08191003e-03 5.08794918e-04 9.99981376e-01 -2.29892005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.551400513 meters 0.0855521804891495 Centerline is valid? [True, True] Translation: X:535.61, Y:58.39, Z:-2.30 [[ 9.99975763e-01 -4.70226487e-03 -5.13436444e-03 5.35613877e+02] [ 4.69999522e-03 9.99988852e-01 -4.54027059e-04 5.83880174e+01] [ 5.13644216e-03 4.29884567e-04 9.99986716e-01 -2.29755063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.581400513 meters 0.08511945186488758 Centerline is valid? [True, True] Translation: X:535.64, Y:58.39, Z:-2.30 [[ 9.99975208e-01 -5.68408818e-03 -4.15634603e-03 5.35642837e+02] [ 5.68260896e-03 9.99983786e-01 -3.67615392e-04 5.83910044e+01] [ 4.15836820e-03 3.43987388e-04 9.99991295e-01 -2.29568828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.611400513 meters 0.0860853747804221 Centerline is valid? [True, True] Translation: X:535.67, Y:58.39, Z:-2.30 [[ 9.99945282e-01 -9.85137302e-03 -3.51899901e-03 5.35671751e+02] [ 9.85033835e-03 9.99951436e-01 -3.11234939e-04 5.83948658e+01] [ 3.52189421e-03 2.76554578e-04 9.99993760e-01 -2.29507109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.641400513 meters 0.08239918191638146 Centerline is valid? [True, True] Translation: X:535.70, Y:58.39, Z:-2.30 [[ 9.99906109e-01 -1.30867637e-02 -4.06320141e-03 5.35701895e+02] [ 1.30854104e-02 9.99914318e-01 -3.59454691e-04 5.83917092e+01] [ 4.06755736e-03 3.06252283e-04 9.99991681e-01 -2.29628023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.671400513 meters 0.07317823808074117 Centerline is valid? [True, True] Translation: X:535.73, Y:58.38, Z:-2.30 [[ 9.99843076e-01 -1.71384600e-02 -4.48283527e-03 5.35733135e+02] [ 1.71368533e-02 9.99853075e-01 -3.96599583e-04 5.83815173e+01] [ 4.48897374e-03 3.19715657e-04 9.99989873e-01 -2.29725209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.701400513 meters 0.07428852973261267 Centerline is valid? [True, True] Translation: X:535.76, Y:58.38, Z:-2.30 [[ 9.99761313e-01 -2.14529388e-02 -4.13373419e-03 5.35762974e+02] [ 2.14516092e-02 9.99769821e-01 -3.65721078e-04 5.83830556e+01] [ 4.14062848e-03 2.76958535e-04 9.99991389e-01 -2.29750037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.731400513 meters 0.07120618221577611 Centerline is valid? [True, True] Translation: X:535.79, Y:58.38, Z:-2.30 [[ 9.99660773e-01 -2.59054669e-02 -2.69194620e-03 5.35793132e+02] [ 2.59049191e-02 9.99664383e-01 -2.38153453e-04 5.83785884e+01] [ 2.69721221e-03 1.68338017e-04 9.99996348e-01 -2.29532995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.761400513 meters 0.06203764105577511 Centerline is valid? [True, True] Translation: X:535.83, Y:58.36, Z:-2.29 [[ 9.99456726e-01 -3.29582988e-02 -5.26941803e-05 5.35825613e+02] [ 3.29582986e-02 9.99456728e-01 -4.65386692e-06 5.83604052e+01] [ 5.28189365e-05 2.91462807e-06 9.99999999e-01 -2.29001644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.791400513 meters 0.060936669343444695 Centerline is valid? [True, True] Translation: X:535.86, Y:58.36, Z:-2.29 [[ 9.99394197e-01 -3.48024597e-02 -1.64131443e-04 5.35855467e+02] [ 3.48024578e-02 9.99394211e-01 -1.45431759e-05 5.83565271e+01] [ 1.64538153e-04 8.82218795e-06 9.99999986e-01 -2.28981973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.821400513 meters 0.05457463351952156 Centerline is valid? [True, True] Translation: X:535.88, Y:58.35, Z:-2.29 [[ 9.99362370e-01 -3.56787104e-02 -1.37253567e-03 5.35884930e+02] [ 3.56785766e-02 9.99363309e-01 -1.21820874e-04 5.83470131e+01] [ 1.37600820e-03 7.27730781e-05 9.99999051e-01 -2.29166676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.851400513 meters 0.059165707009043104 Centerline is valid? [True, True] Translation: X:535.91, Y:58.35, Z:-2.29 [[ 9.99376140e-01 -3.52021058e-02 -2.85368744e-03 5.35912849e+02] [ 3.52015259e-02 9.99380202e-01 -2.53193583e-04 5.83516313e+01] [ 2.86083167e-03 1.52581473e-04 9.99995896e-01 -2.29489906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.881400513 meters 0.06282858539924566 Centerline is valid? [True, True] Translation: X:535.94, Y:58.35, Z:-2.30 [[ 9.99421011e-01 -3.38533873e-02 -3.40451439e-03 5.35941198e+02] [ 3.38525539e-02 9.99426792e-01 -3.02149203e-04 5.83547259e+01] [ 3.41279167e-03 1.86722755e-04 9.99994159e-01 -2.29676703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.911400513 meters 0.06247536371779709 Centerline is valid? [True, True] Translation: X:535.97, Y:58.35, Z:-2.30 [[ 9.99476800e-01 -3.21496838e-02 -3.53899628e-03 5.35970860e+02] [ 3.21487718e-02 9.99483045e-01 -3.14289705e-04 5.83524378e+01] [ 3.54727109e-03 2.00350885e-04 9.99993688e-01 -2.29677895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.941400513 meters 0.0683061613136182 Centerline is valid? [True, True] Translation: X:536.00, Y:58.35, Z:-2.30 [[ 9.99577771e-01 -2.87872675e-02 -3.94618044e-03 5.35999834e+02] [ 2.87861084e-02 9.99585533e-01 -3.50239714e-04 5.83535638e+01] [ 3.95462732e-03 2.36496655e-04 9.99992152e-01 -2.29735602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.971400513 meters 0.06949046662423 Centerline is valid? [True, True] Translation: X:536.03, Y:58.35, Z:-2.30 [[ 9.99607625e-01 -2.76487669e-02 -4.48796261e-03 5.36029506e+02] [ 2.76472554e-02 9.99617662e-01 -3.98478195e-04 5.83547075e+01] [ 4.49726413e-03 2.74241993e-04 9.99989850e-01 -2.29810766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.001400513 meters 0.06949046662423 Centerline is valid? [True, True] Translation: X:536.06, Y:58.36, Z:-2.30 [[ 9.99602750e-01 -2.78244664e-02 -4.48788018e-03 5.36056924e+02] [ 2.78229526e-02 9.99612787e-01 -3.99405719e-04 5.83573087e+01] [ 4.49725567e-03 2.74380978e-04 9.99989850e-01 -2.29813261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.031400513 meters 0.06413020140447738 Centerline is valid? [True, True] Translation: X:536.09, Y:58.35, Z:-2.30 [[ 9.99612816e-01 -2.74079579e-02 -4.79805414e-03 5.36086173e+02] [ 2.74062192e-02 9.99624288e-01 -4.27757513e-04 5.83510445e+01] [ 4.80797541e-03 2.96095369e-04 9.99988398e-01 -2.29843143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.061400513 meters 0.0675364309697596 Centerline is valid? [True, True] Translation: X:536.11, Y:58.35, Z:-2.30 [[ 9.99608782e-01 -2.75807803e-02 -4.64578356e-03 5.36114226e+02] [ 2.75791513e-02 9.99619537e-01 -4.14358098e-04 5.83547877e+01] [ 4.65544433e-03 2.86069226e-04 9.99989122e-01 -2.29919225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.091400513 meters 0.06624303376175751 Centerline is valid? [True, True] Translation: X:536.14, Y:58.35, Z:-2.30 [[ 9.99590225e-01 -2.82626693e-02 -4.53901156e-03 5.36143762e+02] [ 2.82611179e-02 9.99600493e-01 -4.05586577e-04 5.83525689e+01] [ 4.54866115e-03 2.77142838e-04 9.99989616e-01 -2.29927919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.121400513 meters 0.06434054501684507 Centerline is valid? [True, True] Translation: X:536.17, Y:58.35, Z:-2.30 [[ 9.99563286e-01 -2.93035700e-02 -3.81293063e-03 5.36172979e+02] [ 2.93024824e-02 9.99570532e-01 -3.40810356e-04 5.83496174e+01] [ 3.82128006e-03 2.28933187e-04 9.99992673e-01 -2.29849407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.151400513 meters 0.061577359361966996 Centerline is valid? [True, True] Translation: X:536.20, Y:58.35, Z:-2.30 [[ 9.99461441e-01 -3.27485769e-02 -2.08756282e-03 5.36203934e+02] [ 3.27482584e-02 9.99463615e-01 -1.86575003e-04 5.83467943e+01] [ 2.09255315e-03 1.18110475e-04 9.99997804e-01 -2.29622571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.181400513 meters 0.059387562639688855 Centerline is valid? [True, True] Translation: X:536.23, Y:58.35, Z:-2.30 [[ 9.99378458e-01 -3.52266198e-02 -1.33492446e-03 5.36233864e+02] [ 3.52264917e-02 9.99379347e-01 -1.19332553e-04 5.83461669e+01] [ 1.33829962e-03 7.22336774e-05 9.99999102e-01 -2.29558199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.211400513 meters 0.057632734224928685 Centerline is valid? [True, True] Translation: X:536.26, Y:58.34, Z:-2.30 [[ 9.99269260e-01 -3.82013094e-02 -1.26709174e-03 5.36263437e+02] [ 3.82011964e-02 9.99270061e-01 -1.13289981e-04 5.83447336e+01] [ 1.27049467e-03 6.48027752e-05 9.99999191e-01 -2.29581456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.241400513 meters 0.05185590571191361 Centerline is valid? [True, True] Translation: X:536.29, Y:58.34, Z:-2.30 [[ 9.99132845e-01 -4.16076655e-02 -1.53613731e-03 5.36294358e+02] [ 4.16075034e-02 9.99134023e-01 -1.37335178e-04 5.83376441e+01] [ 1.54052124e-03 7.33012487e-05 9.99998811e-01 -2.29584171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.271400513 meters 0.04861683827079038 Centerline is valid? [True, True] Translation: X:536.33, Y:58.33, Z:-2.30 [[ 9.98980172e-01 -4.51250456e-02 -1.53149601e-03 5.36325224e+02] [ 4.51248886e-02 9.98981344e-01 -1.36932592e-04 5.83339963e+01] [ 1.53611503e-03 6.76843582e-05 9.99998818e-01 -2.29620872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.301400513 meters 0.03785536372005151 Centerline is valid? [True, True] Translation: X:536.36, Y:58.32, Z:-2.29 [[ 9.98572716e-01 -5.34052619e-02 -6.38903139e-04 5.36357280e+02] [ 5.34052362e-02 9.98572920e-01 -5.71248154e-05 5.83199915e+01] [ 6.41042139e-04 2.29225090e-05 9.99999794e-01 -2.29472661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.331400513 meters 0.03617294723224391 Centerline is valid? [True, True] Translation: X:536.39, Y:58.32, Z:-2.29 [[ 9.98338305e-01 -5.76247811e-02 -1.19768632e-04 5.36386238e+02] [ 5.76247803e-02 9.98338312e-01 -1.07322960e-05 5.83186045e+01] [ 1.20188060e-04 3.81282108e-06 9.99999993e-01 -2.29419072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.361400513 meters 0.03237812883035714 Centerline is valid? [True, True] Translation: X:536.42, Y:58.31, Z:-2.29 [[ 9.98099979e-01 -6.16151046e-02 9.90300508e-05 5.36416956e+02] [ 6.16151041e-02 9.98099984e-01 8.84735078e-06 5.83140657e+01] [-9.93870226e-05 -2.72879375e-06 9.99999995e-01 -2.29401342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.391400513 meters 0.02767914831701464 Centerline is valid? [True, True] Translation: X:536.45, Y:58.31, Z:-2.29 [[ 9.97885418e-01 -6.49962825e-02 -4.19074962e-04 5.36447137e+02] [ 6.49962724e-02 9.97885506e-01 -3.75144019e-05 5.83085238e+01] [ 4.20627127e-04 1.01967642e-05 9.99999911e-01 -2.29472643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.421400513 meters 0.025298657356876805 Centerline is valid? [True, True] Translation: X:536.48, Y:58.31, Z:-2.30 [[ 9.97717522e-01 -6.75185592e-02 -9.95248347e-04 5.36476285e+02] [ 6.75185039e-02 9.97718018e-01 -8.91300095e-05 5.83062373e+01] [ 9.98995138e-04 2.17288928e-05 9.99999501e-01 -2.29551272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.451400513 meters 0.024094728302942393 Centerline is valid? [True, True] Translation: X:536.50, Y:58.31, Z:-2.30 [[ 9.97607856e-01 -6.91135285e-02 -1.37349602e-03 5.36504897e+02] [ 6.91134242e-02 9.97608801e-01 -1.23314467e-04 5.83063624e+01] [ 1.37873441e-03 2.80924675e-05 9.99999049e-01 -2.29593508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.481400513 meters 0.02301468913501056 Centerline is valid? [True, True] Translation: X:536.53, Y:58.31, Z:-2.30 [[ 9.97516292e-01 -7.04130561e-02 -1.80264841e-03 5.36532307e+02] [ 7.04128786e-02 9.97517920e-01 -1.61808539e-04 5.83082142e+01] [ 1.80956753e-03 3.44769897e-05 9.99998362e-01 -2.29681402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.511400513 meters 0.022561436383213604 Centerline is valid? [True, True] Translation: X:536.56, Y:58.31, Z:-2.30 [[ 9.97486821e-01 -7.08211598e-02 -2.09889783e-03 5.36560545e+02] [ 7.08209190e-02 9.97489028e-01 -1.88896387e-04 5.83114860e+01] [ 2.10700542e-03 3.97757829e-05 9.99997779e-01 -2.29682900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.541400513 meters 0.02162272555582488 Centerline is valid? [True, True] Translation: X:536.59, Y:58.31, Z:-2.30 [[ 9.97441545e-01 -7.14587001e-02 -2.00457345e-03 5.36589416e+02] [ 7.14584811e-02 9.97443559e-01 -1.80724334e-04 5.83144501e+01] [ 2.01236320e-03 3.70181851e-05 9.99997975e-01 -2.29646983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.571400513 meters 0.022044023278616442 Centerline is valid? [True, True] Translation: X:536.62, Y:58.32, Z:-2.30 [[ 9.97378399e-01 -7.23290250e-02 -2.20015316e-03 5.36616849e+02] [ 7.23287633e-02 9.97380825e-01 -1.98375005e-04 5.83191577e+01] [ 2.20873885e-03 3.87205873e-05 9.99997560e-01 -2.29685732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.601400513 meters 0.018621321903445516 Centerline is valid? [True, True] Translation: X:536.65, Y:58.32, Z:-2.30 [[ 9.97270382e-01 -7.37861400e-02 -2.71859746e-03 5.36646088e+02] [ 7.37857444e-02 9.97274086e-01 -2.45669123e-04 5.83192701e+01] [ 2.72931377e-03 4.44048027e-05 9.99996274e-01 -2.29697641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.631400513 meters 0.018665310841149085 Centerline is valid? [True, True] Translation: X:536.67, Y:58.32, Z:-2.30 [[ 9.97104238e-01 -7.60007594e-02 -2.64993249e-03 5.36673815e+02] [ 7.60003911e-02 9.97107759e-01 -2.39528485e-04 5.83241803e+01] [ 2.66047260e-03 3.74389621e-05 9.99996460e-01 -2.29803711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.661400513 meters 0.011750793493219563 Centerline is valid? [True, True] Translation: X:536.70, Y:58.32, Z:-2.30 [[ 9.96524947e-01 -8.32839358e-02 -1.34754479e-03 5.36703144e+02] [ 8.32838468e-02 9.96525858e-01 -1.22110135e-04 5.83207796e+01] [ 1.35303304e-03 9.45708209e-06 9.99999085e-01 -2.29626252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.691400513 meters 0.009141682592861028 Centerline is valid? [True, True] Translation: X:536.73, Y:58.32, Z:-2.30 [[ 9.96163217e-01 -8.75043094e-02 -1.35688354e-03 5.36732003e+02] [ 8.75042228e-02 9.96164141e-01 -1.23188290e-04 5.83187517e+01] [ 1.36245824e-03 3.98260335e-06 9.99999072e-01 -2.29549118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.721400513 meters 0.00877788948282791 Centerline is valid? [True, True] Translation: X:536.76, Y:58.32, Z:-2.30 [[ 9.95782054e-01 -9.17252129e-02 -2.14135094e-03 5.36759991e+02] [ 9.17250062e-02 9.95784357e-01 -1.94760886e-04 5.83166128e+01] [ 2.15018825e-03 -2.47603255e-06 9.99997688e-01 -2.29623896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.751400513 meters 0.01046762203991545 Centerline is valid? [True, True] Translation: X:536.79, Y:58.31, Z:-2.30 [[ 9.95416637e-01 -9.55788018e-02 -3.22662046e-03 5.36788333e+02] [ 9.55783512e-02 9.95421867e-01 -2.93898439e-04 5.83149832e+01] [ 3.23993903e-03 -1.58436677e-05 9.99994751e-01 -2.29801190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.781400513 meters 0.013493303868570198 Centerline is valid? [True, True] Translation: X:536.82, Y:58.31, Z:-2.30 [[ 9.95094433e-01 -9.88563489e-02 -3.80674727e-03 5.36816906e+02] [ 9.88557454e-02 9.95101714e-01 -3.46841058e-04 5.83129901e+01] [ 3.82238818e-03 -3.11792330e-05 9.99992694e-01 -2.29952420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.811400513 meters 0.014830580303230836 Centerline is valid? [True, True] Translation: X:536.85, Y:58.31, Z:-2.30 [[ 9.94815223e-01 -1.01642822e-01 -3.37766996e-03 5.36845219e+02] [ 1.01642362e-01 9.94820956e-01 -3.07959906e-04 5.83141469e+01] [ 3.39147878e-03 -3.69511514e-05 9.99994248e-01 -2.29847636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.841400513 meters 0.01773142187550124 Centerline is valid? [True, True] Translation: X:536.87, Y:58.31, Z:-2.29 [[ 9.94557994e-01 -1.04184154e-01 -2.44194215e-04 5.36873364e+02] [ 1.04184152e-01 9.94558023e-01 -2.23298082e-05 5.83130265e+01] [ 2.45191728e-04 -3.23287789e-06 9.99999970e-01 -2.29330683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.871400513 meters 0.018002147201949703 Centerline is valid? [True, True] Translation: X:536.90, Y:58.32, Z:-2.29 [[ 9.94536027e-01 -1.04392521e-01 5.41772384e-04 5.36900091e+02] [ 1.04392509e-01 9.94536174e-01 4.93905927e-05 5.83152467e+01] [-5.43968242e-04 7.43625480e-06 9.99999852e-01 -2.29189701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.901400513 meters 0.01845934767286454 Centerline is valid? [True, True] Translation: X:536.93, Y:58.32, Z:-2.29 [[ 9.94486032e-01 -1.04869108e-01 3.72472482e-05 5.36927728e+02] [ 1.04869108e-01 9.94486033e-01 3.23932519e-06 5.83176558e+01] [-3.73815732e-05 6.84622049e-07 9.99999999e-01 -2.29271182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.931400513 meters 0.017963627023288693 Centerline is valid? [True, True] Translation: X:536.96, Y:58.32, Z:-2.29 [[ 9.94407880e-01 -1.05601204e-01 -1.16359928e-03 5.36956268e+02] [ 1.05601151e-01 9.94408561e-01 -1.06807298e-04 5.83215674e+01] [ 1.16837207e-03 -1.66674053e-05 9.99999317e-01 -2.29496317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.961400513 meters 0.020037010679477118 Centerline is valid? [True, True] Translation: X:536.98, Y:58.32, Z:-2.30 [[ 9.94308679e-01 -1.06520624e-01 -1.89919292e-03 5.36984413e+02] [ 1.06520486e-01 9.94310493e-01 -1.74246698e-04 5.83216608e+01] [ 1.90694831e-03 -2.90479471e-05 9.99998181e-01 -2.29703152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.991400513 meters 0.020656820243489266 Centerline is valid? [True, True] Translation: X:537.01, Y:58.32, Z:-2.30 [[ 9.94192442e-01 -1.07597738e-01 -2.02837389e-03 5.37013067e+02] [ 1.07597581e-01 9.94194511e-01 -1.86524926e-04 5.83229845e+01] [ 2.03666785e-03 -3.28064539e-05 9.99997925e-01 -2.29753805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.021400513 meters 0.02481192865923853 Centerline is valid? [True, True] Translation: X:537.04, Y:58.32, Z:-2.29 [[ 9.93851041e-01 -1.10724269e-01 -4.93722889e-04 5.37041864e+02] [ 1.10724260e-01 9.93851164e-01 -4.54471316e-05 5.83167084e+01] [ 4.95719168e-04 -9.49942240e-06 9.99999877e-01 -2.29497674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.051400513 meters 0.02498203386453565 Centerline is valid? [True, True] Translation: X:537.07, Y:58.32, Z:-2.29 [[ 9.93646362e-01 -1.12547342e-01 4.71970944e-05 5.37070319e+02] [ 1.12547342e-01 9.93646364e-01 4.26282656e-06 5.83169127e+01] [-4.73769910e-05 1.07616541e-06 9.99999999e-01 -2.29377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.081400513 meters 0.02574975643869476 Centerline is valid? [True, True] Translation: X:537.10, Y:58.32, Z:-2.29 [[ 9.93458945e-01 -1.14189861e-01 -2.04472539e-05 5.37099339e+02] [ 1.14189861e-01 9.93458945e-01 -2.03902184e-06 5.83164618e+01] [ 2.05463429e-05 -3.09184593e-07 1.00000000e+00 -2.29355526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.111400513 meters 0.027263541865785678 Centerline is valid? [True, True] Translation: X:537.13, Y:58.31, Z:-2.29 [[ 9.93318341e-01 -1.15406536e-01 -7.05724295e-05 5.37127012e+02] [ 1.15406536e-01 9.93318343e-01 -6.57756857e-06 5.83148905e+01] [ 7.08599832e-05 -1.61090014e-06 9.99999997e-01 -2.29381564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.141400513 meters 0.029390883925144443 Centerline is valid? [True, True] Translation: X:537.16, Y:58.31, Z:-2.29 [[ 9.93235914e-01 -1.16113804e-01 -6.13553181e-05 5.37155158e+02] [ 1.16113803e-01 9.93235916e-01 -5.71934089e-06 5.83128547e+01] [ 6.16044000e-05 -1.44354458e-06 9.99999998e-01 -2.29458009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.171400513 meters 0.027880576645416585 Centerline is valid? [True, True] Translation: X:537.18, Y:58.32, Z:-2.29 [[ 9.93197978e-01 -1.16437805e-01 1.16553642e-04 5.37182649e+02] [ 1.16437805e-01 9.93197985e-01 1.06096606e-05 5.83163251e+01] [-1.16996208e-04 3.03375669e-06 9.99999993e-01 -2.29407516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.201400513 meters 0.02756696786430317 Centerline is valid? [True, True] Translation: X:537.21, Y:58.32, Z:-2.29 [[ 9.93302238e-01 -1.15539290e-01 1.15609185e-03 5.37210878e+02] [ 1.15539243e-01 9.93302910e-01 1.07015635e-04 5.83182575e+01] [-1.16071391e-03 2.72751077e-05 9.99999326e-01 -2.29240567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.231400513 meters 0.02571657029438183 Centerline is valid? [True, True] Translation: X:537.24, Y:58.32, Z:-2.29 [[ 9.93366051e-01 -1.14986075e-01 1.44642503e-03 5.37239917e+02] [ 1.14986002e-01 9.93367103e-01 1.34168880e-04 5.83225557e+01] [-1.45225860e-03 3.30398212e-05 9.99998945e-01 -2.29238364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.261400513 meters 0.029122929405997047 Centerline is valid? [True, True] Translation: X:537.27, Y:58.32, Z:-2.29 [[ 9.93438112e-01 -1.14367968e-01 8.28137914e-04 5.37267430e+02] [ 1.14367943e-01 9.93438457e-01 7.68949512e-05 5.83239772e+01] [-8.31498371e-04 1.83220549e-05 9.99999654e-01 -2.29378900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.291400513 meters 0.027475098221633208 Centerline is valid? [True, True] Translation: X:537.29, Y:58.32, Z:-2.29 [[ 9.93419794e-01 -1.14529868e-01 1.47083662e-04 5.37294523e+02] [ 1.14529867e-01 9.93419805e-01 1.36037989e-05 5.83242476e+01] [-1.47673864e-04 3.33118915e-06 9.99999989e-01 -2.29436206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.321400513 meters 0.02667690764925559 Centerline is valid? [True, True] Translation: X:537.32, Y:58.33, Z:-2.30 [[ 9.93385803e-01 -1.14820149e-01 -9.89575720e-04 5.37322453e+02] [ 1.14820114e-01 9.93386296e-01 -9.23924444e-05 5.83282250e+01] [ 9.93639473e-04 -2.18418547e-05 9.99999506e-01 -2.29644517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.351400513 meters 0.02789676907417003 Centerline is valid? [True, True] Translation: X:537.35, Y:58.33, Z:-2.30 [[ 9.93323282e-01 -1.15348811e-01 -1.87311650e-03 5.37350222e+02] [ 1.15348687e-01 9.93325047e-01 -1.74724052e-04 5.83299367e+01] [ 1.88076775e-03 -4.25040590e-05 9.99998230e-01 -2.29856061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.381400513 meters 0.02778231354240327 Centerline is valid? [True, True] Translation: X:537.38, Y:58.34, Z:-2.30 [[ 9.93142172e-01 -1.16846416e-01 -3.94214365e-03 5.37378892e+02] [ 1.16845873e-01 9.93149992e-01 -3.68433874e-04 5.83355514e+01] [ 3.95819011e-03 -9.47159999e-05 9.99992162e-01 -2.30190618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.411400513 meters 0.02950259188707743 Centerline is valid? [True, True] Translation: X:537.41, Y:58.34, Z:-2.30 [[ 9.93044009e-01 -1.17670556e-01 -4.15165146e-03 5.37407005e+02] [ 1.17669960e-01 9.93052682e-01 -3.88308894e-04 5.83377286e+01] [ 4.16850114e-03 -1.02916842e-04 9.99991306e-01 -2.30247927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.441400513 meters 0.02890229017633387 Centerline is valid? [True, True] Translation: X:537.44, Y:58.34, Z:-2.30 [[ 9.92913503e-01 -1.18770343e-01 -4.04735140e-03 5.37435631e+02] [ 1.18769783e-01 9.92921747e-01 -3.79317202e-04 5.83436735e+01] [ 4.06375485e-03 -1.04073875e-04 9.99991737e-01 -2.30173929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.471400513 meters 0.03143639507221622 Centerline is valid? [True, True] Translation: X:537.46, Y:58.35, Z:-2.30 [[ 9.92789564e-01 -1.19788468e-01 -4.42767120e-03 5.37463235e+02] [ 1.19787808e-01 9.92799430e-01 -4.15115488e-04 5.83453835e+01] [ 4.44551549e-03 -1.18258701e-04 9.99990112e-01 -2.30201815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.501400513 meters 0.03320423802612413 Centerline is valid? [True, True] Translation: X:537.49, Y:58.35, Z:-2.30 [[ 9.92625986e-01 -1.21102464e-01 -5.27679225e-03 5.37490425e+02] [ 1.21101540e-01 9.92640001e-01 -4.95302287e-04 5.83480756e+01] [ 5.29793739e-03 -1.47377748e-04 9.99985955e-01 -2.30312451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.531400513 meters 0.035635531778286655 Centerline is valid? [True, True] Translation: X:537.52, Y:58.35, Z:-2.31 [[ 9.92421742e-01 -1.22727337e-01 -6.08982988e-03 5.37518614e+02] [ 1.22726137e-01 9.92440410e-01 -5.71919384e-04 5.83494551e+01] [ 6.11398341e-03 -1.79796062e-04 9.99981293e-01 -2.30530880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.561400513 meters 0.03748480975699074 Centerline is valid? [True, True] Translation: X:537.55, Y:58.35, Z:-2.31 [[ 9.91926798e-01 -1.26606840e-01 -7.20659090e-03 5.37548544e+02] [ 1.26605260e-01 9.91952948e-01 -6.76833517e-04 5.83518912e+01] [ 7.23429083e-03 -2.41023009e-04 9.99973803e-01 -2.30688086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.591400513 meters 0.03975258963291633 Centerline is valid? [True, True] Translation: X:537.58, Y:58.35, Z:-2.31 [[ 9.91671775e-01 -1.28613852e-01 -6.75032895e-03 5.37577883e+02] [ 1.28612511e-01 9.91694721e-01 -6.34247164e-04 5.83516254e+01] [ 6.77583855e-03 -2.39211743e-04 9.99977015e-01 -2.30627322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.621400513 meters 0.04138198770682836 Centerline is valid? [True, True] Translation: X:537.61, Y:58.35, Z:-2.30 [[ 9.91370985e-01 -1.30967363e-01 -5.57847066e-03 5.37607204e+02] [ 1.30966483e-01 9.91386658e-01 -5.24349349e-04 5.83519537e+01] [ 5.59909404e-03 -2.10767951e-04 9.99984303e-01 -2.30437365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.651400513 meters 0.044785400525696566 Centerline is valid? [True, True] Translation: X:537.64, Y:58.35, Z:-2.30 [[ 9.91062015e-01 -1.33314810e-01 -4.82112721e-03 5.37635536e+02] [ 1.33314179e-01 9.91073723e-01 -4.53453109e-04 5.83499398e+01] [ 4.83854450e-03 -1.93324463e-04 9.99988275e-01 -2.30270829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.681400513 meters 0.04884264276715815 Centerline is valid? [True, True] Translation: X:537.66, Y:58.35, Z:-2.30 [[ 9.90821015e-01 -1.35097616e-01 -4.72768156e-03 5.37664367e+02] [ 1.35097029e-01 9.90832274e-01 -4.44814567e-04 5.83470673e+01] [ 4.74443286e-03 -1.97964110e-04 9.99988726e-01 -2.30294349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.711400513 meters 0.04829464623629302 Centerline is valid? [True, True] Translation: X:537.69, Y:58.35, Z:-2.31 [[ 9.90573946e-01 -1.36808978e-01 -6.82362359e-03 5.37693691e+02] [ 1.36807794e-01 9.90597403e-01 -6.42246088e-04 5.83489109e+01] [ 6.84732884e-03 -2.97332647e-04 9.99976513e-01 -2.30586097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.741400513 meters 0.04891081355215273 Centerline is valid? [True, True] Translation: X:537.72, Y:58.35, Z:-2.31 [[ 9.90624243e-01 -1.36445216e-01 -6.80536168e-03 5.37721347e+02] [ 1.36444027e-01 9.90647574e-01 -6.40951732e-04 5.83497514e+01] [ 6.82916984e-03 -2.93608628e-04 9.99976638e-01 -2.30613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.771400513 meters 0.04277057710309615 Centerline is valid? [True, True] Translation: X:537.75, Y:58.36, Z:-2.30 [[ 9.90789471e-01 -1.35280805e-01 -5.94364477e-03 5.37749299e+02] [ 1.35279875e-01 9.90807268e-01 -5.60084423e-04 5.83590536e+01] [ 5.96477511e-03 -2.49129774e-04 9.99982180e-01 -2.30370831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.801400513 meters 0.04514214294865872 Centerline is valid? [True, True] Translation: X:537.78, Y:58.36, Z:-2.30 [[ 9.90988233e-01 -1.33886230e-01 -4.09865867e-03 5.37777439e+02] [ 1.33885774e-01 9.90996695e-01 -3.86630002e-04 5.83579795e+01] [ 4.11352163e-03 -1.65606304e-04 9.99991526e-01 -2.30228287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.831400513 meters 0.04302348968629321 Centerline is valid? [True, True] Translation: X:537.81, Y:58.36, Z:-2.30 [[ 9.91155717e-01 -1.32678641e-01 -2.59285534e-03 5.37806375e+02] [ 1.32678453e-01 9.91159103e-01 -2.45078744e-04 5.83622523e+01] [ 2.60244889e-03 -1.01104837e-04 9.99996609e-01 -2.29979732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.861400513 meters 0.0406671585407851 Centerline is valid? [True, True] Translation: X:537.83, Y:58.37, Z:-2.30 [[ 9.91326845e-01 -1.31404969e-01 -1.95481513e-03 5.37834623e+02] [ 1.31404860e-01 9.91328769e-01 -1.84805034e-04 5.83686515e+01] [ 1.96214877e-03 -7.36700163e-05 9.99998072e-01 -2.29904873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.891400513 meters 0.0406671585407851 Centerline is valid? [True, True] Translation: X:537.86, Y:58.37, Z:-2.30 [[ 9.91301262e-01 -1.31597824e-01 -1.95476668e-03 5.37862025e+02] [ 1.31597714e-01 9.91303186e-01 -1.85317027e-04 5.83714095e+01] [ 1.96215376e-03 -7.35378242e-05 9.99998072e-01 -2.29907367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.921400513 meters 0.042514461925171755 Centerline is valid? [True, True] Translation: X:537.89, Y:58.37, Z:-2.30 [[ 9.91378345e-01 -1.31024341e-01 -1.26418084e-03 5.37890498e+02] [ 1.31024295e-01 9.91379150e-01 -1.19865136e-04 5.83677099e+01] [ 1.26898778e-03 -4.68067023e-05 9.99999194e-01 -2.29905825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.951400513 meters 0.043533738445035 Centerline is valid? [True, True] Translation: X:537.92, Y:58.37, Z:-2.30 [[ 9.91339338e-01 -1.31312718e-01 -1.81294208e-03 5.37918664e+02] [ 1.31312623e-01 9.91340994e-01 -1.71976018e-04 5.83679812e+01] [ 1.81982644e-03 -6.75755877e-05 9.99998342e-01 -2.29997867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.981400513 meters 0.04237952213125701 Centerline is valid? [True, True] Translation: X:537.95, Y:58.37, Z:-2.30 [[ 9.91235682e-01 -1.32092237e-01 -1.86103987e-03 5.37947520e+02] [ 1.32092138e-01 9.91237427e-01 -1.76944469e-04 5.83713509e+01] [ 1.86810536e-03 -7.04350635e-05 9.99998253e-01 -2.30000938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.011400513 meters 0.048574205344343147 Centerline is valid? [True, True] Translation: X:537.98, Y:58.37, Z:-2.30 [[ 9.91120127e-01 -1.32962144e-01 -1.40048036e-03 5.37976308e+02] [ 1.32962088e-01 9.91121115e-01 -1.33177987e-04 5.83661576e+01] [ 1.40575328e-03 -5.42154092e-05 9.99999010e-01 -2.29985488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.041400513 meters 0.05052267748914556 Centerline is valid? [True, True] Translation: X:538.00, Y:58.37, Z:-2.30 [[ 9.90947968e-01 -1.34246090e-01 -3.33700143e-04 5.38004178e+02] [ 1.34246087e-01 9.90948024e-01 -3.17893145e-05 5.83668159e+01] [ 3.34947088e-04 -1.32963818e-05 9.99999944e-01 -2.29789979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.071400513 meters 0.04400667250060012 Centerline is valid? [True, True] Translation: X:538.03, Y:58.38, Z:-2.30 [[ 9.90743915e-01 -1.35742224e-01 7.37040807e-04 5.38031810e+02] [ 1.35742209e-01 9.90744189e-01 7.00737340e-05 5.83779828e+01] [-7.39730861e-04 3.06224216e-05 9.99999726e-01 -2.29646579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.101400513 meters 0.044819298420933976 Centerline is valid? [True, True] Translation: X:538.06, Y:58.38, Z:-2.30 [[ 9.90387787e-01 -1.38307453e-01 1.75498226e-03 5.38061126e+02] [ 1.38307374e-01 9.90389339e-01 1.67249605e-04 5.83800204e+01] [-1.76124758e-03 7.70850203e-05 9.99998446e-01 -2.29534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.131400513 meters 0.04925119024312217 Centerline is valid? [True, True] Translation: X:538.09, Y:58.38, Z:-2.30 [[ 9.90256948e-01 -1.39245364e-01 1.38046294e-03 5.38089559e+02] [ 1.39245316e-01 9.90257908e-01 1.31613193e-04 5.83775367e+01] [-1.38534087e-03 6.18921193e-05 9.99999038e-01 -2.29583824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.161400513 meters 0.05144657481610353 Centerline is valid? [True, True] Translation: X:538.12, Y:58.38, Z:-2.30 [[ 9.90135746e-01 -1.40111066e-01 3.07020552e-04 5.38117508e+02] [ 1.40111064e-01 9.90135793e-01 2.92484218e-05 5.83783378e+01] [-3.08090065e-04 1.40570682e-05 9.99999952e-01 -2.29739383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.191400513 meters 0.05393991426126228 Centerline is valid? [True, True] Translation: X:538.15, Y:58.38, Z:-2.30 [[ 9.89989965e-01 -1.41136004e-01 -7.05343715e-04 5.38145528e+02] [ 1.41135992e-01 9.89990216e-01 -6.74103330e-05 5.83795635e+01] [ 7.07797402e-04 -3.28138315e-05 9.99999749e-01 -2.29913600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.221400513 meters 0.05333324417162232 Centerline is valid? [True, True] Translation: X:538.17, Y:58.38, Z:-2.30 [[ 9.89870654e-01 -1.41961622e-01 -1.72792310e-03 5.38174231e+02] [ 1.41961549e-01 9.89872159e-01 -1.65440639e-04 5.83847521e+01] [ 1.73390919e-03 -8.15338062e-05 9.99998493e-01 -2.30081683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.251400513 meters 0.05294820392608886 Centerline is valid? [True, True] Translation: X:538.20, Y:58.39, Z:-2.30 [[ 9.89777881e-01 -1.42585224e-01 -3.03304524e-03 5.38202145e+02] [ 1.42585002e-01 9.89782518e-01 -2.90373576e-04 5.83906017e+01] [ 3.04345813e-03 -1.45061418e-04 9.99995358e-01 -2.30153834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.281400513 meters 0.05516657232986296 Centerline is valid? [True, True] Translation: X:538.23, Y:58.39, Z:-2.30 [[ 9.89825836e-01 -1.42267732e-01 -2.16933193e-03 5.38230170e+02] [ 1.42267617e-01 9.89828208e-01 -2.07827505e-04 5.83922521e+01] [ 2.17683308e-03 -1.02912651e-04 9.99997625e-01 -2.29968300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.311400513 meters 0.05303904959747396 Centerline is valid? [True, True] Translation: X:538.26, Y:58.40, Z:-2.30 [[ 9.89887247e-01 -1.41850471e-01 -1.29700807e-03 5.38257616e+02] [ 1.41850429e-01 9.89888095e-01 -1.24594694e-04 5.84041506e+01] [ 1.30156666e-03 -6.06464529e-05 9.99999151e-01 -2.29767823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.341400513 meters 0.04988386433490202 Centerline is valid? [True, True] Translation: X:538.29, Y:58.41, Z:-2.30 [[ 9.89961086e-01 -1.41340079e-01 -1.74368956e-04 5.38285316e+02] [ 1.41340078e-01 9.89961101e-01 -1.68250978e-05 5.84102080e+01] [ 1.74996545e-04 -7.98912985e-06 9.99999985e-01 -2.29594055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.371400513 meters 0.0543993281187332 Centerline is valid? [True, True] Translation: X:538.31, Y:58.41, Z:-2.30 [[ 9.90083058e-01 -1.40483007e-01 -2.53017742e-04 5.38313835e+02] [ 1.40483005e-01 9.90083090e-01 -2.44898815e-05 5.84103551e+01] [ 2.53949000e-04 -1.12976759e-05 9.99999968e-01 -2.29641355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.401400513 meters 0.05121824858337073 Centerline is valid? [True, True] Translation: X:538.34, Y:58.42, Z:-2.30 [[ 9.90242043e-01 -1.39355750e-01 -8.19382018e-04 5.38342552e+02] [ 1.39355733e-01 9.90242381e-01 -7.89574640e-05 5.84190532e+01] [ 8.22389977e-04 -3.59985810e-05 9.99999661e-01 -2.29763561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.431400513 meters 0.05122412932949317 Centerline is valid? [True, True] Translation: X:538.37, Y:58.42, Z:-2.30 [[ 9.90564285e-01 -1.37029026e-01 -2.33302839e-03 5.38370790e+02] [ 1.37028876e-01 9.90567028e-01 -2.24728733e-04 5.84242712e+01] [ 2.34181536e-03 -9.70840004e-05 9.99997253e-01 -2.30000988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.461400513 meters 0.05148165612411308 Centerline is valid? [True, True] Translation: X:538.40, Y:58.43, Z:-2.30 [[ 9.90666172e-01 -1.36292778e-01 -2.19408629e-03 5.38398714e+02] [ 1.36292644e-01 9.90668598e-01 -2.11489529e-04 5.84280121e+01] [ 2.20243688e-03 -8.95222982e-05 9.99997571e-01 -2.29970478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.491400513 meters 0.04758078700022579 Centerline is valid? [True, True] Translation: X:538.43, Y:58.44, Z:-2.30 [[ 9.90695605e-01 -1.36081953e-01 -1.98017414e-03 5.38426297e+02] [ 1.36081842e-01 9.90697580e-01 -1.91301170e-04 5.84402066e+01] [ 1.98778636e-03 -7.99445151e-05 9.99998021e-01 -2.29925418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.521400513 meters 0.04485801624528717 Centerline is valid? [True, True] Translation: X:538.45, Y:58.45, Z:-2.30 [[ 9.90712792e-01 -1.35958162e-01 -1.88217527e-03 5.38454623e+02] [ 1.35958060e-01 9.90714577e-01 -1.82154874e-04 5.84458972e+01] [ 1.88946391e-03 -7.54337349e-05 9.99998212e-01 -2.29838740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.551400513 meters 0.043990456866515946 Centerline is valid? [True, True] Translation: X:538.48, Y:58.45, Z:-2.30 [[ 9.90727615e-01 -1.35848515e-01 -1.99358721e-03 5.38482791e+02] [ 1.35848400e-01 9.90729617e-01 -1.93260037e-04 5.84519374e+01] [ 2.00135999e-03 -7.93575790e-05 9.99997994e-01 -2.29848935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.581400513 meters 0.044995658376859864 Centerline is valid? [True, True] Translation: X:538.51, Y:58.46, Z:-2.30 [[ 9.90757156e-01 -1.35624623e-01 -2.49404485e-03 5.38510305e+02] [ 1.35624443e-01 9.90760290e-01 -2.41885661e-04 5.84556743e+01] [ 2.50380625e-03 -9.86034929e-05 9.99996861e-01 -2.29931117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.611400513 meters 0.046085475500018125 Centerline is valid? [True, True] Translation: X:538.54, Y:58.46, Z:-2.30 [[ 9.90641808e-01 -1.36427309e-01 -4.04928919e-03 5.38538630e+02] [ 1.36426839e-01 9.90650071e-01 -3.93401299e-04 5.84629090e+01] [ 4.06509931e-03 -1.62711949e-04 9.99991724e-01 -2.30182088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.641400513 meters 0.04590136467859533 Centerline is valid? [True, True] Translation: X:538.57, Y:58.47, Z:-2.30 [[ 9.90562962e-01 -1.36999701e-01 -4.01242399e-03 5.38566861e+02] [ 1.36999241e-01 9.90571075e-01 -3.90498282e-04 5.84718085e+01] [ 4.02808930e-03 -1.62885908e-04 9.99991874e-01 -2.30189213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.671400513 meters 0.046591777225778556 Centerline is valid? [True, True] Translation: X:538.59, Y:58.48, Z:-2.30 [[ 9.90495138e-01 -1.37517191e-01 -2.89875799e-03 5.38593951e+02] [ 1.37516952e-01 9.90499373e-01 -2.82402616e-04 5.84754392e+01] [ 2.91005319e-03 -1.18909947e-04 9.99995759e-01 -2.30018447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.701400513 meters 0.04481046799919266 Centerline is valid? [True, True] Translation: X:538.62, Y:58.48, Z:-2.30 [[ 9.90430644e-01 -1.38001522e-01 -1.64889101e-03 5.38622552e+02] [ 1.38001445e-01 9.90432014e-01 -1.61010614e-04 5.84840004e+01] [ 1.65533416e-03 -6.80794962e-05 9.99998628e-01 -2.29757203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.731400513 meters 0.04754566489907014 Centerline is valid? [True, True] Translation: X:538.65, Y:58.49, Z:-2.30 [[ 9.90349029e-01 -1.38587786e-01 -1.49230992e-03 5.38650108e+02] [ 1.38587723e-01 9.90350151e-01 -1.45796417e-04 5.84907051e+01] [ 1.49811496e-03 -6.24264945e-05 9.99998876e-01 -2.29707004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.761400513 meters 0.04651225940381176 Centerline is valid? [True, True] Translation: X:538.68, Y:58.50, Z:-2.30 [[ 9.90294124e-01 -1.38968600e-01 -2.29717496e-03 5.38678307e+02] [ 1.38968452e-01 9.90296783e-01 -2.24833154e-04 5.84998821e+01] [ 2.30612972e-03 -9.65838971e-05 9.99997336e-01 -2.29868179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.791400513 meters 0.046439975347577496 Centerline is valid? [True, True] Translation: X:538.71, Y:58.51, Z:-2.30 [[ 9.90265720e-01 -1.39158726e-01 -2.94159817e-03 5.38705636e+02] [ 1.39158482e-01 9.90270081e-01 -2.88439740e-04 5.85090549e+01] [ 2.95311556e-03 -1.23716348e-04 9.99995632e-01 -2.30014129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.821400513 meters 0.049159228836987465 Centerline is valid? [True, True] Translation: X:538.73, Y:58.51, Z:-2.30 [[ 9.90276930e-01 -1.39087057e-01 -2.52837276e-03 5.38733284e+02] [ 1.39086876e-01 9.90280152e-01 -2.47975985e-04 5.85146325e+01] [ 2.53828761e-03 -1.06098572e-04 9.99996773e-01 -2.30055467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.851400513 meters 0.04560386765961515 Centerline is valid? [True, True] Translation: X:538.76, Y:58.53, Z:-2.30 [[ 9.90263571e-01 -1.39193687e-01 -1.78247011e-03 5.38760547e+02] [ 1.39193597e-01 9.90265173e-01 -1.75290291e-04 5.85280987e+01] [ 1.78951738e-03 -7.45248363e-05 9.99998396e-01 -2.29875715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.881400513 meters 0.04492656210134979 Centerline is valid? [True, True] Translation: X:538.79, Y:58.54, Z:-2.30 [[ 9.90323001e-01 -1.38781273e-01 3.33744173e-04 5.38788022e+02] [ 1.38781270e-01 9.90323057e-01 3.26951216e-05 5.85440693e+01] [-3.35052020e-04 1.39387092e-05 9.99999944e-01 -2.29531518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.911400513 meters 0.04650264046924495 Centerline is valid? [True, True] Translation: X:538.81, Y:58.55, Z:-2.30 [[ 9.90313145e-01 -1.38851972e-01 7.11049541e-05 5.38814777e+02] [ 1.38851971e-01 9.90313147e-01 6.92962446e-06 5.85521918e+01] [-7.13783629e-05 3.01056486e-06 9.99999997e-01 -2.29584926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.941400513 meters 0.04366757788762403 Centerline is valid? [True, True] Translation: X:538.84, Y:58.57, Z:-2.30 [[ 9.90252973e-01 -1.39279763e-01 -4.43182134e-04 5.38842457e+02] [ 1.39279758e-01 9.90253072e-01 -4.38831726e-05 5.85698683e+01] [ 4.44974508e-04 -1.82708582e-05 9.99999901e-01 -2.29703853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.971400513 meters 0.04080969324464199 Centerline is valid? [True, True] Translation: X:538.87, Y:58.58, Z:-2.30 [[ 9.90170237e-01 -1.39865141e-01 -8.02679156e-04 5.38870578e+02] [ 1.39865123e-01 9.90170562e-01 -7.94933903e-05 5.85797012e+01] [ 8.05907625e-04 -3.35548297e-05 9.99999675e-01 -2.29749384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.001400513 meters 0.04758722575590561 Centerline is valid? [True, True] Translation: X:538.90, Y:58.58, Z:-2.30 [[ 9.90000532e-01 -1.41061394e-01 -7.93418703e-04 5.38898035e+02] [ 1.41061376e-01 9.90000849e-01 -7.85465009e-05 5.85805107e+01] [ 7.96565069e-04 -3.41596564e-05 9.99999682e-01 -2.29771018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.031400513 meters 0.04663727830744197 Centerline is valid? [True, True] Translation: X:538.93, Y:58.59, Z:-2.30 [[ 9.89737600e-01 -1.42896434e-01 3.03229203e-04 5.38926186e+02] [ 1.42896432e-01 9.89737646e-01 2.99721439e-05 5.85911105e+01] [-3.04400270e-04 1.36658134e-05 9.99999954e-01 -2.29602581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.061400513 meters 0.05146380515235637 Centerline is valid? [True, True] Translation: X:538.95, Y:58.60, Z:-2.29 [[ 9.89167087e-01 -1.46774000e-01 2.42212894e-03 5.38954773e+02] [ 1.46773852e-01 9.89170046e-01 2.39672099e-04 5.86024041e+01] [-2.43107502e-03 1.18429441e-04 9.99997038e-01 -2.29246986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.091400513 meters 0.052450569924724945 Centerline is valid? [True, True] Translation: X:538.98, Y:58.61, Z:-2.29 [[ 9.88916609e-01 -1.48461010e-01 1.80799535e-03 5.38983121e+02] [ 1.48460931e-01 9.88918258e-01 1.78936672e-04 5.86112738e+01] [-1.81452473e-03 9.14632255e-05 9.99998350e-01 -2.29304876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.121400513 meters 0.05916439758280332 Centerline is valid? [True, True] Translation: X:539.01, Y:58.61, Z:-2.30 [[ 9.88727221e-01 -1.49727845e-01 2.32970269e-04 5.39011334e+02] [ 1.49727844e-01 9.88727249e-01 2.30299338e-05 5.86123281e+01] [-2.33792275e-04 1.21118136e-05 9.99999973e-01 -2.29541963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.151400513 meters 0.05382371522501353 Centerline is valid? [True, True] Translation: X:539.04, Y:58.63, Z:-2.30 [[ 9.88590971e-01 -1.50619227e-01 -1.31914226e-03 5.39038691e+02] [ 1.50619186e-01 9.88591849e-01 -1.31007139e-04 5.86281818e+01] [ 1.32382547e-03 -6.91756574e-05 9.99999121e-01 -2.29774420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.181400513 meters 0.05278052223317186 Centerline is valid? [True, True] Translation: X:539.07, Y:58.64, Z:-2.30 [[ 9.88548506e-01 -1.50883222e-01 -2.47067394e-03 5.39066519e+02] [ 1.50883078e-01 9.88551585e-01 -2.45651705e-04 5.86393885e+01] [ 2.47945336e-03 -1.29944262e-04 9.99996918e-01 -2.29887981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.211400513 meters 0.049113109510232615 Centerline is valid? [True, True] Translation: X:539.09, Y:58.65, Z:-2.30 [[ 9.88572910e-01 -1.50719998e-01 -2.66149811e-03 5.39093726e+02] [ 1.50719829e-01 9.88576483e-01 -2.65072111e-04 5.86540236e+01] [ 2.67104611e-03 -1.39097432e-04 9.99996423e-01 -2.29838047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.241400513 meters 0.05280451688207103 Centerline is valid? [True, True] Translation: X:539.12, Y:58.67, Z:-2.30 [[ 9.88647611e-01 -1.50245717e-01 -1.45794663e-03 5.39120648e+02] [ 1.50245666e-01 9.88648683e-01 -1.45262438e-04 5.86657323e+01] [ 1.46322208e-03 -7.54368011e-05 9.99998927e-01 -2.29722448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.271400513 meters 0.053353297394558886 Centerline is valid? [True, True] Translation: X:539.15, Y:58.67, Z:-2.30 [[ 9.88663098e-01 -1.50149591e-01 -6.16193982e-04 5.39147636e+02] [ 1.50149582e-01 9.88663289e-01 -6.15037241e-05 5.86734855e+01] [ 6.18443128e-04 -3.17148066e-05 9.99999808e-01 -2.29650545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.301400513 meters 0.056447660292381616 Centerline is valid? [True, True] Translation: X:539.17, Y:58.68, Z:-2.30 [[ 9.88603368e-01 -1.50542907e-01 -4.61559905e-04 5.39174682e+02] [ 1.50542902e-01 9.88603476e-01 -4.61051185e-05 5.86776250e+01] [ 4.63240525e-04 -2.39048921e-05 9.99999892e-01 -2.29628397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.331400513 meters 0.058029071336226014 Centerline is valid? [True, True] Translation: X:539.20, Y:58.68, Z:-2.30 [[ 9.88463885e-01 -1.51455014e-01 -7.26028640e-04 5.39202030e+02] [ 1.51455002e-01 9.88464151e-01 -7.25626188e-05 5.86836353e+01] [ 7.28643255e-04 -3.82351409e-05 9.99999734e-01 -2.29687035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.361400513 meters 0.054761952225885306 Centerline is valid? [True, True] Translation: X:539.23, Y:58.70, Z:-2.30 [[ 9.88280591e-01 -1.52643141e-01 -1.24263642e-03 5.39230756e+02] [ 1.52643106e-01 9.88281370e-01 -1.24113742e-04 5.86954216e+01] [ 1.24701953e-03 -6.70206798e-05 9.99999220e-01 -2.29772407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.391400513 meters 0.057500826917999515 Centerline is valid? [True, True] Translation: X:539.26, Y:58.70, Z:-2.30 [[ 9.87886484e-01 -1.55164518e-01 -2.06546933e-03 5.39260281e+02] [ 1.55164425e-01 9.87888637e-01 -2.06297322e-04 5.87029484e+01] [ 2.07246371e-03 -1.16689025e-04 9.99997846e-01 -2.29884164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.421400513 meters 0.05505643999669875 Centerline is valid? [True, True] Translation: X:539.29, Y:58.71, Z:-2.30 [[ 9.87744299e-01 -1.56075602e-01 -1.26776394e-03 5.39287739e+02] [ 1.56075567e-01 9.87745109e-01 -1.26746071e-04 5.87122962e+01] [ 1.27200960e-03 -7.26742664e-05 9.99999188e-01 -2.29749786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.451400513 meters 0.06062977999200625 Centerline is valid? [True, True] Translation: X:539.32, Y:58.71, Z:-2.30 [[ 9.87596720e-01 -1.57010826e-01 -5.64206323e-04 5.39315599e+02] [ 1.57010819e-01 9.87596881e-01 -5.64700973e-05 5.87145556e+01] [ 5.66074821e-04 -3.28168139e-05 9.99999839e-01 -2.29609795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.481400513 meters 0.06761926790026726 Centerline is valid? [True, True] Translation: X:539.34, Y:58.71, Z:-2.29 [[ 9.87467339e-01 -1.57823202e-01 3.02093267e-04 5.39343808e+02] [ 1.57823200e-01 9.87467385e-01 3.01720908e-05 5.87094774e+01] [-3.03069104e-04 1.78833719e-05 9.99999954e-01 -2.29444558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.511400513 meters 0.059714987769671345 Centerline is valid? [True, True] Translation: X:539.37, Y:58.73, Z:-2.29 [[ 9.87310794e-01 -1.58799671e-01 2.44677835e-04 5.39371448e+02] [ 1.58799670e-01 9.87310825e-01 2.43727869e-05 5.87260538e+01] [-2.45443465e-04 1.47912437e-05 9.99999970e-01 -2.29436053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.541400513 meters 0.06110412126164807 Centerline is valid? [True, True] Translation: X:539.40, Y:58.73, Z:-2.30 [[ 9.87139949e-01 -1.59858165e-01 -2.98570423e-04 5.39399631e+02] [ 1.59858163e-01 9.87139993e-01 -2.99631251e-05 5.87301660e+01] [ 2.99520655e-04 -1.81511217e-05 9.99999955e-01 -2.29524816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.571400513 meters 0.05880413450276368 Centerline is valid? [True, True] Translation: X:539.43, Y:58.74, Z:-2.30 [[ 9.86803759e-01 -1.61920717e-01 -1.52392493e-04 5.39428435e+02] [ 1.61920716e-01 9.86803770e-01 -1.52900071e-05 5.87431679e+01] [ 1.52857255e-04 -9.58726509e-06 9.99999988e-01 -2.29550690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.601400513 meters 0.0737407687479364 Centerline is valid? [True, True] Translation: X:539.46, Y:58.73, Z:-2.29 [[ 9.86692306e-01 -1.62595469e-01 1.00350086e-03 5.39457213e+02] [ 1.62595450e-01 9.86692814e-01 1.00620539e-04 5.87308326e+01] [-1.00650753e-03 6.38831620e-05 9.99999491e-01 -2.29409906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.631400513 meters 0.06117023060132346 Centerline is valid? [True, True] Translation: X:539.48, Y:58.75, Z:-2.29 [[ 9.86536625e-01 -1.63527390e-01 2.06888131e-03 5.39483724e+02] [ 1.63527312e-01 9.86538785e-01 2.07771939e-04 5.87526390e+01] [-2.07500805e-03 1.33343971e-04 9.99997838e-01 -2.29261536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.661400513 meters 0.05546671836074454 Centerline is valid? [True, True] Translation: X:539.51, Y:58.77, Z:-2.29 [[ 9.86502311e-01 -1.63745128e-01 8.50899921e-04 5.39510125e+02] [ 1.63742850e-01 9.86500424e-01 2.27853705e-03 5.87689792e+01] [-1.21251247e-03 -2.10845328e-03 9.99997042e-01 -2.29321968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.691400513 meters 0.06631021839512119 Centerline is valid? [True, True] Translation: X:539.54, Y:58.76, Z:-2.29 [[ 9.86220487e-01 -1.65421852e-01 2.18234619e-03 5.39539638e+02] [ 1.65426145e-01 9.86220235e-01 -1.95907990e-03 5.87614000e+01] [-1.82819934e-03 2.29310185e-03 9.99995700e-01 -2.29249538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.721400513 meters 0.0677017295120312 Centerline is valid? [True, True] Translation: X:539.57, Y:58.77, Z:-2.29 [[ 9.86096277e-01 -1.66173175e-01 7.80070923e-04 5.39568073e+02] [ 1.66173164e-01 9.86096584e-01 7.85631094e-05 5.87697457e+01] [-7.82280354e-04 5.21560639e-05 9.99999693e-01 -2.29412140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.751400513 meters 0.05391532625121797 Centerline is valid? [True, True] Translation: X:539.59, Y:58.78, Z:-2.30 [[ 9.86138112e-01 -1.65917824e-01 -1.70256997e-03 5.39594289e+02] [ 1.65924439e-01 9.86125470e-01 5.06341156e-03 5.87834410e+01] [ 8.38837385e-04 -5.27572108e-03 9.99985731e-01 -2.29644848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.781400513 meters 0.0637723149255754 Centerline is valid? [True, True] Translation: X:539.62, Y:58.79, Z:-2.30 [[ 9.85861477e-01 -1.67557796e-01 -1.23837466e-03 5.39623048e+02] [ 1.67548989e-01 9.85849220e-01 -5.35268153e-03 5.87911982e+01] [ 2.11773421e-03 5.06951410e-03 9.99984908e-01 -2.29819245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.811400513 meters 0.0637723149255754 Centerline is valid? [True, True] Translation: X:539.65, Y:58.79, Z:-2.30 [[ 9.85828078e-01 -1.67749507e-01 -1.76157182e-03 5.39650863e+02] [ 1.67749455e-01 9.85829645e-01 -1.78640286e-04 5.87898548e+01] [ 1.76657654e-03 -1.19394103e-04 9.99998432e-01 -2.29844825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.841400513 meters 0.06686631725362309 Centerline is valid? [True, True] Translation: X:539.68, Y:58.79, Z:-2.30 [[ 9.85659623e-01 -1.68742555e-01 -1.02807386e-03 5.39678893e+02] [ 1.68742538e-01 9.85660157e-01 -1.04247787e-04 5.87932308e+01] [ 1.03092248e-03 -7.07269582e-05 9.99999466e-01 -2.29838581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.871400513 meters 0.07697679275313285 Centerline is valid? [True, True] Translation: X:539.71, Y:58.79, Z:-2.30 [[ 9.85452089e-01 -1.69953211e-01 -2.93603211e-04 5.39707908e+02] [ 1.69953210e-01 9.85452133e-01 -2.98007875e-05 5.87904993e+01] [ 2.94396650e-04 -2.05315598e-05 9.99999956e-01 -2.29737186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.901400513 meters 0.06952958419838157 Centerline is valid? [True, True] Translation: X:539.74, Y:58.80, Z:-2.30 [[ 9.85272605e-01 -1.70989694e-01 6.46805243e-04 5.39736500e+02] [ 1.70989688e-01 9.85272816e-01 6.55765255e-05 5.88036503e+01] [-6.48492534e-04 4.59862726e-05 9.99999789e-01 -2.29597131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.931400513 meters 0.06613866590092356 Centerline is valid? [True, True] Translation: X:539.77, Y:58.81, Z:-2.30 [[ 9.85126806e-01 -1.71827116e-01 7.86440143e-04 5.39765313e+02] [ 1.71827107e-01 9.85127118e-01 7.97560113e-05 5.88145499e+01] [-7.88447757e-04 5.65619501e-05 9.99999688e-01 -2.29540840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.961400513 meters 0.0683548615586167 Centerline is valid? [True, True] Translation: X:539.79, Y:58.82, Z:-2.30 [[ 9.84982882e-01 -1.72652027e-01 -1.43130470e-05 5.39793847e+02] [ 1.72652027e-01 9.84982882e-01 -1.48433653e-06 5.88211054e+01] [ 1.43543800e-05 -1.00913051e-06 1.00000000e+00 -2.29611358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.991400513 meters 0.07108818389219403 Centerline is valid? [True, True] Translation: X:539.82, Y:58.83, Z:-2.30 [[ 9.84664319e-01 -1.74443024e-01 -2.41034410e-03 5.39823086e+02] [ 1.74442945e-01 9.84667253e-01 -2.44644159e-04 5.88259645e+01] [ 2.41606337e-03 -1.79575150e-04 9.99997065e-01 -2.30033586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.021400513 meters 0.0750749655731649 Centerline is valid? [True, True] Translation: X:539.85, Y:58.83, Z:-2.30 [[ 9.84518609e-01 -1.75252763e-01 -3.09466726e-03 5.39851901e+02] [ 1.75252636e-01 9.84523446e-01 -3.14221914e-04 5.88275160e+01] [ 3.10184073e-03 -2.32991273e-04 9.99995162e-01 -2.30193678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.051400513 meters 0.07155424521687481 Centerline is valid? [True, True] Translation: X:539.88, Y:58.84, Z:-2.30 [[ 9.84478698e-01 -1.75478738e-01 -2.98425307e-03 5.39878583e+02] [ 1.75478619e-01 9.84483195e-01 -3.03698868e-04 5.88379943e+01] [ 2.99123970e-03 -2.24687541e-04 9.99995501e-01 -2.30145014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.081400513 meters 0.06520770722481507 Centerline is valid? [True, True] Translation: X:539.91, Y:58.86, Z:-2.30 [[ 9.84748624e-01 -1.73962326e-01 -2.69371340e-03 5.39906642e+02] [ 1.73962224e-01 9.84752288e-01 -2.74066836e-04 5.88552939e+01] [ 2.70031774e-03 -1.98717433e-04 9.99996334e-01 -2.30048687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.111400513 meters 0.07230996117015259 Centerline is valid? [True, True] Translation: X:539.94, Y:58.85, Z:-2.30 [[ 9.84965152e-01 -1.72725630e-01 -3.08307817e-03 5.39935464e+02] [ 1.72725489e-01 9.84969952e-01 -3.13762969e-04 5.88531138e+01] [ 3.09093426e-03 -2.23480594e-04 9.99995198e-01 -2.30179369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.141400513 meters 0.06907179238614189 Centerline is valid? [True, True] Translation: X:539.96, Y:58.86, Z:-2.30 [[ 9.85192493e-01 -1.71411850e-01 -3.70523726e-03 5.39964872e+02] [ 1.71411638e-01 9.85199426e-01 -3.77103981e-04 5.88642534e+01] [ 3.71503771e-03 -2.63600777e-04 9.99993064e-01 -2.30241060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.171400513 meters 0.06283823381049555 Centerline is valid? [True, True] Translation: X:539.99, Y:58.88, Z:-2.30 [[ 9.85467659e-01 -1.69825020e-01 -3.59943139e-03 5.39993094e+02] [ 1.69824809e-01 9.85474201e-01 -3.66431850e-04 5.88791096e+01] [ 3.60937607e-03 -2.50166012e-04 9.99993455e-01 -2.30232974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.201400513 meters 0.06363983049676508 Centerline is valid? [True, True] Translation: X:540.02, Y:58.89, Z:-2.30 [[ 9.85747096e-01 -1.68206985e-01 -3.01208123e-03 5.40022115e+02] [ 1.68206830e-01 9.85751677e-01 -3.06666710e-04 5.88886084e+01] [ 3.02074760e-03 -2.04356816e-04 9.99995417e-01 -2.30087051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.231400513 meters 0.06402235895547637 Centerline is valid? [True, True] Translation: X:540.05, Y:58.90, Z:-2.30 [[ 9.85995815e-01 -1.66769587e-01 -3.96622624e-04 5.40050235e+02] [ 1.66769585e-01 9.85995895e-01 -4.04256260e-05 5.88956318e+01] [ 3.97810044e-04 -2.62850922e-05 9.99999921e-01 -2.29808773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.261400513 meters 0.0645795850024415 Centerline is valid? [True, True] Translation: X:540.08, Y:58.90, Z:-2.30 [[ 9.85911022e-01 -1.67270362e-01 2.88093544e-04 5.40078030e+02] [ 1.67270360e-01 9.85911064e-01 2.93053348e-05 5.89023303e+01] [-2.88936526e-04 1.92970583e-05 9.99999958e-01 -2.29668157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.291400513 meters 0.07332219860822396 Centerline is valid? [True, True] Translation: X:540.11, Y:58.90, Z:-2.30 [[ 9.85752708e-01 -1.68200531e-01 4.25454392e-04 5.40106910e+02] [ 1.68200528e-01 9.85752799e-01 4.33383042e-05 5.88988594e+01] [-4.26682384e-04 2.88408026e-05 9.99999909e-01 -2.29680494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.321400513 meters 0.06844308180626534 Centerline is valid? [True, True] Translation: X:540.13, Y:58.91, Z:-2.30 [[ 9.85523856e-01 -1.69535829e-01 -5.77093419e-04 5.40134901e+02] [ 1.69535823e-01 9.85524024e-01 -5.88771638e-05 5.89115742e+01] [ 5.78721217e-04 -3.98131583e-05 9.99999832e-01 -2.29848785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.351400513 meters 0.07205334739233485 Centerline is valid? [True, True] Translation: X:540.16, Y:58.91, Z:-2.30 [[ 9.85264212e-01 -1.71028373e-01 -1.93063532e-03 5.40164050e+02] [ 1.71028314e-01 9.85266095e-01 -1.96880667e-04 5.89127505e+01] [ 1.93586170e-03 -1.36213828e-04 9.99998117e-01 -2.30075407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.381400513 meters 0.07713243658451681 Centerline is valid? [True, True] Translation: X:540.19, Y:58.91, Z:-2.30 [[ 9.84996511e-01 -1.72552390e-01 -2.74705852e-03 5.40193192e+02] [ 1.72552276e-01 9.85000322e-01 -2.80212223e-04 5.89118989e+01] [ 2.75420481e-03 -1.98003139e-04 9.99996188e-01 -2.30226614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.411400513 meters 0.07218626697794137 Centerline is valid? [True, True] Translation: X:540.22, Y:58.93, Z:-2.30 [[ 9.84527993e-01 -1.75218959e-01 -1.71650864e-03 5.40222191e+02] [ 1.75218919e-01 9.84529481e-01 -1.75080752e-04 5.89303565e+01] [ 1.72063083e-03 -1.28392887e-04 9.99998511e-01 -2.29925790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.441400513 meters 0.07007069218982871 Centerline is valid? [True, True] Translation: X:540.25, Y:58.94, Z:-2.30 [[ 9.84427480e-01 -1.75790532e-01 -4.73950987e-04 5.40250141e+02] [ 1.75790529e-01 9.84427594e-01 -4.84635570e-05 5.89354049e+01] [ 4.75089865e-04 -3.56072376e-05 9.99999887e-01 -2.29789400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.471400513 meters 0.0785179883097115 Centerline is valid? [True, True] Translation: X:540.28, Y:58.93, Z:-2.30 [[ 9.84394978e-01 -1.75973034e-01 1.34332516e-04 5.40278334e+02] [ 1.75973034e-01 9.84394987e-01 1.36694348e-05 5.89313970e+01] [-1.34641708e-04 1.01827775e-05 9.99999991e-01 -2.29687434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.501400513 meters 0.06596564019654844 Centerline is valid? [True, True] Translation: X:540.31, Y:58.95, Z:-2.30 [[ 9.84476300e-01 -1.75516875e-01 4.91327721e-04 5.40306196e+02] [ 1.75516871e-01 9.84476422e-01 5.01765253e-05 5.89531974e+01] [-4.92507384e-04 3.68387043e-05 9.99999878e-01 -2.29660514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.531400513 meters 0.07384351555015539 Centerline is valid? [True, True] Translation: X:540.34, Y:58.95, Z:-2.30 [[ 9.84742893e-01 -1.74015585e-01 -1.06946268e-04 5.40335239e+02] [ 1.74015585e-01 9.84742898e-01 -1.09501939e-05 5.89542088e+01] [ 1.07220083e-04 -7.82719182e-06 9.99999994e-01 -2.29765627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.561400513 meters 0.06773085075204277 Centerline is valid? [True, True] Translation: X:540.36, Y:58.97, Z:-2.30 [[ 9.84860161e-01 -1.73348826e-01 -8.05061366e-04 5.40363975e+02] [ 1.73348817e-01 9.84860488e-01 -8.22899766e-05 5.89687978e+01] [ 8.07138001e-04 -5.85123156e-05 9.99999673e-01 -2.29869749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.591400513 meters 0.07500203903513392 Centerline is valid? [True, True] Translation: X:540.39, Y:58.97, Z:-2.30 [[ 9.84949565e-01 -1.72835192e-01 -1.53289688e-03 5.40392566e+02] [ 1.72835156e-01 9.84950752e-01 -1.57055958e-04 5.89662837e+01] [ 1.53697273e-03 -1.10246273e-04 9.99998813e-01 -2.30035600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.621400513 meters 0.06659263660703672 Centerline is valid? [True, True] Translation: X:540.42, Y:58.98, Z:-2.30 [[ 9.85057378e-01 -1.72210528e-01 -2.34438231e-03 5.40420678e+02] [ 1.72210442e-01 9.85060154e-01 -2.40053286e-04 5.89822043e+01] [ 2.35069731e-03 -1.67260853e-04 9.99997223e-01 -2.30174006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.651400513 meters 0.06837402748114522 Centerline is valid? [True, True] Translation: X:540.45, Y:58.99, Z:-2.30 [[ 9.85170956e-01 -1.71547801e-01 -3.08857382e-03 5.40448984e+02] [ 1.71547648e-01 9.85175773e-01 -3.16361909e-04 5.89852738e+01] [ 3.09705929e-03 -2.18167011e-04 9.99995180e-01 -2.30337839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.681400513 meters 0.06415317776616793 Centerline is valid? [True, True] Translation: X:540.48, Y:59.00, Z:-2.30 [[ 9.85277340e-01 -1.70925515e-01 -3.61002178e-03 5.40478827e+02] [ 1.70925303e-01 9.85283921e-01 -3.69685424e-04 5.89971492e+01] [ 3.62008508e-03 -2.52801394e-04 9.99993416e-01 -2.30390101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.711400513 meters 0.06887551754990683 Centerline is valid? [True, True] Translation: X:540.51, Y:59.00, Z:-2.30 [[ 9.85809725e-01 -1.67835792e-01 -3.21461059e-03 5.40507762e+02] [ 1.67835607e-01 9.85814942e-01 -3.29259066e-04 5.89999690e+01] [ 3.22427261e-03 -2.14939330e-04 9.99994779e-01 -2.30372235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.741400513 meters 0.06497016653793738 Centerline is valid? [True, True] Translation: X:540.54, Y:59.01, Z:-2.30 [[ 9.86222981e-01 -1.65390629e-01 -3.18939618e-03 5.40537646e+02] [ 1.65390434e-01 9.86228116e-01 -3.26674056e-04 5.90113505e+01] [ 3.19950102e-03 -2.05322158e-04 9.99994861e-01 -2.30322144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.771400513 meters 0.06361615084719328 Centerline is valid? [True, True] Translation: X:540.57, Y:59.02, Z:-2.30 [[ 9.86662024e-01 -1.62751699e-01 -3.15197814e-03 5.40566749e+02] [ 1.62751495e-01 9.86667039e-01 -3.22894101e-04 5.90196495e+01] [ 3.16250451e-03 -1.94401807e-04 9.99994980e-01 -2.30284859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.801400513 meters 0.0567777125595078 Centerline is valid? [True, True] Translation: X:540.60, Y:59.03, Z:-2.30 [[ 9.87102094e-01 -1.60063388e-01 -3.02775731e-03 5.40596378e+02] [ 1.60063187e-01 9.87106722e-01 -3.10139211e-04 5.90346864e+01] [ 3.03836153e-03 -1.78493422e-04 9.99995368e-01 -2.30228541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.831400513 meters 0.0548296450888628 Centerline is valid? [True, True] Translation: X:540.63, Y:59.05, Z:-2.30 [[ 9.87505565e-01 -1.57553861e-01 -3.08865418e-03 5.40625889e+02] [ 1.57553639e-01 9.87510380e-01 -3.16381162e-04 5.90457977e+01] [ 3.09992514e-03 -1.74200549e-04 9.99995180e-01 -2.30200959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.861400513 meters 0.04752679256606843 Centerline is valid? [True, True] Translation: X:540.66, Y:59.06, Z:-2.30 [[ 9.88301481e-01 -1.52508300e-01 -1.18338567e-03 5.40655120e+02] [ 1.52508264e-01 9.88302188e-01 -1.21196104e-04 5.90643445e+01] [ 1.18802605e-03 -6.06978037e-05 9.99999292e-01 -2.29965783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.891400513 meters 0.04836065419861844 Centerline is valid? [True, True] Translation: X:540.68, Y:59.07, Z:-2.30 [[ 9.88719246e-01 -1.49780620e-01 -1.32150867e-04 5.40684492e+02] [ 1.49780620e-01 9.88719255e-01 -1.35352559e-05 5.90708597e+01] [ 1.32687425e-04 -6.41107063e-06 9.99999991e-01 -2.29829015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.921400513 meters 0.04102211255805253 Centerline is valid? [True, True] Translation: X:540.71, Y:59.09, Z:-2.30 [[ 9.89116799e-01 -1.47129028e-01 1.00313457e-03 5.40714058e+02] [ 1.47129000e-01 9.89117307e-01 1.02742565e-04 5.90879805e+01] [-1.00733418e-03 4.59657890e-05 9.99999492e-01 -2.29629802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.951400513 meters 0.039115728338851324 Centerline is valid? [True, True] Translation: X:540.74, Y:59.10, Z:-2.29 [[ 9.89460529e-01 -1.44787930e-01 2.07778062e-03 5.40744672e+02] [ 1.44787801e-01 9.89462706e-01 2.12725957e-04 5.90985528e+01] [-2.08668658e-03 9.03533489e-05 9.99997819e-01 -2.29452685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.981400513 meters 0.04256893921161977 Centerline is valid? [True, True] Translation: X:540.78, Y:59.10, Z:-2.29 [[ 9.89736272e-01 -1.42877138e-01 2.86984747e-03 5.40775307e+02] [ 1.42876886e-01 9.89740425e-01 2.93707356e-04 5.91022957e+01] [-2.88236812e-03 1.19342047e-04 9.99995839e-01 -2.29326972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.011400513 meters 0.041844437804433615 Centerline is valid? [True, True] Translation: X:540.81, Y:59.11, Z:-2.29 [[ 9.89901114e-01 -1.41720024e-01 3.34956557e-03 5.40806458e+02] [ 1.41719675e-01 9.89906772e-01 3.42667023e-04 5.91107811e+01] [-3.36432042e-03 1.35492875e-04 9.99994331e-01 -2.29287425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.041400513 meters 0.04001799150578193 Centerline is valid? [True, True] Translation: X:540.84, Y:59.12, Z:-2.29 [[ 9.90073774e-01 -1.40518859e-01 2.89351974e-03 5.40838024e+02] [ 1.40518593e-01 9.90077996e-01 2.95808372e-04 5.91243064e+01] [-2.90637688e-03 1.13721213e-04 9.99995770e-01 -2.29376086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.071400513 meters 0.03715296674145144 Centerline is valid? [True, True] Translation: X:540.87, Y:59.14, Z:-2.29 [[ 9.90129025e-01 -1.40134588e-01 2.60997814e-03 5.40869114e+02] [ 1.40134371e-01 9.90132459e-01 2.66672434e-04 5.91353521e+01] [-2.62159410e-03 1.01707528e-04 9.99996558e-01 -2.29414053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.101400513 meters 0.036693506070013884 Centerline is valid? [True, True] Translation: X:540.90, Y:59.14, Z:-2.29 [[ 9.90236292e-01 -1.39378100e-01 2.41484300e-03 5.40901190e+02] [ 1.39377913e-01 9.90239232e-01 2.46606873e-04 5.91429761e+01] [-2.42564387e-03 9.23767014e-05 9.99997054e-01 -2.29446053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.131400513 meters 0.0358701819764186 Centerline is valid? [True, True] Translation: X:540.93, Y:59.15, Z:-2.29 [[ 9.90347266e-01 -1.38587348e-01 2.41651493e-03 5.40933126e+02] [ 1.38587159e-01 9.90350210e-01 2.46653894e-04 5.91509793e+01] [-2.42737918e-03 9.06249279e-05 9.99997050e-01 -2.29429025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.161400513 meters 0.03787217576054079 Centerline is valid? [True, True] Translation: X:540.96, Y:59.15, Z:-2.29 [[ 9.90453054e-01 -1.37830489e-01 2.34590690e-03 5.40964542e+02] [ 1.37830308e-01 9.90455829e-01 2.39338738e-04 5.91548760e+01] [-2.35650534e-03 8.62832858e-05 9.99997220e-01 -2.29480901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.191400513 meters 0.0345067817411224 Centerline is valid? [True, True] Translation: X:541.00, Y:59.17, Z:-2.30 [[ 9.90566688e-01 -1.37013407e-01 2.22798414e-03 5.40995447e+02] [ 1.37013242e-01 9.90569190e-01 2.27205657e-04 5.91651833e+01] [-2.23810267e-03 8.02009750e-05 9.99997492e-01 -2.29537303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.221400513 meters 0.03542640925371155 Centerline is valid? [True, True] Translation: X:541.02, Y:59.17, Z:-2.30 [[ 9.90843596e-01 -1.35002803e-01 1.79209446e-03 5.41024864e+02] [ 1.35002693e-01 9.90845215e-01 1.82710002e-04 5.91732801e+01] [-1.80035458e-03 6.09005434e-05 9.99998378e-01 -2.29591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.251400513 meters 0.03492641525083548 Centerline is valid? [True, True] Translation: X:541.06, Y:59.18, Z:-2.30 [[ 9.91041274e-01 -1.33547059e-01 1.54141485e-03 5.41055879e+02] [ 1.33546976e-01 9.91042472e-01 1.57114385e-04 5.91799926e+01] [-1.54858975e-03 5.01444508e-05 9.99998800e-01 -2.29631906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.281400513 meters 0.03190251052296405 Centerline is valid? [True, True] Translation: X:541.09, Y:59.19, Z:-2.30 [[ 9.91278094e-01 -1.31778003e-01 1.51615384e-03 5.41086712e+02] [ 1.31777921e-01 9.91279252e-01 1.54485598e-04 5.91894950e+01] [-1.52328965e-03 4.66574112e-05 9.99998839e-01 -2.29690040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.311400513 meters 0.03002475866037689 Centerline is valid? [True, True] Translation: X:541.12, Y:59.20, Z:-2.30 [[ 9.91549548e-01 -1.29720272e-01 1.46439251e-03 5.41118091e+02] [ 1.29720193e-01 9.91550629e-01 1.49172206e-04 5.91970125e+01] [-1.47136997e-03 4.20496450e-05 9.99998917e-01 -2.29703999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.341400513 meters 0.028243585704052068 Centerline is valid? [True, True] Translation: X:541.15, Y:59.20, Z:-2.30 [[ 9.91845930e-01 -1.27429767e-01 1.81799936e-03 5.41147912e+02] [ 1.27429642e-01 9.91847595e-01 1.85092545e-04 5.92046575e+01] [-1.82676459e-03 4.80837186e-05 9.99998330e-01 -2.29707894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.371400513 meters 0.025923088204233335 Centerline is valid? [True, True] Translation: X:541.18, Y:59.21, Z:-2.30 [[ 9.92199581e-01 -1.24646924e-01 1.77068083e-03 5.41178185e+02] [ 1.24646800e-01 9.92201160e-01 1.80196168e-04 5.92124669e+01] [-1.77933247e-03 4.19191380e-05 9.99998416e-01 -2.29673601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.401400513 meters 0.018692930837136634 Centerline is valid? [True, True] Translation: X:541.21, Y:59.23, Z:-2.30 [[ 9.92880406e-01 -1.19113095e-01 7.55344443e-04 5.41207891e+02] [ 1.19113071e-01 9.92880693e-01 7.68618487e-05 5.92276213e+01] [-7.59122166e-04 1.36567725e-05 9.99999712e-01 -2.29798889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.431400513 meters 0.017353077892511726 Centerline is valid? [True, True] Translation: X:541.24, Y:59.23, Z:-2.30 [[ 9.93225356e-01 -1.16204058e-01 9.98251946e-05 5.41238759e+02] [ 1.16204057e-01 9.93225361e-01 1.02789829e-05 5.92334223e+01] [-1.00343374e-04 1.39074621e-06 9.99999995e-01 -2.29909863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.461400513 meters 0.014993023146108552 Centerline is valid? [True, True] Translation: X:541.27, Y:59.24, Z:-2.30 [[ 9.93537142e-01 -1.13507418e-01 1.13798836e-04 5.41270504e+02] [ 1.13507418e-01 9.93537149e-01 1.15970184e-05 5.92414799e+01] [-1.14379718e-04 1.39494342e-06 9.99999993e-01 -2.29893052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.491400513 meters 0.012420336465497481 Centerline is valid? [True, True] Translation: X:541.30, Y:59.25, Z:-2.30 [[ 9.93857878e-01 -1.10663007e-01 4.65604622e-04 5.41302278e+02] [ 1.10662997e-01 9.93857987e-01 4.72996011e-05 5.92505857e+01] [-4.67979189e-04 4.51612188e-06 9.99999890e-01 -2.29842321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.521400513 meters 0.01017682572724541 Centerline is valid? [True, True] Translation: X:541.33, Y:59.26, Z:-2.30 [[ 9.94210584e-01 -1.07446242e-01 7.87282086e-04 5.41334070e+02] [ 1.07446212e-01 9.94210896e-01 7.99123964e-05 5.92594983e+01] [-7.91310714e-04 5.14072755e-06 9.99999687e-01 -2.29762093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.551400513 meters 0.007751183157239593 Centerline is valid? [True, True] Translation: X:541.36, Y:59.27, Z:-2.30 [[ 9.94916851e-01 -1.00690646e-01 1.36129961e-03 5.41364427e+02] [ 1.00690552e-01 9.94917782e-01 1.38084197e-04 5.92748796e+01] [-1.36828498e-03 -3.12285560e-07 9.99999064e-01 -2.29632247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.581400513 meters 0.008686187809515784 Centerline is valid? [True, True] Translation: X:541.40, Y:59.28, Z:-2.30 [[ 9.95274347e-01 -9.70940252e-02 1.31297876e-03 5.41395235e+02] [ 9.70939341e-02 9.95275213e-01 1.33105555e-04 5.92844575e+01] [-1.31969897e-03 -4.99427119e-06 9.99999129e-01 -2.29582573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.611400513 meters 0.01108660851548814 Centerline is valid? [True, True] Translation: X:541.43, Y:59.29, Z:-2.30 [[ 9.95621545e-01 -9.34621191e-02 1.60341967e-03 5.41426616e+02] [ 9.34619787e-02 9.95622836e-01 1.62419050e-04 5.92941890e+01] [-1.61158127e-03 -1.18491309e-05 9.99998701e-01 -2.29535909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.641400513 meters 0.013543973285022931 Centerline is valid? [True, True] Translation: X:541.46, Y:59.30, Z:-2.29 [[ 9.95916422e-01 -9.02564602e-02 2.06183653e-03 5.41457777e+02] [ 9.02562215e-02 9.95918556e-01 2.08747968e-04 5.93031359e+01] [-2.07226211e-03 -2.18019547e-05 9.99997853e-01 -2.29455476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.671400513 meters 0.016198347343987462 Centerline is valid? [True, True] Translation: X:541.49, Y:59.31, Z:-2.29 [[ 9.96160542e-01 -8.74990907e-02 2.84309643e-03 5.41488401e+02] [ 8.74986265e-02 9.96164599e-01 2.87497906e-04 5.93115817e+01] [-2.85734782e-03 -3.76270377e-05 9.99995917e-01 -2.29353999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.701400513 meters 0.016198347343987462 Centerline is valid? [True, True] Translation: X:541.52, Y:59.31, Z:-2.29 [[ 9.96166502e-01 -8.74312103e-02 2.84312325e-03 5.41520784e+02] [ 8.74307465e-02 9.96170559e-01 2.87232466e-04 5.93147299e+01] [-2.85734876e-03 -3.75549725e-05 9.99995917e-01 -2.29356935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.731400513 meters 0.017135224183387348 Centerline is valid? [True, True] Translation: X:541.55, Y:59.32, Z:-2.29 [[ 9.96384549e-01 -8.48635084e-02 4.00195828e-03 5.41552889e+02] [ 8.48625713e-02 9.96392584e-01 4.03699581e-04 5.93210632e+01] [-4.02178092e-03 -6.26235551e-05 9.99991911e-01 -2.29209437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.761400513 meters 0.018169845888937247 Centerline is valid? [True, True] Translation: X:541.58, Y:59.33, Z:-2.29 [[ 9.96389230e-01 -8.47858995e-02 4.45576787e-03 5.41584719e+02] [ 8.47847406e-02 9.96399190e-01 4.48673601e-04 5.93253215e+01] [-4.47776469e-03 -6.92724209e-05 9.99989972e-01 -2.29156973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.791400513 meters 0.017866234406372878 Centerline is valid? [True, True] Translation: X:541.62, Y:59.33, Z:-2.29 [[ 9.96358402e-01 -8.51354692e-02 4.67836954e-03 5.41617190e+02] [ 8.51341992e-02 9.96369383e-01 4.70310192e-04 5.93267848e+01] [-4.70142425e-03 -7.03082668e-05 9.99988946e-01 -2.29079199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.821400513 meters 0.01663543507264131 Centerline is valid? [True, True] Translation: X:541.65, Y:59.33, Z:-2.29 [[ 9.96327378e-01 -8.54864967e-02 4.88001306e-03 5.41649301e+02] [ 8.54851230e-02 9.96339327e-01 4.89772402e-04 5.93259920e+01] [-4.90401785e-03 -7.08051365e-05 9.99987973e-01 -2.29108669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.851400513 meters 0.01668029519683852 Centerline is valid? [True, True] Translation: X:541.68, Y:59.33, Z:-2.29 [[ 9.96292498e-01 -8.59008475e-02 4.72259751e-03 5.41680941e+02] [ 8.58995691e-02 9.96303689e-01 4.73249339e-04 5.93265392e+01] [-4.74579384e-03 -6.58256752e-05 9.99988736e-01 -2.29156303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.881400513 meters 0.01568728223795572 Centerline is valid? [True, True] Translation: X:541.71, Y:59.33, Z:-2.29 [[ 9.96235230e-01 -8.65628390e-02 4.71609593e-03 5.41713468e+02] [ 8.65615751e-02 9.96246391e-01 4.71840100e-04 5.93262707e+01] [-4.73923737e-03 -6.18310381e-05 9.99988768e-01 -2.29244653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.911400513 meters 0.014463035144522973 Centerline is valid? [True, True] Translation: X:541.75, Y:59.33, Z:-2.29 [[ 9.96164578e-01 -8.73580421e-02 4.97055860e-03 5.41746025e+02] [ 8.73566522e-02 9.96176977e-01 4.96472310e-04 5.93253558e+01] [-4.99492689e-03 -6.03567698e-05 9.99987523e-01 -2.29295396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.941400513 meters 0.015598669374855633 Centerline is valid? [True, True] Translation: X:541.78, Y:59.33, Z:-2.29 [[ 9.96219022e-01 -8.67442931e-02 4.80505370e-03 5.41778380e+02] [ 8.67429911e-02 9.96230608e-01 4.79106534e-04 5.93289005e+01] [-4.82850133e-03 -6.04903122e-05 9.99988341e-01 -2.29255057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.971400513 meters 0.015076112962571083 Centerline is valid? [True, True] Translation: X:541.81, Y:59.33, Z:-2.29 [[ 9.96324931e-01 -8.55491750e-02 4.23906209e-03 5.41810763e+02] [ 8.55481539e-02 9.96333948e-01 4.21964767e-04 5.93293551e+01] [-4.25962020e-03 -5.77700820e-05 9.99990926e-01 -2.29407737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.001400513 meters 0.01795849361233397 Centerline is valid? [True, True] Translation: X:541.84, Y:59.33, Z:-2.29 [[ 9.96472324e-01 -8.38567987e-02 3.30816795e-03 5.41841938e+02] [ 8.38561686e-02 9.96477814e-01 3.28961978e-04 5.93341558e+01] [-3.32410167e-03 -5.03912171e-05 9.99994474e-01 -2.29497426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.031400513 meters 0.019447365659702148 Centerline is valid? [True, True] Translation: X:541.87, Y:59.34, Z:-2.30 [[ 9.96627756e-01 -8.20162599e-02 2.53948522e-03 5.41873610e+02] [ 8.20158834e-02 9.96630991e-01 2.52213881e-04 5.93371153e+01] [-2.55161531e-03 -4.30852307e-05 9.99996744e-01 -2.29626193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.061400513 meters 0.02114072573718668 Centerline is valid? [True, True] Translation: X:541.90, Y:59.34, Z:-2.30 [[ 9.96752712e-01 -8.04920523e-02 2.24976526e-03 5.41904522e+02] [ 8.04917537e-02 9.96755250e-01 2.23116384e-04 5.93403844e+01] [-2.26042443e-03 -4.13043102e-05 9.99997444e-01 -2.29686756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.091400513 meters 0.021414073948525465 Centerline is valid? [True, True] Translation: X:541.94, Y:59.34, Z:-2.30 [[ 9.96895099e-01 -7.87082611e-02 2.27407839e-03 5.41936690e+02] [ 7.87079522e-02 9.96897692e-01 2.25161054e-04 5.93390242e+01] [-2.28474553e-03 -4.54738984e-05 9.99997389e-01 -2.29761461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.121400513 meters 0.02151926966453539 Centerline is valid? [True, True] Translation: X:541.97, Y:59.34, Z:-2.30 [[ 9.96904653e-01 -7.85869632e-02 2.28069895e-03 5.41970319e+02] [ 7.85866531e-02 9.96907261e-01 2.25402780e-04 5.93397622e+01] [-2.29135907e-03 -4.54725824e-05 9.99997374e-01 -2.29785662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.151400513 meters 0.021857324327117768 Centerline is valid? [True, True] Translation: X:542.00, Y:59.34, Z:-2.30 [[ 9.96880417e-01 -7.89023161e-02 1.96458073e-03 5.42001684e+02] [ 7.89020872e-02 9.96882352e-01 1.93849358e-04 5.93378123e+01] [-1.97375102e-03 -3.82351089e-05 9.99998051e-01 -2.29834384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.181400513 meters 0.02143573607028231 Centerline is valid? [True, True] Translation: X:542.03, Y:59.34, Z:-2.30 [[ 9.96875240e-01 -7.89813540e-02 1.30419306e-03 5.42034065e+02] [ 7.89812534e-02 9.96876093e-01 1.28576564e-04 5.93370824e+01] [-1.31027403e-03 -2.51679904e-05 9.99999141e-01 -2.29954288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.211400513 meters 0.021114134954671536 Centerline is valid? [True, True] Translation: X:542.07, Y:59.34, Z:-2.30 [[ 9.96910322e-01 -7.85462009e-02 5.51652062e-04 5.42066729e+02] [ 7.85461828e-02 9.96910475e-01 5.43844866e-05 5.93359806e+01] [-5.54219413e-04 -1.08862924e-05 9.99999846e-01 -2.30072899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.241400513 meters 0.02378808862337892 Centerline is valid? [True, True] Translation: X:542.10, Y:59.34, Z:-2.30 [[ 9.96983425e-01 -7.76141769e-02 2.99449668e-04 5.42097571e+02] [ 7.76141715e-02 9.96983470e-01 2.95908040e-05 5.93386449e+01] [-3.00843035e-04 -6.26000323e-06 9.99999955e-01 -2.30148299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.271400513 meters 0.024505991570923424 Centerline is valid? [True, True] Translation: X:542.13, Y:59.34, Z:-2.30 [[ 9.97077428e-01 -7.63970651e-02 3.02201350e-04 5.42129876e+02] [ 7.63970596e-02 9.97077474e-01 2.97498132e-05 5.93391878e+01] [-3.03590957e-04 -6.57557265e-06 9.99999954e-01 -2.30106729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.301400513 meters 0.027186613596445572 Centerline is valid? [True, True] Translation: X:542.16, Y:59.34, Z:-2.30 [[ 9.97193353e-01 -7.48687445e-02 2.96071253e-04 5.42160766e+02] [ 7.48687392e-02 9.97193397e-01 2.91262709e-05 5.93426328e+01] [-2.97420945e-04 -6.87804241e-06 9.99999956e-01 -2.30061707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.331400513 meters 0.03064009669232743 Centerline is valid? [True, True] Translation: X:542.19, Y:59.34, Z:-2.30 [[ 9.97467906e-01 -7.11167677e-02 -4.26816220e-04 5.42191609e+02] [ 7.11167563e-02 9.97467997e-01 -4.19021069e-05 5.93435214e+01] [ 4.28715463e-04 1.14422217e-05 9.99999908e-01 -2.30138859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.361400513 meters 0.0331608736695589 Centerline is valid? [True, True] Translation: X:542.22, Y:59.35, Z:-2.30 [[ 9.97610560e-01 -6.90857055e-02 -5.79644557e-04 5.42223989e+02] [ 6.90856841e-02 9.97610728e-01 -5.68579243e-05 5.93456063e+01] [ 5.82187698e-04 1.66769249e-05 9.99999830e-01 -2.30221568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.391400513 meters 0.0347073302353973 Centerline is valid? [True, True] Translation: X:542.26, Y:59.35, Z:-2.30 [[ 9.97733666e-01 -6.72833806e-02 -6.91370709e-04 5.42256641e+02] [ 6.72833498e-02 9.97733906e-01 -6.78049130e-05 5.93461389e+01] [ 6.94366142e-04 2.11335072e-05 9.99999759e-01 -2.30258315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.421400513 meters 0.032921390778676764 Centerline is valid? [True, True] Translation: X:542.29, Y:59.34, Z:-2.30 [[ 9.97826508e-01 -6.58953616e-02 -2.46691487e-04 5.42288858e+02] [ 6.58953577e-02 9.97826539e-01 -2.41667884e-05 5.93423715e+01] [ 2.47747791e-04 7.85843833e-06 9.99999969e-01 -2.30180545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.451400513 meters 0.036569756576870616 Centerline is valid? [True, True] Translation: X:542.32, Y:59.35, Z:-2.30 [[ 9.97883140e-01 -6.50312644e-02 4.16463313e-04 5.42319496e+02] [ 6.50312530e-02 9.97883227e-01 4.08978816e-05 5.93455684e+01] [-4.18241395e-04 -1.37281755e-05 9.99999912e-01 -2.30094097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.481400513 meters 0.037572891502034494 Centerline is valid? [True, True] Translation: X:542.35, Y:59.35, Z:-2.30 [[ 9.97918090e-01 -6.44852995e-02 1.06341144e-03 5.42350399e+02] [ 6.44852250e-02 9.97918656e-01 1.04215407e-04 5.93454496e+01] [-1.06791848e-03 -3.54241138e-05 9.99999429e-01 -2.29998562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.511400513 meters 0.037833758617657774 Centerline is valid? [True, True] Translation: X:542.38, Y:59.34, Z:-2.30 [[ 9.98031952e-01 -6.26745758e-02 2.02995086e-03 5.42382680e+02] [ 6.26743008e-02 9.98034014e-01 1.98836179e-04 5.93399556e+01] [-2.03842198e-03 -7.12191091e-05 9.99997920e-01 -2.29799289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.541400513 meters 0.04182656569612466 Centerline is valid? [True, True] Translation: X:542.41, Y:59.34, Z:-2.30 [[ 9.98142984e-01 -6.08726989e-02 2.25799813e-03 5.42413527e+02] [ 6.08723543e-02 9.98145534e-01 2.21088906e-04 5.93434207e+01] [-2.26726903e-03 -8.32286782e-05 9.99997426e-01 -2.29788723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.571400513 meters 0.04134928817410304 Centerline is valid? [True, True] Translation: X:542.44, Y:59.34, Z:-2.30 [[ 9.98280808e-01 -5.85811272e-02 1.91838736e-03 5.42444912e+02] [ 5.85808743e-02 9.98282648e-01 1.87796535e-04 5.93419168e+01] [-1.92609414e-03 -7.50928676e-05 9.99998142e-01 -2.29807192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.601400513 meters 0.046387359800784726 Centerline is valid? [True, True] Translation: X:542.47, Y:59.35, Z:-2.30 [[ 9.98427827e-01 -5.60178374e-02 1.96855896e-03 5.42474841e+02] [ 5.60175662e-02 9.98429765e-01 1.92663056e-04 5.93477173e+01] [-1.97626043e-03 -8.20862741e-05 9.99998044e-01 -2.29820343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.631400513 meters 0.050876000373613554 Centerline is valid? [True, True] Translation: X:542.50, Y:59.35, Z:-2.30 [[ 9.98588384e-01 -5.30597994e-02 2.42837984e-03 5.42504353e+02] [ 5.30593783e-02 9.98591331e-01 2.37557766e-04 5.93531835e+01] [-2.43756382e-03 -1.08374101e-04 9.99997023e-01 -2.29757734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.661400513 meters 0.0537267909665705 Centerline is valid? [True, True] Translation: X:542.54, Y:59.36, Z:-2.30 [[ 9.98743566e-01 -4.99968004e-02 3.40713019e-03 5.42535498e+02] [ 4.99959540e-02 9.98749365e-01 3.33185203e-04 5.93564801e+01] [-3.41952731e-03 -1.62423854e-04 9.99994140e-01 -2.29568064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.691400513 meters 0.060153098642597894 Centerline is valid? [True, True] Translation: X:542.57, Y:59.36, Z:-2.29 [[ 9.98951160e-01 -4.54338930e-02 5.68700632e-03 5.42565302e+02] [ 4.54314616e-02 9.98967303e-01 5.56071544e-04 5.93609765e+01] [-5.70639786e-03 -2.97119304e-04 9.99983674e-01 -2.29186292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.721400513 meters 0.05945082607701755 Centerline is valid? [True, True] Translation: X:542.60, Y:59.36, Z:-2.29 [[ 9.99008214e-01 -4.42203382e-02 5.21051803e-03 5.42597253e+02] [ 4.42182815e-02 9.99021764e-01 5.09320547e-04 5.93599666e+01] [-5.22794324e-03 -2.78415257e-04 9.99986295e-01 -2.29307950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.751400513 meters 0.05371542856566018 Centerline is valid? [True, True] Translation: X:542.63, Y:59.35, Z:-2.30 [[ 9.99023290e-01 -4.40145033e-02 3.89733029e-03 5.42630370e+02] [ 4.40133517e-02 9.99030870e-01 3.80782611e-04 5.93528942e+01] [-3.91031323e-03 -2.08876129e-04 9.99992333e-01 -2.29560404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.781400513 meters 0.05972434715830832 Centerline is valid? [True, True] Translation: X:542.66, Y:59.36, Z:-2.30 [[ 9.99025090e-01 -4.40746874e-02 2.50841249e-03 5.42661523e+02] [ 4.40742108e-02 9.99028230e-01 2.44970351e-04 5.93600350e+01] [-2.51677188e-03 -1.34175226e-04 9.99996824e-01 -2.29752573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.811400513 meters 0.05595358689950628 Centerline is valid? [True, True] Translation: X:542.69, Y:59.36, Z:-2.30 [[ 9.99031989e-01 -4.39561293e-02 1.71596538e-03 5.42694718e+02] [ 4.39559063e-02 9.99033458e-01 1.67488528e-04 5.93552041e+01] [-1.72166897e-03 -9.18995836e-05 9.99998514e-01 -2.29885928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.841400513 meters 0.05567230478499257 Centerline is valid? [True, True] Translation: X:542.73, Y:59.36, Z:-2.30 [[ 9.99028660e-01 -4.40378228e-02 1.55155167e-03 5.42727289e+02] [ 4.40376407e-02 9.99029861e-01 1.51347710e-04 5.93550029e+01] [-1.55671147e-03 -8.28740246e-05 9.99998785e-01 -2.29891125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.871400513 meters 0.05610582474859039 Centerline is valid? [True, True] Translation: X:542.76, Y:59.35, Z:-2.30 [[ 9.99006594e-01 -4.44992995e-02 2.37417752e-03 5.42758837e+02] [ 4.44988747e-02 9.99009408e-01 2.31468321e-04 5.93547419e+01] [-2.38212586e-03 -1.25590150e-04 9.99997155e-01 -2.29770551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.901400513 meters 0.05552580631656101 Centerline is valid? [True, True] Translation: X:542.79, Y:59.36, Z:-2.30 [[ 9.98994397e-01 -4.47585980e-02 2.61951522e-03 5.42790977e+02] [ 4.47580821e-02 9.98997822e-01 2.55265426e-04 5.93560518e+01] [-2.62831532e-03 -1.37764253e-04 9.99996536e-01 -2.29762729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.931400513 meters 0.06023045735679247 Centerline is valid? [True, True] Translation: X:542.82, Y:59.36, Z:-2.30 [[ 9.98976687e-01 -4.51551450e-02 2.56741109e-03 5.42821507e+02] [ 4.51546512e-02 9.98979977e-01 2.49979971e-04 5.93639118e+01] [-2.57608016e-03 -1.33793611e-04 9.99996673e-01 -2.29781842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.961400513 meters 0.05738899595810258 Centerline is valid? [True, True] Translation: X:542.85, Y:59.36, Z:-2.30 [[ 9.98916472e-01 -4.65141989e-02 1.52014238e-03 5.42853545e+02] [ 4.65140275e-02 9.98917626e-01 1.47943619e-04 5.93601747e+01] [-1.52537849e-03 -7.70753735e-05 9.99998834e-01 -2.29959956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.991400513 meters 0.056885209519975555 Centerline is valid? [True, True] Translation: X:542.88, Y:59.36, Z:-2.30 [[ 9.98872384e-01 -4.74717669e-02 6.26044485e-04 5.42884598e+02] [ 4.74717380e-02 9.98872580e-01 6.09289269e-05 5.93604902e+01] [-6.28231073e-04 -3.11408027e-05 9.99999802e-01 -2.30095627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.021400513 meters 0.050129302630584946 Centerline is valid? [True, True] Translation: X:542.92, Y:59.35, Z:-2.30 [[ 9.98820827e-01 -4.85469665e-02 -3.84730591e-04 5.42917620e+02] [ 4.85469557e-02 9.98820901e-01 -3.73592451e-05 5.93526352e+01] [ 3.86090633e-04 1.86376931e-05 9.99999925e-01 -2.30248312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.051400513 meters 0.05718014431914289 Centerline is valid? [True, True] Translation: X:542.95, Y:59.36, Z:-2.30 [[ 9.98754990e-01 -4.98750956e-02 -9.72418788e-04 5.42947212e+02] [ 4.98750272e-02 9.98755462e-01 -9.45174099e-05 5.93619131e+01] [ 9.75922641e-04 4.59003213e-05 9.99999523e-01 -2.30401407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.081400513 meters 0.050171457429542925 Centerline is valid? [True, True] Translation: X:542.98, Y:59.35, Z:-2.30 [[ 9.98705530e-01 -5.08387967e-02 -1.63733163e-03 5.42980545e+02] [ 5.08386041e-02 9.98706869e-01 -1.59040678e-04 5.93535599e+01] [ 1.64329979e-03 7.55951502e-05 9.99998647e-01 -2.30424702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.111400513 meters 0.05181485122171647 Centerline is valid? [True, True] Translation: X:543.01, Y:59.35, Z:-2.30 [[ 9.98661312e-01 -5.17226320e-02 -5.93711288e-04 5.43012123e+02] [ 5.17226069e-02 9.98661489e-01 -5.76309645e-05 5.93525937e+01] [ 5.95897424e-04 2.68455191e-05 9.99999822e-01 -2.30312142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.141400513 meters 0.050841658773066095 Centerline is valid? [True, True] Translation: X:543.04, Y:59.35, Z:-2.30 [[ 9.98688240e-01 -5.12032761e-02 -1.51737428e-04 5.43044605e+02] [ 5.12032744e-02 9.98688252e-01 -1.46867104e-05 5.93517650e+01] [ 1.52290395e-04 6.89799177e-06 9.99999988e-01 -2.30225731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.171400513 meters 0.04811839453794486 Centerline is valid? [True, True] Translation: X:543.08, Y:59.35, Z:-2.30 [[ 9.98738375e-01 -5.02159261e-02 -1.37654644e-04 5.43077219e+02] [ 5.02159247e-02 9.98738385e-01 -1.33110471e-05 5.93494477e+01] [ 1.38149403e-04 6.38179833e-06 9.99999990e-01 -2.30144761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.201400513 meters 0.05515655435192164 Centerline is valid? [True, True] Translation: X:543.11, Y:59.36, Z:-2.30 [[ 9.98815055e-01 -4.86661076e-02 3.09209803e-04 5.43107205e+02] [ 4.86661006e-02 9.98815103e-01 3.00161863e-05 5.93591562e+01] [-3.10304192e-04 -1.49325834e-05 9.99999952e-01 -2.30149416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.231400513 meters 0.05923253083152218 Centerline is valid? [True, True] Translation: X:543.14, Y:59.36, Z:-2.30 [[ 9.98919564e-01 -4.64722946e-02 1.75846976e-04 5.43136874e+02] [ 4.64722923e-02 9.98919579e-01 1.70967739e-05 5.93648063e+01] [-1.76451514e-04 -8.90628982e-06 9.99999984e-01 -2.30154027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.261400513 meters 0.06194483363204297 Centerline is valid? [True, True] Translation: X:543.17, Y:59.37, Z:-2.30 [[ 9.99118721e-01 -4.19730110e-02 -2.18945757e-04 5.43168145e+02] [ 4.19730074e-02 9.99118745e-01 -2.12062034e-05 5.93673705e+01] [ 2.19642898e-04 1.19977030e-05 9.99999976e-01 -2.30206634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.291400513 meters 0.06174595799909983 Centerline is valid? [True, True] Translation: X:543.20, Y:59.37, Z:-2.30 [[ 9.99191955e-01 -4.01925056e-02 1.09949307e-05 5.43198868e+02] [ 4.01925056e-02 9.99191955e-01 1.09442352e-06 5.93689582e+01] [-1.10300339e-05 -6.51625359e-07 1.00000000e+00 -2.30213255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.321400513 meters 0.06450095943422665 Centerline is valid? [True, True] Translation: X:543.23, Y:59.37, Z:-2.30 [[ 9.99246994e-01 -3.88000353e-02 -4.67804968e-05 5.43229083e+02] [ 3.88000351e-02 9.99246995e-01 -4.51059796e-06 5.93745618e+01] [ 4.69202822e-05 2.69211653e-06 9.99999999e-01 -2.30220535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.351400513 meters 0.0668388836219418 Centerline is valid? [True, True] Translation: X:543.26, Y:59.38, Z:-2.30 [[ 9.99269253e-01 -3.82224989e-02 -2.88624393e-05 5.43259694e+02] [ 3.82224989e-02 9.99269253e-01 -2.76291944e-06 5.93795127e+01] [ 2.89469539e-05 1.65770589e-06 1.00000000e+00 -2.30289922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.381400513 meters 0.06518812158371355 Centerline is valid? [True, True] Translation: X:543.29, Y:59.38, Z:-2.30 [[ 9.99257185e-01 -3.85366793e-02 -4.59025725e-05 5.43292248e+02] [ 3.85366791e-02 9.99257186e-01 -4.40035630e-06 5.93789604e+01] [ 4.60380506e-05 2.62815495e-06 9.99999999e-01 -2.30352741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.411400513 meters 0.055570518998594644 Centerline is valid? [True, True] Translation: X:543.33, Y:59.36, Z:-2.31 [[ 9.99203894e-01 -3.98935198e-02 2.91356061e-04 5.43327058e+02] [ 3.98872103e-02 9.99132982e-01 1.19287572e-02 5.93585442e+01] [-7.66983563e-04 -1.19076393e-02 9.99928807e-01 -2.30755009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.441400513 meters 0.05943046783843491 Centerline is valid? [True, True] Translation: X:543.35, Y:59.38, Z:-2.30 [[ 9.99087299e-01 -4.27061412e-02 8.68932708e-04 5.43354553e+02] [ 4.27134376e-02 9.99017369e-01 -1.18262281e-02 5.93796821e+01] [-3.63026301e-04 1.18525494e-02 9.99929690e-01 -2.30098373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.471400513 meters 0.06208528193490111 Centerline is valid? [True, True] Translation: X:543.39, Y:59.37, Z:-2.31 [[ 9.98996122e-01 -4.47753345e-02 1.38473215e-03 5.43386792e+02] [ 4.47623412e-02 9.98963127e-01 8.30688220e-03 5.93665326e+01] [-1.75523978e-03 -8.23655925e-03 9.99964538e-01 -2.30694350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.501400513 meters 0.058842462557746826 Centerline is valid? [True, True] Translation: X:543.42, Y:59.38, Z:-2.30 [[ 9.98910943e-01 -4.66262005e-02 1.71016842e-03 5.43416919e+02] [ 4.66388339e-02 9.98877383e-01 -8.29414874e-03 5.93760381e+01] [-1.32152391e-03 8.36487620e-03 9.99964141e-01 -2.29973858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.531400513 meters 0.050358679699573236 Centerline is valid? [True, True] Translation: X:543.45, Y:59.36, Z:-2.30 [[ 9.98836379e-01 -4.82039727e-02 1.50494445e-03 5.43450701e+02] [ 4.82038080e-02 9.98837510e-01 1.45555319e-04 5.93582187e+01] [-1.51021131e-03 -7.28418947e-05 9.99998857e-01 -2.30152274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.561400513 meters 0.053988534459621006 Centerline is valid? [True, True] Translation: X:543.48, Y:59.36, Z:-2.30 [[ 9.98782860e-01 -4.92875313e-02 1.88073579e-03 5.43482122e+02] [ 4.92872761e-02 9.98784627e-01 1.81810376e-04 5.93614340e+01] [-1.88741098e-03 -8.88927437e-05 9.99998215e-01 -2.30142570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.591400513 meters 0.04942687488130141 Centerline is valid? [True, True] Translation: X:543.52, Y:59.35, Z:-2.30 [[ 9.98772758e-01 -4.94923256e-02 1.86759394e-03 5.43515631e+02] [ 4.94920746e-02 9.98774500e-01 1.80423070e-04 5.93545554e+01] [-1.87423477e-03 -8.77705486e-05 9.99998240e-01 -2.30159844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.621400513 meters 0.04942687488130141 Centerline is valid? [True, True] Translation: X:543.55, Y:59.36, Z:-2.30 [[ 9.98775190e-01 -4.94432199e-02 1.86760437e-03 5.43547209e+02] [ 4.94429690e-02 9.98776932e-01 1.80315059e-04 5.93575192e+01] [-1.87423553e-03 -8.77543022e-05 9.99998240e-01 -2.30162214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.651400513 meters 0.053257973474013114 Centerline is valid? [True, True] Translation: X:543.58, Y:59.36, Z:-2.30 [[ 9.98864940e-01 -4.76221391e-02 9.81718982e-04 5.43577764e+02] [ 4.76220690e-02 9.98865421e-01 9.47615055e-05 5.93589972e+01] [-9.85117890e-04 -4.79024564e-05 9.99999514e-01 -2.30313232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.681400513 meters 0.05960585217301446 Centerline is valid? [True, True] Translation: X:543.61, Y:59.37, Z:-2.30 [[ 9.98968052e-01 -4.54182438e-02 1.20271391e-04 5.43607057e+02] [ 4.54182428e-02 9.98968059e-01 1.16082059e-05 5.93680124e+01] [-1.20674503e-04 -6.13371162e-06 9.99999993e-01 -2.30473810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.711400513 meters 0.056121899745348036 Centerline is valid? [True, True] Translation: X:543.64, Y:59.36, Z:-2.31 [[ 9.99102693e-01 -4.23405437e-02 -1.04262596e-03 5.43638555e+02] [ 4.23404616e-02 9.99103235e-01 -1.00624137e-04 5.93648427e+01] [ 1.04595145e-03 5.63885819e-05 9.99999451e-01 -2.30601911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.741400513 meters 0.06416953015154139 Centerline is valid? [True, True] Translation: X:543.67, Y:59.37, Z:-2.31 [[ 9.99330940e-01 -3.65264398e-02 -1.86854537e-03 5.43667681e+02] [ 3.65261663e-02 9.99332681e-01 -1.80290514e-04 5.93735410e+01] [ 1.87388383e-03 1.11919090e-04 9.99998238e-01 -2.30777665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.771400513 meters 0.06560269900162477 Centerline is valid? [True, True] Translation: X:543.70, Y:59.38, Z:-2.31 [[ 9.99409425e-01 -3.43227623e-02 -1.65822524e-03 5.43699047e+02] [ 3.43225440e-02 9.99410795e-01 -1.59951880e-04 5.93766440e+01] [ 1.66273820e-03 1.02942908e-04 9.99998612e-01 -2.30723394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.801400513 meters 0.0664093982480213 Centerline is valid? [True, True] Translation: X:543.73, Y:59.38, Z:-2.31 [[ 9.99467835e-01 -3.25940283e-02 -1.29492467e-03 5.43730287e+02] [ 3.25938937e-02 9.99468670e-01 -1.24872881e-04 5.93790270e+01] [ 1.29830675e-03 8.25997908e-05 9.99999154e-01 -2.30698232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.831400513 meters 0.06671895468196429 Centerline is valid? [True, True] Translation: X:543.76, Y:59.38, Z:-2.31 [[ 9.99513674e-01 -3.11382739e-02 -1.68034586e-03 5.43761497e+02] [ 3.11380453e-02 9.99515080e-01 -1.62004653e-04 5.93807924e+01] [ 1.68457557e-03 1.09603181e-04 9.99998575e-01 -2.30758936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.861400513 meters 0.07265106435512313 Centerline is valid? [True, True] Translation: X:543.79, Y:59.39, Z:-2.31 [[ 9.99543196e-01 -3.01637021e-02 -1.88404780e-03 5.43792148e+02] [ 3.01634133e-02 9.99544964e-01 -1.81569079e-04 5.93897620e+01] [ 1.88866729e-03 1.24656825e-04 9.99998209e-01 -2.30874826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.891400513 meters 0.07694159640276803 Centerline is valid? [True, True] Translation: X:543.82, Y:59.40, Z:-2.31 [[ 9.99585079e-01 -2.87802172e-02 -1.17014725e-03 5.43822158e+02] [ 2.87801048e-02 9.99585761e-01 -1.12763617e-04 5.93971163e+01] [ 1.17290789e-03 7.90398685e-05 9.99999309e-01 -2.30803722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.921400513 meters 0.07891637433555121 Centerline is valid? [True, True] Translation: X:543.85, Y:59.40, Z:-2.31 [[ 9.99606210e-01 -2.80592884e-02 -3.19674514e-04 5.43853158e+02] [ 2.80592800e-02 9.99606260e-01 -3.07719119e-05 5.94027507e+01] [ 3.20412083e-04 2.17899575e-05 9.99999948e-01 -2.30659861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.951400513 meters 0.07119972070524995 Centerline is valid? [True, True] Translation: X:543.89, Y:59.40, Z:-2.31 [[ 9.99634642e-01 -2.70291576e-02 8.65186091e-05 5.43886316e+02] [ 2.70291569e-02 9.99634646e-01 8.36690545e-06 5.93962862e+01] [-8.67131495e-05 -6.02532347e-06 9.99999996e-01 -2.30561499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.981400513 meters 0.06987317027064888 Centerline is valid? [True, True] Translation: X:543.92, Y:59.40, Z:-2.31 [[ 9.99657613e-01 -2.61653002e-02 -1.82146262e-04 5.43918868e+02] [ 2.61652975e-02 9.99657630e-01 -1.74939547e-05 5.93976211e+01] [ 1.82541635e-04 1.27220539e-05 9.99999983e-01 -2.30593646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.011400513 meters 0.07397600612038092 Centerline is valid? [True, True] Translation: X:543.95, Y:59.41, Z:-2.31 [[ 9.99673215e-01 -2.55363001e-02 -1.16649658e-03 5.43949300e+02] [ 2.55361865e-02 9.99673892e-01 -1.12197581e-04 5.94053765e+01] [ 1.16898128e-03 8.23730426e-05 9.99999313e-01 -2.30729187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.041400513 meters 0.0763058775843615 Centerline is valid? [True, True] Translation: X:543.98, Y:59.41, Z:-2.31 [[ 9.99675214e-01 -2.53761866e-02 -2.34870256e-03 5.43980460e+02] [ 2.53757257e-02 9.99677959e-01 -2.25850307e-04 5.94113755e+01] [ 2.35367740e-03 1.66176922e-04 9.99997216e-01 -2.30892009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.071400513 meters 0.07559506422343941 Centerline is valid? [True, True] Translation: X:544.01, Y:59.41, Z:-2.31 [[ 9.99669277e-01 -2.56374152e-02 -2.01463671e-03 5.44012293e+02] [ 2.56370768e-02 9.99671297e-01 -1.93618970e-04 5.94140610e+01] [ 2.01893838e-03 1.41905540e-04 9.99997952e-01 -2.30786581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.101400513 meters 0.07549213500613951 Centerline is valid? [True, True] Translation: X:544.04, Y:59.42, Z:-2.31 [[ 9.99666022e-01 -2.58233426e-02 -1.00008671e-03 5.44044456e+02] [ 2.58232594e-02 9.99666519e-01 -9.60495292e-05 5.94165273e+01] [ 1.00223352e-03 7.01919523e-05 9.99999495e-01 -2.30584069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.131400513 meters 0.07527619588328262 Centerline is valid? [True, True] Translation: X:544.08, Y:59.42, Z:-2.30 [[ 9.99668575e-01 -2.57422640e-02 -2.75350681e-04 5.44076861e+02] [ 2.57422577e-02 9.99668613e-01 -2.64063620e-05 5.94188846e+01] [ 2.75939193e-04 1.93094620e-05 9.99999962e-01 -2.30428620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.161400513 meters 0.07408898474029332 Centerline is valid? [True, True] Translation: X:544.11, Y:59.42, Z:-2.30 [[ 9.99675864e-01 -2.54583132e-02 -2.03215031e-04 5.44109283e+02] [ 2.54583098e-02 9.99675885e-01 -1.94693460e-05 5.94209552e+01] [ 2.03644822e-04 1.42895241e-05 9.99999979e-01 -2.30383205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.191400513 meters 0.07427594521837047 Centerline is valid? [True, True] Translation: X:544.14, Y:59.42, Z:-2.30 [[ 9.99702581e-01 -2.43858018e-02 2.85664412e-04 5.44140761e+02] [ 2.43857950e-02 9.99702622e-01 2.74349186e-05 5.94247627e+01] [-2.86248484e-04 -2.04606052e-05 9.99999959e-01 -2.30409765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.221400513 meters 0.07317717765806904 Centerline is valid? [True, True] Translation: X:544.17, Y:59.42, Z:-2.30 [[ 9.99716320e-01 -2.38117794e-02 5.27971296e-04 5.44172652e+02] [ 2.38117559e-02 9.99716459e-01 5.06642152e-05 5.94249786e+01] [-5.29028000e-04 -3.80779192e-05 9.99999859e-01 -2.30383142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.251400513 meters 0.07681393940571796 Centerline is valid? [True, True] Translation: X:544.20, Y:59.43, Z:-2.30 [[ 9.99715619e-01 -2.38395935e-02 5.95410721e-04 5.44203531e+02] [ 2.38395637e-02 9.99715796e-01 5.71105822e-05 5.94306695e+01] [-5.96602996e-04 -4.29000093e-05 9.99999821e-01 -2.30377438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.281400513 meters 0.0835718960793206 Centerline is valid? [True, True] Translation: X:544.23, Y:59.43, Z:-2.31 [[ 9.99724217e-01 -2.34145800e-02 1.80191289e-03 5.44233717e+02] [ 2.33899975e-02 9.99646627e-01 1.26304751e-02 5.94295067e+01] [-2.09701341e-03 -1.25848451e-02 9.99918609e-01 -2.30882148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.311400513 meters 0.07536599869284027 Centerline is valid? [True, True] Translation: X:544.27, Y:59.44, Z:-2.30 [[ 9.99692621e-01 -2.47900377e-02 3.42726424e-04 5.44265690e+02] [ 2.47923676e-02 9.99620077e-01 -1.20432863e-02 5.94426269e+01] [-4.40426924e-05 1.20480815e-02 9.99927418e-01 -2.30334122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.341400513 meters 0.07568107698695414 Centerline is valid? [True, True] Translation: X:544.30, Y:59.44, Z:-2.31 [[ 9.99675809e-01 -2.54419292e-02 -9.92477158e-04 5.44296584e+02] [ 2.54418474e-02 9.99676299e-01 -9.49286142e-05 5.94353459e+01] [ 9.94571059e-04 6.96473868e-05 9.99999503e-01 -2.30657967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.371400513 meters 0.07406261106654198 Centerline is valid? [True, True] Translation: X:544.33, Y:59.43, Z:-2.30 [[ 9.99653959e-01 -2.62908645e-02 8.67512083e-04 5.44328869e+02] [ 2.62908023e-02 9.99654334e-01 8.30338045e-05 5.94323037e+01] [-8.69395244e-04 -6.01974827e-05 9.99999620e-01 -2.30406579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.401400513 meters 0.07286083209708302 Centerline is valid? [True, True] Translation: X:544.36, Y:59.43, Z:-2.30 [[ 9.99647118e-01 -2.65090729e-02 1.70541383e-03 5.44361810e+02] [ 2.65088330e-02 9.99648566e-01 1.63117029e-04 5.94309896e+01] [-1.70913857e-03 -1.17850938e-04 9.99998532e-01 -2.30274613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.431400513 meters 0.06980055871839072 Centerline is valid? [True, True] Translation: X:544.39, Y:59.43, Z:-2.30 [[ 9.99642186e-01 -2.66966354e-02 1.67028586e-03 5.44394963e+02] [ 2.66964057e-02 9.99643575e-01 1.59644428e-04 5.94274207e+01] [-1.67395250e-03 -1.14996676e-04 9.99998592e-01 -2.30309381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.461400513 meters 0.06841250213208805 Centerline is valid? [True, True] Translation: X:544.43, Y:59.43, Z:-2.30 [[ 9.99636503e-01 -2.69541321e-02 5.79473400e-04 5.44428003e+02] [ 2.69541045e-02 9.99636671e-01 5.53851131e-05 5.94252897e+01] [-5.80755718e-04 -3.97457941e-05 9.99999831e-01 -2.30404623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.491400513 meters 0.07691553450314975 Centerline is valid? [True, True] Translation: X:544.46, Y:59.44, Z:-2.31 [[ 9.99635880e-01 -2.69806795e-02 3.88700121e-04 5.44457650e+02] [ 2.69806671e-02 9.99635955e-01 3.71566620e-05 5.94382401e+01] [-3.89561129e-04 -2.66557439e-05 9.99999924e-01 -2.30586887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.521400513 meters 0.073208880098278 Centerline is valid? [True, True] Translation: X:544.49, Y:59.43, Z:-2.31 [[ 9.99622749e-01 -2.74589649e-02 6.04911230e-04 5.44490742e+02] [ 2.74589349e-02 9.99622931e-01 5.77233297e-05 5.94308203e+01] [-6.06268159e-04 -4.10913354e-05 9.99999815e-01 -2.30627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.551400513 meters 0.07744161208685525 Centerline is valid? [True, True] Translation: X:544.52, Y:59.43, Z:-2.31 [[ 9.99613316e-01 -2.77796155e-02 1.22968255e-03 5.44521559e+02] [ 2.77794922e-02 9.99614069e-01 1.17242089e-04 5.94349765e+01] [-1.23246492e-03 -8.30367962e-05 9.99999237e-01 -2.30564614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.581400513 meters 0.07314854381492053 Centerline is valid? [True, True] Translation: X:544.55, Y:59.43, Z:-2.31 [[ 9.99610473e-01 -2.78812103e-02 1.24151124e-03 5.44554173e+02] [ 2.78810848e-02 9.99611240e-01 1.18322527e-04 5.94294199e+01] [-1.24432757e-03 -8.36617573e-05 9.99999222e-01 -2.30503889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.611400513 meters 0.07257903521145717 Centerline is valid? [True, True] Translation: X:544.59, Y:59.43, Z:-2.31 [[ 9.99612620e-01 -2.78196369e-02 8.23207899e-04 5.44586507e+02] [ 2.78195817e-02 9.99612957e-01 7.84322967e-05 5.94292060e+01] [-8.25071240e-04 -5.55006142e-05 9.99999658e-01 -2.30543090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.641400513 meters 0.07169483115107839 Centerline is valid? [True, True] Translation: X:544.62, Y:59.43, Z:-2.31 [[ 9.99601894e-01 -2.81393493e-02 -2.05702087e-03 5.44618869e+02] [ 2.81390058e-02 9.99604001e-01 -1.95734619e-04 5.94270490e+01] [ 2.06171414e-03 1.37774173e-04 9.99997865e-01 -2.30922264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.671400513 meters 0.07155218256082142 Centerline is valid? [True, True] Translation: X:544.65, Y:59.43, Z:-2.31 [[ 9.99581351e-01 -2.87885117e-02 -2.88870112e-03 5.44649977e+02] [ 2.87878371e-02 9.99585507e-01 -2.74845117e-04 5.94270894e+01] [ 2.89541615e-03 1.91570596e-04 9.99995790e-01 -2.31064709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.701400513 meters 0.06988885217819779 Centerline is valid? [True, True] Translation: X:544.68, Y:59.42, Z:-2.31 [[ 9.99546084e-01 -3.00233360e-02 -2.49487467e-03 5.44680862e+02] [ 3.00228366e-02 9.99549185e-01 -2.37393482e-04 5.94242629e+01] [ 2.50087729e-03 1.62382511e-04 9.99996860e-01 -2.30978849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.731400513 meters 0.06945804799894863 Centerline is valid? [True, True] Translation: X:544.71, Y:59.42, Z:-2.31 [[ 9.99481552e-01 -3.21807106e-02 -1.01462084e-03 5.44711370e+02] [ 3.21806291e-02 9.99482065e-01 -9.65436770e-05 5.94227560e+01] [ 1.01720218e-03 6.38424872e-05 9.99999481e-01 -2.30751197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.761400513 meters 0.0685432237094518 Centerline is valid? [True, True] Translation: X:544.74, Y:59.42, Z:-2.30 [[ 9.99388248e-01 -3.49662892e-02 6.98543924e-04 5.44741788e+02] [ 3.49662513e-02 9.99388491e-01 6.64659914e-05 5.94205842e+01] [-7.00440828e-04 -4.19998684e-05 9.99999754e-01 -2.30450683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.791400513 meters 0.06077477224104199 Centerline is valid? [True, True] Translation: X:544.77, Y:59.41, Z:-2.30 [[ 9.99265584e-01 -3.82912387e-02 1.44031888e-03 5.44774010e+02] [ 3.82910808e-02 9.99266618e-01 1.37056836e-04 5.94095102e+01] [-1.44451065e-03 -8.18048127e-05 9.99998953e-01 -2.30326961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.821400513 meters 0.052895365365593 Centerline is valid? [True, True] Translation: X:544.81, Y:59.39, Z:-2.31 [[ 9.98956789e-01 -4.56636490e-02 4.05575748e-04 5.44806650e+02] [ 4.56636370e-02 9.98956871e-01 3.85902987e-05 5.93925687e+01] [-4.06914854e-04 -2.00299771e-05 9.99999917e-01 -2.30553105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.851400513 meters 0.05825796952309132 Centerline is valid? [True, True] Translation: X:544.84, Y:59.40, Z:-2.31 [[ 9.98804728e-01 -4.88780102e-02 2.34002394e-04 5.44836163e+02] [ 4.88780063e-02 9.98804756e-01 2.22650889e-05 5.93960886e+01] [-2.34810977e-04 -1.08009055e-05 9.99999972e-01 -2.30623436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.881400513 meters 0.0484484409980732 Centerline is valid? [True, True] Translation: X:544.87, Y:59.38, Z:-2.31 [[ 9.98678873e-01 -5.13827134e-02 5.70603384e-04 5.44868340e+02] [ 5.13826907e-02 9.98679036e-01 5.42923294e-05 5.93805894e+01] [-5.72639325e-04 -2.49014651e-05 9.99999836e-01 -2.30542661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.911400513 meters 0.04606753975647753 Centerline is valid? [True, True] Translation: X:544.90, Y:59.37, Z:-2.30 [[ 9.98588558e-01 -5.30997548e-02 1.14329649e-03 5.44900957e+02] [ 5.30996650e-02 9.98589212e-01 1.08776154e-04 5.93747560e+01] [-1.14745952e-03 -4.79139627e-05 9.99999341e-01 -2.30442882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.941400513 meters 0.04775212161592569 Centerline is valid? [True, True] Translation: X:544.93, Y:59.37, Z:-2.30 [[ 9.98531463e-01 -5.41502629e-02 1.63301334e-03 5.44931153e+02] [ 5.41500812e-02 9.98532796e-01 1.55286199e-04 5.93744280e+01] [-1.63902616e-03 -6.66303506e-05 9.99998655e-01 -2.30322443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.971400513 meters 0.041844424830831665 Centerline is valid? [True, True] Translation: X:544.96, Y:59.35, Z:-2.30 [[ 9.98540431e-01 -5.39157716e-02 3.17776235e-03 5.44962932e+02] [ 5.38733246e-02 9.98473266e-01 1.21984563e-02 5.93544666e+01] [-3.83059994e-03 -1.20094552e-02 9.99920547e-01 -2.30471202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.001400513 meters 0.042098384974939305 Centerline is valid? [True, True] Translation: X:544.99, Y:59.37, Z:-2.30 [[ 9.98482032e-01 -5.50342339e-02 2.20557865e-03 5.44994160e+02] [ 5.50563470e-02 9.98414848e-01 -1.16871451e-02 5.93664140e+01] [-1.55888939e-03 1.17908355e-02 9.99929271e-01 -2.30322906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.031400513 meters 0.044914101368602924 Centerline is valid? [True, True] Translation: X:545.03, Y:59.36, Z:-2.30 [[ 9.98436502e-01 -5.58858127e-02 1.15192668e-03 5.45025749e+02] [ 5.58857236e-02 9.98437166e-01 1.09445082e-04 5.93569717e+01] [-1.15624283e-03 -4.48977088e-05 9.99999331e-01 -2.30496228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.061400513 meters 0.047366191850577825 Centerline is valid? [True, True] Translation: X:545.06, Y:59.36, Z:-2.30 [[ 9.98330479e-01 -5.77354695e-02 1.69430065e-03 5.45055053e+02] [ 5.77352794e-02 9.98331915e-01 1.60968367e-04 5.93571945e+01] [-1.70076799e-03 -6.28787059e-05 9.99998552e-01 -2.30449324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.091400513 meters 0.037233378405051254 Centerline is valid? [True, True] Translation: X:545.09, Y:59.34, Z:-2.30 [[ 9.98161475e-01 -6.05693268e-02 2.24211750e-03 5.45087810e+02] [ 6.05690009e-02 9.98163990e-01 2.13012932e-04 5.93425375e+01] [-2.25090300e-03 -7.68184857e-05 9.99997464e-01 -2.30348475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.121400513 meters 0.03721578414823123 Centerline is valid? [True, True] Translation: X:545.12, Y:59.33, Z:-2.30 [[ 9.97745004e-01 -6.70213341e-02 3.61205339e-03 5.45118373e+02] [ 6.70205306e-02 9.97751538e-01 3.43176115e-04 5.93315850e+01] [-3.62693195e-03 -1.00320519e-04 9.99993418e-01 -2.30051466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.151400513 meters 0.030275118917837112 Centerline is valid? [True, True] Translation: X:545.15, Y:59.33, Z:-2.30 [[ 9.97590382e-01 -6.92572019e-02 4.10720882e-03 5.45149458e+02] [ 6.92561819e-02 9.97598832e-01 3.90232245e-04 5.93265720e+01] [-4.12437312e-03 -1.04842333e-04 9.99991489e-01 -2.29992508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.181400513 meters 0.02964329641211397 Centerline is valid? [True, True] Translation: X:545.18, Y:59.33, Z:-2.30 [[ 9.97498906e-01 -7.05604352e-02 4.14224268e-03 5.45179418e+02] [ 7.05594088e-02 9.97507501e-01 3.93597901e-04 5.93252695e+01] [-4.15969058e-03 -1.00339281e-04 9.99991343e-01 -2.30028693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.211400513 meters 0.02981727489620185 Centerline is valid? [True, True] Translation: X:545.21, Y:59.33, Z:-2.30 [[ 9.97478048e-01 -7.08757148e-02 3.76516021e-03 5.45209179e+02] [ 7.08748688e-02 9.97485150e-01 3.57809383e-04 5.93253571e+01] [-3.78105140e-03 -9.00517688e-05 9.99992848e-01 -2.30131491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.241400513 meters 0.02866277494882876 Centerline is valid? [True, True] Translation: X:545.24, Y:59.32, Z:-2.30 [[ 9.97503742e-01 -7.05371122e-02 3.28644120e-03 5.45239409e+02] [ 7.05364656e-02 9.97509153e-01 3.12379944e-04 5.93243214e+01] [-3.30028955e-03 -7.97862167e-05 9.99994551e-01 -2.30193218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.271400513 meters 0.029275660066287124 Centerline is valid? [True, True] Translation: X:545.27, Y:59.32, Z:-2.30 [[ 9.97632467e-01 -6.87476292e-02 1.79555687e-03 5.45269142e+02] [ 6.87474333e-02 9.97634082e-01 1.70702100e-04 5.93247603e+01] [-1.80304409e-03 -4.68580306e-05 9.99998373e-01 -2.30345635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.301400513 meters 0.03178624928298232 Centerline is valid? [True, True] Translation: X:545.30, Y:59.33, Z:-2.30 [[ 9.97708412e-01 -6.76463851e-02 1.37537734e-03 5.45297843e+02] [ 6.76462690e-02 9.97709359e-01 1.30788667e-04 5.93298497e+01] [-1.38107422e-03 -3.74498080e-05 9.99999046e-01 -2.30433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.331400513 meters 0.03081535362424619 Centerline is valid? [True, True] Translation: X:545.33, Y:59.33, Z:-2.31 [[ 9.97767289e-01 -6.67846211e-02 5.00768684e-04 5.45326911e+02] [ 6.67846056e-02 9.97767415e-01 4.75573768e-05 5.93303266e+01] [-5.02826776e-04 -1.40075558e-05 9.99999873e-01 -2.30530161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.361400513 meters 0.03365039467068778 Centerline is valid? [True, True] Translation: X:545.35, Y:59.34, Z:-2.31 [[ 9.97796505e-01 -6.63480694e-02 -2.60290822e-04 5.45353965e+02] [ 6.63480652e-02 9.97796539e-01 -2.48740558e-05 5.93356998e+01] [ 2.61367627e-04 7.54945353e-06 9.99999966e-01 -2.30642852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.391400513 meters 0.03204103189578823 Centerline is valid? [True, True] Translation: X:545.38, Y:59.34, Z:-2.31 [[ 9.97794462e-01 -6.63789061e-02 -2.29373734e-04 5.45382203e+02] [ 6.63789028e-02 9.97794488e-01 -2.20935709e-05 5.93363204e+01] [ 2.30334395e-04 6.81926593e-06 9.99999973e-01 -2.30750273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.421400513 meters 0.03332591797215147 Centerline is valid? [True, True] Translation: X:545.41, Y:59.34, Z:-2.31 [[ 9.97776904e-01 -6.66415358e-02 -3.93580986e-04 5.45410154e+02] [ 6.66415261e-02 9.97776982e-01 -3.77163541e-05 5.93407733e+01] [ 3.95219524e-04 1.14036695e-05 9.99999922e-01 -2.30801483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.451400513 meters 0.030387111132090857 Centerline is valid? [True, True] Translation: X:545.44, Y:59.34, Z:-2.31 [[ 9.97727093e-01 -6.73842074e-02 -1.32010269e-04 5.45439445e+02] [ 6.73842063e-02 9.97727101e-01 -1.28055062e-05 5.93404531e+01] [ 1.32573112e-04 3.88099329e-06 9.99999991e-01 -2.30654415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.481400513 meters 0.03125658769754921 Centerline is valid? [True, True] Translation: X:545.47, Y:59.34, Z:-2.31 [[ 9.97707664e-01 -6.76697926e-02 4.64734477e-04 5.45466892e+02] [ 6.76697792e-02 9.97707772e-01 4.44895633e-05 5.93444632e+01] [-4.66679799e-04 -1.29390988e-05 9.99999891e-01 -2.30593278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.511400513 meters 0.03125658769754921 Centerline is valid? [True, True] Translation: X:545.49, Y:59.35, Z:-2.31 [[ 9.97694857e-01 -6.78583488e-02 4.64737743e-04 5.45494238e+02] [ 6.78583354e-02 9.97694966e-01 4.44555790e-05 5.93472590e+01] [-4.66683188e-04 -1.28167729e-05 9.99999891e-01 -2.30595878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.541400513 meters 0.030587322873190194 Centerline is valid? [True, True] Translation: X:545.52, Y:59.35, Z:-2.31 [[ 9.97675834e-01 -6.81375803e-02 4.47965134e-04 5.45522013e+02] [ 6.81375679e-02 9.97675934e-01 4.29292427e-05 5.93498167e+01] [-4.49849128e-04 -1.23062133e-05 9.99999899e-01 -2.30570994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.571400513 meters 0.030723829514705318 Centerline is valid? [True, True] Translation: X:545.55, Y:59.35, Z:-2.31 [[ 9.97672020e-01 -6.81940693e-02 3.29577096e-04 5.45550593e+02] [ 6.81940626e-02 9.97672075e-01 3.16143430e-05 5.93538378e+01] [-3.30965776e-04 -9.06554435e-06 9.99999945e-01 -2.30669361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.601400513 meters 0.03299898951492541 Centerline is valid? [True, True] Translation: X:545.58, Y:59.36, Z:-2.31 [[ 9.97701026e-01 -6.77570856e-02 -1.28040645e-03 5.45577648e+02] [ 6.77569828e-02 9.97701847e-01 -1.23569540e-04 5.93621089e+01] [ 1.28583659e-03 3.65289790e-05 9.99999173e-01 -2.30988741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.631400513 meters 0.03277635989847592 Centerline is valid? [True, True] Translation: X:545.61, Y:59.37, Z:-2.31 [[ 9.97738448e-01 -6.71881426e-02 -1.93452004e-03 5.45605789e+02] [ 6.71879065e-02 9.97740322e-01 -1.86870061e-04 5.93657189e+01] [ 1.94270410e-03 5.64710931e-05 9.99998111e-01 -2.31036555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.661400513 meters 0.03299057539314891 Centerline is valid? [True, True] Translation: X:545.63, Y:59.37, Z:-2.31 [[ 9.97765727e-01 -6.67836595e-02 -1.86997183e-03 5.45634373e+02] [ 6.67834375e-02 9.97767478e-01 -1.81022926e-04 5.93702255e+01] [ 1.87788645e-03 5.57353251e-05 9.99998235e-01 -2.31004762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.691400513 meters 0.032308286669738645 Centerline is valid? [True, True] Translation: X:545.66, Y:59.37, Z:-2.31 [[ 9.97790402e-01 -6.64282351e-02 -1.26612762e-03 5.45662706e+02] [ 6.64281327e-02 9.97791205e-01 -1.22837199e-04 5.93745160e+01] [ 1.27149086e-03 3.84592850e-05 9.99999191e-01 -2.30842829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.721400513 meters 0.034662164031941195 Centerline is valid? [True, True] Translation: X:545.69, Y:59.38, Z:-2.31 [[ 9.97827316e-01 -6.58799089e-02 -6.96819515e-04 5.45690298e+02] [ 6.58798777e-02 9.97827559e-01 -6.76147503e-05 5.93829065e+01] [ 6.99760170e-04 2.15614603e-05 9.99999755e-01 -2.30724139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.751400513 meters 0.034279064943585416 Centerline is valid? [True, True] Translation: X:545.72, Y:59.39, Z:-2.31 [[ 9.97851548e-01 -6.55149180e-02 -2.87773459e-04 5.45718433e+02] [ 6.55149126e-02 9.97851590e-01 -2.81064517e-05 5.93876305e+01] [ 2.88996595e-04 9.19261336e-06 9.99999958e-01 -2.30681641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.781400513 meters 0.0350772102669287 Centerline is valid? [True, True] Translation: X:545.75, Y:59.39, Z:-2.31 [[ 9.97871404e-01 -6.52112998e-02 3.85178820e-04 5.45747080e+02] [ 6.52112903e-02 9.97871478e-01 3.73818671e-05 5.93927470e+01] [-3.86796679e-04 -1.21842883e-05 9.99999925e-01 -2.30612229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.811400513 meters 0.036673433836274534 Centerline is valid? [True, True] Translation: X:545.78, Y:59.40, Z:-2.31 [[ 9.97860880e-01 -6.53705372e-02 5.97636236e-04 5.45775143e+02] [ 6.53705141e-02 9.97861059e-01 5.80585728e-05 5.93980617e+01] [-6.00153247e-04 -1.88665906e-05 9.99999820e-01 -2.30556344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.841400513 meters 0.03746774031124493 Centerline is valid? [True, True] Translation: X:545.80, Y:59.40, Z:-2.31 [[ 9.97849765e-01 -6.55402986e-02 5.61627892e-04 5.45803744e+02] [ 6.55402783e-02 9.97849923e-01 5.45786540e-05 5.94031136e+01] [-5.63997451e-04 -1.76520487e-05 9.99999841e-01 -2.30519401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.871400513 meters 0.0334728247452732 Centerline is valid? [True, True] Translation: X:545.83, Y:59.40, Z:-2.31 [[ 9.97852352e-01 -6.55013065e-02 5.12515162e-04 5.45833419e+02] [ 6.55012895e-02 9.97852483e-01 4.98252064e-05 5.94026257e+01] [-5.14678143e-04 -1.61477954e-05 9.99999867e-01 -2.30532673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.901400513 meters 0.03863044189949406 Centerline is valid? [True, True] Translation: X:545.86, Y:59.41, Z:-2.31 [[ 9.97887121e-01 -6.49673480e-02 7.33534422e-04 5.45860933e+02] [ 6.49673131e-02 9.97887390e-01 7.13372737e-05 5.94130830e+01] [-7.36619344e-04 -2.35307862e-05 9.99999728e-01 -2.30545373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.931400513 meters 0.03742626031361476 Centerline is valid? [True, True] Translation: X:545.89, Y:59.42, Z:-2.31 [[ 9.97986314e-01 -6.34243613e-02 8.17083027e-04 5.45890614e+02] [ 6.34243174e-02 9.97986648e-01 7.94975944e-05 5.94160257e+01] [-8.20480035e-04 -2.75145780e-05 9.99999663e-01 -2.30505118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.961400513 meters 0.03865764500759585 Centerline is valid? [True, True] Translation: X:545.92, Y:59.42, Z:-2.31 [[ 9.98047470e-01 -6.24562238e-02 6.83427776e-04 5.45919388e+02] [ 6.24561929e-02 9.98047704e-01 6.65093251e-05 5.94209971e+01] [-6.86247444e-04 -2.36951667e-05 9.99999764e-01 -2.30515183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.991400513 meters 0.041625113570917825 Centerline is valid? [True, True] Translation: X:545.95, Y:59.43, Z:-2.30 [[ 9.98101257e-01 -6.15895001e-02 7.84216757e-04 5.45948413e+02] [ 6.15894591e-02 9.98101564e-01 7.63297689e-05 5.94277949e+01] [-7.87429084e-04 -2.78853524e-05 9.99999690e-01 -2.30495830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.021400513 meters 0.04007512692521455 Centerline is valid? [True, True] Translation: X:545.98, Y:59.43, Z:-2.30 [[ 9.98154287e-01 -6.07196787e-02 1.06785495e-03 5.45977945e+02] [ 6.07196021e-02 9.98154857e-01 1.03946624e-04 5.94282412e+01] [-1.07219622e-03 -3.89150408e-05 9.99999424e-01 -2.30425801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.051400513 meters 0.03977748347749461 Centerline is valid? [True, True] Translation: X:546.01, Y:59.43, Z:-2.30 [[ 9.98190476e-01 -6.01109945e-02 1.56255982e-03 5.46007691e+02] [ 6.01108299e-02 9.98191698e-01 1.52149520e-04 5.94295671e+01] [-1.56888010e-03 -5.79474343e-05 9.99998768e-01 -2.30330305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.081400513 meters 0.04125781785795738 Centerline is valid? [True, True] Translation: X:546.04, Y:59.43, Z:-2.30 [[ 9.98219850e-01 -5.96054326e-02 2.07910640e-03 5.46036863e+02] [ 5.96051400e-02 9.98222013e-01 2.02490305e-04 5.94327872e+01] [-2.08747929e-03 -7.82044144e-05 9.99997818e-01 -2.30255872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.111400513 meters 0.04504829013123368 Centerline is valid? [True, True] Translation: X:546.07, Y:59.44, Z:-2.30 [[ 9.98299193e-01 -5.81841520e-02 3.65038223e-03 5.46067076e+02] [ 5.81832406e-02 9.98305857e-01 3.55461083e-04 5.94390797e+01] [-3.66488017e-03 -1.42465445e-04 9.99993274e-01 -2.30036779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.141400513 meters 0.04405914167110529 Centerline is valid? [True, True] Translation: X:546.10, Y:59.44, Z:-2.30 [[ 9.98359545e-01 -5.70591072e-02 4.74099419e-03 5.46097887e+02] [ 5.70575576e-02 9.98370784e-01 4.61579919e-04 5.94410499e+01] [-4.75960742e-03 -1.90313169e-04 9.99988655e-01 -2.29957540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.171400513 meters 0.04490884274674271 Centerline is valid? [True, True] Translation: X:546.13, Y:59.45, Z:-2.30 [[ 9.98452983e-01 -5.53632252e-02 5.15312539e-03 5.46129257e+02] [ 5.53613725e-02 9.98466257e-01 5.01592342e-04 5.94455627e+01] [-5.17299159e-03 -2.15532276e-04 9.99986597e-01 -2.29883000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.201400513 meters 0.04712456038993951 Centerline is valid? [True, True] Translation: X:546.16, Y:59.45, Z:-2.30 [[ 9.98564673e-01 -5.33394393e-02 4.84743662e-03 5.46160004e+02] [ 5.33377766e-02 9.98576416e-01 4.71723591e-04 5.94513841e+01] [-4.86569736e-03 -2.12495023e-04 9.99988140e-01 -2.29938870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.231400513 meters 0.05214943926600204 Centerline is valid? [True, True] Translation: X:546.19, Y:59.46, Z:-2.30 [[ 9.98688317e-01 -5.10511971e-02 3.92688129e-03 5.46189694e+02] [ 5.10500887e-02 9.98696021e-01 3.82037923e-04 5.94601519e+01] [-3.94126421e-03 -1.81069172e-04 9.99992217e-01 -2.30084782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.261400513 meters 0.051518180655980295 Centerline is valid? [True, True] Translation: X:546.22, Y:59.46, Z:-2.30 [[ 9.98819639e-01 -4.85223695e-02 2.21561630e-03 5.46220639e+02] [ 4.85220105e-02 9.98822090e-01 2.15522388e-04 5.94615889e+01] [-2.22346416e-03 -1.07761836e-04 9.99997522e-01 -2.30336885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.291400513 meters 0.06068834670335094 Centerline is valid? [True, True] Translation: X:546.25, Y:59.47, Z:-2.31 [[ 9.99006926e-01 -4.45393056e-02 -1.18829975e-03 5.46248959e+02] [ 4.45391996e-02 9.99007631e-01 -1.15571004e-04 5.94731957e+01] [ 1.19226797e-03 6.25303135e-05 9.99999287e-01 -2.30937780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.321400513 meters 0.05833660797540606 Centerline is valid? [True, True] Translation: X:546.28, Y:59.47, Z:-2.31 [[ 9.99059786e-01 -4.33077843e-02 -1.99504672e-03 5.46279323e+02] [ 4.33074828e-02 9.99061772e-01 -1.94077747e-04 5.94722808e+01] [ 2.00157998e-03 1.07494821e-04 9.99997991e-01 -2.31076290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.351400513 meters 0.06256317241811848 Centerline is valid? [True, True] Translation: X:546.31, Y:59.48, Z:-2.31 [[ 9.99092919e-01 -4.25122748e-02 -2.45878856e-03 5.46308137e+02] [ 4.25118144e-02 9.99095936e-01 -2.39216189e-04 5.94781196e+01] [ 2.46673528e-03 1.34471638e-04 9.99996949e-01 -2.31157318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.381400513 meters 0.06395696073331152 Centerline is valid? [True, True] Translation: X:546.34, Y:59.48, Z:-2.31 [[ 9.99130866e-01 -4.16271406e-02 -2.16649915e-03 5.46337797e+02] [ 4.16267810e-02 9.99133208e-01 -2.10805117e-04 5.94821318e+01] [ 2.17339646e-03 1.20437513e-04 9.99997631e-01 -2.31148633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.411400513 meters 0.06096027950753984 Centerline is valid? [True, True] Translation: X:546.37, Y:59.48, Z:-2.31 [[ 9.99174568e-01 -4.05740251e-02 -1.98268173e-03 5.46367904e+02] [ 4.05737219e-02 9.99176529e-01 -1.92943660e-04 5.94820043e+01] [ 1.98887755e-03 1.12339621e-04 9.99998016e-01 -2.31116182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.441400513 meters 0.061794940696829476 Centerline is valid? [True, True] Translation: X:546.40, Y:59.49, Z:-2.31 [[ 9.99273573e-01 -3.80536735e-02 -2.06007650e-03 5.46397468e+02] [ 3.80533408e-02 9.99275689e-01 -2.00499324e-04 5.94857865e+01] [ 2.06621410e-03 1.21960883e-04 9.99997858e-01 -2.31133821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.471400513 meters 0.06401846647938968 Centerline is valid? [True, True] Translation: X:546.43, Y:59.49, Z:-2.31 [[ 9.99339713e-01 -3.62785607e-02 -2.00114680e-03 5.46426896e+02] [ 3.62782431e-02 9.99341709e-01 -1.94787735e-04 5.94918317e+01] [ 2.00689609e-03 1.22061029e-04 9.99997979e-01 -2.31193302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.501400513 meters 0.06610873285646576 Centerline is valid? [True, True] Translation: X:546.46, Y:59.50, Z:-2.31 [[ 9.99397280e-01 -3.46381489e-02 -2.29665206e-03 5.46455263e+02] [ 3.46377262e-02 9.99399909e-01 -2.23614849e-04 5.94981860e+01] [ 2.30301946e-03 1.43929267e-04 9.99997338e-01 -2.31250133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.531400513 meters 0.06823008187675537 Centerline is valid? [True, True] Translation: X:546.48, Y:59.50, Z:-2.31 [[ 9.99459238e-01 -3.28286906e-02 -1.87299882e-03 5.46484792e+02] [ 3.28284063e-02 9.99460986e-01 -1.82380506e-04 5.95047777e+01] [ 1.87797656e-03 1.20794315e-04 9.99998229e-01 -2.31253921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.561400513 meters 0.07427883624537217 Centerline is valid? [True, True] Translation: X:546.51, Y:59.52, Z:-2.31 [[ 9.99580648e-01 -2.89417280e-02 -9.51165054e-04 5.46512957e+02] [ 2.89416529e-02 9.99581098e-01 -9.26337988e-05 5.95183705e+01] [ 9.53447592e-04 6.50666638e-05 9.99999543e-01 -2.31110546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.591400513 meters 0.07853394578216114 Centerline is valid? [True, True] Translation: X:546.54, Y:59.53, Z:-2.31 [[ 9.99630985e-01 -2.71635247e-02 -1.90458084e-04 5.46541849e+02] [ 2.71635216e-02 9.99631003e-01 -1.85465792e-05 5.95290356e+01] [ 1.90891596e-04 1.33662230e-05 9.99999982e-01 -2.30994960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.621400513 meters 0.0748594341262798 Centerline is valid? [True, True] Translation: X:546.57, Y:59.53, Z:-2.31 [[ 9.99670991e-01 -2.56483490e-02 2.68260342e-04 5.46572805e+02] [ 2.56483429e-02 9.99671027e-01 2.61307061e-05 5.95299114e+01] [-2.68842301e-04 -1.92416756e-05 9.99999964e-01 -2.30884089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.651400513 meters 0.07414172845132833 Centerline is valid? [True, True] Translation: X:546.60, Y:59.53, Z:-2.31 [[ 9.99709407e-01 -2.40994134e-02 5.66050250e-04 5.46603957e+02] [ 2.40993860e-02 9.99709566e-01 5.51235380e-05 5.95340706e+01] [-5.67214294e-04 -4.14660560e-05 9.99999838e-01 -2.30824566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.681400513 meters 0.0784733929884673 Centerline is valid? [True, True] Translation: X:546.63, Y:59.54, Z:-2.31 [[ 9.99738890e-01 -2.28419492e-02 6.29639591e-04 5.46632885e+02] [ 2.28419151e-02 9.99739088e-01 6.13052019e-05 5.95437771e+01] [-6.30875641e-04 -4.69070205e-05 9.99999800e-01 -2.30823736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.711400513 meters 0.07699991891403014 Centerline is valid? [True, True] Translation: X:546.66, Y:59.55, Z:-2.31 [[ 9.99760064e-01 -2.18888679e-02 8.31486817e-04 5.46663495e+02] [ 2.18888081e-02 9.99760408e-01 8.09043665e-05 5.95463023e+01] [-8.33058505e-04 -6.26846993e-05 9.99999651e-01 -2.30798280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.741400513 meters 0.0782741282243355 Centerline is valid? [True, True] Translation: X:546.69, Y:59.55, Z:-2.31 [[ 9.99769391e-01 -2.14449058e-02 1.13150622e-03 5.46694418e+02] [ 2.14447948e-02 9.99770028e-01 1.10077092e-04 5.95525502e+01] [-1.13360660e-03 -8.57867885e-05 9.99999354e-01 -2.30765250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.771400513 meters 0.08380733609995916 Centerline is valid? [True, True] Translation: X:546.72, Y:59.56, Z:-2.31 [[ 9.99767025e-01 -2.14967575e-02 1.94573941e-03 5.46724816e+02] [ 2.14964297e-02 9.99768907e-01 1.89215950e-04 5.95637747e+01] [-1.94935729e-03 -1.47345417e-04 9.99998089e-01 -2.30689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.801400513 meters 0.07390124465532896 Centerline is valid? [True, True] Translation: X:546.76, Y:59.56, Z:-2.31 [[ 9.99743943e-01 -2.23390054e-02 3.60793703e-03 5.46757411e+02] [ 2.23378844e-02 9.99750417e-01 3.50702262e-04 5.95574008e+01] [-3.61487089e-03 -2.70018781e-04 9.99993430e-01 -2.30504810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.831400513 meters 0.07841141434378372 Centerline is valid? [True, True] Translation: X:546.79, Y:59.57, Z:-2.30 [[ 9.99732358e-01 -2.27754754e-02 4.06069895e-03 5.46788347e+02] [ 2.27740598e-02 9.99740560e-01 3.94526296e-04 5.95670783e+01] [-4.06863096e-03 -3.01942103e-04 9.99991678e-01 -2.30404501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.861400513 meters 0.0816402060910355 Centerline is valid? [True, True] Translation: X:546.82, Y:59.57, Z:-2.30 [[ 9.99716991e-01 -2.34087265e-02 4.23893506e-03 5.46819403e+02] [ 2.34071904e-02 9.99725929e-01 4.11644539e-04 5.95747630e+01] [-4.24740937e-03 -3.12306480e-04 9.99990931e-01 -2.30370220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.891400513 meters 0.08204505039311899 Centerline is valid? [True, True] Translation: X:546.85, Y:59.58, Z:-2.30 [[ 9.99696876e-01 -2.43528704e-02 3.61860583e-03 5.46851061e+02] [ 2.43517576e-02 9.99703390e-01 3.51261199e-04 5.95783056e+01] [-3.62608673e-03 -2.63035312e-04 9.99993391e-01 -2.30489161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.921400513 meters 0.0741125292471063 Centerline is valid? [True, True] Translation: X:546.88, Y:59.57, Z:-2.31 [[ 9.99624553e-01 -2.73104072e-02 2.21222865e-03 5.46882589e+02] [ 2.73099986e-02 9.99626989e-01 2.14720588e-04 5.95698697e+01] [-2.21726758e-03 -1.54224010e-04 9.99997530e-01 -2.30817460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.951400513 meters 0.07065717725988403 Centerline is valid? [True, True] Translation: X:546.91, Y:59.57, Z:-2.31 [[ 9.99565774e-01 -2.94000636e-02 1.97482895e-03 5.46913918e+02] [ 2.93997421e-02 9.99567716e-01 1.91662553e-04 5.95667130e+01] [-1.97961016e-03 -1.33519867e-04 9.99998032e-01 -2.30865697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.981400513 meters 0.07521407171974112 Centerline is valid? [True, True] Translation: X:546.94, Y:59.57, Z:-2.31 [[ 9.99502001e-01 -3.15089371e-02 1.71402108e-03 5.46943656e+02] [ 3.15086980e-02 9.99503464e-01 1.66337706e-04 5.95724537e+01] [-1.71841113e-03 -1.12248298e-04 9.99998517e-01 -2.30877997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.011400513 meters 0.0734041883987156 Centerline is valid? [True, True] Translation: X:546.98, Y:59.57, Z:-2.31 [[ 9.99439914e-01 -3.34473491e-02 1.06413462e-03 5.46975093e+02] [ 3.34472580e-02 9.99440479e-01 1.03267900e-04 5.95702382e+01] [-1.06699326e-03 -6.76176761e-05 9.99999428e-01 -2.30964830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.041400513 meters 0.06925791378589441 Centerline is valid? [True, True] Translation: X:547.01, Y:59.56, Z:-2.31 [[ 9.99396333e-01 -3.47411589e-02 1.46455291e-04 5.47007045e+02] [ 3.47411572e-02 9.99396344e-01 1.42293857e-05 5.95649191e+01] [-1.46861228e-04 -9.13276963e-06 9.99999989e-01 -2.31104529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.071400513 meters 0.0652338631893639 Centerline is valid? [True, True] Translation: X:547.04, Y:59.56, Z:-2.31 [[ 9.99383145e-01 -3.51187773e-02 3.14732738e-05 5.47039373e+02] [ 3.51187773e-02 9.99383145e-01 3.07456633e-06 5.95599409e+01] [-3.15618343e-05 -1.96736687e-06 1.00000000e+00 -2.31156332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.101400513 meters 0.06734911974808892 Centerline is valid? [True, True] Translation: X:547.07, Y:59.56, Z:-2.31 [[ 9.99447570e-01 -3.32033948e-02 1.44569929e-03 5.47070251e+02] [ 3.32032266e-02 9.99448611e-01 1.40209261e-04 5.95608491e+01] [-1.44955758e-03 -9.21299240e-05 9.99998945e-01 -2.30933673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.131400513 meters 0.06856603869304814 Centerline is valid? [True, True] Translation: X:547.10, Y:59.56, Z:-2.31 [[ 9.99516032e-01 -3.10440352e-02 1.99219365e-03 5.47101100e+02] [ 3.10437116e-02 9.99518009e-01 1.93182816e-04 5.95636442e+01] [-1.99723061e-03 -1.31244236e-04 9.99997997e-01 -2.30844001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.161400513 meters 0.07766498682701166 Centerline is valid? [True, True] Translation: X:547.13, Y:59.58, Z:-2.31 [[ 9.99598614e-01 -2.82513093e-02 2.11545093e-03 5.47129648e+02] [ 2.82509381e-02 9.99600842e-01 2.05134577e-04 5.95762957e+01] [-2.12040185e-03 -1.45288766e-04 9.99997741e-01 -2.30813240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.191400513 meters 0.08006391499688545 Centerline is valid? [True, True] Translation: X:547.16, Y:59.58, Z:-2.31 [[ 9.99673911e-01 -2.54991309e-02 1.36598774e-03 5.47159771e+02] [ 2.54989735e-02 9.99674840e-01 1.32464426e-04 5.95806835e+01] [-1.36892130e-03 -9.75899457e-05 9.99999058e-01 -2.30954594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.221400513 meters 0.08173073337919937 Centerline is valid? [True, True] Translation: X:547.19, Y:59.58, Z:-2.31 [[ 9.99732857e-01 -2.31095320e-02 4.04448711e-04 5.47189943e+02] [ 2.31095180e-02 9.99732939e-01 3.92220329e-05 5.95841725e+01] [-4.05247101e-04 -2.98649402e-05 9.99999917e-01 -2.31112547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.251400513 meters 0.0859510510066332 Centerline is valid? [True, True] Translation: X:547.22, Y:59.59, Z:-2.31 [[ 9.99772616e-01 -2.13193536e-02 -4.48545873e-04 5.47219496e+02] [ 2.13193363e-02 9.99772716e-01 -4.34593167e-05 5.95904911e+01] [ 4.49370450e-04 3.38867344e-05 9.99999898e-01 -2.31232792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.281400513 meters 0.08231519521482838 Centerline is valid? [True, True] Translation: X:547.25, Y:59.59, Z:-2.31 [[ 9.99812797e-01 -1.93416280e-02 -5.21048953e-04 5.47250383e+02] [ 1.93416043e-02 9.99812932e-01 -5.05063088e-05 5.95855689e+01] [ 5.21928356e-04 4.04189313e-05 9.99999863e-01 -2.31165066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.311400513 meters 0.07926929364171133 Centerline is valid? [True, True] Translation: X:547.28, Y:59.58, Z:-2.31 [[ 9.99809650e-01 -1.95105926e-02 3.46830619e-06 5.47281098e+02] [ 1.95105926e-02 9.99809650e-01 3.36214727e-07 5.95835146e+01] [-3.47420574e-06 -2.68482019e-07 1.00000000e+00 -2.31101092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.341400513 meters 0.07731221514946035 Centerline is valid? [True, True] Translation: X:547.31, Y:59.58, Z:-2.31 [[ 9.99790913e-01 -2.04388294e-02 6.20304889e-04 5.47312656e+02] [ 2.04387960e-02 9.99791104e-01 6.01393403e-05 5.95825952e+01] [-6.21404488e-04 -4.74484809e-05 9.99999806e-01 -2.31031057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.371400513 meters 0.07904270270299407 Centerline is valid? [True, True] Translation: X:547.34, Y:59.58, Z:-2.31 [[ 9.99729544e-01 -2.32107410e-02 1.44938167e-03 5.47342553e+02] [ 2.32105616e-02 9.99730589e-01 1.40468071e-04 5.95839592e+01] [-1.45225155e-03 -1.06789118e-04 9.99998940e-01 -2.30959186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.401400513 meters 0.0719770316250712 Centerline is valid? [True, True] Translation: X:547.38, Y:59.58, Z:-2.31 [[ 9.99700561e-01 -2.44175730e-02 1.60354200e-03 5.47375155e+02] [ 2.44173550e-02 9.99701840e-01 1.55385236e-04 5.95758044e+01] [-1.60685801e-03 -1.16184454e-04 9.99998702e-01 -2.30877910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.431400513 meters 0.0719770316250712 Centerline is valid? [True, True] Translation: X:547.41, Y:59.58, Z:-2.31 [[ 9.99701706e-01 -2.43706389e-02 1.60354822e-03 5.47406772e+02] [ 2.43704210e-02 9.99702985e-01 1.55320960e-04 5.95787876e+01] [-1.60685722e-03 -1.16195483e-04 9.99998702e-01 -2.30880914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.461400513 meters 0.07987998540786079 Centerline is valid? [True, True] Translation: X:547.44, Y:59.59, Z:-2.31 [[ 9.99689422e-01 -2.48554915e-02 1.80669479e-03 5.47436666e+02] [ 2.48552157e-02 9.99691046e-01 1.74927289e-04 5.95889081e+01] [-1.81048451e-03 -1.29967171e-04 9.99998353e-01 -2.30802568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.491400513 meters 0.07373274809537304 Centerline is valid? [True, True] Translation: X:547.47, Y:59.58, Z:-2.31 [[ 9.99683443e-01 -2.51188046e-02 1.43504464e-03 5.47469144e+02] [ 2.51186309e-02 9.99684468e-01 1.38914394e-04 5.95822116e+01] [-1.43808121e-03 -1.02824063e-04 9.99998961e-01 -2.30843135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.521400513 meters 0.07501102360124334 Centerline is valid? [True, True] Translation: X:547.50, Y:59.58, Z:-2.31 [[ 9.99681234e-01 -2.52374674e-02 7.07572203e-04 5.47500206e+02] [ 2.52374252e-02 9.99681483e-01 6.84886415e-05 5.95826769e+01] [-7.09075309e-04 -5.06095091e-05 9.99999747e-01 -2.30931729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.551400513 meters 0.07454237427361383 Centerline is valid? [True, True] Translation: X:547.53, Y:59.59, Z:-2.31 [[ 9.99682311e-01 -2.51701804e-02 1.31877315e-03 5.47530279e+02] [ 2.51700338e-02 9.99683176e-01 1.27603887e-04 5.95855134e+01] [-1.32156714e-03 -9.43697838e-05 9.99999122e-01 -2.30924514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.581400513 meters 0.07114883402434885 Centerline is valid? [True, True] Translation: X:547.56, Y:59.58, Z:-2.31 [[ 9.99660455e-01 -2.58301619e-02 3.43185647e-03 5.47561981e+02] [ 2.58291736e-02 9.99666316e-01 3.31977988e-04 5.95799725e+01] [-3.43928636e-03 -2.43223249e-04 9.99994056e-01 -2.30651604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.611400513 meters 0.07647730059866385 Centerline is valid? [True, True] Translation: X:547.59, Y:59.59, Z:-2.30 [[ 9.99643304e-01 -2.62765243e-02 4.77594457e-03 5.47593084e+02] [ 2.62746164e-02 9.99654656e-01 4.61786575e-04 5.95867607e+01] [-4.78642937e-03 -3.36135746e-04 9.99988488e-01 -2.30438531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.641400513 meters 0.07370217288923675 Centerline is valid? [True, True] Translation: X:547.63, Y:59.58, Z:-2.30 [[ 9.99635473e-01 -2.64572921e-02 5.37895929e-03 5.47626217e+02] [ 2.64548764e-02 9.99649873e-01 5.19757979e-04 5.95838570e+01] [-5.39082736e-03 -3.77268809e-04 9.99985398e-01 -2.30389192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.671400513 meters 0.07223249420810324 Centerline is valid? [True, True] Translation: X:547.66, Y:59.58, Z:-2.30 [[ 9.99637037e-01 -2.65145934e-02 4.77176292e-03 5.47658457e+02] [ 2.65126941e-02 9.99648371e-01 4.60854578e-04 5.95818453e+01] [-4.78230440e-03 -3.34175014e-04 9.99988509e-01 -2.30473826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.701400513 meters 0.0704938593553692 Centerline is valid? [True, True] Translation: X:547.69, Y:59.58, Z:-2.31 [[ 9.99647534e-01 -2.62902955e-02 3.69159570e-03 5.47690912e+02] [ 2.62891579e-02 9.99654317e-01 3.56369707e-04 5.95794757e+01] [-3.69968864e-03 -2.59195157e-04 9.99993123e-01 -2.30664508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.731400513 meters 0.07603931526712802 Centerline is valid? [True, True] Translation: X:547.72, Y:59.59, Z:-2.31 [[ 9.99665979e-01 -2.57099592e-02 2.63222632e-03 5.47721982e+02] [ 2.57093792e-02 9.99669427e-01 2.53958407e-04 5.95859523e+01] [-2.63788544e-03 -1.86200675e-04 9.99996503e-01 -2.30798000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.761400513 meters 0.07303353749360032 Centerline is valid? [True, True] Translation: X:547.75, Y:59.58, Z:-2.31 [[ 9.99740201e-01 -2.26945560e-02 2.11836157e-03 5.47752703e+02] [ 2.26941737e-02 9.99742433e-01 2.04341180e-04 5.95801299e+01] [-2.12245339e-03 -1.56213627e-04 9.99997735e-01 -2.30903996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.791400513 meters 0.0840449265725817 Centerline is valid? [True, True] Translation: X:547.78, Y:59.59, Z:-2.31 [[ 9.99795040e-01 -2.01114507e-02 2.32562458e-03 5.47781362e+02] [ 2.01109829e-02 9.99797729e-01 2.24357374e-04 5.95945317e+01] [-2.32966633e-03 -1.77540794e-04 9.99997271e-01 -2.30857939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.821400513 meters 0.08251210568150573 Centerline is valid? [True, True] Translation: X:547.81, Y:59.59, Z:-2.31 [[ 9.99853413e-01 -1.69466740e-02 2.44170043e-03 5.47812221e+02] [ 1.69461489e-02 9.99856376e-01 2.35554593e-04 5.95935215e+01] [-2.44534161e-03 -1.94142645e-04 9.99996991e-01 -2.30878170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.851400513 meters 0.09073222678203811 Centerline is valid? [True, True] Translation: X:547.84, Y:59.60, Z:-2.31 [[ 9.99946956e-01 -1.02984129e-02 -1.68694558e-04 5.47840539e+02] [ 1.02984104e-02 9.99946970e-01 -1.62323930e-05 5.96029440e+01] [ 1.68852780e-04 1.44942462e-05 9.99999986e-01 -2.31298800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.881400513 meters 0.09157722701060965 Centerline is valid? [True, True] Translation: X:547.87, Y:59.61, Z:-2.32 [[ 9.99971962e-01 -7.37827277e-03 -1.27886675e-03 5.47870778e+02] [ 7.37812104e-03 9.99972774e-01 -1.23320664e-04 5.96059885e+01] [ 1.27974182e-03 1.13881573e-04 9.99999175e-01 -2.31536084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.911400513 meters 0.09119236441764877 Centerline is valid? [True, True] Translation: X:547.90, Y:59.61, Z:-2.32 [[ 9.99984403e-01 -5.14215323e-03 -2.18000661e-03 5.47901379e+02] [ 5.14170703e-03 9.99986759e-01 -2.10229755e-04 5.96072913e+01] [ 2.18105878e-03 1.99017520e-04 9.99997602e-01 -2.31655140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.941400513 meters 0.0963342527736274 Centerline is valid? [True, True] Translation: X:547.93, Y:59.62, Z:-2.32 [[ 9.99991319e-01 -3.81679590e-03 -1.67172496e-03 5.47929674e+02] [ 3.81653163e-03 9.99992704e-01 -1.61238442e-04 5.96156092e+01] [ 1.67232818e-03 1.54856851e-04 9.99998590e-01 -2.31655095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.971400513 meters 0.09593149368848762 Centerline is valid? [True, True] Translation: X:547.96, Y:59.62, Z:-2.31 [[ 9.99994689e-01 -3.23782681e-03 -3.71929326e-04 5.47959590e+02] [ 3.23781368e-03 9.99994758e-01 -3.59002375e-05 5.96180891e+01] [ 3.72043615e-04 3.46958090e-05 9.99999930e-01 -2.31478401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.001400513 meters 0.09243445599719648 Centerline is valid? [True, True] Translation: X:547.99, Y:59.62, Z:-2.31 [[ 9.99994589e-01 -3.24251122e-03 5.55854927e-04 5.47990236e+02] [ 3.24248191e-03 9.99994742e-01 5.36216877e-05 5.96174272e+01] [-5.56025873e-04 -5.18190480e-05 9.99999844e-01 -2.31349569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.031400513 meters 0.09687908847759293 Centerline is valid? [True, True] Translation: X:548.02, Y:59.63, Z:-2.31 [[ 9.99986387e-01 -5.19563037e-03 4.80645071e-04 5.48018581e+02] [ 5.19560868e-03 9.99986502e-01 4.63617350e-05 5.96269681e+01] [-4.80879461e-04 -4.38638602e-05 9.99999883e-01 -2.31433961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.061400513 meters 0.08908473811305967 Centerline is valid? [True, True] Translation: X:548.05, Y:59.62, Z:-2.32 [[ 9.99975307e-01 -7.01195067e-03 -4.66542526e-04 5.48049563e+02] [ 7.01193043e-03 9.99975415e-01 -4.50197457e-05 5.96202568e+01] [ 4.66846732e-04 4.17472703e-05 9.99999890e-01 -2.31570226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.091400513 meters 0.09452827922457714 Centerline is valid? [True, True] Translation: X:548.08, Y:59.63, Z:-2.32 [[ 9.99958589e-01 -9.01555803e-03 -1.24081108e-03 5.48078418e+02] [ 9.01541633e-03 9.99959353e-01 -1.19739214e-04 5.96294744e+01] [ 1.24184016e-03 1.08547827e-04 9.99999223e-01 -2.31718483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.121400513 meters 0.0831357711246802 Centerline is valid? [True, True] Translation: X:548.11, Y:59.62, Z:-2.32 [[ 9.99916481e-01 -1.28707094e-02 -1.17286991e-03 5.48110527e+02] [ 1.28705854e-02 9.99917164e-01 -1.13176903e-04 5.96180016e+01] [ 1.17422943e-03 9.80719281e-05 9.99999306e-01 -2.31651251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.151400513 meters 0.08185945540154893 Centerline is valid? [True, True] Translation: X:548.14, Y:59.62, Z:-2.32 [[ 9.99896506e-01 -1.43682690e-02 -7.27956306e-04 5.48140544e+02] [ 1.43682216e-02 9.99896769e-01 -7.02632309e-05 5.96195118e+01] [ 7.28890720e-04 5.97965215e-05 9.99999733e-01 -2.31517822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.181400513 meters 0.08502003721202665 Centerline is valid? [True, True] Translation: X:548.17, Y:59.63, Z:-2.31 [[ 9.99884571e-01 -1.51935451e-02 -4.67970366e-06 5.48169807e+02] [ 1.51935451e-02 9.99884571e-01 -4.51620626e-07 5.96267214e+01] [ 4.68602521e-06 3.80467208e-07 1.00000000e+00 -2.31391400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.211400513 meters 0.08968612655078795 Centerline is valid? [True, True] Translation: X:548.20, Y:59.64, Z:-2.31 [[ 9.99883903e-01 -1.52280491e-02 5.34981298e-04 5.48199105e+02] [ 1.52280236e-02 9.99884046e-01 5.16447970e-05 5.96363090e+01] [-5.35705714e-04 -4.34920934e-05 9.99999856e-01 -2.31323740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.241400513 meters 0.08818097815725359 Centerline is valid? [True, True] Translation: X:548.23, Y:59.64, Z:-2.31 [[ 9.99889669e-01 -1.48352902e-02 7.51419862e-04 5.48229962e+02] [ 1.48352399e-02 9.99889949e-01 7.24918159e-05 5.96395778e+01] [-7.52412605e-04 -6.13363239e-05 9.99999715e-01 -2.31258191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.271400513 meters 0.08455202633321278 Centerline is valid? [True, True] Translation: X:548.26, Y:59.64, Z:-2.31 [[ 9.99922809e-01 -1.24198883e-02 3.49042843e-04 5.48260067e+02] [ 1.24198773e-02 9.99922870e-01 3.36635210e-05 5.96440672e+01] [-3.49434018e-04 -2.93258532e-05 9.99999939e-01 -2.31301766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.301400513 meters 0.0862244969427829 Centerline is valid? [True, True] Translation: X:548.29, Y:59.65, Z:-2.31 [[ 9.99939393e-01 -1.10084125e-02 1.61503324e-04 5.48290132e+02] [ 1.10084101e-02 9.99939405e-01 1.55851508e-05 5.96518442e+01] [-1.61665105e-04 -1.38063114e-05 9.99999987e-01 -2.31328707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.331400513 meters 0.08788704466228783 Centerline is valid? [True, True] Translation: X:548.32, Y:59.66, Z:-2.31 [[ 9.99950968e-01 -9.89413198e-03 4.09716603e-04 5.48320766e+02] [ 9.89411661e-03 9.99951051e-01 3.95165298e-05 5.96581669e+01] [-4.10087530e-04 -3.54608083e-05 9.99999915e-01 -2.31255620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.361400513 meters 0.08977603630130516 Centerline is valid? [True, True] Translation: X:548.35, Y:59.67, Z:-2.31 [[ 9.99954637e-01 -9.42905330e-03 1.34822919e-03 5.48349908e+02] [ 9.42888653e-03 9.99955539e-01 1.29998907e-04 5.96664443e+01] [-1.34939501e-03 -1.17280710e-04 9.99999083e-01 -2.31156553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.391400513 meters 0.10080663426699264 Centerline is valid? [True, False] Translation: X:548.35, Y:59.67, Z:-2.31 [[ 9.99953381e-01 -9.55662853e-03 1.38104771e-03 5.48349709e+02] [ 9.55691058e-03 9.99954312e-01 -1.97777174e-04 5.96679440e+01] [-1.37909453e-03 2.10966503e-04 9.99999027e-01 -2.31139604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.421400513 meters 0.08487712568744574 Centerline is valid? [False, True] Translation: X:548.35, Y:59.66, Z:-2.31 [[ 9.99986915e-01 -4.99766338e-03 1.09203184e-03 5.48350399e+02] [ 4.99216761e-03 9.99975145e-01 4.97868428e-03 5.96643174e+01] [-1.11688649e-03 -4.97316753e-03 9.99987010e-01 -2.31095217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.451400513 meters 0.08204264095960227 Centerline is valid? [True, True] Translation: X:548.38, Y:59.67, Z:-2.31 [[ 9.99922963e-01 -1.23990814e-02 5.74586137e-04 5.48379979e+02] [ 1.23990540e-02 9.99923127e-01 5.11474191e-05 5.96689412e+01] [-5.75176148e-04 -4.40191543e-05 9.99999834e-01 -2.31148008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.481400513 meters 0.07618625255002476 Centerline is valid? [True, True] Translation: X:548.41, Y:59.66, Z:-2.31 [[ 9.99869893e-01 -1.61302955e-02 -1.07845448e-04 5.48411289e+02] [ 1.61302946e-02 9.99869898e-01 -9.60165907e-06 5.96634747e+01] [ 1.07986295e-04 7.86083098e-06 9.99999994e-01 -2.31269920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.511400513 meters 0.07180231893015594 Centerline is valid? [True, True] Translation: X:548.44, Y:59.66, Z:-2.31 [[ 9.99809686e-01 -1.94829888e-02 -1.00286970e-03 5.48442846e+02] [ 1.94829090e-02 9.99810186e-01 -8.92667865e-05 5.96592788e+01] [ 1.00441852e-03 6.97109787e-05 9.99999493e-01 -2.31433112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.541400513 meters 0.07030146776764762 Centerline is valid? [True, True] Translation: X:548.47, Y:59.66, Z:-2.31 [[ 9.99700719e-01 -2.44471939e-02 -8.98196434e-04 5.48472500e+02] [ 2.44471319e-02 9.99701121e-01 -7.99542120e-05 5.96565524e+01] [ 8.99882638e-04 5.79719566e-05 9.99999593e-01 -2.31436813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.571400513 meters 0.06981995630925997 Centerline is valid? [True, True] Translation: X:548.50, Y:59.66, Z:-2.31 [[ 9.99657810e-01 -2.61583490e-02 -6.44833994e-05 5.48502272e+02] [ 2.61583487e-02 9.99657812e-01 -5.74017553e-06 5.96575353e+01] [ 6.46114874e-05 4.05143205e-06 9.99999998e-01 -2.31289803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.601400513 meters 0.06984683305754112 Centerline is valid? [True, True] Translation: X:548.53, Y:59.66, Z:-2.31 [[ 9.99632005e-01 -2.71240513e-02 3.74776910e-04 5.48531847e+02] [ 2.71240407e-02 9.99632075e-01 3.33688686e-05 5.96591072e+01] [-3.75544119e-04 -2.31911248e-05 9.99999929e-01 -2.31203069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.631400513 meters 0.06185713504065113 Centerline is valid? [True, True] Translation: X:548.56, Y:59.65, Z:-2.31 [[ 9.99621958e-01 -2.74942656e-02 7.76693011e-05 5.48563064e+02] [ 2.74942651e-02 9.99621961e-01 6.91483106e-06 5.96501218e+01] [-7.78300573e-05 -4.77675661e-06 9.99999997e-01 -2.31200282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.661400513 meters 0.06787972190445167 Centerline is valid? [True, True] Translation: X:548.59, Y:59.66, Z:-2.31 [[ 9.99622003e-01 -2.74904060e-02 -3.58025786e-04 5.48592306e+02] [ 2.74903964e-02 9.99622067e-01 -3.18744409e-05 5.96580078e+01] [ 3.58766718e-04 2.20201217e-05 9.99999935e-01 -2.31242204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.691400513 meters 0.07296380212254899 Centerline is valid? [True, True] Translation: X:548.62, Y:59.66, Z:-2.31 [[ 9.99684053e-01 -2.50695830e-02 -1.81914683e-03 5.48621597e+02] [ 2.50693296e-02 9.99685702e-01 -1.61980260e-04 5.96636587e+01] [ 1.82263585e-03 1.16324292e-04 9.99998332e-01 -2.31470708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.721400513 meters 0.07544754701404918 Centerline is valid? [True, True] Translation: X:548.65, Y:59.67, Z:-2.32 [[ 9.99729193e-01 -2.31606799e-02 -2.26353680e-03 5.48650921e+02] [ 2.31602826e-02 9.99731744e-01 -2.01577504e-04 5.96680142e+01] [ 2.26759827e-03 1.49098764e-04 9.99997418e-01 -2.31532344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.751400513 meters 0.07043424272120721 Centerline is valid? [True, True] Translation: X:548.68, Y:59.66, Z:-2.32 [[ 9.99772933e-01 -2.11371120e-02 -2.70274954e-03 5.48681402e+02] [ 2.11365381e-02 9.99776569e-01 -2.40735759e-04 5.96627475e+01] [ 2.70723413e-03 1.83554327e-04 9.99996319e-01 -2.31626499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.781400513 meters 0.0766073659444137 Centerline is valid? [True, True] Translation: X:548.71, Y:59.67, Z:-2.32 [[ 9.99810079e-01 -1.92018544e-02 -3.33082657e-03 5.48709509e+02] [ 1.92009718e-02 9.99815600e-01 -2.96755139e-04 5.96704193e+01] [ 3.33591062e-03 2.32743672e-04 9.99994409e-01 -2.31746634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.811400513 meters 0.07993070903250067 Centerline is valid? [True, True] Translation: X:548.74, Y:59.67, Z:-2.32 [[ 9.99839802e-01 -1.75285104e-02 -3.62240500e-03 5.48738316e+02] [ 1.75274553e-02 9.99846330e-01 -3.22814813e-04 5.96745386e+01] [ 3.62750681e-03 2.59271557e-04 9.99993387e-01 -2.31788787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.841400513 meters 0.07313597143077358 Centerline is valid? [True, True] Translation: X:548.77, Y:59.67, Z:-2.32 [[ 9.99865955e-01 -1.59333772e-02 -3.76815849e-03 5.48769600e+02] [ 1.59322242e-02 9.99873018e-01 -3.35809613e-04 5.96671634e+01] [ 3.77303058e-03 2.75729453e-04 9.99992844e-01 -2.31684551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.871400513 meters 0.09154764489074897 Centerline is valid? [True, True] Translation: X:548.80, Y:59.69, Z:-2.32 [[ 9.99918053e-01 -1.25817436e-02 -2.36384144e-03 5.48796557e+02] [ 1.25812806e-02 9.99920830e-01 -2.10636528e-04 5.96918538e+01] [ 2.36630447e-03 1.80879115e-04 9.99997184e-01 -2.31525601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.901400513 meters 0.08548693555969275 Centerline is valid? [True, True] Translation: X:548.83, Y:59.69, Z:-2.31 [[ 9.99943063e-01 -1.04729694e-02 -2.04629459e-03 5.48827813e+02] [ 1.04726181e-02 9.99945144e-01 -1.82347537e-04 5.96872080e+01] [ 2.04809206e-03 1.60907093e-04 9.99997890e-01 -2.31465233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.931400513 meters 0.08816237817292348 Centerline is valid? [True, True] Translation: X:548.86, Y:59.69, Z:-2.31 [[ 9.99963367e-01 -8.41596705e-03 -1.56096707e-03 5.48857770e+02] [ 8.41576009e-03 9.99964577e-01 -1.39104776e-04 5.96924437e+01] [ 1.56208248e-03 1.25962956e-04 9.99998772e-01 -2.31462303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.961400513 meters 0.08421151913664825 Centerline is valid? [True, True] Translation: X:548.89, Y:59.69, Z:-2.31 [[ 9.99974850e-01 -7.04885846e-03 -7.82903992e-04 5.48888314e+02] [ 7.04880598e-03 9.99975154e-01 -6.97745855e-05 5.96879623e+01] [ 7.83376372e-04 6.42542923e-05 9.99999691e-01 -2.31453171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.991400513 meters 0.09050352342152103 Centerline is valid? [True, True] Translation: X:548.92, Y:59.70, Z:-2.31 [[ 9.99967129e-01 -8.09912483e-03 -3.81580322e-04 5.48917351e+02] [ 8.09911244e-03 9.99967201e-01 -3.40088850e-05 5.96972290e+01] [ 3.81843248e-04 3.09173051e-05 9.99999927e-01 -2.31403908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.021400513 meters 0.08727658741536949 Centerline is valid? [True, True] Translation: X:548.95, Y:59.69, Z:-2.31 [[ 9.99947997e-01 -1.01832384e-02 -5.52219732e-04 5.48948027e+02] [ 1.01832127e-02 9.99948149e-01 -4.92178297e-05 5.96935891e+01] [ 5.52692295e-04 4.35918992e-05 9.99999846e-01 -2.31355633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.051400513 meters 0.07938339675655956 Centerline is valid? [True, True] Translation: X:548.98, Y:59.68, Z:-2.31 [[ 9.99921472e-01 -1.25304026e-02 -1.94919209e-04 5.48979316e+02] [ 1.25303995e-02 9.99921491e-01 -1.73726354e-05 5.96832293e+01] [ 1.95121592e-04 1.49288557e-05 9.99999981e-01 -2.31307867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.081400513 meters 0.07350662037756972 Centerline is valid? [True, True] Translation: X:549.01, Y:59.68, Z:-2.31 [[ 9.99894393e-01 -1.45309537e-02 2.34922169e-04 5.49010167e+02] [ 1.45309492e-02 9.99894420e-01 2.09407939e-05 5.96778719e+01] [-2.35201656e-04 -1.75249403e-05 9.99999972e-01 -2.31280825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.111400513 meters 0.07742713165152855 Centerline is valid? [True, True] Translation: X:549.04, Y:59.68, Z:-2.31 [[ 9.99864995e-01 -1.64254553e-02 4.42978267e-04 5.49040231e+02] [ 1.64254394e-02 9.99865093e-01 3.94846634e-05 5.96821808e+01] [-4.43567059e-04 -3.22032201e-05 9.99999901e-01 -2.31238862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.141400513 meters 0.07469758341757676 Centerline is valid? [True, True] Translation: X:549.07, Y:59.68, Z:-2.31 [[ 9.99831135e-01 -1.83766134e-02 -4.04086352e-05 5.49071969e+02] [ 1.83766133e-02 9.99831136e-01 -3.60416407e-06 5.96760234e+01] [ 4.04680440e-05 2.86098159e-06 9.99999999e-01 -2.31238354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.171400513 meters 0.07523659186173363 Centerline is valid? [True, True] Translation: X:549.10, Y:59.68, Z:-2.31 [[ 9.99835278e-01 -1.81460735e-02 -3.69481055e-04 5.49101985e+02] [ 1.81460626e-02 9.99835346e-01 -3.29307029e-05 5.96768583e+01] [ 3.70017781e-04 2.62206522e-05 9.99999931e-01 -2.31290701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.201400513 meters 0.07781142773794865 Centerline is valid? [True, True] Translation: X:549.13, Y:59.68, Z:-2.31 [[ 9.99852876e-01 -1.71491078e-02 -3.68034238e-04 5.49131609e+02] [ 1.71490969e-02 9.99852943e-01 -3.28058858e-05 5.96802922e+01] [ 3.68542708e-04 2.64896045e-05 9.99999932e-01 -2.31279676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.231400513 meters 0.08076394027788751 Centerline is valid? [True, True] Translation: X:549.16, Y:59.68, Z:-2.31 [[ 9.99875884e-01 -1.57521514e-02 -2.92845600e-04 5.49160544e+02] [ 1.57521444e-02 9.99875927e-01 -2.61069153e-05 5.96844377e+01] [ 2.93220506e-04 2.14907289e-05 9.99999957e-01 -2.31242859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.261400513 meters 0.08491209318177957 Centerline is valid? [True, True] Translation: X:549.19, Y:59.69, Z:-2.31 [[ 9.99931156e-01 -1.17302647e-02 -2.89959840e-04 5.49190397e+02] [ 1.17302577e-02 9.99931198e-01 -2.58557165e-05 5.96895312e+01] [ 2.90243185e-04 2.24526328e-05 9.99999958e-01 -2.31239415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.291400513 meters 0.07882209230747017 Centerline is valid? [True, True] Translation: X:549.22, Y:59.68, Z:-2.31 [[ 9.99956440e-01 -9.31187525e-03 -6.37786597e-04 5.49221703e+02] [ 9.31184085e-03 9.99956642e-01 -5.68791423e-05 5.96845282e+01] [ 6.38288595e-04 5.09376973e-05 9.99999795e-01 -2.31263204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.321400513 meters 0.07882209230747017 Centerline is valid? [True, True] Translation: X:549.25, Y:59.69, Z:-2.31 [[ 9.99956440e-01 -9.31187525e-03 -6.37786579e-04 5.49251680e+02] [ 9.31184085e-03 9.99956642e-01 -5.68793440e-05 5.96872016e+01] [ 6.38288579e-04 5.09378992e-05 9.99999795e-01 -2.31262452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.351400513 meters 0.08963153706178544 Centerline is valid? [True, True] Translation: X:549.28, Y:59.70, Z:-2.31 [[ 9.99974801e-01 -7.01122689e-03 -1.11318293e-03 5.49280062e+02] [ 7.01112069e-03 9.99975417e-01 -9.92772178e-05 5.97031275e+01] [ 1.11385162e-03 9.14700562e-05 9.99999375e-01 -2.31320676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.381400513 meters 0.08766604704557385 Centerline is valid? [True, True] Translation: X:549.31, Y:59.70, Z:-2.31 [[ 9.99986259e-01 -4.99175373e-03 -1.60144442e-03 5.49310920e+02] [ 4.99153136e-03 9.99987532e-01 -1.42825673e-04 5.97038148e+01] [ 1.60213740e-03 1.34830050e-04 9.99998707e-01 -2.31432019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.411400513 meters 0.07912967580596855 Centerline is valid? [True, True] Translation: X:549.34, Y:59.70, Z:-2.31 [[ 9.99990960e-01 -3.67720486e-03 -2.13511661e-03 5.49341734e+02] [ 3.67680655e-03 9.99993222e-01 -1.90444628e-04 5.96966710e+01] [ 2.13580245e-03 1.82592496e-04 9.99997703e-01 -2.31498563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.441400513 meters 0.09231824930638378 Centerline is valid? [True, True] Translation: X:549.37, Y:59.72, Z:-2.32 [[ 9.99992329e-01 -2.93701393e-03 -2.59164060e-03 5.49368492e+02] [ 2.93642432e-03 9.99995662e-01 -2.31278531e-04 5.97156575e+01] [ 2.59230863e-03 2.23666600e-04 9.99996615e-01 -2.31628557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.471400513 meters 0.09328818742541212 Centerline is valid? [True, True] Translation: X:549.40, Y:59.72, Z:-2.32 [[ 9.99987390e-01 -3.79288593e-03 -3.29157198e-03 5.49397313e+02] [ 3.79193863e-03 9.99992767e-01 -2.93989928e-04 5.97206727e+01] [ 3.29266325e-03 2.81504781e-04 9.99994540e-01 -2.31704201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.501400513 meters 0.09144238973343696 Centerline is valid? [True, True] Translation: X:549.43, Y:59.72, Z:-2.32 [[ 9.99984952e-01 -4.62419759e-03 -2.95181560e-03 5.49426029e+02] [ 4.62343895e-03 9.99989277e-01 -2.63781490e-04 5.97214529e+01] [ 2.95300372e-03 2.50129981e-04 9.99995609e-01 -2.31643231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.531400513 meters 0.0876651299735864 Centerline is valid? [True, True] Translation: X:549.46, Y:59.72, Z:-2.32 [[ 9.99979072e-01 -5.74642261e-03 -2.97221409e-03 5.49456168e+02] [ 5.74565815e-03 9.99983458e-01 -2.65676877e-04 5.97189117e+01] [ 2.97369162e-03 2.48593991e-04 9.99995548e-01 -2.31564201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.561400513 meters 0.08746565531379859 Centerline is valid? [True, True] Translation: X:549.48, Y:59.72, Z:-2.31 [[ 9.99974699e-01 -6.74177564e-03 -2.26953568e-03 5.49484848e+02] [ 6.74133233e-03 9.99977256e-01 -2.02920989e-04 5.97221738e+01] [ 2.27085211e-03 1.87616160e-04 9.99997404e-01 -2.31456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.591400513 meters 0.08059794996979606 Centerline is valid? [True, True] Translation: X:549.52, Y:59.72, Z:-2.32 [[ 9.99950181e-01 -9.48250252e-03 -3.11718766e-03 5.49515994e+02] [ 9.48167942e-03 9.99955009e-01 -2.78724111e-04 5.97166585e+01] [ 3.11969042e-03 2.49154051e-04 9.99995103e-01 -2.31622451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.621400513 meters 0.08109470204569198 Centerline is valid? [True, True] Translation: X:549.55, Y:59.72, Z:-2.32 [[ 9.99932539e-01 -1.10964751e-02 -3.43304434e-03 5.49545295e+02] [ 1.10954860e-02 9.99938396e-01 -3.07039627e-04 5.97193112e+01] [ 3.43623991e-03 2.68927619e-04 9.99994060e-01 -2.31740106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.651400513 meters 0.07727684639145636 Centerline is valid? [True, True] Translation: X:549.58, Y:59.72, Z:-2.32 [[ 9.99917434e-01 -1.24715113e-02 -3.09636120e-03 5.49576091e+02] [ 1.24707131e-02 9.99922199e-01 -2.76965657e-04 5.97162268e+01] [ 3.09957448e-03 2.38328957e-04 9.99995168e-01 -2.31697138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.681400513 meters 0.07438756351810469 Centerline is valid? [True, True] Translation: X:549.61, Y:59.71, Z:-2.32 [[ 9.99901119e-01 -1.38472228e-02 -2.45069184e-03 5.49606222e+02] [ 1.38467267e-02 9.99904105e-01 -2.19264752e-04 5.97137762e+01] [ 2.45349304e-03 1.85309011e-04 9.99996973e-01 -2.31579084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.711400513 meters 0.0822123030919663 Centerline is valid? [True, True] Translation: X:549.63, Y:59.73, Z:-2.32 [[ 9.99879826e-01 -1.53160321e-02 -2.39852821e-03 5.49633965e+02] [ 1.53155610e-02 9.99882687e-01 -2.14654535e-04 5.97252120e+01] [ 2.40153449e-03 1.77893934e-04 9.99997100e-01 -2.31521305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.741400513 meters 0.079619147655433 Centerline is valid? [True, True] Translation: X:549.66, Y:59.72, Z:-2.32 [[ 9.99830076e-01 -1.82207508e-02 -2.79693461e-03 5.49664717e+02] [ 1.82201215e-02 9.99833968e-01 -2.50321235e-04 5.97235582e+01] [ 2.80103127e-03 1.99318211e-04 9.99996057e-01 -2.31588174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.771400513 meters 0.0751043836914634 Centerline is valid? [True, True] Translation: X:549.70, Y:59.72, Z:-2.32 [[ 9.99799224e-01 -1.98463879e-02 -2.76287445e-03 5.49695622e+02] [ 1.98457799e-02 9.99803023e-01 -2.47301587e-04 5.97191669e+01] [ 2.76723827e-03 1.92420536e-04 9.99996153e-01 -2.31592620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.801400513 meters 0.07401784464479824 Centerline is valid? [True, True] Translation: X:549.73, Y:59.72, Z:-2.32 [[ 9.99765409e-01 -2.15471515e-02 -2.20175473e-03 5.49725651e+02] [ 2.15467695e-02 9.99767822e-01 -1.97100502e-04 5.97175944e+01] [ 2.20549048e-03 1.49613562e-04 9.99997557e-01 -2.31542590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.831400513 meters 0.07245892095907878 Centerline is valid? [True, True] Translation: X:549.76, Y:59.72, Z:-2.31 [[ 9.99727320e-01 -2.33133266e-02 -1.33238138e-03 5.49756307e+02] [ 2.33131882e-02 9.99728204e-01 -1.19304106e-04 5.97155862e+01] [ 1.33480062e-03 8.82095165e-05 9.99999105e-01 -2.31433108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.861400513 meters 0.0695011546618466 Centerline is valid? [True, True] Translation: X:549.79, Y:59.71, Z:-2.31 [[ 9.99690426e-01 -2.48486922e-02 -1.26296821e-03 5.49787116e+02] [ 2.48485690e-02 9.99691220e-01 -1.13126443e-04 5.97121971e+01] [ 1.26538928e-03 8.17084694e-05 9.99999196e-01 -2.31437391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.891400513 meters 0.07036734459882059 Centerline is valid? [True, True] Translation: X:549.82, Y:59.71, Z:-2.31 [[ 9.99650878e-01 -2.64064636e-02 -9.06413238e-04 5.49816061e+02] [ 2.64064007e-02 9.99651287e-01 -8.12168699e-05 5.97108987e+01] [ 9.08241810e-04 5.72534041e-05 9.99999586e-01 -2.31469263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.921400513 meters 0.07437283414349583 Centerline is valid? [True, True] Translation: X:549.84, Y:59.72, Z:-2.31 [[ 9.99656567e-01 -2.61932848e-02 -8.12539945e-04 5.49844197e+02] [ 2.61932342e-02 9.99656896e-01 -7.28318722e-05 5.97153364e+01] [ 8.14168865e-04 5.15238103e-05 9.99999667e-01 -2.31407795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.951400513 meters 0.0706205114187718 Centerline is valid? [True, True] Translation: X:549.87, Y:59.71, Z:-2.31 [[ 9.99689067e-01 -2.49343278e-02 -2.21549393e-04 5.49874385e+02] [ 2.49343240e-02 9.99689091e-01 -1.98601881e-05 5.97105955e+01] [ 2.21975712e-04 1.43298285e-05 9.99999975e-01 -2.31305445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.981400513 meters 0.07637214654451115 Centerline is valid? [True, True] Translation: X:549.90, Y:59.72, Z:-2.31 [[ 9.99738159e-01 -2.28825913e-02 -3.02676765e-05 5.49903207e+02] [ 2.28825913e-02 9.99738159e-01 -2.70919114e-06 5.97184371e+01] [ 3.03217445e-05 2.01587890e-06 1.00000000e+00 -2.31270725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.011400513 meters 0.07079989753688481 Centerline is valid? [True, True] Translation: X:549.93, Y:59.71, Z:-2.31 [[ 9.99786372e-01 -2.06680390e-02 -2.07801138e-04 5.49934339e+02] [ 2.06680355e-02 9.99786393e-01 -1.86375765e-05 5.97131212e+01] [ 2.08141952e-04 1.43387537e-05 9.99999978e-01 -2.31326870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.041400513 meters 0.07499224836160097 Centerline is valid? [True, True] Translation: X:549.96, Y:59.72, Z:-2.32 [[ 9.99857437e-01 -1.68337329e-02 -1.31535842e-03 5.49963629e+02] [ 1.68335922e-02 9.99858298e-01 -1.17983110e-04 5.97179167e+01] [ 1.31715812e-03 9.58240825e-05 9.99999128e-01 -2.31533563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.071400513 meters 0.07927904589467949 Centerline is valid? [True, True] Translation: X:549.99, Y:59.72, Z:-2.32 [[ 9.99866454e-01 -1.61711694e-02 -2.35945071e-03 5.49991480e+02] [ 1.61707146e-02 9.99869223e-01 -2.11733867e-04 5.97227974e+01] [ 2.36256613e-03 1.73551587e-04 9.99997194e-01 -2.31662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.101400513 meters 0.08216398968818746 Centerline is valid? [True, True] Translation: X:550.02, Y:59.73, Z:-2.32 [[ 9.99871582e-01 -1.58881236e-02 -2.09468663e-03 5.50019279e+02] [ 1.58877642e-02 9.99873764e-01 -1.88066375e-04 5.97275117e+01] [ 2.09741022e-03 1.54762337e-04 9.99997788e-01 -2.31646618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.131400513 meters 0.07851726487418537 Centerline is valid? [True, True] Translation: X:550.05, Y:59.72, Z:-2.32 [[ 9.99864059e-01 -1.63551285e-02 -2.09145701e-03 5.50048773e+02] [ 1.63547707e-02 9.99866234e-01 -1.88076803e-04 5.97239884e+01] [ 2.09425327e-03 1.53845935e-04 9.99997795e-01 -2.31626062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.161400513 meters 0.08595200716717237 Centerline is valid? [True, True] Translation: X:550.08, Y:59.73, Z:-2.32 [[ 9.99849692e-01 -1.72323018e-02 -1.90802753e-03 5.50075453e+02] [ 1.72320053e-02 9.99851503e-01 -1.71744767e-04 5.97342556e+01] [ 1.91070375e-03 1.38839812e-04 9.99998165e-01 -2.31640021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.191400513 meters 0.0787259915676319 Centerline is valid? [True, True] Translation: X:550.11, Y:59.73, Z:-2.32 [[ 9.99827655e-01 -1.84697732e-02 -1.87800039e-03 5.50105688e+02] [ 1.84694880e-02 9.99829410e-01 -1.69096945e-04 5.97268382e+01] [ 1.88080320e-03 1.34382096e-04 9.99998222e-01 -2.31629483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.221400513 meters 0.07383069576164146 Centerline is valid? [True, True] Translation: X:550.14, Y:59.72, Z:-2.32 [[ 9.99753110e-01 -2.21008540e-02 -2.29600755e-03 5.50136211e+02] [ 2.21004372e-02 9.99755734e-01 -2.06779796e-04 5.97209940e+01] [ 2.30001672e-03 1.55985973e-04 9.99997343e-01 -2.31645414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.251400513 meters 0.06712170603185948 Centerline is valid? [True, True] Translation: X:550.17, Y:59.71, Z:-2.32 [[ 9.99703343e-01 -2.42429117e-02 -2.34695613e-03 5.50166858e+02] [ 2.42424819e-02 9.99706086e-01 -2.11372556e-04 5.97138342e+01] [ 2.35139061e-03 1.54413809e-04 9.99997224e-01 -2.31671229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.281400513 meters 0.06886111664095688 Centerline is valid? [True, True] Translation: X:550.19, Y:59.71, Z:-2.32 [[ 9.99684946e-01 -2.49696801e-02 -2.55405203e-03 5.50192703e+02] [ 2.49737300e-02 9.99686881e-01 1.56625630e-03 5.97132462e+01] [ 2.51414339e-03 -1.62954705e-03 9.99995512e-01 -2.31688586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.311400513 meters 0.06269364921189069 Centerline is valid? [True, True] Translation: X:550.23, Y:59.71, Z:-2.32 [[ 9.99588658e-01 -2.86182400e-02 -1.87360032e-03 5.50226795e+02] [ 2.86144794e-02 9.99588513e-01 -2.00409808e-03 5.97101781e+01] [ 1.93018312e-03 1.94966161e-03 9.99996237e-01 -2.31583641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.341400513 meters 0.06281785966951464 Centerline is valid? [True, True] Translation: X:550.26, Y:59.71, Z:-2.32 [[ 9.99539696e-01 -3.02478736e-02 -2.33698148e-03 5.50256350e+02] [ 3.02474635e-02 9.99542419e-01 -2.10660709e-04 5.97085184e+01] [ 2.34228416e-03 1.39875979e-04 9.99997247e-01 -2.31547328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.371400513 meters 0.06804788541170674 Centerline is valid? [True, True] Translation: X:550.29, Y:59.71, Z:-2.32 [[ 9.99493834e-01 -3.16778728e-02 -2.93071474e-03 5.50285413e+02] [ 3.16772336e-02 9.99498116e-01 -2.64278773e-04 5.97128676e+01] [ 2.93761565e-03 1.71308068e-04 9.99995671e-01 -2.31622666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.401400513 meters 0.06380292267106369 Centerline is valid? [True, True] Translation: X:550.31, Y:59.71, Z:-2.32 [[ 9.99501215e-01 -3.14218589e-02 -3.16051833e-03 5.50314530e+02] [ 3.14211128e-02 9.99506194e-01 -2.85474516e-04 5.97086645e+01] [ 3.16792778e-03 1.86025122e-04 9.99994965e-01 -2.31585267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.431400513 meters 0.062048565334610103 Centerline is valid? [True, True] Translation: X:550.34, Y:59.71, Z:-2.32 [[ 9.99537792e-01 -3.02713122e-02 -2.80187259e-03 5.50344721e+02] [ 3.02707210e-02 9.99541705e-01 -2.53171646e-04 5.97077745e+01] [ 2.80825235e-03 1.68239924e-04 9.99996043e-01 -2.31549233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.461400513 meters 0.06861786266188055 Centerline is valid? [True, True] Translation: X:550.37, Y:59.72, Z:-2.32 [[ 9.99578011e-01 -2.89570916e-02 -2.29930945e-03 5.50372221e+02] [ 2.89566898e-02 9.99580646e-01 -2.07859648e-04 5.97168339e+01] [ 2.30436423e-03 1.41191543e-04 9.99997335e-01 -2.31516234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.491400513 meters 0.06507420075313253 Centerline is valid? [True, True] Translation: X:550.40, Y:59.71, Z:-2.31 [[ 9.99620116e-01 -2.75052425e-02 -1.75622818e-03 5.50402007e+02] [ 2.75050058e-02 9.99621653e-01 -1.58825038e-04 5.97138012e+01] [ 1.75993223e-03 1.10459637e-04 9.99998445e-01 -2.31415454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.521400513 meters 0.06369379152009196 Centerline is valid? [True, True] Translation: X:550.43, Y:59.71, Z:-2.31 [[ 9.99658457e-01 -2.61045534e-02 -1.23319346e-03 5.50431576e+02] [ 2.61044356e-02 9.99659215e-01 -1.11564724e-04 5.97135590e+01] [ 1.23568555e-03 7.93348009e-05 9.99999233e-01 -2.31328236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.551400513 meters 0.06894351440675962 Centerline is valid? [True, True] Translation: X:550.46, Y:59.72, Z:-2.31 [[ 9.99733772e-01 -2.30487887e-02 -1.06739842e-03 5.50460922e+02] [ 2.30486986e-02 9.99734339e-01 -9.65722948e-05 5.97206301e+01] [ 1.06934073e-03 7.19444400e-05 9.99999426e-01 -2.31295321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.581400513 meters 0.07354067452068865 Centerline is valid? [True, True] Translation: X:550.49, Y:59.73, Z:-2.31 [[ 9.99751664e-01 -2.22098244e-02 -1.82611674e-03 5.50488669e+02] [ 2.22095594e-02 9.99753324e-01 -1.65288904e-04 5.97277272e+01] [ 1.82933732e-03 1.24690609e-04 9.99998319e-01 -2.31446244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.611400513 meters 0.08034875023145566 Centerline is valid? [True, True] Translation: X:550.52, Y:59.74, Z:-2.32 [[ 9.99760655e-01 -2.17766725e-02 -2.09971616e-03 5.50515562e+02] [ 2.17763209e-02 9.99762850e-01 -1.90169543e-04 5.97372775e+01] [ 2.10335947e-03 1.44399934e-04 9.99997778e-01 -2.31600756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.641400513 meters 0.06894381897592591 Centerline is valid? [True, True] Translation: X:550.55, Y:59.72, Z:-2.32 [[ 9.99744549e-01 -2.24821422e-02 -2.32183551e-03 5.50545817e+02] [ 2.24817134e-02 9.99747232e-01 -2.10644286e-04 5.97205193e+01] [ 2.32598436e-03 1.58391636e-04 9.99997282e-01 -2.31557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.671400513 meters 0.07892348784213893 Centerline is valid? [True, True] Translation: X:550.57, Y:59.74, Z:-2.32 [[ 9.99736347e-01 -2.29090314e-02 -1.55336087e-03 5.50571793e+02] [ 2.29088397e-02 9.99737548e-01 -1.41068254e-04 5.97378406e+01] [ 1.55618492e-03 1.05445366e-04 9.99998784e-01 -2.31502751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.701400513 meters 0.07247935716201989 Centerline is valid? [True, True] Translation: X:550.60, Y:59.73, Z:-2.31 [[ 9.99724111e-01 -2.34574333e-02 -1.20463290e-03 5.50601864e+02] [ 2.34573182e-02 9.99724833e-01 -1.09555473e-04 5.97312239e+01] [ 1.20687132e-03 8.12677908e-05 9.99999268e-01 -2.31394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.731400513 meters 0.07167903905857884 Centerline is valid? [True, True] Translation: X:550.63, Y:59.73, Z:-2.31 [[ 9.99733423e-01 -2.30558899e-02 -1.22864548e-03 5.50630988e+02] [ 2.30557697e-02 9.99734174e-01 -1.11930791e-04 5.97302345e+01] [ 1.23089954e-03 8.35735857e-05 9.99999239e-01 -2.31321137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.761400513 meters 0.0742070891261928 Centerline is valid? [True, True] Translation: X:550.66, Y:59.74, Z:-2.31 [[ 9.99752952e-01 -2.21931102e-02 -1.22540939e-03 5.50659421e+02] [ 2.21929899e-02 9.99753699e-01 -1.11719698e-04 5.97353551e+01] [ 1.22758698e-03 8.44965998e-05 9.99999243e-01 -2.31329873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.791400513 meters 0.07961376143603613 Centerline is valid? [True, True] Translation: X:550.69, Y:59.74, Z:-2.31 [[ 9.99773102e-01 -2.12687965e-02 -1.17609805e-03 5.50686857e+02] [ 2.12686849e-02 9.99773790e-01 -1.07279823e-04 5.97443843e+01] [ 1.17811372e-03 8.22414225e-05 9.99999303e-01 -2.31357893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.821400513 meters 0.0763784756049777 Centerline is valid? [True, True] Translation: X:550.72, Y:59.74, Z:-2.31 [[ 9.99795251e-01 -2.01851439e-02 -1.41970081e-03 5.50716931e+02] [ 2.01849802e-02 9.99796254e-01 -1.29540330e-04 5.97431022e+01] [ 1.42202634e-03 1.00857174e-04 9.99998984e-01 -2.31404062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.851400513 meters 0.07713545610531694 Centerline is valid? [True, True] Translation: X:550.75, Y:59.75, Z:-2.32 [[ 9.99824239e-01 -1.86868070e-02 -1.51462131e-03 5.50746735e+02] [ 1.86866189e-02 9.99825380e-01 -1.38221204e-04 5.97472240e+01] [ 1.51693974e-03 1.09893759e-04 9.99998843e-01 -2.31502090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.881400513 meters 0.07763425399690783 Centerline is valid? [True, True] Translation: X:550.78, Y:59.75, Z:-2.31 [[ 9.99873865e-01 -1.58220359e-02 -1.38484624e-03 5.50777110e+02] [ 1.58218759e-02 9.99874818e-01 -1.26385239e-04 5.97508812e+01] [ 1.38667255e-03 1.04458432e-04 9.99999033e-01 -2.31426916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.911400513 meters 0.08470313381750466 Centerline is valid? [True, True] Translation: X:550.80, Y:59.76, Z:-2.31 [[ 9.99891476e-01 -1.46840516e-02 -1.18952816e-03 5.50804713e+02] [ 1.46839327e-02 9.99892179e-01 -1.08593099e-04 5.97628301e+01] [ 1.19099449e-03 9.11143631e-05 9.99999287e-01 -2.31419671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.941400513 meters 0.08388655691472961 Centerline is valid? [True, True] Translation: X:550.83, Y:59.77, Z:-2.31 [[ 9.99900558e-01 -1.40678896e-02 -9.84286438e-04 5.50833670e+02] [ 1.40678079e-02 9.99901039e-01 -8.98878555e-05 5.97653988e+01] [ 9.85453565e-04 7.60321643e-05 9.99999512e-01 -2.31394876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.971400513 meters 0.0834166500787307 Centerline is valid? [True, True] Translation: X:550.86, Y:59.77, Z:-2.31 [[ 9.99904307e-01 -1.38300997e-02 -3.24108813e-04 5.50862479e+02] [ 1.38300908e-02 9.99904359e-01 -2.96152875e-05 5.97681046e+01] [ 3.24487397e-04 2.51299992e-05 9.99999947e-01 -2.31360145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.001400513 meters 0.08358358751153781 Centerline is valid? [True, True] Translation: X:550.89, Y:59.77, Z:-2.31 [[ 9.99907282e-01 -1.36157628e-02 1.95350897e-04 5.50892123e+02] [ 1.36157596e-02 9.99907301e-01 1.78814859e-05 5.97714042e+01] [-1.95576259e-04 -1.52199771e-05 9.99999981e-01 -2.31304931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.031400513 meters 0.08300363492062104 Centerline is valid? [True, True] Translation: X:550.92, Y:59.77, Z:-2.31 [[ 9.99907455e-01 -1.35827691e-02 7.68087910e-04 5.50921993e+02] [ 1.35827191e-02 9.99907748e-01 7.03090692e-05 5.97749878e+01] [-7.68972044e-04 -5.98698401e-05 9.99999703e-01 -2.31262160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.061400513 meters 0.08824698180245164 Centerline is valid? [True, True] Translation: X:550.95, Y:59.79, Z:-2.31 [[ 9.99905550e-01 -1.37391551e-02 3.57164393e-04 5.50950193e+02] [ 1.37391443e-02 9.99905613e-01 3.26888012e-05 5.97857144e+01] [-3.57579798e-04 -2.77785806e-05 9.99999936e-01 -2.31316442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.091400513 meters 0.08143470443464881 Centerline is valid? [True, True] Translation: X:550.98, Y:59.78, Z:-2.31 [[ 9.99905579e-01 -1.37396567e-02 -2.33690547e-04 5.50980108e+02] [ 1.37396521e-02 9.99905606e-01 -2.13888337e-05 5.97817255e+01] [ 2.33962364e-04 1.81759874e-05 9.99999972e-01 -2.31334483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.121400513 meters 0.08243875624410724 Centerline is valid? [True, True] Translation: X:551.01, Y:59.79, Z:-2.31 [[ 9.99905571e-01 -1.37368926e-02 -3.82331784e-04 5.51008716e+02] [ 1.37368803e-02 9.99905644e-01 -3.50085257e-05 5.97872306e+01] [ 3.82776617e-04 2.97531739e-05 9.99999926e-01 -2.31379326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.151400513 meters 0.08982157223373544 Centerline is valid? [True, True] Translation: X:551.04, Y:59.80, Z:-2.31 [[ 9.99904383e-01 -1.37905964e-02 -1.02148486e-03 5.51036756e+02] [ 1.37905079e-02 9.99904902e-01 -9.35691548e-05 5.98000152e+01] [ 1.02267809e-03 7.94734130e-05 9.99999474e-01 -2.31491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.181400513 meters 0.08851921093434961 Centerline is valid? [True, True] Translation: X:551.07, Y:59.80, Z:-2.32 [[ 9.99893719e-01 -1.43533379e-02 -2.55584989e-03 5.51065221e+02] [ 1.43527852e-02 9.99896966e-01 -2.34477255e-04 5.98038520e+01] [ 2.55895208e-03 1.97768770e-04 9.99996706e-01 -2.31774226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.211400513 meters 0.0794929641217288 Centerline is valid? [True, True] Translation: X:551.10, Y:59.80, Z:-2.32 [[ 9.99882815e-01 -1.49501585e-02 -3.29380164e-03 5.51095299e+02] [ 1.49492421e-02 9.99888208e-01 -3.02674285e-04 5.97972725e+01] [ 3.29795845e-03 2.53398978e-04 9.99994530e-01 -2.31813783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.241400513 meters 0.0794929641217288 Centerline is valid? [True, True] Translation: X:551.12, Y:59.80, Z:-2.32 [[ 9.99880114e-01 -1.51297572e-02 -3.29374794e-03 5.51122742e+02] [ 1.51288398e-02 9.99885507e-01 -3.03258087e-04 5.97999446e+01] [ 3.29795905e-03 2.53391145e-04 9.99994530e-01 -2.31813138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.271400513 meters 0.08878990463667048 Centerline is valid? [True, True] Translation: X:551.15, Y:59.82, Z:-2.32 [[ 9.99871086e-01 -1.56937134e-02 -3.39402904e-03 5.51149248e+02] [ 1.56927418e-02 9.99876812e-01 -3.12712388e-04 5.98151789e+01] [ 3.39851856e-03 2.59410453e-04 9.99994191e-01 -2.31897385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.301400513 meters 0.079437500185697 Centerline is valid? [True, True] Translation: X:551.18, Y:59.81, Z:-2.32 [[ 9.99861050e-01 -1.63899935e-02 -3.04131908e-03 5.51178945e+02] [ 1.63892161e-02 9.99865648e-01 -2.80352912e-04 5.98079153e+01] [ 3.04550546e-03 2.30469121e-04 9.99995336e-01 -2.31771436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.331400513 meters 0.07897419771891591 Centerline is valid? [True, True] Translation: X:551.21, Y:59.81, Z:-2.32 [[ 9.99857337e-01 -1.67635718e-02 -2.07080175e-03 5.51207583e+02] [ 1.67632116e-02 9.99859469e-01 -1.91185725e-04 5.98120604e+01] [ 2.07371569e-03 1.56445162e-04 9.99997838e-01 -2.31613221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.361400513 meters 0.07980041713554864 Centerline is valid? [True, True] Translation: X:551.24, Y:59.82, Z:-2.31 [[ 9.99855205e-01 -1.69430951e-02 -1.58137218e-03 5.51235421e+02] [ 1.69428849e-02 9.99856448e-01 -1.46269827e-04 5.98186662e+01] [ 1.58362343e-03 1.19455641e-04 9.99998739e-01 -2.31495501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.391400513 meters 0.08162550863346364 Centerline is valid? [True, True] Translation: X:551.26, Y:59.83, Z:-2.32 [[ 9.99860625e-01 -1.64924792e-02 -2.59407646e-03 5.51262238e+02] [ 1.64919113e-02 9.99863970e-01 -2.40141058e-04 5.98311119e+01] [ 2.59768411e-03 1.97326309e-04 9.99996607e-01 -2.31666715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.421400513 meters 0.08063986305264546 Centerline is valid? [True, True] Translation: X:551.29, Y:59.84, Z:-2.32 [[ 9.99848152e-01 -1.70172727e-02 -3.75317036e-03 5.51291165e+02] [ 1.70160865e-02 9.99855155e-01 -3.47752782e-04 5.98367801e+01] [ 3.75854454e-03 2.83835705e-04 9.99992896e-01 -2.31909342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.451400513 meters 0.08320443784205063 Centerline is valid? [True, True] Translation: X:551.32, Y:59.85, Z:-2.32 [[ 9.99830791e-01 -1.78110912e-02 -4.59939595e-03 5.51318366e+02] [ 1.78093170e-02 9.99841311e-01 -4.26427082e-04 5.98466688e+01] [ 4.60626121e-03 3.44442827e-04 9.99989332e-01 -2.32065314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.481400513 meters 0.08996317218470333 Centerline is valid? [True, True] Translation: X:551.35, Y:59.86, Z:-2.32 [[ 9.99817881e-01 -1.86180885e-02 -4.19190606e-03 5.51345458e+02] [ 1.86166210e-02 9.99826620e-01 -3.88832811e-04 5.98592926e+01] [ 4.19841859e-03 3.10722871e-04 9.99991138e-01 -2.31989310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.511400513 meters 0.07810759372114592 Centerline is valid? [True, True] Translation: X:551.38, Y:59.85, Z:-2.32 [[ 9.99796886e-01 -2.00045193e-02 -2.45057232e-03 5.51375867e+02] [ 2.00040218e-02 9.99799874e-01 -2.27365930e-04 5.98534929e+01] [ 2.45463025e-03 1.78298447e-04 9.99996971e-01 -2.31615445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.541400513 meters 0.07876886103100697 Centerline is valid? [True, True] Translation: X:551.40, Y:59.86, Z:-2.31 [[ 9.99764196e-01 -2.17014763e-02 -7.74053113e-04 5.51404327e+02] [ 2.17014271e-02 9.99764494e-01 -7.18309797e-05 5.98611339e+01] [ 7.75429657e-04 5.50159844e-05 9.99999698e-01 -2.31357457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.571400513 meters 0.07613330698673616 Centerline is valid? [True, True] Translation: X:551.43, Y:59.87, Z:-2.31 [[ 9.99678936e-01 -2.53364835e-02 2.97186516e-04 5.51432840e+02] [ 2.53364764e-02 9.99678980e-01 2.75902512e-05 5.98690560e+01] [-2.97790153e-04 -2.00517338e-05 9.99999955e-01 -2.31182205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.601400513 meters 0.072289625238672 Centerline is valid? [True, True] Translation: X:551.46, Y:59.87, Z:-2.31 [[ 9.99626241e-01 -2.73272457e-02 7.74426236e-04 5.51462790e+02] [ 2.73271982e-02 9.99626540e-01 7.18963360e-05 5.98710545e+01] [-7.76101748e-04 -5.07065649e-05 9.99999698e-01 -2.31150641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.631400513 meters 0.0690199403507836 Centerline is valid? [True, True] Translation: X:551.49, Y:59.87, Z:-2.31 [[ 9.99569239e-01 -2.93094920e-02 1.51328091e-03 5.51492300e+02] [ 2.93093127e-02 9.99570380e-01 1.40524604e-04 5.98727907e+01] [-1.51674948e-03 -9.61108479e-05 9.99998845e-01 -2.31067616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.661400513 meters 0.0637150998951602 Centerline is valid? [True, True] Translation: X:551.52, Y:59.87, Z:-2.31 [[ 9.99506325e-01 -3.13640192e-02 1.84514759e-03 5.51522419e+02] [ 3.13637560e-02 9.99508022e-01 1.71374273e-04 5.98695902e+01] [-1.84961481e-03 -1.13418911e-04 9.99998283e-01 -2.31040744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.691400513 meters 0.06494790383639718 Centerline is valid? [True, True] Translation: X:551.55, Y:59.88, Z:-2.31 [[ 9.99415066e-01 -3.41579403e-02 1.66191250e-03 5.51551000e+02] [ 3.41577307e-02 9.99416443e-01 1.54373885e-04 5.98767180e+01] [-1.66621577e-03 -9.75164273e-05 9.99998607e-01 -2.31035445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.721400513 meters 0.06209144048788961 Centerline is valid? [True, True] Translation: X:551.58, Y:59.88, Z:-2.31 [[ 9.99317269e-01 -3.69341082e-02 9.31385288e-04 5.51580972e+02] [ 3.69340435e-02 9.99317702e-01 8.65306317e-05 5.98773508e+01] [-9.33945738e-04 -5.20717298e-05 9.99999563e-01 -2.31135715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.751400513 meters 0.05666735648150324 Centerline is valid? [True, True] Translation: X:551.61, Y:59.87, Z:-2.31 [[ 9.99141265e-01 -4.14301531e-02 -5.24413178e-04 5.51611035e+02] [ 4.14301332e-02 9.99141402e-01 -4.87253816e-05 5.98747154e+01] [ 5.25981618e-04 2.69570315e-05 9.99999861e-01 -2.31431537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.781400513 meters 0.062212228593971096 Centerline is valid? [True, True] Translation: X:551.64, Y:59.88, Z:-2.31 [[ 9.99092457e-01 -4.25938719e-02 -1.56058271e-04 5.51638733e+02] [ 4.25938701e-02 9.99092469e-01 -1.44980663e-05 5.98833687e+01] [ 1.56534172e-04 7.83778296e-06 9.99999988e-01 -2.31436674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.811400513 meters 0.059224431026745454 Centerline is valid? [True, True] Translation: X:551.67, Y:59.88, Z:-2.31 [[ 9.99067194e-01 -4.31713281e-02 9.89130073e-04 5.51668025e+02] [ 4.31712580e-02 9.99067682e-01 9.21463903e-05 5.98816784e+01] [-9.92185971e-04 -4.93584460e-05 9.99999507e-01 -2.31274828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.841400513 meters 0.05455142293428952 Centerline is valid? [True, True] Translation: X:551.70, Y:59.88, Z:-2.31 [[ 9.99094871e-01 -4.24857677e-02 2.09701189e-03 5.51697404e+02] [ 4.24854504e-02 9.99097066e-01 1.95653407e-04 5.98784724e+01] [-2.10343091e-03 -1.06383821e-04 9.99997782e-01 -2.31092727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.871400513 meters 0.058827680216967534 Centerline is valid? [True, True] Translation: X:551.73, Y:59.89, Z:-2.31 [[ 9.99169554e-01 -4.06470231e-02 2.83235701e-03 5.51725399e+02] [ 4.06464367e-02 9.99173557e-01 2.64315865e-04 5.98876939e+01] [-2.84075988e-03 -1.48971145e-04 9.99995954e-01 -2.30962061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.901400513 meters 0.06636577616348831 Centerline is valid? [True, True] Translation: X:551.75, Y:59.90, Z:-2.31 [[ 9.99412406e-01 -3.42344153e-02 1.68772950e-03 5.51753425e+02] [ 3.42341980e-02 9.99413826e-01 1.57495807e-04 5.99024725e+01] [-1.69213197e-03 -9.96251976e-05 9.99998563e-01 -2.31211005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.931400513 meters 0.06094607347521359 Centerline is valid? [True, True] Translation: X:551.78, Y:59.90, Z:-2.31 [[ 9.99528437e-01 -3.07046514e-02 3.56842317e-04 5.51784298e+02] [ 3.07046415e-02 9.99528501e-01 3.33018097e-05 5.98988455e+01] [-3.57696586e-04 -2.23293904e-05 9.99999936e-01 -2.31474081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.961400513 meters 0.07402656068395232 Centerline is valid? [True, True] Translation: X:551.81, Y:59.92, Z:-2.32 [[ 9.99615739e-01 -2.77180779e-02 -2.85754049e-04 5.51812010e+02] [ 2.77180714e-02 9.99615780e-01 -2.66676448e-05 5.99178761e+01] [ 2.86383433e-04 1.87368463e-05 9.99999959e-01 -2.31619242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.991400513 meters 0.06770311633004367 Centerline is valid? [True, True] Translation: X:551.84, Y:59.91, Z:-2.32 [[ 9.99679311e-01 -2.53223658e-02 -2.31806975e-04 5.51842556e+02] [ 2.53223615e-02 9.99679337e-01 -2.16355039e-05 5.99135267e+01] [ 2.32280505e-04 1.57586656e-05 9.99999973e-01 -2.31623934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.021400513 meters 0.07510760869349895 Centerline is valid? [True, True] Translation: X:551.87, Y:59.93, Z:-2.31 [[ 9.99749650e-01 -2.23551775e-02 9.39634965e-04 5.51870357e+02] [ 2.23551049e-02 9.99750090e-01 8.77213674e-05 5.99292517e+01] [-9.41361167e-04 -6.66937682e-05 9.99999555e-01 -2.31463393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.051400513 meters 0.08119628568573092 Centerline is valid? [True, True] Translation: X:551.90, Y:59.94, Z:-2.31 [[ 9.99766357e-01 -2.15829763e-02 1.18604774e-03 5.51899823e+02] [ 2.15828601e-02 9.99767057e-01 1.10706326e-04 5.99413820e+01] [-1.18816083e-03 -8.50821574e-05 9.99999291e-01 -2.31492196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.081400513 meters 0.07934343678595177 Centerline is valid? [True, True] Translation: X:551.93, Y:59.94, Z:-2.32 [[ 9.99776703e-01 -2.11204785e-02 6.85000264e-04 5.51930309e+02] [ 2.11204396e-02 9.99776937e-01 6.39398025e-05 5.99434662e+01] [-6.86197905e-04 -4.94580183e-05 9.99999763e-01 -2.31593527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.111400513 meters 0.07934154775973613 Centerline is valid? [True, True] Translation: X:551.96, Y:59.95, Z:-2.32 [[ 9.99783790e-01 -2.07931805e-02 -1.32267762e-04 5.51960844e+02] [ 2.07931791e-02 9.99783798e-01 -1.23462355e-05 5.99483264e+01] [ 1.32495883e-04 9.59329887e-06 9.99999991e-01 -2.31742769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.141400513 meters 0.1229069263225981 Centerline is valid? [True, False] Translation: X:551.96, Y:59.96, Z:-2.32 [[ 9.99924662e-01 -1.18772663e-02 3.09864191e-03 5.51962541e+02] [ 1.19104278e-02 9.99869521e-01 -1.09124951e-02 5.99559886e+01] [-2.96862699e-03 1.09485791e-02 9.99935656e-01 -2.32067082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.171400513 meters 0.07228201265270169 Centerline is valid? [False, True] Translation: X:551.96, Y:59.95, Z:-2.32 [[ 9.99978410e-01 -5.42434471e-03 3.70889997e-03 5.51956855e+02] [ 5.43941274e-03 9.99976945e-01 -4.06472341e-03 5.99535977e+01] [-3.68676600e-03 4.08480989e-03 9.99984861e-01 -2.31561417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.201400513 meters 0.07978742373594386 Centerline is valid? [True, True] Translation: X:551.99, Y:59.96, Z:-2.32 [[ 9.99988044e-01 -4.73218529e-03 1.23244066e-03 5.51986804e+02] [ 4.73085806e-03 9.99988229e-01 1.07760760e-03 5.99631249e+01] [-1.23752559e-03 -1.07176422e-03 9.99998660e-01 -2.31585469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.231400513 meters 0.07267753299543135 Centerline is valid? [True, True] Translation: X:552.02, Y:59.96, Z:-2.31 [[ 9.99964968e-01 -5.57348589e-03 6.24485790e-03 5.52018399e+02] [ 5.53865351e-03 9.99969086e-01 5.58124845e-03 5.99567401e+01] [-6.27577186e-03 -5.54646483e-03 9.99964925e-01 -2.31405476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.261400513 meters 0.08004350168851597 Centerline is valid? [True, True] Translation: X:552.05, Y:59.98, Z:-2.31 [[ 9.99974916e-01 -5.73793432e-03 4.15252231e-03 5.52047421e+02] [ 5.75769394e-03 9.99972085e-01 -4.76225715e-03 5.99795841e+01] [-4.12508087e-03 4.78604665e-03 9.99980039e-01 -2.31242752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.291400513 meters 0.08707263411850782 Centerline is valid? [True, True] Translation: X:552.08, Y:59.99, Z:-2.31 [[ 9.99967913e-01 -6.78496995e-03 4.25880434e-03 5.52077644e+02] [ 6.78357726e-03 9.99976933e-01 3.41374303e-04 5.99896572e+01] [-4.26102232e-03 -3.12473421e-04 9.99990873e-01 -2.31181391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.321400513 meters 0.07276620857444523 Centerline is valid? [True, True] Translation: X:552.11, Y:59.98, Z:-2.31 [[ 9.99963149e-01 -7.79391079e-03 3.59938052e-03 5.52110396e+02] [ 7.79292280e-03 9.99969593e-01 2.88432230e-04 5.99770145e+01] [-3.60151909e-03 -2.60371906e-04 9.99993481e-01 -2.31313668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.351400513 meters 0.07949443508464384 Centerline is valid? [True, True] Translation: X:552.14, Y:59.99, Z:-2.31 [[ 9.99954461e-01 -9.01627152e-03 3.12776865e-03 5.52140309e+02] [ 9.01553171e-03 9.99959328e-01 2.50549374e-04 5.99903394e+01] [-3.12990046e-03 -2.22339467e-04 9.99995077e-01 -2.31402764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.381400513 meters 0.07340915509667065 Centerline is valid? [True, True] Translation: X:552.17, Y:60.01, Z:-2.31 [[ 9.99925427e-01 -1.12301193e-02 4.79839310e-03 5.52165552e+02] [ 1.13141756e-02 9.99776389e-01 -1.78651137e-02 6.00054364e+01] [-4.59669277e-03 1.79180714e-02 9.99828892e-01 -2.31137572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.411400513 meters 0.07773426511376104 Centerline is valid? [True, True] Translation: X:552.20, Y:60.00, Z:-2.31 [[ 9.99916709e-01 -1.20120863e-02 4.72077645e-03 5.52197621e+02] [ 1.19924857e-02 9.99919440e-01 4.15858983e-03 5.99961336e+01] [-4.77034949e-03 -4.10162961e-03 9.99980210e-01 -2.31306836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.441400513 meters 0.07498782068911282 Centerline is valid? [True, True] Translation: X:552.23, Y:59.99, Z:-2.32 [[ 9.99932442e-01 -1.14746760e-02 1.85533724e-03 5.52233599e+02] [ 1.14453847e-02 9.99820562e-01 1.50945684e-02 5.99906728e+01] [-2.02820960e-03 -1.50723136e-02 9.99884349e-01 -2.31565556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.471400513 meters 0.07196179075594078 Centerline is valid? [True, True] Translation: X:552.26, Y:60.02, Z:-2.31 [[ 9.99920835e-01 -1.16238397e-02 4.81758481e-03 5.52257916e+02] [ 1.17136765e-02 9.99749741e-01 -1.90590118e-02 6.00212138e+01] [-4.59484027e-03 1.91139346e-02 9.99806754e-01 -2.31218075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.501400513 meters 0.07416603313864839 Centerline is valid? [True, True] Translation: X:552.30, Y:60.00, Z:-2.32 [[ 9.99943350e-01 -1.06440450e-02 -2.98451586e-05 5.52295186e+02] [ 1.06426265e-02 9.99755790e-01 1.93673698e-02 5.99975470e+01] [-1.76309285e-04 -1.93665902e-02 9.99812434e-01 -2.31816443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.531400513 meters 0.0728766248163343 Centerline is valid? [True, True] Translation: X:552.33, Y:60.02, Z:-2.32 [[ 9.99946243e-01 -1.03561235e-02 5.12513726e-04 5.52325695e+02] [ 1.03561036e-02 9.99946373e-01 4.13883739e-05 6.00175297e+01] [-5.12914865e-04 -3.60785037e-05 9.99999868e-01 -2.31858766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.561400513 meters 0.06993873163685395 Centerline is valid? [True, True] Translation: X:552.36, Y:60.02, Z:-2.32 [[ 9.99935447e-01 -1.12937578e-02 -1.24615570e-03 5.52356921e+02] [ 1.12936426e-02 9.99936220e-01 -9.94870214e-05 6.00199252e+01] [ 1.24719980e-03 8.54069622e-05 9.99999219e-01 -2.31981383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.591400513 meters 0.0684697544187763 Centerline is valid? [True, True] Translation: X:552.39, Y:60.03, Z:-2.32 [[ 9.99886808e-01 -1.45732870e-02 3.74036584e-03 5.52385042e+02] [ 1.46025052e-02 9.99862114e-01 -7.90692649e-03 6.00306724e+01] [-3.62462019e-03 7.96065020e-03 9.99961744e-01 -2.31719342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.621400513 meters 0.06642857547299162 Centerline is valid? [True, True] Translation: X:552.42, Y:60.02, Z:-2.32 [[ 9.99850786e-01 -1.64664164e-02 5.22136372e-03 5.52420067e+02] [ 1.64051728e-02 9.99798564e-01 1.15629753e-02 6.00175753e+01] [-5.41071271e-03 -1.14755926e-02 9.99919514e-01 -2.31897512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.651400513 meters 0.06965571222938971 Centerline is valid? [True, True] Translation: X:552.44, Y:60.05, Z:-2.32 [[ 9.99857123e-01 -1.62799123e-02 4.54954532e-03 5.52443261e+02] [ 1.63430891e-02 9.99765426e-01 -1.42125383e-02 6.00506968e+01] [-4.31709924e-03 1.42848612e-02 9.99888646e-01 -2.31580535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.681400513 meters 0.0659636030749231 Centerline is valid? [True, True] Translation: X:552.47, Y:60.04, Z:-2.32 [[ 9.99868986e-01 -1.57272634e-02 3.82930127e-03 5.52473775e+02] [ 1.57284808e-02 9.99876258e-01 -2.87999101e-04 6.00402779e+01] [-3.82429799e-03 3.48190461e-04 9.99992627e-01 -2.31618688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.711400513 meters 0.06701175073902214 Centerline is valid? [True, True] Translation: X:552.51, Y:60.04, Z:-2.32 [[ 9.99857854e-01 -1.61294422e-02 4.91042540e-03 5.52507482e+02] [ 1.60887895e-02 9.99836870e-01 8.20873999e-03 6.00414736e+01] [-5.04202676e-03 -8.12857035e-03 9.99954251e-01 -2.31890809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.741400513 meters 0.0671162994031289 Centerline is valid? [True, True] Translation: X:552.54, Y:60.06, Z:-2.32 [[ 9.99881452e-01 -1.48181218e-02 4.18391979e-03 5.52536334e+02] [ 1.48458308e-02 9.99867539e-01 -6.67120979e-03 6.00597857e+01] [-4.08451078e-03 6.73253270e-03 9.99968994e-01 -2.31624112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.771400513 meters 0.07045205136073732 Centerline is valid? [True, True] Translation: X:552.57, Y:60.06, Z:-2.32 [[ 9.99886002e-01 -1.42720385e-02 4.92872679e-03 5.52566941e+02] [ 1.42620527e-02 9.99896179e-01 2.05529141e-03 6.00636097e+01] [-4.95754828e-03 -1.98476335e-03 9.99985742e-01 -2.31706448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.801400513 meters 0.07182850429275386 Centerline is valid? [True, True] Translation: X:552.60, Y:60.08, Z:-2.32 [[ 9.99901128e-01 -1.31598473e-02 4.95508464e-03 5.52596763e+02] [ 1.31487987e-02 9.99911006e-01 2.25576381e-03 6.00763751e+01] [-4.98432918e-03 -2.19038737e-03 9.99985179e-01 -2.31834986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.831400513 meters 0.07174846849822183 Centerline is valid? [True, True] Translation: X:552.63, Y:60.09, Z:-2.32 [[ 9.99913892e-01 -1.27161818e-02 3.24140357e-03 5.52626990e+02] [ 1.27351915e-02 9.99901420e-01 -5.91308670e-03 6.00893620e+01] [-3.16589215e-03 5.95385744e-03 9.99977264e-01 -2.31804018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.861400513 meters 0.07175616752419245 Centerline is valid? [True, True] Translation: X:552.66, Y:60.09, Z:-2.32 [[ 9.99903304e-01 -1.34927903e-02 3.36560848e-03 5.52658463e+02] [ 1.34775733e-02 9.99899031e-01 4.50373551e-03 6.00880861e+01] [-3.42603662e-03 -4.45793978e-03 9.99984194e-01 -2.32109997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.891400513 meters 0.07385475839812172 Centerline is valid? [True, True] Translation: X:552.68, Y:60.11, Z:-2.32 [[ 9.99906923e-01 -1.34198599e-02 2.46004834e-03 5.52682987e+02] [ 1.34452853e-02 9.99853126e-01 -1.06278038e-02 6.01064164e+01] [-2.31706338e-03 1.06598906e-02 9.99940497e-01 -2.32002812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.921400513 meters 0.08340476155861876 Centerline is valid? [True, True] Translation: X:552.72, Y:60.11, Z:-2.32 [[ 9.99807657e-01 -1.89453104e-02 5.07193817e-03 5.52715124e+02] [ 1.88971122e-02 9.99777358e-01 9.38790392e-03 6.01125427e+01] [-5.24866570e-03 -9.29025323e-03 9.99943070e-01 -2.32215811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.951400513 meters 0.06539134984654504 Centerline is valid? [True, True] Translation: X:552.75, Y:60.10, Z:-2.32 [[ 9.99770334e-01 -2.08064126e-02 5.13542540e-03 5.52748041e+02] [ 2.08009664e-02 9.99783018e-01 1.11166012e-03 6.01038343e+01] [-5.15744076e-03 -1.00458300e-03 9.99986196e-01 -2.31947024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.981400513 meters 0.06924614518379216 Centerline is valid? [True, True] Translation: X:552.78, Y:60.12, Z:-2.32 [[ 9.99722258e-01 -2.31983206e-02 4.15257737e-03 5.52776321e+02] [ 2.32158728e-02 9.99721528e-01 -4.22973745e-03 6.01169847e+01] [-4.05329819e-03 4.32496838e-03 9.99982433e-01 -2.31758401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.011400513 meters 0.06767191265204144 Centerline is valid? [True, True] Translation: X:552.81, Y:60.10, Z:-2.32 [[ 9.99778383e-01 -2.07291318e-02 -3.67258282e-03 5.52814257e+02] [ 2.07679243e-02 9.99725341e-01 1.08597892e-02 6.01004731e+01] [ 3.44646012e-03 -1.09336544e-02 9.99934286e-01 -2.32274535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.041400513 meters 0.06714367604688586 Centerline is valid? [True, True] Translation: X:552.83, Y:60.13, Z:-2.32 [[ 9.99654258e-01 -2.60629100e-02 3.47707448e-03 5.52833763e+02] [ 2.61089282e-02 9.99562178e-01 -1.39203732e-02 6.01303716e+01] [-3.11274671e-03 1.40063430e-02 9.99897061e-01 -2.32025332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.071400513 meters 0.0602444387043001 Centerline is valid? [True, True] Translation: X:552.87, Y:60.11, Z:-2.33 [[ 9.99625705e-01 -2.72108504e-02 2.83201763e-03 5.52870223e+02] [ 2.71796882e-02 9.99575262e-01 1.05147386e-02 6.01069922e+01] [-3.11692975e-03 -1.04338296e-02 9.99940708e-01 -2.32559539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.101400513 meters 0.0632848243863838 Centerline is valid? [True, True] Translation: X:552.90, Y:60.13, Z:-2.32 [[ 9.99691505e-01 -2.46715342e-02 2.86539946e-03 5.52897834e+02] [ 2.46803560e-02 9.99690633e-01 -3.08530153e-03 6.01291698e+01] [-2.78839388e-03 3.15506881e-03 9.99991135e-01 -2.32449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.131400513 meters 0.0632848243863838 Centerline is valid? [True, True] Translation: X:552.93, Y:60.13, Z:-2.33 [[ 9.99690209e-01 -2.47469277e-02 2.65984025e-03 5.52929583e+02] [ 2.47476442e-02 9.99693702e-01 -2.36809073e-04 6.01293477e+01] [-2.65316525e-03 3.02560492e-04 9.99996435e-01 -2.32504869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.161400513 meters 0.07143442973395833 Centerline is valid? [True, True] Translation: X:552.96, Y:60.15, Z:-2.32 [[ 9.99744516e-01 -2.24650443e-02 2.49481170e-03 5.52955998e+02] [ 2.24752713e-02 9.99738786e-01 -4.14988163e-03 6.01478534e+01] [-2.40093275e-03 4.20489297e-03 9.99988277e-01 -2.32441366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.191400513 meters 0.06962310966672361 Centerline is valid? [True, True] Translation: X:552.99, Y:60.14, Z:-2.33 [[ 9.99859332e-01 -1.49247743e-02 -7.65299156e-03 5.52993403e+02] [ 1.49859927e-02 9.99855657e-01 8.00532181e-03 6.01368983e+01] [ 7.53240928e-03 -8.11888339e-03 9.99938671e-01 -2.32751923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.221400513 meters 0.07158459156427414 Centerline is valid? [True, True] Translation: X:553.02, Y:60.15, Z:-2.33 [[ 9.99886354e-01 -1.33915603e-02 -6.92423776e-03 5.53021261e+02] [ 1.33880521e-02 9.99910223e-01 -5.52755007e-04 6.01521212e+01] [ 6.93101838e-03 4.59990132e-04 9.99975874e-01 -2.32628378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.251400513 meters 0.06686731569029337 Centerline is valid? [True, True] Translation: X:553.05, Y:60.15, Z:-2.33 [[ 9.99813405e-01 -1.90357506e-02 3.28553739e-03 5.53049474e+02] [ 1.90208893e-02 9.99808974e-01 4.49673475e-03 6.01529654e+01] [-3.37050849e-03 -4.43340184e-03 9.99984492e-01 -2.32658209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.281400513 meters 0.0789945507851485 Centerline is valid? [True, True] Translation: X:553.08, Y:60.17, Z:-2.33 [[ 9.99906864e-01 -1.14011665e-02 -7.50173359e-03 5.53079081e+02] [ 1.13636988e-02 9.99922838e-01 -5.01835026e-03 6.01744436e+01] [ 7.55836979e-03 4.93263543e-03 9.99959269e-01 -2.32753876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.311400513 meters 0.1118218154113754 Centerline is valid? [True, False] Translation: X:553.08, Y:60.17, Z:-2.33 [[ 9.99946905e-01 -6.96821314e-03 -7.59151844e-03 5.53078989e+02] [ 6.96458438e-03 9.99975620e-01 -5.04333269e-04 6.01736654e+01] [ 7.59484766e-03 4.51434720e-04 9.99971057e-01 -2.32688744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.341400513 meters 0.10917802008934539 Centerline is valid? [False, False] Translation: X:553.10, Y:60.18, Z:-2.33 [[ 9.99983462e-01 -5.04518433e-03 -2.76085691e-03 5.53096822e+02] [ 5.01847707e-03 9.99941360e-01 -9.59644335e-03 6.01828779e+01] [ 2.80911084e-03 9.58242934e-03 9.99950142e-01 -2.32786171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.371400513 meters 0.10772082960886559 Centerline is valid? [False, False] Translation: X:553.10, Y:60.18, Z:-2.33 [[ 9.99995679e-01 -4.66672304e-04 -2.90238506e-03 5.53097167e+02] [ 4.53546738e-04 9.99989676e-01 -4.52135287e-03 6.01796453e+01] [ 2.90446509e-03 4.52001697e-03 9.99985567e-01 -2.32765388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.401400513 meters 0.10549783672312775 Centerline is valid? [False, False] Translation: X:553.10, Y:60.18, Z:-2.33 [[ 9.99995495e-01 -5.66545778e-04 -2.94756386e-03 5.53097379e+02] [ 5.52477166e-04 9.99988463e-01 -4.77158974e-03 6.01807900e+01] [ 2.95023318e-03 4.76993978e-03 9.99984272e-01 -2.32777943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.431400513 meters 0.11070205094391053 Centerline is valid? [False, False] Translation: X:553.08, Y:60.17, Z:-2.33 [[ 9.99961759e-01 -1.85213990e-03 -8.54690205e-03 5.53078646e+02] [ 1.89001286e-03 9.99988422e-01 4.42524415e-03 6.01738839e+01] [ 8.53860693e-03 -4.44122868e-03 9.99953683e-01 -2.32503571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.461400513 meters 0.10590154528255852 Centerline is valid? [False, False] Translation: X:553.08, Y:60.17, Z:-2.33 [[ 9.99960893e-01 -1.94784464e-03 -8.62662261e-03 5.53079058e+02] [ 1.98398781e-03 9.99989282e-01 4.18315027e-03 6.01749899e+01] [ 8.61838203e-03 -4.20010180e-03 9.99954040e-01 -2.32538475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.491400513 meters 0.10539202110674908 Centerline is valid? [False, False] Translation: X:553.08, Y:60.18, Z:-2.33 [[ 9.99960197e-01 -2.01414482e-03 -8.69178695e-03 5.53079178e+02] [ 2.04909715e-03 9.99989843e-01 4.01427582e-03 6.01757573e+01] [ 8.68361334e-03 -4.03192636e-03 9.99954168e-01 -2.32517539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.521400513 meters 0.07249830712765366 Centerline is valid? [False, True] Translation: X:553.04, Y:60.17, Z:-2.32 [[ 9.99946823e-01 -3.37780427e-03 -9.74378529e-03 5.53035468e+02] [ 3.39818285e-03 9.99992072e-01 2.07564695e-03 6.01745684e+01] [ 9.73669691e-03 -2.10864774e-03 9.99950374e-01 -2.32431861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.551400513 meters 0.06879996244286907 Centerline is valid? [True, True] Translation: X:553.06, Y:60.18, Z:-2.32 [[ 9.99960666e-01 -3.98275080e-03 -7.92487782e-03 5.53064027e+02] [ 3.97850106e-03 9.99991933e-01 -5.51945805e-04 6.01750737e+01] [ 7.92701216e-03 5.20394960e-04 9.99968445e-01 -2.32055564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.581400513 meters 0.0706733197939488 Centerline is valid? [True, True] Translation: X:553.09, Y:60.18, Z:-2.32 [[ 9.99968367e-01 -3.95180758e-03 -6.90282968e-03 5.53091653e+02] [ 3.94857956e-03 9.99992089e-01 -4.81203818e-04 6.01795914e+01] [ 6.90467669e-03 4.53932224e-04 9.99976059e-01 -2.31957663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.611400513 meters 0.10154812745547108 Centerline is valid? [True, False] Translation: X:553.09, Y:60.18, Z:-2.32 [[ 9.99968761e-01 -3.90153474e-03 -6.87420314e-03 5.53091518e+02] [ 3.89918209e-03 9.99992335e-01 -3.55612948e-04 6.01790174e+01] [ 6.87553789e-03 3.28798070e-04 9.99976309e-01 -2.31949099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.641400513 meters 0.09828482839866373 Centerline is valid? [False, True] Translation: X:553.05, Y:60.17, Z:-2.32 [[ 9.99960196e-01 -3.26066729e-03 -8.30503117e-03 5.53049174e+02] [ 3.26568039e-03 9.99994494e-01 5.90132116e-04 6.01729705e+01] [ 8.30306121e-03 -6.17230204e-04 9.99965338e-01 -2.31960477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.671400513 meters 0.07246874048896156 Centerline is valid? [True, True] Translation: X:553.09, Y:60.09, Z:-2.35 [[ 9.99982886e-01 1.65190677e-04 -5.84812296e-03 5.53094113e+02] [ 1.78184645e-04 9.98277633e-01 5.86663030e-02 6.00910544e+01] [ 5.84774148e-03 -5.86663411e-02 9.98260519e-01 -2.35329705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.701400513 meters 0.1057466174982898 Centerline is valid? [True, False] Translation: X:553.10, Y:60.13, Z:-2.35 [[ 9.99996673e-01 -5.92408468e-04 -2.51038847e-03 5.53101843e+02] [ 6.20598198e-04 9.99936599e-01 1.12433694e-02 6.01306501e+01] [ 2.50356864e-03 -1.12448900e-02 9.99933640e-01 -2.35165895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.731400513 meters 0.07470038238441812 Centerline is valid? [False, True] Translation: X:553.12, Y:60.14, Z:-2.35 [[ 9.99999614e-01 8.78757132e-04 1.44634873e-05 5.53121928e+02] [-8.78776030e-04 9.99998685e-01 1.36307845e-03 6.01379803e+01] [-1.32656533e-05 -1.36309064e-03 9.99999071e-01 -2.35181928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.761400513 meters 0.07388221135809578 Centerline is valid? [True, True] Translation: X:553.15, Y:60.14, Z:-2.35 [[ 9.99996263e-01 2.73367687e-03 1.66697954e-05 5.53152177e+02] [-2.73367688e-03 9.99996263e-01 9.45586184e-07 6.01394104e+01] [-1.66671482e-05 -9.91152484e-07 1.00000000e+00 -2.35117947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.791400513 meters 0.07143755360261242 Centerline is valid? [True, True] Translation: X:553.18, Y:60.14, Z:-2.35 [[ 9.99990342e-01 4.34924034e-03 -6.32724179e-04 5.53182956e+02] [-4.34926693e-03 9.99990541e-01 -4.06591082e-05 6.01378666e+01] [ 6.32541358e-04 4.34106019e-05 9.99999799e-01 -2.35124664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.821400513 meters 0.11189830955716877 Centerline is valid? [True, False] Translation: X:553.18, Y:60.14, Z:-2.35 [[ 9.99990404e-01 4.33287082e-03 -6.47029557e-04 5.53183066e+02] [-4.33292527e-03 9.99990609e-01 -8.27749046e-05 6.01380605e+01] [ 6.46664828e-04 8.55776409e-05 9.99999787e-01 -2.35139478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.851400513 meters 0.07881546269572354 Centerline is valid? [False, True] Translation: X:553.18, Y:60.14, Z:-2.35 [[ 9.99990297e-01 4.35685223e-03 -6.51521099e-04 5.53183217e+02] [-4.35686467e-03 9.99990509e-01 -1.76749359e-05 6.01377660e+01] [ 6.51437909e-04 2.05133537e-05 9.99999788e-01 -2.35170633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.881400513 meters 0.08340335486706475 Centerline is valid? [True, True] Translation: X:553.21, Y:60.14, Z:-2.35 [[ 9.99987892e-01 4.77134534e-03 -1.20459314e-03 5.53211812e+02] [-4.77144494e-03 9.99988613e-01 -7.98259731e-05 6.01439837e+01] [ 1.20419855e-03 8.55726564e-05 9.99999271e-01 -2.35429943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.911400513 meters 0.07703450903127164 Centerline is valid? [True, True] Translation: X:553.24, Y:60.14, Z:-2.36 [[ 9.99982953e-01 5.19720375e-03 -2.66125614e-03 5.53241819e+02] [-5.19769410e-03 9.99986476e-01 -1.77374597e-04 6.01361833e+01] [ 2.66029829e-03 1.91203968e-04 9.99996443e-01 -2.35542580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.941400513 meters 0.07884808069888112 Centerline is valid? [True, True] Translation: X:553.27, Y:60.14, Z:-2.36 [[ 9.99987124e-01 4.03882425e-03 -3.07239998e-03 5.53271166e+02] [-4.03947250e-03 9.99991820e-01 -2.04812753e-04 6.01357977e+01] [ 3.07154765e-03 2.17220991e-04 9.99995259e-01 -2.35758614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.971400513 meters 0.07932145733059863 Centerline is valid? [True, True] Translation: X:553.30, Y:60.14, Z:-2.36 [[ 9.99991567e-01 3.34608660e-03 -2.38098420e-03 5.53299242e+02] [-3.34647518e-03 9.99994388e-01 -1.59235301e-04 6.01356300e+01] [ 2.38043802e-03 1.67201862e-04 9.99997153e-01 -2.35726644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.001400513 meters 0.07290620040234233 Centerline is valid? [True, True] Translation: X:553.33, Y:60.13, Z:-2.36 [[ 9.99995001e-01 2.44856472e-03 -2.00055257e-03 5.53329500e+02] [-2.44883688e-03 9.99996993e-01 -1.33602468e-04 6.01272132e+01] [ 2.00021942e-03 1.38500827e-04 9.99997990e-01 -2.35598217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.031400513 meters 0.07571054275159464 Centerline is valid? [True, True] Translation: X:553.36, Y:60.13, Z:-2.36 [[ 9.99995144e-01 1.90808000e-03 -2.46387002e-03 5.53357979e+02] [-1.90849154e-03 9.99998165e-01 -1.64690853e-04 6.01298474e+01] [ 2.46355126e-03 1.69392328e-04 9.99996951e-01 -2.35750321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.061400513 meters 0.07623165327930992 Centerline is valid? [True, True] Translation: X:553.39, Y:60.13, Z:-2.36 [[ 9.99993703e-01 1.68883764e-03 -3.12123606e-03 5.53386405e+02] [-1.68949750e-03 9.99998551e-01 -2.08786630e-04 6.01304297e+01] [ 3.12087893e-03 2.14058636e-04 9.99995107e-01 -2.35877238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.091400513 meters 0.07823704065766823 Centerline is valid? [True, True] Translation: X:553.42, Y:60.13, Z:-2.36 [[ 9.99980200e-01 4.44877005e-03 -4.45064656e-03 5.53416780e+02] [-4.45013631e-03 9.99990054e-01 -2.97122964e-04 6.01332810e+01] [ 4.44928046e-03 3.16923064e-04 9.99990052e-01 -2.36028817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.121400513 meters 0.07877801481478054 Centerline is valid? [True, True] Translation: X:553.45, Y:60.14, Z:-2.36 [[ 9.99957099e-01 7.61033763e-03 -5.28043314e-03 5.53446917e+02] [-7.61230441e-03 9.99970964e-01 -3.52467387e-04 6.01360146e+01] [ 5.27759742e-03 3.92648531e-04 9.99985996e-01 -2.36022438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.151400513 meters 0.08031805263086476 Centerline is valid? [True, True] Translation: X:553.48, Y:60.14, Z:-2.36 [[ 9.99937236e-01 1.00662114e-02 -4.91886286e-03 5.53476645e+02] [-1.00679477e-02 9.99949263e-01 -3.28364575e-04 6.01411032e+01] [ 4.91530790e-03 3.77866820e-04 9.99987848e-01 -2.36018889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.181400513 meters 0.09319652827656316 Centerline is valid? [True, True] Translation: X:553.50, Y:60.16, Z:-2.36 [[ 9.99910924e-01 1.25452051e-02 -4.55641604e-03 5.53504788e+02] [-1.25467213e-02 9.99921240e-01 -3.04332431e-04 6.01599479e+01] [ 4.55223926e-03 3.61473405e-04 9.99989573e-01 -2.36279407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.211400513 meters 0.085819835747014 Centerline is valid? [True, True] Translation: X:553.54, Y:60.16, Z:-2.36 [[ 9.99843337e-01 1.69804935e-02 -4.99645183e-03 5.53535275e+02] [-1.69823711e-02 9.99855733e-01 -3.33603577e-04 6.01552485e+01] [ 4.99006626e-03 4.18402913e-04 9.99987462e-01 -2.36135990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.241400513 meters 0.0847559809221257 Centerline is valid? [True, True] Translation: X:553.56, Y:60.16, Z:-2.36 [[ 9.99827436e-01 1.78764555e-02 -5.05286331e-03 5.53564846e+02] [-1.78783888e-02 9.99840112e-01 -3.37712766e-04 6.01581241e+01] [ 5.04601831e-03 4.27991544e-04 9.99987177e-01 -2.36049806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.271400513 meters 0.08437380833004442 Centerline is valid? [True, True] Translation: X:553.59, Y:60.16, Z:-2.36 [[ 9.99849329e-01 1.69149593e-02 -3.89904177e-03 5.53593410e+02] [-1.69161044e-02 9.99856878e-01 -2.60902533e-04 6.01628012e+01] [ 3.89407057e-03 3.26819821e-04 9.99992365e-01 -2.35941627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.301400513 meters 0.09103674727087663 Centerline is valid? [True, True] Translation: X:553.62, Y:60.18, Z:-2.36 [[ 9.99882095e-01 1.51261727e-02 -2.64486412e-03 5.53622297e+02] [-1.51266932e-02 9.99885569e-01 -1.76927149e-04 6.01755073e+01] [ 2.64188524e-03 2.16914337e-04 9.99996487e-01 -2.35958568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.331400513 meters 0.08457642363034103 Centerline is valid? [True, True] Translation: X:553.65, Y:60.17, Z:-2.36 [[ 9.99910980e-01 1.32594290e-02 -1.49008680e-03 5.53652633e+02] [-1.32595923e-02 9.99912083e-01 -9.97599417e-05 6.01707160e+01] [ 1.48863303e-03 1.19509004e-04 9.99998885e-01 -2.35742217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.361400513 meters 0.08571916771346165 Centerline is valid? [True, True] Translation: X:553.68, Y:60.17, Z:-2.36 [[ 9.99943013e-01 1.06513852e-02 -7.19686369e-04 5.53681480e+02] [-1.06514227e-02 9.99943271e-01 -4.82560715e-05 6.01742164e+01] [ 7.19131548e-04 5.59190053e-05 9.99999740e-01 -2.35752059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.391400513 meters 0.08455157166537475 Centerline is valid? [True, True] Translation: X:553.71, Y:60.18, Z:-2.36 [[ 9.99974361e-01 7.15202791e-03 -3.55655952e-04 5.53710482e+02] [-7.15203689e-03 9.99974424e-01 -2.39770008e-05 6.01754332e+01] [ 3.55475372e-04 2.65200505e-05 9.99999936e-01 -2.35798991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.421400513 meters 0.07801663320555667 Centerline is valid? [True, True] Translation: X:553.74, Y:60.17, Z:-2.36 [[ 9.99976047e-01 6.88639780e-03 -6.95061573e-04 5.53740786e+02] [-6.88643194e-03 9.99976287e-01 -4.67364283e-05 6.01701884e+01] [ 6.94723245e-04 5.15218031e-05 9.99999757e-01 -2.35731917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.451400513 meters 0.07664239141064248 Centerline is valid? [True, True] Translation: X:553.77, Y:60.17, Z:-2.36 [[ 9.99969840e-01 7.68669574e-03 -1.11118092e-03 5.53770828e+02] [-7.68678337e-03 9.99970453e-01 -7.46097769e-05 6.01702696e+01] [ 1.11057459e-03 8.31489336e-05 9.99999380e-01 -2.35897415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.481400513 meters 0.07625138165864255 Centerline is valid? [True, True] Translation: X:553.80, Y:60.17, Z:-2.36 [[ 9.99979090e-01 6.30694250e-03 -1.42866861e-03 5.53799949e+02] [-6.30708590e-03 9.99980106e-01 -9.58924174e-05 6.01737907e+01] [ 1.42803540e-03 1.04901148e-04 9.99998975e-01 -2.35889082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.511400513 meters 0.07810011959927375 Centerline is valid? [True, True] Translation: X:553.83, Y:60.18, Z:-2.36 [[ 9.99972734e-01 7.11768469e-03 -1.96706212e-03 5.53828173e+02] [-7.11795828e-03 9.99974658e-01 -1.32123372e-04 6.01779305e+01] [ 1.96607186e-03 1.46121236e-04 9.99998057e-01 -2.36033565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.541400513 meters 0.08441479554804356 Centerline is valid? [True, True] Translation: X:553.86, Y:60.19, Z:-2.36 [[ 9.99964957e-01 8.08921597e-03 -2.15627113e-03 5.53855913e+02] [-8.08954679e-03 9.99967269e-01 -1.44740420e-04 6.01880924e+01] [ 2.15502972e-03 1.62178604e-04 9.99997665e-01 -2.36240838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.571400513 meters 0.08007277915139646 Centerline is valid? [True, True] Translation: X:553.89, Y:60.18, Z:-2.36 [[ 9.99949941e-01 9.83227643e-03 -1.85503284e-03 5.53886253e+02] [-9.83252413e-03 9.99951652e-01 -1.24455820e-04 6.01839338e+01] [ 1.85371947e-03 1.42689245e-04 9.99998272e-01 -2.36287947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.601400513 meters 0.08057004127883864 Centerline is valid? [True, True] Translation: X:553.91, Y:60.19, Z:-2.36 [[ 9.99951112e-01 9.82836489e-03 -1.08517308e-03 5.53913455e+02] [-9.82845027e-03 9.99951697e-01 -7.33774124e-05 6.01880118e+01] [ 1.08439948e-03 8.40393947e-05 9.99999409e-01 -2.36095980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.631400513 meters 0.07678109803037313 Centerline is valid? [True, True] Translation: X:553.94, Y:60.18, Z:-2.36 [[ 9.99931682e-01 1.16269222e-02 -1.20232340e-03 5.53943588e+02] [-1.16270277e-02 9.99932401e-01 -8.07933182e-05 6.01847413e+01] [ 1.20130275e-03 9.47672460e-05 9.99999274e-01 -2.36028309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.661400513 meters 0.07686117858121361 Centerline is valid? [True, True] Translation: X:553.97, Y:60.19, Z:-2.36 [[ 9.99924432e-01 1.22359062e-02 -1.18844438e-03 5.53973010e+02] [-1.22360099e-02 9.99925134e-01 -8.00085152e-05 6.01869334e+01] [ 1.18737643e-03 9.45442864e-05 9.99999291e-01 -2.36003996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.691400513 meters 0.08904815465284688 Centerline is valid? [True, True] Translation: X:554.00, Y:60.20, Z:-2.36 [[ 9.99900554e-01 1.39729907e-02 -1.90746223e-03 5.54001348e+02] [-1.39732604e-02 9.99902361e-01 -1.28140129e-04 6.02034215e+01] [ 1.90548548e-03 1.54780852e-04 9.99998173e-01 -2.36329254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.721400513 meters 0.08749683983498226 Centerline is valid? [True, True] Translation: X:554.03, Y:60.20, Z:-2.37 [[ 9.99874747e-01 1.56485099e-02 -2.36938739e-03 5.54031373e+02] [-1.56489308e-02 9.99877535e-01 -1.59204861e-04 6.01993578e+01] [ 2.36660591e-03 1.96263300e-04 9.99997180e-01 -2.36558224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.751400513 meters 0.09168584014992401 Centerline is valid? [True, True] Translation: X:554.06, Y:60.21, Z:-2.36 [[ 9.99915380e-01 1.28631114e-02 -1.94224433e-03 5.54059592e+02] [-1.28633895e-02 9.99917255e-01 -1.30748916e-04 6.02092150e+01] [ 1.94040178e-03 1.55721697e-04 9.99998105e-01 -2.36491971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.781400513 meters 0.08158238097008251 Centerline is valid? [True, True] Translation: X:554.09, Y:60.20, Z:-2.36 [[ 9.99924821e-01 1.21526049e-02 -1.63283296e-03 5.54089875e+02] [-1.21528008e-02 9.99926146e-01 -1.10086821e-04 6.01976492e+01] [ 1.63137452e-03 1.29922039e-04 9.99998661e-01 -2.36293515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.811400513 meters 0.07968353273718236 Centerline is valid? [True, True] Translation: X:554.12, Y:60.20, Z:-2.36 [[ 9.99934835e-01 1.13735423e-02 -9.83961307e-04 5.54119500e+02] [-1.13736132e-02 9.99935316e-01 -6.65134820e-05 6.01954819e+01] [ 9.83141167e-04 7.77003430e-05 9.99999514e-01 -2.36215505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.841400513 meters 0.08001510771367315 Centerline is valid? [True, True] Translation: X:554.15, Y:60.20, Z:-2.36 [[ 9.99951534e-01 9.82992637e-03 5.50385089e-04 5.54148727e+02] [-9.82994810e-03 9.99951684e-01 3.67923440e-05 6.01954311e+01] [-5.49996831e-04 -4.22008176e-05 9.99999848e-01 -2.36052958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.871400513 meters 0.0784947474174782 Centerline is valid? [True, True] Translation: X:554.18, Y:60.20, Z:-2.36 [[ 9.99949099e-01 1.00561078e-02 8.21210770e-04 5.54178856e+02] [-1.00561564e-02 9.99949434e-01 5.50281660e-05 6.01953128e+01] [-8.20615876e-04 -6.32835890e-05 9.99999661e-01 -2.35964275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.901400513 meters 0.08764180021148928 Centerline is valid? [True, True] Translation: X:554.21, Y:60.21, Z:-2.36 [[ 9.99952435e-01 9.69784209e-03 1.03876575e-03 5.54207112e+02] [-9.69791969e-03 9.99952972e-01 6.96928187e-05 6.02083642e+01] [-1.03804102e-03 -7.97633706e-05 9.99999458e-01 -2.36108702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.931400513 meters 0.07955344586903618 Centerline is valid? [True, True] Translation: X:554.24, Y:60.20, Z:-2.36 [[ 9.99954316e-01 9.55419727e-03 2.88893268e-04 5.54237425e+02] [-9.55420322e-03 9.99954357e-01 1.92234103e-05 6.02002248e+01] [-2.88696418e-04 -2.19826771e-05 9.99999958e-01 -2.36136059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.961400513 meters 0.08778549072709528 Centerline is valid? [True, True] Translation: X:554.27, Y:60.21, Z:-2.36 [[ 9.99960097e-01 8.92822013e-03 -3.00628599e-04 5.54265885e+02] [-8.92822669e-03 9.99960142e-01 -2.04797335e-05 6.02125192e+01] [ 3.00433769e-04 2.31629966e-05 9.99999955e-01 -2.36365014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.991400513 meters 0.08666774002861645 Centerline is valid? [True, True] Translation: X:554.30, Y:60.21, Z:-2.36 [[ 9.99962907e-01 8.61049980e-03 -2.08069371e-04 5.54295579e+02] [-8.61050295e-03 9.99962929e-01 -1.42397027e-05 6.02137962e+01] [ 2.07939046e-04 1.60307564e-05 9.99999978e-01 -2.36341835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.021400513 meters 0.07182916689157295 Centerline is valid? [True, True] Translation: X:554.33, Y:60.23, Z:-2.35 [[ 9.99997493e-01 -1.52063721e-05 -2.23935165e-03 5.54334676e+02] [-3.95130976e-05 9.99701461e-01 -2.44333359e-02 6.02254750e+01] [ 2.23905465e-03 2.44333631e-02 9.99698953e-01 -2.35428293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.051400513 meters 0.07182916689157295 Centerline is valid? [True, True] Translation: X:554.36, Y:60.21, Z:-2.36 [[ 9.99991658e-01 -5.29485825e-04 -4.05021055e-03 5.54364480e+02] [ 5.28636789e-04 9.99999838e-01 -2.10695288e-04 6.02075536e+01] [ 4.05032145e-03 2.08552440e-04 9.99991776e-01 -2.35817737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.081400513 meters 0.07403683438149183 Centerline is valid? [True, True] Translation: X:554.39, Y:60.19, Z:-2.36 [[ 9.99990471e-01 4.24671677e-03 -1.01193500e-03 5.54385600e+02] [-4.22125917e-03 9.99704116e-01 2.39553846e-02 6.01865755e+01] [ 1.11336732e-03 -2.39508847e-02 9.99712516e-01 -2.36421437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.111400513 meters 0.06671124332582216 Centerline is valid? [True, True] Translation: X:554.42, Y:60.20, Z:-2.36 [[ 9.99997168e-01 2.37997745e-03 -2.55987256e-08 5.54415461e+02] [-2.37997745e-03 9.99997168e-01 1.16326744e-07 6.01983019e+01] [ 2.58755068e-08 -1.16265490e-07 1.00000000e+00 -2.36171651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.141400513 meters 0.07616754674325038 Centerline is valid? [True, True] Translation: X:554.44, Y:60.21, Z:-2.37 [[ 9.99999920e-01 1.57741134e-04 -3.68825696e-04 5.54444725e+02] [-1.57750348e-04 9.99999987e-01 -2.49534500e-05 6.02085545e+01] [ 3.68821755e-04 2.50116304e-05 9.99999932e-01 -2.36530695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.171400513 meters 0.06772668418405477 Centerline is valid? [True, True] Translation: X:554.48, Y:60.20, Z:-2.36 [[ 9.99986065e-01 -5.25318176e-03 5.23292205e-04 5.54475873e+02] [ 5.25316392e-03 9.99986201e-01 3.54660108e-05 6.02034471e+01] [-5.23471293e-04 -3.27165769e-05 9.99999862e-01 -2.36281167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.201400513 meters 0.06382502695933492 Centerline is valid? [True, True] Translation: X:554.51, Y:60.20, Z:-2.36 [[ 9.99959017e-01 -8.95241358e-03 1.34888047e-03 5.54506569e+02] [ 8.95229861e-03 9.99959923e-01 9.12465215e-05 6.02013622e+01] [-1.34964329e-03 -7.91672011e-05 9.99999086e-01 -2.36194168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.231400513 meters 0.056593253301948226 Centerline is valid? [True, True] Translation: X:554.54, Y:60.19, Z:-2.36 [[ 9.99875757e-01 -1.56366866e-02 1.99128435e-03 5.54538084e+02] [ 1.56364492e-02 9.99877734e-01 1.34717371e-04 6.01935489e+01] [-1.99314742e-03 -1.03564016e-04 9.99998008e-01 -2.36075398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.261400513 meters 0.058090159597589244 Centerline is valid? [True, True] Translation: X:554.57, Y:60.20, Z:-2.36 [[ 9.99844785e-01 -1.75614581e-02 1.41475388e-03 5.54568572e+02] [ 1.75613400e-02 9.99845783e-01 9.59012996e-05 6.01962968e+01] [-1.41621987e-03 -7.10414403e-05 9.99998995e-01 -2.36251946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.291400513 meters 0.049110429175417906 Centerline is valid? [True, True] Translation: X:554.61, Y:60.21, Z:-2.36 [[ 9.99655210e-01 -2.60109835e-02 -3.59034624e-03 5.54608824e+02] [ 2.59119800e-02 9.99343790e-01 -2.53092763e-02 6.02137638e+01] [ 4.24630939e-03 2.52075170e-02 9.99673222e-01 -2.35714805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.321400513 meters 0.055082839467753775 Centerline is valid? [True, True] Translation: X:554.63, Y:60.18, Z:-2.37 [[ 9.99791014e-01 -2.03913619e-02 -1.45646325e-03 5.54630038e+02] [ 2.04215458e-02 9.99475352e-01 2.51392186e-02 6.01780454e+01] [ 9.43076212e-04 -2.51637080e-02 9.99682899e-01 -2.36680324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.351400513 meters 0.0473851541419757 Centerline is valid? [True, True] Translation: X:554.66, Y:60.19, Z:-2.36 [[ 9.99812090e-01 -1.93835799e-02 2.48858151e-04 5.54661118e+02] [ 1.93835762e-02 9.99812121e-01 1.73314995e-05 6.01936131e+01] [-2.49147342e-04 -1.25044818e-05 9.99999969e-01 -2.36253654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.381400513 meters 0.05321589593730885 Centerline is valid? [True, True] Translation: X:554.69, Y:60.21, Z:-2.36 [[ 9.99805980e-01 -1.96971515e-02 1.54879698e-04 5.54691436e+02] [ 1.96971501e-02 9.99805992e-01 1.08402022e-05 6.02052016e+01] [-1.55063171e-04 -7.78741035e-06 9.99999988e-01 -2.36404074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.411400513 meters 0.05441687137437035 Centerline is valid? [True, True] Translation: X:554.72, Y:60.21, Z:-2.36 [[ 9.99798239e-01 -2.00798791e-02 5.29598283e-04 5.54721302e+02] [ 2.00798628e-02 9.99798379e-01 3.62307020e-05 6.02103535e+01] [-5.30219013e-04 -2.55891312e-05 9.99999859e-01 -2.36411406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.441400513 meters 0.05411019087016795 Centerline is valid? [True, True] Translation: X:554.75, Y:60.22, Z:-2.36 [[ 9.99775375e-01 -2.11669087e-02 1.07745478e-03 5.54751122e+02] [ 2.11668420e-02 9.99775955e-01 7.33122786e-05 6.02150304e+01] [-1.07876518e-03 -5.04894957e-05 9.99999417e-01 -2.36346237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.471400513 meters 0.04809608562852511 Centerline is valid? [True, True] Translation: X:554.78, Y:60.21, Z:-2.36 [[ 9.99746685e-01 -2.24167138e-02 2.01428903e-03 5.54782877e+02] [ 2.24164845e-02 9.99748710e-01 1.36315493e-04 6.02138543e+01] [-2.01683860e-03 -9.11276831e-05 9.99997962e-01 -2.36133966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.501400513 meters 0.04682030481203159 Centerline is valid? [True, True] Translation: X:554.81, Y:60.22, Z:-2.36 [[ 9.99686126e-01 -2.47551929e-02 3.85090010e-03 5.54812428e+02] [ 2.47543741e-02 9.99693530e-01 2.60161578e-04 6.02230154e+01] [-3.85616026e-03 -1.64753299e-04 9.99992551e-01 -2.35967576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.531400513 meters 0.05074744507860144 Centerline is valid? [True, True] Translation: X:554.84, Y:60.23, Z:-2.36 [[ 9.99668351e-01 -2.53566121e-02 4.49784448e-03 5.54842746e+02] [ 2.53555002e-02 9.99678451e-01 3.04052035e-04 6.02312143e+01] [-4.50410793e-03 -1.89906100e-04 9.99989838e-01 -2.36019783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.561400513 meters 0.04312682545166527 Centerline is valid? [True, True] Translation: X:554.87, Y:60.23, Z:-2.36 [[ 9.99609911e-01 -2.74620088e-02 5.08559504e-03 5.54873948e+02] [ 2.74606161e-02 9.99622827e-01 3.43503509e-04 6.02319026e+01] [-5.09311019e-03 -2.03715939e-04 9.99987009e-01 -2.35899410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.591400513 meters 0.04183143901263626 Centerline is valid? [True, True] Translation: X:554.90, Y:60.24, Z:-2.36 [[ 9.99555981e-01 -2.94266686e-02 4.68103539e-03 5.54904673e+02] [ 2.94255106e-02 9.99566926e-01 3.16082795e-04 6.02383315e+01] [-4.68830942e-03 -1.78200592e-04 9.99988994e-01 -2.35969354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.621400513 meters 0.04001741464057356 Centerline is valid? [True, True] Translation: X:554.94, Y:60.24, Z:-2.36 [[ 9.99503249e-01 -3.11716596e-02 4.64576723e-03 5.54935601e+02] [ 3.11705383e-02 9.99514032e-01 3.13591403e-04 6.02446017e+01] [-4.65328470e-03 -1.68624561e-04 9.99989159e-01 -2.36031309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.651400513 meters 0.03855356141507296 Centerline is valid? [True, True] Translation: X:554.97, Y:60.25, Z:-2.36 [[ 9.99432123e-01 -3.34567640e-02 4.00965689e-03 5.54965995e+02] [ 3.34559474e-02 9.99440156e-01 2.70587674e-04 6.02512614e+01] [-4.01646510e-03 -1.36287144e-04 9.99991925e-01 -2.36171066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.681400513 meters 0.03082827971206398 Centerline is valid? [True, True] Translation: X:555.00, Y:60.27, Z:-2.36 [[ 9.99273780e-01 -3.80700398e-02 1.60779536e-03 5.54999449e+02] [ 3.80897964e-02 9.99163304e-01 -1.48949671e-02 6.02689863e+01] [-1.03939814e-03 1.49453907e-02 9.99887771e-01 -2.35876567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.711400513 meters 0.03162934218544226 Centerline is valid? [True, True] Translation: X:555.03, Y:60.27, Z:-2.36 [[ 9.99118634e-01 -4.19710630e-02 6.20753145e-04 5.55032873e+02] [ 4.19705096e-02 9.99118463e-01 8.79135989e-04 6.02670411e+01] [-6.57104200e-04 -8.52307823e-04 9.99999421e-01 -2.36237577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.741400513 meters 0.02973253365136287 Centerline is valid? [True, True] Translation: X:555.06, Y:60.26, Z:-2.37 [[ 9.99182674e-01 -4.03065550e-02 3.06024385e-03 5.55059386e+02] [ 4.02540455e-02 9.99067301e-01 1.56250049e-02 6.02593127e+01] [-3.68717969e-03 -1.54890470e-02 9.99873239e-01 -2.36663174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.771400513 meters 0.027573905740173082 Centerline is valid? [True, True] Translation: X:555.09, Y:60.28, Z:-2.36 [[ 9.99124819e-01 -4.16689095e-02 3.64662927e-03 5.55090585e+02] [ 4.16682945e-02 9.99131470e-01 2.44504455e-04 6.02787142e+01] [-3.65365030e-03 -9.23416466e-05 9.99993321e-01 -2.36498550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.801400513 meters 0.027505436110225125 Centerline is valid? [True, True] Translation: X:555.12, Y:60.29, Z:-2.37 [[ 9.99025394e-01 -4.40004932e-02 3.49547687e-03 5.55120711e+02] [ 4.39999418e-02 9.99031506e-01 2.34533797e-04 6.02933908e+01] [-3.50241112e-03 -8.05044398e-05 9.99993863e-01 -2.36625402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.831400513 meters 0.02676552319243854 Centerline is valid? [True, True] Translation: X:555.15, Y:60.30, Z:-2.37 [[ 9.98981378e-01 -4.50127234e-02 3.17179454e-03 5.55151133e+02] [ 4.50122765e-02 9.98986411e-01 2.12170402e-04 6.02998690e+01] [-3.17813001e-03 -6.91845883e-05 9.99994947e-01 -2.36689731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.861400513 meters 0.025380696499853216 Centerline is valid? [True, True] Translation: X:555.18, Y:60.31, Z:-2.37 [[ 9.98985093e-01 -4.48510827e-02 4.14305620e-03 5.55183308e+02] [ 4.48503196e-02 9.98993680e-01 2.76961706e-04 6.03054161e+01] [-4.15130899e-03 -9.08632212e-05 9.99991379e-01 -2.36591443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.891400513 meters 0.026602142955945922 Centerline is valid? [True, True] Translation: X:555.21, Y:60.31, Z:-2.37 [[ 9.98991682e-01 -4.47202530e-02 3.96460215e-03 5.55214242e+02] [ 4.47195541e-02 9.98999545e-01 2.64789337e-04 6.03141616e+01] [-3.97247719e-03 -8.72271048e-05 9.99992106e-01 -2.36642477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.921400513 meters 0.02598125109644416 Centerline is valid? [True, True] Translation: X:555.25, Y:60.32, Z:-2.37 [[ 9.99042951e-01 -4.35322271e-02 4.25768124e-03 5.55246063e+02] [ 4.35314108e-02 9.99052018e-01 2.84260082e-04 6.03206466e+01] [-4.26601951e-03 -9.86451595e-05 9.99990896e-01 -2.36592019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.951400513 meters 0.02701924304620456 Centerline is valid? [True, True] Translation: X:555.28, Y:60.33, Z:-2.37 [[ 9.99109759e-01 -4.19687243e-02 4.27964753e-03 5.55277949e+02] [ 4.19678861e-02 9.99118919e-01 2.85519892e-04 6.03293619e+01] [-4.28785972e-03 -1.05657950e-04 9.99990802e-01 -2.36598982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.981400513 meters 0.033109974894366304 Centerline is valid? [True, True] Translation: X:555.31, Y:60.35, Z:-2.37 [[ 9.99340859e-01 -3.60770163e-02 4.03685965e-03 5.55307172e+02] [ 3.60762243e-02 9.99349005e-01 2.68873677e-04 6.03493792e+01] [-4.04393184e-03 -1.23061797e-04 9.99991816e-01 -2.36607370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.011400513 meters 0.041551640955641955 Centerline is valid? [True, True] Translation: X:555.34, Y:60.37, Z:-2.37 [[ 9.99470924e-01 -3.22572621e-02 4.16415300e-03 5.55335794e+02] [ 3.22563863e-02 9.99479589e-01 2.77317669e-04 6.03671498e+01] [-4.17093144e-03 -1.42850420e-04 9.99991291e-01 -2.36678111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.041400513 meters 0.04798968013078967 Centerline is valid? [True, True] Translation: X:555.37, Y:60.39, Z:-2.37 [[ 9.99670209e-01 -2.52900338e-02 4.45955875e-03 5.55365959e+02] [ 2.52889596e-02 9.99680139e-01 2.97102135e-04 6.03879722e+01] [-4.46564604e-03 -1.84226552e-04 9.99990012e-01 -2.36597080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.071400513 meters 0.05054446685597499 Centerline is valid? [True, True] Translation: X:555.40, Y:60.40, Z:-2.37 [[ 9.99739765e-01 -2.24246870e-02 4.18748067e-03 5.55396192e+02] [ 2.24237153e-02 9.99748518e-01 2.78860863e-04 6.03973370e+01] [-4.19268096e-03 -1.84889419e-04 9.99991194e-01 -2.36649095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.101400513 meters 0.05127257403424685 Centerline is valid? [True, True] Translation: X:555.43, Y:60.40, Z:-2.37 [[ 9.99781335e-01 -2.05417569e-02 3.91382318e-03 5.55426819e+02] [ 2.05408938e-02 9.99788980e-01 2.60600113e-04 6.04032083e+01] [-3.91835047e-03 -1.80149703e-04 9.99992307e-01 -2.36776816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.131400513 meters 0.050332012651334294 Centerline is valid? [True, True] Translation: X:555.46, Y:60.41, Z:-2.37 [[ 9.99799356e-01 -1.95661856e-02 4.29081856e-03 5.55458290e+02] [ 1.95651389e-02 9.99808544e-01 2.85784349e-04 6.04080980e+01] [-4.29558876e-03 -2.01776547e-04 9.99990754e-01 -2.36760752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.161400513 meters 0.054482001458427826 Centerline is valid? [True, True] Translation: X:555.49, Y:60.42, Z:-2.37 [[ 9.99799661e-01 -1.94223592e-02 4.83841410e-03 5.55489299e+02] [ 1.94210256e-02 9.99811342e-01 3.22464618e-04 6.04185946e+01] [-4.84376431e-03 -2.28433051e-04 9.99988243e-01 -2.36773916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.191400513 meters 0.0553121944342554 Centerline is valid? [True, True] Translation: X:555.52, Y:60.42, Z:-2.37 [[ 9.99786894e-01 -1.99447938e-02 5.32651690e-03 5.55521644e+02] [ 1.99431908e-02 9.99801052e-01 3.53897038e-04 6.04229947e+01] [-5.33251561e-03 -2.47593878e-04 9.99985751e-01 -2.36740220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.221400513 meters 0.05070862265833243 Centerline is valid? [True, True] Translation: X:555.55, Y:60.43, Z:-2.37 [[ 9.99769717e-01 -2.06702969e-02 5.76644415e-03 5.55553857e+02] [ 2.06684320e-02 9.99786312e-01 3.82814209e-04 6.04252265e+01] [-5.77312481e-03 -2.63542695e-04 9.99983301e-01 -2.36649015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.251400513 meters 0.04823039858977199 Centerline is valid? [True, True] Translation: X:555.59, Y:60.43, Z:-2.36 [[ 9.99721044e-01 -2.25895708e-02 6.89526890e-03 5.55585580e+02] [ 2.25869531e-02 9.99744778e-01 4.57284310e-04 6.04288325e+01] [-6.90383893e-03 -3.01413633e-04 9.99976123e-01 -2.36493090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.281400513 meters 0.05182262921113738 Centerline is valid? [True, True] Translation: X:555.62, Y:60.44, Z:-2.37 [[ 9.99705625e-01 -2.32021212e-02 7.09393627e-03 5.55615927e+02] [ 2.31993677e-02 9.99730748e-01 4.70191355e-04 6.04373093e+01] [-7.10293565e-03 -3.05478107e-04 9.99974727e-01 -2.36536001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.311400513 meters 0.04999921411905708 Centerline is valid? [True, True] Translation: X:555.65, Y:60.44, Z:-2.37 [[ 9.99702535e-01 -2.33903850e-02 6.90877179e-03 5.55648020e+02] [ 2.33877793e-02 9.99726364e-01 4.57715658e-04 6.04391594e+01] [-6.91758745e-03 -2.95998673e-04 9.99976029e-01 -2.36619136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.341400513 meters 0.051318313987682954 Centerline is valid? [True, True] Translation: X:555.68, Y:60.45, Z:-2.37 [[ 9.99708092e-01 -2.33030895e-02 6.37939597e-03 5.55678479e+02] [ 2.33008680e-02 9.99728409e-01 4.22336800e-04 6.04451657e+01] [-6.38750513e-03 -2.73568053e-04 9.99979562e-01 -2.36782366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.371400513 meters 0.04645644039025826 Centerline is valid? [True, True] Translation: X:555.71, Y:60.44, Z:-2.37 [[ 9.99722244e-01 -2.27949811e-02 5.98522074e-03 5.55710971e+02] [ 2.27930174e-02 9.99740127e-01 3.96112878e-04 6.04437022e+01] [-5.99269473e-03 -2.59581615e-04 9.99982010e-01 -2.36882031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.401400513 meters 0.05044339357033779 Centerline is valid? [True, True] Translation: X:555.74, Y:60.45, Z:-2.37 [[ 9.99742069e-01 -2.19623037e-02 5.78384677e-03 5.55741525e+02] [ 2.19604578e-02 9.99758767e-01 3.82465369e-04 6.04531787e+01] [-5.79085134e-03 -2.55350796e-04 9.99983200e-01 -2.36992508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.431400513 meters 0.052720469455820415 Centerline is valid? [True, True] Translation: X:555.77, Y:60.46, Z:-2.37 [[ 9.99789400e-01 -1.99448821e-02 4.83297392e-03 5.55771987e+02] [ 1.99435710e-02 9.99801056e-01 3.19340050e-04 6.04631398e+01] [-4.83838163e-03 -2.22886038e-04 9.99988270e-01 -2.37119084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.461400513 meters 0.052264633682146545 Centerline is valid? [True, True] Translation: X:555.80, Y:60.47, Z:-2.37 [[ 9.99806960e-01 -1.91591109e-02 4.35562105e-03 5.55803456e+02] [ 1.91580381e-02 9.99816426e-01 2.87900859e-04 6.04675156e+01] [-4.36033740e-03 -2.04400129e-04 9.99990473e-01 -2.37151971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.491400513 meters 0.05566234232852464 Centerline is valid? [True, True] Translation: X:555.83, Y:60.48, Z:-2.37 [[ 9.99814234e-01 -1.88530847e-02 4.00720524e-03 5.55833637e+02] [ 1.88521750e-02 9.99822247e-01 2.64681468e-04 6.04766345e+01] [-4.01148301e-03 -1.89087765e-04 9.99991936e-01 -2.37253143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.521400513 meters 0.05380180752575108 Centerline is valid? [True, True] Translation: X:555.87, Y:60.48, Z:-2.37 [[ 9.99813588e-01 -1.88975042e-02 3.95894234e-03 5.55865281e+02] [ 1.88966164e-02 9.99821409e-01 2.61548486e-04 6.04786493e+01] [-3.96317792e-03 -1.86689116e-04 9.99992129e-01 -2.37247807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.551400513 meters 0.048468152299353306 Centerline is valid? [True, True] Translation: X:555.90, Y:60.48, Z:-2.37 [[ 9.99801622e-01 -1.94624567e-02 4.23443004e-03 5.55897244e+02] [ 1.94614470e-02 9.99810569e-01 2.79525529e-04 6.04788044e+01] [-4.23906816e-03 -1.97061941e-04 9.99990996e-01 -2.37184899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.581400513 meters 0.05392643548497739 Centerline is valid? [True, True] Translation: X:555.93, Y:60.49, Z:-2.37 [[ 9.99799080e-01 -1.95400641e-02 4.47046602e-03 5.55927892e+02] [ 1.95389409e-02 9.99809053e-01 2.94783837e-04 6.04909649e+01] [-4.47537249e-03 -2.07376438e-04 9.99989964e-01 -2.37227178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.611400513 meters 0.05381880121816933 Centerline is valid? [True, True] Translation: X:555.96, Y:60.50, Z:-2.37 [[ 9.99809584e-01 -1.90178814e-02 4.37218597e-03 5.55959385e+02] [ 1.90168026e-02 9.99819123e-01 2.88207199e-04 6.04968094e+01] [-4.37687623e-03 -2.05007323e-04 9.99990400e-01 -2.37257114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.641400513 meters 0.05133566350604547 Centerline is valid? [True, True] Translation: X:555.99, Y:60.50, Z:-2.37 [[ 9.99827064e-01 -1.81793120e-02 3.91858058e-03 5.55991803e+02] [ 1.81784394e-02 9.99834725e-01 2.58181056e-04 6.04994225e+01] [-3.92262649e-03 -1.86902727e-04 9.99992289e-01 -2.37308048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.671400513 meters 0.05316262273303937 Centerline is valid? [True, True] Translation: X:556.02, Y:60.51, Z:-2.37 [[ 9.99847515e-01 -1.70427740e-02 3.80671800e-03 5.56023752e+02] [ 1.70419430e-02 9.99854744e-01 2.50637429e-04 6.05065391e+01] [-3.81043661e-03 -1.85725339e-04 9.99992723e-01 -2.37404229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.701400513 meters 0.053834172096238975 Centerline is valid? [True, True] Translation: X:556.06, Y:60.51, Z:-2.37 [[ 9.99860799e-01 -1.62086073e-02 3.95771137e-03 5.56055117e+02] [ 1.62077036e-02 9.99868613e-01 2.60292143e-04 6.05122863e+01] [-3.96141035e-03 -1.96110498e-04 9.99992134e-01 -2.37415016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.731400513 meters 0.06252693430282259 Centerline is valid? [True, True] Translation: X:556.08, Y:60.53, Z:-2.37 [[ 9.99863645e-01 -1.55759558e-02 5.48454313e-03 5.56084660e+02] [ 1.55742132e-02 9.99878650e-01 3.60307783e-04 6.05310647e+01] [-5.48948972e-03 -2.74841209e-04 9.99984895e-01 -2.37300564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.761400513 meters 0.054734061260498894 Centerline is valid? [True, True] Translation: X:556.12, Y:60.53, Z:-2.37 [[ 9.99856118e-01 -1.57574226e-02 6.28067770e-03 5.56117414e+02] [ 1.57551414e-02 9.99875795e-01 4.12516458e-04 6.05271677e+01] [-6.28639780e-03 -3.13504139e-04 9.99980191e-01 -2.37130115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.791400513 meters 0.05149773134844708 Centerline is valid? [True, True] Translation: X:556.15, Y:60.53, Z:-2.37 [[ 9.99824962e-01 -1.76652975e-02 6.16302459e-03 5.56148532e+02] [ 1.76631395e-02 9.99843913e-01 4.04405416e-04 6.05310888e+01] [-6.16920657e-03 -2.95476266e-04 9.99980927e-01 -2.37199573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.821400513 meters 0.049485858172384246 Centerline is valid? [True, True] Translation: X:556.18, Y:60.53, Z:-2.37 [[ 9.99803528e-01 -1.90162148e-02 5.59371037e-03 5.56179553e+02] [ 1.90144589e-02 9.99819142e-01 3.66934900e-04 6.05328706e+01] [-5.59967641e-03 -2.60501432e-04 9.99984288e-01 -2.37308484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.851400513 meters 0.0485617039187933 Centerline is valid? [True, True] Translation: X:556.21, Y:60.54, Z:-2.37 [[ 9.99780857e-01 -2.03731592e-02 4.81386980e-03 5.56209610e+02] [ 2.03718736e-02 9.99792422e-01 3.15947056e-04 6.05359257e+01] [-4.81930738e-03 -2.17810272e-04 9.99988363e-01 -2.37449988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.881400513 meters 0.04988651977933669 Centerline is valid? [True, True] Translation: X:556.24, Y:60.54, Z:-2.38 [[ 9.99751533e-01 -2.18170667e-02 4.57029775e-03 5.56239536e+02] [ 2.18159258e-02 9.99761960e-01 2.99339967e-04 6.05419741e+01] [-4.57574055e-03 -1.99560314e-04 9.99989511e-01 -2.37601020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.911400513 meters 0.04890550203927114 Centerline is valid? [True, True] Translation: X:556.27, Y:60.55, Z:-2.37 [[ 9.99725607e-01 -2.26634629e-02 5.92266520e-03 5.56273237e+02] [ 2.26763410e-02 9.99740619e-01 -2.11635068e-03 6.05476096e+01] [-5.87316514e-03 2.25007434e-03 9.99980221e-01 -2.37444095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.941400513 meters 0.04890550203927114 Centerline is valid? [True, True] Translation: X:556.31, Y:60.55, Z:-2.38 [[ 9.99727240e-01 -2.26363710e-02 5.74799262e-03 5.56305869e+02] [ 2.26350260e-02 9.99743750e-01 2.98953438e-04 6.05476102e+01] [-5.75328692e-03 -1.68765933e-04 9.99983435e-01 -2.37563895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.971400513 meters 0.04658752423374807 Centerline is valid? [True, True] Translation: X:556.34, Y:60.55, Z:-2.38 [[ 9.99719900e-01 -2.32251353e-02 4.55133804e-03 5.56337281e+02] [ 2.32127456e-02 9.99726748e-01 2.75637594e-03 6.05469158e+01] [-4.61411159e-03 -2.64995482e-03 9.99985844e-01 -2.37679105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.001400513 meters 0.04863050395833861 Centerline is valid? [True, True] Translation: X:556.37, Y:60.56, Z:-2.38 [[ 9.99721496e-01 -2.32000589e-02 4.32300599e-03 5.56369767e+02] [ 2.31990550e-02 9.99730826e-01 2.82221104e-04 6.05554548e+01] [-4.32838990e-03 -1.81852851e-04 9.99990616e-01 -2.37601741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.031400513 meters 0.04822868349321755 Centerline is valid? [True, True] Translation: X:556.40, Y:60.56, Z:-2.38 [[ 9.99723588e-01 -2.30679193e-02 4.54073961e-03 5.56401851e+02] [ 2.30668123e-02 9.99733882e-01 2.96011053e-04 6.05598205e+01] [-4.54635959e-03 -1.91188844e-04 9.99989647e-01 -2.37623428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.061400513 meters 0.047879157574906246 Centerline is valid? [True, True] Translation: X:556.43, Y:60.56, Z:-2.38 [[ 9.99723548e-01 -2.29984377e-02 4.88866070e-03 5.56434465e+02] [ 2.29971551e-02 9.99735480e-01 3.18418309e-04 6.05630962e+01] [-4.89469068e-03 -2.05904993e-04 9.99988000e-01 -2.37628247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.091400513 meters 0.048633061541162884 Centerline is valid? [True, True] Translation: X:556.47, Y:60.57, Z:-2.38 [[ 9.99727510e-01 -2.26964923e-02 5.45657846e-03 5.56466086e+02] [ 2.26948931e-02 9.99742375e-01 3.54826666e-04 6.05683005e+01] [-5.46322603e-03 -2.30893515e-04 9.99985050e-01 -2.37588764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.121400513 meters 0.05121360916280423 Centerline is valid? [True, True] Translation: X:556.50, Y:60.57, Z:-2.38 [[ 9.99738173e-01 -2.19785938e-02 6.36607348e-03 5.56498416e+02] [ 2.19764049e-02 9.99758404e-01 4.13593876e-04 6.05740508e+01] [-6.37362567e-03 -2.73582178e-04 9.99979651e-01 -2.37541061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.151400513 meters 0.051457379887136445 Centerline is valid? [True, True] Translation: X:556.53, Y:60.58, Z:-2.38 [[ 9.99737480e-01 -2.18868912e-02 6.77747425e-03 5.56530274e+02] [ 2.18844103e-02 9.99760411e-01 4.40012881e-04 6.05799687e+01] [-6.78548095e-03 -2.91576342e-04 9.99976936e-01 -2.37566920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.181400513 meters 0.05128358976446695 Centerline is valid? [True, True] Translation: X:556.56, Y:60.58, Z:-2.38 [[ 9.99726405e-01 -2.24382670e-02 6.60606453e-03 5.56561955e+02] [ 2.24359247e-02 9.99748191e-01 4.28468371e-04 6.05822809e+01] [-6.61401515e-03 -2.80137977e-04 9.99978088e-01 -2.37595538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.211400513 meters 0.047442906965526464 Centerline is valid? [True, True] Translation: X:556.59, Y:60.58, Z:-2.38 [[ 9.99694358e-01 -2.37885798e-02 6.73015568e-03 5.56593763e+02] [ 2.37861818e-02 9.99716974e-01 4.36127856e-04 6.05800748e+01] [-6.73862573e-03 -2.75909851e-04 9.99977257e-01 -2.37568243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.241400513 meters 0.04603589950628908 Centerline is valid? [True, True] Translation: X:556.62, Y:60.58, Z:-2.38 [[ 9.99644121e-01 -2.57541734e-02 6.95368591e-03 5.56624198e+02] [ 2.57516625e-02 9.99668269e-01 4.50405835e-04 6.05804137e+01] [-6.96297899e-03 -2.71176572e-04 9.99975721e-01 -2.37570364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.271400513 meters 0.04345234263088395 Centerline is valid? [True, True] Translation: X:556.65, Y:60.58, Z:-2.38 [[ 9.99483322e-01 -3.12173326e-02 7.65298097e-03 5.56654252e+02] [ 3.12144524e-02 9.99512587e-01 4.95542361e-04 6.05777724e+01] [-7.66472032e-03 -2.56402715e-04 9.99970593e-01 -2.37609445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.301400513 meters 0.036024667587199244 Centerline is valid? [True, True] Translation: X:556.69, Y:60.57, Z:-2.38 [[ 9.99375108e-01 -3.45825213e-02 7.31044036e-03 5.56685420e+02] [ 3.45799822e-02 9.99401821e-01 4.73473198e-04 6.05691072e+01] [-7.32244131e-03 -2.20382431e-04 9.99973166e-01 -2.37687769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.331400513 meters 0.033336381383844475 Centerline is valid? [True, True] Translation: X:556.72, Y:60.57, Z:-2.38 [[ 9.99277444e-01 -3.74593335e-02 6.43336410e-03 5.56716350e+02] [ 3.74574262e-02 9.99298137e-01 4.16751607e-04 6.05664290e+01] [-6.44446000e-03 -1.75473220e-04 9.99979219e-01 -2.37851145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.361400513 meters 0.031309616317503036 Centerline is valid? [True, True] Translation: X:556.75, Y:60.57, Z:-2.38 [[ 9.99209316e-01 -3.93978234e-02 5.34359823e-03 5.56748994e+02] [ 3.93965351e-02 9.99223595e-01 3.46182532e-04 6.05651626e+01] [-5.35308828e-03 -1.35389556e-04 9.99985663e-01 -2.38000005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.391400513 meters 0.029858897530606915 Centerline is valid? [True, True] Translation: X:556.78, Y:60.57, Z:-2.38 [[ 9.99153121e-01 -4.09045911e-02 4.45584691e-03 5.56780971e+02] [ 4.09037108e-02 9.99163051e-01 2.88544257e-04 6.05653082e+01] [-4.46392038e-03 -1.06039222e-04 9.99990031e-01 -2.38150244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.421400513 meters 0.031142816890441925 Centerline is valid? [True, True] Translation: X:556.81, Y:60.57, Z:-2.38 [[ 9.99178625e-01 -4.02300459e-02 4.85981202e-03 5.56812387e+02] [ 4.02289924e-02 9.99190437e-01 3.14386523e-04 6.05688205e+01] [-4.86852548e-03 -1.18622953e-04 9.99988142e-01 -2.38130738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.451400513 meters 0.0343909067482912 Centerline is valid? [True, True] Translation: X:556.84, Y:60.57, Z:-2.38 [[ 9.99219551e-01 -3.92267735e-02 4.64220986e-03 5.56844043e+02] [ 3.92258017e-02 9.99230327e-01 3.00231074e-04 6.05731277e+01] [-4.65041397e-03 -1.17902355e-04 9.99989180e-01 -2.38138688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.481400513 meters 0.028288308487411148 Centerline is valid? [True, True] Translation: X:556.88, Y:60.57, Z:-2.38 [[ 9.99285137e-01 -3.75155506e-02 4.66890479e-03 5.56876758e+02] [ 3.75145498e-02 9.99296036e-01 3.01772969e-04 6.05709850e+01] [-4.67693923e-03 -1.26405381e-04 9.99989055e-01 -2.37995555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.511400513 meters 0.03341210960863365 Centerline is valid? [True, True] Translation: X:556.91, Y:60.58, Z:-2.38 [[ 9.99331144e-01 -3.62699422e-02 4.66423176e-03 5.56908519e+02] [ 3.62689309e-02 9.99342020e-01 3.01244521e-04 6.05773985e+01] [-4.67208892e-03 -1.31876333e-04 9.99989077e-01 -2.38052672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.541400513 meters 0.03127368269101254 Centerline is valid? [True, True] Translation: X:556.94, Y:60.59, Z:-2.38 [[ 9.99387058e-01 -3.46272060e-02 5.14449153e-03 5.56939887e+02] [ 3.46259546e-02 9.99400287e-01 3.32155642e-04 6.05851500e+01] [-5.15290793e-03 -1.53819120e-04 9.99986712e-01 -2.38007269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.571400513 meters 0.03090933854184186 Centerline is valid? [True, True] Translation: X:556.97, Y:60.59, Z:-2.38 [[ 9.99367196e-01 -3.50907092e-02 5.81802625e-03 5.56972237e+02] [ 3.50891210e-02 9.99384117e-01 3.74854055e-04 6.05890462e+01] [-5.82759692e-03 -1.70467419e-04 9.99983005e-01 -2.37947852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.601400513 meters 0.03239714897082521 Centerline is valid? [True, True] Translation: X:557.00, Y:60.59, Z:-2.38 [[ 9.99312208e-01 -3.64879460e-02 6.61364543e-03 5.57004339e+02] [ 3.64859269e-02 9.99334076e-01 4.25729689e-04 6.05921842e+01] [-6.62477525e-03 -1.84131892e-04 9.99978039e-01 -2.37830787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.631400513 meters 0.02728485780576272 Centerline is valid? [True, True] Translation: X:557.04, Y:60.59, Z:-2.38 [[ 9.99230440e-01 -3.84857497e-02 7.57465041e-03 5.57036162e+02] [ 3.84831619e-02 9.99259130e-01 4.87152438e-04 6.05944559e+01] [-7.58778701e-03 -1.95281047e-04 9.99971193e-01 -2.37676201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.661400513 meters 0.028007151163739794 Centerline is valid? [True, True] Translation: X:557.07, Y:60.60, Z:-2.38 [[ 9.99126015e-01 -4.09478604e-02 8.39516616e-03 5.57066467e+02] [ 4.09447728e-02 9.99161266e-01 5.39409775e-04 6.06005017e+01] [-8.41021252e-03 -1.95200168e-04 9.99964614e-01 -2.37597709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.691400513 meters 0.019640092078387236 Centerline is valid? [True, True] Translation: X:557.10, Y:60.60, Z:-2.37 [[ 9.98846041e-01 -4.70850053e-02 9.46514641e-03 5.57097263e+02] [ 4.70813570e-02 9.98890873e-01 6.08022178e-04 6.05982291e+01] [-9.48327708e-03 -1.61688608e-04 9.99955020e-01 -2.37378017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.721400513 meters 0.016202694011019158 Centerline is valid? [True, True] Translation: X:557.13, Y:60.60, Z:-2.37 [[ 9.98700956e-01 -5.01032364e-02 9.27717711e-03 5.57129590e+02] [ 5.00998613e-02 9.98744036e-01 5.95988934e-04 6.05986981e+01] [-9.29538628e-03 -1.30429432e-04 9.99956788e-01 -2.37413986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.751400513 meters 0.013572013762992547 Centerline is valid? [True, True] Translation: X:557.16, Y:60.60, Z:-2.37 [[ 9.98564049e-01 -5.28052605e-02 9.02471400e-03 5.57161885e+02] [ 5.28021795e-02 9.98604824e-01 5.79490276e-04 6.05999778e+01] [-9.04272307e-03 -1.02133588e-04 9.99959109e-01 -2.37475174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.781400513 meters 0.022320917758883067 Centerline is valid? [True, True] Translation: X:557.19, Y:60.60, Z:-2.38 [[ 9.98404263e-01 -5.57086482e-02 9.24522941e-03 5.57193947e+02] [ 5.57055538e-02 9.98447065e-01 5.92078901e-04 6.06012763e+01] [-9.26385608e-03 -7.61234751e-05 9.99957087e-01 -2.37504839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.811400513 meters 0.009031202324991506 Centerline is valid? [True, True] Translation: X:557.23, Y:60.60, Z:-2.37 [[ 9.98228678e-01 -5.86210668e-02 1.01526502e-02 5.57226485e+02] [ 5.86175047e-02 9.98280305e-01 6.48324432e-04 6.06024522e+01] [-1.01731962e-02 -5.20530199e-05 9.99948250e-01 -2.37350069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.841400513 meters 0.011152206183033211 Centerline is valid? [True, True] Translation: X:557.26, Y:60.60, Z:-2.37 [[ 9.97825266e-01 -6.49268095e-02 1.13687206e-02 5.57258682e+02] [ 6.49227760e-02 9.97890029e-01 7.23874234e-04 6.06032599e+01] [-1.13917318e-02 1.57889033e-05 9.99935112e-01 -2.37279169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.871400513 meters 0.014578691346147603 Centerline is valid? [True, True] Translation: X:557.29, Y:60.60, Z:-2.37 [[ 9.97619104e-01 -6.80395589e-02 1.12579979e-02 5.57290728e+02] [ 6.80358228e-02 9.97682623e-01 7.14960529e-04 6.06044469e+01] [-1.12805545e-02 5.26888711e-05 9.99936371e-01 -2.37376049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.901400513 meters 0.020591126624922393 Centerline is valid? [True, True] Translation: X:557.32, Y:60.61, Z:-2.37 [[ 9.97426857e-01 -7.07821928e-02 1.13818424e-02 5.57321652e+02] [ 7.07785744e-02 9.97491791e-01 7.20904663e-04 6.06059793e+01] [-1.14043216e-02 8.65409077e-05 9.99934965e-01 -2.37495408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.931400513 meters 0.014534321707939425 Centerline is valid? [True, True] Translation: X:557.35, Y:60.61, Z:-2.38 [[ 9.97320286e-01 -7.23298225e-02 1.09838155e-02 5.57352480e+02] [ 7.23265649e-02 9.97380763e-01 6.94044181e-04 6.06086486e+01] [-1.10052464e-02 1.02237305e-04 9.99939435e-01 -2.37522600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.961400513 meters 0.015617513657928801 Centerline is valid? [True, True] Translation: X:557.38, Y:60.62, Z:-2.38 [[ 9.97256810e-01 -7.32714744e-02 1.04950080e-02 5.57384504e+02] [ 7.32685686e-02 9.97312027e-01 6.61607344e-04 6.06171340e+01] [-1.05152746e-02 1.09161785e-04 9.99944707e-01 -2.37658541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.991400513 meters 0.015082132160200589 Centerline is valid? [True, True] Translation: X:557.42, Y:60.62, Z:-2.38 [[ 9.97338533e-01 -7.22955839e-02 9.44455685e-03 5.57415823e+02] [ 7.22932005e-02 9.97383246e-01 5.93958287e-04 6.06219392e+01] [-9.46278333e-03 9.03997551e-05 9.99955223e-01 -2.37840894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.021400513 meters 0.011758117280331742 Centerline is valid? [True, True] Translation: X:557.45, Y:60.63, Z:-2.38 [[ 9.97459347e-01 -7.07516402e-02 8.30997713e-03 5.57448107e+02] [ 7.07497505e-02 9.97493960e-01 5.21514870e-04 6.06288164e+01] [-8.32605003e-03 6.77389268e-05 9.99965336e-01 -2.38070739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.051400513 meters 0.010436614309996524 Centerline is valid? [True, True] Translation: X:557.48, Y:60.64, Z:-2.38 [[ 9.97590830e-01 -6.89938638e-02 7.23759674e-03 5.57480308e+02] [ 6.89923910e-02 9.97617083e-01 4.53269243e-04 6.06375273e+01] [-7.25162294e-03 4.71618631e-05 9.99973706e-01 -2.38275403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.081400513 meters 0.009609417466843673 Centerline is valid? [True, True] Translation: X:557.51, Y:60.65, Z:-2.38 [[ 9.97733379e-01 -6.69504958e-02 6.76284589e-03 5.57511299e+02] [ 6.69491700e-02 9.97756298e-01 4.22492533e-04 6.06468794e+01] [-6.77595817e-03 3.12320175e-05 9.99977042e-01 -2.38421529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.111400513 meters 0.0163577123000558 Centerline is valid? [True, True] Translation: X:557.54, Y:60.66, Z:-2.39 [[ 9.97860421e-01 -6.50518171e-02 6.54537747e-03 5.57543353e+02] [ 6.50505403e-02 9.97881887e-01 4.08001618e-04 6.06581736e+01] [-6.55805487e-03 1.86516747e-05 9.99978496e-01 -2.38508888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.141400513 meters 0.008867861102505196 Centerline is valid? [True, True] Translation: X:557.57, Y:60.68, Z:-2.39 [[ 9.98203604e-01 -5.96488757e-02 5.61937042e-03 5.57574594e+02] [ 5.96478522e-02 9.98219420e-01 3.49690952e-04 6.06786304e+01] [-5.63022336e-03 -1.38793918e-05 9.99984150e-01 -2.38597735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.171400513 meters 0.009950582748631335 Centerline is valid? [True, True] Translation: X:557.61, Y:60.69, Z:-2.39 [[ 9.98353633e-01 -5.70781368e-02 5.66653766e-03 5.57605489e+02] [ 5.70770618e-02 9.98369714e-01 3.51374498e-04 6.06891623e+01] [-5.67735538e-03 -2.73666865e-05 9.99983883e-01 -2.38645742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.201400513 meters 0.0214473505898421 Centerline is valid? [True, True] Translation: X:557.64, Y:60.70, Z:-2.39 [[ 9.98431993e-01 -5.56329646e-02 6.20719638e-03 5.57638382e+02] [ 5.56316525e-02 9.98451287e-01 3.83988828e-04 6.06981260e+01] [-6.21894564e-03 -3.80701387e-05 9.99980661e-01 -2.38689905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.231400513 meters 0.015677869165320855 Centerline is valid? [True, True] Translation: X:557.67, Y:60.71, Z:-2.39 [[ 9.98481250e-01 -5.47517660e-02 6.11869522e-03 5.57670287e+02] [ 5.47504834e-02 9.98499996e-01 3.77052184e-04 6.07063955e+01] [-6.13016143e-03 -4.14780146e-05 9.99981210e-01 -2.38707016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.261400513 meters 0.01828239502449587 Centerline is valid? [True, True] Translation: X:557.70, Y:60.72, Z:-2.39 [[ 9.98391141e-01 -5.63058557e-02 6.69173394e-03 5.57701963e+02] [ 5.63043616e-02 9.98413566e-01 4.11600871e-04 6.07169392e+01] [-6.70429348e-03 -3.41648557e-05 9.99977525e-01 -2.38613857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.291400513 meters 0.015291603186024034 Centerline is valid? [True, True] Translation: X:557.73, Y:60.72, Z:-2.39 [[ 9.98296564e-01 -5.79411149e-02 6.84090167e-03 5.57733368e+02] [ 5.79396003e-02 9.98320002e-01 4.19543841e-04 6.07223366e+01] [-6.85371781e-03 -2.24700668e-05 9.99976513e-01 -2.38707824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.321400513 meters 0.019146503124766394 Centerline is valid? [True, True] Translation: X:557.77, Y:60.73, Z:-2.39 [[ 9.98217043e-01 -5.93647940e-02 6.20929314e-03 5.57766319e+02] [ 5.93635780e-02 9.98236355e-01 3.80119745e-04 6.07271491e+01] [-6.22090789e-03 -1.08361499e-05 9.99980650e-01 -2.38819875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.351400513 meters 0.01632782550458637 Centerline is valid? [True, True] Translation: X:557.80, Y:60.73, Z:-2.39 [[ 9.98151990e-01 -6.05425794e-02 5.21539933e-03 5.57799257e+02] [ 6.05417410e-02 9.98165616e-01 3.18624093e-04 6.07320397e+01] [-5.22512261e-03 -2.28591698e-06 9.99986349e-01 -2.38968007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.381400513 meters 0.016340671930588024 Centerline is valid? [True, True] Translation: X:557.83, Y:60.74, Z:-2.39 [[ 9.98131215e-01 -6.09622455e-02 4.20492599e-03 5.57831439e+02] [ 6.09617063e-02 9.98140073e-01 2.56381660e-04 6.07378014e+01] [-4.21273473e-03 4.36925672e-07 9.99991126e-01 -2.39166436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.411400513 meters 0.014605580866740693 Centerline is valid? [True, True] Translation: X:557.86, Y:60.74, Z:-2.39 [[ 9.98158703e-01 -6.05421783e-02 3.72120545e-03 5.57863053e+02] [ 6.05417550e-02 9.98165640e-01 2.26399736e-04 6.07443735e+01] [-3.72808615e-03 -6.94558046e-07 9.99993051e-01 -2.39252517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.441400513 meters 0.010711236320577184 Centerline is valid? [True, True] Translation: X:557.90, Y:60.76, Z:-2.39 [[ 9.98399531e-01 -5.63854983e-02 4.36484085e-03 5.57895415e+02] [ 5.63848806e-02 9.98409072e-01 2.64545665e-04 6.07604445e+01] [-4.37281324e-03 -1.80112375e-05 9.99990439e-01 -2.38790465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.471400513 meters 0.013431713891527574 Centerline is valid? [True, True] Translation: X:557.92, Y:60.78, Z:-2.38 [[ 9.98455973e-01 -5.51769371e-02 6.41679927e-03 5.57922047e+02] [ 5.52461688e-02 9.98410340e-01 -1.11648724e-02 6.07797348e+01] [-5.79055527e-03 1.15021371e-02 9.99917082e-01 -2.37767410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.501400513 meters 0.02086414212608459 Centerline is valid? [True, True] Translation: X:557.96, Y:60.77, Z:-2.39 [[ 9.98599284e-01 -5.24527453e-02 6.94112342e-03 5.57958426e+02] [ 5.23666913e-02 9.98555249e-01 1.20475703e-02 6.07715242e+01] [-7.56302336e-03 -1.16672114e-02 9.99903334e-01 -2.38998217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.531400513 meters 0.02050680827878206 Centerline is valid? [True, True] Translation: X:557.99, Y:60.79, Z:-2.38 [[ 9.98750933e-01 -4.91277476e-02 9.11248578e-03 5.57988927e+02] [ 4.91248052e-02 9.98792498e-01 5.46582650e-04 6.07947866e+01] [-9.12833481e-03 -9.82508435e-05 9.99958331e-01 -2.38359023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.561400513 meters 0.014751787488221257 Centerline is valid? [True, True] Translation: X:558.02, Y:60.80, Z:-2.38 [[ 9.98830637e-01 -4.75642362e-02 8.66036103e-03 5.58021283e+02] [ 4.75615308e-02 9.98868176e-01 5.18189368e-04 6.08009259e+01] [-8.67520630e-03 -1.05683388e-04 9.99962364e-01 -2.38353357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.591400513 meters 0.013947344251972051 Centerline is valid? [True, True] Translation: X:558.05, Y:60.81, Z:-2.38 [[ 9.98623164e-01 -5.13569761e-02 1.06882329e-02 5.58054783e+02] [ 5.13823986e-02 9.98676807e-01 -2.11751238e-03 6.08107435e+01] [-1.05653413e-02 2.66378395e-03 9.99940637e-01 -2.38199757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.621400513 meters 0.021270896303359495 Centerline is valid? [True, True] Translation: X:558.08, Y:60.81, Z:-2.39 [[ 9.98810706e-01 -4.82268088e-02 7.16582483e-03 5.58083218e+02] [ 4.82054922e-02 9.98832572e-01 3.11838234e-03 6.08142665e+01] [-7.30784888e-03 -2.76924156e-03 9.99969463e-01 -2.38912052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.651400513 meters 0.01504418566024019 Centerline is valid? [True, True] Translation: X:558.12, Y:60.83, Z:-2.39 [[ 9.98691697e-01 -5.05142017e-02 7.95050682e-03 5.58115713e+02] [ 5.05333635e-02 9.98719889e-01 -2.22787056e-03 6.08259775e+01] [-7.82779018e-03 2.62672168e-03 9.99965912e-01 -2.38573651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.681400513 meters 0.015387294431322134 Centerline is valid? [True, True] Translation: X:558.15, Y:60.83, Z:-2.38 [[ 9.98747239e-01 -4.96811981e-02 5.97758464e-03 5.58145573e+02] [ 4.97101028e-02 9.98752211e-01 -4.78813073e-03 6.08349771e+01] [-5.73224581e-03 5.07927869e-03 9.99970671e-01 -2.38479020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.711400513 meters 0.017304540008146276 Centerline is valid? [True, True] Translation: X:558.17, Y:60.85, Z:-2.39 [[ 9.98829580e-01 -4.80865502e-02 5.21093390e-03 5.58171497e+02] [ 4.80946671e-02 9.98841739e-01 -1.44365348e-03 6.08462480e+01] [-5.13547796e-03 1.69258193e-03 9.99985381e-01 -2.38692218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.741400513 meters 0.01715707809060182 Centerline is valid? [True, True] Translation: X:558.21, Y:60.85, Z:-2.39 [[ 9.98875565e-01 -4.71639455e-02 4.81335906e-03 5.58205110e+02] [ 4.71645067e-02 9.98887135e-01 -3.09369229e-06 6.08522037e+01] [-4.80785653e-03 2.30109919e-04 9.99988416e-01 -2.38773329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.771400513 meters 0.019430720725545334 Centerline is valid? [True, True] Translation: X:558.23, Y:60.86, Z:-2.39 [[ 9.98899814e-01 -4.64982185e-02 6.08904165e-03 5.58232966e+02] [ 4.64696961e-02 9.98908431e-01 4.74485360e-03 6.08589762e+01] [-6.30302228e-03 -4.45667747e-03 9.99970205e-01 -2.39243957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.801400513 meters 0.0240895737308741 Centerline is valid? [True, True] Translation: X:558.26, Y:60.88, Z:-2.39 [[ 9.99052367e-01 -4.32048715e-02 5.26369830e-03 5.58258802e+02] [ 4.32266005e-02 9.99056935e-01 -4.08669452e-03 6.08844957e+01] [-5.08216918e-03 4.31035362e-03 9.99977796e-01 -2.38904488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.831400513 meters 0.02320900618414217 Centerline is valid? [True, True] Translation: X:558.29, Y:60.88, Z:-2.40 [[ 9.99138451e-01 -4.06598438e-02 8.31463976e-03 5.58291119e+02] [ 4.05625635e-02 9.99110222e-01 1.15517671e-02 6.08771653e+01] [-8.77693462e-03 -1.12045516e-02 9.99898707e-01 -2.39693085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.861400513 meters 0.02320900618414217 Centerline is valid? [True, True] Translation: X:558.32, Y:60.89, Z:-2.39 [[ 9.99142129e-01 -4.04218727e-02 9.00439425e-03 5.58322262e+02] [ 4.04169936e-02 9.99182638e-01 7.23238295e-04 6.08879970e+01] [-9.02626904e-03 -3.58687305e-04 9.99959198e-01 -2.39107922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.891400513 meters 0.026016335429521944 Centerline is valid? [True, True] Translation: X:558.35, Y:60.91, Z:-2.38 [[ 9.99190495e-01 -3.92105869e-02 8.99359133e-03 5.58353093e+02] [ 3.92738205e-02 9.99204208e-01 -6.96547736e-03 6.09066534e+01] [-8.71331385e-03 7.31305147e-03 9.99935297e-01 -2.38472873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.921400513 meters 0.03006979641140965 Centerline is valid? [True, True] Translation: X:558.39, Y:60.92, Z:-2.38 [[ 9.99277054e-01 -3.70986137e-02 8.31042484e-03 5.58387807e+02] [ 3.71648926e-02 9.99277378e-01 -7.96816999e-03 6.09177827e+01] [-8.00881149e-03 8.27126548e-03 9.99933720e-01 -2.38414894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.951400513 meters 0.030051814127350196 Centerline is valid? [True, True] Translation: X:558.42, Y:60.91, Z:-2.40 [[ 9.99315928e-01 -3.56729615e-02 9.75274059e-03 5.58418375e+02] [ 3.55310043e-02 9.99265388e-01 1.43608049e-02 6.09113352e+01] [-1.02578685e-02 -1.40044564e-02 9.99849314e-01 -2.39664870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.981400513 meters 0.04845024079562901 Centerline is valid? [True, True] Translation: X:558.45, Y:60.98, Z:-2.36 [[ 9.99364869e-01 -3.55609471e-02 -2.29742648e-03 5.58452723e+02] [ 3.55003833e-02 9.99116379e-01 -2.24985500e-02 6.09762101e+01] [ 3.09546617e-03 2.24027009e-02 9.99744236e-01 -2.35556353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.011400513 meters 0.05295522302337826 Centerline is valid? [True, True] Translation: X:558.48, Y:60.98, Z:-2.38 [[ 9.99391624e-01 -3.42695460e-02 -6.47916042e-03 5.58484776e+02] [ 3.42597111e-02 9.99411646e-01 -1.62290201e-03 6.09759351e+01] [ 6.53096450e-03 1.39994052e-03 9.99977693e-01 -2.37810785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.041400513 meters 0.03511027090160309 Centerline is valid? [True, True] Translation: X:558.51, Y:60.93, Z:-2.41 [[ 9.99541240e-01 -3.00249090e-02 3.97676902e-03 5.58512224e+02] [ 2.99258455e-02 9.99287799e-01 2.29856288e-02 6.09304484e+01] [-4.66407817e-03 -2.28560757e-02 9.99727886e-01 -2.41160701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.071400513 meters 0.05469223174690399 Centerline is valid? [True, True] Translation: X:558.55, Y:61.00, Z:-2.38 [[ 9.99425235e-01 -3.38795014e-02 1.17440612e-03 5.58548436e+02] [ 3.38912946e-02 9.99351513e-01 -1.21627953e-02 6.09977230e+01] [-7.61575089e-04 1.21956067e-02 9.99925341e-01 -2.38314179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.101400513 meters 0.0348306213194268 Centerline is valid? [True, True] Translation: X:558.57, Y:60.95, Z:-2.41 [[ 9.99512255e-01 -3.05662266e-02 6.39987759e-03 5.58574856e+02] [ 3.04720500e-02 9.99432903e-01 1.43292036e-02 6.09527777e+01] [-6.83423792e-03 -1.41271972e-02 9.99876850e-01 -2.40656073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.131400513 meters 0.053866268817945095 Centerline is valid? [True, True] Translation: X:558.61, Y:61.02, Z:-2.36 [[ 9.99376346e-01 -3.48267028e-02 -5.83272958e-03 5.58609775e+02] [ 3.46798217e-02 9.99119070e-01 -2.36303531e-02 6.10208512e+01] [ 6.65055864e-03 2.34133379e-02 9.99703749e-01 -2.36454565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.161400513 meters 0.04578244822152322 Centerline is valid? [True, True] Translation: X:558.64, Y:60.94, Z:-2.44 [[ 9.99529209e-01 -2.73390630e-02 1.39261148e-02 5.58638772e+02] [ 2.67415575e-02 9.98783819e-01 4.14218841e-02 6.09421875e+01] [-1.50416137e-02 -4.10299770e-02 9.99044689e-01 -2.44338046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.191400513 meters 0.034894714259198455 Centerline is valid? [True, True] Translation: X:558.68, Y:60.98, Z:-2.40 [[ 9.99774651e-01 -2.06171955e-02 5.05752821e-03 5.58680740e+02] [ 2.06994802e-02 9.99644649e-01 -1.67960256e-02 6.09790026e+01] [-4.70944407e-03 1.68969289e-02 9.99846146e-01 -2.39801664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.221400513 meters 0.05015901990562671 Centerline is valid? [True, True] Translation: X:558.71, Y:61.01, Z:-2.40 [[ 9.99134041e-01 -4.13249513e-02 4.83903572e-03 5.58712482e+02] [ 4.13834172e-02 9.99062884e-01 -1.26793465e-02 6.10080800e+01] [-4.31052761e-03 1.28686226e-02 9.99907905e-01 -2.39623270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.251400513 meters 0.042780582926817 Centerline is valid? [True, True] Translation: X:558.74, Y:60.99, Z:-2.40 [[ 9.99063294e-01 -4.28868547e-02 5.76646534e-03 5.58744290e+02] [ 4.28872021e-02 9.99079919e-01 6.34493144e-05 6.09933167e+01] [-5.76388086e-03 1.83917683e-04 9.99983372e-01 -2.40090795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.281400513 meters 0.03048783880091124 Centerline is valid? [True, True] Translation: X:558.78, Y:60.96, Z:-2.42 [[ 9.99643640e-01 -2.61037520e-02 5.58461761e-03 5.58775293e+02] [ 2.60207555e-02 9.99556945e-01 1.44510900e-02 6.09572657e+01] [-5.95937099e-03 -1.43006242e-02 9.99879982e-01 -2.41678482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.311400513 meters 0.037403730044653354 Centerline is valid? [True, True] Translation: X:558.80, Y:61.02, Z:-2.35 [[ 9.99170046e-01 -4.01461280e-02 -6.89259602e-03 5.58804717e+02] [ 3.98868203e-02 9.98613629e-01 -3.43491014e-02 6.10159522e+01] [ 8.26202375e-03 3.40456695e-02 9.99386127e-01 -2.34970031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.341400513 meters 0.02974506031162022 Centerline is valid? [True, True] Translation: X:558.84, Y:60.95, Z:-2.43 [[ 9.99627843e-01 -2.66274289e-02 5.92917861e-03 5.58840549e+02] [ 2.64145153e-02 9.99090213e-01 3.34816437e-02 6.09457879e+01] [-6.81531440e-03 -3.33125669e-02 9.99421745e-01 -2.42643679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.371400513 meters 0.030183436359742452 Centerline is valid? [True, True] Translation: X:558.87, Y:60.98, Z:-2.40 [[ 9.99625846e-01 -2.60693256e-02 8.27993732e-03 5.58871341e+02] [ 2.60666113e-02 9.99660113e-01 4.35587605e-04 6.09782136e+01] [-8.28847856e-03 -2.19594721e-04 9.99965626e-01 -2.40463310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.401400513 meters 0.030681301601790254 Centerline is valid? [True, True] Translation: X:558.90, Y:60.99, Z:-2.40 [[ 9.99679137e-01 -2.37421880e-02 8.82785128e-03 5.58903556e+02] [ 2.37390308e-02 9.99718083e-01 4.62276419e-04 6.09859720e+01] [-8.83633801e-03 -2.52563458e-04 9.99960927e-01 -2.40378541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.431400513 meters 0.0439975364663728 Centerline is valid? [True, True] Translation: X:558.93, Y:61.04, Z:-2.35 [[ 9.99057549e-01 -4.32405884e-02 -3.77689370e-03 5.58932957e+02] [ 4.31081525e-02 9.98619420e-01 -3.00156857e-02 6.10424002e+01] [ 5.06957530e-03 2.98245825e-02 9.99542292e-01 -2.35121918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.461400513 meters 0.033883017200461704 Centerline is valid? [True, True] Translation: X:558.97, Y:60.97, Z:-2.42 [[ 9.99739416e-01 -2.12784328e-02 8.26615798e-03 5.58966023e+02] [ 2.10128592e-02 9.99298931e-01 3.09855661e-02 6.09731110e+01] [-8.91968713e-03 -3.08037962e-02 9.99485650e-01 -2.42497141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.491400513 meters 0.03454599638674631 Centerline is valid? [True, True] Translation: X:559.00, Y:61.00, Z:-2.40 [[ 9.99754113e-01 -1.97605160e-02 1.00616157e-02 5.58997054e+02] [ 1.97562425e-02 9.99804689e-01 5.23961565e-04 6.10040616e+01] [-1.00700043e-02 -3.25053011e-04 9.99949243e-01 -2.40444885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.521400513 meters 0.035014998131030546 Centerline is valid? [True, True] Translation: X:559.03, Y:61.01, Z:-2.41 [[ 9.99730224e-01 -2.03588600e-02 1.11801796e-02 5.59028202e+02] [ 2.03536445e-02 9.99792675e-01 5.80098885e-04 6.10097730e+01] [-1.11896719e-02 -3.52384987e-04 9.99937332e-01 -2.40553895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.551400513 meters 0.03208689807882138 Centerline is valid? [True, True] Translation: X:559.06, Y:61.01, Z:-2.41 [[ 9.99697680e-01 -2.17868512e-02 1.13965709e-02 5.59060684e+02] [ 2.17815447e-02 9.99762580e-01 5.89554554e-04 6.10091412e+01] [-1.14067097e-02 -3.41141402e-04 9.99934883e-01 -2.40562792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.581400513 meters 0.03122866075071911 Centerline is valid? [True, True] Translation: X:559.09, Y:61.01, Z:-2.41 [[ 9.99667608e-01 -2.32384031e-02 1.11647039e-02 5.59092939e+02] [ 2.32334210e-02 9.99729902e-01 5.75741588e-04 6.10102854e+01] [-1.11750676e-02 -3.16155950e-04 9.99937507e-01 -2.40673550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.611400513 meters 0.029723499612637747 Centerline is valid? [True, True] Translation: X:559.12, Y:61.01, Z:-2.41 [[ 9.99662602e-01 -2.35169365e-02 1.10288234e-02 5.59124852e+02] [ 2.35121118e-02 9.99723391e-01 5.66939953e-04 6.10115668e+01] [-1.10391054e-02 -3.07437741e-04 9.99939020e-01 -2.40666845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.641400513 meters 0.031156170085870256 Centerline is valid? [True, True] Translation: X:559.16, Y:61.02, Z:-2.41 [[ 9.99662228e-01 -2.34018233e-02 1.13041638e-02 5.59157056e+02] [ 2.33967703e-02 9.99726090e-01 5.79056438e-04 6.10179642e+01] [-1.13146184e-02 -3.14379926e-04 9.99935938e-01 -2.40647033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.671400513 meters 0.033285136700485884 Centerline is valid? [True, True] Translation: X:559.19, Y:61.03, Z:-2.41 [[ 9.99725881e-01 -2.07864173e-02 1.07744044e-02 5.59188549e+02] [ 2.07816877e-02 9.99783886e-01 5.50753211e-04 6.10264177e+01] [-1.07835241e-02 -3.26691931e-04 9.99941803e-01 -2.40766821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.701400513 meters 0.03506906580721529 Centerline is valid? [True, True] Translation: X:559.22, Y:61.03, Z:-2.41 [[ 9.99780020e-01 -1.85465663e-02 9.79471807e-03 5.59220236e+02] [ 1.85425632e-02 9.99827947e-01 4.99353433e-04 6.10320176e+01] [-9.80229415e-03 -3.17624406e-04 9.99951906e-01 -2.40989422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.731400513 meters 0.03592101674122476 Centerline is valid? [True, True] Translation: X:559.25, Y:61.04, Z:-2.41 [[ 9.99833487e-01 -1.56963379e-02 9.30717613e-03 5.59251510e+02] [ 1.56926166e-02 9.99876752e-01 4.72730038e-04 6.10370331e+01] [-9.31344916e-03 -3.26597376e-04 9.99956576e-01 -2.41140422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.761400513 meters 0.041377136351194964 Centerline is valid? [True, True] Translation: X:559.28, Y:61.05, Z:-2.41 [[ 9.99877291e-01 -1.25224477e-02 9.41226946e-03 5.59280782e+02] [ 1.25185026e-02 9.99921526e-01 4.77935499e-04 6.10479883e+01] [-9.41751577e-03 -3.60049332e-04 9.99955589e-01 -2.41339559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.791400513 meters 0.04556832344089692 Centerline is valid? [True, True] Translation: X:559.31, Y:61.06, Z:-2.41 [[ 9.99929424e-01 -8.18991697e-03 8.60657353e-03 5.59309268e+02] [ 8.18646354e-03 9.99966395e-01 4.36407183e-04 6.10608690e+01] [-8.60985845e-03 -3.65918982e-04 9.99962868e-01 -2.41256614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.821400513 meters 0.047824206657431076 Centerline is valid? [True, True] Translation: X:559.34, Y:61.07, Z:-2.41 [[ 9.99959933e-01 -4.28717994e-03 7.85824342e-03 5.59339571e+02] [ 4.28418085e-03 9.99990743e-01 3.98442464e-04 6.10686377e+01] [-7.85987888e-03 -3.64760364e-04 9.99969044e-01 -2.41461553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.851400513 meters 0.05615809531738311 Centerline is valid? [True, True] Translation: X:559.37, Y:61.09, Z:-2.42 [[ 9.99979539e-01 2.60375554e-03 5.84303527e-03 5.59368064e+02] [-2.60553120e-03 9.99996562e-01 2.96303209e-04 6.10869412e+01] [-5.84224368e-03 -3.11521357e-04 9.99982885e-01 -2.41929474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.881400513 meters 0.05903681255623287 Centerline is valid? [True, True] Translation: X:559.40, Y:61.10, Z:-2.42 [[ 9.99969934e-01 4.92835307e-03 5.98692302e-03 5.59398928e+02] [-4.93025877e-03 9.99987800e-01 3.03592276e-04 6.10959664e+01] [-5.98535377e-03 -3.33100228e-04 9.99982032e-01 -2.41955830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.911400513 meters 0.05858987369633504 Centerline is valid? [True, True] Translation: X:559.43, Y:61.10, Z:-2.42 [[ 9.99953550e-01 6.66010107e-03 6.96712629e-03 5.59430283e+02] [-6.66272232e-03 9.99977741e-01 3.53088666e-04 6.11012029e+01] [-6.96461961e-03 -3.99492293e-04 9.99975667e-01 -2.41759032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.941400513 meters 0.05870260353729779 Centerline is valid? [True, True] Translation: X:559.46, Y:61.10, Z:-2.42 [[ 9.99932430e-01 7.91297567e-03 8.51585983e-03 5.59461781e+02] [-7.91693485e-03 9.99968568e-01 4.31308151e-04 6.11049461e+01] [-8.51217922e-03 -4.98698515e-04 9.99963646e-01 -2.41778811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.971400513 meters 0.058261115028148215 Centerline is valid? [True, True] Translation: X:559.49, Y:61.11, Z:-2.42 [[ 9.99935423e-01 6.68660665e-03 9.18910694e-03 5.59492523e+02] [-6.69116275e-03 9.99977506e-01 4.65160270e-04 6.11106214e+01] [-9.18578989e-03 -5.26616042e-04 9.99957671e-01 -2.41720754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.001400513 meters 0.05628256977946455 Centerline is valid? [True, True] Translation: X:559.52, Y:61.11, Z:-2.42 [[ 9.99935925e-01 5.84621698e-03 9.69369435e-03 5.59524842e+02] [-5.85124953e-03 9.99982761e-01 4.90877489e-04 6.11125486e+01] [-9.69065746e-03 -5.47566260e-04 9.99952895e-01 -2.41686852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.031400513 meters 0.05549379969101913 Centerline is valid? [True, True] Translation: X:559.56, Y:61.12, Z:-2.42 [[ 9.99935122e-01 5.47614627e-03 9.98812595e-03 5.59556740e+02] [-5.48145347e-03 9.99984850e-01 5.04053059e-04 6.11169129e+01] [-9.98521436e-03 -5.58769805e-04 9.99949990e-01 -2.41629044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.061400513 meters 0.05591445096624602 Centerline is valid? [True, True] Translation: X:559.59, Y:61.12, Z:-2.42 [[ 9.99932753e-01 5.77983147e-03 1.00539583e-02 5.59588022e+02] [-5.78520668e-03 9.99983138e-01 5.05634804e-04 6.11228117e+01] [-1.00508663e-02 -5.63765028e-04 9.99949330e-01 -2.41607501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.091400513 meters 0.056844068563533565 Centerline is valid? [True, True] Translation: X:559.62, Y:61.13, Z:-2.42 [[ 9.99934391e-01 5.30027880e-03 1.01548540e-02 5.59618914e+02] [-5.30571995e-03 9.99985795e-01 5.08952756e-04 6.11285082e+01] [-1.01520122e-02 -5.62798176e-04 9.99948309e-01 -2.41729601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.121400513 meters 0.057097723332943995 Centerline is valid? [True, True] Translation: X:559.65, Y:61.14, Z:-2.42 [[ 9.99942460e-01 4.97354725e-03 9.50477850e-03 5.59650140e+02] [-4.97829318e-03 9.99987495e-01 4.75726635e-04 6.11358092e+01] [-9.50229360e-03 -5.23016836e-04 9.99954715e-01 -2.41968446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.151400513 meters 0.06072059933387587 Centerline is valid? [True, True] Translation: X:559.68, Y:61.14, Z:-2.42 [[ 9.99934937e-01 6.02844522e-03 9.68402328e-03 5.59680480e+02] [-6.03340450e-03 9.99981682e-01 4.82976832e-04 6.11441132e+01] [-9.68093429e-03 -5.41373037e-04 9.99952992e-01 -2.42225390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.181400513 meters 0.05470576870779991 Centerline is valid? [True, True] Translation: X:559.71, Y:61.14, Z:-2.42 [[ 9.99941923e-01 5.58538564e-03 9.21701329e-03 5.59712454e+02] [-5.58985562e-03 9.99984271e-01 4.59279965e-04 6.11440607e+01] [-9.21430306e-03 -5.10775065e-04 9.99957417e-01 -2.41965179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.211400513 meters 0.05401502907723896 Centerline is valid? [True, True] Translation: X:559.74, Y:61.15, Z:-2.42 [[ 9.99939209e-01 5.29442789e-03 9.67196499e-03 5.59744196e+02] [-5.29931979e-03 9.99985843e-01 4.80223444e-04 6.11487915e+01] [-9.66928556e-03 -5.31449086e-04 9.99953110e-01 -2.41921544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.241400513 meters 0.0496641712016478 Centerline is valid? [True, True] Translation: X:559.78, Y:61.15, Z:-2.42 [[ 9.99929526e-01 2.20004928e-03 1.16662988e-02 5.59775301e+02] [-2.20692701e-03 9.99997398e-01 5.76696846e-04 6.11505291e+01] [-1.16649997e-02 -6.02402874e-04 9.99931780e-01 -2.41792537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.271400513 meters 0.05389862616247222 Centerline is valid? [True, True] Translation: X:559.81, Y:61.16, Z:-2.42 [[ 9.99926479e-01 9.33390762e-04 1.20899063e-02 5.59805866e+02] [-9.40683290e-04 9.99999379e-01 5.97518884e-04 6.11595185e+01] [-1.20893410e-02 -6.08847727e-04 9.99926736e-01 -2.41827986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.301400513 meters 0.047671487889248756 Centerline is valid? [True, True] Translation: X:559.84, Y:61.15, Z:-2.42 [[ 9.99933929e-01 -4.39591820e-04 1.14867362e-02 5.59837629e+02] [ 4.33102218e-04 9.99999745e-01 5.67446197e-04 6.11546966e+01] [-1.14869827e-02 -5.62433774e-04 9.99933864e-01 -2.41917238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.331400513 meters 0.05011447929792342 Centerline is valid? [True, True] Translation: X:559.87, Y:61.16, Z:-2.42 [[ 9.99941359e-01 -1.03013683e-03 1.07803933e-02 5.59868349e+02] [ 1.02445505e-03 9.99999333e-01 5.32557135e-04 6.11612108e+01] [-1.07809347e-02 -5.21481877e-04 9.99941748e-01 -2.42060794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.361400513 meters 0.05212774282412157 Centerline is valid? [True, True] Translation: X:559.90, Y:61.17, Z:-2.42 [[ 9.99939945e-01 -3.09420087e-04 1.09549413e-02 5.59900644e+02] [ 3.03530595e-04 9.99999809e-01 5.39269103e-04 6.11653134e+01] [-1.09551061e-02 -5.35911557e-04 9.99939847e-01 -2.42323667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.391400513 meters 0.04821272684846357 Centerline is valid? [True, True] Translation: X:559.93, Y:61.17, Z:-2.42 [[ 9.99947401e-01 -4.42570599e-04 1.02469529e-02 5.59932628e+02] [ 4.37426310e-04 9.99999777e-01 5.04266828e-04 6.11673187e+01] [-1.02471738e-02 -4.99758017e-04 9.99947371e-01 -2.42122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.421400513 meters 0.047913454887475795 Centerline is valid? [True, True] Translation: X:559.96, Y:61.17, Z:-2.42 [[ 9.99949475e-01 -8.01533677e-04 1.00202083e-02 5.59964886e+02] [ 7.96648716e-04 9.99999562e-01 4.91492881e-04 6.11691061e+01] [-1.00205979e-02 -4.83485463e-04 9.99949676e-01 -2.42213963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.451400513 meters 0.05256443701666249 Centerline is valid? [True, True] Translation: X:559.99, Y:61.18, Z:-2.43 [[ 9.99949577e-01 1.24939361e-03 9.96407625e-03 5.59994766e+02] [-1.25430624e-03 9.99999095e-01 4.86800738e-04 6.11754472e+01] [-9.96345903e-03 -4.99274195e-04 9.99950239e-01 -2.42531291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.481400513 meters 0.04931154002521351 Centerline is valid? [True, True] Translation: X:560.03, Y:61.18, Z:-2.42 [[ 9.99956065e-01 2.61762039e-03 9.00088339e-03 5.60026947e+02] [-2.62168017e-03 9.99996467e-01 4.39272689e-04 6.11750311e+01] [-8.99970174e-03 -4.62850827e-04 9.99959395e-01 -2.42466754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.511400513 meters 0.05972971716205508 Centerline is valid? [True, True] Translation: X:560.06, Y:61.19, Z:-2.43 [[ 9.99949612e-01 6.52578176e-03 7.62809150e-03 5.60055986e+02] [-6.52880709e-03 9.99978618e-01 3.71770243e-04 6.11945416e+01] [-7.62550230e-03 -4.21553848e-04 9.99970837e-01 -2.42618402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.541400513 meters 0.06251413086242356 Centerline is valid? [True, True] Translation: X:560.09, Y:61.20, Z:-2.43 [[ 9.99939217e-01 8.38217178e-03 7.16250308e-03 5.60085872e+02] [-8.38488680e-03 9.99964785e-01 3.49115139e-04 6.12018556e+01] [-7.15932451e-03 -4.09150696e-04 9.99974288e-01 -2.42752662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.571400513 meters 0.06616190589553508 Centerline is valid? [True, True] Translation: X:560.12, Y:61.21, Z:-2.43 [[ 9.99903345e-01 1.17039112e-02 7.50457999e-03 5.60115051e+02] [-1.17069839e-02 9.99931404e-01 3.65645158e-04 6.12100753e+01] [-7.49978573e-03 -4.53465814e-04 9.99971773e-01 -2.42786273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.601400513 meters 0.06123795267132533 Centerline is valid? [True, True] Translation: X:560.15, Y:61.21, Z:-2.43 [[ 9.99861758e-01 1.44266175e-02 8.26663962e-03 5.60145460e+02] [-1.44304382e-02 9.99895795e-01 4.02721968e-04 6.12078712e+01] [-8.25996828e-03 -5.21957527e-04 9.99965750e-01 -2.42647641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.631400513 meters 0.06398577901863207 Centerline is valid? [True, True] Translation: X:560.17, Y:61.22, Z:-2.43 [[ 9.99848081e-01 1.48537732e-02 9.12031470e-03 5.60172998e+02] [-1.48584406e-02 9.99889509e-01 4.44207380e-04 6.12161485e+01] [-9.11270883e-03 -5.79653551e-04 9.99958310e-01 -2.42573508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.661400513 meters 0.06285264995487144 Centerline is valid? [True, True] Translation: X:560.20, Y:61.22, Z:-2.43 [[ 9.99807482e-01 1.69961795e-02 9.80456875e-03 5.60203144e+02] [-1.70016837e-02 9.99855347e-01 4.78309193e-04 6.12191780e+01] [-9.79502106e-03 -6.44911287e-04 9.99951820e-01 -2.42580376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.691400513 meters 0.07009774407129096 Centerline is valid? [True, True] Translation: X:560.23, Y:61.24, Z:-2.43 [[ 9.99823200e-01 1.56966840e-02 1.03529249e-02 5.60231584e+02] [-1.57027529e-02 9.99876577e-01 5.05165956e-04 6.12372676e+01] [-1.03437176e-02 -6.67646063e-04 9.99946279e-01 -2.42550665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.721400513 meters 0.06285534967697275 Centerline is valid? [True, True] Translation: X:560.26, Y:61.23, Z:-2.42 [[ 9.99865436e-01 1.24133710e-02 1.07246916e-02 5.60262536e+02] [-1.24196988e-02 9.99922735e-01 5.23617824e-04 6.12337866e+01] [-1.07173631e-02 -6.56744803e-04 9.99942352e-01 -2.42417318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.751400513 meters 0.06285534967697275 Centerline is valid? [True, True] Translation: X:560.29, Y:61.24, Z:-2.42 [[ 9.99865722e-01 1.23902976e-02 1.07246926e-02 5.60291697e+02] [-1.23966239e-02 9.99923022e-01 5.23598585e-04 6.12352514e+01] [-1.07173794e-02 -6.56478257e-04 9.99942352e-01 -2.42454314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.781400513 meters 0.06074010546302715 Centerline is valid? [True, True] Translation: X:560.32, Y:61.24, Z:-2.43 [[ 9.99865456e-01 1.27745804e-02 1.02898041e-02 5.60321581e+02] [-1.27804265e-02 9.99918201e-01 5.02591481e-04 6.12357742e+01] [-1.02825420e-02 -6.34031945e-04 9.99946932e-01 -2.42627195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.811400513 meters 0.05699578766520216 Centerline is valid? [True, True] Translation: X:560.35, Y:61.24, Z:-2.43 [[ 9.99902691e-01 9.77260879e-03 9.95510933e-03 5.60351822e+02] [-9.77793531e-03 9.99952076e-01 4.86521782e-04 6.12398064e+01] [-9.94987765e-03 -5.83814854e-04 9.99950328e-01 -2.42759292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.841400513 meters 0.060869883631681526 Centerline is valid? [True, True] Translation: X:560.38, Y:61.25, Z:-2.43 [[ 9.99914261e-01 8.01221935e-03 1.03573778e-02 5.60380851e+02] [-8.01789258e-03 9.99967728e-01 5.06339804e-04 6.12508303e+01] [-1.03529867e-02 -5.89340734e-04 9.99946233e-01 -2.42725298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.871400513 meters 0.05616233243290847 Centerline is valid? [True, True] Translation: X:560.41, Y:61.25, Z:-2.43 [[ 9.99905123e-01 8.34677676e-03 1.09579036e-02 5.60413661e+02] [-8.35314355e-03 9.99964969e-01 5.35383149e-04 6.12502539e+01] [-1.09530510e-02 -6.26865295e-04 9.99939817e-01 -2.42648644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.901400513 meters 0.053008107288506634 Centerline is valid? [True, True] Translation: X:560.45, Y:61.25, Z:-2.43 [[ 9.99898061e-01 8.20488737e-03 1.16853243e-02 5.60445580e+02] [-8.21209395e-03 9.99966118e-01 5.68871188e-04 6.12516527e+01] [-1.16802609e-02 -6.64774179e-04 9.99931562e-01 -2.42564732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.931400513 meters 0.06120442793688263 Centerline is valid? [True, True] Translation: X:560.48, Y:61.27, Z:-2.43 [[ 9.99892852e-01 8.24008986e-03 1.20989502e-02 5.60476633e+02] [-8.24779281e-03 9.99965814e-01 5.86903251e-04 6.12674219e+01] [-1.20937004e-02 -6.86630000e-04 9.99926633e-01 -2.42523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.961400513 meters 0.05573763787194568 Centerline is valid? [True, True] Translation: X:560.51, Y:61.26, Z:-2.43 [[ 9.99883130e-01 8.86545614e-03 1.24551341e-02 5.60508655e+02] [-8.87364311e-03 9.99960447e-01 6.02206655e-04 6.12644868e+01] [-1.24493026e-02 -7.12658690e-04 9.99922250e-01 -2.42589587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.991400513 meters 0.05344779290433953 Centerline is valid? [True, True] Translation: X:560.54, Y:61.27, Z:-2.43 [[ 9.99887227e-01 9.09695340e-03 1.19489979e-02 5.60540472e+02] [-9.10448423e-03 9.99958387e-01 5.76000938e-04 6.12663876e+01] [-1.19432608e-02 -6.84725444e-04 9.99928442e-01 -2.42566378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.021400513 meters 0.05314282443445318 Centerline is valid? [True, True] Translation: X:560.57, Y:61.27, Z:-2.43 [[ 9.99893879e-01 9.62135623e-03 1.09389366e-02 5.60572614e+02] [-9.62768094e-03 9.99953515e-01 5.25668491e-04 6.12726454e+01] [-1.09333705e-02 -6.30929298e-04 9.99940030e-01 -2.42763589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.051400513 meters 0.06403169589179866 Centerline is valid? [True, True] Translation: X:560.60, Y:61.29, Z:-2.43 [[ 9.99895751e-01 9.19947115e-03 1.11291408e-02 5.60601827e+02] [-9.20596791e-03 9.99957482e-01 5.32671981e-04 6.12900751e+01] [-1.11237674e-02 -6.35070964e-04 9.99937927e-01 -2.42958567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.081400513 meters 0.05608342126383675 Centerline is valid? [True, True] Translation: X:560.63, Y:61.28, Z:-2.43 [[ 9.99877187e-01 1.12113260e-02 1.09506471e-02 5.60633639e+02] [-1.12177351e-02 9.99936942e-01 5.24020963e-04 6.12834463e+01] [-1.09440816e-02 -6.46798065e-04 9.99939903e-01 -2.43042759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.111400513 meters 0.05451252513097828 Centerline is valid? [True, True] Translation: X:560.66, Y:61.29, Z:-2.43 [[ 9.99877696e-01 1.05517435e-02 1.15435888e-02 5.60663097e+02] [-1.05588177e-02 9.99944102e-01 5.52052099e-04 6.12872776e+01] [-1.15371184e-02 -6.73871229e-04 9.99933218e-01 -2.42873358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.141400513 meters 0.05567120774771892 Centerline is valid? [True, True] Translation: X:560.69, Y:61.29, Z:-2.43 [[ 9.99850824e-01 1.21340009e-02 1.22921020e-02 5.60693626e+02] [-1.21421455e-02 9.99926108e-01 5.88173915e-04 6.12934513e+01] [-1.22840568e-02 -7.37338665e-04 9.99924276e-01 -2.42829884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.171400513 meters 0.06637689582144563 Centerline is valid? [True, True] Translation: X:560.72, Y:61.31, Z:-2.43 [[ 9.99753280e-01 1.87080869e-02 1.19744193e-02 5.60721527e+02] [-1.87162836e-02 9.99824671e-01 5.72809895e-04 6.13141555e+01] [-1.19616037e-02 -7.96785199e-04 9.99928140e-01 -2.43032524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.201400513 meters 0.07179426073866373 Centerline is valid? [True, True] Translation: X:560.75, Y:61.33, Z:-2.43 [[ 9.99709464e-01 2.14618358e-02 1.09716858e-02 5.60750754e+02] [-2.14688849e-02 9.99769379e-01 5.25089658e-04 6.13263219e+01] [-1.09578861e-02 -7.60486960e-04 9.99939671e-01 -2.43136437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.231400513 meters 0.0679121882947649 Centerline is valid? [True, True] Translation: X:560.78, Y:61.33, Z:-2.44 [[ 9.99615150e-01 2.60157071e-02 9.62985339e-03 5.60780682e+02] [-2.60213485e-02 9.99661281e-01 4.60977825e-04 6.13253594e+01] [-9.61459891e-03 -7.11382189e-04 9.99953526e-01 -2.43501332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.261400513 meters 0.06899589094188999 Centerline is valid? [True, True] Translation: X:560.81, Y:61.33, Z:-2.43 [[ 9.99581999e-01 2.75825592e-02 8.66198590e-03 5.60811024e+02] [-2.75871832e-02 9.99619315e-01 4.14768492e-04 6.13338882e+01] [-8.64724804e-03 -6.53554910e-04 9.99962398e-01 -2.43458060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.291400513 meters 0.0796132070850855 Centerline is valid? [True, True] Translation: X:560.84, Y:61.36, Z:-2.43 [[ 9.99413490e-01 3.29008721e-02 9.49778096e-03 5.60839021e+02] [-3.29066710e-02 9.99458325e-01 4.54876897e-04 6.13585653e+01] [-9.47767041e-03 -7.67150460e-04 9.99954792e-01 -2.43425126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.321400513 meters 0.07851550514812523 Centerline is valid? [True, True] Translation: X:560.87, Y:61.36, Z:-2.43 [[ 9.99307847e-01 3.55647541e-02 1.09075958e-02 5.60869416e+02] [-3.55725555e-02 9.99366960e-01 5.21994747e-04 6.13632658e+01] [-1.08821263e-02 -9.09644504e-04 9.99940374e-01 -2.43392597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.351400513 meters 0.08502482798528212 Centerline is valid? [True, True] Translation: X:560.90, Y:61.38, Z:-2.43 [[ 9.99227040e-01 3.74539698e-02 1.19382945e-02 5.60898088e+02] [-3.74634491e-02 9.99297835e-01 5.71310767e-04 6.13776277e+01] [-1.19085140e-02 -1.01811886e-03 9.99928573e-01 -2.43330544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.381400513 meters 0.09516128493926981 Centerline is valid? [True, True] Translation: X:560.92, Y:61.40, Z:-2.43 [[ 9.99218336e-01 3.74788560e-02 1.25719034e-02 5.60924878e+02] [-3.74893725e-02 9.99296845e-01 6.01804789e-04 6.13961673e+01] [-1.25405085e-02 -1.07264715e-03 9.99920789e-01 -2.43288483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.411400513 meters 0.08397856471136096 Centerline is valid? [True, True] Translation: X:560.95, Y:61.39, Z:-2.43 [[ 9.99263286e-01 3.63864751e-02 1.22028161e-02 5.60954553e+02] [-3.63963144e-02 9.99337263e-01 5.85139493e-04 6.13873439e+01] [-1.21734377e-02 -1.02884595e-03 9.99925372e-01 -2.43400294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.441400513 meters 0.07860129028329031 Centerline is valid? [True, True] Translation: X:560.99, Y:61.39, Z:-2.44 [[ 9.99413860e-01 3.25174165e-02 1.07029987e-02 5.60985139e+02] [-3.25247831e-02 9.99470797e-01 5.14894004e-04 6.13879265e+01] [-1.06805916e-02 -8.62704916e-04 9.99942589e-01 -2.43745636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.471400513 meters 0.07712707646747237 Centerline is valid? [True, True] Translation: X:561.01, Y:61.39, Z:-2.44 [[ 9.99512490e-01 2.94511596e-02 1.03639197e-02 5.61014408e+02] [-2.94579031e-02 9.99565897e-01 4.98581697e-04 6.13907242e+01] [-1.03447369e-02 -8.03637976e-04 9.99946169e-01 -2.43744570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.501400513 meters 0.05327815796816847 Centerline is valid? [True, True] Translation: X:561.05, Y:61.36, Z:-2.44 [[ 9.99585115e-01 2.71196803e-02 9.70163341e-03 5.61046007e+02] [-2.71254822e-02 9.99631927e-01 4.66926230e-04 6.13643542e+01] [-9.68539961e-03 -7.29893993e-04 9.99952829e-01 -2.43752942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.531400513 meters 0.054042538043279006 Centerline is valid? [True, True] Translation: X:561.08, Y:61.37, Z:-2.44 [[ 9.99651410e-01 2.46929196e-02 9.34444154e-03 5.61075494e+02] [-2.46981967e-02 9.99694852e-01 4.49728495e-04 6.13690462e+01] [-9.33048499e-03 -6.80362578e-04 9.99956239e-01 -2.43881196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.561400513 meters 0.057994506797109095 Centerline is valid? [True, True] Translation: X:561.10, Y:61.38, Z:-2.44 [[ 9.99787667e-01 1.80711407e-02 9.90223848e-03 5.61104779e+02] [-1.80767449e-02 9.99836489e-01 4.76741838e-04 6.13767332e+01] [-9.89200409e-03 -6.55640849e-04 9.99950858e-01 -2.44057585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.591400513 meters 0.05232780051630935 Centerline is valid? [True, True] Translation: X:561.14, Y:61.37, Z:-2.44 [[ 9.99848577e-01 1.38573881e-02 1.05259248e-02 5.61135168e+02] [-1.38634888e-02 9.99903769e-01 5.06834233e-04 6.13736602e+01] [-1.05178885e-02 -6.52683528e-04 9.99944472e-01 -2.43725922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.621400513 meters 0.050216140106149984 Centerline is valid? [True, True] Translation: X:561.17, Y:61.37, Z:-2.44 [[ 9.99885227e-01 1.05242327e-02 1.08983173e-02 5.61166104e+02] [-1.05305762e-02 9.99944414e-01 5.24841472e-04 6.13734785e+01] [-1.08921880e-02 -6.39546796e-04 9.99940474e-01 -2.43597282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.651400513 meters 0.048594692151711326 Centerline is valid? [True, True] Translation: X:561.20, Y:61.37, Z:-2.44 [[ 9.99920950e-01 6.57015082e-03 1.07204034e-02 5.61195466e+02] [-6.57606253e-03 9.99978244e-01 5.16287527e-04 6.13734077e+01] [-1.07167780e-02 -5.86744757e-04 9.99942402e-01 -2.43581890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.681400513 meters 0.04841339854679578 Centerline is valid? [True, True] Translation: X:561.23, Y:61.37, Z:-2.44 [[ 9.99922005e-01 6.41160529e-03 1.07180092e-02 5.61227908e+02] [-6.41750999e-03 9.99979274e-01 5.16611335e-04 6.13748113e+01] [-1.07144747e-02 -5.85353973e-04 9.99942427e-01 -2.43632311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.711400513 meters 0.04978923872248735 Centerline is valid? [True, True] Translation: X:561.26, Y:61.38, Z:-2.44 [[ 9.99910932e-01 7.27964259e-03 1.11863416e-02 5.61259303e+02] [-7.28610879e-03 9.99973312e-01 5.37399484e-04 6.13775685e+01] [-1.11821310e-02 -6.18856521e-04 9.99937287e-01 -2.43603724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.741400513 meters 0.04861409817282615 Centerline is valid? [True, True] Translation: X:561.29, Y:61.38, Z:-2.44 [[ 9.99894024e-01 8.76525620e-03 1.16236886e-02 5.61291140e+02] [-8.77231840e-03 9.99961367e-01 5.56722607e-04 6.13770710e+01] [-1.16183597e-02 -6.58630305e-04 9.99932288e-01 -2.43626091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.771400513 meters 0.04807534242475545 Centerline is valid? [True, True] Translation: X:561.32, Y:61.38, Z:-2.44 [[ 9.99875995e-01 1.03345387e-02 1.18824198e-02 5.61322084e+02] [-1.03420077e-02 9.99946359e-01 5.67297992e-04 6.13777141e+01] [-1.18759197e-02 -6.90115721e-04 9.99929241e-01 -2.43700473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.801400513 meters 0.04474534745747444 Centerline is valid? [True, True] Translation: X:561.35, Y:61.37, Z:-2.44 [[ 9.99836012e-01 1.22188814e-02 1.33659291e-02 5.61352084e+02] [-1.22284978e-02 9.99925026e-01 6.37976105e-04 6.13744304e+01] [-1.33571316e-02 -8.01316719e-04 9.99910468e-01 -2.43550809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.831400513 meters 0.04928548226284179 Centerline is valid? [True, True] Translation: X:561.38, Y:61.38, Z:-2.44 [[ 9.99824689e-01 1.34043221e-02 1.30734559e-02 5.61381025e+02] [-1.34136251e-02 9.99909838e-01 6.24161422e-04 6.13815210e+01] [-1.30639107e-02 -7.99414436e-04 9.99914344e-01 -2.43654266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.861400513 meters 0.04738030483491041 Centerline is valid? [True, True] Translation: X:561.41, Y:61.38, Z:-2.44 [[ 9.99816469e-01 1.46235388e-02 1.23765752e-02 5.61410143e+02] [-1.46319709e-02 9.99892772e-01 5.91016811e-04 6.13790513e+01] [-1.23666053e-02 -7.72002030e-04 9.99923233e-01 -2.43934739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.891400513 meters 0.047473057638209255 Centerline is valid? [True, True] Translation: X:561.44, Y:61.38, Z:-2.44 [[ 9.99799856e-01 1.63066023e-02 1.15906228e-02 5.61440728e+02] [-1.63141147e-02 9.99866763e-01 5.53889174e-04 6.13795231e+01] [-1.15800465e-02 -7.42869067e-04 9.99932673e-01 -2.44103481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.921400513 meters 0.05635839447841394 Centerline is valid? [True, True] Translation: X:561.47, Y:61.39, Z:-2.44 [[ 9.99780255e-01 1.79094842e-02 1.08946349e-02 5.61469486e+02] [-1.79162158e-02 9.99839356e-01 5.20589650e-04 6.13919332e+01] [-1.08835612e-02 -7.15665882e-04 9.99940516e-01 -2.44211297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.951400513 meters 0.05064937579470116 Centerline is valid? [True, True] Translation: X:561.50, Y:61.39, Z:-2.44 [[ 9.99770635e-01 1.91786950e-02 9.53181942e-03 5.61498844e+02] [-1.91839066e-02 9.99815868e-01 4.55614231e-04 6.13854460e+01] [-9.52132622e-03 -6.38367262e-04 9.99954467e-01 -2.44438329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.981400513 meters 0.04918938073265109 Centerline is valid? [True, True] Translation: X:561.53, Y:61.38, Z:-2.45 [[ 9.99786716e-01 1.85864104e-02 9.00378686e-03 5.61527830e+02] [-1.85910387e-02 9.99827079e-01 4.30611515e-04 6.13838282e+01] [-8.99422639e-03 -5.97909423e-04 9.99959372e-01 -2.44616029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.011400513 meters 0.05593678491768875 Centerline is valid? [True, True] Translation: X:561.56, Y:61.39, Z:-2.45 [[ 9.99769308e-01 1.99204296e-02 8.03167890e-03 5.61555686e+02] [-1.99241575e-02 9.99801420e-01 3.84393039e-04 6.13946322e+01] [-8.02242669e-03 -5.44328798e-04 9.99967672e-01 -2.44775276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.041400513 meters 0.050695699430012085 Centerline is valid? [True, True] Translation: X:561.58, Y:61.39, Z:-2.45 [[ 9.99769912e-01 2.01696728e-02 7.30123507e-03 5.61584409e+02] [-2.01727627e-02 9.99796448e-01 3.49791743e-04 6.13888557e+01] [-7.29269370e-03 -4.96997342e-04 9.99973284e-01 -2.44891334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.071400513 meters 0.05285024293453612 Centerline is valid? [True, True] Translation: X:561.61, Y:61.39, Z:-2.45 [[ 9.99746785e-01 2.11007960e-02 7.81802472e-03 5.61613095e+02] [-2.11043701e-02 9.99777208e-01 3.74946447e-04 6.13916903e+01] [-7.80837126e-03 -5.39845992e-04 9.99969368e-01 -2.44787471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.101400513 meters 0.05217080269003178 Centerline is valid? [True, True] Translation: X:561.64, Y:61.39, Z:-2.45 [[ 9.99710926e-01 2.28490123e-02 7.48240384e-03 5.61643252e+02] [-2.28523385e-02 9.99738787e-01 3.59334140e-04 6.13929138e+01] [-7.47223891e-03 -5.30220692e-04 9.99971942e-01 -2.44823592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.131400513 meters 0.05260275465606849 Centerline is valid? [True, True] Translation: X:561.67, Y:61.40, Z:-2.45 [[ 9.99665206e-01 2.47458005e-02 7.55785808e-03 5.61673356e+02] [-2.47492486e-02 9.99693625e-01 3.63025283e-04 6.13950123e+01] [-7.54655918e-03 -5.49955053e-04 9.99971373e-01 -2.44840964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.161400513 meters 0.06506113163920585 Centerline is valid? [True, True] Translation: X:561.70, Y:61.41, Z:-2.45 [[ 9.99610938e-01 2.65236464e-02 8.62947630e-03 5.61701776e+02] [-2.65282091e-02 9.99647979e-01 4.14678751e-04 6.14119018e+01] [-8.61543976e-03 -6.43441968e-04 9.99962679e-01 -2.44911373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.191400513 meters 0.06013964308063536 Centerline is valid? [True, True] Translation: X:561.73, Y:61.41, Z:-2.45 [[ 9.99556970e-01 2.83184583e-02 9.16129124e-03 5.61732045e+02] [-2.83236765e-02 9.99598707e-01 4.40323988e-04 6.14071844e+01] [-9.14514558e-03 -6.99610361e-04 9.99957938e-01 -2.44885187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.221400513 meters 0.06438173887586522 Centerline is valid? [True, True] Translation: X:561.76, Y:61.41, Z:-2.45 [[ 9.99537273e-01 2.88800303e-02 9.54898424e-03 5.61759136e+02] [-2.88857244e-02 9.99582615e-01 4.58899086e-04 6.14142938e+01] [-9.53174562e-03 -7.34516069e-04 9.99954302e-01 -2.45000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.251400513 meters 0.06386230443546283 Centerline is valid? [True, True] Translation: X:561.79, Y:61.42, Z:-2.45 [[ 9.99552084e-01 2.78309110e-02 1.10032740e-02 5.61788517e+02] [-2.78384187e-02 9.99612296e-01 5.29710584e-04 6.14163001e+01] [-1.09842657e-02 -8.35787067e-04 9.99939322e-01 -2.44716545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.281400513 meters 0.05899885012616512 Centerline is valid? [True, True] Translation: X:561.82, Y:61.41, Z:-2.45 [[ 9.99582275e-01 2.67774515e-02 1.08740249e-02 5.61818887e+02] [-2.67847242e-02 9.99641088e-01 5.23702020e-04 6.14123917e+01] [-1.08560987e-02 -8.14741013e-04 9.99940739e-01 -2.44655892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.311400513 meters 0.060015505362952054 Centerline is valid? [True, True] Translation: X:561.85, Y:61.42, Z:-2.45 [[ 9.99624947e-01 2.49098043e-02 1.13783718e-02 5.61847875e+02] [-2.49176513e-02 9.99689357e-01 5.48376103e-04 6.14150646e+01] [-1.13611772e-02 -8.31692733e-04 9.99935114e-01 -2.44647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.341400513 meters 0.05688241369160613 Centerline is valid? [True, True] Translation: X:561.88, Y:61.41, Z:-2.45 [[ 9.99607775e-01 2.57064837e-02 1.11118468e-02 5.61877813e+02] [-2.57140190e-02 9.99669196e-01 5.35764476e-04 6.14131500e+01] [-1.10943984e-02 -8.21284575e-04 9.99938118e-01 -2.44600138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.371400513 meters 0.059404935200597704 Centerline is valid? [True, True] Translation: X:561.91, Y:61.42, Z:-2.45 [[ 9.99600535e-01 2.58032000e-02 1.15310402e-02 5.61905347e+02] [-2.58113232e-02 9.99666678e-01 5.56174497e-04 6.14176727e+01] [-1.15128456e-02 -8.53583731e-04 9.99933361e-01 -2.44644191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.401400513 meters 0.06339246090414109 Centerline is valid? [True, True] Translation: X:561.93, Y:61.42, Z:-2.44 [[ 9.99562838e-01 2.68266988e-02 1.24282700e-02 5.61933367e+02] [-2.68362280e-02 9.99639663e-01 6.00568455e-04 6.14249441e+01] [-1.24076804e-02 -9.33833796e-04 9.99922586e-01 -2.44455652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.431400513 meters 0.057042112418317165 Centerline is valid? [True, True] Translation: X:561.96, Y:61.42, Z:-2.44 [[ 9.99549808e-01 2.70552891e-02 1.29689357e-02 5.61962342e+02] [-2.70656922e-02 9.99633460e-01 6.27284051e-04 6.14187214e+01] [-1.29472107e-02 -9.78014874e-04 9.99915703e-01 -2.44346517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.461400513 meters 0.05627954166724542 Centerline is valid? [True, True] Translation: X:561.99, Y:61.42, Z:-2.44 [[ 9.99584089e-01 2.55970982e-02 1.32829991e-02 5.61991907e+02] [-2.56078912e-02 9.99671857e-01 6.43067119e-04 6.14195872e+01] [-1.32621797e-02 -9.82949256e-04 9.99911570e-01 -2.44363358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.491400513 meters 0.055259153310954226 Centerline is valid? [True, True] Translation: X:562.02, Y:61.42, Z:-2.44 [[ 9.99601782e-01 2.48547449e-02 1.33610816e-02 5.62020554e+02] [-2.48656034e-02 9.99690594e-01 6.47162049e-04 6.14192079e+01] [-1.33408625e-02 -9.79135693e-04 9.99910527e-01 -2.44354947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.521400513 meters 0.0559476942676013 Centerline is valid? [True, True] Translation: X:562.05, Y:61.43, Z:-2.44 [[ 9.99670370e-01 2.02279266e-02 1.58108581e-02 5.62051229e+02] [-2.01152741e-02 9.99771367e-01 -7.25187297e-03 6.14258545e+01] [-1.59539336e-02 6.93144279e-03 9.99848702e-01 -2.43597809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.551400513 meters 0.05209622510787918 Centerline is valid? [True, True] Translation: X:562.08, Y:61.41, Z:-2.45 [[ 9.99780651e-01 1.66064562e-02 1.27622508e-02 5.62080463e+02] [-1.67184220e-02 9.99822237e-01 8.71716087e-03 6.14081177e+01] [-1.26152210e-02 -8.92861346e-03 9.99880561e-01 -2.45492298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.581400513 meters 0.04947004333084438 Centerline is valid? [True, True] Translation: X:562.11, Y:61.41, Z:-2.45 [[ 9.99822457e-01 1.34286273e-02 1.32184000e-02 5.62110500e+02] [-1.34382626e-02 9.99909497e-01 6.40375278e-04 6.14124888e+01] [-1.32086043e-02 -8.17893914e-04 9.99912428e-01 -2.44864298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.611400513 meters 0.04761469718629709 Centerline is valid? [True, True] Translation: X:562.14, Y:61.41, Z:-2.45 [[ 9.99846146e-01 1.17325776e-02 1.30396155e-02 5.62140798e+02] [-1.17418104e-02 9.99930863e-01 6.31717883e-04 6.14121453e+01] [-1.30313023e-02 -7.84729383e-04 9.99914781e-01 -2.44855527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.641400513 meters 0.045196511892653356 Centerline is valid? [True, True] Translation: X:562.17, Y:61.41, Z:-2.45 [[ 9.99862558e-01 1.07672304e-02 1.26068303e-02 5.62171637e+02] [-1.07757857e-02 9.99941753e-01 6.10887648e-04 6.14099363e+01] [-1.25995184e-02 -7.46652187e-04 9.99920344e-01 -2.44907597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.671400513 meters 0.045196511892653356 Centerline is valid? [True, True] Translation: X:562.20, Y:61.41, Z:-2.45 [[ 9.99862558e-01 1.07672304e-02 1.26068303e-02 5.62201652e+02] [-1.07757857e-02 9.99941753e-01 6.10887648e-04 6.14113908e+01] [-1.25995184e-02 -7.46652187e-04 9.99920344e-01 -2.44945745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.701400513 meters 0.04602667366906275 Centerline is valid? [True, True] Translation: X:562.23, Y:61.42, Z:-2.45 [[ 9.99859324e-01 1.17135974e-02 1.20051812e-02 5.62231907e+02] [-1.17214238e-02 9.99931133e-01 5.81762013e-04 6.14152780e+01] [-1.19975399e-02 -7.22397990e-04 9.99927766e-01 -2.44911094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.731400513 meters 0.04898529277491811 Centerline is valid? [True, True] Translation: X:562.26, Y:61.42, Z:-2.45 [[ 9.99857764e-01 1.26389499e-02 1.11673217e-02 5.62260553e+02] [-1.26457733e-02 9.99919893e-01 5.40611857e-04 6.14214699e+01] [-1.11595944e-02 -6.81754381e-04 9.99937497e-01 -2.45197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.761400513 meters 0.053147684313360505 Centerline is valid? [True, True] Translation: X:562.29, Y:61.43, Z:-2.45 [[ 9.99838776e-01 1.44290529e-02 1.06875790e-02 5.62289355e+02] [-1.44354084e-02 9.99895670e-01 5.17752368e-04 6.14300132e+01] [-1.06789933e-02 -6.71948461e-04 9.99942752e-01 -2.45241373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.791400513 meters 0.049756351013242404 Centerline is valid? [True, True] Translation: X:562.32, Y:61.43, Z:-2.45 [[ 9.99819984e-01 1.59525443e-02 1.02720523e-02 5.62319013e+02] [-1.59584975e-02 9.99872531e-01 4.97839704e-04 6.14280332e+01] [-1.02628011e-02 -6.61676605e-04 9.99947117e-01 -2.45359430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.821400513 meters 0.04739973094613998 Centerline is valid? [True, True] Translation: X:562.35, Y:61.43, Z:-2.45 [[ 9.99836330e-01 1.44795320e-02 1.08469160e-02 5.62349174e+02] [-1.44860865e-02 9.99894933e-01 5.25943153e-04 6.14258721e+01] [-1.08381609e-02 -6.82986435e-04 9.99941032e-01 -2.45418118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.851400513 meters 0.04914619323795997 Centerline is valid? [True, True] Translation: X:562.38, Y:61.43, Z:-2.46 [[ 9.99879450e-01 1.12434392e-02 1.07084286e-02 5.62378052e+02] [-1.12496462e-02 9.99936586e-01 5.19570917e-04 6.14303145e+01] [-1.07019078e-02 -6.39974316e-04 9.99942528e-01 -2.45512394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.881400513 meters 0.051063037824090864 Centerline is valid? [True, True] Translation: X:562.41, Y:61.43, Z:-2.46 [[ 9.99889672e-01 9.91589240e-03 1.10597840e-02 5.62407050e+02] [-9.92243396e-03 9.99950627e-01 5.36756045e-04 6.14347751e+01] [-1.10539155e-02 -6.46436803e-04 9.99938695e-01 -2.45500558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.911400513 meters 0.04566952639871941 Centerline is valid? [True, True] Translation: X:562.44, Y:61.43, Z:-2.45 [[ 9.99902669e-01 8.21614613e-03 1.12759460e-02 5.62437913e+02] [-8.22284140e-03 9.99966042e-01 5.47531983e-04 6.14294688e+01] [-1.12710645e-02 -6.40199007e-04 9.99936275e-01 -2.45408555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.941400513 meters 0.04804218822727001 Centerline is valid? [True, True] Translation: X:562.47, Y:61.43, Z:-2.45 [[ 9.99911272e-01 7.13411781e-03 1.12495531e-02 5.62467854e+02] [-7.14071458e-03 9.99974356e-01 5.46345856e-04 6.14339927e+01] [-1.12453669e-02 -6.26627227e-04 9.99936573e-01 -2.45448181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.971400513 meters 0.04561096066344972 Centerline is valid? [True, True] Translation: X:562.50, Y:61.43, Z:-2.45 [[ 9.99912429e-01 7.92215560e-03 1.06006487e-02 5.62500392e+02] [-7.92805237e-03 9.99968440e-01 5.14357759e-04 6.14332211e+01] [-1.05962393e-02 -5.98355214e-04 9.99943679e-01 -2.45428589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.001400513 meters 0.040528140918454116 Centerline is valid? [True, True] Translation: X:562.53, Y:61.43, Z:-2.45 [[ 9.99911588e-01 8.07268067e-03 1.05664053e-02 5.62532060e+02] [-8.07852746e-03 9.99967238e-01 5.10772244e-04 6.14285646e+01] [-1.05619358e-02 -5.96088081e-04 9.99944044e-01 -2.45443365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.031400513 meters 0.04752477845379538 Centerline is valid? [True, True] Translation: X:562.56, Y:61.44, Z:-2.45 [[ 9.99901130e-01 8.49430526e-03 1.12061312e-02 5.62562275e+02] [-8.50090477e-03 9.99963720e-01 5.41418091e-04 6.14393182e+01] [-1.12011257e-02 -6.36626815e-04 9.99937063e-01 -2.45458266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.061400513 meters 0.04793192321903013 Centerline is valid? [True, True] Translation: X:562.59, Y:61.44, Z:-2.45 [[ 9.99885949e-01 9.93337674e-03 1.13761705e-02 5.62593230e+02] [-9.94026767e-03 9.99950443e-01 5.49349701e-04 6.14422639e+01] [-1.13701498e-02 -6.62369227e-04 9.99935138e-01 -2.45350753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.091400513 meters 0.04226848649054402 Centerline is valid? [True, True] Translation: X:562.62, Y:61.44, Z:-2.45 [[ 9.99859847e-01 1.08368837e-02 1.27611805e-02 5.62623849e+02] [-1.08456262e-02 9.99940995e-01 6.16074284e-04 6.14365379e+01] [-1.27537512e-02 -7.54390933e-04 9.99918383e-01 -2.45180303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.121400513 meters 0.05015478430962105 Centerline is valid? [True, True] Translation: X:562.65, Y:61.45, Z:-2.45 [[ 9.99871397e-01 1.02181102e-02 1.23604054e-02 5.62653597e+02] [-1.02262651e-02 9.99947532e-01 5.96729630e-04 6.14483679e+01] [-1.23536594e-02 -7.23053671e-04 9.99923429e-01 -2.45317445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.151400513 meters 0.050614271443510724 Centerline is valid? [True, True] Translation: X:562.68, Y:61.45, Z:-2.45 [[ 9.99871894e-01 1.06917840e-02 1.19113722e-02 5.62683316e+02] [-1.06993889e-02 9.99942595e-01 5.74911307e-04 6.14508282e+01] [-1.19045416e-02 -7.02282060e-04 9.99928892e-01 -2.45305345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.181400513 meters 0.041708777305352954 Centerline is valid? [True, True] Translation: X:562.71, Y:61.44, Z:-2.45 [[ 9.99876098e-01 9.99646789e-03 1.21597452e-02 5.62714344e+02] [-1.00043420e-02 9.99949783e-01 5.86899217e-04 6.14413676e+01] [-1.21532676e-02 -7.08476748e-04 9.99925895e-01 -2.45293131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.211400513 meters 0.04555827969283203 Centerline is valid? [True, True] Translation: X:562.74, Y:61.45, Z:-2.45 [[ 9.99872573e-01 8.82829424e-03 1.33003003e-02 5.62744160e+02] [-8.83761191e-03 9.99960741e-01 6.41948964e-04 6.14485250e+01] [-1.32941108e-02 -7.59410055e-04 9.99911341e-01 -2.45184263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.241400513 meters 0.042382357503525696 Centerline is valid? [True, True] Translation: X:562.78, Y:61.45, Z:-2.45 [[ 9.99873580e-01 8.23608709e-03 1.36011340e-02 5.62776501e+02] [-8.24577445e-03 9.99965788e-01 6.56321141e-04 6.14454878e+01] [-1.35952631e-02 -7.68390052e-04 9.99907285e-01 -2.45342986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.271400513 meters 0.04471059725671182 Centerline is valid? [True, True] Translation: X:562.81, Y:61.45, Z:-2.45 [[ 9.99863035e-01 9.44575705e-03 1.35900301e-02 5.62807137e+02] [-9.45551211e-03 9.99955082e-01 6.53734108e-04 6.14497462e+01] [-1.35832446e-02 -7.82145263e-04 9.99907438e-01 -2.45352032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.301400513 meters 0.042543864495287936 Centerline is valid? [True, True] Translation: X:562.84, Y:61.45, Z:-2.45 [[ 9.99852805e-01 9.70148439e-03 1.41509771e-02 5.62839719e+02] [-9.71207938e-03 9.99952605e-01 6.80180538e-04 6.14479289e+01] [-1.41437077e-02 -8.17515832e-04 9.99899639e-01 -2.45426355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.331400513 meters 0.041196114086327326 Centerline is valid? [True, True] Translation: X:562.87, Y:61.45, Z:-2.45 [[ 9.99839747e-01 8.81088706e-03 1.55835804e-02 5.62872291e+02] [-8.82358623e-03 9.99960793e-01 7.46337899e-04 6.14489870e+01] [-1.55763935e-02 -8.83721361e-04 9.99878290e-01 -2.45219643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.361400513 meters 0.03857966411336261 Centerline is valid? [True, True] Translation: X:562.90, Y:61.45, Z:-2.45 [[ 9.99847145e-01 7.11663335e-03 1.59699579e-02 5.62904021e+02] [-7.12971965e-03 9.99974292e-01 7.62646842e-04 6.14477214e+01] [-1.59641198e-02 -8.76391590e-04 9.99872181e-01 -2.45260946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.391400513 meters 0.03970003422606417 Centerline is valid? [True, True] Translation: X:562.94, Y:61.45, Z:-2.45 [[ 9.99850331e-01 6.99407535e-03 1.58239783e-02 5.62935281e+02] [-7.00689370e-03 9.99975167e-01 7.54761299e-04 6.14507804e+01] [-1.58183064e-02 -8.65525268e-04 9.99874508e-01 -2.45220338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.421400513 meters 0.04216817847333988 Centerline is valid? [True, True] Translation: X:562.97, Y:61.45, Z:-2.45 [[ 9.99858358e-01 5.70854812e-03 1.58327563e-02 5.62965334e+02] [-5.72118918e-03 9.99983350e-01 7.53232594e-04 6.14545042e+01] [-1.58281928e-02 -8.43708099e-04 9.99874370e-01 -2.45395529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.451400513 meters 0.040101505842469284 Centerline is valid? [True, True] Translation: X:563.00, Y:61.45, Z:-2.46 [[ 9.99866726e-01 5.74899722e-03 1.52800200e-02 5.62997783e+02] [-5.76076718e-03 9.99983143e-01 7.26380428e-04 6.14529031e+01] [-1.52755865e-02 -8.14308258e-04 9.99882990e-01 -2.45612436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.481400513 meters 0.04461391511084266 Centerline is valid? [True, True] Translation: X:563.03, Y:61.46, Z:-2.45 [[ 9.99847211e-01 5.44498706e-03 1.66104515e-02 5.63028694e+02] [-5.45880817e-03 9.99984791e-01 7.86846539e-04 6.14605050e+01] [-1.66059145e-02 -8.77399586e-04 9.99861727e-01 -2.45445787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.511400513 meters 0.04107038580025754 Centerline is valid? [True, True] Translation: X:563.06, Y:61.46, Z:-2.45 [[ 9.99839512e-01 6.28251270e-03 1.67773716e-02 5.63060662e+02] [-6.29668874e-03 9.99979862e-01 7.92258692e-04 6.14578662e+01] [-1.67720564e-02 -8.97773431e-04 9.99858936e-01 -2.45462738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.541400513 meters 0.036431800198461685 Centerline is valid? [True, True] Translation: X:563.09, Y:61.45, Z:-2.46 [[ 9.99849260e-01 5.88483290e-03 1.63348206e-02 5.63092989e+02] [-5.89817839e-03 9.99982310e-01 7.68940001e-04 6.14527640e+01] [-1.63300065e-02 -8.65169777e-04 9.99866282e-01 -2.45602759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.571400513 meters 0.03796565708466641 Centerline is valid? [True, True] Translation: X:563.12, Y:61.46, Z:-2.46 [[ 9.99854792e-01 5.91924923e-03 1.59799311e-02 5.63123722e+02] [-5.93198502e-03 9.99982125e-01 7.49704459e-04 6.14558490e+01] [-1.59752078e-02 -8.44388308e-04 9.99872032e-01 -2.45730057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.601400513 meters 0.04414973819187744 Centerline is valid? [True, True] Translation: X:563.15, Y:61.47, Z:-2.46 [[ 9.99859815e-01 6.40664778e-03 1.54695116e-02 5.63154566e+02] [-6.41860600e-03 9.99979139e-01 7.23492596e-04 6.14653348e+01] [-1.54645537e-02 -8.22683873e-04 9.99880078e-01 -2.45746109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.631400513 meters 0.04371714193576465 Centerline is valid? [True, True] Translation: X:563.19, Y:61.47, Z:-2.46 [[ 9.99867657e-01 5.07274616e-03 1.54575698e-02 5.63185677e+02] [-5.08449689e-03 9.99986814e-01 7.20987903e-04 6.14664566e+01] [-1.54537086e-02 -7.99486451e-04 9.99880265e-01 -2.45755790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.661400513 meters 0.03799223794029595 Centerline is valid? [True, True] Translation: X:563.22, Y:61.46, Z:-2.46 [[ 9.99875467e-01 5.31080025e-03 1.48608628e-02 5.63219410e+02] [-5.32167744e-03 9.99985600e-01 6.92486365e-04 6.14606691e+01] [-1.48569711e-02 -7.71484846e-04 9.99889331e-01 -2.45838101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.691400513 meters 0.03761420523500204 Centerline is valid? [True, True] Translation: X:563.25, Y:61.46, Z:-2.46 [[ 9.99888223e-01 5.96454826e-03 1.37100769e-02 5.63252102e+02] [-5.97383541e-03 9.99981954e-01 6.36542676e-04 6.14615786e+01] [-1.37060328e-02 -7.18373268e-04 9.99905810e-01 -2.45950437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.721400513 meters 0.04462565964651772 Centerline is valid? [True, True] Translation: X:563.28, Y:61.47, Z:-2.46 [[ 9.99885589e-01 7.35999831e-03 1.32151452e-02 5.63282768e+02] [-7.36872125e-03 9.99972664e-01 6.11500681e-04 6.14718594e+01] [-1.32102833e-02 -7.08809440e-04 9.99912489e-01 -2.45992285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.751400513 meters 0.044161682179247985 Centerline is valid? [True, True] Translation: X:563.31, Y:61.47, Z:-2.46 [[ 9.99859034e-01 9.71171274e-03 1.36965431e-02 5.63314049e+02] [-9.72127552e-03 9.99952548e-01 6.31783606e-04 6.14726818e+01] [-1.36897575e-02 -7.64842415e-04 9.99905998e-01 -2.45995890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.781400513 meters 0.04085850685387077 Centerline is valid? [True, True] Translation: X:563.35, Y:61.47, Z:-2.46 [[ 9.99842009e-01 1.05448486e-02 1.43095516e-02 5.63346781e+02] [-1.05553635e-02 9.99944073e-01 6.59485607e-04 6.14701894e+01] [-1.43017971e-02 -8.10423932e-04 9.99897396e-01 -2.45897037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.811400513 meters 0.04188521948392675 Centerline is valid? [True, True] Translation: X:563.38, Y:61.47, Z:-2.46 [[ 9.99844525e-01 1.04145111e-02 1.42289470e-02 5.63379193e+02] [-1.04248623e-02 9.99945446e-01 6.53491617e-04 6.14717237e+01] [-1.42213650e-02 -8.01724828e-04 9.99898550e-01 -2.45994203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.841400513 meters 0.04114138928083496 Centerline is valid? [True, True] Translation: X:563.41, Y:61.47, Z:-2.46 [[ 9.99865611e-01 9.73469847e-03 1.31907136e-02 5.63411151e+02] [-9.74350990e-03 9.99952349e-01 6.03900881e-04 6.14716743e+01] [-1.31842062e-02 -7.32343572e-04 9.99912816e-01 -2.46143550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.871400513 meters 0.04385319725432453 Centerline is valid? [True, True] Translation: X:563.44, Y:61.48, Z:-2.46 [[ 9.99894849e-01 9.50494860e-03 1.09520274e-02 5.63442664e+02] [-9.51100807e-03 9.99954644e-01 5.01321653e-04 6.14774728e+01] [-1.09467656e-02 -6.05433760e-04 9.99939899e-01 -2.46353193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.901400513 meters 0.04473567209658902 Centerline is valid? [True, True] Translation: X:563.47, Y:61.48, Z:-2.46 [[ 9.99890937e-01 1.01285511e-02 1.07482950e-02 5.63472353e+02] [-1.01344016e-02 9.99948526e-01 4.89994920e-04 6.14798635e+01] [-1.07427788e-02 -5.98869018e-04 9.99942115e-01 -2.46373499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.931400513 meters 0.03988964784971395 Centerline is valid? [True, True] Translation: X:563.50, Y:61.48, Z:-2.46 [[ 9.99885291e-01 1.04481849e-02 1.09653810e-02 5.63502605e+02] [-1.04542929e-02 9.99945227e-01 4.99851944e-04 6.14750026e+01] [-1.09595578e-02 -6.14429911e-04 9.99939753e-01 -2.46342164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.961400513 meters 0.04032355249486036 Centerline is valid? [True, True] Translation: X:563.53, Y:61.48, Z:-2.46 [[ 9.99879260e-01 1.05857031e-02 1.13757496e-02 5.63532324e+02] [-1.05922889e-02 9.99943766e-01 5.18831528e-04 6.14768360e+01] [-1.13696177e-02 -6.39264110e-04 9.99935159e-01 -2.46453716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.991400513 meters 0.04209326473153929 Centerline is valid? [True, True] Translation: X:563.56, Y:61.48, Z:-2.46 [[ 9.99871251e-01 1.06315141e-02 1.20188372e-02 5.63561236e+02] [-1.06388727e-02 9.99943255e-01 5.48478720e-04 6.14802620e+01] [-1.20123240e-02 -6.76274982e-04 9.99927621e-01 -2.46468486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.021400513 meters 0.04149144743879805 Centerline is valid? [True, True] Translation: X:563.59, Y:61.48, Z:-2.46 [[ 9.99862896e-01 1.12245013e-02 1.21737711e-02 5.63591852e+02] [-1.12320926e-02 9.99936764e-01 5.55386925e-04 6.14816727e+01] [-1.21667674e-02 -6.92047704e-04 9.99925743e-01 -2.46399612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.051400513 meters 0.03958173136542302 Centerline is valid? [True, True] Translation: X:563.62, Y:61.48, Z:-2.46 [[ 9.99866477e-01 9.78981109e-03 1.30838958e-02 5.63622532e+02] [-9.79845759e-03 9.99951816e-01 5.96908268e-04 6.14809396e+01] [-1.30774217e-02 -7.25030565e-04 9.99914224e-01 -2.46366522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.081400513 meters 0.040700358217633584 Centerline is valid? [True, True] Translation: X:563.65, Y:61.48, Z:-2.46 [[ 9.99852561e-01 1.04026393e-02 1.36616627e-02 5.63654025e+02] [-1.04121214e-02 9.99945598e-01 6.23120072e-04 6.14846391e+01] [-1.36544374e-02 -7.65275091e-04 9.99906481e-01 -2.46287483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.111400513 meters 0.04750721526077084 Centerline is valid? [True, True] Translation: X:563.68, Y:61.49, Z:-2.46 [[ 9.99840910e-01 1.07348944e-02 1.42449052e-02 5.63684453e+02] [-1.07452083e-02 9.99942059e-01 6.47705721e-04 6.14949773e+01] [-1.42371267e-02 -8.00667151e-04 9.99898326e-01 -2.46171999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.141400513 meters 0.04048115847062154 Centerline is valid? [True, True] Translation: X:563.72, Y:61.49, Z:-2.46 [[ 9.99827498e-01 1.06668603e-02 1.52050075e-02 5.63716597e+02] [-1.06785979e-02 9.99942743e-01 6.90976013e-04 6.14875713e+01] [-1.51967664e-02 -8.53224980e-04 9.99884158e-01 -2.46132494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.171400513 meters 0.03912709210798642 Centerline is valid? [True, True] Translation: X:563.75, Y:61.49, Z:-2.46 [[ 9.99826684e-01 8.82587091e-03 1.63922631e-02 5.63748257e+02] [-8.83925922e-03 9.99960656e-01 7.44471617e-04 6.14879946e+01] [-1.63850476e-02 -8.89238051e-04 9.99865361e-01 -2.46169024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.201400513 meters 0.038207410493327855 Centerline is valid? [True, True] Translation: X:563.78, Y:61.49, Z:-2.46 [[ 9.99828705e-01 7.39889675e-03 1.69651503e-02 5.63779765e+02] [-7.41302317e-03 9.99972227e-01 7.69937555e-04 6.14881065e+01] [-1.69589825e-02 -8.95568721e-04 9.99855785e-01 -2.46142365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.231400513 meters 0.04353446820084629 Centerline is valid? [True, True] Translation: X:563.81, Y:61.50, Z:-2.46 [[ 9.99831564e-01 6.86094879e-03 1.70226539e-02 5.63811319e+02] [-6.87508397e-03 9.99976068e-01 7.71992324e-04 6.14973491e+01] [-1.70169499e-02 -8.88894468e-04 9.99854806e-01 -2.46067752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.261400513 meters 0.04390428648931277 Centerline is valid? [True, True] Translation: X:563.84, Y:61.50, Z:-2.46 [[ 9.99820241e-01 6.80847831e-03 1.76955146e-02 5.63842621e+02] [-6.82371718e-03 9.99976397e-01 8.00933906e-04 6.14993973e+01] [-1.76896438e-02 -9.21539117e-04 9.99843101e-01 -2.45982814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.291400513 meters 0.04220196650654928 Centerline is valid? [True, True] Translation: X:563.88, Y:61.50, Z:-2.46 [[ 9.99807059e-01 6.15959122e-03 1.86522012e-02 5.63875424e+02] [-6.17636448e-03 9.99980572e-01 8.41790585e-04 6.14987431e+01] [-1.86466537e-02 -9.56830961e-04 9.99825678e-01 -2.45919909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.321400513 meters 0.037968177333008016 Centerline is valid? [True, True] Translation: X:563.91, Y:61.49, Z:-2.46 [[ 9.99800125e-01 5.61612654e-03 1.91877492e-02 5.63906793e+02] [-5.63374267e-03 9.99983757e-01 8.64161471e-04 6.14947568e+01] [-1.91825843e-02 -9.72087588e-04 9.99815525e-01 -2.46015350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.351400513 meters 0.03457323123252733 Centerline is valid? [True, True] Translation: X:563.94, Y:61.49, Z:-2.46 [[ 9.99812413e-01 4.39123630e-03 1.88641211e-02 5.63938406e+02] [-4.40800638e-03 9.99989926e-01 8.47504902e-04 6.14926754e+01] [-1.88602094e-02 -9.30499088e-04 9.99821697e-01 -2.45951124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.381400513 meters 0.03794140457904049 Centerline is valid? [True, True] Translation: X:563.97, Y:61.50, Z:-2.46 [[ 9.99827039e-01 3.45997196e-03 1.82735094e-02 5.63969304e+02] [-3.47553252e-03 9.99993624e-01 8.19847207e-04 6.14984047e+01] [-1.82705562e-02 -8.83215582e-04 9.99832689e-01 -2.45979130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.411400513 meters 0.04210140147788891 Centerline is valid? [True, True] Translation: X:564.00, Y:61.50, Z:-2.46 [[ 9.99832446e-01 1.91667399e-03 1.82045888e-02 5.64001029e+02] [-1.93182226e-03 9.99997802e-01 8.14563959e-04 6.15047591e+01] [-1.82029876e-02 -8.49595506e-04 9.99833951e-01 -2.45997842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.441400513 meters 0.03294208814477071 Centerline is valid? [True, True] Translation: X:564.03, Y:61.49, Z:-2.46 [[ 9.99827839e-01 1.54523077e-03 1.84906694e-02 5.64034213e+02] [-1.56076427e-03 9.99998441e-01 8.25671118e-04 6.14943288e+01] [-1.84893647e-02 -8.54388545e-04 9.99828692e-01 -2.46240962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.471400513 meters 0.03427352649784395 Centerline is valid? [True, True] Translation: X:564.07, Y:61.50, Z:-2.46 [[ 9.99823600e-01 1.21322034e-03 1.87429107e-02 5.64065586e+02] [-1.22906411e-03 9.99998897e-01 8.33824329e-04 6.14978009e+01] [-1.87418785e-02 -8.56713481e-04 9.99823989e-01 -2.46230243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.501400513 meters 0.03177843394589144 Centerline is valid? [True, True] Translation: X:564.10, Y:61.50, Z:-2.46 [[ 9.99814441e-01 -1.85477279e-03 1.91740448e-02 5.64096131e+02] [ 1.83879213e-03 9.99997947e-01 8.51049595e-04 6.14950896e+01] [-1.91755839e-02 -8.15634592e-04 9.99815799e-01 -2.46333893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.531400513 meters 0.02988962590186729 Centerline is valid? [True, True] Translation: X:564.13, Y:61.49, Z:-2.47 [[ 9.99836202e-01 -2.74406509e-03 1.78896427e-02 5.64128551e+02] [ 2.73031125e-03 9.99995958e-01 7.93194353e-04 6.14938446e+01] [-1.78917470e-02 -7.44220137e-04 9.99839653e-01 -2.46527246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.561400513 meters 0.02988962590186729 Centerline is valid? [True, True] Translation: X:564.16, Y:61.50, Z:-2.47 [[ 9.99836692e-01 -2.55849821e-03 1.78897763e-02 5.64161238e+02] [ 2.54476873e-03 9.99996450e-01 7.90171072e-04 6.14951993e+01] [-1.78917344e-02 -7.44516687e-04 9.99839653e-01 -2.46568587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.591400513 meters 0.034576403392313215 Centerline is valid? [True, True] Translation: X:564.19, Y:61.50, Z:-2.47 [[ 9.99840345e-01 -4.44971571e-03 1.73056447e-02 5.64191375e+02] [ 4.43719251e-03 9.99989865e-01 7.61978655e-04 6.15021871e+01] [-1.73088599e-02 -6.85068524e-04 9.99849956e-01 -2.46667435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.621400513 meters 0.029798872303430597 Centerline is valid? [True, True] Translation: X:564.22, Y:61.50, Z:-2.47 [[ 9.99869581e-01 -4.53989219e-03 1.54987437e-02 5.64224240e+02] [ 4.52987023e-03 9.99989508e-01 6.81674995e-04 6.14979243e+01] [-1.55016758e-02 -6.11378794e-04 9.99879655e-01 -2.46801341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.651400513 meters 0.026628198811770712 Centerline is valid? [True, True] Translation: X:564.26, Y:61.49, Z:-2.47 [[ 9.99883051e-01 -7.53265149e-03 1.33095494e-02 5.64255587e+02] [ 7.52555014e-03 9.99971512e-01 5.83556571e-04 6.14936854e+01] [-1.33135660e-02 -4.83326643e-04 9.99911254e-01 -2.47113903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.681400513 meters 0.028297102158834783 Centerline is valid? [True, True] Translation: X:564.29, Y:61.50, Z:-2.47 [[ 9.99891714e-01 -7.37028223e-03 1.27372870e-02 5.64288018e+02] [ 7.36376753e-03 9.99972731e-01 5.58291167e-04 6.14968855e+01] [-1.27410544e-02 -4.64436292e-04 9.99918722e-01 -2.47292982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.711400513 meters 0.026698596400903867 Centerline is valid? [True, True] Translation: X:564.32, Y:61.50, Z:-2.47 [[ 9.99883711e-01 -7.52022699e-03 1.32669271e-02 5.64320417e+02] [ 7.51320423e-03 9.99971608e-01 5.79104824e-04 6.14957289e+01] [-1.32709054e-02 -4.79360348e-04 9.99911823e-01 -2.47270239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.741400513 meters 0.029185813163104552 Centerline is valid? [True, True] Translation: X:564.35, Y:61.50, Z:-2.47 [[ 9.99870894e-01 -7.94315512e-03 1.39679005e-02 5.64351182e+02] [ 7.93544490e-03 9.99968329e-01 6.07333519e-04 6.14998304e+01] [-1.39722822e-02 -4.96413604e-04 9.99902260e-01 -2.47189047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.771400513 meters 0.028758949328815876 Centerline is valid? [True, True] Translation: X:564.38, Y:61.51, Z:-2.46 [[ 9.99866686e-01 -6.93368387e-03 1.47828798e-02 5.64375932e+02] [ 7.01467882e-03 9.99960631e-01 -5.43417605e-03 6.15061178e+01] [-1.47446190e-02 5.53714876e-03 9.99875960e-01 -2.46477188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.801400513 meters 0.024083587931519292 Centerline is valid? [True, True] Translation: X:564.41, Y:61.50, Z:-2.47 [[ 9.99853819e-01 -9.51838072e-03 1.42035878e-02 5.64414846e+02] [ 9.54124146e-03 9.99953291e-01 -1.54260871e-03 6.14985602e+01] [-1.41882413e-02 1.67790307e-03 9.99897934e-01 -2.47036973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.831400513 meters 0.026120481158312857 Centerline is valid? [True, True] Translation: X:564.44, Y:61.49, Z:-2.48 [[ 9.99866381e-01 -1.29645102e-02 9.95698830e-03 5.64444447e+02] [ 1.28885771e-02 9.99887653e-01 7.65278865e-03 6.14928942e+01] [-1.00550843e-02 -7.52343468e-03 9.99921143e-01 -2.48413210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.861400513 meters 0.026085946690361517 Centerline is valid? [True, True] Translation: X:564.48, Y:61.50, Z:-2.48 [[ 9.99840576e-01 -1.48357444e-02 9.93596756e-03 5.64475015e+02] [ 1.48322345e-02 9.99889905e-01 4.26851026e-04 6.15000902e+01] [-9.94120631e-03 -2.79410374e-04 9.99950546e-01 -2.47729727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.891400513 meters 0.023215594818409253 Centerline is valid? [True, True] Translation: X:564.49, Y:61.50, Z:-2.47 [[ 9.99830703e-01 -1.42219165e-02 1.16748414e-02 5.64493867e+02] [ 1.42759268e-02 9.99887714e-01 -4.55598040e-03 6.15005566e+01] [-1.16087357e-02 4.72187827e-03 9.99921467e-01 -2.47113033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.921400513 meters 0.023363225009822134 Centerline is valid? [True, True] Translation: X:564.53, Y:61.50, Z:-2.47 [[ 9.99812890e-01 -1.46513714e-02 1.26302207e-02 5.64531744e+02] [ 1.46989932e-02 9.99885170e-01 -3.68591160e-03 6.15013561e+01] [-1.25747667e-02 3.87087346e-03 9.99913442e-01 -2.47031366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.951400513 meters 0.023104101875831208 Centerline is valid? [True, True] Translation: X:564.56, Y:61.50, Z:-2.48 [[ 9.99785428e-01 -1.45856405e-02 1.47091120e-02 5.64556433e+02] [ 1.45223114e-02 9.99884851e-01 4.40309757e-03 6.14969240e+01] [-1.47716402e-02 -4.18854248e-03 9.99882120e-01 -2.47640917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.981400513 meters 0.02297711683358367 Centerline is valid? [True, True] Translation: X:564.58, Y:61.50, Z:-2.48 [[ 9.99738718e-01 -1.54554637e-02 1.68411586e-02 5.64583181e+02] [ 1.53607431e-02 9.99865545e-01 5.73927208e-03 6.14959781e+01] [-1.69275974e-02 -5.47907980e-03 9.99841706e-01 -2.47760962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.011400513 meters 0.019935939865277086 Centerline is valid? [True, True] Translation: X:564.62, Y:61.50, Z:-2.47 [[ 9.99690135e-01 -1.79934751e-02 1.72008125e-02 5.64620806e+02] [ 1.79743590e-02 9.99837648e-01 1.26531304e-03 6.14977821e+01] [-1.72207873e-02 -9.55747386e-04 9.99851254e-01 -2.47424203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.041400513 meters 0.019322093670102083 Centerline is valid? [True, True] Translation: X:564.65, Y:61.50, Z:-2.47 [[ 9.99638137e-01 -2.18200449e-02 1.57315078e-02 5.64651467e+02] [ 2.18655999e-02 9.99757193e-01 -2.72959823e-03 6.14991824e+01] [-1.56681282e-02 3.07258934e-03 9.99872526e-01 -2.47219671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.071400513 meters 0.015151171162980814 Centerline is valid? [True, True] Translation: X:564.68, Y:61.49, Z:-2.48 [[ 9.99616421e-01 -2.36591651e-02 1.43963195e-02 5.64682260e+02] [ 2.36397330e-02 9.99719389e-01 1.51849667e-03 6.14909913e+01] [-1.44282061e-02 -1.17758906e-03 9.99895215e-01 -2.47764049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.101400513 meters 0.019578446567178748 Centerline is valid? [True, True] Translation: X:564.72, Y:61.49, Z:-2.48 [[ 9.99584271e-01 -2.70713638e-02 9.92102771e-03 5.64723536e+02] [ 2.70179424e-02 9.99619929e-01 5.47972972e-03 6.14922840e+01] [-1.00656008e-02 -5.20940588e-03 9.99935771e-01 -2.48467420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.131400513 meters 0.015376768404163764 Centerline is valid? [True, True] Translation: X:564.75, Y:61.50, Z:-2.47 [[ 9.99480945e-01 -2.96900763e-02 1.25035788e-02 5.64748061e+02] [ 2.98023947e-02 9.99516236e-01 -8.89443815e-03 6.14966399e+01] [-1.22334534e-02 9.26245803e-03 9.99882268e-01 -2.47179382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.161400513 meters 0.01589520471284456 Centerline is valid? [True, True] Translation: X:564.77, Y:61.49, Z:-2.49 [[ 9.99480112e-01 -2.95440981e-02 1.29093496e-02 5.64768833e+02] [ 2.94589958e-02 9.99543310e-01 6.73349823e-03 6.14855133e+01] [-1.31023892e-02 -6.34970109e-03 9.99893999e-01 -2.48609890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.191400513 meters 0.013458428148126958 Centerline is valid? [True, True] Translation: X:564.81, Y:61.49, Z:-2.48 [[ 9.99516567e-01 -2.82891130e-02 1.28980129e-02 5.64808803e+02] [ 2.82976675e-02 9.99599425e-01 -4.81189811e-04 6.14897615e+01] [-1.28792339e-02 8.45940869e-04 9.99916701e-01 -2.48105240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.221400513 meters 0.014929481090801432 Centerline is valid? [True, True] Translation: X:564.83, Y:61.49, Z:-2.49 [[ 9.99505575e-01 -2.80533361e-02 1.41991713e-02 5.64832456e+02] [ 2.79762835e-02 9.99592921e-01 5.59643983e-03 6.14857288e+01] [-1.43503899e-02 -5.19643277e-03 9.99883525e-01 -2.48805379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.251400513 meters 0.016051114571821803 Centerline is valid? [True, True] Translation: X:564.88, Y:61.50, Z:-2.48 [[ 9.99412421e-01 -3.14494400e-02 1.36288535e-02 5.64875316e+02] [ 3.15411271e-02 9.99480891e-01 -6.56547763e-03 6.14965491e+01] [-1.34152981e-02 6.99148930e-03 9.99885568e-01 -2.47621567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.281400513 meters 0.01834343563485611 Centerline is valid? [True, True] Translation: X:564.92, Y:61.48, Z:-2.48 [[ 9.99752519e-01 -1.72557087e-02 1.40406710e-02 5.64923502e+02] [ 1.74142068e-02 9.99785117e-01 -1.12456402e-02 6.14806521e+01] [-1.38436024e-02 1.14873643e-02 9.99838184e-01 -2.48065482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.311400513 meters 0.016316947899033773 Centerline is valid? [True, True] Translation: X:564.94, Y:61.48, Z:-2.50 [[ 9.99378921e-01 -3.30689584e-02 1.21744352e-02 5.64935645e+02] [ 3.29252506e-02 9.99387907e-01 1.18211452e-02 6.14818675e+01] [-1.25578963e-02 -1.14129570e-02 9.99856011e-01 -2.49633255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.341400513 meters 0.016428252428944294 Centerline is valid? [True, True] Translation: X:564.99, Y:61.49, Z:-2.48 [[ 9.99636922e-01 -2.40646912e-02 1.21208093e-02 5.64985187e+02] [ 2.42170129e-02 9.99627558e-01 -1.25809888e-02 6.14868860e+01] [-1.18135374e-02 1.28699507e-02 9.99847391e-01 -2.48086254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.371400513 meters 0.016243365126976876 Centerline is valid? [True, True] Translation: X:565.02, Y:61.48, Z:-2.49 [[ 9.99631577e-01 -2.51795002e-02 1.01342104e-02 5.65015581e+02] [ 2.51638134e-02 9.99681942e-01 1.67247490e-03 6.14750922e+01] [-1.01730992e-02 -1.41684334e-03 9.99947249e-01 -2.49410765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.401400513 meters 0.01776691241437945 Centerline is valid? [True, True] Translation: X:565.05, Y:61.47, Z:-2.49 [[ 9.99653645e-01 -2.49407804e-02 8.39926543e-03 5.65053831e+02] [ 2.49580310e-02 9.99686588e-01 -1.95529047e-03 6.14736090e+01] [-8.34786652e-03 2.16424238e-03 9.99962814e-01 -2.49367448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.431400513 meters 0.021248194993193196 Centerline is valid? [True, True] Translation: X:565.05, Y:61.48, Z:-2.51 [[ 9.99377697e-01 -3.52016273e-02 2.25038013e-03 5.65054923e+02] [ 3.51527952e-02 9.99202390e-01 1.89437317e-02 6.14795344e+01] [-2.91543538e-03 -1.88528358e-02 9.99818019e-01 -2.50916385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.461400513 meters 0.021162093194198622 Centerline is valid? [True, True] Translation: X:565.09, Y:61.50, Z:-2.49 [[ 9.99544187e-01 -3.00810063e-02 2.55951997e-03 5.65085290e+02] [ 3.00807864e-02 9.99547463e-01 1.24389682e-04 6.14987744e+01] [-2.56210346e-03 -4.73406099e-05 9.99996717e-01 -2.49161389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.491400513 meters 0.022608770671200207 Centerline is valid? [True, True] Translation: X:565.12, Y:61.50, Z:-2.49 [[ 9.99648794e-01 -2.61437270e-02 4.33524478e-03 5.65117042e+02] [ 2.61430570e-02 9.99658190e-01 2.11153834e-04 6.15025231e+01] [-4.33928329e-03 -9.77431245e-05 9.99990580e-01 -2.49024935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.521400513 meters 0.025673532879606446 Centerline is valid? [True, True] Translation: X:565.15, Y:61.51, Z:-2.49 [[ 9.99711441e-01 -2.30751362e-02 6.67627205e-03 5.65147587e+02] [ 2.30734917e-02 9.99733719e-01 3.23240503e-04 6.15070836e+01] [-6.68195311e-03 -1.69102321e-04 9.99977661e-01 -2.48830816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.551400513 meters 0.03456824883606752 Centerline is valid? [True, True] Translation: X:565.18, Y:61.52, Z:-2.49 [[ 9.99880303e-01 -1.37398283e-02 7.11312160e-03 5.65177489e+02] [ 1.37377268e-02 9.99905574e-01 3.44209403e-04 6.15220573e+01] [-7.11717932e-03 -2.46450081e-04 9.99974642e-01 -2.48921860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.581400513 meters 0.03918813701053839 Centerline is valid? [True, True] Translation: X:565.21, Y:61.53, Z:-2.49 [[ 9.99917924e-01 -1.07125936e-02 7.02745755e-03 5.65207383e+02] [ 1.07104687e-02 9.99942584e-01 3.39931719e-04 6.15302330e+01] [-7.03069561e-03 -2.64636454e-04 9.99975249e-01 -2.49036461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.611400513 meters 0.04179959767010976 Centerline is valid? [True, True] Translation: X:565.24, Y:61.54, Z:-2.49 [[ 9.99946552e-01 -8.10198918e-03 6.42272066e-03 5.65236903e+02] [ 8.10016098e-03 9.99967145e-01 3.10608544e-04 6.15356135e+01] [-6.42502619e-03 -2.58566871e-04 9.99979326e-01 -2.49158265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.641400513 meters 0.0430572749431164 Centerline is valid? [True, True] Translation: X:565.27, Y:61.54, Z:-2.49 [[ 9.99966283e-01 -5.72920017e-03 5.88287715e-03 5.65267422e+02] [ 5.72762769e-03 9.99983557e-01 2.84110196e-04 6.15391933e+01] [-5.88440814e-03 -2.50405687e-04 9.99982655e-01 -2.49182219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.671400513 meters 0.042308693229218416 Centerline is valid? [True, True] Translation: X:565.30, Y:61.54, Z:-2.49 [[ 9.99975095e-01 -3.77705877e-03 5.96187188e-03 5.65298929e+02] [ 3.77540938e-03 9.99992832e-01 2.87886290e-04 6.15400478e+01] [-5.96291651e-03 -2.65370613e-04 9.99982186e-01 -2.49153662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.701400513 meters 0.046518377181671705 Centerline is valid? [True, True] Translation: X:565.33, Y:61.55, Z:-2.49 [[ 9.99975550e-01 1.46785339e-03 6.83701989e-03 5.65329457e+02] [-1.47014364e-03 9.99998865e-01 3.29964033e-04 6.15487136e+01] [-6.83652779e-03 -3.40007367e-04 9.99976573e-01 -2.48994354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.731400513 meters 0.04770657261430376 Centerline is valid? [True, True] Translation: X:565.36, Y:61.55, Z:-2.49 [[ 9.99954198e-01 3.26564711e-03 8.99651992e-03 5.65360502e+02] [-3.26968211e-03 9.99994560e-01 4.33834437e-04 6.15518639e+01] [-8.99505423e-03 -4.63230327e-04 9.99959436e-01 -2.48849364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.761400513 meters 0.04917631721517812 Centerline is valid? [True, True] Translation: X:565.39, Y:61.56, Z:-2.49 [[ 9.99926890e-01 6.22212002e-03 1.03681710e-02 5.65391043e+02] [-6.22763518e-03 9.99980483e-01 4.99730361e-04 6.15564536e+01] [-1.03648592e-02 -5.64263012e-04 9.99946124e-01 -2.48653620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.791400513 meters 0.05318581092353495 Centerline is valid? [True, True] Translation: X:565.42, Y:61.56, Z:-2.49 [[ 9.99902240e-01 7.77165824e-03 1.16237809e-02 5.65421265e+02] [-7.77869259e-03 9.99969589e-01 5.60080917e-04 6.15635539e+01] [-1.16190747e-02 -6.50443982e-04 9.99932285e-01 -2.48657468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.821400513 meters 0.051541936778446665 Centerline is valid? [True, True] Translation: X:565.45, Y:61.56, Z:-2.49 [[ 9.99895387e-01 8.83936983e-03 1.14490765e-02 5.65453061e+02] [-8.84625540e-03 9.99960719e-01 5.50904516e-04 6.15629233e+01] [-1.14437571e-02 -6.52128339e-04 9.99934305e-01 -2.48690051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.851400513 meters 0.051658635075571585 Centerline is valid? [True, True] Translation: X:565.48, Y:61.57, Z:-2.49 [[ 9.99918401e-01 7.94526097e-03 1.00032029e-02 5.65484573e+02] [-7.95046053e-03 9.99968279e-01 4.80130653e-04 6.15653902e+01] [-9.99907078e-03 -5.59621545e-04 9.99949851e-01 -2.48859733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.881400513 meters 0.05073601534266055 Centerline is valid? [True, True] Translation: X:565.51, Y:61.57, Z:-2.49 [[ 9.99934174e-01 5.69505803e-03 9.96058293e-03 5.65513991e+02] [-5.70009935e-03 9.99983640e-01 4.77810769e-04 6.15658445e+01] [-9.95769882e-03 -5.34555629e-04 9.99950278e-01 -2.48978800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.911400513 meters 0.051294990177936955 Centerline is valid? [True, True] Translation: X:565.54, Y:61.57, Z:-2.49 [[ 9.99951957e-01 3.67933422e-03 9.08545968e-03 5.65543703e+02] [-3.68344221e-03 9.99993121e-01 4.35458198e-04 6.15683291e+01] [-9.08379498e-03 -4.68903043e-04 9.99958632e-01 -2.49118080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.941400513 meters 0.05158467640019934 Centerline is valid? [True, True] Translation: X:565.57, Y:61.57, Z:-2.50 [[ 9.99982127e-01 -1.82510579e-04 5.97599622e-03 5.65573468e+02] [ 1.80802114e-04 9.99999943e-01 2.86426844e-04 6.15700519e+01] [-5.97604815e-03 -2.85341252e-04 9.99982103e-01 -2.49712000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.971400513 meters 0.04881495137581064 Centerline is valid? [True, True] Translation: X:565.61, Y:61.57, Z:-2.50 [[ 9.99985023e-01 -1.53436088e-03 5.25361231e-03 5.65605585e+02] [ 1.53305856e-03 9.99998793e-01 2.51908884e-04 6.15677001e+01] [-5.25399249e-03 -2.43851016e-04 9.99986168e-01 -2.49933777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.001400513 meters 0.04380309385146333 Centerline is valid? [True, True] Translation: X:565.64, Y:61.56, Z:-2.50 [[ 9.99985161e-01 -2.39918241e-03 4.89097898e-03 5.65638023e+02] [ 2.39806237e-03 9.99997097e-01 2.34852552e-04 6.15627359e+01] [-4.89152823e-03 -2.23120194e-04 9.99988012e-01 -2.49980758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.031400513 meters 0.04749130732969883 Centerline is valid? [True, True] Translation: X:565.67, Y:61.57, Z:-2.50 [[ 9.99976155e-01 -2.73986678e-03 6.33893359e-03 5.65669392e+02] [ 2.73800260e-03 9.99996206e-01 3.02743482e-04 6.15692063e+01] [-6.33973901e-03 -2.85380247e-04 9.99979863e-01 -2.50027982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.061400513 meters 0.041620344650443994 Centerline is valid? [True, True] Translation: X:565.70, Y:61.56, Z:-2.50 [[ 9.99965666e-01 -4.63249201e-03 6.87069474e-03 5.65701567e+02] [ 4.63035195e-03 9.99989226e-01 3.27351049e-04 6.15634358e+01] [-6.87213717e-03 -2.95526075e-04 9.99976343e-01 -2.49970435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.091400513 meters 0.04124876135716039 Centerline is valid? [True, True] Translation: X:565.73, Y:61.57, Z:-2.50 [[ 9.99956931e-01 -6.82195790e-03 6.29263701e-03 5.65732164e+02] [ 6.82020829e-03 9.99976697e-01 2.99459390e-04 6.15660569e+01] [-6.29453328e-03 -2.56529397e-04 9.99980156e-01 -2.49929057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.121400513 meters 0.034629595247284456 Centerline is valid? [True, True] Translation: X:565.76, Y:61.56, Z:-2.50 [[ 9.99950979e-01 -7.83903349e-03 6.04882612e-03 5.65764877e+02] [ 7.83743587e-03 9.99969245e-01 2.87779724e-04 6.15587158e+01] [-6.05089601e-03 -2.40358330e-04 9.99981664e-01 -2.49964662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.151400513 meters 0.0385110079833683 Centerline is valid? [True, True] Translation: X:565.80, Y:61.57, Z:-2.50 [[ 9.99947612e-01 -7.67580610e-03 6.77171132e-03 5.65796481e+02] [ 7.67380113e-03 9.99970504e-01 3.22013454e-04 6.15653751e+01] [-6.77398330e-03 -2.70031818e-04 9.99977020e-01 -2.50045788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.181400513 meters 0.03572885192623645 Centerline is valid? [True, True] Translation: X:565.83, Y:61.56, Z:-2.50 [[ 9.99943054e-01 -8.30614156e-03 6.70055725e-03 5.65828670e+02] [ 8.30420039e-03 9.99965469e-01 3.17473705e-04 6.15632470e+01] [-6.70296286e-03 -2.61812856e-04 9.99977501e-01 -2.50057732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.211400513 meters 0.03487625423677265 Centerline is valid? [True, True] Translation: X:565.86, Y:61.56, Z:-2.50 [[ 9.99942708e-01 -8.25903427e-03 6.80944586e-03 5.65861480e+02] [ 8.25703694e-03 9.99965858e-01 3.21378069e-04 6.15639841e+01] [-6.81186764e-03 -2.65133811e-04 9.99976764e-01 -2.50019795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.241400513 meters 0.03444952731566129 Centerline is valid? [True, True] Translation: X:565.89, Y:61.57, Z:-2.50 [[ 9.99947763e-01 -7.51479662e-03 6.92809001e-03 5.65893397e+02] [ 7.51271488e-03 9.99971726e-01 3.26454212e-04 6.15652682e+01] [-6.93034736e-03 -2.74388394e-04 9.99975947e-01 -2.50010177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.271400513 meters 0.036366671506989655 Centerline is valid? [True, True] Translation: X:565.92, Y:61.57, Z:-2.50 [[ 9.99957920e-01 -5.87229678e-03 7.04803646e-03 5.65924008e+02] [ 5.87010418e-03 9.99982716e-01 3.31740797e-04 6.15697773e+01] [-7.04986272e-03 -2.90354129e-04 9.99975107e-01 -2.50043280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.301400513 meters 0.03661642648019545 Centerline is valid? [True, True] Translation: X:565.96, Y:61.57, Z:-2.50 [[ 9.99957038e-01 -4.93549920e-03 7.84621461e-03 5.65956487e+02] [ 4.93275451e-03 9.99987766e-01 3.69123449e-04 6.15711840e+01] [-7.84794042e-03 -3.30404140e-04 9.99969150e-01 -2.50105469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.331400513 meters 0.03748655767313542 Centerline is valid? [True, True] Translation: X:565.99, Y:61.57, Z:-2.50 [[ 9.99965290e-01 -3.97918362e-03 7.32021032e-03 5.65987297e+02] [ 3.97677098e-03 9.99992033e-01 3.44112051e-04 6.15742280e+01] [-7.32152129e-03 -3.14989306e-04 9.99973148e-01 -2.50108033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.361400513 meters 0.04277792525122821 Centerline is valid? [True, True] Translation: X:566.02, Y:61.58, Z:-2.50 [[ 9.99969079e-01 -1.93952639e-03 7.62092755e-03 5.66016606e+02] [ 1.93685751e-03 9.99998060e-01 3.57568229e-04 6.15831320e+01] [-7.62160628e-03 -3.42796522e-04 9.99970896e-01 -2.50127012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.391400513 meters 0.03923004331646605 Centerline is valid? [True, True] Translation: X:566.05, Y:61.58, Z:-2.50 [[ 9.99964774e-01 3.39651649e-04 8.38662326e-03 5.66047651e+02] [-3.42959429e-04 9.99999864e-01 3.92976341e-04 6.15804038e+01] [-8.38648864e-03 -3.95838769e-04 9.99964754e-01 -2.50005866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.421400513 meters 0.04075620265192771 Centerline is valid? [True, True] Translation: X:566.08, Y:61.58, Z:-2.50 [[ 9.99941654e-01 1.96450821e-03 1.06220756e-02 5.66079166e+02] [-1.96990414e-03 9.99997936e-01 4.97552903e-04 6.15832785e+01] [-1.06210762e-02 -5.18448344e-04 9.99943460e-01 -2.49956847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.451400513 meters 0.04642525980738751 Centerline is valid? [True, True] Translation: X:566.11, Y:61.60, Z:-2.50 [[ 9.99925592e-01 4.15450257e-03 1.14695841e-02 5.66108705e+02] [-4.16093525e-03 9.99991199e-01 5.37041039e-04 6.15952184e+01] [-1.14672520e-02 -5.84725275e-04 9.99934078e-01 -2.49583714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.481400513 meters 0.04800520867486877 Centerline is valid? [True, True] Translation: X:566.14, Y:61.60, Z:-2.49 [[ 9.99916247e-01 5.31098738e-03 1.18022558e-02 5.66140982e+02] [-5.31787732e-03 9.99985707e-01 5.52475697e-04 6.15997961e+01] [-1.17991529e-02 -6.15192374e-04 9.99930198e-01 -2.49452337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.511400513 meters 0.04800520867486877 Centerline is valid? [True, True] Translation: X:566.17, Y:61.60, Z:-2.49 [[ 9.99915313e-01 5.48382701e-03 1.18022995e-02 5.66173675e+02] [-5.49071795e-03 9.99984774e-01 5.51540505e-04 6.16012099e+01] [-1.17990952e-02 -6.16296894e-04 9.99930198e-01 -2.49480228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.541400513 meters 0.046492717799013636 Centerline is valid? [True, True] Translation: X:566.20, Y:61.60, Z:-2.50 [[ 9.99839034e-01 1.18766945e-02 1.34480323e-02 5.66204360e+02] [-1.18861950e-02 9.99929160e-01 6.26752478e-04 6.15996358e+01] [-1.34396359e-02 -7.86497526e-04 9.99909375e-01 -2.49549705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.571400513 meters 0.057262166895390945 Centerline is valid? [True, True] Translation: X:566.23, Y:61.62, Z:-2.49 [[ 9.99839887e-01 1.19680620e-02 1.33028813e-02 5.66232702e+02] [-1.19773662e-02 9.99928077e-01 6.19964994e-04 6.16166378e+01] [-1.32945047e-02 -7.79199211e-04 9.99911321e-01 -2.49294341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.601400513 meters 0.05519272038172087 Centerline is valid? [True, True] Translation: X:566.26, Y:61.62, Z:-2.49 [[ 9.99809507e-01 1.40487127e-02 1.35492667e-02 5.66263025e+02] [-1.40585560e-02 9.99900974e-01 6.31507095e-04 6.16156720e+01] [-1.35390531e-02 -8.21869923e-04 9.99908005e-01 -2.49324628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.631400513 meters 0.059298257659315665 Centerline is valid? [True, True] Translation: X:566.29, Y:61.62, Z:-2.49 [[ 9.99805582e-01 1.45494793e-02 1.33083223e-02 5.66291136e+02] [-1.45590226e-02 9.99893819e-01 6.20489366e-04 6.16229993e+01] [-1.32978814e-02 -8.14124896e-04 9.99911248e-01 -2.49292342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.661400513 meters 0.06180864588578341 Centerline is valid? [True, True] Translation: X:566.32, Y:61.63, Z:-2.49 [[ 9.99820078e-01 1.32294312e-02 1.35938997e-02 5.66319483e+02] [-1.32392704e-02 9.99912156e-01 6.34054924e-04 6.16273621e+01] [-1.35843173e-02 -8.13914157e-04 9.99907398e-01 -2.49286926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.691400513 meters 0.05531177876750207 Centerline is valid? [True, True] Translation: X:566.35, Y:61.62, Z:-2.49 [[ 9.99830373e-01 1.33570437e-02 1.26812396e-02 5.66349406e+02] [-1.33656183e-02 9.99910501e-01 5.91655575e-04 6.16199775e+01] [-1.26722019e-02 -7.61047824e-04 9.99919415e-01 -2.49469232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.721400513 meters 0.07057570994485374 Centerline is valid? [True, True] Translation: X:566.38, Y:61.64, Z:-2.50 [[ 9.99787223e-01 1.53663263e-02 1.37616984e-02 5.66377286e+02] [-1.53766173e-02 9.99881567e-01 6.42300399e-04 6.16394694e+01] [-1.37501987e-02 -8.53772102e-04 9.99905097e-01 -2.49635521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.751400513 meters 0.05780747628744912 Centerline is valid? [True, True] Translation: X:566.41, Y:61.63, Z:-2.50 [[ 9.99748201e-01 1.72255238e-02 1.43811263e-02 5.66408411e+02] [-1.72369542e-02 9.99851207e-01 6.71237227e-04 6.16250334e+01] [-1.43674241e-02 -9.18955025e-04 9.99896361e-01 -2.49740122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.781400513 meters 0.06414367321834584 Centerline is valid? [True, True] Translation: X:566.44, Y:61.64, Z:-2.50 [[ 9.99755486e-01 1.67196864e-02 1.44713931e-02 5.66436289e+02] [-1.67312121e-02 9.99859795e-01 6.75733071e-04 6.16359102e+01] [-1.44580661e-02 -9.17691792e-04 9.99895056e-01 -2.49502251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.811400513 meters 0.060988481594837274 Centerline is valid? [True, True] Translation: X:566.47, Y:61.63, Z:-2.50 [[ 9.99681398e-01 1.92402515e-02 1.63375638e-02 5.66466946e+02] [-1.92552849e-02 9.99814308e-01 7.63357285e-04 6.16283197e+01] [-1.63198428e-02 -1.07769852e-03 9.99866242e-01 -2.49725115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.841400513 meters 0.057367657153391954 Centerline is valid? [True, True] Translation: X:566.50, Y:61.63, Z:-2.50 [[ 9.99770655e-01 1.61306313e-02 1.40868899e-02 5.66496213e+02] [-1.61415017e-02 9.99869501e-01 6.58299866e-04 6.16304231e+01] [-1.40744328e-02 -8.85532444e-04 9.99900558e-01 -2.49603477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.871400513 meters 0.06359766521404348 Centerline is valid? [True, True] Translation: X:566.52, Y:61.64, Z:-2.50 [[ 9.99762444e-01 1.69729954e-02 1.36737772e-02 5.66524481e+02] [-1.69833200e-02 9.99855569e-01 6.39292838e-04 6.16395832e+01] [-1.36609516e-02 -8.71367105e-04 9.99906305e-01 -2.49744411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.901400513 meters 0.05369828852282903 Centerline is valid? [True, True] Translation: X:566.55, Y:61.63, Z:-2.50 [[ 9.99799765e-01 1.52196809e-02 1.29919723e-02 5.66554693e+02] [-1.52288591e-02 9.99883849e-01 6.07806551e-04 6.16276922e+01] [-1.29812126e-02 -8.05537762e-04 9.99915416e-01 -2.49958789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.931400513 meters 0.04864837594639162 Centerline is valid? [True, True] Translation: X:566.58, Y:61.62, Z:-2.50 [[ 9.99798030e-01 1.56801501e-02 1.25710636e-02 5.66583985e+02] [-1.56887841e-02 9.99876750e-01 5.88487363e-04 6.16225787e+01] [-1.25602866e-02 -7.85593208e-04 9.99920808e-01 -2.50065213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.961400513 meters 0.04964737519548057 Centerline is valid? [True, True] Translation: X:566.61, Y:61.63, Z:-2.50 [[ 9.99794500e-01 1.61401978e-02 1.22658574e-02 5.66612372e+02] [-1.61484587e-02 9.99869440e-01 5.74742547e-04 6.16251886e+01] [-1.22549795e-02 -7.72699129e-04 9.99924606e-01 -2.50120286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.991400513 meters 0.05892002893894467 Centerline is valid? [True, True] Translation: X:566.64, Y:61.64, Z:-2.50 [[ 9.99780087e-01 1.73549192e-02 1.17721845e-02 5.66641193e+02] [-1.73626172e-02 9.99849106e-01 5.52016176e-04 6.16381811e+01] [-1.17608279e-02 -7.56290714e-04 9.99930553e-01 -2.50191259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.021400513 meters 0.06789542967029943 Centerline is valid? [True, True] Translation: X:566.67, Y:61.65, Z:-2.50 [[ 9.99676008e-01 2.26221144e-02 1.16670131e-02 5.66670026e+02] [-2.26300336e-02 9.99743758e-01 5.47182119e-04 6.16491772e+01] [-1.16516451e-02 -8.11029733e-04 9.99931788e-01 -2.50495847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.051400513 meters 0.06999256244187232 Centerline is valid? [True, True] Translation: X:566.70, Y:61.65, Z:-2.50 [[ 9.99630412e-01 2.42453901e-02 1.22963601e-02 5.66700506e+02] [-2.42543089e-02 9.99705655e-01 5.76690990e-04 6.16532207e+01] [-1.22787586e-02 -8.74717567e-04 9.99924231e-01 -2.50441944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.081400513 meters 0.06866854148123912 Centerline is valid? [True, True] Translation: X:566.73, Y:61.65, Z:-2.50 [[ 9.99592350e-01 2.55184229e-02 1.28040206e-02 5.66730344e+02] [-2.55281985e-02 9.99673922e-01 6.00600982e-04 6.16538306e+01] [-1.27845191e-02 -9.27219728e-04 9.99917845e-01 -2.50329978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.111400513 meters 0.07322621445351768 Centerline is valid? [True, True] Translation: X:566.76, Y:61.66, Z:-2.50 [[ 9.99579129e-01 2.58716784e-02 1.31232675e-02 5.66757991e+02] [-2.58819842e-02 9.99664816e-01 6.16052322e-04 6.16620720e+01] [-1.31029305e-02 -9.55449247e-04 9.99913696e-01 -2.50152564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.141400513 meters 0.07294531805544506 Centerline is valid? [True, True] Translation: X:566.79, Y:61.66, Z:-2.50 [[ 9.99572663e-01 2.60063783e-02 1.33476274e-02 5.66787086e+02] [-2.60170612e-02 9.99661302e-01 6.27315298e-04 6.16638284e+01] [-1.33267924e-02 -9.74313263e-04 9.99910720e-01 -2.50084713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.171400513 meters 0.031064816191080234 Centerline is valid? [True, True] Translation: X:566.82, Y:61.58, Z:-2.51 [[ 9.99126122e-01 4.11874351e-02 7.11246403e-03 5.66820427e+02] [-4.12812602e-02 9.99055121e-01 1.35912723e-02 6.15812457e+01] [-6.54595397e-03 -1.38730067e-02 9.99882338e-01 -2.51360944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.201400513 meters 0.07363591394367454 Centerline is valid? [True, True] Translation: X:566.85, Y:61.68, Z:-2.49 [[ 9.99467452e-01 2.99271861e-02 1.30067325e-02 5.66845873e+02] [-2.97634500e-02 9.99477490e-01 -1.26049603e-02 6.16767685e+01] [-1.33771674e-02 1.22111223e-02 9.99835956e-01 -2.49169485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.231400513 meters 0.07245231411746986 Centerline is valid? [True, True] Translation: X:566.88, Y:61.67, Z:-2.50 [[ 9.99445605e-01 3.10394698e-02 1.20429856e-02 5.66875251e+02] [-3.10485451e-02 9.99517717e-01 5.67299460e-04 6.16660351e+01] [-1.20195688e-02 -9.40902135e-04 9.99927320e-01 -2.50423964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.261400513 meters 0.0730428751266467 Centerline is valid? [True, True] Translation: X:566.91, Y:61.67, Z:-2.50 [[ 9.99383137e-01 3.30087580e-02 1.19902785e-02 5.66905538e+02] [-3.30178992e-02 9.99454601e-01 5.65178668e-04 6.16684770e+01] [-1.19650831e-02 -9.60723837e-04 9.99927954e-01 -2.50424340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.291400513 meters 0.07989070101159501 Centerline is valid? [True, True] Translation: X:566.93, Y:61.68, Z:-2.50 [[ 9.99287353e-01 3.57176087e-02 1.22081086e-02 5.66934249e+02] [-3.57272882e-02 9.99361411e-01 5.75637319e-04 6.16792814e+01] [-1.21797523e-02 -1.01138971e-03 9.99925313e-01 -2.50340967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.321400513 meters 0.08534308903080222 Centerline is valid? [True, True] Translation: X:566.96, Y:61.69, Z:-2.50 [[ 9.99234280e-01 3.71991474e-02 1.21275030e-02 5.66963248e+02] [-3.72088101e-02 9.99307349e-01 5.72021760e-04 6.16858104e+01] [-1.20978241e-02 -1.02283371e-03 9.99926296e-01 -2.50468063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.351400513 meters 0.07965608477715128 Centerline is valid? [True, True] Translation: X:566.99, Y:61.68, Z:-2.51 [[ 9.99262162e-01 3.66075970e-02 1.16196268e-02 5.66992766e+02] [-3.66164353e-02 9.99329243e-01 5.48737196e-04 6.16806846e+01] [-1.15917449e-02 -9.73801629e-04 9.99932339e-01 -2.50533020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.381400513 meters 0.08130785788547414 Centerline is valid? [True, True] Translation: X:567.02, Y:61.68, Z:-2.51 [[ 9.99269983e-01 3.66583396e-02 1.07549082e-02 5.67020686e+02] [-3.66659294e-02 9.99327449e-01 5.09314429e-04 6.16841928e+01] [-1.07290044e-02 -9.03281326e-04 9.99942035e-01 -2.50688987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.411400513 meters 0.08559771394994585 Centerline is valid? [True, True] Translation: X:567.05, Y:61.69, Z:-2.51 [[ 9.99280348e-01 3.62936647e-02 1.10252157e-02 5.67048205e+02] [-3.63016289e-02 9.99340742e-01 5.23032626e-04 6.16910587e+01] [-1.09989644e-02 -9.22889512e-04 9.99939084e-01 -2.50676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.441400513 meters 0.0826403111916102 Centerline is valid? [True, True] Translation: X:567.08, Y:61.69, Z:-2.51 [[ 9.99282270e-01 3.60148066e-02 1.17421672e-02 5.67076291e+02] [-3.60238345e-02 9.99350775e-01 5.58174556e-04 6.16892884e+01] [-1.17144413e-02 -9.80771824e-04 9.99930903e-01 -2.50537749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.471400513 meters 0.07971722472668802 Centerline is valid? [True, True] Translation: X:567.10, Y:61.69, Z:-2.51 [[ 9.99277223e-01 3.60644946e-02 1.20160194e-02 5.67104894e+02] [-3.60739786e-02 9.99348958e-01 5.73398689e-04 6.16864784e+01] [-1.19875172e-02 -1.00644988e-03 9.99927641e-01 -2.50584555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.501400513 meters 0.08245583931867315 Centerline is valid? [True, True] Translation: X:567.13, Y:61.69, Z:-2.51 [[ 9.99278212e-01 3.61975783e-02 1.15234865e-02 5.67132174e+02] [-3.62063271e-02 9.99344184e-01 5.51432277e-04 6.16923249e+01] [-1.14959687e-02 -9.68257380e-04 9.99933450e-01 -2.50569187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.531400513 meters 0.07979691782491533 Centerline is valid? [True, True] Translation: X:567.16, Y:61.69, Z:-2.51 [[ 9.99197564e-01 3.83976833e-02 1.13950110e-02 5.67162372e+02] [-3.84063858e-02 9.99262054e-01 5.45790661e-04 6.16896516e+01] [-1.13656450e-02 -9.82993886e-04 9.99934926e-01 -2.50683324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.561400513 meters 0.08388164067033112 Centerline is valid? [True, True] Translation: X:567.19, Y:61.70, Z:-2.51 [[ 9.99230379e-01 3.74247237e-02 1.17490722e-02 5.67189724e+02] [-3.74339112e-02 9.99298947e-01 5.62966807e-04 6.16972444e+01] [-1.17197666e-02 -1.00234726e-03 9.99930819e-01 -2.50615553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.591400513 meters 0.08099427870817343 Centerline is valid? [True, True] Translation: X:567.22, Y:61.69, Z:-2.51 [[ 9.99268106e-01 3.62565478e-02 1.21948409e-02 5.67219586e+02] [-3.62663669e-02 9.99341988e-01 5.84940268e-04 6.16944040e+01] [-1.21656086e-02 -1.02677473e-03 9.99925469e-01 -2.50702850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.621400513 meters 0.034212566670204884 Centerline is valid? [True, True] Translation: X:567.25, Y:61.62, Z:-2.52 [[ 9.99129927e-01 4.08227034e-02 8.53795066e-03 5.67252275e+02] [-4.09122462e-02 9.99106622e-01 1.05899252e-02 6.16220094e+01] [-8.09801366e-03 -1.09300179e-02 9.99907474e-01 -2.51548106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.651400513 meters 0.07357155319827405 Centerline is valid? [True, True] Translation: X:567.28, Y:61.70, Z:-2.50 [[ 9.99416354e-01 3.22400884e-02 1.12928177e-02 5.67279082e+02] [-3.21322403e-02 9.99437475e-01 -9.60487007e-03 6.16965741e+01] [-1.15961270e-02 9.23640069e-03 9.99890103e-01 -2.49900613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.681400513 meters 0.06372813795014248 Centerline is valid? [True, True] Translation: X:567.31, Y:61.68, Z:-2.51 [[ 9.99467720e-01 3.13872378e-02 8.89482903e-03 5.67308137e+02] [-3.13922738e-02 9.99507050e-01 4.27089544e-04 6.16773780e+01] [-8.87703916e-03 -7.06091121e-04 9.99960349e-01 -2.51127875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.711400513 meters 0.0620268067145471 Centerline is valid? [True, True] Translation: X:567.34, Y:61.68, Z:-2.51 [[ 9.99530716e-01 2.94269849e-02 8.50884938e-03 5.67337032e+02] [-2.94315340e-02 9.99566715e-01 4.09881918e-04 6.16759752e+01] [-8.49310103e-03 -6.60118057e-04 9.99963715e-01 -2.51205845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.741400513 meters 0.07590713020183412 Centerline is valid? [True, True] Translation: X:567.36, Y:61.70, Z:-2.51 [[ 9.99540586e-01 2.91519476e-02 8.29339547e-03 5.67362467e+02] [-2.91562613e-02 9.99574786e-01 3.99682138e-04 6.16952751e+01] [-8.27821749e-03 -6.41302924e-04 9.99965529e-01 -2.51231019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.771400513 meters 0.08037320155769412 Centerline is valid? [True, True] Translation: X:567.39, Y:61.70, Z:-2.51 [[ 9.99526350e-01 2.96712943e-02 8.16641597e-03 5.67390194e+02] [-2.96755066e-02 9.99559507e-01 3.95097148e-04 6.17011529e+01] [-8.15109568e-03 -6.37252541e-04 9.99966576e-01 -2.51337646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.801400513 meters 0.06801487613889333 Centerline is valid? [True, True] Translation: X:567.42, Y:61.69, Z:-2.51 [[ 9.99498485e-01 3.09135739e-02 6.86513933e-03 5.67420730e+02] [-3.09165824e-02 9.99521913e-01 3.32515392e-04 6.16872613e+01] [-6.85157796e-03 -5.44595276e-04 9.99976379e-01 -2.51446329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.831400513 meters 0.07484605047457187 Centerline is valid? [True, True] Translation: X:567.45, Y:61.70, Z:-2.51 [[ 9.99515447e-01 3.01284280e-02 7.81979361e-03 5.67448550e+02] [-3.01323084e-02 9.99545847e-01 3.78867698e-04 6.16977589e+01] [-7.80482754e-03 -6.14312549e-04 9.99969353e-01 -2.51422706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.861400513 meters 0.06177527797327945 Centerline is valid? [True, True] Translation: X:567.48, Y:61.68, Z:-2.51 [[ 9.99495388e-01 3.06544468e-02 8.32313733e-03 5.67477992e+02] [-3.06588723e-02 9.99529824e-01 4.04605803e-04 6.16821004e+01] [-8.30682103e-03 -6.59579638e-04 9.99965280e-01 -2.51370933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.891400513 meters 0.07999805210966959 Centerline is valid? [True, True] Translation: X:567.50, Y:61.71, Z:-2.51 [[ 9.99494670e-01 3.03346629e-02 9.49804283e-03 5.67504082e+02] [-3.03404285e-02 9.99539516e-01 4.63500998e-04 6.17075108e+01] [-9.47960898e-03 -7.51441466e-04 9.99954785e-01 -2.51263979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.921400513 meters 0.05943411847900413 Centerline is valid? [True, True] Translation: X:567.53, Y:61.68, Z:-2.51 [[ 9.99517893e-01 2.92943005e-02 1.02871354e-02 5.67534758e+02] [-2.93010253e-02 9.99570506e-01 5.03568998e-04 6.16824717e+01] [-1.02679654e-02 -8.04749838e-04 9.99946959e-01 -2.51290679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.951400513 meters 0.062356730020129196 Centerline is valid? [True, True] Translation: X:567.56, Y:61.69, Z:-2.51 [[ 9.99519442e-01 2.95114796e-02 9.48459491e-03 5.67561783e+02] [-2.95172081e-02 9.99564164e-01 4.64535690e-04 6.16870713e+01] [-9.46675205e-03 -7.44271215e-04 9.99954912e-01 -2.51383273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.981400513 meters 0.06313301305978415 Centerline is valid? [True, True] Translation: X:567.59, Y:61.69, Z:-2.51 [[ 9.99523677e-01 2.95807889e-02 8.79751386e-03 5.67589330e+02] [-2.95857249e-02 9.99562154e-01 4.31431535e-04 6.16909727e+01] [-8.78089982e-03 -6.91506859e-04 9.99961208e-01 -2.51323925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.011400513 meters 0.07356311291829133 Centerline is valid? [True, True] Translation: X:567.62, Y:61.71, Z:-2.51 [[ 9.99520741e-01 2.94217426e-02 9.62541163e-03 5.67616888e+02] [-2.94276533e-02 9.99566801e-01 4.72987212e-04 6.17058314e+01] [-9.60732580e-03 -7.56013805e-04 9.99953563e-01 -2.51220288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.041400513 meters 0.07006599474987442 Centerline is valid? [True, True] Translation: X:567.65, Y:61.70, Z:-2.51 [[ 9.99499431e-01 2.96693273e-02 1.09826685e-02 5.67645356e+02] [-2.96770606e-02 9.99559392e-01 5.41806301e-04 6.17034775e+01] [-1.09617544e-02 -8.67468409e-04 9.99939542e-01 -2.50978915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.071400513 meters 0.06312036890957697 Centerline is valid? [True, True] Translation: X:567.67, Y:61.70, Z:-2.51 [[ 9.99462623e-01 3.08763902e-02 1.10051241e-02 5.67674243e+02] [-3.08842448e-02 9.99522820e-01 5.44446487e-04 6.16967333e+01] [-1.09830622e-02 -8.84038862e-04 9.99939294e-01 -2.50875023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.101400513 meters 0.062272529604623934 Centerline is valid? [True, True] Translation: X:567.70, Y:61.70, Z:-2.51 [[ 9.99415708e-01 3.21953836e-02 1.14760876e-02 5.67704974e+02] [-3.22040149e-02 9.99481155e-01 5.68066920e-04 6.16956891e+01] [-1.14518442e-02 -9.37311099e-04 9.99933986e-01 -2.51032948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.131400513 meters 0.07716768935771745 Centerline is valid? [True, True] Translation: X:567.73, Y:61.72, Z:-2.51 [[ 9.99423535e-01 3.18141246e-02 1.18515341e-02 5.67732131e+02] [-3.18233094e-02 9.99493338e-01 5.87161788e-04 6.17164690e+01] [-1.18268494e-02 -9.63978347e-04 9.99929596e-01 -2.50908786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.161400513 meters 0.06119527012226466 Centerline is valid? [True, True] Translation: X:567.76, Y:61.70, Z:-2.51 [[ 9.99412867e-01 3.22351076e-02 1.16111588e-02 5.67761768e+02] [-3.22439726e-02 9.99479861e-01 5.77048047e-04 6.16970508e+01] [-1.15865182e-02 -9.51099129e-04 9.99932422e-01 -2.51052575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.191400513 meters 0.05916666418470663 Centerline is valid? [True, True] Translation: X:567.79, Y:61.70, Z:-2.51 [[ 9.99403610e-01 3.22736345e-02 1.22815381e-02 5.67790918e+02] [-3.22835814e-02 9.99478562e-01 6.12469677e-04 6.16975416e+01] [-1.22553674e-02 -1.00859644e-03 9.99924391e-01 -2.50834233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.221400513 meters 0.07123072026923898 Centerline is valid? [True, True] Translation: X:567.82, Y:61.71, Z:-2.51 [[ 9.99364386e-01 3.32268429e-02 1.29151768e-02 5.67818573e+02] [-3.32379419e-02 9.99447258e-01 6.45625276e-04 6.17138123e+01] [-1.28865860e-02 -1.07448880e-03 9.99916387e-01 -2.50769840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.251400513 meters 0.07909161116988522 Centerline is valid? [True, True] Translation: X:567.85, Y:61.73, Z:-2.51 [[ 9.99322965e-01 3.42676704e-02 1.33917422e-02 5.67847279e+02] [-3.42797020e-02 9.99412054e-01 6.69859247e-04 6.17258113e+01] [-1.33609140e-02 -1.12847066e-03 9.99910102e-01 -2.50631627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.281400513 meters 0.08020402451178922 Centerline is valid? [True, True] Translation: X:567.88, Y:61.73, Z:-2.51 [[ 9.99223302e-01 3.74043778e-02 1.23978191e-02 5.67877153e+02] [-3.74149314e-02 9.99299624e-01 6.20324490e-04 6.17281078e+01] [-1.23659331e-02 -1.08370624e-03 9.99922952e-01 -2.50872329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.311400513 meters 0.07899155116788348 Centerline is valid? [True, True] Translation: X:567.91, Y:61.73, Z:-2.51 [[ 9.99215453e-01 3.76995215e-02 1.21336088e-02 5.67906207e+02] [-3.77096590e-02 9.99288553e-01 6.07711737e-04 6.17279911e+01] [-1.21020659e-02 -1.06478921e-03 9.99926200e-01 -2.50961482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.341400513 meters 0.0766171636037548 Centerline is valid? [True, True] Translation: X:567.93, Y:61.73, Z:-2.51 [[ 9.99231021e-01 3.74507325e-02 1.16107371e-02 5.67934638e+02] [-3.74600206e-02 9.99297957e-01 5.83435307e-04 6.17264554e+01] [-1.15807357e-02 -1.01792511e-03 9.99932423e-01 -2.51025033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.371400513 meters 0.0766171636037548 Centerline is valid? [True, True] Translation: X:567.96, Y:61.73, Z:-2.51 [[ 9.99238314e-01 3.72556756e-02 1.16106333e-02 5.67961994e+02] [-3.72649743e-02 9.99305248e-01 5.85493345e-04 6.17279853e+01] [-1.15807539e-02 -1.01771733e-03 9.99932423e-01 -2.51048530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.401400513 meters 0.07484061888658859 Centerline is valid? [True, True] Translation: X:567.99, Y:61.73, Z:-2.51 [[ 9.99261182e-01 3.69303555e-02 1.06414203e-02 5.67990858e+02] [-3.69381682e-02 9.99317408e-01 5.38514165e-04 6.17264598e+01] [-1.06142691e-02 -9.31190876e-04 9.99943233e-01 -2.51191137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.431400513 meters 0.08192025807439869 Centerline is valid? [True, True] Translation: X:568.02, Y:61.74, Z:-2.51 [[ 9.99280096e-01 3.67748371e-02 9.32211520e-03 5.68018076e+02] [-3.67808384e-02 9.99323244e-01 4.73092030e-04 6.17364077e+01] [-9.29840852e-03 -8.15626662e-04 9.99956436e-01 -2.51388033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.461400513 meters 0.0817676227556171 Centerline is valid? [True, True] Translation: X:568.05, Y:61.74, Z:-2.51 [[ 9.99267191e-01 3.72107641e-02 8.96882422e-03 5.68046564e+02] [-3.72163418e-02 9.99307128e-01 4.55742824e-04 6.17377710e+01] [-8.94565143e-03 -7.89195680e-04 9.99959675e-01 -2.51445087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.491400513 meters 0.08302017877359048 Centerline is valid? [True, True] Translation: X:568.07, Y:61.74, Z:-2.51 [[ 9.99277403e-01 3.67841690e-02 9.57056809e-03 5.68074694e+02] [-3.67905169e-02 9.99322881e-01 4.87997882e-04 6.17407368e+01] [-9.54613708e-03 -8.39751404e-04 9.99954082e-01 -2.51415307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.521400513 meters 0.07981622269989204 Centerline is valid? [True, True] Translation: X:568.10, Y:61.74, Z:-2.51 [[ 9.99284314e-01 3.66529186e-02 9.35002693e-03 5.68102174e+02] [-3.66589850e-02 9.99327719e-01 4.78200565e-04 6.17387252e+01] [-9.32621364e-03 -8.20620821e-04 9.99956173e-01 -2.51468562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.551400513 meters 0.08304489085364691 Centerline is valid? [True, True] Translation: X:568.13, Y:61.74, Z:-2.52 [[ 9.99288775e-01 3.66855161e-02 8.72445447e-03 5.68129117e+02] [-3.66908127e-02 9.99326565e-01 4.47768374e-04 6.17446805e+01] [-8.70215250e-03 -7.67557235e-04 9.99961841e-01 -2.51553688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.581400513 meters 0.08783098570843709 Centerline is valid? [True, True] Translation: X:568.16, Y:61.75, Z:-2.52 [[ 9.99303292e-01 3.65456885e-02 7.57254713e-03 5.68155526e+02] [-3.65496798e-02 9.99331761e-01 3.89306377e-04 6.17517189e+01] [-7.55325939e-03 -6.65809316e-04 9.99971252e-01 -2.51891104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.611400513 meters 0.08444780734518213 Centerline is valid? [True, True] Translation: X:568.19, Y:61.75, Z:-2.52 [[ 9.99404353e-01 3.39661968e-02 6.10223035e-03 5.68186284e+02] [-3.39687462e-02 9.99422846e-01 3.14608648e-04 6.17487170e+01] [-6.08802237e-03 -5.21706366e-04 9.99981332e-01 -2.52137177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.641400513 meters 0.07997528266362713 Centerline is valid? [True, True] Translation: X:568.22, Y:61.75, Z:-2.52 [[ 9.99458822e-01 3.23214582e-02 6.11445799e-03 5.68216194e+02] [-3.23239869e-02 9.99477394e-01 3.15168771e-04 6.17451511e+01] [-6.10107582e-03 -5.12641868e-04 9.99981257e-01 -2.52034464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.671400513 meters 0.06284327189442994 Centerline is valid? [True, True] Translation: X:568.25, Y:61.73, Z:-2.52 [[ 9.99508938e-01 3.06833609e-02 6.35716544e-03 5.68246740e+02] [-3.06860625e-02 9.99529018e-01 3.27836545e-04 6.17259498e+01] [-6.34411220e-03 -5.22751933e-04 9.99979739e-01 -2.51926709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.701400513 meters 0.07387669770214235 Centerline is valid? [True, True] Translation: X:568.27, Y:61.74, Z:-2.52 [[ 9.99560546e-01 2.89668458e-02 6.29578124e-03 5.68274987e+02] [-2.89694625e-02 9.99580244e-01 3.24823245e-04 6.17414302e+01] [-6.28372945e-03 -5.07065899e-04 9.99980129e-01 -2.51896140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.731400513 meters 0.06657724844942958 Centerline is valid? [True, True] Translation: X:568.30, Y:61.73, Z:-2.52 [[ 9.99587246e-01 2.81736263e-02 5.62004029e-03 5.68304087e+02] [-2.81756993e-02 9.99602944e-01 2.89999947e-04 6.17341629e+01] [-5.60963847e-03 -4.48228813e-04 9.99984165e-01 -2.51901756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.761400513 meters 0.0634492654596766 Centerline is valid? [True, True] Translation: X:568.33, Y:61.73, Z:-2.52 [[ 9.99591925e-01 2.80323537e-02 5.49274856e-03 5.68331628e+02] [-2.80343307e-02 9.99606921e-01 2.83260749e-04 6.17311556e+01] [-5.48264901e-03 -4.37130687e-04 9.99984875e-01 -2.51942081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.791400513 meters 0.07117715835135757 Centerline is valid? [True, True] Translation: X:568.36, Y:61.74, Z:-2.52 [[ 9.99529924e-01 2.96529796e-02 7.78667426e-03 5.68361129e+02] [-2.96570182e-02 9.99560052e-01 4.03669932e-04 6.17436567e+01] [-7.77127852e-03 -6.34409716e-04 9.99969602e-01 -2.51626122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.821400513 meters 0.0665469619631628 Centerline is valid? [True, True] Translation: X:568.39, Y:61.74, Z:-2.51 [[ 9.99502793e-01 3.00836208e-02 9.44158542e-03 5.68388709e+02] [-3.00895783e-02 9.99547086e-01 4.89529711e-04 6.17402494e+01] [-9.42258237e-03 -7.73379636e-04 9.99955307e-01 -2.51390205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.851400513 meters 0.05950972978703013 Centerline is valid? [True, True] Translation: X:568.42, Y:61.73, Z:-2.51 [[ 9.99490348e-01 3.00846953e-02 1.06750049e-02 5.68417711e+02] [-3.00923222e-02 9.99546970e-01 5.54517598e-04 6.17334528e+01] [-1.06534863e-02 -8.75470674e-04 9.99942867e-01 -2.51254591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.881400513 meters 0.07591399478764485 Centerline is valid? [True, True] Translation: X:568.44, Y:61.75, Z:-2.51 [[ 9.99518671e-01 2.89457989e-02 1.11609524e-02 5.68444680e+02] [-2.89540856e-02 9.99580573e-01 5.81570906e-04 6.17547402e+01] [-1.11394372e-02 -9.04446152e-04 9.99937546e-01 -2.51309975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.911400513 meters 0.062404118108334475 Centerline is valid? [True, True] Translation: X:568.47, Y:61.74, Z:-2.51 [[ 9.99522709e-01 2.90694100e-02 1.04557685e-02 5.68474629e+02] [-2.90767032e-02 9.99577034e-01 5.46159154e-04 6.17390047e+01] [-1.04354696e-02 -8.49917755e-04 9.99945188e-01 -2.51420682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.941400513 meters 0.06641128655313816 Centerline is valid? [True, True] Translation: X:568.50, Y:61.75, Z:-2.51 [[ 9.99509099e-01 2.94613015e-02 1.06580049e-02 5.68502384e+02] [-2.94689074e-02 9.99565542e-01 5.57253366e-04 6.17456535e+01] [-1.06369571e-02 -8.71059569e-04 9.99943047e-01 -2.51359995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.971400513 meters 0.07656160599664383 Centerline is valid? [True, True] Translation: X:568.53, Y:61.76, Z:-2.51 [[ 9.99463373e-01 3.07867670e-02 1.11866056e-02 5.68531732e+02] [-3.07952339e-02 9.99525543e-01 5.85381485e-04 6.17609127e+01] [-1.11632761e-02 -9.29561491e-04 9.99937257e-01 -2.51263239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.001400513 meters 0.06685948505364725 Centerline is valid? [True, True] Translation: X:568.56, Y:61.75, Z:-2.51 [[ 9.99415142e-01 3.17965213e-02 1.25839065e-02 5.68560541e+02] [-3.18073176e-02 9.99493802e-01 6.58693702e-04 6.17496921e+01] [-1.25565924e-02 -1.05856877e-03 9.99920603e-01 -2.51196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.031400513 meters 0.07079811197490106 Centerline is valid? [True, True] Translation: X:568.59, Y:61.76, Z:-2.51 [[ 9.99345463e-01 3.39786442e-02 1.24136243e-02 5.68590577e+02] [-3.39893219e-02 9.99421985e-01 6.50144602e-04 6.17563599e+01] [-1.23843580e-02 -1.07164973e-03 9.99922737e-01 -2.51281519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.061400513 meters 0.06811760066362794 Centerline is valid? [True, True] Translation: X:568.62, Y:61.75, Z:-2.51 [[ 9.99370033e-01 3.35363589e-02 1.16124681e-02 5.68618773e+02] [-3.35456756e-02 9.99437000e-01 6.08399941e-04 6.17544736e+01] [-1.15855268e-02 -9.97564756e-04 9.99932388e-01 -2.51446338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.091400513 meters 0.07550216365985561 Centerline is valid? [True, True] Translation: X:568.65, Y:61.77, Z:-2.51 [[ 9.99455309e-01 3.10430957e-02 1.11987384e-02 5.68648436e+02] [-3.10516137e-02 9.99517610e-01 5.87501533e-04 6.17653379e+01] [-1.11750984e-02 -9.34920426e-04 9.99937120e-01 -2.51427139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.121400513 meters 0.06358209041250447 Centerline is valid? [True, True] Translation: X:568.68, Y:61.75, Z:-2.52 [[ 9.99524672e-01 2.84594635e-02 1.18527885e-02 5.68678590e+02] [-2.84688266e-02 9.99594487e-01 6.21945325e-04 6.17516749e+01] [-1.18302818e-02 -9.59084679e-04 9.99929560e-01 -2.51540771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.151400513 meters 0.06190869362170403 Centerline is valid? [True, True] Translation: X:568.71, Y:61.75, Z:-2.51 [[ 9.99580359e-01 2.64675523e-02 1.17717575e-02 5.68708774e+02] [-2.64766522e-02 9.99649241e-01 6.17825408e-04 6.17520839e+01] [-1.17512761e-02 -9.29242870e-04 9.99930520e-01 -2.51483169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.181400513 meters 0.0563375595246203 Centerline is valid? [True, True] Translation: X:568.74, Y:61.75, Z:-2.52 [[ 9.99667960e-01 2.28612262e-02 1.18883936e-02 5.68739271e+02] [-2.28702540e-02 9.99738247e-01 6.23972258e-04 6.17464133e+01] [-1.18710170e-02 -8.95655656e-04 9.99929136e-01 -2.51565965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.211400513 meters 0.06430604395823368 Centerline is valid? [True, True] Translation: X:568.77, Y:61.76, Z:-2.52 [[ 9.99711301e-01 2.12647737e-02 1.11858587e-02 5.68767632e+02] [-2.12726675e-02 9.99773539e-01 5.87171750e-04 6.17580818e+01] [-1.11708394e-02 -8.24955287e-04 9.99937264e-01 -2.51665205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.241400513 meters 0.06315080155076416 Centerline is valid? [True, True] Translation: X:568.80, Y:61.76, Z:-2.52 [[ 9.99781881e-01 1.81701897e-02 1.02972828e-02 5.68796399e+02] [-1.81767181e-02 9.99834644e-01 5.40750892e-04 6.17575688e+01] [-1.02857546e-02 -7.27803752e-04 9.99946835e-01 -2.51811744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.271400513 meters 0.05671259011876069 Centerline is valid? [True, True] Translation: X:568.83, Y:61.75, Z:-2.52 [[ 9.99817575e-01 1.67749063e-02 9.13336101e-03 5.68826919e+02] [-1.67799862e-02 9.99859091e-01 4.79841485e-04 6.17514932e+01] [-9.12402475e-03 -6.33011621e-04 9.99958175e-01 -2.51873193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.301400513 meters 0.05529362605730123 Centerline is valid? [True, True] Translation: X:568.86, Y:61.75, Z:-2.52 [[ 9.99834586e-01 1.55890089e-02 9.36923850e-03 5.68856444e+02] [-1.55943038e-02 9.99878280e-01 4.92347553e-04 6.17509258e+01] [-9.36042287e-03 -6.38372864e-04 9.99955987e-01 -2.51942377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.331400513 meters 0.06301964964490875 Centerline is valid? [True, True] Translation: X:568.89, Y:61.76, Z:-2.52 [[ 9.99810393e-01 1.70844126e-02 9.34353318e-03 5.68885074e+02] [-1.70897453e-02 9.99853839e-01 4.91186628e-04 6.17622202e+01] [-9.33377588e-03 -6.50772098e-04 9.99956228e-01 -2.51961278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.361400513 meters 0.05169810956880624 Centerline is valid? [True, True] Translation: X:568.92, Y:61.75, Z:-2.52 [[ 9.99759633e-01 1.93630454e-02 1.02834134e-02 5.68916300e+02] [-1.93696254e-02 9.99812245e-01 5.40646625e-04 6.17498276e+01] [-1.02710140e-02 -7.39702536e-04 9.99946978e-01 -2.51850450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.391400513 meters 0.052611618599069744 Centerline is valid? [True, True] Translation: X:568.94, Y:61.75, Z:-2.52 [[ 9.99763636e-01 1.91682010e-02 1.02592302e-02 5.68944018e+02] [-1.91747413e-02 9.99816002e-01 5.39510400e-04 6.17536345e+01] [-1.02470011e-02 -7.36100965e-04 9.99947227e-01 -2.51824886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.421400513 meters 0.06674791572309147 Centerline is valid? [True, True] Translation: X:568.97, Y:61.77, Z:-2.52 [[ 9.99783863e-01 1.80683205e-02 1.02840912e-02 5.68972109e+02] [-1.80748399e-02 9.99836490e-01 5.41338113e-04 6.17731428e+01] [-1.02726285e-02 -7.27104412e-04 9.99946971e-01 -2.51739013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.451400513 meters 0.05419476417616054 Centerline is valid? [True, True] Translation: X:569.00, Y:61.76, Z:-2.52 [[ 9.99799458e-01 1.74497023e-02 9.82605664e-03 5.69001623e+02] [-1.74556266e-02 9.99847505e-01 5.17468576e-04 6.17583934e+01] [-9.81552855e-03 -6.88884777e-04 9.99951589e-01 -2.51899749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.481400513 meters 0.0541114576571295 Centerline is valid? [True, True] Translation: X:569.03, Y:61.76, Z:-2.52 [[ 9.99804639e-01 1.76541324e-02 8.88903321e-03 5.69030433e+02] [-1.76589919e-02 9.99843958e-01 4.68482212e-04 6.17598117e+01] [-8.87937550e-03 -6.25362054e-04 9.99960382e-01 -2.52047995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.511400513 meters 0.05544544899478925 Centerline is valid? [True, True] Translation: X:569.06, Y:61.76, Z:-2.52 [[ 9.99805217e-01 1.75556989e-02 9.01806604e-03 5.69057067e+02] [-1.75607003e-02 9.99845686e-01 4.75707133e-04 6.17621637e+01] [-9.00832306e-03 -6.33978028e-04 9.99959223e-01 -2.52170548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.541400513 meters 0.05349612261953226 Centerline is valid? [True, True] Translation: X:569.09, Y:61.76, Z:-2.52 [[ 9.99797126e-01 1.74834321e-02 1.00017984e-02 5.69085328e+02] [-1.74895889e-02 9.99846906e-01 5.28431953e-04 6.17617789e+01] [-9.99102838e-03 -7.03252090e-04 9.99949841e-01 -2.52007015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.571400513 meters 0.05569205170674817 Centerline is valid? [True, True] Translation: X:569.11, Y:61.77, Z:-2.52 [[ 9.99787772e-01 1.74431867e-02 1.09611218e-02 5.69112592e+02] [-1.74505873e-02 9.99847559e-01 5.79876288e-04 6.17664342e+01] [-1.09493360e-02 -7.71031235e-04 9.99939757e-01 -2.51815974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.601400513 meters 0.05900694180399267 Centerline is valid? [True, True] Translation: X:569.14, Y:61.77, Z:-2.52 [[ 9.99778230e-01 1.81600183e-02 1.06632577e-02 5.69140357e+02] [-1.81670686e-02 9.99834806e-01 5.64671553e-04 6.17729329e+01] [-1.06512418e-02 -7.58266460e-04 9.99942986e-01 -2.51750366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.631400513 meters 0.059164955695383284 Centerline is valid? [True, True] Translation: X:569.17, Y:61.77, Z:-2.52 [[ 9.99771776e-01 1.84876230e-02 1.07053241e-02 5.69169365e+02] [-1.84947527e-02 9.99828796e-01 5.67368580e-04 6.17744456e+01] [-1.06930020e-02 -7.65231415e-04 9.99942535e-01 -2.51842001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.661400513 meters 0.058845787292495746 Centerline is valid? [True, True] Translation: X:569.20, Y:61.77, Z:-2.52 [[ 9.99771309e-01 1.85887145e-02 1.05730503e-02 5.69198022e+02] [-1.85956795e-02 9.99826928e-01 5.60810936e-04 6.17745200e+01] [-1.05607956e-02 -7.57295737e-04 9.99943946e-01 -2.52040313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.691400513 meters 0.04757233310192943 Centerline is valid? [True, True] Translation: X:569.23, Y:61.76, Z:-2.52 [[ 9.99772559e-01 1.82956939e-02 1.09589206e-02 5.69227067e+02] [-1.83031645e-02 9.99832314e-01 5.81774790e-04 6.17614724e+01] [-1.09464390e-02 -7.82225397e-04 9.99939780e-01 -2.52176714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.721400513 meters 0.049831779407976215 Centerline is valid? [True, True] Translation: X:569.25, Y:61.77, Z:-2.52 [[ 9.99772477e-01 1.77881899e-02 1.17717802e-02 5.69254603e+02] [-1.77967824e-02 9.99841429e-01 6.25562522e-04 6.17659405e+01] [-1.17587859e-02 -8.34920003e-04 9.99930515e-01 -2.52083545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.751400513 meters 0.05265787492606929 Centerline is valid? [True, True] Translation: X:569.28, Y:61.77, Z:-2.52 [[ 9.99775228e-01 1.74490150e-02 1.20426770e-02 5.69282161e+02] [-1.74579925e-02 9.99847392e-01 6.40748556e-04 6.17712863e+01] [-1.20296588e-02 -8.50845499e-04 9.99927279e-01 -2.52041338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.781400513 meters 0.06080401311823659 Centerline is valid? [True, True] Translation: X:569.31, Y:61.78, Z:-2.52 [[ 9.99808340e-01 1.63508629e-02 1.07672165e-02 5.69310412e+02] [-1.63579819e-02 9.99866035e-01 5.73430690e-04 6.17837705e+01] [-1.07563980e-02 -7.49450719e-04 9.99941867e-01 -2.52005107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.811400513 meters 0.04806637421535209 Centerline is valid? [True, True] Translation: X:569.34, Y:61.77, Z:-2.52 [[ 9.99825220e-01 1.60818307e-02 9.53440457e-03 5.69340230e+02] [-1.60874026e-02 9.99870460e-01 5.07989969e-04 6.17688568e+01] [-9.52500008e-03 -6.61284988e-04 9.99954417e-01 -2.52252460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.841400513 meters 0.044569166916250666 Centerline is valid? [True, True] Translation: X:569.37, Y:61.77, Z:-2.52 [[ 9.99842373e-01 1.52193619e-02 9.14333792e-03 5.69369406e+02] [-1.52244539e-02 9.99883982e-01 4.87558401e-04 6.17652054e+01] [-9.13485680e-03 -6.26683875e-04 9.99958080e-01 -2.52415646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.871400513 meters 0.05652437049921765 Centerline is valid? [True, True] Translation: X:569.40, Y:61.78, Z:-2.52 [[ 9.99840050e-01 1.51675002e-02 9.47746048e-03 5.69396781e+02] [-1.51729733e-02 9.99884756e-01 5.05847003e-04 6.17825625e+01] [-9.46869582e-03 -6.49567347e-04 9.99954960e-01 -2.52275744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.901400513 meters 0.04884759237528576 Centerline is valid? [True, True] Translation: X:569.43, Y:61.77, Z:-2.52 [[ 9.99821221e-01 1.57390531e-02 1.04789448e-02 5.69425847e+02] [-1.57457820e-02 9.99875871e-01 5.59940963e-04 6.17742177e+01] [-1.04688311e-02 -7.24840037e-04 9.99944938e-01 -2.52191038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.931400513 meters 0.051538941149741446 Centerline is valid? [True, True] Translation: X:569.46, Y:61.78, Z:-2.52 [[ 9.99760559e-01 1.91427760e-02 1.06008832e-02 5.69456031e+02] [-1.91498570e-02 9.99816464e-01 5.66848887e-04 6.17796704e+01] [-1.05880865e-02 -7.69718558e-04 9.99943648e-01 -2.52160222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.961400513 meters 0.06169597065782155 Centerline is valid? [True, True] Translation: X:569.49, Y:61.79, Z:-2.52 [[ 9.99729341e-01 2.07005269e-02 1.06176107e-02 5.69485250e+02] [-2.07077176e-02 9.99785411e-01 5.67735562e-04 6.17934446e+01] [-1.06035798e-02 -7.87448382e-04 9.99943470e-01 -2.52216997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.991400513 meters 0.06466050168131536 Centerline is valid? [True, True] Translation: X:569.51, Y:61.80, Z:-2.52 [[ 9.99715669e-01 2.11685492e-02 1.09760227e-02 5.69512755e+02] [-2.11762632e-02 9.99775585e-01 5.87050286e-04 6.17986910e+01] [-1.09611326e-02 -8.19314517e-04 9.99939589e-01 -2.52202105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.021400513 meters 0.06087398597876632 Centerline is valid? [True, True] Translation: X:569.54, Y:61.80, Z:-2.52 [[ 9.99711868e-01 2.07835098e-02 1.20094499e-02 5.69541983e+02] [-2.07927261e-02 9.99783601e-01 6.43062680e-04 6.17956145e+01] [-1.19934860e-02 -8.92586597e-04 9.99927677e-01 -2.52145963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.051400513 meters 0.06358584030078548 Centerline is valid? [True, True] Translation: X:569.57, Y:61.80, Z:-2.52 [[ 9.99709906e-01 2.08695451e-02 1.20235359e-02 5.69569141e+02] [-2.08787969e-02 9.99781806e-01 6.44453632e-04 6.18009269e+01] [-1.20074630e-02 -8.95303645e-04 9.99927507e-01 -2.52077238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.081400513 meters 0.06778254990345653 Centerline is valid? [True, True] Translation: X:569.60, Y:61.81, Z:-2.52 [[ 9.99722030e-01 2.03692049e-02 1.18725630e-02 5.69596547e+02] [-2.03781993e-02 9.99792140e-01 6.37081585e-04 6.18074104e+01] [-1.18571184e-02 -8.78845950e-04 9.99929316e-01 -2.52077447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.111400513 meters 0.0712214867197755 Centerline is valid? [True, True] Translation: X:569.62, Y:61.81, Z:-2.52 [[ 9.99731507e-01 2.04419901e-02 1.09105102e-02 5.69623941e+02] [-2.04495975e-02 9.99790713e-01 5.86130259e-04 6.18138680e+01] [-1.08962451e-02 -8.09088429e-04 9.99940307e-01 -2.52154360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.141400513 meters 0.06348898735386686 Centerline is valid? [True, True] Translation: X:569.65, Y:61.81, Z:-2.52 [[ 9.99738726e-01 2.00234307e-02 1.10246012e-02 5.69653079e+02] [-2.00311818e-02 9.99799180e-01 5.93094430e-04 6.18057377e+01] [-1.10105114e-02 -8.13775261e-04 9.99939051e-01 -2.52174854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.171400513 meters 0.0637833015609489 Centerline is valid? [True, True] Translation: X:569.68, Y:61.81, Z:-2.52 [[ 9.99751783e-01 1.87857109e-02 1.19778321e-02 5.69681596e+02] [-1.87947791e-02 9.99823155e-01 6.44951120e-04 6.18076288e+01] [-1.19635980e-02 -8.69911741e-04 9.99928055e-01 -2.52106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.201400513 meters 0.06288145101555757 Centerline is valid? [True, True] Translation: X:569.71, Y:61.81, Z:-2.52 [[ 9.99766808e-01 1.79329347e-02 1.20308005e-02 5.69710131e+02] [-1.79420276e-02 9.99838819e-01 6.48281671e-04 6.18082539e+01] [-1.20172358e-02 -8.63987452e-04 9.99927417e-01 -2.52062236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.231400513 meters 0.060548948818478714 Centerline is valid? [True, True] Translation: X:569.74, Y:61.81, Z:-2.52 [[ 9.99792806e-01 1.63637516e-02 1.21067172e-02 5.69739874e+02] [-1.63728511e-02 9.99865743e-01 6.52869900e-04 6.18067150e+01] [-1.20944084e-02 -8.50956107e-04 9.99926498e-01 -2.52176534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.261400513 meters 0.06034435520971513 Centerline is valid? [True, True] Translation: X:569.77, Y:61.81, Z:-2.52 [[ 9.99798614e-01 1.56922448e-02 1.25093727e-02 5.69768972e+02] [-1.57019125e-02 9.99876490e-01 6.74986709e-04 6.18080994e+01] [-1.24972356e-02 -8.71271851e-04 9.99921527e-01 -2.52196839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.291400513 meters 0.06034435520971513 Centerline is valid? [True, True] Translation: X:569.80, Y:61.81, Z:-2.52 [[ 9.99799367e-01 1.56442623e-02 1.25093403e-02 5.69797278e+02] [-1.56539337e-02 9.99877241e-01 6.75585893e-04 6.18097051e+01] [-1.24972356e-02 -8.71270731e-04 9.99921527e-01 -2.52221045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.321400513 meters 0.060882681101457045 Centerline is valid? [True, True] Translation: X:569.83, Y:61.81, Z:-2.52 [[ 9.99808211e-01 1.43898671e-02 1.32842765e-02 5.69827185e+02] [-1.44006703e-02 9.99896047e-01 7.17929619e-04 6.18121592e+01] [-1.32725646e-02 -9.09094414e-04 9.99911502e-01 -2.52205957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.351400513 meters 0.05865965127401888 Centerline is valid? [True, True] Translation: X:569.86, Y:61.81, Z:-2.52 [[ 9.99829449e-01 1.26126380e-02 1.34905452e-02 5.69857147e+02] [-1.26236205e-02 9.99920053e-01 7.29239934e-04 6.18120380e+01] [-1.34802690e-02 -8.99415084e-04 9.99908733e-01 -2.52002401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.381400513 meters 0.05338153769970348 Centerline is valid? [True, True] Translation: X:569.89, Y:61.81, Z:-2.52 [[ 9.99854406e-01 9.31385108e-03 1.42975101e-02 5.69887600e+02] [-9.32585274e-03 9.99956215e-01 7.72979888e-04 6.18073100e+01] [-1.42896847e-02 -9.06203821e-04 9.99897487e-01 -2.51996511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.411400513 meters 0.050923503674787846 Centerline is valid? [True, True] Translation: X:569.92, Y:61.81, Z:-2.52 [[ 9.99865623e-01 7.67161535e-03 1.44872846e-02 5.69919072e+02] [-7.68376419e-03 9.99970173e-01 7.83110718e-04 6.18057483e+01] [-1.44808447e-02 -8.94322364e-04 9.99894747e-01 -2.51928352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.441400513 meters 0.0501283099954016 Centerline is valid? [True, True] Translation: X:569.95, Y:61.81, Z:-2.52 [[ 9.99862683e-01 6.49011062e-03 1.52477609e-02 5.69950577e+02] [-6.50342583e-03 9.99978513e-01 8.23834652e-04 6.18067436e+01] [-1.52420865e-02 -9.22884208e-04 9.99883407e-01 -2.51927158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.471400513 meters 0.050417066791635524 Centerline is valid? [True, True] Translation: X:569.98, Y:61.81, Z:-2.52 [[ 9.99843868e-01 5.54717138e-03 1.67770243e-02 5.69981672e+02] [-5.56313392e-03 9.99984116e-01 9.04932061e-04 6.18086807e+01] [-1.67717380e-02 -9.98123605e-04 9.99858846e-01 -2.51788700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.501400513 meters 0.04582399439336111 Centerline is valid? [True, True] Translation: X:570.01, Y:61.81, Z:-2.52 [[ 9.99851599e-01 4.00583147e-03 1.67550735e-02 5.70013431e+02] [-4.02150912e-03 9.99991507e-01 9.02107711e-04 6.18051748e+01] [-1.67513175e-02 -9.69354519e-04 9.99859217e-01 -2.51790478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.531400513 meters 0.0373232352398989 Centerline is valid? [True, True] Translation: X:570.04, Y:61.79, Z:-2.52 [[ 9.99897705e-01 1.42707043e-03 1.42317351e-02 5.70044362e+02] [-1.43811693e-03 9.99998673e-01 7.65983481e-04 6.17948038e+01] [-1.42306231e-02 -7.86372024e-04 9.99898430e-01 -2.52233469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.561400513 meters 0.03927823492403123 Centerline is valid? [True, True] Translation: X:570.07, Y:61.80, Z:-2.52 [[ 9.99915619e-01 4.33313481e-04 1.29833018e-02 5.70074341e+02] [-4.42422612e-04 9.99999658e-01 6.98739590e-04 6.17979842e+01] [-1.29829946e-02 -7.04424736e-04 9.99915469e-01 -2.52427494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.591400513 meters 0.04464681770225116 Centerline is valid? [True, True] Translation: X:570.11, Y:61.81, Z:-2.52 [[ 9.99922121e-01 9.43663174e-04 1.24443069e-02 5.70106566e+02] [-9.52065421e-04 9.99999323e-01 6.69281155e-04 6.18064164e+01] [-1.24436669e-02 -6.81076827e-04 9.99922343e-01 -2.52422760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.621400513 meters 0.04748713704473757 Centerline is valid? [True, True] Translation: X:570.14, Y:61.81, Z:-2.52 [[ 9.99914046e-01 2.73409940e-03 1.28228612e-02 5.70137354e+02] [-2.74315590e-03 9.99996000e-01 6.88742575e-04 6.18115243e+01] [-1.28209268e-02 -7.23858482e-04 9.99917547e-01 -2.52405558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.651400513 meters 0.050591823156847314 Centerline is valid? [True, True] Translation: X:570.17, Y:61.82, Z:-2.52 [[ 9.99863636e-01 7.54704750e-03 1.46885005e-02 5.70167784e+02] [-7.55944552e-03 9.99971116e-01 7.88723624e-04 6.18170767e+01] [-1.46821237e-02 -8.99652990e-04 9.99891807e-01 -2.52190360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.681400513 meters 0.05269185449939719 Centerline is valid? [True, True] Translation: X:570.20, Y:61.82, Z:-2.52 [[ 9.99829104e-01 8.86322692e-03 1.62235960e-02 5.70198608e+02] [-8.87852348e-03 9.99960206e-01 8.71074981e-04 6.18202242e+01] [-1.62152299e-02 -1.01496770e-03 9.99868009e-01 -2.52235857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.711400513 meters 0.058198127464337376 Centerline is valid? [True, True] Translation: X:570.23, Y:61.83, Z:-2.52 [[ 9.99818112e-01 9.95645452e-03 1.62668765e-02 5.70229426e+02] [-9.97195542e-03 9.99949899e-01 8.72076482e-04 6.18289827e+01] [-1.62573788e-02 -1.03413043e-03 9.99867305e-01 -2.52129671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.741400513 meters 0.05644683414675877 Centerline is valid? [True, True] Translation: X:570.26, Y:61.83, Z:-2.52 [[ 9.99828026e-01 8.88456358e-03 1.62782752e-02 5.70260796e+02] [-8.89991997e-03 9.99960015e-01 8.71166388e-04 6.18280205e+01] [-1.62698844e-02 -1.01589192e-03 9.99867121e-01 -2.52138603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.771400513 meters 0.055135405593755966 Centerline is valid? [True, True] Translation: X:570.29, Y:61.83, Z:-2.52 [[ 9.99832449e-01 8.52274542e-03 1.61999085e-02 5.70293119e+02] [-8.53788312e-03 9.99963177e-01 8.65498830e-04 6.18279301e+01] [-1.61919355e-02 -1.00366674e-03 9.99868398e-01 -2.52190352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.801400513 meters 0.057822937596695566 Centerline is valid? [True, True] Translation: X:570.32, Y:61.83, Z:-2.52 [[ 9.99841092e-01 8.47766526e-03 1.56818384e-02 5.70324732e+02] [-8.49180472e-03 9.99963595e-01 8.35276950e-04 6.18330680e+01] [-1.56741863e-02 -9.68311327e-04 9.99876684e-01 -2.52259873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.831400513 meters 0.055879982889867674 Centerline is valid? [True, True] Translation: X:570.36, Y:61.83, Z:-2.52 [[ 9.99846863e-01 7.36907509e-03 1.58728405e-02 5.70356844e+02] [-7.38339382e-03 9.99972386e-01 8.43676905e-04 6.18312807e+01] [-1.58661850e-02 -9.60743139e-04 9.99873663e-01 -2.52278293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.861400513 meters 0.051146227918010996 Centerline is valid? [True, True] Translation: X:570.39, Y:61.83, Z:-2.53 [[ 9.99879555e-01 7.02252811e-03 1.38405004e-02 5.70389387e+02] [-7.03336402e-03 9.99974996e-01 7.34393026e-04 6.18271007e+01] [-1.38349971e-02 -8.31649850e-04 9.99903946e-01 -2.52502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.891400513 meters 0.055714036004518984 Centerline is valid? [True, True] Translation: X:570.42, Y:61.83, Z:-2.52 [[ 9.99885356e-01 5.98872949e-03 1.39072271e-02 5.70419119e+02] [-5.99954509e-03 9.99981732e-01 7.36105240e-04 6.18341709e+01] [-1.39025647e-02 -8.19457886e-04 9.99903019e-01 -2.52445432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.921400513 meters 0.04720527228188321 Centerline is valid? [True, True] Translation: X:570.45, Y:61.82, Z:-2.53 [[ 9.99891693e-01 5.12798886e-03 1.37951240e-02 5.70452224e+02] [-5.13853635e-03 9.99986532e-01 7.29244963e-04 6.18248406e+01] [-1.37911986e-02 -8.00052727e-04 9.99904577e-01 -2.52579508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.951400513 meters 0.05190964098523491 Centerline is valid? [True, True] Translation: X:570.48, Y:61.83, Z:-2.52 [[ 9.99888860e-01 2.55646648e-03 1.46877889e-02 5.70481768e+02] [-2.56813860e-03 9.99996401e-01 7.75876185e-04 6.18327979e+01] [-1.46857525e-02 -8.13510232e-04 9.99891828e-01 -2.52396991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.981400513 meters 0.045540567598378094 Centerline is valid? [True, True] Translation: X:570.51, Y:61.83, Z:-2.52 [[ 9.99894520e-01 1.66316299e-03 1.44285376e-02 5.70514764e+02] [-1.67431940e-03 9.99998309e-01 7.61173263e-04 6.18262729e+01] [-1.44272472e-02 -7.85250955e-04 9.99895614e-01 -2.52491744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.011400513 meters 0.0451522646552153 Centerline is valid? [True, True] Translation: X:570.55, Y:61.83, Z:-2.53 [[ 9.99909007e-01 8.43243643e-04 1.34635228e-02 5.70546262e+02] [-8.52854698e-04 9.99999386e-01 7.08133325e-04 6.18273656e+01] [-1.34629174e-02 -7.19551319e-04 9.99909112e-01 -2.52554493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.041400513 meters 0.04473410232324765 Centerline is valid? [True, True] Translation: X:570.58, Y:61.83, Z:-2.53 [[ 9.99920000e-01 -1.48466747e-04 1.26480204e-02 5.70578136e+02] [ 1.40082445e-04 9.99999770e-01 6.63777751e-04 6.18278461e+01] [-1.26481161e-02 -6.61952883e-04 9.99919790e-01 -2.52684872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.071400513 meters 0.04837520170102987 Centerline is valid? [True, True] Translation: X:570.61, Y:61.83, Z:-2.53 [[ 9.99931471e-01 -4.91958165e-04 1.16966332e-02 5.70608775e+02] [ 4.84819468e-04 9.99999695e-01 6.13148273e-04 6.18334518e+01] [-1.16969312e-02 -6.07435499e-04 9.99931404e-01 -2.52851624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.101400513 meters 0.04521856245268816 Centerline is valid? [True, True] Translation: X:570.64, Y:61.83, Z:-2.53 [[ 9.99933942e-01 -3.50097831e-04 1.14886651e-02 5.70642702e+02] [ 3.43217168e-04 9.99999761e-01 6.00874952e-04 6.18294162e+01] [-1.14888727e-02 -5.96892152e-04 9.99933823e-01 -2.53011726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.131400513 meters 0.048925585827524605 Centerline is valid? [True, True] Translation: X:570.67, Y:61.84, Z:-2.53 [[ 9.99936400e-01 3.52122121e-04 1.12726327e-02 5.70673427e+02] [-3.58770183e-04 9.99999763e-01 5.87735585e-04 6.18355005e+01] [-1.12724231e-02 -5.91742490e-04 9.99936289e-01 -2.53022916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.161400513 meters 0.04964008143601291 Centerline is valid? [True, True] Translation: X:570.71, Y:61.84, Z:-2.53 [[ 9.99937740e-01 7.64467342e-04 1.11324661e-02 5.70705170e+02] [-7.70967007e-04 9.99999535e-01 5.79567906e-04 6.18372906e+01] [-1.11320179e-02 -5.88114586e-04 9.99937864e-01 -2.53030398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.191400513 meters 0.04658063656604551 Centerline is valid? [True, True] Translation: X:570.74, Y:61.83, Z:-2.53 [[ 9.99941231e-01 1.96553502e-03 1.06616472e-02 5.70737073e+02] [-1.97155971e-03 9.99997903e-01 5.54599559e-04 6.18338566e+01] [-1.06605347e-02 -5.75587040e-04 9.99943009e-01 -2.53194959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.221400513 meters 0.049463222622819956 Centerline is valid? [True, True] Translation: X:570.77, Y:61.84, Z:-2.53 [[ 9.99951167e-01 4.11121850e-03 8.98668478e-03 5.70767341e+02] [-4.11558283e-03 9.99991422e-01 4.67204200e-04 6.18378463e+01] [-8.98468691e-03 -5.04166831e-04 9.99959510e-01 -2.53350917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.251400513 meters 0.06399437475848001 Centerline is valid? [True, True] Translation: X:570.80, Y:61.86, Z:-2.54 [[ 9.99927557e-01 8.75213959e-03 8.26317001e-03 5.70796455e+02] [-8.75598662e-03 9.99961573e-01 4.29501541e-04 6.18554200e+01] [-8.25909343e-03 -5.01822633e-04 9.99965767e-01 -2.53551012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.281400513 meters 0.055914655121834064 Centerline is valid? [True, True] Translation: X:570.83, Y:61.85, Z:-2.54 [[ 9.99900316e-01 1.08102706e-02 9.08277993e-03 5.70827354e+02] [-1.08150012e-02 9.99941405e-01 4.71876579e-04 6.18456934e+01] [-9.07714661e-03 -5.70059816e-04 9.99958639e-01 -2.53539690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.311400513 meters 0.061196399268361096 Centerline is valid? [True, True] Translation: X:570.86, Y:61.85, Z:-2.53 [[ 9.99875677e-01 1.28990924e-02 9.06889834e-03 5.70855823e+02] [-1.29038951e-02 9.99916630e-01 4.71261871e-04 6.18533681e+01] [-9.06206342e-03 -5.88227395e-04 9.99958766e-01 -2.53464883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.341400513 meters 0.04759290098456747 Centerline is valid? [True, True] Translation: X:570.88, Y:61.84, Z:-2.53 [[ 9.99893122e-01 1.09902834e-02 9.64151551e-03 5.70884905e+02] [-1.09312328e-02 9.99921302e-01 -6.15609173e-03 6.18435855e+01] [-9.70841394e-03 6.05004012e-03 9.99934570e-01 -2.52857641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.371400513 meters 0.054495208972055086 Centerline is valid? [True, True] Translation: X:570.92, Y:61.84, Z:-2.55 [[ 9.99911167e-01 1.21802218e-02 5.41300056e-03 5.70916154e+02] [-1.22179688e-02 9.99900884e-01 6.99591883e-03 6.18396680e+01] [-5.32725220e-03 -7.06143323e-03 9.99960878e-01 -2.54538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.401400513 meters 0.055985613153065626 Centerline is valid? [True, True] Translation: X:570.94, Y:61.85, Z:-2.54 [[ 9.99932228e-01 1.05857687e-02 4.84578842e-03 5.70944286e+02] [-1.05871112e-02 9.99943923e-01 2.51474970e-04 6.18472563e+01] [-4.84285463e-03 -3.02760828e-04 9.99988227e-01 -2.54120555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.431400513 meters 0.04414067273306579 Centerline is valid? [True, True] Translation: X:570.98, Y:61.84, Z:-2.53 [[ 9.99953288e-01 6.08370557e-03 7.51067577e-03 5.70975399e+02] [-6.03438111e-03 9.99960193e-01 -6.57253274e-03 6.18406972e+01] [-7.55036215e-03 6.52690345e-03 9.99950195e-01 -2.53421081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.461400513 meters 0.046866047583053176 Centerline is valid? [True, True] Translation: X:571.00, Y:61.84, Z:-2.54 [[ 9.99959321e-01 5.52868058e-03 7.12670983e-03 5.71003370e+02] [-5.54258879e-03 9.99982771e-01 1.93328978e-03 6.18392784e+01] [-7.11589850e-03 -1.97271156e-03 9.99972736e-01 -2.54063549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.491400513 meters 0.04919496625537047 Centerline is valid? [True, True] Translation: X:571.03, Y:61.85, Z:-2.54 [[ 9.99954795e-01 4.29811954e-03 8.48145352e-03 5.71033267e+02] [-4.30018347e-03 9.99990729e-01 2.25125869e-04 6.18457369e+01] [-8.48040727e-03 -2.61587498e-04 9.99964006e-01 -2.53712810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.521400513 meters 0.042749018325437066 Centerline is valid? [True, True] Translation: X:571.07, Y:61.84, Z:-2.54 [[ 9.99964313e-01 3.05701652e-03 7.87579950e-03 5.71066879e+02] [-3.06815633e-03 9.99994309e-01 1.40274063e-03 6.18379332e+01] [-7.87146648e-03 -1.42685475e-03 9.99968002e-01 -2.53816706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.551400513 meters 0.046750286326491496 Centerline is valid? [True, True] Translation: X:571.10, Y:61.85, Z:-2.54 [[ 9.99963464e-01 1.31408509e-03 8.44655075e-03 5.71096153e+02] [-1.29853930e-03 9.99997454e-01 -1.84571066e-03 6.18464235e+01] [-8.44895466e-03 1.83467504e-03 9.99962624e-01 -2.53640567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.581400513 meters 0.04664588442402227 Centerline is valid? [True, True] Translation: X:571.12, Y:61.85, Z:-2.54 [[ 9.99964828e-01 5.70973239e-05 8.38687305e-03 5.71124019e+02] [-3.73179629e-05 9.99997218e-01 -2.35850890e-03 6.18470812e+01] [-8.38698438e-03 2.35811296e-03 9.99962048e-01 -2.53727602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.611400513 meters 0.048587557386975 Centerline is valid? [True, True] Translation: X:571.16, Y:61.85, Z:-2.54 [[ 9.99956293e-01 -3.05743790e-03 8.83542857e-03 5.71155370e+02] [ 3.01197906e-03 9.99982183e-01 5.15379742e-03 6.18461650e+01] [-8.85102856e-03 -5.12696003e-03 9.99947685e-01 -2.54315903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.641400513 meters 0.039903694822303507 Centerline is valid? [True, True] Translation: X:571.19, Y:61.84, Z:-2.54 [[ 9.99899949e-01 -7.67360353e-03 1.18831204e-02 5.71186121e+02] [ 7.64665038e-03 9.99968091e-01 2.31196513e-03 6.18372327e+01] [-1.19004823e-02 -2.22086775e-03 9.99926720e-01 -2.54144481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.671400513 meters 0.017650688493363674 Centerline is valid? [True, True] Translation: X:571.23, Y:61.80, Z:-2.54 [[ 9.99950512e-01 -5.12008239e-03 8.52987935e-03 5.71227369e+02] [ 5.08248370e-03 9.99977299e-01 4.42374153e-03 6.18009351e+01] [-8.55233564e-03 -4.38016963e-03 9.99953835e-01 -2.54076046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.701400513 meters 0.03900768733718215 Centerline is valid? [True, True] Translation: X:571.25, Y:61.85, Z:-2.54 [[ 9.99872986e-01 -1.23695193e-02 1.00502075e-02 5.71246703e+02] [ 1.24063855e-02 9.99916506e-01 -3.61417569e-03 6.18452712e+01] [-1.00046627e-02 3.73840339e-03 9.99942964e-01 -2.53663742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.731400513 meters 0.04030048436464488 Centerline is valid? [True, True] Translation: X:571.28, Y:61.85, Z:-2.54 [[ 9.99883172e-01 -1.36466134e-02 6.88566215e-03 5.71278646e+02] [ 1.36785542e-02 9.99895802e-01 -4.61317173e-03 6.18479343e+01] [-6.82199051e-03 4.70681868e-03 9.99965653e-01 -2.53843771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.761400513 meters 0.039822375654426014 Centerline is valid? [True, True] Translation: X:571.31, Y:61.84, Z:-2.55 [[ 9.99867902e-01 -1.42789968e-02 7.76460523e-03 5.71314166e+02] [ 1.42522597e-02 9.99892348e-01 3.48797016e-03 6.18436965e+01] [-7.81357406e-03 -3.37684624e-03 9.99963772e-01 -2.54750189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.791400513 meters 0.046702573746165606 Centerline is valid? [True, True] Translation: X:571.34, Y:61.85, Z:-2.55 [[ 9.99995137e-01 -2.36541780e-04 3.10969673e-03 5.71344147e+02] [ 2.29928904e-04 9.99997712e-01 2.12671938e-03 6.18533230e+01] [-3.11019268e-03 -2.12599403e-03 9.99992903e-01 -2.54730469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.821400513 meters 0.047991331409902395 Centerline is valid? [True, True] Translation: X:571.37, Y:61.86, Z:-2.54 [[ 9.99984254e-01 9.60741304e-04 5.52896271e-03 5.71374860e+02] [-9.62378984e-04 9.99999494e-01 2.93547220e-04 6.18583154e+01] [-5.52867789e-03 -2.98863555e-04 9.99984672e-01 -2.54351656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.851400513 meters 0.050972616160846085 Centerline is valid? [True, True] Translation: X:571.41, Y:61.86, Z:-2.54 [[ 9.99968766e-01 1.66923779e-03 7.72532903e-03 5.71405366e+02] [-1.67245296e-03 9.99998518e-01 4.09743952e-04 6.18646728e+01] [-7.72463361e-03 -4.22651404e-04 9.99970075e-01 -2.54297246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.881400513 meters 0.08921513701957894 Centerline is valid? [True, True] Translation: X:571.43, Y:61.93, Z:-2.52 [[ 9.99835310e-01 -1.38658913e-02 1.17085263e-02 5.71433879e+02] [ 1.39525426e-02 9.99875632e-01 -7.35173505e-03 6.19348397e+01] [-1.16051318e-02 7.51388801e-03 9.99904427e-01 -2.52360421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.911400513 meters 0.0507869986022342 Centerline is valid? [True, True] Translation: X:571.47, Y:61.86, Z:-2.55 [[ 9.99976104e-01 -2.34737654e-03 6.50237760e-03 5.71465996e+02] [ 2.29342441e-03 9.99962988e-01 8.29235989e-03 6.18635540e+01] [-6.52160223e-03 -8.27724902e-03 9.99944476e-01 -2.55218077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.941400513 meters 0.059548038827427235 Centerline is valid? [True, True] Translation: X:571.47, Y:61.88, Z:-2.55 [[ 9.99854604e-01 -1.16909968e-02 1.24133654e-02 5.71474764e+02] [ 1.15978661e-02 9.99904253e-01 7.54811536e-03 6.18816752e+01] [-1.25004218e-02 -7.40304934e-03 9.99894462e-01 -2.54906797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.971400513 meters 0.043358081129347255 Centerline is valid? [True, True] Translation: X:571.53, Y:61.87, Z:-2.54 [[ 9.99951148e-01 -7.42492836e-03 6.52478931e-03 5.71526243e+02] [ 7.46302843e-03 9.99955130e-01 -5.83446275e-03 6.18694903e+01] [-6.48117607e-03 5.88287241e-03 9.99961692e-01 -2.53990391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.001400513 meters 0.04002407268584502 Centerline is valid? [True, True] Translation: X:571.56, Y:61.86, Z:-2.55 [[ 9.99900550e-01 -1.24434403e-02 6.63708914e-03 5.71557378e+02] [ 1.24413823e-02 9.99922541e-01 3.51283725e-04 6.18620627e+01] [-6.64094622e-03 -2.68674226e-04 9.99977913e-01 -2.54607929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.031400513 meters 0.03848582224970452 Centerline is valid? [True, True] Translation: X:571.58, Y:61.88, Z:-2.53 [[ 9.99541536e-01 -3.00040638e-02 4.05875812e-03 5.71580070e+02] [ 3.00627422e-02 9.99431453e-01 -1.52643968e-02 6.18843587e+01] [-3.59845659e-03 1.53794161e-02 9.99875255e-01 -2.52510245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.061400513 meters 0.037483710783981924 Centerline is valid? [True, True] Translation: X:571.62, Y:61.85, Z:-2.56 [[ 9.99856246e-01 -1.62659502e-02 4.78613850e-03 5.71619514e+02] [ 1.61880726e-02 9.99742796e-01 1.58835887e-02 6.18512065e+01] [-5.04326915e-03 -1.58038271e-02 9.99862393e-01 -2.55957761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.091400513 meters 0.0357339906537923 Centerline is valid? [True, True] Translation: X:571.65, Y:61.86, Z:-2.55 [[ 9.99838467e-01 -1.74695555e-02 4.22534858e-03 5.71650837e+02] [ 1.74687685e-02 9.99847385e-01 2.23080123e-04 6.18639702e+01] [-4.22860084e-03 -1.49232452e-04 9.99991048e-01 -2.54715828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.121400513 meters 0.029005745527156266 Centerline is valid? [True, True] Translation: X:571.68, Y:61.86, Z:-2.55 [[ 9.99799228e-01 -1.99222377e-02 2.14669012e-03 5.71682596e+02] [ 1.99220413e-02 9.99801530e-01 1.12796001e-04 6.18559342e+01] [-2.14851121e-03 -7.00069051e-05 9.99997689e-01 -2.54887971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.151400513 meters 0.03257835891686093 Centerline is valid? [True, True] Translation: X:571.71, Y:61.86, Z:-2.55 [[ 9.99786605e-01 -2.05315186e-02 2.28071571e-03 5.71713580e+02] [ 2.05312969e-02 9.99789203e-01 1.20550375e-04 6.18630237e+01] [-2.28271002e-03 -7.36985987e-05 9.99997392e-01 -2.55052348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.181400513 meters 0.03257835891686093 Centerline is valid? [True, True] Translation: X:571.75, Y:61.86, Z:-2.55 [[ 9.99790206e-01 -2.03554155e-02 2.28072520e-03 5.71746236e+02] [ 2.03551938e-02 9.99792804e-01 1.20370646e-04 6.18646198e+01] [-2.28270284e-03 -7.39207888e-05 9.99997392e-01 -2.55079764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.211400513 meters 0.02925347069501446 Centerline is valid? [True, True] Translation: X:571.78, Y:61.86, Z:-2.55 [[ 9.99792253e-01 -2.02038166e-02 2.69386817e-03 5.71779847e+02] [ 2.02035087e-02 9.99795878e-01 1.41471538e-04 6.18637147e+01] [-2.69617656e-03 -8.70165585e-05 9.99996362e-01 -2.54711076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.241400513 meters 0.03353497419183404 Centerline is valid? [True, True] Translation: X:571.81, Y:61.87, Z:-2.55 [[ 9.99813358e-01 -1.90002287e-02 3.49871829e-03 5.71810935e+02] [ 1.89997064e-02 9.99819473e-01 1.82461849e-04 6.18727441e+01] [-3.50155350e-03 -1.15953173e-04 9.99993863e-01 -2.54708603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.271400513 meters 0.03232280334502515 Centerline is valid? [True, True] Translation: X:571.84, Y:61.87, Z:-2.54 [[ 9.99791817e-01 -1.86183467e-02 8.34745183e-03 5.71843789e+02] [ 1.86153851e-02 9.99826625e-01 4.32356030e-04 6.18735017e+01] [-8.35405435e-03 -2.76874990e-04 9.99965066e-01 -2.54274125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.301400513 meters 0.034739386224663875 Centerline is valid? [True, True] Translation: X:571.88, Y:61.88, Z:-2.54 [[ 9.99774043e-01 -1.83056610e-02 1.08057839e-02 5.71875122e+02] [ 1.83007045e-02 9.99832373e-01 5.57401725e-04 6.18787583e+01] [-1.08141762e-02 -3.59522319e-04 9.99941460e-01 -2.54067350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.331400513 meters 0.03353828883781329 Centerline is valid? [True, True] Translation: X:571.91, Y:61.88, Z:-2.54 [[ 9.99783466e-01 -1.75696638e-02 1.11502799e-02 5.71907150e+02] [ 1.75643591e-02 9.99845570e-01 5.73502043e-04 6.18789696e+01] [-1.11586342e-02 -3.77530340e-04 9.99937669e-01 -2.54049704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.361400513 meters 0.03257438837698754 Centerline is valid? [True, True] Translation: X:571.94, Y:61.88, Z:-2.54 [[ 9.99790381e-01 -1.79542508e-02 9.84069957e-03 5.71939274e+02] [ 1.79501510e-02 9.99838756e-01 5.04782206e-04 6.18790899e+01] [-9.84817579e-03 -3.28034351e-04 9.99951452e-01 -2.54269447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.391400513 meters 0.030074717766002002 Centerline is valid? [True, True] Translation: X:571.97, Y:61.88, Z:-2.54 [[ 9.99807362e-01 -1.77314418e-02 8.41633609e-03 5.71972691e+02] [ 1.77284445e-02 9.99842746e-01 4.30609981e-04 6.18767318e+01] [-8.42264792e-03 -2.81318482e-04 9.99964489e-01 -2.54496090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.421400513 meters 0.028598756626577963 Centerline is valid? [True, True] Translation: X:572.00, Y:61.88, Z:-2.55 [[ 9.99797318e-01 -1.87123318e-02 7.42775177e-03 5.72004929e+02] [ 1.87100332e-02 9.99824880e-01 3.78830718e-04 6.18762292e+01] [-7.43353983e-03 -2.39780453e-04 9.99972342e-01 -2.54624684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.451400513 meters 0.030022737975903727 Centerline is valid? [True, True] Translation: X:572.04, Y:61.88, Z:-2.55 [[ 9.99780904e-01 -1.95947545e-02 7.36137250e-03 5.72036310e+02] [ 1.95925295e-02 9.99807978e-01 3.74246454e-04 6.18793738e+01] [-7.36729222e-03 -2.29936550e-04 9.99972835e-01 -2.54751646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.481400513 meters 0.030048753894777108 Centerline is valid? [True, True] Translation: X:572.07, Y:61.88, Z:-2.55 [[ 9.99756056e-01 -2.08664229e-02 7.24018549e-03 5.72068178e+02] [ 2.08643116e-02 9.99782249e-01 3.67026491e-04 6.18812246e+01] [-7.24626747e-03 -2.15875471e-04 9.99973722e-01 -2.54741080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.511400513 meters 0.02944464947841827 Centerline is valid? [True, True] Translation: X:572.10, Y:61.88, Z:-2.55 [[ 9.99776920e-01 -2.01676776e-02 6.27489569e-03 5.72100883e+02] [ 2.01660831e-02 9.99796594e-01 3.17280087e-04 6.18804367e+01] [-6.28001814e-03 -1.90669241e-04 9.99980262e-01 -2.55110234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.541400513 meters 0.028210421262144188 Centerline is valid? [True, True] Translation: X:572.13, Y:61.88, Z:-2.55 [[ 9.99784504e-01 -2.02407563e-02 4.61056466e-03 5.72133267e+02] [ 2.02398979e-02 9.99795125e-01 2.32781668e-04 6.18822265e+01] [-4.61433175e-03 -1.39414146e-04 9.99989344e-01 -2.55065928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.571400513 meters 0.030112081748177952 Centerline is valid? [True, True] Translation: X:572.16, Y:61.89, Z:-2.55 [[ 9.99801989e-01 -1.90953173e-02 5.59925267e-03 5.72164727e+02] [ 1.90940409e-02 9.99817653e-01 2.81346600e-04 6.18853200e+01] [-5.60360406e-03 -1.74378531e-04 9.99984284e-01 -2.55237696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.601400513 meters 0.03020638090615808 Centerline is valid? [True, True] Translation: X:572.20, Y:61.89, Z:-2.55 [[ 9.99812880e-01 -1.82850752e-02 6.31349827e-03 5.72195487e+02] [ 1.82834431e-02 9.99832794e-01 3.16127687e-04 6.18890885e+01] [-6.31822303e-03 -2.00636047e-04 9.99980020e-01 -2.54969277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.631400513 meters 0.03130982156083776 Centerline is valid? [True, True] Translation: X:572.23, Y:61.89, Z:-2.55 [[ 9.99835770e-01 -1.62579673e-02 8.00700893e-03 5.72227186e+02] [ 1.62552896e-02 9.99867794e-01 3.99379983e-04 6.18926357e+01] [-8.01244346e-03 -2.69158143e-04 9.99967864e-01 -2.54873698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.661400513 meters 0.03216909337427625 Centerline is valid? [True, True] Translation: X:572.26, Y:61.90, Z:-2.55 [[ 9.99853176e-01 -1.59608629e-02 6.23512936e-03 5.72259408e+02] [ 1.59592343e-02 9.99872595e-01 3.10867014e-04 6.18961128e+01] [-6.23929668e-03 -2.11313481e-04 9.99980513e-01 -2.55050880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.691400513 meters 0.03352633527721652 Centerline is valid? [True, True] Translation: X:572.29, Y:61.90, Z:-2.55 [[ 9.99840985e-01 -1.67492244e-02 6.12106556e-03 5.72290664e+02] [ 1.67476761e-02 9.99859702e-01 3.04108682e-04 6.18983355e+01] [-6.12530037e-03 -2.01546701e-04 9.99981220e-01 -2.55238831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.721400513 meters 0.033253543984009384 Centerline is valid? [True, True] Translation: X:572.32, Y:61.90, Z:-2.55 [[ 9.99875963e-01 -1.49035915e-02 5.09335869e-03 5.72322639e+02] [ 1.49025000e-02 9.99888920e-01 2.52181947e-04 6.18992576e+01] [-5.09655133e-03 -1.76246889e-04 9.99986997e-01 -2.55406557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.751400513 meters 0.031519803259799334 Centerline is valid? [True, True] Translation: X:572.36, Y:61.90, Z:-2.55 [[ 9.99869530e-01 -1.52223410e-02 5.40393890e-03 5.72355405e+02] [ 1.52211166e-02 9.99884116e-01 2.67637688e-04 6.18988512e+01] [-5.40738674e-03 -1.85348785e-04 9.99985363e-01 -2.55314392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.781400513 meters 0.0343467803947417 Centerline is valid? [True, True] Translation: X:572.39, Y:61.90, Z:-2.55 [[ 9.99875740e-01 -1.44457139e-02 6.31076185e-03 5.72386779e+02] [ 1.44440365e-02 9.99895631e-01 3.11289916e-04 6.19036726e+01] [-6.31460000e-03 -2.20098361e-04 9.99980038e-01 -2.55367112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.811400513 meters 0.034841399638106486 Centerline is valid? [True, True] Translation: X:572.42, Y:61.91, Z:-2.55 [[ 9.99906971e-01 -1.15524667e-02 7.25188459e-03 5.72417248e+02] [ 1.15501860e-02 9.99933231e-01 3.56303990e-04 6.19076678e+01] [-7.25551658e-03 -2.72510227e-04 9.99973641e-01 -2.55048868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.841400513 meters 0.03528752408858161 Centerline is valid? [True, True] Translation: X:572.45, Y:61.91, Z:-2.55 [[ 9.99934993e-01 -7.71275697e-03 8.39782550e-03 5.72447967e+02] [ 7.70956419e-03 9.99970196e-01 4.12498228e-04 6.19085912e+01] [-8.40075671e-03 -3.47727838e-04 9.99964653e-01 -2.55057597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.871400513 meters 0.03980879124096601 Centerline is valid? [True, True] Translation: X:572.48, Y:61.92, Z:-2.55 [[ 9.99949436e-01 -5.93522244e-03 8.11779184e-03 5.72478733e+02] [ 5.93218059e-03 9.99982325e-01 3.98742161e-04 6.19177649e+01] [-8.12001498e-03 -3.50565792e-04 9.99966971e-01 -2.54996103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.901400513 meters 0.04181342493859484 Centerline is valid? [True, True] Translation: X:572.51, Y:61.92, Z:-2.55 [[ 9.99953186e-01 -3.38631909e-03 9.06417244e-03 5.72510086e+02] [ 3.38243487e-03 9.99994181e-01 4.43819946e-04 6.19198117e+01] [-9.06562261e-03 -4.13140196e-04 9.99958821e-01 -2.55146316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.931400513 meters 0.040914693481426394 Centerline is valid? [True, True] Translation: X:572.54, Y:61.92, Z:-2.55 [[ 9.99963425e-01 1.09355586e-03 8.48251185e-03 5.72540491e+02] [-1.09711689e-03 9.99999312e-01 4.15166268e-04 6.19205444e+01] [-8.48205200e-03 -4.24457391e-04 9.99963937e-01 -2.55103046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.961400513 meters 0.04197191749140996 Centerline is valid? [True, True] Translation: X:572.57, Y:61.92, Z:-2.55 [[ 9.99961540e-01 3.65713980e-03 7.97147239e-03 5.72571676e+02] [-3.66036602e-03 9.99993225e-01 3.90168721e-04 6.19238320e+01] [-7.96999148e-03 -4.19332222e-04 9.99968151e-01 -2.55074793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.991400513 meters 0.04373595624530453 Centerline is valid? [True, True] Translation: X:572.60, Y:61.93, Z:-2.55 [[ 9.99952918e-01 5.75413845e-03 7.81356349e-03 5.72602619e+02] [-5.75730054e-03 9.99983354e-01 3.82258820e-04 6.19275088e+01] [-7.81123385e-03 -4.27225856e-04 9.99969401e-01 -2.55111394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.021400513 meters 0.04592472993846504 Centerline is valid? [True, True] Translation: X:572.63, Y:61.93, Z:-2.55 [[ 9.99921450e-01 9.33075068e-03 8.36848525e-03 5.72632964e+02] [-9.33450187e-03 9.99956349e-01 4.09304919e-04 6.19304874e+01] [-8.36430083e-03 -4.87388409e-04 9.99964900e-01 -2.55272267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.051400513 meters 0.05494633171428921 Centerline is valid? [True, True] Translation: X:572.66, Y:61.94, Z:-2.55 [[ 9.99893968e-01 1.20407100e-02 8.18987263e-03 5.72662750e+02] [-1.20443933e-02 9.99927383e-01 4.00552179e-04 6.19443617e+01] [-8.18445498e-03 -4.99151755e-04 9.99966382e-01 -2.55268556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.081400513 meters 0.021697371482530637 Centerline is valid? [True, True] Translation: X:572.70, Y:61.86, Z:-2.56 [[ 9.99558245e-01 2.91762146e-02 5.66244381e-03 5.72699911e+02] [-2.92839985e-02 9.99371224e-01 1.99901141e-02 6.18562049e+01] [-5.07564754e-03 -2.01471024e-02 9.99784143e-01 -2.56362003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.111400513 meters 0.061348651590378486 Centerline is valid? [True, True] Translation: X:572.72, Y:61.97, Z:-2.53 [[ 9.99775643e-01 1.71223793e-02 1.24694645e-02 5.72720143e+02] [-1.68758871e-02 9.99665238e-01 -1.96116235e-02 6.19732486e+01] [-1.28010879e-02 1.93967902e-02 9.99729912e-01 -2.52826124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.141400513 meters 0.05853906490454409 Centerline is valid? [True, True] Translation: X:572.75, Y:61.95, Z:-2.55 [[ 9.99775443e-01 1.80991948e-02 1.10219380e-02 5.72749966e+02] [-1.81062450e-02 9.99835923e-01 5.40193987e-04 6.19548234e+01] [-1.10103524e-02 -7.39638591e-04 9.99939111e-01 -2.54885506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.171400513 meters 0.060498720001291806 Centerline is valid? [True, True] Translation: X:572.78, Y:61.96, Z:-2.55 [[ 9.99793703e-01 1.75972324e-02 1.01433821e-02 5.72777606e+02] [-1.76031815e-02 9.99844928e-01 4.97514430e-04 6.19583931e+01] [-1.01330542e-02 -6.75967590e-04 9.99948431e-01 -2.55055614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.201400513 meters 0.058859630697354615 Centerline is valid? [True, True] Translation: X:572.81, Y:61.96, Z:-2.55 [[ 9.99836809e-01 1.53055816e-02 9.59654239e-03 5.72807233e+02] [-1.53108064e-02 9.99882672e-01 4.71214040e-04 6.19578806e+01] [-9.58820424e-03 -6.18067945e-04 9.99953841e-01 -2.55126077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.231400513 meters 0.04878902279449951 Centerline is valid? [True, True] Translation: X:572.84, Y:61.95, Z:-2.55 [[ 9.99844666e-01 1.42594822e-02 1.03590987e-02 5.72837147e+02] [-1.42655175e-02 9.99898113e-01 5.08941842e-04 6.19464401e+01] [-1.03507860e-02 -6.56640689e-04 9.99946214e-01 -2.55081477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.261400513 meters 0.06217602524724045 Centerline is valid? [True, True] Translation: X:572.86, Y:61.96, Z:-2.55 [[ 9.99821119e-01 1.52785010e-02 1.11488558e-02 5.72864581e+02] [-1.52855597e-02 9.99883019e-01 5.48192848e-04 6.19637437e+01] [-1.11391760e-02 -7.18511287e-04 9.99937699e-01 -2.55195891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.291400513 meters 0.05427970788216332 Centerline is valid? [True, True] Translation: X:572.89, Y:61.95, Z:-2.55 [[ 9.99816838e-01 1.58415917e-02 1.07393827e-02 5.72893815e+02] [-1.58481789e-02 9.99874270e-01 5.28537101e-04 6.19549758e+01] [-1.07296596e-02 -6.98639951e-04 9.99942191e-01 -2.55319960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.321400513 meters 0.06870424925205168 Centerline is valid? [True, True] Translation: X:572.92, Y:61.98, Z:-2.55 [[ 9.99787344e-01 1.76097626e-02 1.07314046e-02 5.72922187e+02] [-1.76164460e-02 9.99844679e-01 5.28575397e-04 6.19750949e+01] [-1.07204297e-02 -7.17512202e-04 9.99942277e-01 -2.55341674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.351400513 meters 0.06435551938723742 Centerline is valid? [True, True] Translation: X:572.95, Y:61.97, Z:-2.55 [[ 9.99787553e-01 1.79064676e-02 1.02082279e-02 5.72951052e+02] [-1.79125323e-02 9.99839431e-01 5.02971438e-04 6.19720343e+01] [-1.01975823e-02 -6.85719794e-04 9.99947768e-01 -2.55237146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.381400513 meters 0.06692170671737427 Centerline is valid? [True, True] Translation: X:572.98, Y:61.98, Z:-2.55 [[ 9.99812791e-01 1.66663551e-02 9.82935213e-03 5.72979872e+02] [-1.66719224e-02 9.99860896e-01 4.84722127e-04 6.19772957e+01] [-9.81990628e-03 -6.48505578e-04 9.99951573e-01 -2.55313687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.411400513 meters 0.049012423201325844 Centerline is valid? [True, True] Translation: X:573.01, Y:61.96, Z:-2.55 [[ 9.99853563e-01 1.42540999e-02 9.46962300e-03 5.73011254e+02] [-1.42591613e-02 9.99898224e-01 4.67182860e-04 6.19557748e+01] [-9.46199995e-03 -6.02143328e-04 9.99955053e-01 -2.55363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.441400513 meters 0.0531830391480766 Centerline is valid? [True, True] Translation: X:573.04, Y:61.96, Z:-2.56 [[ 9.99884843e-01 1.26648994e-02 8.36071236e-03 5.73039359e+02] [-1.26687898e-02 9.99919663e-01 4.12518879e-04 6.19631968e+01] [-8.35481617e-03 -5.18391482e-04 9.99964964e-01 -2.55529635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.471400513 meters 0.052088288918412336 Centerline is valid? [True, True] Translation: X:573.07, Y:61.96, Z:-2.56 [[ 9.99898092e-01 1.16781550e-02 8.21141255e-03 5.73068098e+02] [-1.16818754e-02 9.99931682e-01 4.05266765e-04 6.19618826e+01] [-8.20611879e-03 -5.01150163e-04 9.99966204e-01 -2.55708569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.501400513 meters 0.04849121942390441 Centerline is valid? [True, True] Translation: X:573.10, Y:61.96, Z:-2.56 [[ 9.99891599e-01 1.24564466e-02 7.85035676e-03 5.73098141e+02] [-1.24598737e-02 9.99922298e-01 3.87792560e-04 6.19595786e+01] [-7.84491625e-03 -4.85564976e-04 9.99969110e-01 -2.55660601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.531400513 meters 0.04769896979939349 Centerline is valid? [True, True] Translation: X:573.13, Y:61.96, Z:-2.56 [[ 9.99844526e-01 1.53000733e-02 8.76541022e-03 5.73128808e+02] [-1.53044566e-02 9.99882786e-01 4.33213604e-04 6.19582533e+01] [-8.75775460e-03 -5.67296091e-04 9.99961489e-01 -2.55774390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.561400513 meters 0.05359069591494778 Centerline is valid? [True, True] Translation: X:573.16, Y:61.97, Z:-2.56 [[ 9.99832384e-01 1.62494157e-02 8.43565591e-03 5.73156513e+02] [-1.62535091e-02 9.99867816e-01 4.16916105e-04 6.19674797e+01] [-8.42776621e-03 -5.53955233e-04 9.99964332e-01 -2.55842886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.591400513 meters 0.05050391809318485 Centerline is valid? [True, True] Translation: X:573.19, Y:61.97, Z:-2.56 [[ 9.99856547e-01 1.51860495e-02 7.50134737e-03 5.73185572e+02] [-1.51892587e-02 9.99884568e-01 3.71020190e-04 6.19661441e+01] [-7.49484714e-03 -4.84906872e-04 9.99971796e-01 -2.55781637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.621400513 meters 0.05305883569622515 Centerline is valid? [True, True] Translation: X:573.21, Y:61.97, Z:-2.56 [[ 9.99855709e-01 1.57528597e-02 6.35685184e-03 5.73213129e+02] [-1.57551769e-02 9.99875830e-01 3.14612088e-04 6.19691985e+01] [-6.35110647e-03 -4.14720018e-04 9.99979746e-01 -2.56110797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.651400513 meters 0.04938804483942255 Centerline is valid? [True, True] Translation: X:573.24, Y:61.97, Z:-2.56 [[ 9.99853629e-01 1.56749892e-02 6.85674554e-03 5.73241394e+02] [-1.56776862e-02 9.99877040e-01 3.39749668e-04 6.19669618e+01] [-6.85057686e-03 -4.47197843e-04 9.99976435e-01 -2.55919511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.681400513 meters 0.05806432138284336 Centerline is valid? [True, True] Translation: X:573.27, Y:61.98, Z:-2.56 [[ 9.99790223e-01 1.84841631e-02 8.82299788e-03 5.73269881e+02] [-1.84887442e-02 9.99828973e-01 4.37938662e-04 6.19785826e+01] [-8.81339398e-03 -6.00972944e-04 9.99960981e-01 -2.55975984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.711400513 meters 0.06310827335068112 Centerline is valid? [True, True] Translation: X:573.30, Y:61.99, Z:-2.56 [[ 9.99686801e-01 2.27370656e-02 1.04559428e-02 5.73299775e+02] [-2.27437308e-02 9.99741193e-01 5.18981272e-04 6.19883975e+01] [-1.04414366e-02 -7.56625877e-04 9.99945200e-01 -2.55558164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.741400513 meters 0.0704629004600805 Centerline is valid? [True, True] Translation: X:573.33, Y:62.00, Z:-2.55 [[ 9.99652105e-01 2.37755962e-02 1.14188492e-02 5.73327511e+02] [-2.37836147e-02 9.99716969e-01 5.66914876e-04 6.19993523e+01] [-1.14021386e-02 -8.38299159e-04 9.99934642e-01 -2.55430312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.771400513 meters 0.06761854467670275 Centerline is valid? [True, True] Translation: X:573.36, Y:62.00, Z:-2.55 [[ 9.99619081e-01 2.51111119e-02 1.14509692e-02 5.73357355e+02] [-2.51192690e-02 9.99684299e-01 5.69061406e-04 6.19972329e+01] [-1.14330644e-02 -8.56484616e-04 9.99934274e-01 -2.55400357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.801400513 meters 0.07244260210117527 Centerline is valid? [True, True] Translation: X:573.38, Y:62.00, Z:-2.55 [[ 9.99627534e-01 2.47143499e-02 1.15756025e-02 5.73384515e+02] [-2.47226645e-02 9.99694182e-01 5.75718255e-04 6.20049367e+01] [-1.15578340e-02 -8.61683556e-04 9.99932835e-01 -2.55418743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.831400513 meters 0.07144800631934572 Centerline is valid? [True, True] Translation: X:573.41, Y:62.00, Z:-2.56 [[ 9.99619439e-01 2.49830344e-02 1.16972510e-02 5.73413658e+02] [-2.49915573e-02 9.99687492e-01 5.83004510e-04 6.20032347e+01] [-1.16790303e-02 -8.75115161e-04 9.99931415e-01 -2.55608795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.861400513 meters 0.07409523903710379 Centerline is valid? [True, True] Translation: X:573.44, Y:62.01, Z:-2.56 [[ 9.99619455e-01 2.54193393e-02 1.07146298e-02 5.73440658e+02] [-2.54265300e-02 9.99676550e-01 5.35400463e-04 6.20082986e+01] [-1.06975546e-02 -8.07632574e-04 9.99942453e-01 -2.55765241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.891400513 meters 0.06560168117185493 Centerline is valid? [True, True] Translation: X:573.47, Y:62.00, Z:-2.56 [[ 9.99611983e-01 2.56072450e-02 1.09613742e-02 5.73469846e+02] [-2.56147901e-02 9.99671737e-01 5.48473772e-04 6.19995013e+01] [-1.09437310e-02 -8.29034253e-04 9.99939772e-01 -2.55590936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.921400513 meters 0.07415925586683562 Centerline is valid? [True, True] Translation: X:573.50, Y:62.01, Z:-2.56 [[ 9.99579204e-01 2.68144012e-02 1.10635983e-02 5.73497219e+02] [-2.68221674e-02 9.99640067e-01 5.54156438e-04 6.20118387e+01] [-1.10447568e-02 -8.50672936e-04 9.99938643e-01 -2.55580690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.951400513 meters 0.07581215611064915 Centerline is valid? [True, True] Translation: X:573.53, Y:62.02, Z:-2.56 [[ 9.99560149e-01 2.71106717e-02 1.20216634e-02 5.73525123e+02] [-2.71198715e-02 9.99632007e-01 6.02880877e-04 6.20152324e+01] [-1.20008950e-02 -9.28641666e-04 9.99927555e-01 -2.55514864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.981400513 meters 0.06915001048805015 Centerline is valid? [True, True] Translation: X:573.56, Y:62.01, Z:-2.56 [[ 9.99478894e-01 2.99081162e-02 1.21427095e-02 5.73556414e+02] [-2.99177136e-02 9.99552179e-01 6.09462145e-04 6.20083643e+01] [-1.21190439e-02 -9.72426656e-04 9.99926089e-01 -2.55532874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.011400513 meters 0.08248214911961829 Centerline is valid? [True, True] Translation: X:573.58, Y:62.03, Z:-2.56 [[ 9.99496579e-01 2.89764058e-02 1.29211526e-02 5.73583206e+02] [-2.89871991e-02 9.99579572e-01 6.48787794e-04 6.20258468e+01] [-1.28969207e-02 -1.02300920e-03 9.99916308e-01 -2.55568932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.041400513 meters 0.07898494128231731 Centerline is valid? [True, True] Translation: X:573.61, Y:62.02, Z:-2.56 [[ 9.99493612e-01 2.93255938e-02 1.23503050e-02 5.73611951e+02] [-2.93354893e-02 9.99569429e-01 6.20800636e-04 6.20219720e+01] [-1.23267820e-02 -9.82788509e-04 9.99923539e-01 -2.55804698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.071400513 meters 0.07280749119615589 Centerline is valid? [True, True] Translation: X:573.64, Y:62.02, Z:-2.56 [[ 9.99549112e-01 2.77291827e-02 1.15180272e-02 5.73642680e+02] [-2.77376887e-02 9.99615068e-01 5.79375077e-04 6.20162347e+01] [-1.14975279e-02 -8.98597296e-04 9.99933497e-01 -2.55821029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.101400513 meters 0.06906157513458124 Centerline is valid? [True, True] Translation: X:573.67, Y:62.01, Z:-2.56 [[ 9.99554577e-01 2.80521985e-02 1.01844353e-02 5.73671742e+02] [-2.80588671e-02 9.99606141e-01 5.12455522e-04 6.20115350e+01] [-1.01660485e-02 -7.97990978e-04 9.99948006e-01 -2.56193467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.131400513 meters 0.06906157513458124 Centerline is valid? [True, True] Translation: X:573.70, Y:62.01, Z:-2.56 [[ 9.99556619e-01 2.79793343e-02 1.01844086e-02 5.73699209e+02] [-2.79860045e-02 9.99608183e-01 5.12985080e-04 6.20130365e+01] [-1.01660652e-02 -7.97778537e-04 9.99948006e-01 -2.56217543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.161400513 meters 0.08418378805962087 Centerline is valid? [True, True] Translation: X:573.73, Y:62.03, Z:-2.56 [[ 9.99557115e-01 2.80941240e-02 9.81290970e-03 5.73725712e+02] [-2.81003285e-02 9.99604985e-01 4.94953097e-04 6.20343915e+01] [-9.79512819e-03 -7.70479877e-04 9.99951730e-01 -2.56134116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.191400513 meters 0.07749334359965364 Centerline is valid? [True, True] Translation: X:573.76, Y:62.03, Z:-2.56 [[ 9.99541105e-01 2.87640330e-02 9.49786624e-03 5.73755297e+02] [-2.87698807e-02 9.99585946e-01 4.79601309e-04 6.20271930e+01] [-9.48013834e-03 -7.52633701e-04 9.99954779e-01 -2.56191067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.221400513 meters 0.07764074063039073 Centerline is valid? [True, True] Translation: X:573.78, Y:62.03, Z:-2.56 [[ 9.99523946e-01 2.95502262e-02 8.86935253e-03 5.73784293e+02] [-2.95553588e-02 9.99563044e-01 4.48155929e-04 6.20284465e+01] [-8.85223390e-03 -7.10079479e-04 9.99960566e-01 -2.56337559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.251400513 meters 0.07576338868486324 Centerline is valid? [True, True] Translation: X:573.81, Y:62.03, Z:-2.56 [[ 9.99536632e-01 2.92561122e-02 8.40245279e-03 5.73812565e+02] [-2.92607112e-02 9.99571723e-01 4.24897267e-04 6.20274418e+01] [-8.38642338e-03 -6.70562128e-04 9.99964608e-01 -2.56377483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.281400513 meters 0.07676085749484572 Centerline is valid? [True, True] Translation: X:573.84, Y:62.03, Z:-2.57 [[ 9.99573654e-01 2.80247453e-02 8.19293161e-03 5.73841510e+02] [-2.80290881e-02 9.99607021e-01 4.15700413e-04 6.20295203e+01] [-8.17806207e-03 -6.45163583e-04 9.99966351e-01 -2.56653754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.311400513 meters 0.07750192394694687 Centerline is valid? [True, True] Translation: X:573.87, Y:62.03, Z:-2.57 [[ 9.99598478e-01 2.72651992e-02 7.71313054e-03 5.73870561e+02] [-2.72690260e-02 9.99628054e-01 3.91395916e-04 6.20322412e+01] [-7.69959019e-03 -6.01568319e-04 9.99970177e-01 -2.56687891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.341400513 meters 0.08753246722653264 Centerline is valid? [True, True] Translation: X:573.90, Y:62.05, Z:-2.57 [[ 9.99622371e-01 2.65568203e-02 7.06046980e-03 5.73898078e+02] [-2.65600173e-02 9.99647156e-01 3.59408949e-04 6.20464587e+01] [-7.04843380e-03 -5.46799426e-04 9.99975010e-01 -2.56731202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.371400513 meters 0.0705580675770927 Centerline is valid? [True, True] Translation: X:573.93, Y:62.03, Z:-2.57 [[ 9.99621764e-01 2.68132463e-02 6.11388629e-03 5.73927397e+02] [-2.68156495e-02 9.99640347e-01 3.11416698e-04 6.20266018e+01] [-6.10333732e-03 -4.75246740e-04 9.99981262e-01 -2.56810862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.401400513 meters 0.07535015995071224 Centerline is valid? [True, True] Translation: X:573.95, Y:62.03, Z:-2.57 [[ 9.99625850e-01 2.66339162e-02 6.22853598e-03 5.73954248e+02] [-2.66364082e-02 9.99645138e-01 3.17464150e-04 6.20346447e+01] [-6.21787039e-03 -4.83251197e-04 9.99980552e-01 -2.56738486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.431400513 meters 0.07238129683473372 Centerline is valid? [True, True] Translation: X:573.98, Y:62.03, Z:-2.57 [[ 9.99560380e-01 2.86878075e-02 7.48704935e-03 5.73984873e+02] [-2.86914757e-02 9.99588242e-01 3.82979397e-04 6.20329093e+01] [-7.47297965e-03 -5.97625526e-04 9.99971898e-01 -2.56535838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.461400513 meters 0.07804973209346268 Centerline is valid? [True, True] Translation: X:574.01, Y:62.04, Z:-2.56 [[ 9.99538651e-01 2.92242728e-02 8.27200400e-03 5.74012227e+02] [-2.92287696e-02 9.99572659e-01 4.23218640e-04 6.20416389e+01] [-8.25610078e-03 -6.64803888e-04 9.99965697e-01 -2.56433756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.491400513 meters 0.07586907549051435 Centerline is valid? [True, True] Translation: X:574.04, Y:62.04, Z:-2.56 [[ 9.99519276e-01 2.96552873e-02 9.04326703e-03 5.74040865e+02] [-2.96606849e-02 9.99559918e-01 4.63303841e-04 6.20405950e+01] [-9.02554784e-03 -7.31310614e-04 9.99959001e-01 -2.56383115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.521400513 meters 0.07953353442160609 Centerline is valid? [True, True] Translation: X:574.07, Y:62.05, Z:-2.56 [[ 9.99495580e-01 3.03252502e-02 9.43207051e-03 5.74068986e+02] [-3.03311661e-02 9.99539787e-01 4.84760327e-04 6.20467894e+01] [-9.41302927e-03 -7.70601502e-04 9.99955400e-01 -2.56428383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.551400513 meters 0.08256205633787748 Centerline is valid? [True, True] Translation: X:574.10, Y:62.05, Z:-2.56 [[ 9.99483605e-01 3.04937813e-02 1.01317349e-02 5.74096625e+02] [-3.05006202e-02 9.99534612e-01 5.21133598e-04 6.20517299e+01] [-1.01111283e-02 -8.29888684e-04 9.99948537e-01 -2.56307819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.581400513 meters 0.07850217559266101 Centerline is valid? [True, True] Translation: X:574.13, Y:62.05, Z:-2.57 [[ 9.99437514e-01 3.23175764e-02 8.95709426e-03 5.74127130e+02] [-3.23229982e-02 9.99477369e-01 4.61168971e-04 6.20483652e+01] [-8.93750914e-03 -7.50429711e-04 9.99959778e-01 -2.56519494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.611400513 meters 0.07451335034134557 Centerline is valid? [True, True] Translation: X:574.16, Y:62.04, Z:-2.56 [[ 9.99454586e-01 3.18276825e-02 8.80501642e-03 5.74155888e+02] [-3.18329038e-02 9.99493102e-01 4.53454415e-04 6.20445515e+01] [-8.78612077e-03 -7.33496336e-04 9.99961132e-01 -2.56484967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.641400513 meters 0.08150269919968628 Centerline is valid? [True, True] Translation: X:574.18, Y:62.05, Z:-2.57 [[ 9.99466534e-01 3.15132067e-02 8.57703228e-03 5.74183513e+02] [-3.15181620e-02 9.99503081e-01 4.43148627e-04 6.20543371e+01] [-8.55880516e-03 -7.13244515e-04 9.99963118e-01 -2.56682166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.671400513 meters 0.07383855495224595 Centerline is valid? [True, True] Translation: X:574.21, Y:62.05, Z:-2.57 [[ 9.99432761e-01 3.25558503e-02 8.61821138e-03 5.74213254e+02] [-3.25608962e-02 9.99469654e-01 4.45798872e-04 6.20468258e+01] [-8.59912739e-03 -7.26162683e-04 9.99962763e-01 -2.56574569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.701400513 meters 0.079793792333818 Centerline is valid? [True, True] Translation: X:574.24, Y:62.06, Z:-2.56 [[ 9.99440477e-01 3.17834514e-02 1.04184556e-02 5.74240967e+02] [-3.17907907e-02 9.99494399e-01 5.39561732e-04 6.20567121e+01] [-1.03960389e-02 -8.70470778e-04 9.99945581e-01 -2.56338251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.731400513 meters 0.08096310203372929 Centerline is valid? [True, True] Translation: X:574.27, Y:62.06, Z:-2.56 [[ 9.99477907e-01 3.04777748e-02 1.07246684e-02 5.74269978e+02] [-3.04854825e-02 9.99535055e-01 5.55906376e-04 6.20602495e+01] [-1.07027393e-02 -8.82562832e-04 9.99942335e-01 -2.56272299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.761400513 meters 0.07079586633612392 Centerline is valid? [True, True] Translation: X:574.30, Y:62.05, Z:-2.56 [[ 9.99550070e-01 2.81308145e-02 1.04074160e-02 5.74300820e+02] [-2.81379486e-02 9.99603904e-01 5.39666444e-04 6.20488915e+01] [-1.03881124e-02 -8.32266970e-04 9.99945696e-01 -2.56440942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.791400513 meters 0.07136149473203245 Centerline is valid? [True, True] Translation: X:574.33, Y:62.05, Z:-2.57 [[ 9.99599223e-01 2.67709935e-02 9.20368938e-03 5.74329239e+02] [-2.67765159e-02 9.99641331e-01 4.77293867e-04 6.20507298e+01] [-9.18761067e-03 -7.23545313e-04 9.99957531e-01 -2.56610844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.821400513 meters 0.073837608138914 Centerline is valid? [True, True] Translation: X:574.36, Y:62.06, Z:-2.57 [[ 9.99641113e-01 2.53344297e-02 8.70704719e-03 5.74357531e+02] [-2.53393205e-02 9.99678806e-01 4.51836028e-04 6.20550520e+01] [-8.69280353e-03 -6.72304530e-04 9.99961991e-01 -2.56763792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.851400513 meters 0.07004673123663609 Centerline is valid? [True, True] Translation: X:574.39, Y:62.06, Z:-2.57 [[ 9.99608764e-01 2.66677024e-02 8.43514808e-03 5.74387167e+02] [-2.66723422e-02 9.99644134e-01 4.38023165e-04 6.20550164e+01] [-8.42046523e-03 -6.62836951e-04 9.99964328e-01 -2.56525823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.881400513 meters 0.07458810976475465 Centerline is valid? [True, True] Translation: X:574.42, Y:62.06, Z:-2.56 [[ 9.99547223e-01 2.87888319e-02 8.74944205e-03 5.74416471e+02] [-2.87939066e-02 9.99585266e-01 4.54562891e-04 6.20631735e+01] [-8.73272703e-03 -7.06287693e-04 9.99961620e-01 -2.56399338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.911400513 meters 0.07820921220001352 Centerline is valid? [True, True] Translation: X:574.44, Y:62.07, Z:-2.56 [[ 9.99524278e-01 2.94786229e-02 9.06803371e-03 5.74444361e+02] [-2.94841037e-02 9.99565138e-01 4.71289681e-04 6.20684201e+01] [-9.05019739e-03 -7.38428324e-04 9.99958773e-01 -2.56441181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.941400513 meters 0.07164932641858167 Centerline is valid? [True, True] Translation: X:574.47, Y:62.06, Z:-2.57 [[ 9.99442359e-01 3.25736096e-02 7.34370654e-03 5.74474813e+02] [-3.25772895e-02 9.99469146e-01 3.82000297e-04 6.20616105e+01] [-7.32736497e-03 -6.21025332e-04 9.99972962e-01 -2.56651210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.971400513 meters 0.08488793008091741 Centerline is valid? [True, True] Translation: X:574.50, Y:62.08, Z:-2.57 [[ 9.99342309e-01 3.53506390e-02 8.07967605e-03 5.74503745e+02] [-3.53551839e-02 9.99374722e-01 4.20326905e-04 6.20794451e+01] [-8.05976518e-03 -7.05708892e-04 9.99967271e-01 -2.56801567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.001400513 meters 0.0904742992445351 Centerline is valid? [True, True] Translation: X:574.53, Y:62.09, Z:-2.57 [[ 9.99292917e-01 3.64097000e-02 9.38086921e-03 5.74531350e+02] [-3.64158737e-02 9.99336603e-01 4.88088420e-04 6.20888768e+01] [-9.35687481e-03 -8.29355848e-04 9.99955880e-01 -2.56569020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.031400513 meters 0.08440342763033593 Centerline is valid? [True, True] Translation: X:574.56, Y:62.08, Z:-2.56 [[ 9.99264251e-01 3.68590197e-02 1.06004116e-02 5.74560022e+02] [-3.68669372e-02 9.99320031e-01 5.52404121e-04 6.20839011e+01] [-1.05728426e-02 -9.42802400e-04 9.99943661e-01 -2.56374631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.061400513 meters 0.08420950457837902 Centerline is valid? [True, True] Translation: X:574.59, Y:62.09, Z:-2.56 [[ 9.99280703e-01 3.62991724e-02 1.09748008e-02 5.74589203e+02] [-3.63076458e-02 9.99340495e-01 5.73763397e-04 6.20857978e+01] [-1.09467357e-02 -9.71819872e-04 9.99939610e-01 -2.56346835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.091400513 meters 0.0862245953734993 Centerline is valid? [True, True] Translation: X:574.62, Y:62.09, Z:-2.56 [[ 9.99240007e-01 3.77192756e-02 9.83181643e-03 5.74618338e+02] [-3.77261562e-02 9.99287982e-01 5.15243451e-04 6.20892302e+01] [-9.80538139e-03 -8.85768512e-04 9.99951534e-01 -2.56449839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.121400513 meters 0.09554383044263372 Centerline is valid? [True, True] Translation: X:574.65, Y:62.10, Z:-2.57 [[ 9.99226348e-01 3.84354811e-02 8.33178157e-03 5.74646384e+02] [-3.84404483e-02 9.99260797e-01 4.36794662e-04 6.21023447e+01] [-8.30883428e-03 -7.56734154e-04 9.99965195e-01 -2.56717419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.151400513 meters 0.0924254659942729 Centerline is valid? [True, True] Translation: X:574.68, Y:62.10, Z:-2.57 [[ 9.99202058e-01 3.91355125e-02 7.97870997e-03 5.74675851e+02] [-3.91400919e-02 9.99233645e-01 4.18553161e-04 6.20996461e+01] [-7.95621516e-03 -7.30506622e-04 9.99968082e-01 -2.56782146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.181400513 meters 0.09068643830725481 Centerline is valid? [True, True] Translation: X:574.70, Y:62.10, Z:-2.57 [[ 9.99168225e-01 4.01355702e-02 7.21069507e-03 5.74704985e+02] [-4.01393378e-02 9.99194020e-01 3.78484834e-04 6.20997398e+01] [-7.18969269e-03 -6.67602545e-04 9.99973931e-01 -2.56827017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.211400513 meters 0.09534534186636853 Centerline is valid? [True, True] Translation: X:574.73, Y:62.11, Z:-2.57 [[ 9.99094153e-01 4.18221407e-02 7.86010345e-03 5.74733555e+02] [-4.18266718e-02 9.99124797e-01 4.12897363e-04 6.21076671e+01] [-7.83595601e-03 -7.41285309e-04 9.99969024e-01 -2.56758686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.241400513 meters 0.08758804482675236 Centerline is valid? [True, True] Translation: X:574.76, Y:62.10, Z:-2.56 [[ 9.98934315e-01 4.47743582e-02 1.12023153e-02 5.74764425e+02] [-4.47837477e-02 9.98996531e-01 5.88607310e-04 6.21013901e+01] [-1.11647196e-02 -1.08966170e-03 9.99937079e-01 -2.56341080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.271400513 meters 0.09559823466326253 Centerline is valid? [True, True] Translation: X:574.79, Y:62.11, Z:-2.56 [[ 9.98878860e-01 4.57560366e-02 1.21412155e-02 5.74791735e+02] [-4.57671398e-02 9.98951932e-01 6.38096819e-04 6.21134522e+01] [-1.20992939e-02 -1.19305013e-03 9.99926089e-01 -2.56171297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.301400513 meters 0.09634693061544827 Centerline is valid? [True, True] Translation: X:574.82, Y:62.12, Z:-2.56 [[ 9.98902332e-01 4.52909424e-02 1.19524840e-02 5.74819725e+02] [-4.53016784e-02 9.98973154e-01 6.28872435e-04 6.21157714e+01] [-1.19117284e-02 -1.16964973e-03 9.99928369e-01 -2.56295902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.331400513 meters 0.0956274281544327 Centerline is valid? [True, True] Translation: X:574.85, Y:62.12, Z:-2.56 [[ 9.98921194e-01 4.50285928e-02 1.13522497e-02 5.74848842e+02] [-4.50382737e-02 9.98985083e-01 5.98437518e-04 6.21157359e+01] [-1.13137813e-02 -1.10907765e-03 9.99935382e-01 -2.56481656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.361400513 meters 0.08889213026528553 Centerline is valid? [True, True] Translation: X:574.88, Y:62.11, Z:-2.57 [[ 9.98948057e-01 4.47950319e-02 9.80732554e-03 5.74877773e+02] [-4.48022598e-02 9.98995740e-01 5.18423905e-04 6.21084581e+01] [-9.77425362e-03 -9.57268900e-04 9.99951773e-01 -2.56738561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.391400513 meters 0.0908776428978746 Centerline is valid? [True, True] Translation: X:574.91, Y:62.11, Z:-2.57 [[ 9.98977861e-01 4.41676667e-02 9.61511417e-03 5.74905654e+02] [-4.41745998e-02 9.99023696e-01 5.09776054e-04 6.21125765e+01] [-9.58321128e-03 -9.33998812e-04 9.99953644e-01 -2.56787930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.421400513 meters 0.09467117979595518 Centerline is valid? [True, True] Translation: X:574.93, Y:62.12, Z:-2.57 [[ 9.99010212e-01 4.35092073e-02 9.24903924e-03 5.74933606e+02] [-4.35156000e-02 9.99052627e-01 4.90961956e-04 6.21187991e+01] [-9.21891558e-03 -8.92953500e-04 9.99957106e-01 -2.56866336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.451400513 meters 0.09194297695342113 Centerline is valid? [True, True] Translation: X:574.96, Y:62.12, Z:-2.57 [[ 9.99037821e-01 4.31276803e-02 7.96460037e-03 5.74962550e+02] [-4.31324177e-02 9.99069274e-01 4.23910656e-04 6.21173262e+01] [-7.93890523e-03 -7.67035248e-04 9.99968192e-01 -2.57046096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.481400513 meters 0.09497049760968451 Centerline is valid? [True, True] Translation: X:574.99, Y:62.12, Z:-2.57 [[ 9.99000213e-01 4.40368105e-02 7.70282267e-03 5.74991041e+02] [-4.40412788e-02 9.99029627e-01 4.11348439e-04 6.21230592e+01] [-7.67723359e-03 -7.50179339e-04 9.99970248e-01 -2.57048405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.511400513 meters 0.09023305706603431 Centerline is valid? [True, True] Translation: X:575.02, Y:62.12, Z:-2.57 [[ 9.98947008e-01 4.51221120e-02 8.29879612e-03 5.75021001e+02] [-4.51273383e-02 9.98981144e-01 4.43499686e-04 6.21193360e+01] [-8.27032921e-03 -8.17535265e-04 9.99965466e-01 -2.57085476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.541400513 meters 0.09187316824481237 Centerline is valid? [True, True] Translation: X:575.05, Y:62.12, Z:-2.57 [[ 9.98825939e-01 4.75658777e-02 9.17778904e-03 5.75051731e+02] [-4.75723741e-02 9.98867673e-01 4.90702557e-04 6.21229395e+01] [-9.14405608e-03 -9.26735655e-04 9.99957763e-01 -2.56913166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.571400513 meters 0.09984377779174726 Centerline is valid? [True, True] Translation: X:575.08, Y:62.14, Z:-2.57 [[ 9.98719333e-01 4.94048750e-02 1.09019052e-02 5.75080134e+02] [-4.94141501e-02 9.98778205e-01 5.82894797e-04 6.21355875e+01] [-1.08597875e-02 -1.12085668e-03 9.99940403e-01 -2.56887750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.601400513 meters 0.09610560016057829 Centerline is valid? [True, True] Translation: X:575.11, Y:62.13, Z:-2.57 [[ 9.98788038e-01 4.78694645e-02 1.14442224e-02 5.75110825e+02] [-4.78795864e-02 9.98852927e-01 6.11958118e-04 6.21326479e+01] [-1.14018010e-02 -1.15916108e-03 9.99934325e-01 -2.56882297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.631400513 meters 0.08979251050136831 Centerline is valid? [True, True] Translation: X:575.14, Y:62.13, Z:-2.57 [[ 9.98888858e-01 4.58909380e-02 1.07271531e-02 5.75141614e+02] [-4.58997191e-02 9.98945888e-01 5.73695241e-04 6.21270867e+01] [-1.06895181e-02 -1.06543110e-03 9.99942298e-01 -2.57016725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.661400513 meters 0.09559074200054567 Centerline is valid? [True, True] Translation: X:575.17, Y:62.14, Z:-2.57 [[ 9.98988410e-01 4.38687103e-02 9.88395910e-03 5.75170506e+02] [-4.38760676e-02 9.99036842e-01 5.28665163e-04 6.21359675e+01] [-9.85124742e-03 -9.61799629e-04 9.99951013e-01 -2.57021734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.691400513 meters 0.08853642597362503 Centerline is valid? [True, True] Translation: X:575.20, Y:62.13, Z:-2.57 [[ 9.99114768e-01 4.10559326e-02 9.17006604e-03 5.75201314e+02] [-4.10621495e-02 9.99156474e-01 4.90631078e-04 6.21288181e+01] [-9.14218753e-03 -8.66739378e-04 9.99957834e-01 -2.57210922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.721400513 meters 0.08754438426010121 Centerline is valid? [True, True] Translation: X:575.23, Y:62.13, Z:-2.57 [[ 9.99180979e-01 3.94967362e-02 8.79658267e-03 5.75231694e+02] [-3.95023989e-02 9.99219365e-01 4.70859021e-04 6.21295887e+01] [-8.77111835e-03 -8.17959495e-04 9.99961198e-01 -2.57340769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.751400513 meters 0.08275350236176454 Centerline is valid? [True, True] Translation: X:575.26, Y:62.13, Z:-2.57 [[ 9.99395729e-01 3.31710412e-02 1.03855526e-02 5.75262652e+02] [-3.31785971e-02 9.99449284e-01 5.56044938e-04 6.21265737e+01] [-1.03613886e-02 -9.00287003e-04 9.99945914e-01 -2.56981477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.781400513 meters 0.07420511443766507 Centerline is valid? [True, True] Translation: X:575.29, Y:62.12, Z:-2.57 [[ 9.99471710e-01 3.07059954e-02 1.06509530e-02 5.75293581e+02] [-3.07138041e-02 9.99528057e-01 5.70312612e-04 6.21188731e+01] [-1.06284143e-02 -8.97142604e-04 9.99943114e-01 -2.56873105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.811400513 meters 0.07410026419869643 Centerline is valid? [True, True] Translation: X:575.32, Y:62.12, Z:-2.57 [[ 9.99503316e-01 2.97321662e-02 1.04460609e-02 5.75321863e+02] [-2.97396257e-02 9.99557523e-01 5.59452044e-04 6.21206968e+01] [-1.04248051e-02 -8.69836115e-04 9.99945282e-01 -2.56802075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.841400513 meters 0.08969478567133655 Centerline is valid? [True, True] Translation: X:575.35, Y:62.14, Z:-2.57 [[ 9.99513140e-01 2.95787163e-02 9.92886080e-03 5.75348304e+02] [-2.95854525e-02 9.99562113e-01 5.32220886e-04 6.21420392e+01] [-9.90877067e-03 -8.25711608e-04 9.99950566e-01 -2.56812696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.871400513 meters 0.06634417832236042 Centerline is valid? [True, True] Translation: X:575.38, Y:62.11, Z:-2.57 [[ 9.99504671e-01 2.98655672e-02 9.92277613e-03 5.75378206e+02] [-2.98723164e-02 9.99553581e-01 5.32626238e-04 6.21143231e+01] [-9.90243922e-03 -8.28778721e-04 9.99950626e-01 -2.56880887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.901400513 meters 0.06910748525807095 Centerline is valid? [True, True] Translation: X:575.41, Y:62.12, Z:-2.57 [[ 9.99539117e-01 2.78323289e-02 1.21208150e-02 5.75407165e+02] [-2.78422749e-02 9.99612116e-01 6.52571671e-04 6.21194704e+01] [-1.20979509e-02 -9.89741976e-04 9.99926327e-01 -2.56804712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.931400513 meters 0.06612132742008671 Centerline is valid? [True, True] Translation: X:575.44, Y:62.12, Z:-2.57 [[ 9.99595188e-01 2.59839626e-02 1.15884880e-02 5.75437216e+02] [-2.59929335e-02 9.99661932e-01 6.24151290e-04 6.21176582e+01] [-1.15683523e-02 -9.25117423e-04 9.99932656e-01 -2.56896116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.961400513 meters 0.06651357630694242 Centerline is valid? [True, True] Translation: X:575.47, Y:62.12, Z:-2.57 [[ 9.99660836e-01 2.39338424e-02 1.02656920e-02 5.75466147e+02] [-2.39407759e-02 9.99713226e-01 5.53027846e-04 6.21202664e+01] [-1.02495120e-02 -7.98608912e-04 9.99947153e-01 -2.57070260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.991400513 meters 0.06651357630694242 Centerline is valid? [True, True] Translation: X:575.49, Y:62.12, Z:-2.57 [[ 9.99662593e-01 2.38603590e-02 1.02656779e-02 5.75493606e+02] [-2.38672913e-02 9.99714983e-01 5.53290764e-04 6.21218640e+01] [-1.02495503e-02 -7.98118004e-04 9.99947153e-01 -2.57094308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.021400513 meters 0.06338024853851128 Centerline is valid? [True, True] Translation: X:575.52, Y:62.12, Z:-2.57 [[ 9.99771864e-01 1.92368356e-02 9.28243552e-03 5.75522929e+02] [-1.92423108e-02 9.99814724e-01 5.00886096e-04 6.21193487e+01] [-9.27108024e-03 -6.79387335e-04 9.99956792e-01 -2.57232924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.051400513 meters 0.06309965257207178 Centerline is valid? [True, True] Translation: X:575.55, Y:62.12, Z:-2.57 [[ 9.99775515e-01 1.88994771e-02 9.57749547e-03 5.75551512e+02] [-1.89052921e-02 9.99821145e-01 5.16973174e-04 6.21218309e+01] [-9.56601197e-03 -6.97922471e-04 9.99954001e-01 -2.57171815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.081400513 meters 0.049322586609819474 Centerline is valid? [True, True] Translation: X:575.58, Y:62.11, Z:-2.57 [[ 9.99763899e-01 1.85983665e-02 1.12360017e-02 5.75580911e+02] [-1.86063580e-02 9.99826702e-01 6.07115649e-04 6.21063787e+01] [-1.12227632e-02 -8.16033379e-04 9.99936690e-01 -2.56953868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.111400513 meters 0.04982974632338268 Centerline is valid? [True, True] Translation: X:575.61, Y:62.11, Z:-2.57 [[ 9.99768249e-01 1.78473476e-02 1.20382855e-02 5.75609310e+02] [-1.78564744e-02 9.99840348e-01 6.51077915e-04 6.21085238e+01] [-1.20247436e-02 -8.65888365e-04 9.99927325e-01 -2.56957174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.141400513 meters 0.06456597765369428 Centerline is valid? [True, True] Translation: X:575.64, Y:62.13, Z:-2.57 [[ 9.99783821e-01 1.71557457e-02 1.17469495e-02 5.75636117e+02] [-1.71643948e-02 9.99852479e-01 6.35858679e-04 6.21289720e+01] [-1.17343080e-02 -8.37350499e-04 9.99930800e-01 -2.56934875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.171400513 meters 0.06227022303612819 Centerline is valid? [True, True] Translation: X:575.66, Y:62.13, Z:-2.57 [[ 9.99797828e-01 1.68680417e-02 1.09440437e-02 5.75664980e+02] [-1.68755371e-02 9.99857422e-01 5.92897628e-04 6.21278800e+01] [-1.09324823e-02 -7.77464376e-04 9.99939936e-01 -2.56993256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.201400513 meters 0.06035434831710499 Centerline is valid? [True, True] Translation: X:575.69, Y:62.13, Z:-2.57 [[ 9.99807828e-01 1.63816410e-02 1.07679326e-02 5.75693639e+02] [-1.63888746e-02 9.99865523e-01 5.83865511e-04 6.21276124e+01] [-1.07569198e-02 -7.60227605e-04 9.99941854e-01 -2.57087239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.231400513 meters 0.05930558684505233 Centerline is valid? [True, True] Translation: X:575.72, Y:62.13, Z:-2.57 [[ 9.99810695e-01 1.58946531e-02 1.12220036e-02 5.75722792e+02] [-1.59024853e-02 9.99873362e-01 6.09047599e-04 6.21279430e+01] [-1.12109019e-02 -7.87390051e-04 9.99936846e-01 -2.57014205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.261400513 meters 0.0627684502795517 Centerline is valid? [True, True] Translation: X:575.75, Y:62.13, Z:-2.57 [[ 9.99799863e-01 1.65934722e-02 1.11754542e-02 5.75750216e+02] [-1.66012896e-02 9.99862005e-01 6.07111376e-04 6.21345358e+01] [-1.11638380e-02 -7.92516823e-04 9.99937368e-01 -2.56926998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.291400513 meters 0.06226466646064426 Centerline is valid? [True, True] Translation: X:575.78, Y:62.13, Z:-2.57 [[ 9.99799815e-01 1.65071335e-02 1.13068378e-02 5.75778009e+02] [-1.65151393e-02 9.99863427e-01 6.15036243e-04 6.21349725e+01] [-1.12951411e-02 -8.01647123e-04 9.99935887e-01 -2.57024441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.321400513 meters 0.0636369789759722 Centerline is valid? [True, True] Translation: X:575.81, Y:62.14, Z:-2.57 [[ 9.99817639e-01 1.63206665e-02 9.91592518e-03 5.75806097e+02] [-1.63268205e-02 9.99866563e-01 5.39987651e-04 6.21382272e+01] [-9.90578907e-03 -7.01784709e-04 9.99950690e-01 -2.57214122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.351400513 meters 0.060551930756335685 Centerline is valid? [True, True] Translation: X:575.84, Y:62.14, Z:-2.57 [[ 9.99813506e-01 1.68863045e-02 9.37046062e-03 5.75835267e+02] [-1.68918288e-02 9.99857192e-01 5.10710232e-04 6.21363019e+01] [-9.36049844e-03 -6.68899205e-04 9.99955966e-01 -2.57179052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.381400513 meters 0.0672591846702845 Centerline is valid? [True, True] Translation: X:575.86, Y:62.15, Z:-2.57 [[ 9.99807490e-01 1.78059847e-02 8.24200780e-03 5.75862864e+02] [-1.78102925e-02 9.99841283e-01 4.49557432e-04 6.21468400e+01] [-8.23269485e-03 -5.96263457e-04 9.99965933e-01 -2.57280596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.411400513 meters 0.06279675727532383 Centerline is valid? [True, True] Translation: X:575.89, Y:62.14, Z:-2.57 [[ 9.99796583e-01 1.87239461e-02 7.49704307e-03 5.75892920e+02] [-1.87275386e-02 9.99824541e-01 4.09265143e-04 6.21428924e+01] [-7.48806458e-03 -5.49583055e-04 9.99971813e-01 -2.57432452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.441400513 meters 0.0630554837911946 Centerline is valid? [True, True] Translation: X:575.92, Y:62.15, Z:-2.57 [[ 9.99769858e-01 1.98937305e-02 8.02931254e-03 5.75921865e+02] [-1.98978903e-02 9.99801921e-01 4.38522748e-04 6.21451251e+01] [-8.01899825e-03 -5.98188205e-04 9.99967668e-01 -2.57322797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.471400513 meters 0.06965133611205351 Centerline is valid? [True, True] Translation: X:575.95, Y:62.16, Z:-2.57 [[ 9.99765579e-01 1.99919047e-02 8.31324197e-03 5.75949420e+02] [-1.99963698e-02 9.99799949e-01 4.54334742e-04 6.21559773e+01] [-8.30249588e-03 -6.20462897e-04 9.99965341e-01 -2.57258134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.501400513 meters 0.06041806255779019 Centerline is valid? [True, True] Translation: X:575.98, Y:62.15, Z:-2.57 [[ 9.99773760e-01 1.92500596e-02 9.04791423e-03 5.75979165e+02] [-1.92553241e-02 9.99814476e-01 4.95088799e-04 6.21460864e+01] [-9.03670514e-03 -6.69197311e-04 9.99958944e-01 -2.57122201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.531400513 meters 0.06292613409243043 Centerline is valid? [True, True] Translation: X:576.01, Y:62.15, Z:-2.57 [[ 9.99789670e-01 1.86410840e-02 8.55131921e-03 5.76007145e+02] [-1.86457704e-02 9.99826043e-01 4.68628972e-04 6.21520326e+01] [-8.54109589e-03 -6.27976340e-04 9.99963327e-01 -2.57157634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.561400513 meters 0.061777291347381365 Centerline is valid? [True, True] Translation: X:576.04, Y:62.15, Z:-2.57 [[ 9.99805390e-01 1.76614569e-02 8.78943700e-03 5.76036250e+02] [-1.76663742e-02 9.99843821e-01 4.82122712e-04 6.21525330e+01] [-8.77954929e-03 -6.37306370e-04 9.99961256e-01 -2.57183055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.591400513 meters 0.05749979051414718 Centerline is valid? [True, True] Translation: X:576.07, Y:62.15, Z:-2.57 [[ 9.99815761e-01 1.67835830e-02 9.31423754e-03 5.76065703e+02] [-1.67890706e-02 9.99858923e-01 5.11271250e-04 6.21487768e+01] [-9.30434255e-03 -6.67554445e-04 9.99956491e-01 -2.57202047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.621400513 meters 0.059332284785980065 Centerline is valid? [True, True] Translation: X:576.09, Y:62.15, Z:-2.57 [[ 9.99822152e-01 1.59363557e-02 1.00845291e-02 5.76093132e+02] [-1.59427500e-02 9.99872753e-01 5.53991316e-04 6.21528662e+01] [-1.00744173e-02 -7.14667916e-04 9.99948996e-01 -2.57214697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.651400513 meters 0.0603475502259555 Centerline is valid? [True, True] Translation: X:576.12, Y:62.16, Z:-2.57 [[ 9.99834972e-01 1.52401326e-02 9.88768471e-03 5.76121157e+02] [-1.52462516e-02 9.99883621e-01 5.43763927e-04 6.21563456e+01] [-9.87824696e-03 -6.94424320e-04 9.99950968e-01 -2.57262687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.681400513 meters 0.056727733763944 Centerline is valid? [True, True] Translation: X:576.15, Y:62.15, Z:-2.57 [[ 9.99855001e-01 1.34435736e-02 1.04521195e-02 5.76151800e+02] [-1.34503184e-02 9.99909375e-01 5.75274839e-04 6.21528371e+01] [-1.04434385e-02 -7.15775760e-04 9.99945210e-01 -2.57233939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.711400513 meters 0.058706916797029954 Centerline is valid? [True, True] Translation: X:576.18, Y:62.16, Z:-2.57 [[ 9.99855574e-01 1.50413604e-02 7.91129009e-03 5.76181306e+02] [-1.50452748e-02 9.99886719e-01 4.35491697e-04 6.21577234e+01] [-7.90384351e-03 -5.54456334e-04 9.99968610e-01 -2.57370278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.741400513 meters 0.06829177985215724 Centerline is valid? [True, True] Translation: X:576.21, Y:62.17, Z:-2.58 [[ 9.99836351e-01 1.65048861e-02 7.40676625e-03 5.76208978e+02] [-1.65083580e-02 9.99863645e-01 4.07846996e-04 6.21702999e+01] [-7.39902483e-03 -5.30053801e-04 9.99972486e-01 -2.57507201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.771400513 meters 0.06330966871606564 Centerline is valid? [True, True] Translation: X:576.24, Y:62.17, Z:-2.57 [[ 9.99796501e-01 1.86915760e-02 7.58822739e-03 5.76239342e+02] [-1.86952861e-02 9.99825140e-01 4.18281673e-04 6.21653300e+01] [-7.57908217e-03 -5.60060636e-04 9.99971122e-01 -2.57432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.801400513 meters 0.0642092960598006 Centerline is valid? [True, True] Translation: X:576.27, Y:62.17, Z:-2.57 [[ 9.99720543e-01 2.19085940e-02 8.87968362e-03 5.76269560e+02] [-2.19138017e-02 9.99759744e-01 4.89595132e-04 6.21689173e+01] [-8.86682388e-03 -6.84045938e-04 9.99960455e-01 -2.57316077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.831400513 meters 0.06726877194272438 Centerline is valid? [True, True] Translation: X:576.30, Y:62.18, Z:-2.57 [[ 9.99553709e-01 2.67759894e-02 1.32449381e-02 5.76300126e+02] [-2.67880012e-02 9.99640870e-01 7.30291134e-04 6.21762171e+01] [-1.32206272e-02 -1.08477063e-03 9.99912015e-01 -2.56728071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.861400513 meters 0.07622254723705055 Centerline is valid? [True, True] Translation: X:576.33, Y:62.19, Z:-2.57 [[ 9.99525630e-01 2.78020139e-02 1.32499844e-02 5.76327637e+02] [-2.78141279e-02 9.99612845e-01 7.30825819e-04 6.21889836e+01] [-1.32245361e-02 -1.09901590e-03 9.99911948e-01 -2.56699257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.891400513 meters 0.06754031337416838 Centerline is valid? [True, True] Translation: X:576.36, Y:62.18, Z:-2.57 [[ 9.99539011e-01 2.80262929e-02 1.16743918e-02 5.76356768e+02] [-2.80357182e-02 9.99606714e-01 6.44449033e-04 6.21792661e+01] [-1.16517389e-02 -9.71451910e-04 9.99931644e-01 -2.57037791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.921400513 meters 0.06455728063500311 Centerline is valid? [True, True] Translation: X:576.39, Y:62.18, Z:-2.58 [[ 9.99654325e-01 2.48728695e-02 8.51882341e-03 5.76387422e+02] [-2.48777770e-02 9.99690389e-01 4.70572683e-04 6.21755587e+01] [-8.50448140e-03 -6.82339407e-04 9.99963603e-01 -2.57626092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.951400513 meters 0.06298181452240455 Centerline is valid? [True, True] Translation: X:576.42, Y:62.18, Z:-2.58 [[ 9.99714834e-01 2.23649528e-02 8.37018465e-03 5.76417741e+02] [-2.23696036e-02 9.99749662e-01 4.62421741e-04 6.21753368e+01] [-8.35774724e-03 -6.49527587e-04 9.99964862e-01 -2.57596951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.981400513 meters 0.06527831992533423 Centerline is valid? [True, True] Translation: X:576.45, Y:62.18, Z:-2.57 [[ 9.99730481e-01 2.15204179e-02 8.70845088e-03 5.76445346e+02] [-2.15254207e-02 9.99768186e-01 4.81141802e-04 6.21806183e+01] [-8.69607776e-03 -6.68465194e-04 9.99961965e-01 -2.57494528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.011400513 meters 0.06606562654731939 Centerline is valid? [True, True] Translation: X:576.47, Y:62.18, Z:-2.58 [[ 9.99731671e-01 2.14544973e-02 8.73446319e-03 5.76473397e+02] [-2.14595322e-02 9.99769601e-01 4.83122560e-04 6.21838100e+01] [-8.72208563e-03 -6.70430418e-04 9.99961737e-01 -2.57519451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.041400513 meters 0.06385227289916277 Centerline is valid? [True, True] Translation: X:576.50, Y:62.18, Z:-2.58 [[ 9.99743795e-01 2.10356846e-02 8.35726945e-03 5.76502215e+02] [-2.10402837e-02 9.99778522e-01 4.62754859e-04 6.21826429e+01] [-8.34568413e-03 -6.38475619e-04 9.99964970e-01 -2.57607315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.071400513 meters 0.07031659235291811 Centerline is valid? [True, True] Translation: X:576.53, Y:62.19, Z:-2.58 [[ 9.99770161e-01 1.96414357e-02 8.59293618e-03 5.76530139e+02] [-1.96462504e-02 9.99806880e-01 4.76246466e-04 6.21934166e+01] [-8.58192255e-03 -6.44955982e-04 9.99962967e-01 -2.57619858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.101400513 meters 0.06113670208496361 Centerline is valid? [True, True] Translation: X:576.56, Y:62.18, Z:-2.57 [[ 9.99831312e-01 1.57398570e-02 9.46600997e-03 5.76561188e+02] [-1.57455293e-02 9.99875894e-01 5.24997012e-04 6.21839569e+01] [-9.45657180e-03 -6.73955788e-04 9.99955059e-01 -2.57452990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.131400513 meters 0.06185643549314961 Centerline is valid? [True, True] Translation: X:576.59, Y:62.19, Z:-2.57 [[ 9.99878483e-01 1.24408905e-02 9.39379603e-03 5.76590868e+02] [-1.24463324e-02 9.99922406e-01 5.21067851e-04 6.21869750e+01] [-9.38658458e-03 -6.37922841e-04 9.99955742e-01 -2.57432879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.161400513 meters 0.06066610938002774 Centerline is valid? [True, True] Translation: X:576.62, Y:62.19, Z:-2.58 [[ 9.99913231e-01 1.00532985e-02 8.51242409e-03 5.76621211e+02] [-1.00576811e-02 9.99949309e-01 4.72193897e-04 6.21872768e+01] [-8.50724548e-03 -5.57768172e-04 9.99963657e-01 -2.57650905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.191400513 meters 0.04804376538796864 Centerline is valid? [True, True] Translation: X:576.65, Y:62.17, Z:-2.58 [[ 9.99979017e-01 4.28503697e-03 4.85844788e-03 5.76652636e+02] [-4.28639681e-03 9.99990777e-01 2.69514542e-04 6.21721660e+01] [-4.85724819e-03 -2.90334122e-04 9.99988161e-01 -2.58104570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.221400513 meters 0.04896751141194348 Centerline is valid? [True, True] Translation: X:576.68, Y:62.17, Z:-2.58 [[ 9.99989555e-01 2.57300654e-03 3.77738720e-03 5.76681785e+02] [-2.57381617e-03 9.99996666e-01 2.09490253e-04 6.21749011e+01] [-3.77683559e-03 -2.19210365e-04 9.99992844e-01 -2.58256701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.251400513 meters 0.050779003320153795 Centerline is valid? [True, True] Translation: X:576.71, Y:62.18, Z:-2.58 [[ 9.99992051e-01 3.68773659e-04 3.97020199e-03 5.76711703e+02] [-3.69651188e-04 9.99999907e-01 2.20297362e-04 6.21790835e+01] [-3.97012038e-03 -2.21763201e-04 9.99992094e-01 -2.58244510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.281400513 meters 0.04851184860642514 Centerline is valid? [True, True] Translation: X:576.75, Y:62.18, Z:-2.58 [[ 9.99992855e-01 4.58122223e-04 3.75231471e-03 5.76745010e+02] [-4.58910319e-04 9.99999873e-01 2.09171091e-04 6.21792042e+01] [-3.75221840e-03 -2.10891572e-04 9.99992938e-01 -2.58080752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.311400513 meters 0.04698509673259761 Centerline is valid? [True, True] Translation: X:576.78, Y:62.18, Z:-2.58 [[ 9.99988746e-01 -1.76051648e-03 4.40542877e-03 5.76775656e+02] [ 1.75946037e-03 9.99998422e-01 2.43593047e-04 6.21783781e+01] [-4.40585067e-03 -2.35839129e-04 9.99990266e-01 -2.57964516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.341400513 meters 0.0460722028328019 Centerline is valid? [True, True] Translation: X:576.81, Y:62.18, Z:-2.58 [[ 9.99994531e-01 -1.64532295e-03 2.86897377e-03 5.76807825e+02] [ 1.64487376e-03 9.99998635e-01 1.58921830e-04 6.21790261e+01] [-2.86923133e-03 -1.54201861e-04 9.99995872e-01 -2.58209442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.371400513 meters 0.04565327368029135 Centerline is valid? [True, True] Translation: X:576.84, Y:62.18, Z:-2.58 [[ 9.99989421e-01 -3.78800478e-03 2.60950174e-03 5.76837447e+02] [ 3.78764164e-03 9.99992816e-01 1.44088475e-04 6.21791557e+01] [-2.61002880e-03 -1.34203093e-04 9.99996585e-01 -2.58364565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.401400513 meters 0.04409682883167229 Centerline is valid? [True, True] Translation: X:576.87, Y:62.18, Z:-2.58 [[ 9.99972397e-01 -6.57292002e-03 3.46438076e-03 5.76865235e+02] [ 6.59379286e-03 9.99959969e-01 -6.04840022e-03 6.21843995e+01] [-3.42448643e-03 6.07107668e-03 9.99975707e-01 -2.57736062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.431400513 meters 0.046971058200213786 Centerline is valid? [True, True] Translation: X:576.90, Y:62.18, Z:-2.59 [[ 9.99967725e-01 -7.74689148e-03 2.12970100e-03 5.76899801e+02] [ 7.73319266e-03 9.99949828e-01 6.36696651e-03 6.21786176e+01] [-2.17891835e-03 -6.35029163e-03 9.99977463e-01 -2.59134877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.461400513 meters 0.039839856910119036 Centerline is valid? [True, True] Translation: X:576.93, Y:62.18, Z:-2.58 [[ 9.99951540e-01 -9.47401294e-03 2.67604823e-03 5.76931463e+02] [ 9.47365100e-03 9.99955113e-01 1.47897549e-04 6.21761516e+01] [-2.67732929e-03 -1.22538435e-04 9.99996408e-01 -2.58398357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.491400513 meters 0.03973822851051243 Centerline is valid? [True, True] Translation: X:576.96, Y:62.18, Z:-2.58 [[ 9.99941325e-01 -1.07366817e-02 1.43894902e-03 5.76964094e+02] [ 1.07365775e-02 9.99942358e-01 8.00840131e-05 6.21772658e+01] [-1.43972591e-03 -6.46299265e-05 9.99998962e-01 -2.58472989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.521400513 meters 0.04039571929828246 Centerline is valid? [True, True] Translation: X:577.00, Y:62.18, Z:-2.58 [[ 9.99955377e-01 -9.34834383e-03 1.36069442e-03 5.76995310e+02] [ 9.34825009e-03 9.99956301e-01 7.52347997e-05 6.21792033e+01] [-1.36133829e-03 -6.25113307e-05 9.99999071e-01 -2.58381968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.551400513 meters 0.034500972784276905 Centerline is valid? [True, True] Translation: X:577.03, Y:62.18, Z:-2.58 [[ 9.99926351e-01 -1.18459750e-02 2.63908884e-03 5.77026490e+02] [ 1.18545297e-02 9.99924451e-01 -3.24983543e-03 6.21792882e+01] [-2.60039200e-03 3.28088124e-03 9.99991237e-01 -2.57865098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.581400513 meters 0.042819633362545156 Centerline is valid? [True, True] Translation: X:577.06, Y:62.18, Z:-2.59 [[ 9.99958169e-01 -8.96844479e-03 1.79664879e-03 5.77056461e+02] [ 8.96218673e-03 9.99953848e-01 3.46146701e-03 6.21832313e+01] [-1.82760985e-03 -3.44522031e-03 9.99992395e-01 -2.58616467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.611400513 meters 0.037485589851016125 Centerline is valid? [True, True] Translation: X:577.09, Y:62.19, Z:-2.58 [[ 9.99919074e-01 -1.17801603e-02 4.80345928e-03 5.77087923e+02] [ 1.17923259e-02 9.99927312e-01 -2.51226256e-03 6.21850957e+01] [-4.77351527e-03 2.56870321e-03 9.99985308e-01 -2.57738580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.641400513 meters 0.03358805188470151 Centerline is valid? [True, True] Translation: X:577.12, Y:62.17, Z:-2.59 [[ 9.99912339e-01 -1.21764925e-02 5.20069114e-03 5.77124151e+02] [ 1.21422046e-02 9.99904668e-01 6.57439675e-03 6.21741117e+01] [-5.28024843e-03 -6.51067257e-03 9.99964864e-01 -2.58556781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.671400513 meters 0.044127617263830125 Centerline is valid? [True, True] Translation: X:577.15, Y:62.19, Z:-2.58 [[ 9.99981987e-01 -5.86937760e-03 1.25512633e-03 5.77148816e+02] [ 5.87488408e-03 9.99972932e-01 -4.42945167e-03 6.21937920e+01] [-1.22909424e-03 4.43674561e-03 9.99989402e-01 -2.57921567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.701400513 meters 0.03655182181233684 Centerline is valid? [True, True] Translation: X:577.19, Y:62.18, Z:-2.59 [[ 9.99937847e-01 -1.02877045e-02 4.29712412e-03 5.77187188e+02] [ 1.02640060e-02 9.99932192e-01 5.50108009e-03 6.21805690e+01] [-4.35342623e-03 -5.45663248e-03 9.99975636e-01 -2.58656173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.731400513 meters 0.040002476701909505 Centerline is valid? [True, True] Translation: X:577.21, Y:62.19, Z:-2.58 [[ 9.99952290e-01 -8.11586608e-03 5.43594502e-03 5.77207369e+02] [ 8.13494445e-03 9.99960797e-01 -3.49680175e-03 6.21938472e+01] [-5.40735234e-03 3.54085603e-03 9.99979111e-01 -2.57672443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.761400513 meters 0.06724247805509502 Centerline is valid? [True, True] Translation: X:577.24, Y:62.21, Z:-2.59 [[ 9.99923028e-01 -6.23092780e-03 1.07291174e-02 5.77240673e+02] [ 6.09529785e-03 9.99901687e-01 1.26279287e-02 6.22104827e+01] [-1.08067463e-02 -1.25615595e-02 9.99862701e-01 -2.59408751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.791400513 meters 0.032851659648078464 Centerline is valid? [True, True] Translation: X:577.27, Y:62.19, Z:-2.58 [[ 9.99892598e-01 -1.05434298e-02 1.01797684e-02 5.77271845e+02] [ 1.05872606e-02 9.99934873e-01 -4.26143160e-03 6.21915655e+01] [-1.01341753e-02 4.36874977e-03 9.99939104e-01 -2.57535163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.821400513 meters 0.052546018164131764 Centerline is valid? [True, True] Translation: X:577.29, Y:62.22, Z:-2.58 [[ 9.99974410e-01 -3.42462620e-03 6.28096893e-03 5.77294537e+02] [ 3.46775864e-03 9.99970394e-01 -6.86917605e-03 6.22154863e+01] [-6.25725861e-03 6.89078116e-03 9.99956681e-01 -2.57588339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.851400513 meters 0.04677969382696565 Centerline is valid? [True, True] Translation: X:577.33, Y:62.20, Z:-2.58 [[ 9.99972472e-01 -4.55669412e-03 5.85588456e-03 5.77326876e+02] [ 4.55481621e-03 9.99989571e-01 3.33985723e-04 6.22017125e+01] [-5.85734536e-03 -3.07304052e-04 9.99982798e-01 -2.58313261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.881400513 meters 0.07962152489756383 Centerline is valid? [True, True] Translation: X:577.36, Y:62.25, Z:-2.59 [[ 9.99747206e-01 -1.86620685e-02 1.25399547e-02 5.77355310e+02] [ 1.86226009e-02 9.99821280e-01 3.25678815e-03 6.22509440e+01] [-1.25984920e-02 -3.02243828e-03 9.99916068e-01 -2.59352296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.911400513 meters 0.07962152489756383 Centerline is valid? [True, True] Translation: X:577.39, Y:62.25, Z:-2.59 [[ 9.99751047e-01 -1.83138708e-02 1.27454495e-02 5.77388007e+02] [ 1.83069043e-02 9.99832195e-01 6.63048481e-04 6.22543559e+01] [-1.27554538e-02 -4.29553687e-04 9.99918554e-01 -2.59139961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.941400513 meters 0.07382939041858817 Centerline is valid? [True, True] Translation: X:577.42, Y:62.25, Z:-2.60 [[ 9.99751822e-01 -1.82981210e-02 1.27072402e-02 5.77419692e+02] [ 1.82686329e-02 9.99830155e-01 2.43279879e-03 6.22461934e+01] [-1.27495976e-02 -2.20005112e-03 9.99916300e-01 -2.59585420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.971400513 meters 0.07737682302872384 Centerline is valid? [True, True] Translation: X:577.45, Y:62.26, Z:-2.59 [[ 9.99836512e-01 -1.55296928e-02 9.26160583e-03 5.77448925e+02] [ 1.55739508e-02 9.99867551e-01 -4.72582920e-03 6.22555766e+01] [-9.18698846e-03 4.86929638e-03 9.99945943e-01 -2.58879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.001400513 meters 0.08707281038453742 Centerline is valid? [True, True] Translation: X:577.48, Y:62.27, Z:-2.59 [[ 9.99855344e-01 -1.65135453e-02 4.07366458e-03 5.77480061e+02] [ 1.65264753e-02 9.99858432e-01 -3.16106846e-03 6.22675256e+01] [-4.02088743e-03 3.22793451e-03 9.99986706e-01 -2.59429964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.031400513 meters 0.05141872327164381 Centerline is valid? [True, True] Translation: X:577.51, Y:62.21, Z:-2.60 [[ 9.99999260e-01 -2.09414660e-04 -1.19875087e-03 5.77514930e+02] [ 2.14404446e-04 9.99991308e-01 4.16387391e-03 6.22110454e+01] [ 1.19786848e-03 -4.16412784e-03 9.99990613e-01 -2.59684813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.061400513 meters 0.05600931144315141 Centerline is valid? [True, True] Translation: X:577.54, Y:62.22, Z:-2.59 [[ 9.99999678e-01 7.25826448e-04 3.41043576e-04 5.77543675e+02] [-7.25832994e-04 9.99999736e-01 1.90701697e-05 6.22218160e+01] [-3.41029645e-04 -1.93177043e-05 9.99999942e-01 -2.59244371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.091400513 meters 0.05469259661885287 Centerline is valid? [True, True] Translation: X:577.57, Y:62.22, Z:-2.59 [[ 9.99996043e-01 2.53817551e-03 1.21307451e-03 5.77574276e+02] [-2.53826019e-03 9.99996776e-01 6.82740481e-05 6.22223798e+01] [-1.21289731e-03 -7.13528767e-05 9.99999262e-01 -2.58987816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.121400513 meters 0.055175770159431876 Centerline is valid? [True, True] Translation: X:577.60, Y:62.23, Z:-2.59 [[ 9.99984413e-01 5.40467908e-03 1.40090123e-03 5.77604563e+02] [-5.40479474e-03 9.99985391e-01 7.87891849e-05 6.22259657e+01] [-1.40045493e-03 -8.63595405e-05 9.99999016e-01 -2.58917805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.151400513 meters 0.05702343614147261 Centerline is valid? [True, True] Translation: X:577.63, Y:62.23, Z:-2.59 [[ 9.99986527e-01 5.11696834e-03 8.73133506e-04 5.77632490e+02] [-5.11701270e-03 9.99986907e-01 4.85744667e-05 6.22300597e+01] [-8.72873520e-04 -5.30416475e-05 9.99999618e-01 -2.59066829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.181400513 meters 0.09293064297890309 Centerline is valid? [True, True] Translation: X:577.66, Y:62.28, Z:-2.61 [[ 9.99924776e-01 -8.44411057e-03 8.89605229e-03 5.77658302e+02] [ 8.39015774e-03 9.99946289e-01 6.08476895e-03 6.22805913e+01] [-8.94695493e-03 -6.00967195e-03 9.99941916e-01 -2.61259388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.211400513 meters 0.06312385352053697 Centerline is valid? [True, True] Translation: X:577.69, Y:62.25, Z:-2.59 [[ 9.99968792e-01 7.89741249e-03 2.14466740e-04 5.77691883e+02] [-7.89610819e-03 9.99953582e-01 -5.52133720e-03 6.22473651e+01] [-2.58061063e-04 5.51947144e-03 9.99984734e-01 -2.58637058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.241400513 meters 0.0599498466837439 Centerline is valid? [True, True] Translation: X:577.72, Y:62.24, Z:-2.59 [[ 9.99961443e-01 8.78065679e-03 1.15057792e-04 5.77721612e+02] [-8.78065757e-03 9.99961449e-01 6.23302447e-06 6.22414592e+01] [-1.14998627e-04 -7.24306722e-06 9.99999993e-01 -2.59048719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.271400513 meters 0.06079110151309969 Centerline is valid? [True, True] Translation: X:577.75, Y:62.24, Z:-2.59 [[ 9.99941988e-01 1.07494159e-02 6.85492142e-04 5.77751298e+02] [-1.07494448e-02 9.99942222e-01 3.85115565e-05 6.22449626e+01] [-6.85038559e-04 -4.58779823e-05 9.99999764e-01 -2.58914948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.301400513 meters 0.0638259923966641 Centerline is valid? [True, True] Translation: X:577.78, Y:62.25, Z:-2.59 [[ 9.99920207e-01 1.24745133e-02 1.99151310e-03 5.77779678e+02] [-1.24747609e-02 9.99922181e-01 1.11949976e-04 6.22513467e+01] [-1.98996160e-03 -1.36784693e-04 9.99998011e-01 -2.58804136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.331400513 meters 0.06977374680001808 Centerline is valid? [True, True] Translation: X:577.81, Y:62.26, Z:-2.58 [[ 9.99858429e-01 1.59438881e-02 5.37715937e-03 5.77808375e+02] [-1.59457481e-02 9.99872813e-01 3.03214906e-04 6.22625917e+01] [-5.37164104e-03 -3.88914808e-04 9.99985497e-01 -2.58310728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.361400513 meters 0.06643358547465716 Centerline is valid? [True, True] Translation: X:577.84, Y:62.26, Z:-2.58 [[ 9.99840247e-01 1.67148164e-02 6.33205931e-03 5.77837197e+02] [-1.67174108e-02 9.99860191e-01 3.57014602e-04 6.22616189e+01] [-6.32520659e-03 -4.62813204e-04 9.99979889e-01 -2.58152495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.391400513 meters 0.07364534816921459 Centerline is valid? [True, True] Translation: X:577.86, Y:62.27, Z:-2.58 [[ 9.99837665e-01 1.69309032e-02 6.16352994e-03 5.77864460e+02] [-1.69333669e-02 9.99856560e-01 3.47747240e-04 6.22729368e+01] [-6.15675817e-03 -4.52060102e-04 9.99980945e-01 -2.58308537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.421400513 meters 0.06571330109676735 Centerline is valid? [True, True] Translation: X:577.89, Y:62.26, Z:-2.58 [[ 9.99831495e-01 1.73666956e-02 5.94798346e-03 5.77893248e+02] [-1.73689996e-02 9.99849091e-01 3.35917455e-04 6.22638599e+01] [-5.94125208e-03 -4.39171373e-04 9.99982254e-01 -2.58366957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.451400513 meters 0.06257707554825967 Centerline is valid? [True, True] Translation: X:577.92, Y:62.26, Z:-2.58 [[ 9.99853618e-01 1.62902699e-02 5.23164925e-03 5.77922513e+02] [-1.62920384e-02 9.99867232e-01 2.95599112e-04 6.22632535e+01] [-5.22613927e-03 -3.80790072e-04 9.99986271e-01 -2.58364768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.481400513 meters 0.06649481009867683 Centerline is valid? [True, True] Translation: X:577.95, Y:62.27, Z:-2.58 [[ 9.99870397e-01 1.46637769e-02 6.64558532e-03 5.77950913e+02] [-1.46666014e-02 9.99892369e-01 3.76481566e-04 6.22709881e+01] [-6.63934940e-03 -4.73900924e-04 9.99977847e-01 -2.58149062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.511400513 meters 0.06461305109080981 Centerline is valid? [True, True] Translation: X:577.98, Y:62.27, Z:-2.58 [[ 9.99864155e-01 1.47959373e-02 7.26298215e-03 5.77979572e+02] [-1.47993154e-02 9.99890399e-01 4.11590715e-04 6.22707649e+01] [-7.25609625e-03 -5.19021966e-04 9.99973539e-01 -2.58116945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.541400513 meters 0.07359979878219457 Centerline is valid? [True, True] Translation: X:578.01, Y:62.28, Z:-2.58 [[ 9.99856229e-01 1.54127778e-02 7.06878419e-03 5.78006442e+02] [-1.54159952e-02 9.99881086e-01 4.00881730e-04 6.22848690e+01] [-7.06176492e-03 -5.09796438e-04 9.99974935e-01 -2.58203605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.571400513 meters 0.06487111467568 Centerline is valid? [True, True] Translation: X:578.04, Y:62.28, Z:-2.58 [[ 9.99853032e-01 1.56506111e-02 6.99806825e-03 5.78035989e+02] [-1.56537734e-02 9.99877393e-01 3.97328440e-04 6.22754623e+01] [-6.99099181e-03 -5.06816220e-04 9.99975434e-01 -2.58232031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.601400513 meters 0.06560043646107543 Centerline is valid? [True, True] Translation: X:578.07, Y:62.28, Z:-2.58 [[ 9.99839628e-01 1.65420910e-02 6.86131299e-03 5.78065768e+02] [-1.65451548e-02 9.99863043e-01 3.90013431e-04 6.22784035e+01] [-6.85392165e-03 -5.03472369e-04 9.99976385e-01 -2.58247177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.631400513 meters 0.0741794455458399 Centerline is valid? [True, True] Translation: X:578.09, Y:62.29, Z:-2.58 [[ 9.99843459e-01 1.64484984e-02 6.51954890e-03 5.78091879e+02] [-1.64512613e-02 9.99864600e-01 3.70387062e-04 6.22911217e+01] [-6.51257384e-03 -4.77583884e-04 9.99978679e-01 -2.58456855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.661400513 meters 0.06982757626276467 Centerline is valid? [True, True] Translation: X:578.12, Y:62.29, Z:-2.59 [[ 9.99845387e-01 1.66207796e-02 5.74029912e-03 5.78120733e+02] [-1.66229276e-02 9.99861776e-01 3.26670871e-04 6.22853920e+01] [-5.73407615e-03 -4.22040940e-04 9.99983471e-01 -2.58769310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.691400513 meters 0.06460197664341435 Centerline is valid? [True, True] Translation: X:578.15, Y:62.28, Z:-2.59 [[ 9.99858909e-01 1.60796878e-02 4.85854708e-03 5.78150243e+02] [-1.60812212e-02 9.99870651e-01 2.76710891e-04 6.22821461e+01] [-4.85346921e-03 -3.54803220e-04 9.99988159e-01 -2.58716334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.721400513 meters 0.06714300103466789 Centerline is valid? [True, True] Translation: X:578.18, Y:62.29, Z:-2.59 [[ 9.99845461e-01 1.69048622e-02 4.82496124e-03 5.78179007e+02] [-1.69063849e-02 9.99857039e-01 2.74975357e-04 6.22865190e+01] [-4.81962304e-03 -3.56505514e-04 9.99988322e-01 -2.58792379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.751400513 meters 0.0755745801524039 Centerline is valid? [True, True] Translation: X:578.21, Y:62.30, Z:-2.59 [[ 9.99839657e-01 1.73371393e-02 4.48143089e-03 5.78206004e+02] [-1.73384564e-02 9.99849645e-01 2.55223967e-04 6.23006590e+01] [-4.47633223e-03 -3.32884138e-04 9.99989926e-01 -2.58781983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.781400513 meters 0.06800759446133152 Centerline is valid? [True, True] Translation: X:578.24, Y:62.29, Z:-2.59 [[ 9.99804056e-01 1.93580958e-02 4.13695920e-03 5.78236952e+02] [-1.93592385e-02 9.99812564e-01 2.36361466e-04 6.22927486e+01] [-4.13160827e-03 -3.16403532e-04 9.99991415e-01 -2.58729887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.811400513 meters 0.07477006219914023 Centerline is valid? [True, True] Translation: X:578.27, Y:62.30, Z:-2.59 [[ 9.99708796e-01 2.39416392e-02 3.01995694e-03 5.78265870e+02] [-2.39422693e-02 9.99713328e-01 1.72649228e-04 6.23028874e+01] [-3.01495770e-03 -2.44903574e-04 9.99995425e-01 -2.58915662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.841400513 meters 0.07579605673820532 Centerline is valid? [True, True] Translation: X:578.30, Y:62.31, Z:-2.59 [[ 9.99633858e-01 2.69046807e-02 2.87879255e-03 5.78296282e+02] [-2.69052655e-02 9.99637974e-01 1.64609692e-04 6.23061590e+01] [-2.87332158e-03 -2.42004100e-04 9.99995843e-01 -2.58928677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.871400513 meters 0.07758760038838149 Centerline is valid? [True, True] Translation: X:578.33, Y:62.31, Z:-2.59 [[ 9.99542613e-01 3.01415243e-02 2.46027120e-03 5.78326044e+02] [-3.01419610e-02 9.99545618e-01 1.40586250e-04 6.23110142e+01] [-2.45491581e-03 -2.14679346e-04 9.99996964e-01 -2.58968896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.901400513 meters 0.08422561610933368 Centerline is valid? [True, True] Translation: X:578.35, Y:62.32, Z:-2.59 [[ 9.99485260e-01 3.19201360e-02 3.21253198e-03 5.78354422e+02] [-3.19208895e-02 9.99490382e-01 1.83549792e-04 6.23204235e+01] [-3.20503588e-03 -2.86002190e-04 9.99994823e-01 -2.59146225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.931400513 meters 0.08139639840246032 Centerline is valid? [True, True] Translation: X:578.38, Y:62.32, Z:-2.59 [[ 9.99489877e-01 3.14088933e-02 5.78507939e-03 5.78383512e+02] [-3.14113298e-02 9.99506488e-01 3.30771907e-04 6.23193345e+01] [-5.77183520e-03 -5.12320209e-04 9.99983212e-01 -2.58795651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.961400513 meters 0.08651771532058057 Centerline is valid? [True, True] Translation: X:578.41, Y:62.33, Z:-2.59 [[ 9.99497645e-01 3.11104286e-02 6.04965814e-03 5.78410642e+02] [-3.11130893e-02 9.99515811e-01 3.46169633e-04 6.23291239e+01] [-6.03595947e-03 -5.34219287e-04 9.99981641e-01 -2.58652226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.991400513 meters 0.07712690417006891 Centerline is valid? [True, True] Translation: X:578.44, Y:62.32, Z:-2.59 [[ 9.99551094e-01 2.92531923e-02 6.46995277e-03 5.78441616e+02] [-2.92562010e-02 9.99571877e-01 3.70855163e-04 6.23193082e+01] [-6.45633414e-03 -5.59974923e-04 9.99979001e-01 -2.58562594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.021400513 meters 0.07849480003561643 Centerline is valid? [True, True] Translation: X:578.47, Y:62.32, Z:-2.59 [[ 9.99574510e-01 2.86269537e-02 5.59441062e-03 5.78469262e+02] [-2.86291923e-02 9.99590049e-01 3.20447742e-04 6.23230680e+01] [-5.58294374e-03 -4.80474852e-04 9.99984300e-01 -2.58652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.051400513 meters 0.07165499211891621 Centerline is valid? [True, True] Translation: X:578.50, Y:62.32, Z:-2.59 [[ 9.99598141e-01 2.78198230e-02 5.44186723e-03 5.78498486e+02] [-2.78219312e-02 9.99612846e-01 3.12074111e-04 6.23161923e+01] [-5.43107854e-03 -4.63351957e-04 9.99985144e-01 -2.58808202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.081400513 meters 0.07645943491952384 Centerline is valid? [True, True] Translation: X:578.53, Y:62.32, Z:-2.59 [[ 9.99629145e-01 2.63711009e-02 6.79249163e-03 5.78526915e+02] [-2.63743560e-02 9.99652060e-01 3.90088748e-04 6.23240600e+01] [-6.77984118e-03 -5.69091675e-04 9.99976855e-01 -2.58789414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.111400513 meters 0.07570257657162197 Centerline is valid? [True, True] Translation: X:578.56, Y:62.33, Z:-2.59 [[ 9.99661892e-01 2.47255610e-02 8.04659259e-03 5.78555791e+02] [-2.47300783e-02 9.99694058e-01 4.62362639e-04 6.23260717e+01] [-8.03269862e-03 -6.61199175e-04 9.99967519e-01 -2.58553311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.141400513 meters 0.07143964950129167 Centerline is valid? [True, True] Translation: X:578.59, Y:62.32, Z:-2.58 [[ 9.99679875e-01 2.35536364e-02 9.23980445e-03 5.78586091e+02] [-2.35595456e-02 9.99722294e-01 5.31197181e-04 6.23226281e+01] [-9.22472688e-03 -7.48712726e-04 9.99957171e-01 -2.58440745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.171400513 meters 0.07663107767930527 Centerline is valid? [True, True] Translation: X:578.61, Y:62.33, Z:-2.58 [[ 9.99696967e-01 2.26290939e-02 9.69007783e-03 5.78613469e+02] [-2.26355508e-02 9.99743628e-01 5.57181468e-04 6.23313372e+01] [-9.67498505e-03 -7.76352873e-04 9.99952895e-01 -2.58466875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.201400513 meters 0.07361010000941576 Centerline is valid? [True, True] Translation: X:578.64, Y:62.33, Z:-2.58 [[ 9.99741592e-01 2.07787480e-02 9.21914844e-03 5.78643122e+02] [-2.07845196e-02 9.99783838e-01 5.30671912e-04 6.23300716e+01] [-9.20612891e-03 -7.22150354e-04 9.99957362e-01 -2.58456724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.231400513 meters 0.0694899870419497 Centerline is valid? [True, True] Translation: X:578.67, Y:62.33, Z:-2.58 [[ 9.99715899e-01 2.16394303e-02 9.99284245e-03 5.78672443e+02] [-2.16462567e-02 9.99765527e-01 5.75465021e-04 6.23266369e+01] [-9.97804666e-03 -7.91609163e-04 9.99949905e-01 -2.58404631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.261400513 meters 0.07172685407713757 Centerline is valid? [True, True] Translation: X:578.70, Y:62.33, Z:-2.58 [[ 9.99752299e-01 1.94169251e-02 1.08776545e-02 5.78702017e+02] [-1.94248878e-02 9.99811123e-01 6.26841039e-04 6.23322036e+01] [-1.08634286e-02 -8.37982988e-04 9.99940640e-01 -2.58310949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.291400513 meters 0.0742911504297668 Centerline is valid? [True, True] Translation: X:578.73, Y:62.34, Z:-2.58 [[ 9.99763053e-01 1.83478753e-02 1.17129585e-02 5.78730286e+02] [-1.83570374e-02 9.99831267e-01 6.75178770e-04 6.23372266e+01] [-1.16985941e-02 -8.90034006e-04 9.99931173e-01 -2.58258205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.321400513 meters 0.06566118847728435 Centerline is valid? [True, True] Translation: X:578.76, Y:62.33, Z:-2.59 [[ 9.99785727e-01 1.72235533e-02 1.14825824e-02 5.78759742e+02] [-1.72322882e-02 9.99851294e-01 6.62196855e-04 6.23268078e+01] [-1.14694695e-02 -8.59926133e-04 9.99933854e-01 -2.58503983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.351400513 meters 0.0666029380604834 Centerline is valid? [True, True] Translation: X:578.79, Y:62.33, Z:-2.59 [[ 9.99817206e-01 1.63001953e-02 9.99294730e-03 5.78787016e+02] [-1.63067690e-02 9.99866869e-01 5.76707443e-04 6.23299542e+01] [-9.98221649e-03 -7.39554707e-04 9.99949903e-01 -2.58658268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.381400513 meters 0.07041035706326143 Centerline is valid? [True, True] Translation: X:578.81, Y:62.34, Z:-2.59 [[ 9.99821017e-01 1.66569153e-02 8.97109723e-03 5.78814846e+02] [-1.66622324e-02 9.99861041e-01 5.18274039e-04 6.23357708e+01] [-8.96121777e-03 -6.67659784e-04 9.99959625e-01 -2.58862643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.411400513 meters 0.07379107764940114 Centerline is valid? [True, True] Translation: X:578.84, Y:62.34, Z:-2.59 [[ 9.99825246e-01 1.68646643e-02 8.06606261e-03 5.78841933e+02] [-1.68689728e-02 9.99857600e-01 4.66414313e-04 6.23414592e+01] [-8.05704808e-03 -6.02398996e-04 9.99967360e-01 -2.59030286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.441400513 meters 0.07646536155832827 Centerline is valid? [True, True] Translation: X:578.87, Y:62.35, Z:-2.59 [[ 9.99739425e-01 2.15674382e-02 7.47850741e-03 5.78871712e+02] [-2.15712771e-02 9.99767219e-01 4.33027044e-04 6.23458522e+01] [-7.46742728e-03 -5.94235163e-04 9.99971942e-01 -2.59157594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.471400513 meters 0.07958533792194172 Centerline is valid? [True, True] Translation: X:578.90, Y:62.35, Z:-2.59 [[ 9.99670243e-01 2.43489109e-02 8.15697329e-03 5.78901768e+02] [-2.43535690e-02 9.99703296e-01 4.72199692e-04 6.23514978e+01] [-8.14305554e-03 -6.70695393e-04 9.99966620e-01 -2.59139311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.501400513 meters 0.07842219306155289 Centerline is valid? [True, True] Translation: X:578.93, Y:62.35, Z:-2.59 [[ 9.99557657e-01 2.84771941e-02 8.57549435e-03 5.78932394e+02] [-2.84824932e-02 9.99594168e-01 4.96412341e-04 6.23520571e+01] [-8.55787771e-03 -7.40444216e-04 9.99963107e-01 -2.59149595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.531400513 meters 0.07822518428109786 Centerline is valid? [True, True] Translation: X:578.96, Y:62.35, Z:-2.59 [[ 9.99499361e-01 3.04675212e-02 8.52980831e-03 5.78962672e+02] [-3.04728364e-02 9.99535473e-01 4.93831494e-04 6.23538418e+01] [-8.51080017e-03 -7.53511716e-04 9.99963499e-01 -2.59228044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.561400513 meters 0.07858831981389827 Centerline is valid? [True, True] Translation: X:578.99, Y:62.36, Z:-2.59 [[ 9.99496822e-01 3.03761210e-02 9.13198334e-03 5.78990897e+02] [-3.03822085e-02 9.99538214e-01 5.28590217e-04 6.23553683e+01] [-9.11170980e-03 -8.05774065e-04 9.99958163e-01 -2.59274433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.591400513 meters 0.09117420200345991 Centerline is valid? [True, True] Translation: X:579.02, Y:62.37, Z:-2.59 [[ 9.99587432e-01 2.71228557e-02 9.45070017e-03 5.79019101e+02] [-2.71292482e-02 9.99631784e-01 5.48845357e-04 6.23744256e+01] [-9.43233401e-03 -8.05009312e-04 9.99955191e-01 -2.59194394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.621400513 meters 0.0809404137580487 Centerline is valid? [True, True] Translation: X:579.05, Y:62.36, Z:-2.59 [[ 9.99534543e-01 2.87472879e-02 1.02122484e-02 5.79050474e+02] [-2.87548389e-02 9.99586318e-01 5.93317326e-04 6.23618989e+01] [-1.01909675e-02 -8.86692719e-04 9.99947678e-01 -2.59137735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.651400513 meters 0.08119064659301554 Centerline is valid? [True, True] Translation: X:579.08, Y:62.37, Z:-2.59 [[ 9.99633276e-01 2.50713639e-02 1.02342877e-02 5.79079710e+02] [-2.50787563e-02 9.99685302e-01 5.94597662e-04 6.23653377e+01] [-1.02161596e-02 -8.51042814e-04 9.99947452e-01 -2.59172506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.681400513 meters 0.07774930491719348 Centerline is valid? [True, True] Translation: X:579.11, Y:62.36, Z:-2.59 [[ 9.99619876e-01 2.55658586e-02 1.03194241e-02 5.79108492e+02] [-2.55734022e-02 9.99672767e-01 5.99700505e-04 6.23629140e+01] [-1.03007154e-02 -8.63375328e-04 9.99946573e-01 -2.59183207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.711400513 meters 0.08699990816459736 Centerline is valid? [True, True] Translation: X:579.14, Y:62.37, Z:-2.59 [[ 9.99487836e-01 3.01625557e-02 1.06904210e-02 5.79137800e+02] [-3.01709179e-02 9.99544561e-01 6.21766910e-04 6.23738241e+01] [-1.06667981e-02 -9.43988278e-04 9.99942663e-01 -2.59135854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.741400513 meters 0.08152924525332349 Centerline is valid? [True, True] Translation: X:579.17, Y:62.37, Z:-2.59 [[ 9.99528264e-01 2.89410438e-02 1.02793283e-02 5.79167879e+02] [-2.89487114e-02 9.99580719e-01 5.97890503e-04 6.23716805e+01] [-1.02577148e-02 -8.95181765e-04 9.99946988e-01 -2.59100412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.771400513 meters 0.07658264487626482 Centerline is valid? [True, True] Translation: X:579.20, Y:62.37, Z:-2.59 [[ 9.99366527e-01 3.38319340e-02 1.10428281e-02 5.79198453e+02] [-3.38410806e-02 9.99427020e-01 6.42429840e-04 6.23669353e+01] [-1.10147661e-02 -1.01572411e-03 9.99938820e-01 -2.58999471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.801400513 meters 0.07658264487626482 Centerline is valid? [True, True] Translation: X:579.23, Y:62.37, Z:-2.59 [[ 9.99373301e-01 3.36312564e-02 1.10428192e-02 5.79225796e+02] [-3.36403926e-02 9.99433795e-01 6.42582053e-04 6.23686750e+01] [-1.10149559e-02 -1.01366412e-03 9.99938820e-01 -2.59027581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.831400513 meters 0.08708343274767961 Centerline is valid? [True, True] Translation: X:579.25, Y:62.38, Z:-2.59 [[ 9.99253708e-01 3.68125226e-02 1.16989287e-02 5.79254220e+02] [-3.68230183e-02 9.99321569e-01 6.82942876e-04 6.23823605e+01] [-1.16658509e-02 -1.11322307e-03 9.99931332e-01 -2.58991633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.861400513 meters 0.0864848485374299 Centerline is valid? [True, True] Translation: X:579.28, Y:62.38, Z:-2.59 [[ 9.99292319e-01 3.46720882e-02 1.45845240e-02 5.79283132e+02] [-3.46881752e-02 9.99397821e-01 8.51421753e-04 6.23844320e+01] [-1.45462209e-02 -1.35672974e-03 9.99893278e-01 -2.58712424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.891400513 meters 0.08946008933542017 Centerline is valid? [True, True] Translation: X:579.31, Y:62.39, Z:-2.59 [[ 9.99312974e-01 3.34635090e-02 1.59302584e-02 5.79311986e+02] [-3.34825548e-02 9.99438869e-01 9.30293561e-04 6.23914306e+01] [-1.58901885e-02 -1.46304017e-03 9.99872673e-01 -2.58552743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.921400513 meters 0.08045573299497809 Centerline is valid? [True, True] Translation: X:579.34, Y:62.38, Z:-2.59 [[ 9.99315232e-01 3.30127749e-02 1.67099665e-02 5.79340998e+02] [-3.30336912e-02 9.99453761e-01 9.77186434e-04 6.23815870e+01] [-1.66685792e-02 -1.52850916e-03 9.99859901e-01 -2.58512406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.951400513 meters 0.08906401878462152 Centerline is valid? [True, True] Translation: X:579.37, Y:62.39, Z:-2.58 [[ 9.99304866e-01 3.31766019e-02 1.70028988e-02 5.79367780e+02] [-3.31983187e-02 9.99448287e-01 9.96505896e-04 6.23929932e+01] [-1.69604574e-02 -1.56028084e-03 9.99854944e-01 -2.58418428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.981400513 meters 0.09892544988807006 Centerline is valid? [True, True] Translation: X:579.40, Y:62.41, Z:-2.58 [[ 9.99344378e-01 3.21797454e-02 1.65915383e-02 5.79395552e+02] [-3.22003004e-02 9.99480962e-01 9.73165118e-04 6.24082284e+01] [-1.65516105e-02 -1.50677961e-03 9.99861877e-01 -2.58420473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.011400513 meters 0.08998295326234494 Centerline is valid? [True, True] Translation: X:579.43, Y:62.40, Z:-2.59 [[ 9.99326449e-01 3.28198184e-02 1.64167184e-02 5.79425907e+02] [-3.28400348e-02 9.99460156e-01 9.63315056e-04 6.23972743e+01] [-1.63762401e-02 -1.50179182e-03 9.99864773e-01 -2.58583078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.041400513 meters 0.08443393428011065 Centerline is valid? [True, True] Translation: X:579.46, Y:62.39, Z:-2.59 [[ 9.99247242e-01 3.53755925e-02 1.59221841e-02 5.79456455e+02] [-3.53949346e-02 9.99372966e-01 9.34543931e-04 6.23901769e+01] [-1.58791403e-02 -1.49740511e-03 9.99872797e-01 -2.58773346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.071400513 meters 0.08940698169356222 Centerline is valid? [True, True] Translation: X:579.49, Y:62.40, Z:-2.59 [[ 9.99358985e-01 3.24223991e-02 1.51791675e-02 5.79485111e+02] [-3.24396422e-02 9.99473299e-01 8.91069766e-04 6.23996443e+01] [-1.51422820e-02 -1.38290534e-03 9.99884393e-01 -2.58944044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.101400513 meters 0.08599721253354618 Centerline is valid? [True, True] Translation: X:579.52, Y:62.40, Z:-2.59 [[ 9.99299200e-01 3.43687126e-02 1.48290503e-02 5.79515687e+02] [-3.43853852e-02 9.99408268e-01 8.70752331e-04 6.23963991e+01] [-1.47903488e-02 -1.38004471e-03 9.99889664e-01 -2.59162052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.131400513 meters 0.09729552644661728 Centerline is valid? [True, True] Translation: X:579.54, Y:62.41, Z:-2.59 [[ 9.99214645e-01 3.67166638e-02 1.48990100e-02 5.79544110e+02] [-3.67337541e-02 9.99324705e-01 8.74949114e-04 6.24111897e+01] [-1.48568236e-02 -1.42155854e-03 9.99888621e-01 -2.59087631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.161400513 meters 0.08353835686158158 Centerline is valid? [True, True] Translation: X:579.57, Y:62.40, Z:-2.59 [[ 9.99222952e-01 3.67095815e-02 1.43491452e-02 5.79574049e+02] [-3.67254445e-02 9.99325037e-01 8.43478582e-04 6.23966238e+01] [-1.43084964e-02 -1.36980190e-03 9.99896690e-01 -2.59248452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.191400513 meters 0.09810341188808977 Centerline is valid? [True, True] Translation: X:579.60, Y:62.42, Z:-2.59 [[ 9.99128151e-01 3.94626103e-02 1.36250192e-02 5.79602570e+02] [-3.94771892e-02 9.99220150e-01 8.02620430e-04 6.24161840e+01] [-1.35827202e-02 -1.33979813e-03 9.99906853e-01 -2.59342118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.221400513 meters 0.09339300464338823 Centerline is valid? [True, True] Translation: X:579.63, Y:62.41, Z:-2.59 [[ 9.98861736e-01 4.57973170e-02 1.33356311e-02 5.79633202e+02] [-4.58118435e-02 9.98949777e-01 7.85704475e-04 6.24101767e+01] [-1.32856425e-02 -1.39573998e-03 9.99910768e-01 -2.59439603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.251400513 meters 0.09965291932578318 Centerline is valid? [True, True] Translation: X:579.67, Y:62.43, Z:-2.59 [[ 9.99266486e-01 3.54181979e-02 1.45616448e-02 5.79668992e+02] [-3.53736873e-02 9.99368697e-01 -3.30306816e-03 6.24323713e+01] [-1.46694407e-02 2.78554625e-03 9.99888518e-01 -2.58777534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.281400513 meters 0.0960388877271888 Centerline is valid? [True, True] Translation: X:579.70, Y:62.43, Z:-2.59 [[ 9.99209637e-01 3.69619025e-02 1.46260043e-02 5.79704000e+02] [-3.69788169e-02 9.99315655e-01 8.87621598e-04 6.24279342e+01] [-1.45831869e-02 -1.42777239e-03 9.99892640e-01 -2.59126635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.311400513 meters 0.10761164110467251 Centerline is valid? [True, False] Translation: X:579.71, Y:62.42, Z:-2.60 [[ 9.99539487e-01 2.85325940e-02 1.03297748e-02 5.79707262e+02] [-2.86536887e-02 9.99520089e-01 1.17710618e-02 6.24236034e+01] [-9.98895854e-03 -1.20616272e-02 9.99877361e-01 -2.59589264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.341400513 meters 0.11249375772107562 Centerline is valid? [False, False] Translation: X:579.70, Y:62.43, Z:-2.59 [[ 9.99758029e-01 1.91426677e-02 1.08370448e-02 5.79702922e+02] [-1.91500619e-02 9.99816453e-01 5.78939142e-04 6.24324666e+01] [-1.08239732e-02 -7.86329133e-04 9.99941110e-01 -2.59013992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.371400513 meters 0.10382225258107669 Centerline is valid? [False, False] Translation: X:579.71, Y:62.43, Z:-2.59 [[ 9.99920692e-01 1.21228038e-02 3.41280951e-03 5.79708619e+02] [-1.21632071e-02 9.99853079e-01 1.20779337e-02 6.24269704e+01] [-3.26588967e-03 -1.21184865e-02 9.99921235e-01 -2.59485696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.401400513 meters 0.12127419444038319 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99986361e-01 2.36395135e-03 4.65723870e-03 5.79701876e+02] [-2.36344354e-03 9.99997201e-01 -1.14536944e-04 6.24382151e+01] [-4.65749642e-03 1.03528261e-04 9.99989148e-01 -2.58641998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.431400513 meters 0.11951278443677167 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99986642e-01 2.39515697e-03 4.58037625e-03 5.79702174e+02] [-2.39502474e-03 9.99997131e-01 -3.43522684e-05 6.24379025e+01] [-4.58044539e-03 2.33816950e-05 9.99989509e-01 -2.58656632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.461400513 meters 0.10834038701555718 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99986947e-01 2.53370595e-03 4.43680460e-03 5.79703009e+02] [-2.53503303e-03 9.99996744e-01 2.93508707e-04 6.24367236e+01] [-4.43604649e-03 -3.04752322e-04 9.99990114e-01 -2.58749650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.491400513 meters 0.10362335328970769 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99986958e-01 2.58124232e-03 4.40695488e-03 5.79703092e+02] [-2.58313213e-03 9.99996574e-01 4.23186108e-04 6.24361193e+01] [-4.40584743e-03 -4.34564336e-04 9.99990200e-01 -2.58745342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.521400513 meters 0.10828292506545406 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99987113e-01 2.61401317e-03 4.35204192e-03 5.79703108e+02] [-2.61631253e-03 9.99996441e-01 5.22730166e-04 6.24355726e+01] [-4.35066000e-03 -5.34109731e-04 9.99990393e-01 -2.58703395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.551400513 meters 0.10986102982272185 Centerline is valid? [False, False] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99987352e-01 2.56455997e-03 4.32645261e-03 5.79702838e+02] [-2.56639469e-03 9.99996619e-01 4.18570201e-04 6.24358198e+01] [-4.32536453e-03 -4.29668292e-04 9.99990553e-01 -2.58617906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.581400513 meters 0.099995504253489 Centerline is valid? [False, True] Translation: X:579.70, Y:62.44, Z:-2.59 [[ 9.99987727e-01 2.55536154e-03 4.24445135e-03 5.79702791e+02] [-2.55742439e-03 9.99996614e-01 4.80652931e-04 6.24353266e+01] [-4.24320874e-03 -4.91501895e-04 9.99990877e-01 -2.58539764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.611400513 meters 0.09966424137709426 Centerline is valid? [True, True] Translation: X:579.73, Y:62.44, Z:-2.59 [[ 9.99992394e-01 3.40478988e-04 3.88545588e-03 5.79732719e+02] [-3.42082292e-04 9.99999857e-01 4.11985349e-04 6.24384346e+01] [-3.88531505e-03 -4.13311361e-04 9.99992367e-01 -2.58598009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.641400513 meters 0.10295727702347399 Centerline is valid? [True, False] Translation: X:579.73, Y:62.44, Z:-2.59 [[ 9.99992625e-01 4.00531983e-04 3.81973582e-03 5.79733013e+02] [-4.02698578e-04 9.99999758e-01 5.66458351e-04 6.24377988e+01] [-3.81950802e-03 -5.67992375e-04 9.99992544e-01 -2.58618722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.671400513 meters 0.09448216873841252 Centerline is valid? [False, True] Translation: X:579.73, Y:62.44, Z:-2.59 [[ 9.99992875e-01 5.05866519e-04 3.74081337e-03 5.79733375e+02] [-5.09016242e-04 9.99999517e-01 8.41084648e-04 6.24366381e+01] [-3.74038608e-03 -8.42982790e-04 9.99992649e-01 -2.58643363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.701400513 meters 0.09775233257361608 Centerline is valid? [True, True] Translation: X:579.76, Y:62.44, Z:-2.58 [[ 9.99989693e-01 8.73131820e-05 4.53939699e-03 5.79764503e+02] [-8.94072860e-05 9.99999890e-01 4.61116791e-04 6.24440342e+01] [-4.53935622e-03 -4.61517893e-04 9.99989591e-01 -2.58390257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.731400513 meters 0.08680038070122668 Centerline is valid? [True, True] Translation: X:579.80, Y:62.43, Z:-2.59 [[ 9.99991730e-01 -1.52894019e-03 3.76862051e-03 5.79796734e+02] [ 1.52750694e-03 9.99998760e-01 3.83161976e-04 6.24336694e+01] [-3.76920167e-03 -3.77402213e-04 9.99992825e-01 -2.58510379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.761400513 meters 0.0979125884036742 Centerline is valid? [True, True] Translation: X:579.83, Y:62.45, Z:-2.58 [[ 9.99994170e-01 -8.44426849e-04 3.30857548e-03 5.79825964e+02] [ 8.43320136e-04 9.99999588e-01 3.35879303e-04 6.24502074e+01] [-3.30885775e-03 -3.33087156e-04 9.99994470e-01 -2.58497881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.791400513 meters 0.09614495048401256 Centerline is valid? [True, True] Translation: X:579.86, Y:62.45, Z:-2.58 [[ 9.99995473e-01 4.08041917e-05 3.00879674e-03 5.79857521e+02] [-4.17236566e-05 9.99999952e-01 3.05530089e-04 6.24508849e+01] [-3.00878413e-03 -3.05654243e-04 9.99995427e-01 -2.58497228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.821400513 meters 0.10147490407219983 Centerline is valid? [True, False] Translation: X:579.86, Y:62.45, Z:-2.59 [[ 9.99995437e-01 3.88463503e-06 3.02102173e-03 5.79857498e+02] [-4.50043996e-06 9.99999979e-01 2.03833183e-04 6.24513687e+01] [-3.02102087e-03 -2.03845848e-04 9.99995416e-01 -2.58502938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.851400513 meters 0.11168205747061119 Centerline is valid? [False, False] Translation: X:579.86, Y:62.45, Z:-2.58 [[ 9.99995192e-01 -4.90063105e-05 3.10064980e-03 5.79857189e+02] [ 4.87938866e-05 9.99999996e-01 6.85850619e-05 6.24519340e+01] [-3.10065315e-03 -6.84334394e-05 9.99995191e-01 -2.58489466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.881400513 meters 0.10095031032586098 Centerline is valid? [False, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987383e-01 3.22658370e-03 3.85006469e-03 5.79852315e+02] [-3.24065169e-03 9.99988076e-01 3.65333507e-03 6.24494434e+01] [-3.83823099e-03 -3.66576570e-03 9.99985915e-01 -2.58167370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.911400513 meters 0.10656481242326522 Centerline is valid? [False, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987495e-01 3.19276191e-03 3.84910441e-03 5.79852204e+02] [-3.20649618e-03 9.99988496e-01 3.56729663e-03 6.24497743e+01] [-3.83767060e-03 -3.57959416e-03 9.99986229e-01 -2.58141213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.941400513 meters 0.10660356218721923 Centerline is valid? [False, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987285e-01 3.23338808e-03 3.86982447e-03 5.79852187e+02] [-3.24759494e-03 9.99987990e-01 3.67055343e-03 6.24493150e+01] [-3.85790967e-03 -3.68307438e-03 9.99985776e-01 -2.58150070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.971400513 meters 0.10753118510142688 Centerline is valid? [False, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987325e-01 3.18666611e-03 3.89799194e-03 5.79852123e+02] [-3.20048228e-03 9.99988601e-01 3.54334558e-03 6.24499137e+01] [-3.88665605e-03 -3.55577613e-03 9.99986125e-01 -2.58159782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.001400513 meters 0.10777186081739644 Centerline is valid? [False, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987267e-01 3.16082243e-03 3.93371997e-03 5.79852121e+02] [-3.17449932e-03 9.99988922e-01 3.47546101e-03 6.24502927e+01] [-3.92269108e-03 -3.48790435e-03 9.99986223e-01 -2.58187678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.031400513 meters 0.09696600397109052 Centerline is valid? [False, True] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987271e-01 3.15400143e-03 3.93822415e-03 5.79852146e+02] [-3.16762336e-03 9.99989006e-01 3.45746745e-03 6.24504042e+01] [-3.92727599e-03 -3.46989825e-03 9.99986268e-01 -2.58197709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.061400513 meters 0.10312220795098559 Centerline is valid? [True, False] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987384e-01 3.17035210e-03 3.89630805e-03 5.79852371e+02] [-3.18398520e-03 9.99988814e-01 3.49777140e-03 6.24502863e+01] [-3.88517530e-03 -3.51013306e-03 9.99986292e-01 -2.58220411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.091400513 meters 0.0905871873350014 Centerline is valid? [False, True] Translation: X:579.85, Y:62.45, Z:-2.58 [[ 9.99987463e-01 1.95579562e-03 4.60966964e-03 5.79847394e+02] [-1.96721282e-03 9.99995006e-01 2.47356164e-03 6.24496963e+01] [-4.60480884e-03 -2.48259883e-03 9.99986316e-01 -2.57803298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.121400513 meters 0.09525655193836109 Centerline is valid? [True, True] Translation: X:579.88, Y:62.46, Z:-2.58 [[ 9.99995315e-01 -3.64452268e-04 3.03930985e-03 5.79875691e+02] [ 3.63486754e-04 9.99999883e-01 3.18221989e-04 6.24607172e+01] [-3.03942547e-03 -3.17115749e-04 9.99995331e-01 -2.57767128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.151400513 meters 0.09902242920297558 Centerline is valid? [True, True] Translation: X:579.90, Y:62.47, Z:-2.58 [[ 9.99991284e-01 -2.92311510e-03 2.98129685e-03 5.79904616e+02] [ 2.92219723e-03 9.99995682e-01 3.12186576e-04 6.24678119e+01] [-2.98219653e-03 -3.03471917e-04 9.99995507e-01 -2.57854159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.181400513 meters 0.09342732255295619 Centerline is valid? [True, True] Translation: X:579.94, Y:62.46, Z:-2.58 [[ 9.99980944e-01 -5.46979037e-03 2.86250932e-03 5.79935625e+02] [ 5.46895446e-03 9.99985000e-01 2.99766466e-04 6.24645118e+01] [-2.86410604e-03 -2.84105820e-04 9.99995858e-01 -2.57815564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.211400513 meters 0.09534341378627724 Centerline is valid? [True, True] Translation: X:579.96, Y:62.47, Z:-2.58 [[ 9.99957038e-01 -7.84197027e-03 4.94230656e-03 5.79964458e+02] [ 7.83950685e-03 9.99969137e-01 5.17611983e-04 6.24717030e+01] [-4.94621313e-03 -4.78844499e-04 9.99987653e-01 -2.57500904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.241400513 meters 0.0883577606695241 Centerline is valid? [True, True] Translation: X:580.00, Y:62.47, Z:-2.57 [[ 9.99928420e-01 -9.99593007e-03 6.57544748e-03 5.79995939e+02] [ 9.99161560e-03 9.99949845e-01 6.88672682e-04 6.24666292e+01] [-6.58200161e-03 -6.22924043e-04 9.99978144e-01 -2.57290793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.271400513 meters 0.08548650216165393 Centerline is valid? [True, True] Translation: X:580.03, Y:62.47, Z:-2.57 [[ 9.99889337e-01 -1.29408151e-02 7.33819505e-03 5.80026836e+02] [ 1.29355207e-02 9.99916037e-01 7.68492986e-04 6.24670772e+01] [-7.34752384e-03 -6.73484568e-04 9.99972780e-01 -2.57227423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.301400513 meters 0.06582879699611276 Centerline is valid? [True, True] Translation: X:580.06, Y:62.45, Z:-2.57 [[ 9.99705346e-01 -2.23899736e-02 9.37608513e-03 5.80058446e+02] [ 2.23817425e-02 9.99749015e-01 9.81899313e-04 6.24462649e+01] [-9.39571657e-03 -7.71756869e-04 9.99955561e-01 -2.57153837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.331400513 meters 0.05788234451559324 Centerline is valid? [True, True] Translation: X:580.09, Y:62.44, Z:-2.57 [[ 9.99579716e-01 -2.74716388e-02 9.25743785e-03 5.80089731e+02] [ 2.74638316e-02 9.99622328e-01 9.69438841e-04 6.24397238e+01] [-9.28057365e-03 -7.14786687e-04 9.99956679e-01 -2.57244478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.361400513 meters 0.05648479324628052 Centerline is valid? [True, True] Translation: X:580.12, Y:62.44, Z:-2.57 [[ 9.99434936e-01 -3.25893495e-02 8.23067029e-03 5.80119664e+02] [ 3.25833510e-02 9.99468650e-01 8.61873741e-04 6.24414720e+01] [-8.25438482e-03 -5.93203907e-04 9.99965756e-01 -2.57349631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.391400513 meters 0.05102783754243202 Centerline is valid? [True, True] Translation: X:580.15, Y:62.44, Z:-2.57 [[ 9.99262808e-01 -3.76717812e-02 7.39441035e-03 5.80150419e+02] [ 3.76670786e-02 9.99290044e-01 7.74257118e-04 6.24375058e+01] [-7.41832829e-03 -4.95160506e-04 9.99972361e-01 -2.57498531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.421400513 meters 0.05012403420537365 Centerline is valid? [True, True] Translation: X:580.18, Y:62.44, Z:-2.58 [[ 9.99128609e-01 -4.12467126e-02 6.38206412e-03 5.80179527e+02] [ 4.12432818e-02 9.99148910e-01 6.68304236e-04 6.24398842e+01] [-6.40419776e-03 -4.04504613e-04 9.99979411e-01 -2.57533171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.451400513 meters 0.04747655948369472 Centerline is valid? [True, True] Translation: X:580.21, Y:62.44, Z:-2.58 [[ 9.98932517e-01 -4.57408658e-02 6.44976474e-03 5.80209591e+02] [ 4.57374550e-02 9.98953267e-01 6.75415343e-04 6.24404592e+01] [-6.47390764e-03 -3.79698524e-04 9.99978972e-01 -2.57512793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.481400513 meters 0.04709773954039393 Centerline is valid? [True, True] Translation: X:580.24, Y:62.44, Z:-2.58 [[ 9.98845983e-01 -4.76332279e-02 6.14643747e-03 5.80240602e+02] [ 4.76301664e-02 9.98864832e-01 6.43600411e-04 6.24428736e+01] [-6.17011700e-03 -3.50101846e-04 9.99980903e-01 -2.57591417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.511400513 meters 0.046941830130460466 Centerline is valid? [True, True] Translation: X:580.27, Y:62.45, Z:-2.58 [[ 9.98781867e-01 -4.90599264e-02 5.28254706e-03 5.80271493e+02] [ 4.90576855e-02 9.98795794e-01 5.53042590e-04 6.24454091e+01] [-5.30331801e-03 -2.93219379e-04 9.99985894e-01 -2.57783017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.541400513 meters 0.04435226706023234 Centerline is valid? [True, True] Translation: X:580.30, Y:62.45, Z:-2.58 [[ 9.98701989e-01 -5.06973195e-02 4.91110893e-03 5.80303170e+02] [ 5.06954029e-02 9.98714029e-01 5.14049090e-04 6.24455908e+01] [-4.93085430e-03 -2.64411202e-04 9.99987808e-01 -2.57883871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.571400513 meters 0.041304821857458665 Centerline is valid? [True, True] Translation: X:580.33, Y:62.45, Z:-2.58 [[ 9.98555959e-01 -5.34118772e-02 5.75918356e-03 5.80334392e+02] [ 5.34092869e-02 9.98572524e-01 6.02732132e-04 6.24463319e+01] [-5.78315552e-03 -2.94267875e-04 9.99983234e-01 -2.57672968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.601400513 meters 0.04186588044961688 Centerline is valid? [True, True] Translation: X:580.36, Y:62.45, Z:-2.58 [[ 9.98482000e-01 -5.47609175e-02 5.91088377e-03 5.80364438e+02] [ 5.47582130e-02 9.98499452e-01 6.18541432e-04 6.24502169e+01] [-5.93588611e-03 -2.93933053e-04 9.99982339e-01 -2.57623011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.631400513 meters 0.04154127180937586 Centerline is valid? [True, True] Translation: X:580.40, Y:62.45, Z:-2.58 [[ 9.98458925e-01 -5.52725468e-02 4.97202676e-03 5.80395799e+02] [ 5.52706421e-02 9.98471274e-01 5.19772527e-04 6.24534626e+01] [-4.99315504e-03 -2.44164407e-04 9.99987504e-01 -2.57678210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.661400513 meters 0.04089614949807139 Centerline is valid? [True, True] Translation: X:580.43, Y:62.45, Z:-2.58 [[ 9.98494267e-01 -5.47364232e-02 3.62240767e-03 5.80428482e+02] [ 5.47354105e-02 9.98500822e-01 3.78192918e-04 6.24547953e+01] [-3.63767796e-03 -1.79349490e-04 9.99993368e-01 -2.57888987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.691400513 meters 0.04389835452751159 Centerline is valid? [True, True] Translation: X:580.46, Y:62.46, Z:-2.58 [[ 9.98630858e-01 -5.22486993e-02 2.54596876e-03 5.80458611e+02] [ 5.22481914e-02 9.98634095e-01 2.65641361e-04 6.24608610e+01] [-2.55637062e-03 -1.32255397e-04 9.99996724e-01 -2.58033489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.721400513 meters 0.052895930909856836 Centerline is valid? [True, True] Translation: X:580.49, Y:62.48, Z:-2.58 [[ 9.98717283e-01 -5.05290449e-02 3.25650056e-03 5.80487015e+02] [ 5.05282049e-02 9.98722577e-01 3.39756820e-04 6.24761207e+01] [-3.26950822e-03 -1.74775880e-04 9.99994640e-01 -2.57794851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.751400513 meters 0.052895930909856836 Centerline is valid? [True, True] Translation: X:580.52, Y:62.48, Z:-2.58 [[ 9.98725534e-01 -5.03656974e-02 3.25653197e-03 5.80519576e+02] [ 5.03648575e-02 9.98730828e-01 3.39455537e-04 6.24793840e+01] [-3.26949578e-03 -1.75008144e-04 9.99994640e-01 -2.57799505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.781400513 meters 0.04734759591986429 Centerline is valid? [True, True] Translation: X:580.55, Y:62.48, Z:-2.58 [[ 9.98813870e-01 -4.84920561e-02 4.40151520e-03 5.80551179e+02] [ 4.84905052e-02 9.98823538e-01 4.58458081e-04 6.24762079e+01] [-4.41856857e-03 -2.44482595e-04 9.99990208e-01 -2.57651317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.811400513 meters 0.04366863869736368 Centerline is valid? [True, True] Translation: X:580.58, Y:62.47, Z:-2.58 [[ 9.98929818e-01 -4.59293978e-02 5.45059263e-03 5.80582293e+02] [ 4.59269818e-02 9.98944638e-01 5.67646829e-04 6.24746175e+01] [-5.47091196e-03 -3.16710075e-04 9.99984984e-01 -2.57652781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.841400513 meters 0.04650175783980271 Centerline is valid? [True, True] Translation: X:580.61, Y:62.48, Z:-2.58 [[ 9.99020429e-01 -4.37073943e-02 6.91702647e-03 5.80613357e+02] [ 4.37034520e-02 9.99044288e-01 7.20152619e-04 6.24806823e+01] [-6.94189178e-03 -4.17149244e-04 9.99975818e-01 -2.57563372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.871400513 meters 0.05215510626686676 Centerline is valid? [True, True] Translation: X:580.64, Y:62.49, Z:-2.57 [[ 9.99165274e-01 -3.97626451e-02 9.36416263e-03 5.80642695e+02] [ 3.97552483e-02 9.99208972e-01 9.74805564e-04 6.24905730e+01] [-9.39551616e-03 -6.01717259e-04 9.99955680e-01 -2.57246229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.901400513 meters 0.050571426339139504 Centerline is valid? [True, True] Translation: X:580.67, Y:62.49, Z:-2.57 [[ 9.99235747e-01 -3.78348043e-02 9.82084706e-03 5.80673857e+02] [ 3.78265767e-02 9.99283796e-01 1.02223990e-03 6.24916567e+01] [-9.85248958e-03 -6.49969622e-04 9.99951252e-01 -2.57244440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.931400513 meters 0.05272789889596213 Centerline is valid? [True, True] Translation: X:580.71, Y:62.50, Z:-2.57 [[ 9.99267883e-01 -3.68288222e-02 1.03602621e-02 5.80705059e+02] [ 3.68196258e-02 9.99321347e-01 1.07706580e-03 6.24977151e+01] [-1.03928981e-02 -6.94816291e-04 9.99945751e-01 -2.57228884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.961400513 meters 0.05363853353239264 Centerline is valid? [True, True] Translation: X:580.74, Y:62.50, Z:-2.57 [[ 9.99303790e-01 -3.56816800e-02 1.08973893e-02 5.80735783e+02] [ 3.56714408e-02 9.99362930e-01 1.13258395e-03 6.25016002e+01] [-1.09308594e-02 -7.43069854e-04 9.99939980e-01 -2.57206557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.991400513 meters 0.055700192462345484 Centerline is valid? [True, True] Translation: X:580.77, Y:62.51, Z:-2.57 [[ 9.99344870e-01 -3.44922870e-02 1.09595695e-02 5.80765795e+02] [ 3.44818609e-02 9.99404675e-01 1.13892509e-03 6.25079213e+01] [-1.09923291e-02 -7.60272599e-04 9.99939294e-01 -2.57170785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.021400513 meters 0.054006712031936376 Centerline is valid? [True, True] Translation: X:580.80, Y:62.51, Z:-2.57 [[ 9.99332775e-01 -3.47678987e-02 1.11891947e-02 5.80798442e+02] [ 3.47570655e-02 9.99395116e-01 1.16125402e-03 6.25085241e+01] [-1.12228009e-02 -7.71575630e-04 9.99936725e-01 -2.57216053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.051400513 meters 0.05502965360331096 Centerline is valid? [True, True] Translation: X:580.83, Y:62.51, Z:-2.57 [[ 9.99339910e-01 -3.46107943e-02 1.10380188e-02 5.80830601e+02] [ 3.46002623e-02 9.99400577e-01 1.14375142e-03 6.25132979e+01] [-1.10709885e-02 -7.61078097e-04 9.99938425e-01 -2.57208724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.081400513 meters 0.04954759600749072 Centerline is valid? [True, True] Translation: X:580.86, Y:62.51, Z:-2.57 [[ 9.99306132e-01 -3.55679897e-02 1.10531301e-02 5.80863216e+02] [ 3.55574935e-02 9.99366977e-01 1.14475131e-03 6.25085085e+01] [-1.10868497e-02 -7.50935405e-04 9.99938257e-01 -2.57418928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.111400513 meters 0.05106506113268103 Centerline is valid? [True, True] Translation: X:580.89, Y:62.51, Z:-2.57 [[ 9.99277121e-01 -3.64856513e-02 1.06785816e-02 5.80893005e+02] [ 3.64759082e-02 9.99333921e-01 1.10580758e-03 6.25137945e+01] [-1.07118149e-02 -7.15497251e-04 9.99942371e-01 -2.57382440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.141400513 meters 0.05597218546881489 Centerline is valid? [True, True] Translation: X:580.92, Y:62.52, Z:-2.57 [[ 9.99220489e-01 -3.80559457e-02 1.04957055e-02 5.80922116e+02] [ 3.80466198e-02 9.99275374e-01 1.08685422e-03 6.25234243e+01] [-1.05294613e-02 -6.86680893e-04 9.99944328e-01 -2.57296957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.171400513 meters 0.04409749496769981 Centerline is valid? [True, True] Translation: X:580.96, Y:62.51, Z:-2.58 [[ 9.99197258e-01 -3.86573470e-02 1.05094541e-02 5.80955551e+02] [ 3.86480455e-02 9.99252294e-01 1.08678739e-03 6.25114037e+01] [-1.05436085e-02 -6.79745121e-04 9.99944184e-01 -2.57529336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.201400513 meters 0.044408490688527834 Centerline is valid? [True, True] Translation: X:580.99, Y:62.51, Z:-2.58 [[ 9.99199827e-01 -3.87660113e-02 9.84383558e-03 5.80988107e+02] [ 3.87578719e-02 9.99248115e-01 1.01635572e-03 6.25143494e+01] [-9.87583420e-03 -6.34016342e-04 9.99951032e-01 -2.57726110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.231400513 meters 0.04725478532047551 Centerline is valid? [True, True] Translation: X:581.02, Y:62.52, Z:-2.58 [[ 9.99219028e-01 -3.84784916e-02 8.98557225e-03 5.81020302e+02] [ 3.84717120e-02 9.99259260e-01 9.26198388e-04 6.25185049e+01] [-9.01455500e-03 -5.79784705e-04 9.99959200e-01 -2.57924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.261400513 meters 0.04525489315308024 Centerline is valid? [True, True] Translation: X:581.05, Y:62.52, Z:-2.58 [[ 9.99236465e-01 -3.83676689e-02 7.37626955e-03 5.81052682e+02] [ 3.83631060e-02 9.99263577e-01 7.59145448e-04 6.25203135e+01] [-7.39996413e-03 -4.75589203e-04 9.99972507e-01 -2.58084729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.291400513 meters 0.04477602136470888 Centerline is valid? [True, True] Translation: X:581.09, Y:62.52, Z:-2.58 [[ 9.99269171e-01 -3.77330663e-02 6.11061045e-03 5.81085324e+02] [ 3.77299290e-02 9.99287775e-01 6.27934933e-04 6.25226860e+01] [-6.12995223e-03 -3.96923122e-04 9.99981133e-01 -2.58271883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.321400513 meters 0.045475588676395014 Centerline is valid? [True, True] Translation: X:581.12, Y:62.53, Z:-2.58 [[ 9.99289280e-01 -3.73685377e-02 4.95247233e-03 5.81117969e+02] [ 3.73664766e-02 9.99301500e-01 5.08080779e-04 6.25260861e+01] [-4.96799926e-03 -3.22663234e-04 9.99987607e-01 -2.58403461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.351400513 meters 0.049355272299230334 Centerline is valid? [True, True] Translation: X:581.15, Y:62.53, Z:-2.58 [[ 9.99316407e-01 -3.67666384e-02 3.86445201e-03 5.81148251e+02] [ 3.67653811e-02 9.99323846e-01 3.95887089e-04 6.25340209e+01] [-3.87639448e-03 -2.53538412e-04 9.99992455e-01 -2.58432370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.381400513 meters 0.047017476944120756 Centerline is valid? [True, True] Translation: X:581.18, Y:62.54, Z:-2.58 [[ 9.99348412e-01 -3.58972917e-02 3.75964695e-03 5.81180520e+02] [ 3.58960968e-02 9.99355453e-01 3.84836199e-04 6.25352013e+01] [-3.77103826e-03 -2.49628794e-04 9.99992858e-01 -2.58320929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.411400513 meters 0.047230204324658236 Centerline is valid? [True, True] Translation: X:581.21, Y:62.54, Z:-2.58 [[ 9.99367398e-01 -3.52264646e-02 4.88868837e-03 5.81212222e+02] [ 3.52244392e-02 9.99379302e-01 4.99799904e-04 6.25382526e+01] [-4.90326015e-03 -3.27282424e-04 9.99987925e-01 -2.58203034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.441400513 meters 0.04787038786287012 Centerline is valid? [True, True] Translation: X:581.24, Y:62.54, Z:-2.58 [[ 9.99414255e-01 -3.37071418e-02 5.91406699e-03 5.81243417e+02] [ 3.37041534e-02 9.99431671e-01 6.04270670e-04 6.25429371e+01] [-5.93107409e-03 -4.04588100e-04 9.99982329e-01 -2.58051816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.471400513 meters 0.04688812230309583 Centerline is valid? [True, True] Translation: X:581.27, Y:62.54, Z:-2.58 [[ 9.99463993e-01 -3.13643974e-02 9.38087968e-03 5.81274047e+02] [ 3.13567765e-02 9.99507796e-01 9.58402267e-04 6.25448945e+01] [-9.40632208e-03 -6.63734410e-04 9.99955539e-01 -2.57771850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.501400513 meters 0.05018329272964276 Centerline is valid? [True, True] Translation: X:581.30, Y:62.55, Z:-2.58 [[ 9.99489468e-01 -3.00986117e-02 1.07180705e-02 5.81303296e+02] [ 3.00885964e-02 9.99546636e-01 1.09449813e-03 6.25522286e+01] [-1.07461542e-02 -7.71447661e-04 9.99941961e-01 -2.57547523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.531400513 meters 0.047914087340025606 Centerline is valid? [True, True] Translation: X:581.33, Y:62.55, Z:-2.58 [[ 9.99544497e-01 -2.80696736e-02 1.10856195e-02 5.81334311e+02] [ 2.80588372e-02 9.99605633e-01 1.13186869e-03 6.25529337e+01] [-1.11130188e-02 -8.20303533e-04 9.99937912e-01 -2.57515597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.561400513 meters 0.05232827710225156 Centerline is valid? [True, True] Translation: X:581.36, Y:62.56, Z:-2.58 [[ 9.99579142e-01 -2.66709449e-02 1.14104971e-02 5.81363513e+02] [ 2.66593797e-02 9.99643897e-01 1.16448871e-03 6.25607900e+01] [-1.14374918e-02 -8.59801846e-04 9.99934220e-01 -2.57552193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.591400513 meters 0.07048203012459905 Centerline is valid? [True, True] Translation: X:581.39, Y:62.59, Z:-2.57 [[ 9.99617294e-01 -2.53523605e-02 1.10690673e-02 5.81390869e+02] [ 2.53413988e-02 9.99678217e-01 1.12945337e-03 6.25871029e+01] [-1.10941398e-02 -8.48515471e-04 9.99938098e-01 -2.57225436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.621400513 meters 0.06448297965194777 Centerline is valid? [True, True] Translation: X:581.42, Y:62.58, Z:-2.57 [[ 9.99706245e-01 -2.17502078e-02 1.06935835e-02 5.81422665e+02] [ 2.17397747e-02 9.99763068e-01 1.09093392e-03 6.25827228e+01] [-1.07147779e-02 -8.58137352e-04 9.99942227e-01 -2.57296830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.651400513 meters 0.06566552528080571 Centerline is valid? [True, True] Translation: X:581.45, Y:62.59, Z:-2.57 [[ 9.99757542e-01 -1.89300741e-02 1.12476410e-02 5.81452944e+02] [ 1.89183560e-02 9.99820374e-01 1.14732358e-03 6.25873290e+01] [-1.12673395e-02 -9.34258530e-04 9.99936085e-01 -2.57174122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.681400513 meters 0.06938359226208851 Centerline is valid? [True, True] Translation: X:581.48, Y:62.60, Z:-2.57 [[ 9.99796018e-01 -1.63375630e-02 1.18746544e-02 5.81482908e+02] [ 1.63243212e-02 9.99866016e-01 1.21120671e-03 6.25950832e+01] [-1.18928515e-02 -1.01711398e-03 9.99928760e-01 -2.57040975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.711400513 meters 0.07263433028373259 Centerline is valid? [True, True] Translation: X:581.51, Y:62.60, Z:-2.57 [[ 9.99841168e-01 -1.29639569e-02 1.22300343e-02 5.81512768e+02] [ 1.29496610e-02 9.99915372e-01 1.24739202e-03 6.26007850e+01] [-1.22451705e-02 -1.08881910e-03 9.99924432e-01 -2.57136126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.741400513 meters 0.07322577639110221 Centerline is valid? [True, True] Translation: X:581.55, Y:62.60, Z:-2.57 [[ 9.99860134e-01 -1.21491400e-02 1.14939848e-02 5.81545205e+02] [ 1.21364799e-02 9.99925665e-01 1.17056807e-03 6.26037573e+01] [-1.15073518e-02 -1.03090784e-03 9.99933257e-01 -2.57269887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.771400513 meters 0.08266824979583319 Centerline is valid? [True, True] Translation: X:581.58, Y:62.62, Z:-2.57 [[ 9.99868267e-01 -1.20721689e-02 1.08494668e-02 5.81575100e+02] [ 1.20609033e-02 9.99926656e-01 1.10318677e-03 6.26183564e+01] [-1.08619890e-02 -9.72187072e-04 9.99940534e-01 -2.57298582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.801400513 meters 0.07397197531617736 Centerline is valid? [True, True] Translation: X:581.61, Y:62.61, Z:-2.57 [[ 9.99863434e-01 -1.26218683e-02 1.06678296e-02 5.81608852e+02] [ 1.26110163e-02 9.99919890e-01 1.08392132e-03 6.26098577e+01] [-1.06806561e-02 -9.49241124e-04 9.99942510e-01 -2.57492221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.831400513 meters 0.06943986185662297 Centerline is valid? [True, True] Translation: X:581.64, Y:62.61, Z:-2.58 [[ 9.99860587e-01 -1.27362537e-02 1.07978933e-02 5.81642041e+02] [ 1.27251612e-02 9.99918432e-01 1.09537773e-03 6.26071199e+01] [-1.08109635e-02 -9.57820083e-04 9.99941101e-01 -2.57538239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.861400513 meters 0.06993988515707576 Centerline is valid? [True, True] Translation: X:581.67, Y:62.61, Z:-2.58 [[ 9.99850338e-01 -1.22737793e-02 1.21924384e-02 5.81674123e+02] [ 1.22596289e-02 9.99924086e-01 1.23465625e-03 6.26103243e+01] [-1.22066667e-02 -1.08499670e-03 9.99924907e-01 -2.57501298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.891400513 meters 0.07353395905507208 Centerline is valid? [True, True] Translation: X:581.70, Y:62.62, Z:-2.57 [[ 9.99848171e-01 -1.24581775e-02 1.21831286e-02 5.81704590e+02] [ 1.24440867e-02 9.99921811e-01 1.23171191e-03 6.26172311e+01] [-1.21975209e-02 -1.07991699e-03 9.99925024e-01 -2.57479811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.921400513 meters 0.07143768134048165 Centerline is valid? [True, True] Translation: X:581.74, Y:62.62, Z:-2.58 [[ 9.99866704e-01 -1.19911639e-02 1.10809102e-02 5.81737199e+02] [ 1.19795002e-02 9.99927618e-01 1.11836887e-03 6.26175388e+01] [-1.10935187e-02 -9.85476025e-04 9.99937979e-01 -2.57668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.951400513 meters 0.07215372457301021 Centerline is valid? [True, True] Translation: X:581.77, Y:62.62, Z:-2.58 [[ 9.99885490e-01 -1.15872984e-02 9.73350857e-03 5.81770083e+02] [ 1.15782983e-02 9.99932489e-01 9.80493911e-04 6.26212720e+01] [-9.74421272e-03 -8.67684169e-04 9.99952148e-01 -2.57835761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.981400513 meters 0.08055541318791144 Centerline is valid? [True, True] Translation: X:581.80, Y:62.64, Z:-2.58 [[ 9.99900052e-01 -1.09029534e-02 9.00068024e-03 5.81799973e+02] [ 1.08952435e-02 9.99940235e-01 9.05186210e-04 6.26352748e+01] [-9.01001152e-03 -8.07031136e-04 9.99959083e-01 -2.57721875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.011400513 meters 0.08071319117341438 Centerline is valid? [True, True] Translation: X:581.83, Y:62.64, Z:-2.58 [[ 9.99901851e-01 -1.05662084e-02 9.20016357e-03 5.81832380e+02] [ 1.05581529e-02 9.99943835e-01 9.23708896e-04 6.26389485e+01] [-9.20940694e-03 -8.26481502e-04 9.99957251e-01 -2.57663445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.041400513 meters 0.07309155584895434 Centerline is valid? [True, True] Translation: X:581.86, Y:62.63, Z:-2.58 [[ 9.99894614e-01 -1.12930991e-02 9.12289328e-03 5.81864375e+02] [ 1.12852123e-02 9.99935901e-01 9.15522797e-04 6.26319316e+01] [-9.13264760e-03 -8.12472526e-04 9.99957966e-01 -2.57794137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.071400513 meters 0.07164107973030082 Centerline is valid? [True, True] Translation: X:581.90, Y:62.63, Z:-2.58 [[ 9.99886117e-01 -1.22971591e-02 8.74834155e-03 5.81895918e+02] [ 1.22899467e-02 9.99924091e-01 8.77715123e-04 6.26325492e+01] [-8.75847087e-03 -7.70098514e-04 9.99961347e-01 -2.57887976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.101400513 meters 0.07953452650300182 Centerline is valid? [True, True] Translation: X:581.93, Y:62.65, Z:-2.58 [[ 9.99883760e-01 -1.33673240e-02 7.33351643e-03 5.81925342e+02] [ 1.33622857e-02 9.99910450e-01 7.35587056e-04 6.26456149e+01] [-7.34269255e-03 -6.37509010e-04 9.99972839e-01 -2.57998904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.131400513 meters 0.07365141716354456 Centerline is valid? [True, True] Translation: X:581.96, Y:62.64, Z:-2.58 [[ 9.99872480e-01 -1.40915223e-02 7.51345181e-03 5.81957867e+02] [ 1.40862561e-02 9.99900500e-01 7.53371856e-04 6.26412653e+01] [-7.52332037e-03 -6.47439380e-04 9.99971490e-01 -2.57986105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.161400513 meters 0.07043223893194722 Centerline is valid? [True, True] Translation: X:581.99, Y:62.64, Z:-2.58 [[ 9.99864132e-01 -1.45116320e-02 7.81851957e-03 5.81990095e+02] [ 1.45059514e-02 9.99894477e-01 7.82785835e-04 6.26409752e+01] [-7.82905404e-03 -6.69264415e-04 9.99969129e-01 -2.57906990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.191400513 meters 0.08683620645001734 Centerline is valid? [True, True] Translation: X:582.02, Y:62.67, Z:-2.58 [[ 9.99848060e-01 -1.51206154e-02 8.67312647e-03 5.82019656e+02] [ 1.51136610e-02 9.99885406e-01 8.66816918e-04 6.26650864e+01] [-8.68523939e-03 -7.35602521e-04 9.99962012e-01 -2.57568880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.221400513 meters 0.06860235270167106 Centerline is valid? [True, True] Translation: X:582.05, Y:62.65, Z:-2.58 [[ 9.99849620e-01 -1.54883571e-02 7.80054073e-03 5.82054257e+02] [ 1.54827532e-02 9.99879832e-01 7.78272325e-04 6.26451661e+01] [-7.81165751e-03 -6.57381441e-04 9.99969272e-01 -2.57859672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.251400513 meters 0.07594396999076072 Centerline is valid? [True, True] Translation: X:582.08, Y:62.66, Z:-2.58 [[ 9.99824168e-01 -1.67415124e-02 8.44714258e-03 5.82083430e+02] [ 1.67349884e-02 9.99859605e-01 8.42429101e-04 6.26568541e+01] [-8.46006018e-03 -7.00918142e-04 9.99963967e-01 -2.57829793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.281400513 meters 0.0672908817460761 Centerline is valid? [True, True] Translation: X:582.12, Y:62.65, Z:-2.58 [[ 9.99810224e-01 -1.72764300e-02 9.00226998e-03 5.82116581e+02] [ 1.72690540e-02 9.99850477e-01 8.96444927e-04 6.26491150e+01] [-9.01641130e-03 -7.40814117e-04 9.99959077e-01 -2.57746343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.311400513 meters 0.07242900588914745 Centerline is valid? [True, True] Translation: X:582.15, Y:62.66, Z:-2.58 [[ 9.99804260e-01 -1.73859384e-02 9.44308015e-03 5.82147080e+02] [ 1.73778419e-02 9.99848553e-01 9.38781033e-04 6.26590782e+01] [-9.45797161e-03 -7.74496922e-04 9.99954972e-01 -2.57646290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.341400513 meters 0.07347048306117976 Centerline is valid? [True, True] Translation: X:582.18, Y:62.66, Z:-2.58 [[ 9.99784173e-01 -1.81824832e-02 1.00500794e-02 5.82177616e+02] [ 1.81733569e-02 9.99834352e-01 9.98672994e-04 6.26627491e+01] [-1.00665730e-02 -8.15813774e-04 9.99948998e-01 -2.57694668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.371400513 meters 0.06536841567060168 Centerline is valid? [True, True] Translation: X:582.21, Y:62.65, Z:-2.58 [[ 9.99771019e-01 -1.91404841e-02 9.56821839e-03 5.82210100e+02] [ 1.91322578e-02 9.99816510e-01 9.50553855e-04 6.26548229e+01] [-9.58465677e-03 -7.67274575e-04 9.99953772e-01 -2.57906146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.401400513 meters 0.06699762941238739 Centerline is valid? [True, True] Translation: X:582.24, Y:62.66, Z:-2.58 [[ 9.99745578e-01 -2.05620086e-02 9.27274403e-03 5.82239198e+02] [ 2.05543427e-02 9.99788313e-01 9.21263248e-04 6.26597846e+01] [-9.28972413e-03 -7.30433699e-04 9.99956583e-01 -2.57905134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.431400513 meters 0.06664418100093607 Centerline is valid? [True, True] Translation: X:582.27, Y:62.66, Z:-2.58 [[ 9.99696836e-01 -2.26491486e-02 9.65669382e-03 5.82268577e+02] [ 2.26409304e-02 9.99743201e-01 9.59528334e-04 6.26620101e+01] [-9.67594649e-03 -7.40600907e-04 9.99952913e-01 -2.57855539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.461400513 meters 0.06422322661249999 Centerline is valid? [True, True] Translation: X:582.30, Y:62.66, Z:-2.58 [[ 9.99674542e-01 -2.36602926e-02 9.53940505e-03 5.82300595e+02] [ 2.36523225e-02 9.99719796e-01 9.47462076e-04 6.26621373e+01] [-9.55914930e-03 -7.21524632e-04 9.99954050e-01 -2.57905601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.491400513 meters 0.06351738137264741 Centerline is valid? [True, True] Translation: X:582.33, Y:62.66, Z:-2.58 [[ 9.99657420e-01 -2.47668459e-02 8.46442536e-03 5.82331487e+02] [ 2.47606124e-02 9.99693056e-01 8.40454301e-04 6.26632288e+01] [-8.48264266e-03 -6.30582023e-04 9.99963823e-01 -2.58087389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.521400513 meters 0.056411948133417794 Centerline is valid? [True, True] Translation: X:582.36, Y:62.66, Z:-2.58 [[ 9.99650288e-01 -2.50547635e-02 8.45939689e-03 5.82364934e+02] [ 2.50485587e-02 9.99685884e-01 8.38653112e-04 6.26566716e+01] [-8.47775192e-03 -6.26464125e-04 9.99963867e-01 -2.58223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.551400513 meters 0.06976231006098675 Centerline is valid? [True, True] Translation: X:582.39, Y:62.68, Z:-2.58 [[ 9.99670706e-01 -2.41395805e-02 8.70406762e-03 5.82393967e+02] [ 2.41329810e-02 9.99708385e-01 8.62459966e-04 6.26767524e+01] [-8.72234881e-03 -6.52120865e-04 9.99961747e-01 -2.57991241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.581400513 meters 0.07022917671732577 Centerline is valid? [True, True] Translation: X:582.43, Y:62.68, Z:-2.58 [[ 9.99676177e-01 -2.34789482e-02 9.81229180e-03 5.82425583e+02] [ 2.34705364e-02 9.99724057e-01 9.71559425e-04 6.26800859e+01] [-9.83239536e-03 -7.40945060e-04 9.99951386e-01 -2.57842155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.611400513 meters 0.07022917671732577 Centerline is valid? [True, True] Translation: X:582.46, Y:62.68, Z:-2.58 [[ 9.99680583e-01 -2.32904984e-02 9.81245944e-03 5.82458236e+02] [ 2.32820941e-02 9.99728465e-01 9.69864700e-04 6.26831613e+01] [-9.83238364e-03 -7.41100305e-04 9.99951386e-01 -2.57846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.641400513 meters 0.07324356750964366 Centerline is valid? [True, True] Translation: X:582.49, Y:62.69, Z:-2.58 [[ 9.99704291e-01 -2.21235592e-02 1.00935437e-02 5.82487802e+02] [ 2.21146102e-02 9.99754945e-01 9.97370017e-04 6.26896768e+01] [-1.01131356e-02 -7.73860301e-04 9.99948561e-01 -2.57807930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.671400513 meters 0.06809411900178677 Centerline is valid? [True, True] Translation: X:582.52, Y:62.68, Z:-2.58 [[ 9.99780218e-01 -1.93499004e-02 8.06824616e-03 5.82519496e+02] [ 1.93440929e-02 9.99812568e-01 7.97219161e-04 6.26843635e+01] [-8.08216002e-03 -6.40971044e-04 9.99967133e-01 -2.58181911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.701400513 meters 0.06550313391625369 Centerline is valid? [True, True] Translation: X:582.55, Y:62.68, Z:-2.58 [[ 9.99820824e-01 -1.77021485e-02 6.70478529e-03 5.82551345e+02] [ 1.76981021e-02 9.99843157e-01 6.62359134e-04 6.26832852e+01] [-6.71545887e-03 -5.43578480e-04 9.99977303e-01 -2.58303228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.731400513 meters 0.07521629401507963 Centerline is valid? [True, True] Translation: X:582.58, Y:62.70, Z:-2.58 [[ 9.99846532e-01 -1.65353036e-02 5.78762486e-03 5.82580748e+02] [ 1.65322715e-02 9.99863169e-01 5.71343470e-04 6.26980185e+01] [-5.79628027e-03 -4.75573201e-04 9.99983088e-01 -2.58323577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.761400513 meters 0.06702522630596568 Centerline is valid? [True, True] Translation: X:582.61, Y:62.69, Z:-2.58 [[ 9.99836255e-01 -1.69722635e-02 6.27741155e-03 5.82614005e+02] [ 1.69687113e-02 9.99855830e-01 6.18702658e-04 6.26899505e+01] [-6.28700732e-03 -5.12081763e-04 9.99980105e-01 -2.58417254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.791400513 meters 0.0676087184211559 Centerline is valid? [True, True] Translation: X:582.65, Y:62.69, Z:-2.58 [[ 9.99842998e-01 -1.68354531e-02 5.52693409e-03 5.82646667e+02] [ 1.68327026e-02 9.99858172e-01 5.43792209e-04 6.26931089e+01] [-5.53530521e-03 -4.50673595e-04 9.99984579e-01 -2.58478251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.821400513 meters 0.06870245721096388 Centerline is valid? [True, True] Translation: X:582.68, Y:62.70, Z:-2.59 [[ 9.99816563e-01 -1.85877227e-02 4.61915803e-03 5.82676536e+02] [ 1.85858211e-02 9.99827166e-01 4.54268516e-04 6.26960413e+01] [-4.62680350e-03 -3.68334342e-04 9.99989228e-01 -2.58620786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.851400513 meters 0.06711927664503065 Centerline is valid? [True, True] Translation: X:582.70, Y:62.70, Z:-2.58 [[ 9.99770174e-01 -2.05495648e-02 6.10861013e-03 5.82704141e+02] [ 2.05766348e-02 9.99778587e-01 -4.40212703e-03 6.27017626e+01] [-6.01679581e-03 4.52680995e-03 9.99971653e-01 -2.57936073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.881400513 meters 0.06982910552020698 Centerline is valid? [True, True] Translation: X:582.74, Y:62.70, Z:-2.59 [[ 9.99822125e-01 -1.83242395e-02 4.46541552e-03 5.82736848e+02] [ 1.82997992e-02 9.99817669e-01 5.45397198e-03 6.26984588e+01] [-4.56454123e-03 -5.37128565e-03 9.99975157e-01 -2.58934323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.911400513 meters 0.06456110530705145 Centerline is valid? [True, True] Translation: X:582.76, Y:62.70, Z:-2.58 [[ 9.99745575e-01 -2.13532748e-02 7.26791993e-03 5.82761735e+02] [ 2.13821324e-02 9.99763706e-01 -3.91627028e-03 6.27032900e+01] [-7.18257737e-03 4.07067751e-03 9.99965920e-01 -2.57829857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.941400513 meters 0.0674814810252655 Centerline is valid? [True, True] Translation: X:582.79, Y:62.71, Z:-2.58 [[ 9.99722353e-01 -2.24537430e-02 7.14460755e-03 5.82789607e+02] [ 2.24523591e-02 9.99747877e-01 2.73856621e-04 6.27064443e+01] [-7.14895534e-03 -1.13367292e-04 9.99974439e-01 -2.58179281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.971400513 meters 0.06156076328733628 Centerline is valid? [True, True] Translation: X:582.83, Y:62.70, Z:-2.58 [[ 9.99583273e-01 -2.81389648e-02 6.44040680e-03 5.82825329e+02] [ 2.81344984e-02 9.99603840e-01 7.83070811e-04 6.27012245e+01] [-6.45989017e-03 -6.01546870e-04 9.99978954e-01 -2.58387814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.001400513 meters 0.060717210052520836 Centerline is valid? [True, True] Translation: X:582.85, Y:62.70, Z:-2.59 [[ 9.99515955e-01 -3.03777090e-02 6.71197563e-03 5.82852139e+02] [ 3.03291218e-02 9.99513848e-01 7.22583935e-03 6.26973824e+01] [-6.92821703e-03 -7.01877339e-03 9.99951367e-01 -2.59127438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.031400513 meters 0.0530485176546543 Centerline is valid? [True, True] Translation: X:582.89, Y:62.69, Z:-2.59 [[ 9.99411211e-01 -3.33678323e-02 7.98867972e-03 5.82885480e+02] [ 3.33401117e-02 9.99437658e-01 3.57840187e-03 6.26935765e+01] [-8.10359086e-03 -3.30995148e-03 9.99961687e-01 -2.59027931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.061400513 meters 0.060676991805625594 Centerline is valid? [True, True] Translation: X:582.91, Y:62.71, Z:-2.58 [[ 9.99285781e-01 -3.69420317e-02 7.95079100e-03 5.82911586e+02] [ 3.69945269e-02 9.99293937e-01 -6.55989396e-03 6.27142838e+01] [-7.70284143e-03 6.84934451e-03 9.99946875e-01 -2.57759649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.091400513 meters 0.04896800086965378 Centerline is valid? [True, True] Translation: X:582.94, Y:62.70, Z:-2.58 [[ 9.98960640e-01 -4.47270351e-02 8.78244930e-03 5.82942867e+02] [ 4.47462591e-02 9.98996373e-01 -2.00465568e-03 6.26990549e+01] [-8.68397270e-03 2.39555387e-03 9.99959424e-01 -2.58085372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.121400513 meters 0.04235137673206373 Centerline is valid? [True, True] Translation: X:582.98, Y:62.68, Z:-2.59 [[ 9.98741423e-01 -4.92084440e-02 9.70046379e-03 5.82975948e+02] [ 4.90991508e-02 9.98731108e-01 1.12002974e-02 6.26843006e+01] [-1.02393042e-02 -1.07099164e-02 9.99890221e-01 -2.59314891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.151400513 meters 0.03940302503318094 Centerline is valid? [True, True] Translation: X:583.01, Y:62.69, Z:-2.59 [[ 9.98444699e-01 -5.52842835e-02 7.19935612e-03 5.83005783e+02] [ 5.52812276e-02 9.98470629e-01 6.22922619e-04 6.26912400e+01] [-7.22278346e-03 -2.23964543e-04 9.99973890e-01 -2.58738690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.181400513 meters 0.037123674938968704 Centerline is valid? [True, True] Translation: X:583.04, Y:62.69, Z:-2.59 [[ 9.98255277e-01 -5.86992478e-02 6.38744799e-03 5.83038714e+02] [ 5.87013828e-02 9.98275576e-01 -1.47124224e-04 6.26911949e+01] [-6.36779724e-03 5.21819562e-04 9.99979589e-01 -2.58924220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.211400513 meters 0.03790200246946552 Centerline is valid? [True, True] Translation: X:583.07, Y:62.69, Z:-2.59 [[ 9.98013097e-01 -6.27011457e-02 6.19869266e-03 5.83072662e+02] [ 6.26838726e-02 9.98029094e-01 2.94284449e-03 6.26938756e+01] [-6.37099534e-03 -2.54843928e-03 9.99976458e-01 -2.59267316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.241400513 meters 0.03211834611779871 Centerline is valid? [True, True] Translation: X:583.10, Y:62.69, Z:-2.59 [[ 9.97848106e-01 -6.52493156e-02 6.45634621e-03 5.83098033e+02] [ 6.52749493e-02 9.97859919e-01 -3.84238126e-03 6.26929817e+01] [-6.19181635e-03 4.25555054e-03 9.99971775e-01 -2.58685982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.271400513 meters 0.02982610284508053 Centerline is valid? [True, True] Translation: X:583.13, Y:62.69, Z:-2.59 [[ 9.97478663e-01 -7.07623690e-02 5.38547333e-03 5.83127034e+02] [ 7.07678873e-02 9.97492456e-01 -8.40851740e-04 6.26898484e+01] [-5.31246835e-03 1.21985024e-03 9.99985145e-01 -2.59027509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.301400513 meters 0.028840775303309377 Centerline is valid? [True, True] Translation: X:583.16, Y:62.69, Z:-2.60 [[ 9.97222267e-01 -7.43157829e-02 4.99148770e-03 5.83161219e+02] [ 7.42897893e-02 9.97223109e-01 5.20566721e-03 6.26890502e+01] [-5.36449011e-03 -4.82039068e-03 9.99973993e-01 -2.59616307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.331400513 meters 0.027531916897028837 Centerline is valid? [True, True] Translation: X:583.19, Y:62.69, Z:-2.59 [[ 9.97296543e-01 -7.33881546e-02 3.71282083e-03 5.83186887e+02] [ 7.33945806e-02 9.97301657e-01 -1.62499190e-03 6.26948139e+01] [-3.58354721e-03 1.89309973e-03 9.99991787e-01 -2.59034958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.361400513 meters 0.030225995494092404 Centerline is valid? [True, True] Translation: X:583.22, Y:62.70, Z:-2.59 [[ 9.97368417e-01 -7.24860196e-02 1.42017221e-03 5.83218555e+02] [ 7.24865440e-02 9.97369339e-01 -3.21230685e-04 6.27025296e+01] [-1.39315149e-03 4.23328715e-04 9.99998940e-01 -2.59424685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.391400513 meters 0.05903338334644248 Centerline is valid? [True, True] Translation: X:583.25, Y:62.75, Z:-2.58 [[ 9.97500138e-01 -7.06645236e-02 3.88365489e-06 5.83252832e+02] [ 7.06626406e-02 9.97473153e-01 -7.35530433e-03 6.27486021e+01] [ 5.15885235e-04 7.33719151e-03 9.99972949e-01 -2.58380725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.421400513 meters 0.03562933708347408 Centerline is valid? [True, True] Translation: X:583.29, Y:62.70, Z:-2.60 [[ 9.98362622e-01 -5.70746382e-02 -3.81575637e-03 5.83289511e+02] [ 5.70975431e-02 9.98349412e-01 6.19045843e-03 6.27028478e+01] [ 3.45613995e-03 -6.39819262e-03 9.99973559e-01 -2.59870035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.451400513 meters 0.05964769058463413 Centerline is valid? [True, True] Translation: X:583.31, Y:62.75, Z:-2.59 [[ 9.97718879e-01 -6.72438184e-02 5.94193728e-03 5.83312714e+02] [ 6.72375371e-02 9.97736212e-01 1.25084856e-03 6.27499236e+01] [-6.01259783e-03 -8.48473999e-04 9.99981564e-01 -2.59391259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.481400513 meters 0.03539863736480986 Centerline is valid? [True, True] Translation: X:583.35, Y:62.72, Z:-2.59 [[ 9.98307388e-01 -5.81579994e-02 7.49429922e-05 5.83349953e+02] [ 5.81580363e-02 9.98307170e-01 -6.61529789e-04 6.27165612e+01] [-3.63428774e-05 6.64768613e-04 9.99999778e-01 -2.58834364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.511400513 meters 0.033634653937664405 Centerline is valid? [True, True] Translation: X:583.38, Y:62.72, Z:-2.59 [[ 9.98236898e-01 -5.93544804e-02 3.75032386e-04 5.83382039e+02] [ 5.93544710e-02 9.98236969e-01 3.60751344e-05 6.27183558e+01] [-3.76512413e-04 -1.37516814e-05 9.99999929e-01 -2.58802354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.541400513 meters 0.03252304660555145 Centerline is valid? [True, True] Translation: X:583.41, Y:62.72, Z:-2.59 [[ 9.98167951e-01 -6.05040527e-02 -3.29697847e-05 5.83413212e+02] [ 6.05040526e-02 9.98167952e-01 -3.12591086e-06 6.27208593e+01] [ 3.30985127e-05 1.12537845e-06 9.99999999e-01 -2.58738761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.571400513 meters 0.0257632562443081 Centerline is valid? [True, True] Translation: X:583.44, Y:62.72, Z:-2.59 [[ 9.97796927e-01 -6.63413885e-02 -3.35196200e-04 5.83444324e+02] [ 6.63413815e-02 9.97796983e-01 -3.21483127e-05 6.27150501e+01] [ 3.36590521e-04 9.84010859e-06 9.99999943e-01 -2.58896504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.601400513 meters 0.023960798302145876 Centerline is valid? [True, True] Translation: X:583.47, Y:62.72, Z:-2.59 [[ 9.97523510e-01 -7.03334117e-02 2.41816274e-04 5.83474284e+02] [ 7.03334082e-02 9.97523539e-01 2.31943942e-05 6.27159089e+01] [-2.42848766e-04 -6.12919087e-06 9.99999970e-01 -2.58865336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.631400513 meters 0.022748871656987905 Centerline is valid? [True, True] Translation: X:583.51, Y:62.72, Z:-2.59 [[ 9.97270196e-01 -7.38320002e-02 9.96348760e-04 5.83506258e+02] [ 7.38319416e-02 9.97270693e-01 9.55407336e-05 6.27174909e+01] [-1.00068338e-03 -2.17175627e-05 9.99999499e-01 -2.58829728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.661400513 meters 0.022630794182813666 Centerline is valid? [True, True] Translation: X:583.54, Y:62.72, Z:-2.59 [[ 9.96612731e-01 -8.22086900e-02 2.19001421e-03 5.83536373e+02] [ 8.22084270e-02 9.96615137e-01 2.09984293e-04 6.27171898e+01] [-2.19986385e-03 -2.92353961e-05 9.99997580e-01 -2.58753918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.691400513 meters 0.017011105626016237 Centerline is valid? [True, True] Translation: X:583.57, Y:62.72, Z:-2.59 [[ 9.96319464e-01 -8.57147422e-02 7.12900596e-04 5.83569412e+02] [ 8.57147152e-02 9.96319719e-01 6.83139719e-05 6.27160959e+01] [-7.16132436e-04 -6.95646836e-06 9.99999744e-01 -2.58732872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.721400513 meters 0.01741705718787105 Centerline is valid? [True, True] Translation: X:583.60, Y:62.72, Z:-2.59 [[ 9.95969262e-01 -8.96940873e-02 4.47884395e-04 5.83601259e+02] [ 8.96940771e-02 9.95969362e-01 4.28750921e-05 6.27156748e+01] [-4.49924777e-04 -2.52969644e-06 9.99999899e-01 -2.59060044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.751400513 meters 0.015563322549734455 Centerline is valid? [True, True] Translation: X:583.63, Y:62.72, Z:-2.59 [[ 9.95772520e-01 -9.18524280e-02 -4.69462109e-04 5.83634077e+02] [ 9.18524171e-02 9.95772630e-01 -4.47935925e-05 6.27158350e+01] [ 4.71591919e-04 1.48299908e-06 9.99999889e-01 -2.59119411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.781400513 meters 0.015608956905321375 Centerline is valid? [True, True] Translation: X:583.67, Y:62.72, Z:-2.59 [[ 9.95641608e-01 -9.32604672e-02 -5.22272197e-04 5.83667357e+02] [ 9.32604540e-02 9.95641745e-01 -4.97317073e-05 6.27181592e+01] [ 5.24634004e-04 8.07614895e-07 9.99999862e-01 -2.59145779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.811400513 meters 0.015617037503304319 Centerline is valid? [True, True] Translation: X:583.70, Y:62.72, Z:-2.59 [[ 9.95282183e-01 -9.70224446e-02 1.47800284e-04 5.83699534e+02] [ 9.70224436e-02 9.95282194e-01 1.41017427e-05 6.27185866e+01] [-1.48471177e-04 3.04731469e-07 9.99999989e-01 -2.58993026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.841400513 meters 0.017917523838822686 Centerline is valid? [True, True] Translation: X:583.73, Y:62.72, Z:-2.59 [[ 9.94648766e-01 -1.03310019e-01 9.33976009e-04 5.83731562e+02] [ 1.03309981e-01 9.94649204e-01 8.87456166e-05 6.27159588e+01] [-9.38146806e-04 8.21832563e-06 9.99999560e-01 -2.58939756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.871400513 meters 0.01734738593290714 Centerline is valid? [True, True] Translation: X:583.76, Y:62.72, Z:-2.59 [[ 9.94596732e-01 -1.03811927e-01 6.51214316e-04 5.83764769e+02] [ 1.03811909e-01 9.94596945e-01 6.17744487e-05 6.27201636e+01] [-6.54108694e-04 6.16313645e-06 9.99999786e-01 -2.58967707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.901400513 meters 0.020150014100334172 Centerline is valid? [True, True] Translation: X:583.80, Y:62.72, Z:-2.59 [[ 9.94385953e-01 -1.05804142e-01 1.43554417e-03 5.83795936e+02] [ 1.05804056e-01 9.94386989e-01 1.35893936e-04 6.27211331e+01] [-1.44186459e-03 1.67553753e-05 9.99998960e-01 -2.59106466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.931400513 meters 0.02033697426545491 Centerline is valid? [True, True] Translation: X:583.83, Y:62.72, Z:-2.59 [[ 9.94096991e-01 -1.08491557e-01 -8.68679666e-04 5.83827727e+02] [ 1.08491527e-01 9.94097370e-01 -8.20447627e-05 6.27204838e+01] [ 8.72453336e-04 -1.26839317e-05 9.99999619e-01 -2.59100167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.961400513 meters 0.0203795908001197 Centerline is valid? [True, True] Translation: X:583.86, Y:62.72, Z:-2.59 [[ 9.94012293e-01 -1.09260447e-01 -1.30966438e-03 5.83859646e+02] [ 1.09260379e-01 9.94013156e-01 -1.23499568e-04 6.27223964e+01] [ 1.31531724e-03 -2.03343379e-05 9.99999135e-01 -2.59228108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.991400513 meters 0.0205530042519155 Centerline is valid? [True, True] Translation: X:583.89, Y:62.72, Z:-2.59 [[ 9.94009545e-01 -1.09261971e-01 -2.61650637e-03 5.83892643e+02] [ 1.09261702e-01 9.94012988e-01 -2.46282796e-04 6.27249663e+01] [ 2.62775066e-03 -4.10764881e-05 9.99996547e-01 -2.59380313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.021400513 meters 0.021885282864824548 Centerline is valid? [True, True] Translation: X:583.92, Y:62.73, Z:-2.60 [[ 9.93937051e-01 -1.09862552e-01 -4.39970755e-03 5.83923876e+02] [ 1.09861798e-01 9.93946786e-01 -4.13509808e-04 6.27263165e+01] [ 4.41850442e-03 -7.23570625e-05 9.99990236e-01 -2.59678945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.051400513 meters 0.022980270594875278 Centerline is valid? [True, True] Translation: X:583.96, Y:62.73, Z:-2.60 [[ 9.93667880e-01 -1.12208863e-01 -5.77194331e-03 5.83956470e+02] [ 1.12207606e-01 9.93684638e-01 -5.42256100e-04 6.27276419e+01] [ 5.79633733e-03 -1.08833469e-04 9.99983195e-01 -2.59744737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.081400513 meters 0.02373935631964212 Centerline is valid? [True, True] Translation: X:583.99, Y:62.73, Z:-2.60 [[ 9.93705459e-01 -1.11906666e-01 -5.13400662e-03 5.83988217e+02] [ 1.11905672e-01 9.93718717e-01 -4.81484536e-04 6.27321992e+01] [ 5.15563980e-03 -9.60706471e-05 9.99986705e-01 -2.59786796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.111400513 meters 0.023423502601805795 Centerline is valid? [True, True] Translation: X:584.02, Y:62.74, Z:-2.60 [[ 9.93664862e-01 -1.12321430e-01 -3.74681125e-03 5.84021611e+02] [ 1.12320906e-01 9.93671923e-01 -3.50689042e-04 6.27355791e+01] [ 3.76249103e-03 -7.23778561e-05 9.99992919e-01 -2.59579265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.141400513 meters 0.024146793615842245 Centerline is valid? [True, True] Translation: X:584.05, Y:62.74, Z:-2.59 [[ 9.93590484e-01 -1.13022559e-01 -1.96258256e-03 5.84053201e+02] [ 1.13022417e-01 9.93592421e-01 -1.83390296e-04 6.27378201e+01] [ 1.97073440e-03 -3.96009719e-05 9.99998057e-01 -2.59253388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.171400513 meters 0.023247661800854615 Centerline is valid? [True, True] Translation: X:584.09, Y:62.74, Z:-2.59 [[ 9.93649212e-01 -1.12506450e-01 -1.88220497e-03 5.84085384e+02] [ 1.12506319e-01 9.93650994e-01 -1.75575295e-04 6.27431617e+01] [ 1.89000819e-03 -3.72997000e-05 9.99998213e-01 -2.59129942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.201400513 meters 0.025269553233294575 Centerline is valid? [True, True] Translation: X:584.12, Y:62.75, Z:-2.59 [[ 9.93661834e-01 -1.12410666e-01 -4.79557144e-05 5.84117520e+02] [ 1.12410666e-01 9.93661835e-01 -4.42600007e-06 6.27452745e+01] [ 4.81492928e-05 -9.92786447e-07 9.99999999e-01 -2.59191196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.231400513 meters 0.02618765900906636 Centerline is valid? [True, True] Translation: X:584.15, Y:62.75, Z:-2.59 [[ 9.93361500e-01 -1.15031591e-01 -8.13949442e-04 5.84148577e+02] [ 1.15031568e-01 9.93361834e-01 -7.57222327e-05 6.27451630e+01] [ 8.17256759e-04 -1.84103296e-05 9.99999666e-01 -2.59129847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.261400513 meters 0.026778160362249986 Centerline is valid? [True, True] Translation: X:584.18, Y:62.75, Z:-2.59 [[ 9.93176133e-01 -1.16623635e-01 -3.12346751e-04 5.84180785e+02] [ 1.16623631e-01 9.93176182e-01 -2.89762682e-05 6.27496333e+01] [ 3.13594671e-04 -7.64847437e-06 9.99999951e-01 -2.59185950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.291400513 meters 0.026807438427346 Centerline is valid? [True, True] Translation: X:584.21, Y:62.75, Z:-2.59 [[ 9.93012983e-01 -1.17991235e-01 -1.81235589e-03 5.84212794e+02] [ 1.17991125e-01 9.93014635e-01 -1.68021970e-04 6.27525515e+01] [ 1.81952104e-03 -4.69939118e-05 9.99998344e-01 -2.59123069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.321400513 meters 0.033435568996146664 Centerline is valid? [True, True] Translation: X:584.24, Y:62.75, Z:-2.59 [[ 9.92554675e-01 -1.21799466e-01 -3.26448929e-04 5.84243947e+02] [ 1.21799462e-01 9.92554729e-01 -3.02553664e-05 6.27474590e+01] [ 3.27703516e-04 -9.73119863e-06 9.99999946e-01 -2.59122982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.351400513 meters 0.030842479840066283 Centerline is valid? [True, True] Translation: X:584.28, Y:62.75, Z:-2.59 [[ 9.92635790e-01 -1.21135603e-01 5.95756858e-04 5.84275543e+02] [ 1.21135591e-01 9.92635968e-01 5.51704945e-05 6.27546921e+01] [-5.98052797e-04 1.74031519e-05 9.99999821e-01 -2.59030376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.381400513 meters 0.03203488108116666 Centerline is valid? [True, True] Translation: X:584.31, Y:62.76, Z:-2.59 [[ 9.92564861e-01 -1.21706797e-01 1.56579838e-03 5.84306498e+02] [ 1.21706720e-01 9.92566095e-01 1.44709480e-04 6.27565416e+01] [-1.57177051e-03 4.69346396e-05 9.99998764e-01 -2.58869959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.411400513 meters 0.031050646243578443 Centerline is valid? [True, True] Translation: X:584.34, Y:62.76, Z:-2.59 [[ 9.92502304e-01 -1.22216525e-01 1.51548373e-03 5.84338296e+02] [ 1.22216454e-01 9.92503460e-01 1.39825313e-04 6.27597277e+01] [-1.52121181e-03 4.64401025e-05 9.99998842e-01 -2.58698186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.441400513 meters 0.03197760236729081 Centerline is valid? [True, True] Translation: X:584.37, Y:62.76, Z:-2.59 [[ 9.92446791e-01 -1.22656859e-01 -2.15911497e-03 5.84369968e+02] [ 1.22656716e-01 9.92449137e-01 -1.98953717e-04 6.27596978e+01] [ 2.16721483e-03 -6.73789731e-05 9.99997649e-01 -2.59211498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.471400513 meters 0.029175928172483823 Centerline is valid? [True, True] Translation: X:584.40, Y:62.77, Z:-2.59 [[ 9.92686735e-01 -1.20695711e-01 -2.36444835e-03 5.84401877e+02] [ 1.20695535e-01 9.92689549e-01 -2.17476624e-04 6.27677339e+01] [ 2.37341166e-03 -6.94921978e-05 9.99997181e-01 -2.59431717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.501400513 meters 0.03303296003509921 Centerline is valid? [True, True] Translation: X:584.43, Y:62.76, Z:-2.59 [[ 9.92307564e-01 -1.23785047e-01 -1.72057719e-03 5.84432236e+02] [ 1.23784958e-01 9.92309054e-01 -1.58282507e-04 6.27628236e+01] [ 1.72693733e-03 -5.59166462e-05 9.99998507e-01 -2.59395817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.531400513 meters 0.03303296003509921 Centerline is valid? [True, True] Translation: X:584.46, Y:62.77, Z:-2.59 [[ 9.92329388e-01 -1.23609970e-01 -1.72060891e-03 5.84464799e+02] [ 1.23609881e-01 9.92330878e-01 -1.57937323e-04 6.27657086e+01] [ 1.72693598e-03 -5.59584165e-05 9.99998507e-01 -2.59396592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.561400513 meters 0.03465507489578017 Centerline is valid? [True, True] Translation: X:584.50, Y:62.77, Z:-2.60 [[ 9.92350070e-01 -1.23439507e-01 -2.00666388e-03 5.84496938e+02] [ 1.23439387e-01 9.92352097e-01 -1.83871367e-04 6.27662108e+01] [ 2.01401410e-03 -6.52365952e-05 9.99997970e-01 -2.59504589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.591400513 meters 0.029686763277707553 Centerline is valid? [True, True] Translation: X:584.53, Y:62.78, Z:-2.60 [[ 9.92961885e-01 -1.18392971e-01 -3.13022579e-03 5.84526969e+02] [ 1.18392655e-01 9.92966816e-01 -2.86843168e-04 6.27775513e+01] [ 3.14217055e-03 -8.57714083e-05 9.99995060e-01 -2.59611624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.621400513 meters 0.028543923165292175 Centerline is valid? [True, True] Translation: X:584.56, Y:62.78, Z:-2.59 [[ 9.92853464e-01 -1.19335226e-01 -1.05054432e-03 5.84559244e+02] [ 1.19335191e-01 9.92854019e-01 -9.60652386e-05 6.27817622e+01] [ 1.05450111e-03 -2.99882016e-05 9.99999444e-01 -2.59325020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.651400513 meters 0.028616608454743425 Centerline is valid? [True, True] Translation: X:584.59, Y:62.78, Z:-2.59 [[ 9.92964040e-01 -1.18416017e-01 -2.48259272e-04 5.84591071e+02] [ 1.18416015e-01 9.92964071e-01 -2.26335623e-05 6.27844344e+01] [ 2.49192713e-04 -6.92356005e-06 9.99999969e-01 -2.59327087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.681400513 meters 0.02761033451743857 Centerline is valid? [True, True] Translation: X:584.62, Y:62.79, Z:-2.60 [[ 9.93209835e-01 -1.16316661e-01 -2.15821518e-03 5.84622363e+02] [ 1.16316508e-01 9.93212178e-01 -1.96736090e-04 6.27880143e+01] [ 2.16644929e-03 -5.56358331e-05 9.99997652e-01 -2.59725344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.711400513 meters 0.028565558886993102 Centerline is valid? [True, True] Translation: X:584.65, Y:62.79, Z:-2.60 [[ 9.92858028e-01 -1.19260945e-01 -3.12456160e-03 5.84653628e+02] [ 1.19260639e-01 9.92862941e-01 -2.84798822e-04 6.27881743e+01] [ 3.13622679e-03 -8.98724162e-05 9.99995078e-01 -2.59656059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.741400513 meters 0.02884747845434199 Centerline is valid? [True, True] Translation: X:584.69, Y:62.79, Z:-2.60 [[ 9.92633724e-01 -1.21016938e-01 -5.76108070e-03 5.84686225e+02] [ 1.21015928e-01 9.92650427e-01 -5.24847387e-04 6.27888684e+01] [ 5.78225464e-03 -1.76201311e-04 9.99983267e-01 -2.59831645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.771400513 meters 0.03200497548986624 Centerline is valid? [True, True] Translation: X:584.72, Y:62.79, Z:-2.60 [[ 9.92578330e-01 -1.21305496e-01 -8.55777863e-03 5.84718096e+02] [ 1.21303290e-01 9.92615185e-01 -7.78337851e-04 6.27860774e+01] [ 8.58899768e-03 -2.65525416e-04 9.99963079e-01 -2.60338111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.801400513 meters 0.025866154614889683 Centerline is valid? [True, True] Translation: X:584.75, Y:62.80, Z:-2.60 [[ 9.93247616e-01 -1.15757606e-01 -7.70382555e-03 5.84747856e+02] [ 1.15755652e-01 9.93277473e-01 -7.00553009e-04 6.27986906e+01] [ 7.73313071e-03 -1.95938746e-04 9.99970080e-01 -2.60195379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.831400513 meters 0.02399253780298268 Centerline is valid? [True, True] Translation: X:584.78, Y:62.81, Z:-2.60 [[ 9.93787457e-01 -1.11209403e-01 -4.35419743e-03 5.84776639e+02] [ 1.11208735e-01 9.93796992e-01 -3.96006500e-04 6.28061734e+01] [ 4.37122795e-03 -9.06784965e-05 9.99990442e-01 -2.59817814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.861400513 meters 0.021709393205095007 Centerline is valid? [True, True] Translation: X:584.81, Y:62.81, Z:-2.59 [[ 9.94270756e-01 -1.06890802e-01 -1.45249063e-04 5.84806828e+02] [ 1.06890801e-01 9.94270766e-01 -1.32016046e-05 6.28123845e+01] [ 1.45828027e-04 -2.39981931e-06 9.99999989e-01 -2.59261869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.891400513 meters 0.01927495562186059 Centerline is valid? [True, True] Translation: X:584.84, Y:62.82, Z:-2.59 [[ 9.94511932e-01 -1.04603923e-01 2.00926744e-03 5.84839012e+02] [ 1.04603768e-01 9.94513961e-01 1.82539957e-04 6.28206670e+01] [-2.01733892e-03 2.86387809e-05 9.99997965e-01 -2.58920416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.921400513 meters 0.019180345742484246 Centerline is valid? [True, True] Translation: X:584.87, Y:62.82, Z:-2.59 [[ 9.94669144e-01 -1.03089046e-01 2.43776783e-03 5.84870005e+02] [ 1.03088814e-01 9.94672131e-01 2.21119118e-04 6.28240708e+01] [-2.44757468e-03 3.13662303e-05 9.99997004e-01 -2.58818442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.951400513 meters 0.020637321188763796 Centerline is valid? [True, True] Translation: X:584.90, Y:62.83, Z:-2.59 [[ 9.94499201e-01 -1.04711541e-01 2.61374084e-03 5.84902547e+02] [ 1.04711281e-01 9.94502635e-01 2.36670003e-04 6.28264742e+01] [-2.62415424e-03 3.83200230e-05 9.99996556e-01 -2.58838320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.981400513 meters 0.020026450298879468 Centerline is valid? [True, True] Translation: X:584.93, Y:62.83, Z:-2.59 [[ 9.94438452e-01 -1.05284976e-01 2.69067827e-03 5.84934748e+02] [ 1.05284704e-01 9.94442091e-01 2.43210448e-04 6.28293796e+01] [-2.70133014e-03 4.14294432e-05 9.99996351e-01 -2.58712697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.011400513 meters 0.020529066348588268 Centerline is valid? [True, True] Translation: X:584.97, Y:62.83, Z:-2.59 [[ 9.94540548e-01 -1.04303412e-01 3.14585498e-03 5.84966054e+02] [ 1.04303036e-01 9.94545522e-01 2.83883718e-04 6.28320407e+01] [-3.15830602e-03 4.57883565e-05 9.99995011e-01 -2.58661555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.041400513 meters 0.018998315266109688 Centerline is valid? [True, True] Translation: X:585.00, Y:62.84, Z:-2.59 [[ 9.94743131e-01 -1.02330864e-01 3.80765328e-03 5.84998271e+02] [ 1.02330301e-01 9.94750417e-01 3.43008794e-04 6.28369245e+01] [-3.82276508e-03 4.84326640e-05 9.99992692e-01 -2.58512765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.071400513 meters 0.017017053670706078 Centerline is valid? [True, True] Translation: X:585.03, Y:62.84, Z:-2.58 [[ 9.95136144e-01 -9.83337130e-02 5.87674318e-03 5.85029220e+02] [ 9.83323062e-02 9.95153495e-01 5.28539554e-04 6.28436623e+01] [-5.90023477e-03 5.19048964e-05 9.99982592e-01 -2.58336841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.101400513 meters 0.019714309082549612 Centerline is valid? [True, True] Translation: X:585.06, Y:62.85, Z:-2.59 [[ 9.96388381e-01 -8.48178291e-02 4.01617515e-03 5.85061123e+02] [ 8.47748254e-02 9.96351128e-01 9.88221342e-03 6.28488780e+01] [-4.83970853e-03 -9.50605208e-03 9.99943104e-01 -2.59379751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.131400513 meters 0.016224168144612076 Centerline is valid? [True, True] Translation: X:585.09, Y:62.86, Z:-2.57 [[ 9.95400599e-01 -9.53970069e-02 8.77825058e-03 5.85092373e+02] [ 9.54741214e-02 9.95392752e-01 -8.82959300e-03 6.28595013e+01] [-7.89549026e-03 9.62707792e-03 9.99922487e-01 -2.57332872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.161400513 meters 0.01974868841127563 Centerline is valid? [True, True] Translation: X:585.13, Y:62.85, Z:-2.59 [[ 9.96558338e-01 -8.27612349e-02 4.69652662e-03 5.85127238e+02] [ 8.27082821e-02 9.96518184e-01 1.05285054e-02 6.28545710e+01] [-5.55152629e-03 -1.01038282e-02 9.99933544e-01 -2.59481974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.191400513 meters 0.018437783842346588 Centerline is valid? [True, True] Translation: X:585.16, Y:62.87, Z:-2.59 [[ 9.96696909e-01 -8.10210745e-02 5.55489369e-03 5.85157968e+02] [ 8.10209209e-02 9.96712369e-01 2.53049694e-04 6.28659745e+01] [-5.55713361e-03 1.97848754e-04 9.99984539e-01 -2.58608297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.221400513 meters 0.017371044565399646 Centerline is valid? [True, True] Translation: X:585.19, Y:62.87, Z:-2.58 [[ 9.96813212e-01 -7.95898828e-02 5.37308296e-03 5.85188465e+02] [ 7.96036690e-02 9.96823698e-01 -2.40228661e-03 6.28700898e+01] [-5.16481872e-03 2.82234815e-03 9.99982679e-01 -2.58403038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.251400513 meters 0.01652899919496342 Centerline is valid? [True, True] Translation: X:585.22, Y:62.87, Z:-2.59 [[ 9.97000785e-01 -7.72897975e-02 3.96499596e-03 5.85220255e+02] [ 7.72925119e-02 9.97008315e-01 -5.35761661e-04 6.28703126e+01] [-3.91172504e-03 8.40619294e-04 9.99991996e-01 -2.58765085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.281400513 meters 0.013126458601188088 Centerline is valid? [True, True] Translation: X:585.25, Y:62.88, Z:-2.58 [[ 9.96576309e-01 -8.25235489e-02 5.05209922e-03 5.85251223e+02] [ 8.25549602e-02 9.96566212e-01 -6.36113949e-03 6.28804491e+01] [-4.50980758e-03 6.75643677e-03 9.99967006e-01 -2.58369768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.311400513 meters 0.0157062869751406 Centerline is valid? [True, True] Translation: X:585.28, Y:62.87, Z:-2.60 [[ 9.97536507e-01 -7.01441625e-02 8.44594476e-04 5.85283184e+02] [ 7.01371817e-02 9.97515939e-01 6.53663912e-03 6.28696585e+01] [-1.30100353e-03 -6.46129868e-03 9.99978279e-01 -2.59595703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.341400513 meters 0.015591062246440995 Centerline is valid? [True, True] Translation: X:585.32, Y:62.89, Z:-2.59 [[ 9.96948123e-01 -7.78248357e-02 6.14290461e-03 5.85321796e+02] [ 7.78359819e-02 9.96964900e-01 -1.59639729e-03 6.28910562e+01] [-6.00002092e-03 2.06966429e-03 9.99979858e-01 -2.58688246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.371400513 meters 0.02454586335719926 Centerline is valid? [True, True] Translation: X:585.34, Y:62.90, Z:-2.59 [[ 9.97963722e-01 -6.36529655e-02 4.08764627e-03 5.85342159e+02] [ 6.36390232e-02 9.97967002e-01 3.45495472e-03 6.28985922e+01] [-4.29925421e-03 -3.18778566e-03 9.99985677e-01 -2.59351024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.401400513 meters 0.016999604877669966 Centerline is valid? [True, True] Translation: X:585.37, Y:62.88, Z:-2.60 [[ 9.98571551e-01 -5.34308708e-02 -2.19439666e-05 5.85373595e+02] [ 5.34298216e-02 9.98549194e-01 6.69041536e-03 6.28795661e+01] [-3.35562589e-04 -6.68203090e-03 9.99977619e-01 -2.59617092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.431400513 meters 0.03399388634558118 Centerline is valid? [True, True] Translation: X:585.40, Y:62.92, Z:-2.59 [[ 9.98777750e-01 -4.94007254e-02 1.60453410e-03 5.85402389e+02] [ 4.94104834e-02 9.98755734e-01 -6.75186723e-03 6.29209063e+01] [-1.26899049e-03 6.82289556e-03 9.99975919e-01 -2.59036171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.461400513 meters 0.03508129603531619 Centerline is valid? [True, True] Translation: X:585.43, Y:62.92, Z:-2.60 [[ 9.98960497e-01 -4.55727350e-02 1.02522278e-03 5.85433184e+02] [ 4.55726709e-02 9.98961022e-01 8.58219605e-05 6.29207332e+01] [-1.02806873e-03 -3.90106080e-05 9.99999471e-01 -2.59586171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.491400513 meters 0.039346570732219324 Centerline is valid? [True, True] Translation: X:585.46, Y:62.93, Z:-2.60 [[ 9.99191017e-01 -4.01969611e-02 1.23142030e-03 5.85463910e+02] [ 4.01968645e-02 9.99191774e-01 1.03065188e-04 6.29284787e+01] [-1.23456794e-03 -5.34825746e-05 9.99999236e-01 -2.59524314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.521400513 meters 0.04447982366061727 Centerline is valid? [True, True] Translation: X:585.49, Y:62.94, Z:-2.59 [[ 9.99365597e-01 -3.55057074e-02 2.78366526e-03 5.85493232e+02] [ 3.55051960e-02 9.99369465e-01 2.32905459e-04 6.29368499e+01] [-2.79017954e-03 -1.33923122e-04 9.99996098e-01 -2.59300236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.551400513 meters 0.04518449764282165 Centerline is valid? [True, True] Translation: X:585.52, Y:62.94, Z:-2.59 [[ 9.99499317e-01 -3.13840410e-02 4.01951064e-03 5.85523665e+02] [ 3.13829418e-02 9.99507378e-01 3.36241994e-04 6.29417678e+01] [-4.02808318e-03 -2.09929574e-04 9.99991865e-01 -2.58973752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.581400513 meters 0.054077709043571474 Centerline is valid? [True, True] Translation: X:585.55, Y:62.95, Z:-2.59 [[ 9.99661376e-01 -2.55525417e-02 4.91935987e-03 5.85552279e+02] [ 2.55508253e-02 9.99673440e-01 4.11437408e-04 6.29549216e+01] [-4.92826668e-03 -2.85604381e-04 9.99987815e-01 -2.58746580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.611400513 meters 0.05204990362689502 Centerline is valid? [True, True] Translation: X:585.58, Y:62.95, Z:-2.59 [[ 9.99746520e-01 -2.21474067e-02 4.04817247e-03 5.85583667e+02] [ 2.21462168e-02 9.99754685e-01 3.38546431e-04 6.29530556e+01] [-4.05467732e-03 -2.48808911e-04 9.99991749e-01 -2.58953371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.641400513 meters 0.04795385557778789 Centerline is valid? [True, True] Translation: X:585.61, Y:62.95, Z:-2.59 [[ 9.99800055e-01 -1.95884211e-02 4.01791489e-03 5.85614977e+02] [ 1.95872283e-02 9.99808095e-01 3.35999055e-04 6.29511089e+01] [-4.02372553e-03 -2.57232057e-04 9.99991872e-01 -2.59017458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.671400513 meters 0.0535943918317889 Centerline is valid? [True, True] Translation: X:585.64, Y:62.96, Z:-2.59 [[ 9.99849898e-01 -1.64042466e-02 5.57514327e-03 5.85643981e+02] [ 1.64019012e-02 9.99865371e-01 4.66153966e-04 6.29602876e+01] [-5.58203960e-03 -3.74641046e-04 9.99984350e-01 -2.58831012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.701400513 meters 0.057903710120998195 Centerline is valid? [True, True] Translation: X:585.67, Y:62.97, Z:-2.59 [[ 9.99902026e-01 -1.19547136e-02 7.28163867e-03 5.85674354e+02] [ 1.19505955e-02 9.99928404e-01 6.08790965e-04 6.29678856e+01] [-7.28839525e-03 -5.21711401e-04 9.99973303e-01 -2.58636542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.731400513 meters 0.05995322137479587 Centerline is valid? [True, True] Translation: X:585.70, Y:62.97, Z:-2.58 [[ 9.99937639e-01 -5.37442627e-03 9.78942861e-03 5.85704336e+02] [ 5.36666976e-03 9.99985264e-01 8.18432212e-04 6.29737733e+01] [-9.79368296e-03 -7.65844544e-04 9.99951747e-01 -2.58315224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.761400513 meters 0.057401641201202135 Centerline is valid? [True, True] Translation: X:585.74, Y:62.97, Z:-2.58 [[ 9.99950529e-01 -2.16265946e-03 9.70883853e-03 5.85735414e+02] [ 2.15488040e-03 9.99997349e-01 8.11624449e-04 6.29718370e+01] [-9.71056806e-03 -7.90662911e-04 9.99952539e-01 -2.58449933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.791400513 meters 0.06398661244759939 Centerline is valid? [True, True] Translation: X:585.76, Y:62.98, Z:-2.58 [[ 9.99953832e-01 -1.03813061e-03 9.55279460e-03 5.85764863e+02] [ 1.03054965e-03 9.99999150e-01 7.98474067e-04 6.29836971e+01] [-9.55361540e-03 -7.88592574e-04 9.99954052e-01 -2.58377369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.821400513 meters 0.0793892148002611 Centerline is valid? [True, True] Translation: X:585.79, Y:63.00, Z:-2.58 [[ 9.99959501e-01 1.89085841e-04 8.99779313e-03 5.85793026e+02] [-1.95858429e-04 9.99999698e-01 7.51819093e-04 6.30042372e+01] [-8.99764826e-03 -7.53550939e-04 9.99959236e-01 -2.58350623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.851400513 meters 0.07758656192481352 Centerline is valid? [True, True] Translation: X:585.82, Y:63.00, Z:-2.59 [[ 9.99974422e-01 1.96159099e-03 6.87797925e-03 5.85824357e+02] [-1.96558869e-03 9.99997903e-01 5.74520769e-04 6.30036741e+01] [-6.87683785e-03 -5.88025352e-04 9.99976181e-01 -2.58627395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.881400513 meters 0.07618453396253184 Centerline is valid? [True, True] Translation: X:585.86, Y:63.00, Z:-2.59 [[ 9.99981441e-01 2.74597000e-03 5.43843405e-03 5.85856311e+02] [-2.74847676e-03 9.99996120e-01 4.53513169e-04 6.30047622e+01] [-5.43716762e-03 -4.68452162e-04 9.99985109e-01 -2.58777029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.911400513 meters 0.07983926993111182 Centerline is valid? [True, True] Translation: X:585.89, Y:63.01, Z:-2.59 [[ 9.99979748e-01 3.91439675e-03 5.01805987e-03 5.85886039e+02] [-3.91654376e-03 9.99992243e-01 4.18102096e-04 6.30114133e+01] [-5.01638433e-03 -4.37747080e-04 9.99987322e-01 -2.58852920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.941400513 meters 0.08967827284741363 Centerline is valid? [True, True] Translation: X:585.91, Y:63.02, Z:-2.59 [[ 9.99957543e-01 7.35344883e-03 5.55337080e-03 5.85914532e+02] [-7.35613060e-03 9.99972836e-01 4.62636471e-04 6.30245891e+01] [-5.54981798e-03 -5.03468150e-04 9.99984473e-01 -2.58873877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.971400513 meters 0.08626378473891101 Centerline is valid? [True, True] Translation: X:585.94, Y:63.02, Z:-2.59 [[ 9.99955076e-01 7.81664710e-03 5.36146652e-03 5.85943513e+02] [-7.81915449e-03 9.99969330e-01 4.46866641e-04 6.30235858e+01] [-5.35780909e-03 -4.88768702e-04 9.99985527e-01 -2.58881147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.001400513 meters 0.08771554455411637 Centerline is valid? [True, True] Translation: X:585.97, Y:63.03, Z:-2.59 [[ 9.99956241e-01 7.58942796e-03 5.46957707e-03 5.85970582e+02] [-7.59203584e-03 9.99971076e-01 4.56192313e-04 6.30275307e+01] [-5.46595663e-03 -4.97697575e-04 9.99984938e-01 -2.58866389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.031400513 meters 0.09629365260574081 Centerline is valid? [True, True] Translation: X:586.00, Y:63.04, Z:-2.59 [[ 9.99964494e-01 6.92499012e-03 4.80160366e-03 5.85997579e+02] [-6.92699354e-03 9.99975928e-01 4.00735558e-04 6.30409027e+01] [-4.79871298e-03 -4.33982007e-04 9.99988392e-01 -2.58862258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.061400513 meters 0.08567044581825996 Centerline is valid? [True, True] Translation: X:586.03, Y:63.03, Z:-2.59 [[ 9.99983996e-01 4.77603019e-03 3.03269747e-03 5.86029529e+02] [-4.77681958e-03 9.99988559e-01 2.53105436e-04 6.30293116e+01] [-3.03145393e-03 -2.67588034e-04 9.99995369e-01 -2.59195031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.091400513 meters 0.08413530579461179 Centerline is valid? [True, True] Translation: X:586.06, Y:63.03, Z:-2.59 [[ 9.99987082e-01 3.82823235e-03 3.34368189e-03 5.86059216e+02] [-3.82918687e-03 9.99992630e-01 2.79114157e-04 6.30299329e+01] [-3.34258873e-03 -2.91914135e-04 9.99994371e-01 -2.59190202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.121400513 meters 0.0842232965967948 Centerline is valid? [True, True] Translation: X:586.09, Y:63.03, Z:-2.59 [[ 9.99982696e-01 4.30677405e-03 4.00734340e-03 5.86088174e+02] [-4.30814938e-03 9.99990664e-01 3.34634835e-04 6.30329665e+01] [-4.00586479e-03 -3.51893279e-04 9.99991915e-01 -2.59074611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.151400513 meters 0.08221891248176678 Centerline is valid? [True, True] Translation: X:586.12, Y:63.03, Z:-2.59 [[ 9.99977474e-01 3.97218683e-03 5.41048259e-03 5.86117621e+02] [-3.97468983e-03 9.99991999e-01 4.51944716e-04 6.30335570e+01] [-5.40864409e-03 -4.73439526e-04 9.99985261e-01 -2.58819205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.181400513 meters 0.07497236617788378 Centerline is valid? [True, True] Translation: X:586.15, Y:63.03, Z:-2.59 [[ 9.99980626e-01 3.76580588e-03 4.95652529e-03 5.86148668e+02] [-3.76790403e-03 9.99992816e-01 4.14040049e-04 6.30278222e+01] [-4.95493048e-03 -4.32707739e-04 9.99987631e-01 -2.58867401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.211400513 meters 0.08015240752658777 Centerline is valid? [True, True] Translation: X:586.18, Y:63.04, Z:-2.59 [[ 9.99988699e-01 2.90803245e-03 3.76114141e-03 5.86178615e+02] [-2.90923373e-03 9.99995719e-01 3.13960586e-04 6.30363767e+01] [-3.76021231e-03 -3.24899077e-04 9.99992878e-01 -2.59001177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.241400513 meters 0.07817537748725407 Centerline is valid? [True, True] Translation: X:586.21, Y:63.04, Z:-2.59 [[ 9.99994813e-01 1.70128254e-03 2.73490515e-03 5.86209192e+02] [-1.70191313e-03 9.99998526e-01 2.28258942e-04 6.30364142e+01] [-2.73451278e-03 -2.32912329e-04 9.99996234e-01 -2.59092611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.271400513 meters 0.07114785460573683 Centerline is valid? [True, True] Translation: X:586.24, Y:63.03, Z:-2.59 [[ 9.99993787e-01 -1.38794529e-03 3.24016546e-03 5.86240361e+02] [ 1.38707628e-03 9.99999001e-01 2.70431031e-04 6.30310965e+01] [-3.24053756e-03 -2.65934994e-04 9.99994714e-01 -2.58983215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.301400513 meters 0.05685639933616407 Centerline is valid? [True, True] Translation: X:586.27, Y:63.02, Z:-2.59 [[ 9.99989927e-01 -2.42785156e-03 3.77523912e-03 5.86272944e+02] [ 2.42667948e-03 9.99997006e-01 3.15014466e-04 6.30158293e+01] [-3.77599262e-03 -3.05849997e-04 9.99992824e-01 -2.59027953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.331400513 meters 0.062084759344098836 Centerline is valid? [True, True] Translation: X:586.30, Y:63.02, Z:-2.59 [[ 9.99984233e-01 -3.60295140e-03 4.30732117e-03 5.86302799e+02] [ 3.60143674e-03 9.99993450e-01 3.59352086e-04 6.30238740e+01] [-4.30858769e-03 -3.43833875e-04 9.99990659e-01 -2.59003822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.361400513 meters 0.06327522255728688 Centerline is valid? [True, True] Translation: X:586.33, Y:63.03, Z:-2.59 [[ 9.99986558e-01 -3.70019629e-03 3.63226672e-03 5.86333316e+02] [ 3.69912080e-03 9.99993112e-01 3.02768330e-04 6.30287434e+01] [-3.63336201e-03 -2.89328067e-04 9.99993357e-01 -2.59064710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.391400513 meters 0.06032489531774874 Centerline is valid? [True, True] Translation: X:586.37, Y:63.03, Z:-2.59 [[ 9.99991218e-01 -3.67937196e-03 2.00670271e-03 5.86365284e+02] [ 3.67904384e-03 9.99993218e-01 1.67177003e-04 6.30283912e+01] [-2.00730421e-03 -1.59792787e-04 9.99997973e-01 -2.59174143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.421400513 meters 0.06032489531774874 Centerline is valid? [True, True] Translation: X:586.40, Y:63.03, Z:-2.59 [[ 9.99991460e-01 -3.61295960e-03 2.00671252e-03 5.86397853e+02] [ 3.61263159e-03 9.99993460e-01 1.67059140e-04 6.30310020e+01] [-2.00730298e-03 -1.59808200e-04 9.99997973e-01 -2.59176412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.451400513 meters 0.059621419130043235 Centerline is valid? [True, True] Translation: X:586.43, Y:63.03, Z:-2.59 [[ 9.99993286e-01 -3.05623523e-03 2.02190824e-03 5.86429540e+02] [ 3.05590129e-03 9.99995317e-01 1.68232797e-04 6.30323746e+01] [-2.02241293e-03 -1.62052916e-04 9.99997942e-01 -2.59285830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.481400513 meters 0.059663936780434766 Centerline is valid? [True, True] Translation: X:586.46, Y:63.04, Z:-2.59 [[ 9.99990245e-01 -2.95354076e-03 3.28424052e-03 5.86462034e+02] [ 2.95265962e-03 9.99995604e-01 2.73111504e-04 6.30351128e+01] [-3.28503273e-03 -2.63411595e-04 9.99994570e-01 -2.59124609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.511400513 meters 0.0659015674940742 Centerline is valid? [True, True] Translation: X:586.49, Y:63.05, Z:-2.59 [[ 9.99972870e-01 -1.80647129e-03 7.14110218e-03 5.86491728e+02] [ 1.80227725e-03 9.99998200e-01 5.93702324e-04 6.30467202e+01] [-7.14216183e-03 -5.80815972e-04 9.99974326e-01 -2.58744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.541400513 meters 0.06457743336734445 Centerline is valid? [True, True] Translation: X:586.52, Y:63.05, Z:-2.59 [[ 9.99965331e-01 -1.49705026e-03 8.19122331e-03 5.86523425e+02] [ 1.49152375e-03 9.99998656e-01 6.80753606e-04 6.30486022e+01] [-8.19223142e-03 -6.68512601e-04 9.99966220e-01 -2.58548322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.571400513 meters 0.07719434267084764 Centerline is valid? [True, True] Translation: X:586.55, Y:63.07, Z:-2.58 [[ 9.99963991e-01 -1.38357650e-03 8.37276793e-03 5.86554656e+02] [ 1.37780227e-03 9.99998809e-01 6.95373048e-04 6.30674357e+01] [-8.37372006e-03 -6.83811990e-04 9.99964706e-01 -2.58416417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.601400513 meters 0.07702417834409722 Centerline is valid? [True, True] Translation: X:586.59, Y:63.07, Z:-2.59 [[ 9.99967858e-01 -2.13772244e-03 7.72736677e-03 5.86586074e+02] [ 2.13282804e-03 9.99997520e-01 6.41570093e-04 6.30691678e+01] [-7.72871910e-03 -6.25068327e-04 9.99969938e-01 -2.58622422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.631400513 meters 0.05639892359139535 Centerline is valid? [True, True] Translation: X:586.62, Y:63.05, Z:-2.59 [[ 9.99976150e-01 -2.30835246e-03 6.50935485e-03 5.86620002e+02] [ 2.30488495e-03 9.99997198e-01 5.40147454e-04 6.30454157e+01] [-6.51058346e-03 -5.25131258e-04 9.99978668e-01 -2.58901299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.661400513 meters 0.07181610871280547 Centerline is valid? [True, True] Translation: X:586.65, Y:63.07, Z:-2.59 [[ 9.99985119e-01 -9.88163979e-04 5.36528184e-03 5.86648166e+02] [ 9.85789531e-04 9.99999415e-01 4.45184307e-04 6.30671483e+01] [-5.36571861e-03 -4.39888643e-04 9.99985508e-01 -2.58892555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.691400513 meters 0.08076030559817433 Centerline is valid? [True, True] Translation: X:586.68, Y:63.08, Z:-2.59 [[ 9.99982861e-01 3.25779357e-03 4.86462656e-03 5.86677597e+02] [-3.25979515e-03 9.99994605e-01 4.03583137e-04 6.30797776e+01] [-4.86328552e-03 -4.19433906e-04 9.99988086e-01 -2.59007792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.721400513 meters 0.0815241666366192 Centerline is valid? [True, True] Translation: X:586.71, Y:63.08, Z:-2.59 [[ 9.99972068e-01 5.88840147e-03 4.60317210e-03 5.86707500e+02] [-5.89022147e-03 9.99982580e-01 3.81921896e-04 6.30841008e+01] [-4.60084300e-03 -4.09024931e-04 9.99989332e-01 -2.58890349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.751400513 meters 0.08709835915640672 Centerline is valid? [True, True] Translation: X:586.74, Y:63.09, Z:-2.59 [[ 9.99953256e-01 7.73735328e-03 5.79814369e-03 5.86735789e+02] [-7.74027176e-03 9.99969928e-01 4.81075481e-04 6.30940609e+01] [-5.79424708e-03 -5.25932202e-04 9.99983075e-01 -2.58619005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.781400513 meters 0.08610154994649517 Centerline is valid? [True, True] Translation: X:586.77, Y:63.10, Z:-2.59 [[ 9.99911697e-01 1.09126805e-02 7.58365590e-03 5.86766321e+02] [-1.09177643e-02 9.99940201e-01 6.29279675e-04 6.30957456e+01] [-7.57633528e-03 -7.12020676e-04 9.99971046e-01 -2.58514859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.811400513 meters 0.09297387378311127 Centerline is valid? [True, True] Translation: X:586.80, Y:63.11, Z:-2.59 [[ 9.99899905e-01 1.21396355e-02 7.26701000e-03 5.86795064e+02] [-1.21443363e-02 9.99926073e-01 6.03088440e-04 6.31060324e+01] [-7.25915149e-03 -6.91281087e-04 9.99973413e-01 -2.58614196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.841400513 meters 0.09060449092247227 Centerline is valid? [True, True] Translation: X:586.82, Y:63.11, Z:-2.59 [[ 9.99903208e-01 1.24253233e-02 6.25982834e-03 5.86824322e+02] [-1.24288186e-02 9.99922624e-01 5.19771613e-04 6.31053058e+01] [-6.25288565e-03 -5.97523574e-04 9.99980272e-01 -2.58829674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.871400513 meters 0.08839886934695398 Centerline is valid? [True, True] Translation: X:586.85, Y:63.10, Z:-2.59 [[ 9.99906421e-01 1.25520091e-02 5.44026192e-03 5.86853193e+02] [-1.25546522e-02 9.99921085e-01 4.51975672e-04 6.31045373e+01] [-5.43415940e-03 -5.20233973e-04 9.99985100e-01 -2.58995703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.901400513 meters 0.09143498496120639 Centerline is valid? [True, True] Translation: X:586.88, Y:63.11, Z:-2.59 [[ 9.99929679e-01 1.11094743e-02 4.14937335e-03 5.86881910e+02] [-1.11110000e-02 9.99938211e-01 3.44836286e-04 6.31107812e+01] [-4.14528601e-03 -3.90915724e-04 9.99991332e-01 -2.58973481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.931400513 meters 0.09299638939342107 Centerline is valid? [True, True] Translation: X:586.91, Y:63.12, Z:-2.59 [[ 9.99924541e-01 1.17445510e-02 3.60240958e-03 5.86910998e+02] [-1.17457054e-02 9.99930972e-01 2.99462892e-04 6.31157353e+01] [-3.59864386e-03 -3.41753136e-04 9.99993466e-01 -2.59032737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.961400513 meters 0.09197528389846493 Centerline is valid? [True, True] Translation: X:586.94, Y:63.12, Z:-2.59 [[ 9.99912633e-01 1.26034467e-02 3.98500852e-03 5.86940732e+02] [-1.26048665e-02 9.99920501e-01 3.31363293e-04 6.31169406e+01] [-3.98051539e-03 -3.81564843e-04 9.99992005e-01 -2.58981131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.991400513 meters 0.0927084019076812 Centerline is valid? [True, True] Translation: X:586.97, Y:63.12, Z:-2.59 [[ 9.99897540e-01 1.35680445e-02 4.56262853e-03 5.86970176e+02] [-1.35699162e-02 9.99907852e-01 3.79503369e-04 6.31207086e+01] [-4.55705898e-03 -4.41378972e-04 9.99989519e-01 -2.58839540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.021400513 meters 0.09298508776609539 Centerline is valid? [True, True] Translation: X:587.00, Y:63.12, Z:-2.59 [[ 9.99877906e-01 1.46382451e-02 5.46754612e-03 5.87000264e+02] [-1.46409490e-02 9.99892712e-01 4.54849055e-04 6.31235971e+01] [-5.46030133e-03 -5.34843585e-04 9.99984949e-01 -2.58739377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.051400513 meters 0.09251026533305629 Centerline is valid? [True, True] Translation: X:587.03, Y:63.13, Z:-2.59 [[ 9.99859411e-01 1.54834202e-02 6.43606490e-03 5.87029375e+02] [-1.54871857e-02 9.99879923e-01 5.35636098e-04 6.31253724e+01] [-6.42699860e-03 -6.35237326e-04 9.99979145e-01 -2.58720171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.081400513 meters 0.10391102314577837 Centerline is valid? [True, False] Translation: X:587.03, Y:63.13, Z:-2.59 [[ 9.99859967e-01 1.54030832e-02 6.54149704e-03 5.87028887e+02] [-1.54055352e-02 9.99881275e-01 3.24611129e-04 6.31262053e+01] [-6.53572038e-03 -4.25340936e-04 9.99978551e-01 -2.58682484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.111400513 meters 0.09275015414611591 Centerline is valid? [False, True] Translation: X:587.03, Y:63.13, Z:-2.59 [[ 9.99859370e-01 1.54114926e-02 6.61257171e-03 5.87028719e+02] [-1.54141013e-02 9.99881137e-01 3.43731045e-04 6.31261305e+01] [-6.60648831e-03 -4.45609556e-04 9.99978078e-01 -2.58694426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.141400513 meters 0.0991684476111091 Centerline is valid? [True, True] Translation: X:587.06, Y:63.14, Z:-2.59 [[ 9.99844871e-01 1.63030198e-02 6.66676420e-03 5.87056043e+02] [-1.63072135e-02 9.99866863e-01 5.75172065e-04 6.31363527e+01] [-6.65649957e-03 -6.83799186e-04 9.99977611e-01 -2.58677055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.171400513 meters 0.1012042256436891 Centerline is valid? [True, False] Translation: X:587.06, Y:63.13, Z:-2.59 [[ 9.99961419e-01 8.76742296e-03 5.40842486e-04 5.87060024e+02] [-8.77337247e-03 9.99887012e-01 1.22062040e-02 6.31309356e+01] [-4.33764424e-04 -1.22104781e-02 9.99925355e-01 -2.59041606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.201400513 meters 0.10528247668466297 Centerline is valid? [False, False] Translation: X:587.06, Y:63.14, Z:-2.59 [[ 9.99992624e-01 3.66588997e-03 1.14596129e-03 5.87056183e+02] [-3.67281451e-03 9.99974650e-01 6.10001543e-03 6.31367213e+01] [-1.12357026e-03 -6.10417934e-03 9.99980738e-01 -2.58608479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.231400513 meters 0.0885853041559753 Centerline is valid? [False, True] Translation: X:587.02, Y:63.14, Z:-2.58 [[ 9.99995022e-01 3.15514181e-03 -3.18438119e-05 5.87017344e+02] [-3.15520594e-03 9.99992448e-01 -2.26890882e-03 6.31405866e+01] [ 2.46848424e-05 2.26899800e-03 9.99997426e-01 -2.58118410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.261400513 meters 0.10011496162392937 Centerline is valid? [True, False] Translation: X:587.02, Y:63.14, Z:-2.58 [[ 9.99994979e-01 3.16896703e-03 2.65863976e-06 5.87017408e+02] [-3.16895314e-03 9.99992473e-01 -2.23860549e-03 6.31405495e+01] [-9.75268673e-06 2.23858582e-03 9.99997494e-01 -2.58159408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.291400513 meters 0.09425799108879443 Centerline is valid? [False, True] Translation: X:587.02, Y:63.14, Z:-2.58 [[ 9.99995064e-01 3.14080047e-03 8.24102890e-05 5.87017154e+02] [-3.14060156e-03 9.99992396e-01 -2.31194161e-03 6.31408681e+01] [-8.96710096e-05 2.31167138e-03 9.99997324e-01 -2.58158808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.321400513 meters 0.09616542262333816 Centerline is valid? [True, True] Translation: X:587.05, Y:63.14, Z:-2.58 [[ 9.99989222e-01 4.61455897e-03 5.11190973e-04 5.87046651e+02] [-4.61458813e-03 9.99989351e-01 5.58707132e-05 6.31448240e+01] [-5.10927711e-04 -5.82290469e-05 9.99999868e-01 -2.58307734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.351400513 meters 0.09340280338235668 Centerline is valid? [True, True] Translation: X:587.08, Y:63.14, Z:-2.58 [[ 9.99984889e-01 5.48269798e-03 4.01396744e-04 5.87076388e+02] [-5.48271607e-03 9.99984969e-01 4.39787496e-05 6.31446307e+01] [-4.01149588e-04 -4.61788294e-05 9.99999918e-01 -2.58239183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.381400513 meters 0.0909163050625607 Centerline is valid? [True, True] Translation: X:587.11, Y:63.14, Z:-2.58 [[ 9.99979060e-01 6.47041144e-03 -1.14639703e-04 5.87106236e+02] [-6.47041290e-03 9.99979067e-01 -1.23716419e-05 6.31445783e+01] [ 1.14557254e-04 1.31131490e-05 9.99999993e-01 -2.58304637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.411400513 meters 0.10710265902765194 Centerline is valid? [True, False] Translation: X:587.11, Y:63.14, Z:-2.58 [[ 9.99979195e-01 6.44985534e-03 -9.21313744e-05 5.87106246e+02] [-6.44986137e-03 9.99979197e-01 -6.52992025e-05 6.31448714e+01] [ 9.17082874e-05 6.58920786e-05 9.99999994e-01 -2.58325264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.441400513 meters 0.11019094093681649 Centerline is valid? [False, False] Translation: X:587.11, Y:63.15, Z:-2.58 [[ 9.99979372e-01 6.42277860e-03 -6.22561228e-05 5.87106191e+02] [-6.42278691e-03 9.99979365e-01 -1.34133527e-04 6.31452112e+01] [ 6.13933282e-05 1.34530618e-04 9.99999989e-01 -2.58336275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.471400513 meters 0.09743957431098957 Centerline is valid? [False, True] Translation: X:587.11, Y:63.15, Z:-2.58 [[ 9.99979456e-01 6.40896758e-03 -1.08474154e-04 5.87106326e+02] [-6.40898585e-03 9.99979448e-01 -1.68933377e-04 6.31453800e+01] [ 1.07389236e-04 1.69625116e-04 9.99999980e-01 -2.58335179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.501400513 meters 0.09537366303000108 Centerline is valid? [True, True] Translation: X:587.14, Y:63.15, Z:-2.58 [[ 9.99981185e-01 6.12969045e-03 -2.36869799e-04 5.87135566e+02] [-6.12969678e-03 9.99981213e-01 -2.59752655e-05 6.31462446e+01] [ 2.36706129e-04 2.74267168e-05 9.99999972e-01 -2.58373028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.531400513 meters 0.1107928498031076 Centerline is valid? [True, False] Translation: X:587.14, Y:63.15, Z:-2.58 [[ 9.99981049e-01 6.15070576e-03 -2.67251026e-04 5.87135730e+02] [-6.15069903e-03 9.99981084e-01 2.60000688e-05 6.31460499e+01] [ 2.67405890e-04 -2.43557954e-05 9.99999964e-01 -2.58388336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.561400513 meters 0.09379764230216102 Centerline is valid? [False, True] Translation: X:587.14, Y:63.15, Z:-2.58 [[ 9.99980798e-01 6.19221138e-03 -2.43879332e-04 5.87135758e+02] [-6.19217965e-03 9.99980820e-01 1.30633960e-04 6.31456166e+01] [ 2.44683568e-04 -1.29121307e-04 9.99999962e-01 -2.58410047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.591400513 meters 0.09780077928853811 Centerline is valid? [True, True] Translation: X:587.16, Y:63.15, Z:-2.58 [[ 9.99980243e-01 6.27443463e-03 -3.81448858e-04 5.87163187e+02] [-6.27445102e-03 9.99980315e-01 -4.17905821e-05 6.31540420e+01] [ 3.81179136e-04 4.41831386e-05 9.99999926e-01 -2.58321901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.621400513 meters 0.0941500942502736 Centerline is valid? [True, True] Translation: X:587.19, Y:63.15, Z:-2.58 [[ 9.99989063e-01 4.60014836e-03 8.43963332e-04 5.87193593e+02] [-4.60022854e-03 9.99989415e-01 9.30931008e-05 6.31523050e+01] [-8.43526157e-04 -9.69745069e-05 9.99999640e-01 -2.58145515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.651400513 meters 0.09556182864867287 Centerline is valid? [True, True] Translation: X:587.22, Y:63.16, Z:-2.58 [[ 9.99988184e-01 4.84710212e-03 3.71615145e-04 5.87221409e+02] [-4.84711781e-03 9.99988252e-01 4.13249721e-05 6.31584792e+01] [-3.71410473e-04 -4.31257462e-05 9.99999930e-01 -2.58093744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.681400513 meters 0.09937770752894257 Centerline is valid? [True, True] Translation: X:587.25, Y:63.17, Z:-2.58 [[ 9.99989621e-01 4.53390906e-03 4.48331016e-04 5.87248817e+02] [-4.53393183e-03 9.99989720e-01 4.97854905e-05 6.31665527e+01] [-4.48100684e-04 -5.18176760e-05 9.99999898e-01 -2.58120281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.711400513 meters 0.09618986306111861 Centerline is valid? [True, True] Translation: X:587.28, Y:63.17, Z:-2.58 [[ 9.99992175e-01 3.95132767e-03 -1.89897627e-04 5.87277715e+02] [-3.95133168e-03 9.99992193e-01 -2.07599181e-05 6.31650403e+01] [ 1.89814116e-04 2.15101042e-05 9.99999982e-01 -2.58168638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.741400513 meters 0.1030294271390386 Centerline is valid? [True, False] Translation: X:587.31, Y:63.17, Z:-2.58 [[ 9.99997916e-01 1.14655612e-03 1.68927327e-03 5.87314776e+02] [-1.15291783e-03 9.99992230e-01 3.76979171e-03 6.31669187e+01] [-1.68493787e-03 -3.77173144e-03 9.99991467e-01 -2.58461717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.771400513 meters 0.10073496640318572 Centerline is valid? [False, False] Translation: X:587.31, Y:63.17, Z:-2.58 [[ 9.99998018e-01 1.07132376e-03 1.67828020e-03 5.87314585e+02] [-1.07733877e-03 9.99992986e-01 3.58723845e-03 6.31676318e+01] [-1.67442533e-03 -3.58903942e-03 9.99992158e-01 -2.58413091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.801400513 meters 0.08971293526598723 Centerline is valid? [False, True] Translation: X:587.31, Y:63.17, Z:-2.58 [[ 9.99998037e-01 9.95732102e-04 1.71322254e-03 5.87314362e+02] [-1.00155086e-03 9.99993722e-01 3.39888095e-03 6.31684258e+01] [-1.70982741e-03 -3.40059016e-03 9.99992756e-01 -2.58390041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.831400513 meters 0.09690623879299393 Centerline is valid? [True, True] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99995098e-01 2.32344064e-03 2.09874575e-03 5.87342655e+02] [-2.32394763e-03 9.99997271e-01 2.39159130e-04 6.31821875e+01] [-2.09818435e-03 -2.44035333e-04 9.99997769e-01 -2.58143408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.861400513 meters 0.11259775417852307 Centerline is valid? [True, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994861e-01 2.32697605e-03 2.20511015e-03 5.87342527e+02] [-2.32750018e-03 9.99997264e-01 2.35153290e-04 6.31823148e+01] [-2.20455692e-03 -2.40284476e-04 9.99997541e-01 -2.58193383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.891400513 meters 0.11119537718287117 Centerline is valid? [False, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994651e-01 2.21885995e-03 2.40315265e-03 5.87341845e+02] [-2.21872792e-03 9.99997537e-01 -5.76053567e-05 6.31835456e+01] [-2.40327455e-03 5.22731067e-05 9.99997111e-01 -2.58180147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.921400513 meters 0.1038884079119305 Centerline is valid? [False, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994239e-01 2.05742667e-03 2.69974474e-03 5.87340410e+02] [-2.05636795e-03 9.99997808e-01 -3.94874694e-04 6.31845230e+01] [-2.70055124e-03 3.89320751e-04 9.99996278e-01 -2.58040206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.951400513 meters 0.11190212713925032 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.58 [[ 9.99994320e-01 1.96914520e-03 2.73549175e-03 5.87340136e+02] [-1.96745301e-03 9.99997872e-01 -6.21159140e-04 6.31854646e+01] [-2.73670908e-03 6.15773660e-04 9.99996066e-01 -2.58005569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.981400513 meters 0.10440560535487708 Centerline is valid? [False, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994418e-01 2.03470539e-03 2.65016232e-03 5.87340569e+02] [-2.03352023e-03 9.99997831e-01 -4.49819477e-04 6.31847935e+01] [-2.65107182e-03 4.44427807e-04 9.99996387e-01 -2.58044295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.011400513 meters 0.10489557795772779 Centerline is valid? [False, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994270e-01 2.17171663e-03 2.59669338e-03 5.87341328e+02] [-2.17137438e-03 9.99997634e-01 -1.34616124e-04 6.31837241e+01] [-2.59697958e-03 1.28976960e-04 9.99996620e-01 -2.58183049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.041400513 meters 0.09822165876113681 Centerline is valid? [False, True] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99994157e-01 2.16197403e-03 2.64790326e-03 5.87341136e+02] [-2.16155975e-03 9.99997651e-01 -1.59307471e-04 6.31838062e+01] [-2.64824146e-03 1.53582939e-04 9.99996482e-01 -2.58174742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.071400513 meters 0.11126892552408905 Centerline is valid? [True, False] Translation: X:587.34, Y:63.18, Z:-2.58 [[ 9.99973116e-01 6.94029136e-03 2.36617668e-03 5.87343037e+02] [-6.95274706e-03 9.99961799e-01 5.29711730e-03 6.31796451e+01] [-2.32932275e-03 -5.31342632e-03 9.99983171e-01 -2.58387336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.101400513 meters 0.10638661025697702 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.58 [[ 9.99993957e-01 1.75356065e-03 3.00194454e-03 5.87338896e+02] [-1.75098310e-03 9.99998096e-01 -8.61037865e-04 6.31854653e+01] [-3.00344871e-03 8.55776307e-04 9.99995123e-01 -2.57929626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.131400513 meters 0.10403033159728083 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.58 [[ 9.99993843e-01 1.70264474e-03 3.06835866e-03 5.87338759e+02] [-1.69959145e-03 9.99998058e-01 -9.97423161e-04 6.31861220e+01] [-3.07005096e-03 9.92202064e-04 9.99994795e-01 -2.57951140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.161400513 meters 0.11094355156201663 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.58 [[ 9.99993696e-01 1.77079031e-03 3.07763426e-03 5.87338997e+02] [-1.76822244e-03 9.99998087e-01 -8.36885895e-04 6.31855435e+01] [-3.07911032e-03 8.31438677e-04 9.99994914e-01 -2.58011073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.191400513 meters 0.11234270707364818 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99990169e-01 1.41346040e-03 -4.20289183e-03 5.87326139e+02] [-1.38738480e-03 9.99979813e-01 6.20066080e-03 6.31794626e+01] [ 4.21157137e-03 -6.19476881e-03 9.99971943e-01 -2.58103147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.221400513 meters 0.11011768976531382 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99987072e-01 -1.75520676e-03 -4.77242101e-03 5.87330449e+02] [ 1.76722931e-03 9.99995273e-01 2.51612155e-03 6.31836043e+01] [ 4.76798214e-03 -2.52452298e-03 9.99985446e-01 -2.58404820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.251400513 meters 0.11048952556521918 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99987029e-01 -1.71281568e-03 -4.79671557e-03 5.87330462e+02] [ 1.72541412e-03 9.99995070e-01 2.62356609e-03 6.31830676e+01] [ 4.79219823e-03 -2.63180838e-03 9.99985054e-01 -2.58386648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.281400513 meters 0.12197146721778458 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99987203e-01 -1.76260098e-03 -4.74212269e-03 5.87330226e+02] [ 1.77445812e-03 9.99995307e-01 2.49734060e-03 6.31836038e+01] [ 4.73769862e-03 -2.50572333e-03 9.99985638e-01 -2.58373456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.311400513 meters 0.11384098088989458 Centerline is valid? [False, False] Translation: X:587.31, Y:63.19, Z:-2.59 [[ 9.99987115e-01 2.64800457e-03 -4.33107555e-03 5.87314609e+02] [-2.67853129e-03 9.99971506e-01 -7.05775264e-03 6.31880522e+01] [ 4.31226318e-03 7.06926262e-03 9.99965714e-01 -2.58514467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.341400513 meters 0.11635879765441356 Centerline is valid? [False, False] Translation: X:587.31, Y:63.19, Z:-2.59 [[ 9.99987286e-01 2.68743985e-03 -4.26674351e-03 5.87314530e+02] [-2.71710217e-03 9.99972077e-01 -6.96147266e-03 6.31876623e+01] [ 4.24791583e-03 6.97297733e-03 9.99966666e-01 -2.58539860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.371400513 meters 0.11635879765441356 Centerline is valid? [False, False] Translation: X:587.31, Y:63.19, Z:-2.59 [[ 9.99987286e-01 2.68743985e-03 -4.26674351e-03 5.87314530e+02] [-2.71710217e-03 9.99972077e-01 -6.96147266e-03 6.31876623e+01] [ 4.24791583e-03 6.97297733e-03 9.99966666e-01 -2.58539860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.401400513 meters 0.12242074712080679 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99968414e-01 7.61835623e-05 -7.94771229e-03 5.87334163e+02] [-4.89317830e-05 9.99994120e-01 3.42902156e-03 6.31841881e+01] [ 7.94792679e-03 -3.42852435e-03 9.99962537e-01 -2.58488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.431400513 meters 0.11501218130320014 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99968608e-01 3.48652211e-05 -7.92346767e-03 5.87333801e+02] [-8.39040484e-06 9.99994418e-01 3.34132556e-03 6.31844194e+01] [ 7.92353993e-03 -3.34115419e-03 9.99963026e-01 -2.58423460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.461400513 meters 0.11685334657473923 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99967849e-01 7.93648575e-05 -8.01845196e-03 5.87334036e+02] [-5.15989675e-05 9.99994003e-01 3.46289697e-03 6.31838389e+01] [ 8.01867870e-03 -3.46237189e-03 9.99961856e-01 -2.58407373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.491400513 meters 0.1106788979609143 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99967289e-01 5.23658710e-05 -8.08811204e-03 5.87334314e+02] [-2.48947023e-05 9.99994231e-01 3.39655049e-03 6.31842047e+01] [ 8.08824324e-03 -3.39623803e-03 9.99961522e-01 -2.58426144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.521400513 meters 0.12656378927096038 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99966790e-01 8.14808435e-05 -8.14938603e-03 5.87334622e+02] [-5.32642129e-05 9.99994004e-01 3.46258121e-03 6.31839867e+01] [ 8.14961930e-03 -3.46203215e-03 9.99960798e-01 -2.58453274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.551400513 meters 0.10561721691935602 Centerline is valid? [False, False] Translation: X:587.33, Y:63.18, Z:-2.58 [[ 9.99966435e-01 1.72443712e-04 -8.19144061e-03 5.87334839e+02] [-1.42198892e-04 9.99993172e-01 3.69268578e-03 6.31829803e+01] [ 8.19202146e-03 -3.69139702e-03 9.99959631e-01 -2.58467506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.581400513 meters 0.12638101443162789 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99956334e-01 -2.91982747e-03 -8.87719470e-03 5.87339816e+02] [ 2.92099094e-03 9.99995727e-01 1.18100099e-04 6.31873490e+01] [ 8.87681193e-03 -1.44025148e-04 9.99960590e-01 -2.58814069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.611400513 meters 0.11470500333046317 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99955673e-01 -2.96110053e-03 -8.93782462e-03 5.87339956e+02] [ 2.96137985e-03 9.99995615e-01 1.80163808e-05 6.31878035e+01] [ 8.93773208e-03 -4.44838759e-05 9.99960057e-01 -2.58806338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.641400513 meters 0.10827845213436017 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99955072e-01 -2.90243657e-03 -9.02384312e-03 5.87340318e+02] [ 2.90409828e-03 9.99995768e-01 1.71048763e-04 6.31871724e+01] [ 9.02330848e-03 -1.97247206e-04 9.99959270e-01 -2.58826685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.671400513 meters 0.10486953765811025 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99953769e-01 -2.87484787e-03 -9.17578903e-03 5.87340710e+02] [ 2.87719372e-03 9.99995831e-01 2.42466326e-04 6.31868377e+01] [ 9.17505373e-03 -2.68855639e-04 9.99957872e-01 -2.58807700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.701400513 meters 0.11256845786777629 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99953227e-01 -2.88620662e-03 -9.23116990e-03 5.87340730e+02] [ 2.88838049e-03 9.99995804e-01 2.22169094e-04 6.31868504e+01] [ 9.23048994e-03 -2.48821833e-04 9.99957367e-01 -2.58772668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.731400513 meters 0.11064609463819064 Centerline is valid? [False, False] Translation: X:587.34, Y:63.19, Z:-2.59 [[ 9.99952505e-01 -2.80528885e-03 -9.33374850e-03 5.87341167e+02] [ 2.80932423e-03 9.99995966e-01 4.19259592e-04 6.31860400e+01] [ 9.33253471e-03 -4.45461205e-04 9.99956352e-01 -2.58796360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.761400513 meters 0.09757825003583734 Centerline is valid? [False, True] Translation: X:587.34, Y:63.18, Z:-2.59 [[ 9.99951666e-01 -2.66001200e-03 -9.46522107e-03 5.87341918e+02] [ 2.66738756e-03 9.99996149e-01 7.66688997e-04 6.31846923e+01] [ 9.46314521e-03 -7.91899353e-04 9.99954910e-01 -2.58870031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.791400513 meters 0.10196572288151794 Centerline is valid? [True, False] Translation: X:587.34, Y:63.18, Z:-2.59 [[ 9.99950566e-01 -2.58404872e-03 -9.60149498e-03 5.87342574e+02] [ 2.59317774e-03 9.99996197e-01 9.38463046e-04 6.31841070e+01] [ 9.59903344e-03 -9.63315037e-04 9.99953464e-01 -2.58923971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.821400513 meters 0.10064044408221545 Centerline is valid? [False, False] Translation: X:587.36, Y:63.19, Z:-2.59 [[ 9.99992580e-01 -2.32473547e-03 -3.07164296e-03 5.87356144e+02] [ 2.30457418e-03 9.99975886e-01 -6.55099716e-03 6.31907113e+01] [ 3.08679823e-03 6.54386972e-03 9.99973824e-01 -2.58793748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.851400513 meters 0.1002880741526004 Centerline is valid? [False, False] Translation: X:587.35, Y:63.19, Z:-2.58 [[ 9.99996424e-01 8.67475472e-04 -2.52969364e-03 5.87351965e+02] [-8.74475049e-04 9.99995789e-01 -2.76717414e-03 6.31863278e+01] [ 2.52728253e-03 2.76937639e-03 9.99992972e-01 -2.58476890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.881400513 meters 0.09055466742899448 Centerline is valid? [False, True] Translation: X:587.35, Y:63.18, Z:-2.59 [[ 9.99995839e-01 1.06049125e-03 -2.68261759e-03 5.87352685e+02] [-1.06647651e-03 9.99996943e-01 -2.23068317e-03 6.31840936e+01] [ 2.68024377e-03 2.23353484e-03 9.99993914e-01 -2.58526883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.911400513 meters 0.10058391464534853 Centerline is valid? [True, False] Translation: X:587.35, Y:63.18, Z:-2.59 [[ 9.99994794e-01 1.33098501e-03 -2.93932409e-03 5.87354109e+02] [-1.33555227e-03 9.99997903e-01 -1.55243075e-03 6.31816084e+01] [ 2.93725167e-03 1.55634829e-03 9.99994475e-01 -2.58680877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.941400513 meters 0.08788574640207845 Centerline is valid? [False, True] Translation: X:587.35, Y:63.18, Z:-2.59 [[ 9.99994960e-01 1.27832548e-03 -2.90616971e-03 5.87353997e+02] [-1.28321209e-03 9.99997765e-01 -1.68021631e-03 6.31821973e+01] [ 2.90401535e-03 1.68393707e-03 9.99994366e-01 -2.58682076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.971400513 meters 0.09106158234644539 Centerline is valid? [True, True] Translation: X:587.38, Y:63.19, Z:-2.59 [[ 9.99997301e-01 1.55286040e-03 -1.72833457e-03 5.87381154e+02] [-1.55319190e-03 9.99998776e-01 -1.90473231e-04 6.31888813e+01] [ 1.72803668e-03 1.93157152e-04 9.99998488e-01 -2.58645773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.001400513 meters 0.0961444270472357 Centerline is valid? [True, True] Translation: X:587.41, Y:63.20, Z:-2.59 [[ 9.99992067e-01 3.51724120e-03 -1.86927227e-03 5.87409727e+02] [-3.51763285e-03 9.99993792e-01 -2.06274530e-04 6.31995983e+01] [ 1.86853514e-03 2.12848307e-04 9.99998232e-01 -2.58514779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.031400513 meters 0.09886623201417981 Centerline is valid? [True, True] Translation: X:587.44, Y:63.21, Z:-2.58 [[ 9.99989829e-01 4.41077127e-03 -9.41750011e-04 5.87437951e+02] [-4.41087097e-03 9.99990267e-01 -1.03824174e-04 6.32060637e+01] [ 9.41282900e-04 1.07977055e-04 9.99999551e-01 -2.58326218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.061400513 meters 0.0983933196245364 Centerline is valid? [True, True] Translation: X:587.47, Y:63.21, Z:-2.58 [[ 9.99987470e-01 4.99845407e-03 -2.74800224e-04 5.87467792e+02] [-4.99846257e-03 9.99987507e-01 -3.02416797e-05 6.32087247e+01] [ 2.74645629e-04 3.16148794e-05 9.99999962e-01 -2.58315151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.091400513 meters 0.09955532844066176 Centerline is valid? [True, True] Translation: X:587.50, Y:63.21, Z:-2.58 [[ 9.99990182e-01 4.35693608e-03 -8.08609381e-04 5.87495836e+02] [-4.35700956e-03 9.99990504e-01 -8.91309457e-05 6.32127169e+01] [ 8.08213365e-04 9.26531894e-05 9.99999669e-01 -2.58318133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.121400513 meters 0.09157199610900213 Centerline is valid? [True, True] Translation: X:587.53, Y:63.21, Z:-2.58 [[ 9.99994267e-01 3.22226971e-03 -1.04022014e-03 5.87526804e+02] [-3.22239088e-03 9.99994801e-01 -1.14836556e-04 6.32061372e+01] [ 1.03984470e-03 1.18187893e-04 9.99999452e-01 -2.58244485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.151400513 meters 0.09321307937844281 Centerline is valid? [True, True] Translation: X:587.56, Y:63.21, Z:-2.58 [[ 9.99995583e-01 2.24369405e-03 -1.94907175e-03 5.87555365e+02] [-2.24411802e-03 9.99997459e-01 -2.15361234e-04 6.32106068e+01] [ 1.94858359e-03 2.19734230e-04 9.99998077e-01 -2.58319263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.181400513 meters 0.09511486544863823 Centerline is valid? [True, True] Translation: X:587.58, Y:63.21, Z:-2.59 [[ 9.99989433e-01 3.16514843e-03 -3.33405998e-03 5.87583703e+02] [-3.16639453e-03 9.99994919e-01 -3.68534973e-04 6.32149833e+01] [ 3.33287657e-03 3.79088028e-04 9.99994374e-01 -2.58521456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.211400513 meters 0.09866910887463962 Centerline is valid? [True, True] Translation: X:587.61, Y:63.22, Z:-2.59 [[ 9.99985726e-01 4.05857950e-03 -3.47494459e-03 5.87611394e+02] [-4.05993915e-03 9.99991685e-01 -3.84305287e-04 6.32213818e+01] [ 3.47335596e-03 3.98407865e-04 9.99993889e-01 -2.58615509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.241400513 meters 0.09288981910504203 Centerline is valid? [True, True] Translation: X:587.64, Y:63.22, Z:-2.58 [[ 9.99981731e-01 5.26216706e-03 -2.97444341e-03 5.87642711e+02] [-5.26316905e-03 9.99986095e-01 -3.29139267e-04 6.32170103e+01] [ 2.97267006e-03 3.44788252e-04 9.99995522e-01 -2.58490507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.271400513 meters 0.08715706540552588 Centerline is valid? [True, True] Translation: X:587.67, Y:63.21, Z:-2.58 [[ 9.99978095e-01 6.35273636e-03 -1.85796803e-03 5.87673610e+02] [-6.35312911e-03 9.99979798e-01 -2.05562527e-04 6.32136788e+01] [ 1.85662461e-03 2.17361935e-04 9.99998253e-01 -2.58324732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.301400513 meters 0.09942722387907102 Centerline is valid? [True, True] Translation: X:587.70, Y:63.23, Z:-2.58 [[ 9.99979150e-01 6.45025381e-03 -3.04779780e-04 5.87698882e+02] [-6.45026428e-03 9.99979196e-01 -3.33610714e-05 6.32325183e+01] [ 3.04558253e-04 3.53262859e-05 9.99999953e-01 -2.58067694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.331400513 meters 0.10129195710873057 Centerline is valid? [True, False] Translation: X:587.70, Y:63.23, Z:-2.58 [[ 9.99979474e-01 6.40303967e-03 -2.28909052e-04 5.87698813e+02] [-6.40307680e-03 9.99979487e-01 -1.61838087e-04 6.32332023e+01] [ 2.27868100e-04 1.63300487e-04 9.99999961e-01 -2.58110910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.361400513 meters 0.10254835590947023 Centerline is valid? [False, False] Translation: X:587.70, Y:63.23, Z:-2.58 [[ 9.99979043e-01 6.47039335e-03 -2.15973448e-04 5.87699059e+02] [-6.47039356e-03 9.99979067e-01 -3.09451985e-07 6.32326101e+01] [ 2.15966925e-04 1.70687871e-06 9.99999977e-01 -2.58173953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.391400513 meters 0.1036171324133003 Centerline is valid? [False, False] Translation: X:587.70, Y:63.23, Z:-2.58 [[ 9.99978211e-01 6.59791297e-03 -2.14078539e-04 5.87699322e+02] [-6.59784558e-03 9.99978185e-01 3.13999351e-04 6.32313084e+01] [ 2.16145609e-04 -3.12580052e-04 9.99999928e-01 -2.58230370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.421400513 meters 0.10019078938775634 Centerline is valid? [False, False] Translation: X:587.70, Y:63.23, Z:-2.58 [[ 9.99977906e-01 6.64466510e-03 -1.89737326e-04 5.87699320e+02] [-6.64458238e-03 9.99977831e-01 4.33332979e-04 6.32307863e+01] [ 1.92612473e-04 -4.32062680e-04 9.99999888e-01 -2.58245069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.451400513 meters 0.10219804790469432 Centerline is valid? [False, False] Translation: X:587.72, Y:63.23, Z:-2.58 [[ 9.99974016e-01 4.69132956e-03 -5.47353717e-03 5.87718045e+02] [-4.63890047e-03 9.99943615e-01 9.55234345e-03 6.32276767e+01] [ 5.51804174e-03 -9.52670404e-03 9.99939395e-01 -2.57962732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.481400513 meters 0.10551443966235453 Centerline is valid? [False, False] Translation: X:587.71, Y:63.23, Z:-2.58 [[ 9.99987926e-01 -5.47880651e-04 -4.88348192e-03 5.87714125e+02] [ 5.63783440e-04 9.99994541e-01 3.25566302e-03 6.32342963e+01] [ 4.88167154e-03 -3.25837694e-03 9.99982776e-01 -2.57543117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.511400513 meters 0.10245767433842025 Centerline is valid? [False, False] Translation: X:587.71, Y:63.23, Z:-2.58 [[ 9.99988319e-01 -5.54593237e-04 -4.80159195e-03 5.87713870e+02] [ 5.70141256e-04 9.99994597e-01 3.23733351e-03 6.32343659e+01] [ 4.79977060e-03 -3.24003328e-03 9.99983232e-01 -2.57543231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.541400513 meters 0.10396639666799762 Centerline is valid? [False, False] Translation: X:587.71, Y:63.23, Z:-2.58 [[ 9.99988208e-01 -5.63072699e-04 -4.82353094e-03 5.87713815e+02] [ 5.78604029e-04 9.99994651e-01 3.21911874e-03 6.32343837e+01] [ 4.82169254e-03 -3.22187169e-03 9.99983185e-01 -2.57514660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.571400513 meters 0.10310100449012172 Centerline is valid? [False, False] Translation: X:587.71, Y:63.23, Z:-2.57 [[ 9.99988114e-01 -6.07402890e-04 -4.83772935e-03 5.87713640e+02] [ 6.22491097e-04 9.99994945e-01 3.11796657e-03 6.32347235e+01] [ 4.83581104e-03 -3.12094095e-03 9.99983437e-01 -2.57466134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.601400513 meters 0.09695088522201462 Centerline is valid? [False, True] Translation: X:587.71, Y:63.24, Z:-2.57 [[ 9.99973844e-01 -5.34578047e-03 -4.87174079e-03 5.87712523e+02] [ 5.33593622e-03 9.99983700e-01 -2.03144583e-03 6.32377579e+01] [ 4.88252105e-03 2.00539739e-03 9.99986070e-01 -2.57214073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.631400513 meters 0.08286845608480392 Centerline is valid? [True, True] Translation: X:587.76, Y:63.21, Z:-2.59 [[ 9.99885969e-01 -1.50437909e-02 -1.31678004e-03 5.87755661e+02] [ 1.50642617e-02 9.99737975e-01 1.72351255e-02 6.32143773e+01] [ 1.05715338e-03 -1.72529964e-02 9.99850597e-01 -2.59330385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.661400513 meters 0.1005807652130104 Centerline is valid? [True, False] Translation: X:587.74, Y:63.23, Z:-2.58 [[ 9.99865409e-01 -1.54617562e-02 -5.48611293e-03 5.87742507e+02] [ 1.54550103e-02 9.99879758e-01 -1.26991482e-03 6.32259108e+01] [ 5.50508838e-03 1.18495597e-03 9.99984145e-01 -2.57761758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.691400513 meters 0.09161900314672232 Centerline is valid? [False, True] Translation: X:587.74, Y:63.23, Z:-2.58 [[ 9.99864617e-01 -1.54524820e-02 -5.65406575e-03 5.87743058e+02] [ 1.54456367e-02 9.99879925e-01 -1.25236717e-03 6.32259018e+01] [ 5.67273902e-03 1.16486697e-03 9.99983231e-01 -2.57773749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.721400513 meters 0.09149996563109349 Centerline is valid? [True, True] Translation: X:587.77, Y:63.23, Z:-2.58 [[ 9.99831375e-01 -1.76274165e-02 -5.14741025e-03 5.87772932e+02] [ 1.76243943e-02 9.99844479e-01 -6.31901170e-04 6.32294394e+01] [ 5.15774851e-03 5.41074627e-04 9.99986552e-01 -2.57873411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.751400513 meters 0.08745981005416324 Centerline is valid? [True, True] Translation: X:587.80, Y:63.23, Z:-2.58 [[ 9.99811739e-01 -1.85150235e-02 -5.80348079e-03 5.87804285e+02] [ 1.85111969e-02 9.99828399e-01 -7.12385313e-04 6.32290813e+01] [ 5.81567473e-03 6.04821823e-04 9.99982906e-01 -2.57747394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.781400513 meters 0.10117196463809154 Centerline is valid? [True, False] Translation: X:587.80, Y:63.23, Z:-2.58 [[ 9.99937911e-01 -1.10207242e-02 1.64871631e-03 5.87800745e+02] [ 1.10391385e-02 9.99871652e-01 -1.16110813e-02 6.32340354e+01] [-1.52054218e-03 1.16285608e-02 9.99931230e-01 -2.57502871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.811400513 meters 0.08642166076536716 Centerline is valid? [False, True] Translation: X:587.80, Y:63.23, Z:-2.58 [[ 9.99981571e-01 -5.94456952e-03 1.23305099e-03 5.87803822e+02] [ 5.95157127e-03 9.99965731e-01 -5.75465553e-03 6.32289944e+01] [-1.19879978e-03 5.76188806e-03 9.99982682e-01 -2.57883772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.841400513 meters 0.089468893626489 Centerline is valid? [True, True] Translation: X:587.83, Y:63.23, Z:-2.58 [[ 9.99989622e-01 -4.45944473e-03 9.32283779e-04 5.87833378e+02] [ 4.45934930e-03 9.99990052e-01 1.04419491e-04 6.32311327e+01] [-9.32740157e-04 -1.00261028e-04 9.99999560e-01 -2.58485527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.871400513 meters 0.09221174825470764 Centerline is valid? [True, True] Translation: X:587.86, Y:63.24, Z:-2.58 [[ 9.99991367e-01 -3.29077518e-03 2.53710686e-03 5.87863394e+02] [ 3.29006459e-03 9.99994547e-01 2.84204269e-04 6.32381372e+01] [-2.53802828e-03 -2.75854570e-04 9.99996741e-01 -2.58409470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.901400513 meters 0.09918375681249637 Centerline is valid? [True, True] Translation: X:587.89, Y:63.25, Z:-2.58 [[ 9.99991132e-01 -1.74938808e-03 3.83080978e-03 5.87891594e+02] [ 1.74775752e-03 9.99998381e-01 4.28950027e-04 6.32515959e+01] [-3.83155397e-03 -4.22250896e-04 9.99992570e-01 -2.58060280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.931400513 meters 0.0902808086107328 Centerline is valid? [True, True] Translation: X:587.92, Y:63.24, Z:-2.58 [[ 9.99986554e-01 -2.15661758e-03 4.71604320e-03 5.87924860e+02] [ 2.15415088e-03 9.99997540e-01 5.28061122e-04 6.32438627e+01] [-4.71717043e-03 -5.17894953e-04 9.99988740e-01 -2.58157309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.961400513 meters 0.09567193329584184 Centerline is valid? [True, True] Translation: X:587.95, Y:63.25, Z:-2.58 [[ 9.99993647e-01 -1.94717815e-03 2.98574450e-03 5.87954798e+02] [ 1.94618881e-03 9.99998050e-01 3.34223649e-04 6.32541766e+01] [-2.98638947e-03 -3.28410703e-04 9.99995487e-01 -2.58202061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.991400513 meters 0.08920790082383478 Centerline is valid? [True, True] Translation: X:587.99, Y:63.25, Z:-2.58 [[ 9.99991312e-01 -2.85407483e-03 3.03800850e-03 5.87987193e+02] [ 2.85305505e-03 9.99995872e-01 3.39954722e-04 6.32490501e+01] [-3.03896622e-03 -3.31284163e-04 9.99995327e-01 -2.58176875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.021400513 meters 0.09299763622959521 Centerline is valid? [True, True] Translation: X:588.02, Y:63.26, Z:-2.58 [[ 9.99989460e-01 -2.68848113e-03 3.72178963e-03 5.88017328e+02] [ 2.68695017e-03 9.99996303e-01 4.16289605e-04 6.32580334e+01] [-3.72289506e-03 -4.06284954e-04 9.99992987e-01 -2.58140667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.051400513 meters 0.09530976031928576 Centerline is valid? [True, True] Translation: X:588.05, Y:63.26, Z:-2.58 [[ 9.99992937e-01 -2.01378239e-03 3.17330966e-03 5.88047775e+02] [ 2.01266689e-03 9.99997912e-01 3.54681971e-04 6.32635649e+01] [-3.17401729e-03 -3.48292651e-04 9.99994902e-01 -2.58111175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.081400513 meters 0.09181469734511405 Centerline is valid? [True, True] Translation: X:588.08, Y:63.26, Z:-2.58 [[ 9.99998373e-01 1.02390159e-04 1.80104123e-03 5.88079111e+02] [-1.02752546e-04 9.99999974e-01 2.01118425e-04 6.32620725e+01] [-1.80102059e-03 -2.01303159e-04 9.99998358e-01 -2.58220591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.111400513 meters 0.09665187139755181 Centerline is valid? [True, True] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996342e-01 2.00308894e-03 1.81775367e-03 5.88107785e+02] [-2.00346115e-03 9.99997972e-01 2.02964167e-04 6.32710026e+01] [-1.81734343e-03 -2.06605224e-04 9.99998327e-01 -2.58489717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.141400513 meters 0.10193950971065255 Centerline is valid? [True, False] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996316e-01 1.96793712e-03 1.86951525e-03 5.88107597e+02] [-1.96814219e-03 9.99998057e-01 1.07855678e-04 6.32714120e+01] [-1.86929936e-03 -1.11534752e-04 9.99998247e-01 -2.58483976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.171400513 meters 0.08782144715629533 Centerline is valid? [False, True] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996342e-01 1.80354721e-03 2.01588998e-03 5.88106555e+02] [-1.80303881e-03 9.99998342e-01 -2.53981257e-04 6.32726115e+01] [-2.01634471e-03 2.50345600e-04 9.99997936e-01 -2.58345782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.201400513 meters 0.10029981724355061 Centerline is valid? [True, False] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996422e-01 1.75014335e-03 2.02308762e-03 5.88106339e+02] [-1.74936115e-03 9.99998394e-01 -3.88337469e-04 6.32731163e+01] [-2.02376402e-03 3.84796968e-04 9.99997878e-01 -2.58301057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.231400513 meters 0.11218793676177359 Centerline is valid? [False, False] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996398e-01 1.73445994e-03 2.04824046e-03 5.88106274e+02] [-1.73358055e-03 9.99998404e-01 -4.31040252e-04 6.32733191e+01] [-2.04898481e-03 4.27487910e-04 9.99997809e-01 -2.58304851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.261400513 meters 0.11218793676177359 Centerline is valid? [False, False] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996398e-01 1.73445994e-03 2.04824046e-03 5.88106274e+02] [-1.73358055e-03 9.99998404e-01 -4.31040252e-04 6.32733191e+01] [-2.04898481e-03 4.27487910e-04 9.99997809e-01 -2.58304851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.291400513 meters 0.0963886087715295 Centerline is valid? [False, True] Translation: X:588.11, Y:63.27, Z:-2.58 [[ 9.99996337e-01 1.72335769e-03 2.08723496e-03 5.88106260e+02] [-1.72239932e-03 9.99998410e-01 -4.60865528e-04 6.32735178e+01] [-2.08802588e-03 4.57268788e-04 9.99997716e-01 -2.58331529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.321400513 meters 0.09791656550994149 Centerline is valid? [True, True] Translation: X:588.14, Y:63.28, Z:-2.58 [[ 9.99998725e-01 5.32868258e-04 1.50558888e-03 5.88135911e+02] [-5.33133749e-04 9.99999842e-01 1.75940895e-04 6.32777120e+01] [-1.50549489e-03 -1.76743351e-04 9.99998851e-01 -2.58413287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.351400513 meters 0.0983153186210842 Centerline is valid? [True, True] Translation: X:588.17, Y:63.28, Z:-2.58 [[ 9.99998600e-01 -6.05383219e-04 1.55987568e-03 5.88165292e+02] [ 6.05099603e-04 9.99999800e-01 1.82284770e-04 6.32823923e+01] [-1.55998572e-03 -1.81340635e-04 9.99998767e-01 -2.58452915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.381400513 meters 0.0969152067244957 Centerline is valid? [True, True] Translation: X:588.21, Y:63.27, Z:-2.61 [[ 9.99866897e-01 -1.32157737e-02 9.56718420e-03 5.88212298e+02] [ 1.29581026e-02 9.99564518e-01 2.65115273e-02 6.32746244e+01] [-9.91338821e-03 -2.63840260e-02 9.99602725e-01 -2.61059343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.411400513 meters 0.10027520539065404 Centerline is valid? [True, False] Translation: X:588.21, Y:63.29, Z:-2.59 [[ 9.99907370e-01 -9.86672838e-03 9.37548558e-03 5.88210132e+02] [ 9.81759502e-03 9.99937907e-01 5.27227164e-03 6.32900849e+01] [-9.42692350e-03 -5.17973855e-03 9.99942150e-01 -2.59218006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.441400513 meters 0.11496784052013881 Centerline is valid? [False, False] Translation: X:588.20, Y:63.30, Z:-2.58 [[ 9.99980584e-01 -4.94286471e-03 3.79460063e-03 5.88201296e+02] [ 4.97025118e-03 9.99961424e-01 -7.24204092e-03 6.32958564e+01] [-3.75865782e-03 7.26076043e-03 9.99966576e-01 -2.57966963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.471400513 meters 0.08961048231019685 Centerline is valid? [False, True] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993395e-01 -2.87640232e-04 3.62316920e-03 5.88202526e+02] [ 2.94708861e-04 9.99998054e-01 -1.95056924e-03 6.32921687e+01] [-3.62260109e-03 1.95162414e-03 9.99991534e-01 -2.58154487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.501400513 meters 0.1156636690423576 Centerline is valid? [True, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993309e-01 -3.33774665e-04 3.64293140e-03 5.88202295e+02] [ 3.41317492e-04 9.99997799e-01 -2.07011244e-03 6.32926153e+01] [-3.64223243e-03 2.07134198e-03 9.99991222e-01 -2.58114535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.531400513 meters 0.10458978083643827 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993369e-01 -1.96951031e-04 3.63640549e-03 5.88202605e+02] [ 2.03230454e-04 9.99998489e-01 -1.72653274e-03 6.32911993e+01] [-3.63605995e-03 1.72726032e-03 9.99991898e-01 -2.58177132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.561400513 meters 0.10628947511574334 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993467e-01 -1.70337223e-04 3.61067303e-03 5.88202852e+02] [ 1.76342865e-04 9.99998602e-01 -1.66304971e-03 6.32910100e+01] [-3.61038470e-03 1.66367556e-03 9.99992099e-01 -2.58216200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.591400513 meters 0.10536800693394456 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993364e-01 -1.35089879e-04 3.64058561e-03 5.88202836e+02] [ 1.40820478e-04 9.99998752e-01 -1.57387683e-03 6.32906347e+01] [-3.64036845e-03 1.57437906e-03 9.99992134e-01 -2.58232695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.621400513 meters 0.11169321122446829 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99993623e-01 -9.19626995e-05 3.57009924e-03 5.88203051e+02] [ 9.71831793e-05 9.99998926e-01 -1.46213270e-03 6.32901293e+01] [-3.56996095e-03 1.46247033e-03 9.99992558e-01 -2.58230179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.651400513 meters 0.1007040106941218 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99994090e-01 -1.13765104e-04 3.43608893e-03 5.88203274e+02] [ 1.18939417e-04 9.99998859e-01 -1.50570596e-03 6.32902425e+01] [-3.43591371e-03 1.50610575e-03 9.99992963e-01 -2.58186695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.681400513 meters 0.10027053456186094 Centerline is valid? [False, False] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99994645e-01 -1.37524565e-05 3.27248694e-03 5.88203854e+02] [ 1.78302320e-05 9.99999224e-01 -1.24605257e-03 6.32891409e+01] [-3.27246727e-03 1.24610424e-03 9.99993869e-01 -2.58200795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.711400513 meters 0.09601264352639906 Centerline is valid? [False, True] Translation: X:588.20, Y:63.29, Z:-2.58 [[ 9.99994955e-01 5.91124063e-05 3.17591351e-03 5.88204256e+02] [-5.57731152e-05 9.99999446e-01 -1.05152099e-03 6.32883347e+01] [-3.17597390e-03 1.05133856e-03 9.99994404e-01 -2.58224627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.741400513 meters 0.09604784386838927 Centerline is valid? [True, True] Translation: X:588.23, Y:63.29, Z:-2.58 [[ 9.99994727e-01 -1.67700796e-03 2.78095686e-03 5.88233836e+02] [ 1.67613369e-03 9.99998545e-01 3.16678484e-04 6.32907647e+01] [-2.78148389e-03 -3.12015559e-04 9.99996083e-01 -2.58320843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.771400513 meters 0.09565946663818338 Centerline is valid? [True, True] Translation: X:588.26, Y:63.29, Z:-2.58 [[ 9.99967367e-01 -6.86429705e-03 4.25990716e-03 5.88263324e+02] [ 6.86229179e-03 9.99976337e-01 4.85166856e-04 6.32942669e+01] [-4.26313668e-03 -4.55918298e-04 9.99990809e-01 -2.58461305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.801400513 meters 0.08644718031461686 Centerline is valid? [True, True] Translation: X:588.30, Y:63.29, Z:-2.58 [[ 9.99926582e-01 -1.11875204e-02 4.65510187e-03 5.88295520e+02] [ 1.11851718e-02 9.99937303e-01 5.30241051e-04 6.32864461e+01] [-4.66074210e-03 -4.78134008e-04 9.99989024e-01 -2.58406824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.831400513 meters 0.09073354481123184 Centerline is valid? [True, True] Translation: X:588.32, Y:63.30, Z:-2.58 [[ 9.99853830e-01 -1.65065655e-02 4.45558990e-03 5.88324754e+02] [ 1.65044665e-02 9.99863663e-01 5.07463710e-04 6.32963778e+01] [-4.46335892e-03 -4.33852400e-04 9.99989945e-01 -2.58217461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.861400513 meters 0.08637032301444672 Centerline is valid? [True, True] Translation: X:588.36, Y:63.29, Z:-2.58 [[ 9.99770941e-01 -2.10435550e-02 3.90306653e-03 5.88355984e+02] [ 2.10419786e-02 9.99778494e-01 4.44503691e-04 6.32948003e+01] [-3.91155591e-03 -3.62273631e-04 9.99992284e-01 -2.58383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.891400513 meters 0.07474263410149136 Centerline is valid? [True, True] Translation: X:588.39, Y:63.28, Z:-2.59 [[ 9.99578989e-01 -2.89312792e-02 2.19686265e-03 5.88388007e+02] [ 2.89307986e-02 9.99581386e-01 2.50211175e-04 6.32837990e+01] [-2.20318194e-03 -1.86548843e-04 9.99997556e-01 -2.58535891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.921400513 meters 0.06999611334352923 Centerline is valid? [True, True] Translation: X:588.42, Y:63.28, Z:-2.59 [[ 9.99468475e-01 -3.24957551e-02 2.60624014e-03 5.88419562e+02] [ 3.24950909e-02 9.99471851e-01 2.96802747e-04 6.32809456e+01] [-2.61450848e-03 -2.11954979e-04 9.99996560e-01 -2.58683095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.951400513 meters 0.053465370036830266 Centerline is valid? [True, True] Translation: X:588.45, Y:63.26, Z:-2.58 [[ 9.99353640e-01 -3.58344475e-02 2.86274776e-03 5.88452586e+02] [ 3.58336598e-02 9.99357715e-01 3.25976232e-04 6.32643326e+01] [-2.87259024e-03 -2.23182805e-04 9.99995849e-01 -2.58472932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.981400513 meters 0.05392065019872698 Centerline is valid? [True, True] Translation: X:588.48, Y:63.27, Z:-2.58 [[ 9.99245541e-01 -3.86781792e-02 3.51381814e-03 5.88482144e+02] [ 3.86770104e-02 9.99251684e-01 4.00019698e-04 6.32683130e+01] [-3.52666073e-03 -2.63813919e-04 9.99993747e-01 -2.58496953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.011400513 meters 0.05663518796763784 Centerline is valid? [True, True] Translation: X:588.51, Y:63.28, Z:-2.59 [[ 9.99144889e-01 -4.13021066e-02 1.90415202e-03 5.88511409e+02] [ 4.13017681e-02 9.99146694e-01 2.16776269e-04 6.32752636e+01] [-1.91148051e-03 -1.37946057e-04 9.99998164e-01 -2.58577595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.041400513 meters 0.05174948602127155 Centerline is valid? [True, True] Translation: X:588.55, Y:63.27, Z:-2.59 [[ 9.99154968e-01 -4.10889759e-02 1.02285196e-03 5.88545270e+02] [ 4.10888773e-02 9.99155489e-01 1.17242039e-04 6.32726336e+01] [-1.02680550e-03 -7.51151275e-05 9.99999470e-01 -2.58570589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.071400513 meters 0.049964791384327044 Centerline is valid? [True, True] Translation: X:588.58, Y:63.27, Z:-2.59 [[ 9.99215193e-01 -3.96095549e-02 2.86105067e-04 5.88576643e+02] [ 3.96095472e-02 9.99215233e-01 3.26404943e-05 6.32738768e+01] [-2.87173417e-04 -2.12823857e-05 9.99999959e-01 -2.58626700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.101400513 meters 0.058289157057008635 Centerline is valid? [True, True] Translation: X:588.61, Y:63.29, Z:-2.59 [[ 9.99268321e-01 -3.82192486e-02 1.45340317e-03 5.88605948e+02] [ 3.82190485e-02 9.99269372e-01 1.65237005e-04 6.32866450e+01] [-1.45865651e-03 -1.09568418e-04 9.99998930e-01 -2.58820394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.131400513 meters 0.055824674337491303 Centerline is valid? [True, True] Translation: X:588.64, Y:63.29, Z:-2.59 [[ 9.99340778e-01 -3.62492413e-02 2.00024298e-03 5.88636415e+02] [ 3.62488584e-02 9.99342768e-01 2.27349601e-04 6.32880157e+01] [-2.00716961e-03 -1.54693203e-04 9.99997974e-01 -2.58569520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.161400513 meters 0.054353169966068565 Centerline is valid? [True, True] Translation: X:588.67, Y:63.29, Z:-2.58 [[ 9.99397707e-01 -3.45346503e-02 3.40316469e-03 5.88667855e+02] [ 3.45335322e-02 9.99403465e-01 3.86777594e-04 6.32893725e+01] [-3.41449181e-03 -2.69021343e-04 9.99994134e-01 -2.58412508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.191400513 meters 0.06126652266576089 Centerline is valid? [True, True] Translation: X:588.70, Y:63.30, Z:-2.59 [[ 9.99550093e-01 -2.98812589e-02 2.59268212e-03 5.88696679e+02] [ 2.98805947e-02 9.99553432e-01 2.94558704e-04 6.33000227e+01] [-2.60032609e-03 -2.16955296e-04 9.99996596e-01 -2.58591367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.221400513 meters 0.07335152287226988 Centerline is valid? [True, True] Translation: X:588.73, Y:63.32, Z:-2.59 [[ 9.99608294e-01 -2.78968219e-02 2.24196329e-03 5.88725378e+02] [ 2.78963201e-02 9.99610789e-01 2.54792888e-04 6.33176337e+01] [-2.24819861e-03 -1.92150559e-04 9.99997454e-01 -2.58768927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.251400513 meters 0.08468036589638468 Centerline is valid? [True, True] Translation: X:588.75, Y:63.33, Z:-2.59 [[ 9.99674325e-01 -2.53111882e-02 3.25388766e-03 5.88753095e+02] [ 2.53101181e-02 9.99679579e-01 3.69640319e-04 6.33345205e+01] [-3.26220108e-03 -2.87163656e-04 9.99994638e-01 -2.58862260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.281400513 meters 0.08421915560759279 Centerline is valid? [True, True] Translation: X:588.78, Y:63.34, Z:-2.59 [[ 9.99735556e-01 -2.25930971e-02 4.28592885e-03 5.88784102e+02] [ 2.25912155e-02 9.99744667e-01 4.86940224e-04 6.33377711e+01] [-4.29583600e-03 -3.89987114e-04 9.99990697e-01 -2.58587124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.311400513 meters 0.08017431452697936 Centerline is valid? [True, True] Translation: X:588.81, Y:63.34, Z:-2.58 [[ 9.99767955e-01 -2.07214301e-02 5.88714866e-03 5.88814911e+02] [ 2.07178484e-02 9.99785139e-01 6.68727435e-04 6.33362403e+01] [-5.89974073e-03 -5.46603207e-04 9.99982447e-01 -2.58439401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.341400513 meters 0.09282716110671198 Centerline is valid? [True, True] Translation: X:588.84, Y:63.36, Z:-2.58 [[ 9.99798447e-01 -1.91972391e-02 5.87631563e-03 5.88842398e+02] [ 1.91936447e-02 9.99815562e-01 6.67467177e-04 6.33563381e+01] [-5.88804534e-03 -5.54544733e-04 9.99982512e-01 -2.58287276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.371400513 meters 0.08914375898560306 Centerline is valid? [True, True] Translation: X:588.87, Y:63.35, Z:-2.59 [[ 9.99813561e-01 -1.85798132e-02 5.25685348e-03 5.88874622e+02] [ 1.85769283e-02 9.99827256e-01 5.97101101e-04 6.33538525e+01] [-5.26703941e-03 -4.99333588e-04 9.99986004e-01 -2.58541455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.401400513 meters 0.09362198115206417 Centerline is valid? [True, True] Translation: X:588.90, Y:63.36, Z:-2.59 [[ 9.99847564e-01 -1.73169075e-02 2.23026429e-03 5.88903540e+02] [ 1.73163859e-02 9.99850028e-01 2.52977841e-04 6.33619330e+01] [-2.23431061e-03 -2.14319161e-04 9.99997481e-01 -2.58886330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.431400513 meters 0.08695261406847046 Centerline is valid? [True, True] Translation: X:588.94, Y:63.36, Z:-2.59 [[ 9.99854657e-01 -1.68271578e-02 2.74073338e-03 5.88936657e+02] [ 1.68263670e-02 9.99858378e-01 3.11311122e-04 6.33572728e+01] [-2.74558371e-03 -2.65149290e-04 9.99996196e-01 -2.58640893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.461400513 meters 0.09417940764661144 Centerline is valid? [True, True] Translation: X:588.97, Y:63.37, Z:-2.58 [[ 9.99867276e-01 -1.58481553e-02 3.77707742e-03 5.88965225e+02] [ 1.58466514e-02 9.99874342e-01 4.27778754e-04 6.33704081e+01] [-3.78338230e-03 -3.67867949e-04 9.99992775e-01 -2.58427735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.491400513 meters 0.090753689675479 Centerline is valid? [True, True] Translation: X:589.00, Y:63.37, Z:-2.58 [[ 9.99906220e-01 -1.28235553e-02 4.80707470e-03 5.88996590e+02] [ 1.28210846e-02 9.99917658e-01 5.44443114e-04 6.33692662e+01] [-4.81366057e-03 -4.82760145e-04 9.99988298e-01 -2.58365522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.521400513 meters 0.09323128611555734 Centerline is valid? [True, True] Translation: X:589.03, Y:63.38, Z:-2.59 [[ 9.99920749e-01 -1.15053531e-02 5.11107718e-03 5.89027334e+02] [ 1.15025436e-02 9.99933676e-01 5.78740962e-04 6.33750645e+01] [-5.11739681e-03 -5.19904708e-04 9.99986771e-01 -2.58522858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.551400513 meters 0.09604321072426052 Centerline is valid? [True, True] Translation: X:589.06, Y:63.38, Z:-2.59 [[ 9.99941429e-01 -9.66450080e-03 4.87190436e-03 5.89056861e+02] [ 9.66192715e-03 9.99953170e-01 5.51522598e-04 6.33816187e+01] [-4.87700641e-03 -5.04418310e-04 9.99987980e-01 -2.58611550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.581400513 meters 0.09624330342359637 Centerline is valid? [True, True] Translation: X:589.09, Y:63.39, Z:-2.58 [[ 9.99949949e-01 -8.74282623e-03 4.86447369e-03 5.89087990e+02] [ 8.74024935e-03 9.99961652e-01 5.50742327e-04 6.33852838e+01] [-4.86910219e-03 -5.08198049e-04 9.99988017e-01 -2.58467598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.611400513 meters 0.10118821162761979 Centerline is valid? [True, False] Translation: X:589.09, Y:63.39, Z:-2.58 [[ 9.99950013e-01 -8.76625213e-03 4.80882282e-03 5.89087994e+02] [ 8.76398154e-03 9.99961474e-01 4.93040242e-04 6.33854633e+01] [-4.81295967e-03 -4.50871162e-04 9.99988316e-01 -2.58428400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.641400513 meters 0.10023217439339832 Centerline is valid? [False, False] Translation: X:589.07, Y:63.39, Z:-2.58 [[ 9.99995792e-01 -2.56327684e-03 1.35823117e-03 5.89069636e+02] [ 2.57206535e-03 9.99975510e-01 -6.50880037e-03 6.33852252e+01] [-1.34151404e-03 6.51226645e-03 9.99977895e-01 -2.57772380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.671400513 meters 0.10157579758295385 Centerline is valid? [False, False] Translation: X:589.07, Y:63.38, Z:-2.58 [[ 9.99996263e-01 2.58461520e-03 8.90950964e-04 5.89073136e+02] [-2.58419644e-03 9.99996550e-01 -4.70840277e-04 6.33796522e+01] [-8.92164832e-04 4.68536125e-04 9.99999492e-01 -2.58199359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.701400513 meters 0.10224822355365892 Centerline is valid? [False, False] Translation: X:589.07, Y:63.38, Z:-2.58 [[ 9.99996233e-01 2.58574168e-03 9.20549165e-04 5.89073151e+02] [-2.58530948e-03 9.99996547e-01 -4.70383496e-04 6.33797127e+01] [-9.21762277e-04 4.68001819e-04 9.99999466e-01 -2.58225284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.731400513 meters 0.09817608147967925 Centerline is valid? [False, True] Translation: X:589.07, Y:63.38, Z:-2.58 [[ 9.99971925e-01 7.45352452e-03 7.70612520e-04 5.89074934e+02] [-7.45737484e-03 9.99959083e-01 5.12050716e-03 6.33750371e+01] [-7.32415163e-04 -5.12611015e-03 9.99986593e-01 -2.58490220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.761400513 meters 0.10607456938297088 Centerline is valid? [True, False] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99990873e-01 4.26817219e-03 1.90312738e-04 5.89078831e+02] [-4.26844579e-03 9.99989823e-01 1.46119376e-03 6.33793298e+01] [-1.84074175e-04 -1.46199276e-03 9.99998914e-01 -2.58742995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.791400513 meters 0.10015318329558937 Centerline is valid? [False, False] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99990957e-01 4.24521140e-03 2.53327911e-04 5.89078615e+02] [-4.24556295e-03 9.99990002e-01 1.40369500e-03 6.33795682e+01] [-2.47366396e-04 -1.40475782e-03 9.99998983e-01 -2.58738826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.821400513 meters 0.1109257648329493 Centerline is valid? [False, False] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99991294e-01 4.15902626e-03 3.37606707e-04 5.89078287e+02] [-4.15942311e-03 9.99990649e-01 1.18343067e-03 6.33805189e+01] [-3.32681631e-04 -1.18482462e-03 9.99999243e-01 -2.58727032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.851400513 meters 0.09853216848509094 Centerline is valid? [False, True] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99991445e-01 4.11833680e-03 3.87432614e-04 5.89078043e+02] [-4.11875321e-03 9.99990934e-01 1.08020671e-03 6.33809307e+01] [-3.82980446e-04 -1.08179321e-03 9.99999342e-01 -2.58707240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.881400513 meters 0.11042344663448256 Centerline is valid? [True, False] Translation: X:589.10, Y:63.38, Z:-2.59 [[ 9.99995904e-01 -2.54165413e-03 1.31587509e-03 5.89096855e+02] [ 2.53120159e-03 9.99965709e-01 7.88505804e-03 6.33818487e+01] [-1.33587106e-03 -7.88169500e-03 9.99968047e-01 -2.59080341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.911400513 meters 0.09359243135393243 Centerline is valid? [False, True] Translation: X:589.08, Y:63.39, Z:-2.59 [[ 9.99999910e-01 4.24043174e-04 3.44024939e-05 5.89077377e+02] [-4.23933921e-04 9.99995056e-01 -3.11592147e-03 6.33858381e+01] [-3.57236091e-05 3.11590661e-03 9.99995145e-01 -2.58520922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.941400513 meters 0.10542110419323086 Centerline is valid? [True, False] Translation: X:589.08, Y:63.39, Z:-2.59 [[ 9.99999878e-01 4.88522172e-04 -7.71686541e-05 5.89077740e+02] [-4.88748016e-04 9.99995517e-01 -2.95422449e-03 6.33851287e+01] [ 7.57251039e-05 2.95426184e-03 9.99995633e-01 -2.58521925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.971400513 meters 0.10896346568001629 Centerline is valid? [False, False] Translation: X:589.08, Y:63.39, Z:-2.59 [[ 9.99999861e-01 4.80941808e-04 -2.16539771e-04 5.89078172e+02] [-4.81583480e-04 9.99995464e-01 -2.97306312e-03 6.33852523e+01] [ 2.15108918e-04 2.97316699e-03 9.99995557e-01 -2.58523295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.001400513 meters 0.1078486678256192 Centerline is valid? [False, False] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99999794e-01 5.49137769e-04 -3.32747808e-04 5.89078639e+02] [-5.50067569e-04 9.99995927e-01 -2.80068942e-03 6.33845598e+01] [ 3.31208488e-04 2.80087188e-03 9.99996023e-01 -2.58546954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.031400513 meters 0.10054699760142365 Centerline is valid? [False, False] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99999686e-01 6.58304865e-04 -4.41339835e-04 5.89079178e+02] [-6.59416537e-04 9.99996599e-01 -2.52346213e-03 6.33834361e+01] [ 4.39677126e-04 2.52375236e-03 9.99996719e-01 -2.58592094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.061400513 meters 0.09605101841388505 Centerline is valid? [False, True] Translation: X:589.08, Y:63.38, Z:-2.59 [[ 9.99999698e-01 6.37467839e-04 -4.43888943e-04 5.89079283e+02] [-6.38611223e-04 9.99996467e-01 -2.58047295e-03 6.33837628e+01] [ 4.42242406e-04 2.58075565e-03 9.99996572e-01 -2.58616797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.091400513 meters 0.09101241379274422 Centerline is valid? [True, True] Translation: X:589.11, Y:63.38, Z:-2.59 [[ 9.99999625e-01 7.69038088e-04 3.99042153e-04 5.89109488e+02] [-7.69055450e-04 9.99999703e-01 4.33586508e-05 6.33787789e+01] [-3.99008690e-04 -4.36655201e-05 9.99999919e-01 -2.58730397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.121400513 meters 0.10155791806263502 Centerline is valid? [True, False] Translation: X:589.11, Y:63.38, Z:-2.59 [[ 9.99999645e-01 7.37274941e-04 4.07995380e-04 5.89109366e+02] [-7.37259911e-04 9.99999728e-01 -3.69871292e-05 6.33790939e+01] [-4.08022539e-04 3.66863174e-05 9.99999916e-01 -2.58709017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.151400513 meters 0.10155791806263502 Centerline is valid? [False, False] Translation: X:589.11, Y:63.38, Z:-2.59 [[ 9.99999645e-01 7.37274941e-04 4.07995380e-04 5.89109366e+02] [-7.37259911e-04 9.99999728e-01 -3.69871292e-05 6.33790939e+01] [-4.08022539e-04 3.66863174e-05 9.99999916e-01 -2.58709017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.181400513 meters 0.09495455288695824 Centerline is valid? [False, True] Translation: X:589.11, Y:63.38, Z:-2.59 [[ 9.99999597e-01 7.71012275e-04 4.58956501e-04 5.89109392e+02] [-7.71034147e-04 9.99999702e-01 4.74814432e-05 6.33787966e+01] [-4.58919755e-04 -4.78352952e-05 9.99999894e-01 -2.58751093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.211400513 meters 0.09919000496685586 Centerline is valid? [True, True] Translation: X:589.14, Y:63.39, Z:-2.59 [[ 9.99999525e-01 -8.43696363e-04 4.87660446e-04 5.89138284e+02] [ 8.43670150e-04 9.99999643e-01 5.39546609e-05 6.33869976e+01] [-4.87705793e-04 -5.35432107e-05 9.99999880e-01 -2.58887322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.241400513 meters 0.10532098969514156 Centerline is valid? [True, False] Translation: X:589.14, Y:63.39, Z:-2.59 [[ 9.99999598e-01 -8.16868289e-04 3.68794581e-04 5.89138595e+02] [ 8.16822014e-04 9.99999659e-01 1.25608576e-04 6.33866589e+01] [-3.68897061e-04 -1.25307286e-04 9.99999924e-01 -2.58872614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.271400513 meters 0.09242625463919037 Centerline is valid? [False, True] Translation: X:589.14, Y:63.39, Z:-2.59 [[ 9.99999573e-01 -8.64404085e-04 3.25493989e-04 5.89138510e+02] [ 8.64400456e-04 9.99999626e-01 1.12905393e-05 6.33870646e+01] [-3.25503627e-04 -1.10091773e-05 9.99999947e-01 -2.58823307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.301400513 meters 0.10575732196817628 Centerline is valid? [True, False] Translation: X:589.18, Y:63.39, Z:-2.59 [[ 9.99993201e-01 -2.93048043e-03 2.23829343e-03 5.89175506e+02] [ 2.92062453e-03 9.99986081e-01 4.39395619e-03 6.33884425e+01] [-2.25113868e-03 -4.38738910e-03 9.99987842e-01 -2.59117659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.331400513 meters 0.08789596232771103 Centerline is valid? [False, True] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99996201e-01 1.38025830e-03 -2.38615987e-03 5.89152320e+02] [-1.38950768e-03 9.99991511e-01 -3.87896052e-03 6.33896871e+01] [ 2.38078565e-03 3.88226137e-03 9.99989630e-01 -2.58005289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.361400513 meters 0.10959192613325851 Centerline is valid? [True, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99996372e-01 1.37237514e-03 -2.31786033e-03 5.89152241e+02] [-1.38144397e-03 9.99991380e-01 -3.91552956e-03 6.33899283e+01] [ 2.31246677e-03 3.91871735e-03 9.99989648e-01 -2.58037592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.391400513 meters 0.10870696213317367 Centerline is valid? [False, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99996691e-01 1.37515239e-03 -2.17397669e-03 5.89151871e+02] [-1.38364717e-03 9.99991395e-01 -3.91081907e-03 6.33899145e+01] [ 2.16858001e-03 3.91381414e-03 9.99989990e-01 -2.58052612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.421400513 meters 0.0916086718180244 Centerline is valid? [False, True] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99996927e-01 1.34532516e-03 -2.08220060e-03 5.89151546e+02] [-1.35362902e-03 9.99991117e-01 -3.99176216e-03 6.33902320e+01] [ 2.07681188e-03 3.99456842e-03 9.99989865e-01 -2.58041199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.451400513 meters 0.11089135242284454 Centerline is valid? [True, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99997194e-01 1.30922108e-03 -1.97436696e-03 5.89151131e+02] [-1.31728280e-03 9.99990779e-01 -4.08743705e-03 6.33905818e+01] [ 1.96899740e-03 4.09002638e-03 9.99989697e-01 -2.58018820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.481400513 meters 0.10667544819646115 Centerline is valid? [False, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99997363e-01 1.33031481e-03 -1.87169860e-03 5.89150789e+02] [-1.33785347e-03 9.99990976e-01 -4.03223520e-03 6.33902881e+01] [ 1.86631757e-03 4.03472863e-03 9.99990119e-01 -2.58008036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.511400513 meters 0.10228658442683246 Centerline is valid? [False, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99997630e-01 1.39941876e-03 -1.66795507e-03 5.89150150e+02] [-1.40579754e-03 9.99991680e-01 -3.82929754e-03 6.33892688e+01] [ 1.66258240e-03 3.83163327e-03 9.99991277e-01 -2.57990902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.541400513 meters 0.1109570671904937 Centerline is valid? [False, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99997533e-01 1.50604687e-03 -1.63299501e-03 5.89150179e+02] [-1.51186003e-03 9.99992504e-01 -3.56444438e-03 6.33881239e+01] [ 1.62761455e-03 3.56690445e-03 9.99992314e-01 -2.58015409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.571400513 meters 0.10918077025412894 Centerline is valid? [False, False] Translation: X:589.15, Y:63.39, Z:-2.58 [[ 9.99996790e-01 1.76430424e-03 -1.81878822e-03 5.89151146e+02] [-1.76955509e-03 9.99994260e-01 -2.88945254e-03 6.33853585e+01] [ 1.81367991e-03 2.89266171e-03 9.99994172e-01 -2.58096778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.601400513 meters 0.10546708003153477 Centerline is valid? [False, False] Translation: X:589.15, Y:63.38, Z:-2.58 [[ 9.99996112e-01 1.95406732e-03 -1.98914103e-03 5.89151947e+02] [-1.95879840e-03 9.99995251e-01 -2.37929272e-03 6.33832672e+01] [ 1.98448229e-03 2.38317980e-03 9.99995191e-01 -2.58156986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.631400513 meters 0.10777999323002825 Centerline is valid? [False, False] Translation: X:589.15, Y:63.38, Z:-2.58 [[ 9.99995220e-01 2.18327492e-03 -2.18956709e-03 5.89152898e+02] [-2.18702364e-03 9.99996144e-01 -1.71115281e-03 6.33805548e+01] [ 2.18582273e-03 1.71593327e-03 9.99996139e-01 -2.58234068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.661400513 meters 0.09914956500581346 Centerline is valid? [False, True] Translation: X:589.15, Y:63.38, Z:-2.58 [[ 9.99993851e-01 2.47175284e-03 -2.48756798e-03 5.89154265e+02] [-2.47391835e-03 9.99996563e-01 -8.67833649e-04 6.33772149e+01] [ 2.48541436e-03 8.73982353e-04 9.99996529e-01 -2.58340165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.691400513 meters 0.10893683264767696 Centerline is valid? [True, False] Translation: X:589.16, Y:63.37, Z:-2.58 [[ 9.99992858e-01 2.68402100e-03 -2.66098047e-03 5.89155060e+02] [-2.68455363e-03 9.99996377e-01 -1.96608690e-04 6.33744347e+01] [ 2.66044313e-03 2.03750830e-04 9.99996440e-01 -2.58399313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.721400513 meters 0.10010081909705124 Centerline is valid? [False, False] Translation: X:589.15, Y:63.38, Z:-2.58 [[ 9.99994661e-01 -1.88216597e-03 -2.67136348e-03 5.89154249e+02] [ 1.86872320e-03 9.99985625e-01 -5.02578072e-03 6.33761809e+01] [ 2.68078443e-03 5.02076185e-03 9.99983803e-01 -2.58214863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.751400513 meters 0.09799594334144962 Centerline is valid? [False, True] Translation: X:589.16, Y:63.37, Z:-2.58 [[ 9.99994333e-01 -1.68849246e-03 -2.91253866e-03 5.89155124e+02] [ 1.67571780e-03 9.99988991e-01 -4.38296958e-03 6.33734654e+01] [ 2.91990720e-03 4.37806414e-03 9.99986153e-01 -2.58234940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.781400513 meters 0.08981827966073533 Centerline is valid? [True, True] Translation: X:589.19, Y:63.36, Z:-2.59 [[ 9.99990576e-01 -3.10750428e-03 -3.03181082e-03 5.89186809e+02] [ 3.10653646e-03 9.99995122e-01 -3.23877606e-04 6.33632457e+01] [ 3.03280248e-03 3.14456123e-04 9.99995352e-01 -2.58603276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.811400513 meters 0.08591836773334989 Centerline is valid? [True, True] Translation: X:589.22, Y:63.36, Z:-2.59 [[ 9.99986010e-01 -4.55441789e-03 -2.69033589e-03 5.89217502e+02] [ 4.55366089e-03 9.99989591e-01 -2.87435411e-04 6.33620722e+01] [ 2.69161699e-03 2.75180513e-04 9.99996340e-01 -2.58661226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.841400513 meters 0.09840634572526961 Centerline is valid? [True, True] Translation: X:589.25, Y:63.38, Z:-2.59 [[ 9.99982285e-01 -4.76507161e-03 -3.56703352e-03 5.89246869e+02] [ 4.76374222e-03 9.99988581e-01 -3.81089111e-04 6.33827288e+01] [ 3.56880870e-03 3.64089932e-04 9.99993566e-01 -2.58670875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.871400513 meters 0.08785101774317507 Centerline is valid? [True, True] Translation: X:589.28, Y:63.38, Z:-2.59 [[ 9.99966968e-01 -6.22568209e-03 -5.22538092e-03 5.89278343e+02] [ 6.22285013e-03 9.99980482e-01 -5.58046815e-04 6.33761334e+01] [ 5.22875315e-03 5.25511619e-04 9.99986192e-01 -2.58853100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.901400513 meters 0.08181543675011564 Centerline is valid? [True, True] Translation: X:589.31, Y:63.37, Z:-2.59 [[ 9.99954118e-01 -7.42909322e-03 -6.04733156e-03 5.89309303e+02] [ 7.42532238e-03 9.99972223e-01 -6.45767983e-04 6.33730001e+01] [ 6.05196106e-03 6.00834967e-04 9.99981506e-01 -2.58984344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.931400513 meters 0.08464448732480435 Centerline is valid? [True, True] Translation: X:589.34, Y:63.40, Z:-2.57 [[ 9.99968341e-01 -7.13960745e-03 -3.51323007e-03 5.89339989e+02] [ 7.07029674e-03 9.99787569e-01 -1.93604922e-02 6.33953260e+01] [ 3.65071006e-03 1.93350396e-02 9.99806396e-01 -2.56956809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.961400513 meters 0.08097570114996075 Centerline is valid? [True, True] Translation: X:589.37, Y:63.37, Z:-2.61 [[ 9.99916281e-01 -1.06357021e-02 -7.36970869e-03 5.89371688e+02] [ 1.07682938e-02 9.99776530e-01 1.81916163e-02 6.33666994e+01] [ 7.17458116e-03 -1.82694526e-02 9.99807358e-01 -2.60786108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.991400513 meters 0.08880777079244068 Centerline is valid? [True, True] Translation: X:589.40, Y:63.40, Z:-2.59 [[ 9.99909233e-01 -1.27585159e-02 -4.32956986e-03 5.89398124e+02] [ 1.27566350e-02 9.99918524e-01 -4.61786841e-04 6.33983712e+01] [ 4.33510882e-03 4.06514184e-04 9.99990521e-01 -2.58862527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.021400513 meters 0.0827192974825251 Centerline is valid? [True, True] Translation: X:589.43, Y:63.40, Z:-2.59 [[ 9.99865263e-01 -1.56535501e-02 -4.94191001e-03 5.89429219e+02] [ 1.56511343e-02 9.99877375e-01 -5.27119590e-04 6.33999503e+01] [ 4.94955530e-03 4.49702070e-04 9.99987650e-01 -2.58883183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.051400513 meters 0.08145358274094676 Centerline is valid? [True, True] Translation: X:589.46, Y:63.40, Z:-2.59 [[ 9.99823820e-01 -1.79557078e-02 -5.46998327e-03 5.89459967e+02] [ 1.79527826e-02 9.99838666e-01 -5.83404053e-04 6.34034390e+01] [ 5.47957620e-03 4.85099849e-04 9.99984869e-01 -2.59036086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.081400513 meters 0.06657716709062778 Centerline is valid? [True, True] Translation: X:589.49, Y:63.39, Z:-2.59 [[ 9.99727935e-01 -2.28447237e-02 -4.70906538e-03 5.89490909e+02] [ 2.28426095e-02 9.99738947e-01 -5.02265551e-04 6.33878834e+01] [ 4.71931018e-03 3.94561561e-04 9.99988786e-01 -2.59090359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.111400513 meters 0.06371564554947869 Centerline is valid? [True, True] Translation: X:589.52, Y:63.39, Z:-2.59 [[ 9.99601091e-01 -2.79107790e-02 -4.31814031e-03 5.89521634e+02] [ 2.79090481e-02 9.99610361e-01 -4.60609526e-04 6.33879422e+01] [ 4.32931377e-03 3.39910599e-04 9.99990571e-01 -2.58963735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.141400513 meters 0.05145253494167292 Centerline is valid? [True, True] Translation: X:589.55, Y:63.38, Z:-2.59 [[ 9.99375818e-01 -3.49868596e-02 -4.88819391e-03 5.89553576e+02] [ 3.49847256e-02 9.99387711e-01 -5.21414201e-04 6.33771999e+01] [ 4.90344357e-03 3.50076621e-04 9.99987917e-01 -2.58831636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.171400513 meters 0.05102274677235122 Centerline is valid? [True, True] Translation: X:589.58, Y:63.38, Z:-2.59 [[ 9.99297876e-01 -3.70790701e-02 -5.37566631e-03 5.89584673e+02] [ 3.70765196e-02 9.99312265e-01 -5.73371765e-04 6.33799711e+01] [ 5.39322937e-03 3.73658189e-04 9.99985387e-01 -2.58863306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.201400513 meters 0.05503149696503548 Centerline is valid? [True, True] Translation: X:589.62, Y:63.39, Z:-2.59 [[ 9.99299028e-01 -3.69629050e-02 -5.93272464e-03 5.89616556e+02] [ 3.69597994e-02 9.99316553e-01 -6.32287027e-04 6.33882460e+01] [ 5.95204110e-03 4.12571498e-04 9.99982201e-01 -2.58900701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.231400513 meters 0.046785552680772995 Centerline is valid? [True, True] Translation: X:589.65, Y:63.38, Z:-2.59 [[ 9.99326038e-01 -3.63480196e-02 -5.12757581e-03 5.89649737e+02] [ 3.63456958e-02 9.99339128e-01 -5.45689171e-04 6.33808389e+01] [ 5.14402186e-03 3.58956087e-04 9.99986705e-01 -2.58782872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.261400513 meters 0.04715085941814584 Centerline is valid? [True, True] Translation: X:589.68, Y:63.38, Z:-2.59 [[ 9.99418720e-01 -3.37310456e-02 -4.94358851e-03 5.89680550e+02] [ 3.37288563e-02 9.99430882e-01 -5.25589537e-04 6.33846022e+01] [ 4.95850371e-03 3.58542435e-04 9.99987642e-01 -2.58734651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.291400513 meters 0.05813676851551075 Centerline is valid? [True, True] Translation: X:589.71, Y:63.40, Z:-2.59 [[ 9.99578933e-01 -2.88345192e-02 -3.24443999e-03 5.89708229e+02] [ 2.88335506e-02 9.99584167e-01 -3.44932472e-04 6.34010073e+01] [ 3.25303681e-03 2.51238508e-04 9.99994677e-01 -2.58702144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.321400513 meters 0.060834343570010094 Centerline is valid? [True, True] Translation: X:589.74, Y:63.41, Z:-2.59 [[ 9.99659208e-01 -2.58806742e-02 -3.41456573e-03 5.89738121e+02] [ 2.58795841e-02 9.99665002e-01 -3.63042149e-04 6.34076406e+01] [ 3.42281763e-03 2.74550886e-04 9.99994104e-01 -2.58597433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.351400513 meters 0.051941944174226456 Centerline is valid? [True, True] Translation: X:589.77, Y:63.40, Z:-2.59 [[ 9.99683771e-01 -2.50358153e-02 -2.35936503e-03 5.89771534e+02] [ 2.50352926e-02 9.99686536e-01 -2.50836994e-04 6.33997623e+01] [ 2.36490536e-03 1.91690278e-04 9.99997185e-01 -2.58547748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.381400513 meters 0.052429482377325066 Centerline is valid? [True, True] Translation: X:589.80, Y:63.40, Z:-2.58 [[ 9.99718597e-01 -2.36455797e-02 -1.90104516e-03 5.89802834e+02] [ 2.36452380e-02 9.99720392e-01 -2.02019059e-04 6.34039342e+01] [ 1.90529047e-03 1.57011545e-04 9.99998173e-01 -2.58368952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.411400513 meters 0.05561383819305578 Centerline is valid? [True, True] Translation: X:589.83, Y:63.41, Z:-2.58 [[ 9.99735871e-01 -2.29274678e-02 -1.58701763e-03 5.89833565e+02] [ 2.29272284e-02 9.99737122e-01 -1.68835665e-04 6.34105932e+01] [ 1.59047142e-03 1.32405155e-04 9.99998726e-01 -2.58403407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.441400513 meters 0.05734032288315949 Centerline is valid? [True, True] Translation: X:589.86, Y:63.41, Z:-2.59 [[ 9.99814507e-01 -1.88157625e-02 -4.11312251e-03 5.89863761e+02] [ 1.88141257e-02 9.99822903e-01 -4.36297636e-04 6.34142558e+01] [ 4.12060336e-03 3.58831903e-04 9.99991446e-01 -2.58622620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.471400513 meters 0.07098709445649656 Centerline is valid? [True, True] Translation: X:589.89, Y:63.43, Z:-2.59 [[ 9.99843160e-01 -1.71118567e-02 -4.56508580e-03 5.89891488e+02] [ 1.71098230e-02 9.99853499e-01 -4.84179284e-04 6.34336695e+01] [ 4.57270222e-03 4.05995535e-04 9.99989463e-01 -2.58761121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.501400513 meters 0.07993117046247462 Centerline is valid? [True, True] Translation: X:589.92, Y:63.45, Z:-2.59 [[ 9.99878309e-01 -1.49623179e-02 -4.41544360e-03 5.89920794e+02] [ 1.49603951e-02 9.99887977e-01 -4.68171877e-04 6.34466522e+01] [ 4.42195391e-03 4.02058124e-04 9.99990142e-01 -2.58767117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.531400513 meters 0.07799239369851593 Centerline is valid? [True, True] Translation: X:589.95, Y:63.45, Z:-2.59 [[ 9.99868454e-01 -1.58844911e-02 -3.27980561e-03 5.89952874e+02] [ 1.58834352e-02 9.99873790e-01 -3.47722629e-04 6.34460004e+01] [ 3.28491507e-03 2.95582308e-04 9.99994561e-01 -2.58636726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.561400513 meters 0.07517059768086365 Centerline is valid? [True, True] Translation: X:589.98, Y:63.45, Z:-2.59 [[ 9.99839009e-01 -1.77701628e-02 -2.48552587e-03 5.89983581e+02] [ 1.77695625e-02 9.99842074e-01 -2.63391703e-04 6.34458197e+01] [ 2.48981385e-03 2.19182592e-04 9.99996876e-01 -2.58539560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.591400513 meters 0.07855752717054483 Centerline is valid? [True, True] Translation: X:590.01, Y:63.45, Z:-2.58 [[ 9.99837569e-01 -1.78160421e-02 -2.72472625e-03 5.90014330e+02] [ 1.78153207e-02 9.99841253e-01 -2.88782251e-04 6.34537832e+01] [ 2.72943866e-03 2.40193472e-04 9.99996246e-01 -2.58468871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.621400513 meters 0.07703942692525333 Centerline is valid? [True, True] Translation: X:590.05, Y:63.45, Z:-2.59 [[ 9.99845357e-01 -1.73280670e-02 -3.00005090e-03 5.90046261e+02] [ 1.73271920e-02 9.99849823e-01 -3.17420414e-04 6.34542535e+01] [ 3.00510064e-03 2.65388869e-04 9.99995449e-01 -2.58515428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.651400513 meters 0.07759745573236472 Centerline is valid? [True, True] Translation: X:590.08, Y:63.46, Z:-2.59 [[ 9.99815496e-01 -1.89647978e-02 -3.05130883e-03 5.90075881e+02] [ 1.89639018e-02 9.99820117e-01 -3.22314790e-04 6.34555173e+01] [ 3.05687259e-03 2.64390601e-04 9.99995293e-01 -2.58664411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.681400513 meters 0.05349517809138994 Centerline is valid? [True, True] Translation: X:590.11, Y:63.43, Z:-2.59 [[ 9.99802672e-01 -1.94884956e-02 -3.84900019e-03 5.90111506e+02] [ 1.94870739e-02 9.99810026e-01 -4.06536875e-04 6.34292136e+01] [ 3.85619177e-03 3.31450904e-04 9.99992510e-01 -2.58823012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.711400513 meters 0.07999897677342999 Centerline is valid? [True, True] Translation: X:590.14, Y:63.47, Z:-2.59 [[ 9.99827918e-01 -1.75983210e-02 -5.86794465e-03 5.90137306e+02] [ 1.75949862e-02 9.99845004e-01 -6.19449062e-04 6.34675466e+01] [ 5.87793641e-03 5.16096061e-04 9.99982592e-01 -2.58905855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.741400513 meters 0.07547462531501914 Centerline is valid? [True, True] Translation: X:590.17, Y:63.47, Z:-2.59 [[ 9.99823937e-01 -1.72682020e-02 -7.34192919e-03 5.90170127e+02] [ 1.72629743e-02 9.99850684e-01 -7.74820888e-04 6.34661558e+01] [ 7.35421268e-03 6.47940936e-04 9.99972747e-01 -2.59130756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.771400513 meters 0.07853935353680008 Centerline is valid? [True, True] Translation: X:590.20, Y:63.47, Z:-2.59 [[ 9.99824575e-01 -1.72752033e-02 -7.23778823e-03 5.90200659e+02] [ 1.72701270e-02 9.99850569e-01 -7.63272231e-04 6.34726384e+01] [ 7.24989237e-03 6.38140812e-04 9.99973516e-01 -2.59107363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.801400513 meters 0.07332217301029993 Centerline is valid? [True, True] Translation: X:590.23, Y:63.47, Z:-2.59 [[ 9.99828202e-01 -1.72649931e-02 -6.74435295e-03 5.90233314e+02] [ 1.72605884e-02 9.99850772e-01 -7.10758678e-04 6.34695496e+01] [ 6.75561775e-03 5.94225071e-04 9.99977004e-01 -2.58952662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.831400513 meters 0.05756274533555555 Centerline is valid? [True, True] Translation: X:590.27, Y:63.45, Z:-2.59 [[ 9.99737818e-01 -2.22979128e-02 -5.20568723e-03 5.90265067e+02] [ 2.22953570e-02 9.99751277e-01 -5.48479887e-04 6.34544161e+01] [ 5.21662241e-03 4.32273430e-04 9.99986300e-01 -2.58776674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.861400513 meters 0.05608408967047474 Centerline is valid? [True, True] Translation: X:590.30, Y:63.46, Z:-2.59 [[ 9.99656833e-01 -2.57859910e-02 -4.61506070e-03 5.90295805e+02] [ 2.57840192e-02 9.99667419e-01 -4.86238689e-04 6.34557285e+01] [ 4.62606396e-03 3.67077014e-04 9.99989232e-01 -2.58724110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.891400513 meters 0.05583529300111485 Centerline is valid? [True, True] Translation: X:590.33, Y:63.46, Z:-2.59 [[ 9.99595912e-01 -2.80106210e-02 -4.83915738e-03 5.90325453e+02] [ 2.80084791e-02 9.99607556e-01 -5.09829656e-04 6.34585345e+01] [ 4.85153893e-03 3.74086201e-04 9.99988161e-01 -2.58644042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.921400513 meters 0.05079827856698583 Centerline is valid? [True, True] Translation: X:590.36, Y:63.45, Z:-2.59 [[ 9.99502019e-01 -3.10814040e-02 -5.44610524e-03 5.90356853e+02] [ 3.10787364e-02 9.99516775e-01 -5.73783211e-04 6.34547056e+01] [ 5.46130753e-03 4.04239409e-04 9.99985005e-01 -2.58705778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.951400513 meters 0.05356964300067042 Centerline is valid? [True, True] Translation: X:590.39, Y:63.46, Z:-2.59 [[ 9.99499663e-01 -3.10094488e-02 -6.23205245e-03 5.90388393e+02] [ 3.10059578e-02 9.99518984e-01 -6.56029231e-04 6.34619841e+01] [ 6.24939784e-03 4.62470240e-04 9.99980365e-01 -2.58668386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.981400513 meters 0.05144627217988009 Centerline is valid? [True, True] Translation: X:590.42, Y:63.46, Z:-2.59 [[ 9.99465208e-01 -3.21883184e-02 -5.76286096e-03 5.90419705e+02] [ 3.21853561e-02 9.99481733e-01 -6.06062937e-04 6.34619507e+01] [ 5.77938241e-03 4.20259087e-04 9.99983211e-01 -2.58765079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.011400513 meters 0.05445517497036361 Centerline is valid? [True, True] Translation: X:590.45, Y:63.47, Z:-2.59 [[ 9.99516263e-01 -3.05045671e-02 -6.05906561e-03 5.90448980e+02] [ 3.05012630e-02 9.99534525e-01 -6.37005987e-04 6.34689336e+01] [ 6.07567686e-03 4.51888689e-04 9.99981441e-01 -2.58644021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.041400513 meters 0.05445517497036361 Centerline is valid? [True, True] Translation: X:590.48, Y:63.47, Z:-2.59 [[ 9.99521741e-01 -3.03245209e-02 -6.05913439e-03 5.90481590e+02] [ 3.03212174e-02 9.99540004e-01 -6.36351165e-04 6.34722624e+01] [ 6.07564426e-03 4.52326493e-04 9.99981441e-01 -2.58633367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.071400513 meters 0.05765045299580556 Centerline is valid? [True, True] Translation: X:590.51, Y:63.48, Z:-2.59 [[ 9.99528702e-01 -3.01937729e-02 -5.54172787e-03 5.90513495e+02] [ 3.01910127e-02 9.99543979e-01 -5.81080562e-04 6.34796569e+01] [ 5.55674574e-03 4.13496323e-04 9.99984476e-01 -2.58693903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.101400513 meters 0.05244879811987987 Centerline is valid? [True, True] Translation: X:590.55, Y:63.48, Z:-2.59 [[ 9.99554327e-01 -2.94639465e-02 -4.79819544e-03 5.90546685e+02] [ 2.94618724e-02 9.99565779e-01 -5.02388927e-04 6.34761933e+01] [ 4.81091432e-03 3.60801204e-04 9.99988362e-01 -2.58521200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.131400513 meters 0.05430867961812814 Centerline is valid? [True, True] Translation: X:590.58, Y:63.48, Z:-2.58 [[ 9.99657524e-01 -2.58022683e-02 -4.36783949e-03 5.90576888e+02] [ 2.58005169e-02 9.99667007e-01 -4.56848882e-04 6.34820011e+01] [ 4.37817276e-03 3.43999905e-04 9.99990357e-01 -2.58303620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.161400513 meters 0.054805165293226016 Centerline is valid? [True, True] Translation: X:590.61, Y:63.48, Z:-2.58 [[ 9.99717119e-01 -2.34038962e-02 -4.23544874e-03 5.90607361e+02] [ 2.34022281e-02 9.99726032e-01 -4.42986235e-04 6.34845359e+01] [ 4.24465596e-03 3.43741986e-04 9.99990932e-01 -2.58280239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.191400513 meters 0.05476670099546792 Centerline is valid? [True, True] Translation: X:590.64, Y:63.49, Z:-2.58 [[ 9.99777681e-01 -2.07288302e-02 -3.86049436e-03 5.90638161e+02] [ 2.07274246e-02 9.99785082e-01 -4.03760167e-04 6.34861892e+01] [ 3.86803415e-03 3.23652298e-04 9.99992467e-01 -2.58229352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.221400513 meters 0.08407264491970189 Centerline is valid? [True, True] Translation: X:590.66, Y:63.52, Z:-2.58 [[ 9.99877696e-01 -1.55174107e-02 -1.95030093e-03 5.90663525e+02] [ 1.55170422e-02 9.99879583e-01 -2.03961522e-04 6.35238716e+01] [ 1.95323104e-03 1.73673675e-04 9.99998077e-01 -2.58027288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.251400513 meters 0.08360421697268262 Centerline is valid? [True, True] Translation: X:590.69, Y:63.52, Z:-2.58 [[ 9.99901450e-01 -1.39889451e-02 -1.18303077e-03 5.90694570e+02] [ 1.39888084e-02 9.99902144e-01 -1.23787830e-04 6.35242207e+01] [ 1.18464666e-03 1.07226440e-04 9.99999293e-01 -2.57933059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.281400513 meters 0.07647144593561639 Centerline is valid? [True, True] Translation: X:590.73, Y:63.52, Z:-2.58 [[ 9.99920747e-01 -1.24274452e-02 -2.01471875e-03 5.90727092e+02] [ 1.24270457e-02 9.99922759e-01 -2.10703127e-04 6.35163607e+01] [ 2.01718163e-03 1.85649426e-04 9.99997948e-01 -2.58097378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.311400513 meters 0.07993340077355705 Centerline is valid? [True, True] Translation: X:590.76, Y:63.52, Z:-2.58 [[ 9.99944883e-01 -1.02244359e-02 -2.38596455e-03 5.90755873e+02] [ 1.02238695e-02 9.99947704e-01 -2.49466345e-04 6.35214272e+01] [ 2.38839043e-03 2.25058805e-04 9.99997122e-01 -2.58175343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.341400513 meters 0.08102710826508328 Centerline is valid? [True, True] Translation: X:590.79, Y:63.52, Z:-2.58 [[ 9.99965373e-01 -7.76477409e-03 -2.99350228e-03 5.90785696e+02] [ 7.76387209e-03 9.99969812e-01 -3.12820617e-04 6.35249615e+01] [ 2.99584089e-03 2.89568616e-04 9.99995471e-01 -2.58234739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.371400513 meters 0.08499763661126349 Centerline is valid? [True, True] Translation: X:590.82, Y:63.53, Z:-2.58 [[ 9.99985647e-01 -4.28871216e-03 -3.21134622e-03 5.90815822e+02] [ 4.28765624e-03 9.99990752e-01 -3.35622419e-04 6.35325354e+01] [ 3.21275591e-03 3.21848453e-04 9.99994787e-01 -2.58171629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.401400513 meters 0.09457092265287151 Centerline is valid? [True, True] Translation: X:590.84, Y:63.55, Z:-2.58 [[ 9.99995779e-01 1.67405189e-03 -2.37465771e-03 5.90844291e+02] [-1.67464584e-03 9.99998567e-01 -2.48154690e-04 6.35459310e+01] [ 2.37423888e-03 2.52130353e-04 9.99997150e-01 -2.58138971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.431400513 meters 0.09455571976896064 Centerline is valid? [True, True] Translation: X:590.87, Y:63.55, Z:-2.58 [[ 9.99988264e-01 4.40638906e-03 -2.01365728e-03 5.90874371e+02] [-4.40682156e-03 9.99990268e-01 -2.10399737e-04 6.35481432e+01] [ 2.01271058e-03 2.19271096e-04 9.99997950e-01 -2.58147138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.461400513 meters 0.09677865610033934 Centerline is valid? [True, True] Translation: X:590.90, Y:63.55, Z:-2.58 [[ 9.99977575e-01 6.27846982e-03 -2.33035499e-03 5.90904666e+02] [-6.27905419e-03 9.99980257e-01 -2.43530155e-04 6.35538484e+01] [ 2.32877998e-03 2.58157119e-04 9.99997255e-01 -2.58195115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.491400513 meters 0.08749704817217606 Centerline is valid? [True, True] Translation: X:590.94, Y:63.54, Z:-2.58 [[ 9.99968462e-01 7.18457849e-03 -3.38472103e-03 5.90935123e+02] [-7.18581648e-03 9.99974119e-01 -3.53737565e-04 6.35444620e+01] [ 3.38209198e-03 3.78048393e-04 9.99994209e-01 -2.58292456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.521400513 meters 0.10558067006918646 Centerline is valid? [True, False] Translation: X:590.95, Y:63.54, Z:-2.58 [[ 9.99974591e-01 4.57251517e-04 -7.11395224e-03 5.90953238e+02] [-4.18827688e-04 9.99985323e-01 5.40174562e-03 6.35423935e+01] [ 7.11631779e-03 -5.39862885e-03 9.99960106e-01 -2.58067874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.551400513 meters 0.09224041930181087 Centerline is valid? [False, True] Translation: X:590.95, Y:63.54, Z:-2.58 [[ 9.99973512e-01 5.68212518e-04 -7.25621421e-03 5.90953829e+02] [-5.26920305e-04 9.99983666e-01 5.69124447e-03 6.35411948e+01] [ 7.25932952e-03 -5.68727027e-03 9.99957478e-01 -2.58099052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.581400513 meters 0.10431416405311858 Centerline is valid? [True, False] Translation: X:590.95, Y:63.54, Z:-2.58 [[ 9.99966098e-01 -4.20660732e-03 -7.07862986e-03 5.90952317e+02] [ 4.20958096e-03 9.99991058e-01 4.05240417e-04 6.35447168e+01] [ 7.07686187e-03 -4.35024744e-04 9.99974864e-01 -2.57888725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.611400513 meters 0.09764284459951426 Centerline is valid? [False, True] Translation: X:590.95, Y:63.54, Z:-2.58 [[ 9.99965819e-01 -4.03130801e-03 -7.21873505e-03 5.90952915e+02] [ 4.03758979e-03 9.99991483e-01 8.55843197e-04 6.35428142e+01] [ 7.21522340e-03 -8.84960234e-04 9.99973578e-01 -2.57916486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.641400513 meters 0.08835623399451552 Centerline is valid? [True, True] Translation: X:590.98, Y:63.54, Z:-2.58 [[ 9.99963991e-01 -5.05238468e-03 -6.81842954e-03 5.90983319e+02] [ 5.04746483e-03 9.99986989e-01 -7.38567882e-04 6.35356286e+01] [ 6.82207236e-03 7.04125503e-04 9.99976481e-01 -2.57681077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.671400513 meters 0.09662051525002538 Centerline is valid? [True, True] Translation: X:591.01, Y:63.55, Z:-2.58 [[ 9.99966405e-01 -4.12237695e-03 -7.08481753e-03 5.91011298e+02] [ 4.11704091e-03 9.99991230e-01 -7.67584142e-04 6.35495183e+01] [ 7.08791967e-03 7.38389871e-04 9.99974608e-01 -2.57560339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.701400513 meters 0.09086955145283626 Centerline is valid? [True, True] Translation: X:591.04, Y:63.55, Z:-2.58 [[ 9.99961100e-01 -4.74476850e-03 -7.43539544e-03 5.91040843e+02] [ 4.73890687e-03 9.99988447e-01 -8.05760877e-04 6.35466374e+01] [ 7.43913268e-03 7.70493886e-04 9.99972032e-01 -2.57599336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.731400513 meters 0.08949903205543043 Centerline is valid? [True, True] Translation: X:591.07, Y:63.55, Z:-2.58 [[ 9.99964844e-01 -2.40652531e-03 -8.03234556e-03 5.91071047e+02] [ 2.39960788e-03 9.99996742e-01 -8.70724073e-04 6.35486895e+01] [ 8.03441481e-03 8.51418982e-04 9.99967361e-01 -2.57512239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.761400513 meters 0.0908297563072683 Centerline is valid? [True, True] Translation: X:591.10, Y:63.55, Z:-2.58 [[ 9.99969008e-01 -2.06610569e-03 -7.59704090e-03 5.91099552e+02] [ 2.05990454e-03 9.99997539e-01 -8.23992821e-04 6.35548340e+01] [ 7.59872466e-03 8.08318104e-04 9.99970803e-01 -2.57543524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.791400513 meters 0.09726604172946911 Centerline is valid? [True, True] Translation: X:591.13, Y:63.57, Z:-2.57 [[ 9.99975063e-01 1.30676331e-03 -6.94022562e-03 5.91127606e+02] [-1.31202453e-03 9.99998855e-01 -7.53576455e-04 6.35667125e+01] [ 6.93923293e-03 7.62663409e-04 9.99975632e-01 -2.57433068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.821400513 meters 0.09282883467443243 Centerline is valid? [True, True] Translation: X:591.16, Y:63.56, Z:-2.57 [[ 9.99980015e-01 1.30557453e-03 -6.18593005e-03 5.91157197e+02] [-1.30975459e-03 9.99998917e-01 -6.71734120e-04 6.35643727e+01] [ 6.18504635e-03 6.79822745e-04 9.99980641e-01 -2.57343068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.851400513 meters 0.10133546692351755 Centerline is valid? [True, False] Translation: X:591.16, Y:63.56, Z:-2.57 [[ 9.99980293e-01 1.29395672e-03 -6.14315488e-03 5.91156941e+02] [-1.29826127e-03 9.99998915e-01 -6.96770081e-04 6.35644114e+01] [ 6.14224662e-03 7.04731770e-04 9.99980888e-01 -2.57315401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.881400513 meters 0.08937540198467439 Centerline is valid? [False, True] Translation: X:591.16, Y:63.56, Z:-2.57 [[ 9.99980639e-01 1.23977461e-03 -6.09789694e-03 5.91156507e+02] [-1.24474080e-03 9.99998897e-01 -8.10681678e-04 6.35647519e+01] [ 6.09688515e-03 8.18256283e-04 9.99981079e-01 -2.57250145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.911400513 meters 0.09040128970743655 Centerline is valid? [True, True] Translation: X:591.18, Y:63.57, Z:-2.57 [[ 9.99982253e-01 8.82772552e-04 -5.89197195e-03 5.91184481e+02] [-8.86484894e-04 9.99999410e-01 -6.27485899e-04 6.35687461e+01] [ 5.89141454e-03 6.32697906e-04 9.99982445e-01 -2.57228129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.941400513 meters 0.08951182183707548 Centerline is valid? [True, True] Translation: X:591.21, Y:63.57, Z:-2.57 [[ 9.99979618e-01 -6.85223762e-04 -6.34775597e-03 5.91214510e+02] [ 6.80943443e-04 9.99999539e-01 -6.76441071e-04 6.35706608e+01] [ 6.34821656e-03 6.72104821e-04 9.99979624e-01 -2.57276946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.971400513 meters 0.08269335930141994 Centerline is valid? [True, True] Translation: X:591.25, Y:63.56, Z:-2.57 [[ 9.99969621e-01 -3.84500263e-03 -6.78035379e-03 5.91245961e+02] [ 3.84019060e-03 9.99992365e-01 -7.22578386e-04 6.35649913e+01] [ 6.78308035e-03 6.96518584e-04 9.99976752e-01 -2.57403152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.001400513 meters 0.08713599419102706 Centerline is valid? [True, True] Translation: X:591.27, Y:63.57, Z:-2.57 [[ 9.99951343e-01 -6.67282256e-03 -7.26529647e-03 5.91274198e+02] [ 6.66737175e-03 9.99977473e-01 -7.74215743e-04 6.35718178e+01] [ 7.27029901e-03 7.25737639e-04 9.99973308e-01 -2.57355254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.031400513 meters 0.0974325181013614 Centerline is valid? [True, True] Translation: X:591.30, Y:63.59, Z:-2.57 [[ 9.99928747e-01 -9.29607424e-03 -7.48897113e-03 5.91302700e+02] [ 9.29035348e-03 9.99956525e-01 -7.98318024e-04 6.35870074e+01] [ 7.49606677e-03 7.28685952e-04 9.99971639e-01 -2.57490289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.061400513 meters 0.08579293358723764 Centerline is valid? [True, True] Translation: X:591.34, Y:63.57, Z:-2.57 [[ 9.99923552e-01 -9.31674515e-03 -8.12951266e-03 5.91336006e+02] [ 9.31000472e-03 9.99956285e-01 -8.66581355e-04 6.35743612e+01] [ 8.13723100e-03 7.90829305e-04 9.99966579e-01 -2.57462689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.091400513 meters 0.08189202697651021 Centerline is valid? [True, True] Translation: X:591.37, Y:63.57, Z:-2.58 [[ 9.99904094e-01 -1.06952954e-02 -8.79848765e-03 5.91366920e+02] [ 1.06874565e-02 9.99942448e-01 -9.37479285e-04 6.35729608e+01] [ 8.80800790e-03 8.43355921e-04 9.99960853e-01 -2.57516496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.121400513 meters 0.08308010944009418 Centerline is valid? [True, True] Translation: X:591.40, Y:63.58, Z:-2.58 [[ 9.99892645e-01 -1.07922995e-02 -9.91081772e-03 5.91398807e+02] [ 1.07823590e-02 9.99941311e-01 -1.05588302e-03 6.35787421e+01] [ 9.92163147e-03 9.48907671e-04 9.99950329e-01 -2.57585485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.151400513 meters 0.08332539628220734 Centerline is valid? [True, True] Translation: X:591.43, Y:63.58, Z:-2.58 [[ 9.99895201e-01 -1.03693782e-02 -1.01026552e-02 5.91430374e+02] [ 1.03590326e-02 9.99945765e-01 -1.07583691e-03 6.35826461e+01] [ 1.01132631e-02 9.71070426e-04 9.99948388e-01 -2.57590703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.181400513 meters 0.08220832004301194 Centerline is valid? [True, True] Translation: X:591.46, Y:63.58, Z:-2.58 [[ 9.99910267e-01 -9.05392116e-03 -9.87342291e-03 5.91461850e+02] [ 9.04397960e-03 9.99958550e-01 -1.05108630e-03 6.35843937e+01] [ 9.88253010e-03 9.61696951e-04 9.99950704e-01 -2.57544009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.211400513 meters 0.08361371425757079 Centerline is valid? [True, True] Translation: X:591.49, Y:63.59, Z:-2.58 [[ 9.99919954e-01 -8.00430371e-03 -9.79886193e-03 5.91492095e+02] [ 7.99446372e-03 9.99967500e-01 -1.04295622e-03 6.35894184e+01] [ 9.80689160e-03 9.64536087e-04 9.99951446e-01 -2.57500460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.241400513 meters 0.09152339996550841 Centerline is valid? [True, True] Translation: X:591.52, Y:63.60, Z:-2.57 [[ 9.99927805e-01 -6.99319012e-03 -9.77136019e-03 5.91520174e+02] [ 6.98335748e-03 9.99975075e-01 -1.04002903e-03 6.36030133e+01] [ 9.77838976e-03 9.71717044e-04 9.99951718e-01 -2.57476856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.271400513 meters 0.08845730438844696 Centerline is valid? [True, True] Translation: X:591.55, Y:63.61, Z:-2.58 [[ 9.99923322e-01 -6.71375442e-03 -1.04055207e-02 5.91549276e+02] [ 6.70258762e-03 9.99976924e-01 -1.10766345e-03 6.36053844e+01] [ 1.04127172e-02 1.03783460e-03 9.99945248e-01 -2.57617982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.301400513 meters 0.09088718008212222 Centerline is valid? [True, True] Translation: X:591.58, Y:63.61, Z:-2.58 [[ 9.99932213e-01 -4.63815852e-03 -1.06797412e-02 5.91578592e+02] [ 4.62627366e-03 9.99988652e-01 -1.13727736e-03 6.36127092e+01] [ 1.06848949e-02 1.08779287e-03 9.99942323e-01 -2.57501683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.331400513 meters 0.08820545860385293 Centerline is valid? [True, True] Translation: X:591.61, Y:63.61, Z:-2.58 [[ 9.99927431e-01 -4.68367682e-03 -1.10993763e-02 5.91607742e+02] [ 4.67083436e-03 9.99988392e-01 -1.18268320e-03 6.36128801e+01] [ 1.11047867e-02 1.13075403e-03 9.99937701e-01 -2.57555564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.361400513 meters 0.08578785822526905 Centerline is valid? [True, True] Translation: X:591.64, Y:63.61, Z:-2.58 [[ 9.99920813e-01 -5.28918479e-03 -1.14189612e-02 5.91636109e+02] [ 5.27560754e-03 9.99985341e-01 -1.21880397e-03 6.36136847e+01] [ 1.14252402e-02 1.15846550e-03 9.99934059e-01 -2.57634134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.391400513 meters 0.09402859138536505 Centerline is valid? [True, True] Translation: X:591.66, Y:63.63, Z:-2.58 [[ 9.99925255e-01 -4.82384764e-03 -1.12345642e-02 5.91662530e+02] [ 4.81065729e-03 9.99987708e-01 -1.20081471e-03 6.36284386e+01] [ 1.12402187e-02 1.14667932e-03 9.99936169e-01 -2.57539160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.421400513 meters 0.08382883636479464 Centerline is valid? [True, True] Translation: X:591.69, Y:63.62, Z:-2.58 [[ 9.99921632e-01 -6.43431239e-03 -1.07391342e-02 5.91693373e+02] [ 6.42234374e-03 9.99978717e-01 -1.14860386e-03 6.36197851e+01] [ 1.07462962e-02 1.07954343e-03 9.99941674e-01 -2.57521876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.451400513 meters 0.08318819523803077 Centerline is valid? [True, True] Translation: X:591.72, Y:63.62, Z:-2.57 [[ 9.99919188e-01 -7.88918143e-03 -9.96887728e-03 5.91723192e+02] [ 7.87893867e-03 9.99968392e-01 -1.06633025e-03 6.36214313e+01] [ 9.97697465e-03 9.87699903e-04 9.99949741e-01 -2.57310109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.481400513 meters 0.08282759508662178 Centerline is valid? [True, True] Translation: X:591.75, Y:63.62, Z:-2.57 [[ 9.99881499e-01 -1.12099832e-02 -1.05510723e-02 5.91752464e+02] [ 1.11986907e-02 9.99936656e-01 -1.12874971e-03 6.36243458e+01] [ 1.05630572e-02 1.01045775e-03 9.99943699e-01 -2.57384272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.511400513 meters 0.08956807858127169 Centerline is valid? [True, True] Translation: X:591.78, Y:63.64, Z:-2.57 [[ 9.99839613e-01 -1.46624165e-02 -1.02841005e-02 5.91781597e+02] [ 1.46518684e-02 9.99892050e-01 -1.10026910e-03 6.36359384e+01] [ 1.02991229e-02 9.49411340e-04 9.99946512e-01 -2.57463742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.541400513 meters 0.08469564343066724 Centerline is valid? [True, True] Translation: X:591.81, Y:63.63, Z:-2.57 [[ 9.99844432e-01 -1.43849577e-02 -1.02071155e-02 5.91814443e+02] [ 1.43745546e-02 9.99896085e-01 -1.09183441e-03 6.36329362e+01] [ 1.02217608e-02 9.44941821e-04 9.99947310e-01 -2.57289140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.571400513 meters 0.07894379303258221 Centerline is valid? [True, True] Translation: X:591.85, Y:63.63, Z:-2.57 [[ 9.99820832e-01 -1.61277002e-02 -9.90966904e-03 5.91846120e+02] [ 1.61179834e-02 9.99869535e-01 -1.05962545e-03 6.36293361e+01] [ 9.92546550e-03 8.99711719e-04 9.99950337e-01 -2.57316688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.601400513 meters 0.07800906627356735 Centerline is valid? [True, True] Translation: X:591.88, Y:63.63, Z:-2.57 [[ 9.99831839e-01 -1.56959157e-02 -9.48325353e-03 5.91877833e+02] [ 1.56869994e-02 9.99876437e-01 -1.01386775e-03 6.36307742e+01] [ 9.49799534e-03 8.64933466e-04 9.99954519e-01 -2.57198007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.631400513 meters 0.0902563102908779 Centerline is valid? [True, True] Translation: X:591.91, Y:63.65, Z:-2.57 [[ 9.99846732e-01 -1.49202637e-02 -9.15962796e-03 5.91906710e+02] [ 1.49119163e-02 9.99888332e-01 -9.78951080e-04 6.36494256e+01] [ 9.17321133e-03 8.42213432e-04 9.99957571e-01 -2.57156504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.661400513 meters 0.08374847138186528 Centerline is valid? [True, True] Translation: X:591.94, Y:63.64, Z:-2.57 [[ 9.99885350e-01 -1.26294385e-02 -8.35368003e-03 5.91938025e+02] [ 1.26224177e-02 9.99919936e-01 -8.92637587e-04 6.36445467e+01] [ 8.36428471e-03 7.87091608e-04 9.99964709e-01 -2.56890896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.691400513 meters 0.0799594077694325 Centerline is valid? [True, True] Translation: X:591.97, Y:63.64, Z:-2.57 [[ 9.99896332e-01 -1.13337114e-02 -8.88098660e-03 5.91969181e+02] [ 1.13257259e-02 9.99935412e-01 -9.48949967e-04 6.36438662e+01] [ 8.89116811e-03 8.48267972e-04 9.99960113e-01 -2.56874281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.721400513 meters 0.08366699568060623 Centerline is valid? [True, True] Translation: X:592.00, Y:63.65, Z:-2.57 [[ 9.99902459e-01 -1.04520458e-02 -9.26432412e-03 5.91998606e+02] [ 1.04433198e-02 9.99944977e-01 -9.89768253e-04 6.36530794e+01] [ 9.27415948e-03 8.92921411e-04 9.99956595e-01 -2.56961254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.751400513 meters 0.08562475411162823 Centerline is valid? [True, True] Translation: X:592.03, Y:63.66, Z:-2.57 [[ 9.99924314e-01 -8.36542212e-03 -9.02140852e-03 5.92028229e+02] [ 8.35706546e-03 9.99964615e-01 -9.63614840e-04 6.36592859e+01] [ 9.02915034e-03 8.88149406e-04 9.99958842e-01 -2.56991608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.781400513 meters 0.08377753572372845 Centerline is valid? [True, True] Translation: X:592.06, Y:63.66, Z:-2.57 [[ 9.99959442e-01 -5.72471657e-03 -6.95280585e-03 5.92058957e+02] [ 5.71969020e-03 9.99983367e-01 -7.42596471e-04 6.36603647e+01] [ 6.95694135e-03 7.02798457e-04 9.99975553e-01 -2.56779330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.811400513 meters 0.08149409626250949 Centerline is valid? [True, True] Translation: X:592.09, Y:63.66, Z:-2.57 [[ 9.99953392e-01 -7.22066669e-03 -6.40907961e-03 5.92089636e+02] [ 7.21642594e-03 9.99973727e-01 -6.84557758e-04 6.36615921e+01] [ 6.41385419e-03 6.38275204e-04 9.99979227e-01 -2.56687228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.841400513 meters 0.08274672187824322 Centerline is valid? [True, True] Translation: X:592.12, Y:63.67, Z:-2.57 [[ 9.99952012e-01 -6.74806514e-03 -7.10195384e-03 5.92120305e+02] [ 6.74284584e-03 9.99976979e-01 -7.58599277e-04 6.36667139e+01] [ 7.10690942e-03 7.10675494e-04 9.99974493e-01 -2.56566869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.871400513 meters 0.09187097119169059 Centerline is valid? [True, True] Translation: X:592.15, Y:63.68, Z:-2.57 [[ 9.99934750e-01 -8.17712043e-03 -7.97686282e-03 5.92148930e+02] [ 8.17058268e-03 9.99966257e-01 -8.51833708e-04 6.36806204e+01] [ 7.98355920e-03 7.86602509e-04 9.99967822e-01 -2.56699386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.901400513 meters 0.08270320325666256 Centerline is valid? [True, True] Translation: X:592.18, Y:63.67, Z:-2.57 [[ 9.99892941e-01 -1.04071684e-02 -1.02857497e-02 5.92180866e+02] [ 1.03964150e-02 9.99945353e-01 -1.09838579e-03 6.36699475e+01] [ 1.02966187e-02 9.91333274e-04 9.99946497e-01 -2.57127474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.931400513 meters 0.08444608622856596 Centerline is valid? [True, True] Translation: X:592.21, Y:63.67, Z:-2.57 [[ 9.99905470e-01 -8.92365948e-03 -1.04603786e-02 5.92212037e+02] [ 8.91245843e-03 9.99959659e-01 -1.11693494e-03 6.36745610e+01] [ 1.04699238e-02 1.02360167e-03 9.99944665e-01 -2.57047473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.961400513 meters 0.08444608622856596 Centerline is valid? [True, True] Translation: X:592.24, Y:63.68, Z:-2.57 [[ 9.99905470e-01 -8.92365804e-03 -1.04603989e-02 5.92242009e+02] [ 8.91245895e-03 9.99959660e-01 -1.11674553e-03 6.36777606e+01] [ 1.04699423e-02 1.02341209e-03 9.99944665e-01 -2.57024394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.991400513 meters 0.09363525282148587 Centerline is valid? [True, True] Translation: X:592.27, Y:63.69, Z:-2.57 [[ 9.99919667e-01 -7.28803861e-03 -1.03703769e-02 5.92270641e+02] [ 7.27694415e-03 9.99972910e-01 -1.10715428e-03 6.36918816e+01] [ 1.03781649e-02 1.03160068e-03 9.99945613e-01 -2.56911295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.021400513 meters 0.0831184908190587 Centerline is valid? [True, True] Translation: X:592.30, Y:63.68, Z:-2.57 [[ 9.99923298e-01 -6.66308647e-03 -1.04403680e-02 5.92301490e+02] [ 6.65180669e-03 9.99977255e-01 -1.11475331e-03 6.36814718e+01] [ 1.04475582e-02 1.04522050e-03 9.99944877e-01 -2.56890300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.051400513 meters 0.08577425085796303 Centerline is valid? [True, True] Translation: X:592.33, Y:63.69, Z:-2.57 [[ 9.99936540e-01 -4.33091223e-03 -1.03999241e-02 5.92331876e+02] [ 4.31959281e-03 9.99990054e-01 -1.11062962e-03 6.36868761e+01] [ 1.04046307e-02 1.06563571e-03 9.99945303e-01 -2.56852633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.081400513 meters 0.09111347285676906 Centerline is valid? [True, True] Translation: X:592.36, Y:63.70, Z:-2.57 [[ 9.99944511e-01 3.53610241e-04 -1.05285038e-02 5.92360212e+02] [-3.65468823e-04 9.99999301e-01 -1.12442858e-03 6.36953755e+01] [ 1.05280988e-02 1.12821403e-03 9.99943942e-01 -2.56890200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.111400513 meters 0.09252154515446563 Centerline is valid? [True, True] Translation: X:592.39, Y:63.70, Z:-2.57 [[ 9.99942949e-01 2.75460499e-03 -1.03203703e-02 5.92389842e+02] [-2.76612786e-03 9.99995567e-01 -1.10240944e-03 6.37005202e+01] [ 1.03172878e-02 1.13089401e-03 9.99946136e-01 -2.56864936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.141400513 meters 0.09300083520201054 Centerline is valid? [True, True] Translation: X:592.42, Y:63.70, Z:-2.57 [[ 9.99939332e-01 4.29832505e-03 -1.01417982e-02 5.92419763e+02] [-4.30953241e-03 9.99990127e-01 -1.08347168e-03 6.37048686e+01] [ 1.01370409e-02 1.12711235e-03 9.99947984e-01 -2.56787755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.171400513 meters 0.09544508607292751 Centerline is valid? [True, True] Translation: X:592.45, Y:63.71, Z:-2.57 [[ 9.99938078e-01 6.35236499e-03 -9.13714429e-03 5.92448166e+02] [-6.36154714e-03 9.99979289e-01 -9.76213002e-04 6.37118231e+01] [ 9.13075378e-03 1.03427893e-03 9.99957779e-01 -2.56565343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.201400513 meters 0.09453462761282033 Centerline is valid? [True, True] Translation: X:592.48, Y:63.71, Z:-2.57 [[ 9.99936423e-01 6.03900915e-03 -9.52259218e-03 5.92477095e+02] [-6.04896652e-03 9.99981187e-01 -1.01720329e-03 6.37132704e+01] [ 9.51627014e-03 1.07474046e-03 9.99954142e-01 -2.56594731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.231400513 meters 0.09451617542329814 Centerline is valid? [True, True] Translation: X:592.51, Y:63.72, Z:-2.57 [[ 9.99931784e-01 4.85221986e-03 -1.06246154e-02 5.92505601e+02] [-4.86455518e-03 9.99987523e-01 -1.13547796e-03 6.37156178e+01] [ 1.06189732e-02 1.18708453e-03 9.99942912e-01 -2.56672227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.261400513 meters 0.09603323359962614 Centerline is valid? [True, True] Translation: X:592.53, Y:63.72, Z:-2.57 [[ 9.99925351e-01 2.94239439e-03 -1.18589670e-02 5.92534700e+02] [-2.95763463e-03 9.99994823e-01 -1.26779057e-03 6.37202540e+01] [ 1.18551753e-02 1.30277042e-03 9.99928876e-01 -2.56795797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.291400513 meters 0.09127416386685068 Centerline is valid? [True, True] Translation: X:592.57, Y:63.73, Z:-2.55 [[ 9.99940880e-01 -3.76431389e-03 -1.02013117e-02 5.92566782e+02] [ 3.56657922e-03 9.99806746e-01 -1.93326173e-02 6.37323028e+01] [ 1.02721143e-02 1.92950905e-02 9.99761063e-01 -2.54726624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.321400513 meters 0.08710057787465325 Centerline is valid? [True, True] Translation: X:592.60, Y:63.70, Z:-2.58 [[ 9.99877648e-01 -7.32101116e-03 -1.38235778e-02 5.92596319e+02] [ 7.55344470e-03 9.99829706e-01 1.68376159e-02 6.36983249e+01] [ 1.36979553e-02 -1.69399714e-02 9.99762674e-01 -2.58475124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.351400513 meters 0.08665319708124714 Centerline is valid? [True, True] Translation: X:592.62, Y:63.71, Z:-2.57 [[ 9.99857366e-01 -1.24932698e-02 -1.13651228e-02 5.92624311e+02] [ 1.24802495e-02 9.99921379e-01 -1.21583742e-03 6.37132346e+01] [ 1.13794190e-02 1.07382443e-03 9.99934676e-01 -2.56706034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.381400513 meters 0.07831690721274544 Centerline is valid? [True, True] Translation: X:592.66, Y:63.70, Z:-2.57 [[ 9.99789959e-01 -1.73765811e-02 -1.08670268e-02 5.92655998e+02] [ 1.73649634e-02 9.99848542e-01 -1.16252782e-03 6.37033934e+01] [ 1.08855816e-02 9.73578118e-04 9.99940276e-01 -2.56642967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.411400513 meters 0.0847538961932177 Centerline is valid? [True, True] Translation: X:592.68, Y:63.71, Z:-2.57 [[ 9.99717026e-01 -2.10384340e-02 -1.11018710e-02 5.92684627e+02] [ 2.10265321e-02 9.99778213e-01 -1.18770913e-03 6.37125878e+01] [ 1.11243963e-02 9.53939191e-04 9.99937667e-01 -2.56586125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.441400513 meters 0.07747033543223367 Centerline is valid? [True, True] Translation: X:592.72, Y:63.70, Z:-2.57 [[ 9.99493408e-01 -2.87896102e-02 -1.35678418e-02 5.92716307e+02] [ 2.87725411e-02 9.99584931e-01 -1.45162241e-03 6.37025638e+01] [ 1.36040019e-02 1.06050574e-03 9.99906899e-01 -2.56861714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.471400513 meters 0.0643674769149385 Centerline is valid? [True, True] Translation: X:592.75, Y:63.69, Z:-2.57 [[ 9.99412548e-01 -3.13705384e-02 -1.38002957e-02 5.92748860e+02] [ 3.13531246e-02 9.99507279e-01 -1.47644101e-03 6.36873500e+01] [ 1.38398128e-02 1.04289128e-03 9.99903681e-01 -2.56747235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.501400513 meters 0.07056387484290345 Centerline is valid? [True, True] Translation: X:592.78, Y:63.70, Z:-2.57 [[ 9.99349627e-01 -3.35882071e-02 -1.31208089e-02 5.92777461e+02] [ 3.35726561e-02 9.99435294e-01 -1.40375217e-03 6.36959912e+01] [ 1.31605490e-02 9.62338805e-04 9.99912933e-01 -2.56760442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.531400513 meters 0.06461505200049403 Centerline is valid? [True, True] Translation: X:592.81, Y:63.69, Z:-2.56 [[ 9.99342664e-01 -3.40551431e-02 -1.24292722e-02 5.92810429e+02] [ 3.40412341e-02 9.99419546e-01 -1.32896517e-03 6.36904713e+01] [ 1.24673157e-02 9.04983830e-04 9.99921870e-01 -2.56408752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.561400513 meters 0.061812720153152444 Centerline is valid? [True, True] Translation: X:592.84, Y:63.69, Z:-2.56 [[ 9.99318004e-01 -3.50392457e-02 -1.16523476e-02 5.92842070e+02] [ 3.50271033e-02 9.99385588e-01 -1.24457041e-03 6.36892940e+01] [ 1.16887971e-02 8.35573632e-04 9.99931335e-01 -2.56242037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.591400513 meters 0.06321306686703662 Centerline is valid? [True, True] Translation: X:592.87, Y:63.69, Z:-2.56 [[ 9.99327548e-01 -3.50560826e-02 -1.07481941e-02 5.92872925e+02] [ 3.50457598e-02 9.99385050e-01 -1.14732327e-03 6.36944328e+01] [ 1.07818052e-02 7.69873122e-04 9.99941578e-01 -2.55969674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.621400513 meters 0.06273824249067012 Centerline is valid? [True, True] Translation: X:592.91, Y:63.70, Z:-2.56 [[ 9.99320188e-01 -3.52535587e-02 -1.07865308e-02 5.92905435e+02] [ 3.52431889e-02 9.99378104e-01 -1.15000021e-03 6.36979558e+01] [ 1.08203643e-02 7.69066684e-04 9.99941162e-01 -2.55954602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.651400513 meters 0.06696218274016466 Centerline is valid? [True, True] Translation: X:592.93, Y:63.71, Z:-2.56 [[ 9.99271096e-01 -3.64464330e-02 -1.13549204e-02 5.92934995e+02] [ 3.64350242e-02 9.99335291e-01 -1.21006043e-03 6.37067212e+01] [ 1.13914751e-02 7.95461606e-04 9.99934799e-01 -2.56128924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.681400513 meters 0.05962164456537633 Centerline is valid? [True, True] Translation: X:592.97, Y:63.70, Z:-2.56 [[ 9.99254938e-01 -3.66947199e-02 -1.19609995e-02 5.92967850e+02] [ 3.66820886e-02 9.99326174e-01 -1.27379293e-03 6.37021784e+01] [ 1.19996813e-02 8.34089439e-04 9.99927653e-01 -2.56071343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.711400513 meters 0.06084940943584274 Centerline is valid? [True, True] Translation: X:593.00, Y:63.71, Z:-2.56 [[ 9.99224886e-01 -3.75703319e-02 -1.17514477e-02 5.92998203e+02] [ 3.75582162e-02 9.99293659e-01 -1.25007248e-03 6.37084248e+01] [ 1.17901128e-02 8.07740124e-04 9.99930168e-01 -2.56069486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.741400513 meters 0.060258096011782114 Centerline is valid? [True, True] Translation: X:593.03, Y:63.71, Z:-2.56 [[ 9.99204214e-01 -3.81303641e-02 -1.17053217e-02 5.93030633e+02] [ 3.81183867e-02 9.99272455e-01 -1.24472595e-03 6.37127853e+01] [ 1.17442674e-02 7.97547441e-04 9.99930716e-01 -2.56010835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.771400513 meters 0.06490656072155807 Centerline is valid? [True, True] Translation: X:593.06, Y:63.72, Z:-2.56 [[ 9.99170221e-01 -3.91090382e-02 -1.13733055e-02 5.93059802e+02] [ 3.90977995e-02 9.99234657e-01 -1.20892011e-03 6.37235909e+01] [ 1.14118807e-02 7.63245759e-04 9.99934591e-01 -2.56021506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.801400513 meters 0.052089307081892355 Centerline is valid? [True, True] Translation: X:593.09, Y:63.71, Z:-2.56 [[ 9.99115542e-01 -4.04061940e-02 -1.16392669e-02 5.93092775e+02] [ 4.03945139e-02 9.99183043e-01 -1.23695071e-03 6.37124615e+01] [ 1.16797386e-02 7.65694157e-04 9.99931496e-01 -2.55852234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.831400513 meters 0.045459305833523284 Centerline is valid? [True, True] Translation: X:593.12, Y:63.71, Z:-2.56 [[ 9.98898286e-01 -4.52341304e-02 -1.24935154e-02 5.93124169e+02] [ 4.52210531e-02 9.98976123e-01 -1.32739119e-03 6.37106912e+01] [ 1.25407670e-02 7.60958861e-04 9.99921072e-01 -2.55897616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.861400513 meters 0.04144106268855775 Centerline is valid? [True, True] Translation: X:593.15, Y:63.71, Z:-2.56 [[ 9.98772588e-01 -4.77544951e-02 -1.31462908e-02 5.93154931e+02] [ 4.77402349e-02 9.98858809e-01 -1.39659903e-03 6.37102597e+01] [ 1.31979822e-02 7.67277813e-04 9.99912608e-01 -2.55915261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.891400513 meters 0.03950490264596577 Centerline is valid? [True, True] Translation: X:593.19, Y:63.71, Z:-2.56 [[ 9.98580886e-01 -5.13867252e-02 -1.39863552e-02 5.93185888e+02] [ 5.13709406e-02 9.98678536e-01 -1.48574021e-03 6.37115795e+01] [ 1.40442200e-02 7.65139551e-04 9.99901082e-01 -2.56092220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.921400513 meters 0.039363779700881764 Centerline is valid? [True, True] Translation: X:593.22, Y:63.72, Z:-2.56 [[ 9.98397323e-01 -5.47471731e-02 -1.43364046e-02 5.93215230e+02] [ 5.47309334e-02 9.98499978e-01 -1.52296204e-03 6.37150217e+01] [ 1.43982775e-02 7.35876424e-04 9.99896069e-01 -2.56144258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.951400513 meters 0.03802761440099691 Centerline is valid? [True, True] Translation: X:593.25, Y:63.72, Z:-2.56 [[ 9.98231060e-01 -5.77044359e-02 -1.43160170e-02 5.93245601e+02] [ 5.76885448e-02 9.98333471e-01 -1.52085046e-03 6.37175301e+01] [ 1.43799188e-02 6.92289982e-04 9.99896364e-01 -2.56072382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.981400513 meters 0.03450362396097367 Centerline is valid? [True, True] Translation: X:593.28, Y:63.72, Z:-2.56 [[ 9.97985985e-01 -6.21147785e-02 -1.28735619e-02 5.93276158e+02] [ 6.21022947e-02 9.98068853e-01 -1.36760473e-03 6.37190498e+01] [ 1.29336496e-02 5.65372615e-04 9.99916197e-01 -2.55738776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.011400513 meters 0.0315344629653925 Centerline is valid? [True, True] Translation: X:593.31, Y:63.72, Z:-2.56 [[ 9.97908108e-01 -6.35155440e-02 -1.20491871e-02 5.93307607e+02] [ 6.35047113e-02 9.97980718e-01 -1.27991322e-03 6.37197697e+01] [ 1.21061508e-02 5.12055633e-04 9.99926587e-01 -2.55545126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.041400513 meters 0.037638888275398005 Centerline is valid? [True, True] Translation: X:593.34, Y:63.73, Z:-2.56 [[ 9.97814905e-01 -6.50175073e-02 -1.17532981e-02 5.93337231e+02] [ 6.50073073e-02 9.97884007e-01 -1.24821021e-03 6.37312292e+01] [ 1.18095838e-02 4.81432483e-04 9.99930149e-01 -2.55581640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.071400513 meters 0.03426165559061943 Centerline is valid? [True, True] Translation: X:593.37, Y:63.73, Z:-2.55 [[ 9.97745211e-01 -6.61363930e-02 -1.14223817e-02 5.93370021e+02] [ 6.61268413e-02 9.97810489e-01 -1.21229519e-03 6.37313225e+01] [ 1.14775491e-02 4.54235702e-04 9.99934028e-01 -2.55491163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.101400513 meters 0.030731614670888186 Centerline is valid? [True, True] Translation: X:593.40, Y:63.73, Z:-2.55 [[ 9.97634809e-01 -6.77763250e-02 -1.14524353e-02 5.93401400e+02] [ 6.77668458e-02 9.97700446e-01 -1.21419811e-03 6.37305007e+01] [ 1.15083937e-02 4.35230888e-04 9.99933682e-01 -2.55495590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.131400513 meters 0.027858374570182937 Centerline is valid? [True, True] Translation: X:593.43, Y:63.73, Z:-2.55 [[ 9.97519299e-01 -6.94740471e-02 -1.13403850e-02 5.93433030e+02] [ 6.94648654e-02 9.97583675e-01 -1.20200994e-03 6.37335393e+01] [ 1.13964915e-02 4.11269793e-04 9.99934973e-01 -2.55313302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.161400513 meters 0.027396672399854244 Centerline is valid? [True, True] Translation: X:593.47, Y:63.74, Z:-2.55 [[ 9.97429084e-01 -7.08660090e-02 -1.06410064e-02 5.93465467e+02] [ 7.08580097e-02 9.97485775e-01 -1.12735759e-03 6.37370163e+01] [ 1.06941438e-02 3.70458719e-04 9.99942747e-01 -2.55190571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.191400513 meters 0.02722490024625816 Centerline is valid? [True, True] Translation: X:593.50, Y:63.74, Z:-2.55 [[ 9.97362683e-01 -7.19558209e-02 -9.48889187e-03 5.93497143e+02] [ 7.19495180e-02 9.97407769e-01 -1.00438467e-03 6.37409827e+01] [ 9.53656579e-03 3.19014593e-04 9.99954475e-01 -2.55039322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.221400513 meters 0.024004908899818805 Centerline is valid? [True, True] Translation: X:593.53, Y:63.74, Z:-2.55 [[ 9.97232934e-01 -7.39261268e-02 -7.83601898e-03 5.93528793e+02] [ 7.39218975e-02 9.97263690e-01 -8.28390896e-04 6.37438935e+01] [ 7.87581694e-03 2.46845292e-04 9.99968955e-01 -2.54795330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.251400513 meters 0.023896878775354017 Centerline is valid? [True, True] Translation: X:593.56, Y:63.75, Z:-2.55 [[ 9.97197198e-01 -7.44690049e-02 -7.21908421e-03 5.93559974e+02] [ 7.44654316e-02 9.97223304e-01 -7.62898514e-04 6.37483215e+01] [ 7.25585130e-03 2.23188039e-04 9.99973651e-01 -2.54760985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.281400513 meters 0.022918805629010296 Centerline is valid? [True, True] Translation: X:593.59, Y:63.75, Z:-2.55 [[ 9.97131897e-01 -7.53288005e-02 -7.31791880e-03 5.93592253e+02] [ 7.53251601e-02 9.97158726e-01 -7.72208554e-04 6.37514668e+01] [ 7.35529613e-03 2.18770375e-04 9.99972926e-01 -2.54769266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.311400513 meters 0.02505846239241084 Centerline is valid? [True, True] Translation: X:593.62, Y:63.76, Z:-2.55 [[ 9.97043648e-01 -7.64208842e-02 -7.98820616e-03 5.93623131e+02] [ 7.64165926e-02 9.97075622e-01 -8.41540613e-04 6.37587783e+01] [ 8.02915691e-03 2.28621227e-04 9.99967740e-01 -2.54804522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.341400513 meters 0.022853259920099334 Centerline is valid? [True, True] Translation: X:593.65, Y:63.76, Z:-2.55 [[ 9.96805493e-01 -7.91671357e-02 -1.05533504e-02 5.93654506e+02] [ 7.91598096e-02 9.96861320e-01 -1.11076537e-03 6.37623238e+01] [ 1.06081630e-02 2.71815814e-04 9.99943695e-01 -2.54964776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.371400513 meters 0.02045981506340532 Centerline is valid? [True, True] Translation: X:593.69, Y:63.76, Z:-2.55 [[ 9.96722876e-01 -8.00875894e-02 -1.13792239e-02 5.93686447e+02] [ 8.00791409e-02 9.96787790e-01 -1.19688893e-03 6.37636399e+01] [ 1.14385274e-02 2.81728097e-04 9.99934538e-01 -2.54975740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.401400513 meters 0.019494194672135146 Centerline is valid? [True, True] Translation: X:593.72, Y:63.77, Z:-2.55 [[ 9.96640696e-01 -8.11033125e-02 -1.13831584e-02 5.93718612e+02] [ 8.10949456e-02 9.96705664e-01 -1.19544391e-03 6.37657288e+01] [ 1.14426129e-02 2.68311439e-04 9.99934495e-01 -2.55022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.431400513 meters 0.018443889464258772 Centerline is valid? [True, True] Translation: X:593.75, Y:63.77, Z:-2.55 [[ 9.96538868e-01 -8.23901663e-02 -1.10518907e-02 5.93751339e+02] [ 8.23823741e-02 9.96600121e-01 -1.15924262e-03 6.37676921e+01] [ 1.11098258e-02 2.44749333e-04 9.99938254e-01 -2.55043333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.461400513 meters 0.019640778342467188 Centerline is valid? [True, True] Translation: X:593.78, Y:63.77, Z:-2.55 [[ 9.96448495e-01 -8.35934525e-02 -1.01257381e-02 5.93782008e+02] [ 8.35869802e-02 9.96499920e-01 -1.06145238e-03 6.37730637e+01] [ 1.01790277e-02 2.11302756e-04 9.99948170e-01 -2.54977680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.491400513 meters 0.016831800305474043 Centerline is valid? [True, True] Translation: X:593.81, Y:63.77, Z:-2.55 [[ 9.96368500e-01 -8.45995810e-02 -9.62930986e-03 5.93814020e+02] [ 8.45937846e-02 9.96415011e-01 -1.00840347e-03 6.37741850e+01] [ 9.68009940e-03 1.90161687e-04 9.99953129e-01 -2.54769774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.521400513 meters 0.01654521641674556 Centerline is valid? [True, True] Translation: X:593.85, Y:63.78, Z:-2.55 [[ 9.96288420e-01 -8.55488497e-02 -9.52777169e-03 5.93845323e+02] [ 8.55432331e-02 9.96333961e-01 -9.96219544e-04 6.37808787e+01] [ 9.57806794e-03 1.77485601e-04 9.99954114e-01 -2.54575055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.551400513 meters 0.018141764341132113 Centerline is valid? [True, True] Translation: X:593.88, Y:63.79, Z:-2.55 [[ 9.96259387e-01 -8.58577481e-02 -9.78168727e-03 5.93875816e+02] [ 8.58518588e-02 9.96307390e-01 -1.02116617e-03 6.37861029e+01] [ 9.83324235e-03 1.77570343e-04 9.99951637e-01 -2.54685838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.581400513 meters 0.01782247631588598 Centerline is valid? [True, True] Translation: X:593.91, Y:63.79, Z:-2.55 [[ 9.96266371e-01 -8.57427709e-02 -1.00744886e-02 5.93909133e+02] [ 8.57365345e-02 9.96317291e-01 -1.05009930e-03 6.37886469e+01] [ 1.01274256e-02 1.82426880e-04 9.99948700e-01 -2.54733097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.611400513 meters 0.016598612742762555 Centerline is valid? [True, True] Translation: X:593.94, Y:63.79, Z:-2.55 [[ 9.96329314e-01 -8.50431070e-02 -9.77593480e-03 5.93941445e+02] [ 8.50372180e-02 9.96377256e-01 -1.01725011e-03 6.37941772e+01] [ 9.82702920e-03 1.82197807e-04 9.99951697e-01 -2.54558741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.641400513 meters 0.01900586024300325 Centerline is valid? [True, True] Translation: X:593.97, Y:63.80, Z:-2.54 [[ 9.96406700e-01 -8.43804424e-02 -7.32325292e-03 5.93972415e+02] [ 8.43771263e-02 9.96433601e-01 -7.61153566e-04 6.38024234e+01] [ 7.36136175e-03 1.40503476e-04 9.99972895e-01 -2.54304861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.671400513 meters 0.016757851865035464 Centerline is valid? [True, True] Translation: X:594.01, Y:63.81, Z:-2.54 [[ 9.96420256e-01 -8.42116373e-02 -7.42117727e-03 5.94005424e+02] [ 8.42082363e-02 9.96447881e-01 -7.70119914e-04 6.38055246e+01] [ 7.45966942e-03 1.42438833e-04 9.99972166e-01 -2.54261332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.701400513 meters 0.016228060428054514 Centerline is valid? [True, True] Translation: X:594.04, Y:63.81, Z:-2.54 [[ 9.96356808e-01 -8.48795788e-02 -8.28056634e-03 5.94036886e+02] [ 8.48753816e-02 9.96391205e-01 -8.57605758e-04 6.38095992e+01] [ 8.32347669e-03 1.51665107e-04 9.99965348e-01 -2.54407176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.731400513 meters 0.01638126872381923 Centerline is valid? [True, True] Translation: X:594.07, Y:63.81, Z:-2.55 [[ 9.96125267e-01 -8.75552414e-02 -8.27841315e-03 5.94068249e+02] [ 8.75511489e-02 9.96159658e-01 -8.56167321e-04 6.38113164e+01] [ 8.32158315e-03 1.28065319e-04 9.99965367e-01 -2.54564250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.761400513 meters 0.011564988958192988 Centerline is valid? [True, True] Translation: X:594.10, Y:63.81, Z:-2.54 [[ 9.95498248e-01 -9.44906071e-02 -7.40027294e-03 5.94099310e+02] [ 9.44875329e-02 9.95525751e-01 -7.64723686e-04 6.38082042e+01] [ 7.43942148e-03 6.20475572e-05 9.99972325e-01 -2.54251037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.791400513 meters 0.011002031809987965 Centerline is valid? [True, True] Translation: X:594.13, Y:63.81, Z:-2.54 [[ 9.95307164e-01 -9.64725346e-02 -7.52991356e-03 5.94132072e+02] [ 9.64694097e-02 9.95335646e-01 -7.77960517e-04 6.38099301e+01] [ 7.56984320e-03 4.79033592e-05 9.99971347e-01 -2.54226902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.821400513 meters 0.008440190437409362 Centerline is valid? [True, True] Translation: X:594.17, Y:63.81, Z:-2.54 [[ 9.94942125e-01 -1.00208195e-01 -6.96312136e-03 5.94165019e+02] [ 1.00205622e-01 9.94966491e-01 -7.18292266e-04 6.38089680e+01] [ 7.00005120e-03 1.69153239e-05 9.99975499e-01 -2.54209730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.851400513 meters 0.008676382326248804 Centerline is valid? [True, True] Translation: X:594.20, Y:63.80, Z:-2.55 [[ 9.94339234e-01 -1.05919434e-01 -8.40009955e-03 5.94198070e+02] [ 1.05915899e-01 9.94374714e-01 -8.65856680e-04 6.38014069e+01] [ 8.44455764e-03 -2.87488246e-05 9.99964344e-01 -2.54704028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.881400513 meters 0.008676382326248804 Centerline is valid? [True, True] Translation: X:594.23, Y:63.80, Z:-2.55 [[ 9.94357975e-01 -1.05743340e-01 -8.40024837e-03 5.94230586e+02] [ 1.05739810e-01 9.94393456e-01 -8.64410644e-04 6.38046336e+01] [ 8.44455767e-03 -2.87070529e-05 9.99964344e-01 -2.54679138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.911400513 meters 0.009994522239839 Centerline is valid? [True, True] Translation: X:594.26, Y:63.80, Z:-2.55 [[ 9.93888195e-01 -1.09877664e-01 -1.06374732e-02 5.94263371e+02] [ 1.09872264e-01 9.93945115e-01 -1.09240023e-03 6.38005442e+01] [ 1.06930950e-02 -8.30395851e-05 9.99942824e-01 -2.54982714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.941400513 meters 0.01192929172335268 Centerline is valid? [True, True] Translation: X:594.29, Y:63.80, Z:-2.55 [[ 9.93521403e-01 -1.13037641e-01 -1.17351017e-02 5.94294727e+02] [ 1.13031314e-01 9.93590698e-01 -1.20309180e-03 6.37984568e+01] [ 1.17958826e-02 -1.31136516e-04 9.99930418e-01 -2.54979491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.971400513 meters 0.022047119095310506 Centerline is valid? [True, True] Translation: X:594.33, Y:63.78, Z:-2.56 [[ 9.92101599e-01 -1.24661686e-01 -1.39241332e-02 5.94326965e+02] [ 1.24653941e-01 9.92199255e-01 -1.42609791e-03 6.37785176e+01] [ 1.39932943e-02 -3.20864063e-04 9.99902038e-01 -2.55511861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.001400513 meters 0.02346156861626156 Centerline is valid? [True, True] Translation: X:594.36, Y:63.77, Z:-2.55 [[ 9.91328107e-01 -1.30606826e-01 -1.45066209e-02 5.94358920e+02] [ 1.30599058e-01 9.91434153e-01 -1.48564037e-03 6.37716342e+01] [ 1.45763942e-02 -4.21793968e-04 9.99893670e-01 -2.55444386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.031400513 meters 0.029496033353014397 Centerline is valid? [True, True] Translation: X:594.39, Y:63.77, Z:-2.55 [[ 9.90750313e-01 -1.35126219e-01 -1.24387504e-02 5.94389806e+02] [ 1.35120863e-01 9.90828305e-01 -1.27379090e-03 6.37652324e+01] [ 1.24967885e-02 -4.18725952e-04 9.99921824e-01 -2.55217254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.061400513 meters 0.030593652799254092 Centerline is valid? [True, True] Translation: X:594.42, Y:63.76, Z:-2.55 [[ 9.90420324e-01 -1.37679929e-01 -1.05744330e-02 5.94420365e+02] [ 1.37676206e-01 9.90476698e-01 -1.08270852e-03 6.37608875e+01] [ 1.06227967e-02 -3.83511291e-04 9.99943503e-01 -2.54788368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.091400513 meters 0.030824013399388964 Centerline is valid? [True, True] Translation: X:594.45, Y:63.76, Z:-2.55 [[ 9.90214976e-01 -1.39290180e-01 -8.51742793e-03 5.94452903e+02] [ 1.39287828e-01 9.90251555e-01 -8.71705613e-04 6.37610643e+01] [ 8.55581628e-03 -3.23198080e-04 9.99963346e-01 -2.54539181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.121400513 meters 0.031206199873353064 Centerline is valid? [True, True] Translation: X:594.49, Y:63.76, Z:-2.54 [[ 9.90224160e-01 -1.39287942e-01 -7.41504169e-03 5.94486316e+02] [ 1.39286161e-01 9.90251882e-01 -7.58611539e-04 6.37588253e+01] [ 7.44842443e-03 -2.81617215e-04 9.99972220e-01 -2.54415096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.151400513 meters 0.031764961236390055 Centerline is valid? [True, True] Translation: X:594.52, Y:63.75, Z:-2.55 [[ 9.90383632e-01 -1.38008182e-01 -9.69550611e-03 5.94519125e+02] [ 1.38005096e-01 9.90431024e-01 -9.89737388e-04 6.37507429e+01] [ 9.73932191e-03 -3.57809547e-04 9.99952508e-01 -2.54558466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.181400513 meters 0.029619072103032378 Centerline is valid? [True, True] Translation: X:594.55, Y:63.75, Z:-2.55 [[ 9.90553364e-01 -1.36694340e-01 -1.08945224e-02 5.94551397e+02] [ 1.36690386e-01 9.90613197e-01 -1.11023178e-03 6.37541072e+01] [ 1.09440201e-02 -3.89432644e-04 9.99940037e-01 -2.54525307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.211400513 meters 0.02997716039153855 Centerline is valid? [True, True] Translation: X:594.58, Y:63.75, Z:-2.54 [[ 9.90787888e-01 -1.35027752e-01 -1.03377053e-02 5.94582082e+02] [ 1.35024113e-01 9.90841754e-01 -1.05230140e-03 6.37548502e+01] [ 1.03851199e-02 -3.53232006e-04 9.99946011e-01 -2.54450801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.241400513 meters 0.026691834273644695 Centerline is valid? [True, True] Translation: X:594.61, Y:63.76, Z:-2.54 [[ 9.91071482e-01 -1.33011687e-01 -9.23081746e-03 5.94613207e+02] [ 1.33008700e-01 9.91114425e-01 -9.39513457e-04 6.37598666e+01] [ 9.27376261e-03 -2.96654032e-04 9.99956954e-01 -2.54352451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.271400513 meters 0.02604804065556025 Centerline is valid? [True, True] Translation: X:594.64, Y:63.76, Z:-2.54 [[ 9.91675627e-01 -1.28478912e-01 -8.52167372e-03 5.94643418e+02] [ 1.28476201e-01 9.91712213e-01 -8.67163769e-04 6.37590115e+01] [ 8.56246016e-03 -2.34887088e-04 9.99963314e-01 -2.54377405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.301400513 meters 0.023312421393479516 Centerline is valid? [True, True] Translation: X:594.67, Y:63.76, Z:-2.54 [[ 9.92036328e-01 -1.25601024e-01 -9.39717412e-03 5.94673270e+02] [ 1.25597599e-01 9.92080808e-01 -9.56039143e-04 6.37632605e+01] [ 9.44283558e-03 -2.31836948e-04 9.99955389e-01 -2.54346421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.331400513 meters 0.020289430508937795 Centerline is valid? [True, True] Translation: X:594.70, Y:63.77, Z:-2.54 [[ 9.92389240e-01 -1.22768997e-01 -9.55873883e-03 5.94704164e+02] [ 1.22765328e-01 9.92435252e-01 -9.71912192e-04 6.37717668e+01] [ 9.60575006e-03 -2.08966504e-04 9.99953842e-01 -2.54308610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.361400513 meters 0.01874275784724667 Centerline is valid? [True, True] Translation: X:594.74, Y:63.77, Z:-2.54 [[ 9.92944505e-01 -1.18348885e-01 -7.39942313e-03 5.94735025e+02] [ 1.18346564e-01 9.92972067e-01 -7.52223737e-04 6.37747263e+01] [ 7.43644532e-03 -1.28779877e-04 9.99972341e-01 -2.54190437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.391400513 meters 0.018449205007861912 Centerline is valid? [True, True] Translation: X:594.77, Y:63.78, Z:-2.54 [[ 9.93152380e-01 -1.16685814e-01 -5.72461994e-03 5.94767172e+02] [ 1.16684396e-01 9.93168874e-01 -5.82128314e-04 6.37780565e+01] [ 5.75344046e-03 -8.98317001e-05 9.99983445e-01 -2.54021034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.421400513 meters 0.01411807749630268 Centerline is valid? [True, True] Translation: X:594.80, Y:63.78, Z:-2.54 [[ 9.93330209e-01 -1.15183871e-01 -5.26994119e-03 5.94798763e+02] [ 1.15182653e-01 9.93344185e-01 -5.35156369e-04 6.37833555e+01] [ 5.29650682e-03 -7.54188185e-05 9.99985971e-01 -2.53870172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.451400513 meters 0.013740409423660723 Centerline is valid? [True, True] Translation: X:594.83, Y:63.79, Z:-2.54 [[ 9.93502836e-01 -1.13666487e-01 -5.66076550e-03 5.94829435e+02] [ 1.13665062e-01 9.93518960e-01 -5.73789679e-04 6.37872657e+01] [ 5.68929851e-03 -7.33695903e-05 9.99983813e-01 -2.53809283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.481400513 meters 0.012796105335672603 Centerline is valid? [True, True] Translation: X:594.86, Y:63.79, Z:-2.54 [[ 9.93583650e-01 -1.12906973e-01 -6.59886420e-03 5.94861805e+02] [ 1.12905028e-01 9.93605560e-01 -6.67693510e-04 6.37929799e+01] [ 6.63205541e-03 -8.16355943e-05 9.99978004e-01 -2.53875427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.511400513 meters 0.012625505123120873 Centerline is valid? [True, True] Translation: X:594.89, Y:63.80, Z:-2.54 [[ 9.93547743e-01 -1.13183355e-01 -7.23949440e-03 5.94894425e+02] [ 1.13181031e-01 9.93574114e-01 -7.31212416e-04 6.37987575e+01] [ 7.27573531e-03 -9.28789935e-05 9.99973527e-01 -2.53881593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.541400513 meters 0.016189252571085392 Centerline is valid? [True, True] Translation: X:594.93, Y:63.80, Z:-2.54 [[ 9.93450155e-01 -1.14072850e-01 -6.64635883e-03 5.94926002e+02] [ 1.14070920e-01 9.93472383e-01 -6.70059834e-04 6.38015892e+01] [ 6.67940958e-03 -9.24852168e-05 9.99977688e-01 -2.53848721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.571400513 meters 0.015121553367731203 Centerline is valid? [True, True] Translation: X:594.96, Y:63.80, Z:-2.54 [[ 9.93265945e-01 -1.15676979e-01 -6.44979774e-03 5.94957265e+02] [ 1.15675198e-01 9.93286880e-01 -6.49676148e-04 6.38033995e+01] [ 6.48165205e-03 -1.00780441e-04 9.99978989e-01 -2.53777420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.601400513 meters 0.017367925829158685 Centerline is valid? [True, True] Translation: X:594.99, Y:63.80, Z:-2.54 [[ 9.92986606e-01 -1.18060019e-01 -6.27958619e-03 5.94988240e+02] [ 1.18058382e-01 9.93006455e-01 -6.31993219e-04 6.38041605e+01] [ 6.31028276e-03 -1.13796984e-04 9.99980083e-01 -2.53805091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.631400513 meters 0.01876967065376585 Centerline is valid? [True, True] Translation: X:595.02, Y:63.81, Z:-2.54 [[ 9.92599090e-01 -1.21267669e-01 -6.41862178e-03 5.95020239e+02] [ 1.21266030e-01 9.92619833e-01 -6.45396910e-04 6.38061451e+01] [ 6.44951706e-03 -1.37740394e-04 9.99979192e-01 -2.53900583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.661400513 meters 0.02327792264009404 Centerline is valid? [True, True] Translation: X:595.05, Y:63.81, Z:-2.54 [[ 9.91678543e-01 -1.28479275e-01 -8.16971037e-03 5.95051526e+02] [ 1.28476867e-01 9.91712166e-01 -8.21005700e-04 6.38062093e+01] [ 8.20748338e-03 -2.35445059e-04 9.99966290e-01 -2.54012547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.691400513 meters 0.029685951288973726 Centerline is valid? [True, True] Translation: X:595.08, Y:63.80, Z:-2.54 [[ 9.91246398e-01 -1.31745607e-01 -8.58332256e-03 5.95082506e+02] [ 1.31743073e-01 9.91283521e-01 -8.62459523e-04 6.38026159e+01] [ 8.62213146e-03 -2.75883392e-04 9.99962791e-01 -2.54038352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.721400513 meters 0.02863179430327952 Centerline is valid? [True, True] Translation: X:595.11, Y:63.81, Z:-2.54 [[ 9.90918594e-01 -1.34209039e-01 -8.26282844e-03 5.95112877e+02] [ 1.34206776e-01 9.90953002e-01 -8.30162632e-04 6.38084543e+01] [ 8.29948997e-03 -2.86303981e-04 9.99965518e-01 -2.53973320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.751400513 meters 0.030390881732524286 Centerline is valid? [True, True] Translation: X:595.15, Y:63.81, Z:-2.54 [[ 9.90700128e-01 -1.35915353e-01 -6.34616690e-03 5.95145027e+02] [ 1.35914054e-01 9.90720427e-01 -6.37587232e-04 6.38130050e+01] [ 6.37393508e-03 -2.30875517e-04 9.99979660e-01 -2.53668679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.781400513 meters 0.032877001741399105 Centerline is valid? [True, True] Translation: X:595.18, Y:63.82, Z:-2.54 [[ 9.90883445e-01 -1.34591580e-01 -5.92487426e-03 5.95176674e+02] [ 1.34590424e-01 9.90901137e-01 -5.95203726e-04 6.38153494e+01] [ 5.95107406e-03 -2.07653822e-04 9.99982271e-01 -2.53547695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.811400513 meters 0.026745554836922945 Centerline is valid? [True, True] Translation: X:595.21, Y:63.83, Z:-2.54 [[ 9.91174267e-01 -1.32439104e-01 -5.78421329e-03 5.95206805e+02] [ 1.32437972e-01 9.91191126e-01 -5.79929685e-04 6.38282369e+01] [ 5.81006625e-03 -1.91238097e-04 9.99983103e-01 -2.53587395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.841400513 meters 0.026199121860567276 Centerline is valid? [True, True] Translation: X:595.24, Y:63.83, Z:-2.54 [[ 9.91554798e-01 -1.29554694e-01 -5.88767216e-03 5.95236711e+02] [ 1.29553471e-01 9.91572262e-01 -5.90142059e-04 6.38335264e+01] [ 5.91450807e-03 -1.77610176e-04 9.99982493e-01 -2.53721563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.871400513 meters 0.021450844010758023 Centerline is valid? [True, True] Translation: X:595.27, Y:63.85, Z:-2.54 [[ 9.92556477e-01 -1.21689147e-01 -4.83643823e-03 5.95265966e+02] [ 1.21688229e-01 9.92568255e-01 -4.84766325e-04 6.38476631e+01] [ 4.85948585e-03 -1.07379645e-04 9.99988187e-01 -2.53579795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.901400513 meters 0.018728595062287155 Centerline is valid? [True, True] Translation: X:595.30, Y:63.86, Z:-2.53 [[ 9.93161991e-01 -1.16670284e-01 -4.15987449e-03 5.95296119e+02] [ 1.16669561e-01 9.93170700e-01 -4.16876403e-04 6.38613858e+01] [ 4.18010254e-03 -7.13049315e-05 9.99991261e-01 -2.53369250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.931400513 meters 0.011771647628555072 Centerline is valid? [True, True] Translation: X:595.33, Y:63.88, Z:-2.53 [[ 9.93851579e-01 -1.10634914e-01 -4.35380480e-03 5.95326608e+02] [ 1.10634064e-01 9.93861114e-01 -4.36294615e-04 6.38759594e+01] [ 4.37534670e-03 -4.80670260e-05 9.99990427e-01 -2.53229551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.961400513 meters 0.011425068038906597 Centerline is valid? [True, True] Translation: X:595.36, Y:63.89, Z:-2.53 [[ 9.94489941e-01 -1.04760273e-01 -3.87854145e-03 5.95356500e+02] [ 1.04759553e-01 9.94497504e-01 -3.88896140e-04 6.38879029e+01] [ 3.89794066e-03 -1.95609689e-05 9.99992403e-01 -2.53158133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.991400513 meters 0.008908383986435193 Centerline is valid? [True, True] Translation: X:595.39, Y:63.91, Z:-2.53 [[ 9.95566683e-01 -9.40363092e-02 -2.03791792e-03 5.95387351e+02] [ 9.40360873e-02 9.95568768e-01 -2.04632106e-04 6.39072817e+01] [ 2.04813029e-03 1.20870785e-05 9.99997903e-01 -2.53162734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.021400513 meters 0.011097531622945567 Centerline is valid? [True, True] Translation: X:595.42, Y:63.92, Z:-2.53 [[ 9.96011212e-01 -8.92254004e-02 -7.02759576e-04 5.95418479e+02] [ 8.92253723e-02 9.96011460e-01 -7.12563759e-05 6.39192714e+01] [ 7.06314469e-04 8.26816454e-06 9.99999751e-01 -2.53023553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.051400513 meters 0.012983273440289239 Centerline is valid? [True, True] Translation: X:595.45, Y:63.93, Z:-2.53 [[ 9.96391300e-01 -8.48766154e-02 -5.80358720e-04 5.95449603e+02] [ 8.48765959e-02 9.96391469e-01 -5.81594809e-05 6.39309264e+01] [ 5.83200858e-04 8.69072822e-06 9.99999830e-01 -2.52933928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.081400513 meters 0.01788322060007208 Centerline is valid? [True, True] Translation: X:595.48, Y:63.94, Z:-2.53 [[ 9.96681275e-01 -8.13919071e-02 -1.33909783e-03 5.95479713e+02] [ 8.13918007e-02 9.96682174e-01 -1.33885396e-04 6.39445096e+01] [ 1.34555213e-03 2.44494829e-05 9.99999094e-01 -2.52880183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.111400513 meters 0.01917023241887296 Centerline is valid? [True, True] Translation: X:595.51, Y:63.95, Z:-2.53 [[ 9.96915904e-01 -7.84220367e-02 -2.94348231e-03 5.95511074e+02] [ 7.84215113e-02 9.96920248e-01 -2.93657615e-04 6.39534266e+01] [ 2.95744634e-03 6.19196157e-05 9.99995625e-01 -2.53104119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.141400513 meters 0.014623767410015864 Centerline is valid? [True, True] Translation: X:595.54, Y:63.95, Z:-2.53 [[ 9.96602168e-01 -8.23423020e-02 -1.96565615e-03 5.95542590e+02] [ 8.23420767e-02 9.96604106e-01 -1.95424027e-04 6.39529361e+01] [ 1.97507266e-03 3.29037990e-05 9.99998049e-01 -2.53116494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.171400513 meters 0.014183731690532648 Centerline is valid? [True, True] Translation: X:595.58, Y:63.95, Z:-2.53 [[ 9.96283428e-01 -8.61328177e-02 -6.84000255e-04 5.95575144e+02] [ 8.61327906e-02 9.96283663e-01 -6.90736122e-05 6.39528244e+01] [ 6.87407785e-04 9.90204446e-06 9.99999764e-01 -2.52839548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.201400513 meters 0.012370913963852734 Centerline is valid? [True, True] Translation: X:595.61, Y:63.96, Z:-2.53 [[ 9.96164046e-01 -8.74885998e-02 -1.71432005e-03 5.95606327e+02] [ 8.74884352e-02 9.96165521e-01 -1.70893041e-04 6.39573337e+01] [ 1.72269772e-03 2.02543242e-05 9.99998516e-01 -2.52673773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.231400513 meters 0.013202384437116204 Centerline is valid? [True, True] Translation: X:595.64, Y:63.95, Z:-2.53 [[ 9.95914563e-01 -9.02112844e-02 -4.01346253e-03 5.95639014e+02] [ 9.02104130e-02 9.95922649e-01 -3.97991897e-04 6.39546311e+01] [ 4.03300159e-03 3.43098138e-05 9.99991867e-01 -2.53250182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.261400513 meters 0.0123555551224505 Centerline is valid? [True, True] Translation: X:595.67, Y:63.96, Z:-2.53 [[ 9.95985867e-01 -8.93428642e-02 -5.47762926e-03 5.95670817e+02] [ 8.93412360e-02 9.96000929e-01 -5.41705705e-04 6.39591233e+01] [ 5.50412137e-03 5.01530575e-05 9.99984851e-01 -2.53419494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.291400513 meters 0.011006863958189807 Centerline is valid? [True, True] Translation: X:595.70, Y:63.96, Z:-2.53 [[ 9.96174359e-01 -8.72001609e-02 -5.72526329e-03 5.95703159e+02] [ 8.71983504e-02 9.96190809e-01 -5.65563465e-04 6.39622819e+01] [ 5.75277189e-03 6.41663076e-05 9.99983451e-01 -2.53451996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.321400513 meters 0.014101853285097112 Centerline is valid? [True, True] Translation: X:595.73, Y:63.97, Z:-2.53 [[ 9.96403352e-01 -8.46604318e-02 -3.60154468e-03 5.95733610e+02] [ 8.46597004e-02 9.96409860e-01 -3.55324255e-04 6.39698089e+01] [ 3.61869654e-03 4.91405848e-05 9.99993451e-01 -2.52949820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.351400513 meters 0.016307430127983316 Centerline is valid? [True, True] Translation: X:595.77, Y:63.97, Z:-2.53 [[ 9.96567615e-01 -8.27046472e-02 -3.59587464e-03 5.95765278e+02] [ 8.27039054e-02 9.96574101e-01 -3.54751773e-04 6.39749559e+01] [ 3.61289516e-03 5.61412517e-05 9.99993472e-01 -2.52921626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.381400513 meters 0.016365803808215878 Centerline is valid? [True, True] Translation: X:595.80, Y:63.98, Z:-2.53 [[ 9.96704371e-01 -8.10267275e-02 -3.88147667e-03 5.95797612e+02] [ 8.10258533e-02 9.96711927e-01 -3.82210792e-04 6.39785629e+01] [ 3.89968338e-03 6.64512081e-05 9.99992394e-01 -2.53000125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.411400513 meters 0.018890716222562956 Centerline is valid? [True, True] Translation: X:595.83, Y:63.98, Z:-2.53 [[ 9.96929964e-01 -7.82066258e-02 -3.79092062e-03 5.95828179e+02] [ 7.82057748e-02 9.96937169e-01 -3.72416641e-04 6.39812683e+01] [ 3.80843512e-03 7.48014242e-05 9.99992745e-01 -2.53113800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.441400513 meters 0.02117302390129797 Centerline is valid? [True, True] Translation: X:595.86, Y:63.99, Z:-2.53 [[ 9.97131771e-01 -7.56158020e-02 -3.23749105e-03 5.95859629e+02] [ 7.56151674e-02 9.97137024e-01 -3.18167688e-04 6.39862352e+01] [ 3.25228070e-03 7.24516826e-05 9.99994709e-01 -2.53041611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.471400513 meters 0.02127447541263074 Centerline is valid? [True, True] Translation: X:595.89, Y:63.99, Z:-2.53 [[ 9.97385123e-01 -7.22320961e-02 -2.33237857e-03 5.95891069e+02] [ 7.22317590e-02 9.97387849e-01 -2.28546283e-04 6.39896785e+01] [ 2.34279443e-03 5.94768551e-05 9.99997254e-01 -2.52907580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.501400513 meters 0.022606397687740757 Centerline is valid? [True, True] Translation: X:595.92, Y:63.99, Z:-2.53 [[ 9.97675475e-01 -6.81322837e-02 -1.27971559e-03 5.95921635e+02] [ 6.81321789e-02 9.97676295e-01 -1.25375299e-04 6.39947939e+01] [ 1.28528402e-03 3.78940496e-05 9.99999173e-01 -2.52763549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.531400513 meters 0.032815064194807855 Centerline is valid? [True, True] Translation: X:595.95, Y:64.01, Z:-2.52 [[ 9.98274986e-01 -5.87096788e-02 4.74456363e-04 5.95950154e+02] [ 5.87096635e-02 9.98275099e-01 4.62254617e-05 6.40105209e+01] [-4.76351855e-04 -1.82905488e-05 9.99999886e-01 -2.52413936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.561400513 meters 0.03585360136782517 Centerline is valid? [True, True] Translation: X:595.98, Y:64.02, Z:-2.52 [[ 9.98532781e-01 -5.41454179e-02 7.47988059e-04 5.95980894e+02] [ 5.41453783e-02 9.98533060e-01 7.30986609e-05 6.40162843e+01] [-7.50848764e-04 -3.24913127e-05 9.99999718e-01 -2.52417047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.591400513 meters 0.03752378729821964 Centerline is valid? [True, True] Translation: X:596.01, Y:64.02, Z:-2.52 [[ 9.98758560e-01 -4.98105509e-02 4.97984665e-04 5.96011047e+02] [ 4.98105328e-02 9.98758684e-01 4.86578570e-05 6.40212280e+01] [-4.99790183e-04 -2.37925697e-05 9.99999875e-01 -2.52436164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.621400513 meters 0.03748158386980397 Centerline is valid? [True, True] Translation: X:596.04, Y:64.02, Z:-2.52 [[ 9.98928444e-01 -4.62757460e-02 7.21059455e-04 5.96041245e+02] [ 4.62757071e-02 9.98928703e-01 7.05054250e-05 6.40230688e+01] [-7.23549677e-04 -3.70623383e-05 9.99999738e-01 -2.52461105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.651400513 meters 0.042441567507793126 Centerline is valid? [True, True] Translation: X:596.07, Y:64.03, Z:-2.53 [[ 9.99256152e-01 -3.85610351e-02 4.34656270e-04 5.96070976e+02] [ 3.85610203e-02 9.99256246e-01 4.23928676e-05 6.40311714e+01] [-4.35967706e-04 -2.56005445e-05 9.99999905e-01 -2.52520328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.681400513 meters 0.03940080408076186 Centerline is valid? [True, True] Translation: X:596.10, Y:64.03, Z:-2.53 [[ 9.99406923e-01 -3.44346516e-02 2.40433741e-04 5.96102335e+02] [ 3.44346470e-02 9.99406951e-01 2.33734370e-05 6.40299657e+01] [-2.41096008e-04 -1.50803237e-05 9.99999971e-01 -2.52656540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.711400513 meters 0.05294214148215846 Centerline is valid? [True, True] Translation: X:596.13, Y:64.05, Z:-2.53 [[ 9.99507096e-01 -3.13861060e-02 6.91005893e-04 5.96130563e+02] [ 3.13860668e-02 9.99507334e-01 6.74745483e-05 6.40487319e+01] [-6.92783221e-04 -4.57533327e-05 9.99999759e-01 -2.52633017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.741400513 meters 0.05400585685179667 Centerline is valid? [True, True] Translation: X:596.16, Y:64.05, Z:-2.53 [[ 9.99583219e-01 -2.88670166e-02 2.90166491e-04 5.96160906e+02] [ 2.88670095e-02 9.99583261e-01 2.83461203e-05 6.40531865e+01] [-2.90863835e-04 -1.99580673e-05 9.99999957e-01 -2.52656924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.771400513 meters 0.05400585685179667 Centerline is valid? [True, True] Translation: X:596.19, Y:64.06, Z:-2.53 [[ 9.99588277e-01 -2.86913209e-02 2.90299394e-04 5.96193524e+02] [ 2.86913143e-02 9.99588319e-01 2.69858221e-05 6.40562683e+01] [-2.90954142e-04 -1.86456403e-05 9.99999957e-01 -2.52631852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.801400513 meters 0.054350520408417285 Centerline is valid? [True, True] Translation: X:596.23, Y:64.06, Z:-2.53 [[ 9.99603837e-01 -2.81394959e-02 -5.80588178e-04 5.96225742e+02] [ 2.81394671e-02 9.99604005e-01 -5.77662213e-05 6.40602073e+01] [ 5.81983780e-04 4.14058945e-05 9.99999830e-01 -2.52582501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.831400513 meters 0.04434122840311368 Centerline is valid? [True, True] Translation: X:596.26, Y:64.05, Z:-2.53 [[ 9.99557352e-01 -2.96935877e-02 -1.84122457e-03 5.96257931e+02] [ 2.96933071e-02 9.99559040e-01 -1.79523259e-04 6.40511995e+01] [ 1.84574336e-03 1.24771747e-04 9.99998289e-01 -2.52633162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.861400513 meters 0.047173766845469686 Centerline is valid? [True, True] Translation: X:596.29, Y:64.06, Z:-2.53 [[ 9.99483402e-01 -3.20258625e-02 -2.69687804e-03 5.96287661e+02] [ 3.20252695e-02 9.99487025e-01 -2.62782129e-04 6.40572652e+01] [ 2.70391044e-03 1.76278130e-04 9.99996329e-01 -2.52652959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.891400513 meters 0.04280164398645782 Centerline is valid? [True, True] Translation: X:596.32, Y:64.05, Z:-2.53 [[ 9.99408472e-01 -3.42803420e-02 -2.75048207e-03 5.96319314e+02] [ 3.42797335e-02 9.99412241e-01 -2.68088823e-04 6.40535915e+01] [ 2.75805563e-03 1.73644448e-04 9.99996181e-01 -2.52769533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.921400513 meters 0.04300642140156219 Centerline is valid? [True, True] Translation: X:596.35, Y:64.05, Z:-2.53 [[ 9.99235763e-01 -3.90389758e-02 -1.96146320e-03 5.96348943e+02] [ 3.90386758e-02 9.99237682e-01 -1.91047595e-04 6.40544691e+01] [ 1.96742624e-03 1.14328664e-04 9.99998058e-01 -2.52868804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.951400513 meters 0.04258667395942511 Centerline is valid? [True, True] Translation: X:596.38, Y:64.06, Z:-2.53 [[ 9.99125615e-01 -4.17673225e-02 -1.87006719e-03 5.96378447e+02] [ 4.17670544e-02 9.99127359e-01 -1.82223458e-04 6.40560320e+01] [ 1.87604628e-03 1.03956927e-04 9.99998235e-01 -2.52861653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.981400513 meters 0.03875577928691057 Centerline is valid? [True, True] Translation: X:596.41, Y:64.05, Z:-2.53 [[ 9.99008114e-01 -4.44748602e-02 -2.18518609e-03 5.96409980e+02] [ 4.44745004e-02 9.99010497e-01 -2.13015472e-04 6.40536357e+01] [ 2.19249767e-03 1.15619126e-04 9.99997590e-01 -2.52848931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.011400513 meters 0.033571512745186285 Centerline is valid? [True, True] Translation: X:596.44, Y:64.05, Z:-2.53 [[ 9.98706378e-01 -5.07366490e-02 -3.37099546e-03 5.96441298e+02] [ 5.07358285e-02 9.98712054e-01 -3.28518299e-04 6.40480866e+01] [ 3.38332172e-03 1.57063073e-04 9.99994264e-01 -2.52846235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.041400513 meters 0.030893316234171127 Centerline is valid? [True, True] Translation: X:596.47, Y:64.05, Z:-2.53 [[ 9.98515155e-01 -5.43455335e-02 -3.74803196e-03 5.96472543e+02] [ 5.43445448e-02 9.98522177e-01 -3.65206870e-04 6.40457165e+01] [ 3.76234040e-03 1.60979504e-04 9.99992909e-01 -2.52840331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.071400513 meters 0.03280823555161785 Centerline is valid? [True, True] Translation: X:596.50, Y:64.05, Z:-2.53 [[ 9.98299303e-01 -5.81751420e-02 -3.76224384e-03 5.96501647e+02] [ 5.81741734e-02 9.98306381e-01 -3.66480356e-04 6.40495829e+01] [ 3.77719208e-03 1.46991658e-04 9.99992856e-01 -2.52742896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.101400513 meters 0.02701680369931201 Centerline is valid? [True, True] Translation: X:596.53, Y:64.04, Z:-2.53 [[ 9.98080802e-01 -6.18163951e-02 -3.66693372e-03 5.96533291e+02] [ 6.18154989e-02 9.98087529e-01 -3.57331121e-04 6.40436179e+01] [ 3.68200974e-03 1.29971994e-04 9.99993213e-01 -2.52745073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.131400513 meters 0.02393431611374166 Centerline is valid? [True, True] Translation: X:596.56, Y:64.04, Z:-2.53 [[ 9.97877198e-01 -6.50364263e-02 -3.37074398e-03 5.96564394e+02] [ 6.50356876e-02 9.97882885e-01 -3.28413460e-04 6.40408927e+01] [ 3.38496656e-03 1.08497651e-04 9.99994265e-01 -2.52739484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.161400513 meters 0.025284630196571543 Centerline is valid? [True, True] Translation: X:596.60, Y:64.04, Z:-2.53 [[ 9.97676871e-01 -6.80780027e-02 -2.49920207e-03 5.96595145e+02] [ 6.80776059e-02 9.97679999e-01 -2.43583886e-04 6.40438749e+01] [ 2.50998662e-03 7.28783158e-05 9.99996847e-01 -2.52620763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.191400513 meters 0.021350166867661915 Centerline is valid? [True, True] Translation: X:596.63, Y:64.04, Z:-2.53 [[ 9.97409997e-01 -7.19201661e-02 -8.86920412e-04 5.96627189e+02] [ 7.19201175e-02 9.97410392e-01 -8.65366478e-05 6.40380339e+01] [ 8.90847365e-04 2.25250974e-05 9.99999603e-01 -2.52541337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.221400513 meters 0.018455151064046972 Centerline is valid? [True, True] Translation: X:596.66, Y:64.04, Z:-2.52 [[ 9.97304969e-01 -7.33569344e-02 -1.24829503e-03 5.96660010e+02] [ 7.33568393e-02 9.97305750e-01 -1.21923063e-04 6.40373792e+01] [ 1.25387571e-03 3.00234991e-05 9.99999213e-01 -2.52476111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.251400513 meters 0.023801774912344892 Centerline is valid? [True, True] Translation: X:596.69, Y:64.04, Z:-2.52 [[ 9.97235822e-01 -7.42900020e-02 -1.30809918e-03 5.96690721e+02] [ 7.42898977e-02 9.97236679e-01 -1.28252646e-04 6.40418822e+01] [ 1.31401237e-03 3.07195789e-05 9.99999136e-01 -2.52481882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.281400513 meters 0.019544011581953152 Centerline is valid? [True, True] Translation: X:596.72, Y:64.04, Z:-2.52 [[ 9.97157072e-01 -7.53180730e-02 -2.22763773e-03 5.96722864e+02] [ 7.53177755e-02 9.97159559e-01 -2.17289660e-04 6.40429716e+01] [ 2.23767609e-03 4.88912027e-05 9.99997495e-01 -2.52491805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.311400513 meters 0.016695633952472342 Centerline is valid? [True, True] Translation: X:596.76, Y:64.04, Z:-2.53 [[ 9.97049059e-01 -7.66465982e-02 -4.29800805e-03 5.96755083e+02] [ 7.66455106e-02 9.97058319e-01 -4.17443291e-04 6.40433189e+01] [ 4.31736029e-03 8.67884193e-05 9.99990676e-01 -2.52552274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.341400513 meters 0.016121045630420654 Centerline is valid? [True, True] Translation: X:596.79, Y:64.05, Z:-2.53 [[ 9.96997176e-01 -7.72968147e-02 -4.67255291e-03 5.96787386e+02] [ 7.72955405e-02 9.97008121e-01 -4.52951516e-04 6.40451310e+01] [ 4.69358491e-03 9.04238797e-05 9.99988981e-01 -2.52596652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.371400513 meters 0.015298280476520819 Centerline is valid? [True, True] Translation: X:596.82, Y:64.05, Z:-2.53 [[ 9.96952038e-01 -7.78690076e-02 -4.80130855e-03 5.96819296e+02] [ 7.78676727e-02 9.96963595e-01 -4.64620898e-04 6.40467815e+01] [ 4.82290941e-03 8.93380275e-05 9.99988366e-01 -2.52617910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.401400513 meters 0.014898040907484169 Centerline is valid? [True, True] Translation: X:596.85, Y:64.05, Z:-2.53 [[ 9.96860123e-01 -7.90749514e-02 -4.12889835e-03 5.96851420e+02] [ 7.90739766e-02 9.96868671e-01 -3.99053534e-04 6.40493620e+01] [ 4.14752455e-03 7.13121428e-05 9.99991396e-01 -2.52573073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.431400513 meters 0.01571404969702212 Centerline is valid? [True, True] Translation: X:596.88, Y:64.05, Z:-2.53 [[ 9.96810867e-01 -7.96996138e-02 -4.00847449e-03 5.96882742e+02] [ 7.96987028e-02 9.96818924e-01 -3.86738765e-04 6.40529413e+01] [ 4.02654616e-03 6.60351861e-05 9.99991891e-01 -2.52581571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.461400513 meters 0.014257980236126615 Centerline is valid? [True, True] Translation: X:596.91, Y:64.06, Z:-2.53 [[ 9.96771835e-01 -8.01549843e-02 -4.59215906e-03 5.96913661e+02] [ 8.01537977e-02 9.96782410e-01 -4.42169458e-04 6.40563238e+01] [ 4.61282546e-03 7.26630739e-05 9.99989358e-01 -2.52541616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.491400513 meters 0.013465374575026275 Centerline is valid? [True, True] Translation: X:596.95, Y:64.06, Z:-2.53 [[ 9.96709197e-01 -8.08819252e-02 -5.37505006e-03 5.96946194e+02] [ 8.08803153e-02 9.96723687e-01 -5.16564688e-04 6.40584852e+01] [ 5.39922046e-03 8.01290314e-05 9.99985421e-01 -2.52567532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.521400513 meters 0.012252118213602031 Centerline is valid? [True, True] Translation: X:596.98, Y:64.06, Z:-2.53 [[ 9.96541094e-01 -8.28333050e-02 -6.67023325e-03 5.96978916e+02] [ 8.28308788e-02 9.96563413e-01 -6.39650351e-04 6.40591239e+01] [ 6.70029477e-03 8.49365784e-05 9.99977549e-01 -2.52716530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.551400513 meters 0.012502283477243423 Centerline is valid? [True, True] Translation: X:597.01, Y:64.06, Z:-2.53 [[ 9.96445670e-01 -8.39543739e-02 -6.90582169e-03 5.97009773e+02] [ 8.39518084e-02 9.96469597e-01 -6.61056970e-04 6.40618107e+01] [ 6.93693997e-03 7.89511359e-05 9.99975936e-01 -2.52721701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.581400513 meters 0.012543662029813048 Centerline is valid? [True, True] Translation: X:597.04, Y:64.06, Z:-2.53 [[ 9.96323365e-01 -8.54331578e-02 -6.39753191e-03 5.97042609e+02] [ 8.54309922e-02 9.96343902e-01 -6.11528023e-04 6.40618774e+01] [ 6.42638668e-03 6.27321591e-05 9.99979349e-01 -2.52673944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.611400513 meters 0.010086382358927426 Centerline is valid? [True, True] Translation: X:597.07, Y:64.06, Z:-2.52 [[ 9.96197885e-01 -8.69032442e-02 -6.13180932e-03 5.97074817e+02] [ 8.69012884e-02 9.96216755e-01 -5.85185919e-04 6.40630654e+01] [ 6.15946574e-03 5.00988451e-05 9.99981029e-01 -2.52484110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.641400513 meters 0.00906560201693867 Centerline is valid? [True, True] Translation: X:597.11, Y:64.06, Z:-2.52 [[ 9.96033470e-01 -8.88330188e-02 -5.10117811e-03 5.97106995e+02] [ 8.88316936e-02 9.96046532e-01 -4.86209347e-04 6.40624658e+01] [ 5.12420221e-03 3.11344916e-05 9.99986871e-01 -2.52372839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.671400513 meters 0.011802488392283077 Centerline is valid? [True, True] Translation: X:597.14, Y:64.06, Z:-2.52 [[ 9.96029089e-01 -8.89390659e-02 -3.98698103e-03 5.97139273e+02] [ 8.89382586e-02 9.96037069e-01 -3.79672684e-04 6.40646753e+01] [ 4.00494863e-03 2.35698874e-05 9.99991980e-01 -2.52332912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.701400513 meters 0.009119672302194704 Centerline is valid? [True, True] Translation: X:597.17, Y:64.07, Z:-2.52 [[ 9.96084326e-01 -8.83399176e-02 -3.47480761e-03 5.97172424e+02] [ 8.83393021e-02 9.96090387e-01 -3.30517665e-04 6.40660895e+01] [ 3.49042036e-03 2.22613860e-05 9.99993908e-01 -2.52216876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.731400513 meters 0.010888227564461256 Centerline is valid? [True, True] Translation: X:597.21, Y:64.07, Z:-2.52 [[ 9.96103028e-01 -8.81645569e-02 -2.40174288e-03 5.97205150e+02] [ 8.81642624e-02 9.96105923e-01 -2.28442340e-04 6.40681728e+01] [ 2.41253083e-03 1.58042171e-05 9.99997090e-01 -2.52155644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.761400513 meters 0.009261946220403515 Centerline is valid? [True, True] Translation: X:597.24, Y:64.07, Z:-2.52 [[ 9.96075171e-01 -8.84739745e-02 -2.57104646e-03 5.97237721e+02] [ 8.84736397e-02 9.96078489e-01 -2.43900639e-04 6.40698318e+01] [ 2.58254293e-03 1.54735324e-05 9.99996665e-01 -2.51988522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.791400513 meters 0.010062089300499313 Centerline is valid? [True, True] Translation: X:597.27, Y:64.07, Z:-2.52 [[ 9.96078768e-01 -8.84316527e-02 -2.63250978e-03 5.97270807e+02] [ 8.84313026e-02 9.96082247e-01 -2.49309125e-04 6.40709047e+01] [ 2.64424308e-03 1.55352572e-05 9.99996504e-01 -2.52153510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.821400513 meters 0.008814934828973879 Centerline is valid? [True, True] Translation: X:597.30, Y:64.07, Z:-2.52 [[ 9.96087302e-01 -8.83130776e-02 -3.29943726e-03 5.97303647e+02] [ 8.83125303e-02 9.96092767e-01 -3.11482603e-04 6.40728517e+01] [ 3.31405357e-03 1.88822127e-05 9.99994508e-01 -2.52170001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.851400513 meters 0.009929962231724479 Centerline is valid? [True, True] Translation: X:597.34, Y:64.08, Z:-2.52 [[ 9.96083863e-01 -8.83401194e-02 -3.60021588e-03 5.97335453e+02] [ 8.83394711e-02 9.96090369e-01 -3.39018088e-04 6.40754709e+01] [ 3.61608926e-03 1.96492802e-05 9.99993462e-01 -2.52276838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.881400513 meters 0.011130605413004402 Centerline is valid? [True, True] Translation: X:597.37, Y:64.08, Z:-2.52 [[ 9.95989442e-01 -8.93446031e-02 -4.75109627e-03 5.97366608e+02] [ 8.93434919e-02 9.96000774e-01 -4.46050489e-04 6.40772172e+01] [ 4.77194777e-03 1.97820471e-05 9.99988614e-01 -2.52320441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.911400513 meters 0.010473101068402718 Centerline is valid? [True, True] Translation: X:597.40, Y:64.08, Z:-2.52 [[ 9.95899812e-01 -9.03144078e-02 -5.18380973e-03 5.97399946e+02] [ 9.03131022e-02 9.95913303e-01 -4.85889500e-04 6.40785729e+01] [ 5.20650789e-03 1.57313239e-05 9.99986446e-01 -2.52295123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.941400513 meters 0.007853405219293673 Centerline is valid? [True, True] Translation: X:597.43, Y:64.08, Z:-2.52 [[ 9.95774488e-01 -9.16518528e-02 -5.75394049e-03 5.97433126e+02] [ 9.16502734e-02 9.95791112e-01 -5.38116320e-04 6.40790164e+01] [ 5.77904216e-03 8.49228319e-06 9.99983301e-01 -2.52287584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.971400513 meters 0.010935835300619201 Centerline is valid? [True, True] Translation: X:597.47, Y:64.08, Z:-2.52 [[ 9.95361255e-01 -9.60428919e-02 -5.63345356e-03 5.97466990e+02] [ 9.60414540e-02 9.95377196e-01 -5.25838752e-04 6.40758503e+01] [ 5.65791428e-03 -1.76455510e-05 9.99983994e-01 -2.52424515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.001400513 meters 0.012555152189063353 Centerline is valid? [True, True] Translation: X:597.50, Y:64.08, Z:-2.52 [[ 9.95085730e-01 -9.88569566e-02 -5.62964235e-03 5.97498125e+02] [ 9.88555719e-02 9.95101654e-01 -5.24377234e-04 6.40751757e+01] [ 5.65390475e-03 -3.47212119e-05 9.99984016e-01 -2.52421854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.031400513 meters 0.013220373687963189 Centerline is valid? [True, True] Translation: X:597.53, Y:64.07, Z:-2.53 [[ 9.94773346e-01 -1.01908091e-01 -6.38213246e-03 5.97530413e+02] [ 1.01906381e-01 9.94793816e-01 -5.93380207e-04 6.40737239e+01] [ 6.40937615e-03 -6.01012110e-05 9.99979458e-01 -2.52511945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.061400513 meters 0.013572824562393943 Centerline is valid? [True, True] Translation: X:597.56, Y:64.07, Z:-2.53 [[ 9.94427817e-01 -1.05169911e-01 -7.25309692e-03 5.97562926e+02] [ 1.05167799e-01 9.94454263e-01 -6.73032179e-04 6.40717560e+01] [ 7.28365588e-03 -9.35103203e-05 9.99973469e-01 -2.52500148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.091400513 meters 0.018519667592646397 Centerline is valid? [True, True] Translation: X:597.59, Y:64.07, Z:-2.52 [[ 9.93814315e-01 -1.10840210e-01 -6.89603251e-03 5.97593240e+02] [ 1.10838445e-01 9.93838232e-01 -6.38739338e-04 6.40660546e+01] [ 6.92433876e-03 -1.29557226e-04 9.99976018e-01 -2.52241731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.121400513 meters 0.020841193215495487 Centerline is valid? [True, True] Translation: X:597.62, Y:64.07, Z:-2.52 [[ 9.93577549e-01 -1.12983634e-01 -6.19299588e-03 5.97624970e+02] [ 1.12982251e-01 9.93596841e-01 -5.73733840e-04 6.40654397e+01] [ 6.21816368e-03 -1.29649555e-04 9.99980659e-01 -2.52086420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.151400513 meters 0.022474789110402037 Centerline is valid? [True, True] Translation: X:597.66, Y:64.07, Z:-2.52 [[ 9.93339757e-01 -1.15057683e-01 -6.15278592e-03 5.97656844e+02] [ 1.15056361e-01 9.93358802e-01 -5.69526503e-04 6.40650009e+01] [ 6.17745245e-03 -1.42183839e-04 9.99980909e-01 -2.52039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.181400513 meters 0.022248854770495444 Centerline is valid? [True, True] Translation: X:597.69, Y:64.07, Z:-2.52 [[ 9.93166600e-01 -1.16522707e-01 -6.52412916e-03 5.97689250e+02] [ 1.16521256e-01 9.93188015e-01 -6.03441756e-04 6.40669145e+01] [ 6.55000155e-03 -1.60881524e-04 9.99978536e-01 -2.52223384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.211400513 meters 0.025451824525189536 Centerline is valid? [True, True] Translation: X:597.72, Y:64.06, Z:-2.52 [[ 9.92950305e-01 -1.18338698e-01 -6.75610602e-03 5.97721330e+02] [ 1.18337191e-01 9.92973273e-01 -6.23748098e-04 6.40597993e+01] [ 6.78244624e-03 -1.80147744e-04 9.99976983e-01 -2.52339172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.241400513 meters 0.02397271111199412 Centerline is valid? [True, True] Translation: X:597.75, Y:64.06, Z:-2.52 [[ 9.92904999e-01 -1.18737893e-01 -6.40116383e-03 5.97753205e+02] [ 1.18736555e-01 9.92925618e-01 -5.90092117e-04 6.40634193e+01] [ 6.42594585e-03 -1.74146726e-04 9.99979338e-01 -2.52226178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.271400513 meters 0.025641506556639902 Centerline is valid? [True, True] Translation: X:597.79, Y:64.06, Z:-2.52 [[ 9.92856434e-01 -1.19166519e-01 -5.95334618e-03 5.97785863e+02] [ 1.19165374e-01 9.92874269e-01 -5.47939032e-04 6.40647044e+01] [ 5.97622023e-03 -1.65407933e-04 9.99982129e-01 -2.52141101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.301400513 meters 0.027948153627096933 Centerline is valid? [True, True] Translation: X:597.82, Y:64.06, Z:-2.52 [[ 9.92785342e-01 -1.19729924e-01 -6.48155623e-03 5.97817033e+02] [ 1.19728587e-01 9.92806482e-01 -5.95381966e-04 6.40622364e+01] [ 6.50621608e-03 -1.84941079e-04 9.99978817e-01 -2.52077211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.331400513 meters 0.026728385564731467 Centerline is valid? [True, True] Translation: X:597.85, Y:64.06, Z:-2.52 [[ 9.92510399e-01 -1.22001732e-01 -6.21974925e-03 5.97849419e+02] [ 1.22000551e-01 9.92529869e-01 -5.70484692e-04 6.40614417e+01] [ 6.24288702e-03 -1.92600844e-04 9.99980494e-01 -2.52105067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.361400513 meters 0.029855350597947854 Centerline is valid? [True, True] Translation: X:597.88, Y:64.06, Z:-2.52 [[ 9.92359782e-01 -1.23232293e-01 -5.98874599e-03 5.97880546e+02] [ 1.23231222e-01 9.92377834e-01 -5.48997387e-04 6.40577880e+01] [ 6.01075298e-03 -1.93197557e-04 9.99981917e-01 -2.52037136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.391400513 meters 0.029467830622111314 Centerline is valid? [True, True] Translation: X:597.91, Y:64.06, Z:-2.52 [[ 9.92206981e-01 -1.24481319e-01 -5.45060870e-03 5.97912889e+02] [ 1.24480449e-01 9.92221935e-01 -4.99856090e-04 6.40617509e+01] [ 5.47043625e-03 -1.82533515e-04 9.99985020e-01 -2.52041269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.421400513 meters 0.029256608790709928 Centerline is valid? [True, True] Translation: X:597.94, Y:64.06, Z:-2.52 [[ 9.92088070e-01 -1.25407100e-01 -5.85843113e-03 5.97944320e+02] [ 1.25406117e-01 9.92105346e-01 -5.36202193e-04 6.40624378e+01] [ 5.87942440e-03 -2.02723303e-04 9.99982695e-01 -2.51934670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.451400513 meters 0.030159168604316 Centerline is valid? [True, True] Translation: X:597.98, Y:64.06, Z:-2.52 [[ 9.91945482e-01 -1.26544423e-01 -5.53797518e-03 5.97976982e+02] [ 1.26543567e-01 9.91960921e-01 -5.06125145e-04 6.40615304e+01] [ 5.55750227e-03 -1.98746583e-04 9.99984537e-01 -2.51941608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.481400513 meters 0.03099262118811708 Centerline is valid? [True, True] Translation: X:598.01, Y:64.06, Z:-2.52 [[ 9.91926698e-01 -1.26713126e-01 -5.02082556e-03 5.98007973e+02] [ 1.26712429e-01 9.91939389e-01 -4.58094717e-04 6.40609688e+01] [ 5.03840125e-03 -1.81804621e-04 9.99987291e-01 -2.51897859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.511400513 meters 0.031948902380456064 Centerline is valid? [True, True] Translation: X:598.04, Y:64.06, Z:-2.52 [[ 9.91935425e-01 -1.26672403e-01 -4.26794768e-03 5.98041297e+02] [ 1.26671899e-01 9.91944594e-01 -3.89203212e-04 6.40621145e+01] [ 4.28286893e-03 -1.54564585e-04 9.99990817e-01 -2.51844662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.541400513 meters 0.031121116455737154 Centerline is valid? [True, True] Translation: X:598.07, Y:64.06, Z:-2.52 [[ 9.91968082e-01 -1.26400374e-01 -4.71913833e-03 5.98073173e+02] [ 1.26399760e-01 9.91979292e-01 -4.29271266e-04 6.40632516e+01] [ 4.73554755e-03 -1.70674560e-04 9.99988773e-01 -2.51676893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.571400513 meters 0.03367348172021172 Centerline is valid? [True, True] Translation: X:598.10, Y:64.06, Z:-2.52 [[ 9.92034582e-01 -1.25816457e-01 -6.13247623e-03 5.98104846e+02] [ 1.25815418e-01 9.92053512e-01 -5.56478128e-04 6.40616462e+01] [ 6.15375869e-03 -2.19514513e-04 9.99981041e-01 -2.51804474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.601400513 meters 0.029582638462964647 Centerline is valid? [True, True] Translation: X:598.14, Y:64.07, Z:-2.52 [[ 9.92152496e-01 -1.24854946e-01 -6.68335711e-03 5.98136413e+02] [ 1.24853698e-01 9.92174978e-01 -6.05395315e-04 6.40681462e+01] [ 6.70664630e-03 -2.33797375e-04 9.99977483e-01 -2.52001038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.631400513 meters 0.03140282240503291 Centerline is valid? [True, True] Translation: X:598.17, Y:64.07, Z:-2.52 [[ 9.92237569e-01 -1.24155803e-01 -7.06704699e-03 5.98167834e+02] [ 1.24154397e-01 9.92262706e-01 -6.38942357e-04 6.40664006e+01] [ 7.09169557e-03 -2.43422347e-04 9.99974824e-01 -2.52207547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.661400513 meters 0.03140282240503291 Centerline is valid? [True, True] Translation: X:598.20, Y:64.07, Z:-2.52 [[ 9.92259536e-01 -1.23980111e-01 -7.06713918e-03 5.98200387e+02] [ 1.23978708e-01 9.92284673e-01 -6.37920974e-04 6.40692268e+01] [ 7.09170341e-03 -2.43191617e-04 9.99974824e-01 -2.52182628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.691400513 meters 0.02960569011949598 Centerline is valid? [True, True] Translation: X:598.23, Y:64.07, Z:-2.52 [[ 9.92276078e-01 -1.23827887e-01 -7.40530840e-03 5.98233436e+02] [ 1.23826353e-01 9.92303678e-01 -6.67060270e-04 6.40736839e+01] [ 7.43091543e-03 -2.55064385e-04 9.99972358e-01 -2.52263526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.721400513 meters 0.030278578615513214 Centerline is valid? [True, True] Translation: X:598.27, Y:64.08, Z:-2.52 [[ 9.92273992e-01 -1.23847674e-01 -7.35381157e-03 5.98266477e+02] [ 1.23846172e-01 9.92301209e-01 -6.61080725e-04 6.40755758e+01] [ 7.37906942e-03 -2.54768203e-04 9.99972742e-01 -2.51957821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.751400513 meters 0.028994791223872156 Centerline is valid? [True, True] Translation: X:598.30, Y:64.08, Z:-2.52 [[ 9.92309068e-01 -1.23570122e-01 -7.28958296e-03 5.98299471e+02] [ 1.23568648e-01 9.92335811e-01 -6.53981268e-04 6.40776686e+01] [ 7.31452677e-03 -2.51812370e-04 9.99973217e-01 -2.51825735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.781400513 meters 0.030868938069032726 Centerline is valid? [True, True] Translation: X:598.33, Y:64.08, Z:-2.52 [[ 9.92352813e-01 -1.23251352e-01 -6.70813116e-03 5.98331436e+02] [ 1.23250104e-01 9.92375459e-01 -6.00662029e-04 6.40770194e+01] [ 6.73101715e-03 -2.30709211e-04 9.99977320e-01 -2.51933200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.811400513 meters 0.029494604156373967 Centerline is valid? [True, True] Translation: X:598.36, Y:64.08, Z:-2.52 [[ 9.92434881e-01 -1.22571052e-01 -7.02454672e-03 5.98363740e+02] [ 1.22569674e-01 9.92459712e-01 -6.27902822e-04 6.40801476e+01] [ 7.04854233e-03 -2.37843739e-04 9.99975130e-01 -2.51963832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.841400513 meters 0.02611777899157113 Centerline is valid? [True, True] Translation: X:598.39, Y:64.09, Z:-2.52 [[ 9.92846313e-01 -1.19169045e-01 -7.41191569e-03 5.98393638e+02] [ 1.19167426e-01 9.92873953e-01 -6.61250752e-04 6.40900136e+01] [ 7.43789866e-03 -2.26738544e-04 9.99972313e-01 -2.51760292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.871400513 meters 0.02447340848677197 Centerline is valid? [True, True] Translation: X:598.42, Y:64.10, Z:-2.52 [[ 9.93192711e-01 -1.16259655e-01 -7.20632520e-03 5.98424322e+02] [ 1.16258049e-01 9.93218834e-01 -6.42896305e-04 6.40979857e+01] [ 7.23220082e-03 -1.99273382e-04 9.99973827e-01 -2.51659513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.901400513 meters 0.02262572852446803 Centerline is valid? [True, True] Translation: X:598.46, Y:64.10, Z:-2.52 [[ 9.93617278e-01 -1.12612260e-01 -6.57137912e-03 5.98455453e+02] [ 1.12610845e-01 9.93638996e-01 -5.86126562e-04 6.41048090e+01] [ 6.59558359e-03 -1.57623074e-04 9.99978236e-01 -2.51579573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.931400513 meters 0.019936817301860962 Centerline is valid? [True, True] Translation: X:598.49, Y:64.11, Z:-2.51 [[ 9.94079291e-01 -1.08487099e-01 -6.07552337e-03 5.98486251e+02] [ 1.08485813e-01 9.94097850e-01 -5.41709069e-04 6.41086196e+01] [ 6.09843316e-03 -1.20606327e-04 9.99981397e-01 -2.51496954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.961400513 meters 0.012490674750841375 Centerline is valid? [True, True] Translation: X:598.52, Y:64.12, Z:-2.51 [[ 9.94942000e-01 -1.00315538e-01 -5.21631000e-03 5.98515956e+02] [ 1.00314479e-01 9.94955672e-01 -4.64901765e-04 6.41230619e+01] [ 5.23663409e-03 -6.07211272e-05 9.99986287e-01 -2.51442255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.991400513 meters 0.01025034549774481 Centerline is valid? [True, True] Translation: X:598.55, Y:64.13, Z:-2.51 [[ 9.95382933e-01 -9.58433148e-02 -5.18425826e-03 5.98546415e+02] [ 9.58422068e-02 9.95396432e-01 -4.62322785e-04 6.41322248e+01] [ 5.20470272e-03 -3.66825422e-05 9.99986455e-01 -2.51324920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.021400513 meters 0.010595281903137332 Centerline is valid? [True, True] Translation: X:598.58, Y:64.14, Z:-2.51 [[ 9.95792756e-01 -9.14983220e-02 -4.98436628e-03 5.98577751e+02] [ 9.14972467e-02 9.95805230e-01 -4.43818262e-04 6.41420870e+01] [ 5.00406664e-03 -1.41047807e-05 9.99987479e-01 -2.51337696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.051400513 meters 0.008008588304414473 Centerline is valid? [True, True] Translation: X:598.61, Y:64.15, Z:-2.51 [[ 9.96197571e-01 -8.69500787e-02 -5.48478579e-03 5.98610342e+02] [ 8.69487128e-02 9.96212670e-01 -4.87436842e-04 6.41511854e+01] [ 5.50639576e-03 8.68833416e-06 9.99984840e-01 -2.51280966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.081400513 meters 0.012424371175262332 Centerline is valid? [True, True] Translation: X:598.64, Y:64.17, Z:-2.51 [[ 9.97012821e-01 -7.71173354e-02 -4.28389839e-03 5.98639948e+02] [ 7.71164158e-02 9.97022023e-01 -3.79691302e-04 6.41669253e+01] [ 4.30042182e-03 4.81982069e-05 9.99990752e-01 -2.51113180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.111400513 meters 0.01617784074646017 Centerline is valid? [True, True] Translation: X:598.67, Y:64.17, Z:-2.51 [[ 9.97376941e-01 -7.23128107e-02 -3.17735764e-03 5.98671260e+02] [ 7.23122798e-02 9.97382000e-01 -2.81830322e-04 6.41749076e+01] [ 3.18941926e-03 5.13290900e-05 9.99994912e-01 -2.51015117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.141400513 meters 0.02116123802832837 Centerline is valid? [True, True] Translation: X:598.70, Y:64.19, Z:-2.51 [[ 9.97688796e-01 -6.78976697e-02 -2.64073490e-03 5.98699892e+02] [ 6.78972888e-02 9.97692289e-01 -2.33741671e-04 6.41881271e+01] [ 2.65051136e-03 5.39027060e-05 9.99996486e-01 -2.50830680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.171400513 meters 0.021105349796216283 Centerline is valid? [True, True] Translation: X:598.73, Y:64.19, Z:-2.51 [[ 9.97966142e-01 -6.36527330e-02 -3.45085605e-03 5.98730552e+02] [ 6.36520569e-02 9.97972105e-01 -3.05496430e-04 6.41946799e+01] [ 3.46330376e-03 8.52210086e-05 9.99993999e-01 -2.50946637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.201400513 meters 0.0246847988091952 Centerline is valid? [True, True] Translation: X:598.76, Y:64.21, Z:-2.51 [[ 9.98371718e-01 -5.68927441e-02 -4.13861216e-03 5.98760899e+02] [ 5.68917140e-02 9.98380288e-01 -3.66301117e-04 6.42061252e+01] [ 4.15274867e-03 1.30251936e-04 9.99991369e-01 -2.51178546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.231400513 meters 0.02940515416213141 Centerline is valid? [True, True] Translation: X:598.79, Y:64.22, Z:-2.51 [[ 9.98541358e-01 -5.38498776e-02 -3.91758127e-03 5.98790323e+02] [ 5.38489312e-02 9.98549034e-01 -3.46731392e-04 6.42178143e+01] [ 3.93056843e-03 1.35268071e-04 9.99992266e-01 -2.51000127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.261400513 meters 0.03027762589204869 Centerline is valid? [True, True] Translation: X:598.82, Y:64.22, Z:-2.51 [[ 9.98813121e-01 -4.86400779e-02 -2.54791036e-03 5.98820690e+02] [ 4.86396607e-02 9.98816366e-01 -2.25495288e-04 6.42244839e+01] [ 2.55586267e-03 1.01298157e-04 9.99996729e-01 -2.50895518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.291400513 meters 0.031181005092661508 Centerline is valid? [True, True] Translation: X:598.85, Y:64.23, Z:-2.51 [[ 9.98929011e-01 -4.61568458e-02 -3.22126989e-03 5.98850871e+02] [ 4.61561662e-02 9.98934196e-01 -2.85052738e-04 6.42308841e+01] [ 3.23099379e-03 1.36065981e-04 9.99994771e-01 -2.50866928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.321400513 meters 0.03194339939477452 Centerline is valid? [True, True] Translation: X:598.88, Y:64.23, Z:-2.51 [[ 9.99008328e-01 -4.43842387e-02 -3.52133303e-03 5.98882466e+02] [ 4.43834137e-02 9.99014522e-01 -3.12135722e-04 6.42349217e+01] [ 3.53171674e-03 1.55537406e-04 9.99993751e-01 -2.51067701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.351400513 meters 0.03051762523292342 Centerline is valid? [True, True] Translation: X:598.91, Y:64.24, Z:-2.51 [[ 9.99052902e-01 -4.33084804e-02 -4.20407465e-03 5.98914463e+02] [ 4.33072984e-02 9.99061730e-01 -3.71833100e-04 6.42381737e+01] [ 4.21623362e-03 1.89413822e-04 9.99991094e-01 -2.51039151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.381400513 meters 0.03837844565338629 Centerline is valid? [True, True] Translation: X:598.94, Y:64.25, Z:-2.51 [[ 9.99079724e-01 -4.27134195e-02 -3.90755408e-03 5.98944492e+02] [ 4.27123962e-02 9.99087350e-01 -3.44998249e-04 6.42534900e+01] [ 3.91872390e-03 1.77779757e-04 9.99992306e-01 -2.50856872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.411400513 meters 0.03387889875022069 Centerline is valid? [True, True] Translation: X:598.98, Y:64.25, Z:-2.51 [[ 9.99080734e-01 -4.26744091e-02 -4.07203634e-03 5.98977376e+02] [ 4.26733001e-02 9.99089015e-01 -3.58872683e-04 6.42510959e+01] [ 4.08364146e-03 1.84775554e-04 9.99991645e-01 -2.50926546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.441400513 meters 0.03433419668470471 Centerline is valid? [True, True] Translation: X:599.01, Y:64.25, Z:-2.51 [[ 9.99079129e-01 -4.26908992e-02 -4.28726870e-03 5.99009459e+02] [ 4.26896733e-02 9.99088309e-01 -3.77086495e-04 6.42533174e+01] [ 4.29945820e-03 1.93717146e-04 9.99990739e-01 -2.51037028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.471400513 meters 0.036123568303811186 Centerline is valid? [True, True] Translation: X:599.04, Y:64.26, Z:-2.51 [[ 9.99082720e-01 -4.25308735e-02 -4.98423018e-03 5.99040716e+02] [ 4.25292203e-02 9.99095128e-01 -4.37249032e-04 6.42597501e+01] [ 4.99831667e-03 2.24872529e-04 9.99987483e-01 -2.51060594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.501400513 meters 0.033956760894392715 Centerline is valid? [True, True] Translation: X:599.07, Y:64.26, Z:-2.51 [[ 9.99084050e-01 -4.25311908e-02 -4.70734596e-03 5.99072692e+02] [ 4.25297179e-02 9.99095117e-01 -4.12595367e-04 6.42619439e+01] [ 4.72063454e-03 2.12015354e-04 9.99988835e-01 -2.51024397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.531400513 meters 0.03071590901159513 Centerline is valid? [True, True] Translation: X:599.11, Y:64.26, Z:-2.51 [[ 9.99090222e-01 -4.24287155e-02 -4.30501368e-03 5.99105618e+02] [ 4.24274848e-02 9.99099478e-01 -3.76839979e-04 6.42612984e+01] [ 4.31712575e-03 1.93846236e-04 9.99990662e-01 -2.50988338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.561400513 meters 0.0363820733262648 Centerline is valid? [True, True] Translation: X:599.14, Y:64.27, Z:-2.51 [[ 9.99108488e-01 -4.20164172e-02 -4.10478118e-03 5.99135717e+02] [ 4.20152984e-02 9.99116903e-01 -3.58465285e-04 6.42723024e+01] [ 4.11621769e-03 1.85682103e-04 9.99991511e-01 -2.50824411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.591400513 meters 0.0406520807695042 Centerline is valid? [True, True] Translation: X:599.17, Y:64.28, Z:-2.51 [[ 9.99149580e-01 -4.09130861e-02 -5.12211910e-03 5.99166392e+02] [ 4.09113351e-02 9.99162681e-01 -4.46210615e-04 6.42792264e+01] [ 5.13608610e-03 2.36278418e-04 9.99986782e-01 -2.51002990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.621400513 meters 0.035058706024422175 Centerline is valid? [True, True] Translation: X:599.20, Y:64.27, Z:-2.51 [[ 9.99190147e-01 -3.97756291e-02 -6.07857549e-03 5.99199466e+02] [ 3.97731485e-02 9.99208596e-01 -5.28471474e-04 6.42749686e+01] [ 6.09478516e-03 2.86279404e-04 9.99981386e-01 -2.51078785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.651400513 meters 0.036433105643089624 Centerline is valid? [True, True] Translation: X:599.23, Y:64.28, Z:-2.51 [[ 9.99236915e-01 -3.86707430e-02 -5.49193819e-03 5.99231831e+02] [ 3.86687057e-02 9.99251972e-01 -4.76702410e-04 6.42783776e+01] [ 5.50626451e-03 2.63972504e-04 9.99984806e-01 -2.51139788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.681400513 meters 0.03371196505441219 Centerline is valid? [True, True] Translation: X:599.26, Y:64.28, Z:-2.51 [[ 9.99299353e-01 -3.70890746e-02 -5.02025152e-03 5.99264417e+02] [ 3.70873573e-02 9.99311933e-01 -4.34760621e-04 6.42789629e+01] [ 5.03292212e-03 2.48268145e-04 9.99987304e-01 -2.50985614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.711400513 meters 0.04309615095223417 Centerline is valid? [True, True] Translation: X:599.29, Y:64.29, Z:-2.51 [[ 9.99446361e-01 -3.31542209e-02 -2.78728548e-03 5.99293244e+02] [ 3.31536769e-02 9.99450237e-01 -2.41153489e-04 6.42947857e+01] [ 2.79374839e-03 1.48611215e-04 9.99996086e-01 -2.50610439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.741400513 meters 0.04107061205663039 Centerline is valid? [True, True] Translation: X:599.32, Y:64.29, Z:-2.50 [[ 9.99534814e-01 -3.04323719e-02 -2.00645856e-03 5.99323690e+02] [ 3.04320844e-02 9.99536822e-01 -1.73698565e-04 6.42947369e+01] [ 2.01081527e-03 1.12557047e-04 9.99997972e-01 -2.50481835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.771400513 meters 0.04004075543418509 Centerline is valid? [True, True] Translation: X:599.35, Y:64.30, Z:-2.50 [[ 9.99620123e-01 -2.75147628e-02 -1.59626552e-03 5.99354171e+02] [ 2.75145771e-02 9.99621393e-01 -1.38140155e-04 6.42956042e+01] [ 1.59946205e-03 9.41671078e-05 9.99998716e-01 -2.50484344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.801400513 meters 0.04514137168414085 Centerline is valid? [True, True] Translation: X:599.38, Y:64.30, Z:-2.51 [[ 9.99746169e-01 -2.23936213e-02 -2.47454373e-03 5.99383766e+02] [ 2.23931597e-02 9.99749219e-01 -2.14114518e-04 6.43037984e+01] [ 2.47871796e-03 1.58647316e-04 9.99996915e-01 -2.50614293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.831400513 meters 0.0489630952936281 Centerline is valid? [True, True] Translation: X:599.41, Y:64.31, Z:-2.51 [[ 9.99786543e-01 -2.05180202e-02 -2.42461689e-03 5.99413511e+02] [ 2.05175716e-02 9.99789470e-01 -2.09769645e-04 6.43105459e+01] [ 2.42841049e-03 1.59977618e-04 9.99997039e-01 -2.50610009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.861400513 meters 0.04593443739825021 Centerline is valid? [True, True] Translation: X:599.45, Y:64.31, Z:-2.51 [[ 9.99814049e-01 -1.91945490e-02 -1.85402797e-03 5.99445443e+02] [ 1.91942828e-02 9.99815760e-01 -1.61269981e-04 6.43087847e+01] [ 1.85678189e-03 1.25653255e-04 9.99998268e-01 -2.50590624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.891400513 meters 0.05345346483267995 Centerline is valid? [True, True] Translation: X:599.48, Y:64.32, Z:-2.51 [[ 9.99827724e-01 -1.85234381e-02 -1.18492661e-03 5.99475888e+02] [ 1.85233286e-02 9.99828423e-01 -1.03302605e-04 6.43196364e+01] [ 1.18663682e-03 8.13360230e-05 9.99999293e-01 -2.50538997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.921400513 meters 0.04754024133103135 Centerline is valid? [True, True] Translation: X:599.51, Y:64.31, Z:-2.51 [[ 9.99825376e-01 -1.86094171e-02 -1.70508212e-03 5.99508561e+02] [ 1.86091917e-02 9.99826823e-01 -1.47958880e-04 6.43145664e+01] [ 1.70754026e-03 1.16202842e-04 9.99998535e-01 -2.50580567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.951400513 meters 0.04867942447049645 Centerline is valid? [True, True] Translation: X:599.54, Y:64.32, Z:-2.51 [[ 9.99807976e-01 -1.93377693e-02 -3.17214067e-03 5.99539135e+02] [ 1.93370000e-02 9.99812985e-01 -2.73032508e-04 6.43160200e+01] [ 3.17682727e-03 2.11640395e-04 9.99994931e-01 -2.50688717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.981400513 meters 0.05098313991071713 Centerline is valid? [True, True] Translation: X:599.57, Y:64.32, Z:-2.51 [[ 9.99799524e-01 -1.98741381e-02 -2.43516335e-03 5.99570587e+02] [ 1.98736859e-02 9.99802477e-01 -2.09767146e-04 6.43193503e+01] [ 2.43885129e-03 1.61329421e-04 9.99997013e-01 -2.50688254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.011400513 meters 0.047153936552094884 Centerline is valid? [True, True] Translation: X:599.60, Y:64.32, Z:-2.51 [[ 9.99786297e-01 -2.05547884e-02 -2.20483372e-03 5.99603632e+02] [ 2.05544181e-02 9.99788717e-01 -1.90479927e-04 6.43158019e+01] [ 2.20828315e-03 1.45120147e-04 9.99997551e-01 -2.50559377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.041400513 meters 0.05333015817471166 Centerline is valid? [True, True] Translation: X:599.63, Y:64.32, Z:-2.50 [[ 9.99761828e-01 -2.17322827e-02 -1.99895603e-03 5.99634364e+02] [ 2.17319823e-02 9.99763818e-01 -1.71885217e-04 6.43243694e+01] [ 2.00221937e-03 1.28403001e-04 9.99997987e-01 -2.50426399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.071400513 meters 0.04385724413483613 Centerline is valid? [True, True] Translation: X:599.66, Y:64.31, Z:-2.51 [[ 9.99682039e-01 -2.48499368e-02 -4.27803790e-03 5.99664822e+02] [ 2.48485932e-02 9.99691159e-01 -3.66961320e-04 6.43101302e+01] [ 4.28583563e-03 2.60541417e-04 9.99990782e-01 -2.50759317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.101400513 meters 0.04476522710521687 Centerline is valid? [True, True] Translation: X:599.69, Y:64.31, Z:-2.51 [[ 9.99634668e-01 -2.65503496e-02 -5.06049404e-03 5.99694410e+02] [ 2.65484908e-02 9.99647432e-01 -4.34154465e-04 6.43110959e+01] [ 5.07023683e-03 2.99647375e-04 9.99987101e-01 -2.50870526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.131400513 meters 0.05001221346510185 Centerline is valid? [True, True] Translation: X:599.73, Y:64.32, Z:-2.51 [[ 9.99589407e-01 -2.83151674e-02 -4.38970486e-03 5.99725266e+02] [ 2.83137849e-02 9.99599013e-01 -3.76797833e-04 6.43175651e+01] [ 4.39861374e-03 2.52353963e-04 9.99990294e-01 -2.50825675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.161400513 meters 0.04029277692105468 Centerline is valid? [True, True] Translation: X:599.76, Y:64.31, Z:-2.51 [[ 9.99554954e-01 -2.95998502e-02 -3.70708558e-03 5.99757651e+02] [ 2.95988735e-02 9.99561807e-01 -3.18067442e-04 6.43066472e+01] [ 3.71487591e-03 2.08200331e-04 9.99993078e-01 -2.50637998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.191400513 meters 0.040980886325511605 Centerline is valid? [True, True] Translation: X:599.79, Y:64.31, Z:-2.51 [[ 9.99477930e-01 -3.20054102e-02 -4.41833953e-03 5.99787396e+02] [ 3.20040474e-02 9.99487667e-01 -3.78833496e-04 6.43055806e+01] [ 4.42820059e-03 2.37230971e-04 9.99990167e-01 -2.50772957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.221400513 meters 0.039159063034459304 Centerline is valid? [True, True] Translation: X:599.82, Y:64.30, Z:-2.51 [[ 9.99434502e-01 -3.30171265e-02 -6.36752456e-03 5.99819586e+02] [ 3.30143153e-02 9.99454730e-01 -5.46128050e-04 6.43048107e+01] [ 6.38208412e-03 3.35599752e-04 9.99979578e-01 -2.50935877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.251400513 meters 0.03936772989804943 Centerline is valid? [True, True] Translation: X:599.85, Y:64.30, Z:-2.51 [[ 9.99391777e-01 -3.40607283e-02 -7.47953429e-03 5.99851428e+02] [ 3.40568808e-02 9.99419690e-01 -6.41199189e-04 6.43044989e+01] [ 7.49703356e-03 3.86079588e-04 9.99971822e-01 -2.51094045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.281400513 meters 0.04235040468429952 Centerline is valid? [True, True] Translation: X:599.88, Y:64.31, Z:-2.51 [[ 9.99350674e-01 -3.51040419e-02 -8.12013721e-03 5.99883085e+02] [ 3.50995441e-02 9.99383579e-01 -6.95801027e-04 6.43108090e+01] [ 8.13955721e-03 4.10336112e-04 9.99966789e-01 -2.51003901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.311400513 meters 0.037642038040576725 Centerline is valid? [True, True] Translation: X:599.91, Y:64.31, Z:-2.51 [[ 9.99308866e-01 -3.64814594e-02 -7.13399295e-03 5.99914085e+02] [ 3.64780256e-02 9.99334269e-01 -6.10900836e-04 6.43052157e+01] [ 7.15153018e-03 3.50244645e-04 9.99974366e-01 -2.50725400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.341400513 meters 0.03585192534054371 Centerline is valid? [True, True] Translation: X:599.95, Y:64.31, Z:-2.51 [[ 9.99322074e-01 -3.61473579e-02 -6.98296291e-03 5.99946892e+02] [ 3.61440596e-02 9.99346411e-01 -5.97996153e-04 6.43053857e+01] [ 7.00001490e-03 3.45198128e-04 9.99975440e-01 -2.50585875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.371400513 meters 0.03947314977707556 Centerline is valid? [True, True] Translation: X:599.98, Y:64.31, Z:-2.51 [[ 9.99331361e-01 -3.59878366e-02 -6.45812497e-03 5.99978680e+02] [ 3.59850197e-02 9.99352177e-01 -5.51878295e-04 6.43114633e+01] [ 6.47380216e-03 3.19113533e-04 9.99978994e-01 -2.50546143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.401400513 meters 0.035897579589482614 Centerline is valid? [True, True] Translation: X:600.01, Y:64.31, Z:-2.51 [[ 9.99330631e-01 -3.62445719e-02 -4.96201489e-03 6.00011694e+02] [ 3.62429134e-02 9.99342920e-01 -4.23784424e-04 6.43074120e+01] [ 4.97411434e-03 2.43662880e-04 9.99987599e-01 -2.50511720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.431400513 meters 0.036868174543369554 Centerline is valid? [True, True] Translation: X:600.04, Y:64.31, Z:-2.50 [[ 9.99341639e-01 -3.60738533e-02 -3.86860890e-03 6.00042847e+02] [ 3.60728463e-02 9.99349109e-01 -3.29769957e-04 6.43116251e+01] [ 3.87798693e-03 1.90001115e-04 9.99992463e-01 -2.50334019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.461400513 meters 0.041692499998453925 Centerline is valid? [True, True] Translation: X:600.07, Y:64.32, Z:-2.50 [[ 9.99333646e-01 -3.63603445e-02 -3.19192841e-03 6.00074553e+02] [ 3.63596615e-02 9.99338732e-01 -2.71791132e-04 6.43203421e+01] [ 3.19970011e-03 1.55552587e-04 9.99994869e-01 -2.50210109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.491400513 meters 0.03644700693063358 Centerline is valid? [True, True] Translation: X:600.11, Y:64.32, Z:-2.50 [[ 9.99294346e-01 -3.73397782e-02 -4.06818052e-03 6.00107719e+02] [ 3.73386782e-02 9.99302609e-01 -3.46035111e-04 6.43160884e+01] [ 4.07826428e-03 1.93890447e-04 9.99991665e-01 -2.50307696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.521400513 meters 0.03794604056584972 Centerline is valid? [True, True] Translation: X:600.14, Y:64.32, Z:-2.50 [[ 9.99231091e-01 -3.88834525e-02 -5.03023442e-03 6.00137756e+02] [ 3.88817922e-02 9.99243726e-01 -4.27478502e-04 6.43203457e+01] [ 5.04305203e-03 2.31565280e-04 9.99987257e-01 -2.50467712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.551400513 meters 0.032620154103894385 Centerline is valid? [True, True] Translation: X:600.17, Y:64.32, Z:-2.50 [[ 9.99099093e-01 -4.20170254e-02 -5.96429023e-03 6.00169121e+02] [ 4.20147505e-02 9.99116862e-01 -5.06265836e-04 6.43183091e+01] [ 5.98029473e-03 2.55221572e-04 9.99982085e-01 -2.50498848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.581400513 meters 0.032620154103894385 Centerline is valid? [True, True] Translation: X:600.20, Y:64.32, Z:-2.50 [[ 9.99106730e-01 -4.18350231e-02 -5.96427471e-03 6.00201716e+02] [ 4.18327439e-02 9.99124499e-01 -5.06449099e-04 6.43209763e+01] [ 5.98024029e-03 2.56494727e-04 9.99982085e-01 -2.50473828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.611400513 meters 0.03548591250497179 Centerline is valid? [True, True] Translation: X:600.23, Y:64.33, Z:-2.50 [[ 9.99009006e-01 -4.41836513e-02 -5.36753903e-03 6.00231695e+02] [ 4.41818458e-02 9.99023402e-01 -4.54544792e-04 6.43273964e+01] [ 5.38238055e-03 2.16946559e-04 9.99985491e-01 -2.50433855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.641400513 meters 0.028925745776431883 Centerline is valid? [True, True] Translation: X:600.26, Y:64.32, Z:-2.50 [[ 9.98884840e-01 -4.69337820e-02 -5.12795512e-03 6.00263255e+02] [ 4.69321706e-02 9.98897984e-01 -4.34200828e-04 6.43229656e+01] [ 5.14268272e-03 1.93050561e-04 9.99986758e-01 -2.50319057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.671400513 meters 0.028635996403995133 Centerline is valid? [True, True] Translation: X:600.29, Y:64.33, Z:-2.50 [[ 9.98739142e-01 -4.99896928e-02 -4.59960066e-03 6.00293260e+02] [ 4.99884291e-02 9.98749721e-01 -3.89384569e-04 6.43257388e+01] [ 4.61331509e-03 1.58966799e-04 9.99989346e-01 -2.50239232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.701400513 meters 0.02563838816025658 Centerline is valid? [True, True] Translation: X:600.32, Y:64.33, Z:-2.50 [[ 9.98456310e-01 -5.54130771e-02 -3.79302238e-03 6.00322833e+02] [ 5.54122568e-02 9.98463509e-01 -3.21078959e-04 6.43261143e+01] [ 3.80498641e-03 1.10403382e-04 9.99992755e-01 -2.49983770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.731400513 meters 0.02068217216676605 Centerline is valid? [True, True] Translation: X:600.35, Y:64.32, Z:-2.50 [[ 9.98284599e-01 -5.83886156e-02 -4.31603544e-03 6.00354630e+02] [ 5.83875808e-02 9.98293923e-01 -3.65483574e-04 6.43222744e+01] [ 4.33001203e-03 1.12853755e-04 9.99990619e-01 -2.50069031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.761400513 meters 0.017884153926290298 Centerline is valid? [True, True] Translation: X:600.39, Y:64.32, Z:-2.50 [[ 9.98083268e-01 -6.16814545e-02 -5.01874584e-03 6.00386539e+02] [ 6.16800974e-02 9.98095880e-01 -4.24875322e-04 6.43201231e+01] [ 5.03539648e-03 1.14504217e-04 9.99987316e-01 -2.50205164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.791400513 meters 0.01524606614165242 Centerline is valid? [True, True] Translation: X:600.42, Y:64.32, Z:-2.50 [[ 9.97629925e-01 -6.86130876e-02 -5.17462694e-03 6.00416383e+02] [ 6.86117390e-02 9.97643342e-01 -4.37905112e-04 6.43185393e+01] [ 5.19247814e-03 8.18270914e-05 9.99986516e-01 -2.50149136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.821400513 meters 0.01422794153972409 Centerline is valid? [True, True] Translation: X:600.45, Y:64.32, Z:-2.50 [[ 9.97355310e-01 -7.25056892e-02 -5.03098762e-03 6.00448404e+02] [ 7.25044653e-02 9.97367997e-01 -4.25482604e-04 6.43160557e+01] [ 5.04859595e-03 5.95882672e-05 9.99987254e-01 -2.50187790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.851400513 meters 0.010275879877407043 Centerline is valid? [True, True] Translation: X:600.48, Y:64.31, Z:-2.50 [[ 9.97077401e-01 -7.61940387e-02 -5.57901114e-03 6.00481364e+02] [ 7.61925922e-02 9.97093008e-01 -4.71658891e-04 6.43134139e+01] [ 5.59873059e-03 4.52010999e-05 9.99984326e-01 -2.50129411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.881400513 meters 0.008763755874491954 Centerline is valid? [True, True] Translation: X:600.51, Y:64.31, Z:-2.50 [[ 9.96798110e-01 -7.97218986e-02 -6.16005473e-03 6.00514394e+02] [ 7.97202047e-02 9.96817144e-01 -5.20423505e-04 6.43114255e+01] [ 6.18193732e-03 2.76763421e-05 9.99980891e-01 -2.50144901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.911400513 meters 0.008256377853186251 Centerline is valid? [True, True] Translation: X:600.55, Y:64.31, Z:-2.50 [[ 9.96311683e-01 -8.55100055e-02 -7.14631702e-03 6.00546009e+02] [ 8.55078799e-02 9.96337312e-01 -6.03010116e-04 6.43056814e+01] [ 7.17170568e-03 -1.02803936e-05 9.99974283e-01 -2.50259806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.941400513 meters 0.00903554800393536 Centerline is valid? [True, True] Translation: X:600.58, Y:64.30, Z:-2.50 [[ 9.96103179e-01 -8.78979262e-02 -7.23957251e-03 6.00577154e+02] [ 8.78958127e-02 9.96129486e-01 -6.10198333e-04 6.43035511e+01] [ 7.26518681e-03 -2.85076095e-05 9.99973608e-01 -2.50302084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.971400513 meters 0.010102555316896822 Centerline is valid? [True, True] Translation: X:600.61, Y:64.30, Z:-2.50 [[ 9.95914382e-01 -9.00194711e-02 -7.14406616e-03 6.00608457e+02] [ 9.00174720e-02 9.95940005e-01 -6.01546905e-04 6.43019507e+01] [ 7.16921222e-03 -4.40015613e-05 9.99974300e-01 -2.50249270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.001400513 meters 0.011547895549560006 Centerline is valid? [True, True] Translation: X:600.64, Y:64.30, Z:-2.50 [[ 9.95607681e-01 -9.33788229e-02 -6.76313432e-03 6.00641383e+02] [ 9.33771148e-02 9.95630650e-01 -5.68573955e-04 6.43008190e+01] [ 6.78667659e-03 -6.54453730e-05 9.99976968e-01 -2.49975583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.031400513 meters 0.01220942788986533 Centerline is valid? [True, True] Translation: X:600.67, Y:64.30, Z:-2.50 [[ 9.95536188e-01 -9.41557202e-02 -6.51150380e-03 6.00673967e+02] [ 9.41541600e-02 9.95557480e-01 -5.46408764e-04 6.43023074e+01] [ 6.53402383e-03 -6.91154737e-05 9.99978651e-01 -2.49884136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.061400513 meters 0.013483666027153446 Centerline is valid? [True, True] Translation: X:600.71, Y:64.30, Z:-2.50 [[ 9.95372971e-01 -9.58103831e-02 -7.28147941e-03 6.00705330e+02] [ 9.58084862e-02 9.95399599e-01 -6.09696223e-04 6.43019852e+01] [ 7.30639692e-03 -9.07523787e-05 9.99973304e-01 -2.49996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.091400513 meters 0.013808268432868715 Centerline is valid? [True, True] Translation: X:600.74, Y:64.30, Z:-2.50 [[ 9.95284251e-01 -9.66683974e-02 -8.03003428e-03 6.00737513e+02] [ 9.66661289e-02 9.95316638e-01 -6.71056273e-04 6.43036832e+01] [ 8.05729666e-03 -1.08340589e-04 9.99967534e-01 -2.50073601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.121400513 meters 0.014896881577583536 Centerline is valid? [True, True] Translation: X:600.77, Y:64.31, Z:-2.50 [[ 9.95191054e-01 -9.76319244e-02 -7.92294288e-03 6.00769296e+02] [ 9.76297566e-02 9.95222585e-01 -6.60842545e-04 6.43057166e+01] [ 7.94961102e-03 -1.15850395e-04 9.99968395e-01 -2.50083592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.151400513 meters 0.015631393583580875 Centerline is valid? [True, True] Translation: X:600.80, Y:64.31, Z:-2.50 [[ 9.95106143e-01 -9.85446496e-02 -7.26056296e-03 6.00800613e+02] [ 9.85428607e-02 9.95132624e-01 -6.04585428e-04 6.43055228e+01] [ 7.28480173e-03 -1.13849971e-04 9.99973459e-01 -2.49984045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.181400513 meters 0.01737137263214077 Centerline is valid? [True, True] Translation: X:600.83, Y:64.30, Z:-2.50 [[ 9.94992315e-01 -9.97436183e-02 -6.44238653e-03 6.00832142e+02] [ 9.97422410e-02 9.95013165e-01 -5.35533970e-04 6.43048499e+01] [ 6.46367551e-03 -1.09725886e-04 9.99979104e-01 -2.49933743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.211400513 meters 0.017838418073072865 Centerline is valid? [True, True] Translation: X:600.86, Y:64.31, Z:-2.50 [[ 9.94805030e-01 -1.01584682e-01 -6.59587645e-03 6.00864247e+02] [ 1.01583282e-01 9.94826888e-01 -5.47789849e-04 6.43065981e+01] [ 6.61740229e-03 -1.25086682e-04 9.99978097e-01 -2.49892659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.241400513 meters 0.018719449877630707 Centerline is valid? [True, True] Translation: X:600.90, Y:64.31, Z:-2.50 [[ 9.94727823e-01 -1.02264266e-01 -7.65367352e-03 6.00895841e+02] [ 1.02262412e-01 9.94757255e-01 -6.34207767e-04 6.43092096e+01] [ 7.67840406e-03 -1.51819002e-04 9.99970509e-01 -2.49885231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.271400513 meters 0.01863411608545723 Centerline is valid? [True, True] Translation: X:600.93, Y:64.31, Z:-2.50 [[ 9.94685978e-01 -1.02580077e-01 -8.78253238e-03 6.00928400e+02] [ 1.02577661e-01 9.94724734e-01 -7.26256010e-04 6.43128453e+01] [ 8.81070159e-03 -1.78494963e-04 9.99961169e-01 -2.50012024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.301400513 meters 0.02193333416202772 Centerline is valid? [True, True] Translation: X:600.96, Y:64.31, Z:-2.50 [[ 9.94646879e-01 -1.02969288e-01 -8.65519835e-03 6.00959915e+02] [ 1.02966969e-01 9.94684519e-01 -7.14362524e-04 6.43141965e+01] [ 8.68274921e-03 -1.80661086e-04 9.99962288e-01 -2.50196433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.331400513 meters 0.021312455902256916 Centerline is valid? [True, True] Translation: X:600.99, Y:64.32, Z:-2.50 [[ 9.94588946e-01 -1.03594155e-01 -7.81538973e-03 6.00992231e+02] [ 1.03592291e-01 9.94619637e-01 -6.43993550e-04 6.43157161e+01] [ 7.84005407e-03 -1.69105263e-04 9.99969252e-01 -2.50021842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.361400513 meters 0.020008135569266977 Centerline is valid? [True, True] Translation: X:601.02, Y:64.32, Z:-2.50 [[ 9.94440203e-01 -1.05038520e-01 -7.45599543e-03 6.01024534e+02] [ 1.05036872e-01 9.94468139e-01 -6.13278992e-04 6.43208083e+01] [ 7.47916782e-03 -1.73285156e-04 9.99972016e-01 -2.49909498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.391400513 meters 0.025414195199694064 Centerline is valid? [True, True] Translation: X:601.05, Y:64.32, Z:-2.50 [[ 9.94052702e-01 -1.08666230e-01 -7.13276170e-03 6.01054935e+02] [ 1.08664825e-01 9.94078273e-01 -5.85501161e-04 6.43175574e+01] [ 7.15414764e-03 -1.93061287e-04 9.99974390e-01 -2.49851321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.421400513 meters 0.02424423178031738 Centerline is valid? [True, True] Translation: X:601.09, Y:64.32, Z:-2.50 [[ 9.93954462e-01 -1.09547122e-01 -7.34549758e-03 6.01086652e+02] [ 1.09545655e-01 9.93981582e-01 -6.03009023e-04 6.43218966e+01] [ 7.36734721e-03 -2.05303832e-04 9.99972840e-01 -2.49902297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.451400513 meters 0.02478181251258713 Centerline is valid? [True, True] Translation: X:601.12, Y:64.32, Z:-2.50 [[ 9.93912616e-01 -1.09862846e-01 -8.23815804e-03 6.01119091e+02] [ 1.09861024e-01 9.93946729e-01 -6.74821483e-04 6.43240441e+01] [ 8.26242805e-03 -2.34338892e-04 9.99965838e-01 -2.49965390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.481400513 meters 0.025000673840220502 Centerline is valid? [True, True] Translation: X:601.15, Y:64.33, Z:-2.50 [[ 9.93840655e-01 -1.10409492e-01 -9.51292794e-03 6.01151490e+02] [ 1.10407103e-01 9.93886144e-01 -7.77529780e-04 6.43271422e+01] [ 9.54061393e-03 -2.77554104e-04 9.99954449e-01 -2.50085856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.511400513 meters 0.025046389490228634 Centerline is valid? [True, True] Translation: X:601.18, Y:64.33, Z:-2.50 [[ 9.93754548e-01 -1.11118484e-01 -1.02264878e-02 6.01183549e+02] [ 1.11115779e-01 9.93807118e-01 -8.34106664e-04 6.43312051e+01] [ 1.02558410e-02 -3.07426861e-04 9.99947360e-01 -2.50184898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.541400513 meters 0.02793907562347345 Centerline is valid? [True, True] Translation: X:601.22, Y:64.33, Z:-2.50 [[ 9.93538326e-01 -1.13080372e-01 -9.71716066e-03 6.01215190e+02] [ 1.13078038e-01 9.93585795e-01 -7.91065371e-04 6.43306718e+01] [ 9.74428677e-03 -3.12843698e-04 9.99952474e-01 -2.50105052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.571400513 meters 0.028600921363797355 Centerline is valid? [True, True] Translation: X:601.25, Y:64.33, Z:-2.50 [[ 9.93445220e-01 -1.13980968e-01 -8.65648261e-03 6.01247345e+02] [ 1.13979160e-01 9.93482892e-01 -7.03526729e-04 6.43345794e+01] [ 8.68025603e-03 -2.87743354e-04 9.99962284e-01 -2.50056408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.601400513 meters 0.03353433003604022 Centerline is valid? [True, True] Translation: X:601.28, Y:64.33, Z:-2.50 [[ 9.93134605e-01 -1.16682202e-01 -8.30177159e-03 6.01278322e+02] [ 1.16680643e-01 9.93169257e-01 -6.73505160e-04 6.43302116e+01] [ 8.32365039e-03 -2.99774765e-04 9.99965313e-01 -2.49831150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.631400513 meters 0.03455086658432221 Centerline is valid? [True, True] Translation: X:601.31, Y:64.33, Z:-2.50 [[ 9.93009640e-01 -1.17680292e-01 -9.12164949e-03 6.01310628e+02] [ 1.17678455e-01 9.93051476e-01 -7.39694524e-04 6.43324405e+01] [ 9.14531496e-03 -3.38897828e-04 9.99958123e-01 -2.49893760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.661400513 meters 0.03430280042786766 Centerline is valid? [True, True] Translation: X:601.34, Y:64.34, Z:-2.50 [[ 9.92886302e-01 -1.18663469e-01 -9.78633839e-03 6.01342371e+02] [ 1.18661418e-01 9.92934459e-01 -7.92003406e-04 6.43373159e+01] [ 9.81117449e-03 -3.74891456e-04 9.99951799e-01 -2.50020864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.691400513 meters 0.031732449162776684 Centerline is valid? [True, True] Translation: X:601.37, Y:64.34, Z:-2.50 [[ 9.92807838e-01 -1.19324471e-01 -9.70917700e-03 6.01374664e+02] [ 1.19322499e-01 9.92855239e-01 -7.84238271e-04 6.43431481e+01] [ 9.73338607e-03 -3.79925359e-04 9.99952557e-01 -2.49948970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.721400513 meters 0.03325273460363147 Centerline is valid? [True, True] Translation: X:601.41, Y:64.35, Z:-2.50 [[ 9.92476095e-01 -1.22149921e-01 -8.40218541e-03 6.01405883e+02] [ 1.22148554e-01 9.92511598e-01 -6.77587219e-04 6.43457356e+01] [ 8.42203369e-03 -3.53825682e-04 9.99964471e-01 -2.49822212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.751400513 meters 0.037010708686792654 Centerline is valid? [True, True] Translation: X:601.44, Y:64.34, Z:-2.50 [[ 9.92306140e-01 -1.23535355e-01 -8.21829565e-03 6.01437648e+02] [ 1.23534097e-01 9.92340107e-01 -6.62496757e-04 6.43447376e+01] [ 8.23718616e-03 -3.57840131e-04 9.99966010e-01 -2.49835971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.781400513 meters 0.037085364330019306 Centerline is valid? [True, True] Translation: X:601.47, Y:64.35, Z:-2.50 [[ 9.92143178e-01 -1.24787835e-01 -8.93931794e-03 6.01469528e+02] [ 1.24786409e-01 9.92183368e-01 -7.19324857e-04 6.43476963e+01] [ 8.95920557e-03 -4.01832133e-04 9.99959785e-01 -2.49820109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.811400513 meters 0.03720466333349917 Centerline is valid? [True, True] Translation: X:601.50, Y:64.35, Z:-2.50 [[ 9.91959614e-01 -1.26181761e-01 -9.71018485e-03 6.01501543e+02] [ 1.26180150e-01 9.92007036e-01 -7.80880295e-04 6.43525603e+01] [ 9.73110454e-03 -4.50630861e-04 9.99952550e-01 -2.49928581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.841400513 meters 0.03905337239235468 Centerline is valid? [True, True] Translation: X:601.53, Y:64.35, Z:-2.50 [[ 9.91738207e-01 -1.27820409e-01 -1.08292384e-02 6.01531720e+02] [ 1.27818506e-01 9.91797193e-01 -8.70441555e-04 6.43549309e+01] [ 1.08516684e-02 -5.20926930e-04 9.99940983e-01 -2.50081290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.871400513 meters 0.038841335078375575 Centerline is valid? [True, True] Translation: X:601.56, Y:64.36, Z:-2.50 [[ 9.91832789e-01 -1.27125121e-01 -1.03403439e-02 6.01562678e+02] [ 1.27123354e-01 9.91886568e-01 -8.30661015e-04 6.43585948e+01] [ 1.03620461e-02 -4.90622362e-04 9.99946192e-01 -2.49903303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.901400513 meters 0.038532872221768134 Centerline is valid? [True, True] Translation: X:601.59, Y:64.37, Z:-2.50 [[ 9.91999929e-01 -1.25906373e-01 -9.15014875e-03 6.01594574e+02] [ 1.25904949e-01 9.92042038e-01 -7.33812439e-04 6.43653550e+01] [ 9.16972388e-03 -4.24107126e-04 9.99957867e-01 -2.49753274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.931400513 meters 0.03623751040551253 Centerline is valid? [True, True] Translation: X:601.63, Y:64.37, Z:-2.50 [[ 9.92171922e-01 -1.24551703e-01 -9.04162229e-03 6.01625509e+02] [ 1.24550267e-01 9.92213035e-01 -7.23875922e-04 6.43726305e+01] [ 9.06137548e-03 -4.07927106e-04 9.99958862e-01 -2.49548304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.961400513 meters 0.03103889348645211 Centerline is valid? [True, True] Translation: X:601.66, Y:64.39, Z:-2.50 [[ 9.92659457e-01 -1.20532548e-01 -9.95521719e-03 6.01655307e+02] [ 1.20530608e-01 9.92709292e-01 -7.96780832e-04 6.43880114e+01] [ 9.97867463e-03 -4.08976356e-04 9.99950128e-01 -2.49720611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.991400513 meters 0.03100188604637673 Centerline is valid? [True, True] Translation: X:601.69, Y:64.39, Z:-2.50 [[ 9.92961782e-01 -1.17956818e-01 -1.06342969e-02 6.01685290e+02] [ 1.17954459e-01 9.93018641e-01 -8.50937907e-04 6.43916717e+01] [ 1.06604290e-02 -4.09413918e-04 9.99943092e-01 -2.49701017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.021400513 meters 0.029977258851648862 Centerline is valid? [True, True] Translation: X:601.72, Y:64.40, Z:-2.50 [[ 9.93278458e-01 -1.15239583e-01 -1.08509250e-02 6.01715352e+02] [ 1.15236967e-01 9.93337650e-01 -8.68105609e-04 6.43994470e+01] [ 1.08786725e-02 -3.88157090e-04 9.99940750e-01 -2.49756027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.051400513 meters 0.030413541112143082 Centerline is valid? [True, True] Translation: X:601.75, Y:64.41, Z:-2.50 [[ 9.93549769e-01 -1.12913596e-01 -1.04583095e-02 6.01745092e+02] [ 1.12911039e-01 9.93604749e-01 -8.36494466e-04 6.44052697e+01] [ 1.04858776e-02 -3.49759707e-04 9.99944961e-01 -2.49710836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.081400513 meters 0.02588770854253288 Centerline is valid? [True, True] Translation: X:601.78, Y:64.42, Z:-2.50 [[ 9.93931067e-01 -1.09553370e-01 -9.95455744e-03 6.01775016e+02] [ 1.09550886e-01 9.93980870e-01 -7.96107569e-04 6.44161658e+01] [ 9.98185593e-03 -2.99254539e-04 9.99950135e-01 -2.49527660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.111400513 meters 0.026632489265607816 Centerline is valid? [True, True] Translation: X:601.81, Y:64.42, Z:-2.50 [[ 9.94141386e-01 -1.07673184e-01 -9.45467282e-03 6.01805147e+02] [ 1.07670859e-01 9.94186308e-01 -7.56072443e-04 6.44204833e+01] [ 9.48111498e-03 -2.66349834e-04 9.99955018e-01 -2.49578310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.141400513 meters 0.022930601046010374 Centerline is valid? [True, True] Translation: X:601.84, Y:64.43, Z:-2.50 [[ 9.94447145e-01 -1.04838405e-01 -9.15335264e-03 6.01836171e+02] [ 1.04836107e-01 9.94489243e-01 -7.31840443e-04 6.44310928e+01] [ 9.17963572e-03 -2.31825214e-04 9.99957839e-01 -2.49512351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.171400513 meters 0.017218815075466916 Centerline is valid? [True, True] Translation: X:601.87, Y:64.45, Z:-2.49 [[ 9.95227233e-01 -9.72398623e-02 -8.19541374e-03 6.01865291e+02] [ 9.72377643e-02 9.95260965e-01 -6.55007907e-04 6.44488525e+01] [ 8.22026826e-03 -1.45022003e-04 9.99966203e-01 -2.49285221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.201400513 meters 0.014117055601760548 Centerline is valid? [True, True] Translation: X:601.90, Y:64.46, Z:-2.49 [[ 9.95601313e-01 -9.33684591e-02 -7.76889482e-03 6.01896179e+02] [ 9.33664566e-02 9.95631618e-01 -6.20841088e-04 6.44594406e+01] [ 7.79292430e-03 -1.07243978e-04 9.99969629e-01 -2.49215066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.231400513 meters 0.01455917955627949 Centerline is valid? [True, True] Translation: X:601.93, Y:64.47, Z:-2.49 [[ 9.95930428e-01 -8.98378393e-02 -7.19346051e-03 6.01926675e+02] [ 8.98360310e-02 9.95956403e-01 -5.74756064e-04 6.44661094e+01] [ 7.21600790e-03 -7.38148886e-05 9.99973962e-01 -2.49173960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.261400513 meters 0.00990098889663946 Centerline is valid? [True, True] Translation: X:601.96, Y:64.48, Z:-2.49 [[ 9.96446879e-01 -8.39396255e-02 -6.91065292e-03 6.01957812e+02] [ 8.39378215e-02 9.96470842e-01 -5.51169440e-04 6.44811462e+01] [ 6.93252909e-03 -3.08540839e-05 9.99975969e-01 -2.49075113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.291400513 meters 0.009351986867675218 Centerline is valid? [True, True] Translation: X:601.99, Y:64.49, Z:-2.49 [[ 9.96691835e-01 -8.10150187e-02 -6.47716431e-03 6.01988951e+02] [ 8.10133788e-02 9.96712881e-01 -5.15589253e-04 6.44888266e+01] [ 6.49764357e-03 -1.08533670e-05 9.99978890e-01 -2.48981479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.321400513 meters 0.012564343218227227 Centerline is valid? [True, True] Translation: X:602.02, Y:64.50, Z:-2.49 [[ 9.96920908e-01 -7.81990821e-02 -5.79720196e-03 6.02021881e+02] [ 7.81977249e-02 9.96937763e-01 -4.60752679e-04 6.44974920e+01] [ 5.81547999e-03 6.00597578e-06 9.99983090e-01 -2.48961757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.351400513 meters 0.008979281790031258 Centerline is valid? [True, True] Translation: X:602.05, Y:64.51, Z:-2.49 [[ 9.97318243e-01 -7.29633883e-02 -5.71538498e-03 6.02053134e+02] [ 7.29619891e-02 9.97334619e-01 -4.53203541e-04 6.45092544e+01] [ 5.73321857e-03 3.49823019e-05 9.99983564e-01 -2.48907673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.381400513 meters 0.011050703383520809 Centerline is valid? [True, True] Translation: X:602.08, Y:64.51, Z:-2.49 [[ 9.97440049e-01 -7.12400458e-02 -6.18104589e-03 6.02083653e+02] [ 7.12383834e-02 9.97459199e-01 -4.88988952e-04 6.45148497e+01] [ 6.20017668e-03 4.74094468e-05 9.99980778e-01 -2.49028941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.411400513 meters 0.010347974816059667 Centerline is valid? [True, True] Translation: X:602.11, Y:64.52, Z:-2.49 [[ 9.97524861e-01 -6.99457464e-02 -7.19338043e-03 6.02114574e+02] [ 6.99434704e-02 9.97550795e-01 -5.67791662e-04 6.45199169e+01] [ 7.21547698e-03 6.32563075e-05 9.99973966e-01 -2.49020224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.441400513 meters 0.012167963898060097 Centerline is valid? [True, True] Translation: X:602.15, Y:64.52, Z:-2.49 [[ 9.97491495e-01 -7.04870552e-02 -6.50327058e-03 6.02148171e+02] [ 7.04852119e-02 9.97512693e-01 -5.12489330e-04 6.45218366e+01] [ 6.52321881e-03 5.28193430e-05 9.99978722e-01 -2.48980919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.471400513 meters 0.011644641059321914 Centerline is valid? [True, True] Translation: X:602.18, Y:64.52, Z:-2.49 [[ 9.97483528e-01 -7.07162282e-02 -5.08199625e-03 6.02181440e+02] [ 7.07151088e-02 9.97496473e-01 -3.99853761e-04 6.45240741e+01] [ 5.09754949e-03 3.94736225e-05 9.99987007e-01 -2.48636133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.501400513 meters 0.011644641059321914 Centerline is valid? [True, True] Translation: X:602.21, Y:64.53, Z:-2.49 [[ 9.97496707e-01 -7.05300796e-02 -5.08207065e-03 6.02214036e+02] [ 7.05289626e-02 9.97509652e-01 -3.98905369e-04 6.45265297e+01] [ 5.09754935e-03 3.94736215e-05 9.99987007e-01 -2.48611246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.531400513 meters 0.01271492003020311 Centerline is valid? [True, True] Translation: X:602.24, Y:64.53, Z:-2.49 [[ 9.97586285e-01 -6.92936289e-02 -4.47172996e-03 6.02244486e+02] [ 6.92927562e-02 9.97596307e-01 -3.49995707e-04 6.45314567e+01] [ 4.48523377e-03 3.92924231e-05 9.99989941e-01 -2.48540180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.561400513 meters 0.013129094999639598 Centerline is valid? [True, True] Translation: X:602.28, Y:64.53, Z:-2.49 [[ 9.97665993e-01 -6.81447274e-02 -4.34318994e-03 6.02276472e+02] [ 6.81438935e-02 9.97675445e-01 -3.39867322e-04 6.45329241e+01] [ 4.35625413e-03 4.31121960e-05 9.99990511e-01 -2.48684433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.591400513 meters 0.0118599963814312 Centerline is valid? [True, True] Translation: X:602.31, Y:64.54, Z:-2.49 [[ 9.97763027e-01 -6.66566591e-02 -5.08248804e-03 6.02308533e+02] [ 6.66555031e-02 9.97775970e-01 -3.96675501e-04 6.45357161e+01] [ 5.09762550e-03 5.70123509e-05 9.99987005e-01 -2.48727952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.621400513 meters 0.013585095306883356 Centerline is valid? [True, True] Translation: X:602.34, Y:64.54, Z:-2.49 [[ 9.98024394e-01 -6.24480192e-02 -6.89589086e-03 6.02340838e+02] [ 6.24458016e-02 9.98048212e-01 -5.36627839e-04 6.45418290e+01] [ 6.91594289e-03 1.04948241e-04 9.99976079e-01 -2.48708229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.651400513 meters 0.015737896770071702 Centerline is valid? [True, True] Translation: X:602.37, Y:64.55, Z:-2.49 [[ 9.98213043e-01 -5.92757216e-02 -7.55705835e-03 6.02372146e+02] [ 5.92729775e-02 9.98241639e-01 -5.86761642e-04 6.45474801e+01] [ 7.57855104e-03 1.37783774e-04 9.99971273e-01 -2.48609712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.681400513 meters 0.021209872832497756 Centerline is valid? [True, True] Translation: X:602.40, Y:64.56, Z:-2.49 [[ 9.98697628e-01 -5.04566551e-02 -7.56134997e-03 6.02402588e+02] [ 5.04536639e-02 9.98726231e-01 -5.85939220e-04 6.45557552e+01] [ 7.58128309e-03 2.03678300e-04 9.99971241e-01 -2.48540000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.711400513 meters 0.027359423193051752 Centerline is valid? [True, True] Translation: X:602.43, Y:64.56, Z:-2.48 [[ 9.98952301e-01 -4.53286321e-02 -6.29405866e-03 6.02432020e+02] [ 4.53264579e-02 9.98972109e-01 -4.87723443e-04 6.45648303e+01] [ 6.30969689e-03 2.01925071e-04 9.99980073e-01 -2.48497077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.741400513 meters 0.027775826321240937 Centerline is valid? [True, True] Translation: X:602.46, Y:64.57, Z:-2.48 [[ 9.99196124e-01 -3.97715752e-02 -5.03256451e-03 6.02462071e+02] [ 3.97701155e-02 9.99208780e-01 -3.89835607e-04 6.45682753e+01] [ 5.04408702e-03 1.89376555e-04 9.99987261e-01 -2.48232469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.771400513 meters 0.03101665826191921 Centerline is valid? [True, True] Translation: X:602.49, Y:64.58, Z:-2.48 [[ 9.99400388e-01 -3.44561545e-02 -3.41139271e-03 6.02492338e+02] [ 3.44554529e-02 9.99406200e-01 -2.64226401e-04 6.45750375e+01] [ 3.41847125e-03 1.46526887e-04 9.99994146e-01 -2.48046253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.801400513 meters 0.037040987240972385 Centerline is valid? [True, True] Translation: X:602.52, Y:64.58, Z:-2.48 [[ 9.99568242e-01 -2.92353256e-02 -2.93691476e-03 6.02521327e+02] [ 2.92347826e-02 9.99572546e-01 -2.27654517e-04 6.45849065e+01] [ 2.94231492e-03 1.41696161e-04 9.99995661e-01 -2.47952777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.831400513 meters 0.041772313143692674 Centerline is valid? [True, True] Translation: X:602.55, Y:64.59, Z:-2.48 [[ 9.99778362e-01 -2.06976012e-02 -3.85168596e-03 6.02551532e+02] [ 2.06966060e-02 9.99785758e-01 -2.98072574e-04 6.45891559e+01] [ 3.85703016e-03 2.18289683e-04 9.99992538e-01 -2.48345816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.861400513 meters 0.04073326266631645 Centerline is valid? [True, True] Translation: X:602.58, Y:64.59, Z:-2.48 [[ 9.99842594e-01 -1.71459054e-02 -4.56116027e-03 6.02581873e+02] [ 1.71444733e-02 9.99852960e-01 -3.52891937e-04 6.45904332e+01] [ 4.56654025e-03 2.74637700e-04 9.99989536e-01 -2.48287553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.891400513 meters 0.044394750564135034 Centerline is valid? [True, True] Translation: X:602.61, Y:64.60, Z:-2.48 [[ 9.99888191e-01 -1.43578757e-02 -4.17822485e-03 6.02611121e+02] [ 1.43566499e-02 9.99896886e-01 -3.23217819e-04 6.45966816e+01] [ 4.18243474e-03 2.63196369e-04 9.99991219e-01 -2.48271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.921400513 meters 0.045835700936727175 Centerline is valid? [True, True] Translation: X:602.64, Y:64.60, Z:-2.48 [[ 9.99925942e-01 -1.16064208e-02 -3.66094064e-03 6.02641414e+02] [ 1.16054612e-02 9.99932614e-01 -2.83272397e-04 6.46007306e+01] [ 3.66398173e-03 2.40764513e-04 9.99993259e-01 -2.48054352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.951400513 meters 0.05485304701214768 Centerline is valid? [True, True] Translation: X:602.67, Y:64.61, Z:-2.48 [[ 9.99968303e-01 -7.31280214e-03 -3.14896305e-03 6.02670176e+02] [ 7.31207065e-03 9.99973237e-01 -2.43743912e-04 6.46110487e+01] [ 3.15066122e-03 2.20710746e-04 9.99995012e-01 -2.47836420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.981400513 meters 0.04728768475525051 Centerline is valid? [True, True] Translation: X:602.70, Y:64.60, Z:-2.48 [[ 9.99975881e-01 -6.19674417e-03 -3.13636876e-03 6.02701836e+02] [ 6.19601343e-03 9.99980775e-01 -2.42652287e-04 6.46011518e+01] [ 3.13781211e-03 2.23213451e-04 9.99995052e-01 -2.47886144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.011400513 meters 0.0514986920634971 Centerline is valid? [True, True] Translation: X:602.73, Y:64.60, Z:-2.48 [[ 9.99978408e-01 -5.67070730e-03 -3.32050290e-03 6.02732631e+02] [ 5.66988517e-03 9.99983893e-01 -2.56954227e-04 6.46047866e+01] [ 3.32190653e-03 2.38121809e-04 9.99994454e-01 -2.47959515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.041400513 meters 0.050083093954750184 Centerline is valid? [True, True] Translation: X:602.77, Y:64.60, Z:-2.48 [[ 9.99977780e-01 -5.55327446e-03 -3.68780416e-03 6.02765077e+02] [ 5.55226001e-03 9.99984545e-01 -2.85263650e-04 6.46027817e+01] [ 3.68933131e-03 2.64781664e-04 9.99993159e-01 -2.47940868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.071400513 meters 0.05991972097757556 Centerline is valid? [True, True] Translation: X:602.80, Y:64.61, Z:-2.48 [[ 9.99973839e-01 -6.33936895e-03 -3.48338728e-03 6.02795720e+02] [ 6.33846926e-03 9.99979875e-01 -2.69260133e-04 6.46102155e+01] [ 3.48502411e-03 2.47173746e-04 9.99993897e-01 -2.47897838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.101400513 meters 0.05019348883178881 Centerline is valid? [True, True] Translation: X:602.83, Y:64.60, Z:-2.48 [[ 9.99971564e-01 -6.64916176e-03 -3.55793214e-03 6.02829010e+02] [ 6.64822532e-03 9.99977863e-01 -2.74959219e-04 6.45962633e+01] [ 3.55968162e-03 2.51297465e-04 9.99993633e-01 -2.47924554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.131400513 meters 0.0615903843951558 Centerline is valid? [True, True] Translation: X:602.86, Y:64.61, Z:-2.48 [[ 9.99968031e-01 -6.97415585e-03 -3.91131798e-03 6.02859676e+02] [ 6.97302753e-03 9.99975643e-01 -3.02039570e-04 6.46084535e+01] [ 3.91332918e-03 2.74756187e-04 9.99992305e-01 -2.47916133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.161400513 meters 0.06131266086521963 Centerline is valid? [True, True] Translation: X:602.89, Y:64.61, Z:-2.48 [[ 9.99970320e-01 -6.32784158e-03 -4.39515503e-03 6.02892446e+02] [ 6.32641175e-03 9.99979931e-01 -3.39146403e-04 6.46071716e+01] [ 4.39721288e-03 3.11330777e-04 9.99990284e-01 -2.47824820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.191400513 meters 0.06300499258965735 Centerline is valid? [True, True] Translation: X:602.92, Y:64.60, Z:-2.48 [[ 9.99974873e-01 -4.36523048e-03 -5.58548637e-03 6.02923669e+02] [ 4.36289317e-03 9.99990390e-01 -4.30577233e-04 6.46033463e+01] [ 5.58731226e-03 4.06197534e-04 9.99984308e-01 -2.47960720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.221400513 meters 0.06572780774763741 Centerline is valid? [True, True] Translation: X:602.95, Y:64.60, Z:-2.48 [[ 9.99978195e-01 -3.00699969e-03 -5.87932795e-03 6.02953176e+02] [ 3.00438791e-03 9.99995384e-01 -4.53012261e-04 6.46045676e+01] [ 5.88066302e-03 4.35338602e-04 9.99982614e-01 -2.48049583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.251400513 meters 0.06609813506756398 Centerline is valid? [True, True] Translation: X:602.98, Y:64.60, Z:-2.48 [[ 9.99982218e-01 -1.83121859e-03 -5.67549854e-03 6.02982517e+02] [ 1.82876584e-03 9.99998232e-01 -4.37324820e-04 6.46024286e+01] [ 5.67628935e-03 4.26937885e-04 9.99983799e-01 -2.48034189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.281400513 meters 0.06436323640127983 Centerline is valid? [True, True] Translation: X:603.01, Y:64.60, Z:-2.48 [[ 9.99988381e-01 -8.22384785e-04 -4.74993952e-03 6.03012743e+02] [ 8.20654709e-04 9.99999596e-01 -3.66168609e-04 6.45975933e+01] [ 4.75023873e-03 3.62266294e-04 9.99988652e-01 -2.47925531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.311400513 meters 0.06519085988285545 Centerline is valid? [True, True] Translation: X:603.04, Y:64.59, Z:-2.48 [[ 9.99993568e-01 1.51036691e-03 -3.25323504e-03 6.03044049e+02] [-1.51119111e-03 9.99998827e-01 -2.50906622e-04 6.45920853e+01] [ 3.25285226e-03 2.55821268e-04 9.99994677e-01 -2.47587882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.341400513 meters 0.07844818677897762 Centerline is valid? [True, True] Translation: X:603.07, Y:64.61, Z:-2.47 [[ 9.99991174e-01 2.85184648e-03 -3.08518036e-03 6.03071501e+02] [-2.85259337e-03 9.99995903e-01 -2.37718212e-04 6.46066811e+01] [ 3.08448978e-03 2.46516879e-04 9.99995213e-01 -2.47439640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.371400513 meters 0.0670439626339215 Centerline is valid? [True, True] Translation: X:603.10, Y:64.59, Z:-2.48 [[ 9.99988182e-01 3.80034255e-03 -3.03189748e-03 6.03102575e+02] [-3.80106909e-03 9.99992749e-01 -2.33905686e-04 6.45896556e+01] [ 3.03098657e-03 2.45427374e-04 9.99995376e-01 -2.47620918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.401400513 meters 0.07233910559185498 Centerline is valid? [True, True] Translation: X:603.13, Y:64.59, Z:-2.48 [[ 9.99980874e-01 5.47304030e-03 -2.88038645e-03 6.03131546e+02] [-5.47370311e-03 9.99984994e-01 -2.22280153e-04 6.45892718e+01] [ 2.87912668e-03 2.38042282e-04 9.99995827e-01 -2.47580947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.431400513 meters 0.0710247083852818 Centerline is valid? [True, True] Translation: X:603.16, Y:64.59, Z:-2.47 [[ 9.99980814e-01 5.76269224e-03 -2.27210327e-03 6.03160902e+02] [-5.76310454e-03 9.99983378e-01 -1.74955330e-04 6.45856435e+01] [ 2.27105729e-03 1.88046342e-04 9.99997403e-01 -2.47426162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.461400513 meters 0.0723178085097981 Centerline is valid? [True, True] Translation: X:603.19, Y:64.59, Z:-2.47 [[ 9.99980760e-01 5.99331450e-03 -1.60007429e-03 6.03188707e+02] [-5.99351935e-03 9.99982031e-01 -1.23257954e-04 6.45858461e+01] [ 1.59930682e-03 1.32845658e-04 9.99998712e-01 -2.47125164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.491400513 meters 0.07316848128643462 Centerline is valid? [True, True] Translation: X:603.22, Y:64.59, Z:-2.47 [[ 9.99979482e-01 6.25454105e-03 -1.38464576e-03 6.03216024e+02] [-6.25469484e-03 9.99980434e-01 -1.06763483e-04 6.45852693e+01] [ 1.38395091e-03 1.15421829e-04 9.99999036e-01 -2.46938382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.521400513 meters 0.08062093456240403 Centerline is valid? [True, True] Translation: X:603.24, Y:64.59, Z:-2.47 [[ 9.99974754e-01 6.83860716e-03 -1.93021179e-03 6.03243479e+02] [-6.83890784e-03 9.99976603e-01 -1.49215919e-04 6.45870157e+01] [ 1.92914620e-03 1.62412693e-04 9.99998126e-01 -2.47011002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.551400513 meters 0.07580416238750262 Centerline is valid? [True, True] Translation: X:603.27, Y:64.58, Z:-2.47 [[ 9.99973753e-01 6.87508856e-03 -2.28608108e-03 6.03272893e+02] [-6.87551108e-03 9.99976348e-01 -1.77016931e-04 6.45780484e+01] [ 2.28481000e-03 1.92730261e-04 9.99997371e-01 -2.47157189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.581400513 meters 0.07662467033191694 Centerline is valid? [True, True] Translation: X:603.30, Y:64.58, Z:-2.47 [[ 9.99974287e-01 6.61914437e-03 -2.75921352e-03 6.03301410e+02] [-6.61975951e-03 9.99978066e-01 -2.13866335e-04 6.45765037e+01] [ 2.75773738e-03 2.32126165e-04 9.99996170e-01 -2.47272811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.611400513 meters 0.08187742423160271 Centerline is valid? [True, True] Translation: X:603.33, Y:64.58, Z:-2.47 [[ 9.99972139e-01 6.65043116e-03 -3.39004675e-03 6.03329181e+02] [-6.65136058e-03 9.99977845e-01 -2.62962354e-04 6.45802090e+01] [ 3.38822283e-03 2.85503451e-04 9.99994219e-01 -2.47283847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.641400513 meters 0.07484963150132747 Centerline is valid? [True, True] Translation: X:603.36, Y:64.56, Z:-2.47 [[ 9.99968149e-01 6.63008455e-03 -4.44339531e-03 6.03358322e+02] [-6.63168272e-03 9.99977951e-01 -3.45037310e-04 6.45624305e+01] [ 4.44100971e-03 3.74493508e-04 9.99990069e-01 -2.47373109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.671400513 meters 0.07575962927640235 Centerline is valid? [True, True] Translation: X:603.39, Y:64.56, Z:-2.47 [[ 9.99963795e-01 7.06847458e-03 -4.73770434e-03 6.03387711e+02] [-7.07029854e-03 9.99974937e-01 -3.68351725e-04 6.45606080e+01] [ 4.73498192e-03 4.01835373e-04 9.99988709e-01 -2.47381275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.701400513 meters 0.08149551467437252 Centerline is valid? [True, True] Translation: X:603.42, Y:64.57, Z:-2.47 [[ 9.99961041e-01 7.48659780e-03 -4.67620758e-03 6.03415327e+02] [-7.48838016e-03 9.99971896e-01 -3.63761337e-04 6.45655558e+01] [ 4.67335282e-03 3.98764385e-04 9.99989000e-01 -2.47327664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.731400513 meters 0.07672660376292928 Centerline is valid? [True, True] Translation: X:603.45, Y:64.55, Z:-2.47 [[ 9.99952044e-01 9.01116657e-03 -3.83529097e-03 6.03446741e+02] [-9.01237795e-03 9.99959343e-01 -2.98685186e-04 6.45523496e+01] [ 3.83244353e-03 3.33235954e-04 9.99992601e-01 -2.47310209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.761400513 meters 0.08018041240955488 Centerline is valid? [True, True] Translation: X:603.48, Y:64.55, Z:-2.47 [[ 9.99942907e-01 1.00076692e-02 -3.74564441e-03 6.03475565e+02] [-1.00088314e-02 9.99949868e-01 -2.91651519e-04 6.45543735e+01] [ 3.74253788e-03 3.29124392e-04 9.99992943e-01 -2.47200561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.791400513 meters 0.09050592359920959 Centerline is valid? [True, True] Translation: X:603.50, Y:64.56, Z:-2.47 [[ 9.99934567e-01 1.05386547e-02 -4.44960107e-03 6.03502891e+02] [-1.05403001e-02 9.99944389e-01 -3.46512403e-04 6.45635509e+01] [ 4.44570185e-03 3.93389861e-04 9.99990040e-01 -2.47270179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.821400513 meters 0.08487256765545455 Centerline is valid? [True, True] Translation: X:603.53, Y:64.55, Z:-2.47 [[ 9.99927704e-01 1.07838552e-02 -5.31935245e-03 6.03533279e+02] [-1.07862141e-02 9.99941741e-01 -4.14966855e-04 6.45460903e+01] [ 5.31456760e-03 4.72312529e-04 9.99985766e-01 -2.47368976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.851400513 meters 0.08389121944795981 Centerline is valid? [True, True] Translation: X:603.56, Y:64.54, Z:-2.47 [[ 9.99929683e-01 1.05602577e-02 -5.39534358e-03 6.03562681e+02] [-1.05626826e-02 9.99944125e-01 -4.21162896e-04 6.45415085e+01] [ 5.39059453e-03 4.78122584e-04 9.99985356e-01 -2.47264582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.881400513 meters 0.07497918071241338 Centerline is valid? [True, True] Translation: X:603.59, Y:64.53, Z:-2.47 [[ 9.99929551e-01 1.05620052e-02 -5.41631649e-03 6.03593011e+02] [-1.05644505e-02 9.99944105e-01 -4.23060424e-04 6.45267394e+01] [ 5.41154537e-03 4.80251028e-04 9.99985242e-01 -2.47260406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.911400513 meters 0.08087023461334532 Centerline is valid? [True, True] Translation: X:603.62, Y:64.52, Z:-2.47 [[ 9.99927829e-01 1.09179356e-02 -5.01356592e-03 6.03620983e+02] [-1.09200362e-02 9.99940298e-01 -3.91797920e-04 6.45221353e+01] [ 5.00898898e-03 4.46517965e-04 9.99987355e-01 -2.47257405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.941400513 meters 0.0771548588861049 Centerline is valid? [True, True] Translation: X:603.65, Y:64.51, Z:-2.47 [[ 9.99923446e-01 1.15768579e-02 -4.36791808e-03 6.03651290e+02] [-1.15784600e-02 9.99932909e-01 -3.41683669e-04 6.45120394e+01] [ 4.36366940e-03 3.92231277e-04 9.99990402e-01 -2.47219975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.971400513 meters 0.08559649634171401 Centerline is valid? [True, True] Translation: X:603.68, Y:64.52, Z:-2.47 [[ 9.99910558e-01 1.27188579e-02 -4.13613735e-03 6.03679014e+02] [-1.27203042e-02 9.99919041e-01 -3.23559328e-04 6.45178761e+01] [ 4.13168719e-03 3.76143314e-04 9.99991394e-01 -2.47091108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.001400513 meters 0.0860759979396107 Centerline is valid? [True, True] Translation: X:603.71, Y:64.51, Z:-2.47 [[ 9.99868021e-01 1.55387779e-02 -4.74211697e-03 6.03710536e+02] [-1.55407126e-02 9.99879167e-01 -3.71412129e-04 6.45069088e+01] [ 4.73577267e-03 4.45058987e-04 9.99988687e-01 -2.47058437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.031400513 meters 0.09643269215703829 Centerline is valid? [True, True] Translation: X:603.74, Y:64.52, Z:-2.47 [[ 9.99840014e-01 1.72099494e-02 -4.87478959e-03 6.03739361e+02] [-1.72120132e-02 9.99851789e-01 -3.81727722e-04 6.45154837e+01] [ 4.86749758e-03 4.65571593e-04 9.99988045e-01 -2.47023317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.061400513 meters 0.0913408870145969 Centerline is valid? [True, True] Translation: X:603.77, Y:64.50, Z:-2.47 [[ 9.99803664e-01 1.92704223e-02 -4.61346953e-03 6.03771238e+02] [-1.92722933e-02 9.99814207e-01 -3.61434039e-04 6.45045450e+01] [ 4.60564739e-03 4.50275215e-04 9.99989293e-01 -2.47075508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.091400513 meters 0.09515707545289949 Centerline is valid? [True, True] Translation: X:603.80, Y:64.50, Z:-2.47 [[ 9.99754762e-01 2.16214067e-02 -4.78867786e-03 6.03801332e+02] [-2.16234492e-02 9.99766116e-01 -3.75154172e-04 6.45044076e+01] [ 4.77944650e-03 4.78609902e-04 9.99988464e-01 -2.47107192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.121400513 meters 0.10178497587759293 Centerline is valid? [True, False] Translation: X:603.80, Y:64.49, Z:-2.47 [[ 9.99723303e-01 2.29763948e-02 -5.04008674e-03 6.03804200e+02] [-2.29638838e-02 9.99733103e-01 2.52628922e-03 6.44925448e+01] [ 5.09678658e-03 -2.40985024e-03 9.99984108e-01 -2.47472777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.151400513 meters 0.10101291195030017 Centerline is valid? [False, False] Translation: X:603.81, Y:64.48, Z:-2.48 [[ 9.99873092e-01 1.53325432e-02 -4.32589179e-03 6.03805762e+02] [-1.52660730e-02 9.99770923e-01 1.50016042e-02 6.44803247e+01] [ 4.55491358e-03 -1.49336610e-02 9.99878112e-01 -2.48009645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.181400513 meters 0.10598397556897571 Centerline is valid? [False, False] Translation: X:603.80, Y:64.48, Z:-2.48 [[ 9.99971684e-01 6.30986948e-03 -4.10075621e-03 6.03803823e+02] [-6.28752771e-03 9.99965445e-01 5.43845347e-03 6.44834873e+01] [ 4.13493044e-03 -5.41251586e-03 9.99976803e-01 -2.47755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.211400513 meters 0.104452681312176 Centerline is valid? [False, False] Translation: X:603.80, Y:64.48, Z:-2.48 [[ 9.99989999e-01 2.02656351e-03 -3.98673228e-03 6.03803122e+02] [-2.02125559e-03 9.99997066e-01 1.33497423e-03 6.44822315e+01] [ 3.98942599e-03 -1.32690267e-03 9.99991162e-01 -2.47669654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.241400513 meters 0.1039543731762328 Centerline is valid? [False, False] Translation: X:603.80, Y:64.48, Z:-2.48 [[ 9.99989959e-01 -2.19328033e-03 -3.90776892e-03 6.03802614e+02] [ 2.18308260e-03 9.99994206e-01 -2.61196250e-03 6.44802875e+01] [ 3.91347504e-03 2.60340529e-03 9.99988953e-01 -2.47587800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.271400513 meters 0.09455676300582319 Centerline is valid? [False, True] Translation: X:603.80, Y:64.47, Z:-2.47 [[ 9.99987202e-01 -4.00112276e-03 -3.09611211e-03 6.03799180e+02] [ 3.99410596e-03 9.99989449e-01 -2.26920018e-03 6.44654190e+01] [ 3.10515880e-03 2.25680494e-03 9.99992632e-01 -2.47355964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.301400513 meters 0.09420568636120874 Centerline is valid? [True, True] Translation: X:603.83, Y:64.46, Z:-2.48 [[ 9.99972001e-01 -6.57442668e-03 -3.57416945e-03 6.03829717e+02] [ 6.57310455e-03 9.99978324e-01 -3.81533336e-04 6.44585664e+01] [ 3.57660034e-03 3.58029264e-04 9.99993540e-01 -2.47542860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.331400513 meters 0.10020722440811707 Centerline is valid? [True, False] Translation: X:603.83, Y:64.45, Z:-2.48 [[ 9.99976136e-01 -5.65429722e-03 -3.96953212e-03 6.03832422e+02] [ 5.66244637e-03 9.99981878e-01 2.04469486e-03 6.44491892e+01] [ 3.95789887e-03 -2.06712333e-03 9.99990031e-01 -2.47846053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.361400513 meters 0.09490552714043664 Centerline is valid? [False, True] Translation: X:603.83, Y:64.44, Z:-2.48 [[ 9.99978659e-01 -4.91297134e-03 -4.30634543e-03 6.03834444e+02] [ 4.93070553e-03 9.99979368e-01 4.11725640e-03 6.44408329e+01] [ 4.28602861e-03 -4.13840186e-03 9.99982252e-01 -2.48060829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.391400513 meters 0.09490552714043664 Centerline is valid? [True, True] Translation: X:603.86, Y:64.45, Z:-2.48 [[ 9.99980361e-01 -4.94336394e-03 -3.85233724e-03 6.03864046e+02] [ 4.94190460e-03 9.99987713e-01 -3.88247695e-04 6.44474477e+01] [ 3.85420916e-03 3.69202188e-04 9.99992504e-01 -2.47732111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.421400513 meters 0.09863158084186116 Centerline is valid? [True, True] Translation: X:603.89, Y:64.44, Z:-2.48 [[ 9.99969785e-01 -5.71137383e-03 -5.27353586e-03 6.03894982e+02] [ 5.70864967e-03 9.99983564e-01 -5.31479467e-04 6.44403307e+01] [ 5.27648466e-03 5.01358640e-04 9.99985954e-01 -2.47836618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.451400513 meters 0.10072583682092835 Centerline is valid? [True, False] Translation: X:603.90, Y:64.43, Z:-2.48 [[ 9.99972397e-01 -5.15659095e-03 -5.34926423e-03 6.03895843e+02] [ 5.16111274e-03 9.99986335e-01 8.31849924e-04 6.44344188e+01] [ 5.34490163e-03 -8.59435118e-04 9.99985347e-01 -2.47952529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.481400513 meters 0.09819752780482374 Centerline is valid? [False, True] Translation: X:603.88, Y:64.42, Z:-2.48 [[ 9.99998456e-01 8.81959026e-04 -1.51993113e-03 6.03876276e+02] [-8.86053474e-04 9.99995975e-01 -2.69527323e-03 6.44234622e+01] [ 1.51754789e-03 2.69661581e-03 9.99995213e-01 -2.48432632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.511400513 meters 0.11720915038695164 Centerline is valid? [True, False] Translation: X:603.88, Y:64.42, Z:-2.49 [[ 9.99998080e-01 1.24574352e-03 -1.51236138e-03 6.03876697e+02] [-1.24844568e-03 9.99997624e-01 -1.78709377e-03 6.44195094e+01] [ 1.51013152e-03 1.78897845e-03 9.99997260e-01 -2.48519957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.541400513 meters 0.10868031228573764 Centerline is valid? [False, False] Translation: X:603.88, Y:64.42, Z:-2.49 [[ 9.99997565e-01 1.61815958e-03 -1.50022643e-03 6.03877053e+02] [-1.61943725e-03 9.99998327e-01 -8.50829611e-04 6.44154124e+01] [ 1.49884714e-03 8.53257062e-04 9.99998513e-01 -2.48595980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.571400513 meters 0.10297522221642098 Centerline is valid? [False, False] Translation: X:603.88, Y:64.41, Z:-2.49 [[ 9.99996888e-01 2.00506231e-03 -1.48472934e-03 6.03877368e+02] [-2.00488403e-03 9.99997983e-01 1.21556950e-04 6.44111392e+01] [ 1.48497007e-03 -1.18579862e-04 9.99998890e-01 -2.48664608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.601400513 meters 0.10373516198291709 Centerline is valid? [False, False] Translation: X:603.88, Y:64.41, Z:-2.49 [[ 9.99996060e-01 2.36511702e-03 -1.51213332e-03 6.03877838e+02] [-2.36354090e-03 9.99996663e-01 1.04325874e-03 6.44071222e+01] [ 1.51459570e-03 -1.03968064e-03 9.99998313e-01 -2.48738727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.631400513 meters 0.11197690213709334 Centerline is valid? [False, False] Translation: X:603.88, Y:64.40, Z:-2.49 [[ 9.99995033e-01 2.74660532e-03 -1.54619901e-03 6.03878289e+02] [-2.74343299e-03 9.99994135e-01 2.05008894e-03 6.44027238e+01] [ 1.55182073e-03 -2.04583687e-03 9.99996703e-01 -2.48805833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.661400513 meters 0.11045485977860414 Centerline is valid? [False, False] Translation: X:603.88, Y:64.40, Z:-2.49 [[ 9.99998286e-01 -8.50621973e-04 -1.64453102e-03 6.03879224e+02] [ 8.49702275e-04 9.99999482e-01 -5.59864041e-04 6.43951460e+01] [ 1.64500640e-03 5.58465719e-04 9.99998491e-01 -2.48912935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.691400513 meters 0.11707882897578853 Centerline is valid? [False, False] Translation: X:603.88, Y:64.39, Z:-2.49 [[ 9.99998349e-01 -3.29433155e-04 -1.78692524e-03 6.03880202e+02] [ 3.31392050e-04 9.99999344e-01 1.09605238e-03 6.43881378e+01] [ 1.78656299e-03 -1.09664274e-03 9.99997803e-01 -2.49052962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.721400513 meters 0.10830318679303617 Centerline is valid? [False, False] Translation: X:603.88, Y:64.38, Z:-2.49 [[ 9.99998158e-01 1.26998697e-04 -1.91506928e-03 6.03880946e+02] [-1.22171910e-04 9.99996816e-01 2.52033040e-03 6.43820238e+01] [ 1.91538326e-03 -2.52009179e-03 9.99994990e-01 -2.49137673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.751400513 meters 0.10974346489315766 Centerline is valid? [False, False] Translation: X:603.88, Y:64.38, Z:-2.49 [[ 9.99997796e-01 5.56484934e-04 -2.02449627e-03 6.03881608e+02] [-5.48786000e-04 9.99992624e-01 3.80145865e-03 6.43764973e+01] [ 2.02659679e-03 -3.80033926e-03 9.99990725e-01 -2.49208437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.781400513 meters 0.10397127475648497 Centerline is valid? [False, False] Translation: X:603.87, Y:64.37, Z:-2.49 [[ 9.99994733e-01 -3.12847083e-03 -8.64592560e-04 6.03873806e+02] [ 3.12978535e-03 9.99993942e-01 1.52324922e-03 6.43661554e+01] [ 8.59821882e-04 -1.52594719e-03 9.99998466e-01 -2.48579239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.811400513 meters 0.10580685250376229 Centerline is valid? [False, False] Translation: X:603.87, Y:64.36, Z:-2.49 [[ 9.99996253e-01 -2.57355739e-03 -9.33644909e-04 6.03874441e+02] [ 2.57643649e-03 9.99991889e-01 3.09572893e-03 6.43593355e+01] [ 9.25670301e-04 -3.09812281e-03 9.99994772e-01 -2.48655623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.841400513 meters 0.10536562053482867 Centerline is valid? [False, False] Translation: X:603.88, Y:64.35, Z:-2.49 [[ 9.99997472e-01 -1.97496722e-03 -1.07451869e-03 6.03875366e+02] [ 1.98013515e-03 9.99986375e-01 4.82992006e-03 6.43518885e+01] [ 1.06496512e-03 -4.83203554e-03 9.99987759e-01 -2.48757213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.871400513 meters 0.10901162591065346 Centerline is valid? [False, False] Translation: X:603.89, Y:64.35, Z:-2.48 [[ 9.99982378e-01 -2.05750820e-03 -5.56873096e-03 6.03893301e+02] [ 2.05733585e-03 9.99997883e-01 -3.66780505e-05 6.43489417e+01] [ 5.56879464e-03 2.52206543e-05 9.99984494e-01 -2.48234454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.901400513 meters 0.11240284151065941 Centerline is valid? [False, False] Translation: X:603.90, Y:64.33, Z:-2.49 [[ 9.99981858e-01 -3.50518844e-04 -6.01343769e-03 6.03896533e+02] [ 3.78498321e-04 9.99989106e-01 4.65231871e-03 6.43303909e+01] [ 6.01174146e-03 -4.65451038e-03 9.99971097e-01 -2.48632097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.931400513 meters 0.10527799026291712 Centerline is valid? [False, False] Translation: X:603.90, Y:64.33, Z:-2.49 [[ 9.99972445e-01 -4.47358650e-03 -5.92424855e-03 6.03896299e+02] [ 4.47966855e-03 9.99989452e-01 1.01376657e-03 6.43273148e+01] [ 5.91965089e-03 -1.04027731e-03 9.99981938e-01 -2.48617344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.961400513 meters 0.11552255120388503 Centerline is valid? [False, False] Translation: X:603.90, Y:64.32, Z:-2.49 [[ 9.99974946e-01 -3.86865915e-03 -5.92789370e-03 6.03896774e+02] [ 3.88367197e-03 9.99989275e-01 2.52315845e-03 6.43206631e+01] [ 5.91806888e-03 -2.54611723e-03 9.99979247e-01 -2.48699756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.991400513 meters 0.11672353221167153 Centerline is valid? [False, False] Translation: X:603.90, Y:64.31, Z:-2.49 [[ 9.99976675e-01 -3.27725516e-03 -5.99249922e-03 6.03897423e+02] [ 3.30098543e-03 9.99986733e-01 3.95440175e-03 6.43143373e+01] [ 5.97946014e-03 -3.97409066e-03 9.99974226e-01 -2.48770153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.021400513 meters 0.12083595337075727 Centerline is valid? [False, False] Translation: X:603.90, Y:64.31, Z:-2.49 [[ 9.99957852e-01 -6.97790315e-03 -5.96676368e-03 6.03897994e+02] [ 6.98593923e-03 9.99974718e-01 1.32702655e-03 6.43069912e+01] [ 5.95735296e-03 -1.36865407e-03 9.99981318e-01 -2.48855838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.051400513 meters 0.10832684275673315 Centerline is valid? [False, False] Translation: X:603.92, Y:64.31, Z:-2.48 [[ 9.99931043e-01 -6.29150103e-03 -9.91598458e-03 6.03917254e+02] [ 6.24082234e-03 9.99967349e-01 -5.13349084e-03 6.43078709e+01] [ 9.94795818e-03 5.07125295e-03 9.99937658e-01 -2.48157795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.081400513 meters 0.10807712209721151 Centerline is valid? [False, False] Translation: X:603.92, Y:64.30, Z:-2.48 [[ 9.99934570e-01 -5.31833622e-03 -1.01277152e-02 6.03919061e+02] [ 5.29099536e-03 9.99982291e-01 -2.72449076e-03 6.42977945e+01] [ 1.01420256e-02 2.67072680e-03 9.99945002e-01 -2.48372916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.111400513 meters 0.11264663470173929 Centerline is valid? [False, False] Translation: X:603.92, Y:64.29, Z:-2.49 [[ 9.99984684e-01 -3.72851400e-03 4.09031619e-03 6.03924513e+02] [ 3.72868017e-03 9.99993048e-01 -3.29996756e-05 6.42930908e+01] [-4.09016472e-03 4.82506511e-05 9.99991634e-01 -2.49474881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.141400513 meters 0.11255842234516915 Centerline is valid? [False, False] Translation: X:603.92, Y:64.29, Z:-2.49 [[ 9.99986075e-01 -3.44693759e-03 3.99617369e-03 6.03924931e+02] [ 3.44381155e-03 9.99993759e-01 7.88874228e-04 6.42894932e+01] [-3.99886795e-03 -7.75101173e-04 9.99991704e-01 -2.49497088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.171400513 meters 0.11092018961191275 Centerline is valid? [False, False] Translation: X:603.92, Y:64.29, Z:-2.49 [[ 9.99975115e-01 -5.09715244e-03 4.87741664e-03 6.03918563e+02] [ 5.10001903e-03 9.99986829e-01 -5.75471584e-04 6.42872113e+01] [-4.87441914e-03 6.00332181e-04 9.99987940e-01 -2.48982811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.201400513 meters 0.10787391337589526 Centerline is valid? [False, False] Translation: X:603.92, Y:64.28, Z:-2.49 [[ 9.99979165e-01 -4.58575069e-03 4.54308042e-03 6.03919925e+02] [ 4.57925070e-03 9.99988478e-01 1.44011578e-03 6.42788281e+01] [-4.54963209e-03 -1.41928187e-03 9.99988643e-01 -2.49051193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.231400513 meters 0.10758564155443806 Centerline is valid? [False, False] Translation: X:603.92, Y:64.27, Z:-2.49 [[ 9.99981151e-01 -4.26817854e-03 4.41364206e-03 6.03920528e+02] [ 4.25717317e-03 9.99987813e-01 2.49988419e-03 6.42742723e+01] [-4.42425823e-03 -2.48104744e-03 9.99987135e-01 -2.49096876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.261400513 meters 0.09780752281839108 Centerline is valid? [False, True] Translation: X:603.92, Y:64.27, Z:-2.49 [[ 9.99982865e-01 -3.99976611e-03 4.27464262e-03 6.03921094e+02] [ 3.98528289e-03 9.99986308e-01 3.39133500e-03 6.42704346e+01] [-4.28814864e-03 -3.37424123e-03 9.99985113e-01 -2.49125475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.291400513 meters 0.10109083878914348 Centerline is valid? [True, False] Translation: X:603.92, Y:64.27, Z:-2.49 [[ 9.99984163e-01 -3.77083269e-03 4.17788351e-03 6.03921486e+02] [ 3.75357590e-03 9.99984424e-01 4.13067982e-03 6.42672313e+01] [-4.19339454e-03 -4.11493240e-03 9.99982741e-01 -2.49143523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.321400513 meters 0.09000447670583098 Centerline is valid? [False, True] Translation: X:603.92, Y:64.26, Z:-2.49 [[ 9.99986790e-01 -3.38466405e-03 3.86826619e-03 6.03922587e+02] [ 3.36258824e-03 9.99978106e-01 5.69922685e-03 6.42606309e+01] [-3.88747146e-03 -5.68614418e-03 9.99976277e-01 -2.49175121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.351400513 meters 0.08773072564449927 Centerline is valid? [True, True] Translation: X:603.95, Y:64.26, Z:-2.49 [[ 9.99977837e-01 -5.55978466e-03 3.66244258e-03 6.03953404e+02] [ 5.55857379e-03 9.99984493e-01 3.40716660e-04 6.42610390e+01] [-3.66428010e-03 -3.20351152e-04 9.99993235e-01 -2.49009666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.381400513 meters 0.08778978135947174 Centerline is valid? [True, True] Translation: X:603.98, Y:64.26, Z:-2.49 [[ 9.99967853e-01 -7.31514239e-03 3.28361398e-03 6.03983595e+02] [ 7.31417846e-03 9.99973204e-01 3.05471271e-04 6.42606057e+01] [-3.28576056e-03 -2.81444512e-04 9.99994562e-01 -2.49000290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.411400513 meters 0.08312953660650617 Centerline is valid? [True, True] Translation: X:604.02, Y:64.25, Z:-2.49 [[ 9.99956707e-01 -8.33351480e-03 4.13966462e-03 6.04015759e+02] [ 8.33199160e-03 9.99965214e-01 3.85062378e-04 6.42521036e+01] [-4.14272954e-03 -3.50554057e-04 9.99991357e-01 -2.48793527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.441400513 meters 0.09444804384046551 Centerline is valid? [True, True] Translation: X:604.05, Y:64.27, Z:-2.49 [[ 9.99953705e-01 -8.22729141e-03 4.99000492e-03 6.04045754e+02] [ 8.22507770e-03 9.99966066e-01 4.63989094e-04 6.42655208e+01] [-4.99365296e-03 -4.22924435e-04 9.99987442e-01 -2.48647056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.471400513 meters 0.0938537635633246 Centerline is valid? [True, True] Translation: X:604.08, Y:64.26, Z:-2.49 [[ 9.99956574e-01 -7.87435533e-03 4.98450520e-03 6.04078005e+02] [ 7.87214320e-03 9.99968907e-01 4.63264792e-04 6.42632436e+01] [-4.98799813e-03 -4.24005935e-04 9.99987470e-01 -2.48686336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.501400513 meters 0.08490497552568392 Centerline is valid? [True, True] Translation: X:604.11, Y:64.25, Z:-2.49 [[ 9.99967198e-01 -7.22422311e-03 3.66257756e-03 6.04111032e+02] [ 7.22302490e-03 9.99973856e-01 3.40272747e-04 6.42503408e+01] [-3.66494001e-03 -3.13806696e-04 9.99993235e-01 -2.48904779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.531400513 meters 0.10133450525720857 Centerline is valid? [True, False] Translation: X:604.11, Y:64.25, Z:-2.49 [[ 9.99969737e-01 -6.89789969e-03 3.59774822e-03 6.04111715e+02] [ 6.89368153e-03 9.99975538e-01 1.18353236e-03 6.42466483e+01] [-3.60582410e-03 -1.15869481e-03 9.99992828e-01 -2.48998757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.561400513 meters 0.0886808244946554 Centerline is valid? [False, True] Translation: X:604.11, Y:64.25, Z:-2.49 [[ 9.99969789e-01 -6.87295414e-03 3.63086643e-03 6.04111504e+02] [ 6.86844596e-03 9.99975627e-01 1.25264009e-03 6.42463215e+01] [-3.63938727e-03 -1.22766384e-03 9.99992624e-01 -2.48971241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.591400513 meters 0.09201457012140571 Centerline is valid? [True, True] Translation: X:604.14, Y:64.25, Z:-2.49 [[ 9.99978976e-01 -4.75999912e-03 4.40335721e-03 6.04140304e+02] [ 4.75817223e-03 9.99988589e-01 4.25268530e-04 6.42523278e+01] [-4.40533124e-03 -4.04307657e-04 9.99990215e-01 -2.48846766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.621400513 meters 0.09978334127312312 Centerline is valid? [True, True] Translation: X:604.17, Y:64.26, Z:-2.49 [[ 9.99985366e-01 -3.06817373e-03 4.45580387e-03 6.04169497e+02] [ 3.06628622e-03 9.99995206e-01 4.30375278e-04 6.42618511e+01] [-4.45710297e-03 -4.16706210e-04 9.99989980e-01 -2.48925660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.651400513 meters 0.09630220217258322 Centerline is valid? [True, True] Translation: X:604.20, Y:64.26, Z:-2.49 [[ 9.99990923e-01 -2.16233275e-03 3.67138233e-03 6.04202370e+02] [ 2.16104531e-03 9.99997602e-01 3.54599448e-04 6.42573192e+01] [-3.67214029e-03 -3.46662206e-04 9.99993198e-01 -2.49128024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.681400513 meters 0.10405068399018867 Centerline is valid? [True, False] Translation: X:604.20, Y:64.26, Z:-2.49 [[ 9.99991289e-01 -2.01286261e-03 3.65660692e-03 6.04202618e+02] [ 2.01012961e-03 9.99997698e-01 7.50937099e-04 6.42555784e+01] [-3.65811004e-03 -7.43580304e-04 9.99993033e-01 -2.49170890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.711400513 meters 0.09995513866344942 Centerline is valid? [False, True] Translation: X:604.20, Y:64.25, Z:-2.49 [[ 9.99991874e-01 -1.85948279e-03 3.57677972e-03 6.04202755e+02] [ 1.85508680e-03 9.99997520e-01 1.23196347e-03 6.42534778e+01] [-3.57906167e-03 -1.22531822e-03 9.99992844e-01 -2.49129241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.741400513 meters 0.08958572926512116 Centerline is valid? [True, True] Translation: X:604.23, Y:64.24, Z:-2.49 [[ 9.99974327e-01 -4.49043276e-03 5.58403580e-03 6.04234906e+02] [ 4.48760284e-03 9.99989796e-01 5.19213393e-04 6.42432665e+01] [-5.58631031e-03 -4.94141128e-04 9.99984274e-01 -2.48851195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.771400513 meters 0.0859177649662216 Centerline is valid? [True, True] Translation: X:604.27, Y:64.24, Z:-2.49 [[ 9.99948316e-01 -7.13838601e-03 7.23944668e-03 6.04265903e+02] [ 7.13369853e-03 9.99974328e-01 6.73107778e-04 6.42394211e+01] [-7.24406574e-03 -6.21428959e-04 9.99973568e-01 -2.48672757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.801400513 meters 0.08213855904345108 Centerline is valid? [True, True] Translation: X:604.30, Y:64.23, Z:-2.49 [[ 9.99900916e-01 -1.20941766e-02 7.20336489e-03 6.04296371e+02] [ 1.20896629e-02 9.99926693e-01 6.69819561e-04 6.42316892e+01] [-7.21093775e-03 -5.82666939e-04 9.99973831e-01 -2.48750906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.831400513 meters 0.08619933895272452 Centerline is valid? [True, True] Translation: X:604.33, Y:64.24, Z:-2.49 [[ 9.99878804e-01 -1.45330801e-02 5.58270110e-03 6.04325585e+02] [ 1.45304065e-02 9.99894293e-01 5.19179567e-04 6.42362101e+01] [-5.58965625e-03 -4.37997728e-04 9.99984282e-01 -2.48911728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.861400513 meters 0.08350224493228112 Centerline is valid? [True, True] Translation: X:604.36, Y:64.23, Z:-2.49 [[ 9.99849396e-01 -1.67747436e-02 4.44895573e-03 6.04356620e+02] [ 1.67730676e-02 9.99859237e-01 4.13755592e-04 6.42324448e+01] [-4.45527012e-03 -3.39070644e-04 9.99990018e-01 -2.49058926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.891400513 meters 0.08231299130634977 Centerline is valid? [True, True] Translation: X:604.39, Y:64.23, Z:-2.49 [[ 9.99817966e-01 -1.86260375e-02 4.13591800e-03 6.04387904e+02] [ 1.86246049e-02 9.99826473e-01 3.84612864e-04 6.42304048e+01] [-4.14236412e-03 -3.07513013e-04 9.99991373e-01 -2.49092506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.921400513 meters 0.08115241831603215 Centerline is valid? [True, True] Translation: X:604.42, Y:64.23, Z:-2.49 [[ 9.99798071e-01 -1.96068593e-02 4.40327461e-03 6.04419539e+02] [ 1.96052454e-02 9.99807715e-01 4.09392761e-04 6.42255869e+01] [-4.41045484e-03 -3.22982813e-04 9.99990222e-01 -2.48998092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.951400513 meters 0.08070920371837141 Centerline is valid? [True, True] Translation: X:604.45, Y:64.23, Z:-2.49 [[ 9.99826887e-01 -1.80521933e-02 4.50708773e-03 6.04450426e+02] [ 1.80504871e-02 9.99836989e-01 4.18966108e-04 6.42254369e+01] [-4.51391628e-03 -3.37538450e-04 9.99989755e-01 -2.48963651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.981400513 meters 0.08572115213899428 Centerline is valid? [True, True] Translation: X:604.48, Y:64.23, Z:-2.49 [[ 9.99875728e-01 -1.49967783e-02 4.86064230e-03 6.04480324e+02] [ 1.49947582e-02 9.99887470e-01 4.51789835e-04 6.42324702e+01] [-4.86687072e-03 -3.78849535e-04 9.99988085e-01 -2.48890082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.011400513 meters 0.09150991205065533 Centerline is valid? [True, True] Translation: X:604.51, Y:64.24, Z:-2.49 [[ 9.99926253e-01 -1.10573788e-02 5.02217080e-03 6.04509351e+02] [ 1.10551732e-02 9.99938781e-01 4.66732981e-04 6.42409058e+01] [-5.02702419e-03 -4.11177593e-04 9.99987280e-01 -2.48853367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.041400513 meters 0.09672908159464089 Centerline is valid? [True, True] Translation: X:604.54, Y:64.25, Z:-2.49 [[ 9.99984159e-01 -3.69946976e-03 4.24212758e-03 6.04539424e+02] [ 3.69783047e-03 9.99993085e-01 3.94210145e-04 6.42466388e+01] [-4.24355661e-03 -3.78517232e-04 9.99990924e-01 -2.48904122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.071400513 meters 0.09090670145770754 Centerline is valid? [True, True] Translation: X:604.57, Y:64.24, Z:-2.49 [[ 9.99993355e-01 -1.04623431e-03 3.49224711e-03 6.04571672e+02] [ 1.04510739e-03 9.99999401e-01 3.24501482e-04 6.42384828e+01] [-3.49258453e-03 -3.20849552e-04 9.99993849e-01 -2.49030710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.101400513 meters 0.1024178278495155 Centerline is valid? [True, False] Translation: X:604.61, Y:64.24, Z:-2.49 [[ 9.99988227e-01 -1.13177756e-03 4.71853927e-03 6.04612640e+02] [ 1.12266987e-03 9.99997503e-01 1.93239500e-03 6.42396687e+01] [-4.72071452e-03 -1.92707489e-03 9.99987001e-01 -2.48963640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.131400513 meters 0.10198861985126793 Centerline is valid? [False, False] Translation: X:604.61, Y:64.24, Z:-2.49 [[ 9.99988085e-01 -1.04981933e-03 4.76736481e-03 6.04612569e+02] [ 1.03959599e-03 9.99997156e-01 2.14641498e-03 6.42387214e+01] [-4.76960460e-03 -2.14143328e-03 9.99986332e-01 -2.48980891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.161400513 meters 0.09858950343858303 Centerline is valid? [False, True] Translation: X:604.61, Y:64.24, Z:-2.49 [[ 9.99988148e-01 -9.19479479e-04 4.78106207e-03 6.04612701e+02] [ 9.07589698e-04 9.99996492e-01 2.48842460e-03 6.42372106e+01] [-4.78333335e-03 -2.48405587e-03 9.99985474e-01 -2.49017894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.191400513 meters 0.09255120258980493 Centerline is valid? [True, True] Translation: X:604.65, Y:64.23, Z:-2.49 [[ 9.99989103e-01 -1.31017900e-03 4.48077603e-03 6.04646064e+02] [ 1.30825352e-03 9.99999051e-01 4.32623563e-04 6.42325991e+01] [-4.48133859e-03 -4.26756858e-04 9.99989868e-01 -2.49082945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.221400513 meters 0.09209288665299262 Centerline is valid? [True, True] Translation: X:604.68, Y:64.23, Z:-2.49 [[ 9.99987772e-01 -2.27972237e-03 4.38852445e-03 6.04677783e+02] [ 2.27788634e-03 9.99997316e-01 4.23324232e-04 6.42330528e+01] [-4.38947773e-03 -4.13322496e-04 9.99990281e-01 -2.49161956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.251400513 meters 0.09779396828174451 Centerline is valid? [True, True] Translation: X:604.71, Y:64.24, Z:-2.49 [[ 9.99983046e-01 -3.96526269e-03 4.26426710e-03 6.04706996e+02] [ 3.96354487e-03 9.99992061e-01 4.11215136e-04 6.42407931e+01] [-4.26586382e-03 -3.94306550e-04 9.99990823e-01 -2.49149426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.281400513 meters 0.09779396828174451 Centerline is valid? [True, True] Translation: X:604.74, Y:64.24, Z:-2.49 [[ 9.99983231e-01 -3.91827318e-03 4.26427088e-03 6.04738680e+02] [ 3.91655510e-03 9.99992246e-01 4.11175954e-04 6.42437626e+01] [-4.26584891e-03 -3.94467807e-04 9.99990823e-01 -2.49160393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.311400513 meters 0.09165891409113026 Centerline is valid? [True, True] Translation: X:604.77, Y:64.24, Z:-2.49 [[ 9.99972921e-01 -5.92753831e-03 4.36128990e-03 6.04770041e+02] [ 5.92576086e-03 9.99982354e-01 4.20362600e-04 6.42374912e+01] [-4.36370465e-03 -3.94507256e-04 9.99990401e-01 -2.49116180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.341400513 meters 0.09340008685132234 Centerline is valid? [True, True] Translation: X:604.80, Y:64.24, Z:-2.49 [[ 9.99943241e-01 -8.92924545e-03 5.81241370e-03 6.04799163e+02] [ 8.92613855e-03 9.99960004e-01 5.60250599e-04 6.42396372e+01] [-5.81718384e-03 -5.08336389e-04 9.99982951e-01 -2.48798283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.371400513 meters 0.0848051470600334 Centerline is valid? [True, True] Translation: X:604.83, Y:64.23, Z:-2.49 [[ 9.99933417e-01 -9.64200210e-03 6.33988389e-03 6.04831724e+02] [ 9.63832007e-03 9.99953364e-01 6.11069318e-04 6.42300717e+01] [-6.34548015e-03 -5.49922801e-04 9.99979716e-01 -2.48745125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.401400513 meters 0.08557385677191197 Centerline is valid? [True, True] Translation: X:604.86, Y:64.23, Z:-2.49 [[ 9.99924087e-01 -1.02043293e-02 6.90596095e-03 6.04863250e+02] [ 1.01999755e-02 9.99947758e-01 6.65368555e-04 6.42319111e+01] [-6.91238980e-03 -5.94877412e-04 9.99975932e-01 -2.48696530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.431400513 meters 0.09204014834688236 Centerline is valid? [True, True] Translation: X:604.89, Y:64.24, Z:-2.49 [[ 9.99922236e-01 -1.00100987e-02 7.43778443e-03 6.04894138e+02] [ 1.00050456e-02 9.99949692e-01 7.16281293e-04 6.42386760e+01] [-7.44458029e-03 -6.41810219e-04 9.99972083e-01 -2.48651293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.461400513 meters 0.09151819644510906 Centerline is valid? [True, True] Translation: X:604.93, Y:64.24, Z:-2.49 [[ 9.99931798e-01 -9.03035846e-03 7.40615268e-03 6.04925469e+02] [ 9.02532321e-03 9.99959017e-01 7.13015981e-04 6.42395686e+01] [-7.41228794e-03 -6.46124431e-04 9.99972320e-01 -2.48658421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.491400513 meters 0.08459694578131866 Centerline is valid? [True, True] Translation: X:604.96, Y:64.23, Z:-2.49 [[ 9.99944052e-01 -7.82851686e-03 7.11387793e-03 6.04957442e+02] [ 7.82384222e-03 9.99969159e-01 6.84708165e-04 6.42332318e+01] [-7.11901878e-03 -6.29011999e-04 9.99974462e-01 -2.48748823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.521400513 meters 0.08727778295448338 Centerline is valid? [True, True] Translation: X:604.99, Y:64.24, Z:-2.49 [[ 9.99955913e-01 -6.60110276e-03 6.67817222e-03 6.04987124e+02] [ 6.59695659e-03 9.99978033e-01 6.42691932e-04 6.42391883e+01] [-6.68226799e-03 -5.98607986e-04 9.99977494e-01 -2.48758293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.551400513 meters 0.10835388693110855 Centerline is valid? [True, False] Translation: X:604.99, Y:64.24, Z:-2.49 [[ 9.99956163e-01 -6.57026274e-03 6.67109489e-03 6.04987201e+02] [ 6.56550856e-03 9.99978177e-01 7.34304602e-04 6.42387902e+01] [-6.67577388e-03 -6.90473282e-04 9.99977478e-01 -2.48770579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.581400513 meters 0.10973120988927279 Centerline is valid? [False, False] Translation: X:604.99, Y:64.24, Z:-2.49 [[ 9.99956608e-01 -6.49241317e-03 6.68061646e-03 6.04987232e+02] [ 6.48623814e-03 9.99978517e-01 9.45572345e-04 6.42378592e+01] [-6.68661199e-03 -9.02199245e-04 9.99977237e-01 -2.48783204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.611400513 meters 0.10021102579686124 Centerline is valid? [False, False] Translation: X:604.99, Y:64.24, Z:-2.49 [[ 9.99957112e-01 -6.38792179e-03 6.70591172e-03 6.04987177e+02] [ 6.37986208e-03 9.99978901e-01 1.22258659e-03 6.42366221e+01] [-6.71358002e-03 -1.17975136e-03 9.99976768e-01 -2.48785901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.641400513 meters 0.1021615288363276 Centerline is valid? [False, False] Translation: X:605.00, Y:64.24, Z:-2.48 [[ 9.99973400e-01 -6.38029002e-03 3.53417707e-03 6.05003045e+02] [ 6.40682329e-03 9.99950990e-01 -7.54788186e-03 6.42436736e+01] [-3.48584618e-03 7.57032394e-03 9.99965269e-01 -2.47819891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.671400513 meters 0.09919450336380008 Centerline is valid? [False, True] Translation: X:605.00, Y:64.24, Z:-2.48 [[ 9.99975579e-01 -6.08164696e-03 3.44319755e-03 6.05003538e+02] [ 6.10431312e-03 9.99959515e-01 -6.61109500e-03 6.42396142e+01] [-3.40285180e-03 6.63195190e-03 9.99972219e-01 -2.47871223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.701400513 meters 0.09176453345588526 Centerline is valid? [True, True] Translation: X:605.04, Y:64.23, Z:-2.48 [[ 9.99960222e-01 -8.66838244e-03 2.10098445e-03 6.05036120e+02] [ 8.66796374e-03 9.99962411e-01 2.08312309e-04 6.42258352e+01] [-2.10271120e-03 -1.90092766e-04 9.99997771e-01 -2.48233762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.731400513 meters 0.09209550994669506 Centerline is valid? [True, True] Translation: X:605.07, Y:64.23, Z:-2.48 [[ 9.99925396e-01 -1.21404062e-02 1.34659032e-03 6.05065884e+02] [ 1.21402373e-02 9.99926296e-01 1.33502438e-04 6.42260744e+01] [-1.34811185e-03 -1.17144552e-04 9.99999084e-01 -2.48345020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.761400513 meters 0.08157440215426327 Centerline is valid? [True, True] Translation: X:605.10, Y:64.21, Z:-2.48 [[ 9.99819808e-01 -1.88609867e-02 2.14818942e-03 6.05097977e+02] [ 1.88605724e-02 9.99822101e-01 2.12971304e-04 6.42085339e+01] [-2.15182411e-03 -1.72416846e-04 9.99997670e-01 -2.48159589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.791400513 meters 0.08385870513482799 Centerline is valid? [True, True] Translation: X:605.13, Y:64.21, Z:-2.48 [[ 9.99782643e-01 -2.05812258e-02 3.32853432e-03 6.05127642e+02] [ 2.05802406e-02 9.99788150e-01 3.29990600e-04 6.42107775e+01] [-3.33462078e-03 -2.61416838e-04 9.99994406e-01 -2.47934729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.821400513 meters 0.08531835142753794 Centerline is valid? [True, True] Translation: X:605.16, Y:64.21, Z:-2.48 [[ 9.99775476e-01 -2.07886239e-02 4.10258154e-03 6.05159095e+02] [ 2.07871294e-02 9.99783842e-01 4.06583370e-04 6.42119494e+01] [-4.11014704e-03 -3.21211188e-04 9.99991502e-01 -2.47772326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.851400513 meters 0.08693218568301649 Centerline is valid? [True, True] Translation: X:605.19, Y:64.21, Z:-2.48 [[ 9.99792197e-01 -1.99473722e-02 4.20300379e-03 6.05189916e+02] [ 1.99457967e-02 9.99800976e-01 4.16436602e-04 6.42136489e+01] [-4.21047410e-03 -3.32517806e-04 9.99991081e-01 -2.47744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.881400513 meters 0.08858772737658172 Centerline is valid? [True, True] Translation: X:605.22, Y:64.21, Z:-2.48 [[ 9.99868668e-01 -1.58186858e-02 3.52361836e-03 6.05220927e+02] [ 1.58175530e-02 9.99874834e-01 3.49103669e-04 6.42107632e+01] [-3.52869969e-03 -2.93322800e-04 9.99993731e-01 -2.47952102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.911400513 meters 0.09092795395199856 Centerline is valid? [True, True] Translation: X:605.25, Y:64.21, Z:-2.48 [[ 9.99904592e-01 -1.34367823e-02 3.20314371e-03 6.05251055e+02] [ 1.34358342e-02 9.99909685e-01 3.17346156e-04 6.42127336e+01] [-3.20711853e-03 -2.74278970e-04 9.99994820e-01 -2.48003803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.941400513 meters 0.086968750138611 Centerline is valid? [True, True] Translation: X:605.28, Y:64.21, Z:-2.48 [[ 9.99933678e-01 -1.10967135e-02 3.08252442e-03 6.05282170e+02] [ 1.10958244e-02 9.99938393e-01 3.05389792e-04 6.42079764e+01] [-3.08572334e-03 -2.71166388e-04 9.99995202e-01 -2.48050198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.971400513 meters 0.0978993044777817 Centerline is valid? [True, True] Translation: X:605.31, Y:64.22, Z:-2.48 [[ 9.99952482e-01 -9.34500678e-03 2.77553903e-03 6.05311309e+02] [ 9.34427955e-03 9.99956303e-01 2.74865865e-04 6.42205360e+01] [-2.77798638e-03 -2.48917391e-04 9.99996110e-01 -2.48131743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.001400513 meters 0.0878451074587098 Centerline is valid? [True, True] Translation: X:605.34, Y:64.21, Z:-2.48 [[ 9.99969811e-01 -7.61515006e-03 1.54471706e-03 6.05343882e+02] [ 7.61492282e-03 9.99970994e-01 1.52939902e-04 6.42083293e+01] [-1.54583692e-03 -1.41172383e-04 9.99998795e-01 -2.48380146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.031400513 meters 0.10419032873995987 Centerline is valid? [True, False] Translation: X:605.36, Y:64.21, Z:-2.48 [[ 9.99965709e-01 -6.32910267e-03 5.34076206e-03 6.05362557e+02] [ 6.37735376e-03 9.99938563e-01 -9.06635347e-03 6.42127732e+01] [-5.28305206e-03 9.10010251e-03 9.99944637e-01 -2.48418786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.061400513 meters 0.08622618056751799 Centerline is valid? [False, True] Translation: X:605.34, Y:64.20, Z:-2.48 [[ 9.99949499e-01 -1.00423334e-02 -3.89117902e-04 6.05343207e+02] [ 1.00415440e-02 9.99947622e-01 -1.98006845e-03 6.41986390e+01] [ 4.08982028e-04 1.97606111e-03 9.99997964e-01 -2.48036392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.091400513 meters 0.08882562280233927 Centerline is valid? [True, True] Translation: X:605.37, Y:64.20, Z:-2.48 [[ 9.99910611e-01 -1.33698277e-02 -1.30056875e-04 6.05373142e+02] [ 1.33698262e-02 9.99910620e-01 -1.25147940e-05 6.41986155e+01] [ 1.30212571e-04 1.07748375e-05 9.99999991e-01 -2.47998974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.121400513 meters 0.08183116123471204 Centerline is valid? [True, True] Translation: X:605.41, Y:64.19, Z:-2.48 [[ 9.99853943e-01 -1.70904194e-02 -1.02204454e-04 6.05405182e+02] [ 1.70904184e-02 9.99853948e-01 -9.85866102e-06 6.41874993e+01] [ 1.02358015e-04 8.11050422e-06 9.99999995e-01 -2.47976299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.151400513 meters 0.07863777372315571 Centerline is valid? [True, True] Translation: X:605.44, Y:64.18, Z:-2.48 [[ 9.99785495e-01 -2.07110161e-02 1.34935580e-04 6.05436743e+02] [ 2.07110145e-02 9.99785504e-01 1.29609047e-05 6.41809587e+01] [-1.35175070e-04 -1.01634718e-05 9.99999991e-01 -2.47948038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.181400513 meters 0.07725760885058199 Centerline is valid? [True, True] Translation: X:605.47, Y:64.18, Z:-2.48 [[ 9.99705861e-01 -2.42461961e-02 5.60137600e-04 6.05467071e+02] [ 2.42461696e-02 9.99706017e-01 5.39012647e-05 6.41771293e+01] [-5.61279829e-04 -4.03042189e-05 9.99999842e-01 -2.47922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.211400513 meters 0.06686184247495955 Centerline is valid? [True, True] Translation: X:605.50, Y:64.16, Z:-2.48 [[ 9.99546444e-01 -3.01137578e-02 2.62046147e-04 6.05499712e+02] [ 3.01137522e-02 9.99546478e-01 2.52157812e-05 6.41595323e+01] [-2.62686645e-04 -1.73131517e-05 9.99999965e-01 -2.48007034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.241400513 meters 0.06713942940653489 Centerline is valid? [True, True] Translation: X:605.53, Y:64.16, Z:-2.48 [[ 9.99463946e-01 -3.27383921e-02 -1.36816893e-04 6.05529398e+02] [ 3.27383906e-02 9.99463955e-01 -1.31512582e-05 6.41599586e+01] [ 1.37174104e-04 8.66504355e-06 9.99999991e-01 -2.48069264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.271400513 meters 0.06107623228481706 Centerline is valid? [True, True] Translation: X:605.56, Y:64.15, Z:-2.48 [[ 9.99382866e-01 -3.51136004e-02 -9.60172156e-04 6.05561320e+02] [ 3.51135278e-02 9.99383326e-01 -9.24143056e-05 6.41524378e+01] [ 9.62825042e-04 5.86422419e-05 9.99999535e-01 -2.48154475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.301400513 meters 0.05958688883634097 Centerline is valid? [True, True] Translation: X:605.59, Y:64.15, Z:-2.48 [[ 9.99257074e-01 -3.84909235e-02 -1.93640840e-03 6.05591116e+02] [ 3.84906345e-02 9.99258944e-01 -1.86318525e-04 6.41481707e+01] [ 1.94214498e-03 1.11646516e-04 9.99998108e-01 -2.48211241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.331400513 meters 0.0653500638736061 Centerline is valid? [True, True] Translation: X:605.62, Y:64.16, Z:-2.48 [[ 9.99209433e-01 -3.97300775e-02 -1.42479198e-03 6.05621394e+02] [ 3.97299222e-02 9.99210446e-01 -1.37128083e-04 6.41563941e+01] [ 1.42911514e-03 8.04127998e-05 9.99998976e-01 -2.48050852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.361400513 meters 0.06539756799270215 Centerline is valid? [True, True] Translation: X:605.65, Y:64.16, Z:-2.48 [[ 9.99162537e-01 -4.09157231e-02 -3.58072134e-04 6.05651640e+02] [ 4.09157134e-02 9.99162601e-01 -3.44697918e-05 6.41584790e+01] [ 3.59182642e-04 1.97901479e-05 9.99999935e-01 -2.47836661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.391400513 meters 0.05862982765486266 Centerline is valid? [True, True] Translation: X:605.68, Y:64.15, Z:-2.48 [[ 9.99109412e-01 -4.21900907e-02 6.15456179e-04 6.05683813e+02] [ 4.21900622e-02 9.99109601e-01 5.91377675e-05 6.41529385e+01] [-6.17403206e-04 -3.31189656e-05 9.99999809e-01 -2.47702152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.421400513 meters 0.0584608825577698 Centerline is valid? [True, True] Translation: X:605.71, Y:64.15, Z:-2.48 [[ 9.98939898e-01 -4.60106658e-02 1.44874590e-03 6.05712916e+02] [ 4.60105119e-02 9.98940946e-01 1.39369148e-04 6.41548643e+01] [-1.45362407e-03 -7.25638618e-05 9.99998941e-01 -2.47626210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.451400513 meters 0.05057319823196952 Centerline is valid? [True, True] Translation: X:605.74, Y:64.15, Z:-2.48 [[ 9.98818889e-01 -4.85476251e-02 1.98858903e-03 6.05744630e+02] [ 4.85473404e-02 9.98820864e-01 1.91211395e-04 6.41476859e+01] [-1.99552707e-03 -9.44448446e-05 9.99998004e-01 -2.47627428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.481400513 meters 0.04776601291044373 Centerline is valid? [True, True] Translation: X:605.78, Y:64.15, Z:-2.48 [[ 9.98682031e-01 -5.12776339e-02 2.19226923e-03 6.05775212e+02] [ 5.12772944e-02 9.98684432e-01 2.10829213e-04 6.41470987e+01] [-2.20019597e-03 -9.81377115e-05 9.99997575e-01 -2.47603175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.511400513 meters 0.044061895225148626 Centerline is valid? [True, True] Translation: X:605.81, Y:64.15, Z:-2.48 [[ 9.98519238e-01 -5.43789792e-02 1.50275486e-03 6.05806394e+02] [ 5.43788233e-02 9.98520367e-01 1.44429322e-04 6.41458163e+01] [-1.50838525e-03 -6.24974158e-05 9.99998860e-01 -2.47677019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.541400513 meters 0.04303862546646525 Centerline is valid? [True, True] Translation: X:605.84, Y:64.15, Z:-2.48 [[ 9.98329890e-01 -5.77657552e-02 7.40855241e-04 6.05835647e+02] [ 5.77657182e-02 9.98330164e-01 7.12650844e-05 6.41482424e+01] [-7.43734816e-04 -2.83500288e-05 9.99999723e-01 -2.47762784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.571400513 meters 0.0382429109380605 Centerline is valid? [True, True] Translation: X:605.87, Y:64.14, Z:-2.48 [[ 9.97915613e-01 -6.45191653e-02 -1.30658793e-03 6.05866925e+02] [ 6.45190561e-02 9.97916467e-01 -1.25637354e-04 6.41406384e+01] [ 1.31197163e-03 4.10756572e-05 9.99999139e-01 -2.48113864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.601400513 meters 0.03189392482525048 Centerline is valid? [True, True] Translation: X:605.90, Y:64.14, Z:-2.48 [[ 9.97726200e-01 -6.73779409e-02 -1.62566186e-03 6.05897581e+02] [ 6.73777755e-02 9.97727523e-01 -1.56326731e-04 6.41411303e+01] [ 1.63250055e-03 4.64377958e-05 9.99998666e-01 -2.48113107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.631400513 meters 0.029683681305507893 Centerline is valid? [True, True] Translation: X:605.93, Y:64.14, Z:-2.48 [[ 9.97575042e-01 -6.95845028e-02 -1.42579450e-03 6.05929432e+02] [ 6.95843779e-02 9.97576060e-01 -1.37110369e-04 6.41414514e+01] [ 1.43187921e-03 3.75648585e-05 9.99998974e-01 -2.48071659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.661400513 meters 0.027786182101152978 Centerline is valid? [True, True] Translation: X:605.96, Y:64.14, Z:-2.48 [[ 9.97474359e-01 -7.10111439e-02 -1.52321773e-03 6.05960978e+02] [ 7.10110031e-02 9.97475522e-01 -1.46410892e-04 6.41426347e+01] [ 1.52976920e-03 3.78758925e-05 9.99998829e-01 -2.48047937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.691400513 meters 0.02589768848970747 Centerline is valid? [True, True] Translation: X:605.99, Y:64.15, Z:-2.48 [[ 9.97388224e-01 -7.21374096e-02 -3.59505776e-03 6.05991849e+02] [ 7.21366330e-02 9.97394700e-01 -3.45396566e-04 6.41451838e+01] [ 3.61060757e-03 8.51591051e-05 9.99993478e-01 -2.48431815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.721400513 meters 0.025681760458428054 Centerline is valid? [True, True] Translation: X:606.02, Y:64.15, Z:-2.49 [[ 9.97380701e-01 -7.21566189e-02 -5.01594322e-03 6.06023036e+02] [ 7.21551080e-02 9.97393307e-01 -4.81764899e-04 6.41485908e+01] [ 5.03763073e-03 1.18577087e-04 9.99987304e-01 -2.48651595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.751400513 meters 0.03301923143209607 Centerline is valid? [True, True] Translation: X:606.05, Y:64.15, Z:-2.49 [[ 9.97355315e-01 -7.24194312e-02 -6.14837949e-03 6.06054645e+02] [ 7.24171671e-02 9.97374255e-01 -5.90369008e-04 6.41521733e+01] [ 6.17498961e-03 1.43559443e-04 9.99980924e-01 -2.48838339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.781400513 meters 0.022714236067787993 Centerline is valid? [True, True] Translation: X:606.08, Y:64.15, Z:-2.49 [[ 9.97185739e-01 -7.47619491e-02 -5.59035203e-03 6.06084623e+02] [ 7.47601139e-02 9.97201403e-01 -5.36823680e-04 6.41530159e+01] [ 5.61484087e-03 1.17377564e-04 9.99984230e-01 -2.48645602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.811400513 meters 0.023666299780474926 Centerline is valid? [True, True] Translation: X:606.12, Y:64.15, Z:-2.49 [[ 9.97029491e-01 -7.68882914e-02 -4.51492431e-03 6.06115079e+02] [ 7.68871159e-02 9.97039710e-01 -4.33597323e-04 6.41531680e+01] [ 4.53489738e-03 8.51698090e-05 9.99989714e-01 -2.48552602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.841400513 meters 0.01798487912399119 Centerline is valid? [True, True] Translation: X:606.15, Y:64.15, Z:-2.48 [[ 9.96852018e-01 -7.92060870e-02 -3.52834841e-03 6.06145888e+02] [ 7.92053836e-02 9.96858261e-01 -3.38850071e-04 6.41512588e+01] [ 3.54410225e-03 5.83191880e-05 9.99993718e-01 -2.48399416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.871400513 meters 0.015781235366347134 Centerline is valid? [True, True] Translation: X:606.18, Y:64.15, Z:-2.48 [[ 9.96628293e-01 -8.19896276e-02 -3.12194289e-03 6.06176694e+02] [ 8.19890906e-02 9.96633182e-01 -2.99808548e-04 6.41494819e+01] [ 3.13601306e-03 4.28324228e-05 9.99995082e-01 -2.48387574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.901400513 meters 0.010032915909006714 Centerline is valid? [True, True] Translation: X:606.21, Y:64.14, Z:-2.48 [[ 9.96083121e-01 -8.83541527e-02 -3.45836830e-03 6.06208625e+02] [ 8.83535322e-02 9.96089124e-01 -3.32070908e-04 6.41426364e+01] [ 3.47418289e-03 2.52111711e-05 9.99993965e-01 -2.48429000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.931400513 meters 0.008258151110549724 Centerline is valid? [True, True] Translation: X:606.24, Y:64.14, Z:-2.48 [[ 9.95858335e-01 -9.08382502e-02 -3.81964886e-03 6.06239089e+02] [ 9.08375117e-02 9.95865660e-01 -3.66731625e-04 6.41417018e+01] [ 3.83717039e-03 1.82453468e-05 9.99992638e-01 -2.48429991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.961400513 meters 0.007473755220836186 Centerline is valid? [True, True] Translation: X:606.27, Y:64.14, Z:-2.48 [[ 9.95710075e-01 -9.24584318e-02 -3.58951130e-03 6.06267637e+02] [ 9.24577899e-02 9.95716545e-01 -3.44699245e-04 6.41409572e+01] [ 3.60600614e-03 1.13422302e-05 9.99993498e-01 -2.48425185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.991400513 meters 0.0066593733533594525 Centerline is valid? [True, True] Translation: X:606.30, Y:64.14, Z:-2.48 [[ 9.95518791e-01 -9.45331333e-02 -2.41312402e-03 6.06297390e+02] [ 9.45328492e-02 9.95521716e-01 -2.31802547e-04 6.41372241e+01] [ 2.42423039e-03 2.64430177e-06 9.99997062e-01 -2.48177048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.021400513 meters 0.006662517137347475 Centerline is valid? [True, True] Translation: X:606.33, Y:64.14, Z:-2.48 [[ 9.95493550e-01 -9.48122265e-02 -1.79834908e-03 6.06327488e+02] [ 9.48120691e-02 9.95495174e-01 -1.72778326e-04 6.41390660e+01] [ 1.80662933e-03 1.49451185e-06 9.99998368e-01 -2.48058896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.051400513 meters 0.006687036932164493 Centerline is valid? [True, True] Translation: X:606.36, Y:64.14, Z:-2.48 [[ 9.95532454e-01 -9.44021459e-02 -1.83528356e-03 6.06356419e+02] [ 9.44019811e-02 9.95534145e-01 -1.76381613e-04 6.41423018e+01] [ 1.84373826e-03 2.33921601e-06 9.99998300e-01 -2.48074680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.081400513 meters 0.0069038432195480965 Centerline is valid? [True, True] Translation: X:606.39, Y:64.15, Z:-2.48 [[ 9.95592434e-01 -9.37582166e-02 -2.25876574e-03 6.06386884e+02] [ 9.37579654e-02 9.95594996e-01 -2.17078342e-04 6.41455725e+01] [ 2.26916875e-03 4.34427537e-06 9.99997425e-01 -2.48173341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.111400513 meters 0.007469766172434996 Centerline is valid? [True, True] Translation: X:606.42, Y:64.15, Z:-2.48 [[ 9.95704296e-01 -9.25686776e-02 -1.99872853e-03 6.06416738e+02] [ 9.25684785e-02 9.95706302e-01 -1.92085426e-04 6.41475186e+01] [ 2.00792769e-03 6.24102463e-06 9.99997984e-01 -2.48208699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.141400513 meters 0.007732693243259512 Centerline is valid? [True, True] Translation: X:606.45, Y:64.15, Z:-2.48 [[ 9.95764002e-01 -9.19389991e-02 -1.12819610e-03 6.06446471e+02] [ 9.19389353e-02 9.95764641e-01 -1.08413655e-04 6.41495280e+01] [ 1.13338522e-03 4.22926692e-06 9.99999358e-01 -2.48030295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.171400513 meters 0.0076579653623452875 Centerline is valid? [True, True] Translation: X:606.48, Y:64.15, Z:-2.48 [[ 9.95769033e-01 -9.18784821e-02 -1.54209556e-03 6.06476700e+02] [ 9.18783627e-02 9.95770227e-01 -1.48258880e-04 6.41529054e+01] [ 1.54919464e-03 5.94638702e-06 9.99998800e-01 -2.47986873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.201400513 meters 0.0076579653623452875 Centerline is valid? [True, True] Translation: X:606.51, Y:64.16, Z:-2.48 [[ 9.95769033e-01 -9.18784821e-02 -1.54209556e-03 6.06506562e+02] [ 9.18783627e-02 9.95770227e-01 -1.48258880e-04 6.41557764e+01] [ 1.54919464e-03 5.94638701e-06 9.99998800e-01 -2.47980333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.231400513 meters 0.007478312951761454 Centerline is valid? [True, True] Translation: X:606.54, Y:64.16, Z:-2.48 [[ 9.95728947e-01 -9.22871121e-02 -2.63690475e-03 6.06535877e+02] [ 9.22867643e-02 9.95732438e-01 -2.53520842e-04 6.41590538e+01] [ 2.64904831e-03 9.08663360e-06 9.99996491e-01 -2.48117031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.261400513 meters 0.012700947277637787 Centerline is valid? [True, True] Translation: X:606.56, Y:64.16, Z:-2.48 [[ 9.95645076e-01 -9.31608356e-02 -3.45553173e-03 6.06564032e+02] [ 9.31602433e-02 9.95651073e-01 -3.32307804e-04 6.41613116e+01] [ 3.47146195e-03 8.94245154e-06 9.99993974e-01 -2.48295941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.291400513 meters 0.0067737620086704125 Centerline is valid? [True, True] Translation: X:606.59, Y:64.16, Z:-2.48 [[ 9.95518055e-01 -9.45151507e-02 -3.26941247e-03 6.06593172e+02] [ 9.45146270e-02 9.95523423e-01 -3.14668431e-04 6.41626888e+01] [ 3.28451763e-03 4.25080445e-06 9.99994606e-01 -2.48245767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.321400513 meters 0.0070538263209059615 Centerline is valid? [True, True] Translation: X:606.62, Y:64.16, Z:-2.48 [[ 9.95148995e-01 -9.83653883e-02 -1.65200372e-03 6.06623105e+02] [ 9.83652596e-02 9.95150366e-01 -1.59170416e-04 6.41616152e+01] [ 1.65964896e-03 -4.10149526e-06 9.99998623e-01 -2.48062133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.351400513 meters 0.021450580379964414 Centerline is valid? [True, True] Translation: X:606.65, Y:64.16, Z:-2.48 [[ 9.94937621e-01 -1.00483093e-01 -1.50950133e-03 6.06651847e+02] [ 1.00482988e-01 9.94938766e-01 -1.45458573e-04 6.41617876e+01] [ 1.51647752e-03 -6.95699771e-06 9.99998850e-01 -2.48072954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.381400513 meters 0.009641203226880612 Centerline is valid? [True, True] Translation: X:606.68, Y:64.16, Z:-2.48 [[ 9.94695229e-01 -1.02850852e-01 -1.76148772e-03 6.06681352e+02] [ 1.02850713e-01 9.94696789e-01 -1.69848209e-04 6.41628077e+01] [ 1.76961521e-03 -1.22230637e-05 9.99998434e-01 -2.48110467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.411400513 meters 0.012445002393480011 Centerline is valid? [True, True] Translation: X:606.71, Y:64.16, Z:-2.48 [[ 9.94235629e-01 -1.07169578e-01 -3.19299242e-03 6.06711235e+02] [ 1.07169142e-01 9.94240756e-01 -3.07999926e-04 6.41640303e+01] [ 3.20761141e-03 -3.59657556e-05 9.99994855e-01 -2.48187445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.441400513 meters 0.014637243171111643 Centerline is valid? [True, True] Translation: X:606.74, Y:64.17, Z:-2.48 [[ 9.94078932e-01 -1.08610343e-01 -3.29716947e-03 6.06739238e+02] [ 1.08609885e-01 9.94084399e-01 -3.18175150e-04 6.41658476e+01] [ 3.31222184e-03 -4.18139833e-05 9.99994514e-01 -2.48155380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.471400513 meters 0.025406680871125867 Centerline is valid? [True, True] Translation: X:606.77, Y:64.17, Z:-2.48 [[ 9.93981664e-01 -1.09497741e-01 -3.27058140e-03 6.06767700e+02] [ 1.09497294e-01 9.93987044e-01 -3.15927357e-04 6.41703971e+01] [ 3.28550886e-03 -4.40938127e-05 9.99994602e-01 -2.48121662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.501400513 meters 0.015481844641222563 Centerline is valid? [True, True] Translation: X:606.80, Y:64.18, Z:-2.48 [[ 9.93922712e-01 -1.10053361e-01 -2.42923659e-03 6.06795601e+02] [ 1.10053116e-01 9.93925680e-01 -2.34975871e-04 6.41753813e+01] [ 2.44034051e-03 -3.37972000e-05 9.99997022e-01 -2.47946450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.531400513 meters 0.015105700899934203 Centerline is valid? [True, True] Translation: X:606.82, Y:64.18, Z:-2.48 [[ 9.93964787e-01 -1.09689944e-01 -1.45513377e-03 6.06824221e+02] [ 1.09689856e-01 9.93965852e-01 -1.40881799e-04 6.41813692e+01] [ 1.46180660e-03 -1.95818659e-05 9.99998931e-01 -2.47832735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.561400513 meters 0.014219186602235647 Centerline is valid? [True, True] Translation: X:606.85, Y:64.19, Z:-2.48 [[ 9.94050990e-01 -1.08903834e-01 -1.60749967e-03 6.06853055e+02] [ 1.08903724e-01 9.94052290e-01 -1.56019941e-04 6.41922380e+01] [ 1.61492990e-03 -1.99709246e-05 9.99998696e-01 -2.47866149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.591400513 meters 0.01472904966915253 Centerline is valid? [True, True] Translation: X:606.88, Y:64.20, Z:-2.48 [[ 9.93987767e-01 -1.09444077e-01 -3.21131632e-03 6.06882578e+02] [ 1.09443641e-01 9.93992954e-01 -3.11811286e-04 6.41976810e+01] [ 3.22615169e-03 -4.15215453e-05 9.99994795e-01 -2.48114795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.621400513 meters 0.016346858956946896 Centerline is valid? [True, True] Translation: X:606.91, Y:64.20, Z:-2.48 [[ 9.93844664e-01 -1.10679734e-01 -4.77282078e-03 6.06910806e+02] [ 1.10678783e-01 9.93856122e-01 -4.63600229e-04 6.42007347e+01] [ 4.79480831e-03 -6.75033821e-05 9.99988503e-01 -2.48379791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.651400513 meters 0.01924738261839022 Centerline is valid? [True, True] Translation: X:606.94, Y:64.20, Z:-2.49 [[ 9.93687435e-01 -1.12052457e-01 -5.43401977e-03 6.06938615e+02] [ 1.12051244e-01 9.93702289e-01 -5.28103346e-04 6.42014935e+01] [ 5.45897316e-03 -8.41190161e-05 9.99985096e-01 -2.48535805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.681400513 meters 0.02038844866860951 Centerline is valid? [True, True] Translation: X:606.97, Y:64.21, Z:-2.48 [[ 9.93534079e-01 -1.13412116e-01 -5.26561242e-03 6.06966601e+02] [ 1.13410992e-01 9.93548028e-01 -5.12385099e-04 6.42105327e+01] [ 5.28974952e-03 -8.81062729e-05 9.99986005e-01 -2.48496775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.711400513 meters 0.01803625197445675 Centerline is valid? [True, True] Translation: X:606.99, Y:64.21, Z:-2.48 [[ 9.93550525e-01 -1.13298537e-01 -4.56032099e-03 6.06994280e+02] [ 1.13297692e-01 9.93560987e-01 -4.44217752e-04 6.42147229e+01] [ 4.58128625e-03 -7.53210604e-05 9.99989503e-01 -2.48424068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.741400513 meters 0.01855524617852472 Centerline is valid? [True, True] Translation: X:607.02, Y:64.22, Z:-2.48 [[ 9.93566456e-01 -1.13165302e-01 -4.39448878e-03 6.07022109e+02] [ 1.13164514e-01 9.93576172e-01 -4.28321489e-04 6.42183386e+01] [ 4.41473047e-03 -7.17343224e-05 9.99990252e-01 -2.48445688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.771400513 meters 0.018252667595233432 Centerline is valid? [True, True] Translation: X:607.05, Y:64.22, Z:-2.48 [[ 9.93573404e-01 -1.13104081e-01 -4.39975814e-03 6.07049700e+02] [ 1.13103288e-01 9.93583143e-01 -4.29382594e-04 6.42234859e+01] [ 4.42009045e-03 -7.10039882e-05 9.99990229e-01 -2.48456952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.801400513 meters 0.016600027215099546 Centerline is valid? [True, True] Translation: X:607.08, Y:64.23, Z:-2.48 [[ 9.93613184e-01 -1.12766651e-01 -4.06478010e-03 6.07078697e+02] [ 1.12765969e-01 9.93621497e-01 -3.97114101e-04 6.42344032e+01] [ 4.08363411e-03 -6.37910618e-05 9.99991660e-01 -2.48269579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.831400513 meters 0.016662225867857153 Centerline is valid? [True, True] Translation: X:607.11, Y:64.24, Z:-2.48 [[ 9.93649159e-01 -1.12475913e-01 -3.24317417e-03 6.07107881e+02] [ 1.12475477e-01 9.93654450e-01 -3.16901364e-04 6.42408282e+01] [ 3.25823822e-03 -4.98887891e-05 9.99994691e-01 -2.48143811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.861400513 meters 0.01650989695237375 Centerline is valid? [True, True] Translation: X:607.14, Y:64.25, Z:-2.48 [[ 9.93689536e-01 -1.12150322e-01 -1.84721484e-03 6.07136255e+02] [ 1.12150181e-01 9.93691252e-01 -1.80508617e-04 6.42495248e+01] [ 1.85580532e-03 -2.77959533e-05 9.99998278e-01 -2.48028403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.891400513 meters 0.018696145643885168 Centerline is valid? [True, True] Translation: X:607.17, Y:64.25, Z:-2.48 [[ 9.93684724e-01 -1.12196577e-01 -1.61143453e-03 6.07165226e+02] [ 1.12196469e-01 9.93686031e-01 -1.57484351e-04 6.42518727e+01] [ 1.61892919e-03 -2.43074714e-05 9.99998689e-01 -2.48017728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.921400513 meters 0.01798889085761211 Centerline is valid? [True, True] Translation: X:607.20, Y:64.26, Z:-2.48 [[ 9.93644946e-01 -1.12550022e-01 -1.48763144e-03 6.07195625e+02] [ 1.12549930e-01 9.93646060e-01 -1.45408904e-04 6.42592283e+01] [ 1.49454489e-03 -2.29479921e-05 9.99998883e-01 -2.48037381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.951400513 meters 0.01992419221537113 Centerline is valid? [True, True] Translation: X:607.23, Y:64.27, Z:-2.48 [[ 9.93525888e-01 -1.13600683e-01 -1.09315115e-03 6.07226220e+02] [ 1.13600634e-01 9.93526489e-01 -1.06876269e-04 6.42667305e+01] [ 1.09821585e-03 -1.79983245e-05 9.99999397e-01 -2.48076803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.981400513 meters 0.019021488754207155 Centerline is valid? [True, True] Translation: X:607.26, Y:64.27, Z:-2.48 [[ 9.93366447e-01 -1.14988859e-01 -8.15424474e-04 6.07256046e+02] [ 1.14988833e-01 9.93366781e-01 -7.97004497e-05 6.42708236e+01] [ 8.19180249e-04 -1.45929560e-05 9.99999664e-01 -2.47958065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.011400513 meters 0.023581392330441125 Centerline is valid? [True, True] Translation: X:607.29, Y:64.27, Z:-2.48 [[ 9.93038885e-01 -1.17786561e-01 -3.14589764e-04 6.07285882e+02] [ 1.17786557e-01 9.93038935e-01 -3.07383018e-05 6.42723380e+01] [ 3.16020443e-04 -6.53011623e-06 9.99999950e-01 -2.47873059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.041400513 meters 0.031348491999713325 Centerline is valid? [True, True] Translation: X:607.32, Y:64.28, Z:-2.48 [[ 9.92892916e-01 -1.19009060e-01 -7.08049390e-04 6.07316576e+02] [ 1.19009041e-01 9.92893168e-01 -6.92183439e-05 6.42791036e+01] [ 7.11255012e-04 -1.55378752e-05 9.99999747e-01 -2.47921612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.071400513 meters 0.02367336443079198 Centerline is valid? [True, True] Translation: X:607.35, Y:64.28, Z:-2.48 [[ 9.92725093e-01 -1.20401758e-01 -5.53872475e-04 6.07347972e+02] [ 1.20401746e-01 9.92725247e-01 -5.41440351e-05 6.42826507e+01] [ 5.56362227e-04 -1.29370710e-05 9.99999845e-01 -2.47925325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.101400513 meters 0.029016924518654768 Centerline is valid? [True, True] Translation: X:607.38, Y:64.29, Z:-2.48 [[ 9.92295787e-01 -1.23887137e-01 -1.02413022e-03 6.07377752e+02] [ 1.23887100e-01 9.92296315e-01 -1.00017321e-04 6.42857022e+01] [ 1.02863150e-03 -2.76297566e-05 9.99999471e-01 -2.48117867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.131400513 meters 0.028884153985846577 Centerline is valid? [True, True] Translation: X:607.41, Y:64.29, Z:-2.48 [[ 9.92068928e-01 -1.25687021e-01 -1.41957374e-03 6.07409148e+02] [ 1.25686951e-01 9.92069943e-01 -1.38654521e-04 6.42883723e+01] [ 1.42574351e-03 -4.08670527e-05 9.99998983e-01 -2.48174946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.161400513 meters 0.033907611875847975 Centerline is valid? [True, True] Translation: X:607.44, Y:64.29, Z:-2.48 [[ 9.91839374e-01 -1.27483399e-01 -1.62478059e-03 6.07440101e+02] [ 1.27483310e-01 9.91840703e-01 -1.58645013e-04 6.42863084e+01] [ 1.63174813e-03 -4.97820382e-05 9.99998667e-01 -2.48169836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.191400513 meters 0.03599524898846774 Centerline is valid? [True, True] Translation: X:607.47, Y:64.29, Z:-2.48 [[ 9.91290080e-01 -1.31669711e-01 -2.65783944e-03 6.07470153e+02] [ 1.31669488e-01 9.91293639e-01 -2.59471019e-04 6.42897446e+01] [ 2.66886380e-03 -9.27453122e-05 9.99996434e-01 -2.48324539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.221400513 meters 0.0393807859058237 Centerline is valid? [True, True] Translation: X:607.50, Y:64.29, Z:-2.48 [[ 9.91007332e-01 -1.33765709e-01 -3.34703859e-03 6.07499983e+02] [ 1.33765368e-01 9.91012977e-01 -3.26764851e-04 6.42898111e+01] [ 3.36066861e-03 -1.23891484e-04 9.99994345e-01 -2.48463886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.251400513 meters 0.038585152010456675 Centerline is valid? [True, True] Translation: X:607.53, Y:64.30, Z:-2.48 [[ 9.90755811e-01 -1.35607250e-01 -3.68736899e-03 6.07529667e+02] [ 1.35606848e-01 9.90762662e-01 -3.60036109e-04 6.42954885e+01] [ 3.70213103e-03 -1.43324618e-04 9.99993137e-01 -2.48493676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.281400513 meters 0.038625218919225865 Centerline is valid? [True, True] Translation: X:607.56, Y:64.30, Z:-2.48 [[ 9.90565380e-01 -1.36993045e-01 -3.62399371e-03 6.07559686e+02] [ 1.36992665e-01 9.90571999e-01 -3.53873210e-04 6.43002431e+01] [ 3.63830486e-03 -1.45926006e-04 9.99993371e-01 -2.48463328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.311400513 meters 0.03977580249713556 Centerline is valid? [True, True] Translation: X:607.59, Y:64.30, Z:-2.48 [[ 9.90371080e-01 -1.38405267e-01 -3.01755795e-03 6.07589491e+02] [ 1.38405011e-01 9.90375669e-01 -2.94663285e-04 6.43048254e+01] [ 3.02929893e-03 -1.25819145e-04 9.99995404e-01 -2.48389704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.341400513 meters 0.03983665726482001 Centerline is valid? [True, True] Translation: X:607.62, Y:64.31, Z:-2.48 [[ 9.90300199e-01 -1.38920982e-01 -2.54498062e-03 6.07619696e+02] [ 1.38920801e-01 9.90303463e-01 -2.48531170e-04 6.43093693e+01] [ 2.55482932e-03 -1.07430279e-04 9.99996731e-01 -2.48339480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.371400513 meters 0.05104736190650725 Centerline is valid? [True, True] Translation: X:607.65, Y:64.30, Z:-2.48 [[ 9.90251690e-01 -1.39267609e-01 -2.47454571e-03 6.07649821e+02] [ 1.39267439e-01 9.90254776e-01 -2.41656443e-04 6.43034025e+01] [ 2.48408562e-03 -1.05322942e-04 9.99996909e-01 -2.48378160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.401400513 meters 0.04047783633461419 Centerline is valid? [True, True] Translation: X:607.68, Y:64.32, Z:-2.48 [[ 9.90233318e-01 -1.39389529e-01 -2.92163642e-03 6.07679456e+02] [ 1.39389293e-01 9.90237620e-01 -2.85330473e-04 6.43231787e+01] [ 2.93288637e-03 -1.24701093e-04 9.99995691e-01 -2.48344277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.431400513 meters 0.04480370594513535 Centerline is valid? [True, True] Translation: X:607.71, Y:64.32, Z:-2.48 [[ 9.90308126e-01 -1.38855791e-01 -2.98061996e-03 6.07710306e+02] [ 1.38855542e-01 9.90312604e-01 -2.91019037e-04 6.43246410e+01] [ 2.99215520e-03 -1.25677084e-04 9.99995516e-01 -2.48363786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.461400513 meters 0.04067656014868885 Centerline is valid? [True, True] Translation: X:607.74, Y:64.34, Z:-2.48 [[ 9.90443900e-01 -1.37891453e-01 -2.61302763e-03 6.07740919e+02] [ 1.37891259e-01 9.90447341e-01 -2.55073057e-04 6.43371025e+01] [ 2.62323866e-03 -1.07678115e-04 9.99996554e-01 -2.48282196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.491400513 meters 0.04229037812680244 Centerline is valid? [True, True] Translation: X:607.77, Y:64.35, Z:-2.48 [[ 9.90637050e-01 -1.36509846e-01 -1.81587738e-03 6.07771221e+02] [ 1.36509750e-01 9.90638711e-01 -1.77231718e-04 6.43477546e+01] [ 1.82307230e-03 -7.23126612e-05 9.99998336e-01 -2.48164760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.521400513 meters 0.03773644400724598 Centerline is valid? [True, True] Translation: X:607.80, Y:64.36, Z:-2.48 [[ 9.90977122e-01 -1.34030490e-01 -4.14744979e-04 6.07800476e+02] [ 1.34030485e-01 9.90977208e-01 -4.05093512e-05 6.43625002e+01] [ 4.16432309e-04 -1.54446305e-05 9.99999913e-01 -2.47909975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.551400513 meters 0.03504478855290334 Centerline is valid? [True, True] Translation: X:607.83, Y:64.37, Z:-2.48 [[ 9.91057089e-01 -1.33438529e-01 7.72389761e-05 6.07832051e+02] [ 1.33438529e-01 9.91057092e-01 7.42700406e-06 6.43725789e+01] [-7.75392835e-05 2.94607033e-06 9.99999997e-01 -2.47876239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.581400513 meters 0.03316351722493977 Centerline is valid? [True, True] Translation: X:607.86, Y:64.38, Z:-2.48 [[ 9.91109871e-01 -1.33045824e-01 1.77875035e-04 6.07863250e+02] [ 1.33045823e-01 9.91109887e-01 1.72281431e-05 6.43827677e+01] [-1.78585838e-04 6.59054766e-06 9.99999984e-01 -2.47904164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.611400513 meters 0.03851459780268596 Centerline is valid? [True, True] Translation: X:607.89, Y:64.38, Z:-2.48 [[ 9.91115047e-01 -1.33007383e-01 1.73359621e-05 6.07894821e+02] [ 1.33007383e-01 9.91115047e-01 1.55576232e-06 6.43845979e+01] [-1.73888608e-05 7.63871505e-07 1.00000000e+00 -2.47896073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.641400513 meters 0.04157005012107028 Centerline is valid? [True, True] Translation: X:607.92, Y:64.39, Z:-2.48 [[ 9.90745934e-01 -1.35720865e-01 -1.53035561e-03 6.07924840e+02] [ 1.35720796e-01 9.90747114e-01 -1.49050176e-04 6.43896104e+01] [ 1.53642462e-03 -6.00302249e-05 9.99998818e-01 -2.48226722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.671400513 meters 0.04432992088894958 Centerline is valid? [True, True] Translation: X:607.96, Y:64.39, Z:-2.48 [[ 9.90464078e-01 -1.37739827e-01 -2.94112442e-03 6.07955736e+02] [ 1.37739583e-01 9.90468437e-01 -2.86396489e-04 6.43927817e+01] [ 2.95253911e-03 -1.21443816e-04 9.99995634e-01 -2.48408474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.701400513 meters 0.04298573389525795 Centerline is valid? [True, True] Translation: X:607.99, Y:64.40, Z:-2.49 [[ 9.90077049e-01 -1.40469967e-01 -3.95296353e-03 6.07986169e+02] [ 1.40469548e-01 9.90084925e-01 -3.84871765e-04 6.43978632e+01] [ 3.96783252e-03 -1.74218298e-04 9.99992113e-01 -2.48580426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.731400513 meters 0.05129529828579106 Centerline is valid? [True, True] Translation: X:608.02, Y:64.39, Z:-2.49 [[ 9.89308537e-01 -1.45766940e-01 -4.54071534e-03 6.08016441e+02] [ 1.45766443e-01 9.89318932e-01 -4.42078855e-04 6.43923828e+01] [ 4.55665613e-03 -2.24531536e-04 9.99989593e-01 -2.48719730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.761400513 meters 0.048530030909682144 Centerline is valid? [True, True] Translation: X:608.05, Y:64.40, Z:-2.49 [[ 9.88863093e-01 -1.48763573e-01 -4.37990149e-03 6.08046553e+02] [ 1.48763139e-01 9.88872766e-01 -4.26420781e-04 6.44002163e+01] [ 4.39460118e-03 -2.29896122e-04 9.99990317e-01 -2.48648228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.791400513 meters 0.056270691997248865 Centerline is valid? [True, True] Translation: X:608.08, Y:64.40, Z:-2.49 [[ 9.88545156e-01 -1.50870331e-01 -4.07650991e-03 6.08077057e+02] [ 1.50869974e-01 9.88553536e-01 -3.96780307e-04 6.43984792e+01] [ 4.08971067e-03 -2.22787693e-04 9.99991612e-01 -2.48574170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.821400513 meters 0.05827564810099607 Centerline is valid? [True, True] Translation: X:608.11, Y:64.40, Z:-2.49 [[ 9.88208799e-01 -1.53065105e-01 -3.80037031e-03 6.08107280e+02] [ 1.53064811e-01 9.88216083e-01 -3.69804657e-04 6.43961115e+01] [ 3.81219125e-03 -2.16258747e-04 9.99992710e-01 -2.48539146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.851400513 meters 0.05441357355914644 Centerline is valid? [True, True] Translation: X:608.14, Y:64.41, Z:-2.49 [[ 9.88138234e-01 -1.53505180e-01 -4.35778624e-03 6.08138485e+02] [ 1.53504798e-01 9.88147811e-01 -4.23941570e-04 6.44069023e+01] [ 4.37121417e-03 -2.50028223e-04 9.99990415e-01 -2.48558615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.881400513 meters 0.05952865444725403 Centerline is valid? [True, True] Translation: X:608.17, Y:64.40, Z:-2.49 [[ 9.88118697e-01 -1.53618612e-01 -4.77103817e-03 6.08170072e+02] [ 1.53618157e-01 9.88130177e-01 -4.63939237e-04 6.44016934e+01] [ 4.78567649e-03 -2.74491057e-04 9.99988511e-01 -2.48650736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.911400513 meters 0.05295473123331725 Centerline is valid? [True, True] Translation: X:608.20, Y:64.41, Z:-2.49 [[ 9.88122234e-01 -1.53577831e-01 -5.31984459e-03 6.08200920e+02] [ 1.53577265e-01 9.88136507e-01 -5.17071239e-04 6.44140353e+01] [ 5.33614333e-03 -3.06077594e-04 9.99985716e-01 -2.48646920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.941400513 meters 0.05300626285434216 Centerline is valid? [True, True] Translation: X:608.23, Y:64.42, Z:-2.49 [[ 9.88114522e-01 -1.53637387e-01 -5.02430880e-03 6.08232677e+02] [ 1.53636885e-01 9.88127254e-01 -4.88114811e-04 6.44187429e+01] [ 5.03964914e-03 -2.89605819e-04 9.99987259e-01 -2.48539508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.971400513 meters 0.056649915389631836 Centerline is valid? [True, True] Translation: X:608.26, Y:64.42, Z:-2.48 [[ 9.88187230e-01 -1.53179570e-01 -4.69227000e-03 6.08264726e+02] [ 1.53179128e-01 9.88198334e-01 -4.55641930e-04 6.44227583e+01] [ 4.70668843e-03 -2.68498289e-04 9.99988887e-01 -2.48417975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.001400513 meters 0.05845646875585817 Centerline is valid? [True, True] Translation: X:608.30, Y:64.42, Z:-2.48 [[ 9.88240875e-01 -1.52841746e-01 -4.40157230e-03 6.08296465e+02] [ 1.52841354e-01 9.88250645e-01 -4.27143289e-04 6.44221760e+01] [ 4.41514199e-03 -2.50621813e-04 9.99990222e-01 -2.48377298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.031400513 meters 0.0542049202018223 Centerline is valid? [True, True] Translation: X:608.33, Y:64.43, Z:-2.48 [[ 9.88358477e-01 -1.52072202e-01 -4.64400136e-03 6.08328425e+02] [ 1.52071760e-01 9.88369353e-01 -4.50344759e-04 6.44315589e+01] [ 4.65847353e-03 -2.61119398e-04 9.99989115e-01 -2.48355562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.061400513 meters 0.06238534795897853 Centerline is valid? [True, True] Translation: X:608.36, Y:64.43, Z:-2.48 [[ 9.88640427e-01 -1.50245173e-01 -4.06121171e-03 6.08359785e+02] [ 1.50244820e-01 9.88648744e-01 -3.93672899e-04 6.44295860e+01] [ 4.07425930e-03 -2.20975077e-04 9.99991676e-01 -2.48327773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.091400513 meters 0.04911054021294316 Centerline is valid? [True, True] Translation: X:608.39, Y:64.44, Z:-2.48 [[ 9.88733837e-01 -1.49632674e-01 -3.93225970e-03 6.08390866e+02] [ 1.49632339e-01 9.88741634e-01 -3.81039532e-04 6.44424378e+01] [ 3.94500484e-03 -2.11646536e-04 9.99992196e-01 -2.48278359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.121400513 meters 0.04911054021294316 Centerline is valid? [True, True] Translation: X:608.42, Y:64.45, Z:-2.48 [[ 9.88740879e-01 -1.49586132e-01 -3.93227763e-03 6.08422452e+02] [ 1.49585797e-01 9.88748676e-01 -3.80854427e-04 6.44454239e+01] [ 3.94500484e-03 -2.11646543e-04 9.99992196e-01 -2.48271446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.151400513 meters 0.059226918316407126 Centerline is valid? [True, True] Translation: X:608.45, Y:64.44, Z:-2.48 [[ 9.89009472e-01 -1.47818854e-01 -3.13862080e-03 6.08453144e+02] [ 1.47818632e-01 9.89014439e-01 -3.03892258e-04 6.44417187e+01] [ 3.14906230e-03 -1.63394313e-04 9.99995028e-01 -2.48122047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.181400513 meters 0.049740985797844965 Centerline is valid? [True, True] Translation: X:608.48, Y:64.45, Z:-2.48 [[ 9.89199183e-01 -1.46560866e-01 -2.21112205e-03 6.08483117e+02] [ 1.46560752e-01 9.89201648e-01 -2.14069399e-04 6.44542567e+01] [ 2.21861977e-03 -1.12306437e-04 9.99997533e-01 -2.47915661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.211400513 meters 0.05218513396324978 Centerline is valid? [True, True] Translation: X:608.51, Y:64.45, Z:-2.48 [[ 9.89366083e-01 -1.45444543e-01 -7.99228695e-04 6.08513828e+02] [ 1.45444528e-01 9.89366405e-01 -7.73747022e-05 6.44528342e+01] [ 8.01983749e-04 -3.96915346e-05 9.99999678e-01 -2.47734745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.241400513 meters 0.0483309108816545 Centerline is valid? [True, True] Translation: X:608.54, Y:64.46, Z:-2.48 [[ 9.89700831e-01 -1.43151093e-01 1.71684524e-04 6.08543568e+02] [ 1.43151092e-01 9.89700846e-01 1.66155651e-05 6.44632846e+01] [-1.72294855e-04 8.13238852e-06 9.99999985e-01 -2.47697423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.271400513 meters 0.04944403250780541 Centerline is valid? [True, True] Translation: X:608.57, Y:64.47, Z:-2.48 [[ 9.89761726e-01 -1.42727456e-01 -7.73668581e-04 6.08574613e+02] [ 1.42727441e-01 9.89762028e-01 -7.49226584e-05 6.44651868e+01] [ 7.76441304e-04 -3.62681567e-05 9.99999698e-01 -2.47873890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.301400513 meters 0.04607012359436576 Centerline is valid? [True, True] Translation: X:608.61, Y:64.47, Z:-2.48 [[ 9.89722134e-01 -1.42985925e-01 -2.26326531e-03 6.08605788e+02] [ 1.42985797e-01 9.89724716e-01 -2.18958032e-04 6.44723055e+01] [ 2.27131754e-03 -1.06907185e-04 9.99997415e-01 -2.48142401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.331400513 meters 0.04508624873156132 Centerline is valid? [True, True] Translation: X:608.64, Y:64.48, Z:-2.48 [[ 9.89586492e-01 -1.43889675e-01 -3.78620246e-03 6.08637536e+02] [ 1.43889325e-01 9.89593719e-01 -3.66090014e-04 6.44762739e+01] [ 3.79947875e-03 -1.82516385e-04 9.99992765e-01 -2.48339347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.361400513 meters 0.0492789638413709 Centerline is valid? [True, True] Translation: X:608.67, Y:64.48, Z:-2.48 [[ 9.89509062e-01 -1.44397263e-01 -4.60947543e-03 6.08668798e+02] [ 1.44396751e-01 9.89519772e-01 -4.45481142e-04 6.44766574e+01] [ 4.62549333e-03 -2.24785649e-04 9.99989277e-01 -2.48379287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.391400513 meters 0.04681282009992828 Centerline is valid? [True, True] Translation: X:608.70, Y:64.48, Z:-2.48 [[ 9.89394670e-01 -1.45214404e-01 -3.31115835e-03 6.08700991e+02] [ 1.45214145e-01 9.89400197e-01 -3.19896717e-04 6.44792311e+01] [ 3.32251434e-03 -1.64322922e-04 9.99994467e-01 -2.48197308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.421400513 meters 0.04722966173727119 Centerline is valid? [True, True] Translation: X:608.73, Y:64.48, Z:-2.48 [[ 9.89535404e-01 -1.44269230e-01 -2.46462166e-03 6.08732412e+02] [ 1.44269083e-01 9.89538466e-01 -2.38021319e-04 6.44819521e+01] [ 2.47317709e-03 -1.20038185e-04 9.99996934e-01 -2.48083358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.451400513 meters 0.051326191075142136 Centerline is valid? [True, True] Translation: X:608.76, Y:64.48, Z:-2.48 [[ 9.89737727e-01 -1.42874438e-01 -2.47522627e-03 6.08763178e+02] [ 1.42874287e-01 9.89740815e-01 -2.38939799e-04 6.44802192e+01] [ 2.48397086e-03 -1.17158455e-04 9.99996908e-01 -2.48078446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.481400513 meters 0.04824771281163002 Centerline is valid? [True, True] Translation: X:608.79, Y:64.49, Z:-2.48 [[ 9.89953613e-01 -1.41339779e-01 -3.86149397e-03 6.08794147e+02] [ 1.41339399e-01 9.89961128e-01 -3.72663082e-04 6.44873077e+01] [ 3.87540105e-03 -1.76862072e-04 9.99992475e-01 -2.48282191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.511400513 meters 0.04326945023214399 Centerline is valid? [True, True] Translation: X:608.83, Y:64.50, Z:-2.49 [[ 9.90196401e-01 -1.39499747e-01 -7.13493587e-03 6.08825054e+02] [ 1.39498401e-01 9.90222057e-01 -6.88321880e-04 6.44959949e+01] [ 7.16119160e-03 -3.13738299e-04 9.99974309e-01 -2.48800333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.541400513 meters 0.04442472764843986 Centerline is valid? [True, True] Translation: X:608.86, Y:64.50, Z:-2.49 [[ 9.90153415e-01 -1.39788887e-01 -7.43513348e-03 6.08856715e+02] [ 1.39787437e-01 9.90181276e-01 -7.16851693e-04 6.44969590e+01] [ 7.46233786e-03 -3.29545102e-04 9.99972102e-01 -2.48882717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.571400513 meters 0.04464806564651946 Centerline is valid? [True, True] Translation: X:608.89, Y:64.50, Z:-2.49 [[ 9.90014741e-01 -1.40806555e-01 -6.65788258e-03 6.08888989e+02] [ 1.40805418e-01 9.90037081e-01 -6.41563695e-04 6.44985607e+01] [ 6.68188701e-03 -3.02308423e-04 9.99977630e-01 -2.48782661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.601400513 meters 0.04819808091879539 Centerline is valid? [True, True] Translation: X:608.92, Y:64.50, Z:-2.49 [[ 9.89831555e-01 -1.42137826e-01 -5.50739204e-03 6.08920977e+02] [ 1.42137070e-01 9.89846843e-01 -5.30500029e-04 6.44952938e+01] [ 5.52687874e-03 -2.57698897e-04 9.99984693e-01 -2.48650372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.631400513 meters 0.05088189814561188 Centerline is valid? [True, True] Translation: X:608.95, Y:64.49, Z:-2.48 [[ 9.89594277e-01 -1.43814125e-01 -4.54581302e-03 6.08951436e+02] [ 1.43813628e-01 9.89604693e-01 -4.37813393e-04 6.44902041e+01] [ 4.56152164e-03 -2.20492234e-04 9.99989572e-01 -2.48492531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.661400513 meters 0.05114865869309672 Centerline is valid? [True, True] Translation: X:608.98, Y:64.49, Z:-2.49 [[ 9.89599224e-01 -1.43759792e-01 -5.14770667e-03 6.08983964e+02] [ 1.43759154e-01 9.89612581e-01 -4.95648534e-04 6.44920022e+01] [ 5.16548962e-03 -2.49536554e-04 9.99986628e-01 -2.48527785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.691400513 meters 0.05175661026860613 Centerline is valid? [True, True] Translation: X:609.01, Y:64.50, Z:-2.49 [[ 9.89753590e-01 -1.42649579e-01 -6.23928207e-03 6.09014562e+02] [ 1.42648621e-01 9.89773212e-01 -6.00539647e-04 6.44984546e+01] [ 6.26114098e-03 -2.95638711e-04 9.99980355e-01 -2.48502459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.721400513 meters 0.04449331584923226 Centerline is valid? [True, True] Translation: X:609.04, Y:64.51, Z:-2.48 [[ 9.89920253e-01 -1.41473886e-01 -6.55984441e-03 6.09044990e+02] [ 1.41472802e-01 9.89941942e-01 -6.31238257e-04 6.45102176e+01] [ 6.58316884e-03 -3.03164038e-04 9.99978285e-01 -2.48462287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.751400513 meters 0.04045721089026863 Centerline is valid? [True, True] Translation: X:609.07, Y:64.52, Z:-2.48 [[ 9.90561853e-01 -1.36994354e-01 -4.44556713e-03 6.09074042e+02] [ 1.36993812e-01 9.90571811e-01 -4.27750851e-04 6.45224146e+01] [ 4.46225293e-03 -1.85301510e-04 9.99990027e-01 -2.48145092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.781400513 meters 0.03817158276443664 Centerline is valid? [True, True] Translation: X:609.10, Y:64.53, Z:-2.48 [[ 9.90981729e-01 -1.33972558e-01 -2.56269362e-03 6.09102855e+02] [ 1.33972367e-01 9.90985037e-01 -2.46585650e-04 6.45295600e+01] [ 2.57262674e-03 -9.89682571e-05 9.99996686e-01 -2.47878070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.811400513 meters 0.035983769408983284 Centerline is valid? [True, True] Translation: X:609.13, Y:64.54, Z:-2.48 [[ 9.91472533e-01 -1.30307802e-01 -1.44682259e-03 6.09132193e+02] [ 1.30307738e-01 9.91473587e-01 -1.39229551e-04 6.45380900e+01] [ 1.45262908e-03 -5.04899029e-05 9.99998944e-01 -2.47717580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.841400513 meters 0.032728762039519035 Centerline is valid? [True, True] Translation: X:609.16, Y:64.55, Z:-2.48 [[ 9.91992071e-01 -1.26287811e-01 -1.76649282e-03 6.09160859e+02] [ 1.26287709e-01 9.91993642e-01 -1.69991818e-04 6.45491611e+01] [ 1.77381754e-03 -5.44557950e-05 9.99998425e-01 -2.47762198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.871400513 meters 0.029817631667666097 Centerline is valid? [True, True] Translation: X:609.19, Y:64.56, Z:-2.48 [[ 9.92496908e-01 -1.22224985e-01 -3.30782544e-03 6.09189777e+02] [ 1.22224602e-01 9.92502416e-01 -3.18316188e-04 6.45615594e+01] [ 3.32193093e-03 -8.83698159e-05 9.99994478e-01 -2.47969292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.901400513 meters 0.020176153504590837 Centerline is valid? [True, True] Translation: X:609.22, Y:64.59, Z:-2.48 [[ 9.93508188e-01 -1.13654144e-01 -4.92097368e-03 6.09217826e+02] [ 1.13653192e-01 9.93520371e-01 -4.73514188e-04 6.45896027e+01] [ 4.94290444e-03 -8.88441451e-05 9.99987780e-01 -2.48200155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.931400513 meters 0.01830239097717602 Centerline is valid? [True, True] Translation: X:609.25, Y:64.60, Z:-2.48 [[ 9.93970349e-01 -1.09570437e-01 -4.15509393e-03 6.09246918e+02] [ 1.09569723e-01 9.93979032e-01 -3.99769824e-04 6.46016821e+01] [ 4.17387919e-03 -5.79131392e-05 9.99991288e-01 -2.48102114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.961400513 meters 0.014355092381021886 Centerline is valid? [True, True] Translation: X:609.28, Y:64.62, Z:-2.48 [[ 9.94419399e-01 -1.05463635e-01 -2.73508573e-03 6.09277523e+02] [ 1.05463310e-01 9.94423160e-01 -2.63103742e-04 6.46177578e+01] [ 2.74758047e-03 -2.68157283e-05 9.99996225e-01 -2.47864464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.991400513 meters 0.012493302482522638 Centerline is valid? [True, True] Translation: X:609.31, Y:64.63, Z:-2.48 [[ 9.94808968e-01 -1.01744113e-01 -1.80369396e-03 6.09307750e+02] [ 1.01743966e-01 9.94810603e-01 -1.73495819e-04 6.46312874e+01] [ 1.81198606e-03 -1.09197802e-05 9.99998358e-01 -2.47669443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.021400513 meters 0.011442254957954458 Centerline is valid? [True, True] Translation: X:609.34, Y:64.64, Z:-2.48 [[ 9.95123149e-01 -9.86389965e-02 -5.16296941e-04 6.09337692e+02] [ 9.86389839e-02 9.95123283e-01 -4.98202600e-05 6.46437888e+01] [ 5.18693328e-04 -1.34971169e-06 9.99999865e-01 -2.47536395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.051400513 meters 0.011072328143156748 Centerline is valid? [True, True] Translation: X:609.37, Y:64.66, Z:-2.48 [[ 9.95307843e-01 -9.67585706e-02 2.78479810e-04 6.09368421e+02] [ 9.67585669e-02 9.95307882e-01 2.65787905e-05 6.46617099e+01] [-2.79744876e-04 4.91228746e-07 9.99999961e-01 -2.47575249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.081400513 meters 0.011186747202672842 Centerline is valid? [True, True] Translation: X:609.40, Y:64.67, Z:-2.48 [[ 9.95285634e-01 -9.69842896e-02 7.44240668e-04 6.09400476e+02] [ 9.69842636e-02 9.95285912e-01 7.10961594e-05 6.46710562e+01] [-7.47627463e-04 1.41864703e-06 9.99999721e-01 -2.47526450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.111400513 meters 0.011563847504037255 Centerline is valid? [True, True] Translation: X:609.43, Y:64.68, Z:-2.47 [[ 9.95102675e-01 -9.88355157e-02 1.48565798e-03 6.09432784e+02] [ 9.88354146e-02 9.95103784e-01 1.41500511e-04 6.46826476e+01] [-1.49236915e-03 6.02808578e-06 9.99998886e-01 -2.47480716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.141400513 meters 0.012393048137776617 Centerline is valid? [True, True] Translation: X:609.46, Y:64.69, Z:-2.47 [[ 9.94949546e-01 -1.00369270e-01 1.18751629e-03 6.09464242e+02] [ 1.00369207e-01 9.94950255e-01 1.12827415e-04 6.46868284e+01] [-1.19284404e-03 6.93248318e-06 9.99999289e-01 -2.47497890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.171400513 meters 0.01356343296852634 Centerline is valid? [True, True] Translation: X:609.50, Y:64.69, Z:-2.48 [[ 9.94797732e-01 -1.01869453e-01 2.93487543e-04 6.09495089e+02] [ 1.01869450e-01 9.94797776e-01 2.76000887e-05 6.46904269e+01] [-2.94772361e-04 2.44090888e-06 9.99999957e-01 -2.47603371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.201400513 meters 0.014131289121825584 Centerline is valid? [True, True] Translation: X:609.53, Y:64.70, Z:-2.48 [[ 9.94662270e-01 -1.03178674e-01 -1.06327278e-03 6.09527258e+02] [ 1.03178625e-01 9.94662838e-01 -1.01397068e-04 6.46966681e+01] [ 1.06805994e-03 -8.85118487e-06 9.99999430e-01 -2.47853098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.231400513 meters 0.014431980370886444 Centerline is valid? [True, True] Translation: X:609.56, Y:64.71, Z:-2.48 [[ 9.94566037e-01 -1.04071282e-01 -2.75086189e-03 6.09558594e+02] [ 1.04070957e-01 9.94569840e-01 -2.61318648e-04 6.47076857e+01] [ 2.76312004e-03 -2.63861783e-05 9.99996182e-01 -2.48161005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.261400513 meters 0.014529203426784713 Centerline is valid? [True, True] Translation: X:609.59, Y:64.71, Z:-2.48 [[ 9.94658165e-01 -1.03191611e-01 -2.57413254e-03 6.09589746e+02] [ 1.03191324e-01 9.94661496e-01 -2.44131189e-04 6.47138812e+01] [ 2.58558281e-03 -2.28010651e-05 9.99996657e-01 -2.48191630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.291400513 meters 0.013923413085539769 Centerline is valid? [True, True] Translation: X:609.62, Y:64.72, Z:-2.48 [[ 9.94780015e-01 -1.01991831e-01 -3.22320087e-03 6.09621397e+02] [ 1.01991378e-01 9.94785236e-01 -3.05224159e-04 6.47215425e+01] [ 3.23752301e-03 -2.51078034e-05 9.99994759e-01 -2.48223418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.321400513 meters 0.012773015346441638 Centerline is valid? [True, True] Translation: X:609.65, Y:64.73, Z:-2.48 [[ 9.94935052e-01 -1.00450865e-01 -3.72382581e-03 6.09652553e+02] [ 1.00450249e-01 9.94942020e-01 -3.52444613e-04 6.47299394e+01] [ 3.74039414e-03 -2.33997312e-05 9.99993004e-01 -2.48278706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.351400513 meters 0.022893236509018085 Centerline is valid? [True, True] Translation: X:609.68, Y:64.74, Z:-2.48 [[ 9.95090875e-01 -9.88620044e-02 -4.52274027e-03 6.09684198e+02] [ 9.88610810e-02 9.95101152e-01 -4.27825264e-04 6.47375703e+01] [ 4.54287972e-03 -2.13979761e-05 9.99989681e-01 -2.48244892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.381400513 meters 0.010956740293500349 Centerline is valid? [True, True] Translation: X:609.71, Y:64.75, Z:-2.48 [[ 9.95469609e-01 -9.50106081e-02 -3.63905578e-03 6.09714953e+02] [ 9.50099851e-02 9.95476260e-01 -3.44080546e-04 6.47507671e+01] [ 3.65528494e-03 -3.22490926e-06 9.99993319e-01 -2.48160235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.411400513 meters 0.010891463288373088 Centerline is valid? [True, True] Translation: X:609.75, Y:64.76, Z:-2.48 [[ 9.95720465e-01 -9.23805897e-02 -2.56569117e-03 6.09746636e+02] [ 9.23802717e-02 9.95723770e-01 -2.42445960e-04 6.47587887e+01] [ 2.57711698e-03 4.38915673e-06 9.99996679e-01 -2.48011512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.441400513 meters 0.011442685181040626 Centerline is valid? [True, True] Translation: X:609.78, Y:64.77, Z:-2.48 [[ 9.95997002e-01 -8.93704838e-02 -1.69933193e-03 6.09778060e+02] [ 8.93703402e-02 9.95998452e-01 -1.60396516e-04 6.47673287e+01] [ 1.70686668e-03 7.88457689e-06 9.99998543e-01 -2.47810406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.471400513 meters 0.013397836961771468 Centerline is valid? [True, True] Translation: X:609.81, Y:64.78, Z:-2.48 [[ 9.96291381e-01 -8.60327777e-02 -1.35831464e-03 6.09807944e+02] [ 8.60326832e-02 9.96292307e-01 -1.27988619e-04 6.47776970e+01] [ 1.36428964e-03 1.06545052e-05 9.99999069e-01 -2.47711676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.501400513 meters 0.015283603010731476 Centerline is valid? [True, True] Translation: X:609.84, Y:64.79, Z:-2.48 [[ 9.96571533e-01 -8.27097162e-02 -2.06924511e-03 6.09839136e+02] [ 8.27094901e-02 9.96573681e-01 -1.94720506e-04 6.47867761e+01] [ 2.07826050e-03 2.29067047e-05 9.99997840e-01 -2.47795481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.531400513 meters 0.019667548562956286 Centerline is valid? [True, True] Translation: X:609.87, Y:64.80, Z:-2.48 [[ 9.97035662e-01 -7.69049918e-02 -2.34766341e-03 6.09869160e+02] [ 7.69046857e-02 9.97038425e-01 -2.20518153e-04 6.48023627e+01] [ 2.35766957e-03 3.93181460e-05 9.99997220e-01 -2.47805286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.561400513 meters 0.02127472905410226 Centerline is valid? [True, True] Translation: X:609.90, Y:64.81, Z:-2.48 [[ 9.97221926e-01 -7.44760072e-02 -1.32436269e-03 6.09900648e+02] [ 7.44759075e-02 9.97222805e-01 -1.24510185e-04 6.48103692e+01] [ 1.32995770e-03 2.55311735e-05 9.99999115e-01 -2.47621881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.591400513 meters 0.022812123675733334 Centerline is valid? [True, True] Translation: X:609.93, Y:64.82, Z:-2.47 [[ 9.97383084e-01 -7.22977788e-02 -1.18654997e-04 6.09932083e+02] [ 7.22977779e-02 9.97383091e-01 -1.14649122e-05 6.48176995e+01] [ 1.19173376e-04 2.85641687e-06 9.99999993e-01 -2.47432178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.621400513 meters 0.023173072737275716 Centerline is valid? [True, True] Translation: X:609.96, Y:64.83, Z:-2.47 [[ 9.97600558e-01 -6.92018557e-02 2.05681554e-03 6.09963291e+02] [ 6.92016066e-02 9.97602677e-01 1.92120348e-04 6.48250894e+01] [-2.06517978e-03 -4.93244263e-05 9.99997866e-01 -2.47173536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.651400513 meters 0.02645899727435079 Centerline is valid? [True, True] Translation: X:609.99, Y:64.83, Z:-2.47 [[ 9.97667093e-01 -6.82270813e-02 2.33174822e-03 6.09993423e+02] [ 6.82267590e-02 9.97669816e-01 2.17580858e-04 6.48340534e+01] [-2.34115972e-03 -5.79856381e-05 9.99997258e-01 -2.47102028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.681400513 meters 0.026343757078012623 Centerline is valid? [True, True] Translation: X:610.03, Y:64.84, Z:-2.47 [[ 9.97723216e-01 -6.74184993e-02 1.76911075e-03 6.10025298e+02] [ 6.74183134e-02 9.97724784e-01 1.64569461e-04 6.48387602e+01] [-1.77618067e-03 -4.49243091e-05 9.99998422e-01 -2.47151688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.711400513 meters 0.026477661365247974 Centerline is valid? [True, True] Translation: X:610.06, Y:64.84, Z:-2.47 [[ 9.97774299e-01 -6.66785596e-02 6.46808537e-04 6.10057399e+02] [ 6.66785348e-02 9.97774508e-01 5.98229661e-05 6.48443335e+01] [-6.49357979e-04 -1.65615725e-05 9.99999789e-01 -2.47315797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.741400513 meters 0.02802053538993255 Centerline is valid? [True, True] Translation: X:610.09, Y:64.85, Z:-2.47 [[ 9.97820329e-01 -6.59873621e-02 -5.08552431e-04 6.10088323e+02] [ 6.59873464e-02 9.97820459e-01 -4.75869047e-05 6.48515731e+01] [ 5.10584154e-04 1.39251555e-05 9.99999870e-01 -2.47437200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.771400513 meters 0.032338801781977226 Centerline is valid? [True, True] Translation: X:610.12, Y:64.86, Z:-2.47 [[ 9.97985649e-01 -6.34320902e-02 -1.00744294e-03 6.10119487e+02] [ 6.34320279e-02 9.97986157e-01 -9.37776142e-05 6.48613641e+01] [ 1.01136261e-03 2.96845648e-05 9.99999488e-01 -2.47485339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.801400513 meters 0.03350812427112091 Centerline is valid? [True, True] Translation: X:610.15, Y:64.87, Z:-2.47 [[ 9.98136292e-01 -6.10215751e-02 -5.56407685e-04 6.10149246e+02] [ 6.10215557e-02 9.98136447e-01 -5.17414130e-05 6.48721728e+01] [ 5.58528132e-04 1.76921196e-05 9.99999844e-01 -2.47475558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.831400513 meters 0.03636151326625294 Centerline is valid? [True, True] Translation: X:610.18, Y:64.88, Z:-2.47 [[ 9.98286830e-01 -5.85085747e-02 -3.88386417e-04 6.10180046e+02] [ 5.85085651e-02 9.98286906e-01 -3.60307474e-05 6.48811096e+01] [ 3.89829182e-04 1.32450887e-05 9.99999924e-01 -2.47427258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.861400513 meters 0.03794520954984586 Centerline is valid? [True, True] Translation: X:610.21, Y:64.89, Z:-2.47 [[ 9.98408188e-01 -5.63986356e-02 -5.32711083e-04 6.10211703e+02] [ 5.63986172e-02 9.98408330e-01 -4.94291514e-05 6.48863916e+01] [ 5.34650919e-04 1.93063011e-05 9.99999857e-01 -2.47403995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.891400513 meters 0.03945615300653678 Centerline is valid? [True, True] Translation: X:610.24, Y:64.90, Z:-2.48 [[ 9.98530789e-01 -5.41774498e-02 -1.03336036e-03 6.10241362e+02] [ 5.41773797e-02 9.98531323e-01 -9.57213810e-05 6.48964277e+01] [ 1.03702862e-03 3.95959897e-05 9.99999462e-01 -2.47508389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.921400513 meters 0.03977407728090117 Centerline is valid? [True, True] Translation: X:610.27, Y:64.90, Z:-2.48 [[ 9.98686944e-01 -5.11819358e-02 -2.19048625e-03 6.10271755e+02] [ 5.11816141e-02 9.98689342e-01 -2.02740346e-04 6.49040737e+01] [ 2.19799191e-03 9.03615148e-05 9.99997580e-01 -2.47663102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.951400513 meters 0.04362617502253789 Centerline is valid? [True, True] Translation: X:610.30, Y:64.92, Z:-2.48 [[ 9.98764603e-01 -4.96291780e-02 -2.49267787e-03 6.10302302e+02] [ 4.96287567e-02 9.98767707e-01 -2.30626569e-04 6.49158111e+01] [ 2.50105197e-03 1.06633150e-04 9.99996867e-01 -2.47832812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.981400513 meters 0.042962573279343316 Centerline is valid? [True, True] Translation: X:610.33, Y:64.92, Z:-2.48 [[ 9.98805047e-01 -4.88187861e-02 -2.28141615e-03 6.10334564e+02] [ 4.88184318e-02 9.98807647e-01 -2.10752490e-04 6.49197834e+01] [ 2.28898458e-03 9.91254921e-05 9.99997375e-01 -2.47792684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.011400513 meters 0.042962573279343316 Centerline is valid? [True, True] Translation: X:610.37, Y:64.92, Z:-2.48 [[ 9.98808611e-01 -4.87458006e-02 -2.28142664e-03 6.10367012e+02] [ 4.87454464e-02 9.98811212e-01 -2.10638868e-04 6.49226566e+01] [ 2.28898227e-03 9.91787554e-05 9.99997375e-01 -2.47785589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.041400513 meters 0.04215197127035154 Centerline is valid? [True, True] Translation: X:610.40, Y:64.93, Z:-2.48 [[ 9.98876508e-01 -4.73877973e-02 -3.42711886e-04 6.10398921e+02] [ 4.73877892e-02 9.98876567e-01 -3.17092901e-05 6.49271612e+01] [ 3.43829505e-04 1.54333064e-05 9.99999941e-01 -2.47535556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.071400513 meters 0.04623821485883634 Centerline is valid? [True, True] Translation: X:610.43, Y:64.94, Z:-2.47 [[ 9.98908942e-01 -4.66996260e-02 2.66076065e-04 6.10429303e+02] [ 4.66996212e-02 9.98908977e-01 2.41406891e-05 6.49355756e+01] [-2.66913131e-04 -1.16886988e-05 9.99999964e-01 -2.47449362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.101400513 meters 0.045632507091990133 Centerline is valid? [True, True] Translation: X:610.46, Y:64.94, Z:-2.47 [[ 9.98920683e-01 -4.64475003e-02 3.13376749e-04 6.10461149e+02] [ 4.64474936e-02 9.98920732e-01 2.87246407e-05 6.49375572e+01] [-3.14372719e-04 -1.41380732e-05 9.99999950e-01 -2.47458877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.131400513 meters 0.046627177775493626 Centerline is valid? [True, True] Translation: X:610.49, Y:64.94, Z:-2.47 [[ 9.98927553e-01 -4.62991976e-02 3.57339378e-04 6.10493148e+02] [ 4.62991889e-02 9.98927617e-01 3.25686815e-05 6.49416060e+01] [-3.58464077e-04 -1.59892300e-05 9.99999936e-01 -2.47410760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.161400513 meters 0.04702474737049265 Centerline is valid? [True, True] Translation: X:610.53, Y:64.94, Z:-2.47 [[ 9.98953457e-01 -4.57117161e-02 1.55893551e-03 6.10525148e+02] [ 4.57115484e-02 9.98954671e-01 1.43050865e-04 6.49445492e+01] [-1.56384501e-03 -7.16398000e-05 9.99998775e-01 -2.47205675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.191400513 meters 0.04800271877844223 Centerline is valid? [True, True] Translation: X:610.56, Y:64.95, Z:-2.47 [[ 9.98976273e-01 -4.51691412e-02 2.48103737e-03 6.10556872e+02] [ 4.51687162e-02 9.98979347e-01 2.27109461e-04 6.49470841e+01] [-2.48876343e-03 -1.14811691e-04 9.99996896e-01 -2.47035629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.221400513 meters 0.04678049138395204 Centerline is valid? [True, True] Translation: X:610.59, Y:64.95, Z:-2.47 [[ 9.98993399e-01 -4.47391953e-02 3.25472758e-03 6.10589616e+02] [ 4.47384631e-02 9.98998689e-01 2.97455749e-04 6.49464766e+01] [-3.26477652e-03 -1.51544820e-04 9.99994659e-01 -2.46959786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.251400513 meters 0.04294914131392709 Centerline is valid? [True, True] Translation: X:610.62, Y:64.94, Z:-2.47 [[ 9.99007713e-01 -4.44219384e-02 3.20649939e-03 6.10623392e+02] [ 4.44212284e-02 9.99012847e-01 2.92328128e-04 6.49423177e+01] [-3.21631987e-03 -1.49601412e-04 9.99994816e-01 -2.47058172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.281400513 meters 0.05226010285520355 Centerline is valid? [True, True] Translation: X:610.65, Y:64.95, Z:-2.47 [[ 9.99011161e-01 -4.43824378e-02 2.62655476e-03 6.10653991e+02] [ 4.43819624e-02 9.99014607e-01 2.39033308e-04 6.49517721e+01] [-2.63457545e-03 -1.22225288e-04 9.99996522e-01 -2.46977921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.311400513 meters 0.04774522260370857 Centerline is valid? [True, True] Translation: X:610.69, Y:64.95, Z:-2.47 [[ 9.99039891e-01 -4.37247160e-02 2.72866448e-03 6.10686926e+02] [ 4.37242001e-02 9.99043609e-01 2.48455554e-04 6.49461107e+01] [-2.73691846e-03 -1.28908338e-04 9.99996246e-01 -2.47010109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.341400513 meters 0.05073016748865775 Centerline is valid? [True, True] Translation: X:610.72, Y:64.95, Z:-2.47 [[ 9.99087280e-01 -4.25765633e-02 3.44126173e-03 6.10717676e+02] [ 4.25757385e-02 9.99093193e-01 3.12596167e-04 6.49494270e+01] [-3.45145044e-03 -1.65796595e-04 9.99994030e-01 -2.46866427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.371400513 meters 0.05233885816510853 Centerline is valid? [True, True] Translation: X:610.75, Y:64.95, Z:-2.47 [[ 9.99137658e-01 -4.12958437e-02 4.31200505e-03 6.10749829e+02] [ 4.12945364e-02 9.99146940e-01 3.91811441e-04 6.49512850e+01] [-4.32450683e-03 -2.13411316e-04 9.99990627e-01 -2.46731182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.401400513 meters 0.04903306677189894 Centerline is valid? [True, True] Translation: X:610.78, Y:64.95, Z:-2.47 [[ 9.99241632e-01 -3.86800864e-02 4.47347730e-03 6.10781219e+02] [ 3.86786530e-02 9.99251618e-01 4.06506995e-04 6.49450562e+01] [-4.48585315e-03 -2.33170637e-04 9.99989911e-01 -2.46819868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.431400513 meters 0.05729996381382177 Centerline is valid? [True, True] Translation: X:610.81, Y:64.96, Z:-2.47 [[ 9.99309341e-01 -3.69596405e-02 3.85045019e-03 6.10811347e+02] [ 3.69585696e-02 9.99316738e-01 3.48938897e-04 6.49561606e+01] [-3.86071598e-03 -2.06390768e-04 9.99992526e-01 -2.46822419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.461400513 meters 0.05735123545608772 Centerline is valid? [True, True] Translation: X:610.84, Y:64.96, Z:-2.47 [[ 9.99365123e-01 -3.55215978e-02 2.75072842e-03 6.10843178e+02] [ 3.55210462e-02 9.99368897e-01 2.49138896e-04 6.49564310e+01] [-2.75784224e-03 -1.51271972e-04 9.99996186e-01 -2.47008180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.491400513 meters 0.059630167189091386 Centerline is valid? [True, True] Translation: X:610.87, Y:64.96, Z:-2.47 [[ 9.99405828e-01 -3.44322596e-02 1.55255281e-03 6.10874010e+02] [ 3.44320829e-02 9.99407030e-01 1.40401850e-04 6.49589252e+01] [-1.55646655e-03 -8.68608004e-05 9.99998785e-01 -2.47209504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.521400513 meters 0.06320185152241523 Centerline is valid? [True, True] Translation: X:610.90, Y:64.96, Z:-2.47 [[ 9.99434867e-01 -3.36098501e-02 5.69150465e-04 6.10904952e+02] [ 3.36098263e-02 9.99435029e-01 5.14393461e-05 6.49625834e+01] [-5.70557780e-04 -3.22812277e-05 9.99999837e-01 -2.47393314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.551400513 meters 0.055122979907964206 Centerline is valid? [True, True] Translation: X:610.94, Y:64.95, Z:-2.48 [[ 9.99448225e-01 -3.32132975e-02 3.50766974e-04 6.10938537e+02] [ 3.32132885e-02 9.99448286e-01 3.16227639e-05 6.49498315e+01] [-3.51623748e-04 -1.99551905e-05 9.99999938e-01 -2.47573216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.581400513 meters 0.06029805650909693 Centerline is valid? [True, True] Translation: X:610.97, Y:64.96, Z:-2.48 [[ 9.99458739e-01 -3.28963962e-02 2.35897584e-04 6.10969412e+02] [ 3.28963921e-02 9.99458767e-01 2.11095238e-05 6.49566460e+01] [-2.36464336e-04 -1.33379186e-05 9.99999972e-01 -2.47596525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.611400513 meters 0.06073348465785559 Centerline is valid? [True, True] Translation: X:611.00, Y:64.96, Z:-2.48 [[ 9.99476084e-01 -3.23657206e-02 -1.35265138e-04 6.11001666e+02] [ 3.23657192e-02 9.99476093e-01 -1.23216657e-05 6.49574118e+01] [ 1.35593072e-04 7.93725673e-06 9.99999991e-01 -2.47648750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.641400513 meters 0.06344838172722575 Centerline is valid? [True, True] Translation: X:611.03, Y:64.96, Z:-2.48 [[ 9.99509775e-01 -3.12897090e-02 -1.07834695e-03 6.11032948e+02] [ 3.12896220e-02 9.99510355e-01 -9.74362365e-05 6.49588605e+01] [ 1.08086770e-03 6.36474023e-05 9.99999414e-01 -2.47663546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.671400513 meters 0.06354163367086954 Centerline is valid? [True, True] Translation: X:611.06, Y:64.96, Z:-2.48 [[ 9.99521718e-01 -3.09043814e-02 -1.11968103e-03 6.11064861e+02] [ 3.09042874e-02 9.99522343e-01 -1.01140417e-04 6.49591256e+01] [ 1.12227189e-03 6.64890986e-05 9.99999368e-01 -2.47633209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.701400513 meters 0.06022399552008316 Centerline is valid? [True, True] Translation: X:611.10, Y:64.95, Z:-2.48 [[ 9.99544228e-01 -3.01733212e-02 -9.52003762e-04 6.11097347e+02] [ 3.01732530e-02 9.99544680e-01 -8.59659997e-05 6.49549055e+01] [ 9.54164176e-04 5.72017685e-05 9.99999543e-01 -2.47612585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.731400513 meters 0.05996069639962456 Centerline is valid? [True, True] Translation: X:611.13, Y:64.95, Z:-2.48 [[ 9.99574898e-01 -2.91457378e-02 -7.40917846e-04 6.11129997e+02] [ 2.91456962e-02 9.99575172e-01 -6.68928164e-05 6.49540660e+01] [ 7.42552724e-04 4.52698137e-05 9.99999723e-01 -2.47629013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.761400513 meters 0.064656328311668 Centerline is valid? [True, True] Translation: X:611.16, Y:64.96, Z:-2.48 [[ 9.99636101e-01 -2.69744831e-02 -2.05082427e-04 6.11159835e+02] [ 2.69744798e-02 9.99636122e-01 -1.85827036e-05 6.49573703e+01] [ 2.05509061e-04 1.30439496e-05 9.99999979e-01 -2.47627928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.791400513 meters 0.06873377546201795 Centerline is valid? [True, True] Translation: X:611.19, Y:64.96, Z:-2.48 [[ 9.99662285e-01 -2.59730998e-02 -8.44775296e-04 6.11190274e+02] [ 2.59730447e-02 9.99662641e-01 -7.61368225e-05 6.49633070e+01] [ 8.46467812e-04 5.41697234e-05 9.99999640e-01 -2.47715812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.821400513 meters 0.06950478586578852 Centerline is valid? [True, True] Translation: X:611.22, Y:64.97, Z:-2.48 [[ 9.99676851e-01 -2.53829431e-02 -1.37861272e-03 6.11222128e+02] [ 2.53827958e-02 9.99677797e-01 -1.24200956e-04 6.49654565e+01] [ 1.38132111e-03 8.91677757e-05 9.99999042e-01 -2.47773589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.851400513 meters 0.07109978116379302 Centerline is valid? [True, True] Translation: X:611.25, Y:64.97, Z:-2.48 [[ 9.99687281e-01 -2.49629642e-02 -1.48010492e-03 6.11252936e+02] [ 2.49627941e-02 9.99688372e-01 -1.33257156e-04 6.49684857e+01] [ 1.48297017e-03 9.62679299e-05 9.99998896e-01 -2.47734426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.881400513 meters 0.06857169984043973 Centerline is valid? [True, True] Translation: X:611.28, Y:64.97, Z:-2.48 [[ 9.99704948e-01 -2.42718190e-02 -9.46555962e-04 6.11284935e+02] [ 2.42717491e-02 9.99705394e-01 -8.52758280e-05 6.49668238e+01] [ 9.48346900e-04 6.22760983e-05 9.99999548e-01 -2.47612538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.911400513 meters 0.07312767428144822 Centerline is valid? [True, True] Translation: X:611.32, Y:64.98, Z:-2.47 [[ 9.99733723e-01 -2.30698471e-02 -5.15991926e-04 6.11315191e+02] [ 2.30698262e-02 9.99733855e-01 -4.65244255e-05 6.49750228e+01] [ 5.16927909e-04 3.46081930e-05 9.99999866e-01 -2.47482441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.941400513 meters 0.06930500328897576 Centerline is valid? [True, True] Translation: X:611.35, Y:64.97, Z:-2.48 [[ 9.99774943e-01 -2.12106341e-02 -4.14708277e-04 6.11346867e+02] [ 2.12106204e-02 9.99775029e-01 -3.72879030e-05 6.49738702e+01] [ 4.15405880e-04 2.84832913e-05 9.99999913e-01 -2.47598868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.971400513 meters 0.0817711157516141 Centerline is valid? [True, True] Translation: X:611.38, Y:64.99, Z:-2.48 [[ 9.99782997e-01 -2.08193823e-02 -7.15182749e-04 6.11376112e+02] [ 2.08193416e-02 9.99783252e-01 -6.42658228e-05 6.49912411e+01] [ 7.16365709e-04 4.93622430e-05 9.99999742e-01 -2.47675552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.001400513 meters 0.07236892494289507 Centerline is valid? [True, True] Translation: X:611.41, Y:64.98, Z:-2.48 [[ 9.99778905e-01 -2.10251767e-02 -2.89291823e-04 6.11409478e+02] [ 2.10251700e-02 9.99778946e-01 -2.60552857e-05 6.49816350e+01] [ 2.89775691e-04 1.99671152e-05 9.99999958e-01 -2.47700870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.031400513 meters 0.06901121719781138 Centerline is valid? [True, True] Translation: X:611.44, Y:64.98, Z:-2.48 [[ 9.99758729e-01 -2.19630116e-02 3.30587720e-04 6.11441614e+02] [ 2.19630030e-02 9.99758784e-01 2.95598824e-05 6.49798705e+01] [-3.31157201e-04 -2.22920514e-05 9.99999945e-01 -2.47667549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.061400513 meters 0.06823817504057637 Centerline is valid? [True, True] Translation: X:611.47, Y:64.98, Z:-2.47 [[ 9.99678890e-01 -2.52723812e-02 1.85009063e-03 6.11470679e+02] [ 2.52721172e-02 9.99680595e-01 1.65930147e-04 6.49815647e+01] [-1.85369315e-03 -1.19121158e-04 9.99998275e-01 -2.47422702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.091400513 meters 0.06570443755998784 Centerline is valid? [True, True] Translation: X:611.50, Y:64.98, Z:-2.47 [[ 9.99636255e-01 -2.69010705e-02 1.92095125e-03 6.11502835e+02] [ 2.69007894e-02 9.99638093e-01 1.72040618e-04 6.49811491e+01] [-1.92488412e-03 -1.20302934e-04 9.99998140e-01 -2.47442244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.121400513 meters 0.06232648607627042 Centerline is valid? [True, True] Translation: X:611.54, Y:64.98, Z:-2.48 [[ 9.99594432e-01 -2.84463320e-02 1.33361113e-03 6.11535130e+02] [ 2.84461980e-02 9.99595318e-01 1.19389213e-04 6.49794311e+01] [-1.33646763e-03 -8.14046262e-05 9.99999104e-01 -2.47578866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.151400513 meters 0.06252161510002457 Centerline is valid? [True, True] Translation: X:611.57, Y:64.98, Z:-2.48 [[ 9.99554825e-01 -2.98247486e-02 7.97575959e-04 6.11565460e+02] [ 2.98247010e-02 9.99555142e-01 7.14129968e-05 6.49819666e+01] [-7.99351026e-04 -4.75937410e-05 9.99999679e-01 -2.47747153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.181400513 meters 0.059927500509118575 Centerline is valid? [True, True] Translation: X:611.59, Y:64.98, Z:-2.48 [[ 9.99442644e-01 -3.33788107e-02 -5.07236585e-04 6.11594957e+02] [ 3.33787920e-02 9.99442772e-01 -4.54139950e-05 6.49816577e+01] [ 5.08469804e-04 2.84577388e-05 9.99999870e-01 -2.47911367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.211400513 meters 0.05775193243196224 Centerline is valid? [True, True] Translation: X:611.63, Y:64.98, Z:-2.48 [[ 9.99388514e-01 -3.49555360e-02 -8.42124173e-04 6.11626180e+02] [ 3.49554848e-02 9.99388867e-01 -7.54718643e-05 6.49821988e+01] [ 8.44247683e-04 4.59888556e-05 9.99999643e-01 -2.47927299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.241400513 meters 0.05215375330882961 Centerline is valid? [True, True] Translation: X:611.66, Y:64.98, Z:-2.48 [[ 9.99353504e-01 -3.59438133e-02 -7.85658150e-04 6.11659168e+02] [ 3.59437690e-02 9.99353811e-01 -7.04315434e-05 6.49781805e+01] [ 7.87682045e-04 4.21464946e-05 9.99999689e-01 -2.47890782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.271400513 meters 0.058187478862712486 Centerline is valid? [True, True] Translation: X:611.69, Y:64.99, Z:-2.48 [[ 9.99335936e-01 -3.64372086e-02 1.30151924e-04 6.11690054e+02] [ 3.64372074e-02 9.99335944e-01 1.15357450e-05 6.49882788e+01] [-1.30485826e-04 -6.78571189e-06 9.99999991e-01 -2.47713003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.301400513 meters 0.05804861006412675 Centerline is valid? [True, True] Translation: X:611.72, Y:64.99, Z:-2.48 [[ 9.99379401e-01 -3.52033882e-02 1.23839002e-03 6.11722263e+02] [ 3.52032781e-02 9.99380166e-01 1.10622869e-04 6.49886019e+01] [-1.24151673e-03 -6.69588284e-05 9.99999227e-01 -2.47617138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.331400513 meters 0.05804602609854693 Centerline is valid? [True, True] Translation: X:611.75, Y:64.99, Z:-2.48 [[ 9.99431298e-01 -3.37108742e-02 8.11410322e-04 6.11754140e+02] [ 3.37108264e-02 9.99431626e-01 7.24429507e-05 6.49900819e+01] [-8.13391253e-04 -4.50484397e-05 9.99999668e-01 -2.47659980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.361400513 meters 0.06014811091529619 Centerline is valid? [True, True] Translation: X:611.78, Y:64.99, Z:-2.48 [[ 9.99509894e-01 -3.13032536e-02 -2.80673134e-04 6.11784613e+02] [ 3.13032478e-02 9.99509933e-01 -2.51083552e-05 6.49942592e+01] [ 2.81321558e-04 1.63100688e-05 9.99999960e-01 -2.47752543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.391400513 meters 0.06311365736151073 Centerline is valid? [True, True] Translation: X:611.81, Y:65.00, Z:-2.48 [[ 9.99599722e-01 -2.82713458e-02 -1.06149091e-03 6.11814353e+02] [ 2.82712610e-02 9.99600284e-01 -9.48617407e-05 6.49997484e+01] [ 1.06374849e-03 6.48140830e-05 9.99999432e-01 -2.47840136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.421400513 meters 0.06805273818828897 Centerline is valid? [True, True] Translation: X:611.84, Y:65.01, Z:-2.48 [[ 9.99683487e-01 -2.50993038e-02 -1.71750586e-03 6.11843736e+02] [ 2.50990770e-02 9.99684957e-01 -1.53482597e-04 6.50073127e+01] [ 1.72081708e-03 1.10326206e-04 9.99998513e-01 -2.47914431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.451400513 meters 0.07126587438799868 Centerline is valid? [True, True] Translation: X:611.87, Y:65.01, Z:-2.48 [[ 9.99790268e-01 -2.04023884e-02 -1.77848740e-03 6.11873757e+02] [ 2.04021378e-02 9.99791842e-01 -1.58910512e-04 6.50110338e+01] [ 1.78135935e-03 1.22592238e-04 9.99998406e-01 -2.47898379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.481400513 meters 0.07734852235121198 Centerline is valid? [True, True] Translation: X:611.90, Y:65.02, Z:-2.48 [[ 9.99797706e-01 -2.00833193e-02 -1.09875625e-03 6.11903858e+02] [ 2.00832235e-02 9.99798307e-01 -9.82027732e-05 6.50188344e+01] [ 1.10050688e-03 7.61163400e-05 9.99999392e-01 -2.47762072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.511400513 meters 0.07712790131019102 Centerline is valid? [True, True] Translation: X:611.94, Y:65.02, Z:-2.48 [[ 9.99814655e-01 -1.92523726e-02 -5.08989979e-05 6.11936032e+02] [ 1.92523724e-02 9.99814656e-01 -4.64837881e-06 6.50202282e+01] [ 5.09790564e-05 3.66759079e-06 9.99999999e-01 -2.47659194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.541400513 meters 0.0705432158772202 Centerline is valid? [True, True] Translation: X:611.97, Y:65.01, Z:-2.48 [[ 9.99770623e-01 -2.14108319e-02 5.27805789e-04 6.11968202e+02] [ 2.14108100e-02 9.99770761e-01 4.70889303e-05 6.50085051e+01] [-5.28693009e-04 -3.57773797e-05 9.99999860e-01 -2.47714368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.571400513 meters 0.06835020858050948 Centerline is valid? [True, True] Translation: X:612.00, Y:65.00, Z:-2.48 [[ 9.99735850e-01 -2.29804239e-02 3.60623984e-04 6.11999882e+02] [ 2.29804138e-02 9.99735915e-01 3.21289795e-05 6.50040444e+01] [-3.61267086e-04 -2.38332043e-05 9.99999934e-01 -2.47755303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.601400513 meters 0.06930025662123142 Centerline is valid? [True, True] Translation: X:612.03, Y:65.00, Z:-2.48 [[ 9.99689857e-01 -2.49012715e-02 3.42157063e-04 6.12029785e+02] [ 2.49012625e-02 9.99689915e-01 3.05348706e-05 6.50030447e+01] [-3.42811322e-04 -2.20052575e-05 9.99999941e-01 -2.47721032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.631400513 meters 0.06934916921688997 Centerline is valid? [True, True] Translation: X:612.06, Y:65.00, Z:-2.48 [[ 9.99660472e-01 -2.60169149e-02 1.43541516e-03 6.12060519e+02] [ 2.60167578e-02 9.99661499e-01 1.28056370e-04 6.50028694e+01] [-1.43826090e-03 -9.06680431e-05 9.99998962e-01 -2.47529770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.661400513 meters 0.06770658818217215 Centerline is valid? [True, True] Translation: X:612.09, Y:65.00, Z:-2.47 [[ 9.99627394e-01 -2.71122087e-02 3.16247117e-03 6.12092495e+02] [ 2.71114515e-02 9.99632377e-01 2.82059947e-04 6.49994181e+01] [-3.16895584e-03 -1.96215666e-04 9.99994960e-01 -2.47133461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.691400513 meters 0.07078079410613919 Centerline is valid? [True, True] Translation: X:612.12, Y:65.00, Z:-2.47 [[ 9.99654616e-01 -2.60244729e-02 3.65736767e-03 6.12123100e+02] [ 2.60234544e-02 9.99661279e-01 3.25775480e-04 6.50029638e+01] [-3.66460698e-03 -2.30485621e-04 9.99993259e-01 -2.47106908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.721400513 meters 0.07106992606657532 Centerline is valid? [True, True] Translation: X:612.16, Y:65.00, Z:-2.47 [[ 9.99686292e-01 -2.47624309e-02 3.76033646e-03 6.12155663e+02] [ 2.47613458e-02 9.99693335e-01 3.34852081e-04 6.50025410e+01] [-3.76747505e-03 -2.41636043e-04 9.99992874e-01 -2.47198113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.751400513 meters 0.07354309424412392 Centerline is valid? [True, True] Translation: X:612.19, Y:65.00, Z:-2.47 [[ 9.99711344e-01 -2.37838964e-02 3.39916513e-03 6.12187027e+02] [ 2.37830044e-02 9.99717099e-01 3.02584301e-04 6.50044600e+01] [-3.40540013e-03 -2.21654599e-04 9.99994177e-01 -2.47276679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.781400513 meters 0.07129856208990958 Centerline is valid? [True, True] Translation: X:612.22, Y:65.00, Z:-2.48 [[ 9.99753885e-01 -2.21281079e-02 1.58598091e-03 6.12219117e+02] [ 2.21279118e-02 9.99755138e-01 1.41123924e-04 6.49986186e+01] [-1.58871537e-03 -1.05994745e-04 9.99998732e-01 -2.47624512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.811400513 meters 0.07167631484416376 Centerline is valid? [True, True] Translation: X:612.25, Y:65.00, Z:-2.48 [[ 9.99776402e-01 -2.11316775e-02 7.73173767e-04 6.12250873e+02] [ 2.11316307e-02 9.99776700e-01 6.87156956e-05 6.49992249e+01] [-7.74453195e-04 -5.23619084e-05 9.99999699e-01 -2.47721248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.841400513 meters 0.070345739288361 Centerline is valid? [True, True] Translation: X:612.28, Y:65.00, Z:-2.48 [[ 9.99799572e-01 -2.00194629e-02 1.92326285e-04 6.12282911e+02] [ 2.00194600e-02 9.99799590e-01 1.70240274e-05 6.49975347e+01] [-1.92628553e-04 -1.31703469e-05 9.99999981e-01 -2.47811726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.871400513 meters 0.06845406040289524 Centerline is valid? [True, True] Translation: X:612.31, Y:65.00, Z:-2.48 [[ 9.99815532e-01 -1.92067585e-02 4.36707898e-05 6.12314890e+02] [ 1.92067583e-02 9.99815533e-01 3.79917441e-06 6.49951974e+01] [-4.37357038e-05 -2.95969928e-06 9.99999999e-01 -2.47845722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.901400513 meters 0.06845406040289524 Centerline is valid? [True, True] Translation: X:612.35, Y:65.00, Z:-2.48 [[ 9.99816992e-01 -1.91306381e-02 4.36784298e-05 6.12347390e+02] [ 1.91306379e-02 9.99816993e-01 3.71316512e-06 6.49979586e+01] [-4.37414715e-05 -2.87688936e-06 9.99999999e-01 -2.47838616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.931400513 meters 0.07522938442845802 Centerline is valid? [True, True] Translation: X:612.38, Y:65.00, Z:-2.48 [[ 9.99843925e-01 -1.76347114e-02 1.06915419e-03 6.12376885e+02] [ 1.76346201e-02 9.99844494e-01 9.47718116e-05 6.50031279e+01] [-1.07065920e-03 -7.59028922e-05 9.99999424e-01 -2.47710786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.961400513 meters 0.07179584965902157 Centerline is valid? [True, True] Translation: X:612.41, Y:65.00, Z:-2.48 [[ 9.99859160e-01 -1.67395342e-02 1.20348834e-03 6.12408931e+02] [ 1.67394178e-02 9.99859880e-01 1.06700132e-04 6.49992783e+01] [-1.20510582e-03 -8.65394101e-05 9.99999270e-01 -2.47737756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.991400513 meters 0.07167437694570447 Centerline is valid? [True, True] Translation: X:612.44, Y:65.00, Z:-2.48 [[ 9.99873058e-01 -1.59237564e-02 5.49235244e-04 6.12440876e+02] [ 1.59237320e-02 9.99873208e-01 4.85942659e-05 6.49998873e+01] [-5.49939409e-04 -3.98422224e-05 9.99999848e-01 -2.47868006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.021400513 meters 0.08037461554547629 Centerline is valid? [True, True] Translation: X:612.47, Y:65.01, Z:-2.48 [[ 9.99871242e-01 -1.60189478e-02 -9.44482800e-04 6.12471575e+02] [ 1.60188758e-02 9.99871686e-01 -8.37999744e-05 6.50100092e+01] [ 9.45703997e-04 6.86596319e-05 9.99999550e-01 -2.48019839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.051400513 meters 0.07262941336040757 Centerline is valid? [True, True] Translation: X:612.51, Y:65.00, Z:-2.48 [[ 9.99872097e-01 -1.59599157e-02 -1.03453012e-03 6.12505108e+02] [ 1.59598293e-02 9.99872630e-01 -9.17569857e-05 6.50000006e+01] [ 1.03586278e-03 7.52343257e-05 9.99999461e-01 -2.48104406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.081400513 meters 0.07337915269075633 Centerline is valid? [True, True] Translation: X:612.54, Y:65.00, Z:-2.48 [[ 9.99867117e-01 -1.62928012e-02 -5.40352887e-04 6.12536137e+02] [ 1.62927777e-02 9.99867263e-01 -4.79303300e-05 6.50011377e+01] [ 5.41062081e-04 3.91201114e-05 9.99999853e-01 -2.48006407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.111400513 meters 0.08044179677765616 Centerline is valid? [True, True] Translation: X:612.57, Y:65.01, Z:-2.48 [[ 9.99862844e-01 -1.65610798e-02 1.52855687e-04 6.12566493e+02] [ 1.65610780e-02 9.99862856e-01 1.33239226e-05 6.50094028e+01] [-1.53055382e-04 -1.07906402e-05 9.99999988e-01 -2.47887147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.141400513 meters 0.07852929529816888 Centerline is valid? [True, True] Translation: X:612.60, Y:65.01, Z:-2.48 [[ 9.99860878e-01 -1.66721680e-02 5.12801727e-04 6.12599204e+02] [ 1.66721470e-02 9.99861009e-01 4.52331646e-05 6.50062606e+01] [-5.13484587e-04 -3.66773660e-05 9.99999867e-01 -2.47830092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.171400513 meters 0.07508637490422611 Centerline is valid? [True, True] Translation: X:612.63, Y:65.00, Z:-2.48 [[ 9.99866957e-01 -1.62952133e-02 7.30671055e-04 6.12632286e+02] [ 1.62951705e-02 9.99867223e-01 6.44567898e-05 6.49983612e+01] [-7.31624375e-04 -5.25418049e-05 9.99999731e-01 -2.47849951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.201400513 meters 0.0804122845158843 Centerline is valid? [True, True] Translation: X:612.66, Y:65.00, Z:-2.48 [[ 9.99871489e-01 -1.59971192e-02 1.04796844e-03 6.12663146e+02] [ 1.59970311e-02 9.99872035e-01 9.23530022e-05 6.50048248e+01] [-1.04931171e-03 -7.55767501e-05 9.99999447e-01 -2.47792108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.231400513 meters 0.0819734860763555 Centerline is valid? [True, True] Translation: X:612.69, Y:65.01, Z:-2.48 [[ 9.99876124e-01 -1.56433749e-02 1.73833002e-03 6.12694672e+02] [ 1.56431318e-02 9.99877627e-01 1.53329788e-04 6.50060926e+01] [-1.74051589e-03 -1.26117868e-04 9.99998477e-01 -2.47715455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.261400513 meters 0.07806536489758763 Centerline is valid? [True, True] Translation: X:612.73, Y:65.00, Z:-2.48 [[ 9.99883098e-01 -1.50226557e-02 2.84768264e-03 6.12727904e+02] [ 1.50220013e-02 9.99887132e-01 2.51063960e-04 6.49999868e+01] [-2.85113287e-03 -2.08256718e-04 9.99995914e-01 -2.47603123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.291400513 meters 0.08063500714196149 Centerline is valid? [True, True] Translation: X:612.76, Y:65.00, Z:-2.47 [[ 9.99897186e-01 -1.39004467e-02 3.52054974e-03 6.12758069e+02] [ 1.38994403e-02 9.99903350e-01 3.10175679e-04 6.49972008e+01] [-3.52452106e-03 -2.61210118e-04 9.99993755e-01 -2.47477495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.321400513 meters 0.08136121936111597 Centerline is valid? [True, True] Translation: X:612.79, Y:65.00, Z:-2.48 [[ 9.99904604e-01 -1.35491634e-02 2.68391406e-03 6.12789915e+02] [ 1.35485774e-02 9.99908186e-01 2.36390036e-04 6.49970003e+01] [-2.68687053e-03 -2.00004268e-04 9.99996370e-01 -2.47595332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.351400513 meters 0.08157659275398571 Centerline is valid? [True, True] Translation: X:612.82, Y:65.00, Z:-2.48 [[ 9.99906022e-01 -1.35925222e-02 1.78620588e-03 6.12822088e+02] [ 1.35922630e-02 9.99907609e-01 1.57186203e-04 6.49967503e+01] [-1.78817741e-03 -1.32892851e-04 9.99998392e-01 -2.47746356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.381400513 meters 0.08259758303173045 Centerline is valid? [True, True] Translation: X:612.85, Y:65.00, Z:-2.48 [[ 9.99910984e-01 -1.33102188e-02 9.28978812e-04 6.12854737e+02] [ 1.33101487e-02 9.99911413e-01 8.16569177e-05 6.49972736e+01] [-9.29983388e-04 -6.92848028e-05 9.99999565e-01 -2.47939490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.411400513 meters 0.08411857981739315 Centerline is valid? [True, True] Translation: X:612.89, Y:65.00, Z:-2.48 [[ 9.99918118e-01 -1.27950893e-02 2.09465650e-04 6.12886540e+02] [ 1.27950857e-02 9.99918139e-01 1.83507197e-05 6.49981185e+01] [-2.09683303e-04 -1.56690861e-05 9.99999978e-01 -2.48087481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.441400513 meters 0.08501033308721985 Centerline is valid? [True, True] Translation: X:612.92, Y:64.99, Z:-2.48 [[ 9.99927000e-01 -1.20823801e-02 -1.07231920e-04 6.12918341e+02] [ 1.20823791e-02 9.99927005e-01 -9.50673278e-06 6.49943040e+01] [ 1.07338956e-04 8.21042208e-06 9.99999994e-01 -2.48195126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.471400513 meters 0.08532941526623751 Centerline is valid? [True, True] Translation: X:612.95, Y:64.99, Z:-2.48 [[ 9.99933050e-01 -1.15704697e-02 -1.41223889e-04 6.12950772e+02] [ 1.15704681e-02 9.99933060e-01 -1.25133995e-05 6.49939880e+01] [ 1.41359221e-04 1.08785352e-05 9.99999990e-01 -2.48163916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.501400513 meters 0.08618674445366438 Centerline is valid? [True, True] Translation: X:612.98, Y:65.00, Z:-2.48 [[ 9.99937975e-01 -1.11361143e-02 1.82495859e-04 6.12981905e+02] [ 1.11361116e-02 9.99937991e-01 1.58891453e-05 6.49950061e+01] [-1.82661486e-04 -1.38558655e-05 9.99999983e-01 -2.48075893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.531400513 meters 0.08761115475095514 Centerline is valid? [True, True] Translation: X:613.01, Y:65.00, Z:-2.48 [[ 9.99943338e-01 -1.06355332e-02 4.55167621e-04 6.13013541e+02] [ 1.06355162e-02 9.99943441e-01 3.98871192e-05 6.49966616e+01] [-4.55566098e-04 -3.50439165e-05 9.99999896e-01 -2.47989895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.561400513 meters 0.08894017994099464 Centerline is valid? [True, True] Translation: X:613.05, Y:64.99, Z:-2.48 [[ 9.99941170e-01 -1.08468696e-02 5.20103995e-05 6.13045711e+02] [ 1.08468694e-02 9.99941171e-01 4.46546355e-06 6.49931521e+01] [-5.20557761e-05 -3.90105084e-06 9.99999999e-01 -2.48102545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.591400513 meters 0.08941111732076447 Centerline is valid? [True, True] Translation: X:613.08, Y:64.99, Z:-2.48 [[ 9.99933019e-01 -1.15701444e-02 -2.98556364e-04 6.13076381e+02] [ 1.15701370e-02 9.99933063e-01 -2.63033004e-05 6.49912728e+01] [ 2.98840712e-04 2.28472005e-05 9.99999955e-01 -2.48171464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.621400513 meters 0.08917495763523384 Centerline is valid? [True, True] Translation: X:613.11, Y:64.99, Z:-2.48 [[ 9.99923539e-01 -1.23658651e-02 -3.99808578e-05 6.13107920e+02] [ 1.23658649e-02 9.99923540e-01 -3.55404042e-06 6.49895654e+01] [ 4.00217496e-05 3.05937078e-06 9.99999999e-01 -2.48179059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.651400513 meters 0.08852699312263011 Centerline is valid? [True, True] Translation: X:613.14, Y:64.99, Z:-2.48 [[ 9.99903979e-01 -1.37426923e-02 1.78102249e-03 6.13139437e+02] [ 1.37424360e-02 9.99905556e-01 1.56056289e-04 6.49852941e+01] [-1.78299892e-03 -1.31565716e-04 9.99998402e-01 -2.47865892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.681400513 meters 0.08967596246722222 Centerline is valid? [True, True] Translation: X:613.17, Y:64.99, Z:-2.48 [[ 9.99902772e-01 -1.36977793e-02 2.61115752e-03 6.13171710e+02] [ 1.36972287e-02 9.99906162e-01 2.28652632e-04 6.49857814e+01] [-2.61404453e-03 -1.92864779e-04 9.99996565e-01 -2.47734067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.711400513 meters 0.09036161100778049 Centerline is valid? [True, True] Translation: X:613.20, Y:64.98, Z:-2.48 [[ 9.99906807e-01 -1.33902513e-02 2.66056527e-03 6.13204415e+02] [ 1.33896788e-02 9.99910327e-01 2.32863085e-04 6.49848807e+01] [-2.66344478e-03 -1.97217269e-04 9.99996434e-01 -2.47693997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.741400513 meters 0.09204462469601492 Centerline is valid? [True, True] Translation: X:613.24, Y:64.99, Z:-2.48 [[ 9.99911572e-01 -1.31132897e-02 2.21117822e-03 6.13236038e+02] [ 1.31128938e-02 9.99914004e-01 1.93466083e-04 6.49853449e+01] [-2.21352504e-03 -1.64454030e-04 9.99997537e-01 -2.47808515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.771400513 meters 0.09343149027736372 Centerline is valid? [True, True] Translation: X:613.27, Y:64.99, Z:-2.48 [[ 9.99918744e-01 -1.26687644e-02 1.41706179e-03 6.13268553e+02] [ 1.26686015e-02 9.99919742e-01 1.23874006e-04 6.49854773e+01] [-1.41851739e-03 -1.05911749e-04 9.99998988e-01 -2.47970355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.801400513 meters 0.09550925279473226 Centerline is valid? [True, True] Translation: X:613.30, Y:64.98, Z:-2.48 [[ 9.99919541e-01 -1.26071191e-02 1.40455269e-03 6.13300307e+02] [ 1.26069590e-02 9.99920522e-01 1.22757687e-04 6.49816761e+01] [-1.40598867e-03 -1.05040672e-04 9.99999006e-01 -2.48025751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.831400513 meters 0.09565037664203482 Centerline is valid? [True, True] Translation: X:613.33, Y:64.98, Z:-2.48 [[ 9.99915450e-01 -1.28196191e-02 2.17960757e-03 6.13333059e+02] [ 1.28192343e-02 9.99917812e-01 1.90419190e-04 6.49790622e+01] [-2.18186954e-03 -1.62462190e-04 9.99997607e-01 -2.47871150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.861400513 meters 0.12351452487590804 Centerline is valid? [True, False] Translation: X:613.33, Y:64.98, Z:-2.47 [[ 9.99981777e-01 -5.77015838e-03 -1.77511252e-03 6.13332710e+02] [ 5.74857418e-03 9.99912273e-01 -1.19331930e-02 6.49800759e+01] [ 1.84381321e-03 1.19227712e-02 9.99927221e-01 -2.47358747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.891400513 meters 0.1232963650673782 Centerline is valid? [False, False] Translation: X:613.33, Y:64.97, Z:-2.47 [[ 9.99997759e-01 -7.38125756e-04 -1.98421550e-03 6.13333814e+02] [ 7.27340864e-04 9.99984990e-01 -5.43058113e-03 6.49708736e+01] [ 1.98819417e-03 5.42912576e-03 9.99983286e-01 -2.47479025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.921400513 meters 0.13820798024160946 Centerline is valid? [False, False] Translation: X:613.33, Y:64.97, Z:-2.48 [[ 9.99997954e-01 -3.20602838e-04 -1.99718067e-03 6.13334133e+02] [ 3.11769660e-04 9.99990176e-01 -4.42156564e-03 6.49663151e+01] [ 1.99857862e-03 4.42093394e-03 9.99988230e-01 -2.47529449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.951400513 meters 0.1450363738971366 Centerline is valid? [False, False] Translation: X:613.33, Y:64.96, Z:-2.48 [[ 9.99997970e-01 -7.86217888e-05 -2.01356552e-03 6.13334362e+02] [ 7.09155616e-05 9.99992675e-01 -3.82694041e-03 6.49636218e+01] [ 2.01385165e-03 3.82678985e-03 9.99990650e-01 -2.47561410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.981400513 meters 0.13967766767591858 Centerline is valid? [False, False] Translation: X:613.33, Y:64.96, Z:-2.48 [[ 9.99997903e-01 2.20605089e-04 -2.03597745e-03 6.13334716e+02] [-2.26911604e-04 9.99995176e-01 -3.09782578e-03 6.49603324e+01] [ 2.03528423e-03 3.09828127e-03 9.99993129e-01 -2.47612051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.011400513 meters 0.14935959405125698 Centerline is valid? [False, False] Translation: X:613.34, Y:64.96, Z:-2.48 [[ 9.99997750e-01 5.32155564e-04 -2.05324986e-03 6.13335043e+02] [-5.36985698e-04 9.99997088e-01 -2.35260020e-03 6.49569623e+01] [ 2.05199194e-03 2.35369747e-03 9.99995125e-01 -2.47660531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.041400513 meters 0.15964305572734375 Centerline is valid? [False, False] Translation: X:613.34, Y:64.95, Z:-2.48 [[ 9.99997229e-01 1.08226713e-03 -2.09076739e-03 6.13335588e+02] [-1.08459633e-03 9.99998792e-01 -1.11323190e-03 6.49513184e+01] [ 2.08956005e-03 1.11549645e-03 9.99997195e-01 -2.47723386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.071400513 meters 0.15786066181995195 Centerline is valid? [False, False] Translation: X:613.34, Y:64.95, Z:-2.48 [[ 9.99996941e-01 1.31696723e-03 -2.09372958e-03 6.13335777e+02] [-1.31815030e-03 9.99998972e-01 -5.63774351e-04 6.49487975e+01] [ 2.09298496e-03 5.66532477e-04 9.99997649e-01 -2.47755338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.101400513 meters 0.16684658721132528 Centerline is valid? [False, False] Translation: X:613.29, Y:64.94, Z:-2.48 [[ 9.99991713e-01 1.21728071e-03 -3.88496136e-03 6.13294758e+02] [-1.22146510e-03 9.99998676e-01 -1.07488177e-03 6.49424100e+01] [ 3.88364779e-03 1.07961820e-03 9.99991876e-01 -2.47746135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.131400513 meters 0.1763500792228401 Centerline is valid? [False, False] Translation: X:613.32, Y:64.93, Z:-2.49 [[ 9.99999179e-01 7.02301243e-04 1.07179636e-03 6.13319973e+02] [-7.12275844e-04 9.99956178e-01 9.33460170e-03 6.49301045e+01] [-1.06519369e-03 -9.33535745e-03 9.99955857e-01 -2.48659908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.161400513 meters 0.17132559279595952 Centerline is valid? [False, False] Translation: X:613.30, Y:64.93, Z:-2.49 [[ 9.99995701e-01 2.16657305e-03 1.97595556e-03 6.13298629e+02] [-2.16587232e-03 9.99997591e-01 -3.56700746e-04 6.49314496e+01] [-1.97672362e-03 3.52419545e-04 9.99997984e-01 -2.48811321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.191400513 meters 0.17312776185404935 Centerline is valid? [False, False] Translation: X:613.30, Y:64.93, Z:-2.49 [[ 9.99995122e-01 2.42616765e-03 1.96721997e-03 6.13298699e+02] [-2.42667467e-03 9.99997023e-01 2.55389219e-04 6.49286226e+01] [-1.96659450e-03 -2.60161776e-04 9.99998032e-01 -2.48813374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.221400513 meters 0.13950281911112133 Centerline is valid? [False, False] Translation: X:613.30, Y:64.93, Z:-2.49 [[ 9.99994610e-01 2.64817900e-03 1.94083333e-03 6.13298732e+02] [-2.64971035e-03 9.99996180e-01 7.86868968e-04 6.49261724e+01] [-1.93874214e-03 -7.92007373e-04 9.99997807e-01 -2.48795383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.251400513 meters 0.14207032484167845 Centerline is valid? [False, False] Translation: X:613.31, Y:64.92, Z:-2.49 [[ 9.99999363e-01 6.14074741e-04 9.46927565e-04 6.13305698e+02] [-6.13120904e-04 9.99999305e-01 -1.00725808e-03 6.49228696e+01] [-9.47545438e-04 1.00667686e-03 9.99999044e-01 -2.49299709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.281400513 meters 0.14417363090084762 Centerline is valid? [False, False] Translation: X:613.30, Y:64.92, Z:-2.49 [[ 9.99997492e-01 -1.29770453e-03 1.82546119e-03 6.13299167e+02] [ 1.30271359e-03 9.99995383e-01 -2.74548801e-03 6.49215356e+01] [-1.82188993e-03 2.74785918e-03 9.99994565e-01 -2.48789105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.311400513 meters 0.14586656137395768 Centerline is valid? [False, False] Translation: X:613.30, Y:64.92, Z:-2.49 [[ 9.99997896e-01 -1.02650336e-03 1.77615998e-03 6.13299383e+02] [ 1.03022217e-03 9.99997277e-01 -2.09409319e-03 6.49185338e+01] [-1.77400555e-03 2.09591862e-03 9.99996230e-01 -2.48794152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.341400513 meters 0.14736933599906038 Centerline is valid? [False, False] Translation: X:613.34, Y:64.92, Z:-2.49 [[ 9.99994705e-01 -3.97935251e-04 3.22990872e-03 6.13341089e+02] [ 3.98606147e-04 9.99999899e-01 -2.07072445e-04 6.49177978e+01] [-3.22982599e-03 2.08358810e-04 9.99994762e-01 -2.48801508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.371400513 meters 0.14778140662240252 Centerline is valid? [False, False] Translation: X:613.34, Y:64.91, Z:-2.49 [[ 9.99995225e-01 5.18909841e-05 3.08984931e-03 6.13341709e+02] [-5.51431353e-05 9.99999445e-01 1.05245157e-03 6.49121424e+01] [-3.08979298e-03 -1.05261693e-03 9.99994673e-01 -2.48829166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.401400513 meters 0.14912132853590915 Centerline is valid? [False, False] Translation: X:613.34, Y:64.91, Z:-2.49 [[ 9.99995539e-01 3.04692087e-04 2.97142481e-03 6.13342171e+02] [-3.09682004e-04 9.99998543e-01 1.67898562e-03 6.49092661e+01] [-2.97090891e-03 -1.67989833e-03 9.99994176e-01 -2.48839440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.431400513 meters 0.15104840598801028 Centerline is valid? [False, False] Translation: X:613.34, Y:64.91, Z:-2.49 [[ 9.99995808e-01 5.54550699e-04 2.84179390e-03 6.13342722e+02] [-5.61130622e-04 9.99997163e-01 2.31513776e-03 6.49063583e+01] [-2.84050198e-03 -2.31672268e-03 9.99993282e-01 -2.48863585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.461400513 meters 0.15120801467952777 Centerline is valid? [False, False] Translation: X:613.34, Y:64.90, Z:-2.49 [[ 9.99995970e-01 8.02905820e-04 2.72326862e-03 6.13343210e+02] [-8.10948229e-04 9.99995310e-01 2.95340175e-03 6.49034450e+01] [-2.72088455e-03 -2.95559828e-03 9.99991931e-01 -2.48880652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.491400513 meters 0.1536670873139902 Centerline is valid? [False, False] Translation: X:613.35, Y:64.90, Z:-2.49 [[ 9.99997861e-01 -1.11867527e-03 1.73992374e-03 6.13350033e+02] [ 1.11621237e-03 9.99998375e-01 1.41584890e-03 6.48997231e+01] [-1.74150479e-03 -1.41390375e-03 9.99997484e-01 -2.49384539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.521400513 meters 0.1543700915527354 Centerline is valid? [False, False] Translation: X:613.35, Y:64.90, Z:-2.49 [[ 9.99998195e-01 -7.78033434e-04 1.73332130e-03 6.13350041e+02] [ 7.74104182e-04 9.99997132e-01 2.26641061e-03 6.48958147e+01] [-1.73507967e-03 -2.26506475e-03 9.99995929e-01 -2.49367182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.551400513 meters 0.1575799359732616 Centerline is valid? [False, False] Translation: X:613.35, Y:64.89, Z:-2.49 [[ 9.99986625e-01 -4.85438596e-03 1.78455333e-03 6.13349859e+02] [ 4.85704821e-03 9.99987094e-01 -1.49053290e-03 6.48930937e+01] [-1.77729468e-03 1.49918063e-03 9.99997297e-01 -2.49348732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.581400513 meters 0.14366784356115878 Centerline is valid? [False, False] Translation: X:613.35, Y:64.89, Z:-2.49 [[ 9.99987956e-01 -4.60343669e-03 1.70173678e-03 6.13350240e+02] [ 4.60494781e-03 9.99989005e-01 -8.85142175e-04 6.48902966e+01] [-1.69764338e-03 8.92967923e-04 9.99998160e-01 -2.49365181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.611400513 meters 0.16393867038265048 Centerline is valid? [False, False] Translation: X:613.35, Y:64.89, Z:-2.49 [[ 9.99989141e-01 -4.37401055e-03 1.60831587e-03 6.13350731e+02] [ 4.37458564e-03 9.99990369e-01 -3.54233185e-04 6.48878308e+01] [-1.60675096e-03 3.61265053e-04 9.99998644e-01 -2.49396487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.641400513 meters 0.6697385891878986 Centerline is valid? [False, False] Translation: X:613.35, Y:64.88, Z:-2.49 [[ 9.99990483e-01 -4.08571849e-03 1.52989669e-03 6.13351072e+02] [ 4.08524110e-03 9.99991606e-01 3.15035071e-04 6.48847115e+01] [-1.53117100e-03 -3.08782076e-04 9.99998780e-01 -2.49405066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.671400513 meters 0.16240297558526226 Centerline is valid? [False, False] Translation: X:613.35, Y:64.88, Z:-2.49 [[ 9.99991941e-01 -3.73707200e-03 1.46678450e-03 6.13351294e+02] [ 3.73542371e-03 9.99992391e-01 1.12488062e-03 6.48809312e+01] [-1.47097710e-03 -1.11939249e-03 9.99998292e-01 -2.49396635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.701400513 meters 0.6684007198465621 Centerline is valid? [False, False] Translation: X:613.35, Y:64.88, Z:-2.49 [[ 9.99966753e-01 -7.99764376e-03 1.59073294e-03 6.13350797e+02] [ 8.00242777e-03 9.99963407e-01 -3.02414623e-03 6.48800494e+01] [-1.56648868e-03 3.03677541e-03 9.99994162e-01 -2.49347416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.731400513 meters 0.6689643312925763 Centerline is valid? [False, False] Translation: X:613.35, Y:64.87, Z:-2.49 [[ 9.99994556e-01 -2.99105471e-03 1.39307871e-03 6.13351519e+02] [ 2.98651875e-03 9.99990269e-01 3.24684071e-03 6.48714607e+01] [-1.40277663e-03 -3.24266258e-03 9.99993759e-01 -2.49356958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.761400513 meters 0.6686283392400253 Centerline is valid? [False, False] Translation: X:613.35, Y:64.87, Z:-2.49 [[ 9.99970671e-01 -7.50723566e-03 1.51588606e-03 6.13351177e+02] [ 7.50968134e-03 9.99970499e-01 -1.61417110e-03 6.48738253e+01] [-1.50372337e-03 1.62550758e-03 9.99997548e-01 -2.49356191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.791400513 meters 0.6615364751578291 Centerline is valid? [False, False] Translation: X:613.35, Y:64.87, Z:-2.49 [[ 9.99974038e-01 -7.05582012e-03 1.46216114e-03 6.13351475e+02] [ 7.05674649e-03 9.99974903e-01 -6.29372651e-04 6.48691615e+01] [-1.45768370e-03 6.39674412e-04 9.99998733e-01 -2.49367491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.821400513 meters 0.6615364751578291 Centerline is valid? [False, False] Translation: X:613.35, Y:64.87, Z:-2.49 [[ 9.99974038e-01 -7.05582012e-03 1.46216114e-03 6.13351475e+02] [ 7.05674649e-03 9.99974903e-01 -6.29372651e-04 6.48691615e+01] [-1.45768370e-03 6.39674412e-04 9.99998733e-01 -2.49367491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.851400513 meters 0.7408195763340065 Centerline is valid? [False, False] Translation: X:613.35, Y:64.86, Z:-2.49 [[ 9.99980826e-01 -6.05282950e-03 1.30790912e-03 6.13352355e+02] [ 6.05079860e-03 9.99980491e-01 1.55119514e-03 6.48590256e+01] [-1.31727272e-03 -1.54325150e-03 9.99997942e-01 -2.49398414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.881400513 meters 0.7353906181158645 Centerline is valid? [False, False] Translation: X:613.35, Y:64.86, Z:-2.49 [[ 9.99942874e-01 -1.05860740e-02 1.47808192e-03 6.13351881e+02] [ 1.05909221e-02 9.99938431e-01 -3.31158469e-03 6.48614412e+01] [-1.44293424e-03 3.32704976e-03 9.99993424e-01 -2.49395275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.911400513 meters 0.7293321175438183 Centerline is valid? [False, False] Translation: X:613.37, Y:64.87, Z:-2.50 [[ 9.99921356e-01 -1.01030857e-02 7.43028767e-03 6.13371985e+02] [ 1.02003331e-02 9.99861260e-01 -1.31686569e-02 6.48686506e+01] [-7.29621273e-03 1.32434127e-02 9.99885682e-01 -2.49903905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.941400513 meters 0.718615337190256 Centerline is valid? [False, False] Translation: X:613.37, Y:64.86, Z:-2.50 [[ 9.99961590e-01 -5.08242859e-03 7.14054849e-03 6.13373102e+02] [ 5.13138162e-03 9.99963344e-01 -6.85412675e-03 6.48597781e+01] [-7.10545114e-03 6.89050437e-03 9.99951016e-01 -2.49958480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.971400513 meters 0.7150083334278013 Centerline is valid? [False, False] Translation: X:613.37, Y:64.85, Z:-2.50 [[ 9.99976312e-01 1.72577518e-05 6.88290881e-03 6.13374292e+02] [-1.38260263e-05 9.99999876e-01 -4.98633787e-04 6.48505955e+01] [-6.88291656e-03 4.98526812e-04 9.99976188e-01 -2.50034908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.001400513 meters 0.7054844172516606 Centerline is valid? [False, False] Translation: X:613.38, Y:64.85, Z:-2.50 [[ 9.99976556e-01 5.62617212e-04 6.82430865e-03 6.13375109e+02] [-5.66390161e-04 9.99999688e-01 5.50949086e-04 6.48454582e+01] [-6.82399655e-03 -5.54801391e-04 9.99976562e-01 -2.50122386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.031400513 meters 0.6981965591202375 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.50 [[ 9.99976444e-01 6.94497436e-04 6.82853079e-03 6.13375181e+02] [-7.00200118e-04 9.99999408e-01 8.32770561e-04 6.48440867e+01] [-6.82794839e-03 -8.37532282e-04 9.99976339e-01 -2.50135962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.061400513 meters 0.6903698681746213 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.50 [[ 9.99976297e-01 7.70030014e-04 6.84191094e-03 6.13375128e+02] [-7.76842765e-04 9.99999205e-01 9.93136291e-04 6.48432994e+01] [-6.84114075e-03 -9.98427840e-04 9.99976101e-01 -2.50133664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.091400513 meters 0.6773027611857604 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.50 [[ 9.99975985e-01 1.05115404e-03 6.85007897e-03 6.13375037e+02] [-1.06209051e-03 9.99998167e-01 1.59310439e-03 6.48403442e+01] [-6.84839182e-03 -1.60034154e-03 9.99975269e-01 -2.50113683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.121400513 meters 0.66795319670842 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.51 [[ 9.99979265e-01 -6.62036422e-04 6.40555302e-03 6.13380999e+02] [ 6.64540770e-04 9.99999704e-01 -3.88844574e-04 6.48420008e+01] [-6.40529369e-03 3.93093263e-04 9.99979409e-01 -2.50698419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.151400513 meters 0.6645111482853872 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.51 [[ 9.99979901e-01 -4.49598857e-04 6.32422152e-03 6.13381486e+02] [ 4.49149018e-04 9.99999897e-01 7.25496336e-05 6.48397200e+01] [-6.32425349e-03 -6.97076575e-05 9.99979999e-01 -2.50733555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.181400513 meters 0.5527173694793353 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.50 [[ 9.99972364e-01 -2.53849998e-03 6.98771931e-03 6.13375092e+02] [ 2.55269965e-03 9.99994694e-01 -2.02392065e-03 6.48416909e+01] [-6.98254451e-03 2.04170227e-03 9.99973537e-01 -2.50210671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.211400513 meters 0.5859963518944061 Centerline is valid? [False, False] Translation: X:613.38, Y:64.84, Z:-2.50 [[ 9.99973234e-01 -2.39394728e-03 6.91372792e-03 6.13375395e+02] [ 2.40583957e-03 9.99995640e-01 -1.71229339e-03 6.48401379e+01] [-6.90959863e-03 1.72888088e-03 9.99974634e-01 -2.50214695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.241400513 meters SLAMing on 645.271400513 meters 0.6602120029713534 Centerline is valid? [False, False] Translation: X:613.37, Y:64.83, Z:-2.50 [[ 9.99974687e-01 -1.24338600e-03 7.00561112e-03 6.13373902e+02] [ 1.23510218e-03 9.99998533e-01 1.18665788e-03 6.48271295e+01] [-7.00707632e-03 -1.17797520e-03 9.99974756e-01 -2.49932005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.301400513 meters 0.6026169686604014 Centerline is valid? [False, False] Translation: X:613.37, Y:64.82, Z:-2.50 [[ 9.99976906e-01 -7.21500972e-04 6.75774085e-03 6.13374934e+02] [ 7.03708316e-04 9.99996281e-01 2.63493734e-03 6.48201918e+01] [-6.75961683e-03 -2.63012101e-03 9.99973695e-01 -2.49975033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.331400513 meters 0.6331534606712652 Centerline is valid? [False, False] Translation: X:613.38, Y:64.82, Z:-2.51 [[ 9.99977565e-01 -2.76056829e-03 6.10317916e-03 6.13381859e+02] [ 2.75640431e-03 9.99995963e-01 6.90571338e-04 6.48206128e+01] [-6.10506089e-03 -6.73733016e-04 9.99981137e-01 -2.50570639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.361400513 meters 0.6884799317134086 Centerline is valid? [False, False] Translation: X:613.39, Y:64.82, Z:-2.51 [[ 9.99973424e-01 -4.73066661e-03 5.54720069e-03 6.13388667e+02] [ 4.73724670e-03 9.99988090e-01 -1.17366125e-03 6.48198961e+01] [-5.54158243e-03 1.19990852e-03 9.99983925e-01 -2.51178080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.391400513 meters 0.6989499229163854 Centerline is valid? [False, False] Translation: X:613.39, Y:64.81, Z:-2.51 [[ 9.99975827e-01 -4.28113271e-03 5.47874578e-03 6.13388893e+02] [ 4.28218762e-03 9.99990815e-01 -1.80829058e-04 6.48148365e+01] [-5.47792130e-03 2.04285704e-04 9.99984975e-01 -2.51160138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.421400513 meters 0.718916525093553 Centerline is valid? [False, False] Translation: X:613.39, Y:64.81, Z:-2.51 [[ 9.99977674e-01 -3.87210249e-03 5.44591807e-03 6.13388951e+02] [ 3.86855618e-03 9.99992298e-01 6.61569926e-04 6.48104721e+01] [-5.44843779e-03 -6.40487316e-04 9.99984952e-01 -2.51138478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.451400513 meters 0.6728094653209995 Centerline is valid? [False, False] Translation: X:613.39, Y:64.80, Z:-2.51 [[ 9.99980343e-01 -3.15820044e-03 5.41664824e-03 6.13388875e+02] [ 3.14705039e-03 9.99992914e-01 2.06576792e-03 6.48031316e+01] [-5.42313397e-03 -2.04868085e-03 9.99983196e-01 -2.51089841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.481400513 meters 0.7098027395629006 Centerline is valid? [False, False] Translation: X:613.39, Y:64.80, Z:-2.51 [[ 9.99981522e-01 -2.75486262e-03 5.41902143e-03 6.13388785e+02] [ 2.73964650e-03 9.99992290e-01 2.81333177e-03 6.47991625e+01] [-5.42672999e-03 -2.79843359e-03 9.99981360e-01 -2.51067723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.511400513 meters 0.7709798232417662 Centerline is valid? [False, False] Translation: X:613.39, Y:64.80, Z:-2.51 [[ 9.99982321e-01 -2.41342687e-03 5.43440431e-03 6.13388751e+02] [ 2.39470999e-03 9.99991188e-01 3.44802377e-03 6.47957769e+01] [-5.44267798e-03 -3.43494899e-03 9.99979289e-01 -2.51065446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.541400513 meters 0.7068380405502708 Centerline is valid? [False, False] Translation: X:613.38, Y:64.79, Z:-2.50 [[ 9.99973016e-01 -4.34389269e-03 5.92440982e-03 6.13381995e+02] [ 4.33243141e-03 9.99988721e-01 1.94604840e-03 6.47920842e+01] [-5.93279642e-03 -1.92032878e-03 9.99980557e-01 -2.50451558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.571400513 meters 0.7079672858558627 Centerline is valid? [False, False] Translation: X:613.38, Y:64.79, Z:-2.50 [[ 9.99974525e-01 -4.04739546e-03 5.87947003e-03 6.13382295e+02] [ 4.03249330e-03 9.99988633e-01 2.54425687e-03 6.47889213e+01] [-5.88970081e-03 -2.52048314e-03 9.99979479e-01 -2.50470661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.601400513 meters 0.789237055401282 Centerline is valid? [False, False] Translation: X:613.39, Y:64.79, Z:-2.51 [[ 9.99967604e-01 -5.87958605e-03 5.49733458e-03 6.13388853e+02] [ 5.87600368e-03 9.99982513e-01 6.67579155e-04 6.47894930e+01] [-5.50116354e-03 -6.35255170e-04 9.99984667e-01 -2.51100763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.631400513 meters 0.8326048287938865 Centerline is valid? [False, False] Translation: X:613.40, Y:64.79, Z:-2.52 [[ 9.99960450e-01 -7.46827038e-03 4.82937219e-03 6.13395424e+02] [ 7.46850084e-03 9.99972110e-01 -2.96875246e-05 6.47851485e+01] [-4.82901578e-03 6.57545207e-05 9.99988338e-01 -2.51688371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.661400513 meters 0.8084661121355117 Centerline is valid? [False, False] Translation: X:613.40, Y:64.78, Z:-2.52 [[ 9.99963475e-01 -7.08603136e-03 4.77878235e-03 6.13395534e+02] [ 7.08227390e-03 9.99974598e-01 8.02745385e-04 6.47807377e+01] [-4.78434924e-03 -7.68871419e-04 9.99988259e-01 -2.51662650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.691400513 meters 0.7566333947063787 Centerline is valid? [False, False] Translation: X:613.39, Y:64.78, Z:-2.51 [[ 9.99943257e-01 -9.34283950e-03 5.11811234e-03 6.13389128e+02] [ 9.34780405e-03 9.99955860e-01 -9.46935946e-04 6.47785155e+01] [-5.10903936e-03 9.94725325e-04 9.99986454e-01 -2.51016206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.721400513 meters 0.8629347947243008 Centerline is valid? [False, False] Translation: X:613.40, Y:64.77, Z:-2.52 [[ 9.99936419e-01 -1.03900738e-02 4.38218548e-03 6.13395522e+02] [ 1.03931201e-02 9.99945764e-01 -6.72953426e-04 6.47700865e+01] [-4.37495577e-03 7.18455219e-04 9.99990172e-01 -2.51554350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.751400513 meters 0.7970370375324732 Centerline is valid? [False, False] Translation: X:613.39, Y:64.77, Z:-2.51 [[ 9.99909779e-01 -1.25514854e-02 4.78479038e-03 6.13389025e+02] [ 1.25629587e-02 9.99918261e-01 -2.37540516e-03 6.47690225e+01] [-4.75458442e-03 2.43530197e-03 9.99985732e-01 -2.50950033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.781400513 meters 0.784513471909588 Centerline is valid? [False, False] Translation: X:613.39, Y:64.76, Z:-2.51 [[ 9.99960870e-01 -7.78819418e-03 4.19549301e-03 6.13391799e+02] [ 7.77260520e-03 9.99962876e-01 3.71922823e-03 6.47584773e+01] [-4.22430332e-03 -3.68647279e-03 9.99984282e-01 -2.51103656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.811400513 meters 0.8705625675570704 Centerline is valid? [False, False] Translation: X:613.40, Y:64.76, Z:-2.52 [[ 9.99946043e-01 -9.65164823e-03 3.84142337e-03 6.13398496e+02] [ 9.64463801e-03 9.99951798e-01 1.83926087e-03 6.47591666e+01] [-3.85899010e-03 -1.80211249e-03 9.99990930e-01 -2.51745038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.841400513 meters 0.8076508440603458 Centerline is valid? [False, False] Translation: X:613.40, Y:64.76, Z:-2.52 [[ 9.99948763e-01 -9.34162841e-03 3.89946717e-03 6.13398183e+02] [ 9.33227501e-03 9.99953549e-01 2.40997942e-03 6.47559971e+01] [-3.92179917e-03 -2.37346504e-03 9.99989493e-01 -2.51725922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.871400513 meters 0.867373307532193 Centerline is valid? [False, False] Translation: X:613.40, Y:64.76, Z:-2.52 [[ 9.99948772e-01 -9.32994281e-03 3.92488084e-03 6.13398130e+02] [ 9.32043933e-03 9.99953605e-01 2.43270317e-03 6.47558739e+01] [-3.94739573e-03 -2.39599693e-03 9.99989339e-01 -2.51734832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.901400513 meters 0.7930213749364141 Centerline is valid? [False, False] Translation: X:613.40, Y:64.76, Z:-2.52 [[ 9.99948594e-01 -9.35393862e-03 3.91326985e-03 6.13398307e+02] [ 9.34462936e-03 9.99953481e-01 2.39045393e-03 6.47561087e+01] [-3.93544797e-03 -2.35376299e-03 9.99989486e-01 -2.51758828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.931400513 meters 0.6220033316357663 Centerline is valid? [False, False] Translation: X:613.40, Y:64.76, Z:-2.52 [[ 9.99949719e-01 -9.25148683e-03 3.86909477e-03 6.13398657e+02] [ 9.24151623e-03 9.99953950e-01 2.58697230e-03 6.47550104e+01] [-3.89284994e-03 -2.55108592e-03 9.99989169e-01 -2.51787778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.961400513 meters 0.9385949690536202 Centerline is valid? [False, False] Translation: X:613.41, Y:64.76, Z:-2.55 [[ 9.99801228e-01 -4.45944745e-03 1.94324018e-02 6.13406504e+02] [ 4.46840637e-03 9.99989929e-01 -4.17633870e-04 6.47554363e+01] [-1.94303437e-02 5.04382724e-04 9.99811086e-01 -2.54604779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.991400513 meters 0.7294593072527003 Centerline is valid? [False, False] Translation: X:613.43, Y:64.76, Z:-2.53 [[ 9.99939887e-01 -2.59816439e-03 1.06523646e-02 6.13429116e+02] [ 2.60850105e-03 9.99996140e-01 -9.56584351e-04 6.47559205e+01] [-1.06498382e-02 9.84313552e-04 9.99942804e-01 -2.52725033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.021400513 meters 0.798881194890445 Centerline is valid? [False, False] Translation: X:613.45, Y:64.76, Z:-2.51 [[ 9.99997852e-01 -9.99498537e-04 1.81551393e-03 6.13451069e+02] [ 1.00253705e-03 9.99998097e-01 -1.67349969e-03 6.47579738e+01] [-1.81383782e-03 1.67531622e-03 9.99996952e-01 -2.50833347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.051400513 meters 0.9210444643429386 Centerline is valid? [False, False] Translation: X:613.46, Y:64.76, Z:-2.54 [[ 9.99832294e-01 4.55410870e-03 1.77382042e-02 6.13460927e+02] [-4.50361509e-03 9.99985696e-01 -2.88550856e-03 6.47620800e+01] [-1.77510914e-02 2.80513860e-03 9.99838502e-01 -2.53815813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.081400513 meters 0.803932915682146 Centerline is valid? [False, False] Translation: X:613.47, Y:64.77, Z:-2.49 [[ 9.99949843e-01 6.73715175e-03 -7.41099747e-03 6.13474198e+02] [-6.79013415e-03 9.99951403e-01 -7.14738224e-03 6.47662540e+01] [ 7.36248432e-03 7.19734542e-03 9.99946995e-01 -2.48532223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.111400513 meters 0.6444055236894011 Centerline is valid? [False, False] Translation: X:613.47, Y:64.77, Z:-2.49 [[ 9.99951343e-01 6.58068779e-03 -7.34887222e-03 6.13474118e+02] [-6.63543746e-03 9.99950228e-01 -7.45071358e-03 6.47679607e+01] [ 7.29947563e-03 7.49911404e-03 9.99945239e-01 -2.48568058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.141400513 meters 0.680772061956123 Centerline is valid? [False, False] Translation: X:613.47, Y:64.76, Z:-2.49 [[ 9.99907986e-01 1.14159055e-02 -7.32777610e-03 6.13474292e+02] [-1.14334880e-02 9.99931846e-01 -2.36205178e-03 6.47635683e+01] [ 7.30031172e-03 2.44561648e-03 9.99970362e-01 -2.48581905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.171400513 meters 0.9399675159958384 Centerline is valid? [False, False] Translation: X:613.47, Y:64.77, Z:-2.48 [[ 9.99896806e-01 1.27625580e-02 -6.59505678e-03 6.13467924e+02] [-1.27765292e-02 9.99916212e-01 -2.08065861e-03 6.47687998e+01] [ 6.56794967e-03 2.16470583e-03 9.99976088e-01 -2.48096592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.201400513 meters 0.7704343479787644 Centerline is valid? [False, False] Translation: X:613.47, Y:64.77, Z:-2.49 [[ 9.99864838e-01 1.49592288e-02 -6.82105365e-03 6.13474919e+02] [-1.49629543e-02 9.99887926e-01 -4.95476038e-04 6.47699587e+01] [ 6.81287725e-03 5.97472183e-04 9.99976614e-01 -2.48794456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.231400513 meters 1.2314496048856753 Centerline is valid? [False, False] Translation: X:613.47, Y:64.77, Z:-2.49 [[ 9.99870872e-01 1.45766882e-02 -6.76461989e-03 6.13474957e+02] [-1.45854610e-02 9.99892846e-01 -1.24934465e-03 6.47742631e+01] [ 6.74568372e-03 1.34784842e-03 9.99976339e-01 -2.48850576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.261400513 meters 1.2778577666081035 Centerline is valid? [False, False] Translation: X:613.47, Y:64.78, Z:-2.49 [[ 9.99877730e-01 1.41413882e-02 -6.67433838e-03 6.13474837e+02] [-1.41556547e-02 9.99897609e-01 -2.09514665e-03 6.47791035e+01] [ 6.64402670e-03 2.18937010e-03 9.99975531e-01 -2.48903433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.291400513 meters 1.266628865047143 Centerline is valid? [False, False] Translation: X:613.47, Y:64.79, Z:-2.49 [[ 9.99890568e-01 1.32675124e-02 -6.54412915e-03 6.13474621e+02] [-1.32924936e-02 9.99904473e-01 -3.78872869e-03 6.47888011e+01] [ 6.49323700e-03 3.87530188e-03 9.99971410e-01 -2.48966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.321400513 meters 0.6961215011836936 Centerline is valid? [False, False] Translation: X:613.47, Y:64.79, Z:-2.49 [[ 9.99975637e-01 5.57047339e-03 -4.20656800e-03 6.13472795e+02] [-5.54858297e-03 9.99971098e-01 5.19773029e-03 6.47870746e+01] [ 4.23540024e-03 -5.17426317e-03 9.99977644e-01 -2.48817968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.351400513 meters 0.83301334668506 Centerline is valid? [False, False] Translation: X:613.47, Y:64.79, Z:-2.49 [[ 9.99977086e-01 5.32523481e-03 -4.17965410e-03 6.13472740e+02] [-5.30525499e-03 9.99974518e-01 4.77687477e-03 6.47895752e+01] [ 4.20498557e-03 -4.75459118e-03 9.99979856e-01 -2.48832399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.381400513 meters 0.7549937540937625 Centerline is valid? [False, False] Translation: X:613.46, Y:64.80, Z:-2.48 [[ 9.99992161e-01 1.86534539e-03 -3.49250710e-03 6.13464135e+02] [-1.86420322e-03 9.99998208e-01 3.30262475e-04 6.47972239e+01] [ 3.49311689e-03 -3.23749143e-04 9.99993847e-01 -2.48125872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.411400513 meters 1.3210170078802221 Centerline is valid? [False, False] Translation: X:613.46, Y:64.80, Z:-2.48 [[ 9.99993021e-01 1.32969699e-03 -3.49147344e-03 6.13464175e+02] [-1.33164175e-03 9.99998959e-01 -5.54736563e-04 6.48025930e+01] [ 3.49073218e-03 5.59382084e-04 9.99993751e-01 -2.48137553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.441400513 meters 1.093450255207225 Centerline is valid? [False, False] Translation: X:613.46, Y:64.81, Z:-2.48 [[ 9.99993314e-01 1.07647572e-03 -3.49485037e-03 6.13464223e+02] [-1.07993705e-03 9.99998928e-01 -9.88673181e-04 6.48052063e+01] [ 3.49378234e-03 9.92440789e-04 9.99993404e-01 -2.48144063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.471400513 meters 1.1070286619621221 Centerline is valid? [False, False] Translation: X:613.46, Y:64.81, Z:-2.48 [[ 9.99993439e-01 8.88495519e-04 -3.51190081e-03 6.13464312e+02] [-8.93099962e-04 9.99998743e-01 -1.30974651e-03 6.48071516e+01] [ 3.51073269e-03 1.31287439e-03 9.99992976e-01 -2.48146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.501400513 meters 0.919747707454998 Centerline is valid? [False, False] Translation: X:613.46, Y:64.81, Z:-2.48 [[ 9.99993568e-01 7.63587618e-04 -3.50451269e-03 6.13464253e+02] [-7.68941421e-04 9.99998539e-01 -1.52659518e-03 6.48084600e+01] [ 3.50334188e-03 1.52928013e-03 9.99992694e-01 -2.48142581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.531400513 meters 0.8603235918130546 Centerline is valid? [False, False] Translation: X:613.46, Y:64.81, Z:-2.48 [[ 9.99994091e-01 3.00099945e-04 -3.42460120e-03 6.13463839e+02] [-3.07941651e-04 9.99997332e-01 -2.28951859e-03 6.48131427e+01] [ 3.42390498e-03 2.29055964e-03 9.99991515e-01 -2.48136819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.561400513 meters 0.6729342423877587 Centerline is valid? [False, False] Translation: X:613.46, Y:64.82, Z:-2.48 [[ 9.99994280e-01 5.42139480e-05 -3.38176633e-03 6.13463545e+02] [-6.33817909e-05 9.99996323e-01 -2.71091459e-03 6.48157097e+01] [ 3.38160692e-03 2.71111343e-03 9.99990607e-01 -2.48121817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.591400513 meters 0.7326839583715625 Centerline is valid? [False, False] Translation: X:613.46, Y:64.82, Z:-2.48 [[ 9.99994191e-01 -5.00554788e-05 -3.40805657e-03 6.13463697e+02] [ 4.02123798e-05 9.99995828e-01 -2.88819260e-03 6.48167881e+01] [ 3.40818692e-03 2.88803877e-03 9.99990022e-01 -2.48127010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.621400513 meters 0.694676850392255 Centerline is valid? [False, False] Translation: X:613.46, Y:64.82, Z:-2.48 [[ 9.99993374e-01 -2.21745307e-04 -3.63346452e-03 6.13463730e+02] [ 2.10327924e-04 9.99995041e-01 -3.14236660e-03 6.48175749e+01] [ 3.63414331e-03 3.14158156e-03 9.99988462e-01 -2.48039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.651400513 meters 0.768245504026661 Centerline is valid? [False, False] Translation: X:613.46, Y:64.82, Z:-2.48 [[ 9.99993397e-01 -3.23531134e-04 -3.61967225e-03 6.13463784e+02] [ 3.11517666e-04 9.99994444e-01 -3.31900988e-03 6.48186446e+01] [ 3.62072594e-03 3.31786038e-03 9.99987941e-01 -2.48060931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.681400513 meters 1.3368879799382598 Centerline is valid? [False, False] Translation: X:613.47, Y:64.82, Z:-2.49 [[ 9.99990114e-01 2.09089065e-03 -3.92417592e-03 6.13470842e+02] [-2.09268579e-03 9.99997708e-01 -4.53406090e-04 6.48164287e+01] [ 3.92321890e-03 4.61613675e-04 9.99992198e-01 -2.48758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.711400513 meters 1.3368879799382598 Centerline is valid? [False, False] Translation: X:613.47, Y:64.82, Z:-2.49 [[ 9.99990114e-01 2.09089065e-03 -3.92417592e-03 6.13470842e+02] [-2.09268579e-03 9.99997708e-01 -4.53406090e-04 6.48164287e+01] [ 3.92321890e-03 4.61613675e-04 9.99992198e-01 -2.48758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.741400513 meters 1.3278386068153174 Centerline is valid? [False, False] Translation: X:613.47, Y:64.82, Z:-2.49 [[ 9.99990669e-01 1.86788495e-03 -3.89521338e-03 6.13470756e+02] [-1.87116032e-03 9.99997899e-01 -8.37394865e-04 6.48187813e+01] [ 3.89364104e-03 8.44675620e-04 9.99992063e-01 -2.48767947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.771400513 meters SLAMing on 646.801400513 meters 0.685335480451531 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.49 [[ 9.99982574e-01 3.65060700e-03 -4.63951538e-03 6.13477369e+02] [-3.64972201e-03 9.99993320e-01 1.99202994e-04 6.48178018e+01] [ 4.64021160e-03 -1.82266581e-04 9.99989218e-01 -2.49270332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.831400513 meters 0.6707898280535058 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.49 [[ 9.99982826e-01 3.63380432e-03 -4.59808483e-03 6.13477392e+02] [-3.63305416e-03 9.99993386e-01 1.71488083e-04 6.48179779e+01] [ 4.59867757e-03 -1.54780046e-04 9.99989414e-01 -2.49312177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.861400513 meters SLAMing on 646.891400513 meters 0.8951284303928895 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99975135e-01 4.75881390e-03 -5.20408151e-03 6.13486101e+02] [-4.75804508e-03 9.99988668e-01 1.60104828e-04 6.48221150e+01] [ 5.20478445e-03 -1.35339593e-04 9.99986446e-01 -2.50231227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.921400513 meters 1.5191415127768344 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99975464e-01 4.72892419e-03 -5.16803146e-03 6.13486107e+02] [-4.72843755e-03 9.99988815e-01 1.06377733e-04 6.48224475e+01] [ 5.16847671e-03 -8.19384090e-05 9.99986640e-01 -2.50266751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.951400513 meters 1.41926011006492 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99975627e-01 4.74632518e-03 -5.12042769e-03 6.13486018e+02] [-4.74568813e-03 9.99988730e-01 1.36555349e-04 6.48222600e+01] [ 5.12101812e-03 -1.12252068e-04 9.99986881e-01 -2.50292539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.981400513 meters 1.366053552580396 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99976313e-01 4.69711723e-03 -5.03105040e-03 6.13485697e+02] [-4.69694707e-03 9.99988968e-01 4.56360011e-05 6.48228201e+01] [ 5.03120925e-03 -2.20043427e-05 9.99987343e-01 -2.50312385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.011400513 meters 0.9295996529312054 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99976030e-01 4.77151969e-03 -5.01712139e-03 6.13485647e+02] [-4.77071201e-03 9.99988605e-01 1.72941389e-04 6.48220247e+01] [ 5.01788941e-03 -1.49002002e-04 9.99987399e-01 -2.50315388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.041400513 meters 0.8667840843805235 Centerline is valid? [False, False] Translation: X:613.49, Y:64.82, Z:-2.50 [[ 9.99975154e-01 4.94628553e-03 -5.02254095e-03 6.13485719e+02] [-4.94397052e-03 9.99987667e-01 4.73235835e-04 6.48201390e+01] [ 5.02481976e-03 -4.48392783e-04 9.99987275e-01 -2.50323287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.071400513 meters 0.964312299299624 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99985080e-01 2.89605885e-03 -4.63178365e-03 6.13478457e+02] [-2.90063716e-03 9.99995311e-01 -9.82042592e-04 6.48191490e+01] [ 4.62891788e-03 9.95463064e-04 9.99988791e-01 -2.49670457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.101400513 meters 0.9294731281230655 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984453e-01 3.05186824e-03 -4.66696088e-03 6.13478623e+02] [-3.05515190e-03 9.99995090e-01 -6.96629401e-04 6.48173771e+01] [ 4.66481195e-03 7.10876845e-04 9.99988867e-01 -2.49670263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.131400513 meters 0.9589428223554615 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984024e-01 3.16856293e-03 -4.68105952e-03 6.13478624e+02] [-3.17086682e-03 9.99994855e-01 -4.84832675e-04 6.48160615e+01] [ 4.67949922e-03 4.99667945e-04 9.99988926e-01 -2.49657166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.161400513 meters 0.9516833650746327 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99983751e-01 3.24857424e-03 -4.68459420e-03 6.13478591e+02] [-3.25021024e-03 9.99994660e-01 -3.41657812e-04 6.48151675e+01] [ 4.68345928e-03 3.56878177e-04 9.99988969e-01 -2.49646727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.191400513 meters 0.9463616588480126 Centerline is valid? [False, False] Translation: X:613.48, Y:64.81, Z:-2.50 [[ 9.99983707e-01 3.27539083e-03 -4.67513588e-03 6.13478477e+02] [-3.27681167e-03 9.99994587e-01 -2.96286641e-04 6.48148807e+01] [ 4.67414012e-03 3.11601353e-04 9.99989028e-01 -2.49633784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.221400513 meters 0.9469734486240978 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984136e-01 3.18995066e-03 -4.64235690e-03 6.13478313e+02] [-3.19206601e-03 9.99994805e-01 -4.48323867e-04 6.48158361e+01] [ 4.64090265e-03 4.63135465e-04 9.99989124e-01 -2.49632872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.251400513 meters 0.8412872887151073 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984257e-01 3.14492093e-03 -4.64697182e-03 6.13478415e+02] [-3.14740219e-03 9.99994908e-01 -5.26735359e-04 6.48163266e+01] [ 4.64529162e-03 5.41352956e-04 9.99989064e-01 -2.49647403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.281400513 meters 0.8294417843846386 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984354e-01 3.08118318e-03 -4.66885353e-03 6.13478603e+02] [-3.08419502e-03 9.99995040e-01 -6.38028750e-04 6.48170215e+01] [ 4.66686449e-03 6.52418422e-04 9.99988897e-01 -2.49662499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.311400513 meters 0.9384919045175909 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99984412e-01 3.04698892e-03 -4.67884246e-03 6.13478590e+02] [-3.05029639e-03 9.99995103e-01 -6.99926782e-04 6.48174076e+01] [ 4.67668688e-03 7.14187728e-04 9.99988809e-01 -2.49651518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.341400513 meters 0.9053136158165895 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99983514e-01 2.11763171e-03 -5.33728119e-03 6.13482992e+02] [-2.12493058e-03 9.99996815e-01 -1.36222513e-03 6.48187069e+01] [ 5.33437949e-03 1.37354402e-03 9.99984829e-01 -2.49887881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.371400513 meters 0.9409203913434635 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99983034e-01 2.22574919e-03 -5.38305066e-03 6.13483104e+02] [-2.23202128e-03 9.99996837e-01 -1.15943000e-03 6.48174333e+01] [ 5.38045303e-03 1.17142542e-03 9.99984839e-01 -2.49865830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.401400513 meters 0.938812931984173 Centerline is valid? [False, False] Translation: X:613.48, Y:64.82, Z:-2.50 [[ 9.99982355e-01 2.40281173e-03 -5.43294475e-03 6.13483260e+02] [-2.40734806e-03 9.99996759e-01 -8.28580264e-04 6.48153602e+01] [ 5.43093622e-03 8.41644633e-04 9.99984898e-01 -2.49849216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.431400513 meters 0.8544475624901086 Centerline is valid? [False, False] Translation: X:613.49, Y:64.81, Z:-2.50 [[ 9.99980693e-01 8.61735387e-04 -6.15399123e-03 6.13490596e+02] [-8.72309322e-04 9.99998148e-01 -1.71574661e-03 6.48143780e+01] [ 6.15250131e-03 1.72108167e-03 9.99979592e-01 -2.50425718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.461400513 meters 0.8794089703808736 Centerline is valid? [False, False] Translation: X:613.49, Y:64.81, Z:-2.50 [[ 9.99980031e-01 1.05767888e-03 -6.23042543e-03 6.13491015e+02] [-1.06624056e-03 9.99998492e-01 -1.37101132e-03 6.48121908e+01] [ 6.22896594e-03 1.37762707e-03 9.99979651e-01 -2.50434472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.491400513 meters 0.9272992834406847 Centerline is valid? [False, False] Translation: X:613.49, Y:64.81, Z:-2.50 [[ 9.99979478e-01 1.30020704e-03 -6.27325994e-03 6.13491257e+02] [-1.30619351e-03 9.99998695e-01 -9.50281051e-04 6.48095139e+01] [ 6.27201620e-03 9.58455641e-04 9.99979871e-01 -2.50439526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.521400513 meters 0.9252888404342043 Centerline is valid? [False, False] Translation: X:613.49, Y:64.80, Z:-2.50 [[ 9.99978124e-01 2.00892429e-03 -6.30197435e-03 6.13491483e+02] [-2.00770092e-03 9.99997964e-01 2.00445708e-04 6.48021108e+01] [ 6.30236420e-03 -1.87788844e-04 9.99980122e-01 -2.50453878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.551400513 meters 0.8549241804423944 Centerline is valid? [False, False] Translation: X:613.49, Y:64.80, Z:-2.51 [[ 9.99977211e-01 2.29219906e-03 -6.35010470e-03 6.13492103e+02] [-2.28797203e-03 9.99997156e-01 6.72848039e-04 6.47991492e+01] [ 6.35162894e-03 -6.58303844e-04 9.99979612e-01 -2.50516728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.581400513 meters 0.8524048170980196 Centerline is valid? [False, False] Translation: X:613.49, Y:64.80, Z:-2.51 [[ 9.99976803e-01 2.40494202e-03 -6.37258171e-03 6.13492346e+02] [-2.39941241e-03 9.99996738e-01 8.75223089e-04 6.47978572e+01] [ 6.37466579e-03 -8.59912334e-04 9.99979312e-01 -2.50540207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.611400513 meters 0.8336804983960178 Centerline is valid? [False, False] Translation: X:613.50, Y:64.79, Z:-2.52 [[ 9.99969803e-01 4.84128622e-03 -6.07905076e-03 6.13504046e+02] [-4.82150753e-03 9.99983049e-01 3.26403333e-03 6.47943960e+01] [ 6.09474983e-03 -3.23462457e-03 9.99976195e-01 -2.51847772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.641400513 meters 0.5167837970809485 Centerline is valid? [False, False] Translation: X:613.51, Y:64.79, Z:-2.53 [[ 9.99958607e-01 6.08791285e-03 -6.76174142e-03 6.13513372e+02] [-6.06236479e-03 9.99974432e-01 3.79241853e-03 6.47942889e+01] [ 6.78465645e-03 -3.75126941e-03 9.99969948e-01 -2.52707287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.671400513 meters 0.9233898177222867 Centerline is valid? [False, False] Translation: X:613.51, Y:64.80, Z:-2.53 [[ 9.99959360e-01 6.01115068e-03 -6.71891635e-03 6.13513275e+02] [-5.98675325e-03 9.99975435e-01 3.64538886e-03 6.47952176e+01] [ 6.74066428e-03 -3.60501622e-03 9.99970783e-01 -2.52730317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.701400513 meters 0.5202182136069747 Centerline is valid? [False, False] Translation: X:613.52, Y:64.79, Z:-2.53 [[ 9.99936976e-01 8.65806996e-03 -7.14711613e-03 6.13521312e+02] [-8.61023302e-03 9.99940505e-01 6.69703334e-03 6.47918555e+01] [ 7.20467430e-03 -6.63507293e-03 9.99952033e-01 -2.53446551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.731400513 meters 0.5193623530786431 Centerline is valid? [False, False] Translation: X:613.52, Y:64.80, Z:-2.53 [[ 9.99966220e-01 4.18722257e-03 -7.07293813e-03 6.13520537e+02] [-4.17815977e-03 9.99990432e-01 1.29562442e-03 6.48002655e+01] [ 7.07829552e-03 -1.26602878e-03 9.99974147e-01 -2.53428345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.761400513 meters 0.5209291227181352 Centerline is valid? [False, False] Translation: X:613.52, Y:64.80, Z:-2.53 [[ 9.99966101e-01 4.23449916e-03 -7.06158594e-03 6.13520516e+02] [-4.22487428e-03 9.99990127e-01 1.37735219e-03 6.47997358e+01] [ 7.06734862e-03 -1.34747119e-03 9.99974118e-01 -2.53434669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.791400513 meters 0.8098531256737369 Centerline is valid? [False, False] Translation: X:613.52, Y:64.80, Z:-2.53 [[ 9.99965621e-01 4.21124368e-03 -7.14297426e-03 6.13520896e+02] [-4.20182517e-03 9.99990284e-01 1.33306497e-03 6.48000172e+01] [ 7.14851872e-03 -1.30300562e-03 9.99973600e-01 -2.53438028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.821400513 meters 0.529903991950492 Centerline is valid? [False, False] Translation: X:613.53, Y:64.80, Z:-2.55 [[ 9.99974280e-01 2.26399977e-03 -6.80534765e-03 6.13533942e+02] [-2.26776416e-03 9.99997280e-01 -5.45485419e-04 6.48042578e+01] [ 6.80409416e-03 5.60904312e-04 9.99976695e-01 -2.54875459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 16907.78 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%| | 0/21592 [00:00